Glider dive log

Shilshole 30Jul18 * SG196 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 17 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 4 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 66 ALTIM_PING_DELTA 10

N_DIVES 4 TGT_DEFAULT_LAT 7100 R_STBD_OVSHOOT 24 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -14430 ROLL_AD_RATE 350 ALTIM_PULSE 3

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 692.78448 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_TGT 150 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 175 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 0.75

D_BOOST 5 COMM_SEQ 0 C_VBD 3365 DEEPGLIDER 0

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 4

D_FINISH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

D_PITCH 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE2 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00069999998 DEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERS 7

T_DIVE 50 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE1 53

T_MISSION 75 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE2 67

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN 225 N_GPS 100440 DBDW 0 LOGGERDEVICE4 -1

T_TURN_SAMPINT -5 T_RSLEEP 3 LOITER_W_DBAND 0 COMPASS_DEVICE 97

T_NO_W 120 STROBE 0 LOITER_DBDW 0 COMPASS2_DEVICE 150

T_LOITER 0 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 GPS_DEVICE 32

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.050000001 PITCH_MIN 208 PITCH_W_DBAND 0 SIM_W 0

D_OFFGRID 100 PITCH_MAX 3950 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044282433

T_WATCHDOG 10 C_PITCH 2760 AH0_24V 350 SEABIRD_T_H 0.0006527552

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_I 2.689452e-05

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_J 3.3585216e-06

MAX_BUOY 150 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_C_G -9.98948

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_H 1.1337911

GLIDE_SLOPE 30 PITCH_GAIN 26 MAXI_10V 1.4 SEABIRD_C_I -0.0030350445

SPEED_FACTOR 1 PITCH_TIMEOUT 20 FG_AHR_10V 0 SEABIRD_C_J 0.00029711783

RHO 1.023 PITCH_AD_RATE 160 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

MASS 54362 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 PRESSURE_YINT -162.31683 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00010687162 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 218 AD7714Ch0Gain 1 TM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3787 COMPASS_USE 4 TM_PROFILE 3.0

HD_A 0.0031999999 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 3.0

HD_B 0.0103 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0 TM_NDIVE 1.0

HD_C 1.06e-05 C_ROLL_CLIMB 2400 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

AD7714Ch0Gain 1 D_TGT 150 PHONE_SUPPLY -2 SEABIRD_T_J 3.3585216e-06

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 SIM_W 0

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0.02 SM_CC 692.78448

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_PING_DELTA 10 FG_AHR_24V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_GAIN 26 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3950 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PITCH_MIN 208 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.0031999999 PITCH_TIMEOUT 20 TGT_DEFAULT_LAT 7100

ALTIM_TOP_PING_RANGE 0 HD_B 0.0103 PITCH_VBD_SHIFT 0.00069999998 TGT_DEFAULT_LON -14430

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.06e-05 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEADING -1 PITCH_W_GAIN 0 TM_NDIVE 1.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00010687162 TM_PROFILE 3.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -162.31683 TM_RECORDABOVE 2000.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.050000001 PROTOCOL 9 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 ID 196 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_ABORT 1440

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.75 RAFOS_CORR_THRESH 60 T_BOOST 0

COMM_SEQ 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_DIVE 50

COMPASS2_DEVICE 150 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_DEVICE 97 LOGGERDEVICE2 67 RAFOS_MMODEM 0 T_GPS 5

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 0 T_LOITER 0

COURSE_BIAS 0 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 75

C_PITCH 2760 LOGGERS 7 RHO 1.023 T_NO_W 120

C_ROLL_CLIMB 2400 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 T_RSLEEP 3

C_ROLL_DIVE 2600 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_VBD 3365 LOITER_D_TOP 0 ROLL_AD_RATE 350 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 T_WATCHDOG 10

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 40 UNCOM_BLEED 20

DEVICE1 -1 MASS 54362 ROLL_MAX 3787 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS_COMP 0 ROLL_MAXERRORS 1 USE_BATHY -6

DEVICE3 -1 MAXI_10V 1.4 ROLL_MIN 218 USE_ICE 0

DEVICE4 -1 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 66 VBD_CNV -0.24529999

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 24 VBD_DBAND 2

DIVE 4 MINV_24V 11 SC_NDIVE 1.0 VBD_LP_IGNORE 0

D_ABORT 175 MISSION 17 SC_PROFILE 3.0 VBD_MAX 3960

D_BOOST 5 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_CALL 0 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 500

