Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 113 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 60 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 67 ALTIM_PULSE 1

DIVE 113 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 600 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 150 HEAPDBG 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_MISSION 190 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 3 SIM_W 0

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 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 2125 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 250 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 24 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 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 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 0.00223872 C_ROLL_DIVE 2750 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.011885 C_ROLL_CLIMB 1700 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 5.7000002e-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 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 24 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 0.00223872 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.011885 PITCH_W_DBAND 0.5 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 5.7000002e-06 PITCH_W_GAIN 3 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 150

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 190

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 2125 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 1700 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 250 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 113 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 60 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 67 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 2

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 600 PITCH_ADJ_DBAND 0 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 291019,051309,1412.2711,14408.8037,16,0.7,25,0.3,0.6,279.9,12,4.7 SPEED_LIMITS 0.231,0.332

_CALLS 2 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG 1421.000,14410.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 0.44 MHEAD_RNG_PITCHd_Wd 32.7,16176,-17.1,-13.333,-21.90,2783

_SM_ANGLEo -55.2 D_GRID 1000

GPS2 291019,053737,1412.3594,14408.6836,2,0.7,4,0.3,0.3,0.0,12,10.0

Post-dive calculations and measurements:

SM_CCo 8931,0.00,0.000,0,0,497,605.89 PM_ACTIVECARD 1

SM_GC 0.36,6.88,1.75,0.00,0.076,0.053,0.000,155,2725,497,-6.10,-1.70,605.89,0,0,0,0,0,0,15.14,15.15,15.21 _24V_AH 14.04,47.634

IRIDIUM_FIX 1411.28,14411.44,291019,051823 _10V_AH 13.32,0.000

TT8_MAMPS 0.020223,0.161035 FG_AHR_24Vo 0.000

HUMID 51.18 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.96519 MEM 270812

TCM_TEMP 25.90 DATA_FILE_SIZE 30014,871

XPDR_PINGS 0 CAP_FILE_SIZE 101192,0

SC_FREEKB 3825024 CFSIZE 260034560,239849472

PM_FREEKB_00 58040768 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0

PM_FREEKB_01 123420608 CURRENT 0.091,257.65,1

PM_FREEKB_02 124821056 GPS 291019,080830,1413.331,14409.308,20,1.0,20,0.3,0.5,289.0,8,6.8

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 391 92.52 nil 0 0 0.00

Roll_motor 69 97 95.20 nil 0 0 0.00

VBD_pump_during_apogee 740 1489 15487.39 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8964 13 1659.39

Iridium_during_xfer 1094 221 3397.13 PMAR 8868 5 674.70

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 2.13

TT8 699 9 84.52

LPSleep 5340 2 155.80

TT8_Active 649 9 78.41

TT8_Sampling 3420 28 1300.69

TT8_CF8 307 33 138.41

TT8_Kalman 0 0 0.00

Analog_circuits 2662 10 368.88

GPS_charging 0 0 0.00

Compass 2132 17 489.51

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 -0.81 -243.3 145 2715 994 864 0.0 0.0 0 109 0.00 0.00 -88.53 0.005 16386 0.000 0.000 143 2715 3215 3260 3171 0 0 0 0 0 0 15.36 28.83 15.38

112 -0.81 -243.3 144 2715 3258 3172 4.4 -8.1 9 139 7.80 2.05 -12.27 0.012 18724 0.392 0.098 1849 3911 3962 4020 3904 0 0 0 0 0 0 14.98 14.58 15.16

365 -0.81 -243.3 1849 3910 4016 3904 112.6 -29.4 60 372 0.00 1.85 0.00 0.000 1030 0.000 0.032 1850 2745 3961 4019 3904 0 0 0 0 0 0 15.30 15.28 15.33

552 -0.81 -243.3 1849 2746 4020 3904 160.2 -22.4 79 556 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2746 3960 4019 3902 0 0 0 0 0 0 15.47 15.50 15.48

733 -0.81 -243.3 1849 2746 4020 3904 200.8 -21.9 97 740 0.00 1.98 0.00 0.000 260 0.000 0.075 1841 3914 3962 4020 3904 0 0 0 0 0 0 15.50 15.28 15.52

889 -0.81 -243.3 1841 3914 4019 3903 232.1 -17.2 127 895 0.00 1.80 0.00 0.000 1030 0.000 0.031 1841 2744 3961 4020 3903 0 0 0 0 0 0 15.38 15.35 15.40

