Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 98 * 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 98 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 59 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 182.0

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 182.0 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 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 59 XPDR_INHIBIT 90

DIVE 98 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 070921,104816,4750.8955,-12509.5332,14,0.8,15,15.7,0.4,358.1,12,9.6 SPEED_LIMITS 0.188,0.240

_CALLS 1 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.49 MHEAD_RNG_PITCHd_Wd 121.8,1503,-19.7,-10.833,-24.33,1645

_SM_ANGLEo -62.0 D_GRID 206

GPS2 070921,105343,4750.9102,-12509.6084,3,0.9,6,15.7,0.3,316.3,11,6.4

Post-dive calculations and measurements:

FINISH -0.0,1.025396 _24V_AH 24.35,18.008

SM_CCo 4162,0.00,0.000,0,0,550,551.92 _10V_AH 10.26,10.104

SM_GC 0.51,7.62,0.77,0.00,0.057,0.035,0.000,165,1997,550,-7.40,1.27,551.92,0,0,0,0,0,0,26.01,25.96,25.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.65,-12513.98,070921,092730 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.149051 MEM 211124

HUMID 53.15 DATA_FILE_SIZE 30283,575

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 76325,0

TCM_TEMP 15.20 CFSIZE 260030464,242741248

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

ALTIM_BOTTOM_PING 201.6,47.0 INTR 0,3235.25,0x235ab4,1,24

CP_FREE 111822995456.000000 CURRENT 0.003,132.10,1

CP_POWER 323.310000 GPS 070921,120525,4750.657,-12509.161,29,1.3,36,15.7,0.2,0.0,9,4.2

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 219 95.56 SBE_CT 348 64 546.85

Roll_motor 24 101 61.13 WL_blue_red_Chl 1111 37 1013.97

VBD_pump_during_apogee 540 602 7926.68 nil 0 0 0.00

VBD_pump_during_surface 180 618 2719.00 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 3793 25 2308.99

Iridium_during_xfer 206 100 508.37 nil 0 0 0.00

Transponder_ping 1 420 12.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.33

TT8 1268 12 159.05

LPSleep 807 2 18.15

TT8_Active 740 12 92.80

TT8_Sampling 1462 37 565.58

TT8_CF8 252 42 111.03

TT8_Kalman 0 0 0.00

Analog_circuits 1561 11 176.21

GPS_charging 0 0 0.00

Compass 1291 8 109.19

RAFOS 0 0 0.00

Transponder 10 30 3.29

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 -0.84 -116.8 166 2010 689 410 0.0 0.0 0 136 0.00 0.00 -108.15 0.011 16386 0.000 0.000 167 2009 3102 3089 3115 0 0 0 0 0 0 26.12 28.83 26.18

139 -0.84 -116.8 166 2010 3091 3116 4.3 -8.3 15 156 8.27 1.10 -3.53 0.027 18980 0.220 0.060 2294 1285 3279 3279 3280 0 0 0 0 0 0 25.82 24.76 25.98

316 -0.84 -116.8 2294 1285 3287 3277 42.2 -16.7 48 325 0.08 1.08 0.00 0.000 3078 0.161 0.040 2311 1983 3281 3287 3276 0 0 0 0 0 0 26.08 26.30 26.17

452 -0.84 -116.8 2311 1983 3289 3276 60.0 -13.4 73 460 0.00 1.08 0.00 0.000 260 0.000 0.042 2307 2709 3282 3290 3275 0 0 0 0 0 0 26.41 26.35 26.46

549 -0.84 -116.8 2307 2709 3290 3275 73.8 -11.9 91 556 0.00 1.05 0.00 0.000 1030 0.000 0.040 2310 1984 3283 3291 3275 0 0 0 0 0 0 26.46 26.44 26.48

680 -0.84 -116.8 2310 1983 3291 3275 89.4 -12.2 116 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 1984 3283 3291 3275 0 0 0 0 0 0 26.55 26.58 26.60

812 -0.84 -116.8 2310 1984 3292 3275 103.8 -10.6 138 816 0.00 1.08 0.00 0.000 292 0.000 0.041 2307 2706 3283 3292 3275 0 0 0 0 0 0 26.57 26.47 26.60

