Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 148 * 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 148 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 47 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 61 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 47 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 61 XPDR_INHIBIT 90

DIVE 148 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 110921,043101,4751.4272,-12510.7715,31,1.1,32,15.7,0.2,0.0,9,4.8 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 0.50 MHEAD_RNG_PITCHd_Wd 103.2,3203,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.1 D_GRID 261

GPS2 110921,043523,4751.4160,-12510.7607,3,0.7,5,15.7,0.3,0.0,12,9.9

Post-dive calculations and measurements:

FINISH -0.2,1.025113 _10V_AH 10.26,13.496

SM_CCo 4911,0.00,0.000,0,0,548,551.92 FG_AHR_24Vo 0.000

SM_GC 0.49,7.43,0.28,0.00,0.055,0.051,0.000,179,2011,548,-7.39,-1.55,551.92,0,0,0,0,0,0,26.47,26.44,25.49 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4755.47,-12359.23,110921,030315 MEM 209888

TT8_MAMPS 0.021721,0.146804 DATA_FILE_SIZE 36916,705

HUMID 54.05 CAP_FILE_SIZE 81196,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,238837760

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.054,253.08,1

ALTIM_BOTTOM_PING 212.3,42.8 GPS 110921,055852,4751.248,-12510.370,7,0.8,8,15.7,0.2,0.0,12,8.2

_24V_AH 24.37,24.428

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 94.96 SBE_CT 407 64 640.24

Roll_motor 29 64 45.65 WL_blue_red_Chl 1290 37 1177.67

VBD_pump_during_apogee 482 598 7047.68 nil 0 0 0.00

VBD_pump_during_surface 199 627 3045.23 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 176 96 415.19 nil 0 0 0.00

Transponder_ping 1 420 15.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.13

TT8 1535 12 192.55

LPSleep 1070 2 24.04

TT8_Active 703 12 88.26

TT8_Sampling 1630 37 630.48

TT8_CF8 257 42 113.57

TT8_Kalman 0 0 0.00

Analog_circuits 1574 11 177.74

GPS_charging 0 0 0.00

Compass 1563 8 132.22

RAFOS 0 0 0.00

Transponder 12 30 3.80

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.80 -116.8 166 2018 689 410 0.0 0.0 0 115 0.00 0.00 -105.15 0.004 16386 0.000 0.000 166 2017 3022 3010 3035 0 0 0 0 0 0 26.35 28.83 26.44

118 -0.80 -116.8 166 2017 3011 3036 4.2 -8.1 15 136 8.30 1.02 -5.35 0.015 18724 0.208 0.064 2314 2687 3278 3278 3278 0 0 0 0 0 0 25.82 24.70 25.98

149 -0.80 -116.8 2313 2695 3282 3278 14.3 -29.7 19 157 0.00 1.02 0.00 0.000 1030 0.000 0.026 2313 1988 3280 3282 3278 0 0 0 0 0 0 26.30 26.27 26.32

288 -0.80 -116.8 2313 1986 3286 3276 38.5 -15.5 44 296 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 1986 3281 3286 3276 0 0 0 0 0 0 26.60 26.71 26.67

422 -0.80 -116.8 2313 1986 3288 3275 58.2 -14.8 69 430 0.08 1.00 0.00 0.000 2564 0.221 0.034 2331 1309 3281 3288 3275 0 0 0 0 0 0 26.37 26.44 26.44

662 -0.80 -116.8 2331 1309 3290 3275 90.7 -11.9 115 669 0.00 1.02 0.00 0.000 1030 0.000 0.031 2328 1995 3282 3290 3275 0 0 0 0 0 0 26.59 26.56 26.62

802 -0.80 -116.8 2327 1995 3290 3274 106.1 -11.4 136 807 0.00 1.02 0.00 0.000 516 0.000 0.033 2331 1305 3282 3291 3274 0 0 0 0 0 0 26.86 26.59 26.91

1040 -0.80 -116.8 2330 1305 3291 3274 132.2 -9.9 182 1044 0.00 1.02 0.00 0.000 1062 0.000 0.031 2328 1996 3282 3291 3274 0 0 0 0 0 0 26.70 26.67 26.72

1174 -0.80 -116.8 2327 1995 3292 3274 145.5 -11.2 196 1179 0.00 1.00 0.00 0.000 516 0.000 0.033 2332 1319 3282 3291 3274 0 0 0 0 0 0 26.95 26.67 27.00

1291 -0.80 -116.8 2330 1319 3291 3274 159.3 -11.0 219 1299 0.00 1.00 0.00 0.000 1030 0.000 0.031 2328 1998 3283 3292 3274 0 0 0 0 0 0 26.74 26.71 26.76

