Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 115 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 26 ALTIM_PULSE 1

DIVE 115 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 600 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 150 HEAPDBG 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_MISSION 190 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 3 SIM_W 0

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 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 2125 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 250 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 24 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 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 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 0.00223872 C_ROLL_DIVE 2750 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.011885 C_ROLL_CLIMB 1700 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 5.7000002e-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 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 24 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 0.00223872 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.011885 PITCH_W_DBAND 0.5 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 5.7000002e-06 PITCH_W_GAIN 3 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 150

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 190

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 2125 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 1700 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 250 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 115 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 31 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 26 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 2

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 600 PITCH_ADJ_DBAND 0 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 291019,105809,1414.5027,14410.0332,6,0.9,17,0.3,0.1,0.0,9,2.4 SPEED_LIMITS 0.231,0.332

_CALLS 1 TGT_NAME N

_XMS_NAKs 0 TGT_LATLONG 1421.000,14410.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 0.29 MHEAD_RNG_PITCHd_Wd 359.8,11959,-17.1,-13.333,-21.90,2783

_SM_ANGLEo -47.1 D_GRID 1000

GPS2 291019,111505,1414.5426,14409.9668,3,0.9,4,0.3,0.3,0.0,8,7.1

Post-dive calculations and measurements:

SM_CCo 8629,0.00,0.000,0,0,497,606.14 PM_ACTIVECARD 1

SM_GC 0.30,6.85,1.77,0.00,0.077,0.051,0.000,155,2731,497,-6.10,-1.50,606.14,0,0,0,0,0,0,15.15,15.16,15.23 _24V_AH 14.04,48.442

IRIDIUM_FIX 1411.09,14406.54,291019,081302 _10V_AH 13.31,0.000

TT8_MAMPS 0.019474,0.161784 FG_AHR_24Vo 0.000

HUMID 51.06 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 8.97495 MEM 270848

TCM_TEMP 26.00 DATA_FILE_SIZE 30054,885

XPDR_PINGS 0 CAP_FILE_SIZE 94773,0

SC_FREEKB 3822816 CFSIZE 260034560,239423488

PM_FREEKB_00 58040768 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_01 122971840 CURRENT 0.039,186.21,1

PM_FREEKB_02 124821056 GPS 291019,134100,1415.729,14410.332,24,1.0,24,0.3,0.7,84.1,8,4.1

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 389 90.89 nil 0 0 0.00

Roll_motor 63 101 90.85 nil 0 0 0.00

VBD_pump_during_apogee 739 1468 15239.41 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8636 13 1595.16

Iridium_during_xfer 747 217 2280.27 PMAR 8563 5 658.83

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 9 2.23

TT8 690 9 83.37

LPSleep 5006 2 145.95

TT8_Active 643 9 77.70

TT8_Sampling 3061 28 1163.31

TT8_CF8 267 33 120.16

TT8_Kalman 0 0 0.00

Analog_circuits 2324 10 321.71

GPS_charging 0 0 0.00

Compass 2128 17 488.10

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 -0.81 -243.3 154 2738 608 403 0.0 0.0 0 120 0.00 0.00 -99.90 0.005 16386 0.000 0.000 153 2743 3090 3126 3054 0 0 0 0 0 0 15.31 28.83 15.33

123 -0.81 -243.3 153 2743 3126 3054 3.7 -6.9 10 153 7.72 2.05 -15.02 0.009 18724 0.389 0.102 1850 3953 3961 4016 3906 0 0 0 0 0 0 14.93 14.25 15.20

365 -0.81 -243.3 1848 3953 4018 3906 108.0 -39.8 59 372 0.00 1.98 0.00 0.000 1030 0.000 0.030 1850 2703 3962 4018 3906 0 0 0 0 0 0 15.28 15.27 15.30

553 -0.81 -243.3 1849 2698 4018 3906 159.1 -24.5 78 558 0.00 2.12 0.00 0.000 260 0.000 0.080 1844 3947 3961 4018 3905 0 0 0 0 0 0 15.46 15.23 15.47

700 -0.81 -243.3 1844 3948 4017 3906 199.1 -23.8 107 707 0.00 1.90 0.00 0.000 1030 0.000 0.031 1844 2743 3962 4018 3906 0 0 0 0 0 0 15.35 15.32 15.35

