Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 193 * 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 193 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 73 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 3 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 284.0

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 3

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 284.0 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 73 XPDR_INHIBIT 90

DIVE 193 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 140921,033839,4751.0981,-12509.8633,17,0.9,25,15.7,0.7,179.9,9,4.2 SPEED_LIMITS 0.176,0.235

_CALLS 2 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.58 MHEAD_RNG_PITCHd_Wd 200.0,291,-25.9,-10.145,-30.00,975

_SM_ANGLEo -63.8 D_GRID 264

GPS2 140921,034515,4751.1079,-12509.8301,4,0.8,5,15.7,0.3,157.8,12,9.8

Post-dive calculations and measurements:

FINISH -0.4,1.025366 _10V_AH 10.15,16.290

SM_CCo 4727,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.66,7.90,0.75,0.00,0.057,0.030,0.000,178,2004,550,-7.39,1.64,551.92,0,0,0,0,0,0,25.84,25.80,25.39 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,140921,034011 MEM 209684

TT8_MAMPS 0.021721,0.181258 DATA_FILE_SIZE 36869,715

HUMID 52.87 CAP_FILE_SIZE 81122,0

INTERNAL_PRESSURE 8.74779 CFSIZE 260030464,236408832

TCM_TEMP 15.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.013,235.75,1

ALTIM_BOTTOM_PING 202.2,36.9 GPS 140921,050601,4750.863,-12510.021,6,0.8,31,15.7,0.2,0.0,10,2.3

_24V_AH 24.24,30.104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 91.37 SBE_CT 406 64 635.17

Roll_motor 31 68 51.99 WL_blue_red_Chl 1288 37 1169.23

VBD_pump_during_apogee 503 697 8519.72 nil 0 0 0.00

VBD_pump_during_surface 199 607 2936.63 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 248 84 511.65 nil 0 0 0.00

Transponder_ping 1 420 15.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.04

TT8 1539 12 191.01

LPSleep 947 2 21.06

TT8_Active 711 12 88.27

TT8_Sampling 1681 37 643.14

TT8_CF8 267 42 116.58

TT8_Kalman 0 0 0.00

Analog_circuits 1643 11 183.54

GPS_charging 0 0 0.00

Compass 1564 8 130.86

RAFOS 0 0 0.00

Transponder 13 30 4.13

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -1.00 -64.7 169 2032 692 410 0.0 0.0 0 109 0.00 0.00 -98.32 0.004 16386 0.000 0.000 169 2031 2906 2899 2914 0 0 0 0 0 0 26.39 28.83 26.45

112 -1.03 -85.3 169 2031 2900 2915 4.0 -8.0 14 129 8.00 1.00 -5.28 0.015 18724 0.207 0.069 2243 2679 3149 3152 3147 0 0 0 0 0 0 25.67 24.58 25.86

296 -1.03 -85.3 2243 2679 3158 3146 38.2 -16.2 48 303 0.00 1.00 0.00 0.000 1030 0.000 0.026 2247 1984 3152 3158 3147 0 0 0 0 0 0 26.42 26.39 26.45

434 -1.03 -85.3 2246 1984 3163 3142 58.5 -14.2 73 441 0.00 0.98 0.00 0.000 516 0.000 0.033 2252 1317 3152 3163 3142 0 0 0 0 0 0 26.70 26.46 26.75

674 -1.03 -87.4 2251 1317 3166 3142 87.2 -9.9 119 682 0.00 1.00 0.00 0.000 1062 0.000 0.029 2248 1990 3154 3166 3142 0 0 0 0 0 0 26.58 26.55 26.60

816 -1.03 -87.4 2248 1989 3167 3141 101.5 -10.9 144 820 0.00 1.00 0.00 0.000 516 0.000 0.033 2252 1314 3153 3166 3141 0 0 0 0 0 0 26.84 26.56 26.90

1061 -1.03 -87.4 2251 1314 3167 3141 130.9 -12.8 190 1064 0.00 1.02 0.00 0.000 1030 0.000 0.030 2248 2003 3154 3167 3141 0 0 0 0 0 0 26.67 26.64 26.70

