Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 398 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 398 HD_B 0.0139002 ROLL_DEG 40 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2200 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2250 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 300 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1030 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 53 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 39 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3346 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 100 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 150 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 0 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 3500 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 160 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 34 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 300 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 34 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 1440

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 100

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 0

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 150

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 3500 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2250 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3346 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 398 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1030 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 160 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 11 R_PORT_OVSHOOT 53 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 11 R_STBD_OVSHOOT 39 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 250418,020531,-133.5365,5747.4614,36,1.4,44,-4.2,0.5,31.4,8,9.7 SPEED_LIMITS 0.173,0.228

_CALLS 1 TGT_NAME EQUATORS

_XMS_NAKs 0 TGT_LATLONG -100.000,5740.200

_XMS_TOUTs 0 TGT_RADIUS 5000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 334.5,63463,-18.5,-10.000,-23.65,2365

_SM_ANGLEo -75.2 D_GRID 1000

GPS2 250418,021007,-133.4772,5747.5171,14,1.2,21,-4.2,0.6,39.0,9,9.8

Post-dive calculations and measurements:

FINISH -0.3,1.022142 _10V_AH 13.70,0.000

SM_CCo 4457,33.40,0.073,0,0,1714,400.08 FG_AHR_24Vo 0.000

SM_GC 0.93,11.30,0.00,33.40,0.154,0.000,0.073,251,2225,1714,-10.11,0.71,400.08,0,0,0,0,0,0,14.60,15.00,14.64 FG_AHR_10Vo 0.000

IRIDIUM_FIX -131.22,5747.78,250418,004627 MEM 303400

TT8_MAMPS 0.018725,0.155792 DATA_FILE_SIZE 26805,576

HUMID 60.04 CAP_FILE_SIZE 67077,0

INTERNAL_PRESSURE 8.59021 CFSIZE 260034560,223399936

TCM_TEMP 22.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.056,59.12,1

_24V_AH 13.26,129.939 GPS 250418,032655,-133.395,5747.612,40,0.8,42,-4.2,0.4,28.7,10,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 431 158.76 SBE_CT 287 23 91.27

Roll_motor 69 65 60.72 nil 0 0 0.00

VBD_pump_during_apogee 341 1200 5440.81 nil 0 0 0.00

VBD_pump_during_surface 33 72 32.19 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 nil 0 0 0.00

Iridium_during_xfer 183 124 303.33 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 22 20 6.26

TT8 1220 9 158.31

LPSleep 1974 2 59.25

TT8_Active 450 9 58.48

TT8_Sampling 1026 28 396.27

TT8_CF8 118 34 55.61

TT8_Kalman 0 0 0.00

Analog_circuits 1143 16 250.56

GPS_charging 0 0 0.00

Compass 832 17 196.41

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8 -0.73 -155.7 246 2235 1722 1722 0.0 0.0 0 74 0.00 0.00 -63.47 0.003 16386 0.000 0.000 246 2236 3686 3664 3708 0 0 0 0 0 0 14.97 28.83 14.98

77 -0.73 -155.7 246 2236 3665 3709 4.2 -12.6 11 104 14.70 2.50 -3.42 0.032 19204 0.403 0.066 3252 808 3906 3901 3912 0 0 0 0 0 0 14.30 13.26 14.52

117 -0.73 -155.7 3251 808 3901 3912 13.5 -11.2 17 125 0.00 2.40 0.00 0.000 1030 0.000 0.043 3252 2202 3907 3902 3912 0 0 0 0 0 0 14.74 14.66 14.77

326 -0.73 -155.7 3251 2201 3902 3912 39.4 -13.5 58 333 0.00 2.42 0.00 0.000 516 0.000 0.044 3261 801 3907 3902 3912 0 0 0 0 0 0 15.02 14.66 15.04

341 -0.73 -155.7 3261 801 3903 3912 41.7 -15.6 60 348 0.00 2.42 0.00 0.000 1030 0.000 0.043 3262 2208 3907 3903 3912 0 0 0 0 0 0 14.78 14.69 14.81

553 -0.73 -155.7 3261 2208 3903 3912 67.6 -10.9 86 557 0.00 2.20 0.00 0.000 260 0.000 0.055 3261 3612 3907 3903 3912 0 0 0 0 0 0 15.06 14.70 15.08

564 -0.73 -155.7 3261 3611 3903 3912 68.9 -11.3 88 568 0.00 2.15 0.00 0.000 1030 0.000 0.034 3262 2196 3908 3904 3912 0 0 0 0 0 0 14.83 14.77 14.85

