Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 117 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 41 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 65 ALTIM_PULSE 2

DIVE 117 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 0 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 232.0

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 232.0 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 117 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 41 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 65 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 0 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 090822,124501,4450.2236,-12455.5889,6,0.9,28,15.1,0.3,210.9,9,1.9 SPEED_LIMITS 0.173,0.208

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.018,-12455.537

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.65 MHEAD_RNG_PITCHd_Wd 123.7,548,-27.3,-10.000,-30.00,1564

_SM_ANGLEo -70.8 D_GRID 547

GPS2 090822,125523,4450.2407,-12455.8115,2,0.9,3,15.1,0.8,164.9,12,8.8

Post-dive calculations and measurements:

NEWHEAD 95.700,21.66,3024.89 _24V_AH 24.26,19.958

FINISH 1.1,1.023040 _10V_AH 10.25,15.233

SM_CCo 3294,226.40,0.666,0,0,929,500.17 FG_AHR_24Vo 0.000

SM_GC 0.63,8.02,1.35,226.40,0.078,0.024,0.666,180,2205,929,-7.49,1.41,500.17,0,0,0,0,0,0,26.00,26.00,24.53 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4449.52,-12458.03,090822,105817 MEM 220660

TT8_MAMPS 0.023968,0.278628 DATA_FILE_SIZE 20078,572

HUMID 34.83 CAP_FILE_SIZE 227884,0

INTERNAL_PRESSURE 8.46326 CFSIZE 260030464,225546240

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 090822,135533,4450.502,-12455.923,1,1.6,3,15.1,1.1,318.8,9,9.5

SC_FREEKB 3775296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 217 101.59 nil 0 0 0.00

Roll_motor 46 55 62.35 nil 0 0 0.00

VBD_pump_during_apogee 281 819 5591.28 nil 0 0 0.00

VBD_pump_during_surface 226 666 3659.71 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 3282 8 642.15

Iridium_during_xfer 422 116 1190.58 Edison 6597 10 1600.43

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 12 1.92

TT8 1354 13 193.96

LPSleep 247 2 5.57

TT8_Active 613 13 83.11

TT8_Sampling 1549 39 626.13

TT8_CF8 364 49 186.52

TT8_Kalman 0 0 0.00

Analog_circuits 1595 10 163.51

GPS_charging 0 0 0.00

Compass 900 8 76.02

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 -0.71 -101.6 160 2241 1041 797 0.0 0.0 0 116 0.00 0.00 -100.75 0.005 16390 0.000 0.000 158 2244 3384 3347 3422 0 0 0 0 0 0 25.93 24.68 25.94

119 -0.74 -131.2 160 2243 3349 3423 3.7 -8.1 16 135 8.62 1.55 -2.33 0.030 19236 0.210 0.056 2360 3237 3507 3476 3539 0 0 0 0 0 0 25.65 24.64 25.83

372 -0.79 -131.2 2359 3237 3492 3537 42.9 -12.6 63 380 0.00 1.62 0.00 0.000 1158 0.000 0.030 2370 2206 3515 3493 3538 0 0 0 0 0 0 26.03 25.98 26.04

446 -0.79 -131.2 2364 2199 3494 3535 51.7 -11.4 76 455 0.00 1.67 0.00 0.000 516 0.000 0.034 2374 1135 3516 3494 3538 0 0 0 0 0 0 26.04 25.98 26.04

577 -0.86 -141.7 2373 1134 3496 3537 64.4 -9.3 100 584 0.00 1.62 -0.28 0.193 17574 0.000 0.038 2367 2169 3551 3532 3570 0 0 0 0 0 0 26.02 25.96 26.03

650 -0.91 -141.7 2367 2169 3540 3570 72.3 -11.1 113 658 0.08 1.70 0.00 0.000 4484 0.157 0.047 2336 3254 3552 3534 3570 0 0 0 0 0 0 25.89 25.96 26.00

796 -0.95 -141.7 2337 3254 3536 3570 88.9 -10.7 140 803 0.00 1.62 0.00 0.000 1158 0.000 0.029 2343 2191 3553 3536 3570 0 0 0 0 0 0 26.05 25.99 26.05

