Glider dive log

Shilshole 19Mar19 * SG527 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 2650 ALTIM_TOP_PING_RANGE 0

MISSION 3 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 1

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 27 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 13 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 640.03442 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 3 CALL_NDIVES 1 VBD_MIN 450 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3925 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 3100 INT_PRESSURE_YINT 0.38999999

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 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 0.0012300001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 65 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 720 HEAPDBG 0 UNCOM_BLEED 50 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 1.5 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 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 180 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2400 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 0 SEABIRD_T_G 0.004412075

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 350 SEABIRD_T_H 0.00063827372

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.254017e-06

SPEED_FACTOR 1 PITCH_GAIN 45 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.023 PITCH_TIMEOUT 16 MAXI_10V 0.80000001 SEABIRD_C_H 1.1688964

MASS 55082 PITCH_AD_RATE 150 FG_AHR_10V 0 SEABIRD_C_I -0.0016958674

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00021397673

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -173.54147 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 PRESSURE_SLOPE 0.00010843292 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3850 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.8500004e-06 C_ROLL_DIVE 2770 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00063827372

AH0_24V 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6317541e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.254017e-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 150 SM_CC 640.03442

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 45 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3650 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 0.0038360001 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.8500004e-06 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 720

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010843292 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -173.54147 T_DIVE 50

CAPUPLOAD 0 ID 527 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 0.38999999 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE -1 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 2400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2650 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2770 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 50

C_VBD 3100 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 55082 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 270 VBD_MAX 3925

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 5 MINV_10V 11 R_PORT_OVSHOOT 27 VBD_MIN 450

D_ABORT 175 MINV_24V 11 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 3 MISSION 3 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

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 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 5 SEABIRD_C_G -9.9840622 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1688964 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0016958674

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00021397673

Pre-dive calculations and measurements:

GPS1 190319,194533,4743.3481,-12225.1260,5,1.0,15,16.3,0.0,192.0,8,9.9 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.78 MHEAD_RNG_PITCHd_Wd 1.1,379,-22.3,-10.000,-24.75,1509

_SM_ANGLEo -70.8 D_GRID 178

GPS2 190319,195037,4743.3169,-12225.1357,12,1.0,19,16.3,0.0,0.0,8,9.4

Post-dive calculations and measurements:

FINISH 0.4,1.012928 _10V_AH 13.23,1.740

SM_CCo 2587,362.10,0.947,1,0,489,640.22 FG_AHR_24Vo 0.000

SM_GC 0.78,6.88,0.25,362.10,0.061,0.154,0.947,154,2777,489,-6.91,-0.34,640.22,0,0,0,0,1,0,14.66,14.57,13.58 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,190319,190328 MEM 303928

TT8_MAMPS 0.023219,0.898051 DATA_FILE_SIZE 10129,305

HUMID 34.76 CAP_FILE_SIZE 52652,0

INTERNAL_PRESSURE 8.71063 CFSIZE 2097872896,2095546368

TCM_TEMP 18.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,3,0

XPDR_PINGS 0 INTR 0,1856.86,0x214790,1,24

SC_FREEKB 3907296 CURRENT 0.154,184.38,1

_24V_AH 13.46,0.000 GPS 190319,204135,4743.265,-12224.976,5,1.1,20,16.3,0.0,0.0,7,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 419 118.64 nil 0 0 0.00

Roll_motor 43 182 106.48 nil 0 0 0.00

VBD_pump_during_apogee 254 1220 4184.06 nil 0 0 0.00

VBD_pump_during_surface 362 947 4615.89 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 2578 32 1133.99

Iridium_during_xfer 212 177 508.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 11 4.20

TT8 724 10 105.10

LPSleep 1039 2 30.12

TT8_Active 767 10 111.40

TT8_Sampling 726 30 292.65

TT8_CF8 34 36 16.51

TT8_Kalman 0 0 0.00

Analog_circuits 1293 10 171.08

GPS_charging 0 0 0.00

Compass 450 6 40.20

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.62 -98.8 162 2758 467 509 0.0 0.0 0 172 0.00 0.00 -146.93 0.007 16390 0.000 0.000 162 2759 3502 3620 3385 0 0 0 0 0 0 14.66 13.85 14.68

174 -0.68 -146.6 162 2759 3619 3385 2.8 -3.2 15 198 9.65 2.53 -5.05 0.024 18980 0.419 0.128 2175 1365 3700 3872 3528 0 0 0 0 0 0 14.31 13.51 14.57

