Glider dive log

EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 XPDR_REP 0

MISSION 15 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

DIVE 9 TGT_AUTO_DEFAULT 0 VBD_MIN 500 INT_PRESSURE_YINT -0.25

N_DIVES 9 SM_CC 500 VBD_MAX 3960 DEEPGLIDER 0

STOP_T 0 N_FILEKB 8 C_VBD 2968 MOTHERBOARD 4

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_FLARE 3 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE2 -1

D_TGT 105 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_ABORT 1000 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

D_NO_BLEED 200 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0013 DEVICE5 -1

D_BOOST 0 NOCOMM_ACTION 163 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 3

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE2 147

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE3 131

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 PHONE_DEVICE 49

T_DIVE 35 N_GPS 100440 LOITER_D_TOP 0 GPS_DEVICE 64

T_MISSION 45 T_RSLEEP 1 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 SEABIRD_T_G 0.0044368538

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_H 0.0006575333

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_T_I 2.7761149e-05

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_T_J 3.5137082e-06

USE_BATHY -6 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_G -10.037535

USE_ICE 0 C_PITCH 1760 MINV_10V 10 SEABIRD_C_H 1.1079766

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_I -0.0022889124

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.2 SEABIRD_C_J 0.00024077215

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 PITCH_GAIN 40 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

MAX_BUOY 220 PITCH_TIMEOUT 18 PRESSURE_YINT -147.66289 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.00010781933 ES_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_PROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_XMITPROFILE 0.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

MASS 55689 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_STARTS 16.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_HEADERSKIP 105044.0

FERRY_MAX 45 C_ROLL_DIVE 2700 ALTIM_TOP_MIN_OBSTACLE 0 ES_DL_RECORDLENGTH 10086.0

KALMAN_USE 2 C_ROLL_CLIMB 2800 ALTIM_PING_DEPTH 0 ES_DL_NRECORD 100.0

HD_A 0.003 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0 ES_DL_RECORDCOUNT 3.0

HD_B 0.0099999998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_RECORDABOVE 2000.0

HD_C 1.6100001e-05 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_PROFILE 0.0

HEADING -1 R_PORT_OVSHOOT 42 ALTIM_SENSITIVITY 3 CP_XMITPROFILE 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 15 XPDR_VALID 6 CP_UPLOADMAX 0.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 90 CP_STARTS 0.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_INT 0 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_PITCH 0 MISSION 15 SEABIRD_C_G -10.037535

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1079766

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0022889124

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 105 NOCOMM_ACTION 163 SEABIRD_C_J 0.00024077215

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 9 SEABIRD_T_G 0.0044368538

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.0006575333

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.7761149e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 2 SEABIRD_T_J 3.5137082e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 3 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 500

ALTIM_TOP_MIN_OBSTACLE 0 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0.015 STROBE 0

APOGEE_PITCH -5 ES_STARTS 16.0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

CALL_NDIVES 1 ES_UPLOADMAX 100000.0 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 ES_XMITPROFILE 0.0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FERRY_MAX 45 PITCH_GAIN 40 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FG_AHR_10V 0 PITCH_MAX 3914 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 2 FILEMGR 0 PITCH_MIN 250 T_ABORT 1440

COMM_SEQ 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 T_BOOST 0

COMPASS2_DEVICE 150 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0013 T_DIVE 35

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 4 HD_A 0.003 PITCH_W_GAIN 0 T_GPS 10

COURSE_BIAS 0 HD_B 0.0099999998 PRESSURE_SLOPE 0.00010781933 T_LOITER 0

CP_NDIVE 1.0 HD_C 1.6100001e-05 PRESSURE_YINT -147.66289 T_MISSION 45

CP_PROFILE 0.0 HEADING -1 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 1

CP_STARTS 0.0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_TURN 225

CP_UPLOADMAX 0.0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

CP_XMITPROFILE 0.0 ID 219 RAFOS_DEVICE -1 T_WATCHDOG 10

C_PITCH 1760 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2800 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2700 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

C_VBD 2968 LOGGERDEVICE1 53 RELAUNCH 1 USE_ICE 0

DBDW 0 LOGGERDEVICE2 147 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 131 ROLL_ADJ_DBAND 0 VBD_CNV -0.25119999

DEVICE1 -1 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE2 -1 LOGGERS 3 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE3 -1 LOITER_DBDW 0 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE4 -1 LOITER_D_BOTTOM 0 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE5 -1 LOITER_D_TOP 0 ROLL_MAX 3825 VBD_MIN 500

