Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 1

DIVE 11 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 11 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 34 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 25 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 031019,185025,1325.5709,14435.5205,35,0.8,35,0.6,0.1,0.0,12,3.4 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 64.7,773,-27.8,-10.000,-30.00,969

_SM_ANGLEo -58.4 D_GRID 863

GPS2 031019,185741,1325.5570,14435.5518,3,0.7,3,0.6,0.4,134.6,12,6.4

Post-dive calculations and measurements:

SM_CCo 6112,186.95,0.702,1,0,929,500.17 PM_ACTIVECARD 0

SM_GC 0.49,7.65,0.75,186.95,0.134,0.043,0.702,158,2723,929,-6.33,0.99,500.17,0,0,0,0,1,0,15.37,15.43,14.65 _24V_AH 14.43,5.407

IRIDIUM_FIX 1328.70,14438.31,031019,165923 _10V_AH 13.61,0.000

TT8_MAMPS 0.019474,0.168525 FG_AHR_24Vo 0.000

HUMID 47.12 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.06285 MEM 271112

TCM_TEMP 25.90 DATA_FILE_SIZE 26798,783

XPDR_PINGS 1 CAP_FILE_SIZE 82877,0

SC_FREEKB 3873120 CFSIZE 260034560,256843776

PM_FREEKB_00 124074752 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.034,49.62,1

PM_FREEKB_02 124821056 GPS 031019,204432,1325.722,14435.999,2,0.9,3,0.6,0.2,0.0,10,7.2

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 427 120.64 nil 0 0 0.00

Roll_motor 50 100 73.14 nil 0 0 0.00

VBD_pump_during_apogee 312 1155 5207.87 nil 0 0 0.00

VBD_pump_during_surface 186 702 1894.51 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 6109 8 737.49

Iridium_during_xfer 277 182 731.01 PMAR 6102 3 345.08

Transponder_ping 0 420 1.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 9 1.96

TT8 667 9 82.35

LPSleep 3028 2 90.28

TT8_Active 519 9 64.12

TT8_Sampling 2392 28 929.70

TT8_CF8 161 33 74.46

TT8_Kalman 0 0 0.00

Analog_circuits 1522 10 215.56

GPS_charging 0 0 0.00

Compass 1986 17 465.78

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 -63.1 162 2732 991 861 0.0 0.0 0 109 0.00 0.00 -88.82 0.005 16386 0.000 0.000 162 2732 3216 3257 3175 0 0 0 0 0 0 15.43 28.83 15.47

112 -1.06 -75.2 161 2732 3257 3175 4.7 -8.7 9 130 8.12 2.05 -1.05 0.108 18724 0.428 0.100 1838 3949 3280 3329 3232 0 0 0 0 0 0 15.06 14.47 15.24

183 -0.91 -75.2 1837 3948 3324 3232 36.5 -37.9 23 189 0.28 1.92 0.00 0.000 3206 0.308 0.036 1901 2694 3276 3324 3229 0 0 0 0 0 0 15.15 15.33 15.33

378 -0.95 -75.2 1904 2694 3325 3231 85.4 -23.6 43 383 0.00 2.10 0.00 0.000 388 0.000 0.084 1895 3943 3280 3325 3236 0 0 0 0 0 0 15.53 15.31 15.54

611 -1.09 -75.2 1895 3943 3326 3230 133.0 -17.2 89 618 0.15 1.88 0.00 0.000 5254 0.138 0.037 1841 2717 3277 3325 3230 0 0 0 0 0 0 15.38 15.42 15.44

808 -1.19 -75.2 1840 2717 3326 3230 170.9 -20.9 109 814 0.00 2.12 0.00 0.000 644 0.000 0.044 1840 1361 3277 3325 3230 0 0 0 0 0 0 15.59 15.40 15.61

