Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 2 * 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 2 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 60 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 42 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 45 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 120 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 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 15 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 30 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 30 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 0.0099999998 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 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 40 ALTIM_PING_FIT 0 CP_STARTS 2.0

HD_B 0.0099999998 C_ROLL_DIVE 1900 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1900 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 45 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.0099999998 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 30 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 15

CAPMAXSIZE 200000 HD_B 0.0099999998 PITCH_VBD_SHIFT 0 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 30

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 2.0 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 1900 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 1900 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 40 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 60 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 42 XPDR_INHIBIT 90

DIVE 2 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 120 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 300821,213914,4751.7192,-12509.8750,3,0.9,3,15.7,0.4,143.0,8,9.8 SPEED_LIMITS 0.173,0.259

_CALLS 1 TGT_NAME MOORING

_XMS_NAKs 0 TGT_LATLONG 4751.000,-12510.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.48 MHEAD_RNG_PITCHd_Wd 196.7,1312,-15.8,-10.000,-21.14,2219

_SM_ANGLEo -59.7 D_GRID 218

GPS2 300821,214302,4751.7012,-12509.8506,4,0.9,6,15.7,0.3,290.1,8,7.9

Post-dive calculations and measurements:

FINISH -0.4,1.026810 _24V_AH 24.80,4.295

SM_CCo 1732,102.03,0.610,1,0,589,603.44 _10V_AH 10.37,3.300

SM_GC 0.51,7.45,0.00,102.03,0.051,0.000,0.610,187,1913,589,-7.47,0.37,603.44,0,0,0,0,1,0,25.86,26.03,24.80 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4752.18,-12506.88,300821,210445 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972,0.146055 MEM 212096

HUMID 54.76 DATA_FILE_SIZE 13601,263

INTERNAL_PRESSURE 8.81615 CAP_FILE_SIZE 38798,0

TCM_TEMP 16.10 CFSIZE 260030464,250884096

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

CP_FREE 127448776704.000000 CURRENT 0.132,129.11,1

CP_POWER 316.720000 GPS 300821,221539,4751.547,-12509.859,1,0.8,16,15.7,0.2,70.4,12,1.9

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 212 90.58 SBE_CT 164 64 263.15

Roll_motor 17 57 24.51 WL_blue_red_Chl 564 37 524.03

VBD_pump_during_apogee 852 516 10915.92 nil 0 0 0.00

VBD_pump_during_surface 102 610 1544.62 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 1520 25 942.40

Iridium_during_xfer 131 85 280.43 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 11 2.28

TT8 412 12 52.27

LPSleep 28 2 0.65

TT8_Active 804 12 101.89

TT8_Sampling 732 37 286.20

TT8_CF8 134 42 59.75

TT8_Kalman 0 0 0.00

Analog_circuits 1390 11 158.63

GPS_charging 0 0 0.00

Compass 614 8 52.48

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.53 -146.0 177 1900 731 447 0.0 0.0 0 140 0.00 0.00 -113.10 0.010 16386 0.000 0.000 177 1900 3266 3258 3274 0 0 0 0 0 0 26.32 28.83 26.38

142 -0.53 -146.0 177 1899 3259 3274 4.6 -9.3 16 166 8.35 2.15 -7.20 0.016 18724 0.213 0.057 2417 3306 3648 3649 3648 0 0 0 0 0 0 26.01 25.76 26.16

296 -0.53 -146.0 2416 3306 3654 3646 28.4 -8.9 44 304 0.05 2.08 0.00 0.000 3110 0.174 0.030 2431 1902 3650 3654 3646 0 0 0 0 0 0 26.26 26.48 26.34

431 -0.54 -146.0 2429 1899 3656 3645 42.7 -12.1 69 439 0.00 2.12 0.00 0.000 644 0.000 0.046 2441 514 3650 3656 3644 0 0 0 0 0 0 26.65 26.47 26.67

450 end dive: TARGET_DEPTH_EXCEEDED

state 450 begin apogee

456 -0.17 0.0 2433 1907 3656 3644 45.3 -12.3 72 648 0.35 0.00 184.23 0.516 10246 0.135 0.000 2544 1911 3044 3102 2986 0 0 0 0 0 0 26.27 25.32 25.03

653 end apogee: CONTROL_FINISHED_OK

state 653 begin climb

655 0.53 146.0 2543 1911 3094 2978 53.3 0.0 100 859 0.73 2.22 192.57 0.485 10756 0.103 0.040 2784 511 2441 2546 2337 0 0 0 0 0 0 25.54 25.30 25.01

905 0.54 244.9 2783 511 2523 2319 48.5 5.4 135 1059 0.00 2.15 147.18 0.486 9382 0.000 0.032 2776 1893 2050 2172 1929 0 0 0 0 0 0 25.87 25.84 24.99

1186 0.60 331.4 2775 1893 2139 1899 34.4 6.0 181 1335 0.10 2.22 139.80 0.484 10660 0.156 0.044 2796 3310 1691 1825 1558 0 0 0 0 0 0 25.96 25.32 25.06

1359 0.67 357.4 2796 3309 1802 1538 23.9 8.8 206 1397 0.00 2.15 32.65 0.491 9382 0.000 0.034 2804 1917 1594 1733 1456 0 0 0 0 0 0 25.79 25.74 25.13

1523 0.74 456.0 2804 1917 1696 1424 14.0 5.4 235 1685 0.15 0.00 155.98 0.475 10914 0.138 0.000 2850 1915 1236 1393 1080 0 0 0 0 1 0 25.94 28.83 25.03

