Glider dive log

Shilshole 17Nov17 * 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 6 HD_C 1.6100001e-05 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0

DIVE 4 HEADING -1 C_ROLL_CLIMB 2450 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 4 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 47 ALTIM_PING_DELTA 10

D_TGT 165 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 32 ALTIM_FREQUENCY 13

D_ABORT 185 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 567.75995 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 2700 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 75 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 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 5 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 1.1 SEABIRD_C_H 1.1403944

RHO 1.023 PITCH_TIMEOUT 24 FG_AHR_10V 0 SEABIRD_C_I -0.0013212307

MASS 53323 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 -161.16354 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.000108275 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 567.75995

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 24 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 0.000108275 T_BOOST 5

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -161.16354 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 75

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 32 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 5 T_RSLEEP 3

C_PITCH 2800 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_CLIMB 2450 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_DIVE 2600 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_VBD 2700 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 53323 ROLL_DEG 40 VBD_CNV -0.25119999

DEVICE4 -1 MASS_COMP 0 ROLL_MAX 3910 VBD_DBAND 2

DEVICE5 -1 MAXI_10V 1.1 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 185 MINV_10V 10 R_PORT_OVSHOOT 47 VBD_MIN 500

D_BOOST 100 MINV_24V 10 R_STBD_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 MISSION 6 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

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 4 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 171117,190310,4744.1167,-12223.7910,10,1.7,20,15.8,0.2,0.0,6,8.8 SPEED_LIMITS 0.173,0.258

_CALLS 1 TGT_NAME SE

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12224.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.94 MHEAD_RNG_PITCHd_Wd 172.9,2116,-17.6,-10.000,-21.21,2209

_SM_ANGLEo -62.2 D_GRID 169

GPS2 171117,190807,4744.1309,-12223.7588,3,1.7,6,15.8,0.2,0.0,6,8.2

Post-dive calculations and measurements:

FINISH 0.3,1.020431 _24V_AH 13.45,7.550

SM_CCo 3505,0.17,0.659,0,0,499,552.64 _10V_AH 13.64,0.000

SM_GC 0.98,8.43,0.28,0.17,0.097,0.099,0.659,201,2605,499,-8.10,-0.76,552.64,0,0,0,0,0,0,14.66,14.71,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 62 FG_AHR_10Vo 0.000

RAFOS 0,1510945146,19.000000,18.985001,62,59,59,57,54,53,216,183,150,139,119,195 MEM 300176

RAFOS_FIX 4743.725586,-12223.940430,171117,202031,0,1,0.24 DATA_FILE_SIZE 20049,639

IRIDIUM_FIX 4742.17,-12225.08,171117,180430 CAP_FILE_SIZE 75499,0

TT8_MAMPS 0.038199,0.701813 CFSIZE 1024409600,1021198336

HUMID 44.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.1245 INTR 0,75.97,0x23444e,0,24

TCM_TEMP 18.80 SOUNDSPEED 1483.4

XPDR_PINGS 7 CURRENT 0.070,188.10,1

ALTIM_TOP_PING 10.8,10.3 GPS 171117,200743,4743.593,-12223.904,7,1.5,13,15.8,0.1,0.0,6,9.7

ALTIM_BOTTOM_PING 165.3,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 457 141.36 nil 0 0 0.00

Roll_motor 36 98 48.98 nil 0 0 0.00

VBD_pump_during_apogee 299 1106 4455.67 nil 0 0 0.00

VBD_pump_during_surface 183 659 1625.75 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 3313 29 1301.77

Iridium_during_xfer 209 209 591.69 nil 0 0 0.00

Transponder_ping 10 420 56.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.97

TT8 0 0 0.00

LPSleep 1655 2 52.16

TT8_Active 598 10 88.80

TT8_Sampling 1512 30 626.21

TT8_CF8 50 51 35.50

TT8_Kalman 0 0 0.00

Analog_circuits 1321 10 182.10

GPS_charging 0 0 0.00

Compass 938 6 86.26

RAFOS 1800 1 36.83

Transponder 55 30 22.55

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

10.9 11.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.9 21.40 9000.00 0.0 0.00 0.00 21.40 0.0 1.01 1.00

