Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 74 * 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 74 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 32 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 260 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 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 95 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 1 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 134.0

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 260 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 80

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 95

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 134.0 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 1 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 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 0 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 1 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 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 32 XPDR_INHIBIT 90

DIVE 74 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 050921,213831,4750.9224,-12509.7910,6,1.0,30,15.7,0.2,0.0,9,1.7 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.47 MHEAD_RNG_PITCHd_Wd 115.1,1713,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -63.8 D_GRID 222

GPS2 050921,214349,4750.9238,-12509.8125,4,0.7,8,15.7,0.4,230.5,12,4.0

Post-dive calculations and measurements:

FINISH -0.5,1.025146 _24V_AH 24.18,15.026

SM_CCo 4375,0.00,0.000,0,0,550,551.92 _10V_AH 10.26,8.548

SM_GC 0.51,7.65,0.30,0.00,0.063,0.048,0.000,166,2012,550,-7.41,-1.13,551.92,0,0,0,0,0,0,26.14,26.11,25.42 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4749.95,-12507.66,050921,201902 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.149051 MEM 211192

HUMID 53.70 DATA_FILE_SIZE 33495,626

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 82184,0

TCM_TEMP 15.10 CFSIZE 260030464,244559872

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 117490122752.000000 CURRENT 0.027,263.31,1

CP_POWER 328.190000 GPS 050921,225834,4750.704,-12509.443,3,0.7,6,15.7,0.4,88.7,12,5.9

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 213 91.86 SBE_CT 361 64 562.51

Roll_motor 29 125 90.17 WL_blue_red_Chl 1145 37 1037.73

VBD_pump_during_apogee 485 953 11191.93 nil 0 0 0.00

VBD_pump_during_surface 213 621 3203.42 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 3938 25 2380.52

Iridium_during_xfer 199 101 490.44 nil 0 0 0.00

Transponder_ping 1 420 15.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.41

TT8 1353 12 169.68

LPSleep 865 2 19.45

TT8_Active 715 12 89.72

TT8_Sampling 1554 37 601.11

TT8_CF8 246 42 108.74

TT8_Kalman 0 0 0.00

Analog_circuits 1568 11 177.04

GPS_charging 0 0 0.00

Compass 1391 8 117.64

RAFOS 0 0 0.00

Transponder 12 30 3.80

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.84 -116.8 171 1999 693 408 0.0 0.0 0 131 0.00 0.00 -103.47 0.011 16386 0.000 0.000 170 2000 2981 2972 2990 0 0 0 0 0 0 26.11 28.83 26.16

134 -0.84 -116.8 170 2000 2973 2991 3.9 -8.1 15 157 8.18 1.08 -6.55 0.017 18980 0.213 0.125 2299 1293 3279 3285 3274 0 0 0 0 0 0 25.82 24.94 25.97

390 -0.84 -116.8 2298 1293 3290 3274 49.3 -14.4 63 398 0.05 1.10 0.00 0.000 3078 0.181 0.096 2308 2019 3282 3290 3274 0 0 0 0 0 0 26.13 26.36 26.23

523 -0.84 -116.8 2308 2020 3292 3273 68.5 -14.1 88 531 0.00 1.00 0.00 0.000 260 0.000 0.044 2305 2697 3283 3292 3274 0 0 0 0 0 0 26.51 26.40 26.56

645 -0.84 -116.8 2304 2697 3292 3274 85.2 -11.4 111 652 0.00 1.02 0.00 0.000 1030 0.000 0.032 2308 1985 3283 3293 3274 0 0 0 0 0 0 26.51 26.48 26.53

789 -0.84 -116.8 2307 1984 3294 3274 101.4 -11.4 136 795 0.00 1.00 0.00 0.000 516 0.000 0.040 2313 1305 3284 3294 3274 0 0 0 0 0 0 26.59 26.48 26.65

868 -0.84 -116.8 2312 1306 3294 3274 111.4 -12.3 151 876 0.00 1.02 0.00 0.000 1030 0.000 0.034 2311 1990 3284 3294 3274 0 0 0 0 0 0 26.54 26.52 26.57

998 -0.84 -116.8 2309 1990 3295 3274 126.6 -12.0 164 1003 0.00 1.05 0.00 0.000 260 0.000 0.044 2304 2705 3284 3295 3273 0 0 0 0 0 0 26.57 26.51 26.63

