Glider dive log

Shilshole 21Feb20 * SG219 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.25

MISSION 12 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 2 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 4

N_DIVES 2 SM_CC 643.12 VBD_MAX 3960 DEVICE1 -1

STOP_T 0 N_FILEKB 8 C_VBD 3000 DEVICE2 -1

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

D_FLARE 3 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE4 -1

D_TGT 90 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_ABORT 135 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_NO_BLEED 50 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0013 LOGGERS 3

D_BOOST 3 NOCOMM_ACTION 161 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE1 53

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE2 147

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 131

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE4 -1

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 COMPASS_DEVICE 97

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 COMPASS2_DEVICE 150

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 PHONE_DEVICE 49

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 GPS_DEVICE 64

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 RAFOS_DEVICE -1

T_DIVE 30 N_GPS 100440 LOITER_D_TOP 0 XPDR_DEVICE 24

T_MISSION 45 T_RSLEEP 2 LOITER_D_BOTTOM 0 SIM_W 0

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 SEABIRD_T_G 0.0044368538

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 SEABIRD_T_H 0.0006575333

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 SEABIRD_T_I 2.7761149e-05

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_J 3.5137082e-06

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_C_G -10.037535

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_C_H 1.1079766

USE_BATHY -6 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_I -0.0022889124

USE_ICE 0 C_PITCH 1800 MINV_10V 10 SEABIRD_C_J 0.00024077215

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.2 SC_PROFILE 3.0

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_XMITPROFILE 3.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_GAIN 35 PHONE_SUPPLY -2 ES_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_TIMEOUT 18 PRESSURE_YINT -148.23886 ES_PROFILE 3.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.00010781933 ES_XMITPROFILE 0.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_UPLOADMAX 100000.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_STARTS 2.0

RHO 1.023 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_NDIVE 1.0

MASS 55176 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_DL_HEADERSKIP 105044.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_DL_RECORDLENGTH 10086.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_NRECORD 100.0

FERRY_MAX 45 C_ROLL_DIVE 2038 ALTIM_TOP_MIN_OBSTACLE 1 ES_DL_RECORDCOUNT 3.0

KALMAN_USE 2 C_ROLL_CLIMB 2038 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 2000.0

HD_A 0.003 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10 CP_PROFILE 0.0

HD_B 0.0099999998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_XMITPROFILE 0.0

HD_C 1.6100001e-05 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_UPLOADMAX 0.0

HEADING -1 R_PORT_OVSHOOT 60 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 26 XPDR_VALID 6 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 1 D_PITCH 0 MISSION 12 SEABIRD_C_G -10.037535

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1079766

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0022889124

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 90 NOCOMM_ACTION 161 SEABIRD_C_J 0.00024077215

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 2 SEABIRD_T_G 0.0044368538

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.0006575333

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.7761149e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 1 SEABIRD_T_J 3.5137082e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 3 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 643.12

ALTIM_TOP_MIN_OBSTACLE 1 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0.015 STROBE 0

APOGEE_PITCH -5 ES_STARTS 2.0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

CALL_NDIVES 1 ES_UPLOADMAX 100000.0 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 ES_XMITPROFILE 0.0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FERRY_MAX 45 PITCH_GAIN 35 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FG_AHR_10V 0 PITCH_MAX 3914 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 2 FILEMGR 0 PITCH_MIN 250 T_ABORT 1440

COMM_SEQ 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 T_BOOST 0

COMPASS2_DEVICE 150 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0013 T_DIVE 30

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 4 HD_A 0.003 PITCH_W_GAIN 0 T_GPS 10

COURSE_BIAS 0 HD_B 0.0099999998 PRESSURE_SLOPE 0.00010781933 T_LOITER 0

CP_NDIVE 1.0 HD_C 1.6100001e-05 PRESSURE_YINT -148.23886 T_MISSION 45

CP_PROFILE 0.0 HEADING -1 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 2

CP_STARTS 0.0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_TURN 225

CP_UPLOADMAX 0.0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

CP_XMITPROFILE 0.0 ID 219 RAFOS_DEVICE -1 T_WATCHDOG 10

C_PITCH 1800 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2038 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2038 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

C_VBD 3000 LOGGERDEVICE1 53 RELAUNCH 1 USE_ICE 0

DBDW 0 LOGGERDEVICE2 147 RHO 1.023 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 131 ROLL_ADJ_DBAND 0 VBD_CNV -0.25119999

