Glider dive log

Shilshole 05Aug19 * SG178 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

MISSION 30 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 22 ALTIM_PULSE 1

DIVE 3 TGT_DEFAULT_LAT 47.700001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 4 TGT_DEFAULT_LON -122.4 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 3 SM_CC 627.77997 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 150 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 CALL_NDIVES 1 C_VBD 3000 MOTHERBOARD 4

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 2 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 0 N_NOCOMM 2 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 0.00038000001 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 7

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 83

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 50 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 65 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100740 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 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 0.0043966938

USE_ICE 0 PITCH_MIN 165 CF8_MAXERRORS 20 SEABIRD_T_H 0.00063700025

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3805 AH0_24V 350 SEABIRD_T_I 2.5067597e-05

D_OFFGRID 100 C_PITCH 2120 AH0_10V 0 SEABIRD_T_J 2.9826379e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 12 SEABIRD_C_G -9.7293062

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 11 SEABIRD_C_H 1.1206031

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I 0.00047059715

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 27 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 FG_AHR_24V 0 SC_PROFILE 7.0

SPEED_FACTOR 1 PITCH_AD_RATE 145 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -155.95535 SC_NDIVE 1.0

MASS 53497 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1 PM_PROFILE 7.0

NAV_MODE 2 ROLL_MIN 625 COMPASS_USE 4 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_PING_FIT 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

HD_A 0.0038360001 C_ROLL_DIVE 2600 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 9.8500004e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.029999999 SEABIRD_C_J 5.505409e-05

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 145 SEABIRD_T_G 0.0043966938

AH0_24V 350 FERRY_MAX 45 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063700025

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.5067597e-05

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_GAIN 27 SEABIRD_T_J 2.9826379e-06

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MAX 3805 SIM_W 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SM_CC 627.77997

ALTIM_PING_FIT 0 GLIDE_SLOPE 30 PITCH_MIN 165 SPEED_FACTOR 1

ALTIM_PULSE 1 GPS_DEVICE 64 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_SENSITIVITY 5 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.010078 PITCH_W_DBAND 0 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 9.8500004e-06 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_MOTORS 1.0 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_NDIVE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_PROFILE 7.0 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 ID 178 PM_SENDDEPTH 1.0 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITPROFILE 3.0 T_BOOST 0

CAPUPLOAD 0 INT_PRESSURE_YINT 0 PM_XMITRAW 0.0 T_DIVE 50

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_SLOPE 0.0001061024 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 53 PRESSURE_YINT -155.95535 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 83 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 P_OVSHOOT 0.039999999 T_MISSION 65

COMPASS_USE 4 LOGGERDEVICE4 -1 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERS 7 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 2120 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2500 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2600 LOITER_D_TOP 0 RAFOS_MMODEM 0 T_WATCHDOG 10

C_VBD 3000 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

DBDW 0 LOITER_W_DBAND 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53497 RHO 1.023 USE_BATHY -6

DEVICE1 -1 MASS_COMP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE2 -1 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE4 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MINV_10V 11 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MINV_24V 12 ROLL_MAX 3950 VBD_MAX 3960

DIVE 3 MISSION 30 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 175 MOTHERBOARD 4 ROLL_MIN 625 VBD_MIN 500

D_BOOST 2 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 NOCOMM_ACTION 163 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 4 R_STBD_OVSHOOT 22 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_NO_BLEED 50 N_GPS 100740 SC_PROFILE 7.0 XPDR_DEVICE 24

D_OFFGRID 100 N_NOCOMM 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 99

D_PITCH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 49 SEABIRD_C_G -9.7293062

D_SURF 3 PHONE_SUPPLY -2 SEABIRD_C_H 1.1206031

D_TGT 150 PITCH_ADJ_DBAND 1 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 050819,191251,4743.9927,-12223.9375,1,1.2,2,15.5,0.4,4.9,8,8.4 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME WS

_XMS_NAKs 0 TGT_LATLONG 2906.500,-7615.500

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 0.16 MHEAD_RNG_PITCHd_Wd 100.2,4934612,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -47.2 D_GRID 171

GPS2 050819,191616,4744.0269,-12223.9473,3,1.1,5,15.5,0.3,339.3,8,5.0

Post-dive calculations and measurements:

FINISH 0.5,1.646855 PM_FREEKB_03 124821056

SM_CCo 3022,0.10,0.247,0,0,501,613.25 _24V_AH 14.05,1.748

SM_GC 0.14,6.72,0.20,0.10,0.109,0.127,0.247,164,2612,501,-6.07,-0.48,613.25,0,0,0,0,0,0,15.30,15.33,14.76 _10V_AH 14.00,0.000

