Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 154 * 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 154 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 59 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 59 XPDR_INHIBIT 90

DIVE 154 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 110921,123901,4750.4766,-12508.9248,23,0.9,24,15.7,0.5,23.1,8,4.3 SPEED_LIMITS 0.176,0.235

_CALLS 2 TGT_NAME NW_SLOPE_OFF

_XMS_NAKs 0 TGT_LATLONG 4751.083,-12512.200

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 256.3,4164,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -56.5 D_GRID 225

GPS2 110921,124500,4750.5142,-12508.9590,2,0.7,4,15.7,0.6,5.7,12,5.8

Post-dive calculations and measurements:

FINISH -0.4,1.025455 FG_AHR_24Vo 0.000

SM_CCo 4600,0.00,0.000,0,0,550,551.92 FG_AHR_10Vo 0.000

SM_GC 0.46,7.57,0.28,0.00,0.053,0.045,0.000,181,2015,550,-7.40,-1.53,551.92,0,0,0,0,0,0,25.86,25.80,25.44 MEM 209792

IRIDIUM_FIX 4750.87,-12505.04,110921,124027 DATA_FILE_SIZE 33544,651

TT8_MAMPS 0.02247,0.187999 CAP_FILE_SIZE 81495,0

HUMID 53.50 CFSIZE 260030464,238546944

INTERNAL_PRESSURE 8.74779 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 15.40 INTR 0,4237.08,0x235ab2,1,24

XPDR_PINGS 0 CURRENT 0.020,307.25,1

_24V_AH 24.22,25.154 GPS 110921,140331,4750.513,-12509.596,3,1.1,23,15.7,0.2,0.0,8,1.9

_10V_AH 10.17,13.824

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 209 90.37 SBE_CT 384 64 599.75

Roll_motor 29 58 42.12 WL_blue_red_Chl 1221 37 1107.57

VBD_pump_during_apogee 524 932 11849.18 nil 0 0 0.00

VBD_pump_during_surface 172 604 2530.80 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 216 84 444.85 nil 0 0 0.00

Transponder_ping 1 420 15.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.05

TT8 1431 12 177.91

LPSleep 1036 2 23.08

TT8_Active 709 12 88.23

TT8_Sampling 1549 37 593.97

TT8_CF8 258 42 112.86

TT8_Kalman 0 0 0.00

Analog_circuits 1603 11 179.42

GPS_charging 0 0 0.00

Compass 1449 8 121.50

RAFOS 0 0 0.00

Transponder 11 30 3.41

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 -116.8 163 2016 692 410 0.0 0.0 0 116 0.00 0.00 -105.65 0.004 16386 0.000 0.000 163 2016 3084 3070 3098 0 0 0 0 0 0 26.37 28.83 26.44

118 -0.80 -116.8 163 2016 3071 3098 4.5 -9.1 15 136 8.32 1.12 -3.88 0.019 18980 0.210 0.059 2320 1283 3279 3277 3282 0 0 0 0 0 0 25.81 24.69 25.96

368 -0.80 -116.8 2319 1283 3287 3278 48.5 -13.2 62 376 0.00 1.08 0.00 0.000 1030 0.000 0.030 2314 1990 3282 3287 3278 0 0 0 0 0 0 26.46 26.41 26.48

508 -0.80 -116.8 2314 1990 3290 3277 67.1 -13.4 87 515 0.00 1.02 0.00 0.000 516 0.000 0.032 2318 1302 3283 3290 3277 0 0 0 0 0 0 26.73 26.48 26.78

747 -0.80 -116.8 2317 1302 3291 3277 97.0 -12.9 133 755 0.00 1.05 0.00 0.000 1030 0.000 0.030 2315 2003 3283 3290 3277 0 0 0 0 0 0 26.60 26.58 26.65

883 -0.80 -116.8 2314 2003 3291 3276 112.6 -11.0 148 888 0.00 1.05 0.00 0.000 516 0.000 0.033 2318 1298 3284 3292 3276 0 0 0 0 0 0 26.86 26.59 26.91

947 -0.80 -116.8 2317 1297 3291 3276 119.6 -11.1 160 952 0.00 1.05 0.00 0.000 1030 0.000 0.031 2315 2000 3284 3292 3276 0 0 0 0 0 0 26.65 26.62 26.69

1082 -0.80 -116.8 2314 2000 3292 3275 136.2 -13.4 174 1086 0.00 1.02 0.00 0.000 260 0.000 0.037 2310 2703 3284 3292 3276 0 0 0 0 0 0 26.91 26.64 26.96

