Glider dive log

EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 342 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 XPDR_REP 0

MISSION 15 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

DIVE 342 TGT_AUTO_DEFAULT 0 VBD_MIN 500 INT_PRESSURE_YINT -0.25

N_DIVES 342 SM_CC 375 VBD_MAX 3960 DEEPGLIDER 0

STOP_T 0 N_FILEKB 8 C_VBD 2968 MOTHERBOARD 4

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_FLARE 20 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE2 -1

D_TGT 150 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_ABORT 1010 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

D_NO_BLEED 200 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0013 DEVICE5 -1

D_BOOST 0 NOCOMM_ACTION 163 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE2 147

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE3 131

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 PHONE_DEVICE 49

T_DIVE 50 N_GPS 100440 LOITER_D_TOP 0 GPS_DEVICE 64

T_MISSION 65 T_RSLEEP 1 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 2 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 SEABIRD_T_G 0.0044368538

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_H 0.0006575333

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_T_I 2.7761149e-05

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_T_J 3.5137082e-06

USE_BATHY -6 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_G -10.037535

USE_ICE 0 C_PITCH 1760 MINV_10V 10 SEABIRD_C_H 1.1079766

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_I -0.0022889124

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.4 SEABIRD_C_J 0.00024077215

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 PITCH_GAIN 43 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

MAX_BUOY 250 PITCH_TIMEOUT 18 PRESSURE_YINT -147.66289 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.00010781933 ES_RECORDABOVE 2000.0

GLIDE_SLOPE 50 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_PROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_XMITPROFILE 0.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

MASS 55689 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_STARTS 301.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_HEADERSKIP 105044.0

FERRY_MAX 45 C_ROLL_DIVE 2825 ALTIM_TOP_MIN_OBSTACLE 0 ES_DL_RECORDLENGTH 10086.0

KALMAN_USE 2 C_ROLL_CLIMB 2800 ALTIM_PING_DEPTH 0 ES_DL_NRECORD 100.0

HD_A 0.00316228 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0 ES_DL_RECORDCOUNT 3.0

HD_B 0.011885 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_PROFILE 0.0

HEADING 240 R_PORT_OVSHOOT 77 ALTIM_SENSITIVITY 5 CP_XMITPROFILE 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 17 XPDR_VALID 6 CP_UPLOADMAX 0.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 99 CP_STARTS 0.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_INT 0 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_PITCH 0 MISSION 15 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 150 NOCOMM_ACTION 163 SEABIRD_C_J 0.00024077215

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 342 SEABIRD_T_G 0.0044368538

ALTIM_PING_DELTA 0 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 2 SEABIRD_T_J 3.5137082e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 5 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 375

ALTIM_TOP_MIN_OBSTACLE 0 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 301.0 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 43 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 50 PITCH_VBD_SHIFT 0.0013 T_DIVE 50

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 4 HD_A 0.00316228 PITCH_W_GAIN 2 T_GPS 10

COURSE_BIAS 0 HD_B 0.011885 PRESSURE_SLOPE 0.00010781933 T_LOITER 0

CP_NDIVE 1.0 HD_C 5.7000002e-06 PRESSURE_YINT -147.66289 T_MISSION 65

CP_PROFILE 0.0 HEADING 240 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 1

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 1760 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2800 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2825 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

C_VBD 2968 LOGGERDEVICE1 53 RELAUNCH 1 USE_ICE 0

DBDW 0 LOGGERDEVICE2 147 RHO 1.0275 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 1 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 342 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 1010 MASS 55689 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 0 MASS_COMP 0 R_PORT_OVSHOOT 77 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.4 R_STBD_OVSHOOT 17 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 99

D_FLARE 20 MAX_BUOY 250 SC_PROFILE 3.0 XPDR_INT 0

D_NO_BLEED 200 MINV_10V 10 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 290521,053529,4850.3354,-1449.3579,1,1.0,5,-4.8,0.7,318.2,10,8.9 SPEED_LIMITS 0.084,0.303

_CALLS 2 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 4844.998,-1503.482

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.95 MHEAD_RNG_PITCHd_Wd 246.8,20000,-13.9,-10.000,-18.24,3719

_SM_ANGLEo -39.6 D_GRID 1000

GPS2 290521,054139,4850.3975,-1449.2976,4,1.0,7,-4.8,0.7,57.9,10,9.6

Post-dive calculations and measurements:

FINISH 0.8,1.026862 _10V_AH 13.32,0.000

SM_CCo 3175,0.00,0.000,0,0,1437,384.59 FG_AHR_24Vo 0.000

SM_GC 0.79,5.03,0.00,0.00,0.063,0.000,0.000,220,2811,1437,-4.68,-0.40,384.59,0,0,0,0,0,0,14.68,14.92,14.73 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4852.28,-1456.94,290521,053622 MEM 293180

TT8_MAMPS 0.02247,0.895804 DATA_FILE_SIZE 16791,504

HUMID 44.32 CAP_FILE_SIZE 108166,0

INTERNAL_PRESSURE 8.43197 CFSIZE 1024409600,965083136

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 69 CURRENT 0.504,57.52,1

SC_FREEKB 3708288 GPS 290521,063635,4850.640,-1449.208,25,1.4,29,-4.8,0.2,0.0,4,10.0

_24V_AH 12.81,222.681

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 348 65.13 nil 0 0 0.00

Roll_motor 40 93 48.57 nil 0 0 0.00

VBD_pump_during_apogee 461 1071 6331.90 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 3086 39 1578.66

Iridium_during_xfer 0 0 0.00 echo 0 0 0.00

Transponder_ping 17 420 92.81 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 8 2.33

TT8 1121 12 180.87

LPSleep 665 2 19.42

TT8_Active 528 11 80.00

TT8_Sampling 844 30 338.44

TT8_CF8 109 45 65.81

TT8_Kalman 0 0 0.00

Analog_circuits 991 15 206.04

GPS_charging 0 0 0.00

Compass 798 2 23.94

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -0.64 -243.3 243 2841 1466 1473 0.0 0.0 0 129 0.00 0.00 -112.90 0.004 16390 0.000 0.000 243 2844 3937 3917 3958 0 0 0 0 0 0 14.83 12.81 14.78

133 -0.64 -243.3 243 2844 3914 3959 6.6 -17.7 19 146 5.97 2.40 0.00 0.000 2564 0.349 0.029 1547 1441 3938 3917 3960 0 0 0 0 0 0 13.97 14.38 14.31

160 -0.07 -243.3 1546 1440 3911 3968 18.7 -40.9 23 168 0.70 2.62 0.00 0.000 3206 0.181 0.070 1733 2831 3938 3910 3966 0 0 0 0 0 0 14.25 14.38 14.47

354 -0.31 -243.3 1732 2832 3909 3970 33.1 -11.5 60 362 0.22 1.73 0.00 0.000 4484 0.109 0.090 1655 3825 3939 3909 3970 0 0 0 0 0 0 14.38 14.38 14.45

564 -0.56 -243.3 1655 3825 3909 3970 51.8 -9.9 100 571 0.25 1.58 0.00 0.000 5254 0.111 0.040 1572 2830 3938 3906 3970 0 0 0 0 0 0 14.48 14.52 14.59

760 -0.66 -243.3 1571 2830 3909 3970 66.3 -9.1 137 766 0.00 1.80 0.00 0.000 388 0.000 0.093 1572 3830 3939 3908 3970 0 0 0 0 0 0 14.82 14.35 14.85

848 -0.70 -243.3 1572 3830 3908 3969 73.2 -8.2 153 855 0.12 1.60 0.00 0.000 5254 0.121 0.039 1503 2826 3941 3908 3975 0 0 0 0 0 0 14.42 14.44 14.52

1048 -0.58 -243.3 1501 2824 3908 3967 101.3 -13.7 190 1054 0.25 2.45 0.00 0.000 2692 0.216 0.033 1567 1434 3939 3908 3970 0 0 0 0 0 0 14.14 14.38 14.28

1084 -0.61 -243.3 1567 1434 3908 3970 105.6 -9.4 196 1090 0.00 2.65 0.00 0.000 1158 0.000 0.075 1561 2828 3939 3908 3971 0 0 0 0 0 0 14.50 14.37 14.54

1280 -0.58 -243.3 1560 2828 3902 3971 126.4 -11.6 216 1286 0.00 1.77 0.00 0.000 388 0.000 0.093 1554 3844 3936 3908 3965 0 0 0 0 0 0 14.81 14.33 14.82

1315 -0.58 -243.3 1553 3845 3902 3970 130.4 -11.1 222 1321 0.00 1.62 0.00 0.000 1030 0.000 0.038 1553 2810 3939 3908 3971 0 0 0 0 0 0 14.58 14.54 14.59