IRIDIUM_FIX 4745.33,-12219.67,050819,191056 FG_AHR_24Vo 0.000

TT8_MAMPS 0.019474,0.165529 FG_AHR_10Vo 0.000

HUMID 55.07 MEM 304008

INTERNAL_PRESSURE 8.59408 DATA_FILE_SIZE 10121,348

TCM_TEMP 16.80 CAP_FILE_SIZE 61006,0

XPDR_PINGS 0 CFSIZE 260034560,258060288

SC_FREEKB 3876416 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_00 124679168 CURRENT 0.194,70.21,1

PM_FREEKB_01 124821056 GPS 050819,200855,4744.137,-12223.493,19,0.7,35,15.5,0.3,307.9,12,2.8

PM_FREEKB_02 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 456 112.77 nil 0 0 0.00

Roll_motor 28 133 53.65 nil 0 0 0.00

VBD_pump_during_apogee 306 1142 4916.12 nil 0 0 0.00

VBD_pump_during_surface 319 921 4142.58 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 2662 13 495.41

Iridium_during_xfer 0 0 0.00 PMAR 2666 5 215.42

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 2.24

TT8 662 9 84.13

LPSleep 877 2 26.91

TT8_Active 722 9 91.74

TT8_Sampling 814 28 325.38

TT8_CF8 49 33 23.54

TT8_Kalman 0 0 0.00

Analog_circuits 1100 10 160.25

GPS_charging 0 0 0.00

Compass 730 17 176.23

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.6 161 2595 591 411 0.0 0.0 0 173 0.00 0.00 -152.23 0.004 16390 0.000 0.000 161 2596 3599 3637 3562 0 0 0 0 0 0 15.43 14.42 15.46

176 -0.73 -146.6 161 2596 3637 3565 2.6 -3.7 15 193 8.62 2.40 0.00 0.000 2596 0.457 0.068 1878 1196 3599 3637 3562 0 0 0 0 0 0 15.05 15.21 15.29

394 -0.67 -146.6 1878 1196 3637 3562 45.4 -13.8 57 402 0.12 2.40 0.00 0.000 3206 0.310 0.079 1895 2596 3600 3638 3562 0 0 0 0 0 0 15.18 15.26 15.35

591 -0.67 -146.6 1895 2596 3638 3561 73.3 -14.0 77 598 0.00 2.35 0.00 0.000 260 0.000 0.106 1889 3955 3599 3637 3561 0 0 0 0 0 0 15.52 15.27 15.54

789 -0.62 -146.6 1888 3955 3637 3561 102.8 -15.7 115 797 0.15 2.22 0.00 0.000 3206 0.297 0.056 1923 2582 3599 3637 3561 0 0 0 0 0 0 15.21 15.36 15.38

987 -0.67 -146.6 1920 2582 3637 3561 127.0 -11.4 135 994 0.00 2.38 0.00 0.000 388 0.000 0.104 1916 3946 3599 3637 3561 0 0 0 0 0 0 15.54 15.30 15.55

1063 -0.71 -146.6 1916 3946 3638 3562 136.2 -11.9 149 1070 0.00 2.20 0.00 0.000 1158 0.000 0.055 1916 2587 3599 3637 3561 0 0 0 0 0 0 15.43 15.38 15.45

1187 end dive: TARGET_DEPTH_EXCEEDED

state 1187 begin apogee

1192 -0.19 0.0 1916 2497 3637 3561 151.1 -11.9 162 1321 0.47 0.00 123.38 1.143 10246 0.236 0.000 2051 2497 3001 3041 2962 0 0 0 0 0 0 15.25 14.88 14.40

1324 end apogee: CONTROL_FINISHED_OK

state 1324 begin climb

1326 0.73 146.6 2051 2497 3040 2960 157.8 0.0 175 1463 1.00 2.42 127.25 1.127 10756 0.182 0.074 2347 1119 2400 2454 2347 0 0 0 0 0 0 14.80 14.69 14.31

1535 0.90 211.3 2347 1119 2447 2345 147.1 7.0 214 1599 0.20 2.40 55.53 1.094 11430 0.131 0.069 2415 2509 2139 2203 2075 0 0 0 0 0 0 14.97 14.97 14.40

1788 0.94 211.3 2414 2511 2202 2068 118.4 12.1 245 1795 0.00 2.38 0.00 0.000 644 0.000 0.077 2414 1122 2135 2202 2068 0 0 0 0 0 0 15.32 15.11 15.34

1895 1.00 211.3 2414 1122 2198 2068 105.4 12.7 265 1902 0.00 2.35 0.00 0.000 1158 0.000 0.068 2415 2503 2132 2198 2067 0 0 0 0 0 0 15.26 15.19 15.28

