Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 155 * 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 155 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 53 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 65 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 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 280.0

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 280.0 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 53 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 65 XPDR_INHIBIT 90

DIVE 155 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 110921,140331,4750.5127,-12509.5957,3,1.1,23,15.7,0.2,0.0,8,1.9 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME NW_SLOPE_OFF

_XMS_NAKs 0 TGT_LATLONG 4751.083,-12512.200

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.43 MHEAD_RNG_PITCHd_Wd 269.7,3380,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -55.3 D_GRID 245

GPS2 110921,140709,4750.5449,-12509.6016,3,0.7,5,15.7,0.4,284.0,12,9.6

Post-dive calculations and measurements:

FINISH 0.1,1.025315 _10V_AH 10.25,13.882

SM_CCo 4963,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.40,7.60,0.75,0.00,0.064,0.031,0.000,163,1993,550,-7.41,1.41,551.92,0,0,0,0,0,0,26.27,26.24,25.42 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.50,-12507.66,110921,124243 MEM 209776

TT8_MAMPS 0.021721,0.149051 DATA_FILE_SIZE 33536,670

HUMID 53.97 CAP_FILE_SIZE 78097,0

INTERNAL_PRESSURE 8.74779 CFSIZE 260030464,238497792

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 0.044,232.09,1

_24V_AH 24.29,25.283 GPS 110921,153129,4750.480,-12510.352,2,0.8,7,15.7,0.2,300.7,11,6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 241 103.93 SBE_CT 403 64 631.45

Roll_motor 24 61 36.90 WL_blue_red_Chl 1278 37 1163.44

VBD_pump_during_apogee 547 618 8221.36 nil 0 0 0.00

VBD_pump_during_surface 244 581 3450.76 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 135 88 290.99 nil 0 0 0.00

Transponder_ping 2 420 20.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.15

TT8 1498 12 187.63

LPSleep 1106 2 24.84

TT8_Active 814 12 102.04

TT8_Sampling 1536 37 593.52

TT8_CF8 253 42 111.60

TT8_Kalman 0 0 0.00

Analog_circuits 1620 11 182.68

GPS_charging 0 0 0.00

Compass 1508 8 127.41

RAFOS 0 0 0.00

Transponder 14 30 4.48

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.80 -116.8 180 2016 690 411 0.0 0.0 0 114 0.00 0.00 -104.35 0.004 16386 0.000 0.000 179 2015 3015 3001 3029 0 0 0 0 0 0 26.27 28.83 26.36

117 -0.80 -116.8 179 2015 3002 3029 4.3 -8.5 15 140 8.23 1.12 -5.47 0.015 18980 0.207 0.061 2322 1285 3280 3282 3278 0 0 0 0 0 0 25.77 24.65 25.93

373 -0.80 -116.8 2322 1285 3289 3277 50.5 -14.6 63 380 0.00 1.05 0.00 0.000 1030 0.000 0.030 2318 1983 3282 3288 3276 0 0 0 0 0 0 26.44 26.41 26.44

509 -0.80 -116.8 2317 1982 3290 3276 71.1 -15.1 88 518 0.00 1.02 0.00 0.000 516 0.000 0.032 2320 1295 3283 3290 3276 0 0 0 0 0 0 26.71 26.46 26.76

752 -0.80 -116.8 2320 1295 3291 3276 104.9 -13.1 134 756 0.00 1.05 0.00 0.000 1030 0.000 0.030 2317 1999 3283 3291 3276 0 0 0 0 0 0 26.59 26.56 26.62

884 -0.80 -116.8 2316 1999 3292 3275 121.7 -12.3 148 888 0.00 1.02 0.00 0.000 516 0.000 0.032 2320 1308 3284 3292 3276 0 0 0 0 0 0 26.85 26.58 26.90

1033 -0.80 -116.8 2320 1307 3292 3276 137.2 -10.9 176 1037 0.00 1.02 0.00 0.000 1030 0.000 0.031 2317 1999 3283 3292 3275 0 0 0 0 0 0 26.67 26.63 26.70

1165 -0.80 -116.8 2316 1999 3292 3275 152.3 -11.6 190 1167 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1999 3283 3292 3275 0 0 0 0 0 0 26.91 26.98 26.97

1288 -0.80 -116.8 2316 1999 3293 3275 166.0 -11.1 202 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1999 3284 3293 3275 0 0 0 0 0 0 26.94 27.00 26.99

