Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 13 * 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 0

DIVE 13 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 49 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 62 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 600 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 1000 FILEMGR 0 VBD_MIN 550 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 XPDR_REP 0

D_BOOST 0 COMM_SEQ 0 C_VBD 3050 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 0.001 DEVICE2 115

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 200 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 225 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 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 2620 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 150 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 25 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 3.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 30 ALTIM_PING_FIT 0 CP_STARTS 24.0

HD_B 0.0099999998 C_ROLL_DIVE 2050 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1850 ALTIM_BOTTOM_TURN_MARGIN 0

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 0 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 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 600 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 25 TGT_DEFAULT_LAT 57.182999

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3900 TGT_DEFAULT_LON -151

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 64 PITCH_MIN 210 T_BOOST 4

CALL_WAIT 60 HD_A 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 200

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.001 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 0

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 225

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 3.0 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 24.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 3.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2620 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1850 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2050 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 3050 LOITER_D_TOP 0 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 ROLL_DEG 30 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 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 49 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 62 XPDR_INHIBIT 90

DIVE 13 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 310821,192941,4751.0469,-12510.1924,2,0.6,4,15.7,0.5,58.6,12,7.3 SPEED_LIMITS 0.173,0.259

_CALLS 1 TGT_NAME INSHORE

_XMS_NAKs 0 TGT_LATLONG 4752.165,-12508.635

_XMS_TOUTs 0 TGT_RADIUS 2500.000

_SM_DEPTHo 0.47 MHEAD_RNG_PITCHd_Wd 30.9,2815,-15.8,-10.000,-21.14,2219

_SM_ANGLEo -61.0 D_GRID 243

GPS2 310821,193256,4751.0420,-12510.1621,4,0.6,5,15.7,0.5,197.6,12,5.5

Post-dive calculations and measurements:

FREEZE 239.67,7.287,-2.183,0,1,0 _24V_AH 24.30,6.211

SM_CCo 3292,220.45,0.507,1,0,551,613.25 _10V_AH 10.27,4.121

SM_GC 0.44,7.32,0.28,0.00,0.061,0.050,0.000,177,2061,554,-7.46,-1.30,612.27,0,0,0,0,0,0,26.62,26.65,26.66 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4750.72,-12516.60,310821,192754 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.186501 MEM 211688

HUMID 57.67 DATA_FILE_SIZE 16927,352

INTERNAL_PRESSURE 8.70873 CAP_FILE_SIZE 73620,7

TCM_TEMP 18.10 CFSIZE 260030464,249851904

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,0,2,0,0

CP_FREE 126915051520.000000 CURRENT 0.034,99.15,1

CP_POWER 316.820000 GPS 310821,205625,4751.268,-12509.641,10,1.1,13,15.7,0.2,0.0,10,6.2

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 224 93.87 SBE_CT 205 64 321.41

Roll_motor 19 68 32.26 WL_blue_red_Chl 659 37 599.81

VBD_pump_during_apogee 437 563 5991.90 nil 0 0 0.00

VBD_pump_during_surface 940 525 12010.47 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 2385 25 1448.89

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 11 2.20

TT8 777 12 97.54

LPSleep 1933 2 43.49

TT8_Active 1393 12 174.84

TT8_Sampling 766 37 296.64

TT8_CF8 129 42 57.06

TT8_Kalman 0 0 0.00

Analog_circuits 1833 11 207.14

GPS_charging 0 0 0.00

Compass 787 8 66.65

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.78 -146.0 173 2085 646 447 0.0 0.0 0 139 0.00 0.00 -110.65 0.010 16386 0.000 0.000 173 2086 3162 3152 3172 0 0 0 0 0 0 26.36 28.83 26.44

141 -0.78 -146.0 173 2085 3152 3172 4.5 -9.2 16 165 8.27 1.70 -9.10 0.014 18980 0.225 0.059 2354 998 3648 3650 3647 0 0 0 0 0 0 26.01 25.00 26.18