DEVICE6 -1 LOITER_N_DIVE 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 9 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 1000 MASS 55689 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 0 MASS_COMP 0 R_PORT_OVSHOOT 42 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 15 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 220 SC_PROFILE 3.0 XPDR_INT 0

D_NO_BLEED 200 MINV_10V 10 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 020421,050821,4856.6602,-1627.6636,3,1.6,5,-5.5,0.5,236.7,6,8.3 SPEED_LIMITS 0.173,0.304

_CALLS 1 TGT_NAME CAST

_XMS_NAKs 0 TGT_LATLONG 4858.200,-1625.500

_XMS_TOUTs 0 TGT_RADIUS 1500.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 42.8,3935,-14.2,-10.000,-18.23,3217

_SM_ANGLEo -16.9 D_GRID 1000

GPS2 020421,051309,4856.6367,-1627.6914,5,1.6,6,-5.5,1.9,0.0,6,6.8

Post-dive calculations and measurements:

FINISH 0.9,1.027066 _24V_AH 13.64,20.591

SM_CCo 2435,161.07,1.043,0,0,976,500.14 _10V_AH 13.64,0.000

SM_GC 0.64,4.82,0.12,161.07,0.048,0.095,1.043,222,2687,976,-4.70,1.50,500.14,0,0,0,0,0,0,14.72,14.73,13.79 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4856.35,-1626.89,020421,050524 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,0.686084 MEM 293160

HUMID 41.02 DATA_FILE_SIZE 13437,416

INTERNAL_PRESSURE 8.35385 CAP_FILE_SIZE 96001,0

TCM_TEMP 17.10 CFSIZE 1024409600,1021411328

XPDR_PINGS 93 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3905248 INTR 0,1266.60,0x235aaa,1,24

ES_FREE 15857680384.000000 CURRENT 0.126,208.87,1

ES_POWER 63.350000 GPS 020421,055839,4856.699,-1627.453,18,1.9,20,-5.5,0.3,0.0,5,10.0

ES_POWER1 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 371 62.37 nil 0 0 0.00

Roll_motor 28 121 46.50 nil 0 0 0.00

VBD_pump_during_apogee 354 1176 5683.55 nil 0 0 0.00

VBD_pump_during_surface 161 1043 2292.55 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 2398 22 729.86

Iridium_during_xfer 0 0 0.00 echo 2405 10 328.04

Transponder_ping 23 420 133.19 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 8 2.17

TT8 956 12 158.02

LPSleep 303 2 9.07

TT8_Active 617 11 95.66

TT8_Sampling 725 30 297.57

TT8_CF8 108 45 66.47

TT8_Kalman 0 0 0.00

Analog_circuits 1001 15 213.03

GPS_charging 0 0 0.00

Compass 657 2 20.16

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

22 -0.63 -214.1 241 2710 924 1009 0.0 0.0 0 161 0.00 0.00 -135.62 0.004 16386 0.000 0.000 239 2710 3720 3701 3740 0 0 0 0 0 0 14.88 28.83 14.90

165 -0.63 -214.1 239 2710 3702 3740 4.2 -8.4 23 179 5.82 2.47 -2.38 0.038 18948 0.371 0.070 1546 1291 3821 3793 3849 0 0 0 0 0 0 14.47 13.70 14.73

209 -0.56 -214.1 1546 1291 3790 3854 14.4 -14.7 30 217 0.15 2.58 0.00 0.000 3206 0.247 0.089 1573 2703 3822 3789 3855 0 0 0 0 0 0 14.61 14.66 14.73

403 -0.52 -214.1 1572 2703 3788 3855 34.9 -11.2 67 409 0.00 2.00 0.00 0.000 388 0.000 0.110 1566 3832 3821 3788 3855 0 0 0 0 0 0 14.90 14.67 14.92

508 -0.48 -214.1 1561 3832 3787 3853 47.1 -10.9 87 516 0.15 1.85 0.00 0.000 3206 0.230 0.035 1607 2692 3821 3788 3855 0 0 0 0 0 0 14.63 14.73 14.77

702 -0.48 -214.1 1601 2687 3788 3855 66.3 -9.7 124 709 0.00 2.08 0.00 0.000 260 0.000 0.108 1595 3827 3821 3787 3855 0 0 0 0 0 0 14.91 14.69 14.94

