Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 162 * 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 162 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 21 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 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 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 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 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 350

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 390

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 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 162 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 140218,142047,-7433.3306,-11236.1650,0,1001.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 961.89 MHEAD_RNG_PITCHd_Wd 312.4,41577,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 3.2 D_GRID 990

GPS2 140218,142047,-7433.3306,-11236.1650,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 397.7,1.027500,0 _24V_AH 13.08,70.922

FINISH2 396.7 _10V_AH 12.42,0.000

RAFOS_CLK 193 FG_AHR_24Vo 0.000

RAFOS 0,1518620477,15.032778,15.021389,121,59,57,57,56,55,574,149,219,114,191,137 FG_AHR_10Vo 0.000

RAFOS_FIX -7432.557617,-11235.388672,140218,151512,3,125,0.45 MEM 280052

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 DATA_FILE_SIZE 16769,521

TT8_MAMPS 0.041195,0.28462 CAP_FILE_SIZE 64284,0

HUMID 48.46 CFSIZE 1024409600,1001324544

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 SOUNDSPEED 1460.7

XPDR_PINGS 1 GPS 140218,151512,-7432.558,-11235.389,0,4125.3,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 402.2,10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 252 13.87 nil 0 0 0.00

Roll_motor 51 265 178.56 nil 0 0 0.00

VBD_pump_during_apogee 980 1380 17707.31 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 5506 5 365.49

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 122.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 3514 2 100.84

TT8_Active 909 12 138.54

TT8_Sampling 1088 31 429.09

TT8_CF8 60 45 33.81

TT8_Kalman 0 0 0.00

Analog_circuits 1385 10 175.47

GPS_charging 0 0 0.00

Compass 749 7 69.76

RAFOS 720 1 13.41

Transponder 155 30 58.08

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

986.6 20.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

980.2 22.00 9000.00 0.0 0.00 0.00 22.00 0.0 -0.30 1.00

974.1 20.70 9000.00 0.0 -0.06 0.13 20.70 953.4 0.21 1.00

968.1 17.90 9000.00 0.0 0.34 0.95 17.90 950.2 0.47 1.00

961.6 14.00 9000.00 0.0 0.54 1.00 14.00 947.6 0.60 1.00

955.5 15.60 9000.00 0.0 0.19 0.36 15.60 0.0 -0.26 1.00

471.3 80.70 9000.00 0.0 -0.14 1.00 80.70 0.0 -0.13 1.00

464.1 73.60 9000.00 0.0 -0.13 0.99 73.60 390.5 0.99 1.00

457.1 66.60 66.60 390.5 0.99 1.00 66.60 390.5 1.00 1.00

443.3 53.10 53.10 390.2 0.98 1.00 53.10 390.2 0.98 1.00

436.9 46.50 46.60 390.3 0.99 1.00 46.50 390.4 1.03 1.00

429.7 39.10 39.10 390.6 1.03 1.00 39.10 390.6 1.03 1.00

422.5 31.70 31.70 390.8 1.03 1.00 31.70 390.8 1.03 1.00

416.5 25.40 25.50 391.0 1.04 1.00 25.40 391.1 1.05 1.00

409.3 18.00 18.00 391.3 1.04 1.00 18.00 391.3 1.03 1.00

402.2 10.80 10.80 391.4 1.02 1.00 10.80 391.4 1.01 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -146.0 2713 2519 2883 2686 0.0 0.0 0 11 0.00 0.00 -1.10 0.083 16390 0.000 0.000 2712 2519 3331 3462 3200 0 0 0 0 0 0 14.26 13.09 14.26

13 -0.88 -146.0 2713 2519 3460 3204 0.0 0.0 0 19 0.98 2.42 0.00 0.000 4356 0.134 0.149 2419 3753 3331 3454 3208 0 0 0 0 0 0 14.02 14.02 14.11

238 -0.88 -146.0 2419 3753 3446 3216 979.4 -8.5 45 245 0.00 2.35 0.00 0.000 1030 0.000 0.097 2418 2491 3330 3445 3216 0 0 0 0 0 0 14.46 14.39 14.49

374 end dive: TARGET_DEPTH_EXCEEDED

state 374 begin apogee

378 -0.23 0.0 2420 2185 3446 3216 990.9 -8.5 52 922 0.77 0.05 540.20 1.194 10246 0.224 0.265 2626 2200 2716 2775 2657 0 0 0 0 0 0 14.40 13.59 13.13

924 end apogee: CONTROL_FINISHED_OK

state 924 begin climb

925 0.88 146.0 2627 2201 2773 2655 1000.1 0.0 70 1382 1.20 2.90 440.75 1.380 11012 0.126 0.125 2992 792 2115 2145 2085 0 0 0 0 0 0 13.66 13.59 13.08

