Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 16 * 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 26 ALTIM_PULSE 1

DIVE 16 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 16 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 26 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 041019,015747,1326.0043,14434.7773,7,1.4,9,0.6,0.2,0.0,8,10.0 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 0.53 MHEAD_RNG_PITCHd_Wd 249.4,6826,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.6 D_GRID 1665

GPS2 041019,020531,1325.9733,14434.7891,3,0.8,21,0.6,0.3,129.9,10,2.9

Post-dive calculations and measurements:

SM_CCo 6555,117.30,0.691,1,0,929,500.17 PM_ACTIVECARD 0

SM_GC 0.48,6.93,1.50,117.30,0.087,0.060,0.691,160,2726,929,-6.32,-1.58,500.17,0,0,0,0,1,0,15.36,15.38,14.74 _24V_AH 14.38,6.397

IRIDIUM_FIX 1324.19,14436.50,031019,235927 _10V_AH 13.68,0.000

TT8_MAMPS 0.019474,0.168525 FG_AHR_24Vo 0.000

HUMID 49.68 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.07261 MEM 271096

TCM_TEMP 26.40 DATA_FILE_SIZE 29999,862

XPDR_PINGS 0 CAP_FILE_SIZE 89955,0

SC_FREEKB 3871200 CFSIZE 260034560,256446464

PM_FREEKB_00 123615360 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.033,345.93,1

PM_FREEKB_02 124821056 GPS 041019,035836,1326.150,14433.864,4,0.9,5,0.6,0.4,158.0,9,7.6

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 418 111.62 nil 0 0 0.00

Roll_motor 63 106 97.29 nil 0 0 0.00

VBD_pump_during_apogee 448 1179 7611.33 nil 0 0 0.00

VBD_pump_during_surface 117 690 1165.22 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 6551 8 786.32

Iridium_during_xfer 283 186 760.63 PMAR 6547 5 543.79

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 9 4.41

TT8 721 9 89.55

LPSleep 3155 2 94.52

TT8_Active 547 9 67.88

TT8_Sampling 2567 28 1002.87

TT8_CF8 176 33 81.62

TT8_Kalman 0 0 0.00

Analog_circuits 1653 10 235.22

GPS_charging 0 0 0.00

Compass 2117 17 499.06

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 -146.0 159 2739 992 861 0.0 0.0 0 109 0.00 0.00 -88.53 0.005 16386 0.000 0.000 160 2739 3202 3246 3159 0 0 0 0 0 0 15.47 28.83 15.48

112 -0.73 -146.0 157 2739 3246 3159 4.8 -8.8 9 134 8.48 2.03 -6.03 0.022 18724 0.418 0.106 1948 3953 3566 3633 3500 0 0 0 0 0 0 15.09 14.75 15.27

362 -0.59 -146.0 1947 3953 3633 3500 78.0 -22.0 59 368 0.22 1.92 0.00 0.000 3206 0.252 0.035 2002 2683 3566 3633 3499 0 0 0 0 0 0 15.26 15.42 15.41

558 -0.73 -146.0 2002 2683 3633 3500 101.8 -9.3 79 564 0.12 2.12 0.00 0.000 4516 0.142 0.082 1940 3946 3562 3624 3500 0 0 0 0 0 0 15.43 15.37 15.45

705 -0.65 -146.0 1940 3945 3632 3500 126.9 -23.1 108 712 0.15 1.92 0.00 0.000 3206 0.239 0.035 1983 2698 3566 3633 3500 0 0 0 0 0 0 15.30 15.45 15.40

894 -0.79 -146.0 1983 2698 3633 3500 149.4 -11.2 127 900 0.12 2.15 0.00 0.000 4740 0.145 0.044 1936 1336 3566 3633 3500 0 0 0 0 0 0 15.43 15.43 15.48

947 -0.79 -146.0 1936 1336 3633 3500 156.5 -13.4 137 954 0.00 2.33 0.00 0.000 1030 0.000 0.059 1936 2750 3566 3633 3500 0 0 0 0 0 0 15.48 15.40 15.50

1142 -0.87 -146.0 1935 2750 3633 3500 177.2 -10.1 157 1150 0.00 0.00 0.00 0.000 134 0.000 0.000 1936 2750 3566 3633 3500 0 0 0 0 0 0 15.63 15.65 15.65

