Glider dive log

IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 55 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 204 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 49 ALTIM_FREQUENCY 13

MISSION 5 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 42 ALTIM_PULSE 2

DIVE 55 TGT_DEFAULT_LAT 57.182999 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

N_DIVES 0 TGT_DEFAULT_LON -151 ROLL_MAXERRORS 1 XPDR_VALID 4

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_SURF 2 SM_CC 500 ROLL_ADJ_DBAND 0 XPDR_INT 0

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 XPDR_REP 0

D_TGT 180 FILEMGR 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097655999

D_ABORT 600 CALL_NDIVES 1 C_VBD 2968 INT_PRESSURE_YINT -1.4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 4 DEEPGLIDER 0

D_BOOST 0 PROTOCOL 9 VBD_CNV -0.24529999 MOTHERBOARD 4

T_BOOST 0 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE1 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE2 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 60 LOGGERS 3

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_DIVE 60 HEAPDBG 0 W_ADJ_DBAND 0 LOGGERDEVICE2 131

T_MISSION 80 T_GPS 15 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 N_GPS 100840 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 T_RSLEEP 1 LOITER_DBDW 0 COMPASS_DEVICE 33

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 GPS_DEVICE 64

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 RAFOS_DEVICE -1

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_ICE 0 PITCH_MIN 210 CF8_MAXERRORS 20 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3900 AH0_24V 144.89999 SEABIRD_T_G 0.0044052354

D_OFFGRID 1000 C_PITCH 2625 AH0_10V 100 SEABIRD_T_H 0.00063728914

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 19 SEABIRD_T_I 2.5929839e-05

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 8 SEABIRD_T_J 3.1599577e-06

APOGEE_PITCH -5 P_OVSHOOT 0.079999998 MAXI_24V 1 SEABIRD_C_G -10.182622

MAX_BUOY 150 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_H 1.1278557

COURSE_BIAS 0 PITCH_GAIN 45 FG_AHR_10V 0 SEABIRD_C_I -0.0031189518

GLIDE_SLOPE 30 PITCH_TIMEOUT 17 FG_AHR_24V 0 SEABIRD_C_J 0.00030257509

SPEED_FACTOR 1 PITCH_AD_RATE 160 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -133.12781 SC_PROFILE 3.0

MASS 54196 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010934046 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 32 SC_NDIVE 1.0

NAV_MODE 2 ROLL_MIN 236 COMPASS_USE 4 ED_RECORDABOVE 1000.0

FERRY_MAX 45 ROLL_MAX 3704 ALTIM_PING_FIT 0 ED_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 30 ALTIM_TOP_PING_RANGE 0 ED_XMITPROFILE 7.0

HD_A 0.0050118701 C_ROLL_DIVE 2200 ALTIM_BOTTOM_TURN_MARGIN 0 ED_UPLOADMAX 0.0

HD_B 0.0163117 C_ROLL_CLIMB 2000 ALTIM_TOP_TURN_MARGIN 0 ED_STARTS 108.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0 ED_NDIVE 1.0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 32 ED_NDIVE 1.0 N_GPS 100840 SEABIRD_T_G 0.0044052354

AH0_10V 100 ED_PROFILE 7.0 N_NOCOMM 1 SEABIRD_T_H 0.00063728914

AH0_24V 144.89999 ED_RECORDABOVE 1000.0 N_NOSURFACE 0 SEABIRD_T_I 2.5929839e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ED_STARTS 108.0 PHONE_DEVICE 49 SEABIRD_T_J 3.1599577e-06

ALTIM_FREQUENCY 13 ED_UPLOADMAX 0.0 PHONE_SUPPLY -2 SIM_W 0

ALTIM_PING_DELTA 0 ED_XMITPROFILE 7.0 PITCH_ADJ_DBAND 1 SM_CC 500

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.02 SPEED_FACTOR 1

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 160 STOP_T 0

ALTIM_PULSE 2 FERRY_MAX 45 PITCH_CNV 0.003125763 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_GAIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_DEFAULT_LAT 57.182999

