Glider dive log

Shilshole 03Aug18 * SG228 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 13 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 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 7545 R_PORT_OVSHOOT 51 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 30 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 629.49707 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 4

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 2640 INT_PRESSURE_YINT 1.8

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 0.003 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 67 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 3 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 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 100 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2250 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 42 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.023 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 71966 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -148.72581 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0022 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0185 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.91e-06 C_ROLL_DIVE 2500 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 629.49707

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 42 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0022 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0185 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.91e-06 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.72581 T_DIVE 50

CAPUPLOAD 0 ID 228 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 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 67

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2250 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 60

C_VBD 2640 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 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 71966 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 4 MINV_10V 11 R_PORT_OVSHOOT 51 VBD_MIN 500

D_ABORT 175 MINV_24V 11 R_STBD_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 13 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 2 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 -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 4

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 030818,185350,4743.5146,-12224.8418,2,0.6,4,15.7,0.3,335.3,12,7.3 SPEED_LIMITS 0.173,0.195

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.50 MHEAD_RNG_PITCHd_Wd 220.3,204,-23.1,-10.000,-30.00,1774

_SM_ANGLEo -62.6 D_GRID 178

GPS2 030818,185624,4743.5264,-12224.8408,4,0.6,5,15.7,0.2,0.0,12,7.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20180803192502.496448,18,123,-3,0157,0150,00,00,00,00,00,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*15 _24V_AH 13.85,1.040

FINISH 0.3,1.021943 _10V_AH 13.55,0.000

SM_CCo 2597,-0.03,1.336,0,0,500,524.94 FG_AHR_24Vo 0.000

SM_GC 1.56,6.97,4.00,-0.03,0.087,0.031,1.336,192,2498,500,-6.36,1.18,524.94,0,0,0,0,0,0,14.71,14.74,14.36 FG_AHR_10Vo 0.000

RAFOS_CLK 101 MEM 301888

MODEM 5,1533324302,47.25000,-122.00000,2.496,3657.3 DATA_FILE_SIZE 10109,296

RAFOS_FIX 4716.693359,-12201.497070,030818,191902,1,2,33.84 CAP_FILE_SIZE 59989,0

IRIDIUM_FIX 4743.51,-12226.80,030818,184927 CFSIZE 2097872896,2095251456

TT8_MAMPS 0.041195,0.760235 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.89 SOUNDSPEED 1493.5

INTERNAL_PRESSURE 9.44678 CURRENT 0.072,2.27,1

TCM_TEMP 20.20 GPS 030818,194112,4743.510,-12225.124,2,0.7,3,15.7,0.4,4.9,12,8.7

XPDR_PINGS 30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 463 118.62 nil 0 0 0.00

Roll_motor 60 115 96.59 nil 0 0 0.00

VBD_pump_during_apogee 295 1252 5128.31 nil 0 0 0.00

VBD_pump_during_surface 192 205 548.79 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 2368 41 1365.69

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 7 420 43.63 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 6 1.35

TT8 0 0 0.00

LPSleep 1366 2 42.76

TT8_Active 609 11 95.58

TT8_Sampling 658 31 276.89

TT8_CF8 59 36 29.06

TT8_Kalman 0 0 0.00

Analog_circuits 896 10 132.37

GPS_charging 0 0 0.00

Compass 432 6 39.45

RAFOS 2212 33 989.10

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 -0.90 -116.0 196 2505 469 533 0.0 0.0 0 130 0.00 0.00 -117.28 0.003 16390 0.000 0.000 194 2506 3112 3144 3081 0 0 0 0 0 0 14.98 14.16 14.96

132 -0.99 -146.6 196 2506 3145 3082 2.6 -2.2 11 150 8.93 4.10 -3.08 0.030 18724 0.464 0.084 1906 3933 3239 3277 3201 0 0 0 0 0 0 14.52 13.92 14.78

