Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 142 * 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 142 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 39 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 48 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 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 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 270.0

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 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 270.0 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 39 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

DIVE 142 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 100921,203009,4751.1602,-12510.9395,8,0.9,18,15.7,0.4,215.5,12,3.4 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.49 MHEAD_RNG_PITCHd_Wd 333.0,1088,-25.9,-10.145,-30.00,975

_SM_ANGLEo -60.9 D_GRID 306

GPS2 100921,203433,4751.1367,-12510.9541,3,0.9,5,15.7,0.3,277.5,12,6.7

Post-dive calculations and measurements:

FINISH -0.5,1.013040 CP_POWER1 0.000000

SM_CCo 5527,0.00,0.000,0,0,550,551.92 _24V_AH 24.30,23.741

SM_GC 0.54,7.85,0.30,0.00,0.053,0.047,0.000,177,2006,550,-7.39,-1.36,551.92,0,0,0,0,0,0,25.84,25.79,25.39 _10V_AH 10.24,13.183

IRIDIUM_FIX 4745.49,-12732.55,100921,184517 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.147553 FG_AHR_10Vo 0.000

HUMID 53.03 MEM 209824

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 40277,803

TCM_TEMP 15.30 CAP_FILE_SIZE 94787,0

XPDR_PINGS 0 CFSIZE 260030464,239132672

ALTIM_BOTTOM_PING 243.8,49.4 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 99437772800.000000 CURRENT 0.116,326.07,1

CP_POWER 323.310000 GPS 100921,220855,4751.805,-12511.386,15,0.9,32,15.7,0.2,239.9,10,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 98.79 SBE_CT 448 64 702.75

Roll_motor 35 50 43.37 WL_blue_red_Chl 1418 37 1291.15

VBD_pump_during_apogee 460 872 9777.04 nil 0 0 0.00

VBD_pump_during_surface 180 625 2737.12 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 5176 25 3144.42

Iridium_during_xfer 158 86 332.32 nil 0 0 0.00

Transponder_ping 2 420 25.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.14

TT8 1731 12 216.61

LPSleep 1170 2 26.24

TT8_Active 680 12 85.18

TT8_Sampling 1944 37 750.60

TT8_CF8 298 42 131.29

TT8_Kalman 0 0 0.00

Analog_circuits 1598 11 180.06

GPS_charging 0 0 0.00

Compass 1766 8 149.08

RAFOS 0 0 0.00

Transponder 20 30 6.26

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

64 end surface: CONTROL_FINISHED_OK

state 64 begin dive

67 -1.00 -64.7 163 1988 683 418 0.0 0.0 0 174 0.00 0.00 -104.93 0.012 16390 0.000 0.000 163 1989 3064 3053 3076 0 0 0 0 0 0 26.17 24.70 26.23

177 -1.02 -81.1 163 1988 3054 3076 4.2 -8.4 15 193 8.07 0.00 -1.35 0.056 18982 0.222 0.000 2250 1986 3133 3131 3135 0 0 0 0 0 0 25.70 24.82 25.88

322 -1.02 -81.1 2250 1989 3141 3130 34.8 -13.2 41 329 0.00 1.05 0.00 0.000 516 0.000 0.044 2255 1292 3135 3141 3130 0 0 0 0 0 0 26.33 26.25 26.38

449 -1.02 -81.1 2254 1292 3142 3129 53.2 -12.1 65 457 0.00 1.08 0.00 0.000 1030 0.000 0.030 2252 2006 3136 3143 3129 0 0 0 0 0 0 26.42 26.39 26.44

585 -1.02 -81.1 2251 2005 3144 3129 69.7 -11.8 90 592 0.00 1.00 0.00 0.000 260 0.000 0.037 2247 2691 3136 3144 3129 0 0 0 0 0 0 26.60 26.43 26.67

625 -1.02 -81.1 2246 2692 3144 3129 74.8 -12.9 97 633 0.00 1.02 0.00 0.000 1030 0.000 0.027 2250 1972 3136 3144 3129 0 0 0 0 0 0 26.53 26.51 26.55

762 -1.02 -81.1 2249 1972 3144 3129 89.3 -10.2 122 769 0.00 0.95 0.00 0.000 516 0.000 0.034 2255 1320 3136 3144 3128 0 0 0 0 0 0 26.70 26.51 26.74