1332 -0.98 -146.0 1935 2750 3633 3500 198.0 -10.5 176 1338 0.15 1.98 0.00 0.000 4484 0.135 0.082 1870 3947 3566 3633 3500 0 0 0 0 0 0 15.43 15.42 15.48

1567 -0.98 -146.0 1870 3948 3633 3500 231.3 -12.3 222 1573 0.00 1.90 0.00 0.000 1030 0.000 0.036 1870 2702 3566 3633 3500 0 0 0 0 0 0 15.53 15.50 15.54

1781 -0.98 -146.0 1870 2696 3633 3499 254.1 -10.5 242 1787 0.00 2.10 0.00 0.000 260 0.000 0.086 1869 3946 3567 3632 3503 0 0 0 0 0 0 15.64 15.42 15.66

1868 -0.98 -146.0 1868 3947 3632 3501 263.9 -11.0 259 1874 0.00 1.88 0.00 0.000 1030 0.000 0.037 1869 2742 3566 3633 3499 0 0 0 0 0 0 15.51 15.48 15.52

2176 -1.02 -146.0 1868 2741 3631 3499 287.9 -6.4 270 2182 0.00 2.15 0.00 0.000 676 0.000 0.047 1868 1380 3565 3631 3499 0 0 0 0 0 0 15.65 15.46 15.66

2253 -1.07 -146.0 1868 1380 3630 3499 295.6 -10.5 285 2260 0.00 2.25 0.00 0.000 1158 0.000 0.060 1869 2749 3564 3629 3500 0 0 0 0 0 0 15.52 15.45 15.54

2573 -1.13 -146.0 1865 2749 3628 3497 333.5 -12.4 298 2579 0.00 1.98 0.00 0.000 388 0.000 0.089 1867 3942 3562 3628 3497 0 0 0 0 0 0 15.64 15.43 15.66

2779 end dive: TARGET_DEPTH_EXCEEDED

state 2779 begin apogee

2787 -0.19 0.0 1867 1845 3627 3494 360.1 -11.8 339 2922 0.93 0.00 128.95 1.180 10246 0.210 0.000 2137 1845 2969 3052 2886 0 0 0 0 0 0 15.37 14.96 14.47

2930 end apogee: CONTROL_FINISHED_OK

state 2930 begin climb

2933 0.73 146.0 2135 1845 3051 2884 363.4 0.0 343 3077 0.88 2.05 133.12 1.163 10756 0.093 0.073 2442 688 2370 2450 2291 0 0 0 0 0 0 14.97 14.81 14.38

3305 0.63 146.0 2441 687 2440 2289 329.7 11.5 423 3311 0.17 1.83 0.00 0.000 5254 0.287 0.044 2403 1823 2363 2439 2288 0 0 0 0 0 0 15.13 15.25 15.30

3629 0.63 146.0 2402 1823 2440 2284 295.7 10.2 437 3635 0.00 1.92 0.00 0.000 516 0.000 0.076 2406 684 2362 2440 2284 0 0 0 0 0 0 15.54 15.33 15.57

3755 0.65 183.4 2405 685 2446 2284 284.9 8.3 461 3797 0.00 1.77 31.77 1.141 9254 0.000 0.044 2406 1796 2219 2303 2136 0 0 0 0 0 0 15.45 15.39 14.74

4116 0.65 187.4 2405 1795 2301 2129 248.5 9.8 483 4126 0.00 1.88 4.18 0.744 8740 0.000 0.073 2406 686 2204 2289 2119 0 0 0 0 0 0 15.54 15.25 14.83

4353 0.65 187.4 2405 686 2284 2119 222.9 11.7 530 4360 0.00 1.83 0.00 0.000 1030 0.000 0.045 2405 1796 2201 2284 2119 0 0 0 0 0 0 15.41 15.38 15.46

4539 0.65 187.4 2405 1796 2284 2117 202.8 10.2 549 4546 0.00 1.88 0.00 0.000 516 0.000 0.075 2406 678 2200 2284 2117 0 0 0 0 0 0 15.57 15.36 15.59

4775 0.67 245.4 2405 678 2281 2117 184.0 7.3 595 4834 0.00 1.80 49.30 1.090 9254 0.000 0.044 2406 1807 1967 2057 1878 0 0 0 0 0 0 15.47 15.41 14.71