1486 end dive: TARGET_DEPTH_EXCEEDED

state 1486 begin apogee

1494 -0.12 0.0 1553 2809 3907 3971 150.3 -11.9 240 1678 0.57 0.00 176.95 1.071 10246 0.172 0.000 1720 2808 2967 2940 2994 0 0 0 0 0 0 14.19 14.23 13.62

1680 end apogee: CONTROL_FINISHED_OK

state 1680 begin climb

1683 0.64 243.3 1719 2807 2938 2994 158.8 0.0 259 1877 0.80 2.55 179.30 1.030 10756 0.114 0.039 1975 1425 1998 1962 2035 0 0 0 0 0 0 14.23 14.21 13.62

1910 0.61 243.3 1975 1426 1959 2034 144.6 11.3 299 1917 0.00 2.65 0.00 0.000 1158 0.000 0.073 1975 2799 1995 1957 2034 0 0 0 0 0 0 14.30 14.19 14.32

2097 0.56 243.3 1973 2799 1955 2032 124.3 10.5 318 2103 0.15 2.45 0.00 0.000 4740 0.192 0.035 1943 1420 1993 1955 2031 0 0 0 0 0 0 14.38 14.52 14.47

2158 0.75 383.1 1943 1419 1954 2030 118.9 6.1 329 2273 0.17 2.62 105.28 0.991 11430 0.105 0.070 2027 2803 1443 1436 1451 0 0 0 0 0 0 14.50 14.45 13.71

2458 0.67 383.1 2026 2802 1429 1450 73.6 16.2 384 2467 0.17 2.45 0.00 0.000 4740 0.215 0.036 1990 1420 1436 1423 1450 0 0 0 0 0 0 14.27 14.46 14.39

2506 0.67 383.1 1989 1419 1428 1456 67.0 11.2 392 2513 0.00 2.60 0.00 0.000 1030 0.000 0.067 1988 2798 1439 1428 1450 0 0 0 0 0 0 14.55 14.44 14.57

2701 0.65 383.1 1987 2798 1427 1450 44.3 12.8 429 2708 0.00 2.45 0.00 0.000 644 0.000 0.039 1997 1415 1439 1429 1450 0 0 0 0 0 0 14.80 14.50 14.82

2751 0.65 383.1 1996 1415 1427 1450 38.0 11.6 438 2758 0.00 2.62 0.00 0.000 1030 0.000 0.067 1996 2812 1441 1427 1455 0 0 0 0 0 0 14.56 14.44 14.58

2945 0.61 383.1 1996 2810 1426 1450 14.2 10.8 475 2952 0.15 0.00 0.00 0.000 4230 0.200 0.000 1955 2810 1438 1426 1450 0 0 0 0 0 0 14.41 14.58 14.52

3068 end climb: SURFACE_DEPTH_REACHED

state 3069 begin surface coast

3096 end surface coast: CONTROL_FINISHED_OK

state 3096 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	XPDR_REP	0
MISSION	15	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
DIVE	342	TGT_AUTO_DEFAULT	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
N_DIVES	342	SM_CC	375	VBD_MAX	3960	DEEPGLIDER	0
STOP_T	0	N_FILEKB	8	C_VBD	2968	MOTHERBOARD	4
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_FLARE	20	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE2	-1
D_TGT	150	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_ABORT	1010	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
D_NO_BLEED	200	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0013	DEVICE5	-1
D_BOOST	0	NOCOMM_ACTION	163	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE2	147
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE3	131
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	PHONE_DEVICE	49
T_DIVE	50	N_GPS	100440	LOITER_D_TOP	0	GPS_DEVICE	64
T_MISSION	65	T_RSLEEP	1	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	2	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	SEABIRD_T_G	0.0044368538
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_H	0.0006575333
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_T_I	2.7761149e-05
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_T_J	3.5137082e-06
USE_BATHY	-6	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_G	-10.037535
USE_ICE	0	C_PITCH	1760	MINV_10V	10	SEABIRD_C_H	1.1079766
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0022889124
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.4	SEABIRD_C_J	0.00024077215
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	PITCH_GAIN	43	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
MAX_BUOY	250	PITCH_TIMEOUT	18	PRESSURE_YINT	-147.66289	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.00010781933	ES_RECORDABOVE	2000.0
GLIDE_SLOPE	50	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_PROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_XMITPROFILE	0.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
MASS	55689	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_STARTS	301.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_HEADERSKIP	105044.0
FERRY_MAX	45	C_ROLL_DIVE	2825	ALTIM_TOP_MIN_OBSTACLE	0	ES_DL_RECORDLENGTH	10086.0
KALMAN_USE	2	C_ROLL_CLIMB	2800	ALTIM_PING_DEPTH	0	ES_DL_NRECORD	100.0
HD_A	0.00316228	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0	ES_DL_RECORDCOUNT	3.0
HD_B	0.011885	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_PROFILE	0.0
HEADING	240	R_PORT_OVSHOOT	77	ALTIM_SENSITIVITY	5	CP_XMITPROFILE	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	17	XPDR_VALID	6	CP_UPLOADMAX	0.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	99	CP_STARTS	0.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_INT	0	CP_NDIVE	1.0

