Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 38 ALTIM_PULSE 2

DIVE 56 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 180 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 60 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 80 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 110.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 32 ED_NDIVE 1.0 N_GPS 100840 SEABIRD_T_G 0.0044052354

AH0_10V 100 ED_PROFILE 7.0 N_NOCOMM 1 SEABIRD_T_H 0.00063728914

AH0_24V 144.89999 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5929839e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 110.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 2 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0050118701 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0163117 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_DIVE 60

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12781 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 80

COMPASS_DEVICE 33 ID 204 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2625 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.0275 USE_BATHY -2

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 56 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 600 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 180 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 030822,193750,4450.4126,-12459.2822,2,1.0,3,15.1,0.2,0.0,9,5.7 SPEED_LIMITS 0.173,0.208

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.062,-12457.755

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.73 MHEAD_RNG_PITCHd_Wd 106.1,2156,-22.7,-10.000,-25.65,2245

_SM_ANGLEo -72.0 D_GRID 891

GPS2 030822,194328,4450.4131,-12459.3203,3,1.0,4,15.1,0.5,285.4,9,8.1

Post-dive calculations and measurements:

FINISH -0.2,1.021238 _10V_AH 10.24,8.812

SM_CCo 3838,88.90,0.679,0,0,929,500.17 FG_AHR_24Vo 0.000

SM_GC 0.70,7.88,0.30,88.90,0.054,0.056,0.679,167,2210,929,-7.48,-1.10,500.17,0,0,0,0,0,0,25.83,25.80,24.88 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4453.06,-12420.18,030822,182711 MEM 220740

TT8_MAMPS 0.023968,0.291361 DATA_FILE_SIZE 23427,661

HUMID 37.71 CAP_FILE_SIZE 236720,0

INTERNAL_PRESSURE 8.48279 CFSIZE 260030464,237305856

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.082,15.62,1

SC_FREEKB 3794816 GPS 030822,205030,4450.355,-12458.759,5,1.1,7,15.1,0.2,0.0,9,8.3

_24V_AH 24.63,10.461

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 214 102.09 nil 0 0 0.00

Roll_motor 48 58 70.73 nil 0 0 0.00

VBD_pump_during_apogee 423 832 8681.77 nil 0 0 0.00

VBD_pump_during_surface 88 678 1485.77 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 3823 24 2289.61

Iridium_during_xfer 192 99 472.44 Edison 4356 10 1072.88

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 2.03

TT8 1642 13 234.90

LPSleep 226 2 5.08

TT8_Active 604 13 81.87

TT8_Sampling 1481 39 598.23

TT8_CF8 321 49 164.45

TT8_Kalman 0 0 0.00

Analog_circuits 1439 10 147.38

GPS_charging 0 0 0.00

Compass 1035 8 87.40

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -0.65 -146.0 169 2210 1040 800 0.0 0.0 0 97 0.00 0.00 -81.93 0.005 16386 0.000 0.000 169 2208 3031 3004 3058 0 0 0 0 0 0 26.12 28.83 26.13

100 -0.65 -146.0 169 2208 3007 3059 4.0 -8.0 12 123 8.62 1.67 -9.80 0.008 18724 0.213 0.059 2392 3257 3567 3535 3599 0 0 0 0 0 0 25.89 25.01 26.11

147 -0.37 -146.0 2391 3257 3547 3598 16.3 -20.1 19 155 0.35 1.60 0.00 0.000 3206 0.187 0.028 2479 2189 3576 3555 3598 0 0 0 0 0 0 25.96 26.14 26.14

283 -0.48 -146.0 2482 2185 3555 3598 29.5 -6.9 44 290 0.00 1.58 0.00 0.000 676 0.000 0.033 2493 1129 3576 3555 3598 0 0 0 0 0 0 26.22 26.18 26.22

359 -0.66 -146.0 2490 1131 3556 3602 34.5 -6.4 57 366 0.20 1.65 0.00 0.000 5286 0.109 0.040 2418 2194 3577 3556 3598 0 0 0 0 0 0 26.15 26.20 26.23

