Glider dive log

Shilshole 19Aug21 * SG204 * Dive index * Mission links * Dive 5 * 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 6 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 5 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 41 ALTIM_PING_DELTA 0

N_DIVES 5 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 38 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 550 ROLL_ADJ_GAIN 0 XPDR_VALID 4

D_TGT 150 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 180 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 50 CAPMAXSIZE 200000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 65 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 55318 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00030337134

MASS_COMP 0 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -172.02156 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 0.0035000001 ROLL_DEG 40 ALTIM_PING_FIT 0 CP_STARTS 8.0

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 5 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 550

ALTIM_PING_DELTA 0 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 D_TGT 150 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 50

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 0.00014064999 T_MISSION 65

COMPASS2_DEVICE -1 HEAPDBG 0 PRESSURE_YINT -172.02156 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 8.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -6

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 3.0 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 55318 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 41 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 38 XPDR_INHIBIT 90

DIVE 5 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 180 MISSION 6 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 190821,202811,4742.5796,-12225.5039,2,0.6,3,15.2,0.3,202.6,12,5.3 SPEED_LIMITS 0.173,0.247

_CALLS 2 TGT_NAME SW

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.37 MHEAD_RNG_PITCHd_Wd 19.7,1050,-18.7,-10.000,-22.01,2232

_SM_ANGLEo -61.6 D_GRID 187

GPS2 190821,203340,4742.5522,-12225.5166,3,0.6,4,15.2,0.3,240.2,12,7.4

Post-dive calculations and measurements:

FINISH 0.6,1.022110 _24V_AH 24.96,2.217

SM_CCo 3091,456.60,0.448,0,0,806,550.21 _10V_AH 10.35,2.274

SM_GC 0.40,7.57,2.22,456.60,0.060,0.028,0.448,175,2210,806,-7.60,-0.99,550.21,0,0,0,0,0,0,26.10,26.03,25.03 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4742.34,-12136.24,190821,202859 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.192493 MEM 182772

HUMID 52.83 DATA_FILE_SIZE 23571,480

INTERNAL_PRESSURE 8.92357 CAP_FILE_SIZE 75334,0

TCM_TEMP 18.50 CFSIZE 260030464,250920960

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

CP_FREE 127607308288.000000 CURRENT 0.197,208.65,1

CP_POWER 141.740000 GPS 190821,213433,4742.493,-12225.568,3,1.1,5,15.2,0.1,0.0,8,7.7

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 335 148.37 SBE_CT 297 63 472.35

Roll_motor 34 52 44.44 WL_blue_red_Chl 958 38 913.48

VBD_pump_during_apogee 489 556 6800.26 nil 0 0 0.00

VBD_pump_during_surface 456 447 5100.32 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 2888 25 1802.11

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 1049 12 132.69

LPSleep 448 2 10.16

TT8_Active 928 12 124.67

TT8_Sampling 1062 38 422.75

TT8_CF8 164 42 73.24

TT8_Kalman 0 0 0.00

Analog_circuits 1440 11 164.06

GPS_charging 0 0 0.00

Compass 1106 7 85.78

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 22 begin dive

24 -0.77 -146.6 188 2197 945 662 0.0 0.0 0 144 0.00 0.00 -117.50 0.007 16386 0.000 0.000 188 2198 3595 3578 3613 0 0 0 0 0 0 26.58 28.83 26.64

147 -0.77 -146.6 188 2198 3578 3613 3.7 -7.0 17 164 8.40 2.17 -1.05 0.063 18980 0.216 0.049 2400 772 3650 3641 3659 0 0 0 0 0 0 26.25 25.22 26.38

375 -0.73 -146.6 2399 772 3650 3652 47.5 -17.2 60 383 0.08 2.17 0.00 0.000 3206 0.163 0.035 2413 2199 3650 3650 3651 0 0 0 0 0 0 26.41 26.63 26.51

