Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 166 * 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 166 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 51 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 350 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 3 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 284.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 350 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 115

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 235

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 3

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 284.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 0 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 51 XPDR_INHIBIT 90

DIVE 166 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 120921,085121,4751.3291,-12510.9668,3,1.2,5,15.7,0.1,0.0,8,7.4 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 0.46 MHEAD_RNG_PITCHd_Wd 330.0,770,-25.9,-10.145,-30.00,975

_SM_ANGLEo -57.6 D_GRID 306

GPS2 120921,085514,4751.3071,-12511.0088,4,1.2,6,15.7,0.1,0.0,8,5.5

Post-dive calculations and measurements:

FINISH -0.4,1.025455 _10V_AH 10.24,14.613

SM_CCo 5570,0.03,2.970,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.53,7.65,0.75,0.03,0.053,0.034,2.970,167,2006,550,-7.38,1.64,551.92,0,0,0,0,0,0,26.20,26.15,23.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4753.09,-12513.98,120921,070958 MEM 209764

TT8_MAMPS 0.02247,0.146055 DATA_FILE_SIZE 40114,770

HUMID 53.38 CAP_FILE_SIZE 87674,0

INTERNAL_PRESSURE 8.74779 CFSIZE 260030464,237850624

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.051,323.08,1

ALTIM_BOTTOM_PING 255.8,35.4 GPS 120921,103001,4751.870,-12511.316,22,0.9,23,15.7,0.1,0.0,8,6.1

_24V_AH 23.77,26.702

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 207 88.58 SBE_CT 464 64 711.27

Roll_motor 29 48 33.78 WL_blue_red_Chl 1464 37 1303.35

VBD_pump_during_apogee 397 636 6017.99 nil 0 0 0.00

VBD_pump_during_surface 219 2969 15526.38 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 143 91 313.57 nil 0 0 0.00

Transponder_ping 3 420 29.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.26

TT8 1766 12 221.00

LPSleep 1333 2 29.90

TT8_Active 689 12 86.25

TT8_Sampling 1759 37 679.10

TT8_CF8 282 42 124.01

TT8_Kalman 0 0 0.00

Analog_circuits 1553 11 175.00

GPS_charging 0 0 0.00

Compass 1737 8 146.58

RAFOS 0 0 0.00

Transponder 24 30 7.65

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 -1.00 -64.7 172 1995 691 409 0.0 0.0 0 114 0.00 0.00 -104.80 0.004 16386 0.000 0.000 173 1995 3052 3037 3067 0 0 0 0 0 0 26.28 28.83 26.34

117 -1.01 -69.4 172 1996 3039 3067 4.8 -9.6 14 133 8.05 0.00 -0.65 0.096 18982 0.207 0.000 2256 1993 3086 3080 3093 0 0 0 0 0 0 25.65 25.54 25.84

262 -1.01 -69.4 2256 1995 3089 3086 34.1 -13.6 40 270 0.00 1.05 0.00 0.000 260 0.000 0.036 2253 2700 3087 3089 3086 0 0 0 0 0 0 26.54 26.29 26.60

287 -1.01 -69.4 2252 2700 3089 3086 38.3 -14.4 44 295 0.00 1.05 0.00 0.000 1030 0.000 0.027 2256 1979 3088 3090 3086 0 0 0 0 0 0 26.37 26.34 26.39

424 -1.01 -69.4 2255 1978 3093 3085 56.5 -12.8 69 431 0.00 0.98 0.00 0.000 516 0.000 0.033 2261 1316 3089 3093 3085 0 0 0 0 0 0 26.65 26.40 26.70

663 -1.01 -69.4 2261 1316 3095 3085 86.5 -11.3 115 671 0.00 1.02 0.00 0.000 1030 0.000 0.030 2258 1998 3090 3095 3085 0 0 0 0 0 0 26.55 26.51 26.55

803 -1.01 -72.0 2258 1998 3096 3084 100.1 -9.9 140 807 0.00 1.02 0.00 0.000 548 0.000 0.031 2261 1314 3090 3096 3085 0 0 0 0 0 0 26.82 26.54 26.86

