Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 116 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 29 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 29 ALTIM_PULSE 1

DIVE 116 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 116 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 29 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 29 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 291019,134100,1415.7286,14410.3320,24,1.0,24,0.3,0.7,84.1,8,4.1 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 0.34 MHEAD_RNG_PITCHd_Wd 357.3,9804,-17.1,-13.333,-21.90,2783

_SM_ANGLEo -52.0 D_GRID 1000

GPS2 291019,135723,1415.7157,14410.3311,2,0.6,4,0.3,0.2,133.2,12,3.3

Post-dive calculations and measurements:

SM_CCo 8648,0.00,0.000,0,0,497,606.14 PM_ACTIVECARD 1

SM_GC 0.31,6.95,0.60,0.00,0.103,0.043,0.000,157,2712,497,-6.10,0.76,606.14,0,0,0,0,0,0,15.13,15.20,15.22 _24V_AH 14.05,48.841

IRIDIUM_FIX 1413.50,14408.34,291019,110240 _10V_AH 13.30,0.000

TT8_MAMPS 0.019474,0.173019 FG_AHR_24Vo 0.000

HUMID 51.29 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.95542 MEM 270844

TCM_TEMP 25.40 DATA_FILE_SIZE 30064,886

XPDR_PINGS 1 CAP_FILE_SIZE 97678,0

SC_FREEKB 3821728 CFSIZE 260034560,239210496

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

PM_FREEKB_01 122751744 CURRENT 0.093,241.45,1

PM_FREEKB_02 124821056 GPS 291019,162330,1416.878,14410.183,17,0.9,17,0.3,0.3,220.7,9,4.3

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 391 92.18 nil 0 0 0.00

Roll_motor 72 98 101.01 nil 0 0 0.00

VBD_pump_during_apogee 740 1467 15270.67 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 8655 13 1605.52

Iridium_during_xfer 715 221 2223.22 PMAR 8582 5 660.88

Transponder_ping 0 420 1.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 9 2.23

TT8 702 9 84.70

LPSleep 4995 2 145.50

TT8_Active 657 9 79.29

TT8_Sampling 3028 28 1149.84

TT8_CF8 271 33 122.09

TT8_Kalman 0 0 0.00

Analog_circuits 2314 10 320.11

GPS_charging 0 0 0.00

Compass 2124 17 486.86

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

17 -0.81 -243.3 149 2745 606 401 0.0 0.0 0 128 0.00 0.00 -107.65 0.005 16386 0.000 0.000 149 2746 3377 3401 3354 0 0 0 0 0 0 15.32 28.83 15.33

131 -0.81 -243.3 149 2746 3401 3355 6.1 -12.3 11 159 7.80 2.08 -8.95 0.016 18692 0.392 0.099 1848 3943 3963 4013 3913 0 0 0 0 0 0 14.93 14.26 15.11

266 -0.81 -243.3 1848 3943 4013 3912 72.1 -42.9 38 273 0.00 1.98 0.00 0.000 1030 0.000 0.029 1848 2696 3962 4013 3912 0 0 0 0 0 0 15.26 15.23 15.28

453 -0.81 -243.3 1848 2690 4013 3912 133.7 -27.4 57 459 0.00 2.12 0.00 0.000 260 0.000 0.078 1843 3942 3960 4009 3911 0 0 0 0 0 0 15.45 15.23 15.46

537 -0.81 -243.3 1840 3941 4018 3911 157.0 -26.5 73 543 0.00 1.92 0.00 0.000 1030 0.000 0.029 1843 2699 3962 4013 3911 0 0 0 0 0 0 15.35 15.32 15.37

731 -0.81 -243.3 1842 2693 4009 3911 202.9 -22.8 93 738 0.00 2.17 0.00 0.000 516 0.000 0.044 1843 1332 3962 4013 3911 0 0 0 0 0 0 15.48 15.29 15.50

806 -0.81 -243.3 1842 1332 4013 3911 216.9 -16.4 107 811 0.00 2.35 0.00 0.000 1030 0.000 0.054 1843 2747 3961 4012 3911 0 0 0 0 0 0 15.37 15.29 15.39

999 -0.81 -243.3 1843 2747 4013 3910 248.5 -15.2 127 1003 0.00 0.00 0.00 0.000 6 0.000 0.000 1843 2747 3961 4012 3910 0 0 0 0 0 0 15.50 15.52 15.52

