Glider dive log

WA coast Sep21 * SG204 * Dive index * Mission links * Dive 8 * 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 100

DIVE 8 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 58 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 51 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 541.92499 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 -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 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 -171.33574 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 14.0

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 270 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 541.92499

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 100 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 270 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 -171.33574 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 14.0 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 58 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 51 XPDR_INHIBIT 90

DIVE 8 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 150921,060735,4745.5962,-12504.7461,3,1.0,5,15.6,0.9,220.7,8,8.1 SPEED_LIMITS 0.176,0.235

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 4745.572,-12520.805

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 266.7,20000,-18.4,-10.145,-23.37,1754

_SM_ANGLEo -57.3 D_GRID 200

GPS2 150921,061233,4745.5723,-12504.7402,4,1.0,5,15.6,0.7,280.4,8,8.8

Post-dive calculations and measurements:

FINISH -0.3,1.012239 _24V_AH 24.56,0.941

SM_CCo 4140,142.60,0.620,1,0,588,542.11 _10V_AH 10.20,0.366

SM_GC 0.73,7.55,0.28,142.60,0.046,0.044,0.620,170,2021,588,-7.39,-1.61,542.11,0,0,0,0,1,0,25.84,25.79,24.56 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.11,-12503.20,150921,050609 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.183505 MEM 155164

HUMID 55.67 DATA_FILE_SIZE 30156,628

INTERNAL_PRESSURE 8.76732 CAP_FILE_SIZE 101124,0

TCM_TEMP 16.60 CFSIZE 260030464,250478592

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

CP_FREE 126432575488.000000 CURRENT 0.086,200.65,1

CP_POWER 323.320000 GPS 150921,072609,4745.493,-12505.488,10,1.0,24,15.6,0.3,166.5,12,2.4

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 239 104.97 SBE_CT 367 64 582.09

Roll_motor 28 94 66.21 WL_blue_red_Chl 1031 37 948.44

VBD_pump_during_apogee 614 666 10050.79 nil 0 0 0.00

VBD_pump_during_surface 142 619 2170.17 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 3950 25 2425.30

Iridium_during_xfer 192 92 438.14 nil 0 0 0.00

Transponder_ping 2 420 25.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 11 2.06

TT8 1342 12 167.34

LPSleep 883 2 19.74

TT8_Active 746 12 92.99

TT8_Sampling 1412 37 543.04

TT8_CF8 246 42 107.85

TT8_Kalman 0 0 0.00

Analog_circuits 1587 11 178.15

GPS_charging 0 0 0.00

Compass 1259 8 105.82

RAFOS 0 0 0.00

Transponder 17 30 5.28

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 -116.8 156 2008 745 429 0.0 0.0 0 131 0.00 0.00 -103.82 0.011 16386 0.000 0.000 156 2007 3072 3059 3086 0 0 0 0 0 0 26.17 28.83 26.24

134 -0.80 -116.8 155 2007 3061 3086 4.7 -9.6 15 152 8.30 1.08 -3.97 0.024 18724 0.220 0.074 2316 2697 3277 3277 3277 0 0 0 0 0 0 25.75 24.58 25.92

297 -0.80 -116.8 2316 2697 3286 3275 40.1 -14.3 45 305 0.00 1.02 0.00 0.000 1030 0.000 0.032 2316 1986 3280 3286 3275 0 0 0 0 0 0 26.37 26.34 26.39

435 -0.80 -116.8 2316 1985 3287 3274 58.3 -12.4 70 443 0.00 1.00 0.00 0.000 516 0.000 0.094 2316 1312 3281 3288 3274 0 0 0 0 0 0 26.51 26.35 26.57

466 -0.80 -116.8 2315 1312 3288 3274 61.6 -10.8 75 474 0.03 1.02 0.00 0.000 3078 0.235 0.035 2319 1991 3281 3288 3274 0 0 0 0 0 0 26.20 26.40 26.25

603 -0.80 -116.8 2318 1990 3289 3274 77.8 -12.0 100 612 0.00 1.05 0.00 0.000 260 0.000 0.048 2314 2706 3281 3289 3274 0 0 0 0 0 0 26.51 26.32 26.58

646 -0.80 -116.8 2314 2706 3290 3274 82.6 -11.1 107 653 0.00 1.02 0.00 0.000 1030 0.000 0.030 2315 1984 3282 3289 3275 0 0 0 0 0 0 26.53 26.50 26.55

