Glider dive log

Shilshole 06Jul18 * SG220 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 220 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 5 ALTIM_FREQUENCY 13

MISSION 8 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 35 ALTIM_PULSE 3

DIVE 3 TGT_DEFAULT_LAT 4736 ROLL_AD_RATE 100 ALTIM_SENSITIVITY 2

N_DIVES 3 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 708.93439 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 3362 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 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 0.0012300001 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 60 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 0.0043931799

USE_ICE 0 PITCH_MIN 190 CF8_MAXERRORS 2 SEABIRD_T_H 0.0006340426

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3888 AH0_24V 350 SEABIRD_T_I 2.5411513e-05

D_OFFGRID 100 C_PITCH 1830 AH0_10V 0 SEABIRD_T_J 3.0835915e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 8.8000002 SEABIRD_C_G -9.7801323

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 9 SEABIRD_C_H 1.1534446

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I -0.0011512623

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 1 SEABIRD_C_J 0.00016351494

COURSE_BIAS 0 PITCH_GAIN 22 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 FG_AHR_24V 0 SC_PROFILE 3.0

SPEED_FACTOR 1 PITCH_AD_RATE 100 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -165.62848 SC_NDIVE 1.0

MASS 55434 PITCH_ADJ_GAIN 0.025 PRESSURE_SLOPE 0.00010878046 ES_RECORDABOVE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 3 AD7714Ch0Gain 1 ES_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 265 COMPASS_USE 4 ES_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3829 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 ES_STARTS 3.0

HD_A 0.003 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

HD_B 0.014 C_ROLL_CLIMB 2500 ALTIM_TOP_TURN_MARGIN 0 ES_LENGTH 20000.0

HD_C 1.6e-05 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1 ES_STRIDE 400.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0 ES_COUNT 3.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 5

AD7714Ch0Gain 1 ESCAPE_HEADING 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1534446

AH0_10V 0 ESCAPE_HEADING_DELTA 10 N_DIVES 3 SEABIRD_C_I -0.0011512623

AH0_24V 350 ES_COUNT 3.0 N_FILEKB 8 SEABIRD_C_J 0.00016351494

ALTIM_BOTTOM_TURN_MARGIN 0 ES_LENGTH 20000.0 N_GPS 100440 SEABIRD_T_G 0.0043931799

ALTIM_FREQUENCY 13 ES_NDIVE 1.0 N_NOCOMM 2 SEABIRD_T_H 0.0006340426

ALTIM_PING_DELTA 5 ES_PROFILE 3.0 N_NOSURFACE 0 SEABIRD_T_I 2.5411513e-05

ALTIM_PING_DEPTH 0 ES_RECORDABOVE 3.0 PHONE_DEVICE 49 SEABIRD_T_J 3.0835915e-06

ALTIM_PING_FIT 0 ES_STARTS 3.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PULSE 3 ES_STRIDE 400.0 PITCH_ADJ_DBAND 3 SM_CC 708.93439

ALTIM_SENSITIVITY 2 ES_UPLOADMAX 100000.0 PITCH_ADJ_GAIN 0.025 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 ES_XMITPROFILE 3.0 PITCH_AD_RATE 100 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FERRY_MAX 45 PITCH_CNV 0.003125763 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 22 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 FILEMGR 0 PITCH_MAX 3888 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 190 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 GPS_DEVICE 64 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HD_A 0.003 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CF8_MAXERRORS 2 HD_B 0.014 PITCH_W_DBAND 0 T_BOOST 0

COMM_SEQ 0 HD_C 1.6e-05 PITCH_W_GAIN 0 T_DIVE 50

COMPASS2_DEVICE 150 HEADING -1 PRESSURE_SLOPE 0.00010878046 T_EPIRB 0

COMPASS_DEVICE 97 HEAD_ERRBAND 10 PRESSURE_YINT -165.62848 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 1830 ID 220 P_OVSHOOT_WITHG 0 T_NO_W 120

