Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 42 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 27 ALTIM_PULSE 1

DIVE 7 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 7 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 42 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 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 031019,105509,1325.7307,14435.8447,9,0.8,22,0.6,0.4,43.8,10,2.9 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 255.0,8865,-18.2,-10.000,-21.02,2236

_SM_ANGLEo -58.1 D_GRID 1039

GPS2 031019,110244,1325.7521,14435.9141,1,0.7,3,0.6,0.2,0.0,12,6.7

Post-dive calculations and measurements:

SM_CCo 6323,117.97,0.700,1,0,928,500.41 PM_ACTIVECARD 0

SM_GC 0.65,6.93,1.33,117.97,0.088,0.066,0.700,161,2787,928,-6.32,-1.27,500.41,0,0,0,0,1,0,15.33,15.33,14.71 _24V_AH 14.38,4.496

IRIDIUM_FIX 1326.30,14436.50,031019,085952 _10V_AH 13.70,0.000

TT8_MAMPS 0.019474,0.161784 FG_AHR_24Vo 0.000

HUMID 49.60 FG_AHR_10Vo 0.000

INTERNAL_PRESSURE 9.06285 MEM 271120

TCM_TEMP 26.30 DATA_FILE_SIZE 26733,793

XPDR_PINGS 0 CAP_FILE_SIZE 88684,0

SC_FREEKB 3874656 CFSIZE 260034560,257204224

PM_FREEKB_00 124398208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 124821056 CURRENT 0.129,346.15,1

PM_FREEKB_02 124821056 GPS 031019,125209,1326.185,14434.867,2,0.7,16,0.6,0.4,144.4,12,2.2

PM_FREEKB_03 124821056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 415 111.85 nil 0 0 0.00

Roll_motor 62 104 93.32 nil 0 0 0.00

VBD_pump_during_apogee 454 1176 7697.33 nil 0 0 0.00

VBD_pump_during_surface 117 699 1187.49 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 6321 8 756.35

Iridium_during_xfer 296 181 774.00 PMAR 6313 4 414.96

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 9 2.17

TT8 682 9 84.81

LPSleep 3093 2 92.81

TT8_Active 554 9 68.94

TT8_Sampling 2433 28 951.77

TT8_CF8 164 33 76.18

TT8_Kalman 0 0 0.00

Analog_circuits 1633 10 232.76

GPS_charging 0 0 0.00

Compass 1996 17 471.24

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 2791 989 864 0.0 0.0 0 109 0.00 0.00 -88.88 0.005 16386 0.000 0.000 157 2791 3202 3244 3160 0 0 0 0 0 0 15.44 28.83 15.47

112 -0.73 -146.0 157 2791 3244 3160 4.7 -8.9 9 134 8.43 1.92 -6.07 0.022 18724 0.415 0.104 1944 3952 3565 3633 3498 0 0 0 0 0 0 15.08 14.72 15.24

362 -0.62 -146.0 1944 3955 3633 3493 72.6 -23.9 59 368 0.22 1.83 0.00 0.000 3206 0.265 0.037 1998 2758 3565 3633 3498 0 0 0 0 0 0 15.23 15.40 15.40

557 -0.70 -146.0 1994 2758 3633 3497 101.3 -12.3 79 563 0.00 1.98 0.00 0.000 388 0.000 0.083 1996 3942 3565 3633 3498 0 0 0 0 0 0 15.57 15.35 15.59

651 -0.82 -146.0 1995 3942 3633 3497 113.3 -12.1 97 658 0.17 1.73 0.00 0.000 5254 0.125 0.040 1933 2814 3565 3633 3498 0 0 0 0 0 0 15.40 15.44 15.46

847 -0.85 -146.0 1937 2814 3633 3498 138.7 -14.7 117 854 0.00 2.20 0.00 0.000 644 0.000 0.044 1932 1417 3563 3633 3494 0 0 0 0 0 0 15.60 15.41 15.62

861 -0.90 -146.0 1932 1417 3637 3498 140.8 -14.5 119 867 0.00 2.28 0.00 0.000 1158 0.000 0.058 1933 2803 3565 3633 3498 0 0 0 0 0 0 15.48 15.40 15.50

1055 -0.98 -146.0 1935 2803 3634 3498 163.0 -10.5 139 1061 0.15 2.22 0.00 0.000 4740 0.135 0.041 1871 1415 3564 3630 3498 0 0 0 0 0 0 15.42 15.42 15.45

