Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 170 * 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 170 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 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 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 62 XPDR_INHIBIT 90

DIVE 170 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 120921,145101,4751.3130,-12510.2666,7,1.0,28,15.7,0.5,80.0,8,1.7 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 0.47 MHEAD_RNG_PITCHd_Wd 121.8,2585,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -59.2 D_GRID 240

GPS2 120921,145447,4751.3071,-12510.2480,4,0.7,5,15.7,0.2,264.7,12,8.3

Post-dive calculations and measurements:

FINISH -0.3,1.025310 _10V_AH 10.24,14.846

SM_CCo 5093,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.36,7.62,0.28,0.00,0.054,0.056,0.000,161,2009,550,-7.40,-1.36,551.92,0,0,0,0,0,0,26.10,26.06,25.39 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4752.60,-12538.98,120921,132532 MEM 209788

TT8_MAMPS 0.02247,0.144557 DATA_FILE_SIZE 36894,685

HUMID 53.85 CAP_FILE_SIZE 83295,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,237645824

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 0.054,154.98,1

_24V_AH 24.26,27.217 GPS 120921,162131,4750.827,-12509.668,4,0.7,23,15.7,0.4,88.6,10,2.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 227 99.77 SBE_CT 411 64 643.73

Roll_motor 29 68 49.39 WL_blue_red_Chl 1307 37 1187.93

VBD_pump_during_apogee 560 671 9126.26 nil 0 0 0.00

VBD_pump_during_surface 255 571 3542.82 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 89 305.41 nil 0 0 0.00

Transponder_ping 2 420 25.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.06

TT8 1530 12 191.56

LPSleep 1110 2 24.90

TT8_Active 856 12 107.20

TT8_Sampling 1583 37 611.02

TT8_CF8 262 42 115.56

TT8_Kalman 0 0 0.00

Analog_circuits 1684 11 189.79

GPS_charging 0 0 0.00

Compass 1554 8 131.17

RAFOS 0 0 0.00

Transponder 21 30 6.51

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 -116.8 162 2020 673 420 0.0 0.0 0 116 0.00 0.00 -105.80 0.004 16386 0.000 0.000 162 2021 3041 3028 3055 0 0 0 0 0 0 26.29 28.83 26.36

118 -0.80 -116.8 162 2021 3029 3055 4.3 -8.8 15 136 8.43 1.05 -4.82 0.016 18724 0.211 0.068 2315 2693 3280 3277 3283 0 0 0 0 0 0 25.73 24.62 25.93

348 -0.80 -116.8 2314 2694 3288 3278 42.3 -12.2 58 356 0.00 1.02 0.00 0.000 1030 0.000 0.026 2315 1984 3283 3289 3278 0 0 0 0 0 0 26.44 26.40 26.44

486 -0.80 -116.8 2314 1984 3290 3277 61.4 -14.2 83 494 0.00 1.05 0.00 0.000 260 0.000 0.037 2310 2687 3283 3290 3277 0 0 0 0 0 0 26.70 26.43 26.77

608 -0.80 -116.8 2310 2687 3291 3277 77.9 -13.2 106 616 0.03 0.98 0.00 0.000 3078 0.227 0.027 2320 1999 3284 3291 3277 0 0 0 0 0 0 26.33 26.53 26.37

745 -0.80 -116.8 2319 1999 3292 3277 95.0 -12.9 131 753 0.00 1.00 0.00 0.000 516 0.000 0.034 2320 1322 3284 3292 3277 0 0 0 0 0 0 26.80 26.53 26.85

901 -0.80 -116.8 2320 1322 3293 3277 113.2 -11.6 159 905 0.00 1.00 0.00 0.000 1030 0.000 0.031 2317 1990 3285 3293 3277 0 0 0 0 0 0 26.63 26.59 26.64

1034 -0.80 -116.8 2316 1990 3294 3277 128.3 -10.7 173 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1990 3285 3294 3276 0 0 0 0 0 0 26.86 26.94 26.94

