Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 150 * 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 150 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 44 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 350 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 150 PITCH_MAX 3900 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 C_PITCH 2600 AH0_24V 127.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 100 SEABIRD_T_G 0.0043722652

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 16 SEABIRD_T_H 0.00063104689

MAX_BUOY 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 MAXI_10V 0.80000001 SEABIRD_C_G -10.191285

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1531761

RHO 1.0275 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55599 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 280.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 350 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 115

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 235

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 1

COMPASS_USE 4 ID 204 P_OVSHOOT 0.079999998 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097655999 P_OVSHOOT_WITHG 0 T_TURN_SAMPINT -5

CP_NDIVE 1.0 INT_PRESSURE_YINT 0.74000001 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

CP_PROFILE 7.0 KALMAN_USE 2 RAFOS_DEVICE -1 UNCOM_BLEED 60

CP_RECORDABOVE 2000.0 LOGGERDEVICE1 135 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

CP_STARTS 280.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 0 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DEEPGLIDER 0 LOITER_W_DBAND 0.5 ROLL_DEG 20 VBD_MIN 550

DEVICE1 2 MASS 55599 ROLL_MAX 3704 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE2 115 MASS_COMP 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE3 -1 MAXI_10V 0.80000001 ROLL_MIN 236 VBD_TIMEOUT 720

DEVICE4 -1 MAXI_24V 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 44 XPDR_INHIBIT 90

DIVE 150 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 8 SEABIRD_C_H 1.1531761 XPDR_REP 0

D_BOOST 0 MOTHERBOARD 4 SEABIRD_C_I -0.0027973817 XPDR_VALID 4

D_CALL 0 NAV_MODE 2 SEABIRD_C_J 0.00030337134

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_T_G 0.0043722652

Pre-dive calculations and measurements:

GPS1 110921,072731,4751.0098,-12509.8828,9,0.9,27,15.7,0.2,159.9,10,2.7 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 107.4,1866,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.0 D_GRID 222

GPS2 110921,073116,4750.9844,-12509.8984,4,0.6,5,15.7,0.5,219.0,12,7.3

Post-dive calculations and measurements:

FINISH -0.4,1.025312 _10V_AH 10.25,13.611

SM_CCo 4610,-0.03,0.740,0,0,551,551.92 FG_AHR_24Vo 0.000

SM_GC 0.50,7.47,0.28,-0.03,0.061,0.052,0.740,179,2012,551,-7.41,-1.50,551.92,0,0,0,0,0,0,26.50,26.48,25.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,110921,060023 MEM 209808

TT8_MAMPS 0.02247,0.146804 DATA_FILE_SIZE 33429,667

HUMID 53.85 CAP_FILE_SIZE 76349,0

INTERNAL_PRESSURE 8.72826 CFSIZE 260030464,238739456

TCM_TEMP 15.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.068,337.58,1

ALTIM_BOTTOM_PING 192.2,45.1 GPS 110921,085001,4750.941,-12509.507,9,1.1,23,15.7,0.4,145.2,9,1.8

_24V_AH 24.28,24.663

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 241 103.45 SBE_CT 398 64 623.67

Roll_motor 27 65 43.89 WL_blue_red_Chl 1262 37 1147.95

VBD_pump_during_apogee 475 593 6848.61 nil 0 0 0.00

VBD_pump_during_surface 212 634 3274.10 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 140 88 302.45 nil 0 0 0.00

Transponder_ping 1 420 10.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.28

TT8 1486 12 186.16

LPSleep 886 2 19.89

TT8_Active 713 12 89.36

TT8_Sampling 1533 37 592.50

TT8_CF8 244 42 107.43

TT8_Kalman 0 0 0.00

Analog_circuits 1513 11 170.68

GPS_charging 0 0 0.00

Compass 1494 8 126.24

RAFOS 0 0 0.00

Transponder 9 30 2.77

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.80 -116.8 167 2008 689 412 0.0 0.0 0 109 0.00 0.00 -98.55 0.004 16386 0.000 0.000 167 2006 2839 2835 2843 0 0 0 0 0 0 26.31 28.83 26.37