224 -0.56 -146.6 2175 1359 3874 3528 15.3 -18.3 24 232 0.20 2.75 0.00 0.000 3206 0.276 0.164 2211 2772 3701 3874 3528 0 0 0 0 0 0 14.37 14.42 14.54

411 -0.35 -146.6 2211 2772 3874 3528 47.4 -16.9 43 418 0.25 2.53 0.00 0.000 2692 0.282 0.103 2278 1370 3701 3874 3528 0 0 0 0 0 0 14.47 14.56 14.59

445 -0.56 -146.6 2276 1361 3874 3527 50.6 -5.5 49 452 0.17 2.72 0.00 0.000 5286 0.106 0.164 2189 2770 3701 3874 3528 0 0 0 0 0 0 14.63 14.50 14.68

639 -0.32 -146.6 2190 2770 3874 3528 81.4 -17.4 69 645 0.38 2.10 0.00 0.000 2436 0.282 0.182 2280 3843 3701 3874 3528 0 0 0 0 0 0 14.48 14.43 14.62

757 -0.53 -146.6 2279 3845 3874 3527 92.5 -8.0 92 765 0.17 1.85 0.00 0.000 5286 0.124 0.080 2200 2766 3700 3874 3527 0 0 0 0 0 0 14.67 14.64 14.73

944 -0.32 -146.6 2199 2766 3874 3528 124.3 -19.1 111 946 0.38 0.00 0.00 0.000 2182 0.278 0.000 2293 2765 3701 3874 3528 0 0 0 0 0 0 14.54 14.76 14.73

1123 -0.55 -146.6 2292 2765 3874 3527 143.8 -9.8 129 1130 0.20 2.12 0.00 0.000 4516 0.099 0.177 2189 3844 3700 3873 3528 0 0 0 0 0 0 14.73 14.48 14.76

1165 end dive: TARGET_DEPTH_EXCEEDED

state 1165 begin apogee

1171 -0.11 0.0 2189 2655 3873 3528 150.1 -17.4 137 1288 0.62 0.00 112.93 1.221 10246 0.259 0.000 2358 2648 3099 3138 3060 0 0 0 0 0 0 14.54 14.10 13.52

1290 end apogee: CONTROL_FINISHED_OK

state 1290 begin climb

1291 0.68 146.6 2358 2648 3136 3061 157.4 0.0 149 1418 0.85 2.62 115.57 1.186 10756 0.161 0.098 2625 1254 2500 2516 2485 0 0 0 0 0 0 14.07 14.00 13.46

1425 0.42 146.6 2624 1247 2512 2486 145.4 13.2 171 1432 0.38 2.70 0.00 0.000 5254 0.283 0.144 2540 2652 2498 2511 2486 0 0 0 0 0 0 13.97 14.03 14.14

1620 0.46 146.6 2540 2653 2511 2473 122.2 12.1 191 1625 0.00 2.33 0.00 0.000 388 0.000 0.170 2540 3842 2492 2512 2473 0 0 0 0 0 0 14.66 14.28 14.68

1665 0.46 146.6 2540 3842 2511 2472 115.6 13.6 200 1672 0.00 2.12 0.00 0.000 1030 0.000 0.090 2546 2648 2491 2511 2472 0 0 0 0 0 0 14.54 14.45 14.55

1853 0.50 146.6 2547 2644 2511 2471 93.4 11.6 219 1858 0.00 2.45 0.00 0.000 644 0.000 0.096 2557 1245 2491 2511 2471 0 0 0 0 0 0 14.81 14.56 14.83

1910 0.72 149.8 2557 1237 2509 2471 86.9 9.8 230 1919 0.22 2.67 0.00 0.000 3238 0.095 0.147 2654 2651 2490 2509 2471 0 0 0 0 0 0 14.62 14.40 14.67

2096 0.33 149.8 2654 2650 2509 2471 52.7 19.8 249 2103 0.55 2.30 0.00 0.000 4484 0.303 0.164 2517 3843 2491 2511 2471 0 0 0 0 0 0 14.44 14.45 14.58

2130 0.33 149.8 2517 3843 2510 2468 47.8 11.9 255 2136 0.00 2.10 0.00 0.000 1030 0.000 0.088 2522 2647 2489 2510 2468 0 0 0 0 0 0 14.70 14.61 14.71

2324 0.53 180.2 2522 2639 2510 2468 32.2 7.9 275 2358 0.12 2.47 26.10 1.045 10916 0.137 0.093 2588 1238 2362 2387 2338 0 0 0 0 0 0 14.68 14.38 13.96

