Glider dive log

Shilshole 19Jul19 * SG197 * Dive index * Mission links * Dive 5 * 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 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 27 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 5 MINV_10V 11 R_PORT_OVSHOOT 27 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 5 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 031299,200803,4744.0835,-12223.9473,32,1.2,33,16.6,0.0,0.0,7,7.9 SPEED_LIMITS 0.173,0.262

_CALLS 1 TGT_NAME SE

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12224.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.28 MHEAD_RNG_PITCHd_Wd 164.4,2024,-18.1,-10.000,-20.93,2236

_SM_ANGLEo -57.8 D_GRID 170

GPS2 031299,201432,4744.0908,-12223.9014,35,1.2,35,16.6,0.0,0.0,7,9.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20190719201502.881963,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*30 SC_FREEKB 3875872

FINISH 0.4,1.022309 _24V_AH 13.43,1.392

SM_CCo 3139,0.00,0.000,0,0,550,600.98 _10V_AH 13.14,2.959

SM_GC 0.23,7.68,0.00,0.00,0.110,0.000,0.000,193,2101,550,-7.29,0.03,600.98,0,0,0,0,0,0,14.67,14.84,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 19 FG_AHR_10Vo 0.000

MODEM 0,1563566403,47.00000,-122.50000,1.963,2875.1 MEM 302112

RAFOS_FIX 4640.816895,-12208.904297,190719,202002,3,255,6983.67 DATA_FILE_SIZE 10099,363

IRIDIUM_FIX 4744.97,-12226.80,190719,190832 CAP_FILE_SIZE 57693,0

TT8_MAMPS 0.077147,1.02988 CFSIZE 1024409600,1022361600

HUMID 55.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

INTERNAL_PRESSURE 8.85736 SOUNDSPEED 1465.0

TCM_TEMP 18.10 CURRENT 0.001,142.49,1

XPDR_PINGS 0 GPS 031299,210845,4743.706,-12223.919,33,0.9,46,16.6,0.0,179.6,8,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 414 112.48 nil 0 0 0.00

Roll_motor 34 101 46.53 nil 0 0 0.00

VBD_pump_during_apogee 295 1231 4881.68 nil 0 0 0.00

VBD_pump_during_surface 340 924 4227.47 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 2664 40 1431.24

Iridium_during_xfer 272 176 646.24 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 46 20 12.78

TT8 0 0 0.00

LPSleep 1603 2 48.66

TT8_Active 505 11 78.51

TT8_Sampling 1405 29 536.40

TT8_CF8 32 41 17.69

TT8_Kalman 0 0 0.00

Analog_circuits 1384 12 234.72

GPS_charging 0 0 0.00

Compass 752 5 49.46

RAFOS 3054 33 1324.28

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

7 -1.04 -146.6 194 2097 642 460 0.0 0.0 0 144 0.00 0.00 -130.48 0.003 16390 0.000 0.000 194 2097 3598 3647 3549 0 0 0 0 0 0 14.71 14.00 14.74

145 -1.04 -146.6 194 2098 3647 3549 3.4 -5.6 13 160 9.45 2.42 0.00 0.000 2340 0.415 0.096 2195 3506 3599 3649 3549 0 0 0 0 0 0 14.39 14.53 14.54

359 -0.87 -146.6 2194 3507 3652 3549 46.2 -16.5 56 370 0.22 2.38 0.00 0.000 3206 0.238 0.070 2259 2097 3600 3652 3548 0 0 0 0 0 0 14.51 14.59 14.62

544 -0.87 -146.6 2258 2097 3653 3546 69.1 -12.8 75 550 0.00 2.45 0.00 0.000 516 0.000 0.099 2259 691 3599 3653 3546 0 0 0 0 0 0 14.82 14.59 14.85

774 -0.87 -146.6 2259 692 3654 3546 97.2 -12.0 121 781 0.00 2.40 0.00 0.000 1030 0.000 0.083 2252 2093 3599 3653 3546 0 0 0 0 0 0 14.67 14.60 14.69

965 -0.87 -146.6 2252 2094 3654 3545 119.3 -11.6 141 971 0.00 2.45 0.00 0.000 516 0.000 0.100 2252 692 3599 3653 3545 0 0 0 0 0 0 14.84 14.62 14.88

1085 -0.87 -146.6 2252 692 3653 3545 134.1 -12.1 165 1092 0.00 2.42 0.00 0.000 1030 0.000 0.083 2242 2105 3599 3653 3545 0 0 0 0 0 0 14.70 14.64 14.73

1225 end dive: TARGET_DEPTH_EXCEEDED

state 1225 begin apogee

1227 -0.22 0.0 2243 2105 3654 3545 150.5 -11.6 180 1351 0.80 0.00 117.85 1.232 10246 0.220 0.000 2473 2105 2999 3149 2849 0 0 0 0 0 0 14.62 14.09 13.69

