Glider dive log

Shilshole 16Aug21 * SG204 * Dive index * Mission links * Dive 4 * 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 4 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 44 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 36 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 0 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 7.0

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 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 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 0 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 7.0 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 44 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 36 XPDR_INHIBIT 90

DIVE 4 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 160821,195154,4743.3931,-12224.5811,1,1.0,4,15.2,0.2,0.0,10,5.9 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 297.8,578,-24.7,-10.000,-27.54,1313

_SM_ANGLEo -59.0 D_GRID 175

GPS2 160821,195418,4743.3960,-12224.5625,4,1.0,5,15.2,0.4,132.4,10,8.1

Post-dive calculations and measurements:

FINISH 0.1,1.022220 _24V_AH 24.63,1.021

SM_CCo 3192,-0.47,0.100,0,0,550,613.25 _10V_AH 10.33,0.521

SM_GC 0.13,7.62,0.00,-0.47,0.058,0.000,0.100,173,2207,550,-7.61,0.31,613.25,0,0,0,0,0,0,26.79,27.07,25.63 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4743.02,-12222.38,160821,194944 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.184254 MEM 182788

HUMID 54.37 DATA_FILE_SIZE 20275,395

INTERNAL_PRESSURE 8.87474 CAP_FILE_SIZE 71955,7

TCM_TEMP 18.40 CFSIZE 260030464,250335232

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

CP_FREE 127768297472.000000 CURRENT 0.001,111.50,1

CP_POWER 293.710000 GPS 160821,204939,4743.501,-12224.761,7,1.0,21,15.2,0.3,52.3,12,2.4

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 224 99.37 SBE_CT 247 63 387.36

Roll_motor 30 59 44.53 WL_blue_red_Chl 794 38 747.79

VBD_pump_during_apogee 351 589 5099.03 nil 0 0 0.00

VBD_pump_during_surface 772 458 8718.41 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 1065 25 655.77

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 902 12 113.94

LPSleep 217 2 4.93

TT8_Active 1168 12 156.54

TT8_Sampling 875 38 347.49

TT8_CF8 140 42 62.22

TT8_Kalman 0 0 0.00

Analog_circuits 1593 11 181.06

GPS_charging 0 0 0.00

Compass 900 7 69.67

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 -0.91 -86.0 189 2213 698 411 0.0 0.0 0 167 0.00 0.00 -121.00 0.009 16390 0.000 0.000 189 2213 3400 3388 3412 0 0 0 0 0 0 26.52 25.92 26.59

169 -0.97 -146.6 189 2213 3388 3412 2.6 -4.6 18 193 8.20 2.17 -5.55 0.022 18980 0.224 0.060 2345 792 3650 3650 3651 0 0 0 0 0 0 26.12 25.13 26.29

304 -0.93 -146.6 2345 792 3652 3650 28.6 -17.8 42 312 0.05 2.15 0.00 0.000 3206 0.217 0.037 2349 2195 3651 3652 3650 0 0 0 0 0 0 26.31 26.55 26.42

497 -0.88 -146.6 2349 2196 3653 3649 62.4 -18.2 79 506 0.10 2.12 0.00 0.000 2692 0.205 0.037 2381 796 3651 3653 3649 0 0 0 0 0 0 26.43 26.61 26.59

560 -0.88 -146.6 2381 794 3652 3649 72.3 -15.3 90 567 0.00 2.15 0.00 0.000 1030 0.000 0.042 2373 2202 3651 3653 3649 0 0 0 0 0 0 26.67 26.63 26.69

755 -0.85 -146.6 2372 2203 3654 3648 101.7 -14.8 126 759 0.00 2.10 0.00 0.000 388 0.000 0.048 2362 3605 3651 3654 3648 0 0 0 0 0 0 26.78 26.62 26.86

788 -0.82 -146.6 2361 3605 3653 3647 106.7 -15.0 132 794 0.05 2.10 0.00 0.000 3206 0.193 0.028 2385 2176 3650 3654 3647 0 0 0 0 0 0 26.47 26.72 26.57

880 end dive: TARGET_DEPTH_EXCEEDED

state 880 begin apogee

885 -0.17 0.0 2385 2173 3654 3647 120.9 -15.2 142 1056 0.73 0.00 166.90 0.545 10246 0.179 0.000 2596 2172 3049 3111 2988 0 0 0 0 0 0 26.38 25.45 25.02

