Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 180 * 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 180 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 57 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 57 XPDR_INHIBIT 90

DIVE 180 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 130921,072031,4750.1289,-12509.9395,11,0.8,25,15.7,0.1,0.0,11,5.8 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 0.50 MHEAD_RNG_PITCHd_Wd 324.7,3354,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -62.1 D_GRID 258

GPS2 130921,072417,4750.1113,-12509.9268,3,0.6,5,15.7,0.7,212.1,12,6.3

Post-dive calculations and measurements:

FINISH -0.1,1.025342 _10V_AH 10.23,15.489

SM_CCo 5479,0.00,0.000,0,0,551,551.92 FG_AHR_24Vo 0.000

SM_GC 0.48,7.38,1.40,0.00,0.053,0.030,0.000,169,2009,551,-7.40,-1.24,551.92,0,0,0,0,0,0,26.54,26.48,25.43 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.50,-12507.66,130921,054142 MEM 209728

TT8_MAMPS 0.02247,0.146055 DATA_FILE_SIZE 36832,748

HUMID 53.38 CAP_FILE_SIZE 89703,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,237096960

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.040,266.62,1

_24V_AH 24.13,28.530 GPS 130921,085725,4750.625,-12510.330,14,1.2,16,15.7,0.3,44.8,8,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 235 100.35 SBE_CT 454 64 705.72

Roll_motor 33 60 49.25 WL_blue_red_Chl 1433 37 1295.69

VBD_pump_during_apogee 443 957 10250.88 nil 0 0 0.00

VBD_pump_during_surface 215 628 3269.93 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 139 91 308.07 nil 0 0 0.00

Transponder_ping 2 420 22.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.28

TT8 1705 12 213.17

LPSleep 1305 2 29.24

TT8_Active 729 12 91.18

TT8_Sampling 1712 37 660.30

TT8_CF8 279 42 122.61

TT8_Kalman 0 0 0.00

Analog_circuits 1614 11 181.68

GPS_charging 0 0 0.00

Compass 1688 8 142.34

RAFOS 0 0 0.00

Transponder 16 30 4.99

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 5 begin dive

7 -0.80 -116.8 162 2017 689 412 0.0 0.0 0 115 0.00 0.00 -104.93 0.004 16386 0.000 0.000 163 2017 3039 3023 3056 0 0 0 0 0 0 26.29 28.83 26.35

117 -0.80 -116.8 162 2018 3025 3057 4.3 -8.4 15 141 8.35 1.10 -4.97 0.016 18980 0.209 0.060 2319 1297 3280 3279 3282 0 0 0 0 0 0 25.71 24.56 25.88

159 -0.80 -116.8 2319 1297 3281 3281 16.2 -22.6 21 168 0.03 1.08 0.00 0.000 3078 0.236 0.031 2320 1995 3281 3282 3281 0 0 0 0 0 0 26.01 26.19 26.06

295 -0.80 -116.8 2319 1995 3286 3278 35.5 -13.0 46 302 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 1995 3282 3286 3278 0 0 0 0 0 0 26.57 26.63 26.63

427 -0.80 -116.8 2319 1995 3288 3277 52.2 -12.4 71 434 0.00 1.05 0.00 0.000 516 0.000 0.034 2320 1299 3282 3288 3277 0 0 0 0 0 0 26.66 26.39 26.71

494 -0.80 -116.8 2319 1299 3289 3277 60.7 -12.3 83 502 0.00 1.08 0.00 0.000 1030 0.000 0.031 2316 2011 3283 3289 3277 0 0 0 0 0 0 26.47 26.43 26.50

627 -0.80 -116.8 2316 2010 3290 3277 77.6 -12.5 108 634 0.00 1.05 0.00 0.000 516 0.000 0.033 2320 1309 3283 3290 3277 0 0 0 0 0 0 26.75 26.47 26.80

727 -0.80 -116.8 2319 1309 3291 3277 89.3 -11.3 126 735 0.00 1.05 0.00 0.000 1030 0.000 0.030 2316 2007 3283 3290 3277 0 0 0 0 0 0 26.57 26.54 26.59

864 -0.80 -116.8 2316 2007 3291 3276 105.0 -11.9 148 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2007 3283 3291 3276 0 0 0 0 0 0 26.83 26.89 26.89

984 -0.80 -116.8 2316 2007 3291 3276 118.3 -10.6 160 992 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2007 3283 3291 3276 0 0 0 0 0 0 26.86 26.92 26.92

