Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 99 * 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 99 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 43 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 48 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 184.0

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 184.0 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 43 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

DIVE 99 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 070921,120525,4750.6567,-12509.1611,29,1.3,36,15.7,0.2,0.0,9,4.2 SPEED_LIMITS 0.188,0.240

_CALLS 3 TGT_NAME SE_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4750.360,-12508.720

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 131.4,805,-22.5,-10.833,-26.89,1298

_SM_ANGLEo -61.3 D_GRID 200

GPS2 070921,121500,4750.7241,-12509.0742,4,0.9,6,15.7,0.4,52.8,12,6.1

Post-dive calculations and measurements:

FINISH -0.0,1.025257 CP_POWER1 0.000000

SM_CCo 3801,0.00,0.000,0,0,550,551.92 _24V_AH 24.35,18.127

SM_GC 0.47,7.75,1.42,0.00,0.057,0.030,0.000,167,2010,550,-7.40,-1.10,551.92,0,0,0,0,0,0,25.96,25.91,25.43 _10V_AH 10.20,10.154

IRIDIUM_FIX 4750.87,-12505.04,070921,120938 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.188748 FG_AHR_10Vo 0.000

HUMID 53.15 MEM 211124

INTERNAL_PRESSURE 8.73803 DATA_FILE_SIZE 26866,530

TCM_TEMP 15.30 CAP_FILE_SIZE 73497,0

XPDR_PINGS 0 CFSIZE 260030464,242679808

ALTIM_BOTTOM_PING 191.9,39.5 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

CP_FREE 111609315328.000000 CURRENT 0.029,144.38,1

CP_POWER 323.310000 GPS 070921,132019,4750.412,-12508.776,9,0.9,12,15.7,0.1,0.0,12,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 218 96.16 SBE_CT 323 64 507.51

Roll_motor 25 107 67.48 WL_blue_red_Chl 1030 37 939.45

VBD_pump_during_apogee 500 565 6886.40 nil 0 0 0.00

VBD_pump_during_surface 200 619 3024.49 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 3409 25 2075.23

Iridium_during_xfer 337 96 791.09 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 2.22

TT8 1186 12 147.91

LPSleep 777 2 17.37

TT8_Active 713 12 88.98

TT8_Sampling 1507 37 579.59

TT8_CF8 236 42 103.48

TT8_Kalman 0 0 0.00

Analog_circuits 1624 11 182.23

GPS_charging 0 0 0.00

Compass 1201 8 100.98

RAFOS 0 0 0.00

Transponder 11 30 3.63

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 -0.92 -92.0 164 1990 689 411 0.0 0.0 0 132 0.00 0.00 -105.28 0.011 16386 0.000 0.000 164 1988 3046 3034 3058 0 0 0 0 0 0 26.16 28.83 26.24

135 -0.95 -116.8 165 1990 3036 3058 4.0 -7.7 15 153 8.12 1.10 -4.78 0.021 18724 0.219 0.071 2269 2718 3280 3281 3279 0 0 0 0 0 0 25.81 24.77 25.98

375 -0.95 -116.8 2269 2717 3290 3276 57.2 -18.2 60 384 0.00 1.08 0.00 0.000 1030 0.000 0.037 2273 1974 3283 3290 3276 0 0 0 0 0 0 26.38 26.34 26.41

508 -0.95 -116.8 2272 1974 3291 3276 80.9 -18.0 85 515 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 1974 3283 3291 3276 0 0 0 0 0 0 26.53 26.60 26.59

639 -0.95 -116.8 2272 1974 3292 3275 98.0 -12.9 110 647 0.00 1.08 0.00 0.000 260 0.000 0.041 2270 2699 3283 3292 3275 0 0 0 0 0 0 26.49 26.46 26.53

654 -0.95 -116.8 2269 2700 3292 3275 100.0 -13.5 112 663 0.00 1.00 0.00 0.000 1030 0.000 0.032 2272 2001 3283 3292 3275 0 0 0 0 0 0 26.50 26.51 26.48

