Glider dive log

Shilshole 31Jul18 * SG199 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 6 ESCAPE_HEADING 180 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 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 24 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 14 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 652.31 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 2

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 2900 INT_PRESSURE_YINT 1.6

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 0.001 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 70 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 2 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 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2120 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.023 PITCH_TIMEOUT 17 MAXI_10V 0.80000001 SEABIRD_C_H 1.1324162

MASS 53512 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 0 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -161.62112 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0031999999 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.012 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.1999999e-06 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 652.31

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 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.1999999e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -161.62112 T_DIVE 50

CAPUPLOAD 0 ID 199 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 1.6 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 70

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2120 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 60

C_VBD 2900 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 53512 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 5 MINV_10V 11 R_PORT_OVSHOOT 24 VBD_MIN 500

D_ABORT 175 MINV_24V 11 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 6 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 0 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 5 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 310718,195952,4744.3447,-12224.8369,8,1.3,25,16.3,0.2,12.2,5,10.0 SPEED_LIMITS 0.173,0.242

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.18 MHEAD_RNG_PITCHd_Wd 173.2,1658,-18.7,-10.000,-22.47,2245

_SM_ANGLEo -44.3 D_GRID 178

GPS2 310718,200634,4744.3828,-12224.7793,13,1.1,27,16.3,0.3,55.5,6,9.4

Post-dive calculations and measurements:

FINISH 0.3,1.021730 _24V_AH 13.62,1.596

SM_CCo 3323,0.30,0.604,0,0,499,588.72 _10V_AH 13.71,0.000

SM_GC 0.23,6.40,2.40,0.30,0.077,0.099,0.604,189,2398,499,-5.98,0.76,588.72,0,0,0,0,0,0,14.67,14.62,14.51 FG_AHR_24Vo 0.000

RAFOS_CLK 5 FG_AHR_10Vo 0.000

RAFOS_FIX 4744.024414,-12224.959961,310718,202012,0,1,0.23 MEM 301856

IRIDIUM_FIX 4743.02,-12222.38,310718,190429 DATA_FILE_SIZE 13495,373

TT8_MAMPS 0.077896,0.718291 CAP_FILE_SIZE 51253,0

HUMID 51.53 CFSIZE 2097872896,2092826624

INTERNAL_PRESSURE 9.94993 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 18.60 SOUNDSPEED 1493.7

XPDR_PINGS 5 GPS 310718,210356,4744.171,-12224.883,4,1.3,22,16.3,0.2,24.0,5,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 429 96.59 nil 0 0 0.00

Roll_motor 34 166 77.16 nil 0 0 0.00

VBD_pump_during_apogee 265 1258 4553.17 nil 0 0 0.00

VBD_pump_during_surface 223 604 1843.18 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 3089 42 1777.13

Iridium_during_xfer 235 170 547.07 nil 0 0 0.00

Transponder_ping 1 420 7.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 21 10.77

TT8 0 0 0.00

LPSleep 1916 2 60.69

TT8_Active 530 11 83.47

TT8_Sampling 1161 30 480.95

TT8_CF8 156 36 77.81

TT8_Kalman 0 0 0.00

Analog_circuits 1197 9 155.96

GPS_charging 0 0 0.00

Compass 542 7 55.74

RAFOS 3697 33 1672.63

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 -0.84 -146.6 191 2407 533 463 0.0 0.0 0 149 0.00 0.00 -138.27 0.003 16386 0.000 0.000 189 2408 3343 3362 3324 0 0 0 0 0 0 14.83 28.83 14.85

152 -0.84 -146.6 190 2409 3363 3325 3.3 -5.0 14 168 8.05 2.53 -3.92 0.024 18724 0.429 0.166 1831 3775 3498 3529 3467 0 0 0 0 0 0 14.42 13.78 14.66

368 -0.73 -146.6 1831 3776 3530 3464 40.6 -17.0 57 376 0.20 2.35 0.00 0.000 3206 0.284 0.097 1872 2397 3498 3529 3467 0 0 0 0 0 0 14.48 14.57 14.64

