Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 149 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 149 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 27 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2330 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0025631799 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0154106 ROLL_DEG 80 COMPASS_USE 4

HD_C 6.0999999e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 360 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 653.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0025631799 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0154106 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 6.0999999e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 120

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2330 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 149 MINV_10V 11 R_PORT_OVSHOOT 27 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 091018,181535,7412.1519,-14622.3838,35,0.9,36,18.4,0.2,5.8,9,5.4 SPEED_LIMITS 0.173,0.179

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -0.59 MHEAD_RNG_PITCHd_Wd 128.2,325,-23.2,-10.000,-30.00,1611

_SM_ANGLEo -73.6 D_GRID 360

GPS2 091018,182144,7412.1333,-14622.4189,4,0.9,6,18.4,0.1,0.0,9,10.0

Post-dive calculations and measurements:

FINISH -1.3,1.020928 _10V_AH 13.09,0.000

SM_CCo 5851,0.00,0.000,0,0,501,577.44 FG_AHR_24Vo 0.000

SM_GC 0.48,10.50,0.65,0.00,0.159,0.060,0.000,200,2405,501,-6.61,-0.85,577.44,0,0,0,0,0,0,14.07,14.10,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 8 MEM 334636

RAFOS_FIX 7411.748047,-14622.799805,091018,191915,0,1,0.13 DATA_FILE_SIZE 20143,603

IRIDIUM_FIX 7411.13,-14625.16,091018,163255 CAP_FILE_SIZE 73305,0

TT8_MAMPS 0.078645,0.686833 CFSIZE 2097872896,2069299200

HUMID 46.92 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.87058 INTR 0,4244.82,0x2355a8,1,24

TCM_TEMP 14.50 SOUNDSPEED 1442.9

XPDR_PINGS 9 CURRENT 0.066,334.44,1

ALTIM_TOP_PING 19.6,5.8 GPS 091018,200153,7411.939,-14621.569,67,1.2,68,18.4,0.8,272.4,5,9.8

_24V_AH 13.16,69.621

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 145.32 nil 0 0 0.00

Roll_motor 100 205 270.55 nil 0 0 0.00

VBD_pump_during_apogee 613 1887 15240.16 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 5842 26 2030.04

Iridium_during_xfer 215 186 529.00 nil 0 0 0.00

Transponder_ping 2 420 13.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 6 1.48

TT8 0 0 0.00

LPSleep 3904 2 118.07

TT8_Active 712 11 107.84

TT8_Sampling 1446 31 587.86

TT8_CF8 184 36 87.63

TT8_Kalman 0 0 0.00

Analog_circuits 1452 10 207.28

GPS_charging 0 0 0.00

Compass 869 6 76.72

RAFOS 2215 33 956.81

Transponder 2 30 0.99

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

7 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.90 -132.7 201 2396 457 535 0.0 0.0 0 83 0.00 0.00 -71.25 0.003 16386 0.000 0.000 205 2396 1899 2000 1799 0 0 0 0 0 0 14.42 28.83 14.45

86 -0.90 -132.7 201 2397 2001 1803 4.2 -11.0 7 131 9.55 5.03 -28.38 0.005 18948 0.452 0.075 2050 706 3398 3517 3280 0 0 0 0 0 0 14.04 13.65 14.31

316 -0.90 -132.7 2050 708 3517 3282 84.3 -22.7 52 323 0.00 5.00 0.00 0.000 1030 0.000 0.060 2031 2404 3399 3517 3282 0 0 0 0 0 0 14.39 14.31 14.40

501 -0.90 -132.7 2031 2404 3517 3282 125.6 -21.4 71 512 0.00 4.68 0.00 0.000 260 0.000 0.085 2011 3952 3399 3516 3283 0 0 0 0 0 0 14.57 14.37 14.58

522 -0.90 -132.7 2017 3952 3514 3285 130.1 -22.4 75 528 0.00 4.45 0.00 0.000 1030 0.000 0.041 2028 2403 3399 3513 3285 0 0 0 0 0 0 14.47 14.41 14.49

713 -0.90 -132.7 2029 2403 3515 3286 169.5 -19.9 95 714 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2402 3399 3514 3285 0 0 0 0 0 0 14.61 14.63 14.64

893 -0.90 -132.7 2028 2403 3515 3286 203.9 -18.8 113 894 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2402 3399 3514 3285 0 0 0 0 0 0 14.64 14.66 14.66