942 -1.01 -72.0 2261 1313 3096 3085 114.5 -11.1 166 946 0.00 1.02 0.00 0.000 1030 0.000 0.028 2258 2003 3090 3096 3085 0 0 0 0 0 0 26.64 26.61 26.67

1075 -1.01 -72.0 2258 2002 3096 3084 128.1 -10.7 180 1078 0.00 1.00 0.00 0.000 260 0.000 0.037 2253 2693 3089 3095 3084 0 0 0 0 0 0 26.89 26.61 26.94

1150 -1.01 -72.0 2252 2693 3096 3084 136.8 -11.9 194 1154 0.00 1.00 0.00 0.000 1030 0.000 0.025 2256 1984 3090 3096 3084 0 0 0 0 0 0 26.70 26.68 26.72

1283 -1.01 -72.0 2256 1983 3096 3084 153.2 -12.7 208 1286 0.00 0.98 0.00 0.000 516 0.000 0.034 2261 1315 3090 3096 3084 0 0 0 0 0 0 26.93 26.65 26.98

1338 -1.01 -72.0 2261 1315 3097 3084 160.8 -12.6 219 1347 0.00 1.02 0.00 0.000 1030 0.000 0.028 2258 2004 3090 3097 3083 0 0 0 0 0 0 26.71 26.69 26.74

1467 -1.01 -72.0 2258 2004 3097 3083 176.6 -12.3 232 1475 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2004 3090 3097 3083 0 0 0 0 0 0 26.96 27.02 27.01

1600 -1.01 -72.0 2258 2003 3097 3083 192.3 -12.1 245 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2004 3090 3097 3083 0 0 0 0 0 0 26.96 27.03 27.02

1726 -1.01 -72.0 2258 2004 3097 3083 207.9 -12.3 258 1730 0.00 1.00 0.00 0.000 516 0.000 0.032 2261 1323 3090 3097 3083 0 0 0 0 0 0 27.00 26.71 27.05

1772 -1.01 -72.0 2261 1322 3096 3083 213.6 -13.2 266 1776 0.00 1.00 0.00 0.000 1030 0.000 0.029 2258 1998 3090 3097 3083 0 0 0 0 0 0 26.77 26.74 26.79

1905 -1.01 -72.0 2257 1998 3097 3082 231.4 -13.1 280 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 1998 3089 3096 3082 0 0 0 0 0 0 27.01 27.08 27.07

2034 -1.01 -72.0 2258 1998 3097 3082 248.1 -12.9 293 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 1998 3089 3097 3082 0 0 0 0 0 0 27.03 27.09 27.08

2155 -1.01 -72.0 2258 1998 3097 3082 263.0 -11.9 305 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 1998 3089 3097 3081 0 0 0 0 0 0 27.04 27.10 27.09

2233 end dive: BOTTOM_OBSTACLE_DETECTED

state 2233 begin apogee

2238 -0.18 0.0 2258 1778 3097 3081 272.1 -11.6 313 2365 0.88 0.00 118.25 0.598 10246 0.150 0.000 2522 1777 2792 2837 2748 0 0 0 0 0 0 26.23 25.32 24.97

2366 end apogee: CONTROL_FINISHED_OK

state 2366 begin climb

2368 1.01 72.0 2522 1777 2833 2743 276.0 0.0 326 2487 1.23 1.10 108.68 0.581 11012 0.116 0.033 2898 2503 2495 2582 2408 0 0 0 0 0 0 25.51 25.03 24.68

2546 1.01 73.8 2897 2503 2564 2388 264.5 10.0 359 2555 0.00 1.02 0.00 0.000 1062 0.000 0.029 2901 1832 2476 2564 2388 0 0 0 0 0 0 25.72 25.70 25.75

2675 1.01 73.8 2900 1832 2561 2387 251.3 10.4 372 2680 0.00 1.15 0.00 0.000 516 0.000 0.037 2906 1094 2475 2562 2388 0 0 0 0 0 0 26.25 25.99 26.29

2809 1.02 79.1 2906 1093 2561 2387 237.8 9.6 396 2812 0.00 1.08 0.00 0.000 1062 0.000 0.030 2903 1799 2474 2561 2387 0 0 0 0 0 0 26.23 26.21 26.25