496 -0.69 -146.0 2418 2194 3557 3598 48.6 -11.2 82 504 0.00 1.62 0.00 0.000 388 0.000 0.045 2410 3256 3577 3556 3598 0 0 0 0 0 0 26.25 26.19 26.25

566 -0.73 -146.0 2410 3256 3558 3598 55.4 -9.9 94 574 0.00 1.58 0.00 0.000 1190 0.000 0.028 2416 2197 3578 3558 3598 0 0 0 0 0 0 26.27 26.23 26.27

705 -0.80 -146.0 2421 2196 3559 3598 67.0 -8.0 119 713 0.12 1.62 0.00 0.000 4772 0.096 0.032 2379 1142 3578 3559 3597 0 0 0 0 0 0 26.22 26.22 26.26

763 -0.83 -146.0 2378 1140 3560 3598 72.4 -9.5 129 770 0.00 1.65 0.00 0.000 1190 0.000 0.038 2370 2211 3578 3559 3598 0 0 0 0 0 0 26.27 26.22 26.27

897 -0.83 -146.0 2373 2211 3560 3598 86.2 -10.1 154 905 0.00 1.60 0.00 0.000 260 0.000 0.047 2365 3253 3578 3559 3598 0 0 0 0 0 0 26.30 26.21 26.28

945 -0.83 -146.0 2365 3253 3560 3598 91.2 -10.8 162 953 0.00 1.58 0.00 0.000 1030 0.000 0.029 2369 2200 3578 3559 3598 0 0 0 0 0 0 26.27 26.23 26.28

1082 -0.86 -146.0 2371 2199 3560 3598 105.4 -10.7 187 1089 0.00 1.62 0.00 0.000 388 0.000 0.047 2369 3252 3579 3561 3598 0 0 0 0 0 0 26.28 26.20 26.28

1182 -0.90 -146.0 2365 3253 3561 3599 115.6 -10.2 205 1190 0.08 1.58 0.00 0.000 5254 0.173 0.030 2350 2203 3579 3561 3598 0 0 0 0 0 0 26.13 26.22 26.25

1316 -0.90 -146.0 2350 2199 3561 3604 130.1 -11.6 230 1324 0.00 1.62 0.00 0.000 260 0.000 0.046 2343 3252 3579 3561 3598 0 0 0 0 0 0 26.27 26.20 26.27

1352 -0.90 -146.0 2342 3252 3561 3598 134.3 -11.5 236 1360 0.00 1.58 0.00 0.000 1030 0.000 0.029 2349 2197 3579 3561 3597 0 0 0 0 0 0 26.27 26.23 26.27

1489 -0.90 -146.0 2349 2196 3560 3598 149.7 -11.2 261 1495 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2196 3579 3561 3598 0 0 0 0 0 0 26.27 26.28 26.28

1624 -0.90 -146.0 2349 2196 3561 3598 164.2 -10.0 286 1632 0.00 0.00 0.00 0.000 38 0.000 0.000 2349 2196 3579 3560 3598 0 0 0 0 0 0 26.27 26.27 26.25

1759 -0.90 -146.0 2349 2196 3561 3597 178.3 -10.4 311 1766 0.00 1.60 0.00 0.000 516 0.000 0.036 2357 1137 3578 3561 3595 0 0 0 0 0 0 26.26 26.21 26.27

1778 end dive: TARGET_DEPTH_EXCEEDED

state 1778 begin apogee

1785 -0.11 0.0 2352 2007 3561 3597 180.5 -11.0 314 1911 0.73 0.00 115.12 0.832 10246 0.151 0.000 2564 2009 2966 3021 2911 0 0 0 0 0 0 26.01 25.39 24.77

1914 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1916 0.65 146.0 2564 2009 3021 2910 184.0 0.0 332 2043 0.80 1.75 113.30 0.809 10756 0.119 0.037 2821 955 2368 2462 2274 0 0 0 0 0 0 25.52 25.21 24.63