1145 -0.80 -116.8 2309 2703 3292 3275 144.9 -12.9 186 1149 0.05 1.02 0.00 0.000 3078 0.201 0.027 2326 1973 3283 3292 3275 0 0 0 0 0 0 26.38 26.70 26.47

1278 -0.80 -116.8 2326 1973 3293 3275 161.4 -12.4 200 1282 0.00 0.95 0.00 0.000 516 0.000 0.034 2331 1321 3284 3293 3275 0 0 0 0 0 0 26.94 26.67 27.00

1394 -0.80 -116.8 2331 1321 3292 3275 175.3 -11.8 222 1398 0.00 1.02 0.00 0.000 1030 0.000 0.031 2328 2010 3284 3293 3275 0 0 0 0 0 0 26.74 26.71 26.76

1527 -0.80 -116.8 2327 2011 3293 3274 190.0 -11.0 236 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2011 3283 3293 3274 0 0 0 0 0 0 26.98 27.05 27.03

1657 -0.80 -116.8 2327 2011 3293 3274 203.9 -10.9 249 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2011 3283 3292 3274 0 0 0 0 0 0 27.00 27.06 27.05

1789 -0.80 -116.8 2327 2011 3291 3274 218.2 -10.3 262 1792 0.00 1.02 0.00 0.000 516 0.000 0.034 2331 1319 3283 3293 3274 0 0 0 0 0 0 27.03 26.74 27.05

1834 -0.80 -116.8 2330 1320 3291 3274 223.4 -10.3 271 1842 0.00 1.00 0.00 0.000 1030 0.000 0.031 2328 1995 3283 3293 3274 0 0 0 0 0 0 26.79 26.76 26.81

1859 end dive: TARGET_DEPTH_EXCEEDED

state 1860 begin apogee

1865 -0.18 0.0 2328 1789 3293 3274 225.8 -9.5 274 1992 0.65 0.00 117.62 0.933 10246 0.156 0.000 2522 1789 2799 2856 2743 0 0 0 0 1 0 26.30 25.03 24.22

1993 end apogee: CONTROL_FINISHED_OK

state 1993 begin climb

1995 0.80 116.8 2522 1789 2858 2746 229.7 0.0 287 2193 1.02 0.00 188.93 0.539 10758 0.117 0.000 2833 1788 2316 2443 2189 0 0 0 0 0 0 25.14 25.03 24.58

2314 0.80 123.0 2833 1789 2421 2173 206.7 9.8 336 2322 0.00 0.00 0.00 0.000 38 0.000 0.000 2833 1788 2296 2420 2173 0 0 0 0 0 0 26.02 26.08 26.08

2442 0.81 128.5 2833 1789 2418 2172 194.0 9.8 349 2453 0.00 1.05 4.10 0.793 8484 0.000 0.035 2830 2488 2277 2407 2148 0 0 0 0 0 0 26.29 25.58 25.10

2500 0.82 135.4 2829 2489 2410 2148 188.1 9.7 360 2520 0.00 0.98 14.27 0.646 9254 0.000 0.031 2833 1832 2245 2376 2114 0 0 0 0 0 0 26.15 26.12 25.23

2640 0.82 135.4 2833 1833 2364 2107 174.4 10.3 375 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1833 2235 2364 2107 0 0 0 0 0 0 26.39 26.45 26.44

2768 0.82 135.4 2832 1833 2364 2107 160.5 10.7 388 2773 0.00 1.10 0.00 0.000 516 0.000 0.039 2839 1112 2235 2363 2107 0 0 0 0 0 0 26.52 26.27 26.58

2822 0.82 135.4 2838 1112 2363 2107 154.9 10.4 398 2825 0.00 1.05 0.00 0.000 1030 0.000 0.030 2835 1805 2235 2363 2107 0 0 0 0 0 0 26.36 26.34 26.39

2956 0.83 143.9 2834 1805 2362 2107 141.6 9.6 412 2967 0.00 1.02 3.47 0.786 8484 0.000 0.036 2830 2490 2215 2346 2084 0 0 0 0 0 0 26.65 25.76 24.97

3022 0.84 148.5 2829 2490 2347 2084 135.1 9.9 424 3035 0.05 1.02 2.75 0.657 11302 0.178 0.031 2848 1790 2195 2329 2061 0 0 0 0 0 0 26.16 26.41 24.94

3157 0.85 158.6 2848 1790 2331 2061 122.7 9.6 438 3172 0.00 1.00 10.12 0.674 8740 0.000 0.037 2853 1111 2151 2286 2017 0 0 0 0 0 0 26.68 25.95 25.56

