Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 29 ALTIM_PULSE 1

DIVE 5 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 5 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 34 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 29 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 031019,065839,1324.3403,14436.5781,5,1.0,12,0.6,0.6,145.0,7,5.0 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME WEST

_XMS_NAKs 0 TGT_LATLONG 1326.000,14431.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.54 MHEAD_RNG_PITCHd_Wd 301.1,10704,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -57.3 D_GRID 513

GPS2 031019,070600,1324.2250,14436.6553,3,1.0,4,0.6,0.4,130.9,7,9.3

Post-dive calculations and measurements:

SM_CCo 6417,112.60,0.698,1,0,928,500.17 PM_ACTIVECARD 0

SM_GC 0.49,6.97,1.33,112.60,0.091,0.068,0.698,164,2788,928,-6.31,-1.16,500.17,0,0,0,0,1,0,15.38,15.39,14.76 _24V_AH 14.42,4.008

IRIDIUM_FIX 1321.79,14434.70,031019,050507 _10V_AH 13.67,0.000

TT8_MAMPS 0.019474,0.159537 FG_AHR_24Vo 0.000

HUMID 52.08 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.08238 MEM 271112

TCM_TEMP 26.20 DATA_FILE_SIZE 26730,762

XPDR_PINGS 0 CAP_FILE_SIZE 86567,0

SC_FREEKB 3875424 CFSIZE 260034560,257380352

PM_FREEKB_00 124563584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.060,61.70,1

PM_FREEKB_02 124821056 GPS 031019,085709,1325.034,14436.240,23,0.9,32,0.6,0.2,64.0,8,2.3

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 408 109.27 nil 0 0 0.00

Roll_motor 59 111 95.35 nil 0 0 0.00

VBD_pump_during_apogee 458 1231 8150.69 nil 0 0 0.00

VBD_pump_during_surface 112 698 1134.06 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 6414 8 767.20

Iridium_during_xfer 281 181 737.07 PMAR 6406 4 430.74

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.06

TT8 666 9 82.67

LPSleep 3215 2 96.26

TT8_Active 573 9 71.11

TT8_Sampling 2391 28 933.53

TT8_CF8 153 33 70.90

TT8_Kalman 0 0 0.00

Analog_circuits 1615 10 229.65

GPS_charging 0 0 0.00

Compass 1963 17 462.40

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 -146.0 157 2794 993 861 0.0 0.0 0 109 0.00 0.00 -88.80 0.005 16386 0.000 0.000 158 2794 3149 3192 3107 0 0 0 0 0 0 15.54 28.83 15.52

112 -0.73 -146.0 158 2794 3193 3108 4.1 -7.3 9 134 8.27 1.90 -7.32 0.019 18724 0.409 0.112 1942 3941 3563 3633 3494 0 0 0 0 0 0 15.13 14.74 15.30

322 -0.65 -146.0 1942 3941 3630 3494 61.1 -21.2 51 328 0.20 1.80 0.00 0.000 3206 0.264 0.038 1989 2750 3564 3633 3495 0 0 0 0 0 0 15.27 15.42 15.43

518 -0.72 -146.0 1993 2750 3633 3496 91.7 -14.9 71 523 0.00 2.00 0.00 0.000 388 0.000 0.090 1983 3941 3563 3632 3495 0 0 0 0 0 0 15.61 15.38 15.63

601 -0.75 -146.0 1983 3941 3633 3494 106.5 -18.0 87 607 0.00 1.70 0.00 0.000 1158 0.000 0.038 1983 2802 3563 3633 3494 0 0 0 0 0 0 15.51 15.47 15.52

795 -0.82 -146.0 1983 2798 3633 3494 135.1 -13.3 107 801 0.15 2.15 0.00 0.000 4740 0.134 0.045 1923 1438 3563 3633 3494 0 0 0 0 0 0 15.43 15.43 15.50

819 -0.87 -146.0 1923 1438 3633 3494 138.6 -14.5 111 824 0.00 2.25 0.00 0.000 1158 0.000 0.063 1923 2801 3566 3633 3499 0 0 0 0 0 0 15.50 15.42 15.52

1012 -0.93 -146.0 1923 2800 3633 3495 164.4 -12.3 131 1019 0.00 0.00 0.00 0.000 134 0.000 0.000 1923 2801 3564 3633 3495 0 0 0 0 0 0 15.65 15.66 15.66

