Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 736 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 736 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 110 SM_CC 350 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 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2560 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 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 5 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 1.5 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2560 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 736 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 141218,144106,-7407.2300,-11322.8145,3,1.4,5,53.9,0.2,24.9,6,8.3 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.71 MHEAD_RNG_PITCHd_Wd 152.0,1276,-30.5,-10.000,-32.32,729

_SM_ANGLEo -63.3 D_GRID 990

GPS2 141218,144809,-7407.1689,-11322.7900,2,0.7,17,53.9,0.3,13.3,12,2.7

Post-dive calculations and measurements:

FREEZE 0.85,-1.005,-1.859,2,1,0 ALTIM_BOTTOM_PING 221.8,21.7

FINISH 0.9,1.027252 _24V_AH 12.78,243.529

SM_CCo 4654,201.90,0.231,0,0,1131,350.04 _10V_AH 12.46,0.000

SM_GC 0.67,9.55,2.15,201.90,0.088,0.041,0.231,209,2290,1131,-8.25,0.90,350.04,0,0,0,0,0,0,14.56,14.62,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 183 FG_AHR_10Vo 0.000

RAFOS 0,1544799670,15.032778,15.019444,87,61,61,59,57,55,616,206,145,218,189,114 MEM 280032

RAFOS_FIX -7404.340820,-11315.352539,141218,151512,3,117,3.99 DATA_FILE_SIZE 6799,264

IRIDIUM_FIX -7405.73,-11324.28,141218,125324 CAP_FILE_SIZE 52606,0

TT8_MAMPS 0.039697,0.259903 CFSIZE 1024409600,936083456

HUMID 47.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.07257 SOUNDSPEED 1437.7

TCM_TEMP 12.10 CURRENT 0.139,0.77,1

XPDR_PINGS 0 GPS 141218,161038,-7407.132,-11322.910,20,1.0,20,53.9,0.3,347.7,8,6.6

ALTIM_TOP_PING 7.2,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 410 124.16 nil 0 0 0.00

Roll_motor 35 146 66.43 nil 0 0 0.00

VBD_pump_during_apogee 111 2608 3716.41 nil 0 0 0.00

VBD_pump_during_surface 201 231 596.12 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 2707 3 135.75

Iridium_during_xfer 208 168 448.19 nil 0 0 0.00

Transponder_ping 10 420 56.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 10 2.47

TT8 0 0 0.00

LPSleep 3743 2 107.75

TT8_Active 420 13 72.39

TT8_Sampling 874 34 379.14

TT8_CF8 253 52 166.83

TT8_Kalman 0 0 0.00

Analog_circuits 896 10 121.79

GPS_charging 0 0 0.00

Compass 386 7 36.06

RAFOS 720 1 13.46

Transponder 74 30 27.86

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

11.1 12.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.5 24.10 9000.00 0.0 0.00 0.00 24.10 0.0 0.99 1.00

