Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 143 * 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 143 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 50 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 350 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 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 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 0 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 272.0

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 350 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 115

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 235

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 272.0 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 0 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 50 XPDR_INHIBIT 90

DIVE 143 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 100921,220855,4751.8052,-12511.3857,15,0.9,32,15.7,0.2,239.9,10,5.0 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 121.3,4289,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -62.0 D_GRID 299

GPS2 100921,221319,4751.7930,-12511.4297,4,0.6,6,15.7,0.4,289.8,12,5.8

Post-dive calculations and measurements:

FINISH 0.3,1.025260 CP_POWER1 0.000000

SM_CCo 4958,0.00,0.000,0,0,550,551.92 _24V_AH 24.34,23.858

SM_GC 0.50,7.50,1.38,0.00,0.061,0.029,0.000,189,1984,550,-7.38,-1.44,551.92,0,0,0,0,0,0,26.47,26.40,25.46 _10V_AH 10.24,13.243

IRIDIUM_FIX 4751.65,-12513.98,100921,203205 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.146804 FG_AHR_10Vo 0.000

HUMID 53.07 MEM 209836

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 36956,686

TCM_TEMP 15.30 CAP_FILE_SIZE 85268,0

XPDR_PINGS 0 CFSIZE 260030464,239083520

ALTIM_BOTTOM_PING 202.3,52.8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 99437772800.000000 CURRENT 0.096,333.90,1

CP_POWER 323.310000 GPS 100921,233801,4751.731,-12511.210,11,1.2,22,15.7,0.7,331.8,8,3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 96.51 SBE_CT 409 64 642.22

Roll_motor 32 68 53.84 WL_blue_red_Chl 1296 37 1181.76

VBD_pump_during_apogee 479 582 6788.80 nil 0 0 0.00

VBD_pump_during_surface 216 622 3281.06 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 4518 25 2749.20

Iridium_during_xfer 160 86 337.70 nil 0 0 0.00

Transponder_ping 1 420 15.33 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.16

TT8 1536 12 192.26

LPSleep 990 2 22.22

TT8_Active 742 12 92.96

TT8_Sampling 1710 37 660.11

TT8_CF8 277 42 121.83

TT8_Kalman 0 0 0.00

Analog_circuits 1585 11 178.56

GPS_charging 0 0 0.00

Compass 1539 8 129.93

RAFOS 0 0 0.00

Transponder 13 30 4.18

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

65 end surface: CONTROL_FINISHED_OK

state 65 begin dive

67 -0.80 -116.8 173 2010 693 410 0.0 0.0 0 175 0.00 0.00 -105.07 0.012 16386 0.000 0.000 174 2011 3104 3091 3118 0 0 0 0 0 0 26.18 28.83 26.24

177 -0.80 -116.8 173 2010 3092 3118 4.9 -10.2 15 194 8.35 1.10 -3.40 0.030 19204 0.223 0.069 2321 1287 3280 3277 3283 0 0 0 0 0 0 25.76 24.62 25.94

211 -0.80 -116.8 2320 1286 3282 3282 16.4 -29.5 20 219 0.00 1.10 0.00 0.000 1030 0.000 0.041 2317 2004 3282 3282 3282 0 0 0 0 0 0 26.22 26.20 26.25

344 -0.80 -116.8 2316 2004 3287 3278 37.2 -13.2 45 352 0.00 1.02 0.00 0.000 260 0.000 0.048 2311 2699 3282 3287 3278 0 0 0 0 0 0 26.34 26.24 26.38

528 -0.80 -116.8 2310 2699 3290 3277 61.4 -10.9 79 536 0.00 1.02 0.00 0.000 1030 0.000 0.027 2314 1988 3283 3290 3277 0 0 0 0 0 0 26.48 26.46 26.50

661 -0.80 -116.8 2313 1988 3291 3277 76.0 -10.6 104 668 0.00 1.00 0.00 0.000 516 0.000 0.034 2319 1312 3284 3291 3277 0 0 0 0 0 0 26.66 26.47 26.71

