Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 189 * 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 189 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 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 27 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 4 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 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 -1 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 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

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 0.059999999 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 -1

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 189 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 27 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 260218,045200,-7407.3950,-11319.6504,27,0.9,27,53.9,0.2,340.9,10,3.3 SPEED_LIMITS 0.100,0.198

_CALLS 4 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 88.3,4188,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -65.5 D_GRID 414

GPS2 260218,050510,-7407.3491,-11319.6338,3,0.9,3,53.9,0.0,0.0,10,10.0

Post-dive calculations and measurements:

FREEZE -0.05,-1.627,-1.860,2,1,0 ALTIM_TOP_PING 22.6,23.3

FINISH -0.0,1.027290 _24V_AH 12.52,68.213

SM_CCo 5551,161.90,0.223,0,0,2204,300.18 _10V_AH 12.78,0.000

SM_GC 0.84,8.52,0.45,161.90,0.077,0.095,0.223,189,2804,2204,-7.90,-0.68,300.18,0,0,0,0,0,0,14.57,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 226 FG_AHR_10Vo 0.000

RAFOS 0,1519624861,6.032778,6.016944,121,56,54,53,47,47,648,196,182,165,74,214 MEM 280384

RAFOS_FIX -7404.654297,-11314.243164,260218,060628,2,127,1.35 DATA_FILE_SIZE 20041,572

IRIDIUM_FIX -7408.22,-11327.41,260218,045827 CAP_FILE_SIZE 75642,0

TT8_MAMPS 0.038199,0.281624 CFSIZE 1024409600,998653952

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.8

TCM_TEMP 13.00 CURRENT 0.114,39.09,1

XPDR_PINGS 1 GPS 260218,064126,-7407.601,-11317.441,4,1.6,6,53.9,0.1,0.0,5,5.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 467 134.60 nil 0 0 0.00

Roll_motor 47 97 58.02 nil 0 0 0.00

VBD_pump_during_apogee 226 2302 6516.84 nil 0 0 0.00

VBD_pump_during_surface 161 222 451.24 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 5538 7 503.79

Iridium_during_xfer 500 182 1144.60 nil 0 0 0.00

Transponder_ping 8 420 44.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.54

TT8 0 0 0.00

LPSleep 4154 2 122.64

TT8_Active 575 10 79.99

TT8_Sampling 1668 30 647.30

TT8_CF8 114 51 75.09

TT8_Kalman 0 0 0.00

Analog_circuits 1510 10 195.01

GPS_charging 0 0 0.00

Compass 824 6 71.06

RAFOS 720 1 13.80

Transponder 59 30 22.62

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 22.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 44.10 9000.00 0.0 0.00 0.00 44.10 0.0 1.07 1.00

104.7 108.60 108.80 -4.1 1.03 1.00 108.60 -3.9 1.02 1.00

84.3 87.90 87.80 -3.5 1.02 1.00 87.90 -3.6 1.01 1.00

63.5 66.00 66.10 -2.6 1.04 1.00 66.00 -2.5 1.05 1.00

43.4 44.90 44.90 -1.5 1.05 1.00 44.90 -1.5 1.05 1.00

22.6 23.30 23.30 -0.7 1.04 1.00 23.30 -0.7 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.04 -121.7 190 2808 2233 2126 0.0 0.0 0 123 0.00 0.00 -108.05 0.003 16390 0.000 0.000 190 2808 3889 3900 3878 0 0 0 0 0 0 14.58 13.24 14.58

124 -1.04 -121.7 191 2809 3901 3880 2.6 -3.0 11 142 11.90 1.92 0.00 0.000 2340 0.467 0.080 2376 3902 3896 3902 3891 0 0 0 0 0 0 13.98 14.33 14.28

186 -1.04 -121.7 2376 3904 3903 3898 13.2 -13.9 23 192 0.00 1.90 0.00 0.000 1030 0.000 0.048 2376 2797 3899 3902 3897 0 0 0 0 0 0 14.44 14.40 14.46

496 -1.04 -121.7 2376 2798 3903 3903 54.4 -12.9 55 502 0.00 2.42 0.00 0.000 516 0.000 0.051 2376 1403 3902 3903 3902 0 0 0 0 0 0 14.73 14.42 14.73

