Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 104 * 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 104 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 47 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 55 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 9000 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 194.0

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 9000

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 194.0 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 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 47 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 55 XPDR_INHIBIT 90

DIVE 104 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 070921,185436,4751.5010,-12510.9521,2,1.1,5,15.7,0.2,158.4,8,7.6 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.45 MHEAD_RNG_PITCHd_Wd 301.5,587,-26.0,-10.833,-30.00,1007

_SM_ANGLEo -59.1 D_GRID 308

GPS2 070921,190007,4751.4463,-12510.9482,5,1.1,6,15.7,0.4,255.8,8,8.0

Post-dive calculations and measurements:

FINISH -0.5,1.015445 CP_POWER1 0.000000

SM_CCo 4847,0.03,2.977,0,0,549,552.17 _24V_AH 23.84,18.753

SM_GC 0.40,7.80,0.30,0.03,0.054,0.047,2.977,173,2008,549,-7.39,-1.47,552.17,0,0,0,0,0,0,25.92,25.89,23.84 _10V_AH 10.25,10.437

IRIDIUM_FIX 4752.18,-12506.88,070921,171938 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.146055 FG_AHR_10Vo 0.000

HUMID 53.30 MEM 211144

INTERNAL_PRESSURE 8.7185 DATA_FILE_SIZE 36829,709

TCM_TEMP 15.10 CAP_FILE_SIZE 87618,0

XPDR_PINGS 0 CFSIZE 260030464,242307072

ALTIM_BOTTOM_PING 214.3,62.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 110295908352.000000 CURRENT 0.074,350.17,1

CP_POWER 323.310000 GPS 070921,202309,4751.869,-12511.484,30,1.1,31,15.7,0.4,240.5,8,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 218 94.47 SBE_CT 400 64 615.45

Roll_motor 31 97 73.65 WL_blue_red_Chl 1264 37 1128.59

VBD_pump_during_apogee 403 924 8887.31 nil 0 0 0.00

VBD_pump_during_surface 214 2977 15243.11 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 4463 25 2659.95

Iridium_during_xfer 204 106 519.05 nil 0 0 0.00

Transponder_ping 1 420 15.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.24

TT8 1550 12 194.22

LPSleep 1003 2 22.52

TT8_Active 662 12 83.01

TT8_Sampling 1725 37 666.49

TT8_CF8 275 42 121.33

TT8_Kalman 0 0 0.00

Analog_circuits 1546 11 174.32

GPS_charging 0 0 0.00

Compass 1570 8 132.65

RAFOS 0 0 0.00

Transponder 12 30 3.82

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 -1.01 -71.3 170 2010 688 414 0.0 0.0 0 134 0.00 0.00 -105.93 0.011 16390 0.000 0.000 170 2008 3090 3078 3102 0 0 0 0 0 0 26.04 24.82 26.12

137 -1.04 -91.5 170 2008 3079 3103 4.4 -8.8 15 152 8.00 0.00 -1.73 0.042 18470 0.218 0.000 2242 2007 3179 3181 3177 0 0 0 0 0 0 25.75 24.91 25.93

280 -1.04 -91.5 2241 2008 3190 3173 34.3 -12.9 41 288 0.00 1.02 0.00 0.000 260 0.000 0.041 2239 2700 3181 3190 3173 0 0 0 0 0 0 26.30 26.26 26.36

397 -1.04 -91.5 2238 2700 3191 3173 52.2 -14.8 63 404 0.00 1.05 0.00 0.000 1030 0.000 0.034 2242 1973 3181 3190 3172 0 0 0 0 0 0 26.38 26.37 26.41

529 -1.04 -91.5 2241 1973 3192 3172 70.5 -14.9 88 536 0.00 1.08 0.00 0.000 260 0.000 0.050 2239 2692 3181 3191 3172 0 0 0 0 0 0 26.50 26.39 26.58

581 -1.04 -91.5 2238 2692 3191 3172 77.9 -14.0 97 589 0.00 1.00 0.00 0.000 1030 0.000 0.032 2242 1992 3182 3192 3172 0 0 0 0 0 0 26.47 26.44 26.48

