Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 91 * 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 91 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 56 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 168.0

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 168.0 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 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 56 XPDR_INHIBIT 90

DIVE 91 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 070921,002259,4751.3594,-12510.9434,8,1.2,10,15.7,0.4,120.5,8,8.9 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 0.56 MHEAD_RNG_PITCHd_Wd 314.1,800,-25.5,-10.833,-29.58,1041

_SM_ANGLEo -64.9 D_GRID 306

GPS2 070921,002845,4751.3545,-12510.8447,5,0.8,6,15.7,0.5,100.9,12,4.8

Post-dive calculations and measurements:

FINISH 0.3,1.025019 CP_POWER1 0.000000

SM_CCo 4577,0.03,2.970,0,0,549,551.92 _24V_AH 23.87,17.103

SM_GC 0.55,7.85,0.28,0.03,0.069,0.050,2.970,166,2008,549,-7.40,-1.39,551.92,0,0,0,0,0,0,26.14,26.14,23.87 _10V_AH 10.27,9.693

IRIDIUM_FIX 4752.18,-12506.88,060921,225505 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.147553 FG_AHR_10Vo 0.000

HUMID 52.95 MEM 211260

INTERNAL_PRESSURE 8.72826 DATA_FILE_SIZE 33608,646

TCM_TEMP 15.20 CAP_FILE_SIZE 82347,0

XPDR_PINGS 0 CFSIZE 260030464,243249152

ALTIM_BOTTOM_PING 256.7,32.0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 113746018304.000000 CURRENT 0.054,196.49,1

CP_POWER 323.310000 GPS 070921,014731,4751.554,-12511.210,6,0.9,36,15.7,0.0,0.0,11,1.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 217 94.00 SBE_CT 378 64 581.20

Roll_motor 29 53 37.55 WL_blue_red_Chl 1195 37 1068.66

VBD_pump_during_apogee 441 589 6222.51 nil 0 0 0.00

VBD_pump_during_surface 229 2970 16253.36 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 4158 25 2481.29

Iridium_during_xfer 222 102 543.28 nil 0 0 0.00

Transponder_ping 2 420 25.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.25

TT8 1444 12 181.24

LPSleep 944 2 21.25

TT8_Active 702 12 88.22

TT8_Sampling 1617 37 626.23

TT8_CF8 263 42 116.16

TT8_Kalman 0 0 0.00

Analog_circuits 1561 11 176.37

GPS_charging 0 0 0.00

Compass 1435 8 121.48

RAFOS 0 0 0.00

Transponder 19 30 5.89

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 -1.00 -73.7 167 2014 687 417 0.0 0.0 0 132 0.00 0.00 -104.97 0.011 16386 0.000 0.000 167 2012 3043 3030 3057 0 0 0 0 0 0 26.09 28.83 26.17

135 -1.05 -111.1 167 2012 3032 3057 4.0 -7.1 15 152 8.00 0.00 -4.32 0.024 18982 0.216 0.000 2242 2010 3253 3254 3253 0 0 0 0 0 0 25.77 24.92 25.95

280 -1.05 -111.1 2242 2011 3261 3252 36.6 -17.5 41 287 0.00 1.08 0.00 0.000 516 0.000 0.040 2247 1299 3255 3260 3251 0 0 0 0 0 0 26.31 26.27 26.36

428 -1.05 -111.1 2247 1299 3263 3252 61.4 -17.1 69 435 0.00 1.05 0.00 0.000 1030 0.000 0.036 2245 1989 3257 3263 3252 0 0 0 0 0 0 26.40 26.37 26.41

559 -1.05 -111.1 2243 1990 3264 3251 83.1 -16.9 94 567 0.00 1.02 0.00 0.000 516 0.000 0.039 2247 1306 3258 3265 3252 0 0 0 0 0 0 26.40 26.41 26.46

760 -1.05 -111.1 2247 1306 3266 3251 114.9 -15.9 132 765 0.00 1.05 0.00 0.000 1030 0.000 0.036 2244 2005 3258 3266 3251 0 0 0 0 0 0 26.51 26.48 26.53

893 -1.05 -111.1 2243 2005 3266 3250 135.5 -15.1 146 895 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 2005 3258 3266 3251 0 0 0 0 0 0 26.62 26.67 26.67

1013 -1.05 -111.1 2244 2005 3266 3250 152.5 -14.0 158 1017 0.00 1.05 0.00 0.000 516 0.000 0.040 2247 1300 3258 3266 3250 0 0 0 0 0 0 26.63 26.45 26.69