1419 -0.80 -116.8 2327 1998 3292 3274 173.6 -11.7 232 1424 0.00 1.00 0.00 0.000 260 0.000 0.037 2322 2689 3283 3292 3274 0 0 0 0 0 0 26.98 26.70 27.04

1474 -0.80 -116.8 2322 2690 3292 3274 179.8 -11.2 242 1479 0.00 0.98 0.00 0.000 1030 0.000 0.026 2326 1992 3282 3291 3274 0 0 0 0 0 0 26.79 26.77 26.79

1608 -0.80 -116.8 2325 1992 3292 3274 193.9 -10.5 256 1612 0.00 1.02 0.00 0.000 260 0.000 0.038 2323 2690 3282 3291 3273 0 0 0 0 0 0 27.01 26.73 27.06

1650 -0.80 -116.8 2322 2690 3292 3273 198.4 -10.1 264 1655 0.00 0.98 0.00 0.000 1030 0.000 0.027 2326 1995 3283 3292 3274 0 0 0 0 0 0 26.81 26.79 26.84

1783 -0.80 -116.8 2325 1994 3292 3273 211.6 -9.8 278 1793 0.00 0.98 0.00 0.000 548 0.000 0.034 2331 1323 3283 3292 3274 0 0 0 0 0 0 27.03 26.76 27.10

1833 -0.80 -116.8 2330 1323 3292 3274 216.6 -9.8 286 1837 0.00 1.00 0.00 0.000 1062 0.000 0.031 2328 2000 3282 3292 3273 0 0 0 0 0 0 26.80 26.77 26.83

1967 -0.80 -116.8 2327 2000 3292 3273 230.1 -10.0 300 1975 0.00 0.00 0.00 0.000 38 0.000 0.000 2328 2000 3282 3292 3273 0 0 0 0 0 0 27.05 27.11 27.10

2023 end dive: BOTTOM_OBSTACLE_DETECTED

state 2023 begin apogee

2028 -0.18 0.0 2328 1781 3292 3273 236.0 -9.7 306 2207 0.65 0.00 174.23 0.575 10246 0.154 0.000 2524 1779 2798 2852 2744 0 0 0 0 0 0 26.35 25.34 24.83

2208 end apogee: CONTROL_FINISHED_OK

state 2208 begin climb

2210 0.80 116.8 2524 1779 2842 2735 239.7 0.0 324 2394 1.00 1.05 175.80 0.552 10756 0.116 0.039 2838 1141 2319 2444 2195 0 0 0 0 0 0 25.38 25.16 24.67

2495 0.80 116.8 2837 1141 2408 2168 216.9 10.7 379 2503 0.00 1.02 0.00 0.000 1030 0.000 0.029 2835 1800 2287 2408 2167 0 0 0 0 0 0 25.84 25.81 25.89

2622 0.80 116.8 2834 1800 2406 2164 203.8 10.3 392 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 1800 2285 2406 2164 0 0 0 0 0 0 26.31 26.37 26.36

2743 0.80 119.3 2834 1799 2404 2163 191.9 10.0 404 2747 0.00 1.05 0.00 0.000 292 0.000 0.039 2830 2496 2283 2404 2163 0 0 0 0 0 0 26.47 26.22 26.53

2830 0.80 119.3 2829 2496 2403 2161 181.7 12.2 421 2839 0.00 0.98 0.00 0.000 1030 0.000 0.032 2833 1837 2282 2403 2161 0 0 0 0 0 0 26.35 26.33 26.38

2962 0.80 119.3 2832 1836 2403 2161 167.8 11.3 434 2966 0.00 1.00 0.00 0.000 260 0.000 0.037 2829 2500 2281 2402 2161 0 0 0 0 0 0 26.65 26.40 26.71

3005 0.80 119.3 2829 2500 2402 2161 163.0 10.4 442 3009 0.00 1.05 0.00 0.000 1030 0.000 0.031 2833 1791 2281 2402 2161 0 0 0 0 0 0 26.46 26.44 26.50

3139 0.80 119.3 2832 1791 2402 2161 148.9 10.8 456 3146 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1791 2281 2402 2161 0 0 0 0 0 0 26.74 26.80 26.80

3267 0.81 125.0 2834 1791 2402 2161 135.9 9.8 469 3276 0.00 0.00 0.00 0.000 38 0.000 0.000 2833 1791 2281 2401 2161 0 0 0 0 0 0 26.79 26.86 26.85

