Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 165 * 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 165 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 39 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 5 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 98 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 120 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 -3 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 0.079999998 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 270 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 98

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 0.079999998 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 120

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 -3

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 165 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 24 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 240218,120100,-7401.6899,-11242.5693,31,0.8,31,53.4,0.3,11.7,11,3.4 SPEED_LIMITS 0.092,0.191

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.59 MHEAD_RNG_PITCHd_Wd 144.6,19218,-17.6,-9.184,-25.67,1902

_SM_ANGLEo -53.7 D_GRID 777

GPS2 240218,120558,-7401.6436,-11242.6338,2,0.8,3,53.4,0.2,11.3,12,5.9

Post-dive calculations and measurements:

FREEZE -0.24,-1.739,-1.860,2,1,0 ALTIM_TOP_PING 5.8,5.8

FINISH -0.2,1.027301 _24V_AH 12.36,63.585

SM_CCo 5194,164.75,0.224,0,0,2204,300.18 _10V_AH 12.69,0.000

SM_GC 0.68,8.40,0.47,164.75,0.075,0.100,0.224,191,2808,2204,-7.88,-0.57,300.18,0,0,0,0,0,0,14.58,14.59,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 221 FG_AHR_10Vo 0.000

RAFOS 1,1519474026,12.133333,12.118333,87,65,62,59,57,53,576,190,217,115,139,161 MEM 280692

RAFOS_FIX -7401.309082,-11241.243164,240218,121200,2,96,1.57 DATA_FILE_SIZE 20065,579

IRIDIUM_FIX -7402.16,-11235.99,240218,103351 CAP_FILE_SIZE 67694,0

TT8_MAMPS 0.03745,0.267393 CFSIZE 1024409600,1001013248

HUMID 44.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1443.0

TCM_TEMP 12.90 CURRENT 0.087,326.33,1

XPDR_PINGS 0 GPS 240218,133626,-7401.941,-11243.761,2,1.2,3,53.4,0.3,358.6,6,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 130.93 nil 0 0 0.00

Roll_motor 44 100 55.18 nil 0 0 0.00

VBD_pump_during_apogee 226 2597 7274.64 nil 0 0 0.00

VBD_pump_during_surface 164 224 456.43 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 5188 4 271.37

Iridium_during_xfer 198 182 447.15 nil 0 0 0.00

Transponder_ping 6 420 35.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.62

TT8 0 0 0.00

LPSleep 3664 2 107.41

TT8_Active 543 10 75.00

TT8_Sampling 1382 30 532.48

TT8_CF8 87 51 56.68

TT8_Kalman 0 0 0.00

Analog_circuits 1198 10 153.60

GPS_charging 0 0 0.00

Compass 834 6 71.38

RAFOS 480 1 9.14

Transponder 47 30 18.17

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 21.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

40.5 42.70 9000.00 0.0 0.00 0.00 42.70 0.0 1.04 1.00

46.9 48.60 48.80 -1.9 1.02 1.00 48.60 -1.7 0.92 1.00

26.6 27.60 27.70 -1.1 1.04 1.00 27.60 -1.0 1.03 1.00

5.8 5.80 5.80 0.0 1.04 1.00 5.80 0.0 1.05 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.95 -121.7 187 2805 2224 2142 0.0 0.0 0 121 0.00 0.00 -106.32 0.003 16390 0.000 0.000 186 2805 3890 3902 3878 0 0 0 0 0 0 14.61 13.02 14.61

123 -0.95 -121.7 187 2806 3903 3880 3.9 -7.0 11 141 12.02 0.00 0.00 0.000 2086 0.467 0.000 2416 2805 3898 3904 3892 0 0 0 0 0 0 14.06 14.43 14.40

439 -0.95 -121.7 2416 2806 3905 3903 45.2 -11.8 43 445 0.00 2.45 0.00 0.000 516 0.000 0.051 2416 1402 3903 3904 3902 0 0 0 0 0 0 14.71 14.42 14.71