782 -0.95 -116.8 2272 2001 3293 3275 118.2 -14.0 125 786 0.00 1.02 0.00 0.000 260 0.000 0.043 2270 2694 3284 3293 3275 0 0 0 0 0 0 26.60 26.48 26.66

878 -0.95 -116.8 2269 2694 3293 3275 131.4 -14.4 143 881 0.00 1.00 0.00 0.000 1030 0.000 0.041 2272 1995 3284 3293 3275 0 0 0 0 0 0 26.54 26.51 26.57

1010 -0.95 -116.8 2272 1994 3294 3275 151.0 -15.1 157 1018 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 1994 3284 3294 3275 0 0 0 0 0 0 26.65 26.67 26.71

1139 -0.95 -116.8 2272 1994 3293 3274 169.9 -14.4 170 1147 0.00 1.05 0.00 0.000 260 0.000 0.041 2269 2704 3284 3294 3274 0 0 0 0 0 0 26.62 26.55 26.67

1165 -0.95 -116.8 2269 2704 3294 3274 173.6 -14.4 174 1169 0.00 1.00 0.00 0.000 1030 0.000 0.031 2272 2001 3284 3294 3274 0 0 0 0 0 0 26.62 26.60 26.64

1302 -0.95 -116.8 2272 2002 3293 3274 191.9 -13.7 188 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2001 3283 3294 3273 0 0 0 0 0 0 26.69 26.75 26.74

1356 end dive: TARGET_DEPTH_EXCEEDED

state 1356 begin apogee

1361 -0.18 0.0 2273 1785 3294 3274 200.3 -14.0 194 1558 0.82 0.00 189.75 0.565 10246 0.162 0.000 2521 1784 2793 2845 2741 0 0 0 0 0 0 26.22 25.10 24.77

1563 end apogee: CONTROL_FINISHED_OK

state 1563 begin climb

1565 0.95 116.8 2521 1784 2836 2731 208.3 0.0 214 1743 1.17 1.00 169.30 0.535 10756 0.115 0.035 2891 1132 2318 2441 2196 0 0 0 0 0 0 25.36 25.01 24.70

1794 0.95 116.8 2891 1131 2409 2173 191.1 12.3 256 1799 0.00 1.05 0.00 0.000 1030 0.000 0.037 2889 1797 2290 2408 2172 0 0 0 0 0 0 25.60 25.56 25.62

1927 0.95 116.8 2888 1797 2404 2167 175.1 12.1 270 1931 0.00 1.08 0.00 0.000 260 0.000 0.050 2883 2502 2285 2404 2167 0 0 0 0 0 0 25.96 25.90 25.97

1990 0.95 116.8 2883 2502 2403 2164 167.2 12.2 282 1994 0.00 1.02 0.00 0.000 1030 0.000 0.035 2887 1815 2284 2403 2165 0 0 0 0 0 0 26.07 26.06 26.10

2124 0.95 116.8 2886 1815 2402 2164 150.2 13.1 296 2129 0.00 1.10 0.00 0.000 516 0.000 0.045 2892 1107 2283 2402 2164 0 0 0 0 0 0 26.28 26.17 26.34

2147 0.95 116.8 2891 1106 2402 2164 146.8 13.6 300 2153 0.00 1.08 0.00 0.000 1030 0.000 0.103 2889 1804 2283 2402 2164 0 0 0 0 0 0 26.24 26.21 26.27

2280 0.95 116.8 2888 1804 2402 2163 129.6 12.1 314 2284 0.00 1.05 0.00 0.000 260 0.000 0.107 2884 2500 2283 2402 2164 0 0 0 0 0 0 26.38 26.28 26.44

2326 0.95 116.8 2884 2500 2401 2164 123.4 13.4 323 2333 0.00 1.05 0.00 0.000 1030 0.000 0.037 2887 1794 2282 2401 2164 0 0 0 0 0 0 26.36 26.34 26.39

2453 0.95 116.8 2887 1794 2401 2164 107.2 13.0 336 2455 0.00 0.00 0.00 0.000 6 0.000 0.000 2887 1794 2282 2401 2164 0 0 0 0 0 0 26.45 26.51 26.49

