Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 112 * 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 112 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 49 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 155 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 3 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 210.0

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 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 155

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 210.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 3 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 49 XPDR_INHIBIT 90

DIVE 112 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 080921,093001,4750.7485,-12509.2051,23,0.8,24,15.7,0.1,0.0,10,4.0 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.42 MHEAD_RNG_PITCHd_Wd 138.8,997,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -60.8 D_GRID 195

GPS2 080921,093729,4750.7759,-12509.2295,5,0.6,6,15.7,0.6,20.9,12,4.8

Post-dive calculations and measurements:

FINISH -0.5,1.013956 _24V_AH 24.34,19.772

SM_CCo 4002,0.00,0.000,0,0,550,551.92 _10V_AH 10.25,10.984

SM_GC 0.33,7.53,1.42,0.00,0.054,0.041,0.000,171,1988,550,-7.40,-1.44,551.92,0,0,0,0,0,0,26.25,26.15,25.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4750.72,-12516.60,080921,071015 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.147553 MEM 211156

HUMID 53.07 DATA_FILE_SIZE 26894,553

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 74850,0

TCM_TEMP 13.40 CFSIZE 260030464,241639424

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

CP_FREE 107451154432.000000 CURRENT 0.062,43.22,1

CP_POWER 323.310000 GPS 080921,104559,4750.566,-12508.896,4,0.8,6,15.7,0.3,38.8,12,5.9

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 95.39 SBE_CT 334 64 523.69

Roll_motor 23 99 57.07 WL_blue_red_Chl 1064 37 970.21

VBD_pump_during_apogee 550 652 8750.31 nil 0 0 0.00

VBD_pump_during_surface 198 620 2989.98 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 3620 25 2202.77

Iridium_during_xfer 299 107 780.81 nil 0 0 0.00

Transponder_ping 0 420 7.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.31

TT8 1218 12 152.60

LPSleep 722 2 16.21

TT8_Active 744 12 93.29

TT8_Sampling 1550 37 598.96

TT8_CF8 248 42 109.30

TT8_Kalman 0 0 0.00

Analog_circuits 1641 11 185.03

GPS_charging 0 0 0.00

Compass 1272 8 107.45

RAFOS 0 0 0.00

Transponder 6 30 1.88

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.84 -116.8 165 2011 685 412 0.0 0.0 0 134 0.00 0.00 -106.78 0.011 16386 0.000 0.000 166 2009 3064 3055 3074 0 0 0 0 0 0 26.08 28.83 26.15

137 -0.84 -116.8 165 2011 3055 3074 4.2 -8.3 15 154 8.27 1.08 -4.43 0.022 18724 0.218 0.069 2289 2716 3281 3282 3281 0 0 0 0 0 0 25.79 24.69 25.95

240 -0.84 -116.8 2289 2716 3290 3279 26.3 -16.7 33 248 0.05 1.08 0.00 0.000 3078 0.192 0.031 2305 1985 3284 3290 3278 0 0 0 0 0 0 26.02 26.28 26.11

380 -0.84 -116.8 2305 1985 3293 3277 49.1 -16.0 58 387 0.00 1.00 0.00 0.000 516 0.000 0.038 2306 1310 3284 3292 3277 0 0 0 0 0 0 26.33 26.33 26.39

537 -0.84 -116.8 2305 1310 3295 3277 70.3 -14.2 87 545 0.00 1.05 0.00 0.000 1030 0.000 0.036 2303 1998 3286 3295 3277 0 0 0 0 0 0 26.41 26.39 26.45

676 -0.84 -116.8 2302 1999 3296 3277 89.4 -12.7 112 684 0.00 1.02 0.00 0.000 516 0.000 0.041 2303 1314 3285 3295 3276 0 0 0 0 0 0 26.52 26.41 26.58

