Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 184 * 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 184 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 59 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 59 XPDR_INHIBIT 90

DIVE 184 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 130921,135309,4751.4561,-12510.8008,7,0.8,13,15.7,0.1,0.0,11,4.1 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 0.53 MHEAD_RNG_PITCHd_Wd 115.5,3291,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -61.9 D_GRID 285

GPS2 130921,135712,4751.4463,-12510.8145,4,0.8,5,15.7,0.5,325.5,11,7.2

Post-dive calculations and measurements:

FINISH -0.3,1.025464 _10V_AH 10.23,15.744

SM_CCo 5189,-0.25,0.187,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.46,7.40,1.38,-0.25,0.050,0.029,0.187,171,1987,550,-7.39,-1.67,551.92,0,0,0,0,0,0,26.29,26.21,25.32 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4751.26,-12509.51,130921,121806 MEM 209752

TT8_MAMPS 0.021721,0.144557 DATA_FILE_SIZE 36908,714

HUMID 53.54 CAP_FILE_SIZE 85602,0

INTERNAL_PRESSURE 8.72826 CFSIZE 260030464,236879872

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 0.034,317.97,1

ALTIM_BOTTOM_PING 212.4,46.0 GPS 130921,152539,4751.270,-12510.395,21,0.7,29,15.7,0.8,269.3,12,4.2

_24V_AH 24.27,29.033

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 222 94.69 SBE_CT 434 64 679.54

Roll_motor 35 58 50.13 WL_blue_red_Chl 1376 37 1250.69

VBD_pump_during_apogee 553 568 7633.78 nil 0 0 0.00

VBD_pump_during_surface 200 616 3001.53 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 156 86 327.55 nil 0 0 0.00

Transponder_ping 2 420 20.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.06

TT8 1615 12 201.99

LPSleep 1133 2 25.40

TT8_Active 781 12 97.76

TT8_Sampling 1651 37 636.66

TT8_CF8 273 42 119.94

TT8_Kalman 0 0 0.00

Analog_circuits 1648 11 185.51

GPS_charging 0 0 0.00

Compass 1612 8 135.96

RAFOS 0 0 0.00

Transponder 18 30 5.58

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 -116.8 170 2014 688 416 0.0 0.0 0 115 0.00 0.00 -104.95 0.004 16386 0.000 0.000 170 2013 3063 3050 3077 0 0 0 0 0 0 26.29 28.83 26.36

118 -0.80 -116.8 169 2013 3051 3077 4.7 -9.3 15 141 8.27 1.10 -4.38 0.018 18980 0.205 0.058 2320 1292 3281 3280 3282 0 0 0 0 0 0 25.70 24.56 25.86

373 -0.80 -116.8 2319 1292 3288 3279 47.8 -11.5 63 381 0.00 1.05 0.00 0.000 1030 0.000 0.030 2315 1983 3283 3288 3278 0 0 0 0 0 0 26.41 26.38 26.44

511 -0.80 -116.8 2315 1983 3290 3278 64.7 -12.1 88 519 0.00 1.02 0.00 0.000 516 0.000 0.032 2318 1299 3284 3290 3278 0 0 0 0 0 0 26.71 26.44 26.76

750 -0.80 -116.8 2317 1298 3291 3277 91.0 -11.1 134 758 0.00 1.08 0.00 0.000 1030 0.000 0.029 2315 2014 3284 3291 3277 0 0 0 0 0 0 26.57 26.54 26.60

884 -0.80 -116.8 2314 2014 3292 3277 105.7 -11.0 154 888 0.00 1.05 0.00 0.000 516 0.000 0.033 2318 1307 3284 3292 3277 0 0 0 0 0 0 26.84 26.55 26.89

992 -0.80 -116.8 2317 1306 3292 3277 117.6 -11.1 174 996 0.00 1.05 0.00 0.000 1030 0.000 0.031 2315 2007 3284 3292 3277 0 0 0 0 0 0 26.63 26.60 26.66

1124 -0.80 -116.8 2314 2007 3293 3276 132.2 -11.1 188 1128 0.00 1.00 0.00 0.000 260 0.000 0.037 2309 2693 3285 3293 3277 0 0 0 0 0 0 26.90 26.59 26.95

