Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 21 ALTIM_PULSE 1

DIVE 10 TGT_DEFAULT_LAT 47.700001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LON -122.4 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 3 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 360 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 2968 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 2 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 0 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00038000001 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 7

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 83

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 120 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 160 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100740 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 SIM_W 0

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SEABIRD_T_G 0.0043966938

USE_ICE 0 PITCH_MIN 165 CF8_MAXERRORS 20 SEABIRD_T_H 0.00063700025

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3805 AH0_24V 350 SEABIRD_T_I 2.5067597e-05

D_OFFGRID 1000 C_PITCH 2200 AH0_10V 0 SEABIRD_T_J 2.9826379e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 11 SEABIRD_C_G -9.7293062

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 11 SEABIRD_C_H 1.1206031

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I 0.00047059715

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 27 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 FG_AHR_24V 0 SC_PROFILE 7.0

SPEED_FACTOR 1 PITCH_AD_RATE 145 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -157.45766 SC_NDIVE 1.0

MASS 53923 PITCH_ADJ_GAIN 0.029999999 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1 PM_PROFILE 7.0

NAV_MODE 2 ROLL_MIN 625 COMPASS_USE 4 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_PING_FIT 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

HD_A 0.0038360001 C_ROLL_DIVE 2750 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 1800 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 9.8500004e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.029999999 SEABIRD_C_J 5.505409e-05

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 145 SEABIRD_T_G 0.0043966938

AH0_24V 350 FERRY_MAX 45 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063700025

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.5067597e-05

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_GAIN 27 SEABIRD_T_J 2.9826379e-06

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MAX 3805 SIM_W 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SM_CC 500

ALTIM_PING_FIT 0 GLIDE_SLOPE 30 PITCH_MIN 165 SPEED_FACTOR 1

ALTIM_PULSE 1 GPS_DEVICE 64 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_SENSITIVITY 5 HD_A 0.0038360001 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.010078 PITCH_W_DBAND 0 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 9.8500004e-06 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_MOTORS 1.0 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_NDIVE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_PROFILE 7.0 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 ID 178 PM_SENDDEPTH 1.0 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITPROFILE 3.0 T_BOOST 0

CAPUPLOAD 0 INT_PRESSURE_YINT 0 PM_XMITRAW 0.0 T_DIVE 120

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_SLOPE 0.0001061024 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 53 PRESSURE_YINT -157.45766 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 83 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 P_OVSHOOT 0.039999999 T_MISSION 160

COMPASS_USE 4 LOGGERDEVICE4 -1 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERS 7 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_PITCH 2200 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 1800 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2750 LOITER_D_TOP 0 RAFOS_MMODEM 0 T_WATCHDOG 10

C_VBD 2968 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

DBDW 0 LOITER_W_DBAND 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53923 RHO 1.0275 USE_BATHY -2

DEVICE1 -1 MASS_COMP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE2 -1 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE4 -1 MAX_BUOY 150 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MINV_10V 11 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MINV_24V 11 ROLL_MAX 3950 VBD_MAX 3960

DIVE 10 MISSION 31 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 1010 MOTHERBOARD 4 ROLL_MIN 625 VBD_MIN 500

D_BOOST 2 NAV_MODE 2 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 NOCOMM_ACTION 163 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 21 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_NO_BLEED 200 N_GPS 100740 SC_PROFILE 7.0 XPDR_DEVICE 24

D_OFFGRID 1000 N_NOCOMM 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 99

D_PITCH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 49 SEABIRD_C_G -9.7293062

D_SURF 3 PHONE_SUPPLY -2 SEABIRD_C_H 1.1206031

D_TGT 360 PITCH_ADJ_DBAND 1 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 031019,165642,1325.7997,14435.0420,3,1.3,4,0.6,0.4,139.6,8,9.9 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME FIX

_XMS_NAKs 0 TGT_LATLONG 1325.800,14435.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.53 MHEAD_RNG_PITCHd_Wd 104.8,1466,-27.8,-10.000,-30.00,969

_SM_ANGLEo -58.5 D_GRID 1067

GPS2 031019,170356,1325.7502,14435.0889,3,1.3,4,0.6,0.0,0.0,8,9.9

Post-dive calculations and measurements:

