Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 153 * 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 153 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 55 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 55 XPDR_INHIBIT 90

DIVE 153 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 110921,112405,4750.7290,-12509.0410,3,1.2,7,15.7,0.4,307.5,10,9.4 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 0.46 MHEAD_RNG_PITCHd_Wd 144.8,828,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -59.9 D_GRID 200

GPS2 110921,112741,4750.7451,-12509.0576,5,1.3,7,15.7,0.4,297.1,9,9.6

Post-dive calculations and measurements:

FINISH 0.4,1.025286 _10V_AH 10.25,13.768

SM_CCo 4167,-0.25,0.186,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.49,7.50,0.28,-0.25,0.051,0.045,0.186,189,2012,550,-7.38,-1.47,551.92,0,0,0,0,0,0,26.17,26.16,25.29 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,110921,100938 MEM 209812

TT8_MAMPS 0.02247,0.144557 DATA_FILE_SIZE 30309,592

HUMID 53.03 CAP_FILE_SIZE 71844,0

INTERNAL_PRESSURE 8.74779 CFSIZE 260030464,238604288

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 0.060,343.87,1

ALTIM_BOTTOM_PING 180.5,45.4 GPS 110921,123901,4750.477,-12508.925,23,0.9,24,15.7,0.5,23.1,8,4.3

_24V_AH 24.28,25.028

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 210 90.79 SBE_CT 352 64 551.36

Roll_motor 27 50 33.53 WL_blue_red_Chl 1120 37 1018.70

VBD_pump_during_apogee 531 693 8958.29 nil 0 0 0.00

VBD_pump_during_surface 272 560 3706.31 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 130 87 278.16 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 2.39

TT8 1305 12 163.56

LPSleep 710 2 15.95

TT8_Active 799 12 100.14

TT8_Sampling 1369 37 528.94

TT8_CF8 226 42 99.47

TT8_Kalman 0 0 0.00

Analog_circuits 1549 11 174.73

GPS_charging 0 0 0.00

Compass 1336 8 112.92

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 -116.8 168 2009 690 410 0.0 0.0 0 113 0.00 0.00 -103.62 0.004 16386 0.000 0.000 167 2010 2992 2979 3006 0 0 0 0 0 0 26.27 28.83 26.34

116 -0.80 -116.8 167 2010 2979 3006 4.2 -8.0 15 138 8.38 0.00 -5.82 0.014 18982 0.210 0.000 2325 2009 3279 3278 3281 0 0 0 0 0 0 25.72 25.63 25.89

267 -0.80 -116.8 2324 2010 3285 3277 36.0 -14.9 42 275 0.00 1.05 0.00 0.000 516 0.000 0.032 2325 1307 3281 3286 3277 0 0 0 0 0 0 26.55 26.30 26.60

496 -0.80 -116.8 2324 1307 3288 3277 63.1 -10.7 86 504 0.00 1.02 0.00 0.000 1030 0.000 0.030 2321 1988 3282 3288 3276 0 0 0 0 0 0 26.48 26.46 26.51

632 -0.80 -116.8 2320 1988 3289 3276 81.7 -14.9 111 640 0.00 1.02 0.00 0.000 516 0.000 0.033 2321 1306 3283 3290 3276 0 0 0 0 0 0 26.74 26.48 26.82

791 -0.80 -116.8 2320 1306 3289 3276 103.8 -14.1 141 797 0.00 1.05 0.00 0.000 1030 0.000 0.031 2316 2007 3283 3290 3276 0 0 0 0 0 0 26.60 26.59 26.62

925 -0.80 -116.8 2316 2007 3290 3275 123.1 -14.6 155 928 0.00 1.02 0.00 0.000 260 0.000 0.037 2311 2711 3283 3291 3275 0 0 0 0 0 0 26.85 26.58 26.91

1018 -0.80 -116.8 2310 2711 3291 3275 137.0 -14.5 173 1023 0.00 1.02 0.00 0.000 1030 0.000 0.025 2314 1988 3283 3291 3275 0 0 0 0 0 0 26.68 26.67 26.70

