Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 194 * 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 194 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 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 194 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 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 260218,133900,-7408.1455,-11314.8486,32,0.8,32,53.9,0.1,0.0,10,3.7 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 213.3,4294,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.6 D_GRID 465

GPS2 260218,134420,-7408.1260,-11314.8389,2,0.8,4,53.9,0.1,0.0,11,3.3

Post-dive calculations and measurements:

FREEZE -0.07,-1.724,-1.860,2,1,0 ALTIM_TOP_PING 24.3,25.0

FINISH -0.1,1.027294 _24V_AH 12.52,69.238

SM_CCo 5506,162.88,0.221,0,0,2204,300.18 _10V_AH 12.77,0.000

SM_GC 0.72,8.68,0.47,162.88,0.091,0.090,0.221,189,2804,2204,-7.89,-0.71,300.18,0,0,0,0,0,0,14.54,14.56,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 223 FG_AHR_10Vo 0.000

RAFOS 0,1519657268,15.032778,15.018888,114,61,54,54,52,51,622,205,151,182,217,195 MEM 280368

RAFOS_FIX -7408.051758,-11318.363281,260218,151512,3,101,0.33 DATA_FILE_SIZE 20101,591

IRIDIUM_FIX -7408.77,-11302.62,260218,115924 CAP_FILE_SIZE 72239,0

TT8_MAMPS 0.038948,0.827645 CFSIZE 1024409600,998162432

HUMID 44.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.9

TCM_TEMP 13.20 CURRENT 0.047,11.16,1

XPDR_PINGS 1 GPS 260218,151956,-7408.015,-11317.006,3,1.3,6,53.9,0.2,0.0,6,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 465 134.66 nil 0 0 0.00

Roll_motor 52 97 64.26 nil 0 0 0.00

VBD_pump_during_apogee 226 2287 6483.56 nil 0 0 0.00

VBD_pump_during_surface 162 221 450.84 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 5495 7 507.59

Iridium_during_xfer 206 188 489.11 nil 0 0 0.00

Transponder_ping 8 420 44.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.73

TT8 0 0 0.00

LPSleep 3896 2 114.94

TT8_Active 576 10 80.08

TT8_Sampling 1422 30 551.22

TT8_CF8 106 51 69.88

TT8_Kalman 0 0 0.00

Analog_circuits 1235 10 159.31

GPS_charging 0 0 0.00

Compass 851 6 73.33

RAFOS 720 1 13.79

Transponder 60 30 23.03

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

20.4 21.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

103.3 42.70 9000.00 0.0 0.00 0.00 42.70 0.0 0.25 1.00

106.9 110.90 9000.00 0.0 0.68 0.50 110.90 -4.0 18.94 1.00

86.2 89.50 9000.00 0.0 -0.14 0.00 89.50 -3.3 1.03 1.00

44.5 46.30 46.30 -1.8 1.03 1.00 46.30 -1.8 1.04 1.00

24.3 24.80 25.00 -0.7 1.04 1.00 24.80 -0.5 1.06 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 2805 2237 2128 0.0 0.0 0 122 0.00 0.00 -106.47 0.003 16390 0.000 0.000 189 2803 3888 3898 3878 0 0 0 0 0 0 14.59 13.25 14.59

124 -1.04 -121.7 189 2805 3901 3880 2.9 -3.8 11 142 11.82 2.42 0.00 0.000 2596 0.465 0.044 2389 1394 3896 3902 3890 0 0 0 0 0 0 13.97 14.36 14.28

311 -1.04 -121.7 2389 1395 3902 3901 29.4 -12.6 48 318 0.00 2.53 0.00 0.000 1030 0.000 0.070 2379 2796 3901 3902 3900 0 0 0 0 0 0 14.43 14.36 14.47

616 -1.04 -121.7 2379 2796 3903 3902 68.6 -12.7 79 622 0.00 2.42 0.00 0.000 516 0.000 0.050 2379 1401 3902 3902 3902 0 0 0 0 0 0 14.76 14.43 14.75

