Glider dive log

Shilshole 31Jul18 * SG198 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 HEADING -1 C_ROLL_CLIMB 2500 ALTIM_TOP_PING_RANGE 0

MISSION 12 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 5 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 20 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 21 R_PORT_OVSHOOT 15 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -158.3 R_STBD_OVSHOOT 21 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 160 ALTIM_FREQUENCY 11

D_TGT 150 SM_CC 629.49707 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 175 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 4

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 3200 INT_PRESSURE_YINT 0

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 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 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00030000001 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 75 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 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 2 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 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 250 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3980 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2450 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044050296

MAX_BUOY 150 PITCH_CNV 0.0041975998 AH0_10V 0 SEABIRD_T_H 0.00064172043

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 10.5 SEABIRD_T_I 2.6501684e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 10.5 SEABIRD_T_J 3.2658481e-06

SPEED_FACTOR 1 PITCH_GAIN 20 MAXI_24V 0.60000002 SEABIRD_C_G -9.7956734

RHO 1.023 PITCH_TIMEOUT 35 MAXI_10V 1.4 SEABIRD_C_H 1.1257488

MASS 53424 PITCH_AD_RATE 50 FG_AHR_10V 0 SEABIRD_C_I -0.0015621729

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00020328934

NAV_MODE 2 PITCH_ADJ_GAIN 0.059999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -160.44525 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 175 PRESSURE_SLOPE 0.00010704 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3800 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.8541004e-06 C_ROLL_DIVE 2200 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044050296

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00064172043

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6501684e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 5 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.2658481e-06

ALTIM_FREQUENCY 11 FERRY_MAX 45 PITCH_ADJ_GAIN 0.059999999 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 50 SM_CC 629.49707

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0041975998 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 20 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3980 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PITCH_MIN 250 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 35 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.8541004e-06 PITCH_VBD_SHIFT 0.00030000001 TGT_DEFAULT_LAT 21

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -158.3

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010704 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.44525 T_DIVE 50

CAPUPLOAD 0 ID 198 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 75

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2450 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2500 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 20

C_VBD 3200 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 160 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53424 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3800 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 175 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 20 VBD_MAXERRORS 1

DIVE 3 MINV_10V 10.5 R_PORT_OVSHOOT 15 VBD_MIN 500

D_ABORT 175 MINV_24V 10.5 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 12 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 4 SEABIRD_C_G -9.7956734 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1257488 XPDR_VALID 4

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0015621729

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00020328934

Pre-dive calculations and measurements:

GPS1 310718,181807,4743.8848,-12224.0029,8,1.3,14,16.3,0.0,0.0,6,7.1 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 177.6,1490,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -51.6 D_GRID 172

GPS2 310718,182108,4743.9150,-12223.9756,6,1.2,18,16.3,0.0,356.4,6,6.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20180731183504.494875,18,1052,30,0135,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0F SC_FREEKB 4018304

FINISH 0.0,1.021891 _24V_AH 13.76,0.895

SM_CCo 3024,176.85,0.155,0,0,632,629.69 _10V_AH 13.58,0.000

SM_GC 0.64,7.15,2.70,176.85,0.065,0.074,0.155,221,2197,632,-9.21,0.68,629.69,0,0,0,0,0,0,14.59,14.53,14.50 FG_AHR_24Vo 0.000

RAFOS_CLK 31 FG_AHR_10Vo 0.000

MODEM 6,1533061803,48.25000,-122.50000,3.985,5837.8 MEM 301856

RAFOS_FIX 4811.873535,-12229.396484,310718,181803,1,2,99.64 DATA_FILE_SIZE 13441,407

IRIDIUM_FIX 4745.33,-12219.67,310718,181444 CAP_FILE_SIZE 61318,0

TT8_MAMPS 0.076398,0.435169 CFSIZE 260157440,258306048

HUMID 50.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.60974 SOUNDSPEED 1493.2

TCM_TEMP 19.10 CURRENT 0.192,352.57,1

XPDR_PINGS 0 GPS 310718,191551,4743.839,-12224.082,8,0.9,14,16.3,0.0,0.0,8,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 419 118.40 nil 0 0 0.00

Roll_motor 33 149 69.53 nil 0 0 0.00

VBD_pump_during_apogee 349 1248 6001.94 nil 0 0 0.00

VBD_pump_during_surface 176 155 377.90 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 3005 35 1482.15

