Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 28 ALTIM_PULSE 1

DIVE 8 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 360 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 120 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_MISSION 160 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 2800 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 2000 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 120

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 160

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 2000 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2800 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 8 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 38 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 28 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 360 PITCH_ADJ_DBAND 1 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 031019,125209,1326.1849,14434.8672,2,0.7,16,0.6,0.4,144.4,12,2.2 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 0.49 MHEAD_RNG_PITCHd_Wd 237.6,6988,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -57.7 D_GRID 1531

GPS2 031019,125923,1326.1741,14434.8750,2,0.7,4,0.6,0.1,0.0,12,5.7

Post-dive calculations and measurements:

SM_CCo 6510,82.85,0.661,1,0,929,500.17 PM_ACTIVECARD 0

SM_GC 0.41,6.85,1.35,82.85,0.083,0.064,0.661,158,2794,929,-6.33,-1.10,500.17,0,0,0,0,1,0,15.32,15.33,14.78 _24V_AH 14.36,4.737

IRIDIUM_FIX 1324.31,14433.41,031019,105748 _10V_AH 13.66,0.000

TT8_MAMPS 0.019474,0.166278 FG_AHR_24Vo 0.000

HUMID 50.51 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.07261 MEM 271092

TCM_TEMP 26.30 DATA_FILE_SIZE 26710,798

XPDR_PINGS 0 CAP_FILE_SIZE 84916,0

SC_FREEKB 3874272 CFSIZE 260034560,257118208

PM_FREEKB_00 124313984 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.080,5.23,1

PM_FREEKB_02 124821056 GPS 031019,145130,1326.419,14434.199,27,0.9,27,0.6,0.3,175.8,9,3.5

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 416 108.81 nil 0 0 0.00

Roll_motor 53 103 79.90 nil 0 0 0.00

VBD_pump_during_apogee 487 1188 8318.85 nil 0 0 0.00

VBD_pump_during_surface 82 660 786.36 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 6507 8 775.00

Iridium_during_xfer 274 185 732.63 PMAR 6499 4 376.94

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.11

TT8 664 9 82.36

LPSleep 3258 2 97.48

TT8_Active 527 9 65.31

TT8_Sampling 2447 28 954.58

TT8_CF8 160 33 73.86

TT8_Kalman 0 0 0.00

Analog_circuits 1596 10 226.79

GPS_charging 0 0 0.00

Compass 2029 17 477.63

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 -146.0 161 2789 990 862 0.0 0.0 0 109 0.00 0.00 -88.70 0.005 16386 0.000 0.000 161 2789 3203 3243 3163 0 0 0 0 0 0 15.44 28.83 15.45

112 -0.73 -146.0 161 2789 3248 3164 4.8 -8.9 9 134 8.48 1.90 -5.95 0.022 18724 0.417 0.103 1945 3942 3565 3632 3499 0 0 0 0 0 0 15.07 14.71 15.24

362 -0.66 -146.0 1948 3942 3637 3499 75.3 -20.3 59 368 0.15 1.80 0.00 0.000 3206 0.276 0.039 1981 2771 3565 3632 3499 0 0 0 0 0 0 15.23 15.39 15.39

557 -0.71 -146.0 1981 2772 3632 3497 104.6 -13.5 79 563 0.00 1.95 0.00 0.000 388 0.000 0.084 1977 3942 3565 3632 3499 0 0 0 0 0 0 15.57 15.34 15.58

792 -0.83 -146.0 1978 3942 3632 3499 132.1 -10.0 125 799 0.15 1.75 0.00 0.000 5286 0.135 0.039 1925 2795 3565 3632 3499 0 0 0 0 0 0 15.40 15.45 15.47

989 -0.89 -146.0 1925 2796 3632 3495 157.0 -12.3 145 995 0.00 1.92 0.00 0.000 388 0.000 0.086 1923 3945 3565 3632 3499 0 0 0 0 0 0 15.59 15.38 15.62

1223 -0.96 -146.0 1923 3946 3632 3495 183.6 -12.5 191 1229 0.00 1.77 0.00 0.000 1158 0.000 0.037 1924 2786 3566 3634 3499 0 0 0 0 0 0 15.51 15.47 15.52

