Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 113 * 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 113 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 50 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 32 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 155 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 -10 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 3 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 212.0

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 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 155

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 212.0 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 3 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 50 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 32 XPDR_INHIBIT 90

DIVE 113 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 080921,104559,4750.5664,-12508.8955,4,0.8,6,15.7,0.3,38.8,12,5.9 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 0.43 MHEAD_RNG_PITCHd_Wd 273.5,3591,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -58.6 D_GRID 201

GPS2 080921,105114,4750.6084,-12508.8516,12,0.9,13,15.7,0.4,53.6,12,4.0

Post-dive calculations and measurements:

FINISH -0.1,1.025393 _24V_AH 24.34,19.894

SM_CCo 4168,0.05,1.736,0,0,550,551.92 _10V_AH 10.26,11.037

SM_GC 0.39,7.60,1.35,0.05,0.057,0.028,1.736,167,1991,550,-7.40,-1.50,551.92,0,0,0,0,0,0,26.15,26.11,24.34 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.92,-12450.84,080921,093233 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.146804 MEM 211152

HUMID 53.34 DATA_FILE_SIZE 30280,587

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 74194,0

TCM_TEMP 15.30 CFSIZE 260030464,241569792

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 107215192064.000000 CURRENT 0.036,96.97,1

CP_POWER 323.310000 GPS 080921,120300,4750.755,-12509.280,15,0.9,33,15.7,0.7,133.1,12,4.9

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 215 93.73 SBE_CT 352 64 552.15

Roll_motor 23 104 59.63 WL_blue_red_Chl 1120 37 1021.09

VBD_pump_during_apogee 545 621 8259.75 nil 0 0 0.00

VBD_pump_during_surface 196 1735 8296.65 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 3763 25 2289.79

Iridium_during_xfer 191 97 452.79 nil 0 0 0.00

Transponder_ping 0 420 7.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 11 3.15

TT8 1287 12 161.46

LPSleep 769 2 17.30

TT8_Active 748 12 93.90

TT8_Sampling 1477 37 571.31

TT8_CF8 242 42 106.71

TT8_Kalman 0 0 0.00

Analog_circuits 1549 11 174.92

GPS_charging 0 0 0.00

Compass 1316 8 111.27

RAFOS 0 0 0.00

Transponder 6 30 1.88

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

25 -0.84 -116.8 169 1995 691 410 0.0 0.0 0 135 0.00 0.00 -106.68 0.011 16386 0.000 0.000 169 1993 3082 3070 3095 0 0 0 0 0 0 26.09 28.83 26.16

138 -0.84 -116.8 169 1993 3071 3095 4.5 -9.4 15 154 8.23 0.00 -3.92 0.021 18470 0.216 0.000 2295 1992 3280 3281 3279 0 0 0 0 0 0 25.82 24.86 26.08

282 -0.84 -116.8 2294 1992 3289 3277 35.0 -16.5 41 290 0.10 1.05 0.00 0.000 2564 0.200 0.037 2317 1299 3283 3289 3277 0 0 0 0 0 0 26.06 26.27 26.24

523 -0.84 -116.8 2317 1298 3291 3276 73.5 -15.3 87 531 0.00 1.08 0.00 0.000 1030 0.000 0.035 2314 2009 3283 3291 3276 0 0 0 0 0 0 26.43 26.40 26.46

655 -0.84 -116.8 2314 2009 3293 3275 88.2 -11.1 112 663 0.00 1.05 0.00 0.000 516 0.000 0.038 2318 1308 3284 3293 3275 0 0 0 0 0 0 26.48 26.44 26.54

708 -0.84 -116.8 2317 1308 3293 3275 94.6 -12.0 121 715 0.00 1.05 0.00 0.000 1030 0.000 0.037 2314 2001 3284 3294 3275 0 0 0 0 0 0 26.49 26.46 26.51