1169 -0.80 -116.8 2309 2693 3293 3276 137.1 -11.4 196 1174 0.05 1.00 0.00 0.000 3078 0.198 0.025 2326 1980 3284 3293 3276 0 0 0 0 0 0 26.36 26.69 26.44

1302 -0.80 -116.8 2326 1980 3293 3276 152.1 -11.2 210 1306 0.00 0.95 0.00 0.000 516 0.000 0.034 2331 1328 3284 3293 3276 0 0 0 0 0 0 26.94 26.65 26.98

1390 -0.80 -116.8 2331 1328 3293 3276 161.9 -10.9 227 1397 0.00 1.00 0.00 0.000 1030 0.000 0.031 2328 2003 3285 3295 3276 0 0 0 0 0 0 26.71 26.67 26.74

1518 -0.80 -116.8 2327 2003 3294 3275 175.3 -10.5 240 1521 0.00 1.00 0.00 0.000 516 0.000 0.033 2331 1324 3284 3294 3275 0 0 0 0 0 0 26.97 26.67 27.02

1550 -0.80 -116.8 2331 1324 3294 3275 178.8 -11.0 246 1554 0.00 1.00 0.00 0.000 1030 0.000 0.030 2328 2000 3284 3294 3275 0 0 0 0 0 0 26.73 26.70 26.75

1682 -0.80 -116.8 2327 2000 3293 3275 192.6 -10.2 260 1684 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2000 3284 3294 3275 0 0 0 0 0 0 26.98 27.05 27.04

1802 -0.80 -116.8 2327 2000 3294 3275 205.2 -10.4 272 1804 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2000 3284 3294 3275 0 0 0 0 0 0 27.01 27.07 27.05

1923 -0.80 -116.8 2328 2000 3294 3274 217.7 -10.8 284 1925 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 1999 3284 3294 3274 0 0 0 0 0 0 27.01 27.08 27.07

2043 -0.80 -116.8 2328 2000 3294 3274 230.7 -10.7 296 2046 0.00 1.00 0.00 0.000 260 0.000 0.037 2323 2690 3284 3294 3274 0 0 0 0 0 0 27.03 26.72 27.08

2085 -0.80 -116.8 2322 2690 3293 3274 235.2 -10.3 304 2089 0.00 0.98 0.00 0.000 1030 0.000 0.027 2326 1996 3284 3294 3274 0 0 0 0 0 0 26.82 26.79 26.83

2116 end dive: BOTTOM_OBSTACLE_DETECTED

state 2116 begin apogee

2121 -0.18 0.0 2327 1787 3293 3274 238.6 -10.7 308 2339 0.65 0.00 212.52 0.552 10246 0.153 0.000 2523 1785 2797 2851 2744 0 0 0 0 0 0 26.22 25.22 24.72

2339 end apogee: CONTROL_FINISHED_OK

state 2340 begin climb

2342 0.80 116.8 2523 1785 2843 2735 244.7 0.0 330 2532 1.02 1.00 177.52 0.539 11012 0.116 0.034 2843 1134 2313 2440 2186 0 0 0 0 0 0 25.27 24.91 24.56

2556 0.81 127.0 2842 1134 2416 2167 231.7 9.5 362 2560 0.00 1.05 0.00 0.000 1062 0.000 0.029 2839 1800 2291 2415 2167 0 0 0 0 0 0 25.46 25.43 25.49

2688 0.82 132.6 2839 1800 2410 2162 219.1 9.8 376 2699 0.00 1.05 3.22 0.503 8484 0.000 0.034 2834 2490 2260 2393 2128 0 0 0 0 0 0 26.13 25.26 24.63

2776 0.82 132.6 2833 2490 2406 2134 210.2 10.5 392 2780 0.00 0.98 0.00 0.000 1030 0.000 0.030 2837 1834 2270 2406 2135 0 0 0 0 0 0 26.08 26.05 26.10

2908 0.83 147.2 2836 1833 2407 2135 197.6 9.3 406 2948 0.00 0.00 33.45 0.568 8230 0.000 0.000 2837 1834 2191 2328 2054 0 0 0 0 0 0 26.46 25.51 25.18

