Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 171 * 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 171 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 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 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 0

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 3 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 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 284.0

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 3

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 284.0 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 0 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 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 52 XPDR_INHIBIT 90

DIVE 171 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 120921,162131,4750.8267,-12509.6680,4,0.7,23,15.7,0.4,88.6,10,2.1 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 0.49 MHEAD_RNG_PITCHd_Wd 104.7,1405,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -61.3 D_GRID 206

GPS2 120921,162533,4750.8130,-12509.6270,4,0.6,6,15.7,0.2,213.7,12,4.5

Post-dive calculations and measurements:

FINISH -0.5,1.025031 _10V_AH 10.21,14.899

SM_CCo 4347,0.00,0.000,0,0,550,551.92 FG_AHR_24Vo 0.000

SM_GC 0.43,7.65,0.28,0.00,0.056,0.047,0.000,158,2016,550,-7.40,-1.47,551.92,0,0,0,0,0,0,26.10,26.08,25.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4750.34,-12512.13,120921,145230 MEM 209796

TT8_MAMPS 0.021721,0.188748 DATA_FILE_SIZE 33505,628

HUMID 53.81 CAP_FILE_SIZE 73687,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,237613056

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.085,181.76,1

ALTIM_BOTTOM_PING 201.7,42.5 GPS 120921,173940,4750.500,-12509.102,10,1.0,13,15.7,0.4,145.5,8,8.5

_24V_AH 24.19,27.342

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 89.94 SBE_CT 371 64 579.41

Roll_motor 27 60 40.53 WL_blue_red_Chl 1180 37 1069.50

VBD_pump_during_apogee 504 931 11352.84 nil 0 0 0.00

VBD_pump_during_surface 187 608 2752.20 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 0 0 0.00

Iridium_during_xfer 156 85 324.62 nil 0 0 0.00

Transponder_ping 1 420 12.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.21

TT8 1378 12 171.95

LPSleep 850 2 19.02

TT8_Active 713 12 88.96

TT8_Sampling 1433 37 551.44

TT8_CF8 239 42 105.01

TT8_Kalman 0 0 0.00

Analog_circuits 1500 11 168.47

GPS_charging 0 0 0.00

Compass 1387 8 116.73

RAFOS 0 0 0.00

Transponder 10 30 3.27

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.80 -116.8 161 2013 689 414 0.0 0.0 0 109 0.00 0.00 -98.78 0.004 16386 0.000 0.000 161 2014 2859 2854 2865 0 0 0 0 0 0 26.29 28.83 26.35

112 -0.80 -116.8 161 2015 2855 2865 3.7 -8.2 14 136 8.32 1.12 -9.48 0.010 18980 0.207 0.060 2322 1297 3278 3280 3277 0 0 0 0 0 0 25.73 24.59 25.89

369 -0.80 -116.8 2321 1297 3288 3276 45.6 -14.6 62 376 0.00 1.05 0.00 0.000 1030 0.000 0.031 2318 1987 3282 3288 3276 0 0 0 0 0 0 26.40 26.39 26.43

505 -0.80 -116.8 2318 1987 3289 3277 65.9 -14.7 87 513 0.00 1.02 0.00 0.000 516 0.000 0.033 2322 1305 3282 3289 3276 0 0 0 0 0 0 26.70 26.43 26.75

683 -0.80 -116.8 2321 1305 3290 3276 90.5 -13.6 120 691 0.00 1.05 0.00 0.000 1030 0.000 0.031 2317 2001 3283 3290 3276 0 0 0 0 0 0 26.55 26.51 26.57

822 -0.80 -116.8 2318 2002 3291 3276 107.9 -12.0 140 825 0.00 1.05 0.00 0.000 516 0.000 0.033 2321 1300 3283 3291 3276 0 0 0 0 0 0 26.82 26.55 26.88

950 -0.80 -116.8 2321 1300 3291 3276 121.6 -10.0 164 954 0.00 1.05 0.00 0.000 1062 0.000 0.030 2317 2007 3283 3291 3275 0 0 0 0 0 0 26.64 26.60 26.66

1084 -0.80 -116.8 2316 2007 3291 3275 135.2 -10.3 178 1088 0.00 1.00 0.00 0.000 260 0.000 0.037 2313 2696 3283 3291 3275 0 0 0 0 0 0 26.89 26.60 26.94