2067 0.67 146.3 2821 955 2463 2274 174.9 10.0 353 2074 0.00 1.67 0.00 0.000 1190 0.000 0.036 2815 2008 2368 2463 2273 0 0 0 0 0 0 25.58 25.54 25.59

2202 0.67 146.3 2815 2008 2457 2272 160.0 11.1 378 2209 0.00 1.62 0.00 0.000 260 0.000 0.044 2808 3061 2364 2456 2272 0 0 0 0 0 0 26.02 25.94 25.99

2249 0.67 146.3 2807 3061 2453 2272 154.6 11.7 386 2256 0.00 1.60 0.00 0.000 1030 0.000 0.029 2813 1997 2362 2453 2272 0 0 0 0 0 0 26.06 26.02 26.06

2384 0.67 146.3 2813 1992 2452 2271 139.4 10.9 411 2392 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1992 2362 2453 2272 0 0 0 0 0 0 26.15 26.15 26.16

2520 0.67 146.3 2813 1992 2453 2273 125.0 10.4 436 2528 0.00 1.67 0.00 0.000 260 0.000 0.043 2804 3057 2361 2451 2271 0 0 0 0 0 0 26.21 26.17 26.22

2535 0.67 146.3 2807 3057 2449 2272 123.3 10.5 438 2542 0.00 1.58 0.00 0.000 1030 0.000 0.028 2813 2001 2361 2449 2273 0 0 0 0 0 0 26.22 26.19 26.23

2673 0.67 146.3 2813 1995 2450 2272 108.8 10.5 463 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 1995 2361 2450 2272 0 0 0 0 0 0 26.25 26.25 26.25

2809 0.67 146.3 2813 1995 2449 2272 94.6 10.6 488 2816 0.00 1.62 0.00 0.000 260 0.000 0.044 2807 3057 2359 2448 2271 0 0 0 0 0 0 26.27 26.20 26.27

2897 0.67 146.3 2808 3056 2446 2271 85.0 10.7 504 2904 0.00 1.58 0.00 0.000 1030 0.000 0.028 2813 2001 2358 2446 2271 0 0 0 0 0 0 26.25 26.21 26.25

3034 0.72 168.1 2813 1996 2445 2274 71.6 9.0 529 3056 0.10 0.00 17.45 0.746 10406 0.151 0.000 2837 1996 2281 2384 2179 0 0 0 0 0 0 26.13 25.89 25.27

3185 0.72 168.1 2836 1995 2381 2173 55.6 10.4 556 3192 0.00 1.62 0.00 0.000 260 0.000 0.043 2831 3056 2276 2380 2173 0 0 0 0 0 0 26.17 26.13 26.18

3207 0.72 168.1 2830 3057 2378 2173 53.2 11.4 559 3215 0.00 1.60 0.00 0.000 1030 0.000 0.029 2837 1993 2274 2378 2170 0 0 0 0 0 0 26.20 26.16 26.20

3344 0.77 219.5 2837 1989 2378 2174 40.0 7.6 584 3395 0.08 1.62 41.55 0.731 10788 0.214 0.035 2859 949 2069 2193 1945 0 0 0 0 0 0 26.04 25.55 25.08

3425 0.85 259.6 2864 949 2188 1945 33.4 8.2 596 3468 0.12 1.65 32.65 0.709 11430 0.135 0.036 2889 2007 1904 2034 1775 0 0 0 0 0 0 25.87 25.89 25.03

3596 0.91 290.3 2888 2007 2022 1771 14.8 8.6 626 3626 0.00 1.67 23.65 0.701 8868 0.000 0.037 2896 951 1781 1908 1655 0 0 0 0 0 0 26.10 25.74 25.15

3699 1.13 397.8 2896 950 1902 1654 7.2 5.1 643 3786 0.28 1.62 79.78 0.688 11426 0.132 0.034 2969 2003 1371 1494 1249 0 0 0 0 0 0 25.89 25.99 26.03