3068 0.83 147.2 2837 1833 2300 2029 181.5 10.3 422 3073 0.00 1.02 0.00 0.000 260 0.000 0.037 2834 2502 2164 2300 2029 0 0 0 0 0 0 26.35 26.11 26.42

3103 0.83 147.2 2833 2502 2299 2028 178.1 10.3 428 3107 0.00 1.05 0.00 0.000 1030 0.000 0.031 2838 1798 2163 2299 2027 0 0 0 0 0 0 26.21 26.19 26.22

3236 0.85 157.9 2837 1798 2298 2027 164.9 9.5 442 3240 0.08 1.05 0.00 0.000 2596 0.223 0.039 2856 1110 2162 2297 2027 0 0 0 0 0 0 26.22 26.27 26.28

3291 0.85 157.9 2856 1110 2297 2028 159.1 10.1 452 3295 0.00 1.05 0.00 0.000 1030 0.000 0.030 2853 1805 2162 2297 2028 0 0 0 0 0 0 26.37 26.34 26.39

3423 0.85 159.2 2852 1805 2295 2028 145.8 10.1 466 3428 0.00 1.02 0.00 0.000 292 0.000 0.038 2847 2500 2161 2295 2028 0 0 0 0 0 0 26.67 26.39 26.72

3458 0.85 159.2 2847 2500 2295 2027 142.3 10.3 472 3462 0.00 1.02 0.00 0.000 1030 0.000 0.031 2851 1804 2160 2294 2027 0 0 0 0 0 0 26.47 26.44 26.48

3591 0.85 163.4 2850 1803 2295 2027 129.1 9.9 486 3602 0.00 1.05 3.22 0.519 8484 0.000 0.034 2848 2499 2137 2275 2000 0 0 0 0 0 0 26.74 25.69 25.00

3626 0.85 163.4 2847 2499 2282 2006 125.5 10.5 492 3630 0.00 1.02 0.00 0.000 1030 0.000 0.032 2851 1804 2144 2282 2006 0 0 0 0 0 0 26.51 26.48 26.53

3759 0.85 163.4 2850 1803 2287 2008 111.9 10.5 506 3766 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 1804 2147 2287 2008 0 0 0 0 0 0 26.77 26.84 26.83

3888 0.85 163.4 2851 1803 2286 2008 97.5 11.3 521 3896 0.00 1.02 0.00 0.000 260 0.000 0.037 2848 2491 2147 2287 2008 0 0 0 0 0 0 26.82 26.52 26.87

3910 0.85 163.4 2847 2491 2287 2008 95.2 10.9 524 3917 0.00 1.02 0.00 0.000 1030 0.000 0.031 2851 1793 2147 2287 2008 0 0 0 0 0 0 26.60 26.57 26.63

4042 0.85 163.4 2851 1793 2287 2008 81.0 10.4 549 4051 0.00 1.02 0.00 0.000 516 0.000 0.042 2856 1113 2147 2287 2008 0 0 0 0 0 0 26.86 26.55 26.91

4284 0.91 210.5 2856 1112 2287 2008 60.2 7.4 595 4381 0.05 1.02 90.00 0.511 11302 0.142 0.029 2874 1799 1936 2080 1792 0 0 0 0 0 0 26.39 26.65 25.20

4507 0.91 213.6 2874 1800 2046 1759 38.9 10.0 633 4515 0.00 1.05 0.00 0.000 292 0.000 0.037 2871 2490 1902 2046 1759 0 0 0 0 0 0 26.36 26.09 26.41

4645 0.91 214.1 2870 2490 2042 1758 25.2 10.1 658 4653 0.00 1.02 0.00 0.000 1062 0.000 0.031 2874 1804 1900 2042 1758 0 0 0 0 0 0 26.32 26.26 26.33

4784 0.95 241.2 2874 1805 2040 1758 11.0 8.6 683 4828 0.00 1.10 33.42 0.509 8740 0.000 0.039 2880 1110 1805 1951 1659 0 0 0 0 0 0 26.63 25.92 25.37

