Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 192 * 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 192 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 37 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 192 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 22 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 260218,100604,-7407.9961,-11314.5293,6,1.1,7,53.9,0.1,0.0,7,3.7 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 1000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 88.2,1375,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.9 D_GRID 508

GPS2 260218,101108,-7407.9819,-11314.5723,3,1.1,4,53.9,0.2,0.0,7,8.6

Post-dive calculations and measurements:

FREEZE -0.03,-1.728,-1.861,2,1,0 _24V_AH 12.50,68.824

FINISH -0.0,1.027315 _10V_AH 12.66,0.000

SM_CCo 5791,163.52,0.223,0,0,2203,300.18 FG_AHR_24Vo 0.000

SM_GC 0.78,8.75,0.50,163.52,0.103,0.096,0.223,170,2809,2203,-7.89,-0.45,300.18,0,0,0,0,0,0,14.62,14.56,14.22 FG_AHR_10Vo 0.000

RAFOS_CLK 237 MEM 280424

RAFOS_FIX -7408.497559,-11315.016602,260218,111119,0,1,0.17 DATA_FILE_SIZE 20072,613

IRIDIUM_FIX -7403.09,-11502.90,260218,082836 CAP_FILE_SIZE 74139,0

TT8_MAMPS 0.03745,0.237433 CFSIZE 1024409600,998359040

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.8

TCM_TEMP 12.90 CURRENT 0.095,32.42,1

XPDR_PINGS 0 GPS 260218,115139,-7408.237,-11312.533,17,1.0,17,53.9,0.2,4.2,7,5.0

ALTIM_TOP_PING 23.4,24.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 471 137.84 nil 0 0 0.00

Roll_motor 54 95 65.08 nil 0 0 0.00

VBD_pump_during_apogee 225 2307 6510.02 nil 0 0 0.00

VBD_pump_during_surface 163 222 455.04 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 5789 7 532.59

Iridium_during_xfer 196 189 464.81 nil 0 0 0.00

Transponder_ping 8 420 43.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.62

TT8 0 0 0.00

LPSleep 4155 2 121.51

TT8_Active 566 10 77.93

TT8_Sampling 1443 30 554.82

TT8_CF8 108 51 70.71

TT8_Kalman 0 0 0.00

Analog_circuits 1237 10 158.30

GPS_charging 0 0 0.00

Compass 883 6 75.37

RAFOS 0 0 0.00

Transponder 59 30 22.47

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

42.2 45.20 9000.00 0.0 0.00 0.00 45.20 0.0 1.08 1.00

85.4 88.50 88.70 -3.3 1.03 1.00 88.50 -3.1 1.00 1.00

64.3 66.70 67.20 -2.9 1.00 1.00 66.70 -2.4 1.03 1.00

44.2 45.60 45.60 -1.4 1.04 1.00 45.60 -1.4 1.05 1.00

23.4 24.30 24.30 -0.9 1.04 1.00 24.30 -0.9 1.02 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.04 -121.7 194 2800 2238 2127 0.0 0.0 0 122 0.00 0.00 -106.30 0.003 16390 0.000 0.000 192 2800 3890 3902 3878 0 0 0 0 0 0 14.60 12.95 14.59

124 -1.04 -121.7 191 2802 3904 3881 3.0 -3.9 11 142 12.00 0.00 0.00 0.000 2086 0.471 0.000 2384 2800 3898 3904 3893 1 0 0 0 0 0 13.78 14.37 14.29

440 -1.04 -121.7 2384 2800 3905 3904 47.6 -13.3 43 446 0.00 2.45 0.00 0.000 516 0.000 0.052 2384 1395 3903 3904 3903 0 0 0 0 0 0 14.74 14.40 14.75

485 -1.04 -121.7 2384 1400 3904 3904 53.4 -12.8 52 492 0.00 2.53 0.00 0.000 1030 0.000 0.069 2383 2799 3903 3904 3903 0 0 0 0 0 0 14.49 14.40 14.52

790 -1.04 -121.7 2384 2801 3905 3906 91.9 -12.3 83 791 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2800 3904 3904 3905 0 0 0 0 0 0 14.78 14.76 14.78

1090 -1.04 -121.7 2384 2800 3905 3906 127.7 -12.8 113 1091 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2800 3904 3904 3905 0 0 0 0 0 0 14.81 14.81 14.81

