Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 416 * 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 416 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 50 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 416 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 50 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 150718,091440,-7403.2842,-11241.9766,0,4112.7,0,53.6,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME hold6

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 12.75 MHEAD_RNG_PITCHd_Wd 45.2,8732,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -10.7 D_GRID 990

GPS2 150718,091440,-7403.2842,-11241.9766,0,4112.7,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 867.8,1.027709,-11 _24V_AH 11.69,153.341

FINISH2 867.4 _10V_AH 11.94,0.000

RAFOS_CLK 225 FG_AHR_24Vo 0.000

RAFOS 0,1531656063,12.032778,12.017500,79,57,52,51,50,50,598,216,200,185,137,166 FG_AHR_10Vo 0.000

RAFOS_FIX -7403.829102,-11240.703125,150718,121212,1,2,0.12 MEM 280784

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 DATA_FILE_SIZE 6809,230

TT8_MAMPS 0.048685,0.149051 CAP_FILE_SIZE 48774,0

HUMID 47.44 CFSIZE 1024409600,970342400

INTERNAL_PRESSURE 8.29718 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 SOUNDSPEED 1453.1

XPDR_PINGS 0 GPS 150718,120312,-7403.829,-11240.703,0,2002.0,0,53.6,0.0,0.0,0,0.0

ALTIM_TOP_PING 881.2,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 299 17.35 nil 0 0 0.00

Roll_motor 51 1314 788.16 nil 0 0 0.00

VBD_pump_during_apogee 351 3092 12705.20 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 5766 2 182.67

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 92.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4743 2 130.83

TT8_Active 412 13 68.08

TT8_Sampling 588 34 244.32

TT8_CF8 99 52 62.72

TT8_Kalman 0 0 0.00

Analog_circuits 639 10 83.23

GPS_charging 0 0 0.00

Compass 336 7 30.13

RAFOS 720 1 12.90

Transponder 139 30 49.86

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

13.9 14.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

876.3 12.80 9000.00 0.0 0.00 0.00 12.80 889.1 -0.00 1.00

891.2 28.30 9000.00 0.0 0.01 0.17 28.30 0.0 1.04 1.00

881.2 16.50 17.40 863.8 1.06 0.99 16.50 864.7 1.18 1.00

867.8 24.00 9000.00 0.0 0.15 0.08 24.00 0.0 -0.56 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2800 2275 2792 2742 0.0 0.0 0 22 0.00 0.05 -9.68 0.011 16390 0.000 1.314 2800 2296 3222 3243 3202 0 0 0 0 0 0 15.12 12.72 15.12

24 -1.06 -107.1 2799 2296 3243 3202 0.0 0.0 0 31 0.98 2.42 0.00 0.000 4612 0.055 0.072 2437 907 3223 3244 3202 0 0 0 0 0 0 14.73 14.64 14.76

156 -1.06 -107.1 2437 908 3243 3202 38.0 -21.7 19 163 0.15 2.50 0.00 0.000 3078 0.300 0.071 2456 2305 3223 3244 3202 0 0 0 0 0 0 14.35 14.68 14.68

498 -1.06 -107.1 2453 2307 3245 3202 103.4 -19.1 32 505 0.00 2.53 0.00 0.000 516 0.000 0.072 2457 909 3221 3243 3200 0 0 0 0 0 0 15.18 14.62 15.21

533 -1.06 -107.1 2458 909 3245 3201 110.3 -20.3 37 541 0.00 2.53 0.00 0.000 1030 0.000 0.070 2448 2313 3222 3244 3200 0 0 0 0 0 0 14.73 14.65 14.78

890 -1.06 -107.1 2448 2313 3243 3200 182.6 -20.4 52 897 0.00 2.62 0.00 0.000 260 0.000 0.105 2437 3724 3221 3243 3199 0 0 0 0 0 0 15.17 14.57 15.20

925 -1.06 -107.1 2437 3724 3243 3200 190.1 -22.5 57 933 0.00 2.47 0.00 0.000 1030 0.000 0.042 2437 2300 3221 3243 3199 0 0 0 0 0 0 14.91 14.83 14.94

1326 -1.06 -107.1 2439 2300 3245 3200 276.7 -21.7 66 1331 0.00 2.50 0.00 0.000 516 0.000 0.072 2437 890 3221 3243 3199 0 0 0 0 0 0 15.11 14.66 15.13

1415 -1.06 -107.1 2436 890 3243 3200 295.5 -20.4 79 1422 0.12 2.53 0.00 0.000 3078 0.269 0.066 2457 2300 3221 3243 3199 0 0 0 0 0 0 14.31 14.64 14.52