1163 -0.80 -116.8 2316 1989 3294 3276 142.7 -11.2 186 1165 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1990 3285 3294 3276 0 0 0 0 0 0 26.91 26.97 26.99

1283 -0.80 -116.8 2316 1989 3294 3276 156.4 -11.5 198 1285 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1989 3285 3294 3276 0 0 0 0 0 0 26.94 26.99 26.98

1406 -0.80 -116.8 2316 1990 3294 3276 170.7 -12.1 210 1413 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1990 3285 3294 3276 0 0 0 0 0 0 26.94 27.01 27.00

1533 -0.80 -116.8 2317 1989 3294 3276 185.9 -11.1 223 1536 0.00 1.02 0.00 0.000 260 0.000 0.039 2312 2692 3285 3294 3276 0 0 0 0 0 0 26.98 26.67 27.05

1580 -0.80 -116.8 2311 2692 3294 3276 190.9 -9.7 232 1589 0.00 1.00 0.00 0.000 1062 0.000 0.028 2315 1995 3285 3294 3276 0 0 0 0 0 0 26.76 26.72 26.78

1710 -0.80 -116.8 2314 1992 3294 3275 204.4 -11.3 245 1714 0.00 1.00 0.00 0.000 516 0.000 0.035 2320 1316 3284 3294 3275 0 0 0 0 0 0 26.99 26.70 27.05

1786 -0.80 -116.8 2319 1316 3294 3275 213.3 -11.3 259 1790 0.00 1.02 0.00 0.000 1030 0.000 0.032 2317 2003 3284 3294 3275 0 0 0 0 0 0 26.75 26.72 26.82

1919 -0.80 -116.8 2316 2004 3294 3275 227.5 -11.3 273 1927 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 2004 3284 3294 3274 0 0 0 0 0 0 27.02 27.08 27.07

2037 end dive: TARGET_DEPTH_EXCEEDED

state 2037 begin apogee

2042 -0.18 0.0 2316 1773 3294 3274 240.5 -10.9 285 2248 0.68 0.00 199.38 0.573 10246 0.161 0.000 2516 1772 2794 2848 2741 0 0 0 0 0 0 26.24 25.25 24.74

2249 end apogee: CONTROL_FINISHED_OK

state 2249 begin climb

2252 0.80 116.8 2516 1772 2843 2736 247.9 0.0 306 2439 1.02 0.00 181.02 0.555 10758 0.117 0.000 2833 1772 2320 2447 2194 0 0 0 0 0 0 25.31 25.05 24.59

2560 0.80 121.0 2832 1773 2420 2172 226.7 9.9 340 2565 0.00 1.12 0.00 0.000 292 0.000 0.039 2829 2499 2296 2420 2172 0 0 0 0 0 0 26.01 25.77 26.06

2594 0.82 132.2 2828 2499 2420 2168 223.2 9.5 346 2615 0.00 1.02 12.05 0.672 9254 0.000 0.034 2833 1826 2255 2386 2124 0 0 0 0 0 0 25.91 25.88 25.02

2736 0.85 158.3 2832 1826 2375 2118 211.4 8.6 362 2779 0.10 1.17 37.95 0.578 10788 0.196 0.039 2860 1100 2153 2289 2018 0 0 0 0 0 0 25.86 25.58 25.03

2846 0.85 158.3 2859 1101 2273 2009 200.2 10.8 382 2850 0.00 1.08 0.00 0.000 1030 0.000 0.031 2856 1798 2141 2273 2009 0 0 0 0 0 0 25.97 25.94 26.00

2978 0.85 158.3 2856 1799 2271 2006 185.9 11.0 396 2983 0.00 1.05 0.00 0.000 260 0.000 0.039 2851 2503 2138 2270 2006 0 0 0 0 0 0 26.39 26.14 26.44

3021 0.85 158.3 2851 2503 2270 2003 181.4 10.9 404 3026 0.00 1.05 0.00 0.000 1030 0.000 0.032 2855 1799 2137 2271 2003 0 0 0 0 0 0 26.25 26.21 26.27

