Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 33 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 52 ALTIM_PULSE 1

DIVE 9 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 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 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 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 9 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 33 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 52 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 031019,150254,1326.3120,14434.2627,1,0.6,3,0.6,0.5,152.8,12,4.6 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 0.52 MHEAD_RNG_PITCHd_Wd 123.6,3049,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.0 D_GRID 1635

GPS2 031019,150645,1326.2748,14434.2803,2,0.7,3,0.6,0.4,148.6,12,9.0

Post-dive calculations and measurements:

SM_CCo 6400,86.95,0.669,1,0,928,500.17 PM_ACTIVECARD 0

SM_GC 0.56,6.88,3.55,86.95,0.083,0.054,0.669,155,2731,928,-6.34,-1.24,500.17,0,0,0,0,1,0,15.33,15.33,14.78 _24V_AH 14.36,4.988

IRIDIUM_FIX 1324.31,14433.41,031019,145932 _10V_AH 13.74,0.000

TT8_MAMPS 0.020223,0.167027 FG_AHR_24Vo 0.000

HUMID 49.84 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.07261 MEM 271120

TCM_TEMP 26.70 DATA_FILE_SIZE 30034,832

XPDR_PINGS 0 CAP_FILE_SIZE 96957,0

SC_FREEKB 3873888 CFSIZE 260034560,257015808

PM_FREEKB_00 124231296 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.073,36.13,1

PM_FREEKB_02 124821056 GPS 031019,165642,1325.800,14435.042,3,1.3,4,0.6,0.4,139.6,8,9.9

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 418 109.51 nil 0 0 0.00

Roll_motor 65 143 135.17 nil 0 0 0.00

VBD_pump_during_apogee 483 1179 8195.32 nil 0 0 0.00

VBD_pump_during_surface 86 668 834.83 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 6370 8 761.51

Iridium_during_xfer 0 0 0.00 PMAR 6373 3 364.69

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 9 1.99

TT8 689 9 85.95

LPSleep 3066 2 92.26

TT8_Active 543 9 67.72

TT8_Sampling 2202 28 864.02

TT8_CF8 93 33 43.64

TT8_Kalman 0 0 0.00

Analog_circuits 1358 10 194.06

GPS_charging 0 0 0.00

Compass 2065 17 489.01

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 -146.0 158 2775 993 862 0.0 0.0 0 109 0.00 0.00 -88.97 0.005 16386 0.000 0.000 158 2775 3226 3268 3184 0 0 0 0 0 0 15.54 28.83 15.57

112 -0.73 -146.0 156 2775 3267 3184 4.7 -8.7 9 134 8.45 2.33 -5.65 0.023 18980 0.418 0.070 1956 1337 3566 3631 3501 0 0 0 0 0 0 15.15 14.54 15.32

272 -0.65 -146.0 1956 1336 3631 3501 51.7 -22.3 41 279 0.15 2.30 0.00 0.000 3206 0.283 0.063 1984 2722 3566 3631 3501 0 0 0 0 0 0 15.26 15.35 15.42

467 -0.65 -146.0 1984 2722 3631 3501 88.0 -16.4 61 473 0.00 2.05 0.00 0.000 260 0.000 0.090 1978 3953 3566 3631 3501 0 0 0 0 0 0 15.59 15.36 15.60

681 -0.73 -146.0 1978 3952 3631 3501 120.1 -12.6 103 688 0.00 1.90 0.00 0.000 1158 0.000 0.037 1978 2713 3566 3631 3501 0 0 0 0 0 0 15.50 15.45 15.50

875 -0.89 -146.0 1978 2708 3631 3500 145.8 -11.0 123 883 0.20 0.00 0.00 0.000 4230 0.115 0.000 1904 2707 3566 3631 3501 0 0 0 0 0 0 15.42 15.51 15.49

1066 -0.92 -146.0 1904 2707 3631 3501 166.7 -9.1 142 1072 0.00 2.10 0.00 0.000 420 0.000 0.087 1898 3953 3564 3628 3500 0 0 0 0 0 0 15.63 15.40 15.64

1140 -0.92 -146.0 1898 3954 3631 3501 174.3 -11.3 156 1146 0.00 1.85 0.00 0.000 1030 0.000 0.037 1899 2736 3565 3631 3500 0 0 0 0 0 0 15.54 15.48 15.53