844 -0.84 -116.8 2314 2000 3294 3275 111.4 -12.2 138 848 0.00 1.02 0.00 0.000 260 0.000 0.051 2309 2698 3284 3294 3274 0 0 0 0 0 0 26.59 26.46 26.65

939 -0.84 -116.8 2309 2698 3294 3275 123.2 -12.7 156 943 0.00 1.02 0.00 0.000 1030 0.000 0.034 2312 1985 3285 3295 3275 0 0 0 0 0 0 26.55 26.48 26.57

1071 -0.84 -116.8 2312 1984 3295 3274 139.6 -12.1 170 1075 0.00 0.98 0.00 0.000 516 0.000 0.039 2317 1321 3284 3294 3275 0 0 0 0 0 0 26.61 26.51 26.67

1160 -0.84 -116.8 2317 1321 3295 3274 150.1 -11.5 187 1168 0.00 1.02 0.00 0.000 1030 0.000 0.036 2314 2002 3284 3294 3274 0 0 0 0 0 0 26.57 26.54 26.60

1287 -0.84 -116.8 2313 2002 3295 3274 164.6 -11.5 200 1291 0.00 1.02 0.00 0.000 516 0.000 0.038 2317 1316 3284 3295 3274 0 0 0 0 0 0 26.62 26.55 26.68

1352 -0.84 -116.8 2316 1315 3295 3273 172.5 -12.2 212 1356 0.00 1.02 0.00 0.000 1030 0.000 0.037 2314 1998 3284 3295 3274 0 0 0 0 0 0 26.60 26.57 26.61

1484 -0.84 -116.8 2314 1998 3295 3274 189.3 -12.6 226 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 1998 3284 3294 3274 0 0 0 0 0 0 26.68 26.74 26.74

1582 end dive: TARGET_DEPTH_EXCEEDED

state 1582 begin apogee

1588 -0.18 0.0 2314 1784 3295 3274 201.4 -11.9 236 1804 0.70 0.00 201.02 0.549 10246 0.161 0.000 2523 1783 2796 2850 2743 0 0 0 0 1 0 26.18 25.37 24.79

1809 end apogee: CONTROL_FINISHED_OK

state 1809 begin climb

1811 0.84 116.8 2522 1783 2850 2744 209.9 0.0 258 2008 1.05 1.05 182.45 0.531 10756 0.116 0.039 2852 1138 2308 2432 2184 0 0 0 0 0 0 25.37 25.13 24.67

2076 0.84 116.8 2852 1138 2410 2172 191.3 11.3 302 2080 0.00 1.02 0.00 0.000 1030 0.000 0.044 2849 1796 2291 2410 2172 0 0 0 0 0 0 25.67 25.65 25.70

2209 0.85 119.6 2848 1796 2408 2167 176.8 10.7 316 2216 0.00 0.00 0.00 0.000 38 0.000 0.000 2849 1796 2287 2408 2167 0 0 0 0 0 0 26.04 26.11 26.10

2340 0.87 136.1 2849 1796 2406 2166 163.7 9.8 329 2361 0.00 1.10 16.95 0.622 8740 0.000 0.105 2852 1124 2243 2370 2117 0 0 0 0 0 0 26.16 25.84 25.30

2437 0.89 152.8 2852 1123 2349 2104 154.4 9.8 347 2462 0.05 1.05 19.12 0.618 11302 0.172 0.037 2867 1803 2175 2303 2047 0 0 0 0 0 0 25.86 26.08 25.23

2591 0.89 152.8 2867 1803 2294 2038 138.5 11.0 365 2595 0.00 1.05 0.00 0.000 516 0.000 0.054 2873 1132 2165 2293 2038 0 0 0 0 0 0 26.17 26.10 26.27

2654 0.89 152.8 2873 1131 2293 2038 131.2 11.0 377 2658 0.00 1.02 0.00 0.000 1030 0.000 0.037 2870 1800 2166 2293 2039 0 0 0 0 0 0 26.19 26.18 26.16

