Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 128 * 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 128 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 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 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 350 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 115 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 235 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 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 242.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 350 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 115

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 235

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.54095 T_NO_W 120

COMPASS_DEVICE 97 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_RSLEEP 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 242.0 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 54 XPDR_INHIBIT 90

DIVE 128 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 090921,163909,4750.7383,-12509.5312,6,0.7,28,15.7,0.5,53.6,12,1.5 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 750.000

_SM_DEPTHo 0.47 MHEAD_RNG_PITCHd_Wd 113.8,1191,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -63.0 D_GRID 206

GPS2 090921,164451,4750.7744,-12509.4521,3,0.6,5,15.7,0.4,49.6,12,6.6

Post-dive calculations and measurements:

FINISH -0.1,1.025252 CP_POWER1 0.000000

SM_CCo 4398,0.00,0.000,0,0,551,551.92 _24V_AH 24.19,21.919

SM_GC 0.41,7.47,0.28,0.00,0.051,0.053,0.000,180,2007,551,-7.41,-1.53,551.92,0,0,0,0,0,0,26.04,26.00,25.46 _10V_AH 10.23,12.149

IRIDIUM_FIX 4751.26,-12509.51,090921,150644 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.145306 FG_AHR_10Vo 0.000

HUMID 53.07 MEM 209832

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 33473,624

TCM_TEMP 15.40 CAP_FILE_SIZE 78753,0

XPDR_PINGS 0 CFSIZE 260030464,240201728

ALTIM_BOTTOM_PING 201.7,46.3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

CP_FREE 101317443584.000000 CURRENT 0.007,152.93,1

CP_POWER 323.310000 GPS 090921,180006,4750.541,-12508.956,12,0.8,13,15.7,0.1,0.0,12,7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 222 94.37 SBE_CT 374 64 583.85

Roll_motor 24 110 66.75 WL_blue_red_Chl 1189 37 1077.41

VBD_pump_during_apogee 491 933 11099.75 nil 0 0 0.00

VBD_pump_during_surface 195 611 2886.92 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 4000 25 2419.00

Iridium_during_xfer 216 102 537.23 nil 0 0 0.00

Transponder_ping 1 420 15.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.17

TT8 1395 12 174.48

LPSleep 847 2 18.98

TT8_Active 711 12 89.00

TT8_Sampling 1561 37 602.19

TT8_CF8 262 42 115.35

TT8_Kalman 0 0 0.00

Analog_circuits 1546 11 174.04

GPS_charging 0 0 0.00

Compass 1395 8 117.65

RAFOS 0 0 0.00

Transponder 13 30 4.17

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 -0.80 -116.8 181 2012 686 416 0.0 0.0 0 132 0.00 0.00 -104.70 0.011 16386 0.000 0.000 181 2011 2984 2973 2995 0 0 0 0 0 0 26.12 28.83 26.18

135 -0.80 -116.8 181 2011 2974 2996 3.5 -5.9 15 159 8.18 1.02 -6.45 0.018 18724 0.223 0.075 2302 2688 3279 3283 3275 0 0 0 0 0 0 25.78 24.68 25.96

274 -0.80 -116.8 2300 2688 3286 3275 33.6 -18.1 40 283 0.08 1.02 0.00 0.000 3078 0.194 0.041 2326 1985 3280 3286 3274 0 0 0 0 0 0 25.97 26.29 26.09

410 -0.80 -116.8 2324 1982 3290 3274 58.9 -17.4 65 418 0.00 1.00 0.00 0.000 516 0.000 0.039 2330 1311 3282 3290 3274 0 0 0 0 0 0 26.41 26.34 26.47

650 -0.80 -116.8 2330 1311 3291 3274 89.5 -10.0 111 658 0.00 1.02 0.00 0.000 1062 0.000 0.039 2327 1992 3282 3291 3274 0 0 0 0 0 0 26.41 26.38 26.44

789 -0.80 -116.8 2326 1992 3292 3274 102.1 -9.6 135 793 0.00 1.02 0.00 0.000 548 0.000 0.048 2330 1311 3283 3292 3274 0 0 0 0 0 0 26.56 26.46 26.63

