Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 396 * 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 396 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 10 FILEMGR 2 VBD_MIN 900 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 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 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 0.059999999 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 110 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 10 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 4320

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 330

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 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

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 -7

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 396 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9 SPEED_LIMITS 0.100,0.239

_CALLS 2 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7409.500,-11159.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 12.00 MHEAD_RNG_PITCHd_Wd 116.5,10394,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -6.1 D_GRID 990

GPS2 120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9

Post-dive calculations and measurements:

FINISH1 556.7,1.027809,-16 _24V_AH 11.90,146.194

FINISH2 556.7 _10V_AH 12.21,0.000

RAFOS_CLK 170 FG_AHR_24Vo 0.000

RAFOS 0,1531418481,18.032778,18.022499,73,62,62,57,55,52,206,188,454,175,146,127 FG_AHR_10Vo 0.000

RAFOS_FIX -7403.109375,-11204.860352,120718,181824,2,117,0.16 MEM 280724

IRIDIUM_FIX -7408.59,-11202.69,120718,143355 DATA_FILE_SIZE 3481,150

TT8_MAMPS 0.039697,0.251664 CAP_FILE_SIZE 34613,0

HUMID 49.68 CFSIZE 1024409600,972357632

INTERNAL_PRESSURE 8.28742 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.30 SOUNDSPEED 1449.0

XPDR_PINGS 0 GPS 120718,181424,-7403.109,-11204.860,0,3117.0,0,53.0,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 261 15.18 nil 0 0 0.00

Roll_motor 31 148 55.90 nil 0 0 0.00

VBD_pump_during_apogee 247 2913 8592.00 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 4275 2 140.31

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 11 420 56.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 3547 2 100.06

TT8_Active 319 13 53.91

TT8_Sampling 416 34 176.94

TT8_CF8 73 52 47.40

TT8_Kalman 0 0 0.00

Analog_circuits 459 10 61.18

GPS_charging 0 0 0.00

Compass 223 7 20.47

RAFOS 720 1 13.19

Transponder 81 30 29.90

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

14.6 16.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

535.8 26.40 9000.00 0.0 0.00 0.00 26.40 0.0 0.02 1.00

546.7 13.50 9000.00 0.0 0.01 0.07 13.50 560.2 -1.18 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -1.06 -107.1 2804 2311 2789 2730 0.0 0.0 0 21 0.00 0.00 -10.07 0.011 16390 0.000 0.000 2802 2310 3221 3247 3196 0 0 0 0 0 0 15.07 12.67 15.04

24 -1.06 -107.1 2802 2311 3247 3197 0.0 0.0 0 26 1.02 0.00 0.00 0.000 4102 0.077 0.000 2448 2310 3221 3247 3196 0 0 0 0 0 0 14.60 14.74 14.70

347 -1.06 -107.1 2449 2311 3249 3196 68.5 -17.3 12 354 0.00 2.60 0.00 0.000 516 0.000 0.080 2448 893 3221 3247 3195 0 0 0 0 0 0 15.14 14.44 15.16

383 -1.06 -107.1 2449 893 3250 3196 74.8 -18.1 17 390 0.00 2.58 0.00 0.000 1030 0.000 0.071 2436 2299 3221 3247 3195 0 0 0 0 0 0 14.52 14.43 14.59

741 -1.06 -107.1 2436 2299 3247 3199 137.9 -18.3 32 746 0.00 2.62 0.00 0.000 260 0.000 0.107 2426 3716 3220 3247 3194 0 0 0 0 0 0 15.04 14.47 15.07

781 -1.06 -107.1 2427 3717 3249 3195 146.0 -19.9 38 788 0.12 2.47 0.00 0.000 3078 0.262 0.046 2457 2293 3219 3245 3193 0 0 0 0 0 0 14.16 14.67 14.35

1174 -1.06 -107.1 2458 2293 3249 3194 213.4 -17.2 52 1175 0.00 0.00 0.00 0.000 6 0.000 0.000 2457 2292 3220 3247 3193 0 0 0 0 0 0 15.04 15.07 15.07

1524 -1.06 -107.1 2457 2292 3246 3192 274.4 -17.2 57 1531 0.00 2.55 0.00 0.000 516 0.000 0.078 2457 901 3221 3249 3193 0 0 0 0 0 0 15.04 14.40 15.07

1565 -1.06 -107.1 2456 902 3249 3194 281.6 -17.1 63 1572 0.00 2.58 0.00 0.000 1030 0.000 0.070 2448 2305 3220 3247 3193 0 0 0 0 0 0 14.59 14.52 14.65

1946 -1.06 -107.1 2447 2307 3247 3193 347.2 -17.4 72 1951 0.00 2.65 0.00 0.000 260 0.000 0.108 2437 3726 3219 3247 3192 0 0 0 0 0 0 15.04 14.45 15.07

2034 -1.06 -107.1 2438 3727 3249 3193 363.6 -17.3 85 2042 0.00 2.53 0.00 0.000 1030 0.000 0.044 2437 2284 3220 3247 3193 0 0 0 0 0 0 14.76 14.68 14.78

