Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 89 * 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 89 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 54 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 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 9000 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 164.0

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 9000

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 164.0 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 54 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 59 XPDR_INHIBIT 90

DIVE 89 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 060921,212456,4751.0317,-12509.8486,15,0.7,16,15.7,0.2,354.6,12,7.6 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 273.0,2080,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -64.9 D_GRID 240

GPS2 060921,213008,4751.0801,-12509.8447,5,0.8,6,15.7,0.4,64.6,12,7.9

Post-dive calculations and measurements:

FINISH -0.4,1.024716 CP_POWER1 0.000000

SM_CCo 4839,0.00,0.000,0,0,550,551.92 _24V_AH 24.34,16.856

SM_GC 0.50,7.62,0.28,0.00,0.060,0.050,0.000,180,2007,550,-7.38,-1.58,551.92,0,0,0,0,0,0,26.08,26.06,25.43 _10V_AH 10.26,9.577

IRIDIUM_FIX 4752.18,-12506.88,060921,200708 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.1498 FG_AHR_10Vo 0.000

HUMID 53.38 MEM 211208

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 33504,676

TCM_TEMP 15.30 CAP_FILE_SIZE 84460,0

XPDR_PINGS 0 CFSIZE 260030464,243392512

ALTIM_BOTTOM_PING 212.4,45.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 114296356864.000000 CURRENT 0.034,29.35,1

CP_POWER 323.310000 GPS 060921,225301,4751.250,-12510.361,9,0.9,32,15.7,0.6,73.9,9,3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 273 118.82 SBE_CT 396 64 622.39

Roll_motor 27 74 50.39 WL_blue_red_Chl 1259 37 1148.36

VBD_pump_during_apogee 574 657 9206.04 nil 0 0 0.00

VBD_pump_during_surface 201 620 3042.45 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 4431 25 2696.26

Iridium_during_xfer 192 103 484.27 nil 0 0 0.00

Transponder_ping 1 420 17.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.07

TT8 1480 12 185.67

LPSleep 1020 2 22.94

TT8_Active 779 12 97.75

TT8_Sampling 1638 37 633.80

TT8_CF8 269 42 118.68

TT8_Kalman 0 0 0.00

Analog_circuits 1652 11 186.47

GPS_charging 0 0 0.00

Compass 1490 8 125.99

RAFOS 0 0 0.00

Transponder 15 30 4.70

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.84 -116.8 168 2023 690 412 0.0 0.0 0 131 0.00 0.00 -103.70 0.011 16386 0.000 0.000 169 2024 2984 2972 2996 0 0 0 0 0 0 26.09 28.83 26.16

134 -0.84 -116.8 168 2023 2973 2996 3.6 -6.0 15 157 8.23 1.10 -6.35 0.018 18980 0.225 0.073 2295 1299 3279 3283 3275 0 0 0 0 0 0 25.84 24.78 25.99

390 -0.84 -116.8 2294 1299 3289 3274 51.5 -13.6 63 398 0.05 1.05 0.00 0.000 3078 0.174 0.035 2307 1990 3281 3289 3274 0 0 0 0 0 0 26.13 26.34 26.22

524 -0.84 -116.8 2307 1990 3290 3274 72.9 -16.1 88 532 0.00 1.02 0.00 0.000 516 0.000 0.047 2311 1309 3282 3291 3274 0 0 0 0 0 0 26.48 26.39 26.54

646 -0.84 -116.8 2310 1308 3291 3274 90.0 -13.4 111 653 0.00 1.05 0.00 0.000 1030 0.000 0.035 2309 2004 3282 3291 3274 0 0 0 0 0 0 26.51 26.45 26.51

782 -0.84 -116.8 2308 2003 3292 3274 106.9 -12.1 131 786 0.00 1.02 0.00 0.000 260 0.000 0.043 2303 2701 3283 3292 3274 0 0 0 0 0 0 26.58 26.47 26.64

921 -0.84 -116.8 2302 2701 3292 3274 121.0 -9.5 157 925 0.00 1.02 0.00 0.000 1062 0.000 0.074 2306 1989 3283 3292 3274 0 0 0 0 0 0 26.54 25.80 26.56

1054 -0.84 -116.8 2305 1989 3293 3274 134.8 -10.7 171 1061 0.00 0.00 0.00 0.000 38 0.000 0.000 2306 1989 3283 3292 3274 0 0 0 0 0 0 26.63 26.70 26.68