1073 -0.90 -132.7 2027 2402 3514 3285 236.3 -17.5 131 1084 0.00 4.93 0.00 0.000 516 0.000 0.066 2028 706 3399 3513 3286 0 0 0 0 0 0 14.66 14.48 14.69

1109 -0.90 -132.7 2028 707 3515 3286 242.9 -18.8 138 1116 0.12 4.93 0.00 0.000 3078 0.325 0.055 2031 2402 3399 3513 3285 0 0 0 0 0 0 14.33 14.48 14.52

1294 -0.90 -132.7 2031 2402 3514 3286 270.2 -13.8 150 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2402 3397 3510 3285 0 0 0 0 0 0 14.70 14.72 14.71

1594 -0.90 -132.7 2037 2402 3515 3287 306.5 -11.8 165 1600 0.00 4.95 0.00 0.000 516 0.000 0.069 2042 704 3399 3513 3285 0 0 0 0 0 0 14.74 14.54 14.76

1635 -0.90 -132.7 2042 704 3513 3286 311.6 -11.9 173 1642 0.00 4.90 0.00 0.000 1030 0.000 0.055 2024 2402 3399 3513 3285 0 0 0 0 0 0 14.60 14.52 14.62

1957 -0.90 -132.7 2023 2402 3513 3286 349.0 -11.4 192 1958 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2402 3399 3512 3286 0 0 0 0 0 0 14.77 14.79 14.78

2054 end dive: TARGET_DEPTH_EXCEEDED

state 2055 begin apogee

2060 -0.11 0.0 2024 2184 3512 3286 360.2 -11.1 197 2185 1.02 0.05 120.88 1.887 10246 0.289 0.205 2284 2207 2850 2928 2772 0 0 0 0 0 0 14.42 13.97 13.34

2186 end apogee: CONTROL_FINISHED_OK

state 2186 begin climb

2188 0.90 132.7 2285 2207 2928 2772 363.2 0.0 203 2319 1.17 0.00 122.18 1.793 10246 0.184 0.000 2616 2206 2310 2340 2280 0 0 0 0 0 0 13.95 13.81 13.16

2617 0.90 132.7 2617 2208 2336 2265 296.0 17.0 225 2618 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2207 2298 2334 2263 0 0 0 0 0 0 14.38 14.40 14.40

2917 0.90 132.7 2616 2207 2335 2260 251.9 12.7 240 2918 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2207 2297 2334 2260 0 0 0 0 0 0 14.52 14.54 14.54

3219 0.95 132.7 2617 2208 2336 2258 222.7 8.4 269 3219 0.00 0.00 0.00 0.000 70 0.000 0.000 2616 2211 2293 2330 2256 0 0 0 0 0 0 14.58 14.61 14.62

3397 1.04 132.7 2617 2208 2336 2258 208.6 7.1 287 3398 0.15 0.00 0.00 0.000 2118 0.173 0.000 2659 2207 2296 2335 2257 0 0 0 0 0 0 14.42 14.54 14.52

3577 1.13 132.7 2659 2208 2336 2257 195.8 6.9 305 3583 0.10 4.97 0.00 0.000 2628 0.206 0.072 2708 518 2295 2334 2257 0 0 0 0 0 0 14.44 14.46 14.53

3644 1.18 132.7 2708 523 2330 2257 190.5 8.5 318 3651 0.00 4.88 0.00 0.000 1094 0.000 0.054 2701 2203 2293 2331 2255 0 0 0 0 0 0 14.51 14.45 14.52

3829 1.27 132.7 2702 2204 2332 2258 176.9 6.9 337 3830 0.12 0.00 0.00 0.000 2118 0.189 0.000 2735 2203 2294 2331 2257 0 0 0 0 0 0 14.42 14.56 14.54

4009 1.39 132.7 2735 2204 2331 2257 165.3 6.1 355 4010 0.12 0.00 0.00 0.000 2118 0.196 0.000 2769 2203 2294 2331 2257 0 0 0 0 0 0 14.43 14.56 14.54

4189 1.61 205.6 2769 2204 2331 2257 154.7 5.3 373 4260 0.22 5.18 63.42 1.648 10532 0.167 0.083 2820 3894 2010 2044 1977 0 0 0 0 0 0 14.45 14.16 13.59

4285 1.61 205.6 2823 3894 2041 1979 144.7 16.1 390 4292 0.00 4.95 0.00 0.000 1030 0.000 0.044 2843 2204 2007 2039 1976 0 0 0 0 0 0 14.31 14.25 14.32

