Glider dive log

Shilshole 10Aug18 * SG227 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_CLIMB 2700 ALTIM_TOP_PING_RANGE 0

MISSION 8 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 20

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 56 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 20

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 468.33499 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 175 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2500 INT_PRESSURE_YINT 1

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 65 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.07 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 100 PITCH_MIN 160 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3830 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2300 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044193882

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00064798427

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6719992e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.3115991e-06

SPEED_FACTOR 1 PITCH_GAIN 40 MAXI_24V 0.60000002 SEABIRD_C_G -9.8059483

RHO 1.023 PITCH_TIMEOUT 17 MAXI_10V 1.4 SEABIRD_C_H 1.1280893

MASS 72061 PITCH_AD_RATE 145 FG_AHR_10V 0 SEABIRD_C_I -0.003824637

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00035372932

NAV_MODE 0 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -154.48907 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 310 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.0037 ROLL_MAX 3940 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.013 ROLL_DEG 80 COMPASS_USE 4

HD_C 3.1e-06 C_ROLL_DIVE 2250 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044193882

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00064798427

AH0_24V 575 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6719992e-05

ALTIM_BOTTOM_TURN_MARGIN 20 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.3115991e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 SIM_W 0

ALTIM_PING_DELTA 20 FG_AHR_10V 0 PITCH_AD_RATE 145 SM_CC 468.33499

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3830 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0037 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.013 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 3.1e-06 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.07 PRESSURE_YINT -154.48907 T_DIVE 50

CAPUPLOAD 0 ID 227 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2300 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2700 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2250 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 60

C_VBD 2500 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72061 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3940 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 310 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 2 MINV_10V 11 R_PORT_OVSHOOT 56 VBD_MIN 550

D_ABORT 175 MINV_24V 11 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 8 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 540

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 3 SEABIRD_C_G -9.8059483 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1280893 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.003824637

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00035372932

Pre-dive calculations and measurements:

GPS1 100818,173615,4743.5796,-12224.7070,2,1.1,4,15.7,0.1,0.0,7,9.0 SPEED_LIMITS 0.173,0.233

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 232.7,408,-27.1,-10.000,-30.00,1241

_SM_ANGLEo -64.8 D_GRID 175

GPS2 100818,174011,4743.5811,-12224.6953,4,1.1,5,15.7,0.1,0.0,7,6.0

Post-dive calculations and measurements:

FINISH 0.2,1.021935 _24V_AH 13.88,1.636

SM_CCo 2277,114.88,0.198,0,0,588,468.52 _10V_AH 13.99,0.000

SM_GC 1.13,7.30,1.08,114.88,0.076,0.033,0.198,159,2267,588,-6.65,3.06,468.52,0,0,0,0,0,0,14.97,15.04,14.86 FG_AHR_24Vo 0.000

RAFOS_CLK 42 FG_AHR_10Vo 0.000

MODEM 0,1533920402,47.00000,-122.50000,2.132,3186.7 MEM 301888

RAFOS_FIX 4743.470703,-12225.241211,100818,181853,0,1,0.32 DATA_FILE_SIZE 10128,285

IRIDIUM_FIX 4744.48,-12222.38,100818,173157 CAP_FILE_SIZE 50703,0

TT8_MAMPS 0.072653,0.587965 CFSIZE 1047117824,1042350080

HUMID 52.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.88706 SOUNDSPEED 1493.8

TCM_TEMP 20.20 GPS 100818,182125,4743.442,-12224.993,3,1.5,4,15.7,0.2,0.0,6,7.2

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 425 110.10 nil 0 0 0.00

Roll_motor 50 81 57.63 nil 0 0 0.00

VBD_pump_during_apogee 255 1803 6404.02 nil 0 0 0.00

VBD_pump_during_surface 114 198 315.92 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 2248 43 1357.86

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 14 20 4.25

TT8 0 0 0.00

LPSleep 1307 2 42.26

TT8_Active 449 11 73.65

TT8_Sampling 664 30 283.20

TT8_CF8 61 43 37.64

TT8_Kalman 0 0 0.00

Analog_circuits 760 10 106.43

GPS_charging 0 0 0.00

Compass 416 5 29.14

RAFOS 2215 33 1022.60

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.92 -81.0 148 2248 672 492 0.0 0.0 0 122 0.00 0.00 -108.80 0.002 16390 0.000 0.000 148 2249 2833 2826 2841 0 0 0 0 0 0 15.23 14.12 15.24

