Glider dive log

Shilshole 03Apr18 * SG226 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 HD_C 9.8541004e-06 ROLL_DEG 80 COMPASS_USE 4

MISSION 10 HEADING -1 C_ROLL_DIVE 2500 ALTIM_PING_FIT 0

DIVE 5 ESCAPE_HEADING 0 C_ROLL_CLIMB 2650 ALTIM_TOP_PING_RANGE 0

N_DIVES 5 ESCAPE_HEADING_DELTA 5 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 TGT_DEFAULT_LAT 21 ROLL_TIMEOUT 20 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 TGT_DEFAULT_LON -158.3 R_PORT_OVSHOOT 32 ALTIM_PING_DEPTH 0

D_TGT 165 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 23 ALTIM_PING_DELTA 10

D_ABORT 180 SM_CC 692.04858 ROLL_AD_RATE 160 ALTIM_FREQUENCY 11

D_NO_BLEED 50 N_FILEKB 8 ROLL_MAXERRORS 2 ALTIM_PULSE 3

D_BOOST 100 FILEMGR 0 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_VALID 4

D_FINISH 0 COMM_SEQ 0 VBD_MIN 500 XPDR_INHIBIT 90

D_PITCH 0 PROTOCOL 9 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_NOCOMM 1 C_VBD 2450 INT_PRESSURE_YINT 0

D_CALL 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE1 2

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE2 -1

T_DIVE 55 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE3 -1

T_MISSION 70 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_TURN 300 HEAPDBG 0 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_TURN_SAMPINT -5 T_GPS 5 UNCOM_BLEED 20 LOGGERS 1

T_NO_W 120 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE1 -1

T_LOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_EPIRB 0 STROBE 0 DBDW 0 LOGGERDEVICE3 -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_CORR_THRESH 60 LOITER_DBDW 0 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 RAFOS_HIT_WINDOW 3600 LOITER_D_NO_PUMP 200 COMPASS2_DEVICE -1

D_OFFGRID 200 RAFOS_MMODEM 0 LOITER_N_DIVE 0 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 165 PITCH_W_GAIN 0 GPS_DEVICE 64

RELAUNCH 1 PITCH_MAX 3950 PITCH_W_DBAND 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2020 CF8_MAXERRORS 0 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_DBAND 0.1 AH0_24V 350 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.0041975998 AH0_10V 0 SEABIRD_T_G 0.004442167

GLIDE_SLOPE 30 P_OVSHOOT 0 MINV_24V 10.5 SEABIRD_T_H 0.0006586102

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 MINV_10V 10.5 SEABIRD_T_I 2.6926198e-05

RHO 1.023 PITCH_GAIN 20 MAXI_24V 0.60000002 SEABIRD_T_J 3.3427477e-06

MASS 71411 PITCH_TIMEOUT 35 MAXI_10V 0.80000001 SEABIRD_C_G -9.9959793

MASS_COMP 0 PITCH_AD_RATE 50 FG_AHR_10V 0 SEABIRD_C_H 1.1392462

NAV_MODE 2 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_I -0.0021947562

FERRY_MAX 45 PITCH_ADJ_GAIN 0.059999999 PHONE_SUPPLY -2 SEABIRD_C_J 0.00024419421

KALMAN_USE 2 PITCH_ADJ_DBAND 1 PRESSURE_YINT -160.95813

HD_A 0.0038360001 ROLL_MIN 200 PRESSURE_SLOPE 0.00010895507

HD_B 0.010078 ROLL_MAX 3950 AD7714Ch0Gain 1

AD7714Ch0Gain 1 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_I 2.6926198e-05

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 3.3427477e-06

AH0_24V 350 D_TGT 165 PHONE_DEVICE 49 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SM_CC 692.04858

ALTIM_FREQUENCY 11 ESCAPE_HEADING_DELTA 5 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_AD_RATE 50 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_24V 0 PITCH_CNV 0.0041975998 SURFACE_URGENCY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3950 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 64 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 21