1203 -0.80 -116.8 2312 2696 3291 3276 147.8 -10.8 201 1212 0.00 1.02 0.00 0.000 1030 0.000 0.024 2316 1973 3283 3291 3275 0 0 0 0 0 0 26.71 26.70 26.74

1332 -0.80 -116.8 2315 1972 3291 3275 161.6 -11.0 214 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1972 3282 3291 3274 0 0 0 0 0 0 26.94 27.01 26.99

1452 -0.80 -116.8 2315 1972 3291 3274 175.0 -11.4 226 1454 0.00 0.00 0.00 0.000 6 0.000 0.000 2316 1972 3283 3292 3275 0 0 0 0 0 0 26.96 27.03 27.01

1572 -0.80 -116.8 2315 1972 3292 3274 189.2 -12.2 238 1576 0.00 1.08 0.00 0.000 260 0.000 0.037 2312 2701 3283 3292 3274 0 0 0 0 0 0 26.99 26.69 27.02

1607 -0.80 -116.8 2312 2700 3292 3274 193.8 -12.2 245 1615 0.00 1.00 0.00 0.000 1030 0.000 0.025 2316 1992 3283 3292 3274 0 0 0 0 0 0 26.77 26.76 26.79

1714 end dive: TARGET_DEPTH_EXCEEDED

state 1714 begin apogee

1719 -0.18 0.0 2317 1782 3292 3274 206.4 -11.7 256 1846 0.70 0.00 118.28 0.931 10246 0.160 0.000 2525 1780 2799 2856 2742 0 0 0 0 1 0 26.23 25.00 24.19

1847 end apogee: CONTROL_FINISHED_OK

state 1847 begin climb

1849 0.80 116.8 2524 1781 2858 2746 212.4 0.0 269 2042 1.02 1.05 183.90 0.537 10756 0.120 0.040 2838 1137 2316 2443 2190 0 0 0 0 0 0 25.10 25.06 24.56

2122 0.84 154.2 2837 1137 2418 2177 198.6 8.0 313 2184 0.05 1.02 52.08 0.550 11302 0.206 0.028 2845 1796 2164 2299 2030 0 0 0 0 0 0 25.41 25.67 24.76

2305 0.86 168.1 2845 1796 2286 2021 182.2 9.3 337 2323 0.00 0.00 15.52 0.627 8230 0.000 0.000 2846 1796 2114 2251 1977 0 0 0 0 0 0 26.12 25.56 25.03

2444 0.86 168.1 2846 1796 2237 1962 168.2 10.3 351 2449 0.00 1.05 0.00 0.000 260 0.000 0.037 2843 2496 2099 2237 1961 0 0 0 0 0 0 26.28 26.03 26.34

2477 0.86 168.1 2842 2495 2236 1961 164.6 10.5 357 2481 0.00 0.98 0.00 0.000 1030 0.000 0.030 2846 1836 2099 2237 1961 0 0 0 0 0 0 26.15 26.12 26.17

2609 0.86 168.1 2845 1836 2235 1961 150.4 10.9 371 2614 0.00 1.12 0.00 0.000 516 0.000 0.040 2851 1112 2098 2235 1961 0 0 0 0 0 0 26.49 26.23 26.55

2623 0.86 168.1 2851 1111 2235 1961 148.5 11.0 374 2632 0.00 1.05 0.00 0.000 1030 0.000 0.028 2848 1803 2098 2235 1961 0 0 0 0 0 0 26.29 26.28 26.33

2752 0.86 168.1 2847 1803 2234 1961 134.4 11.2 387 2757 0.00 1.02 0.00 0.000 260 0.000 0.037 2843 2496 2097 2234 1961 0 0 0 0 0 0 26.60 26.34 26.65

2941 0.86 172.7 2842 2496 2232 1961 113.7 9.9 424 2949 0.00 1.02 0.00 0.000 1062 0.000 0.031 2846 1803 2096 2232 1961 0 0 0 0 0 0 26.50 26.48 26.53

3069 0.87 174.0 2845 1802 2232 1961 101.0 10.1 437 3073 0.00 1.05 0.00 0.000 548 0.000 0.041 2852 1110 2096 2232 1961 0 0 0 0 0 0 26.77 26.48 26.82