30.9 31.70 9000.00 0.0 0.00 0.00 31.70 0.0 1.03 1.00

41.2 41.90 9000.00 0.0 0.00 0.00 41.90 0.0 0.99 1.00

51.4 52.30 52.30 0.0 1.01 1.00 52.30 0.0 1.02 1.00

61.7 62.90 62.80 0.0 1.01 1.00 62.90 0.0 1.03 1.00

103.4 104.60 104.70 0.0 1.01 1.00 104.60 0.0 1.00 1.00

134.5 48.30 9000.00 0.0 0.21 0.11 48.30 182.8 -1.81 1.00

145.0 38.20 9000.00 0.0 -0.14 0.05 38.20 183.2 -0.96 1.00

155.1 31.60 9000.00 0.0 -0.46 0.35 31.60 186.7 -0.65 1.00

165.3 25.90 17.80 183.1 -1.30 0.94 25.90 191.2 -0.56 1.00

166.2 16.70 21.00 187.2 -0.86 0.93 0.00 0.0 0.00 0.00

155.8 30.50 30.00 0.0 -0.85 0.85 30.50 0.0 -1.33 1.00

145.2 36.80 38.10 0.0 -0.80 0.82 36.80 0.0 -0.59 1.00

134.9 51.50 49.60 0.0 -0.93 0.93 51.50 0.0 -1.43 1.00

103.8 104.40 100.40 0.0 -1.40 0.98 104.40 0.0 -1.70 1.00

83.5 84.10 9000.00 0.0 -0.94 0.79 84.10 -0.6 1.00 1.00

73.1 74.90 9000.00 0.0 -0.61 0.51 74.90 -1.8 0.88 1.00

62.6 63.00 9000.00 0.0 -0.12 0.03 63.00 -0.4 1.13 1.00

52.2 52.60 52.90 -0.7 1.00 1.00 52.60 -0.4 1.00 1.00

41.6 41.70 41.80 -0.2 1.02 1.00 41.70 -0.1 1.03 1.00

31.2 30.90 30.80 0.4 1.04 1.00 30.90 0.3 1.04 1.00

21.2 20.80 20.80 0.4 1.02 1.00 20.80 0.4 1.01 1.00

10.8 10.50 10.30 0.5 1.02 1.00 10.50 0.3 0.99 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.06 -146.6 205 2616 502 492 0.0 0.0 0 125 0.00 0.00 -113.72 0.004 16390 0.000 0.000 204 2618 3284 3293 3276 0 0 0 0 0 0 14.79 13.45 14.79

126 -1.06 -146.6 204 2617 3294 3276 3.0 -4.5 19 145 11.65 2.22 0.00 0.000 2340 0.457 0.076 2436 3903 3284 3288 3281 0 0 0 0 0 0 14.31 14.53 14.56

179 -0.82 -146.6 2437 3904 3286 3285 16.1 -20.9 29 187 0.35 2.15 0.00 0.000 3206 0.283 0.032 2529 2555 3284 3285 3284 0 0 0 0 0 0 14.38 14.60 14.56

366 -0.75 -146.6 2528 2555 3285 3286 42.4 -12.4 66 373 0.12 2.20 0.00 0.000 2692 0.302 0.054 2554 1250 3284 3283 3286 0 0 0 0 0 0 14.46 14.59 14.67

422 -0.75 -146.6 2555 1249 3284 3286 48.4 -10.4 77 430 0.00 2.33 0.00 0.000 1030 0.000 0.065 2554 2598 3284 3283 3286 0 0 0 0 0 0 14.70 14.63 14.71

609 -0.73 -146.6 2555 2598 3284 3287 69.1 -12.4 114 616 0.00 2.30 0.00 0.000 388 0.000 0.088 2554 3903 3284 3282 3287 0 0 0 0 0 0 14.91 14.60 14.92