553 -0.73 -146.6 1875 2396 3526 3467 64.5 -12.8 76 554 0.00 0.00 0.00 0.000 6 0.000 0.000 1875 2396 3498 3529 3467 0 0 0 0 0 0 14.81 14.83 14.83

733 -0.73 -146.6 1875 2396 3530 3467 89.2 -13.1 94 738 0.00 2.50 0.00 0.000 260 0.000 0.150 1866 3771 3498 3529 3467 0 0 0 0 0 0 14.83 14.57 14.84

803 -0.68 -146.6 1866 3773 3530 3468 98.1 -12.2 108 809 0.12 2.35 0.00 0.000 3206 0.291 0.097 1891 2391 3498 3529 3467 0 0 0 0 0 0 14.50 14.60 14.66

994 -0.68 -146.6 1891 2391 3531 3467 118.0 -10.3 128 999 0.00 2.40 0.00 0.000 516 0.000 0.107 1891 988 3499 3531 3467 0 0 0 0 0 0 14.84 14.60 14.86

1039 -0.68 -146.6 1892 988 3531 3467 122.9 -10.3 137 1046 0.00 2.50 0.00 0.000 1030 0.000 0.123 1882 2402 3498 3529 3467 0 0 0 0 0 0 14.73 14.61 14.74

1224 -0.68 -146.6 1882 2402 3530 3468 142.2 -11.1 156 1230 0.00 2.47 0.00 0.000 260 0.000 0.148 1871 3776 3498 3530 3467 0 0 0 0 0 0 14.85 14.59 14.87

1282 end dive: TARGET_DEPTH_EXCEEDED

state 1282 begin apogee

1290 -0.19 0.0 1870 2401 3530 3467 150.2 -13.7 168 1406 0.65 0.00 107.80 1.258 10246 0.244 0.000 2050 2401 2898 2986 2810 0 0 0 0 0 0 14.54 14.23 13.72

1407 end apogee: CONTROL_FINISHED_OK

state 1407 begin climb

1409 0.84 146.6 2051 2401 2987 2809 157.0 0.0 180 1526 1.10 0.00 110.45 1.232 10246 0.158 0.000 2384 2400 2299 2405 2193 0 0 0 0 0 0 14.18 14.08 13.62

1705 0.84 146.6 2385 2401 2407 2184 136.3 10.5 210 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2400 2294 2405 2183 0 0 0 0 0 0 14.66 14.68 14.67

1885 0.86 165.4 2384 2402 2407 2181 119.9 9.1 228 1908 0.00 2.55 14.73 1.125 8484 0.000 0.149 2384 3765 2222 2340 2105 0 0 0 0 0 0 14.80 14.46 14.07

1949 0.80 165.4 2384 3766 2341 2104 113.2 11.7 240 1954 0.00 2.33 0.00 0.000 1158 0.000 0.099 2395 2402 2221 2340 2103 0 0 0 0 0 0 14.64 14.55 14.66

2139 0.80 165.4 2395 2404 2341 2100 93.9 10.1 260 2140 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2402 2219 2340 2099 0 0 0 0 0 0 14.85 14.85 14.85

2319 0.81 170.4 2395 2402 2340 2098 76.1 9.8 278 2330 0.00 0.00 4.97 0.874 8230 0.000 0.000 2394 2402 2203 2327 2079 0 0 0 0 0 0 14.87 14.59 14.18

2509 0.81 176.2 2395 2402 2328 2077 57.1 9.7 297 2522 0.00 2.40 6.10 0.929 8740 0.000 0.108 2405 993 2177 2302 2052 0 0 0 0 0 0 14.88 14.61 14.20

2628 0.81 176.2 2409 993 2306 2051 45.5 10.3 320 2635 0.00 2.47 0.00 0.000 1030 0.000 0.119 2405 2402 2178 2306 2051 0 0 0 0 0 0 14.74 14.65 14.76

2812 0.81 176.2 2406 2403 2308 2051 25.9 10.1 339 2813 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2402 2178 2307 2050 0 0 0 0 0 0 14.89 14.92 14.91

2992 0.84 203.8 2406 2402 2308 2049 8.6 8.7 357 3021 0.00 2.47 21.60 1.069 8484 0.000 0.151 2405 3770 2066 2199 1933 0 0 0 0 0 0 14.91 14.53 14.16