3116 0.87 174.0 2851 1110 2232 1961 96.3 10.2 446 3123 0.00 1.02 0.00 0.000 1030 0.000 0.031 2848 1798 2096 2232 1961 0 0 0 0 0 0 26.58 26.54 26.60

3249 0.92 220.4 2847 1799 2231 1961 85.2 7.4 471 3335 0.12 1.10 75.18 0.535 10788 0.165 0.041 2888 1112 1894 2037 1751 0 0 0 0 0 0 26.42 25.73 25.20

3404 0.92 220.4 2887 1111 2028 1748 68.4 11.5 496 3412 0.00 1.05 0.00 0.000 1030 0.000 0.029 2884 1799 1888 2028 1748 0 0 0 0 0 0 26.08 26.06 26.10

3539 0.92 220.4 2884 1799 2026 1745 53.1 12.3 521 3547 0.00 1.05 0.00 0.000 260 0.000 0.037 2879 2496 1885 2026 1745 0 0 0 0 0 0 26.47 26.20 26.53

3605 0.92 220.4 2878 2496 2025 1745 45.2 11.4 533 3613 0.00 1.02 0.00 0.000 1030 0.000 0.032 2882 1804 1884 2024 1745 0 0 0 0 0 0 26.32 26.30 26.36

3742 0.93 231.7 2882 1804 2022 1744 31.7 9.5 558 3750 0.00 1.10 3.58 0.545 8740 0.000 0.040 2888 1106 1853 1995 1711 0 0 0 0 0 0 26.63 26.09 25.10

3912 0.94 235.0 2887 1106 2000 1712 14.8 10.0 590 3919 0.00 1.05 0.00 0.000 1062 0.000 0.031 2884 1800 1856 2000 1712 0 0 0 0 0 0 26.48 26.46 26.51

4045 1.03 310.0 2884 1800 2000 1711 5.4 5.8 615 4104 0.12 0.00 55.58 0.503 10786 0.135 0.000 2921 1800 1721 1867 1576 0 0 0 0 0 0 26.41 28.83 26.49

4104 end climb: SURFACE_DEPTH_REACHED

state 4105 begin surface coast

4132 end surface coast: CONTROL_FINISHED_OK

state 4132 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	171	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	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	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	0
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	3	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	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	284.0
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	120921,162131,4750.8267,-12509.6680,4,0.7,23,15.7,0.4,88.6,10,2.1	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	0.49	MHEAD_RNG_PITCHd_Wd	104.7,1405,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-61.3	D_GRID	206
GPS2	120921,162533,4750.8130,-12509.6270,4,0.6,6,15.7,0.2,213.7,12,4.5

FINISH	-0.5,1.025031	_10V_AH	10.21,14.899
SM_CCo	4347,0.00,0.000,0,0,550,551.92	FG_AHR_24Vo	0.000
SM_GC	0.43,7.65,0.28,0.00,0.056,0.047,0.000,158,2016,550,-7.40,-1.47,551.92,0,0,0,0,0,0,26.10,26.08,25.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4750.34,-12512.13,120921,145230	MEM	209796
TT8_MAMPS	0.021721,0.188748	DATA_FILE_SIZE	33505,628
HUMID	53.81	CAP_FILE_SIZE	73687,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,237613056
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.085,181.76,1
ALTIM_BOTTOM_PING	201.7,42.5	GPS	120921,173940,4750.500,-12509.102,10,1.0,13,15.7,0.4,145.5,8,8.5
_24V_AH	24.19,27.342

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	89.94	SBE_CT	371	64	579.41
Roll_motor	27	60	40.53	WL_blue_red_Chl	1180	37	1069.50
VBD_pump_during_apogee	504	931	11352.84	nil	0	0	0.00
VBD_pump_during_surface	187	608	2752.20	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	0	0	0.00
Iridium_during_xfer	156	85	324.62	nil	0	0	0.00
Transponder_ping	1	420	12.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.21
TT8	1378	12	171.95
LPSleep	850	2	19.02
TT8_Active	713	12	88.96
TT8_Sampling	1433	37	551.44
TT8_CF8	239	42	105.01
TT8_Kalman	0	0	0.00
Analog_circuits	1500	11	168.47
GPS_charging	0	0	0.00
Compass	1387	8	116.73
RAFOS	0	0	0.00
Transponder	10	30	3.27

