Glider dive log

Shilshole 08May18 * SG529 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 529 HD_C 2.51683e-05 ROLL_DEG 40 AD7714Ch0Gain 32

MISSION 5 HEADING -1 C_ROLL_DIVE 1850 COMPASS_USE 4

DIVE 3 ESCAPE_HEADING 0 C_ROLL_CLIMB 2075 ALTIM_PING_FIT 0

N_DIVES 4 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_TOP_PING_RANGE 0

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_BOTTOM_TURN_MARGIN 12

D_SURF 3 TGT_DEFAULT_LAT 4212 ROLL_TIMEOUT 15 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 TGT_DEFAULT_LON -7043 R_PORT_OVSHOOT 31 ALTIM_TOP_MIN_OBSTACLE 1

D_TGT 150 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 27 ALTIM_PING_DEPTH 0

D_ABORT 175 SM_CC 500 ROLL_AD_RATE 200 ALTIM_PING_DELTA 10

D_NO_BLEED 50 N_FILEKB 8 ROLL_MAXERRORS 1 ALTIM_FREQUENCY 13

D_BOOST 20 FILEMGR 0 ROLL_ADJ_GAIN 0 ALTIM_PULSE 3

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 ALTIM_SENSITIVITY 2

D_FINISH 0 COMM_SEQ 0 VBD_MIN 300 XPDR_VALID 2

D_PITCH 0 PROTOCOL 9 VBD_MAX 3850 XPDR_INHIBIT 90

D_SAFE 0 N_NOCOMM 1 C_VBD 2600 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 NOCOMM_ACTION 161 VBD_DBAND 2 INT_PRESSURE_YINT 0.54000002

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.245296 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE1 2

T_DIVE 50 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0020000001 DEVICE2 -1

T_MISSION 72 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE3 -1

T_ABORT 1060 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE4 -1

T_TURN 225 HEAPDBG 0 VBD_BLEED_AD_RATE 8 DEVICE5 -1

T_TURN_SAMPINT -5 T_GPS 5 UNCOM_BLEED 50 DEVICE6 -1

T_NO_W 120 N_GPS 100440 VBD_MAXERRORS 1 LOGGERS 0

T_LOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE1 -1

T_EPIRB 0 STROBE 0 DBDW 0 LOGGERDEVICE2 -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 LOITER_W_DBAND 0 LOGGERDEVICE3 -1

USE_ICE 0 RAFOS_CORR_THRESH 60 LOITER_DBDW 0 LOGGERDEVICE4 -1

ICE_FREEZE_MARGIN 0.30000001 RAFOS_HIT_WINDOW 3600 LOITER_D_TOP 0 COMPASS_DEVICE 33

D_OFFGRID 100 RAFOS_MMODEM 0 LOITER_D_BOTTOM 0 COMPASS2_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 100 LOITER_N_DIVE 0 PHONE_DEVICE 49

RELAUNCH 1 PITCH_MAX 3700 PITCH_W_GAIN 0 GPS_DEVICE 32

APOGEE_PITCH -5 C_PITCH 2980 PITCH_W_DBAND 0 RAFOS_DEVICE -1

MAX_BUOY 150 PITCH_DBAND 0.1 CF8_MAXERRORS 20 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_CNV 0.003125763 AH0_24V 350 SIM_W 0

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 AH0_10V 0 SEABIRD_T_G 0.0043896558

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 MINV_24V 11 SEABIRD_T_H 0.00063911168