172.5 63.50 9000.00 0.0 0.29 0.98 63.50 0.0 0.26 1.00

182.9 56.60 9000.00 0.0 0.23 0.95 56.60 239.5 -0.66 1.00

208.5 31.40 31.90 240.4 -0.91 0.99 31.40 239.9 -0.98 1.00

221.8 23.00 21.70 243.5 -0.88 0.99 23.00 244.8 -0.63 1.00

234.7 16.10 9000.00 0.0 -0.59 1.00 16.10 250.8 -0.53 1.00

237.6 18.50 9000.00 0.0 -0.36 0.75 18.50 0.0 0.83 1.00

226.0 34.30 9000.00 0.0 -1.53 0.87 34.30 0.0 -1.36 1.00

126.5 131.60 131.80 0.0 -1.00 1.00 131.60 0.0 -0.98 1.00

115.4 119.80 129.90 0.0 -0.85 0.96 119.80 -4.4 1.06 1.00

82.0 85.50 85.40 -3.4 1.03 1.00 85.50 -3.5 1.03 1.00

70.2 72.70 73.00 -2.8 1.04 1.00 72.70 -2.5 1.08 1.00

59.9 62.50 62.30 -2.4 1.04 1.00 62.50 -2.6 0.99 1.00

37.7 38.90 39.00 -1.3 1.05 1.00 38.90 -1.2 1.06 1.00

27.5 28.30 28.20 -0.7 1.06 1.00 28.30 -0.8 1.04 1.00

17.2 17.50 17.50 -0.3 1.04 1.00 17.50 -0.3 1.05 1.00

7.2 7.70 7.60 -0.4 1.02 1.00 7.70 -0.5 0.98 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

13 -1.44 -47.4 213 2316 1178 1055 0.0 0.0 0 107 0.00 0.00 -91.93 0.002 16390 0.000 0.000 212 2316 2755 2758 2752 0 0 0 0 0 0 14.98 12.88 14.98

111 -1.44 -47.4 214 2316 2760 2753 1.4 -1.0 3 126 10.62 0.00 0.00 0.000 2566 0.411 0.000 2401 2313 2756 2760 2752 0 0 0 0 0 0 14.16 14.68 14.57

468 -1.44 -47.4 2401 2313 2764 2748 50.9 -14.8 19 474 0.00 2.60 0.00 0.000 516 0.000 0.070 2401 904 2755 2764 2747 0 0 0 0 0 0 15.17 14.23 15.19

587 -1.44 -47.4 2400 905 2764 2748 68.4 -14.5 36 593 0.00 2.58 0.00 0.000 1030 0.000 0.063 2392 2303 2755 2764 2747 0 0 0 0 0 0 14.37 14.29 14.42

946 -1.44 -47.4 2392 2304 2765 2746 119.1 -14.1 51 951 0.00 2.55 0.00 0.000 516 0.000 0.065 2392 903 2755 2765 2745 0 0 0 0 0 0 15.11 14.22 15.12

1062 -1.44 -47.4 2391 903 2765 2745 134.8 -13.4 68 1069 0.00 2.58 0.00 0.000 1030 0.000 0.060 2381 2301 2755 2766 2745 0 0 0 0 0 0 14.30 14.23 14.36

1420 -1.44 -47.4 2383 2302 2768 2746 178.7 -11.2 83 1426 0.00 2.55 0.00 0.000 516 0.000 0.063 2381 899 2755 2766 2745 0 0 0 0 0 0 15.16 14.15 15.19

1489 -1.44 -47.4 2382 900 2768 2746 187.0 -11.8 93 1497 0.12 2.60 0.00 0.000 3078 0.306 0.063 2398 2305 2755 2766 2745 0 0 0 0 0 0 13.68 14.18 13.93

1840 -1.44 -47.4 2399 2305 2768 2746 228.2 -11.7 103 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2305 2755 2766 2745 0 0 0 0 0 0 15.16 15.19 15.19

1893 end dive: BOTTOM_OBSTACLE_DETECTED

state 1893 begin apogee

1901 -0.23 0.0 2398 2054 2766 2745 234.7 -11.6 104 1955 1.60 0.12 49.35 2.609 10246 0.278 0.146 2792 2136 2559 2586 2533 0 0 0 0 0 0 14.07 14.26 13.15

1955 end apogee: CONTROL_FINISHED_OK

state 1956 begin climb

1959 1.44 47.4 2793 2136 2588 2533 237.6 0.0 105 2016 1.75 0.00 53.33 2.522 10502 0.139 0.000 3330 2136 2365 2388 2342 0 0 0 0 0 0 14.16 13.68 12.78

2345 1.46 47.4 3328 2136 2378 2330 205.9 8.9 119 2345 0.00 0.00 0.00 0.000 70 0.000 0.000 3329 2136 2353 2378 2328 0 0 0 0 0 0 14.98 15.01 15.01

2680 1.48 47.4 3329 2136 2377 2328 177.1 9.0 129 2686 0.00 2.53 0.00 0.000 580 0.000 0.076 3339 726 2351 2376 2327 0 0 0 0 0 0 15.08 14.53 15.10