997 -1.02 -81.1 2254 1321 3144 3128 117.3 -10.8 166 1001 0.00 1.02 0.00 0.000 1030 0.000 0.031 2252 2009 3136 3145 3128 0 0 0 0 0 0 26.63 26.60 26.65

1129 -1.02 -81.1 2251 2009 3146 3127 131.5 -10.9 180 1134 0.00 1.02 0.00 0.000 516 0.000 0.034 2255 1319 3136 3145 3127 0 0 0 0 0 0 26.80 26.60 26.85

1370 -1.02 -81.1 2254 1319 3146 3126 159.2 -12.0 226 1374 0.00 1.02 0.00 0.000 1030 0.000 0.031 2252 2009 3136 3146 3126 0 0 0 0 0 0 26.72 26.67 26.72

1502 -1.02 -81.1 2252 2009 3146 3126 176.1 -12.7 240 1507 0.00 1.02 0.00 0.000 516 0.000 0.034 2254 1317 3135 3145 3126 0 0 0 0 0 0 26.87 26.67 26.92

1558 -1.02 -81.1 2254 1317 3146 3126 183.1 -12.2 250 1562 0.00 1.02 0.00 0.000 1030 0.000 0.030 2251 2008 3136 3146 3126 0 0 0 0 0 0 26.72 26.70 26.74

1690 -1.02 -81.1 2251 2008 3145 3125 198.5 -11.4 264 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2008 3135 3146 3125 0 0 0 0 0 0 26.92 26.95 26.95

1813 -1.02 -81.1 2251 2008 3145 3125 212.7 -11.8 276 1818 0.00 1.00 0.00 0.000 260 0.000 0.037 2246 2700 3135 3146 3125 0 0 0 0 0 0 26.91 26.70 26.96

1869 -1.02 -81.1 2246 2700 3145 3125 220.2 -12.3 287 1877 0.00 1.00 0.00 0.000 1030 0.000 0.027 2249 1988 3135 3146 3125 0 0 0 0 0 0 26.78 26.77 26.80

1997 -1.02 -81.1 2249 1988 3145 3124 236.1 -13.5 300 2003 0.00 0.98 0.00 0.000 516 0.000 0.034 2255 1320 3135 3146 3124 0 0 0 0 0 0 26.93 26.73 26.98

2150 -1.02 -81.1 2254 1320 3146 3123 255.1 -11.7 328 2155 0.00 1.02 0.00 0.000 1030 0.000 0.031 2252 2010 3135 3146 3124 0 0 0 0 0 0 26.77 26.74 26.78

2283 -1.02 -81.1 2251 2010 3145 3123 272.5 -13.1 342 2287 0.00 1.02 0.00 0.000 516 0.000 0.034 2255 1321 3133 3144 3122 0 0 0 0 0 0 26.95 26.74 27.01

2293 end dive: BOTTOM_OBSTACLE_DETECTED

state 2293 begin apogee

2298 -0.18 0.0 2253 1820 3145 3123 274.0 -13.4 344 2396 0.90 0.00 88.38 0.873 10246 0.156 0.000 2521 1821 2802 2850 2754 0 0 0 0 1 0 26.23 25.28 24.44

2400 end apogee: CONTROL_FINISHED_OK

state 2400 begin climb

2402 1.02 81.1 2521 1821 2856 2761 278.2 0.0 354 2547 1.25 1.08 136.18 0.571 10500 0.112 0.037 2906 2487 2466 2564 2369 0 0 0 0 0 0 25.37 25.18 24.67

2613 1.03 87.3 2905 2486 2541 2348 265.6 9.5 384 2617 0.00 1.00 0.00 0.000 1062 0.000 0.042 2909 1832 2445 2541 2349 0 0 0 0 0 0 25.67 25.64 25.70

2745 1.03 87.3 2908 1831 2538 2348 251.6 10.2 398 2749 0.00 1.12 0.00 0.000 516 0.000 0.050 2914 1102 2443 2538 2348 0 0 0 0 0 0 26.01 25.93 26.06

2952 1.03 87.3 2914 1102 2535 2348 227.9 11.0 438 2956 0.00 1.05 0.00 0.000 1030 0.000 0.033 2911 1786 2441 2535 2348 0 0 0 0 0 0 26.27 26.24 26.29

