Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 18 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 8 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 500 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

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 3166 INT_PRESSURE_YINT 1.6

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 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 75 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 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 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 48

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2150 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 0.80000001 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0031999999 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.012 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.1999999e-06 C_ROLL_DIVE 2400 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 180 PHONE_DEVICE 48 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 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 883 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.1999999e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 60

CAPUPLOAD 0 ID 199 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 1.6 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 75

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2150 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 3166 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 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 3 MINV_10V 11 R_PORT_OVSHOOT 18 VBD_MIN 500

D_ABORT 500 MINV_24V 11 R_STBD_OVSHOOT 8 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 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 0

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 4 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 210918,015341,7415.2959,-14624.8662,4,0.9,11,22.5,0.0,0.0,8,8.3 SPEED_LIMITS 0.173,0.241

_CALLS 1 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 291.4,49441,-18.8,-10.000,-22.50,2245

_SM_ANGLEo -60.3 D_GRID 180

GPS2 210918,015700,7415.2910,-14624.8867,8,0.9,13,22.5,0.5,355.9,8,8.9

Post-dive calculations and measurements:

FINISH -0.1,1.021120 _24V_AH 13.08,2.819

SM_CCo 3824,121.10,0.215,0,0,499,653.97 _10V_AH 12.85,0.000

SM_GC 0.65,7.38,0.00,121.10,0.109,0.000,0.215,204,2400,499,-6.05,0.00,653.97,0,0,0,0,0,0,14.06,14.28,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 157 FG_AHR_10Vo 0.000

RAFOS_FIX 7415.310059,-14625.035156,210918,030300,0,1,0.02 MEM 334696

IRIDIUM_FIX 7414.00,-14627.38,210918,014955 DATA_FILE_SIZE 20060,560

TT8_MAMPS 0.039697,0.950481 CAP_FILE_SIZE 86143,0

HUMID 53.15 CFSIZE 2097872896,2093088768

INTERNAL_PRESSURE 9.4714 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0

TCM_TEMP 12.50 SOUNDSPEED 1441.1

XPDR_PINGS 66 CURRENT 0.146,273.41,1

ALTIM_TOP_PING 6.4,7.3 GPS 210918,030434,7415.329,-14625.602,5,0.8,30,22.5,0.4,220.9,8,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 462 114.72 nil 0 0 0.00

Roll_motor 45 250 147.77 nil 0 0 0.00

VBD_pump_during_apogee 610 1620 12937.35 nil 0 0 0.00

VBD_pump_during_surface 121 214 340.50 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 3797 37 1841.17

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 25 420 138.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 21 6.43

TT8 0 0 0.00

LPSleep 2019 2 59.95

TT8_Active 799 11 117.81

TT8_Sampling 1126 30 437.07

TT8_CF8 96 36 44.99

TT8_Kalman 0 0 0.00

Analog_circuits 1304 9 159.30

GPS_charging 0 0 0.00

Compass 805 7 77.57

RAFOS 0 0 0.00

Transponder 59 30 22.84

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

11.7 13.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.4 24.10 9000.00 0.0 0.00 0.00 24.10 0.0 0.96 1.00