112 -0.80 -116.8 167 2006 2835 2843 3.6 -6.8 14 135 8.32 1.10 -9.65 0.010 18724 0.209 0.066 2318 2714 3280 3283 3277 0 0 0 0 0 0 25.76 24.65 25.91

282 -0.80 -116.8 2318 2714 3288 3276 34.4 -11.9 45 289 0.00 1.05 0.00 0.000 1030 0.000 0.027 2320 1989 3282 3289 3276 0 0 0 0 0 0 26.37 26.36 26.41

417 -0.80 -116.8 2320 1988 3290 3275 49.6 -11.0 70 425 0.00 1.00 0.00 0.000 516 0.000 0.034 2321 1314 3282 3290 3275 0 0 0 0 0 0 26.67 26.41 26.72

657 -0.80 -116.8 2321 1313 3292 3275 77.8 -10.8 116 664 0.00 1.05 0.00 0.000 1030 0.000 0.030 2318 2012 3283 3292 3275 0 0 0 0 0 0 26.57 26.53 26.58

796 -0.80 -116.8 2317 2012 3293 3275 94.5 -12.7 141 803 0.00 1.05 0.00 0.000 516 0.000 0.033 2321 1309 3284 3293 3275 0 0 0 0 0 0 26.82 26.55 26.88

1000 -0.80 -116.8 2321 1309 3294 3275 118.7 -11.5 180 1007 0.00 1.02 0.00 0.000 1030 0.000 0.030 2318 1997 3283 3293 3273 0 0 0 0 0 0 26.66 26.63 26.68

1130 -0.80 -116.8 2317 1997 3294 3274 131.4 -10.1 193 1134 0.00 1.02 0.00 0.000 292 0.000 0.037 2312 2700 3284 3294 3274 0 0 0 0 0 0 26.91 26.63 26.96

1156 -0.80 -116.8 2312 2700 3294 3274 134.5 -10.3 198 1164 0.00 1.00 0.00 0.000 1030 0.000 0.027 2316 1994 3284 3294 3274 0 0 0 0 0 0 26.72 26.70 26.74

1282 -0.80 -116.8 2315 1994 3294 3274 148.7 -11.9 211 1287 0.00 0.98 0.00 0.000 516 0.000 0.034 2321 1324 3284 3294 3274 0 0 0 0 0 0 26.94 26.67 26.99

1338 -0.80 -116.8 2320 1323 3294 3274 155.8 -12.9 222 1346 0.00 1.00 0.00 0.000 1030 0.000 0.031 2318 1997 3284 3294 3274 0 0 0 0 0 0 26.72 26.70 26.74

1467 -0.80 -116.8 2317 1996 3294 3274 171.7 -12.5 235 1475 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1997 3284 3294 3274 0 0 0 0 0 0 26.99 27.03 27.02

1596 -0.80 -116.8 2317 1997 3294 3274 187.5 -11.8 248 1604 0.00 0.00 0.00 0.000 6 0.000 0.000 2317 1996 3283 3293 3274 0 0 0 0 0 0 26.99 27.04 27.04

1727 -0.80 -116.8 2317 1997 3294 3274 202.5 -11.1 261 1729 0.00 0.00 0.00 0.000 6 0.000 0.000 2318 1997 3284 3294 3274 0 0 0 0 0 0 27.01 27.07 27.05

1847 -0.80 -116.8 2317 1997 3294 3274 214.5 -10.0 273 1851 0.00 1.02 0.00 0.000 292 0.000 0.037 2312 2702 3284 3294 3274 0 0 0 0 0 0 27.02 26.72 27.10

1871 -0.80 -116.8 2311 2702 3295 3274 217.0 -9.5 278 1879 0.00 1.00 0.00 0.000 1062 0.000 0.026 2315 1995 3284 3294 3274 0 0 0 0 0 0 26.82 26.79 26.84