3294 0.85 161.7 2853 1111 2276 2013 108.9 10.0 464 3300 0.00 1.05 0.00 0.000 1062 0.000 0.031 2850 1807 2144 2276 2013 0 0 0 0 0 0 26.44 26.41 26.46

3423 0.85 161.7 2849 1807 2275 2011 95.8 10.8 481 3431 0.00 1.00 0.00 0.000 260 0.000 0.038 2845 2489 2142 2275 2010 0 0 0 0 0 0 26.71 26.45 26.77

3450 0.85 161.7 2845 2490 2275 2009 92.9 11.3 485 3458 0.00 1.00 0.00 0.000 1030 0.000 0.031 2848 1810 2142 2275 2009 0 0 0 0 0 0 26.51 26.49 26.54

3583 0.85 161.7 2847 1810 2275 2010 78.0 10.3 510 3591 0.00 1.02 0.00 0.000 260 0.000 0.038 2845 2499 2141 2274 2009 0 0 0 0 0 0 26.78 26.51 26.83

3630 0.89 193.9 2844 2499 2274 2008 73.8 8.3 518 3687 0.05 1.02 49.60 0.537 11302 0.144 0.032 2869 1798 2004 2145 1864 0 0 0 0 0 0 26.34 26.56 25.40

3812 0.89 193.9 2868 1798 2132 1855 54.5 10.5 550 3819 0.00 1.08 0.00 0.000 516 0.000 0.042 2874 1108 1993 2132 1854 0 0 0 0 0 0 26.46 26.20 26.51

4057 0.93 225.8 2873 1108 2129 1854 30.5 8.3 596 4107 0.00 1.05 42.67 0.513 9254 0.000 0.031 2870 1802 1875 2018 1732 0 0 0 0 0 0 26.46 26.43 25.38

4236 0.95 245.1 2870 1802 2004 1721 13.5 9.0 627 4263 0.08 1.08 19.88 0.509 10788 0.177 0.037 2893 1098 1796 1939 1653 0 0 0 0 0 0 26.19 25.67 25.34

4296 1.01 291.3 2892 1098 1927 1645 8.4 7.4 636 4372 0.00 1.08 71.20 0.483 9254 0.000 0.029 2889 1801 1614 1760 1468 0 0 0 0 0 0 26.15 26.13 25.03

4377 end climb: SURFACE_DEPTH_REACHED

state 4377 begin surface coast

4400 end surface coast: CONTROL_FINISHED_OK

state 4400 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	154	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	59	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	110921,123901,4750.4766,-12508.9248,23,0.9,24,15.7,0.5,23.1,8,4.3	SPEED_LIMITS	0.176,0.235
_CALLS	2	TGT_NAME	NW_SLOPE_OFF
_XMS_NAKs	0	TGT_LATLONG	4751.083,-12512.200
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	256.3,4164,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-56.5	D_GRID	225
GPS2	110921,124500,4750.5142,-12508.9590,2,0.7,4,15.7,0.6,5.7,12,5.8

FINISH	-0.4,1.025455	FG_AHR_24Vo	0.000
SM_CCo	4600,0.00,0.000,0,0,550,551.92	FG_AHR_10Vo	0.000
SM_GC	0.46,7.57,0.28,0.00,0.053,0.045,0.000,181,2015,550,-7.40,-1.53,551.92,0,0,0,0,0,0,25.86,25.80,25.44	MEM	209792
IRIDIUM_FIX	4750.87,-12505.04,110921,124027	DATA_FILE_SIZE	33544,651
TT8_MAMPS	0.02247,0.187999	CAP_FILE_SIZE	81495,0
HUMID	53.50	CFSIZE	260030464,238546944
INTERNAL_PRESSURE	8.74779	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	15.40	INTR	0,4237.08,0x235ab2,1,24
XPDR_PINGS	0	CURRENT	0.020,307.25,1
_24V_AH	24.22,25.154	GPS	110921,140331,4750.513,-12509.596,3,1.1,23,15.7,0.2,0.0,8,1.9
_10V_AH	10.17,13.824

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	209	90.37	SBE_CT	384	64	599.75
Roll_motor	29	58	42.12	WL_blue_red_Chl	1221	37	1107.57
VBD_pump_during_apogee	524	932	11849.18	nil	0	0	0.00
VBD_pump_during_surface	172	604	2530.80	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	216	84	444.85	nil	0	0	0.00
Transponder_ping	1	420	15.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.05
TT8	1431	12	177.91
LPSleep	1036	2	23.08
TT8_Active	709	12	88.23
TT8_Sampling	1549	37	593.97
TT8_CF8	258	42	112.86
TT8_Kalman	0	0	0.00
Analog_circuits	1603	11	179.42
GPS_charging	0	0	0.00
Compass	1449	8	121.50
RAFOS	0	0	0.00
Transponder	11	30	3.41