1014 -0.80 -116.8 2329 1311 3292 3274 125.0 -10.1 178 1021 0.00 1.05 0.00 0.000 1062 0.000 0.045 2327 2007 3283 3293 3274 0 0 0 0 0 0 26.53 26.51 26.56

1142 -0.80 -116.8 2326 2007 3293 3274 137.6 -10.3 191 1144 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2007 3283 3293 3274 0 0 0 0 0 0 26.65 26.72 26.70

1262 -0.80 -116.8 2326 2007 3293 3274 150.5 -11.7 203 1266 0.00 1.02 0.00 0.000 516 0.000 0.038 2330 1318 3283 3293 3274 0 0 0 0 0 0 26.67 26.53 26.72

1379 -0.80 -116.8 2329 1318 3293 3274 165.2 -12.2 225 1383 0.00 1.02 0.00 0.000 1030 0.000 0.044 2327 1999 3283 3293 3273 0 0 0 0 0 0 26.56 26.56 26.55

1511 -0.80 -116.8 2325 1999 3293 3273 180.3 -12.1 239 1516 0.00 1.02 0.00 0.000 260 0.000 0.046 2320 2696 3283 3293 3273 0 0 0 0 0 0 26.70 26.50 26.74

1591 -0.80 -116.8 2321 2697 3292 3272 188.4 -10.1 253 1595 0.00 1.00 0.00 0.000 1062 0.000 0.032 2325 1993 3283 3293 3273 0 0 0 0 0 0 26.60 26.56 26.65

1723 -0.80 -116.8 2324 1993 3293 3272 200.5 -9.0 267 1728 0.00 1.00 0.00 0.000 548 0.000 0.048 2330 1316 3282 3293 3272 0 0 0 0 0 0 26.67 26.53 26.74

1780 end dive: TARGET_DEPTH_EXCEEDED

state 1780 begin apogee

1785 -0.18 0.0 2327 1819 3293 3272 206.3 -9.9 277 1912 0.65 0.00 116.90 0.933 10246 0.158 0.000 2523 1820 2801 2857 2745 0 0 0 0 1 0 26.22 24.94 24.19

1916 end apogee: CONTROL_FINISHED_OK

state 1916 begin climb

1918 0.80 116.8 2523 1820 2860 2749 209.4 0.0 290 2111 1.02 0.00 187.43 0.529 11014 0.113 0.000 2838 1820 2320 2445 2195 0 0 0 0 0 0 25.13 25.06 24.63

2237 0.80 116.8 2836 1820 2422 2174 184.4 11.0 326 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1820 2297 2421 2174 0 0 0 0 0 0 25.86 25.92 25.92

2357 0.80 116.9 2837 1820 2419 2174 172.0 10.1 338 2361 0.00 1.02 0.00 0.000 292 0.000 0.044 2834 2490 2296 2419 2173 0 0 0 0 0 0 26.07 25.99 26.13

2410 0.80 116.9 2834 2490 2417 2172 166.4 11.1 348 2415 0.00 1.02 0.00 0.000 1030 0.000 0.111 2837 1812 2294 2417 2172 0 0 0 0 0 0 26.07 25.97 26.10

2543 0.80 116.9 2837 1812 2417 2172 152.1 10.8 362 2547 0.00 1.10 0.00 0.000 516 0.000 0.049 2843 1107 2294 2417 2172 0 0 0 0 0 0 26.32 26.20 26.38

2637 0.80 118.8 2842 1107 2416 2172 141.9 10.0 380 2642 0.00 1.05 0.00 0.000 1062 0.000 0.036 2839 1799 2294 2416 2172 0 0 0 0 0 0 26.31 26.28 26.34

2772 0.81 127.2 2839 1799 2415 2172 128.5 9.7 394 2779 0.00 0.00 0.00 0.000 38 0.000 0.000 2840 1799 2293 2414 2172 0 0 0 0 0 0 26.43 26.49 26.48

2900 0.82 137.3 2839 1798 2413 2172 116.0 9.5 407 2921 0.00 0.00 19.00 0.602 8230 0.000 0.000 2839 1799 2241 2370 2113 0 0 0 0 0 0 26.39 26.03 25.53

