Glider dive log

Shilshole 25Jan19 * SG530 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 530 HEADING -1 C_ROLL_CLIMB 2500 ALTIM_TOP_PING_RANGE 0

MISSION 6 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 7 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 43 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 627.76959 ROLL_MAXERRORS 1 ALTIM_PULSE 3

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 2

D_BOOST 3 CALL_NDIVES 1 VBD_MIN 600 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3950 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 3200 INT_PRESSURE_YINT 0.88

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 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 0.001 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 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 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 -1

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 120 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3750 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2720 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044127889

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00064491521

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 10 SEABIRD_T_I 2.7403603e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 10 SEABIRD_T_J 3.4695011e-06

SPEED_FACTOR 1 PITCH_GAIN 36 MAXI_24V 0.60000002 SEABIRD_C_G -10.004128

RHO 1.023 PITCH_TIMEOUT 25 MAXI_10V 0.80000001 SEABIRD_C_H 1.125679

MASS 52711 PITCH_AD_RATE 150 FG_AHR_10V 0 SEABIRD_C_I -0.0017521358

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022369393

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -166.10001 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 380 PRESSURE_SLOPE 0.00013940506 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3970 AD7714Ch0Gain 32 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 40 COMPASS_USE 4

HD_C 9.8500004e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 32 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044127889

AH0_10V 0 D_TGT 150 PHONE_DEVICE 49 SEABIRD_T_H 0.00064491521

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7403603e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.4695011e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DELTA 5 FG_AHR_10V 0 PITCH_AD_RATE 150 SM_CC 627.76959

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 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 36 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3750 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 0.0038360001 PITCH_MIN 120 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 25 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 9.8500004e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00013940506 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -166.10001 T_DIVE 50

CAPUPLOAD 0 ID 530 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 0.88 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 65

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2720 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2500 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 50

C_VBD 3200 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 250 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 52711 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3970 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 380 VBD_MAX 3950

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 6 MINV_10V 10 R_PORT_OVSHOOT 43 VBD_MIN 600

D_ABORT 175 MINV_24V 10 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 3 MISSION 6 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 7 SEABIRD_C_G -10.004128 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.125679 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0017521358

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00022369393

Pre-dive calculations and measurements:

GPS1 250119,212127,4743.8091,-12223.7246,40,1.2,44,16.6,0.0,0.0,8,10.0 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 0.79 MHEAD_RNG_PITCHd_Wd 205.6,1699,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -69.6 D_GRID 168

GPS2 250119,212543,4743.8242,-12223.7246,37,1.5,45,16.6,0.0,0.0,5,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.022644 _10V_AH 13.64,0.000

SM_CCo 2721,448.73,0.109,1,0,639,627.96 FG_AHR_24Vo 0.000

SM_GC 0.80,8.05,0.45,448.73,0.072,0.127,0.109,108,2763,639,-8.10,-0.31,627.96,0,0,0,0,1,0,14.67,14.64,14.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.63,-12225.81,250119,211801 MEM 303944

TT8_MAMPS 0.020223,0.812665 DATA_FILE_SIZE 10115,333

HUMID 39.21 CAP_FILE_SIZE 58120,0

INTERNAL_PRESSURE 8.54631 CFSIZE 2097872896,2094825472

TCM_TEMP 18.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.127,5.73,1

_24V_AH 13.66,0.991 GPS 250119,222057,4743.883,-12224.108,41,1.0,44,16.6,0.2,0.0,6,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 459 141.70 nil 0 0 0.00

Roll_motor 38 144 75.35 nil 0 0 0.00

VBD_pump_during_apogee 288 1019 4021.86 nil 0 0 0.00

VBD_pump_during_surface 448 109 670.55 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 2687 19 702.05

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 53 19 14.27

TT8 769 10 113.56

LPSleep 1002 2 29.96

TT8_Active 885 10 130.66

TT8_Sampling 560 30 231.60

TT8_CF8 91 35 44.18

TT8_Kalman 0 0 0.00

Analog_circuits 1205 10 179.23

GPS_charging 0 0 0.00

Compass 488 6 44.92

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -0.65 -146.6 107 2734 569 714 0.0 0.0 0 163 0.00 0.00 -146.15 0.005 16390 0.000 0.000 106 2734 3796 3755 3838 0 0 0 0 0 0 14.82 13.71 14.82