778 -0.80 -116.8 2314 1983 3290 3273 97.9 -11.5 132 785 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 1983 3282 3290 3274 0 0 0 0 0 0 26.61 26.67 26.67

908 -0.80 -116.8 2314 1983 3290 3274 112.4 -11.3 146 912 0.00 0.98 0.00 0.000 516 0.000 0.041 2317 1319 3282 3290 3274 0 0 0 0 0 0 26.65 26.40 26.68

943 -0.80 -116.8 2316 1319 3291 3274 117.0 -12.2 153 951 0.00 1.02 0.00 0.000 1030 0.000 0.040 2314 2004 3282 3290 3274 0 0 0 0 0 0 26.43 26.43 26.46

1072 -0.80 -116.8 2312 2004 3291 3274 132.3 -12.1 166 1076 0.08 1.00 0.00 0.000 2308 0.239 0.042 2321 2692 3282 3291 3274 0 0 0 0 0 0 26.35 26.52 26.46

1177 -0.80 -116.8 2320 2692 3290 3274 144.5 -11.1 186 1181 0.00 0.98 0.00 0.000 1030 0.000 0.031 2324 1996 3282 3291 3274 0 0 0 0 0 0 26.54 26.51 26.57

1309 -0.80 -116.8 2323 1995 3291 3273 157.5 -9.4 200 1314 0.00 0.98 0.00 0.000 548 0.000 0.038 2329 1328 3282 3291 3274 0 0 0 0 0 0 26.57 26.57 26.61

1414 -0.80 -116.8 2328 1328 3292 3273 167.6 -9.4 220 1418 0.00 1.00 0.00 0.000 1062 0.000 0.044 2326 2003 3282 3291 3273 0 0 0 0 0 0 26.61 26.56 26.63

1548 -0.80 -116.8 2325 2003 3291 3273 180.4 -9.6 234 1555 0.00 0.00 0.00 0.000 38 0.000 0.000 2326 2004 3282 3291 3273 0 0 0 0 0 0 26.68 26.75 26.74

1677 -0.80 -116.8 2325 2003 3291 3273 192.3 -9.1 247 1681 0.00 1.00 0.00 0.000 548 0.000 0.037 2329 1329 3281 3290 3273 0 0 0 0 0 0 26.73 26.57 26.78

1757 end dive: TARGET_DEPTH_EXCEEDED

state 1757 begin apogee

1762 -0.18 0.0 2326 1812 3291 3272 200.2 -9.9 263 1951 0.65 0.00 185.23 0.577 10246 0.153 0.000 2523 1814 2802 2855 2749 0 0 0 0 0 0 26.12 25.27 24.75

1956 end apogee: CONTROL_FINISHED_OK

state 1956 begin climb

1957 0.80 116.8 2523 1814 2842 2737 205.3 0.0 282 2146 1.00 1.08 177.45 0.540 10756 0.112 0.034 2840 1117 2316 2441 2191 0 0 0 0 0 0 25.34 24.98 24.65

2178 0.83 146.7 2840 1117 2413 2171 193.6 8.4 324 2219 0.00 1.05 35.15 0.586 9254 0.000 0.041 2837 1796 2198 2331 2066 0 0 0 0 0 0 25.52 25.48 24.75

2338 0.84 151.1 2836 1796 2307 2046 178.2 9.9 344 2340 0.00 0.00 0.00 0.000 38 0.000 0.000 2837 1796 2177 2308 2046 0 0 0 0 0 0 25.85 25.86 25.90

2459 0.84 151.1 2836 1796 2306 2045 166.2 10.3 356 2465 0.10 1.05 0.00 0.000 2564 0.217 0.042 2863 1124 2175 2306 2045 0 0 0 0 0 0 25.84 26.07 26.01

2527 0.84 151.1 2862 1124 2305 2045 158.4 11.3 369 2535 0.00 1.02 0.00 0.000 1030 0.000 0.035 2860 1799 2175 2305 2045 0 0 0 0 0 0 26.22 26.20 26.25

2653 0.84 153.7 2859 1799 2304 2044 145.0 10.0 382 2657 0.00 1.02 0.00 0.000 548 0.000 0.055 2863 1132 2174 2304 2044 0 0 0 0 0 0 26.40 26.25 26.46

2674 0.84 153.7 2863 1132 2304 2044 142.4 12.2 386 2677 0.00 1.00 0.00 0.000 1030 0.000 0.034 2860 1799 2174 2304 2045 0 0 0 0 0 0 26.34 26.30 26.36