3041 0.84 153.3 2839 1799 2345 2091 102.5 9.2 421 3063 0.00 1.05 14.20 0.607 8740 0.000 0.043 2843 1104 2168 2299 2037 0 0 0 0 0 0 26.37 25.82 25.46

3114 0.86 166.6 2842 1104 2282 2029 95.8 9.4 434 3123 0.05 1.08 4.05 0.699 11302 0.203 0.037 2853 1799 2121 2254 1989 0 0 0 0 0 0 25.93 26.19 25.32

3249 0.86 166.6 2852 1799 2264 1989 81.9 10.3 459 3256 0.00 1.08 0.00 0.000 516 0.000 0.046 2858 1110 2126 2264 1989 0 0 0 0 0 0 26.36 26.24 26.41

3306 0.86 166.6 2858 1110 2264 1989 75.9 10.7 469 3314 0.00 1.05 0.00 0.000 1030 0.000 0.038 2855 1799 2126 2264 1989 0 0 0 0 0 0 26.27 26.25 26.30

3439 0.86 166.6 2853 1799 2264 1989 61.1 12.0 494 3447 0.00 1.02 0.00 0.000 260 0.000 0.051 2850 2490 2126 2264 1989 0 0 0 0 0 0 26.44 26.31 26.50

3518 0.86 166.6 2849 2490 2263 1989 51.3 11.9 508 3526 0.00 1.02 0.00 0.000 1030 0.000 0.037 2853 1798 2126 2264 1989 0 0 0 0 0 0 26.43 26.41 26.44

3655 0.90 198.6 2853 1798 2264 1988 38.7 8.3 533 3719 0.08 1.05 57.15 0.516 10788 0.181 0.044 2879 1100 1985 2124 1846 0 0 0 0 0 0 26.33 25.68 25.32

3952 0.97 258.3 2879 1100 2096 1829 13.6 6.6 587 4051 0.00 1.08 92.93 0.483 9254 0.000 0.037 2876 1799 1744 1889 1600 0 0 0 0 0 0 26.27 26.23 25.03

4139 end climb: SURFACE_DEPTH_REACHED

state 4139 begin surface coast

4172 end surface coast: CONTROL_FINISHED_OK

state 4172 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	128	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	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	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	350	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	115	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	235	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	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	242.0
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	090921,163909,4750.7383,-12509.5312,6,0.7,28,15.7,0.5,53.6,12,1.5	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	750.000
_SM_DEPTHo	0.47	MHEAD_RNG_PITCHd_Wd	113.8,1191,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-63.0	D_GRID	206
GPS2	090921,164451,4750.7744,-12509.4521,3,0.6,5,15.7,0.4,49.6,12,6.6

FINISH	-0.1,1.025252	CP_POWER1	0.000000
SM_CCo	4398,0.00,0.000,0,0,551,551.92	_24V_AH	24.19,21.919
SM_GC	0.41,7.47,0.28,0.00,0.051,0.053,0.000,180,2007,551,-7.41,-1.53,551.92,0,0,0,0,0,0,26.04,26.00,25.46	_10V_AH	10.23,12.149
IRIDIUM_FIX	4751.26,-12509.51,090921,150644	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.145306	FG_AHR_10Vo	0.000
HUMID	53.07	MEM	209832
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	33473,624
TCM_TEMP	15.40	CAP_FILE_SIZE	78753,0
XPDR_PINGS	0	CFSIZE	260030464,240201728
ALTIM_BOTTOM_PING	201.7,46.3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	101317443584.000000	CURRENT	0.007,152.93,1
CP_POWER	323.310000	GPS	090921,180006,4750.541,-12508.956,12,0.8,13,15.7,0.1,0.0,12,7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	222	94.37	SBE_CT	374	64	583.85
Roll_motor	24	110	66.75	WL_blue_red_Chl	1189	37	1077.41
VBD_pump_during_apogee	491	933	11099.75	nil	0	0	0.00
VBD_pump_during_surface	195	611	2886.92	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	4000	25	2419.00
Iridium_during_xfer	216	102	537.23	nil	0	0	0.00
Transponder_ping	1	420	15.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.17
TT8	1395	12	174.48
LPSleep	847	2	18.98
TT8_Active	711	12	89.00
TT8_Sampling	1561	37	602.19
TT8_CF8	262	42	115.35
TT8_Kalman	0	0	0.00
Analog_circuits	1546	11	174.04
GPS_charging	0	0	0.00
Compass	1395	8	117.65
RAFOS	0	0	0.00
Transponder	13	30	4.17

