Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 64 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 29 ALTIM_PULSE 1

DIVE 3 TGT_DEFAULT_LAT 47.700001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 3 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 2600 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 2500 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 2500 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2600 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 3 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 64 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 3 R_STBD_OVSHOOT 29 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 031019,033805,1324.2578,14436.2734,1,1.0,2,0.6,0.6,201.4,8,6.8 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME WEST

_XMS_NAKs 0 TGT_LATLONG 1326.000,14431.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 333.9,10074,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -51.5 D_GRID 744

GPS2 031019,034135,1324.1858,14436.2725,2,1.0,3,0.6,0.7,166.2,8,7.4

Post-dive calculations and measurements:

SM_CCo 3498,130.10,0.685,1,0,929,500.17 PM_ACTIVECARD 0

SM_GC 0.60,6.82,0.17,130.10,0.089,0.112,0.685,158,2608,929,-6.33,-0.96,500.17,0,0,0,0,1,0,15.45,15.48,14.85 _24V_AH 14.69,3.495

IRIDIUM_FIX 1324.04,14458.66,031019,033501 _10V_AH 13.67,0.000

TT8_MAMPS 0.020223,0.164031 FG_AHR_24Vo 0.000

HUMID 50.00 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.25817 MEM 271124

TCM_TEMP 28.00 DATA_FILE_SIZE 16765,530

XPDR_PINGS 0 CAP_FILE_SIZE 66842,0

SC_FREEKB 3876192 CFSIZE 260034560,257576960

PM_FREEKB_00 124728960 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.225,171.11,1

PM_FREEKB_02 124821056 GPS 031019,044424,1324.023,14436.372,34,0.9,34,0.6,0.4,188.9,7,5.1

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 424 111.02 nil 0 0 0.00

Roll_motor 40 112 66.86 nil 0 0 0.00

VBD_pump_during_apogee 427 911 5720.22 nil 0 0 0.00

VBD_pump_during_surface 130 684 1308.53 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 3472 9 460.82

Iridium_during_xfer 0 0 0.00 PMAR 3477 4 249.92

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 9 1.98

TT8 435 9 54.05

LPSleep 1277 2 38.26

TT8_Active 503 9 62.44

TT8_Sampling 1456 28 568.63

TT8_CF8 62 33 28.80

TT8_Kalman 0 0 0.00

Analog_circuits 1097 10 156.10

GPS_charging 0 0 0.00

Compass 1358 17 320.09

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 -0.73 -146.0 156 2612 693 513 0.0 0.0 0 128 0.00 0.00 -108.75 0.005 16386 0.000 0.000 156 2612 3462 3510 3414 0 0 0 0 0 0 15.69 28.83 15.70

131 -0.73 -146.0 161 2613 3510 3415 5.9 -11.2 11 149 8.50 2.22 -1.70 0.053 18692 0.425 0.094 1947 3942 3564 3615 3514 0 0 0 0 0 0 15.25 14.80 15.50

375 -0.68 -146.0 1946 3942 3616 3512 71.5 -20.9 60 382 0.10 2.10 0.00 0.000 3206 0.249 0.036 1972 2614 3564 3617 3511 0 0 0 0 0 0 15.37 15.50 15.47

563 -0.76 -146.0 1974 2614 3616 3511 100.9 -15.2 79 569 0.00 2.20 0.00 0.000 388 0.000 0.083 1970 3941 3563 3616 3511 0 0 0 0 0 0 15.70 15.47 15.70

698 -0.84 -146.0 1970 3943 3616 3511 116.9 -11.2 105 705 0.12 2.08 0.00 0.000 5254 0.153 0.035 1924 2598 3563 3616 3511 0 0 0 0 0 0 15.50 15.53 15.57

894 -0.90 -146.0 1924 2593 3615 3510 140.1 -11.7 125 900 0.00 2.17 0.00 0.000 644 0.000 0.050 1924 1205 3563 3616 3510 0 0 0 0 0 0 15.71 15.50 15.72

982 -0.94 -146.0 1923 1205 3616 3510 149.4 -9.0 142 989 0.00 2.30 0.00 0.000 1190 0.000 0.055 1924 2599 3563 3616 3510 0 0 0 0 0 0 15.54 15.51 15.55

1168 -1.02 -146.0 1924 2599 3616 3510 170.3 -13.3 161 1175 0.15 2.22 0.00 0.000 4484 0.143 0.081 1859 3950 3562 3616 3509 0 0 0 0 0 0 15.50 15.47 15.57

1224 end dive: TARGET_DEPTH_EXCEEDED

state 1224 begin apogee

1231 -0.19 0.0 1858 2492 3616 3509 180.3 -17.2 172 1362 0.95 0.00 125.62 0.912 10246 0.234 0.000 2132 2486 2969 3056 2882 0 0 0 0 0 0 15.37 15.18 14.76

1365 end apogee: CONTROL_FINISHED_OK

state 1365 begin climb

1367 0.73 146.0 2132 2486 3056 2881 185.9 0.0 185 1509 0.90 2.33 128.88 0.897 10756 0.121 0.057 2435 1101 2371 2457 2285 0 0 0 0 0 0 15.13 15.09 14.69