3787 end climb: SURFACE_DEPTH_REACHED

state 3787 begin surface coast

3821 end surface coast: CONTROL_FINISHED_OK

state 3821 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	38	ALTIM_PULSE	2
DIVE	56	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	180	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	60	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	80	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	110.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	030822,193750,4450.4126,-12459.2822,2,1.0,3,15.1,0.2,0.0,9,5.7	SPEED_LIMITS	0.173,0.208
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.062,-12457.755
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.73	MHEAD_RNG_PITCHd_Wd	106.1,2156,-22.7,-10.000,-25.65,2245
_SM_ANGLEo	-72.0	D_GRID	891
GPS2	030822,194328,4450.4131,-12459.3203,3,1.0,4,15.1,0.5,285.4,9,8.1

FINISH	-0.2,1.021238	_10V_AH	10.24,8.812
SM_CCo	3838,88.90,0.679,0,0,929,500.17	FG_AHR_24Vo	0.000
SM_GC	0.70,7.88,0.30,88.90,0.054,0.056,0.679,167,2210,929,-7.48,-1.10,500.17,0,0,0,0,0,0,25.83,25.80,24.88	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4453.06,-12420.18,030822,182711	MEM	220740
TT8_MAMPS	0.023968,0.291361	DATA_FILE_SIZE	23427,661
HUMID	37.71	CAP_FILE_SIZE	236720,0
INTERNAL_PRESSURE	8.48279	CFSIZE	260030464,237305856
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.082,15.62,1
SC_FREEKB	3794816	GPS	030822,205030,4450.355,-12458.759,5,1.1,7,15.1,0.2,0.0,9,8.3
_24V_AH	24.63,10.461