1185 -0.84 -116.8 2306 1989 3293 3274 149.6 -11.6 184 1190 0.00 1.00 0.00 0.000 516 0.000 0.039 2311 1309 3283 3293 3273 0 0 0 0 0 0 26.60 26.51 26.61

1240 -0.84 -116.8 2311 1309 3292 3273 156.6 -11.5 195 1249 0.00 1.05 0.00 0.000 1030 0.000 0.034 2308 2004 3283 3293 3273 0 0 0 0 0 0 26.60 26.57 26.62

1369 -0.84 -116.8 2308 2004 3293 3273 171.4 -11.9 208 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 2005 3283 3293 3273 0 0 0 0 0 0 26.67 26.74 26.74

1489 -0.84 -116.8 2308 2004 3293 3273 185.1 -11.2 220 1495 0.00 1.02 0.00 0.000 516 0.000 0.047 2311 1318 3283 3293 3273 0 0 0 0 0 0 26.68 26.58 26.74

1650 -0.84 -116.8 2311 1318 3293 3272 203.3 -10.9 250 1654 0.00 1.02 0.00 0.000 1030 0.000 0.036 2308 2001 3282 3293 3272 0 0 0 0 0 0 26.64 26.61 26.69

1782 -0.84 -116.8 2308 2001 3293 3271 218.3 -12.0 264 1784 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2001 3282 3293 3271 0 0 0 0 0 0 26.71 26.77 26.77

1902 -0.84 -116.8 2308 2001 3292 3271 233.0 -12.2 276 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2001 3282 3293 3271 0 0 0 0 0 0 26.72 26.79 26.77

1951 end dive: BOTTOM_OBSTACLE_DETECTED

state 1951 begin apogee

1956 -0.18 0.0 2308 1768 3293 3271 238.7 -11.5 281 2172 0.73 0.00 209.23 0.566 10246 0.166 0.000 2523 1768 2796 2850 2742 0 0 0 0 0 0 26.27 25.25 24.79

2177 end apogee: CONTROL_FINISHED_OK

state 2177 begin climb

2179 0.84 116.8 2523 1767 2841 2735 244.6 0.0 303 2375 1.05 0.00 187.25 0.532 11014 0.119 0.000 2846 1767 2318 2443 2193 0 0 0 0 0 0 25.29 25.09 24.65

2500 0.87 141.8 2845 1767 2412 2166 222.7 9.3 344 2533 0.08 1.17 27.83 0.598 10532 0.213 0.043 2858 2495 2217 2348 2087 0 0 0 0 0 0 25.65 25.47 25.00

2670 0.87 141.8 2857 2495 2324 2062 202.9 11.6 376 2675 0.00 1.00 0.00 0.000 1030 0.000 0.037 2861 1833 2193 2324 2062 0 0 0 0 0 0 26.00 25.98 26.02

2805 0.87 141.8 2861 1833 2322 2062 187.8 11.5 390 2809 0.00 1.12 0.00 0.000 516 0.000 0.050 2867 1110 2192 2323 2062 0 0 0 0 0 0 26.23 26.13 26.29

2878 0.87 141.8 2866 1110 2322 2062 178.5 12.5 404 2883 0.00 1.05 0.00 0.000 1030 0.000 0.037 2864 1798 2192 2322 2062 0 0 0 0 0 0 26.24 26.22 26.27

3013 0.87 141.8 2863 1799 2320 2062 162.9 11.0 418 3020 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1799 2191 2320 2062 0 0 0 0 0 0 26.38 26.45 26.44

3141 0.89 157.7 2863 1799 2319 2062 149.6 9.8 431 3162 0.00 1.05 14.25 0.658 8484 0.000 0.041 2859 2499 2151 2285 2017 0 0 0 0 0 0 26.46 25.89 25.53

3207 0.89 157.7 2858 2500 2274 2007 142.7 11.2 443 3211 0.00 1.05 0.00 0.000 1030 0.000 0.041 2862 1795 2141 2274 2008 0 0 0 0 0 0 26.26 26.23 26.29

3340 0.89 157.7 2861 1795 2272 2008 128.3 10.9 457 3345 0.00 1.05 0.00 0.000 516 0.000 0.047 2867 1114 2140 2273 2008 0 0 0 0 0 0 26.42 26.31 26.48

3418 0.89 157.7 2867 1114 2272 2008 119.4 12.0 471 3422 0.00 1.05 0.00 0.000 1030 0.000 0.036 2864 1807 2140 2272 2008 0 0 0 0 0 0 26.40 26.41 26.41

