Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 88 * 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 88 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 45 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 43 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -151 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 4

D_FLARE 3 SM_CC 603.25 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 260 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 2800 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 4 PROTOCOL 9 VBD_DBAND 4 INT_PRESSURE_YINT 0.74000001

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012000001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 80 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 95 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 9000 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 162.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 0 SEABIRD_T_H 0.00063104689

AH0_10V 100 D_NO_BLEED 50 N_FILEKB 8 SEABIRD_T_I 2.5179608e-05

AH0_24V 127.5 D_OFFGRID 150 N_GPS 100840 SEABIRD_T_J 2.8304141e-06

ALTIM_BOTTOM_TURN_MARGIN 20 D_PITCH 0 N_NOCOMM 2 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 603.25

ALTIM_PING_DELTA 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 260 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 4 FERRY_MAX 45 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_DBAND 0.1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_GAIN 28 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 80

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012000001 T_EPIRB 0

CAPUPLOAD 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 T_GPS 5

CF8_MAXERRORS 20 HEADING -1 PITCH_W_GAIN 0 T_LOITER 9000

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 95

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 162.0 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 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 45 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 43 XPDR_INHIBIT 90

DIVE 88 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 060921,200509,4750.8237,-12509.1787,15,0.8,24,15.7,0.2,0.0,12,2.9 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.52 MHEAD_RNG_PITCHd_Wd 266.1,2978,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -62.6 D_GRID 222

GPS2 060921,201023,4750.8389,-12509.2168,3,0.7,5,15.7,0.2,3.8,12,7.7

Post-dive calculations and measurements:

FINISH 0.1,1.025049 _24V_AH 24.31,16.727

SM_CCo 4354,-0.03,0.737,0,0,550,551.68 _10V_AH 10.26,9.518

SM_GC 0.52,7.57,0.28,-0.03,0.058,0.054,0.737,169,2018,550,-7.39,-1.30,551.68,0,0,0,0,0,0,26.26,26.22,25.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.89,-12512.13,060921,185014 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.151298 MEM 211244

HUMID 53.85 DATA_FILE_SIZE 30222,614

INTERNAL_PRESSURE 8.72826 CAP_FILE_SIZE 80602,0

TCM_TEMP 15.00 CFSIZE 260030464,243470336

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

CP_FREE 114574721024.000000 CURRENT 0.073,356.55,1

CP_POWER 323.320000 GPS 060921,212456,4751.032,-12509.849,15,0.7,16,15.7,0.2,354.6,12,7.6

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 223 96.39 SBE_CT 353 64 552.99

Roll_motor 29 113 80.37 WL_blue_red_Chl 1124 37 1023.82

VBD_pump_during_apogee 563 722 9900.93 nil 0 0 0.00

VBD_pump_during_surface 197 618 2972.16 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 3940 25 2394.53

Iridium_during_xfer 199 97 475.02 nil 0 0 0.00

Transponder_ping 2 420 20.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.16

TT8 1314 12 164.79

LPSleep 858 2 19.29

TT8_Active 755 12 94.75

TT8_Sampling 1533 37 593.01

TT8_CF8 249 42 110.05

TT8_Kalman 0 0 0.00

Analog_circuits 1606 11 181.29

GPS_charging 0 0 0.00

Compass 1370 8 115.91

RAFOS 0 0 0.00

Transponder 16 30 5.20

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 23 begin dive

25 -0.84 -116.8 162 2005 691 410 0.0 0.0 0 132 0.00 0.00 -104.85 0.011 16386 0.000 0.000 162 2002 3010 2998 3023 0 0 0 0 0 0 26.12 28.83 26.18

135 -0.84 -116.8 162 2003 3000 3023 3.5 -5.8 15 159 8.18 1.08 -5.70 0.020 18980 0.222 0.067 2294 1292 3277 3280 3274 0 0 0 0 0 0 25.85 25.47 26.00

391 -0.84 -116.8 2294 1292 3286 3274 52.1 -19.0 63 399 0.08 1.08 0.00 0.000 3078 0.167 0.038 2311 2008 3279 3286 3273 0 0 0 0 0 0 26.10 26.30 26.20

525 -0.84 -116.8 2310 2009 3288 3273 72.9 -11.5 88 532 0.00 1.08 0.00 0.000 516 0.000 0.037 2316 1293 3281 3289 3273 0 0 0 0 0 0 26.51 26.40 26.55

627 -0.84 -116.8 2315 1293 3289 3273 83.5 -10.5 107 635 0.00 1.05 0.00 0.000 1062 0.000 0.036 2313 1988 3281 3289 3273 0 0 0 0 0 0 26.47 26.44 26.50