965 -1.34 -75.2 1839 1361 3327 3230 194.9 -15.8 140 973 0.15 2.33 0.00 0.000 5254 0.099 0.054 1768 2759 3278 3326 3230 0 0 0 0 0 0 15.39 15.42 15.44

1154 -1.38 -93.4 1767 2759 3327 3231 212.6 -8.1 159 1161 0.00 0.00 0.00 0.000 166 0.000 0.000 1769 2759 3278 3327 3230 0 0 0 0 0 0 15.61 15.64 15.64

1344 -1.42 -93.4 1766 2759 3327 3230 233.3 -10.8 178 1349 0.00 1.92 0.00 0.000 388 0.000 0.077 1759 3942 3278 3327 3230 0 0 0 0 0 0 15.61 15.41 15.63

1559 -1.42 -93.4 1758 3942 3326 3229 257.9 -10.6 220 1565 0.00 1.83 0.00 0.000 1030 0.000 0.038 1759 2744 3278 3327 3229 0 0 0 0 0 0 15.52 15.48 15.54

1893 -1.49 -93.4 1758 2744 3326 3227 297.8 -12.4 236 1898 0.12 2.17 0.00 0.000 4740 0.164 0.043 1718 1364 3277 3327 3227 0 0 0 0 0 0 15.43 15.45 15.50

2125 -1.49 -93.4 1718 1366 3326 3224 330.1 -14.6 282 2131 0.00 2.28 0.00 0.000 1030 0.000 0.057 1712 2750 3274 3326 3223 0 0 0 0 0 0 15.52 15.44 15.54

2346 end dive: TARGET_DEPTH_EXCEEDED

state 2347 begin apogee

2353 -0.19 0.0 1708 1819 3326 3220 362.2 -14.6 291 2427 1.55 0.00 67.78 1.156 10246 0.271 0.000 2132 1815 2968 3046 2890 0 0 0 0 0 0 15.32 15.14 14.65

2430 end apogee: CONTROL_FINISHED_OK

state 2430 begin climb

2432 1.07 93.4 2128 1815 3046 2889 365.2 0.0 293 2528 1.20 0.00 87.82 1.144 10502 0.099 0.000 2542 1815 2587 2662 2512 0 0 0 0 0 0 15.10 14.81 14.43

2829 1.07 93.4 2542 1814 2659 2504 323.0 11.0 312 2833 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 1814 2582 2662 2503 0 0 0 0 0 0 15.46 15.49 15.48

3128 1.07 93.4 2542 1815 2657 2502 288.9 12.5 322 3135 0.00 1.95 0.00 0.000 516 0.000 0.073 2545 643 2580 2658 2502 0 0 0 0 0 0 15.55 15.34 15.57

3361 1.02 95.4 2545 641 2652 2502 259.0 9.8 368 3367 0.00 1.88 0.00 0.000 1190 0.000 0.044 2545 1823 2576 2652 2501 0 0 0 0 0 0 15.46 15.40 15.47

3676 1.00 117.6 2545 1823 2651 2498 227.9 7.6 394 3704 0.00 2.00 20.75 1.078 8868 0.000 0.071 2545 637 2485 2565 2406 0 0 0 0 0 0 15.59 15.23 14.83

3930 1.00 117.6 2545 637 2557 2408 201.7 13.9 445 3938 0.00 1.90 0.00 0.000 1030 0.000 0.044 2544 1795 2482 2557 2408 0 0 0 0 0 0 15.39 15.35 15.41

4117 1.01 150.5 2545 1796 2557 2410 186.0 6.5 464 4157 0.00 2.38 29.05 1.072 8996 0.000 0.067 2545 3189 2352 2433 2272 0 0 0 0 0 0 15.56 15.19 14.78

4384 1.03 204.2 2545 3188 2433 2265 168.1 4.3 517 4440 0.00 2.28 46.10 1.050 9254 0.000 0.045 2545 1815 2135 2218 2052 0 0 0 0 0 0 15.35 15.29 14.67

