Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 114 * 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 31 ALTIM_PULSE 1

DIVE 114 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 114 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 31 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 291019,080830,1413.3307,14409.3076,20,1.0,20,0.3,0.5,289.0,8,6.8 SPEED_LIMITS 0.231,0.332

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG 1421.000,14410.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 0.35 MHEAD_RNG_PITCHd_Wd 20.4,14133,-17.1,-13.333,-21.90,2783

_SM_ANGLEo -53.2 D_GRID 1000

GPS2 291019,082544,1413.4052,14409.2344,3,0.9,4,0.3,0.5,29.3,12,9.1

Post-dive calculations and measurements:

SM_CCo 9026,0.00,0.000,0,0,499,605.65 PM_ACTIVECARD 1

SM_GC 0.45,6.85,1.77,0.00,0.071,0.050,0.000,158,2730,499,-6.08,-1.41,605.65,0,0,0,0,0,0,15.23,15.22,15.30 _24V_AH 14.01,48.049

IRIDIUM_FIX 1411.28,14411.44,291019,053502 _10V_AH 13.30,0.000

TT8_MAMPS 0.019474,0.164031 FG_AHR_24Vo 0.000

HUMID 52.24 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.95542 MEM 270876

TCM_TEMP 25.80 DATA_FILE_SIZE 30074,850

XPDR_PINGS 0 CAP_FILE_SIZE 95266,0

SC_FREEKB 3823904 CFSIZE 260034560,239640576

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

PM_FREEKB_01 123191232 CURRENT 0.023,177.27,1

PM_FREEKB_02 124821056 GPS 291019,105809,1414.503,14410.033,6,0.9,17,0.3,0.1,0.0,9,2.4

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 392 92.51 nil 0 0 0.00

Roll_motor 64 93 83.75 nil 0 0 0.00

VBD_pump_during_apogee 748 1490 15639.89 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 9034 13 1671.44

Iridium_during_xfer 765 216 2321.38 PMAR 8958 5 679.59

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.01

TT8 685 9 82.69

LPSleep 5382 2 156.77

TT8_Active 683 9 82.51

TT8_Sampling 3063 28 1163.27

TT8_CF8 268 33 120.52

TT8_Kalman 0 0 0.00

Analog_circuits 2344 10 324.35

GPS_charging 0 0 0.00

Compass 2111 17 483.91

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 -243.3 150 2741 608 399 0.0 0.0 0 120 0.00 0.00 -99.93 0.005 16386 0.000 0.000 149 2741 3075 3111 3040 0 0 0 0 0 0 15.31 28.83 15.33

123 -0.81 -243.3 149 2745 3111 3039 3.4 -6.1 10 154 7.80 2.05 -15.38 0.009 18724 0.392 0.093 1850 3950 3956 4015 3897 0 0 0 0 0 0 14.95 14.50 15.19

380 -0.81 -243.3 1849 3950 4015 3897 112.5 -39.1 62 387 0.00 1.98 0.00 0.000 1030 0.000 0.032 1850 2712 3955 4014 3896 0 0 0 0 0 0 15.28 15.27 15.30

567 -0.81 -243.3 1849 2713 4015 3897 158.8 -22.0 81 573 0.00 2.08 0.00 0.000 260 0.000 0.073 1841 3947 3955 4014 3897 0 0 0 0 0 0 15.45 15.25 15.47

801 -0.81 -243.3 1841 3951 4014 3896 212.7 -20.2 127 806 0.00 1.85 0.00 0.000 1030 0.000 0.032 1841 2747 3955 4015 3896 0 0 0 0 0 0 15.38 15.33 15.39

994 -0.81 -243.3 1841 2746 4014 3896 244.6 -14.7 147 1000 0.00 2.03 0.00 0.000 260 0.000 0.075 1841 3946 3955 4015 3896 0 0 0 0 0 0 15.47 15.32 15.52

1091 -0.81 -243.3 1841 3946 4015 3896 259.9 -15.7 166 1097 0.00 1.85 0.00 0.000 1030 0.000 0.031 1841 2742 3955 4015 3895 0 0 0 0 0 0 15.40 15.36 15.41

1419 -0.81 -243.3 1841 2743 4014 3890 307.8 -14.4 181 1426 0.00 2.05 0.00 0.000 260 0.000 0.078 1841 3944 3953 4014 3892 0 0 0 0 0 0 15.52 15.33 15.54