125 -1.12 -146.6 148 2249 2826 2836 2.9 -2.2 11 144 8.50 0.00 -7.55 0.013 18982 0.425 0.000 1933 2247 3099 3096 3103 0 0 0 0 0 0 14.82 14.12 15.10

322 -1.10 -146.6 1933 2247 3098 3103 41.4 -17.5 32 323 0.00 0.00 0.00 0.000 134 0.000 0.000 1933 2247 3100 3097 3103 0 0 0 0 0 0 15.23 15.26 15.26

501 -1.09 -146.6 1932 2247 3098 3103 74.8 -18.4 50 506 0.00 4.57 0.00 0.000 644 0.000 0.053 1953 592 3100 3097 3103 0 0 0 0 0 0 15.27 15.04 15.29

591 -1.09 -146.6 1954 592 3098 3103 90.1 -16.5 68 597 0.00 4.57 0.00 0.000 1030 0.000 0.045 1935 2254 3100 3097 3103 0 0 0 0 0 0 15.10 15.03 15.11

783 -1.08 -146.6 1935 2256 3099 3103 124.9 -19.6 88 789 0.00 4.78 0.00 0.000 388 0.000 0.080 1912 3938 3100 3098 3103 0 0 0 0 0 0 15.27 15.04 15.28

854 -1.03 -146.6 1912 3938 3099 3103 141.5 -26.8 102 860 0.15 4.47 0.00 0.000 3206 0.316 0.033 1961 2265 3100 3098 3103 0 0 0 0 0 0 14.92 15.12 15.14

893 end dive: TARGET_DEPTH_EXCEEDED

state 893 begin apogee

899 -0.12 0.0 1959 2709 3098 3103 151.3 -23.3 107 1026 1.10 0.00 117.72 1.804 10246 0.282 0.000 2252 2710 2500 2606 2395 0 0 0 0 0 0 14.90 14.65 14.00

1027 end apogee: CONTROL_FINISHED_OK

state 1027 begin climb

1029 1.12 146.6 2253 2710 2606 2396 157.7 0.0 120 1166 1.33 3.65 124.97 1.770 10500 0.168 0.081 2644 3932 1901 2050 1752 0 0 0 0 0 0 14.60 14.41 13.88

1216 1.08 146.6 2644 3931 2047 1752 138.7 17.3 154 1221 0.00 3.38 0.00 0.000 1158 0.000 0.029 2657 2674 1899 2046 1752 0 0 0 0 0 0 14.78 14.74 14.79

1407 1.08 146.6 2659 2664 2044 1750 111.1 13.3 174 1412 0.00 3.67 0.00 0.000 260 0.000 0.080 2646 3940 1896 2043 1750 0 0 0 0 0 0 15.06 14.88 15.08

1572 1.05 146.6 2646 3941 2040 1750 81.3 18.9 207 1578 0.00 3.28 0.00 0.000 1158 0.000 0.029 2660 2691 1894 2039 1750 0 0 0 0 0 0 15.03 15.00 15.04

1757 1.05 146.6 2660 2690 2039 1751 55.1 14.0 226 1768 0.00 4.55 0.00 0.000 516 0.000 0.045 2681 1039 1893 2037 1750 0 0 0 0 0 0 15.15 14.95 15.17

1773 1.06 146.6 2682 1040 2038 1751 53.0 13.4 229 1781 0.15 4.68 0.00 0.000 5254 0.294 0.052 2645 2706 1893 2036 1750 0 0 0 0 0 0 14.85 14.95 15.02

1960 1.07 147.3 2645 2706 2037 1751 33.2 9.9 248 1961 0.00 0.00 0.00 0.000 166 0.000 0.000 2645 2706 1893 2037 1750 0 0 0 0 0 0 15.16 15.19 15.20

2138 1.18 179.9 2645 2706 2038 1751 15.1 7.3 266 2161 0.12 3.53 13.07 0.974 10660 0.151 0.082 2680 3937 1766 1912 1620 0 0 0 0 0 0 14.98 14.96 14.55