536 -1.04 -121.7 2376 1403 3903 3903 59.5 -12.7 63 542 0.00 2.50 0.00 0.000 1030 0.000 0.069 2374 2795 3902 3902 3902 0 0 0 0 0 0 14.47 14.40 14.51

846 -1.04 -121.7 2375 2796 3903 3904 100.5 -13.3 95 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2795 3902 3902 3903 0 0 0 0 0 0 14.77 14.77 14.78

1146 -1.04 -121.7 2374 2795 3904 3902 139.8 -12.9 125 1147 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2795 3905 3902 3908 0 0 0 0 0 0 14.81 14.81 14.81

1446 -1.04 -121.7 2375 2796 3903 3904 177.6 -13.3 155 1452 0.00 2.03 0.00 0.000 260 0.000 0.093 2372 3909 3902 3903 3902 0 0 0 0 0 0 14.82 14.44 14.82

1581 -1.04 -121.7 2373 3911 3903 3904 196.1 -14.3 182 1588 0.00 1.88 0.00 0.000 1030 0.000 0.049 2372 2802 3902 3902 3902 0 0 0 0 0 0 14.59 14.57 14.62

1886 -1.04 -121.7 2372 2803 3903 3904 235.1 -12.9 213 1892 0.00 2.40 0.00 0.000 516 0.000 0.050 2372 1408 3902 3903 3902 0 0 0 0 0 0 14.83 14.50 14.83

1932 -1.04 -121.7 2373 1408 3904 3903 241.1 -13.0 222 1939 0.00 2.47 0.00 0.000 1030 0.000 0.070 2372 2796 3902 3902 3903 0 0 0 0 0 0 14.55 14.47 14.59

2237 -1.04 -121.7 2372 2796 3903 3903 279.4 -11.9 253 2237 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2796 3903 3903 3903 0 0 0 0 0 0 14.84 14.84 14.84

2538 -1.04 -121.7 2372 2796 3904 3903 314.3 -11.3 277 2539 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2796 3903 3903 3903 0 0 0 0 0 0 14.84 14.84 14.84

2696 end dive: TARGET_DEPTH_EXCEEDED

state 2696 begin apogee

2700 -0.23 0.0 2372 2548 3904 3904 332.1 -11.2 285 2819 1.08 0.00 114.32 2.303 10246 0.265 0.000 2651 2547 3397 3402 3393 0 0 0 0 0 0 14.25 13.80 12.93

2820 end apogee: CONTROL_FINISHED_OK

state 2820 begin climb

2822 1.04 121.7 2652 2548 3402 3393 334.8 0.0 291 2939 1.40 0.00 111.72 2.210 10246 0.161 0.000 3054 2546 2912 2916 2908 0 0 0 0 0 0 13.73 13.34 12.52

3237 1.04 121.7 3054 2547 2905 2897 287.1 12.4 316 3242 0.00 2.53 0.00 0.000 260 0.000 0.093 3054 3907 2901 2905 2897 0 0 0 0 0 0 14.36 14.04 14.37

3257 1.04 121.7 3053 3907 2906 2896 284.5 13.0 320 3263 0.00 2.40 0.00 0.000 1030 0.000 0.057 3063 2560 2901 2905 2897 0 0 0 0 0 0 14.16 14.12 14.19

3567 1.04 121.7 3064 2560 2905 2896 244.1 12.8 352 3572 0.00 2.50 0.00 0.000 516 0.000 0.067 3074 1137 2899 2904 2895 0 0 0 0 0 0 14.62 14.28 14.62

3597 1.04 121.7 3074 1137 2905 2895 240.3 13.0 358 3603 0.00 2.50 0.00 0.000 1030 0.000 0.070 3074 2550 2899 2904 2895 0 0 0 0 0 0 14.44 14.33 14.45

3907 1.04 121.7 3073 2551 2904 2896 199.8 13.3 390 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2551 2899 2904 2895 0 0 0 0 0 0 14.73 14.73 14.73