1191 -0.81 -243.3 1840 2748 4012 3909 282.1 -17.8 134 1197 0.00 2.00 0.00 0.000 260 0.000 0.080 1843 3948 3960 4013 3908 0 0 0 0 0 0 15.51 15.30 15.54

1347 -0.81 -243.3 1842 3945 4013 3906 311.3 -18.2 165 1353 0.00 1.92 0.00 0.000 1030 0.000 0.030 1843 2699 3960 4013 3907 0 0 0 0 0 0 15.42 15.39 15.43

1676 -0.81 -243.3 1843 2693 4013 3904 365.2 -15.9 180 1682 0.00 2.15 0.00 0.000 260 0.000 0.083 1843 3946 3958 4013 3904 0 0 0 0 0 0 15.57 15.31 15.54

1814 -0.81 -243.3 1843 3946 4012 3902 387.6 -15.8 207 1819 0.00 1.92 0.00 0.000 1030 0.000 0.031 1843 2698 3956 4012 3900 0 0 0 0 0 0 15.42 15.39 15.44

2132 -0.81 -243.3 1843 2696 4013 3896 431.7 -13.2 220 2138 0.00 2.15 0.00 0.000 260 0.000 0.086 1843 3950 3954 4012 3896 0 0 0 0 0 0 15.53 15.30 15.55

2281 -0.81 -243.3 1842 3950 4011 3893 452.3 -13.5 249 2289 0.00 2.00 0.00 0.000 1030 0.000 0.034 1843 2700 3952 4012 3893 0 0 0 0 0 0 15.41 15.39 15.41

2586 -0.81 -243.3 1842 2694 4006 3890 490.8 -12.8 260 2589 0.00 0.00 0.00 0.000 6 0.000 0.000 1843 2694 3948 4006 3891 0 0 0 0 0 0 15.53 15.55 15.55

2886 -0.81 -243.3 1842 2694 4004 3887 532.1 -13.7 270 2891 0.00 2.15 0.00 0.000 260 0.000 0.088 1843 3944 3945 4004 3887 0 0 0 0 0 0 15.53 15.30 15.55

2979 -0.81 -243.3 1842 3944 4004 3886 545.3 -13.7 288 2985 0.00 1.88 0.00 0.000 1030 0.000 0.036 1843 2749 3945 4004 3886 0 0 0 0 0 0 15.43 15.39 15.45

3313 -0.81 -243.3 1842 2744 3999 3882 582.8 -10.5 304 3316 0.00 0.00 0.00 0.000 38 0.000 0.000 1843 2743 3940 3999 3881 0 0 0 0 0 0 15.53 15.55 15.54

3491 end dive: TARGET_DEPTH_EXCEEDED

state 3491 begin apogee

3497 -0.21 0.0 1843 1729 3996 3881 601.0 -10.0 310 3716 0.73 0.00 213.07 1.467 10246 0.197 0.000 2056 1728 2967 3042 2893 0 0 0 0 0 0 15.24 14.65 14.09

3719 end apogee: CONTROL_FINISHED_OK

state 3719 begin climb

3721 0.81 243.3 2056 1729 3043 2890 605.6 0.0 317 3952 1.02 1.92 220.55 1.427 10756 0.119 0.071 2383 643 1975 2060 1891 0 0 0 0 0 0 14.64 14.50 14.05

4180 0.81 243.3 2382 643 2050 1890 555.7 13.0 412 4187 0.00 1.80 0.00 0.000 1030 0.000 0.039 2383 1716 1968 2050 1887 0 0 0 0 0 0 15.09 15.06 15.11

4486 0.84 243.3 2382 1716 2050 1885 517.7 12.0 423 4491 0.00 1.88 0.00 0.000 580 0.000 0.073 2383 631 1968 2052 1884 0 0 0 0 0 0 15.40 15.19 15.40

4717 0.86 243.3 2382 632 2048 1885 490.0 12.7 469 4723 0.00 1.77 0.00 0.000 1094 0.000 0.041 2382 1702 1966 2048 1885 0 0 0 0 0 0 15.28 15.26 15.30

5031 0.86 243.3 2383 1703 2048 1882 447.5 14.1 481 5036 0.00 1.83 0.00 0.000 516 0.000 0.074 2383 641 1965 2048 1883 0 0 0 0 0 0 15.45 15.25 15.46

5097 0.86 243.3 2383 641 2047 1883 437.7 14.1 494 5104 0.00 1.73 0.00 0.000 1030 0.000 0.041 2383 1710 1964 2047 1882 0 0 0 0 0 0 15.35 15.30 15.35

