Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 124 * 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 124 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 45 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 66 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 3 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 234.0

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 234.0 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 3 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 45 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 66 XPDR_INHIBIT 90

DIVE 124 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 090921,091401,4750.9722,-12510.0391,30,1.0,37,15.7,0.8,215.8,10,5.9 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 277.4,1924,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -64.0 D_GRID 263

GPS2 090921,092101,4750.9531,-12510.1582,4,0.6,6,15.7,0.9,258.2,12,5.1

Post-dive calculations and measurements:

FINISH -0.4,1.025177 _24V_AH 24.34,21.364

SM_CCo 5484,0.08,1.216,0,0,550,551.92 _10V_AH 10.24,11.876

SM_GC 0.41,7.55,0.30,0.08,0.060,0.046,1.216,187,2030,550,-7.40,-0.99,551.92,0,0,0,0,0,0,26.29,26.28,24.80 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,090921,065552 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.146055 MEM 209860

HUMID 53.30 DATA_FILE_SIZE 40294,752

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 98125,0

TCM_TEMP 15.20 CFSIZE 260030464,240529408

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 102694191104.000000 INTR 0,2429.35,0x235ab2,2,24

CP_POWER 323.320000 CURRENT 0.086,346.09,1

CP_POWER1 0.000000 GPS 090921,105431,4751.476,-12510.928,6,0.9,21,15.7,0.4,300.6,9,5.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 225 97.91 SBE_CT 449 64 704.99

Roll_motor 33 113 93.63 WL_blue_red_Chl 1420 37 1294.96

VBD_pump_during_apogee 510 731 9093.55 nil 0 0 0.00

VBD_pump_during_surface 190 1216 5631.05 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 5103 25 3105.18

Iridium_during_xfer 271 110 727.17 nil 0 0 0.00

Transponder_ping 2 420 25.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.31

TT8 1713 12 214.43

LPSleep 1258 2 28.22

TT8_Active 757 12 94.77

TT8_Sampling 1905 37 735.31

TT8_CF8 305 42 134.16

TT8_Kalman 0 0 0.00

Analog_circuits 1759 11 198.17

GPS_charging 0 0 0.00

Compass 1678 8 141.61

RAFOS 0 0 0.00

Transponder 19 30 5.88

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 -0.80 -116.8 171 2022 689 413 0.0 0.0 0 134 0.00 0.00 -105.60 0.011 16386 0.000 0.000 171 2024 3067 3057 3078 0 0 0 0 0 0 26.10 28.83 26.17

137 -0.80 -116.8 171 2024 3059 3079 4.4 -8.9 15 154 8.32 1.00 -4.28 0.022 18724 0.217 0.076 2316 2682 3277 3277 3277 0 0 0 0 0 0 25.77 24.60 25.93

385 -0.80 -116.8 2315 2683 3287 3274 50.7 -10.7 62 393 0.00 1.02 0.00 0.000 1030 0.000 0.033 2316 1972 3280 3287 3274 0 0 0 0 0 0 26.38 26.35 26.43

525 -0.80 -116.8 2315 1972 3289 3274 65.0 -11.3 87 532 0.00 1.05 0.00 0.000 260 0.000 0.041 2311 2677 3282 3290 3274 0 0 0 0 0 0 26.48 26.39 26.54

765 -0.80 -116.8 2310 2677 3290 3273 92.0 -11.2 133 772 0.00 0.98 0.00 0.000 1030 0.000 0.032 2314 1995 3282 3291 3274 0 0 0 0 0 0 26.51 26.49 26.53

904 -0.80 -116.8 2313 1995 3291 3274 106.8 -11.1 153 912 0.08 0.00 0.00 0.000 2054 0.226 0.000 2327 1995 3282 3290 3274 0 0 0 0 0 0 26.32 26.48 26.44

1035 -0.80 -116.8 2326 1994 3291 3274 120.8 -11.3 166 1042 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 1994 3282 3291 3274 0 0 0 0 0 0 26.55 26.65 26.63

1163 -0.80 -116.8 2326 1994 3292 3274 136.2 -11.5 179 1167 0.00 1.00 0.00 0.000 516 0.000 0.048 2332 1319 3283 3292 3274 0 0 0 0 0 0 26.62 26.46 26.67

1249 -0.80 -116.8 2331 1318 3292 3274 145.7 -10.8 195 1253 0.00 1.00 0.00 0.000 1030 0.000 0.044 2329 1984 3283 3292 3274 0 0 0 0 0 0 26.57 26.55 26.63