1888 end dive: BOTTOM_OBSTACLE_DETECTED

state 1888 begin apogee

1894 -0.18 0.0 2317 1781 3293 3274 218.5 -9.9 280 2080 0.70 0.00 181.18 0.574 10246 0.158 0.000 2525 1779 2798 2853 2744 0 0 0 0 0 0 26.28 25.29 24.80

2081 end apogee: CONTROL_FINISHED_OK

state 2081 begin climb

2083 0.80 116.8 2525 1779 2845 2738 222.5 0.0 299 2272 1.00 0.00 182.55 0.544 10758 0.116 0.000 2834 1779 2324 2451 2198 0 0 0 0 0 0 25.33 25.09 24.65

2392 0.82 138.7 2833 1779 2411 2164 197.6 8.9 346 2423 0.00 1.02 21.85 0.594 8740 0.000 0.039 2839 1137 2225 2356 2095 0 0 0 0 0 0 26.03 25.53 25.00

2467 0.82 138.7 2838 1137 2340 2087 190.2 10.2 360 2472 0.00 1.02 0.00 0.000 1030 0.000 0.029 2835 1800 2213 2339 2087 0 0 0 0 0 0 25.86 25.84 25.89

2602 0.82 138.7 2835 1800 2337 2083 176.0 11.2 374 2606 0.00 1.05 0.00 0.000 260 0.000 0.038 2830 2493 2210 2337 2083 0 0 0 0 0 0 26.33 26.08 26.39

2696 0.82 138.7 2830 2493 2337 2079 165.1 11.6 392 2700 0.00 0.98 0.00 0.000 1030 0.000 0.032 2833 1835 2207 2336 2079 0 0 0 0 0 0 26.25 26.23 26.27

2828 0.82 138.7 2833 1834 2337 2079 148.8 12.2 406 2832 0.00 1.12 0.00 0.000 516 0.000 0.041 2839 1109 2208 2337 2079 0 0 0 0 0 0 26.57 26.31 26.63

2891 0.82 138.7 2839 1108 2338 2079 141.5 11.7 418 2895 0.00 1.05 0.00 0.000 1030 0.000 0.030 2835 1803 2208 2337 2079 0 0 0 0 0 0 26.41 26.38 26.44

3024 0.83 143.3 2835 1803 2336 2079 128.0 9.9 432 3028 0.00 1.02 0.00 0.000 292 0.000 0.038 2830 2496 2207 2336 2079 0 0 0 0 0 0 26.69 26.43 26.74

3118 0.83 143.3 2830 2496 2336 2077 118.2 10.5 450 3121 0.00 1.02 0.00 0.000 1030 0.000 0.033 2834 1800 2207 2336 2078 0 0 0 0 0 0 26.53 26.49 26.53

3252 0.83 143.3 2833 1799 2336 2078 103.4 11.7 464 3260 0.05 0.00 0.00 0.000 2054 0.242 0.000 2843 1799 2206 2335 2078 0 0 0 0 0 0 26.53 26.60 26.56

3382 0.83 143.3 2842 1799 2335 2078 88.5 10.5 487 3389 0.00 1.05 0.00 0.000 260 0.000 0.040 2840 2502 2206 2335 2078 0 0 0 0 0 0 26.83 26.55 26.88

3445 0.85 158.2 2838 2502 2334 2078 82.2 9.3 498 3467 0.00 1.02 17.70 0.588 9254 0.000 0.033 2843 1805 2152 2285 2020 0 0 0 0 0 0 26.63 26.60 25.67

3596 0.85 163.0 2842 1805 2266 2001 67.6 9.9 525 3603 0.00 1.08 0.00 0.000 548 0.000 0.043 2848 1099 2133 2266 2001 0 0 0 0 0 0 26.71 26.44 26.77

3749 0.90 203.3 2848 1099 2264 2001 53.9 7.8 554 3823 0.08 1.05 66.47 0.510 11302 0.145 0.031 2871 1798 1966 2106 1827 0 0 0 0 0 0 26.27 26.55 25.31

