Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 57 * 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 57 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 10

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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 18 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 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 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 100 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 130 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 60 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 2 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 0.15000001 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 30 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 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 783

AD7714Ch0Gain 1 D_TGT 300 N_NOCOMM 3 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 8 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 783 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 10 GLIDE_SLOPE 30 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 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 100

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 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 130

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 2

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 60

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 57 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 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 010218,124314,-7412.0620,-11226.1182,1,1.4,3,53.5,0.2,0.0,6,5.0 SPEED_LIMITS 0.173,0.220

_CALLS 2 TGT_NAME ip1

_XMS_NAKs 0 TGT_LATLONG -7411.616,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 800.000

_SM_DEPTHo 0.37 MHEAD_RNG_PITCHd_Wd 255.4,1141,-17.4,-10.000,-25.06,2039

_SM_ANGLEo -65.3 D_GRID 300

GPS2 010218,124758,-7412.0625,-11226.1318,3,1.4,5,53.5,0.7,235.2,6,6.8

Post-dive calculations and measurements:

FINISH1 14.0,1.027294,10 _10V_AH 12.56,0.000

FINISH2 12.5 FG_AHR_24Vo 0.000

RAFOS_CLK 177 FG_AHR_10Vo 0.000

RAFOS_FIX -7411.711426,-11225.620117,010218,141408,0,1,0.15 MEM 280148

IRIDIUM_FIX -7413.56,-11218.94,010218,124354 DATA_FILE_SIZE 20101,558

TT8_MAMPS 0.040446,0.347536 CAP_FILE_SIZE 90087,0

HUMID 48.58 CFSIZE 1024409600,1013137408

INTERNAL_PRESSURE 7.57023 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.30 SOUNDSPEED 1443.8

XPDR_PINGS 0 CURRENT 0.222,90.02,1

ALTIM_TOP_PING 20.0,15.5 GPS 010218,140808,-7411.711,-11225.620,0,1001.0,0,53.5,0.0,0.0,0,0.0

_24V_AH 12.45,33.282

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 476 91.82 nil 0 0 0.00

Roll_motor 66 219 182.53 nil 0 0 0.00

VBD_pump_during_apogee 301 2731 10262.52 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 4784 13 784.30

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 16 420 87.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 9 0.91

TT8 0 0 0.00

LPSleep 3212 2 93.21

TT8_Active 452 12 69.73

TT8_Sampling 1165 31 464.75

TT8_CF8 31 45 18.11

TT8_Kalman 0 0 0.00

Analog_circuits 907 10 116.21

GPS_charging 0 0 0.00

Compass 803 7 75.61

RAFOS 0 0 0.00

Transponder 119 30 44.86

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

17.6 19.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.8 27.10 9000.00 0.0 0.00 0.00 27.10 0.0 0.96 1.00

34.2 37.00 36.70 0.0 1.07 1.00 37.00 0.0 1.18 1.00

42.2 44.40 44.80 0.0 1.06 0.99 44.40 0.0 0.92 1.00

50.9 54.00 53.70 0.0 1.01 1.00 54.00 0.0 1.10 1.00

139.3 146.10 146.10 -6.8 1.05 1.00 146.10 -6.8 1.04 1.00

113.4 119.50 119.20 -5.8 1.04 1.00 119.50 -6.1 1.03 1.00

96.7 100.40 100.80 -4.1 1.07 1.00 100.40 -3.7 1.14 1.00

87.9 91.50 91.20 -3.3 1.10 1.00 91.50 -3.6 1.01 1.00

71.8 75.50 75.50 -3.7 1.00 1.00 75.50 -3.7 0.99 1.00

63.0 65.80 66.10 -3.1 1.03 1.00 65.80 -2.8 1.10 1.00

55.0 57.00 57.00 -2.0 1.10 1.00 57.00 -2.0 1.10 1.00

46.9 48.30 48.30 -1.4 1.09 1.00 48.30 -1.4 1.07 1.00

37.6 39.50 39.30 -1.7 1.01 1.00 39.50 -1.9 0.95 1.00

28.9 30.40 30.50 -1.6 0.99 1.00 30.40 -1.5 1.05 1.00

20.0 14.40 15.50 4.5 1.42 0.98 14.40 5.6 1.80 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.96 -137.5 206 2507 1498 1442 0.0 0.0 0 105 0.00 0.00 -95.10 0.002 16390 0.000 0.000 205 2508 3277 3342 3213 0 0 0 0 0 0 14.85 13.62 14.88

107 -0.97 -146.0 206 2508 3343 3213 3.1 -5.5 9 126 11.75 2.62 -0.80 0.111 19236 0.477 0.133 2382 1080 3311 3381 3242 0 0 0 0 0 0 14.41 13.93 14.71

