Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 191 * 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 191 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 23 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 191 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 23 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 260218,082430,-7407.7100,-11315.5244,22,0.9,22,53.9,0.2,12.0,9,3.4 SPEED_LIMITS 0.100,0.198

_CALLS 2 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 110.5,2056,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -65.9 D_GRID 495

GPS2 260218,083151,-7407.6748,-11315.5371,2,0.8,3,53.9,0.4,9.3,10,6.1

Post-dive calculations and measurements:

FREEZE 0.64,-1.753,-1.860,2,1,0 ALTIM_TOP_PING 25.4,26.6

FINISH 0.6,1.027295 _24V_AH 12.49,68.622

SM_CCo 5418,162.40,0.222,0,0,2205,300.18 _10V_AH 12.65,0.000

SM_GC 0.81,8.43,0.45,162.40,0.073,0.093,0.222,192,2799,2205,-7.88,-0.76,300.18,0,0,0,0,0,0,14.55,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 219 FG_AHR_10Vo 0.000

RAFOS 0,1519635662,9.032778,9.017222,112,63,59,58,58,55,645,217,184,169,195,154 MEM 280336

RAFOS_FIX -7407.683105,-11312.815430,260218,090940,3,106,0.54 DATA_FILE_SIZE 20113,583

IRIDIUM_FIX -7401.94,-11435.05,260218,082629 CAP_FILE_SIZE 72842,0

TT8_MAMPS 0.038199,0.611933 CFSIZE 1024409600,998457344

HUMID 44.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1445.0

TCM_TEMP 13.00 CURRENT 0.110,24.62,1

XPDR_PINGS 0 GPS 260218,100604,-7407.996,-11314.529,6,1.1,7,53.9,0.1,0.0,7,3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 474 136.55 nil 0 0 0.00

Roll_motor 46 94 54.62 nil 0 0 0.00

VBD_pump_during_apogee 225 2296 6459.56 nil 0 0 0.00

VBD_pump_during_surface 162 221 450.00 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 5417 7 495.12

Iridium_during_xfer 270 188 635.40 nil 0 0 0.00

Transponder_ping 8 420 43.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.58

TT8 0 0 0.00

LPSleep 3902 2 114.04

TT8_Active 552 10 75.95

TT8_Sampling 1479 30 568.18

TT8_CF8 106 51 69.06

TT8_Kalman 0 0 0.00

Analog_circuits 1278 10 163.33

GPS_charging 0 0 0.00

Compass 848 6 72.35

RAFOS 720 1 13.66

Transponder 59 30 22.42

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 22.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 43.50 9000.00 0.0 0.00 0.00 43.50 0.0 1.04 1.00

61.9 65.50 65.40 0.0 1.06 1.00 65.50 0.0 1.07 1.00

168.7 175.00 175.10 -6.4 1.03 1.00 175.00 -6.3 1.03 1.00

66.6 69.20 69.80 -3.2 1.03 1.00 69.20 -2.6 1.04 1.00

46.0 49.10 48.60 -2.6 1.03 1.00 49.10 -3.1 0.98 1.00

25.4 26.20 26.60 -1.2 1.05 1.00 26.20 -0.8 1.11 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 2804 2234 2127 0.0 0.0 0 122 0.00 0.00 -107.03 0.003 16390 0.000 0.000 189 2803 3889 3901 3878 0 0 0 0 0 0 14.59 13.24 14.59

124 -1.04 -121.7 190 2804 3902 3880 2.9 -3.6 11 142 12.05 1.95 0.00 0.000 2340 0.474 0.076 2374 3909 3897 3903 3891 0 0 0 0 0 0 13.97 14.34 14.28

221 -1.04 -121.7 2375 3909 3904 3899 19.1 -14.7 30 228 0.00 1.90 0.00 0.000 1030 0.000 0.048 2375 2793 3900 3903 3898 0 0 0 0 0 0 14.46 14.42 14.47

527 -1.04 -121.7 2375 2794 3905 3902 61.9 -14.4 61 532 0.00 2.00 0.00 0.000 260 0.000 0.090 2371 3909 3902 3903 3902 0 0 0 0 0 0 14.67 14.40 14.67

