Glider dive log

MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 5

MISSION 11 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 6 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.63

STOP_T 0 SM_CC 580.87036 VBD_MIN 600 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 2968 DEVICE1 2

D_TGT 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1020 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 200 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 70

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 150 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 64

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 0 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0044193882

T_LOITER 0 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 SEABIRD_T_H 0.00064798427

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 SEABIRD_T_I 2.6719992e-05

USE_BATHY 0 PITCH_MIN 150 AH0_24V 350 SEABIRD_T_J 3.3115991e-06

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 SEABIRD_C_G -9.8059483

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2400 MINV_24V 11 SEABIRD_C_H 1.1280893

D_OFFGRID 1020 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.003824637

T_WATCHDOG 10 PITCH_CNV 0.003125763 MAXI_24V 3 SEABIRD_C_J 0.00035372932

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 150 PITCH_GAIN 42 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 175 PRESSURE_YINT -152.46104 TM_RECORDABOVE 200.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010631012 TM_PROFILE 1.0

RHO 1.0275 PITCH_ADJ_GAIN 0.02 AD7714Ch0Gain 1 TM_XMITPROFILE 1.0

MASS 53930 PITCH_ADJ_DBAND 1 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 350 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 3900 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0 PM_PROFILE 3.0

HD_A 0.003 C_ROLL_CLIMB 2440 ALTIM_TOP_MIN_OBSTACLE 0 PM_XMITPROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_NDIVE 1.0

HD_C 9.9999997e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0 PM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_MOTORS 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 24 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 ALTIM_SENSITIVITY 2

AD7714Ch0Gain 1 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SEABIRD_T_I 2.6719992e-05

AH0_10V 0 FERRY_MAX 45 PITCH_DBAND 0.1 SEABIRD_T_J 3.3115991e-06

AH0_24V 350 FG_AHR_10V 0 PITCH_GAIN 42 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MAX 3600 SM_CC 580.87036

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 STROBE 0

ALTIM_PING_FIT 0 GPS_DEVICE 64 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY 0

ALTIM_PULSE 3 HD_A 0.003 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 HD_B 0.0099999998 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_C 9.9999997e-06 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HEADING -1 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HEAD_ERRBAND 10 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEAPDBG 0 PM_RECORDABOVE 2000.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 ICE_FREEZE_MARGIN 0.30000001 PM_SENDDEPTH 1.0 TM_NDIVE 1.0

CALL_TRIES 5 ID 171 PM_XMITPROFILE 3.0 TM_PROFILE 1.0

CALL_WAIT 60 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITRAW 0.0 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 INT_PRESSURE_YINT 0.63 PRESSURE_SLOPE 0.00010631012 TM_XMITPROFILE 1.0

CAPUPLOAD 0 KALMAN_USE 2 PRESSURE_YINT -152.46104 TM_XMITRAW 0.0

CF8_MAXERRORS 20 LOGGERDEVICE1 53 PROTOCOL 9 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE2 70 P_OVSHOOT 0.039999999 T_BOOST 0

COMPASS2_DEVICE 149 LOGGERDEVICE3 83 P_OVSHOOT_WITHG 0 T_DIVE 120

COMPASS_DEVICE 97 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_USE 4 LOGGERS 7 RAFOS_DEVICE -1 T_GPS 5

COURSE_BIAS 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_PITCH 2400 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_MISSION 150

C_ROLL_CLIMB 2440 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

C_ROLL_DIVE 2600 LOITER_N_DIVE 0 RELAUNCH 1 T_RSLEEP 2

C_VBD 2968 LOITER_W_DBAND 0 RHO 1.0275 T_TURN 225

DBDW 0 MASS 53930 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MASS_COMP 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

DEVICE1 2 MAXI_10V 1.5 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MAX_BUOY 150 ROLL_DEG 40 USE_BATHY 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3900 USE_ICE 0

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE6 -1 MISSION 11 ROLL_MIN 350 VBD_CNV -0.24529999

DIVE 4 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_DBAND 2

D_ABORT 1020 NAV_MODE 2 R_PORT_OVSHOOT 24 VBD_LP_IGNORE 0

D_BOOST 2 NOCOMM_ACTION 163 R_STBD_OVSHOOT 42 VBD_MAX 3960

D_CALL 0 N_DIVES 6 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_FINISH 0 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 600