CALL_NDIVES 1 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -151

CALL_TRIES 5 HD_A 0.0050118701 PITCH_VBD_SHIFT 0.001 T_ABORT 1440

CALL_WAIT 60 HD_B 0.0163117 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_W_GAIN 0 T_DIVE 60

CAPUPLOAD 0 HEADING -1 PRESSURE_SLOPE 0.00010934046 T_EPIRB 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_YINT -133.12781 T_GPS 15

COMM_SEQ 0 HEAPDBG 0 PROTOCOL 9 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.079999998 T_MISSION 80

COMPASS_DEVICE 33 ID 204 P_OVSHOOT_WITHG 0 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097655999 RAFOS_CORR_THRESH 60 T_RSLEEP 1

COURSE_BIAS 0 INT_PRESSURE_YINT -1.4 RAFOS_DEVICE -1 T_TURN 225

C_PITCH 2625 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2000 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_WATCHDOG 10

C_ROLL_DIVE 2200 LOGGERDEVICE2 131 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE3 -1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERDEVICE4 -1 RHO 1.0275 USE_BATHY -2

DEEPGLIDER 0 LOGGERS 3 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE1 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_D_BOTTOM 0 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_D_TOP 0 ROLL_CNV 0.028270001 VBD_DBAND 4

DEVICE4 -1 LOITER_N_DIVE 0 ROLL_DEG 30 VBD_LP_IGNORE 0

DEVICE5 -1 LOITER_W_DBAND 0 ROLL_MAX 3704 VBD_MAX 3960

DEVICE6 -1 MASS 54196 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DIVE 55 MASS_COMP 0 ROLL_MIN 236 VBD_MIN 500

D_ABORT 600 MAXI_10V 0.80000001 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 0 MAXI_24V 1 R_PORT_OVSHOOT 49 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MAX_BUOY 150 R_STBD_OVSHOOT 42 VBD_TIMEOUT 720

D_FINISH 0 MINV_10V 8 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_FLARE 3 MINV_24V 19 SC_PROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MOTHERBOARD 4 SC_XMITPROFILE 3.0 XPDR_INT 0

D_PITCH 0 NAV_MODE 2 SEABIRD_C_G -10.182622 XPDR_REP 0

D_SAFE 0 NOCOMM_ACTION 163 SEABIRD_C_H 1.1278557 XPDR_VALID 4

D_SURF 2 N_DIVES 0 SEABIRD_C_I -0.0031189518

D_TGT 180 N_FILEKB 8 SEABIRD_C_J 0.00030257509

Pre-dive calculations and measurements:

GPS1 030822,182425,4450.3525,-12459.5830,6,0.9,31,15.1,0.2,160.4,12,4.1 SPEED_LIMITS 0.173,0.208

_CALLS 1 TGT_NAME TGT

_XMS_NAKs 0 TGT_LATLONG 4450.006,-12457.788

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.73 MHEAD_RNG_PITCHd_Wd 86.9,2505,-22.7,-10.000,-25.65,2245

_SM_ANGLEo -74.3 D_GRID 959

GPS2 030822,183012,4450.3491,-12459.6328,1,0.6,3,15.1,0.5,229.5,12,6.8

Post-dive calculations and measurements:

FINISH -0.1,1.007996 _10V_AH 10.25,8.737

SM_CCo 3812,153.93,0.685,0,0,929,500.41 FG_AHR_24Vo 0.000

SM_GC 0.68,7.80,0.30,153.93,0.051,0.057,0.685,169,2202,929,-7.47,-1.13,500.41,0,0,0,0,0,0,26.08,26.05,24.88 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4450.39,-12455.54,030822,171418 MEM 220740