1417 -1.06 -146.0 1924 2779 3633 3499 207.2 -11.5 211 1423 0.17 1.98 0.00 0.000 4484 0.128 0.085 1851 3951 3568 3633 3503 0 0 0 0 0 0 15.43 15.40 15.47

1565 -1.00 -146.0 1850 3950 3632 3492 229.8 -15.9 240 1572 0.00 1.80 0.00 0.000 1158 0.000 0.039 1851 2799 3565 3632 3499 0 0 0 0 0 0 15.49 15.47 15.51

1752 -1.00 -146.0 1850 2799 3633 3499 253.7 -12.6 257 1755 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2799 3565 3632 3499 0 0 0 0 0 0 15.64 15.66 15.65

2052 -1.00 -146.0 1850 2799 3631 3499 292.5 -11.7 267 2055 0.00 0.00 0.00 0.000 6 0.000 0.000 1851 2803 3565 3631 3499 0 0 0 0 0 0 15.64 15.66 15.66

2352 -1.00 -146.0 1850 2799 3629 3499 324.3 -11.2 277 2355 0.00 0.00 0.00 0.000 6 0.000 0.000 1850 2799 3563 3629 3497 0 0 0 0 0 0 15.64 15.67 15.66

2652 -1.05 -146.0 1850 2799 3627 3495 355.3 -9.9 287 2656 0.00 0.00 0.00 0.000 166 0.000 0.000 1850 2799 3560 3627 3494 0 0 0 0 0 0 15.64 15.68 15.67

2710 end dive: TARGET_DEPTH_EXCEEDED

state 2710 begin apogee

2715 -0.19 0.0 1850 2008 3626 3494 361.3 -10.0 289 2851 0.98 0.00 129.00 1.189 10246 0.213 0.000 2134 2006 2969 3053 2886 0 0 0 0 0 0 15.37 14.95 14.46

2859 end apogee: CONTROL_FINISHED_OK

state 2859 begin climb

2861 0.73 146.0 2135 2006 3052 2884 363.4 0.0 293 3005 0.88 2.38 133.25 1.159 10756 0.096 0.072 2434 664 2371 2452 2290 0 0 0 0 0 0 14.96 14.78 14.36

3105 0.66 146.0 2434 664 2442 2289 341.7 12.5 347 3111 0.00 2.22 0.00 0.000 1158 0.000 0.046 2435 2023 2365 2442 2289 0 0 0 0 0 0 15.18 15.11 15.19

3439 0.59 146.0 2434 2023 2442 2283 304.7 11.0 363 3447 0.17 2.30 0.00 0.000 4740 0.285 0.069 2399 654 2362 2442 2283 0 0 0 0 0 0 15.21 15.30 15.32

3675 0.59 146.0 2394 654 2439 2283 280.7 10.3 410 3682 0.00 2.22 0.00 0.000 1030 0.000 0.047 2394 2004 2361 2439 2283 0 0 0 0 0 0 15.40 15.38 15.42

3982 0.60 171.0 2394 2004 2439 2280 250.3 8.9 421 4012 0.00 2.33 20.90 1.100 8740 0.000 0.075 2394 665 2271 2355 2188 0 0 0 0 0 0 15.58 15.26 14.83

4239 0.64 183.8 2394 665 2347 2187 228.0 9.4 472 4259 0.00 2.20 12.50 1.037 9382 0.000 0.047 2395 1997 2218 2302 2134 0 0 0 0 0 0 15.40 15.35 14.83

4449 0.69 228.3 2394 1997 2302 2129 210.3 8.0 495 4496 0.00 2.28 39.55 1.082 8868 0.000 0.070 2393 662 2038 2127 1949 0 0 0 0 0 0 15.53 15.09 14.69

4725 0.78 257.4 2394 662 2116 1948 186.9 8.7 550 4762 0.12 2.22 26.15 1.043 11430 0.092 0.047 2452 2003 1917 2006 1828 0 0 0 0 0 0 15.28 15.28 14.73

4942 0.78 257.4 2452 2003 2007 1818 162.8 11.3 575 4948 0.00 2.28 0.00 0.000 516 0.000 0.074 2452 661 1913 2005 1822 0 0 0 0 0 0 15.45 15.26 15.48

