Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 56 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 47 ALTIM_PULSE 1

DIVE 4 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 160 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 2800 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010078 C_ROLL_CLIMB 2000 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 160

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 2000 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2800 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 4 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 56 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 47 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 031019,050426,1323.7284,14436.3740,1,0.7,2,0.6,0.3,175.9,11,8.8 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 0.63 MHEAD_RNG_PITCHd_Wd 338.3,10578,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -56.5 D_GRID 761

GPS2 031019,050745,1323.6875,14436.3691,2,0.7,3,0.6,0.3,191.9,11,5.9

Post-dive calculations and measurements:

SM_CCo 6470,65.68,0.668,1,0,929,500.17 PM_ACTIVECARD 0

SM_GC 0.57,6.95,1.30,65.68,0.095,0.061,0.668,158,2793,929,-6.34,-1.10,500.17,0,0,0,0,1,0,15.37,15.39,14.87 _24V_AH 14.51,3.761

IRIDIUM_FIX 1319.85,14439.59,031019,050120 _10V_AH 13.74,0.000

TT8_MAMPS 0.019474,0.163282 FG_AHR_24Vo 0.000

HUMID 52.91 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.13121 MEM 271148

TCM_TEMP 26.80 DATA_FILE_SIZE 30029,871

XPDR_PINGS 0 CAP_FILE_SIZE 102970,0

SC_FREEKB 3875808 CFSIZE 260034560,257454080

PM_FREEKB_00 124646272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.090,151.41,1

PM_FREEKB_02 124821056 GPS 031019,065839,1324.340,14436.578,5,1.0,12,0.6,0.6,145.0,7,5.0

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 429 116.76 nil 0 0 0.00

Roll_motor 61 88 79.35 nil 0 0 0.00

VBD_pump_during_apogee 510 1206 8937.15 nil 0 0 0.00

VBD_pump_during_surface 65 667 636.42 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 6444 8 774.57

Iridium_during_xfer 0 0 0.00 PMAR 6447 4 435.36

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 9 1.99

TT8 700 9 87.32

LPSleep 3036 2 91.37

TT8_Active 539 9 67.28

TT8_Sampling 2274 28 892.41

TT8_CF8 91 33 42.63

TT8_Kalman 0 0 0.00

Analog_circuits 1375 10 196.51

GPS_charging 0 0 0.00

Compass 2134 17 505.32

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 -146.0 156 2810 990 862 0.0 0.0 0 119 0.00 0.00 -99.20 0.005 16390 0.000 0.000 156 2810 3565 3605 3526 0 0 0 0 0 0 15.69 14.59 15.68

122 -0.73 -146.0 156 2810 3606 3526 6.7 -13.2 10 140 8.55 1.83 0.00 0.000 2308 0.429 0.066 1949 3935 3566 3607 3525 0 0 0 0 0 0 15.26 15.44 15.50

325 -0.67 -146.0 1948 3935 3612 3519 64.8 -19.0 51 334 0.10 1.77 0.00 0.000 3206 0.239 0.036 1977 2781 3565 3613 3518 0 0 0 0 0 0 15.36 15.52 15.47

515 -0.72 -146.0 1976 2781 3613 3516 92.4 -15.0 70 520 0.00 1.90 0.00 0.000 388 0.000 0.085 1971 3930 3564 3613 3516 0 0 0 0 0 0 15.69 15.46 15.70

699 -0.77 -146.0 1973 3930 3613 3516 120.5 -12.7 106 704 0.00 1.70 0.00 0.000 1158 0.000 0.036 1971 2786 3564 3613 3516 0 0 0 0 0 0 15.59 15.54 15.59

894 -0.88 -146.0 1971 2785 3609 3516 141.5 -9.9 126 901 0.15 2.10 0.00 0.000 4772 0.134 0.041 1911 1441 3564 3614 3515 0 0 0 0 0 0 15.47 15.50 15.53

989 -0.88 -146.0 1911 1440 3614 3515 154.2 -13.9 144 994 0.00 2.20 0.00 0.000 1030 0.000 0.060 1912 2787 3564 3614 3515 0 0 0 0 0 0 15.56 15.48 15.58