TT8_MAMPS 0.023968,0.323568 DATA_FILE_SIZE 23415,665

HUMID 36.37 CAP_FILE_SIZE 236398,0

INTERNAL_PRESSURE 8.50232 CFSIZE 260030464,237400064

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.081,325.35,1

SC_FREEKB 3795136 GPS 030822,193750,4450.413,-12459.282,2,1.0,3,15.1,0.2,0.0,9,5.7

_24V_AH 24.68,10.347

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 211 97.80 nil 0 0 0.00

Roll_motor 46 56 64.34 nil 0 0 0.00

VBD_pump_during_apogee 359 820 7285.74 nil 0 0 0.00

VBD_pump_during_surface 153 685 2603.90 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 3796 24 2273.18

Iridium_during_xfer 195 96 464.18 Edison 4418 10 1090.36

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 12 1.99

TT8 1673 13 239.66

LPSleep 225 2 5.06

TT8_Active 610 13 82.67

TT8_Sampling 1491 39 602.91

TT8_CF8 317 49 162.35

TT8_Kalman 0 0 0.00

Analog_circuits 1427 10 146.28

GPS_charging 0 0 0.00

Compass 1044 8 88.18

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -0.65 -146.0 160 2222 1040 801 0.0 0.0 0 101 0.00 0.00 -85.57 0.005 16386 0.000 0.000 161 2223 3172 3138 3207 0 0 0 0 0 0 26.15 28.83 26.15

103 -0.65 -146.0 161 2223 3141 3208 4.6 -10.3 13 126 8.62 1.65 -7.35 0.011 18948 0.212 0.048 2400 1126 3568 3536 3600 0 0 0 0 0 0 25.92 25.03 26.15

285 -0.65 -146.0 2399 1126 3547 3599 34.7 -12.9 46 292 0.00 1.65 0.00 0.000 1030 0.000 0.037 2394 2194 3573 3547 3599 0 0 0 0 0 0 26.25 26.20 26.25

418 -0.65 -146.0 2393 2193 3550 3598 50.4 -10.1 71 427 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2194 3574 3550 3598 0 0 0 0 0 0 26.27 26.27 26.27

553 -0.65 -146.0 2394 2193 3553 3598 65.0 -10.9 96 560 0.00 1.58 0.00 0.000 516 0.000 0.032 2399 1140 3575 3552 3598 0 0 0 0 0 0 26.28 26.24 26.28

591 -0.70 -146.0 2398 1139 3553 3598 68.6 -9.7 102 598 0.00 1.65 0.00 0.000 1190 0.000 0.038 2396 2210 3575 3553 3598 0 0 0 0 0 0 26.27 26.22 26.28

726 -0.74 -146.0 2393 2210 3554 3598 81.7 -9.8 127 734 0.00 1.60 0.00 0.000 420 0.000 0.046 2385 3257 3575 3554 3597 0 0 0 0 0 0 26.29 26.22 26.29

832 -0.77 -146.0 2385 3257 3555 3598 91.4 -9.2 146 840 0.00 1.58 0.00 0.000 1190 0.000 0.028 2391 2202 3576 3555 3597 0 0 0 0 0 0 26.30 26.25 26.29

968 -0.83 -146.0 2390 2198 3555 3598 103.9 -8.6 171 976 0.00 1.62 0.00 0.000 420 0.000 0.045 2385 3252 3577 3556 3598 0 0 0 0 0 0 26.28 26.22 26.28

1032 -0.89 -146.0 2381 3252 3556 3598 109.7 -8.9 182 1040 0.12 1.58 0.00 0.000 5286 0.119 0.029 2351 2199 3577 3556 3598 0 0 0 0 0 0 26.20 26.25 26.27

1168 -0.89 -146.0 2356 2197 3555 3597 124.2 -10.6 207 1176 0.00 1.58 0.00 0.000 516 0.000 0.035 2357 1140 3577 3556 3598 0 0 0 0 0 0 26.28 26.23 26.28

1207 -0.92 -146.0 2357 1139 3556 3598 128.0 -9.9 213 1214 0.00 1.65 0.00 0.000 1190 0.000 0.039 2351 2208 3577 3556 3598 0 0 0 0 0 0 26.28 26.23 26.29