2574 0.96 125.1 2886 1794 2399 2163 93.1 10.2 354 2582 0.00 1.08 0.00 0.000 292 0.000 0.043 2884 2508 2281 2399 2164 0 0 0 0 0 0 26.51 26.42 26.56

2822 0.96 125.1 2883 2508 2397 2163 69.8 10.9 400 2831 0.00 1.05 0.00 0.000 1030 0.000 0.039 2888 1797 2280 2397 2164 0 0 0 0 0 0 26.53 26.49 26.55

2960 0.98 144.6 2887 1797 2397 2163 56.2 9.3 425 2996 0.00 1.08 27.98 0.563 8740 0.000 0.044 2893 1097 2201 2326 2076 0 0 0 0 0 0 26.58 25.94 25.62

3009 1.00 163.4 2892 1098 2309 2063 51.6 9.3 432 3034 0.00 1.08 18.25 0.555 9254 0.000 0.036 2889 1799 2131 2260 2002 0 0 0 0 0 0 26.27 26.25 25.46

3161 1.01 166.7 2889 1800 2235 1977 35.9 10.6 459 3169 0.08 1.05 0.00 0.000 2340 0.178 0.044 2908 2506 2106 2235 1977 0 0 0 0 0 0 26.11 26.15 26.21

3306 1.05 200.8 2908 2506 2232 1977 23.3 8.1 486 3363 0.00 1.05 52.47 0.508 9254 0.000 0.095 2912 1802 1981 2118 1844 0 0 0 0 0 0 26.29 26.28 25.29

3489 1.09 236.2 2911 1802 2081 1806 6.6 8.0 518 3540 0.10 1.08 42.50 0.501 10788 0.155 0.051 2942 1105 1829 1970 1688 0 0 0 0 0 0 25.96 25.48 25.18

3546 end climb: SURFACE_DEPTH_REACHED

state 3546 begin surface coast

3568 end surface coast: CONTROL_FINISHED_OK

state 3568 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	99	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	43	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	48	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	184.0
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	070921,120525,4750.6567,-12509.1611,29,1.3,36,15.7,0.2,0.0,9,4.2	SPEED_LIMITS	0.188,0.240
_CALLS	3	TGT_NAME	SE_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4750.360,-12508.720
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	131.4,805,-22.5,-10.833,-26.89,1298
_SM_ANGLEo	-61.3	D_GRID	200
GPS2	070921,121500,4750.7241,-12509.0742,4,0.9,6,15.7,0.4,52.8,12,6.1

FINISH	-0.0,1.025257	CP_POWER1	0.000000
SM_CCo	3801,0.00,0.000,0,0,550,551.92	_24V_AH	24.35,18.127
SM_GC	0.47,7.75,1.42,0.00,0.057,0.030,0.000,167,2010,550,-7.40,-1.10,551.92,0,0,0,0,0,0,25.96,25.91,25.43	_10V_AH	10.20,10.154
IRIDIUM_FIX	4750.87,-12505.04,070921,120938	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.188748	FG_AHR_10Vo	0.000
HUMID	53.15	MEM	211124
INTERNAL_PRESSURE	8.73803	DATA_FILE_SIZE	26866,530
TCM_TEMP	15.30	CAP_FILE_SIZE	73497,0
XPDR_PINGS	0	CFSIZE	260030464,242679808
ALTIM_BOTTOM_PING	191.9,39.5	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	111609315328.000000	CURRENT	0.029,144.38,1
CP_POWER	323.310000	GPS	070921,132019,4750.412,-12508.776,9,0.9,12,15.7,0.1,0.0,12,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	218	96.16	SBE_CT	323	64	507.51
Roll_motor	25	107	67.48	WL_blue_red_Chl	1030	37	939.45
VBD_pump_during_apogee	500	565	6886.40	nil	0	0	0.00
VBD_pump_during_surface	200	619	3024.49	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	3409	25	2075.23
Iridium_during_xfer	337	96	791.09	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	2.22
TT8	1186	12	147.91
LPSleep	777	2	17.37
TT8_Active	713	12	88.98
TT8_Sampling	1507	37	579.59
TT8_CF8	236	42	103.48
TT8_Kalman	0	0	0.00
Analog_circuits	1624	11	182.23
GPS_charging	0	0	0.00
Compass	1201	8	100.98
RAFOS	0	0	0.00
Transponder	11	30	3.63