1816 -1.06 -107.1 2458 2300 3246 3200 374.1 -19.8 91 1821 0.00 2.50 0.00 0.000 516 0.000 0.071 2457 898 3221 3243 3199 0 0 0 0 0 0 15.11 14.65 15.13

1842 -1.06 -107.1 2457 898 3243 3199 379.8 -20.7 95 1849 0.00 2.53 0.00 0.000 1030 0.000 0.067 2449 2303 3221 3244 3198 0 0 0 0 0 0 14.72 14.66 14.78

2237 -1.06 -107.1 2450 2304 3245 3200 455.1 -18.8 106 2237 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2303 3221 3243 3199 0 0 0 0 0 0 15.11 15.14 15.14

2585 -1.06 -107.1 2450 2304 3245 3199 519.2 -18.3 111 2591 0.00 2.55 0.00 0.000 516 0.000 0.070 2449 896 3221 3244 3198 0 0 0 0 0 0 15.11 14.59 15.14

2661 -1.06 -107.1 2449 897 3243 3198 533.5 -18.1 122 2668 0.00 2.53 0.00 0.000 1030 0.000 0.065 2438 2301 3221 3244 3198 0 0 0 0 0 0 14.72 14.64 14.78

3076 -1.06 -107.1 2439 2302 3246 3199 608.4 -18.3 136 3081 0.00 2.50 0.00 0.000 516 0.000 0.070 2439 896 3221 3244 3198 0 0 0 0 0 0 15.11 14.64 15.13

3109 -1.06 -107.1 2438 897 3243 3199 615.2 -19.9 141 3117 0.10 2.55 0.00 0.000 3078 0.272 0.067 2452 2309 3221 3244 3198 0 0 0 0 0 0 14.29 14.66 14.49

3496 -1.06 -107.1 2453 2310 3246 3199 680.2 -16.7 151 3497 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2309 3220 3243 3198 0 0 0 0 0 0 15.11 15.13 15.13

3845 -1.06 -107.1 2453 2310 3246 3199 737.7 -16.4 156 3846 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 2309 3221 3244 3198 0 0 0 0 0 0 15.11 15.13 15.13

4195 -1.06 -107.1 2452 2310 3244 3199 796.6 -16.8 161 4202 0.00 2.55 0.00 0.000 516 0.000 0.070 2453 899 3221 3244 3199 0 0 0 0 0 0 15.10 14.57 15.13

4229 -1.06 -107.1 2453 900 3247 3199 802.7 -18.1 166 4236 0.00 2.55 0.00 0.000 1030 0.000 0.067 2448 2307 3221 3245 3198 0 0 0 0 0 0 14.69 14.61 14.76

4616 -1.06 -107.1 2447 2307 3245 3199 864.8 -16.2 176 4617 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2306 3222 3245 3199 0 0 0 0 0 0 15.11 15.13 15.12

4965 -1.06 -107.1 2447 2307 3248 3200 890.8 -4.5 181 4966 0.00 0.00 0.00 0.000 38 0.000 0.000 2447 2306 3222 3246 3199 0 0 0 0 0 0 15.18 15.21 15.20

5172 end dive: NO_VERTICAL_VELOCITY

state 5172 begin apogee

5177 -0.23 0.0 2447 2056 3246 3199 890.8 0.0 184 5307 0.95 0.12 126.80 3.093 10246 0.173 0.136 2724 2130 2780 2814 2747 0 0 0 0 0 0 14.46 13.50 12.11

5308 end apogee: CONTROL_FINISHED_OK

state 5308 begin climb

5310 1.06 107.1 2724 2131 2815 2749 891.2 0.0 185 5461 1.40 2.90 140.02 3.071 10500 0.125 0.093 3138 3496 2345 2389 2301 0 0 0 0 0 0 13.54 13.06 11.69

5517 1.14 171.7 3136 3492 2383 2298 883.8 6.0 206 5609 0.00 2.58 84.57 3.031 9254 0.000 0.041 3146 2131 2080 2145 2016 0 0 0 0 0 0 13.65 13.60 11.76

5734 end climb: SURFACE_OBSTACLE_DETECTED

state 5734 begin subsurface finish

5739 -0.01 -10.6 3148 2131 2142 2007 867.8 8.1 228 5749 1.25 2.80 -1.77 0.060 20996 0.177 0.103 2799 705 2843 2870 2817 0 0 0 0 0 0 13.71 12.55 13.83

