Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 110 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 170

DIVE 110 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 34 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 260 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 155 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 3 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 206.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 260 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 80

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 155

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 206.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 3 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 34 XPDR_INHIBIT 90

DIVE 110 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 8 SEABIRD_C_H 1.1531761 XPDR_REP 0

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0027973817 XPDR_VALID 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_J 0.00030337134

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0043722652

Pre-dive calculations and measurements:

GPS1 080921,054402,4750.7939,-12509.9102,31,0.9,32,15.7,0.4,208.7,9,4.3 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.39 MHEAD_RNG_PITCHd_Wd 107.2,1699,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -59.9 D_GRID 225

GPS2 080921,054934,4750.7778,-12509.9365,4,0.8,6,15.7,0.6,254.3,12,5.9

Post-dive calculations and measurements:

FINISH -0.0,1.025359 _24V_AH 23.87,19.519

SM_CCo 4595,0.03,2.947,0,0,550,551.92 _10V_AH 10.26,10.848

SM_GC 0.39,7.60,1.42,0.03,0.059,0.034,2.947,162,2000,550,-7.41,-1.33,551.92,0,0,0,0,0,0,26.23,26.17,23.87 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,080921,041544 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.151298 MEM 211192

HUMID 53.34 DATA_FILE_SIZE 33631,662

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 85572,0

TCM_TEMP 15.10 CFSIZE 260030464,241790976

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 108172673024.000000 CURRENT 0.078,341.56,1

CP_POWER 323.310000 GPS 080921,070809,4750.683,-12509.632,8,1.0,16,15.7,0.3,257.0,9,2.6

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 226 96.75 SBE_CT 377 64 580.96

Roll_motor 34 97 79.59 WL_blue_red_Chl 1199 37 1072.52

VBD_pump_during_apogee 522 616 7685.37 nil 0 0 0.00

VBD_pump_during_surface 201 2946 14141.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 NCP 4191 25 2500.98

Iridium_during_xfer 208 102 510.00 nil 0 0 0.00

Transponder_ping 1 420 15.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.23

TT8 1420 12 178.14

LPSleep 895 2 20.13

TT8_Active 744 12 93.34

TT8_Sampling 1644 37 635.89

TT8_CF8 262 42 115.50

TT8_Kalman 0 0 0.00

Analog_circuits 1633 11 184.34

GPS_charging 0 0 0.00

Compass 1482 8 125.30

RAFOS 0 0 0.00

Transponder 11 30 3.44

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.84 -116.8 166 1989 686 416 0.0 0.0 0 134 0.00 0.00 -105.97 0.011 16386 0.000 0.000 166 1988 3035 3024 3047 0 0 0 0 0 0 26.12 28.83 26.19

137 -0.84 -116.8 165 1987 3025 3048 4.0 -8.0 15 154 8.30 1.12 -5.00 0.021 18724 0.226 0.065 2289 2734 3279 3280 3278 0 0 0 0 0 0 25.84 24.73 25.98

386 -0.84 -116.8 2287 2734 3290 3275 53.6 -16.8 62 394 0.08 1.08 0.00 0.000 3078 0.174 0.032 2311 1996 3283 3290 3276 0 0 0 0 0 0 26.08 26.35 26.19

527 -0.84 -116.8 2311 1993 3292 3275 70.3 -10.4 87 534 0.00 1.08 0.00 0.000 292 0.000 0.042 2308 2715 3283 3292 3275 0 0 0 0 0 0 26.49 26.39 26.54

638 -0.84 -116.8 2307 2715 3292 3275 82.3 -11.2 108 646 0.00 1.05 0.00 0.000 1030 0.000 0.031 2311 1987 3284 3293 3275 0 0 0 0 0 0 26.49 26.46 26.50

775 -0.84 -116.8 2310 1987 3294 3275 97.8 -11.6 133 783 0.00 1.00 0.00 0.000 516 0.000 0.040 2317 1310 3284 3294 3275 0 0 0 0 0 0 26.58 26.40 26.62