2804 0.84 153.7 2859 1800 2303 2044 127.1 12.4 400 2809 0.00 1.02 0.00 0.000 260 0.000 0.041 2854 2496 2173 2303 2044 0 0 0 0 0 0 26.43 26.34 26.49

2918 0.84 153.7 2854 2495 2301 2043 112.1 12.8 422 2921 0.00 1.00 0.00 0.000 1030 0.000 0.045 2858 1813 2172 2300 2044 0 0 0 0 0 0 26.42 26.40 26.46

3048 0.84 153.7 2857 1813 2301 2044 96.0 12.3 438 3055 0.00 1.08 0.00 0.000 516 0.000 0.053 2863 1104 2172 2301 2044 0 0 0 0 0 0 26.58 26.41 26.63

3194 0.85 163.1 2862 1103 2301 2044 80.0 9.6 466 3202 0.00 1.05 4.50 0.666 9254 0.000 0.036 2860 1801 2137 2269 2006 0 0 0 0 0 0 26.52 26.48 25.45

3330 0.85 163.1 2859 1801 2279 2008 67.3 10.2 491 3336 0.00 0.00 0.00 0.000 6 0.000 0.000 2860 1801 2143 2279 2008 0 0 0 0 0 0 26.60 26.63 26.65

3463 0.91 210.0 2859 1801 2279 2007 55.5 7.4 516 3555 0.00 1.02 83.12 0.522 8484 0.000 0.041 2854 2505 1935 2077 1793 0 0 0 0 0 0 26.63 25.48 25.14

3673 0.92 216.7 2854 2505 2055 1776 38.4 9.8 551 3681 0.00 1.05 0.00 0.000 1062 0.000 0.044 2858 1802 1915 2055 1776 0 0 0 0 0 0 26.06 26.02 26.10

3807 0.92 221.8 2857 1803 2053 1775 25.7 9.8 576 3817 0.10 1.02 2.15 0.303 10788 0.141 0.043 2891 1103 1897 2038 1756 0 0 0 0 0 0 26.13 25.46 24.88

3958 1.01 293.0 2891 1103 2045 1762 12.5 6.0 604 4092 0.05 1.05 126.57 0.506 11302 0.124 0.043 2910 1799 1603 1751 1456 0 0 0 0 0 0 26.11 26.31 24.92

4097 end climb: SURFACE_DEPTH_REACHED

state 4097 begin surface coast

4120 end surface coast: CONTROL_FINISHED_OK

state 4121 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	100
DIVE	8	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	58	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	51	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	541.92499	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	-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	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	-171.33574	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	14.0
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	270	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	150921,060735,4745.5962,-12504.7461,3,1.0,5,15.6,0.9,220.7,8,8.1	SPEED_LIMITS	0.176,0.235
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	4745.572,-12520.805
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	266.7,20000,-18.4,-10.145,-23.37,1754
_SM_ANGLEo	-57.3	D_GRID	200
GPS2	150921,061233,4745.5723,-12504.7402,4,1.0,5,15.6,0.7,280.4,8,8.8

FINISH	-0.3,1.012239	_24V_AH	24.56,0.941
SM_CCo	4140,142.60,0.620,1,0,588,542.11	_10V_AH	10.20,0.366
SM_GC	0.73,7.55,0.28,142.60,0.046,0.044,0.620,170,2021,588,-7.39,-1.61,542.11,0,0,0,0,1,0,25.84,25.79,24.56	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.11,-12503.20,150921,050609	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.183505	MEM	155164
HUMID	55.67	DATA_FILE_SIZE	30156,628
INTERNAL_PRESSURE	8.76732	CAP_FILE_SIZE	101124,0
TCM_TEMP	16.60	CFSIZE	260030464,250478592
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	126432575488.000000	CURRENT	0.086,200.65,1
CP_POWER	323.320000	GPS	150921,072609,4745.493,-12505.488,10,1.0,24,15.6,0.3,166.5,12,2.4
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	239	104.97	SBE_CT	367	64	582.09
Roll_motor	28	94	66.21	WL_blue_red_Chl	1031	37	948.44
VBD_pump_during_apogee	614	666	10050.79	nil	0	0	0.00
VBD_pump_during_surface	142	619	2170.17	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	3950	25	2425.30
Iridium_during_xfer	192	92	438.14	nil	0	0	0.00
Transponder_ping	2	420	25.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	11	2.06
TT8	1342	12	167.34
LPSleep	883	2	19.74
TT8_Active	746	12	92.99
TT8_Sampling	1412	37	543.04
TT8_CF8	246	42	107.85
TT8_Kalman	0	0	0.00
Analog_circuits	1587	11	178.15
GPS_charging	0	0	0.00
Compass	1259	8	105.82
RAFOS	0	0	0.00
Transponder	17	30	5.28