5749 end subsurface finish: CONTROL_FINISHED_OK

state 5749 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	416	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	50	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	150718,091440,-7403.2842,-11241.9766,0,4112.7,0,53.6,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	hold6
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	12.75	MHEAD_RNG_PITCHd_Wd	45.2,8732,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-10.7	D_GRID	990
GPS2	150718,091440,-7403.2842,-11241.9766,0,4112.7,0,53.6,0.0,0.0,0,0.0

FINISH1	867.8,1.027709,-11	_24V_AH	11.69,153.341
FINISH2	867.4	_10V_AH	11.94,0.000
RAFOS_CLK	225	FG_AHR_24Vo	0.000
RAFOS	0,1531656063,12.032778,12.017500,79,57,52,51,50,50,598,216,200,185,137,166	FG_AHR_10Vo	0.000
RAFOS_FIX	-7403.829102,-11240.703125,150718,121212,1,2,0.12	MEM	280784
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	DATA_FILE_SIZE	6809,230
TT8_MAMPS	0.048685,0.149051	CAP_FILE_SIZE	48774,0
HUMID	47.44	CFSIZE	1024409600,970342400
INTERNAL_PRESSURE	8.29718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	SOUNDSPEED	1453.1
XPDR_PINGS	0	GPS	150718,120312,-7403.829,-11240.703,0,2002.0,0,53.6,0.0,0.0,0,0.0
ALTIM_TOP_PING	881.2,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	299	17.35	nil	0	0	0.00
Roll_motor	51	1314	788.16	nil	0	0	0.00
VBD_pump_during_apogee	351	3092	12705.20	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	5766	2	182.67
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	92.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4743	2	130.83
TT8_Active	412	13	68.08
TT8_Sampling	588	34	244.32
TT8_CF8	99	52	62.72
TT8_Kalman	0	0	0.00
Analog_circuits	639	10	83.23
GPS_charging	0	0	0.00
Compass	336	7	30.13
RAFOS	720	1	12.90
Transponder	139	30	49.86

		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
13.9	14.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
876.3	12.80	9000.00	0.0	0.00	0.00	12.80	889.1	-0.00	1.00
891.2	28.30	9000.00	0.0	0.01	0.17	28.30	0.0	1.04	1.00

