Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 410 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 27 ALTIM_PULSE 1

DIVE 410 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 410 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 30 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 27 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 140120,190001,1325.9196,14436.5908,31,0.7,38,0.6,0.4,167.4,12,3.1 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 0.28 MHEAD_RNG_PITCHd_Wd 325.6,578,-24.4,-10.000,-27.20,1221

_SM_ANGLEo -53.2 D_GRID 442

GPS2 140120,190911,1325.9045,14436.6055,2,0.6,4,0.6,0.2,184.3,12,3.3

Post-dive calculations and measurements:

WARN HPMAR missed fuel gauge read PM_FREEKB_03 57852864

SM_CCo 6328,161.77,0.642,1,0,927,500.17 PM_ACTIVECARD 3

SM_GC 0.37,6.82,1.75,161.77,0.071,0.053,0.642,158,2732,927,-6.09,-1.39,500.17,0,0,0,0,1,0,15.11,15.13,14.42 _24V_AH 13.35,169.010

IRIDIUM_FIX 1326.59,14438.31,140120,170256 _10V_AH 12.16,0.000

TT8_MAMPS 0.019474,0.155792 FG_AHR_24Vo 0.000

HUMID 50.98 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.04332 MEM 270248

TCM_TEMP 26.20 DATA_FILE_SIZE 30014,853

XPDR_PINGS 0 CAP_FILE_SIZE 84119,0

SC_FREEKB 3697568 CFSIZE 260034560,194560000

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

PM_FREEKB_01 85563520 CURRENT 0.070,141.47,1

PM_FREEKB_02 59195968 GPS 140120,205943,1326.294,14436.881,7,1.0,9,0.6,0.3,327.2,8,6.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 378 86.19 nil 0 0 0.00

Roll_motor 53 77 55.57 nil 0 0 0.00

VBD_pump_during_apogee 354 1099 5195.57 nil 0 0 0.00

VBD_pump_during_surface 161 641 1386.17 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 6333 7 625.81

Iridium_during_xfer 264 171 604.40 PMAR 6323 11 979.26

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 1.91

TT8 707 9 78.04

LPSleep 2887 2 76.90

TT8_Active 483 9 53.28

TT8_Sampling 2619 28 909.24

TT8_CF8 385 33 158.57

TT8_Kalman 0 0 0.00

Analog_circuits 1594 10 201.69

GPS_charging 0 0 0.00

Compass 2170 17 454.86

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.05 -79.5 155 2725 994 859 0.0 0.0 0 126 0.00 0.00 -93.20 0.005 16390 0.000 0.000 155 2730 3295 3322 3268 0 0 0 0 0 0 15.36 13.35 15.33

131 -1.05 -79.5 154 2725 3321 3268 5.8 -11.9 10 150 7.62 2.08 0.00 0.000 2308 0.379 0.060 1771 3946 3294 3322 3266 0 0 0 0 0 0 14.59 15.00 14.95

379 -1.05 -79.5 1770 3946 3322 3266 105.7 -34.4 59 386 0.00 2.00 0.00 0.000 1030 0.000 0.026 1771 2682 3294 3323 3266 0 0 0 0 0 0 15.16 15.19 15.19

566 -1.05 -79.5 1770 2676 3325 3265 145.7 -12.7 78 575 0.00 2.17 0.00 0.000 260 0.000 0.070 1762 3946 3294 3325 3264 0 0 0 0 0 0 15.40 15.04 15.42

809 -1.05 -79.5 1761 3946 3326 3265 184.5 -15.1 124 816 0.00 1.95 0.00 0.000 1030 0.000 0.027 1761 2685 3295 3326 3265 0 0 0 0 0 0 15.25 15.22 15.29

1005 -1.05 -79.5 1760 2679 3327 3265 210.2 -11.5 144 1011 0.00 2.17 0.00 0.000 260 0.000 0.073 1752 3945 3296 3327 3265 0 0 0 0 0 0 15.45 15.10 15.47

