Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 100 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 100 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 10

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 29 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 15 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 15 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 30 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.15000001 PITCH_MIN 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 15

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 30

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 15

ALTIM_TOP_TURN_MARGIN 10 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 100 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 29 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 090218,001456,-7415.8896,-11209.5557,0,4117.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7420.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 370.04 MHEAD_RNG_PITCHd_Wd 146.3,8085,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.7 D_GRID 990

GPS2 090218,001456,-7415.8896,-11209.5557,0,4117.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 991.4,1.027735,-12 _24V_AH 12.80,47.870

FINISH2 990.8 _10V_AH 12.80,0.000

RAFOS_CLK 241 FG_AHR_24Vo 0.000

RAFOS 0,1518145279,3.033333,3.021945,179,63,60,58,54,51,476,158,213,200,172,118 FG_AHR_10Vo 0.000

RAFOS_FIX -7417.355469,-11210.268555,090218,030352,2,141,0.26 MEM 280256

IRIDIUM_FIX -7410.50,-11205.65,080218,140223 DATA_FILE_SIZE 16755,491

TT8_MAMPS 0.046438,0.158788 CAP_FILE_SIZE 60634,0

HUMID 44.05 CFSIZE 1024409600,1008041984

INTERNAL_PRESSURE 8.29718 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.80 SOUNDSPEED 1459.4

XPDR_PINGS 0 GPS 090218,030952,-7417.355,-11210.269,0,3141.0,0,53.4,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 284 15.21 nil 0 0 0.00

Roll_motor 36 173 80.52 nil 0 0 0.00

VBD_pump_during_apogee 650 1711 14254.49 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 6352 5 482.22

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 94.08 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4663 2 137.90

TT8_Active 657 13 116.28

TT8_Sampling 1047 34 466.32

TT8_CF8 48 52 32.63

TT8_Kalman 0 0 0.00

Analog_circuits 1050 10 146.52

GPS_charging 0 0 0.00

Compass 708 7 67.91

RAFOS 720 1 13.82

Transponder 123 30 47.28

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

370.2 9.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

378.9 18.80 9000.00 0.0 0.00 0.00 18.80 0.0 1.07 1.00

387.1 27.00 27.10 0.0 1.04 1.00 27.00 0.0 1.00 1.00

884.4 61.20 9000.00 0.0 0.08 0.97 61.20 0.0 0.07 1.00

894.9 57.20 9000.00 0.0 0.06 0.98 57.20 952.1 -0.38 1.00

925.9 47.00 9000.00 0.0 -0.34 1.00 47.00 972.9 -0.33 1.00

952.5 30.30 9000.00 0.0 -0.46 0.97 30.30 982.8 -0.63 1.00

969.5 22.10 9000.00 0.0 -0.57 1.00 22.10 991.6 -0.48 1.00

992.1 23.30 9000.00 0.0 -0.17 0.55 23.30 0.0 0.05 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.93 -146.0 2809 2312 2830 2772 0.0 0.0 0 11 0.00 0.00 -2.03 0.047 16390 0.000 0.000 2807 2312 3396 3422 3370 0 0 0 0 0 0 15.07 13.77 15.08

13 -0.93 -146.0 2807 2312 3421 3372 0.0 0.0 0 19 0.95 2.47 0.00 0.000 4356 0.122 0.108 2494 3715 3396 3421 3371 0 0 0 0 0 0 14.83 14.82 14.90

48 -0.93 -146.0 2495 3717 3422 3372 373.0 -9.0 7 55 0.00 2.42 0.00 0.000 1030 0.000 0.050 2494 2294 3396 3420 3372 0 0 0 0 0 0 14.90 14.86 14.92

353 -0.93 -146.0 2495 2296 3421 3372 408.6 -11.9 38 359 0.00 2.50 0.00 0.000 516 0.000 0.083 2494 901 3395 3420 3371 0 0 0 0 0 0 15.09 14.81 15.12

413 -0.93 -146.0 2495 903 3421 3371 416.0 -12.4 50 419 0.00 2.53 0.00 0.000 1030 0.000 0.080 2490 2305 3394 3418 3370 0 0 0 0 0 0 14.89 14.82 14.92

723 -0.93 -146.0 2491 2306 3421 3371 453.3 -11.9 82 724 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2305 3394 3419 3370 0 0 0 0 0 0 15.10 15.13 15.12

1023 -0.93 -146.0 2491 2306 3422 3370 489.8 -11.9 112 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2305 3394 3419 3370 0 0 0 0 0 0 15.11 15.14 15.13

1324 -0.93 -146.0 2491 2306 3421 3370 523.2 -11.1 142 1329 0.00 2.50 0.00 0.000 516 0.000 0.084 2489 889 3394 3420 3369 0 0 0 0 0 0 15.08 14.85 15.10

