Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 147 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 147 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 22 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 21 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2330 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0025631799 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0154106 ROLL_DEG 80 COMPASS_USE 4

HD_C 6.0999999e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 360 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 653.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0025631799 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0154106 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 6.0999999e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 120

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2330 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 147 MINV_10V 11 R_PORT_OVSHOOT 22 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 091018,143501,7412.6338,-14621.7334,99,0.8,100,18.4,0.1,343.2,12,3.4 SPEED_LIMITS 0.173,0.179

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -1.12 MHEAD_RNG_PITCHd_Wd 158.3,1219,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -75.0 D_GRID 360

GPS2 091018,144417,7412.6504,-14621.6299,4,0.9,5,18.4,0.2,124.5,11,4.8

Post-dive calculations and measurements:

FINISH 0.7,1.020934 _24V_AH 13.12,68.863

SM_CCo 6262,0.08,1.833,0,0,501,577.44 _10V_AH 13.21,0.000

SM_GC -1.08,11.32,4.43,0.08,0.237,0.041,1.833,198,2397,501,-6.63,1.27,577.44,0,0,0,0,0,0,14.12,14.17,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 118 FG_AHR_10Vo 0.000

RAFOS_FIX 7412.147461,-14621.671875,091018,161656,0,1,0.15 MEM 334604

IRIDIUM_FIX 7414.00,-14627.38,091018,143748 DATA_FILE_SIZE 20104,641

TT8_MAMPS 0.078645,0.926513 CAP_FILE_SIZE 73793,0

HUMID 45.55 CFSIZE 2097872896,2069626880

INTERNAL_PRESSURE 8.88035 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.60 SOUNDSPEED 1443.2

XPDR_PINGS 14 CURRENT 0.080,354.32,1

ALTIM_TOP_PING 19.1,5.7 GPS 091018,163017,7412.418,-14621.602,6,0.9,8,18.4,0.4,132.9,7,8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 448 146.75 nil 0 0 0.00

Roll_motor 58 93 71.79 nil 0 0 0.00

VBD_pump_during_apogee 574 1886 14224.26 nil 0 0 0.00

VBD_pump_during_surface 95 1832 2299.01 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 6140 26 2132.02

Iridium_during_xfer 336 181 800.20 nil 0 0 0.00

Transponder_ping 3 420 20.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 6 1.38

TT8 0 0 0.00

LPSleep 4312 2 131.61

TT8_Active 718 11 109.77

TT8_Sampling 1629 31 668.02

TT8_CF8 185 36 88.99

TT8_Kalman 0 0 0.00

Analog_circuits 1609 10 231.72

GPS_charging 0 0 0.00

Compass 923 6 82.26

RAFOS 2217 33 966.46

Transponder 2 30 0.99

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

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 -0.92 -146.0 198 2410 449 541 0.0 0.0 0 75 0.00 0.00 -61.78 0.003 16386 0.000 0.000 198 2409 1693 1796 1590 0 0 0 0 0 0 14.47 28.83 14.50

77 -0.92 -146.0 198 2409 1797 1594 2.0 -7.6 6 133 9.43 4.70 -36.12 0.005 18692 0.448 0.093 2007 3941 3452 3572 3333 0 0 0 0 0 0 14.09 13.44 14.34

358 -0.92 -146.0 2007 3943 3564 3344 99.6 -24.6 61 365 0.00 4.47 0.00 0.000 1030 0.000 0.045 2022 2396 3453 3563 3343 0 0 0 0 0 0 14.43 14.37 14.45

543 -0.92 -146.0 2022 2396 3564 3344 139.8 -20.6 80 549 0.00 4.70 0.00 0.000 260 0.000 0.086 2005 3939 3450 3562 3339 0 0 0 0 0 0 14.59 14.40 14.62

579 -0.92 -146.0 2005 3939 3561 3345 148.1 -23.7 87 586 0.00 4.40 0.00 0.000 1030 0.000 0.044 2019 2398 3452 3560 3345 0 0 0 0 0 0 14.51 14.45 14.52