1342 -0.92 -146.0 2351 2208 3557 3598 142.4 -10.7 238 1349 0.00 1.60 0.00 0.000 260 0.000 0.047 2343 3252 3577 3556 3598 0 0 0 0 0 0 26.28 26.21 26.27

1441 -0.94 -146.0 2343 3253 3556 3597 153.0 -10.7 256 1448 0.00 1.58 0.00 0.000 1158 0.000 0.030 2349 2199 3576 3556 3597 0 0 0 0 0 0 26.27 26.24 26.27

1577 -0.94 -146.0 2349 2197 3556 3594 167.1 -10.2 281 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2196 3576 3556 3597 0 0 0 0 0 0 26.29 26.29 26.30

1703 end dive: TARGET_DEPTH_EXCEEDED

state 1703 begin apogee

1708 -0.11 0.0 2350 1981 3556 3597 180.5 -10.8 305 1832 0.75 0.00 114.47 0.820 10246 0.159 0.000 2567 1976 2963 3021 2906 0 0 0 0 0 0 26.03 25.29 24.82

1836 end apogee: CONTROL_FINISHED_OK

state 1836 begin climb

1838 0.65 146.0 2567 1976 3021 2910 183.4 0.0 323 1959 0.80 1.67 113.10 0.795 10756 0.119 0.037 2823 966 2368 2467 2269 0 0 0 0 0 0 25.53 25.23 24.68

2016 0.68 149.1 2822 970 2462 2272 171.8 9.9 349 2023 0.00 1.62 0.00 0.000 1190 0.000 0.037 2818 1997 2367 2463 2271 0 0 0 0 0 0 25.75 25.70 25.79

2151 0.68 149.1 2817 1997 2459 2271 157.4 11.0 374 2158 0.00 1.62 0.00 0.000 260 0.000 0.046 2810 3054 2363 2457 2270 0 0 0 0 0 0 26.06 26.00 26.06

2207 0.68 149.1 2809 3054 2454 2270 151.0 11.1 384 2215 0.00 1.55 0.00 0.000 1030 0.000 0.030 2815 2023 2362 2454 2270 0 0 0 0 0 0 26.12 26.08 26.12

2344 0.68 149.1 2814 2018 2454 2270 135.6 10.7 409 2352 0.00 1.65 0.00 0.000 516 0.000 0.038 2824 934 2362 2453 2271 0 0 0 0 0 0 26.20 26.16 26.20

2380 0.68 149.1 2823 934 2461 2271 131.6 11.1 415 2387 0.00 1.65 0.00 0.000 1030 0.000 0.035 2818 2005 2362 2453 2271 0 0 0 0 0 0 26.22 26.17 26.22

2516 0.68 149.1 2817 2005 2452 2270 116.1 11.6 440 2524 0.00 1.60 0.00 0.000 260 0.000 0.044 2810 3057 2361 2451 2271 0 0 0 0 0 0 26.24 26.18 26.25

2605 0.68 149.1 2809 3057 2447 2270 105.8 11.1 456 2613 0.00 1.60 0.00 0.000 1030 0.000 0.029 2816 1987 2359 2448 2270 0 0 0 0 0 0 26.25 26.22 26.26

2743 0.69 158.8 2815 1983 2448 2270 92.0 9.6 481 2758 0.00 1.73 10.10 0.718 8484 0.000 0.043 2809 3054 2317 2417 2218 0 0 0 0 0 0 26.27 26.04 25.37

2802 0.71 158.8 2809 3054 2412 2218 85.9 10.5 491 2810 0.08 1.60 0.00 0.000 3206 0.168 0.029 2831 1992 2315 2412 2218 0 0 0 0 0 0 26.03 26.13 26.15

2937 0.71 158.8 2831 1989 2412 2219 71.5 10.1 516 2945 0.00 1.60 0.00 0.000 516 0.000 0.037 2839 935 2315 2412 2218 0 0 0 0 0 0 26.25 26.20 26.25