		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	163	2016	692	410	0.0	0.0	0	116	0.00	0.00	-105.65	0.004	16386	0.000	0.000	163	2016	3084	3070	3098	0	0	0	0	0	0	26.37	28.83	26.44
118	-0.80	-116.8	163	2016	3071	3098	4.5	-9.1	15	136	8.32	1.12	-3.88	0.019	18980	0.210	0.059	2320	1283	3279	3277	3282	0	0	0	0	0	0	25.81	24.69	25.96
368	-0.80	-116.8	2319	1283	3287	3278	48.5	-13.2	62	376	0.00	1.08	0.00	0.000	1030	0.000	0.030	2314	1990	3282	3287	3278	0	0	0	0	0	0	26.46	26.41	26.48
508	-0.80	-116.8	2314	1990	3290	3277	67.1	-13.4	87	515	0.00	1.02	0.00	0.000	516	0.000	0.032	2318	1302	3283	3290	3277	0	0	0	0	0	0	26.73	26.48	26.78
747	-0.80	-116.8	2317	1302	3291	3277	97.0	-12.9	133	755	0.00	1.05	0.00	0.000	1030	0.000	0.030	2315	2003	3283	3290	3277	0	0	0	0	0	0	26.60	26.58	26.65
883	-0.80	-116.8	2314	2003	3291	3276	112.6	-11.0	148	888	0.00	1.05	0.00	0.000	516	0.000	0.033	2318	1298	3284	3292	3276	0	0	0	0	0	0	26.86	26.59	26.91
947	-0.80	-116.8	2317	1297	3291	3276	119.6	-11.1	160	952	0.00	1.05	0.00	0.000	1030	0.000	0.031	2315	2000	3284	3292	3276	0	0	0	0	0	0	26.65	26.62	26.69
1082	-0.80	-116.8	2314	2000	3292	3275	136.2	-13.4	174	1086	0.00	1.02	0.00	0.000	260	0.000	0.037	2310	2703	3284	3292	3276	0	0	0	0	0	0	26.91	26.64	26.96
1145	-0.80	-116.8	2309	2703	3292	3275	144.9	-12.9	186	1149	0.05	1.02	0.00	0.000	3078	0.201	0.027	2326	1973	3283	3292	3275	0	0	0	0	0	0	26.38	26.70	26.47
1278	-0.80	-116.8	2326	1973	3293	3275	161.4	-12.4	200	1282	0.00	0.95	0.00	0.000	516	0.000	0.034	2331	1321	3284	3293	3275	0	0	0	0	0	0	26.94	26.67	27.00
1394	-0.80	-116.8	2331	1321	3292	3275	175.3	-11.8	222	1398	0.00	1.02	0.00	0.000	1030	0.000	0.031	2328	2010	3284	3293	3275	0	0	0	0	0	0	26.74	26.71	26.76
1527	-0.80	-116.8	2327	2011	3293	3274	190.0	-11.0	236	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2011	3283	3293	3274	0	0	0	0	0	0	26.98	27.05	27.03
1657	-0.80	-116.8	2327	2011	3293	3274	203.9	-10.9	249	1664	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2011	3283	3292	3274	0	0	0	0	0	0	27.00	27.06	27.05
1789	-0.80	-116.8	2327	2011	3291	3274	218.2	-10.3	262	1792	0.00	1.02	0.00	0.000	516	0.000	0.034	2331	1319	3283	3293	3274	0	0	0	0	0	0	27.03	26.74	27.05
1834	-0.80	-116.8	2330	1320	3291	3274	223.4	-10.3	271	1842	0.00	1.00	0.00	0.000	1030	0.000	0.031	2328	1995	3283	3293	3274	0	0	0	0	0	0	26.79	26.76	26.81
1859	end dive: TARGET_DEPTH_EXCEEDED
state	1860	begin apogee
1865	-0.18	0.0	2328	1789	3293	3274	225.8	-9.5	274	1992	0.65	0.00	117.62	0.933	10246	0.156	0.000	2522	1789	2799	2856	2743	0	0	0	0	1	0	26.30	25.03	24.22
1993	end apogee: CONTROL_FINISHED_OK
state	1993	begin climb
1995	0.80	116.8	2522	1789	2858	2746	229.7	0.0	287	2193	1.02	0.00	188.93	0.539	10758	0.117	0.000	2833	1788	2316	2443	2189	0	0	0	0	0	0	25.14	25.03	24.58