911 -0.80 -116.8 2319 1312 3293 3277 106.2 -12.8 150 915 0.00 1.02 0.00 0.000 1030 0.000 0.032 2316 1997 3285 3293 3277 0 0 0 0 0 0 26.60 26.58 26.63

1043 -0.80 -116.8 2316 1997 3293 3276 123.3 -12.6 164 1047 0.00 1.02 0.00 0.000 516 0.000 0.034 2319 1308 3284 3293 3276 0 0 0 0 0 0 26.78 26.59 26.84

1212 -0.80 -116.8 2318 1307 3293 3276 145.1 -12.8 196 1216 0.00 1.02 0.00 0.000 1030 0.000 0.031 2316 1994 3284 3293 3276 0 0 0 0 0 0 26.67 26.63 26.69

1345 -0.80 -116.8 2315 1994 3294 3275 160.7 -11.4 210 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1994 3284 3293 3275 0 0 0 0 0 0 26.84 26.91 26.89

1476 -0.80 -116.8 2315 1994 3293 3275 175.4 -11.3 223 1483 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1994 3284 3293 3275 0 0 0 0 0 0 26.86 26.93 26.92

1605 -0.80 -116.8 2315 1994 3293 3274 189.6 -10.7 236 1613 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1994 3284 3294 3275 0 0 0 0 0 0 26.89 26.94 26.94

1734 -0.80 -116.8 2316 1994 3293 3274 203.4 -10.9 249 1739 0.00 1.02 0.00 0.000 516 0.000 0.034 2319 1305 3283 3293 3274 0 0 0 0 0 0 26.90 26.69 26.95

1778 -0.80 -116.8 2319 1304 3294 3275 208.2 -11.1 257 1783 0.00 1.05 0.00 0.000 1030 0.000 0.031 2316 2009 3284 3294 3274 0 0 0 0 0 0 26.74 26.72 26.77

1911 -0.80 -116.8 2315 2009 3294 3274 221.9 -9.3 271 1915 0.00 1.00 0.00 0.000 292 0.000 0.038 2311 2697 3283 3293 3274 0 0 0 0 0 0 26.92 26.70 26.97

1964 -0.80 -116.8 2310 2697 3294 3274 227.6 -10.9 281 1968 0.00 1.00 0.00 0.000 1030 0.000 0.028 2314 1992 3283 3293 3274 0 0 0 0 0 0 26.78 26.76 26.79

2035 end dive: BOTTOM_OBSTACLE_DETECTED

state 2035 begin apogee

2040 -0.18 0.0 2316 1781 3292 3274 235.4 -11.0 289 2227 0.68 0.00 175.95 0.582 10246 0.159 0.000 2517 1779 2787 2839 2735 0 0 0 0 0 0 26.26 25.29 24.79

2232 end apogee: CONTROL_FINISHED_OK

state 2232 begin climb

2234 0.80 116.8 2517 1779 2831 2725 241.1 0.0 308 2430 1.02 1.12 183.68 0.542 11012 0.115 0.034 2831 2488 2311 2438 2184 0 0 0 0 0 0 25.40 24.96 24.65

2496 0.81 129.7 2830 2488 2412 2157 225.7 9.4 346 2500 0.00 1.00 0.00 0.000 1062 0.000 0.042 2834 1833 2284 2412 2157 0 0 0 0 0 0 25.64 25.62 25.67

2628 0.85 157.9 2834 1832 2410 2156 213.8 8.5 360 2690 0.10 1.15 52.78 0.565 10788 0.210 0.048 2861 1109 2147 2282 2012 0 0 0 0 0 0 25.69 25.27 24.94

2714 0.85 157.9 2861 1109 2262 1996 203.9 12.6 372 2718 0.00 1.08 0.00 0.000 1030 0.000 0.041 2858 1799 2128 2261 1995 0 0 0 0 0 0 25.75 25.70 25.74

