Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 119 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 119 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 360 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 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 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 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 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 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 222 P_OVSHOOT_WITHG 0 T_MISSION 360

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 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 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 119 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 090218,102514,-7420.3208,-11237.7578,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 356.82 MHEAD_RNG_PITCHd_Wd 322.9,17994,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 3.6 D_GRID 990

GPS2 090218,102514,-7420.3208,-11237.7578,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 930.7,1.027721,-11 ALTIM_BOTTOM_PING 938.1,15.3

FINISH2 928.9 _24V_AH 12.88,55.137

RAFOS_CLK 218 _10V_AH 12.49,0.000

RAFOS 0,1518177671,12.032778,12.019722,55,54,54,52,50,49,211,197,121,160,184,225 FG_AHR_24Vo 0.000

RAFOS_FIX -7419.756348,-11238.080078,090218,121231,0,1,0.18 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280100

TT8_MAMPS 0.045689,0.259154 DATA_FILE_SIZE 16759,492

HUMID 42.63 CAP_FILE_SIZE 60699,0

INTERNAL_PRESSURE 7.71672 CFSIZE 1024409600,1006026752

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.6

ALTIM_TOP_PING 939.6,15.4 GPS 090218,120531,-7419.756,-11238.080,0,1001.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 270 15.56 nil 0 0 0.00

Roll_motor 44 1435 824.88 nil 0 0 0.00

VBD_pump_during_apogee 803 1491 15430.55 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 5937 7 577.72

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 93.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4125 2 119.03

TT8_Active 781 12 119.77

TT8_Sampling 1040 31 412.36

TT8_CF8 53 45 29.98

TT8_Kalman 0 0 0.00

Analog_circuits 1204 10 153.41

GPS_charging 0 0 0.00

Compass 709 7 66.40

RAFOS 240 1 4.50

Transponder 122 30 45.74

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

374.1 11.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

911.7 42.30 9000.00 0.0 0.00 0.00 42.30 0.0 0.06 1.00

921.1 30.70 9000.00 0.0 0.05 0.85 30.70 951.8 -1.23 1.00

930.0 24.60 23.70 953.7 -0.97 0.97 24.60 954.6 -0.69 1.00

938.1 14.40 15.30 953.4 -0.95 0.97 14.40 952.5 -1.26 1.00

948.2 22.50 9000.00 0.0 -0.08 0.02 22.50 0.0 0.80 1.00

939.6 15.20 15.40 924.2 0.82 0.99 15.20 924.4 0.85 1.00

931.4 17.00 9000.00 0.0 0.33 0.53 17.00 0.0 -0.22 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

8 -0.94 -146.0 2708 2485 2827 2612 0.0 0.0 0 11 0.00 0.05 -2.00 0.047 16390 0.000 1.435 2707 2499 3322 3461 3184 0 0 0 0 0 0 15.07 13.57 15.06

13 -0.94 -146.0 2707 2500 3459 3188 0.0 0.0 0 19 0.95 2.55 0.00 0.000 4612 0.123 0.120 2397 1081 3322 3454 3191 0 0 0 0 0 0 14.79 14.76 14.87

63 -0.94 -146.0 2398 1082 3449 3198 361.3 -9.0 10 69 0.00 2.70 0.00 0.000 1030 0.000 0.130 2389 2502 3322 3448 3197 0 0 0 0 0 0 14.83 14.72 14.88

373 -0.94 -146.0 2388 2502 3443 3203 399.5 -12.7 42 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2502 3322 3442 3202 0 0 0 0 0 0 15.08 15.11 15.11

673 -0.94 -146.0 2396 2503 3440 3204 436.5 -12.1 72 679 0.00 2.40 0.00 0.000 260 0.000 0.151 2379 3750 3321 3439 3203 0 0 0 0 0 0 15.09 14.72 15.14

743 -0.94 -146.0 2379 3750 3438 3206 445.6 -12.9 86 749 0.00 2.28 0.00 0.000 1030 0.000 0.099 2379 2493 3321 3436 3206 0 0 0 0 0 0 14.84 14.78 14.88

1053 -0.94 -146.0 2379 2493 3437 3208 484.7 -12.9 118 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2493 3321 3436 3206 0 0 0 0 0 0 15.09 15.12 15.11

1354 -0.94 -146.0 2379 2493 3436 3207 522.5 -12.3 148 1359 0.00 2.40 0.00 0.000 260 0.000 0.152 2370 3763 3320 3435 3206 0 0 0 0 0 0 15.07 14.75 15.09

1378 -0.94 -146.0 2370 3764 3435 3208 525.6 -13.0 153 1387 0.00 2.30 0.00 0.000 1030 0.000 0.099 2370 2489 3320 3434 3207 0 0 0 0 0 0 14.88 14.81 14.91