5015 0.75 256.7 2405 1807 2056 1871 160.4 9.5 625 5034 0.12 2.38 11.05 0.961 10660 0.154 0.073 2452 3188 1920 2011 1830 0 0 0 0 0 0 15.28 15.21 14.78

5210 0.72 256.7 2451 3188 2011 1826 138.8 10.9 662 5216 0.00 2.20 0.00 0.000 1158 0.000 0.047 2452 1841 1918 2011 1826 0 0 0 0 0 0 15.38 15.30 15.39

5405 0.75 343.6 2452 1844 2011 1825 123.3 6.0 682 5487 0.00 2.10 73.28 0.985 8740 0.000 0.077 2452 642 1566 1658 1474 0 0 0 0 0 0 15.54 15.01 14.64

5636 0.85 343.6 2451 642 1651 1474 99.4 11.4 728 5642 0.00 1.88 0.00 0.000 1158 0.000 0.044 2452 1800 1562 1650 1474 0 0 0 0 0 0 15.29 15.23 15.30

5832 0.97 364.0 2451 1801 1651 1468 78.8 9.1 748 5861 0.15 2.40 17.05 0.865 10660 0.136 0.068 2511 3202 1485 1576 1394 0 0 0 0 0 0 15.28 15.21 14.84

6054 0.97 364.0 2513 3201 1576 1392 53.9 12.3 792 6060 0.00 2.30 0.00 0.000 1030 0.000 0.047 2513 1796 1484 1576 1392 0 0 0 0 0 0 15.38 15.31 15.40

6248 1.02 364.0 2513 1796 1576 1391 31.4 11.0 812 6253 0.00 1.92 0.00 0.000 644 0.000 0.076 2512 627 1485 1579 1391 0 0 0 0 0 0 15.54 15.34 15.55

6464 1.09 364.0 2512 628 1576 1391 9.5 10.2 854 6470 0.12 1.88 0.00 0.000 3206 0.145 0.039 2559 1818 1483 1576 1391 0 0 0 0 0 0 15.38 15.39 15.44

6515 end climb: SURFACE_DEPTH_REACHED

state 6516 begin surface coast

6537 end surface coast: CONTROL_FINISHED_OK

state 6537 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	33	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	26	ALTIM_PULSE	1
DIVE	16	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	041019,015747,1326.0043,14434.7773,7,1.4,9,0.6,0.2,0.0,8,10.0	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	0.53	MHEAD_RNG_PITCHd_Wd	249.4,6826,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.6	D_GRID	1665
GPS2	041019,020531,1325.9733,14434.7891,3,0.8,21,0.6,0.3,129.9,10,2.9