568 -0.70 -146.6 2413 2199 3652 3649 73.5 -12.5 97 575 0.03 0.00 0.00 0.000 2182 0.336 0.000 2423 2199 3650 3652 3649 0 0 0 0 0 0 26.41 26.64 26.58

763 -0.67 -146.6 2423 2199 3652 3649 98.1 -12.8 134 771 0.00 2.15 0.00 0.000 388 0.000 0.049 2415 3598 3650 3652 3649 0 0 0 0 0 0 26.84 26.67 26.90

800 -0.66 -146.6 2414 3598 3653 3648 102.7 -10.8 140 804 0.10 2.05 0.00 0.000 3206 0.222 0.027 2443 2165 3650 3653 3648 0 0 0 0 0 0 26.44 26.76 26.64

1112 -0.66 -146.6 2442 2161 3653 3647 143.7 -13.1 172 1116 0.00 1.98 0.00 0.000 516 0.000 0.039 2453 822 3650 3653 3647 0 0 0 0 0 0 26.89 26.73 26.94

1147 -0.69 -146.6 2453 821 3653 3647 148.2 -11.2 179 1154 0.00 2.10 0.00 0.000 1158 0.000 0.037 2445 2201 3650 3653 3647 0 0 0 0 0 0 26.79 26.76 26.82

1173 end dive: TARGET_DEPTH_EXCEEDED

state 1173 begin apogee

1177 -0.17 0.0 2444 2201 3653 3646 151.0 -10.8 182 1346 0.50 0.00 163.57 0.556 10246 0.158 0.000 2597 2202 3046 3104 2988 0 0 0 0 0 0 26.52 25.49 25.06

1351 end apogee: CONTROL_FINISHED_OK

state 1351 begin climb

1353 0.77 146.6 2597 2202 3093 2977 156.9 0.0 199 1534 0.98 2.17 169.65 0.528 10756 0.118 0.033 2914 827 2440 2541 2339 0 0 0 0 0 0 25.56 25.25 24.96

1569 0.74 146.6 2913 827 2524 2330 143.0 11.3 239 1573 0.00 2.15 0.00 0.000 1158 0.000 0.037 2906 2205 2426 2523 2330 0 0 0 0 0 0 25.81 25.75 25.83

1882 0.71 146.6 2906 2205 2517 2328 111.5 10.1 271 1886 0.00 2.17 0.00 0.000 388 0.000 0.052 2895 3611 2422 2517 2327 0 0 0 0 0 0 26.46 26.32 26.53

1938 0.67 146.6 2894 3611 2511 2327 105.2 11.4 281 1942 0.00 2.05 0.00 0.000 1158 0.000 0.029 2904 2218 2419 2511 2327 0 0 0 0 0 0 26.48 26.44 26.51

2262 0.65 146.6 2903 2212 2512 2327 71.7 11.7 337 2269 0.00 2.17 0.00 0.000 644 0.000 0.043 2915 795 2420 2512 2328 0 0 0 0 0 0 26.69 26.55 26.74

2298 0.63 146.6 2914 795 2512 2328 67.2 12.2 343 2306 0.05 2.17 0.00 0.000 5254 0.181 0.036 2892 2213 2419 2512 2327 0 0 0 0 0 0 26.39 26.59 26.48

2499 0.68 208.1 2892 2213 2512 2327 49.0 7.2 380 2572 0.00 2.17 65.28 0.514 8612 0.000 0.047 2882 3607 2190 2298 2083 0 0 0 0 0 0 26.77 25.84 25.54

2734 0.68 217.2 2881 3608 2267 2073 26.1 9.6 421 2742 0.00 2.12 0.00 0.000 1062 0.000 0.028 2890 2203 2170 2267 2073 0 0 0 0 0 0 26.39 26.37 26.41

2927 0.77 285.3 2890 2201 2267 2071 12.5 6.9 458 3025 0.00 2.17 91.38 0.480 8868 0.000 0.037 2900 793 1876 1999 1754 0 0 0 0 0 0 26.59 25.58 25.32