4207 1.04 121.7 3074 2550 2906 2895 161.7 12.9 420 4212 0.00 2.47 0.00 0.000 260 0.000 0.097 3074 3904 2899 2904 2895 0 0 0 0 0 0 14.78 14.40 14.78

4252 1.04 121.7 3074 3906 2905 2897 155.5 14.0 429 4260 0.00 2.35 0.00 0.000 1030 0.000 0.057 3084 2542 2899 2904 2895 0 0 0 0 0 0 14.57 14.52 14.59

4557 1.04 121.7 3085 2542 2906 2896 117.4 12.3 460 4563 0.00 2.50 0.00 0.000 260 0.000 0.095 3084 3904 2900 2905 2895 0 0 0 0 0 0 14.83 14.43 14.83

4602 1.04 121.7 3084 3905 2907 2896 111.3 14.0 469 4610 0.10 2.35 0.00 0.000 5126 0.291 0.057 3069 2539 2901 2906 2896 0 0 0 0 0 0 14.24 14.56 14.47

4907 1.04 121.7 3070 2543 2907 2897 76.3 11.5 500 4913 0.00 2.45 0.00 0.000 516 0.000 0.067 3079 1157 2900 2905 2895 0 0 0 0 0 0 14.85 14.46 14.85

4952 1.04 121.7 3079 1158 2906 2896 71.2 11.5 509 4960 0.00 2.47 0.00 0.000 1030 0.000 0.070 3079 2551 2900 2905 2895 0 0 0 0 0 0 14.58 14.51 14.62

5257 1.04 121.7 3079 2552 2907 2896 35.2 11.8 540 5263 0.00 2.47 0.00 0.000 260 0.000 0.096 3079 3906 2899 2904 2895 0 0 0 0 0 0 14.86 14.47 14.86

5292 1.04 121.7 3079 3906 2907 2895 30.7 13.5 547 5299 0.00 2.33 0.00 0.000 1030 0.000 0.057 3089 2558 2900 2906 2895 0 0 0 0 0 0 14.62 14.59 14.66

5526 end climb: SURFACE_DEPTH_REACHED

state 5526 begin surface coast

5536 end surface coast: CONTROL_FINISHED_OK

state 5536 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	189	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	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	27	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	4	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	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	-1	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	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	260218,045200,-7407.3950,-11319.6504,27,0.9,27,53.9,0.2,340.9,10,3.3	SPEED_LIMITS	0.100,0.198
_CALLS	4	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	88.3,4188,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-65.5	D_GRID	414
GPS2	260218,050510,-7407.3491,-11319.6338,3,0.9,3,53.9,0.0,0.0,10,10.0

FREEZE	-0.05,-1.627,-1.860,2,1,0	ALTIM_TOP_PING	22.6,23.3
FINISH	-0.0,1.027290	_24V_AH	12.52,68.213
SM_CCo	5551,161.90,0.223,0,0,2204,300.18	_10V_AH	12.78,0.000
SM_GC	0.84,8.52,0.45,161.90,0.077,0.095,0.223,189,2804,2204,-7.90,-0.68,300.18,0,0,0,0,0,0,14.57,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	226	FG_AHR_10Vo	0.000
RAFOS	0,1519624861,6.032778,6.016944,121,56,54,53,47,47,648,196,182,165,74,214	MEM	280384
RAFOS_FIX	-7404.654297,-11314.243164,260218,060628,2,127,1.35	DATA_FILE_SIZE	20041,572
IRIDIUM_FIX	-7408.22,-11327.41,260218,045827	CAP_FILE_SIZE	75642,0
TT8_MAMPS	0.038199,0.281624	CFSIZE	1024409600,998653952
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.8
TCM_TEMP	13.00	CURRENT	0.114,39.09,1
XPDR_PINGS	1	GPS	260218,064126,-7407.601,-11317.441,4,1.6,6,53.9,0.1,0.0,5,5.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	467	134.60	nil	0	0	0.00
Roll_motor	47	97	58.02	nil	0	0	0.00
VBD_pump_during_apogee	226	2302	6516.84	nil	0	0	0.00
VBD_pump_during_surface	161	222	451.24	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	5538	7	503.79
Iridium_during_xfer	500	182	1144.60	nil	0	0	0.00
Transponder_ping	8	420	44.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.54
TT8	0	0	0.00
LPSleep	4154	2	122.64
TT8_Active	575	10	79.99
TT8_Sampling	1668	30	647.30
TT8_CF8	114	51	75.09
TT8_Kalman	0	0	0.00
Analog_circuits	1510	10	195.01
GPS_charging	0	0	0.00
Compass	824	6	71.06
RAFOS	720	1	13.80
Transponder	59	30	22.62

