Glider dive log

WA coast 30Aug21 * 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 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 4 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 43 ALTIM_PING_DELTA 0

N_DIVES 4 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 75 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 120 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 250 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 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 -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 30 ALTIM_PING_FIT 0 CP_STARTS 6.0

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 4 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 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 0.0019952599 PITCH_TIMEOUT 17 T_DIVE 40

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 55

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 6.0 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 43 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 75 XPDR_INHIBIT 90

DIVE 4 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 250 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 310821,000233,4750.9268,-12510.1982,2,0.9,6,15.7,0.3,165.1,12,6.3 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 0.49 MHEAD_RNG_PITCHd_Wd 18.2,319,-25.8,-10.000,-30.00,968

_SM_ANGLEo -60.3 D_GRID 264

GPS2 310821,000549,4750.8926,-12510.2002,3,0.9,6,15.7,0.5,214.5,12,7.1

Post-dive calculations and measurements:

FINISH -0.4,1.026785 _24V_AH 24.63,4.558

SM_CCo 2650,221.65,0.645,1,0,590,603.44 _10V_AH 10.29,3.409

SM_GC 0.39,7.47,0.30,221.65,0.050,0.049,0.645,193,2073,590,-7.46,-1.16,603.44,0,0,0,0,1,0,26.31,26.29,24.63 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4751.40,-12457.94,310821,000127 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.185003 MEM 212104

HUMID 55.51 DATA_FILE_SIZE 23534,443

INTERNAL_PRESSURE 8.74779 CAP_FILE_SIZE 73180,0

TCM_TEMP 15.30 CFSIZE 260030464,250728448

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

CP_FREE 127396052992.000000 CURRENT 0.131,197.36,1

CP_POWER 316.700000 GPS 310821,005536,4750.889,-12510.158,7,0.8,9,15.7,1.0,138.9,12,6.3

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 210 89.51 SBE_CT 272 64 432.63

Roll_motor 28 74 52.68 WL_blue_red_Chl 868 37 801.42

VBD_pump_during_apogee 389 561 5390.24 nil 0 0 0.00

VBD_pump_during_surface 221 644 3520.64 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 2510 25 1545.53

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 18 11 2.34

TT8 979 12 123.19

LPSleep 224 2 5.06

TT8_Active 639 12 80.44

TT8_Sampling 989 37 383.63

TT8_CF8 152 42 67.20

TT8_Kalman 0 0 0.00

Analog_circuits 1107 11 125.34

GPS_charging 0 0 0.00

Compass 1020 8 86.50

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -0.86 -63.3 190 2095 728 450 0.0 0.0 0 133 0.00 0.00 -105.68 0.010 16386 0.000 0.000 190 2094 3047 3035 3060 0 0 0 0 0 0 26.50 28.83 26.57

135 -0.86 -86.7 190 2095 3037 3060 3.8 -7.5 15 159 7.93 1.65 -7.78 0.023 18980 0.210 0.056 2319 996 3404 3412 3397 0 0 0 0 0 0 26.16 25.82 26.29

294 -0.89 -86.7 2319 996 3417 3396 32.2 -14.1 44 303 0.00 1.55 0.00 0.000 1158 0.000 0.065 2313 2019 3406 3417 3396 0 0 0 0 0 0 26.58 25.99 26.61

428 -0.90 -86.7 2313 2018 3418 3396 53.3 -17.9 69 435 0.00 1.62 0.00 0.000 388 0.000 0.044 2305 3097 3407 3418 3396 0 0 0 0 0 0 26.67 26.55 26.72

464 -0.93 -86.7 2305 3097 3419 3396 59.3 -15.6 75 471 0.00 1.55 0.00 0.000 1158 0.000 0.029 2311 2034 3407 3418 3396 0 0 0 0 0 0 26.64 26.62 26.67

596 -0.95 -86.7 2311 2033 3420 3396 79.0 -15.6 100 604 0.00 1.55 0.00 0.000 644 0.000 0.041 2320 1002 3408 3421 3395 0 0 0 0 0 0 26.71 26.60 26.77

659 -0.99 -86.7 2318 1002 3421 3395 89.7 -16.6 111 666 0.00 1.58 0.00 0.000 1158 0.000 0.037 2313 2052 3408 3421 3395 0 0 0 0 0 0 26.65 26.61 26.67

795 -1.02 -86.7 2313 2052 3421 3395 109.0 -14.5 130 799 0.00 1.55 0.00 0.000 644 0.000 0.041 2319 1000 3408 3421 3395 0 0 0 0 0 0 26.72 26.63 26.77

867 end dive: TARGET_DEPTH_EXCEEDED

state 867 begin apogee

872 -0.17 0.0 2314 1856 3421 3394 120.4 -14.2 144 998 0.75 0.00 115.97 0.562 10246 0.145 0.000 2544 1859 3035 3086 2985 0 0 0 0 0 0 26.32 25.53 25.09