167 -0.65 -146.6 107 2734 3760 3838 4.0 -6.2 15 184 12.32 2.30 0.00 0.000 2340 0.459 0.133 2492 3967 3801 3764 3838 0 0 0 0 0 0 14.38 14.53 14.64

408 -0.54 -146.6 2492 3967 3767 3838 58.4 -17.9 62 417 0.20 2.03 0.00 0.000 3206 0.282 0.077 2537 2763 3802 3767 3838 0 0 0 0 0 0 14.52 14.66 14.70

598 -0.51 -146.6 2537 2754 3768 3838 88.9 -16.3 81 604 0.00 2.20 0.00 0.000 388 0.000 0.138 2531 3963 3801 3763 3840 0 0 0 0 0 0 14.86 14.59 14.89

707 -0.51 -146.6 2530 3963 3767 3838 106.8 -14.7 102 714 0.00 2.05 0.00 0.000 1030 0.000 0.080 2531 2750 3802 3767 3838 0 0 0 0 0 0 14.77 14.69 14.78

893 -0.46 -146.6 2531 2738 3767 3838 134.0 -15.0 121 900 0.12 2.25 0.00 0.000 2436 0.284 0.145 2554 3961 3802 3767 3838 0 0 0 0 0 0 14.58 14.59 14.70

973 -0.52 -146.6 2554 3961 3767 3838 144.7 -11.7 136 979 0.00 2.05 0.00 0.000 1158 0.000 0.082 2554 2749 3802 3767 3838 0 0 0 0 0 0 14.78 14.73 14.81

1015 end dive: TARGET_DEPTH_EXCEEDED

state 1016 begin apogee

1023 -0.14 0.0 2554 2478 3767 3838 150.5 -12.9 141 1148 0.40 0.00 118.32 1.020 10246 0.238 0.000 2663 2477 3199 3122 3277 0 0 0 0 0 0 14.59 14.25 13.79

1149 end apogee: CONTROL_FINISHED_OK

state 1149 begin climb

1153 0.65 146.6 2664 2477 3121 3276 157.7 0.0 154 1280 0.90 2.42 120.38 0.989 10756 0.199 0.070 2931 1099 2601 2493 2709 0 0 0 0 0 0 14.16 14.08 13.66

1317 0.62 146.6 2931 1099 2488 2709 146.7 10.4 176 1324 0.00 2.47 0.00 0.000 1158 0.000 0.096 2932 2498 2598 2488 2709 0 0 0 0 0 0 14.25 14.16 14.27

1516 0.54 152.4 2931 2498 2487 2709 125.0 9.7 196 1524 0.12 0.00 5.93 0.716 12454 0.289 0.000 2903 2499 2576 2468 2684 0 0 0 0 0 0 14.35 14.49 14.04

1706 0.53 163.7 2903 2498 2469 2682 110.1 9.5 215 1724 0.00 2.60 10.18 0.815 8612 0.000 0.133 2903 3909 2532 2435 2629 0 0 0 0 0 0 14.76 14.44 14.11

1783 0.53 164.6 2902 3909 2434 2629 102.1 10.0 229 1789 0.00 2.40 0.00 0.000 1062 0.000 0.073 2910 2501 2531 2434 2629 0 0 0 0 0 0 14.63 14.55 14.64

1978 0.50 164.6 2911 2488 2434 2629 80.4 13.0 249 1984 0.00 2.30 0.00 0.000 644 0.000 0.073 2920 1092 2531 2433 2629 0 0 0 0 0 0 14.82 14.59 14.84

2006 0.50 164.6 2920 1092 2432 2629 76.7 12.6 254 2014 0.15 2.47 0.00 0.000 5126 0.260 0.101 2888 2501 2530 2432 2629 0 0 0 0 0 0 14.51 14.58 14.67

2195 0.56 187.8 2887 2501 2432 2629 59.6 8.9 273 2223 0.00 2.55 20.10 0.848 8612 0.000 0.133 2888 3915 2433 2344 2523 0 0 0 0 0 0 14.85 14.52 14.18

2232 0.61 203.4 2887 3915 2343 2522 56.0 9.3 279 2255 0.00 2.42 13.82 0.803 9382 0.000 0.077 2896 2480 2374 2281 2467 0 0 0 0 0 0 14.64 14.56 14.14

2436 0.66 203.4 2896 2480 2272 2462 34.8 11.2 301 2442 0.12 2.28 0.00 0.000 2692 0.129 0.072 2964 1099 2367 2272 2462 0 0 0 0 0 0 14.63 14.59 14.65

