Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 171 * 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 171 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 45 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 171 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 45 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 240218,215740,-7403.5874,-11252.9092,3,1.0,4,53.6,0.4,311.6,9,8.7 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 0.71 MHEAD_RNG_PITCHd_Wd 129.5,12913,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.7 D_GRID 560

GPS2 240218,220249,-7403.5571,-11253.0332,2,1.0,3,53.6,0.3,297.9,9,8.6

Post-dive calculations and measurements:

FREEZE -0.12,-1.738,-1.861,2,1,0 _24V_AH 12.55,64.700

FINISH -0.1,1.027305 _10V_AH 12.79,0.000

SM_CCo 5557,165.65,0.224,0,0,2203,300.18 FG_AHR_24Vo 0.000

SM_GC 0.71,8.43,0.47,165.65,0.068,0.095,0.224,184,2800,2203,-7.89,-0.76,300.18,0,0,0,0,0,0,14.59,14.56,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 228 MEM 280684

RAFOS_FIX -7404.166504,-11253.002930,240218,232316,0,1,0.20 DATA_FILE_SIZE 20092,605

IRIDIUM_FIX -7402.46,-11253.43,240218,201650 CAP_FILE_SIZE 71806,0

TT8_MAMPS 0.038199,0.293608 CFSIZE 1024409600,1000423424

HUMID 45.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1443.5

TCM_TEMP 12.80 CURRENT 0.167,293.96,1

XPDR_PINGS 2 GPS 240218,233939,-7403.955,-11254.868,8,0.7,20,53.6,0.3,358.8,12,3.7

ALTIM_TOP_PING 21.8,22.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 478 138.61 nil 0 0 0.00

Roll_motor 53 97 65.44 nil 0 0 0.00

VBD_pump_during_apogee 223 2283 6394.37 nil 0 0 0.00

VBD_pump_during_surface 165 224 465.98 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 5540 4 282.84

Iridium_during_xfer 213 185 499.02 nil 0 0 0.00

Transponder_ping 8 420 46.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.52

TT8 0 0 0.00

LPSleep 3944 2 116.55

TT8_Active 570 10 79.25

TT8_Sampling 1449 30 562.74

TT8_CF8 92 51 60.96

TT8_Kalman 0 0 0.00

Analog_circuits 1248 10 161.28

GPS_charging 0 0 0.00

Compass 871 6 75.13

RAFOS 0 0 0.00

Transponder 58 30 22.37

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

20.0 21.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.1 43.70 9000.00 0.0 0.00 0.00 43.70 0.0 1.05 1.00

83.6 87.00 87.10 -3.5 1.03 1.00 87.00 -3.4 1.02 1.00

62.8 65.80 65.80 -3.0 1.02 1.00 65.80 -3.0 1.02 1.00

42.3 44.20 44.30 -2.0 1.03 1.00 44.20 -1.9 1.05 1.00

21.8 22.30 22.40 -0.6 1.06 1.00 22.30 -0.5 1.07 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 7 begin dive

9 -1.04 -121.7 197 2802 2236 2133 0.0 0.0 0 121 0.00 0.00 -107.90 0.003 16390 0.000 0.000 196 2801 3889 3899 3880 0 0 0 0 0 0 14.59 13.26 14.59

123 -1.04 -121.7 197 2802 3901 3878 3.1 -4.2 11 141 12.10 2.03 0.00 0.000 2340 0.478 0.083 2382 3914 3895 3902 3889 0 0 0 0 0 0 13.97 14.33 14.40

180 -1.04 -121.7 2383 3915 3903 3895 14.4 -14.7 22 187 0.00 1.92 0.00 0.000 1030 0.000 0.047 2383 2791 3899 3902 3896 0 0 0 0 0 0 14.45 14.42 14.46

485 -1.04 -121.7 2383 2792 3903 3903 55.6 -13.1 53 491 0.00 2.40 0.00 0.000 516 0.000 0.051 2383 1406 3901 3902 3901 0 0 0 0 0 0 14.74 14.43 14.74