33.5 36.40 36.10 0.0 1.03 1.00 36.40 0.0 1.11 1.00

43.7 47.10 47.20 0.0 1.08 1.00 47.10 0.0 1.05 1.00

54.6 5.90 9000.00 0.0 -1.47 0.53 5.90 60.5 -3.78 1.00

76.6 80.40 9000.00 0.0 1.36 0.37 80.40 0.0 3.39 1.00

86.6 6.10 9000.00 0.0 0.56 0.05 6.10 92.7 -7.43 1.00

97.7 103.20 9000.00 0.0 1.21 0.06 103.20 0.0 8.75 1.00

108.2 113.50 9000.00 0.0 5.00 0.83 113.50 0.0 0.98 1.00

118.7 6.20 9000.00 0.0 -4.59 0.67 6.20 124.9 -10.22 1.00

129.2 6.20 9000.00 0.0 -5.13 0.75 0.00 0.0 0.00 0.00

180.6 189.30 9000.00 0.0 3.15 0.98 189.30 0.0 3.56 1.00

182.2 20.30 9000.00 0.0 1.81 0.29 0.00 0.0 0.00 0.00

161.7 168.90 9000.00 0.0 -3.74 0.22 168.90 0.0 -7.25 1.00

151.2 158.20 9000.00 0.0 -4.84 0.85 158.20 -7.0 1.02 1.00

141.1 6.40 9000.00 0.0 7.88 0.79 6.40 134.7 15.03 1.00

130.9 6.30 9000.00 0.0 7.44 0.75 6.30 124.6 0.01 1.00

120.6 6.30 9000.00 0.0 0.00 0.94 0.00 0.0 0.00 0.00

110.2 115.00 9000.00 0.0 -5.26 0.75 115.00 0.0 -10.45 1.00

99.8 106.80 9000.00 0.0 -4.85 0.69 106.80 -7.0 0.79 1.00

89.3 93.40 94.30 -5.0 1.03 0.98 93.40 -4.1 1.28 1.00

78.6 6.20 9000.00 0.0 4.75 0.85 6.20 72.4 8.15 1.00

68.3 6.10 9000.00 0.0 4.17 0.76 6.10 62.2 0.01 1.00

57.8 6.00 9000.00 0.0 0.01 0.97 6.00 51.8 0.01 1.00

47.5 6.00 9000.00 0.0 0.00 0.61 0.00 0.0 0.00 0.00

37.2 38.50 9000.00 0.0 -1.58 0.75 38.50 0.0 -3.16 1.00

26.8 28.00 9000.00 0.0 -1.06 0.44 28.00 -1.2 1.01 1.00

16.4 17.50 17.50 -1.1 1.01 1.00 17.50 -1.1 1.01 1.00

6.4 7.30 7.30 -0.9 1.01 1.00 7.30 -0.9 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

9 -0.84 -146.0 195 2391 541 453 0.0 0.0 0 154 0.00 0.00 -142.30 0.002 16386 0.000 0.000 194 2391 2488 2522 2455 0 0 0 0 0 0 14.62 28.83 14.64

157 -0.84 -146.0 194 2391 2525 2457 4.5 -7.5 14 203 8.77 2.88 -29.73 0.005 18724 0.463 0.251 1860 3772 3763 3807 3719 0 0 0 0 0 0 14.14 13.71 14.42

428 -0.78 -146.0 1861 3772 3808 3719 73.9 -19.5 67 435 0.15 2.62 0.00 0.000 3206 0.301 0.170 1890 2395 3763 3807 3720 0 0 0 0 0 0 14.27 14.34 14.45

613 -0.83 -146.0 1890 2393 3806 3721 100.3 -13.4 86 619 0.00 2.88 0.00 0.000 388 0.000 0.236 1881 3770 3763 3807 3720 0 0 0 0 0 0 14.63 14.26 14.65

844 -0.88 -146.0 1882 3770 3808 3720 131.7 -12.6 132 849 0.00 2.62 0.00 0.000 1158 0.000 0.173 1881 2397 3763 3807 3720 0 0 0 0 0 0 14.50 14.37 14.51

1036 -0.96 -146.0 1882 2397 3808 3719 153.6 -11.1 152 1042 0.12 2.88 0.00 0.000 4484 0.148 0.240 1829 3770 3762 3807 3718 0 0 0 0 0 0 14.45 14.35 14.49

1221 end dive: TARGET_DEPTH_EXCEEDED

state 1221 begin apogee

1229 -0.19 0.0 1830 2401 3808 3720 180.6 -14.3 189 1355 0.95 0.00 122.38 1.620 10246 0.266 0.000 2080 2400 3163 3238 3088 0 0 0 0 0 0 14.35 13.78 13.18

1356 end apogee: CONTROL_FINISHED_OK

state 1356 begin climb

1359 0.84 146.0 2081 2401 3235 3084 186.9 0.0 202 1493 1.12 3.05 123.35 1.533 11012 0.157 0.232 2411 3769 2561 2652 2470 0 0 0 0 0 0 13.76 13.54 13.08

1718 0.76 196.6 2411 3770 2653 2460 174.7 7.7 271 1770 0.00 2.67 43.03 1.502 9382 0.000 0.172 2421 2399 2356 2463 2250 0 0 0 0 0 0 14.26 14.15 13.32

1946 0.73 225.0 2422 2400 2465 2241 155.6 8.7 298 1980 0.12 2.97 25.02 1.471 12708 0.306 0.239 2393 3769 2241 2361 2121 0 0 1 0 0 0 14.05 13.90 13.45