2941 1.03 84.6 2902 1800 2557 2387 225.7 9.6 410 2943 0.00 0.00 0.00 0.000 38 0.000 0.000 2903 1800 2473 2559 2387 0 0 0 0 0 0 26.56 26.63 26.61

3063 1.03 92.3 2903 1800 2558 2387 214.7 9.3 422 3090 0.00 0.00 21.30 0.636 8230 0.000 0.000 2903 1800 2417 2514 2320 0 0 0 0 0 0 26.64 25.79 25.43

3213 1.03 92.3 2903 1800 2502 2305 199.0 10.2 437 3220 0.00 0.00 0.00 0.000 6 0.000 0.000 2903 1800 2403 2502 2305 0 0 0 0 0 0 26.52 26.58 26.58

3341 1.03 92.3 2902 1800 2500 2305 184.9 10.7 450 3345 0.00 1.05 0.00 0.000 260 0.000 0.038 2899 2504 2402 2499 2306 0 0 0 0 0 0 26.62 26.35 26.67

3449 1.03 92.3 2898 2503 2497 2305 173.4 11.1 470 3453 0.00 1.05 0.00 0.000 1030 0.000 0.030 2902 1789 2401 2497 2305 0 0 0 0 0 0 26.48 26.45 26.49

3581 1.03 92.3 2901 1789 2496 2305 158.5 11.0 484 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1789 2401 2497 2305 0 0 0 0 0 0 26.74 26.81 26.81

3713 1.03 92.3 2902 1789 2496 2305 143.5 11.1 497 3720 0.00 0.00 0.00 0.000 6 0.000 0.000 2902 1789 2400 2496 2305 0 0 0 0 0 0 26.79 26.86 26.84

3841 1.04 93.8 2901 1789 2496 2305 129.9 10.0 510 3845 0.00 1.05 0.00 0.000 292 0.000 0.037 2899 2493 2400 2496 2305 0 0 0 0 0 0 26.84 26.55 26.89

3937 1.04 93.8 2899 2493 2494 2305 120.3 10.4 528 3941 0.00 1.00 0.00 0.000 1030 0.000 0.031 2901 1806 2399 2494 2305 0 0 0 0 0 0 26.64 26.60 26.67

4069 1.04 93.8 2901 1806 2494 2305 106.0 11.5 542 4073 0.00 1.08 0.00 0.000 516 0.000 0.041 2907 1097 2400 2495 2306 0 0 0 0 0 0 26.89 26.60 26.95

4235 1.04 93.8 2906 1097 2495 2305 86.8 10.6 574 4242 0.00 1.05 0.00 0.000 1030 0.000 0.030 2904 1798 2400 2495 2305 0 0 0 0 0 0 26.70 26.67 26.72

4373 1.04 93.8 2903 1798 2494 2305 71.4 11.4 599 4382 0.00 1.02 0.00 0.000 260 0.000 0.038 2899 2493 2399 2494 2305 0 0 0 0 0 0 26.95 26.65 27.01

4478 1.07 124.7 2898 2493 2494 2304 61.9 6.9 618 4529 0.05 1.00 43.28 0.542 11302 0.115 0.031 2923 1801 2284 2401 2167 0 0 0 0 0 0 26.51 26.70 25.58

4656 1.09 140.5 2923 1802 2383 2150 47.7 8.5 649 4678 0.00 1.08 12.20 0.586 8740 0.000 0.040 2929 1100 2219 2341 2098 0 0 0 0 0 0 26.60 26.05 25.46

4911 1.12 162.6 2928 1100 2330 2092 22.6 7.8 697 4947 0.00 1.08 28.33 0.526 9254 0.000 0.030 2926 1813 2131 2260 2002 0 0 0 0 0 0 26.45 26.42 25.45

5073 1.17 205.6 2925 1813 2243 1984 9.8 5.6 726 5145 0.12 1.08 65.75 0.493 10532 0.171 0.037 2951 2497 1956 2097 1816 0 0 0 0 0 0 26.06 25.65 25.13