572 -1.04 -121.7 2372 3908 3904 3902 68.8 -15.4 70 579 0.00 1.88 0.00 0.000 1030 0.000 0.047 2371 2804 3902 3903 3902 0 0 0 0 0 0 14.54 14.49 14.55

877 -1.04 -121.7 2371 2805 3904 3904 111.6 -13.5 101 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2804 3903 3903 3903 0 0 0 0 0 0 14.78 14.78 14.78

1177 -1.04 -121.7 2372 2804 3904 3903 151.0 -12.3 131 1182 0.00 2.38 0.00 0.000 516 0.000 0.050 2371 1399 3903 3903 3903 0 0 0 0 0 0 14.81 14.51 14.81

1261 -1.04 -121.7 2371 1399 3904 3903 161.1 -12.0 148 1269 0.00 2.50 0.00 0.000 1030 0.000 0.069 2370 2800 3903 3903 3903 0 0 0 0 0 0 14.54 14.47 14.58

1567 -1.04 -121.7 2371 2801 3904 3904 200.2 -13.2 179 1567 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2801 3903 3903 3903 0 0 0 0 0 0 14.83 14.83 14.83

1867 -1.04 -121.7 2371 2799 3904 3903 238.6 -12.5 209 1873 0.00 2.00 0.00 0.000 260 0.000 0.091 2368 3910 3903 3903 3903 0 0 0 0 0 0 14.83 14.45 14.83

1917 -1.04 -121.7 2369 3910 3904 3912 245.3 -13.3 219 1923 0.00 1.88 0.00 0.000 1030 0.000 0.047 2367 2802 3903 3903 3903 0 0 0 0 0 0 14.60 14.57 14.62

2227 -1.04 -121.7 2368 2802 3901 3903 283.1 -11.8 251 2228 0.00 0.00 0.00 0.000 6 0.000 0.000 2368 2802 3903 3903 3903 0 0 0 0 0 0 14.82 14.82 14.82

2537 -1.04 -121.7 2368 2802 3904 3903 318.0 -11.0 274 2543 0.00 2.00 0.00 0.000 260 0.000 0.090 2366 3903 3903 3903 3903 0 0 0 0 0 0 14.83 14.45 14.83

2592 -1.04 -121.7 2366 3904 3903 3904 324.6 -12.3 285 2600 0.00 1.88 0.00 0.000 1030 0.000 0.049 2365 2795 3903 3903 3903 0 0 0 0 0 0 14.60 14.57 14.62

2656 end dive: TARGET_DEPTH_EXCEEDED

state 2656 begin apogee

2660 -0.23 0.0 2367 2541 3904 3903 331.8 -11.0 289 2780 1.10 0.00 114.28 2.297 10246 0.267 0.000 2650 2541 3397 3402 3392 0 0 0 0 0 0 14.23 13.79 12.92

2780 end apogee: CONTROL_FINISHED_OK

state 2781 begin climb

2782 1.04 121.7 2651 2542 3401 3393 334.2 0.0 295 2905 1.40 2.67 110.93 2.212 10756 0.161 0.066 3067 1162 2910 2915 2906 0 0 0 0 0 0 13.72 13.30 12.49

2924 1.04 121.7 3068 1163 2912 2903 321.5 12.8 322 2931 0.00 2.62 0.00 0.000 1030 0.000 0.069 3067 2551 2906 2911 2902 0 0 0 0 0 0 13.59 13.51 13.62

3229 1.04 121.7 3067 2552 2906 2897 279.2 13.8 345 3236 0.00 2.50 0.00 0.000 260 0.000 0.095 3067 3907 2900 2905 2896 0 0 0 0 0 0 14.39 14.09 14.39

3281 1.04 121.7 3068 3907 2906 2897 271.2 16.4 355 3286 0.00 2.35 0.00 0.000 1030 0.000 0.057 3077 2552 2900 2905 2896 0 0 0 0 0 0 14.31 14.23 14.32

3590 1.04 121.7 3078 2552 2905 2895 226.2 14.3 387 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2552 2899 2904 2895 0 0 0 0 0 0 14.64 14.64 14.64