1558 -0.81 -243.3 1841 3945 4014 3890 329.7 -14.9 208 1564 0.00 1.85 0.00 0.000 1030 0.000 0.032 1841 2739 3952 4014 3890 0 0 0 0 0 0 15.42 15.39 15.43

1877 -0.81 -243.3 1841 2741 4011 3887 373.6 -13.5 221 1883 0.00 2.17 0.00 0.000 516 0.000 0.041 1841 1380 3949 4011 3887 0 0 0 0 0 0 15.53 15.33 15.55

1929 -0.81 -243.3 1840 1380 4010 3887 381.4 -14.1 231 1935 0.00 2.28 0.00 0.000 1030 0.000 0.053 1841 2746 3948 4010 3887 0 0 0 0 0 0 15.40 15.33 15.42

2237 -0.81 -243.3 1839 2745 4006 3882 424.7 -14.0 242 2242 0.00 2.00 0.00 0.000 260 0.000 0.082 1841 3943 3944 4006 3882 0 0 0 0 0 0 15.53 15.33 15.54

2323 -0.81 -243.3 1841 3943 4006 3881 437.1 -13.6 259 2329 0.00 1.90 0.00 0.000 1030 0.000 0.036 1841 2754 3943 4006 3880 0 0 0 0 0 0 15.35 15.38 15.40

2631 -0.81 -243.3 1840 2754 4002 3877 474.4 -11.6 270 2634 0.00 0.00 0.00 0.000 6 0.000 0.000 1840 2754 3940 4002 3878 0 0 0 0 0 0 15.52 15.54 15.54

2930 -0.81 -243.3 1840 2754 3998 3874 509.7 -11.9 280 2935 0.00 2.05 0.00 0.000 260 0.000 0.087 1841 3942 3936 3998 3874 0 0 0 0 0 0 15.52 15.30 15.54

3002 -0.81 -243.3 1841 3942 3998 3873 519.1 -12.9 294 3007 0.00 1.88 0.00 0.000 1030 0.000 0.038 1841 2763 3935 3998 3873 0 0 0 0 0 0 15.42 15.38 15.48

3326 -0.81 -243.3 1840 2763 3993 3876 558.3 -12.1 308 3329 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2763 3931 3993 3870 0 0 0 0 0 0 15.52 15.54 15.54

3625 -0.81 -243.3 1841 2763 3984 3868 593.6 -11.5 318 3629 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2762 3928 3989 3868 0 0 0 0 0 0 15.52 15.54 15.53

3683 end dive: TARGET_DEPTH_EXCEEDED

state 3683 begin apogee

3690 -0.21 0.0 1841 1717 3988 3867 600.6 -11.7 320 3906 0.73 0.00 211.27 1.491 10246 0.197 0.000 2052 1717 2969 3046 2892 0 0 0 0 0 0 15.21 14.64 14.08

3909 end apogee: CONTROL_FINISHED_OK

state 3909 begin climb

3911 0.81 243.3 2053 1718 3045 2890 608.9 0.0 327 4144 1.02 1.98 221.27 1.460 10756 0.119 0.076 2380 643 1977 2065 1889 0 0 0 0 0 0 14.62 14.50 14.01

4372 0.83 243.3 2379 643 2053 1888 566.5 12.5 422 4379 0.00 1.80 0.00 0.000 1094 0.000 0.041 2379 1718 1971 2054 1888 0 0 0 0 0 0 15.07 15.05 15.09

4677 0.83 243.3 2379 1718 2054 1884 527.5 13.0 433 4683 0.00 1.85 0.00 0.000 516 0.000 0.073 2379 643 1969 2054 1884 0 0 0 0 0 0 15.35 15.14 15.37

4909 0.87 243.3 2379 643 2051 1884 498.1 11.8 479 4915 0.00 1.75 0.00 0.000 1094 0.000 0.041 2379 1705 1968 2052 1884 0 0 0 0 0 0 15.27 15.23 15.29

5223 0.91 328.7 2379 1700 2051 1882 464.9 10.2 491 5306 0.12 0.00 78.93 1.383 10278 0.160 0.000 2424 1700 1627 1717 1537 0 0 0 0 0 0 15.24 14.83 14.30