5275 end climb: SURFACE_DEPTH_REACHED

state 5275 begin surface coast

5322 end surface coast: CONTROL_FINISHED_OK

state 5322 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	166	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	51	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	350	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	3	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	284.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	120921,085121,4751.3291,-12510.9668,3,1.2,5,15.7,0.1,0.0,8,7.4	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	0.46	MHEAD_RNG_PITCHd_Wd	330.0,770,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-57.6	D_GRID	306
GPS2	120921,085514,4751.3071,-12511.0088,4,1.2,6,15.7,0.1,0.0,8,5.5

FINISH	-0.4,1.025455	_10V_AH	10.24,14.613
SM_CCo	5570,0.03,2.970,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.53,7.65,0.75,0.03,0.053,0.034,2.970,167,2006,550,-7.38,1.64,551.92,0,0,0,0,0,0,26.20,26.15,23.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4753.09,-12513.98,120921,070958	MEM	209764
TT8_MAMPS	0.02247,0.146055	DATA_FILE_SIZE	40114,770
HUMID	53.38	CAP_FILE_SIZE	87674,0
INTERNAL_PRESSURE	8.74779	CFSIZE	260030464,237850624
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.051,323.08,1
ALTIM_BOTTOM_PING	255.8,35.4	GPS	120921,103001,4751.870,-12511.316,22,0.9,23,15.7,0.1,0.0,8,6.1
_24V_AH	23.77,26.702

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	207	88.58	SBE_CT	464	64	711.27
Roll_motor	29	48	33.78	WL_blue_red_Chl	1464	37	1303.35
VBD_pump_during_apogee	397	636	6017.99	nil	0	0	0.00
VBD_pump_during_surface	219	2969	15526.38	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	143	91	313.57	nil	0	0	0.00
Transponder_ping	3	420	29.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.26
TT8	1766	12	221.00
LPSleep	1333	2	29.90
TT8_Active	689	12	86.25
TT8_Sampling	1759	37	679.10
TT8_CF8	282	42	124.01
TT8_Kalman	0	0	0.00
Analog_circuits	1553	11	175.00
GPS_charging	0	0	0.00
Compass	1737	8	146.58
RAFOS	0	0	0.00
Transponder	24	30	7.65