1179 -1.05 -79.5 1752 3945 3327 3264 233.7 -16.1 176 1185 0.15 1.95 0.00 0.000 3078 0.302 0.028 1781 2676 3295 3327 3264 0 0 0 0 0 0 14.83 15.26 15.11

1386 -1.05 -79.5 1781 2677 3334 3263 267.8 -17.9 191 1392 0.00 2.20 0.00 0.000 260 0.000 0.075 1774 3943 3295 3327 3263 0 0 0 0 0 0 15.45 15.09 15.46

1491 -1.05 -79.5 1774 3943 3326 3262 283.1 -12.8 211 1497 0.00 1.98 0.00 0.000 1030 0.000 0.028 1776 2685 3294 3326 3262 0 0 0 0 0 0 15.29 15.26 15.30

1816 -1.05 -79.5 1773 2678 3326 3258 320.9 -11.8 225 1823 0.00 2.20 0.00 0.000 260 0.000 0.077 1764 3945 3290 3326 3254 0 0 0 0 0 0 15.45 15.08 15.47

2051 -1.05 -79.5 1764 3945 3326 3254 352.1 -10.0 271 2056 0.00 1.98 0.00 0.000 1030 0.000 0.029 1765 2694 3290 3326 3254 0 0 0 0 0 0 15.28 15.25 15.30

2152 end dive: TARGET_DEPTH_EXCEEDED

state 2152 begin apogee

2161 -0.21 0.0 1765 1684 3326 3252 362.6 -10.2 276 2239 1.08 0.00 72.38 1.099 10246 0.233 0.000 2054 1686 2967 3038 2897 0 0 0 0 0 0 14.79 14.90 14.21

2251 end apogee: CONTROL_FINISHED_OK

state 2252 begin climb

2256 1.05 79.5 2053 1686 3038 2895 365.8 0.0 278 2342 1.25 1.85 74.62 1.097 10756 0.114 0.067 2462 645 2642 2712 2572 0 0 0 0 0 0 14.88 14.76 14.14

2571 1.06 108.4 2467 645 2704 2569 345.4 7.6 346 2605 0.00 1.80 27.00 1.052 9254 0.000 0.034 2461 1721 2526 2599 2453 0 0 0 0 0 0 15.11 15.08 14.31

2928 1.09 108.4 2461 1721 2599 2446 320.6 8.9 366 2933 0.00 1.85 0.00 0.000 580 0.000 0.065 2463 644 2522 2599 2445 0 0 0 0 0 0 15.38 15.03 15.39

3162 1.11 151.4 2463 644 2593 2445 297.2 6.4 412 3214 0.00 1.75 39.50 1.065 9254 0.000 0.035 2463 1696 2350 2426 2275 0 0 0 0 0 0 15.17 15.13 14.34

3539 1.11 151.4 2462 1699 2424 2266 267.7 9.7 436 3548 0.00 1.83 0.00 0.000 516 0.000 0.067 2464 640 2344 2423 2266 0 0 0 0 0 0 15.35 15.00 15.36

3779 1.13 223.5 2464 641 2420 2266 249.7 3.9 482 3858 0.00 1.73 64.70 1.037 9254 0.000 0.036 2464 1707 2056 2133 1979 0 0 0 0 0 0 15.20 15.10 14.30

4039 1.13 223.5 2464 1707 2133 1972 215.8 10.1 516 4044 0.00 1.88 0.00 0.000 516 0.000 0.070 2464 627 2052 2133 1972 0 0 0 0 0 0 15.31 14.95 15.33

4289 1.13 223.5 2464 625 2127 1972 192.4 13.1 562 4297 0.00 1.75 0.00 0.000 1030 0.000 0.035 2470 1694 2050 2128 1972 0 0 0 0 0 0 15.14 15.07 15.16

4488 1.13 223.5 2464 1694 2126 1970 161.2 12.6 582 4494 0.00 1.85 0.00 0.000 516 0.000 0.069 2464 636 2049 2128 1971 0 0 0 0 0 0 15.40 15.01 15.40