1683 -0.94 -146.0 2370 2490 3435 3208 563.8 -12.3 184 1690 0.00 2.45 0.00 0.000 260 0.000 0.152 2361 3757 3320 3434 3207 0 0 0 0 0 0 15.09 14.73 15.12

1714 -0.94 -146.0 2360 3758 3434 3209 567.8 -12.8 190 1720 0.12 2.30 0.00 0.000 3078 0.270 0.099 2393 2489 3321 3434 3208 0 0 0 0 0 0 14.63 14.81 14.79

2024 -0.94 -146.0 2393 2490 3434 3209 603.0 -11.2 222 2030 0.00 2.45 0.00 0.000 260 0.000 0.152 2384 3756 3319 3433 3205 0 0 0 0 0 0 15.09 14.72 15.11

2054 -0.94 -146.0 2385 3756 3434 3208 606.6 -12.6 228 2060 0.00 2.30 0.00 0.000 1030 0.000 0.100 2385 2490 3320 3433 3208 0 0 0 0 0 0 14.87 14.80 14.91

2365 -0.94 -146.0 2385 2491 3433 3208 643.4 -11.6 260 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2490 3321 3433 3210 0 0 0 0 0 0 15.05 15.09 15.08

2665 -0.94 -146.0 2384 2491 3433 3209 677.7 -11.3 290 2666 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2490 3320 3433 3208 0 0 0 0 0 0 15.05 15.08 15.08

2984 -0.94 -146.0 2385 2490 3434 3208 713.8 -11.2 314 2990 0.00 2.45 0.00 0.000 260 0.000 0.152 2376 3757 3320 3432 3208 0 0 0 0 0 0 15.09 14.71 15.12

3029 -0.94 -146.0 2376 3757 3432 3208 719.1 -12.0 323 3035 0.00 2.30 0.00 0.000 1030 0.000 0.099 2376 2487 3320 3432 3208 0 0 0 0 0 0 14.88 14.81 14.91

3405 -0.94 -146.0 2376 2488 3432 3210 762.8 -11.6 338 3405 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2487 3320 3432 3209 0 0 0 0 0 0 15.10 15.14 15.12

3764 -0.94 -146.0 2376 2488 3433 3209 804.5 -11.4 350 3765 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2488 3320 3432 3209 0 0 0 0 0 0 15.11 15.14 15.14

4124 -0.94 -146.0 2376 2487 3433 3208 844.5 -10.7 362 4125 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2487 3320 3432 3208 0 0 0 0 0 0 15.13 15.15 15.14

4484 -0.94 -146.0 2376 2488 3433 3210 883.2 -10.7 374 4490 0.00 2.45 0.00 0.000 260 0.000 0.150 2366 3763 3320 3432 3208 0 0 0 0 0 0 15.12 14.73 15.16

4574 -0.94 -146.0 2366 3763 3432 3210 893.5 -12.5 392 4580 0.10 2.30 0.00 0.000 3078 0.269 0.096 2392 2490 3320 3431 3209 0 0 0 0 0 0 14.64 14.83 14.79

4964 -0.94 -146.0 2393 2490 3432 3209 933.4 -10.3 410 4970 0.00 2.60 0.00 0.000 516 0.000 0.115 2392 1085 3320 3431 3209 0 0 0 0 0 0 15.12 14.75 15.15

4994 -0.94 -146.0 2393 1085 3432 3209 936.4 -8.4 416 5000 0.00 2.67 0.00 0.000 1030 0.000 0.122 2383 2505 3319 3430 3209 0 0 0 0 0 0 14.85 14.74 14.90

5084 end dive: BOTTOM_OBSTACLE_DETECTED

state 5084 begin apogee

5087 -0.23 0.0 2385 2182 3432 3209 946.5 -11.3 424 5657 0.90 0.08 564.30 1.185 10246 0.239 0.220 2627 2209 2716 2772 2660 0 0 0 0 0 0 14.66 13.62 13.16

5659 end apogee: CONTROL_FINISHED_OK

state 5659 begin climb

5660 0.94 146.0 2628 2210 2771 2658 949.2 0.0 443 5905 1.23 0.00 238.80 1.492 11010 0.112 0.000 2993 2208 2319 2358 2280 0 0 0 0 0 0 13.71 28.83 13.77

5906 end climb: SURFACE_OBSTACLE_DETECTED

state 5906 begin subsurface finish

5909 -0.01 -11.2 2999 2210 2355 2277 930.7 10.7 490 5920 1.17 2.92 -0.98 0.111 20996 0.236 0.144 2713 782 2780 2870 2690 0 0 0 0 0 0 13.55 12.88 13.66