651 -1.04 -121.7 2379 1395 3902 3902 73.1 -12.7 86 658 0.00 2.53 0.00 0.000 1030 0.000 0.070 2375 2806 3902 3902 3902 0 0 0 0 0 0 14.50 14.42 14.53

956 -1.04 -121.7 2375 2807 3902 3903 112.8 -13.6 117 957 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2806 3902 3902 3902 0 0 0 0 0 0 14.78 14.79 14.79

1256 -1.04 -121.7 2376 2806 3903 3902 152.3 -13.1 147 1262 0.00 2.00 0.00 0.000 260 0.000 0.092 2374 3910 3902 3902 3902 0 0 0 0 0 0 14.81 14.43 14.81

1316 -1.04 -121.7 2374 3910 3903 3902 160.8 -14.6 159 1322 0.00 1.90 0.00 0.000 1030 0.000 0.047 2374 2787 3902 3902 3902 0 0 0 0 0 0 14.63 14.56 14.62

1626 -1.04 -121.7 2374 2788 3902 3904 200.9 -12.7 191 1632 0.00 2.05 0.00 0.000 260 0.000 0.091 2372 3907 3902 3902 3903 0 0 0 0 0 0 14.82 14.44 14.82

1757 -1.04 -121.7 2372 3908 3902 3904 218.6 -13.7 217 1763 0.00 1.85 0.00 0.000 1030 0.000 0.048 2372 2790 3902 3902 3902 0 0 0 0 0 0 14.65 14.59 14.67

2067 -1.04 -121.7 2373 2791 3903 3903 257.2 -12.0 249 2068 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2790 3902 3902 3902 0 0 0 0 0 0 14.83 14.83 14.83

2367 -1.04 -121.7 2373 2791 3903 3903 293.4 -12.6 279 2373 0.00 2.35 0.00 0.000 516 0.000 0.050 2372 1399 3902 3902 3903 0 0 0 0 0 0 14.83 14.53 14.83

2422 -1.04 -121.7 2372 1399 3902 3904 299.6 -11.3 290 2429 0.00 2.50 0.00 0.000 1030 0.000 0.069 2372 2801 3902 3902 3902 0 0 0 0 0 0 14.55 14.47 14.59

2707 end dive: TARGET_DEPTH_EXCEEDED

state 2707 begin apogee

2711 -0.23 0.0 2372 2554 3902 3904 331.8 -11.1 305 2830 1.08 0.00 114.28 2.287 10246 0.266 0.000 2650 2553 3397 3402 3393 0 0 0 0 0 0 14.23 13.78 12.93

2831 end apogee: CONTROL_FINISHED_OK

state 2831 begin climb

2832 1.04 121.7 2651 2553 3403 3393 335.1 0.0 311 2950 1.42 0.00 112.12 2.212 10758 0.159 0.000 3060 2553 2913 2917 2909 0 0 0 0 0 0 13.74 13.33 12.52

3247 1.04 121.7 3061 2553 2907 2897 287.7 12.4 339 3253 0.00 2.50 0.00 0.000 516 0.000 0.067 3070 1161 2901 2906 2897 0 0 0 0 0 0 14.35 14.04 14.36

3277 1.04 121.7 3071 1162 2906 2897 284.0 12.4 345 3284 0.00 2.55 0.00 0.000 1030 0.000 0.070 3070 2550 2901 2906 2896 0 0 0 0 0 0 14.16 14.09 14.17

3588 1.04 121.7 3071 2551 2905 2897 243.6 13.2 377 3595 0.00 2.50 0.00 0.000 260 0.000 0.095 3070 3923 2900 2905 2896 0 0 0 0 0 0 14.63 14.31 14.64

3639 1.04 121.7 3071 3922 2902 2896 236.2 15.0 387 3645 0.00 2.40 0.00 0.000 1030 0.000 0.057 3080 2554 2900 2905 2896 0 0 0 0 0 0 14.44 14.40 14.47

3949 1.04 121.7 3078 2555 2905 2897 194.2 13.3 419 3955 0.00 2.45 0.00 0.000 516 0.000 0.068 3091 1153 2900 2905 2896 0 0 0 0 0 0 14.74 14.43 14.74

