Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 167 * 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 167 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 47 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 52 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 3 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 284.0

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 3

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 284.0 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 52 XPDR_INHIBIT 90

DIVE 167 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 120921,103001,4751.8701,-12511.3164,22,0.9,23,15.7,0.1,0.0,8,6.1 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 0.51 MHEAD_RNG_PITCHd_Wd 117.5,4293,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -61.0 D_GRID 299

GPS2 120921,103344,4751.8604,-12511.3525,3,0.8,5,15.7,0.0,0.0,12,10.0

Post-dive calculations and measurements:

FINISH -0.3,1.012598 _10V_AH 10.24,14.673

SM_CCo 5027,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.58,7.75,0.28,0.00,0.057,0.057,0.000,161,1997,550,-7.40,-1.61,551.92,0,0,0,0,0,0,25.89,25.82,25.40 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.50,-12507.66,120921,085253 MEM 209796

TT8_MAMPS 0.021721,0.145306 DATA_FILE_SIZE 36903,725

HUMID 53.18 CAP_FILE_SIZE 82574,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,237801472

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.062,338.78,1

ALTIM_BOTTOM_PING 222.4,21.7 GPS 120921,115912,4751.779,-12510.942,8,1.0,9,15.7,0.5,208.4,10,6.7

_24V_AH 24.49,26.829

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 98.27 SBE_CT 419 64 662.06

Roll_motor 31 56 43.95 WL_blue_red_Chl 1333 37 1222.78

VBD_pump_during_apogee 594 599 8737.23 nil 0 0 0.00

VBD_pump_during_surface 184 615 2785.94 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 137 93 313.99 nil 0 0 0.00

Transponder_ping 2 420 25.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.23

TT8 1557 12 194.88

LPSleep 1019 2 22.86

TT8_Active 786 12 98.46

TT8_Sampling 1643 37 634.25

TT8_CF8 270 42 118.84

TT8_Kalman 0 0 0.00

Analog_circuits 1653 11 186.28

GPS_charging 0 0 0.00

Compass 1612 8 136.06

RAFOS 0 0 0.00

Transponder 22 30 6.95

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 -116.8 166 1997 693 409 0.0 0.0 0 115 0.00 0.00 -106.10 0.004 16386 0.000 0.000 166 1996 3106 3092 3120 0 0 0 0 0 0 26.27 28.83 26.34

118 -0.80 -116.8 166 1996 3093 3120 4.7 -9.9 15 136 8.43 1.10 -3.40 0.021 18980 0.210 0.056 2326 1271 3280 3276 3285 0 0 0 0 0 0 25.69 24.58 25.84

367 -0.80 -116.8 2325 1271 3288 3280 49.7 -14.2 62 375 0.00 1.10 0.00 0.000 1030 0.000 0.031 2322 1998 3283 3288 3279 0 0 0 0 0 0 26.39 26.36 26.42

505 -0.80 -116.8 2321 1998 3290 3279 68.3 -13.3 87 513 0.00 1.02 0.00 0.000 260 0.000 0.038 2317 2695 3284 3290 3279 0 0 0 0 0 0 26.70 26.42 26.74

556 -0.80 -116.8 2316 2695 3291 3278 74.4 -12.1 96 564 0.00 1.02 0.00 0.000 1030 0.000 0.025 2319 1977 3284 3291 3278 0 0 0 0 0 0 26.53 26.50 26.54

693 -0.80 -116.8 2319 1977 3292 3278 89.5 -10.4 121 700 0.00 0.98 0.00 0.000 516 0.000 0.034 2320 1314 3285 3292 3278 0 0 0 0 0 0 26.77 26.50 26.83

899 -0.80 -116.8 2320 1314 3293 3278 111.9 -10.8 160 908 0.00 1.02 0.00 0.000 1030 0.000 0.031 2317 2000 3285 3293 3278 0 0 0 0 0 0 26.61 26.58 26.63

1028 -0.80 -116.8 2316 2000 3293 3277 125.7 -11.1 173 1033 0.00 1.02 0.00 0.000 516 0.000 0.033 2320 1311 3285 3293 3278 0 0 0 0 0 0 26.87 26.59 26.93

1151 -0.80 -116.8 2320 1310 3294 3277 140.2 -11.7 196 1160 0.00 1.02 0.00 0.000 1030 0.000 0.030 2317 2004 3285 3294 3277 0 0 0 0 0 0 26.67 26.65 26.70

1279 -0.80 -116.8 2317 2004 3294 3277 154.6 -11.2 209 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2004 3285 3294 3276 0 0 0 0 0 0 26.93 26.99 26.98