		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	22.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	44.10	9000.00	0.0	0.00	0.00	44.10	0.0	1.07	1.00

104.7	108.60	108.80	-4.1	1.03	1.00	108.60	-3.9	1.02	1.00
84.3	87.90	87.80	-3.5	1.02	1.00	87.90	-3.6	1.01	1.00
63.5	66.00	66.10	-2.6	1.04	1.00	66.00	-2.5	1.05	1.00
43.4	44.90	44.90	-1.5	1.05	1.00	44.90	-1.5	1.05	1.00
22.6	23.30	23.30	-0.7	1.04	1.00	23.30	-0.7	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.04	-121.7	190	2808	2233	2126	0.0	0.0	0	123	0.00	0.00	-108.05	0.003	16390	0.000	0.000	190	2808	3889	3900	3878	0	0	0	0	0	0	14.58	13.24	14.58
124	-1.04	-121.7	191	2809	3901	3880	2.6	-3.0	11	142	11.90	1.92	0.00	0.000	2340	0.467	0.080	2376	3902	3896	3902	3891	0	0	0	0	0	0	13.98	14.33	14.28
186	-1.04	-121.7	2376	3904	3903	3898	13.2	-13.9	23	192	0.00	1.90	0.00	0.000	1030	0.000	0.048	2376	2797	3899	3902	3897	0	0	0	0	0	0	14.44	14.40	14.46
496	-1.04	-121.7	2376	2798	3903	3903	54.4	-12.9	55	502	0.00	2.42	0.00	0.000	516	0.000	0.051	2376	1403	3902	3903	3902	0	0	0	0	0	0	14.73	14.42	14.73
536	-1.04	-121.7	2376	1403	3903	3903	59.5	-12.7	63	542	0.00	2.50	0.00	0.000	1030	0.000	0.069	2374	2795	3902	3902	3902	0	0	0	0	0	0	14.47	14.40	14.51
846	-1.04	-121.7	2375	2796	3903	3904	100.5	-13.3	95	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2795	3902	3902	3903	0	0	0	0	0	0	14.77	14.77	14.78
1146	-1.04	-121.7	2374	2795	3904	3902	139.8	-12.9	125	1147	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2795	3905	3902	3908	0	0	0	0	0	0	14.81	14.81	14.81
1446	-1.04	-121.7	2375	2796	3903	3904	177.6	-13.3	155	1452	0.00	2.03	0.00	0.000	260	0.000	0.093	2372	3909	3902	3903	3902	0	0	0	0	0	0	14.82	14.44	14.82
1581	-1.04	-121.7	2373	3911	3903	3904	196.1	-14.3	182	1588	0.00	1.88	0.00	0.000	1030	0.000	0.049	2372	2802	3902	3902	3902	0	0	0	0	0	0	14.59	14.57	14.62
1886	-1.04	-121.7	2372	2803	3903	3904	235.1	-12.9	213	1892	0.00	2.40	0.00	0.000	516	0.000	0.050	2372	1408	3902	3903	3902	0	0	0	0	0	0	14.83	14.50	14.83
1932	-1.04	-121.7	2373	1408	3904	3903	241.1	-13.0	222	1939	0.00	2.47	0.00	0.000	1030	0.000	0.070	2372	2796	3902	3902	3903	0	0	0	0	0	0	14.55	14.47	14.59
2237	-1.04	-121.7	2372	2796	3903	3903	279.4	-11.9	253	2237	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2796	3903	3903	3903	0	0	0	0	0	0	14.84	14.84	14.84
2538	-1.04	-121.7	2372	2796	3904	3903	314.3	-11.3	277	2539	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2796	3903	3903	3903	0	0	0	0	0	0	14.84	14.84	14.84
2696	end dive: TARGET_DEPTH_EXCEEDED