1382 -0.80 -116.8 2328 1984 3292 3273 159.2 -9.7 209 1387 0.00 1.05 0.00 0.000 292 0.000 0.044 2323 2698 3282 3292 3273 0 0 0 0 0 0 26.67 26.53 26.72

1430 -0.80 -116.8 2322 2698 3292 3273 164.2 -9.8 218 1438 0.00 1.00 0.00 0.000 1062 0.000 0.106 2326 2001 3282 3292 3273 0 0 0 0 0 0 26.61 26.58 26.63

1558 -0.80 -116.8 2326 2001 3292 3273 176.8 -10.4 231 1562 0.00 1.00 0.00 0.000 516 0.000 0.041 2331 1322 3282 3292 3273 0 0 0 0 0 0 26.69 26.55 26.74

1614 -0.80 -116.8 2331 1321 3292 3274 183.2 -11.2 242 1621 0.00 1.02 0.00 0.000 1030 0.000 0.046 2329 2004 3282 3292 3273 0 0 0 0 0 0 26.58 26.54 26.61

1742 -0.80 -116.8 2328 2005 3292 3272 197.4 -11.2 255 1747 0.00 1.02 0.00 0.000 516 0.000 0.038 2332 1320 3283 3293 3273 0 0 0 0 0 0 26.63 26.53 26.67

1888 -0.80 -116.8 2331 1320 3292 3272 213.2 -9.1 282 1897 0.00 1.02 0.00 0.000 1062 0.000 0.036 2329 2009 3282 3292 3272 0 0 0 0 0 0 26.58 26.60 26.61

2016 -0.80 -116.8 2328 2009 3292 3271 224.1 -7.2 295 2024 0.00 0.00 0.00 0.000 38 0.000 0.000 2328 2009 3281 3292 3271 0 0 0 0 0 0 26.70 26.77 26.75

2147 -0.80 -116.8 2328 2009 3292 3271 237.4 -9.9 308 2155 0.00 0.00 0.00 0.000 38 0.000 0.000 2329 2008 3281 3292 3270 0 0 0 0 0 0 26.72 26.79 26.77

2277 -0.80 -116.8 2328 2009 3291 3270 250.8 -11.1 321 2281 0.00 1.02 0.00 0.000 516 0.000 0.039 2331 1321 3281 3292 3270 0 0 0 0 0 0 26.68 26.59 26.74

2375 -0.80 -116.8 2331 1321 3292 3269 261.4 -11.6 339 2379 0.00 1.02 0.00 0.000 1030 0.000 0.037 2329 2008 3280 3292 3269 0 0 0 0 0 0 26.65 26.62 26.67

2395 end dive: TARGET_DEPTH_EXCEEDED

state 2395 begin apogee

2400 -0.18 0.0 2328 1784 3292 3269 263.9 -11.0 342 2588 0.65 0.00 182.20 0.591 10246 0.155 0.000 2524 1783 2798 2853 2744 0 0 0 0 0 0 26.20 25.18 24.69

2593 end apogee: CONTROL_FINISHED_OK

state 2593 begin climb

2594 0.80 116.8 2524 1783 2837 2730 267.1 0.0 361 2789 1.00 1.00 184.10 0.548 10756 0.116 0.036 2838 1134 2314 2439 2190 0 0 0 0 0 0 25.30 24.94 24.62

2859 0.80 116.8 2837 1134 2410 2168 242.9 11.4 403 2867 0.00 1.02 0.00 0.000 1030 0.000 0.041 2835 1793 2288 2409 2167 0 0 0 0 0 0 25.60 25.58 25.64

2987 0.80 116.8 2834 1794 2407 2164 228.5 10.7 416 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 1794 2285 2406 2164 0 0 0 0 0 0 26.03 26.09 26.08

3109 0.80 116.8 2834 1794 2404 2162 214.8 11.7 428 3114 0.00 1.08 0.00 0.000 260 0.000 0.047 2829 2497 2283 2404 2163 0 0 0 0 0 0 26.20 26.01 26.26

3174 0.80 116.8 2828 2497 2403 2161 207.9 10.4 440 3178 0.00 1.00 0.00 0.000 1030 0.000 0.038 2833 1828 2282 2404 2161 0 0 0 0 0 0 26.20 26.17 26.22

