Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 144 * 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 144 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 57 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 30 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 274.0

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 274.0 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 57 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 30 XPDR_INHIBIT 90

DIVE 144 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 100921,234825,4751.7578,-12511.3125,1,0.7,3,15.7,0.2,76.6,12,6.8 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 0.55 MHEAD_RNG_PITCHd_Wd 123.1,4167,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -61.1 D_GRID 299

GPS2 100921,235102,4751.7646,-12511.3389,3,0.6,4,15.7,0.5,306.5,12,7.1

Post-dive calculations and measurements:

FINISH -0.3,1.025085 CP_POWER1 0.000000

SM_CCo 5187,0.00,0.000,0,0,550,551.92 _24V_AH 24.33,23.990

SM_GC 0.50,7.65,0.77,0.00,0.059,0.033,0.000,160,2006,550,-7.41,1.47,551.92,0,0,0,0,0,0,26.00,25.96,25.46 _10V_AH 10.18,13.309

IRIDIUM_FIX 4751.26,-12509.51,100921,234608 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.192493 FG_AHR_10Vo 0.000

HUMID 53.74 MEM 209880

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 36963,698

TCM_TEMP 15.40 CAP_FILE_SIZE 105417,0

XPDR_PINGS 0 CFSIZE 260030464,239013888

ALTIM_BOTTOM_PING 213.1,52.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 99437772800.000000 CURRENT 0.045,319.20,1

CP_POWER 323.310000 GPS 110921,011931,4751.599,-12510.967,7,0.8,20,15.7,0.0,0.0,10,3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 95.75 SBE_CT 420 64 659.68

Roll_motor 31 66 50.44 WL_blue_red_Chl 1337 37 1218.43

VBD_pump_during_apogee 594 660 9559.85 nil 0 0 0.00

VBD_pump_during_surface 173 612 2584.90 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 4805 25 2922.64

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 17.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.01

TT8 1549 12 192.79

LPSleep 1181 2 26.34

TT8_Active 791 12 98.51

TT8_Sampling 1516 37 581.91

TT8_CF8 253 42 110.97

TT8_Kalman 0 0 0.00

Analog_circuits 1493 11 167.29

GPS_charging 0 0 0.00

Compass 1564 8 131.23

RAFOS 0 0 0.00

Transponder 15 30 4.67

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

33 end surface: CONTROL_FINISHED_OK

state 34 begin dive

36 -0.80 -116.8 187 2060 692 411 0.0 0.0 0 136 0.00 0.00 -97.90 0.012 16386 0.000 0.000 186 2059 2905 2899 2912 0 0 0 0 0 0 26.33 28.83 26.39

140 -0.80 -116.8 187 2059 2900 2912 3.6 -7.2 14 163 8.20 1.10 -7.97 0.020 19236 0.221 0.067 2308 1307 3279 3282 3276 0 0 0 0 0 0 25.84 25.60 26.00

395 -0.80 -116.8 2308 1306 3290 3275 50.5 -16.2 62 403 0.08 1.08 0.00 0.000 3078 0.183 0.033 2324 2018 3282 3290 3275 0 0 0 0 0 0 26.10 26.41 26.22

528 -0.80 -116.8 2324 2018 3291 3275 65.2 -11.1 87 536 0.00 1.08 0.00 0.000 516 0.000 0.034 2330 1299 3283 3291 3275 0 0 0 0 0 0 26.67 26.48 26.72

704 -0.80 -116.8 2329 1299 3293 3275 87.3 -13.4 120 712 0.00 1.05 0.00 0.000 1030 0.000 0.032 2326 2003 3284 3293 3275 0 0 0 0 0 0 26.59 26.55 26.61

838 -0.80 -116.8 2325 2003 3293 3274 102.4 -11.4 143 844 0.00 1.00 0.00 0.000 260 0.000 0.038 2321 2692 3283 3293 3274 0 0 0 0 0 0 26.77 26.58 26.82

937 -0.80 -116.8 2320 2692 3293 3274 113.9 -11.0 161 941 0.00 1.00 0.00 0.000 1030 0.000 0.027 2324 1980 3283 3293 3274 0 0 0 0 0 0 26.69 26.65 26.68

