Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 58 * 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 58 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 19 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 58 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 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 010218,140808,-7411.7114,-11225.6201,0,1001.0,0,53.5,0.0,0.0,0,0.0 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 12.83 MHEAD_RNG_PITCHd_Wd 216.4,1059,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 1.5 D_GRID 300

GPS2 010218,140808,-7411.7114,-11225.6201,0,1001.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 12.1,1.027297,10 _24V_AH 12.44,33.547

FINISH2 10.8 _10V_AH 12.58,0.000

RAFOS_CLK 192 FG_AHR_24Vo 0.000

RAFOS 0,1517497260,15.032778,15.016666,145,71,67,57,54,52,572,208,153,171,183,220 FG_AHR_10Vo 0.000

RAFOS_FIX -7412.425781,-11228.250000,010218,151548,2,123,0.51 MEM 280256

IRIDIUM_FIX -7413.56,-11218.94,010218,124354 DATA_FILE_SIZE 16751,549

TT8_MAMPS 0.039697,0.885318 CAP_FILE_SIZE 63230,0

HUMID 49.13 CFSIZE 1024409600,1013071872

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 0.379,189.31,1

ALTIM_TOP_PING 17.0,14.9 GPS 010218,150848,-7412.426,-11228.250,0,3123.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 251 13.85 nil 0 0 0.00

Roll_motor 44 149 82.49 nil 0 0 0.00

VBD_pump_during_apogee 303 2720 10285.13 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 4999 13 815.59

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 88.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 3521 2 102.35

TT8_Active 345 12 53.35

TT8_Sampling 1157 31 462.26

TT8_CF8 39 45 22.48

TT8_Kalman 0 0 0.00

Analog_circuits 777 10 99.72

GPS_charging 0 0 0.00

Compass 799 7 75.31

RAFOS 720 1 13.59

Transponder 120 30 45.33

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

13.4 14.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.3 24.40 9000.00 0.0 0.00 0.00 24.40 0.0 1.13 1.00

30.8 33.30 33.40 0.0 1.10 1.00 33.30 0.0 1.05 1.00

39.1 42.20 42.20 0.0 1.06 1.00 42.20 0.0 1.07 1.00

47.4 51.20 51.10 0.0 1.08 1.00 51.20 0.0 1.08 1.00

55.6 59.10 59.30 0.0 1.03 1.00 59.10 0.0 0.96 1.00

64.3 67.60 67.60 0.0 0.97 1.00 67.60 0.0 0.98 1.00

301.8 21.90 9000.00 0.0 -0.17 0.96 21.90 323.7 -0.19 1.00

128.3 133.80 9000.00 0.0 -0.29 0.39 133.80 0.0 -0.64 1.00

103.3 107.50 9000.00 0.0 -0.51 0.89 107.50 -4.2 1.05 1.00

85.2 91.30 90.70 -5.5 0.99 1.00 91.30 -6.1 0.90 1.00

67.6 70.50 71.30 -3.7 1.04 0.99 70.50 -2.9 1.18 1.00

58.8 61.00 60.70 -1.9 1.15 1.00 61.00 -2.2 1.08 1.00

50.5 53.10 53.00 -2.5 1.01 1.00 53.10 -2.6 0.95 1.00

42.1 44.20 44.40 -2.3 1.01 1.00 44.20 -2.1 1.06 1.00

33.7 34.90 35.00 -1.3 1.08 1.00 34.90 -1.2 1.11 1.00

25.6 26.50 26.40 -0.8 1.07 1.00 26.50 -0.9 1.04 1.00

17.0 14.30 14.90 2.1 1.24 0.99 14.30 2.7 1.42 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 -0.94 -146.0 2707 2491 2772 2571 0.0 0.0 0 23 0.00 0.00 -12.73 0.008 16390 0.000 0.000 2706 2490 3314 3426 3202 0 0 0 0 0 0 14.99 13.77 14.98

24 -0.94 -146.0 2706 2490 3427 3202 13.4 0.0 1 30 0.95 2.60 0.00 0.000 4612 0.128 0.124 2397 1080 3313 3425 3202 0 0 0 0 0 0 14.71 14.75 14.79

