Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 170 * 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 170 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 33 ALTIM_FREQUENCY 13

D_TGT 330 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 110 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 330 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 110

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 150

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 170 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 33 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 240218,201500,-7403.1875,-11251.0947,20,0.7,20,53.5,0.8,352.4,11,3.6 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 129.8,14107,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.0 D_GRID 659

GPS2 240218,201954,-7403.1572,-11251.1787,3,0.7,4,53.5,0.5,38.2,12,3.6

Post-dive calculations and measurements:

FREEZE -0.09,-1.662,-1.861,2,1,0 ALTIM_TOP_PING 24.5,24.9

FINISH -0.1,1.027305 _24V_AH 12.54,64.506

SM_CCo 5631,164.55,0.223,0,0,2202,300.18 _10V_AH 12.76,0.000

SM_GC 0.71,8.52,0.45,164.55,0.081,0.094,0.223,196,2801,2202,-7.88,-0.74,300.18,0,0,0,0,0,0,14.57,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 231 FG_AHR_10Vo 0.000

RAFOS 0,1519506060,21.032778,21.016666,162,66,55,54,54,52,629,195,227,179,212,150 MEM 280656

RAFOS_FIX -7402.945312,-11250.393555,240218,212144,3,125,0.17 DATA_FILE_SIZE 20106,576

IRIDIUM_FIX -7402.46,-11253.43,240218,183407 CAP_FILE_SIZE 70206,0

TT8_MAMPS 0.038199,0.26215 CFSIZE 1024409600,1000521728

HUMID 45.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1443.3

TCM_TEMP 12.90 CURRENT 0.156,296.98,1

XPDR_PINGS 1 GPS 240218,215740,-7403.587,-11252.909,3,1.0,4,53.6,0.4,311.6,9,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 470 135.84 nil 0 0 0.00

Roll_motor 44 94 52.71 nil 0 0 0.00

VBD_pump_during_apogee 223 2286 6394.25 nil 0 0 0.00

VBD_pump_during_surface 164 223 460.94 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 5614 4 284.48

Iridium_during_xfer 193 186 453.81 nil 0 0 0.00

Transponder_ping 8 420 44.77 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.68

TT8 0 0 0.00

LPSleep 4066 2 119.86

TT8_Active 560 10 77.75

TT8_Sampling 1391 30 539.00

TT8_CF8 92 51 60.49

TT8_Kalman 0 0 0.00

Analog_circuits 1198 10 154.41

GPS_charging 0 0 0.00

Compass 835 6 71.82

RAFOS 720 1 13.78

Transponder 60 30 23.19

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

21.1 22.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

61.8 64.70 9000.00 0.0 0.00 0.00 64.70 0.0 1.03 1.00

85.6 88.90 89.00 -3.4 1.03 1.00 88.90 -3.3 1.02 1.00

65.4 68.30 68.30 -2.9 1.02 1.00 68.30 -2.9 1.02 1.00

44.6 46.00 46.20 -1.6 1.05 1.00 46.00 -1.4 1.07 1.00

24.5 25.00 24.90 -0.4 1.06 1.00 25.00 -0.5 1.04 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 -1.04 -121.7 195 2808 2230 2130 0.0 0.0 0 121 0.00 0.00 -107.70 0.003 16390 0.000 0.000 195 2808 3889 3901 3878 0 0 0 0 0 0 14.61 13.32 14.61

123 -1.04 -121.7 195 2807 3903 3879 3.2 -4.6 11 141 11.93 0.00 0.00 0.000 2086 0.470 0.000 2386 2807 3897 3903 3891 1 0 0 0 0 0 13.89 14.43 14.38

439 -1.04 -121.7 2387 2807 3904 3902 49.5 -13.9 43 445 0.00 2.47 0.00 0.000 516 0.000 0.051 2386 1391 3902 3903 3901 0 0 0 0 0 0 14.72 14.40 14.72

479 -1.04 -121.7 2387 1390 3904 3902 54.9 -13.3 51 485 0.00 2.53 0.00 0.000 1030 0.000 0.070 2384 2794 3902 3903 3902 0 0 0 0 0 0 14.48 14.40 14.52