2380 0.60 180.2 2588 1229 2383 2338 25.4 12.7 285 2386 0.00 2.70 0.00 0.000 1158 0.000 0.149 2588 2650 2360 2383 2338 0 0 0 0 0 0 14.57 14.44 14.59

2552 end climb: SURFACE_DEPTH_REACHED

state 2552 begin surface coast

2573 end surface coast: CONTROL_FINISHED_OK

state 2573 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	2650	ALTIM_TOP_PING_RANGE	0
MISSION	3	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	1
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	27	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	13	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	640.03442	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	3	CALL_NDIVES	1	VBD_MIN	450	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3925	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	3100	INT_PRESSURE_YINT	0.38999999
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	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	0.0012300001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	65	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	720	HEAPDBG	0	UNCOM_BLEED	50	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	1.5	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	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	180	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2400	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	0	SEABIRD_T_G	0.004412075
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	350	SEABIRD_T_H	0.00063827372
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.254017e-06
SPEED_FACTOR	1	PITCH_GAIN	45	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.023	PITCH_TIMEOUT	16	MAXI_10V	0.80000001	SEABIRD_C_H	1.1688964
MASS	55082	PITCH_AD_RATE	150	FG_AHR_10V	0	SEABIRD_C_I	-0.0016958674
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00021397673
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-173.54147	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	PRESSURE_SLOPE	0.00010843292	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3850	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.8500004e-06	C_ROLL_DIVE	2770	ALTIM_PING_FIT	0

GPS1	190319,194533,4743.3481,-12225.1260,5,1.0,15,16.3,0.0,192.0,8,9.9	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.78	MHEAD_RNG_PITCHd_Wd	1.1,379,-22.3,-10.000,-24.75,1509
_SM_ANGLEo	-70.8	D_GRID	178
GPS2	190319,195037,4743.3169,-12225.1357,12,1.0,19,16.3,0.0,0.0,8,9.4

