Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 199 * 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 199 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 52 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 45 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 90 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 30 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 45 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

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 3 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 -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 284.0

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 90 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 30

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 3600

COMM_SEQ 0 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014064999 T_MISSION 45

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 3

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 284.0 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 0 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 52 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 45 XPDR_INHIBIT 90

DIVE 199 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 140921,122557,4751.3960,-12510.3213,3,1.0,5,15.7,0.2,0.0,11,9.3 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.49 MHEAD_RNG_PITCHd_Wd 136.2,871,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -61.1 D_GRID 240

GPS2 140921,122931,4751.4092,-12510.3457,3,0.8,5,15.7,0.3,0.0,12,8.1

Post-dive calculations and measurements:

FINISH -0.4,1.025751 _10V_AH 10.23,16.620

SM_CCo 2345,0.15,0.702,0,0,551,551.92 FG_AHR_24Vo 0.000

SM_GC 0.42,7.62,0.30,0.15,0.060,0.050,0.702,171,2021,551,-7.39,-1.16,551.92,0,0,0,0,0,0,26.20,26.15,25.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4749.03,-12500.57,140921,110330 MEM 209812

TT8_MAMPS 0.021721,0.152796 DATA_FILE_SIZE 16906,363

HUMID 53.11 CAP_FILE_SIZE 46286,0

INTERNAL_PRESSURE 8.73803 CFSIZE 260030464,236150784

TCM_TEMP 15.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.052,330.21,1

_24V_AH 24.30,30.742 GPS 140921,131011,4751.365,-12510.238,2,1.0,5,15.7,0.8,119.3,12,6.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 204 88.60 SBE_CT 240 64 376.47

Roll_motor 14 49 17.70 WL_blue_red_Chl 779 37 709.04

VBD_pump_during_apogee 502 574 7019.45 nil 0 0 0.00

VBD_pump_during_surface 178 701 3050.91 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 0 0 0.00

Iridium_during_xfer 130 92 292.86 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 2.18

TT8 807 12 100.89

LPSleep 64 2 1.45

TT8_Active 652 12 81.55

TT8_Sampling 892 37 344.24

TT8_CF8 170 42 74.78

TT8_Kalman 0 0 0.00

Analog_circuits 1219 11 137.28

GPS_charging 0 0 0.00

Compass 849 8 71.61

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.79 -116.8 160 2009 690 411 0.0 0.0 0 109 0.00 0.00 -98.90 0.004 16386 0.000 0.000 161 2007 2882 2876 2889 0 0 0 0 0 0 26.27 28.83 26.33

112 -0.79 -116.8 160 2007 2877 2889 3.9 -7.7 14 135 8.32 0.00 -8.88 0.011 18982 0.204 0.000 2322 2006 3280 3283 3277 0 0 0 0 0 0 25.67 24.77 25.84

263 -0.79 -116.8 2322 2006 3287 3277 28.0 -13.8 41 270 0.00 1.05 0.00 0.000 516 0.000 0.033 2326 1308 3282 3287 3277 0 0 0 0 0 0 26.55 26.27 26.60

394 -0.79 -116.8 2325 1308 3289 3276 44.9 -11.3 66 403 0.00 1.05 0.00 0.000 1030 0.000 0.030 2322 2007 3283 3290 3276 0 0 0 0 0 0 26.42 26.39 26.44

528 -0.79 -116.8 2322 2006 3290 3276 61.3 -12.9 91 536 0.00 1.02 0.00 0.000 260 0.000 0.037 2317 2703 3283 3291 3276 0 0 0 0 0 0 26.71 26.42 26.77

613 -0.79 -116.8 2316 2702 3291 3276 71.3 -12.6 106 621 0.00 1.02 0.00 0.000 1030 0.000 0.025 2321 1977 3283 3291 3276 0 0 0 0 0 0 26.54 26.53 26.56

751 -0.79 -116.8 2320 1976 3292 3276 86.4 -11.5 131 758 0.00 0.95 0.00 0.000 516 0.000 0.034 2325 1328 3284 3292 3276 0 0 0 0 0 0 26.80 26.51 26.86

780 end dive: TARGET_DEPTH_EXCEEDED

state 780 begin apogee

786 -0.18 0.0 2323 1821 3292 3276 90.0 -10.7 136 949 0.68 0.00 159.50 0.507 10246 0.161 0.000 2521 1824 2799 2850 2748 0 0 0 0 0 0 26.03 25.34 24.84