5178 0.78 261.6 2453 664 2003 1822 136.2 9.8 621 5190 0.00 2.15 3.85 0.649 9254 0.000 0.046 2453 2002 1903 1994 1812 0 0 0 0 0 0 15.39 15.35 14.84

5370 0.78 268.3 2450 2003 1994 1811 118.1 9.7 641 5384 0.00 2.33 7.53 0.852 8484 0.000 0.077 2453 3397 1875 1968 1783 0 0 0 0 0 0 15.54 15.30 14.88

5585 0.78 268.3 2452 3392 1968 1782 99.7 10.8 684 5592 0.00 2.28 0.00 0.000 1030 0.000 0.048 2452 2022 1874 1968 1781 0 0 0 0 0 0 15.39 15.34 15.41

5774 0.85 336.6 2452 2022 1968 1781 83.3 6.9 703 5842 0.00 2.42 57.15 0.913 8868 0.000 0.081 2452 638 1596 1691 1502 0 0 0 0 0 0 15.57 15.10 14.75

5897 1.00 407.2 2452 638 1686 1502 75.3 6.8 727 5965 0.22 2.22 57.42 0.875 11430 0.112 0.047 2536 1998 1308 1400 1216 0 0 0 0 0 0 15.20 15.20 14.64

6145 1.00 407.2 2536 2003 1400 1212 44.5 13.1 759 6153 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 1999 1306 1400 1212 0 0 0 0 0 0 15.41 15.43 15.42

6336 1.03 407.2 2535 1998 1400 1211 19.8 12.3 778 6342 0.00 2.33 0.00 0.000 388 0.000 0.074 2536 3401 1305 1400 1211 0 0 0 0 0 0 15.49 15.28 15.54

6380 1.03 407.2 2536 3401 1401 1212 14.0 13.2 786 6387 0.00 2.28 0.00 0.000 1030 0.000 0.047 2536 2001 1306 1400 1212 0 0 0 0 0 0 15.38 15.30 15.39

6472 end climb: SURFACE_DEPTH_REACHED

state 6472 begin surface coast

6492 end surface coast: CONTROL_FINISHED_OK

state 6492 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	28	ALTIM_PULSE	1
DIVE	8	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	360	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	120	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_MISSION	160	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	2800	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	2000	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	031019,125209,1326.1849,14434.8672,2,0.7,16,0.6,0.4,144.4,12,2.2	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	0.49	MHEAD_RNG_PITCHd_Wd	237.6,6988,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-57.7	D_GRID	1531
GPS2	031019,125923,1326.1741,14434.8750,2,0.7,4,0.6,0.1,0.0,12,5.7

