Glider dive log

Shilshole 16Aug21 * SG204 * Dive index * Mission links * Dive 3 * 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 5 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 64 ALTIM_PING_DELTA 0

N_DIVES 3 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 39 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 679.78357 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 120 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 150 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 1 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 1 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 40 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 55 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 -6 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 2670 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 1.023 PITCH_AD_RATE 140 FG_AHR_24V 0 SEABIRD_C_I -0.0027973817

MASS 55321 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -141.75728 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0001157966 CP_PROFILE 1.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 1.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0035000001 ROLL_DEG 40 ALTIM_PING_FIT 0 CP_STARTS 6.0

HD_B 0.01122 C_ROLL_DIVE 2200 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_BOTTOM_TURN_MARGIN 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_FLARE 3 N_DIVES 3 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 1 SIM_W 0

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOSURFACE 0 SM_CC 679.78357

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 120 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 0.0035000001 PITCH_TIMEOUT 17 T_DIVE 40

CAPMAXSIZE 200000 HD_B 0.01122 PITCH_VBD_SHIFT 0.001 T_EPIRB 0

CAPUPLOAD 1 HD_C 9.9999997e-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 0.0001157966 T_MISSION 55

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -141.75728 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 1.0 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 6.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -6

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 1.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2670 LOGGERS 1 RHO 1.023 VBD_CNV -0.24529999

C_ROLL_CLIMB 2200 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2200 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 55321 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 64 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 39 XPDR_INHIBIT 90

DIVE 3 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 150 MISSION 5 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 160821,185000,4743.2158,-12224.2832,1,1.0,3,15.2,0.1,0.0,12,8.2 SPEED_LIMITS 0.173,0.247

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.11 MHEAD_RNG_PITCHd_Wd 323.2,1037,-18.7,-10.000,-22.01,2232

_SM_ANGLEo -54.5 D_GRID 175

GPS2 160821,185221,4743.2173,-12224.2812,4,0.9,5,15.2,0.1,0.0,11,10.0

Post-dive calculations and measurements:

FINISH 0.5,1.022240 _24V_AH 24.31,0.861

SM_CCo 2930,0.00,0.000,0,0,550,613.25 _10V_AH 10.34,0.476

SM_GC 0.13,7.65,2.20,0.00,0.060,0.033,0.000,173,2207,550,-7.62,-0.90,613.25,0,0,0,0,0,0,26.55,26.48,25.68 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4744.48,-12222.38,160821,184745 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.182756 MEM 182768

HUMID 55.51 DATA_FILE_SIZE 23491,454

INTERNAL_PRESSURE 8.87474 CAP_FILE_SIZE 73764,0

TCM_TEMP 18.50 CFSIZE 260030464,250376192

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

CP_FREE 127774425088.000000 INTR 0,166.41,0x235aac,0,24

CP_POWER 293.710000 CURRENT 0.100,239.60,1

CP_POWER1 0.000000 GPS 160821,194303,4743.379,-12224.643,5,0.9,8,15.2,0.1,0.0,11,6.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 235 103.25 SBE_CT 282 63 436.71

Roll_motor 34 108 91.77 WL_blue_red_Chl 910 38 845.82

VBD_pump_during_apogee 464 950 10741.55 nil 0 0 0.00

VBD_pump_during_surface 173 625 2643.93 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 1263 25 767.59

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 16 11 1.93

TT8 1000 12 126.44

LPSleep 229 2 5.19

TT8_Active 658 12 88.34

TT8_Sampling 993 38 394.78

TT8_CF8 154 42 68.53

TT8_Kalman 0 0 0.00

Analog_circuits 1154 11 131.37

GPS_charging 0 0 0.00

Compass 1030 7 79.84

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

36 end surface: CONTROL_FINISHED_OK

state 36 begin dive

39 -0.77 -146.6 188 2179 681 429 0.0 0.0 0 175 0.00 0.00 -129.75 0.010 16390 0.000 0.000 189 2179 3648 3632 3665 0 0 0 0 0 0 26.55 25.18 26.64

