Glider dive log

Shilshole 01Nov17 * SG221 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_FIT 785

MISSION 5 HD_C 1.6100001e-05 C_ROLL_DIVE 2300 ALTIM_TOP_PING_RANGE 0

DIVE 4 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 54 ALTIM_PING_DELTA 10

D_TGT 165 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 25 ALTIM_FREQUENCY 13

D_ABORT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 643.12 ROLL_MAXERRORS 2 ALTIM_SENSITIVITY 4

D_BOOST 100 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 3

T_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_YINT 0.80000001

D_SAFE 0 PROTOCOL 9 C_VBD 2800 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_CNV -0.25119999 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

T_DIVE 55 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_TURN_SAMPINT -5 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_EPIRB 0 T_RSLEEP 3 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 97

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE 149

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 0 RAFOS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 200 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3910 CF8_MAXERRORS 2 SIM_W 0

RELAUNCH 1 C_PITCH 2800 AH0_24V 350 SEABIRD_T_G 0.0044198656

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00064431952

MAX_BUOY 150 PITCH_CNV 0.0031300001 MINV_24V 10 SEABIRD_T_I 2.6320724e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 10 SEABIRD_T_J 3.2746798e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.9022408

SPEED_FACTOR 1 PITCH_GAIN 20 MAXI_10V 1 SEABIRD_C_H 1.1403944

RHO 1.023 PITCH_TIMEOUT 15 FG_AHR_10V 0 SEABIRD_C_I -0.0013212307

MASS 53299 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00017705678

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PRESSURE_YINT -161.11497 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0001082743 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 230 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3910 COMPASS_USE 4

AD7714Ch0Gain 1 D_SURF 2 N_NOCOMM 1 SEABIRD_C_J 0.00017705678

AH0_10V 0 D_TGT 165 N_NOSURFACE 0 SEABIRD_T_G 0.0044198656

AH0_24V 350 ESCAPE_HEADING 0 PHONE_DEVICE 49 SEABIRD_T_H 0.00064431952

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY -2 SEABIRD_T_I 2.6320724e-05

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.2746798e-06

ALTIM_PING_DELTA 10 EXEC_T 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 175 SM_CC 643.12

ALTIM_PING_FIT 785 FG_AHR_10V 0 PITCH_CNV 0.0031300001 SPEED_FACTOR 1

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_SENSITIVITY 4 FILEMGR 0 PITCH_GAIN 20 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3910 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 64 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_C 1.6100001e-05 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_ABORT 1440

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001082743 T_BOOST 5

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -161.11497 T_DIVE 55

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

COMM_SEQ 0 ID 221 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.80000001 RAFOS_CORR_THRESH 60 T_MISSION 70

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 32 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_PITCH 2800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_VBD 2800 LOGGERS 1 RHO 1.023 UNCOM_BLEED 20

DBDW 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 300 USE_ICE 0

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MASS 53299 ROLL_DEG 40 VBD_CNV -0.25119999

DEVICE4 -1 MASS_COMP 0 ROLL_MAX 3910 VBD_DBAND 2

DEVICE5 -1 MAXI_10V 1 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE6 -1 MAXI_24V 0.60000002 ROLL_MIN 230 VBD_MAX 3960

DIVE 4 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

D_ABORT 180 MINV_10V 10 R_PORT_OVSHOOT 54 VBD_MIN 500

D_BOOST 100 MINV_24V 10 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 0 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

D_FINISH 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_NO_BLEED 50 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_OFFGRID 100 N_DIVES 5 SEABIRD_C_G -9.9022408 XPDR_INHIBIT 90

D_PITCH 0 N_FILEKB 8 SEABIRD_C_H 1.1403944 XPDR_VALID 3

D_SAFE 0 N_GPS 100440 SEABIRD_C_I -0.0013212307

Pre-dive calculations and measurements:

GPS1 011117,181657,4743.8237,-12224.7285,5,1.7,7,15.8,0.1,0.0,5,8.0 SPEED_LIMITS 0.173,0.258

_CALLS 1 TGT_NAME NE

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12224.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.92 MHEAD_RNG_PITCHd_Wd 86.6,1109,-17.6,-10.000,-21.21,2209

_SM_ANGLEo -65.6 D_GRID 175

GPS2 011117,182211,4743.8203,-12224.7520,4,1.7,6,15.8,0.3,0.0,5,9.6

Post-dive calculations and measurements:

FINISH 0.5,1.020865 ALTIM_BOTTOM_PING 124.6,-117.2

SM_CCo 3362,0.35,0.419,0,0,498,577.76 _24V_AH 13.32,6.269

SM_GC 0.95,8.73,0.15,0.35,0.119,0.105,0.419,191,2288,498,-8.11,1.22,577.76,0,0,0,0,0,0,14.73,14.77,14.56 _10V_AH 13.36,0.000

RAFOS_CLK 60 FG_AHR_24Vo 0.000

RAFOS 1,1509559746,18.166670,18.151667,92,62,60,58,53,52,586,157,214,196,168,186 FG_AHR_10Vo 0.000

RAFOS_FIX 4800.128906,-12133.724609,011117,181818,5,107,0.00 MEM 300232

IRIDIUM_FIX 4748.63,-12225.81,011117,171641 DATA_FILE_SIZE 20056,607

TT8_MAMPS 0.038199,0.817159 CAP_FILE_SIZE 71649,0

HUMID 47.32 CFSIZE 1024409600,1021247488

INTERNAL_PRESSURE 8.31982 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 19.10 SOUNDSPEED 1490.6

XPDR_PINGS 8 CURRENT 0.136,202.92,1

ALTIM_TOP_PING 8.8,8.5 GPS 011117,191939,4743.410,-12224.502,12,1.4,21,15.8,0.2,0.0,7,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 432 132.42 nil 0 0 0.00

Roll_motor 43 104 60.10 nil 0 0 0.00

VBD_pump_during_apogee 350 1701 7936.27 nil 0 0 0.00

VBD_pump_during_surface 182 419 1019.50 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 3174 29 1240.51

Iridium_during_xfer 224 202 606.82 nil 0 0 0.00

Transponder_ping 9 420 54.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.93

TT8 0 0 0.00

LPSleep 1551 2 47.87

TT8_Active 639 10 92.87

TT8_Sampling 1457 30 591.10

TT8_CF8 51 51 35.34

TT8_Kalman 0 0 0.00

Analog_circuits 1363 10 183.97

GPS_charging 0 0 0.00

Compass 876 6 78.95

RAFOS 1500 1 30.06

Transponder 52 30 21.06

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

11.4 12.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.6 22.30 9000.00 0.0 0.00 0.00 22.30 0.0 0.92 1.00

31.7 32.50 9000.00 0.0 0.00 0.00 32.50 0.0 1.01 1.00

63.4 180.80 9000.00 0.0 0.00 0.00 180.80 0.0 4.68 1.00

73.9 156.70 9000.00 0.0 2.85 0.91 156.70 230.6 -2.30 1.00

84.1 161.30 9000.00 0.0 2.63 0.86 161.30 0.0 0.45 1.00

114.5 115.90 9000.00 0.0 0.91 0.22 115.90 230.4 -1.49 1.00

124.6 126.00 117.20 241.8 -0.95 0.88 126.00 0.0 1.00 1.00

145.0 43.60 9000.00 0.0 -1.46 0.82 43.60 188.6 -4.04 1.00

155.4 12.70 9000.00 0.0 -2.08 0.89 12.70 168.1 -2.97 1.00

165.3 27.50 9000.00 0.0 -2.30 0.86 27.50 137.8 1.49 1.00

154.3 10.90 9000.00 0.0 -2.80 0.82 10.90 143.4 1.51 1.00

144.1 11.10 9000.00 0.0 -0.15 0.01 11.10 0.0 -0.02 1.00

133.7 11.30 9000.00 0.0 0.42 0.50 11.30 0.0 -0.02 1.00

122.8 11.30 9000.00 0.0 0.30 0.49 0.00 0.0 0.00 0.00

101.9 102.10 9000.00 0.0 -1.64 0.67 102.10 0.0 -4.34 1.00

70.6 71.60 9000.00 0.0 -1.12 0.58 71.60 -1.0 0.97 1.00

60.5 61.60 9000.00 0.0 -0.78 0.39 61.60 -1.1 0.99 1.00

50.1 50.40 9000.00 0.0 -0.28 0.06 50.40 -0.3 1.08 1.00

39.7 39.70 40.20 -0.5 1.00 1.00 39.70 0.0 1.03 1.00

29.5 29.40 29.30 0.2 1.03 1.00 29.40 0.1 1.01 1.00

19.2 19.10 18.90 0.3 1.03 1.00 19.10 0.1 1.00 1.00

8.8 8.60 8.50 0.3 1.01 1.00 8.60 0.2 1.01 1.00

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

8 -1.06 -146.6 197 2288 552 533 0.0 0.0 0 114 0.00 0.00 -104.15 0.004 16386 0.000 0.000 197 2288 3189 3197 3181 0 0 0 0 0 0 14.79 28.83 14.81