1052 -0.84 -116.8 2304 2705 3294 3273 133.3 -11.9 174 1056 0.00 1.02 0.00 0.000 1030 0.000 0.031 2308 1992 3284 3295 3274 0 0 0 0 0 0 26.60 26.58 26.63

1183 -0.84 -116.8 2307 1992 3294 3273 149.8 -12.4 188 1188 0.00 1.00 0.00 0.000 516 0.000 0.040 2313 1314 3284 3295 3273 0 0 0 0 0 0 26.64 26.55 26.70

1227 -0.84 -116.8 2312 1314 3295 3274 155.2 -12.1 196 1231 0.00 1.02 0.00 0.000 1030 0.000 0.037 2310 1996 3284 3295 3273 0 0 0 0 0 0 26.60 26.58 26.62

1360 -0.84 -116.8 2309 1995 3295 3273 171.2 -11.8 210 1364 0.00 1.02 0.00 0.000 260 0.000 0.044 2305 2696 3284 3295 3273 0 0 0 0 0 0 26.63 26.57 26.69

1413 -0.84 -116.8 2304 2696 3294 3273 177.6 -12.0 220 1417 0.00 1.00 0.00 0.000 1030 0.000 0.032 2308 1994 3284 3295 3273 0 0 0 0 0 0 26.65 26.63 26.67

1547 -0.84 -116.8 2307 1994 3295 3272 193.8 -12.7 234 1554 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 1994 3284 3295 3273 0 0 0 0 0 0 26.70 26.77 26.76

1675 -0.84 -116.8 2307 1994 3295 3272 210.7 -13.1 247 1679 0.00 1.00 0.00 0.000 516 0.000 0.040 2313 1316 3284 3296 3272 0 0 0 0 0 0 26.67 26.61 26.74

1730 -0.84 -116.8 2313 1316 3295 3272 217.3 -12.0 257 1734 0.00 1.02 0.00 0.000 1030 0.000 0.037 2310 1997 3283 3295 3272 0 0 0 0 0 0 26.65 26.63 26.68

1772 end dive: TARGET_DEPTH_EXCEEDED

state 1772 begin apogee

1777 -0.18 0.0 2309 1790 3295 3272 222.2 -11.6 262 1911 0.70 0.00 118.80 0.954 10246 0.164 0.000 2518 1790 2806 2862 2750 0 0 0 0 1 0 26.29 24.96 24.18

1915 end apogee: CONTROL_FINISHED_OK

state 1915 begin climb

1917 0.84 116.8 2518 1789 2864 2753 228.2 0.0 276 2131 1.08 1.05 202.35 0.531 10756 0.117 0.037 2852 1136 2313 2436 2191 0 0 0 0 0 0 25.18 24.94 24.65

2265 0.85 125.3 2851 1137 2410 2177 203.8 10.3 340 2269 0.00 1.02 0.00 0.000 1062 0.000 0.037 2849 1797 2293 2410 2177 0 0 0 0 0 0 25.84 25.82 25.86

2397 0.87 138.5 2848 1797 2409 2172 190.5 10.0 354 2428 0.00 1.08 22.45 0.610 8484 0.000 0.042 2843 2502 2226 2353 2100 0 0 0 0 0 0 26.08 25.54 25.22

2506 0.88 149.2 2843 2503 2338 2084 179.3 10.2 374 2517 0.05 1.02 3.75 0.754 11302 0.157 0.037 2866 1816 2192 2325 2059 0 0 0 0 0 0 25.83 26.01 24.82

2637 0.88 149.2 2865 1816 2332 2061 165.2 10.8 388 2641 0.00 1.10 0.00 0.000 516 0.000 0.046 2871 1102 2196 2332 2060 0 0 0 0 0 0 26.06 26.12 26.14

2670 0.88 149.2 2870 1102 2332 2060 161.4 11.4 394 2674 0.00 1.08 0.00 0.000 1030 0.000 0.036 2867 1803 2196 2332 2060 0 0 0 0 0 0 26.20 26.16 26.20

2802 0.88 149.2 2867 1803 2332 2060 146.7 11.3 408 2806 0.00 1.02 0.00 0.000 260 0.000 0.047 2863 2492 2196 2332 2060 0 0 0 0 0 0 26.37 26.25 26.44

2889 0.88 149.2 2862 2492 2331 2060 136.7 11.6 425 2898 0.00 1.02 0.00 0.000 1030 0.000 0.037 2866 1801 2195 2331 2060 0 0 0 0 0 0 26.36 26.34 26.39