887 -0.81 -243.3 1844 2738 4018 3906 235.3 -17.8 126 894 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2738 3962 4018 3906 0 0 0 0 0 0 15.49 15.51 15.51

1097 -0.81 -243.3 1844 2738 4018 3904 273.1 -17.8 139 1102 0.00 2.05 0.00 0.000 260 0.000 0.083 1844 3944 3961 4018 3904 0 0 0 0 0 0 15.51 15.28 15.52

1273 -0.81 -243.3 1844 3944 4018 3903 299.4 -15.8 174 1280 0.00 1.88 0.00 0.000 1030 0.000 0.031 1844 2755 3959 4017 3902 0 0 0 0 0 0 15.38 15.37 15.40

1579 -0.81 -243.3 1844 2748 4018 3899 345.9 -14.8 185 1586 0.00 2.05 0.00 0.000 260 0.000 0.084 1844 3943 3958 4018 3898 0 0 0 0 0 0 15.52 15.31 15.54

1652 -0.81 -243.3 1843 3943 4017 3897 358.5 -16.9 199 1658 0.00 1.85 0.00 0.000 1030 0.000 0.033 1844 2735 3957 4018 3897 0 0 0 0 0 0 15.42 15.40 15.43

1976 -0.81 -243.3 1844 2732 4014 3895 407.6 -15.2 213 1982 0.00 2.15 0.00 0.000 516 0.000 0.045 1843 1397 3954 4014 3895 0 0 0 0 0 0 15.52 15.33 15.54

2070 -0.81 -243.3 1843 1397 4011 3895 422.0 -14.9 231 2078 0.00 2.28 0.00 0.000 1030 0.000 0.057 1844 2753 3953 4011 3895 0 0 0 0 0 0 15.40 15.33 15.42

2400 -0.81 -243.3 1843 2754 4010 3889 468.4 -14.1 247 2404 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2754 3950 4010 3890 0 0 0 0 0 0 15.53 15.55 15.55

2700 -0.81 -243.3 1843 2754 4006 3885 508.1 -12.9 257 2707 0.00 2.03 0.00 0.000 260 0.000 0.086 1843 3948 3945 4006 3885 0 0 0 0 0 0 15.53 15.30 15.54

2750 -0.81 -243.3 1843 3948 4001 3884 514.7 -13.9 266 2756 0.00 1.85 0.00 0.000 1030 0.000 0.037 1844 2779 3945 4006 3884 0 0 0 0 0 0 15.42 15.38 15.44

3068 -0.81 -243.3 1843 2779 4002 3881 557.0 -13.3 279 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2779 3940 4000 3880 0 0 0 0 0 0 15.52 15.54 15.54

3368 -0.81 -243.3 1843 2779 3998 3879 596.6 -13.2 289 3372 0.00 0.00 0.00 0.000 6 0.000 0.000 1844 2779 3939 4000 3879 0 0 0 0 0 0 15.52 15.54 15.54

3397 end dive: TARGET_DEPTH_EXCEEDED

state 3397 begin apogee

3404 -0.21 0.0 1844 1719 3998 3876 600.5 -13.2 290 3622 0.73 0.00 213.10 1.468 10246 0.194 0.000 2056 1716 2969 3046 2893 0 0 0 0 0 0 15.23 14.63 14.09

3625 end apogee: CONTROL_FINISHED_OK

state 3625 begin climb

3627 0.81 243.3 2057 1719 3045 2891 613.4 0.0 297 3862 1.02 2.00 222.25 1.440 10756 0.117 0.081 2381 644 1975 2060 1890 0 0 0 0 0 0 14.64 14.53 14.04

4092 0.85 243.3 2381 644 2053 1888 576.7 12.0 393 4097 0.00 1.77 0.00 0.000 1094 0.000 0.041 2381 1726 1969 2051 1888 0 0 0 0 0 0 15.11 15.05 15.12

4425 0.89 243.3 2381 1727 2050 1884 536.9 11.8 409 4431 0.00 1.90 0.00 0.000 580 0.000 0.075 2382 636 1967 2050 1884 0 0 0 0 0 0 15.37 15.17 15.39