3086 1.03 87.3 2911 1786 2534 2348 213.2 11.5 452 3090 0.00 1.05 0.00 0.000 260 0.000 0.040 2906 2489 2441 2534 2348 0 0 0 0 0 0 26.51 26.31 26.56

3222 1.03 87.3 2906 2489 2532 2347 197.0 11.5 478 3226 0.00 1.02 0.00 0.000 1030 0.000 0.032 2909 1796 2440 2532 2348 0 0 0 0 0 0 26.44 26.42 26.48

3356 1.03 87.3 2909 1796 2532 2348 181.1 11.7 492 3364 0.00 0.00 0.00 0.000 6 0.000 0.000 2909 1796 2439 2532 2347 0 0 0 0 0 0 26.65 26.71 26.71

3485 1.03 87.3 2909 1796 2532 2347 166.1 11.4 505 3489 0.00 1.05 0.00 0.000 516 0.000 0.043 2915 1102 2440 2532 2348 0 0 0 0 0 0 26.70 26.50 26.75

3551 1.03 87.3 2914 1101 2532 2348 158.4 10.8 518 3559 0.00 1.08 0.00 0.000 1030 0.000 0.033 2912 1805 2439 2532 2347 0 0 0 0 0 0 26.57 26.54 26.60

3682 1.03 87.3 2911 1805 2531 2347 145.0 10.7 531 3689 0.00 0.00 0.00 0.000 6 0.000 0.000 2912 1805 2439 2531 2347 0 0 0 0 0 0 26.76 26.82 26.81

3809 1.03 87.3 2911 1805 2531 2347 130.1 11.3 544 3814 0.00 1.08 0.00 0.000 516 0.000 0.042 2915 1105 2438 2530 2347 0 0 0 0 0 0 26.79 26.58 26.83

3977 1.03 87.3 2915 1105 2530 2348 109.8 12.8 576 3982 0.00 1.05 0.00 0.000 1030 0.000 0.033 2912 1799 2438 2530 2347 0 0 0 0 0 0 26.67 26.64 26.73

4108 1.03 89.0 2912 1799 2529 2347 96.0 10.0 593 4115 0.00 1.08 0.00 0.000 548 0.000 0.041 2916 1093 2438 2530 2347 0 0 0 0 0 0 26.85 26.63 26.92

4357 1.03 89.0 2915 1093 2529 2347 71.7 10.1 639 4364 0.00 1.08 0.00 0.000 1030 0.000 0.031 2912 1808 2438 2529 2347 0 0 0 0 0 0 26.73 26.70 26.76

4494 1.03 89.0 2912 1808 2529 2346 57.8 10.8 664 4502 0.00 1.08 0.00 0.000 516 0.000 0.042 2915 1105 2437 2528 2347 0 0 0 0 0 0 26.91 26.68 26.96

4581 1.04 94.7 2915 1105 2529 2346 49.2 9.5 680 4590 0.00 1.05 2.80 0.486 9254 0.000 0.032 2912 1802 2414 2511 2317 0 0 0 0 0 0 26.76 26.73 25.31

4719 1.08 131.4 2911 1802 2519 2323 38.5 6.3 705 4796 0.08 1.05 68.28 0.516 10532 0.185 0.036 2926 2498 2254 2376 2133 0 0 0 0 0 0 26.63 25.78 25.46

4809 1.13 169.9 2925 2498 2364 2120 32.8 6.1 718 4869 0.00 1.05 54.00 0.504 9254 0.000 0.033 2929 1799 2103 2235 1972 0 0 0 0 0 0 26.14 26.10 25.13

4996 1.13 169.9 2928 1799 2212 1945 16.0 12.3 750 5004 0.05 1.08 0.00 0.000 2308 0.210 0.040 2937 2493 2078 2212 1945 0 0 0 0 0 0 26.02 26.03 26.08

5028 1.13 169.9 2936 2493 2210 1944 12.4 10.9 755 5035 0.00 1.05 0.00 0.000 1030 0.000 0.033 2941 1797 2077 2211 1944 0 0 0 0 0 0 26.10 26.10 26.16

5162 1.23 256.0 2940 1796 2208 1942 5.2 1.1 780 5276 0.12 0.00 111.32 0.485 10530 0.165 0.000 2981 1797 1816 1961 1672 0 0 0 0 0 0 26.05 28.83 26.16