3155 0.86 165.4 2854 1798 2270 2003 168.1 9.7 418 3162 0.00 0.00 0.00 0.000 38 0.000 0.000 2855 1799 2136 2270 2003 0 0 0 0 0 0 26.57 26.63 26.62

3286 0.86 165.4 2854 1799 2270 2003 155.2 10.1 431 3290 0.00 1.05 0.00 0.000 260 0.000 0.037 2851 2497 2135 2269 2002 0 0 0 0 0 0 26.65 26.40 26.70

3361 0.86 165.4 2850 2497 2268 2002 147.2 10.7 445 3365 0.00 1.02 0.00 0.000 1030 0.000 0.031 2854 1806 2135 2268 2002 0 0 0 0 0 0 26.48 26.46 26.48

3496 0.86 167.7 2854 1805 2269 2002 133.8 10.0 459 3507 0.00 1.10 2.10 0.462 8740 0.000 0.042 2860 1098 2118 2255 1982 0 0 0 0 0 0 26.75 26.13 24.89

3544 0.86 167.7 2859 1098 2256 1983 128.3 10.4 468 3552 0.00 1.08 0.00 0.000 1030 0.000 0.029 2856 1814 2119 2256 1983 0 0 0 0 0 0 26.53 26.51 26.56

3673 0.86 167.7 2856 1815 2255 1983 115.1 11.0 481 3676 0.00 1.00 0.00 0.000 260 0.000 0.038 2851 2492 2119 2256 1983 0 0 0 0 0 0 26.79 26.51 26.86

3801 0.88 184.2 2851 2492 2256 1982 102.6 9.2 505 3832 0.00 1.02 22.58 0.593 9254 0.000 0.032 2855 1794 2044 2185 1904 0 0 0 0 0 0 26.61 26.59 25.58

3952 0.92 215.7 2854 1794 2176 1899 90.1 8.3 534 4003 0.10 1.10 43.38 0.551 10788 0.146 0.041 2889 1108 1914 2056 1772 0 0 0 0 0 0 26.35 25.86 25.30

4031 0.92 215.7 2888 1108 2046 1766 82.0 10.7 546 4038 0.00 1.05 0.00 0.000 1030 0.000 0.031 2885 1791 1906 2046 1767 0 0 0 0 0 0 26.08 26.06 26.11

4170 0.92 215.7 2885 1791 2044 1764 67.1 10.7 571 4178 0.00 1.08 0.00 0.000 260 0.000 0.040 2879 2501 1904 2044 1764 0 0 0 0 0 0 26.47 26.20 26.53

4287 0.92 215.7 2880 2502 2041 1763 53.4 11.8 593 4295 0.00 1.05 0.00 0.000 1030 0.000 0.033 2884 1796 1902 2041 1763 0 0 0 0 0 0 26.36 26.34 26.39

4425 0.92 215.7 2883 1796 2039 1762 35.9 12.2 618 4432 0.00 1.08 0.00 0.000 516 0.000 0.042 2889 1098 1901 2040 1762 0 0 0 0 0 0 26.67 26.39 26.73

4445 0.92 215.7 2888 1099 2039 1762 33.4 12.0 621 4452 0.00 1.08 0.00 0.000 1030 0.000 0.030 2886 1808 1900 2039 1762 0 0 0 0 0 0 26.46 26.44 26.48

4583 0.92 215.7 2885 1807 2039 1762 17.7 11.8 646 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 2885 1808 1900 2039 1762 0 0 0 0 0 0 26.74 26.81 26.80

4715 1.03 312.6 2885 1808 2038 1762 6.0 4.5 671 4779 0.12 0.00 61.62 0.503 10786 0.129 0.000 2923 1809 1751 1896 1607 0 0 0 0 0 0 26.47 28.83 26.53

