Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 409 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 36 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 34 ALTIM_PULSE 1

DIVE 409 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 2 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 3 SIM_W 0

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 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 2125 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 175 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 24 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 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 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 0.00316228 C_ROLL_DIVE 2750 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010145 C_ROLL_CLIMB 1700 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 5.7000002e-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 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 24 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 0.00316228 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.010145 PITCH_W_DBAND 0.5 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 5.7000002e-06 PITCH_W_GAIN 3 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 2125 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 1700 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 175 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 409 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 36 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 34 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 2

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 0 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 140120,165824,1325.7489,14436.1719,1,0.7,3,0.6,0.8,153.1,12,5.9 SPEED_LIMITS 0.173,0.278

_CALLS 1 TGT_NAME PICKUP_S

_XMS_NAKs 0 TGT_LATLONG 1326.000,14436.300

_XMS_TOUTs 0 TGT_RADIUS 1500.000

_SM_DEPTHo 0.32 MHEAD_RNG_PITCHd_Wd 359.6,640,-20.6,-10.000,-23.73,1681

_SM_ANGLEo -57.2 D_GRID 454

GPS2 140120,170708,1325.6622,14436.2256,2,0.7,4,0.6,0.5,134.1,12,5.6

Post-dive calculations and measurements:

SM_CCo 6517,90.35,0.611,1,0,928,500.17 PM_ACTIVECARD 3

SM_GC 0.41,6.80,1.77,90.35,0.064,0.057,0.611,155,2724,928,-6.09,-1.72,500.17,0,0,0,0,1,0,15.11,15.11,14.48 _24V_AH 14.07,168.787

IRIDIUM_FIX 1323.90,14434.70,140120,152821 _10V_AH 11.94,0.000

TT8_MAMPS 0.019474,0.155792 FG_AHR_24Vo 0.000

HUMID 50.66 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.04332 MEM 270200

TCM_TEMP 26.60 DATA_FILE_SIZE 26727,758

XPDR_PINGS 0 CAP_FILE_SIZE 80387,0

SC_FREEKB 3697952 CFSIZE 260034560,194650112

PM_FREEKB_00 58040768 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0

PM_FREEKB_01 85563520 CURRENT 0.140,167.26,1

PM_FREEKB_02 59195968 GPS 140120,190001,1325.920,14436.591,31,0.7,38,0.6,0.4,167.4,12,3.1

PM_FREEKB_03 58014656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 388 93.91 nil 0 0 0.00

Roll_motor 52 74 55.04 nil 0 0 0.00

VBD_pump_during_apogee 458 1114 7191.60 nil 0 0 0.00

VBD_pump_during_surface 90 611 777.02 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 6527 7 681.23

Iridium_during_xfer 243 171 587.21 PMAR 6510 9 885.09

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 1.84

TT8 620 9 67.20

LPSleep 3093 2 80.88

TT8_Active 505 9 54.73

TT8_Sampling 2571 28 876.74

TT8_CF8 378 33 152.91

TT8_Kalman 0 0 0.00

Analog_circuits 1566 10 194.55

GPS_charging 0 0 0.00

Compass 2163 17 445.12

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

19 -0.90 -109.6 150 2711 988 861 0.0 0.0 0 121 0.00 0.00 -95.62 0.005 16390 0.000 0.000 150 2711 3413 3443 3384 0 0 0 0 0 0 15.35 14.07 15.28

126 -0.90 -109.6 150 2712 3443 3388 6.1 -12.6 10 146 8.05 2.10 0.00 0.000 2308 0.389 0.062 1820 3942 3415 3444 3387 0 0 0 0 0 0 14.57 14.98 14.95

375 -0.90 -109.6 1820 3943 3453 3383 105.5 -29.7 59 383 0.00 2.00 0.00 0.000 1030 0.000 0.028 1820 2690 3415 3453 3377 0 0 0 0 0 0 15.16 15.14 15.16

564 -0.90 -109.6 1820 2684 3455 3375 143.9 -18.9 78 571 0.00 2.17 0.00 0.000 260 0.000 0.071 1811 3948 3415 3454 3376 0 0 0 0 0 0 15.39 15.04 15.40

795 -0.90 -109.6 1811 3947 3458 3375 180.1 -12.8 123 803 0.00 2.00 0.00 0.000 1030 0.000 0.028 1811 2704 3414 3453 3376 0 0 0 0 0 0 15.19 15.17 15.20

982 -0.90 -109.6 1811 2699 3455 3375 207.5 -17.1 142 990 0.00 2.15 0.00 0.000 516 0.000 0.043 1811 1380 3415 3455 3375 0 0 0 0 0 0 15.41 15.08 15.42