730 -0.69 -146.6 2554 3903 3283 3287 83.2 -10.7 138 737 0.00 2.08 0.00 0.000 1158 0.000 0.034 2554 2597 3284 3282 3287 0 0 0 0 0 0 14.77 14.73 14.78

917 -0.66 -146.6 2555 2598 3283 3288 100.5 -9.5 175 923 0.12 2.22 0.00 0.000 2724 0.295 0.054 2581 1238 3284 3282 3287 0 0 0 0 0 0 14.52 14.66 14.75

982 -0.70 -146.6 2582 1239 3283 3288 106.2 -7.8 188 989 0.00 2.30 0.00 0.000 1190 0.000 0.066 2581 2602 3284 3282 3287 0 0 0 0 0 0 14.76 14.67 14.81

1168 -0.72 -146.6 2582 2602 3283 3287 121.6 -9.3 225 1169 0.00 0.00 0.00 0.000 166 0.000 0.000 2581 2602 3285 3282 3288 0 0 0 0 0 0 14.97 14.97 14.97

1348 -0.75 -146.6 2582 2602 3283 3288 137.3 -8.2 261 1349 0.00 0.00 0.00 0.000 166 0.000 0.000 2581 2602 3284 3281 3288 0 0 0 0 0 0 14.97 14.97 14.97

1528 -0.77 -146.6 2580 2603 3282 3289 152.0 -8.5 297 1536 0.00 2.28 0.00 0.000 420 0.000 0.088 2581 3899 3284 3281 3288 0 0 0 0 0 0 14.97 14.62 14.97

1675 end dive: TARGET_DEPTH_EXCEEDED

state 1675 begin apogee

1680 -0.25 0.0 2582 2463 3283 3289 165.3 -7.2 326 1833 0.45 0.00 144.27 1.106 10246 0.233 0.000 2708 2462 2696 2688 2704 0 0 0 0 0 0 14.52 14.17 13.76

1834 end apogee: CONTROL_FINISHED_OK

state 1834 begin climb

1835 1.06 146.6 2710 2463 2689 2705 171.7 0.0 352 1991 1.42 0.00 146.82 1.068 10758 0.184 0.000 3128 2462 2112 2094 2131 0 0 0 0 0 0 14.18 14.10 13.68

2170 0.97 146.6 3128 2463 2082 2132 134.1 14.3 414 2177 0.00 2.47 0.00 0.000 388 0.000 0.080 3128 3861 2106 2082 2131 0 0 0 0 0 0 14.73 14.44 14.73

2252 0.83 146.6 3128 3858 2083 2132 120.4 17.1 430 2259 0.28 2.28 0.00 0.000 5254 0.268 0.036 3071 2449 2106 2081 2131 0 0 0 0 0 0 14.43 14.58 14.64

2437 0.83 146.6 3071 2450 2079 2132 97.8 11.8 467 2444 0.00 2.38 0.00 0.000 516 0.000 0.060 3078 1068 2104 2078 2131 0 0 0 0 0 0 14.85 14.59 14.86

2503 0.83 146.6 3080 1069 2078 2128 90.3 11.4 480 2510 0.00 2.38 0.00 0.000 1030 0.000 0.060 3080 2448 2103 2078 2128 0 0 0 0 0 0 14.70 14.64 14.73

2689 0.81 146.6 3080 2448 2079 2128 67.9 11.3 517 2690 0.00 0.00 0.00 0.000 134 0.000 0.000 3080 2449 2103 2078 2128 0 0 0 0 0 0 14.90 14.90 14.90

2869 0.82 153.2 3080 2450 2079 2129 48.1 9.7 553 2878 0.00 2.42 1.92 0.347 8484 0.000 0.078 3080 3859 2090 2069 2112 0 0 0 0 0 0 14.92 14.66 14.47

3011 0.75 153.2 3080 3858 2072 2112 29.1 14.0 581 3020 0.15 2.30 0.00 0.000 5254 0.260 0.035 3048 2445 2091 2071 2112 0 0 0 0 0 0 14.51 14.71 14.67

