Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 4 * 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 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 25 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 567.43622 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 145 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 2 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 2450 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 200 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 -154.09409 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.6100001e-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 567.43622

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 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.6100001e-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 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 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 145

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2450 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 200 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 4 MINV_10V 11 R_PORT_OVSHOOT 25 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 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 4 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 111018,005812,7416.6885,-14627.4062,3,0.8,4,18.4,0.2,105.5,10,5.5 SPEED_LIMITS 0.173,0.292

_CALLS 1 TGT_NAME AB3

_XMS_NAKs 0 TGT_LATLONG 7452.500,-14519.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.73 MHEAD_RNG_PITCHd_Wd 28.2,74090,-15.0,-10.000,-18.93,2930

_SM_ANGLEo -76.7 D_GRID 360

GPS2 111018,010126,7416.6997,-14627.4248,4,0.9,4,18.4,0.2,350.3,9,9.4

Post-dive calculations and measurements:

FINISH 0.4,1.020661 _24V_AH 13.21,71.463

SM_CCo 5441,69.40,0.709,1,0,539,567.62 _10V_AH 13.32,0.000

SM_GC 4.62,9.20,5.55,69.40,0.108,0.050,0.709,200,2401,539,-6.99,-0.85,567.62,0,0,0,0,1,0,14.31,14.34,13.68 FG_AHR_24Vo 0.000

RAFOS_CLK 341 FG_AHR_10Vo 0.000

RAFOS_FIX 7416.191406,-14626.997070,111018,020207,0,1,0.18 MEM 326164

IRIDIUM_FIX 7416.86,-14640.60,111018,005449 DATA_FILE_SIZE 23413,673

TT8_MAMPS 0.041944,0.414197 CAP_FILE_SIZE 87299,0

HUMID 48.26 CFSIZE 2097872896,2095022080

INTERNAL_PRESSURE 9.34912 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 14.60 SOUNDSPEED 1444.1

XPDR_PINGS 141 CURRENT 0.413,15.25,1

ALTIM_TOP_PING 19.7,5.8 GPS 111018,023631,7417.410,-14627.464,108,0.7,109,18.4,0.5,7.8,11,3.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 431 127.24 nil 0 0 0.00

Roll_motor 155 85 176.40 nil 0 0 0.00

VBD_pump_during_apogee 627 1895 15719.36 nil 0 0 0.00

VBD_pump_during_surface 69 709 650.13 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 5407 26 1878.23

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 35 420 196.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 6 1.29

TT8 0 0 0.00

LPSleep 3329 2 102.44

TT8_Active 864 11 133.29

TT8_Sampling 1314 31 543.40

TT8_CF8 96 36 46.49

TT8_Kalman 0 0 0.00

Analog_circuits 1461 10 212.26

GPS_charging 0 0 0.00

Compass 967 6 86.82

RAFOS 0 0 0.00

Transponder 2 30 1.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.91 -194.6 201 2400 517 552 0.0 0.0 0 92 0.00 0.00 -81.70 0.003 16386 0.000 0.000 200 2399 1979 2112 1846 0 0 0 0 0 0 14.69 28.83 14.71

95 -0.91 -194.6 201 2400 2113 1852 7.3 -13.7 8 141 9.52 4.93 -29.70 0.005 18948 0.431 0.078 2167 712 3650 3760 3541 0 0 0 0 0 0 14.26 13.81 14.56

161 -0.91 -194.6 2168 717 3761 3544 43.0 -54.5 20 172 0.00 4.85 0.00 0.000 1030 0.000 0.057 2149 2397 3651 3760 3543 0 0 0 0 0 0 14.57 14.46 14.56

351 -0.91 -194.6 2150 2398 3761 3545 95.0 -19.6 40 362 0.00 4.60 0.00 0.000 260 0.000 0.086 2129 3946 3650 3755 3546 0 0 0 0 0 0 14.74 14.46 14.73

367 -0.91 -194.6 2129 3947 3755 3553 97.9 -18.5 43 374 0.00 4.38 0.00 0.000 1030 0.000 0.042 2134 2405 3651 3753 3549 0 0 0 0 0 0 14.57 14.50 14.59

552 -0.91 -194.6 2135 2404 3753 3550 133.5 -18.1 62 558 0.00 4.90 0.00 0.000 516 0.000 0.067 2135 704 3651 3753 3549 0 0 0 0 0 0 14.73 14.54 14.76

628 -0.91 -194.6 2135 704 3752 3550 147.7 -17.3 77 636 0.17 4.88 0.00 0.000 3078 0.278 0.054 2153 2405 3650 3752 3549 0 0 0 0 0 0 14.42 14.57 14.62

