Glider dive log

Shilshole 12Oct23 * SG639 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 639 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 2 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 34 ALTIM_PING_DELTA 5

N_DIVES 2 TGT_DEFAULT_LAT 2115.4021 R_STBD_OVSHOOT 36 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -15824.54 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 591.46582 ROLL_ADJ_GAIN 0 XPDR_VALID 6

D_TGT 75 N_FILEKB 4 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 99

D_ABORT 125 FILEMGR 0 VBD_MIN 648 XPDR_INT 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3962 XPDR_REP 0

D_BOOST 3 COMM_SEQ 0 C_VBD 3100 INT_PRESSURE_SLOPE 0.0097655999

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 INT_PRESSURE_YINT -1

D_FINISH 0 N_NOCOMM 1 VBD_CNV -0.245296 DEEPGLIDER 0

D_PITCH 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 MOTHERBOARD 4

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE1 2

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00061500003 DEVICE2 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 3 DEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_DIVE 25 CAPMAXSIZE 400000 UNCOM_BLEED 60 DEVICE6 -1

T_MISSION 40 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERS 0

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE1 83

T_TURN 225 N_GPS 100840 DBDW 0 LOGGERDEVICE2 -1

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

T_NO_W 120 STROBE 0 LOITER_DBDW 0 LOGGERDEVICE4 -1

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 COMPASS_DEVICE 33

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 166 PITCH_W_DBAND 0 RAFOS_DEVICE -1

D_OFFGRID 100 PITCH_MAX 3903 CF8_MAXERRORS 20 XPDR_DEVICE 40

T_WATCHDOG 10 C_PITCH 3050 AH0_24V 350 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.0099999998 AH0_10V 0 SEABIRD_T_G 0.0043965187

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 11.5 SEABIRD_T_H 0.00063989544

MAX_BUOY 150 P_OVSHOOT 0.02 MINV_10V 10 SEABIRD_T_I 2.5446723e-05

COURSE_BIAS 0 P_OVSHOOT_WITHG 0.050000001 MAXI_24V 3 SEABIRD_T_J 3.0398987e-06

GLIDE_SLOPE 30 PITCH_GAIN 18 MAXI_10V 2 SEABIRD_C_G -10.0182

SPEED_FACTOR 1 PITCH_TIMEOUT 17 FG_AHR_10V 0 SEABIRD_C_H 1.1504961

RHO 1.023 PITCH_AD_RATE 125 FG_AHR_24V 0 SEABIRD_C_I -0.0016340181

MASS 51657 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00019147663

MASS_COMP 0 PITCH_ADJ_GAIN 0.0099999998 PRESSURE_YINT -164.82056 PM_RECORDABOVE 1100.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00014151999 PM_PROFILE 3.0

FERRY_MAX 45 ROLL_MIN 226 AD7714Ch0Gain 32 PM_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MAX 3915 COMPASS_USE 4 PM_NDIVE 0.0

HD_A 0.00301707 ROLL_DEG 40 ALTIM_PING_FIT 0 PM_XMITRAW 0.0

HD_B 0.0113415 C_ROLL_DIVE 2215 ALTIM_TOP_PING_RANGE 0 PM_MOTORS 1.0

HD_C 2.20159e-06 C_ROLL_CLIMB 2065 ALTIM_BOTTOM_TURN_MARGIN 10 PM_SENDDEPTH 2.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_TGT 75 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043965187

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SEABIRD_T_H 0.00063989544

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.0099999998 SEABIRD_T_I 2.5446723e-05

ALTIM_BOTTOM_TURN_MARGIN 10 FERRY_MAX 45 PITCH_AD_RATE 125 SEABIRD_T_J 3.0398987e-06

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_CNV 0.003125763 SIM_W 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_DBAND 0.0099999998 SM_CC 591.46582

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3903 STOP_T 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 STROBE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PITCH_MIN 166 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.00301707 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0113415 PITCH_VBD_SHIFT 0.00061500003 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 2.20159e-06 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HEADING -1 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 2115.4021

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_MOTORS 1.0 TGT_DEFAULT_LON -15824.54