1160 -0.95 -146.0 1870 1412 3634 3498 176.1 -14.3 159 1166 0.00 2.28 0.00 0.000 1158 0.000 0.057 1871 2801 3565 3634 3497 0 0 0 0 0 0 15.50 15.42 15.51

1353 -0.95 -146.0 1869 2801 3634 3498 203.5 -11.6 179 1357 0.00 0.00 0.00 0.000 6 0.000 0.000 1871 2801 3566 3634 3498 0 0 0 0 0 0 15.62 15.64 15.64

1535 -0.95 -146.0 1870 2801 3634 3498 222.3 -9.9 197 1541 0.00 1.88 0.00 0.000 292 0.000 0.083 1870 3943 3565 3633 3498 0 0 0 0 0 0 15.61 15.44 15.65

1699 -0.95 -146.0 1870 3943 3638 3498 241.7 -12.2 229 1706 0.00 1.75 0.00 0.000 1030 0.000 0.041 1870 2802 3564 3633 3496 0 0 0 0 0 0 15.51 15.46 15.52

1894 -0.99 -146.0 1870 2802 3633 3498 266.8 -13.3 241 1900 0.00 2.20 0.00 0.000 644 0.000 0.046 1870 1406 3565 3632 3498 0 0 0 0 0 0 15.64 15.45 15.65

1961 -1.02 -146.0 1870 1406 3632 3498 277.0 -14.3 254 1967 0.00 2.30 0.00 0.000 1158 0.000 0.060 1870 2802 3565 3632 3498 0 0 0 0 0 0 15.52 15.43 15.52

2290 -1.08 -146.0 1870 2801 3629 3498 313.1 -12.0 269 2296 0.00 1.88 0.00 0.000 388 0.000 0.086 1870 3942 3563 3629 3497 0 0 0 0 0 0 15.64 15.42 15.66

2447 -1.13 -146.0 1869 3942 3630 3496 329.9 -9.9 300 2454 0.12 1.77 0.00 0.000 5286 0.164 0.043 1828 2796 3562 3628 3496 0 0 0 0 0 0 15.43 15.50 15.52

2714 end dive: TARGET_DEPTH_EXCEEDED

state 2714 begin apogee

2720 -0.19 0.0 1828 1987 3627 3494 362.3 -12.9 313 2856 1.08 0.00 130.40 1.177 10246 0.222 0.000 2138 1986 2967 3050 2885 0 0 0 0 0 0 15.35 14.95 14.46

2859 end apogee: CONTROL_FINISHED_OK

state 2859 begin climb

2861 0.73 146.0 2138 1986 3050 2883 365.4 0.0 317 3007 0.88 2.33 132.90 1.150 10756 0.094 0.071 2437 671 2373 2453 2293 0 0 0 0 0 0 14.94 14.79 14.38

3233 0.65 146.0 2436 671 2442 2292 327.6 11.8 396 3239 0.00 2.20 0.00 0.000 1158 0.000 0.046 2437 2025 2366 2442 2291 0 0 0 0 0 0 15.29 15.24 15.31

3562 0.57 146.0 2437 2026 2442 2286 288.4 10.6 411 3568 0.17 2.30 0.00 0.000 4740 0.293 0.071 2394 661 2364 2443 2286 0 0 0 0 0 0 15.23 15.33 15.34

3779 0.58 168.5 2400 661 2440 2285 264.3 9.0 454 3807 0.00 2.17 19.58 1.089 9254 0.000 0.047 2394 2013 2282 2365 2199 0 0 0 0 0 0 15.45 15.40 14.82

4107 0.60 214.4 2394 2013 2364 2192 234.8 7.9 479 4156 0.00 2.35 40.92 1.097 8740 0.000 0.071 2394 663 2095 2183 2007 0 0 0 0 0 0 15.55 15.11 14.71

4332 0.68 249.2 2394 662 2175 2007 215.1 8.4 523 4371 0.00 2.17 31.73 1.066 9382 0.000 0.047 2394 2003 1951 2043 1860 0 0 0 0 0 0 15.37 15.29 14.69

4552 0.78 277.9 2394 2003 2043 1853 195.1 8.7 549 4583 0.17 0.00 25.88 1.038 10406 0.129 0.000 2456 2003 1834 1925 1744 0 0 0 0 0 0 15.26 15.17 14.72

4762 0.78 277.9 2457 2004 1924 1739 167.7 13.7 570 4768 0.00 2.25 0.00 0.000 516 0.000 0.073 2458 665 1831 1924 1739 0 0 0 0 0 0 15.44 15.25 15.47

