Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 25 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 150

DIVE 25 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 64 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 5

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 3

D_FLARE 3 SM_CC 541.92499 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 600 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 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 230 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 -1 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 97.5 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 83.800003 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 -171.33574 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 48.0

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 83.800003 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 97.5 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 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 150 D_TGT 600 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 3 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 200

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 230

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -171.33574 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 48.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -1

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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 64 XPDR_INHIBIT 90

DIVE 25 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 MISSION 9 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 160921,160200,4753.0430,-12514.0557,14,0.6,34,15.7,0.4,346.6,12,3.1 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME TRANSIT2

_XMS_NAKs 0 TGT_LATLONG 4753.988,-12515.579

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.57 MHEAD_RNG_PITCHd_Wd 278.8,2504,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -60.3 D_GRID 197

GPS2 160921,160734,4753.0820,-12514.0820,4,0.6,6,15.7,1.2,64.8,12,6.9

Post-dive calculations and measurements:

FINISH -0.2,1.025861 _24V_AH 24.44,3.230

SM_CCo 4316,183.45,0.623,1,0,586,542.11 _10V_AH 10.20,1.604

SM_GC 0.60,7.50,0.28,183.45,0.055,0.050,0.623,188,2018,586,-7.39,-1.50,542.11,0,0,0,0,1,0,26.20,26.14,24.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4753.48,-12518.46,160921,143401 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.145306 MEM 154144

HUMID 54.09 DATA_FILE_SIZE 33599,643

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 81057,0

TCM_TEMP 15.30 CFSIZE 260030464,248938496

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

CP_FREE 119753506816.000000 CURRENT 0.085,27.02,1

CP_POWER 323.310000 GPS 160921,172433,4753.439,-12514.400,4,0.8,7,15.7,0.5,334.8,12,5.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 218 94.78 SBE_CT 388 64 611.37

Roll_motor 27 110 73.63 WL_blue_red_Chl 1231 37 1127.43

VBD_pump_during_apogee 521 566 7225.65 nil 0 0 0.00

VBD_pump_during_surface 183 623 2795.36 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 4135 25 2526.49

Iridium_during_xfer 215 100 527.51 nil 0 0 0.00

Transponder_ping 1 420 15.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.19

TT8 1436 12 179.06

LPSleep 827 2 18.48

TT8_Active 731 12 91.12

TT8_Sampling 1638 37 629.79

TT8_CF8 251 42 110.20

TT8_Kalman 0 0 0.00

Analog_circuits 1593 11 178.83

GPS_charging 0 0 0.00

Compass 1463 8 123.04

RAFOS 0 0 0.00

Transponder 12 30 3.77

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 -0.79 -116.8 167 2021 731 437 0.0 0.0 0 139 0.00 0.00 -111.70 0.011 16386 0.000 0.000 168 2020 3186 3176 3197 0 0 0 0 0 0 26.10 28.83 26.18

141 -0.79 -116.8 167 2020 3177 3198 4.5 -8.6 16 157 8.32 1.02 -1.92 0.038 19236 0.213 0.070 2316 2698 3282 3281 3284 0 0 0 0 0 0 25.66 24.46 25.83

180 -0.79 -116.8 2316 2698 3286 3283 16.3 -23.0 22 189 0.00 1.02 0.00 0.000 1030 0.000 0.031 2316 1976 3284 3286 3282 0 0 0 0 0 0 26.26 26.25 26.28

317 -0.79 -116.8 2316 1975 3290 3279 36.9 -14.8 47 325 0.08 1.05 0.00 0.000 2308 0.219 0.041 2325 2677 3284 3290 3279 0 0 0 0 0 0 26.09 26.27 26.21

561 -0.79 -116.8 2324 2676 3294 3278 67.7 -10.6 93 568 0.00 0.95 0.00 0.000 1030 0.000 0.032 2328 2006 3285 3293 3278 0 0 0 0 0 0 26.45 26.44 26.47

698 -0.79 -116.8 2327 2003 3295 3278 80.8 -9.1 118 706 0.00 1.00 0.00 0.000 292 0.000 0.051 2325 2677 3285 3294 3277 0 0 0 0 0 0 26.57 26.40 26.64

856 -0.79 -116.8 2324 2677 3295 3276 96.4 -8.7 148 864 0.00 0.98 0.00 0.000 1062 0.000 0.036 2328 1994 3286 3295 3278 0 0 0 0 0 0 26.50 26.46 26.52