1193 -1.03 -87.4 2248 2002 3168 3140 147.1 -12.1 204 1197 0.00 1.02 0.00 0.000 516 0.000 0.033 2252 1308 3153 3167 3140 0 0 0 0 0 0 26.94 26.64 26.98

1435 -1.03 -87.4 2251 1307 3168 3140 176.1 -12.0 250 1440 0.00 1.02 0.00 0.000 1030 0.000 0.029 2249 2004 3154 3168 3140 0 0 0 0 0 0 26.73 26.70 26.77

1572 -1.03 -87.4 2248 2004 3168 3139 192.1 -12.1 264 1577 0.00 1.02 0.00 0.000 516 0.000 0.032 2252 1307 3153 3168 3139 0 0 0 0 0 0 26.97 26.70 27.03

1685 -1.03 -87.4 2251 1307 3167 3139 206.3 -12.2 284 1690 0.00 1.02 0.00 0.000 1030 0.000 0.029 2249 2006 3153 3168 3139 0 0 0 0 0 0 26.77 26.74 26.79

1797 end dive: BOTTOM_OBSTACLE_DETECTED

state 1797 begin apogee

1803 -0.18 0.0 2248 1766 3169 3139 219.8 -12.1 296 1959 0.90 0.00 142.50 0.559 10246 0.155 0.000 2518 1765 2806 2854 2758 0 0 0 0 1 0 26.14 25.09 24.44

1960 end apogee: CONTROL_FINISHED_OK

state 1960 begin climb

1962 1.03 87.4 2518 1765 2856 2761 224.8 0.0 312 2125 1.25 1.15 152.90 0.558 11012 0.114 0.036 2904 2487 2434 2538 2331 0 0 0 0 0 0 25.45 25.15 24.63

2197 1.03 87.4 2903 2486 2515 2313 208.6 11.1 352 2205 0.00 0.98 0.00 0.000 1030 0.000 0.030 2906 1837 2414 2515 2313 0 0 0 0 0 0 25.74 25.70 25.76

2325 1.03 87.4 2905 1837 2513 2313 195.0 10.3 365 2329 0.00 1.15 0.00 0.000 516 0.000 0.039 2913 1094 2413 2513 2313 0 0 0 0 0 0 26.26 26.01 26.32

2430 1.03 87.4 2912 1094 2512 2312 184.2 10.4 385 2433 0.00 1.05 0.00 0.000 1030 0.000 0.029 2910 1788 2412 2512 2313 0 0 0 0 0 0 26.20 26.19 26.23

2562 1.03 88.0 2909 1789 2508 2313 170.8 10.1 399 2566 0.00 1.05 0.00 0.000 292 0.000 0.039 2905 2486 2410 2508 2313 0 0 0 0 0 0 26.55 26.27 26.60

2638 1.03 88.3 2904 2486 2507 2312 162.9 10.1 414 2646 0.00 1.02 0.00 0.000 1062 0.000 0.029 2907 1789 2409 2507 2312 0 0 0 0 0 0 26.40 26.37 26.42

2766 1.03 88.3 2907 1789 2507 2312 150.2 10.2 427 2771 0.00 1.05 0.00 0.000 516 0.000 0.040 2913 1098 2410 2507 2313 0 0 0 0 0 0 26.68 26.40 26.74

2810 1.03 89.2 2913 1098 2507 2313 145.7 10.0 435 2815 0.00 1.05 0.00 0.000 1062 0.000 0.030 2909 1797 2410 2507 2313 0 0 0 0 0 0 26.49 26.46 26.51

2943 1.03 89.2 2909 1797 2506 2312 132.0 10.2 449 2947 0.00 1.02 0.00 0.000 260 0.000 0.037 2905 2490 2409 2506 2312 0 0 0 0 0 0 26.76 26.48 26.82

3057 1.03 89.2 2904 2490 2505 2312 120.4 10.2 471 3062 0.00 1.00 0.00 0.000 1030 0.000 0.030 2908 1805 2408 2505 2312 0 0 0 0 0 0 26.58 26.55 26.60

3192 1.03 89.2 2907 1805 2505 2312 107.1 10.5 485 3196 0.00 1.08 0.00 0.000 516 0.000 0.041 2914 1097 2408 2505 2312 0 0 0 0 0 0 26.84 26.55 26.90

