Glider dive log

WA coast Aug21 * SG204 * Dive index * Mission links * Dive 4 * 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 7 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 4 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 44 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 37 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 550 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 360 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 400 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 3050 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 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 120 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 150 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 2 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 2620 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 150 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 30 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 55575 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 3.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0039810701 ROLL_DEG 40 ALTIM_PING_FIT 0 CP_STARTS 6.0

HD_B 0.010145 C_ROLL_DIVE 2150 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 2100 ALTIM_BOTTOM_TURN_MARGIN 0

HEADING 270 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 0 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 550

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 360 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 30 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 0.0039810701 PITCH_TIMEOUT 17 T_DIVE 120

CAPMAXSIZE 200000 HD_B 0.010145 PITCH_VBD_SHIFT 0 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING 270 PITCH_W_GAIN 0 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 150

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 2

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 3.0 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 6.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 3.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2620 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 2100 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2150 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 3050 LOITER_D_TOP 0 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 ROLL_DEG 40 VBD_MIN 550

DEVICE1 2 MASS 55575 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 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 44 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 37 XPDR_INHIBIT 90

DIVE 4 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 400 MISSION 7 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 280821,234759,4751.1060,-12510.8301,2,1.0,7,15.7,0.5,182.0,12,10.0 SPEED_LIMITS 0.173,0.260

_CALLS 4 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12526.928

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 265.2,20000,-18.3,-10.000,-21.00,2243

_SM_ANGLEo -60.9 D_GRID 304

GPS2 280821,235645,4751.0000,-12510.8359,5,1.4,8,15.7,0.4,0.0,8,8.9

Post-dive calculations and measurements:

FINISH -0.2,1.023548 _24V_AH 23.96,2.935

SM_CCo 6998,0.00,0.000,0,0,549,613.50 _10V_AH 10.29,2.578

SM_GC 0.36,7.25,2.22,0.00,0.063,0.031,0.000,192,2150,549,-7.46,-1.33,613.50,0,0,0,0,0,0,26.54,26.53,26.59 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,280821,235203 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.186501 MEM 212540

HUMID 58.11 DATA_FILE_SIZE 53651,999

INTERNAL_PRESSURE 8.70873 CAP_FILE_SIZE 110132,0

TCM_TEMP 14.90 CFSIZE 260030464,250634240

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

CP_FREE 127700238336.000000 CURRENT 0.131,168.95,1

CP_POWER 316.810000 GPS 290821,015534,4750.981,-12511.218,18,1.1,35,15.7,0.6,307.6,9,10.0

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 214 86.09 SBE_CT 535 64 826.41

Roll_motor 60 196 286.17 WL_blue_red_Chl 1699 37 1525.00

VBD_pump_during_apogee 1159 688 19119.40 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 6631 25 3971.97

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 11 2.52

TT8 1904 12 239.46

LPSleep 1892 2 42.65

TT8_Active 979 12 123.15

TT8_Sampling 2030 37 787.68

TT8_CF8 294 42 130.26

TT8_Kalman 0 0 0.00

Analog_circuits 2021 11 228.80

GPS_charging 0 0 0.00

Compass 2111 8 178.99

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.61 -146.0 193 2187 683 416 0.0 0.0 0 138 0.00 0.00 -110.70 0.010 16386 0.000 0.000 193 2188 3287 3278 3296 0 0 0 0 0 0 26.54 28.83 26.61

141 -0.61 -146.0 193 2186 3279 3296 4.8 -9.8 16 164 8.20 2.12 -6.68 0.016 18724 0.214 0.062 2395 3554 3648 3648 3648 0 0 0 0 0 0 26.15 25.88 26.30

244 -0.61 -146.0 2395 3554 3652 3647 25.6 -12.9 34 252 0.00 2.12 0.00 0.000 1030 0.000 0.031 2404 2136 3649 3652 3646 0 0 0 0 0 0 26.58 26.55 26.58

438 -0.61 -146.0 2403 2133 3655 3644 50.6 -13.3 71 445 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2133 3649 3655 3644 0 0 0 0 0 0 26.69 26.76 26.74

631 -0.61 -146.0 2403 2133 3656 3643 72.2 -10.2 108 638 0.00 2.10 0.00 0.000 516 0.000 0.043 2414 767 3649 3656 3643 0 0 0 0 0 0 26.72 26.57 26.80