3398 0.82 132.8 2833 1791 2402 2161 123.8 9.7 482 3403 0.00 1.00 2.55 0.429 8740 0.000 0.037 2838 1110 2261 2386 2136 0 0 0 0 0 0 26.84 25.82 25.11

3485 0.82 132.8 2838 1104 2400 2147 114.7 10.4 498 3496 0.00 1.05 1.92 0.207 9222 0.000 0.031 2835 1803 2263 2390 2137 0 0 0 0 0 0 26.64 26.60 25.96

3617 0.82 132.8 2834 1803 2399 2144 100.9 10.7 512 3621 0.00 1.08 0.00 0.000 516 0.000 0.041 2838 1102 2272 2400 2144 0 0 0 0 0 0 26.87 26.58 26.92

3725 0.86 170.6 2838 1102 2400 2144 91.2 7.9 532 3801 0.08 1.05 70.20 0.527 11302 0.186 0.031 2857 1798 2103 2237 1970 0 0 0 0 0 0 26.27 26.65 25.37

3927 0.89 190.1 2856 1798 2201 1933 72.1 9.0 566 3948 0.00 1.02 15.32 0.578 8484 0.000 0.034 2853 2497 2020 2159 1882 0 0 0 0 0 0 26.44 25.71 25.34

4099 0.90 205.3 2854 2498 2138 1861 55.8 9.3 598 4108 0.00 1.05 4.03 0.599 9254 0.000 0.031 2857 1792 1964 2106 1822 0 0 0 0 0 0 26.30 26.27 25.30

4235 0.93 224.7 2857 1792 2122 1829 44.1 9.0 623 4279 0.10 1.10 38.75 0.519 10788 0.142 0.041 2891 1107 1881 2026 1736 0 0 0 0 0 0 26.29 25.87 25.35

4415 0.93 224.7 2890 1107 1988 1712 22.7 12.3 655 4422 0.00 1.05 0.00 0.000 1030 0.000 0.031 2887 1796 1850 1988 1712 0 0 0 0 0 0 26.25 26.22 26.27

4552 0.94 234.8 2887 1796 1987 1708 7.9 9.6 680 4559 0.00 0.00 0.00 0.000 38 0.000 0.000 2888 1796 1848 1988 1708 0 0 0 0 0 0 26.58 26.65 26.65

4647 end climb: SURFACE_DEPTH_REACHED

state 4647 begin surface coast

4686 end surface coast: CONTROL_FINISHED_OK

state 4686 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	148	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	47	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	61	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	110921,043101,4751.4272,-12510.7715,31,1.1,32,15.7,0.2,0.0,9,4.8	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	0.50	MHEAD_RNG_PITCHd_Wd	103.2,3203,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.1	D_GRID	261
GPS2	110921,043523,4751.4160,-12510.7607,3,0.7,5,15.7,0.3,0.0,12,9.9

FINISH	-0.2,1.025113	_10V_AH	10.26,13.496
SM_CCo	4911,0.00,0.000,0,0,548,551.92	FG_AHR_24Vo	0.000
SM_GC	0.49,7.43,0.28,0.00,0.055,0.051,0.000,179,2011,548,-7.39,-1.55,551.92,0,0,0,0,0,0,26.47,26.44,25.49	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4755.47,-12359.23,110921,030315	MEM	209888
TT8_MAMPS	0.021721,0.146804	DATA_FILE_SIZE	36916,705
HUMID	54.05	CAP_FILE_SIZE	81196,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,238837760
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.054,253.08,1
ALTIM_BOTTOM_PING	212.3,42.8	GPS	110921,055852,4751.248,-12510.370,7,0.8,8,15.7,0.2,0.0,12,8.2
_24V_AH	24.37,24.428

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	94.96	SBE_CT	407	64	640.24
Roll_motor	29	64	45.65	WL_blue_red_Chl	1290	37	1177.67
VBD_pump_during_apogee	482	598	7047.68	nil	0	0	0.00
VBD_pump_during_surface	199	627	3045.23	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	176	96	415.19	nil	0	0	0.00
Transponder_ping	1	420	15.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.13
TT8	1535	12	192.55
LPSleep	1070	2	24.04
TT8_Active	703	12	88.26
TT8_Sampling	1630	37	630.48
TT8_CF8	257	42	113.57
TT8_Kalman	0	0	0.00
Analog_circuits	1574	11	177.74
GPS_charging	0	0	0.00
Compass	1563	8	132.22
RAFOS	0	0	0.00
Transponder	12	30	3.80