2314	0.80	123.0	2833	1789	2421	2173	206.7	9.8	336	2322	0.00	0.00	0.00	0.000	38	0.000	0.000	2833	1788	2296	2420	2173	0	0	0	0	0	0	26.02	26.08	26.08
2442	0.81	128.5	2833	1789	2418	2172	194.0	9.8	349	2453	0.00	1.05	4.10	0.793	8484	0.000	0.035	2830	2488	2277	2407	2148	0	0	0	0	0	0	26.29	25.58	25.10
2500	0.82	135.4	2829	2489	2410	2148	188.1	9.7	360	2520	0.00	0.98	14.27	0.646	9254	0.000	0.031	2833	1832	2245	2376	2114	0	0	0	0	0	0	26.15	26.12	25.23
2640	0.82	135.4	2833	1833	2364	2107	174.4	10.3	375	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1833	2235	2364	2107	0	0	0	0	0	0	26.39	26.45	26.44
2768	0.82	135.4	2832	1833	2364	2107	160.5	10.7	388	2773	0.00	1.10	0.00	0.000	516	0.000	0.039	2839	1112	2235	2363	2107	0	0	0	0	0	0	26.52	26.27	26.58
2822	0.82	135.4	2838	1112	2363	2107	154.9	10.4	398	2825	0.00	1.05	0.00	0.000	1030	0.000	0.030	2835	1805	2235	2363	2107	0	0	0	0	0	0	26.36	26.34	26.39
2956	0.83	143.9	2834	1805	2362	2107	141.6	9.6	412	2967	0.00	1.02	3.47	0.786	8484	0.000	0.036	2830	2490	2215	2346	2084	0	0	0	0	0	0	26.65	25.76	24.97
3022	0.84	148.5	2829	2490	2347	2084	135.1	9.9	424	3035	0.05	1.02	2.75	0.657	11302	0.178	0.031	2848	1790	2195	2329	2061	0	0	0	0	0	0	26.16	26.41	24.94
3157	0.85	158.6	2848	1790	2331	2061	122.7	9.6	438	3172	0.00	1.00	10.12	0.674	8740	0.000	0.037	2853	1111	2151	2286	2017	0	0	0	0	0	0	26.68	25.95	25.56
3294	0.85	161.7	2853	1111	2276	2013	108.9	10.0	464	3300	0.00	1.05	0.00	0.000	1062	0.000	0.031	2850	1807	2144	2276	2013	0	0	0	0	0	0	26.44	26.41	26.46
3423	0.85	161.7	2849	1807	2275	2011	95.8	10.8	481	3431	0.00	1.00	0.00	0.000	260	0.000	0.038	2845	2489	2142	2275	2010	0	0	0	0	0	0	26.71	26.45	26.77
3450	0.85	161.7	2845	2490	2275	2009	92.9	11.3	485	3458	0.00	1.00	0.00	0.000	1030	0.000	0.031	2848	1810	2142	2275	2009	0	0	0	0	0	0	26.51	26.49	26.54
3583	0.85	161.7	2847	1810	2275	2010	78.0	10.3	510	3591	0.00	1.02	0.00	0.000	260	0.000	0.038	2845	2499	2141	2274	2009	0	0	0	0	0	0	26.78	26.51	26.83
3630	0.89	193.9	2844	2499	2274	2008	73.8	8.3	518	3687	0.05	1.02	49.60	0.537	11302	0.144	0.032	2869	1798	2004	2145	1864	0	0	0	0	0	0	26.34	26.56	25.40
3812	0.89	193.9	2868	1798	2132	1855	54.5	10.5	550	3819	0.00	1.08	0.00	0.000	516	0.000	0.042	2874	1108	1993	2132	1854	0	0	0	0	0	0	26.46	26.20	26.51
4057	0.93	225.8	2873	1108	2129	1854	30.5	8.3	596	4107	0.00	1.05	42.67	0.513	9254	0.000	0.031	2870	1802	1875	2018	1732	0	0	0	0	0	0	26.46	26.43	25.38
4236	0.95	245.1	2870	1802	2004	1721	13.5	9.0	627	4263	0.08	1.08	19.88	0.509	10788	0.177	0.037	2893	1098	1796	1939	1653	0	0	0	0	0	0	26.19	25.67	25.34
4296	1.01	291.3	2892	1098	1927	1645	8.4	7.4	636	4372	0.00	1.08	71.20	0.483	9254	0.000	0.029	2889	1801	1614	1760	1468	0	0	0	0	0	0	26.15	26.13	25.03
4377	end climb: SURFACE_DEPTH_REACHED
state	4377	begin surface coast
4400	end surface coast: CONTROL_FINISHED_OK
state	4400	begin surface