1102 -0.81 -243.3 1840 2744 4019 3903 264.7 -15.0 143 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2744 3962 4021 3903 0 0 0 0 0 0 15.51 15.53 15.52

1402 -0.81 -243.3 1840 2744 4018 3900 310.8 -14.9 153 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2744 3958 4016 3900 0 0 0 0 0 0 15.52 15.54 15.54

1702 -0.81 -243.3 1842 2744 4015 3897 357.8 -15.4 163 1708 0.00 1.98 0.00 0.000 260 0.000 0.077 1841 3909 3956 4015 3897 0 0 0 0 0 0 15.53 15.33 15.54

1809 -0.81 -243.3 1840 3909 4015 3895 374.6 -14.2 184 1815 0.00 1.80 0.00 0.000 1030 0.000 0.036 1840 2756 3954 4015 3893 0 0 0 0 0 0 15.43 15.39 15.45

2127 -0.81 -243.3 1840 2761 4011 3892 418.8 -14.0 197 2134 0.00 2.25 0.00 0.000 516 0.000 0.044 1840 1359 3951 4011 3892 0 0 0 0 0 0 15.54 15.35 15.55

2164 -0.81 -243.3 1840 1362 4010 3892 424.3 -14.3 204 2170 0.00 2.25 0.00 0.000 1030 0.000 0.053 1841 2713 3951 4010 3892 0 0 0 0 0 0 15.42 15.34 15.43

2493 -0.81 -243.3 1839 2713 4006 3887 464.1 -11.4 219 2498 0.00 2.08 0.00 0.000 260 0.000 0.082 1840 3947 3944 4001 3887 0 0 0 0 0 0 15.54 15.32 15.56

2635 -0.81 -243.3 1840 3946 4001 3885 481.7 -12.8 247 2641 0.00 1.90 0.00 0.000 1030 0.000 0.038 1840 2748 3944 4005 3884 0 0 0 0 0 0 15.42 15.38 15.44

2949 -0.81 -243.3 1840 2748 4000 3880 516.2 -10.6 259 2955 0.00 2.05 0.00 0.000 292 0.000 0.083 1840 3947 3941 4001 3882 0 0 0 0 0 0 15.53 15.30 15.54

3012 -0.81 -243.3 1840 3948 4000 3881 523.3 -11.4 271 3018 0.00 1.90 0.00 0.000 1030 0.000 0.040 1840 2751 3940 4000 3881 0 0 0 0 0 0 15.42 15.38 15.43

3345 -0.81 -243.3 1840 2751 3995 3879 557.6 -10.0 287 3351 0.00 2.05 0.00 0.000 292 0.000 0.086 1840 3946 3937 3995 3879 0 0 0 0 0 0 15.53 15.30 15.57

3414 -0.81 -243.3 1840 3946 3995 3877 564.8 -11.0 300 3419 0.00 1.92 0.00 0.000 1062 0.000 0.041 1840 2746 3935 3995 3876 0 0 0 0 0 0 15.42 15.38 15.43

3742 -0.81 -243.3 1840 2747 3991 3874 598.3 -10.5 315 3748 0.00 2.28 0.00 0.000 548 0.000 0.047 1843 1352 3932 3991 3874 0 0 0 0 0 0 15.51 15.33 15.52

3757 end dive: TARGET_DEPTH_EXCEEDED

state 3757 begin apogee

3763 -0.21 0.0 1840 1732 3990 3874 600.2 -10.4 318 3980 0.73 0.00 212.40 1.489 10246 0.202 0.000 2051 1732 2968 3046 2890 0 0 0 0 0 0 15.23 14.64 14.09

3983 end apogee: CONTROL_FINISHED_OK

state 3983 begin climb

3985 0.81 243.3 2051 1732 3046 2888 606.6 0.0 325 4219 1.05 2.00 220.20 1.459 10756 0.122 0.073 2382 656 1976 2065 1887 0 0 1 0 0 0 14.63 14.53 14.04

4448 0.81 243.3 2381 656 2055 1885 561.4 13.4 420 4454 0.00 1.75 0.00 0.000 1030 0.000 0.041 2381 1701 1970 2055 1885 0 0 0 0 0 0 15.07 15.06 15.09

4753 0.81 243.3 2381 1700 2055 1881 521.6 13.1 431 4758 0.00 1.80 0.00 0.000 516 0.000 0.075 2382 654 1968 2055 1881 0 0 0 0 0 0 15.36 15.14 15.38