4780 end climb: SURFACE_DEPTH_REACHED

state 4780 begin surface coast

4809 end surface coast: CONTROL_FINISHED_OK

state 4809 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	170	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	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	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	120921,145101,4751.3130,-12510.2666,7,1.0,28,15.7,0.5,80.0,8,1.7	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	0.47	MHEAD_RNG_PITCHd_Wd	121.8,2585,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-59.2	D_GRID	240
GPS2	120921,145447,4751.3071,-12510.2480,4,0.7,5,15.7,0.2,264.7,12,8.3

FINISH	-0.3,1.025310	_10V_AH	10.24,14.846
SM_CCo	5093,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.36,7.62,0.28,0.00,0.054,0.056,0.000,161,2009,550,-7.40,-1.36,551.92,0,0,0,0,0,0,26.10,26.06,25.39	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4752.60,-12538.98,120921,132532	MEM	209788
TT8_MAMPS	0.02247,0.144557	DATA_FILE_SIZE	36894,685
HUMID	53.85	CAP_FILE_SIZE	83295,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,237645824
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	0.054,154.98,1
_24V_AH	24.26,27.217	GPS	120921,162131,4750.827,-12509.668,4,0.7,23,15.7,0.4,88.6,10,2.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	227	99.77	SBE_CT	411	64	643.73
Roll_motor	29	68	49.39	WL_blue_red_Chl	1307	37	1187.93
VBD_pump_during_apogee	560	671	9126.26	nil	0	0	0.00
VBD_pump_during_surface	255	571	3542.82	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	89	305.41	nil	0	0	0.00
Transponder_ping	2	420	25.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.06
TT8	1530	12	191.56
LPSleep	1110	2	24.90
TT8_Active	856	12	107.20
TT8_Sampling	1583	37	611.02
TT8_CF8	262	42	115.56
TT8_Kalman	0	0	0.00
Analog_circuits	1684	11	189.79
GPS_charging	0	0	0.00
Compass	1554	8	131.17
RAFOS	0	0	0.00
Transponder	21	30	6.51

