Glider dive log

Shilshole 19Jul19 * SG196 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 19 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 640.04498 ROLL_MAXERRORS 2 ALTIM_PULSE 3

D_ABORT 175 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 0

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2950 INT_PRESSURE_YINT 0

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 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 540 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 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 65 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 720 HEAPDBG 0 UNCOM_BLEED 50 LOGGERS 7

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 1 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 150

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 275 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2755 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 150 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 12 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 26 MAXI_24V 0.60000002 SEABIRD_C_G -9.965229

RHO 1.023 PITCH_TIMEOUT 19 MAXI_10V 0.80000001 SEABIRD_C_H 1.1036862

MASS 53521 PITCH_AD_RATE 165 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -162.10918 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.10039e-05 C_ROLL_DIVE 1850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 165 SM_CC 640.04498

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 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 26 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.003 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.10039e-05 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 720

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -162.10918 T_DIVE 50

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 1

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2755 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 7 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1850 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 50

C_VBD 2950 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 53521 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 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 5 MINV_10V 11 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 175 MINV_24V 12 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 19 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 540

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 5 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 0

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 190719,201001,4743.9248,-12224.0498,36,1.1,36,16.3,0.0,0.0,7,4.6 SPEED_LIMITS 0.173,0.260

_CALLS 2 TGT_NAME SE

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12224.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 170.1,1729,-17.5,-10.000,-21.06,2223

_SM_ANGLEo -63.5 D_GRID 171

GPS2 190719,201734,4743.9336,-12223.9697,3,1.0,11,16.3,0.0,40.5,8,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190719201424.577884,05,28015,44,0091,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*35 SC_FREEKB 3875872

FINISH 0.2,1.021894 _24V_AH 13.62,4.192

SM_CCo 3217,0.43,0.135,0,0,551,589.21 _10V_AH 13.13,0.000

SM_GC 0.98,8.12,0.32,0.43,0.077,0.103,0.135,258,1930,551,-7.72,3.11,589.21,0,0,0,0,0,0,14.69,14.68,14.15 FG_AHR_24Vo 0.000

RAFOS_CLK 17 FG_AHR_10Vo 0.000

MODEM 2,1563567264,47.00000,-123.00000,263.078,392690.2 MEM 302376

RAFOS_FIX 4653.473633,-11731.824219,190719,202024,3,255,0.00 DATA_FILE_SIZE 10113,351

IRIDIUM_FIX 4743.02,-12222.38,190719,201137 CAP_FILE_SIZE 51990,0

TT8_MAMPS 0.0749,0.843374 CFSIZE 1047117824,1045282816

HUMID 53.38 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.37923 SOUNDSPEED 1492.9

TCM_TEMP 18.40 CURRENT 0.002,299.09,1

XPDR_PINGS 8 GPS 190719,211231,4743.581,-12224.130,3,0.9,12,16.3,0.0,0.0,8,5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 406 119.51 nil 0 0 0.00

Roll_motor 23 137 43.70 nil 0 0 0.00

VBD_pump_during_apogee 269 1293 4749.21 nil 0 0 0.00

VBD_pump_during_surface 377 982 5049.00 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 2830 41 1585.88

Iridium_during_xfer 305 148 617.98 nil 0 0 0.00

Transponder_ping 2 420 11.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 21 6.45

TT8 0 0 0.00

LPSleep 1754 2 53.22

TT8_Active 808 9 98.98

TT8_Sampling 1097 27 393.34

TT8_CF8 29 37 14.63

TT8_Kalman 0 0 0.00

Analog_circuits 1427 10 204.23

GPS_charging 0 0 0.00

Compass 540 6 47.86

RAFOS 3054 33 1323.27

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.97 -146.6 253 1928 513 588 0.0 0.0 0 173 0.00 0.00 -162.45 0.003 16390 0.000 0.000 252 1928 3548 3637 3459 0 0 0 0 0 0 14.75 13.77 14.78

174 -0.97 -146.6 253 1928 3638 3459 4.1 -5.8 16 191 10.68 2.30 0.00 0.000 2340 0.406 0.086 2425 3256 3549 3638 3460 0 0 0 0 0 0 14.43 14.54 14.65