3949 0.92 219.0 2871 1798 2082 1804 34.9 9.2 588 3958 0.00 1.12 5.40 0.574 8740 0.000 0.040 2877 1105 1909 2051 1767 0 0 0 0 0 0 26.39 25.94 25.30

4191 0.92 219.6 2876 1105 2054 1767 9.7 10.1 634 4199 0.00 1.05 0.00 0.000 1062 0.000 0.031 2873 1798 1910 2053 1767 0 0 0 0 0 0 26.39 26.36 26.41

4312 end climb: SURFACE_DEPTH_REACHED

state 4312 begin surface coast

4371 end surface coast: CONTROL_FINISHED_OK

state 4371 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	150	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	44	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	350	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	150	PITCH_MAX	3900	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	C_PITCH	2600	AH0_24V	127.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	100	SEABIRD_T_G	0.0043722652
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	16	SEABIRD_T_H	0.00063104689
MAX_BUOY	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	MAXI_10V	0.80000001	SEABIRD_C_G	-10.191285
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1531761
RHO	1.0275	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55599	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	280.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	110921,072731,4751.0098,-12509.8828,9,0.9,27,15.7,0.2,159.9,10,2.7	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	107.4,1866,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.0	D_GRID	222
GPS2	110921,073116,4750.9844,-12509.8984,4,0.6,5,15.7,0.5,219.0,12,7.3

FINISH	-0.4,1.025312	_10V_AH	10.25,13.611
SM_CCo	4610,-0.03,0.740,0,0,551,551.92	FG_AHR_24Vo	0.000
SM_GC	0.50,7.47,0.28,-0.03,0.061,0.052,0.740,179,2012,551,-7.41,-1.50,551.92,0,0,0,0,0,0,26.50,26.48,25.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,110921,060023	MEM	209808
TT8_MAMPS	0.02247,0.146804	DATA_FILE_SIZE	33429,667
HUMID	53.85	CAP_FILE_SIZE	76349,0
INTERNAL_PRESSURE	8.72826	CFSIZE	260030464,238739456
TCM_TEMP	15.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.068,337.58,1
ALTIM_BOTTOM_PING	192.2,45.1	GPS	110921,085001,4750.941,-12509.507,9,1.1,23,15.7,0.4,145.2,9,1.8
_24V_AH	24.28,24.663

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	241	103.45	SBE_CT	398	64	623.67
Roll_motor	27	65	43.89	WL_blue_red_Chl	1262	37	1147.95
VBD_pump_during_apogee	475	593	6848.61	nil	0	0	0.00
VBD_pump_during_surface	212	634	3274.10	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	140	88	302.45	nil	0	0	0.00
Transponder_ping	1	420	10.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.28
TT8	1486	12	186.16
LPSleep	886	2	19.89
TT8_Active	713	12	89.36
TT8_Sampling	1533	37	592.50
TT8_CF8	244	42	107.43
TT8_Kalman	0	0	0.00
Analog_circuits	1513	11	170.68
GPS_charging	0	0	0.00
Compass	1494	8	126.24
RAFOS	0	0	0.00
Transponder	9	30	2.77