RHO 1.023 PITCH_GAIN 31 MINV_10V 11 SEABIRD_T_I 2.6166874e-05

MASS 52138 PITCH_TIMEOUT 15 MAXI_24V 0.60000002 SEABIRD_T_J 2.9183407e-06

MASS_COMP 0 PITCH_AD_RATE 150 MAXI_10V 0.80000001 SEABIRD_C_G -10.198202

NAV_MODE 2 PITCH_MAXERRORS 1 FG_AHR_10V 0 SEABIRD_C_H 1.1460478

FERRY_MAX 70 PITCH_ADJ_GAIN 0.02 FG_AHR_24V 0 SEABIRD_C_I -0.0021014379

KALMAN_USE 2 PITCH_ADJ_DBAND 1 PHONE_SUPPLY -2 SEABIRD_C_J 0.00024731993

HD_A 0.003 ROLL_MIN 250 PRESSURE_YINT -176.52379

HD_B 0.0099999998 ROLL_MAX 3900 PRESSURE_SLOPE 0.00014136991

AD7714Ch0Gain 32 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063911168

AH0_10V 0 D_SURF 3 N_NOCOMM 1 SEABIRD_T_I 2.6166874e-05

AH0_24V 350 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.9183407e-06

ALTIM_BOTTOM_TURN_MARGIN 12 ESCAPE_HEADING 0 PHONE_DEVICE 49 SIM_W 0

ALTIM_FREQUENCY 13 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY -2 SM_CC 500

ALTIM_PING_DELTA 10 FERRY_MAX 70 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_ADJ_GAIN 0.02 STOP_T 0

ALTIM_PING_FIT 0 FG_AHR_24V 0 PITCH_AD_RATE 150 STROBE 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_CNV 0.003125763 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_GAIN 31 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 32 PITCH_MAX 3700 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.003 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4212

APOGEE_PITCH -5 HD_B 0.0099999998 PITCH_MIN 100 TGT_DEFAULT_LON -7043

CALL_NDIVES 1 HD_C 2.51683e-05 PITCH_TIMEOUT 15 T_ABORT 1060

CALL_TRIES 5 HEADING -1 PITCH_VBD_SHIFT 0.0020000001 T_BOOST 0

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_DBAND 0 T_DIVE 50

CAPMAXSIZE 100000 HEAPDBG 0 PITCH_W_GAIN 0 T_EPIRB 0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_SLOPE 0.00014136991 T_GPS 5

CF8_MAXERRORS 20 ID 529 PRESSURE_YINT -176.52379 T_LOITER 0

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_MISSION 72

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0.54000002 P_OVSHOOT 0.039999999 T_NO_W 120

COMPASS_DEVICE 33 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_RSLEEP 2

COMPASS_USE 4 LOGGERDEVICE1 -1 RAFOS_CORR_THRESH 60 T_TURN 225

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_PITCH 2980 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_WATCHDOG 10

C_ROLL_CLIMB 2075 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 UNCOM_BLEED 50

C_ROLL_DIVE 1850 LOGGERS 0 RAFOS_PEAK_OFFSET 1.5 UPLOAD_DIVES_MAX -1

C_VBD 2600 LOITER_DBDW 0 RELAUNCH 1 USE_BATHY -6

DBDW 0 LOITER_D_BOTTOM 0 RHO 1.023 USE_ICE 0

DEEPGLIDER 0 LOITER_D_TOP 0 ROLL_ADJ_DBAND 0 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_AD_RATE 200 VBD_DBAND 2

DEVICE3 -1 MASS 52138 ROLL_CNV 0.028270001 VBD_LP_IGNORE 0

DEVICE4 -1 MASS_COMP 0 ROLL_DEG 40 VBD_MAX 3850

DEVICE5 -1 MAXI_10V 0.80000001 ROLL_MAX 3900 VBD_MAXERRORS 1

DEVICE6 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 1 VBD_MIN 300

DIVE 3 MAX_BUOY 150 ROLL_MIN 250 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 175 MINV_10V 11 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_SURFACE 2