D_FINISH 0 NOCOMM_ACTION 161 SEABIRD_C_G -9.98948 VBD_PUMP_AD_RATE_APOGEE 1

D_FLARE 3 N_DIVES 4 SEABIRD_C_H 1.1337911 VBD_PUMP_AD_RATE_SURFACE 1

D_NO_BLEED 50 N_FILEKB 8 SEABIRD_C_I -0.0030350445 VBD_TIMEOUT 720

D_OFFGRID 100 N_GPS 100440 SEABIRD_C_J 0.00029711783 W_ADJ_DBAND 0

D_PITCH 0 N_NOCOMM 1 SEABIRD_T_G 0.0044282433 XPDR_DEVICE 24

D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_H 0.0006527552 XPDR_INHIBIT 90

D_SURF 2 PHONE_DEVICE 49 SEABIRD_T_I 2.689452e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 300718,185029,4744.5356,-12224.1953,8,1.0,10,16.3,0.0,0.0,8,8.8 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.00 MHEAD_RNG_PITCHd_Wd 184.5,2227,-17.9,-10.000,-21.28,2227

_SM_ANGLEo -66.3 D_GRID 175

GPS2 300718,185417,4744.5630,-12224.1650,7,1.0,10,16.3,0.0,0.0,8,9.6

Post-dive calculations and measurements:

FINISH 0.1,1.021411 _24V_AH 13.80,2.975

SM_CCo 3288,154.38,0.203,0,0,539,692.97 _10V_AH 13.35,0.000

SM_GC 1.02,8.20,0.35,154.38,0.075,0.103,0.203,210,2603,539,-7.94,-0.71,692.97,0,0,0,0,0,0,15.14,15.15,15.07 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4744.97,-12226.80,300718,184608 FG_AHR_10Vo 0.000

TT8_MAMPS 0.021721,1.12575 MEM 303624

HUMID 55.94 DATA_FILE_SIZE 16728,527

INTERNAL_PRESSURE 9.93981 CAP_FILE_SIZE 69280,0

TCM_TEMP 19.10 CFSIZE 2097872896,2094628864

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

SC_FREEKB 3908192 CURRENT 0.167,15.99,1

TM_FREEKB 7832384 GPS 300718,195333,4744.529,-12224.414,9,1.3,10,16.3,0.0,0.0,6,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 399 120.00 nil 0 0 0.00

Roll_motor 25 102 36.50 nil 0 0 0.00

VBD_pump_during_apogee 357 2355 11631.10 nil 0 0 0.00

VBD_pump_during_surface 154 203 433.51 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 3245 25 1158.22

Iridium_during_xfer 0 0 0.00 TMICL 3253 13 606.75

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 21 5.31

TT8 1219 10 164.81

LPSleep 748 2 21.90

TT8_Active 610 10 82.42

TT8_Sampling 867 29 342.66

TT8_CF8 105 34 48.91

TT8_Kalman 0 0 0.00

Analog_circuits 1104 11 171.12

GPS_charging 0 0 0.00

Compass 764 6 68.83

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -0.79 -146.6 212 2604 553 524 0.0 0.0 0 155 0.00 0.00 -134.15 0.005 16390 0.000 0.000 213 2605 3962 3947 3977 0 0 0 0 0 0 15.64 14.46 15.59

160 -0.79 -146.6 212 2605 3947 3977 4.0 -9.2 23 182 10.65 1.95 0.00 0.000 2340 0.399 0.076 2491 3786 3962 3948 3977 0 0 0 0 0 0 15.17 15.35 15.40

343 -0.66 -146.6 2490 3786 3949 3976 43.8 -16.3 57 353 0.22 1.83 0.00 0.000 3206 0.271 0.049 2542 2591 3962 3949 3975 0 0 0 0 0 0 15.26 15.45 15.45

538 -0.66 -146.6 2541 2593 3953 3971 66.6 -11.3 94 547 0.00 2.00 0.00 0.000 260 0.000 0.094 2538 3789 3962 3953 3972 0 0 0 0 0 0 15.61 15.37 15.61

693 -0.66 -146.6 2538 3790 3953 3972 82.4 -9.7 123 702 0.00 1.85 0.00 0.000 1062 0.000 0.051 2538 2606 3962 3953 3972 0 0 0 0 0 0 15.50 15.43 15.50