988 -0.79 -116.8 2328 1994 3295 3277 108.3 -9.4 164 992 0.00 1.00 0.00 0.000 548 0.000 0.045 2333 1319 3286 3295 3277 0 0 0 0 0 0 26.55 26.39 26.58

1051 -0.79 -116.8 2333 1318 3295 3277 114.2 -8.8 176 1055 0.00 1.00 0.00 0.000 1062 0.000 0.036 2330 1988 3286 3296 3277 0 0 0 0 0 0 26.48 26.44 26.52

1184 -0.79 -116.8 2329 1988 3296 3277 126.2 -9.1 190 1188 0.00 1.00 0.00 0.000 548 0.000 0.040 2334 1320 3286 3296 3277 0 0 0 0 0 0 26.55 26.48 26.62

1270 -0.79 -116.8 2333 1320 3296 3277 134.6 -10.1 206 1274 0.00 1.02 0.00 0.000 1030 0.000 0.036 2330 2004 3286 3296 3276 0 0 0 0 0 0 26.53 26.51 26.57

1403 -0.79 -116.8 2329 2004 3296 3276 147.8 -9.6 220 1411 0.00 0.00 0.00 0.000 38 0.000 0.000 2330 2004 3285 3295 3276 0 0 0 0 0 0 26.67 26.74 26.72

1533 -0.79 -116.8 2329 2005 3295 3276 160.2 -9.4 233 1538 0.00 1.02 0.00 0.000 548 0.000 0.047 2333 1322 3286 3296 3276 0 0 0 0 0 0 26.69 26.50 26.74

1705 -0.79 -116.8 2332 1322 3296 3276 176.8 -10.1 265 1709 0.00 1.02 0.00 0.000 1030 0.000 0.037 2330 2007 3286 3296 3276 0 0 0 0 0 0 26.56 26.53 26.60

1837 -0.79 -116.8 2330 2007 3296 3275 190.7 -10.3 279 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2007 3285 3296 3275 0 0 0 0 0 0 26.67 26.70 26.69

1907 end dive: TARGET_DEPTH_EXCEEDED

state 1907 begin apogee

1912 -0.18 0.0 2330 1782 3296 3275 197.8 -10.2 286 2107 0.62 0.00 185.65 0.567 10246 0.153 0.000 2519 1782 2792 2845 2739 0 0 0 0 0 0 26.02 25.04 24.68

2112 end apogee: CONTROL_FINISHED_OK

state 2112 begin climb

2114 0.79 116.8 2519 1781 2840 2735 203.3 0.0 306 2300 1.00 0.00 180.02 0.540 10758 0.116 0.000 2829 1782 2321 2449 2194 0 0 0 0 0 0 25.33 25.03 24.53

2424 0.79 116.8 2828 1782 2416 2164 179.7 10.5 346 2428 0.00 1.10 0.00 0.000 260 0.000 0.042 2825 2490 2289 2416 2163 0 0 0 0 0 0 25.85 25.74 25.86

2509 0.79 116.8 2824 2490 2414 2160 170.6 11.1 362 2513 0.00 1.00 0.00 0.000 1030 0.000 0.037 2828 1822 2287 2414 2161 0 0 0 0 0 0 25.98 25.97 26.03

2641 0.79 116.8 2828 1822 2413 2160 157.1 10.2 376 2645 0.00 1.10 0.00 0.000 516 0.000 0.045 2834 1113 2286 2413 2160 0 0 0 0 0 0 26.20 26.10 26.28

2727 0.79 116.8 2833 1113 2413 2160 148.2 10.4 392 2731 0.00 1.05 0.00 0.000 1030 0.000 0.035 2830 1806 2286 2412 2160 0 0 0 0 0 0 26.24 26.22 26.23

2861 0.79 116.8 2830 1807 2411 2160 134.5 10.6 406 2865 0.00 1.02 0.00 0.000 260 0.000 0.044 2825 2488 2285 2411 2160 0 0 0 0 0 0 26.43 26.26 26.48

2906 0.79 116.8 2824 2489 2410 2160 129.1 10.5 415 2915 0.00 1.02 0.00 0.000 1030 0.000 0.036 2829 1798 2285 2411 2160 0 0 0 0 0 0 26.36 26.36 26.39