D_BOOST 20 MINV_24V 11 R_PORT_OVSHOOT 31 VBD_TIMEOUT 720

D_CALL 0 MISSION 5 R_STBD_OVSHOOT 27 W_ADJ_DBAND 0

D_FINISH 0 MOTHERBOARD 4 SEABIRD_C_G -10.198202 XPDR_DEVICE 24

D_FLARE 3 NAV_MODE 2 SEABIRD_C_H 1.1460478 XPDR_INHIBIT 90

D_NO_BLEED 50 NOCOMM_ACTION 161 SEABIRD_C_I -0.0021014379 XPDR_VALID 2

D_OFFGRID 100 N_DIVES 4 SEABIRD_C_J 0.00024731993

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043896558

Pre-dive calculations and measurements:

GPS1 080518,181607,4743.2749,-12224.4434,11,1.2,18,16.6,0.0,190.1,7,9.4 SPEED_LIMITS 0.173,0.254

_CALLS 2 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.99 MHEAD_RNG_PITCHd_Wd 301.4,836,-17.8,-10.000,-21.49,2180

_SM_ANGLEo -66.2 D_GRID 177

GPS2 080518,182157,4743.2490,-12224.4424,15,1.2,24,16.6,0.0,158.8,7,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.019526 _10V_AH 13.81,0.000

SM_CCo 3102,112.75,0.096,0,0,561,500.16 FG_AHR_24Vo 0.000

SM_GC 1.10,9.07,0.40,112.75,0.056,0.073,0.096,98,1836,561,-8.96,0.79,500.16,0,0,0,0,0,0,14.75,14.78,14.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,080518,181644 MEM 304336

TT8_MAMPS 0.020972,0.155043 DATA_FILE_SIZE 20095,494

HUMID 48.58 CAP_FILE_SIZE 66490,0

INTERNAL_PRESSURE 9.34893 CFSIZE 2097872896,2095611904

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.056,169.56,1

_24V_AH 13.52,1.151 GPS 080518,191735,4743.482,-12224.789,37,1.0,43,16.6,0.0,0.0,9,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 412 131.70 SBE_CT 311 23 97.79

Roll_motor 34 97 45.61 nil 0 0 0.00

VBD_pump_during_apogee 303 1615 6624.19 nil 0 0 0.00

VBD_pump_during_surface 112 96 146.93 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 nil 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 25 19 6.75

TT8 1146 10 164.21

LPSleep 782 2 23.67

TT8_Active 552 10 79.11

TT8_Sampling 738 30 312.03

TT8_CF8 94 35 46.70

TT8_Kalman 0 0 0.00

Analog_circuits 981 10 143.74

GPS_charging 0 0 0.00

Compass 712 20 198.99

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -0.87 -146.6 98 1843 325 274 0.0 0.0 0 154 0.00 0.00 -142.02 0.003 16386 0.000 0.000 98 1843 2964 2798 3131 0 0 0 0 0 0 14.96 28.83 14.98

157 -0.87 -146.6 98 1843 2799 3131 5.0 -11.9 23 184 12.02 2.22 -5.12 0.024 18692 0.412 0.098 2689 3269 3204 2989 3419 0 0 0 0 0 0 14.54 13.93 14.69

213 -0.83 -146.6 2689 3268 2991 3418 18.8 -15.3 32 220 0.00 2.08 0.00 0.000 1158 0.000 0.049 2689 1852 3204 2991 3418 0 0 0 0 0 0 14.81 14.74 14.83

405 -0.79 -146.6 2688 1852 2991 3418 44.4 -14.5 69 414 0.12 3.03 0.00 0.000 2692 0.251 0.095 2724 443 3204 2991 3418 0 0 0 0 0 0 14.69 14.73 14.77

458 -0.79 -146.6 2724 443 2991 3418 51.8 -13.6 78 465 0.00 2.90 0.00 0.000 1030 0.000 0.058 2717 1848 3204 2991 3418 0 0 0 0 0 0 14.85 14.78 14.87

650 -0.82 -146.6 2717 1848 2991 3418 75.4 -11.6 115 656 0.00 0.00 0.00 0.000 134 0.000 0.000 2717 1848 3204 2991 3418 0 0 0 0 0 0 15.01 15.04 15.04

