Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 31 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 150

DIVE 31 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 54 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 5

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 541.92499 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 600 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 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 230 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 1

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 135

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 1 LOITER_W_DBAND 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 3600 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 COMPASS2_DEVICE -1

USE_BATHY -1 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 97.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 83.800003 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 -171.33574 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 60.0

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 83.800003 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 97.5 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 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 150 D_TGT 600 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 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 200

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 230

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.33574 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 60.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -1

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2800 LOITER_D_TOP 80 ROLL_AD_RATE 350 VBD_MAX 3960

DBDW 0 LOITER_N_DIVE 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 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 54 XPDR_INHIBIT 90

DIVE 31 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 9 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 170921,012939,4754.6831,-12516.1094,20,0.7,28,15.7,0.5,193.2,12,3.2 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME TRANSIT4

_XMS_NAKs 0 TGT_LATLONG 4755.900,-12515.140

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.54 MHEAD_RNG_PITCHd_Wd 6.9,2667,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -63.0 D_GRID 207

GPS2 170921,013536,4754.6167,-12516.1162,4,0.7,6,15.7,0.3,172.0,12,10.0

Post-dive calculations and measurements:

FINISH -0.4,1.011807 _24V_AH 24.41,3.940

SM_CCo 4261,189.98,0.633,1,0,590,542.11 _10V_AH 10.19,1.979

SM_GC 0.53,7.43,0.30,189.98,0.054,0.051,0.633,176,2008,590,-7.40,-1.41,542.11,0,0,0,0,1,0,26.40,26.36,24.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4754.40,-12515.83,160921,235350 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.146055 MEM 154200

HUMID 54.17 DATA_FILE_SIZE 33566,648

INTERNAL_PRESSURE 8.70873 CAP_FILE_SIZE 81115,0

TCM_TEMP 15.10 CFSIZE 260030464,248471552

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

CP_FREE 117940912128.000000 INTR 0,69.20,0x235ab2,0,24

CP_POWER 323.310000 CURRENT 0.070,219.05,1

CP_POWER1 0.000000 GPS 170921,025142,4754.932,-12516.093,4,0.9,6,15.7,0.3,169.4,8,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 244 105.29 SBE_CT 376 64 592.19

Roll_motor 27 68 46.51 WL_blue_red_Chl 1190 37 1088.71

VBD_pump_during_apogee 460 595 6685.47 nil 0 0 0.00

VBD_pump_during_surface 189 632 2933.80 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 4073 25 2485.55

Iridium_during_xfer 233 102 583.90 nil 0 0 0.00

Transponder_ping 1 420 15.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.24

TT8 1415 12 176.28

LPSleep 867 2 19.36

TT8_Active 669 12 83.35

TT8_Sampling 1652 37 634.73

TT8_CF8 248 42 108.89

TT8_Kalman 0 0 0.00

Analog_circuits 1548 11 173.56

GPS_charging 0 0 0.00

Compass 1445 8 121.36

RAFOS 0 0 0.00

Transponder 11 30 3.38

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.79 -116.8 166 2018 741 428 0.0 0.0 0 141 0.00 0.00 -112.15 0.012 16386 0.000 0.000 167 2018 3158 3144 3173 0 0 0 0 0 0 26.13 28.83 26.20

144 -0.79 -116.8 167 2018 3146 3173 4.1 -7.5 16 161 8.38 1.12 -2.55 0.031 18980 0.215 0.069 2324 1264 3280 3277 3283 0 0 0 0 0 0 25.61 24.41 25.79

393 -0.79 -116.8 2323 1264 3287 3278 48.3 -13.1 63 400 0.00 1.10 0.00 0.000 1030 0.000 0.037 2320 1988 3282 3287 3278 0 0 0 0 0 0 26.34 26.29 26.39

532 -0.79 -116.8 2319 1988 3289 3277 65.6 -11.5 88 539 0.00 1.02 0.00 0.000 516 0.000 0.040 2320 1312 3283 3289 3277 0 0 0 0 0 0 26.50 26.33 26.56

770 -0.79 -116.8 2319 1311 3290 3277 91.6 -10.8 134 778 0.00 1.05 0.00 0.000 1030 0.000 0.037 2316 2006 3283 3290 3276 0 0 0 0 0 0 26.44 26.43 26.49

905 -0.79 -116.8 2316 2006 3291 3276 105.7 -10.5 154 908 0.00 1.05 0.00 0.000 516 0.000 0.047 2320 1308 3284 3291 3277 0 0 0 0 0 0 26.61 26.41 26.65