2958 0.71 158.8 2839 941 2412 2219 69.3 10.5 519 2965 0.00 1.65 0.00 0.000 1030 0.000 0.036 2833 2005 2314 2411 2218 0 0 0 0 0 0 26.25 26.20 26.25

3092 0.71 163.4 2831 2004 2412 2218 55.6 9.8 544 3100 0.00 0.00 0.00 0.000 38 0.000 0.000 2833 2005 2314 2411 2218 0 0 0 0 0 0 26.27 26.27 26.27

3227 0.73 183.1 2833 2005 2411 2218 42.3 9.1 569 3256 0.00 1.65 20.83 0.724 8740 0.000 0.035 2839 945 2215 2328 2103 0 0 0 0 0 0 26.27 25.77 25.27

3308 0.87 259.2 2838 944 2329 2103 36.4 6.5 582 3378 0.20 1.65 60.62 0.716 11430 0.144 0.036 2891 2007 1911 2037 1786 0 0 0 0 0 0 26.01 26.06 24.99

3507 0.88 271.7 2890 2007 2028 1772 17.0 9.4 616 3522 0.00 1.67 9.85 0.653 8740 0.000 0.037 2898 940 1855 1981 1729 0 0 0 0 0 0 26.10 25.91 25.29

3552 0.94 284.6 2897 941 1981 1728 12.9 9.4 623 3569 0.08 1.65 11.77 0.665 11430 0.173 0.035 2912 2002 1803 1930 1677 0 0 0 0 0 0 25.91 26.00 25.25

3700 1.19 435.2 2912 2002 1916 1676 2.6 3.1 649 3722 0.25 0.00 19.23 0.677 10658 0.129 0.000 2989 2004 1709 1830 1589 0 0 0 0 0 0 26.03 28.83 26.10

3723 end climb: SURFACE_DEPTH_REACHED

state 3723 begin surface coast

3795 end surface coast: CONTROL_FINISHED_OK

state 3795 begin surface

ID	204	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	49	ALTIM_FREQUENCY	13
MISSION	5	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	42	ALTIM_PULSE	2
DIVE	55	TGT_DEFAULT_LAT	57.182999	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
N_DIVES	0	TGT_DEFAULT_LON	-151	ROLL_MAXERRORS	1	XPDR_VALID	4
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_SURF	2	SM_CC	500	ROLL_ADJ_DBAND	0	XPDR_INT	0
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	XPDR_REP	0
D_TGT	180	FILEMGR	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097655999
D_ABORT	600	CALL_NDIVES	1	C_VBD	2968	INT_PRESSURE_YINT	-1.4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	4	DEEPGLIDER	0
D_BOOST	0	PROTOCOL	9	VBD_CNV	-0.24529999	MOTHERBOARD	4
T_BOOST	0	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE1	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE2	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	60	LOGGERS	3
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_DIVE	60	HEAPDBG	0	W_ADJ_DBAND	0	LOGGERDEVICE2	131
T_MISSION	80	T_GPS	15	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	N_GPS	100840	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	T_RSLEEP	1	LOITER_DBDW	0	COMPASS_DEVICE	33
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	GPS_DEVICE	64
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_ICE	0	PITCH_MIN	210	CF8_MAXERRORS	20	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3900	AH0_24V	144.89999	SEABIRD_T_G	0.0044052354
D_OFFGRID	1000	C_PITCH	2625	AH0_10V	100	SEABIRD_T_H	0.00063728914
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	19	SEABIRD_T_I	2.5929839e-05
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	8	SEABIRD_T_J	3.1599577e-06
APOGEE_PITCH	-5	P_OVSHOOT	0.079999998	MAXI_24V	1	SEABIRD_C_G	-10.182622
MAX_BUOY	150	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_H	1.1278557
COURSE_BIAS	0	PITCH_GAIN	45	FG_AHR_10V	0	SEABIRD_C_I	-0.0031189518
GLIDE_SLOPE	30	PITCH_TIMEOUT	17	FG_AHR_24V	0	SEABIRD_C_J	0.00030257509
SPEED_FACTOR	1	PITCH_AD_RATE	160	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-133.12781	SC_PROFILE	3.0
MASS	54196	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010934046	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	32	SC_NDIVE	1.0
NAV_MODE	2	ROLL_MIN	236	COMPASS_USE	4	ED_RECORDABOVE	1000.0
FERRY_MAX	45	ROLL_MAX	3704	ALTIM_PING_FIT	0	ED_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	30	ALTIM_TOP_PING_RANGE	0	ED_XMITPROFILE	7.0
HD_A	0.0050118701	C_ROLL_DIVE	2200	ALTIM_BOTTOM_TURN_MARGIN	0	ED_UPLOADMAX	0.0
HD_B	0.0163117	C_ROLL_CLIMB	2000	ALTIM_TOP_TURN_MARGIN	0	ED_STARTS	108.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0	ED_NDIVE	1.0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	030822,182425,4450.3525,-12459.5830,6,0.9,31,15.1,0.2,160.4,12,4.1	SPEED_LIMITS	0.173,0.208
_CALLS	1	TGT_NAME	TGT
_XMS_NAKs	0	TGT_LATLONG	4450.006,-12457.788
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.73	MHEAD_RNG_PITCHd_Wd	86.9,2505,-22.7,-10.000,-25.65,2245
_SM_ANGLEo	-74.3	D_GRID	959
GPS2	030822,183012,4450.3491,-12459.6328,1,0.6,3,15.1,0.5,229.5,12,6.8