D_FLARE 3 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

D_NO_BLEED 200 N_NOCOMM 2 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 2

D_OFFGRID 1020 N_NOSURFACE 0 SEABIRD_C_G -9.8059483 VBD_TIMEOUT 720

D_PITCH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1280893 W_ADJ_DBAND 0

D_SAFE 0 PHONE_SUPPLY -2 SEABIRD_C_I -0.003824637 XPDR_DEVICE 24

D_SURF 3 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00035372932 XPDR_INHIBIT 90

D_TGT 360 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0044193882 XPDR_VALID 5

ESCAPE_HEADING 0 PITCH_AD_RATE 175 SEABIRD_T_H 0.00064798427

Pre-dive calculations and measurements:

GPS1 250719,121230,1603.3666,8837.4736,4,1.9,9,-0.7,0.9,75.0,4,10.0 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME BD13

_XMS_NAKs 0 TGT_LATLONG 1400.000,8700.000

_XMS_TOUTs 0 TGT_RADIUS 8000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 248.4,287897,-17.5,-10.000,-21.06,2227

_SM_ANGLEo -64.0 D_GRID 360

GPS2 250719,122209,1603.3159,8837.5469,2,1.5,3,-0.7,0.7,32.6,8,9.2

Post-dive calculations and measurements:

SM_CCo 7181,111.43,0.643,1,0,599,580.87 PM_FREEKB_03 62343040

SM_GC 1.30,7.30,0.30,111.43,0.053,0.111,0.643,133,2617,599,-6.98,-0.40,580.87,0,0,0,0,1,0,14.74,14.69,14.14 PM_ACTIVECARD 0

IRIDIUM_FIX 1605.87,8839.18,250719,100725 _24V_AH 13.81,1.354

TT8_MAMPS 0.019474,0.986433 _10V_AH 13.50,0.000

HUMID 44.21 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.53659 FG_AHR_10Vo 0.000

TCM_TEMP 24.00 MEM 252084

XPDR_PINGS 1 DATA_FILE_SIZE 33455,773

SC_FREEKB 3908640 CAP_FILE_SIZE 150954,0

TM_FREEKB 7893120 CFSIZE 260034560,195899392

PM_FREEKB_00 61990272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 62343040 CURRENT 0.269,187.74,1

PM_FREEKB_02 62343040 GPS 250719,142608,1601.882,8836.547,25,1.0,25,-0.7,0.7,69.6,7,5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 387 110.79 SBE_CT 1946 24 645.25

Roll_motor 72 119 119.12 nil 0 0 0.00

VBD_pump_during_apogee 494 1239 8458.53 nil 0 0 0.00

VBD_pump_during_surface 111 643 990.00 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 7160 15 1526.21

Iridium_during_xfer 353 195 951.99 TMICL 1996 9 258.47

Transponder_ping 0 420 1.45 PMAR 7161 6 690.67

GUMSTIX_24V 0 0 0.00

GPS 15 28 5.81

TT8 707 12 117.02

LPSleep 3480 2 102.91

TT8_Active 524 12 86.85

TT8_Sampling 2871 36 1404.60

TT8_CF8 317 42 183.99

TT8_Kalman 0 0 0.00

Analog_circuits 2026 16 443.17

GPS_charging 0 0 0.00

Compass 2076 7 209.92

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.64 -146.0 89 2630 629 573 0.0 0.0 0 122 0.00 0.00 -96.03 0.005 16386 0.000 0.000 77 2630 2882 2876 2888 0 0 0 0 0 0 14.98 28.83 15.01

125 -0.64 -146.0 77 2630 2877 2888 5.0 -12.9 20 159 9.68 2.17 -12.00 0.013 18692 0.387 0.119 2174 3876 3564 3563 3565 0 0 0 0 0 0 14.59 13.83 14.76

193 -0.54 -146.0 2173 3875 3563 3565 28.3 -24.7 33 202 0.15 2.15 0.00 0.000 3206 0.210 0.066 2218 2591 3564 3563 3565 0 0 0 0 0 0 14.69 14.78 14.80

