Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 144 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 144 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 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 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 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 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 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 -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 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 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 144 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 947.73 MHEAD_RNG_PITCHd_Wd 132.4,36384,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.5 D_GRID 990

GPS2 120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 347.6,1.027409,5 _24V_AH 13.06,64.175

FINISH2 346.1 _10V_AH 12.43,0.000

RAFOS_CLK 219 FG_AHR_24Vo 0.000

RAFOS 0,1518426062,9.032778,9.017222,116,62,61,58,56,53,582,218,162,184,201,138 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.411621,-11228.569336,120218,090916,2,108,2.92 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 16756,534

TT8_MAMPS 0.041944,0.598451 CAP_FILE_SIZE 64951,0

HUMID 47.95 CFSIZE 1024409600,1003307008

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.70 SOUNDSPEED 1459.2

XPDR_PINGS 0 GPS 120218,085740,-7418.456,-11227.451,0,1001.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 351.4,10.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 220 11.73 nil 0 0 0.00

Roll_motor 43 170 96.58 nil 0 0 0.00

VBD_pump_during_apogee 833 1572 17112.32 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 6124 2 232.66

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 24 420 133.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4226 2 121.36

TT8_Active 778 12 118.79

TT8_Sampling 1125 31 443.91

TT8_CF8 58 45 32.76

TT8_Kalman 0 0 0.00

Analog_circuits 1239 10 157.12

GPS_charging 0 0 0.00

Compass 768 7 71.59

RAFOS 720 1 13.42

Transponder 171 30 64.08

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

993.3 24.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

987.0 14.10 9000.00 0.0 0.00 0.00 14.10 972.9 1.62 1.00

980.5 19.60 9000.00 0.0 0.36 0.21 19.60 0.0 -0.85 1.00

973.9 21.00 9000.00 0.0 -0.52 0.89 21.00 0.0 -0.21 1.00

423.0 83.70 9000.00 0.0 -0.11 1.00 83.70 0.0 -0.11 1.00

416.2 76.80 9000.00 0.0 -0.11 0.99 76.80 339.4 1.01 1.00

409.3 69.80 69.80 339.5 1.01 1.00 69.80 339.5 1.01 1.00

403.0 63.50 63.50 339.5 1.01 1.00 63.50 339.5 1.00 1.00

397.0 57.50 57.50 339.5 1.00 1.00 57.50 339.5 1.00 1.00

390.3 50.40 50.50 339.8 1.03 1.00 50.40 339.9 1.06 1.00

383.8 43.90 43.80 340.0 1.03 1.00 43.90 339.9 1.00 1.00

377.3 37.10 37.10 340.2 1.03 1.00 37.10 340.2 1.05 1.00

370.7 30.50 30.50 340.2 1.02 1.00 30.50 340.2 1.00 1.00

364.3 23.80 23.80 340.5 1.02 1.00 23.80 340.5 1.05 1.00

357.9 17.20 17.20 340.7 1.03 1.00 17.20 340.7 1.03 1.00

351.4 10.60 10.60 340.8 1.03 1.00 10.60 340.8 1.02 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 -0.88 -146.0 2710 2513 2894 2679 0.0 0.0 0 10 0.00 0.00 -1.10 0.083 16390 0.000 0.000 2710 2512 3330 3461 3200 0 0 0 0 0 0 14.34 13.19 14.33

12 -0.88 -146.0 2710 2513 3458 3205 0.0 0.0 0 18 0.95 2.42 0.00 0.000 4356 0.132 0.150 2421 3755 3330 3453 3208 0 0 0 0 0 0 14.09 14.08 14.19

183 -0.88 -146.0 2421 3756 3444 3216 959.8 -9.0 34 189 0.00 2.30 0.00 0.000 1030 0.000 0.099 2421 2501 3328 3440 3217 0 0 0 0 0 0 14.46 14.36 14.49

552 end dive: TARGET_DEPTH_EXCEEDED

state 552 begin apogee

556 -0.23 0.0 2421 2193 3442 3217 991.6 -8.6 48 1082 0.75 0.00 522.08 1.194 10246 0.217 0.000 2626 2191 2715 2774 2657 0 0 0 0 0 0 14.52 13.71 13.13

1084 end apogee: CONTROL_FINISHED_OK

state 1084 begin climb

1085 0.88 146.0 2626 2192 2771 2655 1002.6 0.0 65 1409 1.20 2.85 311.40 1.572 11012 0.132 0.125 2990 791 2116 2150 2083 0 0 0 0 0 0 13.67 13.57 13.06