4984 0.82 243.3 2381 654 2054 1879 491.6 12.7 477 4990 0.00 1.73 0.00 0.000 1094 0.000 0.041 2381 1696 1967 2054 1881 0 0 0 0 0 0 15.27 15.25 15.29

5298 0.88 243.3 2381 1698 2054 1879 454.9 11.4 489 5307 0.00 2.35 0.00 0.000 324 0.000 0.061 2381 3101 1965 2053 1878 0 0 0 0 0 0 15.44 15.23 15.46

5410 0.91 243.3 2381 3096 2053 1877 441.2 12.5 511 5420 0.12 2.30 0.00 0.000 3142 0.156 0.047 2426 1721 1965 2053 1877 0 0 0 0 0 0 15.24 15.25 15.33

5721 0.91 243.3 2426 1721 2054 1877 394.5 15.2 523 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 1727 1965 2053 1877 0 0 0 0 0 0 15.47 15.49 15.48

6020 0.91 243.3 2423 1719 2053 1876 350.0 14.1 533 6026 0.00 1.90 0.00 0.000 516 0.000 0.080 2428 631 1962 2053 1872 0 0 0 0 0 0 15.47 15.25 15.50

6067 0.91 243.3 2429 631 2052 1876 342.8 15.0 542 6074 0.00 1.77 0.00 0.000 1030 0.000 0.041 2428 1706 1964 2052 1876 0 0 0 0 0 0 15.33 15.30 15.35

6387 0.94 243.3 2427 1707 2051 1876 301.4 12.4 555 6395 0.00 2.33 0.00 0.000 324 0.000 0.061 2428 3091 1963 2051 1875 0 0 0 0 0 0 15.48 15.28 15.50

6426 0.94 243.3 2427 3091 2051 1876 295.9 13.3 563 6432 0.00 2.33 0.00 0.000 1030 0.000 0.047 2432 1698 1963 2051 1875 0 0 0 0 0 0 15.35 15.28 15.38

6745 0.94 243.3 2432 1698 2051 1875 253.8 13.6 576 6751 0.00 1.80 0.00 0.000 516 0.000 0.078 2433 634 1962 2051 1874 0 0 0 0 0 0 15.48 15.26 15.50

6979 0.96 243.3 2432 634 2050 1875 223.7 12.4 622 6985 0.00 1.73 0.00 0.000 1094 0.000 0.041 2432 1711 1962 2050 1875 0 0 0 0 0 0 15.36 15.31 15.38

7174 1.02 243.3 2432 1712 2050 1875 199.0 11.5 642 7181 0.00 1.85 0.00 0.000 580 0.000 0.074 2432 636 1962 2049 1875 0 0 0 0 0 0 15.47 15.26 15.50

7300 1.07 367.8 2432 636 2057 1875 186.9 8.7 666 7420 0.12 1.70 109.25 1.064 11302 0.161 0.041 2475 1704 1469 1562 1376 0 0 0 0 0 0 15.24 15.30 14.38

7599 1.07 367.8 2474 1708 1561 1370 149.6 13.9 708 7604 0.00 2.35 0.00 0.000 260 0.000 0.057 2474 3087 1465 1561 1370 0 0 0 0 0 0 15.23 15.04 15.25

7833 1.10 367.8 2474 3087 1561 1369 116.9 12.3 754 7839 0.00 2.33 0.00 0.000 1094 0.000 0.045 2475 1698 1465 1561 1369 0 0 0 0 0 0 15.21 15.15 15.24

8028 1.13 459.1 2474 1697 1561 1368 96.0 10.0 774 8111 0.00 0.00 78.50 0.892 8486 0.000 0.000 2475 1697 1096 1195 997 0 0 0 0 0 0 15.38 14.92 14.51

8290 1.16 533.3 2475 1697 1195 992 66.9 10.6 801 8357 0.00 0.00 61.90 0.832 8486 0.000 0.000 2474 1698 795 901 689 0 0 0 0 0 0 15.27 14.82 14.51

8542 1.20 643.9 2474 1698 902 684 40.9 9.2 827 8609 0.12 2.40 58.35 0.771 10532 0.148 0.048 2521 3077 499 625 374 0 0 0 0 0 0 15.08 14.85 14.54

8675 1.20 643.9 2521 3077 623 373 23.3 13.2 853 8682 0.00 2.35 0.00 0.000 1030 0.000 0.042 2522 1708 498 623 373 0 0 0 0 0 0 15.03 14.99 15.06