4622 1.09 211.5 2544 1815 2215 2046 155.3 9.2 546 4636 0.00 1.98 7.20 0.868 9124 0.000 0.075 2545 634 2106 2190 2022 0 0 0 0 0 0 15.43 15.14 14.76

4865 1.16 222.4 2545 634 2182 2022 133.2 8.8 594 4884 0.00 1.88 10.48 0.912 9382 0.000 0.043 2545 1806 2061 2144 1978 0 0 0 0 0 0 15.38 15.32 14.82

5066 1.27 248.4 2545 1806 2143 1975 117.0 7.2 616 5099 0.17 2.35 23.05 0.942 10660 0.135 0.067 2609 3187 1957 2045 1870 0 0 0 0 0 0 15.30 15.19 14.80

5328 1.24 270.2 2609 3187 2042 1866 89.3 7.7 668 5357 0.00 2.25 20.00 0.881 9382 0.000 0.044 2610 1797 1865 1953 1777 0 0 0 0 0 0 15.36 15.30 14.83

5539 1.30 270.2 2608 1797 1953 1773 65.3 10.8 692 5545 0.00 2.33 0.00 0.000 388 0.000 0.062 2610 3204 1863 1953 1773 0 0 0 0 0 0 15.49 15.29 15.51

5773 1.34 270.2 2610 3204 1952 1773 41.3 10.1 738 5780 0.00 2.28 0.00 0.000 1158 0.000 0.044 2610 1795 1863 1953 1773 0 0 0 0 0 0 15.42 15.35 15.43

5968 1.43 270.2 2609 1795 1953 1772 19.4 12.0 758 5975 0.15 2.30 0.00 0.000 2436 0.139 0.058 2665 3193 1862 1953 1772 0 0 0 0 0 0 15.35 15.35 15.40

6085 end climb: SURFACE_DEPTH_REACHED

state 6085 begin surface coast

6094 end surface coast: CONTROL_FINISHED_OK

state 6094 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	1
DIVE	11	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	031019,185025,1325.5709,14435.5205,35,0.8,35,0.6,0.1,0.0,12,3.4	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	64.7,773,-27.8,-10.000,-30.00,969
_SM_ANGLEo	-58.4	D_GRID	863
GPS2	031019,185741,1325.5570,14435.5518,3,0.7,3,0.6,0.4,134.6,12,6.4

