Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 101 * 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 101 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 53 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 52 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 260 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 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 95 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 9000 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 188.0

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 260 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 80

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 9000

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 95

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 188.0 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 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 53 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

DIVE 101 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 070921,143339,4750.5566,-12509.1152,7,0.8,21,15.7,0.1,0.0,12,10.0 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 298.3,3449,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -62.7 D_GRID 206

GPS2 070921,143841,4750.5396,-12509.0674,5,0.7,7,15.7,0.6,46.7,12,5.0

Post-dive calculations and measurements:

FINISH -0.4,1.025287 _24V_AH 24.32,18.364

SM_CCo 4236,-0.03,0.742,0,0,550,551.92 _10V_AH 10.26,10.258

SM_GC 0.44,7.62,0.28,-0.03,0.059,0.048,0.742,163,2014,550,-7.41,-1.44,551.92,0,0,0,0,0,0,26.05,26.03,25.05 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,070921,132227 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.152047 MEM 211132

HUMID 53.34 DATA_FILE_SIZE 30225,600

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 77307,0

TCM_TEMP 15.20 CFSIZE 260030464,242544640

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

CP_FREE 111144370176.000000 CURRENT 0.052,251.77,1

CP_POWER 323.310000 GPS 070921,155114,4750.755,-12509.658,10,0.9,11,15.7,0.5,78.3,10,8.7

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 95.63 SBE_CT 358 64 561.04

Roll_motor 24 94 57.56 WL_blue_red_Chl 1137 37 1036.22

VBD_pump_during_apogee 521 589 7476.25 nil 0 0 0.00

VBD_pump_during_surface 194 630 2982.52 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 3838 25 2333.50

Iridium_during_xfer 186 100 455.03 nil 0 0 0.00

Transponder_ping 1 420 12.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 11 2.36

TT8 1332 12 167.02

LPSleep 779 2 17.51

TT8_Active 736 12 92.32

TT8_Sampling 1488 37 575.69

TT8_CF8 247 42 109.19

TT8_Kalman 0 0 0.00

Analog_circuits 1531 11 172.86

GPS_charging 0 0 0.00

Compass 1346 8 113.87

RAFOS 0 0 0.00

Transponder 10 30 3.29

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

24 -0.84 -116.8 171 2012 690 410 0.0 0.0 0 132 0.00 0.00 -105.43 0.011 16386 0.000 0.000 171 2011 3070 3058 3083 0 0 0 0 0 0 26.10 28.83 26.17

135 -0.84 -116.8 171 2011 3060 3083 4.5 -9.6 15 153 8.12 1.05 -4.12 0.021 18724 0.222 0.076 2286 2708 3279 3279 3279 0 0 0 0 0 0 25.84 24.79 26.00

260 -0.84 -116.8 2286 2708 3286 3277 33.0 -18.0 37 269 0.08 1.05 0.00 0.000 3078 0.173 0.032 2308 1993 3281 3287 3276 0 0 0 0 0 0 26.05 26.31 26.15

394 -0.84 -116.8 2307 1991 3289 3275 51.8 -14.9 62 401 0.00 1.02 0.00 0.000 516 0.000 0.038 2313 1303 3282 3290 3275 0 0 0 0 0 0 26.44 26.34 26.49

588 -0.84 -116.8 2312 1303 3291 3275 76.1 -12.0 99 595 0.00 1.05 0.00 0.000 1030 0.000 0.043 2310 1999 3282 3291 3274 0 0 0 0 0 0 26.46 26.44 26.48

724 -0.84 -116.8 2309 1999 3292 3274 90.7 -10.8 124 733 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 1999 3283 3292 3275 0 0 0 0 0 0 26.54 26.59 26.58

858 -0.84 -116.8 2308 1999 3293 3274 108.2 -13.2 143 860 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 1999 3283 3293 3274 0 0 0 0 0 0 26.44 26.53 26.51