3890 1.04 121.7 3077 2553 2904 2896 187.7 13.1 417 3897 0.00 2.47 0.00 0.000 516 0.000 0.067 3088 1155 2899 2904 2895 0 0 0 0 0 0 14.73 14.40 14.73

3921 1.04 121.7 3088 1156 2904 2896 183.8 12.7 423 3927 0.00 2.50 0.00 0.000 1030 0.000 0.070 3088 2554 2899 2904 2895 0 0 0 0 0 0 14.50 14.42 14.52

4231 1.04 121.7 3089 2553 2906 2895 141.6 13.6 455 4232 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2554 2897 2899 2895 0 0 0 0 0 0 14.79 14.79 14.79

4531 1.04 121.7 3089 2554 2906 2895 101.4 12.9 485 4537 0.00 2.42 0.00 0.000 516 0.000 0.065 3098 1151 2900 2905 2895 0 0 0 0 0 0 14.82 14.50 14.82

4552 1.04 121.7 3098 1152 2905 2896 98.8 12.5 489 4559 0.08 2.47 0.00 0.000 5126 0.275 0.070 3066 2546 2900 2905 2895 0 0 0 0 0 0 14.29 14.49 14.59

4863 1.04 121.7 3066 2546 2906 2895 63.2 11.3 521 4864 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2546 2900 2905 2895 0 0 0 0 0 0 14.85 14.84 14.85

5163 1.04 121.7 3067 2545 2905 2895 28.8 11.5 551 5169 0.00 2.45 0.00 0.000 516 0.000 0.067 3075 1156 2900 2905 2895 0 0 0 0 0 0 14.86 14.50 14.85

5233 1.04 121.7 3076 1156 2906 2895 21.0 11.0 565 5240 0.00 2.42 0.00 0.000 1030 0.000 0.070 3075 2555 2900 2905 2895 0 0 0 0 0 0 14.66 14.55 14.71

5394 end climb: SURFACE_DEPTH_REACHED

state 5394 begin surface coast

5403 end surface coast: CONTROL_FINISHED_OK

state 5403 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	191	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	23	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	260218,082430,-7407.7100,-11315.5244,22,0.9,22,53.9,0.2,12.0,9,3.4	SPEED_LIMITS	0.100,0.198
_CALLS	2	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	110.5,2056,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-65.9	D_GRID	495
GPS2	260218,083151,-7407.6748,-11315.5371,2,0.8,3,53.9,0.4,9.3,10,6.1

FREEZE	0.64,-1.753,-1.860,2,1,0	ALTIM_TOP_PING	25.4,26.6
FINISH	0.6,1.027295	_24V_AH	12.49,68.622
SM_CCo	5418,162.40,0.222,0,0,2205,300.18	_10V_AH	12.65,0.000
SM_GC	0.81,8.43,0.45,162.40,0.073,0.093,0.222,192,2799,2205,-7.88,-0.76,300.18,0,0,0,0,0,0,14.55,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	219	FG_AHR_10Vo	0.000
RAFOS	0,1519635662,9.032778,9.017222,112,63,59,58,58,55,645,217,184,169,195,154	MEM	280336
RAFOS_FIX	-7407.683105,-11312.815430,260218,090940,3,106,0.54	DATA_FILE_SIZE	20113,583
IRIDIUM_FIX	-7401.94,-11435.05,260218,082629	CAP_FILE_SIZE	72842,0
TT8_MAMPS	0.038199,0.611933	CFSIZE	1024409600,998457344
HUMID	44.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1445.0
TCM_TEMP	13.00	CURRENT	0.110,24.62,1
XPDR_PINGS	0	GPS	260218,100604,-7407.996,-11314.529,6,1.1,7,53.9,0.1,0.0,7,3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	474	136.55	nil	0	0	0.00
Roll_motor	46	94	54.62	nil	0	0	0.00
VBD_pump_during_apogee	225	2296	6459.56	nil	0	0	0.00
VBD_pump_during_surface	162	221	450.00	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	5417	7	495.12
Iridium_during_xfer	270	188	635.40	nil	0	0	0.00
Transponder_ping	8	420	43.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.58
TT8	0	0	0.00
LPSleep	3902	2	114.04
TT8_Active	552	10	75.95
TT8_Sampling	1479	30	568.18
TT8_CF8	106	51	69.06
TT8_Kalman	0	0	0.00
Analog_circuits	1278	10	163.33
GPS_charging	0	0	0.00
Compass	848	6	72.35
RAFOS	720	1	13.66
Transponder	59	30	22.42