1069 -0.80 -116.8 2324 1980 3294 3274 127.1 -9.6 175 1073 0.00 1.05 0.00 0.000 292 0.000 0.038 2321 2689 3284 3294 3274 0 0 0 0 0 0 26.82 26.62 26.86

1092 -0.80 -116.8 2320 2689 3295 3274 129.4 -9.9 179 1097 0.00 0.98 0.00 0.000 1062 0.000 0.027 2324 1999 3284 3294 3274 0 0 0 0 0 0 26.70 26.67 26.72

1227 -0.80 -116.8 2324 1997 3294 3274 142.0 -9.6 193 1231 0.00 1.00 0.00 0.000 548 0.000 0.035 2329 1316 3283 3293 3274 0 0 0 0 0 0 26.84 26.64 26.91

1393 -0.80 -116.8 2329 1317 3294 3274 159.8 -10.8 225 1396 0.00 1.02 0.00 0.000 1030 0.000 0.032 2326 2006 3284 3294 3274 0 0 0 0 0 0 26.72 26.69 26.74

1525 -0.80 -116.8 2325 2006 3294 3273 173.5 -10.2 239 1530 0.00 1.00 0.00 0.000 260 0.000 0.039 2321 2694 3283 3294 3273 0 0 0 0 0 0 26.89 26.68 26.94

1560 -0.80 -116.8 2320 2694 3294 3273 177.5 -10.6 246 1568 0.00 0.98 0.00 0.000 1030 0.000 0.026 2324 1999 3283 3293 3273 0 0 0 0 0 0 26.77 26.74 26.81

1689 -0.80 -116.8 2324 1999 3294 3273 191.1 -10.9 259 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 1999 3283 3293 3273 0 0 0 0 0 0 26.94 26.98 26.98

1819 -0.80 -116.8 2324 1999 3294 3272 205.0 -10.7 272 1823 0.00 1.02 0.00 0.000 260 0.000 0.049 2321 2691 3283 3294 3272 0 0 0 0 0 0 26.75 26.63 26.81

1873 -0.80 -116.8 2320 2691 3294 3272 210.7 -10.1 282 1877 0.00 0.98 0.00 0.000 1062 0.000 0.037 2325 2003 3283 3294 3272 0 0 0 0 0 0 26.70 26.67 26.72

2007 -0.80 -116.8 2324 2003 3294 3271 224.3 -10.0 296 2014 0.00 0.00 0.00 0.000 38 0.000 0.000 2324 2003 3282 3294 3271 0 0 0 0 0 0 26.89 26.95 26.94

2136 -0.80 -116.8 2324 2003 3294 3270 237.7 -10.4 309 2138 0.00 0.00 0.00 0.000 6 0.000 0.000 2324 2003 3282 3294 3270 0 0 0 0 0 0 26.91 26.96 26.96

2214 end dive: BOTTOM_OBSTACLE_DETECTED

state 2214 begin apogee

2219 -0.18 0.0 2325 1785 3294 3269 245.9 -10.4 317 2417 0.65 0.00 192.98 0.568 10246 0.153 0.000 2522 1783 2801 2855 2747 0 0 0 0 0 0 26.26 25.28 24.79

2422 end apogee: CONTROL_FINISHED_OK

state 2422 begin climb

2424 0.80 116.8 2522 1783 2842 2735 251.3 0.0 337 2602 1.00 1.05 170.43 0.542 10756 0.116 0.036 2838 1134 2319 2444 2194 0 0 0 0 0 0 25.35 24.96 24.64

2645 0.81 129.6 2837 1134 2414 2173 238.4 9.4 364 2656 0.00 1.05 1.92 0.216 9254 0.000 0.042 2835 1800 2277 2407 2148 0 0 0 0 0 0 25.53 25.51 25.12

2776 0.81 129.6 2834 1800 2417 2149 224.8 10.4 378 2780 0.00 1.05 0.00 0.000 260 0.000 0.048 2829 2492 2283 2417 2149 0 0 0 0 0 0 25.96 25.86 25.99