DEVICE1 -1 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE2 -1 LOGGERS 3 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE3 -1 LOITER_DBDW 0 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE4 -1 LOITER_D_BOTTOM 0 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE5 -1 LOITER_D_TOP 0 ROLL_MAX 3825 VBD_MIN 500

DEVICE6 -1 LOITER_N_DIVE 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 2 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 135 MASS 55176 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 3 MASS_COMP 0 R_PORT_OVSHOOT 60 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 26 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 150 SC_PROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 MINV_10V 10 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0

Pre-dive calculations and measurements:

GPS1 210220,174711,4744.3179,-12223.7100,1,0.7,3,15.4,0.2,0.0,12,9.4 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 0.40 MHEAD_RNG_PITCHd_Wd 185.4,2259,-17.6,-10.000,-21.21,2209

_SM_ANGLEo -48.7 D_GRID 166

GPS2 210220,175137,4744.3315,-12223.6729,3,0.9,5,15.4,0.2,0.0,12,5.4

Post-dive calculations and measurements:

FINISH -0.2,1.019459 _10V_AH 13.71,0.000

SM_CCo 2316,5.75,0.144,0,0,500,628.50 FG_AHR_24Vo 0.000

SM_GC 0.43,5.32,2.62,5.75,0.078,0.061,0.144,236,2047,500,-4.80,-0.31,628.50,0,0,0,0,0,0,14.61,14.54,14.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.33,-12219.67,210220,174356 MEM 298584

TT8_MAMPS 0.023219,0.723534 DATA_FILE_SIZE 10099,327

HUMID 40.70 CAP_FILE_SIZE 58016,0

INTERNAL_PRESSURE 8.27572 CFSIZE 1024409600,1022820352

TCM_TEMP 15.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 61 CURRENT 0.092,12.27,1

SC_FREEKB 3909280 GPS 210220,183309,4744.390,-12223.710,3,0.9,20,15.4,0.1,0.0,12,3.0

_24V_AH 13.48,5.037

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 364 65.18 nil 0 0 0.00

Roll_motor 24 117 39.46 nil 0 0 0.00

VBD_pump_during_apogee 270 1304 4751.18 nil 0 0 0.00

VBD_pump_during_surface 339 983 4493.47 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 1839 25 636.23

Iridium_during_xfer 0 0 0.00 echo 1972 10 265.83

Transponder_ping 15 420 86.34 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 8 2.06

TT8 733 12 121.82

LPSleep 218 2 6.58

TT8_Active 716 11 111.56

TT8_Sampling 716 30 295.70

TT8_CF8 85 45 53.03

TT8_Kalman 0 0 0.00

Analog_circuits 1033 15 221.10

GPS_charging 0 0 0.00

Compass 518 2 15.99

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -0.69 -146.6 239 2057 456 544 0.0 0.0 0 185 0.00 0.00 -150.65 0.004 16386 0.000 0.000 240 2058 3446 3439 3454 0 0 0 0 0 0 14.84 28.83 14.88

189 -0.69 -146.6 240 2058 3440 3454 4.2 -9.5 25 205 5.82 2.53 -3.58 0.027 18692 0.365 0.118 1560 3443 3585 3562 3609 0 0 0 0 0 0 14.48 13.72 14.72

356 -0.48 -146.6 1559 3444 3562 3609 39.7 -18.9 56 364 0.32 2.30 0.00 0.000 3206 0.263 0.051 1638 2059 3585 3560 3610 0 0 0 0 0 0 14.52 14.64 14.69

551 -0.46 -146.6 1637 2049 3560 3612 63.1 -11.3 93 559 0.00 2.50 0.00 0.000 388 0.000 0.111 1629 3438 3585 3559 3612 0 0 0 0 0 0 14.83 14.62 14.86

696 -0.41 -146.6 1629 3438 3559 3612 80.9 -12.0 120 704 0.15 2.33 0.00 0.000 3206 0.243 0.044 1663 2030 3585 3558 3612 0 0 0 0 0 0 14.54 14.65 14.70

794 end dive: TARGET_DEPTH_EXCEEDED

state 794 begin apogee

802 -0.14 0.0 1664 2021 3558 3612 90.3 -8.6 139 917 0.28 0.00 106.88 1.304 10246 0.211 0.000 1744 2021 3000 2984 3017 0 0 0 0 0 0 14.57 14.21 13.69

965 end apogee: CONTROL_FINISHED_OK

state 965 begin climb

969 0.69 146.6 1744 2021 2979 3014 96.2 0.0 158 1089 0.90 2.53 108.07 1.249 10756 0.165 0.049 2024 637 2421 2405 2437 0 0 0 0 0 0 14.37 14.16 13.66

