Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 167 * 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 167 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 43 ALTIM_FREQUENCY 13

D_TGT 270 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 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 167 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 43 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 20 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 240218,151355,-7402.2036,-11245.4893,30,1.0,30,53.4,0.3,339.3,7,5.9 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 0.71 MHEAD_RNG_PITCHd_Wd 145.0,17447,-17.6,-9.184,-25.67,1902

_SM_ANGLEo -63.7 D_GRID 796

GPS2 240218,151826,-7402.1699,-11245.5830,2,1.0,3,53.4,0.5,162.9,7,9.4

Post-dive calculations and measurements:

FREEZE 0.22,-1.723,-1.861,2,1,0 _24V_AH 12.72,63.925

FINISH 0.2,1.027309 _10V_AH 12.72,0.000

SM_CCo 5145,163.80,0.224,0,0,2204,300.18 FG_AHR_24Vo 0.000

SM_GC 0.70,8.38,0.45,163.80,0.080,0.099,0.224,190,2800,2204,-7.88,-0.74,300.18,0,0,0,0,0,0,14.57,14.57,14.25 FG_AHR_10Vo 0.000

RAFOS_CLK 210 MEM 280644

RAFOS_FIX -7402.688965,-11245.375977,240218,161612,0,1,0.19 DATA_FILE_SIZE 20112,575

IRIDIUM_FIX -7403.27,-11246.22,240218,133813 CAP_FILE_SIZE 68402,0

TT8_MAMPS 0.038199,0.276381 CFSIZE 1024409600,1000816640

HUMID 45.58 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 0.113,310.96,1

XPDR_PINGS 0 GPS 240218,164831,-7402.474,-11247.184,35,0.8,35,53.5,0.1,0.0,11,3.1

ALTIM_TOP_PING 23.8,24.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 135.48 nil 0 0 0.00

Roll_motor 44 98 55.95 nil 0 0 0.00

VBD_pump_during_apogee 217 2179 6016.59 nil 0 0 0.00

VBD_pump_during_surface 163 224 467.01 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 5141 4 271.91

Iridium_during_xfer 173 190 419.48 nil 0 0 0.00

Transponder_ping 6 420 36.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.58

TT8 0 0 0.00

LPSleep 3632 2 106.75

TT8_Active 530 10 73.29

TT8_Sampling 1343 30 518.64

TT8_CF8 90 51 59.38

TT8_Kalman 0 0 0.00

Analog_circuits 1152 10 148.10

GPS_charging 0 0 0.00

Compass 828 6 71.07

RAFOS 0 0 0.00

Transponder 47 30 18.11

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 21.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 44.00 9000.00 0.0 0.00 0.00 44.00 0.0 1.07 1.00

126.8 134.80 134.80 -8.0 1.07 1.00 134.80 -8.0 1.06 1.00

106.3 110.60 112.10 -5.8 1.06 1.00 110.60 -4.3 1.18 1.00

86.2 89.50 89.00 -2.8 1.12 1.00 89.50 -3.3 1.05 1.00

65.7 68.10 68.10 -2.4 1.04 1.00 68.10 -2.4 1.04 1.00

44.7 46.30 46.30 -1.6 1.04 1.00 46.30 -1.6 1.04 1.00

23.8 24.50 24.50 -0.7 1.04 1.00 24.50 -0.7 1.04 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 2806 2233 2143 0.0 0.0 0 121 0.00 0.00 -107.50 0.003 16390 0.000 0.000 186 2807 3888 3899 3877 0 0 0 0 0 0 14.62 13.26 14.62

123 -0.95 -121.7 186 2808 3901 3878 3.1 -4.0 11 141 12.00 2.47 0.00 0.000 2596 0.468 0.044 2411 1389 3895 3902 3889 0 0 0 0 0 0 14.02 14.38 14.31

290 -0.95 -121.7 2412 1389 3903 3899 25.7 -10.2 44 297 0.00 2.53 0.00 0.000 1030 0.000 0.072 2412 2797 3900 3902 3899 0 0 0 0 0 0 14.45 14.37 14.47