1182 -0.93 -146.0 1911 2787 3614 3517 177.6 -13.8 164 1188 0.00 1.90 0.00 0.000 388 0.000 0.086 1906 3949 3564 3614 3514 0 0 0 0 0 0 15.71 15.47 15.71

1418 -0.98 -146.0 1906 3949 3615 3515 201.9 -9.5 210 1424 0.00 1.70 0.00 0.000 1190 0.000 0.036 1906 2796 3564 3614 3514 0 0 0 0 0 0 15.59 15.55 15.60

1614 -1.07 -146.0 1905 2791 3614 3513 215.8 -7.7 230 1620 0.15 1.92 0.00 0.000 4516 0.133 0.085 1841 3942 3563 3614 3512 0 0 0 0 0 0 15.49 15.46 15.53

1849 -1.02 -146.0 1840 3943 3614 3511 244.4 -11.9 276 1855 0.12 1.70 0.00 0.000 3206 0.282 0.038 1867 2813 3562 3614 3511 0 0 0 0 0 0 15.38 15.54 15.54

2053 -1.06 -146.0 1866 2811 3614 3509 268.9 -12.7 287 2059 0.00 1.90 0.00 0.000 388 0.000 0.089 1863 3951 3561 3614 3508 0 0 0 0 0 0 15.69 15.46 15.71

2259 -1.06 -146.0 1863 3951 3614 3505 290.4 -11.2 328 2266 0.00 1.80 0.00 0.000 1030 0.000 0.037 1863 2810 3559 3614 3504 0 0 0 0 0 0 15.54 15.52 15.56

2567 -1.13 -146.0 1862 2804 3612 3500 328.0 -12.4 339 2572 0.00 2.22 0.00 0.000 644 0.000 0.051 1862 1405 3555 3612 3499 0 0 0 0 0 0 15.71 15.48 15.70

2729 -1.20 -146.0 1862 1405 3607 3499 345.1 -9.6 371 2737 0.15 2.33 0.00 0.000 5286 0.145 0.066 1810 2806 3554 3609 3499 0 0 0 0 0 0 15.47 15.47 15.54

2868 end dive: TARGET_DEPTH_EXCEEDED

state 2868 begin apogee

2874 -0.19 0.0 1810 2000 3608 3497 360.8 -11.4 379 3008 1.12 0.00 128.12 1.206 10246 0.230 0.000 2132 2000 2968 3051 2886 0 0 0 0 0 0 15.36 15.07 14.56

3017 end apogee: CONTROL_FINISHED_OK

state 3017 begin climb

3019 0.73 146.0 2132 2000 3051 2882 362.2 0.0 383 3159 0.88 0.00 133.38 1.167 10758 0.097 0.000 2434 2000 2372 2455 2290 0 0 0 0 0 0 15.07 14.97 14.51

3441 0.66 146.0 2434 2000 2452 2279 309.6 15.0 418 3446 0.00 2.25 0.00 0.000 644 0.000 0.080 2436 649 2365 2453 2278 0 0 0 0 0 0 15.55 15.35 15.57

3673 0.58 146.0 2435 649 2446 2279 278.9 12.0 464 3684 0.20 2.22 0.00 0.000 5254 0.272 0.051 2388 2026 2361 2445 2278 0 0 0 0 0 0 15.30 15.42 15.47

3984 0.60 192.1 2388 2026 2446 2275 252.4 7.9 476 4033 0.00 2.38 39.38 1.144 8740 0.000 0.080 2389 654 2186 2274 2098 0 0 0 0 0 0 15.64 15.21 14.79

4260 0.65 192.1 2389 655 2263 2098 225.2 11.0 531 4267 0.00 2.22 0.00 0.000 1158 0.000 0.052 2389 1997 2179 2262 2096 0 0 0 0 0 0 15.42 15.37 15.44

4448 0.71 237.0 2389 1997 2263 2094 208.0 7.9 550 4497 0.12 2.42 40.38 1.116 10660 0.158 0.080 2435 3401 2000 2090 1910 0 0 0 0 0 0 15.40 15.14 14.76

4541 0.67 237.0 2434 3402 2090 1906 198.3 12.3 568 4547 0.00 2.30 0.00 0.000 1158 0.000 0.050 2435 2002 1998 2090 1907 0 0 0 0 0 0 15.33 15.26 15.35