1147 0.69 146.6 2023 637 2393 2433 82.1 12.1 186 1154 0.00 2.62 0.00 0.000 1030 0.000 0.076 2024 2037 2411 2390 2433 0 0 0 0 0 0 14.45 14.35 14.47

1340 0.61 146.6 2024 2037 2383 2433 59.3 11.9 223 1347 0.00 2.55 0.00 0.000 388 0.000 0.106 2023 3456 2408 2382 2434 0 0 0 0 0 0 14.72 14.52 14.76

1578 0.49 146.6 2024 3456 2382 2428 24.5 14.0 269 1586 0.30 2.35 0.00 0.000 5254 0.257 0.043 1956 2032 2404 2380 2428 0 0 0 0 0 0 14.52 14.65 14.69

1774 0.64 222.5 1960 2023 2381 2422 8.8 6.5 306 1837 0.15 2.53 55.28 1.164 10916 0.120 0.047 2033 629 2112 2095 2130 0 0 0 0 0 0 14.70 14.37 13.88

1868 end climb: SURFACE_DEPTH_REACHED

state 1871 begin surface coast

1897 end surface coast: CONTROL_FINISHED_OK

state 1897 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.25
MISSION	12	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	2	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	4
N_DIVES	2	SM_CC	643.12	VBD_MAX	3960	DEVICE1	-1
STOP_T	0	N_FILEKB	8	C_VBD	3000	DEVICE2	-1
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
D_FLARE	3	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE4	-1
D_TGT	90	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_ABORT	135	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_NO_BLEED	50	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0013	LOGGERS	3
D_BOOST	3	NOCOMM_ACTION	161	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE1	53
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE2	147
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	131
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE4	-1
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	COMPASS_DEVICE	97
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	COMPASS2_DEVICE	150
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	PHONE_DEVICE	49
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	GPS_DEVICE	64
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	RAFOS_DEVICE	-1
T_DIVE	30	N_GPS	100440	LOITER_D_TOP	0	XPDR_DEVICE	24
T_MISSION	45	T_RSLEEP	2	LOITER_D_BOTTOM	0	SIM_W	0
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	SEABIRD_T_G	0.0044368538
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	SEABIRD_T_H	0.0006575333
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	SEABIRD_T_I	2.7761149e-05
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_J	3.5137082e-06
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_C_G	-10.037535
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_C_H	1.1079766
USE_BATHY	-6	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_I	-0.0022889124
USE_ICE	0	C_PITCH	1800	MINV_10V	10	SEABIRD_C_J	0.00024077215
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.2	SC_PROFILE	3.0
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_XMITPROFILE	3.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_GAIN	35	PHONE_SUPPLY	-2	ES_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.23886	ES_PROFILE	3.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.00010781933	ES_XMITPROFILE	0.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_UPLOADMAX	100000.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_STARTS	2.0
RHO	1.023	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_NDIVE	1.0
MASS	55176	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_DL_HEADERSKIP	105044.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_DL_RECORDLENGTH	10086.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_NRECORD	100.0
FERRY_MAX	45	C_ROLL_DIVE	2038	ALTIM_TOP_MIN_OBSTACLE	1	ES_DL_RECORDCOUNT	3.0
KALMAN_USE	2	C_ROLL_CLIMB	2038	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	2000.0
HD_A	0.003	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10	CP_PROFILE	0.0
HD_B	0.0099999998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_XMITPROFILE	0.0
HD_C	1.6100001e-05	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_UPLOADMAX	0.0
HEADING	-1	R_PORT_OVSHOOT	60	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	26	XPDR_VALID	6	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003

GPS1	210220,174711,4744.3179,-12223.7100,1,0.7,3,15.4,0.2,0.0,12,9.4	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	0.40	MHEAD_RNG_PITCHd_Wd	185.4,2259,-17.6,-10.000,-21.21,2209
_SM_ANGLEo	-48.7	D_GRID	166
GPS2	210220,175137,4744.3315,-12223.6729,3,0.9,5,15.4,0.2,0.0,12,5.4