2207 1.15 179.9 2680 3938 1909 1620 7.3 13.9 279 2213 0.00 3.25 0.00 0.000 1158 0.000 0.030 2694 2691 1764 1909 1619 0 0 0 0 0 0 15.07 15.02 15.07

2249 end climb: SURFACE_DEPTH_REACHED

state 2249 begin surface coast

2259 end surface coast: CONTROL_FINISHED_OK

state 2259 begin surface

ID	227	HEADING	-1	C_ROLL_CLIMB	2700	ALTIM_TOP_PING_RANGE	0
MISSION	8	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	20
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	56	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	20
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	468.33499	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	175	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2500	INT_PRESSURE_YINT	1
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	65	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.07	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	100	PITCH_MIN	160	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3830	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2300	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044193882
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00064798427
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6719992e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.3115991e-06
SPEED_FACTOR	1	PITCH_GAIN	40	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8059483
RHO	1.023	PITCH_TIMEOUT	17	MAXI_10V	1.4	SEABIRD_C_H	1.1280893
MASS	72061	PITCH_AD_RATE	145	FG_AHR_10V	0	SEABIRD_C_I	-0.003824637
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00035372932
NAV_MODE	0	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-154.48907	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	310	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.0037	ROLL_MAX	3940	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.013	ROLL_DEG	80	COMPASS_USE	4
HD_C	3.1e-06	C_ROLL_DIVE	2250	ALTIM_PING_FIT	0

GPS1	100818,173615,4743.5796,-12224.7070,2,1.1,4,15.7,0.1,0.0,7,9.0	SPEED_LIMITS	0.173,0.233
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	232.7,408,-27.1,-10.000,-30.00,1241
_SM_ANGLEo	-64.8	D_GRID	175
GPS2	100818,174011,4743.5811,-12224.6953,4,1.1,5,15.7,0.1,0.0,7,6.0