595 -0.95 -121.7 2414 2798 3901 3902 65.2 -13.4 75 601 0.00 2.42 0.00 0.000 516 0.000 0.051 2412 1405 3902 3903 3902 0 0 0 0 0 0 14.76 14.46 14.76

620 -0.95 -121.7 2412 1405 3903 3902 68.4 -12.3 80 627 0.00 2.53 0.00 0.000 1030 0.000 0.074 2411 2809 3902 3902 3902 0 0 0 0 0 0 14.52 14.43 14.54

925 -0.95 -121.7 2412 2810 3903 3902 107.9 -12.0 111 926 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2809 3902 3902 3902 0 0 0 0 0 0 14.83 14.80 14.81

1226 -0.95 -121.7 2411 2810 3902 3903 144.6 -12.7 141 1227 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2809 3902 3902 3902 0 0 0 0 0 0 14.78 14.78 14.78

1525 -0.95 -121.7 2411 2810 3902 3903 182.1 -11.7 171 1531 0.00 2.45 0.00 0.000 516 0.000 0.052 2411 1397 3902 3902 3903 0 0 0 0 0 0 14.85 14.52 14.85

1556 -0.95 -121.7 2412 1397 3903 3903 185.5 -11.1 177 1562 0.00 2.47 0.00 0.000 1030 0.000 0.072 2411 2809 3902 3902 3903 0 0 0 0 0 0 14.65 14.54 14.68

1866 -0.95 -121.7 2411 2810 3903 3904 222.1 -12.5 209 1873 0.00 1.98 0.00 0.000 260 0.000 0.094 2403 3906 3902 3902 3903 0 0 0 0 0 0 14.86 14.50 14.85

1912 -0.95 -121.7 2404 3906 3903 3903 228.4 -14.0 218 1919 0.00 1.88 0.00 0.000 1030 0.000 0.050 2403 2799 3902 3902 3903 0 0 0 0 0 0 14.64 14.60 14.66

2217 -0.95 -121.7 2404 2800 3903 3903 264.6 -10.7 249 2223 0.00 2.40 0.00 0.000 516 0.000 0.051 2403 1399 3902 3902 3903 0 0 0 0 0 0 14.86 14.54 14.87

2257 -0.95 -121.7 2404 1400 3903 3903 268.9 -10.6 257 2264 0.00 2.50 0.00 0.000 1030 0.000 0.071 2402 2802 3902 3902 3902 0 0 0 0 0 0 14.60 14.52 14.63

2267 end dive: TARGET_DEPTH_EXCEEDED

state 2267 begin apogee

2270 -0.23 0.0 2403 2543 3903 3903 270.1 -10.3 259 2383 0.93 0.00 109.53 2.179 10246 0.252 0.000 2647 2543 3399 3403 3396 0 0 0 0 0 0 14.31 13.85 13.05

2384 end apogee: CONTROL_FINISHED_OK

state 2384 begin climb

2385 0.95 121.7 2648 2543 3402 3394 273.0 0.0 270 2502 1.30 2.67 107.50 2.041 10756 0.161 0.065 3039 1160 2911 2913 2909 0 0 0 0 0 0 13.78 13.39 12.72

2536 0.95 121.7 3039 1163 2909 2905 262.2 10.2 297 2544 0.00 2.65 0.00 0.000 1030 0.000 0.070 3039 2548 2906 2908 2905 0 0 0 0 0 0 13.66 13.59 13.67

2841 0.95 121.7 3039 2550 2903 2902 229.0 10.7 328 2842 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2549 2901 2902 2901 0 0 0 0 0 0 14.41 14.41 14.41

3141 0.95 121.7 3039 2550 2902 2901 198.5 9.9 358 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 3039 2549 2900 2901 2900 0 0 0 0 0 0 14.63 14.63 14.63

3441 0.95 121.7 3040 2549 2903 2900 167.4 10.6 388 3442 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2549 2900 2901 2900 0 0 0 0 0 0 14.73 14.73 14.72

