Glider dive log

Shilshole 30Jul18 * SG196 * Dive index * Mission links * Dive 5 * 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 5 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 51 ALTIM_PING_DELTA 10

N_DIVES 5 TGT_DEFAULT_LAT 7100 R_STBD_OVSHOOT 25 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 2735 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 2735 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 51 VBD_CNV -0.24529999

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 25 VBD_DBAND 2

DIVE 5 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 5 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 300718,200730,4744.5771,-12224.4590,8,1.3,9,16.3,0.0,0.0,6,8.8 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 180.5,2137,-17.9,-10.000,-21.28,2227

_SM_ANGLEo -66.2 D_GRID 178

GPS2 300718,201204,4744.5947,-12224.4580,7,1.3,12,16.3,0.0,0.0,6,8.8

Post-dive calculations and measurements:

FINISH 0.2,1.007931 _24V_AH 13.82,3.259

SM_CCo 3049,192.18,0.196,0,0,538,692.97 _10V_AH 13.31,0.000

SM_GC 1.05,8.00,0.35,192.18,0.080,0.099,0.196,209,2604,538,-7.87,-0.74,692.97,0,0,0,0,0,0,15.30,15.33,15.14 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4742.66,-12229.50,300718,200313 FG_AHR_10Vo 0.000

TT8_MAMPS 0.02247,1.10552 MEM 303596

HUMID 56.10 DATA_FILE_SIZE 16777,484

INTERNAL_PRESSURE 9.91051 CAP_FILE_SIZE 67456,0

TCM_TEMP 19.10 CFSIZE 2097872896,2094399488

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

SC_FREEKB 3907616 CURRENT 0.060,65.14,1

TM_FREEKB 7827424 GPS 300718,210802,4744.278,-12224.523,8,1.1,14,16.3,0.0,0.0,6,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 403 118.48 nil 0 0 0.00

Roll_motor 31 99 42.98 nil 0 0 0.00

VBD_pump_during_apogee 323 2314 10341.12 nil 0 0 0.00

VBD_pump_during_surface 192 195 520.12 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 3007 25 1078.69

Iridium_during_xfer 0 0 0.00 TMICL 3016 13 562.99

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 21 5.86

TT8 1119 10 150.83

LPSleep 704 2 20.53

TT8_Active 620 10 83.61

TT8_Sampling 806 29 317.66

TT8_CF8 99 34 45.93

TT8_Kalman 0 0 0.00

Analog_circuits 1086 11 167.78

GPS_charging 0 0 0.00

Compass 703 6 63.14

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 -146.6 211 2602 552 517 0.0 0.0 0 154 0.00 0.00 -133.57 0.005 16390 0.000 0.000 207 2603 3961 3946 3977 0 0 0 0 0 0 15.59 14.52 15.55

158 -0.79 -146.6 211 2601 3946 3978 4.0 -9.3 23 180 10.65 1.95 0.00 0.000 2340 0.404 0.070 2465 3790 3962 3947 3977 0 0 0 0 0 0 15.15 15.33 15.39

376 -0.61 -146.6 2465 3791 3949 3977 54.0 -19.8 64 385 0.28 1.85 0.00 0.000 3206 0.272 0.047 2529 2579 3962 3949 3976 0 0 0 0 0 0 15.24 15.40 15.41

572 -0.61 -146.6 2529 2576 3953 3972 78.9 -11.3 101 580 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2576 3960 3953 3967 0 0 0 0 0 0 15.58 15.58 15.58

766 -0.61 -146.6 2529 2576 3952 3972 98.6 -7.8 138 775 0.00 2.03 0.00 0.000 292 0.000 0.093 2523 3787 3962 3952 3972 0 0 0 0 0 0 15.59 15.35 15.59

959 -0.58 -146.6 2523 3786 3952 3971 119.9 -12.0 175 967 0.00 1.83 0.00 0.000 1158 0.000 0.050 2524 2605 3961 3952 3971 0 0 0 0 0 0 15.46 15.41 15.47

1146 -0.58 -146.6 2523 2605 3950 3971 140.9 -11.5 194 1154 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2605 3962 3953 3971 0 0 0 0 0 0 15.60 15.59 15.60

1233 end dive: TARGET_DEPTH_EXCEEDED

state 1233 begin apogee

1241 -0.19 0.0 2524 2394 3952 3971 151.1 -11.3 203 1369 0.50 0.00 122.45 2.314 10246 0.229 0.000 2662 2394 3364 3404 3324 0 0 0 0 0 0 15.28 14.63 13.83

1371 end apogee: CONTROL_FINISHED_OK

state 1371 begin climb

1374 0.79 146.6 2662 2394 3404 3325 156.9 0.0 216 1518 1.08 2.35 125.38 2.245 10756 0.159 0.064 2985 1022 2767 2824 2710 0 0 0 0 0 0 14.66 14.50 13.82

