Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 152 * 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 152 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 56 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 67 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 56 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 67 XPDR_INHIBIT 90

DIVE 152 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 110921,100809,4750.8530,-12509.2441,4,0.8,16,15.7,0.7,94.0,12,6.0 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 0.51 MHEAD_RNG_PITCHd_Wd 140.0,1137,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.9 D_GRID 195

GPS2 110921,101152,4750.8618,-12509.2471,4,0.8,7,15.7,0.1,0.0,12,7.6

Post-dive calculations and measurements:

FINISH -0.4,1.013196 _10V_AH 10.25,13.717

SM_CCo 4235,-0.03,0.744,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.48,7.62,0.28,-0.03,0.056,0.044,0.744,168,2007,550,-7.39,-1.47,551.92,0,0,0,0,0,0,25.96,25.94,25.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4750.87,-12505.04,110921,085142 MEM 209840

TT8_MAMPS 0.021721,0.1498 DATA_FILE_SIZE 30227,611

HUMID 54.37 CAP_FILE_SIZE 72255,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,238649344

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.092,358.20,1

ALTIM_BOTTOM_PING 180.6,46.5 GPS 110921,112405,4750.729,-12509.041,3,1.2,7,15.7,0.4,307.5,10,9.4

_24V_AH 24.28,24.901

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 208 90.77 SBE_CT 368 64 576.68

Roll_motor 27 71 47.88 WL_blue_red_Chl 1174 37 1067.78

VBD_pump_during_apogee 572 554 7710.46 nil 0 0 0.00

VBD_pump_during_surface 163 629 2501.65 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 138 85 288.12 nil 0 0 0.00

Transponder_ping 1 420 10.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.35

TT8 1335 12 167.32

LPSleep 774 2 17.40

TT8_Active 730 12 91.55

TT8_Sampling 1410 37 544.84

TT8_CF8 235 42 103.68

TT8_Kalman 0 0 0.00

Analog_circuits 1515 11 170.87

GPS_charging 0 0 0.00

Compass 1379 8 116.53

RAFOS 0 0 0.00

Transponder 10 30 3.13

Altimeter Analysis:

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

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

Guidance and control:

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

7 -0.80 -116.8 165 2041 687 416 0.0 0.0 0 114 0.00 0.00 -104.72 0.004 16386 0.000 0.000 165 2039 3037 3025 3049 0 0 0 0 0 0 26.29 28.83 26.35

117 -0.80 -116.8 165 2040 3025 3050 4.2 -8.4 15 134 8.35 1.00 -4.90 0.016 18724 0.209 0.072 2323 2681 3279 3277 3281 0 0 0 0 0 0 25.73 24.65 25.91

199 -0.80 -116.8 2322 2683 3284 3279 23.6 -13.8 29 206 0.00 1.00 0.00 0.000 1030 0.000 0.027 2326 1990 3281 3284 3278 0 0 0 0 0 0 26.31 26.29 26.32

337 -0.80 -116.8 2326 1990 3287 3277 43.7 -13.7 54 344 0.00 1.00 0.00 0.000 516 0.000 0.034 2331 1317 3282 3287 3277 0 0 0 0 0 0 26.60 26.35 26.65

575 -0.80 -116.8 2331 1316 3290 3276 72.2 -11.3 100 583 0.00 1.00 0.00 0.000 1030 0.000 0.031 2328 1983 3283 3290 3277 0 0 0 0 0 0 26.52 26.50 26.55

712 -0.80 -116.8 2328 1983 3291 3276 87.3 -11.8 125 720 0.00 1.00 0.00 0.000 516 0.000 0.033 2331 1313 3283 3291 3275 0 0 0 0 0 0 26.78 26.53 26.84

870 -0.80 -116.8 2331 1313 3291 3275 105.1 -11.1 154 878 0.00 1.02 0.00 0.000 1030 0.000 0.030 2328 1998 3283 3291 3275 0 0 0 0 0 0 26.63 26.59 26.63

998 -0.80 -116.8 2327 1998 3292 3274 118.7 -10.6 167 1002 0.00 1.02 0.00 0.000 260 0.000 0.038 2322 2698 3283 3292 3275 0 0 0 0 0 0 26.87 26.60 26.93