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.80	-116.8	161	2013	689	414	0.0	0.0	0	109	0.00	0.00	-98.78	0.004	16386	0.000	0.000	161	2014	2859	2854	2865	0	0	0	0	0	0	26.29	28.83	26.35
112	-0.80	-116.8	161	2015	2855	2865	3.7	-8.2	14	136	8.32	1.12	-9.48	0.010	18980	0.207	0.060	2322	1297	3278	3280	3277	0	0	0	0	0	0	25.73	24.59	25.89
369	-0.80	-116.8	2321	1297	3288	3276	45.6	-14.6	62	376	0.00	1.05	0.00	0.000	1030	0.000	0.031	2318	1987	3282	3288	3276	0	0	0	0	0	0	26.40	26.39	26.43
505	-0.80	-116.8	2318	1987	3289	3277	65.9	-14.7	87	513	0.00	1.02	0.00	0.000	516	0.000	0.033	2322	1305	3282	3289	3276	0	0	0	0	0	0	26.70	26.43	26.75
683	-0.80	-116.8	2321	1305	3290	3276	90.5	-13.6	120	691	0.00	1.05	0.00	0.000	1030	0.000	0.031	2317	2001	3283	3290	3276	0	0	0	0	0	0	26.55	26.51	26.57
822	-0.80	-116.8	2318	2002	3291	3276	107.9	-12.0	140	825	0.00	1.05	0.00	0.000	516	0.000	0.033	2321	1300	3283	3291	3276	0	0	0	0	0	0	26.82	26.55	26.88
950	-0.80	-116.8	2321	1300	3291	3276	121.6	-10.0	164	954	0.00	1.05	0.00	0.000	1062	0.000	0.030	2317	2007	3283	3291	3275	0	0	0	0	0	0	26.64	26.60	26.66
1084	-0.80	-116.8	2316	2007	3291	3275	135.2	-10.3	178	1088	0.00	1.00	0.00	0.000	260	0.000	0.037	2313	2696	3283	3291	3275	0	0	0	0	0	0	26.89	26.60	26.94
1203	-0.80	-116.8	2312	2696	3291	3276	147.8	-10.8	201	1212	0.00	1.02	0.00	0.000	1030	0.000	0.024	2316	1973	3283	3291	3275	0	0	0	0	0	0	26.71	26.70	26.74
1332	-0.80	-116.8	2315	1972	3291	3275	161.6	-11.0	214	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1972	3282	3291	3274	0	0	0	0	0	0	26.94	27.01	26.99
1452	-0.80	-116.8	2315	1972	3291	3274	175.0	-11.4	226	1454	0.00	0.00	0.00	0.000	6	0.000	0.000	2316	1972	3283	3292	3275	0	0	0	0	0	0	26.96	27.03	27.01
1572	-0.80	-116.8	2315	1972	3292	3274	189.2	-12.2	238	1576	0.00	1.08	0.00	0.000	260	0.000	0.037	2312	2701	3283	3292	3274	0	0	0	0	0	0	26.99	26.69	27.02
1607	-0.80	-116.8	2312	2700	3292	3274	193.8	-12.2	245	1615	0.00	1.00	0.00	0.000	1030	0.000	0.025	2316	1992	3283	3292	3274	0	0	0	0	0	0	26.77	26.76	26.79
1714	end dive: TARGET_DEPTH_EXCEEDED
state	1714	begin apogee
1719	-0.18	0.0	2317	1782	3292	3274	206.4	-11.7	256	1846	0.70	0.00	118.28	0.931	10246	0.160	0.000	2525	1780	2799	2856	2742	0	0	0	0	1	0	26.23	25.00	24.19
1847	end apogee: CONTROL_FINISHED_OK
state	1847	begin climb
1849	0.80	116.8	2524	1781	2858	2746	212.4	0.0	269	2042	1.02	1.05	183.90	0.537	10756	0.120	0.040	2838	1137	2316	2443	2190	0	0	0	0	0	0	25.10	25.06	24.56
2122	0.84	154.2	2837	1137	2418	2177	198.6	8.0	313	2184	0.05	1.02	52.08	0.550	11302	0.206	0.028	2845	1796	2164	2299	2030	0	0	0	0	0	0	25.41	25.67	24.76