115 -1.06 -146.6 197 2288 3198 3181 4.4 -10.6 17 136 11.10 2.50 -3.80 0.025 18692 0.432 0.102 2438 3707 3384 3412 3357 0 0 0 0 0 0 14.36 13.58 14.64

255 -0.81 -146.6 2439 3708 3412 3359 38.5 -19.4 44 262 0.35 2.30 0.00 0.000 3206 0.280 0.041 2532 2305 3384 3412 3357 0 0 0 0 0 0 14.47 14.66 14.62

441 -0.75 -146.6 2532 2305 3413 3357 65.3 -12.7 81 449 0.00 2.47 0.00 0.000 388 0.000 0.086 2521 3712 3383 3409 3357 0 0 0 0 0 0 14.88 14.66 14.90

588 -0.65 -146.6 2521 3713 3412 3357 85.5 -14.2 110 595 0.22 2.30 0.00 0.000 3206 0.240 0.041 2585 2303 3384 3412 3357 0 0 0 0 0 0 14.52 14.69 14.64

774 -0.67 -146.6 2585 2304 3413 3358 104.1 -9.1 147 784 0.00 2.47 0.00 0.000 420 0.000 0.088 2576 3712 3384 3412 3357 0 0 0 0 0 0 14.93 14.69 14.96

903 -0.67 -146.6 2576 3712 3412 3358 117.8 -10.9 172 910 0.00 2.30 0.00 0.000 1030 0.000 0.042 2576 2300 3384 3412 3357 0 0 0 0 0 0 14.83 14.76 14.81

1089 -0.70 -146.6 2576 2301 3413 3358 135.8 -9.0 209 1097 0.00 2.47 0.00 0.000 420 0.000 0.088 2571 3711 3385 3412 3358 0 0 0 0 0 0 14.96 14.69 14.98

1201 -0.70 -146.6 2572 3712 3413 3359 146.4 -8.9 231 1208 0.00 2.30 0.00 0.000 1062 0.000 0.043 2571 2302 3384 3412 3357 0 0 0 0 0 0 14.82 14.79 14.85

1386 -0.70 -146.6 2572 2302 3411 3357 162.2 -8.5 268 1393 0.00 2.45 0.00 0.000 292 0.000 0.087 2571 3703 3385 3413 3357 0 0 0 0 0 0 14.96 14.71 14.98

1416 end dive: TARGET_DEPTH_EXCEEDED

state 1416 begin apogee

1421 -0.25 0.0 2572 2389 3413 3358 165.0 -9.5 274 1572 0.50 0.00 140.32 1.701 10246 0.223 0.000 2714 2388 2799 2819 2780 0 0 0 0 1 0 14.59 14.07 13.32

1573 end apogee: CONTROL_FINISHED_OK

state 1574 begin climb

1574 1.06 146.6 2715 2389 2822 2784 171.8 0.0 300 1759 1.40 2.40 173.75 1.076 10756 0.174 0.067 3140 1022 2201 2220 2183 0 0 0 0 0 0 14.06 14.07 13.71

1983 0.99 146.6 3140 1022 2213 2165 124.3 13.8 375 1990 0.00 2.40 0.00 0.000 1158 0.000 0.067 3140 2402 2188 2212 2165 0 0 0 0 0 0 14.62 14.57 14.64

2169 0.89 146.6 3139 2402 2212 2165 100.7 11.8 412 2177 0.20 2.47 0.00 0.000 4484 0.275 0.089 3091 3809 2189 2212 2166 0 0 0 0 0 0 14.54 14.60 14.73

2311 0.81 146.6 3092 3809 2213 2166 82.5 14.2 440 2318 0.12 2.30 0.00 0.000 5254 0.255 0.043 3067 2412 2188 2212 2165 0 0 0 0 0 0 14.54 14.70 14.67

2497 0.81 146.6 3066 2410 2213 2166 60.9 11.3 477 2506 0.00 2.42 0.00 0.000 260 0.000 0.089 3067 3809 2188 2212 2165 0 0 0 0 0 0 14.90 14.70 14.92