2436 -1.06 -107.1 2437 2285 3247 3193 430.7 -16.8 97 2441 0.00 2.50 0.00 0.000 516 0.000 0.078 2437 900 3220 3247 3193 0 0 0 0 0 0 15.02 14.45 15.04

2510 -1.06 -107.1 2437 901 3247 3193 443.7 -16.8 108 2518 0.12 2.58 0.00 0.000 3078 0.259 0.070 2458 2305 3219 3247 3192 0 0 0 0 0 0 14.09 14.50 14.29

2924 -1.06 -107.1 2459 2306 3250 3194 505.7 -14.9 122 2930 0.00 2.65 0.00 0.000 260 0.000 0.107 2449 3726 3220 3248 3192 0 0 0 0 0 0 15.03 14.39 15.05

2965 -1.06 -107.1 2448 3727 3247 3193 511.9 -15.1 128 2972 0.00 2.53 0.00 0.000 1030 0.000 0.044 2449 2291 3220 3248 3192 0 0 0 0 0 0 14.76 14.68 14.78

3343 -1.06 -107.1 2450 2291 3250 3193 556.6 -11.9 137 3344 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2290 3220 3248 3192 0 0 0 0 0 0 15.15 15.18 15.17

3691 end dive: NO_VERTICAL_VELOCITY

state 3691 begin apogee

3697 -0.23 0.0 2448 2066 3248 3193 556.6 0.0 142 3817 1.00 0.10 117.53 2.913 10246 0.204 0.148 2723 2129 2782 2820 2744 0 0 0 0 0 0 14.22 13.71 12.40

3818 end apogee: CONTROL_FINISHED_OK

state 3818 begin climb

3820 1.06 107.1 2724 2130 2822 2745 556.6 0.0 143 3954 1.55 0.00 130.32 2.823 10246 0.192 0.000 3137 2129 2343 2390 2297 0 0 0 0 0 0 13.64 13.14 11.90

4251 end climb: NO_VERTICAL_VELOCITY

state 4251 begin subsurface finish

4257 -0.02 -15.7 3139 2130 2377 2289 556.7 -0.0 150 4266 1.05 0.00 -7.05 0.028 20486 0.063 0.000 2779 2130 2865 2892 2839 0 0 0 0 1 0 14.31 12.79 14.39

4267 end subsurface finish: CONTROL_FINISHED_OK

state 4267 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	396	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	10	FILEMGR	2	VBD_MIN	900	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	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	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	0.059999999	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	110	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	120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9	SPEED_LIMITS	0.100,0.239
_CALLS	2	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7409.500,-11159.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	12.00	MHEAD_RNG_PITCHd_Wd	116.5,10394,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-6.1	D_GRID	990
GPS2	120718,145008,-7403.9819,-11202.7520,2,1.8,4,53.0,0.2,0.0,6,5.9

FINISH1	556.7,1.027809,-16	_24V_AH	11.90,146.194
FINISH2	556.7	_10V_AH	12.21,0.000
RAFOS_CLK	170	FG_AHR_24Vo	0.000
RAFOS	0,1531418481,18.032778,18.022499,73,62,62,57,55,52,206,188,454,175,146,127	FG_AHR_10Vo	0.000
RAFOS_FIX	-7403.109375,-11204.860352,120718,181824,2,117,0.16	MEM	280724
IRIDIUM_FIX	-7408.59,-11202.69,120718,143355	DATA_FILE_SIZE	3481,150
TT8_MAMPS	0.039697,0.251664	CAP_FILE_SIZE	34613,0
HUMID	49.68	CFSIZE	1024409600,972357632
INTERNAL_PRESSURE	8.28742	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.30	SOUNDSPEED	1449.0
XPDR_PINGS	0	GPS	120718,181424,-7403.109,-11204.860,0,3117.0,0,53.0,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	261	15.18	nil	0	0	0.00
Roll_motor	31	148	55.90	nil	0	0	0.00
VBD_pump_during_apogee	247	2913	8592.00	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	4275	2	140.31
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	11	420	56.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	3547	2	100.06
TT8_Active	319	13	53.91
TT8_Sampling	416	34	176.94
TT8_CF8	73	52	47.40
TT8_Kalman	0	0	0.00
Analog_circuits	459	10	61.18
GPS_charging	0	0	0.00
Compass	223	7	20.47
RAFOS	720	1	13.19
Transponder	81	30	29.90