764 -0.92 -146.0 2019 2398 3561 3345 185.8 -20.1 106 765 0.00 0.00 0.00 0.000 6 0.000 0.000 2019 2397 3452 3560 3345 0 0 0 0 0 0 14.64 14.66 14.66

944 -0.92 -146.0 2019 2398 3561 3345 220.5 -18.7 124 951 0.00 4.93 0.00 0.000 516 0.000 0.066 2026 700 3452 3560 3345 0 0 0 0 0 0 14.67 14.47 14.69

961 -0.92 -146.0 2026 702 3560 3345 223.6 -19.3 127 968 0.00 4.93 0.00 0.000 1030 0.000 0.055 2007 2394 3452 3560 3345 0 0 0 0 0 0 14.54 14.47 14.59

1156 -0.92 -146.0 2007 2394 3561 3345 257.6 -16.3 145 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2394 3452 3560 3345 0 0 0 0 0 0 14.70 14.71 14.71

1456 -0.92 -146.0 2007 2395 3560 3345 299.4 -13.3 160 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2393 3452 3560 3345 0 0 0 0 0 0 14.73 14.76 14.76

1756 -0.92 -146.0 2005 2394 3560 3345 336.5 -12.4 175 1757 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2394 3452 3560 3345 0 0 0 0 0 0 14.76 14.78 14.78

1954 end dive: TARGET_DEPTH_EXCEEDED

state 1954 begin apogee

1959 -0.11 0.0 2009 2190 3561 3346 361.2 -12.3 185 2098 1.08 0.00 132.77 1.886 10246 0.282 0.000 2285 2188 2851 2924 2778 0 0 0 0 0 0 14.44 14.02 13.31

2099 end apogee: CONTROL_FINISHED_OK

state 2099 begin climb

2101 0.92 146.0 2285 2188 2923 2779 364.5 0.0 192 2240 1.17 0.00 134.60 1.790 10502 0.176 0.000 2620 2189 2255 2283 2227 0 0 0 0 0 0 13.93 13.76 13.12

2536 0.92 146.0 2620 2188 2279 2210 305.2 15.2 226 2537 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2187 2243 2278 2208 0 0 0 0 0 0 14.37 14.38 14.38

2836 0.92 146.0 2621 2188 2280 2205 265.1 12.5 241 2837 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2187 2240 2278 2203 0 0 0 0 0 0 14.52 14.54 14.54

3138 0.96 146.0 2619 2188 2278 2202 235.3 8.7 264 3139 0.00 0.00 0.00 0.000 70 0.000 0.000 2621 2187 2239 2278 2201 0 0 0 0 0 0 14.60 14.62 14.62

3316 1.04 146.0 2620 2188 2279 2202 221.4 7.3 282 3317 0.15 0.00 0.00 0.000 2118 0.165 0.000 2664 2187 2239 2278 2201 0 0 0 0 0 0 14.42 14.54 14.53

3496 1.11 146.0 2663 2188 2279 2201 207.3 7.4 300 3497 0.00 0.00 0.00 0.000 70 0.000 0.000 2663 2187 2240 2279 2201 0 0 0 0 0 0 14.66 14.68 14.68

3676 1.22 146.0 2663 2188 2279 2201 194.9 6.5 318 3677 0.17 0.00 0.00 0.000 2118 0.163 0.000 2717 2187 2239 2278 2200 0 0 0 0 0 0 14.47 14.59 14.57

3856 1.30 146.0 2716 2188 2278 2201 181.8 7.3 336 3857 0.00 0.00 0.00 0.000 70 0.000 0.000 2716 2187 2239 2278 2200 0 0 0 0 0 0 14.70 14.72 14.72

4036 1.39 146.0 2717 2188 2280 2201 169.3 7.0 354 4037 0.20 0.00 0.00 0.000 2118 0.162 0.000 2776 2187 2238 2277 2200 0 0 0 0 0 0 14.50 14.62 14.60

4216 1.49 146.0 2777 2188 2279 2201 156.5 6.7 372 4217 0.00 0.00 0.00 0.000 70 0.000 0.000 2777 2188 2239 2278 2200 0 0 0 0 0 0 14.73 14.75 14.76