		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	162	2020	673	420	0.0	0.0	0	116	0.00	0.00	-105.80	0.004	16386	0.000	0.000	162	2021	3041	3028	3055	0	0	0	0	0	0	26.29	28.83	26.36
118	-0.80	-116.8	162	2021	3029	3055	4.3	-8.8	15	136	8.43	1.05	-4.82	0.016	18724	0.211	0.068	2315	2693	3280	3277	3283	0	0	0	0	0	0	25.73	24.62	25.93
348	-0.80	-116.8	2314	2694	3288	3278	42.3	-12.2	58	356	0.00	1.02	0.00	0.000	1030	0.000	0.026	2315	1984	3283	3289	3278	0	0	0	0	0	0	26.44	26.40	26.44
486	-0.80	-116.8	2314	1984	3290	3277	61.4	-14.2	83	494	0.00	1.05	0.00	0.000	260	0.000	0.037	2310	2687	3283	3290	3277	0	0	0	0	0	0	26.70	26.43	26.77
608	-0.80	-116.8	2310	2687	3291	3277	77.9	-13.2	106	616	0.03	0.98	0.00	0.000	3078	0.227	0.027	2320	1999	3284	3291	3277	0	0	0	0	0	0	26.33	26.53	26.37
745	-0.80	-116.8	2319	1999	3292	3277	95.0	-12.9	131	753	0.00	1.00	0.00	0.000	516	0.000	0.034	2320	1322	3284	3292	3277	0	0	0	0	0	0	26.80	26.53	26.85
901	-0.80	-116.8	2320	1322	3293	3277	113.2	-11.6	159	905	0.00	1.00	0.00	0.000	1030	0.000	0.031	2317	1990	3285	3293	3277	0	0	0	0	0	0	26.63	26.59	26.64
1034	-0.80	-116.8	2316	1990	3294	3277	128.3	-10.7	173	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1990	3285	3294	3276	0	0	0	0	0	0	26.86	26.94	26.94
1163	-0.80	-116.8	2316	1989	3294	3276	142.7	-11.2	186	1165	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1990	3285	3294	3276	0	0	0	0	0	0	26.91	26.97	26.99
1283	-0.80	-116.8	2316	1989	3294	3276	156.4	-11.5	198	1285	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1989	3285	3294	3276	0	0	0	0	0	0	26.94	26.99	26.98
1406	-0.80	-116.8	2316	1990	3294	3276	170.7	-12.1	210	1413	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1990	3285	3294	3276	0	0	0	0	0	0	26.94	27.01	27.00
1533	-0.80	-116.8	2317	1989	3294	3276	185.9	-11.1	223	1536	0.00	1.02	0.00	0.000	260	0.000	0.039	2312	2692	3285	3294	3276	0	0	0	0	0	0	26.98	26.67	27.05
1580	-0.80	-116.8	2311	2692	3294	3276	190.9	-9.7	232	1589	0.00	1.00	0.00	0.000	1062	0.000	0.028	2315	1995	3285	3294	3276	0	0	0	0	0	0	26.76	26.72	26.78
1710	-0.80	-116.8	2314	1992	3294	3275	204.4	-11.3	245	1714	0.00	1.00	0.00	0.000	516	0.000	0.035	2320	1316	3284	3294	3275	0	0	0	0	0	0	26.99	26.70	27.05
1786	-0.80	-116.8	2319	1316	3294	3275	213.3	-11.3	259	1790	0.00	1.02	0.00	0.000	1030	0.000	0.032	2317	2003	3284	3294	3275	0	0	0	0	0	0	26.75	26.72	26.82
1919	-0.80	-116.8	2316	2004	3294	3275	227.5	-11.3	273	1927	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	2004	3284	3294	3274	0	0	0	0	0	0	27.02	27.08	27.07
2037	end dive: TARGET_DEPTH_EXCEEDED
state	2037	begin apogee
2042	-0.18	0.0	2316	1773	3294	3274	240.5	-10.9	285	2248	0.68	0.00	199.38	0.573	10246	0.161	0.000	2516	1772	2794	2848	2741	0	0	0	0	0	0	26.24	25.25	24.74
2249	end apogee: CONTROL_FINISHED_OK
state	2249	begin climb
2252	0.80	116.8	2516	1772	2843	2736	247.9	0.0	306	2439	1.02	0.00	181.02	0.555	10758	0.117	0.000	2833	1772	2320	2447	2194	0	0	0	0	0	0	25.31	25.05	24.59
2560	0.80	121.0	2832	1773	2420	2172	226.7	9.9	340	2565	0.00	1.12	0.00	0.000	292	0.000	0.039	2829	2499	2296	2420	2172	0	0	0	0	0	0	26.01	25.77	26.06