		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	-0.80	-116.8	181	2012	686	416	0.0	0.0	0	132	0.00	0.00	-104.70	0.011	16386	0.000	0.000	181	2011	2984	2973	2995	0	0	0	0	0	0	26.12	28.83	26.18
135	-0.80	-116.8	181	2011	2974	2996	3.5	-5.9	15	159	8.18	1.02	-6.45	0.018	18724	0.223	0.075	2302	2688	3279	3283	3275	0	0	0	0	0	0	25.78	24.68	25.96
274	-0.80	-116.8	2300	2688	3286	3275	33.6	-18.1	40	283	0.08	1.02	0.00	0.000	3078	0.194	0.041	2326	1985	3280	3286	3274	0	0	0	0	0	0	25.97	26.29	26.09
410	-0.80	-116.8	2324	1982	3290	3274	58.9	-17.4	65	418	0.00	1.00	0.00	0.000	516	0.000	0.039	2330	1311	3282	3290	3274	0	0	0	0	0	0	26.41	26.34	26.47
650	-0.80	-116.8	2330	1311	3291	3274	89.5	-10.0	111	658	0.00	1.02	0.00	0.000	1062	0.000	0.039	2327	1992	3282	3291	3274	0	0	0	0	0	0	26.41	26.38	26.44
789	-0.80	-116.8	2326	1992	3292	3274	102.1	-9.6	135	793	0.00	1.02	0.00	0.000	548	0.000	0.048	2330	1311	3283	3292	3274	0	0	0	0	0	0	26.56	26.46	26.63
1014	-0.80	-116.8	2329	1311	3292	3274	125.0	-10.1	178	1021	0.00	1.05	0.00	0.000	1062	0.000	0.045	2327	2007	3283	3293	3274	0	0	0	0	0	0	26.53	26.51	26.56
1142	-0.80	-116.8	2326	2007	3293	3274	137.6	-10.3	191	1144	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2007	3283	3293	3274	0	0	0	0	0	0	26.65	26.72	26.70
1262	-0.80	-116.8	2326	2007	3293	3274	150.5	-11.7	203	1266	0.00	1.02	0.00	0.000	516	0.000	0.038	2330	1318	3283	3293	3274	0	0	0	0	0	0	26.67	26.53	26.72
1379	-0.80	-116.8	2329	1318	3293	3274	165.2	-12.2	225	1383	0.00	1.02	0.00	0.000	1030	0.000	0.044	2327	1999	3283	3293	3273	0	0	0	0	0	0	26.56	26.56	26.55
1511	-0.80	-116.8	2325	1999	3293	3273	180.3	-12.1	239	1516	0.00	1.02	0.00	0.000	260	0.000	0.046	2320	2696	3283	3293	3273	0	0	0	0	0	0	26.70	26.50	26.74
1591	-0.80	-116.8	2321	2697	3292	3272	188.4	-10.1	253	1595	0.00	1.00	0.00	0.000	1062	0.000	0.032	2325	1993	3283	3293	3273	0	0	0	0	0	0	26.60	26.56	26.65
1723	-0.80	-116.8	2324	1993	3293	3272	200.5	-9.0	267	1728	0.00	1.00	0.00	0.000	548	0.000	0.048	2330	1316	3282	3293	3272	0	0	0	0	0	0	26.67	26.53	26.74
1780	end dive: TARGET_DEPTH_EXCEEDED
state	1780	begin apogee
1785	-0.18	0.0	2327	1819	3293	3272	206.3	-9.9	277	1912	0.65	0.00	116.90	0.933	10246	0.158	0.000	2523	1820	2801	2857	2745	0	0	0	0	1	0	26.22	24.94	24.19
1916	end apogee: CONTROL_FINISHED_OK
state	1916	begin climb
1918	0.80	116.8	2523	1820	2860	2749	209.4	0.0	290	2111	1.02	0.00	187.43	0.529	11014	0.113	0.000	2838	1820	2320	2445	2195	0	0	0	0	0	0	25.13	25.06	24.63
