Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 213 * 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 213 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 3 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 220 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 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 5 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 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 225 CF8_MAXERRORS 20 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 6 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 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 0

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 20 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 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 120

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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 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 5

DIVE 213 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 230218,151512,-7419.8955,-11252.7061,0,4159.3,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7424.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 275.31 MHEAD_RNG_PITCHd_Wd 151.8,8425,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.3 D_GRID 990

GPS2 230218,151512,-7419.8955,-11252.7061,0,4159.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 656.5,1.027647,-7 _24V_AH 12.35,85.025

FINISH2 655.4 _10V_AH 12.33,0.000

RAFOS_CLK 154 FG_AHR_24Vo 0.000

RAFOS_FIX -7420.392578,-11252.440430,230218,161604,0,1,0.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280040

TT8_MAMPS 0.041195,0.371504 DATA_FILE_SIZE 16774,460

HUMID 46.29 CAP_FILE_SIZE 56615,0

INTERNAL_PRESSURE 8.28742 CFSIZE 1024409600,995164160

TCM_TEMP 12.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1455.1

ALTIM_TOP_PING 658.5,8.3 GPS 230218,163004,-7420.393,-11252.440,0,1001.0,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 673.4,19.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 244 13.15 nil 0 0 0.00

Roll_motor 48 120 72.88 nil 0 0 0.00

VBD_pump_during_apogee 337 3011 12543.88 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 3982 11 567.46

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 88.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 2639 2 75.17

TT8_Active 359 13 61.25

TT8_Sampling 983 34 422.09

TT8_CF8 66 52 43.21

TT8_Kalman 0 0 0.00

Analog_circuits 744 10 100.06

GPS_charging 0 0 0.00

Compass 664 7 61.35

RAFOS 0 0 0.00

Transponder 120 30 44.64

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

282.8 14.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

288.9 20.70 9000.00 0.0 0.00 0.00 20.70 0.0 1.08 1.00

295.4 27.30 27.30 0.0 1.04 1.00 27.30 0.0 1.02 1.00

314.8 47.70 47.70 0.0 1.05 1.00 47.70 0.0 1.05 1.00

648.4 46.40 9000.00 0.0 0.03 0.24 46.40 694.8 -0.00 1.00

654.4 46.50 9000.00 0.0 0.00 0.99 46.50 0.0 0.02 1.00

660.6 34.10 9000.00 0.0 -1.01 0.75 34.10 694.7 -2.00 1.00

666.6 27.40 9000.00 0.0 -1.57 0.97 27.40 694.0 -1.12 1.00

673.4 19.40 19.50 692.9 -1.14 1.00 19.40 692.8 -1.18 1.00

679.8 10.90 9000.00 0.0 -1.25 1.00 10.90 690.7 -1.33 1.00

683.7 38.20 9000.00 0.0 1.52 0.32 38.20 0.0 7.00 1.00

671.4 16.10 9000.00 0.0 1.42 0.38 16.10 655.3 1.80 1.00

658.5 11.20 8.30 650.2 1.06 0.87 11.20 647.3 0.38 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

9 -0.93 -146.0 2805 2309 2804 2732 0.0 0.0 0 12 0.00 0.00 -2.50 0.037 16390 0.000 0.000 2804 2307 3392 3411 3374 0 0 0 0 0 0 15.06 13.47 15.07

14 -0.93 -146.0 2805 2308 3415 3375 0.0 0.0 0 22 0.95 0.00 0.00 0.000 4102 0.121 0.000 2496 2308 3393 3412 3374 0 0 0 0 0 0 14.75 14.90 14.90

319 -0.93 -146.0 2497 2308 3412 3374 312.2 -12.9 31 325 0.00 2.53 0.00 0.000 516 0.000 0.082 2496 890 3393 3413 3373 0 0 0 0 0 0 15.10 14.76 15.12

390 -0.93 -146.0 2497 890 3414 3373 321.5 -13.3 45 396 0.00 2.47 0.00 0.000 1030 0.000 0.073 2487 2299 3392 3412 3372 0 0 0 0 0 0 14.92 14.80 14.95

700 -0.93 -146.0 2486 2300 3412 3372 362.3 -13.1 77 707 0.00 2.50 0.00 0.000 516 0.000 0.080 2487 891 3391 3412 3371 0 0 0 0 0 0 15.09 14.76 15.11

742 -0.93 -146.0 2485 892 3412 3372 367.5 -12.6 85 747 0.00 2.50 0.00 0.000 1030 0.000 0.071 2476 2308 3391 3412 3371 0 0 0 0 0 0 14.91 14.80 14.92