697 -0.61 -146.0 2413 767 3656 3643 79.2 -10.7 120 704 0.00 2.12 0.00 0.000 1030 0.000 0.035 2406 2159 3649 3656 3643 0 0 0 0 0 0 26.65 26.61 26.67

890 -0.61 -146.0 2405 2159 3656 3642 98.0 -8.9 157 898 0.00 2.15 0.00 0.000 292 0.000 0.049 2395 3552 3649 3656 3642 0 0 0 0 0 0 26.67 26.58 26.76

970 -0.61 -146.0 2394 3552 3656 3642 105.6 -9.1 172 978 0.00 2.10 0.00 0.000 1062 0.000 0.031 2403 2141 3649 3656 3642 0 0 0 0 0 0 26.69 26.69 26.72

1280 -0.61 -146.0 2402 2137 3656 3640 139.1 -12.2 203 1284 0.00 2.08 0.00 0.000 516 0.000 0.044 2414 759 3648 3656 3640 0 0 0 0 0 0 26.79 26.63 26.85

1363 -0.61 -146.0 2413 759 3656 3640 149.5 -12.1 219 1367 0.00 2.08 0.00 0.000 1030 0.000 0.035 2405 2153 3647 3654 3640 0 0 0 0 0 0 26.68 26.60 26.71

1675 -0.61 -146.0 2405 2153 3657 3638 185.2 -10.8 251 1679 0.00 2.12 0.00 0.000 516 0.000 0.072 2407 749 3647 3656 3638 0 0 0 0 0 0 26.82 26.64 26.87

1707 -0.61 -146.0 2407 749 3656 3638 188.7 -10.8 257 1712 0.00 2.10 0.00 0.000 1030 0.000 0.035 2399 2161 3646 3656 3637 0 0 0 0 0 0 26.74 26.67 26.77

2020 -0.61 -146.0 2398 2160 3657 3635 220.9 -9.9 289 2022 0.00 0.00 0.00 0.000 38 0.000 0.000 2399 2161 3645 3656 3635 0 0 0 0 0 0 26.77 26.84 26.84

2321 -0.61 -146.0 2399 2161 3656 3633 249.2 -9.2 319 2325 0.00 2.12 0.00 0.000 548 0.000 0.043 2404 751 3644 3655 3633 0 0 0 0 0 0 26.81 26.65 26.87

2436 -0.61 -146.0 2403 751 3656 3632 261.6 -11.6 341 2441 0.00 2.10 0.00 0.000 1030 0.000 0.039 2396 2162 3644 3657 3632 0 0 0 0 0 0 26.76 26.70 26.79

2748 -0.61 -146.0 2394 2163 3656 3630 298.8 -11.9 373 2750 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2163 3643 3656 3630 0 0 0 0 0 0 26.72 26.85 26.80

2807 end dive: TARGET_DEPTH_EXCEEDED

state 2807 begin apogee

2811 -0.17 0.0 2395 2162 3656 3630 306.2 -12.3 377 3050 0.52 0.03 229.80 0.608 10246 0.151 0.197 2549 2115 3047 3113 2982 0 0 0 0 1 0 26.32 25.16 24.53

3055 end apogee: CONTROL_FINISHED_OK

state 3055 begin climb

3057 0.61 146.0 2549 2115 3119 2987 313.7 0.0 389 3343 0.80 2.30 275.88 0.555 11012 0.122 0.038 2805 686 2450 2568 2333 0 0 0 0 0 0 25.29 25.00 24.73

3583 0.61 260.5 2804 686 2522 2305 294.3 4.8 493 3822 0.00 2.20 222.00 0.549 9254 0.000 0.037 2797 2094 1976 2110 1843 0 0 0 0 1 0 26.11 26.05 23.96

4121 0.61 285.3 2795 2094 2074 1817 251.6 8.9 570 4161 0.00 2.20 26.05 0.584 8484 0.000 0.054 2786 3500 1880 2013 1747 0 0 0 0 1 0 26.25 25.52 24.87

4239 0.61 305.9 2785 3501 1999 1745 240.5 9.1 593 4297 0.00 2.17 46.03 0.567 9254 0.000 0.067 2795 2094 1798 1935 1661 0 0 0 0 1 0 26.10 26.06 25.12

4597 0.61 339.4 2794 2094 1907 1638 211.3 8.5 634 4659 0.00 2.33 50.75 0.569 8484 0.000 0.052 2786 3505 1663 1805 1521 0 0 0 0 1 0 26.31 25.65 25.00