4396 1.69 213.3 2776 2188 2278 2200 145.4 5.8 390 4457 0.28 0.00 57.85 1.646 10790 0.154 0.000 2866 2188 1981 2016 1947 0 0 0 0 0 0 14.51 14.16 13.64

4636 1.69 213.3 2865 2188 2007 1936 117.7 12.4 419 4637 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2190 1972 2007 1937 0 0 0 0 0 0 14.50 14.52 14.51

4816 1.69 213.3 2866 2188 2006 1935 98.0 9.9 437 4817 0.00 0.00 0.00 0.000 6 0.000 0.000 2865 2187 1969 2005 1933 0 0 0 0 0 0 14.52 14.54 14.54

4996 1.79 213.3 2865 2189 2005 1933 83.9 6.7 455 5007 0.12 5.22 0.00 0.000 2372 0.186 0.085 2882 3897 1966 1998 1935 0 0 0 0 0 0 14.35 14.35 14.45

5232 2.32 387.4 2882 3897 2001 1936 76.2 -0.8 502 5392 0.55 4.90 145.70 1.518 11302 0.148 0.041 3070 2184 1271 1286 1256 0 0 0 0 0 0 14.32 14.46 13.36

5567 2.41 387.4 3069 2184 1280 1241 42.9 6.8 549 5573 0.00 5.25 0.00 0.000 324 0.000 0.080 3058 3897 1260 1280 1241 0 0 0 0 0 0 14.30 14.13 14.32

5799 2.79 515.4 3057 3898 1278 1242 39.2 2.1 595 5914 0.47 4.90 103.78 1.441 11302 0.153 0.041 3221 2202 747 731 763 0 0 0 0 0 0 14.17 14.24 13.38

6100 2.79 515.4 3220 2202 728 752 4.1 9.8 635 6112 0.00 5.22 0.00 0.000 260 0.000 0.079 3215 3894 739 727 751 0 0 0 0 0 0 14.28 14.10 14.29

6119 end climb: SURFACE_DEPTH_REACHED

state 6119 begin surface coast

6129 end surface coast: CONTROL_FINISHED_OK

state 6130 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	147	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	22	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	21	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2330	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0025631799	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0154106	ROLL_DEG	80	COMPASS_USE	4
HD_C	6.0999999e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	091018,143501,7412.6338,-14621.7334,99,0.8,100,18.4,0.1,343.2,12,3.4	SPEED_LIMITS	0.173,0.179
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-1.12	MHEAD_RNG_PITCHd_Wd	158.3,1219,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-75.0	D_GRID	360
GPS2	091018,144417,7412.6504,-14621.6299,4,0.9,5,18.4,0.2,124.5,11,4.8

FINISH	0.7,1.020934	_24V_AH	13.12,68.863
SM_CCo	6262,0.08,1.833,0,0,501,577.44	_10V_AH	13.21,0.000
SM_GC	-1.08,11.32,4.43,0.08,0.237,0.041,1.833,198,2397,501,-6.63,1.27,577.44,0,0,0,0,0,0,14.12,14.17,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	118	FG_AHR_10Vo	0.000
RAFOS_FIX	7412.147461,-14621.671875,091018,161656,0,1,0.15	MEM	334604
IRIDIUM_FIX	7414.00,-14627.38,091018,143748	DATA_FILE_SIZE	20104,641
TT8_MAMPS	0.078645,0.926513	CAP_FILE_SIZE	73793,0
HUMID	45.55	CFSIZE	2097872896,2069626880
INTERNAL_PRESSURE	8.88035	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.60	SOUNDSPEED	1443.2
XPDR_PINGS	14	CURRENT	0.080,354.32,1
ALTIM_TOP_PING	19.1,5.7	GPS	091018,163017,7412.418,-14621.602,6,0.9,8,18.4,0.4,132.9,7,8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	448	146.75	nil	0	0	0.00
Roll_motor	58	93	71.79	nil	0	0	0.00
VBD_pump_during_apogee	574	1886	14224.26	nil	0	0	0.00
VBD_pump_during_surface	95	1832	2299.01	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	6140	26	2132.02
Iridium_during_xfer	336	181	800.20	nil	0	0	0.00
Transponder_ping	3	420	20.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	6	1.38
TT8	0	0	0.00
LPSleep	4312	2	131.61
TT8_Active	718	11	109.77
TT8_Sampling	1629	31	668.02
TT8_CF8	185	36	88.99
TT8_Kalman	0	0	0.00
Analog_circuits	1609	10	231.72
GPS_charging	0	0	0.00
Compass	923	6	82.26
RAFOS	2217	33	966.46
Transponder	2	30	0.99