FINISH	0.2,1.021935	_24V_AH	13.88,1.636
SM_CCo	2277,114.88,0.198,0,0,588,468.52	_10V_AH	13.99,0.000
SM_GC	1.13,7.30,1.08,114.88,0.076,0.033,0.198,159,2267,588,-6.65,3.06,468.52,0,0,0,0,0,0,14.97,15.04,14.86	FG_AHR_24Vo	0.000
RAFOS_CLK	42	FG_AHR_10Vo	0.000
MODEM	0,1533920402,47.00000,-122.50000,2.132,3186.7	MEM	301888
RAFOS_FIX	4743.470703,-12225.241211,100818,181853,0,1,0.32	DATA_FILE_SIZE	10128,285
IRIDIUM_FIX	4744.48,-12222.38,100818,173157	CAP_FILE_SIZE	50703,0
TT8_MAMPS	0.072653,0.587965	CFSIZE	1047117824,1042350080
HUMID	52.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.88706	SOUNDSPEED	1493.8
TCM_TEMP	20.20	GPS	100818,182125,4743.442,-12224.993,3,1.5,4,15.7,0.2,0.0,6,7.2
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	425	110.10	nil	0	0	0.00
Roll_motor	50	81	57.63	nil	0	0	0.00
VBD_pump_during_apogee	255	1803	6404.02	nil	0	0	0.00
VBD_pump_during_surface	114	198	315.92	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	2248	43	1357.86
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	14	20	4.25
TT8	0	0	0.00
LPSleep	1307	2	42.26
TT8_Active	449	11	73.65
TT8_Sampling	664	30	283.20
TT8_CF8	61	43	37.64
TT8_Kalman	0	0	0.00
Analog_circuits	760	10	106.43
GPS_charging	0	0	0.00
Compass	416	5	29.14
RAFOS	2215	33	1022.60
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.92	-81.0	148	2248	672	492	0.0	0.0	0	122	0.00	0.00	-108.80	0.002	16390	0.000	0.000	148	2249	2833	2826	2841	0	0	0	0	0	0	15.23	14.12	15.24
125	-1.12	-146.6	148	2249	2826	2836	2.9	-2.2	11	144	8.50	0.00	-7.55	0.013	18982	0.425	0.000	1933	2247	3099	3096	3103	0	0	0	0	0	0	14.82	14.12	15.10
322	-1.10	-146.6	1933	2247	3098	3103	41.4	-17.5	32	323	0.00	0.00	0.00	0.000	134	0.000	0.000	1933	2247	3100	3097	3103	0	0	0	0	0	0	15.23	15.26	15.26
501	-1.09	-146.6	1932	2247	3098	3103	74.8	-18.4	50	506	0.00	4.57	0.00	0.000	644	0.000	0.053	1953	592	3100	3097	3103	0	0	0	0	0	0	15.27	15.04	15.29
591	-1.09	-146.6	1954	592	3098	3103	90.1	-16.5	68	597	0.00	4.57	0.00	0.000	1030	0.000	0.045	1935	2254	3100	3097	3103	0	0	0	0	0	0	15.10	15.03	15.11
783	-1.08	-146.6	1935	2256	3099	3103	124.9	-19.6	88	789	0.00	4.78	0.00	0.000	388	0.000	0.080	1912	3938	3100	3098	3103	0	0	0	0	0	0	15.27	15.04	15.28
854	-1.03	-146.6	1912	3938	3099	3103	141.5	-26.8	102	860	0.15	4.47	0.00	0.000	3206	0.316	0.033	1961	2265	3100	3098	3103	0	0	0	0	0	0	14.92	15.12	15.14
893	end dive: TARGET_DEPTH_EXCEEDED
state	893	begin apogee
899	-0.12	0.0	1959	2709	3098	3103	151.3	-23.3	107	1026	1.10	0.00	117.72	1.804	10246	0.282	0.000	2252	2710	2500	2606	2395	0	0	0	0	0	0	14.90	14.65	14.00
1027	end apogee: CONTROL_FINISHED_OK
state	1027	begin climb
1029	1.12	146.6	2253	2710	2606	2396	157.7	0.0	120	1166	1.33	3.65	124.97	1.770	10500	0.168	0.081	2644	3932	1901	2050	1752	0	0	0	0	0	0	14.60	14.41	13.88
1216	1.08	146.6	2644	3931	2047	1752	138.7	17.3	154	1221	0.00	3.38	0.00	0.000	1158	0.000	0.029	2657	2674	1899	2046	1752	0	0	0	0	0	0	14.78	14.74	14.79
1407	1.08	146.6	2659	2664	2044	1750	111.1	13.3	174	1412	0.00	3.67	0.00	0.000	260	0.000	0.080	2646	3940	1896	2043	1750	0	0	0	0	0	0	15.06	14.88	15.08
1572	1.05	146.6	2646	3941	2040	1750	81.3	18.9	207	1578	0.00	3.28	0.00	0.000	1158	0.000	0.029	2660	2691	1894	2039	1750	0	0	0	0	0	0	15.03	15.00	15.04
1757	1.05	146.6	2660	2690	2039	1751	55.1	14.0	226	1768	0.00	4.55	0.00	0.000	516	0.000	0.045	2681	1039	1893	2037	1750	0	0	0	0	0	0	15.15	14.95	15.17
1773	1.06	146.6	2682	1040	2038	1751	53.0	13.4	229	1781	0.15	4.68	0.00	0.000	5254	0.294	0.052	2645	2706	1893	2036	1750	0	0	0	0	0	0	14.85	14.95	15.02
1960	1.07	147.3	2645	2706	2037	1751	33.2	9.9	248	1961	0.00	0.00	0.00	0.000	166	0.000	0.000	2645	2706	1893	2037	1750	0	0	0	0	0	0	15.16	15.19	15.20
2138	1.18	179.9	2645	2706	2038	1751	15.1	7.3	266	2161	0.12	3.53	13.07	0.974	10660	0.151	0.082	2680	3937	1766	1912	1620	0	0	0	0	0	0	14.98	14.96	14.55
2207	1.15	179.9	2680	3938	1909	1620	7.3	13.9	279	2213	0.00	3.25	0.00	0.000	1158	0.000	0.030	2694	2691	1764	1909	1619	0	0	0	0	0	0	15.07	15.02	15.07
2249	end climb: SURFACE_DEPTH_REACHED
state	2249	begin surface coast
2259	end surface coast: CONTROL_FINISHED_OK
state	2259	begin surface