		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
14.6	16.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
535.8	26.40	9000.00	0.0	0.00	0.00	26.40	0.0	0.02	1.00
546.7	13.50	9000.00	0.0	0.01	0.07	13.50	560.2	-1.18	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-1.06	-107.1	2804	2311	2789	2730	0.0	0.0	0	21	0.00	0.00	-10.07	0.011	16390	0.000	0.000	2802	2310	3221	3247	3196	0	0	0	0	0	0	15.07	12.67	15.04
24	-1.06	-107.1	2802	2311	3247	3197	0.0	0.0	0	26	1.02	0.00	0.00	0.000	4102	0.077	0.000	2448	2310	3221	3247	3196	0	0	0	0	0	0	14.60	14.74	14.70
347	-1.06	-107.1	2449	2311	3249	3196	68.5	-17.3	12	354	0.00	2.60	0.00	0.000	516	0.000	0.080	2448	893	3221	3247	3195	0	0	0	0	0	0	15.14	14.44	15.16
383	-1.06	-107.1	2449	893	3250	3196	74.8	-18.1	17	390	0.00	2.58	0.00	0.000	1030	0.000	0.071	2436	2299	3221	3247	3195	0	0	0	0	0	0	14.52	14.43	14.59
741	-1.06	-107.1	2436	2299	3247	3199	137.9	-18.3	32	746	0.00	2.62	0.00	0.000	260	0.000	0.107	2426	3716	3220	3247	3194	0	0	0	0	0	0	15.04	14.47	15.07
781	-1.06	-107.1	2427	3717	3249	3195	146.0	-19.9	38	788	0.12	2.47	0.00	0.000	3078	0.262	0.046	2457	2293	3219	3245	3193	0	0	0	0	0	0	14.16	14.67	14.35
1174	-1.06	-107.1	2458	2293	3249	3194	213.4	-17.2	52	1175	0.00	0.00	0.00	0.000	6	0.000	0.000	2457	2292	3220	3247	3193	0	0	0	0	0	0	15.04	15.07	15.07
1524	-1.06	-107.1	2457	2292	3246	3192	274.4	-17.2	57	1531	0.00	2.55	0.00	0.000	516	0.000	0.078	2457	901	3221	3249	3193	0	0	0	0	0	0	15.04	14.40	15.07
1565	-1.06	-107.1	2456	902	3249	3194	281.6	-17.1	63	1572	0.00	2.58	0.00	0.000	1030	0.000	0.070	2448	2305	3220	3247	3193	0	0	0	0	0	0	14.59	14.52	14.65
1946	-1.06	-107.1	2447	2307	3247	3193	347.2	-17.4	72	1951	0.00	2.65	0.00	0.000	260	0.000	0.108	2437	3726	3219	3247	3192	0	0	0	0	0	0	15.04	14.45	15.07
2034	-1.06	-107.1	2438	3727	3249	3193	363.6	-17.3	85	2042	0.00	2.53	0.00	0.000	1030	0.000	0.044	2437	2284	3220	3247	3193	0	0	0	0	0	0	14.76	14.68	14.78
2436	-1.06	-107.1	2437	2285	3247	3193	430.7	-16.8	97	2441	0.00	2.50	0.00	0.000	516	0.000	0.078	2437	900	3220	3247	3193	0	0	0	0	0	0	15.02	14.45	15.04
2510	-1.06	-107.1	2437	901	3247	3193	443.7	-16.8	108	2518	0.12	2.58	0.00	0.000	3078	0.259	0.070	2458	2305	3219	3247	3192	0	0	0	0	0	0	14.09	14.50	14.29
2924	-1.06	-107.1	2459	2306	3250	3194	505.7	-14.9	122	2930	0.00	2.65	0.00	0.000	260	0.000	0.107	2449	3726	3220	3248	3192	0	0	0	0	0	0	15.03	14.39	15.05
2965	-1.06	-107.1	2448	3727	3247	3193	511.9	-15.1	128	2972	0.00	2.53	0.00	0.000	1030	0.000	0.044	2449	2291	3220	3248	3192	0	0	0	0	0	0	14.76	14.68	14.78
3343	-1.06	-107.1	2450	2291	3250	3193	556.6	-11.9	137	3344	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2290	3220	3248	3192	0	0	0	0	0	0	15.15	15.18	15.17
3691	end dive: NO_VERTICAL_VELOCITY
state	3691	begin apogee
3697	-0.23	0.0	2448	2066	3248	3193	556.6	0.0	142	3817	1.00	0.10	117.53	2.913	10246	0.204	0.148	2723	2129	2782	2820	2744	0	0	0	0	0	0	14.22	13.71	12.40
3818	end apogee: CONTROL_FINISHED_OK
state	3818	begin climb
3820	1.06	107.1	2724	2130	2822	2745	556.6	0.0	143	3954	1.55	0.00	130.32	2.823	10246	0.192	0.000	3137	2129	2343	2390	2297	0	0	0	0	0	0	13.64	13.14	11.90
4251	end climb: NO_VERTICAL_VELOCITY
state	4251	begin subsurface finish
4257	-0.02	-15.7	3139	2130	2377	2289	556.7	-0.0	150	4266	1.05	0.00	-7.05	0.028	20486	0.063	0.000	2779	2130	2865	2892	2839	0	0	0	0	1	0	14.31	12.79	14.39
4267	end subsurface finish: CONTROL_FINISHED_OK
state	4267	begin surface