392 -0.51 -146.0 2218 2594 3563 3565 63.6 -13.6 62 400 0.00 2.30 0.00 0.000 644 0.000 0.076 2218 1190 3564 3563 3565 0 0 0 0 0 0 15.02 14.83 15.05

449 -0.56 -146.0 2218 1189 3563 3565 70.4 -11.3 72 456 0.00 2.35 0.00 0.000 1158 0.000 0.080 2209 2580 3564 3563 3565 0 0 0 0 0 0 14.88 14.80 14.90

644 -0.56 -146.0 2208 2579 3563 3565 93.1 -10.4 92 652 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2580 3564 3564 3565 0 0 0 0 0 0 15.06 15.09 15.09

835 -0.60 -146.0 2213 2580 3563 3565 113.0 -10.5 111 843 0.00 0.00 0.00 0.000 134 0.000 0.000 2208 2580 3563 3563 3563 0 0 0 0 0 0 15.08 15.12 15.11

1025 -0.67 -146.0 2208 2577 3560 3565 130.5 -8.6 130 1033 0.00 0.00 0.00 0.000 166 0.000 0.000 2209 2580 3564 3564 3565 0 0 0 0 0 0 15.09 15.12 15.11

1215 -0.76 -146.0 2208 2580 3563 3565 145.4 -7.9 149 1227 0.15 2.30 0.00 0.000 4772 0.109 0.070 2125 1187 3564 3563 3565 0 0 0 0 0 0 14.95 14.89 14.97

1333 -0.71 -146.0 2124 1187 3562 3565 158.9 -12.3 171 1341 0.20 2.40 0.00 0.000 3206 0.231 0.080 2164 2605 3562 3560 3565 0 0 0 0 0 0 14.81 14.89 14.95

1531 -0.75 -146.0 2163 2605 3562 3564 178.2 -8.7 191 1539 0.00 0.00 0.00 0.000 166 0.000 0.000 2164 2605 3563 3563 3564 0 0 0 0 0 0 15.09 15.11 15.12

1720 -0.79 -146.0 2163 2605 3563 3563 194.3 -8.2 210 1729 0.00 0.00 0.00 0.000 166 0.000 0.000 2164 2605 3562 3562 3563 0 0 0 0 0 0 15.10 15.14 15.13

1910 -0.84 -146.0 2164 2609 3562 3562 209.2 -7.7 229 1929 0.12 2.35 0.00 0.000 4772 0.128 0.073 2101 1187 3561 3561 3561 0 0 0 0 0 0 14.96 14.91 15.00

1977 -0.81 -146.0 2100 1187 3561 3562 216.1 -11.1 240 1991 0.15 2.42 0.00 0.000 3206 0.211 0.082 2133 2595 3561 3560 3562 0 0 0 0 0 0 14.78 14.86 14.89

2170 -0.81 -146.0 2133 2594 3560 3560 235.1 -9.7 259 2184 0.00 2.25 0.00 0.000 292 0.000 0.114 2125 3896 3560 3561 3559 0 0 0 0 0 0 15.11 14.87 15.14

2203 -0.81 -146.0 2125 3896 3560 3559 238.3 -9.9 263 2217 0.00 2.12 0.00 0.000 1062 0.000 0.066 2125 2589 3558 3558 3559 0 0 0 0 0 0 15.01 14.93 15.03

2406 -0.81 -146.0 2122 2588 3559 3558 259.2 -10.3 279 2420 0.00 2.30 0.00 0.000 516 0.000 0.081 2125 1190 3558 3559 3558 0 0 0 0 0 0 15.12 14.92 15.16

2446 -0.81 -146.0 2124 1193 3559 3558 263.7 -10.8 285 2460 0.00 2.40 0.00 0.000 1030 0.000 0.086 2114 2609 3558 3558 3558 0 0 0 0 0 0 15.02 14.92 15.04

2768 -0.81 -146.0 2114 2609 3555 3555 298.8 -10.9 302 2782 0.00 2.38 0.00 0.000 516 0.000 0.080 2114 1186 3555 3555 3555 0 0 0 0 0 0 15.14 14.94 15.17

2799 -0.81 -146.0 2114 1186 3555 3555 302.3 -11.3 306 2814 0.15 2.40 0.00 0.000 3078 0.235 0.086 2139 2595 3555 3556 3555 0 0 0 0 0 0 14.86 14.93 15.01