SM_CCo	6510,82.85,0.661,1,0,929,500.17	PM_ACTIVECARD	0
SM_GC	0.41,6.85,1.35,82.85,0.083,0.064,0.661,158,2794,929,-6.33,-1.10,500.17,0,0,0,0,1,0,15.32,15.33,14.78	_24V_AH	14.36,4.737
IRIDIUM_FIX	1324.31,14433.41,031019,105748	_10V_AH	13.66,0.000
TT8_MAMPS	0.019474,0.166278	FG_AHR_24Vo	0.000
HUMID	50.51	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.07261	MEM	271092
TCM_TEMP	26.30	DATA_FILE_SIZE	26710,798
XPDR_PINGS	0	CAP_FILE_SIZE	84916,0
SC_FREEKB	3874272	CFSIZE	260034560,257118208
PM_FREEKB_00	124313984	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.080,5.23,1
PM_FREEKB_02	124821056	GPS	031019,145130,1326.419,14434.199,27,0.9,27,0.6,0.3,175.8,9,3.5
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	416	108.81	nil	0	0	0.00
Roll_motor	53	103	79.90	nil	0	0	0.00
VBD_pump_during_apogee	487	1188	8318.85	nil	0	0	0.00
VBD_pump_during_surface	82	660	786.36	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	6507	8	775.00
Iridium_during_xfer	274	185	732.63	PMAR	6499	4	376.94
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.11
TT8	664	9	82.36
LPSleep	3258	2	97.48
TT8_Active	527	9	65.31
TT8_Sampling	2447	28	954.58
TT8_CF8	160	33	73.86
TT8_Kalman	0	0	0.00
Analog_circuits	1596	10	226.79
GPS_charging	0	0	0.00
Compass	2029	17	477.63
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	161	2789	990	862	0.0	0.0	0	109	0.00	0.00	-88.70	0.005	16386	0.000	0.000	161	2789	3203	3243	3163	0	0	0	0	0	0	15.44	28.83	15.45
112	-0.73	-146.0	161	2789	3248	3164	4.8	-8.9	9	134	8.48	1.90	-5.95	0.022	18724	0.417	0.103	1945	3942	3565	3632	3499	0	0	0	0	0	0	15.07	14.71	15.24
362	-0.66	-146.0	1948	3942	3637	3499	75.3	-20.3	59	368	0.15	1.80	0.00	0.000	3206	0.276	0.039	1981	2771	3565	3632	3499	0	0	0	0	0	0	15.23	15.39	15.39
557	-0.71	-146.0	1981	2772	3632	3497	104.6	-13.5	79	563	0.00	1.95	0.00	0.000	388	0.000	0.084	1977	3942	3565	3632	3499	0	0	0	0	0	0	15.57	15.34	15.58
792	-0.83	-146.0	1978	3942	3632	3499	132.1	-10.0	125	799	0.15	1.75	0.00	0.000	5286	0.135	0.039	1925	2795	3565	3632	3499	0	0	0	0	0	0	15.40	15.45	15.47
989	-0.89	-146.0	1925	2796	3632	3495	157.0	-12.3	145	995	0.00	1.92	0.00	0.000	388	0.000	0.086	1923	3945	3565	3632	3499	0	0	0	0	0	0	15.59	15.38	15.62
1223	-0.96	-146.0	1923	3946	3632	3495	183.6	-12.5	191	1229	0.00	1.77	0.00	0.000	1158	0.000	0.037	1924	2786	3566	3634	3499	0	0	0	0	0	0	15.51	15.47	15.52
1417	-1.06	-146.0	1924	2779	3633	3499	207.2	-11.5	211	1423	0.17	1.98	0.00	0.000	4484	0.128	0.085	1851	3951	3568	3633	3503	0	0	0	0	0	0	15.43	15.40	15.47
1565	-1.00	-146.0	1850	3950	3632	3492	229.8	-15.9	240	1572	0.00	1.80	0.00	0.000	1158	0.000	0.039	1851	2799	3565	3632	3499	0	0	0	0	0	0	15.49	15.47	15.51
1752	-1.00	-146.0	1850	2799	3633	3499	253.7	-12.6	257	1755	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	2799	3565	3632	3499	0	0	0	0	0	0	15.64	15.66	15.65
2052	-1.00	-146.0	1850	2799	3631	3499	292.5	-11.7	267	2055	0.00	0.00	0.00	0.000	6	0.000	0.000	1851	2803	3565	3631	3499	0	0	0	0	0	0	15.64	15.66	15.66
2352	-1.00	-146.0	1850	2799	3629	3499	324.3	-11.2	277	2355	0.00	0.00	0.00	0.000	6	0.000	0.000	1850	2799	3563	3629	3497	0	0	0	0	0	0	15.64	15.67	15.66
