Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 41 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 1

DIVE 13 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 180 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 60 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 80 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 60

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 80

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 13 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 41 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 180 PITCH_ADJ_DBAND 1 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 031019,214600,1326.0543,14435.9590,2,1.0,3,0.6,0.4,331.7,10,10.0 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 0.58 MHEAD_RNG_PITCHd_Wd 178.9,620,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.5 D_GRID 840

GPS2 031019,215224,1326.1345,14435.9170,4,1.0,4,0.6,0.1,0.0,10,8.8

Post-dive calculations and measurements:

SM_CCo 3274,156.50,0.652,1,0,927,500.17 PM_ACTIVECARD 0

SM_GC 0.63,6.85,3.45,156.50,0.086,0.052,0.652,159,2720,927,-6.33,-1.58,500.17,0,0,0,0,1,0,15.42,15.42,14.81 _24V_AH 14.54,5.736

IRIDIUM_FIX 1326.30,14436.50,031019,204717 _10V_AH 13.70,0.000

TT8_MAMPS 0.019474,0.16478 FG_AHR_24Vo 0.000

HUMID 45.35 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.18004 MEM 271120

TCM_TEMP 27.80 DATA_FILE_SIZE 16762,487

XPDR_PINGS 0 CAP_FILE_SIZE 57857,0

SC_FREEKB 3872352 CFSIZE 260034560,256720896

PM_FREEKB_00 123994624 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.162,14.32,1

PM_FREEKB_02 124821056 GPS 031019,225201,1326.068,14435.846,32,0.7,39,0.6,0.5,356.0,11,2.3

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 413 104.56 nil 0 0 0.00

Roll_motor 39 82 47.36 nil 0 0 0.00

VBD_pump_during_apogee 396 851 4910.84 nil 0 0 0.00

VBD_pump_during_surface 156 651 1483.13 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 3263 9 428.75

Iridium_during_xfer 237 167 579.45 PMAR 3260 4 190.88

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.06

TT8 421 9 52.43

LPSleep 1183 2 35.50

TT8_Active 501 9 62.35

TT8_Sampling 1620 28 633.85

TT8_CF8 124 33 57.64

TT8_Kalman 0 0 0.00

Analog_circuits 1290 10 183.87

GPS_charging 0 0 0.00

Compass 1283 17 302.92

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

16 -0.73 -146.0 164 2732 989 860 0.0 0.0 0 109 0.00 0.00 -88.40 0.005 16386 0.000 0.000 164 2736 3227 3265 3190 0 0 0 0 0 0 15.48 28.83 15.50

112 -0.73 -146.0 164 2732 3265 3190 4.8 -8.9 9 134 8.38 2.25 -5.62 0.023 18980 0.414 0.064 1955 1328 3565 3628 3502 0 0 0 0 0 0 15.14 14.54 15.28

362 -0.67 -146.0 1955 1328 3629 3499 71.1 -20.9 59 372 0.12 2.35 0.00 0.000 3206 0.297 0.058 1978 2753 3565 3628 3503 0 0 0 0 0 0 15.27 15.36 15.45

553 -0.71 -146.0 1977 2753 3628 3501 101.9 -13.3 79 559 0.00 2.25 0.00 0.000 644 0.000 0.044 1977 1343 3565 3628 3503 0 0 0 0 0 0 15.60 15.41 15.61

577 -0.77 -146.0 1977 1343 3628 3502 105.0 -12.6 83 582 0.00 2.30 0.00 0.000 1158 0.000 0.056 1977 2750 3565 3629 3502 0 0 0 0 0 0 15.48 15.40 15.49

770 -0.85 -146.0 1977 2751 3628 3502 127.3 -10.6 103 776 0.12 1.98 0.00 0.000 4484 0.147 0.083 1919 3948 3565 3628 3502 0 0 0 0 0 0 15.43 15.40 15.47

845 -0.80 -146.0 1919 3948 3628 3502 139.8 -18.2 117 851 0.00 1.88 0.00 0.000 1158 0.000 0.035 1919 2715 3565 3628 3502 0 0 0 0 0 0 15.52 15.48 15.52

1041 -0.85 -146.0 1919 2709 3628 3502 169.3 -10.8 137 1047 0.00 2.10 0.00 0.000 644 0.000 0.046 1919 1370 3565 3628 3502 0 0 0 0 0 0 15.62 15.44 15.64

1115 -0.89 -146.0 1919 1370 3628 3502 178.2 -11.8 151 1121 0.00 2.28 0.00 0.000 1158 0.000 0.060 1919 2756 3565 3629 3502 0 0 0 0 0 0 15.51 15.43 15.52

1137 end dive: TARGET_DEPTH_EXCEEDED

state 1137 begin apogee

1144 -0.19 0.0 1919 1821 3628 3502 181.0 -12.1 154 1272 0.73 0.00 123.20 0.851 10246 0.206 0.000 2136 1821 2968 3053 2883 0 0 0 0 0 0 15.33 15.09 14.71

