Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 120 * 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 120 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 18 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 10 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 120 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 10 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 090218,120531,-7419.7563,-11238.0801,0,1001.0,0,53.5,0.0,0.0,0,0.0 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 927.79 MHEAD_RNG_PITCHd_Wd 324.4,17043,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 3.6 D_GRID 990

GPS2 090218,120531,-7419.7563,-11238.0801,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 369.6,1.027452,2 _24V_AH 13.02,55.448

FINISH2 368.6 _10V_AH 12.46,0.000

RAFOS_CLK 179 FG_AHR_24Vo 0.000

RAFOS 2,1518178409,12.233334,12.224722,68,65,64,57,57,55,167,199,143,221,479,209 FG_AHR_10Vo 0.000

RAFOS_FIX -7419.187988,-11238.392578,090218,131317,0,1,0.20 MEM 280128

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 16752,467

TT8_MAMPS 0.041195,0.262899 CAP_FILE_SIZE 58984,0

HUMID 47.95 CFSIZE 1024409600,1005928448

INTERNAL_PRESSURE 7.63859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 SOUNDSPEED 1459.8

XPDR_PINGS 0 GPS 090218,133317,-7419.188,-11238.393,0,1001.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 372.1,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 235 13.50 nil 0 0 0.00

Roll_motor 51 197 133.18 nil 0 0 0.00

VBD_pump_during_apogee 682 1612 14323.16 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 5156 6 421.72

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 98.43 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 3520 2 101.33

TT8_Active 667 12 102.05

TT8_Sampling 983 31 388.80

TT8_CF8 48 45 27.41

TT8_Kalman 0 0 0.00

Analog_circuits 1077 10 136.90

GPS_charging 0 0 0.00

Compass 673 7 62.88

RAFOS 240 1 4.49

Transponder 126 30 47.10

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

928.2 26.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

936.2 21.80 9000.00 0.0 0.00 0.00 21.80 958.0 -0.56 1.00

944.6 13.30 9000.00 0.0 -0.79 0.97 13.30 957.9 -1.01 1.00

956.5 18.10 9000.00 0.0 -0.14 0.12 18.10 0.0 0.40 1.00

948.4 14.20 9000.00 0.0 0.42 0.99 14.20 934.2 0.48 1.00

940.1 18.20 9000.00 0.0 -0.01 0.00 18.20 0.0 -0.48 1.00

932.0 17.20 9000.00 0.0 -0.19 0.54 17.20 914.8 0.12 1.00

923.1 28.90 9000.00 0.0 -0.64 0.71 28.90 0.0 -1.31 1.00

906.0 57.20 9000.00 0.0 -1.56 1.00 57.20 0.0 -1.65 1.00

443.6 84.70 9000.00 0.0 -0.09 0.77 84.70 0.0 -0.06 1.00

434.6 75.20 9000.00 0.0 -0.05 0.87 75.20 359.4 1.06 1.00

425.7 66.00 66.00 359.7 1.05 1.00 66.00 359.7 1.03 1.00

416.9 56.50 56.60 360.3 1.06 1.00 56.50 360.4 1.08 1.00

408.1 47.00 47.10 361.0 1.07 1.00 47.00 361.1 1.08 1.00

398.9 37.50 37.40 361.5 1.06 1.00 37.50 361.4 1.03 1.00

390.0 28.10 28.10 361.9 1.04 1.00 28.10 361.9 1.06 1.00

381.0 18.70 18.70 362.3 1.05 1.00 18.70 362.3 1.04 1.00

372.1 9.30 9.30 362.8 1.05 1.00 9.30 362.8 1.06 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 2714 2508 2868 2692 0.0 0.0 0 10 0.00 0.00 -1.12 0.081 16390 0.000 0.000 2713 2506 3331 3460 3202 0 0 0 0 0 0 14.25 13.18 14.25