FINISH	0.4,1.012928	_10V_AH	13.23,1.740
SM_CCo	2587,362.10,0.947,1,0,489,640.22	FG_AHR_24Vo	0.000
SM_GC	0.78,6.88,0.25,362.10,0.061,0.154,0.947,154,2777,489,-6.91,-0.34,640.22,0,0,0,0,1,0,14.66,14.57,13.58	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,190319,190328	MEM	303928
TT8_MAMPS	0.023219,0.898051	DATA_FILE_SIZE	10129,305
HUMID	34.76	CAP_FILE_SIZE	52652,0
INTERNAL_PRESSURE	8.71063	CFSIZE	2097872896,2095546368
TCM_TEMP	18.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,3,0
XPDR_PINGS	0	INTR	0,1856.86,0x214790,1,24
SC_FREEKB	3907296	CURRENT	0.154,184.38,1
_24V_AH	13.46,0.000	GPS	190319,204135,4743.265,-12224.976,5,1.1,20,16.3,0.0,0.0,7,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	419	118.64	nil	0	0	0.00
Roll_motor	43	182	106.48	nil	0	0	0.00
VBD_pump_during_apogee	254	1220	4184.06	nil	0	0	0.00
VBD_pump_during_surface	362	947	4615.89	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	2578	32	1133.99
Iridium_during_xfer	212	177	508.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	11	4.20
TT8	724	10	105.10
LPSleep	1039	2	30.12
TT8_Active	767	10	111.40
TT8_Sampling	726	30	292.65
TT8_CF8	34	36	16.51
TT8_Kalman	0	0	0.00
Analog_circuits	1293	10	171.08
GPS_charging	0	0	0.00
Compass	450	6	40.20
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.62	-98.8	162	2758	467	509	0.0	0.0	0	172	0.00	0.00	-146.93	0.007	16390	0.000	0.000	162	2759	3502	3620	3385	0	0	0	0	0	0	14.66	13.85	14.68
174	-0.68	-146.6	162	2759	3619	3385	2.8	-3.2	15	198	9.65	2.53	-5.05	0.024	18980	0.419	0.128	2175	1365	3700	3872	3528	0	0	0	0	0	0	14.31	13.51	14.57
224	-0.56	-146.6	2175	1359	3874	3528	15.3	-18.3	24	232	0.20	2.75	0.00	0.000	3206	0.276	0.164	2211	2772	3701	3874	3528	0	0	0	0	0	0	14.37	14.42	14.54
411	-0.35	-146.6	2211	2772	3874	3528	47.4	-16.9	43	418	0.25	2.53	0.00	0.000	2692	0.282	0.103	2278	1370	3701	3874	3528	0	0	0	0	0	0	14.47	14.56	14.59
445	-0.56	-146.6	2276	1361	3874	3527	50.6	-5.5	49	452	0.17	2.72	0.00	0.000	5286	0.106	0.164	2189	2770	3701	3874	3528	0	0	0	0	0	0	14.63	14.50	14.68
639	-0.32	-146.6	2190	2770	3874	3528	81.4	-17.4	69	645	0.38	2.10	0.00	0.000	2436	0.282	0.182	2280	3843	3701	3874	3528	0	0	0	0	0	0	14.48	14.43	14.62
757	-0.53	-146.6	2279	3845	3874	3527	92.5	-8.0	92	765	0.17	1.85	0.00	0.000	5286	0.124	0.080	2200	2766	3700	3874	3527	0	0	0	0	0	0	14.67	14.64	14.73
944	-0.32	-146.6	2199	2766	3874	3528	124.3	-19.1	111	946	0.38	0.00	0.00	0.000	2182	0.278	0.000	2293	2765	3701	3874	3528	0	0	0	0	0	0	14.54	14.76	14.73
1123	-0.55	-146.6	2292	2765	3874	3527	143.8	-9.8	129	1130	0.20	2.12	0.00	0.000	4516	0.099	0.177	2189	3844	3700	3873	3528	0	0	0	0	0	0	14.73	14.48	14.76
1165	end dive: TARGET_DEPTH_EXCEEDED
state	1165	begin apogee
1171	-0.11	0.0	2189	2655	3873	3528	150.1	-17.4	137	1288	0.62	0.00	112.93	1.221	10246	0.259	0.000	2358	2648	3099	3138	3060	0	0	0	0	0	0	14.54	14.10	13.52
1290	end apogee: CONTROL_FINISHED_OK
state	1290	begin climb
1291	0.68	146.6	2358	2648	3136	3061	157.4	0.0	149	1418	0.85	2.62	115.57	1.186	10756	0.161	0.098	2625	1254	2500	2516	2485	0	0	0	0	0	0	14.07	14.00	13.46
1425	0.42	146.6	2624	1247	2512	2486	145.4	13.2	171	1432	0.38	2.70	0.00	0.000	5254	0.283	0.144	2540	2652	2498	2511	2486	0	0	0	0	0	0	13.97	14.03	14.14
1620	0.46	146.6	2540	2653	2511	2473	122.2	12.1	191	1625	0.00	2.33	0.00	0.000	388	0.000	0.170	2540	3842	2492	2512	2473	0	0	0	0	0	0	14.66	14.28	14.68
1665	0.46	146.6	2540	3842	2511	2472	115.6	13.6	200	1672	0.00	2.12	0.00	0.000	1030	0.000	0.090	2546	2648	2491	2511	2472	0	0	0	0	0	0	14.54	14.45	14.55
1853	0.50	146.6	2547	2644	2511	2471	93.4	11.6	219	1858	0.00	2.45	0.00	0.000	644	0.000	0.096	2557	1245	2491	2511	2471	0	0	0	0	0	0	14.81	14.56	14.83
1910	0.72	149.8	2557	1237	2509	2471	86.9	9.8	230	1919	0.22	2.67	0.00	0.000	3238	0.095	0.147	2654	2651	2490	2509	2471	0	0	0	0	0	0	14.62	14.40	14.67
2096	0.33	149.8	2654	2650	2509	2471	52.7	19.8	249	2103	0.55	2.30	0.00	0.000	4484	0.303	0.164	2517	3843	2491	2511	2471	0	0	0	0	0	0	14.44	14.45	14.58
2130	0.33	149.8	2517	3843	2510	2468	47.8	11.9	255	2136	0.00	2.10	0.00	0.000	1030	0.000	0.088	2522	2647	2489	2510	2468	0	0	0	0	0	0	14.70	14.61	14.71
2324	0.53	180.2	2522	2639	2510	2468	32.2	7.9	275	2358	0.12	2.47	26.10	1.045	10916	0.137	0.093	2588	1238	2362	2387	2338	0	0	0	0	0	0	14.68	14.38	13.96
2380	0.60	180.2	2588	1229	2383	2338	25.4	12.7	285	2386	0.00	2.70	0.00	0.000	1158	0.000	0.149	2588	2650	2360	2383	2338	0	0	0	0	0	0	14.57	14.44	14.59
2552	end climb: SURFACE_DEPTH_REACHED
state	2552	begin surface coast
2573	end surface coast: CONTROL_FINISHED_OK
state	2573	begin surface