1561 0.67 146.6 2985 1022 2824 2715 148.7 10.0 247 1570 0.17 2.38 0.00 0.000 5254 0.257 0.080 2948 2403 2770 2830 2710 0 0 0 0 0 0 14.76 14.86 14.92

1752 0.56 146.6 2948 2403 2823 2710 129.0 10.8 266 1759 0.00 2.28 0.00 0.000 644 0.000 0.065 2951 1018 2766 2823 2710 0 0 0 0 0 0 15.37 15.16 15.37

1792 0.50 146.6 2951 1016 2823 2709 124.8 10.2 273 1803 0.22 2.33 0.00 0.000 5254 0.231 0.081 2896 2400 2765 2824 2706 0 0 0 0 0 0 15.07 15.14 15.19

1984 0.53 186.5 2896 2400 2824 2709 108.7 8.2 292 2013 0.00 2.35 21.48 1.866 8484 0.000 0.088 2897 3782 2601 2657 2546 0 0 0 0 0 0 15.48 15.02 14.40

2096 0.50 217.2 2896 3786 2657 2547 98.3 8.6 312 2123 0.00 2.17 16.52 1.746 9382 0.000 0.047 2898 2399 2476 2528 2424 0 0 0 0 0 0 15.26 15.21 14.39

2310 0.56 257.3 2898 2399 2531 2421 79.2 8.2 352 2338 0.00 2.45 20.88 1.633 8612 0.000 0.089 2898 3788 2314 2367 2262 0 0 0 0 0 0 15.42 15.04 14.47

2372 0.56 257.3 2898 3788 2368 2262 73.3 10.8 362 2380 0.00 2.20 0.00 0.000 1030 0.000 0.046 2898 2402 2315 2368 2262 0 0 0 0 0 0 15.19 15.14 15.21

2567 0.64 290.6 2898 2401 2368 2257 56.5 8.5 399 2589 0.12 0.00 16.65 1.442 10406 0.122 0.000 2975 2399 2180 2231 2129 0 0 0 0 0 0 15.27 15.16 14.57

2776 0.57 290.6 2975 2399 2231 2125 27.0 14.0 438 2785 0.20 2.33 0.00 0.000 4484 0.238 0.084 2923 3783 2178 2231 2125 0 0 0 0 0 0 15.15 15.23 15.26

2858 0.57 290.6 2922 3783 2231 2120 15.6 12.7 453 2868 0.00 2.17 0.00 0.000 1030 0.000 0.047 2923 2398 2178 2231 2125 0 0 0 0 0 0 15.36 15.30 15.38

3001 end climb: SURFACE_DEPTH_REACHED

state 3001 begin surface coast

3022 end surface coast: CONTROL_FINISHED_OK

state 3022 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	5	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	51	ALTIM_PING_DELTA	10
N_DIVES	5	TGT_DEFAULT_LAT	7100	R_STBD_OVSHOOT	25	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	2735	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	300718,200730,4744.5771,-12224.4590,8,1.3,9,16.3,0.0,0.0,6,8.8	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	180.5,2137,-17.9,-10.000,-21.28,2227
_SM_ANGLEo	-66.2	D_GRID	178
GPS2	300718,201204,4744.5947,-12224.4580,7,1.3,12,16.3,0.0,0.0,6,8.8