		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	156	2008	745	429	0.0	0.0	0	131	0.00	0.00	-103.82	0.011	16386	0.000	0.000	156	2007	3072	3059	3086	0	0	0	0	0	0	26.17	28.83	26.24
134	-0.80	-116.8	155	2007	3061	3086	4.7	-9.6	15	152	8.30	1.08	-3.97	0.024	18724	0.220	0.074	2316	2697	3277	3277	3277	0	0	0	0	0	0	25.75	24.58	25.92
297	-0.80	-116.8	2316	2697	3286	3275	40.1	-14.3	45	305	0.00	1.02	0.00	0.000	1030	0.000	0.032	2316	1986	3280	3286	3275	0	0	0	0	0	0	26.37	26.34	26.39
435	-0.80	-116.8	2316	1985	3287	3274	58.3	-12.4	70	443	0.00	1.00	0.00	0.000	516	0.000	0.094	2316	1312	3281	3288	3274	0	0	0	0	0	0	26.51	26.35	26.57
466	-0.80	-116.8	2315	1312	3288	3274	61.6	-10.8	75	474	0.03	1.02	0.00	0.000	3078	0.235	0.035	2319	1991	3281	3288	3274	0	0	0	0	0	0	26.20	26.40	26.25
603	-0.80	-116.8	2318	1990	3289	3274	77.8	-12.0	100	612	0.00	1.05	0.00	0.000	260	0.000	0.048	2314	2706	3281	3289	3274	0	0	0	0	0	0	26.51	26.32	26.58
646	-0.80	-116.8	2314	2706	3290	3274	82.6	-11.1	107	653	0.00	1.02	0.00	0.000	1030	0.000	0.030	2315	1984	3282	3289	3275	0	0	0	0	0	0	26.53	26.50	26.55
778	-0.80	-116.8	2314	1983	3290	3273	97.9	-11.5	132	785	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	1983	3282	3290	3274	0	0	0	0	0	0	26.61	26.67	26.67
908	-0.80	-116.8	2314	1983	3290	3274	112.4	-11.3	146	912	0.00	0.98	0.00	0.000	516	0.000	0.041	2317	1319	3282	3290	3274	0	0	0	0	0	0	26.65	26.40	26.68
943	-0.80	-116.8	2316	1319	3291	3274	117.0	-12.2	153	951	0.00	1.02	0.00	0.000	1030	0.000	0.040	2314	2004	3282	3290	3274	0	0	0	0	0	0	26.43	26.43	26.46
1072	-0.80	-116.8	2312	2004	3291	3274	132.3	-12.1	166	1076	0.08	1.00	0.00	0.000	2308	0.239	0.042	2321	2692	3282	3291	3274	0	0	0	0	0	0	26.35	26.52	26.46
1177	-0.80	-116.8	2320	2692	3290	3274	144.5	-11.1	186	1181	0.00	0.98	0.00	0.000	1030	0.000	0.031	2324	1996	3282	3291	3274	0	0	0	0	0	0	26.54	26.51	26.57
1309	-0.80	-116.8	2323	1995	3291	3273	157.5	-9.4	200	1314	0.00	0.98	0.00	0.000	548	0.000	0.038	2329	1328	3282	3291	3274	0	0	0	0	0	0	26.57	26.57	26.61
1414	-0.80	-116.8	2328	1328	3292	3273	167.6	-9.4	220	1418	0.00	1.00	0.00	0.000	1062	0.000	0.044	2326	2003	3282	3291	3273	0	0	0	0	0	0	26.61	26.56	26.63
1548	-0.80	-116.8	2325	2003	3291	3273	180.4	-9.6	234	1555	0.00	0.00	0.00	0.000	38	0.000	0.000	2326	2004	3282	3291	3273	0	0	0	0	0	0	26.68	26.75	26.74
1677	-0.80	-116.8	2325	2003	3291	3273	192.3	-9.1	247	1681	0.00	1.00	0.00	0.000	548	0.000	0.037	2329	1329	3281	3290	3273	0	0	0	0	0	0	26.73	26.57	26.78
1757	end dive: TARGET_DEPTH_EXCEEDED
state	1757	begin apogee
1762	-0.18	0.0	2326	1812	3291	3272	200.2	-9.9	263	1951	0.65	0.00	185.23	0.577	10246	0.153	0.000	2523	1814	2802	2855	2749	0	0	0	0	0	0	26.12	25.27	24.75
