Glider dive log

Shilshole 31Jul18 * SG199 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 6 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 26 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 652.31 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 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 3000 INT_PRESSURE_YINT 1.6

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 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 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 70 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 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 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2120 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.023 PITCH_TIMEOUT 17 MAXI_10V 0.80000001 SEABIRD_C_H 1.1324162

MASS 53512 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 0 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -161.62112 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0031999999 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.012 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.1999999e-06 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 652.31

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 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 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 0.0031999999 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.1999999e-06 PITCH_VBD_SHIFT 0.001 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 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -161.62112 T_DIVE 50

CAPUPLOAD 0 ID 199 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 1.6 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 70

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 2120 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 60

C_VBD 3000 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 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53512 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 4 MINV_10V 11 R_PORT_OVSHOOT 26 VBD_MIN 500

D_ABORT 175 MINV_24V 11 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 6 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 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 4 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 310718,190205,4744.3394,-12224.5908,6,1.1,20,16.3,0.4,20.6,7,9.9 SPEED_LIMITS 0.173,0.242

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.21 MHEAD_RNG_PITCHd_Wd 181.8,1779,-18.7,-10.000,-22.47,2245

_SM_ANGLEo -46.0 D_GRID 176

GPS2 310718,190841,4744.4131,-12224.5566,10,1.1,18,16.3,0.4,23.6,7,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20180731192507.713854,18,10785,40,0199,0150,246,00,00,00,01,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*39 XPDR_PINGS 4

FINISH 0.5,1.021766 _24V_AH 13.65,1.393

SM_CCo 2961,0.25,0.695,0,0,499,613.25 _10V_AH 13.32,0.000

SM_GC 0.21,6.35,0.00,0.25,0.080,0.000,0.695,190,2407,499,-5.97,0.17,613.25,0,0,0,0,0,0,14.76,14.94,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK 46 FG_AHR_10Vo 0.000

MODEM 3,1533064507,46.25000,-123.50000,7.384,11025.7 MEM 301792

RAFOS_FIX 4711.935059,-12142.694336,310718,191907,4,255,82.01 DATA_FILE_SIZE 10133,327

IRIDIUM_FIX 4744.48,-12222.38,310718,180338 CAP_FILE_SIZE 47685,0

TT8_MAMPS 0.039697,0.489846 CFSIZE 2097872896,2092990464

HUMID 51.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.96946 SOUNDSPEED 1493.2

TCM_TEMP 18.60 GPS 310718,195952,4744.345,-12224.837,8,1.3,25,16.3,0.2,12.2,5,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 436 101.21 nil 0 0 0.00

Roll_motor 29 148 59.31 nil 0 0 0.00

VBD_pump_during_apogee 313 1249 5337.34 nil 0 0 0.00

VBD_pump_during_surface 196 695 1862.81 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 2760 42 1597.42

Iridium_during_xfer 237 178 577.00 nil 0 0 0.00

Transponder_ping 1 420 5.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 21 8.04

TT8 0 0 0.00

LPSleep 1633 2 50.28

TT8_Active 644 11 98.44

TT8_Sampling 951 30 382.75

TT8_CF8 156 36 75.58

TT8_Kalman 0 0 0.00

Analog_circuits 1183 9 149.73

GPS_charging 0 0 0.00

Compass 477 7 47.63

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.84 -146.6 192 2391 536 462 0.0 0.0 0 161 0.00 0.00 -147.57 0.003 16390 0.000 0.000 191 2392 3599 3618 3580 0 0 0 0 0 0 14.76 13.78 14.78

164 -0.84 -146.6 192 2393 3619 3582 5.2 -9.7 15 181 8.18 2.45 0.00 0.000 2596 0.437 0.105 1840 986 3600 3620 3581 0 0 0 0 0 0 14.40 14.54 14.64

231 -0.75 -146.6 1840 986 3621 3580 25.0 -18.8 28 238 0.20 2.50 0.00 0.000 3206 0.291 0.116 1874 2409 3600 3620 3581 0 0 0 0 0 0 14.50 14.57 14.66

