Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 135 * 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 135 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 24 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 10 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 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 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 200 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 2 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 -3 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 0.15000001 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 2 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 3 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 6 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 0.15000001 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 2

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 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

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 135 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 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 110218,082248,-7408.7529,-11225.3574,30,1.1,30,53.4,0.2,345.5,8,4.6 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out1

_XMS_NAKs 0 TGT_LATLONG -7409.000,-11226.520

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.33 MHEAD_RNG_PITCHd_Wd 179.2,756,-40.7,-10.000,-45.00,543

_SM_ANGLEo -62.3 D_GRID 907

GPS2 110218,082807,-7408.7466,-11225.3496,2,1.0,3,53.4,0.4,25.2,9,7.1

Post-dive calculations and measurements:

FREEZE -0.10,-1.213,-1.860,2,1,0 _24V_AH 13.32,60.851

FINISH -0.1,1.027286 _10V_AH 13.46,0.000

SM_CCo 1136,165.23,0.231,0,0,1491,300.00 FG_AHR_24Vo 0.000

SM_GC 0.35,9.45,0.62,165.23,0.087,0.148,0.231,198,2503,1491,-7.76,-0.34,300.00,0,0,0,0,0,0,14.78,14.64,14.41 FG_AHR_10Vo 0.000

RAFOS_CLK 47 MEM 279908

RAFOS_FIX -7408.803711,-11225.272461,110218,080800,0,1,0.10 DATA_FILE_SIZE 3512,144

IRIDIUM_FIX -7412.42,-11208.63,110218,054502 CAP_FILE_SIZE 35047,0

TT8_MAMPS 0.042693,0.146804 CFSIZE 1024409600,1004322816

HUMID 44.13 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.50186 INTR 0,9550.90,0x214568,7,24

TCM_TEMP 13.30 SOUNDSPEED 1442.3

XPDR_PINGS 0 CURRENT 0.091,143.83,1

ALTIM_TOP_PING 7.5,8.0 GPS 110218,085057,-7408.856,-11225.457,1,1.0,2,53.4,0.3,346.0,9,9.7

ALTIM_BOTTOM_PING 75.3,15.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 478 156.60 nil 0 0 0.00

Roll_motor 17 147 33.68 nil 0 0 0.00

VBD_pump_during_apogee 111 507 754.24 nil 0 0 0.00

VBD_pump_during_surface 165 231 508.45 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 1130 4 63.94

Iridium_during_xfer 214 169 485.34 nil 0 0 0.00

Transponder_ping 6 420 36.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 9 0.62

TT8 0 0 0.00

LPSleep 613 2 19.08

TT8_Active 373 12 61.75

TT8_Sampling 586 31 250.60

TT8_CF8 61 45 37.42

TT8_Kalman 0 0 0.00

Analog_circuits 734 10 100.89

GPS_charging 0 0 0.00

Compass 216 7 21.83

RAFOS 0 0 0.00

Transponder 43 30 17.50

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

6.3 8.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

12.3 14.10 9000.00 0.0 0.00 0.00 14.10 0.0 0.97 1.00

19.0 20.90 20.80 0.0 0.99 1.00 20.90 0.0 1.01 1.00

25.8 28.90 28.70 0.0 1.10 1.00 28.90 0.0 1.18 1.00

32.9 35.90 36.20 0.0 1.09 1.00 35.90 0.0 0.99 1.00

38.9 42.00 42.00 0.0 0.99 1.00 42.00 0.0 1.02 1.00

45.1 48.40 48.30 0.0 1.02 1.00 48.40 0.0 1.03 1.00

75.3 14.20 15.30 90.6 -0.88 0.89 14.20 89.5 -1.13 1.00

71.2 74.20 9000.00 0.0 -0.37 0.04 74.20 0.0 -14.63 1.00

65.0 68.50 9000.00 0.0 -4.78 0.56 68.50 -3.5 0.92 1.00

58.8 60.90 61.20 -2.4 1.07 0.99 60.90 -2.1 1.23 1.00

52.5 54.50 54.30 -1.8 1.12 1.00 54.50 -2.0 1.02 1.00

46.2 47.60 47.70 -1.5 1.06 1.00 47.60 -1.4 1.10 1.00

40.1 41.40 41.30 -1.2 1.06 1.00 41.40 -1.3 1.02 1.00

33.8 36.00 35.80 -2.0 0.94 1.00 36.00 -2.2 0.86 1.00

27.6 28.90 29.10 -1.5 1.01 0.99 28.90 -1.3 1.15 1.00

21.1 21.80 21.80 -0.7 1.11 1.00 21.80 -0.7 1.09 1.00

14.0 14.30 14.30 -0.3 1.07 1.00 14.30 -0.3 1.06 1.00

7.5 8.10 8.00 -0.5 1.01 1.00 8.10 -0.6 0.95 1.00

1.4 13.60 9000.00 0.0 0.07 0.02 13.60 0.0 -0.90 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 -1.89 -35.5 198 2514 1481 1476 0.0 0.0 0 91 0.00 0.00 -76.50 0.003 16390 0.000 0.000 200 2513 2861 2942 2780 0 0 0 0 0 0 14.85 13.32 14.88