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.80	-116.8	167	2008	689	412	0.0	0.0	0	109	0.00	0.00	-98.55	0.004	16386	0.000	0.000	167	2006	2839	2835	2843	0	0	0	0	0	0	26.31	28.83	26.37
112	-0.80	-116.8	167	2006	2835	2843	3.6	-6.8	14	135	8.32	1.10	-9.65	0.010	18724	0.209	0.066	2318	2714	3280	3283	3277	0	0	0	0	0	0	25.76	24.65	25.91
282	-0.80	-116.8	2318	2714	3288	3276	34.4	-11.9	45	289	0.00	1.05	0.00	0.000	1030	0.000	0.027	2320	1989	3282	3289	3276	0	0	0	0	0	0	26.37	26.36	26.41
417	-0.80	-116.8	2320	1988	3290	3275	49.6	-11.0	70	425	0.00	1.00	0.00	0.000	516	0.000	0.034	2321	1314	3282	3290	3275	0	0	0	0	0	0	26.67	26.41	26.72
657	-0.80	-116.8	2321	1313	3292	3275	77.8	-10.8	116	664	0.00	1.05	0.00	0.000	1030	0.000	0.030	2318	2012	3283	3292	3275	0	0	0	0	0	0	26.57	26.53	26.58
796	-0.80	-116.8	2317	2012	3293	3275	94.5	-12.7	141	803	0.00	1.05	0.00	0.000	516	0.000	0.033	2321	1309	3284	3293	3275	0	0	0	0	0	0	26.82	26.55	26.88
1000	-0.80	-116.8	2321	1309	3294	3275	118.7	-11.5	180	1007	0.00	1.02	0.00	0.000	1030	0.000	0.030	2318	1997	3283	3293	3273	0	0	0	0	0	0	26.66	26.63	26.68
1130	-0.80	-116.8	2317	1997	3294	3274	131.4	-10.1	193	1134	0.00	1.02	0.00	0.000	292	0.000	0.037	2312	2700	3284	3294	3274	0	0	0	0	0	0	26.91	26.63	26.96
1156	-0.80	-116.8	2312	2700	3294	3274	134.5	-10.3	198	1164	0.00	1.00	0.00	0.000	1030	0.000	0.027	2316	1994	3284	3294	3274	0	0	0	0	0	0	26.72	26.70	26.74
1282	-0.80	-116.8	2315	1994	3294	3274	148.7	-11.9	211	1287	0.00	0.98	0.00	0.000	516	0.000	0.034	2321	1324	3284	3294	3274	0	0	0	0	0	0	26.94	26.67	26.99
1338	-0.80	-116.8	2320	1323	3294	3274	155.8	-12.9	222	1346	0.00	1.00	0.00	0.000	1030	0.000	0.031	2318	1997	3284	3294	3274	0	0	0	0	0	0	26.72	26.70	26.74
1467	-0.80	-116.8	2317	1996	3294	3274	171.7	-12.5	235	1475	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1997	3284	3294	3274	0	0	0	0	0	0	26.99	27.03	27.02
1596	-0.80	-116.8	2317	1997	3294	3274	187.5	-11.8	248	1604	0.00	0.00	0.00	0.000	6	0.000	0.000	2317	1996	3283	3293	3274	0	0	0	0	0	0	26.99	27.04	27.04
1727	-0.80	-116.8	2317	1997	3294	3274	202.5	-11.1	261	1729	0.00	0.00	0.00	0.000	6	0.000	0.000	2318	1997	3284	3294	3274	0	0	0	0	0	0	27.01	27.07	27.05
1847	-0.80	-116.8	2317	1997	3294	3274	214.5	-10.0	273	1851	0.00	1.02	0.00	0.000	292	0.000	0.037	2312	2702	3284	3294	3274	0	0	0	0	0	0	27.02	26.72	27.10
1871	-0.80	-116.8	2311	2702	3295	3274	217.0	-9.5	278	1879	0.00	1.00	0.00	0.000	1062	0.000	0.026	2315	1995	3284	3294	3274	0	0	0	0	0	0	26.82	26.79	26.84
1888	end dive: BOTTOM_OBSTACLE_DETECTED
state	1888	begin apogee
1894	-0.18	0.0	2317	1781	3293	3274	218.5	-9.9	280	2080	0.70	0.00	181.18	0.574	10246	0.158	0.000	2525	1779	2798	2853	2744	0	0	0	0	0	0	26.28	25.29	24.80