CALL_TRIES 5 HEAPDBG 0 PM_NDIVE 0.0 T_ABORT 1440

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PM_PROFILE 3.0 T_BOOST 0

CAPMAXSIZE 400000 ID 639 PM_RECORDABOVE 1100.0 T_DIVE 25

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097655999 PM_SENDDEPTH 2.0 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_YINT -1 PM_XMITPROFILE 3.0 T_GPS 5

COMM_SEQ 0 KALMAN_USE 2 PM_XMITRAW 0.0 T_LOITER 0

COMPASS2_DEVICE -1 LOGGERDEVICE1 83 PRESSURE_SLOPE 0.00014151999 T_MISSION 40

COMPASS_DEVICE 33 LOGGERDEVICE2 -1 PRESSURE_YINT -164.82056 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE4 -1 P_OVSHOOT 0.02 T_TURN 225

C_PITCH 3050 LOGGERS 0 P_OVSHOOT_WITHG 0.050000001 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2065 LOITER_DBDW 0 RAFOS_CORR_THRESH 60 T_WATCHDOG 10

C_ROLL_DIVE 2215 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1 UNCOM_BLEED 60

C_VBD 3100 LOITER_D_TOP 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_N_DIVE 0 RAFOS_MMODEM 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_W_DBAND 0 RAFOS_PEAK_OFFSET 1.5 USE_ICE 0

DEVICE1 2 MASS 51657 RELAUNCH 1 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS_COMP 0 RHO 1.023 VBD_CNV -0.245296

DEVICE3 -1 MAXI_10V 2 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE4 -1 MAXI_24V 3 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAX_BUOY 150 ROLL_AD_RATE 350 VBD_MAX 3962

DEVICE6 -1 MINV_10V 10 ROLL_CNV 0.028270001 VBD_MAXERRORS 1

DIVE 2 MINV_24V 11.5 ROLL_DEG 40 VBD_MIN 648

D_ABORT 125 MISSION 10 ROLL_MAX 3915 VBD_PUMP_AD_RATE_APOGEE 3

D_BOOST 3 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_SURFACE 4

D_CALL 0 NAV_MODE 2 ROLL_MIN 226 VBD_TIMEOUT 720

D_FINISH 0 NOCOMM_ACTION 161 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

D_FLARE 3 N_DIVES 2 R_PORT_OVSHOOT 34 XPDR_DEVICE 40

D_NO_BLEED 50 N_FILEKB 4 R_STBD_OVSHOOT 36 XPDR_INHIBIT 99

D_OFFGRID 100 N_GPS 100840 SEABIRD_C_G -10.0182 XPDR_INT 0

D_PITCH 0 N_NOCOMM 1 SEABIRD_C_H 1.1504961 XPDR_REP 0

D_SAFE 0 N_NOSURFACE 0 SEABIRD_C_I -0.0016340181 XPDR_VALID 6

D_SURF 3 PHONE_DEVICE 49 SEABIRD_C_J 0.00019147663

Pre-dive calculations and measurements:

GPS1 121023,164250,4744.2466,-12224.1982,4,0.9,11,16.3,0.0,0.0,9,8.9 SPEED_LIMITS 0.173,0.248

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.52 MHEAD_RNG_PITCHd_Wd 179.8,1769,-18.1,-10.000,-21.94,2247

_SM_ANGLEo -63.4 D_GRID 175

GPS2 121023,164619,4744.2725,-12224.1650,11,0.9,19,16.3,0.0,0.0,9,9.1

Post-dive calculations and measurements:

FINISH -0.1,1.022474 _10V_AH 13.96,0.000

SM_CCo 1685,316.55,1.023,1,0,688,591.65 FG_AHR_24Vo 0.000

SM_GC 0.53,7.60,2.20,316.55,0.057,0.058,1.023,82,2218,688,-8.97,0.99,591.65,0,0,0,0,1,0,14.64,14.59,13.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4747.28,-12224.09,121023,163945 MEM 287520

TT8_MAMPS 0.020223,0.154294 DATA_FILE_SIZE 10157,259

HUMID 49.52 CAP_FILE_SIZE 53861,0

INTERNAL_PRESSURE 8.58982 CFSIZE 2097086464,2093613056

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.102,359.75,1

_24V_AH 13.60,0.815 GPS 121023,172133,4744.182,-12224.232,10,1.1,23,16.3,0.0,0.0,8,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 432 103.49 SBE_CT 155 54 115.54