3199 0.81 165.7 3048 2445 2071 2111 9.4 9.4 618 3206 0.00 0.00 6.45 0.233 8358 0.000 0.000 3048 2445 2038 2018 2059 0 0 0 0 0 0 14.92 14.77 14.57

3284 end climb: SURFACE_DEPTH_REACHED

state 3284 begin surface coast

3305 end surface coast: CONTROL_FINISHED_OK

state 3305 begin surface

ID	221	HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_FIT	785
MISSION	6	HD_C	1.6100001e-05	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0
DIVE	4	HEADING	-1	C_ROLL_CLIMB	2450	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	4	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	47	ALTIM_PING_DELTA	10
D_TGT	165	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	32	ALTIM_FREQUENCY	13
D_ABORT	185	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	567.75995	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	2700	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	75	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	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	5	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	1.1	SEABIRD_C_H	1.1403944
RHO	1.023	PITCH_TIMEOUT	24	FG_AHR_10V	0	SEABIRD_C_I	-0.0013212307
MASS	53323	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	-161.16354	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.000108275	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	171117,190310,4744.1167,-12223.7910,10,1.7,20,15.8,0.2,0.0,6,8.8	SPEED_LIMITS	0.173,0.258
_CALLS	1	TGT_NAME	SE
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12224.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.94	MHEAD_RNG_PITCHd_Wd	172.9,2116,-17.6,-10.000,-21.21,2209
_SM_ANGLEo	-62.2	D_GRID	169
GPS2	171117,190807,4744.1309,-12223.7588,3,1.7,6,15.8,0.2,0.0,6,8.2

FINISH	0.3,1.020431	_24V_AH	13.45,7.550
SM_CCo	3505,0.17,0.659,0,0,499,552.64	_10V_AH	13.64,0.000
SM_GC	0.98,8.43,0.28,0.17,0.097,0.099,0.659,201,2605,499,-8.10,-0.76,552.64,0,0,0,0,0,0,14.66,14.71,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	62	FG_AHR_10Vo	0.000
RAFOS	0,1510945146,19.000000,18.985001,62,59,59,57,54,53,216,183,150,139,119,195	MEM	300176
RAFOS_FIX	4743.725586,-12223.940430,171117,202031,0,1,0.24	DATA_FILE_SIZE	20049,639
IRIDIUM_FIX	4742.17,-12225.08,171117,180430	CAP_FILE_SIZE	75499,0
TT8_MAMPS	0.038199,0.701813	CFSIZE	1024409600,1021198336
HUMID	44.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.1245	INTR	0,75.97,0x23444e,0,24
TCM_TEMP	18.80	SOUNDSPEED	1483.4
XPDR_PINGS	7	CURRENT	0.070,188.10,1
ALTIM_TOP_PING	10.8,10.3	GPS	171117,200743,4743.593,-12223.904,7,1.5,13,15.8,0.1,0.0,6,9.7
ALTIM_BOTTOM_PING	165.3,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	457	141.36	nil	0	0	0.00
Roll_motor	36	98	48.98	nil	0	0	0.00
VBD_pump_during_apogee	299	1106	4455.67	nil	0	0	0.00
VBD_pump_during_surface	183	659	1625.75	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	3313	29	1301.77
Iridium_during_xfer	209	209	591.69	nil	0	0	0.00
Transponder_ping	10	420	56.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.97
TT8	0	0	0.00
LPSleep	1655	2	52.16
TT8_Active	598	10	88.80
TT8_Sampling	1512	30	626.21
TT8_CF8	50	51	35.50
TT8_Kalman	0	0	0.00
Analog_circuits	1321	10	182.10
GPS_charging	0	0	0.00
Compass	938	6	86.26
RAFOS	1800	1	36.83
Transponder	55	30	22.55