1735 0.73 146.0 2435 1101 2453 2282 152.5 10.4 260 1743 0.00 2.30 0.00 0.000 1030 0.000 0.050 2434 2499 2367 2453 2281 0 0 0 0 0 0 15.42 15.38 15.45

1923 0.73 150.8 2435 2499 2453 2278 135.7 9.8 279 1935 0.00 2.25 4.50 0.617 8740 0.000 0.057 2435 1109 2353 2441 2265 0 0 0 0 0 0 15.65 15.35 15.02

2163 0.79 311.4 2436 1109 2439 2265 123.0 2.6 327 2308 0.00 2.22 134.57 0.881 9254 0.000 0.048 2436 2504 1700 1797 1604 0 0 0 0 0 0 15.54 15.47 14.75

2496 0.93 311.4 2435 2503 1796 1599 101.8 10.3 375 2507 0.15 2.33 0.00 0.000 2436 0.138 0.080 2500 3910 1695 1790 1600 0 0 0 0 0 0 15.37 15.36 15.41

2734 0.90 331.3 2499 3909 1790 1600 74.7 9.1 422 2761 0.00 2.25 17.48 0.809 9382 0.000 0.038 2501 2505 1616 1712 1520 0 0 0 0 0 0 15.47 15.45 14.99

2944 0.94 337.6 2500 2505 1712 1515 56.2 9.7 445 2956 0.00 2.35 6.03 0.657 8612 0.000 0.080 2501 3898 1592 1691 1493 0 0 0 0 0 0 15.64 15.40 15.04

3186 0.94 337.6 2501 3898 1692 1495 29.7 11.0 493 3191 0.00 2.20 0.00 0.000 1030 0.000 0.038 2501 2488 1594 1692 1497 0 0 0 0 0 0 15.55 15.49 15.56

3382 1.04 347.6 2500 2488 1692 1492 11.3 9.5 513 3400 0.10 2.20 9.95 0.695 10916 0.174 0.058 2541 1112 1550 1649 1451 0 0 0 0 0 0 15.47 15.39 15.08

3447 1.09 347.6 2541 1112 1646 1451 4.5 12.3 526 3454 0.00 2.25 0.00 0.000 1158 0.000 0.048 2541 2490 1548 1645 1451 0 0 0 0 0 0 15.49 15.45 15.52

3461 end climb: SURFACE_DEPTH_REACHED

state 3461 begin surface coast

3481 end surface coast: CONTROL_FINISHED_OK

state 3481 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	64	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	29	ALTIM_PULSE	1
DIVE	3	TGT_DEFAULT_LAT	47.700001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	3	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	2600	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	2500	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	031019,033805,1324.2578,14436.2734,1,1.0,2,0.6,0.6,201.4,8,6.8	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	WEST
_XMS_NAKs	0	TGT_LATLONG	1326.000,14431.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	333.9,10074,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-51.5	D_GRID	744
GPS2	031019,034135,1324.1858,14436.2725,2,1.0,3,0.6,0.7,166.2,8,7.4