3018 0.88 149.2 2865 1801 2331 2060 121.7 12.0 438 3023 0.00 1.05 0.00 0.000 516 0.000 0.048 2871 1114 2195 2330 2060 0 0 0 0 0 0 26.48 26.36 26.51

3053 0.88 149.2 2870 1114 2331 2060 117.4 12.1 444 3057 0.00 1.05 0.00 0.000 1030 0.000 0.036 2868 1807 2195 2330 2060 0 0 0 0 0 0 26.44 26.41 26.46

3185 0.88 149.2 2868 1807 2329 2060 101.4 11.0 458 3193 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 1806 2194 2329 2060 0 0 0 0 0 0 26.54 26.58 26.60

3317 0.91 173.5 2868 1807 2329 2060 87.2 9.3 482 3366 0.00 1.10 41.03 0.553 8740 0.000 0.044 2872 1115 2082 2218 1947 0 0 0 0 0 0 26.58 25.78 25.46

3473 0.92 178.5 2870 1115 2202 1937 71.2 10.5 509 3482 0.00 1.05 0.00 0.000 1062 0.000 0.035 2868 1802 2069 2202 1936 0 0 0 0 0 0 26.24 26.21 26.28

3607 0.96 218.8 2868 1802 2202 1934 58.1 8.3 534 3682 0.10 1.10 68.93 0.512 10532 0.140 0.045 2893 2501 1904 2045 1763 0 0 0 0 0 0 26.20 25.60 25.18

3807 0.96 218.8 2892 2501 2018 1739 33.2 12.6 568 3815 0.00 1.05 0.00 0.000 1030 0.000 0.037 2895 1803 1878 2018 1739 0 0 0 0 0 0 26.08 26.06 26.10

3946 0.97 223.3 2895 1803 2017 1737 17.4 10.6 593 3953 0.00 0.00 0.00 0.000 38 0.000 0.000 2896 1803 1877 2017 1737 0 0 0 0 0 0 26.29 26.36 26.35

4078 1.01 259.9 2895 1803 2015 1737 4.3 8.5 618 4108 0.00 0.00 27.90 0.505 8738 0.000 0.000 2895 1803 1804 1950 1659 0 0 0 0 0 0 26.41 28.83 26.46

4109 end climb: SURFACE_DEPTH_REACHED

state 4109 begin surface coast

4131 end surface coast: CONTROL_FINISHED_OK

state 4131 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	74	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	32	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	260	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	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	95	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	1	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	134.0
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	050921,213831,4750.9224,-12509.7910,6,1.0,30,15.7,0.2,0.0,9,1.7	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.47	MHEAD_RNG_PITCHd_Wd	115.1,1713,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-63.8	D_GRID	222
GPS2	050921,214349,4750.9238,-12509.8125,4,0.7,8,15.7,0.4,230.5,12,4.0

FINISH	-0.5,1.025146	_24V_AH	24.18,15.026
SM_CCo	4375,0.00,0.000,0,0,550,551.92	_10V_AH	10.26,8.548
SM_GC	0.51,7.65,0.30,0.00,0.063,0.048,0.000,166,2012,550,-7.41,-1.13,551.92,0,0,0,0,0,0,26.14,26.11,25.42	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4749.95,-12507.66,050921,201902	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.149051	MEM	211192
HUMID	53.70	DATA_FILE_SIZE	33495,626
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	82184,0
TCM_TEMP	15.10	CFSIZE	260030464,244559872
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	117490122752.000000	CURRENT	0.027,263.31,1
CP_POWER	328.190000	GPS	050921,225834,4750.704,-12509.443,3,0.7,6,15.7,0.4,88.7,12,5.9
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	213	91.86	SBE_CT	361	64	562.51
Roll_motor	29	125	90.17	WL_blue_red_Chl	1145	37	1037.73
VBD_pump_during_apogee	485	953	11191.93	nil	0	0	0.00
VBD_pump_during_surface	213	621	3203.42	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	3938	25	2380.52
Iridium_during_xfer	199	101	490.44	nil	0	0	0.00
Transponder_ping	1	420	15.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.41
TT8	1353	12	169.68
LPSleep	865	2	19.45
TT8_Active	715	12	89.72
TT8_Sampling	1554	37	601.11
TT8_CF8	246	42	108.74
TT8_Kalman	0	0	0.00
Analog_circuits	1568	11	177.04
GPS_charging	0	0	0.00
Compass	1391	8	117.64
RAFOS	0	0	0.00
Transponder	12	30	3.80

