Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 79 * 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 79 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 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 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 7200 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 144.0

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 7200

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 144.0 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

DIVE 79 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 060921,053053,4751.0967,-12509.5225,6,0.9,9,15.7,0.6,103.7,12,7.1 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 0.51 MHEAD_RNG_PITCHd_Wd 273.4,2431,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -65.6 D_GRID 240

GPS2 060921,053622,4751.0620,-12509.5322,11,1.1,19,15.7,0.8,201.4,8,10.0

Post-dive calculations and measurements:

FINISH -0.5,1.025573 CP_POWER1 0.000000

SM_CCo 4428,0.05,1.741,0,0,550,551.92 _24V_AH 24.35,15.620

SM_GC 0.48,7.57,0.28,0.05,0.057,0.049,1.741,195,2013,550,-7.38,-1.39,551.92,0,0,0,0,0,0,26.02,25.99,24.37 _10V_AH 10.26,8.899

IRIDIUM_FIX 4752.18,-12506.88,060921,041736 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.188748 FG_AHR_10Vo 0.000

HUMID 53.07 MEM 211208

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 33514,635

TCM_TEMP 15.10 CAP_FILE_SIZE 83204,0

XPDR_PINGS 0 CFSIZE 260030464,244183040

ALTIM_BOTTOM_PING 202.1,38.1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 116857536512.000000 CURRENT 0.109,338.42,1

CP_POWER 328.190000 GPS 060921,065157,4751.400,-12510.321,5,0.9,6,15.7,0.2,0.0,9,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 224 96.74 SBE_CT 369 64 578.82

Roll_motor 31 82 62.82 WL_blue_red_Chl 1172 37 1068.89

VBD_pump_during_apogee 524 638 8153.83 nil 0 0 0.00

VBD_pump_during_surface 207 1741 8816.41 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 4011 25 2441.70

Iridium_during_xfer 202 97 478.59 nil 0 0 0.00

Transponder_ping 1 420 12.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 11 3.87

TT8 1390 12 174.39

LPSleep 839 2 18.86

TT8_Active 746 12 93.60

TT8_Sampling 1567 37 606.23

TT8_CF8 254 42 112.07

TT8_Kalman 0 0 0.00

Analog_circuits 1600 11 180.68

GPS_charging 0 0 0.00

Compass 1396 8 118.09

RAFOS 0 0 0.00

Transponder 10 30 3.28

Altimeter Analysis:

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

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

Guidance and control:

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.84 -116.8 171 2015 690 411 0.0 0.0 0 139 0.00 0.00 -111.18 0.010 16386 0.000 0.000 172 2015 3254 3241 3268 0 0 0 0 0 0 26.12 28.83 26.15

142 -0.84 -116.8 171 2016 3243 3268 4.9 -10.8 16 157 8.23 1.00 0.00 0.000 2340 0.224 0.030 2289 2720 3257 3248 3266 0 0 0 0 0 0 25.86 26.11 26.01

252 -0.84 -116.8 2288 2720 3261 3257 32.5 -15.4 36 260 0.05 1.08 -0.22 0.273 19462 0.186 0.041 2306 1990 3279 3288 3270 0 0 0 0 0 0 26.07 26.30 26.16

385 -0.84 -116.8 2306 1988 3290 3270 51.7 -15.0 61 392 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 1988 3280 3290 3270 0 0 0 0 0 0 26.41 26.49 26.48

516 -0.84 -116.8 2305 1988 3291 3270 69.7 -12.5 86 523 0.00 1.00 0.00 0.000 516 0.000 0.049 2312 1316 3280 3291 3270 0 0 0 0 0 0 26.52 26.41 26.57

658 -0.84 -116.8 2311 1316 3292 3269 87.1 -12.0 113 666 0.00 1.02 0.00 0.000 1030 0.000 0.037 2308 1991 3280 3292 3269 0 0 0 0 0 0 26.45 26.42 26.47

792 -0.84 -116.8 2308 1990 3292 3269 102.5 -11.6 136 796 0.00 1.05 0.00 0.000 260 0.000 0.050 2303 2706 3280 3292 3269 0 0 0 0 0 0 26.60 26.49 26.66

912 -0.84 -116.8 2303 2706 3293 3269 116.8 -11.0 159 920 0.00 1.02 0.00 0.000 1030 0.000 0.041 2306 1996 3281 3293 3269 0 0 0 0 0 0 26.57 26.56 26.60