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_MIN 165 TGT_DEFAULT_LON -158.3

APOGEE_PITCH -5 HD_B 0.010078 PITCH_TIMEOUT 35 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.8541004e-06 PITCH_VBD_SHIFT 0.0015 T_BOOST 0

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0 T_DIVE 55

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.95813 T_LOITER 0

CF8_MAXERRORS 0 ID 226 PROTOCOL 9 T_MISSION 70

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_TURN 300

COMPASS_USE 4 LOGGERDEVICE1 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_WATCHDOG 10

C_PITCH 2020 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2650 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2500 LOGGERS 1 RELAUNCH 1 USE_BATHY -6

C_VBD 2450 LOITER_DBDW 0 RHO 1.023 USE_ICE 0

DBDW 0 LOITER_D_NO_PUMP 200 ROLL_ADJ_DBAND 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 2 LOITER_W_DBAND 0 ROLL_AD_RATE 160 VBD_DBAND 2

DEVICE2 -1 MASS 71411 ROLL_CNV 0.047120001 VBD_LP_IGNORE 0

DEVICE3 -1 MASS_COMP 0 ROLL_DEG 80 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAX 3950 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_MIN 200 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 5 MINV_10V 10.5 ROLL_TIMEOUT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 180 MINV_24V 10.5 R_PORT_OVSHOOT 32 VBD_TIMEOUT 720

D_BOOST 100 MISSION 10 R_STBD_OVSHOOT 23 W_ADJ_DBAND 0

D_CALL 0 MOTHERBOARD 4 SEABIRD_C_G -9.9959793 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_C_H 1.1392462 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 163 SEABIRD_C_I -0.0021947562 XPDR_VALID 4

D_NO_BLEED 50 N_DIVES 5 SEABIRD_C_J 0.00024419421

D_OFFGRID 200 N_FILEKB 8 SEABIRD_T_G 0.004442167

D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.0006586102

Pre-dive calculations and measurements:

GPS1 030418,192855,4744.3911,-12223.6348,1,2.0,2,15.7,0.3,0.0,5,8.5 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 180.9,2383,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -50.2 D_GRID 166

GPS2 030418,193139,4744.4067,-12223.6426,2,0.7,23,15.7,0.2,323.5,12,2.1

Post-dive calculations and measurements:

FINISH 0.4,1.022319 _10V_AH 12.84,0.000

SM_CCo 3472,0.17,0.938,0,0,498,478.33 FG_AHR_24Vo 0.000

SM_GC 1.10,7.18,0.38,0.17,0.083,0.057,0.938,143,2504,498,-7.80,2.03,478.33,0,0,0,0,0,0,15.12,15.19,14.82 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4743.62,-12225.08,030418,192529 MEM 304348

TT8_MAMPS 0.020972,0.151298 DATA_FILE_SIZE 20077,538

HUMID 42.40 CAP_FILE_SIZE 74065,0

INTERNAL_PRESSURE 8.18391 CFSIZE 260157440,257556480

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.176,353.70,1

_24V_AH 12.86,13.878 GPS 030418,203052,4744.220,-12223.916,5,1.3,10,15.7,0.1,0.0,7,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 419 109.71 SBE_CT 322 23 96.35

Roll_motor 61 94 73.81 nil 0 0 0.00

VBD_pump_during_apogee 448 2558 14770.66 nil 0 0 0.00

VBD_pump_during_surface 99 937 1204.62 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 24 9 3.10

TT8 1188 11 177.38

LPSleep 894 2 25.17

TT8_Active 651 11 97.28

TT8_Sampling 799 28 296.23

TT8_CF8 30 35 13.91

TT8_Kalman 0 0 0.00

Analog_circuits 1120 10 145.33

GPS_charging 0 0 0.00

Compass 774 6 67.04

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.13 -146.6 155 2509 335 666 0.0 0.0 0 121 0.00 0.00 -111.40 0.005 16390 0.000 0.000 155 2508 3048 3204 2893 0 0 0 0 0 0 15.40 13.76 15.30