1021 -0.90 -109.6 1811 1379 3462 3374 213.6 -16.1 148 1031 0.12 2.30 0.00 0.000 3078 0.299 0.047 1828 2755 3412 3451 3373 0 0 0 0 0 0 14.85 15.14 15.11

1213 -0.90 -109.6 1828 2755 3455 3373 237.8 -12.6 168 1220 0.00 0.00 0.00 0.000 6 0.000 0.000 1827 2755 3414 3455 3373 0 0 0 0 0 0 15.44 15.46 15.46

1412 -0.90 -109.6 1827 2755 3455 3372 261.6 -12.1 182 1415 0.00 0.00 0.00 0.000 6 0.000 0.000 1829 2755 3413 3455 3372 0 0 0 0 0 0 15.44 15.45 15.45

1711 -0.90 -109.6 1828 2755 3455 3370 301.8 -14.1 192 1717 0.00 2.03 0.00 0.000 260 0.000 0.075 1821 3946 3412 3455 3369 0 0 0 0 0 0 15.44 15.08 15.46

1945 -0.90 -109.6 1821 3946 3455 3367 332.3 -11.3 238 1951 0.00 1.90 0.00 0.000 1030 0.000 0.030 1821 2741 3410 3453 3367 0 0 0 0 0 0 15.23 15.20 15.25

2227 end dive: TARGET_DEPTH_EXCEEDED

state 2227 begin apogee

2237 -0.21 0.0 1821 1732 3453 3362 361.3 -9.4 249 2340 0.82 0.00 97.35 1.115 10246 0.210 0.000 2051 1732 2968 3043 2893 0 0 0 0 0 0 14.85 14.82 14.15

2343 end apogee: CONTROL_FINISHED_OK

state 2343 begin climb

2346 0.90 109.6 2051 1732 3043 2892 365.1 0.0 252 2463 1.12 1.95 100.78 1.103 10756 0.114 0.067 2418 648 2521 2595 2447 0 0 0 0 0 0 14.78 14.73 14.08

2689 0.90 109.6 2418 648 2588 2440 339.4 10.4 325 2697 0.00 1.75 0.00 0.000 1030 0.000 0.031 2418 1736 2515 2587 2444 0 0 0 0 0 0 15.14 15.10 15.15

3022 0.91 144.3 2418 1736 2588 2437 309.5 7.9 340 3063 0.00 1.95 31.55 1.053 8740 0.000 0.067 2419 644 2380 2456 2304 0 0 1 0 0 0 15.40 15.02 14.32

3243 0.93 185.8 2419 644 2449 2303 291.6 7.5 384 3293 0.00 1.70 38.20 1.055 9254 0.000 0.032 2419 1703 2210 2286 2134 0 0 0 0 0 0 15.17 15.11 14.30

3596 0.96 185.8 2418 1703 2288 2125 260.3 8.8 404 3603 0.00 0.00 0.00 0.000 70 0.000 0.000 2419 1703 2206 2287 2125 0 0 0 0 0 0 15.31 15.33 15.33

3896 0.99 185.8 2418 1703 2283 2124 231.8 9.3 426 3904 0.00 1.88 0.00 0.000 580 0.000 0.069 2420 657 2204 2284 2124 0 0 0 0 0 0 15.34 14.95 15.36

4026 0.99 185.8 2420 657 2281 2124 219.0 9.6 450 4031 0.00 1.67 0.00 0.000 1030 0.000 0.032 2420 1706 2202 2281 2124 0 0 0 0 0 0 15.21 15.16 15.24

4224 0.99 185.8 2420 1701 2281 2123 200.5 10.1 470 4231 0.00 2.35 0.00 0.000 260 0.000 0.057 2420 3080 2203 2283 2123 0 0 0 0 0 0 15.38 15.01 15.40

4275 0.99 185.8 2420 3078 2281 2123 195.0 9.9 478 4281 0.00 2.33 0.00 0.000 1030 0.000 0.042 2420 1710 2201 2281 2122 0 0 0 0 0 0 15.18 15.09 15.21

4478 1.00 234.9 2419 1710 2282 2127 178.5 7.0 498 4530 0.00 0.00 44.28 0.975 8230 0.000 0.000 2420 1710 2012 2089 1935 0 0 0 0 0 0 15.40 14.79 14.32

4719 1.00 234.9 2420 1710 2089 1923 161.2 9.6 522 4726 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 1710 2009 2095 1923 0 0 0 0 0 0 15.33 15.35 15.34