		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	-1.00	-64.7	172	1995	691	409	0.0	0.0	0	114	0.00	0.00	-104.80	0.004	16386	0.000	0.000	173	1995	3052	3037	3067	0	0	0	0	0	0	26.28	28.83	26.34
117	-1.01	-69.4	172	1996	3039	3067	4.8	-9.6	14	133	8.05	0.00	-0.65	0.096	18982	0.207	0.000	2256	1993	3086	3080	3093	0	0	0	0	0	0	25.65	25.54	25.84
262	-1.01	-69.4	2256	1995	3089	3086	34.1	-13.6	40	270	0.00	1.05	0.00	0.000	260	0.000	0.036	2253	2700	3087	3089	3086	0	0	0	0	0	0	26.54	26.29	26.60
287	-1.01	-69.4	2252	2700	3089	3086	38.3	-14.4	44	295	0.00	1.05	0.00	0.000	1030	0.000	0.027	2256	1979	3088	3090	3086	0	0	0	0	0	0	26.37	26.34	26.39
424	-1.01	-69.4	2255	1978	3093	3085	56.5	-12.8	69	431	0.00	0.98	0.00	0.000	516	0.000	0.033	2261	1316	3089	3093	3085	0	0	0	0	0	0	26.65	26.40	26.70
663	-1.01	-69.4	2261	1316	3095	3085	86.5	-11.3	115	671	0.00	1.02	0.00	0.000	1030	0.000	0.030	2258	1998	3090	3095	3085	0	0	0	0	0	0	26.55	26.51	26.55
803	-1.01	-72.0	2258	1998	3096	3084	100.1	-9.9	140	807	0.00	1.02	0.00	0.000	548	0.000	0.031	2261	1314	3090	3096	3085	0	0	0	0	0	0	26.82	26.54	26.86
942	-1.01	-72.0	2261	1313	3096	3085	114.5	-11.1	166	946	0.00	1.02	0.00	0.000	1030	0.000	0.028	2258	2003	3090	3096	3085	0	0	0	0	0	0	26.64	26.61	26.67
1075	-1.01	-72.0	2258	2002	3096	3084	128.1	-10.7	180	1078	0.00	1.00	0.00	0.000	260	0.000	0.037	2253	2693	3089	3095	3084	0	0	0	0	0	0	26.89	26.61	26.94
1150	-1.01	-72.0	2252	2693	3096	3084	136.8	-11.9	194	1154	0.00	1.00	0.00	0.000	1030	0.000	0.025	2256	1984	3090	3096	3084	0	0	0	0	0	0	26.70	26.68	26.72
1283	-1.01	-72.0	2256	1983	3096	3084	153.2	-12.7	208	1286	0.00	0.98	0.00	0.000	516	0.000	0.034	2261	1315	3090	3096	3084	0	0	0	0	0	0	26.93	26.65	26.98
1338	-1.01	-72.0	2261	1315	3097	3084	160.8	-12.6	219	1347	0.00	1.02	0.00	0.000	1030	0.000	0.028	2258	2004	3090	3097	3083	0	0	0	0	0	0	26.71	26.69	26.74
1467	-1.01	-72.0	2258	2004	3097	3083	176.6	-12.3	232	1475	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2004	3090	3097	3083	0	0	0	0	0	0	26.96	27.02	27.01
1600	-1.01	-72.0	2258	2003	3097	3083	192.3	-12.1	245	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2004	3090	3097	3083	0	0	0	0	0	0	26.96	27.03	27.02
1726	-1.01	-72.0	2258	2004	3097	3083	207.9	-12.3	258	1730	0.00	1.00	0.00	0.000	516	0.000	0.032	2261	1323	3090	3097	3083	0	0	0	0	0	0	27.00	26.71	27.05
1772	-1.01	-72.0	2261	1322	3096	3083	213.6	-13.2	266	1776	0.00	1.00	0.00	0.000	1030	0.000	0.029	2258	1998	3090	3097	3083	0	0	0	0	0	0	26.77	26.74	26.79
1905	-1.01	-72.0	2257	1998	3097	3082	231.4	-13.1	280	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	1998	3089	3096	3082	0	0	0	0	0	0	27.01	27.08	27.07
2034	-1.01	-72.0	2258	1998	3097	3082	248.1	-12.9	293	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	1998	3089	3097	3082	0	0	0	0	0	0	27.03	27.09	27.08
2155	-1.01	-72.0	2258	1998	3097	3082	263.0	-11.9	305	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	1998	3089	3097	3081	0	0	0	0	0	0	27.04	27.10	27.09
2233	end dive: BOTTOM_OBSTACLE_DETECTED
state	2233	begin apogee
2238	-0.18	0.0	2258	1778	3097	3081	272.1	-11.6	313	2365	0.88	0.00	118.25	0.598	10246	0.150	0.000	2522	1777	2792	2837	2748	0	0	0	0	0	0	26.23	25.32	24.97