FINISH	-0.1,1.007996	_10V_AH	10.25,8.737
SM_CCo	3812,153.93,0.685,0,0,929,500.41	FG_AHR_24Vo	0.000
SM_GC	0.68,7.80,0.30,153.93,0.051,0.057,0.685,169,2202,929,-7.47,-1.13,500.41,0,0,0,0,0,0,26.08,26.05,24.88	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4450.39,-12455.54,030822,171418	MEM	220740
TT8_MAMPS	0.023968,0.323568	DATA_FILE_SIZE	23415,665
HUMID	36.37	CAP_FILE_SIZE	236398,0
INTERNAL_PRESSURE	8.50232	CFSIZE	260030464,237400064
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.081,325.35,1
SC_FREEKB	3795136	GPS	030822,193750,4450.413,-12459.282,2,1.0,3,15.1,0.2,0.0,9,5.7
_24V_AH	24.68,10.347

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	211	97.80	nil	0	0	0.00
Roll_motor	46	56	64.34	nil	0	0	0.00
VBD_pump_during_apogee	359	820	7285.74	nil	0	0	0.00
VBD_pump_during_surface	153	685	2603.90	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	3796	24	2273.18
Iridium_during_xfer	195	96	464.18	Edison	4418	10	1090.36
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	12	1.99
TT8	1673	13	239.66
LPSleep	225	2	5.06
TT8_Active	610	13	82.67
TT8_Sampling	1491	39	602.91
TT8_CF8	317	49	162.35
TT8_Kalman	0	0	0.00
Analog_circuits	1427	10	146.28
GPS_charging	0	0	0.00
Compass	1044	8	88.18
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-0.65	-146.0	160	2222	1040	801	0.0	0.0	0	101	0.00	0.00	-85.57	0.005	16386	0.000	0.000	161	2223	3172	3138	3207	0	0	0	0	0	0	26.15	28.83	26.15
103	-0.65	-146.0	161	2223	3141	3208	4.6	-10.3	13	126	8.62	1.65	-7.35	0.011	18948	0.212	0.048	2400	1126	3568	3536	3600	0	0	0	0	0	0	25.92	25.03	26.15
285	-0.65	-146.0	2399	1126	3547	3599	34.7	-12.9	46	292	0.00	1.65	0.00	0.000	1030	0.000	0.037	2394	2194	3573	3547	3599	0	0	0	0	0	0	26.25	26.20	26.25
418	-0.65	-146.0	2393	2193	3550	3598	50.4	-10.1	71	427	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2194	3574	3550	3598	0	0	0	0	0	0	26.27	26.27	26.27
553	-0.65	-146.0	2394	2193	3553	3598	65.0	-10.9	96	560	0.00	1.58	0.00	0.000	516	0.000	0.032	2399	1140	3575	3552	3598	0	0	0	0	0	0	26.28	26.24	26.28
591	-0.70	-146.0	2398	1139	3553	3598	68.6	-9.7	102	598	0.00	1.65	0.00	0.000	1190	0.000	0.038	2396	2210	3575	3553	3598	0	0	0	0	0	0	26.27	26.22	26.28