5427 0.90 334.3 2382 1710 2047 1881 400.3 10.0 509 5517 0.00 2.40 81.35 1.304 8484 0.000 0.060 2383 3096 1604 1694 1515 0 0 0 0 0 0 15.47 14.76 14.34

5594 0.90 334.3 2382 3096 1694 1509 380.9 13.5 542 5601 0.00 2.38 0.00 0.000 1030 0.000 0.047 2383 1707 1601 1692 1510 0 0 0 0 0 0 15.06 14.98 15.07

5914 0.93 334.3 2383 1707 1693 1508 341.5 12.3 555 5920 0.12 1.85 0.00 0.000 2628 0.156 0.075 2432 627 1600 1694 1507 0 0 0 0 0 0 15.19 15.14 15.22

5967 0.93 334.3 2431 627 1692 1508 333.5 15.5 565 5972 0.00 1.75 0.00 0.000 1030 0.000 0.041 2432 1708 1597 1688 1507 0 0 0 0 0 0 15.27 15.21 15.28

6280 0.93 334.3 2431 1708 1692 1506 286.4 14.8 577 6286 0.00 2.30 0.00 0.000 260 0.000 0.061 2432 3085 1599 1692 1506 0 0 0 0 0 0 15.42 15.23 15.45

6436 0.93 334.3 2431 3085 1693 1505 263.3 13.0 608 6441 0.00 2.33 0.00 0.000 1030 0.000 0.047 2430 1701 1598 1692 1505 0 0 0 0 0 0 15.30 15.23 15.32

6746 0.93 334.3 2431 1698 1692 1504 217.2 17.4 635 6751 0.00 1.80 0.00 0.000 516 0.000 0.076 2431 628 1598 1692 1504 0 0 0 0 0 0 15.46 15.23 15.47

6832 0.93 334.3 2431 627 1692 1504 203.2 14.6 652 6839 0.00 1.77 0.00 0.000 1030 0.000 0.039 2432 1706 1598 1692 1504 0 0 0 0 0 0 15.30 15.30 15.33

7020 0.93 334.3 2432 1706 1692 1505 177.5 13.1 671 7026 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 1705 1598 1692 1504 0 0 0 0 0 0 15.46 15.48 15.47

7210 0.98 334.3 2431 1706 1691 1504 155.1 11.8 690 7218 0.00 0.00 0.00 0.000 70 0.000 0.000 2431 1706 1598 1692 1504 0 0 0 0 0 0 15.47 15.49 15.48

7400 1.00 404.3 2431 1706 1692 1504 133.1 10.7 709 7469 0.00 1.90 60.12 0.955 8740 0.000 0.075 2432 635 1319 1413 1225 0 0 1 0 0 0 15.46 14.98 14.60

7607 1.00 404.3 2431 636 1409 1224 108.6 13.1 750 7615 0.00 1.75 0.00 0.000 1030 0.000 0.038 2432 1695 1316 1409 1224 0 0 0 0 0 0 15.14 15.11 15.16

7794 1.04 487.2 2431 1695 1409 1223 86.5 10.3 769 7874 0.00 2.40 68.82 0.864 8484 0.000 0.054 2432 3082 982 1083 882 0 0 0 0 0 0 15.38 14.92 14.54

7918 1.06 487.2 2431 3082 1083 881 72.1 12.5 793 7925 0.12 2.35 0.00 0.000 3142 0.150 0.043 2477 1695 982 1084 881 0 0 0 0 0 0 15.00 15.00 15.07

8114 1.08 551.2 2476 1695 1083 879 48.5 11.0 813 8176 0.00 1.83 53.00 0.785 8740 0.000 0.072 2476 623 719 832 606 0 0 0 0 0 0 15.33 14.93 14.59

8277 1.12 647.0 2477 622 830 609 31.2 9.8 846 8327 0.00 1.77 43.83 0.749 9254 0.000 0.034 2477 1710 499 623 376 0 0 0 0 0 0 15.11 15.09 14.59

8517 1.17 765.8 2476 1723 621 374 8.6 8.9 875 8522 0.00 2.28 0.00 0.000 292 0.000 0.050 2477 3086 497 620 374 0 0 0 0 0 0 15.30 15.11 15.33