813 -0.91 -194.6 2153 2406 3752 3550 178.0 -16.2 96 824 0.00 4.57 0.00 0.000 260 0.000 0.085 2136 3952 3650 3750 3551 0 0 0 0 0 0 14.77 14.56 14.79

994 -0.91 -194.6 2137 3953 3743 3558 204.4 -13.5 132 1000 0.00 4.40 0.00 0.000 1030 0.000 0.042 2136 2395 3649 3742 3557 0 0 0 0 0 0 14.68 14.61 14.69

1185 -0.91 -194.6 2137 2394 3742 3558 232.2 -14.2 152 1195 0.00 4.62 0.00 0.000 260 0.000 0.083 2117 3952 3649 3742 3557 0 0 0 0 0 0 14.76 14.57 14.78

1420 -0.91 -194.6 2117 3952 3741 3560 263.6 -12.3 199 1427 0.15 4.40 0.00 0.000 3078 0.256 0.044 2149 2393 3649 3739 3559 0 0 0 0 0 0 14.48 14.62 14.66

1725 -0.91 -194.6 2150 2392 3740 3559 293.5 -9.4 215 1735 0.00 4.62 0.00 0.000 260 0.000 0.085 2133 3950 3649 3739 3559 0 0 0 0 0 0 14.81 14.60 14.83

1880 -0.91 -194.6 2133 3950 3739 3561 308.4 -9.1 246 1888 0.00 4.38 0.00 0.000 1030 0.000 0.042 2132 2398 3648 3737 3559 0 0 0 0 0 0 14.71 14.64 14.72

2185 -0.91 -194.6 2133 2398 3737 3560 337.6 -9.4 262 2192 0.00 4.85 0.00 0.000 516 0.000 0.068 2132 706 3648 3738 3559 0 0 0 0 0 0 14.84 14.60 14.85

2247 -0.91 -194.6 2132 706 3737 3560 343.9 -10.0 274 2254 0.17 4.82 0.00 0.000 3078 0.269 0.055 2150 2403 3648 3737 3559 0 0 0 0 0 0 14.50 14.62 14.68

2447 end dive: TARGET_DEPTH_EXCEEDED

state 2447 begin apogee

2452 -0.11 0.0 2151 2187 3739 3561 360.7 -8.0 287 2632 0.93 0.00 176.65 1.896 10246 0.229 0.000 2409 2184 2852 2901 2803 0 0 0 0 0 0 14.54 14.00 13.34

2633 end apogee: CONTROL_FINISHED_OK

state 2633 begin climb

2636 0.91 194.6 2410 2185 2901 2803 364.6 0.0 296 2828 1.00 5.18 175.90 1.786 10756 0.089 0.076 2763 520 2056 2083 2030 0 0 0 0 0 0 13.98 13.81 13.21

2868 0.91 194.6 2764 521 2079 2025 320.5 28.8 340 2878 0.00 5.03 0.00 0.000 1030 0.000 0.054 2754 2204 2049 2078 2020 0 0 0 0 0 0 14.04 13.97 14.07

3178 0.91 194.6 2755 2206 2081 2010 244.4 20.5 359 3189 0.00 5.00 0.00 0.000 516 0.000 0.072 2775 520 2044 2080 2009 0 0 0 0 0 0 14.48 14.24 14.50

3204 0.91 194.6 2774 520 2079 2009 239.1 21.0 364 3211 0.00 4.90 0.00 0.000 1030 0.000 0.052 2765 2210 2043 2079 2008 0 0 0 0 0 0 14.38 14.31 14.40

3389 0.91 194.6 2765 2210 2081 2005 206.7 15.4 383 3400 0.00 5.00 0.00 0.000 516 0.000 0.071 2785 515 2042 2080 2005 0 0 0 0 0 0 14.57 14.37 14.59

3455 0.91 194.6 2786 516 2081 2006 195.2 17.3 396 3462 0.17 4.85 0.00 0.000 5126 0.373 0.050 2748 2203 2042 2080 2005 0 0 0 0 0 0 14.19 14.42 14.45

3640 0.91 194.6 2748 2204 2080 2003 169.7 13.0 415 3651 0.00 4.95 0.00 0.000 516 0.000 0.070 2769 517 2041 2080 2003 0 0 0 0 0 0 14.64 14.45 14.66

3656 0.91 194.6 2770 518 2082 2004 167.3 14.1 418 3664 0.00 4.80 0.00 0.000 1030 0.000 0.048 2755 2204 2041 2080 2002 0 0 0 0 0 0 14.54 14.47 14.56