4996 0.78 277.9 2458 665 1919 1739 137.4 13.1 616 5002 0.00 2.15 0.00 0.000 1030 0.000 0.046 2458 2000 1829 1919 1739 0 0 0 0 0 0 15.41 15.35 15.42

5191 0.83 283.8 2457 2000 1919 1738 116.6 9.7 636 5200 0.00 0.00 5.25 0.745 8358 0.000 0.000 2457 2000 1813 1903 1723 0 0 0 0 0 0 15.55 15.36 14.91

5382 0.89 337.2 2457 2000 1903 1721 102.6 7.5 655 5440 0.00 2.35 45.85 0.936 8868 0.000 0.072 2457 658 1593 1687 1500 0 0 0 0 0 0 15.56 15.14 14.78

5645 1.00 339.7 2457 658 1681 1501 76.0 9.9 707 5655 0.20 2.17 0.00 0.000 3238 0.124 0.044 2530 2009 1590 1681 1500 0 0 0 0 0 0 15.28 15.30 15.35

5836 0.97 339.7 2534 2010 1682 1500 49.9 13.6 727 5842 0.00 2.30 0.00 0.000 388 0.000 0.073 2531 3404 1590 1681 1500 0 0 0 0 0 0 15.53 15.32 15.54

5923 0.91 339.7 2530 3404 1681 1500 38.5 11.4 744 5930 0.10 2.28 0.00 0.000 5254 0.260 0.044 2502 2020 1594 1688 1501 0 0 0 0 0 0 15.23 15.35 15.35

6112 0.98 359.3 2500 2020 1681 1500 21.5 9.1 763 6139 0.00 2.35 18.88 0.780 8868 0.000 0.073 2503 637 1502 1598 1406 0 0 0 0 0 0 15.56 15.26 14.94

6207 1.08 362.2 2503 637 1594 1407 12.1 9.9 782 6219 0.10 2.22 3.58 0.490 11430 0.096 0.043 2551 1997 1491 1585 1398 0 0 0 0 0 0 15.30 15.32 14.92

6286 end climb: SURFACE_DEPTH_REACHED

state 6286 begin surface coast

6306 end surface coast: CONTROL_FINISHED_OK

state 6306 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	42	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	27	ALTIM_PULSE	1
DIVE	7	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	031019,105509,1325.7307,14435.8447,9,0.8,22,0.6,0.4,43.8,10,2.9	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	255.0,8865,-18.2,-10.000,-21.02,2236
_SM_ANGLEo	-58.1	D_GRID	1039
GPS2	031019,110244,1325.7521,14435.9141,1,0.7,3,0.6,0.2,0.0,12,6.7