2550 0.76 146.6 3067 3810 2213 2166 54.2 13.2 487 2557 0.08 2.33 0.00 0.000 5254 0.272 0.045 3054 2397 2188 2212 2165 0 0 0 0 0 0 14.57 14.71 14.66

2736 0.84 187.0 3054 2397 2213 2172 37.0 8.1 524 2756 0.00 0.00 18.50 0.292 8358 0.000 0.000 3054 2397 2053 2071 2035 0 0 0 0 0 0 14.91 14.76 14.54

2935 0.93 217.5 3054 2398 2083 2045 20.1 8.6 563 2958 0.15 2.53 17.62 0.246 10660 0.155 0.088 3112 3817 1933 1948 1918 0 0 0 0 0 0 14.71 14.68 14.56

2982 0.86 217.5 3113 3816 1956 1927 14.4 13.6 571 2989 0.15 2.33 0.00 0.000 5254 0.244 0.044 3079 2405 1940 1954 1926 0 0 0 0 0 0 14.58 14.72 14.70

3127 end climb: SURFACE_DEPTH_REACHED

state 3127 begin surface coast

3162 end surface coast: CONTROL_FINISHED_OK

state 3162 begin surface

ID	221	HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_FIT	785
MISSION	5	HD_C	1.6100001e-05	C_ROLL_DIVE	2300	ALTIM_TOP_PING_RANGE	0
DIVE	4	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	54	ALTIM_PING_DELTA	10
D_TGT	165	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	25	ALTIM_FREQUENCY	13
D_ABORT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	643.12	ROLL_MAXERRORS	2	ALTIM_SENSITIVITY	4
D_BOOST	100	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	3
T_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_YINT	0.80000001
D_SAFE	0	PROTOCOL	9	C_VBD	2800	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_CNV	-0.25119999	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
T_DIVE	55	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_TURN_SAMPINT	-5	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_EPIRB	0	T_RSLEEP	3	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	97
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	149
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	0	RAFOS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	200	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3910	CF8_MAXERRORS	2	SIM_W	0
RELAUNCH	1	C_PITCH	2800	AH0_24V	350	SEABIRD_T_G	0.0044198656
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00064431952
MAX_BUOY	150	PITCH_CNV	0.0031300001	MINV_24V	10	SEABIRD_T_I	2.6320724e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	10	SEABIRD_T_J	3.2746798e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9022408
SPEED_FACTOR	1	PITCH_GAIN	20	MAXI_10V	1	SEABIRD_C_H	1.1403944
RHO	1.023	PITCH_TIMEOUT	15	FG_AHR_10V	0	SEABIRD_C_I	-0.0013212307
MASS	53299	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00017705678
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PRESSURE_YINT	-161.11497	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0001082743	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	230	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3910	COMPASS_USE	4

GPS1	011117,181657,4743.8237,-12224.7285,5,1.7,7,15.8,0.1,0.0,5,8.0	SPEED_LIMITS	0.173,0.258
_CALLS	1	TGT_NAME	NE
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12224.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.92	MHEAD_RNG_PITCHd_Wd	86.6,1109,-17.6,-10.000,-21.21,2209
_SM_ANGLEo	-65.6	D_GRID	175
GPS2	011117,182211,4743.8203,-12224.7520,4,1.7,6,15.8,0.3,0.0,5,9.6

FINISH	0.5,1.020865	ALTIM_BOTTOM_PING	124.6,-117.2
SM_CCo	3362,0.35,0.419,0,0,498,577.76	_24V_AH	13.32,6.269
SM_GC	0.95,8.73,0.15,0.35,0.119,0.105,0.419,191,2288,498,-8.11,1.22,577.76,0,0,0,0,0,0,14.73,14.77,14.56	_10V_AH	13.36,0.000
RAFOS_CLK	60	FG_AHR_24Vo	0.000
RAFOS	1,1509559746,18.166670,18.151667,92,62,60,58,53,52,586,157,214,196,168,186	FG_AHR_10Vo	0.000
RAFOS_FIX	4800.128906,-12133.724609,011117,181818,5,107,0.00	MEM	300232
IRIDIUM_FIX	4748.63,-12225.81,011117,171641	DATA_FILE_SIZE	20056,607
TT8_MAMPS	0.038199,0.817159	CAP_FILE_SIZE	71649,0
HUMID	47.32	CFSIZE	1024409600,1021247488
INTERNAL_PRESSURE	8.31982	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	19.10	SOUNDSPEED	1490.6
XPDR_PINGS	8	CURRENT	0.136,202.92,1
ALTIM_TOP_PING	8.8,8.5	GPS	011117,191939,4743.410,-12224.502,12,1.4,21,15.8,0.2,0.0,7,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	432	132.42	nil	0	0	0.00
Roll_motor	43	104	60.10	nil	0	0	0.00
VBD_pump_during_apogee	350	1701	7936.27	nil	0	0	0.00
VBD_pump_during_surface	182	419	1019.50	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	3174	29	1240.51
Iridium_during_xfer	224	202	606.82	nil	0	0	0.00
Transponder_ping	9	420	54.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.93
TT8	0	0	0.00
LPSleep	1551	2	47.87
TT8_Active	639	10	92.87
TT8_Sampling	1457	30	591.10
TT8_CF8	51	51	35.34
TT8_Kalman	0	0	0.00
Analog_circuits	1363	10	183.97
GPS_charging	0	0	0.00
Compass	876	6	78.95
RAFOS	1500	1	30.06
Transponder	52	30	21.06