2121 0.69 233.0 2394 3771 2362 2114 139.2 9.6 332 2132 0.00 2.70 7.55 1.320 9382 0.000 0.177 2402 2391 2215 2341 2090 0 0 0 0 0 0 14.28 14.16 13.57

2312 0.74 275.5 2403 2391 2338 2077 123.5 8.1 352 2358 0.00 2.75 38.62 1.474 8740 0.000 0.173 2412 993 2034 2179 1890 0 0 0 0 0 0 14.48 13.92 13.45

2424 0.75 294.6 2413 993 2180 1883 113.9 9.1 373 2447 0.00 2.88 16.95 1.410 9254 0.000 0.197 2412 2399 1958 2107 1809 0 0 1 0 0 0 14.18 14.03 13.45

2632 0.78 325.0 2412 2399 2109 1799 94.6 8.6 396 2665 0.00 2.95 26.45 1.432 8484 0.000 0.240 2412 3769 1836 1988 1684 0 0 0 0 0 0 14.40 13.93 13.50

2760 0.78 325.0 2412 3769 1989 1680 81.8 10.9 421 2767 0.00 2.70 0.00 0.000 1030 0.000 0.176 2420 2395 1833 1987 1679 0 0 0 0 0 0 14.23 14.12 14.25

2948 0.89 384.6 2421 2395 1989 1674 66.9 7.3 440 3002 0.00 0.00 52.12 1.424 8614 0.000 0.000 2420 2395 1594 1745 1444 0 0 0 0 0 0 14.45 13.93 13.39

3178 1.06 469.4 2421 2395 1743 1431 52.8 6.1 468 3258 0.20 3.10 73.93 1.383 10660 0.127 0.236 2492 3770 1243 1351 1136 0 0 1 0 0 0 14.18 13.67 13.28

3408 1.06 469.4 2492 3770 1350 1134 31.2 10.1 512 3413 0.00 2.70 0.00 0.000 1030 0.000 0.175 2501 2400 1241 1349 1133 0 0 0 0 0 0 14.14 14.03 14.16

3600 1.22 560.5 2501 2401 1350 1130 18.4 5.8 532 3684 0.12 0.00 81.05 1.354 11174 0.164 0.000 2547 2400 879 949 809 0 0 0 0 0 0 14.21 13.81 13.29

3787 end climb: SURFACE_DEPTH_REACHED

state 3787 begin surface coast

3807 end surface coast: CONTROL_FINISHED_OK

state 3808 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	18	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	8	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	500	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
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	3166	INT_PRESSURE_YINT	1.6
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	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	75	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	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	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	48
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2150	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	0.80000001	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0031999999	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.012	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.1999999e-06	C_ROLL_DIVE	2400	ALTIM_PING_FIT	883

GPS1	210918,015341,7415.2959,-14624.8662,4,0.9,11,22.5,0.0,0.0,8,8.3	SPEED_LIMITS	0.173,0.241
_CALLS	1	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	291.4,49441,-18.8,-10.000,-22.50,2245
_SM_ANGLEo	-60.3	D_GRID	180
GPS2	210918,015700,7415.2910,-14624.8867,8,0.9,13,22.5,0.5,355.9,8,8.9

FINISH	-0.1,1.021120	_24V_AH	13.08,2.819
SM_CCo	3824,121.10,0.215,0,0,499,653.97	_10V_AH	12.85,0.000
SM_GC	0.65,7.38,0.00,121.10,0.109,0.000,0.215,204,2400,499,-6.05,0.00,653.97,0,0,0,0,0,0,14.06,14.28,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	157	FG_AHR_10Vo	0.000
RAFOS_FIX	7415.310059,-14625.035156,210918,030300,0,1,0.02	MEM	334696
IRIDIUM_FIX	7414.00,-14627.38,210918,014955	DATA_FILE_SIZE	20060,560
TT8_MAMPS	0.039697,0.950481	CAP_FILE_SIZE	86143,0
HUMID	53.15	CFSIZE	2097872896,2093088768
INTERNAL_PRESSURE	9.4714	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,2,0
TCM_TEMP	12.50	SOUNDSPEED	1441.1
XPDR_PINGS	66	CURRENT	0.146,273.41,1
ALTIM_TOP_PING	6.4,7.3	GPS	210918,030434,7415.329,-14625.602,5,0.8,30,22.5,0.4,220.9,8,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	462	114.72	nil	0	0	0.00
Roll_motor	45	250	147.77	nil	0	0	0.00
VBD_pump_during_apogee	610	1620	12937.35	nil	0	0	0.00
VBD_pump_during_surface	121	214	340.50	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	3797	37	1841.17
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	25	420	138.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	21	6.43
TT8	0	0	0.00
LPSleep	2019	2	59.95
TT8_Active	799	11	117.81
TT8_Sampling	1126	30	437.07
TT8_CF8	96	36	44.99
TT8_Kalman	0	0	0.00
Analog_circuits	1304	9	159.30
GPS_charging	0	0	0.00
Compass	805	7	77.57
RAFOS	0	0	0.00
Transponder	59	30	22.84

