Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 71 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 25 ALTIM_PULSE 1

DIVE 6 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 6 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 71 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 25 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 031019,085709,1325.0343,14436.2402,23,0.9,32,0.6,0.2,64.0,8,2.3 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 0.50 MHEAD_RNG_PITCHd_Wd 271.6,9720,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.4 D_GRID 693

GPS2 031019,090414,1325.0325,14436.3037,3,0.8,4,0.6,0.1,0.0,9,7.7

Post-dive calculations and measurements:

SM_CCo 6474,52.47,0.617,1,0,928,500.17 PM_ACTIVECARD 0

SM_GC 0.55,7.00,3.60,52.47,0.093,0.052,0.617,157,2790,928,-6.34,-1.13,500.17,0,0,0,0,1,0,15.32,15.33,14.85 _24V_AH 14.38,4.255

IRIDIUM_FIX 1321.79,14434.70,031019,070121 _10V_AH 13.71,0.000

TT8_MAMPS 0.019474,0.165529 FG_AHR_24Vo 0.000

HUMID 51.53 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.08238 MEM 271120

TCM_TEMP 25.80 DATA_FILE_SIZE 30049,838

XPDR_PINGS 0 CAP_FILE_SIZE 86523,0

SC_FREEKB 3875040 CFSIZE 260034560,257290240

PM_FREEKB_00 124480128 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 INTR 0,4018.85,0x235770,1,24

PM_FREEKB_02 124821056 CURRENT 0.081,19.35,1

PM_FREEKB_03 124821056 GPS 031019,105509,1325.731,14435.845,9,0.8,22,0.6,0.4,43.8,10,2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 410 108.70 nil 0 0 0.00

Roll_motor 62 110 99.05 nil 0 0 0.00

VBD_pump_during_apogee 520 1199 8976.86 nil 0 0 0.00

VBD_pump_during_surface 52 617 465.85 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 6466 8 770.91

Iridium_during_xfer 267 185 715.81 PMAR 6460 4 434.38

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 9 2.10

TT8 684 9 85.14

LPSleep 3120 2 93.68

TT8_Active 524 9 65.17

TT8_Sampling 2495 28 976.60

TT8_CF8 158 33 73.60

TT8_Kalman 0 0 0.00

Analog_circuits 1615 10 230.29

GPS_charging 0 0 0.00

Compass 2081 17 491.77

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.73 -146.0 165 2789 993 859 0.0 0.0 0 109 0.00 0.00 -88.30 0.005 16386 0.000 0.000 164 2790 3158 3201 3116 0 0 0 0 0 0 15.45 28.83 15.47

112 -0.73 -146.0 170 2790 3201 3117 4.3 -7.8 9 134 8.35 1.92 -7.07 0.019 18724 0.411 0.110 1946 3943 3566 3637 3496 0 0 0 0 0 0 15.09 14.71 15.26

357 -0.68 -146.0 1946 3943 3637 3497 65.3 -20.6 58 364 0.10 1.80 0.00 0.000 3206 0.247 0.037 1974 2815 3566 3637 3496 0 0 0 0 0 0 15.24 15.37 15.35

543 -0.68 -146.0 1974 2814 3637 3497 95.3 -17.4 77 549 0.00 1.90 0.00 0.000 260 0.000 0.090 1970 3943 3566 3637 3496 0 0 0 0 0 0 15.59 15.36 15.60

586 -0.68 -146.0 1970 3943 3637 3496 103.6 -18.8 85 593 0.00 1.77 0.00 0.000 1030 0.000 0.037 1970 2783 3564 3633 3496 0 0 0 0 0 0 15.48 15.45 15.50

781 -0.78 -146.0 1970 2780 3637 3497 132.7 -11.7 105 788 0.00 2.15 0.00 0.000 644 0.000 0.048 1970 1422 3566 3637 3496 0 0 0 0 0 0 15.61 15.42 15.62

1017 -0.93 -146.0 1966 1425 3637 3497 156.8 -10.9 151 1027 0.22 2.28 0.00 0.000 5254 0.112 0.060 1887 2806 3567 3637 3497 0 0 0 0 0 0 15.43 15.41 15.50