SM_CCo 6058,187.15,0.705,1,0,929,500.41 PM_ACTIVECARD 0

SM_GC 0.61,7.18,3.50,187.15,0.091,0.050,0.705,162,2731,929,-6.32,-1.39,500.41,0,0,0,0,1,0,15.38,15.38,14.66 _24V_AH 14.43,5.200

IRIDIUM_FIX 1326.42,14433.41,031019,150341 _10V_AH 13.64,0.000

TT8_MAMPS 0.019474,0.168525 FG_AHR_24Vo 0.000

HUMID 46.88 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.08238 MEM 271096

TCM_TEMP 26.10 DATA_FILE_SIZE 29998,844

XPDR_PINGS 0 CAP_FILE_SIZE 87501,0

SC_FREEKB 3873504 CFSIZE 260034560,256929792

PM_FREEKB_00 124153600 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.051,14.19,1

PM_FREEKB_02 124821056 GPS 031019,185025,1325.571,14435.521,35,0.8,35,0.6,0.1,0.0,12,3.4

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 426 117.96 nil 0 0 0.00

Roll_motor 60 104 90.90 nil 0 0 0.00

VBD_pump_during_apogee 319 1157 5338.77 nil 0 0 0.00

VBD_pump_during_surface 187 704 1902.73 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 6052 8 730.43

Iridium_during_xfer 272 189 746.42 PMAR 6045 3 343.77

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.06

TT8 709 9 87.74

LPSleep 2843 2 84.94

TT8_Active 522 9 64.65

TT8_Sampling 2476 28 964.32

TT8_CF8 158 33 73.20

TT8_Kalman 0 0 0.00

Analog_circuits 1577 10 223.73

GPS_charging 0 0 0.00

Compass 2061 17 484.57

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -1.06 -63.1 155 2732 994 859 0.0 0.0 0 109 0.00 0.00 -89.05 0.005 16386 0.000 0.000 155 2732 3195 3237 3153 0 0 0 0 0 0 15.43 28.83 15.44

112 -1.06 -77.5 155 2732 3237 3159 4.6 -8.5 9 130 8.15 2.08 -1.60 0.072 18724 0.427 0.104 1838 3950 3288 3339 3238 0 0 0 0 0 0 15.06 14.47 15.25

356 -0.95 -77.5 1837 3950 3338 3237 96.8 -36.2 58 364 0.17 1.98 0.00 0.000 3206 0.305 0.036 1883 2686 3287 3338 3237 0 0 0 0 0 0 15.21 15.37 15.32

544 -1.10 -77.5 1882 2686 3338 3235 135.6 -18.0 77 551 0.12 2.12 0.00 0.000 4484 0.159 0.079 1831 3953 3288 3339 3237 0 0 0 0 0 0 15.37 15.35 15.42

779 -1.17 -77.5 1830 3953 3339 3237 176.0 -11.7 123 785 0.00 1.92 0.00 0.000 1158 0.000 0.036 1831 2684 3287 3339 3235 0 0 0 0 0 0 15.48 15.45 15.50

973 -1.32 -82.6 1831 2681 3335 3237 193.5 -9.5 143 980 0.15 2.12 -0.10 1.085 20900 0.148 0.100 1766 3949 3310 3364 3257 0 0 0 0 0 0 15.39 14.83 15.40

1040 -1.32 -82.6 1765 3951 3364 3263 202.8 -13.8 156 1048 0.00 1.95 0.00 0.000 1030 0.000 0.037 1765 2685 3310 3364 3257 0 0 0 0 0 0 15.47 15.45 15.48

1228 -1.36 -82.6 1765 2685 3364 3257 224.9 -14.4 175 1235 0.00 0.00 0.00 0.000 134 0.000 0.000 1765 2685 3311 3365 3257 0 0 0 0 0 0 15.61 15.64 15.63

1419 -1.43 -82.6 1765 2685 3364 3257 247.6 -11.8 194 1424 0.00 2.12 0.00 0.000 644 0.000 0.044 1766 1328 3311 3364 3258 0 0 0 0 0 0 15.62 15.43 15.64

