Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 147 * 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 147 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 69 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 62 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 0

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 280.0

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 280.0 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 0 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 69 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 62 XPDR_INHIBIT 90

DIVE 147 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 110921,030221,4751.8950,-12510.6309,3,0.9,5,15.7,0.5,85.6,11,9.1 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 0.61 MHEAD_RNG_PITCHd_Wd 163.0,3699,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -62.8 D_GRID 255

GPS2 110921,030503,4751.8979,-12510.6182,4,0.9,6,15.7,0.3,56.2,11,8.3

Post-dive calculations and measurements:

FINISH -0.4,1.012977 _10V_AH 10.23,13.438

SM_CCo 5038,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.53,7.50,0.28,0.00,0.055,0.052,0.000,191,2014,550,-7.38,-1.55,551.92,0,0,0,0,0,0,26.38,26.33,25.53 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,110921,025758 MEM 209828

TT8_MAMPS 0.021721,0.17976 DATA_FILE_SIZE 36779,727

HUMID 54.09 CAP_FILE_SIZE 98100,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,238882816

TCM_TEMP 15.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 INTR 0,4253.83,0x235ab2,1,24

ALTIM_BOTTOM_PING 201.1,54.5 CURRENT 0.036,221.94,1

_24V_AH 24.65,24.313 GPS 110921,043101,4751.427,-12510.771,31,1.1,32,15.7,0.2,0.0,9,4.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 105.75 SBE_CT 415 64 660.09

Roll_motor 26 65 43.10 WL_blue_red_Chl 1318 37 1216.95

VBD_pump_during_apogee 532 561 7376.68 nil 0 0 0.00

VBD_pump_during_surface 165 638 2607.13 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 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.32

TT8 1560 12 195.11

LPSleep 1102 2 24.69

TT8_Active 709 12 88.75

TT8_Sampling 1515 37 584.32

TT8_CF8 243 42 107.08

TT8_Kalman 0 0 0.00

Analog_circuits 1419 11 159.69

GPS_charging 0 0 0.00

Compass 1618 8 136.47

RAFOS 0 0 0.00

Transponder 10 30 3.29

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.80 -116.8 190 2054 683 417 0.0 0.0 0 114 0.00 0.00 -104.62 0.004 16386 0.000 0.000 190 2056 3157 3144 3170 0 0 0 0 0 0 26.57 28.83 26.63

117 -0.80 -116.8 190 2056 3146 3170 4.7 -9.6 15 134 8.10 0.95 -2.33 0.029 18724 0.205 0.066 2316 2699 3279 3279 3280 0 0 0 0 0 0 25.96 24.84 26.12

251 -0.80 -116.8 2316 2700 3286 3276 30.5 -14.0 39 258 0.00 1.00 0.00 0.000 1030 0.000 0.026 2319 1997 3280 3286 3275 0 0 0 0 0 0 26.53 26.50 26.54

389 -0.80 -116.8 2318 1996 3289 3274 51.6 -14.7 64 397 0.00 1.00 0.00 0.000 516 0.000 0.033 2320 1315 3281 3289 3274 0 0 0 0 0 0 26.78 26.53 26.83

609 -0.80 -116.8 2319 1315 3290 3274 80.2 -11.6 105 616 0.00 1.00 0.00 0.000 1030 0.000 0.029 2316 1987 3282 3291 3274 0 0 0 0 0 0 26.69 26.63 26.67

748 -0.80 -116.8 2316 1986 3291 3274 96.8 -11.9 130 755 0.00 1.02 0.00 0.000 260 0.000 0.037 2311 2694 3282 3291 3274 0 0 0 0 0 0 26.90 26.64 26.96

870 -0.80 -116.8 2310 2694 3290 3274 112.1 -12.2 152 875 0.03 0.98 0.00 0.000 3078 0.217 0.025 2321 1995 3282 3291 3274 0 0 0 0 0 0 26.51 26.72 26.55

1004 -0.80 -116.8 2320 1994 3291 3274 126.7 -10.0 166 1007 0.00 0.98 0.00 0.000 548 0.000 0.032 2326 1322 3282 3291 3273 0 0 0 0 0 0 26.95 26.70 27.01

1098 -0.80 -116.8 2325 1322 3290 3273 135.7 -9.5 184 1104 0.00 1.00 0.00 0.000 1062 0.000 0.030 2323 2000 3282 3290 3274 0 0 0 0 0 0 26.75 26.73 26.77