3214 1.03 89.5 2913 1097 2505 2312 104.6 10.1 489 3219 0.00 1.05 0.00 0.000 1062 0.000 0.030 2910 1798 2408 2505 2312 0 0 0 0 0 0 26.62 26.59 26.65

3345 1.05 104.6 2910 1798 2505 2312 93.0 8.6 510 3354 0.00 1.08 4.10 0.698 8484 0.000 0.037 2905 2509 2376 2480 2272 0 0 0 0 0 0 26.89 26.32 25.51

3387 1.07 122.7 2905 2508 2487 2278 89.4 8.2 517 3426 0.03 1.05 33.42 0.547 11302 0.153 0.029 2920 1788 2298 2415 2181 0 0 0 0 0 0 26.44 26.58 25.53

3552 1.07 124.0 2919 1788 2392 2158 74.0 10.0 546 3560 0.00 1.05 0.00 0.000 548 0.000 0.040 2925 1101 2275 2393 2157 0 0 0 0 0 0 26.60 26.32 26.65

3798 1.07 124.0 2925 1100 2391 2158 48.6 11.7 592 3805 0.00 1.05 0.00 0.000 1030 0.000 0.031 2922 1797 2273 2391 2156 0 0 0 0 0 0 26.51 26.48 26.55

3933 1.10 144.0 2922 1797 2390 2156 36.0 8.0 617 3962 0.00 1.02 22.35 0.535 8740 0.000 0.035 2925 1109 2208 2332 2084 0 0 0 0 0 0 26.79 25.94 25.58

4169 1.12 161.9 2924 1109 2309 2070 17.4 8.3 661 4192 0.05 1.05 16.67 0.529 11302 0.162 0.031 2938 1801 2137 2264 2011 0 0 0 0 0 0 26.19 26.45 25.52

4318 1.22 242.9 2938 1802 2245 1988 9.6 1.6 688 4461 0.12 1.08 131.82 0.478 10532 0.170 0.032 2976 2495 1797 1941 1654 0 0 0 0 0 0 26.16 25.25 24.94

4478 end climb: SURFACE_DEPTH_REACHED

state 4478 begin surface coast

4500 end surface coast: CONTROL_FINISHED_OK

state 4500 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	193	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	73	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	3	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	284.0
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	140921,033839,4751.0981,-12509.8633,17,0.9,25,15.7,0.7,179.9,9,4.2	SPEED_LIMITS	0.176,0.235
_CALLS	2	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.58	MHEAD_RNG_PITCHd_Wd	200.0,291,-25.9,-10.145,-30.00,975
_SM_ANGLEo	-63.8	D_GRID	264
GPS2	140921,034515,4751.1079,-12509.8301,4,0.8,5,15.7,0.3,157.8,12,9.8

FINISH	-0.4,1.025366	_10V_AH	10.15,16.290
SM_CCo	4727,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.66,7.90,0.75,0.00,0.057,0.030,0.000,178,2004,550,-7.39,1.64,551.92,0,0,0,0,0,0,25.84,25.80,25.39	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,140921,034011	MEM	209684
TT8_MAMPS	0.021721,0.181258	DATA_FILE_SIZE	36869,715
HUMID	52.87	CAP_FILE_SIZE	81122,0
INTERNAL_PRESSURE	8.74779	CFSIZE	260030464,236408832
TCM_TEMP	15.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.013,235.75,1
ALTIM_BOTTOM_PING	202.2,36.9	GPS	140921,050601,4750.863,-12510.021,6,0.8,31,15.7,0.2,0.0,10,2.3
_24V_AH	24.24,30.104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	91.37	SBE_CT	406	64	635.17
Roll_motor	31	68	51.99	WL_blue_red_Chl	1288	37	1169.23
VBD_pump_during_apogee	503	697	8519.72	nil	0	0	0.00
VBD_pump_during_surface	199	607	2936.63	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	248	84	511.65	nil	0	0	0.00
Transponder_ping	1	420	15.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.04
TT8	1539	12	191.01
LPSleep	947	2	21.06
TT8_Active	711	12	88.27
TT8_Sampling	1681	37	643.14
TT8_CF8	267	42	116.58
TT8_Kalman	0	0	0.00
Analog_circuits	1643	11	183.54
GPS_charging	0	0	0.00
Compass	1564	8	130.86
RAFOS	0	0	0.00
Transponder	13	30	4.13