871 -0.84 -116.8 2302 1314 3297 3276 113.1 -12.7 148 875 0.00 1.05 0.00 0.000 1030 0.000 0.036 2298 2007 3286 3297 3276 0 0 0 0 0 0 26.51 26.48 26.53

1003 -0.84 -116.8 2297 2007 3297 3276 129.0 -12.0 162 1008 0.08 1.02 0.00 0.000 2308 0.220 0.050 2306 2704 3286 3296 3276 0 0 0 0 0 0 26.32 26.45 26.45

1067 -0.84 -116.8 2306 2704 3297 3276 136.3 -10.8 174 1071 0.00 1.02 0.00 0.000 1062 0.000 0.032 2310 1990 3286 3297 3276 0 0 0 0 0 0 26.53 26.49 26.55

1199 -0.84 -116.8 2308 1990 3297 3275 151.1 -11.3 188 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 1991 3286 3297 3276 0 0 0 0 0 0 26.52 26.54 26.55

1319 -0.84 -116.8 2309 1990 3297 3276 164.5 -10.9 200 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2309 1990 3286 3297 3275 0 0 0 0 0 0 26.51 26.58 26.55

1440 -0.84 -116.8 2309 1990 3297 3275 177.1 -10.3 212 1445 0.00 1.00 0.00 0.000 548 0.000 0.040 2315 1313 3286 3297 3275 0 0 0 0 0 0 26.63 26.55 26.67

1508 -0.84 -116.8 2314 1313 3297 3275 184.9 -11.6 225 1516 0.00 1.02 0.00 0.000 1030 0.000 0.040 2312 1994 3285 3297 3274 0 0 0 0 0 0 26.50 26.45 26.54

1604 end dive: TARGET_DEPTH_EXCEEDED

state 1604 begin apogee

1609 -0.18 0.0 2311 1784 3297 3275 195.4 -11.1 235 1827 0.70 0.00 208.70 0.549 10246 0.174 0.000 2518 1782 2793 2846 2740 0 0 0 0 0 0 26.18 25.08 24.78

1832 end apogee: CONTROL_FINISHED_OK

state 1832 begin climb

1834 0.84 116.8 2519 1783 2840 2735 201.2 0.0 257 2021 1.08 1.05 177.85 0.532 10756 0.116 0.039 2856 1139 2316 2439 2193 0 0 0 0 0 0 25.31 25.12 24.65

2073 0.86 128.6 2856 1139 2411 2173 184.0 10.1 301 2077 0.00 1.05 0.00 0.000 1062 0.000 0.035 2853 1808 2291 2410 2173 0 0 0 0 0 0 25.58 25.56 25.60

2205 0.86 128.6 2852 1808 2408 2167 168.2 12.3 315 2207 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 1808 2287 2408 2167 0 0 0 0 0 0 25.82 25.94 25.91

2326 0.86 128.6 2853 1808 2406 2167 153.5 12.1 327 2329 0.00 1.02 0.00 0.000 260 0.000 0.044 2848 2490 2286 2406 2167 0 0 0 0 0 0 26.10 26.08 26.17

2371 0.86 128.6 2847 2490 2405 2164 148.3 11.9 335 2374 0.00 0.98 0.00 0.000 1030 0.000 0.038 2851 1834 2284 2405 2164 0 0 0 0 0 0 26.17 26.14 26.20

2503 0.86 128.6 2850 1834 2403 2164 132.7 11.6 349 2511 0.00 0.00 0.00 0.000 6 0.000 0.000 2851 1834 2284 2404 2164 0 0 0 0 0 0 26.33 26.41 26.40

2635 0.86 133.0 2851 1834 2403 2164 118.2 10.6 362 2643 0.00 0.00 3.42 0.653 8230 0.000 0.000 2851 1834 2262 2388 2136 0 0 0 0 0 0 26.44 26.01 25.03

2765 0.88 144.9 2850 1834 2396 2140 104.9 10.1 375 2796 0.00 1.00 23.52 0.591 8484 0.000 0.041 2848 2487 2198 2328 2069 0 0 0 0 0 0 26.45 25.79 25.44