1611 -1.49 -82.6 1765 1328 3364 3255 271.9 -13.2 232 1621 0.15 2.35 0.00 0.000 5254 0.150 0.057 1712 2762 3310 3365 3255 0 0 0 0 0 0 15.42 15.42 15.50

1934 -1.49 -82.6 1715 2759 3364 3252 323.2 -16.0 246 1940 0.00 1.95 0.00 0.000 260 0.000 0.081 1706 3950 3309 3366 3252 0 0 0 0 0 0 15.64 15.42 15.65

2139 end dive: TARGET_DEPTH_EXCEEDED

state 2139 begin apogee

2147 -0.19 0.0 1706 1787 3359 3249 360.1 -15.8 287 2233 1.58 0.00 74.82 1.157 10246 0.272 0.000 2130 1784 2968 3048 2889 0 0 0 0 0 0 15.31 15.09 14.62

2242 end apogee: CONTROL_FINISHED_OK

state 2242 begin climb

2244 1.06 82.6 2130 1785 3043 2887 363.1 0.0 290 2333 1.20 2.00 77.43 1.146 10756 0.097 0.072 2545 648 2630 2702 2559 0 0 0 0 0 0 15.09 14.87 14.43

2559 1.00 82.6 2545 648 2693 2556 326.9 12.1 355 2566 0.00 1.92 0.00 0.000 1158 0.000 0.043 2545 1816 2624 2693 2556 0 0 0 0 0 0 15.27 15.23 15.30

2867 0.97 82.6 2544 1816 2695 2550 291.0 11.4 366 2873 0.15 1.98 0.00 0.000 4740 0.332 0.071 2517 641 2621 2692 2550 0 0 0 0 0 0 15.21 15.32 15.33

3081 0.97 82.6 2516 641 2690 2550 268.5 10.3 408 3086 0.00 1.85 0.00 0.000 1030 0.000 0.044 2517 1801 2619 2689 2550 0 0 0 0 0 0 15.45 15.39 15.47

3395 0.97 86.9 2516 1801 2690 2546 239.2 9.5 430 3401 0.00 1.95 0.00 0.000 548 0.000 0.075 2517 636 2618 2690 2546 0 0 0 0 0 0 15.59 15.38 15.60

3629 0.98 107.4 2516 632 2688 2543 219.3 7.8 476 3661 0.00 1.85 21.02 1.086 9254 0.000 0.044 2517 1804 2529 2605 2454 0 0 0 0 0 0 15.48 15.41 14.82

3841 1.03 158.1 2517 1803 2605 2447 203.9 4.6 500 3893 0.00 2.33 44.85 1.092 9124 0.000 0.066 2517 3190 2323 2404 2242 0 0 0 0 0 0 15.53 15.04 14.68

4120 1.04 177.0 2517 3191 2404 2234 182.9 8.0 556 4146 0.00 2.33 17.40 1.029 9254 0.000 0.048 2517 1803 2245 2330 2161 0 0 0 0 0 0 15.30 15.25 14.74

4328 1.12 177.0 2517 1803 2326 2157 160.7 10.3 579 4334 0.15 2.33 0.00 0.000 2436 0.145 0.065 2569 3189 2241 2326 2156 0 0 0 0 0 0 15.26 15.26 15.31

4443 1.10 244.6 2569 3190 2326 2155 153.6 2.8 601 4511 0.00 2.28 57.75 1.028 9382 0.000 0.046 2573 1793 1970 2057 1884 0 0 0 0 0 0 15.38 15.32 14.62

4692 1.14 244.6 2572 1793 2056 1877 137.4 11.4 633 4699 0.00 1.95 0.00 0.000 644 0.000 0.079 2572 635 1965 2055 1876 0 0 0 0 0 0 15.41 15.20 15.42

4928 1.20 254.7 2572 635 2056 1877 109.4 8.9 679 4946 0.00 1.88 8.98 0.856 9382 0.000 0.043 2572 1809 1930 2018 1843 0 0 0 0 0 0 15.38 15.32 14.84

5129 1.31 268.6 2572 1809 2019 1840 91.8 8.5 701 5152 0.15 2.03 13.60 0.874 10916 0.152 0.070 2636 643 1871 1957 1786 0 0 0 0 0 0 15.30 15.21 14.85