4735 0.67 240.6 2435 2006 2090 1902 177.7 9.8 588 4746 0.00 2.33 4.03 0.718 8740 0.000 0.081 2435 629 1986 2080 1893 0 0 0 0 0 0 15.55 15.28 14.85

4972 0.67 240.6 2434 628 2075 1893 149.1 10.7 635 4979 0.00 2.28 0.00 0.000 1030 0.000 0.050 2435 2001 1983 2074 1893 0 0 0 0 0 0 15.43 15.40 15.46

5160 0.73 299.6 2434 2001 2075 1892 134.9 7.3 654 5219 0.00 2.35 51.58 1.055 8868 0.000 0.077 2435 638 1745 1834 1656 0 0 0 0 0 0 15.61 15.11 14.73

5446 0.83 356.2 2434 638 1826 1656 110.2 7.4 711 5504 0.08 2.25 48.67 1.039 11430 0.111 0.049 2472 2000 1515 1607 1423 0 0 0 0 0 0 15.31 15.33 14.67

5684 0.92 391.2 2471 2000 1608 1417 88.8 8.4 740 5723 0.00 2.35 30.25 0.974 8868 0.000 0.078 2471 646 1373 1466 1280 0 0 0 0 0 0 15.49 15.14 14.76

5949 1.07 432.2 2472 645 1460 1281 63.9 8.1 793 5996 0.17 2.22 34.78 0.915 11430 0.091 0.047 2545 1994 1205 1297 1114 0 0 0 0 0 0 15.33 15.33 14.81

6176 1.12 432.2 2546 1995 1297 1110 37.1 14.1 820 6182 0.00 2.28 0.00 0.000 644 0.000 0.075 2546 637 1204 1297 1111 0 0 0 0 0 0 15.52 15.30 15.53

6411 1.18 432.2 2545 637 1296 1111 5.5 12.5 866 6417 0.00 2.20 0.00 0.000 1158 0.000 0.045 2546 2008 1203 1296 1111 0 0 0 0 0 0 15.45 15.39 15.47

6432 end climb: SURFACE_DEPTH_REACHED

state 6433 begin surface coast

6453 end surface coast: CONTROL_FINISHED_OK

state 6453 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	56	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	47	ALTIM_PULSE	1
DIVE	4	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	160	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	2800	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010078	C_ROLL_CLIMB	2000	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	031019,050426,1323.7284,14436.3740,1,0.7,2,0.6,0.3,175.9,11,8.8	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	0.63	MHEAD_RNG_PITCHd_Wd	338.3,10578,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-56.5	D_GRID	761
GPS2	031019,050745,1323.6875,14436.3691,2,0.7,3,0.6,0.3,191.9,11,5.9