881.2	16.50	17.40	863.8	1.06	0.99	16.50	864.7	1.18	1.00
867.8	24.00	9000.00	0.0	0.15	0.08	24.00	0.0	-0.56	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2800	2275	2792	2742	0.0	0.0	0	22	0.00	0.05	-9.68	0.011	16390	0.000	1.314	2800	2296	3222	3243	3202	0	0	0	0	0	0	15.12	12.72	15.12
24	-1.06	-107.1	2799	2296	3243	3202	0.0	0.0	0	31	0.98	2.42	0.00	0.000	4612	0.055	0.072	2437	907	3223	3244	3202	0	0	0	0	0	0	14.73	14.64	14.76
156	-1.06	-107.1	2437	908	3243	3202	38.0	-21.7	19	163	0.15	2.50	0.00	0.000	3078	0.300	0.071	2456	2305	3223	3244	3202	0	0	0	0	0	0	14.35	14.68	14.68
498	-1.06	-107.1	2453	2307	3245	3202	103.4	-19.1	32	505	0.00	2.53	0.00	0.000	516	0.000	0.072	2457	909	3221	3243	3200	0	0	0	0	0	0	15.18	14.62	15.21
533	-1.06	-107.1	2458	909	3245	3201	110.3	-20.3	37	541	0.00	2.53	0.00	0.000	1030	0.000	0.070	2448	2313	3222	3244	3200	0	0	0	0	0	0	14.73	14.65	14.78
890	-1.06	-107.1	2448	2313	3243	3200	182.6	-20.4	52	897	0.00	2.62	0.00	0.000	260	0.000	0.105	2437	3724	3221	3243	3199	0	0	0	0	0	0	15.17	14.57	15.20
925	-1.06	-107.1	2437	3724	3243	3200	190.1	-22.5	57	933	0.00	2.47	0.00	0.000	1030	0.000	0.042	2437	2300	3221	3243	3199	0	0	0	0	0	0	14.91	14.83	14.94
1326	-1.06	-107.1	2439	2300	3245	3200	276.7	-21.7	66	1331	0.00	2.50	0.00	0.000	516	0.000	0.072	2437	890	3221	3243	3199	0	0	0	0	0	0	15.11	14.66	15.13
1415	-1.06	-107.1	2436	890	3243	3200	295.5	-20.4	79	1422	0.12	2.53	0.00	0.000	3078	0.269	0.066	2457	2300	3221	3243	3199	0	0	0	0	0	0	14.31	14.64	14.52
1816	-1.06	-107.1	2458	2300	3246	3200	374.1	-19.8	91	1821	0.00	2.50	0.00	0.000	516	0.000	0.071	2457	898	3221	3243	3199	0	0	0	0	0	0	15.11	14.65	15.13
1842	-1.06	-107.1	2457	898	3243	3199	379.8	-20.7	95	1849	0.00	2.53	0.00	0.000	1030	0.000	0.067	2449	2303	3221	3244	3198	0	0	0	0	0	0	14.72	14.66	14.78
2237	-1.06	-107.1	2450	2304	3245	3200	455.1	-18.8	106	2237	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2303	3221	3243	3199	0	0	0	0	0	0	15.11	15.14	15.14
2585	-1.06	-107.1	2450	2304	3245	3199	519.2	-18.3	111	2591	0.00	2.55	0.00	0.000	516	0.000	0.070	2449	896	3221	3244	3198	0	0	0	0	0	0	15.11	14.59	15.14
2661	-1.06	-107.1	2449	897	3243	3198	533.5	-18.1	122	2668	0.00	2.53	0.00	0.000	1030	0.000	0.065	2438	2301	3221	3244	3198	0	0	0	0	0	0	14.72	14.64	14.78
3076	-1.06	-107.1	2439	2302	3246	3199	608.4	-18.3	136	3081	0.00	2.50	0.00	0.000	516	0.000	0.070	2439	896	3221	3244	3198	0	0	0	0	0	0	15.11	14.64	15.13
3109	-1.06	-107.1	2438	897	3243	3199	615.2	-19.9	141	3117	0.10	2.55	0.00	0.000	3078	0.272	0.067	2452	2309	3221	3244	3198	0	0	0	0	0	0	14.29	14.66	14.49
3496	-1.06	-107.1	2453	2310	3246	3199	680.2	-16.7	151	3497	0.00	0.00	0.00	0.000	6	0.000	0.000	2449	2309	3220	3243	3198	0	0	0	0	0	0	15.11	15.13	15.13
3845	-1.06	-107.1	2453	2310	3246	3199	737.7	-16.4	156	3846	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	2309	3221	3244	3198	0	0	0	0	0	0	15.11	15.13	15.13
4195	-1.06	-107.1	2452	2310	3244	3199	796.6	-16.8	161	4202	0.00	2.55	0.00	0.000	516	0.000	0.070	2453	899	3221	3244	3199	0	0	0	0	0	0	15.10	14.57	15.13
4229	-1.06	-107.1	2453	900	3247	3199	802.7	-18.1	166	4236	0.00	2.55	0.00	0.000	1030	0.000	0.067	2448	2307	3221	3245	3198	0	0	0	0	0	0	14.69	14.61	14.76
4616	-1.06	-107.1	2447	2307	3245	3199	864.8	-16.2	176	4617	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2306	3222	3245	3199	0	0	0	0	0	0	15.11	15.13	15.12
4965	-1.06	-107.1	2447	2307	3248	3200	890.8	-4.5	181	4966	0.00	0.00	0.00	0.000	38	0.000	0.000	2447	2306	3222	3246	3199	0	0	0	0	0	0	15.18	15.21	15.20
5172	end dive: NO_VERTICAL_VELOCITY
state	5172	begin apogee
5177	-0.23	0.0	2447	2056	3246	3199	890.8	0.0	184	5307	0.95	0.12	126.80	3.093	10246	0.173	0.136	2724	2130	2780	2814	2747	0	0	0	0	0	0	14.46	13.50	12.11
5308	end apogee: CONTROL_FINISHED_OK
state	5308	begin climb
5310	1.06	107.1	2724	2131	2815	2749	891.2	0.0	185	5461	1.40	2.90	140.02	3.071	10500	0.125	0.093	3138	3496	2345	2389	2301	0	0	0	0	0	0	13.54	13.06	11.69
5517	1.14	171.7	3136	3492	2383	2298	883.8	6.0	206	5609	0.00	2.58	84.57	3.031	9254	0.000	0.041	3146	2131	2080	2145	2016	0	0	0	0	0	0	13.65	13.60	11.76
5734	end climb: SURFACE_OBSTACLE_DETECTED
state	5734	begin subsurface finish
5739	-0.01	-10.6	3148	2131	2142	2007	867.8	8.1	228	5749	1.25	2.80	-1.77	0.060	20996	0.177	0.103	2799	705	2843	2870	2817	0	0	0	0	0	0	13.71	12.55	13.83
5749	end subsurface finish: CONTROL_FINISHED_OK
state	5749	begin surface