Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 152 * 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 152 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 44 ALTIM_FREQUENCY 13

D_TGT 93 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 41 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 65 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 93 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 41

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 65

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 152 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 44 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 21 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 230218,193941,-7400.4023,-11232.7695,7,1.9,7,53.3,0.2,0.0,4,8.1 SPEED_LIMITS 0.076,0.175

_CALLS 3 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 178.7,24635,-13.2,-7.561,-23.37,2193

_SM_ANGLEo -64.0 D_GRID 810

GPS2 230218,194809,-7400.3643,-11232.7285,4,0.8,22,53.3,0.4,126.3,12,2.7

Post-dive calculations and measurements:

FREEZE -0.02,-1.629,-1.859,2,1,0 _24V_AH 12.93,61.320

FINISH -0.0,1.027281 _10V_AH 13.44,0.000

SM_CCo 2622,120.93,0.223,0,0,2203,300.18 FG_AHR_24Vo 0.000

SM_GC 0.71,8.43,0.45,120.93,0.077,0.090,0.223,194,2807,2203,-7.89,-0.65,300.18,0,0,0,0,0,0,14.45,14.48,14.19 FG_AHR_10Vo 0.000

RAFOS_CLK 113 MEM 280560

RAFOS_FIX -7400.531250,-11232.490234,230218,202052,0,1,0.13 DATA_FILE_SIZE 10099,299

IRIDIUM_FIX -7402.16,-11235.99,230218,194330 CAP_FILE_SIZE 43105,0

TT8_MAMPS 0.039697,0.17976 CFSIZE 1024409600,1002274816

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1440.7

TCM_TEMP 12.90 CURRENT 0.131,47.94,1

XPDR_PINGS 20 GPS 230218,203501,-7400.399,-11233.012,4,0.9,9,53.3,0.3,115.9,11,9.5

ALTIM_TOP_PING 12.8,13.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 137.03 nil 0 0 0.00

Roll_motor 24 93 29.29 nil 0 0 0.00

VBD_pump_during_apogee 266 535 1842.31 nil 0 0 0.00

VBD_pump_during_surface 120 222 348.07 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 2611 4 143.85

Iridium_during_xfer 280 175 635.83 nil 0 0 0.00

Transponder_ping 7 420 39.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 8 2.87

TT8 0 0 0.00

LPSleep 1774 2 55.10

TT8_Active 495 10 72.42

TT8_Sampling 938 30 382.93

TT8_CF8 65 51 45.01

TT8_Kalman 0 0 0.00

Analog_circuits 1039 10 141.16

GPS_charging 0 0 0.00

Compass 436 6 39.55

RAFOS 0 0 0.00

Transponder 16 30 6.54

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

20.4 21.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 43.20 9000.00 0.0 0.00 0.00 43.20 0.0 1.01 1.00

61.9 65.90 65.60 0.0 1.06 1.00 65.90 0.0 1.11 1.00

74.1 77.60 78.10 -4.0 1.06 1.00 77.60 -3.5 0.96 1.00

53.9 56.50 56.90 -3.0 1.04 1.00 56.50 -2.6 1.04 1.00

33.2 34.50 34.60 -1.4 1.06 1.00 34.50 -1.3 1.06 1.00

12.8 13.70 13.50 -0.7 1.04 1.00 13.70 -0.9 1.02 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 -0.75 -121.7 202 2804 2235 2164 0.0 0.0 0 113 0.00 0.00 -101.57 0.003 16390 0.000 0.000 201 2804 3889 3900 3878 0 0 0 0 0 0 14.63 12.93 14.62

115 -0.75 -121.7 202 2804 3902 3879 3.3 -5.0 10 131 12.32 2.45 0.00 0.000 2596 0.469 0.046 2477 1399 3896 3903 3889 0 0 0 0 0 0 13.98 14.36 14.41

280 -0.75 -121.7 2478 1400 3905 3900 26.2 -10.4 43 287 0.00 2.53 0.00 0.000 1030 0.000 0.071 2477 2799 3901 3903 3899 0 0 0 0 0 0 14.44 14.35 14.47

585 -0.75 -121.7 2477 2799 3905 3903 57.6 -10.1 74 591 0.00 2.00 0.00 0.000 260 0.000 0.093 2469 3902 3903 3904 3903 0 0 0 0 0 0 14.77 14.38 14.77

650 -0.75 -121.7 2469 3903 3904 3904 64.7 -11.1 87 658 0.00 1.88 0.00 0.000 1030 0.000 0.050 2470 2795 3903 3903 3903 0 0 0 0 0 0 14.55 14.52 14.57

934 end dive: TARGET_DEPTH_EXCEEDED

state 934 begin apogee

937 -0.23 0.0 2470 2540 3905 3904 93.8 -10.2 116 1050 0.68 0.00 108.97 0.532 10246 0.233 0.000 2650 2540 3397 3403 3392 0 0 0 0 0 0 14.27 14.39 13.90