11 -0.94 -146.0 2714 2506 3458 3205 0.0 0.0 0 18 1.05 2.45 0.00 0.000 4356 0.135 0.148 2398 3754 3330 3451 3209 0 0 0 0 0 0 14.02 14.00 14.10

242 -0.94 -146.0 2398 3754 3444 3217 948.6 -9.9 46 248 0.00 2.35 0.00 0.000 1030 0.000 0.099 2398 2493 3329 3442 3217 0 0 0 0 0 0 14.44 14.38 14.48

551 end dive: NO_VERTICAL_VELOCITY

state 551 begin apogee

554 -0.23 0.0 2399 2186 3443 3217 956.0 0.0 58 945 0.77 0.03 383.67 1.356 10246 0.160 0.197 2628 2199 2712 2768 2657 0 0 0 0 0 0 14.54 13.54 13.10

947 end apogee: CONTROL_FINISHED_OK

state 947 begin climb

948 0.94 146.0 2628 2200 2767 2658 955.8 0.0 71 1261 1.25 3.00 298.50 1.613 10500 0.135 0.144 2994 3614 2111 2144 2078 0 0 0 0 0 0 13.68 13.54 13.02

1305 0.94 146.0 2994 3615 2140 2071 916.9 15.3 140 1311 0.00 2.78 0.00 0.000 1030 0.000 0.098 3004 2200 2104 2139 2069 0 0 0 0 0 0 13.90 13.85 13.94

1680 0.94 146.0 3004 2199 2136 2062 862.1 14.7 155 1686 0.00 2.70 0.00 0.000 516 0.000 0.130 3015 775 2098 2134 2062 0 0 0 0 0 0 14.68 14.45 14.71

1710 0.94 146.0 3015 775 2134 2063 857.6 18.5 161 1717 0.00 2.72 0.00 0.000 1030 0.000 0.114 3015 2214 2097 2133 2062 0 0 0 0 0 0 14.54 14.47 14.58

2102 0.94 146.0 3016 2214 2134 2060 798.5 15.4 179 2107 0.00 2.67 0.00 0.000 516 0.000 0.129 3026 779 2096 2132 2060 0 0 0 0 0 0 14.90 14.65 14.92

2126 0.94 146.0 3026 779 2133 2060 794.6 16.0 184 2134 0.00 2.67 0.00 0.000 1030 0.000 0.116 3026 2208 2095 2131 2060 0 0 0 0 0 0 14.73 14.65 14.78

2492 0.94 146.0 3026 2208 2133 2058 738.0 15.4 197 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 3026 2208 2095 2131 2059 0 0 0 0 0 0 15.00 15.04 15.03

2851 0.94 146.0 3026 2209 2131 2058 683.0 15.3 215 2857 0.00 2.67 0.00 0.000 516 0.000 0.129 3036 782 2094 2130 2058 0 0 0 0 0 0 15.04 14.73 15.07

2896 0.94 146.0 3036 782 2131 2058 676.0 15.6 224 2903 0.12 2.62 0.00 0.000 5126 0.233 0.113 3001 2201 2093 2130 2057 0 0 0 0 0 0 14.67 14.77 14.81

3201 0.94 146.0 3002 2201 2130 2057 633.3 13.8 255 3207 0.00 2.70 0.00 0.000 260 0.000 0.145 3001 3616 2093 2130 2057 0 0 0 0 0 0 15.07 14.73 15.09

3241 0.94 146.0 3001 3617 2130 2062 627.2 15.4 263 3247 0.00 2.60 0.00 0.000 1030 0.000 0.102 3011 2191 2093 2129 2057 0 0 0 0 0 0 14.85 14.77 14.89

3551 0.94 146.0 3011 2191 2130 2057 584.0 13.8 295 3557 0.00 2.65 0.00 0.000 516 0.000 0.132 3022 778 2092 2129 2056 0 0 0 0 0 0 15.07 14.75 15.10