5920 end subsurface finish: CONTROL_FINISHED_OK

state 5920 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	119	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	360	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	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	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	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	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	090218,102514,-7420.3208,-11237.7578,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	356.82	MHEAD_RNG_PITCHd_Wd	322.9,17994,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	3.6	D_GRID	990
GPS2	090218,102514,-7420.3208,-11237.7578,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	930.7,1.027721,-11	ALTIM_BOTTOM_PING	938.1,15.3
FINISH2	928.9	_24V_AH	12.88,55.137
RAFOS_CLK	218	_10V_AH	12.49,0.000
RAFOS	0,1518177671,12.032778,12.019722,55,54,54,52,50,49,211,197,121,160,184,225	FG_AHR_24Vo	0.000
RAFOS_FIX	-7419.756348,-11238.080078,090218,121231,0,1,0.18	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280100
TT8_MAMPS	0.045689,0.259154	DATA_FILE_SIZE	16759,492
HUMID	42.63	CAP_FILE_SIZE	60699,0
INTERNAL_PRESSURE	7.71672	CFSIZE	1024409600,1006026752
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.6
ALTIM_TOP_PING	939.6,15.4	GPS	090218,120531,-7419.756,-11238.080,0,1001.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	270	15.56	nil	0	0	0.00
Roll_motor	44	1435	824.88	nil	0	0	0.00
VBD_pump_during_apogee	803	1491	15430.55	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	5937	7	577.72
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	93.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4125	2	119.03
TT8_Active	781	12	119.77
TT8_Sampling	1040	31	412.36
TT8_CF8	53	45	29.98
TT8_Kalman	0	0	0.00
Analog_circuits	1204	10	153.41
GPS_charging	0	0	0.00
Compass	709	7	66.40
RAFOS	240	1	4.50
Transponder	122	30	45.74

		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
374.1	11.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
911.7	42.30	9000.00	0.0	0.00	0.00	42.30	0.0	0.06	1.00
921.1	30.70	9000.00	0.0	0.05	0.85	30.70	951.8	-1.23	1.00
930.0	24.60	23.70	953.7	-0.97	0.97	24.60	954.6	-0.69	1.00
938.1	14.40	15.30	953.4	-0.95	0.97	14.40	952.5	-1.26	1.00
948.2	22.50	9000.00	0.0	-0.08	0.02	22.50	0.0	0.80	1.00