1066 -1.05 -111.1 2246 1301 3266 3250 159.8 -14.3 168 1070 0.00 1.05 0.00 0.000 1030 0.000 0.035 2244 2003 3258 3266 3250 0 0 0 0 0 0 26.58 26.55 26.58

1198 -1.05 -111.1 2244 2003 3266 3249 178.5 -13.6 182 1202 0.00 1.02 0.00 0.000 260 0.000 0.050 2239 2702 3257 3266 3249 0 0 0 0 0 0 26.64 26.51 26.69

1230 -1.05 -111.1 2238 2702 3266 3249 182.8 -13.5 188 1236 0.00 1.02 0.00 0.000 1030 0.000 0.032 2242 1980 3257 3266 3249 0 0 0 0 0 0 26.60 26.59 26.63

1364 -1.05 -111.1 2242 1979 3266 3249 201.3 -13.8 202 1369 0.00 0.98 0.00 0.000 516 0.000 0.048 2247 1315 3257 3266 3249 0 0 0 0 0 0 26.68 26.56 26.74

1513 -1.05 -111.1 2246 1315 3267 3248 221.9 -13.1 231 1521 0.00 1.02 0.00 0.000 1030 0.000 0.037 2244 1997 3257 3267 3247 0 0 0 0 0 0 26.62 26.59 26.64

1641 -1.05 -111.1 2243 1997 3266 3247 239.4 -13.7 244 1643 0.00 0.00 0.00 0.000 6 0.000 0.000 2244 1998 3257 3267 3247 0 0 0 0 0 0 26.63 26.70 26.68

1766 -1.05 -111.1 2244 1997 3267 3247 256.7 -14.6 256 1771 0.00 1.00 0.00 0.000 516 0.000 0.038 2247 1321 3257 3267 3247 0 0 0 0 0 0 26.72 26.60 26.77

1787 end dive: TARGET_DEPTH_EXCEEDED

state 1787 begin apogee

1792 -0.18 0.0 2245 1812 3267 3247 260.4 -12.9 260 1979 0.93 0.00 178.15 0.584 10246 0.158 0.000 2522 1814 2793 2845 2741 0 0 0 0 0 0 26.22 25.11 24.80

1984 end apogee: CONTROL_FINISHED_OK

state 1984 begin climb

1986 1.05 111.1 2522 1813 2834 2730 265.7 0.0 279 2169 1.27 1.05 170.95 0.543 10500 0.116 0.033 2913 2487 2335 2457 2214 0 0 0 0 0 0 25.34 24.99 24.69

2250 1.05 111.1 2913 2486 2434 2191 236.7 16.6 328 2259 0.00 1.02 0.00 0.000 1030 0.000 0.036 2916 1816 2313 2435 2191 0 0 0 0 0 0 25.72 25.70 25.75

2378 1.05 111.1 2915 1816 2430 2191 219.1 13.1 341 2383 0.00 1.12 0.00 0.000 516 0.000 0.045 2922 1094 2310 2430 2191 0 0 0 0 0 0 26.03 25.96 26.10

2424 1.05 111.1 2920 1094 2429 2191 212.7 14.0 349 2428 0.00 1.08 0.00 0.000 1030 0.000 0.036 2918 1791 2310 2430 2191 0 0 0 0 0 0 26.08 26.06 26.10

2558 1.05 111.1 2918 1791 2427 2190 194.8 13.6 363 2562 0.00 1.08 0.00 0.000 260 0.000 0.044 2913 2503 2309 2427 2191 0 0 0 0 0 0 26.28 26.15 26.26

2591 1.05 111.1 2913 2503 2426 2190 189.4 15.8 369 2595 0.00 1.05 0.00 0.000 1030 0.000 0.036 2916 1798 2308 2426 2191 0 0 0 0 0 0 26.26 26.22 26.28

2723 1.05 111.1 2916 1798 2425 2191 170.6 14.2 383 2727 0.00 1.08 0.00 0.000 516 0.000 0.049 2921 1099 2308 2426 2191 0 0 0 0 0 0 26.41 26.23 26.44

2800 1.05 111.1 2921 1099 2425 2191 159.2 14.2 398 2808 0.00 1.08 0.00 0.000 1030 0.000 0.037 2918 1799 2307 2425 2190 0 0 0 0 0 0 26.33 26.33 26.35