2872 0.81 129.6 2829 2492 2415 2149 214.8 10.2 396 2876 0.00 1.00 0.00 0.000 1030 0.000 0.043 2831 1824 2282 2416 2149 0 0 0 0 0 0 26.06 26.04 26.09

3005 0.81 130.6 2832 1823 2415 2149 201.4 10.1 410 3008 0.00 1.02 0.00 0.000 292 0.000 0.039 2829 2502 2281 2415 2148 0 0 0 0 0 0 26.39 26.20 26.44

3050 0.81 130.6 2828 2502 2414 2148 196.3 10.4 419 3058 0.00 1.05 0.00 0.000 1030 0.000 0.032 2832 1798 2281 2414 2149 0 0 0 0 0 0 26.29 26.27 26.33

3178 0.81 130.6 2833 1798 2414 2149 183.1 10.5 432 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1798 2281 2413 2149 0 0 0 0 0 0 26.53 26.59 26.60

3310 0.81 130.6 2831 1798 2412 2148 169.2 10.8 445 3314 0.00 1.05 0.00 0.000 260 0.000 0.039 2829 2493 2280 2412 2149 0 0 0 0 0 0 26.60 26.40 26.64

3373 0.81 130.6 2829 2493 2411 2148 162.0 11.1 457 3377 0.00 1.02 0.00 0.000 1030 0.000 0.033 2833 1800 2280 2411 2149 0 0 0 0 0 0 26.49 26.46 26.50

3506 0.82 134.6 2832 1800 2411 2148 148.7 9.9 471 3525 0.00 0.00 12.70 0.661 8230 0.000 0.000 2834 1800 2245 2375 2115 0 0 0 0 0 0 26.68 26.03 25.65

3647 0.83 144.0 2832 1800 2365 2110 135.2 9.6 485 3656 0.08 0.00 2.90 0.661 10278 0.214 0.000 2846 1799 2213 2346 2081 0 0 0 0 0 0 26.30 26.06 25.02

3777 0.86 166.9 2845 1800 2352 2082 123.0 8.8 498 3817 0.00 1.12 35.35 0.584 8740 0.000 0.042 2850 1098 2117 2253 1982 0 0 0 0 0 0 26.63 25.97 25.44

3844 0.86 172.5 2851 1098 2235 1970 116.1 9.8 509 3851 0.00 1.08 0.00 0.000 1062 0.000 0.031 2847 1797 2102 2234 1970 0 0 0 0 0 0 26.17 26.13 26.18

3974 0.86 172.5 2847 1797 2233 1966 102.9 10.4 522 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 1797 2100 2234 1966 0 0 0 0 0 0 26.44 26.49 26.48

4104 0.86 172.5 2847 1797 2232 1965 87.8 11.4 545 4111 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 1797 2098 2232 1965 0 0 0 0 0 0 26.53 26.60 26.59

4235 0.87 173.7 2847 1797 2231 1965 73.2 10.1 570 4243 0.00 1.02 0.00 0.000 292 0.000 0.040 2842 2491 2098 2231 1965 0 0 0 0 0 0 26.61 26.41 26.67

4340 0.87 176.1 2842 2491 2229 1964 62.2 10.0 589 4348 0.00 1.02 0.00 0.000 1062 0.000 0.033 2845 1798 2097 2229 1965 0 0 0 0 0 0 26.52 26.48 26.54

4481 0.93 230.2 2845 1798 2228 1964 50.2 7.0 614 4588 0.15 1.10 96.40 0.508 11044 0.146 0.039 2890 2492 1850 1994 1706 0 0 0 0 0 0 26.36 25.64 25.17

4679 0.93 230.2 2888 2492 1977 1694 28.1 12.8 646 4686 0.00 1.05 0.00 0.000 1030 0.000 0.033 2892 1799 1835 1977 1694 0 0 0 0 0 0 26.05 26.02 26.08

4816 1.00 285.7 2892 1799 1974 1692 13.3 6.9 671 4907 0.00 1.10 81.80 0.480 8484 0.000 0.036 2889 2505 1626 1774 1478 0 0 0 0 0 0 26.40 25.37 25.06