2715 1.50 47.4 3339 727 2376 2328 173.8 9.4 134 2721 0.00 2.42 0.00 0.000 1094 0.000 0.054 3339 2092 2351 2376 2327 0 0 0 0 0 0 14.64 14.57 14.69

3072 1.54 47.4 3339 2093 2376 2326 143.5 8.1 149 3073 0.00 0.00 0.00 0.000 70 0.000 0.000 3339 2092 2350 2375 2325 0 0 0 0 0 0 15.06 15.09 15.06

3409 1.55 62.4 3340 2093 2376 2326 115.4 7.9 161 3422 0.00 2.53 8.80 2.226 8740 0.000 0.080 3349 731 2303 2329 2278 0 0 0 0 0 0 14.95 14.61 13.51

3569 1.55 62.4 3350 732 2329 2278 100.5 9.7 184 3576 0.00 2.42 0.00 0.000 1030 0.000 0.053 3349 2105 2301 2327 2276 0 0 0 0 0 0 14.64 14.58 14.70

3915 1.59 62.4 3351 2105 2329 2276 70.2 8.2 197 3920 0.00 2.60 0.00 0.000 324 0.000 0.099 3349 3513 2300 2326 2275 0 0 0 0 0 0 14.97 14.47 15.00

4150 1.59 62.4 3350 3514 2327 2276 46.6 10.0 231 4156 0.00 2.40 0.00 0.000 1030 0.000 0.041 3359 2133 2300 2325 2275 0 0 0 0 0 0 14.61 14.54 14.64

4503 1.60 62.4 3361 2134 2327 2276 14.5 9.3 245 4508 0.00 2.58 0.00 0.000 324 0.000 0.096 3360 3517 2299 2325 2274 0 0 0 0 0 0 15.04 14.40 15.06

4623 end climb: SURFACE_DEPTH_REACHED

state 4623 begin surface coast

4630 end surface coast: CONTROL_FINISHED_OK

state 4630 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	736	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	110	SM_CC	350	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	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2560	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	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	5	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	1.5	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	141218,144106,-7407.2300,-11322.8145,3,1.4,5,53.9,0.2,24.9,6,8.3	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.71	MHEAD_RNG_PITCHd_Wd	152.0,1276,-30.5,-10.000,-32.32,729
_SM_ANGLEo	-63.3	D_GRID	990
GPS2	141218,144809,-7407.1689,-11322.7900,2,0.7,17,53.9,0.3,13.3,12,2.7

FREEZE	0.85,-1.005,-1.859,2,1,0	ALTIM_BOTTOM_PING	221.8,21.7
FINISH	0.9,1.027252	_24V_AH	12.78,243.529
SM_CCo	4654,201.90,0.231,0,0,1131,350.04	_10V_AH	12.46,0.000
SM_GC	0.67,9.55,2.15,201.90,0.088,0.041,0.231,209,2290,1131,-8.25,0.90,350.04,0,0,0,0,0,0,14.56,14.62,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	183	FG_AHR_10Vo	0.000
RAFOS	0,1544799670,15.032778,15.019444,87,61,61,59,57,55,616,206,145,218,189,114	MEM	280032
RAFOS_FIX	-7404.340820,-11315.352539,141218,151512,3,117,3.99	DATA_FILE_SIZE	6799,264
IRIDIUM_FIX	-7405.73,-11324.28,141218,125324	CAP_FILE_SIZE	52606,0
TT8_MAMPS	0.039697,0.259903	CFSIZE	1024409600,936083456
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.07257	SOUNDSPEED	1437.7
TCM_TEMP	12.10	CURRENT	0.139,0.77,1
XPDR_PINGS	0	GPS	141218,161038,-7407.132,-11322.910,20,1.0,20,53.9,0.3,347.7,8,6.6
ALTIM_TOP_PING	7.2,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	410	124.16	nil	0	0	0.00
Roll_motor	35	146	66.43	nil	0	0	0.00
VBD_pump_during_apogee	111	2608	3716.41	nil	0	0	0.00
VBD_pump_during_surface	201	231	596.12	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	2707	3	135.75
Iridium_during_xfer	208	168	448.19	nil	0	0	0.00
Transponder_ping	10	420	56.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	10	2.47
TT8	0	0	0.00
LPSleep	3743	2	107.75
TT8_Active	420	13	72.39
TT8_Sampling	874	34	379.14
TT8_CF8	253	52	166.83
TT8_Kalman	0	0	0.00
Analog_circuits	896	10	121.79
GPS_charging	0	0	0.00
Compass	386	7	36.06
RAFOS	720	1	13.46
Transponder	74	30	27.86