SM_CCo	6112,186.95,0.702,1,0,929,500.17	PM_ACTIVECARD	0
SM_GC	0.49,7.65,0.75,186.95,0.134,0.043,0.702,158,2723,929,-6.33,0.99,500.17,0,0,0,0,1,0,15.37,15.43,14.65	_24V_AH	14.43,5.407
IRIDIUM_FIX	1328.70,14438.31,031019,165923	_10V_AH	13.61,0.000
TT8_MAMPS	0.019474,0.168525	FG_AHR_24Vo	0.000
HUMID	47.12	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.06285	MEM	271112
TCM_TEMP	25.90	DATA_FILE_SIZE	26798,783
XPDR_PINGS	1	CAP_FILE_SIZE	82877,0
SC_FREEKB	3873120	CFSIZE	260034560,256843776
PM_FREEKB_00	124074752	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.034,49.62,1
PM_FREEKB_02	124821056	GPS	031019,204432,1325.722,14435.999,2,0.9,3,0.6,0.2,0.0,10,7.2
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	427	120.64	nil	0	0	0.00
Roll_motor	50	100	73.14	nil	0	0	0.00
VBD_pump_during_apogee	312	1155	5207.87	nil	0	0	0.00
VBD_pump_during_surface	186	702	1894.51	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	6109	8	737.49
Iridium_during_xfer	277	182	731.01	PMAR	6102	3	345.08
Transponder_ping	0	420	1.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	9	1.96
TT8	667	9	82.35
LPSleep	3028	2	90.28
TT8_Active	519	9	64.12
TT8_Sampling	2392	28	929.70
TT8_CF8	161	33	74.46
TT8_Kalman	0	0	0.00
Analog_circuits	1522	10	215.56
GPS_charging	0	0	0.00
Compass	1986	17	465.78
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	162	2732	991	861	0.0	0.0	0	109	0.00	0.00	-88.82	0.005	16386	0.000	0.000	162	2732	3216	3257	3175	0	0	0	0	0	0	15.43	28.83	15.47
112	-1.06	-75.2	161	2732	3257	3175	4.7	-8.7	9	130	8.12	2.05	-1.05	0.108	18724	0.428	0.100	1838	3949	3280	3329	3232	0	0	0	0	0	0	15.06	14.47	15.24
183	-0.91	-75.2	1837	3948	3324	3232	36.5	-37.9	23	189	0.28	1.92	0.00	0.000	3206	0.308	0.036	1901	2694	3276	3324	3229	0	0	0	0	0	0	15.15	15.33	15.33
378	-0.95	-75.2	1904	2694	3325	3231	85.4	-23.6	43	383	0.00	2.10	0.00	0.000	388	0.000	0.084	1895	3943	3280	3325	3236	0	0	0	0	0	0	15.53	15.31	15.54
611	-1.09	-75.2	1895	3943	3326	3230	133.0	-17.2	89	618	0.15	1.88	0.00	0.000	5254	0.138	0.037	1841	2717	3277	3325	3230	0	0	0	0	0	0	15.38	15.42	15.44
808	-1.19	-75.2	1840	2717	3326	3230	170.9	-20.9	109	814	0.00	2.12	0.00	0.000	644	0.000	0.044	1840	1361	3277	3325	3230	0	0	0	0	0	0	15.59	15.40	15.61
965	-1.34	-75.2	1839	1361	3327	3230	194.9	-15.8	140	973	0.15	2.33	0.00	0.000	5254	0.099	0.054	1768	2759	3278	3326	3230	0	0	0	0	0	0	15.39	15.42	15.44
1154	-1.38	-93.4	1767	2759	3327	3231	212.6	-8.1	159	1161	0.00	0.00	0.00	0.000	166	0.000	0.000	1769	2759	3278	3327	3230	0	0	0	0	0	0	15.61	15.64	15.64
1344	-1.42	-93.4	1766	2759	3327	3230	233.3	-10.8	178	1349	0.00	1.92	0.00	0.000	388	0.000	0.077	1759	3942	3278	3327	3230	0	0	0	0	0	0	15.61	15.41	15.63
1559	-1.42	-93.4	1758	3942	3326	3229	257.9	-10.6	220	1565	0.00	1.83	0.00	0.000	1030	0.000	0.038	1759	2744	3278	3327	3229	0	0	0	0	0	0	15.52	15.48	15.54
