Glider dive log

Shilshole 06Jul18 * SG219 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

MISSION 10 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 27 ALTIM_PULSE 3

DIVE 2 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

N_DIVES 2 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 580.32001 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT -0.25

D_TGT 150 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 CALL_NDIVES 1 C_VBD 2850 MOTHERBOARD 4

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 5 PROTOCOL 9 VBD_CNV -0.25119999 DEVICE2 -1

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 3

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 147

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 50 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 67 T_GPS 10 DBDW 0 COMPASS_DEVICE 97

T_ABORT 1440 N_GPS 100440 LOITER_W_DBAND 0 COMPASS2_DEVICE 150

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 SIM_W 0

USE_BATHY -6 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SEABIRD_T_G 0.0043946085

USE_ICE 0 PITCH_MIN 250 CF8_MAXERRORS 2 SEABIRD_T_H 0.00063626852

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3914 AH0_24V 350 SEABIRD_T_I 2.5989737e-05

D_OFFGRID 100 C_PITCH 1900 AH0_10V 0 SEABIRD_T_J 3.1806876e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 11 SEABIRD_C_G -9.6980124

RELAUNCH 1 PITCH_CNV 0.0031300001 MINV_10V 11 SEABIRD_C_H 1.1068786

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I -0.0019018035

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 1 SEABIRD_C_J 0.00022417276

COURSE_BIAS 0 PITCH_GAIN 24 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 18 FG_AHR_24V 0 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -148.76279 SC_NDIVE 1.0

MASS 55439 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.0001078618 ES_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1 ES_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 251 COMPASS_USE 4 ES_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3825 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 ES_STARTS 2.0

HD_A 0.003 C_ROLL_DIVE 2400 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 2300 ALTIM_TOP_TURN_MARGIN 0 ES_LENGTH 20000.0

HD_C 1.6100001e-05 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1 ES_STRIDE 480.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0 ES_COUNT 2.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

AD7714Ch0Gain 1 ESCAPE_HEADING 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1068786

AH0_10V 0 ESCAPE_HEADING_DELTA 10 N_DIVES 2 SEABIRD_C_I -0.0019018035

AH0_24V 350 ES_COUNT 2.0 N_FILEKB 8 SEABIRD_C_J 0.00022417276

ALTIM_BOTTOM_TURN_MARGIN 0 ES_LENGTH 20000.0 N_GPS 100440 SEABIRD_T_G 0.0043946085

ALTIM_FREQUENCY 13 ES_NDIVE 1.0 N_NOCOMM 1 SEABIRD_T_H 0.00063626852

ALTIM_PING_DELTA 10 ES_PROFILE 3.0 N_NOSURFACE 0 SEABIRD_T_I 2.5989737e-05

ALTIM_PING_DEPTH 0 ES_RECORDABOVE 2000.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1806876e-06

ALTIM_PING_FIT 0 ES_STARTS 2.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PULSE 3 ES_STRIDE 480.0 PITCH_ADJ_DBAND 1 SM_CC 580.32001

ALTIM_SENSITIVITY 3 ES_UPLOADMAX 100000.0 PITCH_ADJ_GAIN 0.029999999 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 ES_XMITPROFILE 3.0 PITCH_AD_RATE 175 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FERRY_MAX 45 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 FG_AHR_24V 0 PITCH_GAIN 24 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 FILEMGR 0 PITCH_MAX 3914 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 GLIDE_SLOPE 30 PITCH_MIN 250 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 GPS_DEVICE 64 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HD_A 0.003 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CF8_MAXERRORS 2 HD_B 0.0099999998 PITCH_W_DBAND 0 T_BOOST 0

COMM_SEQ 0 HD_C 1.6100001e-05 PITCH_W_GAIN 0 T_DIVE 50

COMPASS2_DEVICE 150 HEADING -1 PRESSURE_SLOPE 0.0001078618 T_EPIRB 0

COMPASS_DEVICE 97 HEAD_ERRBAND 10 PRESSURE_YINT -148.76279 T_GPS 10

COMPASS_USE 4 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_MISSION 67

C_PITCH 1900 ID 219 P_OVSHOOT_WITHG 0 T_NO_W 120

C_ROLL_CLIMB 2300 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_ROLL_DIVE 2400 INT_PRESSURE_YINT -0.25 RAFOS_DEVICE -1 T_TURN 225

C_VBD 2850 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

DBDW 0 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

DEEPGLIDER 0 LOGGERDEVICE2 147 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

DEVICE1 -1 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE4 -1 RHO 1.023 USE_BATHY -6