		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	22.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	43.50	9000.00	0.0	0.00	0.00	43.50	0.0	1.04	1.00
61.9	65.50	65.40	0.0	1.06	1.00	65.50	0.0	1.07	1.00

168.7	175.00	175.10	-6.4	1.03	1.00	175.00	-6.3	1.03	1.00
66.6	69.20	69.80	-3.2	1.03	1.00	69.20	-2.6	1.04	1.00
46.0	49.10	48.60	-2.6	1.03	1.00	49.10	-3.1	0.98	1.00
25.4	26.20	26.60	-1.2	1.05	1.00	26.20	-0.8	1.11	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	2804	2234	2127	0.0	0.0	0	122	0.00	0.00	-107.03	0.003	16390	0.000	0.000	189	2803	3889	3901	3878	0	0	0	0	0	0	14.59	13.24	14.59
124	-1.04	-121.7	190	2804	3902	3880	2.9	-3.6	11	142	12.05	1.95	0.00	0.000	2340	0.474	0.076	2374	3909	3897	3903	3891	0	0	0	0	0	0	13.97	14.34	14.28
221	-1.04	-121.7	2375	3909	3904	3899	19.1	-14.7	30	228	0.00	1.90	0.00	0.000	1030	0.000	0.048	2375	2793	3900	3903	3898	0	0	0	0	0	0	14.46	14.42	14.47
527	-1.04	-121.7	2375	2794	3905	3902	61.9	-14.4	61	532	0.00	2.00	0.00	0.000	260	0.000	0.090	2371	3909	3902	3903	3902	0	0	0	0	0	0	14.67	14.40	14.67
572	-1.04	-121.7	2372	3908	3904	3902	68.8	-15.4	70	579	0.00	1.88	0.00	0.000	1030	0.000	0.047	2371	2804	3902	3903	3902	0	0	0	0	0	0	14.54	14.49	14.55
877	-1.04	-121.7	2371	2805	3904	3904	111.6	-13.5	101	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2804	3903	3903	3903	0	0	0	0	0	0	14.78	14.78	14.78
1177	-1.04	-121.7	2372	2804	3904	3903	151.0	-12.3	131	1182	0.00	2.38	0.00	0.000	516	0.000	0.050	2371	1399	3903	3903	3903	0	0	0	0	0	0	14.81	14.51	14.81
1261	-1.04	-121.7	2371	1399	3904	3903	161.1	-12.0	148	1269	0.00	2.50	0.00	0.000	1030	0.000	0.069	2370	2800	3903	3903	3903	0	0	0	0	0	0	14.54	14.47	14.58
1567	-1.04	-121.7	2371	2801	3904	3904	200.2	-13.2	179	1567	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2801	3903	3903	3903	0	0	0	0	0	0	14.83	14.83	14.83
1867	-1.04	-121.7	2371	2799	3904	3903	238.6	-12.5	209	1873	0.00	2.00	0.00	0.000	260	0.000	0.091	2368	3910	3903	3903	3903	0	0	0	0	0	0	14.83	14.45	14.83
1917	-1.04	-121.7	2369	3910	3904	3912	245.3	-13.3	219	1923	0.00	1.88	0.00	0.000	1030	0.000	0.047	2367	2802	3903	3903	3903	0	0	0	0	0	0	14.60	14.57	14.62
2227	-1.04	-121.7	2368	2802	3901	3903	283.1	-11.8	251	2228	0.00	0.00	0.00	0.000	6	0.000	0.000	2368	2802	3903	3903	3903	0	0	0	0	0	0	14.82	14.82	14.82
2537	-1.04	-121.7	2368	2802	3904	3903	318.0	-11.0	274	2543	0.00	2.00	0.00	0.000	260	0.000	0.090	2366	3903	3903	3903	3903	0	0	0	0	0	0	14.83	14.45	14.83