978 -0.84 -116.8 2309 1999 3293 3274 123.8 -12.1 155 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 1999 3283 3293 3274 0 0 0 0 0 0 26.58 26.59 26.61

1101 -0.84 -116.8 2309 2000 3293 3274 139.1 -13.8 167 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2000 3284 3294 3274 0 0 0 0 0 0 26.63 26.70 26.69

1228 -0.84 -116.8 2309 2000 3294 3274 152.8 -11.1 180 1233 0.00 1.02 0.00 0.000 516 0.000 0.044 2313 1307 3284 3294 3274 0 0 0 0 0 0 26.63 26.50 26.66

1335 -0.84 -116.8 2312 1307 3294 3274 164.8 -10.6 200 1340 0.00 1.05 0.00 0.000 1062 0.000 0.037 2310 2007 3284 3294 3274 0 0 0 0 0 0 26.58 26.55 26.62

1468 -0.84 -116.8 2309 2007 3294 3274 178.1 -9.5 214 1473 0.00 1.00 0.00 0.000 292 0.000 0.046 2304 2692 3284 3294 3274 0 0 0 0 0 0 26.54 26.56 26.59

1544 -0.84 -116.8 2304 2693 3294 3274 186.1 -10.6 228 1549 0.00 1.00 0.00 0.000 1062 0.000 0.032 2308 1984 3284 3294 3274 0 0 0 0 0 0 26.65 26.63 26.67

1677 -0.84 -116.8 2307 1983 3294 3274 199.8 -9.6 242 1681 0.00 0.98 0.00 0.000 548 0.000 0.041 2313 1318 3284 3294 3274 0 0 0 0 0 0 26.70 26.51 26.75

1744 end dive: TARGET_DEPTH_EXCEEDED

state 1744 begin apogee

1750 -0.18 0.0 2311 1813 3294 3273 206.2 -8.8 254 1930 0.70 0.00 175.77 0.573 10246 0.161 0.000 2518 1815 2801 2855 2748 0 0 0 0 0 0 26.22 25.29 24.81

1935 end apogee: CONTROL_FINISHED_OK

state 1935 begin climb

1937 0.84 116.8 2518 1815 2842 2736 210.6 0.0 272 2130 1.08 1.15 183.30 0.534 10756 0.118 0.037 2853 1123 2315 2439 2191 0 0 0 0 0 0 25.33 25.15 24.69

2231 0.84 116.9 2852 1123 2402 2166 186.0 10.8 316 2239 0.00 1.02 0.00 0.000 1062 0.000 0.035 2850 1793 2283 2402 2164 0 0 0 0 0 0 25.77 25.77 25.78

2359 0.85 121.4 2849 1792 2402 2162 172.4 10.6 329 2364 0.00 1.05 0.00 0.000 292 0.000 0.044 2844 2485 2282 2402 2162 0 0 0 0 0 0 26.08 26.01 26.14

2423 0.85 121.4 2844 2485 2402 2159 165.6 11.1 341 2428 0.00 1.00 0.00 0.000 1030 0.000 0.075 2848 1819 2280 2402 2159 0 0 0 0 0 0 25.29 25.34 25.27

2556 0.85 121.4 2847 1818 2401 2160 150.9 11.3 355 2560 0.00 1.10 0.00 0.000 516 0.000 0.048 2853 1110 2280 2401 2159 0 0 0 0 0 0 26.34 26.16 26.39

2598 0.85 121.4 2853 1109 2402 2159 146.2 11.3 363 2602 0.00 1.05 0.00 0.000 1030 0.000 0.036 2850 1800 2279 2400 2159 0 0 0 0 0 0 26.30 26.27 26.32

2731 0.88 145.1 2849 1800 2400 2159 132.8 9.4 377 2765 0.00 1.05 29.45 0.590 8484 0.000 0.044 2844 2486 2204 2332 2076 0 0 0 0 0 0 26.43 25.91 25.41