FINISH	-0.2,1.019459	_10V_AH	13.71,0.000
SM_CCo	2316,5.75,0.144,0,0,500,628.50	FG_AHR_24Vo	0.000
SM_GC	0.43,5.32,2.62,5.75,0.078,0.061,0.144,236,2047,500,-4.80,-0.31,628.50,0,0,0,0,0,0,14.61,14.54,14.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.33,-12219.67,210220,174356	MEM	298584
TT8_MAMPS	0.023219,0.723534	DATA_FILE_SIZE	10099,327
HUMID	40.70	CAP_FILE_SIZE	58016,0
INTERNAL_PRESSURE	8.27572	CFSIZE	1024409600,1022820352
TCM_TEMP	15.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	61	CURRENT	0.092,12.27,1
SC_FREEKB	3909280	GPS	210220,183309,4744.390,-12223.710,3,0.9,20,15.4,0.1,0.0,12,3.0
_24V_AH	13.48,5.037

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	364	65.18	nil	0	0	0.00
Roll_motor	24	117	39.46	nil	0	0	0.00
VBD_pump_during_apogee	270	1304	4751.18	nil	0	0	0.00
VBD_pump_during_surface	339	983	4493.47	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	1839	25	636.23
Iridium_during_xfer	0	0	0.00	echo	1972	10	265.83
Transponder_ping	15	420	86.34	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	8	2.06
TT8	733	12	121.82
LPSleep	218	2	6.58
TT8_Active	716	11	111.56
TT8_Sampling	716	30	295.70
TT8_CF8	85	45	53.03
TT8_Kalman	0	0	0.00
Analog_circuits	1033	15	221.10
GPS_charging	0	0	0.00
Compass	518	2	15.99
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-0.69	-146.6	239	2057	456	544	0.0	0.0	0	185	0.00	0.00	-150.65	0.004	16386	0.000	0.000	240	2058	3446	3439	3454	0	0	0	0	0	0	14.84	28.83	14.88
189	-0.69	-146.6	240	2058	3440	3454	4.2	-9.5	25	205	5.82	2.53	-3.58	0.027	18692	0.365	0.118	1560	3443	3585	3562	3609	0	0	0	0	0	0	14.48	13.72	14.72
356	-0.48	-146.6	1559	3444	3562	3609	39.7	-18.9	56	364	0.32	2.30	0.00	0.000	3206	0.263	0.051	1638	2059	3585	3560	3610	0	0	0	0	0	0	14.52	14.64	14.69
551	-0.46	-146.6	1637	2049	3560	3612	63.1	-11.3	93	559	0.00	2.50	0.00	0.000	388	0.000	0.111	1629	3438	3585	3559	3612	0	0	0	0	0	0	14.83	14.62	14.86
696	-0.41	-146.6	1629	3438	3559	3612	80.9	-12.0	120	704	0.15	2.33	0.00	0.000	3206	0.243	0.044	1663	2030	3585	3558	3612	0	0	0	0	0	0	14.54	14.65	14.70
794	end dive: TARGET_DEPTH_EXCEEDED
state	794	begin apogee
802	-0.14	0.0	1664	2021	3558	3612	90.3	-8.6	139	917	0.28	0.00	106.88	1.304	10246	0.211	0.000	1744	2021	3000	2984	3017	0	0	0	0	0	0	14.57	14.21	13.69
965	end apogee: CONTROL_FINISHED_OK
state	965	begin climb
969	0.69	146.6	1744	2021	2979	3014	96.2	0.0	158	1089	0.90	2.53	108.07	1.249	10756	0.165	0.049	2024	637	2421	2405	2437	0	0	0	0	0	0	14.37	14.16	13.66
1147	0.69	146.6	2023	637	2393	2433	82.1	12.1	186	1154	0.00	2.62	0.00	0.000	1030	0.000	0.076	2024	2037	2411	2390	2433	0	0	0	0	0	0	14.45	14.35	14.47
1340	0.61	146.6	2024	2037	2383	2433	59.3	11.9	223	1347	0.00	2.55	0.00	0.000	388	0.000	0.106	2023	3456	2408	2382	2434	0	0	0	0	0	0	14.72	14.52	14.76
1578	0.49	146.6	2024	3456	2382	2428	24.5	14.0	269	1586	0.30	2.35	0.00	0.000	5254	0.257	0.043	1956	2032	2404	2380	2428	0	0	0	0	0	0	14.52	14.65	14.69
1774	0.64	222.5	1960	2023	2381	2422	8.8	6.5	306	1837	0.15	2.53	55.28	1.164	10916	0.120	0.047	2033	629	2112	2095	2130	0	0	0	0	0	0	14.70	14.37	13.88
1868	end climb: SURFACE_DEPTH_REACHED
state	1871	begin surface coast
1897	end surface coast: CONTROL_FINISHED_OK
state	1897	begin surface