3581 0.94 146.0 3022 778 2129 2057 579.8 14.1 301 3588 0.00 2.65 0.00 0.000 1030 0.000 0.116 3022 2208 2092 2129 2056 0 0 0 0 0 0 14.85 14.75 14.90

3893 0.94 146.0 3022 2208 2131 2055 535.8 14.2 333 3893 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2208 2092 2129 2055 0 0 0 0 0 0 15.05 15.09 15.08

4193 0.94 146.0 3021 2209 2130 2055 493.4 14.3 363 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 3022 2208 2092 2129 2055 0 0 0 0 0 0 15.06 15.09 15.09

4493 0.94 146.0 3022 2209 2130 2054 452.1 13.6 393 4499 0.00 2.65 0.00 0.000 260 0.000 0.145 3022 3620 2091 2129 2053 0 0 0 0 0 0 15.07 14.80 15.09

4518 0.94 146.0 3022 3621 2129 2054 448.3 14.6 398 4525 0.10 2.60 0.00 0.000 5126 0.236 0.103 3004 2193 2091 2129 2053 0 0 0 0 0 0 14.73 14.81 14.85

4823 0.94 146.0 3004 2191 2130 2054 409.4 12.5 429 4829 0.00 2.65 0.00 0.000 516 0.000 0.132 3013 778 2090 2128 2053 0 0 0 0 0 0 15.10 14.78 15.13

4873 0.94 146.0 3014 778 2129 2053 402.8 13.0 439 4879 0.00 2.65 0.00 0.000 1030 0.000 0.117 3014 2207 2090 2128 2052 0 0 0 0 0 0 14.88 14.79 14.93

5132 end climb: SURFACE_OBSTACLE_DETECTED

state 5132 begin subsurface finish

5135 0.00 2.4 3015 2207 2129 2052 369.6 12.7 466 5145 1.10 0.00 -2.22 0.041 20486 0.207 0.000 2700 2206 2722 2833 2611 0 0 0 0 0 0 14.74 13.66 14.95

5146 end subsurface finish: CONTROL_FINISHED_OK

state 5146 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	120	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	18	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	10	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	090218,120531,-7419.7563,-11238.0801,0,1001.0,0,53.5,0.0,0.0,0,0.0	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	927.79	MHEAD_RNG_PITCHd_Wd	324.4,17043,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	3.6	D_GRID	990
GPS2	090218,120531,-7419.7563,-11238.0801,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	369.6,1.027452,2	_24V_AH	13.02,55.448
FINISH2	368.6	_10V_AH	12.46,0.000
RAFOS_CLK	179	FG_AHR_24Vo	0.000
RAFOS	2,1518178409,12.233334,12.224722,68,65,64,57,57,55,167,199,143,221,479,209	FG_AHR_10Vo	0.000
RAFOS_FIX	-7419.187988,-11238.392578,090218,131317,0,1,0.20	MEM	280128
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	16752,467
TT8_MAMPS	0.041195,0.262899	CAP_FILE_SIZE	58984,0
HUMID	47.95	CFSIZE	1024409600,1005928448
INTERNAL_PRESSURE	7.63859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1459.8
XPDR_PINGS	0	GPS	090218,133317,-7419.188,-11238.393,0,1001.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	372.1,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	235	13.50	nil	0	0	0.00
Roll_motor	51	197	133.18	nil	0	0	0.00
VBD_pump_during_apogee	682	1612	14323.16	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	5156	6	421.72
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	98.43	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	3520	2	101.33
TT8_Active	667	12	102.05
TT8_Sampling	983	31	388.80
TT8_CF8	48	45	27.41
TT8_Kalman	0	0	0.00
Analog_circuits	1077	10	136.90
GPS_charging	0	0	0.00
Compass	673	7	62.88
RAFOS	240	1	4.49
Transponder	126	30	47.10

		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
928.2	26.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
936.2	21.80	9000.00	0.0	0.00	0.00	21.80	958.0	-0.56	1.00
944.6	13.30	9000.00	0.0	-0.79	0.97	13.30	957.9	-1.01	1.00
956.5	18.10	9000.00	0.0	-0.14	0.12	18.10	0.0	0.40	1.00