375 -0.95 -146.6 1906 3934 3277 3204 64.1 -21.3 59 381 0.00 3.85 0.00 0.000 1158 0.000 0.039 1922 2519 3240 3277 3203 0 0 0 0 0 0 14.85 14.79 14.86

566 -0.92 -146.6 1921 2518 3277 3203 98.8 -18.1 79 567 0.12 0.00 0.00 0.000 2182 0.347 0.000 1945 2518 3240 3277 3203 0 0 0 0 0 0 14.62 14.81 14.78

746 -0.89 -146.6 1946 2518 3279 3204 128.6 -16.4 97 752 0.00 4.07 0.00 0.000 388 0.000 0.084 1928 3936 3240 3277 3203 0 0 0 0 0 0 14.95 14.76 14.97

762 -0.87 -146.6 1929 3937 3278 3204 131.4 -16.7 100 769 0.12 3.90 0.00 0.000 3206 0.345 0.036 1962 2490 3240 3277 3203 0 0 0 0 0 0 14.59 14.76 14.80

895 end dive: TARGET_DEPTH_EXCEEDED

state 895 begin apogee

900 -0.12 0.0 1965 2365 3279 3204 151.3 -13.8 114 1029 0.93 0.05 120.93 1.252 10246 0.296 0.116 2201 2392 2639 2675 2604 0 0 0 0 0 0 14.64 14.34 13.95

1030 end apogee: CONTROL_FINISHED_OK

state 1030 begin climb

1032 0.99 146.6 2201 2392 2675 2603 155.7 0.0 127 1166 1.20 4.60 123.93 1.209 10500 0.189 0.081 2551 3942 2041 2066 2017 0 0 0 0 0 0 14.36 14.29 13.85

1193 0.96 146.6 2550 3942 2060 2020 139.6 16.6 152 1200 0.00 4.22 0.00 0.000 1158 0.000 0.038 2567 2426 2039 2060 2019 0 0 0 0 0 0 14.47 14.42 14.49

1378 0.95 146.6 2568 2425 2060 2009 114.3 13.5 171 1379 0.00 0.00 0.00 0.000 134 0.000 0.000 2569 2425 2034 2060 2009 0 0 0 0 0 0 14.77 14.79 14.79

1558 0.94 146.6 2569 2426 2062 2008 91.1 12.4 189 1564 0.00 4.43 0.00 0.000 388 0.000 0.083 2565 3948 2033 2060 2007 0 0 0 0 0 0 14.85 14.66 14.86

1635 0.90 146.6 2565 3950 2061 2010 79.8 15.0 204 1641 0.20 4.25 0.00 0.000 5254 0.375 0.037 2545 2392 2034 2060 2009 0 0 0 0 0 0 14.50 14.72 14.72

1819 0.90 146.6 2546 2393 2061 2005 59.8 11.3 223 1825 0.00 4.50 0.00 0.000 260 0.000 0.081 2537 3950 2032 2060 2004 0 0 0 0 0 0 14.90 14.68 14.92

1895 0.88 146.6 2537 3950 2060 2007 47.4 16.7 238 1902 0.00 4.22 0.00 0.000 1158 0.000 0.038 2555 2395 2033 2060 2006 0 0 0 0 0 0 14.76 14.72 14.79

2080 0.99 180.9 2555 2395 2060 2003 30.2 8.0 257 2117 0.00 4.70 28.80 1.102 8868 0.000 0.054 2576 709 1901 1930 1872 0 0 0 0 0 0 14.91 14.62 14.19

2143 1.09 205.8 2577 711 1928 1873 24.9 8.6 267 2176 0.00 4.75 22.02 1.072 9382 0.000 0.052 2576 2403 1798 1828 1769 0 0 0 0 0 0 14.71 14.64 14.15

2354 1.10 205.8 2577 2403 1830 1759 2.9 10.1 291 2366 0.00 4.50 0.00 0.000 388 0.000 0.087 2576 3953 1793 1827 1760 0 0 0 0 0 0 14.84 14.63 14.85