415 -0.67 -146.6 2425 3257 3641 3460 55.1 -18.5 64 421 0.40 2.20 0.00 0.000 3206 0.269 0.059 2528 1945 3550 3640 3460 0 0 0 0 0 0 14.49 14.62 14.62

605 -0.67 -146.6 2528 1945 3640 3461 78.8 -11.5 84 607 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 1944 3550 3640 3460 0 0 0 0 0 0 14.83 14.88 14.87

785 -0.64 -146.6 2528 1945 3640 3460 99.1 -11.8 102 791 0.00 2.30 0.00 0.000 388 0.000 0.096 2528 3255 3549 3639 3460 0 0 0 0 0 0 14.85 14.61 14.88

930 -0.64 -146.6 2528 3255 3640 3460 116.1 -11.6 131 937 0.00 2.20 0.00 0.000 1030 0.000 0.059 2527 1942 3549 3640 3459 0 0 0 0 0 0 14.71 14.65 14.72

1115 -0.64 -146.6 2528 1942 3641 3460 135.3 -9.6 150 1121 0.00 2.33 0.00 0.000 292 0.000 0.099 2527 3262 3550 3640 3460 0 0 0 0 0 0 14.88 14.62 14.90

1190 -0.64 -146.6 2526 3262 3640 3460 142.9 -10.2 165 1198 0.00 2.22 0.00 0.000 1030 0.000 0.060 2528 1937 3550 3640 3460 0 0 0 0 0 0 14.75 14.69 14.79

1264 end dive: TARGET_DEPTH_EXCEEDED

state 1264 begin apogee

1267 -0.19 0.0 2528 2037 3641 3460 150.1 -9.4 173 1398 0.57 0.00 125.55 1.294 10246 0.226 0.000 2684 2037 2948 3054 2843 0 0 0 0 0 0 14.58 14.22 13.67

1400 end apogee: CONTROL_FINISHED_OK

state 1400 begin climb

1401 0.97 146.6 2685 2037 3054 2846 153.9 0.0 186 1530 1.27 0.00 124.07 1.257 10758 0.163 0.000 3056 2036 2351 2446 2256 0 0 0 0 0 0 14.16 14.13 13.62

1704 0.84 146.6 3056 2038 2439 2247 118.2 14.5 227 1711 0.12 2.50 0.00 0.000 4484 0.256 0.099 3030 3437 2342 2438 2246 0 0 0 0 0 0 14.40 14.47 14.55

1764 0.69 146.6 3030 3440 2438 2247 109.4 14.8 239 1771 0.17 2.25 0.00 0.000 5254 0.219 0.066 2980 2131 2342 2438 2246 0 0 0 0 0 0 14.45 14.52 14.55

1955 0.69 146.6 2982 2127 2438 2244 88.4 11.5 259 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2126 2340 2437 2243 0 0 0 0 0 0 14.81 14.85 14.84

2134 0.69 146.6 2980 2123 2437 2244 69.3 10.5 277 2141 0.00 2.30 0.00 0.000 260 0.000 0.101 2980 3426 2339 2436 2242 0 0 0 0 0 0 14.88 14.68 14.92

2175 0.69 146.6 2981 3427 2437 2243 64.5 11.5 285 2182 0.00 2.20 0.00 0.000 1030 0.000 0.066 2980 2124 2339 2436 2243 0 0 0 0 0 0 14.75 14.69 14.78

2366 0.73 146.6 2980 2124 2436 2242 45.8 10.2 305 2368 0.00 0.00 0.00 0.000 134 0.000 0.000 2980 2124 2338 2436 2240 0 0 0 0 0 0 14.92 14.96 14.95

2550 0.83 170.6 2980 2125 2436 2242 28.0 8.9 323 2574 0.12 0.00 19.92 1.105 10918 0.132 0.000 3034 2123 2254 2351 2157 0 0 0 0 0 0 14.71 14.58 14.09

2750 0.77 170.6 3037 2124 2339 2154 6.7 10.8 344 2752 0.12 0.00 0.00 0.000 4230 0.230 0.000 3007 2124 2252 2345 2160 0 0 0 0 0 0 14.55 14.71 14.68