2496 0.61 203.4 2964 1098 2271 2462 25.8 16.0 312 2503 0.20 2.47 0.00 0.000 5254 0.265 0.101 2919 2510 2366 2271 2462 0 0 0 0 0 0 14.49 14.57 14.66

2679 end climb: SURFACE_DEPTH_REACHED

state 2679 begin surface coast

2700 end surface coast: CONTROL_FINISHED_OK

state 2700 begin surface

ID	530	HEADING	-1	C_ROLL_CLIMB	2500	ALTIM_TOP_PING_RANGE	0
MISSION	6	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	7	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	43	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	627.76959	ROLL_MAXERRORS	1	ALTIM_PULSE	3
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	2
D_BOOST	3	CALL_NDIVES	1	VBD_MIN	600	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3950	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	3200	INT_PRESSURE_YINT	0.88
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	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	0.001	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	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	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	-1
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	120	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3750	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2720	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044127889
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00064491521
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	10	SEABIRD_T_I	2.7403603e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	10	SEABIRD_T_J	3.4695011e-06
SPEED_FACTOR	1	PITCH_GAIN	36	MAXI_24V	0.60000002	SEABIRD_C_G	-10.004128
RHO	1.023	PITCH_TIMEOUT	25	MAXI_10V	0.80000001	SEABIRD_C_H	1.125679
MASS	52711	PITCH_AD_RATE	150	FG_AHR_10V	0	SEABIRD_C_I	-0.0017521358
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022369393
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-166.10001	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	380	PRESSURE_SLOPE	0.00013940506	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3970	AD7714Ch0Gain	32	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	40	COMPASS_USE	4
HD_C	9.8500004e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	250119,212127,4743.8091,-12223.7246,40,1.2,44,16.6,0.0,0.0,8,10.0	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	0.79	MHEAD_RNG_PITCHd_Wd	205.6,1699,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-69.6	D_GRID	168
GPS2	250119,212543,4743.8242,-12223.7246,37,1.5,45,16.6,0.0,0.0,5,10.0

