Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 49 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 29 ALTIM_PULSE 1

DIVE 15 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 150 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 150

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 15 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 49 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 29 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 031019,235658,1326.0864,14435.7686,6,0.6,8,0.6,0.1,0.0,12,5.7 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 0.64 MHEAD_RNG_PITCHd_Wd 227.1,8589,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.6 D_GRID 1011

GPS2 041019,000356,1326.1527,14435.7646,3,0.6,5,0.6,0.5,325.3,12,3.6

Post-dive calculations and measurements:

SM_CCo 6620,96.03,0.681,1,0,928,500.66 PM_ACTIVECARD 0

SM_GC 0.67,6.88,1.60,96.03,0.086,0.066,0.681,159,2738,928,-6.32,-1.19,500.66,0,0,0,0,1,0,15.37,15.38,14.80 _24V_AH 14.45,6.150

IRIDIUM_FIX 1326.42,14433.41,031019,225431 _10V_AH 13.74,0.000

TT8_MAMPS 0.019474,0.167027 FG_AHR_24Vo 0.000

HUMID 50.47 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.09215 MEM 271072

TCM_TEMP 26.30 DATA_FILE_SIZE 30057,833

XPDR_PINGS 0 CAP_FILE_SIZE 91057,0

SC_FREEKB 3871584 CFSIZE 260034560,256544768

PM_FREEKB_00 123782528 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.098,337.78,1

PM_FREEKB_02 124821056 GPS 041019,015747,1326.004,14434.777,7,1.4,9,0.6,0.2,0.0,8,10.0

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 410 110.35 nil 0 0 0.00

Roll_motor 60 211 184.95 nil 0 0 0.00

VBD_pump_during_apogee 473 1179 8075.38 nil 0 0 0.00

VBD_pump_during_surface 96 680 944.72 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 6612 8 792.72

Iridium_during_xfer 265 162 623.96 PMAR 6611 5 550.92

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 2.24

TT8 711 9 88.65

LPSleep 3251 2 97.84

TT8_Active 525 9 65.48

TT8_Sampling 2513 28 985.95

TT8_CF8 169 33 78.71

TT8_Kalman 0 0 0.00

Analog_circuits 1619 10 231.41

GPS_charging 0 0 0.00

Compass 2100 17 497.16

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 -146.0 160 2736 995 854 0.0 0.0 0 109 0.00 0.00 -88.90 0.005 16386 0.000 0.000 160 2736 3250 3288 3212 0 0 0 0 0 0 15.53 28.83 15.55

112 -0.73 -146.0 161 2736 3287 3212 5.1 -9.5 9 130 8.38 0.00 -5.28 0.020 18470 0.410 0.000 1958 2736 3565 3626 3504 0 0 0 0 0 0 15.18 14.62 15.40

311 -0.61 -146.0 1959 2737 3627 3505 63.2 -23.8 29 319 0.17 0.00 0.00 0.000 2182 0.289 0.000 2000 2736 3565 3627 3504 0 0 0 0 0 0 15.30 15.48 15.45

500 -0.66 -146.0 2000 2737 3629 3505 95.5 -15.4 48 505 0.00 1.98 0.00 0.000 388 0.000 0.086 1994 3940 3565 3627 3504 0 0 0 0 0 0 15.62 15.41 15.63

614 -0.69 -146.0 1993 3940 3626 3504 114.2 -15.0 70 619 0.00 1.85 0.00 0.000 1158 0.000 0.034 1994 2709 3565 3627 3504 0 0 0 0 0 0 15.53 15.50 15.56

809 -0.83 -146.0 1993 2700 3627 3503 132.3 -10.3 90 815 0.15 2.08 0.00 0.000 4740 0.129 0.041 1927 1376 3565 3626 3504 0 0 0 0 0 0 15.46 15.46 15.50

936 -0.83 -146.0 1927 1376 3627 3505 147.7 -13.1 115 943 0.00 2.28 0.00 0.000 1030 0.000 0.059 1927 2740 3565 3627 3503 0 0 0 0 0 0 15.50 15.43 15.51

1124 -0.88 -146.0 1926 2740 3627 3503 170.6 -11.8 134 1129 0.00 1.98 0.00 0.000 388 0.000 0.086 1926 3945 3565 3627 3504 0 0 0 0 0 0 15.66 15.45 15.68