2594	0.82	132.2	2828	2499	2420	2168	223.2	9.5	346	2615	0.00	1.02	12.05	0.672	9254	0.000	0.034	2833	1826	2255	2386	2124	0	0	0	0	0	0	25.91	25.88	25.02
2736	0.85	158.3	2832	1826	2375	2118	211.4	8.6	362	2779	0.10	1.17	37.95	0.578	10788	0.196	0.039	2860	1100	2153	2289	2018	0	0	0	0	0	0	25.86	25.58	25.03
2846	0.85	158.3	2859	1101	2273	2009	200.2	10.8	382	2850	0.00	1.08	0.00	0.000	1030	0.000	0.031	2856	1798	2141	2273	2009	0	0	0	0	0	0	25.97	25.94	26.00
2978	0.85	158.3	2856	1799	2271	2006	185.9	11.0	396	2983	0.00	1.05	0.00	0.000	260	0.000	0.039	2851	2503	2138	2270	2006	0	0	0	0	0	0	26.39	26.14	26.44
3021	0.85	158.3	2851	2503	2270	2003	181.4	10.9	404	3026	0.00	1.05	0.00	0.000	1030	0.000	0.032	2855	1799	2137	2271	2003	0	0	0	0	0	0	26.25	26.21	26.27
3155	0.86	165.4	2854	1798	2270	2003	168.1	9.7	418	3162	0.00	0.00	0.00	0.000	38	0.000	0.000	2855	1799	2136	2270	2003	0	0	0	0	0	0	26.57	26.63	26.62
3286	0.86	165.4	2854	1799	2270	2003	155.2	10.1	431	3290	0.00	1.05	0.00	0.000	260	0.000	0.037	2851	2497	2135	2269	2002	0	0	0	0	0	0	26.65	26.40	26.70
3361	0.86	165.4	2850	2497	2268	2002	147.2	10.7	445	3365	0.00	1.02	0.00	0.000	1030	0.000	0.031	2854	1806	2135	2268	2002	0	0	0	0	0	0	26.48	26.46	26.48
3496	0.86	167.7	2854	1805	2269	2002	133.8	10.0	459	3507	0.00	1.10	2.10	0.462	8740	0.000	0.042	2860	1098	2118	2255	1982	0	0	0	0	0	0	26.75	26.13	24.89
3544	0.86	167.7	2859	1098	2256	1983	128.3	10.4	468	3552	0.00	1.08	0.00	0.000	1030	0.000	0.029	2856	1814	2119	2256	1983	0	0	0	0	0	0	26.53	26.51	26.56
3673	0.86	167.7	2856	1815	2255	1983	115.1	11.0	481	3676	0.00	1.00	0.00	0.000	260	0.000	0.038	2851	2492	2119	2256	1983	0	0	0	0	0	0	26.79	26.51	26.86
3801	0.88	184.2	2851	2492	2256	1982	102.6	9.2	505	3832	0.00	1.02	22.58	0.593	9254	0.000	0.032	2855	1794	2044	2185	1904	0	0	0	0	0	0	26.61	26.59	25.58
3952	0.92	215.7	2854	1794	2176	1899	90.1	8.3	534	4003	0.10	1.10	43.38	0.551	10788	0.146	0.041	2889	1108	1914	2056	1772	0	0	0	0	0	0	26.35	25.86	25.30
4031	0.92	215.7	2888	1108	2046	1766	82.0	10.7	546	4038	0.00	1.05	0.00	0.000	1030	0.000	0.031	2885	1791	1906	2046	1767	0	0	0	0	0	0	26.08	26.06	26.11
4170	0.92	215.7	2885	1791	2044	1764	67.1	10.7	571	4178	0.00	1.08	0.00	0.000	260	0.000	0.040	2879	2501	1904	2044	1764	0	0	0	0	0	0	26.47	26.20	26.53
4287	0.92	215.7	2880	2502	2041	1763	53.4	11.8	593	4295	0.00	1.05	0.00	0.000	1030	0.000	0.033	2884	1796	1902	2041	1763	0	0	0	0	0	0	26.36	26.34	26.39
4425	0.92	215.7	2883	1796	2039	1762	35.9	12.2	618	4432	0.00	1.08	0.00	0.000	516	0.000	0.042	2889	1098	1901	2040	1762	0	0	0	0	0	0	26.67	26.39	26.73
4445	0.92	215.7	2888	1099	2039	1762	33.4	12.0	621	4452	0.00	1.08	0.00	0.000	1030	0.000	0.030	2886	1808	1900	2039	1762	0	0	0	0	0	0	26.46	26.44	26.48
4583	0.92	215.7	2885	1807	2039	1762	17.7	11.8	646	4589	0.00	0.00	0.00	0.000	6	0.000	0.000	2885	1808	1900	2039	1762	0	0	0	0	0	0	26.74	26.81	26.80
4715	1.03	312.6	2885	1808	2038	1762	6.0	4.5	671	4779	0.12	0.00	61.62	0.503	10786	0.129	0.000	2923	1809	1751	1896	1607	0	0	0	0	0	0	26.47	28.83	26.53
4780	end climb: SURFACE_DEPTH_REACHED
state	4780	begin surface coast
4809	end surface coast: CONTROL_FINISHED_OK
state	4809	begin surface