1546 0.88 146.0 2992 792 2135 2077 929.7 13.8 190 1552 0.00 2.72 0.00 0.000 1030 0.000 0.112 2992 2217 2105 2134 2076 0 0 0 0 0 0 14.26 14.14 14.29

1936 0.88 146.0 2992 2217 2135 2070 874.7 14.0 208 1937 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2218 2102 2134 2070 0 0 0 0 0 0 14.84 14.87 14.87

2298 0.88 146.0 2993 2218 2133 2069 824.6 14.1 220 2303 0.00 2.65 0.00 0.000 516 0.000 0.127 3003 792 2100 2133 2067 0 0 0 0 0 0 14.97 14.68 15.00

2332 0.88 146.0 3003 793 2133 2068 819.4 14.3 227 2339 0.00 2.62 0.00 0.000 1030 0.000 0.114 3003 2205 2099 2132 2067 0 0 0 0 0 0 14.77 14.68 14.81

2718 0.88 146.0 3003 2206 2132 2067 763.8 14.4 244 2724 0.00 2.67 0.00 0.000 260 0.000 0.145 3003 3617 2099 2132 2066 0 0 0 0 0 0 15.02 14.71 15.04

2748 0.88 146.0 3003 3622 2132 2067 759.2 16.1 250 2754 0.08 2.60 0.00 0.000 5126 0.252 0.101 2981 2195 2099 2132 2066 0 0 0 0 0 0 14.65 14.76 14.88

3138 0.88 146.0 2981 2193 2132 2065 708.1 13.0 268 3144 0.00 2.60 0.00 0.000 516 0.000 0.129 2990 782 2097 2130 2065 0 0 0 0 0 0 15.08 14.73 15.11

3168 0.88 146.0 2990 782 2132 2065 704.2 12.5 274 3174 0.00 2.62 0.00 0.000 1030 0.000 0.114 2990 2199 2098 2131 2065 0 0 0 0 0 0 14.85 14.76 14.89

3538 0.88 146.0 2990 2200 2131 2065 656.3 12.9 312 3544 0.00 2.67 0.00 0.000 260 0.000 0.145 2990 3621 2097 2130 2065 0 0 0 0 0 0 15.10 14.72 15.12

3574 0.88 146.0 2991 3622 2131 2065 651.4 14.4 319 3581 0.00 2.58 0.00 0.000 1030 0.000 0.101 3001 2188 2097 2130 2064 0 0 0 0 0 0 14.91 14.78 14.95

3878 0.88 146.0 3001 2186 2131 2064 609.3 13.9 350 3884 0.00 2.60 0.00 0.000 516 0.000 0.130 3011 778 2097 2130 2064 0 0 0 0 0 0 15.10 14.76 15.13

3908 0.88 146.0 3012 778 2131 2064 605.1 14.2 356 3915 0.00 2.65 0.00 0.000 1030 0.000 0.116 3011 2232 2097 2130 2064 0 0 0 0 0 0 14.93 14.78 14.97

4219 0.88 146.0 3012 2232 2132 2063 560.4 14.4 388 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2232 2096 2130 2063 0 0 0 0 0 0 15.11 15.14 15.14

4519 0.88 146.0 3012 2232 2129 2063 518.0 14.0 418 4520 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2232 2095 2128 2063 0 0 0 0 0 0 15.11 15.14 15.14

4819 0.88 146.0 3012 2232 2130 2063 476.7 13.6 448 4825 0.00 2.67 0.00 0.000 516 0.000 0.126 3022 780 2096 2130 2063 0 0 0 0 0 0 15.12 14.77 15.14

4839 0.88 146.0 3022 781 2131 2064 474.0 13.3 452 4845 0.17 2.62 0.00 0.000 5126 0.232 0.114 2980 2197 2095 2129 2062 0 0 0 0 0 0 14.71 14.76 14.93

5149 0.88 146.0 2981 2197 2130 2062 437.5 11.5 484 5157 0.00 2.67 0.00 0.000 260 0.000 0.145 2980 3619 2095 2129 2062 0 0 0 0 0 0 15.12 14.76 15.15

5171 0.88 146.0 2981 3619 2130 2063 434.7 12.7 488 5177 0.00 2.60 0.00 0.000 1030 0.000 0.102 2989 2170 2095 2129 2062 0 0 0 0 0 0 14.95 14.81 14.98

5480 end climb: SURFACE_OBSTACLE_DETECTED

state 5480 begin subsurface finish

5484 0.00 0.0 2990 2210 2130 2062 397.7 11.3 520 5493 1.00 0.00 -2.17 0.041 20486 0.198 0.000 2701 2209 2734 2849 2619 0 0 0 0 0 0 14.70 13.50 14.93