1353 end apogee: CONTROL_FINISHED_OK

state 1353 begin climb

1354 1.04 146.6 2473 2105 3148 2849 154.1 0.0 192 1480 1.23 2.50 120.43 1.207 10500 0.117 0.099 2880 3507 2401 2565 2237 0 0 0 0 0 0 14.19 14.04 13.64

1639 0.77 146.6 2879 3507 2560 2236 119.5 16.3 230 1646 0.30 2.40 0.00 0.000 5254 0.246 0.067 2808 2100 2397 2559 2235 0 0 0 0 0 0 14.38 14.47 14.49

1830 0.71 146.6 2807 2098 2559 2233 97.3 11.3 250 1832 0.12 0.00 0.00 0.000 4230 0.283 0.000 2779 2098 2396 2559 2233 0 0 0 0 0 0 14.50 14.67 14.64

2010 0.71 147.5 2779 2098 2559 2232 78.6 10.0 268 2015 0.00 2.47 0.00 0.000 292 0.000 0.102 2780 3509 2395 2559 2232 0 0 0 0 0 0 14.80 14.59 14.83

2074 0.65 147.5 2780 3509 2559 2232 71.6 10.5 281 2086 0.00 2.38 0.00 0.000 1158 0.000 0.067 2788 2100 2395 2559 2232 0 0 0 0 0 0 14.65 14.60 14.68

2260 0.63 154.8 2788 2100 2559 2231 53.5 9.7 300 2277 0.15 2.45 7.43 0.945 12964 0.249 0.101 2761 698 2367 2535 2199 0 0 0 0 0 0 14.62 14.57 14.16

2285 0.68 186.9 2761 698 2534 2200 51.2 8.5 304 2316 0.00 2.40 26.58 1.091 9254 0.000 0.080 2761 2102 2237 2420 2055 0 0 0 0 0 0 14.69 14.63 14.07

2500 0.80 214.7 2761 2103 2416 2052 31.2 8.7 328 2529 0.12 2.50 22.85 1.060 10916 0.127 0.101 2835 691 2123 2312 1934 0 0 0 0 0 0 14.69 14.47 14.08

2578 0.75 214.7 2835 691 2310 1931 21.9 12.9 342 2584 0.12 2.42 0.00 0.000 5254 0.207 0.081 2798 2101 2120 2310 1930 0 0 0 0 0 0 14.50 14.56 14.63

2767 end climb: SURFACE_DEPTH_REACHED

state 2767 begin surface coast

2777 end surface coast: CONTROL_FINISHED_OK

state 2777 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	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	27	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	031299,200803,4744.0835,-12223.9473,32,1.2,33,16.6,0.0,0.0,7,7.9	SPEED_LIMITS	0.173,0.262
_CALLS	1	TGT_NAME	SE
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12224.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.28	MHEAD_RNG_PITCHd_Wd	164.4,2024,-18.1,-10.000,-20.93,2236
_SM_ANGLEo	-57.8	D_GRID	170
GPS2	031299,201432,4744.0908,-12223.9014,35,1.2,35,16.6,0.0,0.0,7,9.4