1415 -0.80 -116.8 2317 1999 3293 3275 179.9 -10.6 215 1417 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1999 3284 3293 3275 0 0 0 0 0 0 26.96 27.02 27.01

1536 -0.80 -116.8 2316 1999 3292 3274 192.2 -10.3 227 1544 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1999 3283 3292 3274 0 0 0 0 0 0 26.97 27.04 27.03

1665 -0.80 -116.8 2316 1999 3292 3274 206.0 -10.4 240 1671 0.00 1.02 0.00 0.000 516 0.000 0.033 2320 1303 3283 3293 3274 0 0 0 0 0 0 27.03 26.73 27.05

1756 -0.80 -116.8 2320 1303 3293 3274 215.3 -10.5 256 1761 0.00 1.02 0.00 0.000 1030 0.000 0.031 2317 1998 3283 3293 3274 0 0 0 0 0 0 26.77 26.75 26.82

1891 -0.80 -116.8 2316 1997 3293 3274 229.2 -10.6 270 1898 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1998 3282 3292 3273 0 0 0 0 0 0 27.02 27.08 27.08

2019 -0.80 -116.8 2316 1998 3293 3274 244.5 -11.1 283 2021 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1998 3283 3293 3274 0 0 0 0 0 0 27.03 27.10 27.09

2026 end dive: TARGET_DEPTH_EXCEEDED

state 2026 begin apogee

2032 -0.18 0.0 2317 1765 3293 3274 245.4 -10.5 284 2232 0.68 0.00 196.50 0.572 10246 0.157 0.000 2519 1763 2799 2853 2746 0 0 0 0 0 0 26.30 25.26 24.77

2233 end apogee: CONTROL_FINISHED_OK

state 2233 begin climb

2236 0.80 116.8 2519 1763 2845 2738 253.3 0.0 304 2432 1.02 0.98 185.00 0.561 10756 0.116 0.035 2839 1129 2317 2443 2192 0 0 0 0 0 0 25.29 24.93 24.60

2507 0.82 139.4 2839 1129 2422 2181 238.4 8.8 353 2541 0.00 1.05 28.70 0.575 9254 0.000 0.029 2836 1808 2228 2358 2098 0 0 0 0 0 0 25.70 25.67 24.86

2670 0.84 155.3 2835 1808 2345 2087 223.8 9.2 373 2699 0.08 0.00 20.55 0.617 10534 0.242 0.000 2845 1809 2158 2292 2024 0 0 0 0 0 0 25.82 25.58 25.07

2821 0.84 155.3 2845 1809 2285 2021 206.3 12.4 389 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2846 1810 2153 2285 2021 0 0 0 0 0 0 26.29 26.34 26.34

2949 0.84 155.3 2845 1810 2283 2020 189.9 12.7 402 2953 0.00 1.05 0.00 0.000 516 0.000 0.042 2852 1138 2151 2283 2020 0 0 0 0 0 0 26.48 26.20 26.51

3005 0.84 155.3 2851 1138 2283 2020 182.4 13.0 413 3014 0.00 1.00 0.00 0.000 1030 0.000 0.029 2849 1800 2151 2282 2020 0 0 0 0 0 0 26.32 26.29 26.33

3134 0.84 155.3 2848 1800 2282 2019 166.6 12.5 426 3138 0.00 1.02 0.00 0.000 260 0.000 0.037 2843 2487 2150 2282 2019 0 0 0 0 0 0 26.61 26.34 26.66

3223 0.84 155.3 2843 2487 2281 2019 155.5 12.4 442 3226 0.00 0.98 0.00 0.000 1030 0.000 0.031 2846 1822 2150 2281 2019 0 0 0 0 0 0 26.46 26.44 26.48

3355 0.85 161.3 2846 1822 2280 2018 140.9 9.8 456 3357 0.00 0.00 0.00 0.000 38 0.000 0.000 2847 1822 2149 2281 2018 0 0 0 0 0 0 26.73 26.79 26.78

3475 0.89 191.8 2846 1822 2280 2019 130.1 8.4 468 3526 0.10 0.00 47.95 0.558 10278 0.172 0.000 2875 1821 2019 2159 1880 0 0 0 0 0 0 26.42 25.88 25.38

3647 0.89 191.8 2874 1821 2145 1867 111.1 12.5 485 3652 0.00 1.10 0.00 0.000 516 0.000 0.041 2880 1108 2005 2145 1866 0 0 0 0 0 0 26.48 26.19 26.50