1040 -0.84 -116.8 2306 1996 3292 3269 130.0 -10.2 172 1044 0.00 1.00 0.00 0.000 548 0.000 0.040 2311 1321 3281 3293 3269 0 0 0 0 0 0 26.62 26.54 26.67

1169 -0.84 -116.8 2311 1320 3293 3269 143.4 -10.5 196 1173 0.00 1.02 0.00 0.000 1062 0.000 0.083 2309 1997 3280 3293 3268 0 0 0 0 0 0 25.59 25.65 25.83

1301 -0.84 -116.8 2308 1997 3293 3268 158.5 -11.5 210 1305 0.00 1.02 0.00 0.000 260 0.000 0.044 2303 2698 3280 3293 3268 0 0 0 0 0 0 26.70 26.55 26.73

1357 -0.84 -116.8 2303 2698 3293 3268 164.7 -11.3 220 1361 0.00 1.00 0.00 0.000 1030 0.000 0.032 2306 1998 3280 3293 3268 0 0 0 0 0 0 26.65 26.63 26.67

1489 -0.84 -116.8 2306 1997 3293 3268 180.6 -12.0 234 1497 0.00 1.00 0.00 0.000 516 0.000 0.040 2312 1320 3280 3293 3268 0 0 0 0 0 0 26.70 26.60 26.78

1559 -0.84 -116.8 2311 1320 3293 3268 188.8 -11.8 246 1563 0.00 1.02 0.00 0.000 1030 0.000 0.035 2308 2001 3280 3293 3268 0 0 0 0 0 0 26.62 26.63 26.61

1691 -0.84 -116.8 2308 2001 3293 3267 204.3 -11.5 260 1699 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2001 3280 3293 3267 0 0 0 0 0 0 26.69 26.76 26.74

1821 -0.84 -116.8 2308 2001 3292 3266 218.6 -10.8 273 1825 0.00 1.02 0.00 0.000 548 0.000 0.039 2311 1315 3280 3293 3267 0 0 0 0 0 0 26.70 26.62 26.76

1834 end dive: BOTTOM_OBSTACLE_DETECTED

state 1834 begin apogee

1839 -0.18 0.0 2309 1819 3293 3266 220.4 -10.5 276 2028 0.73 0.00 178.77 0.575 10246 0.160 0.000 2521 1820 2792 2845 2739 0 0 0 0 0 0 26.29 25.29 24.85

2033 end apogee: CONTROL_FINISHED_OK

state 2033 begin climb

2035 0.84 116.8 2521 1820 2837 2735 225.2 0.0 295 2231 1.05 1.10 185.57 0.535 11012 0.116 0.037 2851 1117 2316 2439 2194 0 0 0 0 0 0 25.38 25.01 24.70

2269 0.84 116.8 2850 1117 2415 2179 207.7 11.8 333 2276 0.00 1.05 0.00 0.000 1030 0.000 0.035 2848 1793 2296 2415 2178 0 0 0 0 0 0 25.56 25.53 25.62

2397 0.84 116.8 2847 1794 2412 2174 193.2 11.1 346 2400 0.00 1.08 0.00 0.000 260 0.000 0.044 2843 2496 2292 2411 2174 0 0 0 0 0 0 26.00 25.89 26.04

2431 0.85 119.9 2842 2496 2411 2172 189.3 10.6 353 2439 0.00 1.02 0.00 0.000 1062 0.000 0.037 2846 1813 2291 2411 2172 0 0 0 0 0 0 26.01 25.98 26.03

2559 0.87 136.5 2846 1813 2410 2172 176.4 9.8 366 2584 0.00 1.08 20.35 0.620 8740 0.000 0.045 2852 1103 2240 2366 2115 0 0 0 0 0 0 26.18 25.64 25.31

2623 0.88 150.9 2851 1103 2342 2100 170.2 9.9 378 2644 0.05 1.08 14.55 0.638 11302 0.175 0.037 2866 1798 2180 2307 2054 0 0 0 0 0 0 25.81 26.03 25.25

2766 0.88 150.9 2865 1798 2291 2039 154.5 11.5 394 2769 0.00 1.05 0.00 0.000 260 0.000 0.044 2862 2489 2165 2291 2039 0 0 0 0 0 0 26.13 26.08 26.20

2859 0.88 150.9 2862 2490 2290 2037 142.6 13.0 412 2864 0.00 1.02 0.00 0.000 1030 0.000 0.037 2866 1802 2163 2289 2037 0 0 0 0 0 0 26.20 26.16 26.23

2992 0.88 150.9 2865 1802 2289 2037 125.6 12.8 426 2996 0.00 1.08 0.00 0.000 516 0.000 0.054 2871 1111 2162 2288 2037 0 0 0 0 0 0 26.39 26.20 26.44