5277 end climb: SURFACE_DEPTH_REACHED

state 5277 begin surface coast

5316 end surface coast: CONTROL_FINISHED_OK

state 5316 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	142	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	39	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	48	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	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	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	270.0
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	100921,203009,4751.1602,-12510.9395,8,0.9,18,15.7,0.4,215.5,12,3.4	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.49	MHEAD_RNG_PITCHd_Wd	333.0,1088,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-60.9	D_GRID	306
GPS2	100921,203433,4751.1367,-12510.9541,3,0.9,5,15.7,0.3,277.5,12,6.7

FINISH	-0.5,1.013040	CP_POWER1	0.000000
SM_CCo	5527,0.00,0.000,0,0,550,551.92	_24V_AH	24.30,23.741
SM_GC	0.54,7.85,0.30,0.00,0.053,0.047,0.000,177,2006,550,-7.39,-1.36,551.92,0,0,0,0,0,0,25.84,25.79,25.39	_10V_AH	10.24,13.183
IRIDIUM_FIX	4745.49,-12732.55,100921,184517	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.147553	FG_AHR_10Vo	0.000
HUMID	53.03	MEM	209824
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	40277,803
TCM_TEMP	15.30	CAP_FILE_SIZE	94787,0
XPDR_PINGS	0	CFSIZE	260030464,239132672
ALTIM_BOTTOM_PING	243.8,49.4	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	99437772800.000000	CURRENT	0.116,326.07,1
CP_POWER	323.310000	GPS	100921,220855,4751.805,-12511.386,15,0.9,32,15.7,0.2,239.9,10,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	98.79	SBE_CT	448	64	702.75
Roll_motor	35	50	43.37	WL_blue_red_Chl	1418	37	1291.15
VBD_pump_during_apogee	460	872	9777.04	nil	0	0	0.00
VBD_pump_during_surface	180	625	2737.12	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	5176	25	3144.42
Iridium_during_xfer	158	86	332.32	nil	0	0	0.00
Transponder_ping	2	420	25.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.14
TT8	1731	12	216.61
LPSleep	1170	2	26.24
TT8_Active	680	12	85.18
TT8_Sampling	1944	37	750.60
TT8_CF8	298	42	131.29
TT8_Kalman	0	0	0.00
Analog_circuits	1598	11	180.06
GPS_charging	0	0	0.00
Compass	1766	8	149.08
RAFOS	0	0	0.00
Transponder	20	30	6.26