1232 -0.80 -116.8 2322 2000 3291 3273 148.3 -9.2 198 1236 0.00 1.00 0.00 0.000 292 0.000 0.037 2318 2694 3282 3291 3273 0 0 0 0 0 0 27.00 26.72 27.05

1318 -0.80 -116.8 2317 2694 3291 3273 156.9 -9.4 215 1325 0.00 0.98 0.00 0.000 1062 0.000 0.026 2321 1992 3281 3291 3272 0 0 0 0 0 0 26.82 26.80 26.83

1448 -0.80 -116.8 2320 1992 3291 3272 168.5 -9.6 228 1456 0.00 0.00 0.00 0.000 38 0.000 0.000 2321 1991 3281 3291 3272 0 0 0 0 0 0 27.02 27.09 27.08

1577 -0.80 -116.8 2320 1991 3291 3271 178.9 -6.5 241 1580 0.00 1.02 0.00 0.000 292 0.000 0.036 2317 2693 3281 3291 3271 0 0 0 0 0 0 27.04 26.77 27.10

1666 -0.80 -116.8 2317 2693 3291 3270 184.3 -6.3 258 1673 0.00 0.98 0.00 0.000 1062 0.000 0.026 2321 1993 3280 3291 3270 0 0 0 0 0 0 26.86 26.83 26.89

1793 -0.80 -116.8 2320 1991 3291 3269 196.2 -11.1 271 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 2321 1991 3279 3290 3269 0 0 0 0 0 0 27.09 27.13 27.11

1914 -0.80 -116.8 2320 1990 3290 3268 211.5 -12.4 283 1917 0.00 0.98 0.00 0.000 516 0.000 0.033 2326 1319 3279 3291 3268 0 0 0 0 0 0 27.07 26.81 27.13

2106 -0.80 -116.8 2325 1319 3290 3267 232.7 -10.8 319 2110 0.00 1.00 0.00 0.000 1030 0.000 0.031 2323 1999 3278 3290 3267 0 0 0 0 0 0 26.86 26.83 26.89

2136 end dive: BOTTOM_OBSTACLE_DETECTED

state 2136 begin apogee

2141 -0.18 0.0 2322 1774 3291 3266 236.1 -11.1 323 2329 0.65 0.00 182.80 0.562 10246 0.158 0.000 2519 1772 2799 2851 2747 0 0 0 0 0 0 26.39 25.37 24.88

2329 end apogee: CONTROL_FINISHED_OK

state 2330 begin climb

2331 0.80 116.8 2519 1772 2843 2738 241.7 0.0 342 2516 1.02 1.00 172.38 0.546 10756 0.114 0.036 2843 1145 2312 2434 2190 0 0 0 0 0 0 25.39 25.05 24.72

2747 0.80 116.8 2843 1145 2401 2168 205.7 10.6 423 2755 0.00 1.00 0.00 0.000 1030 0.000 0.031 2841 1800 2284 2401 2167 0 0 0 0 0 0 26.16 26.13 26.19

2877 0.80 122.1 2840 1800 2401 2164 192.4 9.8 436 2885 0.00 0.00 0.00 0.000 38 0.000 0.000 2840 1800 2282 2401 2164 0 0 0 0 0 0 26.52 26.58 26.58

3006 0.80 122.1 2840 1800 2400 2163 179.2 10.2 449 3013 0.00 0.00 0.00 0.000 6 0.000 0.000 2841 1800 2281 2400 2163 0 0 0 0 0 0 26.63 26.69 26.68

3138 0.82 132.5 2840 1800 2399 2162 165.7 9.5 462 3142 0.00 0.00 2.20 0.314 8742 0.000 0.000 2841 1800 2260 2381 2139 0 0 0 0 0 0 26.71 26.03 25.11

3270 0.82 132.5 2840 1800 2397 2147 152.0 10.4 476 3272 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1800 2272 2397 2147 0 0 0 0 0 0 26.76 26.82 26.82

3390 0.82 134.2 2840 1800 2397 2147 139.9 10.0 488 3402 0.00 1.02 2.62 0.418 8740 0.000 0.039 2843 1140 2257 2383 2132 0 0 0 0 0 0 26.81 26.22 25.15

3427 0.82 134.2 2843 1140 2391 2138 135.7 10.8 495 3436 0.00 1.00 0.00 0.000 1030 0.000 0.029 2841 1805 2264 2391 2137 0 0 0 0 0 0 26.60 26.56 26.62

3555 0.82 134.2 2840 1805 2394 2139 122.4 10.5 508 3560 0.00 1.00 0.00 0.000 516 0.000 0.039 2844 1147 2266 2394 2139 0 0 0 0 0 0 26.84 26.55 26.89