1391 -1.04 -121.7 2384 2801 3905 3906 163.5 -11.4 143 1396 0.00 2.40 0.00 0.000 516 0.000 0.052 2384 1391 3904 3903 3905 0 0 0 0 0 0 14.83 14.54 14.83

1461 -1.04 -121.7 2384 1388 3905 3905 171.3 -11.2 157 1467 0.00 2.47 0.00 0.000 1030 0.000 0.070 2382 2802 3904 3904 3905 0 0 0 0 0 0 14.64 14.52 14.66

1771 -1.04 -121.7 2382 2802 3905 3905 207.5 -12.0 189 1772 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2802 3905 3904 3906 0 0 0 0 0 0 14.83 14.82 14.83

2071 -1.04 -121.7 2383 2802 3905 3905 240.6 -10.7 219 2077 0.00 1.98 0.00 0.000 260 0.000 0.090 2374 3903 3904 3904 3905 0 0 0 0 0 0 14.84 14.47 14.85

2141 -1.04 -121.7 2374 3904 3905 3908 248.6 -11.3 233 2148 0.00 1.88 0.00 0.000 1030 0.000 0.049 2374 2792 3904 3904 3905 0 0 0 0 0 0 14.62 14.58 14.64

2452 -1.04 -121.7 2374 2793 3905 3907 281.5 -11.0 265 2458 0.00 2.38 0.00 0.000 516 0.000 0.050 2374 1407 3904 3904 3905 0 0 0 0 0 0 14.85 14.52 14.85

2477 -1.04 -121.7 2375 1406 3905 3905 284.3 -11.2 270 2484 0.00 2.47 0.00 0.000 1030 0.000 0.069 2373 2799 3904 3904 3904 0 0 0 0 0 0 14.57 14.49 14.60

2792 -1.04 -121.7 2374 2800 3905 3905 318.1 -10.9 294 2793 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2800 3904 3904 3905 0 0 0 0 0 0 14.85 14.86 14.85

2911 end dive: TARGET_DEPTH_EXCEEDED

state 2911 begin apogee

2915 -0.23 0.0 2375 2548 3905 3906 331.8 -11.4 300 3035 1.05 0.00 114.78 2.307 10246 0.265 0.000 2647 2547 3396 3401 3392 0 0 0 0 0 0 14.25 13.80 12.92

3036 end apogee: CONTROL_FINISHED_OK

state 3036 begin climb

3038 1.04 121.7 2648 2548 3400 3393 335.3 0.0 306 3157 1.40 2.70 110.95 2.206 10756 0.162 0.066 3064 1164 2911 2916 2907 0 0 0 0 0 0 13.72 13.31 12.50

3171 1.04 121.7 3064 1164 2912 2903 324.9 10.8 331 3177 0.00 2.67 0.00 0.000 1030 0.000 0.069 3064 2546 2908 2915 2902 0 0 0 0 0 0 13.51 13.45 13.54

3476 1.04 121.7 3064 2546 2904 2896 285.7 12.6 354 3482 0.00 2.53 0.00 0.000 260 0.000 0.095 3058 3913 2899 2904 2895 0 0 0 0 0 0 14.38 14.09 14.38

3516 1.04 121.7 3063 3913 2905 2895 280.0 14.7 362 3522 0.00 2.38 0.00 0.000 1030 0.000 0.057 3073 2551 2899 2904 2895 0 0 0 0 0 0 14.28 14.21 14.30

3826 1.04 121.7 3074 2553 2903 2895 240.3 12.5 394 3832 0.00 2.45 0.00 0.000 516 0.000 0.067 3084 1155 2897 2902 2893 0 0 0 0 0 0 14.63 14.33 14.64

3861 1.04 121.7 3085 1155 2904 2893 236.0 12.2 401 3869 0.00 2.53 0.00 0.000 1030 0.000 0.071 3084 2553 2898 2903 2893 0 0 0 0 0 0 14.42 14.34 14.45

4166 1.04 121.7 3084 2553 2904 2893 198.0 12.9 432 4172 0.00 2.47 0.00 0.000 516 0.000 0.067 3095 1158 2898 2903 2893 0 0 0 0 0 0 14.73 14.40 14.73