1052 -0.93 -146.0 2476 2308 3412 3371 408.5 -12.6 117 1052 0.00 0.00 0.00 0.000 6 0.000 0.000 2476 2307 3391 3412 3370 0 0 0 0 0 0 15.09 15.11 15.11

1352 -0.93 -146.0 2478 2308 3414 3371 446.9 -15.0 147 1358 0.00 2.55 0.00 0.000 260 0.000 0.109 2466 3715 3391 3412 3370 0 0 0 0 0 0 15.05 14.75 15.08

1427 -0.93 -146.0 2467 3716 3414 3371 459.8 -17.0 162 1434 0.08 2.42 0.00 0.000 3078 0.236 0.045 2500 2293 3391 3412 3370 0 0 0 0 0 0 14.57 14.83 14.83

1732 -0.93 -146.0 2501 2294 3414 3370 498.1 -12.1 193 1738 0.00 2.45 0.00 0.000 516 0.000 0.078 2501 901 3390 3412 3369 0 0 0 0 0 0 15.08 14.72 15.12

1788 -0.93 -146.0 2501 901 3414 3370 505.1 -11.9 204 1796 0.00 2.50 0.00 0.000 1030 0.000 0.070 2491 2299 3390 3412 3369 0 0 0 0 0 0 14.83 14.76 14.87

2093 -0.93 -146.0 2492 2301 3414 3369 539.7 -10.8 235 2098 0.00 2.58 0.00 0.000 260 0.000 0.107 2484 3722 3390 3412 3369 0 0 0 0 0 0 15.11 14.66 15.13

2132 -0.93 -146.0 2483 3722 3412 3369 544.4 -12.0 243 2139 0.00 2.45 0.00 0.000 1030 0.000 0.047 2484 2298 3390 3412 3369 0 0 0 0 0 0 14.85 14.80 14.88

2444 -0.93 -146.0 2485 2297 3414 3369 578.0 -11.0 275 2449 0.00 2.47 0.00 0.000 516 0.000 0.078 2484 890 3390 3412 3368 0 0 0 0 0 0 15.09 14.75 15.11

2474 -0.93 -146.0 2483 890 3412 3369 581.4 -10.9 281 2480 0.00 2.53 0.00 0.000 1030 0.000 0.071 2474 2323 3390 3412 3368 0 0 0 0 0 0 14.90 14.76 14.92

2784 -0.93 -146.0 2472 2322 3410 3369 614.8 -10.4 313 2791 0.00 2.53 0.00 0.000 260 0.000 0.104 2464 3718 3390 3412 3368 0 0 0 0 0 0 15.09 14.74 15.11

2810 -0.93 -146.0 2464 3718 3412 3368 617.7 -11.5 318 2817 0.08 2.45 0.00 0.000 3078 0.245 0.047 2498 2286 3390 3412 3368 0 0 0 0 0 0 14.59 14.81 14.84

3115 -0.93 -146.0 2495 2287 3414 3369 649.4 -10.6 349 3122 0.00 2.45 0.00 0.000 516 0.000 0.078 2498 898 3390 3412 3369 0 0 0 0 0 0 15.09 14.75 15.12

3171 -0.93 -146.0 2498 899 3412 3369 655.5 -10.9 360 3178 0.00 2.53 0.00 0.000 1030 0.000 0.070 2489 2307 3390 3412 3368 0 0 0 0 0 0 14.82 14.76 14.90

3395 end dive: BOTTOM_OBSTACLE_DETECTED

state 3395 begin apogee

3399 -0.23 0.0 2489 2060 3412 3369 683.1 -10.9 383 3568 0.85 0.08 162.18 3.011 10246 0.213 0.113 2728 2117 2779 2818 2741 0 0 0 0 0 0 14.60 13.28 12.47

3570 end apogee: CONTROL_FINISHED_OK

state 3570 begin climb

3572 0.93 146.0 2729 2118 2819 2744 683.8 0.0 400 3755 1.27 2.75 175.15 2.908 10756 0.135 0.086 3108 733 2184 2239 2129 0 0 0 0 0 0 13.47 13.28 12.35

3820 0.93 146.0 3108 735 2230 2127 668.5 9.8 445 3828 0.00 2.60 0.00 0.000 1030 0.000 0.064 3108 2094 2178 2230 2126 0 0 0 0 0 0 13.87 13.76 13.88

3943 end climb: SURFACE_OBSTACLE_DETECTED

state 3944 begin subsurface finish

3947 -0.01 -7.5 3109 2094 2229 2123 656.5 10.1 458 3959 1.12 2.75 -1.73 0.065 20740 0.207 0.121 2802 3510 2829 2859 2800 0 0 0 0 0 0 13.95 13.07 14.07