2788 0.89 152.8 2870 1800 2292 2037 117.1 10.9 391 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2869 1800 2164 2292 2037 0 0 0 0 0 0 26.38 26.44 26.44

2916 0.89 152.8 2869 1800 2291 2037 102.3 11.2 404 2924 0.00 0.00 0.00 0.000 6 0.000 0.000 2870 1800 2163 2291 2036 0 0 0 0 0 0 26.29 26.40 26.35

3051 0.89 158.3 2869 1800 2291 2036 87.6 10.5 427 3059 0.00 1.02 0.00 0.000 548 0.000 0.054 2873 1135 2163 2290 2036 0 0 0 0 0 0 26.48 26.33 26.51

3297 0.91 174.1 2873 1135 2289 2035 62.3 9.8 473 3327 0.00 1.00 22.23 0.577 9254 0.000 0.036 2870 1798 2083 2217 1950 0 0 0 0 0 0 26.51 26.48 25.58

3455 0.91 174.1 2869 1798 2208 1943 46.2 12.3 501 3462 0.00 1.02 0.00 0.000 516 0.000 0.046 2873 1135 2076 2209 1943 0 0 0 0 0 0 26.41 26.33 26.48

3517 0.93 187.2 2873 1135 2208 1943 39.6 10.0 512 3531 0.00 1.00 8.12 0.594 9254 0.000 0.036 2870 1798 2033 2170 1897 0 0 0 0 0 0 26.39 26.36 25.53

3659 1.00 246.4 2869 1798 2162 1889 27.8 7.1 538 3759 0.12 1.10 95.72 0.517 11044 0.143 0.050 2910 1134 1795 1938 1653 0 0 0 0 0 0 26.20 25.50 25.04

3918 end climb: SURFACE_DEPTH_REACHED

state 3918 begin surface coast

3940 end surface coast: CONTROL_FINISHED_OK

state 3940 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	113	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	50	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	32	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	155	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	-10	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	3	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	212.0
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	080921,104559,4750.5664,-12508.8955,4,0.8,6,15.7,0.3,38.8,12,5.9	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	0.43	MHEAD_RNG_PITCHd_Wd	273.5,3591,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-58.6	D_GRID	201
GPS2	080921,105114,4750.6084,-12508.8516,12,0.9,13,15.7,0.4,53.6,12,4.0

FINISH	-0.1,1.025393	_24V_AH	24.34,19.894
SM_CCo	4168,0.05,1.736,0,0,550,551.92	_10V_AH	10.26,11.037
SM_GC	0.39,7.60,1.35,0.05,0.057,0.028,1.736,167,1991,550,-7.40,-1.50,551.92,0,0,0,0,0,0,26.15,26.11,24.34	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.92,-12450.84,080921,093233	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.146804	MEM	211152
HUMID	53.34	DATA_FILE_SIZE	30280,587
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	74194,0
TCM_TEMP	15.30	CFSIZE	260030464,241569792
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	107215192064.000000	CURRENT	0.036,96.97,1
CP_POWER	323.310000	GPS	080921,120300,4750.755,-12509.280,15,0.9,33,15.7,0.7,133.1,12,4.9
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	215	93.73	SBE_CT	352	64	552.15
Roll_motor	23	104	59.63	WL_blue_red_Chl	1120	37	1021.09
VBD_pump_during_apogee	545	621	8259.75	nil	0	0	0.00
VBD_pump_during_surface	196	1735	8296.65	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	3763	25	2289.79
Iridium_during_xfer	191	97	452.79	nil	0	0	0.00
Transponder_ping	0	420	7.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	11	3.15
TT8	1287	12	161.46
LPSleep	769	2	17.30
TT8_Active	748	12	93.90
TT8_Sampling	1477	37	571.31
TT8_CF8	242	42	106.71
TT8_Kalman	0	0	0.00
Analog_circuits	1549	11	174.92
GPS_charging	0	0	0.00
Compass	1316	8	111.27
RAFOS	0	0	0.00
Transponder	6	30	1.88