309 -0.97 -146.0 2382 1080 3379 3242 37.9 -14.3 49 317 0.00 2.72 0.00 0.000 1030 0.000 0.129 2375 2504 3312 3382 3242 0 0 0 0 0 0 14.71 14.61 14.74

621 -0.97 -146.0 2374 2504 3383 3242 85.4 -15.3 81 622 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2503 3312 3382 3243 0 0 0 0 0 0 14.92 14.95 14.94

920 -0.97 -146.0 2376 2504 3383 3243 132.3 -16.1 111 927 0.00 2.40 0.00 0.000 260 0.000 0.148 2366 3758 3312 3382 3242 0 0 0 0 0 0 14.99 14.70 15.02

965 -0.97 -146.0 2366 3758 3384 3242 139.9 -16.8 120 973 0.00 2.30 0.00 0.000 1030 0.000 0.098 2365 2492 3312 3382 3242 0 0 0 0 0 0 14.82 14.75 14.85

1270 -0.97 -146.0 2366 2492 3383 3242 188.5 -15.8 151 1271 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2492 3312 3382 3242 0 0 0 0 0 0 15.00 15.03 15.03

1570 -0.97 -146.0 2366 2493 3383 3244 235.2 -15.5 181 1577 0.00 2.42 0.00 0.000 260 0.000 0.149 2358 3758 3312 3382 3242 0 0 0 0 0 0 15.02 14.73 15.04

1606 -0.97 -146.0 2358 3759 3383 3244 241.0 -16.4 188 1613 0.00 2.30 0.00 0.000 1030 0.000 0.099 2358 2490 3312 3382 3242 0 0 0 0 0 0 14.85 14.78 14.88

1911 -0.97 -146.0 2358 2491 3383 3243 287.7 -15.4 219 1917 0.00 2.60 0.00 0.000 516 0.000 0.118 2358 1084 3312 3382 3242 0 0 0 0 0 0 15.03 14.75 15.06

1931 -0.97 -146.0 2355 1084 3384 3242 290.8 -15.5 223 1938 0.12 2.67 0.00 0.000 3078 0.301 0.125 2380 2501 3312 3382 3243 0 0 0 0 0 0 14.64 14.75 14.80

2000 end dive: TARGET_DEPTH_EXCEEDED

state 2000 begin apogee

2003 -0.23 0.0 2380 2182 3383 3243 300.8 -14.1 231 2155 0.90 0.08 145.55 2.731 10246 0.254 0.220 2621 2208 2712 2772 2652 0 0 0 0 0 0 14.68 13.69 12.81

2156 end apogee: CONTROL_FINISHED_OK

state 2156 begin climb

2157 0.97 146.0 2622 2208 2773 2651 306.6 0.0 246 2322 1.33 2.97 156.27 2.583 10756 0.159 0.132 3009 792 2116 2181 2051 0 0 0 0 0 0 13.75 13.19 12.45

2366 0.97 146.0 3009 793 2174 2051 292.7 11.1 284 2372 0.00 2.85 0.00 0.000 1030 0.000 0.113 3009 2202 2110 2173 2048 0 0 0 0 0 0 13.74 13.67 13.78

2677 0.97 146.0 3009 2203 2170 2042 258.4 10.8 316 2682 0.00 2.78 0.00 0.000 260 0.000 0.145 3009 3622 2105 2169 2041 0 0 0 0 0 0 14.50 14.28 14.52

2721 0.97 146.0 3009 3624 2169 2041 253.1 12.4 325 2729 0.00 2.70 0.00 0.000 1030 0.000 0.106 3019 2200 2105 2169 2041 0 0 0 0 0 0 14.36 14.29 14.39

3026 0.97 146.0 3020 2200 2169 2039 218.8 12.4 356 3032 0.00 2.72 0.00 0.000 516 0.000 0.138 3031 785 2103 2168 2039 0 0 0 0 0 0 14.76 14.48 14.78

3087 0.97 146.0 3030 784 2168 2040 211.6 11.8 368 3092 0.00 2.65 0.00 0.000 1030 0.000 0.116 3031 2213 2103 2167 2039 0 0 0 0 0 0 14.66 14.54 14.69

3396 0.97 146.0 3031 2213 2168 2038 174.2 11.7 400 3402 0.00 2.70 0.00 0.000 260 0.000 0.143 3030 3639 2102 2167 2037 0 0 0 0 0 0 14.88 14.62 14.91