539 -0.95 -121.7 2417 1402 3906 3903 57.3 -12.0 63 545 0.00 2.50 0.00 0.000 1030 0.000 0.071 2414 2794 3902 3904 3901 0 0 0 0 0 0 14.50 14.43 14.53

849 -0.95 -121.7 2415 2794 3905 3904 97.6 -13.0 95 855 0.00 2.03 0.00 0.000 260 0.000 0.093 2411 3909 3903 3904 3903 0 0 0 0 0 0 14.80 14.45 14.80

924 -0.95 -121.7 2411 3909 3905 3904 107.9 -13.5 110 932 0.00 1.88 0.00 0.000 1030 0.000 0.050 2410 2798 3904 3904 3904 0 0 0 0 0 0 14.59 14.56 14.62

1229 -0.95 -121.7 2411 2799 3905 3904 146.8 -12.5 141 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2798 3904 3904 3904 0 0 0 0 0 0 14.83 14.83 14.83

1529 -0.95 -121.7 2411 2799 3905 3906 182.2 -11.3 171 1530 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2798 3904 3904 3904 0 0 0 0 0 0 14.85 14.85 14.85

1829 -0.95 -121.7 2411 2798 3905 3903 215.2 -10.7 201 1830 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2798 3904 3904 3904 0 0 0 0 0 0 14.87 14.87 14.86

2129 -0.95 -121.7 2411 2799 3904 3905 248.3 -11.6 231 2135 0.00 2.40 0.00 0.000 516 0.000 0.051 2411 1399 3904 3904 3904 0 0 0 0 0 0 14.88 14.55 14.88

2169 -0.95 -121.7 2411 1398 3905 3904 253.0 -11.7 239 2175 0.00 2.50 0.00 0.000 1030 0.000 0.071 2410 2800 3903 3902 3904 0 0 0 0 0 0 14.62 14.54 14.65

2318 end dive: TARGET_DEPTH_EXCEEDED

state 2318 begin apogee

2322 -0.23 0.0 2412 2551 3905 3905 270.3 -11.2 255 2441 0.90 0.00 111.15 2.160 10246 0.255 0.000 2649 2552 3395 3399 3392 0 0 0 0 0 0 14.33 13.85 13.07

2442 end apogee: CONTROL_FINISHED_OK

state 2442 begin climb

2443 0.95 121.7 2649 2551 3400 3392 274.0 0.0 267 2568 1.30 2.67 115.40 2.598 10756 0.168 0.063 3036 1160 2911 2913 2910 0 0 0 0 0 0 13.81 13.19 12.36

2612 0.95 121.7 3035 1160 2908 2904 262.3 10.2 298 2619 0.00 2.65 0.00 0.000 1030 0.000 0.069 3036 2546 2906 2907 2905 0 0 0 0 0 0 13.64 13.58 13.66

2917 0.95 121.7 3036 2546 2903 2901 229.7 10.5 329 2924 0.00 2.55 0.00 0.000 260 0.000 0.096 3036 3903 2901 2902 2901 0 0 0 0 0 0 14.40 14.09 14.40

2948 0.95 121.7 3036 3903 2903 2901 226.1 12.1 335 2954 0.00 2.40 0.00 0.000 1030 0.000 0.055 3046 2551 2901 2902 2901 0 0 0 0 0 0 14.25 14.19 14.27

3258 0.95 121.7 3046 2553 2902 2902 192.2 10.8 367 3264 0.00 2.45 0.00 0.000 516 0.000 0.067 3056 1155 2901 2902 2900 0 0 0 0 0 0 14.64 14.35 14.64

3313 0.95 121.7 3057 1156 2902 2901 186.3 10.6 378 3321 0.00 2.53 0.00 0.000 1030 0.000 0.072 3055 2551 2901 2902 2900 0 0 0 0 0 0 14.44 14.37 14.47