1411 -0.80 -116.8 2316 2004 3294 3276 168.9 -10.8 222 1415 0.00 1.02 0.00 0.000 516 0.000 0.032 2320 1311 3285 3294 3276 0 0 0 0 0 0 26.95 26.67 27.01

1467 -0.80 -116.8 2319 1311 3294 3277 175.1 -11.0 232 1471 0.00 1.02 0.00 0.000 1030 0.000 0.031 2317 1999 3285 3294 3276 0 0 0 0 0 0 26.73 26.70 26.75

1599 -0.80 -116.8 2316 2000 3294 3276 189.5 -10.5 246 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2000 3285 3294 3276 0 0 0 0 0 0 26.96 27.04 27.03

1720 -0.80 -116.8 2316 2000 3295 3275 200.8 -8.6 258 1724 0.00 1.02 0.00 0.000 292 0.000 0.037 2312 2705 3284 3294 3275 0 0 0 0 0 0 26.99 26.70 27.05

1757 -0.80 -116.8 2311 2706 3294 3275 203.8 -7.3 265 1765 0.03 1.00 0.00 0.000 3110 0.221 0.027 2322 1992 3284 3294 3275 0 0 0 0 0 0 26.55 26.76 26.58

1886 -0.80 -116.8 2321 1989 3294 3275 213.4 -7.2 278 1889 0.00 1.05 0.00 0.000 292 0.000 0.038 2318 2700 3284 3294 3275 0 0 0 0 0 0 27.01 26.70 27.06

2007 end dive: BOTTOM_OBSTACLE_DETECTED

state 2007 begin apogee

2013 -0.18 0.0 2322 1809 3294 3274 224.6 -11.2 301 2203 0.65 0.00 185.60 0.578 10246 0.149 0.000 2522 1809 2799 2853 2745 0 0 0 0 0 0 26.30 25.27 24.76

2204 end apogee: CONTROL_FINISHED_OK

state 2204 begin climb

2206 0.80 116.8 2521 1809 2845 2738 233.3 0.0 320 2406 1.02 1.05 185.45 0.556 10500 0.124 0.034 2829 2490 2308 2437 2180 0 0 0 0 0 0 25.29 24.91 24.58

2571 0.83 140.3 2828 2491 2420 2167 215.6 8.8 385 2604 0.03 1.02 27.35 0.591 11302 0.174 0.029 2840 1794 2228 2364 2093 0 0 0 0 0 0 25.79 25.95 24.98

2733 0.83 140.3 2839 1794 2342 2075 196.8 11.3 404 2737 0.00 1.08 0.00 0.000 260 0.000 0.037 2836 2490 2208 2342 2075 0 0 0 0 0 0 26.26 26.01 26.32

2852 0.83 140.3 2836 2490 2339 2074 183.3 11.4 426 2856 0.00 1.00 0.00 0.000 1030 0.000 0.032 2840 1814 2206 2339 2074 0 0 0 0 0 0 26.24 26.21 26.26

2984 0.83 140.3 2839 1813 2338 2074 169.1 10.3 440 2992 0.00 0.00 0.00 0.000 6 0.000 0.000 2840 1813 2206 2339 2074 0 0 0 0 0 0 26.55 26.62 26.61

3116 0.83 145.8 2839 1813 2338 2074 155.9 9.8 453 3121 0.00 1.08 0.00 0.000 548 0.000 0.041 2845 1107 2206 2338 2074 0 0 0 0 0 0 26.64 26.38 26.67

3182 0.83 145.8 2845 1107 2338 2074 148.7 10.4 466 3190 0.00 1.05 0.00 0.000 1030 0.000 0.031 2842 1799 2206 2338 2074 0 0 0 0 0 0 26.46 26.44 26.48

3311 0.84 150.9 2841 1799 2337 2074 136.1 9.8 479 3321 0.00 0.00 2.72 0.600 8230 0.000 0.000 2842 1799 2185 2320 2050 0 0 0 0 0 0 26.74 25.66 24.89

3442 0.84 150.9 2841 1799 2325 2052 122.6 10.5 492 3447 0.00 1.08 0.00 0.000 516 0.000 0.040 2845 1099 2189 2326 2052 0 0 0 0 0 0 26.76 26.48 26.82

3476 0.84 150.9 2844 1098 2326 2052 118.7 11.1 498 3479 0.00 1.05 0.00 0.000 1030 0.000 0.031 2841 1797 2189 2326 2052 0 0 0 0 0 0 26.55 26.52 26.58