885 -0.84 -116.8 2316 1310 3295 3275 110.4 -11.1 153 889 0.00 1.05 0.00 0.000 1030 0.000 0.036 2314 2011 3284 3294 3274 0 0 0 0 0 0 26.53 26.51 26.55

1017 -0.84 -116.8 2312 2011 3294 3274 124.2 -10.2 167 1021 0.00 1.05 0.00 0.000 548 0.000 0.038 2316 1310 3284 3295 3274 0 0 0 0 0 0 26.59 26.51 26.65

1136 -0.84 -116.8 2315 1310 3295 3274 137.8 -11.7 190 1144 0.00 1.05 0.00 0.000 1030 0.000 0.035 2313 2009 3284 3295 3274 0 0 0 0 0 0 26.57 26.54 26.59

1267 -0.84 -116.8 2312 2009 3295 3274 152.4 -10.8 203 1271 0.00 1.00 0.00 0.000 292 0.000 0.044 2307 2692 3284 3295 3274 0 0 0 0 0 0 26.67 26.55 26.70

1375 -0.84 -116.8 2307 2691 3295 3274 165.4 -11.0 224 1384 0.00 1.00 0.00 0.000 1030 0.000 0.031 2311 1995 3284 3295 3274 0 0 0 0 0 0 26.60 26.55 26.63

1504 -0.84 -116.8 2310 1994 3294 3274 179.5 -10.8 237 1508 0.00 1.00 0.00 0.000 548 0.000 0.040 2316 1317 3284 3295 3274 0 0 0 0 0 0 26.54 26.56 26.58

1601 -0.84 -116.8 2315 1317 3294 3274 189.9 -10.5 255 1605 0.00 1.02 0.00 0.000 1062 0.000 0.036 2313 1999 3284 3295 3274 0 0 0 0 0 0 26.62 26.59 26.65

1734 -0.84 -116.8 2312 1999 3295 3274 203.8 -10.1 269 1742 0.00 0.00 0.00 0.000 38 0.000 0.000 2313 1999 3284 3294 3274 0 0 0 0 0 0 26.72 26.74 26.76

1866 -0.84 -116.8 2313 1999 3295 3273 216.8 -10.1 282 1870 0.00 1.02 0.00 0.000 292 0.000 0.044 2308 2698 3283 3294 3273 0 0 0 0 0 0 26.72 26.58 26.77

1892 -0.84 -116.8 2307 2698 3295 3273 219.6 -9.4 287 1900 0.00 1.00 0.00 0.000 1062 0.000 0.031 2311 1995 3284 3295 3273 0 0 0 0 0 0 26.66 26.63 26.65

1957 end dive: TARGET_DEPTH_EXCEEDED

state 1957 begin apogee

1962 -0.18 0.0 2312 1781 3295 3273 225.9 -9.7 294 2148 0.70 0.00 174.48 0.589 10246 0.158 0.000 2521 1780 2791 2845 2737 0 0 0 0 0 0 26.26 25.25 24.77

2153 end apogee: CONTROL_FINISHED_OK

state 2153 begin climb

2155 0.84 116.8 2521 1779 2840 2734 230.1 0.0 313 2350 1.05 0.95 181.43 0.552 10756 0.118 0.036 2851 1143 2310 2435 2186 0 0 0 0 0 0 25.36 24.94 24.65

2439 0.84 116.8 2851 1143 2419 2180 207.3 12.2 365 2443 0.00 1.02 0.00 0.000 1030 0.000 0.036 2848 1798 2299 2419 2180 0 0 0 0 0 0 25.73 25.70 25.75

2571 0.84 116.8 2847 1799 2417 2178 192.7 11.1 379 2575 0.00 1.08 0.00 0.000 260 0.000 0.044 2843 2507 2297 2417 2178 0 0 0 0 0 0 26.08 25.97 26.14