726	-0.74	-146.0	2393	2210	3554	3598	81.7	-9.8	127	734	0.00	1.60	0.00	0.000	420	0.000	0.046	2385	3257	3575	3554	3597	0	0	0	0	0	0	26.29	26.22	26.29
832	-0.77	-146.0	2385	3257	3555	3598	91.4	-9.2	146	840	0.00	1.58	0.00	0.000	1190	0.000	0.028	2391	2202	3576	3555	3597	0	0	0	0	0	0	26.30	26.25	26.29
968	-0.83	-146.0	2390	2198	3555	3598	103.9	-8.6	171	976	0.00	1.62	0.00	0.000	420	0.000	0.045	2385	3252	3577	3556	3598	0	0	0	0	0	0	26.28	26.22	26.28
1032	-0.89	-146.0	2381	3252	3556	3598	109.7	-8.9	182	1040	0.12	1.58	0.00	0.000	5286	0.119	0.029	2351	2199	3577	3556	3598	0	0	0	0	0	0	26.20	26.25	26.27
1168	-0.89	-146.0	2356	2197	3555	3597	124.2	-10.6	207	1176	0.00	1.58	0.00	0.000	516	0.000	0.035	2357	1140	3577	3556	3598	0	0	0	0	0	0	26.28	26.23	26.28
1207	-0.92	-146.0	2357	1139	3556	3598	128.0	-9.9	213	1214	0.00	1.65	0.00	0.000	1190	0.000	0.039	2351	2208	3577	3556	3598	0	0	0	0	0	0	26.28	26.23	26.29
1342	-0.92	-146.0	2351	2208	3557	3598	142.4	-10.7	238	1349	0.00	1.60	0.00	0.000	260	0.000	0.047	2343	3252	3577	3556	3598	0	0	0	0	0	0	26.28	26.21	26.27
1441	-0.94	-146.0	2343	3253	3556	3597	153.0	-10.7	256	1448	0.00	1.58	0.00	0.000	1158	0.000	0.030	2349	2199	3576	3556	3597	0	0	0	0	0	0	26.27	26.24	26.27
1577	-0.94	-146.0	2349	2197	3556	3594	167.1	-10.2	281	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2196	3576	3556	3597	0	0	0	0	0	0	26.29	26.29	26.30
1703	end dive: TARGET_DEPTH_EXCEEDED
state	1703	begin apogee
1708	-0.11	0.0	2350	1981	3556	3597	180.5	-10.8	305	1832	0.75	0.00	114.47	0.820	10246	0.159	0.000	2567	1976	2963	3021	2906	0	0	0	0	0	0	26.03	25.29	24.82
1836	end apogee: CONTROL_FINISHED_OK
state	1836	begin climb
1838	0.65	146.0	2567	1976	3021	2910	183.4	0.0	323	1959	0.80	1.67	113.10	0.795	10756	0.119	0.037	2823	966	2368	2467	2269	0	0	0	0	0	0	25.53	25.23	24.68
2016	0.68	149.1	2822	970	2462	2272	171.8	9.9	349	2023	0.00	1.62	0.00	0.000	1190	0.000	0.037	2818	1997	2367	2463	2271	0	0	0	0	0	0	25.75	25.70	25.79
2151	0.68	149.1	2817	1997	2459	2271	157.4	11.0	374	2158	0.00	1.62	0.00	0.000	260	0.000	0.046	2810	3054	2363	2457	2270	0	0	0	0	0	0	26.06	26.00	26.06
2207	0.68	149.1	2809	3054	2454	2270	151.0	11.1	384	2215	0.00	1.55	0.00	0.000	1030	0.000	0.030	2815	2023	2362	2454	2270	0	0	0	0	0	0	26.12	26.08	26.12