3063 end climb: SURFACE_DEPTH_REACHED

state 3063 begin surface coast

3075 end surface coast: CONTROL_FINISHED_OK

state 3076 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	6	ESCAPE_HEADING	180	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	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	24	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	14	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	652.31	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	2
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	2900	INT_PRESSURE_YINT	1.6
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	0.001	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	70	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	2	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	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2120	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.023	PITCH_TIMEOUT	17	MAXI_10V	0.80000001	SEABIRD_C_H	1.1324162
MASS	53512	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	0	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-161.62112	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0031999999	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.012	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.1999999e-06	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	310718,195952,4744.3447,-12224.8369,8,1.3,25,16.3,0.2,12.2,5,10.0	SPEED_LIMITS	0.173,0.242
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.18	MHEAD_RNG_PITCHd_Wd	173.2,1658,-18.7,-10.000,-22.47,2245
_SM_ANGLEo	-44.3	D_GRID	178
GPS2	310718,200634,4744.3828,-12224.7793,13,1.1,27,16.3,0.3,55.5,6,9.4

FINISH	0.3,1.021730	_24V_AH	13.62,1.596
SM_CCo	3323,0.30,0.604,0,0,499,588.72	_10V_AH	13.71,0.000
SM_GC	0.23,6.40,2.40,0.30,0.077,0.099,0.604,189,2398,499,-5.98,0.76,588.72,0,0,0,0,0,0,14.67,14.62,14.51	FG_AHR_24Vo	0.000
RAFOS_CLK	5	FG_AHR_10Vo	0.000
RAFOS_FIX	4744.024414,-12224.959961,310718,202012,0,1,0.23	MEM	301856
IRIDIUM_FIX	4743.02,-12222.38,310718,190429	DATA_FILE_SIZE	13495,373
TT8_MAMPS	0.077896,0.718291	CAP_FILE_SIZE	51253,0
HUMID	51.53	CFSIZE	2097872896,2092826624
INTERNAL_PRESSURE	9.94993	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	18.60	SOUNDSPEED	1493.7
XPDR_PINGS	5	GPS	310718,210356,4744.171,-12224.883,4,1.3,22,16.3,0.2,24.0,5,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	429	96.59	nil	0	0	0.00
Roll_motor	34	166	77.16	nil	0	0	0.00
VBD_pump_during_apogee	265	1258	4553.17	nil	0	0	0.00
VBD_pump_during_surface	223	604	1843.18	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	3089	42	1777.13
Iridium_during_xfer	235	170	547.07	nil	0	0	0.00
Transponder_ping	1	420	7.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	21	10.77
TT8	0	0	0.00
LPSleep	1916	2	60.69
TT8_Active	530	11	83.47
TT8_Sampling	1161	30	480.95
TT8_CF8	156	36	77.81
TT8_Kalman	0	0	0.00
Analog_circuits	1197	9	155.96
GPS_charging	0	0	0.00
Compass	542	7	55.74
RAFOS	3697	33	1672.63
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	-0.84	-146.6	191	2407	533	463	0.0	0.0	0	149	0.00	0.00	-138.27	0.003	16386	0.000	0.000	189	2408	3343	3362	3324	0	0	0	0	0	0	14.83	28.83	14.85