416 -0.75 -146.6 1875 2409 3621 3580 52.0 -13.7 47 417 0.00 0.00 0.00 0.000 6 0.000 0.000 1874 2410 3603 3627 3580 0 0 0 0 0 0 14.81 14.83 14.83

596 -0.75 -146.6 1875 2409 3625 3580 75.2 -12.0 65 602 0.00 2.42 0.00 0.000 260 0.000 0.141 1865 3776 3600 3620 3580 0 0 0 0 0 0 14.84 14.62 14.85

725 -0.70 -146.6 1866 3777 3627 3582 95.2 -17.2 90 731 0.00 2.33 0.00 0.000 1158 0.000 0.093 1865 2397 3600 3620 3580 0 0 0 0 0 0 14.72 14.64 14.73

907 -0.70 -146.6 1865 2396 3620 3580 122.0 -12.5 109 913 0.00 2.38 0.00 0.000 516 0.000 0.106 1865 993 3600 3620 3580 0 0 0 0 0 0 14.85 14.65 14.87

978 -0.70 -146.6 1866 993 3621 3580 131.0 -13.2 123 984 0.15 2.50 0.00 0.000 3078 0.276 0.123 1888 2403 3600 3620 3580 0 0 0 0 0 0 14.55 14.62 14.71

1126 end dive: TARGET_DEPTH_EXCEEDED

state 1127 begin apogee

1132 -0.19 0.0 1888 2402 3621 3580 150.1 -12.2 139 1243 0.60 0.00 106.82 1.249 10246 0.241 0.000 2052 2402 2998 3086 2911 0 0 0 0 0 0 14.59 14.24 13.75

1244 end apogee: CONTROL_FINISHED_OK

state 1244 begin climb

1246 0.84 146.6 2054 2402 3087 2911 154.6 0.0 150 1360 1.08 0.00 109.40 1.217 10758 0.155 0.000 2382 2402 2399 2500 2299 0 0 0 0 0 0 14.21 14.14 13.65

1539 0.85 156.4 2382 2403 2504 2288 133.8 9.6 182 1550 0.00 0.00 7.95 1.021 8230 0.000 0.000 2387 2402 2361 2468 2254 0 0 0 0 0 0 14.68 14.49 14.00

1729 0.90 205.8 2382 2402 2468 2248 117.5 7.8 201 1775 0.00 2.53 37.67 1.172 8740 0.000 0.109 2392 996 2158 2280 2037 0 0 0 0 0 0 14.80 14.40 13.95

1870 0.97 274.1 2392 996 2281 2033 107.7 6.9 228 1928 0.12 2.50 51.15 1.167 11302 0.133 0.121 2449 2400 1879 2007 1751 0 0 0 0 0 0 14.54 14.47 13.87

2114 0.92 274.1 2449 2401 2007 1742 76.9 13.5 257 2115 0.15 0.00 0.00 0.000 4230 0.265 0.000 2417 2400 1874 2007 1741 0 0 0 0 0 0 14.47 14.66 14.64

2294 0.92 274.1 2417 2401 2007 1741 56.6 11.2 275 2299 0.00 2.45 0.00 0.000 260 0.000 0.148 2416 3768 1870 2002 1739 0 0 0 0 0 0 14.84 14.61 14.86

2329 0.87 274.1 2416 3770 2007 1740 52.0 13.8 282 2336 0.00 2.33 0.00 0.000 1158 0.000 0.099 2426 2398 1872 2006 1738 0 0 0 0 0 0 14.74 14.65 14.77

2514 0.87 274.1 2426 2399 2007 1739 28.1 12.2 301 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 2426 2398 1872 2007 1737 0 0 0 0 0 0 14.88 14.90 14.90

2694 0.87 274.1 2426 2399 2007 1738 7.0 12.6 319 2699 0.00 2.40 0.00 0.000 516 0.000 0.110 2436 985 1872 2007 1737 0 0 0 0 0 0 14.90 14.66 14.92

2715 0.87 274.1 2437 984 2006 1736 4.4 12.8 323 2720 0.15 2.50 0.00 0.000 5126 0.261 0.123 2403 2406 1871 2006 1736 0 0 0 0 0 0 14.59 14.65 14.75

