Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 164 * 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 164 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 20

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 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 0 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 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.25119999 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 98 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 120 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 300 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 300 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -3 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 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 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 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 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 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 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 270 N_NOCOMM 3 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 20 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 98

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

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 120

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 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

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 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 300 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 300 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 164 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 600 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 240218,102718,-7401.4956,-11241.5918,5,1.6,9,53.4,0.2,0.0,4,8.4 SPEED_LIMITS 0.092,0.191

_CALLS 2 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.67 MHEAD_RNG_PITCHd_Wd 140.8,19835,-17.6,-9.184,-25.67,1902

_SM_ANGLEo -60.4 D_GRID 729

GPS2 240218,103419,-7401.4370,-11241.6777,4,1.5,14,53.4,0.5,16.9,4,9.7

Post-dive calculations and measurements:

FREEZE 0.78,-1.751,-1.862,2,1,0 _24V_AH 12.36,63.382

FINISH 0.8,1.027309 _10V_AH 12.68,0.000

SM_CCo 4944,165.77,0.223,0,0,2204,300.18 FG_AHR_24Vo 0.000

SM_GC 0.69,8.73,0.45,165.77,0.109,0.093,0.223,186,2804,2204,-7.89,-0.68,300.18,0,0,0,0,0,0,14.57,14.59,14.25 FG_AHR_10Vo 0.000

RAFOS_CLK 208 MEM 280500

RAFOS_FIX -7401.964844,-11241.541992,240218,111124,0,1,0.20 DATA_FILE_SIZE 20099,557

IRIDIUM_FIX -7400.25,-11232.99,240218,102904 CAP_FILE_SIZE 68527,0

TT8_MAMPS 0.038948,0.274883 CFSIZE 1024409600,1001111552

HUMID 45.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1443.1

TCM_TEMP 12.90 CURRENT 0.107,336.55,1

XPDR_PINGS 0 GPS 240218,120100,-7401.690,-11242.569,31,0.8,31,53.4,0.3,11.7,11,3.4

ALTIM_TOP_PING 25.3,26.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 462 130.57 nil 0 0 0.00

Roll_motor 52 97 62.68 nil 0 0 0.00

VBD_pump_during_apogee 227 2600 7314.01 nil 0 0 0.00

VBD_pump_during_surface 165 223 457.70 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 4938 4 258.29

Iridium_during_xfer 254 185 584.81 nil 0 0 0.00

Transponder_ping 6 420 35.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 8 1.82

TT8 0 0 0.00

LPSleep 3493 2 102.34

TT8_Active 559 10 77.11

TT8_Sampling 1406 30 541.40

TT8_CF8 88 51 57.62

TT8_Kalman 0 0 0.00

Analog_circuits 1259 10 161.31

GPS_charging 0 0 0.00

Compass 809 6 69.18

RAFOS 0 0 0.00

Transponder 47 30 18.08

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

21.0 22.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.7 43.90 9000.00 0.0 0.00 0.00 43.90 0.0 1.04 1.00

82.7 88.00 87.90 0.0 1.07 1.00 88.00 0.0 1.08 1.00

85.7 90.20 90.70 -5.0 1.06 1.00 90.20 -4.5 0.73 1.00

65.5 68.50 68.60 -3.1 1.10 1.00 68.50 -3.0 1.07 1.00

45.4 46.90 46.90 -1.5 1.08 1.00 46.90 -1.5 1.07 1.00

25.3 26.20 26.10 -0.8 1.05 1.00 26.20 -0.9 1.03 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 -0.95 -121.7 200 2803 2223 2141 0.0 0.0 0 121 0.00 0.00 -105.88 0.003 16390 0.000 0.000 200 2803 3890 3901 3879 0 0 0 0 0 0 14.61 13.02 14.61

123 -0.95 -121.7 201 2804 3903 3879 3.9 -6.4 11 141 11.75 1.95 0.00 0.000 2340 0.463 0.075 2403 3918 3897 3904 3890 0 0 0 0 0 0 14.03 14.36 14.31

165 -0.95 -121.7 2403 3919 3904 3896 14.4 -16.6 19 171 0.00 1.92 0.00 0.000 1030 0.000 0.051 2403 2798 3899 3903 3895 0 0 0 0 0 0 14.45 14.42 14.47