776 -0.73 -155.7 3262 2189 3904 3913 99.8 -17.8 110 780 0.00 2.38 0.00 0.000 516 0.000 0.045 3273 808 3908 3903 3914 0 0 0 0 0 0 15.09 14.73 15.11

828 -0.73 -155.7 3273 802 3904 3915 109.4 -16.3 120 832 0.00 2.38 0.00 0.000 1030 0.000 0.041 3273 2204 3909 3903 3915 0 0 0 0 0 0 14.84 14.76 14.87

1040 -0.73 -155.7 3273 2204 3905 3915 142.4 -16.1 142 1044 0.00 2.40 0.00 0.000 516 0.000 0.047 3281 813 3910 3905 3915 0 0 0 0 0 0 15.10 14.75 15.12

1135 -0.73 -155.7 3281 813 3906 3916 157.1 -15.3 161 1142 0.00 2.38 0.00 0.000 1030 0.000 0.037 3281 2217 3911 3906 3916 0 0 0 0 0 0 14.85 14.78 14.88

1343 -0.73 -155.7 3281 2217 3906 3916 187.3 -14.5 182 1347 0.00 2.20 0.00 0.000 260 0.000 0.062 3281 3598 3911 3906 3916 0 0 0 0 0 0 15.11 14.73 15.13

1374 -0.73 -155.7 3281 3598 3905 3917 191.8 -15.6 188 1379 0.00 2.12 0.00 0.000 1030 0.000 0.034 3288 2185 3911 3905 3917 0 0 0 0 0 0 14.88 14.82 14.90

1586 -0.73 -155.7 3288 2179 3906 3917 221.0 -14.1 210 1590 0.00 2.35 0.00 0.000 516 0.000 0.050 3288 818 3911 3906 3917 0 0 0 0 0 0 15.13 14.73 15.14

1628 -0.73 -155.7 3288 818 3906 3917 227.6 -14.8 218 1633 0.00 2.35 0.00 0.000 1030 0.000 0.041 3288 2198 3911 3906 3917 0 0 0 0 0 0 14.85 14.77 14.88

1860 -0.73 -155.7 3288 2197 3904 3917 265.3 -16.9 236 1865 0.00 2.38 0.00 0.000 516 0.000 0.044 3298 821 3910 3904 3917 0 0 0 0 0 0 15.14 14.76 15.15

1880 -0.73 -155.7 3298 821 3905 3917 269.4 -18.3 240 1886 0.12 2.35 0.00 0.000 5126 0.298 0.039 3275 2205 3911 3905 3917 0 0 0 0 0 0 14.40 14.78 14.69

2102 end dive: TARGET_DEPTH_EXCEEDED

state 2102 begin apogee

2108 -0.15 0.0 3275 2204 3903 3916 303.8 -15.0 249 2217 0.57 0.00 105.75 1.200 10246 0.148 0.000 3452 2204 3345 3358 3332 0 0 0 0 0 0 14.59 14.42 13.77

2218 end apogee: CONTROL_FINISHED_OK

state 2218 begin climb

2220 0.73 155.7 3452 2204 3350 3329 316.9 0.0 252 2348 0.88 2.42 115.22 1.188 10756 0.136 0.041 3739 843 2704 2725 2683 0 0 0 0 0 0 14.36 14.16 13.69

2403 0.73 155.7 3739 843 2720 2681 302.8 20.8 293 2411 0.00 2.47 0.00 0.000 1030 0.000 0.040 3739 2262 2699 2718 2680 0 0 0 0 0 0 14.58 14.51 14.60

2620 0.73 155.7 3739 2261 2714 2678 259.9 19.5 301 2625 0.00 2.20 0.00 0.000 260 0.000 0.050 3740 3666 2695 2713 2678 0 0 0 0 0 0 14.97 14.67 14.99

2764 0.73 155.7 3739 3666 2710 2677 234.7 16.8 329 2769 0.00 2.15 0.00 0.000 1030 0.000 0.035 3748 2274 2693 2710 2677 0 0 0 0 0 0 14.81 14.76 14.83

2976 0.73 155.7 3749 2274 2708 2676 199.8 15.8 351 2980 0.00 2.20 0.00 0.000 260 0.000 0.051 3748 3662 2692 2709 2676 0 0 0 0 0 0 15.06 14.73 15.08