765 -0.84 -116.8 2312 1988 3290 3273 98.4 -11.8 132 772 0.00 1.05 0.00 0.000 260 0.000 0.043 2307 2699 3281 3290 3273 0 0 0 0 0 0 26.54 26.46 26.61

910 -0.84 -116.8 2307 2699 3290 3273 115.9 -12.3 159 917 0.00 1.02 0.00 0.000 1030 0.000 0.032 2310 1988 3281 3290 3273 0 0 0 0 0 0 26.56 26.54 26.59

1039 -0.84 -116.8 2310 1988 3290 3272 131.9 -12.6 172 1043 0.00 1.00 0.00 0.000 516 0.000 0.039 2316 1310 3280 3289 3272 0 0 0 0 0 0 26.52 26.52 26.58

1114 -0.84 -116.8 2315 1310 3290 3272 141.5 -12.3 186 1118 0.00 1.05 0.00 0.000 1030 0.000 0.042 2312 2007 3281 3290 3272 0 0 0 0 0 0 26.56 26.51 26.58

1248 -0.84 -116.8 2312 2007 3290 3271 156.4 -11.0 200 1252 0.00 1.00 0.00 0.000 260 0.000 0.044 2307 2691 3280 3290 3270 0 0 0 0 0 0 26.67 26.50 26.72

1292 -0.84 -116.8 2307 2691 3290 3271 161.3 -10.6 208 1295 0.00 1.00 0.00 0.000 1062 0.000 0.031 2310 1990 3280 3291 3270 0 0 0 0 0 0 26.63 26.60 26.64

1424 -0.84 -116.8 2310 1990 3291 3270 175.9 -11.5 222 1428 0.00 1.00 0.00 0.000 516 0.000 0.049 2316 1313 3280 3290 3270 0 0 0 0 0 0 26.68 26.57 26.74

1530 -0.84 -116.8 2315 1313 3291 3270 188.3 -11.9 242 1534 0.00 1.02 0.00 0.000 1030 0.000 0.037 2312 1997 3280 3291 3270 0 0 0 0 0 0 26.63 26.59 26.63

1663 -0.84 -116.8 2312 1997 3290 3269 204.2 -12.3 256 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 2313 1996 3279 3290 3269 0 0 0 0 0 0 26.70 26.77 26.75

1783 -0.84 -116.8 2312 1997 3291 3269 219.5 -12.7 268 1788 0.00 1.00 0.00 0.000 516 0.000 0.039 2316 1322 3279 3290 3269 0 0 0 0 0 0 26.70 26.60 26.76

1811 end dive: TARGET_DEPTH_EXCEEDED

state 1811 begin apogee

1816 -0.18 0.0 2314 1815 3291 3268 222.8 -9.6 273 2005 0.73 0.00 174.07 0.616 10246 0.165 0.000 2522 1817 2803 2858 2749 0 0 0 0 1 0 26.27 25.11 24.31

2010 end apogee: CONTROL_FINISHED_OK

state 2011 begin climb

2012 0.84 116.8 2522 1817 2861 2753 228.8 0.0 292 2218 1.05 1.08 197.80 0.531 10500 0.114 0.037 2844 2486 2320 2444 2197 0 0 0 0 0 0 25.29 25.13 24.68

2253 0.86 129.4 2843 2487 2421 2169 215.0 10.0 336 2265 0.00 1.02 3.30 0.675 9254 0.000 0.034 2847 1813 2274 2407 2142 0 0 0 0 0 0 25.51 25.49 24.40

2383 0.86 129.4 2846 1813 2414 2145 201.3 11.3 350 2388 0.00 1.10 0.00 0.000 516 0.000 0.047 2852 1110 2280 2415 2145 0 0 0 0 0 0 25.96 25.83 25.98

2484 0.87 142.0 2852 1110 2414 2144 190.7 10.0 368 2517 0.00 1.05 26.88 0.594 9254 0.000 0.035 2849 1795 2218 2350 2086 0 0 0 0 0 0 26.08 26.04 25.15

2637 0.88 151.8 2848 1795 2332 2073 175.4 10.2 386 2647 0.08 0.00 8.00 0.723 10278 0.220 0.000 2865 1795 2183 2314 2052 0 0 0 0 0 0 25.86 25.80 25.29

2768 0.88 151.8 2865 1795 2303 2042 159.9 12.6 399 2775 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 1795 2172 2303 2042 0 0 0 0 0 0 26.20 26.27 26.26