		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	-0.92	-92.0	164	1990	689	411	0.0	0.0	0	132	0.00	0.00	-105.28	0.011	16386	0.000	0.000	164	1988	3046	3034	3058	0	0	0	0	0	0	26.16	28.83	26.24
135	-0.95	-116.8	165	1990	3036	3058	4.0	-7.7	15	153	8.12	1.10	-4.78	0.021	18724	0.219	0.071	2269	2718	3280	3281	3279	0	0	0	0	0	0	25.81	24.77	25.98
375	-0.95	-116.8	2269	2717	3290	3276	57.2	-18.2	60	384	0.00	1.08	0.00	0.000	1030	0.000	0.037	2273	1974	3283	3290	3276	0	0	0	0	0	0	26.38	26.34	26.41
508	-0.95	-116.8	2272	1974	3291	3276	80.9	-18.0	85	515	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	1974	3283	3291	3276	0	0	0	0	0	0	26.53	26.60	26.59
639	-0.95	-116.8	2272	1974	3292	3275	98.0	-12.9	110	647	0.00	1.08	0.00	0.000	260	0.000	0.041	2270	2699	3283	3292	3275	0	0	0	0	0	0	26.49	26.46	26.53
654	-0.95	-116.8	2269	2700	3292	3275	100.0	-13.5	112	663	0.00	1.00	0.00	0.000	1030	0.000	0.032	2272	2001	3283	3292	3275	0	0	0	0	0	0	26.50	26.51	26.48
782	-0.95	-116.8	2272	2001	3293	3275	118.2	-14.0	125	786	0.00	1.02	0.00	0.000	260	0.000	0.043	2270	2694	3284	3293	3275	0	0	0	0	0	0	26.60	26.48	26.66
878	-0.95	-116.8	2269	2694	3293	3275	131.4	-14.4	143	881	0.00	1.00	0.00	0.000	1030	0.000	0.041	2272	1995	3284	3293	3275	0	0	0	0	0	0	26.54	26.51	26.57
1010	-0.95	-116.8	2272	1994	3294	3275	151.0	-15.1	157	1018	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	1994	3284	3294	3275	0	0	0	0	0	0	26.65	26.67	26.71
1139	-0.95	-116.8	2272	1994	3293	3274	169.9	-14.4	170	1147	0.00	1.05	0.00	0.000	260	0.000	0.041	2269	2704	3284	3294	3274	0	0	0	0	0	0	26.62	26.55	26.67
1165	-0.95	-116.8	2269	2704	3294	3274	173.6	-14.4	174	1169	0.00	1.00	0.00	0.000	1030	0.000	0.031	2272	2001	3284	3294	3274	0	0	0	0	0	0	26.62	26.60	26.64
1302	-0.95	-116.8	2272	2002	3293	3274	191.9	-13.7	188	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2001	3283	3294	3273	0	0	0	0	0	0	26.69	26.75	26.74
1356	end dive: TARGET_DEPTH_EXCEEDED
state	1356	begin apogee
1361	-0.18	0.0	2273	1785	3294	3274	200.3	-14.0	194	1558	0.82	0.00	189.75	0.565	10246	0.162	0.000	2521	1784	2793	2845	2741	0	0	0	0	0	0	26.22	25.10	24.77
1563	end apogee: CONTROL_FINISHED_OK
state	1563	begin climb
1565	0.95	116.8	2521	1784	2836	2731	208.3	0.0	214	1743	1.17	1.00	169.30	0.535	10756	0.115	0.035	2891	1132	2318	2441	2196	0	0	0	0	0	0	25.36	25.01	24.70