2847 0.85 157.9 2857 1798 2256 1989 187.3 12.4 386 2850 0.00 1.05 0.00 0.000 260 0.000 0.039 2853 2491 2122 2256 1989 0 0 0 0 0 0 26.20 26.02 26.25

2903 0.85 157.9 2852 2491 2255 1987 180.1 12.0 397 2911 0.00 1.05 0.00 0.000 1030 0.000 0.032 2856 1789 2121 2255 1987 0 0 0 0 0 0 26.15 26.13 26.19

3031 0.85 157.9 2855 1789 2255 1986 165.2 11.9 410 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 2856 1789 2121 2255 1987 0 0 0 0 0 0 26.42 26.48 26.48

3162 0.85 157.9 2855 1789 2254 1986 149.7 11.7 423 3166 0.00 1.08 0.00 0.000 260 0.000 0.038 2852 2494 2120 2254 1986 0 0 0 0 0 0 26.51 26.34 26.58

3236 0.85 157.9 2852 2495 2252 1986 141.3 10.8 437 3241 0.00 1.02 0.00 0.000 1030 0.000 0.033 2856 1802 2119 2252 1986 0 0 0 0 0 0 26.44 26.41 26.46

3372 0.85 157.9 2855 1802 2252 1986 126.7 10.8 451 3375 0.00 1.05 0.00 0.000 260 0.000 0.039 2853 2495 2119 2252 1986 0 0 0 0 0 0 26.63 26.44 26.69

3416 0.85 157.9 2852 2494 2251 1986 121.5 10.7 460 3424 0.00 1.02 0.00 0.000 1030 0.000 0.032 2856 1801 2118 2251 1986 0 0 0 0 0 0 26.51 26.51 26.54

3546 0.85 157.9 2856 1801 2251 1986 107.9 10.6 473 3551 0.00 1.08 0.00 0.000 516 0.000 0.043 2861 1101 2118 2251 1985 0 0 0 0 0 0 26.70 26.49 26.76

3621 0.85 163.0 2861 1101 2251 1986 99.9 9.8 487 3629 0.00 1.05 0.00 0.000 1062 0.000 0.031 2858 1799 2118 2251 1986 0 0 0 0 0 0 26.58 26.55 26.61

3757 0.87 179.4 2857 1798 2251 1986 86.5 9.2 512 3786 0.00 0.00 20.85 0.581 8230 0.000 0.000 2857 1798 2059 2199 1920 0 0 0 0 0 0 26.77 26.11 25.65

3913 0.88 184.8 2857 1798 2176 1899 71.2 9.8 540 3921 0.00 1.08 0.00 0.000 548 0.000 0.041 2861 1102 2038 2176 1900 0 0 0 0 0 0 26.63 26.41 26.65

3959 0.88 184.8 2860 1102 2176 1899 66.3 10.4 548 3966 0.00 1.08 0.00 0.000 1030 0.000 0.031 2858 1813 2037 2176 1899 0 0 0 0 0 0 26.49 26.46 26.51

4096 0.88 184.8 2857 1814 2174 1899 52.2 10.8 573 4105 0.00 1.10 0.00 0.000 516 0.000 0.041 2861 1098 2036 2174 1899 0 0 0 0 0 0 26.69 26.48 26.74

4337 0.91 212.7 2861 1098 2173 1899 29.1 8.5 619 4388 0.00 1.05 45.85 0.518 9254 0.000 0.031 2858 1800 1929 2071 1788 0 0 0 0 0 0 26.61 26.59 25.52

4513 0.93 223.6 2857 1800 2036 1751 12.5 9.5 650 4521 0.10 1.08 0.00 0.000 2596 0.160 0.037 2889 1109 1893 2036 1751 0 0 0 0 0 0 26.16 26.25 26.27