4191 1.04 121.7 3095 1159 2903 2894 194.8 12.6 437 4199 0.08 2.50 0.00 0.000 5126 0.264 0.070 3074 2553 2898 2903 2893 0 0 0 0 0 0 14.23 14.42 14.42

4496 1.04 121.7 3074 2554 2903 2894 156.2 13.3 468 4502 0.00 2.50 0.00 0.000 516 0.000 0.070 3083 1126 2898 2903 2893 0 0 0 0 0 0 14.78 14.46 14.79

4551 1.04 121.7 3084 1126 2904 2893 149.0 13.1 479 4558 0.00 2.55 0.00 0.000 1030 0.000 0.070 3084 2552 2898 2903 2894 0 0 0 0 0 0 14.54 14.47 14.57

4856 1.04 121.7 3084 2553 2904 2894 107.4 13.3 510 4862 0.00 2.47 0.00 0.000 516 0.000 0.067 3095 1133 2898 2903 2893 0 0 0 0 0 0 14.82 14.52 14.82

4896 1.04 121.7 3095 1133 2903 2894 101.8 14.0 518 4902 0.12 2.53 0.00 0.000 5126 0.289 0.072 3069 2577 2898 2903 2893 0 0 0 0 0 0 14.29 14.50 14.59

5207 1.04 121.7 3070 2578 2904 2894 63.2 11.3 550 5212 0.00 2.38 0.00 0.000 260 0.000 0.096 3069 3903 2898 2903 2893 0 0 0 0 0 0 14.83 14.50 14.85

5261 1.04 121.7 3070 3903 2905 2893 56.4 11.8 561 5269 0.00 2.35 0.00 0.000 1030 0.000 0.056 3079 2540 2898 2903 2893 0 0 0 0 0 0 14.57 14.53 14.59

5567 1.04 121.7 3078 2540 2905 2893 23.4 12.4 592 5568 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2540 2898 2903 2893 0 0 0 0 0 0 14.81 14.81 14.81

5766 end climb: SURFACE_DEPTH_REACHED

state 5766 begin surface coast

5775 end surface coast: CONTROL_FINISHED_OK

state 5775 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	192	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	37	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	260218,100604,-7407.9961,-11314.5293,6,1.1,7,53.9,0.1,0.0,7,3.7	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	1000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	88.2,1375,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.9	D_GRID	508
GPS2	260218,101108,-7407.9819,-11314.5723,3,1.1,4,53.9,0.2,0.0,7,8.6

FREEZE	-0.03,-1.728,-1.861,2,1,0	_24V_AH	12.50,68.824
FINISH	-0.0,1.027315	_10V_AH	12.66,0.000
SM_CCo	5791,163.52,0.223,0,0,2203,300.18	FG_AHR_24Vo	0.000
SM_GC	0.78,8.75,0.50,163.52,0.103,0.096,0.223,170,2809,2203,-7.89,-0.45,300.18,0,0,0,0,0,0,14.62,14.56,14.22	FG_AHR_10Vo	0.000
RAFOS_CLK	237	MEM	280424
RAFOS_FIX	-7408.497559,-11315.016602,260218,111119,0,1,0.17	DATA_FILE_SIZE	20072,613
IRIDIUM_FIX	-7403.09,-11502.90,260218,082836	CAP_FILE_SIZE	74139,0
TT8_MAMPS	0.03745,0.237433	CFSIZE	1024409600,998359040
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.8
TCM_TEMP	12.90	CURRENT	0.095,32.42,1
XPDR_PINGS	0	GPS	260218,115139,-7408.237,-11312.533,17,1.0,17,53.9,0.2,4.2,7,5.0
ALTIM_TOP_PING	23.4,24.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	471	137.84	nil	0	0	0.00
Roll_motor	54	95	65.08	nil	0	0	0.00
VBD_pump_during_apogee	225	2307	6510.02	nil	0	0	0.00
VBD_pump_during_surface	163	222	455.04	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	5789	7	532.59
Iridium_during_xfer	196	189	464.81	nil	0	0	0.00
Transponder_ping	8	420	43.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.62
TT8	0	0	0.00
LPSleep	4155	2	121.51
TT8_Active	566	10	77.93
TT8_Sampling	1443	30	554.82
TT8_CF8	108	51	70.71
TT8_Kalman	0	0	0.00
Analog_circuits	1237	10	158.30
GPS_charging	0	0	0.00
Compass	883	6	75.37
RAFOS	0	0	0.00
Transponder	59	30	22.47