5584 0.91 328.7 2425 1700 1717 1528 418.7 13.4 503 5588 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 1701 1622 1717 1528 0 0 0 0 0 0 15.30 15.32 15.33

5884 0.91 328.7 2425 1700 1717 1526 378.7 12.9 513 5891 0.00 1.88 0.00 0.000 516 0.000 0.077 2431 621 1621 1716 1526 0 0 0 0 0 0 15.39 15.17 15.40

6047 0.91 328.7 2426 621 1713 1532 356.9 13.6 545 6053 0.00 1.75 0.00 0.000 1030 0.000 0.042 2427 1701 1619 1713 1526 0 0 0 0 0 0 15.30 15.24 15.32

6371 0.91 328.7 2426 1700 1714 1525 313.8 13.5 559 6375 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 1702 1619 1713 1525 0 0 0 0 0 0 15.44 15.46 15.46

6671 0.91 328.7 2426 1707 1713 1525 273.0 13.0 569 6677 0.00 1.88 0.00 0.000 516 0.000 0.077 2427 615 1619 1714 1524 0 0 0 0 0 0 15.45 15.23 15.47

6728 0.91 328.7 2426 615 1712 1524 265.1 14.1 580 6734 0.00 1.77 0.00 0.000 1030 0.000 0.042 2426 1689 1618 1712 1524 0 0 0 0 0 0 15.30 15.27 15.32

7036 0.91 328.7 2426 1689 1712 1524 223.4 13.5 603 7042 0.00 2.35 0.00 0.000 260 0.000 0.063 2427 3085 1618 1712 1524 0 0 0 0 0 0 15.46 15.26 15.47

7193 0.91 328.7 2426 3085 1712 1524 199.2 14.0 634 7200 0.00 2.35 0.00 0.000 1030 0.000 0.050 2426 1719 1618 1712 1524 0 0 0 0 0 0 15.32 15.23 15.32

7380 0.93 387.6 2426 1719 1712 1524 176.9 11.2 653 7438 0.00 0.00 51.97 1.063 8230 0.000 0.000 2427 1720 1385 1481 1290 0 0 0 0 0 0 15.47 14.93 14.55

7621 0.96 387.6 2426 1719 1481 1284 149.5 12.4 677 7629 0.00 0.00 0.00 0.000 70 0.000 0.000 2426 1719 1383 1481 1285 0 0 0 0 0 0 15.30 15.33 15.32

7811 1.01 387.6 2426 1720 1481 1284 127.4 11.6 696 7816 0.00 1.85 0.00 0.000 580 0.000 0.076 2426 623 1383 1483 1284 0 0 0 0 0 0 15.37 15.17 15.39

7837 1.04 458.1 2426 623 1480 1284 124.4 10.7 701 7905 0.00 1.77 61.25 0.949 9254 0.000 0.040 2427 1697 1103 1200 1006 0 0 0 0 0 0 15.22 15.19 14.51

8084 1.10 626.8 2427 1697 1200 995 102.8 7.1 732 8219 0.15 2.45 124.00 0.884 10532 0.136 0.056 2483 3090 499 620 379 0 0 0 0 0 0 15.07 14.74 14.38

8340 1.13 626.8 2482 3090 619 378 70.5 12.4 783 8347 0.00 2.42 0.00 0.000 1094 0.000 0.045 2483 1689 498 619 378 0 0 0 0 0 0 15.01 14.95 15.03

8528 1.18 626.8 2484 1689 620 377 50.2 11.6 802 8535 0.00 0.00 0.03 0.497 8262 0.000 0.000 2483 1689 497 618 377 0 0 0 0 0 0 15.30 15.16 15.04

8718 1.21 710.7 2483 1687 619 378 30.4 10.2 821 8724 0.00 2.38 0.00 0.000 292 0.000 0.054 2483 3098 498 619 378 0 0 0 0 0 0 15.36 15.16 15.38

8782 1.25 806.3 2482 3098 619 379 23.6 9.8 833 8789 0.15 2.33 0.00 0.000 3110 0.129 0.044 2543 1697 499 619 379 0 0 0 0 0 0 15.19 15.18 15.26