FINISH	0.2,1.007931	_24V_AH	13.82,3.259
SM_CCo	3049,192.18,0.196,0,0,538,692.97	_10V_AH	13.31,0.000
SM_GC	1.05,8.00,0.35,192.18,0.080,0.099,0.196,209,2604,538,-7.87,-0.74,692.97,0,0,0,0,0,0,15.30,15.33,15.14	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4742.66,-12229.50,300718,200313	FG_AHR_10Vo	0.000
TT8_MAMPS	0.02247,1.10552	MEM	303596
HUMID	56.10	DATA_FILE_SIZE	16777,484
INTERNAL_PRESSURE	9.91051	CAP_FILE_SIZE	67456,0
TCM_TEMP	19.10	CFSIZE	2097872896,2094399488
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB	3907616	CURRENT	0.060,65.14,1
TM_FREEKB	7827424	GPS	300718,210802,4744.278,-12224.523,8,1.1,14,16.3,0.0,0.0,6,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	403	118.48	nil	0	0	0.00
Roll_motor	31	99	42.98	nil	0	0	0.00
VBD_pump_during_apogee	323	2314	10341.12	nil	0	0	0.00
VBD_pump_during_surface	192	195	520.12	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	3007	25	1078.69
Iridium_during_xfer	0	0	0.00	TMICL	3016	13	562.99
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	21	5.86
TT8	1119	10	150.83
LPSleep	704	2	20.53
TT8_Active	620	10	83.61
TT8_Sampling	806	29	317.66
TT8_CF8	99	34	45.93
TT8_Kalman	0	0	0.00
Analog_circuits	1086	11	167.78
GPS_charging	0	0	0.00
Compass	703	6	63.14
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	211	2602	552	517	0.0	0.0	0	154	0.00	0.00	-133.57	0.005	16390	0.000	0.000	207	2603	3961	3946	3977	0	0	0	0	0	0	15.59	14.52	15.55
158	-0.79	-146.6	211	2601	3946	3978	4.0	-9.3	23	180	10.65	1.95	0.00	0.000	2340	0.404	0.070	2465	3790	3962	3947	3977	0	0	0	0	0	0	15.15	15.33	15.39
376	-0.61	-146.6	2465	3791	3949	3977	54.0	-19.8	64	385	0.28	1.85	0.00	0.000	3206	0.272	0.047	2529	2579	3962	3949	3976	0	0	0	0	0	0	15.24	15.40	15.41
572	-0.61	-146.6	2529	2576	3953	3972	78.9	-11.3	101	580	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2576	3960	3953	3967	0	0	0	0	0	0	15.58	15.58	15.58
766	-0.61	-146.6	2529	2576	3952	3972	98.6	-7.8	138	775	0.00	2.03	0.00	0.000	292	0.000	0.093	2523	3787	3962	3952	3972	0	0	0	0	0	0	15.59	15.35	15.59
959	-0.58	-146.6	2523	3786	3952	3971	119.9	-12.0	175	967	0.00	1.83	0.00	0.000	1158	0.000	0.050	2524	2605	3961	3952	3971	0	0	0	0	0	0	15.46	15.41	15.47
1146	-0.58	-146.6	2523	2605	3950	3971	140.9	-11.5	194	1154	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2605	3962	3953	3971	0	0	0	0	0	0	15.60	15.59	15.60
1233	end dive: TARGET_DEPTH_EXCEEDED
state	1233	begin apogee
1241	-0.19	0.0	2524	2394	3952	3971	151.1	-11.3	203	1369	0.50	0.00	122.45	2.314	10246	0.229	0.000	2662	2394	3364	3404	3324	0	0	0	0	0	0	15.28	14.63	13.83
1371	end apogee: CONTROL_FINISHED_OK
state	1371	begin climb
1374	0.79	146.6	2662	2394	3404	3325	156.9	0.0	216	1518	1.08	2.35	125.38	2.245	10756	0.159	0.064	2985	1022	2767	2824	2710	0	0	0	0	0	0	14.66	14.50	13.82
1561	0.67	146.6	2985	1022	2824	2715	148.7	10.0	247	1570	0.17	2.38	0.00	0.000	5254	0.257	0.080	2948	2403	2770	2830	2710	0	0	0	0	0	0	14.76	14.86	14.92
1752	0.56	146.6	2948	2403	2823	2710	129.0	10.8	266	1759	0.00	2.28	0.00	0.000	644	0.000	0.065	2951	1018	2766	2823	2710	0	0	0	0	0	0	15.37	15.16	15.37
1792	0.50	146.6	2951	1016	2823	2709	124.8	10.2	273	1803	0.22	2.33	0.00	0.000	5254	0.231	0.081	2896	2400	2765	2824	2706	0	0	0	0	0	0	15.07	15.14	15.19
1984	0.53	186.5	2896	2400	2824	2709	108.7	8.2	292	2013	0.00	2.35	21.48	1.866	8484	0.000	0.088	2897	3782	2601	2657	2546	0	0	0	0	0	0	15.48	15.02	14.40
2096	0.50	217.2	2896	3786	2657	2547	98.3	8.6	312	2123	0.00	2.17	16.52	1.746	9382	0.000	0.047	2898	2399	2476	2528	2424	0	0	0	0	0	0	15.26	15.21	14.39
2310	0.56	257.3	2898	2399	2531	2421	79.2	8.2	352	2338	0.00	2.45	20.88	1.633	8612	0.000	0.089	2898	3788	2314	2367	2262	0	0	0	0	0	0	15.42	15.04	14.47
2372	0.56	257.3	2898	3788	2368	2262	73.3	10.8	362	2380	0.00	2.20	0.00	0.000	1030	0.000	0.046	2898	2402	2315	2368	2262	0	0	0	0	0	0	15.19	15.14	15.21
2567	0.64	290.6	2898	2401	2368	2257	56.5	8.5	399	2589	0.12	0.00	16.65	1.442	10406	0.122	0.000	2975	2399	2180	2231	2129	0	0	0	0	0	0	15.27	15.16	14.57
2776	0.57	290.6	2975	2399	2231	2125	27.0	14.0	438	2785	0.20	2.33	0.00	0.000	4484	0.238	0.084	2923	3783	2178	2231	2125	0	0	0	0	0	0	15.15	15.23	15.26
2858	0.57	290.6	2922	3783	2231	2120	15.6	12.7	453	2868	0.00	2.17	0.00	0.000	1030	0.000	0.047	2923	2398	2178	2231	2125	0	0	0	0	0	0	15.36	15.30	15.38
3001	end climb: SURFACE_DEPTH_REACHED
state	3001	begin surface coast
3022	end surface coast: CONTROL_FINISHED_OK
state	3022	begin surface