1334 -0.96 -146.0 1898 2735 3631 3500 193.0 -11.1 176 1341 0.00 0.00 0.00 0.000 134 0.000 0.000 1899 2735 3565 3631 3500 0 0 0 0 0 0 15.63 15.65 15.64

1524 -1.03 -146.0 1898 2735 3631 3501 212.2 -8.9 195 1530 0.00 2.15 0.00 0.000 676 0.000 0.050 1899 1374 3565 3631 3500 0 0 0 0 0 0 15.63 15.46 15.64

1602 -1.11 -146.0 1900 1374 3630 3500 219.6 -9.5 210 1609 0.12 2.33 0.00 0.000 5286 0.093 0.063 1841 2753 3565 3630 3500 0 0 0 0 0 0 15.43 15.40 15.47

1787 -1.11 -146.0 1840 2753 3629 3499 242.0 -13.6 229 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 1841 2753 3564 3629 3499 0 0 0 0 0 0 15.64 15.66 15.65

1969 -1.11 -146.0 1841 2753 3628 3499 268.5 -14.6 239 1974 0.00 1.98 0.00 0.000 260 0.000 0.091 1839 3945 3563 3628 3499 0 0 0 0 0 0 15.63 15.42 15.66

2200 -1.11 -146.0 1839 3945 3627 3497 303.0 -15.6 285 2207 0.00 1.83 0.00 0.000 1030 0.000 0.039 1839 2758 3561 3627 3496 0 0 0 0 0 0 15.53 15.49 15.54

2514 -1.11 -146.0 1838 2756 3623 3494 339.4 -10.7 297 2520 0.00 2.03 0.00 0.000 260 0.000 0.094 1839 3949 3559 3624 3494 0 0 0 0 0 0 15.64 15.42 15.66

2704 end dive: TARGET_DEPTH_EXCEEDED

state 2704 begin apogee

2713 -0.19 0.0 1839 1833 3622 3493 360.4 -11.2 335 2848 1.02 0.00 129.45 1.180 10246 0.220 0.000 2135 1836 2968 3051 2886 0 0 0 0 0 0 15.35 14.95 14.46

2851 end apogee: CONTROL_FINISHED_OK

state 2851 begin climb

2853 0.73 146.0 2135 1833 3051 2884 362.4 0.0 339 2998 0.88 2.15 132.95 1.156 10756 0.096 0.080 2437 640 2370 2450 2290 0 0 0 0 0 0 14.93 14.78 14.36

3225 0.66 146.0 2434 640 2440 2289 322.8 13.5 418 3230 0.00 1.92 0.00 0.000 1158 0.000 0.047 2434 1820 2364 2440 2289 0 0 0 0 0 0 15.30 15.23 15.32

3553 0.58 146.0 2434 1820 2440 2284 285.1 10.0 433 3560 0.15 2.03 0.00 0.000 4740 0.297 0.076 2395 634 2362 2440 2284 0 0 0 0 0 0 15.23 15.32 15.35

3611 0.59 175.5 2395 634 2439 2284 280.0 8.6 444 3647 0.00 1.92 25.75 1.112 9254 0.000 0.049 2400 1794 2250 2333 2168 0 0 0 0 0 0 15.39 15.35 14.76

3948 0.62 229.6 2395 1794 2332 2161 250.7 7.5 461 4003 0.00 2.38 47.50 1.121 8484 0.000 0.073 2395 3200 2030 2117 1944 0 0 0 0 0 0 15.52 15.04 14.66

4118 0.66 229.6 2395 3199 2119 1937 231.8 13.2 494 4124 0.00 2.33 0.00 0.000 1158 0.000 0.053 2395 1802 2028 2119 1937 0 0 0 0 0 0 15.29 15.25 15.30

4312 0.72 229.6 2397 1802 2119 1935 208.7 10.9 514 4322 0.12 2.35 0.00 0.000 2436 0.155 0.071 2443 3202 2027 2119 1935 0 0 0 0 0 0 15.30 15.28 15.35

4376 0.67 229.6 2443 3201 2119 1935 200.5 13.3 526 4381 0.00 2.33 0.00 0.000 1158 0.000 0.054 2441 1793 2026 2119 1934 0 0 0 0 0 0 15.39 15.31 15.40

4570 0.67 236.4 2443 1793 2118 1934 179.4 9.7 546 4583 0.00 1.95 6.62 0.890 8740 0.000 0.082 2443 627 2004 2096 1912 0 0 0 0 0 0 15.54 15.26 14.85