1153 -0.80 -116.8 2314 1988 3291 3275 154.2 -12.2 187 1157 0.00 0.98 0.00 0.000 516 0.000 0.033 2319 1320 3283 3291 3275 0 0 0 0 0 0 26.91 26.65 26.96

1176 -0.80 -116.8 2319 1320 3291 3275 157.1 -12.1 191 1181 0.00 1.02 0.00 0.000 1030 0.000 0.031 2316 2009 3283 3291 3275 0 0 0 0 0 0 26.69 26.65 26.70

1309 -0.80 -116.8 2315 2010 3292 3274 172.5 -11.5 205 1313 0.00 1.02 0.00 0.000 516 0.000 0.033 2319 1318 3282 3290 3275 0 0 0 0 0 0 26.94 26.66 26.98

1354 -0.80 -116.8 2319 1318 3291 3275 177.6 -11.4 213 1359 0.00 1.02 0.00 0.000 1030 0.000 0.031 2316 2009 3282 3291 3274 0 0 0 0 0 0 26.72 26.68 26.74

1489 -0.80 -116.8 2315 2009 3291 3274 193.7 -12.1 227 1493 0.00 1.00 0.00 0.000 260 0.000 0.037 2311 2697 3282 3291 3274 0 0 0 0 0 0 26.96 26.67 27.01

1534 -0.80 -116.8 2310 2697 3291 3274 199.7 -12.0 236 1541 0.00 0.98 0.00 0.000 1030 0.000 0.026 2314 2003 3282 3291 3274 0 0 0 0 0 0 26.77 26.75 26.79

1550 end dive: TARGET_DEPTH_EXCEEDED

state 1550 begin apogee

1555 -0.18 0.0 2315 1772 3291 3274 201.6 -12.8 238 1742 0.68 0.00 177.23 0.555 10246 0.153 0.000 2519 1770 2790 2843 2738 0 0 0 0 0 0 26.27 25.19 24.84

1743 end apogee: CONTROL_FINISHED_OK

state 1743 begin climb

1745 0.80 116.8 2518 1770 2837 2734 209.3 0.0 257 1928 1.02 1.10 175.77 0.532 11012 0.114 0.034 2832 2487 2321 2446 2196 0 0 0 0 0 0 25.38 24.98 24.65

1967 0.84 149.8 2831 2487 2421 2164 198.2 8.2 296 2018 0.03 1.00 40.85 0.575 11302 0.200 0.030 2842 1832 2179 2314 2044 0 0 0 0 0 0 25.39 25.58 24.76

2139 0.84 149.8 2841 1831 2299 2031 181.0 10.5 318 2144 0.00 1.02 0.00 0.000 260 0.000 0.036 2839 2493 2164 2298 2031 0 0 0 0 0 0 26.10 25.86 26.15

2223 0.84 149.8 2838 2493 2296 2029 171.8 10.8 334 2228 0.00 1.05 0.00 0.000 1030 0.000 0.032 2842 1794 2162 2296 2029 0 0 0 0 0 0 26.08 26.05 26.11

2356 0.85 162.6 2842 1794 2294 2029 158.7 9.4 348 2367 0.00 0.00 8.52 0.694 8230 0.000 0.000 2842 1794 2138 2274 2002 0 0 0 0 0 0 26.46 25.93 25.37

2488 0.88 188.7 2842 1794 2263 1993 147.1 8.6 361 2533 0.10 1.05 39.92 0.569 10532 0.186 0.035 2866 2495 2029 2171 1888 0 0 0 0 0 0 26.12 25.58 25.20

2551 0.88 188.7 2865 2495 2161 1878 140.6 10.6 373 2556 0.00 1.05 0.00 0.000 1030 0.000 0.033 2869 1802 2019 2161 1878 0 0 0 0 0 0 25.96 25.94 25.98

2684 0.88 188.7 2868 1802 2157 1877 124.5 13.5 387 2689 0.00 1.05 0.00 0.000 260 0.000 0.038 2868 2491 2017 2157 1877 0 0 0 0 0 0 26.39 26.15 26.44