		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
25	-0.84	-116.8	169	1995	691	410	0.0	0.0	0	135	0.00	0.00	-106.68	0.011	16386	0.000	0.000	169	1993	3082	3070	3095	0	0	0	0	0	0	26.09	28.83	26.16
138	-0.84	-116.8	169	1993	3071	3095	4.5	-9.4	15	154	8.23	0.00	-3.92	0.021	18470	0.216	0.000	2295	1992	3280	3281	3279	0	0	0	0	0	0	25.82	24.86	26.08
282	-0.84	-116.8	2294	1992	3289	3277	35.0	-16.5	41	290	0.10	1.05	0.00	0.000	2564	0.200	0.037	2317	1299	3283	3289	3277	0	0	0	0	0	0	26.06	26.27	26.24
523	-0.84	-116.8	2317	1298	3291	3276	73.5	-15.3	87	531	0.00	1.08	0.00	0.000	1030	0.000	0.035	2314	2009	3283	3291	3276	0	0	0	0	0	0	26.43	26.40	26.46
655	-0.84	-116.8	2314	2009	3293	3275	88.2	-11.1	112	663	0.00	1.05	0.00	0.000	516	0.000	0.038	2318	1308	3284	3293	3275	0	0	0	0	0	0	26.48	26.44	26.54
708	-0.84	-116.8	2317	1308	3293	3275	94.6	-12.0	121	715	0.00	1.05	0.00	0.000	1030	0.000	0.037	2314	2001	3284	3294	3275	0	0	0	0	0	0	26.49	26.46	26.51
844	-0.84	-116.8	2314	2000	3294	3275	111.4	-12.2	138	848	0.00	1.02	0.00	0.000	260	0.000	0.051	2309	2698	3284	3294	3274	0	0	0	0	0	0	26.59	26.46	26.65
939	-0.84	-116.8	2309	2698	3294	3275	123.2	-12.7	156	943	0.00	1.02	0.00	0.000	1030	0.000	0.034	2312	1985	3285	3295	3275	0	0	0	0	0	0	26.55	26.48	26.57
1071	-0.84	-116.8	2312	1984	3295	3274	139.6	-12.1	170	1075	0.00	0.98	0.00	0.000	516	0.000	0.039	2317	1321	3284	3294	3275	0	0	0	0	0	0	26.61	26.51	26.67
1160	-0.84	-116.8	2317	1321	3295	3274	150.1	-11.5	187	1168	0.00	1.02	0.00	0.000	1030	0.000	0.036	2314	2002	3284	3294	3274	0	0	0	0	0	0	26.57	26.54	26.60
1287	-0.84	-116.8	2313	2002	3295	3274	164.6	-11.5	200	1291	0.00	1.02	0.00	0.000	516	0.000	0.038	2317	1316	3284	3295	3274	0	0	0	0	0	0	26.62	26.55	26.68
1352	-0.84	-116.8	2316	1315	3295	3273	172.5	-12.2	212	1356	0.00	1.02	0.00	0.000	1030	0.000	0.037	2314	1998	3284	3295	3274	0	0	0	0	0	0	26.60	26.57	26.61
1484	-0.84	-116.8	2314	1998	3295	3274	189.3	-12.6	226	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	1998	3284	3294	3274	0	0	0	0	0	0	26.68	26.74	26.74
1582	end dive: TARGET_DEPTH_EXCEEDED
state	1582	begin apogee
1588	-0.18	0.0	2314	1784	3295	3274	201.4	-11.9	236	1804	0.70	0.00	201.02	0.549	10246	0.161	0.000	2523	1783	2796	2850	2743	0	0	0	0	1	0	26.18	25.37	24.79
1809	end apogee: CONTROL_FINISHED_OK