SM_CCo	6470,65.68,0.668,1,0,929,500.17	PM_ACTIVECARD	0
SM_GC	0.57,6.95,1.30,65.68,0.095,0.061,0.668,158,2793,929,-6.34,-1.10,500.17,0,0,0,0,1,0,15.37,15.39,14.87	_24V_AH	14.51,3.761
IRIDIUM_FIX	1319.85,14439.59,031019,050120	_10V_AH	13.74,0.000
TT8_MAMPS	0.019474,0.163282	FG_AHR_24Vo	0.000
HUMID	52.91	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.13121	MEM	271148
TCM_TEMP	26.80	DATA_FILE_SIZE	30029,871
XPDR_PINGS	0	CAP_FILE_SIZE	102970,0
SC_FREEKB	3875808	CFSIZE	260034560,257454080
PM_FREEKB_00	124646272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.090,151.41,1
PM_FREEKB_02	124821056	GPS	031019,065839,1324.340,14436.578,5,1.0,12,0.6,0.6,145.0,7,5.0
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	429	116.76	nil	0	0	0.00
Roll_motor	61	88	79.35	nil	0	0	0.00
VBD_pump_during_apogee	510	1206	8937.15	nil	0	0	0.00
VBD_pump_during_surface	65	667	636.42	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	6444	8	774.57
Iridium_during_xfer	0	0	0.00	PMAR	6447	4	435.36
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	9	1.99
TT8	700	9	87.32
LPSleep	3036	2	91.37
TT8_Active	539	9	67.28
TT8_Sampling	2274	28	892.41
TT8_CF8	91	33	42.63
TT8_Kalman	0	0	0.00
Analog_circuits	1375	10	196.51
GPS_charging	0	0	0.00
Compass	2134	17	505.32
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	156	2810	990	862	0.0	0.0	0	119	0.00	0.00	-99.20	0.005	16390	0.000	0.000	156	2810	3565	3605	3526	0	0	0	0	0	0	15.69	14.59	15.68
122	-0.73	-146.0	156	2810	3606	3526	6.7	-13.2	10	140	8.55	1.83	0.00	0.000	2308	0.429	0.066	1949	3935	3566	3607	3525	0	0	0	0	0	0	15.26	15.44	15.50
325	-0.67	-146.0	1948	3935	3612	3519	64.8	-19.0	51	334	0.10	1.77	0.00	0.000	3206	0.239	0.036	1977	2781	3565	3613	3518	0	0	0	0	0	0	15.36	15.52	15.47
515	-0.72	-146.0	1976	2781	3613	3516	92.4	-15.0	70	520	0.00	1.90	0.00	0.000	388	0.000	0.085	1971	3930	3564	3613	3516	0	0	0	0	0	0	15.69	15.46	15.70
699	-0.77	-146.0	1973	3930	3613	3516	120.5	-12.7	106	704	0.00	1.70	0.00	0.000	1158	0.000	0.036	1971	2786	3564	3613	3516	0	0	0	0	0	0	15.59	15.54	15.59
894	-0.88	-146.0	1971	2785	3609	3516	141.5	-9.9	126	901	0.15	2.10	0.00	0.000	4772	0.134	0.041	1911	1441	3564	3614	3515	0	0	0	0	0	0	15.47	15.50	15.53
989	-0.88	-146.0	1911	1440	3614	3515	154.2	-13.9	144	994	0.00	2.20	0.00	0.000	1030	0.000	0.060	1912	2787	3564	3614	3515	0	0	0	0	0	0	15.56	15.48	15.58
1182	-0.93	-146.0	1911	2787	3614	3517	177.6	-13.8	164	1188	0.00	1.90	0.00	0.000	388	0.000	0.086	1906	3949	3564	3614	3514	0	0	0	0	0	0	15.71	15.47	15.71
1418	-0.98	-146.0	1906	3949	3615	3515	201.9	-9.5	210	1424	0.00	1.70	0.00	0.000	1190	0.000	0.036	1906	2796	3564	3614	3514	0	0	0	0	0	0	15.59	15.55	15.60
1614	-1.07	-146.0	1905	2791	3614	3513	215.8	-7.7	230	1620	0.15	1.92	0.00	0.000	4516	0.133	0.085	1841	3942	3563	3614	3512	0	0	0	0	0	0	15.49	15.46	15.53
1849	-1.02	-146.0	1840	3943	3614	3511	244.4	-11.9	276	1855	0.12	1.70	0.00	0.000	3206	0.282	0.038	1867	2813	3562	3614	3511	0	0	0	0	0	0	15.38	15.54	15.54
2053	-1.06	-146.0	1866	2811	3614	3509	268.9	-12.7	287	2059	0.00	1.90	0.00	0.000	388	0.000	0.089	1863	3951	3561	3614	3508	0	0	0	0	0	0	15.69	15.46	15.71