2928 1.05 111.1 2917 1799 2424 2191 141.0 14.8 411 2932 0.00 1.05 0.00 0.000 260 0.000 0.044 2913 2502 2307 2424 2190 0 0 0 0 0 0 26.44 26.39 26.51

2963 1.05 111.1 2913 2502 2423 2191 135.8 14.0 418 2971 0.00 1.05 0.00 0.000 1030 0.000 0.036 2916 1791 2307 2423 2191 0 0 0 0 0 0 26.45 26.42 26.48

3091 1.05 111.1 2915 1792 2423 2190 119.3 12.3 431 3093 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 1792 2307 2423 2191 0 0 0 0 0 0 26.51 26.55 26.53

3211 1.05 111.1 2916 1792 2422 2191 106.1 11.1 443 3215 0.00 1.05 0.00 0.000 516 0.000 0.050 2921 1108 2306 2422 2190 0 0 0 0 0 0 26.57 26.38 26.58

3452 1.05 111.1 2921 1107 2421 2190 79.1 12.2 489 3459 0.00 1.05 0.00 0.000 1030 0.000 0.044 2918 1800 2306 2421 2191 0 0 0 0 0 0 26.56 26.54 26.59

3590 1.05 114.9 2918 1800 2420 2190 63.7 10.5 514 3598 0.00 1.08 0.00 0.000 548 0.000 0.046 2922 1109 2305 2420 2191 0 0 0 0 0 0 26.62 26.53 26.68

3738 1.07 132.3 2921 1109 2420 2190 48.6 9.1 541 3760 0.00 1.05 15.88 0.590 9254 0.000 0.037 2918 1801 2259 2382 2136 0 0 0 0 0 0 26.59 26.55 25.74

3888 1.10 152.6 2917 1801 2361 2114 35.8 8.8 568 3918 0.08 1.10 22.83 0.561 10788 0.217 0.054 2940 1107 2173 2300 2046 0 0 0 0 0 0 26.28 26.10 25.57

4150 1.14 189.7 2939 1106 2274 2029 11.7 7.2 617 4213 0.00 1.05 54.17 0.512 9254 0.000 0.036 2937 1802 2017 2153 1882 0 0 0 0 0 0 26.41 26.38 25.32

4291 end climb: SURFACE_DEPTH_REACHED

state 4291 begin surface coast

4318 end surface coast: CONTROL_FINISHED_OK

state 4318 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	91	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	56	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	168.0
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	070921,002259,4751.3594,-12510.9434,8,1.2,10,15.7,0.4,120.5,8,8.9	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	0.56	MHEAD_RNG_PITCHd_Wd	314.1,800,-25.5,-10.833,-29.58,1041
_SM_ANGLEo	-64.9	D_GRID	306
GPS2	070921,002845,4751.3545,-12510.8447,5,0.8,6,15.7,0.5,100.9,12,4.8

FINISH	0.3,1.025019	CP_POWER1	0.000000
SM_CCo	4577,0.03,2.970,0,0,549,551.92	_24V_AH	23.87,17.103
SM_GC	0.55,7.85,0.28,0.03,0.069,0.050,2.970,166,2008,549,-7.40,-1.39,551.92,0,0,0,0,0,0,26.14,26.14,23.87	_10V_AH	10.27,9.693
IRIDIUM_FIX	4752.18,-12506.88,060921,225505	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.147553	FG_AHR_10Vo	0.000
HUMID	52.95	MEM	211260
INTERNAL_PRESSURE	8.72826	DATA_FILE_SIZE	33608,646
TCM_TEMP	15.20	CAP_FILE_SIZE	82347,0
XPDR_PINGS	0	CFSIZE	260030464,243249152
ALTIM_BOTTOM_PING	256.7,32.0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	113746018304.000000	CURRENT	0.054,196.49,1
CP_POWER	323.310000	GPS	070921,014731,4751.554,-12511.210,6,0.9,36,15.7,0.0,0.0,11,1.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	217	94.00	SBE_CT	378	64	581.20
Roll_motor	29	53	37.55	WL_blue_red_Chl	1195	37	1068.66
VBD_pump_during_apogee	441	589	6222.51	nil	0	0	0.00
VBD_pump_during_surface	229	2970	16253.36	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	4158	25	2481.29
Iridium_during_xfer	222	102	543.28	nil	0	0	0.00
Transponder_ping	2	420	25.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.25
TT8	1444	12	181.24
LPSleep	944	2	21.25
TT8_Active	702	12	88.22
TT8_Sampling	1617	37	626.23
TT8_CF8	263	42	116.16
TT8_Kalman	0	0	0.00
Analog_circuits	1561	11	176.37
GPS_charging	0	0	0.00
Compass	1435	8	121.48
RAFOS	0	0	0.00
Transponder	19	30	5.89