123 -1.13 -146.6 155 2509 3203 2894 3.5 -6.6 18 142 7.78 4.15 0.00 0.000 2340 0.419 0.076 1736 3939 3049 3204 2895 0 0 0 0 0 0 14.76 15.01 15.07

160 0.15 -146.6 1736 3939 3204 2895 14.8 -28.2 24 168 1.20 3.92 0.00 0.000 3206 0.262 0.038 2065 2488 3049 3204 2895 0 0 0 0 0 0 14.85 15.09 15.08

351 -0.75 -146.6 2065 2489 3205 2895 28.8 -4.3 61 358 0.70 0.00 0.00 0.000 4262 0.092 0.000 1824 2488 3050 3205 2895 0 0 0 0 0 0 15.09 15.17 15.14

540 -0.75 -146.6 1823 2488 3205 2895 50.6 -10.3 98 546 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2488 3050 3205 2895 0 0 0 0 0 0 15.47 15.47 15.47

727 -0.75 -146.6 1823 2488 3204 2895 71.1 -12.1 135 733 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2488 3049 3205 2894 0 0 0 0 0 0 15.49 15.49 15.49

915 -0.75 -146.6 1823 2488 3205 2895 94.6 -12.8 172 921 0.00 0.00 0.00 0.000 6 0.000 0.000 1823 2488 3050 3206 2895 0 0 0 0 0 0 15.50 15.50 15.50

1108 -0.75 -146.6 1823 2489 3204 2895 118.2 -10.7 195 1118 0.00 4.18 0.00 0.000 260 0.000 0.089 1805 3938 3050 3205 2895 0 0 0 0 0 0 15.55 15.13 15.55

1150 -0.62 -146.6 1804 3938 3204 2895 123.3 -12.7 203 1161 0.20 3.83 0.00 0.000 3206 0.226 0.041 1877 2507 3049 3204 2895 0 0 0 0 0 0 15.02 15.22 15.17

1461 -0.90 -146.6 1876 2506 3204 2895 150.5 -8.4 235 1471 0.25 4.85 0.00 0.000 4772 0.097 0.079 1794 832 3049 3204 2895 0 0 0 0 0 0 15.24 15.14 15.29

1526 -0.90 -146.6 1794 832 3205 2895 158.5 -12.6 248 1535 0.17 4.70 0.00 0.000 3078 0.265 0.054 1814 2494 3049 3204 2895 0 0 0 0 0 0 15.03 15.23 15.27

1592 end dive: TARGET_DEPTH_EXCEEDED

state 1592 begin apogee

1595 -0.25 0.0 1814 2652 3204 2895 165.8 -10.8 255 1774 0.57 0.00 170.10 2.559 10246 0.240 0.000 1968 2652 2450 2384 2516 0 0 0 0 0 0 15.06 13.97 13.00

1775 end apogee: CONTROL_FINISHED_OK

state 1775 begin climb

1776 1.13 146.6 1968 2652 2383 2516 170.6 0.0 273 1959 1.17 4.10 171.93 2.474 10500 0.182 0.094 2291 3941 1851 1749 1954 0 0 0 0 0 0 14.24 14.03 12.86

2054 1.67 203.2 2290 3941 1745 1955 158.1 7.4 320 2134 0.40 3.62 66.72 2.453 11430 0.072 0.041 2453 2647 1620 1500 1741 0 0 0 0 0 0 14.64 14.65 12.90

2432 1.86 240.4 2453 2647 1496 1739 121.6 8.3 365 2463 0.00 5.00 20.17 2.240 8868 0.000 0.063 2475 982 1467 1356 1578 0 0 0 0 0 0 15.33 14.52 13.47

2549 2.23 276.3 2474 982 1351 1578 111.9 8.4 388 2578 0.30 4.88 19.92 2.144 11430 0.086 0.056 2579 2648 1321 1207 1436 0 0 0 0 0 0 14.80 14.78 13.47