836 -0.84 -116.8 2307 2706 3293 3275 106.9 -11.3 143 844 0.00 1.00 0.00 0.000 1030 0.000 0.032 2310 2001 3283 3292 3274 0 0 0 0 0 0 26.51 26.52 26.50

967 -0.84 -116.8 2309 2001 3293 3274 119.9 -10.2 156 975 0.00 0.00 0.00 0.000 38 0.000 0.000 2310 2001 3283 3293 3274 0 0 0 0 0 0 26.56 26.64 26.62

1095 -0.84 -116.8 2309 2001 3293 3274 135.4 -12.3 169 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2001 3283 3293 3274 0 0 0 0 0 0 26.63 26.70 26.71

1227 -0.84 -116.8 2310 2001 3293 3274 152.1 -12.8 182 1234 0.00 0.00 0.00 0.000 6 0.000 0.000 2310 2001 3284 3294 3274 0 0 0 0 0 0 26.65 26.72 26.71

1355 -0.84 -116.8 2310 2001 3294 3274 166.9 -11.1 195 1358 0.00 1.00 0.00 0.000 516 0.000 0.041 2315 1321 3284 3294 3274 0 0 0 0 0 0 26.65 26.56 26.70

1419 -0.84 -116.8 2315 1321 3294 3274 174.3 -11.4 207 1422 0.00 1.02 0.00 0.000 1030 0.000 0.044 2312 2004 3284 3294 3274 0 0 0 0 0 0 26.61 26.58 26.64

1551 -0.84 -116.8 2312 2004 3294 3274 189.7 -12.1 221 1563 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2004 3283 3293 3274 0 0 0 0 0 0 26.70 26.77 26.76

1681 -0.84 -116.8 2311 2004 3293 3274 205.1 -11.7 234 1684 0.00 1.02 0.00 0.000 516 0.000 0.038 2316 1318 3283 3293 3274 0 0 0 0 0 0 26.70 26.58 26.74

1691 end dive: TARGET_DEPTH_EXCEEDED

state 1691 begin apogee

1696 -0.18 0.0 2313 1822 3294 3274 206.5 -12.3 236 1874 0.70 0.00 171.18 0.581 10246 0.161 0.000 2522 1822 2796 2850 2742 0 0 0 0 0 0 26.27 25.25 24.79

1879 end apogee: CONTROL_FINISHED_OK

state 1879 begin climb

1881 0.84 116.8 2521 1822 2837 2731 213.9 0.0 254 2060 1.05 1.10 171.90 0.542 10756 0.116 0.035 2851 1121 2320 2445 2196 0 0 0 0 0 0 25.34 24.99 24.68

2164 0.84 116.8 2851 1117 2411 2175 193.0 11.3 303 2168 0.00 1.05 0.00 0.000 1030 0.000 0.102 2849 1791 2292 2411 2174 0 0 0 0 0 0 25.46 25.13 25.60

2299 0.84 116.8 2848 1792 2410 2170 176.9 12.2 317 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 2849 1792 2290 2410 2170 0 0 0 0 0 0 26.14 26.17 26.17

2426 0.84 116.8 2848 1792 2409 2169 161.7 12.0 330 2430 0.00 1.08 0.00 0.000 260 0.000 0.044 2843 2504 2289 2409 2169 0 0 0 0 0 0 26.20 26.15 26.25

2572 0.84 116.8 2843 2504 2406 2168 144.1 12.1 358 2576 0.00 1.02 0.00 0.000 1030 0.000 0.037 2847 1812 2287 2406 2168 0 0 0 0 0 0 26.32 26.30 26.34

2706 0.84 116.8 2846 1811 2406 2167 129.2 12.2 372 2714 0.00 0.00 0.00 0.000 6 0.000 0.000 2847 1811 2286 2406 2167 0 0 0 0 0 0 26.46 26.51 26.52

2835 0.85 123.6 2846 1812 2405 2168 115.3 10.4 385 2838 0.00 1.02 0.00 0.000 292 0.000 0.043 2844 2498 2285 2404 2167 0 0 0 0 0 0 26.44 26.39 26.49