2740 0.88 188.7 2867 2491 2155 1877 116.3 15.4 397 2743 0.00 1.02 0.00 0.000 1030 0.000 0.031 2871 1803 2016 2155 1877 0 0 0 0 0 0 26.27 26.22 26.29

2868 0.88 188.7 2871 1802 2154 1876 97.5 13.8 412 2874 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 1802 2014 2153 1876 0 0 0 0 0 0 26.58 26.64 26.63

3004 0.88 188.7 2871 1802 2153 1876 81.3 12.2 437 3011 0.00 1.05 0.00 0.000 260 0.000 0.038 2870 2490 2014 2152 1876 0 0 0 0 0 0 26.66 26.40 26.72

3066 0.88 188.7 2869 2490 2152 1876 73.4 12.5 448 3074 0.00 1.02 0.00 0.000 1030 0.000 0.033 2874 1799 2014 2152 1877 0 0 0 0 0 0 26.49 26.46 26.51

3203 0.89 190.5 2872 1799 2151 1876 59.7 10.0 473 3210 0.00 1.05 0.00 0.000 548 0.000 0.042 2879 1109 2013 2151 1876 0 0 0 0 0 0 26.76 26.48 26.81

3451 0.89 190.5 2878 1109 2150 1876 33.1 12.2 519 3458 0.00 1.02 0.00 0.000 1030 0.000 0.031 2875 1797 2012 2149 1876 0 0 0 0 0 0 26.63 26.60 26.65

3588 0.94 239.5 2874 1797 2149 1875 20.0 7.3 544 3672 0.00 1.05 77.55 0.510 8740 0.000 0.037 2879 1104 1817 1962 1673 0 0 0 0 0 0 26.87 25.63 25.29

3839 0.99 281.0 2878 1105 1946 1665 2.8 7.7 588 3855 0.08 1.05 11.90 0.522 11298 0.108 0.030 2904 1801 1759 1902 1616 0 0 0 0 0 0 26.02 26.22 26.11

3856 end climb: SURFACE_DEPTH_REACHED

state 3856 begin surface coast

3867 end surface coast: CONTROL_FINISHED_OK

state 3868 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	153	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	55	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	110921,112405,4750.7290,-12509.0410,3,1.2,7,15.7,0.4,307.5,10,9.4	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	0.46	MHEAD_RNG_PITCHd_Wd	144.8,828,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-59.9	D_GRID	200
GPS2	110921,112741,4750.7451,-12509.0576,5,1.3,7,15.7,0.4,297.1,9,9.6

FINISH	0.4,1.025286	_10V_AH	10.25,13.768
SM_CCo	4167,-0.25,0.186,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.49,7.50,0.28,-0.25,0.051,0.045,0.186,189,2012,550,-7.38,-1.47,551.92,0,0,0,0,0,0,26.17,26.16,25.29	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,110921,100938	MEM	209812
TT8_MAMPS	0.02247,0.144557	DATA_FILE_SIZE	30309,592
HUMID	53.03	CAP_FILE_SIZE	71844,0
INTERNAL_PRESSURE	8.74779	CFSIZE	260030464,238604288
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	0.060,343.87,1
ALTIM_BOTTOM_PING	180.5,45.4	GPS	110921,123901,4750.477,-12508.925,23,0.9,24,15.7,0.5,23.1,8,4.3
_24V_AH	24.28,25.028