8568 end climb: SURFACE_DEPTH_REACHED

state 8568 begin surface coast

8570 end surface coast: CONTROL_FINISHED_OK

state 8570 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	29	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	29	ALTIM_PULSE	1
DIVE	116	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	291019,134100,1415.7286,14410.3320,24,1.0,24,0.3,0.7,84.1,8,4.1	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	0.34	MHEAD_RNG_PITCHd_Wd	357.3,9804,-17.1,-13.333,-21.90,2783
_SM_ANGLEo	-52.0	D_GRID	1000
GPS2	291019,135723,1415.7157,14410.3311,2,0.6,4,0.3,0.2,133.2,12,3.3

SM_CCo	8648,0.00,0.000,0,0,497,606.14	PM_ACTIVECARD	1
SM_GC	0.31,6.95,0.60,0.00,0.103,0.043,0.000,157,2712,497,-6.10,0.76,606.14,0,0,0,0,0,0,15.13,15.20,15.22	_24V_AH	14.05,48.841
IRIDIUM_FIX	1413.50,14408.34,291019,110240	_10V_AH	13.30,0.000
TT8_MAMPS	0.019474,0.173019	FG_AHR_24Vo	0.000
HUMID	51.29	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.95542	MEM	270844
TCM_TEMP	25.40	DATA_FILE_SIZE	30064,886
XPDR_PINGS	1	CAP_FILE_SIZE	97678,0
SC_FREEKB	3821728	CFSIZE	260034560,239210496
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
PM_FREEKB_01	122751744	CURRENT	0.093,241.45,1
PM_FREEKB_02	124821056	GPS	291019,162330,1416.878,14410.183,17,0.9,17,0.3,0.3,220.7,9,4.3
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	391	92.18	nil	0	0	0.00
Roll_motor	72	98	101.01	nil	0	0	0.00
VBD_pump_during_apogee	740	1467	15270.67	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	8655	13	1605.52
Iridium_during_xfer	715	221	2223.22	PMAR	8582	5	660.88
Transponder_ping	0	420	1.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	9	2.23
TT8	702	9	84.70
LPSleep	4995	2	145.50
TT8_Active	657	9	79.29
TT8_Sampling	3028	28	1149.84
TT8_CF8	271	33	122.09
TT8_Kalman	0	0	0.00
Analog_circuits	2314	10	320.11
GPS_charging	0	0	0.00
Compass	2124	17	486.86
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
17	-0.81	-243.3	149	2745	606	401	0.0	0.0	0	128	0.00	0.00	-107.65	0.005	16386	0.000	0.000	149	2746	3377	3401	3354	0	0	0	0	0	0	15.32	28.83	15.33
131	-0.81	-243.3	149	2746	3401	3355	6.1	-12.3	11	159	7.80	2.08	-8.95	0.016	18692	0.392	0.099	1848	3943	3963	4013	3913	0	0	0	0	0	0	14.93	14.26	15.11
266	-0.81	-243.3	1848	3943	4013	3912	72.1	-42.9	38	273	0.00	1.98	0.00	0.000	1030	0.000	0.029	1848	2696	3962	4013	3912	0	0	0	0	0	0	15.26	15.23	15.28
453	-0.81	-243.3	1848	2690	4013	3912	133.7	-27.4	57	459	0.00	2.12	0.00	0.000	260	0.000	0.078	1843	3942	3960	4009	3911	0	0	0	0	0	0	15.45	15.23	15.46
537	-0.81	-243.3	1840	3941	4018	3911	157.0	-26.5	73	543	0.00	1.92	0.00	0.000	1030	0.000	0.029	1843	2699	3962	4013	3911	0	0	0	0	0	0	15.35	15.32	15.37
731	-0.81	-243.3	1842	2693	4009	3911	202.9	-22.8	93	738	0.00	2.17	0.00	0.000	516	0.000	0.044	1843	1332	3962	4013	3911	0	0	0	0	0	0	15.48	15.29	15.50