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-1.00	-64.7	169	2032	692	410	0.0	0.0	0	109	0.00	0.00	-98.32	0.004	16386	0.000	0.000	169	2031	2906	2899	2914	0	0	0	0	0	0	26.39	28.83	26.45
112	-1.03	-85.3	169	2031	2900	2915	4.0	-8.0	14	129	8.00	1.00	-5.28	0.015	18724	0.207	0.069	2243	2679	3149	3152	3147	0	0	0	0	0	0	25.67	24.58	25.86
296	-1.03	-85.3	2243	2679	3158	3146	38.2	-16.2	48	303	0.00	1.00	0.00	0.000	1030	0.000	0.026	2247	1984	3152	3158	3147	0	0	0	0	0	0	26.42	26.39	26.45
434	-1.03	-85.3	2246	1984	3163	3142	58.5	-14.2	73	441	0.00	0.98	0.00	0.000	516	0.000	0.033	2252	1317	3152	3163	3142	0	0	0	0	0	0	26.70	26.46	26.75
674	-1.03	-87.4	2251	1317	3166	3142	87.2	-9.9	119	682	0.00	1.00	0.00	0.000	1062	0.000	0.029	2248	1990	3154	3166	3142	0	0	0	0	0	0	26.58	26.55	26.60
816	-1.03	-87.4	2248	1989	3167	3141	101.5	-10.9	144	820	0.00	1.00	0.00	0.000	516	0.000	0.033	2252	1314	3153	3166	3141	0	0	0	0	0	0	26.84	26.56	26.90
1061	-1.03	-87.4	2251	1314	3167	3141	130.9	-12.8	190	1064	0.00	1.02	0.00	0.000	1030	0.000	0.030	2248	2003	3154	3167	3141	0	0	0	0	0	0	26.67	26.64	26.70
1193	-1.03	-87.4	2248	2002	3168	3140	147.1	-12.1	204	1197	0.00	1.02	0.00	0.000	516	0.000	0.033	2252	1308	3153	3167	3140	0	0	0	0	0	0	26.94	26.64	26.98
1435	-1.03	-87.4	2251	1307	3168	3140	176.1	-12.0	250	1440	0.00	1.02	0.00	0.000	1030	0.000	0.029	2249	2004	3154	3168	3140	0	0	0	0	0	0	26.73	26.70	26.77
1572	-1.03	-87.4	2248	2004	3168	3139	192.1	-12.1	264	1577	0.00	1.02	0.00	0.000	516	0.000	0.032	2252	1307	3153	3168	3139	0	0	0	0	0	0	26.97	26.70	27.03
1685	-1.03	-87.4	2251	1307	3167	3139	206.3	-12.2	284	1690	0.00	1.02	0.00	0.000	1030	0.000	0.029	2249	2006	3153	3168	3139	0	0	0	0	0	0	26.77	26.74	26.79
1797	end dive: BOTTOM_OBSTACLE_DETECTED
state	1797	begin apogee
1803	-0.18	0.0	2248	1766	3169	3139	219.8	-12.1	296	1959	0.90	0.00	142.50	0.559	10246	0.155	0.000	2518	1765	2806	2854	2758	0	0	0	0	1	0	26.14	25.09	24.44
1960	end apogee: CONTROL_FINISHED_OK
state	1960	begin climb
1962	1.03	87.4	2518	1765	2856	2761	224.8	0.0	312	2125	1.25	1.15	152.90	0.558	11012	0.114	0.036	2904	2487	2434	2538	2331	0	0	0	0	0	0	25.45	25.15	24.63
2197	1.03	87.4	2903	2486	2515	2313	208.6	11.1	352	2205	0.00	0.98	0.00	0.000	1030	0.000	0.030	2906	1837	2414	2515	2313	0	0	0	0	0	0	25.74	25.70	25.76
2325	1.03	87.4	2905	1837	2513	2313	195.0	10.3	365	2329	0.00	1.15	0.00	0.000	516	0.000	0.039	2913	1094	2413	2513	2313	0	0	0	0	0	0	26.26	26.01	26.32
