Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 168 * 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 168 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 46 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 49 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 46 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 49 XPDR_INHIBIT 90

DIVE 168 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 120921,115912,4751.7788,-12510.9424,8,1.0,9,15.7,0.5,208.4,10,6.7 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 123.8,3849,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -61.1 D_GRID 278

GPS2 120921,120257,4751.7720,-12510.9922,3,0.9,5,15.7,0.7,112.3,10,7.3

Post-dive calculations and measurements:

FINISH 0.0,1.025298 _10V_AH 10.24,14.729

SM_CCo 4747,0.00,0.000,0,0,549,551.92 FG_AHR_24Vo 0.000

SM_GC 0.50,7.57,0.28,0.00,0.052,0.045,0.000,174,2025,549,-7.38,-1.47,551.92,0,0,0,0,0,0,26.06,26.03,25.44 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.26,-12509.51,120921,103133 MEM 209788

TT8_MAMPS 0.021721,0.149051 DATA_FILE_SIZE 33571,668

HUMID 53.97 CAP_FILE_SIZE 81321,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,237756416

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 0.061,4.89,1

ALTIM_BOTTOM_PING 190.7,60.1 GPS 120921,132401,4751.630,-12510.732,3,0.9,26,15.7,0.4,16.5,11,4.5

_24V_AH 24.28,26.954

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 247 108.17 SBE_CT 393 64 614.72

Roll_motor 31 56 43.74 WL_blue_red_Chl 1249 37 1136.04

VBD_pump_during_apogee 582 611 8638.82 nil 0 0 0.00

VBD_pump_during_surface 180 610 2668.74 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 140 91 313.33 nil 0 0 0.00

Transponder_ping 1 420 10.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.17

TT8 1461 12 182.88

LPSleep 1018 2 22.84

TT8_Active 754 12 94.46

TT8_Sampling 1505 37 581.15

TT8_CF8 258 42 113.55

TT8_Kalman 0 0 0.00

Analog_circuits 1590 11 179.21

GPS_charging 0 0 0.00

Compass 1480 8 124.89

RAFOS 0 0 0.00

Transponder 9 30 2.78

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

7 -0.80 -116.8 160 2003 686 410 0.0 0.0 0 114 0.00 0.00 -104.38 0.004 16386 0.000 0.000 160 2002 3035 3019 3051 0 0 0 0 0 0 26.25 28.83 26.33

117 -0.80 -116.8 160 2002 3021 3052 4.4 -9.1 15 134 8.40 1.10 -4.85 0.016 19236 0.210 0.057 2323 1279 3280 3276 3285 0 0 0 0 0 0 25.69 24.58 25.86

142 -0.80 -116.8 2322 1279 3277 3285 14.6 -31.3 18 150 0.00 1.10 0.00 0.000 1030 0.000 0.028 2318 2002 3281 3279 3284 0 0 0 0 0 0 26.20 26.17 26.23

281 -0.80 -116.8 2318 2002 3286 3281 37.5 -13.0 43 288 0.00 1.02 0.00 0.000 260 0.000 0.036 2313 2698 3283 3286 3280 0 0 0 0 0 0 26.55 26.29 26.60

521 -0.80 -116.8 2312 2698 3290 3279 70.0 -13.5 89 529 0.00 1.05 0.00 0.000 1030 0.000 0.027 2313 1973 3284 3290 3279 0 0 0 0 0 0 26.49 26.48 26.52

658 -0.80 -116.8 2312 1973 3290 3278 86.4 -11.1 114 666 0.08 1.08 0.00 0.000 2308 0.225 0.034 2321 2697 3284 3290 3278 0 0 0 0 0 0 26.41 26.51 26.48

745 -0.80 -116.8 2320 2698 3291 3278 96.3 -11.9 130 752 0.00 1.00 0.00 0.000 1030 0.000 0.027 2324 1998 3285 3291 3279 0 0 0 0 0 0 26.60 26.56 26.60