869 -0.98 -141.7 2343 2186 3535 3571 97.2 -11.8 153 877 0.00 1.70 0.00 0.000 388 0.000 0.047 2337 3261 3555 3541 3570 0 0 0 0 0 0 26.05 25.95 26.06

1104 -1.03 -141.7 2336 3262 3536 3570 125.6 -11.7 197 1112 0.10 1.67 0.00 0.000 5254 0.081 0.028 2282 2197 3553 3536 3571 0 0 0 0 0 0 25.94 25.98 25.99

1178 -0.97 -141.7 2282 2192 3537 3570 136.7 -16.3 210 1187 0.08 1.73 0.00 0.000 2436 0.217 0.047 2287 3260 3553 3536 3570 0 0 0 0 0 0 25.79 25.96 25.97

1368 -0.97 -141.7 2287 3255 3537 3569 164.6 -14.3 245 1375 0.00 1.62 0.00 0.000 1030 0.000 0.030 2293 2202 3553 3536 3570 0 0 0 0 0 0 26.03 25.97 26.04

1442 -0.93 -141.7 2292 2195 3536 3565 176.1 -15.4 258 1450 0.08 1.62 0.00 0.000 2692 0.209 0.034 2306 1136 3553 3536 3570 0 0 0 0 0 0 25.80 25.97 25.97

1467 end dive: TARGET_DEPTH_EXCEEDED

state 1467 begin apogee

1474 -0.11 0.0 2302 2007 3536 3570 180.3 -15.7 262 1596 0.93 0.00 111.32 0.819 10246 0.159 0.000 2565 2009 2965 3018 2913 0 0 0 0 0 0 25.69 25.03 24.54

1598 end apogee: CONTROL_FINISHED_OK

state 1599 begin climb

1600 0.75 141.7 2565 2008 3018 2913 185.8 0.0 279 1727 0.90 1.83 111.20 0.787 10756 0.115 0.035 2849 939 2388 2472 2304 0 0 0 0 0 0 25.20 24.85 24.26

1787 0.81 141.7 2848 939 2468 2304 173.4 11.0 307 1795 0.12 1.73 0.00 0.000 3206 0.187 0.036 2880 2008 2385 2466 2304 0 0 0 0 0 0 25.33 25.41 25.45

1861 0.77 141.7 2880 2008 2463 2304 163.9 13.4 320 1867 0.00 0.00 0.00 0.000 134 0.000 0.000 2881 2008 2383 2463 2304 0 0 0 0 0 0 25.75 25.75 25.75

1933 0.73 141.7 2880 2008 2462 2304 153.0 15.4 333 1941 0.00 1.65 0.00 0.000 388 0.000 0.044 2874 3061 2382 2461 2304 0 0 0 0 0 0 25.89 25.82 25.89

1997 0.69 141.7 2873 3061 2456 2304 143.2 15.5 344 2005 0.10 1.62 0.00 0.000 5254 0.203 0.028 2862 1994 2380 2457 2304 0 0 0 0 0 0 25.73 25.90 25.91

2071 0.69 141.7 2861 1989 2457 2303 132.3 15.4 357 2078 0.00 1.67 0.00 0.000 260 0.000 0.041 2861 3066 2380 2457 2304 0 0 0 0 0 0 26.00 25.93 26.00

2091 0.69 141.7 2860 3066 2455 2304 129.1 15.1 360 2098 0.00 1.62 0.00 0.000 1030 0.000 0.028 2867 1995 2379 2455 2304 0 0 0 0 0 0 26.01 25.96 26.02

2167 0.67 141.7 2866 1991 2455 2304 117.4 15.1 373 2174 0.00 1.65 0.00 0.000 388 0.000 0.040 2865 3058 2379 2455 2304 0 0 0 0 0 0 26.03 25.97 26.04

2305 0.64 141.7 2865 3058 2454 2304 96.7 14.5 398 2314 0.08 1.65 0.00 0.000 5254 0.177 0.028 2852 2005 2379 2454 2304 0 0 0 0 0 0 25.81 26.00 25.94