842 -0.85 -146.6 2717 1848 2991 3418 96.0 -10.8 152 848 0.00 0.00 0.00 0.000 134 0.000 0.000 2717 1848 3204 2991 3418 0 0 0 0 0 0 15.03 15.05 15.05

1032 -0.88 -146.6 2717 1849 2991 3418 116.9 -10.8 174 1038 0.00 0.00 0.00 0.000 134 0.000 0.000 2717 1848 3204 2991 3418 0 0 0 0 0 0 15.05 15.07 15.07

1344 -0.91 -146.6 2717 1848 2991 3416 149.9 -10.2 205 1348 0.00 2.12 0.00 0.000 388 0.000 0.077 2716 3275 3203 2991 3415 0 0 0 0 0 0 15.07 14.84 15.09

1353 end dive: TARGET_DEPTH_EXCEEDED

state 1354 begin apogee

1362 -0.16 0.0 2716 2057 2991 3414 151.5 -10.3 207 1489 0.68 0.00 122.50 1.616 10246 0.171 0.000 2927 2056 2600 2512 2688 0 0 0 0 0 0 14.77 14.18 13.59

1490 end apogee: CONTROL_FINISHED_OK

state 1490 begin climb

1493 0.87 146.6 2927 2056 2512 2684 154.5 0.0 220 1629 1.00 3.05 122.35 1.551 10756 0.093 0.087 3264 679 2000 1964 2036 0 0 0 0 0 0 14.17 14.05 13.52

1673 0.84 146.6 3264 679 1961 2035 140.9 12.5 256 1684 0.00 2.88 0.00 0.000 1158 0.000 0.054 3264 2073 1997 1960 2035 0 0 0 0 0 0 14.35 14.31 14.38

1983 0.79 146.6 3264 2072 1955 2035 107.7 10.5 288 1987 0.00 2.10 0.00 0.000 388 0.000 0.083 3265 3484 1995 1955 2035 0 0 0 0 0 0 14.87 14.64 14.89

2109 0.71 146.6 3264 3484 1954 2035 92.8 12.0 312 2117 0.22 2.03 0.00 0.000 5254 0.244 0.049 3208 2067 1994 1954 2035 0 0 0 0 0 0 14.62 14.72 14.77

2302 0.82 184.9 3207 2068 1953 2035 76.2 8.2 349 2341 0.12 0.00 31.50 1.489 10406 0.130 0.000 3267 2064 1846 1807 1886 0 0 0 0 0 0 14.76 14.43 14.00

2526 0.83 187.4 3267 2063 1800 1886 51.7 9.9 391 2532 0.00 0.00 0.00 0.000 38 0.000 0.000 3267 2064 1842 1800 1885 0 0 0 0 0 0 14.86 14.89 14.88

2716 0.83 187.7 3266 2063 1799 1885 32.8 10.0 428 2723 0.00 2.12 0.00 0.000 292 0.000 0.081 3267 3490 1842 1799 1885 0 0 0 0 0 0 14.92 14.71 14.95

2752 0.79 187.7 3267 3490 1799 1885 29.1 11.0 434 2759 0.15 2.03 0.00 0.000 5254 0.249 0.045 3232 2062 1842 1799 1885 0 0 0 0 0 0 14.65 14.75 14.78

2945 0.88 210.3 3232 2062 1797 1885 11.9 8.9 471 2965 0.00 2.88 11.73 0.131 8868 0.000 0.090 3232 680 1743 1700 1786 0 0 0 0 0 0 14.97 14.73 14.70

3024 1.03 243.1 3231 680 1698 1784 5.3 8.5 485 3046 0.22 2.83 15.18 0.103 11430 0.079 0.057 3336 2083 1608 1573 1643 0 0 0 0 0 0 14.81 14.77 14.73