4904 1.00 234.9 2420 1710 2089 1922 141.7 11.6 541 4911 0.00 1.83 0.00 0.000 516 0.000 0.073 2421 639 2005 2089 1922 0 0 0 0 0 0 15.35 14.99 15.38

5148 1.05 359.0 2420 639 2086 1922 123.8 2.4 587 5266 0.12 1.70 109.88 0.896 11302 0.140 0.034 2466 1693 1504 1593 1416 0 0 0 0 0 0 15.06 15.11 14.26

5449 1.05 359.0 2466 1693 1593 1408 100.3 11.5 629 5459 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1693 1500 1593 1408 0 0 0 0 0 0 15.26 15.28 15.28

5644 1.05 359.0 2466 1693 1593 1406 79.3 9.7 648 5649 0.00 2.35 0.00 0.000 260 0.000 0.056 2466 3086 1499 1593 1406 0 0 0 0 0 0 15.33 15.02 15.34

5729 1.09 359.0 2466 3087 1593 1405 71.1 8.7 663 5736 0.00 2.40 0.00 0.000 1094 0.000 0.041 2466 1700 1498 1592 1405 0 0 0 0 0 0 15.02 14.96 15.06

5916 1.11 401.7 2466 1700 1593 1404 57.2 7.4 682 5962 0.00 1.85 36.55 0.762 8740 0.000 0.070 2466 638 1329 1424 1234 0 0 0 0 0 0 15.38 15.02 14.48

6046 1.14 401.7 2466 638 1421 1235 46.1 8.9 708 6052 0.00 1.75 0.00 0.000 1094 0.000 0.033 2466 1698 1327 1420 1234 0 0 0 0 0 0 15.09 15.06 15.12

6248 1.19 401.7 2466 1698 1420 1234 29.1 8.2 728 6258 0.12 2.33 0.00 0.000 2372 0.145 0.053 2515 3086 1326 1420 1233 0 0 0 0 0 0 15.10 15.07 15.15

6307 1.19 401.7 2515 3086 1420 1234 22.6 12.4 738 6316 0.00 2.33 0.00 0.000 1030 0.000 0.041 2520 1701 1326 1420 1233 0 0 0 0 0 0 15.16 15.08 15.19

6471 end climb: SURFACE_DEPTH_REACHED

state 6471 begin surface coast

6494 end surface coast: CONTROL_FINISHED_OK

state 6494 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	36	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	34	ALTIM_PULSE	1
DIVE	409	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	2	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	3	SIM_W	0
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	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	2125	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	175	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	24	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	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	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	0.00316228	C_ROLL_DIVE	2750	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010145	C_ROLL_CLIMB	1700	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	5.7000002e-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	140120,165824,1325.7489,14436.1719,1,0.7,3,0.6,0.8,153.1,12,5.9	SPEED_LIMITS	0.173,0.278
_CALLS	1	TGT_NAME	PICKUP_S
_XMS_NAKs	0	TGT_LATLONG	1326.000,14436.300
_XMS_TOUTs	0	TGT_RADIUS	1500.000
_SM_DEPTHo	0.32	MHEAD_RNG_PITCHd_Wd	359.6,640,-20.6,-10.000,-23.73,1681
_SM_ANGLEo	-57.2	D_GRID	454
GPS2	140120,170708,1325.6622,14436.2256,2,0.7,4,0.6,0.5,134.1,12,5.6