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.84	-116.8	171	1999	693	408	0.0	0.0	0	131	0.00	0.00	-103.47	0.011	16386	0.000	0.000	170	2000	2981	2972	2990	0	0	0	0	0	0	26.11	28.83	26.16
134	-0.84	-116.8	170	2000	2973	2991	3.9	-8.1	15	157	8.18	1.08	-6.55	0.017	18980	0.213	0.125	2299	1293	3279	3285	3274	0	0	0	0	0	0	25.82	24.94	25.97
390	-0.84	-116.8	2298	1293	3290	3274	49.3	-14.4	63	398	0.05	1.10	0.00	0.000	3078	0.181	0.096	2308	2019	3282	3290	3274	0	0	0	0	0	0	26.13	26.36	26.23
523	-0.84	-116.8	2308	2020	3292	3273	68.5	-14.1	88	531	0.00	1.00	0.00	0.000	260	0.000	0.044	2305	2697	3283	3292	3274	0	0	0	0	0	0	26.51	26.40	26.56
645	-0.84	-116.8	2304	2697	3292	3274	85.2	-11.4	111	652	0.00	1.02	0.00	0.000	1030	0.000	0.032	2308	1985	3283	3293	3274	0	0	0	0	0	0	26.51	26.48	26.53
789	-0.84	-116.8	2307	1984	3294	3274	101.4	-11.4	136	795	0.00	1.00	0.00	0.000	516	0.000	0.040	2313	1305	3284	3294	3274	0	0	0	0	0	0	26.59	26.48	26.65
868	-0.84	-116.8	2312	1306	3294	3274	111.4	-12.3	151	876	0.00	1.02	0.00	0.000	1030	0.000	0.034	2311	1990	3284	3294	3274	0	0	0	0	0	0	26.54	26.52	26.57
998	-0.84	-116.8	2309	1990	3295	3274	126.6	-12.0	164	1003	0.00	1.05	0.00	0.000	260	0.000	0.044	2304	2705	3284	3295	3273	0	0	0	0	0	0	26.57	26.51	26.63
1052	-0.84	-116.8	2304	2705	3294	3273	133.3	-11.9	174	1056	0.00	1.02	0.00	0.000	1030	0.000	0.031	2308	1992	3284	3295	3274	0	0	0	0	0	0	26.60	26.58	26.63
1183	-0.84	-116.8	2307	1992	3294	3273	149.8	-12.4	188	1188	0.00	1.00	0.00	0.000	516	0.000	0.040	2313	1314	3284	3295	3273	0	0	0	0	0	0	26.64	26.55	26.70
1227	-0.84	-116.8	2312	1314	3295	3274	155.2	-12.1	196	1231	0.00	1.02	0.00	0.000	1030	0.000	0.037	2310	1996	3284	3295	3273	0	0	0	0	0	0	26.60	26.58	26.62
1360	-0.84	-116.8	2309	1995	3295	3273	171.2	-11.8	210	1364	0.00	1.02	0.00	0.000	260	0.000	0.044	2305	2696	3284	3295	3273	0	0	0	0	0	0	26.63	26.57	26.69
1413	-0.84	-116.8	2304	2696	3294	3273	177.6	-12.0	220	1417	0.00	1.00	0.00	0.000	1030	0.000	0.032	2308	1994	3284	3295	3273	0	0	0	0	0	0	26.65	26.63	26.67
1547	-0.84	-116.8	2307	1994	3295	3272	193.8	-12.7	234	1554	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	1994	3284	3295	3273	0	0	0	0	0	0	26.70	26.77	26.76
1675	-0.84	-116.8	2307	1994	3295	3272	210.7	-13.1	247	1679	0.00	1.00	0.00	0.000	516	0.000	0.040	2313	1316	3284	3296	3272	0	0	0	0	0	0	26.67	26.61	26.74
1730	-0.84	-116.8	2313	1316	3295	3272	217.3	-12.0	257	1734	0.00	1.02	0.00	0.000	1030	0.000	0.037	2310	1997	3283	3295	3272	0	0	0	0	0	0	26.65	26.63	26.68
1772	end dive: TARGET_DEPTH_EXCEEDED
state	1772	begin apogee
1777	-0.18	0.0	2309	1790	3295	3272	222.2	-11.6	262	1911	0.70	0.00	118.80	0.954	10246	0.164	0.000	2518	1790	2806	2862	2750	0	0	0	0	1	0	26.29	24.96	24.18
1915	end apogee: CONTROL_FINISHED_OK