3051 end climb: SURFACE_DEPTH_REACHED

state 3051 begin surface coast

3079 end surface coast: CONTROL_FINISHED_OK

state 3081 begin surface

ID	529	HD_C	2.51683e-05	ROLL_DEG	40	AD7714Ch0Gain	32
MISSION	5	HEADING	-1	C_ROLL_DIVE	1850	COMPASS_USE	4
DIVE	3	ESCAPE_HEADING	0	C_ROLL_CLIMB	2075	ALTIM_PING_FIT	0
N_DIVES	4	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_TOP_PING_RANGE	0
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_BOTTOM_TURN_MARGIN	12
D_SURF	3	TGT_DEFAULT_LAT	4212	ROLL_TIMEOUT	15	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	TGT_DEFAULT_LON	-7043	R_PORT_OVSHOOT	31	ALTIM_TOP_MIN_OBSTACLE	1
D_TGT	150	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	27	ALTIM_PING_DEPTH	0
D_ABORT	175	SM_CC	500	ROLL_AD_RATE	200	ALTIM_PING_DELTA	10
D_NO_BLEED	50	N_FILEKB	8	ROLL_MAXERRORS	1	ALTIM_FREQUENCY	13
D_BOOST	20	FILEMGR	0	ROLL_ADJ_GAIN	0	ALTIM_PULSE	3
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	ALTIM_SENSITIVITY	2
D_FINISH	0	COMM_SEQ	0	VBD_MIN	300	XPDR_VALID	2
D_PITCH	0	PROTOCOL	9	VBD_MAX	3850	XPDR_INHIBIT	90
D_SAFE	0	N_NOCOMM	1	C_VBD	2600	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	NOCOMM_ACTION	161	VBD_DBAND	2	INT_PRESSURE_YINT	0.54000002
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.245296	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE1	2
T_DIVE	50	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0020000001	DEVICE2	-1
T_MISSION	72	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE3	-1
T_ABORT	1060	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE4	-1
T_TURN	225	HEAPDBG	0	VBD_BLEED_AD_RATE	8	DEVICE5	-1
T_TURN_SAMPINT	-5	T_GPS	5	UNCOM_BLEED	50	DEVICE6	-1
T_NO_W	120	N_GPS	100440	VBD_MAXERRORS	1	LOGGERS	0
T_LOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE1	-1
T_EPIRB	0	STROBE	0	DBDW	0	LOGGERDEVICE2	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	LOITER_W_DBAND	0	LOGGERDEVICE3	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	LOITER_DBDW	0	LOGGERDEVICE4	-1
ICE_FREEZE_MARGIN	0.30000001	RAFOS_HIT_WINDOW	3600	LOITER_D_TOP	0	COMPASS_DEVICE	33
D_OFFGRID	100	RAFOS_MMODEM	0	LOITER_D_BOTTOM	0	COMPASS2_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	100	LOITER_N_DIVE	0	PHONE_DEVICE	49
RELAUNCH	1	PITCH_MAX	3700	PITCH_W_GAIN	0	GPS_DEVICE	32
APOGEE_PITCH	-5	C_PITCH	2980	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
MAX_BUOY	150	PITCH_DBAND	0.1	CF8_MAXERRORS	20	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_CNV	0.003125763	AH0_24V	350	SIM_W	0
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	AH0_10V	0	SEABIRD_T_G	0.0043896558
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	MINV_24V	11	SEABIRD_T_H	0.00063911168
RHO	1.023	PITCH_GAIN	31	MINV_10V	11	SEABIRD_T_I	2.6166874e-05
MASS	52138	PITCH_TIMEOUT	15	MAXI_24V	0.60000002	SEABIRD_T_J	2.9183407e-06
MASS_COMP	0	PITCH_AD_RATE	150	MAXI_10V	0.80000001	SEABIRD_C_G	-10.198202
NAV_MODE	2	PITCH_MAXERRORS	1	FG_AHR_10V	0	SEABIRD_C_H	1.1460478
FERRY_MAX	70	PITCH_ADJ_GAIN	0.02	FG_AHR_24V	0	SEABIRD_C_I	-0.0021014379
KALMAN_USE	2	PITCH_ADJ_DBAND	1	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00024731993
HD_A	0.003	ROLL_MIN	250	PRESSURE_YINT	-176.52379
HD_B	0.0099999998	ROLL_MAX	3900	PRESSURE_SLOPE	0.00014136991