1116 -0.80 -116.8 2316 2007 3291 3276 131.8 -10.4 173 1124 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2007 3284 3292 3276 0 0 0 0 0 0 26.90 26.96 26.95

1244 -0.80 -116.8 2316 2007 3292 3275 145.2 -10.4 186 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 2007 3283 3291 3275 0 0 0 0 0 0 26.93 26.98 26.97

1376 -0.80 -116.8 2316 2007 3292 3275 158.8 -10.5 199 1380 0.00 1.02 0.00 0.000 260 0.000 0.037 2311 2708 3283 3292 3275 0 0 0 0 0 0 26.95 26.64 27.00

1408 -0.80 -116.8 2310 2707 3292 3275 162.4 -10.2 205 1413 0.00 1.02 0.00 0.000 1030 0.000 0.027 2314 1983 3283 3292 3275 0 0 0 0 0 0 26.74 26.72 26.76

1541 -0.80 -116.8 2314 1982 3292 3275 176.3 -10.8 219 1546 0.00 0.98 0.00 0.000 516 0.000 0.033 2320 1315 3283 3292 3275 0 0 0 0 0 0 26.97 26.69 27.05

1638 -0.80 -116.8 2319 1315 3292 3275 187.5 -11.9 237 1643 0.00 1.02 0.00 0.000 1030 0.000 0.031 2316 1998 3283 3292 3275 0 0 0 0 0 0 26.73 26.70 26.74

1774 -0.80 -116.8 2316 1998 3292 3274 202.6 -11.2 251 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1998 3283 3292 3274 0 0 0 0 0 0 26.98 27.05 27.04

1901 -0.80 -116.8 2315 1998 3292 3274 217.1 -10.9 264 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1998 3283 3292 3274 0 0 0 0 0 0 27.01 27.08 27.07

2031 -0.80 -116.8 2316 1998 3292 3274 230.9 -10.6 277 2035 0.00 1.02 0.00 0.000 260 0.000 0.037 2311 2703 3283 3292 3274 0 0 0 0 0 0 27.03 26.72 27.08

2084 -0.80 -116.8 2310 2703 3292 3274 236.4 -10.2 287 2087 0.00 1.00 0.00 0.000 1030 0.000 0.027 2314 1996 3283 3292 3274 0 0 0 0 0 0 26.82 26.79 26.83

2216 -0.80 -116.8 2313 1996 3292 3274 250.7 -11.3 301 2221 0.00 0.98 0.00 0.000 516 0.000 0.032 2320 1323 3283 3292 3274 0 0 0 0 0 0 27.04 26.75 27.10

2262 -0.80 -116.8 2319 1323 3292 3274 255.8 -10.7 309 2266 0.00 1.00 0.00 0.000 1030 0.000 0.030 2316 1999 3283 3292 3274 0 0 0 0 0 0 26.80 26.77 26.82

2283 end dive: TARGET_DEPTH_EXCEEDED

state 2283 begin apogee

2288 -0.18 0.0 2316 1774 3292 3274 258.2 -10.7 312 2415 0.68 0.00 117.60 0.957 10246 0.158 0.000 2517 1772 2802 2858 2746 0 0 0 0 1 0 26.22 24.98 24.13

2416 end apogee: CONTROL_FINISHED_OK

state 2416 begin climb

2418 0.80 116.8 2517 1773 2862 2748 263.3 0.0 325 2620 1.05 1.05 194.27 0.554 10756 0.116 0.038 2843 1139 2321 2448 2194 0 0 0 0 0 0 25.09 25.01 24.50

2658 0.80 122.7 2843 1139 2424 2178 249.7 9.8 371 2662 0.00 1.02 0.00 0.000 1062 0.000 0.029 2840 1798 2300 2423 2177 0 0 0 0 0 0 25.46 25.43 25.48

2790 0.83 142.6 2840 1797 2419 2173 237.1 9.0 385 2832 0.00 1.08 33.33 0.585 8484 0.000 0.038 2835 2487 2210 2343 2077 0 0 0 0 0 0 26.12 25.48 24.88

2870 0.83 142.6 2834 2486 2338 2071 229.6 10.2 399 2873 0.00 0.98 0.00 0.000 1030 0.000 0.030 2839 1838 2204 2338 2071 0 0 0 0 0 0 25.84 25.81 25.86