2259	-1.06	-146.0	1863	3951	3614	3505	290.4	-11.2	328	2266	0.00	1.80	0.00	0.000	1030	0.000	0.037	1863	2810	3559	3614	3504	0	0	0	0	0	0	15.54	15.52	15.56
2567	-1.13	-146.0	1862	2804	3612	3500	328.0	-12.4	339	2572	0.00	2.22	0.00	0.000	644	0.000	0.051	1862	1405	3555	3612	3499	0	0	0	0	0	0	15.71	15.48	15.70
2729	-1.20	-146.0	1862	1405	3607	3499	345.1	-9.6	371	2737	0.15	2.33	0.00	0.000	5286	0.145	0.066	1810	2806	3554	3609	3499	0	0	0	0	0	0	15.47	15.47	15.54
2868	end dive: TARGET_DEPTH_EXCEEDED
state	2868	begin apogee
2874	-0.19	0.0	1810	2000	3608	3497	360.8	-11.4	379	3008	1.12	0.00	128.12	1.206	10246	0.230	0.000	2132	2000	2968	3051	2886	0	0	0	0	0	0	15.36	15.07	14.56
3017	end apogee: CONTROL_FINISHED_OK
state	3017	begin climb
3019	0.73	146.0	2132	2000	3051	2882	362.2	0.0	383	3159	0.88	0.00	133.38	1.167	10758	0.097	0.000	2434	2000	2372	2455	2290	0	0	0	0	0	0	15.07	14.97	14.51
3441	0.66	146.0	2434	2000	2452	2279	309.6	15.0	418	3446	0.00	2.25	0.00	0.000	644	0.000	0.080	2436	649	2365	2453	2278	0	0	0	0	0	0	15.55	15.35	15.57
3673	0.58	146.0	2435	649	2446	2279	278.9	12.0	464	3684	0.20	2.22	0.00	0.000	5254	0.272	0.051	2388	2026	2361	2445	2278	0	0	0	0	0	0	15.30	15.42	15.47
3984	0.60	192.1	2388	2026	2446	2275	252.4	7.9	476	4033	0.00	2.38	39.38	1.144	8740	0.000	0.080	2389	654	2186	2274	2098	0	0	0	0	0	0	15.64	15.21	14.79
4260	0.65	192.1	2389	655	2263	2098	225.2	11.0	531	4267	0.00	2.22	0.00	0.000	1158	0.000	0.052	2389	1997	2179	2262	2096	0	0	0	0	0	0	15.42	15.37	15.44
4448	0.71	237.0	2389	1997	2263	2094	208.0	7.9	550	4497	0.12	2.42	40.38	1.116	10660	0.158	0.080	2435	3401	2000	2090	1910	0	0	0	0	0	0	15.40	15.14	14.76
4541	0.67	237.0	2434	3402	2090	1906	198.3	12.3	568	4547	0.00	2.30	0.00	0.000	1158	0.000	0.050	2435	2002	1998	2090	1907	0	0	0	0	0	0	15.33	15.26	15.35
4735	0.67	240.6	2435	2006	2090	1902	177.7	9.8	588	4746	0.00	2.33	4.03	0.718	8740	0.000	0.081	2435	629	1986	2080	1893	0	0	0	0	0	0	15.55	15.28	14.85
4972	0.67	240.6	2434	628	2075	1893	149.1	10.7	635	4979	0.00	2.28	0.00	0.000	1030	0.000	0.050	2435	2001	1983	2074	1893	0	0	0	0	0	0	15.43	15.40	15.46
5160	0.73	299.6	2434	2001	2075	1892	134.9	7.3	654	5219	0.00	2.35	51.58	1.055	8868	0.000	0.077	2435	638	1745	1834	1656	0	0	0	0	0	0	15.61	15.11	14.73
5446	0.83	356.2	2434	638	1826	1656	110.2	7.4	711	5504	0.08	2.25	48.67	1.039	11430	0.111	0.049	2472	2000	1515	1607	1423	0	0	0	0	0	0	15.31	15.33	14.67
5684	0.92	391.2	2471	2000	1608	1417	88.8	8.4	740	5723	0.00	2.35	30.25	0.974	8868	0.000	0.078	2471	646	1373	1466	1280	0	0	0	0	0	0	15.49	15.14	14.76
5949	1.07	432.2	2472	645	1460	1281	63.9	8.1	793	5996	0.17	2.22	34.78	0.915	11430	0.091	0.047	2545	1994	1205	1297	1114	0	0	0	0	0	0	15.33	15.33	14.81
6176	1.12	432.2	2546	1995	1297	1110	37.1	14.1	820	6182	0.00	2.28	0.00	0.000	644	0.000	0.075	2546	637	1204	1297	1111	0	0	0	0	0	0	15.52	15.30	15.53
6411	1.18	432.2	2545	637	1296	1111	5.5	12.5	866	6417	0.00	2.20	0.00	0.000	1158	0.000	0.045	2546	2008	1203	1296	1111	0	0	0	0	0	0	15.45	15.39	15.47
6432	end climb: SURFACE_DEPTH_REACHED
state	6433	begin surface coast
6453	end surface coast: CONTROL_FINISHED_OK
state	6453	begin surface