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 27 18 6.97

TT8 0 0 0.00

LPSleep 1742 2 54.65

TT8_Active 674 10 98.14

TT8_Sampling 857 28 334.13

TT8_CF8 20 35 9.90

TT8_Kalman 0 0 0.00

Analog_circuits 1029 11 153.71

GPS_charging 0 0 0.00

Compass 589 6 53.92

RAFOS 2213 33 991.73

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8 -0.95 -146.6 248 2215 494 774 0.0 0.0 0 182 0.00 0.00 -170.52 0.005 16390 0.000 0.000 247 2215 3799 3812 3786 0 0 0 0 0 0 14.88 13.82 14.90

184 -0.95 -146.6 248 2215 3813 3786 4.5 -6.9 17 197 9.23 2.42 0.00 0.000 2596 0.419 0.080 2220 764 3799 3812 3786 0 0 0 0 0 0 14.50 14.62 14.71

375 -0.95 -146.6 2220 765 3813 3787 31.7 -11.3 55 382 0.00 2.45 0.00 0.000 1030 0.000 0.097 2220 2197 3798 3811 3786 0 0 0 0 0 0 14.72 14.66 14.75

566 -1.02 -146.6 2220 2198 3813 3787 53.7 -11.9 75 566 0.00 0.00 0.00 0.000 134 0.000 0.000 2218 2198 3799 3812 3786 0 0 0 0 0 0 14.88 14.91 14.90

746 -1.10 -146.6 2220 2198 3813 3787 72.7 -10.2 93 753 0.12 2.45 0.00 0.000 4484 0.131 0.117 2152 3612 3797 3808 3786 0 0 0 0 0 0 14.71 14.67 14.76

841 -0.87 -146.6 2153 3612 3813 3786 86.2 -15.0 112 849 0.30 2.38 0.00 0.000 3206 0.227 0.075 2239 2183 3799 3812 3786 0 0 0 0 0 0 14.62 14.68 14.72

1027 -1.05 -146.6 2240 2183 3813 3787 104.8 -9.5 131 1033 0.15 2.33 0.00 0.000 4772 0.115 0.086 2162 778 3801 3812 3790 0 0 0 0 0 0 14.77 14.72 14.82

1172 -0.93 -146.6 2162 778 3812 3787 124.2 -13.0 160 1180 0.22 2.45 0.00 0.000 3206 0.241 0.109 2222 2201 3799 3812 3786 0 0 0 0 0 0 14.66 14.75 14.77

1357 -1.07 -146.6 2223 2202 3813 3787 141.5 -8.8 179 1359 0.12 0.00 0.00 0.000 4262 0.130 0.000 2157 2201 3799 3812 3786 0 0 0 0 0 0 14.83 14.90 14.88

1436 end dive: TARGET_DEPTH_EXCEEDED

state 1436 begin apogee

1439 -0.25 0.0 2155 2510 3813 3787 150.4 -11.5 187 1552 0.82 0.00 109.95 1.248 10246 0.231 0.000 2390 2509 3198 3033 3363 0 0 0 0 0 0 14.70 14.35 13.83

1553 end apogee: CONTROL_FINISHED_OK

state 1553 begin climb

1554 0.95 146.6 2391 2510 3033 3362 153.9 0.0 198 1675 0.90 2.40 114.82 1.187 10500 0.142 0.127 2678 3796 2602 2400 2805 0 0 0 0 0 0 14.31 14.19 13.76

1724 0.87 146.6 2678 3796 2396 2805 143.2 10.5 228 1731 0.10 2.22 0.00 0.000 5254 0.234 0.075 2656 2500 2599 2394 2805 0 0 0 0 0 0 14.34 14.40 14.44

1915 1.04 202.3 2656 2500 2387 2806 128.5 7.5 248 1961 0.15 0.00 43.67 1.157 10406 0.109 0.000 2740 2500 2375 2170 2580 0 0 0 0 0 0 14.70 14.47 13.97

2135 0.90 202.3 2740 2500 2162 2580 102.7 12.0 270 2142 0.30 2.35 0.00 0.000 4484 0.223 0.149 2660 3790 2370 2160 2580 0 0 0 0 0 0 14.53 14.57 14.66

2216 0.99 202.3 2659 3790 2160 2580 94.3 10.3 286 2222 0.00 2.20 0.00 0.000 1158 0.000 0.083 2662 2497 2369 2159 2579 0 0 0 0 0 0 14.71 14.66 14.73

2407 1.20 231.2 2663 2497 2157 2580 76.8 8.7 306 2436 0.22 2.38 22.65 1.103 10660 0.084 0.146 2774 3800 2256 2057 2455 0 0 0 0 0 0 14.71 14.50 14.10

2659 0.82 231.2 2775 3800 2052 2456 37.3 16.2 356 2666 0.47 2.20 0.00 0.000 5254 0.236 0.074 2647 2494 2252 2050 2454 0 0 0 0 0 0 14.56 14.60 14.64