		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
11.4	12.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.6	22.30	9000.00	0.0	0.00	0.00	22.30	0.0	0.92	1.00
31.7	32.50	9000.00	0.0	0.00	0.00	32.50	0.0	1.01	1.00
63.4	180.80	9000.00	0.0	0.00	0.00	180.80	0.0	4.68	1.00
73.9	156.70	9000.00	0.0	2.85	0.91	156.70	230.6	-2.30	1.00
84.1	161.30	9000.00	0.0	2.63	0.86	161.30	0.0	0.45	1.00
114.5	115.90	9000.00	0.0	0.91	0.22	115.90	230.4	-1.49	1.00
124.6	126.00	117.20	241.8	-0.95	0.88	126.00	0.0	1.00	1.00
145.0	43.60	9000.00	0.0	-1.46	0.82	43.60	188.6	-4.04	1.00
155.4	12.70	9000.00	0.0	-2.08	0.89	12.70	168.1	-2.97	1.00

165.3	27.50	9000.00	0.0	-2.30	0.86	27.50	137.8	1.49	1.00
154.3	10.90	9000.00	0.0	-2.80	0.82	10.90	143.4	1.51	1.00
144.1	11.10	9000.00	0.0	-0.15	0.01	11.10	0.0	-0.02	1.00
133.7	11.30	9000.00	0.0	0.42	0.50	11.30	0.0	-0.02	1.00
122.8	11.30	9000.00	0.0	0.30	0.49	0.00	0.0	0.00	0.00
101.9	102.10	9000.00	0.0	-1.64	0.67	102.10	0.0	-4.34	1.00
70.6	71.60	9000.00	0.0	-1.12	0.58	71.60	-1.0	0.97	1.00
60.5	61.60	9000.00	0.0	-0.78	0.39	61.60	-1.1	0.99	1.00
50.1	50.40	9000.00	0.0	-0.28	0.06	50.40	-0.3	1.08	1.00
39.7	39.70	40.20	-0.5	1.00	1.00	39.70	0.0	1.03	1.00
29.5	29.40	29.30	0.2	1.03	1.00	29.40	0.1	1.01	1.00
19.2	19.10	18.90	0.3	1.03	1.00	19.10	0.1	1.00	1.00
8.8	8.60	8.50	0.3	1.01	1.00	8.60	0.2	1.01	1.00