3431 0.97 146.0 3035 3639 2168 2039 169.8 12.6 407 3438 0.00 2.67 0.00 0.000 1030 0.000 0.106 3041 2196 2102 2166 2038 0 0 0 0 0 0 14.71 14.64 14.74

3736 0.97 146.0 3042 2197 2167 2039 134.8 11.3 438 3742 0.00 2.67 0.00 0.000 516 0.000 0.137 3052 788 2102 2166 2038 0 0 0 0 0 0 14.93 14.66 14.97

3761 0.97 146.0 3053 789 2167 2039 131.9 10.8 443 3769 0.12 2.65 0.00 0.000 5126 0.260 0.116 3019 2206 2101 2165 2038 0 0 0 0 0 0 14.58 14.64 14.71

4066 0.97 146.0 3019 2206 2167 2038 99.8 10.6 474 4072 0.00 2.67 0.00 0.000 260 0.000 0.145 3018 3621 2102 2166 2038 0 0 0 0 0 0 14.98 14.72 15.01

4111 0.97 146.0 3019 3622 2167 2038 94.2 12.0 483 4118 0.00 2.62 0.00 0.000 1030 0.000 0.107 3028 2200 2102 2166 2038 0 0 0 0 0 0 14.80 14.73 14.83

4416 0.97 146.0 3029 2199 2167 2038 58.1 12.2 514 4422 0.00 2.67 0.00 0.000 516 0.000 0.138 3039 788 2102 2166 2038 0 0 0 0 0 0 15.01 14.73 15.04

4446 0.97 146.0 3039 788 2166 2039 54.5 12.1 520 4452 0.00 2.65 0.00 0.000 1030 0.000 0.119 3039 2209 2101 2165 2038 0 0 0 0 0 0 14.87 14.74 14.86

4756 0.97 146.0 3039 2210 2165 2038 15.0 12.4 552 4762 0.00 2.70 0.00 0.000 260 0.000 0.147 3039 3617 2101 2165 2037 0 0 0 0 0 0 15.03 14.74 15.05

4765 end climb: SURFACE_OBSTACLE_DETECTED

state 4765 begin subsurface finish

4770 0.01 10.5 3050 2197 2165 2038 14.0 12.2 554 4792 1.25 2.72 -12.43 0.011 20740 0.245 0.171 2706 3620 2671 2771 2571 0 0 0 0 0 0 14.69 13.76 14.82

4793 end subsurface finish: CONTROL_FINISHED_OK

state 4793 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	57	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	10
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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	18	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	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	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	100	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	130	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	60	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	2	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	0.15000001	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	30	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	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	783

GPS1	010218,124314,-7412.0620,-11226.1182,1,1.4,3,53.5,0.2,0.0,6,5.0	SPEED_LIMITS	0.173,0.220
_CALLS	2	TGT_NAME	ip1
_XMS_NAKs	0	TGT_LATLONG	-7411.616,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	800.000
_SM_DEPTHo	0.37	MHEAD_RNG_PITCHd_Wd	255.4,1141,-17.4,-10.000,-25.06,2039
_SM_ANGLEo	-65.3	D_GRID	300
GPS2	010218,124758,-7412.0625,-11226.1318,3,1.4,5,53.5,0.7,235.2,6,6.8

FINISH1	14.0,1.027294,10	_10V_AH	12.56,0.000
FINISH2	12.5	FG_AHR_24Vo	0.000
RAFOS_CLK	177	FG_AHR_10Vo	0.000
RAFOS_FIX	-7411.711426,-11225.620117,010218,141408,0,1,0.15	MEM	280148
IRIDIUM_FIX	-7413.56,-11218.94,010218,124354	DATA_FILE_SIZE	20101,558
TT8_MAMPS	0.040446,0.347536	CAP_FILE_SIZE	90087,0
HUMID	48.58	CFSIZE	1024409600,1013137408
INTERNAL_PRESSURE	7.57023	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1443.8
XPDR_PINGS	0	CURRENT	0.222,90.02,1
ALTIM_TOP_PING	20.0,15.5	GPS	010218,140808,-7411.711,-11225.620,0,1001.0,0,53.5,0.0,0.0,0,0.0
_24V_AH	12.45,33.282

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	476	91.82	nil	0	0	0.00
Roll_motor	66	219	182.53	nil	0	0	0.00
VBD_pump_during_apogee	301	2731	10262.52	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	4784	13	784.30
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	16	420	87.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	9	0.91
TT8	0	0	0.00
LPSleep	3212	2	93.21
TT8_Active	452	12	69.73
TT8_Sampling	1165	31	464.75
TT8_CF8	31	45	18.11
TT8_Kalman	0	0	0.00
Analog_circuits	907	10	116.21
GPS_charging	0	0	0.00
Compass	803	7	75.61
RAFOS	0	0	0.00
Transponder	119	30	44.86