1207 -0.93 -146.0 1886 2806 3637 3497 182.0 -11.2 171 1214 0.00 0.00 0.00 0.000 6 0.000 0.000 1886 2806 3567 3637 3498 0 0 0 0 0 0 15.63 15.64 15.64

1397 -0.93 -146.0 1892 2806 3637 3497 204.1 -11.3 190 1402 0.00 1.88 0.00 0.000 260 0.000 0.086 1883 3942 3570 3638 3502 0 0 0 0 0 0 15.63 15.40 15.64

1532 -0.93 -146.0 1883 3942 3637 3498 220.0 -11.6 216 1537 0.00 1.75 0.00 0.000 1030 0.000 0.038 1884 2780 3567 3637 3497 0 0 0 0 0 0 15.52 15.49 15.54

1727 -0.99 -146.0 1883 2779 3637 3497 240.0 -9.1 236 1733 0.00 0.00 0.00 0.000 166 0.000 0.000 1883 2780 3567 3637 3497 0 0 0 0 0 0 15.64 15.66 15.66

1926 -1.06 -146.0 1882 2779 3637 3497 259.4 -9.7 250 1930 0.00 0.00 0.00 0.000 166 0.000 0.000 1883 2779 3567 3637 3497 0 0 0 0 0 0 15.65 15.66 15.67

2225 -1.14 -146.0 1882 2779 3633 3497 293.4 -11.4 260 2232 0.15 2.12 0.00 0.000 4740 0.139 0.047 1825 1440 3564 3632 3497 0 0 0 0 0 0 15.45 15.46 15.50

2262 -1.14 -146.0 1825 1440 3633 3497 297.3 -10.5 267 2267 0.00 2.25 0.00 0.000 1030 0.000 0.064 1825 2798 3567 3632 3503 0 0 0 0 0 0 15.53 15.44 15.54

2591 -1.14 -146.0 1824 2797 3630 3495 336.5 -13.3 282 2596 0.00 1.90 0.00 0.000 260 0.000 0.091 1823 3945 3561 3629 3494 0 0 0 0 0 0 15.66 15.42 15.67

2760 end dive: TARGET_DEPTH_EXCEEDED

state 2760 begin apogee

2768 -0.19 0.0 1816 2042 3628 3494 360.2 -12.2 316 2905 1.12 0.00 130.85 1.200 10246 0.232 0.000 2138 2040 2969 3052 2886 0 0 0 0 0 0 15.35 14.94 14.46

2914 end apogee: CONTROL_FINISHED_OK

state 2914 begin climb

2916 0.73 146.0 2137 2040 3051 2883 361.1 0.0 320 3058 0.88 2.42 132.85 1.171 10756 0.096 0.076 2436 648 2371 2453 2290 0 0 0 0 0 0 14.96 14.81 14.38

3285 0.65 146.0 2436 647 2441 2289 324.0 11.7 400 3291 0.00 2.25 0.00 0.000 1158 0.000 0.047 2436 2026 2364 2440 2289 0 0 0 0 0 0 15.30 15.24 15.33

3610 0.58 146.0 2436 2026 2441 2284 288.7 10.5 414 3618 0.17 2.30 0.00 0.000 4740 0.288 0.074 2395 648 2362 2440 2284 0 0 0 0 0 0 15.24 15.32 15.35

3644 0.59 180.6 2394 648 2441 2284 285.6 8.4 421 3683 0.00 2.20 30.27 1.127 9254 0.000 0.048 2394 2006 2230 2315 2146 0 0 0 0 0 0 15.42 15.37 14.74

4003 0.64 216.6 2394 2004 2316 2138 253.4 8.3 442 4044 0.00 2.40 31.70 1.121 8868 0.000 0.080 2394 640 2084 2172 1996 0 0 0 0 0 0 15.54 15.18 14.74

4272 0.71 246.6 2394 639 2161 1996 232.3 8.6 496 4307 0.12 2.22 26.92 1.101 11430 0.159 0.051 2446 2003 1961 2052 1871 0 0 0 0 0 0 15.30 15.32 14.72

4487 0.71 246.6 2440 2002 2052 1865 204.4 11.2 521 4493 0.00 2.33 0.00 0.000 516 0.000 0.080 2437 638 1958 2052 1865 0 0 0 0 0 0 15.47 15.26 15.49