1041 -0.80 -116.8 2322 2699 3292 3275 123.1 -10.2 175 1045 0.00 1.00 0.00 0.000 1030 0.000 0.027 2326 1990 3284 3292 3276 0 0 0 0 0 0 26.69 26.65 26.70

1174 -0.80 -116.8 2325 1990 3292 3275 137.0 -10.6 189 1178 0.00 0.98 0.00 0.000 516 0.000 0.034 2331 1323 3283 3292 3275 0 0 0 0 0 0 26.93 26.64 26.96

1260 -0.80 -116.8 2330 1322 3292 3275 146.2 -11.0 205 1263 0.00 1.02 0.00 0.000 1030 0.000 0.031 2327 2010 3283 3292 3275 0 0 0 0 0 0 26.70 26.67 26.71

1394 -0.80 -116.8 2327 2010 3292 3274 159.8 -10.2 219 1401 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2008 3283 3292 3274 0 0 0 0 0 0 26.96 27.01 27.01

1522 -0.80 -116.8 2327 2010 3292 3274 173.5 -10.5 232 1527 0.00 1.02 0.00 0.000 516 0.000 0.033 2331 1318 3283 3292 3274 0 0 0 0 0 0 26.96 26.70 27.04

1591 -0.80 -116.8 2330 1318 3292 3274 180.6 -10.9 244 1596 0.00 1.02 0.00 0.000 1030 0.000 0.031 2327 2007 3283 3292 3274 0 0 0 0 0 0 26.74 26.72 26.77

1722 end dive: TARGET_DEPTH_EXCEEDED

state 1722 begin apogee

1727 -0.18 0.0 2327 1785 3293 3274 195.5 -10.4 258 1914 0.65 0.00 178.98 0.553 10246 0.151 0.000 2525 1785 2791 2845 2738 0 0 0 0 0 0 26.32 25.16 24.84

1915 end apogee: CONTROL_FINISHED_OK

state 1915 begin climb

1918 0.80 116.8 2523 1785 2838 2732 199.9 0.0 277 2107 1.00 0.00 181.40 0.523 10758 0.116 0.000 2833 1784 2319 2445 2193 0 0 0 0 0 0 25.39 25.11 24.68

2226 0.80 119.2 2833 1784 2410 2162 176.3 10.0 325 2233 0.00 0.00 0.00 0.000 38 0.000 0.000 2833 1785 2285 2410 2161 0 0 0 0 0 0 26.04 26.10 26.09

2355 0.81 129.4 2833 1784 2409 2161 163.6 9.5 338 2357 0.00 0.00 0.00 0.000 38 0.000 0.000 2833 1784 2284 2409 2160 0 0 0 0 0 0 26.31 26.37 26.39

2475 0.84 152.5 2832 1784 2407 2160 152.6 8.8 350 2527 0.08 1.05 43.90 0.555 10532 0.207 0.034 2843 2491 2171 2304 2038 0 0 0 0 0 0 26.15 25.53 25.20

2574 0.84 152.5 2842 2491 2290 2021 142.5 10.7 369 2582 0.00 0.98 0.00 0.000 1030 0.000 0.033 2846 1837 2155 2290 2021 0 0 0 0 0 0 26.01 25.99 26.03

2703 0.84 152.5 2845 1837 2288 2020 129.1 10.7 382 2707 0.00 1.12 0.00 0.000 516 0.000 0.040 2851 1114 2152 2286 2019 0 0 0 0 0 0 26.44 26.15 26.46

2768 0.84 152.5 2851 1114 2287 2020 121.4 11.1 395 2776 0.00 1.05 0.00 0.000 1030 0.000 0.029 2848 1802 2153 2286 2020 0 0 0 0 0 0 26.29 26.26 26.32

2896 0.84 152.5 2847 1802 2285 2020 107.7 11.0 408 2900 0.00 1.05 0.00 0.000 260 0.000 0.040 2843 2503 2152 2285 2020 0 0 0 0 0 0 26.59 26.32 26.65

2939 0.85 160.1 2842 2503 2284 2019 103.0 9.7 416 2944 0.00 1.05 0.00 0.000 1062 0.000 0.032 2846 1793 2152 2284 2020 0 0 0 0 0 0 26.40 26.39 26.44