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	210	90.79	SBE_CT	352	64	551.36
Roll_motor	27	50	33.53	WL_blue_red_Chl	1120	37	1018.70
VBD_pump_during_apogee	531	693	8958.29	nil	0	0	0.00
VBD_pump_during_surface	272	560	3706.31	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	130	87	278.16	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	2.39
TT8	1305	12	163.56
LPSleep	710	2	15.95
TT8_Active	799	12	100.14
TT8_Sampling	1369	37	528.94
TT8_CF8	226	42	99.47
TT8_Kalman	0	0	0.00
Analog_circuits	1549	11	174.73
GPS_charging	0	0	0.00
Compass	1336	8	112.92
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	168	2009	690	410	0.0	0.0	0	113	0.00	0.00	-103.62	0.004	16386	0.000	0.000	167	2010	2992	2979	3006	0	0	0	0	0	0	26.27	28.83	26.34
116	-0.80	-116.8	167	2010	2979	3006	4.2	-8.0	15	138	8.38	0.00	-5.82	0.014	18982	0.210	0.000	2325	2009	3279	3278	3281	0	0	0	0	0	0	25.72	25.63	25.89
267	-0.80	-116.8	2324	2010	3285	3277	36.0	-14.9	42	275	0.00	1.05	0.00	0.000	516	0.000	0.032	2325	1307	3281	3286	3277	0	0	0	0	0	0	26.55	26.30	26.60
496	-0.80	-116.8	2324	1307	3288	3277	63.1	-10.7	86	504	0.00	1.02	0.00	0.000	1030	0.000	0.030	2321	1988	3282	3288	3276	0	0	0	0	0	0	26.48	26.46	26.51
632	-0.80	-116.8	2320	1988	3289	3276	81.7	-14.9	111	640	0.00	1.02	0.00	0.000	516	0.000	0.033	2321	1306	3283	3290	3276	0	0	0	0	0	0	26.74	26.48	26.82
791	-0.80	-116.8	2320	1306	3289	3276	103.8	-14.1	141	797	0.00	1.05	0.00	0.000	1030	0.000	0.031	2316	2007	3283	3290	3276	0	0	0	0	0	0	26.60	26.59	26.62
925	-0.80	-116.8	2316	2007	3290	3275	123.1	-14.6	155	928	0.00	1.02	0.00	0.000	260	0.000	0.037	2311	2711	3283	3291	3275	0	0	0	0	0	0	26.85	26.58	26.91
1018	-0.80	-116.8	2310	2711	3291	3275	137.0	-14.5	173	1023	0.00	1.02	0.00	0.000	1030	0.000	0.025	2314	1988	3283	3291	3275	0	0	0	0	0	0	26.68	26.67	26.70
1153	-0.80	-116.8	2314	1988	3291	3275	154.2	-12.2	187	1157	0.00	0.98	0.00	0.000	516	0.000	0.033	2319	1320	3283	3291	3275	0	0	0	0	0	0	26.91	26.65	26.96
1176	-0.80	-116.8	2319	1320	3291	3275	157.1	-12.1	191	1181	0.00	1.02	0.00	0.000	1030	0.000	0.031	2316	2009	3283	3291	3275	0	0	0	0	0	0	26.69	26.65	26.70
1309	-0.80	-116.8	2315	2010	3292	3274	172.5	-11.5	205	1313	0.00	1.02	0.00	0.000	516	0.000	0.033	2319	1318	3282	3290	3275	0	0	0	0	0	0	26.94	26.66	26.98
1354	-0.80	-116.8	2319	1318	3291	3275	177.6	-11.4	213	1359	0.00	1.02	0.00	0.000	1030	0.000	0.031	2316	2009	3282	3291	3274	0	0	0	0	0	0	26.72	26.68	26.74
1489	-0.80	-116.8	2315	2009	3291	3274	193.7	-12.1	227	1493	0.00	1.00	0.00	0.000	260	0.000	0.037	2311	2697	3282	3291	3274	0	0	0	0	0	0	26.96	26.67	27.01
1534	-0.80	-116.8	2310	2697	3291	3274	199.7	-12.0	236	1541	0.00	0.98	0.00	0.000	1030	0.000	0.026	2314	2003	3282	3291	3274	0	0	0	0	0	0	26.77	26.75	26.79
1550	end dive: TARGET_DEPTH_EXCEEDED
state	1550	begin apogee