2366	end apogee: CONTROL_FINISHED_OK
state	2366	begin climb
2368	1.01	72.0	2522	1777	2833	2743	276.0	0.0	326	2487	1.23	1.10	108.68	0.581	11012	0.116	0.033	2898	2503	2495	2582	2408	0	0	0	0	0	0	25.51	25.03	24.68
2546	1.01	73.8	2897	2503	2564	2388	264.5	10.0	359	2555	0.00	1.02	0.00	0.000	1062	0.000	0.029	2901	1832	2476	2564	2388	0	0	0	0	0	0	25.72	25.70	25.75
2675	1.01	73.8	2900	1832	2561	2387	251.3	10.4	372	2680	0.00	1.15	0.00	0.000	516	0.000	0.037	2906	1094	2475	2562	2388	0	0	0	0	0	0	26.25	25.99	26.29
2809	1.02	79.1	2906	1093	2561	2387	237.8	9.6	396	2812	0.00	1.08	0.00	0.000	1062	0.000	0.030	2903	1799	2474	2561	2387	0	0	0	0	0	0	26.23	26.21	26.25
2941	1.03	84.6	2902	1800	2557	2387	225.7	9.6	410	2943	0.00	0.00	0.00	0.000	38	0.000	0.000	2903	1800	2473	2559	2387	0	0	0	0	0	0	26.56	26.63	26.61
3063	1.03	92.3	2903	1800	2558	2387	214.7	9.3	422	3090	0.00	0.00	21.30	0.636	8230	0.000	0.000	2903	1800	2417	2514	2320	0	0	0	0	0	0	26.64	25.79	25.43
3213	1.03	92.3	2903	1800	2502	2305	199.0	10.2	437	3220	0.00	0.00	0.00	0.000	6	0.000	0.000	2903	1800	2403	2502	2305	0	0	0	0	0	0	26.52	26.58	26.58
3341	1.03	92.3	2902	1800	2500	2305	184.9	10.7	450	3345	0.00	1.05	0.00	0.000	260	0.000	0.038	2899	2504	2402	2499	2306	0	0	0	0	0	0	26.62	26.35	26.67
3449	1.03	92.3	2898	2503	2497	2305	173.4	11.1	470	3453	0.00	1.05	0.00	0.000	1030	0.000	0.030	2902	1789	2401	2497	2305	0	0	0	0	0	0	26.48	26.45	26.49
3581	1.03	92.3	2901	1789	2496	2305	158.5	11.0	484	3589	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1789	2401	2497	2305	0	0	0	0	0	0	26.74	26.81	26.81
3713	1.03	92.3	2902	1789	2496	2305	143.5	11.1	497	3720	0.00	0.00	0.00	0.000	6	0.000	0.000	2902	1789	2400	2496	2305	0	0	0	0	0	0	26.79	26.86	26.84
3841	1.04	93.8	2901	1789	2496	2305	129.9	10.0	510	3845	0.00	1.05	0.00	0.000	292	0.000	0.037	2899	2493	2400	2496	2305	0	0	0	0	0	0	26.84	26.55	26.89
3937	1.04	93.8	2899	2493	2494	2305	120.3	10.4	528	3941	0.00	1.00	0.00	0.000	1030	0.000	0.031	2901	1806	2399	2494	2305	0	0	0	0	0	0	26.64	26.60	26.67
4069	1.04	93.8	2901	1806	2494	2305	106.0	11.5	542	4073	0.00	1.08	0.00	0.000	516	0.000	0.041	2907	1097	2400	2495	2306	0	0	0	0	0	0	26.89	26.60	26.95
4235	1.04	93.8	2906	1097	2495	2305	86.8	10.6	574	4242	0.00	1.05	0.00	0.000	1030	0.000	0.030	2904	1798	2400	2495	2305	0	0	0	0	0	0	26.70	26.67	26.72
4373	1.04	93.8	2903	1798	2494	2305	71.4	11.4	599	4382	0.00	1.02	0.00	0.000	260	0.000	0.038	2899	2493	2399	2494	2305	0	0	0	0	0	0	26.95	26.65	27.01
4478	1.07	124.7	2898	2493	2494	2304	61.9	6.9	618	4529	0.05	1.00	43.28	0.542	11302	0.115	0.031	2923	1801	2284	2401	2167	0	0	0	0	0	0	26.51	26.70	25.58
4656	1.09	140.5	2923	1802	2383	2150	47.7	8.5	649	4678	0.00	1.08	12.20	0.586	8740	0.000	0.040	2929	1100	2219	2341	2098	0	0	0	0	0	0	26.60	26.05	25.46
4911	1.12	162.6	2928	1100	2330	2092	22.6	7.8	697	4947	0.00	1.08	28.33	0.526	9254	0.000	0.030	2926	1813	2131	2260	2002	0	0	0	0	0	0	26.45	26.42	25.45
5073	1.17	205.6	2925	1813	2243	1984	9.8	5.6	726	5145	0.12	1.08	65.75	0.493	10532	0.171	0.037	2951	2497	1956	2097	1816	0	0	0	0	0	0	26.06	25.65	25.13
5275	end climb: SURFACE_DEPTH_REACHED
state	5275	begin surface coast
5322	end surface coast: CONTROL_FINISHED_OK
state	5322	begin surface