1893	-1.49	-93.4	1758	2744	3326	3227	297.8	-12.4	236	1898	0.12	2.17	0.00	0.000	4740	0.164	0.043	1718	1364	3277	3327	3227	0	0	0	0	0	0	15.43	15.45	15.50
2125	-1.49	-93.4	1718	1366	3326	3224	330.1	-14.6	282	2131	0.00	2.28	0.00	0.000	1030	0.000	0.057	1712	2750	3274	3326	3223	0	0	0	0	0	0	15.52	15.44	15.54
2346	end dive: TARGET_DEPTH_EXCEEDED
state	2347	begin apogee
2353	-0.19	0.0	1708	1819	3326	3220	362.2	-14.6	291	2427	1.55	0.00	67.78	1.156	10246	0.271	0.000	2132	1815	2968	3046	2890	0	0	0	0	0	0	15.32	15.14	14.65
2430	end apogee: CONTROL_FINISHED_OK
state	2430	begin climb
2432	1.07	93.4	2128	1815	3046	2889	365.2	0.0	293	2528	1.20	0.00	87.82	1.144	10502	0.099	0.000	2542	1815	2587	2662	2512	0	0	0	0	0	0	15.10	14.81	14.43
2829	1.07	93.4	2542	1814	2659	2504	323.0	11.0	312	2833	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	1814	2582	2662	2503	0	0	0	0	0	0	15.46	15.49	15.48
3128	1.07	93.4	2542	1815	2657	2502	288.9	12.5	322	3135	0.00	1.95	0.00	0.000	516	0.000	0.073	2545	643	2580	2658	2502	0	0	0	0	0	0	15.55	15.34	15.57
3361	1.02	95.4	2545	641	2652	2502	259.0	9.8	368	3367	0.00	1.88	0.00	0.000	1190	0.000	0.044	2545	1823	2576	2652	2501	0	0	0	0	0	0	15.46	15.40	15.47
3676	1.00	117.6	2545	1823	2651	2498	227.9	7.6	394	3704	0.00	2.00	20.75	1.078	8868	0.000	0.071	2545	637	2485	2565	2406	0	0	0	0	0	0	15.59	15.23	14.83
3930	1.00	117.6	2545	637	2557	2408	201.7	13.9	445	3938	0.00	1.90	0.00	0.000	1030	0.000	0.044	2544	1795	2482	2557	2408	0	0	0	0	0	0	15.39	15.35	15.41
4117	1.01	150.5	2545	1796	2557	2410	186.0	6.5	464	4157	0.00	2.38	29.05	1.072	8996	0.000	0.067	2545	3189	2352	2433	2272	0	0	0	0	0	0	15.56	15.19	14.78
4384	1.03	204.2	2545	3188	2433	2265	168.1	4.3	517	4440	0.00	2.28	46.10	1.050	9254	0.000	0.045	2545	1815	2135	2218	2052	0	0	0	0	0	0	15.35	15.29	14.67
4622	1.09	211.5	2544	1815	2215	2046	155.3	9.2	546	4636	0.00	1.98	7.20	0.868	9124	0.000	0.075	2545	634	2106	2190	2022	0	0	0	0	0	0	15.43	15.14	14.76
4865	1.16	222.4	2545	634	2182	2022	133.2	8.8	594	4884	0.00	1.88	10.48	0.912	9382	0.000	0.043	2545	1806	2061	2144	1978	0	0	0	0	0	0	15.38	15.32	14.82
5066	1.27	248.4	2545	1806	2143	1975	117.0	7.2	616	5099	0.17	2.35	23.05	0.942	10660	0.135	0.067	2609	3187	1957	2045	1870	0	0	0	0	0	0	15.30	15.19	14.80
5328	1.24	270.2	2609	3187	2042	1866	89.3	7.7	668	5357	0.00	2.25	20.00	0.881	9382	0.000	0.044	2610	1797	1865	1953	1777	0	0	0	0	0	0	15.36	15.30	14.83
5539	1.30	270.2	2608	1797	1953	1773	65.3	10.8	692	5545	0.00	2.33	0.00	0.000	388	0.000	0.062	2610	3204	1863	1953	1773	0	0	0	0	0	0	15.49	15.29	15.51
5773	1.34	270.2	2610	3204	1952	1773	41.3	10.1	738	5780	0.00	2.28	0.00	0.000	1158	0.000	0.044	2610	1795	1863	1953	1773	0	0	0	0	0	0	15.42	15.35	15.43
5968	1.43	270.2	2609	1795	1953	1772	19.4	12.0	758	5975	0.15	2.30	0.00	0.000	2436	0.139	0.058	2665	3193	1862	1953	1772	0	0	0	0	0	0	15.35	15.35	15.40
6085	end climb: SURFACE_DEPTH_REACHED
state	6085	begin surface coast
6094	end surface coast: CONTROL_FINISHED_OK
state	6094	begin surface