178 -0.77 -146.6 189 2180 3633 3665 3.2 -6.7 19 194 8.38 2.05 0.00 0.000 2596 0.215 0.034 2400 794 3650 3637 3664 0 0 0 0 0 0 26.21 26.46 26.35

314 -0.72 -146.6 2399 794 3647 3657 27.7 -13.3 44 323 0.08 2.15 0.00 0.000 3206 0.177 0.039 2414 2197 3652 3648 3656 0 0 0 0 0 0 26.34 26.58 26.46

510 -0.67 -146.6 2413 2197 3650 3651 52.7 -13.4 81 518 0.10 2.12 0.00 0.000 2692 0.232 0.037 2443 806 3651 3650 3652 0 0 0 0 0 0 26.40 26.62 26.58

566 -0.66 -146.6 2442 806 3651 3651 59.9 -12.1 91 574 0.00 2.15 0.00 0.000 1158 0.000 0.037 2434 2210 3651 3651 3651 0 0 0 0 0 0 26.70 26.67 26.73

759 -0.62 -146.6 2433 2211 3652 3650 83.8 -12.4 128 767 0.10 0.00 0.00 0.000 2182 0.236 0.000 2452 2212 3650 3651 3650 0 0 0 0 0 0 26.44 26.69 26.66

956 -0.61 -146.6 2452 2211 3652 3649 105.1 -10.1 160 961 0.00 2.12 0.00 0.000 388 0.000 0.048 2443 3612 3650 3652 3649 0 0 0 0 0 0 26.80 26.69 26.86

1001 -0.59 -146.6 2443 3612 3652 3649 109.6 -10.5 168 1006 0.00 2.05 0.00 0.000 1158 0.000 0.029 2452 2207 3650 3652 3649 0 0 0 0 0 0 26.82 26.77 26.84

1102 end dive: TARGET_DEPTH_EXCEEDED

state 1102 begin apogee

1106 -0.17 0.0 2452 2203 3653 3649 120.5 -10.9 179 1254 0.50 0.00 137.62 0.951 10246 0.176 0.000 2600 2203 3052 3114 2990 0 0 0 0 1 0 26.47 25.03 24.31

1259 end apogee: CONTROL_FINISHED_OK

state 1259 begin climb

1262 0.77 146.6 2600 2203 3116 2992 126.4 0.0 194 1446 0.95 2.33 175.48 0.527 10500 0.116 0.044 2889 3604 2444 2541 2347 0 0 0 0 0 0 25.31 25.40 24.96

1470 0.81 184.2 2888 3604 2515 2335 116.9 8.3 234 1521 0.05 2.15 40.58 0.557 11302 0.194 0.025 2913 2197 2287 2389 2185 0 0 0 0 0 0 25.64 25.75 25.05

1825 0.82 197.3 2912 2197 2364 2175 83.0 9.4 291 1834 0.00 2.20 2.50 0.467 8740 0.000 0.037 2923 794 2249 2348 2151 0 0 0 0 0 0 26.63 26.23 25.34

1877 0.83 206.1 2922 794 2357 2156 78.1 9.6 300 1899 0.00 2.17 14.55 0.591 9254 0.000 0.031 2915 2204 2201 2301 2101 0 0 0 0 0 0 26.47 26.44 25.70

2085 0.88 252.7 2914 2204 2282 2089 61.7 7.9 339 2150 0.10 2.25 53.72 0.515 10532 0.189 0.047 2927 3600 2004 2113 1895 0 0 0 0 0 0 26.38 25.94 25.48

2183 0.88 252.7 2926 3601 2096 1887 51.7 10.7 354 2190 0.00 2.15 0.00 0.000 1030 0.000 0.026 2935 2198 1990 2095 1886 0 0 0 0 0 0 26.20 26.17 26.22

2377 0.91 287.6 2934 2193 2091 1883 35.5 8.4 391 2421 0.00 2.20 37.83 0.509 8740 0.000 0.038 2945 798 1868 1988 1749 0 0 0 0 0 0 26.67 26.01 25.56

2496 0.94 287.6 2945 798 1965 1731 22.7 11.6 411 2504 0.00 2.17 0.00 0.000 1158 0.000 0.032 2937 2193 1847 1965 1730 0 0 0 0 0 0 26.31 26.27 26.36