886 -0.66 -146.6 2538 2606 3953 3971 103.9 -11.0 157 895 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2606 3962 3953 3972 0 0 0 0 0 0 15.62 15.62 15.63

1077 -0.69 -146.6 2538 2606 3953 3971 123.9 -11.1 176 1084 0.00 1.98 0.00 0.000 388 0.000 0.094 2536 3788 3962 3953 3971 0 0 0 0 0 0 15.63 15.38 15.62

1178 -0.71 -146.6 2536 3788 3953 3971 135.3 -11.2 195 1186 0.00 1.85 0.00 0.000 1158 0.000 0.052 2536 2587 3962 3953 3971 0 0 0 0 0 0 15.50 15.44 15.51

1322 end dive: TARGET_DEPTH_EXCEEDED

state 1323 begin apogee

1330 -0.19 0.0 2536 2398 3953 3971 150.7 -9.8 210 1459 0.55 0.00 122.55 2.355 10246 0.217 0.000 2691 2401 3364 3405 3324 0 0 0 0 0 0 15.29 14.68 13.90

1462 end apogee: CONTROL_FINISHED_OK

state 1462 begin climb

1465 0.79 146.6 2691 2398 3405 3324 155.7 0.0 223 1608 1.00 2.35 125.53 2.304 10756 0.125 0.064 3012 1014 2765 2820 2710 0 0 0 0 0 0 14.74 14.55 13.80

1839 0.63 146.6 3011 1014 2820 2709 127.6 11.5 291 1848 0.20 2.33 0.00 0.000 5254 0.247 0.080 2966 2405 2764 2820 2709 0 0 0 0 0 0 15.09 15.20 15.26

2040 0.50 152.7 2966 2406 2820 2709 108.8 9.7 311 2048 0.15 0.00 2.88 1.138 12966 0.291 0.000 2929 2405 2740 2796 2684 0 0 0 0 0 0 15.19 15.30 14.60

2233 0.48 201.1 2929 2405 2796 2686 92.6 7.8 339 2266 0.00 0.00 25.27 1.785 8870 0.000 0.000 2929 2405 2542 2595 2489 0 0 0 0 0 0 15.55 15.19 14.51

2452 0.45 201.1 2929 2405 2595 2488 72.4 10.1 380 2461 0.00 0.00 0.00 0.000 134 0.000 0.000 2929 2405 2541 2596 2487 0 0 0 0 0 0 15.49 15.48 15.50

2647 0.43 211.4 2929 2405 2595 2487 55.1 9.5 417 2661 0.00 2.35 4.78 1.193 8612 0.000 0.091 2929 3773 2501 2554 2449 0 0 0 0 0 0 15.54 15.29 14.68

2706 0.35 211.4 2929 3773 2554 2449 48.5 12.3 427 2715 0.22 2.15 0.00 0.000 5254 0.255 0.048 2877 2397 2501 2553 2450 0 0 0 0 0 0 15.22 15.34 15.38

2902 0.48 271.7 2877 2396 2553 2449 32.7 7.2 464 2943 0.12 2.40 29.88 1.320 10660 0.122 0.090 2958 3777 2255 2306 2204 0 0 0 0 0 0 15.39 15.11 14.66

2972 0.37 271.7 2958 3777 2306 2204 24.1 15.0 475 2982 0.30 2.17 0.00 0.000 5254 0.246 0.048 2884 2402 2254 2305 2204 0 0 0 0 0 0 15.07 15.23 15.21

3168 0.57 369.9 2884 2401 2305 2196 10.6 5.5 512 3221 0.15 0.00 46.95 1.129 10406 0.106 0.000 2975 2400 1854 1905 1804 0 0 0 0 0 0 15.33 15.08 14.60