SM_CCo	3498,130.10,0.685,1,0,929,500.17	PM_ACTIVECARD	0
SM_GC	0.60,6.82,0.17,130.10,0.089,0.112,0.685,158,2608,929,-6.33,-0.96,500.17,0,0,0,0,1,0,15.45,15.48,14.85	_24V_AH	14.69,3.495
IRIDIUM_FIX	1324.04,14458.66,031019,033501	_10V_AH	13.67,0.000
TT8_MAMPS	0.020223,0.164031	FG_AHR_24Vo	0.000
HUMID	50.00	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.25817	MEM	271124
TCM_TEMP	28.00	DATA_FILE_SIZE	16765,530
XPDR_PINGS	0	CAP_FILE_SIZE	66842,0
SC_FREEKB	3876192	CFSIZE	260034560,257576960
PM_FREEKB_00	124728960	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.225,171.11,1
PM_FREEKB_02	124821056	GPS	031019,044424,1324.023,14436.372,34,0.9,34,0.6,0.4,188.9,7,5.1
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	424	111.02	nil	0	0	0.00
Roll_motor	40	112	66.86	nil	0	0	0.00
VBD_pump_during_apogee	427	911	5720.22	nil	0	0	0.00
VBD_pump_during_surface	130	684	1308.53	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	3472	9	460.82
Iridium_during_xfer	0	0	0.00	PMAR	3477	4	249.92
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	9	1.98
TT8	435	9	54.05
LPSleep	1277	2	38.26
TT8_Active	503	9	62.44
TT8_Sampling	1456	28	568.63
TT8_CF8	62	33	28.80
TT8_Kalman	0	0	0.00
Analog_circuits	1097	10	156.10
GPS_charging	0	0	0.00
Compass	1358	17	320.09
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	-0.73	-146.0	156	2612	693	513	0.0	0.0	0	128	0.00	0.00	-108.75	0.005	16386	0.000	0.000	156	2612	3462	3510	3414	0	0	0	0	0	0	15.69	28.83	15.70
131	-0.73	-146.0	161	2613	3510	3415	5.9	-11.2	11	149	8.50	2.22	-1.70	0.053	18692	0.425	0.094	1947	3942	3564	3615	3514	0	0	0	0	0	0	15.25	14.80	15.50
375	-0.68	-146.0	1946	3942	3616	3512	71.5	-20.9	60	382	0.10	2.10	0.00	0.000	3206	0.249	0.036	1972	2614	3564	3617	3511	0	0	0	0	0	0	15.37	15.50	15.47
563	-0.76	-146.0	1974	2614	3616	3511	100.9	-15.2	79	569	0.00	2.20	0.00	0.000	388	0.000	0.083	1970	3941	3563	3616	3511	0	0	0	0	0	0	15.70	15.47	15.70
698	-0.84	-146.0	1970	3943	3616	3511	116.9	-11.2	105	705	0.12	2.08	0.00	0.000	5254	0.153	0.035	1924	2598	3563	3616	3511	0	0	0	0	0	0	15.50	15.53	15.57
894	-0.90	-146.0	1924	2593	3615	3510	140.1	-11.7	125	900	0.00	2.17	0.00	0.000	644	0.000	0.050	1924	1205	3563	3616	3510	0	0	0	0	0	0	15.71	15.50	15.72
982	-0.94	-146.0	1923	1205	3616	3510	149.4	-9.0	142	989	0.00	2.30	0.00	0.000	1190	0.000	0.055	1924	2599	3563	3616	3510	0	0	0	0	0	0	15.54	15.51	15.55
1168	-1.02	-146.0	1924	2599	3616	3510	170.3	-13.3	161	1175	0.15	2.22	0.00	0.000	4484	0.143	0.081	1859	3950	3562	3616	3509	0	0	0	0	0	0	15.50	15.47	15.57
1224	end dive: TARGET_DEPTH_EXCEEDED
state	1224	begin apogee
1231	-0.19	0.0	1858	2492	3616	3509	180.3	-17.2	172	1362	0.95	0.00	125.62	0.912	10246	0.234	0.000	2132	2486	2969	3056	2882	0	0	0	0	0	0	15.37	15.18	14.76
1365	end apogee: CONTROL_FINISHED_OK
state	1365	begin climb
1367	0.73	146.0	2132	2486	3056	2881	185.9	0.0	185	1509	0.90	2.33	128.88	0.897	10756	0.121	0.057	2435	1101	2371	2457	2285	0	0	0	0	0	0	15.13	15.09	14.69
1735	0.73	146.0	2435	1101	2453	2282	152.5	10.4	260	1743	0.00	2.30	0.00	0.000	1030	0.000	0.050	2434	2499	2367	2453	2281	0	0	0	0	0	0	15.42	15.38	15.45
1923	0.73	150.8	2435	2499	2453	2278	135.7	9.8	279	1935	0.00	2.25	4.50	0.617	8740	0.000	0.057	2435	1109	2353	2441	2265	0	0	0	0	0	0	15.65	15.35	15.02
2163	0.79	311.4	2436	1109	2439	2265	123.0	2.6	327	2308	0.00	2.22	134.57	0.881	9254	0.000	0.048	2436	2504	1700	1797	1604	0	0	0	0	0	0	15.54	15.47	14.75
2496	0.93	311.4	2435	2503	1796	1599	101.8	10.3	375	2507	0.15	2.33	0.00	0.000	2436	0.138	0.080	2500	3910	1695	1790	1600	0	0	0	0	0	0	15.37	15.36	15.41
2734	0.90	331.3	2499	3909	1790	1600	74.7	9.1	422	2761	0.00	2.25	17.48	0.809	9382	0.000	0.038	2501	2505	1616	1712	1520	0	0	0	0	0	0	15.47	15.45	14.99
2944	0.94	337.6	2500	2505	1712	1515	56.2	9.7	445	2956	0.00	2.35	6.03	0.657	8612	0.000	0.080	2501	3898	1592	1691	1493	0	0	0	0	0	0	15.64	15.40	15.04
3186	0.94	337.6	2501	3898	1692	1495	29.7	11.0	493	3191	0.00	2.20	0.00	0.000	1030	0.000	0.038	2501	2488	1594	1692	1497	0	0	0	0	0	0	15.55	15.49	15.56
3382	1.04	347.6	2500	2488	1692	1492	11.3	9.5	513	3400	0.10	2.20	9.95	0.695	10916	0.174	0.058	2541	1112	1550	1649	1451	0	0	0	0	0	0	15.47	15.39	15.08
3447	1.09	347.6	2541	1112	1646	1451	4.5	12.3	526	3454	0.00	2.25	0.00	0.000	1158	0.000	0.048	2541	2490	1548	1645	1451	0	0	0	0	0	0	15.49	15.45	15.52
3461	end climb: SURFACE_DEPTH_REACHED
state	3461	begin surface coast
3481	end surface coast: CONTROL_FINISHED_OK
state	3481	begin surface