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
8	-1.06	-146.6	197	2288	552	533	0.0	0.0	0	114	0.00	0.00	-104.15	0.004	16386	0.000	0.000	197	2288	3189	3197	3181	0	0	0	0	0	0	14.79	28.83	14.81
115	-1.06	-146.6	197	2288	3198	3181	4.4	-10.6	17	136	11.10	2.50	-3.80	0.025	18692	0.432	0.102	2438	3707	3384	3412	3357	0	0	0	0	0	0	14.36	13.58	14.64
255	-0.81	-146.6	2439	3708	3412	3359	38.5	-19.4	44	262	0.35	2.30	0.00	0.000	3206	0.280	0.041	2532	2305	3384	3412	3357	0	0	0	0	0	0	14.47	14.66	14.62
441	-0.75	-146.6	2532	2305	3413	3357	65.3	-12.7	81	449	0.00	2.47	0.00	0.000	388	0.000	0.086	2521	3712	3383	3409	3357	0	0	0	0	0	0	14.88	14.66	14.90
588	-0.65	-146.6	2521	3713	3412	3357	85.5	-14.2	110	595	0.22	2.30	0.00	0.000	3206	0.240	0.041	2585	2303	3384	3412	3357	0	0	0	0	0	0	14.52	14.69	14.64
774	-0.67	-146.6	2585	2304	3413	3358	104.1	-9.1	147	784	0.00	2.47	0.00	0.000	420	0.000	0.088	2576	3712	3384	3412	3357	0	0	0	0	0	0	14.93	14.69	14.96
903	-0.67	-146.6	2576	3712	3412	3358	117.8	-10.9	172	910	0.00	2.30	0.00	0.000	1030	0.000	0.042	2576	2300	3384	3412	3357	0	0	0	0	0	0	14.83	14.76	14.81
1089	-0.70	-146.6	2576	2301	3413	3358	135.8	-9.0	209	1097	0.00	2.47	0.00	0.000	420	0.000	0.088	2571	3711	3385	3412	3358	0	0	0	0	0	0	14.96	14.69	14.98
1201	-0.70	-146.6	2572	3712	3413	3359	146.4	-8.9	231	1208	0.00	2.30	0.00	0.000	1062	0.000	0.043	2571	2302	3384	3412	3357	0	0	0	0	0	0	14.82	14.79	14.85
1386	-0.70	-146.6	2572	2302	3411	3357	162.2	-8.5	268	1393	0.00	2.45	0.00	0.000	292	0.000	0.087	2571	3703	3385	3413	3357	0	0	0	0	0	0	14.96	14.71	14.98
1416	end dive: TARGET_DEPTH_EXCEEDED
state	1416	begin apogee
1421	-0.25	0.0	2572	2389	3413	3358	165.0	-9.5	274	1572	0.50	0.00	140.32	1.701	10246	0.223	0.000	2714	2388	2799	2819	2780	0	0	0	0	1	0	14.59	14.07	13.32
1573	end apogee: CONTROL_FINISHED_OK
state	1574	begin climb
1574	1.06	146.6	2715	2389	2822	2784	171.8	0.0	300	1759	1.40	2.40	173.75	1.076	10756	0.174	0.067	3140	1022	2201	2220	2183	0	0	0	0	0	0	14.06	14.07	13.71
1983	0.99	146.6	3140	1022	2213	2165	124.3	13.8	375	1990	0.00	2.40	0.00	0.000	1158	0.000	0.067	3140	2402	2188	2212	2165	0	0	0	0	0	0	14.62	14.57	14.64
2169	0.89	146.6	3139	2402	2212	2165	100.7	11.8	412	2177	0.20	2.47	0.00	0.000	4484	0.275	0.089	3091	3809	2189	2212	2166	0	0	0	0	0	0	14.54	14.60	14.73
2311	0.81	146.6	3092	3809	2213	2166	82.5	14.2	440	2318	0.12	2.30	0.00	0.000	5254	0.255	0.043	3067	2412	2188	2212	2165	0	0	0	0	0	0	14.54	14.70	14.67
2497	0.81	146.6	3066	2410	2213	2166	60.9	11.3	477	2506	0.00	2.42	0.00	0.000	260	0.000	0.089	3067	3809	2188	2212	2165	0	0	0	0	0	0	14.90	14.70	14.92
2550	0.76	146.6	3067	3810	2213	2166	54.2	13.2	487	2557	0.08	2.33	0.00	0.000	5254	0.272	0.045	3054	2397	2188	2212	2165	0	0	0	0	0	0	14.57	14.71	14.66
2736	0.84	187.0	3054	2397	2213	2172	37.0	8.1	524	2756	0.00	0.00	18.50	0.292	8358	0.000	0.000	3054	2397	2053	2071	2035	0	0	0	0	0	0	14.91	14.76	14.54
2935	0.93	217.5	3054	2398	2083	2045	20.1	8.6	563	2958	0.15	2.53	17.62	0.246	10660	0.155	0.088	3112	3817	1933	1948	1918	0	0	0	0	0	0	14.71	14.68	14.56
2982	0.86	217.5	3113	3816	1956	1927	14.4	13.6	571	2989	0.15	2.33	0.00	0.000	5254	0.244	0.044	3079	2405	1940	1954	1926	0	0	0	0	0	0	14.58	14.72	14.70
3127	end climb: SURFACE_DEPTH_REACHED
state	3127	begin surface coast
3162	end surface coast: CONTROL_FINISHED_OK
state	3162	begin surface