3652 0.82 135.7 2843 1146 2395 2139 111.9 10.1 527 3660 0.00 0.98 2.90 0.461 9254 0.000 0.031 2840 1802 2248 2375 2121 0 0 0 0 0 0 26.67 26.63 25.16

3782 0.84 154.4 2840 1802 2389 2131 100.1 9.0 540 3826 0.00 0.00 39.50 0.548 8230 0.000 0.000 2841 1803 2168 2297 2039 0 0 0 0 0 0 26.89 26.06 25.58

3955 0.85 164.3 2840 1802 2264 2010 83.3 9.6 570 3963 0.08 1.02 0.00 0.000 2340 0.245 0.037 2849 2492 2137 2265 2010 0 0 0 0 0 0 26.23 26.33 26.32

4106 0.85 164.3 2849 2493 2264 2008 66.2 11.9 598 4113 0.00 0.95 0.00 0.000 1030 0.000 0.033 2852 1844 2136 2264 2009 0 0 0 0 0 0 26.51 26.47 26.52

4246 0.90 203.8 2852 1844 2263 2008 53.3 7.8 623 4321 0.08 1.02 69.30 0.509 10532 0.178 0.037 2870 2490 1966 2104 1828 0 0 0 0 0 0 26.50 25.82 25.32

4376 0.95 246.5 2870 2490 2069 1794 43.0 7.6 643 4436 0.00 1.02 55.88 0.498 9254 0.000 0.032 2873 1809 1795 1938 1652 0 0 0 0 0 0 26.10 26.08 25.11

4562 0.95 246.5 2873 1809 1898 1614 24.9 10.3 675 4569 0.00 1.10 0.00 0.000 516 0.000 0.041 2879 1104 1756 1898 1614 0 0 0 0 0 0 26.29 26.04 26.35

4807 1.01 291.2 2878 1104 1893 1612 2.1 7.5 721 4816 0.08 1.05 5.38 0.500 11298 0.111 0.031 2905 1796 1715 1858 1573 0 0 0 0 0 0 26.17 26.36 26.25

4817 end climb: SURFACE_DEPTH_REACHED

state 4817 begin surface coast

4844 end surface coast: CONTROL_FINISHED_OK

state 4844 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	147	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	69	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	62	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	0
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	280.0
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	110921,030221,4751.8950,-12510.6309,3,0.9,5,15.7,0.5,85.6,11,9.1	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	0.61	MHEAD_RNG_PITCHd_Wd	163.0,3699,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-62.8	D_GRID	255
GPS2	110921,030503,4751.8979,-12510.6182,4,0.9,6,15.7,0.3,56.2,11,8.3

FINISH	-0.4,1.012977	_10V_AH	10.23,13.438
SM_CCo	5038,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.53,7.50,0.28,0.00,0.055,0.052,0.000,191,2014,550,-7.38,-1.55,551.92,0,0,0,0,0,0,26.38,26.33,25.53	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,110921,025758	MEM	209828
TT8_MAMPS	0.021721,0.17976	DATA_FILE_SIZE	36779,727
HUMID	54.09	CAP_FILE_SIZE	98100,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,238882816
TCM_TEMP	15.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	INTR	0,4253.83,0x235ab2,1,24
ALTIM_BOTTOM_PING	201.1,54.5	CURRENT	0.036,221.94,1
_24V_AH	24.65,24.313	GPS	110921,043101,4751.427,-12510.771,31,1.1,32,15.7,0.2,0.0,9,4.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	105.75	SBE_CT	415	64	660.09
Roll_motor	26	65	43.10	WL_blue_red_Chl	1318	37	1216.95
VBD_pump_during_apogee	532	561	7376.68	nil	0	0	0.00
VBD_pump_during_surface	165	638	2607.13	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	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.32
TT8	1560	12	195.11
LPSleep	1102	2	24.69
TT8_Active	709	12	88.75
TT8_Sampling	1515	37	584.32
TT8_CF8	243	42	107.08
TT8_Kalman	0	0	0.00
Analog_circuits	1419	11	159.69
GPS_charging	0	0	0.00
Compass	1618	8	136.47
RAFOS	0	0	0.00
Transponder	10	30	3.29