1002 end apogee: CONTROL_FINISHED_OK

state 1003 begin climb

1004 0.86 86.7 2543 1859 3079 2976 126.7 0.0 157 1126 1.05 1.67 112.50 0.531 10500 0.107 0.037 2878 2902 2689 2753 2625 0 0 0 0 0 0 25.62 25.32 24.88

1201 0.86 138.7 2877 2902 2721 2598 126.0 4.5 194 1271 0.00 1.60 65.32 0.547 9254 0.000 0.034 2884 1853 2484 2581 2387 0 0 0 0 0 0 25.84 25.79 24.96

1392 0.88 138.7 2883 1853 2546 2349 110.2 10.1 219 1395 0.00 1.62 0.00 0.000 644 0.000 0.048 2892 798 2447 2546 2349 0 0 0 0 0 0 26.03 25.93 26.10

1448 0.89 138.7 2891 798 2545 2349 103.5 11.4 230 1455 0.00 1.62 0.00 0.000 1158 0.000 0.037 2886 1846 2446 2544 2349 0 0 0 0 0 0 25.68 25.94 25.53

1582 0.91 138.7 2886 1845 2542 2348 88.6 11.5 252 1590 0.00 1.65 0.00 0.000 644 0.000 0.047 2892 805 2445 2542 2348 0 0 0 0 0 0 26.33 26.20 26.39

1725 0.92 140.7 2892 805 2542 2348 73.5 9.8 279 1733 0.00 1.60 0.00 0.000 1190 0.000 0.035 2887 1848 2444 2541 2348 0 0 0 0 0 0 26.39 26.36 26.39

1858 0.94 152.0 2886 1848 2540 2347 62.1 8.8 304 1866 0.08 1.62 0.00 0.000 2724 0.166 0.047 2922 808 2444 2541 2347 0 0 0 0 0 0 26.33 26.36 26.43

2106 0.94 197.9 2921 808 2540 2347 43.9 5.1 350 2196 0.00 1.60 80.22 0.532 9254 0.000 0.034 2916 1856 2233 2345 2121 0 0 0 0 0 0 26.57 26.51 25.25

2323 0.96 203.9 2915 1856 2314 2094 25.5 9.4 387 2331 0.00 1.60 0.00 0.000 420 0.000 0.044 2908 2898 2204 2314 2094 0 0 0 0 0 0 26.17 26.10 26.23

2530 0.98 218.6 2907 2897 2306 2094 5.9 8.4 425 2551 0.00 1.58 15.73 0.542 9382 0.000 0.074 2914 1852 2159 2274 2044 0 0 0 0 0 0 26.33 26.28 25.56

2588 end climb: SURFACE_DEPTH_REACHED

state 2588 begin surface coast

2631 end surface coast: CONTROL_FINISHED_OK

state 2631 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	4	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	43	ALTIM_PING_DELTA	0
N_DIVES	4	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	75	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	120	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	250	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	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	-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	30	ALTIM_PING_FIT	0	CP_STARTS	6.0
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	310821,000233,4750.9268,-12510.1982,2,0.9,6,15.7,0.3,165.1,12,6.3	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	0.49	MHEAD_RNG_PITCHd_Wd	18.2,319,-25.8,-10.000,-30.00,968
_SM_ANGLEo	-60.3	D_GRID	264
GPS2	310821,000549,4750.8926,-12510.2002,3,0.9,6,15.7,0.5,214.5,12,7.1