2379 0.66 141.7 2852 2001 2454 2310 86.9 12.7 411 2387 0.00 1.67 0.00 0.000 644 0.000 0.034 2859 940 2379 2454 2304 0 0 0 0 0 0 26.06 25.99 26.06

2516 0.71 141.7 2858 940 2454 2304 71.7 11.0 436 2523 0.00 1.67 0.00 0.000 1158 0.000 0.035 2852 2003 2379 2454 2304 0 0 0 0 0 0 26.05 25.98 26.06

2589 0.71 141.7 2852 2003 2454 2304 63.9 10.6 449 2596 0.00 1.62 0.00 0.000 260 0.000 0.042 2844 3056 2379 2454 2304 0 0 0 0 0 0 26.06 25.98 26.06

2651 0.71 141.7 2844 3056 2451 2303 56.7 12.0 460 2658 0.00 1.62 0.00 0.000 1030 0.000 0.028 2851 1985 2377 2451 2304 0 0 0 0 0 0 26.06 26.01 26.06

2724 0.71 141.7 2850 1983 2451 2304 49.1 10.6 473 2732 0.00 1.67 0.00 0.000 260 0.000 0.041 2844 3058 2377 2451 2304 0 0 0 0 0 0 26.06 25.96 26.06

2885 0.81 183.5 2844 3058 2449 2303 33.0 7.3 503 2929 0.00 1.65 33.25 0.697 9382 0.000 0.027 2850 1993 2215 2314 2116 0 0 0 0 0 0 26.03 25.99 25.00

2997 0.92 214.1 2850 1992 2309 2114 25.7 8.0 521 3034 0.17 1.75 25.52 0.677 11172 0.109 0.040 2905 3060 2089 2193 1985 0 0 0 0 0 0 25.79 25.58 24.97

3233 end climb: SURFACE_DEPTH_REACHED

state 3234 begin surface coast

3277 end surface coast: CONTROL_FINISHED_OK

state 3277 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	41	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	65	ALTIM_PULSE	2
DIVE	117	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	0	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	232.0
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	090822,124501,4450.2236,-12455.5889,6,0.9,28,15.1,0.3,210.9,9,1.9	SPEED_LIMITS	0.173,0.208
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.018,-12455.537
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.65	MHEAD_RNG_PITCHd_Wd	123.7,548,-27.3,-10.000,-30.00,1564
_SM_ANGLEo	-70.8	D_GRID	547
GPS2	090822,125523,4450.2407,-12455.8115,2,0.9,3,15.1,0.8,164.9,12,8.8