3209 0.73 155.7 3748 3662 2705 2672 163.5 15.7 397 3214 0.00 2.20 0.00 0.000 1030 0.000 0.036 3757 2231 2688 2705 2672 0 0 0 0 0 0 14.85 14.78 14.87

3422 0.73 155.7 3757 2231 2704 2671 133.7 14.3 419 3426 0.00 2.38 0.00 0.000 516 0.000 0.047 3768 858 2687 2704 2671 0 0 0 0 0 0 15.09 14.75 15.11

3464 0.73 155.7 3768 850 2704 2671 128.1 13.8 427 3474 0.17 2.40 0.00 0.000 5126 0.431 0.041 3742 2252 2687 2703 2671 0 0 0 0 0 0 14.13 14.76 14.64

3675 0.73 155.7 3742 2251 2702 2669 101.5 11.9 449 3680 0.00 2.20 0.00 0.000 260 0.000 0.055 3743 3657 2685 2702 2669 0 0 0 0 0 0 15.09 14.73 15.11

3699 0.73 155.7 3742 3657 2700 2669 97.8 14.9 453 3704 0.00 2.17 0.00 0.000 1030 0.000 0.038 3750 2262 2684 2700 2669 0 0 0 0 0 0 14.85 14.78 14.88

3912 0.93 315.9 3750 2264 2700 2666 86.0 3.0 475 4042 0.00 2.50 120.88 0.914 12836 0.000 0.055 3761 840 2051 2074 2028 0 0 0 0 0 0 15.11 14.45 13.94

4159 0.93 315.9 3761 839 2069 2028 49.7 15.8 524 4166 0.00 2.45 0.00 0.000 5126 0.000 0.041 3761 2249 2048 2069 2028 0 0 0 0 0 0 14.68 14.60 14.70

4371 0.93 315.9 3761 2248 2064 2026 11.4 18.9 565 4379 0.00 2.22 0.00 0.000 4356 0.000 0.051 3761 3675 2045 2065 2026 0 0 0 0 0 0 14.98 14.66 15.00

4402 0.93 315.9 3761 3675 2064 2026 5.8 18.7 570 4409 0.00 2.25 0.00 0.000 1030 0.000 0.040 3770 2230 2045 2064 2026 0 0 0 0 0 0 14.77 14.70 14.79

4420 end climb: SURFACE_DEPTH_REACHED

state 4420 begin surface coast

4436 end surface coast: CONTROL_FINISHED_OK

state 4436 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	398	HD_B	0.0139002	ROLL_DEG	40	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2200	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2250	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	300	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1030	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	53	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	39	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3346	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	100	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	150	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	0	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	3500	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	160	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	34	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_SLOPE	0.00014074198

GPS1	250418,020531,-133.5365,5747.4614,36,1.4,44,-4.2,0.5,31.4,8,9.7	SPEED_LIMITS	0.173,0.228
_CALLS	1	TGT_NAME	EQUATORS
_XMS_NAKs	0	TGT_LATLONG	-100.000,5740.200
_XMS_TOUTs	0	TGT_RADIUS	5000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	334.5,63463,-18.5,-10.000,-23.65,2365
_SM_ANGLEo	-75.2	D_GRID	1000
GPS2	250418,021007,-133.4772,5747.5171,14,1.2,21,-4.2,0.6,39.0,9,9.8