718 -1.04 -91.5 2241 1992 3193 3172 96.8 -14.2 122 726 0.00 1.00 0.00 0.000 516 0.000 0.044 2247 1315 3182 3193 3172 0 0 0 0 0 0 26.48 26.39 26.54

810 -1.04 -91.5 2246 1315 3193 3172 109.9 -13.9 138 814 0.00 1.02 0.00 0.000 1030 0.000 0.037 2244 1999 3182 3193 3172 0 0 0 0 0 0 26.46 26.44 26.49

942 -1.04 -91.5 2243 1999 3193 3171 126.4 -11.8 152 946 0.00 1.02 0.00 0.000 260 0.000 0.043 2239 2701 3182 3194 3171 0 0 0 0 0 0 26.62 26.49 26.67

985 -1.04 -91.5 2238 2701 3194 3171 131.6 -12.1 160 989 0.00 1.00 0.00 0.000 1030 0.000 0.032 2242 1996 3182 3194 3171 0 0 0 0 0 0 26.55 26.54 26.55

1117 -1.04 -91.5 2241 1996 3195 3171 149.0 -13.3 174 1121 0.00 1.00 0.00 0.000 516 0.000 0.039 2247 1316 3182 3193 3171 0 0 0 0 0 0 26.60 26.53 26.67

1213 -1.04 -91.5 2246 1316 3194 3171 162.1 -13.7 192 1217 0.00 1.02 0.00 0.000 1030 0.000 0.042 2244 2002 3182 3194 3171 0 0 0 0 0 0 26.51 26.48 26.54

1346 -1.04 -91.5 2244 2002 3194 3170 180.4 -13.4 206 1357 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2002 3182 3194 3170 0 0 0 0 0 0 26.66 26.74 26.72

1475 -1.04 -91.5 2243 2002 3194 3170 198.7 -14.4 219 1477 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2002 3182 3194 3170 0 0 0 0 0 0 26.67 26.68 26.72

1596 -1.04 -91.5 2244 2002 3194 3169 215.8 -14.0 231 1600 0.00 1.00 0.00 0.000 516 0.000 0.038 2247 1328 3181 3194 3169 0 0 0 0 0 0 26.65 26.58 26.71

1835 -1.04 -91.5 2246 1327 3194 3168 248.5 -15.2 277 1840 0.00 1.00 0.00 0.000 1030 0.000 0.037 2244 1998 3180 3194 3167 0 0 0 0 0 0 26.63 26.60 26.66

1887 end dive: BOTTOM_OBSTACLE_DETECTED

state 1887 begin apogee

1892 -0.18 0.0 2244 1778 3193 3167 256.5 -15.7 283 1999 0.93 0.00 95.93 0.924 10246 0.158 0.000 2522 1777 2803 2853 2753 0 0 0 0 1 0 26.22 25.07 24.30

2004 end apogee: CONTROL_FINISHED_OK

state 2004 begin climb

2006 1.04 91.5 2522 1777 2856 2755 261.9 0.0 294 2165 1.27 1.15 149.73 0.566 10500 0.116 0.037 2911 2487 2420 2530 2310 0 0 0 0 0 0 25.25 25.13 24.65

2302 1.04 91.5 2910 2487 2505 2294 239.4 11.2 348 2305 0.00 0.98 0.00 0.000 1030 0.000 0.037 2914 1843 2399 2505 2294 0 0 0 0 0 0 25.87 25.84 25.89

2434 1.04 91.5 2913 1842 2504 2294 224.4 11.7 362 2439 0.00 1.15 0.00 0.000 516 0.000 0.055 2920 1105 2399 2504 2294 0 0 0 0 0 0 26.15 26.00 26.20

2602 1.04 91.5 2919 1105 2504 2294 203.7 12.2 393 2611 0.00 1.05 0.00 0.000 1030 0.000 0.037 2917 1788 2398 2502 2294 0 0 0 0 0 0 26.27 26.24 26.29

