Glider dive log

Shilshole 05Aug19 * SG178 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 57 ALTIM_FREQUENCY 13

MISSION 30 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 1

DIVE 5 TGT_DEFAULT_LAT 47.700001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 6 TGT_DEFAULT_LON -122.4 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 3 SM_CC 627.77997 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 150 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 CALL_NDIVES 1 C_VBD 2900 MOTHERBOARD 4

D_NO_BLEED 50 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 2 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 0 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00038000001 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 7

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 83

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 50 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 65 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100740 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 SIM_W 0

USE_BATHY -6 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SEABIRD_T_G 0.0043966938

USE_ICE 0 PITCH_MIN 165 CF8_MAXERRORS 20 SEABIRD_T_H 0.00063700025

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3805 AH0_24V 350 SEABIRD_T_I 2.5067597e-05

D_OFFGRID 100 C_PITCH 2140 AH0_10V 0 SEABIRD_T_J 2.9826379e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 12 SEABIRD_C_G -9.7293062

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 11 SEABIRD_C_H 1.1206031

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I 0.00047059715

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 27 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 FG_AHR_24V 0 SC_PROFILE 7.0

SPEED_FACTOR 1 PITCH_AD_RATE 145 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.023 PITCH_MAXERRORS 1 PRESSURE_YINT -155.95535 SC_NDIVE 1.0

MASS 53497 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1 PM_PROFILE 7.0

NAV_MODE 2 ROLL_MIN 625 COMPASS_USE 4 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_PING_FIT 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

HD_A 0.0038360001 C_ROLL_DIVE 2600 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 9.8500004e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.029999999 SEABIRD_C_J 5.505409e-05

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 145 SEABIRD_T_G 0.0043966938

AH0_24V 350 FERRY_MAX 45 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063700025

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.5067597e-05

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_GAIN 27 SEABIRD_T_J 2.9826379e-06

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MAX 3805 SIM_W 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SM_CC 627.77997

ALTIM_PING_FIT 0 GLIDE_SLOPE 30 PITCH_MIN 165 SPEED_FACTOR 1

ALTIM_PULSE 1 GPS_DEVICE 64 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_SENSITIVITY 5 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.010078 PITCH_W_DBAND 0 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 9.8500004e-06 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_MOTORS 1.0 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_NDIVE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_PROFILE 7.0 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 ID 178 PM_SENDDEPTH 1.0 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITPROFILE 3.0 T_BOOST 0

CAPUPLOAD 0 INT_PRESSURE_YINT 0 PM_XMITRAW 0.0 T_DIVE 50

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_SLOPE 0.0001061024 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 53 PRESSURE_YINT -155.95535 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 83 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 P_OVSHOOT 0.039999999 T_MISSION 65

COMPASS_USE 4 LOGGERDEVICE4 -1 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERS 7 RAFOS_CORR_THRESH 60 T_RSLEEP 1

C_PITCH 2140 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 2500 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2600 LOITER_D_TOP 0 RAFOS_MMODEM 0 T_WATCHDOG 10

C_VBD 2900 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

DBDW 0 LOITER_W_DBAND 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53497 RHO 1.023 USE_BATHY -6

DEVICE1 -1 MASS_COMP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE2 -1 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE4 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MINV_10V 11 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MINV_24V 12 ROLL_MAX 3950 VBD_MAX 3960

DIVE 5 MISSION 30 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 175 MOTHERBOARD 4 ROLL_MIN 625 VBD_MIN 500

D_BOOST 2 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 NOCOMM_ACTION 163 R_PORT_OVSHOOT 57 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 6 R_STBD_OVSHOOT 25 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_NO_BLEED 50 N_GPS 100740 SC_PROFILE 7.0 XPDR_DEVICE 24

D_OFFGRID 100 N_NOCOMM 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 99

D_PITCH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 49 SEABIRD_C_G -9.7293062

D_SURF 3 PHONE_SUPPLY -2 SEABIRD_C_H 1.1206031

D_TGT 150 PITCH_ADJ_DBAND 1 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 050819,212639,4744.1748,-12223.3154,0,0.8,2,15.5,0.1,0.0,12,7.2 SPEED_LIMITS 0.173,0.261

_CALLS 2 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.09 MHEAD_RNG_PITCHd_Wd 239.9,2440,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -44.4 D_GRID 153