2733 end climb: SURFACE_DEPTH_REACHED

state 2733 begin surface coast

2743 end surface coast: CONTROL_FINISHED_OK

state 2743 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	6	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	26	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	652.31	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	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	3000	INT_PRESSURE_YINT	1.6
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	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	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	70	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	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	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2120	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.023	PITCH_TIMEOUT	17	MAXI_10V	0.80000001	SEABIRD_C_H	1.1324162
MASS	53512	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	0	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-161.62112	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0031999999	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.012	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.1999999e-06	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	310718,190205,4744.3394,-12224.5908,6,1.1,20,16.3,0.4,20.6,7,9.9	SPEED_LIMITS	0.173,0.242
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.21	MHEAD_RNG_PITCHd_Wd	181.8,1779,-18.7,-10.000,-22.47,2245
_SM_ANGLEo	-46.0	D_GRID	176
GPS2	310718,190841,4744.4131,-12224.5566,10,1.1,18,16.3,0.4,23.6,7,10.0

MODEM_MSG	CACST,6,1,20180731192507.713854,18,10785,40,0199,0150,246,00,00,00,01,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*39	XPDR_PINGS	4
FINISH	0.5,1.021766	_24V_AH	13.65,1.393
SM_CCo	2961,0.25,0.695,0,0,499,613.25	_10V_AH	13.32,0.000
SM_GC	0.21,6.35,0.00,0.25,0.080,0.000,0.695,190,2407,499,-5.97,0.17,613.25,0,0,0,0,0,0,14.76,14.94,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	46	FG_AHR_10Vo	0.000
MODEM	3,1533064507,46.25000,-123.50000,7.384,11025.7	MEM	301792
RAFOS_FIX	4711.935059,-12142.694336,310718,191907,4,255,82.01	DATA_FILE_SIZE	10133,327
IRIDIUM_FIX	4744.48,-12222.38,310718,180338	CAP_FILE_SIZE	47685,0
TT8_MAMPS	0.039697,0.489846	CFSIZE	2097872896,2092990464
HUMID	51.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.96946	SOUNDSPEED	1493.2
TCM_TEMP	18.60	GPS	310718,195952,4744.345,-12224.837,8,1.3,25,16.3,0.2,12.2,5,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	436	101.21	nil	0	0	0.00
Roll_motor	29	148	59.31	nil	0	0	0.00
VBD_pump_during_apogee	313	1249	5337.34	nil	0	0	0.00
VBD_pump_during_surface	196	695	1862.81	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	2760	42	1597.42
Iridium_during_xfer	237	178	577.00	nil	0	0	0.00
Transponder_ping	1	420	5.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	21	8.04
TT8	0	0	0.00
LPSleep	1633	2	50.28
TT8_Active	644	11	98.44
TT8_Sampling	951	30	382.75
TT8_CF8	156	36	75.58
TT8_Kalman	0	0	0.00
Analog_circuits	1183	9	149.73
GPS_charging	0	0	0.00
Compass	477	7	47.63