2898 0.88 145.1 2844 2487 2302 2044 113.4 11.5 409 2903 0.03 1.02 0.00 0.000 3078 0.195 0.037 2857 1793 2173 2302 2044 0 0 0 0 0 0 26.05 26.21 26.11

3026 0.88 145.1 2856 1793 2301 2044 98.9 11.4 423 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 2857 1793 2172 2301 2044 0 0 0 0 0 0 26.36 26.44 26.43

3157 0.88 145.1 2856 1793 2300 2044 84.3 12.1 448 3165 0.00 1.05 0.00 0.000 516 0.000 0.047 2862 1113 2172 2300 2044 0 0 0 0 0 0 25.64 25.50 25.52

3205 0.88 145.1 2861 1113 2300 2044 78.8 11.7 456 3213 0.00 1.05 0.00 0.000 1030 0.000 0.035 2859 1805 2172 2300 2044 0 0 0 0 0 0 26.41 26.39 26.41

3343 0.88 145.1 2858 1805 2299 2042 62.9 11.2 481 3351 0.00 1.02 0.00 0.000 260 0.000 0.044 2854 2492 2170 2299 2042 0 0 0 0 0 0 26.48 26.43 26.52

3460 0.91 171.4 2853 2493 2298 2042 50.2 9.2 503 3497 0.03 1.02 29.30 0.554 11302 0.157 0.041 2873 1796 2097 2233 1961 0 0 0 0 0 0 26.33 26.48 25.56

3623 0.97 220.5 2872 1796 2202 1931 35.8 7.8 532 3701 0.08 1.05 70.22 0.507 10788 0.180 0.095 2897 1105 1895 2036 1754 0 0 0 0 0 0 26.15 25.18 25.09

3933 1.00 250.6 2897 1105 1998 1726 5.7 9.0 588 3977 0.00 1.08 33.15 0.510 9254 0.000 0.037 2894 1801 1766 1909 1624 0 0 0 0 0 0 26.20 26.19 25.29

3982 end climb: SURFACE_DEPTH_REACHED

state 3983 begin surface coast

4010 end surface coast: CONTROL_FINISHED_OK

state 4010 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	101	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	53	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	52	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	260	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	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	95	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	9000	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	188.0
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	070921,143339,4750.5566,-12509.1152,7,0.8,21,15.7,0.1,0.0,12,10.0	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	298.3,3449,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-62.7	D_GRID	206
GPS2	070921,143841,4750.5396,-12509.0674,5,0.7,7,15.7,0.6,46.7,12,5.0

FINISH	-0.4,1.025287	_24V_AH	24.32,18.364
SM_CCo	4236,-0.03,0.742,0,0,550,551.92	_10V_AH	10.26,10.258
SM_GC	0.44,7.62,0.28,-0.03,0.059,0.048,0.742,163,2014,550,-7.41,-1.44,551.92,0,0,0,0,0,0,26.05,26.03,25.05	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,070921,132227	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.152047	MEM	211132
HUMID	53.34	DATA_FILE_SIZE	30225,600
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	77307,0
TCM_TEMP	15.20	CFSIZE	260030464,242544640
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	111144370176.000000	CURRENT	0.052,251.77,1
CP_POWER	323.310000	GPS	070921,155114,4750.755,-12509.658,10,0.9,11,15.7,0.5,78.3,10,8.7
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	95.63	SBE_CT	358	64	561.04
Roll_motor	24	94	57.56	WL_blue_red_Chl	1137	37	1036.22
VBD_pump_during_apogee	521	589	7476.25	nil	0	0	0.00
VBD_pump_during_surface	194	630	2982.52	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	3838	25	2333.50
Iridium_during_xfer	186	100	455.03	nil	0	0	0.00
Transponder_ping	1	420	12.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	11	2.36
TT8	1332	12	167.02
LPSleep	779	2	17.51
TT8_Active	736	12	92.32
TT8_Sampling	1488	37	575.69
TT8_CF8	247	42	109.19
TT8_Kalman	0	0	0.00
Analog_circuits	1531	11	172.86
GPS_charging	0	0	0.00
Compass	1346	8	113.87
RAFOS	0	0	0.00
Transponder	10	30	3.29

