Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 562 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 562 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3600 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 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 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 0.079999998 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 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 0.0031300001 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 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.079999998 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3600 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 5

DIVE 562 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 251118,082800,-7407.3511,-11323.1436,23,0.8,23,53.9,0.2,136.7,9,3.9 SPEED_LIMITS 0.100,0.187

_CALLS 2 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.56 MHEAD_RNG_PITCHd_Wd 48.6,30229,-21.3,-10.000,-28.20,1570

_SM_ANGLEo -67.2 D_GRID 990

GPS2 251118,084429,-7407.3096,-11323.2236,2,0.8,4,53.9,0.4,330.3,9,6.0

Post-dive calculations and measurements:

FREEZE -0.25,-1.518,-1.859,2,1,0 ALTIM_BOTTOM_PING 323.1,7.9

FINISH -0.2,1.027277 _24V_AH 11.49,180.563

SM_CCo 5727,111.53,0.223,0,0,2404,300.18 _10V_AH 11.82,0.000

SM_GC 0.51,8.65,0.47,111.53,0.070,0.094,0.223,185,2812,2404,-7.90,-0.40,300.18,0,0,0,0,0,0,14.42,14.45,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 236 FG_AHR_10Vo 0.000

RAFOS 0,1543136477,9.032778,9.021389,79,65,62,60,59,54,570,178,143,196,220,152 MEM 279840

RAFOS_FIX -7406.999512,-11309.736328,251118,090940,3,100,3.79 DATA_FILE_SIZE 10142,296

IRIDIUM_FIX -7408.22,-11327.41,251118,083309 CAP_FILE_SIZE 62326,0

TT8_MAMPS 0.038948,0.235186 CFSIZE 1024409600,954155008

HUMID 48.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81199 SOUNDSPEED 1444.5

TCM_TEMP 13.00 CURRENT 0.066,36.74,1

XPDR_PINGS 0 GPS 251118,102302,-7407.335,-11320.822,4,1.3,8,53.9,0.6,147.0,5,5.0

ALTIM_TOP_PING 17.6,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 436 114.06 nil 0 0 0.00

Roll_motor 47 94 50.87 nil 0 0 0.00

VBD_pump_during_apogee 290 2752 9196.02 nil 0 0 0.00

VBD_pump_during_surface 111 222 285.26 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 5727 3 209.52

Iridium_during_xfer 646 208 1550.58 nil 0 0 0.00

Transponder_ping 13 420 65.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.65

TT8 0 0 0.00

LPSleep 4607 2 125.82

TT8_Active 559 10 71.86

TT8_Sampling 1287 30 461.76

TT8_CF8 386 51 234.39

TT8_Kalman 0 0 0.00

Analog_circuits 1482 10 176.98

GPS_charging 0 0 0.00

Compass 431 6 34.41

RAFOS 720 1 12.77

Transponder 93 30 33.19

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

11.2 12.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.6 24.20 9000.00 0.0 0.00 0.00 24.20 0.0 1.13 1.00

285.4 51.80 9000.00 0.0 0.13 0.93 51.80 0.0 0.10 1.00

302.4 26.90 9000.00 0.0 0.05 0.28 26.90 329.3 -1.46 1.00

312.8 15.60 9000.00 0.0 -1.33 0.99 15.60 328.4 -1.09 1.00

323.1 8.60 7.90 331.0 -0.89 0.98 8.60 331.7 -0.68 1.00

327.6 7.80 9000.00 0.0 -0.56 0.95 7.80 335.4 -0.18 1.00

95.7 99.40 9000.00 0.0 -0.40 1.00 99.40 0.0 -0.39 1.00

84.5 89.20 9000.00 0.0 -0.36 0.98 89.20 -4.7 0.91 1.00

72.6 76.20 76.60 -4.0 1.00 1.00 76.20 -3.6 1.09 1.00

61.3 64.40 64.30 -3.0 1.06 1.00 64.40 -3.1 1.04 1.00

49.6 52.70 52.70 -3.1 1.02 1.00 52.70 -3.1 1.00 1.00

38.6 40.40 40.60 -2.0 1.06 1.00 40.40 -1.8 1.12 1.00

27.9 29.00 28.90 -1.0 1.09 1.00 29.00 -1.1 1.07 1.00

17.6 18.20 18.20 -0.6 1.05 1.00 18.20 -0.6 1.05 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

