Glider dive log

WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 76 * 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 170

DIVE 76 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 48 ALTIM_PING_DELTA 10

N_DIVES 0 TGT_DEFAULT_LAT 57.182999 R_STBD_OVSHOOT 40 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 1000 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 2700 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 0.0012000001 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 0.5 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 800 LOGGERDEVICE4 -1

T_LOITER 7200 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 80 COMPASS_DEVICE 97

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 90 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 2600 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 120 P_OVSHOOT 0.079999998 MINV_10V 9.5 SEABIRD_T_I 2.5179608e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 1.5 SEABIRD_T_J 2.8304141e-06

GLIDE_SLOPE 30 PITCH_GAIN 28 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 PRESSURE_YINT -171.54095 CP_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014064999 CP_PROFILE 7.0

FERRY_MAX 45 ROLL_MIN 236 AD7714Ch0Gain 32 CP_XMITPROFILE 7.0

KALMAN_USE 2 ROLL_MAX 3704 COMPASS_USE 4 CP_UPLOADMAX 100000.0

HD_A 0.0019952599 ROLL_DEG 20 ALTIM_PING_FIT 0 CP_STARTS 138.0

HD_B 0.0099999998 C_ROLL_DIVE 2000 ALTIM_TOP_PING_RANGE 0 CP_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1800 ALTIM_BOTTOM_TURN_MARGIN 20

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 20 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 10 D_SURF 2 PHONE_DEVICE 49 SPEED_FACTOR 1

ALTIM_PING_DEPTH 170 D_TGT 120 PHONE_SUPPLY -2 STOP_T 0

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_PULSE 2 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 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 28 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 0.0012000001 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 7200

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 7.0 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 138.0 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 USE_BATHY -10

CP_UPLOADMAX 100000.0 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

CP_XMITPROFILE 7.0 LOGGERDEVICE4 -1 RELAUNCH 1 VBD_BLEED_AD_RATE 8

C_PITCH 2600 LOGGERS 1 RHO 1.0275 VBD_CNV -0.24529999

C_ROLL_CLIMB 1800 LOITER_DBDW 800 ROLL_ADJ_DBAND 0 VBD_DBAND 4

C_ROLL_DIVE 2000 LOITER_D_BOTTOM 90 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

C_VBD 2700 LOITER_D_TOP 80 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 0.5 ROLL_DEG 20 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 1.5 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DEVICE5 -1 MAX_BUOY 120 R_PORT_OVSHOOT 48 XPDR_DEVICE 24

DEVICE6 -1 MINV_10V 9.5 R_STBD_OVSHOOT 40 XPDR_INHIBIT 90

DIVE 76 MINV_24V 16 SEABIRD_C_G -10.191285 XPDR_INT 0

D_ABORT 1000 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 060921,001645,4750.5093,-12509.0430,8,1.4,20,15.7,0.2,0.0,8,10.0 SPEED_LIMITS 0.173,0.234

_CALLS 1 TGT_NAME NW_SLOPE

_XMS_NAKs 0 TGT_LATLONG 4751.690,-12511.250

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 0.48 MHEAD_RNG_PITCHd_Wd 298.8,3530,-18.1,-10.000,-23.17,1779

_SM_ANGLEo -63.5 D_GRID 206

GPS2 060921,002209,4750.5142,-12509.0137,5,1.4,11,15.7,0.2,0.0,8,10.0

Post-dive calculations and measurements:

FINISH -0.2,1.025173 _24V_AH 24.51,15.254

SM_CCo 2681,0.00,0.000,0,0,549,527.64 _10V_AH 10.27,8.641

SM_GC 0.53,7.50,1.40,0.00,0.051,0.030,0.000,194,1997,549,-7.39,-1.58,527.64,0,0,0,0,0,0,26.03,25.99,25.44 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4752.57,-12511.36,050921,230038 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,0.145306 MEM 211172

HUMID 52.52 DATA_FILE_SIZE 20218,426

INTERNAL_PRESSURE 8.73803 CAP_FILE_SIZE 56813,0

TCM_TEMP 15.50 CFSIZE 260030464,244465664

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

CP_FREE 117321007104.000000 CURRENT 0.043,141.11,1

CP_POWER 328.200000 GPS 060921,010902,4750.567,-12509.121,30,0.7,31,15.7,0.5,289.6,11,4.5

CP_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 234 101.60 SBE_CT 258 64 408.58

Roll_motor 16 127 53.15 WL_blue_red_Chl 828 37 760.31

VBD_pump_during_apogee 452 783 8683.27 nil 0 0 0.00

VBD_pump_during_surface 174 621 2658.53 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 2300 25 1409.33