2690 0.97 300.0 2936 2193 1964 1727 4.5 9.4 448 2700 0.12 2.20 2.40 0.314 10916 0.187 0.037 2977 795 1823 1946 1700 0 0 0 0 0 0 26.32 26.34 25.63

2716 end climb: SURFACE_DEPTH_REACHED

state 2716 begin surface coast

2728 end surface coast: CONTROL_FINISHED_OK

state 2728 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	5	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	64	ALTIM_PING_DELTA	0
N_DIVES	3	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	39	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	679.78357	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	120	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	150	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	1	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	1	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	40	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	55	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	-6	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	2670	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	1.023	PITCH_AD_RATE	140	FG_AHR_24V	0	SEABIRD_C_I	-0.0027973817
MASS	55321	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-141.75728	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0001157966	CP_PROFILE	1.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	1.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0035000001	ROLL_DEG	40	ALTIM_PING_FIT	0	CP_STARTS	6.0
HD_B	0.01122	C_ROLL_DIVE	2200	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_BOTTOM_TURN_MARGIN	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	160821,185000,4743.2158,-12224.2832,1,1.0,3,15.2,0.1,0.0,12,8.2	SPEED_LIMITS	0.173,0.247
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.11	MHEAD_RNG_PITCHd_Wd	323.2,1037,-18.7,-10.000,-22.01,2232
_SM_ANGLEo	-54.5	D_GRID	175
GPS2	160821,185221,4743.2173,-12224.2812,4,0.9,5,15.2,0.1,0.0,11,10.0