12 -1.10 -107.1 185 2814 2423 2320 0.0 0.0 0 114 0.00 0.00 -100.85 0.003 16390 0.000 0.000 185 2818 3963 3975 3952 0 0 0 0 0 0 14.75 12.42 14.74

117 -1.10 -107.1 186 2814 3978 3955 1.3 -1.0 3 133 11.43 2.00 0.00 0.000 2308 0.437 0.076 2365 3913 3969 3977 3962 0 0 0 0 0 0 13.82 14.37 14.34

363 -1.10 -107.1 2366 3913 3978 3969 52.1 -18.9 39 370 0.00 1.95 0.00 0.000 1030 0.000 0.043 2366 2772 3972 3976 3969 0 0 0 0 0 0 14.49 14.46 14.50

729 -1.10 -107.1 2366 2773 3973 3972 112.5 -16.3 55 734 0.00 2.38 0.00 0.000 516 0.000 0.049 2366 1390 3973 3976 3971 0 0 0 0 0 0 14.90 14.42 14.90

769 -1.10 -107.1 2366 1391 3976 3972 119.2 -15.5 61 776 0.00 2.55 0.00 0.000 1030 0.000 0.064 2363 2806 3973 3976 3971 0 0 0 0 0 0 14.42 14.34 14.47

1121 -1.10 -107.1 2362 2806 3977 3970 178.5 -17.1 75 1126 0.00 2.00 0.00 0.000 260 0.000 0.086 2358 3909 3974 3976 3972 0 0 0 0 0 0 14.90 14.29 14.90

1168 -1.10 -107.1 2359 3909 3977 3971 187.7 -19.4 82 1176 0.00 1.92 0.00 0.000 1030 0.000 0.045 2358 2795 3973 3975 3971 0 0 0 0 0 0 14.61 14.56 14.61

1542 -1.10 -107.1 2358 2796 3976 3972 250.5 -17.0 91 1546 0.00 2.03 0.00 0.000 260 0.000 0.085 2357 3912 3973 3976 3971 0 0 0 0 0 0 14.84 14.32 14.84

1581 -1.10 -107.1 2358 3913 3976 3972 257.6 -17.1 97 1588 0.00 1.92 0.00 0.000 1030 0.000 0.044 2357 2790 3973 3976 3971 0 0 0 0 0 0 14.54 14.50 14.56

1931 -1.10 -107.1 2358 2790 3977 3972 310.7 -15.1 105 1938 0.00 2.08 0.00 0.000 260 0.000 0.085 2357 3912 3973 3976 3971 0 0 0 0 0 0 14.92 14.26 14.92

2006 end dive: BOTTOM_OBSTACLE_DETECTED

state 2008 begin apogee

2016 -0.23 0.0 2358 2537 3977 3972 323.1 -16.5 116 2125 1.17 0.00 105.53 2.752 10246 0.266 0.000 2651 2535 3598 3606 3591 0 0 0 0 0 0 13.83 13.71 12.30

2126 end apogee: CONTROL_FINISHED_OK

state 2126 begin climb

2129 1.10 107.1 2652 2535 3607 3591 329.7 0.0 118 2263 1.48 2.78 120.30 2.666 10756 0.158 0.060 3088 1159 3170 3183 3158 0 0 0 0 0 0 13.69 13.02 11.63

2282 1.17 162.3 3089 1159 3182 3154 323.2 6.4 141 2356 0.00 2.75 64.95 2.593 9254 0.000 0.065 3088 2548 2949 2969 2929 0 0 0 0 0 0 13.31 13.23 11.49

2740 1.17 162.3 3088 2549 2958 2922 277.8 10.5 164 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2548 2939 2958 2921 0 0 0 0 0 0 14.71 14.71 14.71

3076 1.17 162.3 3089 2549 2956 2920 245.5 9.6 170 3082 0.00 2.53 0.00 0.000 260 0.000 0.093 3088 3906 2937 2956 2919 0 0 0 0 0 0 14.88 14.33 14.88

3145 1.17 162.3 3089 3906 2957 2919 238.3 10.4 180 3152 0.00 2.38 0.00 0.000 1030 0.000 0.050 3098 2541 2937 2955 2919 0 0 0 0 0 0 14.57 14.53 14.60

3525 1.18 162.3 3098 2542 2955 2920 202.8 9.1 192 3525 0.00 0.00 0.00 0.000 70 0.000 0.000 3098 2541 2936 2955 2918 0 0 0 0 0 0 14.87 14.87 14.87