3741 0.95 121.7 3039 2550 2902 2901 137.9 10.0 418 3747 0.00 2.47 0.00 0.000 516 0.000 0.066 3049 1155 2900 2901 2899 0 0 0 0 0 0 14.78 14.45 14.78

3766 0.95 121.7 3050 1155 2910 2899 135.4 9.9 423 3773 0.00 2.50 0.00 0.000 1030 0.000 0.070 3050 2554 2899 2900 2898 0 0 0 0 0 0 14.54 14.47 14.58

4072 0.95 121.7 3050 2555 2902 2899 106.3 8.8 454 4073 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2554 2900 2901 2899 0 0 0 0 0 0 14.78 14.77 14.77

4371 0.95 121.7 3050 2554 2902 2899 77.9 9.3 484 4377 0.00 2.45 0.00 0.000 516 0.000 0.065 3059 1163 2900 2901 2899 0 0 0 0 0 0 14.84 14.50 14.84

4431 0.95 121.7 3059 1162 2902 2898 72.3 9.6 496 4437 0.00 2.47 0.00 0.000 1030 0.000 0.071 3059 2554 2900 2901 2899 0 0 0 0 0 0 14.59 14.52 14.63

4741 0.95 121.7 3059 2554 2902 2899 40.4 11.0 528 4742 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2554 2900 2902 2898 0 0 0 0 0 0 14.85 14.85 14.85

5041 0.95 121.7 3059 2555 2902 2900 9.6 11.5 558 5047 0.00 2.42 0.00 0.000 516 0.000 0.068 3068 1157 2900 2901 2899 0 0 0 0 0 0 14.87 14.54 14.87

5112 0.95 121.7 3069 1158 2902 2901 2.4 11.2 572 5117 0.15 2.42 0.00 0.000 5126 0.273 0.070 3037 2553 2900 2901 2899 0 0 0 0 0 0 14.35 14.57 14.64

5120 end climb: SURFACE_DEPTH_REACHED

state 5120 begin surface coast

5130 end surface coast: CONTROL_FINISHED_OK

state 5130 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	167	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	43	ALTIM_FREQUENCY	13
D_TGT	270	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	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	240218,151355,-7402.2036,-11245.4893,30,1.0,30,53.4,0.3,339.3,7,5.9	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	0.71	MHEAD_RNG_PITCHd_Wd	145.0,17447,-17.6,-9.184,-25.67,1902
_SM_ANGLEo	-63.7	D_GRID	796
GPS2	240218,151826,-7402.1699,-11245.5830,2,1.0,3,53.4,0.5,162.9,7,9.4

FREEZE	0.22,-1.723,-1.861,2,1,0	_24V_AH	12.72,63.925
FINISH	0.2,1.027309	_10V_AH	12.72,0.000
SM_CCo	5145,163.80,0.224,0,0,2204,300.18	FG_AHR_24Vo	0.000
SM_GC	0.70,8.38,0.45,163.80,0.080,0.099,0.224,190,2800,2204,-7.88,-0.74,300.18,0,0,0,0,0,0,14.57,14.57,14.25	FG_AHR_10Vo	0.000
RAFOS_CLK	210	MEM	280644
RAFOS_FIX	-7402.688965,-11245.375977,240218,161612,0,1,0.19	DATA_FILE_SIZE	20112,575
IRIDIUM_FIX	-7403.27,-11246.22,240218,133813	CAP_FILE_SIZE	68402,0
TT8_MAMPS	0.038199,0.276381	CFSIZE	1024409600,1000816640
HUMID	45.58	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	0.113,310.96,1
XPDR_PINGS	0	GPS	240218,164831,-7402.474,-11247.184,35,0.8,35,53.5,0.1,0.0,11,3.1
ALTIM_TOP_PING	23.8,24.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	135.48	nil	0	0	0.00
Roll_motor	44	98	55.95	nil	0	0	0.00
VBD_pump_during_apogee	217	2179	6016.59	nil	0	0	0.00
VBD_pump_during_surface	163	224	467.01	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	5141	4	271.91
Iridium_during_xfer	173	190	419.48	nil	0	0	0.00
Transponder_ping	6	420	36.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.58
TT8	0	0	0.00
LPSleep	3632	2	106.75
TT8_Active	530	10	73.29
TT8_Sampling	1343	30	518.64
TT8_CF8	90	51	59.38
TT8_Kalman	0	0	0.00
Analog_circuits	1152	10	148.10
GPS_charging	0	0	0.00
Compass	828	6	71.07
RAFOS	0	0	0.00
Transponder	47	30	18.11