782 -0.50 -214.1 1595 3827 3784 3855 74.2 -9.6 139 789 0.00 1.85 0.00 0.000 1158 0.000 0.038 1595 2681 3821 3787 3855 0 0 0 0 0 0 14.83 14.79 14.84

975 -0.50 -214.1 1595 2680 3787 3856 93.6 -10.1 176 982 0.00 2.10 0.00 0.000 260 0.000 0.106 1587 3831 3821 3787 3855 0 0 0 0 0 0 14.91 14.69 14.92

1061 -0.50 -214.1 1587 3831 3787 3855 102.7 -9.9 192 1067 0.00 1.83 0.00 0.000 1030 0.000 0.035 1587 2712 3821 3787 3855 0 0 0 0 0 0 14.84 14.81 14.84

1082 end dive: TARGET_DEPTH_EXCEEDED

state 1082 begin apogee

1090 -0.12 0.0 1584 2811 3787 3855 105.3 -10.1 195 1247 0.43 0.00 152.73 1.177 10246 0.199 0.000 1710 2811 2970 2938 3003 0 0 0 0 0 0 14.64 14.19 13.71

1254 end apogee: CONTROL_FINISHED_OK

state 1254 begin climb

1257 0.63 214.1 1711 2811 2934 3001 111.5 0.0 211 1421 0.82 1.98 155.20 1.154 10500 0.154 0.101 1956 3821 2113 2079 2148 0 0 0 0 0 0 14.19 14.11 13.64

1448 0.56 214.1 1955 3825 2078 2144 98.5 11.8 234 1454 0.00 1.73 0.00 0.000 1158 0.000 0.036 1965 2796 2110 2077 2144 0 0 0 0 0 0 14.38 14.30 14.36

1641 0.50 214.1 1963 2800 2071 2143 75.4 11.5 271 1647 0.12 0.00 0.00 0.000 4230 0.242 0.000 1929 2791 2107 2071 2143 0 0 0 0 0 0 14.44 14.57 14.53

1833 0.50 214.1 1928 2791 2070 2143 57.4 9.2 308 1840 0.00 1.92 0.00 0.000 260 0.000 0.103 1929 3827 2106 2070 2142 0 0 0 0 0 0 14.79 14.58 14.83

1864 0.56 277.0 1929 3828 2070 2140 54.5 8.0 313 1920 0.00 1.70 46.22 1.097 9382 0.000 0.037 1935 2780 1863 1833 1894 0 0 0 0 0 0 14.66 14.64 13.97

2106 0.56 277.0 1934 2780 1830 1886 31.7 10.2 358 2112 0.00 0.00 0.00 0.000 6 0.000 0.000 1934 2776 1859 1828 1890 0 0 0 0 0 0 14.73 14.76 14.76

2298 0.56 277.0 1934 2780 1828 1889 13.0 8.7 395 2305 0.00 1.92 0.00 0.000 260 0.000 0.103 1934 3835 1857 1826 1889 0 0 0 0 0 0 14.80 14.62 14.83

2329 0.56 277.0 1939 3830 1827 1888 9.1 12.1 400 2335 0.00 1.67 0.00 0.000 1030 0.000 0.041 1941 2799 1857 1827 1887 0 0 0 0 0 0 14.71 14.68 14.74