2081	end apogee: CONTROL_FINISHED_OK
state	2081	begin climb
2083	0.80	116.8	2525	1779	2845	2738	222.5	0.0	299	2272	1.00	0.00	182.55	0.544	10758	0.116	0.000	2834	1779	2324	2451	2198	0	0	0	0	0	0	25.33	25.09	24.65
2392	0.82	138.7	2833	1779	2411	2164	197.6	8.9	346	2423	0.00	1.02	21.85	0.594	8740	0.000	0.039	2839	1137	2225	2356	2095	0	0	0	0	0	0	26.03	25.53	25.00
2467	0.82	138.7	2838	1137	2340	2087	190.2	10.2	360	2472	0.00	1.02	0.00	0.000	1030	0.000	0.029	2835	1800	2213	2339	2087	0	0	0	0	0	0	25.86	25.84	25.89
2602	0.82	138.7	2835	1800	2337	2083	176.0	11.2	374	2606	0.00	1.05	0.00	0.000	260	0.000	0.038	2830	2493	2210	2337	2083	0	0	0	0	0	0	26.33	26.08	26.39
2696	0.82	138.7	2830	2493	2337	2079	165.1	11.6	392	2700	0.00	0.98	0.00	0.000	1030	0.000	0.032	2833	1835	2207	2336	2079	0	0	0	0	0	0	26.25	26.23	26.27
2828	0.82	138.7	2833	1834	2337	2079	148.8	12.2	406	2832	0.00	1.12	0.00	0.000	516	0.000	0.041	2839	1109	2208	2337	2079	0	0	0	0	0	0	26.57	26.31	26.63
2891	0.82	138.7	2839	1108	2338	2079	141.5	11.7	418	2895	0.00	1.05	0.00	0.000	1030	0.000	0.030	2835	1803	2208	2337	2079	0	0	0	0	0	0	26.41	26.38	26.44
3024	0.83	143.3	2835	1803	2336	2079	128.0	9.9	432	3028	0.00	1.02	0.00	0.000	292	0.000	0.038	2830	2496	2207	2336	2079	0	0	0	0	0	0	26.69	26.43	26.74
3118	0.83	143.3	2830	2496	2336	2077	118.2	10.5	450	3121	0.00	1.02	0.00	0.000	1030	0.000	0.033	2834	1800	2207	2336	2078	0	0	0	0	0	0	26.53	26.49	26.53
3252	0.83	143.3	2833	1799	2336	2078	103.4	11.7	464	3260	0.05	0.00	0.00	0.000	2054	0.242	0.000	2843	1799	2206	2335	2078	0	0	0	0	0	0	26.53	26.60	26.56
3382	0.83	143.3	2842	1799	2335	2078	88.5	10.5	487	3389	0.00	1.05	0.00	0.000	260	0.000	0.040	2840	2502	2206	2335	2078	0	0	0	0	0	0	26.83	26.55	26.88
3445	0.85	158.2	2838	2502	2334	2078	82.2	9.3	498	3467	0.00	1.02	17.70	0.588	9254	0.000	0.033	2843	1805	2152	2285	2020	0	0	0	0	0	0	26.63	26.60	25.67
3596	0.85	163.0	2842	1805	2266	2001	67.6	9.9	525	3603	0.00	1.08	0.00	0.000	548	0.000	0.043	2848	1099	2133	2266	2001	0	0	0	0	0	0	26.71	26.44	26.77
3749	0.90	203.3	2848	1099	2264	2001	53.9	7.8	554	3823	0.08	1.05	66.47	0.510	11302	0.145	0.031	2871	1798	1966	2106	1827	0	0	0	0	0	0	26.27	26.55	25.31
3949	0.92	219.0	2871	1798	2082	1804	34.9	9.2	588	3958	0.00	1.12	5.40	0.574	8740	0.000	0.040	2877	1105	1909	2051	1767	0	0	0	0	0	0	26.39	25.94	25.30
4191	0.92	219.6	2876	1105	2054	1767	9.7	10.1	634	4199	0.00	1.05	0.00	0.000	1062	0.000	0.031	2873	1798	1910	2053	1767	0	0	0	0	0	0	26.39	26.36	26.41
4312	end climb: SURFACE_DEPTH_REACHED
state	4312	begin surface coast
4371	end surface coast: CONTROL_FINISHED_OK
state	4371	begin surface