SM_CCo	6555,117.30,0.691,1,0,929,500.17	PM_ACTIVECARD	0
SM_GC	0.48,6.93,1.50,117.30,0.087,0.060,0.691,160,2726,929,-6.32,-1.58,500.17,0,0,0,0,1,0,15.36,15.38,14.74	_24V_AH	14.38,6.397
IRIDIUM_FIX	1324.19,14436.50,031019,235927	_10V_AH	13.68,0.000
TT8_MAMPS	0.019474,0.168525	FG_AHR_24Vo	0.000
HUMID	49.68	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.07261	MEM	271096
TCM_TEMP	26.40	DATA_FILE_SIZE	29999,862
XPDR_PINGS	0	CAP_FILE_SIZE	89955,0
SC_FREEKB	3871200	CFSIZE	260034560,256446464
PM_FREEKB_00	123615360	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.033,345.93,1
PM_FREEKB_02	124821056	GPS	041019,035836,1326.150,14433.864,4,0.9,5,0.6,0.4,158.0,9,7.6
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	418	111.62	nil	0	0	0.00
Roll_motor	63	106	97.29	nil	0	0	0.00
VBD_pump_during_apogee	448	1179	7611.33	nil	0	0	0.00
VBD_pump_during_surface	117	690	1165.22	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	6551	8	786.32
Iridium_during_xfer	283	186	760.63	PMAR	6547	5	543.79
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	9	4.41
TT8	721	9	89.55
LPSleep	3155	2	94.52
TT8_Active	547	9	67.88
TT8_Sampling	2567	28	1002.87
TT8_CF8	176	33	81.62
TT8_Kalman	0	0	0.00
Analog_circuits	1653	10	235.22
GPS_charging	0	0	0.00
Compass	2117	17	499.06
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	159	2739	992	861	0.0	0.0	0	109	0.00	0.00	-88.53	0.005	16386	0.000	0.000	160	2739	3202	3246	3159	0	0	0	0	0	0	15.47	28.83	15.48
112	-0.73	-146.0	157	2739	3246	3159	4.8	-8.8	9	134	8.48	2.03	-6.03	0.022	18724	0.418	0.106	1948	3953	3566	3633	3500	0	0	0	0	0	0	15.09	14.75	15.27
362	-0.59	-146.0	1947	3953	3633	3500	78.0	-22.0	59	368	0.22	1.92	0.00	0.000	3206	0.252	0.035	2002	2683	3566	3633	3499	0	0	0	0	0	0	15.26	15.42	15.41
558	-0.73	-146.0	2002	2683	3633	3500	101.8	-9.3	79	564	0.12	2.12	0.00	0.000	4516	0.142	0.082	1940	3946	3562	3624	3500	0	0	0	0	0	0	15.43	15.37	15.45
705	-0.65	-146.0	1940	3945	3632	3500	126.9	-23.1	108	712	0.15	1.92	0.00	0.000	3206	0.239	0.035	1983	2698	3566	3633	3500	0	0	0	0	0	0	15.30	15.45	15.40
894	-0.79	-146.0	1983	2698	3633	3500	149.4	-11.2	127	900	0.12	2.15	0.00	0.000	4740	0.145	0.044	1936	1336	3566	3633	3500	0	0	0	0	0	0	15.43	15.43	15.48
947	-0.79	-146.0	1936	1336	3633	3500	156.5	-13.4	137	954	0.00	2.33	0.00	0.000	1030	0.000	0.059	1936	2750	3566	3633	3500	0	0	0	0	0	0	15.48	15.40	15.50
1142	-0.87	-146.0	1935	2750	3633	3500	177.2	-10.1	157	1150	0.00	0.00	0.00	0.000	134	0.000	0.000	1936	2750	3566	3633	3500	0	0	0	0	0	0	15.63	15.65	15.65
1332	-0.98	-146.0	1935	2750	3633	3500	198.0	-10.5	176	1338	0.15	1.98	0.00	0.000	4484	0.135	0.082	1870	3947	3566	3633	3500	0	0	0	0	0	0	15.43	15.42	15.48
1567	-0.98	-146.0	1870	3948	3633	3500	231.3	-12.3	222	1573	0.00	1.90	0.00	0.000	1030	0.000	0.036	1870	2702	3566	3633	3500	0	0	0	0	0	0	15.53	15.50	15.54
1781	-0.98	-146.0	1870	2696	3633	3499	254.1	-10.5	242	1787	0.00	2.10	0.00	0.000	260	0.000	0.086	1869	3946	3567	3632	3503	0	0	0	0	0	0	15.64	15.42	15.66
1868	-0.98	-146.0	1868	3947	3632	3501	263.9	-11.0	259	1874	0.00	1.88	0.00	0.000	1030	0.000	0.037	1869	2742	3566	3633	3499	0	0	0	0	0	0	15.51	15.48	15.52