Roll_motor 24 93 31.57 nil 0 0 0.00

VBD_pump_during_apogee 274 1162 4330.21 nil 0 0 0.00

VBD_pump_during_surface 316 1022 4403.26 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 PMAR 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 11 4.78

TT8 575 8 72.07

LPSleep 354 2 10.82

TT8_Active 722 8 90.41

TT8_Sampling 404 28 160.72

TT8_CF8 50 33 23.86

TT8_Kalman 0 0 0.00

Analog_circuits 994 12 166.63

GPS_charging 0 0 0.00

Compass 381 16 87.72

RAFOS 0 0 0.00

Transponder 0 5 0.05

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.10 -146.6 170 2236 845 517 0.0 0.0 0 151 0.00 0.00 -139.02 0.002 16390 0.000 0.000 169 2236 3697 3672 3723 0 0 0 0 0 0 14.84 13.73 14.81

154 -1.10 -146.6 169 2236 3674 3723 2.7 -3.9 23 167 8.18 0.00 0.00 0.000 2598 0.433 0.000 2700 2236 3698 3678 3719 0 0 0 0 0 0 14.40 14.66 14.64

199 -1.03 -146.6 2699 2235 3682 3715 12.8 -15.9 31 206 0.08 0.00 0.00 0.000 2182 0.376 0.000 2726 2237 3698 3682 3715 0 0 0 0 0 0 14.47 14.65 14.60

240 -0.97 -146.6 2725 2236 3682 3714 18.4 -14.1 38 246 0.05 0.00 0.00 0.000 2182 0.407 0.000 2744 2237 3698 3683 3714 0 0 0 0 0 0 14.50 14.66 14.65

308 -0.93 -146.6 2744 2236 3683 3713 28.7 -15.2 51 314 0.00 0.00 0.00 0.000 2182 0.000 0.000 2745 2236 3698 3683 3713 0 0 0 0 0 0 14.86 14.87 14.87

377 -0.89 -146.6 2744 2236 3683 3712 38.8 -14.3 64 384 0.08 0.00 0.00 0.000 2182 0.344 0.000 2773 2237 3698 3684 3713 0 0 0 0 0 0 14.53 14.68 14.65

446 -0.86 -146.6 2773 2236 3684 3712 47.6 -12.4 77 453 0.00 0.00 0.00 0.000 134 0.000 0.000 2773 2237 3698 3684 3712 0 0 0 0 0 0 14.88 14.89 14.88

515 -0.84 -146.6 2773 2236 3684 3712 56.3 -12.5 85 517 0.00 0.00 0.00 0.000 2182 0.000 0.000 2773 2236 3698 3684 3712 0 0 0 0 0 0 14.90 14.90 14.90

635 -0.82 -146.6 2773 2236 3685 3711 71.9 -12.8 97 638 0.05 0.00 0.00 0.000 2182 0.424 0.000 2793 2237 3698 3685 3711 0 0 0 0 0 0 14.55 14.76 14.73

663 end dive: TARGET_DEPTH_EXCEEDED

state 663 begin apogee

669 -0.28 0.0 2793 2022 3684 3711 75.7 -12.6 100 786 0.43 0.00 113.55 1.162 10246 0.232 0.000 2964 2020 3099 3125 3074 0 0 0 0 0 0 14.57 14.16 13.64

787 end apogee: CONTROL_FINISHED_OK

state 787 begin climb

789 1.10 146.6 2963 2021 3125 3074 82.6 0.0 112 916 1.12 2.72 118.28 1.141 11012 0.181 0.084 3401 3466 2500 2599 2402 0 0 0 0 0 0 14.09 14.08 13.60

945 1.12 160.8 3401 3466 2597 2398 74.3 9.4 139 965 0.00 2.38 12.48 1.033 13478 0.000 0.050 3411 2091 2445 2553 2338 0 0 0 0 0 0 14.34 14.26 13.72