4960 end climb: SURFACE_DEPTH_REACHED

state 4960 begin surface coast

4982 end surface coast: CONTROL_FINISHED_OK

state 4983 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	144	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	57	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	30	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	274.0
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	100921,234825,4751.7578,-12511.3125,1,0.7,3,15.7,0.2,76.6,12,6.8	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	0.55	MHEAD_RNG_PITCHd_Wd	123.1,4167,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-61.1	D_GRID	299
GPS2	100921,235102,4751.7646,-12511.3389,3,0.6,4,15.7,0.5,306.5,12,7.1

FINISH	-0.3,1.025085	CP_POWER1	0.000000
SM_CCo	5187,0.00,0.000,0,0,550,551.92	_24V_AH	24.33,23.990
SM_GC	0.50,7.65,0.77,0.00,0.059,0.033,0.000,160,2006,550,-7.41,1.47,551.92,0,0,0,0,0,0,26.00,25.96,25.46	_10V_AH	10.18,13.309
IRIDIUM_FIX	4751.26,-12509.51,100921,234608	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.192493	FG_AHR_10Vo	0.000
HUMID	53.74	MEM	209880
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	36963,698
TCM_TEMP	15.40	CAP_FILE_SIZE	105417,0
XPDR_PINGS	0	CFSIZE	260030464,239013888
ALTIM_BOTTOM_PING	213.1,52.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	99437772800.000000	CURRENT	0.045,319.20,1
CP_POWER	323.310000	GPS	110921,011931,4751.599,-12510.967,7,0.8,20,15.7,0.0,0.0,10,3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	95.75	SBE_CT	420	64	659.68
Roll_motor	31	66	50.44	WL_blue_red_Chl	1337	37	1218.43
VBD_pump_during_apogee	594	660	9559.85	nil	0	0	0.00
VBD_pump_during_surface	173	612	2584.90	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	4805	25	2922.64
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	17.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.01
TT8	1549	12	192.79
LPSleep	1181	2	26.34
TT8_Active	791	12	98.51
TT8_Sampling	1516	37	581.91
TT8_CF8	253	42	110.97
TT8_Kalman	0	0	0.00
Analog_circuits	1493	11	167.29
GPS_charging	0	0	0.00
Compass	1564	8	131.23
RAFOS	0	0	0.00
Transponder	15	30	4.67