3551 0.90 162.1 2863 1808 2269 2008 105.0 10.6 485 3556 0.00 1.02 0.00 0.000 292 0.000 0.044 2859 2503 2139 2270 2008 0 0 0 0 0 0 26.51 26.41 26.57

3617 0.90 162.1 2858 2504 2269 2007 97.6 11.5 497 3625 0.00 1.05 0.00 0.000 1030 0.000 0.041 2862 1794 2138 2269 2008 0 0 0 0 0 0 26.45 26.41 26.48

3750 0.91 174.7 2862 1794 2268 2008 83.8 10.0 522 3773 0.00 1.10 15.90 0.614 8740 0.000 0.054 2868 1101 2082 2220 1944 0 0 0 0 0 0 26.51 26.17 25.64

3913 0.92 179.2 2867 1100 2205 1935 66.4 10.6 552 3921 0.00 1.05 0.00 0.000 1062 0.000 0.037 2865 1795 2069 2205 1934 0 0 0 0 0 0 26.40 26.36 26.42

4049 0.92 179.2 2864 1795 2205 1934 51.7 11.9 577 4057 0.00 1.02 0.00 0.000 260 0.000 0.044 2859 2488 2068 2204 1933 0 0 0 0 0 0 26.48 26.41 26.54

4085 0.92 179.2 2858 2488 2203 1933 47.2 11.8 583 4092 0.00 1.02 0.00 0.000 1030 0.000 0.037 2863 1797 2068 2203 1933 0 0 0 0 0 0 26.47 26.44 26.48

4217 0.98 235.9 2862 1797 2203 1933 35.0 7.3 608 4323 0.12 1.10 100.82 0.508 10788 0.273 0.047 2904 1110 1835 1979 1691 0 0 0 0 0 0 25.94 25.58 25.12

4556 1.04 281.6 2903 1110 1947 1670 3.2 8.0 668 4579 0.00 1.05 19.62 0.512 9250 0.000 0.036 2900 1797 1755 1899 1612 0 0 0 0 0 0 26.19 26.17 26.22

4580 end climb: SURFACE_DEPTH_REACHED

state 4580 begin surface coast

4606 end surface coast: CONTROL_FINISHED_OK

state 4607 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	89	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	54	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	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	9000	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	164.0
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	060921,212456,4751.0317,-12509.8486,15,0.7,16,15.7,0.2,354.6,12,7.6	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	273.0,2080,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-64.9	D_GRID	240
GPS2	060921,213008,4751.0801,-12509.8447,5,0.8,6,15.7,0.4,64.6,12,7.9

FINISH	-0.4,1.024716	CP_POWER1	0.000000
SM_CCo	4839,0.00,0.000,0,0,550,551.92	_24V_AH	24.34,16.856
SM_GC	0.50,7.62,0.28,0.00,0.060,0.050,0.000,180,2007,550,-7.38,-1.58,551.92,0,0,0,0,0,0,26.08,26.06,25.43	_10V_AH	10.26,9.577
IRIDIUM_FIX	4752.18,-12506.88,060921,200708	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.1498	FG_AHR_10Vo	0.000
HUMID	53.38	MEM	211208
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	33504,676
TCM_TEMP	15.30	CAP_FILE_SIZE	84460,0
XPDR_PINGS	0	CFSIZE	260030464,243392512
ALTIM_BOTTOM_PING	212.4,45.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	114296356864.000000	CURRENT	0.034,29.35,1
CP_POWER	323.310000	GPS	060921,225301,4751.250,-12510.361,9,0.9,32,15.7,0.6,73.9,9,3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	273	118.82	SBE_CT	396	64	622.39
Roll_motor	27	74	50.39	WL_blue_red_Chl	1259	37	1148.36
VBD_pump_during_apogee	574	657	9206.04	nil	0	0	0.00
VBD_pump_during_surface	201	620	3042.45	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	4431	25	2696.26
Iridium_during_xfer	192	103	484.27	nil	0	0	0.00
Transponder_ping	1	420	17.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.07
TT8	1480	12	185.67
LPSleep	1020	2	22.94
TT8_Active	779	12	97.75
TT8_Sampling	1638	37	633.80
TT8_CF8	269	42	118.68
TT8_Kalman	0	0	0.00
Analog_circuits	1652	11	186.47
GPS_charging	0	0	0.00
Compass	1490	8	125.99
RAFOS	0	0	0.00
Transponder	15	30	4.70