2826 0.88 145.0 2847 2487 2313 2053 98.3 10.8 386 2834 0.00 1.02 0.00 0.000 1062 0.000 0.037 2851 1802 2183 2314 2053 0 0 0 0 0 0 26.15 26.12 26.19

2966 0.92 178.2 2851 1802 2310 2053 84.3 8.8 411 3018 0.10 1.12 45.53 0.538 10788 0.160 0.046 2885 1108 2069 2205 1933 0 0 0 0 0 0 26.13 25.70 25.25

3112 0.92 178.2 2885 1107 2173 1910 68.3 11.1 436 3121 0.00 1.08 0.00 0.000 1030 0.000 0.099 2882 1797 2041 2172 1910 0 0 0 0 0 0 26.08 26.06 26.10

3246 0.92 178.2 2881 1797 2172 1907 51.7 11.9 461 3253 0.00 0.00 0.00 0.000 6 0.000 0.000 2882 1797 2038 2171 1906 0 0 0 0 0 0 26.24 26.32 26.31

3378 0.97 225.8 2881 1797 2171 1905 39.5 7.9 486 3454 0.00 1.08 68.25 0.507 8484 0.000 0.043 2877 2497 1869 2011 1728 0 0 0 0 0 0 26.39 25.48 25.18

3481 1.00 247.5 2877 2497 1991 1705 31.1 9.5 501 3511 0.05 1.05 23.65 0.525 11302 0.109 0.037 2903 1803 1786 1931 1642 0 0 0 0 0 0 25.73 25.86 25.13

3636 1.00 247.5 2902 1803 1899 1612 12.1 12.8 529 3644 0.00 1.10 0.00 0.000 516 0.000 0.047 2909 1103 1755 1899 1612 0 0 0 0 0 0 26.08 25.98 26.14

3748 end climb: SURFACE_DEPTH_REACHED

state 3748 begin surface coast

3772 end surface coast: CONTROL_FINISHED_OK

state 3772 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	112	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	49	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	155	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	3	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	210.0
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	080921,093001,4750.7485,-12509.2051,23,0.8,24,15.7,0.1,0.0,10,4.0	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.42	MHEAD_RNG_PITCHd_Wd	138.8,997,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-60.8	D_GRID	195
GPS2	080921,093729,4750.7759,-12509.2295,5,0.6,6,15.7,0.6,20.9,12,4.8

FINISH	-0.5,1.013956	_24V_AH	24.34,19.772
SM_CCo	4002,0.00,0.000,0,0,550,551.92	_10V_AH	10.25,10.984
SM_GC	0.33,7.53,1.42,0.00,0.054,0.041,0.000,171,1988,550,-7.40,-1.44,551.92,0,0,0,0,0,0,26.25,26.15,25.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4750.72,-12516.60,080921,071015	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.147553	MEM	211156
HUMID	53.07	DATA_FILE_SIZE	26894,553
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	74850,0
TCM_TEMP	13.40	CFSIZE	260030464,241639424
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	107451154432.000000	CURRENT	0.062,43.22,1
CP_POWER	323.310000	GPS	080921,104559,4750.566,-12508.896,4,0.8,6,15.7,0.3,38.8,12,5.9
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	95.39	SBE_CT	334	64	523.69
Roll_motor	23	99	57.07	WL_blue_red_Chl	1064	37	970.21
VBD_pump_during_apogee	550	652	8750.31	nil	0	0	0.00
VBD_pump_during_surface	198	620	2989.98	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	3620	25	2202.77
Iridium_during_xfer	299	107	780.81	nil	0	0	0.00
Transponder_ping	0	420	7.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.31
TT8	1218	12	152.60
LPSleep	722	2	16.21
TT8_Active	744	12	93.29
TT8_Sampling	1550	37	598.96
TT8_CF8	248	42	109.30
TT8_Kalman	0	0	0.00
Analog_circuits	1641	11	185.03
GPS_charging	0	0	0.00
Compass	1272	8	107.45
RAFOS	0	0	0.00
Transponder	6	30	1.88