4721 0.71 246.6 2440 638 2045 1866 177.4 10.9 567 4726 0.00 2.20 0.00 0.000 1030 0.000 0.047 2439 2001 1955 2046 1865 0 0 0 0 0 0 15.42 15.36 15.45

4914 0.71 246.6 2440 2001 2046 1864 155.9 11.7 587 4919 0.00 2.28 0.00 0.000 516 0.000 0.075 2441 645 1955 2047 1864 0 0 0 0 0 0 15.54 15.35 15.57

5148 0.76 246.6 2440 645 2045 1864 130.6 10.4 633 5155 0.00 2.17 0.00 0.000 1158 0.000 0.046 2441 2007 1957 2050 1864 0 0 0 0 0 0 15.46 15.40 15.47

5343 0.78 278.4 2440 2003 2045 1864 115.5 8.5 653 5377 0.00 2.30 27.02 0.968 8740 0.000 0.071 2441 645 1833 1924 1742 0 0 0 0 0 0 15.59 15.22 14.86

5605 0.87 331.5 2440 644 1917 1742 95.4 7.6 705 5662 0.10 2.22 46.12 0.929 11430 0.100 0.044 2487 2003 1614 1707 1522 0 0 0 0 0 0 15.33 15.34 14.75

5843 0.96 447.5 2486 2003 1707 1519 77.4 4.7 734 5945 0.00 2.33 94.68 0.892 8868 0.000 0.072 2485 645 1142 1236 1049 0 0 0 0 0 0 15.46 14.95 14.60

6172 1.09 447.5 2490 645 1229 1048 44.5 12.1 800 6179 0.17 2.22 0.00 0.000 3206 0.084 0.044 2559 1991 1139 1231 1047 0 0 0 0 0 0 15.21 15.23 15.26

6358 1.09 447.5 2558 1991 1231 1048 15.3 16.2 819 6363 0.00 2.25 0.00 0.000 516 0.000 0.071 2559 645 1139 1231 1048 0 0 0 0 0 0 15.50 15.28 15.51

6432 end climb: SURFACE_DEPTH_REACHED

state 6432 begin surface coast

6452 end surface coast: CONTROL_FINISHED_OK

state 6452 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	71	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	25	ALTIM_PULSE	1
DIVE	6	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	031019,085709,1325.0343,14436.2402,23,0.9,32,0.6,0.2,64.0,8,2.3	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	0.50	MHEAD_RNG_PITCHd_Wd	271.6,9720,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.4	D_GRID	693
GPS2	031019,090414,1325.0325,14436.3037,3,0.8,4,0.6,0.1,0.0,9,7.7