560 -1.04 -121.7 2384 1406 3903 3900 65.0 -12.1 68 568 0.00 2.50 0.00 0.000 1030 0.000 0.070 2373 2799 3902 3902 3902 0 0 0 0 0 0 14.50 14.42 14.53

866 -1.04 -121.7 2373 2800 3903 3904 106.4 -13.9 99 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2800 3902 3902 3902 0 0 0 0 0 0 14.79 14.79 14.80

1166 -1.04 -121.7 2374 2800 3903 3903 148.6 -14.7 129 1172 0.00 2.40 0.00 0.000 516 0.000 0.050 2373 1408 3902 3902 3902 0 0 0 0 0 0 14.83 14.51 14.83

1201 -1.04 -121.7 2374 1409 3903 3904 153.9 -14.5 136 1208 0.00 2.47 0.00 0.000 1030 0.000 0.070 2373 2797 3902 3902 3903 0 0 0 0 0 0 14.57 14.49 14.66

1506 -1.04 -121.7 2373 2798 3904 3903 199.7 -14.9 167 1507 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2797 3903 3903 3903 0 0 0 0 0 0 14.84 14.85 14.85

1806 -1.04 -121.7 2373 2797 3903 3904 240.6 -12.5 197 1813 0.00 2.00 0.00 0.000 260 0.000 0.092 2371 3905 3902 3902 3903 0 0 0 0 0 0 14.86 14.49 14.86

1877 -1.04 -121.7 2372 3904 3903 3903 249.7 -12.6 211 1883 0.00 1.88 0.00 0.000 1030 0.000 0.049 2371 2801 3903 3903 3903 0 0 0 0 0 0 14.64 14.60 14.65

2187 -1.04 -121.7 2372 2801 3903 3903 286.3 -12.1 243 2193 0.00 2.40 0.00 0.000 516 0.000 0.052 2371 1405 3902 3902 3903 0 0 0 0 0 0 14.86 14.54 14.86

2267 -1.04 -121.7 2371 1404 3902 3905 295.9 -12.0 259 2273 0.00 2.50 0.00 0.000 1030 0.000 0.071 2371 2801 3902 3902 3903 0 0 0 0 0 0 14.59 14.53 14.62

2527 end dive: TARGET_DEPTH_EXCEEDED

state 2527 begin apogee

2531 -0.23 0.0 2371 2541 3908 3903 330.0 -13.8 275 2649 1.08 0.00 112.93 2.284 10246 0.265 0.000 2651 2543 3397 3401 3393 0 0 0 0 0 0 14.28 13.54 12.95

2651 end apogee: CONTROL_FINISHED_OK

state 2651 begin climb

2652 1.04 121.7 2653 2540 3401 3393 334.8 0.0 281 2772 1.40 2.62 110.20 2.202 10756 0.161 0.067 3065 1165 2910 2913 2908 0 0 0 0 0 0 13.76 13.32 12.55

2791 1.04 121.7 3065 1166 2910 2906 326.1 9.6 300 2797 0.00 2.67 0.00 0.000 1030 0.000 0.070 3065 2549 2907 2909 2905 0 0 0 0 0 0 13.60 13.49 13.62

3102 1.05 121.7 3064 2549 2903 2899 294.6 9.3 321 3107 0.00 2.50 0.00 0.000 580 0.000 0.067 3074 1161 2900 2902 2898 0 0 0 0 0 0 14.39 14.11 14.39

3147 1.05 121.7 3075 1161 2904 2897 290.3 9.7 330 3154 0.00 2.50 0.00 0.000 1030 0.000 0.070 3075 2553 2899 2902 2897 0 0 0 0 0 0 14.26 14.15 14.28

3451 1.05 121.7 3075 2554 2902 2898 255.0 11.2 361 3457 0.00 2.50 0.00 0.000 516 0.000 0.067 3085 1162 2899 2902 2897 0 0 0 0 0 0 14.63 14.31 14.63

3562 1.05 121.7 3086 1162 2903 2897 241.3 11.6 383 3567 0.00 2.47 0.00 0.000 1030 0.000 0.072 3085 2561 2899 2902 2896 0 0 0 0 0 0 14.50 14.39 14.53