1360 -0.95 -146.0 1925 3945 3627 3503 198.4 -8.4 180 1366 0.00 1.80 0.00 0.000 1190 0.000 0.034 1926 2748 3565 3627 3503 0 0 0 0 0 0 15.56 15.52 15.57

1555 -1.06 -146.0 1925 2741 3627 3502 214.5 -8.4 200 1561 0.17 2.12 0.00 0.000 4772 0.123 0.043 1852 1380 3564 3627 3502 0 0 0 0 0 0 15.48 15.48 15.52

1640 -1.06 -146.0 1852 1380 3626 3503 224.2 -12.1 216 1645 0.00 2.25 0.00 0.000 1030 0.000 0.059 1852 2755 3564 3627 3502 0 0 0 0 0 0 15.54 15.46 15.56

1833 -1.06 -146.0 1852 2756 3626 3501 247.6 -12.9 236 1838 0.00 1.95 0.00 0.000 260 0.000 0.086 1844 3945 3563 3626 3501 0 0 0 0 0 0 15.66 15.45 15.69

2026 -1.01 -146.0 1843 3945 3626 3499 276.9 -14.8 274 2033 0.05 1.85 0.00 0.000 3206 0.215 0.036 1868 2746 3562 3626 3499 0 0 0 0 0 0 15.38 15.52 15.52

2351 -1.07 -146.0 1869 2745 3624 3496 310.8 -9.5 288 2357 0.00 2.15 0.00 0.000 676 0.000 0.047 1869 1377 3559 3624 3495 0 0 0 0 0 0 15.68 15.48 15.69

2393 -1.13 -146.0 1869 1377 3623 3496 314.6 -8.7 296 2399 0.00 2.28 0.00 0.000 1190 0.000 0.061 1869 2756 3559 3623 3496 0 0 0 0 0 0 15.55 15.47 15.57

2718 -1.20 -146.0 1869 2756 3623 3493 339.5 -8.3 310 2724 0.15 1.98 0.00 0.000 4516 0.136 0.088 1807 3946 3556 3620 3493 0 0 0 0 0 0 15.47 15.45 15.51

2850 end dive: TARGET_DEPTH_EXCEEDED

state 2850 begin apogee

2858 -0.19 0.0 1805 1848 3619 3490 360.2 -15.9 336 2992 1.15 0.05 127.90 1.180 10246 0.234 0.212 2133 1800 2967 3051 2884 0 0 0 0 0 0 15.38 14.92 14.52

3001 end apogee: CONTROL_FINISHED_OK

state 3001 begin climb

3003 0.73 146.0 2133 1800 3051 2883 363.9 0.0 340 3145 0.88 1.95 132.30 1.144 10756 0.090 0.077 2439 638 2371 2452 2290 0 0 0 0 0 0 15.02 14.87 14.45

3371 0.65 146.0 2439 638 2440 2288 330.8 12.1 419 3377 0.00 1.92 0.00 0.000 1158 0.000 0.045 2440 1827 2364 2440 2288 0 0 0 0 0 0 15.35 15.29 15.38

3700 0.57 146.0 2440 1827 2437 2283 296.4 10.1 434 3704 0.22 0.00 0.00 0.000 4230 0.278 0.000 2385 1828 2361 2440 2283 0 0 0 0 0 0 15.29 15.47 15.45

4000 0.62 152.9 2385 1828 2440 2279 266.6 9.7 444 4012 0.00 2.05 5.32 0.859 8868 0.000 0.077 2387 641 2344 2426 2263 0 0 0 0 0 0 15.61 15.37 14.92

4241 0.63 184.1 2387 641 2421 2263 245.0 8.6 492 4280 0.00 1.88 27.90 1.110 9254 0.000 0.047 2387 1803 2219 2303 2135 0 0 0 0 0 0 15.50 15.43 14.83

4462 0.71 222.0 2386 1804 2301 2129 225.5 8.3 518 4505 0.12 2.05 34.17 1.095 10916 0.154 0.078 2435 640 2062 2148 1977 0 0 0 0 0 0 15.35 15.16 14.75

4734 0.71 222.0 2434 640 2140 1983 196.6 11.2 572 4740 0.00 1.88 0.00 0.000 1030 0.000 0.047 2435 1803 2057 2139 1976 0 0 0 0 0 0 15.40 15.35 15.42

4928 0.71 226.2 2434 1804 2139 1973 177.5 9.8 592 4939 0.00 1.98 4.38 0.741 8740 0.000 0.072 2435 636 2045 2129 1961 0 0 0 0 0 0 15.56 15.28 14.88

