Glider dive log

Shilshole 19Jul19 * SG197 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 197 HEADING -1 C_ROLL_CLIMB 2100 ALTIM_TOP_PING_RANGE 0

MISSION 2 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 29 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 27 ALTIM_PING_DELTA 5

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 2

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 6

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 3000 INT_PRESSURE_YINT 0.40000001

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 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0017 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 1440 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 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 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 205 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3855 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2550 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043204976

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 50 SEABIRD_T_H 0.00062365097

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 12 SEABIRD_T_I 2.30554e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 2.4080823e-06

SPEED_FACTOR 1 PITCH_GAIN 22.799999 MAXI_24V 0.60000002 SEABIRD_C_G -10.102139

RHO 1.023 PITCH_TIMEOUT 17 MAXI_10V 0.80000001 SEABIRD_C_H 1.1491261

MASS 53585 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020350928

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00023971152

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -173.93356 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 260 PRESSURE_SLOPE 0.00010952644 SC_XMITPROFILE 3.0

HD_A 0.0038000001 ROLL_MAX 3840 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.9999997e-06 C_ROLL_DIVE 2100 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043204976

AH0_10V 50 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00062365097

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.30554e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 2.4080823e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 640.04498

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 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 22.799999 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3855 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 0.0038000001 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.9999997e-06 PITCH_VBD_SHIFT 0.0017 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 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010952644 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -173.93356 T_DIVE 50

CAPUPLOAD 0 ID 197 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 0.40000001 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 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2550 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERS 7 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2100 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 50

C_VBD 3000 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 53585 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3840 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 260 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 3 MINV_10V 11 R_PORT_OVSHOOT 29 VBD_MIN 550

D_ABORT 175 MINV_24V 12 R_STBD_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 2 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 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 4 SEABIRD_C_G -10.102139 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.1491261 XPDR_VALID 6

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020350928

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00023971152

Pre-dive calculations and measurements:

GPS1 031299,175326,4744.2827,-12224.0654,36,1.1,36,16.6,0.0,0.0,7,9.7 SPEED_LIMITS 0.173,0.262

_CALLS 2 TGT_NAME SE

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12224.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.30 MHEAD_RNG_PITCHd_Wd 158.2,2475,-18.1,-10.000,-20.93,2236

_SM_ANGLEo -56.6 D_GRID 173

GPS2 031299,180032,4744.3359,-12224.0293,42,1.0,42,16.6,0.0,0.0,8,8.8

Post-dive calculations and measurements:

FINISH 0.2,1.022390 _24V_AH 13.47,0.986

SM_CCo 3326,0.10,0.250,0,0,551,600.98 _10V_AH 13.20,2.773

SM_GC 0.27,7.40,2.38,0.10,0.063,0.067,0.250,189,2101,551,-7.30,1.02,600.98,0,0,0,0,0,0,14.69,14.65,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 104 FG_AHR_10Vo 0.000

MODEM 1,1563555903,47.50000,-123.50000,1.910,2798.8 MEM 302152

RAFOS_FIX 4743.952637,-12223.964844,190719,181816,0,1,0.24 DATA_FILE_SIZE 10115,365

IRIDIUM_FIX 4743.02,-12222.38,190719,174845 CAP_FILE_SIZE 68924,0

TT8_MAMPS 0.041195,0.938497 CFSIZE 1024409600,1022541824

HUMID 56.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

INTERNAL_PRESSURE 8.87689 SOUNDSPEED 1465.0

TCM_TEMP 18.20 CURRENT 0.173,352.62,1

XPDR_PINGS 0 GPS 031299,185734,4744.265,-12224.048,40,0.9,41,16.6,0.0,0.0,8,7.2

SC_FREEKB 3877024

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 419 111.10 nil 0 0 0.00

Roll_motor 28 100 38.67 nil 0 0 0.00

VBD_pump_during_apogee 283 1222 4663.36 nil 0 0 0.00

VBD_pump_during_surface 343 919 4260.19 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 2831 40 1527.63

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 53 20 14.71

TT8 0 0 0.00

LPSleep 1754 2 53.50

TT8_Active 471 11 73.61

TT8_Sampling 1190 29 456.39

TT8_CF8 18 41 10.00

TT8_Kalman 0 0 0.00

Analog_circuits 1101 12 187.56

GPS_charging 0 0 0.00

Compass 795 5 52.52

RAFOS 2908 33 1266.72

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

7 -1.04 -146.6 191 2106 661 440 0.0 0.0 0 143 0.00 0.00 -132.82 0.003 16390 0.000 0.000 191 2107 3598 3643 3553 0 0 0 0 0 0 14.88 14.08 14.86