939.6	15.20	15.40	924.2	0.82	0.99	15.20	924.4	0.85	1.00
931.4	17.00	9000.00	0.0	0.33	0.53	17.00	0.0	-0.22	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
8	-0.94	-146.0	2708	2485	2827	2612	0.0	0.0	0	11	0.00	0.05	-2.00	0.047	16390	0.000	1.435	2707	2499	3322	3461	3184	0	0	0	0	0	0	15.07	13.57	15.06
13	-0.94	-146.0	2707	2500	3459	3188	0.0	0.0	0	19	0.95	2.55	0.00	0.000	4612	0.123	0.120	2397	1081	3322	3454	3191	0	0	0	0	0	0	14.79	14.76	14.87
63	-0.94	-146.0	2398	1082	3449	3198	361.3	-9.0	10	69	0.00	2.70	0.00	0.000	1030	0.000	0.130	2389	2502	3322	3448	3197	0	0	0	0	0	0	14.83	14.72	14.88
373	-0.94	-146.0	2388	2502	3443	3203	399.5	-12.7	42	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2502	3322	3442	3202	0	0	0	0	0	0	15.08	15.11	15.11
673	-0.94	-146.0	2396	2503	3440	3204	436.5	-12.1	72	679	0.00	2.40	0.00	0.000	260	0.000	0.151	2379	3750	3321	3439	3203	0	0	0	0	0	0	15.09	14.72	15.14
743	-0.94	-146.0	2379	3750	3438	3206	445.6	-12.9	86	749	0.00	2.28	0.00	0.000	1030	0.000	0.099	2379	2493	3321	3436	3206	0	0	0	0	0	0	14.84	14.78	14.88
1053	-0.94	-146.0	2379	2493	3437	3208	484.7	-12.9	118	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2493	3321	3436	3206	0	0	0	0	0	0	15.09	15.12	15.11
1354	-0.94	-146.0	2379	2493	3436	3207	522.5	-12.3	148	1359	0.00	2.40	0.00	0.000	260	0.000	0.152	2370	3763	3320	3435	3206	0	0	0	0	0	0	15.07	14.75	15.09
1378	-0.94	-146.0	2370	3764	3435	3208	525.6	-13.0	153	1387	0.00	2.30	0.00	0.000	1030	0.000	0.099	2370	2489	3320	3434	3207	0	0	0	0	0	0	14.88	14.81	14.91
1683	-0.94	-146.0	2370	2490	3435	3208	563.8	-12.3	184	1690	0.00	2.45	0.00	0.000	260	0.000	0.152	2361	3757	3320	3434	3207	0	0	0	0	0	0	15.09	14.73	15.12
1714	-0.94	-146.0	2360	3758	3434	3209	567.8	-12.8	190	1720	0.12	2.30	0.00	0.000	3078	0.270	0.099	2393	2489	3321	3434	3208	0	0	0	0	0	0	14.63	14.81	14.79
2024	-0.94	-146.0	2393	2490	3434	3209	603.0	-11.2	222	2030	0.00	2.45	0.00	0.000	260	0.000	0.152	2384	3756	3319	3433	3205	0	0	0	0	0	0	15.09	14.72	15.11
2054	-0.94	-146.0	2385	3756	3434	3208	606.6	-12.6	228	2060	0.00	2.30	0.00	0.000	1030	0.000	0.100	2385	2490	3320	3433	3208	0	0	0	0	0	0	14.87	14.80	14.91
2365	-0.94	-146.0	2385	2491	3433	3208	643.4	-11.6	260	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2490	3321	3433	3210	0	0	0	0	0	0	15.05	15.09	15.08
2665	-0.94	-146.0	2384	2491	3433	3209	677.7	-11.3	290	2666	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2490	3320	3433	3208	0	0	0	0	0	0	15.05	15.08	15.08
2984	-0.94	-146.0	2385	2490	3434	3208	713.8	-11.2	314	2990	0.00	2.45	0.00	0.000	260	0.000	0.152	2376	3757	3320	3432	3208	0	0	0	0	0	0	15.09	14.71	15.12
3029	-0.94	-146.0	2376	3757	3432	3208	719.1	-12.0	323	3035	0.00	2.30	0.00	0.000	1030	0.000	0.099	2376	2487	3320	3432	3208	0	0	0	0	0	0	14.88	14.81	14.91
3405	-0.94	-146.0	2376	2488	3432	3210	762.8	-11.6	338	3405	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2487	3320	3432	3209	0	0	0	0	0	0	15.10	15.14	15.12
3764	-0.94	-146.0	2376	2488	3433	3209	804.5	-11.4	350	3765	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2488	3320	3432	3209	0	0	0	0	0	0	15.11	15.14	15.14
4124	-0.94	-146.0	2376	2487	3433	3208	844.5	-10.7	362	4125	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2487	3320	3432	3208	0	0	0	0	0	0	15.13	15.15	15.14
4484	-0.94	-146.0	2376	2488	3433	3210	883.2	-10.7	374	4490	0.00	2.45	0.00	0.000	260	0.000	0.150	2366	3763	3320	3432	3208	0	0	0	0	0	0	15.12	14.73	15.16
4574	-0.94	-146.0	2366	3763	3432	3210	893.5	-12.5	392	4580	0.10	2.30	0.00	0.000	3078	0.269	0.096	2392	2490	3320	3431	3209	0	0	0	0	0	0	14.64	14.83	14.79
4964	-0.94	-146.0	2393	2490	3432	3209	933.4	-10.3	410	4970	0.00	2.60	0.00	0.000	516	0.000	0.115	2392	1085	3320	3431	3209	0	0	0	0	0	0	15.12	14.75	15.15
4994	-0.94	-146.0	2393	1085	3432	3209	936.4	-8.4	416	5000	0.00	2.67	0.00	0.000	1030	0.000	0.122	2383	2505	3319	3430	3209	0	0	0	0	0	0	14.85	14.74	14.90
5084	end dive: BOTTOM_OBSTACLE_DETECTED
state	5084	begin apogee
5087	-0.23	0.0	2385	2182	3432	3209	946.5	-11.3	424	5657	0.90	0.08	564.30	1.185	10246	0.239	0.220	2627	2209	2716	2772	2660	0	0	0	0	0	0	14.66	13.62	13.16
5659	end apogee: CONTROL_FINISHED_OK
state	5659	begin climb
5660	0.94	146.0	2628	2210	2771	2658	949.2	0.0	443	5905	1.23	0.00	238.80	1.492	11010	0.112	0.000	2993	2208	2319	2358	2280	0	0	0	0	0	0	13.71	28.83	13.77
5906	end climb: SURFACE_OBSTACLE_DETECTED
state	5906	begin subsurface finish
5909	-0.01	-11.2	2999	2210	2355	2277	930.7	10.7	490	5920	1.17	2.92	-0.98	0.111	20996	0.236	0.144	2713	782	2780	2870	2690	0	0	0	0	0	0	13.55	12.88	13.66
5920	end subsurface finish: CONTROL_FINISHED_OK
state	5920	begin surface