2890 0.87 141.9 2843 2498 2403 2167 109.3 9.7 396 2921 0.00 1.02 24.45 0.602 9254 0.000 0.037 2847 1806 2218 2346 2091 0 0 0 0 0 0 26.46 26.44 25.51

3044 0.89 154.1 2846 1806 2319 2066 94.7 10.1 417 3053 0.10 1.08 2.42 0.418 10532 0.178 0.042 2871 2496 2175 2307 2043 0 0 0 0 0 0 26.11 26.05 25.03

3086 0.89 154.1 2872 2496 2315 2047 89.7 11.3 424 3094 0.00 1.02 0.00 0.000 1030 0.000 0.037 2875 1805 2182 2316 2048 0 0 0 0 0 0 26.32 26.28 26.34

3221 0.92 182.6 2875 1805 2317 2048 76.8 9.1 449 3281 0.00 1.12 52.97 0.545 8740 0.000 0.045 2880 1109 2049 2186 1913 0 0 0 0 0 0 26.45 25.76 25.27

3422 0.98 231.9 2880 1109 2156 1893 59.3 7.8 484 3500 0.05 1.05 68.75 0.522 11302 0.125 0.034 2898 1796 1845 1985 1705 0 0 0 0 0 0 25.98 26.13 25.06

3626 0.98 231.9 2897 1796 1957 1677 35.1 12.8 519 3633 0.00 1.08 0.00 0.000 260 0.000 0.044 2895 2505 1817 1958 1677 0 0 0 0 0 0 26.08 25.98 26.14

3720 0.98 231.9 2893 2505 1954 1676 23.3 12.5 536 3728 0.00 1.05 0.00 0.000 1030 0.000 0.036 2898 1803 1815 1954 1676 0 0 0 0 0 0 26.17 26.14 26.18

3859 1.03 271.5 2897 1803 1953 1674 7.9 8.4 561 3916 0.00 1.02 49.03 0.505 8484 0.000 0.047 2894 2497 1684 1830 1538 0 0 0 0 0 0 26.22 25.56 25.24

3927 end climb: SURFACE_DEPTH_REACHED

state 3927 begin surface coast

3949 end surface coast: CONTROL_FINISHED_OK

state 3951 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	98	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	59	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	182.0
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	070921,104816,4750.8955,-12509.5332,14,0.8,15,15.7,0.4,358.1,12,9.6	SPEED_LIMITS	0.188,0.240
_CALLS	1	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.49	MHEAD_RNG_PITCHd_Wd	121.8,1503,-19.7,-10.833,-24.33,1645
_SM_ANGLEo	-62.0	D_GRID	206
GPS2	070921,105343,4750.9102,-12509.6084,3,0.9,6,15.7,0.3,316.3,11,6.4

FINISH	-0.0,1.025396	_24V_AH	24.35,18.008
SM_CCo	4162,0.00,0.000,0,0,550,551.92	_10V_AH	10.26,10.104
SM_GC	0.51,7.62,0.77,0.00,0.057,0.035,0.000,165,1997,550,-7.40,1.27,551.92,0,0,0,0,0,0,26.01,25.96,25.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.65,-12513.98,070921,092730	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.149051	MEM	211124
HUMID	53.15	DATA_FILE_SIZE	30283,575
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	76325,0
TCM_TEMP	15.20	CFSIZE	260030464,242741248
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
ALTIM_BOTTOM_PING	201.6,47.0	INTR	0,3235.25,0x235ab4,1,24
CP_FREE	111822995456.000000	CURRENT	0.003,132.10,1
CP_POWER	323.310000	GPS	070921,120525,4750.657,-12509.161,29,1.3,36,15.7,0.2,0.0,9,4.2
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	219	95.56	SBE_CT	348	64	546.85
Roll_motor	24	101	61.13	WL_blue_red_Chl	1111	37	1013.97
VBD_pump_during_apogee	540	602	7926.68	nil	0	0	0.00
VBD_pump_during_surface	180	618	2719.00	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	3793	25	2308.99
Iridium_during_xfer	206	100	508.37	nil	0	0	0.00
Transponder_ping	1	420	12.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.33
TT8	1268	12	159.05
LPSleep	807	2	18.15
TT8_Active	740	12	92.80
TT8_Sampling	1462	37	565.58
TT8_CF8	252	42	111.03
TT8_Kalman	0	0	0.00
Analog_circuits	1561	11	176.21
GPS_charging	0	0	0.00
Compass	1291	8	109.19
RAFOS	0	0	0.00
Transponder	10	30	3.29

