Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 169 * 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 169 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 33 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 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 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 -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 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 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 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 0.079999998 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 -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 169 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 33 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 240218,183029,-7402.8188,-11249.1094,3,1.1,4,53.5,0.7,318.2,7,10.0 SPEED_LIMITS 0.100,0.198

_CALLS 2 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 136.0,15299,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.7 D_GRID 724

GPS2 240218,183713,-7402.7847,-11249.2422,3,1.2,5,53.5,0.1,0.0,6,4.6

Post-dive calculations and measurements:

FREEZE 0.22,-1.759,-1.861,2,1,0 _24V_AH 12.55,64.313

FINISH 0.2,1.027311 _10V_AH 12.81,0.000

SM_CCo 5622,165.35,0.223,0,0,2205,300.18 FG_AHR_24Vo 0.000

SM_GC 0.73,8.32,0.47,165.35,0.061,0.092,0.223,195,2806,2205,-7.88,-0.54,300.18,0,0,0,0,0,0,14.55,14.57,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 226 MEM 280660

RAFOS_FIX -7403.430176,-11249.119141,240218,202036,0,1,0.21 DATA_FILE_SIZE 20098,569

IRIDIUM_FIX -7405.97,-11242.02,240218,165017 CAP_FILE_SIZE 69819,0

TT8_MAMPS 0.03745,0.274883 CFSIZE 1024409600,1000620032

HUMID 45.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1443.4

TCM_TEMP 12.90 CURRENT 0.148,301.47,1

XPDR_PINGS 1 GPS 240218,201500,-7403.188,-11251.095,20,0.7,20,53.5,0.8,352.4,11,3.6

ALTIM_TOP_PING 23.7,25.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 474 136.16 nil 0 0 0.00

Roll_motor 44 97 54.13 nil 0 0 0.00

VBD_pump_during_apogee 223 2273 6383.64 nil 0 0 0.00

VBD_pump_during_surface 165 222 461.96 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 5606 4 284.24

Iridium_during_xfer 242 185 566.10 nil 0 0 0.00

Transponder_ping 8 420 43.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.82

TT8 0 0 0.00

LPSleep 4133 2 122.32

TT8_Active 568 10 79.14

TT8_Sampling 1411 30 548.87

TT8_CF8 92 51 60.96

TT8_Kalman 0 0 0.00

Analog_circuits 1246 10 161.34

GPS_charging 0 0 0.00

Compass 820 6 70.88

RAFOS 0 0 0.00

Transponder 56 30 21.80

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

21.3 22.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

42.5 45.10 9000.00 0.0 0.00 0.00 45.10 0.0 1.05 1.00

85.3 89.40 89.50 -4.2 1.04 1.00 89.40 -4.1 1.04 1.00

44.0 46.10 46.40 -2.4 1.04 1.00 46.10 -2.1 1.05 1.00

23.7 25.60 25.30 -1.6 1.04 1.00 25.60 -1.9 1.01 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 -1.04 -121.7 196 2815 2230 2137 0.0 0.0 0 121 0.00 0.00 -108.60 0.003 16390 0.000 0.000 195 2815 3889 3900 3878 0 0 0 0 0 0 14.61 13.26 14.60

123 -1.04 -121.7 196 2815 3902 3880 2.9 -3.8 11 141 11.95 2.45 0.00 0.000 2596 0.474 0.044 2383 1384 3896 3903 3890 0 0 0 0 0 0 14.00 14.36 14.29

185 -1.04 -121.7 2382 1385 3903 3897 14.5 -13.9 23 191 0.00 2.55 0.00 0.000 1030 0.000 0.070 2382 2798 3899 3902 3897 0 0 0 0 0 0 14.41 14.34 14.44

495 -1.04 -121.7 2382 2798 3903 3902 57.2 -13.4 55 495 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2798 3902 3903 3902 0 0 0 0 0 0 14.75 14.74 14.74

795 -1.04 -121.7 2382 2802 3903 3904 97.6 -13.0 85 801 0.00 2.00 0.00 0.000 260 0.000 0.092 2374 3904 3900 3899 3902 0 0 0 0 0 0 14.79 14.44 14.79