1054 -0.79 -116.8 2319 1308 3291 3276 121.4 -10.6 182 1058 0.00 1.05 0.00 0.000 1030 0.000 0.036 2316 2003 3283 3291 3276 0 0 0 0 0 0 26.48 26.48 26.47

1188 -0.79 -116.8 2317 2003 3292 3275 135.6 -10.8 196 1192 0.08 1.02 0.00 0.000 2308 0.244 0.044 2323 2700 3283 3291 3275 0 0 0 0 0 0 26.32 26.46 26.40

1273 -0.79 -116.8 2323 2700 3292 3274 144.7 -10.2 212 1277 0.00 1.02 0.00 0.000 1030 0.000 0.032 2327 1982 3283 3292 3275 0 0 0 0 0 0 26.51 26.46 26.53

1406 -0.79 -116.8 2325 1981 3292 3275 157.9 -9.9 226 1410 0.00 0.98 0.00 0.000 548 0.000 0.041 2332 1321 3283 3292 3275 0 0 0 0 0 0 26.66 26.48 26.72

1473 -0.79 -116.8 2332 1321 3292 3275 165.0 -9.9 239 1481 0.00 1.02 0.00 0.000 1062 0.000 0.035 2329 2007 3283 3292 3275 0 0 0 0 0 0 26.51 26.47 26.55

1602 -0.79 -116.8 2328 2007 3292 3274 177.1 -9.5 252 1606 0.00 1.02 0.00 0.000 548 0.000 0.039 2332 1321 3283 3292 3274 0 0 0 0 0 0 26.68 26.50 26.74

1680 -0.79 -116.8 2331 1321 3292 3274 184.8 -9.7 266 1684 0.00 1.02 0.00 0.000 1062 0.000 0.044 2329 2009 3283 3292 3274 0 0 0 0 0 0 26.55 26.53 26.58

1813 -0.79 -116.8 2328 2008 3292 3274 197.9 -9.7 280 1821 0.00 0.00 0.00 0.000 38 0.000 0.000 2329 2009 3283 3292 3274 0 0 0 0 0 0 26.71 26.77 26.76

1910 end dive: TARGET_DEPTH_EXCEEDED

state 1910 begin apogee

1915 -0.18 0.0 2328 1778 3293 3274 207.7 -9.9 290 2102 0.65 0.00 182.70 0.571 10246 0.168 0.000 2521 1778 2800 2854 2746 0 0 0 0 0 0 25.96 25.20 24.64

2108 end apogee: CONTROL_FINISHED_OK

state 2108 begin climb

2109 0.79 116.8 2521 1777 2842 2735 212.8 0.0 309 2301 1.02 1.02 178.88 0.548 10756 0.118 0.035 2839 1136 2309 2437 2182 0 0 0 0 0 0 25.28 24.86 24.51

2324 0.80 124.0 2838 1136 2427 2178 199.7 9.6 349 2328 0.00 1.02 0.00 0.000 1062 0.000 0.042 2835 1795 2302 2426 2178 0 0 0 0 0 0 25.41 25.37 25.44

2456 0.80 124.0 2835 1795 2422 2174 186.5 10.1 363 2460 0.00 1.05 0.00 0.000 260 0.000 0.041 2830 2490 2298 2422 2174 0 0 0 0 0 0 25.94 25.82 26.00

2554 0.82 144.7 2830 2490 2421 2170 176.9 8.8 382 2593 0.00 0.98 34.58 0.595 9254 0.000 0.040 2833 1834 2210 2345 2075 0 0 0 0 0 0 26.06 26.01 24.94

2714 0.82 144.7 2833 1834 2329 2063 161.4 10.4 401 2718 0.00 1.12 0.00 0.000 516 0.000 0.044 2839 1106 2196 2329 2063 0 0 0 0 0 0 25.94 25.98 26.01

2801 0.82 144.7 2839 1106 2329 2063 151.3 11.1 418 2810 0.00 1.05 0.00 0.000 1030 0.000 0.034 2836 1799 2195 2328 2063 0 0 0 0 0 0 26.16 26.14 26.18

2930 0.82 144.7 2835 1800 2327 2062 136.8 11.7 431 2933 0.00 1.02 0.00 0.000 260 0.000 0.042 2830 2488 2194 2327 2062 0 0 0 0 0 0 26.28 26.20 26.34

3039 0.82 144.7 2830 2489 2325 2062 125.2 10.2 451 3042 0.00 1.02 0.00 0.000 1030 0.000 0.044 2834 1795 2193 2325 2062 0 0 0 0 0 0 26.29 26.27 26.33