3306 0.80 121.0 2832 1828 2403 2161 194.3 9.9 454 3310 0.00 1.12 0.00 0.000 548 0.000 0.113 2838 1110 2282 2403 2161 0 0 0 0 0 0 26.34 26.21 26.41

3370 0.81 129.6 2838 1110 2403 2161 188.1 9.6 466 3374 0.00 1.05 0.00 0.000 1062 0.000 0.037 2835 1797 2281 2402 2161 0 0 0 0 0 0 26.30 26.26 26.33

3502 0.82 134.8 2834 1798 2402 2161 175.1 9.8 480 3522 0.00 0.00 12.73 0.666 8230 0.000 0.000 2835 1798 2245 2370 2120 0 0 0 0 0 0 26.34 25.84 25.50

3644 0.83 144.5 2833 1798 2358 2109 161.3 9.6 494 3661 0.00 0.00 8.38 0.731 8230 0.000 0.000 2835 1798 2207 2335 2080 0 0 0 0 0 0 26.38 26.02 25.48

3785 0.83 144.5 2834 1798 2330 2078 147.5 10.1 508 3789 0.00 1.05 0.00 0.000 292 0.000 0.044 2829 2502 2204 2330 2078 0 0 0 0 0 0 26.38 26.26 26.46

3838 0.83 147.0 2829 2502 2330 2076 142.0 10.0 518 3843 0.03 1.05 0.00 0.000 3110 0.195 0.037 2840 1791 2203 2330 2076 0 0 0 0 0 0 26.15 26.32 26.20

3971 0.86 170.3 2840 1791 2329 2075 129.7 8.8 532 4012 0.08 1.10 33.92 0.598 10788 0.216 0.048 2860 1108 2099 2234 1965 0 0 0 0 0 0 26.20 25.90 25.37

4036 0.86 170.7 2860 1108 2225 1962 123.7 10.1 540 4041 0.00 1.08 0.00 0.000 1062 0.000 0.099 2857 1799 2093 2225 1962 0 0 0 0 0 0 26.08 26.06 26.11

4168 0.86 170.7 2856 1800 2222 1958 109.0 12.1 554 4172 0.00 1.05 0.00 0.000 260 0.000 0.045 2852 2503 2090 2222 1958 0 0 0 0 0 0 26.28 26.18 26.34

4223 0.86 170.7 2851 2503 2222 1957 102.5 12.5 564 4228 0.00 1.05 0.00 0.000 1030 0.000 0.037 2855 1801 2089 2222 1957 0 0 0 0 0 0 26.28 26.25 26.29

4358 0.86 170.7 2854 1800 2221 1954 86.9 10.6 588 4366 0.00 1.08 0.00 0.000 516 0.000 0.047 2860 1102 2088 2221 1956 0 0 0 0 0 0 26.36 26.29 26.42

4395 0.88 183.3 2860 1102 2220 1955 83.1 9.4 594 4403 0.00 1.08 4.30 0.730 9254 0.000 0.037 2857 1806 2052 2188 1917 0 0 0 0 0 0 26.36 26.34 25.41

4531 0.88 183.3 2856 1807 2190 1917 67.7 11.5 619 4537 0.00 0.00 0.00 0.000 6 0.000 0.000 2857 1806 2053 2190 1917 0 0 0 0 0 0 26.45 26.51 26.52

4662 0.89 191.5 2857 1806 2190 1917 53.1 9.7 644 4672 0.00 1.12 4.10 0.670 8740 0.000 0.054 2861 1110 2020 2158 1882 0 0 0 0 0 0 26.29 26.18 25.46

4730 0.90 205.4 2860 1110 2161 1882 46.7 9.3 656 4753 0.00 1.05 19.65 0.571 9254 0.000 0.037 2857 1800 1963 2103 1823 0 0 0 0 0 0 26.39 26.36 25.48

4881 0.95 246.2 2856 1799 2086 1809 36.0 7.8 683 4954 0.12 1.12 61.47 0.526 10788 0.171 0.045 2897 1103 1787 1929 1645 0 0 0 0 0 0 26.09 25.65 25.14

5114 0.96 253.6 2896 1103 1916 1640 9.6 9.7 724 5123 0.00 1.08 0.00 0.000 1062 0.000 0.037 2893 1798 1777 1916 1639 0 0 0 0 0 0 26.13 26.10 26.14