Iridium_during_xfer 201 97 484.50 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 11 2.82

TT8 926 12 116.28

LPSleep 148 2 3.34

TT8_Active 619 12 77.73

TT8_Sampling 1163 37 450.20

TT8_CF8 188 42 82.96

TT8_Kalman 0 0 0.00

Analog_circuits 1294 11 146.23

GPS_charging 0 0 0.00

Compass 973 8 82.40

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -0.79 -116.8 175 1997 689 411 0.0 0.0 0 134 0.00 0.00 -105.68 0.010 16386 0.000 0.000 175 1998 3079 3066 3092 0 0 0 0 0 0 26.08 28.83 26.16

136 -0.79 -116.8 175 1999 3068 3092 4.4 -9.1 15 153 8.30 1.10 -1.92 0.039 18724 0.216 0.128 2323 2724 3179 3180 3178 0 0 0 0 0 0 25.82 24.89 26.00

386 -0.79 -116.8 2322 2725 3191 3172 49.1 -15.6 62 393 0.00 1.08 0.00 0.000 1030 0.000 0.031 2326 1980 3181 3191 3171 0 0 0 0 0 0 26.41 26.39 26.41

524 -0.79 -116.8 2325 1980 3194 3170 69.2 -13.4 87 532 0.00 0.98 0.00 0.000 516 0.000 0.041 2331 1321 3182 3194 3170 0 0 0 0 0 0 26.44 26.36 26.48

610 -0.79 -116.8 2331 1320 3195 3170 79.2 -10.7 103 617 0.00 1.02 0.00 0.000 1030 0.000 0.036 2329 2007 3182 3195 3169 0 0 0 0 0 0 26.48 26.45 26.51

743 -0.79 -116.8 2328 2007 3195 3169 91.1 -9.7 128 751 0.00 0.00 0.00 0.000 38 0.000 0.000 2329 2007 3181 3195 3168 0 0 0 0 0 0 26.58 26.65 26.64

876 -0.79 -116.8 2327 2007 3195 3168 104.7 -10.7 149 879 0.00 1.02 0.00 0.000 516 0.000 0.047 2331 1320 3182 3196 3168 0 0 0 0 0 0 26.60 26.51 26.66

1027 end dive: TARGET_DEPTH_EXCEEDED

state 1027 begin apogee

1032 -0.18 0.0 2329 1813 3196 3167 120.2 -9.0 178 1131 0.65 0.00 90.82 0.783 10246 0.164 0.000 2521 1815 2699 2757 2641 0 0 0 0 1 0 26.21 25.25 24.51

1135 end apogee: CONTROL_FINISHED_OK

state 1135 begin climb

1137 0.79 116.8 2521 1815 2759 2645 123.1 0.0 188 1333 1.00 1.08 188.70 0.485 10500 0.110 0.037 2832 2486 2221 2348 2094 0 0 0 0 0 0 25.34 25.22 24.79

1401 0.81 131.7 2832 2487 2315 2054 100.8 9.1 236 1412 0.00 1.02 2.80 0.399 9254 0.000 0.037 2836 1812 2164 2300 2029 0 0 0 0 0 0 25.72 25.69 24.85

1539 0.81 131.7 2836 1811 2311 2033 86.6 10.7 262 1546 0.00 1.10 0.00 0.000 516 0.000 0.045 2842 1102 2172 2311 2033 0 0 0 0 0 0 26.05 25.97 26.10

1630 0.81 132.7 2841 1102 2311 2032 77.4 9.9 278 1637 0.00 1.05 0.00 0.000 1062 0.000 0.035 2838 1793 2172 2311 2033 0 0 0 0 0 0 26.15 26.13 26.17

1767 0.84 159.4 2838 1794 2310 2033 65.2 8.5 303 1824 0.00 1.10 50.97 0.503 8484 0.000 0.049 2833 2495 2044 2185 1903 0 0 0 0 0 0 26.33 25.70 25.21

1868 0.86 174.1 2832 2495 2157 1874 55.9 9.1 319 1877 0.05 1.05 3.25 0.451 11302 0.177 0.036 2851 1793 1988 2133 1844 0 0 0 0 0 0 25.76 25.94 25.00

2003 0.89 199.6 2851 1793 2147 1849 43.4 8.5 344 2054 0.05 1.12 47.15 0.498 10532 0.235 0.042 2860 2492 1887 2034 1740 0 0 0 0 0 0 26.03 25.66 25.18

