Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 196 * 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 196 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 196 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 260218,170509,-7407.7549,-11319.0674,17,1.1,26,53.9,0.2,0.0,10,3.8 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 0.83 MHEAD_RNG_PITCHd_Wd 206.0,2036,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.6 D_GRID 309

GPS2 260218,171039,-7407.7266,-11319.0674,2,1.0,4,53.9,0.7,213.3,11,6.8

Post-dive calculations and measurements:

FREEZE 0.56,-1.616,-1.860,2,1,0 ALTIM_TOP_PING 22.2,22.6

FINISH 0.6,1.027283 _24V_AH 12.52,69.645

SM_CCo 5269,163.40,0.221,0,0,2205,300.18 _10V_AH 12.65,0.000

SM_GC 0.79,8.52,0.45,163.40,0.080,0.089,0.221,191,2809,2205,-7.89,-0.65,300.18,0,0,0,0,0,0,14.52,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 217 FG_AHR_10Vo 0.000

RAFOS 0,1519668064,18.032778,18.017778,130,75,59,58,57,55,650,200,215,161,179,123 MEM 280380

RAFOS_FIX -7408.165039,-11320.655273,260218,181824,3,143,0.30 DATA_FILE_SIZE 20084,617

IRIDIUM_FIX -7407.37,-11309.85,260218,152419 CAP_FILE_SIZE 73912,0

TT8_MAMPS 0.038948,0.83888 CFSIZE 1024409600,997965824

HUMID 45.03 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 13.00 CURRENT 0.073,351.91,1

XPDR_PINGS 1 GPS 260218,184239,-7407.605,-11321.186,21,0.7,21,54.0,0.1,0.0,12,5.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 467 134.30 nil 0 0 0.00

Roll_motor 55 96 67.40 nil 0 0 0.00

VBD_pump_during_apogee 224 2265 6376.01 nil 0 0 0.00

VBD_pump_during_surface 163 221 452.29 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 5268 7 480.09

Iridium_during_xfer 220 187 518.18 nil 0 0 0.00

Transponder_ping 8 420 42.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.70

TT8 0 0 0.00

LPSleep 3630 2 106.09

TT8_Active 566 10 77.90

TT8_Sampling 1480 30 568.39

TT8_CF8 107 51 70.02

TT8_Kalman 0 0 0.00

Analog_circuits 1266 10 161.77

GPS_charging 0 0 0.00

Compass 888 6 75.78

RAFOS 720 1 13.66

Transponder 56 30 21.41

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

20.1 21.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

61.5 64.90 9000.00 0.0 0.00 0.00 64.90 0.0 1.05 1.00

104.9 108.90 109.20 -4.3 1.03 1.00 108.90 -4.0 1.01 1.00

84.7 88.40 88.40 -3.7 1.01 1.00 88.40 -3.7 1.01 1.00

63.6 65.80 66.00 -2.4 1.04 1.00 65.80 -2.2 1.07 1.00

43.1 44.80 44.60 -1.5 1.05 1.00 44.80 -1.7 1.02 1.00

22.2 22.50 22.60 -0.4 1.04 1.00 22.50 -0.3 1.07 1.00

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.04 -121.7 199 2814 2236 2129 0.0 0.0 0 121 0.00 0.00 -105.35 0.003 16390 0.000 0.000 198 2813 3889 3901 3878 0 0 0 0 0 0 14.59 12.93 14.59

123 -1.04 -121.7 200 2814 3903 3880 3.3 -4.7 11 141 11.82 2.45 0.00 0.000 2596 0.467 0.044 2390 1388 3898 3904 3892 0 0 0 0 0 0 13.97 14.35 14.26

335 -1.04 -121.7 2392 1388 3905 3902 31.9 -12.1 53 342 0.00 2.53 0.00 0.000 1030 0.000 0.070 2385 2794 3903 3904 3902 0 0 0 0 0 0 14.44 14.37 14.48

646 -1.04 -121.7 2386 2794 3905 3904 71.8 -12.8 85 653 0.00 2.03 0.00 0.000 260 0.000 0.093 2377 3905 3904 3904 3904 0 0 0 0 0 0 14.76 14.40 14.76