DEVICE3 -1 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE4 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE5 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 250 VBD_CNV -0.25119999

DEVICE6 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DIVE 2 LOITER_N_DIVE 0 ROLL_DEG 40 VBD_LP_IGNORE 0

D_ABORT 175 LOITER_W_DBAND 0 ROLL_MAX 3825 VBD_MAX 3960

D_BOOST 5 MASS 55439 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_CALL 0 MASS_COMP 0 ROLL_MIN 251 VBD_MIN 500

D_FINISH 0 MAXI_10V 1 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_FLARE 3 MAXI_24V 0.60000002 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_NO_BLEED 50 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_TIMEOUT 720

D_OFFGRID 100 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_PITCH 0 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 24

D_SAFE 0 MISSION 10 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_SURF 2 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_TGT 150 NAV_MODE 2 SEABIRD_C_G -9.6980124

Pre-dive calculations and measurements:

GPS1 060718,170926,4743.4722,-12224.2900,2,1.4,5,15.7,0.1,0.0,5,10.0 SPEED_LIMITS 0.173,0.258

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.31 MHEAD_RNG_PITCHd_Wd 265.8,885,-17.6,-10.000,-21.21,2209

_SM_ANGLEo -40.8 D_GRID 174

GPS2 060718,171321,4743.4775,-12224.2900,4,1.5,15,15.7,0.1,0.0,4,10.0

Post-dive calculations and measurements:

FINISH -0.4,1.021575 _24V_AH 13.81,1.673

SM_CCo 3041,134.80,0.178,0,0,538,580.52 _10V_AH 13.32,0.000

SM_GC 0.40,5.50,0.17,134.80,0.073,0.111,0.178,220,2410,538,-5.13,-0.71,580.52,0,0,0,0,0,0,14.77,14.75,14.65 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4744.48,-12222.38,060718,170624 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.644889 MEM 301440

HUMID 47.28 DATA_FILE_SIZE 16786,481

INTERNAL_PRESSURE 10.1703 CAP_FILE_SIZE 74990,0

TCM_TEMP 17.80 CFSIZE 1024409600,1019691008

XPDR_PINGS 83 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3909344 INTR 0,2748.92,0x21471c,7,24

ES_FREE 15876653056.000000 CURRENT 0.035,127.24,1

ES_POWER 96.010000 GPS 060718,180808,4743.533,-12224.577,1,1.2,3,15.7,0.1,0.0,7,9.6

ES_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 368 75.62 nil 0 0 0.00

Roll_motor 44 141 87.85 nil 0 0 0.00

VBD_pump_during_apogee 300 1289 5354.23 nil 0 0 0.00

VBD_pump_during_surface 134 178 331.82 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 SciCon 3012 25 1059.03

Iridium_during_xfer 0 0 0.00 echo 3010 10 415.68

Transponder_ping 20 420 120.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 8 2.94

TT8 1138 12 188.90

LPSleep 725 2 21.15

TT8_Active 565 11 88.21

TT8_Sampling 778 30 315.83

TT8_CF8 87 45 52.87

TT8_Kalman 0 0 0.00

Analog_circuits 999 16 213.08

GPS_charging 0 0 0.00

Compass 699 6 62.79

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

15 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -0.91 -146.6 244 2406 605 465 0.0 0.0 0 183 0.00 0.00 -155.43 0.004 16390 0.000 0.000 244 2408 3431 3441 3421 0 0 0 0 0 0 15.07 14.23 15.09

186 -0.91 -146.6 244 2407 3441 3421 4.0 -11.0 26 201 5.82 2.42 0.00 0.000 2564 0.369 0.061 1597 970 3431 3442 3421 0 0 0 0 0 0 14.71 14.90 14.94

286 -0.50 -146.6 1596 968 3443 3420 31.8 -22.7 44 293 0.57 2.47 0.00 0.000 3206 0.273 0.077 1734 2407 3431 3443 3420 0 0 0 0 0 0 14.75 14.83 14.92

478 -0.41 -146.6 1734 2408 3448 3417 56.9 -11.8 81 485 0.12 2.45 0.00 0.000 2436 0.272 0.091 1758 3824 3431 3446 3416 0 0 0 0 0 0 14.76 14.90 14.86

514 -0.50 -146.6 1759 3828 3446 3416 60.9 -10.4 87 522 0.00 2.42 0.00 0.000 1158 0.000 0.065 1759 2390 3431 3446 3416 0 0 0 0 0 0 14.99 14.91 15.01