1686 end climb: SURFACE_DEPTH_REACHED

state 1686 begin surface coast

1715 end surface coast: CONTROL_FINISHED_OK

state 1715 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	2	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	60	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	42	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	45	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	120	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	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	15	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	30	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	30	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	0.0099999998	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	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	40	ALTIM_PING_FIT	0	CP_STARTS	2.0
HD_B	0.0099999998	C_ROLL_DIVE	1900	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1900	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	300821,213914,4751.7192,-12509.8750,3,0.9,3,15.7,0.4,143.0,8,9.8	SPEED_LIMITS	0.173,0.259
_CALLS	1	TGT_NAME	MOORING
_XMS_NAKs	0	TGT_LATLONG	4751.000,-12510.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.48	MHEAD_RNG_PITCHd_Wd	196.7,1312,-15.8,-10.000,-21.14,2219
_SM_ANGLEo	-59.7	D_GRID	218
GPS2	300821,214302,4751.7012,-12509.8506,4,0.9,6,15.7,0.3,290.1,8,7.9

FINISH	-0.4,1.026810	_24V_AH	24.80,4.295
SM_CCo	1732,102.03,0.610,1,0,589,603.44	_10V_AH	10.37,3.300
SM_GC	0.51,7.45,0.00,102.03,0.051,0.000,0.610,187,1913,589,-7.47,0.37,603.44,0,0,0,0,1,0,25.86,26.03,24.80	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4752.18,-12506.88,300821,210445	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972,0.146055	MEM	212096
HUMID	54.76	DATA_FILE_SIZE	13601,263
INTERNAL_PRESSURE	8.81615	CAP_FILE_SIZE	38798,0
TCM_TEMP	16.10	CFSIZE	260030464,250884096
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	127448776704.000000	CURRENT	0.132,129.11,1
CP_POWER	316.720000	GPS	300821,221539,4751.547,-12509.859,1,0.8,16,15.7,0.2,70.4,12,1.9
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	212	90.58	SBE_CT	164	64	263.15
Roll_motor	17	57	24.51	WL_blue_red_Chl	564	37	524.03
VBD_pump_during_apogee	852	516	10915.92	nil	0	0	0.00
VBD_pump_during_surface	102	610	1544.62	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	1520	25	942.40
Iridium_during_xfer	131	85	280.43	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	11	2.28
TT8	412	12	52.27
LPSleep	28	2	0.65
TT8_Active	804	12	101.89
TT8_Sampling	732	37	286.20
TT8_CF8	134	42	59.75
TT8_Kalman	0	0	0.00
Analog_circuits	1390	11	158.63
GPS_charging	0	0	0.00
Compass	614	8	52.48
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.53	-146.0	177	1900	731	447	0.0	0.0	0	140	0.00	0.00	-113.10	0.010	16386	0.000	0.000	177	1900	3266	3258	3274	0	0	0	0	0	0	26.32	28.83	26.38
142	-0.53	-146.0	177	1899	3259	3274	4.6	-9.3	16	166	8.35	2.15	-7.20	0.016	18724	0.213	0.057	2417	3306	3648	3649	3648	0	0	0	0	0	0	26.01	25.76	26.16
296	-0.53	-146.0	2416	3306	3654	3646	28.4	-8.9	44	304	0.05	2.08	0.00	0.000	3110	0.174	0.030	2431	1902	3650	3654	3646	0	0	0	0	0	0	26.26	26.48	26.34
431	-0.54	-146.0	2429	1899	3656	3645	42.7	-12.1	69	439	0.00	2.12	0.00	0.000	644	0.000	0.046	2441	514	3650	3656	3644	0	0	0	0	0	0	26.65	26.47	26.67
450	end dive: TARGET_DEPTH_EXCEEDED
state	450	begin apogee
456	-0.17	0.0	2433	1907	3656	3644	45.3	-12.3	72	648	0.35	0.00	184.23	0.516	10246	0.135	0.000	2544	1911	3044	3102	2986	0	0	0	0	0	0	26.27	25.32	25.03
653	end apogee: CONTROL_FINISHED_OK
state	653	begin climb
655	0.53	146.0	2543	1911	3094	2978	53.3	0.0	100	859	0.73	2.22	192.57	0.485	10756	0.103	0.040	2784	511	2441	2546	2337	0	0	0	0	0	0	25.54	25.30	25.01
905	0.54	244.9	2783	511	2523	2319	48.5	5.4	135	1059	0.00	2.15	147.18	0.486	9382	0.000	0.032	2776	1893	2050	2172	1929	0	0	0	0	0	0	25.87	25.84	24.99
1186	0.60	331.4	2775	1893	2139	1899	34.4	6.0	181	1335	0.10	2.22	139.80	0.484	10660	0.156	0.044	2796	3310	1691	1825	1558	0	0	0	0	0	0	25.96	25.32	25.06
1359	0.67	357.4	2796	3309	1802	1538	23.9	8.8	206	1397	0.00	2.15	32.65	0.491	9382	0.000	0.034	2804	1917	1594	1733	1456	0	0	0	0	0	0	25.79	25.74	25.13
1523	0.74	456.0	2804	1917	1696	1424	14.0	5.4	235	1685	0.15	0.00	155.98	0.475	10914	0.138	0.000	2850	1915	1236	1393	1080	0	0	0	0	1	0	25.94	28.83	25.03
1686	end climb: SURFACE_DEPTH_REACHED
state	1686	begin surface coast
1715	end surface coast: CONTROL_FINISHED_OK
state	1715	begin surface