3861 1.20 162.3 3098 2541 2954 2919 172.2 9.3 203 3866 0.00 2.53 0.00 0.000 324 0.000 0.093 3098 3916 2936 2954 2918 0 0 0 0 0 0 14.88 14.38 14.88

3929 1.20 162.3 3099 3916 2955 2918 165.0 10.5 213 3937 0.00 2.38 0.00 0.000 1030 0.000 0.050 3109 2550 2936 2954 2918 0 0 0 0 0 0 14.59 14.54 14.61

4280 1.22 162.3 3109 2551 2952 2919 133.6 8.9 227 4286 0.00 2.50 0.00 0.000 580 0.000 0.061 3119 1154 2935 2954 2917 0 0 0 0 0 0 14.95 14.35 14.95

4378 1.24 162.3 3120 1154 2955 2917 124.9 8.8 241 4385 0.00 2.53 0.00 0.000 1094 0.000 0.067 3119 2550 2935 2954 2917 0 0 0 0 0 0 14.47 14.38 14.52

4730 1.26 162.3 3119 2551 2954 2918 93.1 9.0 255 4731 0.00 0.00 0.00 0.000 70 0.000 0.000 3119 2550 2935 2953 2917 0 0 0 0 0 0 14.93 14.93 14.93

5064 1.26 162.3 3119 2550 2954 2918 58.3 10.1 267 5064 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2550 2935 2953 2917 0 0 0 0 0 0 14.96 14.96 14.96

5402 1.28 162.3 3119 2551 2954 2918 25.2 9.4 279 5407 0.00 2.47 0.00 0.000 580 0.000 0.059 3130 1142 2935 2953 2917 0 0 0 0 0 0 14.94 14.34 14.94

5442 1.30 162.3 3130 1142 2955 2917 21.5 8.8 285 5449 0.00 2.55 0.00 0.000 1094 0.000 0.067 3130 2555 2935 2953 2917 0 0 0 0 0 0 14.44 14.35 14.49

5677 end climb: SURFACE_DEPTH_REACHED

state 5677 begin surface coast

5708 end surface coast: CONTROL_FINISHED_OK

state 5708 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	562	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3600	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	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	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	0.079999998	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	251118,082800,-7407.3511,-11323.1436,23,0.8,23,53.9,0.2,136.7,9,3.9	SPEED_LIMITS	0.100,0.187
_CALLS	2	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.56	MHEAD_RNG_PITCHd_Wd	48.6,30229,-21.3,-10.000,-28.20,1570
_SM_ANGLEo	-67.2	D_GRID	990
GPS2	251118,084429,-7407.3096,-11323.2236,2,0.8,4,53.9,0.4,330.3,9,6.0

FREEZE	-0.25,-1.518,-1.859,2,1,0	ALTIM_BOTTOM_PING	323.1,7.9
FINISH	-0.2,1.027277	_24V_AH	11.49,180.563
SM_CCo	5727,111.53,0.223,0,0,2404,300.18	_10V_AH	11.82,0.000
SM_GC	0.51,8.65,0.47,111.53,0.070,0.094,0.223,185,2812,2404,-7.90,-0.40,300.18,0,0,0,0,0,0,14.42,14.45,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	236	FG_AHR_10Vo	0.000
RAFOS	0,1543136477,9.032778,9.021389,79,65,62,60,59,54,570,178,143,196,220,152	MEM	279840
RAFOS_FIX	-7406.999512,-11309.736328,251118,090940,3,100,3.79	DATA_FILE_SIZE	10142,296
IRIDIUM_FIX	-7408.22,-11327.41,251118,083309	CAP_FILE_SIZE	62326,0
TT8_MAMPS	0.038948,0.235186	CFSIZE	1024409600,954155008
HUMID	48.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81199	SOUNDSPEED	1444.5
TCM_TEMP	13.00	CURRENT	0.066,36.74,1
XPDR_PINGS	0	GPS	251118,102302,-7407.335,-11320.822,4,1.3,8,53.9,0.6,147.0,5,5.0
ALTIM_TOP_PING	17.6,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	436	114.06	nil	0	0	0.00
Roll_motor	47	94	50.87	nil	0	0	0.00
VBD_pump_during_apogee	290	2752	9196.02	nil	0	0	0.00
VBD_pump_during_surface	111	222	285.26	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	5727	3	209.52
Iridium_during_xfer	646	208	1550.58	nil	0	0	0.00
Transponder_ping	13	420	65.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.65
TT8	0	0	0.00
LPSleep	4607	2	125.82
TT8_Active	559	10	71.86
TT8_Sampling	1287	30	461.76
TT8_CF8	386	51	234.39
TT8_Kalman	0	0	0.00
Analog_circuits	1482	10	176.98
GPS_charging	0	0	0.00
Compass	431	6	34.41
RAFOS	720	1	12.77
Transponder	93	30	33.19