		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
11.7	13.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.4	24.10	9000.00	0.0	0.00	0.00	24.10	0.0	0.96	1.00
33.5	36.40	36.10	0.0	1.03	1.00	36.40	0.0	1.11	1.00
43.7	47.10	47.20	0.0	1.08	1.00	47.10	0.0	1.05	1.00
54.6	5.90	9000.00	0.0	-1.47	0.53	5.90	60.5	-3.78	1.00
76.6	80.40	9000.00	0.0	1.36	0.37	80.40	0.0	3.39	1.00
86.6	6.10	9000.00	0.0	0.56	0.05	6.10	92.7	-7.43	1.00
97.7	103.20	9000.00	0.0	1.21	0.06	103.20	0.0	8.75	1.00
108.2	113.50	9000.00	0.0	5.00	0.83	113.50	0.0	0.98	1.00
118.7	6.20	9000.00	0.0	-4.59	0.67	6.20	124.9	-10.22	1.00
129.2	6.20	9000.00	0.0	-5.13	0.75	0.00	0.0	0.00	0.00
180.6	189.30	9000.00	0.0	3.15	0.98	189.30	0.0	3.56	1.00
182.2	20.30	9000.00	0.0	1.81	0.29	0.00	0.0	0.00	0.00

161.7	168.90	9000.00	0.0	-3.74	0.22	168.90	0.0	-7.25	1.00
151.2	158.20	9000.00	0.0	-4.84	0.85	158.20	-7.0	1.02	1.00
141.1	6.40	9000.00	0.0	7.88	0.79	6.40	134.7	15.03	1.00
130.9	6.30	9000.00	0.0	7.44	0.75	6.30	124.6	0.01	1.00
120.6	6.30	9000.00	0.0	0.00	0.94	0.00	0.0	0.00	0.00
110.2	115.00	9000.00	0.0	-5.26	0.75	115.00	0.0	-10.45	1.00
99.8	106.80	9000.00	0.0	-4.85	0.69	106.80	-7.0	0.79	1.00
89.3	93.40	94.30	-5.0	1.03	0.98	93.40	-4.1	1.28	1.00
78.6	6.20	9000.00	0.0	4.75	0.85	6.20	72.4	8.15	1.00
68.3	6.10	9000.00	0.0	4.17	0.76	6.10	62.2	0.01	1.00
57.8	6.00	9000.00	0.0	0.01	0.97	6.00	51.8	0.01	1.00
47.5	6.00	9000.00	0.0	0.00	0.61	0.00	0.0	0.00	0.00
37.2	38.50	9000.00	0.0	-1.58	0.75	38.50	0.0	-3.16	1.00
26.8	28.00	9000.00	0.0	-1.06	0.44	28.00	-1.2	1.01	1.00
16.4	17.50	17.50	-1.1	1.01	1.00	17.50	-1.1	1.01	1.00
6.4	7.30	7.30	-0.9	1.01	1.00	7.30	-0.9	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
9	-0.84	-146.0	195	2391	541	453	0.0	0.0	0	154	0.00	0.00	-142.30	0.002	16386	0.000	0.000	194	2391	2488	2522	2455	0	0	0	0	0	0	14.62	28.83	14.64
157	-0.84	-146.0	194	2391	2525	2457	4.5	-7.5	14	203	8.77	2.88	-29.73	0.005	18724	0.463	0.251	1860	3772	3763	3807	3719	0	0	0	0	0	0	14.14	13.71	14.42
428	-0.78	-146.0	1861	3772	3808	3719	73.9	-19.5	67	435	0.15	2.62	0.00	0.000	3206	0.301	0.170	1890	2395	3763	3807	3720	0	0	0	0	0	0	14.27	14.34	14.45
613	-0.83	-146.0	1890	2393	3806	3721	100.3	-13.4	86	619	0.00	2.88	0.00	0.000	388	0.000	0.236	1881	3770	3763	3807	3720	0	0	0	0	0	0	14.63	14.26	14.65
844	-0.88	-146.0	1882	3770	3808	3720	131.7	-12.6	132	849	0.00	2.62	0.00	0.000	1158	0.000	0.173	1881	2397	3763	3807	3720	0	0	0	0	0	0	14.50	14.37	14.51