2789 end climb: SURFACE_DEPTH_REACHED

state 2789 begin surface coast

2819 end surface coast: CONTROL_FINISHED_OK

state 2819 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	19	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	640.04498	ROLL_MAXERRORS	2	ALTIM_PULSE	3
D_ABORT	175	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	0
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2950	INT_PRESSURE_YINT	0
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	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	540	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	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	65	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	720	HEAPDBG	0	UNCOM_BLEED	50	LOGGERS	7
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	1	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	150
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	275	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2755	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	150	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	12	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	26	MAXI_24V	0.60000002	SEABIRD_C_G	-9.965229
RHO	1.023	PITCH_TIMEOUT	19	MAXI_10V	0.80000001	SEABIRD_C_H	1.1036862
MASS	53521	PITCH_AD_RATE	165	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-162.10918	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.10039e-05	C_ROLL_DIVE	1850	ALTIM_PING_FIT	0

GPS1	190719,201001,4743.9248,-12224.0498,36,1.1,36,16.3,0.0,0.0,7,4.6	SPEED_LIMITS	0.173,0.260
_CALLS	2	TGT_NAME	SE
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12224.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	170.1,1729,-17.5,-10.000,-21.06,2223
_SM_ANGLEo	-63.5	D_GRID	171
GPS2	190719,201734,4743.9336,-12223.9697,3,1.0,11,16.3,0.0,40.5,8,10.0