144 -1.04 -146.6 191 2107 3643 3553 2.4 -3.3 13 157 9.45 2.38 0.00 0.000 2340 0.419 0.092 2193 3508 3598 3644 3552 0 0 0 0 0 0 14.49 14.61 14.64

381 -0.87 -146.6 2193 3508 3646 3552 43.7 -16.2 60 392 0.22 2.35 0.00 0.000 3206 0.235 0.064 2258 2096 3599 3646 3552 0 0 0 0 0 0 14.60 14.69 14.71

566 -0.87 -146.6 2258 2095 3648 3551 65.4 -11.0 79 572 0.00 2.45 0.00 0.000 260 0.000 0.100 2251 3508 3599 3647 3551 0 0 0 0 0 0 14.89 14.69 14.92

616 -0.84 -146.6 2250 3508 3648 3551 71.0 -11.4 89 623 0.00 2.35 0.00 0.000 1158 0.000 0.065 2250 2098 3598 3647 3550 0 0 0 0 0 0 14.76 14.71 14.78

807 -0.84 -146.6 2250 2097 3648 3551 92.3 -11.4 109 814 0.00 2.42 0.00 0.000 516 0.000 0.098 2250 691 3598 3647 3550 0 0 0 0 0 0 14.90 14.70 14.92

922 -0.80 -146.6 2250 691 3648 3550 105.7 -11.4 132 933 0.15 2.38 0.00 0.000 3206 0.243 0.079 2285 2094 3598 3647 3550 0 0 0 0 0 0 14.64 14.71 14.73

1108 -0.87 -146.6 2284 2094 3648 3550 123.6 -9.4 151 1114 0.00 2.38 0.00 0.000 676 0.000 0.099 2285 694 3598 3648 3549 0 0 0 0 0 0 14.90 14.68 14.94

1238 -0.91 -146.6 2285 694 3648 3550 136.0 -9.3 177 1244 0.00 2.38 0.00 0.000 1190 0.000 0.082 2278 2099 3598 3647 3549 0 0 0 0 0 0 14.78 14.71 14.81

1387 end dive: TARGET_DEPTH_EXCEEDED

state 1387 begin apogee

1390 -0.22 0.0 2278 2099 3648 3549 150.0 -9.4 193 1514 0.68 0.00 115.35 1.222 10246 0.203 0.000 2477 2099 2998 3142 2854 0 0 0 0 0 0 14.68 14.16 13.76

1515 end apogee: CONTROL_FINISHED_OK

state 1515 begin climb

1516 1.04 146.6 2477 2099 3142 2854 153.0 0.0 205 1642 1.23 0.00 118.62 1.202 10502 0.119 0.000 2882 2099 2400 2560 2241 0 0 0 0 0 0 14.28 14.10 13.71

1816 0.84 146.6 2882 2099 2556 2237 117.7 13.9 229 1818 0.25 0.00 0.00 0.000 4230 0.249 0.000 2820 2099 2396 2556 2236 0 0 0 0 0 0 14.46 14.63 14.61

1996 0.76 146.6 2820 2100 2556 2235 98.5 10.6 247 1998 0.00 0.00 0.00 0.000 134 0.000 0.000 2820 2100 2395 2555 2235 0 0 0 0 0 0 14.81 14.84 14.83

2176 0.67 146.6 2820 2100 2556 2235 79.9 10.2 265 2178 0.20 0.00 0.00 0.000 4230 0.254 0.000 2769 2099 2394 2555 2234 0 0 0 0 0 0 14.60 14.77 14.74

2356 0.70 160.9 2769 2100 2556 2233 62.4 9.3 283 2374 0.00 2.42 12.02 1.023 8484 0.000 0.099 2770 3508 2343 2511 2175 0 0 0 0 0 0 14.87 14.54 14.16

2403 0.70 162.0 2769 3509 2510 2176 57.9 10.0 292 2413 0.00 2.35 0.00 0.000 1062 0.000 0.064 2778 2102 2342 2510 2174 0 0 0 0 0 0 14.67 14.62 14.69

2588 0.75 191.3 2778 2101 2510 2173 41.3 8.7 311 2614 0.00 0.00 25.10 1.068 8230 0.000 0.000 2777 2101 2219 2400 2038 0 0 0 0 0 0 14.86 14.57 14.10