1094 1.15 172.5 3411 2091 2544 2336 60.4 9.5 156 1114 0.00 2.55 11.07 1.020 10916 0.000 0.086 3422 663 2394 2503 2286 0 0 0 0 0 0 14.68 14.38 13.90

1146 1.18 172.5 3422 663 2497 2286 54.9 10.8 166 1151 0.00 2.40 0.00 0.000 3206 0.000 0.052 3422 2056 2391 2497 2286 0 0 0 0 0 0 14.54 14.44 14.54

1276 1.20 173.5 3422 2055 2494 2286 41.8 10.0 187 1283 0.00 2.50 0.00 0.000 2468 0.000 0.090 3422 3476 2390 2494 2286 0 0 0 0 0 0 14.76 14.50 14.76

1351 1.21 173.5 3422 3476 2493 2286 33.8 10.2 201 1358 0.00 2.40 0.00 0.000 3206 0.000 0.054 3434 2058 2389 2493 2286 0 0 0 0 0 0 14.66 14.57 14.67

1421 1.24 188.4 3433 2059 2492 2286 27.1 9.3 214 1441 0.00 2.53 14.02 1.037 10916 0.000 0.089 3444 667 2329 2438 2221 0 0 0 0 0 0 14.82 14.49 14.02

1465 1.27 192.4 3444 666 2433 2221 22.8 9.8 221 1479 0.00 2.40 4.60 0.776 11430 0.000 0.054 3444 2062 2314 2423 2205 0 0 0 0 0 0 14.61 14.51 13.98

1542 1.29 192.4 3443 2062 2412 2205 15.1 10.2 235 1548 0.00 2.50 0.00 0.000 2436 0.000 0.093 3444 3479 2308 2411 2206 0 0 0 0 0 0 14.77 14.50 14.77

1645 end climb: SURFACE_DEPTH_REACHED

state 1645 begin surface coast

1666 end surface coast: CONTROL_FINISHED_OK

state 1666 begin surface

ID	639	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	2	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	34	ALTIM_PING_DELTA	5
N_DIVES	2	TGT_DEFAULT_LAT	2115.4021	R_STBD_OVSHOOT	36	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-15824.54	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	591.46582	ROLL_ADJ_GAIN	0	XPDR_VALID	6
D_TGT	75	N_FILEKB	4	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	99
D_ABORT	125	FILEMGR	0	VBD_MIN	648	XPDR_INT	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3962	XPDR_REP	0
D_BOOST	3	COMM_SEQ	0	C_VBD	3100	INT_PRESSURE_SLOPE	0.0097655999
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	INT_PRESSURE_YINT	-1
D_FINISH	0	N_NOCOMM	1	VBD_CNV	-0.245296	DEEPGLIDER	0
D_PITCH	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	MOTHERBOARD	4
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE1	2
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00061500003	DEVICE2	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	3	DEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_DIVE	25	CAPMAXSIZE	400000	UNCOM_BLEED	60	DEVICE6	-1
T_MISSION	40	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERS	0
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE1	83
T_TURN	225	N_GPS	100840	DBDW	0	LOGGERDEVICE2	-1
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
T_NO_W	120	STROBE	0	LOITER_DBDW	0	LOGGERDEVICE4	-1
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	COMPASS_DEVICE	33
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	166	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
D_OFFGRID	100	PITCH_MAX	3903	CF8_MAXERRORS	20	XPDR_DEVICE	40
T_WATCHDOG	10	C_PITCH	3050	AH0_24V	350	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.0099999998	AH0_10V	0	SEABIRD_T_G	0.0043965187
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	11.5	SEABIRD_T_H	0.00063989544
MAX_BUOY	150	P_OVSHOOT	0.02	MINV_10V	10	SEABIRD_T_I	2.5446723e-05
COURSE_BIAS	0	P_OVSHOOT_WITHG	0.050000001	MAXI_24V	3	SEABIRD_T_J	3.0398987e-06
GLIDE_SLOPE	30	PITCH_GAIN	18	MAXI_10V	2	SEABIRD_C_G	-10.0182
SPEED_FACTOR	1	PITCH_TIMEOUT	17	FG_AHR_10V	0	SEABIRD_C_H	1.1504961
RHO	1.023	PITCH_AD_RATE	125	FG_AHR_24V	0	SEABIRD_C_I	-0.0016340181
MASS	51657	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00019147663
MASS_COMP	0	PITCH_ADJ_GAIN	0.0099999998	PRESSURE_YINT	-164.82056	PM_RECORDABOVE	1100.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00014151999	PM_PROFILE	3.0
FERRY_MAX	45	ROLL_MIN	226	AD7714Ch0Gain	32	PM_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MAX	3915	COMPASS_USE	4	PM_NDIVE	0.0
HD_A	0.00301707	ROLL_DEG	40	ALTIM_PING_FIT	0	PM_XMITRAW	0.0
HD_B	0.0113415	C_ROLL_DIVE	2215	ALTIM_TOP_PING_RANGE	0	PM_MOTORS	1.0
HD_C	2.20159e-06	C_ROLL_CLIMB	2065	ALTIM_BOTTOM_TURN_MARGIN	10	PM_SENDDEPTH	2.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0