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.84	-116.8	165	2011	685	412	0.0	0.0	0	134	0.00	0.00	-106.78	0.011	16386	0.000	0.000	166	2009	3064	3055	3074	0	0	0	0	0	0	26.08	28.83	26.15
137	-0.84	-116.8	165	2011	3055	3074	4.2	-8.3	15	154	8.27	1.08	-4.43	0.022	18724	0.218	0.069	2289	2716	3281	3282	3281	0	0	0	0	0	0	25.79	24.69	25.95
240	-0.84	-116.8	2289	2716	3290	3279	26.3	-16.7	33	248	0.05	1.08	0.00	0.000	3078	0.192	0.031	2305	1985	3284	3290	3278	0	0	0	0	0	0	26.02	26.28	26.11
380	-0.84	-116.8	2305	1985	3293	3277	49.1	-16.0	58	387	0.00	1.00	0.00	0.000	516	0.000	0.038	2306	1310	3284	3292	3277	0	0	0	0	0	0	26.33	26.33	26.39
537	-0.84	-116.8	2305	1310	3295	3277	70.3	-14.2	87	545	0.00	1.05	0.00	0.000	1030	0.000	0.036	2303	1998	3286	3295	3277	0	0	0	0	0	0	26.41	26.39	26.45
676	-0.84	-116.8	2302	1999	3296	3277	89.4	-12.7	112	684	0.00	1.02	0.00	0.000	516	0.000	0.041	2303	1314	3285	3295	3276	0	0	0	0	0	0	26.52	26.41	26.58
871	-0.84	-116.8	2302	1314	3297	3276	113.1	-12.7	148	875	0.00	1.05	0.00	0.000	1030	0.000	0.036	2298	2007	3286	3297	3276	0	0	0	0	0	0	26.51	26.48	26.53
1003	-0.84	-116.8	2297	2007	3297	3276	129.0	-12.0	162	1008	0.08	1.02	0.00	0.000	2308	0.220	0.050	2306	2704	3286	3296	3276	0	0	0	0	0	0	26.32	26.45	26.45
1067	-0.84	-116.8	2306	2704	3297	3276	136.3	-10.8	174	1071	0.00	1.02	0.00	0.000	1062	0.000	0.032	2310	1990	3286	3297	3276	0	0	0	0	0	0	26.53	26.49	26.55
1199	-0.84	-116.8	2308	1990	3297	3275	151.1	-11.3	188	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	1991	3286	3297	3276	0	0	0	0	0	0	26.52	26.54	26.55
1319	-0.84	-116.8	2309	1990	3297	3276	164.5	-10.9	200	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2309	1990	3286	3297	3275	0	0	0	0	0	0	26.51	26.58	26.55
1440	-0.84	-116.8	2309	1990	3297	3275	177.1	-10.3	212	1445	0.00	1.00	0.00	0.000	548	0.000	0.040	2315	1313	3286	3297	3275	0	0	0	0	0	0	26.63	26.55	26.67
1508	-0.84	-116.8	2314	1313	3297	3275	184.9	-11.6	225	1516	0.00	1.02	0.00	0.000	1030	0.000	0.040	2312	1994	3285	3297	3274	0	0	0	0	0	0	26.50	26.45	26.54
1604	end dive: TARGET_DEPTH_EXCEEDED
state	1604	begin apogee
1609	-0.18	0.0	2311	1784	3297	3275	195.4	-11.1	235	1827	0.70	0.00	208.70	0.549	10246	0.174	0.000	2518	1782	2793	2846	2740	0	0	0	0	0	0	26.18	25.08	24.78
1832	end apogee: CONTROL_FINISHED_OK
state	1832	begin climb