707 -0.50 -146.6 1758 2391 3446 3415 82.6 -10.6 124 714 0.00 2.38 0.00 0.000 516 0.000 0.073 1758 987 3430 3446 3415 0 0 0 0 0 0 15.09 14.89 15.13

814 -0.62 -146.6 1758 986 3447 3415 92.6 -9.1 144 822 0.15 2.45 0.00 0.000 5286 0.117 0.080 1683 2408 3430 3447 3414 0 0 0 0 0 0 14.94 14.90 15.00

1011 -0.38 -146.6 1683 2409 3446 3413 124.4 -17.5 168 1017 0.32 2.42 0.00 0.000 2692 0.254 0.069 1770 979 3430 3447 3413 0 0 0 0 0 0 14.80 14.91 14.91

1046 -0.50 -146.6 1770 979 3447 3413 129.5 -11.0 174 1052 0.00 2.47 0.00 0.000 1158 0.000 0.084 1762 2406 3430 3447 3413 0 0 0 0 0 0 14.94 14.83 14.95

1267 end dive: TARGET_DEPTH_EXCEEDED

state 1267 begin apogee

1276 -0.21 0.0 1762 2264 3447 3412 150.8 -9.9 197 1384 0.22 0.08 103.18 1.281 10246 0.229 0.142 1825 2312 2849 2900 2798 0 0 0 0 0 0 14.81 14.45 13.95

1389 end apogee: CONTROL_FINISHED_OK

state 1389 begin climb

1392 0.91 146.6 1825 2312 2900 2799 158.8 0.0 208 1507 1.20 2.60 106.28 1.289 10756 0.165 0.080 2194 916 2266 2301 2231 0 0 0 0 0 0 14.43 14.31 13.81

1576 0.44 146.6 2194 915 2298 2228 138.7 20.6 239 1585 0.60 2.45 0.00 0.000 5254 0.279 0.083 2049 2291 2260 2297 2224 0 0 0 0 0 0 14.43 14.57 14.59

1883 0.46 164.7 2049 2292 2297 2215 111.2 9.2 270 1901 0.00 2.58 12.62 1.142 8484 0.000 0.097 2049 3710 2196 2238 2155 0 0 0 0 0 0 14.98 14.70 14.27

1953 0.46 164.7 2049 3711 2236 2146 104.1 10.4 283 1961 0.00 2.42 0.00 0.000 1030 0.000 0.076 2059 2327 2194 2237 2152 0 0 0 0 0 0 14.85 14.77 14.87

2262 0.43 164.7 2058 2327 2236 2148 73.7 11.3 340 2269 0.00 2.50 0.00 0.000 644 0.000 0.086 2070 877 2191 2235 2148 0 0 0 0 0 0 15.02 14.85 15.05

2394 0.43 170.7 2070 877 2235 2148 60.0 9.7 365 2407 0.00 2.50 5.12 0.946 9254 0.000 0.090 2070 2298 2175 2217 2133 0 0 0 0 0 0 14.95 14.86 14.35

2592 0.38 170.7 2070 2298 2216 2126 38.1 10.3 403 2600 0.15 2.50 0.00 0.000 4484 0.243 0.099 2030 3720 2174 2217 2131 0 0 0 0 0 0 14.78 14.85 14.88

2674 0.50 221.0 2029 3721 2217 2126 31.0 7.7 418 2719 0.00 2.47 36.80 1.128 9382 0.000 0.076 2040 2288 1970 2015 1926 0 0 0 0 0 0 14.97 14.88 14.23

2904 0.65 272.3 2038 2288 2015 1916 14.6 7.6 461 2950 0.17 2.45 36.78 1.099 10916 0.129 0.086 2123 894 1765 1811 1719 0 0 0 0 0 0 14.81 14.54 14.17

2988 0.65 272.3 2122 893 1809 1718 4.4 12.6 475 2996 0.00 2.53 0.00 0.000 1030 0.000 0.092 2123 2299 1762 1808 1717 0 0 0 0 0 0 14.73 14.63 14.75