3056 end climb: SURFACE_DEPTH_REACHED

state 3056 begin surface coast

3071 end surface coast: CONTROL_FINISHED_OK

state 3071 begin surface

ID	204	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	5	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	41	ALTIM_PING_DELTA	0
N_DIVES	5	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	38	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	550	ROLL_ADJ_GAIN	0	XPDR_VALID	4
D_TGT	150	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	180	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	50	CAPMAXSIZE	200000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	65	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	55318	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00030337134
MASS_COMP	0	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-172.02156	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	0.0035000001	ROLL_DEG	40	ALTIM_PING_FIT	0	CP_STARTS	8.0
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	190821,202811,4742.5796,-12225.5039,2,0.6,3,15.2,0.3,202.6,12,5.3	SPEED_LIMITS	0.173,0.247
_CALLS	2	TGT_NAME	SW
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.37	MHEAD_RNG_PITCHd_Wd	19.7,1050,-18.7,-10.000,-22.01,2232
_SM_ANGLEo	-61.6	D_GRID	187
GPS2	190821,203340,4742.5522,-12225.5166,3,0.6,4,15.2,0.3,240.2,12,7.4

FINISH	0.6,1.022110	_24V_AH	24.96,2.217
SM_CCo	3091,456.60,0.448,0,0,806,550.21	_10V_AH	10.35,2.274
SM_GC	0.40,7.57,2.22,456.60,0.060,0.028,0.448,175,2210,806,-7.60,-0.99,550.21,0,0,0,0,0,0,26.10,26.03,25.03	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4742.34,-12136.24,190821,202859	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.192493	MEM	182772
HUMID	52.83	DATA_FILE_SIZE	23571,480
INTERNAL_PRESSURE	8.92357	CAP_FILE_SIZE	75334,0
TCM_TEMP	18.50	CFSIZE	260030464,250920960
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
CP_FREE	127607308288.000000	CURRENT	0.197,208.65,1
CP_POWER	141.740000	GPS	190821,213433,4742.493,-12225.568,3,1.1,5,15.2,0.1,0.0,8,7.7
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	335	148.37	SBE_CT	297	63	472.35
Roll_motor	34	52	44.44	WL_blue_red_Chl	958	38	913.48
VBD_pump_during_apogee	489	556	6800.26	nil	0	0	0.00
VBD_pump_during_surface	456	447	5100.32	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	2888	25	1802.11
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	1049	12	132.69
LPSleep	448	2	10.16
TT8_Active	928	12	124.67
TT8_Sampling	1062	38	422.75
TT8_CF8	164	42	73.24
TT8_Kalman	0	0	0.00
Analog_circuits	1440	11	164.06
GPS_charging	0	0	0.00
Compass	1106	7	85.78
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	22	begin dive
24	-0.77	-146.6	188	2197	945	662	0.0	0.0	0	144	0.00	0.00	-117.50	0.007	16386	0.000	0.000	188	2198	3595	3578	3613	0	0	0	0	0	0	26.58	28.83	26.64