state	2696	begin apogee
2700	-0.23	0.0	2372	2548	3904	3904	332.1	-11.2	285	2819	1.08	0.00	114.32	2.303	10246	0.265	0.000	2651	2547	3397	3402	3393	0	0	0	0	0	0	14.25	13.80	12.93
2820	end apogee: CONTROL_FINISHED_OK
state	2820	begin climb
2822	1.04	121.7	2652	2548	3402	3393	334.8	0.0	291	2939	1.40	0.00	111.72	2.210	10246	0.161	0.000	3054	2546	2912	2916	2908	0	0	0	0	0	0	13.73	13.34	12.52
3237	1.04	121.7	3054	2547	2905	2897	287.1	12.4	316	3242	0.00	2.53	0.00	0.000	260	0.000	0.093	3054	3907	2901	2905	2897	0	0	0	0	0	0	14.36	14.04	14.37
3257	1.04	121.7	3053	3907	2906	2896	284.5	13.0	320	3263	0.00	2.40	0.00	0.000	1030	0.000	0.057	3063	2560	2901	2905	2897	0	0	0	0	0	0	14.16	14.12	14.19
3567	1.04	121.7	3064	2560	2905	2896	244.1	12.8	352	3572	0.00	2.50	0.00	0.000	516	0.000	0.067	3074	1137	2899	2904	2895	0	0	0	0	0	0	14.62	14.28	14.62
3597	1.04	121.7	3074	1137	2905	2895	240.3	13.0	358	3603	0.00	2.50	0.00	0.000	1030	0.000	0.070	3074	2550	2899	2904	2895	0	0	0	0	0	0	14.44	14.33	14.45
3907	1.04	121.7	3073	2551	2904	2896	199.8	13.3	390	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2551	2899	2904	2895	0	0	0	0	0	0	14.73	14.73	14.73
4207	1.04	121.7	3074	2550	2906	2895	161.7	12.9	420	4212	0.00	2.47	0.00	0.000	260	0.000	0.097	3074	3904	2899	2904	2895	0	0	0	0	0	0	14.78	14.40	14.78
4252	1.04	121.7	3074	3906	2905	2897	155.5	14.0	429	4260	0.00	2.35	0.00	0.000	1030	0.000	0.057	3084	2542	2899	2904	2895	0	0	0	0	0	0	14.57	14.52	14.59
4557	1.04	121.7	3085	2542	2906	2896	117.4	12.3	460	4563	0.00	2.50	0.00	0.000	260	0.000	0.095	3084	3904	2900	2905	2895	0	0	0	0	0	0	14.83	14.43	14.83
4602	1.04	121.7	3084	3905	2907	2896	111.3	14.0	469	4610	0.10	2.35	0.00	0.000	5126	0.291	0.057	3069	2539	2901	2906	2896	0	0	0	0	0	0	14.24	14.56	14.47
4907	1.04	121.7	3070	2543	2907	2897	76.3	11.5	500	4913	0.00	2.45	0.00	0.000	516	0.000	0.067	3079	1157	2900	2905	2895	0	0	0	0	0	0	14.85	14.46	14.85
4952	1.04	121.7	3079	1158	2906	2896	71.2	11.5	509	4960	0.00	2.47	0.00	0.000	1030	0.000	0.070	3079	2551	2900	2905	2895	0	0	0	0	0	0	14.58	14.51	14.62
5257	1.04	121.7	3079	2552	2907	2896	35.2	11.8	540	5263	0.00	2.47	0.00	0.000	260	0.000	0.096	3079	3906	2899	2904	2895	0	0	0	0	0	0	14.86	14.47	14.86
5292	1.04	121.7	3079	3906	2907	2895	30.7	13.5	547	5299	0.00	2.33	0.00	0.000	1030	0.000	0.057	3089	2558	2900	2906	2895	0	0	0	0	0	0	14.62	14.59	14.66
5526	end climb: SURFACE_DEPTH_REACHED
state	5526	begin surface coast
5536	end surface coast: CONTROL_FINISHED_OK
state	5536	begin surface