2652	-1.05	-146.0	1850	2799	3627	3495	355.3	-9.9	287	2656	0.00	0.00	0.00	0.000	166	0.000	0.000	1850	2799	3560	3627	3494	0	0	0	0	0	0	15.64	15.68	15.67
2710	end dive: TARGET_DEPTH_EXCEEDED
state	2710	begin apogee
2715	-0.19	0.0	1850	2008	3626	3494	361.3	-10.0	289	2851	0.98	0.00	129.00	1.189	10246	0.213	0.000	2134	2006	2969	3053	2886	0	0	0	0	0	0	15.37	14.95	14.46
2859	end apogee: CONTROL_FINISHED_OK
state	2859	begin climb
2861	0.73	146.0	2135	2006	3052	2884	363.4	0.0	293	3005	0.88	2.38	133.25	1.159	10756	0.096	0.072	2434	664	2371	2452	2290	0	0	0	0	0	0	14.96	14.78	14.36
3105	0.66	146.0	2434	664	2442	2289	341.7	12.5	347	3111	0.00	2.22	0.00	0.000	1158	0.000	0.046	2435	2023	2365	2442	2289	0	0	0	0	0	0	15.18	15.11	15.19
3439	0.59	146.0	2434	2023	2442	2283	304.7	11.0	363	3447	0.17	2.30	0.00	0.000	4740	0.285	0.069	2399	654	2362	2442	2283	0	0	0	0	0	0	15.21	15.30	15.32
3675	0.59	146.0	2394	654	2439	2283	280.7	10.3	410	3682	0.00	2.22	0.00	0.000	1030	0.000	0.047	2394	2004	2361	2439	2283	0	0	0	0	0	0	15.40	15.38	15.42
3982	0.60	171.0	2394	2004	2439	2280	250.3	8.9	421	4012	0.00	2.33	20.90	1.100	8740	0.000	0.075	2394	665	2271	2355	2188	0	0	0	0	0	0	15.58	15.26	14.83
4239	0.64	183.8	2394	665	2347	2187	228.0	9.4	472	4259	0.00	2.20	12.50	1.037	9382	0.000	0.047	2395	1997	2218	2302	2134	0	0	0	0	0	0	15.40	15.35	14.83
4449	0.69	228.3	2394	1997	2302	2129	210.3	8.0	495	4496	0.00	2.28	39.55	1.082	8868	0.000	0.070	2393	662	2038	2127	1949	0	0	0	0	0	0	15.53	15.09	14.69
4725	0.78	257.4	2394	662	2116	1948	186.9	8.7	550	4762	0.12	2.22	26.15	1.043	11430	0.092	0.047	2452	2003	1917	2006	1828	0	0	0	0	0	0	15.28	15.28	14.73
4942	0.78	257.4	2452	2003	2007	1818	162.8	11.3	575	4948	0.00	2.28	0.00	0.000	516	0.000	0.074	2452	661	1913	2005	1822	0	0	0	0	0	0	15.45	15.26	15.48
5178	0.78	261.6	2453	664	2003	1822	136.2	9.8	621	5190	0.00	2.15	3.85	0.649	9254	0.000	0.046	2453	2002	1903	1994	1812	0	0	0	0	0	0	15.39	15.35	14.84
5370	0.78	268.3	2450	2003	1994	1811	118.1	9.7	641	5384	0.00	2.33	7.53	0.852	8484	0.000	0.077	2453	3397	1875	1968	1783	0	0	0	0	0	0	15.54	15.30	14.88
5585	0.78	268.3	2452	3392	1968	1782	99.7	10.8	684	5592	0.00	2.28	0.00	0.000	1030	0.000	0.048	2452	2022	1874	1968	1781	0	0	0	0	0	0	15.39	15.34	15.41
5774	0.85	336.6	2452	2022	1968	1781	83.3	6.9	703	5842	0.00	2.42	57.15	0.913	8868	0.000	0.081	2452	638	1596	1691	1502	0	0	0	0	0	0	15.57	15.10	14.75
5897	1.00	407.2	2452	638	1686	1502	75.3	6.8	727	5965	0.22	2.22	57.42	0.875	11430	0.112	0.047	2536	1998	1308	1400	1216	0	0	0	0	0	0	15.20	15.20	14.64
6145	1.00	407.2	2536	2003	1400	1212	44.5	13.1	759	6153	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	1999	1306	1400	1212	0	0	0	0	0	0	15.41	15.43	15.42
6336	1.03	407.2	2535	1998	1400	1211	19.8	12.3	778	6342	0.00	2.33	0.00	0.000	388	0.000	0.074	2536	3401	1305	1400	1211	0	0	0	0	0	0	15.49	15.28	15.54
6380	1.03	407.2	2536	3401	1401	1212	14.0	13.2	786	6387	0.00	2.28	0.00	0.000	1030	0.000	0.047	2536	2001	1306	1400	1212	0	0	0	0	0	0	15.38	15.30	15.39
6472	end climb: SURFACE_DEPTH_REACHED
state	6472	begin surface coast
6492	end surface coast: CONTROL_FINISHED_OK
state	6492	begin surface