3097 0.88 150.9 2871 1111 2289 2037 112.2 12.1 446 3100 0.00 1.05 0.00 0.000 1030 0.000 0.036 2868 1801 2162 2288 2037 0 0 0 0 0 0 26.39 26.37 26.42

3225 0.90 161.5 2868 1802 2288 2036 97.5 10.2 461 3233 0.00 1.08 2.70 0.535 8484 0.000 0.045 2863 2503 2139 2270 2009 0 0 0 0 0 0 26.51 26.19 25.15

3455 0.90 161.5 2862 2503 2277 2014 72.2 11.1 505 3463 0.00 1.05 0.00 0.000 1030 0.000 0.037 2867 1794 2146 2278 2014 0 0 0 0 0 0 26.50 26.48 26.49

3591 0.93 186.0 2866 1794 2278 2014 58.1 9.3 530 3640 0.00 1.02 42.62 0.537 8740 0.000 0.045 2872 1110 2034 2171 1898 0 0 0 0 0 0 26.59 25.82 25.49

3689 0.95 208.4 2872 1110 2154 1887 48.4 9.4 546 3719 0.05 1.05 25.17 0.542 11302 0.146 0.044 2890 1796 1950 2089 1812 0 0 0 0 0 0 25.98 26.16 25.36

3844 0.95 208.4 2890 1796 2065 1789 31.4 12.1 574 3851 0.00 1.08 0.00 0.000 516 0.000 0.050 2895 1116 1927 2065 1790 0 0 0 0 0 0 26.25 26.03 26.29

3964 0.96 215.9 2895 1116 2062 1789 18.7 10.4 596 3972 0.00 1.05 0.00 0.000 1062 0.000 0.037 2892 1803 1925 2062 1789 0 0 0 0 0 0 26.22 26.21 26.22

4098 1.01 254.6 2891 1804 2061 1788 5.7 8.4 621 4156 0.00 0.00 55.10 0.500 8482 0.000 0.000 2891 1804 1797 1940 1654 0 0 0 0 0 0 26.40 28.83 26.46

4157 end climb: SURFACE_DEPTH_REACHED

state 4157 begin surface coast

4189 end surface coast: CONTROL_FINISHED_OK

state 4189 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	79	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	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	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	7200	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	144.0
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	060921,053053,4751.0967,-12509.5225,6,0.9,9,15.7,0.6,103.7,12,7.1	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	0.51	MHEAD_RNG_PITCHd_Wd	273.4,2431,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-65.6	D_GRID	240
GPS2	060921,053622,4751.0620,-12509.5322,11,1.1,19,15.7,0.8,201.4,8,10.0

FINISH	-0.5,1.025573	CP_POWER1	0.000000
SM_CCo	4428,0.05,1.741,0,0,550,551.92	_24V_AH	24.35,15.620
SM_GC	0.48,7.57,0.28,0.05,0.057,0.049,1.741,195,2013,550,-7.38,-1.39,551.92,0,0,0,0,0,0,26.02,25.99,24.37	_10V_AH	10.26,8.899
IRIDIUM_FIX	4752.18,-12506.88,060921,041736	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.188748	FG_AHR_10Vo	0.000
HUMID	53.07	MEM	211208
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	33514,635
TCM_TEMP	15.10	CAP_FILE_SIZE	83204,0
XPDR_PINGS	0	CFSIZE	260030464,244183040
ALTIM_BOTTOM_PING	202.1,38.1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	116857536512.000000	CURRENT	0.109,338.42,1
CP_POWER	328.190000	GPS	060921,065157,4751.400,-12510.321,5,0.9,6,15.7,0.2,0.0,9,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	224	96.74	SBE_CT	369	64	578.82
Roll_motor	31	82	62.82	WL_blue_red_Chl	1172	37	1068.89
VBD_pump_during_apogee	524	638	8153.83	nil	0	0	0.00
VBD_pump_during_surface	207	1741	8816.41	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	4011	25	2441.70
Iridium_during_xfer	202	97	478.59	nil	0	0	0.00
Transponder_ping	1	420	12.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	11	3.87
TT8	1390	12	174.39
LPSleep	839	2	18.86
TT8_Active	746	12	93.60
TT8_Sampling	1567	37	606.23
TT8_CF8	254	42	112.07
TT8_Kalman	0	0	0.00
Analog_circuits	1600	11	180.68
GPS_charging	0	0	0.00
Compass	1396	8	118.09
RAFOS	0	0	0.00
Transponder	10	30	3.28