8830 end climb: SURFACE_DEPTH_REACHED

state 8830 begin surface coast

8851 end surface coast: CONTROL_FINISHED_OK

state 8851 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	60	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	67	ALTIM_PULSE	1
DIVE	113	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	600	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	150	HEAPDBG	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_MISSION	190	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	3	SIM_W	0
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	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	2125	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	250	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	24	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	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	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	0.00223872	C_ROLL_DIVE	2750	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.011885	C_ROLL_CLIMB	1700	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	5.7000002e-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	291019,051309,1412.2711,14408.8037,16,0.7,25,0.3,0.6,279.9,12,4.7	SPEED_LIMITS	0.231,0.332
_CALLS	2	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	1421.000,14410.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	0.44	MHEAD_RNG_PITCHd_Wd	32.7,16176,-17.1,-13.333,-21.90,2783
_SM_ANGLEo	-55.2	D_GRID	1000
GPS2	291019,053737,1412.3594,14408.6836,2,0.7,4,0.3,0.3,0.0,12,10.0

SM_CCo	8931,0.00,0.000,0,0,497,605.89	PM_ACTIVECARD	1
SM_GC	0.36,6.88,1.75,0.00,0.076,0.053,0.000,155,2725,497,-6.10,-1.70,605.89,0,0,0,0,0,0,15.14,15.15,15.21	_24V_AH	14.04,47.634
IRIDIUM_FIX	1411.28,14411.44,291019,051823	_10V_AH	13.32,0.000
TT8_MAMPS	0.020223,0.161035	FG_AHR_24Vo	0.000
HUMID	51.18	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.96519	MEM	270812
TCM_TEMP	25.90	DATA_FILE_SIZE	30014,871
XPDR_PINGS	0	CAP_FILE_SIZE	101192,0
SC_FREEKB	3825024	CFSIZE	260034560,239849472
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
PM_FREEKB_01	123420608	CURRENT	0.091,257.65,1
PM_FREEKB_02	124821056	GPS	291019,080830,1413.331,14409.308,20,1.0,20,0.3,0.5,289.0,8,6.8
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	391	92.52	nil	0	0	0.00
Roll_motor	69	97	95.20	nil	0	0	0.00
VBD_pump_during_apogee	740	1489	15487.39	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8964	13	1659.39
Iridium_during_xfer	1094	221	3397.13	PMAR	8868	5	674.70
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	2.13
TT8	699	9	84.52
LPSleep	5340	2	155.80
TT8_Active	649	9	78.41
TT8_Sampling	3420	28	1300.69
TT8_CF8	307	33	138.41
TT8_Kalman	0	0	0.00
Analog_circuits	2662	10	368.88
GPS_charging	0	0	0.00
Compass	2132	17	489.51
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	-0.81	-243.3	145	2715	994	864	0.0	0.0	0	109	0.00	0.00	-88.53	0.005	16386	0.000	0.000	143	2715	3215	3260	3171	0	0	0	0	0	0	15.36	28.83	15.38
112	-0.81	-243.3	144	2715	3258	3172	4.4	-8.1	9	139	7.80	2.05	-12.27	0.012	18724	0.392	0.098	1849	3911	3962	4020	3904	0	0	0	0	0	0	14.98	14.58	15.16