		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
33	end surface: CONTROL_FINISHED_OK
state	34	begin dive
36	-0.80	-116.8	187	2060	692	411	0.0	0.0	0	136	0.00	0.00	-97.90	0.012	16386	0.000	0.000	186	2059	2905	2899	2912	0	0	0	0	0	0	26.33	28.83	26.39
140	-0.80	-116.8	187	2059	2900	2912	3.6	-7.2	14	163	8.20	1.10	-7.97	0.020	19236	0.221	0.067	2308	1307	3279	3282	3276	0	0	0	0	0	0	25.84	25.60	26.00
395	-0.80	-116.8	2308	1306	3290	3275	50.5	-16.2	62	403	0.08	1.08	0.00	0.000	3078	0.183	0.033	2324	2018	3282	3290	3275	0	0	0	0	0	0	26.10	26.41	26.22
528	-0.80	-116.8	2324	2018	3291	3275	65.2	-11.1	87	536	0.00	1.08	0.00	0.000	516	0.000	0.034	2330	1299	3283	3291	3275	0	0	0	0	0	0	26.67	26.48	26.72
704	-0.80	-116.8	2329	1299	3293	3275	87.3	-13.4	120	712	0.00	1.05	0.00	0.000	1030	0.000	0.032	2326	2003	3284	3293	3275	0	0	0	0	0	0	26.59	26.55	26.61
838	-0.80	-116.8	2325	2003	3293	3274	102.4	-11.4	143	844	0.00	1.00	0.00	0.000	260	0.000	0.038	2321	2692	3283	3293	3274	0	0	0	0	0	0	26.77	26.58	26.82
937	-0.80	-116.8	2320	2692	3293	3274	113.9	-11.0	161	941	0.00	1.00	0.00	0.000	1030	0.000	0.027	2324	1980	3283	3293	3274	0	0	0	0	0	0	26.69	26.65	26.68
1069	-0.80	-116.8	2324	1980	3294	3274	127.1	-9.6	175	1073	0.00	1.05	0.00	0.000	292	0.000	0.038	2321	2689	3284	3294	3274	0	0	0	0	0	0	26.82	26.62	26.86
1092	-0.80	-116.8	2320	2689	3295	3274	129.4	-9.9	179	1097	0.00	0.98	0.00	0.000	1062	0.000	0.027	2324	1999	3284	3294	3274	0	0	0	0	0	0	26.70	26.67	26.72
1227	-0.80	-116.8	2324	1997	3294	3274	142.0	-9.6	193	1231	0.00	1.00	0.00	0.000	548	0.000	0.035	2329	1316	3283	3293	3274	0	0	0	0	0	0	26.84	26.64	26.91
1393	-0.80	-116.8	2329	1317	3294	3274	159.8	-10.8	225	1396	0.00	1.02	0.00	0.000	1030	0.000	0.032	2326	2006	3284	3294	3274	0	0	0	0	0	0	26.72	26.69	26.74
1525	-0.80	-116.8	2325	2006	3294	3273	173.5	-10.2	239	1530	0.00	1.00	0.00	0.000	260	0.000	0.039	2321	2694	3283	3294	3273	0	0	0	0	0	0	26.89	26.68	26.94
1560	-0.80	-116.8	2320	2694	3294	3273	177.5	-10.6	246	1568	0.00	0.98	0.00	0.000	1030	0.000	0.026	2324	1999	3283	3293	3273	0	0	0	0	0	0	26.77	26.74	26.81
1689	-0.80	-116.8	2324	1999	3294	3273	191.1	-10.9	259	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	1999	3283	3293	3273	0	0	0	0	0	0	26.94	26.98	26.98
1819	-0.80	-116.8	2324	1999	3294	3272	205.0	-10.7	272	1823	0.00	1.02	0.00	0.000	260	0.000	0.049	2321	2691	3283	3294	3272	0	0	0	0	0	0	26.75	26.63	26.81
1873	-0.80	-116.8	2320	2691	3294	3272	210.7	-10.1	282	1877	0.00	0.98	0.00	0.000	1062	0.000	0.037	2325	2003	3283	3294	3272	0	0	0	0	0	0	26.70	26.67	26.72
2007	-0.80	-116.8	2324	2003	3294	3271	224.3	-10.0	296	2014	0.00	0.00	0.00	0.000	38	0.000	0.000	2324	2003	3282	3294	3271	0	0	0	0	0	0	26.89	26.95	26.94
2136	-0.80	-116.8	2324	2003	3294	3270	237.7	-10.4	309	2138	0.00	0.00	0.00	0.000	6	0.000	0.000	2324	2003	3282	3294	3270	0	0	0	0	0	0	26.91	26.96	26.96
2214	end dive: BOTTOM_OBSTACLE_DETECTED
state	2214	begin apogee
2219	-0.18	0.0	2325	1785	3294	3269	245.9	-10.4	317	2417	0.65	0.00	192.98	0.568	10246	0.153	0.000	2522	1783	2801	2855	2747	0	0	0	0	0	0	26.26	25.28	24.79
2422	end apogee: CONTROL_FINISHED_OK
state	2422	begin climb