475 -0.95 -121.7 2403 2798 3905 3902 55.9 -13.6 51 480 0.00 2.42 0.00 0.000 516 0.000 0.052 2403 1402 3903 3904 3902 0 0 0 0 0 0 14.74 14.42 14.74

575 -0.95 -121.7 2403 1402 3904 3902 68.9 -13.2 71 581 0.00 2.53 0.00 0.000 1030 0.000 0.072 2401 2809 3903 3904 3902 0 0 0 0 0 0 14.52 14.44 14.54

885 -0.95 -121.7 2401 2810 3903 3903 110.8 -13.1 103 890 0.00 2.00 0.00 0.000 260 0.000 0.094 2398 3916 3903 3904 3902 0 0 0 0 0 0 14.81 14.45 14.80

935 -0.95 -121.7 2399 3917 3904 3902 117.7 -14.0 113 942 0.00 1.90 0.00 0.000 1030 0.000 0.051 2399 2794 3903 3904 3903 0 0 0 0 0 0 14.59 14.57 14.61

1246 -0.95 -121.7 2399 2794 3905 3903 157.8 -12.4 145 1253 0.00 2.40 0.00 0.000 516 0.000 0.053 2400 1396 3903 3904 3903 0 0 0 0 0 0 14.83 14.52 14.83

1287 -0.95 -121.7 2399 1397 3905 3903 163.1 -12.9 153 1294 0.00 2.50 0.00 0.000 1030 0.000 0.071 2398 2801 3903 3904 3903 0 0 0 0 0 0 14.57 14.50 14.61

1598 -0.95 -121.7 2398 2801 3904 3904 202.2 -12.1 185 1604 0.00 1.98 0.00 0.000 260 0.000 0.093 2396 3899 3903 3904 3903 0 0 0 0 0 0 14.85 14.49 14.85

1625 -0.95 -121.7 2396 3899 3904 3904 205.4 -12.6 190 1631 0.00 1.83 0.00 0.000 1030 0.000 0.050 2396 2794 3903 3904 3903 0 0 0 0 0 0 14.68 14.63 14.70

1928 -0.95 -121.7 2397 2795 3904 3904 241.7 -11.7 221 1935 0.00 2.40 0.00 0.000 516 0.000 0.052 2396 1402 3903 3904 3903 0 0 0 0 0 0 14.84 14.53 14.84

1959 -0.95 -121.7 2395 1401 3905 3904 245.3 -11.7 227 1965 0.00 2.50 0.00 0.000 1030 0.000 0.073 2396 2801 3903 3904 3903 0 0 0 0 0 0 14.59 14.52 14.63

2179 end dive: TARGET_DEPTH_EXCEEDED

state 2179 begin apogee

2183 -0.23 0.0 2398 2541 3905 3903 270.7 -11.8 250 2302 0.95 0.00 111.12 2.225 10246 0.253 0.000 2648 2542 3399 3403 3395 0 0 0 0 0 0 14.31 13.84 13.00

2303 end apogee: CONTROL_FINISHED_OK

state 2303 begin climb

2304 0.95 121.7 2648 2543 3403 3397 274.2 0.0 262 2430 1.30 2.65 116.45 2.600 10756 0.161 0.063 3038 1160 2911 2913 2909 0 0 0 0 0 0 13.79 13.19 12.36

2454 0.95 121.7 3038 1160 2910 2908 264.4 9.5 289 2463 0.00 2.67 0.00 0.000 1030 0.000 0.069 3038 2542 2907 2909 2906 0 0 0 0 0 0 13.54 13.48 13.57

2759 0.95 121.7 3039 2542 2903 2901 232.0 10.5 320 2760 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2541 2901 2902 2901 0 0 0 0 0 0 14.38 14.37 14.38

3059 0.95 121.7 3039 2542 2903 2901 200.9 10.0 350 3065 0.00 2.47 0.00 0.000 516 0.000 0.067 3049 1164 2901 2902 2900 0 0 0 0 0 0 14.62 14.31 14.62

3089 0.95 121.7 3049 1165 2902 2901 197.9 9.9 356 3095 0.00 2.50 0.00 0.000 1030 0.000 0.070 3049 2546 2897 2896 2899 0 0 0 0 0 0 14.41 14.34 14.44