1051 end apogee: CONTROL_FINISHED_OK

state 1051 begin climb

1052 0.75 121.7 2651 2542 3403 3394 98.4 0.0 127 1162 1.05 0.00 106.03 0.535 10246 0.169 0.000 2965 2540 2912 2914 2910 0 0 0 0 0 0 14.19 14.19 13.81

1456 0.79 121.7 2966 2541 2918 2914 78.9 5.8 168 1462 0.00 2.40 0.00 0.000 580 0.000 0.063 2974 1157 2915 2917 2914 0 0 0 0 0 0 14.65 14.32 14.65

1486 0.83 121.7 2975 1157 2918 2914 77.2 5.7 174 1492 0.00 2.50 0.00 0.000 1094 0.000 0.066 2974 2552 2915 2917 2914 0 0 0 0 0 0 14.41 14.33 14.50

1796 0.84 121.7 2974 2553 2917 2915 57.4 6.8 206 1802 0.00 2.45 0.00 0.000 324 0.000 0.093 2974 3923 2915 2916 2914 0 0 0 0 0 0 14.75 14.40 14.76

1841 0.84 121.7 2974 3924 2916 2915 53.9 8.1 215 1848 0.00 2.33 0.00 0.000 1030 0.000 0.054 2983 2543 2915 2917 2914 0 0 0 0 0 0 14.59 14.53 14.60

2146 0.86 121.7 2983 2544 2916 2915 32.5 6.8 246 2152 0.00 2.40 0.00 0.000 580 0.000 0.063 2993 1149 2913 2915 2912 0 0 0 0 0 0 14.81 14.45 14.81

2171 0.88 121.7 2992 1150 2916 2915 30.9 6.5 251 2178 0.00 2.50 0.00 0.000 1094 0.000 0.069 2993 2555 2914 2915 2914 0 0 0 0 0 0 14.53 14.45 14.57

2476 0.94 175.4 2993 2556 2915 2915 11.3 5.0 282 2534 0.12 0.00 51.08 0.249 10790 0.147 0.000 3036 2555 2697 2702 2693 0 0 0 0 0 0 14.52 14.52 14.26

2587 end climb: SURFACE_DEPTH_REACHED

state 2587 begin surface coast

2607 end surface coast: CONTROL_FINISHED_OK

state 2607 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	152	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	44	ALTIM_FREQUENCY	13
D_TGT	93	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	41	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	65	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	230218,193941,-7400.4023,-11232.7695,7,1.9,7,53.3,0.2,0.0,4,8.1	SPEED_LIMITS	0.076,0.175
_CALLS	3	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	178.7,24635,-13.2,-7.561,-23.37,2193
_SM_ANGLEo	-64.0	D_GRID	810
GPS2	230218,194809,-7400.3643,-11232.7285,4,0.8,22,53.3,0.4,126.3,12,2.7

FREEZE	-0.02,-1.629,-1.859,2,1,0	_24V_AH	12.93,61.320
FINISH	-0.0,1.027281	_10V_AH	13.44,0.000
SM_CCo	2622,120.93,0.223,0,0,2203,300.18	FG_AHR_24Vo	0.000
SM_GC	0.71,8.43,0.45,120.93,0.077,0.090,0.223,194,2807,2203,-7.89,-0.65,300.18,0,0,0,0,0,0,14.45,14.48,14.19	FG_AHR_10Vo	0.000
RAFOS_CLK	113	MEM	280560
RAFOS_FIX	-7400.531250,-11232.490234,230218,202052,0,1,0.13	DATA_FILE_SIZE	10099,299
IRIDIUM_FIX	-7402.16,-11235.99,230218,194330	CAP_FILE_SIZE	43105,0
TT8_MAMPS	0.039697,0.17976	CFSIZE	1024409600,1002274816
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1440.7
TCM_TEMP	12.90	CURRENT	0.131,47.94,1
XPDR_PINGS	20	GPS	230218,203501,-7400.399,-11233.012,4,0.9,9,53.3,0.3,115.9,11,9.5
ALTIM_TOP_PING	12.8,13.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	137.03	nil	0	0	0.00
Roll_motor	24	93	29.29	nil	0	0	0.00
VBD_pump_during_apogee	266	535	1842.31	nil	0	0	0.00
VBD_pump_during_surface	120	222	348.07	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	2611	4	143.85
Iridium_during_xfer	280	175	635.83	nil	0	0	0.00
Transponder_ping	7	420	39.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	8	2.87
TT8	0	0	0.00
LPSleep	1774	2	55.10
TT8_Active	495	10	72.42
TT8_Sampling	938	30	382.93
TT8_CF8	65	51	45.01
TT8_Kalman	0	0	0.00
Analog_circuits	1039	10	141.16
GPS_charging	0	0	0.00
Compass	436	6	39.55
RAFOS	0	0	0.00
Transponder	16	30	6.54