2895 0.88 151.8 2864 1795 2302 2043 143.7 11.8 412 2899 0.00 1.05 0.00 0.000 260 0.000 0.113 2862 2493 2172 2302 2042 0 0 0 0 0 0 26.31 26.20 26.36

2942 0.88 151.8 2861 2492 2301 2041 138.1 11.4 421 2950 0.00 1.02 0.00 0.000 1030 0.000 0.038 2865 1804 2171 2301 2042 0 0 0 0 0 0 26.30 26.29 26.33

3069 0.88 151.8 2865 1804 2300 2042 124.0 11.1 434 3073 0.00 1.08 0.00 0.000 516 0.000 0.048 2870 1103 2171 2300 2042 0 0 0 0 0 0 26.40 26.33 26.46

3165 0.88 151.8 2870 1102 2299 2042 111.8 13.6 452 3169 0.00 1.05 0.00 0.000 1030 0.000 0.038 2868 1797 2171 2300 2042 0 0 0 0 0 0 26.34 26.34 26.34

3293 0.88 151.8 2866 1797 2299 2042 94.9 12.8 469 3301 0.00 1.02 0.00 0.000 260 0.000 0.045 2867 2488 2170 2299 2042 0 0 0 0 0 0 26.48 26.39 26.51

3442 0.89 157.5 2867 2487 2297 2042 77.9 10.5 496 3450 0.00 1.02 0.00 0.000 1062 0.000 0.037 2871 1792 2169 2297 2042 0 0 0 0 0 0 26.52 26.49 26.53

3580 0.93 187.0 2870 1792 2297 2042 63.7 9.0 521 3636 0.00 1.02 50.05 0.545 8740 0.000 0.052 2876 1105 2031 2168 1895 0 0 0 0 0 0 26.60 25.73 25.43

3675 1.00 252.1 2875 1105 2158 1890 56.9 6.8 536 3788 0.08 1.08 103.28 0.510 11302 0.223 0.086 2905 1798 1765 1909 1622 0 0 0 0 0 0 25.25 25.25 24.96

3914 1.00 252.1 2904 1798 1893 1607 23.9 14.6 576 3921 0.00 1.10 0.00 0.000 516 0.000 0.046 2910 1109 1750 1893 1607 0 0 0 0 0 0 26.03 25.93 26.08

4068 1.00 252.1 2909 1109 1888 1605 5.4 11.8 604 4075 0.00 1.08 0.00 0.000 1030 0.000 0.036 2906 1807 1746 1888 1605 0 0 0 0 0 0 26.19 26.16 26.21

4103 end climb: SURFACE_DEPTH_REACHED

state 4103 begin surface coast

4125 end surface coast: CONTROL_FINISHED_OK

state 4125 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	88	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	45	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	43	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-151	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	4
D_FLARE	3	SM_CC	603.25	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	260	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	2800	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	4	PROTOCOL	9	VBD_DBAND	4	INT_PRESSURE_YINT	0.74000001
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012000001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	80	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	95	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	9000	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	162.0
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	060921,200509,4750.8237,-12509.1787,15,0.8,24,15.7,0.2,0.0,12,2.9	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.52	MHEAD_RNG_PITCHd_Wd	266.1,2978,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-62.6	D_GRID	222
GPS2	060921,201023,4750.8389,-12509.2168,3,0.7,5,15.7,0.2,3.8,12,7.7

FINISH	0.1,1.025049	_24V_AH	24.31,16.727
SM_CCo	4354,-0.03,0.737,0,0,550,551.68	_10V_AH	10.26,9.518
SM_GC	0.52,7.57,0.28,-0.03,0.058,0.054,0.737,169,2018,550,-7.39,-1.30,551.68,0,0,0,0,0,0,26.26,26.22,25.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.89,-12512.13,060921,185014	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.151298	MEM	211244
HUMID	53.85	DATA_FILE_SIZE	30222,614
INTERNAL_PRESSURE	8.72826	CAP_FILE_SIZE	80602,0
TCM_TEMP	15.00	CFSIZE	260030464,243470336
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	114574721024.000000	CURRENT	0.073,356.55,1
CP_POWER	323.320000	GPS	060921,212456,4751.032,-12509.849,15,0.7,16,15.7,0.2,354.6,12,7.6
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	223	96.39	SBE_CT	353	64	552.99
Roll_motor	29	113	80.37	WL_blue_red_Chl	1124	37	1023.82
VBD_pump_during_apogee	563	722	9900.93	nil	0	0	0.00
VBD_pump_during_surface	197	618	2972.16	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	3940	25	2394.53
Iridium_during_xfer	199	97	475.02	nil	0	0	0.00
Transponder_ping	2	420	20.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.16
TT8	1314	12	164.79
LPSleep	858	2	19.29
TT8_Active	755	12	94.75
TT8_Sampling	1533	37	593.01
TT8_CF8	249	42	110.05
TT8_Kalman	0	0	0.00
Analog_circuits	1606	11	181.29
GPS_charging	0	0	0.00
Compass	1370	8	115.91
RAFOS	0	0	0.00
Transponder	16	30	5.20