5225 end climb: SURFACE_DEPTH_REACHED

state 5225 begin surface coast

5263 end surface coast: CONTROL_FINISHED_OK

state 5264 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	124	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	45	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	66	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	3	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	234.0
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	090921,091401,4750.9722,-12510.0391,30,1.0,37,15.7,0.8,215.8,10,5.9	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	277.4,1924,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-64.0	D_GRID	263
GPS2	090921,092101,4750.9531,-12510.1582,4,0.6,6,15.7,0.9,258.2,12,5.1

FINISH	-0.4,1.025177	_24V_AH	24.34,21.364
SM_CCo	5484,0.08,1.216,0,0,550,551.92	_10V_AH	10.24,11.876
SM_GC	0.41,7.55,0.30,0.08,0.060,0.046,1.216,187,2030,550,-7.40,-0.99,551.92,0,0,0,0,0,0,26.29,26.28,24.80	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,090921,065552	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.146055	MEM	209860
HUMID	53.30	DATA_FILE_SIZE	40294,752
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	98125,0
TCM_TEMP	15.20	CFSIZE	260030464,240529408
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	102694191104.000000	INTR	0,2429.35,0x235ab2,2,24
CP_POWER	323.320000	CURRENT	0.086,346.09,1
CP_POWER1	0.000000	GPS	090921,105431,4751.476,-12510.928,6,0.9,21,15.7,0.4,300.6,9,5.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	225	97.91	SBE_CT	449	64	704.99
Roll_motor	33	113	93.63	WL_blue_red_Chl	1420	37	1294.96
VBD_pump_during_apogee	510	731	9093.55	nil	0	0	0.00
VBD_pump_during_surface	190	1216	5631.05	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	5103	25	3105.18
Iridium_during_xfer	271	110	727.17	nil	0	0	0.00
Transponder_ping	2	420	25.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.31
TT8	1713	12	214.43
LPSleep	1258	2	28.22
TT8_Active	757	12	94.77
TT8_Sampling	1905	37	735.31
TT8_CF8	305	42	134.16
TT8_Kalman	0	0	0.00
Analog_circuits	1759	11	198.17
GPS_charging	0	0	0.00
Compass	1678	8	141.61
RAFOS	0	0	0.00
Transponder	19	30	5.88