2180 0.89 199.6 2860 2495 1994 1706 25.6 11.9 375 2187 0.00 1.02 0.00 0.000 1030 0.000 0.039 2863 1812 1850 1994 1706 0 0 0 0 0 0 26.10 26.07 26.12

2317 0.94 248.0 2863 1812 1990 1705 13.1 7.2 400 2396 0.10 1.10 68.55 0.481 10788 0.140 0.044 2897 1105 1675 1822 1528 0 0 0 0 0 0 26.12 25.63 25.13

2454 end climb: SURFACE_DEPTH_REACHED

state 2454 begin surface coast

2476 end surface coast: CONTROL_FINISHED_OK

state 2476 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	170
DIVE	76	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	48	ALTIM_PING_DELTA	10
N_DIVES	0	TGT_DEFAULT_LAT	57.182999	R_STBD_OVSHOOT	40	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	1000	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	2700	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	0.0012000001	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	0.5	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	800	LOGGERDEVICE4	-1
T_LOITER	7200	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	80	COMPASS_DEVICE	97
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	90	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	2600	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	120	P_OVSHOOT	0.079999998	MINV_10V	9.5	SEABIRD_T_I	2.5179608e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	1.5	SEABIRD_T_J	2.8304141e-06
GLIDE_SLOPE	30	PITCH_GAIN	28	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	PRESSURE_YINT	-171.54095	CP_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014064999	CP_PROFILE	7.0
FERRY_MAX	45	ROLL_MIN	236	AD7714Ch0Gain	32	CP_XMITPROFILE	7.0
KALMAN_USE	2	ROLL_MAX	3704	COMPASS_USE	4	CP_UPLOADMAX	100000.0
HD_A	0.0019952599	ROLL_DEG	20	ALTIM_PING_FIT	0	CP_STARTS	138.0
HD_B	0.0099999998	C_ROLL_DIVE	2000	ALTIM_TOP_PING_RANGE	0	CP_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1800	ALTIM_BOTTOM_TURN_MARGIN	20
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	060921,001645,4750.5093,-12509.0430,8,1.4,20,15.7,0.2,0.0,8,10.0	SPEED_LIMITS	0.173,0.234
_CALLS	1	TGT_NAME	NW_SLOPE
_XMS_NAKs	0	TGT_LATLONG	4751.690,-12511.250
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	0.48	MHEAD_RNG_PITCHd_Wd	298.8,3530,-18.1,-10.000,-23.17,1779
_SM_ANGLEo	-63.5	D_GRID	206
GPS2	060921,002209,4750.5142,-12509.0137,5,1.4,11,15.7,0.2,0.0,8,10.0

FINISH	-0.2,1.025173	_24V_AH	24.51,15.254
SM_CCo	2681,0.00,0.000,0,0,549,527.64	_10V_AH	10.27,8.641
SM_GC	0.53,7.50,1.40,0.00,0.051,0.030,0.000,194,1997,549,-7.39,-1.58,527.64,0,0,0,0,0,0,26.03,25.99,25.44	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4752.57,-12511.36,050921,230038	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,0.145306	MEM	211172
HUMID	52.52	DATA_FILE_SIZE	20218,426
INTERNAL_PRESSURE	8.73803	CAP_FILE_SIZE	56813,0
TCM_TEMP	15.50	CFSIZE	260030464,244465664
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
CP_FREE	117321007104.000000	CURRENT	0.043,141.11,1
CP_POWER	328.200000	GPS	060921,010902,4750.567,-12509.121,30,0.7,31,15.7,0.5,289.6,11,4.5
CP_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	234	101.60	SBE_CT	258	64	408.58
Roll_motor	16	127	53.15	WL_blue_red_Chl	828	37	760.31
VBD_pump_during_apogee	452	783	8683.27	nil	0	0	0.00
VBD_pump_during_surface	174	621	2658.53	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	2300	25	1409.33
Iridium_during_xfer	201	97	484.50	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	11	2.82
TT8	926	12	116.28
LPSleep	148	2	3.34
TT8_Active	619	12	77.73
TT8_Sampling	1163	37	450.20
TT8_CF8	188	42	82.96
TT8_Kalman	0	0	0.00
Analog_circuits	1294	11	146.23
GPS_charging	0	0	0.00
Compass	973	8	82.40
RAFOS	0	0	0.00
Transponder	1	5	0.05