3001 0.83 142.6 2838 1838 2335 2070 216.0 10.3 413 3005 0.00 1.00 0.00 0.000 260 0.000 0.037 2835 2488 2202 2335 2070 0 0 0 0 0 0 26.31 26.06 26.36

3044 0.83 142.6 2834 2489 2334 2069 211.5 10.4 421 3048 0.00 1.02 0.00 0.000 1030 0.000 0.031 2838 1802 2201 2334 2069 0 0 0 0 0 0 26.17 26.15 26.20

3177 0.83 142.6 2838 1801 2333 2069 197.8 10.4 435 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1801 2201 2333 2069 0 0 0 0 0 0 26.51 26.58 26.57

3308 0.83 142.6 2838 1801 2332 2069 184.5 10.7 448 3315 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1801 2200 2332 2069 0 0 0 0 0 0 26.61 26.67 26.67

3436 0.83 143.7 2838 1801 2331 2069 171.4 10.1 461 3438 0.00 0.00 0.00 0.000 38 0.000 0.000 2838 1801 2200 2331 2069 0 0 0 0 0 0 26.68 26.74 26.74

3557 0.84 149.6 2838 1802 2330 2069 159.4 9.8 473 3565 0.00 0.00 0.00 0.000 38 0.000 0.000 2838 1801 2200 2331 2069 0 0 0 0 0 0 26.73 26.80 26.79

3689 0.85 161.2 2838 1802 2328 2069 146.8 9.5 486 3721 0.08 1.05 25.17 0.612 10788 0.226 0.037 2858 1094 2138 2275 2002 0 0 0 0 0 0 26.44 25.89 25.51

3745 0.85 161.2 2857 1094 2269 2000 140.9 11.0 496 3749 0.00 1.08 0.00 0.000 1030 0.000 0.029 2854 1801 2135 2269 2001 0 0 0 0 0 0 26.31 26.27 26.33

3877 0.85 164.7 2853 1801 2266 1998 127.3 9.9 510 3882 0.00 1.02 0.00 0.000 292 0.000 0.037 2849 2491 2131 2266 1997 0 0 0 0 0 0 26.62 26.34 26.67

3963 0.85 164.7 2848 2491 2264 1997 118.6 10.3 526 3968 0.00 1.02 0.00 0.000 1030 0.000 0.031 2852 1797 2130 2264 1996 0 0 0 0 0 0 26.46 26.43 26.47

4096 0.85 164.7 2852 1797 2264 1997 104.5 11.0 540 4100 0.00 1.05 0.00 0.000 516 0.000 0.041 2857 1105 2130 2265 1996 0 0 0 0 0 0 26.74 26.45 26.79

4120 0.85 164.7 2857 1105 2265 1997 101.7 11.1 545 4128 0.00 1.05 0.00 0.000 1030 0.000 0.030 2854 1801 2130 2264 1996 0 0 0 0 0 0 26.52 26.49 26.55

4251 0.85 164.7 2854 1801 2263 1997 87.7 10.7 568 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 2854 1802 2130 2264 1997 0 0 0 0 0 0 26.79 26.86 26.85

4387 0.85 164.7 2854 1801 2263 1996 72.8 11.4 593 4394 0.00 1.02 0.00 0.000 260 0.000 0.038 2849 2495 2129 2263 1996 0 0 0 0 0 0 26.84 26.54 26.89

4417 0.85 164.7 2848 2495 2262 1996 69.4 11.1 598 4425 0.00 1.02 0.00 0.000 1030 0.000 0.032 2852 1798 2129 2262 1996 0 0 0 0 0 0 26.61 26.58 26.65

4556 0.91 209.4 2852 1798 2262 1996 57.2 7.5 623 4641 0.10 1.08 73.53 0.531 10788 0.158 0.041 2887 1110 1935 2076 1795 0 0 0 0 0 0 26.55 25.80 25.25

4872 0.91 209.4 2886 1110 2064 1790 29.1 10.5 680 4879 0.00 1.05 0.00 0.000 1030 0.000 0.029 2884 1798 1927 2065 1790 0 0 0 0 0 0 26.30 26.28 26.32

5012 0.92 218.0 2883 1798 2064 1787 13.9 9.6 705 5019 0.00 1.08 0.00 0.000 548 0.000 0.040 2887 1100 1926 2064 1788 0 0 0 0 0 0 26.62 26.33 26.67