8925 end climb: SURFACE_DEPTH_REACHED

state 8925 begin surface coast

8947 end surface coast: CONTROL_FINISHED_OK

state 8947 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	31	ALTIM_PULSE	1
DIVE	114	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	291019,080830,1413.3307,14409.3076,20,1.0,20,0.3,0.5,289.0,8,6.8	SPEED_LIMITS	0.231,0.332
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	1421.000,14410.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	0.35	MHEAD_RNG_PITCHd_Wd	20.4,14133,-17.1,-13.333,-21.90,2783
_SM_ANGLEo	-53.2	D_GRID	1000
GPS2	291019,082544,1413.4052,14409.2344,3,0.9,4,0.3,0.5,29.3,12,9.1

SM_CCo	9026,0.00,0.000,0,0,499,605.65	PM_ACTIVECARD	1
SM_GC	0.45,6.85,1.77,0.00,0.071,0.050,0.000,158,2730,499,-6.08,-1.41,605.65,0,0,0,0,0,0,15.23,15.22,15.30	_24V_AH	14.01,48.049
IRIDIUM_FIX	1411.28,14411.44,291019,053502	_10V_AH	13.30,0.000
TT8_MAMPS	0.019474,0.164031	FG_AHR_24Vo	0.000
HUMID	52.24	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.95542	MEM	270876
TCM_TEMP	25.80	DATA_FILE_SIZE	30074,850
XPDR_PINGS	0	CAP_FILE_SIZE	95266,0
SC_FREEKB	3823904	CFSIZE	260034560,239640576
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_01	123191232	CURRENT	0.023,177.27,1
PM_FREEKB_02	124821056	GPS	291019,105809,1414.503,14410.033,6,0.9,17,0.3,0.1,0.0,9,2.4
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	392	92.51	nil	0	0	0.00
Roll_motor	64	93	83.75	nil	0	0	0.00
VBD_pump_during_apogee	748	1490	15639.89	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	9034	13	1671.44
Iridium_during_xfer	765	216	2321.38	PMAR	8958	5	679.59
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.01
TT8	685	9	82.69
LPSleep	5382	2	156.77
TT8_Active	683	9	82.51
TT8_Sampling	3063	28	1163.27
TT8_CF8	268	33	120.52
TT8_Kalman	0	0	0.00
Analog_circuits	2344	10	324.35
GPS_charging	0	0	0.00
Compass	2111	17	483.91
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	150	2741	608	399	0.0	0.0	0	120	0.00	0.00	-99.93	0.005	16386	0.000	0.000	149	2741	3075	3111	3040	0	0	0	0	0	0	15.31	28.83	15.33
123	-0.81	-243.3	149	2745	3111	3039	3.4	-6.1	10	154	7.80	2.05	-15.38	0.009	18724	0.392	0.093	1850	3950	3956	4015	3897	0	0	0	0	0	0	14.95	14.50	15.19
380	-0.81	-243.3	1849	3950	4015	3897	112.5	-39.1	62	387	0.00	1.98	0.00	0.000	1030	0.000	0.032	1850	2712	3955	4014	3896	0	0	0	0	0	0	15.28	15.27	15.30
567	-0.81	-243.3	1849	2713	4015	3897	158.8	-22.0	81	573	0.00	2.08	0.00	0.000	260	0.000	0.073	1841	3947	3955	4014	3897	0	0	0	0	0	0	15.45	15.25	15.47
801	-0.81	-243.3	1841	3951	4014	3896	212.7	-20.2	127	806	0.00	1.85	0.00	0.000	1030	0.000	0.032	1841	2747	3955	4015	3896	0	0	0	0	0	0	15.38	15.33	15.39
994	-0.81	-243.3	1841	2746	4014	3896	244.6	-14.7	147	1000	0.00	2.03	0.00	0.000	260	0.000	0.075	1841	3946	3955	4015	3896	0	0	0	0	0	0	15.47	15.32	15.52