4757 0.61 359.5 2786 3505 1799 1520 197.2 9.1 664 4817 0.00 2.12 46.83 0.553 9254 0.000 0.034 2795 2101 1579 1724 1434 0 0 0 0 1 0 26.08 26.03 25.08

5116 0.61 421.2 2794 2101 1706 1420 170.0 7.2 706 5187 0.00 2.30 57.58 0.675 8484 0.000 0.052 2786 3497 1330 1491 1170 0 0 0 0 1 0 26.32 25.46 24.86

5245 0.61 465.4 2786 3497 1502 1169 160.3 8.0 731 5307 0.00 2.17 50.25 0.643 9254 0.000 0.037 2794 2106 1147 1318 977 0 0 0 0 1 0 25.83 25.82 24.73

5616 0.61 570.5 2794 2106 1326 977 139.3 5.2 774 5729 0.00 2.30 97.80 0.689 8484 0.000 0.050 2786 3493 721 858 585 0 0 0 0 1 0 26.26 25.19 24.62

5767 0.61 632.3 2786 3493 860 585 130.9 7.2 803 5834 0.00 2.17 56.05 0.630 9254 0.000 0.032 2795 2105 549 660 439 0 0 0 0 1 0 25.67 25.63 24.65

6134 0.61 632.3 2794 2107 660 438 96.0 11.7 849 6142 0.00 2.22 0.00 0.000 260 0.000 0.050 2786 3502 549 660 439 0 0 0 0 0 0 26.23 26.11 26.32

6154 0.61 632.3 2786 3502 659 439 93.9 10.1 852 6162 0.00 2.17 0.00 0.000 1030 0.000 0.033 2795 2086 549 660 439 0 0 0 0 0 0 26.21 26.17 26.23

6346 0.61 632.3 2794 2085 659 439 71.3 14.0 889 6353 0.00 2.17 0.00 0.000 516 0.000 0.047 2806 707 549 660 439 0 0 0 0 0 0 26.41 26.27 26.47

6585 0.61 632.3 2805 707 660 439 37.0 11.1 935 6592 0.00 2.12 0.00 0.000 1030 0.000 0.034 2796 2096 549 659 439 0 0 0 0 0 0 26.46 26.42 26.48

6776 0.61 632.3 2796 2100 659 439 16.0 11.1 972 6784 0.00 2.20 0.00 0.000 516 0.000 0.050 2806 707 549 659 439 0 0 0 0 0 0 26.57 26.39 26.63

6900 end climb: SURFACE_DEPTH_REACHED

state 6900 begin surface coast

6918 end surface coast: CONTROL_FINISHED_OK

state 6918 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	7	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	4	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	44	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	37	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	550	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	360	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	400	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	3050	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	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	120	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	150	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	2	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	2620	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	150	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	30	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	55575	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	3.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0039810701	ROLL_DEG	40	ALTIM_PING_FIT	0	CP_STARTS	6.0
HD_B	0.010145	C_ROLL_DIVE	2150	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	2100	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	270	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	280821,234759,4751.1060,-12510.8301,2,1.0,7,15.7,0.5,182.0,12,10.0	SPEED_LIMITS	0.173,0.260
_CALLS	4	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12526.928
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	265.2,20000,-18.3,-10.000,-21.00,2243
_SM_ANGLEo	-60.9	D_GRID	304
GPS2	280821,235645,4751.0000,-12510.8359,5,1.4,8,15.7,0.4,0.0,8,8.9