5494 end subsurface finish: CONTROL_FINISHED_OK

state 5494 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	162	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	21	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	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	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	140218,142047,-7433.3306,-11236.1650,0,1001.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	961.89	MHEAD_RNG_PITCHd_Wd	312.4,41577,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	3.2	D_GRID	990
GPS2	140218,142047,-7433.3306,-11236.1650,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	397.7,1.027500,0	_24V_AH	13.08,70.922
FINISH2	396.7	_10V_AH	12.42,0.000
RAFOS_CLK	193	FG_AHR_24Vo	0.000
RAFOS	0,1518620477,15.032778,15.021389,121,59,57,57,56,55,574,149,219,114,191,137	FG_AHR_10Vo	0.000
RAFOS_FIX	-7432.557617,-11235.388672,140218,151512,3,125,0.45	MEM	280052
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	DATA_FILE_SIZE	16769,521
TT8_MAMPS	0.041195,0.28462	CAP_FILE_SIZE	64284,0
HUMID	48.46	CFSIZE	1024409600,1001324544
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1460.7
XPDR_PINGS	1	GPS	140218,151512,-7432.558,-11235.389,0,4125.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	402.2,10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	252	13.87	nil	0	0	0.00
Roll_motor	51	265	178.56	nil	0	0	0.00
VBD_pump_during_apogee	980	1380	17707.31	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	5506	5	365.49
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	122.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	3514	2	100.84
TT8_Active	909	12	138.54
TT8_Sampling	1088	31	429.09
TT8_CF8	60	45	33.81
TT8_Kalman	0	0	0.00
Analog_circuits	1385	10	175.47
GPS_charging	0	0	0.00
Compass	749	7	69.76
RAFOS	720	1	13.41
Transponder	155	30	58.08