3985 1.04 121.7 3091 1154 2905 2896 189.6 13.0 426 3991 0.00 2.47 0.00 0.000 1030 0.000 0.073 3091 2555 2900 2905 2895 0 0 0 0 0 0 14.56 14.45 14.59

4289 1.04 121.7 3092 2554 2907 2895 149.8 13.3 457 4296 0.00 2.47 0.00 0.000 260 0.000 0.096 3091 3904 2900 2905 2895 0 0 0 0 0 0 14.80 14.43 14.79

4335 1.04 121.7 3092 3904 2906 2895 142.9 15.5 466 4342 0.12 2.35 0.00 0.000 5126 0.291 0.057 3070 2551 2900 2905 2895 0 0 0 0 0 0 14.21 14.53 14.45

4640 1.04 121.7 3070 2551 2905 2896 104.4 12.5 497 4641 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2550 2900 2905 2895 0 0 0 0 0 0 14.82 14.82 14.82

4941 1.04 121.7 3070 2552 2905 2896 68.1 11.7 527 4946 0.00 2.42 0.00 0.000 516 0.000 0.068 3080 1150 2900 2905 2895 0 0 0 0 0 0 14.83 14.51 14.83

4975 1.04 121.7 3079 1151 2906 2896 63.9 11.7 534 4982 0.00 2.50 0.00 0.000 1030 0.000 0.071 3079 2555 2900 2905 2895 0 0 0 0 0 0 14.58 14.50 14.61

5280 1.04 121.7 3080 2552 2906 2895 26.3 12.0 565 5287 0.00 2.47 0.00 0.000 260 0.000 0.097 3079 3906 2900 2906 2895 0 0 0 0 0 0 14.85 14.47 14.85

5321 1.04 121.7 3080 3907 2907 2892 20.7 14.2 573 5328 0.00 2.30 0.00 0.000 1030 0.000 0.057 3090 2545 2900 2906 2895 0 0 0 0 0 0 14.68 14.60 14.70

5482 end climb: SURFACE_DEPTH_REACHED

state 5482 begin surface coast

5491 end surface coast: CONTROL_FINISHED_OK

state 5491 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	194	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	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	260218,133900,-7408.1455,-11314.8486,32,0.8,32,53.9,0.1,0.0,10,3.7	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	213.3,4294,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.6	D_GRID	465
GPS2	260218,134420,-7408.1260,-11314.8389,2,0.8,4,53.9,0.1,0.0,11,3.3

FREEZE	-0.07,-1.724,-1.860,2,1,0	ALTIM_TOP_PING	24.3,25.0
FINISH	-0.1,1.027294	_24V_AH	12.52,69.238
SM_CCo	5506,162.88,0.221,0,0,2204,300.18	_10V_AH	12.77,0.000
SM_GC	0.72,8.68,0.47,162.88,0.091,0.090,0.221,189,2804,2204,-7.89,-0.71,300.18,0,0,0,0,0,0,14.54,14.56,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	223	FG_AHR_10Vo	0.000
RAFOS	0,1519657268,15.032778,15.018888,114,61,54,54,52,51,622,205,151,182,217,195	MEM	280368
RAFOS_FIX	-7408.051758,-11318.363281,260218,151512,3,101,0.33	DATA_FILE_SIZE	20101,591
IRIDIUM_FIX	-7408.77,-11302.62,260218,115924	CAP_FILE_SIZE	72239,0
TT8_MAMPS	0.038948,0.827645	CFSIZE	1024409600,998162432
HUMID	44.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.9
TCM_TEMP	13.20	CURRENT	0.047,11.16,1
XPDR_PINGS	1	GPS	260218,151956,-7408.015,-11317.006,3,1.3,6,53.9,0.2,0.0,6,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	465	134.66	nil	0	0	0.00
Roll_motor	52	97	64.26	nil	0	0	0.00
VBD_pump_during_apogee	226	2287	6483.56	nil	0	0	0.00
VBD_pump_during_surface	162	221	450.84	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	5495	7	507.59
Iridium_during_xfer	206	188	489.11	nil	0	0	0.00
Transponder_ping	8	420	44.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.73
TT8	0	0	0.00
LPSleep	3896	2	114.94
TT8_Active	576	10	80.08
TT8_Sampling	1422	30	551.22
TT8_CF8	106	51	69.88
TT8_Kalman	0	0	0.00
Analog_circuits	1235	10	159.31
GPS_charging	0	0	0.00
Compass	851	6	73.33
RAFOS	720	1	13.79
Transponder	60	30	23.03