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	214	102.09	nil	0	0	0.00
Roll_motor	48	58	70.73	nil	0	0	0.00
VBD_pump_during_apogee	423	832	8681.77	nil	0	0	0.00
VBD_pump_during_surface	88	678	1485.77	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	3823	24	2289.61
Iridium_during_xfer	192	99	472.44	Edison	4356	10	1072.88
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	2.03
TT8	1642	13	234.90
LPSleep	226	2	5.08
TT8_Active	604	13	81.87
TT8_Sampling	1481	39	598.23
TT8_CF8	321	49	164.45
TT8_Kalman	0	0	0.00
Analog_circuits	1439	10	147.38
GPS_charging	0	0	0.00
Compass	1035	8	87.40
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-0.65	-146.0	169	2210	1040	800	0.0	0.0	0	97	0.00	0.00	-81.93	0.005	16386	0.000	0.000	169	2208	3031	3004	3058	0	0	0	0	0	0	26.12	28.83	26.13
100	-0.65	-146.0	169	2208	3007	3059	4.0	-8.0	12	123	8.62	1.67	-9.80	0.008	18724	0.213	0.059	2392	3257	3567	3535	3599	0	0	0	0	0	0	25.89	25.01	26.11
147	-0.37	-146.0	2391	3257	3547	3598	16.3	-20.1	19	155	0.35	1.60	0.00	0.000	3206	0.187	0.028	2479	2189	3576	3555	3598	0	0	0	0	0	0	25.96	26.14	26.14
283	-0.48	-146.0	2482	2185	3555	3598	29.5	-6.9	44	290	0.00	1.58	0.00	0.000	676	0.000	0.033	2493	1129	3576	3555	3598	0	0	0	0	0	0	26.22	26.18	26.22
359	-0.66	-146.0	2490	1131	3556	3602	34.5	-6.4	57	366	0.20	1.65	0.00	0.000	5286	0.109	0.040	2418	2194	3577	3556	3598	0	0	0	0	0	0	26.15	26.20	26.23
496	-0.69	-146.0	2418	2194	3557	3598	48.6	-11.2	82	504	0.00	1.62	0.00	0.000	388	0.000	0.045	2410	3256	3577	3556	3598	0	0	0	0	0	0	26.25	26.19	26.25
566	-0.73	-146.0	2410	3256	3558	3598	55.4	-9.9	94	574	0.00	1.58	0.00	0.000	1190	0.000	0.028	2416	2197	3578	3558	3598	0	0	0	0	0	0	26.27	26.23	26.27
705	-0.80	-146.0	2421	2196	3559	3598	67.0	-8.0	119	713	0.12	1.62	0.00	0.000	4772	0.096	0.032	2379	1142	3578	3559	3597	0	0	0	0	0	0	26.22	26.22	26.26
763	-0.83	-146.0	2378	1140	3560	3598	72.4	-9.5	129	770	0.00	1.65	0.00	0.000	1190	0.000	0.038	2370	2211	3578	3559	3598	0	0	0	0	0	0	26.27	26.22	26.27
897	-0.83	-146.0	2373	2211	3560	3598	86.2	-10.1	154	905	0.00	1.60	0.00	0.000	260	0.000	0.047	2365	3253	3578	3559	3598	0	0	0	0	0	0	26.30	26.21	26.28
945	-0.83	-146.0	2365	3253	3560	3598	91.2	-10.8	162	953	0.00	1.58	0.00	0.000	1030	0.000	0.029	2369	2200	3578	3559	3598	0	0	0	0	0	0	26.27	26.23	26.28
1082	-0.86	-146.0	2371	2199	3560	3598	105.4	-10.7	187	1089	0.00	1.62	0.00	0.000	388	0.000	0.047	2369	3252	3579	3561	3598	0	0	0	0	0	0	26.28	26.20	26.28
1182	-0.90	-146.0	2365	3253	3561	3599	115.6	-10.2	205	1190	0.08	1.58	0.00	0.000	5254	0.173	0.030	2350	2203	3579	3561	3598	0	0	0	0	0	0	26.13	26.22	26.25
1316	-0.90	-146.0	2350	2199	3561	3604	130.1	-11.6	230	1324	0.00	1.62	0.00	0.000	260	0.000	0.046	2343	3252	3579	3561	3598	0	0	0	0	0	0	26.27	26.20	26.27
1352	-0.90	-146.0	2342	3252	3561	3598	134.3	-11.5	236	1360	0.00	1.58	0.00	0.000	1030	0.000	0.029	2349	2197	3579	3561	3597	0	0	0	0	0	0	26.27	26.23	26.27
1489	-0.90	-146.0	2349	2196	3560	3598	149.7	-11.2	261	1495	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2196	3579	3561	3598	0	0	0	0	0	0	26.27	26.28	26.28
1624	-0.90	-146.0	2349	2196	3561	3598	164.2	-10.0	286	1632	0.00	0.00	0.00	0.000	38	0.000	0.000	2349	2196	3579	3560	3598	0	0	0	0	0	0	26.27	26.27	26.25