		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
11.2	12.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.6	24.20	9000.00	0.0	0.00	0.00	24.20	0.0	1.13	1.00
285.4	51.80	9000.00	0.0	0.13	0.93	51.80	0.0	0.10	1.00
302.4	26.90	9000.00	0.0	0.05	0.28	26.90	329.3	-1.46	1.00
312.8	15.60	9000.00	0.0	-1.33	0.99	15.60	328.4	-1.09	1.00
323.1	8.60	7.90	331.0	-0.89	0.98	8.60	331.7	-0.68	1.00
327.6	7.80	9000.00	0.0	-0.56	0.95	7.80	335.4	-0.18	1.00

95.7	99.40	9000.00	0.0	-0.40	1.00	99.40	0.0	-0.39	1.00
84.5	89.20	9000.00	0.0	-0.36	0.98	89.20	-4.7	0.91	1.00
72.6	76.20	76.60	-4.0	1.00	1.00	76.20	-3.6	1.09	1.00
61.3	64.40	64.30	-3.0	1.06	1.00	64.40	-3.1	1.04	1.00
49.6	52.70	52.70	-3.1	1.02	1.00	52.70	-3.1	1.00	1.00
38.6	40.40	40.60	-2.0	1.06	1.00	40.40	-1.8	1.12	1.00
27.9	29.00	28.90	-1.0	1.09	1.00	29.00	-1.1	1.07	1.00
17.6	18.20	18.20	-0.6	1.05	1.00	18.20	-0.6	1.05	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
12	-1.10	-107.1	185	2814	2423	2320	0.0	0.0	0	114	0.00	0.00	-100.85	0.003	16390	0.000	0.000	185	2818	3963	3975	3952	0	0	0	0	0	0	14.75	12.42	14.74
117	-1.10	-107.1	186	2814	3978	3955	1.3	-1.0	3	133	11.43	2.00	0.00	0.000	2308	0.437	0.076	2365	3913	3969	3977	3962	0	0	0	0	0	0	13.82	14.37	14.34
363	-1.10	-107.1	2366	3913	3978	3969	52.1	-18.9	39	370	0.00	1.95	0.00	0.000	1030	0.000	0.043	2366	2772	3972	3976	3969	0	0	0	0	0	0	14.49	14.46	14.50
729	-1.10	-107.1	2366	2773	3973	3972	112.5	-16.3	55	734	0.00	2.38	0.00	0.000	516	0.000	0.049	2366	1390	3973	3976	3971	0	0	0	0	0	0	14.90	14.42	14.90
769	-1.10	-107.1	2366	1391	3976	3972	119.2	-15.5	61	776	0.00	2.55	0.00	0.000	1030	0.000	0.064	2363	2806	3973	3976	3971	0	0	0	0	0	0	14.42	14.34	14.47
1121	-1.10	-107.1	2362	2806	3977	3970	178.5	-17.1	75	1126	0.00	2.00	0.00	0.000	260	0.000	0.086	2358	3909	3974	3976	3972	0	0	0	0	0	0	14.90	14.29	14.90
1168	-1.10	-107.1	2359	3909	3977	3971	187.7	-19.4	82	1176	0.00	1.92	0.00	0.000	1030	0.000	0.045	2358	2795	3973	3975	3971	0	0	0	0	0	0	14.61	14.56	14.61
1542	-1.10	-107.1	2358	2796	3976	3972	250.5	-17.0	91	1546	0.00	2.03	0.00	0.000	260	0.000	0.085	2357	3912	3973	3976	3971	0	0	0	0	0	0	14.84	14.32	14.84
1581	-1.10	-107.1	2358	3913	3976	3972	257.6	-17.1	97	1588	0.00	1.92	0.00	0.000	1030	0.000	0.044	2357	2790	3973	3976	3971	0	0	0	0	0	0	14.54	14.50	14.56
1931	-1.10	-107.1	2358	2790	3977	3972	310.7	-15.1	105	1938	0.00	2.08	0.00	0.000	260	0.000	0.085	2357	3912	3973	3976	3971	0	0	0	0	0	0	14.92	14.26	14.92
2006	end dive: BOTTOM_OBSTACLE_DETECTED