4470 1.61 205.6 2843 2204 2038 1968 117.5 12.9 409 4476 0.00 4.97 0.00 0.000 516 0.000 0.067 2864 511 2002 2037 1968 0 0 0 0 0 0 14.51 14.31 14.53

4492 1.61 205.6 2865 512 2034 1971 114.8 12.3 413 4498 0.00 4.90 0.00 0.000 1030 0.000 0.050 2850 2201 2001 2033 1969 0 0 0 0 0 0 14.43 14.36 14.45

4684 1.65 205.6 2850 2202 2035 1966 94.8 8.5 433 4690 0.00 5.07 0.00 0.000 324 0.000 0.079 2850 3889 1999 2033 1965 0 0 0 0 0 0 14.57 14.35 14.59

4705 1.73 205.6 2850 3889 2032 1968 93.1 7.3 437 4712 0.00 4.90 0.00 0.000 1094 0.000 0.045 2869 2189 1999 2031 1967 0 0 0 0 0 0 14.47 14.42 14.49

4898 2.06 314.7 2870 2189 2033 1965 82.7 3.0 457 5003 0.38 5.10 92.62 1.538 10788 0.149 0.069 3005 514 1564 1594 1534 0 0 0 0 0 0 14.38 14.07 13.46

5053 2.06 314.7 3005 514 1585 1535 67.3 14.0 484 5060 0.00 4.97 0.00 0.000 1030 0.000 0.050 3000 2202 1559 1585 1533 0 0 0 0 0 0 14.20 14.16 14.21

5238 2.51 464.4 3001 2203 1586 1526 57.9 0.5 503 5371 0.43 5.30 121.62 1.460 10532 0.142 0.079 3123 3890 954 948 960 0 0 0 0 0 0 14.18 13.90 13.36

5598 3.05 645.7 3123 3890 942 954 23.8 -1.6 572 5700 0.52 4.93 92.90 1.402 11302 0.144 0.039 3301 2189 498 465 531 0 0 0 0 0 0 14.12 14.19 13.37

5814 end climb: SURFACE_DEPTH_REACHED

state 5815 begin surface coast

5825 end surface coast: CONTROL_FINISHED_OK

state 5825 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	149	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	27	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2330	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0025631799	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0154106	ROLL_DEG	80	COMPASS_USE	4
HD_C	6.0999999e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	091018,181535,7412.1519,-14622.3838,35,0.9,36,18.4,0.2,5.8,9,5.4	SPEED_LIMITS	0.173,0.179
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.59	MHEAD_RNG_PITCHd_Wd	128.2,325,-23.2,-10.000,-30.00,1611
_SM_ANGLEo	-73.6	D_GRID	360
GPS2	091018,182144,7412.1333,-14622.4189,4,0.9,6,18.4,0.1,0.0,9,10.0

FINISH	-1.3,1.020928	_10V_AH	13.09,0.000
SM_CCo	5851,0.00,0.000,0,0,501,577.44	FG_AHR_24Vo	0.000
SM_GC	0.48,10.50,0.65,0.00,0.159,0.060,0.000,200,2405,501,-6.61,-0.85,577.44,0,0,0,0,0,0,14.07,14.10,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	8	MEM	334636
RAFOS_FIX	7411.748047,-14622.799805,091018,191915,0,1,0.13	DATA_FILE_SIZE	20143,603
IRIDIUM_FIX	7411.13,-14625.16,091018,163255	CAP_FILE_SIZE	73305,0
TT8_MAMPS	0.078645,0.686833	CFSIZE	2097872896,2069299200
HUMID	46.92	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.87058	INTR	0,4244.82,0x2355a8,1,24
TCM_TEMP	14.50	SOUNDSPEED	1442.9
XPDR_PINGS	9	CURRENT	0.066,334.44,1
ALTIM_TOP_PING	19.6,5.8	GPS	091018,200153,7411.939,-14621.569,67,1.2,68,18.4,0.8,272.4,5,9.8
_24V_AH	13.16,69.621