1275 end apogee: CONTROL_FINISHED_OK

state 1275 begin climb

1277 0.73 146.0 2136 1821 3053 2882 185.1 0.0 167 1414 0.88 1.98 127.03 0.847 10756 0.120 0.070 2434 647 2372 2455 2289 0 0 0 0 0 0 15.04 14.90 14.61

1508 0.74 175.8 2434 647 2448 2288 171.3 8.6 214 1541 0.00 1.88 26.40 0.815 9254 0.000 0.041 2435 1824 2251 2335 2167 0 0 0 0 0 0 15.25 15.19 14.76

1723 0.79 215.0 2434 1824 2335 2161 152.4 8.2 239 1765 0.00 2.03 34.05 0.817 8868 0.000 0.067 2435 650 2089 2176 2003 0 0 0 0 0 0 15.49 15.16 14.83

1994 0.90 305.2 2434 650 2168 2003 132.2 5.9 293 2079 0.17 1.83 76.03 0.823 11430 0.123 0.039 2500 1809 1723 1809 1637 0 0 0 0 0 0 15.34 15.37 14.76

2267 0.90 305.2 2499 1813 1809 1630 103.6 10.6 329 2273 0.00 1.92 0.00 0.000 516 0.000 0.069 2501 647 1719 1809 1630 0 0 0 0 0 0 15.50 15.29 15.51

2502 0.93 311.0 2501 647 1806 1630 80.2 9.7 375 2515 0.00 1.83 5.30 0.606 9382 0.000 0.038 2501 1807 1700 1789 1612 0 0 0 0 0 0 15.45 15.40 15.01

2704 0.99 312.8 2501 1807 1788 1610 58.8 9.9 397 2711 0.00 1.92 0.00 0.000 676 0.000 0.069 2501 636 1697 1784 1610 0 0 0 0 0 0 15.59 15.39 15.61

2939 1.05 314.8 2501 636 1788 1610 36.4 9.9 443 2953 0.12 1.83 4.68 0.543 11430 0.148 0.039 2550 1804 1684 1773 1595 0 0 0 0 0 0 15.43 15.45 15.05

3141 1.05 314.8 2550 1804 1773 1594 13.5 11.2 465 3147 0.00 1.90 0.00 0.000 516 0.000 0.069 2550 648 1683 1773 1594 0 0 0 0 0 0 15.62 15.42 15.64

3233 end climb: SURFACE_DEPTH_REACHED

state 3233 begin surface coast

3254 end surface coast: CONTROL_FINISHED_OK

state 3254 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	41	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	1
DIVE	13	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	180	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	60	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	80	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	031019,214600,1326.0543,14435.9590,2,1.0,3,0.6,0.4,331.7,10,10.0	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	0.58	MHEAD_RNG_PITCHd_Wd	178.9,620,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.5	D_GRID	840
GPS2	031019,215224,1326.1345,14435.9170,4,1.0,4,0.6,0.1,0.0,10,8.8