1203 -1.01 -146.0 1923 2801 3634 3496 184.6 -8.8 150 1211 0.15 0.00 0.00 0.000 4262 0.135 0.000 1866 2801 3564 3633 3496 0 0 0 0 0 0 15.45 15.54 15.52

1392 -1.01 -146.0 1865 2801 3633 3496 206.5 -13.2 169 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 1866 2801 3563 3633 3494 0 0 0 0 0 0 15.66 15.68 15.67

1582 -1.01 -146.0 1866 2801 3633 3495 230.1 -10.6 188 1587 0.00 1.88 0.00 0.000 260 0.000 0.090 1863 3943 3564 3633 3496 0 0 0 0 0 0 15.64 15.43 15.66

1706 -1.01 -146.0 1863 3943 3633 3496 242.0 -8.5 212 1712 0.00 1.73 0.00 0.000 1062 0.000 0.039 1864 2794 3567 3633 3502 0 0 0 0 0 0 15.55 15.51 15.57

1910 -1.04 -146.0 1863 2793 3632 3496 266.2 -13.4 225 1917 0.00 2.15 0.00 0.000 644 0.000 0.051 1864 1437 3564 3632 3496 0 0 0 0 0 0 15.66 15.46 15.68

1938 -1.08 -146.0 1863 1437 3632 3496 270.4 -14.5 230 1945 0.00 2.30 0.00 0.000 1158 0.000 0.065 1862 2798 3563 3632 3495 0 0 0 0 0 0 15.48 15.42 15.50

2245 -1.14 -146.0 1863 2796 3628 3496 309.1 -13.2 241 2251 0.00 1.90 0.00 0.000 388 0.000 0.093 1863 3942 3561 3628 3495 0 0 0 0 0 0 15.66 15.43 15.68

2327 -1.18 -146.0 1863 3942 3628 3494 319.2 -11.6 257 2334 0.15 1.75 0.00 0.000 5254 0.153 0.041 1814 2801 3561 3628 3494 0 0 0 0 0 0 15.45 15.51 15.53

2642 -1.18 -146.0 1813 2801 3625 3493 356.9 -11.8 269 2648 0.00 2.20 0.00 0.000 516 0.000 0.054 1813 1423 3560 3625 3495 0 0 0 0 0 0 15.66 15.47 15.68

2662 end dive: TARGET_DEPTH_EXCEEDED

state 2662 begin apogee

2668 -0.19 0.0 1813 2020 3623 3492 360.2 -14.0 273 2804 1.12 0.00 130.30 1.232 10246 0.231 0.000 2134 2020 2969 3052 2886 0 0 0 0 0 0 15.35 14.98 14.48

2813 end apogee: CONTROL_FINISHED_OK

state 2813 begin climb

2815 0.73 146.0 2130 2020 3051 2883 363.2 0.0 277 2954 0.88 0.00 133.52 1.185 10758 0.098 0.000 2433 2020 2371 2453 2290 0 0 0 0 0 0 14.98 14.89 14.42

3236 0.66 146.0 2433 2021 2450 2279 326.2 11.5 302 3243 0.00 2.30 0.00 0.000 644 0.000 0.079 2434 674 2364 2450 2279 0 0 0 0 0 0 15.49 15.28 15.51

3469 0.59 146.0 2434 674 2444 2279 299.7 12.2 348 3475 0.17 2.15 0.00 0.000 5254 0.280 0.050 2395 2000 2361 2444 2279 0 0 0 0 0 0 15.26 15.38 15.43

3783 0.59 150.9 2395 2000 2444 2276 266.5 9.8 360 3789 0.00 2.25 0.00 0.000 548 0.000 0.082 2395 670 2360 2444 2276 0 0 0 0 0 0 15.60 15.38 15.62

4016 0.59 150.9 2395 670 2441 2276 247.1 10.8 406 4023 0.00 2.15 0.00 0.000 1030 0.000 0.051 2395 1995 2358 2440 2276 0 0 0 0 0 0 15.50 15.44 15.52

4211 0.60 181.2 2394 1995 2441 2274 228.1 8.6 426 4250 0.00 2.30 29.75 1.150 8740 0.000 0.081 2395 683 2227 2313 2142 0 0 0 0 0 0 15.61 15.23 14.81

4477 0.65 199.5 2394 681 2304 2142 202.3 9.2 479 4503 0.00 2.20 17.00 1.093 9382 0.000 0.052 2395 2004 2153 2239 2068 0 0 0 0 0 0 15.39 15.35 14.82