GPS1	290521,053529,4850.3354,-1449.3579,1,1.0,5,-4.8,0.7,318.2,10,8.9	SPEED_LIMITS	0.084,0.303
_CALLS	2	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	4844.998,-1503.482
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.95	MHEAD_RNG_PITCHd_Wd	246.8,20000,-13.9,-10.000,-18.24,3719
_SM_ANGLEo	-39.6	D_GRID	1000
GPS2	290521,054139,4850.3975,-1449.2976,4,1.0,7,-4.8,0.7,57.9,10,9.6

FINISH	0.8,1.026862	_10V_AH	13.32,0.000
SM_CCo	3175,0.00,0.000,0,0,1437,384.59	FG_AHR_24Vo	0.000
SM_GC	0.79,5.03,0.00,0.00,0.063,0.000,0.000,220,2811,1437,-4.68,-0.40,384.59,0,0,0,0,0,0,14.68,14.92,14.73	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4852.28,-1456.94,290521,053622	MEM	293180
TT8_MAMPS	0.02247,0.895804	DATA_FILE_SIZE	16791,504
HUMID	44.32	CAP_FILE_SIZE	108166,0
INTERNAL_PRESSURE	8.43197	CFSIZE	1024409600,965083136
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	69	CURRENT	0.504,57.52,1
SC_FREEKB	3708288	GPS	290521,063635,4850.640,-1449.208,25,1.4,29,-4.8,0.2,0.0,4,10.0
_24V_AH	12.81,222.681