C_ROLL_CLIMB 2500 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_ROLL_DIVE 2500 INT_PRESSURE_YINT 0 RAFOS_DEVICE -1 T_TURN 225

C_VBD 3362 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 60

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 100 VBD_CNV -0.25119999

DEVICE6 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 2

DIVE 3 LOITER_N_DIVE 0 ROLL_DEG 40 VBD_LP_IGNORE 0

D_ABORT 175 LOITER_W_DBAND 0 ROLL_MAX 3829 VBD_MAX 3960

D_BOOST 5 MASS 55434 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_CALL 0 MASS_COMP 0 ROLL_MIN 265 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 5 VBD_PUMP_AD_RATE_SURFACE 1

D_NO_BLEED 50 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_TIMEOUT 720

D_OFFGRID 100 MINV_10V 9 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_PITCH 0 MINV_24V 8.8000002 SC_PROFILE 3.0 XPDR_DEVICE 24

D_SAFE 0 MISSION 8 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_SURF 2 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_TGT 150 NAV_MODE 2 SEABIRD_C_G -9.7801323

Pre-dive calculations and measurements:

GPS1 060718,182914,4743.4312,-12224.5596,1,1.5,5,15.7,0.2,0.0,7,9.7 SPEED_LIMITS 0.173,0.219

_CALLS 2 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 287.7,561,-26.1,-10.000,-30.00,1365

_SM_ANGLEo -42.3 D_GRID 174

GPS2 060718,183539,4743.4595,-12224.5537,4,1.5,22,15.7,0.1,0.0,7,5.0

Post-dive calculations and measurements:

FINISH -0.3,1.009675 ES_POWER1 0.000000

SM_CCo 2604,237.52,0.170,0,0,537,709.14 _24V_AH 13.63,2.377

SM_GC 0.33,5.65,2.58,237.52,0.062,0.070,0.170,150,2510,537,-5.09,-0.51,709.14,0,0,0,0,0,0,14.77,14.70,14.54 _10V_AH 13.46,0.000

IRIDIUM_FIX 4743.02,-12222.38,060718,182520 FG_AHR_24Vo 0.000

TT8_MAMPS 0.018725,0.985684 FG_AHR_10Vo 0.000

HUMID 46.92 MEM 301396

INTERNAL_PRESSURE 10.1273 DATA_FILE_SIZE 13402,391

TCM_TEMP 18.40 CAP_FILE_SIZE 64979,0

XPDR_PINGS 0 CFSIZE 1024409600,1021149184

SC_FREEKB 3908768 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 15856173056.000000 CURRENT 0.036,25.01,1

ES_POWER 96.080000 GPS 060718,192505,4743.555,-12224.822,2,1.6,4,15.7,0.1,0.0,7,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 414 88.59 nil 0 0 0.00

Roll_motor 34 1155 540.40 nil 0 0 0.00

VBD_pump_during_apogee 215 1370 4021.97 nil 0 0 0.00

VBD_pump_during_surface 237 169 549.82 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 2565 26 934.72

Iridium_during_xfer 0 0 0.00 echo 239 10 32.58

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 9 4.15

TT8 934 8 111.52

LPSleep 626 2 18.46

TT8_Active 587 8 70.17

TT8_Sampling 656 28 250.38

TT8_CF8 171 39 91.18

TT8_Kalman 0 0 0.00

Analog_circuits 951 12 154.98

GPS_charging 0 0 0.00

Compass 570 7 57.54

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

29 -1.30 -90.2 183 2506 661 326 0.0 0.0 0 209 0.00 0.05 -168.27 0.005 16390 0.000 1.156 183 2435 3718 3700 3736 0 0 0 0 0 0 14.97 14.00 14.94

215 -1.31 -99.9 183 2435 3700 3736 3.4 -9.3 28 230 5.68 2.40 -0.82 0.109 18980 0.415 0.083 1402 1051 3760 3746 3775 0 0 0 0 0 0 14.52 14.00 14.77