2731 1.04 91.5 2916 1788 2501 2294 188.3 12.3 406 2735 0.00 1.08 0.00 0.000 260 0.000 0.045 2911 2499 2397 2501 2294 0 0 0 0 0 0 26.43 26.29 26.47

2870 1.04 91.5 2910 2499 2497 2294 171.1 12.5 432 2874 0.00 1.05 0.00 0.000 1030 0.000 0.037 2914 1792 2395 2497 2294 0 0 0 0 0 0 26.41 26.39 26.44

3002 1.04 91.5 2914 1792 2497 2294 155.4 11.6 446 3006 0.00 1.05 0.00 0.000 516 0.000 0.097 2920 1113 2395 2497 2294 0 0 0 0 0 0 26.51 25.49 26.52

3035 1.04 91.5 2919 1113 2497 2294 151.6 11.8 452 3038 0.00 1.05 0.00 0.000 1030 0.000 0.037 2917 1800 2395 2496 2294 0 0 0 0 0 0 26.47 26.44 26.50

3167 1.04 91.5 2917 1801 2496 2294 136.5 11.6 466 3171 0.00 1.08 0.00 0.000 516 0.000 0.047 2920 1109 2395 2496 2294 0 0 0 0 0 0 26.58 26.43 26.59

3255 1.04 91.5 2919 1109 2496 2294 126.3 11.4 482 3259 0.00 1.05 0.00 0.000 1030 0.000 0.036 2916 1800 2395 2496 2294 0 0 0 0 0 0 26.53 26.50 26.54

3387 1.04 91.5 2916 1800 2495 2294 110.0 12.7 496 3391 0.00 1.08 0.00 0.000 516 0.000 0.044 2919 1106 2394 2495 2294 0 0 0 0 0 0 26.63 26.50 26.68

3409 1.04 91.5 2919 1106 2496 2294 107.1 12.8 500 3413 0.00 1.05 0.00 0.000 1030 0.000 0.044 2917 1799 2394 2495 2294 0 0 0 0 0 0 26.55 26.53 26.58

3537 1.04 92.3 2916 1799 2495 2294 91.8 10.8 520 3545 0.00 1.05 0.00 0.000 292 0.000 0.044 2912 2506 2394 2494 2294 0 0 0 0 0 0 26.60 26.52 26.66

3559 1.04 92.3 2911 2506 2494 2293 89.4 11.3 523 3566 0.00 1.05 0.00 0.000 1030 0.000 0.044 2915 1792 2393 2494 2293 0 0 0 0 0 0 26.58 26.55 26.60

3696 1.04 94.9 2914 1792 2494 2293 75.4 10.6 548 3704 0.00 1.02 0.00 0.000 548 0.000 0.045 2920 1111 2393 2494 2293 0 0 0 0 0 0 26.62 26.53 26.67

3895 1.08 123.4 2920 1111 2494 2293 57.0 7.9 585 3941 0.00 1.05 36.75 0.558 9254 0.000 0.035 2917 1806 2287 2405 2170 0 0 0 0 0 0 26.62 26.59 25.56

4066 1.08 123.4 2917 1806 2391 2156 39.2 12.2 615 4073 0.00 1.02 0.00 0.000 260 0.000 0.044 2912 2488 2273 2391 2156 0 0 0 0 0 0 26.40 26.29 26.45

4311 1.13 169.3 2911 2488 2386 2156 19.0 6.2 661 4383 0.08 1.02 65.95 0.507 11302 0.119 0.037 2941 1795 2108 2238 1978 0 0 0 0 0 0 26.24 26.38 25.29

4509 1.19 219.3 2940 1795 2215 1952 5.0 5.7 695 4567 0.10 0.00 55.05 0.495 11042 0.204 0.000 2965 1794 1948 2085 1811 0 0 0 0 0 0 25.83 28.83 25.99