state	1915	begin climb
1917	0.84	116.8	2518	1789	2864	2753	228.2	0.0	276	2131	1.08	1.05	202.35	0.531	10756	0.117	0.037	2852	1136	2313	2436	2191	0	0	0	0	0	0	25.18	24.94	24.65
2265	0.85	125.3	2851	1137	2410	2177	203.8	10.3	340	2269	0.00	1.02	0.00	0.000	1062	0.000	0.037	2849	1797	2293	2410	2177	0	0	0	0	0	0	25.84	25.82	25.86
2397	0.87	138.5	2848	1797	2409	2172	190.5	10.0	354	2428	0.00	1.08	22.45	0.610	8484	0.000	0.042	2843	2502	2226	2353	2100	0	0	0	0	0	0	26.08	25.54	25.22
2506	0.88	149.2	2843	2503	2338	2084	179.3	10.2	374	2517	0.05	1.02	3.75	0.754	11302	0.157	0.037	2866	1816	2192	2325	2059	0	0	0	0	0	0	25.83	26.01	24.82
2637	0.88	149.2	2865	1816	2332	2061	165.2	10.8	388	2641	0.00	1.10	0.00	0.000	516	0.000	0.046	2871	1102	2196	2332	2060	0	0	0	0	0	0	26.06	26.12	26.14
2670	0.88	149.2	2870	1102	2332	2060	161.4	11.4	394	2674	0.00	1.08	0.00	0.000	1030	0.000	0.036	2867	1803	2196	2332	2060	0	0	0	0	0	0	26.20	26.16	26.20
2802	0.88	149.2	2867	1803	2332	2060	146.7	11.3	408	2806	0.00	1.02	0.00	0.000	260	0.000	0.047	2863	2492	2196	2332	2060	0	0	0	0	0	0	26.37	26.25	26.44
2889	0.88	149.2	2862	2492	2331	2060	136.7	11.6	425	2898	0.00	1.02	0.00	0.000	1030	0.000	0.037	2866	1801	2195	2331	2060	0	0	0	0	0	0	26.36	26.34	26.39
3018	0.88	149.2	2865	1801	2331	2060	121.7	12.0	438	3023	0.00	1.05	0.00	0.000	516	0.000	0.048	2871	1114	2195	2330	2060	0	0	0	0	0	0	26.48	26.36	26.51
3053	0.88	149.2	2870	1114	2331	2060	117.4	12.1	444	3057	0.00	1.05	0.00	0.000	1030	0.000	0.036	2868	1807	2195	2330	2060	0	0	0	0	0	0	26.44	26.41	26.46
3185	0.88	149.2	2868	1807	2329	2060	101.4	11.0	458	3193	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	1806	2194	2329	2060	0	0	0	0	0	0	26.54	26.58	26.60
3317	0.91	173.5	2868	1807	2329	2060	87.2	9.3	482	3366	0.00	1.10	41.03	0.553	8740	0.000	0.044	2872	1115	2082	2218	1947	0	0	0	0	0	0	26.58	25.78	25.46
3473	0.92	178.5	2870	1115	2202	1937	71.2	10.5	509	3482	0.00	1.05	0.00	0.000	1062	0.000	0.035	2868	1802	2069	2202	1936	0	0	0	0	0	0	26.24	26.21	26.28
3607	0.96	218.8	2868	1802	2202	1934	58.1	8.3	534	3682	0.10	1.10	68.93	0.512	10532	0.140	0.045	2893	2501	1904	2045	1763	0	0	0	0	0	0	26.20	25.60	25.18
3807	0.96	218.8	2892	2501	2018	1739	33.2	12.6	568	3815	0.00	1.05	0.00	0.000	1030	0.000	0.037	2895	1803	1878	2018	1739	0	0	0	0	0	0	26.08	26.06	26.10
3946	0.97	223.3	2895	1803	2017	1737	17.4	10.6	593	3953	0.00	0.00	0.00	0.000	38	0.000	0.000	2896	1803	1877	2017	1737	0	0	0	0	0	0	26.29	26.36	26.35
4078	1.01	259.9	2895	1803	2015	1737	4.3	8.5	618	4108	0.00	0.00	27.90	0.505	8738	0.000	0.000	2895	1803	1804	1950	1659	0	0	0	0	0	0	26.41	28.83	26.46
4109	end climb: SURFACE_DEPTH_REACHED
state	4109	begin surface coast
4131	end surface coast: CONTROL_FINISHED_OK
state	4131	begin surface