3871 1.05 121.7 3086 2561 2903 2897 203.8 13.3 415 3877 0.00 2.47 0.00 0.000 260 0.000 0.098 3085 3906 2898 2901 2896 0 0 0 0 0 0 14.75 14.42 14.75

3981 1.05 121.7 3086 3906 2903 2897 188.1 14.3 437 3989 0.00 2.33 0.00 0.000 1030 0.000 0.056 3095 2562 2899 2902 2897 0 0 0 0 0 0 14.57 14.54 14.59

4293 1.05 121.7 3096 2562 2903 2897 149.2 12.4 469 4293 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2562 2899 2902 2896 0 0 0 0 0 0 14.81 14.81 14.81

4593 1.05 121.7 3096 2563 2902 2898 111.0 12.7 499 4598 0.00 2.47 0.00 0.000 516 0.000 0.067 3106 1157 2899 2901 2897 0 0 0 0 0 0 14.83 14.48 14.83

4663 1.05 121.7 3106 1158 2902 2897 102.7 11.9 513 4669 0.10 2.47 0.00 0.000 5126 0.259 0.072 3078 2546 2898 2901 2896 0 0 0 0 0 0 14.31 14.51 14.65

4973 1.05 121.7 3079 2546 2903 2897 68.0 11.2 545 4979 0.00 2.47 0.00 0.000 260 0.000 0.096 3078 3904 2899 2902 2897 0 0 0 0 0 0 14.85 14.49 14.85

4998 1.05 121.7 3079 3904 2902 2896 64.7 13.2 550 5006 0.00 2.35 0.00 0.000 1030 0.000 0.057 3088 2542 2899 2902 2896 0 0 0 0 0 0 14.62 14.59 14.65

5303 1.05 121.7 3088 2544 2902 2898 27.6 12.3 581 5304 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2543 2899 2902 2896 0 0 0 0 0 0 14.85 14.85 14.85

5533 end climb: SURFACE_DEPTH_REACHED

state 5533 begin surface coast

5542 end surface coast: CONTROL_FINISHED_OK

state 5542 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	171	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	45	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	240218,215740,-7403.5874,-11252.9092,3,1.0,4,53.6,0.4,311.6,9,8.7	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	0.71	MHEAD_RNG_PITCHd_Wd	129.5,12913,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.7	D_GRID	560
GPS2	240218,220249,-7403.5571,-11253.0332,2,1.0,3,53.6,0.3,297.9,9,8.6

FREEZE	-0.12,-1.738,-1.861,2,1,0	_24V_AH	12.55,64.700
FINISH	-0.1,1.027305	_10V_AH	12.79,0.000
SM_CCo	5557,165.65,0.224,0,0,2203,300.18	FG_AHR_24Vo	0.000
SM_GC	0.71,8.43,0.47,165.65,0.068,0.095,0.224,184,2800,2203,-7.89,-0.76,300.18,0,0,0,0,0,0,14.59,14.56,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	228	MEM	280684
RAFOS_FIX	-7404.166504,-11253.002930,240218,232316,0,1,0.20	DATA_FILE_SIZE	20092,605
IRIDIUM_FIX	-7402.46,-11253.43,240218,201650	CAP_FILE_SIZE	71806,0
TT8_MAMPS	0.038199,0.293608	CFSIZE	1024409600,1000423424
HUMID	45.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1443.5
TCM_TEMP	12.80	CURRENT	0.167,293.96,1
XPDR_PINGS	2	GPS	240218,233939,-7403.955,-11254.868,8,0.7,20,53.6,0.3,358.8,12,3.7
ALTIM_TOP_PING	21.8,22.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	478	138.61	nil	0	0	0.00
Roll_motor	53	97	65.44	nil	0	0	0.00
VBD_pump_during_apogee	223	2283	6394.37	nil	0	0	0.00
VBD_pump_during_surface	165	224	465.98	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	5540	4	282.84
Iridium_during_xfer	213	185	499.02	nil	0	0	0.00
Transponder_ping	8	420	46.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.52
TT8	0	0	0.00
LPSleep	3944	2	116.55
TT8_Active	570	10	79.25
TT8_Sampling	1449	30	562.74
TT8_CF8	92	51	60.96
TT8_Kalman	0	0	0.00
Analog_circuits	1248	10	161.28
GPS_charging	0	0	0.00
Compass	871	6	75.13
RAFOS	0	0	0.00
Transponder	58	30	22.37