806	-0.81	-243.3	1842	1332	4013	3911	216.9	-16.4	107	811	0.00	2.35	0.00	0.000	1030	0.000	0.054	1843	2747	3961	4012	3911	0	0	0	0	0	0	15.37	15.29	15.39
999	-0.81	-243.3	1843	2747	4013	3910	248.5	-15.2	127	1003	0.00	0.00	0.00	0.000	6	0.000	0.000	1843	2747	3961	4012	3910	0	0	0	0	0	0	15.50	15.52	15.52
1191	-0.81	-243.3	1840	2748	4012	3909	282.1	-17.8	134	1197	0.00	2.00	0.00	0.000	260	0.000	0.080	1843	3948	3960	4013	3908	0	0	0	0	0	0	15.51	15.30	15.54
1347	-0.81	-243.3	1842	3945	4013	3906	311.3	-18.2	165	1353	0.00	1.92	0.00	0.000	1030	0.000	0.030	1843	2699	3960	4013	3907	0	0	0	0	0	0	15.42	15.39	15.43
1676	-0.81	-243.3	1843	2693	4013	3904	365.2	-15.9	180	1682	0.00	2.15	0.00	0.000	260	0.000	0.083	1843	3946	3958	4013	3904	0	0	0	0	0	0	15.57	15.31	15.54
1814	-0.81	-243.3	1843	3946	4012	3902	387.6	-15.8	207	1819	0.00	1.92	0.00	0.000	1030	0.000	0.031	1843	2698	3956	4012	3900	0	0	0	0	0	0	15.42	15.39	15.44
2132	-0.81	-243.3	1843	2696	4013	3896	431.7	-13.2	220	2138	0.00	2.15	0.00	0.000	260	0.000	0.086	1843	3950	3954	4012	3896	0	0	0	0	0	0	15.53	15.30	15.55
2281	-0.81	-243.3	1842	3950	4011	3893	452.3	-13.5	249	2289	0.00	2.00	0.00	0.000	1030	0.000	0.034	1843	2700	3952	4012	3893	0	0	0	0	0	0	15.41	15.39	15.41
2586	-0.81	-243.3	1842	2694	4006	3890	490.8	-12.8	260	2589	0.00	0.00	0.00	0.000	6	0.000	0.000	1843	2694	3948	4006	3891	0	0	0	0	0	0	15.53	15.55	15.55
2886	-0.81	-243.3	1842	2694	4004	3887	532.1	-13.7	270	2891	0.00	2.15	0.00	0.000	260	0.000	0.088	1843	3944	3945	4004	3887	0	0	0	0	0	0	15.53	15.30	15.55
2979	-0.81	-243.3	1842	3944	4004	3886	545.3	-13.7	288	2985	0.00	1.88	0.00	0.000	1030	0.000	0.036	1843	2749	3945	4004	3886	0	0	0	0	0	0	15.43	15.39	15.45
3313	-0.81	-243.3	1842	2744	3999	3882	582.8	-10.5	304	3316	0.00	0.00	0.00	0.000	38	0.000	0.000	1843	2743	3940	3999	3881	0	0	0	0	0	0	15.53	15.55	15.54
3491	end dive: TARGET_DEPTH_EXCEEDED
state	3491	begin apogee
3497	-0.21	0.0	1843	1729	3996	3881	601.0	-10.0	310	3716	0.73	0.00	213.07	1.467	10246	0.197	0.000	2056	1728	2967	3042	2893	0	0	0	0	0	0	15.24	14.65	14.09
3719	end apogee: CONTROL_FINISHED_OK
state	3719	begin climb
3721	0.81	243.3	2056	1729	3043	2890	605.6	0.0	317	3952	1.02	1.92	220.55	1.427	10756	0.119	0.071	2383	643	1975	2060	1891	0	0	0	0	0	0	14.64	14.50	14.05
4180	0.81	243.3	2382	643	2050	1890	555.7	13.0	412	4187	0.00	1.80	0.00	0.000	1030	0.000	0.039	2383	1716	1968	2050	1887	0	0	0	0	0	0	15.09	15.06	15.11
4486	0.84	243.3	2382	1716	2050	1885	517.7	12.0	423	4491	0.00	1.88	0.00	0.000	580	0.000	0.073	2383	631	1968	2052	1884	0	0	0	0	0	0	15.40	15.19	15.40
4717	0.86	243.3	2382	632	2048	1885	490.0	12.7	469	4723	0.00	1.77	0.00	0.000	1094	0.000	0.041	2382	1702	1966	2048	1885	0	0	0	0	0	0	15.28	15.26	15.30
5031	0.86	243.3	2383	1703	2048	1882	447.5	14.1	481	5036	0.00	1.83	0.00	0.000	516	0.000	0.074	2383	641	1965	2048	1883	0	0	0	0	0	0	15.45	15.25	15.46