5165 0.71 235.0 2434 637 2126 1961 153.4 9.6 639 5184 0.00 1.92 8.98 0.921 9254 0.000 0.047 2435 1805 2010 2096 1925 0 0 0 0 0 0 15.42 15.39 14.89

5364 0.74 305.9 2434 1804 2096 1921 137.7 6.7 660 5434 0.00 2.05 60.92 0.995 8740 0.000 0.073 2435 637 1721 1809 1633 0 0 0 0 0 0 15.57 15.05 14.71

5639 0.86 305.9 2435 640 1801 1633 109.8 11.3 714 5645 0.12 1.88 0.00 0.000 3206 0.148 0.044 2486 1802 1717 1801 1633 0 0 0 0 0 0 15.29 15.30 15.36

5835 0.90 341.3 2480 1803 1801 1633 90.1 8.4 734 5874 0.00 2.33 30.00 0.900 8612 0.000 0.068 2480 3197 1577 1668 1487 0 0 0 0 0 0 15.54 15.16 14.82

5989 0.95 390.8 2479 3197 1668 1486 76.2 7.7 764 6039 0.00 2.28 41.88 0.871 9382 0.000 0.047 2481 1802 1375 1469 1281 0 0 0 0 0 0 15.35 15.30 14.75

6218 1.06 390.8 2480 1802 1469 1275 54.9 10.7 792 6225 0.17 2.33 0.00 0.000 2436 0.125 0.063 2548 3195 1372 1468 1277 0 0 0 0 0 0 15.29 15.26 15.33

6245 1.06 390.8 2548 3195 1476 1277 51.0 14.0 797 6254 0.00 2.33 0.00 0.000 1030 0.000 0.047 2553 1799 1373 1469 1277 0 0 0 0 0 0 15.35 15.29 15.35

6433 1.06 390.8 2548 1799 1469 1277 23.1 13.8 816 6440 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 1799 1372 1468 1277 0 0 0 0 0 0 15.54 15.56 15.56

6581 end climb: SURFACE_DEPTH_REACHED

state 6581 begin surface coast

6601 end surface coast: CONTROL_FINISHED_OK

state 6601 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	49	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	29	ALTIM_PULSE	1
DIVE	15	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	150	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	031019,235658,1326.0864,14435.7686,6,0.6,8,0.6,0.1,0.0,12,5.7	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	0.64	MHEAD_RNG_PITCHd_Wd	227.1,8589,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.6	D_GRID	1011
GPS2	041019,000356,1326.1527,14435.7646,3,0.6,5,0.6,0.5,325.3,12,3.6