3841 0.91 194.6 2756 2205 2082 2002 145.6 11.4 437 3853 0.00 4.95 0.00 0.000 772 0.000 0.070 2775 514 2040 2080 2001 0 0 0 0 0 0 14.69 14.47 14.71

4078 0.91 194.6 2775 514 2080 2001 118.9 9.7 484 4085 0.00 4.82 0.00 0.000 1030 0.000 0.050 2770 2208 2040 2080 2001 0 0 0 0 0 0 14.57 14.50 14.59

4263 1.01 194.6 2770 2209 2081 2000 105.8 6.5 503 4274 0.00 4.95 0.00 0.000 324 0.000 0.077 2770 3890 2040 2080 2001 0 0 0 0 0 0 14.72 14.51 14.73

4349 1.10 194.6 2770 3891 2079 2002 99.6 7.0 520 4356 0.00 4.78 0.00 0.000 1094 0.000 0.039 2789 2197 2040 2080 2000 0 0 0 0 0 0 14.63 14.58 14.65

4534 1.74 406.7 2791 2197 2082 2000 92.2 2.6 539 4724 0.65 5.28 175.62 1.543 11044 0.141 0.078 2987 3890 1192 1217 1168 0 0 0 0 0 0 14.47 13.97 13.43

4769 1.74 406.7 2988 3891 1212 1168 60.5 17.7 582 4777 0.00 4.97 0.00 0.000 1030 0.000 0.044 3007 2206 1188 1211 1165 0 0 0 0 0 0 14.19 14.12 14.20

4955 2.11 529.0 3008 2206 1212 1157 45.4 5.7 601 5066 0.35 5.07 99.55 1.450 11044 0.144 0.068 3140 499 692 686 698 0 0 0 0 0 0 14.23 13.92 13.47

5141 2.11 529.0 3140 499 681 698 25.8 10.2 636 5148 0.00 4.95 0.00 0.000 1030 0.000 0.045 3137 2201 689 683 696 0 0 0 0 0 0 14.21 14.15 14.23

5328 2.13 529.0 3137 2203 687 690 8.5 9.1 655 5338 0.00 5.03 0.00 0.000 580 0.000 0.073 3157 508 686 685 688 0 0 0 0 0 0 14.45 14.23 14.47

5406 end climb: SURFACE_DEPTH_REACHED

state 5406 begin surface coast

5416 end surface coast: CONTROL_FINISHED_OK

state 5416 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	25	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	567.43622	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	145	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	2	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	2450	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	200	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	-154.09409	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.6100001e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	111018,005812,7416.6885,-14627.4062,3,0.8,4,18.4,0.2,105.5,10,5.5	SPEED_LIMITS	0.173,0.292
_CALLS	1	TGT_NAME	AB3
_XMS_NAKs	0	TGT_LATLONG	7452.500,-14519.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.73	MHEAD_RNG_PITCHd_Wd	28.2,74090,-15.0,-10.000,-18.93,2930
_SM_ANGLEo	-76.7	D_GRID	360
GPS2	111018,010126,7416.6997,-14627.4248,4,0.9,4,18.4,0.2,350.3,9,9.4

FINISH	0.4,1.020661	_24V_AH	13.21,71.463
SM_CCo	5441,69.40,0.709,1,0,539,567.62	_10V_AH	13.32,0.000
SM_GC	4.62,9.20,5.55,69.40,0.108,0.050,0.709,200,2401,539,-6.99,-0.85,567.62,0,0,0,0,1,0,14.31,14.34,13.68	FG_AHR_24Vo	0.000
RAFOS_CLK	341	FG_AHR_10Vo	0.000
RAFOS_FIX	7416.191406,-14626.997070,111018,020207,0,1,0.18	MEM	326164
IRIDIUM_FIX	7416.86,-14640.60,111018,005449	DATA_FILE_SIZE	23413,673
TT8_MAMPS	0.041944,0.414197	CAP_FILE_SIZE	87299,0
HUMID	48.26	CFSIZE	2097872896,2095022080
INTERNAL_PRESSURE	9.34912	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	14.60	SOUNDSPEED	1444.1
XPDR_PINGS	141	CURRENT	0.413,15.25,1
ALTIM_TOP_PING	19.7,5.8	GPS	111018,023631,7417.410,-14627.464,108,0.7,109,18.4,0.5,7.8,11,3.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	431	127.24	nil	0	0	0.00
Roll_motor	155	85	176.40	nil	0	0	0.00
VBD_pump_during_apogee	627	1895	15719.36	nil	0	0	0.00
VBD_pump_during_surface	69	709	650.13	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	5407	26	1878.23
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	35	420	196.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	6	1.29
TT8	0	0	0.00
LPSleep	3329	2	102.44
TT8_Active	864	11	133.29
TT8_Sampling	1314	31	543.40
TT8_CF8	96	36	46.49
TT8_Kalman	0	0	0.00
Analog_circuits	1461	10	212.26
GPS_charging	0	0	0.00
Compass	967	6	86.82
RAFOS	0	0	0.00
Transponder	2	30	1.00