NEWHEAD	95.700,21.66,3024.89	_24V_AH	24.26,19.958
FINISH	1.1,1.023040	_10V_AH	10.25,15.233
SM_CCo	3294,226.40,0.666,0,0,929,500.17	FG_AHR_24Vo	0.000
SM_GC	0.63,8.02,1.35,226.40,0.078,0.024,0.666,180,2205,929,-7.49,1.41,500.17,0,0,0,0,0,0,26.00,26.00,24.53	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4449.52,-12458.03,090822,105817	MEM	220660
TT8_MAMPS	0.023968,0.278628	DATA_FILE_SIZE	20078,572
HUMID	34.83	CAP_FILE_SIZE	227884,0
INTERNAL_PRESSURE	8.46326	CFSIZE	260030464,225546240
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	090822,135533,4450.502,-12455.923,1,1.6,3,15.1,1.1,318.8,9,9.5
SC_FREEKB	3775296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	217	101.59	nil	0	0	0.00
Roll_motor	46	55	62.35	nil	0	0	0.00
VBD_pump_during_apogee	281	819	5591.28	nil	0	0	0.00
VBD_pump_during_surface	226	666	3659.71	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	3282	8	642.15
Iridium_during_xfer	422	116	1190.58	Edison	6597	10	1600.43
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	12	1.92
TT8	1354	13	193.96
LPSleep	247	2	5.57
TT8_Active	613	13	83.11
TT8_Sampling	1549	39	626.13
TT8_CF8	364	49	186.52
TT8_Kalman	0	0	0.00
Analog_circuits	1595	10	163.51
GPS_charging	0	0	0.00
Compass	900	8	76.02
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	-0.71	-101.6	160	2241	1041	797	0.0	0.0	0	116	0.00	0.00	-100.75	0.005	16390	0.000	0.000	158	2244	3384	3347	3422	0	0	0	0	0	0	25.93	24.68	25.94
119	-0.74	-131.2	160	2243	3349	3423	3.7	-8.1	16	135	8.62	1.55	-2.33	0.030	19236	0.210	0.056	2360	3237	3507	3476	3539	0	0	0	0	0	0	25.65	24.64	25.83
372	-0.79	-131.2	2359	3237	3492	3537	42.9	-12.6	63	380	0.00	1.62	0.00	0.000	1158	0.000	0.030	2370	2206	3515	3493	3538	0	0	0	0	0	0	26.03	25.98	26.04
446	-0.79	-131.2	2364	2199	3494	3535	51.7	-11.4	76	455	0.00	1.67	0.00	0.000	516	0.000	0.034	2374	1135	3516	3494	3538	0	0	0	0	0	0	26.04	25.98	26.04
577	-0.86	-141.7	2373	1134	3496	3537	64.4	-9.3	100	584	0.00	1.62	-0.28	0.193	17574	0.000	0.038	2367	2169	3551	3532	3570	0	0	0	0	0	0	26.02	25.96	26.03
650	-0.91	-141.7	2367	2169	3540	3570	72.3	-11.1	113	658	0.08	1.70	0.00	0.000	4484	0.157	0.047	2336	3254	3552	3534	3570	0	0	0	0	0	0	25.89	25.96	26.00
796	-0.95	-141.7	2337	3254	3536	3570	88.9	-10.7	140	803	0.00	1.62	0.00	0.000	1158	0.000	0.029	2343	2191	3553	3536	3570	0	0	0	0	0	0	26.05	25.99	26.05
869	-0.98	-141.7	2343	2186	3535	3571	97.2	-11.8	153	877	0.00	1.70	0.00	0.000	388	0.000	0.047	2337	3261	3555	3541	3570	0	0	0	0	0	0	26.05	25.95	26.06
1104	-1.03	-141.7	2336	3262	3536	3570	125.6	-11.7	197	1112	0.10	1.67	0.00	0.000	5254	0.081	0.028	2282	2197	3553	3536	3571	0	0	0	0	0	0	25.94	25.98	25.99
1178	-0.97	-141.7	2282	2192	3537	3570	136.7	-16.3	210	1187	0.08	1.73	0.00	0.000	2436	0.217	0.047	2287	3260	3553	3536	3570	0	0	0	0	0	0	25.79	25.96	25.97
1368	-0.97	-141.7	2287	3255	3537	3569	164.6	-14.3	245	1375	0.00	1.62	0.00	0.000	1030	0.000	0.030	2293	2202	3553	3536	3570	0	0	0	0	0	0	26.03	25.97	26.04