2790 0.82 205.7 2777 2101 2394 2036 22.3 9.3 331 2807 0.10 2.42 12.10 0.978 10660 0.154 0.100 2830 3507 2159 2344 1975 0 0 0 0 0 0 14.64 14.55 14.13

2950 end climb: SURFACE_DEPTH_REACHED

state 2950 begin surface coast

2960 end surface coast: CONTROL_FINISHED_OK

state 2960 begin surface

ID	197	HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_TOP_PING_RANGE	0
MISSION	2	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	29	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	27	ALTIM_PING_DELTA	5
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	2
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	6
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	3000	INT_PRESSURE_YINT	0.40000001
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	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0017	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	1440	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	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	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	205	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3855	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2550	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043204976
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	50	SEABIRD_T_H	0.00062365097
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	12	SEABIRD_T_I	2.30554e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	2.4080823e-06
SPEED_FACTOR	1	PITCH_GAIN	22.799999	MAXI_24V	0.60000002	SEABIRD_C_G	-10.102139
RHO	1.023	PITCH_TIMEOUT	17	MAXI_10V	0.80000001	SEABIRD_C_H	1.1491261
MASS	53585	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020350928
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00023971152
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-173.93356	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	260	PRESSURE_SLOPE	0.00010952644	SC_XMITPROFILE	3.0
HD_A	0.0038000001	ROLL_MAX	3840	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.9999997e-06	C_ROLL_DIVE	2100	ALTIM_PING_FIT	0

GPS1	031299,175326,4744.2827,-12224.0654,36,1.1,36,16.6,0.0,0.0,7,9.7	SPEED_LIMITS	0.173,0.262
_CALLS	2	TGT_NAME	SE
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12224.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.30	MHEAD_RNG_PITCHd_Wd	158.2,2475,-18.1,-10.000,-20.93,2236
_SM_ANGLEo	-56.6	D_GRID	173
GPS2	031299,180032,4744.3359,-12224.0293,42,1.0,42,16.6,0.0,0.0,8,8.8

FINISH	0.2,1.022390	_24V_AH	13.47,0.986
SM_CCo	3326,0.10,0.250,0,0,551,600.98	_10V_AH	13.20,2.773
SM_GC	0.27,7.40,2.38,0.10,0.063,0.067,0.250,189,2101,551,-7.30,1.02,600.98,0,0,0,0,0,0,14.69,14.65,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	104	FG_AHR_10Vo	0.000
MODEM	1,1563555903,47.50000,-123.50000,1.910,2798.8	MEM	302152
RAFOS_FIX	4743.952637,-12223.964844,190719,181816,0,1,0.24	DATA_FILE_SIZE	10115,365
IRIDIUM_FIX	4743.02,-12222.38,190719,174845	CAP_FILE_SIZE	68924,0
TT8_MAMPS	0.041195,0.938497	CFSIZE	1024409600,1022541824
HUMID	56.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
INTERNAL_PRESSURE	8.87689	SOUNDSPEED	1465.0
TCM_TEMP	18.20	CURRENT	0.173,352.62,1
XPDR_PINGS	0	GPS	031299,185734,4744.265,-12224.048,40,0.9,41,16.6,0.0,0.0,8,7.2
SC_FREEKB	3877024