4672 end climb: SURFACE_DEPTH_REACHED

state 4672 begin surface coast

4710 end surface coast: CONTROL_FINISHED_OK

state 4710 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	143	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	50	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	350	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	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	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	0	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	272.0
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	100921,220855,4751.8052,-12511.3857,15,0.9,32,15.7,0.2,239.9,10,5.0	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	121.3,4289,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-62.0	D_GRID	299
GPS2	100921,221319,4751.7930,-12511.4297,4,0.6,6,15.7,0.4,289.8,12,5.8

FINISH	0.3,1.025260	CP_POWER1	0.000000
SM_CCo	4958,0.00,0.000,0,0,550,551.92	_24V_AH	24.34,23.858
SM_GC	0.50,7.50,1.38,0.00,0.061,0.029,0.000,189,1984,550,-7.38,-1.44,551.92,0,0,0,0,0,0,26.47,26.40,25.46	_10V_AH	10.24,13.243
IRIDIUM_FIX	4751.65,-12513.98,100921,203205	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.146804	FG_AHR_10Vo	0.000
HUMID	53.07	MEM	209836
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	36956,686
TCM_TEMP	15.30	CAP_FILE_SIZE	85268,0
XPDR_PINGS	0	CFSIZE	260030464,239083520
ALTIM_BOTTOM_PING	202.3,52.8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	99437772800.000000	CURRENT	0.096,333.90,1
CP_POWER	323.310000	GPS	100921,233801,4751.731,-12511.210,11,1.2,22,15.7,0.7,331.8,8,3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	96.51	SBE_CT	409	64	642.22
Roll_motor	32	68	53.84	WL_blue_red_Chl	1296	37	1181.76
VBD_pump_during_apogee	479	582	6788.80	nil	0	0	0.00
VBD_pump_during_surface	216	622	3281.06	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	4518	25	2749.20
Iridium_during_xfer	160	86	337.70	nil	0	0	0.00
Transponder_ping	1	420	15.33	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.16
TT8	1536	12	192.26
LPSleep	990	2	22.22
TT8_Active	742	12	92.96
TT8_Sampling	1710	37	660.11
TT8_CF8	277	42	121.83
TT8_Kalman	0	0	0.00
Analog_circuits	1585	11	178.56
GPS_charging	0	0	0.00
Compass	1539	8	129.93
RAFOS	0	0	0.00
Transponder	13	30	4.18