FINISH	-0.3,1.022142	_10V_AH	13.70,0.000
SM_CCo	4457,33.40,0.073,0,0,1714,400.08	FG_AHR_24Vo	0.000
SM_GC	0.93,11.30,0.00,33.40,0.154,0.000,0.073,251,2225,1714,-10.11,0.71,400.08,0,0,0,0,0,0,14.60,15.00,14.64	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-131.22,5747.78,250418,004627	MEM	303400
TT8_MAMPS	0.018725,0.155792	DATA_FILE_SIZE	26805,576
HUMID	60.04	CAP_FILE_SIZE	67077,0
INTERNAL_PRESSURE	8.59021	CFSIZE	260034560,223399936
TCM_TEMP	22.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.056,59.12,1
_24V_AH	13.26,129.939	GPS	250418,032655,-133.395,5747.612,40,0.8,42,-4.2,0.4,28.7,10,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	431	158.76	SBE_CT	287	23	91.27
Roll_motor	69	65	60.72	nil	0	0	0.00
VBD_pump_during_apogee	341	1200	5440.81	nil	0	0	0.00
VBD_pump_during_surface	33	72	32.19	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	nil	0	0	0.00
Iridium_during_xfer	183	124	303.33	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	22	20	6.26
TT8	1220	9	158.31
LPSleep	1974	2	59.25
TT8_Active	450	9	58.48
TT8_Sampling	1026	28	396.27
TT8_CF8	118	34	55.61
TT8_Kalman	0	0	0.00
Analog_circuits	1143	16	250.56
GPS_charging	0	0	0.00
Compass	832	17	196.41
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8	-0.73	-155.7	246	2235	1722	1722	0.0	0.0	0	74	0.00	0.00	-63.47	0.003	16386	0.000	0.000	246	2236	3686	3664	3708	0	0	0	0	0	0	14.97	28.83	14.98
77	-0.73	-155.7	246	2236	3665	3709	4.2	-12.6	11	104	14.70	2.50	-3.42	0.032	19204	0.403	0.066	3252	808	3906	3901	3912	0	0	0	0	0	0	14.30	13.26	14.52
117	-0.73	-155.7	3251	808	3901	3912	13.5	-11.2	17	125	0.00	2.40	0.00	0.000	1030	0.000	0.043	3252	2202	3907	3902	3912	0	0	0	0	0	0	14.74	14.66	14.77
326	-0.73	-155.7	3251	2201	3902	3912	39.4	-13.5	58	333	0.00	2.42	0.00	0.000	516	0.000	0.044	3261	801	3907	3902	3912	0	0	0	0	0	0	15.02	14.66	15.04
341	-0.73	-155.7	3261	801	3903	3912	41.7	-15.6	60	348	0.00	2.42	0.00	0.000	1030	0.000	0.043	3262	2208	3907	3903	3912	0	0	0	0	0	0	14.78	14.69	14.81
553	-0.73	-155.7	3261	2208	3903	3912	67.6	-10.9	86	557	0.00	2.20	0.00	0.000	260	0.000	0.055	3261	3612	3907	3903	3912	0	0	0	0	0	0	15.06	14.70	15.08
564	-0.73	-155.7	3261	3611	3903	3912	68.9	-11.3	88	568	0.00	2.15	0.00	0.000	1030	0.000	0.034	3262	2196	3908	3904	3912	0	0	0	0	0	0	14.83	14.77	14.85
776	-0.73	-155.7	3262	2189	3904	3913	99.8	-17.8	110	780	0.00	2.38	0.00	0.000	516	0.000	0.045	3273	808	3908	3903	3914	0	0	0	0	0	0	15.09	14.73	15.11
828	-0.73	-155.7	3273	802	3904	3915	109.4	-16.3	120	832	0.00	2.38	0.00	0.000	1030	0.000	0.041	3273	2204	3909	3903	3915	0	0	0	0	0	0	14.84	14.76	14.87
1040	-0.73	-155.7	3273	2204	3905	3915	142.4	-16.1	142	1044	0.00	2.40	0.00	0.000	516	0.000	0.047	3281	813	3910	3905	3915	0	0	0	0	0	0	15.10	14.75	15.12
1135	-0.73	-155.7	3281	813	3906	3916	157.1	-15.3	161	1142	0.00	2.38	0.00	0.000	1030	0.000	0.037	3281	2217	3911	3906	3916	0	0	0	0	0	0	14.85	14.78	14.88
1343	-0.73	-155.7	3281	2217	3906	3916	187.3	-14.5	182	1347	0.00	2.20	0.00	0.000	260	0.000	0.062	3281	3598	3911	3906	3916	0	0	0	0	0	0	15.11	14.73	15.13
1374	-0.73	-155.7	3281	3598	3905	3917	191.8	-15.6	188	1379	0.00	2.12	0.00	0.000	1030	0.000	0.034	3288	2185	3911	3905	3917	0	0	0	0	0	0	14.88	14.82	14.90