3035 0.79 116.8 2828 1798 2410 2160 116.1 10.3 428 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1798 2285 2410 2160 0 0 0 0 0 0 26.49 26.56 26.58

3165 0.79 119.2 2828 1798 2410 2160 103.3 9.9 441 3168 0.00 1.05 0.00 0.000 292 0.000 0.043 2825 2488 2285 2410 2160 0 0 0 0 0 0 26.53 26.36 26.60

3212 0.81 132.1 2824 2489 2409 2160 98.9 9.3 450 3220 0.00 1.02 2.83 0.531 9254 0.000 0.045 2829 1794 2261 2392 2131 0 0 0 0 0 0 26.30 26.29 24.79

3348 0.86 180.1 2828 1794 2400 2139 87.6 7.2 475 3441 0.12 1.08 83.32 0.531 10788 0.207 0.050 2864 1109 2056 2196 1917 0 0 0 0 0 0 26.00 25.38 25.02

3453 0.86 180.1 2863 1109 2182 1906 77.0 10.9 490 3461 0.00 1.08 0.00 0.000 1030 0.000 0.034 2860 1803 2042 2180 1905 0 0 0 0 0 0 25.84 25.80 25.86

3593 0.86 180.1 2859 1803 2174 1898 62.0 11.3 515 3602 0.00 1.05 0.00 0.000 260 0.000 0.047 2855 2493 2036 2174 1898 0 0 0 0 0 0 26.03 26.02 26.08

3823 0.87 183.6 2854 2493 2169 1897 38.7 9.8 558 3830 0.00 1.02 0.00 0.000 1062 0.000 0.044 2858 1802 2033 2169 1897 0 0 0 0 0 0 26.31 26.28 26.35

3961 0.91 222.1 2858 1802 2168 1896 27.1 7.8 583 4027 0.08 1.05 57.70 0.531 10788 0.163 0.110 2885 1108 1886 2030 1742 0 0 0 0 0 0 26.27 25.42 25.13

4259 0.94 244.1 2884 1108 2002 1721 2.9 8.7 637 4275 0.00 1.05 12.02 0.538 9250 0.000 0.034 2881 1800 1818 1961 1675 0 0 0 0 0 0 26.22 26.19 26.25

4276 end climb: SURFACE_DEPTH_REACHED

state 4276 begin surface coast

4297 end surface coast: CONTROL_FINISHED_OK

state 4298 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	9	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	150
DIVE	25	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	64	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	5
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	3
D_FLARE	3	SM_CC	541.92499	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	600	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	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	230	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	-1	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	97.5	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	83.800003	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	-171.33574	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	48.0
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	160921,160200,4753.0430,-12514.0557,14,0.6,34,15.7,0.4,346.6,12,3.1	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	TRANSIT2
_XMS_NAKs	0	TGT_LATLONG	4753.988,-12515.579
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.57	MHEAD_RNG_PITCHd_Wd	278.8,2504,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-60.3	D_GRID	197
GPS2	160921,160734,4753.0820,-12514.0820,4,0.6,6,15.7,1.2,64.8,12,6.9

FINISH	-0.2,1.025861	_24V_AH	24.44,3.230
SM_CCo	4316,183.45,0.623,1,0,586,542.11	_10V_AH	10.20,1.604
SM_GC	0.60,7.50,0.28,183.45,0.055,0.050,0.623,188,2018,586,-7.39,-1.50,542.11,0,0,0,0,1,0,26.20,26.14,24.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4753.48,-12518.46,160921,143401	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.145306	MEM	154144
HUMID	54.09	DATA_FILE_SIZE	33599,643
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	81057,0
TCM_TEMP	15.30	CFSIZE	260030464,248938496
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	119753506816.000000	CURRENT	0.085,27.02,1
CP_POWER	323.310000	GPS	160921,172433,4753.439,-12514.400,4,0.8,7,15.7,0.5,334.8,12,5.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	218	94.78	SBE_CT	388	64	611.37
Roll_motor	27	110	73.63	WL_blue_red_Chl	1231	37	1127.43
VBD_pump_during_apogee	521	566	7225.65	nil	0	0	0.00
VBD_pump_during_surface	183	623	2795.36	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	4135	25	2526.49
Iridium_during_xfer	215	100	527.51	nil	0	0	0.00
Transponder_ping	1	420	15.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.19
TT8	1436	12	179.06
LPSleep	827	2	18.48
TT8_Active	731	12	91.12
TT8_Sampling	1638	37	629.79
TT8_CF8	251	42	110.20
TT8_Kalman	0	0	0.00
Analog_circuits	1593	11	178.83
GPS_charging	0	0	0.00
Compass	1463	8	123.04
RAFOS	0	0	0.00
Transponder	12	30	3.77