881 -0.80 -116.8 2324 1997 3292 3278 111.0 -10.7 146 884 0.00 1.00 0.00 0.000 516 0.000 0.034 2329 1317 3285 3292 3278 0 0 0 0 0 0 26.84 26.56 26.89

1041 -0.80 -116.8 2329 1317 3292 3278 128.5 -10.9 177 1049 0.00 1.02 0.00 0.000 1030 0.000 0.031 2326 2000 3284 3292 3277 0 0 0 0 0 0 26.65 26.61 26.66

1167 -0.80 -116.8 2325 2000 3292 3277 142.6 -11.1 190 1169 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2000 3285 3293 3277 0 0 0 0 0 0 26.91 26.96 26.96

1287 -0.80 -116.8 2325 2000 3292 3277 156.3 -11.5 202 1291 0.00 1.02 0.00 0.000 516 0.000 0.034 2329 1313 3285 3293 3277 0 0 0 0 0 0 26.93 26.65 26.98

1330 -0.80 -116.8 2329 1313 3292 3277 161.2 -11.8 210 1333 0.00 1.02 0.00 0.000 1030 0.000 0.031 2326 2000 3285 3293 3277 0 0 0 0 0 0 26.70 26.67 26.72

1461 -0.80 -116.8 2325 2000 3293 3276 176.2 -11.3 224 1463 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2000 3284 3293 3276 0 0 0 0 0 0 26.96 27.02 27.01

1582 -0.80 -116.8 2325 2000 3293 3276 189.4 -11.1 236 1586 0.00 1.02 0.00 0.000 516 0.000 0.034 2329 1314 3284 3293 3276 0 0 0 0 0 0 26.98 26.67 27.01

1619 -0.80 -116.8 2329 1314 3293 3276 193.6 -11.2 242 1623 0.00 1.02 0.00 0.000 1030 0.000 0.031 2326 2006 3284 3293 3276 0 0 0 0 0 0 26.74 26.72 26.77

1751 -0.80 -116.8 2325 2007 3293 3275 208.4 -11.3 256 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2006 3284 3293 3275 0 0 0 0 0 0 27.00 27.05 27.05

1871 -0.80 -116.8 2325 2007 3293 3275 221.5 -10.6 268 1876 0.00 1.00 0.00 0.000 260 0.000 0.038 2320 2693 3284 3293 3275 0 0 0 0 0 0 27.01 26.71 27.06

1904 -0.80 -116.8 2320 2694 3293 3274 224.7 -9.5 274 1908 0.00 0.98 0.00 0.000 1062 0.000 0.026 2324 1995 3284 3293 3275 0 0 0 0 0 0 26.80 26.79 26.84

1965 end dive: BOTTOM_OBSTACLE_DETECTED

state 1965 begin apogee

1970 -0.18 0.0 2325 1786 3293 3275 230.9 -9.9 281 2149 0.65 0.00 173.88 0.590 10246 0.152 0.000 2521 1784 2800 2855 2746 0 0 0 0 0 0 26.26 25.25 24.75

2149 end apogee: CONTROL_FINISHED_OK

state 2150 begin climb

2152 0.80 116.8 2521 1784 2845 2738 237.4 0.0 299 2339 1.02 0.95 179.20 0.556 10756 0.118 0.036 2840 1121 2318 2445 2191 0 0 0 0 0 0 25.31 24.92 24.58

2445 0.81 126.2 2839 1121 2414 2172 216.4 9.6 356 2453 0.00 1.05 0.00 0.000 1062 0.000 0.031 2837 1795 2291 2414 2169 0 0 0 0 0 0 25.79 25.76 25.81

2572 0.84 155.3 2836 1796 2412 2167 205.2 8.4 369 2634 0.08 1.12 53.70 0.557 10532 0.248 0.038 2844 2509 2159 2294 2024 0 0 0 0 0 0 25.91 25.49 24.93