682 -1.04 -121.7 2378 3905 3905 3904 76.7 -13.9 92 689 0.00 1.90 0.00 0.000 1030 0.000 0.047 2378 2787 3903 3904 3903 0 0 0 0 0 0 14.54 14.51 14.57

987 -1.04 -121.7 2378 2787 3905 3905 116.2 -13.8 123 992 0.00 2.05 0.00 0.000 260 0.000 0.091 2371 3906 3904 3904 3905 0 0 0 0 0 0 14.79 14.42 14.79

1082 -1.04 -121.7 2371 3906 3905 3906 130.0 -14.0 142 1089 0.00 1.88 0.00 0.000 1030 0.000 0.047 2371 2801 3904 3904 3905 0 0 0 0 0 0 14.58 14.54 14.59

1387 -1.04 -121.7 2371 2801 3905 3905 167.2 -12.1 173 1393 0.00 2.00 0.00 0.000 260 0.000 0.090 2370 3899 3904 3904 3904 0 0 0 0 0 0 14.82 14.44 14.82

1442 -1.04 -121.7 2370 3900 3905 3906 174.5 -13.2 184 1449 0.00 1.88 0.00 0.000 1030 0.000 0.049 2370 2795 3904 3904 3904 0 0 0 0 0 0 14.59 14.56 14.61

1747 -1.04 -121.7 2371 2796 3905 3905 213.1 -12.8 215 1753 0.00 2.40 0.00 0.000 516 0.000 0.050 2370 1402 3904 3904 3905 0 0 0 0 0 0 14.83 14.50 14.83

1803 -1.04 -121.7 2370 1402 3905 3906 219.9 -12.1 226 1810 0.00 2.50 0.00 0.000 1030 0.000 0.069 2370 2800 3904 3904 3905 0 0 0 0 0 0 14.43 14.35 14.47

2107 -1.04 -121.7 2370 2801 3904 3905 256.0 -11.6 257 2114 0.00 2.40 0.00 0.000 516 0.000 0.050 2370 1406 3904 3904 3905 0 0 0 0 0 0 14.84 14.52 14.84

2219 -1.04 -121.7 2371 1407 3905 3905 268.8 -11.2 279 2224 0.00 2.45 0.00 0.000 1030 0.000 0.070 2369 2807 3904 3904 3904 0 0 0 0 0 0 14.64 14.52 14.66

2528 -1.04 -121.7 2370 2808 3905 3905 304.5 -11.4 309 2535 0.00 1.98 0.00 0.000 260 0.000 0.090 2367 3902 3904 3904 3905 0 0 0 0 0 0 14.85 14.47 14.84

2568 end dive: TARGET_DEPTH_EXCEEDED

state 2568 begin apogee

2573 -0.23 0.0 2368 2534 3905 3905 309.4 -12.7 317 2692 1.10 0.00 114.20 2.265 10246 0.273 0.000 2649 2534 3397 3402 3392 0 0 0 0 0 0 14.26 13.80 12.93

2693 end apogee: CONTROL_FINISHED_OK

state 2693 begin climb

2694 1.04 121.7 2650 2535 3402 3393 313.1 0.0 323 2812 1.40 0.00 110.62 2.186 10758 0.165 0.000 3053 2534 2911 2916 2907 0 0 0 0 0 0 13.72 13.35 12.52

3110 1.04 121.7 3054 2535 2906 2897 268.5 12.0 371 3115 0.00 2.55 0.00 0.000 260 0.000 0.093 3054 3906 2898 2900 2896 0 0 0 0 0 0 14.36 14.07 14.35

3179 1.04 121.7 3054 3907 2905 2897 258.7 14.3 385 3186 0.00 2.38 0.00 0.000 1030 0.000 0.056 3064 2567 2900 2905 2896 0 0 0 0 0 0 14.23 14.19 14.25

3490 1.04 121.7 3064 2566 2905 2895 220.7 12.8 417 3496 0.00 2.50 0.00 0.000 516 0.000 0.066 3074 1146 2899 2904 2895 0 0 0 0 0 0 14.64 14.33 14.64

3571 1.04 121.7 3074 1146 2905 2896 211.2 11.8 433 3578 0.00 2.53 0.00 0.000 1030 0.000 0.072 3074 2549 2899 2904 2894 0 0 0 0 0 0 14.44 14.36 14.47