		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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.84	-116.8	168	2023	690	412	0.0	0.0	0	131	0.00	0.00	-103.70	0.011	16386	0.000	0.000	169	2024	2984	2972	2996	0	0	0	0	0	0	26.09	28.83	26.16
134	-0.84	-116.8	168	2023	2973	2996	3.6	-6.0	15	157	8.23	1.10	-6.35	0.018	18980	0.225	0.073	2295	1299	3279	3283	3275	0	0	0	0	0	0	25.84	24.78	25.99
390	-0.84	-116.8	2294	1299	3289	3274	51.5	-13.6	63	398	0.05	1.05	0.00	0.000	3078	0.174	0.035	2307	1990	3281	3289	3274	0	0	0	0	0	0	26.13	26.34	26.22
524	-0.84	-116.8	2307	1990	3290	3274	72.9	-16.1	88	532	0.00	1.02	0.00	0.000	516	0.000	0.047	2311	1309	3282	3291	3274	0	0	0	0	0	0	26.48	26.39	26.54
646	-0.84	-116.8	2310	1308	3291	3274	90.0	-13.4	111	653	0.00	1.05	0.00	0.000	1030	0.000	0.035	2309	2004	3282	3291	3274	0	0	0	0	0	0	26.51	26.45	26.51
782	-0.84	-116.8	2308	2003	3292	3274	106.9	-12.1	131	786	0.00	1.02	0.00	0.000	260	0.000	0.043	2303	2701	3283	3292	3274	0	0	0	0	0	0	26.58	26.47	26.64
921	-0.84	-116.8	2302	2701	3292	3274	121.0	-9.5	157	925	0.00	1.02	0.00	0.000	1062	0.000	0.074	2306	1989	3283	3292	3274	0	0	0	0	0	0	26.54	25.80	26.56
1054	-0.84	-116.8	2305	1989	3293	3274	134.8	-10.7	171	1061	0.00	0.00	0.00	0.000	38	0.000	0.000	2306	1989	3283	3292	3274	0	0	0	0	0	0	26.63	26.70	26.68
1185	-0.84	-116.8	2306	1989	3293	3274	149.6	-11.6	184	1190	0.00	1.00	0.00	0.000	516	0.000	0.039	2311	1309	3283	3293	3273	0	0	0	0	0	0	26.60	26.51	26.61
1240	-0.84	-116.8	2311	1309	3292	3273	156.6	-11.5	195	1249	0.00	1.05	0.00	0.000	1030	0.000	0.034	2308	2004	3283	3293	3273	0	0	0	0	0	0	26.60	26.57	26.62
1369	-0.84	-116.8	2308	2004	3293	3273	171.4	-11.9	208	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	2005	3283	3293	3273	0	0	0	0	0	0	26.67	26.74	26.74
1489	-0.84	-116.8	2308	2004	3293	3273	185.1	-11.2	220	1495	0.00	1.02	0.00	0.000	516	0.000	0.047	2311	1318	3283	3293	3273	0	0	0	0	0	0	26.68	26.58	26.74
1650	-0.84	-116.8	2311	1318	3293	3272	203.3	-10.9	250	1654	0.00	1.02	0.00	0.000	1030	0.000	0.036	2308	2001	3282	3293	3272	0	0	0	0	0	0	26.64	26.61	26.69
1782	-0.84	-116.8	2308	2001	3293	3271	218.3	-12.0	264	1784	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2001	3282	3293	3271	0	0	0	0	0	0	26.71	26.77	26.77
1902	-0.84	-116.8	2308	2001	3292	3271	233.0	-12.2	276	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2001	3282	3293	3271	0	0	0	0	0	0	26.72	26.79	26.77
1951	end dive: BOTTOM_OBSTACLE_DETECTED
state	1951	begin apogee
1956	-0.18	0.0	2308	1768	3293	3271	238.7	-11.5	281	2172	0.73	0.00	209.23	0.566	10246	0.166	0.000	2523	1768	2796	2850	2742	0	0	0	0	0	0	26.27	25.25	24.79
2177	end apogee: CONTROL_FINISHED_OK
state	2177	begin climb
2179	0.84	116.8	2523	1767	2841	2735	244.6	0.0	303	2375	1.05	0.00	187.25	0.532	11014	0.119	0.000	2846	1767	2318	2443	2193	0	0	0	0	0	0	25.29	25.09	24.65