442 -0.77 -99.9 1401 1046 3747 3774 86.2 -35.0 70 450 0.80 2.58 0.00 0.000 3206 0.356 0.074 1574 2502 3760 3746 3774 0 0 0 0 0 0 14.59 14.74 14.81

641 -0.45 -99.9 1574 2503 3746 3773 145.0 -29.3 92 647 0.40 2.47 0.00 0.000 2692 0.306 0.039 1676 1042 3759 3746 3772 0 0 0 0 0 0 14.63 14.77 14.78

653 end dive: TARGET_DEPTH_EXCEEDED

state 653 begin apogee

668 -0.23 0.0 1666 2510 3746 3772 151.0 -28.1 94 746 0.32 0.05 70.88 1.347 10246 0.282 0.065 1748 2421 3360 3455 3266 0 0 0 0 0 0 14.64 14.29 13.82

748 end apogee: CONTROL_FINISHED_OK

state 748 begin climb

753 1.31 99.9 1748 2421 3455 3267 162.4 0.0 103 834 1.80 2.53 72.28 1.371 10500 0.232 0.087 2244 3832 2963 3092 2835 0 0 0 0 0 0 14.28 14.12 13.63

901 0.89 99.9 2243 3832 3090 2836 152.4 11.2 126 908 0.57 2.25 0.00 0.000 5254 0.316 0.033 2121 2448 2961 3090 2833 0 0 0 0 0 0 14.24 14.42 14.44

1219 0.91 112.9 2122 2442 3090 2822 126.8 9.0 158 1236 0.00 2.45 9.77 1.209 8484 0.000 0.096 2122 3827 2912 3052 2772 0 0 0 0 0 0 14.85 14.52 14.08

1376 0.81 136.6 2122 3826 3051 2772 112.2 8.2 187 1405 0.17 2.22 18.92 1.277 13478 0.283 0.039 2093 2441 2816 2964 2669 0 0 0 0 0 0 14.54 14.68 14.02

1708 0.97 179.7 2092 2440 2964 2662 91.5 6.8 234 1747 0.12 2.47 32.70 1.291 10916 0.120 0.051 2175 1062 2646 2799 2493 0 0 0 0 0 0 14.71 14.47 13.94

1812 0.97 179.7 2175 1063 2796 2487 81.8 10.4 251 1820 0.15 2.60 0.00 0.000 5126 0.269 0.073 2142 2508 2641 2796 2486 0 0 0 0 0 0 14.45 14.52 14.60

2010 0.97 179.7 2142 2508 2796 2482 58.9 10.5 288 2017 0.00 2.28 0.00 0.000 260 0.000 0.095 2142 3827 2639 2796 2482 0 0 0 0 0 0 14.85 14.59 14.85

2133 0.97 179.7 2142 3828 2796 2483 43.2 12.9 311 2140 0.00 2.22 0.00 0.000 1030 0.000 0.036 2150 2450 2638 2795 2482 0 0 0 0 0 0 14.76 14.70 14.78

2330 0.98 182.7 2151 2444 2796 2480 22.1 9.8 348 2336 0.00 0.00 0.00 0.000 38 0.000 0.000 2151 2444 2639 2798 2480 0 0 0 0 0 0 14.92 14.92 14.92

2526 1.00 202.6 2151 2443 2796 2478 3.5 8.5 385 2543 0.00 2.33 10.70 0.187 8740 0.000 0.049 2162 1087 2553 2706 2400 0 0 0 0 0 0 14.93 14.71 14.63