		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
20.0	21.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.1	43.70	9000.00	0.0	0.00	0.00	43.70	0.0	1.05	1.00

83.6	87.00	87.10	-3.5	1.03	1.00	87.00	-3.4	1.02	1.00
62.8	65.80	65.80	-3.0	1.02	1.00	65.80	-3.0	1.02	1.00
42.3	44.20	44.30	-2.0	1.03	1.00	44.20	-1.9	1.05	1.00
21.8	22.30	22.40	-0.6	1.06	1.00	22.30	-0.5	1.07	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	7	begin dive
9	-1.04	-121.7	197	2802	2236	2133	0.0	0.0	0	121	0.00	0.00	-107.90	0.003	16390	0.000	0.000	196	2801	3889	3899	3880	0	0	0	0	0	0	14.59	13.26	14.59
123	-1.04	-121.7	197	2802	3901	3878	3.1	-4.2	11	141	12.10	2.03	0.00	0.000	2340	0.478	0.083	2382	3914	3895	3902	3889	0	0	0	0	0	0	13.97	14.33	14.40
180	-1.04	-121.7	2383	3915	3903	3895	14.4	-14.7	22	187	0.00	1.92	0.00	0.000	1030	0.000	0.047	2383	2791	3899	3902	3896	0	0	0	0	0	0	14.45	14.42	14.46
485	-1.04	-121.7	2383	2792	3903	3903	55.6	-13.1	53	491	0.00	2.40	0.00	0.000	516	0.000	0.051	2383	1406	3901	3902	3901	0	0	0	0	0	0	14.74	14.43	14.74
560	-1.04	-121.7	2384	1406	3903	3900	65.0	-12.1	68	568	0.00	2.50	0.00	0.000	1030	0.000	0.070	2373	2799	3902	3902	3902	0	0	0	0	0	0	14.50	14.42	14.53
866	-1.04	-121.7	2373	2800	3903	3904	106.4	-13.9	99	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2800	3902	3902	3902	0	0	0	0	0	0	14.79	14.79	14.80
1166	-1.04	-121.7	2374	2800	3903	3903	148.6	-14.7	129	1172	0.00	2.40	0.00	0.000	516	0.000	0.050	2373	1408	3902	3902	3902	0	0	0	0	0	0	14.83	14.51	14.83
1201	-1.04	-121.7	2374	1409	3903	3904	153.9	-14.5	136	1208	0.00	2.47	0.00	0.000	1030	0.000	0.070	2373	2797	3902	3902	3903	0	0	0	0	0	0	14.57	14.49	14.66
1506	-1.04	-121.7	2373	2798	3904	3903	199.7	-14.9	167	1507	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2797	3903	3903	3903	0	0	0	0	0	0	14.84	14.85	14.85
1806	-1.04	-121.7	2373	2797	3903	3904	240.6	-12.5	197	1813	0.00	2.00	0.00	0.000	260	0.000	0.092	2371	3905	3902	3902	3903	0	0	0	0	0	0	14.86	14.49	14.86
1877	-1.04	-121.7	2372	3904	3903	3903	249.7	-12.6	211	1883	0.00	1.88	0.00	0.000	1030	0.000	0.049	2371	2801	3903	3903	3903	0	0	0	0	0	0	14.64	14.60	14.65
2187	-1.04	-121.7	2372	2801	3903	3903	286.3	-12.1	243	2193	0.00	2.40	0.00	0.000	516	0.000	0.052	2371	1405	3902	3902	3903	0	0	0	0	0	0	14.86	14.54	14.86
2267	-1.04	-121.7	2371	1404	3902	3905	295.9	-12.0	259	2273	0.00	2.50	0.00	0.000	1030	0.000	0.071	2371	2801	3902	3902	3903	0	0	0	0	0	0	14.59	14.53	14.62
2527	end dive: TARGET_DEPTH_EXCEEDED
state	2527	begin apogee