3399 0.95 121.7 3048 2547 2903 2901 164.3 11.0 388 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2546 2900 2902 2899 0 0 0 0 0 0 14.73 14.73 14.73

3699 0.95 121.7 3049 2546 2903 2899 130.3 11.6 418 3700 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2546 2901 2902 2900 0 0 0 0 0 0 14.79 14.79 14.78

3999 0.95 121.7 3048 2545 2903 2898 97.4 10.5 448 4005 0.00 2.45 0.00 0.000 516 0.000 0.066 3058 1161 2900 2901 2900 0 0 0 0 0 0 14.83 14.49 14.83

4034 0.95 121.7 3059 1161 2901 2900 93.7 10.6 455 4042 0.00 2.47 0.00 0.000 1030 0.000 0.071 3058 2549 2900 2902 2899 0 0 0 0 0 0 14.59 14.50 14.62

4339 0.95 121.7 3059 2549 2903 2899 61.4 10.4 486 4345 0.00 2.47 0.00 0.000 260 0.000 0.097 3058 3903 2900 2901 2899 0 0 0 0 0 0 14.85 14.50 14.84

4375 0.95 121.7 3058 3904 2902 2900 57.2 12.3 493 4383 0.10 2.33 0.00 0.000 5126 0.288 0.056 3042 2554 2899 2901 2898 0 0 0 0 0 0 14.30 14.59 14.52

4679 0.95 121.7 3042 2555 2902 2900 26.3 9.4 524 4685 0.00 2.47 0.00 0.000 516 0.000 0.067 3052 1153 2900 2901 2899 0 0 0 0 0 0 14.86 14.52 14.86

4749 0.95 121.7 3053 1150 2903 2898 19.3 10.9 538 4756 0.00 2.50 0.00 0.000 1030 0.000 0.071 3052 2555 2900 2901 2899 0 0 0 0 0 0 14.62 14.54 14.65

4919 end climb: SURFACE_DEPTH_REACHED

state 4919 begin surface coast

4929 end surface coast: CONTROL_FINISHED_OK

state 4929 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	164	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	20
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	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	0	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	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.25119999	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	98	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	120	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	300	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	300	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-3	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	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	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	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	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	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	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	240218,102718,-7401.4956,-11241.5918,5,1.6,9,53.4,0.2,0.0,4,8.4	SPEED_LIMITS	0.092,0.191
_CALLS	2	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.67	MHEAD_RNG_PITCHd_Wd	140.8,19835,-17.6,-9.184,-25.67,1902
_SM_ANGLEo	-60.4	D_GRID	729
GPS2	240218,103419,-7401.4370,-11241.6777,4,1.5,14,53.4,0.5,16.9,4,9.7

FREEZE	0.78,-1.751,-1.862,2,1,0	_24V_AH	12.36,63.382
FINISH	0.8,1.027309	_10V_AH	12.68,0.000
SM_CCo	4944,165.77,0.223,0,0,2204,300.18	FG_AHR_24Vo	0.000
SM_GC	0.69,8.73,0.45,165.77,0.109,0.093,0.223,186,2804,2204,-7.89,-0.68,300.18,0,0,0,0,0,0,14.57,14.59,14.25	FG_AHR_10Vo	0.000
RAFOS_CLK	208	MEM	280500
RAFOS_FIX	-7401.964844,-11241.541992,240218,111124,0,1,0.20	DATA_FILE_SIZE	20099,557
IRIDIUM_FIX	-7400.25,-11232.99,240218,102904	CAP_FILE_SIZE	68527,0
TT8_MAMPS	0.038948,0.274883	CFSIZE	1024409600,1001111552
HUMID	45.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1443.1
TCM_TEMP	12.90	CURRENT	0.107,336.55,1
XPDR_PINGS	0	GPS	240218,120100,-7401.690,-11242.569,31,0.8,31,53.4,0.3,11.7,11,3.4
ALTIM_TOP_PING	25.3,26.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	462	130.57	nil	0	0	0.00
Roll_motor	52	97	62.68	nil	0	0	0.00
VBD_pump_during_apogee	227	2600	7314.01	nil	0	0	0.00
VBD_pump_during_surface	165	223	457.70	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	4938	4	258.29
Iridium_during_xfer	254	185	584.81	nil	0	0	0.00
Transponder_ping	6	420	35.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	8	1.82
TT8	0	0	0.00
LPSleep	3493	2	102.34
TT8_Active	559	10	77.11
TT8_Sampling	1406	30	541.40
TT8_CF8	88	51	57.62
TT8_Kalman	0	0	0.00
Analog_circuits	1259	10	161.31
GPS_charging	0	0	0.00
Compass	809	6	69.18
RAFOS	0	0	0.00
Transponder	47	30	18.08