		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
65	end surface: CONTROL_FINISHED_OK
state	65	begin dive
67	-0.80	-116.8	173	2010	693	410	0.0	0.0	0	175	0.00	0.00	-105.07	0.012	16386	0.000	0.000	174	2011	3104	3091	3118	0	0	0	0	0	0	26.18	28.83	26.24
177	-0.80	-116.8	173	2010	3092	3118	4.9	-10.2	15	194	8.35	1.10	-3.40	0.030	19204	0.223	0.069	2321	1287	3280	3277	3283	0	0	0	0	0	0	25.76	24.62	25.94
211	-0.80	-116.8	2320	1286	3282	3282	16.4	-29.5	20	219	0.00	1.10	0.00	0.000	1030	0.000	0.041	2317	2004	3282	3282	3282	0	0	0	0	0	0	26.22	26.20	26.25
344	-0.80	-116.8	2316	2004	3287	3278	37.2	-13.2	45	352	0.00	1.02	0.00	0.000	260	0.000	0.048	2311	2699	3282	3287	3278	0	0	0	0	0	0	26.34	26.24	26.38
528	-0.80	-116.8	2310	2699	3290	3277	61.4	-10.9	79	536	0.00	1.02	0.00	0.000	1030	0.000	0.027	2314	1988	3283	3290	3277	0	0	0	0	0	0	26.48	26.46	26.50
661	-0.80	-116.8	2313	1988	3291	3277	76.0	-10.6	104	668	0.00	1.00	0.00	0.000	516	0.000	0.034	2319	1312	3284	3291	3277	0	0	0	0	0	0	26.66	26.47	26.71
911	-0.80	-116.8	2319	1312	3293	3277	106.2	-12.8	150	915	0.00	1.02	0.00	0.000	1030	0.000	0.032	2316	1997	3285	3293	3277	0	0	0	0	0	0	26.60	26.58	26.63
1043	-0.80	-116.8	2316	1997	3293	3276	123.3	-12.6	164	1047	0.00	1.02	0.00	0.000	516	0.000	0.034	2319	1308	3284	3293	3276	0	0	0	0	0	0	26.78	26.59	26.84
1212	-0.80	-116.8	2318	1307	3293	3276	145.1	-12.8	196	1216	0.00	1.02	0.00	0.000	1030	0.000	0.031	2316	1994	3284	3293	3276	0	0	0	0	0	0	26.67	26.63	26.69
1345	-0.80	-116.8	2315	1994	3294	3275	160.7	-11.4	210	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1994	3284	3293	3275	0	0	0	0	0	0	26.84	26.91	26.89
1476	-0.80	-116.8	2315	1994	3293	3275	175.4	-11.3	223	1483	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1994	3284	3293	3275	0	0	0	0	0	0	26.86	26.93	26.92
1605	-0.80	-116.8	2315	1994	3293	3274	189.6	-10.7	236	1613	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1994	3284	3294	3275	0	0	0	0	0	0	26.89	26.94	26.94
1734	-0.80	-116.8	2316	1994	3293	3274	203.4	-10.9	249	1739	0.00	1.02	0.00	0.000	516	0.000	0.034	2319	1305	3283	3293	3274	0	0	0	0	0	0	26.90	26.69	26.95
1778	-0.80	-116.8	2319	1304	3294	3275	208.2	-11.1	257	1783	0.00	1.05	0.00	0.000	1030	0.000	0.031	2316	2009	3284	3294	3274	0	0	0	0	0	0	26.74	26.72	26.77
1911	-0.80	-116.8	2315	2009	3294	3274	221.9	-9.3	271	1915	0.00	1.00	0.00	0.000	292	0.000	0.038	2311	2697	3283	3293	3274	0	0	0	0	0	0	26.92	26.70	26.97
1964	-0.80	-116.8	2310	2697	3294	3274	227.6	-10.9	281	1968	0.00	1.00	0.00	0.000	1030	0.000	0.028	2314	1992	3283	3293	3274	0	0	0	0	0	0	26.78	26.76	26.79
2035	end dive: BOTTOM_OBSTACLE_DETECTED
state	2035	begin apogee
2040	-0.18	0.0	2316	1781	3292	3274	235.4	-11.0	289	2227	0.68	0.00	175.95	0.582	10246	0.159	0.000	2517	1779	2787	2839	2735	0	0	0	0	0	0	26.26	25.29	24.79
2232	end apogee: CONTROL_FINISHED_OK
state	2232	begin climb