2344	0.68	149.1	2814	2018	2454	2270	135.6	10.7	409	2352	0.00	1.65	0.00	0.000	516	0.000	0.038	2824	934	2362	2453	2271	0	0	0	0	0	0	26.20	26.16	26.20
2380	0.68	149.1	2823	934	2461	2271	131.6	11.1	415	2387	0.00	1.65	0.00	0.000	1030	0.000	0.035	2818	2005	2362	2453	2271	0	0	0	0	0	0	26.22	26.17	26.22
2516	0.68	149.1	2817	2005	2452	2270	116.1	11.6	440	2524	0.00	1.60	0.00	0.000	260	0.000	0.044	2810	3057	2361	2451	2271	0	0	0	0	0	0	26.24	26.18	26.25
2605	0.68	149.1	2809	3057	2447	2270	105.8	11.1	456	2613	0.00	1.60	0.00	0.000	1030	0.000	0.029	2816	1987	2359	2448	2270	0	0	0	0	0	0	26.25	26.22	26.26
2743	0.69	158.8	2815	1983	2448	2270	92.0	9.6	481	2758	0.00	1.73	10.10	0.718	8484	0.000	0.043	2809	3054	2317	2417	2218	0	0	0	0	0	0	26.27	26.04	25.37
2802	0.71	158.8	2809	3054	2412	2218	85.9	10.5	491	2810	0.08	1.60	0.00	0.000	3206	0.168	0.029	2831	1992	2315	2412	2218	0	0	0	0	0	0	26.03	26.13	26.15
2937	0.71	158.8	2831	1989	2412	2219	71.5	10.1	516	2945	0.00	1.60	0.00	0.000	516	0.000	0.037	2839	935	2315	2412	2218	0	0	0	0	0	0	26.25	26.20	26.25
2958	0.71	158.8	2839	941	2412	2219	69.3	10.5	519	2965	0.00	1.65	0.00	0.000	1030	0.000	0.036	2833	2005	2314	2411	2218	0	0	0	0	0	0	26.25	26.20	26.25
3092	0.71	163.4	2831	2004	2412	2218	55.6	9.8	544	3100	0.00	0.00	0.00	0.000	38	0.000	0.000	2833	2005	2314	2411	2218	0	0	0	0	0	0	26.27	26.27	26.27
3227	0.73	183.1	2833	2005	2411	2218	42.3	9.1	569	3256	0.00	1.65	20.83	0.724	8740	0.000	0.035	2839	945	2215	2328	2103	0	0	0	0	0	0	26.27	25.77	25.27
3308	0.87	259.2	2838	944	2329	2103	36.4	6.5	582	3378	0.20	1.65	60.62	0.716	11430	0.144	0.036	2891	2007	1911	2037	1786	0	0	0	0	0	0	26.01	26.06	24.99
3507	0.88	271.7	2890	2007	2028	1772	17.0	9.4	616	3522	0.00	1.67	9.85	0.653	8740	0.000	0.037	2898	940	1855	1981	1729	0	0	0	0	0	0	26.10	25.91	25.29
3552	0.94	284.6	2897	941	1981	1728	12.9	9.4	623	3569	0.08	1.65	11.77	0.665	11430	0.173	0.035	2912	2002	1803	1930	1677	0	0	0	0	0	0	25.91	26.00	25.25
3700	1.19	435.2	2912	2002	1916	1676	2.6	3.1	649	3722	0.25	0.00	19.23	0.677	10658	0.129	0.000	2989	2004	1709	1830	1589	0	0	0	0	0	0	26.03	28.83	26.10
3723	end climb: SURFACE_DEPTH_REACHED
state	3723	begin surface coast
3795	end surface coast: CONTROL_FINISHED_OK
state	3795	begin surface