		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
20.4	21.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
103.3	42.70	9000.00	0.0	0.00	0.00	42.70	0.0	0.25	1.00

106.9	110.90	9000.00	0.0	0.68	0.50	110.90	-4.0	18.94	1.00
86.2	89.50	9000.00	0.0	-0.14	0.00	89.50	-3.3	1.03	1.00
44.5	46.30	46.30	-1.8	1.03	1.00	46.30	-1.8	1.04	1.00
24.3	24.80	25.00	-0.7	1.04	1.00	24.80	-0.5	1.06	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	2805	2237	2128	0.0	0.0	0	122	0.00	0.00	-106.47	0.003	16390	0.000	0.000	189	2803	3888	3898	3878	0	0	0	0	0	0	14.59	13.25	14.59
124	-1.04	-121.7	189	2805	3901	3880	2.9	-3.8	11	142	11.82	2.42	0.00	0.000	2596	0.465	0.044	2389	1394	3896	3902	3890	0	0	0	0	0	0	13.97	14.36	14.28
311	-1.04	-121.7	2389	1395	3902	3901	29.4	-12.6	48	318	0.00	2.53	0.00	0.000	1030	0.000	0.070	2379	2796	3901	3902	3900	0	0	0	0	0	0	14.43	14.36	14.47
616	-1.04	-121.7	2379	2796	3903	3902	68.6	-12.7	79	622	0.00	2.42	0.00	0.000	516	0.000	0.050	2379	1401	3902	3902	3902	0	0	0	0	0	0	14.76	14.43	14.75
651	-1.04	-121.7	2379	1395	3902	3902	73.1	-12.7	86	658	0.00	2.53	0.00	0.000	1030	0.000	0.070	2375	2806	3902	3902	3902	0	0	0	0	0	0	14.50	14.42	14.53
956	-1.04	-121.7	2375	2807	3902	3903	112.8	-13.6	117	957	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2806	3902	3902	3902	0	0	0	0	0	0	14.78	14.79	14.79
1256	-1.04	-121.7	2376	2806	3903	3902	152.3	-13.1	147	1262	0.00	2.00	0.00	0.000	260	0.000	0.092	2374	3910	3902	3902	3902	0	0	0	0	0	0	14.81	14.43	14.81
1316	-1.04	-121.7	2374	3910	3903	3902	160.8	-14.6	159	1322	0.00	1.90	0.00	0.000	1030	0.000	0.047	2374	2787	3902	3902	3902	0	0	0	0	0	0	14.63	14.56	14.62
1626	-1.04	-121.7	2374	2788	3902	3904	200.9	-12.7	191	1632	0.00	2.05	0.00	0.000	260	0.000	0.091	2372	3907	3902	3902	3903	0	0	0	0	0	0	14.82	14.44	14.82
1757	-1.04	-121.7	2372	3908	3902	3904	218.6	-13.7	217	1763	0.00	1.85	0.00	0.000	1030	0.000	0.048	2372	2790	3902	3902	3902	0	0	0	0	0	0	14.65	14.59	14.67
2067	-1.04	-121.7	2373	2791	3903	3903	257.2	-12.0	249	2068	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2790	3902	3902	3902	0	0	0	0	0	0	14.83	14.83	14.83
2367	-1.04	-121.7	2373	2791	3903	3903	293.4	-12.6	279	2373	0.00	2.35	0.00	0.000	516	0.000	0.050	2372	1399	3902	3902	3903	0	0	0	0	0	0	14.83	14.53	14.83
2422	-1.04	-121.7	2372	1399	3902	3904	299.6	-11.3	290	2429	0.00	2.50	0.00	0.000	1030	0.000	0.069	2372	2801	3902	3902	3902	0	0	0	0	0	0	14.55	14.47	14.59
2707	end dive: TARGET_DEPTH_EXCEEDED
state	2707	begin apogee