1834	0.84	116.8	2519	1783	2840	2735	201.2	0.0	257	2021	1.08	1.05	177.85	0.532	10756	0.116	0.039	2856	1139	2316	2439	2193	0	0	0	0	0	0	25.31	25.12	24.65
2073	0.86	128.6	2856	1139	2411	2173	184.0	10.1	301	2077	0.00	1.05	0.00	0.000	1062	0.000	0.035	2853	1808	2291	2410	2173	0	0	0	0	0	0	25.58	25.56	25.60
2205	0.86	128.6	2852	1808	2408	2167	168.2	12.3	315	2207	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	1808	2287	2408	2167	0	0	0	0	0	0	25.82	25.94	25.91
2326	0.86	128.6	2853	1808	2406	2167	153.5	12.1	327	2329	0.00	1.02	0.00	0.000	260	0.000	0.044	2848	2490	2286	2406	2167	0	0	0	0	0	0	26.10	26.08	26.17
2371	0.86	128.6	2847	2490	2405	2164	148.3	11.9	335	2374	0.00	0.98	0.00	0.000	1030	0.000	0.038	2851	1834	2284	2405	2164	0	0	0	0	0	0	26.17	26.14	26.20
2503	0.86	128.6	2850	1834	2403	2164	132.7	11.6	349	2511	0.00	0.00	0.00	0.000	6	0.000	0.000	2851	1834	2284	2404	2164	0	0	0	0	0	0	26.33	26.41	26.40
2635	0.86	133.0	2851	1834	2403	2164	118.2	10.6	362	2643	0.00	0.00	3.42	0.653	8230	0.000	0.000	2851	1834	2262	2388	2136	0	0	0	0	0	0	26.44	26.01	25.03
2765	0.88	144.9	2850	1834	2396	2140	104.9	10.1	375	2796	0.00	1.00	23.52	0.591	8484	0.000	0.041	2848	2487	2198	2328	2069	0	0	0	0	0	0	26.45	25.79	25.44
2826	0.88	145.0	2847	2487	2313	2053	98.3	10.8	386	2834	0.00	1.02	0.00	0.000	1062	0.000	0.037	2851	1802	2183	2314	2053	0	0	0	0	0	0	26.15	26.12	26.19
2966	0.92	178.2	2851	1802	2310	2053	84.3	8.8	411	3018	0.10	1.12	45.53	0.538	10788	0.160	0.046	2885	1108	2069	2205	1933	0	0	0	0	0	0	26.13	25.70	25.25
3112	0.92	178.2	2885	1107	2173	1910	68.3	11.1	436	3121	0.00	1.08	0.00	0.000	1030	0.000	0.099	2882	1797	2041	2172	1910	0	0	0	0	0	0	26.08	26.06	26.10
3246	0.92	178.2	2881	1797	2172	1907	51.7	11.9	461	3253	0.00	0.00	0.00	0.000	6	0.000	0.000	2882	1797	2038	2171	1906	0	0	0	0	0	0	26.24	26.32	26.31
3378	0.97	225.8	2881	1797	2171	1905	39.5	7.9	486	3454	0.00	1.08	68.25	0.507	8484	0.000	0.043	2877	2497	1869	2011	1728	0	0	0	0	0	0	26.39	25.48	25.18
3481	1.00	247.5	2877	2497	1991	1705	31.1	9.5	501	3511	0.05	1.05	23.65	0.525	11302	0.109	0.037	2903	1803	1786	1931	1642	0	0	0	0	0	0	25.73	25.86	25.13
3636	1.00	247.5	2902	1803	1899	1612	12.1	12.8	529	3644	0.00	1.10	0.00	0.000	516	0.000	0.047	2909	1103	1755	1899	1612	0	0	0	0	0	0	26.08	25.98	26.14
3748	end climb: SURFACE_DEPTH_REACHED
state	3748	begin surface coast
3772	end surface coast: CONTROL_FINISHED_OK
state	3772	begin surface