FINISH	0.5,1.022240	_24V_AH	24.31,0.861
SM_CCo	2930,0.00,0.000,0,0,550,613.25	_10V_AH	10.34,0.476
SM_GC	0.13,7.65,2.20,0.00,0.060,0.033,0.000,173,2207,550,-7.62,-0.90,613.25,0,0,0,0,0,0,26.55,26.48,25.68	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4744.48,-12222.38,160821,184745	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.182756	MEM	182768
HUMID	55.51	DATA_FILE_SIZE	23491,454
INTERNAL_PRESSURE	8.87474	CAP_FILE_SIZE	73764,0
TCM_TEMP	18.50	CFSIZE	260030464,250376192
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	127774425088.000000	INTR	0,166.41,0x235aac,0,24
CP_POWER	293.710000	CURRENT	0.100,239.60,1
CP_POWER1	0.000000	GPS	160821,194303,4743.379,-12224.643,5,0.9,8,15.2,0.1,0.0,11,6.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	235	103.25	SBE_CT	282	63	436.71
Roll_motor	34	108	91.77	WL_blue_red_Chl	910	38	845.82
VBD_pump_during_apogee	464	950	10741.55	nil	0	0	0.00
VBD_pump_during_surface	173	625	2643.93	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	1263	25	767.59
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	16	11	1.93
TT8	1000	12	126.44
LPSleep	229	2	5.19
TT8_Active	658	12	88.34
TT8_Sampling	993	38	394.78
TT8_CF8	154	42	68.53
TT8_Kalman	0	0	0.00
Analog_circuits	1154	11	131.37
GPS_charging	0	0	0.00
Compass	1030	7	79.84
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
36	end surface: CONTROL_FINISHED_OK
state	36	begin dive
39	-0.77	-146.6	188	2179	681	429	0.0	0.0	0	175	0.00	0.00	-129.75	0.010	16390	0.000	0.000	189	2179	3648	3632	3665	0	0	0	0	0	0	26.55	25.18	26.64
178	-0.77	-146.6	189	2180	3633	3665	3.2	-6.7	19	194	8.38	2.05	0.00	0.000	2596	0.215	0.034	2400	794	3650	3637	3664	0	0	0	0	0	0	26.21	26.46	26.35
314	-0.72	-146.6	2399	794	3647	3657	27.7	-13.3	44	323	0.08	2.15	0.00	0.000	3206	0.177	0.039	2414	2197	3652	3648	3656	0	0	0	0	0	0	26.34	26.58	26.46
510	-0.67	-146.6	2413	2197	3650	3651	52.7	-13.4	81	518	0.10	2.12	0.00	0.000	2692	0.232	0.037	2443	806	3651	3650	3652	0	0	0	0	0	0	26.40	26.62	26.58
566	-0.66	-146.6	2442	806	3651	3651	59.9	-12.1	91	574	0.00	2.15	0.00	0.000	1158	0.000	0.037	2434	2210	3651	3651	3651	0	0	0	0	0	0	26.70	26.67	26.73
759	-0.62	-146.6	2433	2211	3652	3650	83.8	-12.4	128	767	0.10	0.00	0.00	0.000	2182	0.236	0.000	2452	2212	3650	3651	3650	0	0	0	0	0	0	26.44	26.69	26.66
956	-0.61	-146.6	2452	2211	3652	3649	105.1	-10.1	160	961	0.00	2.12	0.00	0.000	388	0.000	0.048	2443	3612	3650	3652	3649	0	0	0	0	0	0	26.80	26.69	26.86
1001	-0.59	-146.6	2443	3612	3652	3649	109.6	-10.5	168	1006	0.00	2.05	0.00	0.000	1158	0.000	0.029	2452	2207	3650	3652	3649	0	0	0	0	0	0	26.82	26.77	26.84
1102	end dive: TARGET_DEPTH_EXCEEDED
state	1102	begin apogee
1106	-0.17	0.0	2452	2203	3653	3649	120.5	-10.9	179	1254	0.50	0.00	137.62	0.951	10246	0.176	0.000	2600	2203	3052	3114	2990	0	0	0	0	1	0	26.47	25.03	24.31
1259	end apogee: CONTROL_FINISHED_OK
state	1259	begin climb
1262	0.77	146.6	2600	2203	3116	2992	126.4	0.0	194	1446	0.95	2.33	175.48	0.527	10500	0.116	0.044	2889	3604	2444	2541	2347	0	0	0	0	0	0	25.31	25.40	24.96
1470	0.81	184.2	2888	3604	2515	2335	116.9	8.3	234	1521	0.05	2.15	40.58	0.557	11302	0.194	0.025	2913	2197	2287	2389	2185	0	0	0	0	0	0	25.64	25.75	25.05
1825	0.82	197.3	2912	2197	2364	2175	83.0	9.4	291	1834	0.00	2.20	2.50	0.467	8740	0.000	0.037	2923	794	2249	2348	2151	0	0	0	0	0	0	26.63	26.23	25.34
1877	0.83	206.1	2922	794	2357	2156	78.1	9.6	300	1899	0.00	2.17	14.55	0.591	9254	0.000	0.031	2915	2204	2201	2301	2101	0	0	0	0	0	0	26.47	26.44	25.70
2085	0.88	252.7	2914	2204	2282	2089	61.7	7.9	339	2150	0.10	2.25	53.72	0.515	10532	0.189	0.047	2927	3600	2004	2113	1895	0	0	0	0	0	0	26.38	25.94	25.48
2183	0.88	252.7	2926	3601	2096	1887	51.7	10.7	354	2190	0.00	2.15	0.00	0.000	1030	0.000	0.026	2935	2198	1990	2095	1886	0	0	0	0	0	0	26.20	26.17	26.22
2377	0.91	287.6	2934	2193	2091	1883	35.5	8.4	391	2421	0.00	2.20	37.83	0.509	8740	0.000	0.038	2945	798	1868	1988	1749	0	0	0	0	0	0	26.67	26.01	25.56
2496	0.94	287.6	2945	798	1965	1731	22.7	11.6	411	2504	0.00	2.17	0.00	0.000	1158	0.000	0.032	2937	2193	1847	1965	1730	0	0	0	0	0	0	26.31	26.27	26.36
2690	0.97	300.0	2936	2193	1964	1727	4.5	9.4	448	2700	0.12	2.20	2.40	0.314	10916	0.187	0.037	2977	795	1823	1946	1700	0	0	0	0	0	0	26.32	26.34	25.63
2716	end climb: SURFACE_DEPTH_REACHED
state	2716	begin surface coast
2728	end surface coast: CONTROL_FINISHED_OK
state	2728	begin surface