2305	0.86	168.1	2845	1796	2286	2021	182.2	9.3	337	2323	0.00	0.00	15.52	0.627	8230	0.000	0.000	2846	1796	2114	2251	1977	0	0	0	0	0	0	26.12	25.56	25.03
2444	0.86	168.1	2846	1796	2237	1962	168.2	10.3	351	2449	0.00	1.05	0.00	0.000	260	0.000	0.037	2843	2496	2099	2237	1961	0	0	0	0	0	0	26.28	26.03	26.34
2477	0.86	168.1	2842	2495	2236	1961	164.6	10.5	357	2481	0.00	0.98	0.00	0.000	1030	0.000	0.030	2846	1836	2099	2237	1961	0	0	0	0	0	0	26.15	26.12	26.17
2609	0.86	168.1	2845	1836	2235	1961	150.4	10.9	371	2614	0.00	1.12	0.00	0.000	516	0.000	0.040	2851	1112	2098	2235	1961	0	0	0	0	0	0	26.49	26.23	26.55
2623	0.86	168.1	2851	1111	2235	1961	148.5	11.0	374	2632	0.00	1.05	0.00	0.000	1030	0.000	0.028	2848	1803	2098	2235	1961	0	0	0	0	0	0	26.29	26.28	26.33
2752	0.86	168.1	2847	1803	2234	1961	134.4	11.2	387	2757	0.00	1.02	0.00	0.000	260	0.000	0.037	2843	2496	2097	2234	1961	0	0	0	0	0	0	26.60	26.34	26.65
2941	0.86	172.7	2842	2496	2232	1961	113.7	9.9	424	2949	0.00	1.02	0.00	0.000	1062	0.000	0.031	2846	1803	2096	2232	1961	0	0	0	0	0	0	26.50	26.48	26.53
3069	0.87	174.0	2845	1802	2232	1961	101.0	10.1	437	3073	0.00	1.05	0.00	0.000	548	0.000	0.041	2852	1110	2096	2232	1961	0	0	0	0	0	0	26.77	26.48	26.82
3116	0.87	174.0	2851	1110	2232	1961	96.3	10.2	446	3123	0.00	1.02	0.00	0.000	1030	0.000	0.031	2848	1798	2096	2232	1961	0	0	0	0	0	0	26.58	26.54	26.60
3249	0.92	220.4	2847	1799	2231	1961	85.2	7.4	471	3335	0.12	1.10	75.18	0.535	10788	0.165	0.041	2888	1112	1894	2037	1751	0	0	0	0	0	0	26.42	25.73	25.20
3404	0.92	220.4	2887	1111	2028	1748	68.4	11.5	496	3412	0.00	1.05	0.00	0.000	1030	0.000	0.029	2884	1799	1888	2028	1748	0	0	0	0	0	0	26.08	26.06	26.10
3539	0.92	220.4	2884	1799	2026	1745	53.1	12.3	521	3547	0.00	1.05	0.00	0.000	260	0.000	0.037	2879	2496	1885	2026	1745	0	0	0	0	0	0	26.47	26.20	26.53
3605	0.92	220.4	2878	2496	2025	1745	45.2	11.4	533	3613	0.00	1.02	0.00	0.000	1030	0.000	0.032	2882	1804	1884	2024	1745	0	0	0	0	0	0	26.32	26.30	26.36
3742	0.93	231.7	2882	1804	2022	1744	31.7	9.5	558	3750	0.00	1.10	3.58	0.545	8740	0.000	0.040	2888	1106	1853	1995	1711	0	0	0	0	0	0	26.63	26.09	25.10
3912	0.94	235.0	2887	1106	2000	1712	14.8	10.0	590	3919	0.00	1.05	0.00	0.000	1062	0.000	0.031	2884	1800	1856	2000	1712	0	0	0	0	0	0	26.48	26.46	26.51
4045	1.03	310.0	2884	1800	2000	1711	5.4	5.8	615	4104	0.12	0.00	55.58	0.503	10786	0.135	0.000	2921	1800	1721	1867	1576	0	0	0	0	0	0	26.41	28.83	26.49
4104	end climb: SURFACE_DEPTH_REACHED
state	4105	begin surface coast
4132	end surface coast: CONTROL_FINISHED_OK
state	4132	begin surface