SM_CCo	6517,90.35,0.611,1,0,928,500.17	PM_ACTIVECARD	3
SM_GC	0.41,6.80,1.77,90.35,0.064,0.057,0.611,155,2724,928,-6.09,-1.72,500.17,0,0,0,0,1,0,15.11,15.11,14.48	_24V_AH	14.07,168.787
IRIDIUM_FIX	1323.90,14434.70,140120,152821	_10V_AH	11.94,0.000
TT8_MAMPS	0.019474,0.155792	FG_AHR_24Vo	0.000
HUMID	50.66	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.04332	MEM	270200
TCM_TEMP	26.60	DATA_FILE_SIZE	26727,758
XPDR_PINGS	0	CAP_FILE_SIZE	80387,0
SC_FREEKB	3697952	CFSIZE	260034560,194650112
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0,0
PM_FREEKB_01	85563520	CURRENT	0.140,167.26,1
PM_FREEKB_02	59195968	GPS	140120,190001,1325.920,14436.591,31,0.7,38,0.6,0.4,167.4,12,3.1
PM_FREEKB_03	58014656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	388	93.91	nil	0	0	0.00
Roll_motor	52	74	55.04	nil	0	0	0.00
VBD_pump_during_apogee	458	1114	7191.60	nil	0	0	0.00
VBD_pump_during_surface	90	611	777.02	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	6527	7	681.23
Iridium_during_xfer	243	171	587.21	PMAR	6510	9	885.09
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	1.84
TT8	620	9	67.20
LPSleep	3093	2	80.88
TT8_Active	505	9	54.73
TT8_Sampling	2571	28	876.74
TT8_CF8	378	33	152.91
TT8_Kalman	0	0	0.00
Analog_circuits	1566	10	194.55
GPS_charging	0	0	0.00
Compass	2163	17	445.12
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
19	-0.90	-109.6	150	2711	988	861	0.0	0.0	0	121	0.00	0.00	-95.62	0.005	16390	0.000	0.000	150	2711	3413	3443	3384	0	0	0	0	0	0	15.35	14.07	15.28
126	-0.90	-109.6	150	2712	3443	3388	6.1	-12.6	10	146	8.05	2.10	0.00	0.000	2308	0.389	0.062	1820	3942	3415	3444	3387	0	0	0	0	0	0	14.57	14.98	14.95
375	-0.90	-109.6	1820	3943	3453	3383	105.5	-29.7	59	383	0.00	2.00	0.00	0.000	1030	0.000	0.028	1820	2690	3415	3453	3377	0	0	0	0	0	0	15.16	15.14	15.16
564	-0.90	-109.6	1820	2684	3455	3375	143.9	-18.9	78	571	0.00	2.17	0.00	0.000	260	0.000	0.071	1811	3948	3415	3454	3376	0	0	0	0	0	0	15.39	15.04	15.40
795	-0.90	-109.6	1811	3947	3458	3375	180.1	-12.8	123	803	0.00	2.00	0.00	0.000	1030	0.000	0.028	1811	2704	3414	3453	3376	0	0	0	0	0	0	15.19	15.17	15.20
982	-0.90	-109.6	1811	2699	3455	3375	207.5	-17.1	142	990	0.00	2.15	0.00	0.000	516	0.000	0.043	1811	1380	3415	3455	3375	0	0	0	0	0	0	15.41	15.08	15.42
1021	-0.90	-109.6	1811	1379	3462	3374	213.6	-16.1	148	1031	0.12	2.30	0.00	0.000	3078	0.299	0.047	1828	2755	3412	3451	3373	0	0	0	0	0	0	14.85	15.14	15.11
1213	-0.90	-109.6	1828	2755	3455	3373	237.8	-12.6	168	1220	0.00	0.00	0.00	0.000	6	0.000	0.000	1827	2755	3414	3455	3373	0	0	0	0	0	0	15.44	15.46	15.46
1412	-0.90	-109.6	1827	2755	3455	3372	261.6	-12.1	182	1415	0.00	0.00	0.00	0.000	6	0.000	0.000	1829	2755	3413	3455	3372	0	0	0	0	0	0	15.44	15.45	15.45
1711	-0.90	-109.6	1828	2755	3455	3370	301.8	-14.1	192	1717	0.00	2.03	0.00	0.000	260	0.000	0.075	1821	3946	3412	3455	3369	0	0	0	0	0	0	15.44	15.08	15.46
1945	-0.90	-109.6	1821	3946	3455	3367	332.3	-11.3	238	1951	0.00	1.90	0.00	0.000	1030	0.000	0.030	1821	2741	3410	3453	3367	0	0	0	0	0	0	15.23	15.20	15.25
2227	end dive: TARGET_DEPTH_EXCEEDED
state	2227	begin apogee
2237	-0.21	0.0	1821	1732	3453	3362	361.3	-9.4	249	2340	0.82	0.00	97.35	1.115	10246	0.210	0.000	2051	1732	2968	3043	2893	0	0	0	0	0	0	14.85	14.82	14.15