GPS2 050819,213110,4744.1875,-12223.3291,2,0.9,4,15.5,0.2,0.0,11,6.3

Post-dive calculations and measurements:

FINISH 0.0,1.646220 PM_FREEKB_03 124821056

SM_CCo 3222,2.38,0.092,0,0,501,588.72 PM_ACTIVECARD 0

SM_GC 0.07,6.75,0.17,2.38,0.107,0.136,0.092,158,2601,501,-6.15,-0.82,588.72,0,0,0,0,0,0,15.28,15.30,14.73 _24V_AH 14.00,2.233

IRIDIUM_FIX 4743.02,-12222.38,050819,212719 _10V_AH 13.42,0.000

TT8_MAMPS 0.018725,0.165529 FG_AHR_24Vo 0.000

HUMID 54.17 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.57455 MEM 303500

TCM_TEMP 16.90 DATA_FILE_SIZE 13467,435

XPDR_PINGS 0 CAP_FILE_SIZE 61984,0

SC_FREEKB 3875136 CFSIZE 260034560,257818624

PM_FREEKB_00 124559552 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.233,323.20,1

PM_FREEKB_02 124821056 GPS 050819,222647,4744.518,-12223.696,9,1.2,13,15.5,0.3,236.0,7,5.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 454 111.49 nil 0 0 0.00

Roll_motor 28 136 54.24 nil 0 0 0.00

VBD_pump_during_apogee 307 1098 4726.52 nil 0 0 0.00

VBD_pump_during_surface 312 931 4077.80 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 2873 13 535.72

Iridium_during_xfer 0 0 0.00 PMAR 2878 5 231.28

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 2.11

TT8 796 9 96.98

LPSleep 813 2 23.92

TT8_Active 705 9 85.90

TT8_Sampling 957 28 366.96

TT8_CF8 52 33 23.70

TT8_Kalman 0 0 0.00

Analog_circuits 1125 10 157.09

GPS_charging 0 0 0.00

Compass 875 17 202.48

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.73 -146.6 159 2603 586 412 0.0 0.0 0 170 0.00 0.00 -148.35 0.004 16390 0.000 0.000 160 2600 3498 3549 3447 0 0 0 0 0 0 15.39 14.40 15.41

173 -0.73 -146.6 158 2603 3549 3447 2.2 -3.0 15 190 8.70 2.35 0.00 0.000 2340 0.454 0.099 1892 3939 3499 3550 3448 0 0 0 0 0 0 15.01 15.16 15.25

423 -0.62 -146.6 1886 3939 3550 3447 48.4 -15.5 63 430 0.20 2.17 0.00 0.000 3206 0.288 0.055 1932 2604 3498 3550 3447 0 0 0 0 0 0 15.14 15.28 15.30

621 -0.67 -146.6 1931 2604 3551 3447 70.2 -10.0 83 627 0.00 2.35 0.00 0.000 420 0.000 0.105 1930 3942 3498 3550 3447 0 0 0 0 0 0 15.46 15.23 15.48

860 -0.71 -146.6 1929 3942 3550 3447 100.8 -13.9 129 867 0.00 2.20 0.00 0.000 1158 0.000 0.055 1930 2588 3499 3551 3447 0 0 0 0 0 0 15.37 15.32 15.38

1056 -0.77 -146.6 1929 2588 3551 3447 122.4 -10.6 149 1064 0.12 2.38 0.00 0.000 4484 0.176 0.103 1876 3941 3498 3550 3447 0 0 0 0 0 0 15.30 15.26 15.35

1275 end dive: NO_VERTICAL_VELOCITY

state 1276 begin apogee

1282 -0.19 0.0 1876 2493 3551 3447 133.6 0.0 191 1418 0.65 0.00 126.88 1.099 10246 0.164 0.000 2075 2492 2899 2950 2849 0 0 0 0 0 0 15.26 14.83 14.37

1420 end apogee: CONTROL_FINISHED_OK

state 1420 begin climb

1422 0.73 146.6 2075 2492 2949 2849 133.5 0.0 205 1563 0.95 2.47 129.68 1.065 10756 0.154 0.076 2368 1094 2304 2359 2250 0 0 0 0 0 0 14.77 14.62 14.26

1794 0.84 205.9 2368 1094 2353 2241 113.7 7.3 276 1854 0.15 2.40 50.78 1.046 11430 0.153 0.061 2420 2504 2062 2130 1995 0 0 0 0 0 0 15.07 15.09 14.46