2875 2.05 276.3 2579 2647 1201 1436 62.4 16.4 446 2884 0.30 3.85 0.00 0.000 4484 0.268 0.090 2489 3950 1318 1201 1436 0 0 0 0 0 0 14.82 14.93 14.95

2950 2.05 276.3 2488 3950 1200 1436 49.7 15.9 460 2957 0.00 3.53 0.00 0.000 1030 0.000 0.041 2503 2645 1318 1200 1436 0 0 0 0 0 0 15.11 15.07 15.12

3140 2.16 276.3 2503 2645 1199 1436 27.6 12.0 497 3148 0.12 4.80 0.00 0.000 2692 0.135 0.061 2577 985 1317 1198 1436 0 0 0 0 0 0 15.07 15.03 15.11

3199 2.16 276.3 2577 985 1197 1436 20.4 10.6 508 3206 0.00 4.78 0.00 0.000 1030 0.000 0.057 2558 2653 1316 1197 1436 0 0 0 0 0 0 15.18 15.09 15.20

3341 end climb: SURFACE_DEPTH_REACHED

state 3341 begin surface coast

3353 end surface coast: CONTROL_FINISHED_OK

state 3353 begin surface

ID	226	HD_C	9.8541004e-06	ROLL_DEG	80	COMPASS_USE	4
MISSION	10	HEADING	-1	C_ROLL_DIVE	2500	ALTIM_PING_FIT	0
DIVE	5	ESCAPE_HEADING	0	C_ROLL_CLIMB	2650	ALTIM_TOP_PING_RANGE	0
N_DIVES	5	ESCAPE_HEADING_DELTA	5	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	TGT_DEFAULT_LAT	21	ROLL_TIMEOUT	20	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	TGT_DEFAULT_LON	-158.3	R_PORT_OVSHOOT	32	ALTIM_PING_DEPTH	0
D_TGT	165	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	23	ALTIM_PING_DELTA	10
D_ABORT	180	SM_CC	692.04858	ROLL_AD_RATE	160	ALTIM_FREQUENCY	11
D_NO_BLEED	50	N_FILEKB	8	ROLL_MAXERRORS	2	ALTIM_PULSE	3
D_BOOST	100	FILEMGR	0	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_VALID	4
D_FINISH	0	COMM_SEQ	0	VBD_MIN	500	XPDR_INHIBIT	90
D_PITCH	0	PROTOCOL	9	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_NOCOMM	1	C_VBD	2450	INT_PRESSURE_YINT	0
D_CALL	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE1	2
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE2	-1
T_DIVE	55	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE3	-1
T_MISSION	70	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_TURN	300	HEAPDBG	0	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_TURN_SAMPINT	-5	T_GPS	5	UNCOM_BLEED	20	LOGGERS	1
T_NO_W	120	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE1	-1
T_LOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_EPIRB	0	STROBE	0	DBDW	0	LOGGERDEVICE3	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	LOITER_DBDW	0	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	RAFOS_HIT_WINDOW	3600	LOITER_D_NO_PUMP	200	COMPASS2_DEVICE	-1
D_OFFGRID	200	RAFOS_MMODEM	0	LOITER_N_DIVE	0	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	165	PITCH_W_GAIN	0	GPS_DEVICE	64
RELAUNCH	1	PITCH_MAX	3950	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2020	CF8_MAXERRORS	0	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_DBAND	0.1	AH0_24V	350	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.0041975998	AH0_10V	0	SEABIRD_T_G	0.004442167
GLIDE_SLOPE	30	P_OVSHOOT	0	MINV_24V	10.5	SEABIRD_T_H	0.0006586102
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	MINV_10V	10.5	SEABIRD_T_I	2.6926198e-05
RHO	1.023	PITCH_GAIN	20	MAXI_24V	0.60000002	SEABIRD_T_J	3.3427477e-06
MASS	71411	PITCH_TIMEOUT	35	MAXI_10V	0.80000001	SEABIRD_C_G	-9.9959793
MASS_COMP	0	PITCH_AD_RATE	50	FG_AHR_10V	0	SEABIRD_C_H	1.1392462
NAV_MODE	2	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_I	-0.0021947562
FERRY_MAX	45	PITCH_ADJ_GAIN	0.059999999	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00024419421
KALMAN_USE	2	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-160.95813
HD_A	0.0038360001	ROLL_MIN	200	PRESSURE_SLOPE	0.00010895507
HD_B	0.010078	ROLL_MAX	3950	AD7714Ch0Gain	1