		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
17.6	19.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.8	27.10	9000.00	0.0	0.00	0.00	27.10	0.0	0.96	1.00
34.2	37.00	36.70	0.0	1.07	1.00	37.00	0.0	1.18	1.00
42.2	44.40	44.80	0.0	1.06	0.99	44.40	0.0	0.92	1.00
50.9	54.00	53.70	0.0	1.01	1.00	54.00	0.0	1.10	1.00

139.3	146.10	146.10	-6.8	1.05	1.00	146.10	-6.8	1.04	1.00
113.4	119.50	119.20	-5.8	1.04	1.00	119.50	-6.1	1.03	1.00
96.7	100.40	100.80	-4.1	1.07	1.00	100.40	-3.7	1.14	1.00
87.9	91.50	91.20	-3.3	1.10	1.00	91.50	-3.6	1.01	1.00
71.8	75.50	75.50	-3.7	1.00	1.00	75.50	-3.7	0.99	1.00
63.0	65.80	66.10	-3.1	1.03	1.00	65.80	-2.8	1.10	1.00
55.0	57.00	57.00	-2.0	1.10	1.00	57.00	-2.0	1.10	1.00
46.9	48.30	48.30	-1.4	1.09	1.00	48.30	-1.4	1.07	1.00
37.6	39.50	39.30	-1.7	1.01	1.00	39.50	-1.9	0.95	1.00
28.9	30.40	30.50	-1.6	0.99	1.00	30.40	-1.5	1.05	1.00
20.0	14.40	15.50	4.5	1.42	0.98	14.40	5.6	1.80	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.96	-137.5	206	2507	1498	1442	0.0	0.0	0	105	0.00	0.00	-95.10	0.002	16390	0.000	0.000	205	2508	3277	3342	3213	0	0	0	0	0	0	14.85	13.62	14.88
107	-0.97	-146.0	206	2508	3343	3213	3.1	-5.5	9	126	11.75	2.62	-0.80	0.111	19236	0.477	0.133	2382	1080	3311	3381	3242	0	0	0	0	0	0	14.41	13.93	14.71
309	-0.97	-146.0	2382	1080	3379	3242	37.9	-14.3	49	317	0.00	2.72	0.00	0.000	1030	0.000	0.129	2375	2504	3312	3382	3242	0	0	0	0	0	0	14.71	14.61	14.74
621	-0.97	-146.0	2374	2504	3383	3242	85.4	-15.3	81	622	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2503	3312	3382	3243	0	0	0	0	0	0	14.92	14.95	14.94
920	-0.97	-146.0	2376	2504	3383	3243	132.3	-16.1	111	927	0.00	2.40	0.00	0.000	260	0.000	0.148	2366	3758	3312	3382	3242	0	0	0	0	0	0	14.99	14.70	15.02
965	-0.97	-146.0	2366	3758	3384	3242	139.9	-16.8	120	973	0.00	2.30	0.00	0.000	1030	0.000	0.098	2365	2492	3312	3382	3242	0	0	0	0	0	0	14.82	14.75	14.85
1270	-0.97	-146.0	2366	2492	3383	3242	188.5	-15.8	151	1271	0.00	0.00	0.00	0.000	6	0.000	0.000	2366	2492	3312	3382	3242	0	0	0	0	0	0	15.00	15.03	15.03
1570	-0.97	-146.0	2366	2493	3383	3244	235.2	-15.5	181	1577	0.00	2.42	0.00	0.000	260	0.000	0.149	2358	3758	3312	3382	3242	0	0	0	0	0	0	15.02	14.73	15.04
1606	-0.97	-146.0	2358	3759	3383	3244	241.0	-16.4	188	1613	0.00	2.30	0.00	0.000	1030	0.000	0.099	2358	2490	3312	3382	3242	0	0	0	0	0	0	14.85	14.78	14.88
1911	-0.97	-146.0	2358	2491	3383	3243	287.7	-15.4	219	1917	0.00	2.60	0.00	0.000	516	0.000	0.118	2358	1084	3312	3382	3242	0	0	0	0	0	0	15.03	14.75	15.06
1931	-0.97	-146.0	2355	1084	3384	3242	290.8	-15.5	223	1938	0.12	2.67	0.00	0.000	3078	0.301	0.125	2380	2501	3312	3382	3243	0	0	0	0	0	0	14.64	14.75	14.80
2000	end dive: TARGET_DEPTH_EXCEEDED
state	2000	begin apogee