SM_CCo	6620,96.03,0.681,1,0,928,500.66	PM_ACTIVECARD	0
SM_GC	0.67,6.88,1.60,96.03,0.086,0.066,0.681,159,2738,928,-6.32,-1.19,500.66,0,0,0,0,1,0,15.37,15.38,14.80	_24V_AH	14.45,6.150
IRIDIUM_FIX	1326.42,14433.41,031019,225431	_10V_AH	13.74,0.000
TT8_MAMPS	0.019474,0.167027	FG_AHR_24Vo	0.000
HUMID	50.47	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.09215	MEM	271072
TCM_TEMP	26.30	DATA_FILE_SIZE	30057,833
XPDR_PINGS	0	CAP_FILE_SIZE	91057,0
SC_FREEKB	3871584	CFSIZE	260034560,256544768
PM_FREEKB_00	123782528	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.098,337.78,1
PM_FREEKB_02	124821056	GPS	041019,015747,1326.004,14434.777,7,1.4,9,0.6,0.2,0.0,8,10.0
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	410	110.35	nil	0	0	0.00
Roll_motor	60	211	184.95	nil	0	0	0.00
VBD_pump_during_apogee	473	1179	8075.38	nil	0	0	0.00
VBD_pump_during_surface	96	680	944.72	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	6612	8	792.72
Iridium_during_xfer	265	162	623.96	PMAR	6611	5	550.92
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	2.24
TT8	711	9	88.65
LPSleep	3251	2	97.84
TT8_Active	525	9	65.48
TT8_Sampling	2513	28	985.95
TT8_CF8	169	33	78.71
TT8_Kalman	0	0	0.00
Analog_circuits	1619	10	231.41
GPS_charging	0	0	0.00
Compass	2100	17	497.16
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	160	2736	995	854	0.0	0.0	0	109	0.00	0.00	-88.90	0.005	16386	0.000	0.000	160	2736	3250	3288	3212	0	0	0	0	0	0	15.53	28.83	15.55
112	-0.73	-146.0	161	2736	3287	3212	5.1	-9.5	9	130	8.38	0.00	-5.28	0.020	18470	0.410	0.000	1958	2736	3565	3626	3504	0	0	0	0	0	0	15.18	14.62	15.40
311	-0.61	-146.0	1959	2737	3627	3505	63.2	-23.8	29	319	0.17	0.00	0.00	0.000	2182	0.289	0.000	2000	2736	3565	3627	3504	0	0	0	0	0	0	15.30	15.48	15.45
500	-0.66	-146.0	2000	2737	3629	3505	95.5	-15.4	48	505	0.00	1.98	0.00	0.000	388	0.000	0.086	1994	3940	3565	3627	3504	0	0	0	0	0	0	15.62	15.41	15.63
614	-0.69	-146.0	1993	3940	3626	3504	114.2	-15.0	70	619	0.00	1.85	0.00	0.000	1158	0.000	0.034	1994	2709	3565	3627	3504	0	0	0	0	0	0	15.53	15.50	15.56
809	-0.83	-146.0	1993	2700	3627	3503	132.3	-10.3	90	815	0.15	2.08	0.00	0.000	4740	0.129	0.041	1927	1376	3565	3626	3504	0	0	0	0	0	0	15.46	15.46	15.50
936	-0.83	-146.0	1927	1376	3627	3505	147.7	-13.1	115	943	0.00	2.28	0.00	0.000	1030	0.000	0.059	1927	2740	3565	3627	3503	0	0	0	0	0	0	15.50	15.43	15.51
1124	-0.88	-146.0	1926	2740	3627	3503	170.6	-11.8	134	1129	0.00	1.98	0.00	0.000	388	0.000	0.086	1926	3945	3565	3627	3504	0	0	0	0	0	0	15.66	15.45	15.68
1360	-0.95	-146.0	1925	3945	3627	3503	198.4	-8.4	180	1366	0.00	1.80	0.00	0.000	1190	0.000	0.034	1926	2748	3565	3627	3503	0	0	0	0	0	0	15.56	15.52	15.57
1555	-1.06	-146.0	1925	2741	3627	3502	214.5	-8.4	200	1561	0.17	2.12	0.00	0.000	4772	0.123	0.043	1852	1380	3564	3627	3502	0	0	0	0	0	0	15.48	15.48	15.52
1640	-1.06	-146.0	1852	1380	3626	3503	224.2	-12.1	216	1645	0.00	2.25	0.00	0.000	1030	0.000	0.059	1852	2755	3564	3627	3502	0	0	0	0	0	0	15.54	15.46	15.56
1833	-1.06	-146.0	1852	2756	3626	3501	247.6	-12.9	236	1838	0.00	1.95	0.00	0.000	260	0.000	0.086	1844	3945	3563	3626	3501	0	0	0	0	0	0	15.66	15.45	15.69
2026	-1.01	-146.0	1843	3945	3626	3499	276.9	-14.8	274	2033	0.05	1.85	0.00	0.000	3206	0.215	0.036	1868	2746	3562	3626	3499	0	0	0	0	0	0	15.38	15.52	15.52