1091	-0.81	-243.3	1841	3946	4015	3896	259.9	-15.7	166	1097	0.00	1.85	0.00	0.000	1030	0.000	0.031	1841	2742	3955	4015	3895	0	0	0	0	0	0	15.40	15.36	15.41
1419	-0.81	-243.3	1841	2743	4014	3890	307.8	-14.4	181	1426	0.00	2.05	0.00	0.000	260	0.000	0.078	1841	3944	3953	4014	3892	0	0	0	0	0	0	15.52	15.33	15.54
1558	-0.81	-243.3	1841	3945	4014	3890	329.7	-14.9	208	1564	0.00	1.85	0.00	0.000	1030	0.000	0.032	1841	2739	3952	4014	3890	0	0	0	0	0	0	15.42	15.39	15.43
1877	-0.81	-243.3	1841	2741	4011	3887	373.6	-13.5	221	1883	0.00	2.17	0.00	0.000	516	0.000	0.041	1841	1380	3949	4011	3887	0	0	0	0	0	0	15.53	15.33	15.55
1929	-0.81	-243.3	1840	1380	4010	3887	381.4	-14.1	231	1935	0.00	2.28	0.00	0.000	1030	0.000	0.053	1841	2746	3948	4010	3887	0	0	0	0	0	0	15.40	15.33	15.42
2237	-0.81	-243.3	1839	2745	4006	3882	424.7	-14.0	242	2242	0.00	2.00	0.00	0.000	260	0.000	0.082	1841	3943	3944	4006	3882	0	0	0	0	0	0	15.53	15.33	15.54
2323	-0.81	-243.3	1841	3943	4006	3881	437.1	-13.6	259	2329	0.00	1.90	0.00	0.000	1030	0.000	0.036	1841	2754	3943	4006	3880	0	0	0	0	0	0	15.35	15.38	15.40
2631	-0.81	-243.3	1840	2754	4002	3877	474.4	-11.6	270	2634	0.00	0.00	0.00	0.000	6	0.000	0.000	1840	2754	3940	4002	3878	0	0	0	0	0	0	15.52	15.54	15.54
2930	-0.81	-243.3	1840	2754	3998	3874	509.7	-11.9	280	2935	0.00	2.05	0.00	0.000	260	0.000	0.087	1841	3942	3936	3998	3874	0	0	0	0	0	0	15.52	15.30	15.54
3002	-0.81	-243.3	1841	3942	3998	3873	519.1	-12.9	294	3007	0.00	1.88	0.00	0.000	1030	0.000	0.038	1841	2763	3935	3998	3873	0	0	0	0	0	0	15.42	15.38	15.48
3326	-0.81	-243.3	1840	2763	3993	3876	558.3	-12.1	308	3329	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2763	3931	3993	3870	0	0	0	0	0	0	15.52	15.54	15.54
3625	-0.81	-243.3	1841	2763	3984	3868	593.6	-11.5	318	3629	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2762	3928	3989	3868	0	0	0	0	0	0	15.52	15.54	15.53
3683	end dive: TARGET_DEPTH_EXCEEDED
state	3683	begin apogee
3690	-0.21	0.0	1841	1717	3988	3867	600.6	-11.7	320	3906	0.73	0.00	211.27	1.491	10246	0.197	0.000	2052	1717	2969	3046	2892	0	0	0	0	0	0	15.21	14.64	14.08
3909	end apogee: CONTROL_FINISHED_OK
state	3909	begin climb
3911	0.81	243.3	2053	1718	3045	2890	608.9	0.0	327	4144	1.02	1.98	221.27	1.460	10756	0.119	0.076	2380	643	1977	2065	1889	0	0	0	0	0	0	14.62	14.50	14.01
4372	0.83	243.3	2379	643	2053	1888	566.5	12.5	422	4379	0.00	1.80	0.00	0.000	1094	0.000	0.041	2379	1718	1971	2054	1888	0	0	0	0	0	0	15.07	15.05	15.09
4677	0.83	243.3	2379	1718	2054	1884	527.5	13.0	433	4683	0.00	1.85	0.00	0.000	516	0.000	0.073	2379	643	1969	2054	1884	0	0	0	0	0	0	15.35	15.14	15.37
4909	0.87	243.3	2379	643	2051	1884	498.1	11.8	479	4915	0.00	1.75	0.00	0.000	1094	0.000	0.041	2379	1705	1968	2052	1884	0	0	0	0	0	0	15.27	15.23	15.29