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.84	-146.6	192	2391	536	462	0.0	0.0	0	161	0.00	0.00	-147.57	0.003	16390	0.000	0.000	191	2392	3599	3618	3580	0	0	0	0	0	0	14.76	13.78	14.78
164	-0.84	-146.6	192	2393	3619	3582	5.2	-9.7	15	181	8.18	2.45	0.00	0.000	2596	0.437	0.105	1840	986	3600	3620	3581	0	0	0	0	0	0	14.40	14.54	14.64
231	-0.75	-146.6	1840	986	3621	3580	25.0	-18.8	28	238	0.20	2.50	0.00	0.000	3206	0.291	0.116	1874	2409	3600	3620	3581	0	0	0	0	0	0	14.50	14.57	14.66
416	-0.75	-146.6	1875	2409	3621	3580	52.0	-13.7	47	417	0.00	0.00	0.00	0.000	6	0.000	0.000	1874	2410	3603	3627	3580	0	0	0	0	0	0	14.81	14.83	14.83
596	-0.75	-146.6	1875	2409	3625	3580	75.2	-12.0	65	602	0.00	2.42	0.00	0.000	260	0.000	0.141	1865	3776	3600	3620	3580	0	0	0	0	0	0	14.84	14.62	14.85
725	-0.70	-146.6	1866	3777	3627	3582	95.2	-17.2	90	731	0.00	2.33	0.00	0.000	1158	0.000	0.093	1865	2397	3600	3620	3580	0	0	0	0	0	0	14.72	14.64	14.73
907	-0.70	-146.6	1865	2396	3620	3580	122.0	-12.5	109	913	0.00	2.38	0.00	0.000	516	0.000	0.106	1865	993	3600	3620	3580	0	0	0	0	0	0	14.85	14.65	14.87
978	-0.70	-146.6	1866	993	3621	3580	131.0	-13.2	123	984	0.15	2.50	0.00	0.000	3078	0.276	0.123	1888	2403	3600	3620	3580	0	0	0	0	0	0	14.55	14.62	14.71
1126	end dive: TARGET_DEPTH_EXCEEDED
state	1127	begin apogee
1132	-0.19	0.0	1888	2402	3621	3580	150.1	-12.2	139	1243	0.60	0.00	106.82	1.249	10246	0.241	0.000	2052	2402	2998	3086	2911	0	0	0	0	0	0	14.59	14.24	13.75
1244	end apogee: CONTROL_FINISHED_OK
state	1244	begin climb
1246	0.84	146.6	2054	2402	3087	2911	154.6	0.0	150	1360	1.08	0.00	109.40	1.217	10758	0.155	0.000	2382	2402	2399	2500	2299	0	0	0	0	0	0	14.21	14.14	13.65
1539	0.85	156.4	2382	2403	2504	2288	133.8	9.6	182	1550	0.00	0.00	7.95	1.021	8230	0.000	0.000	2387	2402	2361	2468	2254	0	0	0	0	0	0	14.68	14.49	14.00
1729	0.90	205.8	2382	2402	2468	2248	117.5	7.8	201	1775	0.00	2.53	37.67	1.172	8740	0.000	0.109	2392	996	2158	2280	2037	0	0	0	0	0	0	14.80	14.40	13.95
1870	0.97	274.1	2392	996	2281	2033	107.7	6.9	228	1928	0.12	2.50	51.15	1.167	11302	0.133	0.121	2449	2400	1879	2007	1751	0	0	0	0	0	0	14.54	14.47	13.87
2114	0.92	274.1	2449	2401	2007	1742	76.9	13.5	257	2115	0.15	0.00	0.00	0.000	4230	0.265	0.000	2417	2400	1874	2007	1741	0	0	0	0	0	0	14.47	14.66	14.64
2294	0.92	274.1	2417	2401	2007	1741	56.6	11.2	275	2299	0.00	2.45	0.00	0.000	260	0.000	0.148	2416	3768	1870	2002	1739	0	0	0	0	0	0	14.84	14.61	14.86
2329	0.87	274.1	2416	3770	2007	1740	52.0	13.8	282	2336	0.00	2.33	0.00	0.000	1158	0.000	0.099	2426	2398	1872	2006	1738	0	0	0	0	0	0	14.74	14.65	14.77
2514	0.87	274.1	2426	2399	2007	1739	28.1	12.2	301	2515	0.00	0.00	0.00	0.000	6	0.000	0.000	2426	2398	1872	2007	1737	0	0	0	0	0	0	14.88	14.90	14.90
2694	0.87	274.1	2426	2399	2007	1738	7.0	12.6	319	2699	0.00	2.40	0.00	0.000	516	0.000	0.110	2436	985	1872	2007	1737	0	0	0	0	0	0	14.90	14.66	14.92
2715	0.87	274.1	2437	984	2006	1736	4.4	12.8	323	2720	0.15	2.50	0.00	0.000	5126	0.261	0.123	2403	2406	1871	2006	1736	0	0	0	0	0	0	14.59	14.65	14.75
2733	end climb: SURFACE_DEPTH_REACHED
state	2733	begin surface coast
2743	end surface coast: CONTROL_FINISHED_OK
state	2743	begin surface