4657 0.95 243.3 2382 636 2048 1884 509.0 11.5 455 4663 0.15 1.73 0.00 0.000 3142 0.143 0.041 2437 1703 1970 2056 1884 0 0 0 0 0 0 15.23 15.26 15.28

4972 0.95 243.3 2437 1703 2053 1881 462.2 15.5 467 4975 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 1703 1965 2048 1882 0 0 0 0 0 0 15.45 15.47 15.47

5271 0.95 243.3 2436 1703 2048 1881 415.7 15.1 477 5275 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1703 1964 2048 1881 0 0 0 0 0 0 15.47 15.48 15.49

5571 0.95 243.3 2437 1703 2047 1877 371.6 14.1 487 5577 0.00 1.88 0.00 0.000 516 0.000 0.076 2438 616 1963 2047 1880 0 0 0 0 0 0 15.47 15.25 15.50

5785 0.95 243.3 2438 616 2045 1880 341.7 14.3 529 5791 0.00 1.75 0.00 0.000 1030 0.000 0.042 2438 1700 1962 2045 1880 0 0 0 0 0 0 15.35 15.30 15.38

6119 0.98 243.3 2438 1702 2045 1879 300.3 12.1 545 6125 0.00 2.35 0.00 0.000 324 0.000 0.063 2438 3093 1962 2045 1879 0 0 0 0 0 0 15.48 15.28 15.50

6316 1.00 243.3 2438 3093 2045 1879 276.7 12.7 584 6325 0.00 2.33 0.00 0.000 1094 0.000 0.047 2439 1705 1962 2047 1878 0 0 0 0 0 0 15.34 15.28 15.38

6633 1.00 243.3 2438 1705 2045 1878 236.0 13.8 603 6640 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 1705 1961 2045 1878 0 0 0 0 0 0 15.48 15.50 15.50

6823 1.06 243.3 2438 1705 2045 1878 213.5 11.5 622 6830 0.00 1.80 0.00 0.000 580 0.000 0.075 2438 637 1961 2045 1878 0 0 0 0 0 0 15.47 15.24 15.49

7021 1.09 319.2 2438 637 2047 1878 190.7 10.5 661 7098 0.08 1.75 66.10 1.043 11302 0.122 0.039 2474 1705 1666 1755 1577 0 0 0 0 0 0 15.24 15.32 14.53

7278 1.09 319.2 2474 1704 1755 1572 154.8 15.0 694 7284 0.00 1.88 0.00 0.000 516 0.000 0.075 2474 620 1663 1755 1572 0 0 0 0 0 0 15.30 15.09 15.31

7416 1.09 319.2 2474 619 1754 1571 134.4 13.3 721 7423 0.00 1.77 0.00 0.000 1030 0.000 0.038 2475 1695 1662 1753 1572 0 0 0 0 0 0 15.21 15.18 15.23

7602 1.12 416.6 2474 1696 1753 1571 113.2 9.7 740 7696 0.00 2.42 84.28 0.903 8484 0.000 0.057 2472 3088 1269 1365 1173 0 0 0 0 0 0 15.39 14.87 14.50

7815 1.12 416.6 2474 3088 1368 1170 85.4 13.5 782 7821 0.00 2.35 0.00 0.000 1030 0.000 0.045 2475 1697 1267 1365 1170 0 0 0 0 0 0 15.11 15.04 15.14

8009 1.17 542.5 2474 1697 1365 1168 65.9 8.7 802 8119 0.00 1.83 101.93 0.808 8740 0.000 0.072 2475 633 757 868 646 0 0 0 0 0 0 15.34 14.78 14.47

8185 1.20 620.6 2474 632 866 650 48.6 10.4 837 8245 0.08 1.77 51.72 0.763 11302 0.112 0.034 2513 1705 499 621 377 0 0 0 0 0 0 14.95 15.00 14.48

8434 1.20 620.6 2513 1706 621 374 15.7 13.9 868 8439 0.00 2.30 0.00 0.000 260 0.000 0.053 2513 3088 497 620 374 0 0 0 0 0 0 15.27 15.07 15.29

8487 1.20 620.6 2513 3088 620 374 8.4 13.2 878 8493 0.00 2.33 0.00 0.000 1030 0.000 0.046 2513 1701 500 626 374 0 0 0 0 0 0 15.19 15.11 15.20