2032 0.84 205.9 2420 2503 2130 1987 89.5 11.3 305 2039 0.00 2.42 0.00 0.000 516 0.000 0.083 2420 1100 2058 2130 1987 0 0 0 0 0 0 15.29 15.08 15.31

2271 0.88 205.9 2420 1101 2126 1987 63.8 10.6 351 2278 0.00 2.35 0.00 0.000 1158 0.000 0.063 2420 2499 2056 2126 1987 0 0 0 0 0 0 15.28 15.19 15.28

2467 0.88 205.9 2420 2499 2125 1987 41.7 10.5 371 2474 0.00 2.40 0.00 0.000 516 0.000 0.080 2420 1093 2055 2123 1987 0 0 0 0 0 0 15.43 15.23 15.45

2706 0.93 205.9 2419 1093 2123 1987 16.3 10.8 417 2714 0.00 2.35 0.00 0.000 1158 0.000 0.063 2420 2498 2055 2123 1987 0 0 0 0 0 0 15.35 15.27 15.37

2850 end climb: SURFACE_DEPTH_REACHED

state 2850 begin surface coast

2882 end surface coast: CONTROL_FINISHED_OK

state 2882 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	57	ALTIM_FREQUENCY	13
MISSION	30	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	1
DIVE	5	TGT_DEFAULT_LAT	47.700001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	6	TGT_DEFAULT_LON	-122.4	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	3	SM_CC	627.77997	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	150	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	CALL_NDIVES	1	C_VBD	2900	MOTHERBOARD	4
D_NO_BLEED	50	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	2	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	0	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00038000001	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	7
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	83
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	50	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	65	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100740	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	SIM_W	0
USE_BATHY	-6	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SEABIRD_T_G	0.0043966938
USE_ICE	0	PITCH_MIN	165	CF8_MAXERRORS	20	SEABIRD_T_H	0.00063700025
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3805	AH0_24V	350	SEABIRD_T_I	2.5067597e-05
D_OFFGRID	100	C_PITCH	2140	AH0_10V	0	SEABIRD_T_J	2.9826379e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	12	SEABIRD_C_G	-9.7293062
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	11	SEABIRD_C_H	1.1206031
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	0.00047059715
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	27	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	FG_AHR_24V	0	SC_PROFILE	7.0
SPEED_FACTOR	1	PITCH_AD_RATE	145	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.023	PITCH_MAXERRORS	1	PRESSURE_YINT	-155.95535	SC_NDIVE	1.0
MASS	53497	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1	PM_PROFILE	7.0
NAV_MODE	2	ROLL_MIN	625	COMPASS_USE	4	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_PING_FIT	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
HD_A	0.0038360001	C_ROLL_DIVE	2600	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	9.8500004e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	050819,212639,4744.1748,-12223.3154,0,0.8,2,15.5,0.1,0.0,12,7.2	SPEED_LIMITS	0.173,0.261
_CALLS	2	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.09	MHEAD_RNG_PITCHd_Wd	239.9,2440,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-44.4	D_GRID	153
GPS2	050819,213110,4744.1875,-12223.3291,2,0.9,4,15.5,0.2,0.0,11,6.3