5097	0.86	243.3	2383	641	2047	1883	437.7	14.1	494	5104	0.00	1.73	0.00	0.000	1030	0.000	0.041	2383	1710	1964	2047	1882	0	0	0	0	0	0	15.35	15.30	15.35
5427	0.90	334.3	2382	1710	2047	1881	400.3	10.0	509	5517	0.00	2.40	81.35	1.304	8484	0.000	0.060	2383	3096	1604	1694	1515	0	0	0	0	0	0	15.47	14.76	14.34
5594	0.90	334.3	2382	3096	1694	1509	380.9	13.5	542	5601	0.00	2.38	0.00	0.000	1030	0.000	0.047	2383	1707	1601	1692	1510	0	0	0	0	0	0	15.06	14.98	15.07
5914	0.93	334.3	2383	1707	1693	1508	341.5	12.3	555	5920	0.12	1.85	0.00	0.000	2628	0.156	0.075	2432	627	1600	1694	1507	0	0	0	0	0	0	15.19	15.14	15.22
5967	0.93	334.3	2431	627	1692	1508	333.5	15.5	565	5972	0.00	1.75	0.00	0.000	1030	0.000	0.041	2432	1708	1597	1688	1507	0	0	0	0	0	0	15.27	15.21	15.28
6280	0.93	334.3	2431	1708	1692	1506	286.4	14.8	577	6286	0.00	2.30	0.00	0.000	260	0.000	0.061	2432	3085	1599	1692	1506	0	0	0	0	0	0	15.42	15.23	15.45
6436	0.93	334.3	2431	3085	1693	1505	263.3	13.0	608	6441	0.00	2.33	0.00	0.000	1030	0.000	0.047	2430	1701	1598	1692	1505	0	0	0	0	0	0	15.30	15.23	15.32
6746	0.93	334.3	2431	1698	1692	1504	217.2	17.4	635	6751	0.00	1.80	0.00	0.000	516	0.000	0.076	2431	628	1598	1692	1504	0	0	0	0	0	0	15.46	15.23	15.47
6832	0.93	334.3	2431	627	1692	1504	203.2	14.6	652	6839	0.00	1.77	0.00	0.000	1030	0.000	0.039	2432	1706	1598	1692	1504	0	0	0	0	0	0	15.30	15.30	15.33
7020	0.93	334.3	2432	1706	1692	1505	177.5	13.1	671	7026	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	1705	1598	1692	1504	0	0	0	0	0	0	15.46	15.48	15.47
7210	0.98	334.3	2431	1706	1691	1504	155.1	11.8	690	7218	0.00	0.00	0.00	0.000	70	0.000	0.000	2431	1706	1598	1692	1504	0	0	0	0	0	0	15.47	15.49	15.48
7400	1.00	404.3	2431	1706	1692	1504	133.1	10.7	709	7469	0.00	1.90	60.12	0.955	8740	0.000	0.075	2432	635	1319	1413	1225	0	0	1	0	0	0	15.46	14.98	14.60
7607	1.00	404.3	2431	636	1409	1224	108.6	13.1	750	7615	0.00	1.75	0.00	0.000	1030	0.000	0.038	2432	1695	1316	1409	1224	0	0	0	0	0	0	15.14	15.11	15.16
7794	1.04	487.2	2431	1695	1409	1223	86.5	10.3	769	7874	0.00	2.40	68.82	0.864	8484	0.000	0.054	2432	3082	982	1083	882	0	0	0	0	0	0	15.38	14.92	14.54
7918	1.06	487.2	2431	3082	1083	881	72.1	12.5	793	7925	0.12	2.35	0.00	0.000	3142	0.150	0.043	2477	1695	982	1084	881	0	0	0	0	0	0	15.00	15.00	15.07
8114	1.08	551.2	2476	1695	1083	879	48.5	11.0	813	8176	0.00	1.83	53.00	0.785	8740	0.000	0.072	2476	623	719	832	606	0	0	0	0	0	0	15.33	14.93	14.59
8277	1.12	647.0	2477	622	830	609	31.2	9.8	846	8327	0.00	1.77	43.83	0.749	9254	0.000	0.034	2477	1710	499	623	376	0	0	0	0	0	0	15.11	15.09	14.59
8517	1.17	765.8	2476	1723	621	374	8.6	8.9	875	8522	0.00	2.28	0.00	0.000	292	0.000	0.050	2477	3086	497	620	374	0	0	0	0	0	0	15.30	15.11	15.33
8568	end climb: SURFACE_DEPTH_REACHED
state	8568	begin surface coast
8570	end surface coast: CONTROL_FINISHED_OK
state	8570	begin surface