5194 end climb: SURFACE_DEPTH_REACHED

state 5194 begin surface coast

5236 end surface coast: CONTROL_FINISHED_OK

state 5236 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	180	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	57	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	130921,072031,4750.1289,-12509.9395,11,0.8,25,15.7,0.1,0.0,11,5.8	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	0.50	MHEAD_RNG_PITCHd_Wd	324.7,3354,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-62.1	D_GRID	258
GPS2	130921,072417,4750.1113,-12509.9268,3,0.6,5,15.7,0.7,212.1,12,6.3

FINISH	-0.1,1.025342	_10V_AH	10.23,15.489
SM_CCo	5479,0.00,0.000,0,0,551,551.92	FG_AHR_24Vo	0.000
SM_GC	0.48,7.38,1.40,0.00,0.053,0.030,0.000,169,2009,551,-7.40,-1.24,551.92,0,0,0,0,0,0,26.54,26.48,25.43	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.50,-12507.66,130921,054142	MEM	209728
TT8_MAMPS	0.02247,0.146055	DATA_FILE_SIZE	36832,748
HUMID	53.38	CAP_FILE_SIZE	89703,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,237096960
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.040,266.62,1
_24V_AH	24.13,28.530	GPS	130921,085725,4750.625,-12510.330,14,1.2,16,15.7,0.3,44.8,8,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	235	100.35	SBE_CT	454	64	705.72
Roll_motor	33	60	49.25	WL_blue_red_Chl	1433	37	1295.69
VBD_pump_during_apogee	443	957	10250.88	nil	0	0	0.00
VBD_pump_during_surface	215	628	3269.93	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	139	91	308.07	nil	0	0	0.00
Transponder_ping	2	420	22.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.28
TT8	1705	12	213.17
LPSleep	1305	2	29.24
TT8_Active	729	12	91.18
TT8_Sampling	1712	37	660.30
TT8_CF8	279	42	122.61
TT8_Kalman	0	0	0.00
Analog_circuits	1614	11	181.68
GPS_charging	0	0	0.00
Compass	1688	8	142.34
RAFOS	0	0	0.00
Transponder	16	30	4.99