SM_CCo	6474,52.47,0.617,1,0,928,500.17	PM_ACTIVECARD	0
SM_GC	0.55,7.00,3.60,52.47,0.093,0.052,0.617,157,2790,928,-6.34,-1.13,500.17,0,0,0,0,1,0,15.32,15.33,14.85	_24V_AH	14.38,4.255
IRIDIUM_FIX	1321.79,14434.70,031019,070121	_10V_AH	13.71,0.000
TT8_MAMPS	0.019474,0.165529	FG_AHR_24Vo	0.000
HUMID	51.53	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.08238	MEM	271120
TCM_TEMP	25.80	DATA_FILE_SIZE	30049,838
XPDR_PINGS	0	CAP_FILE_SIZE	86523,0
SC_FREEKB	3875040	CFSIZE	260034560,257290240
PM_FREEKB_00	124480128	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	INTR	0,4018.85,0x235770,1,24
PM_FREEKB_02	124821056	CURRENT	0.081,19.35,1
PM_FREEKB_03	124821056	GPS	031019,105509,1325.731,14435.845,9,0.8,22,0.6,0.4,43.8,10,2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	410	108.70	nil	0	0	0.00
Roll_motor	62	110	99.05	nil	0	0	0.00
VBD_pump_during_apogee	520	1199	8976.86	nil	0	0	0.00
VBD_pump_during_surface	52	617	465.85	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	6466	8	770.91
Iridium_during_xfer	267	185	715.81	PMAR	6460	4	434.38
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	9	2.10
TT8	684	9	85.14
LPSleep	3120	2	93.68
TT8_Active	524	9	65.17
TT8_Sampling	2495	28	976.60
TT8_CF8	158	33	73.60
TT8_Kalman	0	0	0.00
Analog_circuits	1615	10	230.29
GPS_charging	0	0	0.00
Compass	2081	17	491.77
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.73	-146.0	165	2789	993	859	0.0	0.0	0	109	0.00	0.00	-88.30	0.005	16386	0.000	0.000	164	2790	3158	3201	3116	0	0	0	0	0	0	15.45	28.83	15.47
112	-0.73	-146.0	170	2790	3201	3117	4.3	-7.8	9	134	8.35	1.92	-7.07	0.019	18724	0.411	0.110	1946	3943	3566	3637	3496	0	0	0	0	0	0	15.09	14.71	15.26
357	-0.68	-146.0	1946	3943	3637	3497	65.3	-20.6	58	364	0.10	1.80	0.00	0.000	3206	0.247	0.037	1974	2815	3566	3637	3496	0	0	0	0	0	0	15.24	15.37	15.35
543	-0.68	-146.0	1974	2814	3637	3497	95.3	-17.4	77	549	0.00	1.90	0.00	0.000	260	0.000	0.090	1970	3943	3566	3637	3496	0	0	0	0	0	0	15.59	15.36	15.60
586	-0.68	-146.0	1970	3943	3637	3496	103.6	-18.8	85	593	0.00	1.77	0.00	0.000	1030	0.000	0.037	1970	2783	3564	3633	3496	0	0	0	0	0	0	15.48	15.45	15.50
781	-0.78	-146.0	1970	2780	3637	3497	132.7	-11.7	105	788	0.00	2.15	0.00	0.000	644	0.000	0.048	1970	1422	3566	3637	3496	0	0	0	0	0	0	15.61	15.42	15.62
1017	-0.93	-146.0	1966	1425	3637	3497	156.8	-10.9	151	1027	0.22	2.28	0.00	0.000	5254	0.112	0.060	1887	2806	3567	3637	3497	0	0	0	0	0	0	15.43	15.41	15.50
1207	-0.93	-146.0	1886	2806	3637	3497	182.0	-11.2	171	1214	0.00	0.00	0.00	0.000	6	0.000	0.000	1886	2806	3567	3637	3498	0	0	0	0	0	0	15.63	15.64	15.64
1397	-0.93	-146.0	1892	2806	3637	3497	204.1	-11.3	190	1402	0.00	1.88	0.00	0.000	260	0.000	0.086	1883	3942	3570	3638	3502	0	0	0	0	0	0	15.63	15.40	15.64
1532	-0.93	-146.0	1883	3942	3637	3498	220.0	-11.6	216	1537	0.00	1.75	0.00	0.000	1030	0.000	0.038	1884	2780	3567	3637	3497	0	0	0	0	0	0	15.52	15.49	15.54
1727	-0.99	-146.0	1883	2779	3637	3497	240.0	-9.1	236	1733	0.00	0.00	0.00	0.000	166	0.000	0.000	1883	2780	3567	3637	3497	0	0	0	0	0	0	15.64	15.66	15.66
1926	-1.06	-146.0	1882	2779	3637	3497	259.4	-9.7	250	1930	0.00	0.00	0.00	0.000	166	0.000	0.000	1883	2779	3567	3637	3497	0	0	0	0	0	0	15.65	15.66	15.67