3170 0.82 144.7 2833 1794 2326 2061 111.9 10.1 465 3172 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 1794 2193 2325 2062 0 0 0 0 0 0 26.39 26.48 26.46

3292 0.83 153.5 2833 1794 2325 2062 100.3 9.5 477 3300 0.00 0.00 2.33 0.509 8230 0.000 0.000 2834 1794 2173 2307 2039 0 0 0 0 0 0 26.51 25.44 24.73

3427 0.87 184.5 2833 1794 2313 2040 88.1 8.2 502 3481 0.12 1.10 47.92 0.548 10788 0.176 0.046 2879 1108 2043 2184 1902 0 0 0 0 0 0 26.15 25.81 25.22

3616 0.87 184.5 2879 1108 2167 1895 65.8 11.6 535 3624 0.00 1.05 0.00 0.000 1030 0.000 0.037 2876 1797 2031 2168 1894 0 0 0 0 0 0 26.13 26.08 26.15

3754 0.87 184.5 2876 1797 2168 1892 49.1 11.9 560 3761 0.00 1.05 0.00 0.000 260 0.000 0.050 2871 2493 2029 2167 1891 0 0 0 0 0 0 26.39 26.22 26.44

3801 0.87 184.5 2870 2493 2167 1891 43.3 11.9 568 3809 0.00 1.02 0.00 0.000 1030 0.000 0.037 2874 1803 2029 2167 1891 0 0 0 0 0 0 26.34 26.29 26.34

3941 0.87 187.0 2874 1804 2166 1891 30.0 9.9 593 3948 0.00 0.00 0.00 0.000 38 0.000 0.000 2874 1803 2028 2166 1891 0 0 0 0 0 0 26.44 26.53 26.51

4072 0.89 202.0 2874 1803 2165 1891 16.9 9.1 618 4095 0.00 1.05 13.77 0.558 8484 0.000 0.043 2871 2485 1969 2111 1827 0 0 0 0 0 0 26.46 26.04 25.36

4207 0.89 202.8 2870 2485 2101 1823 2.4 10.0 642 4215 0.00 1.02 0.00 0.000 1062 0.000 0.036 2874 1793 1962 2101 1823 0 0 0 0 0 0 26.35 26.32 26.36

4221 end climb: SURFACE_DEPTH_REACHED

state 4221 begin surface coast

4242 end surface coast: CONTROL_FINISHED_OK

state 4243 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	150
DIVE	31	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	54	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	5
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	541.92499	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	600	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	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	230	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	1
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	135
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	1	LOITER_W_DBAND	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	3600	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	COMPASS2_DEVICE	-1
USE_BATHY	-1	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	97.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	83.800003	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	-171.33574	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	60.0
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	170921,012939,4754.6831,-12516.1094,20,0.7,28,15.7,0.5,193.2,12,3.2	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	TRANSIT4
_XMS_NAKs	0	TGT_LATLONG	4755.900,-12515.140
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.54	MHEAD_RNG_PITCHd_Wd	6.9,2667,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-63.0	D_GRID	207
GPS2	170921,013536,4754.6167,-12516.1162,4,0.7,6,15.7,0.3,172.0,12,10.0

FINISH	-0.4,1.011807	_24V_AH	24.41,3.940
SM_CCo	4261,189.98,0.633,1,0,590,542.11	_10V_AH	10.19,1.979
SM_GC	0.53,7.43,0.30,189.98,0.054,0.051,0.633,176,2008,590,-7.40,-1.41,542.11,0,0,0,0,1,0,26.40,26.36,24.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4754.40,-12515.83,160921,235350	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.146055	MEM	154200
HUMID	54.17	DATA_FILE_SIZE	33566,648
INTERNAL_PRESSURE	8.70873	CAP_FILE_SIZE	81115,0
TCM_TEMP	15.10	CFSIZE	260030464,248471552
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	117940912128.000000	INTR	0,69.20,0x235ab2,0,24
CP_POWER	323.310000	CURRENT	0.070,219.05,1
CP_POWER1	0.000000	GPS	170921,025142,4754.932,-12516.093,4,0.9,6,15.7,0.3,169.4,8,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	244	105.29	SBE_CT	376	64	592.19
Roll_motor	27	68	46.51	WL_blue_red_Chl	1190	37	1088.71
VBD_pump_during_apogee	460	595	6685.47	nil	0	0	0.00
VBD_pump_during_surface	189	632	2933.80	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	4073	25	2485.55
Iridium_during_xfer	233	102	583.90	nil	0	0	0.00
Transponder_ping	1	420	15.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.24
TT8	1415	12	176.28
LPSleep	867	2	19.36
TT8_Active	669	12	83.35
TT8_Sampling	1652	37	634.73
TT8_CF8	248	42	108.89
TT8_Kalman	0	0	0.00
Analog_circuits	1548	11	173.56
GPS_charging	0	0	0.00
Compass	1445	8	121.36
RAFOS	0	0	0.00
Transponder	11	30	3.38