3608 0.84 150.9 2841 1797 2326 2052 104.1 11.1 512 3611 0.00 1.05 0.00 0.000 516 0.000 0.041 2845 1113 2188 2325 2052 0 0 0 0 0 0 26.82 26.52 26.86

3651 0.84 150.9 2844 1113 2326 2052 99.2 11.6 520 3659 0.00 1.02 0.00 0.000 1030 0.000 0.029 2842 1801 2188 2325 2052 0 0 0 0 0 0 26.61 26.56 26.62

3788 0.84 150.9 2841 1800 2325 2052 84.1 10.8 545 3797 0.00 1.05 0.00 0.000 516 0.000 0.040 2845 1112 2189 2326 2052 0 0 0 0 0 0 26.86 26.57 26.91

3885 0.84 150.9 2845 1112 2326 2052 73.8 11.3 563 3893 0.00 1.02 0.00 0.000 1030 0.000 0.029 2842 1802 2189 2326 2052 0 0 0 0 0 0 26.67 26.64 26.70

4025 0.86 165.3 2841 1802 2325 2053 59.8 9.3 588 4053 0.00 0.00 23.17 0.569 8742 0.000 0.000 2841 1802 2119 2257 1981 0 0 0 0 0 0 26.91 26.01 25.66

4181 0.92 216.8 2841 1802 2242 1968 48.0 7.1 616 4267 0.15 1.00 77.88 0.509 10532 0.166 0.033 2882 2489 1911 2056 1766 0 0 0 0 0 0 26.26 25.51 25.17

4314 0.92 216.8 2882 2490 2038 1748 36.1 10.3 636 4322 0.00 1.02 0.00 0.000 1030 0.000 0.030 2886 1808 1893 2038 1748 0 0 0 0 0 0 26.00 25.96 26.01

4447 0.93 225.9 2884 1808 2034 1748 23.0 9.6 661 4455 0.00 1.08 0.00 0.000 548 0.000 0.041 2890 1105 1890 2034 1747 0 0 0 0 0 0 26.41 26.15 26.46

4689 1.07 347.7 2890 1105 2030 1746 7.0 3.0 707 4787 0.10 1.05 92.68 0.486 11298 0.093 0.031 2925 1803 1679 1828 1530 0 0 0 0 0 0 26.21 26.39 26.27

4788 end climb: SURFACE_DEPTH_REACHED

state 4788 begin surface coast

4816 end surface coast: CONTROL_FINISHED_OK

state 4816 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	167	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	47	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	52	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	3	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	284.0
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	120921,103001,4751.8701,-12511.3164,22,0.9,23,15.7,0.1,0.0,8,6.1	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	0.51	MHEAD_RNG_PITCHd_Wd	117.5,4293,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-61.0	D_GRID	299
GPS2	120921,103344,4751.8604,-12511.3525,3,0.8,5,15.7,0.0,0.0,12,10.0

FINISH	-0.3,1.012598	_10V_AH	10.24,14.673
SM_CCo	5027,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.58,7.75,0.28,0.00,0.057,0.057,0.000,161,1997,550,-7.40,-1.61,551.92,0,0,0,0,0,0,25.89,25.82,25.40	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.50,-12507.66,120921,085253	MEM	209796
TT8_MAMPS	0.021721,0.145306	DATA_FILE_SIZE	36903,725
HUMID	53.18	CAP_FILE_SIZE	82574,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,237801472
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.062,338.78,1
ALTIM_BOTTOM_PING	222.4,21.7	GPS	120921,115912,4751.779,-12510.942,8,1.0,9,15.7,0.5,208.4,10,6.7
_24V_AH	24.49,26.829

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	98.27	SBE_CT	419	64	662.06
Roll_motor	31	56	43.95	WL_blue_red_Chl	1333	37	1222.78
VBD_pump_during_apogee	594	599	8737.23	nil	0	0	0.00
VBD_pump_during_surface	184	615	2785.94	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	137	93	313.99	nil	0	0	0.00
Transponder_ping	2	420	25.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.23
TT8	1557	12	194.88
LPSleep	1019	2	22.86
TT8_Active	786	12	98.46
TT8_Sampling	1643	37	634.25
TT8_CF8	270	42	118.84
TT8_Kalman	0	0	0.00
Analog_circuits	1653	11	186.28
GPS_charging	0	0	0.00
Compass	1612	8	136.06
RAFOS	0	0	0.00
Transponder	22	30	6.95