147	-0.77	-146.6	188	2198	3578	3613	3.7	-7.0	17	164	8.40	2.17	-1.05	0.063	18980	0.216	0.049	2400	772	3650	3641	3659	0	0	0	0	0	0	26.25	25.22	26.38
375	-0.73	-146.6	2399	772	3650	3652	47.5	-17.2	60	383	0.08	2.17	0.00	0.000	3206	0.163	0.035	2413	2199	3650	3650	3651	0	0	0	0	0	0	26.41	26.63	26.51
568	-0.70	-146.6	2413	2199	3652	3649	73.5	-12.5	97	575	0.03	0.00	0.00	0.000	2182	0.336	0.000	2423	2199	3650	3652	3649	0	0	0	0	0	0	26.41	26.64	26.58
763	-0.67	-146.6	2423	2199	3652	3649	98.1	-12.8	134	771	0.00	2.15	0.00	0.000	388	0.000	0.049	2415	3598	3650	3652	3649	0	0	0	0	0	0	26.84	26.67	26.90
800	-0.66	-146.6	2414	3598	3653	3648	102.7	-10.8	140	804	0.10	2.05	0.00	0.000	3206	0.222	0.027	2443	2165	3650	3653	3648	0	0	0	0	0	0	26.44	26.76	26.64
1112	-0.66	-146.6	2442	2161	3653	3647	143.7	-13.1	172	1116	0.00	1.98	0.00	0.000	516	0.000	0.039	2453	822	3650	3653	3647	0	0	0	0	0	0	26.89	26.73	26.94
1147	-0.69	-146.6	2453	821	3653	3647	148.2	-11.2	179	1154	0.00	2.10	0.00	0.000	1158	0.000	0.037	2445	2201	3650	3653	3647	0	0	0	0	0	0	26.79	26.76	26.82
1173	end dive: TARGET_DEPTH_EXCEEDED
state	1173	begin apogee
1177	-0.17	0.0	2444	2201	3653	3646	151.0	-10.8	182	1346	0.50	0.00	163.57	0.556	10246	0.158	0.000	2597	2202	3046	3104	2988	0	0	0	0	0	0	26.52	25.49	25.06
1351	end apogee: CONTROL_FINISHED_OK
state	1351	begin climb
1353	0.77	146.6	2597	2202	3093	2977	156.9	0.0	199	1534	0.98	2.17	169.65	0.528	10756	0.118	0.033	2914	827	2440	2541	2339	0	0	0	0	0	0	25.56	25.25	24.96
1569	0.74	146.6	2913	827	2524	2330	143.0	11.3	239	1573	0.00	2.15	0.00	0.000	1158	0.000	0.037	2906	2205	2426	2523	2330	0	0	0	0	0	0	25.81	25.75	25.83
1882	0.71	146.6	2906	2205	2517	2328	111.5	10.1	271	1886	0.00	2.17	0.00	0.000	388	0.000	0.052	2895	3611	2422	2517	2327	0	0	0	0	0	0	26.46	26.32	26.53
1938	0.67	146.6	2894	3611	2511	2327	105.2	11.4	281	1942	0.00	2.05	0.00	0.000	1158	0.000	0.029	2904	2218	2419	2511	2327	0	0	0	0	0	0	26.48	26.44	26.51
2262	0.65	146.6	2903	2212	2512	2327	71.7	11.7	337	2269	0.00	2.17	0.00	0.000	644	0.000	0.043	2915	795	2420	2512	2328	0	0	0	0	0	0	26.69	26.55	26.74
2298	0.63	146.6	2914	795	2512	2328	67.2	12.2	343	2306	0.05	2.17	0.00	0.000	5254	0.181	0.036	2892	2213	2419	2512	2327	0	0	0	0	0	0	26.39	26.59	26.48
2499	0.68	208.1	2892	2213	2512	2327	49.0	7.2	380	2572	0.00	2.17	65.28	0.514	8612	0.000	0.047	2882	3607	2190	2298	2083	0	0	0	0	0	0	26.77	25.84	25.54
2734	0.68	217.2	2881	3608	2267	2073	26.1	9.6	421	2742	0.00	2.12	0.00	0.000	1062	0.000	0.028	2890	2203	2170	2267	2073	0	0	0	0	0	0	26.39	26.37	26.41
2927	0.77	285.3	2890	2201	2267	2071	12.5	6.9	458	3025	0.00	2.17	91.38	0.480	8868	0.000	0.037	2900	793	1876	1999	1754	0	0	0	0	0	0	26.59	25.58	25.32
3056	end climb: SURFACE_DEPTH_REACHED
state	3056	begin surface coast
3071	end surface coast: CONTROL_FINISHED_OK
state	3071	begin surface