		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
42.2	45.20	9000.00	0.0	0.00	0.00	45.20	0.0	1.08	1.00

85.4	88.50	88.70	-3.3	1.03	1.00	88.50	-3.1	1.00	1.00
64.3	66.70	67.20	-2.9	1.00	1.00	66.70	-2.4	1.03	1.00
44.2	45.60	45.60	-1.4	1.04	1.00	45.60	-1.4	1.05	1.00
23.4	24.30	24.30	-0.9	1.04	1.00	24.30	-0.9	1.02	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.04	-121.7	194	2800	2238	2127	0.0	0.0	0	122	0.00	0.00	-106.30	0.003	16390	0.000	0.000	192	2800	3890	3902	3878	0	0	0	0	0	0	14.60	12.95	14.59
124	-1.04	-121.7	191	2802	3904	3881	3.0	-3.9	11	142	12.00	0.00	0.00	0.000	2086	0.471	0.000	2384	2800	3898	3904	3893	1	0	0	0	0	0	13.78	14.37	14.29
440	-1.04	-121.7	2384	2800	3905	3904	47.6	-13.3	43	446	0.00	2.45	0.00	0.000	516	0.000	0.052	2384	1395	3903	3904	3903	0	0	0	0	0	0	14.74	14.40	14.75
485	-1.04	-121.7	2384	1400	3904	3904	53.4	-12.8	52	492	0.00	2.53	0.00	0.000	1030	0.000	0.069	2383	2799	3903	3904	3903	0	0	0	0	0	0	14.49	14.40	14.52
790	-1.04	-121.7	2384	2801	3905	3906	91.9	-12.3	83	791	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2800	3904	3904	3905	0	0	0	0	0	0	14.78	14.76	14.78
1090	-1.04	-121.7	2384	2800	3905	3906	127.7	-12.8	113	1091	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2800	3904	3904	3905	0	0	0	0	0	0	14.81	14.81	14.81
1391	-1.04	-121.7	2384	2801	3905	3906	163.5	-11.4	143	1396	0.00	2.40	0.00	0.000	516	0.000	0.052	2384	1391	3904	3903	3905	0	0	0	0	0	0	14.83	14.54	14.83
1461	-1.04	-121.7	2384	1388	3905	3905	171.3	-11.2	157	1467	0.00	2.47	0.00	0.000	1030	0.000	0.070	2382	2802	3904	3904	3905	0	0	0	0	0	0	14.64	14.52	14.66
1771	-1.04	-121.7	2382	2802	3905	3905	207.5	-12.0	189	1772	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2802	3905	3904	3906	0	0	0	0	0	0	14.83	14.82	14.83
2071	-1.04	-121.7	2383	2802	3905	3905	240.6	-10.7	219	2077	0.00	1.98	0.00	0.000	260	0.000	0.090	2374	3903	3904	3904	3905	0	0	0	0	0	0	14.84	14.47	14.85
2141	-1.04	-121.7	2374	3904	3905	3908	248.6	-11.3	233	2148	0.00	1.88	0.00	0.000	1030	0.000	0.049	2374	2792	3904	3904	3905	0	0	0	0	0	0	14.62	14.58	14.64
2452	-1.04	-121.7	2374	2793	3905	3907	281.5	-11.0	265	2458	0.00	2.38	0.00	0.000	516	0.000	0.050	2374	1407	3904	3904	3905	0	0	0	0	0	0	14.85	14.52	14.85
2477	-1.04	-121.7	2375	1406	3905	3905	284.3	-11.2	270	2484	0.00	2.47	0.00	0.000	1030	0.000	0.069	2373	2799	3904	3904	3904	0	0	0	0	0	0	14.57	14.49	14.60
2792	-1.04	-121.7	2374	2800	3905	3905	318.1	-10.9	294	2793	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2800	3904	3904	3905	0	0	0	0	0	0	14.85	14.86	14.85
2911	end dive: TARGET_DEPTH_EXCEEDED
state	2911	begin apogee