59 -0.94 -146.0 2397 1080 3423 3207 16.7 -9.9 8 66 0.00 2.70 0.00 0.000 1030 0.000 0.126 2388 2506 3314 3421 3207 0 0 0 0 0 0 14.82 14.73 14.86

364 -0.94 -146.0 2389 2507 3417 3212 58.3 -13.2 39 370 0.00 2.38 0.00 0.000 260 0.000 0.149 2379 3749 3314 3416 3212 0 0 0 0 0 0 15.01 14.69 15.04

464 -0.94 -146.0 2379 3750 3414 3214 73.6 -14.8 59 470 0.00 2.28 0.00 0.000 1030 0.000 0.100 2379 2492 3313 3413 3214 0 0 0 0 0 0 14.83 14.76 14.85

774 -0.94 -146.0 2379 2492 3414 3214 119.0 -14.8 91 775 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2492 3313 3413 3214 0 0 0 0 0 0 15.02 15.04 15.04

1074 -0.94 -146.0 2380 2493 3414 3215 163.5 -14.4 121 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2492 3313 3413 3214 0 0 0 0 0 0 15.02 15.05 15.05

1374 -0.94 -146.0 2379 2493 3414 3216 204.9 -13.8 151 1375 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2492 3313 3413 3214 0 0 0 0 0 0 15.03 15.06 15.05

1674 -0.94 -146.0 2379 2493 3414 3216 246.5 -14.1 181 1681 0.00 2.40 0.00 0.000 260 0.000 0.148 2370 3747 3314 3413 3215 0 0 0 0 0 0 15.04 14.76 15.06

1705 -0.94 -146.0 2371 3748 3413 3217 251.1 -15.2 187 1712 0.00 2.28 0.00 0.000 1030 0.000 0.098 2370 2488 3314 3412 3216 0 0 0 0 0 0 14.85 14.78 14.88

2016 -0.94 -146.0 2370 2489 3412 3214 296.5 -14.2 219 2016 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2489 3314 3412 3216 0 0 0 0 0 0 15.04 15.07 15.07

2045 end dive: TARGET_DEPTH_EXCEEDED

state 2045 begin apogee

2048 -0.23 0.0 2371 2193 3413 3217 300.7 -14.1 222 2199 0.95 0.00 146.52 2.720 10246 0.252 0.000 2623 2191 2712 2780 2645 0 0 0 0 0 0 14.69 13.76 12.82

2200 end apogee: CONTROL_FINISHED_OK

state 2200 begin climb

2201 0.94 146.0 2624 2192 2780 2645 305.7 0.0 237 2366 1.30 2.92 157.40 2.579 10756 0.155 0.132 3006 794 2114 2176 2052 0 0 0 0 0 0 13.75 13.19 12.44

2385 0.94 146.0 3006 794 2173 2052 294.0 10.3 270 2394 0.00 2.90 0.00 0.000 1030 0.000 0.113 3006 2209 2111 2172 2051 0 0 0 0 0 0 13.57 13.50 13.60

2690 0.94 146.0 3007 2209 2169 2041 259.5 11.3 301 2691 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2209 2104 2168 2041 0 0 0 0 0 0 14.48 14.51 14.51

2990 0.94 146.0 3007 2210 2167 2039 226.5 10.7 331 2991 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2209 2102 2166 2039 0 0 0 0 0 0 14.71 14.75 14.74

3290 0.94 146.0 3006 2209 2167 2038 194.3 10.9 361 3291 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2209 2102 2166 2038 0 0 0 0 0 0 14.83 14.86 14.86

3590 0.94 146.0 3007 2210 2166 2038 162.9 10.4 391 3596 0.00 2.67 0.00 0.000 260 0.000 0.144 3006 3620 2101 2165 2037 0 0 0 0 0 0 14.90 14.66 14.93

3645 0.94 146.0 3006 3620 2166 2037 156.4 12.0 402 3653 0.00 2.62 0.00 0.000 1030 0.000 0.106 3017 2201 2101 2165 2037 0 0 0 0 0 0 14.71 14.63 14.74