GPS1	121023,164250,4744.2466,-12224.1982,4,0.9,11,16.3,0.0,0.0,9,8.9	SPEED_LIMITS	0.173,0.248
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.52	MHEAD_RNG_PITCHd_Wd	179.8,1769,-18.1,-10.000,-21.94,2247
_SM_ANGLEo	-63.4	D_GRID	175
GPS2	121023,164619,4744.2725,-12224.1650,11,0.9,19,16.3,0.0,0.0,9,9.1

FINISH	-0.1,1.022474	_10V_AH	13.96,0.000
SM_CCo	1685,316.55,1.023,1,0,688,591.65	FG_AHR_24Vo	0.000
SM_GC	0.53,7.60,2.20,316.55,0.057,0.058,1.023,82,2218,688,-8.97,0.99,591.65,0,0,0,0,1,0,14.64,14.59,13.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4747.28,-12224.09,121023,163945	MEM	287520
TT8_MAMPS	0.020223,0.154294	DATA_FILE_SIZE	10157,259
HUMID	49.52	CAP_FILE_SIZE	53861,0
INTERNAL_PRESSURE	8.58982	CFSIZE	2097086464,2093613056
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.102,359.75,1
_24V_AH	13.60,0.815	GPS	121023,172133,4744.182,-12224.232,10,1.1,23,16.3,0.0,0.0,8,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	432	103.49	SBE_CT	155	54	115.54
Roll_motor	24	93	31.57	nil	0	0	0.00
VBD_pump_during_apogee	274	1162	4330.21	nil	0	0	0.00
VBD_pump_during_surface	316	1022	4403.26	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	PMAR	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	11	4.78
TT8	575	8	72.07
LPSleep	354	2	10.82
TT8_Active	722	8	90.41
TT8_Sampling	404	28	160.72
TT8_CF8	50	33	23.86
TT8_Kalman	0	0	0.00
Analog_circuits	994	12	166.63
GPS_charging	0	0	0.00
Compass	381	16	87.72
RAFOS	0	0	0.00
Transponder	0	5	0.05