3682 0.89 191.8 2880 1108 2144 1867 106.0 13.2 492 3690 0.00 1.05 0.00 0.000 1030 0.000 0.031 2877 1797 2005 2144 1867 0 0 0 0 0 0 26.29 26.26 26.32

3813 0.89 191.8 2877 1797 2142 1866 88.5 14.6 512 3821 0.00 1.08 0.00 0.000 516 0.000 0.041 2881 1098 2004 2142 1866 0 0 0 0 0 0 26.60 26.32 26.65

3894 0.89 191.8 2880 1098 2141 1866 77.5 13.8 527 3901 0.00 1.08 0.00 0.000 1030 0.000 0.031 2877 1810 2003 2141 1866 0 0 0 0 0 0 26.44 26.41 26.48

4031 0.89 191.8 2877 1810 2141 1865 60.6 11.2 552 4039 0.00 1.00 0.00 0.000 260 0.000 0.039 2872 2488 2003 2141 1865 0 0 0 0 0 0 26.73 26.45 26.78

4111 0.90 203.5 2872 2488 2140 1865 52.5 9.5 566 4119 0.00 1.02 3.95 0.618 9254 0.000 0.032 2876 1791 1969 2110 1828 0 0 0 0 0 0 26.55 26.51 25.25

4246 0.90 203.5 2875 1791 2113 1828 38.1 11.3 591 4254 0.00 1.02 0.00 0.000 516 0.000 0.042 2881 1113 1970 2113 1828 0 0 0 0 0 0 26.77 26.49 26.84

4337 0.90 203.5 2880 1113 2113 1828 27.7 11.5 608 4345 0.00 1.02 0.00 0.000 1030 0.000 0.029 2877 1801 1970 2113 1828 0 0 0 0 0 0 26.59 26.55 26.61

4478 0.95 241.0 2877 1803 2113 1828 15.5 8.0 633 4550 0.00 1.00 64.93 0.503 8484 0.000 0.033 2872 2493 1811 1957 1665 0 0 0 0 0 0 26.84 25.70 25.37

4664 end climb: SURFACE_DEPTH_REACHED

state 4664 begin surface coast

4691 end surface coast: CONTROL_FINISHED_OK

state 4691 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	155	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	53	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	65	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	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	280.0
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	110921,140331,4750.5127,-12509.5957,3,1.1,23,15.7,0.2,0.0,8,1.9	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	NW_SLOPE_OFF
_XMS_NAKs	0	TGT_LATLONG	4751.083,-12512.200
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.43	MHEAD_RNG_PITCHd_Wd	269.7,3380,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-55.3	D_GRID	245
GPS2	110921,140709,4750.5449,-12509.6016,3,0.7,5,15.7,0.4,284.0,12,9.6

FINISH	0.1,1.025315	_10V_AH	10.25,13.882
SM_CCo	4963,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.40,7.60,0.75,0.00,0.064,0.031,0.000,163,1993,550,-7.41,1.41,551.92,0,0,0,0,0,0,26.27,26.24,25.42	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.50,-12507.66,110921,124243	MEM	209776
TT8_MAMPS	0.021721,0.149051	DATA_FILE_SIZE	33536,670
HUMID	53.97	CAP_FILE_SIZE	78097,0
INTERNAL_PRESSURE	8.74779	CFSIZE	260030464,238497792
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	0.044,232.09,1
_24V_AH	24.29,25.283	GPS	110921,153129,4750.480,-12510.352,2,0.8,7,15.7,0.2,300.7,11,6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	241	103.93	SBE_CT	403	64	631.45
Roll_motor	24	61	36.90	WL_blue_red_Chl	1278	37	1163.44
VBD_pump_during_apogee	547	618	8221.36	nil	0	0	0.00
VBD_pump_during_surface	244	581	3450.76	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	135	88	290.99	nil	0	0	0.00
Transponder_ping	2	420	20.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.15
TT8	1498	12	187.63
LPSleep	1106	2	24.84
TT8_Active	814	12	102.04
TT8_Sampling	1536	37	593.52
TT8_CF8	253	42	111.60
TT8_Kalman	0	0	0.00
Analog_circuits	1620	11	182.68
GPS_charging	0	0	0.00
Compass	1508	8	127.41
RAFOS	0	0	0.00
Transponder	14	30	4.48