3133 -0.85 -146.0 2139 2595 3553 3552 333.5 -9.3 325 3146 0.00 0.00 0.00 0.000 166 0.000 0.000 2139 2595 3550 3548 3552 0 0 0 0 0 0 15.14 15.17 15.16

3432 end dive: TARGET_DEPTH_EXCEEDED

state 3432 begin apogee

3438 -0.12 0.0 2140 2419 3551 3549 360.2 -8.7 340 3566 0.70 0.00 115.00 1.239 10246 0.166 0.000 2355 2418 2969 2996 2942 0 0 0 0 0 0 14.89 14.47 13.93

3568 end apogee: CONTROL_FINISHED_OK

state 3570 begin climb

3572 0.64 146.0 2354 2418 2993 2939 363.4 0.0 346 3711 0.73 2.60 115.12 1.235 10500 0.063 0.106 2627 3854 2370 2410 2330 0 0 0 0 0 0 14.57 14.25 13.81

3768 0.37 146.0 2626 3853 2405 2331 345.8 17.8 388 3786 0.43 2.38 0.00 0.000 5254 0.244 0.072 2528 2452 2365 2401 2330 0 0 0 0 0 0 14.47 14.59 14.57

4080 0.32 146.0 2527 2450 2399 2325 313.2 10.2 405 4094 0.00 2.45 0.00 0.000 644 0.000 0.096 2537 1034 2361 2399 2324 0 0 0 0 0 0 15.00 14.80 15.03

4146 0.29 146.0 2537 1034 2398 2323 306.1 10.5 416 4161 0.12 2.47 0.00 0.000 5254 0.185 0.091 2498 2436 2360 2397 2323 0 0 0 0 0 0 14.76 14.81 14.84

4453 0.34 173.7 2497 2436 2397 2321 278.7 8.7 432 4489 0.00 2.50 21.70 1.120 8484 0.000 0.119 2498 3851 2258 2309 2207 0 0 0 0 0 0 15.08 14.75 14.27

4505 0.34 177.9 2497 3850 2305 2207 273.8 9.8 442 4524 0.00 2.38 4.53 0.757 9254 0.000 0.081 2508 2447 2244 2296 2193 0 0 0 0 0 0 14.88 14.79 14.23

4817 0.40 214.4 2508 2446 2290 2187 247.0 8.3 460 4863 0.00 2.50 29.50 1.107 8740 0.000 0.099 2519 1034 2094 2154 2034 0 0 0 0 0 0 15.07 14.69 14.22

4924 0.48 238.8 2519 1034 2148 2034 237.8 8.9 480 4961 0.12 2.45 21.02 1.067 11430 0.123 0.093 2585 2438 1994 2055 1933 0 0 0 0 0 0 14.81 14.75 14.17

5151 0.39 238.8 2585 2438 2046 1930 206.5 14.3 506 5169 0.20 2.45 0.00 0.000 4484 0.213 0.116 2532 3845 1988 2045 1931 0 0 0 0 0 0 14.71 14.71 14.81

5195 0.39 238.8 2532 3845 2045 1930 200.1 12.4 513 5209 0.00 2.42 0.00 0.000 1030 0.000 0.081 2540 2445 1987 2044 1930 0 0 0 0 0 0 14.82 14.76 14.85

5387 0.39 238.8 2541 2445 2044 1929 178.5 11.3 532 5401 0.00 2.42 0.00 0.000 516 0.000 0.094 2553 1025 1985 2043 1928 0 0 0 0 0 0 15.02 14.83 15.06

5449 0.39 238.8 2553 1025 2043 1927 171.3 11.6 542 5466 0.00 2.45 0.00 0.000 1030 0.000 0.093 2553 2441 1985 2043 1927 0 0 0 0 0 0 14.92 14.83 14.95

5644 0.39 238.8 2552 2442 2043 1927 148.8 11.3 562 5658 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2442 1985 2043 1927 0 0 0 0 0 0 15.04 15.07 15.07

5836 0.42 253.6 2552 2441 2043 1927 129.2 9.3 581 5863 0.00 2.50 12.12 0.926 8740 0.000 0.093 2564 1025 1933 1993 1873 0 0 0 0 0 0 15.06 14.80 14.34