8529 end climb: SURFACE_DEPTH_REACHED

state 8529 begin surface coast

8549 end surface coast: CONTROL_FINISHED_OK

state 8549 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	26	ALTIM_PULSE	1
DIVE	115	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	600	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	150	HEAPDBG	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_MISSION	190	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	3	SIM_W	0
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	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	2125	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	250	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	24	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	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	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	0.00223872	C_ROLL_DIVE	2750	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.011885	C_ROLL_CLIMB	1700	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	5.7000002e-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	291019,105809,1414.5027,14410.0332,6,0.9,17,0.3,0.1,0.0,9,2.4	SPEED_LIMITS	0.231,0.332
_CALLS	1	TGT_NAME	N
_XMS_NAKs	0	TGT_LATLONG	1421.000,14410.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	0.29	MHEAD_RNG_PITCHd_Wd	359.8,11959,-17.1,-13.333,-21.90,2783
_SM_ANGLEo	-47.1	D_GRID	1000
GPS2	291019,111505,1414.5426,14409.9668,3,0.9,4,0.3,0.3,0.0,8,7.1

SM_CCo	8629,0.00,0.000,0,0,497,606.14	PM_ACTIVECARD	1
SM_GC	0.30,6.85,1.77,0.00,0.077,0.051,0.000,155,2731,497,-6.10,-1.50,606.14,0,0,0,0,0,0,15.15,15.16,15.23	_24V_AH	14.04,48.442
IRIDIUM_FIX	1411.09,14406.54,291019,081302	_10V_AH	13.31,0.000
TT8_MAMPS	0.019474,0.161784	FG_AHR_24Vo	0.000
HUMID	51.06	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	8.97495	MEM	270848
TCM_TEMP	26.00	DATA_FILE_SIZE	30054,885
XPDR_PINGS	0	CAP_FILE_SIZE	94773,0
SC_FREEKB	3822816	CFSIZE	260034560,239423488
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_01	122971840	CURRENT	0.039,186.21,1
PM_FREEKB_02	124821056	GPS	291019,134100,1415.729,14410.332,24,1.0,24,0.3,0.7,84.1,8,4.1
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	389	90.89	nil	0	0	0.00
Roll_motor	63	101	90.85	nil	0	0	0.00
VBD_pump_during_apogee	739	1468	15239.41	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8636	13	1595.16
Iridium_during_xfer	747	217	2280.27	PMAR	8563	5	658.83
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	9	2.23
TT8	690	9	83.37
LPSleep	5006	2	145.95
TT8_Active	643	9	77.70
TT8_Sampling	3061	28	1163.31
TT8_CF8	267	33	120.16
TT8_Kalman	0	0	0.00
Analog_circuits	2324	10	321.71
GPS_charging	0	0	0.00
Compass	2128	17	488.10
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	-0.81	-243.3	154	2738	608	403	0.0	0.0	0	120	0.00	0.00	-99.90	0.005	16386	0.000	0.000	153	2743	3090	3126	3054	0	0	0	0	0	0	15.31	28.83	15.33
123	-0.81	-243.3	153	2743	3126	3054	3.7	-6.9	10	153	7.72	2.05	-15.02	0.009	18724	0.389	0.102	1850	3953	3961	4016	3906	0	0	0	0	0	0	14.93	14.25	15.20