MODEM_MSG	CACST,6,1,20190719201502.881963,18,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*30	SC_FREEKB	3875872
FINISH	0.4,1.022309	_24V_AH	13.43,1.392
SM_CCo	3139,0.00,0.000,0,0,550,600.98	_10V_AH	13.14,2.959
SM_GC	0.23,7.68,0.00,0.00,0.110,0.000,0.000,193,2101,550,-7.29,0.03,600.98,0,0,0,0,0,0,14.67,14.84,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	19	FG_AHR_10Vo	0.000
MODEM	0,1563566403,47.00000,-122.50000,1.963,2875.1	MEM	302112
RAFOS_FIX	4640.816895,-12208.904297,190719,202002,3,255,6983.67	DATA_FILE_SIZE	10099,363
IRIDIUM_FIX	4744.97,-12226.80,190719,190832	CAP_FILE_SIZE	57693,0
TT8_MAMPS	0.077147,1.02988	CFSIZE	1024409600,1022361600
HUMID	55.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
INTERNAL_PRESSURE	8.85736	SOUNDSPEED	1465.0
TCM_TEMP	18.10	CURRENT	0.001,142.49,1
XPDR_PINGS	0	GPS	031299,210845,4743.706,-12223.919,33,0.9,46,16.6,0.0,179.6,8,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	414	112.48	nil	0	0	0.00
Roll_motor	34	101	46.53	nil	0	0	0.00
VBD_pump_during_apogee	295	1231	4881.68	nil	0	0	0.00
VBD_pump_during_surface	340	924	4227.47	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	2664	40	1431.24
Iridium_during_xfer	272	176	646.24	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	46	20	12.78
TT8	0	0	0.00
LPSleep	1603	2	48.66
TT8_Active	505	11	78.51
TT8_Sampling	1405	29	536.40
TT8_CF8	32	41	17.69
TT8_Kalman	0	0	0.00
Analog_circuits	1384	12	234.72
GPS_charging	0	0	0.00
Compass	752	5	49.46
RAFOS	3054	33	1324.28
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
7	-1.04	-146.6	194	2097	642	460	0.0	0.0	0	144	0.00	0.00	-130.48	0.003	16390	0.000	0.000	194	2097	3598	3647	3549	0	0	0	0	0	0	14.71	14.00	14.74
145	-1.04	-146.6	194	2098	3647	3549	3.4	-5.6	13	160	9.45	2.42	0.00	0.000	2340	0.415	0.096	2195	3506	3599	3649	3549	0	0	0	0	0	0	14.39	14.53	14.54
359	-0.87	-146.6	2194	3507	3652	3549	46.2	-16.5	56	370	0.22	2.38	0.00	0.000	3206	0.238	0.070	2259	2097	3600	3652	3548	0	0	0	0	0	0	14.51	14.59	14.62
544	-0.87	-146.6	2258	2097	3653	3546	69.1	-12.8	75	550	0.00	2.45	0.00	0.000	516	0.000	0.099	2259	691	3599	3653	3546	0	0	0	0	0	0	14.82	14.59	14.85
774	-0.87	-146.6	2259	692	3654	3546	97.2	-12.0	121	781	0.00	2.40	0.00	0.000	1030	0.000	0.083	2252	2093	3599	3653	3546	0	0	0	0	0	0	14.67	14.60	14.69
965	-0.87	-146.6	2252	2094	3654	3545	119.3	-11.6	141	971	0.00	2.45	0.00	0.000	516	0.000	0.100	2252	692	3599	3653	3545	0	0	0	0	0	0	14.84	14.62	14.88
1085	-0.87	-146.6	2252	692	3653	3545	134.1	-12.1	165	1092	0.00	2.42	0.00	0.000	1030	0.000	0.083	2242	2105	3599	3653	3545	0	0	0	0	0	0	14.70	14.64	14.73
1225	end dive: TARGET_DEPTH_EXCEEDED
state	1225	begin apogee
1227	-0.22	0.0	2243	2105	3654	3545	150.5	-11.6	180	1351	0.80	0.00	117.85	1.232	10246	0.220	0.000	2473	2105	2999	3149	2849	0	0	0	0	0	0	14.62	14.09	13.69
1353	end apogee: CONTROL_FINISHED_OK
state	1353	begin climb
1354	1.04	146.6	2473	2105	3148	2849	154.1	0.0	192	1480	1.23	2.50	120.43	1.207	10500	0.117	0.099	2880	3507	2401	2565	2237	0	0	0	0	0	0	14.19	14.04	13.64
1639	0.77	146.6	2879	3507	2560	2236	119.5	16.3	230	1646	0.30	2.40	0.00	0.000	5254	0.246	0.067	2808	2100	2397	2559	2235	0	0	0	0	0	0	14.38	14.47	14.49
1830	0.71	146.6	2807	2098	2559	2233	97.3	11.3	250	1832	0.12	0.00	0.00	0.000	4230	0.283	0.000	2779	2098	2396	2559	2233	0	0	0	0	0	0	14.50	14.67	14.64
2010	0.71	147.5	2779	2098	2559	2232	78.6	10.0	268	2015	0.00	2.47	0.00	0.000	292	0.000	0.102	2780	3509	2395	2559	2232	0	0	0	0	0	0	14.80	14.59	14.83
2074	0.65	147.5	2780	3509	2559	2232	71.6	10.5	281	2086	0.00	2.38	0.00	0.000	1158	0.000	0.067	2788	2100	2395	2559	2232	0	0	0	0	0	0	14.65	14.60	14.68
2260	0.63	154.8	2788	2100	2559	2231	53.5	9.7	300	2277	0.15	2.45	7.43	0.945	12964	0.249	0.101	2761	698	2367	2535	2199	0	0	0	0	0	0	14.62	14.57	14.16
2285	0.68	186.9	2761	698	2534	2200	51.2	8.5	304	2316	0.00	2.40	26.58	1.091	9254	0.000	0.080	2761	2102	2237	2420	2055	0	0	0	0	0	0	14.69	14.63	14.07
2500	0.80	214.7	2761	2103	2416	2052	31.2	8.7	328	2529	0.12	2.50	22.85	1.060	10916	0.127	0.101	2835	691	2123	2312	1934	0	0	0	0	0	0	14.69	14.47	14.08
2578	0.75	214.7	2835	691	2310	1931	21.9	12.9	342	2584	0.12	2.42	0.00	0.000	5254	0.207	0.081	2798	2101	2120	2310	1930	0	0	0	0	0	0	14.50	14.56	14.63
2767	end climb: SURFACE_DEPTH_REACHED
state	2767	begin surface coast
2777	end surface coast: CONTROL_FINISHED_OK
state	2777	begin surface