		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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.80	-116.8	190	2054	683	417	0.0	0.0	0	114	0.00	0.00	-104.62	0.004	16386	0.000	0.000	190	2056	3157	3144	3170	0	0	0	0	0	0	26.57	28.83	26.63
117	-0.80	-116.8	190	2056	3146	3170	4.7	-9.6	15	134	8.10	0.95	-2.33	0.029	18724	0.205	0.066	2316	2699	3279	3279	3280	0	0	0	0	0	0	25.96	24.84	26.12
251	-0.80	-116.8	2316	2700	3286	3276	30.5	-14.0	39	258	0.00	1.00	0.00	0.000	1030	0.000	0.026	2319	1997	3280	3286	3275	0	0	0	0	0	0	26.53	26.50	26.54
389	-0.80	-116.8	2318	1996	3289	3274	51.6	-14.7	64	397	0.00	1.00	0.00	0.000	516	0.000	0.033	2320	1315	3281	3289	3274	0	0	0	0	0	0	26.78	26.53	26.83
609	-0.80	-116.8	2319	1315	3290	3274	80.2	-11.6	105	616	0.00	1.00	0.00	0.000	1030	0.000	0.029	2316	1987	3282	3291	3274	0	0	0	0	0	0	26.69	26.63	26.67
748	-0.80	-116.8	2316	1986	3291	3274	96.8	-11.9	130	755	0.00	1.02	0.00	0.000	260	0.000	0.037	2311	2694	3282	3291	3274	0	0	0	0	0	0	26.90	26.64	26.96
870	-0.80	-116.8	2310	2694	3290	3274	112.1	-12.2	152	875	0.03	0.98	0.00	0.000	3078	0.217	0.025	2321	1995	3282	3291	3274	0	0	0	0	0	0	26.51	26.72	26.55
1004	-0.80	-116.8	2320	1994	3291	3274	126.7	-10.0	166	1007	0.00	0.98	0.00	0.000	548	0.000	0.032	2326	1322	3282	3291	3273	0	0	0	0	0	0	26.95	26.70	27.01
1098	-0.80	-116.8	2325	1322	3290	3273	135.7	-9.5	184	1104	0.00	1.00	0.00	0.000	1062	0.000	0.030	2323	2000	3282	3290	3274	0	0	0	0	0	0	26.75	26.73	26.77
1232	-0.80	-116.8	2322	2000	3291	3273	148.3	-9.2	198	1236	0.00	1.00	0.00	0.000	292	0.000	0.037	2318	2694	3282	3291	3273	0	0	0	0	0	0	27.00	26.72	27.05
1318	-0.80	-116.8	2317	2694	3291	3273	156.9	-9.4	215	1325	0.00	0.98	0.00	0.000	1062	0.000	0.026	2321	1992	3281	3291	3272	0	0	0	0	0	0	26.82	26.80	26.83
1448	-0.80	-116.8	2320	1992	3291	3272	168.5	-9.6	228	1456	0.00	0.00	0.00	0.000	38	0.000	0.000	2321	1991	3281	3291	3272	0	0	0	0	0	0	27.02	27.09	27.08
1577	-0.80	-116.8	2320	1991	3291	3271	178.9	-6.5	241	1580	0.00	1.02	0.00	0.000	292	0.000	0.036	2317	2693	3281	3291	3271	0	0	0	0	0	0	27.04	26.77	27.10
1666	-0.80	-116.8	2317	2693	3291	3270	184.3	-6.3	258	1673	0.00	0.98	0.00	0.000	1062	0.000	0.026	2321	1993	3280	3291	3270	0	0	0	0	0	0	26.86	26.83	26.89
1793	-0.80	-116.8	2320	1991	3291	3269	196.2	-11.1	271	1795	0.00	0.00	0.00	0.000	6	0.000	0.000	2321	1991	3279	3290	3269	0	0	0	0	0	0	27.09	27.13	27.11
1914	-0.80	-116.8	2320	1990	3290	3268	211.5	-12.4	283	1917	0.00	0.98	0.00	0.000	516	0.000	0.033	2326	1319	3279	3291	3268	0	0	0	0	0	0	27.07	26.81	27.13
2106	-0.80	-116.8	2325	1319	3290	3267	232.7	-10.8	319	2110	0.00	1.00	0.00	0.000	1030	0.000	0.031	2323	1999	3278	3290	3267	0	0	0	0	0	0	26.86	26.83	26.89
2136	end dive: BOTTOM_OBSTACLE_DETECTED
state	2136	begin apogee
2141	-0.18	0.0	2322	1774	3291	3266	236.1	-11.1	323	2329	0.65	0.00	182.80	0.562	10246	0.158	0.000	2519	1772	2799	2851	2747	0	0	0	0	0	0	26.39	25.37	24.88