5350 1.31 269.0 2635 642 1952 1785 73.8 10.0 745 5356 0.00 1.85 0.00 0.000 1062 0.000 0.042 2636 1804 1868 1952 1785 0 0 0 0 0 0 15.40 15.34 15.41

5544 1.34 272.0 2635 1804 1952 1785 53.3 9.7 765 5555 0.00 2.28 3.80 0.545 8612 0.000 0.062 2636 3191 1859 1944 1775 0 0 0 0 0 0 15.54 15.28 14.94

5628 1.34 272.0 2635 3191 1944 1775 44.9 10.4 781 5634 0.00 2.25 0.00 0.000 1030 0.000 0.044 2638 1801 1859 1944 1774 0 0 0 0 0 0 15.42 15.36 15.44

5822 1.38 272.0 2637 1798 1942 1774 25.1 10.3 801 5829 0.00 1.90 0.00 0.000 644 0.000 0.073 2638 635 1859 1944 1775 0 0 0 0 0 0 15.57 15.35 15.58

6018 end climb: SURFACE_DEPTH_REACHED

state 6018 begin surface coast

6037 end surface coast: CONTROL_FINISHED_OK

state 6037 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	21	ALTIM_PULSE	1
DIVE	10	TGT_DEFAULT_LAT	47.700001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LON	-122.4	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	3	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	360	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	2968	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	2	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	0	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00038000001	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	7
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	83
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	120	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	160	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100740	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	SIM_W	0
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SEABIRD_T_G	0.0043966938
USE_ICE	0	PITCH_MIN	165	CF8_MAXERRORS	20	SEABIRD_T_H	0.00063700025
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3805	AH0_24V	350	SEABIRD_T_I	2.5067597e-05
D_OFFGRID	1000	C_PITCH	2200	AH0_10V	0	SEABIRD_T_J	2.9826379e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	11	SEABIRD_C_G	-9.7293062
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	11	SEABIRD_C_H	1.1206031
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	0.00047059715
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	27	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	FG_AHR_24V	0	SC_PROFILE	7.0
SPEED_FACTOR	1	PITCH_AD_RATE	145	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-157.45766	SC_NDIVE	1.0
MASS	53923	PITCH_ADJ_GAIN	0.029999999	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1	PM_PROFILE	7.0
NAV_MODE	2	ROLL_MIN	625	COMPASS_USE	4	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_PING_FIT	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
HD_A	0.0038360001	C_ROLL_DIVE	2750	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	1800	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	9.8500004e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	031019,165642,1325.7997,14435.0420,3,1.3,4,0.6,0.4,139.6,8,9.9	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	FIX
_XMS_NAKs	0	TGT_LATLONG	1325.800,14435.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.53	MHEAD_RNG_PITCHd_Wd	104.8,1466,-27.8,-10.000,-30.00,969
_SM_ANGLEo	-58.5	D_GRID	1067
GPS2	031019,170356,1325.7502,14435.0889,3,1.3,4,0.6,0.0,0.0,8,9.9