SM_CCo	3274,156.50,0.652,1,0,927,500.17	PM_ACTIVECARD	0
SM_GC	0.63,6.85,3.45,156.50,0.086,0.052,0.652,159,2720,927,-6.33,-1.58,500.17,0,0,0,0,1,0,15.42,15.42,14.81	_24V_AH	14.54,5.736
IRIDIUM_FIX	1326.30,14436.50,031019,204717	_10V_AH	13.70,0.000
TT8_MAMPS	0.019474,0.16478	FG_AHR_24Vo	0.000
HUMID	45.35	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.18004	MEM	271120
TCM_TEMP	27.80	DATA_FILE_SIZE	16762,487
XPDR_PINGS	0	CAP_FILE_SIZE	57857,0
SC_FREEKB	3872352	CFSIZE	260034560,256720896
PM_FREEKB_00	123994624	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.162,14.32,1
PM_FREEKB_02	124821056	GPS	031019,225201,1326.068,14435.846,32,0.7,39,0.6,0.5,356.0,11,2.3
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	413	104.56	nil	0	0	0.00
Roll_motor	39	82	47.36	nil	0	0	0.00
VBD_pump_during_apogee	396	851	4910.84	nil	0	0	0.00
VBD_pump_during_surface	156	651	1483.13	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	3263	9	428.75
Iridium_during_xfer	237	167	579.45	PMAR	3260	4	190.88
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.06
TT8	421	9	52.43
LPSleep	1183	2	35.50
TT8_Active	501	9	62.35
TT8_Sampling	1620	28	633.85
TT8_CF8	124	33	57.64
TT8_Kalman	0	0	0.00
Analog_circuits	1290	10	183.87
GPS_charging	0	0	0.00
Compass	1283	17	302.92
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
16	-0.73	-146.0	164	2732	989	860	0.0	0.0	0	109	0.00	0.00	-88.40	0.005	16386	0.000	0.000	164	2736	3227	3265	3190	0	0	0	0	0	0	15.48	28.83	15.50
112	-0.73	-146.0	164	2732	3265	3190	4.8	-8.9	9	134	8.38	2.25	-5.62	0.023	18980	0.414	0.064	1955	1328	3565	3628	3502	0	0	0	0	0	0	15.14	14.54	15.28
362	-0.67	-146.0	1955	1328	3629	3499	71.1	-20.9	59	372	0.12	2.35	0.00	0.000	3206	0.297	0.058	1978	2753	3565	3628	3503	0	0	0	0	0	0	15.27	15.36	15.45
553	-0.71	-146.0	1977	2753	3628	3501	101.9	-13.3	79	559	0.00	2.25	0.00	0.000	644	0.000	0.044	1977	1343	3565	3628	3503	0	0	0	0	0	0	15.60	15.41	15.61
577	-0.77	-146.0	1977	1343	3628	3502	105.0	-12.6	83	582	0.00	2.30	0.00	0.000	1158	0.000	0.056	1977	2750	3565	3629	3502	0	0	0	0	0	0	15.48	15.40	15.49
770	-0.85	-146.0	1977	2751	3628	3502	127.3	-10.6	103	776	0.12	1.98	0.00	0.000	4484	0.147	0.083	1919	3948	3565	3628	3502	0	0	0	0	0	0	15.43	15.40	15.47
845	-0.80	-146.0	1919	3948	3628	3502	139.8	-18.2	117	851	0.00	1.88	0.00	0.000	1158	0.000	0.035	1919	2715	3565	3628	3502	0	0	0	0	0	0	15.52	15.48	15.52
1041	-0.85	-146.0	1919	2709	3628	3502	169.3	-10.8	137	1047	0.00	2.10	0.00	0.000	644	0.000	0.046	1919	1370	3565	3628	3502	0	0	0	0	0	0	15.62	15.44	15.64
1115	-0.89	-146.0	1919	1370	3628	3502	178.2	-11.8	151	1121	0.00	2.28	0.00	0.000	1158	0.000	0.060	1919	2756	3565	3629	3502	0	0	0	0	0	0	15.51	15.43	15.52
1137	end dive: TARGET_DEPTH_EXCEEDED
state	1137	begin apogee
1144	-0.19	0.0	1919	1821	3628	3502	181.0	-12.1	154	1272	0.73	0.00	123.20	0.851	10246	0.206	0.000	2136	1821	2968	3053	2883	0	0	0	0	0	0	15.33	15.09	14.71
1275	end apogee: CONTROL_FINISHED_OK
state	1275	begin climb
1277	0.73	146.0	2136	1821	3053	2882	185.1	0.0	167	1414	0.88	1.98	127.03	0.847	10756	0.120	0.070	2434	647	2372	2455	2289	0	0	0	0	0	0	15.04	14.90	14.61
1508	0.74	175.8	2434	647	2448	2288	171.3	8.6	214	1541	0.00	1.88	26.40	0.815	9254	0.000	0.041	2435	1824	2251	2335	2167	0	0	0	0	0	0	15.25	15.19	14.76
1723	0.79	215.0	2434	1824	2335	2161	152.4	8.2	239	1765	0.00	2.03	34.05	0.817	8868	0.000	0.067	2435	650	2089	2176	2003	0	0	0	0	0	0	15.49	15.16	14.83
1994	0.90	305.2	2434	650	2168	2003	132.2	5.9	293	2079	0.17	1.83	76.03	0.823	11430	0.123	0.039	2500	1809	1723	1809	1637	0	0	0	0	0	0	15.34	15.37	14.76
2267	0.90	305.2	2499	1813	1809	1630	103.6	10.6	329	2273	0.00	1.92	0.00	0.000	516	0.000	0.069	2501	647	1719	1809	1630	0	0	0	0	0	0	15.50	15.29	15.51
2502	0.93	311.0	2501	647	1806	1630	80.2	9.7	375	2515	0.00	1.83	5.30	0.606	9382	0.000	0.038	2501	1807	1700	1789	1612	0	0	0	0	0	0	15.45	15.40	15.01
2704	0.99	312.8	2501	1807	1788	1610	58.8	9.9	397	2711	0.00	1.92	0.00	0.000	676	0.000	0.069	2501	636	1697	1784	1610	0	0	0	0	0	0	15.59	15.39	15.61
2939	1.05	314.8	2501	636	1788	1610	36.4	9.9	443	2953	0.12	1.83	4.68	0.543	11430	0.148	0.039	2550	1804	1684	1773	1595	0	0	0	0	0	0	15.43	15.45	15.05
3141	1.05	314.8	2550	1804	1773	1594	13.5	11.2	465	3147	0.00	1.90	0.00	0.000	516	0.000	0.069	2550	648	1683	1773	1594	0	0	0	0	0	0	15.62	15.42	15.64
3233	end climb: SURFACE_DEPTH_REACHED
state	3233	begin surface coast
3254	end surface coast: CONTROL_FINISHED_OK
state	3254	begin surface