3882 1.04 121.7 3074 2549 2905 2895 172.2 12.3 465 3888 0.00 2.47 0.00 0.000 516 0.000 0.067 3085 1130 2899 2904 2895 0 0 0 0 0 0 14.74 14.42 14.74

3902 1.04 121.7 3085 1134 2905 2896 169.7 12.0 469 3909 0.00 2.55 0.00 0.000 1030 0.000 0.070 3085 2554 2899 2904 2895 0 0 0 0 0 0 14.50 14.43 14.59

4213 1.04 121.7 3085 2554 2906 2895 129.3 13.4 501 4214 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2554 2900 2905 2895 0 0 0 0 0 0 14.80 14.80 14.81

4513 1.04 121.7 3085 2554 2906 2895 89.7 12.4 531 4519 0.00 2.47 0.00 0.000 260 0.000 0.096 3084 3935 2900 2905 2895 0 0 0 0 0 0 14.83 14.48 14.83

4593 1.04 121.7 3085 3933 2906 2895 78.1 14.8 547 4599 0.10 2.38 0.00 0.000 5126 0.292 0.056 3070 2550 2900 2905 2895 0 0 0 0 0 0 14.22 14.56 14.47

4904 1.04 121.7 3070 2551 2905 2896 42.0 11.4 579 4904 0.00 0.00 0.00 0.000 6 0.000 0.000 3070 2551 2900 2906 2895 0 0 0 0 0 0 14.84 14.85 14.85

5204 1.04 121.7 3070 2552 2907 2896 6.6 12.2 609 5210 0.00 2.40 0.00 0.000 516 0.000 0.067 3080 1156 2900 2906 2895 0 0 0 0 0 0 14.86 14.52 14.86

5230 1.04 121.7 3080 1156 2908 2895 3.5 11.6 614 5236 0.00 2.42 0.00 0.000 1030 0.000 0.068 3080 2554 2900 2906 2895 0 0 0 0 0 0 14.65 14.54 14.69

5244 end climb: SURFACE_DEPTH_REACHED

state 5244 begin surface coast

5253 end surface coast: CONTROL_FINISHED_OK

state 5253 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	196	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	260218,170509,-7407.7549,-11319.0674,17,1.1,26,53.9,0.2,0.0,10,3.8	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	0.83	MHEAD_RNG_PITCHd_Wd	206.0,2036,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.6	D_GRID	309
GPS2	260218,171039,-7407.7266,-11319.0674,2,1.0,4,53.9,0.7,213.3,11,6.8

FREEZE	0.56,-1.616,-1.860,2,1,0	ALTIM_TOP_PING	22.2,22.6
FINISH	0.6,1.027283	_24V_AH	12.52,69.645
SM_CCo	5269,163.40,0.221,0,0,2205,300.18	_10V_AH	12.65,0.000
SM_GC	0.79,8.52,0.45,163.40,0.080,0.089,0.221,191,2809,2205,-7.89,-0.65,300.18,0,0,0,0,0,0,14.52,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	217	FG_AHR_10Vo	0.000
RAFOS	0,1519668064,18.032778,18.017778,130,75,59,58,57,55,650,200,215,161,179,123	MEM	280380
RAFOS_FIX	-7408.165039,-11320.655273,260218,181824,3,143,0.30	DATA_FILE_SIZE	20084,617
IRIDIUM_FIX	-7407.37,-11309.85,260218,152419	CAP_FILE_SIZE	73912,0
TT8_MAMPS	0.038948,0.83888	CFSIZE	1024409600,997965824
HUMID	45.03	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	13.00	CURRENT	0.073,351.91,1
XPDR_PINGS	1	GPS	260218,184239,-7407.605,-11321.186,21,0.7,21,54.0,0.1,0.0,12,5.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	467	134.30	nil	0	0	0.00
Roll_motor	55	96	67.40	nil	0	0	0.00
VBD_pump_during_apogee	224	2265	6376.01	nil	0	0	0.00
VBD_pump_during_surface	163	221	452.29	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	5268	7	480.09
Iridium_during_xfer	220	187	518.18	nil	0	0	0.00
Transponder_ping	8	420	42.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.70
TT8	0	0	0.00
LPSleep	3630	2	106.09
TT8_Active	566	10	77.90
TT8_Sampling	1480	30	568.39
TT8_CF8	107	51	70.02
TT8_Kalman	0	0	0.00
Analog_circuits	1266	10	161.77
GPS_charging	0	0	0.00
Compass	888	6	75.78
RAFOS	720	1	13.66
Transponder	56	30	21.41