3070 0.85 160.1 2845 1792 2283 2019 89.2 10.3 439 3077 0.00 1.05 0.00 0.000 260 0.000 0.037 2843 2491 2151 2283 2019 0 0 0 0 0 0 26.69 26.42 26.74

3096 0.85 160.1 2842 2491 2282 2019 86.5 10.4 443 3103 0.00 1.02 0.00 0.000 1030 0.000 0.031 2846 1795 2150 2282 2019 0 0 0 0 0 0 26.49 26.46 26.51

3233 0.88 186.5 2846 1795 2282 2019 73.1 8.6 468 3284 0.08 1.10 45.03 0.539 10788 0.200 0.041 2870 1109 2035 2176 1895 0 0 0 0 0 0 26.46 25.96 25.44

3354 0.89 192.6 2868 1109 2150 1879 62.4 9.8 488 3362 0.00 1.05 0.00 0.000 1062 0.000 0.031 2866 1797 2013 2149 1878 0 0 0 0 0 0 26.22 26.18 26.23

3488 0.89 192.6 2866 1797 2149 1875 48.9 10.3 513 3496 0.00 1.08 0.00 0.000 516 0.000 0.041 2870 1105 2012 2149 1875 0 0 0 0 0 0 26.55 26.29 26.60

3727 0.93 228.2 2869 1105 2147 1875 26.5 8.1 559 3798 0.00 1.05 61.30 0.499 9254 0.000 0.031 2866 1801 1859 2002 1717 0 0 0 0 0 0 26.50 26.46 25.33

3924 0.98 267.1 2866 1801 1978 1696 9.2 7.9 593 3989 0.12 1.08 56.55 0.481 10788 0.142 0.036 2904 1107 1703 1848 1558 0 0 0 0 0 0 26.05 25.45 25.13

4012 1.01 293.4 2904 1107 1820 1540 2.1 8.6 606 4021 0.00 1.08 5.43 0.486 9250 0.000 0.029 2900 1800 1642 1785 1499 0 0 0 0 0 0 25.89 25.88 25.91

4022 end climb: SURFACE_DEPTH_REACHED

state 4022 begin surface coast

4043 end surface coast: CONTROL_FINISHED_OK

state 4043 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	152	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	56	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	67	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	110921,100809,4750.8530,-12509.2441,4,0.8,16,15.7,0.7,94.0,12,6.0	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	0.51	MHEAD_RNG_PITCHd_Wd	140.0,1137,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.9	D_GRID	195
GPS2	110921,101152,4750.8618,-12509.2471,4,0.8,7,15.7,0.1,0.0,12,7.6

FINISH	-0.4,1.013196	_10V_AH	10.25,13.717
SM_CCo	4235,-0.03,0.744,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.48,7.62,0.28,-0.03,0.056,0.044,0.744,168,2007,550,-7.39,-1.47,551.92,0,0,0,0,0,0,25.96,25.94,25.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4750.87,-12505.04,110921,085142	MEM	209840
TT8_MAMPS	0.021721,0.1498	DATA_FILE_SIZE	30227,611
HUMID	54.37	CAP_FILE_SIZE	72255,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,238649344
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.092,358.20,1
ALTIM_BOTTOM_PING	180.6,46.5	GPS	110921,112405,4750.729,-12509.041,3,1.2,7,15.7,0.4,307.5,10,9.4
_24V_AH	24.28,24.901

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	208	90.77	SBE_CT	368	64	576.68
Roll_motor	27	71	47.88	WL_blue_red_Chl	1174	37	1067.78
VBD_pump_during_apogee	572	554	7710.46	nil	0	0	0.00
VBD_pump_during_surface	163	629	2501.65	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	138	85	288.12	nil	0	0	0.00
Transponder_ping	1	420	10.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.35
TT8	1335	12	167.32
LPSleep	774	2	17.40
TT8_Active	730	12	91.55
TT8_Sampling	1410	37	544.84
TT8_CF8	235	42	103.68
TT8_Kalman	0	0	0.00
Analog_circuits	1515	11	170.87
GPS_charging	0	0	0.00
Compass	1379	8	116.53
RAFOS	0	0	0.00
Transponder	10	30	3.13