		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

986.6	20.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
980.2	22.00	9000.00	0.0	0.00	0.00	22.00	0.0	-0.30	1.00
974.1	20.70	9000.00	0.0	-0.06	0.13	20.70	953.4	0.21	1.00
968.1	17.90	9000.00	0.0	0.34	0.95	17.90	950.2	0.47	1.00
961.6	14.00	9000.00	0.0	0.54	1.00	14.00	947.6	0.60	1.00
955.5	15.60	9000.00	0.0	0.19	0.36	15.60	0.0	-0.26	1.00
471.3	80.70	9000.00	0.0	-0.14	1.00	80.70	0.0	-0.13	1.00
464.1	73.60	9000.00	0.0	-0.13	0.99	73.60	390.5	0.99	1.00
457.1	66.60	66.60	390.5	0.99	1.00	66.60	390.5	1.00	1.00
443.3	53.10	53.10	390.2	0.98	1.00	53.10	390.2	0.98	1.00
436.9	46.50	46.60	390.3	0.99	1.00	46.50	390.4	1.03	1.00
429.7	39.10	39.10	390.6	1.03	1.00	39.10	390.6	1.03	1.00
422.5	31.70	31.70	390.8	1.03	1.00	31.70	390.8	1.03	1.00
416.5	25.40	25.50	391.0	1.04	1.00	25.40	391.1	1.05	1.00
409.3	18.00	18.00	391.3	1.04	1.00	18.00	391.3	1.03	1.00
402.2	10.80	10.80	391.4	1.02	1.00	10.80	391.4	1.01	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-146.0	2713	2519	2883	2686	0.0	0.0	0	11	0.00	0.00	-1.10	0.083	16390	0.000	0.000	2712	2519	3331	3462	3200	0	0	0	0	0	0	14.26	13.09	14.26
13	-0.88	-146.0	2713	2519	3460	3204	0.0	0.0	0	19	0.98	2.42	0.00	0.000	4356	0.134	0.149	2419	3753	3331	3454	3208	0	0	0	0	0	0	14.02	14.02	14.11
238	-0.88	-146.0	2419	3753	3446	3216	979.4	-8.5	45	245	0.00	2.35	0.00	0.000	1030	0.000	0.097	2418	2491	3330	3445	3216	0	0	0	0	0	0	14.46	14.39	14.49
374	end dive: TARGET_DEPTH_EXCEEDED
state	374	begin apogee
378	-0.23	0.0	2420	2185	3446	3216	990.9	-8.5	52	922	0.77	0.05	540.20	1.194	10246	0.224	0.265	2626	2200	2716	2775	2657	0	0	0	0	0	0	14.40	13.59	13.13
924	end apogee: CONTROL_FINISHED_OK
state	924	begin climb
925	0.88	146.0	2627	2201	2773	2655	1000.1	0.0	70	1382	1.20	2.90	440.75	1.380	11012	0.126	0.125	2992	792	2115	2145	2085	0	0	0	0	0	0	13.66	13.59	13.08
1546	0.88	146.0	2992	792	2135	2077	929.7	13.8	190	1552	0.00	2.72	0.00	0.000	1030	0.000	0.112	2992	2217	2105	2134	2076	0	0	0	0	0	0	14.26	14.14	14.29
1936	0.88	146.0	2992	2217	2135	2070	874.7	14.0	208	1937	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2218	2102	2134	2070	0	0	0	0	0	0	14.84	14.87	14.87
2298	0.88	146.0	2993	2218	2133	2069	824.6	14.1	220	2303	0.00	2.65	0.00	0.000	516	0.000	0.127	3003	792	2100	2133	2067	0	0	0	0	0	0	14.97	14.68	15.00
2332	0.88	146.0	3003	793	2133	2068	819.4	14.3	227	2339	0.00	2.62	0.00	0.000	1030	0.000	0.114	3003	2205	2099	2132	2067	0	0	0	0	0	0	14.77	14.68	14.81
2718	0.88	146.0	3003	2206	2132	2067	763.8	14.4	244	2724	0.00	2.67	0.00	0.000	260	0.000	0.145	3003	3617	2099	2132	2066	0	0	0	0	0	0	15.02	14.71	15.04
2748	0.88	146.0	3003	3622	2132	2067	759.2	16.1	250	2754	0.08	2.60	0.00	0.000	5126	0.252	0.101	2981	2195	2099	2132	2066	0	0	0	0	0	0	14.65	14.76	14.88
3138	0.88	146.0	2981	2193	2132	2065	708.1	13.0	268	3144	0.00	2.60	0.00	0.000	516	0.000	0.129	2990	782	2097	2130	2065	0	0	0	0	0	0	15.08	14.73	15.11
3168	0.88	146.0	2990	782	2132	2065	704.2	12.5	274	3174	0.00	2.62	0.00	0.000	1030	0.000	0.114	2990	2199	2098	2131	2065	0	0	0	0	0	0	14.85	14.76	14.89
3538	0.88	146.0	2990	2200	2131	2065	656.3	12.9	312	3544	0.00	2.67	0.00	0.000	260	0.000	0.145	2990	3621	2097	2130	2065	0	0	0	0	0	0	15.10	14.72	15.12
3574	0.88	146.0	2991	3622	2131	2065	651.4	14.4	319	3581	0.00	2.58	0.00	0.000	1030	0.000	0.101	3001	2188	2097	2130	2064	0	0	0	0	0	0	14.91	14.78	14.95
3878	0.88	146.0	3001	2186	2131	2064	609.3	13.9	350	3884	0.00	2.60	0.00	0.000	516	0.000	0.130	3011	778	2097	2130	2064	0	0	0	0	0	0	15.10	14.76	15.13
3908	0.88	146.0	3012	778	2131	2064	605.1	14.2	356	3915	0.00	2.65	0.00	0.000	1030	0.000	0.116	3011	2232	2097	2130	2064	0	0	0	0	0	0	14.93	14.78	14.97
4219	0.88	146.0	3012	2232	2132	2063	560.4	14.4	388	4220	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2232	2096	2130	2063	0	0	0	0	0	0	15.11	15.14	15.14
4519	0.88	146.0	3012	2232	2129	2063	518.0	14.0	418	4520	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2232	2095	2128	2063	0	0	0	0	0	0	15.11	15.14	15.14
4819	0.88	146.0	3012	2232	2130	2063	476.7	13.6	448	4825	0.00	2.67	0.00	0.000	516	0.000	0.126	3022	780	2096	2130	2063	0	0	0	0	0	0	15.12	14.77	15.14
4839	0.88	146.0	3022	781	2131	2064	474.0	13.3	452	4845	0.17	2.62	0.00	0.000	5126	0.232	0.114	2980	2197	2095	2129	2062	0	0	0	0	0	0	14.71	14.76	14.93
5149	0.88	146.0	2981	2197	2130	2062	437.5	11.5	484	5157	0.00	2.67	0.00	0.000	260	0.000	0.145	2980	3619	2095	2129	2062	0	0	0	0	0	0	15.12	14.76	15.15
5171	0.88	146.0	2981	3619	2130	2063	434.7	12.7	488	5177	0.00	2.60	0.00	0.000	1030	0.000	0.102	2989	2170	2095	2129	2062	0	0	0	0	0	0	14.95	14.81	14.98
5480	end climb: SURFACE_OBSTACLE_DETECTED
state	5480	begin subsurface finish
5484	0.00	0.0	2990	2210	2130	2062	397.7	11.3	520	5493	1.00	0.00	-2.17	0.041	20486	0.198	0.000	2701	2209	2734	2849	2619	0	0	0	0	0	0	14.70	13.50	14.93
5494	end subsurface finish: CONTROL_FINISHED_OK
state	5494	begin surface