3006 end climb: SURFACE_DEPTH_REACHED

state 3006 begin surface coast

3022 end surface coast: CONTROL_FINISHED_OK

state 3022 begin surface

ID	219	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
MISSION	10	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	27	ALTIM_PULSE	3
DIVE	2	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
N_DIVES	2	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	580.32001	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
D_TGT	150	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	CALL_NDIVES	1	C_VBD	2850	MOTHERBOARD	4
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	5	PROTOCOL	9	VBD_CNV	-0.25119999	DEVICE2	-1
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	3
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	147
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	50	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	67	T_GPS	10	DBDW	0	COMPASS_DEVICE	97
T_ABORT	1440	N_GPS	100440	LOITER_W_DBAND	0	COMPASS2_DEVICE	150
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	SIM_W	0
USE_BATHY	-6	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SEABIRD_T_G	0.0043946085
USE_ICE	0	PITCH_MIN	250	CF8_MAXERRORS	2	SEABIRD_T_H	0.00063626852
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3914	AH0_24V	350	SEABIRD_T_I	2.5989737e-05
D_OFFGRID	100	C_PITCH	1900	AH0_10V	0	SEABIRD_T_J	3.1806876e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	11	SEABIRD_C_G	-9.6980124
RELAUNCH	1	PITCH_CNV	0.0031300001	MINV_10V	11	SEABIRD_C_H	1.1068786
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0019018035
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	1	SEABIRD_C_J	0.00022417276
COURSE_BIAS	0	PITCH_GAIN	24	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	18	FG_AHR_24V	0	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-148.76279	SC_NDIVE	1.0
MASS	55439	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.0001078618	ES_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1	ES_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	251	COMPASS_USE	4	ES_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3825	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	ES_STARTS	2.0
HD_A	0.003	C_ROLL_DIVE	2400	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	2300	ALTIM_TOP_TURN_MARGIN	0	ES_LENGTH	20000.0
HD_C	1.6100001e-05	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1	ES_STRIDE	480.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0	ES_COUNT	2.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10

GPS1	060718,170926,4743.4722,-12224.2900,2,1.4,5,15.7,0.1,0.0,5,10.0	SPEED_LIMITS	0.173,0.258
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.31	MHEAD_RNG_PITCHd_Wd	265.8,885,-17.6,-10.000,-21.21,2209
_SM_ANGLEo	-40.8	D_GRID	174
GPS2	060718,171321,4743.4775,-12224.2900,4,1.5,15,15.7,0.1,0.0,4,10.0