		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
20.4	21.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	43.20	9000.00	0.0	0.00	0.00	43.20	0.0	1.01	1.00
61.9	65.90	65.60	0.0	1.06	1.00	65.90	0.0	1.11	1.00

74.1	77.60	78.10	-4.0	1.06	1.00	77.60	-3.5	0.96	1.00
53.9	56.50	56.90	-3.0	1.04	1.00	56.50	-2.6	1.04	1.00
33.2	34.50	34.60	-1.4	1.06	1.00	34.50	-1.3	1.06	1.00
12.8	13.70	13.50	-0.7	1.04	1.00	13.70	-0.9	1.02	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	-0.75	-121.7	202	2804	2235	2164	0.0	0.0	0	113	0.00	0.00	-101.57	0.003	16390	0.000	0.000	201	2804	3889	3900	3878	0	0	0	0	0	0	14.63	12.93	14.62
115	-0.75	-121.7	202	2804	3902	3879	3.3	-5.0	10	131	12.32	2.45	0.00	0.000	2596	0.469	0.046	2477	1399	3896	3903	3889	0	0	0	0	0	0	13.98	14.36	14.41
280	-0.75	-121.7	2478	1400	3905	3900	26.2	-10.4	43	287	0.00	2.53	0.00	0.000	1030	0.000	0.071	2477	2799	3901	3903	3899	0	0	0	0	0	0	14.44	14.35	14.47
585	-0.75	-121.7	2477	2799	3905	3903	57.6	-10.1	74	591	0.00	2.00	0.00	0.000	260	0.000	0.093	2469	3902	3903	3904	3903	0	0	0	0	0	0	14.77	14.38	14.77
650	-0.75	-121.7	2469	3903	3904	3904	64.7	-11.1	87	658	0.00	1.88	0.00	0.000	1030	0.000	0.050	2470	2795	3903	3903	3903	0	0	0	0	0	0	14.55	14.52	14.57
934	end dive: TARGET_DEPTH_EXCEEDED
state	934	begin apogee
937	-0.23	0.0	2470	2540	3905	3904	93.8	-10.2	116	1050	0.68	0.00	108.97	0.532	10246	0.233	0.000	2650	2540	3397	3403	3392	0	0	0	0	0	0	14.27	14.39	13.90
1051	end apogee: CONTROL_FINISHED_OK
state	1051	begin climb
1052	0.75	121.7	2651	2542	3403	3394	98.4	0.0	127	1162	1.05	0.00	106.03	0.535	10246	0.169	0.000	2965	2540	2912	2914	2910	0	0	0	0	0	0	14.19	14.19	13.81
1456	0.79	121.7	2966	2541	2918	2914	78.9	5.8	168	1462	0.00	2.40	0.00	0.000	580	0.000	0.063	2974	1157	2915	2917	2914	0	0	0	0	0	0	14.65	14.32	14.65
1486	0.83	121.7	2975	1157	2918	2914	77.2	5.7	174	1492	0.00	2.50	0.00	0.000	1094	0.000	0.066	2974	2552	2915	2917	2914	0	0	0	0	0	0	14.41	14.33	14.50
1796	0.84	121.7	2974	2553	2917	2915	57.4	6.8	206	1802	0.00	2.45	0.00	0.000	324	0.000	0.093	2974	3923	2915	2916	2914	0	0	0	0	0	0	14.75	14.40	14.76
1841	0.84	121.7	2974	3924	2916	2915	53.9	8.1	215	1848	0.00	2.33	0.00	0.000	1030	0.000	0.054	2983	2543	2915	2917	2914	0	0	0	0	0	0	14.59	14.53	14.60
2146	0.86	121.7	2983	2544	2916	2915	32.5	6.8	246	2152	0.00	2.40	0.00	0.000	580	0.000	0.063	2993	1149	2913	2915	2912	0	0	0	0	0	0	14.81	14.45	14.81
2171	0.88	121.7	2992	1150	2916	2915	30.9	6.5	251	2178	0.00	2.50	0.00	0.000	1094	0.000	0.069	2993	2555	2914	2915	2914	0	0	0	0	0	0	14.53	14.45	14.57
2476	0.94	175.4	2993	2556	2915	2915	11.3	5.0	282	2534	0.12	0.00	51.08	0.249	10790	0.147	0.000	3036	2555	2697	2702	2693	0	0	0	0	0	0	14.52	14.52	14.26
2587	end climb: SURFACE_DEPTH_REACHED
state	2587	begin surface coast
2607	end surface coast: CONTROL_FINISHED_OK
state	2607	begin surface