2237	0.80	116.8	2836	1820	2422	2174	184.4	11.0	326	2239	0.00	0.00	0.00	0.000	6	0.000	0.000	2837	1820	2297	2421	2174	0	0	0	0	0	0	25.86	25.92	25.92
2357	0.80	116.9	2837	1820	2419	2174	172.0	10.1	338	2361	0.00	1.02	0.00	0.000	292	0.000	0.044	2834	2490	2296	2419	2173	0	0	0	0	0	0	26.07	25.99	26.13
2410	0.80	116.9	2834	2490	2417	2172	166.4	11.1	348	2415	0.00	1.02	0.00	0.000	1030	0.000	0.111	2837	1812	2294	2417	2172	0	0	0	0	0	0	26.07	25.97	26.10
2543	0.80	116.9	2837	1812	2417	2172	152.1	10.8	362	2547	0.00	1.10	0.00	0.000	516	0.000	0.049	2843	1107	2294	2417	2172	0	0	0	0	0	0	26.32	26.20	26.38
2637	0.80	118.8	2842	1107	2416	2172	141.9	10.0	380	2642	0.00	1.05	0.00	0.000	1062	0.000	0.036	2839	1799	2294	2416	2172	0	0	0	0	0	0	26.31	26.28	26.34
2772	0.81	127.2	2839	1799	2415	2172	128.5	9.7	394	2779	0.00	0.00	0.00	0.000	38	0.000	0.000	2840	1799	2293	2414	2172	0	0	0	0	0	0	26.43	26.49	26.48
2900	0.82	137.3	2839	1798	2413	2172	116.0	9.5	407	2921	0.00	0.00	19.00	0.602	8230	0.000	0.000	2839	1799	2241	2370	2113	0	0	0	0	0	0	26.39	26.03	25.53
3041	0.84	153.3	2839	1799	2345	2091	102.5	9.2	421	3063	0.00	1.05	14.20	0.607	8740	0.000	0.043	2843	1104	2168	2299	2037	0	0	0	0	0	0	26.37	25.82	25.46
3114	0.86	166.6	2842	1104	2282	2029	95.8	9.4	434	3123	0.05	1.08	4.05	0.699	11302	0.203	0.037	2853	1799	2121	2254	1989	0	0	0	0	0	0	25.93	26.19	25.32
3249	0.86	166.6	2852	1799	2264	1989	81.9	10.3	459	3256	0.00	1.08	0.00	0.000	516	0.000	0.046	2858	1110	2126	2264	1989	0	0	0	0	0	0	26.36	26.24	26.41
3306	0.86	166.6	2858	1110	2264	1989	75.9	10.7	469	3314	0.00	1.05	0.00	0.000	1030	0.000	0.038	2855	1799	2126	2264	1989	0	0	0	0	0	0	26.27	26.25	26.30
3439	0.86	166.6	2853	1799	2264	1989	61.1	12.0	494	3447	0.00	1.02	0.00	0.000	260	0.000	0.051	2850	2490	2126	2264	1989	0	0	0	0	0	0	26.44	26.31	26.50
3518	0.86	166.6	2849	2490	2263	1989	51.3	11.9	508	3526	0.00	1.02	0.00	0.000	1030	0.000	0.037	2853	1798	2126	2264	1989	0	0	0	0	0	0	26.43	26.41	26.44
3655	0.90	198.6	2853	1798	2264	1988	38.7	8.3	533	3719	0.08	1.05	57.15	0.516	10788	0.181	0.044	2879	1100	1985	2124	1846	0	0	0	0	0	0	26.33	25.68	25.32
3952	0.97	258.3	2879	1100	2096	1829	13.6	6.6	587	4051	0.00	1.08	92.93	0.483	9254	0.000	0.037	2876	1799	1744	1889	1600	0	0	0	0	0	0	26.27	26.23	25.03
4139	end climb: SURFACE_DEPTH_REACHED
state	4139	begin surface coast
4172	end surface coast: CONTROL_FINISHED_OK
state	4172	begin surface