		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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.79	-116.8	166	2018	741	428	0.0	0.0	0	141	0.00	0.00	-112.15	0.012	16386	0.000	0.000	167	2018	3158	3144	3173	0	0	0	0	0	0	26.13	28.83	26.20
144	-0.79	-116.8	167	2018	3146	3173	4.1	-7.5	16	161	8.38	1.12	-2.55	0.031	18980	0.215	0.069	2324	1264	3280	3277	3283	0	0	0	0	0	0	25.61	24.41	25.79
393	-0.79	-116.8	2323	1264	3287	3278	48.3	-13.1	63	400	0.00	1.10	0.00	0.000	1030	0.000	0.037	2320	1988	3282	3287	3278	0	0	0	0	0	0	26.34	26.29	26.39
532	-0.79	-116.8	2319	1988	3289	3277	65.6	-11.5	88	539	0.00	1.02	0.00	0.000	516	0.000	0.040	2320	1312	3283	3289	3277	0	0	0	0	0	0	26.50	26.33	26.56
770	-0.79	-116.8	2319	1311	3290	3277	91.6	-10.8	134	778	0.00	1.05	0.00	0.000	1030	0.000	0.037	2316	2006	3283	3290	3276	0	0	0	0	0	0	26.44	26.43	26.49
905	-0.79	-116.8	2316	2006	3291	3276	105.7	-10.5	154	908	0.00	1.05	0.00	0.000	516	0.000	0.047	2320	1308	3284	3291	3277	0	0	0	0	0	0	26.61	26.41	26.65
1054	-0.79	-116.8	2319	1308	3291	3276	121.4	-10.6	182	1058	0.00	1.05	0.00	0.000	1030	0.000	0.036	2316	2003	3283	3291	3276	0	0	0	0	0	0	26.48	26.48	26.47
1188	-0.79	-116.8	2317	2003	3292	3275	135.6	-10.8	196	1192	0.08	1.02	0.00	0.000	2308	0.244	0.044	2323	2700	3283	3291	3275	0	0	0	0	0	0	26.32	26.46	26.40
1273	-0.79	-116.8	2323	2700	3292	3274	144.7	-10.2	212	1277	0.00	1.02	0.00	0.000	1030	0.000	0.032	2327	1982	3283	3292	3275	0	0	0	0	0	0	26.51	26.46	26.53
1406	-0.79	-116.8	2325	1981	3292	3275	157.9	-9.9	226	1410	0.00	0.98	0.00	0.000	548	0.000	0.041	2332	1321	3283	3292	3275	0	0	0	0	0	0	26.66	26.48	26.72
1473	-0.79	-116.8	2332	1321	3292	3275	165.0	-9.9	239	1481	0.00	1.02	0.00	0.000	1062	0.000	0.035	2329	2007	3283	3292	3275	0	0	0	0	0	0	26.51	26.47	26.55
1602	-0.79	-116.8	2328	2007	3292	3274	177.1	-9.5	252	1606	0.00	1.02	0.00	0.000	548	0.000	0.039	2332	1321	3283	3292	3274	0	0	0	0	0	0	26.68	26.50	26.74
1680	-0.79	-116.8	2331	1321	3292	3274	184.8	-9.7	266	1684	0.00	1.02	0.00	0.000	1062	0.000	0.044	2329	2009	3283	3292	3274	0	0	0	0	0	0	26.55	26.53	26.58
1813	-0.79	-116.8	2328	2008	3292	3274	197.9	-9.7	280	1821	0.00	0.00	0.00	0.000	38	0.000	0.000	2329	2009	3283	3292	3274	0	0	0	0	0	0	26.71	26.77	26.76
1910	end dive: TARGET_DEPTH_EXCEEDED
state	1910	begin apogee
1915	-0.18	0.0	2328	1778	3293	3274	207.7	-9.9	290	2102	0.65	0.00	182.70	0.571	10246	0.168	0.000	2521	1778	2800	2854	2746	0	0	0	0	0	0	25.96	25.20	24.64
2108	end apogee: CONTROL_FINISHED_OK
state	2108	begin climb
2109	0.79	116.8	2521	1777	2842	2735	212.8	0.0	309	2301	1.02	1.02	178.88	0.548	10756	0.118	0.035	2839	1136	2309	2437	2182	0	0	0	0	0	0	25.28	24.86	24.51