365	-0.81	-243.3	1849	3910	4016	3904	112.6	-29.4	60	372	0.00	1.85	0.00	0.000	1030	0.000	0.032	1850	2745	3961	4019	3904	0	0	0	0	0	0	15.30	15.28	15.33
552	-0.81	-243.3	1849	2746	4020	3904	160.2	-22.4	79	556	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	2746	3960	4019	3902	0	0	0	0	0	0	15.47	15.50	15.48
733	-0.81	-243.3	1849	2746	4020	3904	200.8	-21.9	97	740	0.00	1.98	0.00	0.000	260	0.000	0.075	1841	3914	3962	4020	3904	0	0	0	0	0	0	15.50	15.28	15.52
889	-0.81	-243.3	1841	3914	4019	3903	232.1	-17.2	127	895	0.00	1.80	0.00	0.000	1030	0.000	0.031	1841	2744	3961	4020	3903	0	0	0	0	0	0	15.38	15.35	15.40
1102	-0.81	-243.3	1840	2744	4019	3903	264.7	-15.0	143	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2744	3962	4021	3903	0	0	0	0	0	0	15.51	15.53	15.52
1402	-0.81	-243.3	1840	2744	4018	3900	310.8	-14.9	153	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2744	3958	4016	3900	0	0	0	0	0	0	15.52	15.54	15.54
1702	-0.81	-243.3	1842	2744	4015	3897	357.8	-15.4	163	1708	0.00	1.98	0.00	0.000	260	0.000	0.077	1841	3909	3956	4015	3897	0	0	0	0	0	0	15.53	15.33	15.54
1809	-0.81	-243.3	1840	3909	4015	3895	374.6	-14.2	184	1815	0.00	1.80	0.00	0.000	1030	0.000	0.036	1840	2756	3954	4015	3893	0	0	0	0	0	0	15.43	15.39	15.45
2127	-0.81	-243.3	1840	2761	4011	3892	418.8	-14.0	197	2134	0.00	2.25	0.00	0.000	516	0.000	0.044	1840	1359	3951	4011	3892	0	0	0	0	0	0	15.54	15.35	15.55
2164	-0.81	-243.3	1840	1362	4010	3892	424.3	-14.3	204	2170	0.00	2.25	0.00	0.000	1030	0.000	0.053	1841	2713	3951	4010	3892	0	0	0	0	0	0	15.42	15.34	15.43
2493	-0.81	-243.3	1839	2713	4006	3887	464.1	-11.4	219	2498	0.00	2.08	0.00	0.000	260	0.000	0.082	1840	3947	3944	4001	3887	0	0	0	0	0	0	15.54	15.32	15.56
2635	-0.81	-243.3	1840	3946	4001	3885	481.7	-12.8	247	2641	0.00	1.90	0.00	0.000	1030	0.000	0.038	1840	2748	3944	4005	3884	0	0	0	0	0	0	15.42	15.38	15.44
2949	-0.81	-243.3	1840	2748	4000	3880	516.2	-10.6	259	2955	0.00	2.05	0.00	0.000	292	0.000	0.083	1840	3947	3941	4001	3882	0	0	0	0	0	0	15.53	15.30	15.54
3012	-0.81	-243.3	1840	3948	4000	3881	523.3	-11.4	271	3018	0.00	1.90	0.00	0.000	1030	0.000	0.040	1840	2751	3940	4000	3881	0	0	0	0	0	0	15.42	15.38	15.43
3345	-0.81	-243.3	1840	2751	3995	3879	557.6	-10.0	287	3351	0.00	2.05	0.00	0.000	292	0.000	0.086	1840	3946	3937	3995	3879	0	0	0	0	0	0	15.53	15.30	15.57
3414	-0.81	-243.3	1840	3946	3995	3877	564.8	-11.0	300	3419	0.00	1.92	0.00	0.000	1062	0.000	0.041	1840	2746	3935	3995	3876	0	0	0	0	0	0	15.42	15.38	15.43
3742	-0.81	-243.3	1840	2747	3991	3874	598.3	-10.5	315	3748	0.00	2.28	0.00	0.000	548	0.000	0.047	1843	1352	3932	3991	3874	0	0	0	0	0	0	15.51	15.33	15.52
3757	end dive: TARGET_DEPTH_EXCEEDED
state	3757	begin apogee
3763	-0.21	0.0	1840	1732	3990	3874	600.2	-10.4	318	3980	0.73	0.00	212.40	1.489	10246	0.202	0.000	2051	1732	2968	3046	2890	0	0	0	0	0	0	15.23	14.64	14.09
3983	end apogee: CONTROL_FINISHED_OK
state	3983	begin climb
3985	0.81	243.3	2051	1732	3046	2888	606.6	0.0	325	4219	1.05	2.00	220.20	1.459	10756	0.122	0.073	2382	656	1976	2065	1887	0	0	1	0	0	0	14.63	14.53	14.04