4922 end climb: SURFACE_DEPTH_REACHED

state 4922 begin surface coast

4959 end surface coast: CONTROL_FINISHED_OK

state 4959 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	184	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	59	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	130921,135309,4751.4561,-12510.8008,7,0.8,13,15.7,0.1,0.0,11,4.1	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	0.53	MHEAD_RNG_PITCHd_Wd	115.5,3291,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-61.9	D_GRID	285
GPS2	130921,135712,4751.4463,-12510.8145,4,0.8,5,15.7,0.5,325.5,11,7.2

FINISH	-0.3,1.025464	_10V_AH	10.23,15.744
SM_CCo	5189,-0.25,0.187,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.46,7.40,1.38,-0.25,0.050,0.029,0.187,171,1987,550,-7.39,-1.67,551.92,0,0,0,0,0,0,26.29,26.21,25.32	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4751.26,-12509.51,130921,121806	MEM	209752
TT8_MAMPS	0.021721,0.144557	DATA_FILE_SIZE	36908,714
HUMID	53.54	CAP_FILE_SIZE	85602,0
INTERNAL_PRESSURE	8.72826	CFSIZE	260030464,236879872
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	0.034,317.97,1
ALTIM_BOTTOM_PING	212.4,46.0	GPS	130921,152539,4751.270,-12510.395,21,0.7,29,15.7,0.8,269.3,12,4.2
_24V_AH	24.27,29.033

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	222	94.69	SBE_CT	434	64	679.54
Roll_motor	35	58	50.13	WL_blue_red_Chl	1376	37	1250.69
VBD_pump_during_apogee	553	568	7633.78	nil	0	0	0.00
VBD_pump_during_surface	200	616	3001.53	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	156	86	327.55	nil	0	0	0.00
Transponder_ping	2	420	20.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.06
TT8	1615	12	201.99
LPSleep	1133	2	25.40
TT8_Active	781	12	97.76
TT8_Sampling	1651	37	636.66
TT8_CF8	273	42	119.94
TT8_Kalman	0	0	0.00
Analog_circuits	1648	11	185.51
GPS_charging	0	0	0.00
Compass	1612	8	135.96
RAFOS	0	0	0.00
Transponder	18	30	5.58