		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	-0.80	-116.8	171	2022	689	413	0.0	0.0	0	134	0.00	0.00	-105.60	0.011	16386	0.000	0.000	171	2024	3067	3057	3078	0	0	0	0	0	0	26.10	28.83	26.17
137	-0.80	-116.8	171	2024	3059	3079	4.4	-8.9	15	154	8.32	1.00	-4.28	0.022	18724	0.217	0.076	2316	2682	3277	3277	3277	0	0	0	0	0	0	25.77	24.60	25.93
385	-0.80	-116.8	2315	2683	3287	3274	50.7	-10.7	62	393	0.00	1.02	0.00	0.000	1030	0.000	0.033	2316	1972	3280	3287	3274	0	0	0	0	0	0	26.38	26.35	26.43
525	-0.80	-116.8	2315	1972	3289	3274	65.0	-11.3	87	532	0.00	1.05	0.00	0.000	260	0.000	0.041	2311	2677	3282	3290	3274	0	0	0	0	0	0	26.48	26.39	26.54
765	-0.80	-116.8	2310	2677	3290	3273	92.0	-11.2	133	772	0.00	0.98	0.00	0.000	1030	0.000	0.032	2314	1995	3282	3291	3274	0	0	0	0	0	0	26.51	26.49	26.53
904	-0.80	-116.8	2313	1995	3291	3274	106.8	-11.1	153	912	0.08	0.00	0.00	0.000	2054	0.226	0.000	2327	1995	3282	3290	3274	0	0	0	0	0	0	26.32	26.48	26.44
1035	-0.80	-116.8	2326	1994	3291	3274	120.8	-11.3	166	1042	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	1994	3282	3291	3274	0	0	0	0	0	0	26.55	26.65	26.63
1163	-0.80	-116.8	2326	1994	3292	3274	136.2	-11.5	179	1167	0.00	1.00	0.00	0.000	516	0.000	0.048	2332	1319	3283	3292	3274	0	0	0	0	0	0	26.62	26.46	26.67
1249	-0.80	-116.8	2331	1318	3292	3274	145.7	-10.8	195	1253	0.00	1.00	0.00	0.000	1030	0.000	0.044	2329	1984	3283	3292	3274	0	0	0	0	0	0	26.57	26.55	26.63
1382	-0.80	-116.8	2328	1984	3292	3273	159.2	-9.7	209	1387	0.00	1.05	0.00	0.000	292	0.000	0.044	2323	2698	3282	3292	3273	0	0	0	0	0	0	26.67	26.53	26.72
1430	-0.80	-116.8	2322	2698	3292	3273	164.2	-9.8	218	1438	0.00	1.00	0.00	0.000	1062	0.000	0.106	2326	2001	3282	3292	3273	0	0	0	0	0	0	26.61	26.58	26.63
1558	-0.80	-116.8	2326	2001	3292	3273	176.8	-10.4	231	1562	0.00	1.00	0.00	0.000	516	0.000	0.041	2331	1322	3282	3292	3273	0	0	0	0	0	0	26.69	26.55	26.74
1614	-0.80	-116.8	2331	1321	3292	3274	183.2	-11.2	242	1621	0.00	1.02	0.00	0.000	1030	0.000	0.046	2329	2004	3282	3292	3273	0	0	0	0	0	0	26.58	26.54	26.61
1742	-0.80	-116.8	2328	2005	3292	3272	197.4	-11.2	255	1747	0.00	1.02	0.00	0.000	516	0.000	0.038	2332	1320	3283	3293	3273	0	0	0	0	0	0	26.63	26.53	26.67
1888	-0.80	-116.8	2331	1320	3292	3272	213.2	-9.1	282	1897	0.00	1.02	0.00	0.000	1062	0.000	0.036	2329	2009	3282	3292	3272	0	0	0	0	0	0	26.58	26.60	26.61
2016	-0.80	-116.8	2328	2009	3292	3271	224.1	-7.2	295	2024	0.00	0.00	0.00	0.000	38	0.000	0.000	2328	2009	3281	3292	3271	0	0	0	0	0	0	26.70	26.77	26.75
2147	-0.80	-116.8	2328	2009	3292	3271	237.4	-9.9	308	2155	0.00	0.00	0.00	0.000	38	0.000	0.000	2329	2008	3281	3292	3270	0	0	0	0	0	0	26.72	26.79	26.77
2277	-0.80	-116.8	2328	2009	3291	3270	250.8	-11.1	321	2281	0.00	1.02	0.00	0.000	516	0.000	0.039	2331	1321	3281	3292	3270	0	0	0	0	0	0	26.68	26.59	26.74
2375	-0.80	-116.8	2331	1321	3292	3269	261.4	-11.6	339	2379	0.00	1.02	0.00	0.000	1030	0.000	0.037	2329	2008	3280	3292	3269	0	0	0	0	0	0	26.65	26.62	26.67
2395	end dive: TARGET_DEPTH_EXCEEDED
state	2395	begin apogee
2400	-0.18	0.0	2328	1784	3292	3269	263.9	-11.0	342	2588	0.65	0.00	182.20	0.591	10246	0.155	0.000	2524	1783	2798	2853	2744	0	0	0	0	0	0	26.20	25.18	24.69
2593	end apogee: CONTROL_FINISHED_OK
state	2593	begin climb
2594	0.80	116.8	2524	1783	2837	2730	267.1	0.0	361	2789	1.00	1.00	184.10	0.548	10756	0.116	0.036	2838	1134	2314	2439	2190	0	0	0	0	0	0	25.30	24.94	24.62