789 -1.04 -121.7 2384 2796 3904 3904 97.4 -13.9 83 795 0.00 2.03 0.00 0.000 260 0.000 0.092 2378 3905 3903 3903 3903 0 0 0 0 0 0 14.78 14.43 14.78

849 -1.04 -121.7 2379 3905 3904 3903 106.2 -14.8 95 855 0.00 1.90 0.00 0.000 1030 0.000 0.049 2378 2789 3903 3903 3903 0 0 0 0 0 0 14.56 14.54 14.59

1159 -1.04 -121.7 2379 2790 3904 3904 148.0 -13.4 127 1165 0.00 2.40 0.00 0.000 516 0.000 0.050 2378 1399 3902 3902 3903 0 0 0 0 0 0 14.81 14.49 14.81

1189 -1.04 -121.7 2378 1400 3904 3904 152.0 -13.6 133 1197 0.00 2.50 0.00 0.000 1030 0.000 0.070 2375 2798 3903 3903 3903 0 0 0 0 0 0 14.54 14.47 14.59

1501 -1.04 -121.7 2376 2799 3903 3905 192.5 -13.3 165 1501 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2798 3903 3903 3903 0 0 0 0 0 0 14.85 14.85 14.88

1801 -1.04 -121.7 2376 2798 3904 3903 232.4 -13.7 195 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2798 3902 3902 3903 0 0 0 0 0 0 14.87 14.87 14.87

2101 -1.04 -121.7 2376 2799 3904 3905 271.9 -12.7 225 2107 0.00 2.40 0.00 0.000 516 0.000 0.050 2376 1408 3903 3903 3903 0 0 0 0 0 0 14.88 14.54 14.88

2132 -1.04 -121.7 2376 1409 3904 3905 275.6 -12.3 231 2137 0.00 2.45 0.00 0.000 1030 0.000 0.070 2375 2806 3903 3903 3904 0 0 0 0 0 0 14.66 14.55 14.70

2451 -1.04 -121.7 2375 2806 3904 3903 315.0 -12.4 258 2452 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2805 3903 3903 3904 0 0 0 0 0 0 14.88 14.87 14.88

2591 end dive: TARGET_DEPTH_EXCEEDED

state 2591 begin apogee

2595 -0.23 0.0 2376 2545 3905 3904 332.2 -12.5 265 2714 1.05 0.00 113.20 2.287 10246 0.265 0.000 2649 2545 3397 3400 3394 0 0 0 0 0 0 14.28 13.82 12.95

2715 end apogee: CONTROL_FINISHED_OK

state 2715 begin climb

2716 1.04 121.7 2649 2545 3401 3393 335.7 0.0 271 2833 1.42 2.70 109.80 2.196 10756 0.163 0.067 3068 1163 2914 2915 2914 0 0 0 0 0 0 13.76 13.33 12.54

2852 1.04 121.7 3070 1162 2911 2906 325.6 11.0 289 2860 0.00 2.67 0.00 0.000 1030 0.000 0.070 3068 2547 2907 2910 2905 0 0 0 0 0 0 13.53 13.47 13.56

3158 1.04 121.7 3068 2547 2903 2900 287.4 12.4 310 3159 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2547 2900 2902 2898 0 0 0 0 0 0 14.38 14.38 14.38

3457 1.04 121.7 3069 2547 2903 2898 251.7 11.8 340 3463 0.00 2.47 0.00 0.000 516 0.000 0.068 3078 1168 2899 2901 2897 0 0 0 0 0 0 14.61 14.28 14.61

3482 1.04 121.7 3078 1169 2902 2898 248.6 12.2 345 3490 0.00 2.50 0.00 0.000 1030 0.000 0.072 3078 2550 2899 2902 2897 0 0 0 0 0 0 14.38 14.30 14.40

3787 1.04 121.7 3078 2551 2902 2898 211.9 12.0 376 3793 0.00 2.47 0.00 0.000 516 0.000 0.067 3089 1158 2899 2901 2897 0 0 0 0 0 0 14.72 14.40 14.72