		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	5	begin dive
7	-0.80	-116.8	162	2017	689	412	0.0	0.0	0	115	0.00	0.00	-104.93	0.004	16386	0.000	0.000	163	2017	3039	3023	3056	0	0	0	0	0	0	26.29	28.83	26.35
117	-0.80	-116.8	162	2018	3025	3057	4.3	-8.4	15	141	8.35	1.10	-4.97	0.016	18980	0.209	0.060	2319	1297	3280	3279	3282	0	0	0	0	0	0	25.71	24.56	25.88
159	-0.80	-116.8	2319	1297	3281	3281	16.2	-22.6	21	168	0.03	1.08	0.00	0.000	3078	0.236	0.031	2320	1995	3281	3282	3281	0	0	0	0	0	0	26.01	26.19	26.06
295	-0.80	-116.8	2319	1995	3286	3278	35.5	-13.0	46	302	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	1995	3282	3286	3278	0	0	0	0	0	0	26.57	26.63	26.63
427	-0.80	-116.8	2319	1995	3288	3277	52.2	-12.4	71	434	0.00	1.05	0.00	0.000	516	0.000	0.034	2320	1299	3282	3288	3277	0	0	0	0	0	0	26.66	26.39	26.71
494	-0.80	-116.8	2319	1299	3289	3277	60.7	-12.3	83	502	0.00	1.08	0.00	0.000	1030	0.000	0.031	2316	2011	3283	3289	3277	0	0	0	0	0	0	26.47	26.43	26.50
627	-0.80	-116.8	2316	2010	3290	3277	77.6	-12.5	108	634	0.00	1.05	0.00	0.000	516	0.000	0.033	2320	1309	3283	3290	3277	0	0	0	0	0	0	26.75	26.47	26.80
727	-0.80	-116.8	2319	1309	3291	3277	89.3	-11.3	126	735	0.00	1.05	0.00	0.000	1030	0.000	0.030	2316	2007	3283	3290	3277	0	0	0	0	0	0	26.57	26.54	26.59
864	-0.80	-116.8	2316	2007	3291	3276	105.0	-11.9	148	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2007	3283	3291	3276	0	0	0	0	0	0	26.83	26.89	26.89
984	-0.80	-116.8	2316	2007	3291	3276	118.3	-10.6	160	992	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2007	3283	3291	3276	0	0	0	0	0	0	26.86	26.92	26.92
1116	-0.80	-116.8	2316	2007	3291	3276	131.8	-10.4	173	1124	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2007	3284	3292	3276	0	0	0	0	0	0	26.90	26.96	26.95
1244	-0.80	-116.8	2316	2007	3292	3275	145.2	-10.4	186	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	2007	3283	3291	3275	0	0	0	0	0	0	26.93	26.98	26.97
1376	-0.80	-116.8	2316	2007	3292	3275	158.8	-10.5	199	1380	0.00	1.02	0.00	0.000	260	0.000	0.037	2311	2708	3283	3292	3275	0	0	0	0	0	0	26.95	26.64	27.00
1408	-0.80	-116.8	2310	2707	3292	3275	162.4	-10.2	205	1413	0.00	1.02	0.00	0.000	1030	0.000	0.027	2314	1983	3283	3292	3275	0	0	0	0	0	0	26.74	26.72	26.76
1541	-0.80	-116.8	2314	1982	3292	3275	176.3	-10.8	219	1546	0.00	0.98	0.00	0.000	516	0.000	0.033	2320	1315	3283	3292	3275	0	0	0	0	0	0	26.97	26.69	27.05
1638	-0.80	-116.8	2319	1315	3292	3275	187.5	-11.9	237	1643	0.00	1.02	0.00	0.000	1030	0.000	0.031	2316	1998	3283	3292	3275	0	0	0	0	0	0	26.73	26.70	26.74
1774	-0.80	-116.8	2316	1998	3292	3274	202.6	-11.2	251	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1998	3283	3292	3274	0	0	0	0	0	0	26.98	27.05	27.04
1901	-0.80	-116.8	2315	1998	3292	3274	217.1	-10.9	264	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1998	3283	3292	3274	0	0	0	0	0	0	27.01	27.08	27.07
2031	-0.80	-116.8	2316	1998	3292	3274	230.9	-10.6	277	2035	0.00	1.02	0.00	0.000	260	0.000	0.037	2311	2703	3283	3292	3274	0	0	0	0	0	0	27.03	26.72	27.08
2084	-0.80	-116.8	2310	2703	3292	3274	236.4	-10.2	287	2087	0.00	1.00	0.00	0.000	1030	0.000	0.027	2314	1996	3283	3292	3274	0	0	0	0	0	0	26.82	26.79	26.83
2216	-0.80	-116.8	2313	1996	3292	3274	250.7	-11.3	301	2221	0.00	0.98	0.00	0.000	516	0.000	0.032	2320	1323	3283	3292	3274	0	0	0	0	0	0	27.04	26.75	27.10
2262	-0.80	-116.8	2319	1323	3292	3274	255.8	-10.7	309	2266	0.00	1.00	0.00	0.000	1030	0.000	0.030	2316	1999	3283	3292	3274	0	0	0	0	0	0	26.80	26.77	26.82
2283	end dive: TARGET_DEPTH_EXCEEDED
state	2283	begin apogee
2288	-0.18	0.0	2316	1774	3292	3274	258.2	-10.7	312	2415	0.68	0.00	117.60	0.957	10246	0.158	0.000	2517	1772	2802	2858	2746	0	0	0	0	1	0	26.22	24.98	24.13