3950 0.94 146.0 3017 2200 2165 2037 122.9 11.2 433 3956 0.00 2.70 0.00 0.000 516 0.000 0.138 3028 780 2100 2165 2036 0 0 0 0 0 0 14.95 14.69 14.98

3995 0.94 146.0 3028 778 2166 2037 117.5 11.1 442 4003 0.00 2.67 0.00 0.000 1030 0.000 0.118 3027 2212 2100 2164 2036 0 0 0 0 0 0 14.78 14.71 14.83

4300 0.94 146.0 3028 2212 2165 2037 82.9 11.3 473 4306 0.00 2.70 0.00 0.000 260 0.000 0.147 3027 3619 2100 2164 2036 0 0 0 0 0 0 15.00 14.72 15.02

4325 0.94 146.0 3027 3619 2164 2037 79.9 12.2 478 4334 0.12 2.62 0.00 0.000 5126 0.249 0.106 3004 2190 2100 2164 2036 0 0 0 0 0 0 14.64 14.70 14.76

4630 0.94 146.0 3005 2190 2165 2035 47.5 10.8 509 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2189 2099 2164 2034 0 0 0 0 0 0 15.01 15.04 15.04

4930 0.94 146.0 3004 2196 2165 2035 16.2 10.7 539 4936 0.00 2.75 0.00 0.000 260 0.000 0.146 3005 3618 2099 2164 2034 0 0 0 0 0 0 15.02 14.76 15.05

4964 end climb: SURFACE_OBSTACLE_DETECTED

state 4964 begin subsurface finish

4969 0.01 10.3 3015 2197 2164 2034 12.1 11.5 546 4988 1.10 0.00 -13.65 0.010 20742 0.238 0.000 2708 2194 2676 2777 2576 0 0 0 0 0 0 14.69 13.83 14.83

4988 end subsurface finish: CONTROL_FINISHED_OK

state 4988 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	58	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	19	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	010218,140808,-7411.7114,-11225.6201,0,1001.0,0,53.5,0.0,0.0,0,0.0	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	12.83	MHEAD_RNG_PITCHd_Wd	216.4,1059,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	1.5	D_GRID	300
GPS2	010218,140808,-7411.7114,-11225.6201,0,1001.0,0,53.5,0.0,0.0,0,0.0

FINISH1	12.1,1.027297,10	_24V_AH	12.44,33.547
FINISH2	10.8	_10V_AH	12.58,0.000
RAFOS_CLK	192	FG_AHR_24Vo	0.000
RAFOS	0,1517497260,15.032778,15.016666,145,71,67,57,54,52,572,208,153,171,183,220	FG_AHR_10Vo	0.000
RAFOS_FIX	-7412.425781,-11228.250000,010218,151548,2,123,0.51	MEM	280256
IRIDIUM_FIX	-7413.56,-11218.94,010218,124354	DATA_FILE_SIZE	16751,549
TT8_MAMPS	0.039697,0.885318	CAP_FILE_SIZE	63230,0
HUMID	49.13	CFSIZE	1024409600,1013071872
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	0.379,189.31,1
ALTIM_TOP_PING	17.0,14.9	GPS	010218,150848,-7412.426,-11228.250,0,3123.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	251	13.85	nil	0	0	0.00
Roll_motor	44	149	82.49	nil	0	0	0.00
VBD_pump_during_apogee	303	2720	10285.13	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	4999	13	815.59
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	88.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	3521	2	102.35
TT8_Active	345	12	53.35
TT8_Sampling	1157	31	462.26
TT8_CF8	39	45	22.48
TT8_Kalman	0	0	0.00
Analog_circuits	777	10	99.72
GPS_charging	0	0	0.00
Compass	799	7	75.31
RAFOS	720	1	13.59
Transponder	120	30	45.33