93 -1.95 -80.1 201 2513 2943 2780 1.4 -1.6 8 116 10.35 2.62 -6.47 0.015 18980 0.479 0.125 2072 1084 3041 3141 2942 0 0 0 0 0 0 14.30 13.78 14.66

280 -1.95 -80.1 2071 1082 3142 2946 41.4 -24.5 45 288 0.00 2.72 0.00 0.000 1030 0.000 0.124 2062 2509 3043 3141 2945 0 0 0 0 0 0 14.67 14.57 14.71

445 end dive: BOTTOM_OBSTACLE_DETECTED

state 445 begin apogee

449 -0.23 0.0 2063 2188 3143 2945 82.8 -25.1 62 508 2.45 0.00 53.90 0.508 10246 0.356 0.000 2621 2188 2713 2787 2640 0 0 0 0 0 0 14.41 14.64 14.24

509 end apogee: CONTROL_FINISHED_OK

state 509 begin climb

511 1.95 80.1 2621 2189 2789 2641 87.7 0.0 68 577 2.30 2.62 57.58 0.505 10756 0.156 0.121 3337 786 2385 2430 2341 0 0 0 0 0 0 14.52 14.45 14.16

631 1.95 80.1 3333 787 2431 2340 75.7 14.1 90 637 0.00 2.62 0.00 0.000 1030 0.000 0.109 3333 2208 2384 2430 2338 0 0 0 0 0 0 14.63 14.50 14.66

942 1.95 80.1 3333 2209 2429 2329 27.6 15.6 122 947 0.00 2.67 0.00 0.000 260 0.000 0.138 3333 3623 2378 2427 2329 0 0 0 0 0 0 14.90 14.60 14.92

971 1.95 80.1 3332 3623 2428 2330 22.5 17.2 128 977 0.00 2.62 0.00 0.000 1030 0.000 0.099 3343 2196 2378 2427 2329 0 0 0 0 0 0 14.71 14.63 14.75

1111 end climb: SURFACE_DEPTH_REACHED

state 1111 begin surface coast

1120 end surface coast: CONTROL_FINISHED_OK

state 1120 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	135	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	24	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	10	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	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	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	200	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	2	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	-3	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	0.15000001	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	2	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	110218,082248,-7408.7529,-11225.3574,30,1.1,30,53.4,0.2,345.5,8,4.6	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out1
_XMS_NAKs	0	TGT_LATLONG	-7409.000,-11226.520
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.33	MHEAD_RNG_PITCHd_Wd	179.2,756,-40.7,-10.000,-45.00,543
_SM_ANGLEo	-62.3	D_GRID	907
GPS2	110218,082807,-7408.7466,-11225.3496,2,1.0,3,53.4,0.4,25.2,9,7.1

FREEZE	-0.10,-1.213,-1.860,2,1,0	_24V_AH	13.32,60.851
FINISH	-0.1,1.027286	_10V_AH	13.46,0.000
SM_CCo	1136,165.23,0.231,0,0,1491,300.00	FG_AHR_24Vo	0.000
SM_GC	0.35,9.45,0.62,165.23,0.087,0.148,0.231,198,2503,1491,-7.76,-0.34,300.00,0,0,0,0,0,0,14.78,14.64,14.41	FG_AHR_10Vo	0.000
RAFOS_CLK	47	MEM	279908
RAFOS_FIX	-7408.803711,-11225.272461,110218,080800,0,1,0.10	DATA_FILE_SIZE	3512,144
IRIDIUM_FIX	-7412.42,-11208.63,110218,054502	CAP_FILE_SIZE	35047,0
TT8_MAMPS	0.042693,0.146804	CFSIZE	1024409600,1004322816
HUMID	44.13	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.50186	INTR	0,9550.90,0x214568,7,24
TCM_TEMP	13.30	SOUNDSPEED	1442.3
XPDR_PINGS	0	CURRENT	0.091,143.83,1
ALTIM_TOP_PING	7.5,8.0	GPS	110218,085057,-7408.856,-11225.457,1,1.0,2,53.4,0.3,346.0,9,9.7
ALTIM_BOTTOM_PING	75.3,15.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	478	156.60	nil	0	0	0.00
Roll_motor	17	147	33.68	nil	0	0	0.00
VBD_pump_during_apogee	111	507	754.24	nil	0	0	0.00
VBD_pump_during_surface	165	231	508.45	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	1130	4	63.94
Iridium_during_xfer	214	169	485.34	nil	0	0	0.00
Transponder_ping	6	420	36.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	9	0.62
TT8	0	0	0.00
LPSleep	613	2	19.08
TT8_Active	373	12	61.75
TT8_Sampling	586	31	250.60
TT8_CF8	61	45	37.42
TT8_Kalman	0	0	0.00
Analog_circuits	734	10	100.89
GPS_charging	0	0	0.00
Compass	216	7	21.83
RAFOS	0	0	0.00
Transponder	43	30	17.50