2368 end climb: SURFACE_DEPTH_REACHED

state 2368 begin surface coast

2379 end surface coast: CONTROL_FINISHED_OK

state 2379 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	13	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	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	7545	R_PORT_OVSHOOT	51	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	30	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	629.49707	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	4
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	2640	INT_PRESSURE_YINT	1.8
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	0.003	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	67	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	3	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	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	100	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2250	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	42	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.023	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	71966	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-148.72581	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0022	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0185	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.91e-06	C_ROLL_DIVE	2500	ALTIM_PING_FIT	0

GPS1	030818,185350,4743.5146,-12224.8418,2,0.6,4,15.7,0.3,335.3,12,7.3	SPEED_LIMITS	0.173,0.195
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.50	MHEAD_RNG_PITCHd_Wd	220.3,204,-23.1,-10.000,-30.00,1774
_SM_ANGLEo	-62.6	D_GRID	178
GPS2	030818,185624,4743.5264,-12224.8408,4,0.6,5,15.7,0.2,0.0,12,7.3

MODEM_MSG	CACST,6,1,20180803192502.496448,18,123,-3,0157,0150,00,00,00,00,00,-1,-01,-01,6,3,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*15	_24V_AH	13.85,1.040
FINISH	0.3,1.021943	_10V_AH	13.55,0.000
SM_CCo	2597,-0.03,1.336,0,0,500,524.94	FG_AHR_24Vo	0.000
SM_GC	1.56,6.97,4.00,-0.03,0.087,0.031,1.336,192,2498,500,-6.36,1.18,524.94,0,0,0,0,0,0,14.71,14.74,14.36	FG_AHR_10Vo	0.000
RAFOS_CLK	101	MEM	301888
MODEM	5,1533324302,47.25000,-122.00000,2.496,3657.3	DATA_FILE_SIZE	10109,296
RAFOS_FIX	4716.693359,-12201.497070,030818,191902,1,2,33.84	CAP_FILE_SIZE	59989,0
IRIDIUM_FIX	4743.51,-12226.80,030818,184927	CFSIZE	2097872896,2095251456
TT8_MAMPS	0.041195,0.760235	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.89	SOUNDSPEED	1493.5
INTERNAL_PRESSURE	9.44678	CURRENT	0.072,2.27,1
TCM_TEMP	20.20	GPS	030818,194112,4743.510,-12225.124,2,0.7,3,15.7,0.4,4.9,12,8.7
XPDR_PINGS	30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	463	118.62	nil	0	0	0.00
Roll_motor	60	115	96.59	nil	0	0	0.00
VBD_pump_during_apogee	295	1252	5128.31	nil	0	0	0.00
VBD_pump_during_surface	192	205	548.79	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	2368	41	1365.69
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	7	420	43.63	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	6	1.35
TT8	0	0	0.00
LPSleep	1366	2	42.76