2766 0.86 166.5 2843 2509 2273 2001 187.3 9.5 405 2777 0.00 1.02 1.98 0.247 9254 0.000 0.031 2847 1823 2125 2265 1986 0 0 0 0 0 0 26.07 26.05 25.06

2898 0.87 175.6 2846 1823 2273 1989 174.7 9.6 419 2925 0.00 0.00 21.38 0.611 8230 0.000 0.000 2847 1822 2077 2221 1934 0 0 0 0 0 0 26.44 25.62 25.28

3047 0.87 175.6 2847 1822 2206 1924 159.1 10.6 434 3054 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1823 2065 2206 1924 0 0 0 0 0 0 26.41 26.47 26.46

3175 0.87 175.6 2846 1822 2205 1924 144.6 10.9 447 3179 0.00 1.02 0.00 0.000 260 0.000 0.039 2844 2491 2064 2205 1924 0 0 0 0 0 0 26.54 26.27 26.60

3221 0.87 175.6 2843 2492 2203 1925 139.3 12.1 455 3225 0.00 1.02 0.00 0.000 1030 0.000 0.033 2847 1800 2063 2203 1924 0 0 0 0 0 0 26.36 26.34 26.40

3353 0.87 175.6 2847 1800 2203 1924 123.7 11.8 469 3361 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1800 2063 2202 1924 0 0 0 0 0 0 26.66 26.74 26.72

3485 0.87 175.6 2847 1800 2202 1923 108.3 11.3 482 3489 0.00 1.08 0.00 0.000 516 0.000 0.044 2853 1102 2063 2203 1924 0 0 0 0 0 0 26.72 26.44 26.79

3517 0.87 175.6 2852 1102 2202 1924 104.2 12.3 488 3522 0.00 1.05 0.00 0.000 1030 0.000 0.032 2849 1797 2063 2202 1924 0 0 0 0 0 0 26.51 26.48 26.54

3650 0.87 175.6 2849 1796 2202 1924 87.7 13.0 511 3657 0.00 1.08 0.00 0.000 516 0.000 0.041 2853 1107 2063 2202 1924 0 0 0 0 0 0 26.79 26.47 26.84

3741 0.87 175.6 2851 1107 2201 1924 76.0 11.8 528 3749 0.00 1.05 0.00 0.000 1030 0.000 0.031 2849 1806 2062 2201 1924 0 0 0 0 0 0 26.60 26.57 26.63

3876 0.89 195.2 2848 1806 2201 1924 62.8 9.0 553 3905 0.10 1.10 20.77 0.562 10788 0.184 0.038 2880 1102 1996 2138 1854 0 0 0 0 0 0 26.47 26.01 25.65

3975 0.89 195.2 2881 1102 2125 1848 51.9 11.9 570 3983 0.00 1.05 0.00 0.000 1030 0.000 0.031 2878 1799 1986 2125 1847 0 0 0 0 0 0 26.44 26.41 26.46

4108 0.89 195.2 2877 1799 2123 1845 37.1 10.5 595 4115 0.00 1.05 0.00 0.000 260 0.000 0.038 2873 2504 1984 2123 1846 0 0 0 0 0 0 26.73 26.46 26.79

4148 0.92 218.0 2872 2504 2123 1845 33.3 8.8 602 4179 0.00 1.02 26.45 0.530 9254 0.000 0.032 2876 1808 1911 2056 1766 0 0 0 0 0 0 26.53 26.51 25.53

4305 0.95 246.5 2875 1807 2034 1747 20.2 8.5 630 4348 0.00 1.12 38.58 0.506 8740 0.000 0.040 2881 1102 1793 1939 1647 0 0 0 0 0 0 26.59 25.87 25.33

4357 1.00 288.0 2881 1102 1926 1637 16.2 7.7 637 4428 0.08 1.08 66.18 0.494 11302 0.108 0.028 2909 1800 1626 1773 1480 0 0 0 0 0 0 25.88 26.04 25.00