2343	end apogee: CONTROL_FINISHED_OK
state	2343	begin climb
2346	0.90	109.6	2051	1732	3043	2892	365.1	0.0	252	2463	1.12	1.95	100.78	1.103	10756	0.114	0.067	2418	648	2521	2595	2447	0	0	0	0	0	0	14.78	14.73	14.08
2689	0.90	109.6	2418	648	2588	2440	339.4	10.4	325	2697	0.00	1.75	0.00	0.000	1030	0.000	0.031	2418	1736	2515	2587	2444	0	0	0	0	0	0	15.14	15.10	15.15
3022	0.91	144.3	2418	1736	2588	2437	309.5	7.9	340	3063	0.00	1.95	31.55	1.053	8740	0.000	0.067	2419	644	2380	2456	2304	0	0	1	0	0	0	15.40	15.02	14.32
3243	0.93	185.8	2419	644	2449	2303	291.6	7.5	384	3293	0.00	1.70	38.20	1.055	9254	0.000	0.032	2419	1703	2210	2286	2134	0	0	0	0	0	0	15.17	15.11	14.30
3596	0.96	185.8	2418	1703	2288	2125	260.3	8.8	404	3603	0.00	0.00	0.00	0.000	70	0.000	0.000	2419	1703	2206	2287	2125	0	0	0	0	0	0	15.31	15.33	15.33
3896	0.99	185.8	2418	1703	2283	2124	231.8	9.3	426	3904	0.00	1.88	0.00	0.000	580	0.000	0.069	2420	657	2204	2284	2124	0	0	0	0	0	0	15.34	14.95	15.36
4026	0.99	185.8	2420	657	2281	2124	219.0	9.6	450	4031	0.00	1.67	0.00	0.000	1030	0.000	0.032	2420	1706	2202	2281	2124	0	0	0	0	0	0	15.21	15.16	15.24
4224	0.99	185.8	2420	1701	2281	2123	200.5	10.1	470	4231	0.00	2.35	0.00	0.000	260	0.000	0.057	2420	3080	2203	2283	2123	0	0	0	0	0	0	15.38	15.01	15.40
4275	0.99	185.8	2420	3078	2281	2123	195.0	9.9	478	4281	0.00	2.33	0.00	0.000	1030	0.000	0.042	2420	1710	2201	2281	2122	0	0	0	0	0	0	15.18	15.09	15.21
4478	1.00	234.9	2419	1710	2282	2127	178.5	7.0	498	4530	0.00	0.00	44.28	0.975	8230	0.000	0.000	2420	1710	2012	2089	1935	0	0	0	0	0	0	15.40	14.79	14.32
4719	1.00	234.9	2420	1710	2089	1923	161.2	9.6	522	4726	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	1710	2009	2095	1923	0	0	0	0	0	0	15.33	15.35	15.34
4904	1.00	234.9	2420	1710	2089	1922	141.7	11.6	541	4911	0.00	1.83	0.00	0.000	516	0.000	0.073	2421	639	2005	2089	1922	0	0	0	0	0	0	15.35	14.99	15.38
5148	1.05	359.0	2420	639	2086	1922	123.8	2.4	587	5266	0.12	1.70	109.88	0.896	11302	0.140	0.034	2466	1693	1504	1593	1416	0	0	0	0	0	0	15.06	15.11	14.26
5449	1.05	359.0	2466	1693	1593	1408	100.3	11.5	629	5459	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	1693	1500	1593	1408	0	0	0	0	0	0	15.26	15.28	15.28
5644	1.05	359.0	2466	1693	1593	1406	79.3	9.7	648	5649	0.00	2.35	0.00	0.000	260	0.000	0.056	2466	3086	1499	1593	1406	0	0	0	0	0	0	15.33	15.02	15.34
5729	1.09	359.0	2466	3087	1593	1405	71.1	8.7	663	5736	0.00	2.40	0.00	0.000	1094	0.000	0.041	2466	1700	1498	1592	1405	0	0	0	0	0	0	15.02	14.96	15.06
5916	1.11	401.7	2466	1700	1593	1404	57.2	7.4	682	5962	0.00	1.85	36.55	0.762	8740	0.000	0.070	2466	638	1329	1424	1234	0	0	0	0	0	0	15.38	15.02	14.48
6046	1.14	401.7	2466	638	1421	1235	46.1	8.9	708	6052	0.00	1.75	0.00	0.000	1094	0.000	0.033	2466	1698	1327	1420	1234	0	0	0	0	0	0	15.09	15.06	15.12
6248	1.19	401.7	2466	1698	1420	1234	29.1	8.2	728	6258	0.12	2.33	0.00	0.000	2372	0.145	0.053	2515	3086	1326	1420	1233	0	0	0	0	0	0	15.10	15.07	15.15
6307	1.19	401.7	2515	3086	1420	1234	22.6	12.4	738	6316	0.00	2.33	0.00	0.000	1030	0.000	0.041	2520	1701	1326	1420	1233	0	0	0	0	0	0	15.16	15.08	15.19
6471	end climb: SURFACE_DEPTH_REACHED
state	6471	begin surface coast
6494	end surface coast: CONTROL_FINISHED_OK
state	6494	begin surface