3241 end climb: SURFACE_DEPTH_REACHED

state 3242 begin surface coast

3260 end surface coast: CONTROL_FINISHED_OK

state 3260 begin surface

ID	196	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	17	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	4	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	66	ALTIM_PING_DELTA	10
N_DIVES	4	TGT_DEFAULT_LAT	7100	R_STBD_OVSHOOT	24	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-14430	ROLL_AD_RATE	350	ALTIM_PULSE	3
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	692.78448	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_TGT	150	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	175	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	0.75
D_BOOST	5	COMM_SEQ	0	C_VBD	3365	DEEPGLIDER	0
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	4
D_FINISH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
D_PITCH	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE2	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00069999998	DEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERS	7
T_DIVE	50	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE1	53
T_MISSION	75	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE2	67
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN	225	N_GPS	100440	DBDW	0	LOGGERDEVICE4	-1
T_TURN_SAMPINT	-5	T_RSLEEP	3	LOITER_W_DBAND	0	COMPASS_DEVICE	97
T_NO_W	120	STROBE	0	LOITER_DBDW	0	COMPASS2_DEVICE	150
T_LOITER	0	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	GPS_DEVICE	32
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.050000001	PITCH_MIN	208	PITCH_W_DBAND	0	SIM_W	0
D_OFFGRID	100	PITCH_MAX	3950	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044282433
T_WATCHDOG	10	C_PITCH	2760	AH0_24V	350	SEABIRD_T_H	0.0006527552
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_I	2.689452e-05
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_J	3.3585216e-06
MAX_BUOY	150	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_C_G	-9.98948
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_H	1.1337911
GLIDE_SLOPE	30	PITCH_GAIN	26	MAXI_10V	1.4	SEABIRD_C_I	-0.0030350445
SPEED_FACTOR	1	PITCH_TIMEOUT	20	FG_AHR_10V	0	SEABIRD_C_J	0.00029711783
RHO	1.023	PITCH_AD_RATE	160	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
MASS	54362	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	PRESSURE_YINT	-162.31683	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00010687162	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	218	AD7714Ch0Gain	1	TM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3787	COMPASS_USE	4	TM_PROFILE	3.0
HD_A	0.0031999999	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	3.0
HD_B	0.0103	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0	TM_NDIVE	1.0
HD_C	1.06e-05	C_ROLL_CLIMB	2400	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0

GPS1	300718,185029,4744.5356,-12224.1953,8,1.0,10,16.3,0.0,0.0,8,8.8	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.00	MHEAD_RNG_PITCHd_Wd	184.5,2227,-17.9,-10.000,-21.28,2227
_SM_ANGLEo	-66.3	D_GRID	175
GPS2	300718,185417,4744.5630,-12224.1650,7,1.0,10,16.3,0.0,0.0,8,9.6