948.4	14.20	9000.00	0.0	0.42	0.99	14.20	934.2	0.48	1.00
940.1	18.20	9000.00	0.0	-0.01	0.00	18.20	0.0	-0.48	1.00
932.0	17.20	9000.00	0.0	-0.19	0.54	17.20	914.8	0.12	1.00
923.1	28.90	9000.00	0.0	-0.64	0.71	28.90	0.0	-1.31	1.00
906.0	57.20	9000.00	0.0	-1.56	1.00	57.20	0.0	-1.65	1.00
443.6	84.70	9000.00	0.0	-0.09	0.77	84.70	0.0	-0.06	1.00
434.6	75.20	9000.00	0.0	-0.05	0.87	75.20	359.4	1.06	1.00
425.7	66.00	66.00	359.7	1.05	1.00	66.00	359.7	1.03	1.00
416.9	56.50	56.60	360.3	1.06	1.00	56.50	360.4	1.08	1.00
408.1	47.00	47.10	361.0	1.07	1.00	47.00	361.1	1.08	1.00
398.9	37.50	37.40	361.5	1.06	1.00	37.50	361.4	1.03	1.00
390.0	28.10	28.10	361.9	1.04	1.00	28.10	361.9	1.06	1.00
381.0	18.70	18.70	362.3	1.05	1.00	18.70	362.3	1.04	1.00
372.1	9.30	9.30	362.8	1.05	1.00	9.30	362.8	1.06	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	2714	2508	2868	2692	0.0	0.0	0	10	0.00	0.00	-1.12	0.081	16390	0.000	0.000	2713	2506	3331	3460	3202	0	0	0	0	0	0	14.25	13.18	14.25
11	-0.94	-146.0	2714	2506	3458	3205	0.0	0.0	0	18	1.05	2.45	0.00	0.000	4356	0.135	0.148	2398	3754	3330	3451	3209	0	0	0	0	0	0	14.02	14.00	14.10
242	-0.94	-146.0	2398	3754	3444	3217	948.6	-9.9	46	248	0.00	2.35	0.00	0.000	1030	0.000	0.099	2398	2493	3329	3442	3217	0	0	0	0	0	0	14.44	14.38	14.48
551	end dive: NO_VERTICAL_VELOCITY
state	551	begin apogee
554	-0.23	0.0	2399	2186	3443	3217	956.0	0.0	58	945	0.77	0.03	383.67	1.356	10246	0.160	0.197	2628	2199	2712	2768	2657	0	0	0	0	0	0	14.54	13.54	13.10
947	end apogee: CONTROL_FINISHED_OK
state	947	begin climb
948	0.94	146.0	2628	2200	2767	2658	955.8	0.0	71	1261	1.25	3.00	298.50	1.613	10500	0.135	0.144	2994	3614	2111	2144	2078	0	0	0	0	0	0	13.68	13.54	13.02
1305	0.94	146.0	2994	3615	2140	2071	916.9	15.3	140	1311	0.00	2.78	0.00	0.000	1030	0.000	0.098	3004	2200	2104	2139	2069	0	0	0	0	0	0	13.90	13.85	13.94
1680	0.94	146.0	3004	2199	2136	2062	862.1	14.7	155	1686	0.00	2.70	0.00	0.000	516	0.000	0.130	3015	775	2098	2134	2062	0	0	0	0	0	0	14.68	14.45	14.71
1710	0.94	146.0	3015	775	2134	2063	857.6	18.5	161	1717	0.00	2.72	0.00	0.000	1030	0.000	0.114	3015	2214	2097	2133	2062	0	0	0	0	0	0	14.54	14.47	14.58
2102	0.94	146.0	3016	2214	2134	2060	798.5	15.4	179	2107	0.00	2.67	0.00	0.000	516	0.000	0.129	3026	779	2096	2132	2060	0	0	0	0	0	0	14.90	14.65	14.92
2126	0.94	146.0	3026	779	2133	2060	794.6	16.0	184	2134	0.00	2.67	0.00	0.000	1030	0.000	0.116	3026	2208	2095	2131	2060	0	0	0	0	0	0	14.73	14.65	14.78