2635 0.84 116.8 2842 2507 2416 2174 185.5 11.4 391 2639 0.00 1.00 0.00 0.000 1030 0.000 0.037 2846 1835 2295 2416 2175 0 0 0 0 0 0 26.12 26.10 26.15

2768 0.85 125.1 2845 1835 2415 2175 171.4 10.3 405 2771 0.00 1.12 0.00 0.000 548 0.000 0.053 2851 1104 2294 2415 2174 0 0 0 0 0 0 26.30 26.18 26.35

2811 0.85 125.1 2851 1103 2415 2174 166.7 11.1 413 2815 0.00 1.08 0.00 0.000 1030 0.000 0.036 2848 1809 2294 2415 2174 0 0 0 0 0 0 26.28 26.25 26.29

2943 0.87 136.7 2847 1810 2414 2174 153.0 10.1 427 2975 0.00 1.05 22.12 0.617 8484 0.000 0.045 2843 2498 2235 2363 2108 0 0 0 0 0 0 26.42 25.96 25.43

3033 0.89 159.3 2842 2498 2359 2105 143.6 9.4 444 3072 0.05 1.05 34.72 0.588 11302 0.161 0.046 2866 1800 2150 2283 2018 0 0 0 0 0 0 25.96 26.15 25.21

3194 0.89 159.3 2865 1800 2269 2006 125.5 12.0 463 3197 0.00 1.08 0.00 0.000 516 0.000 0.049 2871 1109 2138 2271 2005 0 0 0 0 0 0 26.11 26.05 26.18

3258 0.89 159.3 2870 1109 2268 2006 116.8 13.1 475 3262 0.00 1.05 0.00 0.000 1030 0.000 0.044 2868 1795 2137 2268 2006 0 0 0 0 0 0 26.14 26.10 26.20

3390 0.89 159.3 2867 1796 2267 2004 100.0 12.6 489 3399 0.00 1.08 0.00 0.000 516 0.000 0.044 2871 1105 2136 2268 2004 0 0 0 0 0 0 26.34 26.24 26.39

3462 0.89 159.3 2870 1105 2266 2004 91.3 11.5 502 3469 0.00 1.05 0.00 0.000 1030 0.000 0.040 2867 1796 2135 2266 2004 0 0 0 0 0 0 26.25 26.22 26.25

3598 0.89 159.3 2867 1796 2265 2003 76.1 10.9 527 3605 0.00 1.08 0.00 0.000 516 0.000 0.054 2871 1110 2133 2265 2002 0 0 0 0 0 0 26.48 26.35 26.53

3619 0.89 159.3 2870 1110 2265 2003 73.7 11.0 530 3626 0.00 1.05 0.00 0.000 1030 0.000 0.098 2867 1798 2134 2265 2003 0 0 0 0 0 0 26.41 26.37 26.41

3756 0.89 160.1 2867 1798 2264 2003 59.2 10.8 555 3763 0.00 1.02 0.00 0.000 292 0.000 0.043 2862 2491 2133 2264 2003 0 0 0 0 0 0 26.52 26.41 26.57

3839 0.90 167.1 2862 2490 2263 2002 50.5 10.4 570 3846 0.00 1.02 0.00 0.000 1062 0.000 0.037 2866 1798 2133 2263 2003 0 0 0 0 0 0 26.48 26.46 26.50

3976 0.98 228.5 2865 1798 2263 2003 38.4 7.0 595 4094 0.12 0.00 109.43 0.520 11046 0.122 0.000 2905 1798 1859 2001 1717 0 0 0 0 0 0 26.38 25.52 25.06

4220 0.98 228.5 2905 1798 1987 1705 12.6 12.0 636 4228 0.00 1.10 0.00 0.000 516 0.000 0.050 2911 1098 1845 1986 1705 0 0 0 0 0 0 26.08 25.97 26.14