		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	170	2014	688	416	0.0	0.0	0	115	0.00	0.00	-104.95	0.004	16386	0.000	0.000	170	2013	3063	3050	3077	0	0	0	0	0	0	26.29	28.83	26.36
118	-0.80	-116.8	169	2013	3051	3077	4.7	-9.3	15	141	8.27	1.10	-4.38	0.018	18980	0.205	0.058	2320	1292	3281	3280	3282	0	0	0	0	0	0	25.70	24.56	25.86
373	-0.80	-116.8	2319	1292	3288	3279	47.8	-11.5	63	381	0.00	1.05	0.00	0.000	1030	0.000	0.030	2315	1983	3283	3288	3278	0	0	0	0	0	0	26.41	26.38	26.44
511	-0.80	-116.8	2315	1983	3290	3278	64.7	-12.1	88	519	0.00	1.02	0.00	0.000	516	0.000	0.032	2318	1299	3284	3290	3278	0	0	0	0	0	0	26.71	26.44	26.76
750	-0.80	-116.8	2317	1298	3291	3277	91.0	-11.1	134	758	0.00	1.08	0.00	0.000	1030	0.000	0.029	2315	2014	3284	3291	3277	0	0	0	0	0	0	26.57	26.54	26.60
884	-0.80	-116.8	2314	2014	3292	3277	105.7	-11.0	154	888	0.00	1.05	0.00	0.000	516	0.000	0.033	2318	1307	3284	3292	3277	0	0	0	0	0	0	26.84	26.55	26.89
992	-0.80	-116.8	2317	1306	3292	3277	117.6	-11.1	174	996	0.00	1.05	0.00	0.000	1030	0.000	0.031	2315	2007	3284	3292	3277	0	0	0	0	0	0	26.63	26.60	26.66
1124	-0.80	-116.8	2314	2007	3293	3276	132.2	-11.1	188	1128	0.00	1.00	0.00	0.000	260	0.000	0.037	2309	2693	3285	3293	3277	0	0	0	0	0	0	26.90	26.59	26.95
1169	-0.80	-116.8	2309	2693	3293	3276	137.1	-11.4	196	1174	0.05	1.00	0.00	0.000	3078	0.198	0.025	2326	1980	3284	3293	3276	0	0	0	0	0	0	26.36	26.69	26.44
1302	-0.80	-116.8	2326	1980	3293	3276	152.1	-11.2	210	1306	0.00	0.95	0.00	0.000	516	0.000	0.034	2331	1328	3284	3293	3276	0	0	0	0	0	0	26.94	26.65	26.98
1390	-0.80	-116.8	2331	1328	3293	3276	161.9	-10.9	227	1397	0.00	1.00	0.00	0.000	1030	0.000	0.031	2328	2003	3285	3295	3276	0	0	0	0	0	0	26.71	26.67	26.74
1518	-0.80	-116.8	2327	2003	3294	3275	175.3	-10.5	240	1521	0.00	1.00	0.00	0.000	516	0.000	0.033	2331	1324	3284	3294	3275	0	0	0	0	0	0	26.97	26.67	27.02
1550	-0.80	-116.8	2331	1324	3294	3275	178.8	-11.0	246	1554	0.00	1.00	0.00	0.000	1030	0.000	0.030	2328	2000	3284	3294	3275	0	0	0	0	0	0	26.73	26.70	26.75
1682	-0.80	-116.8	2327	2000	3293	3275	192.6	-10.2	260	1684	0.00	0.00	0.00	0.000	6	0.000	0.000	2329	2000	3284	3294	3275	0	0	0	0	0	0	26.98	27.05	27.04
1802	-0.80	-116.8	2327	2000	3294	3275	205.2	-10.4	272	1804	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2000	3284	3294	3275	0	0	0	0	0	0	27.01	27.07	27.05
1923	-0.80	-116.8	2328	2000	3294	3274	217.7	-10.8	284	1925	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	1999	3284	3294	3274	0	0	0	0	0	0	27.01	27.08	27.07
2043	-0.80	-116.8	2328	2000	3294	3274	230.7	-10.7	296	2046	0.00	1.00	0.00	0.000	260	0.000	0.037	2323	2690	3284	3294	3274	0	0	0	0	0	0	27.03	26.72	27.08
2085	-0.80	-116.8	2322	2690	3293	3274	235.2	-10.3	304	2089	0.00	0.98	0.00	0.000	1030	0.000	0.027	2326	1996	3284	3294	3274	0	0	0	0	0	0	26.82	26.79	26.83
2116	end dive: BOTTOM_OBSTACLE_DETECTED
state	2116	begin apogee
2121	-0.18	0.0	2327	1787	3293	3274	238.6	-10.7	308	2339	0.65	0.00	212.52	0.552	10246	0.153	0.000	2523	1785	2797	2851	2744	0	0	0	0	0	0	26.22	25.22	24.72
2339	end apogee: CONTROL_FINISHED_OK
state	2340	begin climb
2342	0.80	116.8	2523	1785	2843	2735	244.7	0.0	330	2532	1.02	1.00	177.52	0.539	11012	0.116	0.034	2843	1134	2313	2440	2186	0	0	0	0	0	0	25.27	24.91	24.56