1061 end apogee: CONTROL_FINISHED_OK

state 1061 begin climb

1063 0.97 146.6 2595 2172 3094 2971 129.4 0.0 159 1238 1.17 2.38 165.68 0.522 10500 0.120 0.044 2949 3605 2443 2538 2349 0 0 0 0 0 0 25.46 25.39 24.94

1275 0.97 146.6 2949 3605 2508 2336 118.5 10.3 200 1283 0.00 2.15 0.00 0.000 1030 0.000 0.026 2958 2217 2422 2508 2336 0 0 0 0 0 0 25.82 25.81 25.85

1585 1.01 169.2 2958 2212 2504 2335 86.4 8.2 244 1613 0.00 2.20 18.42 0.590 8868 0.000 0.037 2969 799 2344 2435 2253 0 0 0 0 0 0 26.64 26.12 25.64

1713 1.03 169.2 2968 799 2425 2247 73.5 11.9 267 1721 0.08 2.17 0.00 0.000 3206 0.131 0.032 2989 2203 2335 2425 2246 0 0 0 0 0 0 26.22 26.36 26.32

1907 1.03 169.2 2988 2203 2420 2245 51.2 11.2 304 1915 0.00 2.20 0.00 0.000 260 0.000 0.047 2980 3608 2332 2419 2245 0 0 0 0 0 0 26.77 26.48 26.83

1927 1.03 169.2 2979 3608 2417 2245 48.6 12.6 307 1935 0.00 2.12 0.00 0.000 1030 0.000 0.027 2989 2198 2331 2417 2245 0 0 0 0 0 0 26.60 26.56 26.61

2127 1.04 175.4 2987 2194 2417 2245 27.8 9.5 344 2135 0.00 2.12 0.00 0.000 548 0.000 0.037 2998 798 2331 2417 2245 0 0 0 0 0 0 26.89 26.61 26.94

2296 1.04 178.6 2998 798 2417 2246 9.9 9.7 376 2304 0.00 2.15 0.00 0.000 1062 0.000 0.034 2991 2206 2331 2417 2245 0 0 0 0 0 0 26.74 26.70 26.76

2381 end climb: SURFACE_DEPTH_REACHED

state 2381 begin surface coast

2398 end surface coast: CONTROL_FINISHED_OK

state 2399 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	4	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	44	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	36	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	0	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	7.0
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	160821,195154,4743.3931,-12224.5811,1,1.0,4,15.2,0.2,0.0,10,5.9	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	297.8,578,-24.7,-10.000,-27.54,1313
_SM_ANGLEo	-59.0	D_GRID	175
GPS2	160821,195418,4743.3960,-12224.5625,4,1.0,5,15.2,0.4,132.4,10,8.1