		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	-0.84	-116.8	166	2010	689	410	0.0	0.0	0	136	0.00	0.00	-108.15	0.011	16386	0.000	0.000	167	2009	3102	3089	3115	0	0	0	0	0	0	26.12	28.83	26.18
139	-0.84	-116.8	166	2010	3091	3116	4.3	-8.3	15	156	8.27	1.10	-3.53	0.027	18980	0.220	0.060	2294	1285	3279	3279	3280	0	0	0	0	0	0	25.82	24.76	25.98
316	-0.84	-116.8	2294	1285	3287	3277	42.2	-16.7	48	325	0.08	1.08	0.00	0.000	3078	0.161	0.040	2311	1983	3281	3287	3276	0	0	0	0	0	0	26.08	26.30	26.17
452	-0.84	-116.8	2311	1983	3289	3276	60.0	-13.4	73	460	0.00	1.08	0.00	0.000	260	0.000	0.042	2307	2709	3282	3290	3275	0	0	0	0	0	0	26.41	26.35	26.46
549	-0.84	-116.8	2307	2709	3290	3275	73.8	-11.9	91	556	0.00	1.05	0.00	0.000	1030	0.000	0.040	2310	1984	3283	3291	3275	0	0	0	0	0	0	26.46	26.44	26.48
680	-0.84	-116.8	2310	1983	3291	3275	89.4	-12.2	116	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	1984	3283	3291	3275	0	0	0	0	0	0	26.55	26.58	26.60
812	-0.84	-116.8	2310	1984	3292	3275	103.8	-10.6	138	816	0.00	1.08	0.00	0.000	292	0.000	0.041	2307	2706	3283	3292	3275	0	0	0	0	0	0	26.57	26.47	26.60
836	-0.84	-116.8	2307	2706	3293	3275	106.9	-11.3	143	844	0.00	1.00	0.00	0.000	1030	0.000	0.032	2310	2001	3283	3292	3274	0	0	0	0	0	0	26.51	26.52	26.50
967	-0.84	-116.8	2309	2001	3293	3274	119.9	-10.2	156	975	0.00	0.00	0.00	0.000	38	0.000	0.000	2310	2001	3283	3293	3274	0	0	0	0	0	0	26.56	26.64	26.62
1095	-0.84	-116.8	2309	2001	3293	3274	135.4	-12.3	169	1103	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2001	3283	3293	3274	0	0	0	0	0	0	26.63	26.70	26.71
1227	-0.84	-116.8	2310	2001	3293	3274	152.1	-12.8	182	1234	0.00	0.00	0.00	0.000	6	0.000	0.000	2310	2001	3284	3294	3274	0	0	0	0	0	0	26.65	26.72	26.71
1355	-0.84	-116.8	2310	2001	3294	3274	166.9	-11.1	195	1358	0.00	1.00	0.00	0.000	516	0.000	0.041	2315	1321	3284	3294	3274	0	0	0	0	0	0	26.65	26.56	26.70
1419	-0.84	-116.8	2315	1321	3294	3274	174.3	-11.4	207	1422	0.00	1.02	0.00	0.000	1030	0.000	0.044	2312	2004	3284	3294	3274	0	0	0	0	0	0	26.61	26.58	26.64
1551	-0.84	-116.8	2312	2004	3294	3274	189.7	-12.1	221	1563	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2004	3283	3293	3274	0	0	0	0	0	0	26.70	26.77	26.76
1681	-0.84	-116.8	2311	2004	3293	3274	205.1	-11.7	234	1684	0.00	1.02	0.00	0.000	516	0.000	0.038	2316	1318	3283	3293	3274	0	0	0	0	0	0	26.70	26.58	26.74
1691	end dive: TARGET_DEPTH_EXCEEDED
state	1691	begin apogee
1696	-0.18	0.0	2313	1822	3294	3274	206.5	-12.3	236	1874	0.70	0.00	171.18	0.581	10246	0.161	0.000	2522	1822	2796	2850	2742	0	0	0	0	0	0	26.27	25.25	24.79