4732 1.15 256.3 2469 636 2125 1975 138.3 7.2 628 4773 0.00 1.75 29.02 0.919 9254 0.000 0.034 2464 1710 1922 2003 1842 0 0 0 0 0 0 15.19 15.11 14.39

4953 1.17 256.3 2464 1710 2003 1836 115.1 9.1 654 4959 0.12 1.85 0.00 0.000 2628 0.153 0.066 2509 646 1919 2003 1836 0 0 0 0 0 0 15.03 14.97 15.09

5190 1.19 256.3 2508 649 2001 1835 96.8 9.4 700 5199 0.00 1.73 0.00 0.000 1094 0.000 0.033 2508 1712 1919 2002 1836 0 0 0 0 0 0 15.14 15.09 15.16

5388 1.21 310.1 2508 1712 2001 1835 83.7 5.5 720 5445 0.00 2.35 46.80 0.837 8484 0.000 0.057 2509 3095 1702 1785 1620 0 0 0 0 0 0 15.41 14.83 14.40

5649 1.23 310.1 2508 3094 1785 1614 62.3 9.4 770 5655 0.00 2.35 0.00 0.000 1094 0.000 0.040 2509 1701 1699 1785 1614 0 0 0 0 0 0 15.15 15.07 15.17

5849 1.23 310.1 2508 1701 1786 1614 44.3 9.7 790 5857 0.00 1.80 0.00 0.000 516 0.000 0.070 2509 638 1699 1785 1613 0 0 0 0 0 0 15.33 14.97 15.34

6043 1.28 310.1 2515 638 1785 1614 25.0 8.2 826 6048 0.00 1.70 0.00 0.000 1094 0.000 0.031 2509 1701 1702 1790 1614 0 0 0 0 0 0 15.21 15.15 15.23

6240 1.28 310.1 2508 1701 1786 1614 6.6 10.7 846 6250 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 1702 1697 1780 1614 0 0 0 0 0 0 15.37 15.39 15.38

6277 end climb: SURFACE_DEPTH_REACHED

state 6277 begin surface coast

6306 end surface coast: CONTROL_FINISHED_OK

state 6306 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	27	ALTIM_PULSE	1
DIVE	410	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	140120,190001,1325.9196,14436.5908,31,0.7,38,0.6,0.4,167.4,12,3.1	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	0.28	MHEAD_RNG_PITCHd_Wd	325.6,578,-24.4,-10.000,-27.20,1221
_SM_ANGLEo	-53.2	D_GRID	442
GPS2	140120,190911,1325.9045,14436.6055,2,0.6,4,0.6,0.2,184.3,12,3.3