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	348	65.13	nil	0	0	0.00
Roll_motor	40	93	48.57	nil	0	0	0.00
VBD_pump_during_apogee	461	1071	6331.90	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	3086	39	1578.66
Iridium_during_xfer	0	0	0.00	echo	0	0	0.00
Transponder_ping	17	420	92.81	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	8	2.33
TT8	1121	12	180.87
LPSleep	665	2	19.42
TT8_Active	528	11	80.00
TT8_Sampling	844	30	338.44
TT8_CF8	109	45	65.81
TT8_Kalman	0	0	0.00
Analog_circuits	991	15	206.04
GPS_charging	0	0	0.00
Compass	798	2	23.94
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-0.64	-243.3	243	2841	1466	1473	0.0	0.0	0	129	0.00	0.00	-112.90	0.004	16390	0.000	0.000	243	2844	3937	3917	3958	0	0	0	0	0	0	14.83	12.81	14.78
133	-0.64	-243.3	243	2844	3914	3959	6.6	-17.7	19	146	5.97	2.40	0.00	0.000	2564	0.349	0.029	1547	1441	3938	3917	3960	0	0	0	0	0	0	13.97	14.38	14.31
160	-0.07	-243.3	1546	1440	3911	3968	18.7	-40.9	23	168	0.70	2.62	0.00	0.000	3206	0.181	0.070	1733	2831	3938	3910	3966	0	0	0	0	0	0	14.25	14.38	14.47
354	-0.31	-243.3	1732	2832	3909	3970	33.1	-11.5	60	362	0.22	1.73	0.00	0.000	4484	0.109	0.090	1655	3825	3939	3909	3970	0	0	0	0	0	0	14.38	14.38	14.45
564	-0.56	-243.3	1655	3825	3909	3970	51.8	-9.9	100	571	0.25	1.58	0.00	0.000	5254	0.111	0.040	1572	2830	3938	3906	3970	0	0	0	0	0	0	14.48	14.52	14.59
760	-0.66	-243.3	1571	2830	3909	3970	66.3	-9.1	137	766	0.00	1.80	0.00	0.000	388	0.000	0.093	1572	3830	3939	3908	3970	0	0	0	0	0	0	14.82	14.35	14.85
848	-0.70	-243.3	1572	3830	3908	3969	73.2	-8.2	153	855	0.12	1.60	0.00	0.000	5254	0.121	0.039	1503	2826	3941	3908	3975	0	0	0	0	0	0	14.42	14.44	14.52
1048	-0.58	-243.3	1501	2824	3908	3967	101.3	-13.7	190	1054	0.25	2.45	0.00	0.000	2692	0.216	0.033	1567	1434	3939	3908	3970	0	0	0	0	0	0	14.14	14.38	14.28
1084	-0.61	-243.3	1567	1434	3908	3970	105.6	-9.4	196	1090	0.00	2.65	0.00	0.000	1158	0.000	0.075	1561	2828	3939	3908	3971	0	0	0	0	0	0	14.50	14.37	14.54
1280	-0.58	-243.3	1560	2828	3902	3971	126.4	-11.6	216	1286	0.00	1.77	0.00	0.000	388	0.000	0.093	1554	3844	3936	3908	3965	0	0	0	0	0	0	14.81	14.33	14.82
1315	-0.58	-243.3	1553	3845	3902	3970	130.4	-11.1	222	1321	0.00	1.62	0.00	0.000	1030	0.000	0.038	1553	2810	3939	3908	3971	0	0	0	0	0	0	14.58	14.54	14.59
1486	end dive: TARGET_DEPTH_EXCEEDED
state	1486	begin apogee
1494	-0.12	0.0	1553	2809	3907	3971	150.3	-11.9	240	1678	0.57	0.00	176.95	1.071	10246	0.172	0.000	1720	2808	2967	2940	2994	0	0	0	0	0	0	14.19	14.23	13.62
1680	end apogee: CONTROL_FINISHED_OK
state	1680	begin climb
1683	0.64	243.3	1719	2807	2938	2994	158.8	0.0	259	1877	0.80	2.55	179.30	1.030	10756	0.114	0.039	1975	1425	1998	1962	2035	0	0	0	0	0	0	14.23	14.21	13.62
1910	0.61	243.3	1975	1426	1959	2034	144.6	11.3	299	1917	0.00	2.65	0.00	0.000	1158	0.000	0.073	1975	2799	1995	1957	2034	0	0	0	0	0	0	14.30	14.19	14.32
2097	0.56	243.3	1973	2799	1955	2032	124.3	10.5	318	2103	0.15	2.45	0.00	0.000	4740	0.192	0.035	1943	1420	1993	1955	2031	0	0	0	0	0	0	14.38	14.52	14.47
2158	0.75	383.1	1943	1419	1954	2030	118.9	6.1	329	2273	0.17	2.62	105.28	0.991	11430	0.105	0.070	2027	2803	1443	1436	1451	0	0	0	0	0	0	14.50	14.45	13.71
2458	0.67	383.1	2026	2802	1429	1450	73.6	16.2	384	2467	0.17	2.45	0.00	0.000	4740	0.215	0.036	1990	1420	1436	1423	1450	0	0	0	0	0	0	14.27	14.46	14.39
2506	0.67	383.1	1989	1419	1428	1456	67.0	11.2	392	2513	0.00	2.60	0.00	0.000	1030	0.000	0.067	1988	2798	1439	1428	1450	0	0	0	0	0	0	14.55	14.44	14.57
2701	0.65	383.1	1987	2798	1427	1450	44.3	12.8	429	2708	0.00	2.45	0.00	0.000	644	0.000	0.039	1997	1415	1439	1429	1450	0	0	0	0	0	0	14.80	14.50	14.82
2751	0.65	383.1	1996	1415	1427	1450	38.0	11.6	438	2758	0.00	2.62	0.00	0.000	1030	0.000	0.067	1996	2812	1441	1427	1455	0	0	0	0	0	0	14.56	14.44	14.58
2945	0.61	383.1	1996	2810	1426	1450	14.2	10.8	475	2952	0.15	0.00	0.00	0.000	4230	0.200	0.000	1955	2810	1438	1426	1450	0	0	0	0	0	0	14.41	14.58	14.52
3068	end climb: SURFACE_DEPTH_REACHED
state	3069	begin surface coast
3096	end surface coast: CONTROL_FINISHED_OK
state	3096	begin surface