FINISH	0.1,1.021411	_24V_AH	13.80,2.975
SM_CCo	3288,154.38,0.203,0,0,539,692.97	_10V_AH	13.35,0.000
SM_GC	1.02,8.20,0.35,154.38,0.075,0.103,0.203,210,2603,539,-7.94,-0.71,692.97,0,0,0,0,0,0,15.14,15.15,15.07	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4744.97,-12226.80,300718,184608	FG_AHR_10Vo	0.000
TT8_MAMPS	0.021721,1.12575	MEM	303624
HUMID	55.94	DATA_FILE_SIZE	16728,527
INTERNAL_PRESSURE	9.93981	CAP_FILE_SIZE	69280,0
TCM_TEMP	19.10	CFSIZE	2097872896,2094628864
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3908192	CURRENT	0.167,15.99,1
TM_FREEKB	7832384	GPS	300718,195333,4744.529,-12224.414,9,1.3,10,16.3,0.0,0.0,6,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	399	120.00	nil	0	0	0.00
Roll_motor	25	102	36.50	nil	0	0	0.00
VBD_pump_during_apogee	357	2355	11631.10	nil	0	0	0.00
VBD_pump_during_surface	154	203	433.51	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	3245	25	1158.22
Iridium_during_xfer	0	0	0.00	TMICL	3253	13	606.75
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	21	5.31
TT8	1219	10	164.81
LPSleep	748	2	21.90
TT8_Active	610	10	82.42
TT8_Sampling	867	29	342.66
TT8_CF8	105	34	48.91
TT8_Kalman	0	0	0.00
Analog_circuits	1104	11	171.12
GPS_charging	0	0	0.00
Compass	764	6	68.83
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-0.79	-146.6	212	2604	553	524	0.0	0.0	0	155	0.00	0.00	-134.15	0.005	16390	0.000	0.000	213	2605	3962	3947	3977	0	0	0	0	0	0	15.64	14.46	15.59
160	-0.79	-146.6	212	2605	3947	3977	4.0	-9.2	23	182	10.65	1.95	0.00	0.000	2340	0.399	0.076	2491	3786	3962	3948	3977	0	0	0	0	0	0	15.17	15.35	15.40
343	-0.66	-146.6	2490	3786	3949	3976	43.8	-16.3	57	353	0.22	1.83	0.00	0.000	3206	0.271	0.049	2542	2591	3962	3949	3975	0	0	0	0	0	0	15.26	15.45	15.45
538	-0.66	-146.6	2541	2593	3953	3971	66.6	-11.3	94	547	0.00	2.00	0.00	0.000	260	0.000	0.094	2538	3789	3962	3953	3972	0	0	0	0	0	0	15.61	15.37	15.61
693	-0.66	-146.6	2538	3790	3953	3972	82.4	-9.7	123	702	0.00	1.85	0.00	0.000	1062	0.000	0.051	2538	2606	3962	3953	3972	0	0	0	0	0	0	15.50	15.43	15.50
886	-0.66	-146.6	2538	2606	3953	3971	103.9	-11.0	157	895	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2606	3962	3953	3972	0	0	0	0	0	0	15.62	15.62	15.63
1077	-0.69	-146.6	2538	2606	3953	3971	123.9	-11.1	176	1084	0.00	1.98	0.00	0.000	388	0.000	0.094	2536	3788	3962	3953	3971	0	0	0	0	0	0	15.63	15.38	15.62
1178	-0.71	-146.6	2536	3788	3953	3971	135.3	-11.2	195	1186	0.00	1.85	0.00	0.000	1158	0.000	0.052	2536	2587	3962	3953	3971	0	0	0	0	0	0	15.50	15.44	15.51
1322	end dive: TARGET_DEPTH_EXCEEDED
state	1323	begin apogee
1330	-0.19	0.0	2536	2398	3953	3971	150.7	-9.8	210	1459	0.55	0.00	122.55	2.355	10246	0.217	0.000	2691	2401	3364	3405	3324	0	0	0	0	0	0	15.29	14.68	13.90
1462	end apogee: CONTROL_FINISHED_OK
state	1462	begin climb
1465	0.79	146.6	2691	2398	3405	3324	155.7	0.0	223	1608	1.00	2.35	125.53	2.304	10756	0.125	0.064	3012	1014	2765	2820	2710	0	0	0	0	0	0	14.74	14.55	13.80
1839	0.63	146.6	3011	1014	2820	2709	127.6	11.5	291	1848	0.20	2.33	0.00	0.000	5254	0.247	0.080	2966	2405	2764	2820	2709	0	0	0	0	0	0	15.09	15.20	15.26
2040	0.50	152.7	2966	2406	2820	2709	108.8	9.7	311	2048	0.15	0.00	2.88	1.138	12966	0.291	0.000	2929	2405	2740	2796	2684	0	0	0	0	0	0	15.19	15.30	14.60
2233	0.48	201.1	2929	2405	2796	2686	92.6	7.8	339	2266	0.00	0.00	25.27	1.785	8870	0.000	0.000	2929	2405	2542	2595	2489	0	0	0	0	0	0	15.55	15.19	14.51
2452	0.45	201.1	2929	2405	2595	2488	72.4	10.1	380	2461	0.00	0.00	0.00	0.000	134	0.000	0.000	2929	2405	2541	2596	2487	0	0	0	0	0	0	15.49	15.48	15.50
2647	0.43	211.4	2929	2405	2595	2487	55.1	9.5	417	2661	0.00	2.35	4.78	1.193	8612	0.000	0.091	2929	3773	2501	2554	2449	0	0	0	0	0	0	15.54	15.29	14.68
2706	0.35	211.4	2929	3773	2554	2449	48.5	12.3	427	2715	0.22	2.15	0.00	0.000	5254	0.255	0.048	2877	2397	2501	2553	2450	0	0	0	0	0	0	15.22	15.34	15.38
2902	0.48	271.7	2877	2396	2553	2449	32.7	7.2	464	2943	0.12	2.40	29.88	1.320	10660	0.122	0.090	2958	3777	2255	2306	2204	0	0	0	0	0	0	15.39	15.11	14.66
2972	0.37	271.7	2958	3777	2306	2204	24.1	15.0	475	2982	0.30	2.17	0.00	0.000	5254	0.246	0.048	2884	2402	2254	2305	2204	0	0	0	0	0	0	15.07	15.23	15.21
3168	0.57	369.9	2884	2401	2305	2196	10.6	5.5	512	3221	0.15	0.00	46.95	1.129	10406	0.106	0.000	2975	2400	1854	1905	1804	0	0	0	0	0	0	15.33	15.08	14.60
3241	end climb: SURFACE_DEPTH_REACHED
state	3242	begin surface coast
3260	end surface coast: CONTROL_FINISHED_OK
state	3260	begin surface