2416	end apogee: CONTROL_FINISHED_OK
state	2416	begin climb
2418	0.80	116.8	2517	1773	2862	2748	263.3	0.0	325	2620	1.05	1.05	194.27	0.554	10756	0.116	0.038	2843	1139	2321	2448	2194	0	0	0	0	0	0	25.09	25.01	24.50
2658	0.80	122.7	2843	1139	2424	2178	249.7	9.8	371	2662	0.00	1.02	0.00	0.000	1062	0.000	0.029	2840	1798	2300	2423	2177	0	0	0	0	0	0	25.46	25.43	25.48
2790	0.83	142.6	2840	1797	2419	2173	237.1	9.0	385	2832	0.00	1.08	33.33	0.585	8484	0.000	0.038	2835	2487	2210	2343	2077	0	0	0	0	0	0	26.12	25.48	24.88
2870	0.83	142.6	2834	2486	2338	2071	229.6	10.2	399	2873	0.00	0.98	0.00	0.000	1030	0.000	0.030	2839	1838	2204	2338	2071	0	0	0	0	0	0	25.84	25.81	25.86
3001	0.83	142.6	2838	1838	2335	2070	216.0	10.3	413	3005	0.00	1.00	0.00	0.000	260	0.000	0.037	2835	2488	2202	2335	2070	0	0	0	0	0	0	26.31	26.06	26.36
3044	0.83	142.6	2834	2489	2334	2069	211.5	10.4	421	3048	0.00	1.02	0.00	0.000	1030	0.000	0.031	2838	1802	2201	2334	2069	0	0	0	0	0	0	26.17	26.15	26.20
3177	0.83	142.6	2838	1801	2333	2069	197.8	10.4	435	3185	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1801	2201	2333	2069	0	0	0	0	0	0	26.51	26.58	26.57
3308	0.83	142.6	2838	1801	2332	2069	184.5	10.7	448	3315	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1801	2200	2332	2069	0	0	0	0	0	0	26.61	26.67	26.67
3436	0.83	143.7	2838	1801	2331	2069	171.4	10.1	461	3438	0.00	0.00	0.00	0.000	38	0.000	0.000	2838	1801	2200	2331	2069	0	0	0	0	0	0	26.68	26.74	26.74
3557	0.84	149.6	2838	1802	2330	2069	159.4	9.8	473	3565	0.00	0.00	0.00	0.000	38	0.000	0.000	2838	1801	2200	2331	2069	0	0	0	0	0	0	26.73	26.80	26.79
3689	0.85	161.2	2838	1802	2328	2069	146.8	9.5	486	3721	0.08	1.05	25.17	0.612	10788	0.226	0.037	2858	1094	2138	2275	2002	0	0	0	0	0	0	26.44	25.89	25.51
3745	0.85	161.2	2857	1094	2269	2000	140.9	11.0	496	3749	0.00	1.08	0.00	0.000	1030	0.000	0.029	2854	1801	2135	2269	2001	0	0	0	0	0	0	26.31	26.27	26.33
3877	0.85	164.7	2853	1801	2266	1998	127.3	9.9	510	3882	0.00	1.02	0.00	0.000	292	0.000	0.037	2849	2491	2131	2266	1997	0	0	0	0	0	0	26.62	26.34	26.67
3963	0.85	164.7	2848	2491	2264	1997	118.6	10.3	526	3968	0.00	1.02	0.00	0.000	1030	0.000	0.031	2852	1797	2130	2264	1996	0	0	0	0	0	0	26.46	26.43	26.47
4096	0.85	164.7	2852	1797	2264	1997	104.5	11.0	540	4100	0.00	1.05	0.00	0.000	516	0.000	0.041	2857	1105	2130	2265	1996	0	0	0	0	0	0	26.74	26.45	26.79
4120	0.85	164.7	2857	1105	2265	1997	101.7	11.1	545	4128	0.00	1.05	0.00	0.000	1030	0.000	0.030	2854	1801	2130	2264	1996	0	0	0	0	0	0	26.52	26.49	26.55
4251	0.85	164.7	2854	1801	2263	1997	87.7	10.7	568	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	2854	1802	2130	2264	1997	0	0	0	0	0	0	26.79	26.86	26.85
4387	0.85	164.7	2854	1801	2263	1996	72.8	11.4	593	4394	0.00	1.02	0.00	0.000	260	0.000	0.038	2849	2495	2129	2263	1996	0	0	0	0	0	0	26.84	26.54	26.89
4417	0.85	164.7	2848	2495	2262	1996	69.4	11.1	598	4425	0.00	1.02	0.00	0.000	1030	0.000	0.032	2852	1798	2129	2262	1996	0	0	0	0	0	0	26.61	26.58	26.65
4556	0.91	209.4	2852	1798	2262	1996	57.2	7.5	623	4641	0.10	1.08	73.53	0.531	10788	0.158	0.041	2887	1110	1935	2076	1795	0	0	0	0	0	0	26.55	25.80	25.25
4872	0.91	209.4	2886	1110	2064	1790	29.1	10.5	680	4879	0.00	1.05	0.00	0.000	1030	0.000	0.029	2884	1798	1927	2065	1790	0	0	0	0	0	0	26.30	26.28	26.32
5012	0.92	218.0	2883	1798	2064	1787	13.9	9.6	705	5019	0.00	1.08	0.00	0.000	548	0.000	0.040	2887	1100	1926	2064	1788	0	0	0	0	0	0	26.62	26.33	26.67
5194	end climb: SURFACE_DEPTH_REACHED
state	5194	begin surface coast
5236	end surface coast: CONTROL_FINISHED_OK
state	5236	begin surface