4810 0.67 236.4 2443 627 2090 1912 153.2 12.0 594 4817 0.00 1.95 0.00 0.000 1030 0.000 0.047 2441 1807 2000 2089 1912 0 0 0 0 0 0 15.40 15.35 15.42

4997 0.68 261.6 2443 1807 2089 1911 134.3 8.8 613 5026 0.00 2.03 22.33 1.002 8740 0.000 0.077 2443 625 1899 1990 1809 0 0 0 0 0 0 15.55 15.22 14.83

5253 0.75 326.1 2443 625 1984 1809 116.0 7.0 664 5315 0.00 1.95 53.67 0.976 9382 0.000 0.044 2444 1809 1639 1730 1548 0 0 0 0 0 0 15.37 15.35 14.69

5496 0.86 334.2 2446 1809 1730 1542 97.4 9.6 694 5516 0.10 2.10 8.48 0.826 10916 0.171 0.079 2479 621 1603 1697 1510 0 0 0 0 0 0 15.24 15.19 14.80

5722 0.94 387.4 2479 621 1693 1510 77.1 7.6 739 5772 0.00 1.92 43.55 0.886 9382 0.000 0.044 2479 1796 1388 1483 1294 0 0 0 0 0 0 15.33 15.29 14.78

5961 1.06 403.0 2480 1797 1481 1290 55.4 9.3 768 5984 0.15 2.33 13.50 0.800 10660 0.140 0.067 2544 3197 1326 1421 1231 0 0 0 0 0 0 15.25 15.14 14.84

6092 1.06 403.0 2543 3197 1421 1231 37.1 17.3 794 6098 0.00 2.30 0.00 0.000 1030 0.000 0.047 2544 1792 1325 1420 1231 0 0 0 0 0 0 15.33 15.26 15.35

6286 1.06 403.0 2544 1791 1421 1230 11.9 12.2 814 6292 0.00 1.92 0.00 0.000 516 0.000 0.079 2544 624 1325 1421 1230 0 0 0 0 0 0 15.52 15.30 15.53

6359 end climb: SURFACE_DEPTH_REACHED

state 6359 begin surface coast

6378 end surface coast: CONTROL_FINISHED_OK

state 6379 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	52	ALTIM_PULSE	1
DIVE	9	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	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	031019,150254,1326.3120,14434.2627,1,0.6,3,0.6,0.5,152.8,12,4.6	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	0.52	MHEAD_RNG_PITCHd_Wd	123.6,3049,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.0	D_GRID	1635
GPS2	031019,150645,1326.2748,14434.2803,2,0.7,3,0.6,0.4,148.6,12,9.0