5916 0.45 278.3 2563 1025 1989 1869 121.8 8.9 596 5955 0.00 2.50 20.85 0.952 9254 0.000 0.090 2564 2440 1833 1894 1772 0 0 0 0 0 0 14.86 14.79 14.27

6135 0.47 287.0 2563 2440 1889 1771 100.8 9.6 621 6155 0.00 0.00 8.45 0.829 8486 0.000 0.000 2564 2442 1797 1858 1736 0 0 0 0 0 0 14.99 14.66 14.30

6334 0.52 305.5 2563 2440 1855 1736 82.7 9.1 642 6365 0.00 0.00 16.60 0.884 8614 0.000 0.000 2564 2440 1721 1781 1661 0 0 0 0 0 0 15.00 14.76 14.30

6545 0.66 351.3 2563 2440 1778 1660 65.5 7.9 664 6596 0.15 0.00 38.38 0.890 10918 0.109 0.000 2652 2440 1537 1598 1476 0 0 0 0 0 0 14.85 14.55 14.21

6775 0.66 351.3 2651 2440 1595 1474 39.7 10.5 701 6790 0.15 2.45 0.00 0.000 4612 0.209 0.090 2620 1028 1534 1596 1473 0 0 0 0 0 0 14.66 14.69 14.73

6910 0.98 464.1 2619 1028 1595 1471 33.1 4.8 725 7017 0.22 2.47 90.95 0.842 11430 0.050 0.084 2741 2439 1076 1142 1010 0 0 0 0 0 0 14.78 14.72 14.11

7139 end climb: SURFACE_DEPTH_REACHED

state 7139 begin surface coast

7154 end surface coast: CONTROL_FINISHED_OK

state 7154 begin surface

ID	171	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	5
MISSION	11	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	6	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.63
STOP_T	0	SM_CC	580.87036	VBD_MIN	600	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	2968	DEVICE1	2
D_TGT	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1020	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	200	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	70
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	150	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	64
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	0	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0044193882
T_LOITER	0	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	SEABIRD_T_H	0.00064798427
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	SEABIRD_T_I	2.6719992e-05
USE_BATHY	0	PITCH_MIN	150	AH0_24V	350	SEABIRD_T_J	3.3115991e-06
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	SEABIRD_C_G	-9.8059483
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2400	MINV_24V	11	SEABIRD_C_H	1.1280893
D_OFFGRID	1020	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.003824637
T_WATCHDOG	10	PITCH_CNV	0.003125763	MAXI_24V	3	SEABIRD_C_J	0.00035372932
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	150	PITCH_GAIN	42	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	175	PRESSURE_YINT	-152.46104	TM_RECORDABOVE	200.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010631012	TM_PROFILE	1.0
RHO	1.0275	PITCH_ADJ_GAIN	0.02	AD7714Ch0Gain	1	TM_XMITPROFILE	1.0
MASS	53930	PITCH_ADJ_DBAND	1	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	350	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	3900	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0	PM_PROFILE	3.0
HD_A	0.003	C_ROLL_CLIMB	2440	ALTIM_TOP_MIN_OBSTACLE	0	PM_XMITPROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_NDIVE	1.0
HD_C	9.9999997e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0	PM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_MOTORS	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	24	ALTIM_PULSE	3	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2

GPS1	250719,121230,1603.3666,8837.4736,4,1.9,9,-0.7,0.9,75.0,4,10.0	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	BD13
_XMS_NAKs	0	TGT_LATLONG	1400.000,8700.000
_XMS_TOUTs	0	TGT_RADIUS	8000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	248.4,287897,-17.5,-10.000,-21.06,2227
_SM_ANGLEo	-64.0	D_GRID	360
GPS2	250719,122209,1603.3159,8837.5469,2,1.5,3,-0.7,0.7,32.6,8,9.2