2091 1.03 211.3 2414 2503 2198 2068 81.2 12.5 285 2100 0.12 0.00 0.00 0.000 2182 0.161 0.000 2456 2503 2133 2198 2068 0 0 0 0 0 0 15.25 15.35 15.33

2281 0.98 211.3 2453 2503 2198 2068 53.8 13.6 304 2289 0.00 0.00 0.00 0.000 134 0.000 0.000 2456 2503 2133 2198 2068 0 0 0 0 0 0 15.49 15.51 15.51

2471 0.93 211.3 2455 2503 2198 2068 26.3 15.9 323 2478 0.15 2.42 0.00 0.000 4484 0.294 0.098 2420 3911 2132 2198 2067 0 0 0 0 0 0 15.21 15.28 15.33

2527 0.93 211.3 2420 3911 2198 2067 17.8 14.5 333 2534 0.00 2.30 0.00 0.000 1030 0.000 0.055 2420 2513 2133 2198 2068 0 0 0 0 0 0 15.40 15.33 15.42

2651 end climb: SURFACE_DEPTH_REACHED

state 2651 begin surface coast

2672 end surface coast: CONTROL_FINISHED_OK

state 2672 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
MISSION	30	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	22	ALTIM_PULSE	1
DIVE	3	TGT_DEFAULT_LAT	47.700001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	4	TGT_DEFAULT_LON	-122.4	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	3	SM_CC	627.77997	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	150	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	CALL_NDIVES	1	C_VBD	3000	MOTHERBOARD	4
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	2	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	0	N_NOCOMM	2	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	0.00038000001	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	7
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	83
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	50	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	65	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100740	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	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	0.0043966938
USE_ICE	0	PITCH_MIN	165	CF8_MAXERRORS	20	SEABIRD_T_H	0.00063700025
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3805	AH0_24V	350	SEABIRD_T_I	2.5067597e-05
D_OFFGRID	100	C_PITCH	2120	AH0_10V	0	SEABIRD_T_J	2.9826379e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	12	SEABIRD_C_G	-9.7293062
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	11	SEABIRD_C_H	1.1206031
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	0.00047059715
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	27	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	FG_AHR_24V	0	SC_PROFILE	7.0
SPEED_FACTOR	1	PITCH_AD_RATE	145	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-155.95535	SC_NDIVE	1.0
MASS	53497	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1	PM_PROFILE	7.0
NAV_MODE	2	ROLL_MIN	625	COMPASS_USE	4	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_PING_FIT	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
HD_A	0.0038360001	C_ROLL_DIVE	2600	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	9.8500004e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	050819,191251,4743.9927,-12223.9375,1,1.2,2,15.5,0.4,4.9,8,8.4	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	WS
_XMS_NAKs	0	TGT_LATLONG	2906.500,-7615.500
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	0.16	MHEAD_RNG_PITCHd_Wd	100.2,4934612,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-47.2	D_GRID	171
GPS2	050819,191616,4744.0269,-12223.9473,3,1.1,5,15.5,0.3,339.3,8,5.0