950 end apogee: CONTROL_FINISHED_OK

state 950 begin climb

954 0.79 116.8 2520 1822 2838 2737 95.4 0.0 160 1124 1.00 1.08 162.95 0.499 10500 0.110 0.037 2829 2491 2318 2444 2193 0 0 0 0 0 0 25.39 25.18 24.69

1168 0.81 132.4 2829 2491 2417 2164 81.4 9.1 192 1176 0.00 1.02 3.67 0.575 9254 0.000 0.029 2833 1819 2260 2393 2128 0 0 0 0 0 0 25.63 25.60 24.54

1304 0.86 174.0 2832 1819 2404 2131 70.0 7.6 217 1382 0.10 1.12 70.20 0.478 10788 0.189 0.037 2860 1111 2078 2218 1939 0 0 0 0 0 0 25.80 25.24 24.89

1450 0.87 189.6 2860 1111 2190 1922 57.4 9.1 240 1458 0.00 1.05 3.30 0.496 9254 0.000 0.028 2857 1798 2027 2166 1888 0 0 0 0 0 0 25.91 25.88 24.69

1586 0.90 212.5 2856 1798 2183 1890 46.5 8.7 265 1636 0.00 1.05 41.65 0.501 8484 0.000 0.034 2852 2488 1922 2067 1778 0 0 0 0 0 0 26.35 25.43 25.08

1701 0.92 229.4 2851 2488 2044 1756 36.6 9.0 284 1710 0.05 1.05 4.28 0.532 11302 0.125 0.030 2877 1788 1864 2011 1717 0 0 0 0 0 0 25.83 26.00 25.07

1835 0.95 253.2 2876 1787 2024 1724 24.0 8.6 309 1886 0.00 1.10 45.35 0.489 8740 0.000 0.039 2882 1102 1762 1912 1613 0 0 0 0 0 0 26.41 25.70 25.11

2094 1.02 307.8 2881 1102 1872 1589 2.8 6.8 356 2110 0.08 1.05 11.90 0.495 11298 0.115 0.029 2906 1794 1687 1832 1543 0 0 0 0 0 0 26.02 26.22 26.10

2111 end climb: SURFACE_DEPTH_REACHED

state 2111 begin surface coast

2138 end surface coast: CONTROL_FINISHED_OK

state 2138 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	199	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	52	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	45	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	90	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	30	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	45	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
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	3	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	-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	284.0
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	140921,122557,4751.3960,-12510.3213,3,1.0,5,15.7,0.2,0.0,11,9.3	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.49	MHEAD_RNG_PITCHd_Wd	136.2,871,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-61.1	D_GRID	240
GPS2	140921,122931,4751.4092,-12510.3457,3,0.8,5,15.7,0.3,0.0,12,8.1

FINISH	-0.4,1.025751	_10V_AH	10.23,16.620
SM_CCo	2345,0.15,0.702,0,0,551,551.92	FG_AHR_24Vo	0.000
SM_GC	0.42,7.62,0.30,0.15,0.060,0.050,0.702,171,2021,551,-7.39,-1.16,551.92,0,0,0,0,0,0,26.20,26.15,25.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4749.03,-12500.57,140921,110330	MEM	209812
TT8_MAMPS	0.021721,0.152796	DATA_FILE_SIZE	16906,363
HUMID	53.11	CAP_FILE_SIZE	46286,0
INTERNAL_PRESSURE	8.73803	CFSIZE	260030464,236150784
TCM_TEMP	15.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.052,330.21,1
_24V_AH	24.30,30.742	GPS	140921,131011,4751.365,-12510.238,2,1.0,5,15.7,0.8,119.3,12,6.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	204	88.60	SBE_CT	240	64	376.47
Roll_motor	14	49	17.70	WL_blue_red_Chl	779	37	709.04
VBD_pump_during_apogee	502	574	7019.45	nil	0	0	0.00
VBD_pump_during_surface	178	701	3050.91	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	0	0	0.00
Iridium_during_xfer	130	92	292.86	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	2.18
TT8	807	12	100.89
LPSleep	64	2	1.45
TT8_Active	652	12	81.55
TT8_Sampling	892	37	344.24
TT8_CF8	170	42	74.78
TT8_Kalman	0	0	0.00
Analog_circuits	1219	11	137.28
GPS_charging	0	0	0.00
Compass	849	8	71.61
RAFOS	0	0	0.00
Transponder	1	5	0.05