		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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.91	-194.6	201	2400	517	552	0.0	0.0	0	92	0.00	0.00	-81.70	0.003	16386	0.000	0.000	200	2399	1979	2112	1846	0	0	0	0	0	0	14.69	28.83	14.71
95	-0.91	-194.6	201	2400	2113	1852	7.3	-13.7	8	141	9.52	4.93	-29.70	0.005	18948	0.431	0.078	2167	712	3650	3760	3541	0	0	0	0	0	0	14.26	13.81	14.56
161	-0.91	-194.6	2168	717	3761	3544	43.0	-54.5	20	172	0.00	4.85	0.00	0.000	1030	0.000	0.057	2149	2397	3651	3760	3543	0	0	0	0	0	0	14.57	14.46	14.56
351	-0.91	-194.6	2150	2398	3761	3545	95.0	-19.6	40	362	0.00	4.60	0.00	0.000	260	0.000	0.086	2129	3946	3650	3755	3546	0	0	0	0	0	0	14.74	14.46	14.73
367	-0.91	-194.6	2129	3947	3755	3553	97.9	-18.5	43	374	0.00	4.38	0.00	0.000	1030	0.000	0.042	2134	2405	3651	3753	3549	0	0	0	0	0	0	14.57	14.50	14.59
552	-0.91	-194.6	2135	2404	3753	3550	133.5	-18.1	62	558	0.00	4.90	0.00	0.000	516	0.000	0.067	2135	704	3651	3753	3549	0	0	0	0	0	0	14.73	14.54	14.76
628	-0.91	-194.6	2135	704	3752	3550	147.7	-17.3	77	636	0.17	4.88	0.00	0.000	3078	0.278	0.054	2153	2405	3650	3752	3549	0	0	0	0	0	0	14.42	14.57	14.62
813	-0.91	-194.6	2153	2406	3752	3550	178.0	-16.2	96	824	0.00	4.57	0.00	0.000	260	0.000	0.085	2136	3952	3650	3750	3551	0	0	0	0	0	0	14.77	14.56	14.79
994	-0.91	-194.6	2137	3953	3743	3558	204.4	-13.5	132	1000	0.00	4.40	0.00	0.000	1030	0.000	0.042	2136	2395	3649	3742	3557	0	0	0	0	0	0	14.68	14.61	14.69
1185	-0.91	-194.6	2137	2394	3742	3558	232.2	-14.2	152	1195	0.00	4.62	0.00	0.000	260	0.000	0.083	2117	3952	3649	3742	3557	0	0	0	0	0	0	14.76	14.57	14.78
1420	-0.91	-194.6	2117	3952	3741	3560	263.6	-12.3	199	1427	0.15	4.40	0.00	0.000	3078	0.256	0.044	2149	2393	3649	3739	3559	0	0	0	0	0	0	14.48	14.62	14.66
1725	-0.91	-194.6	2150	2392	3740	3559	293.5	-9.4	215	1735	0.00	4.62	0.00	0.000	260	0.000	0.085	2133	3950	3649	3739	3559	0	0	0	0	0	0	14.81	14.60	14.83
1880	-0.91	-194.6	2133	3950	3739	3561	308.4	-9.1	246	1888	0.00	4.38	0.00	0.000	1030	0.000	0.042	2132	2398	3648	3737	3559	0	0	0	0	0	0	14.71	14.64	14.72
2185	-0.91	-194.6	2133	2398	3737	3560	337.6	-9.4	262	2192	0.00	4.85	0.00	0.000	516	0.000	0.068	2132	706	3648	3738	3559	0	0	0	0	0	0	14.84	14.60	14.85
2247	-0.91	-194.6	2132	706	3737	3560	343.9	-10.0	274	2254	0.17	4.82	0.00	0.000	3078	0.269	0.055	2150	2403	3648	3737	3559	0	0	0	0	0	0	14.50	14.62	14.68
2447	end dive: TARGET_DEPTH_EXCEEDED
state	2447	begin apogee
2452	-0.11	0.0	2151	2187	3739	3561	360.7	-8.0	287	2632	0.93	0.00	176.65	1.896	10246	0.229	0.000	2409	2184	2852	2901	2803	0	0	0	0	0	0	14.54	14.00	13.34
2633	end apogee: CONTROL_FINISHED_OK
state	2633	begin climb