365	-0.81	-243.3	1848	3953	4018	3906	108.0	-39.8	59	372	0.00	1.98	0.00	0.000	1030	0.000	0.030	1850	2703	3962	4018	3906	0	0	0	0	0	0	15.28	15.27	15.30
553	-0.81	-243.3	1849	2698	4018	3906	159.1	-24.5	78	558	0.00	2.12	0.00	0.000	260	0.000	0.080	1844	3947	3961	4018	3905	0	0	0	0	0	0	15.46	15.23	15.47
700	-0.81	-243.3	1844	3948	4017	3906	199.1	-23.8	107	707	0.00	1.90	0.00	0.000	1030	0.000	0.031	1844	2743	3962	4018	3906	0	0	0	0	0	0	15.35	15.32	15.35
887	-0.81	-243.3	1844	2738	4018	3906	235.3	-17.8	126	894	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	2738	3962	4018	3906	0	0	0	0	0	0	15.49	15.51	15.51
1097	-0.81	-243.3	1844	2738	4018	3904	273.1	-17.8	139	1102	0.00	2.05	0.00	0.000	260	0.000	0.083	1844	3944	3961	4018	3904	0	0	0	0	0	0	15.51	15.28	15.52
1273	-0.81	-243.3	1844	3944	4018	3903	299.4	-15.8	174	1280	0.00	1.88	0.00	0.000	1030	0.000	0.031	1844	2755	3959	4017	3902	0	0	0	0	0	0	15.38	15.37	15.40
1579	-0.81	-243.3	1844	2748	4018	3899	345.9	-14.8	185	1586	0.00	2.05	0.00	0.000	260	0.000	0.084	1844	3943	3958	4018	3898	0	0	0	0	0	0	15.52	15.31	15.54
1652	-0.81	-243.3	1843	3943	4017	3897	358.5	-16.9	199	1658	0.00	1.85	0.00	0.000	1030	0.000	0.033	1844	2735	3957	4018	3897	0	0	0	0	0	0	15.42	15.40	15.43
1976	-0.81	-243.3	1844	2732	4014	3895	407.6	-15.2	213	1982	0.00	2.15	0.00	0.000	516	0.000	0.045	1843	1397	3954	4014	3895	0	0	0	0	0	0	15.52	15.33	15.54
2070	-0.81	-243.3	1843	1397	4011	3895	422.0	-14.9	231	2078	0.00	2.28	0.00	0.000	1030	0.000	0.057	1844	2753	3953	4011	3895	0	0	0	0	0	0	15.40	15.33	15.42
2400	-0.81	-243.3	1843	2754	4010	3889	468.4	-14.1	247	2404	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	2754	3950	4010	3890	0	0	0	0	0	0	15.53	15.55	15.55
2700	-0.81	-243.3	1843	2754	4006	3885	508.1	-12.9	257	2707	0.00	2.03	0.00	0.000	260	0.000	0.086	1843	3948	3945	4006	3885	0	0	0	0	0	0	15.53	15.30	15.54
2750	-0.81	-243.3	1843	3948	4001	3884	514.7	-13.9	266	2756	0.00	1.85	0.00	0.000	1030	0.000	0.037	1844	2779	3945	4006	3884	0	0	0	0	0	0	15.42	15.38	15.44
3068	-0.81	-243.3	1843	2779	4002	3881	557.0	-13.3	279	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	2779	3940	4000	3880	0	0	0	0	0	0	15.52	15.54	15.54
3368	-0.81	-243.3	1843	2779	3998	3879	596.6	-13.2	289	3372	0.00	0.00	0.00	0.000	6	0.000	0.000	1844	2779	3939	4000	3879	0	0	0	0	0	0	15.52	15.54	15.54
3397	end dive: TARGET_DEPTH_EXCEEDED
state	3397	begin apogee
3404	-0.21	0.0	1844	1719	3998	3876	600.5	-13.2	290	3622	0.73	0.00	213.10	1.468	10246	0.194	0.000	2056	1716	2969	3046	2893	0	0	0	0	0	0	15.23	14.63	14.09
3625	end apogee: CONTROL_FINISHED_OK
state	3625	begin climb
3627	0.81	243.3	2057	1719	3045	2891	613.4	0.0	297	3862	1.02	2.00	222.25	1.440	10756	0.117	0.081	2381	644	1975	2060	1890	0	0	0	0	0	0	14.64	14.53	14.04
4092	0.85	243.3	2381	644	2053	1888	576.7	12.0	393	4097	0.00	1.77	0.00	0.000	1094	0.000	0.041	2381	1726	1969	2051	1888	0	0	0	0	0	0	15.11	15.05	15.12