2176	-1.02	-146.0	1868	2741	3631	3499	287.9	-6.4	270	2182	0.00	2.15	0.00	0.000	676	0.000	0.047	1868	1380	3565	3631	3499	0	0	0	0	0	0	15.65	15.46	15.66
2253	-1.07	-146.0	1868	1380	3630	3499	295.6	-10.5	285	2260	0.00	2.25	0.00	0.000	1158	0.000	0.060	1869	2749	3564	3629	3500	0	0	0	0	0	0	15.52	15.45	15.54
2573	-1.13	-146.0	1865	2749	3628	3497	333.5	-12.4	298	2579	0.00	1.98	0.00	0.000	388	0.000	0.089	1867	3942	3562	3628	3497	0	0	0	0	0	0	15.64	15.43	15.66
2779	end dive: TARGET_DEPTH_EXCEEDED
state	2779	begin apogee
2787	-0.19	0.0	1867	1845	3627	3494	360.1	-11.8	339	2922	0.93	0.00	128.95	1.180	10246	0.210	0.000	2137	1845	2969	3052	2886	0	0	0	0	0	0	15.37	14.96	14.47
2930	end apogee: CONTROL_FINISHED_OK
state	2930	begin climb
2933	0.73	146.0	2135	1845	3051	2884	363.4	0.0	343	3077	0.88	2.05	133.12	1.163	10756	0.093	0.073	2442	688	2370	2450	2291	0	0	0	0	0	0	14.97	14.81	14.38
3305	0.63	146.0	2441	687	2440	2289	329.7	11.5	423	3311	0.17	1.83	0.00	0.000	5254	0.287	0.044	2403	1823	2363	2439	2288	0	0	0	0	0	0	15.13	15.25	15.30
3629	0.63	146.0	2402	1823	2440	2284	295.7	10.2	437	3635	0.00	1.92	0.00	0.000	516	0.000	0.076	2406	684	2362	2440	2284	0	0	0	0	0	0	15.54	15.33	15.57
3755	0.65	183.4	2405	685	2446	2284	284.9	8.3	461	3797	0.00	1.77	31.77	1.141	9254	0.000	0.044	2406	1796	2219	2303	2136	0	0	0	0	0	0	15.45	15.39	14.74
4116	0.65	187.4	2405	1795	2301	2129	248.5	9.8	483	4126	0.00	1.88	4.18	0.744	8740	0.000	0.073	2406	686	2204	2289	2119	0	0	0	0	0	0	15.54	15.25	14.83
4353	0.65	187.4	2405	686	2284	2119	222.9	11.7	530	4360	0.00	1.83	0.00	0.000	1030	0.000	0.045	2405	1796	2201	2284	2119	0	0	0	0	0	0	15.41	15.38	15.46
4539	0.65	187.4	2405	1796	2284	2117	202.8	10.2	549	4546	0.00	1.88	0.00	0.000	516	0.000	0.075	2406	678	2200	2284	2117	0	0	0	0	0	0	15.57	15.36	15.59
4775	0.67	245.4	2405	678	2281	2117	184.0	7.3	595	4834	0.00	1.80	49.30	1.090	9254	0.000	0.044	2406	1807	1967	2057	1878	0	0	0	0	0	0	15.47	15.41	14.71
5015	0.75	256.7	2405	1807	2056	1871	160.4	9.5	625	5034	0.12	2.38	11.05	0.961	10660	0.154	0.073	2452	3188	1920	2011	1830	0	0	0	0	0	0	15.28	15.21	14.78
5210	0.72	256.7	2451	3188	2011	1826	138.8	10.9	662	5216	0.00	2.20	0.00	0.000	1158	0.000	0.047	2452	1841	1918	2011	1826	0	0	0	0	0	0	15.38	15.30	15.39
5405	0.75	343.6	2452	1844	2011	1825	123.3	6.0	682	5487	0.00	2.10	73.28	0.985	8740	0.000	0.077	2452	642	1566	1658	1474	0	0	0	0	0	0	15.54	15.01	14.64
5636	0.85	343.6	2451	642	1651	1474	99.4	11.4	728	5642	0.00	1.88	0.00	0.000	1158	0.000	0.044	2452	1800	1562	1650	1474	0	0	0	0	0	0	15.29	15.23	15.30
5832	0.97	364.0	2451	1801	1651	1468	78.8	9.1	748	5861	0.15	2.40	17.05	0.865	10660	0.136	0.068	2511	3202	1485	1576	1394	0	0	0	0	0	0	15.28	15.21	14.84
6054	0.97	364.0	2513	3201	1576	1392	53.9	12.3	792	6060	0.00	2.30	0.00	0.000	1030	0.000	0.047	2513	1796	1484	1576	1392	0	0	0	0	0	0	15.38	15.31	15.40
6248	1.02	364.0	2513	1796	1576	1391	31.4	11.0	812	6253	0.00	1.92	0.00	0.000	644	0.000	0.076	2512	627	1485	1579	1391	0	0	0	0	0	0	15.54	15.34	15.55
6464	1.09	364.0	2512	628	1576	1391	9.5	10.2	854	6470	0.12	1.88	0.00	0.000	3206	0.145	0.039	2559	1818	1483	1576	1391	0	0	0	0	0	0	15.38	15.39	15.44
6515	end climb: SURFACE_DEPTH_REACHED
state	6516	begin surface coast
6537	end surface coast: CONTROL_FINISHED_OK
state	6537	begin surface