825 -1.04 -121.7 2374 3905 3903 3903 101.8 -13.8 91 831 0.00 1.90 0.00 0.000 1030 0.000 0.050 2374 2782 3902 3902 3902 0 0 0 0 0 0 14.58 14.55 14.59

1135 -1.04 -121.7 2374 2783 3903 3903 144.3 -14.8 123 1141 0.00 2.38 0.00 0.000 516 0.000 0.051 2374 1405 3902 3902 3903 0 0 0 0 0 0 14.83 14.50 14.83

1185 -1.04 -121.7 2374 1406 3903 3905 151.6 -14.4 133 1192 0.00 2.50 0.00 0.000 1030 0.000 0.071 2374 2805 3903 3903 3903 0 0 0 0 0 0 14.57 14.49 14.60

1496 -1.04 -121.7 2374 2805 3904 3903 197.9 -14.5 165 1497 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2805 3903 3903 3903 0 0 0 0 0 0 14.84 14.84 14.83

1796 -1.04 -121.7 2374 2806 3903 3904 238.2 -12.8 195 1797 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2805 3903 3903 3903 0 0 0 0 0 0 14.85 14.85 14.85

2096 -1.04 -121.7 2374 2805 3904 3903 274.8 -11.6 225 2103 0.00 2.42 0.00 0.000 516 0.000 0.051 2373 1401 3902 3902 3903 0 0 0 0 0 0 14.85 14.53 14.85

2117 -1.04 -121.7 2374 1401 3908 3903 277.2 -11.4 229 2124 0.00 2.50 0.00 0.000 1030 0.000 0.071 2373 2802 3903 3903 3903 0 0 0 0 0 0 14.62 14.52 14.62

2429 -1.04 -121.7 2374 2803 3903 3904 312.3 -11.4 256 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2802 3903 3903 3903 0 0 0 0 0 0 14.83 14.83 14.83

2586 end dive: TARGET_DEPTH_EXCEEDED

state 2586 begin apogee

2590 -0.23 0.0 2374 2541 3901 3904 331.2 -12.1 264 2711 1.05 0.00 113.45 2.274 10246 0.265 0.000 2647 2540 3396 3400 3392 0 0 0 0 0 0 14.29 13.72 12.96

2712 end apogee: CONTROL_FINISHED_OK

state 2712 begin climb

2713 1.04 121.7 2648 2540 3401 3393 334.9 0.0 270 2831 1.42 0.00 110.28 2.199 10758 0.159 0.000 3059 2540 2911 2914 2909 0 0 0 0 0 0 13.77 13.35 12.55

3128 1.04 121.7 3058 2541 2903 2901 291.3 12.5 300 3129 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2540 2900 2901 2900 0 0 0 0 0 0 14.35 14.35 14.35

3428 1.04 121.7 3059 2542 2900 2900 253.6 12.6 330 3434 0.00 2.47 0.00 0.000 516 0.000 0.068 3069 1158 2900 2901 2899 0 0 0 0 0 0 14.59 14.28 14.59

3463 1.04 121.7 3069 1159 2903 2899 249.2 12.4 337 3471 0.00 2.50 0.00 0.000 1030 0.000 0.070 3070 2546 2899 2902 2897 0 0 0 0 0 0 14.37 14.30 14.40

3768 1.04 121.7 3070 2546 2903 2898 211.3 11.9 368 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2546 2899 2901 2898 0 0 0 0 0 0 14.71 14.71 14.71

4068 1.04 121.7 3070 2546 2902 2899 177.2 10.9 398 4069 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2546 2900 2902 2898 0 0 0 0 0 0 14.78 14.77 14.78

4368 1.04 121.7 3070 2547 2903 2899 145.2 11.0 428 4374 0.00 2.47 0.00 0.000 260 0.000 0.096 3069 3899 2900 2902 2898 0 0 0 0 0 0 14.81 14.46 14.80

4403 1.04 121.7 3069 3900 2903 2899 140.6 13.4 435 4410 0.00 2.30 0.00 0.000 1030 0.000 0.056 3079 2563 2900 2902 2898 0 0 0 0 0 0 14.57 14.57 14.59

4708 1.04 121.7 3079 2563 2903 2898 104.8 12.5 466 4714 0.00 2.47 0.00 0.000 516 0.000 0.067 3090 1158 2902 2907 2898 0 0 0 0 0 0 14.83 14.49 14.83