GPS1	030418,192855,4744.3911,-12223.6348,1,2.0,2,15.7,0.3,0.0,5,8.5	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	180.9,2383,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-50.2	D_GRID	166
GPS2	030418,193139,4744.4067,-12223.6426,2,0.7,23,15.7,0.2,323.5,12,2.1

FINISH	0.4,1.022319	_10V_AH	12.84,0.000
SM_CCo	3472,0.17,0.938,0,0,498,478.33	FG_AHR_24Vo	0.000
SM_GC	1.10,7.18,0.38,0.17,0.083,0.057,0.938,143,2504,498,-7.80,2.03,478.33,0,0,0,0,0,0,15.12,15.19,14.82	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4743.62,-12225.08,030418,192529	MEM	304348
TT8_MAMPS	0.020972,0.151298	DATA_FILE_SIZE	20077,538
HUMID	42.40	CAP_FILE_SIZE	74065,0
INTERNAL_PRESSURE	8.18391	CFSIZE	260157440,257556480
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.176,353.70,1
_24V_AH	12.86,13.878	GPS	030418,203052,4744.220,-12223.916,5,1.3,10,15.7,0.1,0.0,7,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	419	109.71	SBE_CT	322	23	96.35
Roll_motor	61	94	73.81	nil	0	0	0.00
VBD_pump_during_apogee	448	2558	14770.66	nil	0	0	0.00
VBD_pump_during_surface	99	937	1204.62	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	24	9	3.10
TT8	1188	11	177.38
LPSleep	894	2	25.17
TT8_Active	651	11	97.28
TT8_Sampling	799	28	296.23
TT8_CF8	30	35	13.91
TT8_Kalman	0	0	0.00
Analog_circuits	1120	10	145.33
GPS_charging	0	0	0.00
Compass	774	6	67.04
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.13	-146.6	155	2509	335	666	0.0	0.0	0	121	0.00	0.00	-111.40	0.005	16390	0.000	0.000	155	2508	3048	3204	2893	0	0	0	0	0	0	15.40	13.76	15.30
123	-1.13	-146.6	155	2509	3203	2894	3.5	-6.6	18	142	7.78	4.15	0.00	0.000	2340	0.419	0.076	1736	3939	3049	3204	2895	0	0	0	0	0	0	14.76	15.01	15.07
160	0.15	-146.6	1736	3939	3204	2895	14.8	-28.2	24	168	1.20	3.92	0.00	0.000	3206	0.262	0.038	2065	2488	3049	3204	2895	0	0	0	0	0	0	14.85	15.09	15.08
351	-0.75	-146.6	2065	2489	3205	2895	28.8	-4.3	61	358	0.70	0.00	0.00	0.000	4262	0.092	0.000	1824	2488	3050	3205	2895	0	0	0	0	0	0	15.09	15.17	15.14
540	-0.75	-146.6	1823	2488	3205	2895	50.6	-10.3	98	546	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2488	3050	3205	2895	0	0	0	0	0	0	15.47	15.47	15.47
727	-0.75	-146.6	1823	2488	3204	2895	71.1	-12.1	135	733	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2488	3049	3205	2894	0	0	0	0	0	0	15.49	15.49	15.49