5223	0.91	328.7	2379	1700	2051	1882	464.9	10.2	491	5306	0.12	0.00	78.93	1.383	10278	0.160	0.000	2424	1700	1627	1717	1537	0	0	0	0	0	0	15.24	14.83	14.30
5584	0.91	328.7	2425	1700	1717	1528	418.7	13.4	503	5588	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	1701	1622	1717	1528	0	0	0	0	0	0	15.30	15.32	15.33
5884	0.91	328.7	2425	1700	1717	1526	378.7	12.9	513	5891	0.00	1.88	0.00	0.000	516	0.000	0.077	2431	621	1621	1716	1526	0	0	0	0	0	0	15.39	15.17	15.40
6047	0.91	328.7	2426	621	1713	1532	356.9	13.6	545	6053	0.00	1.75	0.00	0.000	1030	0.000	0.042	2427	1701	1619	1713	1526	0	0	0	0	0	0	15.30	15.24	15.32
6371	0.91	328.7	2426	1700	1714	1525	313.8	13.5	559	6375	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	1702	1619	1713	1525	0	0	0	0	0	0	15.44	15.46	15.46
6671	0.91	328.7	2426	1707	1713	1525	273.0	13.0	569	6677	0.00	1.88	0.00	0.000	516	0.000	0.077	2427	615	1619	1714	1524	0	0	0	0	0	0	15.45	15.23	15.47
6728	0.91	328.7	2426	615	1712	1524	265.1	14.1	580	6734	0.00	1.77	0.00	0.000	1030	0.000	0.042	2426	1689	1618	1712	1524	0	0	0	0	0	0	15.30	15.27	15.32
7036	0.91	328.7	2426	1689	1712	1524	223.4	13.5	603	7042	0.00	2.35	0.00	0.000	260	0.000	0.063	2427	3085	1618	1712	1524	0	0	0	0	0	0	15.46	15.26	15.47
7193	0.91	328.7	2426	3085	1712	1524	199.2	14.0	634	7200	0.00	2.35	0.00	0.000	1030	0.000	0.050	2426	1719	1618	1712	1524	0	0	0	0	0	0	15.32	15.23	15.32
7380	0.93	387.6	2426	1719	1712	1524	176.9	11.2	653	7438	0.00	0.00	51.97	1.063	8230	0.000	0.000	2427	1720	1385	1481	1290	0	0	0	0	0	0	15.47	14.93	14.55
7621	0.96	387.6	2426	1719	1481	1284	149.5	12.4	677	7629	0.00	0.00	0.00	0.000	70	0.000	0.000	2426	1719	1383	1481	1285	0	0	0	0	0	0	15.30	15.33	15.32
7811	1.01	387.6	2426	1720	1481	1284	127.4	11.6	696	7816	0.00	1.85	0.00	0.000	580	0.000	0.076	2426	623	1383	1483	1284	0	0	0	0	0	0	15.37	15.17	15.39
7837	1.04	458.1	2426	623	1480	1284	124.4	10.7	701	7905	0.00	1.77	61.25	0.949	9254	0.000	0.040	2427	1697	1103	1200	1006	0	0	0	0	0	0	15.22	15.19	14.51
8084	1.10	626.8	2427	1697	1200	995	102.8	7.1	732	8219	0.15	2.45	124.00	0.884	10532	0.136	0.056	2483	3090	499	620	379	0	0	0	0	0	0	15.07	14.74	14.38
8340	1.13	626.8	2482	3090	619	378	70.5	12.4	783	8347	0.00	2.42	0.00	0.000	1094	0.000	0.045	2483	1689	498	619	378	0	0	0	0	0	0	15.01	14.95	15.03
8528	1.18	626.8	2484	1689	620	377	50.2	11.6	802	8535	0.00	0.00	0.03	0.497	8262	0.000	0.000	2483	1689	497	618	377	0	0	0	0	0	0	15.30	15.16	15.04
8718	1.21	710.7	2483	1687	619	378	30.4	10.2	821	8724	0.00	2.38	0.00	0.000	292	0.000	0.054	2483	3098	498	619	378	0	0	0	0	0	0	15.36	15.16	15.38
8782	1.25	806.3	2482	3098	619	379	23.6	9.8	833	8789	0.15	2.33	0.00	0.000	3110	0.129	0.044	2543	1697	499	619	379	0	0	0	0	0	0	15.19	15.18	15.26
8925	end climb: SURFACE_DEPTH_REACHED
state	8925	begin surface coast
8947	end surface coast: CONTROL_FINISHED_OK
state	8947	begin surface