372 -0.78 -146.0 2354 998 3656 3646 46.6 -14.7 59 380 0.00 1.58 0.00 0.000 1030 0.000 0.040 2348 2026 3651 3656 3646 0 0 0 0 0 0 26.48 26.45 26.50

508 -0.78 -146.0 2348 2026 3657 3646 66.6 -14.7 84 515 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2026 3651 3657 3646 0 0 0 0 0 0 26.55 26.63 26.61

639 -0.78 -146.0 2348 2026 3658 3646 84.4 -13.3 109 647 0.00 1.65 0.00 0.000 260 0.000 0.048 2340 3105 3652 3658 3646 0 0 0 0 0 0 26.64 26.48 26.66

705 -0.78 -146.0 2340 3105 3658 3645 93.5 -14.0 121 713 0.00 1.58 0.00 0.000 1030 0.000 0.031 2347 2038 3651 3658 3645 0 0 0 0 0 0 26.57 26.53 26.60

838 -0.78 -146.0 2346 2034 3658 3645 110.5 -12.9 138 843 0.00 1.55 0.00 0.000 516 0.000 0.041 2354 1011 3652 3659 3645 0 0 0 0 0 0 26.61 26.54 26.67

905 -0.78 -146.0 2353 1011 3658 3645 118.7 -12.1 150 909 0.00 1.55 0.00 0.000 1030 0.000 0.036 2349 2064 3651 3658 3645 0 0 0 0 0 0 26.61 26.55 26.63

1037 -0.78 -146.0 2347 2064 3658 3643 134.8 -12.0 164 1041 0.00 1.58 0.00 0.000 516 0.000 0.041 2354 1000 3651 3659 3644 0 0 0 0 0 0 26.65 26.56 26.70

1079 -0.78 -146.0 2353 1000 3659 3644 140.0 -12.1 172 1083 0.00 1.55 0.00 0.000 1030 0.000 0.037 2348 2052 3651 3659 3644 0 0 0 0 0 0 26.63 26.57 26.63

1212 -0.78 -146.0 2348 2052 3659 3644 155.3 -11.5 186 1219 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2053 3650 3658 3643 0 0 0 0 0 0 26.67 26.74 26.74

1341 -0.78 -146.0 2348 2052 3659 3643 170.8 -11.8 199 1346 0.00 1.58 0.00 0.000 516 0.000 0.040 2355 1016 3650 3658 3643 0 0 0 0 0 0 26.71 26.60 26.77

1364 -0.78 -146.0 2353 1016 3658 3643 173.3 -11.0 203 1368 0.00 1.52 0.00 0.000 1030 0.000 0.036 2348 2054 3650 3658 3643 0 0 0 0 0 0 26.65 26.59 26.65

1496 -0.78 -146.0 2347 2054 3658 3642 187.5 -11.0 217 1498 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2054 3650 3658 3642 0 0 0 0 0 0 26.61 26.70 26.67

1615 -0.78 -146.0 2347 2054 3659 3642 200.9 -11.7 229 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2054 3650 3659 3642 0 0 0 0 0 0 26.57 26.68 26.65

1736 -0.78 -146.0 2347 2054 3659 3641 215.3 -12.3 241 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2054 3650 3659 3641 0 0 0 0 0 0 26.60 26.70 26.67

1858 -0.78 -146.0 2347 2054 3658 3641 229.9 -12.3 253 1866 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2055 3648 3657 3640 0 0 0 0 0 0 26.74 26.81 26.79

1986 -0.78 -146.0 2347 2058 3659 3641 239.7 -0.1 266 1990 0.00 1.52 0.00 0.000 292 0.000 0.044 2340 3098 3650 3659 3641 0 0 0 0 0 0 26.67 26.60 26.72

2093 end dive: NO_VERTICAL_VELOCITY

state 2093 begin apogee

2099 -0.20 0.0 2347 1861 3658 3640 239.8 0.0 287 2378 0.60 0.00 268.83 0.564 10246 0.112 0.000 2542 1859 3042 3105 2979 0 0 0 0 0 0 26.47 24.98 24.69