4522 end climb: SURFACE_DEPTH_REACHED

state 4523 begin surface coast

4539 end surface coast: CONTROL_FINISHED_OK

state 4539 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	168	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	46	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	49	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	120921,115912,4751.7788,-12510.9424,8,1.0,9,15.7,0.5,208.4,10,6.7	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	123.8,3849,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-61.1	D_GRID	278
GPS2	120921,120257,4751.7720,-12510.9922,3,0.9,5,15.7,0.7,112.3,10,7.3

FINISH	0.0,1.025298	_10V_AH	10.24,14.729
SM_CCo	4747,0.00,0.000,0,0,549,551.92	FG_AHR_24Vo	0.000
SM_GC	0.50,7.57,0.28,0.00,0.052,0.045,0.000,174,2025,549,-7.38,-1.47,551.92,0,0,0,0,0,0,26.06,26.03,25.44	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.26,-12509.51,120921,103133	MEM	209788
TT8_MAMPS	0.021721,0.149051	DATA_FILE_SIZE	33571,668
HUMID	53.97	CAP_FILE_SIZE	81321,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,237756416
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	0.061,4.89,1
ALTIM_BOTTOM_PING	190.7,60.1	GPS	120921,132401,4751.630,-12510.732,3,0.9,26,15.7,0.4,16.5,11,4.5
_24V_AH	24.28,26.954

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	247	108.17	SBE_CT	393	64	614.72
Roll_motor	31	56	43.74	WL_blue_red_Chl	1249	37	1136.04
VBD_pump_during_apogee	582	611	8638.82	nil	0	0	0.00
VBD_pump_during_surface	180	610	2668.74	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	140	91	313.33	nil	0	0	0.00
Transponder_ping	1	420	10.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.17
TT8	1461	12	182.88
LPSleep	1018	2	22.84
TT8_Active	754	12	94.46
TT8_Sampling	1505	37	581.15
TT8_CF8	258	42	113.55
TT8_Kalman	0	0	0.00
Analog_circuits	1590	11	179.21
GPS_charging	0	0	0.00
Compass	1480	8	124.89
RAFOS	0	0	0.00
Transponder	9	30	2.78