1353 -0.93 -146.0 2489 890 3419 3369 526.7 -12.0 148 1359 0.00 2.55 0.00 0.000 1030 0.000 0.082 2482 2308 3394 3420 3369 0 0 0 0 0 0 14.90 14.83 14.93

1663 -0.93 -146.0 2481 2309 3418 3369 564.2 -11.7 180 1664 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3393 3419 3368 0 0 0 0 0 0 15.11 15.14 15.14

1963 -0.93 -146.0 2482 2308 3420 3368 598.0 -11.4 210 1964 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3393 3419 3368 0 0 0 0 0 0 15.11 15.14 15.14

2263 -0.93 -146.0 2483 2309 3421 3368 632.6 -11.2 240 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3394 3420 3368 0 0 0 0 0 0 15.11 15.14 15.14

2563 -0.93 -146.0 2484 2308 3421 3369 666.2 -11.2 270 2564 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3393 3419 3368 0 0 0 0 0 0 15.11 15.14 15.14

2863 -0.93 -146.0 2483 2308 3420 3369 699.8 -11.3 300 2864 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2308 3393 3419 3368 0 0 0 0 0 0 15.12 15.14 15.14

3173 -0.93 -146.0 2484 2309 3420 3369 734.6 -11.3 311 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3393 3419 3368 0 0 0 0 0 0 15.13 15.16 15.16

3533 -0.93 -146.0 2482 2308 3419 3368 774.3 -11.1 323 3534 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2308 3394 3420 3368 0 0 0 0 0 0 15.14 15.16 15.16

3893 -0.93 -146.0 2484 2309 3421 3369 813.8 -10.3 335 3899 0.00 2.53 0.00 0.000 516 0.000 0.087 2482 904 3393 3419 3368 0 0 0 0 0 0 15.14 14.83 15.16

3948 -0.93 -146.0 2483 905 3421 3367 819.9 -11.7 346 3956 0.00 2.50 0.00 0.000 1030 0.000 0.080 2475 2299 3393 3419 3367 0 0 0 0 0 0 14.94 14.87 14.97

4313 -0.93 -146.0 2474 2300 3419 3368 861.7 -10.9 359 4314 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2300 3393 3419 3367 0 0 0 0 0 0 15.14 15.16 15.16

4673 -0.93 -146.0 2474 2301 3418 3368 902.1 -11.8 371 4674 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2300 3392 3418 3367 0 0 0 0 0 0 15.14 15.17 15.16

5034 -0.93 -146.0 2476 2301 3422 3369 942.8 -11.3 383 5042 0.00 2.47 0.00 0.000 516 0.000 0.083 2475 890 3393 3419 3368 0 0 0 0 0 0 15.14 14.86 15.16

5122 -0.93 -146.0 2475 891 3421 3368 953.7 -12.3 400 5129 0.15 2.53 0.00 0.000 3078 0.285 0.079 2498 2330 3393 3419 3367 0 0 0 0 0 0 14.76 14.88 14.96

5486 -0.93 -146.0 2498 2330 3419 3368 983.8 -6.1 413 5493 0.00 2.53 0.00 0.000 548 0.000 0.085 2499 898 3393 3419 3367 0 0 0 0 0 0 15.13 14.85 15.15

5652 -0.93 -146.0 2499 898 3421 3367 989.4 -6.8 446 5659 0.00 2.50 0.00 0.000 1062 0.000 0.076 2499 2306 3394 3420 3368 0 0 0 0 0 0 14.93 14.87 14.97

5662 end dive: TARGET_DEPTH_EXCEEDED

state 5662 begin apogee

5665 -0.23 0.0 2500 2058 3422 3368 990.8 -10.7 448 6168 0.70 0.10 497.85 1.222 10246 0.106 0.174 2735 2110 2782 2814 2750 0 0 0 0 0 0 14.89 13.63 13.20

6169 end apogee: CONTROL_FINISHED_OK

state 6169 begin climb

6170 0.93 146.0 2735 2111 2812 2748 992.0 0.0 464 6328 1.27 0.00 152.90 1.711 10498 0.161 0.000 3098 2111 2468 2506 2430 0 0 0 0 0 0 13.63 28.83 13.72

6328 end climb: NO_VERTICAL_VELOCITY

state 6328 begin subsurface finish

6331 -0.01 -11.9 3098 2111 2500 2426 991.4 0.1 490 6339 1.10 2.88 -0.80 0.135 20740 0.177 0.123 2799 3507 2847 2878 2816 0 0 0 0 0 0 13.43 12.80 13.52