GPS1	080518,181607,4743.2749,-12224.4434,11,1.2,18,16.6,0.0,190.1,7,9.4	SPEED_LIMITS	0.173,0.254
_CALLS	2	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.99	MHEAD_RNG_PITCHd_Wd	301.4,836,-17.8,-10.000,-21.49,2180
_SM_ANGLEo	-66.2	D_GRID	177
GPS2	080518,182157,4743.2490,-12224.4424,15,1.2,24,16.6,0.0,158.8,7,10.0

FINISH	0.1,1.019526	_10V_AH	13.81,0.000
SM_CCo	3102,112.75,0.096,0,0,561,500.16	FG_AHR_24Vo	0.000
SM_GC	1.10,9.07,0.40,112.75,0.056,0.073,0.096,98,1836,561,-8.96,0.79,500.16,0,0,0,0,0,0,14.75,14.78,14.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,080518,181644	MEM	304336
TT8_MAMPS	0.020972,0.155043	DATA_FILE_SIZE	20095,494
HUMID	48.58	CAP_FILE_SIZE	66490,0
INTERNAL_PRESSURE	9.34893	CFSIZE	2097872896,2095611904
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.056,169.56,1
_24V_AH	13.52,1.151	GPS	080518,191735,4743.482,-12224.789,37,1.0,43,16.6,0.0,0.0,9,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	412	131.70	SBE_CT	311	23	97.79
Roll_motor	34	97	45.61	nil	0	0	0.00
VBD_pump_during_apogee	303	1615	6624.19	nil	0	0	0.00
VBD_pump_during_surface	112	96	146.93	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	nil	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	25	19	6.75
TT8	1146	10	164.21
LPSleep	782	2	23.67
TT8_Active	552	10	79.11
TT8_Sampling	738	30	312.03
TT8_CF8	94	35	46.70
TT8_Kalman	0	0	0.00
Analog_circuits	981	10	143.74
GPS_charging	0	0	0.00
Compass	712	20	198.99
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-0.87	-146.6	98	1843	325	274	0.0	0.0	0	154	0.00	0.00	-142.02	0.003	16386	0.000	0.000	98	1843	2964	2798	3131	0	0	0	0	0	0	14.96	28.83	14.98
157	-0.87	-146.6	98	1843	2799	3131	5.0	-11.9	23	184	12.02	2.22	-5.12	0.024	18692	0.412	0.098	2689	3269	3204	2989	3419	0	0	0	0	0	0	14.54	13.93	14.69
213	-0.83	-146.6	2689	3268	2991	3418	18.8	-15.3	32	220	0.00	2.08	0.00	0.000	1158	0.000	0.049	2689	1852	3204	2991	3418	0	0	0	0	0	0	14.81	14.74	14.83
405	-0.79	-146.6	2688	1852	2991	3418	44.4	-14.5	69	414	0.12	3.03	0.00	0.000	2692	0.251	0.095	2724	443	3204	2991	3418	0	0	0	0	0	0	14.69	14.73	14.77
458	-0.79	-146.6	2724	443	2991	3418	51.8	-13.6	78	465	0.00	2.90	0.00	0.000	1030	0.000	0.058	2717	1848	3204	2991	3418	0	0	0	0	0	0	14.85	14.78	14.87
650	-0.82	-146.6	2717	1848	2991	3418	75.4	-11.6	115	656	0.00	0.00	0.00	0.000	134	0.000	0.000	2717	1848	3204	2991	3418	0	0	0	0	0	0	15.01	15.04	15.04