SM_CCo	7181,111.43,0.643,1,0,599,580.87	PM_FREEKB_03	62343040
SM_GC	1.30,7.30,0.30,111.43,0.053,0.111,0.643,133,2617,599,-6.98,-0.40,580.87,0,0,0,0,1,0,14.74,14.69,14.14	PM_ACTIVECARD	0
IRIDIUM_FIX	1605.87,8839.18,250719,100725	_24V_AH	13.81,1.354
TT8_MAMPS	0.019474,0.986433	_10V_AH	13.50,0.000
HUMID	44.21	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.53659	FG_AHR_10Vo	0.000
TCM_TEMP	24.00	MEM	252084
XPDR_PINGS	1	DATA_FILE_SIZE	33455,773
SC_FREEKB	3908640	CAP_FILE_SIZE	150954,0
TM_FREEKB	7893120	CFSIZE	260034560,195899392
PM_FREEKB_00	61990272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	62343040	CURRENT	0.269,187.74,1
PM_FREEKB_02	62343040	GPS	250719,142608,1601.882,8836.547,25,1.0,25,-0.7,0.7,69.6,7,5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	387	110.79	SBE_CT	1946	24	645.25
Roll_motor	72	119	119.12	nil	0	0	0.00
VBD_pump_during_apogee	494	1239	8458.53	nil	0	0	0.00
VBD_pump_during_surface	111	643	990.00	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	7160	15	1526.21
Iridium_during_xfer	353	195	951.99	TMICL	1996	9	258.47
Transponder_ping	0	420	1.45	PMAR	7161	6	690.67
GUMSTIX_24V	0	0	0.00
GPS	15	28	5.81
TT8	707	12	117.02
LPSleep	3480	2	102.91
TT8_Active	524	12	86.85
TT8_Sampling	2871	36	1404.60
TT8_CF8	317	42	183.99
TT8_Kalman	0	0	0.00
Analog_circuits	2026	16	443.17
GPS_charging	0	0	0.00
Compass	2076	7	209.92
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.64	-146.0	89	2630	629	573	0.0	0.0	0	122	0.00	0.00	-96.03	0.005	16386	0.000	0.000	77	2630	2882	2876	2888	0	0	0	0	0	0	14.98	28.83	15.01
125	-0.64	-146.0	77	2630	2877	2888	5.0	-12.9	20	159	9.68	2.17	-12.00	0.013	18692	0.387	0.119	2174	3876	3564	3563	3565	0	0	0	0	0	0	14.59	13.83	14.76
193	-0.54	-146.0	2173	3875	3563	3565	28.3	-24.7	33	202	0.15	2.15	0.00	0.000	3206	0.210	0.066	2218	2591	3564	3563	3565	0	0	0	0	0	0	14.69	14.78	14.80
392	-0.51	-146.0	2218	2594	3563	3565	63.6	-13.6	62	400	0.00	2.30	0.00	0.000	644	0.000	0.076	2218	1190	3564	3563	3565	0	0	0	0	0	0	15.02	14.83	15.05
449	-0.56	-146.0	2218	1189	3563	3565	70.4	-11.3	72	456	0.00	2.35	0.00	0.000	1158	0.000	0.080	2209	2580	3564	3563	3565	0	0	0	0	0	0	14.88	14.80	14.90
644	-0.56	-146.0	2208	2579	3563	3565	93.1	-10.4	92	652	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2580	3564	3564	3565	0	0	0	0	0	0	15.06	15.09	15.09
835	-0.60	-146.0	2213	2580	3563	3565	113.0	-10.5	111	843	0.00	0.00	0.00	0.000	134	0.000	0.000	2208	2580	3563	3563	3563	0	0	0	0	0	0	15.08	15.12	15.11
1025	-0.67	-146.0	2208	2577	3560	3565	130.5	-8.6	130	1033	0.00	0.00	0.00	0.000	166	0.000	0.000	2209	2580	3564	3564	3565	0	0	0	0	0	0	15.09	15.12	15.11