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
7	-0.80	-116.8	165	2041	687	416	0.0	0.0	0	114	0.00	0.00	-104.72	0.004	16386	0.000	0.000	165	2039	3037	3025	3049	0	0	0	0	0	0	26.29	28.83	26.35
117	-0.80	-116.8	165	2040	3025	3050	4.2	-8.4	15	134	8.35	1.00	-4.90	0.016	18724	0.209	0.072	2323	2681	3279	3277	3281	0	0	0	0	0	0	25.73	24.65	25.91
199	-0.80	-116.8	2322	2683	3284	3279	23.6	-13.8	29	206	0.00	1.00	0.00	0.000	1030	0.000	0.027	2326	1990	3281	3284	3278	0	0	0	0	0	0	26.31	26.29	26.32
337	-0.80	-116.8	2326	1990	3287	3277	43.7	-13.7	54	344	0.00	1.00	0.00	0.000	516	0.000	0.034	2331	1317	3282	3287	3277	0	0	0	0	0	0	26.60	26.35	26.65
575	-0.80	-116.8	2331	1316	3290	3276	72.2	-11.3	100	583	0.00	1.00	0.00	0.000	1030	0.000	0.031	2328	1983	3283	3290	3277	0	0	0	0	0	0	26.52	26.50	26.55
712	-0.80	-116.8	2328	1983	3291	3276	87.3	-11.8	125	720	0.00	1.00	0.00	0.000	516	0.000	0.033	2331	1313	3283	3291	3275	0	0	0	0	0	0	26.78	26.53	26.84
870	-0.80	-116.8	2331	1313	3291	3275	105.1	-11.1	154	878	0.00	1.02	0.00	0.000	1030	0.000	0.030	2328	1998	3283	3291	3275	0	0	0	0	0	0	26.63	26.59	26.63
998	-0.80	-116.8	2327	1998	3292	3274	118.7	-10.6	167	1002	0.00	1.02	0.00	0.000	260	0.000	0.038	2322	2698	3283	3292	3275	0	0	0	0	0	0	26.87	26.60	26.93
1041	-0.80	-116.8	2322	2699	3292	3275	123.1	-10.2	175	1045	0.00	1.00	0.00	0.000	1030	0.000	0.027	2326	1990	3284	3292	3276	0	0	0	0	0	0	26.69	26.65	26.70
1174	-0.80	-116.8	2325	1990	3292	3275	137.0	-10.6	189	1178	0.00	0.98	0.00	0.000	516	0.000	0.034	2331	1323	3283	3292	3275	0	0	0	0	0	0	26.93	26.64	26.96
1260	-0.80	-116.8	2330	1322	3292	3275	146.2	-11.0	205	1263	0.00	1.02	0.00	0.000	1030	0.000	0.031	2327	2010	3283	3292	3275	0	0	0	0	0	0	26.70	26.67	26.71
1394	-0.80	-116.8	2327	2010	3292	3274	159.8	-10.2	219	1401	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2008	3283	3292	3274	0	0	0	0	0	0	26.96	27.01	27.01
1522	-0.80	-116.8	2327	2010	3292	3274	173.5	-10.5	232	1527	0.00	1.02	0.00	0.000	516	0.000	0.033	2331	1318	3283	3292	3274	0	0	0	0	0	0	26.96	26.70	27.04
1591	-0.80	-116.8	2330	1318	3292	3274	180.6	-10.9	244	1596	0.00	1.02	0.00	0.000	1030	0.000	0.031	2327	2007	3283	3292	3274	0	0	0	0	0	0	26.74	26.72	26.77
1722	end dive: TARGET_DEPTH_EXCEEDED
state	1722	begin apogee
1727	-0.18	0.0	2327	1785	3293	3274	195.5	-10.4	258	1914	0.65	0.00	178.98	0.553	10246	0.151	0.000	2525	1785	2791	2845	2738	0	0	0	0	0	0	26.32	25.16	24.84
1915	end apogee: CONTROL_FINISHED_OK
state	1915	begin climb
1918	0.80	116.8	2523	1785	2838	2732	199.9	0.0	277	2107	1.00	0.00	181.40	0.523	10758	0.116	0.000	2833	1784	2319	2445	2193	0	0	0	0	0	0	25.39	25.11	24.68