		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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.80	-116.8	180	2016	690	411	0.0	0.0	0	114	0.00	0.00	-104.35	0.004	16386	0.000	0.000	179	2015	3015	3001	3029	0	0	0	0	0	0	26.27	28.83	26.36
117	-0.80	-116.8	179	2015	3002	3029	4.3	-8.5	15	140	8.23	1.12	-5.47	0.015	18980	0.207	0.061	2322	1285	3280	3282	3278	0	0	0	0	0	0	25.77	24.65	25.93
373	-0.80	-116.8	2322	1285	3289	3277	50.5	-14.6	63	380	0.00	1.05	0.00	0.000	1030	0.000	0.030	2318	1983	3282	3288	3276	0	0	0	0	0	0	26.44	26.41	26.44
509	-0.80	-116.8	2317	1982	3290	3276	71.1	-15.1	88	518	0.00	1.02	0.00	0.000	516	0.000	0.032	2320	1295	3283	3290	3276	0	0	0	0	0	0	26.71	26.46	26.76
752	-0.80	-116.8	2320	1295	3291	3276	104.9	-13.1	134	756	0.00	1.05	0.00	0.000	1030	0.000	0.030	2317	1999	3283	3291	3276	0	0	0	0	0	0	26.59	26.56	26.62
884	-0.80	-116.8	2316	1999	3292	3275	121.7	-12.3	148	888	0.00	1.02	0.00	0.000	516	0.000	0.032	2320	1308	3284	3292	3276	0	0	0	0	0	0	26.85	26.58	26.90
1033	-0.80	-116.8	2320	1307	3292	3276	137.2	-10.9	176	1037	0.00	1.02	0.00	0.000	1030	0.000	0.031	2317	1999	3283	3292	3275	0	0	0	0	0	0	26.67	26.63	26.70
1165	-0.80	-116.8	2316	1999	3292	3275	152.3	-11.6	190	1167	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1999	3283	3292	3275	0	0	0	0	0	0	26.91	26.98	26.97
1288	-0.80	-116.8	2316	1999	3293	3275	166.0	-11.1	202	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1999	3284	3293	3275	0	0	0	0	0	0	26.94	27.00	26.99
1415	-0.80	-116.8	2317	1999	3293	3275	179.9	-10.6	215	1417	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1999	3284	3293	3275	0	0	0	0	0	0	26.96	27.02	27.01
1536	-0.80	-116.8	2316	1999	3292	3274	192.2	-10.3	227	1544	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1999	3283	3292	3274	0	0	0	0	0	0	26.97	27.04	27.03
1665	-0.80	-116.8	2316	1999	3292	3274	206.0	-10.4	240	1671	0.00	1.02	0.00	0.000	516	0.000	0.033	2320	1303	3283	3293	3274	0	0	0	0	0	0	27.03	26.73	27.05
1756	-0.80	-116.8	2320	1303	3293	3274	215.3	-10.5	256	1761	0.00	1.02	0.00	0.000	1030	0.000	0.031	2317	1998	3283	3293	3274	0	0	0	0	0	0	26.77	26.75	26.82
1891	-0.80	-116.8	2316	1997	3293	3274	229.2	-10.6	270	1898	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1998	3282	3292	3273	0	0	0	0	0	0	27.02	27.08	27.08
2019	-0.80	-116.8	2316	1998	3293	3274	244.5	-11.1	283	2021	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1998	3283	3293	3274	0	0	0	0	0	0	27.03	27.10	27.09
2026	end dive: TARGET_DEPTH_EXCEEDED
state	2026	begin apogee
2032	-0.18	0.0	2317	1765	3293	3274	245.4	-10.5	284	2232	0.68	0.00	196.50	0.572	10246	0.157	0.000	2519	1763	2799	2853	2746	0	0	0	0	0	0	26.30	25.26	24.77
2233	end apogee: CONTROL_FINISHED_OK
state	2233	begin climb
2236	0.80	116.8	2519	1763	2845	2738	253.3	0.0	304	2432	1.02	0.98	185.00	0.561	10756	0.116	0.035	2839	1129	2317	2443	2192	0	0	0	0	0	0	25.29	24.93	24.60