4568 end climb: SURFACE_DEPTH_REACHED

state 4568 begin surface coast

4600 end surface coast: CONTROL_FINISHED_OK

state 4600 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	104	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	47	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	55	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	9000	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	194.0
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	070921,185436,4751.5010,-12510.9521,2,1.1,5,15.7,0.2,158.4,8,7.6	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.45	MHEAD_RNG_PITCHd_Wd	301.5,587,-26.0,-10.833,-30.00,1007
_SM_ANGLEo	-59.1	D_GRID	308
GPS2	070921,190007,4751.4463,-12510.9482,5,1.1,6,15.7,0.4,255.8,8,8.0

FINISH	-0.5,1.015445	CP_POWER1	0.000000
SM_CCo	4847,0.03,2.977,0,0,549,552.17	_24V_AH	23.84,18.753
SM_GC	0.40,7.80,0.30,0.03,0.054,0.047,2.977,173,2008,549,-7.39,-1.47,552.17,0,0,0,0,0,0,25.92,25.89,23.84	_10V_AH	10.25,10.437
IRIDIUM_FIX	4752.18,-12506.88,070921,171938	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.146055	FG_AHR_10Vo	0.000
HUMID	53.30	MEM	211144
INTERNAL_PRESSURE	8.7185	DATA_FILE_SIZE	36829,709
TCM_TEMP	15.10	CAP_FILE_SIZE	87618,0
XPDR_PINGS	0	CFSIZE	260030464,242307072
ALTIM_BOTTOM_PING	214.3,62.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	110295908352.000000	CURRENT	0.074,350.17,1
CP_POWER	323.310000	GPS	070921,202309,4751.869,-12511.484,30,1.1,31,15.7,0.4,240.5,8,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	218	94.47	SBE_CT	400	64	615.45
Roll_motor	31	97	73.65	WL_blue_red_Chl	1264	37	1128.59
VBD_pump_during_apogee	403	924	8887.31	nil	0	0	0.00
VBD_pump_during_surface	214	2977	15243.11	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	4463	25	2659.95
Iridium_during_xfer	204	106	519.05	nil	0	0	0.00
Transponder_ping	1	420	15.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.24
TT8	1550	12	194.22
LPSleep	1003	2	22.52
TT8_Active	662	12	83.01
TT8_Sampling	1725	37	666.49
TT8_CF8	275	42	121.33
TT8_Kalman	0	0	0.00
Analog_circuits	1546	11	174.32
GPS_charging	0	0	0.00
Compass	1570	8	132.65
RAFOS	0	0	0.00
Transponder	12	30	3.82