		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	166	1997	693	409	0.0	0.0	0	115	0.00	0.00	-106.10	0.004	16386	0.000	0.000	166	1996	3106	3092	3120	0	0	0	0	0	0	26.27	28.83	26.34
118	-0.80	-116.8	166	1996	3093	3120	4.7	-9.9	15	136	8.43	1.10	-3.40	0.021	18980	0.210	0.056	2326	1271	3280	3276	3285	0	0	0	0	0	0	25.69	24.58	25.84
367	-0.80	-116.8	2325	1271	3288	3280	49.7	-14.2	62	375	0.00	1.10	0.00	0.000	1030	0.000	0.031	2322	1998	3283	3288	3279	0	0	0	0	0	0	26.39	26.36	26.42
505	-0.80	-116.8	2321	1998	3290	3279	68.3	-13.3	87	513	0.00	1.02	0.00	0.000	260	0.000	0.038	2317	2695	3284	3290	3279	0	0	0	0	0	0	26.70	26.42	26.74
556	-0.80	-116.8	2316	2695	3291	3278	74.4	-12.1	96	564	0.00	1.02	0.00	0.000	1030	0.000	0.025	2319	1977	3284	3291	3278	0	0	0	0	0	0	26.53	26.50	26.54
693	-0.80	-116.8	2319	1977	3292	3278	89.5	-10.4	121	700	0.00	0.98	0.00	0.000	516	0.000	0.034	2320	1314	3285	3292	3278	0	0	0	0	0	0	26.77	26.50	26.83
899	-0.80	-116.8	2320	1314	3293	3278	111.9	-10.8	160	908	0.00	1.02	0.00	0.000	1030	0.000	0.031	2317	2000	3285	3293	3278	0	0	0	0	0	0	26.61	26.58	26.63
1028	-0.80	-116.8	2316	2000	3293	3277	125.7	-11.1	173	1033	0.00	1.02	0.00	0.000	516	0.000	0.033	2320	1311	3285	3293	3278	0	0	0	0	0	0	26.87	26.59	26.93
1151	-0.80	-116.8	2320	1310	3294	3277	140.2	-11.7	196	1160	0.00	1.02	0.00	0.000	1030	0.000	0.030	2317	2004	3285	3294	3277	0	0	0	0	0	0	26.67	26.65	26.70
1279	-0.80	-116.8	2317	2004	3294	3277	154.6	-11.2	209	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2004	3285	3294	3276	0	0	0	0	0	0	26.93	26.99	26.98
1411	-0.80	-116.8	2316	2004	3294	3276	168.9	-10.8	222	1415	0.00	1.02	0.00	0.000	516	0.000	0.032	2320	1311	3285	3294	3276	0	0	0	0	0	0	26.95	26.67	27.01
1467	-0.80	-116.8	2319	1311	3294	3277	175.1	-11.0	232	1471	0.00	1.02	0.00	0.000	1030	0.000	0.031	2317	1999	3285	3294	3276	0	0	0	0	0	0	26.73	26.70	26.75
1599	-0.80	-116.8	2316	2000	3294	3276	189.5	-10.5	246	1601	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2000	3285	3294	3276	0	0	0	0	0	0	26.96	27.04	27.03
1720	-0.80	-116.8	2316	2000	3295	3275	200.8	-8.6	258	1724	0.00	1.02	0.00	0.000	292	0.000	0.037	2312	2705	3284	3294	3275	0	0	0	0	0	0	26.99	26.70	27.05
1757	-0.80	-116.8	2311	2706	3294	3275	203.8	-7.3	265	1765	0.03	1.00	0.00	0.000	3110	0.221	0.027	2322	1992	3284	3294	3275	0	0	0	0	0	0	26.55	26.76	26.58
1886	-0.80	-116.8	2321	1989	3294	3275	213.4	-7.2	278	1889	0.00	1.05	0.00	0.000	292	0.000	0.038	2318	2700	3284	3294	3275	0	0	0	0	0	0	27.01	26.70	27.06
2007	end dive: BOTTOM_OBSTACLE_DETECTED
state	2007	begin apogee
2013	-0.18	0.0	2322	1809	3294	3274	224.6	-11.2	301	2203	0.65	0.00	185.60	0.578	10246	0.149	0.000	2522	1809	2799	2853	2745	0	0	0	0	0	0	26.30	25.27	24.76
2204	end apogee: CONTROL_FINISHED_OK
state	2204	begin climb
2206	0.80	116.8	2521	1809	2845	2738	233.3	0.0	320	2406	1.02	1.05	185.45	0.556	10500	0.124	0.034	2829	2490	2308	2437	2180	0	0	0	0	0	0	25.29	24.91	24.58