1586	-0.73	-155.7	3288	2179	3906	3917	221.0	-14.1	210	1590	0.00	2.35	0.00	0.000	516	0.000	0.050	3288	818	3911	3906	3917	0	0	0	0	0	0	15.13	14.73	15.14
1628	-0.73	-155.7	3288	818	3906	3917	227.6	-14.8	218	1633	0.00	2.35	0.00	0.000	1030	0.000	0.041	3288	2198	3911	3906	3917	0	0	0	0	0	0	14.85	14.77	14.88
1860	-0.73	-155.7	3288	2197	3904	3917	265.3	-16.9	236	1865	0.00	2.38	0.00	0.000	516	0.000	0.044	3298	821	3910	3904	3917	0	0	0	0	0	0	15.14	14.76	15.15
1880	-0.73	-155.7	3298	821	3905	3917	269.4	-18.3	240	1886	0.12	2.35	0.00	0.000	5126	0.298	0.039	3275	2205	3911	3905	3917	0	0	0	0	0	0	14.40	14.78	14.69
2102	end dive: TARGET_DEPTH_EXCEEDED
state	2102	begin apogee
2108	-0.15	0.0	3275	2204	3903	3916	303.8	-15.0	249	2217	0.57	0.00	105.75	1.200	10246	0.148	0.000	3452	2204	3345	3358	3332	0	0	0	0	0	0	14.59	14.42	13.77
2218	end apogee: CONTROL_FINISHED_OK
state	2218	begin climb
2220	0.73	155.7	3452	2204	3350	3329	316.9	0.0	252	2348	0.88	2.42	115.22	1.188	10756	0.136	0.041	3739	843	2704	2725	2683	0	0	0	0	0	0	14.36	14.16	13.69
2403	0.73	155.7	3739	843	2720	2681	302.8	20.8	293	2411	0.00	2.47	0.00	0.000	1030	0.000	0.040	3739	2262	2699	2718	2680	0	0	0	0	0	0	14.58	14.51	14.60
2620	0.73	155.7	3739	2261	2714	2678	259.9	19.5	301	2625	0.00	2.20	0.00	0.000	260	0.000	0.050	3740	3666	2695	2713	2678	0	0	0	0	0	0	14.97	14.67	14.99
2764	0.73	155.7	3739	3666	2710	2677	234.7	16.8	329	2769	0.00	2.15	0.00	0.000	1030	0.000	0.035	3748	2274	2693	2710	2677	0	0	0	0	0	0	14.81	14.76	14.83
2976	0.73	155.7	3749	2274	2708	2676	199.8	15.8	351	2980	0.00	2.20	0.00	0.000	260	0.000	0.051	3748	3662	2692	2709	2676	0	0	0	0	0	0	15.06	14.73	15.08
3209	0.73	155.7	3748	3662	2705	2672	163.5	15.7	397	3214	0.00	2.20	0.00	0.000	1030	0.000	0.036	3757	2231	2688	2705	2672	0	0	0	0	0	0	14.85	14.78	14.87
3422	0.73	155.7	3757	2231	2704	2671	133.7	14.3	419	3426	0.00	2.38	0.00	0.000	516	0.000	0.047	3768	858	2687	2704	2671	0	0	0	0	0	0	15.09	14.75	15.11
3464	0.73	155.7	3768	850	2704	2671	128.1	13.8	427	3474	0.17	2.40	0.00	0.000	5126	0.431	0.041	3742	2252	2687	2703	2671	0	0	0	0	0	0	14.13	14.76	14.64
3675	0.73	155.7	3742	2251	2702	2669	101.5	11.9	449	3680	0.00	2.20	0.00	0.000	260	0.000	0.055	3743	3657	2685	2702	2669	0	0	0	0	0	0	15.09	14.73	15.11
3699	0.73	155.7	3742	3657	2700	2669	97.8	14.9	453	3704	0.00	2.17	0.00	0.000	1030	0.000	0.038	3750	2262	2684	2700	2669	0	0	0	0	0	0	14.85	14.78	14.88
3912	0.93	315.9	3750	2264	2700	2666	86.0	3.0	475	4042	0.00	2.50	120.88	0.914	12836	0.000	0.055	3761	840	2051	2074	2028	0	0	0	0	0	0	15.11	14.45	13.94
4159	0.93	315.9	3761	839	2069	2028	49.7	15.8	524	4166	0.00	2.45	0.00	0.000	5126	0.000	0.041	3761	2249	2048	2069	2028	0	0	0	0	0	0	14.68	14.60	14.70
4371	0.93	315.9	3761	2248	2064	2026	11.4	18.9	565	4379	0.00	2.22	0.00	0.000	4356	0.000	0.051	3761	3675	2045	2065	2026	0	0	0	0	0	0	14.98	14.66	15.00
4402	0.93	315.9	3761	3675	2064	2026	5.8	18.7	570	4409	0.00	2.25	0.00	0.000	1030	0.000	0.040	3770	2230	2045	2064	2026	0	0	0	0	0	0	14.77	14.70	14.79
4420	end climb: SURFACE_DEPTH_REACHED
state	4420	begin surface coast
4436	end surface coast: CONTROL_FINISHED_OK
state	4436	begin surface