4339 end climb: SURFACE_DEPTH_REACHED

state 4339 begin surface coast

4362 end surface coast: CONTROL_FINISHED_OK

state 4362 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	170
DIVE	110	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	34	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	260	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	155	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	3	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	206.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	080921,054402,4750.7939,-12509.9102,31,0.9,32,15.7,0.4,208.7,9,4.3	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.39	MHEAD_RNG_PITCHd_Wd	107.2,1699,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-59.9	D_GRID	225
GPS2	080921,054934,4750.7778,-12509.9365,4,0.8,6,15.7,0.6,254.3,12,5.9

FINISH	-0.0,1.025359	_24V_AH	23.87,19.519
SM_CCo	4595,0.03,2.947,0,0,550,551.92	_10V_AH	10.26,10.848
SM_GC	0.39,7.60,1.42,0.03,0.059,0.034,2.947,162,2000,550,-7.41,-1.33,551.92,0,0,0,0,0,0,26.23,26.17,23.87	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,080921,041544	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.151298	MEM	211192
HUMID	53.34	DATA_FILE_SIZE	33631,662
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	85572,0
TCM_TEMP	15.10	CFSIZE	260030464,241790976
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	108172673024.000000	CURRENT	0.078,341.56,1
CP_POWER	323.310000	GPS	080921,070809,4750.683,-12509.632,8,1.0,16,15.7,0.3,257.0,9,2.6
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	226	96.75	SBE_CT	377	64	580.96
Roll_motor	34	97	79.59	WL_blue_red_Chl	1199	37	1072.52
VBD_pump_during_apogee	522	616	7685.37	nil	0	0	0.00
VBD_pump_during_surface	201	2946	14141.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	NCP	4191	25	2500.98
Iridium_during_xfer	208	102	510.00	nil	0	0	0.00
Transponder_ping	1	420	15.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.23
TT8	1420	12	178.14
LPSleep	895	2	20.13
TT8_Active	744	12	93.34
TT8_Sampling	1644	37	635.89
TT8_CF8	262	42	115.50
TT8_Kalman	0	0	0.00
Analog_circuits	1633	11	184.34
GPS_charging	0	0	0.00
Compass	1482	8	125.30
RAFOS	0	0	0.00
Transponder	11	30	3.44