2500	0.87	141.8	2845	1767	2412	2166	222.7	9.3	344	2533	0.08	1.17	27.83	0.598	10532	0.213	0.043	2858	2495	2217	2348	2087	0	0	0	0	0	0	25.65	25.47	25.00
2670	0.87	141.8	2857	2495	2324	2062	202.9	11.6	376	2675	0.00	1.00	0.00	0.000	1030	0.000	0.037	2861	1833	2193	2324	2062	0	0	0	0	0	0	26.00	25.98	26.02
2805	0.87	141.8	2861	1833	2322	2062	187.8	11.5	390	2809	0.00	1.12	0.00	0.000	516	0.000	0.050	2867	1110	2192	2323	2062	0	0	0	0	0	0	26.23	26.13	26.29
2878	0.87	141.8	2866	1110	2322	2062	178.5	12.5	404	2883	0.00	1.05	0.00	0.000	1030	0.000	0.037	2864	1798	2192	2322	2062	0	0	0	0	0	0	26.24	26.22	26.27
3013	0.87	141.8	2863	1799	2320	2062	162.9	11.0	418	3020	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	1799	2191	2320	2062	0	0	0	0	0	0	26.38	26.45	26.44
3141	0.89	157.7	2863	1799	2319	2062	149.6	9.8	431	3162	0.00	1.05	14.25	0.658	8484	0.000	0.041	2859	2499	2151	2285	2017	0	0	0	0	0	0	26.46	25.89	25.53
3207	0.89	157.7	2858	2500	2274	2007	142.7	11.2	443	3211	0.00	1.05	0.00	0.000	1030	0.000	0.041	2862	1795	2141	2274	2008	0	0	0	0	0	0	26.26	26.23	26.29
3340	0.89	157.7	2861	1795	2272	2008	128.3	10.9	457	3345	0.00	1.05	0.00	0.000	516	0.000	0.047	2867	1114	2140	2273	2008	0	0	0	0	0	0	26.42	26.31	26.48
3418	0.89	157.7	2867	1114	2272	2008	119.4	12.0	471	3422	0.00	1.05	0.00	0.000	1030	0.000	0.036	2864	1807	2140	2272	2008	0	0	0	0	0	0	26.40	26.41	26.41
3551	0.90	162.1	2863	1808	2269	2008	105.0	10.6	485	3556	0.00	1.02	0.00	0.000	292	0.000	0.044	2859	2503	2139	2270	2008	0	0	0	0	0	0	26.51	26.41	26.57
3617	0.90	162.1	2858	2504	2269	2007	97.6	11.5	497	3625	0.00	1.05	0.00	0.000	1030	0.000	0.041	2862	1794	2138	2269	2008	0	0	0	0	0	0	26.45	26.41	26.48
3750	0.91	174.7	2862	1794	2268	2008	83.8	10.0	522	3773	0.00	1.10	15.90	0.614	8740	0.000	0.054	2868	1101	2082	2220	1944	0	0	0	0	0	0	26.51	26.17	25.64
3913	0.92	179.2	2867	1100	2205	1935	66.4	10.6	552	3921	0.00	1.05	0.00	0.000	1062	0.000	0.037	2865	1795	2069	2205	1934	0	0	0	0	0	0	26.40	26.36	26.42
4049	0.92	179.2	2864	1795	2205	1934	51.7	11.9	577	4057	0.00	1.02	0.00	0.000	260	0.000	0.044	2859	2488	2068	2204	1933	0	0	0	0	0	0	26.48	26.41	26.54
4085	0.92	179.2	2858	2488	2203	1933	47.2	11.8	583	4092	0.00	1.02	0.00	0.000	1030	0.000	0.037	2863	1797	2068	2203	1933	0	0	0	0	0	0	26.47	26.44	26.48
4217	0.98	235.9	2862	1797	2203	1933	35.0	7.3	608	4323	0.12	1.10	100.82	0.508	10788	0.273	0.047	2904	1110	1835	1979	1691	0	0	0	0	0	0	25.94	25.58	25.12
4556	1.04	281.6	2903	1110	1947	1670	3.2	8.0	668	4579	0.00	1.05	19.62	0.512	9250	0.000	0.036	2900	1797	1755	1899	1612	0	0	0	0	0	0	26.19	26.17	26.22
4580	end climb: SURFACE_DEPTH_REACHED
state	4580	begin surface coast
4606	end surface coast: CONTROL_FINISHED_OK
state	4607	begin surface