1555	-0.18	0.0	2315	1772	3291	3274	201.6	-12.8	238	1742	0.68	0.00	177.23	0.555	10246	0.153	0.000	2519	1770	2790	2843	2738	0	0	0	0	0	0	26.27	25.19	24.84
1743	end apogee: CONTROL_FINISHED_OK
state	1743	begin climb
1745	0.80	116.8	2518	1770	2837	2734	209.3	0.0	257	1928	1.02	1.10	175.77	0.532	11012	0.114	0.034	2832	2487	2321	2446	2196	0	0	0	0	0	0	25.38	24.98	24.65
1967	0.84	149.8	2831	2487	2421	2164	198.2	8.2	296	2018	0.03	1.00	40.85	0.575	11302	0.200	0.030	2842	1832	2179	2314	2044	0	0	0	0	0	0	25.39	25.58	24.76
2139	0.84	149.8	2841	1831	2299	2031	181.0	10.5	318	2144	0.00	1.02	0.00	0.000	260	0.000	0.036	2839	2493	2164	2298	2031	0	0	0	0	0	0	26.10	25.86	26.15
2223	0.84	149.8	2838	2493	2296	2029	171.8	10.8	334	2228	0.00	1.05	0.00	0.000	1030	0.000	0.032	2842	1794	2162	2296	2029	0	0	0	0	0	0	26.08	26.05	26.11
2356	0.85	162.6	2842	1794	2294	2029	158.7	9.4	348	2367	0.00	0.00	8.52	0.694	8230	0.000	0.000	2842	1794	2138	2274	2002	0	0	0	0	0	0	26.46	25.93	25.37
2488	0.88	188.7	2842	1794	2263	1993	147.1	8.6	361	2533	0.10	1.05	39.92	0.569	10532	0.186	0.035	2866	2495	2029	2171	1888	0	0	0	0	0	0	26.12	25.58	25.20
2551	0.88	188.7	2865	2495	2161	1878	140.6	10.6	373	2556	0.00	1.05	0.00	0.000	1030	0.000	0.033	2869	1802	2019	2161	1878	0	0	0	0	0	0	25.96	25.94	25.98
2684	0.88	188.7	2868	1802	2157	1877	124.5	13.5	387	2689	0.00	1.05	0.00	0.000	260	0.000	0.038	2868	2491	2017	2157	1877	0	0	0	0	0	0	26.39	26.15	26.44
2740	0.88	188.7	2867	2491	2155	1877	116.3	15.4	397	2743	0.00	1.02	0.00	0.000	1030	0.000	0.031	2871	1803	2016	2155	1877	0	0	0	0	0	0	26.27	26.22	26.29
2868	0.88	188.7	2871	1802	2154	1876	97.5	13.8	412	2874	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	1802	2014	2153	1876	0	0	0	0	0	0	26.58	26.64	26.63
3004	0.88	188.7	2871	1802	2153	1876	81.3	12.2	437	3011	0.00	1.05	0.00	0.000	260	0.000	0.038	2870	2490	2014	2152	1876	0	0	0	0	0	0	26.66	26.40	26.72
3066	0.88	188.7	2869	2490	2152	1876	73.4	12.5	448	3074	0.00	1.02	0.00	0.000	1030	0.000	0.033	2874	1799	2014	2152	1877	0	0	0	0	0	0	26.49	26.46	26.51
3203	0.89	190.5	2872	1799	2151	1876	59.7	10.0	473	3210	0.00	1.05	0.00	0.000	548	0.000	0.042	2879	1109	2013	2151	1876	0	0	0	0	0	0	26.76	26.48	26.81
3451	0.89	190.5	2878	1109	2150	1876	33.1	12.2	519	3458	0.00	1.02	0.00	0.000	1030	0.000	0.031	2875	1797	2012	2149	1876	0	0	0	0	0	0	26.63	26.60	26.65
3588	0.94	239.5	2874	1797	2149	1875	20.0	7.3	544	3672	0.00	1.05	77.55	0.510	8740	0.000	0.037	2879	1104	1817	1962	1673	0	0	0	0	0	0	26.87	25.63	25.29
3839	0.99	281.0	2878	1105	1946	1665	2.8	7.7	588	3855	0.08	1.05	11.90	0.522	11298	0.108	0.030	2904	1801	1759	1902	1616	0	0	0	0	0	0	26.02	26.22	26.11
3856	end climb: SURFACE_DEPTH_REACHED
state	3856	begin surface coast
3867	end surface coast: CONTROL_FINISHED_OK
state	3868	begin surface