1578 0.88 146.0 2990 792 2139 2073 948.6 13.4 166 1586 0.00 2.72 0.00 0.000 1030 0.000 0.113 2990 2215 2104 2138 2071 0 0 0 0 0 0 14.26 14.14 14.28

1944 0.88 146.0 2991 2214 2139 2066 897.5 14.0 179 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2215 2101 2137 2066 0 0 0 0 0 0 14.78 14.81 14.81

2305 0.88 146.0 2990 2216 2137 2065 847.8 13.6 191 2305 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2215 2100 2137 2064 0 0 0 0 0 0 14.95 14.97 14.96

2664 0.88 146.0 2990 2216 2138 2064 799.0 13.7 203 2665 0.00 0.00 0.00 0.000 6 0.000 0.000 2990 2215 2099 2136 2063 0 0 0 0 0 0 15.00 15.04 15.03

3024 0.88 146.0 2990 2215 2138 2062 750.4 13.7 215 3029 0.00 2.62 0.00 0.000 516 0.000 0.127 3001 791 2099 2136 2062 0 0 0 0 0 0 15.04 14.77 15.07

3048 0.88 146.0 3001 791 2137 2062 746.8 14.2 220 3056 0.00 2.62 0.00 0.000 1030 0.000 0.114 3001 2211 2099 2136 2062 0 0 0 0 0 0 14.83 14.76 14.88

3413 0.88 146.0 3000 2212 2137 2062 695.2 13.7 235 3414 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2211 2098 2136 2060 0 0 0 0 0 0 15.10 15.13 15.13

3713 0.88 146.0 3003 2211 2137 2059 654.8 13.4 265 3714 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2211 2098 2136 2060 0 0 0 0 0 0 15.11 15.14 15.14

4013 0.88 146.0 3000 2212 2136 2061 614.9 13.5 295 4019 0.00 2.65 0.00 0.000 516 0.000 0.127 3011 793 2097 2135 2060 0 0 0 0 0 0 15.11 14.78 15.14

4043 0.88 146.0 3011 795 2136 2061 610.8 13.7 301 4049 0.00 2.60 0.00 0.000 1030 0.000 0.112 3011 2205 2097 2135 2060 0 0 0 0 0 0 14.88 14.80 14.93

4353 0.88 146.0 3012 2205 2136 2059 568.0 13.9 333 4354 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2206 2097 2135 2059 0 0 0 0 0 0 15.12 15.15 15.15

4653 0.88 146.0 3012 2205 2136 2058 526.0 13.7 363 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2205 2096 2135 2058 0 0 0 0 0 0 15.13 15.16 15.16

4953 0.88 146.0 3011 2206 2136 2059 485.5 13.2 393 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2205 2096 2135 2058 0 0 0 0 0 0 15.14 15.16 15.16

5253 0.88 146.0 3012 2205 2135 2058 445.6 13.3 423 5259 0.00 2.65 0.00 0.000 516 0.000 0.127 3022 759 2096 2135 2058 0 0 0 0 0 0 15.14 14.80 15.16

5278 0.88 146.0 3022 759 2135 2058 442.4 13.3 428 5287 0.12 2.65 0.00 0.000 5126 0.220 0.114 2986 2199 2096 2134 2058 0 0 0 0 0 0 14.73 14.80 14.85

5583 0.88 146.0 2986 2200 2135 2057 406.8 11.6 459 5589 0.00 2.67 0.00 0.000 260 0.000 0.146 2986 3622 2095 2134 2057 0 0 0 0 0 0 15.14 14.78 15.16

5683 0.88 146.0 2986 3623 2134 2058 394.7 11.6 479 5689 0.00 2.58 0.00 0.000 1030 0.000 0.101 2996 2202 2095 2134 2057 0 0 0 0 0 0 14.90 14.82 14.95

5993 0.88 146.0 2996 2200 2135 2058 361.0 11.2 511 5999 0.00 2.67 0.00 0.000 260 0.000 0.147 2995 3618 2095 2134 2057 0 0 0 0 0 0 15.14 14.76 15.16

6097 end climb: SURFACE_OBSTACLE_DETECTED

state 6097 begin subsurface finish

6103 0.01 4.6 3007 2198 2135 2057 347.6 12.9 532 6115 1.05 2.75 -2.17 0.053 20740 0.216 0.171 2706 3615 2712 2825 2600 0 0 0 0 0 0 14.69 13.50 14.83