		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	-1.00	-73.7	167	2014	687	417	0.0	0.0	0	132	0.00	0.00	-104.97	0.011	16386	0.000	0.000	167	2012	3043	3030	3057	0	0	0	0	0	0	26.09	28.83	26.17
135	-1.05	-111.1	167	2012	3032	3057	4.0	-7.1	15	152	8.00	0.00	-4.32	0.024	18982	0.216	0.000	2242	2010	3253	3254	3253	0	0	0	0	0	0	25.77	24.92	25.95
280	-1.05	-111.1	2242	2011	3261	3252	36.6	-17.5	41	287	0.00	1.08	0.00	0.000	516	0.000	0.040	2247	1299	3255	3260	3251	0	0	0	0	0	0	26.31	26.27	26.36
428	-1.05	-111.1	2247	1299	3263	3252	61.4	-17.1	69	435	0.00	1.05	0.00	0.000	1030	0.000	0.036	2245	1989	3257	3263	3252	0	0	0	0	0	0	26.40	26.37	26.41
559	-1.05	-111.1	2243	1990	3264	3251	83.1	-16.9	94	567	0.00	1.02	0.00	0.000	516	0.000	0.039	2247	1306	3258	3265	3252	0	0	0	0	0	0	26.40	26.41	26.46
760	-1.05	-111.1	2247	1306	3266	3251	114.9	-15.9	132	765	0.00	1.05	0.00	0.000	1030	0.000	0.036	2244	2005	3258	3266	3251	0	0	0	0	0	0	26.51	26.48	26.53
893	-1.05	-111.1	2243	2005	3266	3250	135.5	-15.1	146	895	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	2005	3258	3266	3251	0	0	0	0	0	0	26.62	26.67	26.67
1013	-1.05	-111.1	2244	2005	3266	3250	152.5	-14.0	158	1017	0.00	1.05	0.00	0.000	516	0.000	0.040	2247	1300	3258	3266	3250	0	0	0	0	0	0	26.63	26.45	26.69
1066	-1.05	-111.1	2246	1301	3266	3250	159.8	-14.3	168	1070	0.00	1.05	0.00	0.000	1030	0.000	0.035	2244	2003	3258	3266	3250	0	0	0	0	0	0	26.58	26.55	26.58
1198	-1.05	-111.1	2244	2003	3266	3249	178.5	-13.6	182	1202	0.00	1.02	0.00	0.000	260	0.000	0.050	2239	2702	3257	3266	3249	0	0	0	0	0	0	26.64	26.51	26.69
1230	-1.05	-111.1	2238	2702	3266	3249	182.8	-13.5	188	1236	0.00	1.02	0.00	0.000	1030	0.000	0.032	2242	1980	3257	3266	3249	0	0	0	0	0	0	26.60	26.59	26.63
1364	-1.05	-111.1	2242	1979	3266	3249	201.3	-13.8	202	1369	0.00	0.98	0.00	0.000	516	0.000	0.048	2247	1315	3257	3266	3249	0	0	0	0	0	0	26.68	26.56	26.74
1513	-1.05	-111.1	2246	1315	3267	3248	221.9	-13.1	231	1521	0.00	1.02	0.00	0.000	1030	0.000	0.037	2244	1997	3257	3267	3247	0	0	0	0	0	0	26.62	26.59	26.64
1641	-1.05	-111.1	2243	1997	3266	3247	239.4	-13.7	244	1643	0.00	0.00	0.00	0.000	6	0.000	0.000	2244	1998	3257	3267	3247	0	0	0	0	0	0	26.63	26.70	26.68
1766	-1.05	-111.1	2244	1997	3267	3247	256.7	-14.6	256	1771	0.00	1.00	0.00	0.000	516	0.000	0.038	2247	1321	3257	3267	3247	0	0	0	0	0	0	26.72	26.60	26.77
1787	end dive: TARGET_DEPTH_EXCEEDED
state	1787	begin apogee
1792	-0.18	0.0	2245	1812	3267	3247	260.4	-12.9	260	1979	0.93	0.00	178.15	0.584	10246	0.158	0.000	2522	1814	2793	2845	2741	0	0	0	0	0	0	26.22	25.11	24.80
1984	end apogee: CONTROL_FINISHED_OK
state	1984	begin climb