		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
11.1	12.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.5	24.10	9000.00	0.0	0.00	0.00	24.10	0.0	0.99	1.00
172.5	63.50	9000.00	0.0	0.29	0.98	63.50	0.0	0.26	1.00
182.9	56.60	9000.00	0.0	0.23	0.95	56.60	239.5	-0.66	1.00
208.5	31.40	31.90	240.4	-0.91	0.99	31.40	239.9	-0.98	1.00
221.8	23.00	21.70	243.5	-0.88	0.99	23.00	244.8	-0.63	1.00
234.7	16.10	9000.00	0.0	-0.59	1.00	16.10	250.8	-0.53	1.00
237.6	18.50	9000.00	0.0	-0.36	0.75	18.50	0.0	0.83	1.00

226.0	34.30	9000.00	0.0	-1.53	0.87	34.30	0.0	-1.36	1.00
126.5	131.60	131.80	0.0	-1.00	1.00	131.60	0.0	-0.98	1.00
115.4	119.80	129.90	0.0	-0.85	0.96	119.80	-4.4	1.06	1.00
82.0	85.50	85.40	-3.4	1.03	1.00	85.50	-3.5	1.03	1.00
70.2	72.70	73.00	-2.8	1.04	1.00	72.70	-2.5	1.08	1.00
59.9	62.50	62.30	-2.4	1.04	1.00	62.50	-2.6	0.99	1.00
37.7	38.90	39.00	-1.3	1.05	1.00	38.90	-1.2	1.06	1.00
27.5	28.30	28.20	-0.7	1.06	1.00	28.30	-0.8	1.04	1.00
17.2	17.50	17.50	-0.3	1.04	1.00	17.50	-0.3	1.05	1.00
7.2	7.70	7.60	-0.4	1.02	1.00	7.70	-0.5	0.98	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
13	-1.44	-47.4	213	2316	1178	1055	0.0	0.0	0	107	0.00	0.00	-91.93	0.002	16390	0.000	0.000	212	2316	2755	2758	2752	0	0	0	0	0	0	14.98	12.88	14.98
111	-1.44	-47.4	214	2316	2760	2753	1.4	-1.0	3	126	10.62	0.00	0.00	0.000	2566	0.411	0.000	2401	2313	2756	2760	2752	0	0	0	0	0	0	14.16	14.68	14.57
468	-1.44	-47.4	2401	2313	2764	2748	50.9	-14.8	19	474	0.00	2.60	0.00	0.000	516	0.000	0.070	2401	904	2755	2764	2747	0	0	0	0	0	0	15.17	14.23	15.19
587	-1.44	-47.4	2400	905	2764	2748	68.4	-14.5	36	593	0.00	2.58	0.00	0.000	1030	0.000	0.063	2392	2303	2755	2764	2747	0	0	0	0	0	0	14.37	14.29	14.42
946	-1.44	-47.4	2392	2304	2765	2746	119.1	-14.1	51	951	0.00	2.55	0.00	0.000	516	0.000	0.065	2392	903	2755	2765	2745	0	0	0	0	0	0	15.11	14.22	15.12
1062	-1.44	-47.4	2391	903	2765	2745	134.8	-13.4	68	1069	0.00	2.58	0.00	0.000	1030	0.000	0.060	2381	2301	2755	2766	2745	0	0	0	0	0	0	14.30	14.23	14.36
1420	-1.44	-47.4	2383	2302	2768	2746	178.7	-11.2	83	1426	0.00	2.55	0.00	0.000	516	0.000	0.063	2381	899	2755	2766	2745	0	0	0	0	0	0	15.16	14.15	15.19