		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
64	end surface: CONTROL_FINISHED_OK
state	64	begin dive
67	-1.00	-64.7	163	1988	683	418	0.0	0.0	0	174	0.00	0.00	-104.93	0.012	16390	0.000	0.000	163	1989	3064	3053	3076	0	0	0	0	0	0	26.17	24.70	26.23
177	-1.02	-81.1	163	1988	3054	3076	4.2	-8.4	15	193	8.07	0.00	-1.35	0.056	18982	0.222	0.000	2250	1986	3133	3131	3135	0	0	0	0	0	0	25.70	24.82	25.88
322	-1.02	-81.1	2250	1989	3141	3130	34.8	-13.2	41	329	0.00	1.05	0.00	0.000	516	0.000	0.044	2255	1292	3135	3141	3130	0	0	0	0	0	0	26.33	26.25	26.38
449	-1.02	-81.1	2254	1292	3142	3129	53.2	-12.1	65	457	0.00	1.08	0.00	0.000	1030	0.000	0.030	2252	2006	3136	3143	3129	0	0	0	0	0	0	26.42	26.39	26.44
585	-1.02	-81.1	2251	2005	3144	3129	69.7	-11.8	90	592	0.00	1.00	0.00	0.000	260	0.000	0.037	2247	2691	3136	3144	3129	0	0	0	0	0	0	26.60	26.43	26.67
625	-1.02	-81.1	2246	2692	3144	3129	74.8	-12.9	97	633	0.00	1.02	0.00	0.000	1030	0.000	0.027	2250	1972	3136	3144	3129	0	0	0	0	0	0	26.53	26.51	26.55
762	-1.02	-81.1	2249	1972	3144	3129	89.3	-10.2	122	769	0.00	0.95	0.00	0.000	516	0.000	0.034	2255	1320	3136	3144	3128	0	0	0	0	0	0	26.70	26.51	26.74
997	-1.02	-81.1	2254	1321	3144	3128	117.3	-10.8	166	1001	0.00	1.02	0.00	0.000	1030	0.000	0.031	2252	2009	3136	3145	3128	0	0	0	0	0	0	26.63	26.60	26.65
1129	-1.02	-81.1	2251	2009	3146	3127	131.5	-10.9	180	1134	0.00	1.02	0.00	0.000	516	0.000	0.034	2255	1319	3136	3145	3127	0	0	0	0	0	0	26.80	26.60	26.85
1370	-1.02	-81.1	2254	1319	3146	3126	159.2	-12.0	226	1374	0.00	1.02	0.00	0.000	1030	0.000	0.031	2252	2009	3136	3146	3126	0	0	0	0	0	0	26.72	26.67	26.72
1502	-1.02	-81.1	2252	2009	3146	3126	176.1	-12.7	240	1507	0.00	1.02	0.00	0.000	516	0.000	0.034	2254	1317	3135	3145	3126	0	0	0	0	0	0	26.87	26.67	26.92
1558	-1.02	-81.1	2254	1317	3146	3126	183.1	-12.2	250	1562	0.00	1.02	0.00	0.000	1030	0.000	0.030	2251	2008	3136	3146	3126	0	0	0	0	0	0	26.72	26.70	26.74
1690	-1.02	-81.1	2251	2008	3145	3125	198.5	-11.4	264	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2008	3135	3146	3125	0	0	0	0	0	0	26.92	26.95	26.95
1813	-1.02	-81.1	2251	2008	3145	3125	212.7	-11.8	276	1818	0.00	1.00	0.00	0.000	260	0.000	0.037	2246	2700	3135	3146	3125	0	0	0	0	0	0	26.91	26.70	26.96
1869	-1.02	-81.1	2246	2700	3145	3125	220.2	-12.3	287	1877	0.00	1.00	0.00	0.000	1030	0.000	0.027	2249	1988	3135	3146	3125	0	0	0	0	0	0	26.78	26.77	26.80
1997	-1.02	-81.1	2249	1988	3145	3124	236.1	-13.5	300	2003	0.00	0.98	0.00	0.000	516	0.000	0.034	2255	1320	3135	3146	3124	0	0	0	0	0	0	26.93	26.73	26.98
2150	-1.02	-81.1	2254	1320	3146	3123	255.1	-11.7	328	2155	0.00	1.02	0.00	0.000	1030	0.000	0.031	2252	2010	3135	3146	3124	0	0	0	0	0	0	26.77	26.74	26.78
2283	-1.02	-81.1	2251	2010	3145	3123	272.5	-13.1	342	2287	0.00	1.02	0.00	0.000	516	0.000	0.034	2255	1321	3133	3144	3122	0	0	0	0	0	0	26.95	26.74	27.01
2293	end dive: BOTTOM_OBSTACLE_DETECTED
state	2293	begin apogee
2298	-0.18	0.0	2253	1820	3145	3123	274.0	-13.4	344	2396	0.90	0.00	88.38	0.873	10246	0.156	0.000	2521	1821	2802	2850	2754	0	0	0	0	1	0	26.23	25.28	24.44
2400	end apogee: CONTROL_FINISHED_OK
state	2400	begin climb
2402	1.02	81.1	2521	1821	2856	2761	278.2	0.0	354	2547	1.25	1.08	136.18	0.571	10500	0.112	0.037	2906	2487	2466	2564	2369	0	0	0	0	0	0	25.37	25.18	24.67