TT8_Active	609	11	95.58
TT8_Sampling	658	31	276.89
TT8_CF8	59	36	29.06
TT8_Kalman	0	0	0.00
Analog_circuits	896	10	132.37
GPS_charging	0	0	0.00
Compass	432	6	39.45
RAFOS	2212	33	989.10
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	-0.90	-116.0	196	2505	469	533	0.0	0.0	0	130	0.00	0.00	-117.28	0.003	16390	0.000	0.000	194	2506	3112	3144	3081	0	0	0	0	0	0	14.98	14.16	14.96
132	-0.99	-146.6	196	2506	3145	3082	2.6	-2.2	11	150	8.93	4.10	-3.08	0.030	18724	0.464	0.084	1906	3933	3239	3277	3201	0	0	0	0	0	0	14.52	13.92	14.78
375	-0.95	-146.6	1906	3934	3277	3204	64.1	-21.3	59	381	0.00	3.85	0.00	0.000	1158	0.000	0.039	1922	2519	3240	3277	3203	0	0	0	0	0	0	14.85	14.79	14.86
566	-0.92	-146.6	1921	2518	3277	3203	98.8	-18.1	79	567	0.12	0.00	0.00	0.000	2182	0.347	0.000	1945	2518	3240	3277	3203	0	0	0	0	0	0	14.62	14.81	14.78
746	-0.89	-146.6	1946	2518	3279	3204	128.6	-16.4	97	752	0.00	4.07	0.00	0.000	388	0.000	0.084	1928	3936	3240	3277	3203	0	0	0	0	0	0	14.95	14.76	14.97
762	-0.87	-146.6	1929	3937	3278	3204	131.4	-16.7	100	769	0.12	3.90	0.00	0.000	3206	0.345	0.036	1962	2490	3240	3277	3203	0	0	0	0	0	0	14.59	14.76	14.80
895	end dive: TARGET_DEPTH_EXCEEDED
state	895	begin apogee
900	-0.12	0.0	1965	2365	3279	3204	151.3	-13.8	114	1029	0.93	0.05	120.93	1.252	10246	0.296	0.116	2201	2392	2639	2675	2604	0	0	0	0	0	0	14.64	14.34	13.95
1030	end apogee: CONTROL_FINISHED_OK
state	1030	begin climb
1032	0.99	146.6	2201	2392	2675	2603	155.7	0.0	127	1166	1.20	4.60	123.93	1.209	10500	0.189	0.081	2551	3942	2041	2066	2017	0	0	0	0	0	0	14.36	14.29	13.85
1193	0.96	146.6	2550	3942	2060	2020	139.6	16.6	152	1200	0.00	4.22	0.00	0.000	1158	0.000	0.038	2567	2426	2039	2060	2019	0	0	0	0	0	0	14.47	14.42	14.49
1378	0.95	146.6	2568	2425	2060	2009	114.3	13.5	171	1379	0.00	0.00	0.00	0.000	134	0.000	0.000	2569	2425	2034	2060	2009	0	0	0	0	0	0	14.77	14.79	14.79
1558	0.94	146.6	2569	2426	2062	2008	91.1	12.4	189	1564	0.00	4.43	0.00	0.000	388	0.000	0.083	2565	3948	2033	2060	2007	0	0	0	0	0	0	14.85	14.66	14.86
1635	0.90	146.6	2565	3950	2061	2010	79.8	15.0	204	1641	0.20	4.25	0.00	0.000	5254	0.375	0.037	2545	2392	2034	2060	2009	0	0	0	0	0	0	14.50	14.72	14.72
1819	0.90	146.6	2546	2393	2061	2005	59.8	11.3	223	1825	0.00	4.50	0.00	0.000	260	0.000	0.081	2537	3950	2032	2060	2004	0	0	0	0	0	0	14.90	14.68	14.92
1895	0.88	146.6	2537	3950	2060	2007	47.4	16.7	238	1902	0.00	4.22	0.00	0.000	1158	0.000	0.038	2555	2395	2033	2060	2006	0	0	0	0	0	0	14.76	14.72	14.79
2080	0.99	180.9	2555	2395	2060	2003	30.2	8.0	257	2117	0.00	4.70	28.80	1.102	8868	0.000	0.054	2576	709	1901	1930	1872	0	0	0	0	0	0	14.91	14.62	14.19
2143	1.09	205.8	2577	711	1928	1873	24.9	8.6	267	2176	0.00	4.75	22.02	1.072	9382	0.000	0.052	2576	2403	1798	1828	1769	0	0	0	0	0	0	14.71	14.64	14.15
2354	1.10	205.8	2577	2403	1830	1759	2.9	10.1	291	2366	0.00	4.50	0.00	0.000	388	0.000	0.087	2576	3953	1793	1827	1760	0	0	0	0	0	0	14.84	14.63	14.85
2368	end climb: SURFACE_DEPTH_REACHED
state	2368	begin surface coast
2379	end surface coast: CONTROL_FINISHED_OK
state	2379	begin surface