1215	-0.76	-146.0	2208	2580	3563	3565	145.4	-7.9	149	1227	0.15	2.30	0.00	0.000	4772	0.109	0.070	2125	1187	3564	3563	3565	0	0	0	0	0	0	14.95	14.89	14.97
1333	-0.71	-146.0	2124	1187	3562	3565	158.9	-12.3	171	1341	0.20	2.40	0.00	0.000	3206	0.231	0.080	2164	2605	3562	3560	3565	0	0	0	0	0	0	14.81	14.89	14.95
1531	-0.75	-146.0	2163	2605	3562	3564	178.2	-8.7	191	1539	0.00	0.00	0.00	0.000	166	0.000	0.000	2164	2605	3563	3563	3564	0	0	0	0	0	0	15.09	15.11	15.12
1720	-0.79	-146.0	2163	2605	3563	3563	194.3	-8.2	210	1729	0.00	0.00	0.00	0.000	166	0.000	0.000	2164	2605	3562	3562	3563	0	0	0	0	0	0	15.10	15.14	15.13
1910	-0.84	-146.0	2164	2609	3562	3562	209.2	-7.7	229	1929	0.12	2.35	0.00	0.000	4772	0.128	0.073	2101	1187	3561	3561	3561	0	0	0	0	0	0	14.96	14.91	15.00
1977	-0.81	-146.0	2100	1187	3561	3562	216.1	-11.1	240	1991	0.15	2.42	0.00	0.000	3206	0.211	0.082	2133	2595	3561	3560	3562	0	0	0	0	0	0	14.78	14.86	14.89
2170	-0.81	-146.0	2133	2594	3560	3560	235.1	-9.7	259	2184	0.00	2.25	0.00	0.000	292	0.000	0.114	2125	3896	3560	3561	3559	0	0	0	0	0	0	15.11	14.87	15.14
2203	-0.81	-146.0	2125	3896	3560	3559	238.3	-9.9	263	2217	0.00	2.12	0.00	0.000	1062	0.000	0.066	2125	2589	3558	3558	3559	0	0	0	0	0	0	15.01	14.93	15.03
2406	-0.81	-146.0	2122	2588	3559	3558	259.2	-10.3	279	2420	0.00	2.30	0.00	0.000	516	0.000	0.081	2125	1190	3558	3559	3558	0	0	0	0	0	0	15.12	14.92	15.16
2446	-0.81	-146.0	2124	1193	3559	3558	263.7	-10.8	285	2460	0.00	2.40	0.00	0.000	1030	0.000	0.086	2114	2609	3558	3558	3558	0	0	0	0	0	0	15.02	14.92	15.04
2768	-0.81	-146.0	2114	2609	3555	3555	298.8	-10.9	302	2782	0.00	2.38	0.00	0.000	516	0.000	0.080	2114	1186	3555	3555	3555	0	0	0	0	0	0	15.14	14.94	15.17
2799	-0.81	-146.0	2114	1186	3555	3555	302.3	-11.3	306	2814	0.15	2.40	0.00	0.000	3078	0.235	0.086	2139	2595	3555	3556	3555	0	0	0	0	0	0	14.86	14.93	15.01
3133	-0.85	-146.0	2139	2595	3553	3552	333.5	-9.3	325	3146	0.00	0.00	0.00	0.000	166	0.000	0.000	2139	2595	3550	3548	3552	0	0	0	0	0	0	15.14	15.17	15.16
3432	end dive: TARGET_DEPTH_EXCEEDED
state	3432	begin apogee
3438	-0.12	0.0	2140	2419	3551	3549	360.2	-8.7	340	3566	0.70	0.00	115.00	1.239	10246	0.166	0.000	2355	2418	2969	2996	2942	0	0	0	0	0	0	14.89	14.47	13.93
3568	end apogee: CONTROL_FINISHED_OK
state	3570	begin climb
3572	0.64	146.0	2354	2418	2993	2939	363.4	0.0	346	3711	0.73	2.60	115.12	1.235	10500	0.063	0.106	2627	3854	2370	2410	2330	0	0	0	0	0	0	14.57	14.25	13.81
3768	0.37	146.0	2626	3853	2405	2331	345.8	17.8	388	3786	0.43	2.38	0.00	0.000	5254	0.244	0.072	2528	2452	2365	2401	2330	0	0	0	0	0	0	14.47	14.59	14.57
4080	0.32	146.0	2527	2450	2399	2325	313.2	10.2	405	4094	0.00	2.45	0.00	0.000	644	0.000	0.096	2537	1034	2361	2399	2324	0	0	0	0	0	0	15.00	14.80	15.03