FINISH	0.0,1.646220	PM_FREEKB_03	124821056
SM_CCo	3222,2.38,0.092,0,0,501,588.72	PM_ACTIVECARD	0
SM_GC	0.07,6.75,0.17,2.38,0.107,0.136,0.092,158,2601,501,-6.15,-0.82,588.72,0,0,0,0,0,0,15.28,15.30,14.73	_24V_AH	14.00,2.233
IRIDIUM_FIX	4743.02,-12222.38,050819,212719	_10V_AH	13.42,0.000
TT8_MAMPS	0.018725,0.165529	FG_AHR_24Vo	0.000
HUMID	54.17	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.57455	MEM	303500
TCM_TEMP	16.90	DATA_FILE_SIZE	13467,435
XPDR_PINGS	0	CAP_FILE_SIZE	61984,0
SC_FREEKB	3875136	CFSIZE	260034560,257818624
PM_FREEKB_00	124559552	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.233,323.20,1
PM_FREEKB_02	124821056	GPS	050819,222647,4744.518,-12223.696,9,1.2,13,15.5,0.3,236.0,7,5.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	454	111.49	nil	0	0	0.00
Roll_motor	28	136	54.24	nil	0	0	0.00
VBD_pump_during_apogee	307	1098	4726.52	nil	0	0	0.00
VBD_pump_during_surface	312	931	4077.80	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	2873	13	535.72
Iridium_during_xfer	0	0	0.00	PMAR	2878	5	231.28
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	2.11
TT8	796	9	96.98
LPSleep	813	2	23.92
TT8_Active	705	9	85.90
TT8_Sampling	957	28	366.96
TT8_CF8	52	33	23.70
TT8_Kalman	0	0	0.00
Analog_circuits	1125	10	157.09
GPS_charging	0	0	0.00
Compass	875	17	202.48
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.73	-146.6	159	2603	586	412	0.0	0.0	0	170	0.00	0.00	-148.35	0.004	16390	0.000	0.000	160	2600	3498	3549	3447	0	0	0	0	0	0	15.39	14.40	15.41
173	-0.73	-146.6	158	2603	3549	3447	2.2	-3.0	15	190	8.70	2.35	0.00	0.000	2340	0.454	0.099	1892	3939	3499	3550	3448	0	0	0	0	0	0	15.01	15.16	15.25
423	-0.62	-146.6	1886	3939	3550	3447	48.4	-15.5	63	430	0.20	2.17	0.00	0.000	3206	0.288	0.055	1932	2604	3498	3550	3447	0	0	0	0	0	0	15.14	15.28	15.30
621	-0.67	-146.6	1931	2604	3551	3447	70.2	-10.0	83	627	0.00	2.35	0.00	0.000	420	0.000	0.105	1930	3942	3498	3550	3447	0	0	0	0	0	0	15.46	15.23	15.48
860	-0.71	-146.6	1929	3942	3550	3447	100.8	-13.9	129	867	0.00	2.20	0.00	0.000	1158	0.000	0.055	1930	2588	3499	3551	3447	0	0	0	0	0	0	15.37	15.32	15.38
1056	-0.77	-146.6	1929	2588	3551	3447	122.4	-10.6	149	1064	0.12	2.38	0.00	0.000	4484	0.176	0.103	1876	3941	3498	3550	3447	0	0	0	0	0	0	15.30	15.26	15.35
1275	end dive: NO_VERTICAL_VELOCITY
state	1276	begin apogee
1282	-0.19	0.0	1876	2493	3551	3447	133.6	0.0	191	1418	0.65	0.00	126.88	1.099	10246	0.164	0.000	2075	2492	2899	2950	2849	0	0	0	0	0	0	15.26	14.83	14.37
1420	end apogee: CONTROL_FINISHED_OK
state	1420	begin climb
1422	0.73	146.6	2075	2492	2949	2849	133.5	0.0	205	1563	0.95	2.47	129.68	1.065	10756	0.154	0.076	2368	1094	2304	2359	2250	0	0	0	0	0	0	14.77	14.62	14.26
1794	0.84	205.9	2368	1094	2353	2241	113.7	7.3	276	1854	0.15	2.40	50.78	1.046	11430	0.153	0.061	2420	2504	2062	2130	1995	0	0	0	0	0	0	15.07	15.09	14.46
2032	0.84	205.9	2420	2503	2130	1987	89.5	11.3	305	2039	0.00	2.42	0.00	0.000	516	0.000	0.083	2420	1100	2058	2130	1987	0	0	0	0	0	0	15.29	15.08	15.31
2271	0.88	205.9	2420	1101	2126	1987	63.8	10.6	351	2278	0.00	2.35	0.00	0.000	1158	0.000	0.063	2420	2499	2056	2126	1987	0	0	0	0	0	0	15.28	15.19	15.28
2467	0.88	205.9	2420	2499	2125	1987	41.7	10.5	371	2474	0.00	2.40	0.00	0.000	516	0.000	0.080	2420	1093	2055	2123	1987	0	0	0	0	0	0	15.43	15.23	15.45
2706	0.93	205.9	2419	1093	2123	1987	16.3	10.8	417	2714	0.00	2.35	0.00	0.000	1158	0.000	0.063	2420	2498	2055	2123	1987	0	0	0	0	0	0	15.35	15.27	15.37
2850	end climb: SURFACE_DEPTH_REACHED
state	2850	begin surface coast
2882	end surface coast: CONTROL_FINISHED_OK
state	2882	begin surface