		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
10.9	11.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.9	21.40	9000.00	0.0	0.00	0.00	21.40	0.0	1.01	1.00
30.9	31.70	9000.00	0.0	0.00	0.00	31.70	0.0	1.03	1.00
41.2	41.90	9000.00	0.0	0.00	0.00	41.90	0.0	0.99	1.00
51.4	52.30	52.30	0.0	1.01	1.00	52.30	0.0	1.02	1.00
61.7	62.90	62.80	0.0	1.01	1.00	62.90	0.0	1.03	1.00
103.4	104.60	104.70	0.0	1.01	1.00	104.60	0.0	1.00	1.00
134.5	48.30	9000.00	0.0	0.21	0.11	48.30	182.8	-1.81	1.00
145.0	38.20	9000.00	0.0	-0.14	0.05	38.20	183.2	-0.96	1.00
155.1	31.60	9000.00	0.0	-0.46	0.35	31.60	186.7	-0.65	1.00
165.3	25.90	17.80	183.1	-1.30	0.94	25.90	191.2	-0.56	1.00
166.2	16.70	21.00	187.2	-0.86	0.93	0.00	0.0	0.00	0.00

155.8	30.50	30.00	0.0	-0.85	0.85	30.50	0.0	-1.33	1.00
145.2	36.80	38.10	0.0	-0.80	0.82	36.80	0.0	-0.59	1.00
134.9	51.50	49.60	0.0	-0.93	0.93	51.50	0.0	-1.43	1.00
103.8	104.40	100.40	0.0	-1.40	0.98	104.40	0.0	-1.70	1.00
83.5	84.10	9000.00	0.0	-0.94	0.79	84.10	-0.6	1.00	1.00
73.1	74.90	9000.00	0.0	-0.61	0.51	74.90	-1.8	0.88	1.00
62.6	63.00	9000.00	0.0	-0.12	0.03	63.00	-0.4	1.13	1.00
52.2	52.60	52.90	-0.7	1.00	1.00	52.60	-0.4	1.00	1.00
41.6	41.70	41.80	-0.2	1.02	1.00	41.70	-0.1	1.03	1.00
31.2	30.90	30.80	0.4	1.04	1.00	30.90	0.3	1.04	1.00
21.2	20.80	20.80	0.4	1.02	1.00	20.80	0.4	1.01	1.00
10.8	10.50	10.30	0.5	1.02	1.00	10.50	0.3	0.99	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.06	-146.6	205	2616	502	492	0.0	0.0	0	125	0.00	0.00	-113.72	0.004	16390	0.000	0.000	204	2618	3284	3293	3276	0	0	0	0	0	0	14.79	13.45	14.79
126	-1.06	-146.6	204	2617	3294	3276	3.0	-4.5	19	145	11.65	2.22	0.00	0.000	2340	0.457	0.076	2436	3903	3284	3288	3281	0	0	0	0	0	0	14.31	14.53	14.56
179	-0.82	-146.6	2437	3904	3286	3285	16.1	-20.9	29	187	0.35	2.15	0.00	0.000	3206	0.283	0.032	2529	2555	3284	3285	3284	0	0	0	0	0	0	14.38	14.60	14.56
366	-0.75	-146.6	2528	2555	3285	3286	42.4	-12.4	66	373	0.12	2.20	0.00	0.000	2692	0.302	0.054	2554	1250	3284	3283	3286	0	0	0	0	0	0	14.46	14.59	14.67
422	-0.75	-146.6	2555	1249	3284	3286	48.4	-10.4	77	430	0.00	2.33	0.00	0.000	1030	0.000	0.065	2554	2598	3284	3283	3286	0	0	0	0	0	0	14.70	14.63	14.71
609	-0.73	-146.6	2555	2598	3284	3287	69.1	-12.4	114	616	0.00	2.30	0.00	0.000	388	0.000	0.088	2554	3903	3284	3282	3287	0	0	0	0	0	0	14.91	14.60	14.92
730	-0.69	-146.6	2554	3903	3283	3287	83.2	-10.7	138	737	0.00	2.08	0.00	0.000	1158	0.000	0.034	2554	2597	3284	3282	3287	0	0	0	0	0	0	14.77	14.73	14.78