4146	0.29	146.0	2537	1034	2398	2323	306.1	10.5	416	4161	0.12	2.47	0.00	0.000	5254	0.185	0.091	2498	2436	2360	2397	2323	0	0	0	0	0	0	14.76	14.81	14.84
4453	0.34	173.7	2497	2436	2397	2321	278.7	8.7	432	4489	0.00	2.50	21.70	1.120	8484	0.000	0.119	2498	3851	2258	2309	2207	0	0	0	0	0	0	15.08	14.75	14.27
4505	0.34	177.9	2497	3850	2305	2207	273.8	9.8	442	4524	0.00	2.38	4.53	0.757	9254	0.000	0.081	2508	2447	2244	2296	2193	0	0	0	0	0	0	14.88	14.79	14.23
4817	0.40	214.4	2508	2446	2290	2187	247.0	8.3	460	4863	0.00	2.50	29.50	1.107	8740	0.000	0.099	2519	1034	2094	2154	2034	0	0	0	0	0	0	15.07	14.69	14.22
4924	0.48	238.8	2519	1034	2148	2034	237.8	8.9	480	4961	0.12	2.45	21.02	1.067	11430	0.123	0.093	2585	2438	1994	2055	1933	0	0	0	0	0	0	14.81	14.75	14.17
5151	0.39	238.8	2585	2438	2046	1930	206.5	14.3	506	5169	0.20	2.45	0.00	0.000	4484	0.213	0.116	2532	3845	1988	2045	1931	0	0	0	0	0	0	14.71	14.71	14.81
5195	0.39	238.8	2532	3845	2045	1930	200.1	12.4	513	5209	0.00	2.42	0.00	0.000	1030	0.000	0.081	2540	2445	1987	2044	1930	0	0	0	0	0	0	14.82	14.76	14.85
5387	0.39	238.8	2541	2445	2044	1929	178.5	11.3	532	5401	0.00	2.42	0.00	0.000	516	0.000	0.094	2553	1025	1985	2043	1928	0	0	0	0	0	0	15.02	14.83	15.06
5449	0.39	238.8	2553	1025	2043	1927	171.3	11.6	542	5466	0.00	2.45	0.00	0.000	1030	0.000	0.093	2553	2441	1985	2043	1927	0	0	0	0	0	0	14.92	14.83	14.95
5644	0.39	238.8	2552	2442	2043	1927	148.8	11.3	562	5658	0.00	0.00	0.00	0.000	6	0.000	0.000	2553	2442	1985	2043	1927	0	0	0	0	0	0	15.04	15.07	15.07
5836	0.42	253.6	2552	2441	2043	1927	129.2	9.3	581	5863	0.00	2.50	12.12	0.926	8740	0.000	0.093	2564	1025	1933	1993	1873	0	0	0	0	0	0	15.06	14.80	14.34
5916	0.45	278.3	2563	1025	1989	1869	121.8	8.9	596	5955	0.00	2.50	20.85	0.952	9254	0.000	0.090	2564	2440	1833	1894	1772	0	0	0	0	0	0	14.86	14.79	14.27
6135	0.47	287.0	2563	2440	1889	1771	100.8	9.6	621	6155	0.00	0.00	8.45	0.829	8486	0.000	0.000	2564	2442	1797	1858	1736	0	0	0	0	0	0	14.99	14.66	14.30
6334	0.52	305.5	2563	2440	1855	1736	82.7	9.1	642	6365	0.00	0.00	16.60	0.884	8614	0.000	0.000	2564	2440	1721	1781	1661	0	0	0	0	0	0	15.00	14.76	14.30
6545	0.66	351.3	2563	2440	1778	1660	65.5	7.9	664	6596	0.15	0.00	38.38	0.890	10918	0.109	0.000	2652	2440	1537	1598	1476	0	0	0	0	0	0	14.85	14.55	14.21
6775	0.66	351.3	2651	2440	1595	1474	39.7	10.5	701	6790	0.15	2.45	0.00	0.000	4612	0.209	0.090	2620	1028	1534	1596	1473	0	0	0	0	0	0	14.66	14.69	14.73
6910	0.98	464.1	2619	1028	1595	1471	33.1	4.8	725	7017	0.22	2.47	90.95	0.842	11430	0.050	0.084	2741	2439	1076	1142	1010	0	0	0	0	0	0	14.78	14.72	14.11
7139	end climb: SURFACE_DEPTH_REACHED
state	7139	begin surface coast
7154	end surface coast: CONTROL_FINISHED_OK
state	7154	begin surface