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.79	-116.8	160	2009	690	411	0.0	0.0	0	109	0.00	0.00	-98.90	0.004	16386	0.000	0.000	161	2007	2882	2876	2889	0	0	0	0	0	0	26.27	28.83	26.33
112	-0.79	-116.8	160	2007	2877	2889	3.9	-7.7	14	135	8.32	0.00	-8.88	0.011	18982	0.204	0.000	2322	2006	3280	3283	3277	0	0	0	0	0	0	25.67	24.77	25.84
263	-0.79	-116.8	2322	2006	3287	3277	28.0	-13.8	41	270	0.00	1.05	0.00	0.000	516	0.000	0.033	2326	1308	3282	3287	3277	0	0	0	0	0	0	26.55	26.27	26.60
394	-0.79	-116.8	2325	1308	3289	3276	44.9	-11.3	66	403	0.00	1.05	0.00	0.000	1030	0.000	0.030	2322	2007	3283	3290	3276	0	0	0	0	0	0	26.42	26.39	26.44
528	-0.79	-116.8	2322	2006	3290	3276	61.3	-12.9	91	536	0.00	1.02	0.00	0.000	260	0.000	0.037	2317	2703	3283	3291	3276	0	0	0	0	0	0	26.71	26.42	26.77
613	-0.79	-116.8	2316	2702	3291	3276	71.3	-12.6	106	621	0.00	1.02	0.00	0.000	1030	0.000	0.025	2321	1977	3283	3291	3276	0	0	0	0	0	0	26.54	26.53	26.56
751	-0.79	-116.8	2320	1976	3292	3276	86.4	-11.5	131	758	0.00	0.95	0.00	0.000	516	0.000	0.034	2325	1328	3284	3292	3276	0	0	0	0	0	0	26.80	26.51	26.86
780	end dive: TARGET_DEPTH_EXCEEDED
state	780	begin apogee
786	-0.18	0.0	2323	1821	3292	3276	90.0	-10.7	136	949	0.68	0.00	159.50	0.507	10246	0.161	0.000	2521	1824	2799	2850	2748	0	0	0	0	0	0	26.03	25.34	24.84
950	end apogee: CONTROL_FINISHED_OK
state	950	begin climb
954	0.79	116.8	2520	1822	2838	2737	95.4	0.0	160	1124	1.00	1.08	162.95	0.499	10500	0.110	0.037	2829	2491	2318	2444	2193	0	0	0	0	0	0	25.39	25.18	24.69
1168	0.81	132.4	2829	2491	2417	2164	81.4	9.1	192	1176	0.00	1.02	3.67	0.575	9254	0.000	0.029	2833	1819	2260	2393	2128	0	0	0	0	0	0	25.63	25.60	24.54
1304	0.86	174.0	2832	1819	2404	2131	70.0	7.6	217	1382	0.10	1.12	70.20	0.478	10788	0.189	0.037	2860	1111	2078	2218	1939	0	0	0	0	0	0	25.80	25.24	24.89
1450	0.87	189.6	2860	1111	2190	1922	57.4	9.1	240	1458	0.00	1.05	3.30	0.496	9254	0.000	0.028	2857	1798	2027	2166	1888	0	0	0	0	0	0	25.91	25.88	24.69
1586	0.90	212.5	2856	1798	2183	1890	46.5	8.7	265	1636	0.00	1.05	41.65	0.501	8484	0.000	0.034	2852	2488	1922	2067	1778	0	0	0	0	0	0	26.35	25.43	25.08
1701	0.92	229.4	2851	2488	2044	1756	36.6	9.0	284	1710	0.05	1.05	4.28	0.532	11302	0.125	0.030	2877	1788	1864	2011	1717	0	0	0	0	0	0	25.83	26.00	25.07
1835	0.95	253.2	2876	1787	2024	1724	24.0	8.6	309	1886	0.00	1.10	45.35	0.489	8740	0.000	0.039	2882	1102	1762	1912	1613	0	0	0	0	0	0	26.41	25.70	25.11
2094	1.02	307.8	2881	1102	1872	1589	2.8	6.8	356	2110	0.08	1.05	11.90	0.495	11298	0.115	0.029	2906	1794	1687	1832	1543	0	0	0	0	0	0	26.02	26.22	26.10
2111	end climb: SURFACE_DEPTH_REACHED
state	2111	begin surface coast
2138	end surface coast: CONTROL_FINISHED_OK
state	2138	begin surface