1986	1.05	111.1	2522	1813	2834	2730	265.7	0.0	279	2169	1.27	1.05	170.95	0.543	10500	0.116	0.033	2913	2487	2335	2457	2214	0	0	0	0	0	0	25.34	24.99	24.69
2250	1.05	111.1	2913	2486	2434	2191	236.7	16.6	328	2259	0.00	1.02	0.00	0.000	1030	0.000	0.036	2916	1816	2313	2435	2191	0	0	0	0	0	0	25.72	25.70	25.75
2378	1.05	111.1	2915	1816	2430	2191	219.1	13.1	341	2383	0.00	1.12	0.00	0.000	516	0.000	0.045	2922	1094	2310	2430	2191	0	0	0	0	0	0	26.03	25.96	26.10
2424	1.05	111.1	2920	1094	2429	2191	212.7	14.0	349	2428	0.00	1.08	0.00	0.000	1030	0.000	0.036	2918	1791	2310	2430	2191	0	0	0	0	0	0	26.08	26.06	26.10
2558	1.05	111.1	2918	1791	2427	2190	194.8	13.6	363	2562	0.00	1.08	0.00	0.000	260	0.000	0.044	2913	2503	2309	2427	2191	0	0	0	0	0	0	26.28	26.15	26.26
2591	1.05	111.1	2913	2503	2426	2190	189.4	15.8	369	2595	0.00	1.05	0.00	0.000	1030	0.000	0.036	2916	1798	2308	2426	2191	0	0	0	0	0	0	26.26	26.22	26.28
2723	1.05	111.1	2916	1798	2425	2191	170.6	14.2	383	2727	0.00	1.08	0.00	0.000	516	0.000	0.049	2921	1099	2308	2426	2191	0	0	0	0	0	0	26.41	26.23	26.44
2800	1.05	111.1	2921	1099	2425	2191	159.2	14.2	398	2808	0.00	1.08	0.00	0.000	1030	0.000	0.037	2918	1799	2307	2425	2190	0	0	0	0	0	0	26.33	26.33	26.35
2928	1.05	111.1	2917	1799	2424	2191	141.0	14.8	411	2932	0.00	1.05	0.00	0.000	260	0.000	0.044	2913	2502	2307	2424	2190	0	0	0	0	0	0	26.44	26.39	26.51
2963	1.05	111.1	2913	2502	2423	2191	135.8	14.0	418	2971	0.00	1.05	0.00	0.000	1030	0.000	0.036	2916	1791	2307	2423	2191	0	0	0	0	0	0	26.45	26.42	26.48
3091	1.05	111.1	2915	1792	2423	2190	119.3	12.3	431	3093	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	1792	2307	2423	2191	0	0	0	0	0	0	26.51	26.55	26.53
3211	1.05	111.1	2916	1792	2422	2191	106.1	11.1	443	3215	0.00	1.05	0.00	0.000	516	0.000	0.050	2921	1108	2306	2422	2190	0	0	0	0	0	0	26.57	26.38	26.58
3452	1.05	111.1	2921	1107	2421	2190	79.1	12.2	489	3459	0.00	1.05	0.00	0.000	1030	0.000	0.044	2918	1800	2306	2421	2191	0	0	0	0	0	0	26.56	26.54	26.59
3590	1.05	114.9	2918	1800	2420	2190	63.7	10.5	514	3598	0.00	1.08	0.00	0.000	548	0.000	0.046	2922	1109	2305	2420	2191	0	0	0	0	0	0	26.62	26.53	26.68
3738	1.07	132.3	2921	1109	2420	2190	48.6	9.1	541	3760	0.00	1.05	15.88	0.590	9254	0.000	0.037	2918	1801	2259	2382	2136	0	0	0	0	0	0	26.59	26.55	25.74
3888	1.10	152.6	2917	1801	2361	2114	35.8	8.8	568	3918	0.08	1.10	22.83	0.561	10788	0.217	0.054	2940	1107	2173	2300	2046	0	0	0	0	0	0	26.28	26.10	25.57
4150	1.14	189.7	2939	1106	2274	2029	11.7	7.2	617	4213	0.00	1.05	54.17	0.512	9254	0.000	0.036	2937	1802	2017	2153	1882	0	0	0	0	0	0	26.41	26.38	25.32
4291	end climb: SURFACE_DEPTH_REACHED
state	4291	begin surface coast
4318	end surface coast: CONTROL_FINISHED_OK
state	4318	begin surface