3618 0.95 121.7 3057 2552 2903 2900 153.2 10.5 409 3619 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2552 2900 2902 2899 0 0 0 0 0 0 14.75 14.75 14.76

3918 0.95 121.7 3057 2553 2902 2900 122.9 10.0 439 3924 0.00 2.45 0.00 0.000 516 0.000 0.066 3066 1147 2900 2902 2899 0 0 0 0 0 0 14.81 14.50 14.80

3948 0.95 121.7 3066 1148 2902 2900 119.9 10.2 445 3955 0.08 2.53 0.00 0.000 5126 0.266 0.071 3039 2553 2900 2902 2899 0 0 0 0 0 0 14.33 14.50 14.59

4259 0.95 121.7 3039 2554 2902 2901 89.8 9.7 477 4260 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2553 2900 2902 2899 0 0 0 0 0 0 14.83 14.83 14.83

4559 0.95 121.7 3040 2554 2904 2899 60.5 9.4 507 4565 0.00 2.45 0.00 0.000 260 0.000 0.095 3039 3904 2901 2902 2900 0 0 0 0 0 0 14.85 14.52 14.85

4584 0.95 121.7 3039 3905 2901 2900 57.9 11.0 512 4592 0.00 2.35 0.00 0.000 1030 0.000 0.055 3049 2539 2900 2902 2899 0 0 0 0 0 0 14.64 14.59 14.66

4889 0.95 121.7 3049 2539 2902 2899 28.4 9.7 543 4895 0.00 2.42 0.00 0.000 516 0.000 0.066 3059 1155 2900 2902 2899 0 0 0 0 0 0 14.86 14.52 14.86

4954 0.95 121.7 3060 1155 2903 2900 22.2 10.0 556 4962 0.00 2.47 0.00 0.000 1030 0.000 0.070 3059 2546 2900 2902 2899 0 0 0 0 0 0 14.61 14.54 14.65

5158 end climb: SURFACE_DEPTH_REACHED

state 5158 begin surface coast

5179 end surface coast: CONTROL_FINISHED_OK

state 5179 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	165	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	39	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	5	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	98	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	120	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	-3	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	0.079999998	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	240218,120100,-7401.6899,-11242.5693,31,0.8,31,53.4,0.3,11.7,11,3.4	SPEED_LIMITS	0.092,0.191
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.59	MHEAD_RNG_PITCHd_Wd	144.6,19218,-17.6,-9.184,-25.67,1902
_SM_ANGLEo	-53.7	D_GRID	777
GPS2	240218,120558,-7401.6436,-11242.6338,2,0.8,3,53.4,0.2,11.3,12,5.9

FREEZE	-0.24,-1.739,-1.860,2,1,0	ALTIM_TOP_PING	5.8,5.8
FINISH	-0.2,1.027301	_24V_AH	12.36,63.585
SM_CCo	5194,164.75,0.224,0,0,2204,300.18	_10V_AH	12.69,0.000
SM_GC	0.68,8.40,0.47,164.75,0.075,0.100,0.224,191,2808,2204,-7.88,-0.57,300.18,0,0,0,0,0,0,14.58,14.59,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	221	FG_AHR_10Vo	0.000
RAFOS	1,1519474026,12.133333,12.118333,87,65,62,59,57,53,576,190,217,115,139,161	MEM	280692
RAFOS_FIX	-7401.309082,-11241.243164,240218,121200,2,96,1.57	DATA_FILE_SIZE	20065,579
IRIDIUM_FIX	-7402.16,-11235.99,240218,103351	CAP_FILE_SIZE	67694,0
TT8_MAMPS	0.03745,0.267393	CFSIZE	1024409600,1001013248
HUMID	44.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1443.0
TCM_TEMP	12.90	CURRENT	0.087,326.33,1
XPDR_PINGS	0	GPS	240218,133626,-7401.941,-11243.761,2,1.2,3,53.4,0.3,358.6,6,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	130.93	nil	0	0	0.00
Roll_motor	44	100	55.18	nil	0	0	0.00
VBD_pump_during_apogee	226	2597	7274.64	nil	0	0	0.00
VBD_pump_during_surface	164	224	456.43	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	5188	4	271.37
Iridium_during_xfer	198	182	447.15	nil	0	0	0.00
Transponder_ping	6	420	35.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.62
TT8	0	0	0.00
LPSleep	3664	2	107.41
TT8_Active	543	10	75.00
TT8_Sampling	1382	30	532.48
TT8_CF8	87	51	56.68
TT8_Kalman	0	0	0.00
Analog_circuits	1198	10	153.60
GPS_charging	0	0	0.00
Compass	834	6	71.38
RAFOS	480	1	9.14
Transponder	47	30	18.17