3852 1.04 121.7 3088 1158 2902 2898 203.8 12.1 389 3860 0.00 2.50 0.00 0.000 1030 0.000 0.072 3089 2549 2899 2901 2897 0 0 0 0 0 0 14.48 14.40 14.51

4157 1.04 121.7 3089 2544 2903 2897 165.6 12.4 420 4158 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2549 2899 2902 2896 0 0 0 0 0 0 14.78 14.78 14.76

4457 1.04 121.7 3089 2550 2902 2898 130.1 11.6 450 4458 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2548 2899 2902 2896 0 0 0 0 0 0 14.81 14.81 14.80

4757 1.04 121.7 3089 2549 2901 2897 95.3 11.3 480 4763 0.00 2.40 0.00 0.000 516 0.000 0.065 3099 1161 2898 2901 2896 0 0 0 0 0 0 14.83 14.52 14.84

4792 1.04 121.7 3100 1161 2903 2897 91.5 10.9 487 4799 0.10 2.47 0.00 0.000 5126 0.267 0.072 3073 2549 2899 2902 2897 0 0 0 0 0 0 14.28 14.49 14.49

5097 1.04 121.7 3073 2550 2902 2898 57.6 11.0 518 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2549 2899 2901 2897 0 0 0 0 0 0 14.85 14.85 14.85

5397 1.04 121.7 3074 2549 2903 2897 25.5 10.7 548 5403 0.00 2.45 0.00 0.000 516 0.000 0.067 3082 1163 2899 2902 2896 0 0 0 0 0 0 14.86 14.50 14.85

5452 1.04 121.7 3083 1162 2903 2897 19.4 11.2 559 5459 0.00 2.47 0.00 0.000 1030 0.000 0.072 3083 2552 2899 2901 2897 0 0 0 0 0 0 14.58 14.50 14.62

5606 end climb: SURFACE_DEPTH_REACHED

state 5606 begin surface coast

5616 end surface coast: CONTROL_FINISHED_OK

state 5616 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	170	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	33	ALTIM_FREQUENCY	13
D_TGT	330	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	110	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	240218,201500,-7403.1875,-11251.0947,20,0.7,20,53.5,0.8,352.4,11,3.6	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	129.8,14107,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.0	D_GRID	659
GPS2	240218,201954,-7403.1572,-11251.1787,3,0.7,4,53.5,0.5,38.2,12,3.6

FREEZE	-0.09,-1.662,-1.861,2,1,0	ALTIM_TOP_PING	24.5,24.9
FINISH	-0.1,1.027305	_24V_AH	12.54,64.506
SM_CCo	5631,164.55,0.223,0,0,2202,300.18	_10V_AH	12.76,0.000
SM_GC	0.71,8.52,0.45,164.55,0.081,0.094,0.223,196,2801,2202,-7.88,-0.74,300.18,0,0,0,0,0,0,14.57,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	231	FG_AHR_10Vo	0.000
RAFOS	0,1519506060,21.032778,21.016666,162,66,55,54,54,52,629,195,227,179,212,150	MEM	280656
RAFOS_FIX	-7402.945312,-11250.393555,240218,212144,3,125,0.17	DATA_FILE_SIZE	20106,576
IRIDIUM_FIX	-7402.46,-11253.43,240218,183407	CAP_FILE_SIZE	70206,0
TT8_MAMPS	0.038199,0.26215	CFSIZE	1024409600,1000521728
HUMID	45.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1443.3
TCM_TEMP	12.90	CURRENT	0.156,296.98,1
XPDR_PINGS	1	GPS	240218,215740,-7403.587,-11252.909,3,1.0,4,53.6,0.4,311.6,9,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	470	135.84	nil	0	0	0.00
Roll_motor	44	94	52.71	nil	0	0	0.00
VBD_pump_during_apogee	223	2286	6394.25	nil	0	0	0.00
VBD_pump_during_surface	164	223	460.94	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	5614	4	284.48
Iridium_during_xfer	193	186	453.81	nil	0	0	0.00
Transponder_ping	8	420	44.77	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.68
TT8	0	0	0.00
LPSleep	4066	2	119.86
TT8_Active	560	10	77.75
TT8_Sampling	1391	30	539.00
TT8_CF8	92	51	60.49
TT8_Kalman	0	0	0.00
Analog_circuits	1198	10	154.41
GPS_charging	0	0	0.00
Compass	835	6	71.82
RAFOS	720	1	13.78
Transponder	60	30	23.19