2430	1.03	87.4	2912	1094	2512	2312	184.2	10.4	385	2433	0.00	1.05	0.00	0.000	1030	0.000	0.029	2910	1788	2412	2512	2313	0	0	0	0	0	0	26.20	26.19	26.23
2562	1.03	88.0	2909	1789	2508	2313	170.8	10.1	399	2566	0.00	1.05	0.00	0.000	292	0.000	0.039	2905	2486	2410	2508	2313	0	0	0	0	0	0	26.55	26.27	26.60
2638	1.03	88.3	2904	2486	2507	2312	162.9	10.1	414	2646	0.00	1.02	0.00	0.000	1062	0.000	0.029	2907	1789	2409	2507	2312	0	0	0	0	0	0	26.40	26.37	26.42
2766	1.03	88.3	2907	1789	2507	2312	150.2	10.2	427	2771	0.00	1.05	0.00	0.000	516	0.000	0.040	2913	1098	2410	2507	2313	0	0	0	0	0	0	26.68	26.40	26.74
2810	1.03	89.2	2913	1098	2507	2313	145.7	10.0	435	2815	0.00	1.05	0.00	0.000	1062	0.000	0.030	2909	1797	2410	2507	2313	0	0	0	0	0	0	26.49	26.46	26.51
2943	1.03	89.2	2909	1797	2506	2312	132.0	10.2	449	2947	0.00	1.02	0.00	0.000	260	0.000	0.037	2905	2490	2409	2506	2312	0	0	0	0	0	0	26.76	26.48	26.82
3057	1.03	89.2	2904	2490	2505	2312	120.4	10.2	471	3062	0.00	1.00	0.00	0.000	1030	0.000	0.030	2908	1805	2408	2505	2312	0	0	0	0	0	0	26.58	26.55	26.60
3192	1.03	89.2	2907	1805	2505	2312	107.1	10.5	485	3196	0.00	1.08	0.00	0.000	516	0.000	0.041	2914	1097	2408	2505	2312	0	0	0	0	0	0	26.84	26.55	26.90
3214	1.03	89.5	2913	1097	2505	2312	104.6	10.1	489	3219	0.00	1.05	0.00	0.000	1062	0.000	0.030	2910	1798	2408	2505	2312	0	0	0	0	0	0	26.62	26.59	26.65
3345	1.05	104.6	2910	1798	2505	2312	93.0	8.6	510	3354	0.00	1.08	4.10	0.698	8484	0.000	0.037	2905	2509	2376	2480	2272	0	0	0	0	0	0	26.89	26.32	25.51
3387	1.07	122.7	2905	2508	2487	2278	89.4	8.2	517	3426	0.03	1.05	33.42	0.547	11302	0.153	0.029	2920	1788	2298	2415	2181	0	0	0	0	0	0	26.44	26.58	25.53
3552	1.07	124.0	2919	1788	2392	2158	74.0	10.0	546	3560	0.00	1.05	0.00	0.000	548	0.000	0.040	2925	1101	2275	2393	2157	0	0	0	0	0	0	26.60	26.32	26.65
3798	1.07	124.0	2925	1100	2391	2158	48.6	11.7	592	3805	0.00	1.05	0.00	0.000	1030	0.000	0.031	2922	1797	2273	2391	2156	0	0	0	0	0	0	26.51	26.48	26.55
3933	1.10	144.0	2922	1797	2390	2156	36.0	8.0	617	3962	0.00	1.02	22.35	0.535	8740	0.000	0.035	2925	1109	2208	2332	2084	0	0	0	0	0	0	26.79	25.94	25.58
4169	1.12	161.9	2924	1109	2309	2070	17.4	8.3	661	4192	0.05	1.05	16.67	0.529	11302	0.162	0.031	2938	1801	2137	2264	2011	0	0	0	0	0	0	26.19	26.45	25.52
4318	1.22	242.9	2938	1802	2245	1988	9.6	1.6	688	4461	0.12	1.08	131.82	0.478	10532	0.170	0.032	2976	2495	1797	1941	1654	0	0	0	0	0	0	26.16	25.25	24.94
4478	end climb: SURFACE_DEPTH_REACHED
state	4478	begin surface coast
4500	end surface coast: CONTROL_FINISHED_OK
state	4500	begin surface