FINISH	-0.2,1.023548	_24V_AH	23.96,2.935
SM_CCo	6998,0.00,0.000,0,0,549,613.50	_10V_AH	10.29,2.578
SM_GC	0.36,7.25,2.22,0.00,0.063,0.031,0.000,192,2150,549,-7.46,-1.33,613.50,0,0,0,0,0,0,26.54,26.53,26.59	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,280821,235203	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.186501	MEM	212540
HUMID	58.11	DATA_FILE_SIZE	53651,999
INTERNAL_PRESSURE	8.70873	CAP_FILE_SIZE	110132,0
TCM_TEMP	14.90	CFSIZE	260030464,250634240
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
CP_FREE	127700238336.000000	CURRENT	0.131,168.95,1
CP_POWER	316.810000	GPS	290821,015534,4750.981,-12511.218,18,1.1,35,15.7,0.6,307.6,9,10.0
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	214	86.09	SBE_CT	535	64	826.41
Roll_motor	60	196	286.17	WL_blue_red_Chl	1699	37	1525.00
VBD_pump_during_apogee	1159	688	19119.40	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	6631	25	3971.97
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	11	2.52
TT8	1904	12	239.46
LPSleep	1892	2	42.65
TT8_Active	979	12	123.15
TT8_Sampling	2030	37	787.68
TT8_CF8	294	42	130.26
TT8_Kalman	0	0	0.00
Analog_circuits	2021	11	228.80
GPS_charging	0	0	0.00
Compass	2111	8	178.99
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.61	-146.0	193	2187	683	416	0.0	0.0	0	138	0.00	0.00	-110.70	0.010	16386	0.000	0.000	193	2188	3287	3278	3296	0	0	0	0	0	0	26.54	28.83	26.61
141	-0.61	-146.0	193	2186	3279	3296	4.8	-9.8	16	164	8.20	2.12	-6.68	0.016	18724	0.214	0.062	2395	3554	3648	3648	3648	0	0	0	0	0	0	26.15	25.88	26.30
244	-0.61	-146.0	2395	3554	3652	3647	25.6	-12.9	34	252	0.00	2.12	0.00	0.000	1030	0.000	0.031	2404	2136	3649	3652	3646	0	0	0	0	0	0	26.58	26.55	26.58
438	-0.61	-146.0	2403	2133	3655	3644	50.6	-13.3	71	445	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2133	3649	3655	3644	0	0	0	0	0	0	26.69	26.76	26.74
631	-0.61	-146.0	2403	2133	3656	3643	72.2	-10.2	108	638	0.00	2.10	0.00	0.000	516	0.000	0.043	2414	767	3649	3656	3643	0	0	0	0	0	0	26.72	26.57	26.80
697	-0.61	-146.0	2413	767	3656	3643	79.2	-10.7	120	704	0.00	2.12	0.00	0.000	1030	0.000	0.035	2406	2159	3649	3656	3643	0	0	0	0	0	0	26.65	26.61	26.67
890	-0.61	-146.0	2405	2159	3656	3642	98.0	-8.9	157	898	0.00	2.15	0.00	0.000	292	0.000	0.049	2395	3552	3649	3656	3642	0	0	0	0	0	0	26.67	26.58	26.76
970	-0.61	-146.0	2394	3552	3656	3642	105.6	-9.1	172	978	0.00	2.10	0.00	0.000	1062	0.000	0.031	2403	2141	3649	3656	3642	0	0	0	0	0	0	26.69	26.69	26.72
1280	-0.61	-146.0	2402	2137	3656	3640	139.1	-12.2	203	1284	0.00	2.08	0.00	0.000	516	0.000	0.044	2414	759	3648	3656	3640	0	0	0	0	0	0	26.79	26.63	26.85
1363	-0.61	-146.0	2413	759	3656	3640	149.5	-12.1	219	1367	0.00	2.08	0.00	0.000	1030	0.000	0.035	2405	2153	3647	3654	3640	0	0	0	0	0	0	26.68	26.60	26.71
1675	-0.61	-146.0	2405	2153	3657	3638	185.2	-10.8	251	1679	0.00	2.12	0.00	0.000	516	0.000	0.072	2407	749	3647	3656	3638	0	0	0	0	0	0	26.82	26.64	26.87
1707	-0.61	-146.0	2407	749	3656	3638	188.7	-10.8	257	1712	0.00	2.10	0.00	0.000	1030	0.000	0.035	2399	2161	3646	3656	3637	0	0	0	0	0	0	26.74	26.67	26.77
2020	-0.61	-146.0	2398	2160	3657	3635	220.9	-9.9	289	2022	0.00	0.00	0.00	0.000	38	0.000	0.000	2399	2161	3645	3656	3635	0	0	0	0	0	0	26.77	26.84	26.84