		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
24	-0.84	-116.8	171	2012	690	410	0.0	0.0	0	132	0.00	0.00	-105.43	0.011	16386	0.000	0.000	171	2011	3070	3058	3083	0	0	0	0	0	0	26.10	28.83	26.17
135	-0.84	-116.8	171	2011	3060	3083	4.5	-9.6	15	153	8.12	1.05	-4.12	0.021	18724	0.222	0.076	2286	2708	3279	3279	3279	0	0	0	0	0	0	25.84	24.79	26.00
260	-0.84	-116.8	2286	2708	3286	3277	33.0	-18.0	37	269	0.08	1.05	0.00	0.000	3078	0.173	0.032	2308	1993	3281	3287	3276	0	0	0	0	0	0	26.05	26.31	26.15
394	-0.84	-116.8	2307	1991	3289	3275	51.8	-14.9	62	401	0.00	1.02	0.00	0.000	516	0.000	0.038	2313	1303	3282	3290	3275	0	0	0	0	0	0	26.44	26.34	26.49
588	-0.84	-116.8	2312	1303	3291	3275	76.1	-12.0	99	595	0.00	1.05	0.00	0.000	1030	0.000	0.043	2310	1999	3282	3291	3274	0	0	0	0	0	0	26.46	26.44	26.48
724	-0.84	-116.8	2309	1999	3292	3274	90.7	-10.8	124	733	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	1999	3283	3292	3275	0	0	0	0	0	0	26.54	26.59	26.58
858	-0.84	-116.8	2308	1999	3293	3274	108.2	-13.2	143	860	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	1999	3283	3293	3274	0	0	0	0	0	0	26.44	26.53	26.51
978	-0.84	-116.8	2309	1999	3293	3274	123.8	-12.1	155	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	1999	3283	3293	3274	0	0	0	0	0	0	26.58	26.59	26.61
1101	-0.84	-116.8	2309	2000	3293	3274	139.1	-13.8	167	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2000	3284	3294	3274	0	0	0	0	0	0	26.63	26.70	26.69
1228	-0.84	-116.8	2309	2000	3294	3274	152.8	-11.1	180	1233	0.00	1.02	0.00	0.000	516	0.000	0.044	2313	1307	3284	3294	3274	0	0	0	0	0	0	26.63	26.50	26.66
1335	-0.84	-116.8	2312	1307	3294	3274	164.8	-10.6	200	1340	0.00	1.05	0.00	0.000	1062	0.000	0.037	2310	2007	3284	3294	3274	0	0	0	0	0	0	26.58	26.55	26.62
1468	-0.84	-116.8	2309	2007	3294	3274	178.1	-9.5	214	1473	0.00	1.00	0.00	0.000	292	0.000	0.046	2304	2692	3284	3294	3274	0	0	0	0	0	0	26.54	26.56	26.59
1544	-0.84	-116.8	2304	2693	3294	3274	186.1	-10.6	228	1549	0.00	1.00	0.00	0.000	1062	0.000	0.032	2308	1984	3284	3294	3274	0	0	0	0	0	0	26.65	26.63	26.67
1677	-0.84	-116.8	2307	1983	3294	3274	199.8	-9.6	242	1681	0.00	0.98	0.00	0.000	548	0.000	0.041	2313	1318	3284	3294	3274	0	0	0	0	0	0	26.70	26.51	26.75
1744	end dive: TARGET_DEPTH_EXCEEDED
state	1744	begin apogee
1750	-0.18	0.0	2311	1813	3294	3273	206.2	-8.8	254	1930	0.70	0.00	175.77	0.573	10246	0.161	0.000	2518	1815	2801	2855	2748	0	0	0	0	0	0	26.22	25.29	24.81
1935	end apogee: CONTROL_FINISHED_OK