6116 end subsurface finish: CONTROL_FINISHED_OK

state 6116 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	144	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	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	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	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	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	947.73	MHEAD_RNG_PITCHd_Wd	132.4,36384,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.5	D_GRID	990
GPS2	120218,085740,-7418.4561,-11227.4512,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	347.6,1.027409,5	_24V_AH	13.06,64.175
FINISH2	346.1	_10V_AH	12.43,0.000
RAFOS_CLK	219	FG_AHR_24Vo	0.000
RAFOS	0,1518426062,9.032778,9.017222,116,62,61,58,56,53,582,218,162,184,201,138	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.411621,-11228.569336,120218,090916,2,108,2.92	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	16756,534
TT8_MAMPS	0.041944,0.598451	CAP_FILE_SIZE	64951,0
HUMID	47.95	CFSIZE	1024409600,1003307008
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.70	SOUNDSPEED	1459.2
XPDR_PINGS	0	GPS	120218,085740,-7418.456,-11227.451,0,1001.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	351.4,10.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	220	11.73	nil	0	0	0.00
Roll_motor	43	170	96.58	nil	0	0	0.00
VBD_pump_during_apogee	833	1572	17112.32	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	6124	2	232.66
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	24	420	133.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4226	2	121.36
TT8_Active	778	12	118.79
TT8_Sampling	1125	31	443.91
TT8_CF8	58	45	32.76
TT8_Kalman	0	0	0.00
Analog_circuits	1239	10	157.12
GPS_charging	0	0	0.00
Compass	768	7	71.59
RAFOS	720	1	13.42
Transponder	171	30	64.08

		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
993.3	24.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