4685 0.73 255.7 2395 2004 2239 2062 186.9 7.4 502 4743 0.12 2.33 49.47 1.097 10916 0.157 0.080 2442 678 1924 2015 1834 0 0 0 0 0 0 15.33 15.07 14.66

4969 0.73 255.7 2441 678 2005 1833 151.3 11.3 559 4975 0.00 2.20 0.00 0.000 1030 0.000 0.050 2443 1999 1919 2005 1834 0 0 0 0 0 0 15.34 15.26 15.35

5156 0.74 284.9 2442 2000 2004 1831 133.0 8.7 578 5189 0.00 2.33 24.90 1.015 8740 0.000 0.079 2442 676 1806 1895 1718 0 0 0 0 0 0 15.54 15.19 14.80

5288 0.83 305.3 2442 676 1889 1718 121.1 9.1 604 5317 0.00 2.17 18.67 0.974 9382 0.000 0.048 2442 2015 1722 1811 1634 0 0 0 0 0 0 15.35 15.29 14.78

5499 0.93 370.4 2442 2015 1811 1629 106.0 7.0 628 5563 0.15 2.30 55.30 0.968 10916 0.140 0.073 2500 677 1457 1551 1364 0 0 0 0 0 0 15.30 15.00 14.67

5708 0.98 370.4 2499 677 1543 1371 87.1 10.8 669 5714 0.00 2.15 0.00 0.000 1158 0.000 0.045 2500 2003 1454 1544 1365 0 0 0 0 0 0 15.30 15.25 15.32

5902 1.04 370.4 2500 2003 1543 1364 63.2 12.7 689 5907 0.00 2.22 0.00 0.000 644 0.000 0.076 2500 676 1453 1543 1364 0 0 0 0 0 0 15.51 15.30 15.52

6137 1.13 370.4 2499 675 1544 1364 37.6 12.7 735 6144 0.20 2.12 0.00 0.000 3206 0.119 0.047 2571 1999 1454 1544 1364 0 0 0 0 0 0 15.36 15.38 15.43

6332 1.13 370.4 2570 2000 1540 1364 9.4 13.6 755 6339 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2000 1453 1543 1364 0 0 0 0 0 0 15.58 15.60 15.59

6379 end climb: SURFACE_DEPTH_REACHED

state 6379 begin surface coast

6399 end surface coast: CONTROL_FINISHED_OK

state 6399 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	29	ALTIM_PULSE	1
DIVE	5	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	031019,065839,1324.3403,14436.5781,5,1.0,12,0.6,0.6,145.0,7,5.0	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	WEST
_XMS_NAKs	0	TGT_LATLONG	1326.000,14431.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.54	MHEAD_RNG_PITCHd_Wd	301.1,10704,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-57.3	D_GRID	513
GPS2	031019,070600,1324.2250,14436.6553,3,1.0,4,0.6,0.4,130.9,7,9.3