state	1935	begin climb
1937	0.84	116.8	2518	1815	2842	2736	210.6	0.0	272	2130	1.08	1.15	183.30	0.534	10756	0.118	0.037	2853	1123	2315	2439	2191	0	0	0	0	0	0	25.33	25.15	24.69
2231	0.84	116.9	2852	1123	2402	2166	186.0	10.8	316	2239	0.00	1.02	0.00	0.000	1062	0.000	0.035	2850	1793	2283	2402	2164	0	0	0	0	0	0	25.77	25.77	25.78
2359	0.85	121.4	2849	1792	2402	2162	172.4	10.6	329	2364	0.00	1.05	0.00	0.000	292	0.000	0.044	2844	2485	2282	2402	2162	0	0	0	0	0	0	26.08	26.01	26.14
2423	0.85	121.4	2844	2485	2402	2159	165.6	11.1	341	2428	0.00	1.00	0.00	0.000	1030	0.000	0.075	2848	1819	2280	2402	2159	0	0	0	0	0	0	25.29	25.34	25.27
2556	0.85	121.4	2847	1818	2401	2160	150.9	11.3	355	2560	0.00	1.10	0.00	0.000	516	0.000	0.048	2853	1110	2280	2401	2159	0	0	0	0	0	0	26.34	26.16	26.39
2598	0.85	121.4	2853	1109	2402	2159	146.2	11.3	363	2602	0.00	1.05	0.00	0.000	1030	0.000	0.036	2850	1800	2279	2400	2159	0	0	0	0	0	0	26.30	26.27	26.32
2731	0.88	145.1	2849	1800	2400	2159	132.8	9.4	377	2765	0.00	1.05	29.45	0.590	8484	0.000	0.044	2844	2486	2204	2332	2076	0	0	0	0	0	0	26.43	25.91	25.41
2898	0.88	145.1	2844	2487	2302	2044	113.4	11.5	409	2903	0.03	1.02	0.00	0.000	3078	0.195	0.037	2857	1793	2173	2302	2044	0	0	0	0	0	0	26.05	26.21	26.11
3026	0.88	145.1	2856	1793	2301	2044	98.9	11.4	423	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	2857	1793	2172	2301	2044	0	0	0	0	0	0	26.36	26.44	26.43
3157	0.88	145.1	2856	1793	2300	2044	84.3	12.1	448	3165	0.00	1.05	0.00	0.000	516	0.000	0.047	2862	1113	2172	2300	2044	0	0	0	0	0	0	25.64	25.50	25.52
3205	0.88	145.1	2861	1113	2300	2044	78.8	11.7	456	3213	0.00	1.05	0.00	0.000	1030	0.000	0.035	2859	1805	2172	2300	2044	0	0	0	0	0	0	26.41	26.39	26.41
3343	0.88	145.1	2858	1805	2299	2042	62.9	11.2	481	3351	0.00	1.02	0.00	0.000	260	0.000	0.044	2854	2492	2170	2299	2042	0	0	0	0	0	0	26.48	26.43	26.52
3460	0.91	171.4	2853	2493	2298	2042	50.2	9.2	503	3497	0.03	1.02	29.30	0.554	11302	0.157	0.041	2873	1796	2097	2233	1961	0	0	0	0	0	0	26.33	26.48	25.56
3623	0.97	220.5	2872	1796	2202	1931	35.8	7.8	532	3701	0.08	1.05	70.22	0.507	10788	0.180	0.095	2897	1105	1895	2036	1754	0	0	0	0	0	0	26.15	25.18	25.09
3933	1.00	250.6	2897	1105	1998	1726	5.7	9.0	588	3977	0.00	1.08	33.15	0.510	9254	0.000	0.037	2894	1801	1766	1909	1624	0	0	0	0	0	0	26.20	26.19	25.29
3982	end climb: SURFACE_DEPTH_REACHED
state	3983	begin surface coast
4010	end surface coast: CONTROL_FINISHED_OK
state	4010	begin surface