		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	23	begin dive
25	-0.84	-116.8	162	2005	691	410	0.0	0.0	0	132	0.00	0.00	-104.85	0.011	16386	0.000	0.000	162	2002	3010	2998	3023	0	0	0	0	0	0	26.12	28.83	26.18
135	-0.84	-116.8	162	2003	3000	3023	3.5	-5.8	15	159	8.18	1.08	-5.70	0.020	18980	0.222	0.067	2294	1292	3277	3280	3274	0	0	0	0	0	0	25.85	25.47	26.00
391	-0.84	-116.8	2294	1292	3286	3274	52.1	-19.0	63	399	0.08	1.08	0.00	0.000	3078	0.167	0.038	2311	2008	3279	3286	3273	0	0	0	0	0	0	26.10	26.30	26.20
525	-0.84	-116.8	2310	2009	3288	3273	72.9	-11.5	88	532	0.00	1.08	0.00	0.000	516	0.000	0.037	2316	1293	3281	3289	3273	0	0	0	0	0	0	26.51	26.40	26.55
627	-0.84	-116.8	2315	1293	3289	3273	83.5	-10.5	107	635	0.00	1.05	0.00	0.000	1062	0.000	0.036	2313	1988	3281	3289	3273	0	0	0	0	0	0	26.47	26.44	26.50
765	-0.84	-116.8	2312	1988	3290	3273	98.4	-11.8	132	772	0.00	1.05	0.00	0.000	260	0.000	0.043	2307	2699	3281	3290	3273	0	0	0	0	0	0	26.54	26.46	26.61
910	-0.84	-116.8	2307	2699	3290	3273	115.9	-12.3	159	917	0.00	1.02	0.00	0.000	1030	0.000	0.032	2310	1988	3281	3290	3273	0	0	0	0	0	0	26.56	26.54	26.59
1039	-0.84	-116.8	2310	1988	3290	3272	131.9	-12.6	172	1043	0.00	1.00	0.00	0.000	516	0.000	0.039	2316	1310	3280	3289	3272	0	0	0	0	0	0	26.52	26.52	26.58
1114	-0.84	-116.8	2315	1310	3290	3272	141.5	-12.3	186	1118	0.00	1.05	0.00	0.000	1030	0.000	0.042	2312	2007	3281	3290	3272	0	0	0	0	0	0	26.56	26.51	26.58
1248	-0.84	-116.8	2312	2007	3290	3271	156.4	-11.0	200	1252	0.00	1.00	0.00	0.000	260	0.000	0.044	2307	2691	3280	3290	3270	0	0	0	0	0	0	26.67	26.50	26.72
1292	-0.84	-116.8	2307	2691	3290	3271	161.3	-10.6	208	1295	0.00	1.00	0.00	0.000	1062	0.000	0.031	2310	1990	3280	3291	3270	0	0	0	0	0	0	26.63	26.60	26.64
1424	-0.84	-116.8	2310	1990	3291	3270	175.9	-11.5	222	1428	0.00	1.00	0.00	0.000	516	0.000	0.049	2316	1313	3280	3290	3270	0	0	0	0	0	0	26.68	26.57	26.74
1530	-0.84	-116.8	2315	1313	3291	3270	188.3	-11.9	242	1534	0.00	1.02	0.00	0.000	1030	0.000	0.037	2312	1997	3280	3291	3270	0	0	0	0	0	0	26.63	26.59	26.63
1663	-0.84	-116.8	2312	1997	3290	3269	204.2	-12.3	256	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	2313	1996	3279	3290	3269	0	0	0	0	0	0	26.70	26.77	26.75
1783	-0.84	-116.8	2312	1997	3291	3269	219.5	-12.7	268	1788	0.00	1.00	0.00	0.000	516	0.000	0.039	2316	1322	3279	3290	3269	0	0	0	0	0	0	26.70	26.60	26.76
1811	end dive: TARGET_DEPTH_EXCEEDED
state	1811	begin apogee
1816	-0.18	0.0	2314	1815	3291	3268	222.8	-9.6	273	2005	0.73	0.00	174.07	0.616	10246	0.165	0.000	2522	1817	2803	2858	2749	0	0	0	0	1	0	26.27	25.11	24.31
2010	end apogee: CONTROL_FINISHED_OK