		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	21.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
40.5	42.70	9000.00	0.0	0.00	0.00	42.70	0.0	1.04	1.00

46.9	48.60	48.80	-1.9	1.02	1.00	48.60	-1.7	0.92	1.00
26.6	27.60	27.70	-1.1	1.04	1.00	27.60	-1.0	1.03	1.00
5.8	5.80	5.80	0.0	1.04	1.00	5.80	0.0	1.05	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.95	-121.7	187	2805	2224	2142	0.0	0.0	0	121	0.00	0.00	-106.32	0.003	16390	0.000	0.000	186	2805	3890	3902	3878	0	0	0	0	0	0	14.61	13.02	14.61
123	-0.95	-121.7	187	2806	3903	3880	3.9	-7.0	11	141	12.02	0.00	0.00	0.000	2086	0.467	0.000	2416	2805	3898	3904	3892	0	0	0	0	0	0	14.06	14.43	14.40
439	-0.95	-121.7	2416	2806	3905	3903	45.2	-11.8	43	445	0.00	2.45	0.00	0.000	516	0.000	0.051	2416	1402	3903	3904	3902	0	0	0	0	0	0	14.71	14.42	14.71
539	-0.95	-121.7	2417	1402	3906	3903	57.3	-12.0	63	545	0.00	2.50	0.00	0.000	1030	0.000	0.071	2414	2794	3902	3904	3901	0	0	0	0	0	0	14.50	14.43	14.53
849	-0.95	-121.7	2415	2794	3905	3904	97.6	-13.0	95	855	0.00	2.03	0.00	0.000	260	0.000	0.093	2411	3909	3903	3904	3903	0	0	0	0	0	0	14.80	14.45	14.80
924	-0.95	-121.7	2411	3909	3905	3904	107.9	-13.5	110	932	0.00	1.88	0.00	0.000	1030	0.000	0.050	2410	2798	3904	3904	3904	0	0	0	0	0	0	14.59	14.56	14.62
1229	-0.95	-121.7	2411	2799	3905	3904	146.8	-12.5	141	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2798	3904	3904	3904	0	0	0	0	0	0	14.83	14.83	14.83
1529	-0.95	-121.7	2411	2799	3905	3906	182.2	-11.3	171	1530	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2798	3904	3904	3904	0	0	0	0	0	0	14.85	14.85	14.85
1829	-0.95	-121.7	2411	2798	3905	3903	215.2	-10.7	201	1830	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2798	3904	3904	3904	0	0	0	0	0	0	14.87	14.87	14.86
2129	-0.95	-121.7	2411	2799	3904	3905	248.3	-11.6	231	2135	0.00	2.40	0.00	0.000	516	0.000	0.051	2411	1399	3904	3904	3904	0	0	0	0	0	0	14.88	14.55	14.88
2169	-0.95	-121.7	2411	1398	3905	3904	253.0	-11.7	239	2175	0.00	2.50	0.00	0.000	1030	0.000	0.071	2410	2800	3903	3902	3904	0	0	0	0	0	0	14.62	14.54	14.65
2318	end dive: TARGET_DEPTH_EXCEEDED
state	2318	begin apogee
2322	-0.23	0.0	2412	2551	3905	3905	270.3	-11.2	255	2441	0.90	0.00	111.15	2.160	10246	0.255	0.000	2649	2552	3395	3399	3392	0	0	0	0	0	0	14.33	13.85	13.07
2442	end apogee: CONTROL_FINISHED_OK