		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	-1.01	-71.3	170	2010	688	414	0.0	0.0	0	134	0.00	0.00	-105.93	0.011	16390	0.000	0.000	170	2008	3090	3078	3102	0	0	0	0	0	0	26.04	24.82	26.12
137	-1.04	-91.5	170	2008	3079	3103	4.4	-8.8	15	152	8.00	0.00	-1.73	0.042	18470	0.218	0.000	2242	2007	3179	3181	3177	0	0	0	0	0	0	25.75	24.91	25.93
280	-1.04	-91.5	2241	2008	3190	3173	34.3	-12.9	41	288	0.00	1.02	0.00	0.000	260	0.000	0.041	2239	2700	3181	3190	3173	0	0	0	0	0	0	26.30	26.26	26.36
397	-1.04	-91.5	2238	2700	3191	3173	52.2	-14.8	63	404	0.00	1.05	0.00	0.000	1030	0.000	0.034	2242	1973	3181	3190	3172	0	0	0	0	0	0	26.38	26.37	26.41
529	-1.04	-91.5	2241	1973	3192	3172	70.5	-14.9	88	536	0.00	1.08	0.00	0.000	260	0.000	0.050	2239	2692	3181	3191	3172	0	0	0	0	0	0	26.50	26.39	26.58
581	-1.04	-91.5	2238	2692	3191	3172	77.9	-14.0	97	589	0.00	1.00	0.00	0.000	1030	0.000	0.032	2242	1992	3182	3192	3172	0	0	0	0	0	0	26.47	26.44	26.48
718	-1.04	-91.5	2241	1992	3193	3172	96.8	-14.2	122	726	0.00	1.00	0.00	0.000	516	0.000	0.044	2247	1315	3182	3193	3172	0	0	0	0	0	0	26.48	26.39	26.54
810	-1.04	-91.5	2246	1315	3193	3172	109.9	-13.9	138	814	0.00	1.02	0.00	0.000	1030	0.000	0.037	2244	1999	3182	3193	3172	0	0	0	0	0	0	26.46	26.44	26.49
942	-1.04	-91.5	2243	1999	3193	3171	126.4	-11.8	152	946	0.00	1.02	0.00	0.000	260	0.000	0.043	2239	2701	3182	3194	3171	0	0	0	0	0	0	26.62	26.49	26.67
985	-1.04	-91.5	2238	2701	3194	3171	131.6	-12.1	160	989	0.00	1.00	0.00	0.000	1030	0.000	0.032	2242	1996	3182	3194	3171	0	0	0	0	0	0	26.55	26.54	26.55
1117	-1.04	-91.5	2241	1996	3195	3171	149.0	-13.3	174	1121	0.00	1.00	0.00	0.000	516	0.000	0.039	2247	1316	3182	3193	3171	0	0	0	0	0	0	26.60	26.53	26.67
1213	-1.04	-91.5	2246	1316	3194	3171	162.1	-13.7	192	1217	0.00	1.02	0.00	0.000	1030	0.000	0.042	2244	2002	3182	3194	3171	0	0	0	0	0	0	26.51	26.48	26.54
1346	-1.04	-91.5	2244	2002	3194	3170	180.4	-13.4	206	1357	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2002	3182	3194	3170	0	0	0	0	0	0	26.66	26.74	26.72
1475	-1.04	-91.5	2243	2002	3194	3170	198.7	-14.4	219	1477	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2002	3182	3194	3170	0	0	0	0	0	0	26.67	26.68	26.72
1596	-1.04	-91.5	2244	2002	3194	3169	215.8	-14.0	231	1600	0.00	1.00	0.00	0.000	516	0.000	0.038	2247	1328	3181	3194	3169	0	0	0	0	0	0	26.65	26.58	26.71
1835	-1.04	-91.5	2246	1327	3194	3168	248.5	-15.2	277	1840	0.00	1.00	0.00	0.000	1030	0.000	0.037	2244	1998	3180	3194	3167	0	0	0	0	0	0	26.63	26.60	26.66
1887	end dive: BOTTOM_OBSTACLE_DETECTED
state	1887	begin apogee
1892	-0.18	0.0	2244	1778	3193	3167	256.5	-15.7	283	1999	0.93	0.00	95.93	0.924	10246	0.158	0.000	2522	1777	2803	2853	2753	0	0	0	0	1	0	26.22	25.07	24.30
2004	end apogee: CONTROL_FINISHED_OK
state	2004	begin climb
2006	1.04	91.5	2522	1777	2856	2755	261.9	0.0	294	2165	1.27	1.15	149.73	0.566	10500	0.116	0.037	2911	2487	2420	2530	2310	0	0	0	0	0	0	25.25	25.13	24.65