MODEM_MSG	CACST,6,1,20190719201424.577884,05,28015,44,0091,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*35	SC_FREEKB	3875872
FINISH	0.2,1.021894	_24V_AH	13.62,4.192
SM_CCo	3217,0.43,0.135,0,0,551,589.21	_10V_AH	13.13,0.000
SM_GC	0.98,8.12,0.32,0.43,0.077,0.103,0.135,258,1930,551,-7.72,3.11,589.21,0,0,0,0,0,0,14.69,14.68,14.15	FG_AHR_24Vo	0.000
RAFOS_CLK	17	FG_AHR_10Vo	0.000
MODEM	2,1563567264,47.00000,-123.00000,263.078,392690.2	MEM	302376
RAFOS_FIX	4653.473633,-11731.824219,190719,202024,3,255,0.00	DATA_FILE_SIZE	10113,351
IRIDIUM_FIX	4743.02,-12222.38,190719,201137	CAP_FILE_SIZE	51990,0
TT8_MAMPS	0.0749,0.843374	CFSIZE	1047117824,1045282816
HUMID	53.38	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.37923	SOUNDSPEED	1492.9
TCM_TEMP	18.40	CURRENT	0.002,299.09,1
XPDR_PINGS	8	GPS	190719,211231,4743.581,-12224.130,3,0.9,12,16.3,0.0,0.0,8,5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	406	119.51	nil	0	0	0.00
Roll_motor	23	137	43.70	nil	0	0	0.00
VBD_pump_during_apogee	269	1293	4749.21	nil	0	0	0.00
VBD_pump_during_surface	377	982	5049.00	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	2830	41	1585.88
Iridium_during_xfer	305	148	617.98	nil	0	0	0.00
Transponder_ping	2	420	11.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	21	6.45
TT8	0	0	0.00
LPSleep	1754	2	53.22
TT8_Active	808	9	98.98
TT8_Sampling	1097	27	393.34
TT8_CF8	29	37	14.63
TT8_Kalman	0	0	0.00
Analog_circuits	1427	10	204.23
GPS_charging	0	0	0.00
Compass	540	6	47.86
RAFOS	3054	33	1323.27
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.97	-146.6	253	1928	513	588	0.0	0.0	0	173	0.00	0.00	-162.45	0.003	16390	0.000	0.000	252	1928	3548	3637	3459	0	0	0	0	0	0	14.75	13.77	14.78
174	-0.97	-146.6	253	1928	3638	3459	4.1	-5.8	16	191	10.68	2.30	0.00	0.000	2340	0.406	0.086	2425	3256	3549	3638	3460	0	0	0	0	0	0	14.43	14.54	14.65
415	-0.67	-146.6	2425	3257	3641	3460	55.1	-18.5	64	421	0.40	2.20	0.00	0.000	3206	0.269	0.059	2528	1945	3550	3640	3460	0	0	0	0	0	0	14.49	14.62	14.62
605	-0.67	-146.6	2528	1945	3640	3461	78.8	-11.5	84	607	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	1944	3550	3640	3460	0	0	0	0	0	0	14.83	14.88	14.87
785	-0.64	-146.6	2528	1945	3640	3460	99.1	-11.8	102	791	0.00	2.30	0.00	0.000	388	0.000	0.096	2528	3255	3549	3639	3460	0	0	0	0	0	0	14.85	14.61	14.88
930	-0.64	-146.6	2528	3255	3640	3460	116.1	-11.6	131	937	0.00	2.20	0.00	0.000	1030	0.000	0.059	2527	1942	3549	3640	3459	0	0	0	0	0	0	14.71	14.65	14.72
1115	-0.64	-146.6	2528	1942	3641	3460	135.3	-9.6	150	1121	0.00	2.33	0.00	0.000	292	0.000	0.099	2527	3262	3550	3640	3460	0	0	0	0	0	0	14.88	14.62	14.90
1190	-0.64	-146.6	2526	3262	3640	3460	142.9	-10.2	165	1198	0.00	2.22	0.00	0.000	1030	0.000	0.060	2528	1937	3550	3640	3460	0	0	0	0	0	0	14.75	14.69	14.79
1264	end dive: TARGET_DEPTH_EXCEEDED
state	1264	begin apogee
1267	-0.19	0.0	2528	2037	3641	3460	150.1	-9.4	173	1398	0.57	0.00	125.55	1.294	10246	0.226	0.000	2684	2037	2948	3054	2843	0	0	0	0	0	0	14.58	14.22	13.67
1400	end apogee: CONTROL_FINISHED_OK
state	1400	begin climb
1401	0.97	146.6	2685	2037	3054	2846	153.9	0.0	186	1530	1.27	0.00	124.07	1.257	10758	0.163	0.000	3056	2036	2351	2446	2256	0	0	0	0	0	0	14.16	14.13	13.62
1704	0.84	146.6	3056	2038	2439	2247	118.2	14.5	227	1711	0.12	2.50	0.00	0.000	4484	0.256	0.099	3030	3437	2342	2438	2246	0	0	0	0	0	0	14.40	14.47	14.55
1764	0.69	146.6	3030	3440	2438	2247	109.4	14.8	239	1771	0.17	2.25	0.00	0.000	5254	0.219	0.066	2980	2131	2342	2438	2246	0	0	0	0	0	0	14.45	14.52	14.55
1955	0.69	146.6	2982	2127	2438	2244	88.4	11.5	259	1956	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2126	2340	2437	2243	0	0	0	0	0	0	14.81	14.85	14.84
2134	0.69	146.6	2980	2123	2437	2244	69.3	10.5	277	2141	0.00	2.30	0.00	0.000	260	0.000	0.101	2980	3426	2339	2436	2242	0	0	0	0	0	0	14.88	14.68	14.92
2175	0.69	146.6	2981	3427	2437	2243	64.5	11.5	285	2182	0.00	2.20	0.00	0.000	1030	0.000	0.066	2980	2124	2339	2436	2243	0	0	0	0	0	0	14.75	14.69	14.78
2366	0.73	146.6	2980	2124	2436	2242	45.8	10.2	305	2368	0.00	0.00	0.00	0.000	134	0.000	0.000	2980	2124	2338	2436	2240	0	0	0	0	0	0	14.92	14.96	14.95
2550	0.83	170.6	2980	2125	2436	2242	28.0	8.9	323	2574	0.12	0.00	19.92	1.105	10918	0.132	0.000	3034	2123	2254	2351	2157	0	0	0	0	0	0	14.71	14.58	14.09
2750	0.77	170.6	3037	2124	2339	2154	6.7	10.8	344	2752	0.12	0.00	0.00	0.000	4230	0.230	0.000	3007	2124	2252	2345	2160	0	0	0	0	0	0	14.55	14.71	14.68
2789	end climb: SURFACE_DEPTH_REACHED
state	2789	begin surface coast
2819	end surface coast: CONTROL_FINISHED_OK
state	2819	begin surface