SM_CCo	6400,86.95,0.669,1,0,928,500.17	PM_ACTIVECARD	0
SM_GC	0.56,6.88,3.55,86.95,0.083,0.054,0.669,155,2731,928,-6.34,-1.24,500.17,0,0,0,0,1,0,15.33,15.33,14.78	_24V_AH	14.36,4.988
IRIDIUM_FIX	1324.31,14433.41,031019,145932	_10V_AH	13.74,0.000
TT8_MAMPS	0.020223,0.167027	FG_AHR_24Vo	0.000
HUMID	49.84	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.07261	MEM	271120
TCM_TEMP	26.70	DATA_FILE_SIZE	30034,832
XPDR_PINGS	0	CAP_FILE_SIZE	96957,0
SC_FREEKB	3873888	CFSIZE	260034560,257015808
PM_FREEKB_00	124231296	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.073,36.13,1
PM_FREEKB_02	124821056	GPS	031019,165642,1325.800,14435.042,3,1.3,4,0.6,0.4,139.6,8,9.9
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	418	109.51	nil	0	0	0.00
Roll_motor	65	143	135.17	nil	0	0	0.00
VBD_pump_during_apogee	483	1179	8195.32	nil	0	0	0.00
VBD_pump_during_surface	86	668	834.83	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	6370	8	761.51
Iridium_during_xfer	0	0	0.00	PMAR	6373	3	364.69
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	9	1.99
TT8	689	9	85.95
LPSleep	3066	2	92.26
TT8_Active	543	9	67.72
TT8_Sampling	2202	28	864.02
TT8_CF8	93	33	43.64
TT8_Kalman	0	0	0.00
Analog_circuits	1358	10	194.06
GPS_charging	0	0	0.00
Compass	2065	17	489.01
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	158	2775	993	862	0.0	0.0	0	109	0.00	0.00	-88.97	0.005	16386	0.000	0.000	158	2775	3226	3268	3184	0	0	0	0	0	0	15.54	28.83	15.57
112	-0.73	-146.0	156	2775	3267	3184	4.7	-8.7	9	134	8.45	2.33	-5.65	0.023	18980	0.418	0.070	1956	1337	3566	3631	3501	0	0	0	0	0	0	15.15	14.54	15.32
272	-0.65	-146.0	1956	1336	3631	3501	51.7	-22.3	41	279	0.15	2.30	0.00	0.000	3206	0.283	0.063	1984	2722	3566	3631	3501	0	0	0	0	0	0	15.26	15.35	15.42
467	-0.65	-146.0	1984	2722	3631	3501	88.0	-16.4	61	473	0.00	2.05	0.00	0.000	260	0.000	0.090	1978	3953	3566	3631	3501	0	0	0	0	0	0	15.59	15.36	15.60
681	-0.73	-146.0	1978	3952	3631	3501	120.1	-12.6	103	688	0.00	1.90	0.00	0.000	1158	0.000	0.037	1978	2713	3566	3631	3501	0	0	0	0	0	0	15.50	15.45	15.50
875	-0.89	-146.0	1978	2708	3631	3500	145.8	-11.0	123	883	0.20	0.00	0.00	0.000	4230	0.115	0.000	1904	2707	3566	3631	3501	0	0	0	0	0	0	15.42	15.51	15.49
1066	-0.92	-146.0	1904	2707	3631	3501	166.7	-9.1	142	1072	0.00	2.10	0.00	0.000	420	0.000	0.087	1898	3953	3564	3628	3500	0	0	0	0	0	0	15.63	15.40	15.64
1140	-0.92	-146.0	1898	3954	3631	3501	174.3	-11.3	156	1146	0.00	1.85	0.00	0.000	1030	0.000	0.037	1899	2736	3565	3631	3500	0	0	0	0	0	0	15.54	15.48	15.53
1334	-0.96	-146.0	1898	2735	3631	3500	193.0	-11.1	176	1341	0.00	0.00	0.00	0.000	134	0.000	0.000	1899	2735	3565	3631	3500	0	0	0	0	0	0	15.63	15.65	15.64
1524	-1.03	-146.0	1898	2735	3631	3501	212.2	-8.9	195	1530	0.00	2.15	0.00	0.000	676	0.000	0.050	1899	1374	3565	3631	3500	0	0	0	0	0	0	15.63	15.46	15.64
1602	-1.11	-146.0	1900	1374	3630	3500	219.6	-9.5	210	1609	0.12	2.33	0.00	0.000	5286	0.093	0.063	1841	2753	3565	3630	3500	0	0	0	0	0	0	15.43	15.40	15.47
1787	-1.11	-146.0	1840	2753	3629	3499	242.0	-13.6	229	1791	0.00	0.00	0.00	0.000	6	0.000	0.000	1841	2753	3564	3629	3499	0	0	0	0	0	0	15.64	15.66	15.65
1969	-1.11	-146.0	1841	2753	3628	3499	268.5	-14.6	239	1974	0.00	1.98	0.00	0.000	260	0.000	0.091	1839	3945	3563	3628	3499	0	0	0	0	0	0	15.63	15.42	15.66