		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
20.1	21.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
61.5	64.90	9000.00	0.0	0.00	0.00	64.90	0.0	1.05	1.00

104.9	108.90	109.20	-4.3	1.03	1.00	108.90	-4.0	1.01	1.00
84.7	88.40	88.40	-3.7	1.01	1.00	88.40	-3.7	1.01	1.00
63.6	65.80	66.00	-2.4	1.04	1.00	65.80	-2.2	1.07	1.00
43.1	44.80	44.60	-1.5	1.05	1.00	44.80	-1.7	1.02	1.00
22.2	22.50	22.60	-0.4	1.04	1.00	22.50	-0.3	1.07	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.04	-121.7	199	2814	2236	2129	0.0	0.0	0	121	0.00	0.00	-105.35	0.003	16390	0.000	0.000	198	2813	3889	3901	3878	0	0	0	0	0	0	14.59	12.93	14.59
123	-1.04	-121.7	200	2814	3903	3880	3.3	-4.7	11	141	11.82	2.45	0.00	0.000	2596	0.467	0.044	2390	1388	3898	3904	3892	0	0	0	0	0	0	13.97	14.35	14.26
335	-1.04	-121.7	2392	1388	3905	3902	31.9	-12.1	53	342	0.00	2.53	0.00	0.000	1030	0.000	0.070	2385	2794	3903	3904	3902	0	0	0	0	0	0	14.44	14.37	14.48
646	-1.04	-121.7	2386	2794	3905	3904	71.8	-12.8	85	653	0.00	2.03	0.00	0.000	260	0.000	0.093	2377	3905	3904	3904	3904	0	0	0	0	0	0	14.76	14.40	14.76
682	-1.04	-121.7	2378	3905	3905	3904	76.7	-13.9	92	689	0.00	1.90	0.00	0.000	1030	0.000	0.047	2378	2787	3903	3904	3903	0	0	0	0	0	0	14.54	14.51	14.57
987	-1.04	-121.7	2378	2787	3905	3905	116.2	-13.8	123	992	0.00	2.05	0.00	0.000	260	0.000	0.091	2371	3906	3904	3904	3905	0	0	0	0	0	0	14.79	14.42	14.79
1082	-1.04	-121.7	2371	3906	3905	3906	130.0	-14.0	142	1089	0.00	1.88	0.00	0.000	1030	0.000	0.047	2371	2801	3904	3904	3905	0	0	0	0	0	0	14.58	14.54	14.59
1387	-1.04	-121.7	2371	2801	3905	3905	167.2	-12.1	173	1393	0.00	2.00	0.00	0.000	260	0.000	0.090	2370	3899	3904	3904	3904	0	0	0	0	0	0	14.82	14.44	14.82
1442	-1.04	-121.7	2370	3900	3905	3906	174.5	-13.2	184	1449	0.00	1.88	0.00	0.000	1030	0.000	0.049	2370	2795	3904	3904	3904	0	0	0	0	0	0	14.59	14.56	14.61
1747	-1.04	-121.7	2371	2796	3905	3905	213.1	-12.8	215	1753	0.00	2.40	0.00	0.000	516	0.000	0.050	2370	1402	3904	3904	3905	0	0	0	0	0	0	14.83	14.50	14.83
1803	-1.04	-121.7	2370	1402	3905	3906	219.9	-12.1	226	1810	0.00	2.50	0.00	0.000	1030	0.000	0.069	2370	2800	3904	3904	3905	0	0	0	0	0	0	14.43	14.35	14.47
2107	-1.04	-121.7	2370	2801	3904	3905	256.0	-11.6	257	2114	0.00	2.40	0.00	0.000	516	0.000	0.050	2370	1406	3904	3904	3905	0	0	0	0	0	0	14.84	14.52	14.84
2219	-1.04	-121.7	2371	1407	3905	3905	268.8	-11.2	279	2224	0.00	2.45	0.00	0.000	1030	0.000	0.070	2369	2807	3904	3904	3904	0	0	0	0	0	0	14.64	14.52	14.66