2324	0.80	124.0	2838	1136	2427	2178	199.7	9.6	349	2328	0.00	1.02	0.00	0.000	1062	0.000	0.042	2835	1795	2302	2426	2178	0	0	0	0	0	0	25.41	25.37	25.44
2456	0.80	124.0	2835	1795	2422	2174	186.5	10.1	363	2460	0.00	1.05	0.00	0.000	260	0.000	0.041	2830	2490	2298	2422	2174	0	0	0	0	0	0	25.94	25.82	26.00
2554	0.82	144.7	2830	2490	2421	2170	176.9	8.8	382	2593	0.00	0.98	34.58	0.595	9254	0.000	0.040	2833	1834	2210	2345	2075	0	0	0	0	0	0	26.06	26.01	24.94
2714	0.82	144.7	2833	1834	2329	2063	161.4	10.4	401	2718	0.00	1.12	0.00	0.000	516	0.000	0.044	2839	1106	2196	2329	2063	0	0	0	0	0	0	25.94	25.98	26.01
2801	0.82	144.7	2839	1106	2329	2063	151.3	11.1	418	2810	0.00	1.05	0.00	0.000	1030	0.000	0.034	2836	1799	2195	2328	2063	0	0	0	0	0	0	26.16	26.14	26.18
2930	0.82	144.7	2835	1800	2327	2062	136.8	11.7	431	2933	0.00	1.02	0.00	0.000	260	0.000	0.042	2830	2488	2194	2327	2062	0	0	0	0	0	0	26.28	26.20	26.34
3039	0.82	144.7	2830	2489	2325	2062	125.2	10.2	451	3042	0.00	1.02	0.00	0.000	1030	0.000	0.044	2834	1795	2193	2325	2062	0	0	0	0	0	0	26.29	26.27	26.33
3170	0.82	144.7	2833	1794	2326	2061	111.9	10.1	465	3172	0.00	0.00	0.00	0.000	6	0.000	0.000	2834	1794	2193	2325	2062	0	0	0	0	0	0	26.39	26.48	26.46
3292	0.83	153.5	2833	1794	2325	2062	100.3	9.5	477	3300	0.00	0.00	2.33	0.509	8230	0.000	0.000	2834	1794	2173	2307	2039	0	0	0	0	0	0	26.51	25.44	24.73
3427	0.87	184.5	2833	1794	2313	2040	88.1	8.2	502	3481	0.12	1.10	47.92	0.548	10788	0.176	0.046	2879	1108	2043	2184	1902	0	0	0	0	0	0	26.15	25.81	25.22
3616	0.87	184.5	2879	1108	2167	1895	65.8	11.6	535	3624	0.00	1.05	0.00	0.000	1030	0.000	0.037	2876	1797	2031	2168	1894	0	0	0	0	0	0	26.13	26.08	26.15
3754	0.87	184.5	2876	1797	2168	1892	49.1	11.9	560	3761	0.00	1.05	0.00	0.000	260	0.000	0.050	2871	2493	2029	2167	1891	0	0	0	0	0	0	26.39	26.22	26.44
3801	0.87	184.5	2870	2493	2167	1891	43.3	11.9	568	3809	0.00	1.02	0.00	0.000	1030	0.000	0.037	2874	1803	2029	2167	1891	0	0	0	0	0	0	26.34	26.29	26.34
3941	0.87	187.0	2874	1804	2166	1891	30.0	9.9	593	3948	0.00	0.00	0.00	0.000	38	0.000	0.000	2874	1803	2028	2166	1891	0	0	0	0	0	0	26.44	26.53	26.51
4072	0.89	202.0	2874	1803	2165	1891	16.9	9.1	618	4095	0.00	1.05	13.77	0.558	8484	0.000	0.043	2871	2485	1969	2111	1827	0	0	0	0	0	0	26.46	26.04	25.36
4207	0.89	202.8	2870	2485	2101	1823	2.4	10.0	642	4215	0.00	1.02	0.00	0.000	1062	0.000	0.036	2874	1793	1962	2101	1823	0	0	0	0	0	0	26.35	26.32	26.36
4221	end climb: SURFACE_DEPTH_REACHED
state	4221	begin surface coast
4242	end surface coast: CONTROL_FINISHED_OK
state	4243	begin surface