1956	end apogee: CONTROL_FINISHED_OK
state	1956	begin climb
1957	0.80	116.8	2523	1814	2842	2737	205.3	0.0	282	2146	1.00	1.08	177.45	0.540	10756	0.112	0.034	2840	1117	2316	2441	2191	0	0	0	0	0	0	25.34	24.98	24.65
2178	0.83	146.7	2840	1117	2413	2171	193.6	8.4	324	2219	0.00	1.05	35.15	0.586	9254	0.000	0.041	2837	1796	2198	2331	2066	0	0	0	0	0	0	25.52	25.48	24.75
2338	0.84	151.1	2836	1796	2307	2046	178.2	9.9	344	2340	0.00	0.00	0.00	0.000	38	0.000	0.000	2837	1796	2177	2308	2046	0	0	0	0	0	0	25.85	25.86	25.90
2459	0.84	151.1	2836	1796	2306	2045	166.2	10.3	356	2465	0.10	1.05	0.00	0.000	2564	0.217	0.042	2863	1124	2175	2306	2045	0	0	0	0	0	0	25.84	26.07	26.01
2527	0.84	151.1	2862	1124	2305	2045	158.4	11.3	369	2535	0.00	1.02	0.00	0.000	1030	0.000	0.035	2860	1799	2175	2305	2045	0	0	0	0	0	0	26.22	26.20	26.25
2653	0.84	153.7	2859	1799	2304	2044	145.0	10.0	382	2657	0.00	1.02	0.00	0.000	548	0.000	0.055	2863	1132	2174	2304	2044	0	0	0	0	0	0	26.40	26.25	26.46
2674	0.84	153.7	2863	1132	2304	2044	142.4	12.2	386	2677	0.00	1.00	0.00	0.000	1030	0.000	0.034	2860	1799	2174	2304	2045	0	0	0	0	0	0	26.34	26.30	26.36
2804	0.84	153.7	2859	1800	2303	2044	127.1	12.4	400	2809	0.00	1.02	0.00	0.000	260	0.000	0.041	2854	2496	2173	2303	2044	0	0	0	0	0	0	26.43	26.34	26.49
2918	0.84	153.7	2854	2495	2301	2043	112.1	12.8	422	2921	0.00	1.00	0.00	0.000	1030	0.000	0.045	2858	1813	2172	2300	2044	0	0	0	0	0	0	26.42	26.40	26.46
3048	0.84	153.7	2857	1813	2301	2044	96.0	12.3	438	3055	0.00	1.08	0.00	0.000	516	0.000	0.053	2863	1104	2172	2301	2044	0	0	0	0	0	0	26.58	26.41	26.63
3194	0.85	163.1	2862	1103	2301	2044	80.0	9.6	466	3202	0.00	1.05	4.50	0.666	9254	0.000	0.036	2860	1801	2137	2269	2006	0	0	0	0	0	0	26.52	26.48	25.45
3330	0.85	163.1	2859	1801	2279	2008	67.3	10.2	491	3336	0.00	0.00	0.00	0.000	6	0.000	0.000	2860	1801	2143	2279	2008	0	0	0	0	0	0	26.60	26.63	26.65
3463	0.91	210.0	2859	1801	2279	2007	55.5	7.4	516	3555	0.00	1.02	83.12	0.522	8484	0.000	0.041	2854	2505	1935	2077	1793	0	0	0	0	0	0	26.63	25.48	25.14
3673	0.92	216.7	2854	2505	2055	1776	38.4	9.8	551	3681	0.00	1.05	0.00	0.000	1062	0.000	0.044	2858	1802	1915	2055	1776	0	0	0	0	0	0	26.06	26.02	26.10
3807	0.92	221.8	2857	1803	2053	1775	25.7	9.8	576	3817	0.10	1.02	2.15	0.303	10788	0.141	0.043	2891	1103	1897	2038	1756	0	0	0	0	0	0	26.13	25.46	24.88
3958	1.01	293.0	2891	1103	2045	1762	12.5	6.0	604	4092	0.05	1.05	126.57	0.506	11302	0.124	0.043	2910	1799	1603	1751	1456	0	0	0	0	0	0	26.11	26.31	24.92
4097	end climb: SURFACE_DEPTH_REACHED
state	4097	begin surface coast
4120	end surface coast: CONTROL_FINISHED_OK
state	4121	begin surface