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.10	-146.6	170	2236	845	517	0.0	0.0	0	151	0.00	0.00	-139.02	0.002	16390	0.000	0.000	169	2236	3697	3672	3723	0	0	0	0	0	0	14.84	13.73	14.81
154	-1.10	-146.6	169	2236	3674	3723	2.7	-3.9	23	167	8.18	0.00	0.00	0.000	2598	0.433	0.000	2700	2236	3698	3678	3719	0	0	0	0	0	0	14.40	14.66	14.64
199	-1.03	-146.6	2699	2235	3682	3715	12.8	-15.9	31	206	0.08	0.00	0.00	0.000	2182	0.376	0.000	2726	2237	3698	3682	3715	0	0	0	0	0	0	14.47	14.65	14.60
240	-0.97	-146.6	2725	2236	3682	3714	18.4	-14.1	38	246	0.05	0.00	0.00	0.000	2182	0.407	0.000	2744	2237	3698	3683	3714	0	0	0	0	0	0	14.50	14.66	14.65
308	-0.93	-146.6	2744	2236	3683	3713	28.7	-15.2	51	314	0.00	0.00	0.00	0.000	2182	0.000	0.000	2745	2236	3698	3683	3713	0	0	0	0	0	0	14.86	14.87	14.87
377	-0.89	-146.6	2744	2236	3683	3712	38.8	-14.3	64	384	0.08	0.00	0.00	0.000	2182	0.344	0.000	2773	2237	3698	3684	3713	0	0	0	0	0	0	14.53	14.68	14.65
446	-0.86	-146.6	2773	2236	3684	3712	47.6	-12.4	77	453	0.00	0.00	0.00	0.000	134	0.000	0.000	2773	2237	3698	3684	3712	0	0	0	0	0	0	14.88	14.89	14.88
515	-0.84	-146.6	2773	2236	3684	3712	56.3	-12.5	85	517	0.00	0.00	0.00	0.000	2182	0.000	0.000	2773	2236	3698	3684	3712	0	0	0	0	0	0	14.90	14.90	14.90
635	-0.82	-146.6	2773	2236	3685	3711	71.9	-12.8	97	638	0.05	0.00	0.00	0.000	2182	0.424	0.000	2793	2237	3698	3685	3711	0	0	0	0	0	0	14.55	14.76	14.73
663	end dive: TARGET_DEPTH_EXCEEDED
state	663	begin apogee
669	-0.28	0.0	2793	2022	3684	3711	75.7	-12.6	100	786	0.43	0.00	113.55	1.162	10246	0.232	0.000	2964	2020	3099	3125	3074	0	0	0	0	0	0	14.57	14.16	13.64
787	end apogee: CONTROL_FINISHED_OK
state	787	begin climb
789	1.10	146.6	2963	2021	3125	3074	82.6	0.0	112	916	1.12	2.72	118.28	1.141	11012	0.181	0.084	3401	3466	2500	2599	2402	0	0	0	0	0	0	14.09	14.08	13.60
945	1.12	160.8	3401	3466	2597	2398	74.3	9.4	139	965	0.00	2.38	12.48	1.033	13478	0.000	0.050	3411	2091	2445	2553	2338	0	0	0	0	0	0	14.34	14.26	13.72
1094	1.15	172.5	3411	2091	2544	2336	60.4	9.5	156	1114	0.00	2.55	11.07	1.020	10916	0.000	0.086	3422	663	2394	2503	2286	0	0	0	0	0	0	14.68	14.38	13.90
1146	1.18	172.5	3422	663	2497	2286	54.9	10.8	166	1151	0.00	2.40	0.00	0.000	3206	0.000	0.052	3422	2056	2391	2497	2286	0	0	0	0	0	0	14.54	14.44	14.54
1276	1.20	173.5	3422	2055	2494	2286	41.8	10.0	187	1283	0.00	2.50	0.00	0.000	2468	0.000	0.090	3422	3476	2390	2494	2286	0	0	0	0	0	0	14.76	14.50	14.76
1351	1.21	173.5	3422	3476	2493	2286	33.8	10.2	201	1358	0.00	2.40	0.00	0.000	3206	0.000	0.054	3434	2058	2389	2493	2286	0	0	0	0	0	0	14.66	14.57	14.67
1421	1.24	188.4	3433	2059	2492	2286	27.1	9.3	214	1441	0.00	2.53	14.02	1.037	10916	0.000	0.089	3444	667	2329	2438	2221	0	0	0	0	0	0	14.82	14.49	14.02
1465	1.27	192.4	3444	666	2433	2221	22.8	9.8	221	1479	0.00	2.40	4.60	0.776	11430	0.000	0.054	3444	2062	2314	2423	2205	0	0	0	0	0	0	14.61	14.51	13.98
1542	1.29	192.4	3443	2062	2412	2205	15.1	10.2	235	1548	0.00	2.50	0.00	0.000	2436	0.000	0.093	3444	3479	2308	2411	2206	0	0	0	0	0	0	14.77	14.50	14.77
1645	end climb: SURFACE_DEPTH_REACHED
state	1645	begin surface coast
1666	end surface coast: CONTROL_FINISHED_OK
state	1666	begin surface