2225	-1.14	-146.0	1882	2779	3633	3497	293.4	-11.4	260	2232	0.15	2.12	0.00	0.000	4740	0.139	0.047	1825	1440	3564	3632	3497	0	0	0	0	0	0	15.45	15.46	15.50
2262	-1.14	-146.0	1825	1440	3633	3497	297.3	-10.5	267	2267	0.00	2.25	0.00	0.000	1030	0.000	0.064	1825	2798	3567	3632	3503	0	0	0	0	0	0	15.53	15.44	15.54
2591	-1.14	-146.0	1824	2797	3630	3495	336.5	-13.3	282	2596	0.00	1.90	0.00	0.000	260	0.000	0.091	1823	3945	3561	3629	3494	0	0	0	0	0	0	15.66	15.42	15.67
2760	end dive: TARGET_DEPTH_EXCEEDED
state	2760	begin apogee
2768	-0.19	0.0	1816	2042	3628	3494	360.2	-12.2	316	2905	1.12	0.00	130.85	1.200	10246	0.232	0.000	2138	2040	2969	3052	2886	0	0	0	0	0	0	15.35	14.94	14.46
2914	end apogee: CONTROL_FINISHED_OK
state	2914	begin climb
2916	0.73	146.0	2137	2040	3051	2883	361.1	0.0	320	3058	0.88	2.42	132.85	1.171	10756	0.096	0.076	2436	648	2371	2453	2290	0	0	0	0	0	0	14.96	14.81	14.38
3285	0.65	146.0	2436	647	2441	2289	324.0	11.7	400	3291	0.00	2.25	0.00	0.000	1158	0.000	0.047	2436	2026	2364	2440	2289	0	0	0	0	0	0	15.30	15.24	15.33
3610	0.58	146.0	2436	2026	2441	2284	288.7	10.5	414	3618	0.17	2.30	0.00	0.000	4740	0.288	0.074	2395	648	2362	2440	2284	0	0	0	0	0	0	15.24	15.32	15.35
3644	0.59	180.6	2394	648	2441	2284	285.6	8.4	421	3683	0.00	2.20	30.27	1.127	9254	0.000	0.048	2394	2006	2230	2315	2146	0	0	0	0	0	0	15.42	15.37	14.74
4003	0.64	216.6	2394	2004	2316	2138	253.4	8.3	442	4044	0.00	2.40	31.70	1.121	8868	0.000	0.080	2394	640	2084	2172	1996	0	0	0	0	0	0	15.54	15.18	14.74
4272	0.71	246.6	2394	639	2161	1996	232.3	8.6	496	4307	0.12	2.22	26.92	1.101	11430	0.159	0.051	2446	2003	1961	2052	1871	0	0	0	0	0	0	15.30	15.32	14.72
4487	0.71	246.6	2440	2002	2052	1865	204.4	11.2	521	4493	0.00	2.33	0.00	0.000	516	0.000	0.080	2437	638	1958	2052	1865	0	0	0	0	0	0	15.47	15.26	15.49
4721	0.71	246.6	2440	638	2045	1866	177.4	10.9	567	4726	0.00	2.20	0.00	0.000	1030	0.000	0.047	2439	2001	1955	2046	1865	0	0	0	0	0	0	15.42	15.36	15.45
4914	0.71	246.6	2440	2001	2046	1864	155.9	11.7	587	4919	0.00	2.28	0.00	0.000	516	0.000	0.075	2441	645	1955	2047	1864	0	0	0	0	0	0	15.54	15.35	15.57
5148	0.76	246.6	2440	645	2045	1864	130.6	10.4	633	5155	0.00	2.17	0.00	0.000	1158	0.000	0.046	2441	2007	1957	2050	1864	0	0	0	0	0	0	15.46	15.40	15.47
5343	0.78	278.4	2440	2003	2045	1864	115.5	8.5	653	5377	0.00	2.30	27.02	0.968	8740	0.000	0.071	2441	645	1833	1924	1742	0	0	0	0	0	0	15.59	15.22	14.86
5605	0.87	331.5	2440	644	1917	1742	95.4	7.6	705	5662	0.10	2.22	46.12	0.929	11430	0.100	0.044	2487	2003	1614	1707	1522	0	0	0	0	0	0	15.33	15.34	14.75
5843	0.96	447.5	2486	2003	1707	1519	77.4	4.7	734	5945	0.00	2.33	94.68	0.892	8868	0.000	0.072	2485	645	1142	1236	1049	0	0	0	0	0	0	15.46	14.95	14.60
6172	1.09	447.5	2490	645	1229	1048	44.5	12.1	800	6179	0.17	2.22	0.00	0.000	3206	0.084	0.044	2559	1991	1139	1231	1047	0	0	0	0	0	0	15.21	15.23	15.26
6358	1.09	447.5	2558	1991	1231	1048	15.3	16.2	819	6363	0.00	2.25	0.00	0.000	516	0.000	0.071	2559	645	1139	1231	1048	0	0	0	0	0	0	15.50	15.28	15.51
6432	end climb: SURFACE_DEPTH_REACHED
state	6432	begin surface coast
6452	end surface coast: CONTROL_FINISHED_OK
state	6452	begin surface