1879	end apogee: CONTROL_FINISHED_OK
state	1879	begin climb
1881	0.84	116.8	2521	1822	2837	2731	213.9	0.0	254	2060	1.05	1.10	171.90	0.542	10756	0.116	0.035	2851	1121	2320	2445	2196	0	0	0	0	0	0	25.34	24.99	24.68
2164	0.84	116.8	2851	1117	2411	2175	193.0	11.3	303	2168	0.00	1.05	0.00	0.000	1030	0.000	0.102	2849	1791	2292	2411	2174	0	0	0	0	0	0	25.46	25.13	25.60
2299	0.84	116.8	2848	1792	2410	2170	176.9	12.2	317	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	2849	1792	2290	2410	2170	0	0	0	0	0	0	26.14	26.17	26.17
2426	0.84	116.8	2848	1792	2409	2169	161.7	12.0	330	2430	0.00	1.08	0.00	0.000	260	0.000	0.044	2843	2504	2289	2409	2169	0	0	0	0	0	0	26.20	26.15	26.25
2572	0.84	116.8	2843	2504	2406	2168	144.1	12.1	358	2576	0.00	1.02	0.00	0.000	1030	0.000	0.037	2847	1812	2287	2406	2168	0	0	0	0	0	0	26.32	26.30	26.34
2706	0.84	116.8	2846	1811	2406	2167	129.2	12.2	372	2714	0.00	0.00	0.00	0.000	6	0.000	0.000	2847	1811	2286	2406	2167	0	0	0	0	0	0	26.46	26.51	26.52
2835	0.85	123.6	2846	1812	2405	2168	115.3	10.4	385	2838	0.00	1.02	0.00	0.000	292	0.000	0.043	2844	2498	2285	2404	2167	0	0	0	0	0	0	26.44	26.39	26.49
2890	0.87	141.9	2843	2498	2403	2167	109.3	9.7	396	2921	0.00	1.02	24.45	0.602	9254	0.000	0.037	2847	1806	2218	2346	2091	0	0	0	0	0	0	26.46	26.44	25.51
3044	0.89	154.1	2846	1806	2319	2066	94.7	10.1	417	3053	0.10	1.08	2.42	0.418	10532	0.178	0.042	2871	2496	2175	2307	2043	0	0	0	0	0	0	26.11	26.05	25.03
3086	0.89	154.1	2872	2496	2315	2047	89.7	11.3	424	3094	0.00	1.02	0.00	0.000	1030	0.000	0.037	2875	1805	2182	2316	2048	0	0	0	0	0	0	26.32	26.28	26.34
3221	0.92	182.6	2875	1805	2317	2048	76.8	9.1	449	3281	0.00	1.12	52.97	0.545	8740	0.000	0.045	2880	1109	2049	2186	1913	0	0	0	0	0	0	26.45	25.76	25.27
3422	0.98	231.9	2880	1109	2156	1893	59.3	7.8	484	3500	0.05	1.05	68.75	0.522	11302	0.125	0.034	2898	1796	1845	1985	1705	0	0	0	0	0	0	25.98	26.13	25.06
3626	0.98	231.9	2897	1796	1957	1677	35.1	12.8	519	3633	0.00	1.08	0.00	0.000	260	0.000	0.044	2895	2505	1817	1958	1677	0	0	0	0	0	0	26.08	25.98	26.14
3720	0.98	231.9	2893	2505	1954	1676	23.3	12.5	536	3728	0.00	1.05	0.00	0.000	1030	0.000	0.036	2898	1803	1815	1954	1676	0	0	0	0	0	0	26.17	26.14	26.18
3859	1.03	271.5	2897	1803	1953	1674	7.9	8.4	561	3916	0.00	1.02	49.03	0.505	8484	0.000	0.047	2894	2497	1684	1830	1538	0	0	0	0	0	0	26.22	25.56	25.24
3927	end climb: SURFACE_DEPTH_REACHED
state	3927	begin surface coast
3949	end surface coast: CONTROL_FINISHED_OK
state	3951	begin surface