2592	-1.04	-121.7	2366	3904	3903	3904	324.6	-12.3	285	2600	0.00	1.88	0.00	0.000	1030	0.000	0.049	2365	2795	3903	3903	3903	0	0	0	0	0	0	14.60	14.57	14.62
2656	end dive: TARGET_DEPTH_EXCEEDED
state	2656	begin apogee
2660	-0.23	0.0	2367	2541	3904	3903	331.8	-11.0	289	2780	1.10	0.00	114.28	2.297	10246	0.267	0.000	2650	2541	3397	3402	3392	0	0	0	0	0	0	14.23	13.79	12.92
2780	end apogee: CONTROL_FINISHED_OK
state	2781	begin climb
2782	1.04	121.7	2651	2542	3401	3393	334.2	0.0	295	2905	1.40	2.67	110.93	2.212	10756	0.161	0.066	3067	1162	2910	2915	2906	0	0	0	0	0	0	13.72	13.30	12.49
2924	1.04	121.7	3068	1163	2912	2903	321.5	12.8	322	2931	0.00	2.62	0.00	0.000	1030	0.000	0.069	3067	2551	2906	2911	2902	0	0	0	0	0	0	13.59	13.51	13.62
3229	1.04	121.7	3067	2552	2906	2897	279.2	13.8	345	3236	0.00	2.50	0.00	0.000	260	0.000	0.095	3067	3907	2900	2905	2896	0	0	0	0	0	0	14.39	14.09	14.39
3281	1.04	121.7	3068	3907	2906	2897	271.2	16.4	355	3286	0.00	2.35	0.00	0.000	1030	0.000	0.057	3077	2552	2900	2905	2896	0	0	0	0	0	0	14.31	14.23	14.32
3590	1.04	121.7	3078	2552	2905	2895	226.2	14.3	387	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2552	2899	2904	2895	0	0	0	0	0	0	14.64	14.64	14.64
3890	1.04	121.7	3077	2553	2904	2896	187.7	13.1	417	3897	0.00	2.47	0.00	0.000	516	0.000	0.067	3088	1155	2899	2904	2895	0	0	0	0	0	0	14.73	14.40	14.73
3921	1.04	121.7	3088	1156	2904	2896	183.8	12.7	423	3927	0.00	2.50	0.00	0.000	1030	0.000	0.070	3088	2554	2899	2904	2895	0	0	0	0	0	0	14.50	14.42	14.52
4231	1.04	121.7	3089	2553	2906	2895	141.6	13.6	455	4232	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2554	2897	2899	2895	0	0	0	0	0	0	14.79	14.79	14.79
4531	1.04	121.7	3089	2554	2906	2895	101.4	12.9	485	4537	0.00	2.42	0.00	0.000	516	0.000	0.065	3098	1151	2900	2905	2895	0	0	0	0	0	0	14.82	14.50	14.82
4552	1.04	121.7	3098	1152	2905	2896	98.8	12.5	489	4559	0.08	2.47	0.00	0.000	5126	0.275	0.070	3066	2546	2900	2905	2895	0	0	0	0	0	0	14.29	14.49	14.59
4863	1.04	121.7	3066	2546	2906	2895	63.2	11.3	521	4864	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2546	2900	2905	2895	0	0	0	0	0	0	14.85	14.84	14.85
5163	1.04	121.7	3067	2545	2905	2895	28.8	11.5	551	5169	0.00	2.45	0.00	0.000	516	0.000	0.067	3075	1156	2900	2905	2895	0	0	0	0	0	0	14.86	14.50	14.85
5233	1.04	121.7	3076	1156	2906	2895	21.0	11.0	565	5240	0.00	2.42	0.00	0.000	1030	0.000	0.070	3075	2555	2900	2905	2895	0	0	0	0	0	0	14.66	14.55	14.71
5394	end climb: SURFACE_DEPTH_REACHED
state	5394	begin surface coast
5403	end surface coast: CONTROL_FINISHED_OK
state	5403	begin surface