2850 1.18 306.4 2644 2495 2046 2456 23.6 6.6 376 2917 0.25 2.42 58.28 1.065 10660 0.081 0.142 2764 3787 1948 1738 2159 0 0 0 0 0 0 14.69 14.33 13.99

3000 end climb: SURFACE_DEPTH_REACHED

state 3000 begin surface coast

3010 end surface coast: CONTROL_FINISHED_OK

state 3010 begin surface

ID	198	HEADING	-1	C_ROLL_CLIMB	2500	ALTIM_TOP_PING_RANGE	0
MISSION	12	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	5	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	20	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	21	R_PORT_OVSHOOT	15	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-158.3	R_STBD_OVSHOOT	21	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	160	ALTIM_FREQUENCY	11
D_TGT	150	SM_CC	629.49707	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	175	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	4
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	3200	INT_PRESSURE_YINT	0
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	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	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00030000001	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	75	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	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	2	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	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	250	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3980	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2450	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044050296
MAX_BUOY	150	PITCH_CNV	0.0041975998	AH0_10V	0	SEABIRD_T_H	0.00064172043
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	10.5	SEABIRD_T_I	2.6501684e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	10.5	SEABIRD_T_J	3.2658481e-06
SPEED_FACTOR	1	PITCH_GAIN	20	MAXI_24V	0.60000002	SEABIRD_C_G	-9.7956734
RHO	1.023	PITCH_TIMEOUT	35	MAXI_10V	1.4	SEABIRD_C_H	1.1257488
MASS	53424	PITCH_AD_RATE	50	FG_AHR_10V	0	SEABIRD_C_I	-0.0015621729
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00020328934
NAV_MODE	2	PITCH_ADJ_GAIN	0.059999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-160.44525	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	175	PRESSURE_SLOPE	0.00010704	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3800	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.8541004e-06	C_ROLL_DIVE	2200	ALTIM_PING_FIT	0

GPS1	310718,181807,4743.8848,-12224.0029,8,1.3,14,16.3,0.0,0.0,6,7.1	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	177.6,1490,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-51.6	D_GRID	172
GPS2	310718,182108,4743.9150,-12223.9756,6,1.2,18,16.3,0.0,356.4,6,6.3