FINISH	0.1,1.022220	_24V_AH	24.63,1.021
SM_CCo	3192,-0.47,0.100,0,0,550,613.25	_10V_AH	10.33,0.521
SM_GC	0.13,7.62,0.00,-0.47,0.058,0.000,0.100,173,2207,550,-7.61,0.31,613.25,0,0,0,0,0,0,26.79,27.07,25.63	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4743.02,-12222.38,160821,194944	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.184254	MEM	182788
HUMID	54.37	DATA_FILE_SIZE	20275,395
INTERNAL_PRESSURE	8.87474	CAP_FILE_SIZE	71955,7
TCM_TEMP	18.40	CFSIZE	260030464,250335232
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,0,0,0,0
CP_FREE	127768297472.000000	CURRENT	0.001,111.50,1
CP_POWER	293.710000	GPS	160821,204939,4743.501,-12224.761,7,1.0,21,15.2,0.3,52.3,12,2.4
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	224	99.37	SBE_CT	247	63	387.36
Roll_motor	30	59	44.53	WL_blue_red_Chl	794	38	747.79
VBD_pump_during_apogee	351	589	5099.03	nil	0	0	0.00
VBD_pump_during_surface	772	458	8718.41	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	1065	25	655.77
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	902	12	113.94
LPSleep	217	2	4.93
TT8_Active	1168	12	156.54
TT8_Sampling	875	38	347.49
TT8_CF8	140	42	62.22
TT8_Kalman	0	0	0.00
Analog_circuits	1593	11	181.06
GPS_charging	0	0	0.00
Compass	900	7	69.67
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	-0.91	-86.0	189	2213	698	411	0.0	0.0	0	167	0.00	0.00	-121.00	0.009	16390	0.000	0.000	189	2213	3400	3388	3412	0	0	0	0	0	0	26.52	25.92	26.59
169	-0.97	-146.6	189	2213	3388	3412	2.6	-4.6	18	193	8.20	2.17	-5.55	0.022	18980	0.224	0.060	2345	792	3650	3650	3651	0	0	0	0	0	0	26.12	25.13	26.29
304	-0.93	-146.6	2345	792	3652	3650	28.6	-17.8	42	312	0.05	2.15	0.00	0.000	3206	0.217	0.037	2349	2195	3651	3652	3650	0	0	0	0	0	0	26.31	26.55	26.42
497	-0.88	-146.6	2349	2196	3653	3649	62.4	-18.2	79	506	0.10	2.12	0.00	0.000	2692	0.205	0.037	2381	796	3651	3653	3649	0	0	0	0	0	0	26.43	26.61	26.59
560	-0.88	-146.6	2381	794	3652	3649	72.3	-15.3	90	567	0.00	2.15	0.00	0.000	1030	0.000	0.042	2373	2202	3651	3653	3649	0	0	0	0	0	0	26.67	26.63	26.69
755	-0.85	-146.6	2372	2203	3654	3648	101.7	-14.8	126	759	0.00	2.10	0.00	0.000	388	0.000	0.048	2362	3605	3651	3654	3648	0	0	0	0	0	0	26.78	26.62	26.86
788	-0.82	-146.6	2361	3605	3653	3647	106.7	-15.0	132	794	0.05	2.10	0.00	0.000	3206	0.193	0.028	2385	2176	3650	3654	3647	0	0	0	0	0	0	26.47	26.72	26.57
880	end dive: TARGET_DEPTH_EXCEEDED
state	880	begin apogee
885	-0.17	0.0	2385	2173	3654	3647	120.9	-15.2	142	1056	0.73	0.00	166.90	0.545	10246	0.179	0.000	2596	2172	3049	3111	2988	0	0	0	0	0	0	26.38	25.45	25.02
1061	end apogee: CONTROL_FINISHED_OK
state	1061	begin climb
1063	0.97	146.6	2595	2172	3094	2971	129.4	0.0	159	1238	1.17	2.38	165.68	0.522	10500	0.120	0.044	2949	3605	2443	2538	2349	0	0	0	0	0	0	25.46	25.39	24.94
1275	0.97	146.6	2949	3605	2508	2336	118.5	10.3	200	1283	0.00	2.15	0.00	0.000	1030	0.000	0.026	2958	2217	2422	2508	2336	0	0	0	0	0	0	25.82	25.81	25.85
1585	1.01	169.2	2958	2212	2504	2335	86.4	8.2	244	1613	0.00	2.20	18.42	0.590	8868	0.000	0.037	2969	799	2344	2435	2253	0	0	0	0	0	0	26.64	26.12	25.64
1713	1.03	169.2	2968	799	2425	2247	73.5	11.9	267	1721	0.08	2.17	0.00	0.000	3206	0.131	0.032	2989	2203	2335	2425	2246	0	0	0	0	0	0	26.22	26.36	26.32
1907	1.03	169.2	2988	2203	2420	2245	51.2	11.2	304	1915	0.00	2.20	0.00	0.000	260	0.000	0.047	2980	3608	2332	2419	2245	0	0	0	0	0	0	26.77	26.48	26.83
1927	1.03	169.2	2979	3608	2417	2245	48.6	12.6	307	1935	0.00	2.12	0.00	0.000	1030	0.000	0.027	2989	2198	2331	2417	2245	0	0	0	0	0	0	26.60	26.56	26.61
2127	1.04	175.4	2987	2194	2417	2245	27.8	9.5	344	2135	0.00	2.12	0.00	0.000	548	0.000	0.037	2998	798	2331	2417	2245	0	0	0	0	0	0	26.89	26.61	26.94
2296	1.04	178.6	2998	798	2417	2246	9.9	9.7	376	2304	0.00	2.15	0.00	0.000	1062	0.000	0.034	2991	2206	2331	2417	2245	0	0	0	0	0	0	26.74	26.70	26.76
2381	end climb: SURFACE_DEPTH_REACHED
state	2381	begin surface coast
2398	end surface coast: CONTROL_FINISHED_OK
state	2399	begin surface