2492	0.94	146.0	3026	2208	2133	2058	738.0	15.4	197	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	3026	2208	2095	2131	2059	0	0	0	0	0	0	15.00	15.04	15.03
2851	0.94	146.0	3026	2209	2131	2058	683.0	15.3	215	2857	0.00	2.67	0.00	0.000	516	0.000	0.129	3036	782	2094	2130	2058	0	0	0	0	0	0	15.04	14.73	15.07
2896	0.94	146.0	3036	782	2131	2058	676.0	15.6	224	2903	0.12	2.62	0.00	0.000	5126	0.233	0.113	3001	2201	2093	2130	2057	0	0	0	0	0	0	14.67	14.77	14.81
3201	0.94	146.0	3002	2201	2130	2057	633.3	13.8	255	3207	0.00	2.70	0.00	0.000	260	0.000	0.145	3001	3616	2093	2130	2057	0	0	0	0	0	0	15.07	14.73	15.09
3241	0.94	146.0	3001	3617	2130	2062	627.2	15.4	263	3247	0.00	2.60	0.00	0.000	1030	0.000	0.102	3011	2191	2093	2129	2057	0	0	0	0	0	0	14.85	14.77	14.89
3551	0.94	146.0	3011	2191	2130	2057	584.0	13.8	295	3557	0.00	2.65	0.00	0.000	516	0.000	0.132	3022	778	2092	2129	2056	0	0	0	0	0	0	15.07	14.75	15.10
3581	0.94	146.0	3022	778	2129	2057	579.8	14.1	301	3588	0.00	2.65	0.00	0.000	1030	0.000	0.116	3022	2208	2092	2129	2056	0	0	0	0	0	0	14.85	14.75	14.90
3893	0.94	146.0	3022	2208	2131	2055	535.8	14.2	333	3893	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2208	2092	2129	2055	0	0	0	0	0	0	15.05	15.09	15.08
4193	0.94	146.0	3021	2209	2130	2055	493.4	14.3	363	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	3022	2208	2092	2129	2055	0	0	0	0	0	0	15.06	15.09	15.09
4493	0.94	146.0	3022	2209	2130	2054	452.1	13.6	393	4499	0.00	2.65	0.00	0.000	260	0.000	0.145	3022	3620	2091	2129	2053	0	0	0	0	0	0	15.07	14.80	15.09
4518	0.94	146.0	3022	3621	2129	2054	448.3	14.6	398	4525	0.10	2.60	0.00	0.000	5126	0.236	0.103	3004	2193	2091	2129	2053	0	0	0	0	0	0	14.73	14.81	14.85
4823	0.94	146.0	3004	2191	2130	2054	409.4	12.5	429	4829	0.00	2.65	0.00	0.000	516	0.000	0.132	3013	778	2090	2128	2053	0	0	0	0	0	0	15.10	14.78	15.13
4873	0.94	146.0	3014	778	2129	2053	402.8	13.0	439	4879	0.00	2.65	0.00	0.000	1030	0.000	0.117	3014	2207	2090	2128	2052	0	0	0	0	0	0	14.88	14.79	14.93
5132	end climb: SURFACE_OBSTACLE_DETECTED
state	5132	begin subsurface finish
5135	0.00	2.4	3015	2207	2129	2052	369.6	12.7	466	5145	1.10	0.00	-2.22	0.041	20486	0.207	0.000	2700	2206	2722	2833	2611	0	0	0	0	0	0	14.74	13.66	14.95
5146	end subsurface finish: CONTROL_FINISHED_OK
state	5146	begin surface