915	-0.75	-146.6	1823	2488	3205	2895	94.6	-12.8	172	921	0.00	0.00	0.00	0.000	6	0.000	0.000	1823	2488	3050	3206	2895	0	0	0	0	0	0	15.50	15.50	15.50
1108	-0.75	-146.6	1823	2489	3204	2895	118.2	-10.7	195	1118	0.00	4.18	0.00	0.000	260	0.000	0.089	1805	3938	3050	3205	2895	0	0	0	0	0	0	15.55	15.13	15.55
1150	-0.62	-146.6	1804	3938	3204	2895	123.3	-12.7	203	1161	0.20	3.83	0.00	0.000	3206	0.226	0.041	1877	2507	3049	3204	2895	0	0	0	0	0	0	15.02	15.22	15.17
1461	-0.90	-146.6	1876	2506	3204	2895	150.5	-8.4	235	1471	0.25	4.85	0.00	0.000	4772	0.097	0.079	1794	832	3049	3204	2895	0	0	0	0	0	0	15.24	15.14	15.29
1526	-0.90	-146.6	1794	832	3205	2895	158.5	-12.6	248	1535	0.17	4.70	0.00	0.000	3078	0.265	0.054	1814	2494	3049	3204	2895	0	0	0	0	0	0	15.03	15.23	15.27
1592	end dive: TARGET_DEPTH_EXCEEDED
state	1592	begin apogee
1595	-0.25	0.0	1814	2652	3204	2895	165.8	-10.8	255	1774	0.57	0.00	170.10	2.559	10246	0.240	0.000	1968	2652	2450	2384	2516	0	0	0	0	0	0	15.06	13.97	13.00
1775	end apogee: CONTROL_FINISHED_OK
state	1775	begin climb
1776	1.13	146.6	1968	2652	2383	2516	170.6	0.0	273	1959	1.17	4.10	171.93	2.474	10500	0.182	0.094	2291	3941	1851	1749	1954	0	0	0	0	0	0	14.24	14.03	12.86
2054	1.67	203.2	2290	3941	1745	1955	158.1	7.4	320	2134	0.40	3.62	66.72	2.453	11430	0.072	0.041	2453	2647	1620	1500	1741	0	0	0	0	0	0	14.64	14.65	12.90
2432	1.86	240.4	2453	2647	1496	1739	121.6	8.3	365	2463	0.00	5.00	20.17	2.240	8868	0.000	0.063	2475	982	1467	1356	1578	0	0	0	0	0	0	15.33	14.52	13.47
2549	2.23	276.3	2474	982	1351	1578	111.9	8.4	388	2578	0.30	4.88	19.92	2.144	11430	0.086	0.056	2579	2648	1321	1207	1436	0	0	0	0	0	0	14.80	14.78	13.47
2875	2.05	276.3	2579	2647	1201	1436	62.4	16.4	446	2884	0.30	3.85	0.00	0.000	4484	0.268	0.090	2489	3950	1318	1201	1436	0	0	0	0	0	0	14.82	14.93	14.95
2950	2.05	276.3	2488	3950	1200	1436	49.7	15.9	460	2957	0.00	3.53	0.00	0.000	1030	0.000	0.041	2503	2645	1318	1200	1436	0	0	0	0	0	0	15.11	15.07	15.12
3140	2.16	276.3	2503	2645	1199	1436	27.6	12.0	497	3148	0.12	4.80	0.00	0.000	2692	0.135	0.061	2577	985	1317	1198	1436	0	0	0	0	0	0	15.07	15.03	15.11
3199	2.16	276.3	2577	985	1197	1436	20.4	10.6	508	3206	0.00	4.78	0.00	0.000	1030	0.000	0.057	2558	2653	1316	1197	1436	0	0	0	0	0	0	15.18	15.09	15.20
3341	end climb: SURFACE_DEPTH_REACHED
state	3341	begin surface coast
3353	end surface coast: CONTROL_FINISHED_OK
state	3353	begin surface