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	145.32	nil	0	0	0.00
Roll_motor	100	205	270.55	nil	0	0	0.00
VBD_pump_during_apogee	613	1887	15240.16	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	5842	26	2030.04
Iridium_during_xfer	215	186	529.00	nil	0	0	0.00
Transponder_ping	2	420	13.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	6	1.48
TT8	0	0	0.00
LPSleep	3904	2	118.07
TT8_Active	712	11	107.84
TT8_Sampling	1446	31	587.86
TT8_CF8	184	36	87.63
TT8_Kalman	0	0	0.00
Analog_circuits	1452	10	207.28
GPS_charging	0	0	0.00
Compass	869	6	76.72
RAFOS	2215	33	956.81
Transponder	2	30	0.99

		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
7	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.90	-132.7	201	2396	457	535	0.0	0.0	0	83	0.00	0.00	-71.25	0.003	16386	0.000	0.000	205	2396	1899	2000	1799	0	0	0	0	0	0	14.42	28.83	14.45
86	-0.90	-132.7	201	2397	2001	1803	4.2	-11.0	7	131	9.55	5.03	-28.38	0.005	18948	0.452	0.075	2050	706	3398	3517	3280	0	0	0	0	0	0	14.04	13.65	14.31
316	-0.90	-132.7	2050	708	3517	3282	84.3	-22.7	52	323	0.00	5.00	0.00	0.000	1030	0.000	0.060	2031	2404	3399	3517	3282	0	0	0	0	0	0	14.39	14.31	14.40
501	-0.90	-132.7	2031	2404	3517	3282	125.6	-21.4	71	512	0.00	4.68	0.00	0.000	260	0.000	0.085	2011	3952	3399	3516	3283	0	0	0	0	0	0	14.57	14.37	14.58
522	-0.90	-132.7	2017	3952	3514	3285	130.1	-22.4	75	528	0.00	4.45	0.00	0.000	1030	0.000	0.041	2028	2403	3399	3513	3285	0	0	0	0	0	0	14.47	14.41	14.49
713	-0.90	-132.7	2029	2403	3515	3286	169.5	-19.9	95	714	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2402	3399	3514	3285	0	0	0	0	0	0	14.61	14.63	14.64
893	-0.90	-132.7	2028	2403	3515	3286	203.9	-18.8	113	894	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2402	3399	3514	3285	0	0	0	0	0	0	14.64	14.66	14.66
1073	-0.90	-132.7	2027	2402	3514	3285	236.3	-17.5	131	1084	0.00	4.93	0.00	0.000	516	0.000	0.066	2028	706	3399	3513	3286	0	0	0	0	0	0	14.66	14.48	14.69
1109	-0.90	-132.7	2028	707	3515	3286	242.9	-18.8	138	1116	0.12	4.93	0.00	0.000	3078	0.325	0.055	2031	2402	3399	3513	3285	0	0	0	0	0	0	14.33	14.48	14.52
1294	-0.90	-132.7	2031	2402	3514	3286	270.2	-13.8	150	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2402	3397	3510	3285	0	0	0	0	0	0	14.70	14.72	14.71
1594	-0.90	-132.7	2037	2402	3515	3287	306.5	-11.8	165	1600	0.00	4.95	0.00	0.000	516	0.000	0.069	2042	704	3399	3513	3285	0	0	0	0	0	0	14.74	14.54	14.76
1635	-0.90	-132.7	2042	704	3513	3286	311.6	-11.9	173	1642	0.00	4.90	0.00	0.000	1030	0.000	0.055	2024	2402	3399	3513	3285	0	0	0	0	0	0	14.60	14.52	14.62
1957	-0.90	-132.7	2023	2402	3513	3286	349.0	-11.4	192	1958	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2402	3399	3512	3286	0	0	0	0	0	0	14.77	14.79	14.78
2054	end dive: TARGET_DEPTH_EXCEEDED
state	2055	begin apogee
2060	-0.11	0.0	2024	2184	3512	3286	360.2	-11.1	197	2185	1.02	0.05	120.88	1.887	10246	0.289	0.205	2284	2207	2850	2928	2772	0	0	0	0	0	0	14.42	13.97	13.34
2186	end apogee: CONTROL_FINISHED_OK
state	2186	begin climb