SM_CCo	6323,117.97,0.700,1,0,928,500.41	PM_ACTIVECARD	0
SM_GC	0.65,6.93,1.33,117.97,0.088,0.066,0.700,161,2787,928,-6.32,-1.27,500.41,0,0,0,0,1,0,15.33,15.33,14.71	_24V_AH	14.38,4.496
IRIDIUM_FIX	1326.30,14436.50,031019,085952	_10V_AH	13.70,0.000
TT8_MAMPS	0.019474,0.161784	FG_AHR_24Vo	0.000
HUMID	49.60	FG_AHR_10Vo	0.000
INTERNAL_PRESSURE	9.06285	MEM	271120
TCM_TEMP	26.30	DATA_FILE_SIZE	26733,793
XPDR_PINGS	0	CAP_FILE_SIZE	88684,0
SC_FREEKB	3874656	CFSIZE	260034560,257204224
PM_FREEKB_00	124398208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	124821056	CURRENT	0.129,346.15,1
PM_FREEKB_02	124821056	GPS	031019,125209,1326.185,14434.867,2,0.7,16,0.6,0.4,144.4,12,2.2
PM_FREEKB_03	124821056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	415	111.85	nil	0	0	0.00
Roll_motor	62	104	93.32	nil	0	0	0.00
VBD_pump_during_apogee	454	1176	7697.33	nil	0	0	0.00
VBD_pump_during_surface	117	699	1187.49	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	6321	8	756.35
Iridium_during_xfer	296	181	774.00	PMAR	6313	4	414.96
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	9	2.17
TT8	682	9	84.81
LPSleep	3093	2	92.81
TT8_Active	554	9	68.94
TT8_Sampling	2433	28	951.77
TT8_CF8	164	33	76.18
TT8_Kalman	0	0	0.00
Analog_circuits	1633	10	232.76
GPS_charging	0	0	0.00
Compass	1996	17	471.24
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	2791	989	864	0.0	0.0	0	109	0.00	0.00	-88.88	0.005	16386	0.000	0.000	157	2791	3202	3244	3160	0	0	0	0	0	0	15.44	28.83	15.47
112	-0.73	-146.0	157	2791	3244	3160	4.7	-8.9	9	134	8.43	1.92	-6.07	0.022	18724	0.415	0.104	1944	3952	3565	3633	3498	0	0	0	0	0	0	15.08	14.72	15.24
362	-0.62	-146.0	1944	3955	3633	3493	72.6	-23.9	59	368	0.22	1.83	0.00	0.000	3206	0.265	0.037	1998	2758	3565	3633	3498	0	0	0	0	0	0	15.23	15.40	15.40
557	-0.70	-146.0	1994	2758	3633	3497	101.3	-12.3	79	563	0.00	1.98	0.00	0.000	388	0.000	0.083	1996	3942	3565	3633	3498	0	0	0	0	0	0	15.57	15.35	15.59
651	-0.82	-146.0	1995	3942	3633	3497	113.3	-12.1	97	658	0.17	1.73	0.00	0.000	5254	0.125	0.040	1933	2814	3565	3633	3498	0	0	0	0	0	0	15.40	15.44	15.46
847	-0.85	-146.0	1937	2814	3633	3498	138.7	-14.7	117	854	0.00	2.20	0.00	0.000	644	0.000	0.044	1932	1417	3563	3633	3494	0	0	0	0	0	0	15.60	15.41	15.62
861	-0.90	-146.0	1932	1417	3637	3498	140.8	-14.5	119	867	0.00	2.28	0.00	0.000	1158	0.000	0.058	1933	2803	3565	3633	3498	0	0	0	0	0	0	15.48	15.40	15.50
1055	-0.98	-146.0	1935	2803	3634	3498	163.0	-10.5	139	1061	0.15	2.22	0.00	0.000	4740	0.135	0.041	1871	1415	3564	3630	3498	0	0	0	0	0	0	15.42	15.42	15.45
1160	-0.95	-146.0	1870	1412	3634	3498	176.1	-14.3	159	1166	0.00	2.28	0.00	0.000	1158	0.000	0.057	1871	2801	3565	3634	3497	0	0	0	0	0	0	15.50	15.42	15.51
1353	-0.95	-146.0	1869	2801	3634	3498	203.5	-11.6	179	1357	0.00	0.00	0.00	0.000	6	0.000	0.000	1871	2801	3566	3634	3498	0	0	0	0	0	0	15.62	15.64	15.64
1535	-0.95	-146.0	1870	2801	3634	3498	222.3	-9.9	197	1541	0.00	1.88	0.00	0.000	292	0.000	0.083	1870	3943	3565	3633	3498	0	0	0	0	0	0	15.61	15.44	15.65
1699	-0.95	-146.0	1870	3943	3638	3498	241.7	-12.2	229	1706	0.00	1.75	0.00	0.000	1030	0.000	0.041	1870	2802	3564	3633	3496	0	0	0	0	0	0	15.51	15.46	15.52
1894	-0.99	-146.0	1870	2802	3633	3498	266.8	-13.3	241	1900	0.00	2.20	0.00	0.000	644	0.000	0.046	1870	1406	3565	3632	3498	0	0	0	0	0	0	15.64	15.45	15.65