		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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-0.79	-116.8	175	1997	689	411	0.0	0.0	0	134	0.00	0.00	-105.68	0.010	16386	0.000	0.000	175	1998	3079	3066	3092	0	0	0	0	0	0	26.08	28.83	26.16
136	-0.79	-116.8	175	1999	3068	3092	4.4	-9.1	15	153	8.30	1.10	-1.92	0.039	18724	0.216	0.128	2323	2724	3179	3180	3178	0	0	0	0	0	0	25.82	24.89	26.00
386	-0.79	-116.8	2322	2725	3191	3172	49.1	-15.6	62	393	0.00	1.08	0.00	0.000	1030	0.000	0.031	2326	1980	3181	3191	3171	0	0	0	0	0	0	26.41	26.39	26.41
524	-0.79	-116.8	2325	1980	3194	3170	69.2	-13.4	87	532	0.00	0.98	0.00	0.000	516	0.000	0.041	2331	1321	3182	3194	3170	0	0	0	0	0	0	26.44	26.36	26.48
610	-0.79	-116.8	2331	1320	3195	3170	79.2	-10.7	103	617	0.00	1.02	0.00	0.000	1030	0.000	0.036	2329	2007	3182	3195	3169	0	0	0	0	0	0	26.48	26.45	26.51
743	-0.79	-116.8	2328	2007	3195	3169	91.1	-9.7	128	751	0.00	0.00	0.00	0.000	38	0.000	0.000	2329	2007	3181	3195	3168	0	0	0	0	0	0	26.58	26.65	26.64
876	-0.79	-116.8	2327	2007	3195	3168	104.7	-10.7	149	879	0.00	1.02	0.00	0.000	516	0.000	0.047	2331	1320	3182	3196	3168	0	0	0	0	0	0	26.60	26.51	26.66
1027	end dive: TARGET_DEPTH_EXCEEDED
state	1027	begin apogee
1032	-0.18	0.0	2329	1813	3196	3167	120.2	-9.0	178	1131	0.65	0.00	90.82	0.783	10246	0.164	0.000	2521	1815	2699	2757	2641	0	0	0	0	1	0	26.21	25.25	24.51
1135	end apogee: CONTROL_FINISHED_OK
state	1135	begin climb
1137	0.79	116.8	2521	1815	2759	2645	123.1	0.0	188	1333	1.00	1.08	188.70	0.485	10500	0.110	0.037	2832	2486	2221	2348	2094	0	0	0	0	0	0	25.34	25.22	24.79
1401	0.81	131.7	2832	2487	2315	2054	100.8	9.1	236	1412	0.00	1.02	2.80	0.399	9254	0.000	0.037	2836	1812	2164	2300	2029	0	0	0	0	0	0	25.72	25.69	24.85
1539	0.81	131.7	2836	1811	2311	2033	86.6	10.7	262	1546	0.00	1.10	0.00	0.000	516	0.000	0.045	2842	1102	2172	2311	2033	0	0	0	0	0	0	26.05	25.97	26.10
1630	0.81	132.7	2841	1102	2311	2032	77.4	9.9	278	1637	0.00	1.05	0.00	0.000	1062	0.000	0.035	2838	1793	2172	2311	2033	0	0	0	0	0	0	26.15	26.13	26.17
1767	0.84	159.4	2838	1794	2310	2033	65.2	8.5	303	1824	0.00	1.10	50.97	0.503	8484	0.000	0.049	2833	2495	2044	2185	1903	0	0	0	0	0	0	26.33	25.70	25.21
1868	0.86	174.1	2832	2495	2157	1874	55.9	9.1	319	1877	0.05	1.05	3.25	0.451	11302	0.177	0.036	2851	1793	1988	2133	1844	0	0	0	0	0	0	25.76	25.94	25.00
2003	0.89	199.6	2851	1793	2147	1849	43.4	8.5	344	2054	0.05	1.12	47.15	0.498	10532	0.235	0.042	2860	2492	1887	2034	1740	0	0	0	0	0	0	26.03	25.66	25.18
2180	0.89	199.6	2860	2495	1994	1706	25.6	11.9	375	2187	0.00	1.02	0.00	0.000	1030	0.000	0.039	2863	1812	1850	1994	1706	0	0	0	0	0	0	26.10	26.07	26.12
2317	0.94	248.0	2863	1812	1990	1705	13.1	7.2	400	2396	0.10	1.10	68.55	0.481	10788	0.140	0.044	2897	1105	1675	1822	1528	0	0	0	0	0	0	26.12	25.63	25.13
2454	end climb: SURFACE_DEPTH_REACHED
state	2454	begin surface coast
2476	end surface coast: CONTROL_FINISHED_OK
state	2476	begin surface