2382 end apogee: CONTROL_FINISHED_OK

state 2382 begin climb

2384 0.78 146.0 2542 1859 3094 2967 239.8 0.0 315 2564 0.98 0.00 168.52 0.551 11010 0.108 0.000 2846 1859 2597 2695 2499 0 0 0 0 1 0 25.22 28.83 24.64

2566 end climb: NO_VERTICAL_VELOCITY

state 2566 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	0
DIVE	13	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	49	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	62	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	600	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	1000	FILEMGR	0	VBD_MIN	550	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	XPDR_REP	0
D_BOOST	0	COMM_SEQ	0	C_VBD	3050	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	0.001	DEVICE2	115
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	200	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	225	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	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	2620	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	150	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	25	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	3.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	30	ALTIM_PING_FIT	0	CP_STARTS	24.0
HD_B	0.0099999998	C_ROLL_DIVE	2050	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1850	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	310821,192941,4751.0469,-12510.1924,2,0.6,4,15.7,0.5,58.6,12,7.3	SPEED_LIMITS	0.173,0.259
_CALLS	1	TGT_NAME	INSHORE
_XMS_NAKs	0	TGT_LATLONG	4752.165,-12508.635
_XMS_TOUTs	0	TGT_RADIUS	2500.000
_SM_DEPTHo	0.47	MHEAD_RNG_PITCHd_Wd	30.9,2815,-15.8,-10.000,-21.14,2219
_SM_ANGLEo	-61.0	D_GRID	243
GPS2	310821,193256,4751.0420,-12510.1621,4,0.6,5,15.7,0.5,197.6,12,5.5