1759	-0.90	-146.0	2349	2196	3561	3597	178.3	-10.4	311	1766	0.00	1.60	0.00	0.000	516	0.000	0.036	2357	1137	3578	3561	3595	0	0	0	0	0	0	26.26	26.21	26.27
1778	end dive: TARGET_DEPTH_EXCEEDED
state	1778	begin apogee
1785	-0.11	0.0	2352	2007	3561	3597	180.5	-11.0	314	1911	0.73	0.00	115.12	0.832	10246	0.151	0.000	2564	2009	2966	3021	2911	0	0	0	0	0	0	26.01	25.39	24.77
1914	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1916	0.65	146.0	2564	2009	3021	2910	184.0	0.0	332	2043	0.80	1.75	113.30	0.809	10756	0.119	0.037	2821	955	2368	2462	2274	0	0	0	0	0	0	25.52	25.21	24.63
2067	0.67	146.3	2821	955	2463	2274	174.9	10.0	353	2074	0.00	1.67	0.00	0.000	1190	0.000	0.036	2815	2008	2368	2463	2273	0	0	0	0	0	0	25.58	25.54	25.59
2202	0.67	146.3	2815	2008	2457	2272	160.0	11.1	378	2209	0.00	1.62	0.00	0.000	260	0.000	0.044	2808	3061	2364	2456	2272	0	0	0	0	0	0	26.02	25.94	25.99
2249	0.67	146.3	2807	3061	2453	2272	154.6	11.7	386	2256	0.00	1.60	0.00	0.000	1030	0.000	0.029	2813	1997	2362	2453	2272	0	0	0	0	0	0	26.06	26.02	26.06
2384	0.67	146.3	2813	1992	2452	2271	139.4	10.9	411	2392	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1992	2362	2453	2272	0	0	0	0	0	0	26.15	26.15	26.16
2520	0.67	146.3	2813	1992	2453	2273	125.0	10.4	436	2528	0.00	1.67	0.00	0.000	260	0.000	0.043	2804	3057	2361	2451	2271	0	0	0	0	0	0	26.21	26.17	26.22
2535	0.67	146.3	2807	3057	2449	2272	123.3	10.5	438	2542	0.00	1.58	0.00	0.000	1030	0.000	0.028	2813	2001	2361	2449	2273	0	0	0	0	0	0	26.22	26.19	26.23
2673	0.67	146.3	2813	1995	2450	2272	108.8	10.5	463	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	1995	2361	2450	2272	0	0	0	0	0	0	26.25	26.25	26.25
2809	0.67	146.3	2813	1995	2449	2272	94.6	10.6	488	2816	0.00	1.62	0.00	0.000	260	0.000	0.044	2807	3057	2359	2448	2271	0	0	0	0	0	0	26.27	26.20	26.27
2897	0.67	146.3	2808	3056	2446	2271	85.0	10.7	504	2904	0.00	1.58	0.00	0.000	1030	0.000	0.028	2813	2001	2358	2446	2271	0	0	0	0	0	0	26.25	26.21	26.25
3034	0.72	168.1	2813	1996	2445	2274	71.6	9.0	529	3056	0.10	0.00	17.45	0.746	10406	0.151	0.000	2837	1996	2281	2384	2179	0	0	0	0	0	0	26.13	25.89	25.27
3185	0.72	168.1	2836	1995	2381	2173	55.6	10.4	556	3192	0.00	1.62	0.00	0.000	260	0.000	0.043	2831	3056	2276	2380	2173	0	0	0	0	0	0	26.17	26.13	26.18
3207	0.72	168.1	2830	3057	2378	2173	53.2	11.4	559	3215	0.00	1.60	0.00	0.000	1030	0.000	0.029	2837	1993	2274	2378	2170	0	0	0	0	0	0	26.20	26.16	26.20
3344	0.77	219.5	2837	1989	2378	2174	40.0	7.6	584	3395	0.08	1.62	41.55	0.731	10788	0.214	0.035	2859	949	2069	2193	1945	0	0	0	0	0	0	26.04	25.55	25.08
3425	0.85	259.6	2864	949	2188	1945	33.4	8.2	596	3468	0.12	1.65	32.65	0.709	11430	0.135	0.036	2889	2007	1904	2034	1775	0	0	0	0	0	0	25.87	25.89	25.03
3596	0.91	290.3	2888	2007	2022	1771	14.8	8.6	626	3626	0.00	1.67	23.65	0.701	8868	0.000	0.037	2896	951	1781	1908	1655	0	0	0	0	0	0	26.10	25.74	25.15
3699	1.13	397.8	2896	950	1902	1654	7.2	5.1	643	3786	0.28	1.62	79.78	0.688	11426	0.132	0.034	2969	2003	1371	1494	1249	0	0	0	0	0	0	25.89	25.99	26.03
3787	end climb: SURFACE_DEPTH_REACHED
state	3787	begin surface coast
3821	end surface coast: CONTROL_FINISHED_OK
state	3821	begin surface