2302	1.04	91.5	2910	2487	2505	2294	239.4	11.2	348	2305	0.00	0.98	0.00	0.000	1030	0.000	0.037	2914	1843	2399	2505	2294	0	0	0	0	0	0	25.87	25.84	25.89
2434	1.04	91.5	2913	1842	2504	2294	224.4	11.7	362	2439	0.00	1.15	0.00	0.000	516	0.000	0.055	2920	1105	2399	2504	2294	0	0	0	0	0	0	26.15	26.00	26.20
2602	1.04	91.5	2919	1105	2504	2294	203.7	12.2	393	2611	0.00	1.05	0.00	0.000	1030	0.000	0.037	2917	1788	2398	2502	2294	0	0	0	0	0	0	26.27	26.24	26.29
2731	1.04	91.5	2916	1788	2501	2294	188.3	12.3	406	2735	0.00	1.08	0.00	0.000	260	0.000	0.045	2911	2499	2397	2501	2294	0	0	0	0	0	0	26.43	26.29	26.47
2870	1.04	91.5	2910	2499	2497	2294	171.1	12.5	432	2874	0.00	1.05	0.00	0.000	1030	0.000	0.037	2914	1792	2395	2497	2294	0	0	0	0	0	0	26.41	26.39	26.44
3002	1.04	91.5	2914	1792	2497	2294	155.4	11.6	446	3006	0.00	1.05	0.00	0.000	516	0.000	0.097	2920	1113	2395	2497	2294	0	0	0	0	0	0	26.51	25.49	26.52
3035	1.04	91.5	2919	1113	2497	2294	151.6	11.8	452	3038	0.00	1.05	0.00	0.000	1030	0.000	0.037	2917	1800	2395	2496	2294	0	0	0	0	0	0	26.47	26.44	26.50
3167	1.04	91.5	2917	1801	2496	2294	136.5	11.6	466	3171	0.00	1.08	0.00	0.000	516	0.000	0.047	2920	1109	2395	2496	2294	0	0	0	0	0	0	26.58	26.43	26.59
3255	1.04	91.5	2919	1109	2496	2294	126.3	11.4	482	3259	0.00	1.05	0.00	0.000	1030	0.000	0.036	2916	1800	2395	2496	2294	0	0	0	0	0	0	26.53	26.50	26.54
3387	1.04	91.5	2916	1800	2495	2294	110.0	12.7	496	3391	0.00	1.08	0.00	0.000	516	0.000	0.044	2919	1106	2394	2495	2294	0	0	0	0	0	0	26.63	26.50	26.68
3409	1.04	91.5	2919	1106	2496	2294	107.1	12.8	500	3413	0.00	1.05	0.00	0.000	1030	0.000	0.044	2917	1799	2394	2495	2294	0	0	0	0	0	0	26.55	26.53	26.58
3537	1.04	92.3	2916	1799	2495	2294	91.8	10.8	520	3545	0.00	1.05	0.00	0.000	292	0.000	0.044	2912	2506	2394	2494	2294	0	0	0	0	0	0	26.60	26.52	26.66
3559	1.04	92.3	2911	2506	2494	2293	89.4	11.3	523	3566	0.00	1.05	0.00	0.000	1030	0.000	0.044	2915	1792	2393	2494	2293	0	0	0	0	0	0	26.58	26.55	26.60
3696	1.04	94.9	2914	1792	2494	2293	75.4	10.6	548	3704	0.00	1.02	0.00	0.000	548	0.000	0.045	2920	1111	2393	2494	2293	0	0	0	0	0	0	26.62	26.53	26.67
3895	1.08	123.4	2920	1111	2494	2293	57.0	7.9	585	3941	0.00	1.05	36.75	0.558	9254	0.000	0.035	2917	1806	2287	2405	2170	0	0	0	0	0	0	26.62	26.59	25.56
4066	1.08	123.4	2917	1806	2391	2156	39.2	12.2	615	4073	0.00	1.02	0.00	0.000	260	0.000	0.044	2912	2488	2273	2391	2156	0	0	0	0	0	0	26.40	26.29	26.45
4311	1.13	169.3	2911	2488	2386	2156	19.0	6.2	661	4383	0.08	1.02	65.95	0.507	11302	0.119	0.037	2941	1795	2108	2238	1978	0	0	0	0	0	0	26.24	26.38	25.29
4509	1.19	219.3	2940	1795	2215	1952	5.0	5.7	695	4567	0.10	0.00	55.05	0.495	11042	0.204	0.000	2965	1794	1948	2085	1811	0	0	0	0	0	0	25.83	28.83	25.99
4568	end climb: SURFACE_DEPTH_REACHED
state	4568	begin surface coast
4600	end surface coast: CONTROL_FINISHED_OK
state	4600	begin surface