FINISH	-0.4,1.021575	_24V_AH	13.81,1.673
SM_CCo	3041,134.80,0.178,0,0,538,580.52	_10V_AH	13.32,0.000
SM_GC	0.40,5.50,0.17,134.80,0.073,0.111,0.178,220,2410,538,-5.13,-0.71,580.52,0,0,0,0,0,0,14.77,14.75,14.65	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4744.48,-12222.38,060718,170624	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.644889	MEM	301440
HUMID	47.28	DATA_FILE_SIZE	16786,481
INTERNAL_PRESSURE	10.1703	CAP_FILE_SIZE	74990,0
TCM_TEMP	17.80	CFSIZE	1024409600,1019691008
XPDR_PINGS	83	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3909344	INTR	0,2748.92,0x21471c,7,24
ES_FREE	15876653056.000000	CURRENT	0.035,127.24,1
ES_POWER	96.010000	GPS	060718,180808,4743.533,-12224.577,1,1.2,3,15.7,0.1,0.0,7,9.6
ES_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	368	75.62	nil	0	0	0.00
Roll_motor	44	141	87.85	nil	0	0	0.00
VBD_pump_during_apogee	300	1289	5354.23	nil	0	0	0.00
VBD_pump_during_surface	134	178	331.82	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	SciCon	3012	25	1059.03
Iridium_during_xfer	0	0	0.00	echo	3010	10	415.68
Transponder_ping	20	420	120.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	8	2.94
TT8	1138	12	188.90
LPSleep	725	2	21.15
TT8_Active	565	11	88.21
TT8_Sampling	778	30	315.83
TT8_CF8	87	45	52.87
TT8_Kalman	0	0	0.00
Analog_circuits	999	16	213.08
GPS_charging	0	0	0.00
Compass	699	6	62.79
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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
15	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-0.91	-146.6	244	2406	605	465	0.0	0.0	0	183	0.00	0.00	-155.43	0.004	16390	0.000	0.000	244	2408	3431	3441	3421	0	0	0	0	0	0	15.07	14.23	15.09
186	-0.91	-146.6	244	2407	3441	3421	4.0	-11.0	26	201	5.82	2.42	0.00	0.000	2564	0.369	0.061	1597	970	3431	3442	3421	0	0	0	0	0	0	14.71	14.90	14.94
286	-0.50	-146.6	1596	968	3443	3420	31.8	-22.7	44	293	0.57	2.47	0.00	0.000	3206	0.273	0.077	1734	2407	3431	3443	3420	0	0	0	0	0	0	14.75	14.83	14.92
478	-0.41	-146.6	1734	2408	3448	3417	56.9	-11.8	81	485	0.12	2.45	0.00	0.000	2436	0.272	0.091	1758	3824	3431	3446	3416	0	0	0	0	0	0	14.76	14.90	14.86
514	-0.50	-146.6	1759	3828	3446	3416	60.9	-10.4	87	522	0.00	2.42	0.00	0.000	1158	0.000	0.065	1759	2390	3431	3446	3416	0	0	0	0	0	0	14.99	14.91	15.01
707	-0.50	-146.6	1758	2391	3446	3415	82.6	-10.6	124	714	0.00	2.38	0.00	0.000	516	0.000	0.073	1758	987	3430	3446	3415	0	0	0	0	0	0	15.09	14.89	15.13
814	-0.62	-146.6	1758	986	3447	3415	92.6	-9.1	144	822	0.15	2.45	0.00	0.000	5286	0.117	0.080	1683	2408	3430	3447	3414	0	0	0	0	0	0	14.94	14.90	15.00
1011	-0.38	-146.6	1683	2409	3446	3413	124.4	-17.5	168	1017	0.32	2.42	0.00	0.000	2692	0.254	0.069	1770	979	3430	3447	3413	0	0	0	0	0	0	14.80	14.91	14.91
1046	-0.50	-146.6	1770	979	3447	3413	129.5	-11.0	174	1052	0.00	2.47	0.00	0.000	1158	0.000	0.084	1762	2406	3430	3447	3413	0	0	0	0	0	0	14.94	14.83	14.95
1267	end dive: TARGET_DEPTH_EXCEEDED
state	1267	begin apogee
1276	-0.21	0.0	1762	2264	3447	3412	150.8	-9.9	197	1384	0.22	0.08	103.18	1.281	10246	0.229	0.142	1825	2312	2849	2900	2798	0	0	0	0	0	0	14.81	14.45	13.95
1389	end apogee: CONTROL_FINISHED_OK
state	1389	begin climb
1392	0.91	146.6	1825	2312	2900	2799	158.8	0.0	208	1507	1.20	2.60	106.28	1.289	10756	0.165	0.080	2194	916	2266	2301	2231	0	0	0	0	0	0	14.43	14.31	13.81
1576	0.44	146.6	2194	915	2298	2228	138.7	20.6	239	1585	0.60	2.45	0.00	0.000	5254	0.279	0.083	2049	2291	2260	2297	2224	0	0	0	0	0	0	14.43	14.57	14.59
1883	0.46	164.7	2049	2292	2297	2215	111.2	9.2	270	1901	0.00	2.58	12.62	1.142	8484	0.000	0.097	2049	3710	2196	2238	2155	0	0	0	0	0	0	14.98	14.70	14.27
1953	0.46	164.7	2049	3711	2236	2146	104.1	10.4	283	1961	0.00	2.42	0.00	0.000	1030	0.000	0.076	2059	2327	2194	2237	2152	0	0	0	0	0	0	14.85	14.77	14.87
2262	0.43	164.7	2058	2327	2236	2148	73.7	11.3	340	2269	0.00	2.50	0.00	0.000	644	0.000	0.086	2070	877	2191	2235	2148	0	0	0	0	0	0	15.02	14.85	15.05
2394	0.43	170.7	2070	877	2235	2148	60.0	9.7	365	2407	0.00	2.50	5.12	0.946	9254	0.000	0.090	2070	2298	2175	2217	2133	0	0	0	0	0	0	14.95	14.86	14.35
2592	0.38	170.7	2070	2298	2216	2126	38.1	10.3	403	2600	0.15	2.50	0.00	0.000	4484	0.243	0.099	2030	3720	2174	2217	2131	0	0	0	0	0	0	14.78	14.85	14.88
2674	0.50	221.0	2029	3721	2217	2126	31.0	7.7	418	2719	0.00	2.47	36.80	1.128	9382	0.000	0.076	2040	2288	1970	2015	1926	0	0	0	0	0	0	14.97	14.88	14.23
2904	0.65	272.3	2038	2288	2015	1916	14.6	7.6	461	2950	0.17	2.45	36.78	1.099	10916	0.129	0.086	2123	894	1765	1811	1719	0	0	0	0	0	0	14.81	14.54	14.17
2988	0.65	272.3	2122	893	1809	1718	4.4	12.6	475	2996	0.00	2.53	0.00	0.000	1030	0.000	0.092	2123	2299	1762	1808	1717	0	0	0	0	0	0	14.73	14.63	14.75
3006	end climb: SURFACE_DEPTH_REACHED
state	3006	begin surface coast
3022	end surface coast: CONTROL_FINISHED_OK
state	3022	begin surface