		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
7	-0.80	-116.8	160	2003	686	410	0.0	0.0	0	114	0.00	0.00	-104.38	0.004	16386	0.000	0.000	160	2002	3035	3019	3051	0	0	0	0	0	0	26.25	28.83	26.33
117	-0.80	-116.8	160	2002	3021	3052	4.4	-9.1	15	134	8.40	1.10	-4.85	0.016	19236	0.210	0.057	2323	1279	3280	3276	3285	0	0	0	0	0	0	25.69	24.58	25.86
142	-0.80	-116.8	2322	1279	3277	3285	14.6	-31.3	18	150	0.00	1.10	0.00	0.000	1030	0.000	0.028	2318	2002	3281	3279	3284	0	0	0	0	0	0	26.20	26.17	26.23
281	-0.80	-116.8	2318	2002	3286	3281	37.5	-13.0	43	288	0.00	1.02	0.00	0.000	260	0.000	0.036	2313	2698	3283	3286	3280	0	0	0	0	0	0	26.55	26.29	26.60
521	-0.80	-116.8	2312	2698	3290	3279	70.0	-13.5	89	529	0.00	1.05	0.00	0.000	1030	0.000	0.027	2313	1973	3284	3290	3279	0	0	0	0	0	0	26.49	26.48	26.52
658	-0.80	-116.8	2312	1973	3290	3278	86.4	-11.1	114	666	0.08	1.08	0.00	0.000	2308	0.225	0.034	2321	2697	3284	3290	3278	0	0	0	0	0	0	26.41	26.51	26.48
745	-0.80	-116.8	2320	2698	3291	3278	96.3	-11.9	130	752	0.00	1.00	0.00	0.000	1030	0.000	0.027	2324	1998	3285	3291	3279	0	0	0	0	0	0	26.60	26.56	26.60
881	-0.80	-116.8	2324	1997	3292	3278	111.0	-10.7	146	884	0.00	1.00	0.00	0.000	516	0.000	0.034	2329	1317	3285	3292	3278	0	0	0	0	0	0	26.84	26.56	26.89
1041	-0.80	-116.8	2329	1317	3292	3278	128.5	-10.9	177	1049	0.00	1.02	0.00	0.000	1030	0.000	0.031	2326	2000	3284	3292	3277	0	0	0	0	0	0	26.65	26.61	26.66
1167	-0.80	-116.8	2325	2000	3292	3277	142.6	-11.1	190	1169	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2000	3285	3293	3277	0	0	0	0	0	0	26.91	26.96	26.96
1287	-0.80	-116.8	2325	2000	3292	3277	156.3	-11.5	202	1291	0.00	1.02	0.00	0.000	516	0.000	0.034	2329	1313	3285	3293	3277	0	0	0	0	0	0	26.93	26.65	26.98
1330	-0.80	-116.8	2329	1313	3292	3277	161.2	-11.8	210	1333	0.00	1.02	0.00	0.000	1030	0.000	0.031	2326	2000	3285	3293	3277	0	0	0	0	0	0	26.70	26.67	26.72
1461	-0.80	-116.8	2325	2000	3293	3276	176.2	-11.3	224	1463	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2000	3284	3293	3276	0	0	0	0	0	0	26.96	27.02	27.01
1582	-0.80	-116.8	2325	2000	3293	3276	189.4	-11.1	236	1586	0.00	1.02	0.00	0.000	516	0.000	0.034	2329	1314	3284	3293	3276	0	0	0	0	0	0	26.98	26.67	27.01
1619	-0.80	-116.8	2329	1314	3293	3276	193.6	-11.2	242	1623	0.00	1.02	0.00	0.000	1030	0.000	0.031	2326	2006	3284	3293	3276	0	0	0	0	0	0	26.74	26.72	26.77
1751	-0.80	-116.8	2325	2007	3293	3275	208.4	-11.3	256	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2006	3284	3293	3275	0	0	0	0	0	0	27.00	27.05	27.05
1871	-0.80	-116.8	2325	2007	3293	3275	221.5	-10.6	268	1876	0.00	1.00	0.00	0.000	260	0.000	0.038	2320	2693	3284	3293	3275	0	0	0	0	0	0	27.01	26.71	27.06
1904	-0.80	-116.8	2320	2694	3293	3274	224.7	-9.5	274	1908	0.00	0.98	0.00	0.000	1062	0.000	0.026	2324	1995	3284	3293	3275	0	0	0	0	0	0	26.80	26.79	26.84
1965	end dive: BOTTOM_OBSTACLE_DETECTED
state	1965	begin apogee
1970	-0.18	0.0	2325	1786	3293	3275	230.9	-9.9	281	2149	0.65	0.00	173.88	0.590	10246	0.152	0.000	2521	1784	2800	2855	2746	0	0	0	0	0	0	26.26	25.25	24.75
2149	end apogee: CONTROL_FINISHED_OK