152	-0.84	-146.6	190	2409	3363	3325	3.3	-5.0	14	168	8.05	2.53	-3.92	0.024	18724	0.429	0.166	1831	3775	3498	3529	3467	0	0	0	0	0	0	14.42	13.78	14.66
368	-0.73	-146.6	1831	3776	3530	3464	40.6	-17.0	57	376	0.20	2.35	0.00	0.000	3206	0.284	0.097	1872	2397	3498	3529	3467	0	0	0	0	0	0	14.48	14.57	14.64
553	-0.73	-146.6	1875	2396	3526	3467	64.5	-12.8	76	554	0.00	0.00	0.00	0.000	6	0.000	0.000	1875	2396	3498	3529	3467	0	0	0	0	0	0	14.81	14.83	14.83
733	-0.73	-146.6	1875	2396	3530	3467	89.2	-13.1	94	738	0.00	2.50	0.00	0.000	260	0.000	0.150	1866	3771	3498	3529	3467	0	0	0	0	0	0	14.83	14.57	14.84
803	-0.68	-146.6	1866	3773	3530	3468	98.1	-12.2	108	809	0.12	2.35	0.00	0.000	3206	0.291	0.097	1891	2391	3498	3529	3467	0	0	0	0	0	0	14.50	14.60	14.66
994	-0.68	-146.6	1891	2391	3531	3467	118.0	-10.3	128	999	0.00	2.40	0.00	0.000	516	0.000	0.107	1891	988	3499	3531	3467	0	0	0	0	0	0	14.84	14.60	14.86
1039	-0.68	-146.6	1892	988	3531	3467	122.9	-10.3	137	1046	0.00	2.50	0.00	0.000	1030	0.000	0.123	1882	2402	3498	3529	3467	0	0	0	0	0	0	14.73	14.61	14.74
1224	-0.68	-146.6	1882	2402	3530	3468	142.2	-11.1	156	1230	0.00	2.47	0.00	0.000	260	0.000	0.148	1871	3776	3498	3530	3467	0	0	0	0	0	0	14.85	14.59	14.87
1282	end dive: TARGET_DEPTH_EXCEEDED
state	1282	begin apogee
1290	-0.19	0.0	1870	2401	3530	3467	150.2	-13.7	168	1406	0.65	0.00	107.80	1.258	10246	0.244	0.000	2050	2401	2898	2986	2810	0	0	0	0	0	0	14.54	14.23	13.72
1407	end apogee: CONTROL_FINISHED_OK
state	1407	begin climb
1409	0.84	146.6	2051	2401	2987	2809	157.0	0.0	180	1526	1.10	0.00	110.45	1.232	10246	0.158	0.000	2384	2400	2299	2405	2193	0	0	0	0	0	0	14.18	14.08	13.62
1705	0.84	146.6	2385	2401	2407	2184	136.3	10.5	210	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2400	2294	2405	2183	0	0	0	0	0	0	14.66	14.68	14.67
1885	0.86	165.4	2384	2402	2407	2181	119.9	9.1	228	1908	0.00	2.55	14.73	1.125	8484	0.000	0.149	2384	3765	2222	2340	2105	0	0	0	0	0	0	14.80	14.46	14.07
1949	0.80	165.4	2384	3766	2341	2104	113.2	11.7	240	1954	0.00	2.33	0.00	0.000	1158	0.000	0.099	2395	2402	2221	2340	2103	0	0	0	0	0	0	14.64	14.55	14.66
2139	0.80	165.4	2395	2404	2341	2100	93.9	10.1	260	2140	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2402	2219	2340	2099	0	0	0	0	0	0	14.85	14.85	14.85
2319	0.81	170.4	2395	2402	2340	2098	76.1	9.8	278	2330	0.00	0.00	4.97	0.874	8230	0.000	0.000	2394	2402	2203	2327	2079	0	0	0	0	0	0	14.87	14.59	14.18
2509	0.81	176.2	2395	2402	2328	2077	57.1	9.7	297	2522	0.00	2.40	6.10	0.929	8740	0.000	0.108	2405	993	2177	2302	2052	0	0	0	0	0	0	14.88	14.61	14.20
2628	0.81	176.2	2409	993	2306	2051	45.5	10.3	320	2635	0.00	2.47	0.00	0.000	1030	0.000	0.119	2405	2402	2178	2306	2051	0	0	0	0	0	0	14.74	14.65	14.76
2812	0.81	176.2	2406	2403	2308	2051	25.9	10.1	339	2813	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2402	2178	2307	2050	0	0	0	0	0	0	14.89	14.92	14.91
2992	0.84	203.8	2406	2402	2308	2049	8.6	8.7	357	3021	0.00	2.47	21.60	1.069	8484	0.000	0.151	2405	3770	2066	2199	1933	0	0	0	0	0	0	14.91	14.53	14.16
3063	end climb: SURFACE_DEPTH_REACHED
state	3063	begin surface coast
3075	end surface coast: CONTROL_FINISHED_OK
state	3076	begin surface