SM_CCo	6417,112.60,0.698,1,0,928,500.17	PM_ACTIVECARD	0
SM_GC	0.49,6.97,1.33,112.60,0.091,0.068,0.698,164,2788,928,-6.31,-1.16,500.17,0,0,0,0,1,0,15.38,15.39,14.76	_24V_AH	14.42,4.008
IRIDIUM_FIX	1321.79,14434.70,031019,050507	_10V_AH	13.67,0.000
TT8_MAMPS	0.019474,0.159537	FG_AHR_24Vo	0.000
HUMID	52.08	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.08238	MEM	271112
TCM_TEMP	26.20	DATA_FILE_SIZE	26730,762
XPDR_PINGS	0	CAP_FILE_SIZE	86567,0
SC_FREEKB	3875424	CFSIZE	260034560,257380352
PM_FREEKB_00	124563584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.060,61.70,1
PM_FREEKB_02	124821056	GPS	031019,085709,1325.034,14436.240,23,0.9,32,0.6,0.2,64.0,8,2.3
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	408	109.27	nil	0	0	0.00
Roll_motor	59	111	95.35	nil	0	0	0.00
VBD_pump_during_apogee	458	1231	8150.69	nil	0	0	0.00
VBD_pump_during_surface	112	698	1134.06	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	6414	8	767.20
Iridium_during_xfer	281	181	737.07	PMAR	6406	4	430.74
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.06
TT8	666	9	82.67
LPSleep	3215	2	96.26
TT8_Active	573	9	71.11
TT8_Sampling	2391	28	933.53
TT8_CF8	153	33	70.90
TT8_Kalman	0	0	0.00
Analog_circuits	1615	10	229.65
GPS_charging	0	0	0.00
Compass	1963	17	462.40
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	157	2794	993	861	0.0	0.0	0	109	0.00	0.00	-88.80	0.005	16386	0.000	0.000	158	2794	3149	3192	3107	0	0	0	0	0	0	15.54	28.83	15.52
112	-0.73	-146.0	158	2794	3193	3108	4.1	-7.3	9	134	8.27	1.90	-7.32	0.019	18724	0.409	0.112	1942	3941	3563	3633	3494	0	0	0	0	0	0	15.13	14.74	15.30
322	-0.65	-146.0	1942	3941	3630	3494	61.1	-21.2	51	328	0.20	1.80	0.00	0.000	3206	0.264	0.038	1989	2750	3564	3633	3495	0	0	0	0	0	0	15.27	15.42	15.43
518	-0.72	-146.0	1993	2750	3633	3496	91.7	-14.9	71	523	0.00	2.00	0.00	0.000	388	0.000	0.090	1983	3941	3563	3632	3495	0	0	0	0	0	0	15.61	15.38	15.63
601	-0.75	-146.0	1983	3941	3633	3494	106.5	-18.0	87	607	0.00	1.70	0.00	0.000	1158	0.000	0.038	1983	2802	3563	3633	3494	0	0	0	0	0	0	15.51	15.47	15.52
795	-0.82	-146.0	1983	2798	3633	3494	135.1	-13.3	107	801	0.15	2.15	0.00	0.000	4740	0.134	0.045	1923	1438	3563	3633	3494	0	0	0	0	0	0	15.43	15.43	15.50
819	-0.87	-146.0	1923	1438	3633	3494	138.6	-14.5	111	824	0.00	2.25	0.00	0.000	1158	0.000	0.063	1923	2801	3566	3633	3499	0	0	0	0	0	0	15.50	15.42	15.52
1012	-0.93	-146.0	1923	2800	3633	3495	164.4	-12.3	131	1019	0.00	0.00	0.00	0.000	134	0.000	0.000	1923	2801	3564	3633	3495	0	0	0	0	0	0	15.65	15.66	15.66
1203	-1.01	-146.0	1923	2801	3634	3496	184.6	-8.8	150	1211	0.15	0.00	0.00	0.000	4262	0.135	0.000	1866	2801	3564	3633	3496	0	0	0	0	0	0	15.45	15.54	15.52
1392	-1.01	-146.0	1865	2801	3633	3496	206.5	-13.2	169	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	1866	2801	3563	3633	3494	0	0	0	0	0	0	15.66	15.68	15.67
1582	-1.01	-146.0	1866	2801	3633	3495	230.1	-10.6	188	1587	0.00	1.88	0.00	0.000	260	0.000	0.090	1863	3943	3564	3633	3496	0	0	0	0	0	0	15.64	15.43	15.66
1706	-1.01	-146.0	1863	3943	3633	3496	242.0	-8.5	212	1712	0.00	1.73	0.00	0.000	1062	0.000	0.039	1864	2794	3567	3633	3502	0	0	0	0	0	0	15.55	15.51	15.57
1910	-1.04	-146.0	1863	2793	3632	3496	266.2	-13.4	225	1917	0.00	2.15	0.00	0.000	644	0.000	0.051	1864	1437	3564	3632	3496	0	0	0	0	0	0	15.66	15.46	15.68