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.84	-116.8	171	2015	690	411	0.0	0.0	0	139	0.00	0.00	-111.18	0.010	16386	0.000	0.000	172	2015	3254	3241	3268	0	0	0	0	0	0	26.12	28.83	26.15
142	-0.84	-116.8	171	2016	3243	3268	4.9	-10.8	16	157	8.23	1.00	0.00	0.000	2340	0.224	0.030	2289	2720	3257	3248	3266	0	0	0	0	0	0	25.86	26.11	26.01
252	-0.84	-116.8	2288	2720	3261	3257	32.5	-15.4	36	260	0.05	1.08	-0.22	0.273	19462	0.186	0.041	2306	1990	3279	3288	3270	0	0	0	0	0	0	26.07	26.30	26.16
385	-0.84	-116.8	2306	1988	3290	3270	51.7	-15.0	61	392	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	1988	3280	3290	3270	0	0	0	0	0	0	26.41	26.49	26.48
516	-0.84	-116.8	2305	1988	3291	3270	69.7	-12.5	86	523	0.00	1.00	0.00	0.000	516	0.000	0.049	2312	1316	3280	3291	3270	0	0	0	0	0	0	26.52	26.41	26.57
658	-0.84	-116.8	2311	1316	3292	3269	87.1	-12.0	113	666	0.00	1.02	0.00	0.000	1030	0.000	0.037	2308	1991	3280	3292	3269	0	0	0	0	0	0	26.45	26.42	26.47
792	-0.84	-116.8	2308	1990	3292	3269	102.5	-11.6	136	796	0.00	1.05	0.00	0.000	260	0.000	0.050	2303	2706	3280	3292	3269	0	0	0	0	0	0	26.60	26.49	26.66
912	-0.84	-116.8	2303	2706	3293	3269	116.8	-11.0	159	920	0.00	1.02	0.00	0.000	1030	0.000	0.041	2306	1996	3281	3293	3269	0	0	0	0	0	0	26.57	26.56	26.60
1040	-0.84	-116.8	2306	1996	3292	3269	130.0	-10.2	172	1044	0.00	1.00	0.00	0.000	548	0.000	0.040	2311	1321	3281	3293	3269	0	0	0	0	0	0	26.62	26.54	26.67
1169	-0.84	-116.8	2311	1320	3293	3269	143.4	-10.5	196	1173	0.00	1.02	0.00	0.000	1062	0.000	0.083	2309	1997	3280	3293	3268	0	0	0	0	0	0	25.59	25.65	25.83
1301	-0.84	-116.8	2308	1997	3293	3268	158.5	-11.5	210	1305	0.00	1.02	0.00	0.000	260	0.000	0.044	2303	2698	3280	3293	3268	0	0	0	0	0	0	26.70	26.55	26.73
1357	-0.84	-116.8	2303	2698	3293	3268	164.7	-11.3	220	1361	0.00	1.00	0.00	0.000	1030	0.000	0.032	2306	1998	3280	3293	3268	0	0	0	0	0	0	26.65	26.63	26.67
1489	-0.84	-116.8	2306	1997	3293	3268	180.6	-12.0	234	1497	0.00	1.00	0.00	0.000	516	0.000	0.040	2312	1320	3280	3293	3268	0	0	0	0	0	0	26.70	26.60	26.78
1559	-0.84	-116.8	2311	1320	3293	3268	188.8	-11.8	246	1563	0.00	1.02	0.00	0.000	1030	0.000	0.035	2308	2001	3280	3293	3268	0	0	0	0	0	0	26.62	26.63	26.61
1691	-0.84	-116.8	2308	2001	3293	3267	204.3	-11.5	260	1699	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2001	3280	3293	3267	0	0	0	0	0	0	26.69	26.76	26.74
1821	-0.84	-116.8	2308	2001	3292	3266	218.6	-10.8	273	1825	0.00	1.02	0.00	0.000	548	0.000	0.039	2311	1315	3280	3293	3267	0	0	0	0	0	0	26.70	26.62	26.76
1834	end dive: BOTTOM_OBSTACLE_DETECTED
state	1834	begin apogee
1839	-0.18	0.0	2309	1819	3293	3266	220.4	-10.5	276	2028	0.73	0.00	178.77	0.575	10246	0.160	0.000	2521	1820	2792	2845	2739	0	0	0	0	0	0	26.29	25.29	24.85
2033	end apogee: CONTROL_FINISHED_OK