state	2150	begin climb
2152	0.80	116.8	2521	1784	2845	2738	237.4	0.0	299	2339	1.02	0.95	179.20	0.556	10756	0.118	0.036	2840	1121	2318	2445	2191	0	0	0	0	0	0	25.31	24.92	24.58
2445	0.81	126.2	2839	1121	2414	2172	216.4	9.6	356	2453	0.00	1.05	0.00	0.000	1062	0.000	0.031	2837	1795	2291	2414	2169	0	0	0	0	0	0	25.79	25.76	25.81
2572	0.84	155.3	2836	1796	2412	2167	205.2	8.4	369	2634	0.08	1.12	53.70	0.557	10532	0.248	0.038	2844	2509	2159	2294	2024	0	0	0	0	0	0	25.91	25.49	24.93
2766	0.86	166.5	2843	2509	2273	2001	187.3	9.5	405	2777	0.00	1.02	1.98	0.247	9254	0.000	0.031	2847	1823	2125	2265	1986	0	0	0	0	0	0	26.07	26.05	25.06
2898	0.87	175.6	2846	1823	2273	1989	174.7	9.6	419	2925	0.00	0.00	21.38	0.611	8230	0.000	0.000	2847	1822	2077	2221	1934	0	0	0	0	0	0	26.44	25.62	25.28
3047	0.87	175.6	2847	1822	2206	1924	159.1	10.6	434	3054	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1823	2065	2206	1924	0	0	0	0	0	0	26.41	26.47	26.46
3175	0.87	175.6	2846	1822	2205	1924	144.6	10.9	447	3179	0.00	1.02	0.00	0.000	260	0.000	0.039	2844	2491	2064	2205	1924	0	0	0	0	0	0	26.54	26.27	26.60
3221	0.87	175.6	2843	2492	2203	1925	139.3	12.1	455	3225	0.00	1.02	0.00	0.000	1030	0.000	0.033	2847	1800	2063	2203	1924	0	0	0	0	0	0	26.36	26.34	26.40
3353	0.87	175.6	2847	1800	2203	1924	123.7	11.8	469	3361	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1800	2063	2202	1924	0	0	0	0	0	0	26.66	26.74	26.72
3485	0.87	175.6	2847	1800	2202	1923	108.3	11.3	482	3489	0.00	1.08	0.00	0.000	516	0.000	0.044	2853	1102	2063	2203	1924	0	0	0	0	0	0	26.72	26.44	26.79
3517	0.87	175.6	2852	1102	2202	1924	104.2	12.3	488	3522	0.00	1.05	0.00	0.000	1030	0.000	0.032	2849	1797	2063	2202	1924	0	0	0	0	0	0	26.51	26.48	26.54
3650	0.87	175.6	2849	1796	2202	1924	87.7	13.0	511	3657	0.00	1.08	0.00	0.000	516	0.000	0.041	2853	1107	2063	2202	1924	0	0	0	0	0	0	26.79	26.47	26.84
3741	0.87	175.6	2851	1107	2201	1924	76.0	11.8	528	3749	0.00	1.05	0.00	0.000	1030	0.000	0.031	2849	1806	2062	2201	1924	0	0	0	0	0	0	26.60	26.57	26.63
3876	0.89	195.2	2848	1806	2201	1924	62.8	9.0	553	3905	0.10	1.10	20.77	0.562	10788	0.184	0.038	2880	1102	1996	2138	1854	0	0	0	0	0	0	26.47	26.01	25.65
3975	0.89	195.2	2881	1102	2125	1848	51.9	11.9	570	3983	0.00	1.05	0.00	0.000	1030	0.000	0.031	2878	1799	1986	2125	1847	0	0	0	0	0	0	26.44	26.41	26.46
4108	0.89	195.2	2877	1799	2123	1845	37.1	10.5	595	4115	0.00	1.05	0.00	0.000	260	0.000	0.038	2873	2504	1984	2123	1846	0	0	0	0	0	0	26.73	26.46	26.79
4148	0.92	218.0	2872	2504	2123	1845	33.3	8.8	602	4179	0.00	1.02	26.45	0.530	9254	0.000	0.032	2876	1808	1911	2056	1766	0	0	0	0	0	0	26.53	26.51	25.53
4305	0.95	246.5	2875	1807	2034	1747	20.2	8.5	630	4348	0.00	1.12	38.58	0.506	8740	0.000	0.040	2881	1102	1793	1939	1647	0	0	0	0	0	0	26.59	25.87	25.33
4357	1.00	288.0	2881	1102	1926	1637	16.2	7.7	637	4428	0.08	1.08	66.18	0.494	11302	0.108	0.028	2909	1800	1626	1773	1480	0	0	0	0	0	0	25.88	26.04	25.00
4522	end climb: SURFACE_DEPTH_REACHED
state	4523	begin surface coast
4539	end surface coast: CONTROL_FINISHED_OK
state	4539	begin surface