1961	-1.02	-146.0	1870	1406	3632	3498	277.0	-14.3	254	1967	0.00	2.30	0.00	0.000	1158	0.000	0.060	1870	2802	3565	3632	3498	0	0	0	0	0	0	15.52	15.43	15.52
2290	-1.08	-146.0	1870	2801	3629	3498	313.1	-12.0	269	2296	0.00	1.88	0.00	0.000	388	0.000	0.086	1870	3942	3563	3629	3497	0	0	0	0	0	0	15.64	15.42	15.66
2447	-1.13	-146.0	1869	3942	3630	3496	329.9	-9.9	300	2454	0.12	1.77	0.00	0.000	5286	0.164	0.043	1828	2796	3562	3628	3496	0	0	0	0	0	0	15.43	15.50	15.52
2714	end dive: TARGET_DEPTH_EXCEEDED
state	2714	begin apogee
2720	-0.19	0.0	1828	1987	3627	3494	362.3	-12.9	313	2856	1.08	0.00	130.40	1.177	10246	0.222	0.000	2138	1986	2967	3050	2885	0	0	0	0	0	0	15.35	14.95	14.46
2859	end apogee: CONTROL_FINISHED_OK
state	2859	begin climb
2861	0.73	146.0	2138	1986	3050	2883	365.4	0.0	317	3007	0.88	2.33	132.90	1.150	10756	0.094	0.071	2437	671	2373	2453	2293	0	0	0	0	0	0	14.94	14.79	14.38
3233	0.65	146.0	2436	671	2442	2292	327.6	11.8	396	3239	0.00	2.20	0.00	0.000	1158	0.000	0.046	2437	2025	2366	2442	2291	0	0	0	0	0	0	15.29	15.24	15.31
3562	0.57	146.0	2437	2026	2442	2286	288.4	10.6	411	3568	0.17	2.30	0.00	0.000	4740	0.293	0.071	2394	661	2364	2443	2286	0	0	0	0	0	0	15.23	15.33	15.34
3779	0.58	168.5	2400	661	2440	2285	264.3	9.0	454	3807	0.00	2.17	19.58	1.089	9254	0.000	0.047	2394	2013	2282	2365	2199	0	0	0	0	0	0	15.45	15.40	14.82
4107	0.60	214.4	2394	2013	2364	2192	234.8	7.9	479	4156	0.00	2.35	40.92	1.097	8740	0.000	0.071	2394	663	2095	2183	2007	0	0	0	0	0	0	15.55	15.11	14.71
4332	0.68	249.2	2394	662	2175	2007	215.1	8.4	523	4371	0.00	2.17	31.73	1.066	9382	0.000	0.047	2394	2003	1951	2043	1860	0	0	0	0	0	0	15.37	15.29	14.69
4552	0.78	277.9	2394	2003	2043	1853	195.1	8.7	549	4583	0.17	0.00	25.88	1.038	10406	0.129	0.000	2456	2003	1834	1925	1744	0	0	0	0	0	0	15.26	15.17	14.72
4762	0.78	277.9	2457	2004	1924	1739	167.7	13.7	570	4768	0.00	2.25	0.00	0.000	516	0.000	0.073	2458	665	1831	1924	1739	0	0	0	0	0	0	15.44	15.25	15.47
4996	0.78	277.9	2458	665	1919	1739	137.4	13.1	616	5002	0.00	2.15	0.00	0.000	1030	0.000	0.046	2458	2000	1829	1919	1739	0	0	0	0	0	0	15.41	15.35	15.42
5191	0.83	283.8	2457	2000	1919	1738	116.6	9.7	636	5200	0.00	0.00	5.25	0.745	8358	0.000	0.000	2457	2000	1813	1903	1723	0	0	0	0	0	0	15.55	15.36	14.91
5382	0.89	337.2	2457	2000	1903	1721	102.6	7.5	655	5440	0.00	2.35	45.85	0.936	8868	0.000	0.072	2457	658	1593	1687	1500	0	0	0	0	0	0	15.56	15.14	14.78
5645	1.00	339.7	2457	658	1681	1501	76.0	9.9	707	5655	0.20	2.17	0.00	0.000	3238	0.124	0.044	2530	2009	1590	1681	1500	0	0	0	0	0	0	15.28	15.30	15.35
5836	0.97	339.7	2534	2010	1682	1500	49.9	13.6	727	5842	0.00	2.30	0.00	0.000	388	0.000	0.073	2531	3404	1590	1681	1500	0	0	0	0	0	0	15.53	15.32	15.54
5923	0.91	339.7	2530	3404	1681	1500	38.5	11.4	744	5930	0.10	2.28	0.00	0.000	5254	0.260	0.044	2502	2020	1594	1688	1501	0	0	0	0	0	0	15.23	15.35	15.35
6112	0.98	359.3	2500	2020	1681	1500	21.5	9.1	763	6139	0.00	2.35	18.88	0.780	8868	0.000	0.073	2503	637	1502	1598	1406	0	0	0	0	0	0	15.56	15.26	14.94
6207	1.08	362.2	2503	637	1594	1407	12.1	9.9	782	6219	0.10	2.22	3.58	0.490	11430	0.096	0.043	2551	1997	1491	1585	1398	0	0	0	0	0	0	15.30	15.32	14.92
6286	end climb: SURFACE_DEPTH_REACHED
state	6286	begin surface coast
6306	end surface coast: CONTROL_FINISHED_OK
state	6306	begin surface