2553 end climb: SURFACE_DEPTH_REACHED

state 2553 begin surface coast

2574 end surface coast: CONTROL_FINISHED_OK

state 2574 begin surface

ID	220	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	5	ALTIM_FREQUENCY	13
MISSION	8	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	35	ALTIM_PULSE	3
DIVE	3	TGT_DEFAULT_LAT	4736	ROLL_AD_RATE	100	ALTIM_SENSITIVITY	2
N_DIVES	3	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	708.93439	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	3362	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	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	0.0012300001	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	60	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	0.0043931799
USE_ICE	0	PITCH_MIN	190	CF8_MAXERRORS	2	SEABIRD_T_H	0.0006340426
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3888	AH0_24V	350	SEABIRD_T_I	2.5411513e-05
D_OFFGRID	100	C_PITCH	1830	AH0_10V	0	SEABIRD_T_J	3.0835915e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	8.8000002	SEABIRD_C_G	-9.7801323
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	9	SEABIRD_C_H	1.1534446
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0011512623
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	1	SEABIRD_C_J	0.00016351494
COURSE_BIAS	0	PITCH_GAIN	22	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	FG_AHR_24V	0	SC_PROFILE	3.0
SPEED_FACTOR	1	PITCH_AD_RATE	100	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-165.62848	SC_NDIVE	1.0
MASS	55434	PITCH_ADJ_GAIN	0.025	PRESSURE_SLOPE	0.00010878046	ES_RECORDABOVE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	3	AD7714Ch0Gain	1	ES_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	265	COMPASS_USE	4	ES_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3829	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	ES_STARTS	3.0
HD_A	0.003	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
HD_B	0.014	C_ROLL_CLIMB	2500	ALTIM_TOP_TURN_MARGIN	0	ES_LENGTH	20000.0
HD_C	1.6e-05	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1	ES_STRIDE	400.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0	ES_COUNT	3.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	5

GPS1	060718,182914,4743.4312,-12224.5596,1,1.5,5,15.7,0.2,0.0,7,9.7	SPEED_LIMITS	0.173,0.219
_CALLS	2	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	287.7,561,-26.1,-10.000,-30.00,1365
_SM_ANGLEo	-42.3	D_GRID	174
GPS2	060718,183539,4743.4595,-12224.5537,4,1.5,22,15.7,0.1,0.0,7,5.0