2351	-1.07	-146.0	1869	2745	3624	3496	310.8	-9.5	288	2357	0.00	2.15	0.00	0.000	676	0.000	0.047	1869	1377	3559	3624	3495	0	0	0	0	0	0	15.68	15.48	15.69
2393	-1.13	-146.0	1869	1377	3623	3496	314.6	-8.7	296	2399	0.00	2.28	0.00	0.000	1190	0.000	0.061	1869	2756	3559	3623	3496	0	0	0	0	0	0	15.55	15.47	15.57
2718	-1.20	-146.0	1869	2756	3623	3493	339.5	-8.3	310	2724	0.15	1.98	0.00	0.000	4516	0.136	0.088	1807	3946	3556	3620	3493	0	0	0	0	0	0	15.47	15.45	15.51
2850	end dive: TARGET_DEPTH_EXCEEDED
state	2850	begin apogee
2858	-0.19	0.0	1805	1848	3619	3490	360.2	-15.9	336	2992	1.15	0.05	127.90	1.180	10246	0.234	0.212	2133	1800	2967	3051	2884	0	0	0	0	0	0	15.38	14.92	14.52
3001	end apogee: CONTROL_FINISHED_OK
state	3001	begin climb
3003	0.73	146.0	2133	1800	3051	2883	363.9	0.0	340	3145	0.88	1.95	132.30	1.144	10756	0.090	0.077	2439	638	2371	2452	2290	0	0	0	0	0	0	15.02	14.87	14.45
3371	0.65	146.0	2439	638	2440	2288	330.8	12.1	419	3377	0.00	1.92	0.00	0.000	1158	0.000	0.045	2440	1827	2364	2440	2288	0	0	0	0	0	0	15.35	15.29	15.38
3700	0.57	146.0	2440	1827	2437	2283	296.4	10.1	434	3704	0.22	0.00	0.00	0.000	4230	0.278	0.000	2385	1828	2361	2440	2283	0	0	0	0	0	0	15.29	15.47	15.45
4000	0.62	152.9	2385	1828	2440	2279	266.6	9.7	444	4012	0.00	2.05	5.32	0.859	8868	0.000	0.077	2387	641	2344	2426	2263	0	0	0	0	0	0	15.61	15.37	14.92
4241	0.63	184.1	2387	641	2421	2263	245.0	8.6	492	4280	0.00	1.88	27.90	1.110	9254	0.000	0.047	2387	1803	2219	2303	2135	0	0	0	0	0	0	15.50	15.43	14.83
4462	0.71	222.0	2386	1804	2301	2129	225.5	8.3	518	4505	0.12	2.05	34.17	1.095	10916	0.154	0.078	2435	640	2062	2148	1977	0	0	0	0	0	0	15.35	15.16	14.75
4734	0.71	222.0	2434	640	2140	1983	196.6	11.2	572	4740	0.00	1.88	0.00	0.000	1030	0.000	0.047	2435	1803	2057	2139	1976	0	0	0	0	0	0	15.40	15.35	15.42
4928	0.71	226.2	2434	1804	2139	1973	177.5	9.8	592	4939	0.00	1.98	4.38	0.741	8740	0.000	0.072	2435	636	2045	2129	1961	0	0	0	0	0	0	15.56	15.28	14.88
5165	0.71	235.0	2434	637	2126	1961	153.4	9.6	639	5184	0.00	1.92	8.98	0.921	9254	0.000	0.047	2435	1805	2010	2096	1925	0	0	0	0	0	0	15.42	15.39	14.89
5364	0.74	305.9	2434	1804	2096	1921	137.7	6.7	660	5434	0.00	2.05	60.92	0.995	8740	0.000	0.073	2435	637	1721	1809	1633	0	0	0	0	0	0	15.57	15.05	14.71
5639	0.86	305.9	2435	640	1801	1633	109.8	11.3	714	5645	0.12	1.88	0.00	0.000	3206	0.148	0.044	2486	1802	1717	1801	1633	0	0	0	0	0	0	15.29	15.30	15.36
5835	0.90	341.3	2480	1803	1801	1633	90.1	8.4	734	5874	0.00	2.33	30.00	0.900	8612	0.000	0.068	2480	3197	1577	1668	1487	0	0	0	0	0	0	15.54	15.16	14.82
5989	0.95	390.8	2479	3197	1668	1486	76.2	7.7	764	6039	0.00	2.28	41.88	0.871	9382	0.000	0.047	2481	1802	1375	1469	1281	0	0	0	0	0	0	15.35	15.30	14.75
6218	1.06	390.8	2480	1802	1469	1275	54.9	10.7	792	6225	0.17	2.33	0.00	0.000	2436	0.125	0.063	2548	3195	1372	1468	1277	0	0	0	0	0	0	15.29	15.26	15.33
6245	1.06	390.8	2548	3195	1476	1277	51.0	14.0	797	6254	0.00	2.33	0.00	0.000	1030	0.000	0.047	2553	1799	1373	1469	1277	0	0	0	0	0	0	15.35	15.29	15.35
6433	1.06	390.8	2548	1799	1469	1277	23.1	13.8	816	6440	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	1799	1372	1468	1277	0	0	0	0	0	0	15.54	15.56	15.56
6581	end climb: SURFACE_DEPTH_REACHED
state	6581	begin surface coast
6601	end surface coast: CONTROL_FINISHED_OK
state	6601	begin surface