987.0	14.10	9000.00	0.0	0.00	0.00	14.10	972.9	1.62	1.00
980.5	19.60	9000.00	0.0	0.36	0.21	19.60	0.0	-0.85	1.00
973.9	21.00	9000.00	0.0	-0.52	0.89	21.00	0.0	-0.21	1.00
423.0	83.70	9000.00	0.0	-0.11	1.00	83.70	0.0	-0.11	1.00
416.2	76.80	9000.00	0.0	-0.11	0.99	76.80	339.4	1.01	1.00
409.3	69.80	69.80	339.5	1.01	1.00	69.80	339.5	1.01	1.00
403.0	63.50	63.50	339.5	1.01	1.00	63.50	339.5	1.00	1.00
397.0	57.50	57.50	339.5	1.00	1.00	57.50	339.5	1.00	1.00
390.3	50.40	50.50	339.8	1.03	1.00	50.40	339.9	1.06	1.00
383.8	43.90	43.80	340.0	1.03	1.00	43.90	339.9	1.00	1.00
377.3	37.10	37.10	340.2	1.03	1.00	37.10	340.2	1.05	1.00
370.7	30.50	30.50	340.2	1.02	1.00	30.50	340.2	1.00	1.00
364.3	23.80	23.80	340.5	1.02	1.00	23.80	340.5	1.05	1.00
357.9	17.20	17.20	340.7	1.03	1.00	17.20	340.7	1.03	1.00
351.4	10.60	10.60	340.8	1.03	1.00	10.60	340.8	1.02	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	-0.88	-146.0	2710	2513	2894	2679	0.0	0.0	0	10	0.00	0.00	-1.10	0.083	16390	0.000	0.000	2710	2512	3330	3461	3200	0	0	0	0	0	0	14.34	13.19	14.33
12	-0.88	-146.0	2710	2513	3458	3205	0.0	0.0	0	18	0.95	2.42	0.00	0.000	4356	0.132	0.150	2421	3755	3330	3453	3208	0	0	0	0	0	0	14.09	14.08	14.19
183	-0.88	-146.0	2421	3756	3444	3216	959.8	-9.0	34	189	0.00	2.30	0.00	0.000	1030	0.000	0.099	2421	2501	3328	3440	3217	0	0	0	0	0	0	14.46	14.36	14.49
552	end dive: TARGET_DEPTH_EXCEEDED
state	552	begin apogee
556	-0.23	0.0	2421	2193	3442	3217	991.6	-8.6	48	1082	0.75	0.00	522.08	1.194	10246	0.217	0.000	2626	2191	2715	2774	2657	0	0	0	0	0	0	14.52	13.71	13.13
1084	end apogee: CONTROL_FINISHED_OK
state	1084	begin climb
1085	0.88	146.0	2626	2192	2771	2655	1002.6	0.0	65	1409	1.20	2.85	311.40	1.572	11012	0.132	0.125	2990	791	2116	2150	2083	0	0	0	0	0	0	13.67	13.57	13.06
1578	0.88	146.0	2990	792	2139	2073	948.6	13.4	166	1586	0.00	2.72	0.00	0.000	1030	0.000	0.113	2990	2215	2104	2138	2071	0	0	0	0	0	0	14.26	14.14	14.28
1944	0.88	146.0	2991	2214	2139	2066	897.5	14.0	179	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2215	2101	2137	2066	0	0	0	0	0	0	14.78	14.81	14.81
2305	0.88	146.0	2990	2216	2137	2065	847.8	13.6	191	2305	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2215	2100	2137	2064	0	0	0	0	0	0	14.95	14.97	14.96
2664	0.88	146.0	2990	2216	2138	2064	799.0	13.7	203	2665	0.00	0.00	0.00	0.000	6	0.000	0.000	2990	2215	2099	2136	2063	0	0	0	0	0	0	15.00	15.04	15.03
3024	0.88	146.0	2990	2215	2138	2062	750.4	13.7	215	3029	0.00	2.62	0.00	0.000	516	0.000	0.127	3001	791	2099	2136	2062	0	0	0	0	0	0	15.04	14.77	15.07
3048	0.88	146.0	3001	791	2137	2062	746.8	14.2	220	3056	0.00	2.62	0.00	0.000	1030	0.000	0.114	3001	2211	2099	2136	2062	0	0	0	0	0	0	14.83	14.76	14.88
3413	0.88	146.0	3000	2212	2137	2062	695.2	13.7	235	3414	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2211	2098	2136	2060	0	0	0	0	0	0	15.10	15.13	15.13
3713	0.88	146.0	3003	2211	2137	2059	654.8	13.4	265	3714	0.00	0.00	0.00	0.000	6	0.000	0.000	3001	2211	2098	2136	2060	0	0	0	0	0	0	15.11	15.14	15.14
4013	0.88	146.0	3000	2212	2136	2061	614.9	13.5	295	4019	0.00	2.65	0.00	0.000	516	0.000	0.127	3011	793	2097	2135	2060	0	0	0	0	0	0	15.11	14.78	15.14
4043	0.88	146.0	3011	795	2136	2061	610.8	13.7	301	4049	0.00	2.60	0.00	0.000	1030	0.000	0.112	3011	2205	2097	2135	2060	0	0	0	0	0	0	14.88	14.80	14.93
4353	0.88	146.0	3012	2205	2136	2059	568.0	13.9	333	4354	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2206	2097	2135	2059	0	0	0	0	0	0	15.12	15.15	15.15
4653	0.88	146.0	3012	2205	2136	2058	526.0	13.7	363	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2205	2096	2135	2058	0	0	0	0	0	0	15.13	15.16	15.16
4953	0.88	146.0	3011	2206	2136	2059	485.5	13.2	393	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2205	2096	2135	2058	0	0	0	0	0	0	15.14	15.16	15.16
5253	0.88	146.0	3012	2205	2135	2058	445.6	13.3	423	5259	0.00	2.65	0.00	0.000	516	0.000	0.127	3022	759	2096	2135	2058	0	0	0	0	0	0	15.14	14.80	15.16
5278	0.88	146.0	3022	759	2135	2058	442.4	13.3	428	5287	0.12	2.65	0.00	0.000	5126	0.220	0.114	2986	2199	2096	2134	2058	0	0	0	0	0	0	14.73	14.80	14.85
5583	0.88	146.0	2986	2200	2135	2057	406.8	11.6	459	5589	0.00	2.67	0.00	0.000	260	0.000	0.146	2986	3622	2095	2134	2057	0	0	0	0	0	0	15.14	14.78	15.16
5683	0.88	146.0	2986	3623	2134	2058	394.7	11.6	479	5689	0.00	2.58	0.00	0.000	1030	0.000	0.101	2996	2202	2095	2134	2057	0	0	0	0	0	0	14.90	14.82	14.95
5993	0.88	146.0	2996	2200	2135	2058	361.0	11.2	511	5999	0.00	2.67	0.00	0.000	260	0.000	0.147	2995	3618	2095	2134	2057	0	0	0	0	0	0	15.14	14.76	15.16
6097	end climb: SURFACE_OBSTACLE_DETECTED
state	6097	begin subsurface finish
6103	0.01	4.6	3007	2198	2135	2057	347.6	12.9	532	6115	1.05	2.75	-2.17	0.053	20740	0.216	0.171	2706	3615	2712	2825	2600	0	0	0	0	0	0	14.69	13.50	14.83
6116	end subsurface finish: CONTROL_FINISHED_OK
state	6116	begin surface