state	2442	begin climb
2443	0.95	121.7	2649	2551	3400	3392	274.0	0.0	267	2568	1.30	2.67	115.40	2.598	10756	0.168	0.063	3036	1160	2911	2913	2910	0	0	0	0	0	0	13.81	13.19	12.36
2612	0.95	121.7	3035	1160	2908	2904	262.3	10.2	298	2619	0.00	2.65	0.00	0.000	1030	0.000	0.069	3036	2546	2906	2907	2905	0	0	0	0	0	0	13.64	13.58	13.66
2917	0.95	121.7	3036	2546	2903	2901	229.7	10.5	329	2924	0.00	2.55	0.00	0.000	260	0.000	0.096	3036	3903	2901	2902	2901	0	0	0	0	0	0	14.40	14.09	14.40
2948	0.95	121.7	3036	3903	2903	2901	226.1	12.1	335	2954	0.00	2.40	0.00	0.000	1030	0.000	0.055	3046	2551	2901	2902	2901	0	0	0	0	0	0	14.25	14.19	14.27
3258	0.95	121.7	3046	2553	2902	2902	192.2	10.8	367	3264	0.00	2.45	0.00	0.000	516	0.000	0.067	3056	1155	2901	2902	2900	0	0	0	0	0	0	14.64	14.35	14.64
3313	0.95	121.7	3057	1156	2902	2901	186.3	10.6	378	3321	0.00	2.53	0.00	0.000	1030	0.000	0.072	3055	2551	2901	2902	2900	0	0	0	0	0	0	14.44	14.37	14.47
3618	0.95	121.7	3057	2552	2903	2900	153.2	10.5	409	3619	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2552	2900	2902	2899	0	0	0	0	0	0	14.75	14.75	14.76
3918	0.95	121.7	3057	2553	2902	2900	122.9	10.0	439	3924	0.00	2.45	0.00	0.000	516	0.000	0.066	3066	1147	2900	2902	2899	0	0	0	0	0	0	14.81	14.50	14.80
3948	0.95	121.7	3066	1148	2902	2900	119.9	10.2	445	3955	0.08	2.53	0.00	0.000	5126	0.266	0.071	3039	2553	2900	2902	2899	0	0	0	0	0	0	14.33	14.50	14.59
4259	0.95	121.7	3039	2554	2902	2901	89.8	9.7	477	4260	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2553	2900	2902	2899	0	0	0	0	0	0	14.83	14.83	14.83
4559	0.95	121.7	3040	2554	2904	2899	60.5	9.4	507	4565	0.00	2.45	0.00	0.000	260	0.000	0.095	3039	3904	2901	2902	2900	0	0	0	0	0	0	14.85	14.52	14.85
4584	0.95	121.7	3039	3905	2901	2900	57.9	11.0	512	4592	0.00	2.35	0.00	0.000	1030	0.000	0.055	3049	2539	2900	2902	2899	0	0	0	0	0	0	14.64	14.59	14.66
4889	0.95	121.7	3049	2539	2902	2899	28.4	9.7	543	4895	0.00	2.42	0.00	0.000	516	0.000	0.066	3059	1155	2900	2902	2899	0	0	0	0	0	0	14.86	14.52	14.86
4954	0.95	121.7	3060	1155	2903	2900	22.2	10.0	556	4962	0.00	2.47	0.00	0.000	1030	0.000	0.070	3059	2546	2900	2902	2899	0	0	0	0	0	0	14.61	14.54	14.65
5158	end climb: SURFACE_DEPTH_REACHED
state	5158	begin surface coast
5179	end surface coast: CONTROL_FINISHED_OK
state	5179	begin surface