WARN	HPMAR missed fuel gauge read	PM_FREEKB_03	57852864
SM_CCo	6328,161.77,0.642,1,0,927,500.17	PM_ACTIVECARD	3
SM_GC	0.37,6.82,1.75,161.77,0.071,0.053,0.642,158,2732,927,-6.09,-1.39,500.17,0,0,0,0,1,0,15.11,15.13,14.42	_24V_AH	13.35,169.010
IRIDIUM_FIX	1326.59,14438.31,140120,170256	_10V_AH	12.16,0.000
TT8_MAMPS	0.019474,0.155792	FG_AHR_24Vo	0.000
HUMID	50.98	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.04332	MEM	270248
TCM_TEMP	26.20	DATA_FILE_SIZE	30014,853
XPDR_PINGS	0	CAP_FILE_SIZE	84119,0
SC_FREEKB	3697568	CFSIZE	260034560,194560000
PM_FREEKB_00	58040768	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	85563520	CURRENT	0.070,141.47,1
PM_FREEKB_02	59195968	GPS	140120,205943,1326.294,14436.881,7,1.0,9,0.6,0.3,327.2,8,6.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	378	86.19	nil	0	0	0.00
Roll_motor	53	77	55.57	nil	0	0	0.00
VBD_pump_during_apogee	354	1099	5195.57	nil	0	0	0.00
VBD_pump_during_surface	161	641	1386.17	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	6333	7	625.81
Iridium_during_xfer	264	171	604.40	PMAR	6323	11	979.26
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	1.91
TT8	707	9	78.04
LPSleep	2887	2	76.90
TT8_Active	483	9	53.28
TT8_Sampling	2619	28	909.24
TT8_CF8	385	33	158.57
TT8_Kalman	0	0	0.00
Analog_circuits	1594	10	201.69
GPS_charging	0	0	0.00
Compass	2170	17	454.86
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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.05	-79.5	155	2725	994	859	0.0	0.0	0	126	0.00	0.00	-93.20	0.005	16390	0.000	0.000	155	2730	3295	3322	3268	0	0	0	0	0	0	15.36	13.35	15.33
131	-1.05	-79.5	154	2725	3321	3268	5.8	-11.9	10	150	7.62	2.08	0.00	0.000	2308	0.379	0.060	1771	3946	3294	3322	3266	0	0	0	0	0	0	14.59	15.00	14.95
379	-1.05	-79.5	1770	3946	3322	3266	105.7	-34.4	59	386	0.00	2.00	0.00	0.000	1030	0.000	0.026	1771	2682	3294	3323	3266	0	0	0	0	0	0	15.16	15.19	15.19
566	-1.05	-79.5	1770	2676	3325	3265	145.7	-12.7	78	575	0.00	2.17	0.00	0.000	260	0.000	0.070	1762	3946	3294	3325	3264	0	0	0	0	0	0	15.40	15.04	15.42
809	-1.05	-79.5	1761	3946	3326	3265	184.5	-15.1	124	816	0.00	1.95	0.00	0.000	1030	0.000	0.027	1761	2685	3295	3326	3265	0	0	0	0	0	0	15.25	15.22	15.29
1005	-1.05	-79.5	1760	2679	3327	3265	210.2	-11.5	144	1011	0.00	2.17	0.00	0.000	260	0.000	0.073	1752	3945	3296	3327	3265	0	0	0	0	0	0	15.45	15.10	15.47
1179	-1.05	-79.5	1752	3945	3327	3264	233.7	-16.1	176	1185	0.15	1.95	0.00	0.000	3078	0.302	0.028	1781	2676	3295	3327	3264	0	0	0	0	0	0	14.83	15.26	15.11
1386	-1.05	-79.5	1781	2677	3334	3263	267.8	-17.9	191	1392	0.00	2.20	0.00	0.000	260	0.000	0.075	1774	3943	3295	3327	3263	0	0	0	0	0	0	15.45	15.09	15.46
1491	-1.05	-79.5	1774	3943	3326	3262	283.1	-12.8	211	1497	0.00	1.98	0.00	0.000	1030	0.000	0.028	1776	2685	3294	3326	3262	0	0	0	0	0	0	15.29	15.26	15.30
1816	-1.05	-79.5	1773	2678	3326	3258	320.9	-11.8	225	1823	0.00	2.20	0.00	0.000	260	0.000	0.077	1764	3945	3290	3326	3254	0	0	0	0	0	0	15.45	15.08	15.47