FINISH	-0.4,1.026785	_24V_AH	24.63,4.558
SM_CCo	2650,221.65,0.645,1,0,590,603.44	_10V_AH	10.29,3.409
SM_GC	0.39,7.47,0.30,221.65,0.050,0.049,0.645,193,2073,590,-7.46,-1.16,603.44,0,0,0,0,1,0,26.31,26.29,24.63	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4751.40,-12457.94,310821,000127	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.185003	MEM	212104
HUMID	55.51	DATA_FILE_SIZE	23534,443
INTERNAL_PRESSURE	8.74779	CAP_FILE_SIZE	73180,0
TCM_TEMP	15.30	CFSIZE	260030464,250728448
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE	127396052992.000000	CURRENT	0.131,197.36,1
CP_POWER	316.700000	GPS	310821,005536,4750.889,-12510.158,7,0.8,9,15.7,1.0,138.9,12,6.3
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	210	89.51	SBE_CT	272	64	432.63
Roll_motor	28	74	52.68	WL_blue_red_Chl	868	37	801.42
VBD_pump_during_apogee	389	561	5390.24	nil	0	0	0.00
VBD_pump_during_surface	221	644	3520.64	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	2510	25	1545.53
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	18	11	2.34
TT8	979	12	123.19
LPSleep	224	2	5.06
TT8_Active	639	12	80.44
TT8_Sampling	989	37	383.63
TT8_CF8	152	42	67.20
TT8_Kalman	0	0	0.00
Analog_circuits	1107	11	125.34
GPS_charging	0	0	0.00
Compass	1020	8	86.50
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-0.86	-63.3	190	2095	728	450	0.0	0.0	0	133	0.00	0.00	-105.68	0.010	16386	0.000	0.000	190	2094	3047	3035	3060	0	0	0	0	0	0	26.50	28.83	26.57
135	-0.86	-86.7	190	2095	3037	3060	3.8	-7.5	15	159	7.93	1.65	-7.78	0.023	18980	0.210	0.056	2319	996	3404	3412	3397	0	0	0	0	0	0	26.16	25.82	26.29
294	-0.89	-86.7	2319	996	3417	3396	32.2	-14.1	44	303	0.00	1.55	0.00	0.000	1158	0.000	0.065	2313	2019	3406	3417	3396	0	0	0	0	0	0	26.58	25.99	26.61
428	-0.90	-86.7	2313	2018	3418	3396	53.3	-17.9	69	435	0.00	1.62	0.00	0.000	388	0.000	0.044	2305	3097	3407	3418	3396	0	0	0	0	0	0	26.67	26.55	26.72
464	-0.93	-86.7	2305	3097	3419	3396	59.3	-15.6	75	471	0.00	1.55	0.00	0.000	1158	0.000	0.029	2311	2034	3407	3418	3396	0	0	0	0	0	0	26.64	26.62	26.67
596	-0.95	-86.7	2311	2033	3420	3396	79.0	-15.6	100	604	0.00	1.55	0.00	0.000	644	0.000	0.041	2320	1002	3408	3421	3395	0	0	0	0	0	0	26.71	26.60	26.77
659	-0.99	-86.7	2318	1002	3421	3395	89.7	-16.6	111	666	0.00	1.58	0.00	0.000	1158	0.000	0.037	2313	2052	3408	3421	3395	0	0	0	0	0	0	26.65	26.61	26.67
795	-1.02	-86.7	2313	2052	3421	3395	109.0	-14.5	130	799	0.00	1.55	0.00	0.000	644	0.000	0.041	2319	1000	3408	3421	3395	0	0	0	0	0	0	26.72	26.63	26.77
867	end dive: TARGET_DEPTH_EXCEEDED
state	867	begin apogee
872	-0.17	0.0	2314	1856	3421	3394	120.4	-14.2	144	998	0.75	0.00	115.97	0.562	10246	0.145	0.000	2544	1859	3035	3086	2985	0	0	0	0	0	0	26.32	25.53	25.09
1002	end apogee: CONTROL_FINISHED_OK
state	1003	begin climb
1004	0.86	86.7	2543	1859	3079	2976	126.7	0.0	157	1126	1.05	1.67	112.50	0.531	10500	0.107	0.037	2878	2902	2689	2753	2625	0	0	0	0	0	0	25.62	25.32	24.88
1201	0.86	138.7	2877	2902	2721	2598	126.0	4.5	194	1271	0.00	1.60	65.32	0.547	9254	0.000	0.034	2884	1853	2484	2581	2387	0	0	0	0	0	0	25.84	25.79	24.96
1392	0.88	138.7	2883	1853	2546	2349	110.2	10.1	219	1395	0.00	1.62	0.00	0.000	644	0.000	0.048	2892	798	2447	2546	2349	0	0	0	0	0	0	26.03	25.93	26.10
1448	0.89	138.7	2891	798	2545	2349	103.5	11.4	230	1455	0.00	1.62	0.00	0.000	1158	0.000	0.037	2886	1846	2446	2544	2349	0	0	0	0	0	0	25.68	25.94	25.53
1582	0.91	138.7	2886	1845	2542	2348	88.6	11.5	252	1590	0.00	1.65	0.00	0.000	644	0.000	0.047	2892	805	2445	2542	2348	0	0	0	0	0	0	26.33	26.20	26.39
1725	0.92	140.7	2892	805	2542	2348	73.5	9.8	279	1733	0.00	1.60	0.00	0.000	1190	0.000	0.035	2887	1848	2444	2541	2348	0	0	0	0	0	0	26.39	26.36	26.39
1858	0.94	152.0	2886	1848	2540	2347	62.1	8.8	304	1866	0.08	1.62	0.00	0.000	2724	0.166	0.047	2922	808	2444	2541	2347	0	0	0	0	0	0	26.33	26.36	26.43
2106	0.94	197.9	2921	808	2540	2347	43.9	5.1	350	2196	0.00	1.60	80.22	0.532	9254	0.000	0.034	2916	1856	2233	2345	2121	0	0	0	0	0	0	26.57	26.51	25.25
2323	0.96	203.9	2915	1856	2314	2094	25.5	9.4	387	2331	0.00	1.60	0.00	0.000	420	0.000	0.044	2908	2898	2204	2314	2094	0	0	0	0	0	0	26.17	26.10	26.23
2530	0.98	218.6	2907	2897	2306	2094	5.9	8.4	425	2551	0.00	1.58	15.73	0.542	9382	0.000	0.074	2914	1852	2159	2274	2044	0	0	0	0	0	0	26.33	26.28	25.56
2588	end climb: SURFACE_DEPTH_REACHED
state	2588	begin surface coast
2631	end surface coast: CONTROL_FINISHED_OK
state	2631	begin surface