2507	0.82	139.4	2839	1129	2422	2181	238.4	8.8	353	2541	0.00	1.05	28.70	0.575	9254	0.000	0.029	2836	1808	2228	2358	2098	0	0	0	0	0	0	25.70	25.67	24.86
2670	0.84	155.3	2835	1808	2345	2087	223.8	9.2	373	2699	0.08	0.00	20.55	0.617	10534	0.242	0.000	2845	1809	2158	2292	2024	0	0	0	0	0	0	25.82	25.58	25.07
2821	0.84	155.3	2845	1809	2285	2021	206.3	12.4	389	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2846	1810	2153	2285	2021	0	0	0	0	0	0	26.29	26.34	26.34
2949	0.84	155.3	2845	1810	2283	2020	189.9	12.7	402	2953	0.00	1.05	0.00	0.000	516	0.000	0.042	2852	1138	2151	2283	2020	0	0	0	0	0	0	26.48	26.20	26.51
3005	0.84	155.3	2851	1138	2283	2020	182.4	13.0	413	3014	0.00	1.00	0.00	0.000	1030	0.000	0.029	2849	1800	2151	2282	2020	0	0	0	0	0	0	26.32	26.29	26.33
3134	0.84	155.3	2848	1800	2282	2019	166.6	12.5	426	3138	0.00	1.02	0.00	0.000	260	0.000	0.037	2843	2487	2150	2282	2019	0	0	0	0	0	0	26.61	26.34	26.66
3223	0.84	155.3	2843	2487	2281	2019	155.5	12.4	442	3226	0.00	0.98	0.00	0.000	1030	0.000	0.031	2846	1822	2150	2281	2019	0	0	0	0	0	0	26.46	26.44	26.48
3355	0.85	161.3	2846	1822	2280	2018	140.9	9.8	456	3357	0.00	0.00	0.00	0.000	38	0.000	0.000	2847	1822	2149	2281	2018	0	0	0	0	0	0	26.73	26.79	26.78
3475	0.89	191.8	2846	1822	2280	2019	130.1	8.4	468	3526	0.10	0.00	47.95	0.558	10278	0.172	0.000	2875	1821	2019	2159	1880	0	0	0	0	0	0	26.42	25.88	25.38
3647	0.89	191.8	2874	1821	2145	1867	111.1	12.5	485	3652	0.00	1.10	0.00	0.000	516	0.000	0.041	2880	1108	2005	2145	1866	0	0	0	0	0	0	26.48	26.19	26.50
3682	0.89	191.8	2880	1108	2144	1867	106.0	13.2	492	3690	0.00	1.05	0.00	0.000	1030	0.000	0.031	2877	1797	2005	2144	1867	0	0	0	0	0	0	26.29	26.26	26.32
3813	0.89	191.8	2877	1797	2142	1866	88.5	14.6	512	3821	0.00	1.08	0.00	0.000	516	0.000	0.041	2881	1098	2004	2142	1866	0	0	0	0	0	0	26.60	26.32	26.65
3894	0.89	191.8	2880	1098	2141	1866	77.5	13.8	527	3901	0.00	1.08	0.00	0.000	1030	0.000	0.031	2877	1810	2003	2141	1866	0	0	0	0	0	0	26.44	26.41	26.48
4031	0.89	191.8	2877	1810	2141	1865	60.6	11.2	552	4039	0.00	1.00	0.00	0.000	260	0.000	0.039	2872	2488	2003	2141	1865	0	0	0	0	0	0	26.73	26.45	26.78
4111	0.90	203.5	2872	2488	2140	1865	52.5	9.5	566	4119	0.00	1.02	3.95	0.618	9254	0.000	0.032	2876	1791	1969	2110	1828	0	0	0	0	0	0	26.55	26.51	25.25
4246	0.90	203.5	2875	1791	2113	1828	38.1	11.3	591	4254	0.00	1.02	0.00	0.000	516	0.000	0.042	2881	1113	1970	2113	1828	0	0	0	0	0	0	26.77	26.49	26.84
4337	0.90	203.5	2880	1113	2113	1828	27.7	11.5	608	4345	0.00	1.02	0.00	0.000	1030	0.000	0.029	2877	1801	1970	2113	1828	0	0	0	0	0	0	26.59	26.55	26.61
4478	0.95	241.0	2877	1803	2113	1828	15.5	8.0	633	4550	0.00	1.00	64.93	0.503	8484	0.000	0.033	2872	2493	1811	1957	1665	0	0	0	0	0	0	26.84	25.70	25.37
4664	end climb: SURFACE_DEPTH_REACHED
state	4664	begin surface coast
4691	end surface coast: CONTROL_FINISHED_OK
state	4691	begin surface