2200	-1.11	-146.0	1839	3945	3627	3497	303.0	-15.6	285	2207	0.00	1.83	0.00	0.000	1030	0.000	0.039	1839	2758	3561	3627	3496	0	0	0	0	0	0	15.53	15.49	15.54
2514	-1.11	-146.0	1838	2756	3623	3494	339.4	-10.7	297	2520	0.00	2.03	0.00	0.000	260	0.000	0.094	1839	3949	3559	3624	3494	0	0	0	0	0	0	15.64	15.42	15.66
2704	end dive: TARGET_DEPTH_EXCEEDED
state	2704	begin apogee
2713	-0.19	0.0	1839	1833	3622	3493	360.4	-11.2	335	2848	1.02	0.00	129.45	1.180	10246	0.220	0.000	2135	1836	2968	3051	2886	0	0	0	0	0	0	15.35	14.95	14.46
2851	end apogee: CONTROL_FINISHED_OK
state	2851	begin climb
2853	0.73	146.0	2135	1833	3051	2884	362.4	0.0	339	2998	0.88	2.15	132.95	1.156	10756	0.096	0.080	2437	640	2370	2450	2290	0	0	0	0	0	0	14.93	14.78	14.36
3225	0.66	146.0	2434	640	2440	2289	322.8	13.5	418	3230	0.00	1.92	0.00	0.000	1158	0.000	0.047	2434	1820	2364	2440	2289	0	0	0	0	0	0	15.30	15.23	15.32
3553	0.58	146.0	2434	1820	2440	2284	285.1	10.0	433	3560	0.15	2.03	0.00	0.000	4740	0.297	0.076	2395	634	2362	2440	2284	0	0	0	0	0	0	15.23	15.32	15.35
3611	0.59	175.5	2395	634	2439	2284	280.0	8.6	444	3647	0.00	1.92	25.75	1.112	9254	0.000	0.049	2400	1794	2250	2333	2168	0	0	0	0	0	0	15.39	15.35	14.76
3948	0.62	229.6	2395	1794	2332	2161	250.7	7.5	461	4003	0.00	2.38	47.50	1.121	8484	0.000	0.073	2395	3200	2030	2117	1944	0	0	0	0	0	0	15.52	15.04	14.66
4118	0.66	229.6	2395	3199	2119	1937	231.8	13.2	494	4124	0.00	2.33	0.00	0.000	1158	0.000	0.053	2395	1802	2028	2119	1937	0	0	0	0	0	0	15.29	15.25	15.30
4312	0.72	229.6	2397	1802	2119	1935	208.7	10.9	514	4322	0.12	2.35	0.00	0.000	2436	0.155	0.071	2443	3202	2027	2119	1935	0	0	0	0	0	0	15.30	15.28	15.35
4376	0.67	229.6	2443	3201	2119	1935	200.5	13.3	526	4381	0.00	2.33	0.00	0.000	1158	0.000	0.054	2441	1793	2026	2119	1934	0	0	0	0	0	0	15.39	15.31	15.40
4570	0.67	236.4	2443	1793	2118	1934	179.4	9.7	546	4583	0.00	1.95	6.62	0.890	8740	0.000	0.082	2443	627	2004	2096	1912	0	0	0	0	0	0	15.54	15.26	14.85
4810	0.67	236.4	2443	627	2090	1912	153.2	12.0	594	4817	0.00	1.95	0.00	0.000	1030	0.000	0.047	2441	1807	2000	2089	1912	0	0	0	0	0	0	15.40	15.35	15.42
4997	0.68	261.6	2443	1807	2089	1911	134.3	8.8	613	5026	0.00	2.03	22.33	1.002	8740	0.000	0.077	2443	625	1899	1990	1809	0	0	0	0	0	0	15.55	15.22	14.83
5253	0.75	326.1	2443	625	1984	1809	116.0	7.0	664	5315	0.00	1.95	53.67	0.976	9382	0.000	0.044	2444	1809	1639	1730	1548	0	0	0	0	0	0	15.37	15.35	14.69
5496	0.86	334.2	2446	1809	1730	1542	97.4	9.6	694	5516	0.10	2.10	8.48	0.826	10916	0.171	0.079	2479	621	1603	1697	1510	0	0	0	0	0	0	15.24	15.19	14.80
5722	0.94	387.4	2479	621	1693	1510	77.1	7.6	739	5772	0.00	1.92	43.55	0.886	9382	0.000	0.044	2479	1796	1388	1483	1294	0	0	0	0	0	0	15.33	15.29	14.78
5961	1.06	403.0	2480	1797	1481	1290	55.4	9.3	768	5984	0.15	2.33	13.50	0.800	10660	0.140	0.067	2544	3197	1326	1421	1231	0	0	0	0	0	0	15.25	15.14	14.84
6092	1.06	403.0	2543	3197	1421	1231	37.1	17.3	794	6098	0.00	2.30	0.00	0.000	1030	0.000	0.047	2544	1792	1325	1420	1231	0	0	0	0	0	0	15.33	15.26	15.35
6286	1.06	403.0	2544	1791	1421	1230	11.9	12.2	814	6292	0.00	1.92	0.00	0.000	516	0.000	0.079	2544	624	1325	1421	1230	0	0	0	0	0	0	15.52	15.30	15.53
6359	end climb: SURFACE_DEPTH_REACHED
state	6359	begin surface coast
6378	end surface coast: CONTROL_FINISHED_OK
state	6379	begin surface