FINISH	0.4,1.022644	_10V_AH	13.64,0.000
SM_CCo	2721,448.73,0.109,1,0,639,627.96	FG_AHR_24Vo	0.000
SM_GC	0.80,8.05,0.45,448.73,0.072,0.127,0.109,108,2763,639,-8.10,-0.31,627.96,0,0,0,0,1,0,14.67,14.64,14.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.63,-12225.81,250119,211801	MEM	303944
TT8_MAMPS	0.020223,0.812665	DATA_FILE_SIZE	10115,333
HUMID	39.21	CAP_FILE_SIZE	58120,0
INTERNAL_PRESSURE	8.54631	CFSIZE	2097872896,2094825472
TCM_TEMP	18.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.127,5.73,1
_24V_AH	13.66,0.991	GPS	250119,222057,4743.883,-12224.108,41,1.0,44,16.6,0.2,0.0,6,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	459	141.70	nil	0	0	0.00
Roll_motor	38	144	75.35	nil	0	0	0.00
VBD_pump_during_apogee	288	1019	4021.86	nil	0	0	0.00
VBD_pump_during_surface	448	109	670.55	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	2687	19	702.05
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	53	19	14.27
TT8	769	10	113.56
LPSleep	1002	2	29.96
TT8_Active	885	10	130.66
TT8_Sampling	560	30	231.60
TT8_CF8	91	35	44.18
TT8_Kalman	0	0	0.00
Analog_circuits	1205	10	179.23
GPS_charging	0	0	0.00
Compass	488	6	44.92
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-0.65	-146.6	107	2734	569	714	0.0	0.0	0	163	0.00	0.00	-146.15	0.005	16390	0.000	0.000	106	2734	3796	3755	3838	0	0	0	0	0	0	14.82	13.71	14.82
167	-0.65	-146.6	107	2734	3760	3838	4.0	-6.2	15	184	12.32	2.30	0.00	0.000	2340	0.459	0.133	2492	3967	3801	3764	3838	0	0	0	0	0	0	14.38	14.53	14.64
408	-0.54	-146.6	2492	3967	3767	3838	58.4	-17.9	62	417	0.20	2.03	0.00	0.000	3206	0.282	0.077	2537	2763	3802	3767	3838	0	0	0	0	0	0	14.52	14.66	14.70
598	-0.51	-146.6	2537	2754	3768	3838	88.9	-16.3	81	604	0.00	2.20	0.00	0.000	388	0.000	0.138	2531	3963	3801	3763	3840	0	0	0	0	0	0	14.86	14.59	14.89
707	-0.51	-146.6	2530	3963	3767	3838	106.8	-14.7	102	714	0.00	2.05	0.00	0.000	1030	0.000	0.080	2531	2750	3802	3767	3838	0	0	0	0	0	0	14.77	14.69	14.78
893	-0.46	-146.6	2531	2738	3767	3838	134.0	-15.0	121	900	0.12	2.25	0.00	0.000	2436	0.284	0.145	2554	3961	3802	3767	3838	0	0	0	0	0	0	14.58	14.59	14.70
973	-0.52	-146.6	2554	3961	3767	3838	144.7	-11.7	136	979	0.00	2.05	0.00	0.000	1158	0.000	0.082	2554	2749	3802	3767	3838	0	0	0	0	0	0	14.78	14.73	14.81
1015	end dive: TARGET_DEPTH_EXCEEDED
state	1016	begin apogee
1023	-0.14	0.0	2554	2478	3767	3838	150.5	-12.9	141	1148	0.40	0.00	118.32	1.020	10246	0.238	0.000	2663	2477	3199	3122	3277	0	0	0	0	0	0	14.59	14.25	13.79
1149	end apogee: CONTROL_FINISHED_OK
state	1149	begin climb
1153	0.65	146.6	2664	2477	3121	3276	157.7	0.0	154	1280	0.90	2.42	120.38	0.989	10756	0.199	0.070	2931	1099	2601	2493	2709	0	0	0	0	0	0	14.16	14.08	13.66
1317	0.62	146.6	2931	1099	2488	2709	146.7	10.4	176	1324	0.00	2.47	0.00	0.000	1158	0.000	0.096	2932	2498	2598	2488	2709	0	0	0	0	0	0	14.25	14.16	14.27
1516	0.54	152.4	2931	2498	2487	2709	125.0	9.7	196	1524	0.12	0.00	5.93	0.716	12454	0.289	0.000	2903	2499	2576	2468	2684	0	0	0	0	0	0	14.35	14.49	14.04
1706	0.53	163.7	2903	2498	2469	2682	110.1	9.5	215	1724	0.00	2.60	10.18	0.815	8612	0.000	0.133	2903	3909	2532	2435	2629	0	0	0	0	0	0	14.76	14.44	14.11
1783	0.53	164.6	2902	3909	2434	2629	102.1	10.0	229	1789	0.00	2.40	0.00	0.000	1062	0.000	0.073	2910	2501	2531	2434	2629	0	0	0	0	0	0	14.63	14.55	14.64
1978	0.50	164.6	2911	2488	2434	2629	80.4	13.0	249	1984	0.00	2.30	0.00	0.000	644	0.000	0.073	2920	1092	2531	2433	2629	0	0	0	0	0	0	14.82	14.59	14.84
2006	0.50	164.6	2920	1092	2432	2629	76.7	12.6	254	2014	0.15	2.47	0.00	0.000	5126	0.260	0.101	2888	2501	2530	2432	2629	0	0	0	0	0	0	14.51	14.58	14.67
2195	0.56	187.8	2887	2501	2432	2629	59.6	8.9	273	2223	0.00	2.55	20.10	0.848	8612	0.000	0.133	2888	3915	2433	2344	2523	0	0	0	0	0	0	14.85	14.52	14.18
2232	0.61	203.4	2887	3915	2343	2522	56.0	9.3	279	2255	0.00	2.42	13.82	0.803	9382	0.000	0.077	2896	2480	2374	2281	2467	0	0	0	0	0	0	14.64	14.56	14.14
2436	0.66	203.4	2896	2480	2272	2462	34.8	11.2	301	2442	0.12	2.28	0.00	0.000	2692	0.129	0.072	2964	1099	2367	2272	2462	0	0	0	0	0	0	14.63	14.59	14.65
2496	0.61	203.4	2964	1098	2271	2462	25.8	16.0	312	2503	0.20	2.47	0.00	0.000	5254	0.265	0.101	2919	2510	2366	2271	2462	0	0	0	0	0	0	14.49	14.57	14.66
2679	end climb: SURFACE_DEPTH_REACHED
state	2679	begin surface coast
2700	end surface coast: CONTROL_FINISHED_OK
state	2700	begin surface