		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
21.1	22.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
61.8	64.70	9000.00	0.0	0.00	0.00	64.70	0.0	1.03	1.00

85.6	88.90	89.00	-3.4	1.03	1.00	88.90	-3.3	1.02	1.00
65.4	68.30	68.30	-2.9	1.02	1.00	68.30	-2.9	1.02	1.00
44.6	46.00	46.20	-1.6	1.05	1.00	46.00	-1.4	1.07	1.00
24.5	25.00	24.90	-0.4	1.06	1.00	25.00	-0.5	1.04	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	-1.04	-121.7	195	2808	2230	2130	0.0	0.0	0	121	0.00	0.00	-107.70	0.003	16390	0.000	0.000	195	2808	3889	3901	3878	0	0	0	0	0	0	14.61	13.32	14.61
123	-1.04	-121.7	195	2807	3903	3879	3.2	-4.6	11	141	11.93	0.00	0.00	0.000	2086	0.470	0.000	2386	2807	3897	3903	3891	1	0	0	0	0	0	13.89	14.43	14.38
439	-1.04	-121.7	2387	2807	3904	3902	49.5	-13.9	43	445	0.00	2.47	0.00	0.000	516	0.000	0.051	2386	1391	3902	3903	3901	0	0	0	0	0	0	14.72	14.40	14.72
479	-1.04	-121.7	2387	1390	3904	3902	54.9	-13.3	51	485	0.00	2.53	0.00	0.000	1030	0.000	0.070	2384	2794	3902	3903	3902	0	0	0	0	0	0	14.48	14.40	14.52
789	-1.04	-121.7	2384	2796	3904	3904	97.4	-13.9	83	795	0.00	2.03	0.00	0.000	260	0.000	0.092	2378	3905	3903	3903	3903	0	0	0	0	0	0	14.78	14.43	14.78
849	-1.04	-121.7	2379	3905	3904	3903	106.2	-14.8	95	855	0.00	1.90	0.00	0.000	1030	0.000	0.049	2378	2789	3903	3903	3903	0	0	0	0	0	0	14.56	14.54	14.59
1159	-1.04	-121.7	2379	2790	3904	3904	148.0	-13.4	127	1165	0.00	2.40	0.00	0.000	516	0.000	0.050	2378	1399	3902	3902	3903	0	0	0	0	0	0	14.81	14.49	14.81
1189	-1.04	-121.7	2378	1400	3904	3904	152.0	-13.6	133	1197	0.00	2.50	0.00	0.000	1030	0.000	0.070	2375	2798	3903	3903	3903	0	0	0	0	0	0	14.54	14.47	14.59
1501	-1.04	-121.7	2376	2799	3903	3905	192.5	-13.3	165	1501	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2798	3903	3903	3903	0	0	0	0	0	0	14.85	14.85	14.88
1801	-1.04	-121.7	2376	2798	3904	3903	232.4	-13.7	195	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2798	3902	3902	3903	0	0	0	0	0	0	14.87	14.87	14.87
2101	-1.04	-121.7	2376	2799	3904	3905	271.9	-12.7	225	2107	0.00	2.40	0.00	0.000	516	0.000	0.050	2376	1408	3903	3903	3903	0	0	0	0	0	0	14.88	14.54	14.88
2132	-1.04	-121.7	2376	1409	3904	3905	275.6	-12.3	231	2137	0.00	2.45	0.00	0.000	1030	0.000	0.070	2375	2806	3903	3903	3904	0	0	0	0	0	0	14.66	14.55	14.70
2451	-1.04	-121.7	2375	2806	3904	3903	315.0	-12.4	258	2452	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2805	3903	3903	3904	0	0	0	0	0	0	14.88	14.87	14.88
2591	end dive: TARGET_DEPTH_EXCEEDED
state	2591	begin apogee