2424	0.80	116.8	2522	1783	2842	2735	251.3	0.0	337	2602	1.00	1.05	170.43	0.542	10756	0.116	0.036	2838	1134	2319	2444	2194	0	0	0	0	0	0	25.35	24.96	24.64
2645	0.81	129.6	2837	1134	2414	2173	238.4	9.4	364	2656	0.00	1.05	1.92	0.216	9254	0.000	0.042	2835	1800	2277	2407	2148	0	0	0	0	0	0	25.53	25.51	25.12
2776	0.81	129.6	2834	1800	2417	2149	224.8	10.4	378	2780	0.00	1.05	0.00	0.000	260	0.000	0.048	2829	2492	2283	2417	2149	0	0	0	0	0	0	25.96	25.86	25.99
2872	0.81	129.6	2829	2492	2415	2149	214.8	10.2	396	2876	0.00	1.00	0.00	0.000	1030	0.000	0.043	2831	1824	2282	2416	2149	0	0	0	0	0	0	26.06	26.04	26.09
3005	0.81	130.6	2832	1823	2415	2149	201.4	10.1	410	3008	0.00	1.02	0.00	0.000	292	0.000	0.039	2829	2502	2281	2415	2148	0	0	0	0	0	0	26.39	26.20	26.44
3050	0.81	130.6	2828	2502	2414	2148	196.3	10.4	419	3058	0.00	1.05	0.00	0.000	1030	0.000	0.032	2832	1798	2281	2414	2149	0	0	0	0	0	0	26.29	26.27	26.33
3178	0.81	130.6	2833	1798	2414	2149	183.1	10.5	432	3186	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1798	2281	2413	2149	0	0	0	0	0	0	26.53	26.59	26.60
3310	0.81	130.6	2831	1798	2412	2148	169.2	10.8	445	3314	0.00	1.05	0.00	0.000	260	0.000	0.039	2829	2493	2280	2412	2149	0	0	0	0	0	0	26.60	26.40	26.64
3373	0.81	130.6	2829	2493	2411	2148	162.0	11.1	457	3377	0.00	1.02	0.00	0.000	1030	0.000	0.033	2833	1800	2280	2411	2149	0	0	0	0	0	0	26.49	26.46	26.50
3506	0.82	134.6	2832	1800	2411	2148	148.7	9.9	471	3525	0.00	0.00	12.70	0.661	8230	0.000	0.000	2834	1800	2245	2375	2115	0	0	0	0	0	0	26.68	26.03	25.65
3647	0.83	144.0	2832	1800	2365	2110	135.2	9.6	485	3656	0.08	0.00	2.90	0.661	10278	0.214	0.000	2846	1799	2213	2346	2081	0	0	0	0	0	0	26.30	26.06	25.02
3777	0.86	166.9	2845	1800	2352	2082	123.0	8.8	498	3817	0.00	1.12	35.35	0.584	8740	0.000	0.042	2850	1098	2117	2253	1982	0	0	0	0	0	0	26.63	25.97	25.44
3844	0.86	172.5	2851	1098	2235	1970	116.1	9.8	509	3851	0.00	1.08	0.00	0.000	1062	0.000	0.031	2847	1797	2102	2234	1970	0	0	0	0	0	0	26.17	26.13	26.18
3974	0.86	172.5	2847	1797	2233	1966	102.9	10.4	522	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	1797	2100	2234	1966	0	0	0	0	0	0	26.44	26.49	26.48
4104	0.86	172.5	2847	1797	2232	1965	87.8	11.4	545	4111	0.00	0.00	0.00	0.000	6	0.000	0.000	2848	1797	2098	2232	1965	0	0	0	0	0	0	26.53	26.60	26.59
4235	0.87	173.7	2847	1797	2231	1965	73.2	10.1	570	4243	0.00	1.02	0.00	0.000	292	0.000	0.040	2842	2491	2098	2231	1965	0	0	0	0	0	0	26.61	26.41	26.67
4340	0.87	176.1	2842	2491	2229	1964	62.2	10.0	589	4348	0.00	1.02	0.00	0.000	1062	0.000	0.033	2845	1798	2097	2229	1965	0	0	0	0	0	0	26.52	26.48	26.54
4481	0.93	230.2	2845	1798	2228	1964	50.2	7.0	614	4588	0.15	1.10	96.40	0.508	11044	0.146	0.039	2890	2492	1850	1994	1706	0	0	0	0	0	0	26.36	25.64	25.17
4679	0.93	230.2	2888	2492	1977	1694	28.1	12.8	646	4686	0.00	1.05	0.00	0.000	1030	0.000	0.033	2892	1799	1835	1977	1694	0	0	0	0	0	0	26.05	26.02	26.08
4816	1.00	285.7	2892	1799	1974	1692	13.3	6.9	671	4907	0.00	1.10	81.80	0.480	8484	0.000	0.036	2889	2505	1626	1774	1478	0	0	0	0	0	0	26.40	25.37	25.06
4960	end climb: SURFACE_DEPTH_REACHED
state	4960	begin surface coast
4982	end surface coast: CONTROL_FINISHED_OK
state	4983	begin surface