FREEZE	239.67,7.287,-2.183,0,1,0	_24V_AH	24.30,6.211
SM_CCo	3292,220.45,0.507,1,0,551,613.25	_10V_AH	10.27,4.121
SM_GC	0.44,7.32,0.28,0.00,0.061,0.050,0.000,177,2061,554,-7.46,-1.30,612.27,0,0,0,0,0,0,26.62,26.65,26.66	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4750.72,-12516.60,310821,192754	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.186501	MEM	211688
HUMID	57.67	DATA_FILE_SIZE	16927,352
INTERNAL_PRESSURE	8.70873	CAP_FILE_SIZE	73620,7
TCM_TEMP	18.10	CFSIZE	260030464,249851904
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,0,2,0,0
CP_FREE	126915051520.000000	CURRENT	0.034,99.15,1
CP_POWER	316.820000	GPS	310821,205625,4751.268,-12509.641,10,1.1,13,15.7,0.2,0.0,10,6.2
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	224	93.87	SBE_CT	205	64	321.41
Roll_motor	19	68	32.26	WL_blue_red_Chl	659	37	599.81
VBD_pump_during_apogee	437	563	5991.90	nil	0	0	0.00
VBD_pump_during_surface	940	525	12010.47	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	2385	25	1448.89
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	11	2.20
TT8	777	12	97.54
LPSleep	1933	2	43.49
TT8_Active	1393	12	174.84
TT8_Sampling	766	37	296.64
TT8_CF8	129	42	57.06
TT8_Kalman	0	0	0.00
Analog_circuits	1833	11	207.14
GPS_charging	0	0	0.00
Compass	787	8	66.65
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.78	-146.0	173	2085	646	447	0.0	0.0	0	139	0.00	0.00	-110.65	0.010	16386	0.000	0.000	173	2086	3162	3152	3172	0	0	0	0	0	0	26.36	28.83	26.44
141	-0.78	-146.0	173	2085	3152	3172	4.5	-9.2	16	165	8.27	1.70	-9.10	0.014	18980	0.225	0.059	2354	998	3648	3650	3647	0	0	0	0	0	0	26.01	25.00	26.18
372	-0.78	-146.0	2354	998	3656	3646	46.6	-14.7	59	380	0.00	1.58	0.00	0.000	1030	0.000	0.040	2348	2026	3651	3656	3646	0	0	0	0	0	0	26.48	26.45	26.50
508	-0.78	-146.0	2348	2026	3657	3646	66.6	-14.7	84	515	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2026	3651	3657	3646	0	0	0	0	0	0	26.55	26.63	26.61
639	-0.78	-146.0	2348	2026	3658	3646	84.4	-13.3	109	647	0.00	1.65	0.00	0.000	260	0.000	0.048	2340	3105	3652	3658	3646	0	0	0	0	0	0	26.64	26.48	26.66
705	-0.78	-146.0	2340	3105	3658	3645	93.5	-14.0	121	713	0.00	1.58	0.00	0.000	1030	0.000	0.031	2347	2038	3651	3658	3645	0	0	0	0	0	0	26.57	26.53	26.60
838	-0.78	-146.0	2346	2034	3658	3645	110.5	-12.9	138	843	0.00	1.55	0.00	0.000	516	0.000	0.041	2354	1011	3652	3659	3645	0	0	0	0	0	0	26.61	26.54	26.67
905	-0.78	-146.0	2353	1011	3658	3645	118.7	-12.1	150	909	0.00	1.55	0.00	0.000	1030	0.000	0.036	2349	2064	3651	3658	3645	0	0	0	0	0	0	26.61	26.55	26.63
1037	-0.78	-146.0	2347	2064	3658	3643	134.8	-12.0	164	1041	0.00	1.58	0.00	0.000	516	0.000	0.041	2354	1000	3651	3659	3644	0	0	0	0	0	0	26.65	26.56	26.70
1079	-0.78	-146.0	2353	1000	3659	3644	140.0	-12.1	172	1083	0.00	1.55	0.00	0.000	1030	0.000	0.037	2348	2052	3651	3659	3644	0	0	0	0	0	0	26.63	26.57	26.63
1212	-0.78	-146.0	2348	2052	3659	3644	155.3	-11.5	186	1219	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2053	3650	3658	3643	0	0	0	0	0	0	26.67	26.74	26.74
1341	-0.78	-146.0	2348	2052	3659	3643	170.8	-11.8	199	1346	0.00	1.58	0.00	0.000	516	0.000	0.040	2355	1016	3650	3658	3643	0	0	0	0	0	0	26.71	26.60	26.77
1364	-0.78	-146.0	2353	1016	3658	3643	173.3	-11.0	203	1368	0.00	1.52	0.00	0.000	1030	0.000	0.036	2348	2054	3650	3658	3643	0	0	0	0	0	0	26.65	26.59	26.65
1496	-0.78	-146.0	2347	2054	3658	3642	187.5	-11.0	217	1498	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2054	3650	3658	3642	0	0	0	0	0	0	26.61	26.70	26.67
1615	-0.78	-146.0	2347	2054	3659	3642	200.9	-11.7	229	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2054	3650	3659	3642	0	0	0	0	0	0	26.57	26.68	26.65
1736	-0.78	-146.0	2347	2054	3659	3641	215.3	-12.3	241	1737	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2054	3650	3659	3641	0	0	0	0	0	0	26.60	26.70	26.67
1858	-0.78	-146.0	2347	2054	3658	3641	229.9	-12.3	253	1866	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2055	3648	3657	3640	0	0	0	0	0	0	26.74	26.81	26.79
1986	-0.78	-146.0	2347	2058	3659	3641	239.7	-0.1	266	1990	0.00	1.52	0.00	0.000	292	0.000	0.044	2340	3098	3650	3659	3641	0	0	0	0	0	0	26.67	26.60	26.72
2093	end dive: NO_VERTICAL_VELOCITY
state	2093	begin apogee
2099	-0.20	0.0	2347	1861	3658	3640	239.8	0.0	287	2378	0.60	0.00	268.83	0.564	10246	0.112	0.000	2542	1859	3042	3105	2979	0	0	0	0	0	0	26.47	24.98	24.69
2382	end apogee: CONTROL_FINISHED_OK
state	2382	begin climb
2384	0.78	146.0	2542	1859	3094	2967	239.8	0.0	315	2564	0.98	0.00	168.52	0.551	11010	0.108	0.000	2846	1859	2597	2695	2499	0	0	0	0	1	0	25.22	28.83	24.64
2566	end climb: NO_VERTICAL_VELOCITY
state	2566	begin surface