2051	-1.05	-79.5	1764	3945	3326	3254	352.1	-10.0	271	2056	0.00	1.98	0.00	0.000	1030	0.000	0.029	1765	2694	3290	3326	3254	0	0	0	0	0	0	15.28	15.25	15.30
2152	end dive: TARGET_DEPTH_EXCEEDED
state	2152	begin apogee
2161	-0.21	0.0	1765	1684	3326	3252	362.6	-10.2	276	2239	1.08	0.00	72.38	1.099	10246	0.233	0.000	2054	1686	2967	3038	2897	0	0	0	0	0	0	14.79	14.90	14.21
2251	end apogee: CONTROL_FINISHED_OK
state	2252	begin climb
2256	1.05	79.5	2053	1686	3038	2895	365.8	0.0	278	2342	1.25	1.85	74.62	1.097	10756	0.114	0.067	2462	645	2642	2712	2572	0	0	0	0	0	0	14.88	14.76	14.14
2571	1.06	108.4	2467	645	2704	2569	345.4	7.6	346	2605	0.00	1.80	27.00	1.052	9254	0.000	0.034	2461	1721	2526	2599	2453	0	0	0	0	0	0	15.11	15.08	14.31
2928	1.09	108.4	2461	1721	2599	2446	320.6	8.9	366	2933	0.00	1.85	0.00	0.000	580	0.000	0.065	2463	644	2522	2599	2445	0	0	0	0	0	0	15.38	15.03	15.39
3162	1.11	151.4	2463	644	2593	2445	297.2	6.4	412	3214	0.00	1.75	39.50	1.065	9254	0.000	0.035	2463	1696	2350	2426	2275	0	0	0	0	0	0	15.17	15.13	14.34
3539	1.11	151.4	2462	1699	2424	2266	267.7	9.7	436	3548	0.00	1.83	0.00	0.000	516	0.000	0.067	2464	640	2344	2423	2266	0	0	0	0	0	0	15.35	15.00	15.36
3779	1.13	223.5	2464	641	2420	2266	249.7	3.9	482	3858	0.00	1.73	64.70	1.037	9254	0.000	0.036	2464	1707	2056	2133	1979	0	0	0	0	0	0	15.20	15.10	14.30
4039	1.13	223.5	2464	1707	2133	1972	215.8	10.1	516	4044	0.00	1.88	0.00	0.000	516	0.000	0.070	2464	627	2052	2133	1972	0	0	0	0	0	0	15.31	14.95	15.33
4289	1.13	223.5	2464	625	2127	1972	192.4	13.1	562	4297	0.00	1.75	0.00	0.000	1030	0.000	0.035	2470	1694	2050	2128	1972	0	0	0	0	0	0	15.14	15.07	15.16
4488	1.13	223.5	2464	1694	2126	1970	161.2	12.6	582	4494	0.00	1.85	0.00	0.000	516	0.000	0.069	2464	636	2049	2128	1971	0	0	0	0	0	0	15.40	15.01	15.40
4732	1.15	256.3	2469	636	2125	1975	138.3	7.2	628	4773	0.00	1.75	29.02	0.919	9254	0.000	0.034	2464	1710	1922	2003	1842	0	0	0	0	0	0	15.19	15.11	14.39
4953	1.17	256.3	2464	1710	2003	1836	115.1	9.1	654	4959	0.12	1.85	0.00	0.000	2628	0.153	0.066	2509	646	1919	2003	1836	0	0	0	0	0	0	15.03	14.97	15.09
5190	1.19	256.3	2508	649	2001	1835	96.8	9.4	700	5199	0.00	1.73	0.00	0.000	1094	0.000	0.033	2508	1712	1919	2002	1836	0	0	0	0	0	0	15.14	15.09	15.16
5388	1.21	310.1	2508	1712	2001	1835	83.7	5.5	720	5445	0.00	2.35	46.80	0.837	8484	0.000	0.057	2509	3095	1702	1785	1620	0	0	0	0	0	0	15.41	14.83	14.40
5649	1.23	310.1	2508	3094	1785	1614	62.3	9.4	770	5655	0.00	2.35	0.00	0.000	1094	0.000	0.040	2509	1701	1699	1785	1614	0	0	0	0	0	0	15.15	15.07	15.17
5849	1.23	310.1	2508	1701	1786	1614	44.3	9.7	790	5857	0.00	1.80	0.00	0.000	516	0.000	0.070	2509	638	1699	1785	1613	0	0	0	0	0	0	15.33	14.97	15.34
6043	1.28	310.1	2515	638	1785	1614	25.0	8.2	826	6048	0.00	1.70	0.00	0.000	1094	0.000	0.031	2509	1701	1702	1790	1614	0	0	0	0	0	0	15.21	15.15	15.23
6240	1.28	310.1	2508	1701	1786	1614	6.6	10.7	846	6250	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	1702	1697	1780	1614	0	0	0	0	0	0	15.37	15.39	15.38
6277	end climb: SURFACE_DEPTH_REACHED
state	6277	begin surface coast
6306	end surface coast: CONTROL_FINISHED_OK
state	6306	begin surface