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.80	-116.8	166	2018	689	410	0.0	0.0	0	115	0.00	0.00	-105.15	0.004	16386	0.000	0.000	166	2017	3022	3010	3035	0	0	0	0	0	0	26.35	28.83	26.44
118	-0.80	-116.8	166	2017	3011	3036	4.2	-8.1	15	136	8.30	1.02	-5.35	0.015	18724	0.208	0.064	2314	2687	3278	3278	3278	0	0	0	0	0	0	25.82	24.70	25.98
149	-0.80	-116.8	2313	2695	3282	3278	14.3	-29.7	19	157	0.00	1.02	0.00	0.000	1030	0.000	0.026	2313	1988	3280	3282	3278	0	0	0	0	0	0	26.30	26.27	26.32
288	-0.80	-116.8	2313	1986	3286	3276	38.5	-15.5	44	296	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	1986	3281	3286	3276	0	0	0	0	0	0	26.60	26.71	26.67
422	-0.80	-116.8	2313	1986	3288	3275	58.2	-14.8	69	430	0.08	1.00	0.00	0.000	2564	0.221	0.034	2331	1309	3281	3288	3275	0	0	0	0	0	0	26.37	26.44	26.44
662	-0.80	-116.8	2331	1309	3290	3275	90.7	-11.9	115	669	0.00	1.02	0.00	0.000	1030	0.000	0.031	2328	1995	3282	3290	3275	0	0	0	0	0	0	26.59	26.56	26.62
802	-0.80	-116.8	2327	1995	3290	3274	106.1	-11.4	136	807	0.00	1.02	0.00	0.000	516	0.000	0.033	2331	1305	3282	3291	3274	0	0	0	0	0	0	26.86	26.59	26.91
1040	-0.80	-116.8	2330	1305	3291	3274	132.2	-9.9	182	1044	0.00	1.02	0.00	0.000	1062	0.000	0.031	2328	1996	3282	3291	3274	0	0	0	0	0	0	26.70	26.67	26.72
1174	-0.80	-116.8	2327	1995	3292	3274	145.5	-11.2	196	1179	0.00	1.00	0.00	0.000	516	0.000	0.033	2332	1319	3282	3291	3274	0	0	0	0	0	0	26.95	26.67	27.00
1291	-0.80	-116.8	2330	1319	3291	3274	159.3	-11.0	219	1299	0.00	1.00	0.00	0.000	1030	0.000	0.031	2328	1998	3283	3292	3274	0	0	0	0	0	0	26.74	26.71	26.76
1419	-0.80	-116.8	2327	1998	3292	3274	173.6	-11.7	232	1424	0.00	1.00	0.00	0.000	260	0.000	0.037	2322	2689	3283	3292	3274	0	0	0	0	0	0	26.98	26.70	27.04
1474	-0.80	-116.8	2322	2690	3292	3274	179.8	-11.2	242	1479	0.00	0.98	0.00	0.000	1030	0.000	0.026	2326	1992	3282	3291	3274	0	0	0	0	0	0	26.79	26.77	26.79
1608	-0.80	-116.8	2325	1992	3292	3274	193.9	-10.5	256	1612	0.00	1.02	0.00	0.000	260	0.000	0.038	2323	2690	3282	3291	3273	0	0	0	0	0	0	27.01	26.73	27.06
1650	-0.80	-116.8	2322	2690	3292	3273	198.4	-10.1	264	1655	0.00	0.98	0.00	0.000	1030	0.000	0.027	2326	1995	3283	3292	3274	0	0	0	0	0	0	26.81	26.79	26.84
1783	-0.80	-116.8	2325	1994	3292	3273	211.6	-9.8	278	1793	0.00	0.98	0.00	0.000	548	0.000	0.034	2331	1323	3283	3292	3274	0	0	0	0	0	0	27.03	26.76	27.10
1833	-0.80	-116.8	2330	1323	3292	3274	216.6	-9.8	286	1837	0.00	1.00	0.00	0.000	1062	0.000	0.031	2328	2000	3282	3292	3273	0	0	0	0	0	0	26.80	26.77	26.83
1967	-0.80	-116.8	2327	2000	3292	3273	230.1	-10.0	300	1975	0.00	0.00	0.00	0.000	38	0.000	0.000	2328	2000	3282	3292	3273	0	0	0	0	0	0	27.05	27.11	27.10
2023	end dive: BOTTOM_OBSTACLE_DETECTED
state	2023	begin apogee
2028	-0.18	0.0	2328	1781	3292	3273	236.0	-9.7	306	2207	0.65	0.00	174.23	0.575	10246	0.154	0.000	2524	1779	2798	2852	2744	0	0	0	0	0	0	26.35	25.34	24.83
2208	end apogee: CONTROL_FINISHED_OK