1794	0.95	116.8	2891	1131	2409	2173	191.1	12.3	256	1799	0.00	1.05	0.00	0.000	1030	0.000	0.037	2889	1797	2290	2408	2172	0	0	0	0	0	0	25.60	25.56	25.62
1927	0.95	116.8	2888	1797	2404	2167	175.1	12.1	270	1931	0.00	1.08	0.00	0.000	260	0.000	0.050	2883	2502	2285	2404	2167	0	0	0	0	0	0	25.96	25.90	25.97
1990	0.95	116.8	2883	2502	2403	2164	167.2	12.2	282	1994	0.00	1.02	0.00	0.000	1030	0.000	0.035	2887	1815	2284	2403	2165	0	0	0	0	0	0	26.07	26.06	26.10
2124	0.95	116.8	2886	1815	2402	2164	150.2	13.1	296	2129	0.00	1.10	0.00	0.000	516	0.000	0.045	2892	1107	2283	2402	2164	0	0	0	0	0	0	26.28	26.17	26.34
2147	0.95	116.8	2891	1106	2402	2164	146.8	13.6	300	2153	0.00	1.08	0.00	0.000	1030	0.000	0.103	2889	1804	2283	2402	2164	0	0	0	0	0	0	26.24	26.21	26.27
2280	0.95	116.8	2888	1804	2402	2163	129.6	12.1	314	2284	0.00	1.05	0.00	0.000	260	0.000	0.107	2884	2500	2283	2402	2164	0	0	0	0	0	0	26.38	26.28	26.44
2326	0.95	116.8	2884	2500	2401	2164	123.4	13.4	323	2333	0.00	1.05	0.00	0.000	1030	0.000	0.037	2887	1794	2282	2401	2164	0	0	0	0	0	0	26.36	26.34	26.39
2453	0.95	116.8	2887	1794	2401	2164	107.2	13.0	336	2455	0.00	0.00	0.00	0.000	6	0.000	0.000	2887	1794	2282	2401	2164	0	0	0	0	0	0	26.45	26.51	26.49
2574	0.96	125.1	2886	1794	2399	2163	93.1	10.2	354	2582	0.00	1.08	0.00	0.000	292	0.000	0.043	2884	2508	2281	2399	2164	0	0	0	0	0	0	26.51	26.42	26.56
2822	0.96	125.1	2883	2508	2397	2163	69.8	10.9	400	2831	0.00	1.05	0.00	0.000	1030	0.000	0.039	2888	1797	2280	2397	2164	0	0	0	0	0	0	26.53	26.49	26.55
2960	0.98	144.6	2887	1797	2397	2163	56.2	9.3	425	2996	0.00	1.08	27.98	0.563	8740	0.000	0.044	2893	1097	2201	2326	2076	0	0	0	0	0	0	26.58	25.94	25.62
3009	1.00	163.4	2892	1098	2309	2063	51.6	9.3	432	3034	0.00	1.08	18.25	0.555	9254	0.000	0.036	2889	1799	2131	2260	2002	0	0	0	0	0	0	26.27	26.25	25.46
3161	1.01	166.7	2889	1800	2235	1977	35.9	10.6	459	3169	0.08	1.05	0.00	0.000	2340	0.178	0.044	2908	2506	2106	2235	1977	0	0	0	0	0	0	26.11	26.15	26.21
3306	1.05	200.8	2908	2506	2232	1977	23.3	8.1	486	3363	0.00	1.05	52.47	0.508	9254	0.000	0.095	2912	1802	1981	2118	1844	0	0	0	0	0	0	26.29	26.28	25.29
3489	1.09	236.2	2911	1802	2081	1806	6.6	8.0	518	3540	0.10	1.08	42.50	0.501	10788	0.155	0.051	2942	1105	1829	1970	1688	0	0	0	0	0	0	25.96	25.48	25.18
3546	end climb: SURFACE_DEPTH_REACHED
state	3546	begin surface coast
3568	end surface coast: CONTROL_FINISHED_OK
state	3568	begin surface