SM_CCo	6058,187.15,0.705,1,0,929,500.41	PM_ACTIVECARD	0
SM_GC	0.61,7.18,3.50,187.15,0.091,0.050,0.705,162,2731,929,-6.32,-1.39,500.41,0,0,0,0,1,0,15.38,15.38,14.66	_24V_AH	14.43,5.200
IRIDIUM_FIX	1326.42,14433.41,031019,150341	_10V_AH	13.64,0.000
TT8_MAMPS	0.019474,0.168525	FG_AHR_24Vo	0.000
HUMID	46.88	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.08238	MEM	271096
TCM_TEMP	26.10	DATA_FILE_SIZE	29998,844
XPDR_PINGS	0	CAP_FILE_SIZE	87501,0
SC_FREEKB	3873504	CFSIZE	260034560,256929792
PM_FREEKB_00	124153600	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.051,14.19,1
PM_FREEKB_02	124821056	GPS	031019,185025,1325.571,14435.521,35,0.8,35,0.6,0.1,0.0,12,3.4
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	426	117.96	nil	0	0	0.00
Roll_motor	60	104	90.90	nil	0	0	0.00
VBD_pump_during_apogee	319	1157	5338.77	nil	0	0	0.00
VBD_pump_during_surface	187	704	1902.73	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	6052	8	730.43
Iridium_during_xfer	272	189	746.42	PMAR	6045	3	343.77
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.06
TT8	709	9	87.74
LPSleep	2843	2	84.94
TT8_Active	522	9	64.65
TT8_Sampling	2476	28	964.32
TT8_CF8	158	33	73.20
TT8_Kalman	0	0	0.00
Analog_circuits	1577	10	223.73
GPS_charging	0	0	0.00
Compass	2061	17	484.57
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-1.06	-63.1	155	2732	994	859	0.0	0.0	0	109	0.00	0.00	-89.05	0.005	16386	0.000	0.000	155	2732	3195	3237	3153	0	0	0	0	0	0	15.43	28.83	15.44
112	-1.06	-77.5	155	2732	3237	3159	4.6	-8.5	9	130	8.15	2.08	-1.60	0.072	18724	0.427	0.104	1838	3950	3288	3339	3238	0	0	0	0	0	0	15.06	14.47	15.25
356	-0.95	-77.5	1837	3950	3338	3237	96.8	-36.2	58	364	0.17	1.98	0.00	0.000	3206	0.305	0.036	1883	2686	3287	3338	3237	0	0	0	0	0	0	15.21	15.37	15.32
544	-1.10	-77.5	1882	2686	3338	3235	135.6	-18.0	77	551	0.12	2.12	0.00	0.000	4484	0.159	0.079	1831	3953	3288	3339	3237	0	0	0	0	0	0	15.37	15.35	15.42
779	-1.17	-77.5	1830	3953	3339	3237	176.0	-11.7	123	785	0.00	1.92	0.00	0.000	1158	0.000	0.036	1831	2684	3287	3339	3235	0	0	0	0	0	0	15.48	15.45	15.50
973	-1.32	-82.6	1831	2681	3335	3237	193.5	-9.5	143	980	0.15	2.12	-0.10	1.085	20900	0.148	0.100	1766	3949	3310	3364	3257	0	0	0	0	0	0	15.39	14.83	15.40
1040	-1.32	-82.6	1765	3951	3364	3263	202.8	-13.8	156	1048	0.00	1.95	0.00	0.000	1030	0.000	0.037	1765	2685	3310	3364	3257	0	0	0	0	0	0	15.47	15.45	15.48
1228	-1.36	-82.6	1765	2685	3364	3257	224.9	-14.4	175	1235	0.00	0.00	0.00	0.000	134	0.000	0.000	1765	2685	3311	3365	3257	0	0	0	0	0	0	15.61	15.64	15.63
1419	-1.43	-82.6	1765	2685	3364	3257	247.6	-11.8	194	1424	0.00	2.12	0.00	0.000	644	0.000	0.044	1766	1328	3311	3364	3258	0	0	0	0	0	0	15.62	15.43	15.64
1611	-1.49	-82.6	1765	1328	3364	3255	271.9	-13.2	232	1621	0.15	2.35	0.00	0.000	5254	0.150	0.057	1712	2762	3310	3365	3255	0	0	0	0	0	0	15.42	15.42	15.50
1934	-1.49	-82.6	1715	2759	3364	3252	323.2	-16.0	246	1940	0.00	1.95	0.00	0.000	260	0.000	0.081	1706	3950	3309	3366	3252	0	0	0	0	0	0	15.64	15.42	15.65