2613	1.03	87.3	2905	2486	2541	2348	265.6	9.5	384	2617	0.00	1.00	0.00	0.000	1062	0.000	0.042	2909	1832	2445	2541	2349	0	0	0	0	0	0	25.67	25.64	25.70
2745	1.03	87.3	2908	1831	2538	2348	251.6	10.2	398	2749	0.00	1.12	0.00	0.000	516	0.000	0.050	2914	1102	2443	2538	2348	0	0	0	0	0	0	26.01	25.93	26.06
2952	1.03	87.3	2914	1102	2535	2348	227.9	11.0	438	2956	0.00	1.05	0.00	0.000	1030	0.000	0.033	2911	1786	2441	2535	2348	0	0	0	0	0	0	26.27	26.24	26.29
3086	1.03	87.3	2911	1786	2534	2348	213.2	11.5	452	3090	0.00	1.05	0.00	0.000	260	0.000	0.040	2906	2489	2441	2534	2348	0	0	0	0	0	0	26.51	26.31	26.56
3222	1.03	87.3	2906	2489	2532	2347	197.0	11.5	478	3226	0.00	1.02	0.00	0.000	1030	0.000	0.032	2909	1796	2440	2532	2348	0	0	0	0	0	0	26.44	26.42	26.48
3356	1.03	87.3	2909	1796	2532	2348	181.1	11.7	492	3364	0.00	0.00	0.00	0.000	6	0.000	0.000	2909	1796	2439	2532	2347	0	0	0	0	0	0	26.65	26.71	26.71
3485	1.03	87.3	2909	1796	2532	2347	166.1	11.4	505	3489	0.00	1.05	0.00	0.000	516	0.000	0.043	2915	1102	2440	2532	2348	0	0	0	0	0	0	26.70	26.50	26.75
3551	1.03	87.3	2914	1101	2532	2348	158.4	10.8	518	3559	0.00	1.08	0.00	0.000	1030	0.000	0.033	2912	1805	2439	2532	2347	0	0	0	0	0	0	26.57	26.54	26.60
3682	1.03	87.3	2911	1805	2531	2347	145.0	10.7	531	3689	0.00	0.00	0.00	0.000	6	0.000	0.000	2912	1805	2439	2531	2347	0	0	0	0	0	0	26.76	26.82	26.81
3809	1.03	87.3	2911	1805	2531	2347	130.1	11.3	544	3814	0.00	1.08	0.00	0.000	516	0.000	0.042	2915	1105	2438	2530	2347	0	0	0	0	0	0	26.79	26.58	26.83
3977	1.03	87.3	2915	1105	2530	2348	109.8	12.8	576	3982	0.00	1.05	0.00	0.000	1030	0.000	0.033	2912	1799	2438	2530	2347	0	0	0	0	0	0	26.67	26.64	26.73
4108	1.03	89.0	2912	1799	2529	2347	96.0	10.0	593	4115	0.00	1.08	0.00	0.000	548	0.000	0.041	2916	1093	2438	2530	2347	0	0	0	0	0	0	26.85	26.63	26.92
4357	1.03	89.0	2915	1093	2529	2347	71.7	10.1	639	4364	0.00	1.08	0.00	0.000	1030	0.000	0.031	2912	1808	2438	2529	2347	0	0	0	0	0	0	26.73	26.70	26.76
4494	1.03	89.0	2912	1808	2529	2346	57.8	10.8	664	4502	0.00	1.08	0.00	0.000	516	0.000	0.042	2915	1105	2437	2528	2347	0	0	0	0	0	0	26.91	26.68	26.96
4581	1.04	94.7	2915	1105	2529	2346	49.2	9.5	680	4590	0.00	1.05	2.80	0.486	9254	0.000	0.032	2912	1802	2414	2511	2317	0	0	0	0	0	0	26.76	26.73	25.31
4719	1.08	131.4	2911	1802	2519	2323	38.5	6.3	705	4796	0.08	1.05	68.28	0.516	10532	0.185	0.036	2926	2498	2254	2376	2133	0	0	0	0	0	0	26.63	25.78	25.46
4809	1.13	169.9	2925	2498	2364	2120	32.8	6.1	718	4869	0.00	1.05	54.00	0.504	9254	0.000	0.033	2929	1799	2103	2235	1972	0	0	0	0	0	0	26.14	26.10	25.13
4996	1.13	169.9	2928	1799	2212	1945	16.0	12.3	750	5004	0.05	1.08	0.00	0.000	2308	0.210	0.040	2937	2493	2078	2212	1945	0	0	0	0	0	0	26.02	26.03	26.08
5028	1.13	169.9	2936	2493	2210	1944	12.4	10.9	755	5035	0.00	1.05	0.00	0.000	1030	0.000	0.033	2941	1797	2077	2211	1944	0	0	0	0	0	0	26.10	26.10	26.16
5162	1.23	256.0	2940	1796	2208	1942	5.2	1.1	780	5276	0.12	0.00	111.32	0.485	10530	0.165	0.000	2981	1797	1816	1961	1672	0	0	0	0	0	0	26.05	28.83	26.16
5277	end climb: SURFACE_DEPTH_REACHED
state	5277	begin surface coast
5316	end surface coast: CONTROL_FINISHED_OK
state	5316	begin surface