2595	-0.23	0.0	2376	2545	3905	3904	332.2	-12.5	265	2714	1.05	0.00	113.20	2.287	10246	0.265	0.000	2649	2545	3397	3400	3394	0	0	0	0	0	0	14.28	13.82	12.95
2715	end apogee: CONTROL_FINISHED_OK
state	2715	begin climb
2716	1.04	121.7	2649	2545	3401	3393	335.7	0.0	271	2833	1.42	2.70	109.80	2.196	10756	0.163	0.067	3068	1163	2914	2915	2914	0	0	0	0	0	0	13.76	13.33	12.54
2852	1.04	121.7	3070	1162	2911	2906	325.6	11.0	289	2860	0.00	2.67	0.00	0.000	1030	0.000	0.070	3068	2547	2907	2910	2905	0	0	0	0	0	0	13.53	13.47	13.56
3158	1.04	121.7	3068	2547	2903	2900	287.4	12.4	310	3159	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2547	2900	2902	2898	0	0	0	0	0	0	14.38	14.38	14.38
3457	1.04	121.7	3069	2547	2903	2898	251.7	11.8	340	3463	0.00	2.47	0.00	0.000	516	0.000	0.068	3078	1168	2899	2901	2897	0	0	0	0	0	0	14.61	14.28	14.61
3482	1.04	121.7	3078	1169	2902	2898	248.6	12.2	345	3490	0.00	2.50	0.00	0.000	1030	0.000	0.072	3078	2550	2899	2902	2897	0	0	0	0	0	0	14.38	14.30	14.40
3787	1.04	121.7	3078	2551	2902	2898	211.9	12.0	376	3793	0.00	2.47	0.00	0.000	516	0.000	0.067	3089	1158	2899	2901	2897	0	0	0	0	0	0	14.72	14.40	14.72
3852	1.04	121.7	3088	1158	2902	2898	203.8	12.1	389	3860	0.00	2.50	0.00	0.000	1030	0.000	0.072	3089	2549	2899	2901	2897	0	0	0	0	0	0	14.48	14.40	14.51
4157	1.04	121.7	3089	2544	2903	2897	165.6	12.4	420	4158	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2549	2899	2902	2896	0	0	0	0	0	0	14.78	14.78	14.76
4457	1.04	121.7	3089	2550	2902	2898	130.1	11.6	450	4458	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2548	2899	2902	2896	0	0	0	0	0	0	14.81	14.81	14.80
4757	1.04	121.7	3089	2549	2901	2897	95.3	11.3	480	4763	0.00	2.40	0.00	0.000	516	0.000	0.065	3099	1161	2898	2901	2896	0	0	0	0	0	0	14.83	14.52	14.84
4792	1.04	121.7	3100	1161	2903	2897	91.5	10.9	487	4799	0.10	2.47	0.00	0.000	5126	0.267	0.072	3073	2549	2899	2902	2897	0	0	0	0	0	0	14.28	14.49	14.49
5097	1.04	121.7	3073	2550	2902	2898	57.6	11.0	518	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2549	2899	2901	2897	0	0	0	0	0	0	14.85	14.85	14.85
5397	1.04	121.7	3074	2549	2903	2897	25.5	10.7	548	5403	0.00	2.45	0.00	0.000	516	0.000	0.067	3082	1163	2899	2902	2896	0	0	0	0	0	0	14.86	14.50	14.85
5452	1.04	121.7	3083	1162	2903	2897	19.4	11.2	559	5459	0.00	2.47	0.00	0.000	1030	0.000	0.072	3083	2552	2899	2901	2897	0	0	0	0	0	0	14.58	14.50	14.62
5606	end climb: SURFACE_DEPTH_REACHED
state	5606	begin surface coast
5616	end surface coast: CONTROL_FINISHED_OK
state	5616	begin surface