2531	-0.23	0.0	2371	2541	3908	3903	330.0	-13.8	275	2649	1.08	0.00	112.93	2.284	10246	0.265	0.000	2651	2543	3397	3401	3393	0	0	0	0	0	0	14.28	13.54	12.95
2651	end apogee: CONTROL_FINISHED_OK
state	2651	begin climb
2652	1.04	121.7	2653	2540	3401	3393	334.8	0.0	281	2772	1.40	2.62	110.20	2.202	10756	0.161	0.067	3065	1165	2910	2913	2908	0	0	0	0	0	0	13.76	13.32	12.55
2791	1.04	121.7	3065	1166	2910	2906	326.1	9.6	300	2797	0.00	2.67	0.00	0.000	1030	0.000	0.070	3065	2549	2907	2909	2905	0	0	0	0	0	0	13.60	13.49	13.62
3102	1.05	121.7	3064	2549	2903	2899	294.6	9.3	321	3107	0.00	2.50	0.00	0.000	580	0.000	0.067	3074	1161	2900	2902	2898	0	0	0	0	0	0	14.39	14.11	14.39
3147	1.05	121.7	3075	1161	2904	2897	290.3	9.7	330	3154	0.00	2.50	0.00	0.000	1030	0.000	0.070	3075	2553	2899	2902	2897	0	0	0	0	0	0	14.26	14.15	14.28
3451	1.05	121.7	3075	2554	2902	2898	255.0	11.2	361	3457	0.00	2.50	0.00	0.000	516	0.000	0.067	3085	1162	2899	2902	2897	0	0	0	0	0	0	14.63	14.31	14.63
3562	1.05	121.7	3086	1162	2903	2897	241.3	11.6	383	3567	0.00	2.47	0.00	0.000	1030	0.000	0.072	3085	2561	2899	2902	2896	0	0	0	0	0	0	14.50	14.39	14.53
3871	1.05	121.7	3086	2561	2903	2897	203.8	13.3	415	3877	0.00	2.47	0.00	0.000	260	0.000	0.098	3085	3906	2898	2901	2896	0	0	0	0	0	0	14.75	14.42	14.75
3981	1.05	121.7	3086	3906	2903	2897	188.1	14.3	437	3989	0.00	2.33	0.00	0.000	1030	0.000	0.056	3095	2562	2899	2902	2897	0	0	0	0	0	0	14.57	14.54	14.59
4293	1.05	121.7	3096	2562	2903	2897	149.2	12.4	469	4293	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2562	2899	2902	2896	0	0	0	0	0	0	14.81	14.81	14.81
4593	1.05	121.7	3096	2563	2902	2898	111.0	12.7	499	4598	0.00	2.47	0.00	0.000	516	0.000	0.067	3106	1157	2899	2901	2897	0	0	0	0	0	0	14.83	14.48	14.83
4663	1.05	121.7	3106	1158	2902	2897	102.7	11.9	513	4669	0.10	2.47	0.00	0.000	5126	0.259	0.072	3078	2546	2898	2901	2896	0	0	0	0	0	0	14.31	14.51	14.65
4973	1.05	121.7	3079	2546	2903	2897	68.0	11.2	545	4979	0.00	2.47	0.00	0.000	260	0.000	0.096	3078	3904	2899	2902	2897	0	0	0	0	0	0	14.85	14.49	14.85
4998	1.05	121.7	3079	3904	2902	2896	64.7	13.2	550	5006	0.00	2.35	0.00	0.000	1030	0.000	0.057	3088	2542	2899	2902	2896	0	0	0	0	0	0	14.62	14.59	14.65
5303	1.05	121.7	3088	2544	2902	2898	27.6	12.3	581	5304	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2543	2899	2902	2896	0	0	0	0	0	0	14.85	14.85	14.85
5533	end climb: SURFACE_DEPTH_REACHED
state	5533	begin surface coast
5542	end surface coast: CONTROL_FINISHED_OK
state	5542	begin surface