		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
21.0	22.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.7	43.90	9000.00	0.0	0.00	0.00	43.90	0.0	1.04	1.00
82.7	88.00	87.90	0.0	1.07	1.00	88.00	0.0	1.08	1.00

85.7	90.20	90.70	-5.0	1.06	1.00	90.20	-4.5	0.73	1.00
65.5	68.50	68.60	-3.1	1.10	1.00	68.50	-3.0	1.07	1.00
45.4	46.90	46.90	-1.5	1.08	1.00	46.90	-1.5	1.07	1.00
25.3	26.20	26.10	-0.8	1.05	1.00	26.20	-0.9	1.03	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	-0.95	-121.7	200	2803	2223	2141	0.0	0.0	0	121	0.00	0.00	-105.88	0.003	16390	0.000	0.000	200	2803	3890	3901	3879	0	0	0	0	0	0	14.61	13.02	14.61
123	-0.95	-121.7	201	2804	3903	3879	3.9	-6.4	11	141	11.75	1.95	0.00	0.000	2340	0.463	0.075	2403	3918	3897	3904	3890	0	0	0	0	0	0	14.03	14.36	14.31
165	-0.95	-121.7	2403	3919	3904	3896	14.4	-16.6	19	171	0.00	1.92	0.00	0.000	1030	0.000	0.051	2403	2798	3899	3903	3895	0	0	0	0	0	0	14.45	14.42	14.47
475	-0.95	-121.7	2403	2798	3905	3902	55.9	-13.6	51	480	0.00	2.42	0.00	0.000	516	0.000	0.052	2403	1402	3903	3904	3902	0	0	0	0	0	0	14.74	14.42	14.74
575	-0.95	-121.7	2403	1402	3904	3902	68.9	-13.2	71	581	0.00	2.53	0.00	0.000	1030	0.000	0.072	2401	2809	3903	3904	3902	0	0	0	0	0	0	14.52	14.44	14.54
885	-0.95	-121.7	2401	2810	3903	3903	110.8	-13.1	103	890	0.00	2.00	0.00	0.000	260	0.000	0.094	2398	3916	3903	3904	3902	0	0	0	0	0	0	14.81	14.45	14.80
935	-0.95	-121.7	2399	3917	3904	3902	117.7	-14.0	113	942	0.00	1.90	0.00	0.000	1030	0.000	0.051	2399	2794	3903	3904	3903	0	0	0	0	0	0	14.59	14.57	14.61
1246	-0.95	-121.7	2399	2794	3905	3903	157.8	-12.4	145	1253	0.00	2.40	0.00	0.000	516	0.000	0.053	2400	1396	3903	3904	3903	0	0	0	0	0	0	14.83	14.52	14.83
1287	-0.95	-121.7	2399	1397	3905	3903	163.1	-12.9	153	1294	0.00	2.50	0.00	0.000	1030	0.000	0.071	2398	2801	3903	3904	3903	0	0	0	0	0	0	14.57	14.50	14.61
1598	-0.95	-121.7	2398	2801	3904	3904	202.2	-12.1	185	1604	0.00	1.98	0.00	0.000	260	0.000	0.093	2396	3899	3903	3904	3903	0	0	0	0	0	0	14.85	14.49	14.85
1625	-0.95	-121.7	2396	3899	3904	3904	205.4	-12.6	190	1631	0.00	1.83	0.00	0.000	1030	0.000	0.050	2396	2794	3903	3904	3903	0	0	0	0	0	0	14.68	14.63	14.70
1928	-0.95	-121.7	2397	2795	3904	3904	241.7	-11.7	221	1935	0.00	2.40	0.00	0.000	516	0.000	0.052	2396	1402	3903	3904	3903	0	0	0	0	0	0	14.84	14.53	14.84
1959	-0.95	-121.7	2395	1401	3905	3904	245.3	-11.7	227	1965	0.00	2.50	0.00	0.000	1030	0.000	0.073	2396	2801	3903	3904	3903	0	0	0	0	0	0	14.59	14.52	14.63