state	2033	begin climb
2035	0.84	116.8	2521	1820	2837	2735	225.2	0.0	295	2231	1.05	1.10	185.57	0.535	11012	0.116	0.037	2851	1117	2316	2439	2194	0	0	0	0	0	0	25.38	25.01	24.70
2269	0.84	116.8	2850	1117	2415	2179	207.7	11.8	333	2276	0.00	1.05	0.00	0.000	1030	0.000	0.035	2848	1793	2296	2415	2178	0	0	0	0	0	0	25.56	25.53	25.62
2397	0.84	116.8	2847	1794	2412	2174	193.2	11.1	346	2400	0.00	1.08	0.00	0.000	260	0.000	0.044	2843	2496	2292	2411	2174	0	0	0	0	0	0	26.00	25.89	26.04
2431	0.85	119.9	2842	2496	2411	2172	189.3	10.6	353	2439	0.00	1.02	0.00	0.000	1062	0.000	0.037	2846	1813	2291	2411	2172	0	0	0	0	0	0	26.01	25.98	26.03
2559	0.87	136.5	2846	1813	2410	2172	176.4	9.8	366	2584	0.00	1.08	20.35	0.620	8740	0.000	0.045	2852	1103	2240	2366	2115	0	0	0	0	0	0	26.18	25.64	25.31
2623	0.88	150.9	2851	1103	2342	2100	170.2	9.9	378	2644	0.05	1.08	14.55	0.638	11302	0.175	0.037	2866	1798	2180	2307	2054	0	0	0	0	0	0	25.81	26.03	25.25
2766	0.88	150.9	2865	1798	2291	2039	154.5	11.5	394	2769	0.00	1.05	0.00	0.000	260	0.000	0.044	2862	2489	2165	2291	2039	0	0	0	0	0	0	26.13	26.08	26.20
2859	0.88	150.9	2862	2490	2290	2037	142.6	13.0	412	2864	0.00	1.02	0.00	0.000	1030	0.000	0.037	2866	1802	2163	2289	2037	0	0	0	0	0	0	26.20	26.16	26.23
2992	0.88	150.9	2865	1802	2289	2037	125.6	12.8	426	2996	0.00	1.08	0.00	0.000	516	0.000	0.054	2871	1111	2162	2288	2037	0	0	0	0	0	0	26.39	26.20	26.44
3097	0.88	150.9	2871	1111	2289	2037	112.2	12.1	446	3100	0.00	1.05	0.00	0.000	1030	0.000	0.036	2868	1801	2162	2288	2037	0	0	0	0	0	0	26.39	26.37	26.42
3225	0.90	161.5	2868	1802	2288	2036	97.5	10.2	461	3233	0.00	1.08	2.70	0.535	8484	0.000	0.045	2863	2503	2139	2270	2009	0	0	0	0	0	0	26.51	26.19	25.15
3455	0.90	161.5	2862	2503	2277	2014	72.2	11.1	505	3463	0.00	1.05	0.00	0.000	1030	0.000	0.037	2867	1794	2146	2278	2014	0	0	0	0	0	0	26.50	26.48	26.49
3591	0.93	186.0	2866	1794	2278	2014	58.1	9.3	530	3640	0.00	1.02	42.62	0.537	8740	0.000	0.045	2872	1110	2034	2171	1898	0	0	0	0	0	0	26.59	25.82	25.49
3689	0.95	208.4	2872	1110	2154	1887	48.4	9.4	546	3719	0.05	1.05	25.17	0.542	11302	0.146	0.044	2890	1796	1950	2089	1812	0	0	0	0	0	0	25.98	26.16	25.36
3844	0.95	208.4	2890	1796	2065	1789	31.4	12.1	574	3851	0.00	1.08	0.00	0.000	516	0.000	0.050	2895	1116	1927	2065	1790	0	0	0	0	0	0	26.25	26.03	26.29
3964	0.96	215.9	2895	1116	2062	1789	18.7	10.4	596	3972	0.00	1.05	0.00	0.000	1062	0.000	0.037	2892	1803	1925	2062	1789	0	0	0	0	0	0	26.22	26.21	26.22
4098	1.01	254.6	2891	1804	2061	1788	5.7	8.4	621	4156	0.00	0.00	55.10	0.500	8482	0.000	0.000	2891	1804	1797	1940	1654	0	0	0	0	0	0	26.40	28.83	26.46
4157	end climb: SURFACE_DEPTH_REACHED
state	4157	begin surface coast
4189	end surface coast: CONTROL_FINISHED_OK
state	4189	begin surface