1489	-1.44	-47.4	2382	900	2768	2746	187.0	-11.8	93	1497	0.12	2.60	0.00	0.000	3078	0.306	0.063	2398	2305	2755	2766	2745	0	0	0	0	0	0	13.68	14.18	13.93
1840	-1.44	-47.4	2399	2305	2768	2746	228.2	-11.7	103	1840	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2305	2755	2766	2745	0	0	0	0	0	0	15.16	15.19	15.19
1893	end dive: BOTTOM_OBSTACLE_DETECTED
state	1893	begin apogee
1901	-0.23	0.0	2398	2054	2766	2745	234.7	-11.6	104	1955	1.60	0.12	49.35	2.609	10246	0.278	0.146	2792	2136	2559	2586	2533	0	0	0	0	0	0	14.07	14.26	13.15
1955	end apogee: CONTROL_FINISHED_OK
state	1956	begin climb
1959	1.44	47.4	2793	2136	2588	2533	237.6	0.0	105	2016	1.75	0.00	53.33	2.522	10502	0.139	0.000	3330	2136	2365	2388	2342	0	0	0	0	0	0	14.16	13.68	12.78
2345	1.46	47.4	3328	2136	2378	2330	205.9	8.9	119	2345	0.00	0.00	0.00	0.000	70	0.000	0.000	3329	2136	2353	2378	2328	0	0	0	0	0	0	14.98	15.01	15.01
2680	1.48	47.4	3329	2136	2377	2328	177.1	9.0	129	2686	0.00	2.53	0.00	0.000	580	0.000	0.076	3339	726	2351	2376	2327	0	0	0	0	0	0	15.08	14.53	15.10
2715	1.50	47.4	3339	727	2376	2328	173.8	9.4	134	2721	0.00	2.42	0.00	0.000	1094	0.000	0.054	3339	2092	2351	2376	2327	0	0	0	0	0	0	14.64	14.57	14.69
3072	1.54	47.4	3339	2093	2376	2326	143.5	8.1	149	3073	0.00	0.00	0.00	0.000	70	0.000	0.000	3339	2092	2350	2375	2325	0	0	0	0	0	0	15.06	15.09	15.06
3409	1.55	62.4	3340	2093	2376	2326	115.4	7.9	161	3422	0.00	2.53	8.80	2.226	8740	0.000	0.080	3349	731	2303	2329	2278	0	0	0	0	0	0	14.95	14.61	13.51
3569	1.55	62.4	3350	732	2329	2278	100.5	9.7	184	3576	0.00	2.42	0.00	0.000	1030	0.000	0.053	3349	2105	2301	2327	2276	0	0	0	0	0	0	14.64	14.58	14.70
3915	1.59	62.4	3351	2105	2329	2276	70.2	8.2	197	3920	0.00	2.60	0.00	0.000	324	0.000	0.099	3349	3513	2300	2326	2275	0	0	0	0	0	0	14.97	14.47	15.00
4150	1.59	62.4	3350	3514	2327	2276	46.6	10.0	231	4156	0.00	2.40	0.00	0.000	1030	0.000	0.041	3359	2133	2300	2325	2275	0	0	0	0	0	0	14.61	14.54	14.64
4503	1.60	62.4	3361	2134	2327	2276	14.5	9.3	245	4508	0.00	2.58	0.00	0.000	324	0.000	0.096	3360	3517	2299	2325	2274	0	0	0	0	0	0	15.04	14.40	15.06
4623	end climb: SURFACE_DEPTH_REACHED
state	4623	begin surface coast
4630	end surface coast: CONTROL_FINISHED_OK
state	4630	begin surface