		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	21.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	44.00	9000.00	0.0	0.00	0.00	44.00	0.0	1.07	1.00

126.8	134.80	134.80	-8.0	1.07	1.00	134.80	-8.0	1.06	1.00
106.3	110.60	112.10	-5.8	1.06	1.00	110.60	-4.3	1.18	1.00
86.2	89.50	89.00	-2.8	1.12	1.00	89.50	-3.3	1.05	1.00
65.7	68.10	68.10	-2.4	1.04	1.00	68.10	-2.4	1.04	1.00
44.7	46.30	46.30	-1.6	1.04	1.00	46.30	-1.6	1.04	1.00
23.8	24.50	24.50	-0.7	1.04	1.00	24.50	-0.7	1.04	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	2806	2233	2143	0.0	0.0	0	121	0.00	0.00	-107.50	0.003	16390	0.000	0.000	186	2807	3888	3899	3877	0	0	0	0	0	0	14.62	13.26	14.62
123	-0.95	-121.7	186	2808	3901	3878	3.1	-4.0	11	141	12.00	2.47	0.00	0.000	2596	0.468	0.044	2411	1389	3895	3902	3889	0	0	0	0	0	0	14.02	14.38	14.31
290	-0.95	-121.7	2412	1389	3903	3899	25.7	-10.2	44	297	0.00	2.53	0.00	0.000	1030	0.000	0.072	2412	2797	3900	3902	3899	0	0	0	0	0	0	14.45	14.37	14.47
595	-0.95	-121.7	2414	2798	3901	3902	65.2	-13.4	75	601	0.00	2.42	0.00	0.000	516	0.000	0.051	2412	1405	3902	3903	3902	0	0	0	0	0	0	14.76	14.46	14.76
620	-0.95	-121.7	2412	1405	3903	3902	68.4	-12.3	80	627	0.00	2.53	0.00	0.000	1030	0.000	0.074	2411	2809	3902	3902	3902	0	0	0	0	0	0	14.52	14.43	14.54
925	-0.95	-121.7	2412	2810	3903	3902	107.9	-12.0	111	926	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2809	3902	3902	3902	0	0	0	0	0	0	14.83	14.80	14.81
1226	-0.95	-121.7	2411	2810	3902	3903	144.6	-12.7	141	1227	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2809	3902	3902	3902	0	0	0	0	0	0	14.78	14.78	14.78
1525	-0.95	-121.7	2411	2810	3902	3903	182.1	-11.7	171	1531	0.00	2.45	0.00	0.000	516	0.000	0.052	2411	1397	3902	3902	3903	0	0	0	0	0	0	14.85	14.52	14.85
1556	-0.95	-121.7	2412	1397	3903	3903	185.5	-11.1	177	1562	0.00	2.47	0.00	0.000	1030	0.000	0.072	2411	2809	3902	3902	3903	0	0	0	0	0	0	14.65	14.54	14.68
1866	-0.95	-121.7	2411	2810	3903	3904	222.1	-12.5	209	1873	0.00	1.98	0.00	0.000	260	0.000	0.094	2403	3906	3902	3902	3903	0	0	0	0	0	0	14.86	14.50	14.85
1912	-0.95	-121.7	2404	3906	3903	3903	228.4	-14.0	218	1919	0.00	1.88	0.00	0.000	1030	0.000	0.050	2403	2799	3902	3902	3903	0	0	0	0	0	0	14.64	14.60	14.66
2217	-0.95	-121.7	2404	2800	3903	3903	264.6	-10.7	249	2223	0.00	2.40	0.00	0.000	516	0.000	0.051	2403	1399	3902	3902	3903	0	0	0	0	0	0	14.86	14.54	14.87
2257	-0.95	-121.7	2404	1400	3903	3903	268.9	-10.6	257	2264	0.00	2.50	0.00	0.000	1030	0.000	0.071	2402	2802	3902	3902	3902	0	0	0	0	0	0	14.60	14.52	14.63