2859	0.80	116.8	2837	1134	2410	2168	242.9	11.4	403	2867	0.00	1.02	0.00	0.000	1030	0.000	0.041	2835	1793	2288	2409	2167	0	0	0	0	0	0	25.60	25.58	25.64
2987	0.80	116.8	2834	1794	2407	2164	228.5	10.7	416	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	2835	1794	2285	2406	2164	0	0	0	0	0	0	26.03	26.09	26.08
3109	0.80	116.8	2834	1794	2404	2162	214.8	11.7	428	3114	0.00	1.08	0.00	0.000	260	0.000	0.047	2829	2497	2283	2404	2163	0	0	0	0	0	0	26.20	26.01	26.26
3174	0.80	116.8	2828	2497	2403	2161	207.9	10.4	440	3178	0.00	1.00	0.00	0.000	1030	0.000	0.038	2833	1828	2282	2404	2161	0	0	0	0	0	0	26.20	26.17	26.22
3306	0.80	121.0	2832	1828	2403	2161	194.3	9.9	454	3310	0.00	1.12	0.00	0.000	548	0.000	0.113	2838	1110	2282	2403	2161	0	0	0	0	0	0	26.34	26.21	26.41
3370	0.81	129.6	2838	1110	2403	2161	188.1	9.6	466	3374	0.00	1.05	0.00	0.000	1062	0.000	0.037	2835	1797	2281	2402	2161	0	0	0	0	0	0	26.30	26.26	26.33
3502	0.82	134.8	2834	1798	2402	2161	175.1	9.8	480	3522	0.00	0.00	12.73	0.666	8230	0.000	0.000	2835	1798	2245	2370	2120	0	0	0	0	0	0	26.34	25.84	25.50
3644	0.83	144.5	2833	1798	2358	2109	161.3	9.6	494	3661	0.00	0.00	8.38	0.731	8230	0.000	0.000	2835	1798	2207	2335	2080	0	0	0	0	0	0	26.38	26.02	25.48
3785	0.83	144.5	2834	1798	2330	2078	147.5	10.1	508	3789	0.00	1.05	0.00	0.000	292	0.000	0.044	2829	2502	2204	2330	2078	0	0	0	0	0	0	26.38	26.26	26.46
3838	0.83	147.0	2829	2502	2330	2076	142.0	10.0	518	3843	0.03	1.05	0.00	0.000	3110	0.195	0.037	2840	1791	2203	2330	2076	0	0	0	0	0	0	26.15	26.32	26.20
3971	0.86	170.3	2840	1791	2329	2075	129.7	8.8	532	4012	0.08	1.10	33.92	0.598	10788	0.216	0.048	2860	1108	2099	2234	1965	0	0	0	0	0	0	26.20	25.90	25.37
4036	0.86	170.7	2860	1108	2225	1962	123.7	10.1	540	4041	0.00	1.08	0.00	0.000	1062	0.000	0.099	2857	1799	2093	2225	1962	0	0	0	0	0	0	26.08	26.06	26.11
4168	0.86	170.7	2856	1800	2222	1958	109.0	12.1	554	4172	0.00	1.05	0.00	0.000	260	0.000	0.045	2852	2503	2090	2222	1958	0	0	0	0	0	0	26.28	26.18	26.34
4223	0.86	170.7	2851	2503	2222	1957	102.5	12.5	564	4228	0.00	1.05	0.00	0.000	1030	0.000	0.037	2855	1801	2089	2222	1957	0	0	0	0	0	0	26.28	26.25	26.29
4358	0.86	170.7	2854	1800	2221	1954	86.9	10.6	588	4366	0.00	1.08	0.00	0.000	516	0.000	0.047	2860	1102	2088	2221	1956	0	0	0	0	0	0	26.36	26.29	26.42
4395	0.88	183.3	2860	1102	2220	1955	83.1	9.4	594	4403	0.00	1.08	4.30	0.730	9254	0.000	0.037	2857	1806	2052	2188	1917	0	0	0	0	0	0	26.36	26.34	25.41
4531	0.88	183.3	2856	1807	2190	1917	67.7	11.5	619	4537	0.00	0.00	0.00	0.000	6	0.000	0.000	2857	1806	2053	2190	1917	0	0	0	0	0	0	26.45	26.51	26.52
4662	0.89	191.5	2857	1806	2190	1917	53.1	9.7	644	4672	0.00	1.12	4.10	0.670	8740	0.000	0.054	2861	1110	2020	2158	1882	0	0	0	0	0	0	26.29	26.18	25.46
4730	0.90	205.4	2860	1110	2161	1882	46.7	9.3	656	4753	0.00	1.05	19.65	0.571	9254	0.000	0.037	2857	1800	1963	2103	1823	0	0	0	0	0	0	26.39	26.36	25.48
4881	0.95	246.2	2856	1799	2086	1809	36.0	7.8	683	4954	0.12	1.12	61.47	0.526	10788	0.171	0.045	2897	1103	1787	1929	1645	0	0	0	0	0	0	26.09	25.65	25.14
5114	0.96	253.6	2896	1103	1916	1640	9.6	9.7	724	5123	0.00	1.08	0.00	0.000	1062	0.000	0.037	2893	1798	1777	1916	1639	0	0	0	0	0	0	26.13	26.10	26.14
5225	end climb: SURFACE_DEPTH_REACHED
state	5225	begin surface coast
5263	end surface coast: CONTROL_FINISHED_OK
state	5264	begin surface