1442	-0.93	-141.7	2292	2195	3536	3565	176.1	-15.4	258	1450	0.08	1.62	0.00	0.000	2692	0.209	0.034	2306	1136	3553	3536	3570	0	0	0	0	0	0	25.80	25.97	25.97
1467	end dive: TARGET_DEPTH_EXCEEDED
state	1467	begin apogee
1474	-0.11	0.0	2302	2007	3536	3570	180.3	-15.7	262	1596	0.93	0.00	111.32	0.819	10246	0.159	0.000	2565	2009	2965	3018	2913	0	0	0	0	0	0	25.69	25.03	24.54
1598	end apogee: CONTROL_FINISHED_OK
state	1599	begin climb
1600	0.75	141.7	2565	2008	3018	2913	185.8	0.0	279	1727	0.90	1.83	111.20	0.787	10756	0.115	0.035	2849	939	2388	2472	2304	0	0	0	0	0	0	25.20	24.85	24.26
1787	0.81	141.7	2848	939	2468	2304	173.4	11.0	307	1795	0.12	1.73	0.00	0.000	3206	0.187	0.036	2880	2008	2385	2466	2304	0	0	0	0	0	0	25.33	25.41	25.45
1861	0.77	141.7	2880	2008	2463	2304	163.9	13.4	320	1867	0.00	0.00	0.00	0.000	134	0.000	0.000	2881	2008	2383	2463	2304	0	0	0	0	0	0	25.75	25.75	25.75
1933	0.73	141.7	2880	2008	2462	2304	153.0	15.4	333	1941	0.00	1.65	0.00	0.000	388	0.000	0.044	2874	3061	2382	2461	2304	0	0	0	0	0	0	25.89	25.82	25.89
1997	0.69	141.7	2873	3061	2456	2304	143.2	15.5	344	2005	0.10	1.62	0.00	0.000	5254	0.203	0.028	2862	1994	2380	2457	2304	0	0	0	0	0	0	25.73	25.90	25.91
2071	0.69	141.7	2861	1989	2457	2303	132.3	15.4	357	2078	0.00	1.67	0.00	0.000	260	0.000	0.041	2861	3066	2380	2457	2304	0	0	0	0	0	0	26.00	25.93	26.00
2091	0.69	141.7	2860	3066	2455	2304	129.1	15.1	360	2098	0.00	1.62	0.00	0.000	1030	0.000	0.028	2867	1995	2379	2455	2304	0	0	0	0	0	0	26.01	25.96	26.02
2167	0.67	141.7	2866	1991	2455	2304	117.4	15.1	373	2174	0.00	1.65	0.00	0.000	388	0.000	0.040	2865	3058	2379	2455	2304	0	0	0	0	0	0	26.03	25.97	26.04
2305	0.64	141.7	2865	3058	2454	2304	96.7	14.5	398	2314	0.08	1.65	0.00	0.000	5254	0.177	0.028	2852	2005	2379	2454	2304	0	0	0	0	0	0	25.81	26.00	25.94
2379	0.66	141.7	2852	2001	2454	2310	86.9	12.7	411	2387	0.00	1.67	0.00	0.000	644	0.000	0.034	2859	940	2379	2454	2304	0	0	0	0	0	0	26.06	25.99	26.06
2516	0.71	141.7	2858	940	2454	2304	71.7	11.0	436	2523	0.00	1.67	0.00	0.000	1158	0.000	0.035	2852	2003	2379	2454	2304	0	0	0	0	0	0	26.05	25.98	26.06
2589	0.71	141.7	2852	2003	2454	2304	63.9	10.6	449	2596	0.00	1.62	0.00	0.000	260	0.000	0.042	2844	3056	2379	2454	2304	0	0	0	0	0	0	26.06	25.98	26.06
2651	0.71	141.7	2844	3056	2451	2303	56.7	12.0	460	2658	0.00	1.62	0.00	0.000	1030	0.000	0.028	2851	1985	2377	2451	2304	0	0	0	0	0	0	26.06	26.01	26.06
2724	0.71	141.7	2850	1983	2451	2304	49.1	10.6	473	2732	0.00	1.67	0.00	0.000	260	0.000	0.041	2844	3058	2377	2451	2304	0	0	0	0	0	0	26.06	25.96	26.06
2885	0.81	183.5	2844	3058	2449	2303	33.0	7.3	503	2929	0.00	1.65	33.25	0.697	9382	0.000	0.027	2850	1993	2215	2314	2116	0	0	0	0	0	0	26.03	25.99	25.00
2997	0.92	214.1	2850	1992	2309	2114	25.7	8.0	521	3034	0.17	1.75	25.52	0.677	11172	0.109	0.040	2905	3060	2089	2193	1985	0	0	0	0	0	0	25.79	25.58	24.97
3233	end climb: SURFACE_DEPTH_REACHED
state	3234	begin surface coast
3277	end surface coast: CONTROL_FINISHED_OK
state	3277	begin surface