2528	-1.04	-121.7	2370	2808	3905	3905	304.5	-11.4	309	2535	0.00	1.98	0.00	0.000	260	0.000	0.090	2367	3902	3904	3904	3905	0	0	0	0	0	0	14.85	14.47	14.84
2568	end dive: TARGET_DEPTH_EXCEEDED
state	2568	begin apogee
2573	-0.23	0.0	2368	2534	3905	3905	309.4	-12.7	317	2692	1.10	0.00	114.20	2.265	10246	0.273	0.000	2649	2534	3397	3402	3392	0	0	0	0	0	0	14.26	13.80	12.93
2693	end apogee: CONTROL_FINISHED_OK
state	2693	begin climb
2694	1.04	121.7	2650	2535	3402	3393	313.1	0.0	323	2812	1.40	0.00	110.62	2.186	10758	0.165	0.000	3053	2534	2911	2916	2907	0	0	0	0	0	0	13.72	13.35	12.52
3110	1.04	121.7	3054	2535	2906	2897	268.5	12.0	371	3115	0.00	2.55	0.00	0.000	260	0.000	0.093	3054	3906	2898	2900	2896	0	0	0	0	0	0	14.36	14.07	14.35
3179	1.04	121.7	3054	3907	2905	2897	258.7	14.3	385	3186	0.00	2.38	0.00	0.000	1030	0.000	0.056	3064	2567	2900	2905	2896	0	0	0	0	0	0	14.23	14.19	14.25
3490	1.04	121.7	3064	2566	2905	2895	220.7	12.8	417	3496	0.00	2.50	0.00	0.000	516	0.000	0.066	3074	1146	2899	2904	2895	0	0	0	0	0	0	14.64	14.33	14.64
3571	1.04	121.7	3074	1146	2905	2896	211.2	11.8	433	3578	0.00	2.53	0.00	0.000	1030	0.000	0.072	3074	2549	2899	2904	2894	0	0	0	0	0	0	14.44	14.36	14.47
3882	1.04	121.7	3074	2549	2905	2895	172.2	12.3	465	3888	0.00	2.47	0.00	0.000	516	0.000	0.067	3085	1130	2899	2904	2895	0	0	0	0	0	0	14.74	14.42	14.74
3902	1.04	121.7	3085	1134	2905	2896	169.7	12.0	469	3909	0.00	2.55	0.00	0.000	1030	0.000	0.070	3085	2554	2899	2904	2895	0	0	0	0	0	0	14.50	14.43	14.59
4213	1.04	121.7	3085	2554	2906	2895	129.3	13.4	501	4214	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2554	2900	2905	2895	0	0	0	0	0	0	14.80	14.80	14.81
4513	1.04	121.7	3085	2554	2906	2895	89.7	12.4	531	4519	0.00	2.47	0.00	0.000	260	0.000	0.096	3084	3935	2900	2905	2895	0	0	0	0	0	0	14.83	14.48	14.83
4593	1.04	121.7	3085	3933	2906	2895	78.1	14.8	547	4599	0.10	2.38	0.00	0.000	5126	0.292	0.056	3070	2550	2900	2905	2895	0	0	0	0	0	0	14.22	14.56	14.47
4904	1.04	121.7	3070	2551	2905	2896	42.0	11.4	579	4904	0.00	0.00	0.00	0.000	6	0.000	0.000	3070	2551	2900	2906	2895	0	0	0	0	0	0	14.84	14.85	14.85
5204	1.04	121.7	3070	2552	2907	2896	6.6	12.2	609	5210	0.00	2.40	0.00	0.000	516	0.000	0.067	3080	1156	2900	2906	2895	0	0	0	0	0	0	14.86	14.52	14.86
5230	1.04	121.7	3080	1156	2908	2895	3.5	11.6	614	5236	0.00	2.42	0.00	0.000	1030	0.000	0.068	3080	2554	2900	2906	2895	0	0	0	0	0	0	14.65	14.54	14.69
5244	end climb: SURFACE_DEPTH_REACHED
state	5244	begin surface coast
5253	end surface coast: CONTROL_FINISHED_OK
state	5253	begin surface