3959 end subsurface finish: CONTROL_FINISHED_OK

state 3960 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	213	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	3	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	220	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	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	5	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	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	225	CF8_MAXERRORS	20	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	230218,151512,-7419.8955,-11252.7061,0,4159.3,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7424.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	275.31	MHEAD_RNG_PITCHd_Wd	151.8,8425,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.3	D_GRID	990
GPS2	230218,151512,-7419.8955,-11252.7061,0,4159.3,0,53.7,0.0,0.0,0,0.0

FINISH1	656.5,1.027647,-7	_24V_AH	12.35,85.025
FINISH2	655.4	_10V_AH	12.33,0.000
RAFOS_CLK	154	FG_AHR_24Vo	0.000
RAFOS_FIX	-7420.392578,-11252.440430,230218,161604,0,1,0.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280040
TT8_MAMPS	0.041195,0.371504	DATA_FILE_SIZE	16774,460
HUMID	46.29	CAP_FILE_SIZE	56615,0
INTERNAL_PRESSURE	8.28742	CFSIZE	1024409600,995164160
TCM_TEMP	12.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1455.1
ALTIM_TOP_PING	658.5,8.3	GPS	230218,163004,-7420.393,-11252.440,0,1001.0,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	673.4,19.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	244	13.15	nil	0	0	0.00
Roll_motor	48	120	72.88	nil	0	0	0.00
VBD_pump_during_apogee	337	3011	12543.88	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	3982	11	567.46
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	88.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	2639	2	75.17
TT8_Active	359	13	61.25
TT8_Sampling	983	34	422.09
TT8_CF8	66	52	43.21
TT8_Kalman	0	0	0.00
Analog_circuits	744	10	100.06
GPS_charging	0	0	0.00
Compass	664	7	61.35
RAFOS	0	0	0.00
Transponder	120	30	44.64

		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
282.8	14.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
288.9	20.70	9000.00	0.0	0.00	0.00	20.70	0.0	1.08	1.00
295.4	27.30	27.30	0.0	1.04	1.00	27.30	0.0	1.02	1.00
314.8	47.70	47.70	0.0	1.05	1.00	47.70	0.0	1.05	1.00
648.4	46.40	9000.00	0.0	0.03	0.24	46.40	694.8	-0.00	1.00
654.4	46.50	9000.00	0.0	0.00	0.99	46.50	0.0	0.02	1.00
660.6	34.10	9000.00	0.0	-1.01	0.75	34.10	694.7	-2.00	1.00
666.6	27.40	9000.00	0.0	-1.57	0.97	27.40	694.0	-1.12	1.00
673.4	19.40	19.50	692.9	-1.14	1.00	19.40	692.8	-1.18	1.00
679.8	10.90	9000.00	0.0	-1.25	1.00	10.90	690.7	-1.33	1.00
683.7	38.20	9000.00	0.0	1.52	0.32	38.20	0.0	7.00	1.00