		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	-0.79	-116.8	167	2021	731	437	0.0	0.0	0	139	0.00	0.00	-111.70	0.011	16386	0.000	0.000	168	2020	3186	3176	3197	0	0	0	0	0	0	26.10	28.83	26.18
141	-0.79	-116.8	167	2020	3177	3198	4.5	-8.6	16	157	8.32	1.02	-1.92	0.038	19236	0.213	0.070	2316	2698	3282	3281	3284	0	0	0	0	0	0	25.66	24.46	25.83
180	-0.79	-116.8	2316	2698	3286	3283	16.3	-23.0	22	189	0.00	1.02	0.00	0.000	1030	0.000	0.031	2316	1976	3284	3286	3282	0	0	0	0	0	0	26.26	26.25	26.28
317	-0.79	-116.8	2316	1975	3290	3279	36.9	-14.8	47	325	0.08	1.05	0.00	0.000	2308	0.219	0.041	2325	2677	3284	3290	3279	0	0	0	0	0	0	26.09	26.27	26.21
561	-0.79	-116.8	2324	2676	3294	3278	67.7	-10.6	93	568	0.00	0.95	0.00	0.000	1030	0.000	0.032	2328	2006	3285	3293	3278	0	0	0	0	0	0	26.45	26.44	26.47
698	-0.79	-116.8	2327	2003	3295	3278	80.8	-9.1	118	706	0.00	1.00	0.00	0.000	292	0.000	0.051	2325	2677	3285	3294	3277	0	0	0	0	0	0	26.57	26.40	26.64
856	-0.79	-116.8	2324	2677	3295	3276	96.4	-8.7	148	864	0.00	0.98	0.00	0.000	1062	0.000	0.036	2328	1994	3286	3295	3278	0	0	0	0	0	0	26.50	26.46	26.52
988	-0.79	-116.8	2328	1994	3295	3277	108.3	-9.4	164	992	0.00	1.00	0.00	0.000	548	0.000	0.045	2333	1319	3286	3295	3277	0	0	0	0	0	0	26.55	26.39	26.58
1051	-0.79	-116.8	2333	1318	3295	3277	114.2	-8.8	176	1055	0.00	1.00	0.00	0.000	1062	0.000	0.036	2330	1988	3286	3296	3277	0	0	0	0	0	0	26.48	26.44	26.52
1184	-0.79	-116.8	2329	1988	3296	3277	126.2	-9.1	190	1188	0.00	1.00	0.00	0.000	548	0.000	0.040	2334	1320	3286	3296	3277	0	0	0	0	0	0	26.55	26.48	26.62
1270	-0.79	-116.8	2333	1320	3296	3277	134.6	-10.1	206	1274	0.00	1.02	0.00	0.000	1030	0.000	0.036	2330	2004	3286	3296	3276	0	0	0	0	0	0	26.53	26.51	26.57
1403	-0.79	-116.8	2329	2004	3296	3276	147.8	-9.6	220	1411	0.00	0.00	0.00	0.000	38	0.000	0.000	2330	2004	3285	3295	3276	0	0	0	0	0	0	26.67	26.74	26.72
1533	-0.79	-116.8	2329	2005	3295	3276	160.2	-9.4	233	1538	0.00	1.02	0.00	0.000	548	0.000	0.047	2333	1322	3286	3296	3276	0	0	0	0	0	0	26.69	26.50	26.74
1705	-0.79	-116.8	2332	1322	3296	3276	176.8	-10.1	265	1709	0.00	1.02	0.00	0.000	1030	0.000	0.037	2330	2007	3286	3296	3276	0	0	0	0	0	0	26.56	26.53	26.60
1837	-0.79	-116.8	2330	2007	3296	3275	190.7	-10.3	279	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2330	2007	3285	3296	3275	0	0	0	0	0	0	26.67	26.70	26.69
1907	end dive: TARGET_DEPTH_EXCEEDED
state	1907	begin apogee
1912	-0.18	0.0	2330	1782	3296	3275	197.8	-10.2	286	2107	0.62	0.00	185.65	0.567	10246	0.153	0.000	2519	1782	2792	2845	2739	0	0	0	0	0	0	26.02	25.04	24.68
2112	end apogee: CONTROL_FINISHED_OK