state	1809	begin climb
1811	0.84	116.8	2522	1783	2850	2744	209.9	0.0	258	2008	1.05	1.05	182.45	0.531	10756	0.116	0.039	2852	1138	2308	2432	2184	0	0	0	0	0	0	25.37	25.13	24.67
2076	0.84	116.8	2852	1138	2410	2172	191.3	11.3	302	2080	0.00	1.02	0.00	0.000	1030	0.000	0.044	2849	1796	2291	2410	2172	0	0	0	0	0	0	25.67	25.65	25.70
2209	0.85	119.6	2848	1796	2408	2167	176.8	10.7	316	2216	0.00	0.00	0.00	0.000	38	0.000	0.000	2849	1796	2287	2408	2167	0	0	0	0	0	0	26.04	26.11	26.10
2340	0.87	136.1	2849	1796	2406	2166	163.7	9.8	329	2361	0.00	1.10	16.95	0.622	8740	0.000	0.105	2852	1124	2243	2370	2117	0	0	0	0	0	0	26.16	25.84	25.30
2437	0.89	152.8	2852	1123	2349	2104	154.4	9.8	347	2462	0.05	1.05	19.12	0.618	11302	0.172	0.037	2867	1803	2175	2303	2047	0	0	0	0	0	0	25.86	26.08	25.23
2591	0.89	152.8	2867	1803	2294	2038	138.5	11.0	365	2595	0.00	1.05	0.00	0.000	516	0.000	0.054	2873	1132	2165	2293	2038	0	0	0	0	0	0	26.17	26.10	26.27
2654	0.89	152.8	2873	1131	2293	2038	131.2	11.0	377	2658	0.00	1.02	0.00	0.000	1030	0.000	0.037	2870	1800	2166	2293	2039	0	0	0	0	0	0	26.19	26.18	26.16
2788	0.89	152.8	2870	1800	2292	2037	117.1	10.9	391	2796	0.00	0.00	0.00	0.000	6	0.000	0.000	2869	1800	2164	2292	2037	0	0	0	0	0	0	26.38	26.44	26.44
2916	0.89	152.8	2869	1800	2291	2037	102.3	11.2	404	2924	0.00	0.00	0.00	0.000	6	0.000	0.000	2870	1800	2163	2291	2036	0	0	0	0	0	0	26.29	26.40	26.35
3051	0.89	158.3	2869	1800	2291	2036	87.6	10.5	427	3059	0.00	1.02	0.00	0.000	548	0.000	0.054	2873	1135	2163	2290	2036	0	0	0	0	0	0	26.48	26.33	26.51
3297	0.91	174.1	2873	1135	2289	2035	62.3	9.8	473	3327	0.00	1.00	22.23	0.577	9254	0.000	0.036	2870	1798	2083	2217	1950	0	0	0	0	0	0	26.51	26.48	25.58
3455	0.91	174.1	2869	1798	2208	1943	46.2	12.3	501	3462	0.00	1.02	0.00	0.000	516	0.000	0.046	2873	1135	2076	2209	1943	0	0	0	0	0	0	26.41	26.33	26.48
3517	0.93	187.2	2873	1135	2208	1943	39.6	10.0	512	3531	0.00	1.00	8.12	0.594	9254	0.000	0.036	2870	1798	2033	2170	1897	0	0	0	0	0	0	26.39	26.36	25.53
3659	1.00	246.4	2869	1798	2162	1889	27.8	7.1	538	3759	0.12	1.10	95.72	0.517	11044	0.143	0.050	2910	1134	1795	1938	1653	0	0	0	0	0	0	26.20	25.50	25.04
3918	end climb: SURFACE_DEPTH_REACHED
state	3918	begin surface coast
3940	end surface coast: CONTROL_FINISHED_OK
state	3940	begin surface