2321	-0.61	-146.0	2399	2161	3656	3633	249.2	-9.2	319	2325	0.00	2.12	0.00	0.000	548	0.000	0.043	2404	751	3644	3655	3633	0	0	0	0	0	0	26.81	26.65	26.87
2436	-0.61	-146.0	2403	751	3656	3632	261.6	-11.6	341	2441	0.00	2.10	0.00	0.000	1030	0.000	0.039	2396	2162	3644	3657	3632	0	0	0	0	0	0	26.76	26.70	26.79
2748	-0.61	-146.0	2394	2163	3656	3630	298.8	-11.9	373	2750	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2163	3643	3656	3630	0	0	0	0	0	0	26.72	26.85	26.80
2807	end dive: TARGET_DEPTH_EXCEEDED
state	2807	begin apogee
2811	-0.17	0.0	2395	2162	3656	3630	306.2	-12.3	377	3050	0.52	0.03	229.80	0.608	10246	0.151	0.197	2549	2115	3047	3113	2982	0	0	0	0	1	0	26.32	25.16	24.53
3055	end apogee: CONTROL_FINISHED_OK
state	3055	begin climb
3057	0.61	146.0	2549	2115	3119	2987	313.7	0.0	389	3343	0.80	2.30	275.88	0.555	11012	0.122	0.038	2805	686	2450	2568	2333	0	0	0	0	0	0	25.29	25.00	24.73
3583	0.61	260.5	2804	686	2522	2305	294.3	4.8	493	3822	0.00	2.20	222.00	0.549	9254	0.000	0.037	2797	2094	1976	2110	1843	0	0	0	0	1	0	26.11	26.05	23.96
4121	0.61	285.3	2795	2094	2074	1817	251.6	8.9	570	4161	0.00	2.20	26.05	0.584	8484	0.000	0.054	2786	3500	1880	2013	1747	0	0	0	0	1	0	26.25	25.52	24.87
4239	0.61	305.9	2785	3501	1999	1745	240.5	9.1	593	4297	0.00	2.17	46.03	0.567	9254	0.000	0.067	2795	2094	1798	1935	1661	0	0	0	0	1	0	26.10	26.06	25.12
4597	0.61	339.4	2794	2094	1907	1638	211.3	8.5	634	4659	0.00	2.33	50.75	0.569	8484	0.000	0.052	2786	3505	1663	1805	1521	0	0	0	0	1	0	26.31	25.65	25.00
4757	0.61	359.5	2786	3505	1799	1520	197.2	9.1	664	4817	0.00	2.12	46.83	0.553	9254	0.000	0.034	2795	2101	1579	1724	1434	0	0	0	0	1	0	26.08	26.03	25.08
5116	0.61	421.2	2794	2101	1706	1420	170.0	7.2	706	5187	0.00	2.30	57.58	0.675	8484	0.000	0.052	2786	3497	1330	1491	1170	0	0	0	0	1	0	26.32	25.46	24.86
5245	0.61	465.4	2786	3497	1502	1169	160.3	8.0	731	5307	0.00	2.17	50.25	0.643	9254	0.000	0.037	2794	2106	1147	1318	977	0	0	0	0	1	0	25.83	25.82	24.73
5616	0.61	570.5	2794	2106	1326	977	139.3	5.2	774	5729	0.00	2.30	97.80	0.689	8484	0.000	0.050	2786	3493	721	858	585	0	0	0	0	1	0	26.26	25.19	24.62
5767	0.61	632.3	2786	3493	860	585	130.9	7.2	803	5834	0.00	2.17	56.05	0.630	9254	0.000	0.032	2795	2105	549	660	439	0	0	0	0	1	0	25.67	25.63	24.65
6134	0.61	632.3	2794	2107	660	438	96.0	11.7	849	6142	0.00	2.22	0.00	0.000	260	0.000	0.050	2786	3502	549	660	439	0	0	0	0	0	0	26.23	26.11	26.32
6154	0.61	632.3	2786	3502	659	439	93.9	10.1	852	6162	0.00	2.17	0.00	0.000	1030	0.000	0.033	2795	2086	549	660	439	0	0	0	0	0	0	26.21	26.17	26.23
6346	0.61	632.3	2794	2085	659	439	71.3	14.0	889	6353	0.00	2.17	0.00	0.000	516	0.000	0.047	2806	707	549	660	439	0	0	0	0	0	0	26.41	26.27	26.47
6585	0.61	632.3	2805	707	660	439	37.0	11.1	935	6592	0.00	2.12	0.00	0.000	1030	0.000	0.034	2796	2096	549	659	439	0	0	0	0	0	0	26.46	26.42	26.48
6776	0.61	632.3	2796	2100	659	439	16.0	11.1	972	6784	0.00	2.20	0.00	0.000	516	0.000	0.050	2806	707	549	659	439	0	0	0	0	0	0	26.57	26.39	26.63
6900	end climb: SURFACE_DEPTH_REACHED
state	6900	begin surface coast
6918	end surface coast: CONTROL_FINISHED_OK
state	6918	begin surface