2234	0.80	116.8	2517	1779	2831	2725	241.1	0.0	308	2430	1.02	1.12	183.68	0.542	11012	0.115	0.034	2831	2488	2311	2438	2184	0	0	0	0	0	0	25.40	24.96	24.65
2496	0.81	129.7	2830	2488	2412	2157	225.7	9.4	346	2500	0.00	1.00	0.00	0.000	1062	0.000	0.042	2834	1833	2284	2412	2157	0	0	0	0	0	0	25.64	25.62	25.67
2628	0.85	157.9	2834	1832	2410	2156	213.8	8.5	360	2690	0.10	1.15	52.78	0.565	10788	0.210	0.048	2861	1109	2147	2282	2012	0	0	0	0	0	0	25.69	25.27	24.94
2714	0.85	157.9	2861	1109	2262	1996	203.9	12.6	372	2718	0.00	1.08	0.00	0.000	1030	0.000	0.041	2858	1799	2128	2261	1995	0	0	0	0	0	0	25.75	25.70	25.74
2847	0.85	157.9	2857	1798	2256	1989	187.3	12.4	386	2850	0.00	1.05	0.00	0.000	260	0.000	0.039	2853	2491	2122	2256	1989	0	0	0	0	0	0	26.20	26.02	26.25
2903	0.85	157.9	2852	2491	2255	1987	180.1	12.0	397	2911	0.00	1.05	0.00	0.000	1030	0.000	0.032	2856	1789	2121	2255	1987	0	0	0	0	0	0	26.15	26.13	26.19
3031	0.85	157.9	2855	1789	2255	1986	165.2	11.9	410	3039	0.00	0.00	0.00	0.000	6	0.000	0.000	2856	1789	2121	2255	1987	0	0	0	0	0	0	26.42	26.48	26.48
3162	0.85	157.9	2855	1789	2254	1986	149.7	11.7	423	3166	0.00	1.08	0.00	0.000	260	0.000	0.038	2852	2494	2120	2254	1986	0	0	0	0	0	0	26.51	26.34	26.58
3236	0.85	157.9	2852	2495	2252	1986	141.3	10.8	437	3241	0.00	1.02	0.00	0.000	1030	0.000	0.033	2856	1802	2119	2252	1986	0	0	0	0	0	0	26.44	26.41	26.46
3372	0.85	157.9	2855	1802	2252	1986	126.7	10.8	451	3375	0.00	1.05	0.00	0.000	260	0.000	0.039	2853	2495	2119	2252	1986	0	0	0	0	0	0	26.63	26.44	26.69
3416	0.85	157.9	2852	2494	2251	1986	121.5	10.7	460	3424	0.00	1.02	0.00	0.000	1030	0.000	0.032	2856	1801	2118	2251	1986	0	0	0	0	0	0	26.51	26.51	26.54
3546	0.85	157.9	2856	1801	2251	1986	107.9	10.6	473	3551	0.00	1.08	0.00	0.000	516	0.000	0.043	2861	1101	2118	2251	1985	0	0	0	0	0	0	26.70	26.49	26.76
3621	0.85	163.0	2861	1101	2251	1986	99.9	9.8	487	3629	0.00	1.05	0.00	0.000	1062	0.000	0.031	2858	1799	2118	2251	1986	0	0	0	0	0	0	26.58	26.55	26.61
3757	0.87	179.4	2857	1798	2251	1986	86.5	9.2	512	3786	0.00	0.00	20.85	0.581	8230	0.000	0.000	2857	1798	2059	2199	1920	0	0	0	0	0	0	26.77	26.11	25.65
3913	0.88	184.8	2857	1798	2176	1899	71.2	9.8	540	3921	0.00	1.08	0.00	0.000	548	0.000	0.041	2861	1102	2038	2176	1900	0	0	0	0	0	0	26.63	26.41	26.65
3959	0.88	184.8	2860	1102	2176	1899	66.3	10.4	548	3966	0.00	1.08	0.00	0.000	1030	0.000	0.031	2858	1813	2037	2176	1899	0	0	0	0	0	0	26.49	26.46	26.51
4096	0.88	184.8	2857	1814	2174	1899	52.2	10.8	573	4105	0.00	1.10	0.00	0.000	516	0.000	0.041	2861	1098	2036	2174	1899	0	0	0	0	0	0	26.69	26.48	26.74
4337	0.91	212.7	2861	1098	2173	1899	29.1	8.5	619	4388	0.00	1.05	45.85	0.518	9254	0.000	0.031	2858	1800	1929	2071	1788	0	0	0	0	0	0	26.61	26.59	25.52
4513	0.93	223.6	2857	1800	2036	1751	12.5	9.5	650	4521	0.10	1.08	0.00	0.000	2596	0.160	0.037	2889	1109	1893	2036	1751	0	0	0	0	0	0	26.16	26.25	26.27
4672	end climb: SURFACE_DEPTH_REACHED
state	4672	begin surface coast
4710	end surface coast: CONTROL_FINISHED_OK
state	4710	begin surface