		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
13.4	14.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.3	24.40	9000.00	0.0	0.00	0.00	24.40	0.0	1.13	1.00
30.8	33.30	33.40	0.0	1.10	1.00	33.30	0.0	1.05	1.00
39.1	42.20	42.20	0.0	1.06	1.00	42.20	0.0	1.07	1.00
47.4	51.20	51.10	0.0	1.08	1.00	51.20	0.0	1.08	1.00
55.6	59.10	59.30	0.0	1.03	1.00	59.10	0.0	0.96	1.00
64.3	67.60	67.60	0.0	0.97	1.00	67.60	0.0	0.98	1.00
301.8	21.90	9000.00	0.0	-0.17	0.96	21.90	323.7	-0.19	1.00

128.3	133.80	9000.00	0.0	-0.29	0.39	133.80	0.0	-0.64	1.00
103.3	107.50	9000.00	0.0	-0.51	0.89	107.50	-4.2	1.05	1.00
85.2	91.30	90.70	-5.5	0.99	1.00	91.30	-6.1	0.90	1.00
67.6	70.50	71.30	-3.7	1.04	0.99	70.50	-2.9	1.18	1.00
58.8	61.00	60.70	-1.9	1.15	1.00	61.00	-2.2	1.08	1.00
50.5	53.10	53.00	-2.5	1.01	1.00	53.10	-2.6	0.95	1.00
42.1	44.20	44.40	-2.3	1.01	1.00	44.20	-2.1	1.06	1.00
33.7	34.90	35.00	-1.3	1.08	1.00	34.90	-1.2	1.11	1.00
25.6	26.50	26.40	-0.8	1.07	1.00	26.50	-0.9	1.04	1.00
17.0	14.30	14.90	2.1	1.24	0.99	14.30	2.7	1.42	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	-0.94	-146.0	2707	2491	2772	2571	0.0	0.0	0	23	0.00	0.00	-12.73	0.008	16390	0.000	0.000	2706	2490	3314	3426	3202	0	0	0	0	0	0	14.99	13.77	14.98
24	-0.94	-146.0	2706	2490	3427	3202	13.4	0.0	1	30	0.95	2.60	0.00	0.000	4612	0.128	0.124	2397	1080	3313	3425	3202	0	0	0	0	0	0	14.71	14.75	14.79
59	-0.94	-146.0	2397	1080	3423	3207	16.7	-9.9	8	66	0.00	2.70	0.00	0.000	1030	0.000	0.126	2388	2506	3314	3421	3207	0	0	0	0	0	0	14.82	14.73	14.86
364	-0.94	-146.0	2389	2507	3417	3212	58.3	-13.2	39	370	0.00	2.38	0.00	0.000	260	0.000	0.149	2379	3749	3314	3416	3212	0	0	0	0	0	0	15.01	14.69	15.04
464	-0.94	-146.0	2379	3750	3414	3214	73.6	-14.8	59	470	0.00	2.28	0.00	0.000	1030	0.000	0.100	2379	2492	3313	3413	3214	0	0	0	0	0	0	14.83	14.76	14.85
774	-0.94	-146.0	2379	2492	3414	3214	119.0	-14.8	91	775	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2492	3313	3413	3214	0	0	0	0	0	0	15.02	15.04	15.04
1074	-0.94	-146.0	2380	2493	3414	3215	163.5	-14.4	121	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2492	3313	3413	3214	0	0	0	0	0	0	15.02	15.05	15.05
1374	-0.94	-146.0	2379	2493	3414	3216	204.9	-13.8	151	1375	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2492	3313	3413	3214	0	0	0	0	0	0	15.03	15.06	15.05
1674	-0.94	-146.0	2379	2493	3414	3216	246.5	-14.1	181	1681	0.00	2.40	0.00	0.000	260	0.000	0.148	2370	3747	3314	3413	3215	0	0	0	0	0	0	15.04	14.76	15.06
1705	-0.94	-146.0	2371	3748	3413	3217	251.1	-15.2	187	1712	0.00	2.28	0.00	0.000	1030	0.000	0.098	2370	2488	3314	3412	3216	0	0	0	0	0	0	14.85	14.78	14.88