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	419	111.10	nil	0	0	0.00
Roll_motor	28	100	38.67	nil	0	0	0.00
VBD_pump_during_apogee	283	1222	4663.36	nil	0	0	0.00
VBD_pump_during_surface	343	919	4260.19	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	2831	40	1527.63
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	53	20	14.71
TT8	0	0	0.00
LPSleep	1754	2	53.50
TT8_Active	471	11	73.61
TT8_Sampling	1190	29	456.39
TT8_CF8	18	41	10.00
TT8_Kalman	0	0	0.00
Analog_circuits	1101	12	187.56
GPS_charging	0	0	0.00
Compass	795	5	52.52
RAFOS	2908	33	1266.72
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
7	-1.04	-146.6	191	2106	661	440	0.0	0.0	0	143	0.00	0.00	-132.82	0.003	16390	0.000	0.000	191	2107	3598	3643	3553	0	0	0	0	0	0	14.88	14.08	14.86
144	-1.04	-146.6	191	2107	3643	3553	2.4	-3.3	13	157	9.45	2.38	0.00	0.000	2340	0.419	0.092	2193	3508	3598	3644	3552	0	0	0	0	0	0	14.49	14.61	14.64
381	-0.87	-146.6	2193	3508	3646	3552	43.7	-16.2	60	392	0.22	2.35	0.00	0.000	3206	0.235	0.064	2258	2096	3599	3646	3552	0	0	0	0	0	0	14.60	14.69	14.71
566	-0.87	-146.6	2258	2095	3648	3551	65.4	-11.0	79	572	0.00	2.45	0.00	0.000	260	0.000	0.100	2251	3508	3599	3647	3551	0	0	0	0	0	0	14.89	14.69	14.92
616	-0.84	-146.6	2250	3508	3648	3551	71.0	-11.4	89	623	0.00	2.35	0.00	0.000	1158	0.000	0.065	2250	2098	3598	3647	3550	0	0	0	0	0	0	14.76	14.71	14.78
807	-0.84	-146.6	2250	2097	3648	3551	92.3	-11.4	109	814	0.00	2.42	0.00	0.000	516	0.000	0.098	2250	691	3598	3647	3550	0	0	0	0	0	0	14.90	14.70	14.92
922	-0.80	-146.6	2250	691	3648	3550	105.7	-11.4	132	933	0.15	2.38	0.00	0.000	3206	0.243	0.079	2285	2094	3598	3647	3550	0	0	0	0	0	0	14.64	14.71	14.73
1108	-0.87	-146.6	2284	2094	3648	3550	123.6	-9.4	151	1114	0.00	2.38	0.00	0.000	676	0.000	0.099	2285	694	3598	3648	3549	0	0	0	0	0	0	14.90	14.68	14.94
1238	-0.91	-146.6	2285	694	3648	3550	136.0	-9.3	177	1244	0.00	2.38	0.00	0.000	1190	0.000	0.082	2278	2099	3598	3647	3549	0	0	0	0	0	0	14.78	14.71	14.81
1387	end dive: TARGET_DEPTH_EXCEEDED
state	1387	begin apogee
1390	-0.22	0.0	2278	2099	3648	3549	150.0	-9.4	193	1514	0.68	0.00	115.35	1.222	10246	0.203	0.000	2477	2099	2998	3142	2854	0	0	0	0	0	0	14.68	14.16	13.76
1515	end apogee: CONTROL_FINISHED_OK
state	1515	begin climb
1516	1.04	146.6	2477	2099	3142	2854	153.0	0.0	205	1642	1.23	0.00	118.62	1.202	10502	0.119	0.000	2882	2099	2400	2560	2241	0	0	0	0	0	0	14.28	14.10	13.71
1816	0.84	146.6	2882	2099	2556	2237	117.7	13.9	229	1818	0.25	0.00	0.00	0.000	4230	0.249	0.000	2820	2099	2396	2556	2236	0	0	0	0	0	0	14.46	14.63	14.61
1996	0.76	146.6	2820	2100	2556	2235	98.5	10.6	247	1998	0.00	0.00	0.00	0.000	134	0.000	0.000	2820	2100	2395	2555	2235	0	0	0	0	0	0	14.81	14.84	14.83
2176	0.67	146.6	2820	2100	2556	2235	79.9	10.2	265	2178	0.20	0.00	0.00	0.000	4230	0.254	0.000	2769	2099	2394	2555	2234	0	0	0	0	0	0	14.60	14.77	14.74
2356	0.70	160.9	2769	2100	2556	2233	62.4	9.3	283	2374	0.00	2.42	12.02	1.023	8484	0.000	0.099	2770	3508	2343	2511	2175	0	0	0	0	0	0	14.87	14.54	14.16
2403	0.70	162.0	2769	3509	2510	2176	57.9	10.0	292	2413	0.00	2.35	0.00	0.000	1062	0.000	0.064	2778	2102	2342	2510	2174	0	0	0	0	0	0	14.67	14.62	14.69
2588	0.75	191.3	2778	2101	2510	2173	41.3	8.7	311	2614	0.00	0.00	25.10	1.068	8230	0.000	0.000	2777	2101	2219	2400	2038	0	0	0	0	0	0	14.86	14.57	14.10
2790	0.82	205.7	2777	2101	2394	2036	22.3	9.3	331	2807	0.10	2.42	12.10	0.978	10660	0.154	0.100	2830	3507	2159	2344	1975	0	0	0	0	0	0	14.64	14.55	14.13
2950	end climb: SURFACE_DEPTH_REACHED
state	2950	begin surface coast
2960	end surface coast: CONTROL_FINISHED_OK
state	2960	begin surface