FINISH	0.5,1.646855	PM_FREEKB_03	124821056
SM_CCo	3022,0.10,0.247,0,0,501,613.25	_24V_AH	14.05,1.748
SM_GC	0.14,6.72,0.20,0.10,0.109,0.127,0.247,164,2612,501,-6.07,-0.48,613.25,0,0,0,0,0,0,15.30,15.33,14.76	_10V_AH	14.00,0.000
IRIDIUM_FIX	4745.33,-12219.67,050819,191056	FG_AHR_24Vo	0.000
TT8_MAMPS	0.019474,0.165529	FG_AHR_10Vo	0.000
HUMID	55.07	MEM	304008
INTERNAL_PRESSURE	8.59408	DATA_FILE_SIZE	10121,348
TCM_TEMP	16.80	CAP_FILE_SIZE	61006,0
XPDR_PINGS	0	CFSIZE	260034560,258060288
SC_FREEKB	3876416	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_00	124679168	CURRENT	0.194,70.21,1
PM_FREEKB_01	124821056	GPS	050819,200855,4744.137,-12223.493,19,0.7,35,15.5,0.3,307.9,12,2.8
PM_FREEKB_02	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	456	112.77	nil	0	0	0.00
Roll_motor	28	133	53.65	nil	0	0	0.00
VBD_pump_during_apogee	306	1142	4916.12	nil	0	0	0.00
VBD_pump_during_surface	319	921	4142.58	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	2662	13	495.41
Iridium_during_xfer	0	0	0.00	PMAR	2666	5	215.42
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	2.24
TT8	662	9	84.13
LPSleep	877	2	26.91
TT8_Active	722	9	91.74
TT8_Sampling	814	28	325.38
TT8_CF8	49	33	23.54
TT8_Kalman	0	0	0.00
Analog_circuits	1100	10	160.25
GPS_charging	0	0	0.00
Compass	730	17	176.23
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.6	161	2595	591	411	0.0	0.0	0	173	0.00	0.00	-152.23	0.004	16390	0.000	0.000	161	2596	3599	3637	3562	0	0	0	0	0	0	15.43	14.42	15.46
176	-0.73	-146.6	161	2596	3637	3565	2.6	-3.7	15	193	8.62	2.40	0.00	0.000	2596	0.457	0.068	1878	1196	3599	3637	3562	0	0	0	0	0	0	15.05	15.21	15.29
394	-0.67	-146.6	1878	1196	3637	3562	45.4	-13.8	57	402	0.12	2.40	0.00	0.000	3206	0.310	0.079	1895	2596	3600	3638	3562	0	0	0	0	0	0	15.18	15.26	15.35
591	-0.67	-146.6	1895	2596	3638	3561	73.3	-14.0	77	598	0.00	2.35	0.00	0.000	260	0.000	0.106	1889	3955	3599	3637	3561	0	0	0	0	0	0	15.52	15.27	15.54
789	-0.62	-146.6	1888	3955	3637	3561	102.8	-15.7	115	797	0.15	2.22	0.00	0.000	3206	0.297	0.056	1923	2582	3599	3637	3561	0	0	0	0	0	0	15.21	15.36	15.38
987	-0.67	-146.6	1920	2582	3637	3561	127.0	-11.4	135	994	0.00	2.38	0.00	0.000	388	0.000	0.104	1916	3946	3599	3637	3561	0	0	0	0	0	0	15.54	15.30	15.55
1063	-0.71	-146.6	1916	3946	3638	3562	136.2	-11.9	149	1070	0.00	2.20	0.00	0.000	1158	0.000	0.055	1916	2587	3599	3637	3561	0	0	0	0	0	0	15.43	15.38	15.45
1187	end dive: TARGET_DEPTH_EXCEEDED
state	1187	begin apogee
1192	-0.19	0.0	1916	2497	3637	3561	151.1	-11.9	162	1321	0.47	0.00	123.38	1.143	10246	0.236	0.000	2051	2497	3001	3041	2962	0	0	0	0	0	0	15.25	14.88	14.40
1324	end apogee: CONTROL_FINISHED_OK
state	1324	begin climb
1326	0.73	146.6	2051	2497	3040	2960	157.8	0.0	175	1463	1.00	2.42	127.25	1.127	10756	0.182	0.074	2347	1119	2400	2454	2347	0	0	0	0	0	0	14.80	14.69	14.31
1535	0.90	211.3	2347	1119	2447	2345	147.1	7.0	214	1599	0.20	2.40	55.53	1.094	11430	0.131	0.069	2415	2509	2139	2203	2075	0	0	0	0	0	0	14.97	14.97	14.40
1788	0.94	211.3	2414	2511	2202	2068	118.4	12.1	245	1795	0.00	2.38	0.00	0.000	644	0.000	0.077	2414	1122	2135	2202	2068	0	0	0	0	0	0	15.32	15.11	15.34
1895	1.00	211.3	2414	1122	2198	2068	105.4	12.7	265	1902	0.00	2.35	0.00	0.000	1158	0.000	0.068	2415	2503	2132	2198	2067	0	0	0	0	0	0	15.26	15.19	15.28
2091	1.03	211.3	2414	2503	2198	2068	81.2	12.5	285	2100	0.12	0.00	0.00	0.000	2182	0.161	0.000	2456	2503	2133	2198	2068	0	0	0	0	0	0	15.25	15.35	15.33
2281	0.98	211.3	2453	2503	2198	2068	53.8	13.6	304	2289	0.00	0.00	0.00	0.000	134	0.000	0.000	2456	2503	2133	2198	2068	0	0	0	0	0	0	15.49	15.51	15.51
2471	0.93	211.3	2455	2503	2198	2068	26.3	15.9	323	2478	0.15	2.42	0.00	0.000	4484	0.294	0.098	2420	3911	2132	2198	2067	0	0	0	0	0	0	15.21	15.28	15.33
2527	0.93	211.3	2420	3911	2198	2067	17.8	14.5	333	2534	0.00	2.30	0.00	0.000	1030	0.000	0.055	2420	2513	2133	2198	2068	0	0	0	0	0	0	15.40	15.33	15.42
2651	end climb: SURFACE_DEPTH_REACHED
state	2651	begin surface coast
2672	end surface coast: CONTROL_FINISHED_OK
state	2672	begin surface