1938	-1.08	-146.0	1863	1437	3632	3496	270.4	-14.5	230	1945	0.00	2.30	0.00	0.000	1158	0.000	0.065	1862	2798	3563	3632	3495	0	0	0	0	0	0	15.48	15.42	15.50
2245	-1.14	-146.0	1863	2796	3628	3496	309.1	-13.2	241	2251	0.00	1.90	0.00	0.000	388	0.000	0.093	1863	3942	3561	3628	3495	0	0	0	0	0	0	15.66	15.43	15.68
2327	-1.18	-146.0	1863	3942	3628	3494	319.2	-11.6	257	2334	0.15	1.75	0.00	0.000	5254	0.153	0.041	1814	2801	3561	3628	3494	0	0	0	0	0	0	15.45	15.51	15.53
2642	-1.18	-146.0	1813	2801	3625	3493	356.9	-11.8	269	2648	0.00	2.20	0.00	0.000	516	0.000	0.054	1813	1423	3560	3625	3495	0	0	0	0	0	0	15.66	15.47	15.68
2662	end dive: TARGET_DEPTH_EXCEEDED
state	2662	begin apogee
2668	-0.19	0.0	1813	2020	3623	3492	360.2	-14.0	273	2804	1.12	0.00	130.30	1.232	10246	0.231	0.000	2134	2020	2969	3052	2886	0	0	0	0	0	0	15.35	14.98	14.48
2813	end apogee: CONTROL_FINISHED_OK
state	2813	begin climb
2815	0.73	146.0	2130	2020	3051	2883	363.2	0.0	277	2954	0.88	0.00	133.52	1.185	10758	0.098	0.000	2433	2020	2371	2453	2290	0	0	0	0	0	0	14.98	14.89	14.42
3236	0.66	146.0	2433	2021	2450	2279	326.2	11.5	302	3243	0.00	2.30	0.00	0.000	644	0.000	0.079	2434	674	2364	2450	2279	0	0	0	0	0	0	15.49	15.28	15.51
3469	0.59	146.0	2434	674	2444	2279	299.7	12.2	348	3475	0.17	2.15	0.00	0.000	5254	0.280	0.050	2395	2000	2361	2444	2279	0	0	0	0	0	0	15.26	15.38	15.43
3783	0.59	150.9	2395	2000	2444	2276	266.5	9.8	360	3789	0.00	2.25	0.00	0.000	548	0.000	0.082	2395	670	2360	2444	2276	0	0	0	0	0	0	15.60	15.38	15.62
4016	0.59	150.9	2395	670	2441	2276	247.1	10.8	406	4023	0.00	2.15	0.00	0.000	1030	0.000	0.051	2395	1995	2358	2440	2276	0	0	0	0	0	0	15.50	15.44	15.52
4211	0.60	181.2	2394	1995	2441	2274	228.1	8.6	426	4250	0.00	2.30	29.75	1.150	8740	0.000	0.081	2395	683	2227	2313	2142	0	0	0	0	0	0	15.61	15.23	14.81
4477	0.65	199.5	2394	681	2304	2142	202.3	9.2	479	4503	0.00	2.20	17.00	1.093	9382	0.000	0.052	2395	2004	2153	2239	2068	0	0	0	0	0	0	15.39	15.35	14.82
4685	0.73	255.7	2395	2004	2239	2062	186.9	7.4	502	4743	0.12	2.33	49.47	1.097	10916	0.157	0.080	2442	678	1924	2015	1834	0	0	0	0	0	0	15.33	15.07	14.66
4969	0.73	255.7	2441	678	2005	1833	151.3	11.3	559	4975	0.00	2.20	0.00	0.000	1030	0.000	0.050	2443	1999	1919	2005	1834	0	0	0	0	0	0	15.34	15.26	15.35
5156	0.74	284.9	2442	2000	2004	1831	133.0	8.7	578	5189	0.00	2.33	24.90	1.015	8740	0.000	0.079	2442	676	1806	1895	1718	0	0	0	0	0	0	15.54	15.19	14.80
5288	0.83	305.3	2442	676	1889	1718	121.1	9.1	604	5317	0.00	2.17	18.67	0.974	9382	0.000	0.048	2442	2015	1722	1811	1634	0	0	0	0	0	0	15.35	15.29	14.78
5499	0.93	370.4	2442	2015	1811	1629	106.0	7.0	628	5563	0.15	2.30	55.30	0.968	10916	0.140	0.073	2500	677	1457	1551	1364	0	0	0	0	0	0	15.30	15.00	14.67
5708	0.98	370.4	2499	677	1543	1371	87.1	10.8	669	5714	0.00	2.15	0.00	0.000	1158	0.000	0.045	2500	2003	1454	1544	1365	0	0	0	0	0	0	15.30	15.25	15.32
5902	1.04	370.4	2500	2003	1543	1364	63.2	12.7	689	5907	0.00	2.22	0.00	0.000	644	0.000	0.076	2500	676	1453	1543	1364	0	0	0	0	0	0	15.51	15.30	15.52
6137	1.13	370.4	2499	675	1544	1364	37.6	12.7	735	6144	0.20	2.12	0.00	0.000	3206	0.119	0.047	2571	1999	1454	1544	1364	0	0	0	0	0	0	15.36	15.38	15.43
6332	1.13	370.4	2570	2000	1540	1364	9.4	13.6	755	6339	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2000	1453	1543	1364	0	0	0	0	0	0	15.58	15.60	15.59
6379	end climb: SURFACE_DEPTH_REACHED
state	6379	begin surface coast
6399	end surface coast: CONTROL_FINISHED_OK
state	6399	begin surface