6340 end subsurface finish: CONTROL_FINISHED_OK

state 6340 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	100	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	10
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	29	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	15	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	15	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	30	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.15000001	PITCH_MIN	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	090218,001456,-7415.8896,-11209.5557,0,4117.0,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7420.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	370.04	MHEAD_RNG_PITCHd_Wd	146.3,8085,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.7	D_GRID	990
GPS2	090218,001456,-7415.8896,-11209.5557,0,4117.0,0,53.4,0.0,0.0,0,0.0

FINISH1	991.4,1.027735,-12	_24V_AH	12.80,47.870
FINISH2	990.8	_10V_AH	12.80,0.000
RAFOS_CLK	241	FG_AHR_24Vo	0.000
RAFOS	0,1518145279,3.033333,3.021945,179,63,60,58,54,51,476,158,213,200,172,118	FG_AHR_10Vo	0.000
RAFOS_FIX	-7417.355469,-11210.268555,090218,030352,2,141,0.26	MEM	280256
IRIDIUM_FIX	-7410.50,-11205.65,080218,140223	DATA_FILE_SIZE	16755,491
TT8_MAMPS	0.046438,0.158788	CAP_FILE_SIZE	60634,0
HUMID	44.05	CFSIZE	1024409600,1008041984
INTERNAL_PRESSURE	8.29718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.80	SOUNDSPEED	1459.4
XPDR_PINGS	0	GPS	090218,030952,-7417.355,-11210.269,0,3141.0,0,53.4,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	284	15.21	nil	0	0	0.00
Roll_motor	36	173	80.52	nil	0	0	0.00
VBD_pump_during_apogee	650	1711	14254.49	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	6352	5	482.22
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	94.08	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4663	2	137.90
TT8_Active	657	13	116.28
TT8_Sampling	1047	34	466.32
TT8_CF8	48	52	32.63
TT8_Kalman	0	0	0.00
Analog_circuits	1050	10	146.52
GPS_charging	0	0	0.00
Compass	708	7	67.91
RAFOS	720	1	13.82
Transponder	123	30	47.28