MODEM_MSG	CACST,6,1,20180731183504.494875,18,1052,30,0135,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0F	SC_FREEKB	4018304
FINISH	0.0,1.021891	_24V_AH	13.76,0.895
SM_CCo	3024,176.85,0.155,0,0,632,629.69	_10V_AH	13.58,0.000
SM_GC	0.64,7.15,2.70,176.85,0.065,0.074,0.155,221,2197,632,-9.21,0.68,629.69,0,0,0,0,0,0,14.59,14.53,14.50	FG_AHR_24Vo	0.000
RAFOS_CLK	31	FG_AHR_10Vo	0.000
MODEM	6,1533061803,48.25000,-122.50000,3.985,5837.8	MEM	301856
RAFOS_FIX	4811.873535,-12229.396484,310718,181803,1,2,99.64	DATA_FILE_SIZE	13441,407
IRIDIUM_FIX	4745.33,-12219.67,310718,181444	CAP_FILE_SIZE	61318,0
TT8_MAMPS	0.076398,0.435169	CFSIZE	260157440,258306048
HUMID	50.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.60974	SOUNDSPEED	1493.2
TCM_TEMP	19.10	CURRENT	0.192,352.57,1
XPDR_PINGS	0	GPS	310718,191551,4743.839,-12224.082,8,0.9,14,16.3,0.0,0.0,8,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	419	118.40	nil	0	0	0.00
Roll_motor	33	149	69.53	nil	0	0	0.00
VBD_pump_during_apogee	349	1248	6001.94	nil	0	0	0.00
VBD_pump_during_surface	176	155	377.90	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	3005	35	1482.15
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	27	18	6.97
TT8	0	0	0.00
LPSleep	1742	2	54.65
TT8_Active	674	10	98.14
TT8_Sampling	857	28	334.13
TT8_CF8	20	35	9.90
TT8_Kalman	0	0	0.00
Analog_circuits	1029	11	153.71
GPS_charging	0	0	0.00
Compass	589	6	53.92
RAFOS	2213	33	991.73
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8	-0.95	-146.6	248	2215	494	774	0.0	0.0	0	182	0.00	0.00	-170.52	0.005	16390	0.000	0.000	247	2215	3799	3812	3786	0	0	0	0	0	0	14.88	13.82	14.90
184	-0.95	-146.6	248	2215	3813	3786	4.5	-6.9	17	197	9.23	2.42	0.00	0.000	2596	0.419	0.080	2220	764	3799	3812	3786	0	0	0	0	0	0	14.50	14.62	14.71
375	-0.95	-146.6	2220	765	3813	3787	31.7	-11.3	55	382	0.00	2.45	0.00	0.000	1030	0.000	0.097	2220	2197	3798	3811	3786	0	0	0	0	0	0	14.72	14.66	14.75
566	-1.02	-146.6	2220	2198	3813	3787	53.7	-11.9	75	566	0.00	0.00	0.00	0.000	134	0.000	0.000	2218	2198	3799	3812	3786	0	0	0	0	0	0	14.88	14.91	14.90
746	-1.10	-146.6	2220	2198	3813	3787	72.7	-10.2	93	753	0.12	2.45	0.00	0.000	4484	0.131	0.117	2152	3612	3797	3808	3786	0	0	0	0	0	0	14.71	14.67	14.76
841	-0.87	-146.6	2153	3612	3813	3786	86.2	-15.0	112	849	0.30	2.38	0.00	0.000	3206	0.227	0.075	2239	2183	3799	3812	3786	0	0	0	0	0	0	14.62	14.68	14.72
1027	-1.05	-146.6	2240	2183	3813	3787	104.8	-9.5	131	1033	0.15	2.33	0.00	0.000	4772	0.115	0.086	2162	778	3801	3812	3790	0	0	0	0	0	0	14.77	14.72	14.82
1172	-0.93	-146.6	2162	778	3812	3787	124.2	-13.0	160	1180	0.22	2.45	0.00	0.000	3206	0.241	0.109	2222	2201	3799	3812	3786	0	0	0	0	0	0	14.66	14.75	14.77
1357	-1.07	-146.6	2223	2202	3813	3787	141.5	-8.8	179	1359	0.12	0.00	0.00	0.000	4262	0.130	0.000	2157	2201	3799	3812	3786	0	0	0	0	0	0	14.83	14.90	14.88
1436	end dive: TARGET_DEPTH_EXCEEDED
state	1436	begin apogee
1439	-0.25	0.0	2155	2510	3813	3787	150.4	-11.5	187	1552	0.82	0.00	109.95	1.248	10246	0.231	0.000	2390	2509	3198	3033	3363	0	0	0	0	0	0	14.70	14.35	13.83
1553	end apogee: CONTROL_FINISHED_OK
state	1553	begin climb
1554	0.95	146.6	2391	2510	3033	3362	153.9	0.0	198	1675	0.90	2.40	114.82	1.187	10500	0.142	0.127	2678	3796	2602	2400	2805	0	0	0	0	0	0	14.31	14.19	13.76
1724	0.87	146.6	2678	3796	2396	2805	143.2	10.5	228	1731	0.10	2.22	0.00	0.000	5254	0.234	0.075	2656	2500	2599	2394	2805	0	0	0	0	0	0	14.34	14.40	14.44
1915	1.04	202.3	2656	2500	2387	2806	128.5	7.5	248	1961	0.15	0.00	43.67	1.157	10406	0.109	0.000	2740	2500	2375	2170	2580	0	0	0	0	0	0	14.70	14.47	13.97
2135	0.90	202.3	2740	2500	2162	2580	102.7	12.0	270	2142	0.30	2.35	0.00	0.000	4484	0.223	0.149	2660	3790	2370	2160	2580	0	0	0	0	0	0	14.53	14.57	14.66
2216	0.99	202.3	2659	3790	2160	2580	94.3	10.3	286	2222	0.00	2.20	0.00	0.000	1158	0.000	0.083	2662	2497	2369	2159	2579	0	0	0	0	0	0	14.71	14.66	14.73
2407	1.20	231.2	2663	2497	2157	2580	76.8	8.7	306	2436	0.22	2.38	22.65	1.103	10660	0.084	0.146	2774	3800	2256	2057	2455	0	0	0	0	0	0	14.71	14.50	14.10
2659	0.82	231.2	2775	3800	2052	2456	37.3	16.2	356	2666	0.47	2.20	0.00	0.000	5254	0.236	0.074	2647	2494	2252	2050	2454	0	0	0	0	0	0	14.56	14.60	14.64
2850	1.18	306.4	2644	2495	2046	2456	23.6	6.6	376	2917	0.25	2.42	58.28	1.065	10660	0.081	0.142	2764	3787	1948	1738	2159	0	0	0	0	0	0	14.69	14.33	13.99
3000	end climb: SURFACE_DEPTH_REACHED
state	3000	begin surface coast
3010	end surface coast: CONTROL_FINISHED_OK
state	3010	begin surface