state	2011	begin climb
2012	0.84	116.8	2522	1817	2861	2753	228.8	0.0	292	2218	1.05	1.08	197.80	0.531	10500	0.114	0.037	2844	2486	2320	2444	2197	0	0	0	0	0	0	25.29	25.13	24.68
2253	0.86	129.4	2843	2487	2421	2169	215.0	10.0	336	2265	0.00	1.02	3.30	0.675	9254	0.000	0.034	2847	1813	2274	2407	2142	0	0	0	0	0	0	25.51	25.49	24.40
2383	0.86	129.4	2846	1813	2414	2145	201.3	11.3	350	2388	0.00	1.10	0.00	0.000	516	0.000	0.047	2852	1110	2280	2415	2145	0	0	0	0	0	0	25.96	25.83	25.98
2484	0.87	142.0	2852	1110	2414	2144	190.7	10.0	368	2517	0.00	1.05	26.88	0.594	9254	0.000	0.035	2849	1795	2218	2350	2086	0	0	0	0	0	0	26.08	26.04	25.15
2637	0.88	151.8	2848	1795	2332	2073	175.4	10.2	386	2647	0.08	0.00	8.00	0.723	10278	0.220	0.000	2865	1795	2183	2314	2052	0	0	0	0	0	0	25.86	25.80	25.29
2768	0.88	151.8	2865	1795	2303	2042	159.9	12.6	399	2775	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	1795	2172	2303	2042	0	0	0	0	0	0	26.20	26.27	26.26
2895	0.88	151.8	2864	1795	2302	2043	143.7	11.8	412	2899	0.00	1.05	0.00	0.000	260	0.000	0.113	2862	2493	2172	2302	2042	0	0	0	0	0	0	26.31	26.20	26.36
2942	0.88	151.8	2861	2492	2301	2041	138.1	11.4	421	2950	0.00	1.02	0.00	0.000	1030	0.000	0.038	2865	1804	2171	2301	2042	0	0	0	0	0	0	26.30	26.29	26.33
3069	0.88	151.8	2865	1804	2300	2042	124.0	11.1	434	3073	0.00	1.08	0.00	0.000	516	0.000	0.048	2870	1103	2171	2300	2042	0	0	0	0	0	0	26.40	26.33	26.46
3165	0.88	151.8	2870	1102	2299	2042	111.8	13.6	452	3169	0.00	1.05	0.00	0.000	1030	0.000	0.038	2868	1797	2171	2300	2042	0	0	0	0	0	0	26.34	26.34	26.34
3293	0.88	151.8	2866	1797	2299	2042	94.9	12.8	469	3301	0.00	1.02	0.00	0.000	260	0.000	0.045	2867	2488	2170	2299	2042	0	0	0	0	0	0	26.48	26.39	26.51
3442	0.89	157.5	2867	2487	2297	2042	77.9	10.5	496	3450	0.00	1.02	0.00	0.000	1062	0.000	0.037	2871	1792	2169	2297	2042	0	0	0	0	0	0	26.52	26.49	26.53
3580	0.93	187.0	2870	1792	2297	2042	63.7	9.0	521	3636	0.00	1.02	50.05	0.545	8740	0.000	0.052	2876	1105	2031	2168	1895	0	0	0	0	0	0	26.60	25.73	25.43
3675	1.00	252.1	2875	1105	2158	1890	56.9	6.8	536	3788	0.08	1.08	103.28	0.510	11302	0.223	0.086	2905	1798	1765	1909	1622	0	0	0	0	0	0	25.25	25.25	24.96
3914	1.00	252.1	2904	1798	1893	1607	23.9	14.6	576	3921	0.00	1.10	0.00	0.000	516	0.000	0.046	2910	1109	1750	1893	1607	0	0	0	0	0	0	26.03	25.93	26.08
4068	1.00	252.1	2909	1109	1888	1605	5.4	11.8	604	4075	0.00	1.08	0.00	0.000	1030	0.000	0.036	2906	1807	1746	1888	1605	0	0	0	0	0	0	26.19	26.16	26.21
4103	end climb: SURFACE_DEPTH_REACHED
state	4103	begin surface coast
4125	end surface coast: CONTROL_FINISHED_OK
state	4125	begin surface