4448	0.81	243.3	2381	656	2055	1885	561.4	13.4	420	4454	0.00	1.75	0.00	0.000	1030	0.000	0.041	2381	1701	1970	2055	1885	0	0	0	0	0	0	15.07	15.06	15.09
4753	0.81	243.3	2381	1700	2055	1881	521.6	13.1	431	4758	0.00	1.80	0.00	0.000	516	0.000	0.075	2382	654	1968	2055	1881	0	0	0	0	0	0	15.36	15.14	15.38
4984	0.82	243.3	2381	654	2054	1879	491.6	12.7	477	4990	0.00	1.73	0.00	0.000	1094	0.000	0.041	2381	1696	1967	2054	1881	0	0	0	0	0	0	15.27	15.25	15.29
5298	0.88	243.3	2381	1698	2054	1879	454.9	11.4	489	5307	0.00	2.35	0.00	0.000	324	0.000	0.061	2381	3101	1965	2053	1878	0	0	0	0	0	0	15.44	15.23	15.46
5410	0.91	243.3	2381	3096	2053	1877	441.2	12.5	511	5420	0.12	2.30	0.00	0.000	3142	0.156	0.047	2426	1721	1965	2053	1877	0	0	0	0	0	0	15.24	15.25	15.33
5721	0.91	243.3	2426	1721	2054	1877	394.5	15.2	523	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	1727	1965	2053	1877	0	0	0	0	0	0	15.47	15.49	15.48
6020	0.91	243.3	2423	1719	2053	1876	350.0	14.1	533	6026	0.00	1.90	0.00	0.000	516	0.000	0.080	2428	631	1962	2053	1872	0	0	0	0	0	0	15.47	15.25	15.50
6067	0.91	243.3	2429	631	2052	1876	342.8	15.0	542	6074	0.00	1.77	0.00	0.000	1030	0.000	0.041	2428	1706	1964	2052	1876	0	0	0	0	0	0	15.33	15.30	15.35
6387	0.94	243.3	2427	1707	2051	1876	301.4	12.4	555	6395	0.00	2.33	0.00	0.000	324	0.000	0.061	2428	3091	1963	2051	1875	0	0	0	0	0	0	15.48	15.28	15.50
6426	0.94	243.3	2427	3091	2051	1876	295.9	13.3	563	6432	0.00	2.33	0.00	0.000	1030	0.000	0.047	2432	1698	1963	2051	1875	0	0	0	0	0	0	15.35	15.28	15.38
6745	0.94	243.3	2432	1698	2051	1875	253.8	13.6	576	6751	0.00	1.80	0.00	0.000	516	0.000	0.078	2433	634	1962	2051	1874	0	0	0	0	0	0	15.48	15.26	15.50
6979	0.96	243.3	2432	634	2050	1875	223.7	12.4	622	6985	0.00	1.73	0.00	0.000	1094	0.000	0.041	2432	1711	1962	2050	1875	0	0	0	0	0	0	15.36	15.31	15.38
7174	1.02	243.3	2432	1712	2050	1875	199.0	11.5	642	7181	0.00	1.85	0.00	0.000	580	0.000	0.074	2432	636	1962	2049	1875	0	0	0	0	0	0	15.47	15.26	15.50
7300	1.07	367.8	2432	636	2057	1875	186.9	8.7	666	7420	0.12	1.70	109.25	1.064	11302	0.161	0.041	2475	1704	1469	1562	1376	0	0	0	0	0	0	15.24	15.30	14.38
7599	1.07	367.8	2474	1708	1561	1370	149.6	13.9	708	7604	0.00	2.35	0.00	0.000	260	0.000	0.057	2474	3087	1465	1561	1370	0	0	0	0	0	0	15.23	15.04	15.25
7833	1.10	367.8	2474	3087	1561	1369	116.9	12.3	754	7839	0.00	2.33	0.00	0.000	1094	0.000	0.045	2475	1698	1465	1561	1369	0	0	0	0	0	0	15.21	15.15	15.24
8028	1.13	459.1	2474	1697	1561	1368	96.0	10.0	774	8111	0.00	0.00	78.50	0.892	8486	0.000	0.000	2475	1697	1096	1195	997	0	0	0	0	0	0	15.38	14.92	14.51
8290	1.16	533.3	2475	1697	1195	992	66.9	10.6	801	8357	0.00	0.00	61.90	0.832	8486	0.000	0.000	2474	1698	795	901	689	0	0	0	0	0	0	15.27	14.82	14.51
8542	1.20	643.9	2474	1698	902	684	40.9	9.2	827	8609	0.12	2.40	58.35	0.771	10532	0.148	0.048	2521	3077	499	625	374	0	0	0	0	0	0	15.08	14.85	14.54
8675	1.20	643.9	2521	3077	623	373	23.3	13.2	853	8682	0.00	2.35	0.00	0.000	1030	0.000	0.042	2522	1708	498	623	373	0	0	0	0	0	0	15.03	14.99	15.06
8830	end climb: SURFACE_DEPTH_REACHED
state	8830	begin surface coast
8851	end surface coast: CONTROL_FINISHED_OK
state	8851	begin surface