842	-0.85	-146.6	2717	1848	2991	3418	96.0	-10.8	152	848	0.00	0.00	0.00	0.000	134	0.000	0.000	2717	1848	3204	2991	3418	0	0	0	0	0	0	15.03	15.05	15.05
1032	-0.88	-146.6	2717	1849	2991	3418	116.9	-10.8	174	1038	0.00	0.00	0.00	0.000	134	0.000	0.000	2717	1848	3204	2991	3418	0	0	0	0	0	0	15.05	15.07	15.07
1344	-0.91	-146.6	2717	1848	2991	3416	149.9	-10.2	205	1348	0.00	2.12	0.00	0.000	388	0.000	0.077	2716	3275	3203	2991	3415	0	0	0	0	0	0	15.07	14.84	15.09
1353	end dive: TARGET_DEPTH_EXCEEDED
state	1354	begin apogee
1362	-0.16	0.0	2716	2057	2991	3414	151.5	-10.3	207	1489	0.68	0.00	122.50	1.616	10246	0.171	0.000	2927	2056	2600	2512	2688	0	0	0	0	0	0	14.77	14.18	13.59
1490	end apogee: CONTROL_FINISHED_OK
state	1490	begin climb
1493	0.87	146.6	2927	2056	2512	2684	154.5	0.0	220	1629	1.00	3.05	122.35	1.551	10756	0.093	0.087	3264	679	2000	1964	2036	0	0	0	0	0	0	14.17	14.05	13.52
1673	0.84	146.6	3264	679	1961	2035	140.9	12.5	256	1684	0.00	2.88	0.00	0.000	1158	0.000	0.054	3264	2073	1997	1960	2035	0	0	0	0	0	0	14.35	14.31	14.38
1983	0.79	146.6	3264	2072	1955	2035	107.7	10.5	288	1987	0.00	2.10	0.00	0.000	388	0.000	0.083	3265	3484	1995	1955	2035	0	0	0	0	0	0	14.87	14.64	14.89
2109	0.71	146.6	3264	3484	1954	2035	92.8	12.0	312	2117	0.22	2.03	0.00	0.000	5254	0.244	0.049	3208	2067	1994	1954	2035	0	0	0	0	0	0	14.62	14.72	14.77
2302	0.82	184.9	3207	2068	1953	2035	76.2	8.2	349	2341	0.12	0.00	31.50	1.489	10406	0.130	0.000	3267	2064	1846	1807	1886	0	0	0	0	0	0	14.76	14.43	14.00
2526	0.83	187.4	3267	2063	1800	1886	51.7	9.9	391	2532	0.00	0.00	0.00	0.000	38	0.000	0.000	3267	2064	1842	1800	1885	0	0	0	0	0	0	14.86	14.89	14.88
2716	0.83	187.7	3266	2063	1799	1885	32.8	10.0	428	2723	0.00	2.12	0.00	0.000	292	0.000	0.081	3267	3490	1842	1799	1885	0	0	0	0	0	0	14.92	14.71	14.95
2752	0.79	187.7	3267	3490	1799	1885	29.1	11.0	434	2759	0.15	2.03	0.00	0.000	5254	0.249	0.045	3232	2062	1842	1799	1885	0	0	0	0	0	0	14.65	14.75	14.78
2945	0.88	210.3	3232	2062	1797	1885	11.9	8.9	471	2965	0.00	2.88	11.73	0.131	8868	0.000	0.090	3232	680	1743	1700	1786	0	0	0	0	0	0	14.97	14.73	14.70
3024	1.03	243.1	3231	680	1698	1784	5.3	8.5	485	3046	0.22	2.83	15.18	0.103	11430	0.079	0.057	3336	2083	1608	1573	1643	0	0	0	0	0	0	14.81	14.77	14.73
3051	end climb: SURFACE_DEPTH_REACHED
state	3051	begin surface coast
3079	end surface coast: CONTROL_FINISHED_OK
state	3081	begin surface