2711	-0.23	0.0	2372	2554	3902	3904	331.8	-11.1	305	2830	1.08	0.00	114.28	2.287	10246	0.266	0.000	2650	2553	3397	3402	3393	0	0	0	0	0	0	14.23	13.78	12.93
2831	end apogee: CONTROL_FINISHED_OK
state	2831	begin climb
2832	1.04	121.7	2651	2553	3403	3393	335.1	0.0	311	2950	1.42	0.00	112.12	2.212	10758	0.159	0.000	3060	2553	2913	2917	2909	0	0	0	0	0	0	13.74	13.33	12.52
3247	1.04	121.7	3061	2553	2907	2897	287.7	12.4	339	3253	0.00	2.50	0.00	0.000	516	0.000	0.067	3070	1161	2901	2906	2897	0	0	0	0	0	0	14.35	14.04	14.36
3277	1.04	121.7	3071	1162	2906	2897	284.0	12.4	345	3284	0.00	2.55	0.00	0.000	1030	0.000	0.070	3070	2550	2901	2906	2896	0	0	0	0	0	0	14.16	14.09	14.17
3588	1.04	121.7	3071	2551	2905	2897	243.6	13.2	377	3595	0.00	2.50	0.00	0.000	260	0.000	0.095	3070	3923	2900	2905	2896	0	0	0	0	0	0	14.63	14.31	14.64
3639	1.04	121.7	3071	3922	2902	2896	236.2	15.0	387	3645	0.00	2.40	0.00	0.000	1030	0.000	0.057	3080	2554	2900	2905	2896	0	0	0	0	0	0	14.44	14.40	14.47
3949	1.04	121.7	3078	2555	2905	2897	194.2	13.3	419	3955	0.00	2.45	0.00	0.000	516	0.000	0.068	3091	1153	2900	2905	2896	0	0	0	0	0	0	14.74	14.43	14.74
3985	1.04	121.7	3091	1154	2905	2896	189.6	13.0	426	3991	0.00	2.47	0.00	0.000	1030	0.000	0.073	3091	2555	2900	2905	2895	0	0	0	0	0	0	14.56	14.45	14.59
4289	1.04	121.7	3092	2554	2907	2895	149.8	13.3	457	4296	0.00	2.47	0.00	0.000	260	0.000	0.096	3091	3904	2900	2905	2895	0	0	0	0	0	0	14.80	14.43	14.79
4335	1.04	121.7	3092	3904	2906	2895	142.9	15.5	466	4342	0.12	2.35	0.00	0.000	5126	0.291	0.057	3070	2551	2900	2905	2895	0	0	0	0	0	0	14.21	14.53	14.45
4640	1.04	121.7	3070	2551	2905	2896	104.4	12.5	497	4641	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	2550	2900	2905	2895	0	0	0	0	0	0	14.82	14.82	14.82
4941	1.04	121.7	3070	2552	2905	2896	68.1	11.7	527	4946	0.00	2.42	0.00	0.000	516	0.000	0.068	3080	1150	2900	2905	2895	0	0	0	0	0	0	14.83	14.51	14.83
4975	1.04	121.7	3079	1151	2906	2896	63.9	11.7	534	4982	0.00	2.50	0.00	0.000	1030	0.000	0.071	3079	2555	2900	2905	2895	0	0	0	0	0	0	14.58	14.50	14.61
5280	1.04	121.7	3080	2552	2906	2895	26.3	12.0	565	5287	0.00	2.47	0.00	0.000	260	0.000	0.097	3079	3906	2900	2906	2895	0	0	0	0	0	0	14.85	14.47	14.85
5321	1.04	121.7	3080	3907	2907	2892	20.7	14.2	573	5328	0.00	2.30	0.00	0.000	1030	0.000	0.057	3090	2545	2900	2906	2895	0	0	0	0	0	0	14.68	14.60	14.70
5482	end climb: SURFACE_DEPTH_REACHED
state	5482	begin surface coast
5491	end surface coast: CONTROL_FINISHED_OK
state	5491	begin surface