2395 end climb: SURFACE_DEPTH_REACHED

state 2395 begin surface coast

2412 end surface coast: CONTROL_FINISHED_OK

state 2412 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	XPDR_REP	0
MISSION	15	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
DIVE	9	TGT_AUTO_DEFAULT	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
N_DIVES	9	SM_CC	500	VBD_MAX	3960	DEEPGLIDER	0
STOP_T	0	N_FILEKB	8	C_VBD	2968	MOTHERBOARD	4
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_FLARE	3	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE2	-1
D_TGT	105	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_ABORT	1000	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
D_NO_BLEED	200	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0013	DEVICE5	-1
D_BOOST	0	NOCOMM_ACTION	163	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	3
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE2	147
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE3	131
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	PHONE_DEVICE	49
T_DIVE	35	N_GPS	100440	LOITER_D_TOP	0	GPS_DEVICE	64
T_MISSION	45	T_RSLEEP	1	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	SEABIRD_T_G	0.0044368538
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_H	0.0006575333
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_T_I	2.7761149e-05
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_T_J	3.5137082e-06
USE_BATHY	-6	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_G	-10.037535
USE_ICE	0	C_PITCH	1760	MINV_10V	10	SEABIRD_C_H	1.1079766
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0022889124
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.2	SEABIRD_C_J	0.00024077215
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	PITCH_GAIN	40	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
MAX_BUOY	220	PITCH_TIMEOUT	18	PRESSURE_YINT	-147.66289	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.00010781933	ES_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_PROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_XMITPROFILE	0.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
MASS	55689	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_STARTS	16.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_HEADERSKIP	105044.0
FERRY_MAX	45	C_ROLL_DIVE	2700	ALTIM_TOP_MIN_OBSTACLE	0	ES_DL_RECORDLENGTH	10086.0
KALMAN_USE	2	C_ROLL_CLIMB	2800	ALTIM_PING_DEPTH	0	ES_DL_NRECORD	100.0
HD_A	0.003	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0	ES_DL_RECORDCOUNT	3.0
HD_B	0.0099999998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_RECORDABOVE	2000.0
HD_C	1.6100001e-05	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_PROFILE	0.0
HEADING	-1	R_PORT_OVSHOOT	42	ALTIM_SENSITIVITY	3	CP_XMITPROFILE	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	15	XPDR_VALID	6	CP_UPLOADMAX	0.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	90	CP_STARTS	0.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_INT	0	CP_NDIVE	1.0

GPS1	020421,050821,4856.6602,-1627.6636,3,1.6,5,-5.5,0.5,236.7,6,8.3	SPEED_LIMITS	0.173,0.304
_CALLS	1	TGT_NAME	CAST
_XMS_NAKs	0	TGT_LATLONG	4858.200,-1625.500
_XMS_TOUTs	0	TGT_RADIUS	1500.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	42.8,3935,-14.2,-10.000,-18.23,3217
_SM_ANGLEo	-16.9	D_GRID	1000
GPS2	020421,051309,4856.6367,-1627.6914,5,1.6,6,-5.5,1.9,0.0,6,6.8