2636	0.91	194.6	2410	2185	2901	2803	364.6	0.0	296	2828	1.00	5.18	175.90	1.786	10756	0.089	0.076	2763	520	2056	2083	2030	0	0	0	0	0	0	13.98	13.81	13.21
2868	0.91	194.6	2764	521	2079	2025	320.5	28.8	340	2878	0.00	5.03	0.00	0.000	1030	0.000	0.054	2754	2204	2049	2078	2020	0	0	0	0	0	0	14.04	13.97	14.07
3178	0.91	194.6	2755	2206	2081	2010	244.4	20.5	359	3189	0.00	5.00	0.00	0.000	516	0.000	0.072	2775	520	2044	2080	2009	0	0	0	0	0	0	14.48	14.24	14.50
3204	0.91	194.6	2774	520	2079	2009	239.1	21.0	364	3211	0.00	4.90	0.00	0.000	1030	0.000	0.052	2765	2210	2043	2079	2008	0	0	0	0	0	0	14.38	14.31	14.40
3389	0.91	194.6	2765	2210	2081	2005	206.7	15.4	383	3400	0.00	5.00	0.00	0.000	516	0.000	0.071	2785	515	2042	2080	2005	0	0	0	0	0	0	14.57	14.37	14.59
3455	0.91	194.6	2786	516	2081	2006	195.2	17.3	396	3462	0.17	4.85	0.00	0.000	5126	0.373	0.050	2748	2203	2042	2080	2005	0	0	0	0	0	0	14.19	14.42	14.45
3640	0.91	194.6	2748	2204	2080	2003	169.7	13.0	415	3651	0.00	4.95	0.00	0.000	516	0.000	0.070	2769	517	2041	2080	2003	0	0	0	0	0	0	14.64	14.45	14.66
3656	0.91	194.6	2770	518	2082	2004	167.3	14.1	418	3664	0.00	4.80	0.00	0.000	1030	0.000	0.048	2755	2204	2041	2080	2002	0	0	0	0	0	0	14.54	14.47	14.56
3841	0.91	194.6	2756	2205	2082	2002	145.6	11.4	437	3853	0.00	4.95	0.00	0.000	772	0.000	0.070	2775	514	2040	2080	2001	0	0	0	0	0	0	14.69	14.47	14.71
4078	0.91	194.6	2775	514	2080	2001	118.9	9.7	484	4085	0.00	4.82	0.00	0.000	1030	0.000	0.050	2770	2208	2040	2080	2001	0	0	0	0	0	0	14.57	14.50	14.59
4263	1.01	194.6	2770	2209	2081	2000	105.8	6.5	503	4274	0.00	4.95	0.00	0.000	324	0.000	0.077	2770	3890	2040	2080	2001	0	0	0	0	0	0	14.72	14.51	14.73
4349	1.10	194.6	2770	3891	2079	2002	99.6	7.0	520	4356	0.00	4.78	0.00	0.000	1094	0.000	0.039	2789	2197	2040	2080	2000	0	0	0	0	0	0	14.63	14.58	14.65
4534	1.74	406.7	2791	2197	2082	2000	92.2	2.6	539	4724	0.65	5.28	175.62	1.543	11044	0.141	0.078	2987	3890	1192	1217	1168	0	0	0	0	0	0	14.47	13.97	13.43
4769	1.74	406.7	2988	3891	1212	1168	60.5	17.7	582	4777	0.00	4.97	0.00	0.000	1030	0.000	0.044	3007	2206	1188	1211	1165	0	0	0	0	0	0	14.19	14.12	14.20
4955	2.11	529.0	3008	2206	1212	1157	45.4	5.7	601	5066	0.35	5.07	99.55	1.450	11044	0.144	0.068	3140	499	692	686	698	0	0	0	0	0	0	14.23	13.92	13.47
5141	2.11	529.0	3140	499	681	698	25.8	10.2	636	5148	0.00	4.95	0.00	0.000	1030	0.000	0.045	3137	2201	689	683	696	0	0	0	0	0	0	14.21	14.15	14.23
5328	2.13	529.0	3137	2203	687	690	8.5	9.1	655	5338	0.00	5.03	0.00	0.000	580	0.000	0.073	3157	508	686	685	688	0	0	0	0	0	0	14.45	14.23	14.47
5406	end climb: SURFACE_DEPTH_REACHED
state	5406	begin surface coast
5416	end surface coast: CONTROL_FINISHED_OK
state	5416	begin surface