state	2008	begin apogee
2016	-0.23	0.0	2358	2537	3977	3972	323.1	-16.5	116	2125	1.17	0.00	105.53	2.752	10246	0.266	0.000	2651	2535	3598	3606	3591	0	0	0	0	0	0	13.83	13.71	12.30
2126	end apogee: CONTROL_FINISHED_OK
state	2126	begin climb
2129	1.10	107.1	2652	2535	3607	3591	329.7	0.0	118	2263	1.48	2.78	120.30	2.666	10756	0.158	0.060	3088	1159	3170	3183	3158	0	0	0	0	0	0	13.69	13.02	11.63
2282	1.17	162.3	3089	1159	3182	3154	323.2	6.4	141	2356	0.00	2.75	64.95	2.593	9254	0.000	0.065	3088	2548	2949	2969	2929	0	0	0	0	0	0	13.31	13.23	11.49
2740	1.17	162.3	3088	2549	2958	2922	277.8	10.5	164	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2548	2939	2958	2921	0	0	0	0	0	0	14.71	14.71	14.71
3076	1.17	162.3	3089	2549	2956	2920	245.5	9.6	170	3082	0.00	2.53	0.00	0.000	260	0.000	0.093	3088	3906	2937	2956	2919	0	0	0	0	0	0	14.88	14.33	14.88
3145	1.17	162.3	3089	3906	2957	2919	238.3	10.4	180	3152	0.00	2.38	0.00	0.000	1030	0.000	0.050	3098	2541	2937	2955	2919	0	0	0	0	0	0	14.57	14.53	14.60
3525	1.18	162.3	3098	2542	2955	2920	202.8	9.1	192	3525	0.00	0.00	0.00	0.000	70	0.000	0.000	3098	2541	2936	2955	2918	0	0	0	0	0	0	14.87	14.87	14.87
3861	1.20	162.3	3098	2541	2954	2919	172.2	9.3	203	3866	0.00	2.53	0.00	0.000	324	0.000	0.093	3098	3916	2936	2954	2918	0	0	0	0	0	0	14.88	14.38	14.88
3929	1.20	162.3	3099	3916	2955	2918	165.0	10.5	213	3937	0.00	2.38	0.00	0.000	1030	0.000	0.050	3109	2550	2936	2954	2918	0	0	0	0	0	0	14.59	14.54	14.61
4280	1.22	162.3	3109	2551	2952	2919	133.6	8.9	227	4286	0.00	2.50	0.00	0.000	580	0.000	0.061	3119	1154	2935	2954	2917	0	0	0	0	0	0	14.95	14.35	14.95
4378	1.24	162.3	3120	1154	2955	2917	124.9	8.8	241	4385	0.00	2.53	0.00	0.000	1094	0.000	0.067	3119	2550	2935	2954	2917	0	0	0	0	0	0	14.47	14.38	14.52
4730	1.26	162.3	3119	2551	2954	2918	93.1	9.0	255	4731	0.00	0.00	0.00	0.000	70	0.000	0.000	3119	2550	2935	2953	2917	0	0	0	0	0	0	14.93	14.93	14.93
5064	1.26	162.3	3119	2550	2954	2918	58.3	10.1	267	5064	0.00	0.00	0.00	0.000	6	0.000	0.000	3119	2550	2935	2953	2917	0	0	0	0	0	0	14.96	14.96	14.96
5402	1.28	162.3	3119	2551	2954	2918	25.2	9.4	279	5407	0.00	2.47	0.00	0.000	580	0.000	0.059	3130	1142	2935	2953	2917	0	0	0	0	0	0	14.94	14.34	14.94
5442	1.30	162.3	3130	1142	2955	2917	21.5	8.8	285	5449	0.00	2.55	0.00	0.000	1094	0.000	0.067	3130	2555	2935	2953	2917	0	0	0	0	0	0	14.44	14.35	14.49
5677	end climb: SURFACE_DEPTH_REACHED
state	5677	begin surface coast
5708	end surface coast: CONTROL_FINISHED_OK
state	5708	begin surface