2915	-0.23	0.0	2375	2548	3905	3906	331.8	-11.4	300	3035	1.05	0.00	114.78	2.307	10246	0.265	0.000	2647	2547	3396	3401	3392	0	0	0	0	0	0	14.25	13.80	12.92
3036	end apogee: CONTROL_FINISHED_OK
state	3036	begin climb
3038	1.04	121.7	2648	2548	3400	3393	335.3	0.0	306	3157	1.40	2.70	110.95	2.206	10756	0.162	0.066	3064	1164	2911	2916	2907	0	0	0	0	0	0	13.72	13.31	12.50
3171	1.04	121.7	3064	1164	2912	2903	324.9	10.8	331	3177	0.00	2.67	0.00	0.000	1030	0.000	0.069	3064	2546	2908	2915	2902	0	0	0	0	0	0	13.51	13.45	13.54
3476	1.04	121.7	3064	2546	2904	2896	285.7	12.6	354	3482	0.00	2.53	0.00	0.000	260	0.000	0.095	3058	3913	2899	2904	2895	0	0	0	0	0	0	14.38	14.09	14.38
3516	1.04	121.7	3063	3913	2905	2895	280.0	14.7	362	3522	0.00	2.38	0.00	0.000	1030	0.000	0.057	3073	2551	2899	2904	2895	0	0	0	0	0	0	14.28	14.21	14.30
3826	1.04	121.7	3074	2553	2903	2895	240.3	12.5	394	3832	0.00	2.45	0.00	0.000	516	0.000	0.067	3084	1155	2897	2902	2893	0	0	0	0	0	0	14.63	14.33	14.64
3861	1.04	121.7	3085	1155	2904	2893	236.0	12.2	401	3869	0.00	2.53	0.00	0.000	1030	0.000	0.071	3084	2553	2898	2903	2893	0	0	0	0	0	0	14.42	14.34	14.45
4166	1.04	121.7	3084	2553	2904	2893	198.0	12.9	432	4172	0.00	2.47	0.00	0.000	516	0.000	0.067	3095	1158	2898	2903	2893	0	0	0	0	0	0	14.73	14.40	14.73
4191	1.04	121.7	3095	1159	2903	2894	194.8	12.6	437	4199	0.08	2.50	0.00	0.000	5126	0.264	0.070	3074	2553	2898	2903	2893	0	0	0	0	0	0	14.23	14.42	14.42
4496	1.04	121.7	3074	2554	2903	2894	156.2	13.3	468	4502	0.00	2.50	0.00	0.000	516	0.000	0.070	3083	1126	2898	2903	2893	0	0	0	0	0	0	14.78	14.46	14.79
4551	1.04	121.7	3084	1126	2904	2893	149.0	13.1	479	4558	0.00	2.55	0.00	0.000	1030	0.000	0.070	3084	2552	2898	2903	2894	0	0	0	0	0	0	14.54	14.47	14.57
4856	1.04	121.7	3084	2553	2904	2894	107.4	13.3	510	4862	0.00	2.47	0.00	0.000	516	0.000	0.067	3095	1133	2898	2903	2893	0	0	0	0	0	0	14.82	14.52	14.82
4896	1.04	121.7	3095	1133	2903	2894	101.8	14.0	518	4902	0.12	2.53	0.00	0.000	5126	0.289	0.072	3069	2577	2898	2903	2893	0	0	0	0	0	0	14.29	14.50	14.59
5207	1.04	121.7	3070	2578	2904	2894	63.2	11.3	550	5212	0.00	2.38	0.00	0.000	260	0.000	0.096	3069	3903	2898	2903	2893	0	0	0	0	0	0	14.83	14.50	14.85
5261	1.04	121.7	3070	3903	2905	2893	56.4	11.8	561	5269	0.00	2.35	0.00	0.000	1030	0.000	0.056	3079	2540	2898	2903	2893	0	0	0	0	0	0	14.57	14.53	14.59
5567	1.04	121.7	3078	2540	2905	2893	23.4	12.4	592	5568	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2540	2898	2903	2893	0	0	0	0	0	0	14.81	14.81	14.81
5766	end climb: SURFACE_DEPTH_REACHED
state	5766	begin surface coast
5775	end surface coast: CONTROL_FINISHED_OK
state	5775	begin surface