2139	end dive: TARGET_DEPTH_EXCEEDED
state	2139	begin apogee
2147	-0.19	0.0	1706	1787	3359	3249	360.1	-15.8	287	2233	1.58	0.00	74.82	1.157	10246	0.272	0.000	2130	1784	2968	3048	2889	0	0	0	0	0	0	15.31	15.09	14.62
2242	end apogee: CONTROL_FINISHED_OK
state	2242	begin climb
2244	1.06	82.6	2130	1785	3043	2887	363.1	0.0	290	2333	1.20	2.00	77.43	1.146	10756	0.097	0.072	2545	648	2630	2702	2559	0	0	0	0	0	0	15.09	14.87	14.43
2559	1.00	82.6	2545	648	2693	2556	326.9	12.1	355	2566	0.00	1.92	0.00	0.000	1158	0.000	0.043	2545	1816	2624	2693	2556	0	0	0	0	0	0	15.27	15.23	15.30
2867	0.97	82.6	2544	1816	2695	2550	291.0	11.4	366	2873	0.15	1.98	0.00	0.000	4740	0.332	0.071	2517	641	2621	2692	2550	0	0	0	0	0	0	15.21	15.32	15.33
3081	0.97	82.6	2516	641	2690	2550	268.5	10.3	408	3086	0.00	1.85	0.00	0.000	1030	0.000	0.044	2517	1801	2619	2689	2550	0	0	0	0	0	0	15.45	15.39	15.47
3395	0.97	86.9	2516	1801	2690	2546	239.2	9.5	430	3401	0.00	1.95	0.00	0.000	548	0.000	0.075	2517	636	2618	2690	2546	0	0	0	0	0	0	15.59	15.38	15.60
3629	0.98	107.4	2516	632	2688	2543	219.3	7.8	476	3661	0.00	1.85	21.02	1.086	9254	0.000	0.044	2517	1804	2529	2605	2454	0	0	0	0	0	0	15.48	15.41	14.82
3841	1.03	158.1	2517	1803	2605	2447	203.9	4.6	500	3893	0.00	2.33	44.85	1.092	9124	0.000	0.066	2517	3190	2323	2404	2242	0	0	0	0	0	0	15.53	15.04	14.68
4120	1.04	177.0	2517	3191	2404	2234	182.9	8.0	556	4146	0.00	2.33	17.40	1.029	9254	0.000	0.048	2517	1803	2245	2330	2161	0	0	0	0	0	0	15.30	15.25	14.74
4328	1.12	177.0	2517	1803	2326	2157	160.7	10.3	579	4334	0.15	2.33	0.00	0.000	2436	0.145	0.065	2569	3189	2241	2326	2156	0	0	0	0	0	0	15.26	15.26	15.31
4443	1.10	244.6	2569	3190	2326	2155	153.6	2.8	601	4511	0.00	2.28	57.75	1.028	9382	0.000	0.046	2573	1793	1970	2057	1884	0	0	0	0	0	0	15.38	15.32	14.62
4692	1.14	244.6	2572	1793	2056	1877	137.4	11.4	633	4699	0.00	1.95	0.00	0.000	644	0.000	0.079	2572	635	1965	2055	1876	0	0	0	0	0	0	15.41	15.20	15.42
4928	1.20	254.7	2572	635	2056	1877	109.4	8.9	679	4946	0.00	1.88	8.98	0.856	9382	0.000	0.043	2572	1809	1930	2018	1843	0	0	0	0	0	0	15.38	15.32	14.84
5129	1.31	268.6	2572	1809	2019	1840	91.8	8.5	701	5152	0.15	2.03	13.60	0.874	10916	0.152	0.070	2636	643	1871	1957	1786	0	0	0	0	0	0	15.30	15.21	14.85
5350	1.31	269.0	2635	642	1952	1785	73.8	10.0	745	5356	0.00	1.85	0.00	0.000	1062	0.000	0.042	2636	1804	1868	1952	1785	0	0	0	0	0	0	15.40	15.34	15.41
5544	1.34	272.0	2635	1804	1952	1785	53.3	9.7	765	5555	0.00	2.28	3.80	0.545	8612	0.000	0.062	2636	3191	1859	1944	1775	0	0	0	0	0	0	15.54	15.28	14.94
5628	1.34	272.0	2635	3191	1944	1775	44.9	10.4	781	5634	0.00	2.25	0.00	0.000	1030	0.000	0.044	2638	1801	1859	1944	1774	0	0	0	0	0	0	15.42	15.36	15.44
5822	1.38	272.0	2637	1798	1942	1774	25.1	10.3	801	5829	0.00	1.90	0.00	0.000	644	0.000	0.073	2638	635	1859	1944	1775	0	0	0	0	0	0	15.57	15.35	15.58
6018	end climb: SURFACE_DEPTH_REACHED
state	6018	begin surface coast
6037	end surface coast: CONTROL_FINISHED_OK
state	6037	begin surface