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.84	-116.8	166	1989	686	416	0.0	0.0	0	134	0.00	0.00	-105.97	0.011	16386	0.000	0.000	166	1988	3035	3024	3047	0	0	0	0	0	0	26.12	28.83	26.19
137	-0.84	-116.8	165	1987	3025	3048	4.0	-8.0	15	154	8.30	1.12	-5.00	0.021	18724	0.226	0.065	2289	2734	3279	3280	3278	0	0	0	0	0	0	25.84	24.73	25.98
386	-0.84	-116.8	2287	2734	3290	3275	53.6	-16.8	62	394	0.08	1.08	0.00	0.000	3078	0.174	0.032	2311	1996	3283	3290	3276	0	0	0	0	0	0	26.08	26.35	26.19
527	-0.84	-116.8	2311	1993	3292	3275	70.3	-10.4	87	534	0.00	1.08	0.00	0.000	292	0.000	0.042	2308	2715	3283	3292	3275	0	0	0	0	0	0	26.49	26.39	26.54
638	-0.84	-116.8	2307	2715	3292	3275	82.3	-11.2	108	646	0.00	1.05	0.00	0.000	1030	0.000	0.031	2311	1987	3284	3293	3275	0	0	0	0	0	0	26.49	26.46	26.50
775	-0.84	-116.8	2310	1987	3294	3275	97.8	-11.6	133	783	0.00	1.00	0.00	0.000	516	0.000	0.040	2317	1310	3284	3294	3275	0	0	0	0	0	0	26.58	26.40	26.62
885	-0.84	-116.8	2316	1310	3295	3275	110.4	-11.1	153	889	0.00	1.05	0.00	0.000	1030	0.000	0.036	2314	2011	3284	3294	3274	0	0	0	0	0	0	26.53	26.51	26.55
1017	-0.84	-116.8	2312	2011	3294	3274	124.2	-10.2	167	1021	0.00	1.05	0.00	0.000	548	0.000	0.038	2316	1310	3284	3295	3274	0	0	0	0	0	0	26.59	26.51	26.65
1136	-0.84	-116.8	2315	1310	3295	3274	137.8	-11.7	190	1144	0.00	1.05	0.00	0.000	1030	0.000	0.035	2313	2009	3284	3295	3274	0	0	0	0	0	0	26.57	26.54	26.59
1267	-0.84	-116.8	2312	2009	3295	3274	152.4	-10.8	203	1271	0.00	1.00	0.00	0.000	292	0.000	0.044	2307	2692	3284	3295	3274	0	0	0	0	0	0	26.67	26.55	26.70
1375	-0.84	-116.8	2307	2691	3295	3274	165.4	-11.0	224	1384	0.00	1.00	0.00	0.000	1030	0.000	0.031	2311	1995	3284	3295	3274	0	0	0	0	0	0	26.60	26.55	26.63
1504	-0.84	-116.8	2310	1994	3294	3274	179.5	-10.8	237	1508	0.00	1.00	0.00	0.000	548	0.000	0.040	2316	1317	3284	3295	3274	0	0	0	0	0	0	26.54	26.56	26.58
1601	-0.84	-116.8	2315	1317	3294	3274	189.9	-10.5	255	1605	0.00	1.02	0.00	0.000	1062	0.000	0.036	2313	1999	3284	3295	3274	0	0	0	0	0	0	26.62	26.59	26.65
1734	-0.84	-116.8	2312	1999	3295	3274	203.8	-10.1	269	1742	0.00	0.00	0.00	0.000	38	0.000	0.000	2313	1999	3284	3294	3274	0	0	0	0	0	0	26.72	26.74	26.76
1866	-0.84	-116.8	2313	1999	3295	3273	216.8	-10.1	282	1870	0.00	1.02	0.00	0.000	292	0.000	0.044	2308	2698	3283	3294	3273	0	0	0	0	0	0	26.72	26.58	26.77
1892	-0.84	-116.8	2307	2698	3295	3273	219.6	-9.4	287	1900	0.00	1.00	0.00	0.000	1062	0.000	0.031	2311	1995	3284	3295	3273	0	0	0	0	0	0	26.66	26.63	26.65
1957	end dive: TARGET_DEPTH_EXCEEDED
state	1957	begin apogee
1962	-0.18	0.0	2312	1781	3295	3273	225.9	-9.7	294	2148	0.70	0.00	174.48	0.589	10246	0.158	0.000	2521	1780	2791	2845	2737	0	0	0	0	0	0	26.26	25.25	24.77
2153	end apogee: CONTROL_FINISHED_OK
state	2153	begin climb