state	2208	begin climb
2210	0.80	116.8	2524	1779	2842	2735	239.7	0.0	324	2394	1.00	1.05	175.80	0.552	10756	0.116	0.039	2838	1141	2319	2444	2195	0	0	0	0	0	0	25.38	25.16	24.67
2495	0.80	116.8	2837	1141	2408	2168	216.9	10.7	379	2503	0.00	1.02	0.00	0.000	1030	0.000	0.029	2835	1800	2287	2408	2167	0	0	0	0	0	0	25.84	25.81	25.89
2622	0.80	116.8	2834	1800	2406	2164	203.8	10.3	392	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	1800	2285	2406	2164	0	0	0	0	0	0	26.31	26.37	26.36
2743	0.80	119.3	2834	1799	2404	2163	191.9	10.0	404	2747	0.00	1.05	0.00	0.000	292	0.000	0.039	2830	2496	2283	2404	2163	0	0	0	0	0	0	26.47	26.22	26.53
2830	0.80	119.3	2829	2496	2403	2161	181.7	12.2	421	2839	0.00	0.98	0.00	0.000	1030	0.000	0.032	2833	1837	2282	2403	2161	0	0	0	0	0	0	26.35	26.33	26.38
2962	0.80	119.3	2832	1836	2403	2161	167.8	11.3	434	2966	0.00	1.00	0.00	0.000	260	0.000	0.037	2829	2500	2281	2402	2161	0	0	0	0	0	0	26.65	26.40	26.71
3005	0.80	119.3	2829	2500	2402	2161	163.0	10.4	442	3009	0.00	1.05	0.00	0.000	1030	0.000	0.031	2833	1791	2281	2402	2161	0	0	0	0	0	0	26.46	26.44	26.50
3139	0.80	119.3	2832	1791	2402	2161	148.9	10.8	456	3146	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1791	2281	2402	2161	0	0	0	0	0	0	26.74	26.80	26.80
3267	0.81	125.0	2834	1791	2402	2161	135.9	9.8	469	3276	0.00	0.00	0.00	0.000	38	0.000	0.000	2833	1791	2281	2401	2161	0	0	0	0	0	0	26.79	26.86	26.85
3398	0.82	132.8	2833	1791	2402	2161	123.8	9.7	482	3403	0.00	1.00	2.55	0.429	8740	0.000	0.037	2838	1110	2261	2386	2136	0	0	0	0	0	0	26.84	25.82	25.11
3485	0.82	132.8	2838	1104	2400	2147	114.7	10.4	498	3496	0.00	1.05	1.92	0.207	9222	0.000	0.031	2835	1803	2263	2390	2137	0	0	0	0	0	0	26.64	26.60	25.96
3617	0.82	132.8	2834	1803	2399	2144	100.9	10.7	512	3621	0.00	1.08	0.00	0.000	516	0.000	0.041	2838	1102	2272	2400	2144	0	0	0	0	0	0	26.87	26.58	26.92
3725	0.86	170.6	2838	1102	2400	2144	91.2	7.9	532	3801	0.08	1.05	70.20	0.527	11302	0.186	0.031	2857	1798	2103	2237	1970	0	0	0	0	0	0	26.27	26.65	25.37
3927	0.89	190.1	2856	1798	2201	1933	72.1	9.0	566	3948	0.00	1.02	15.32	0.578	8484	0.000	0.034	2853	2497	2020	2159	1882	0	0	0	0	0	0	26.44	25.71	25.34
4099	0.90	205.3	2854	2498	2138	1861	55.8	9.3	598	4108	0.00	1.05	4.03	0.599	9254	0.000	0.031	2857	1792	1964	2106	1822	0	0	0	0	0	0	26.30	26.27	25.30
4235	0.93	224.7	2857	1792	2122	1829	44.1	9.0	623	4279	0.10	1.10	38.75	0.519	10788	0.142	0.041	2891	1107	1881	2026	1736	0	0	0	0	0	0	26.29	25.87	25.35
4415	0.93	224.7	2890	1107	1988	1712	22.7	12.3	655	4422	0.00	1.05	0.00	0.000	1030	0.000	0.031	2887	1796	1850	1988	1712	0	0	0	0	0	0	26.25	26.22	26.27
4552	0.94	234.8	2887	1796	1987	1708	7.9	9.6	680	4559	0.00	0.00	0.00	0.000	38	0.000	0.000	2888	1796	1848	1988	1708	0	0	0	0	0	0	26.58	26.65	26.65
4647	end climb: SURFACE_DEPTH_REACHED
state	4647	begin surface coast
4686	end surface coast: CONTROL_FINISHED_OK
state	4686	begin surface