2226	0.80	119.2	2833	1784	2410	2162	176.3	10.0	325	2233	0.00	0.00	0.00	0.000	38	0.000	0.000	2833	1785	2285	2410	2161	0	0	0	0	0	0	26.04	26.10	26.09
2355	0.81	129.4	2833	1784	2409	2161	163.6	9.5	338	2357	0.00	0.00	0.00	0.000	38	0.000	0.000	2833	1784	2284	2409	2160	0	0	0	0	0	0	26.31	26.37	26.39
2475	0.84	152.5	2832	1784	2407	2160	152.6	8.8	350	2527	0.08	1.05	43.90	0.555	10532	0.207	0.034	2843	2491	2171	2304	2038	0	0	0	0	0	0	26.15	25.53	25.20
2574	0.84	152.5	2842	2491	2290	2021	142.5	10.7	369	2582	0.00	0.98	0.00	0.000	1030	0.000	0.033	2846	1837	2155	2290	2021	0	0	0	0	0	0	26.01	25.99	26.03
2703	0.84	152.5	2845	1837	2288	2020	129.1	10.7	382	2707	0.00	1.12	0.00	0.000	516	0.000	0.040	2851	1114	2152	2286	2019	0	0	0	0	0	0	26.44	26.15	26.46
2768	0.84	152.5	2851	1114	2287	2020	121.4	11.1	395	2776	0.00	1.05	0.00	0.000	1030	0.000	0.029	2848	1802	2153	2286	2020	0	0	0	0	0	0	26.29	26.26	26.32
2896	0.84	152.5	2847	1802	2285	2020	107.7	11.0	408	2900	0.00	1.05	0.00	0.000	260	0.000	0.040	2843	2503	2152	2285	2020	0	0	0	0	0	0	26.59	26.32	26.65
2939	0.85	160.1	2842	2503	2284	2019	103.0	9.7	416	2944	0.00	1.05	0.00	0.000	1062	0.000	0.032	2846	1793	2152	2284	2020	0	0	0	0	0	0	26.40	26.39	26.44
3070	0.85	160.1	2845	1792	2283	2019	89.2	10.3	439	3077	0.00	1.05	0.00	0.000	260	0.000	0.037	2843	2491	2151	2283	2019	0	0	0	0	0	0	26.69	26.42	26.74
3096	0.85	160.1	2842	2491	2282	2019	86.5	10.4	443	3103	0.00	1.02	0.00	0.000	1030	0.000	0.031	2846	1795	2150	2282	2019	0	0	0	0	0	0	26.49	26.46	26.51
3233	0.88	186.5	2846	1795	2282	2019	73.1	8.6	468	3284	0.08	1.10	45.03	0.539	10788	0.200	0.041	2870	1109	2035	2176	1895	0	0	0	0	0	0	26.46	25.96	25.44
3354	0.89	192.6	2868	1109	2150	1879	62.4	9.8	488	3362	0.00	1.05	0.00	0.000	1062	0.000	0.031	2866	1797	2013	2149	1878	0	0	0	0	0	0	26.22	26.18	26.23
3488	0.89	192.6	2866	1797	2149	1875	48.9	10.3	513	3496	0.00	1.08	0.00	0.000	516	0.000	0.041	2870	1105	2012	2149	1875	0	0	0	0	0	0	26.55	26.29	26.60
3727	0.93	228.2	2869	1105	2147	1875	26.5	8.1	559	3798	0.00	1.05	61.30	0.499	9254	0.000	0.031	2866	1801	1859	2002	1717	0	0	0	0	0	0	26.50	26.46	25.33
3924	0.98	267.1	2866	1801	1978	1696	9.2	7.9	593	3989	0.12	1.08	56.55	0.481	10788	0.142	0.036	2904	1107	1703	1848	1558	0	0	0	0	0	0	26.05	25.45	25.13
4012	1.01	293.4	2904	1107	1820	1540	2.1	8.6	606	4021	0.00	1.08	5.43	0.486	9250	0.000	0.029	2900	1800	1642	1785	1499	0	0	0	0	0	0	25.89	25.88	25.91
4022	end climb: SURFACE_DEPTH_REACHED
state	4022	begin surface coast
4043	end surface coast: CONTROL_FINISHED_OK
state	4043	begin surface