2329	end apogee: CONTROL_FINISHED_OK
state	2330	begin climb
2331	0.80	116.8	2519	1772	2843	2738	241.7	0.0	342	2516	1.02	1.00	172.38	0.546	10756	0.114	0.036	2843	1145	2312	2434	2190	0	0	0	0	0	0	25.39	25.05	24.72
2747	0.80	116.8	2843	1145	2401	2168	205.7	10.6	423	2755	0.00	1.00	0.00	0.000	1030	0.000	0.031	2841	1800	2284	2401	2167	0	0	0	0	0	0	26.16	26.13	26.19
2877	0.80	122.1	2840	1800	2401	2164	192.4	9.8	436	2885	0.00	0.00	0.00	0.000	38	0.000	0.000	2840	1800	2282	2401	2164	0	0	0	0	0	0	26.52	26.58	26.58
3006	0.80	122.1	2840	1800	2400	2163	179.2	10.2	449	3013	0.00	0.00	0.00	0.000	6	0.000	0.000	2841	1800	2281	2400	2163	0	0	0	0	0	0	26.63	26.69	26.68
3138	0.82	132.5	2840	1800	2399	2162	165.7	9.5	462	3142	0.00	0.00	2.20	0.314	8742	0.000	0.000	2841	1800	2260	2381	2139	0	0	0	0	0	0	26.71	26.03	25.11
3270	0.82	132.5	2840	1800	2397	2147	152.0	10.4	476	3272	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1800	2272	2397	2147	0	0	0	0	0	0	26.76	26.82	26.82
3390	0.82	134.2	2840	1800	2397	2147	139.9	10.0	488	3402	0.00	1.02	2.62	0.418	8740	0.000	0.039	2843	1140	2257	2383	2132	0	0	0	0	0	0	26.81	26.22	25.15
3427	0.82	134.2	2843	1140	2391	2138	135.7	10.8	495	3436	0.00	1.00	0.00	0.000	1030	0.000	0.029	2841	1805	2264	2391	2137	0	0	0	0	0	0	26.60	26.56	26.62
3555	0.82	134.2	2840	1805	2394	2139	122.4	10.5	508	3560	0.00	1.00	0.00	0.000	516	0.000	0.039	2844	1147	2266	2394	2139	0	0	0	0	0	0	26.84	26.55	26.89
3652	0.82	135.7	2843	1146	2395	2139	111.9	10.1	527	3660	0.00	0.98	2.90	0.461	9254	0.000	0.031	2840	1802	2248	2375	2121	0	0	0	0	0	0	26.67	26.63	25.16
3782	0.84	154.4	2840	1802	2389	2131	100.1	9.0	540	3826	0.00	0.00	39.50	0.548	8230	0.000	0.000	2841	1803	2168	2297	2039	0	0	0	0	0	0	26.89	26.06	25.58
3955	0.85	164.3	2840	1802	2264	2010	83.3	9.6	570	3963	0.08	1.02	0.00	0.000	2340	0.245	0.037	2849	2492	2137	2265	2010	0	0	0	0	0	0	26.23	26.33	26.32
4106	0.85	164.3	2849	2493	2264	2008	66.2	11.9	598	4113	0.00	0.95	0.00	0.000	1030	0.000	0.033	2852	1844	2136	2264	2009	0	0	0	0	0	0	26.51	26.47	26.52
4246	0.90	203.8	2852	1844	2263	2008	53.3	7.8	623	4321	0.08	1.02	69.30	0.509	10532	0.178	0.037	2870	2490	1966	2104	1828	0	0	0	0	0	0	26.50	25.82	25.32
4376	0.95	246.5	2870	2490	2069	1794	43.0	7.6	643	4436	0.00	1.02	55.88	0.498	9254	0.000	0.032	2873	1809	1795	1938	1652	0	0	0	0	0	0	26.10	26.08	25.11
4562	0.95	246.5	2873	1809	1898	1614	24.9	10.3	675	4569	0.00	1.10	0.00	0.000	516	0.000	0.041	2879	1104	1756	1898	1614	0	0	0	0	0	0	26.29	26.04	26.35
4807	1.01	291.2	2878	1104	1893	1612	2.1	7.5	721	4816	0.08	1.05	5.38	0.500	11298	0.111	0.031	2905	1796	1715	1858	1573	0	0	0	0	0	0	26.17	26.36	26.25
4817	end climb: SURFACE_DEPTH_REACHED
state	4817	begin surface coast
4844	end surface coast: CONTROL_FINISHED_OK
state	4844	begin surface