2556	0.81	127.0	2842	1134	2416	2167	231.7	9.5	362	2560	0.00	1.05	0.00	0.000	1062	0.000	0.029	2839	1800	2291	2415	2167	0	0	0	0	0	0	25.46	25.43	25.49
2688	0.82	132.6	2839	1800	2410	2162	219.1	9.8	376	2699	0.00	1.05	3.22	0.503	8484	0.000	0.034	2834	2490	2260	2393	2128	0	0	0	0	0	0	26.13	25.26	24.63
2776	0.82	132.6	2833	2490	2406	2134	210.2	10.5	392	2780	0.00	0.98	0.00	0.000	1030	0.000	0.030	2837	1834	2270	2406	2135	0	0	0	0	0	0	26.08	26.05	26.10
2908	0.83	147.2	2836	1833	2407	2135	197.6	9.3	406	2948	0.00	0.00	33.45	0.568	8230	0.000	0.000	2837	1834	2191	2328	2054	0	0	0	0	0	0	26.46	25.51	25.18
3068	0.83	147.2	2837	1833	2300	2029	181.5	10.3	422	3073	0.00	1.02	0.00	0.000	260	0.000	0.037	2834	2502	2164	2300	2029	0	0	0	0	0	0	26.35	26.11	26.42
3103	0.83	147.2	2833	2502	2299	2028	178.1	10.3	428	3107	0.00	1.05	0.00	0.000	1030	0.000	0.031	2838	1798	2163	2299	2027	0	0	0	0	0	0	26.21	26.19	26.22
3236	0.85	157.9	2837	1798	2298	2027	164.9	9.5	442	3240	0.08	1.05	0.00	0.000	2596	0.223	0.039	2856	1110	2162	2297	2027	0	0	0	0	0	0	26.22	26.27	26.28
3291	0.85	157.9	2856	1110	2297	2028	159.1	10.1	452	3295	0.00	1.05	0.00	0.000	1030	0.000	0.030	2853	1805	2162	2297	2028	0	0	0	0	0	0	26.37	26.34	26.39
3423	0.85	159.2	2852	1805	2295	2028	145.8	10.1	466	3428	0.00	1.02	0.00	0.000	292	0.000	0.038	2847	2500	2161	2295	2028	0	0	0	0	0	0	26.67	26.39	26.72
3458	0.85	159.2	2847	2500	2295	2027	142.3	10.3	472	3462	0.00	1.02	0.00	0.000	1030	0.000	0.031	2851	1804	2160	2294	2027	0	0	0	0	0	0	26.47	26.44	26.48
3591	0.85	163.4	2850	1803	2295	2027	129.1	9.9	486	3602	0.00	1.05	3.22	0.519	8484	0.000	0.034	2848	2499	2137	2275	2000	0	0	0	0	0	0	26.74	25.69	25.00
3626	0.85	163.4	2847	2499	2282	2006	125.5	10.5	492	3630	0.00	1.02	0.00	0.000	1030	0.000	0.032	2851	1804	2144	2282	2006	0	0	0	0	0	0	26.51	26.48	26.53
3759	0.85	163.4	2850	1803	2287	2008	111.9	10.5	506	3766	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	1804	2147	2287	2008	0	0	0	0	0	0	26.77	26.84	26.83
3888	0.85	163.4	2851	1803	2286	2008	97.5	11.3	521	3896	0.00	1.02	0.00	0.000	260	0.000	0.037	2848	2491	2147	2287	2008	0	0	0	0	0	0	26.82	26.52	26.87
3910	0.85	163.4	2847	2491	2287	2008	95.2	10.9	524	3917	0.00	1.02	0.00	0.000	1030	0.000	0.031	2851	1793	2147	2287	2008	0	0	0	0	0	0	26.60	26.57	26.63
4042	0.85	163.4	2851	1793	2287	2008	81.0	10.4	549	4051	0.00	1.02	0.00	0.000	516	0.000	0.042	2856	1113	2147	2287	2008	0	0	0	0	0	0	26.86	26.55	26.91
4284	0.91	210.5	2856	1112	2287	2008	60.2	7.4	595	4381	0.05	1.02	90.00	0.511	11302	0.142	0.029	2874	1799	1936	2080	1792	0	0	0	0	0	0	26.39	26.65	25.20
4507	0.91	213.6	2874	1800	2046	1759	38.9	10.0	633	4515	0.00	1.05	0.00	0.000	292	0.000	0.037	2871	2490	1902	2046	1759	0	0	0	0	0	0	26.36	26.09	26.41
4645	0.91	214.1	2870	2490	2042	1758	25.2	10.1	658	4653	0.00	1.02	0.00	0.000	1062	0.000	0.031	2874	1804	1900	2042	1758	0	0	0	0	0	0	26.32	26.26	26.33
4784	0.95	241.2	2874	1805	2040	1758	11.0	8.6	683	4828	0.00	1.10	33.42	0.509	8740	0.000	0.039	2880	1110	1805	1951	1659	0	0	0	0	0	0	26.63	25.92	25.37
4922	end climb: SURFACE_DEPTH_REACHED
state	4922	begin surface coast
4959	end surface coast: CONTROL_FINISHED_OK
state	4959	begin surface