1036	-0.96	-146.0	1882	2397	3808	3719	153.6	-11.1	152	1042	0.12	2.88	0.00	0.000	4484	0.148	0.240	1829	3770	3762	3807	3718	0	0	0	0	0	0	14.45	14.35	14.49
1221	end dive: TARGET_DEPTH_EXCEEDED
state	1221	begin apogee
1229	-0.19	0.0	1830	2401	3808	3720	180.6	-14.3	189	1355	0.95	0.00	122.38	1.620	10246	0.266	0.000	2080	2400	3163	3238	3088	0	0	0	0	0	0	14.35	13.78	13.18
1356	end apogee: CONTROL_FINISHED_OK
state	1356	begin climb
1359	0.84	146.0	2081	2401	3235	3084	186.9	0.0	202	1493	1.12	3.05	123.35	1.533	11012	0.157	0.232	2411	3769	2561	2652	2470	0	0	0	0	0	0	13.76	13.54	13.08
1718	0.76	196.6	2411	3770	2653	2460	174.7	7.7	271	1770	0.00	2.67	43.03	1.502	9382	0.000	0.172	2421	2399	2356	2463	2250	0	0	0	0	0	0	14.26	14.15	13.32
1946	0.73	225.0	2422	2400	2465	2241	155.6	8.7	298	1980	0.12	2.97	25.02	1.471	12708	0.306	0.239	2393	3769	2241	2361	2121	0	0	1	0	0	0	14.05	13.90	13.45
2121	0.69	233.0	2394	3771	2362	2114	139.2	9.6	332	2132	0.00	2.70	7.55	1.320	9382	0.000	0.177	2402	2391	2215	2341	2090	0	0	0	0	0	0	14.28	14.16	13.57
2312	0.74	275.5	2403	2391	2338	2077	123.5	8.1	352	2358	0.00	2.75	38.62	1.474	8740	0.000	0.173	2412	993	2034	2179	1890	0	0	0	0	0	0	14.48	13.92	13.45
2424	0.75	294.6	2413	993	2180	1883	113.9	9.1	373	2447	0.00	2.88	16.95	1.410	9254	0.000	0.197	2412	2399	1958	2107	1809	0	0	1	0	0	0	14.18	14.03	13.45
2632	0.78	325.0	2412	2399	2109	1799	94.6	8.6	396	2665	0.00	2.95	26.45	1.432	8484	0.000	0.240	2412	3769	1836	1988	1684	0	0	0	0	0	0	14.40	13.93	13.50
2760	0.78	325.0	2412	3769	1989	1680	81.8	10.9	421	2767	0.00	2.70	0.00	0.000	1030	0.000	0.176	2420	2395	1833	1987	1679	0	0	0	0	0	0	14.23	14.12	14.25
2948	0.89	384.6	2421	2395	1989	1674	66.9	7.3	440	3002	0.00	0.00	52.12	1.424	8614	0.000	0.000	2420	2395	1594	1745	1444	0	0	0	0	0	0	14.45	13.93	13.39
3178	1.06	469.4	2421	2395	1743	1431	52.8	6.1	468	3258	0.20	3.10	73.93	1.383	10660	0.127	0.236	2492	3770	1243	1351	1136	0	0	1	0	0	0	14.18	13.67	13.28
3408	1.06	469.4	2492	3770	1350	1134	31.2	10.1	512	3413	0.00	2.70	0.00	0.000	1030	0.000	0.175	2501	2400	1241	1349	1133	0	0	0	0	0	0	14.14	14.03	14.16
3600	1.22	560.5	2501	2401	1350	1130	18.4	5.8	532	3684	0.12	0.00	81.05	1.354	11174	0.164	0.000	2547	2400	879	949	809	0	0	0	0	0	0	14.21	13.81	13.29
3787	end climb: SURFACE_DEPTH_REACHED
state	3787	begin surface coast
3807	end surface coast: CONTROL_FINISHED_OK
state	3808	begin surface