state	2112	begin climb
2114	0.79	116.8	2519	1781	2840	2735	203.3	0.0	306	2300	1.00	0.00	180.02	0.540	10758	0.116	0.000	2829	1782	2321	2449	2194	0	0	0	0	0	0	25.33	25.03	24.53
2424	0.79	116.8	2828	1782	2416	2164	179.7	10.5	346	2428	0.00	1.10	0.00	0.000	260	0.000	0.042	2825	2490	2289	2416	2163	0	0	0	0	0	0	25.85	25.74	25.86
2509	0.79	116.8	2824	2490	2414	2160	170.6	11.1	362	2513	0.00	1.00	0.00	0.000	1030	0.000	0.037	2828	1822	2287	2414	2161	0	0	0	0	0	0	25.98	25.97	26.03
2641	0.79	116.8	2828	1822	2413	2160	157.1	10.2	376	2645	0.00	1.10	0.00	0.000	516	0.000	0.045	2834	1113	2286	2413	2160	0	0	0	0	0	0	26.20	26.10	26.28
2727	0.79	116.8	2833	1113	2413	2160	148.2	10.4	392	2731	0.00	1.05	0.00	0.000	1030	0.000	0.035	2830	1806	2286	2412	2160	0	0	0	0	0	0	26.24	26.22	26.23
2861	0.79	116.8	2830	1807	2411	2160	134.5	10.6	406	2865	0.00	1.02	0.00	0.000	260	0.000	0.044	2825	2488	2285	2411	2160	0	0	0	0	0	0	26.43	26.26	26.48
2906	0.79	116.8	2824	2489	2410	2160	129.1	10.5	415	2915	0.00	1.02	0.00	0.000	1030	0.000	0.036	2829	1798	2285	2411	2160	0	0	0	0	0	0	26.36	26.36	26.39
3035	0.79	116.8	2828	1798	2410	2160	116.1	10.3	428	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1798	2285	2410	2160	0	0	0	0	0	0	26.49	26.56	26.58
3165	0.79	119.2	2828	1798	2410	2160	103.3	9.9	441	3168	0.00	1.05	0.00	0.000	292	0.000	0.043	2825	2488	2285	2410	2160	0	0	0	0	0	0	26.53	26.36	26.60
3212	0.81	132.1	2824	2489	2409	2160	98.9	9.3	450	3220	0.00	1.02	2.83	0.531	9254	0.000	0.045	2829	1794	2261	2392	2131	0	0	0	0	0	0	26.30	26.29	24.79
3348	0.86	180.1	2828	1794	2400	2139	87.6	7.2	475	3441	0.12	1.08	83.32	0.531	10788	0.207	0.050	2864	1109	2056	2196	1917	0	0	0	0	0	0	26.00	25.38	25.02
3453	0.86	180.1	2863	1109	2182	1906	77.0	10.9	490	3461	0.00	1.08	0.00	0.000	1030	0.000	0.034	2860	1803	2042	2180	1905	0	0	0	0	0	0	25.84	25.80	25.86
3593	0.86	180.1	2859	1803	2174	1898	62.0	11.3	515	3602	0.00	1.05	0.00	0.000	260	0.000	0.047	2855	2493	2036	2174	1898	0	0	0	0	0	0	26.03	26.02	26.08
3823	0.87	183.6	2854	2493	2169	1897	38.7	9.8	558	3830	0.00	1.02	0.00	0.000	1062	0.000	0.044	2858	1802	2033	2169	1897	0	0	0	0	0	0	26.31	26.28	26.35
3961	0.91	222.1	2858	1802	2168	1896	27.1	7.8	583	4027	0.08	1.05	57.70	0.531	10788	0.163	0.110	2885	1108	1886	2030	1742	0	0	0	0	0	0	26.27	25.42	25.13
4259	0.94	244.1	2884	1108	2002	1721	2.9	8.7	637	4275	0.00	1.05	12.02	0.538	9250	0.000	0.034	2881	1800	1818	1961	1675	0	0	0	0	0	0	26.22	26.19	26.25
4276	end climb: SURFACE_DEPTH_REACHED
state	4276	begin surface coast
4297	end surface coast: CONTROL_FINISHED_OK
state	4298	begin surface