2016	-0.94	-146.0	2370	2489	3412	3214	296.5	-14.2	219	2016	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2489	3314	3412	3216	0	0	0	0	0	0	15.04	15.07	15.07
2045	end dive: TARGET_DEPTH_EXCEEDED
state	2045	begin apogee
2048	-0.23	0.0	2371	2193	3413	3217	300.7	-14.1	222	2199	0.95	0.00	146.52	2.720	10246	0.252	0.000	2623	2191	2712	2780	2645	0	0	0	0	0	0	14.69	13.76	12.82
2200	end apogee: CONTROL_FINISHED_OK
state	2200	begin climb
2201	0.94	146.0	2624	2192	2780	2645	305.7	0.0	237	2366	1.30	2.92	157.40	2.579	10756	0.155	0.132	3006	794	2114	2176	2052	0	0	0	0	0	0	13.75	13.19	12.44
2385	0.94	146.0	3006	794	2173	2052	294.0	10.3	270	2394	0.00	2.90	0.00	0.000	1030	0.000	0.113	3006	2209	2111	2172	2051	0	0	0	0	0	0	13.57	13.50	13.60
2690	0.94	146.0	3007	2209	2169	2041	259.5	11.3	301	2691	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2209	2104	2168	2041	0	0	0	0	0	0	14.48	14.51	14.51
2990	0.94	146.0	3007	2210	2167	2039	226.5	10.7	331	2991	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2209	2102	2166	2039	0	0	0	0	0	0	14.71	14.75	14.74
3290	0.94	146.0	3006	2209	2167	2038	194.3	10.9	361	3291	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2209	2102	2166	2038	0	0	0	0	0	0	14.83	14.86	14.86
3590	0.94	146.0	3007	2210	2166	2038	162.9	10.4	391	3596	0.00	2.67	0.00	0.000	260	0.000	0.144	3006	3620	2101	2165	2037	0	0	0	0	0	0	14.90	14.66	14.93
3645	0.94	146.0	3006	3620	2166	2037	156.4	12.0	402	3653	0.00	2.62	0.00	0.000	1030	0.000	0.106	3017	2201	2101	2165	2037	0	0	0	0	0	0	14.71	14.63	14.74
3950	0.94	146.0	3017	2200	2165	2037	122.9	11.2	433	3956	0.00	2.70	0.00	0.000	516	0.000	0.138	3028	780	2100	2165	2036	0	0	0	0	0	0	14.95	14.69	14.98
3995	0.94	146.0	3028	778	2166	2037	117.5	11.1	442	4003	0.00	2.67	0.00	0.000	1030	0.000	0.118	3027	2212	2100	2164	2036	0	0	0	0	0	0	14.78	14.71	14.83
4300	0.94	146.0	3028	2212	2165	2037	82.9	11.3	473	4306	0.00	2.70	0.00	0.000	260	0.000	0.147	3027	3619	2100	2164	2036	0	0	0	0	0	0	15.00	14.72	15.02
4325	0.94	146.0	3027	3619	2164	2037	79.9	12.2	478	4334	0.12	2.62	0.00	0.000	5126	0.249	0.106	3004	2190	2100	2164	2036	0	0	0	0	0	0	14.64	14.70	14.76
4630	0.94	146.0	3005	2190	2165	2035	47.5	10.8	509	4631	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2189	2099	2164	2034	0	0	0	0	0	0	15.01	15.04	15.04
4930	0.94	146.0	3004	2196	2165	2035	16.2	10.7	539	4936	0.00	2.75	0.00	0.000	260	0.000	0.146	3005	3618	2099	2164	2034	0	0	0	0	0	0	15.02	14.76	15.05
4964	end climb: SURFACE_OBSTACLE_DETECTED
state	4964	begin subsurface finish
4969	0.01	10.3	3015	2197	2164	2034	12.1	11.5	546	4988	1.10	0.00	-13.65	0.010	20742	0.238	0.000	2708	2194	2676	2777	2576	0	0	0	0	0	0	14.69	13.83	14.83
4988	end subsurface finish: CONTROL_FINISHED_OK
state	4988	begin surface