FINISH	-0.3,1.009675	ES_POWER1	0.000000
SM_CCo	2604,237.52,0.170,0,0,537,709.14	_24V_AH	13.63,2.377
SM_GC	0.33,5.65,2.58,237.52,0.062,0.070,0.170,150,2510,537,-5.09,-0.51,709.14,0,0,0,0,0,0,14.77,14.70,14.54	_10V_AH	13.46,0.000
IRIDIUM_FIX	4743.02,-12222.38,060718,182520	FG_AHR_24Vo	0.000
TT8_MAMPS	0.018725,0.985684	FG_AHR_10Vo	0.000
HUMID	46.92	MEM	301396
INTERNAL_PRESSURE	10.1273	DATA_FILE_SIZE	13402,391
TCM_TEMP	18.40	CAP_FILE_SIZE	64979,0
XPDR_PINGS	0	CFSIZE	1024409600,1021149184
SC_FREEKB	3908768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	15856173056.000000	CURRENT	0.036,25.01,1
ES_POWER	96.080000	GPS	060718,192505,4743.555,-12224.822,2,1.6,4,15.7,0.1,0.0,7,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	414	88.59	nil	0	0	0.00
Roll_motor	34	1155	540.40	nil	0	0	0.00
VBD_pump_during_apogee	215	1370	4021.97	nil	0	0	0.00
VBD_pump_during_surface	237	169	549.82	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	2565	26	934.72
Iridium_during_xfer	0	0	0.00	echo	239	10	32.58
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	9	4.15
TT8	934	8	111.52
LPSleep	626	2	18.46
TT8_Active	587	8	70.17
TT8_Sampling	656	28	250.38
TT8_CF8	171	39	91.18
TT8_Kalman	0	0	0.00
Analog_circuits	951	12	154.98
GPS_charging	0	0	0.00
Compass	570	7	57.54
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
29	-1.30	-90.2	183	2506	661	326	0.0	0.0	0	209	0.00	0.05	-168.27	0.005	16390	0.000	1.156	183	2435	3718	3700	3736	0	0	0	0	0	0	14.97	14.00	14.94
215	-1.31	-99.9	183	2435	3700	3736	3.4	-9.3	28	230	5.68	2.40	-0.82	0.109	18980	0.415	0.083	1402	1051	3760	3746	3775	0	0	0	0	0	0	14.52	14.00	14.77
442	-0.77	-99.9	1401	1046	3747	3774	86.2	-35.0	70	450	0.80	2.58	0.00	0.000	3206	0.356	0.074	1574	2502	3760	3746	3774	0	0	0	0	0	0	14.59	14.74	14.81
641	-0.45	-99.9	1574	2503	3746	3773	145.0	-29.3	92	647	0.40	2.47	0.00	0.000	2692	0.306	0.039	1676	1042	3759	3746	3772	0	0	0	0	0	0	14.63	14.77	14.78
653	end dive: TARGET_DEPTH_EXCEEDED
state	653	begin apogee
668	-0.23	0.0	1666	2510	3746	3772	151.0	-28.1	94	746	0.32	0.05	70.88	1.347	10246	0.282	0.065	1748	2421	3360	3455	3266	0	0	0	0	0	0	14.64	14.29	13.82
748	end apogee: CONTROL_FINISHED_OK
state	748	begin climb
753	1.31	99.9	1748	2421	3455	3267	162.4	0.0	103	834	1.80	2.53	72.28	1.371	10500	0.232	0.087	2244	3832	2963	3092	2835	0	0	0	0	0	0	14.28	14.12	13.63
901	0.89	99.9	2243	3832	3090	2836	152.4	11.2	126	908	0.57	2.25	0.00	0.000	5254	0.316	0.033	2121	2448	2961	3090	2833	0	0	0	0	0	0	14.24	14.42	14.44
1219	0.91	112.9	2122	2442	3090	2822	126.8	9.0	158	1236	0.00	2.45	9.77	1.209	8484	0.000	0.096	2122	3827	2912	3052	2772	0	0	0	0	0	0	14.85	14.52	14.08
1376	0.81	136.6	2122	3826	3051	2772	112.2	8.2	187	1405	0.17	2.22	18.92	1.277	13478	0.283	0.039	2093	2441	2816	2964	2669	0	0	0	0	0	0	14.54	14.68	14.02
1708	0.97	179.7	2092	2440	2964	2662	91.5	6.8	234	1747	0.12	2.47	32.70	1.291	10916	0.120	0.051	2175	1062	2646	2799	2493	0	0	0	0	0	0	14.71	14.47	13.94
1812	0.97	179.7	2175	1063	2796	2487	81.8	10.4	251	1820	0.15	2.60	0.00	0.000	5126	0.269	0.073	2142	2508	2641	2796	2486	0	0	0	0	0	0	14.45	14.52	14.60
2010	0.97	179.7	2142	2508	2796	2482	58.9	10.5	288	2017	0.00	2.28	0.00	0.000	260	0.000	0.095	2142	3827	2639	2796	2482	0	0	0	0	0	0	14.85	14.59	14.85
2133	0.97	179.7	2142	3828	2796	2483	43.2	12.9	311	2140	0.00	2.22	0.00	0.000	1030	0.000	0.036	2150	2450	2638	2795	2482	0	0	0	0	0	0	14.76	14.70	14.78
2330	0.98	182.7	2151	2444	2796	2480	22.1	9.8	348	2336	0.00	0.00	0.00	0.000	38	0.000	0.000	2151	2444	2639	2798	2480	0	0	0	0	0	0	14.92	14.92	14.92
2526	1.00	202.6	2151	2443	2796	2478	3.5	8.5	385	2543	0.00	2.33	10.70	0.187	8740	0.000	0.049	2162	1087	2553	2706	2400	0	0	0	0	0	0	14.93	14.71	14.63
2553	end climb: SURFACE_DEPTH_REACHED
state	2553	begin surface coast
2574	end surface coast: CONTROL_FINISHED_OK
state	2574	begin surface