2188	0.90	132.7	2285	2207	2928	2772	363.2	0.0	203	2319	1.17	0.00	122.18	1.793	10246	0.184	0.000	2616	2206	2310	2340	2280	0	0	0	0	0	0	13.95	13.81	13.16
2617	0.90	132.7	2617	2208	2336	2265	296.0	17.0	225	2618	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2207	2298	2334	2263	0	0	0	0	0	0	14.38	14.40	14.40
2917	0.90	132.7	2616	2207	2335	2260	251.9	12.7	240	2918	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2207	2297	2334	2260	0	0	0	0	0	0	14.52	14.54	14.54
3219	0.95	132.7	2617	2208	2336	2258	222.7	8.4	269	3219	0.00	0.00	0.00	0.000	70	0.000	0.000	2616	2211	2293	2330	2256	0	0	0	0	0	0	14.58	14.61	14.62
3397	1.04	132.7	2617	2208	2336	2258	208.6	7.1	287	3398	0.15	0.00	0.00	0.000	2118	0.173	0.000	2659	2207	2296	2335	2257	0	0	0	0	0	0	14.42	14.54	14.52
3577	1.13	132.7	2659	2208	2336	2257	195.8	6.9	305	3583	0.10	4.97	0.00	0.000	2628	0.206	0.072	2708	518	2295	2334	2257	0	0	0	0	0	0	14.44	14.46	14.53
3644	1.18	132.7	2708	523	2330	2257	190.5	8.5	318	3651	0.00	4.88	0.00	0.000	1094	0.000	0.054	2701	2203	2293	2331	2255	0	0	0	0	0	0	14.51	14.45	14.52
3829	1.27	132.7	2702	2204	2332	2258	176.9	6.9	337	3830	0.12	0.00	0.00	0.000	2118	0.189	0.000	2735	2203	2294	2331	2257	0	0	0	0	0	0	14.42	14.56	14.54
4009	1.39	132.7	2735	2204	2331	2257	165.3	6.1	355	4010	0.12	0.00	0.00	0.000	2118	0.196	0.000	2769	2203	2294	2331	2257	0	0	0	0	0	0	14.43	14.56	14.54
4189	1.61	205.6	2769	2204	2331	2257	154.7	5.3	373	4260	0.22	5.18	63.42	1.648	10532	0.167	0.083	2820	3894	2010	2044	1977	0	0	0	0	0	0	14.45	14.16	13.59
4285	1.61	205.6	2823	3894	2041	1979	144.7	16.1	390	4292	0.00	4.95	0.00	0.000	1030	0.000	0.044	2843	2204	2007	2039	1976	0	0	0	0	0	0	14.31	14.25	14.32
4470	1.61	205.6	2843	2204	2038	1968	117.5	12.9	409	4476	0.00	4.97	0.00	0.000	516	0.000	0.067	2864	511	2002	2037	1968	0	0	0	0	0	0	14.51	14.31	14.53
4492	1.61	205.6	2865	512	2034	1971	114.8	12.3	413	4498	0.00	4.90	0.00	0.000	1030	0.000	0.050	2850	2201	2001	2033	1969	0	0	0	0	0	0	14.43	14.36	14.45
4684	1.65	205.6	2850	2202	2035	1966	94.8	8.5	433	4690	0.00	5.07	0.00	0.000	324	0.000	0.079	2850	3889	1999	2033	1965	0	0	0	0	0	0	14.57	14.35	14.59
4705	1.73	205.6	2850	3889	2032	1968	93.1	7.3	437	4712	0.00	4.90	0.00	0.000	1094	0.000	0.045	2869	2189	1999	2031	1967	0	0	0	0	0	0	14.47	14.42	14.49
4898	2.06	314.7	2870	2189	2033	1965	82.7	3.0	457	5003	0.38	5.10	92.62	1.538	10788	0.149	0.069	3005	514	1564	1594	1534	0	0	0	0	0	0	14.38	14.07	13.46
5053	2.06	314.7	3005	514	1585	1535	67.3	14.0	484	5060	0.00	4.97	0.00	0.000	1030	0.000	0.050	3000	2202	1559	1585	1533	0	0	0	0	0	0	14.20	14.16	14.21
5238	2.51	464.4	3001	2203	1586	1526	57.9	0.5	503	5371	0.43	5.30	121.62	1.460	10532	0.142	0.079	3123	3890	954	948	960	0	0	0	0	0	0	14.18	13.90	13.36
5598	3.05	645.7	3123	3890	942	954	23.8	-1.6	572	5700	0.52	4.93	92.90	1.402	11302	0.144	0.039	3301	2189	498	465	531	0	0	0	0	0	0	14.12	14.19	13.37
5814	end climb: SURFACE_DEPTH_REACHED
state	5815	begin surface coast
5825	end surface coast: CONTROL_FINISHED_OK
state	5825	begin surface