		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

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	-0.92	-146.0	198	2410	449	541	0.0	0.0	0	75	0.00	0.00	-61.78	0.003	16386	0.000	0.000	198	2409	1693	1796	1590	0	0	0	0	0	0	14.47	28.83	14.50
77	-0.92	-146.0	198	2409	1797	1594	2.0	-7.6	6	133	9.43	4.70	-36.12	0.005	18692	0.448	0.093	2007	3941	3452	3572	3333	0	0	0	0	0	0	14.09	13.44	14.34
358	-0.92	-146.0	2007	3943	3564	3344	99.6	-24.6	61	365	0.00	4.47	0.00	0.000	1030	0.000	0.045	2022	2396	3453	3563	3343	0	0	0	0	0	0	14.43	14.37	14.45
543	-0.92	-146.0	2022	2396	3564	3344	139.8	-20.6	80	549	0.00	4.70	0.00	0.000	260	0.000	0.086	2005	3939	3450	3562	3339	0	0	0	0	0	0	14.59	14.40	14.62
579	-0.92	-146.0	2005	3939	3561	3345	148.1	-23.7	87	586	0.00	4.40	0.00	0.000	1030	0.000	0.044	2019	2398	3452	3560	3345	0	0	0	0	0	0	14.51	14.45	14.52
764	-0.92	-146.0	2019	2398	3561	3345	185.8	-20.1	106	765	0.00	0.00	0.00	0.000	6	0.000	0.000	2019	2397	3452	3560	3345	0	0	0	0	0	0	14.64	14.66	14.66
944	-0.92	-146.0	2019	2398	3561	3345	220.5	-18.7	124	951	0.00	4.93	0.00	0.000	516	0.000	0.066	2026	700	3452	3560	3345	0	0	0	0	0	0	14.67	14.47	14.69
961	-0.92	-146.0	2026	702	3560	3345	223.6	-19.3	127	968	0.00	4.93	0.00	0.000	1030	0.000	0.055	2007	2394	3452	3560	3345	0	0	0	0	0	0	14.54	14.47	14.59
1156	-0.92	-146.0	2007	2394	3561	3345	257.6	-16.3	145	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2394	3452	3560	3345	0	0	0	0	0	0	14.70	14.71	14.71
1456	-0.92	-146.0	2007	2395	3560	3345	299.4	-13.3	160	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2393	3452	3560	3345	0	0	0	0	0	0	14.73	14.76	14.76
1756	-0.92	-146.0	2005	2394	3560	3345	336.5	-12.4	175	1757	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2394	3452	3560	3345	0	0	0	0	0	0	14.76	14.78	14.78
1954	end dive: TARGET_DEPTH_EXCEEDED
state	1954	begin apogee
1959	-0.11	0.0	2009	2190	3561	3346	361.2	-12.3	185	2098	1.08	0.00	132.77	1.886	10246	0.282	0.000	2285	2188	2851	2924	2778	0	0	0	0	0	0	14.44	14.02	13.31
2099	end apogee: CONTROL_FINISHED_OK
state	2099	begin climb
2101	0.92	146.0	2285	2188	2923	2779	364.5	0.0	192	2240	1.17	0.00	134.60	1.790	10502	0.176	0.000	2620	2189	2255	2283	2227	0	0	0	0	0	0	13.93	13.76	13.12
2536	0.92	146.0	2620	2188	2279	2210	305.2	15.2	226	2537	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2187	2243	2278	2208	0	0	0	0	0	0	14.37	14.38	14.38
2836	0.92	146.0	2621	2188	2280	2205	265.1	12.5	241	2837	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2187	2240	2278	2203	0	0	0	0	0	0	14.52	14.54	14.54