FINISH	0.9,1.027066	_24V_AH	13.64,20.591
SM_CCo	2435,161.07,1.043,0,0,976,500.14	_10V_AH	13.64,0.000
SM_GC	0.64,4.82,0.12,161.07,0.048,0.095,1.043,222,2687,976,-4.70,1.50,500.14,0,0,0,0,0,0,14.72,14.73,13.79	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4856.35,-1626.89,020421,050524	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,0.686084	MEM	293160
HUMID	41.02	DATA_FILE_SIZE	13437,416
INTERNAL_PRESSURE	8.35385	CAP_FILE_SIZE	96001,0
TCM_TEMP	17.10	CFSIZE	1024409600,1021411328
XPDR_PINGS	93	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3905248	INTR	0,1266.60,0x235aaa,1,24
ES_FREE	15857680384.000000	CURRENT	0.126,208.87,1
ES_POWER	63.350000	GPS	020421,055839,4856.699,-1627.453,18,1.9,20,-5.5,0.3,0.0,5,10.0
ES_POWER1	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	371	62.37	nil	0	0	0.00
Roll_motor	28	121	46.50	nil	0	0	0.00
VBD_pump_during_apogee	354	1176	5683.55	nil	0	0	0.00
VBD_pump_during_surface	161	1043	2292.55	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	2398	22	729.86
Iridium_during_xfer	0	0	0.00	echo	2405	10	328.04
Transponder_ping	23	420	133.19	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	8	2.17
TT8	956	12	158.02
LPSleep	303	2	9.07
TT8_Active	617	11	95.66
TT8_Sampling	725	30	297.57
TT8_CF8	108	45	66.47
TT8_Kalman	0	0	0.00
Analog_circuits	1001	15	213.03
GPS_charging	0	0	0.00
Compass	657	2	20.16
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
22	-0.63	-214.1	241	2710	924	1009	0.0	0.0	0	161	0.00	0.00	-135.62	0.004	16386	0.000	0.000	239	2710	3720	3701	3740	0	0	0	0	0	0	14.88	28.83	14.90
165	-0.63	-214.1	239	2710	3702	3740	4.2	-8.4	23	179	5.82	2.47	-2.38	0.038	18948	0.371	0.070	1546	1291	3821	3793	3849	0	0	0	0	0	0	14.47	13.70	14.73
209	-0.56	-214.1	1546	1291	3790	3854	14.4	-14.7	30	217	0.15	2.58	0.00	0.000	3206	0.247	0.089	1573	2703	3822	3789	3855	0	0	0	0	0	0	14.61	14.66	14.73
403	-0.52	-214.1	1572	2703	3788	3855	34.9	-11.2	67	409	0.00	2.00	0.00	0.000	388	0.000	0.110	1566	3832	3821	3788	3855	0	0	0	0	0	0	14.90	14.67	14.92
508	-0.48	-214.1	1561	3832	3787	3853	47.1	-10.9	87	516	0.15	1.85	0.00	0.000	3206	0.230	0.035	1607	2692	3821	3788	3855	0	0	0	0	0	0	14.63	14.73	14.77
702	-0.48	-214.1	1601	2687	3788	3855	66.3	-9.7	124	709	0.00	2.08	0.00	0.000	260	0.000	0.108	1595	3827	3821	3787	3855	0	0	0	0	0	0	14.91	14.69	14.94
782	-0.50	-214.1	1595	3827	3784	3855	74.2	-9.6	139	789	0.00	1.85	0.00	0.000	1158	0.000	0.038	1595	2681	3821	3787	3855	0	0	0	0	0	0	14.83	14.79	14.84
975	-0.50	-214.1	1595	2680	3787	3856	93.6	-10.1	176	982	0.00	2.10	0.00	0.000	260	0.000	0.106	1587	3831	3821	3787	3855	0	0	0	0	0	0	14.91	14.69	14.92
1061	-0.50	-214.1	1587	3831	3787	3855	102.7	-9.9	192	1067	0.00	1.83	0.00	0.000	1030	0.000	0.035	1587	2712	3821	3787	3855	0	0	0	0	0	0	14.84	14.81	14.84
1082	end dive: TARGET_DEPTH_EXCEEDED
state	1082	begin apogee
1090	-0.12	0.0	1584	2811	3787	3855	105.3	-10.1	195	1247	0.43	0.00	152.73	1.177	10246	0.199	0.000	1710	2811	2970	2938	3003	0	0	0	0	0	0	14.64	14.19	13.71
1254	end apogee: CONTROL_FINISHED_OK
state	1254	begin climb
1257	0.63	214.1	1711	2811	2934	3001	111.5	0.0	211	1421	0.82	1.98	155.20	1.154	10500	0.154	0.101	1956	3821	2113	2079	2148	0	0	0	0	0	0	14.19	14.11	13.64
1448	0.56	214.1	1955	3825	2078	2144	98.5	11.8	234	1454	0.00	1.73	0.00	0.000	1158	0.000	0.036	1965	2796	2110	2077	2144	0	0	0	0	0	0	14.38	14.30	14.36
1641	0.50	214.1	1963	2800	2071	2143	75.4	11.5	271	1647	0.12	0.00	0.00	0.000	4230	0.242	0.000	1929	2791	2107	2071	2143	0	0	0	0	0	0	14.44	14.57	14.53
1833	0.50	214.1	1928	2791	2070	2143	57.4	9.2	308	1840	0.00	1.92	0.00	0.000	260	0.000	0.103	1929	3827	2106	2070	2142	0	0	0	0	0	0	14.79	14.58	14.83
1864	0.56	277.0	1929	3828	2070	2140	54.5	8.0	313	1920	0.00	1.70	46.22	1.097	9382	0.000	0.037	1935	2780	1863	1833	1894	0	0	0	0	0	0	14.66	14.64	13.97
2106	0.56	277.0	1934	2780	1830	1886	31.7	10.2	358	2112	0.00	0.00	0.00	0.000	6	0.000	0.000	1934	2776	1859	1828	1890	0	0	0	0	0	0	14.73	14.76	14.76
2298	0.56	277.0	1934	2780	1828	1889	13.0	8.7	395	2305	0.00	1.92	0.00	0.000	260	0.000	0.103	1934	3835	1857	1826	1889	0	0	0	0	0	0	14.80	14.62	14.83
2329	0.56	277.0	1939	3830	1827	1888	9.1	12.1	400	2335	0.00	1.67	0.00	0.000	1030	0.000	0.041	1941	2799	1857	1827	1887	0	0	0	0	0	0	14.71	14.68	14.74
2395	end climb: SURFACE_DEPTH_REACHED
state	2395	begin surface coast
2412	end surface coast: CONTROL_FINISHED_OK
state	2412	begin surface