917	-0.66	-146.6	2555	2598	3283	3288	100.5	-9.5	175	923	0.12	2.22	0.00	0.000	2724	0.295	0.054	2581	1238	3284	3282	3287	0	0	0	0	0	0	14.52	14.66	14.75
982	-0.70	-146.6	2582	1239	3283	3288	106.2	-7.8	188	989	0.00	2.30	0.00	0.000	1190	0.000	0.066	2581	2602	3284	3282	3287	0	0	0	0	0	0	14.76	14.67	14.81
1168	-0.72	-146.6	2582	2602	3283	3287	121.6	-9.3	225	1169	0.00	0.00	0.00	0.000	166	0.000	0.000	2581	2602	3285	3282	3288	0	0	0	0	0	0	14.97	14.97	14.97
1348	-0.75	-146.6	2582	2602	3283	3288	137.3	-8.2	261	1349	0.00	0.00	0.00	0.000	166	0.000	0.000	2581	2602	3284	3281	3288	0	0	0	0	0	0	14.97	14.97	14.97
1528	-0.77	-146.6	2580	2603	3282	3289	152.0	-8.5	297	1536	0.00	2.28	0.00	0.000	420	0.000	0.088	2581	3899	3284	3281	3288	0	0	0	0	0	0	14.97	14.62	14.97
1675	end dive: TARGET_DEPTH_EXCEEDED
state	1675	begin apogee
1680	-0.25	0.0	2582	2463	3283	3289	165.3	-7.2	326	1833	0.45	0.00	144.27	1.106	10246	0.233	0.000	2708	2462	2696	2688	2704	0	0	0	0	0	0	14.52	14.17	13.76
1834	end apogee: CONTROL_FINISHED_OK
state	1834	begin climb
1835	1.06	146.6	2710	2463	2689	2705	171.7	0.0	352	1991	1.42	0.00	146.82	1.068	10758	0.184	0.000	3128	2462	2112	2094	2131	0	0	0	0	0	0	14.18	14.10	13.68
2170	0.97	146.6	3128	2463	2082	2132	134.1	14.3	414	2177	0.00	2.47	0.00	0.000	388	0.000	0.080	3128	3861	2106	2082	2131	0	0	0	0	0	0	14.73	14.44	14.73
2252	0.83	146.6	3128	3858	2083	2132	120.4	17.1	430	2259	0.28	2.28	0.00	0.000	5254	0.268	0.036	3071	2449	2106	2081	2131	0	0	0	0	0	0	14.43	14.58	14.64
2437	0.83	146.6	3071	2450	2079	2132	97.8	11.8	467	2444	0.00	2.38	0.00	0.000	516	0.000	0.060	3078	1068	2104	2078	2131	0	0	0	0	0	0	14.85	14.59	14.86
2503	0.83	146.6	3080	1069	2078	2128	90.3	11.4	480	2510	0.00	2.38	0.00	0.000	1030	0.000	0.060	3080	2448	2103	2078	2128	0	0	0	0	0	0	14.70	14.64	14.73
2689	0.81	146.6	3080	2448	2079	2128	67.9	11.3	517	2690	0.00	0.00	0.00	0.000	134	0.000	0.000	3080	2449	2103	2078	2128	0	0	0	0	0	0	14.90	14.90	14.90
2869	0.82	153.2	3080	2450	2079	2129	48.1	9.7	553	2878	0.00	2.42	1.92	0.347	8484	0.000	0.078	3080	3859	2090	2069	2112	0	0	0	0	0	0	14.92	14.66	14.47
3011	0.75	153.2	3080	3858	2072	2112	29.1	14.0	581	3020	0.15	2.30	0.00	0.000	5254	0.260	0.035	3048	2445	2091	2071	2112	0	0	0	0	0	0	14.51	14.71	14.67
3199	0.81	165.7	3048	2445	2071	2111	9.4	9.4	618	3206	0.00	0.00	6.45	0.233	8358	0.000	0.000	3048	2445	2038	2018	2059	0	0	0	0	0	0	14.92	14.77	14.57
3284	end climb: SURFACE_DEPTH_REACHED
state	3284	begin surface coast
3305	end surface coast: CONTROL_FINISHED_OK
state	3305	begin surface