2571	0.83	140.3	2828	2491	2420	2167	215.6	8.8	385	2604	0.03	1.02	27.35	0.591	11302	0.174	0.029	2840	1794	2228	2364	2093	0	0	0	0	0	0	25.79	25.95	24.98
2733	0.83	140.3	2839	1794	2342	2075	196.8	11.3	404	2737	0.00	1.08	0.00	0.000	260	0.000	0.037	2836	2490	2208	2342	2075	0	0	0	0	0	0	26.26	26.01	26.32
2852	0.83	140.3	2836	2490	2339	2074	183.3	11.4	426	2856	0.00	1.00	0.00	0.000	1030	0.000	0.032	2840	1814	2206	2339	2074	0	0	0	0	0	0	26.24	26.21	26.26
2984	0.83	140.3	2839	1813	2338	2074	169.1	10.3	440	2992	0.00	0.00	0.00	0.000	6	0.000	0.000	2840	1813	2206	2339	2074	0	0	0	0	0	0	26.55	26.62	26.61
3116	0.83	145.8	2839	1813	2338	2074	155.9	9.8	453	3121	0.00	1.08	0.00	0.000	548	0.000	0.041	2845	1107	2206	2338	2074	0	0	0	0	0	0	26.64	26.38	26.67
3182	0.83	145.8	2845	1107	2338	2074	148.7	10.4	466	3190	0.00	1.05	0.00	0.000	1030	0.000	0.031	2842	1799	2206	2338	2074	0	0	0	0	0	0	26.46	26.44	26.48
3311	0.84	150.9	2841	1799	2337	2074	136.1	9.8	479	3321	0.00	0.00	2.72	0.600	8230	0.000	0.000	2842	1799	2185	2320	2050	0	0	0	0	0	0	26.74	25.66	24.89
3442	0.84	150.9	2841	1799	2325	2052	122.6	10.5	492	3447	0.00	1.08	0.00	0.000	516	0.000	0.040	2845	1099	2189	2326	2052	0	0	0	0	0	0	26.76	26.48	26.82
3476	0.84	150.9	2844	1098	2326	2052	118.7	11.1	498	3479	0.00	1.05	0.00	0.000	1030	0.000	0.031	2841	1797	2189	2326	2052	0	0	0	0	0	0	26.55	26.52	26.58
3608	0.84	150.9	2841	1797	2326	2052	104.1	11.1	512	3611	0.00	1.05	0.00	0.000	516	0.000	0.041	2845	1113	2188	2325	2052	0	0	0	0	0	0	26.82	26.52	26.86
3651	0.84	150.9	2844	1113	2326	2052	99.2	11.6	520	3659	0.00	1.02	0.00	0.000	1030	0.000	0.029	2842	1801	2188	2325	2052	0	0	0	0	0	0	26.61	26.56	26.62
3788	0.84	150.9	2841	1800	2325	2052	84.1	10.8	545	3797	0.00	1.05	0.00	0.000	516	0.000	0.040	2845	1112	2189	2326	2052	0	0	0	0	0	0	26.86	26.57	26.91
3885	0.84	150.9	2845	1112	2326	2052	73.8	11.3	563	3893	0.00	1.02	0.00	0.000	1030	0.000	0.029	2842	1802	2189	2326	2052	0	0	0	0	0	0	26.67	26.64	26.70
4025	0.86	165.3	2841	1802	2325	2053	59.8	9.3	588	4053	0.00	0.00	23.17	0.569	8742	0.000	0.000	2841	1802	2119	2257	1981	0	0	0	0	0	0	26.91	26.01	25.66
4181	0.92	216.8	2841	1802	2242	1968	48.0	7.1	616	4267	0.15	1.00	77.88	0.509	10532	0.166	0.033	2882	2489	1911	2056	1766	0	0	0	0	0	0	26.26	25.51	25.17
4314	0.92	216.8	2882	2490	2038	1748	36.1	10.3	636	4322	0.00	1.02	0.00	0.000	1030	0.000	0.030	2886	1808	1893	2038	1748	0	0	0	0	0	0	26.00	25.96	26.01
4447	0.93	225.9	2884	1808	2034	1748	23.0	9.6	661	4455	0.00	1.08	0.00	0.000	548	0.000	0.041	2890	1105	1890	2034	1747	0	0	0	0	0	0	26.41	26.15	26.46
4689	1.07	347.7	2890	1105	2030	1746	7.0	3.0	707	4787	0.10	1.05	92.68	0.486	11298	0.093	0.031	2925	1803	1679	1828	1530	0	0	0	0	0	0	26.21	26.39	26.27
4788	end climb: SURFACE_DEPTH_REACHED
state	4788	begin surface coast
4816	end surface coast: CONTROL_FINISHED_OK
state	4816	begin surface