		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
370.2	9.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
378.9	18.80	9000.00	0.0	0.00	0.00	18.80	0.0	1.07	1.00
387.1	27.00	27.10	0.0	1.04	1.00	27.00	0.0	1.00	1.00
884.4	61.20	9000.00	0.0	0.08	0.97	61.20	0.0	0.07	1.00
894.9	57.20	9000.00	0.0	0.06	0.98	57.20	952.1	-0.38	1.00
925.9	47.00	9000.00	0.0	-0.34	1.00	47.00	972.9	-0.33	1.00
952.5	30.30	9000.00	0.0	-0.46	0.97	30.30	982.8	-0.63	1.00
969.5	22.10	9000.00	0.0	-0.57	1.00	22.10	991.6	-0.48	1.00
992.1	23.30	9000.00	0.0	-0.17	0.55	23.30	0.0	0.05	1.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.93	-146.0	2809	2312	2830	2772	0.0	0.0	0	11	0.00	0.00	-2.03	0.047	16390	0.000	0.000	2807	2312	3396	3422	3370	0	0	0	0	0	0	15.07	13.77	15.08
13	-0.93	-146.0	2807	2312	3421	3372	0.0	0.0	0	19	0.95	2.47	0.00	0.000	4356	0.122	0.108	2494	3715	3396	3421	3371	0	0	0	0	0	0	14.83	14.82	14.90
48	-0.93	-146.0	2495	3717	3422	3372	373.0	-9.0	7	55	0.00	2.42	0.00	0.000	1030	0.000	0.050	2494	2294	3396	3420	3372	0	0	0	0	0	0	14.90	14.86	14.92
353	-0.93	-146.0	2495	2296	3421	3372	408.6	-11.9	38	359	0.00	2.50	0.00	0.000	516	0.000	0.083	2494	901	3395	3420	3371	0	0	0	0	0	0	15.09	14.81	15.12
413	-0.93	-146.0	2495	903	3421	3371	416.0	-12.4	50	419	0.00	2.53	0.00	0.000	1030	0.000	0.080	2490	2305	3394	3418	3370	0	0	0	0	0	0	14.89	14.82	14.92
723	-0.93	-146.0	2491	2306	3421	3371	453.3	-11.9	82	724	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2305	3394	3419	3370	0	0	0	0	0	0	15.10	15.13	15.12
1023	-0.93	-146.0	2491	2306	3422	3370	489.8	-11.9	112	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2305	3394	3419	3370	0	0	0	0	0	0	15.11	15.14	15.13
1324	-0.93	-146.0	2491	2306	3421	3370	523.2	-11.1	142	1329	0.00	2.50	0.00	0.000	516	0.000	0.084	2489	889	3394	3420	3369	0	0	0	0	0	0	15.08	14.85	15.10
1353	-0.93	-146.0	2489	890	3419	3369	526.7	-12.0	148	1359	0.00	2.55	0.00	0.000	1030	0.000	0.082	2482	2308	3394	3420	3369	0	0	0	0	0	0	14.90	14.83	14.93
1663	-0.93	-146.0	2481	2309	3418	3369	564.2	-11.7	180	1664	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3393	3419	3368	0	0	0	0	0	0	15.11	15.14	15.14
1963	-0.93	-146.0	2482	2308	3420	3368	598.0	-11.4	210	1964	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3393	3419	3368	0	0	0	0	0	0	15.11	15.14	15.14
2263	-0.93	-146.0	2483	2309	3421	3368	632.6	-11.2	240	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3394	3420	3368	0	0	0	0	0	0	15.11	15.14	15.14
2563	-0.93	-146.0	2484	2308	3421	3369	666.2	-11.2	270	2564	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3393	3419	3368	0	0	0	0	0	0	15.11	15.14	15.14
2863	-0.93	-146.0	2483	2308	3420	3369	699.8	-11.3	300	2864	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2308	3393	3419	3368	0	0	0	0	0	0	15.12	15.14	15.14
3173	-0.93	-146.0	2484	2309	3420	3369	734.6	-11.3	311	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3393	3419	3368	0	0	0	0	0	0	15.13	15.16	15.16
3533	-0.93	-146.0	2482	2308	3419	3368	774.3	-11.1	323	3534	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2308	3394	3420	3368	0	0	0	0	0	0	15.14	15.16	15.16
3893	-0.93	-146.0	2484	2309	3421	3369	813.8	-10.3	335	3899	0.00	2.53	0.00	0.000	516	0.000	0.087	2482	904	3393	3419	3368	0	0	0	0	0	0	15.14	14.83	15.16
3948	-0.93	-146.0	2483	905	3421	3367	819.9	-11.7	346	3956	0.00	2.50	0.00	0.000	1030	0.000	0.080	2475	2299	3393	3419	3367	0	0	0	0	0	0	14.94	14.87	14.97
4313	-0.93	-146.0	2474	2300	3419	3368	861.7	-10.9	359	4314	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2300	3393	3419	3367	0	0	0	0	0	0	15.14	15.16	15.16
4673	-0.93	-146.0	2474	2301	3418	3368	902.1	-11.8	371	4674	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2300	3392	3418	3367	0	0	0	0	0	0	15.14	15.17	15.16
5034	-0.93	-146.0	2476	2301	3422	3369	942.8	-11.3	383	5042	0.00	2.47	0.00	0.000	516	0.000	0.083	2475	890	3393	3419	3368	0	0	0	0	0	0	15.14	14.86	15.16
5122	-0.93	-146.0	2475	891	3421	3368	953.7	-12.3	400	5129	0.15	2.53	0.00	0.000	3078	0.285	0.079	2498	2330	3393	3419	3367	0	0	0	0	0	0	14.76	14.88	14.96
5486	-0.93	-146.0	2498	2330	3419	3368	983.8	-6.1	413	5493	0.00	2.53	0.00	0.000	548	0.000	0.085	2499	898	3393	3419	3367	0	0	0	0	0	0	15.13	14.85	15.15
5652	-0.93	-146.0	2499	898	3421	3367	989.4	-6.8	446	5659	0.00	2.50	0.00	0.000	1062	0.000	0.076	2499	2306	3394	3420	3368	0	0	0	0	0	0	14.93	14.87	14.97
5662	end dive: TARGET_DEPTH_EXCEEDED
state	5662	begin apogee
5665	-0.23	0.0	2500	2058	3422	3368	990.8	-10.7	448	6168	0.70	0.10	497.85	1.222	10246	0.106	0.174	2735	2110	2782	2814	2750	0	0	0	0	0	0	14.89	13.63	13.20
6169	end apogee: CONTROL_FINISHED_OK
state	6169	begin climb
6170	0.93	146.0	2735	2111	2812	2748	992.0	0.0	464	6328	1.27	0.00	152.90	1.711	10498	0.161	0.000	3098	2111	2468	2506	2430	0	0	0	0	0	0	13.63	28.83	13.72
6328	end climb: NO_VERTICAL_VELOCITY
state	6328	begin subsurface finish
6331	-0.01	-11.9	3098	2111	2500	2426	991.4	0.1	490	6339	1.10	2.88	-0.80	0.135	20740	0.177	0.123	2799	3507	2847	2878	2816	0	0	0	0	0	0	13.43	12.80	13.52
6340	end subsurface finish: CONTROL_FINISHED_OK
state	6340	begin surface