2179	end dive: TARGET_DEPTH_EXCEEDED
state	2179	begin apogee
2183	-0.23	0.0	2398	2541	3905	3903	270.7	-11.8	250	2302	0.95	0.00	111.12	2.225	10246	0.253	0.000	2648	2542	3399	3403	3395	0	0	0	0	0	0	14.31	13.84	13.00
2303	end apogee: CONTROL_FINISHED_OK
state	2303	begin climb
2304	0.95	121.7	2648	2543	3403	3397	274.2	0.0	262	2430	1.30	2.65	116.45	2.600	10756	0.161	0.063	3038	1160	2911	2913	2909	0	0	0	0	0	0	13.79	13.19	12.36
2454	0.95	121.7	3038	1160	2910	2908	264.4	9.5	289	2463	0.00	2.67	0.00	0.000	1030	0.000	0.069	3038	2542	2907	2909	2906	0	0	0	0	0	0	13.54	13.48	13.57
2759	0.95	121.7	3039	2542	2903	2901	232.0	10.5	320	2760	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2541	2901	2902	2901	0	0	0	0	0	0	14.38	14.37	14.38
3059	0.95	121.7	3039	2542	2903	2901	200.9	10.0	350	3065	0.00	2.47	0.00	0.000	516	0.000	0.067	3049	1164	2901	2902	2900	0	0	0	0	0	0	14.62	14.31	14.62
3089	0.95	121.7	3049	1165	2902	2901	197.9	9.9	356	3095	0.00	2.50	0.00	0.000	1030	0.000	0.070	3049	2546	2897	2896	2899	0	0	0	0	0	0	14.41	14.34	14.44
3399	0.95	121.7	3048	2547	2903	2901	164.3	11.0	388	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2546	2900	2902	2899	0	0	0	0	0	0	14.73	14.73	14.73
3699	0.95	121.7	3049	2546	2903	2899	130.3	11.6	418	3700	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2546	2901	2902	2900	0	0	0	0	0	0	14.79	14.79	14.78
3999	0.95	121.7	3048	2545	2903	2898	97.4	10.5	448	4005	0.00	2.45	0.00	0.000	516	0.000	0.066	3058	1161	2900	2901	2900	0	0	0	0	0	0	14.83	14.49	14.83
4034	0.95	121.7	3059	1161	2901	2900	93.7	10.6	455	4042	0.00	2.47	0.00	0.000	1030	0.000	0.071	3058	2549	2900	2902	2899	0	0	0	0	0	0	14.59	14.50	14.62
4339	0.95	121.7	3059	2549	2903	2899	61.4	10.4	486	4345	0.00	2.47	0.00	0.000	260	0.000	0.097	3058	3903	2900	2901	2899	0	0	0	0	0	0	14.85	14.50	14.84
4375	0.95	121.7	3058	3904	2902	2900	57.2	12.3	493	4383	0.10	2.33	0.00	0.000	5126	0.288	0.056	3042	2554	2899	2901	2898	0	0	0	0	0	0	14.30	14.59	14.52
4679	0.95	121.7	3042	2555	2902	2900	26.3	9.4	524	4685	0.00	2.47	0.00	0.000	516	0.000	0.067	3052	1153	2900	2901	2899	0	0	0	0	0	0	14.86	14.52	14.86
4749	0.95	121.7	3053	1150	2903	2898	19.3	10.9	538	4756	0.00	2.50	0.00	0.000	1030	0.000	0.071	3052	2555	2900	2901	2899	0	0	0	0	0	0	14.62	14.54	14.65
4919	end climb: SURFACE_DEPTH_REACHED
state	4919	begin surface coast
4929	end surface coast: CONTROL_FINISHED_OK
state	4929	begin surface