2155	0.84	116.8	2521	1779	2840	2734	230.1	0.0	313	2350	1.05	0.95	181.43	0.552	10756	0.118	0.036	2851	1143	2310	2435	2186	0	0	0	0	0	0	25.36	24.94	24.65
2439	0.84	116.8	2851	1143	2419	2180	207.3	12.2	365	2443	0.00	1.02	0.00	0.000	1030	0.000	0.036	2848	1798	2299	2419	2180	0	0	0	0	0	0	25.73	25.70	25.75
2571	0.84	116.8	2847	1799	2417	2178	192.7	11.1	379	2575	0.00	1.08	0.00	0.000	260	0.000	0.044	2843	2507	2297	2417	2178	0	0	0	0	0	0	26.08	25.97	26.14
2635	0.84	116.8	2842	2507	2416	2174	185.5	11.4	391	2639	0.00	1.00	0.00	0.000	1030	0.000	0.037	2846	1835	2295	2416	2175	0	0	0	0	0	0	26.12	26.10	26.15
2768	0.85	125.1	2845	1835	2415	2175	171.4	10.3	405	2771	0.00	1.12	0.00	0.000	548	0.000	0.053	2851	1104	2294	2415	2174	0	0	0	0	0	0	26.30	26.18	26.35
2811	0.85	125.1	2851	1103	2415	2174	166.7	11.1	413	2815	0.00	1.08	0.00	0.000	1030	0.000	0.036	2848	1809	2294	2415	2174	0	0	0	0	0	0	26.28	26.25	26.29
2943	0.87	136.7	2847	1810	2414	2174	153.0	10.1	427	2975	0.00	1.05	22.12	0.617	8484	0.000	0.045	2843	2498	2235	2363	2108	0	0	0	0	0	0	26.42	25.96	25.43
3033	0.89	159.3	2842	2498	2359	2105	143.6	9.4	444	3072	0.05	1.05	34.72	0.588	11302	0.161	0.046	2866	1800	2150	2283	2018	0	0	0	0	0	0	25.96	26.15	25.21
3194	0.89	159.3	2865	1800	2269	2006	125.5	12.0	463	3197	0.00	1.08	0.00	0.000	516	0.000	0.049	2871	1109	2138	2271	2005	0	0	0	0	0	0	26.11	26.05	26.18
3258	0.89	159.3	2870	1109	2268	2006	116.8	13.1	475	3262	0.00	1.05	0.00	0.000	1030	0.000	0.044	2868	1795	2137	2268	2006	0	0	0	0	0	0	26.14	26.10	26.20
3390	0.89	159.3	2867	1796	2267	2004	100.0	12.6	489	3399	0.00	1.08	0.00	0.000	516	0.000	0.044	2871	1105	2136	2268	2004	0	0	0	0	0	0	26.34	26.24	26.39
3462	0.89	159.3	2870	1105	2266	2004	91.3	11.5	502	3469	0.00	1.05	0.00	0.000	1030	0.000	0.040	2867	1796	2135	2266	2004	0	0	0	0	0	0	26.25	26.22	26.25
3598	0.89	159.3	2867	1796	2265	2003	76.1	10.9	527	3605	0.00	1.08	0.00	0.000	516	0.000	0.054	2871	1110	2133	2265	2002	0	0	0	0	0	0	26.48	26.35	26.53
3619	0.89	159.3	2870	1110	2265	2003	73.7	11.0	530	3626	0.00	1.05	0.00	0.000	1030	0.000	0.098	2867	1798	2134	2265	2003	0	0	0	0	0	0	26.41	26.37	26.41
3756	0.89	160.1	2867	1798	2264	2003	59.2	10.8	555	3763	0.00	1.02	0.00	0.000	292	0.000	0.043	2862	2491	2133	2264	2003	0	0	0	0	0	0	26.52	26.41	26.57
3839	0.90	167.1	2862	2490	2263	2002	50.5	10.4	570	3846	0.00	1.02	0.00	0.000	1062	0.000	0.037	2866	1798	2133	2263	2003	0	0	0	0	0	0	26.48	26.46	26.50
3976	0.98	228.5	2865	1798	2263	2003	38.4	7.0	595	4094	0.12	0.00	109.43	0.520	11046	0.122	0.000	2905	1798	1859	2001	1717	0	0	0	0	0	0	26.38	25.52	25.06
4220	0.98	228.5	2905	1798	1987	1705	12.6	12.0	636	4228	0.00	1.10	0.00	0.000	516	0.000	0.050	2911	1098	1845	1986	1705	0	0	0	0	0	0	26.08	25.97	26.14
4339	end climb: SURFACE_DEPTH_REACHED
state	4339	begin surface coast
4362	end surface coast: CONTROL_FINISHED_OK
state	4362	begin surface