2003	-0.23	0.0	2380	2182	3383	3243	300.8	-14.1	231	2155	0.90	0.08	145.55	2.731	10246	0.254	0.220	2621	2208	2712	2772	2652	0	0	0	0	0	0	14.68	13.69	12.81
2156	end apogee: CONTROL_FINISHED_OK
state	2156	begin climb
2157	0.97	146.0	2622	2208	2773	2651	306.6	0.0	246	2322	1.33	2.97	156.27	2.583	10756	0.159	0.132	3009	792	2116	2181	2051	0	0	0	0	0	0	13.75	13.19	12.45
2366	0.97	146.0	3009	793	2174	2051	292.7	11.1	284	2372	0.00	2.85	0.00	0.000	1030	0.000	0.113	3009	2202	2110	2173	2048	0	0	0	0	0	0	13.74	13.67	13.78
2677	0.97	146.0	3009	2203	2170	2042	258.4	10.8	316	2682	0.00	2.78	0.00	0.000	260	0.000	0.145	3009	3622	2105	2169	2041	0	0	0	0	0	0	14.50	14.28	14.52
2721	0.97	146.0	3009	3624	2169	2041	253.1	12.4	325	2729	0.00	2.70	0.00	0.000	1030	0.000	0.106	3019	2200	2105	2169	2041	0	0	0	0	0	0	14.36	14.29	14.39
3026	0.97	146.0	3020	2200	2169	2039	218.8	12.4	356	3032	0.00	2.72	0.00	0.000	516	0.000	0.138	3031	785	2103	2168	2039	0	0	0	0	0	0	14.76	14.48	14.78
3087	0.97	146.0	3030	784	2168	2040	211.6	11.8	368	3092	0.00	2.65	0.00	0.000	1030	0.000	0.116	3031	2213	2103	2167	2039	0	0	0	0	0	0	14.66	14.54	14.69
3396	0.97	146.0	3031	2213	2168	2038	174.2	11.7	400	3402	0.00	2.70	0.00	0.000	260	0.000	0.143	3030	3639	2102	2167	2037	0	0	0	0	0	0	14.88	14.62	14.91
3431	0.97	146.0	3035	3639	2168	2039	169.8	12.6	407	3438	0.00	2.67	0.00	0.000	1030	0.000	0.106	3041	2196	2102	2166	2038	0	0	0	0	0	0	14.71	14.64	14.74
3736	0.97	146.0	3042	2197	2167	2039	134.8	11.3	438	3742	0.00	2.67	0.00	0.000	516	0.000	0.137	3052	788	2102	2166	2038	0	0	0	0	0	0	14.93	14.66	14.97
3761	0.97	146.0	3053	789	2167	2039	131.9	10.8	443	3769	0.12	2.65	0.00	0.000	5126	0.260	0.116	3019	2206	2101	2165	2038	0	0	0	0	0	0	14.58	14.64	14.71
4066	0.97	146.0	3019	2206	2167	2038	99.8	10.6	474	4072	0.00	2.67	0.00	0.000	260	0.000	0.145	3018	3621	2102	2166	2038	0	0	0	0	0	0	14.98	14.72	15.01
4111	0.97	146.0	3019	3622	2167	2038	94.2	12.0	483	4118	0.00	2.62	0.00	0.000	1030	0.000	0.107	3028	2200	2102	2166	2038	0	0	0	0	0	0	14.80	14.73	14.83
4416	0.97	146.0	3029	2199	2167	2038	58.1	12.2	514	4422	0.00	2.67	0.00	0.000	516	0.000	0.138	3039	788	2102	2166	2038	0	0	0	0	0	0	15.01	14.73	15.04
4446	0.97	146.0	3039	788	2166	2039	54.5	12.1	520	4452	0.00	2.65	0.00	0.000	1030	0.000	0.119	3039	2209	2101	2165	2038	0	0	0	0	0	0	14.87	14.74	14.86
4756	0.97	146.0	3039	2210	2165	2038	15.0	12.4	552	4762	0.00	2.70	0.00	0.000	260	0.000	0.147	3039	3617	2101	2165	2037	0	0	0	0	0	0	15.03	14.74	15.05
4765	end climb: SURFACE_OBSTACLE_DETECTED
state	4765	begin subsurface finish
4770	0.01	10.5	3050	2197	2165	2038	14.0	12.2	554	4792	1.25	2.72	-12.43	0.011	20740	0.245	0.171	2706	3620	2671	2771	2571	0	0	0	0	0	0	14.69	13.76	14.82
4793	end subsurface finish: CONTROL_FINISHED_OK
state	4793	begin surface