4425	0.89	243.3	2381	1727	2050	1884	536.9	11.8	409	4431	0.00	1.90	0.00	0.000	580	0.000	0.075	2382	636	1967	2050	1884	0	0	0	0	0	0	15.37	15.17	15.39
4657	0.95	243.3	2382	636	2048	1884	509.0	11.5	455	4663	0.15	1.73	0.00	0.000	3142	0.143	0.041	2437	1703	1970	2056	1884	0	0	0	0	0	0	15.23	15.26	15.28
4972	0.95	243.3	2437	1703	2053	1881	462.2	15.5	467	4975	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	1703	1965	2048	1882	0	0	0	0	0	0	15.45	15.47	15.47
5271	0.95	243.3	2436	1703	2048	1881	415.7	15.1	477	5275	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	1703	1964	2048	1881	0	0	0	0	0	0	15.47	15.48	15.49
5571	0.95	243.3	2437	1703	2047	1877	371.6	14.1	487	5577	0.00	1.88	0.00	0.000	516	0.000	0.076	2438	616	1963	2047	1880	0	0	0	0	0	0	15.47	15.25	15.50
5785	0.95	243.3	2438	616	2045	1880	341.7	14.3	529	5791	0.00	1.75	0.00	0.000	1030	0.000	0.042	2438	1700	1962	2045	1880	0	0	0	0	0	0	15.35	15.30	15.38
6119	0.98	243.3	2438	1702	2045	1879	300.3	12.1	545	6125	0.00	2.35	0.00	0.000	324	0.000	0.063	2438	3093	1962	2045	1879	0	0	0	0	0	0	15.48	15.28	15.50
6316	1.00	243.3	2438	3093	2045	1879	276.7	12.7	584	6325	0.00	2.33	0.00	0.000	1094	0.000	0.047	2439	1705	1962	2047	1878	0	0	0	0	0	0	15.34	15.28	15.38
6633	1.00	243.3	2438	1705	2045	1878	236.0	13.8	603	6640	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	1705	1961	2045	1878	0	0	0	0	0	0	15.48	15.50	15.50
6823	1.06	243.3	2438	1705	2045	1878	213.5	11.5	622	6830	0.00	1.80	0.00	0.000	580	0.000	0.075	2438	637	1961	2045	1878	0	0	0	0	0	0	15.47	15.24	15.49
7021	1.09	319.2	2438	637	2047	1878	190.7	10.5	661	7098	0.08	1.75	66.10	1.043	11302	0.122	0.039	2474	1705	1666	1755	1577	0	0	0	0	0	0	15.24	15.32	14.53
7278	1.09	319.2	2474	1704	1755	1572	154.8	15.0	694	7284	0.00	1.88	0.00	0.000	516	0.000	0.075	2474	620	1663	1755	1572	0	0	0	0	0	0	15.30	15.09	15.31
7416	1.09	319.2	2474	619	1754	1571	134.4	13.3	721	7423	0.00	1.77	0.00	0.000	1030	0.000	0.038	2475	1695	1662	1753	1572	0	0	0	0	0	0	15.21	15.18	15.23
7602	1.12	416.6	2474	1696	1753	1571	113.2	9.7	740	7696	0.00	2.42	84.28	0.903	8484	0.000	0.057	2472	3088	1269	1365	1173	0	0	0	0	0	0	15.39	14.87	14.50
7815	1.12	416.6	2474	3088	1368	1170	85.4	13.5	782	7821	0.00	2.35	0.00	0.000	1030	0.000	0.045	2475	1697	1267	1365	1170	0	0	0	0	0	0	15.11	15.04	15.14
8009	1.17	542.5	2474	1697	1365	1168	65.9	8.7	802	8119	0.00	1.83	101.93	0.808	8740	0.000	0.072	2475	633	757	868	646	0	0	0	0	0	0	15.34	14.78	14.47
8185	1.20	620.6	2474	632	866	650	48.6	10.4	837	8245	0.08	1.77	51.72	0.763	11302	0.112	0.034	2513	1705	499	621	377	0	0	0	0	0	0	14.95	15.00	14.48
8434	1.20	620.6	2513	1706	621	374	15.7	13.9	868	8439	0.00	2.30	0.00	0.000	260	0.000	0.053	2513	3088	497	620	374	0	0	0	0	0	0	15.27	15.07	15.29
8487	1.20	620.6	2513	3088	620	374	8.4	13.2	878	8493	0.00	2.33	0.00	0.000	1030	0.000	0.046	2513	1701	500	626	374	0	0	0	0	0	0	15.19	15.11	15.20
8529	end climb: SURFACE_DEPTH_REACHED
state	8529	begin surface coast
8549	end surface coast: CONTROL_FINISHED_OK
state	8549	begin surface