671.4	16.10	9000.00	0.0	1.42	0.38	16.10	655.3	1.80	1.00
658.5	11.20	8.30	650.2	1.06	0.87	11.20	647.3	0.38	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
9	-0.93	-146.0	2805	2309	2804	2732	0.0	0.0	0	12	0.00	0.00	-2.50	0.037	16390	0.000	0.000	2804	2307	3392	3411	3374	0	0	0	0	0	0	15.06	13.47	15.07
14	-0.93	-146.0	2805	2308	3415	3375	0.0	0.0	0	22	0.95	0.00	0.00	0.000	4102	0.121	0.000	2496	2308	3393	3412	3374	0	0	0	0	0	0	14.75	14.90	14.90
319	-0.93	-146.0	2497	2308	3412	3374	312.2	-12.9	31	325	0.00	2.53	0.00	0.000	516	0.000	0.082	2496	890	3393	3413	3373	0	0	0	0	0	0	15.10	14.76	15.12
390	-0.93	-146.0	2497	890	3414	3373	321.5	-13.3	45	396	0.00	2.47	0.00	0.000	1030	0.000	0.073	2487	2299	3392	3412	3372	0	0	0	0	0	0	14.92	14.80	14.95
700	-0.93	-146.0	2486	2300	3412	3372	362.3	-13.1	77	707	0.00	2.50	0.00	0.000	516	0.000	0.080	2487	891	3391	3412	3371	0	0	0	0	0	0	15.09	14.76	15.11
742	-0.93	-146.0	2485	892	3412	3372	367.5	-12.6	85	747	0.00	2.50	0.00	0.000	1030	0.000	0.071	2476	2308	3391	3412	3371	0	0	0	0	0	0	14.91	14.80	14.92
1052	-0.93	-146.0	2476	2308	3412	3371	408.5	-12.6	117	1052	0.00	0.00	0.00	0.000	6	0.000	0.000	2476	2307	3391	3412	3370	0	0	0	0	0	0	15.09	15.11	15.11
1352	-0.93	-146.0	2478	2308	3414	3371	446.9	-15.0	147	1358	0.00	2.55	0.00	0.000	260	0.000	0.109	2466	3715	3391	3412	3370	0	0	0	0	0	0	15.05	14.75	15.08
1427	-0.93	-146.0	2467	3716	3414	3371	459.8	-17.0	162	1434	0.08	2.42	0.00	0.000	3078	0.236	0.045	2500	2293	3391	3412	3370	0	0	0	0	0	0	14.57	14.83	14.83
1732	-0.93	-146.0	2501	2294	3414	3370	498.1	-12.1	193	1738	0.00	2.45	0.00	0.000	516	0.000	0.078	2501	901	3390	3412	3369	0	0	0	0	0	0	15.08	14.72	15.12
1788	-0.93	-146.0	2501	901	3414	3370	505.1	-11.9	204	1796	0.00	2.50	0.00	0.000	1030	0.000	0.070	2491	2299	3390	3412	3369	0	0	0	0	0	0	14.83	14.76	14.87
2093	-0.93	-146.0	2492	2301	3414	3369	539.7	-10.8	235	2098	0.00	2.58	0.00	0.000	260	0.000	0.107	2484	3722	3390	3412	3369	0	0	0	0	0	0	15.11	14.66	15.13
2132	-0.93	-146.0	2483	3722	3412	3369	544.4	-12.0	243	2139	0.00	2.45	0.00	0.000	1030	0.000	0.047	2484	2298	3390	3412	3369	0	0	0	0	0	0	14.85	14.80	14.88
2444	-0.93	-146.0	2485	2297	3414	3369	578.0	-11.0	275	2449	0.00	2.47	0.00	0.000	516	0.000	0.078	2484	890	3390	3412	3368	0	0	0	0	0	0	15.09	14.75	15.11
2474	-0.93	-146.0	2483	890	3412	3369	581.4	-10.9	281	2480	0.00	2.53	0.00	0.000	1030	0.000	0.071	2474	2323	3390	3412	3368	0	0	0	0	0	0	14.90	14.76	14.92
2784	-0.93	-146.0	2472	2322	3410	3369	614.8	-10.4	313	2791	0.00	2.53	0.00	0.000	260	0.000	0.104	2464	3718	3390	3412	3368	0	0	0	0	0	0	15.09	14.74	15.11
2810	-0.93	-146.0	2464	3718	3412	3368	617.7	-11.5	318	2817	0.08	2.45	0.00	0.000	3078	0.245	0.047	2498	2286	3390	3412	3368	0	0	0	0	0	0	14.59	14.81	14.84
3115	-0.93	-146.0	2495	2287	3414	3369	649.4	-10.6	349	3122	0.00	2.45	0.00	0.000	516	0.000	0.078	2498	898	3390	3412	3369	0	0	0	0	0	0	15.09	14.75	15.12
3171	-0.93	-146.0	2498	899	3412	3369	655.5	-10.9	360	3178	0.00	2.53	0.00	0.000	1030	0.000	0.070	2489	2307	3390	3412	3368	0	0	0	0	0	0	14.82	14.76	14.90
3395	end dive: BOTTOM_OBSTACLE_DETECTED
state	3395	begin apogee
3399	-0.23	0.0	2489	2060	3412	3369	683.1	-10.9	383	3568	0.85	0.08	162.18	3.011	10246	0.213	0.113	2728	2117	2779	2818	2741	0	0	0	0	0	0	14.60	13.28	12.47
3570	end apogee: CONTROL_FINISHED_OK
state	3570	begin climb
3572	0.93	146.0	2729	2118	2819	2744	683.8	0.0	400	3755	1.27	2.75	175.15	2.908	10756	0.135	0.086	3108	733	2184	2239	2129	0	0	0	0	0	0	13.47	13.28	12.35
3820	0.93	146.0	3108	735	2230	2127	668.5	9.8	445	3828	0.00	2.60	0.00	0.000	1030	0.000	0.064	3108	2094	2178	2230	2126	0	0	0	0	0	0	13.87	13.76	13.88
3943	end climb: SURFACE_OBSTACLE_DETECTED
state	3944	begin subsurface finish
3947	-0.01	-7.5	3109	2094	2229	2123	656.5	10.1	458	3959	1.12	2.75	-1.73	0.065	20740	0.207	0.121	2802	3510	2829	2859	2800	0	0	0	0	0	0	13.95	13.07	14.07
3959	end subsurface finish: CONTROL_FINISHED_OK
state	3960	begin surface