		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
6.3	8.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
12.3	14.10	9000.00	0.0	0.00	0.00	14.10	0.0	0.97	1.00
19.0	20.90	20.80	0.0	0.99	1.00	20.90	0.0	1.01	1.00
25.8	28.90	28.70	0.0	1.10	1.00	28.90	0.0	1.18	1.00
32.9	35.90	36.20	0.0	1.09	1.00	35.90	0.0	0.99	1.00
38.9	42.00	42.00	0.0	0.99	1.00	42.00	0.0	1.02	1.00
45.1	48.40	48.30	0.0	1.02	1.00	48.40	0.0	1.03	1.00
75.3	14.20	15.30	90.6	-0.88	0.89	14.20	89.5	-1.13	1.00

71.2	74.20	9000.00	0.0	-0.37	0.04	74.20	0.0	-14.63	1.00
65.0	68.50	9000.00	0.0	-4.78	0.56	68.50	-3.5	0.92	1.00
58.8	60.90	61.20	-2.4	1.07	0.99	60.90	-2.1	1.23	1.00
52.5	54.50	54.30	-1.8	1.12	1.00	54.50	-2.0	1.02	1.00
46.2	47.60	47.70	-1.5	1.06	1.00	47.60	-1.4	1.10	1.00
40.1	41.40	41.30	-1.2	1.06	1.00	41.40	-1.3	1.02	1.00
33.8	36.00	35.80	-2.0	0.94	1.00	36.00	-2.2	0.86	1.00
27.6	28.90	29.10	-1.5	1.01	0.99	28.90	-1.3	1.15	1.00
21.1	21.80	21.80	-0.7	1.11	1.00	21.80	-0.7	1.09	1.00
14.0	14.30	14.30	-0.3	1.07	1.00	14.30	-0.3	1.06	1.00
7.5	8.10	8.00	-0.5	1.01	1.00	8.10	-0.6	0.95	1.00
1.4	13.60	9000.00	0.0	0.07	0.02	13.60	0.0	-0.90	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	-1.89	-35.5	198	2514	1481	1476	0.0	0.0	0	91	0.00	0.00	-76.50	0.003	16390	0.000	0.000	200	2513	2861	2942	2780	0	0	0	0	0	0	14.85	13.32	14.88
93	-1.95	-80.1	201	2513	2943	2780	1.4	-1.6	8	116	10.35	2.62	-6.47	0.015	18980	0.479	0.125	2072	1084	3041	3141	2942	0	0	0	0	0	0	14.30	13.78	14.66
280	-1.95	-80.1	2071	1082	3142	2946	41.4	-24.5	45	288	0.00	2.72	0.00	0.000	1030	0.000	0.124	2062	2509	3043	3141	2945	0	0	0	0	0	0	14.67	14.57	14.71
445	end dive: BOTTOM_OBSTACLE_DETECTED
state	445	begin apogee
449	-0.23	0.0	2063	2188	3143	2945	82.8	-25.1	62	508	2.45	0.00	53.90	0.508	10246	0.356	0.000	2621	2188	2713	2787	2640	0	0	0	0	0	0	14.41	14.64	14.24
509	end apogee: CONTROL_FINISHED_OK
state	509	begin climb
511	1.95	80.1	2621	2189	2789	2641	87.7	0.0	68	577	2.30	2.62	57.58	0.505	10756	0.156	0.121	3337	786	2385	2430	2341	0	0	0	0	0	0	14.52	14.45	14.16
631	1.95	80.1	3333	787	2431	2340	75.7	14.1	90	637	0.00	2.62	0.00	0.000	1030	0.000	0.109	3333	2208	2384	2430	2338	0	0	0	0	0	0	14.63	14.50	14.66
942	1.95	80.1	3333	2209	2429	2329	27.6	15.6	122	947	0.00	2.67	0.00	0.000	260	0.000	0.138	3333	3623	2378	2427	2329	0	0	0	0	0	0	14.90	14.60	14.92
971	1.95	80.1	3332	3623	2428	2330	22.5	17.2	128	977	0.00	2.62	0.00	0.000	1030	0.000	0.099	3343	2196	2378	2427	2329	0	0	0	0	0	0	14.71	14.63	14.75
1111	end climb: SURFACE_DEPTH_REACHED
state	1111	begin surface coast
1120	end surface coast: CONTROL_FINISHED_OK
state	1120	begin surface