2267	end dive: TARGET_DEPTH_EXCEEDED
state	2267	begin apogee
2270	-0.23	0.0	2403	2543	3903	3903	270.1	-10.3	259	2383	0.93	0.00	109.53	2.179	10246	0.252	0.000	2647	2543	3399	3403	3396	0	0	0	0	0	0	14.31	13.85	13.05
2384	end apogee: CONTROL_FINISHED_OK
state	2384	begin climb
2385	0.95	121.7	2648	2543	3402	3394	273.0	0.0	270	2502	1.30	2.67	107.50	2.041	10756	0.161	0.065	3039	1160	2911	2913	2909	0	0	0	0	0	0	13.78	13.39	12.72
2536	0.95	121.7	3039	1163	2909	2905	262.2	10.2	297	2544	0.00	2.65	0.00	0.000	1030	0.000	0.070	3039	2548	2906	2908	2905	0	0	0	0	0	0	13.66	13.59	13.67
2841	0.95	121.7	3039	2550	2903	2902	229.0	10.7	328	2842	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2549	2901	2902	2901	0	0	0	0	0	0	14.41	14.41	14.41
3141	0.95	121.7	3039	2550	2902	2901	198.5	9.9	358	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	3039	2549	2900	2901	2900	0	0	0	0	0	0	14.63	14.63	14.63
3441	0.95	121.7	3040	2549	2903	2900	167.4	10.6	388	3442	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2549	2900	2901	2900	0	0	0	0	0	0	14.73	14.73	14.72
3741	0.95	121.7	3039	2550	2902	2901	137.9	10.0	418	3747	0.00	2.47	0.00	0.000	516	0.000	0.066	3049	1155	2900	2901	2899	0	0	0	0	0	0	14.78	14.45	14.78
3766	0.95	121.7	3050	1155	2910	2899	135.4	9.9	423	3773	0.00	2.50	0.00	0.000	1030	0.000	0.070	3050	2554	2899	2900	2898	0	0	0	0	0	0	14.54	14.47	14.58
4072	0.95	121.7	3050	2555	2902	2899	106.3	8.8	454	4073	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2554	2900	2901	2899	0	0	0	0	0	0	14.78	14.77	14.77
4371	0.95	121.7	3050	2554	2902	2899	77.9	9.3	484	4377	0.00	2.45	0.00	0.000	516	0.000	0.065	3059	1163	2900	2901	2899	0	0	0	0	0	0	14.84	14.50	14.84
4431	0.95	121.7	3059	1162	2902	2898	72.3	9.6	496	4437	0.00	2.47	0.00	0.000	1030	0.000	0.071	3059	2554	2900	2901	2899	0	0	0	0	0	0	14.59	14.52	14.63
4741	0.95	121.7	3059	2554	2902	2899	40.4	11.0	528	4742	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2554	2900	2902	2898	0	0	0	0	0	0	14.85	14.85	14.85
5041	0.95	121.7	3059	2555	2902	2900	9.6	11.5	558	5047	0.00	2.42	0.00	0.000	516	0.000	0.068	3068	1157	2900	2901	2899	0	0	0	0	0	0	14.87	14.54	14.87
5112	0.95	121.7	3069	1158	2902	2901	2.4	11.2	572	5117	0.15	2.42	0.00	0.000	5126	0.273	0.070	3037	2553	2900	2901	2899	0	0	0	0	0	0	14.35	14.57	14.64
5120	end climb: SURFACE_DEPTH_REACHED
state	5120	begin surface coast
5130	end surface coast: CONTROL_FINISHED_OK
state	5130	begin surface