3138	0.96	146.0	2619	2188	2278	2202	235.3	8.7	264	3139	0.00	0.00	0.00	0.000	70	0.000	0.000	2621	2187	2239	2278	2201	0	0	0	0	0	0	14.60	14.62	14.62
3316	1.04	146.0	2620	2188	2279	2202	221.4	7.3	282	3317	0.15	0.00	0.00	0.000	2118	0.165	0.000	2664	2187	2239	2278	2201	0	0	0	0	0	0	14.42	14.54	14.53
3496	1.11	146.0	2663	2188	2279	2201	207.3	7.4	300	3497	0.00	0.00	0.00	0.000	70	0.000	0.000	2663	2187	2240	2279	2201	0	0	0	0	0	0	14.66	14.68	14.68
3676	1.22	146.0	2663	2188	2279	2201	194.9	6.5	318	3677	0.17	0.00	0.00	0.000	2118	0.163	0.000	2717	2187	2239	2278	2200	0	0	0	0	0	0	14.47	14.59	14.57
3856	1.30	146.0	2716	2188	2278	2201	181.8	7.3	336	3857	0.00	0.00	0.00	0.000	70	0.000	0.000	2716	2187	2239	2278	2200	0	0	0	0	0	0	14.70	14.72	14.72
4036	1.39	146.0	2717	2188	2280	2201	169.3	7.0	354	4037	0.20	0.00	0.00	0.000	2118	0.162	0.000	2776	2187	2238	2277	2200	0	0	0	0	0	0	14.50	14.62	14.60
4216	1.49	146.0	2777	2188	2279	2201	156.5	6.7	372	4217	0.00	0.00	0.00	0.000	70	0.000	0.000	2777	2188	2239	2278	2200	0	0	0	0	0	0	14.73	14.75	14.76
4396	1.69	213.3	2776	2188	2278	2200	145.4	5.8	390	4457	0.28	0.00	57.85	1.646	10790	0.154	0.000	2866	2188	1981	2016	1947	0	0	0	0	0	0	14.51	14.16	13.64
4636	1.69	213.3	2865	2188	2007	1936	117.7	12.4	419	4637	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2190	1972	2007	1937	0	0	0	0	0	0	14.50	14.52	14.51
4816	1.69	213.3	2866	2188	2006	1935	98.0	9.9	437	4817	0.00	0.00	0.00	0.000	6	0.000	0.000	2865	2187	1969	2005	1933	0	0	0	0	0	0	14.52	14.54	14.54
4996	1.79	213.3	2865	2189	2005	1933	83.9	6.7	455	5007	0.12	5.22	0.00	0.000	2372	0.186	0.085	2882	3897	1966	1998	1935	0	0	0	0	0	0	14.35	14.35	14.45
5232	2.32	387.4	2882	3897	2001	1936	76.2	-0.8	502	5392	0.55	4.90	145.70	1.518	11302	0.148	0.041	3070	2184	1271	1286	1256	0	0	0	0	0	0	14.32	14.46	13.36
5567	2.41	387.4	3069	2184	1280	1241	42.9	6.8	549	5573	0.00	5.25	0.00	0.000	324	0.000	0.080	3058	3897	1260	1280	1241	0	0	0	0	0	0	14.30	14.13	14.32
5799	2.79	515.4	3057	3898	1278	1242	39.2	2.1	595	5914	0.47	4.90	103.78	1.441	11302	0.153	0.041	3221	2202	747	731	763	0	0	0	0	0	0	14.17	14.24	13.38
6100	2.79	515.4	3220	2202	728	752	4.1	9.8	635	6112	0.00	5.22	0.00	0.000	260	0.000	0.079	3215	3894	739	727	751	0	0	0	0	0	0	14.28	14.10	14.29
6119	end climb: SURFACE_DEPTH_REACHED
state	6119	begin surface coast
6129	end surface coast: CONTROL_FINISHED_OK
state	6130	begin surface