4773 1.04 121.7 3090 1158 2903 2898 96.9 11.8 479 4780 0.00 2.47 0.00 0.000 1030 0.000 0.072 3090 2547 2900 2902 2898 0 0 0 0 0 0 14.56 14.48 14.59

5078 1.04 121.7 3090 2548 2903 2899 59.4 12.6 510 5084 0.00 2.47 0.00 0.000 260 0.000 0.098 3090 3901 2900 2902 2898 0 0 0 0 0 0 14.85 14.49 14.85

5093 1.04 121.7 3090 3902 2904 2898 57.3 13.2 513 5101 0.12 2.33 0.00 0.000 5126 0.293 0.057 3068 2554 2900 2902 2898 0 0 0 0 0 0 14.24 14.56 14.47

5398 1.04 121.7 3068 2555 2903 2903 24.8 11.2 544 5404 0.00 2.47 0.00 0.000 516 0.000 0.067 3078 1154 2900 2902 2898 0 0 0 0 0 0 14.85 14.50 14.86

5433 1.04 121.7 3079 1154 2903 2897 20.9 11.0 551 5440 0.00 2.47 0.00 0.000 1030 0.000 0.070 3078 2546 2900 2903 2897 0 0 0 0 0 0 14.57 14.50 14.61

5598 end climb: SURFACE_DEPTH_REACHED

state 5598 begin surface coast

5607 end surface coast: CONTROL_FINISHED_OK

state 5607 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	169	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	33	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	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	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	-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	240218,183029,-7402.8188,-11249.1094,3,1.1,4,53.5,0.7,318.2,7,10.0	SPEED_LIMITS	0.100,0.198
_CALLS	2	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	136.0,15299,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.7	D_GRID	724
GPS2	240218,183713,-7402.7847,-11249.2422,3,1.2,5,53.5,0.1,0.0,6,4.6

FREEZE	0.22,-1.759,-1.861,2,1,0	_24V_AH	12.55,64.313
FINISH	0.2,1.027311	_10V_AH	12.81,0.000
SM_CCo	5622,165.35,0.223,0,0,2205,300.18	FG_AHR_24Vo	0.000
SM_GC	0.73,8.32,0.47,165.35,0.061,0.092,0.223,195,2806,2205,-7.88,-0.54,300.18,0,0,0,0,0,0,14.55,14.57,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	226	MEM	280660
RAFOS_FIX	-7403.430176,-11249.119141,240218,202036,0,1,0.21	DATA_FILE_SIZE	20098,569
IRIDIUM_FIX	-7405.97,-11242.02,240218,165017	CAP_FILE_SIZE	69819,0
TT8_MAMPS	0.03745,0.274883	CFSIZE	1024409600,1000620032
HUMID	45.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1443.4
TCM_TEMP	12.90	CURRENT	0.148,301.47,1
XPDR_PINGS	1	GPS	240218,201500,-7403.188,-11251.095,20,0.7,20,53.5,0.8,352.4,11,3.6
ALTIM_TOP_PING	23.7,25.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	474	136.16	nil	0	0	0.00
Roll_motor	44	97	54.13	nil	0	0	0.00
VBD_pump_during_apogee	223	2273	6383.64	nil	0	0	0.00
VBD_pump_during_surface	165	222	461.96	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	5606	4	284.24
Iridium_during_xfer	242	185	566.10	nil	0	0	0.00
Transponder_ping	8	420	43.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.82
TT8	0	0	0.00
LPSleep	4133	2	122.32
TT8_Active	568	10	79.14
TT8_Sampling	1411	30	548.87
TT8_CF8	92	51	60.96
TT8_Kalman	0	0	0.00
Analog_circuits	1246	10	161.34
GPS_charging	0	0	0.00
Compass	820	6	70.88
RAFOS	0	0	0.00
Transponder	56	30	21.80

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
21.3	22.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
42.5	45.10	9000.00	0.0	0.00	0.00	45.10	0.0	1.05	1.00

85.3	89.40	89.50	-4.2	1.04	1.00	89.40	-4.1	1.04	1.00
44.0	46.10	46.40	-2.4	1.04	1.00	46.10	-2.1	1.05	1.00
23.7	25.60	25.30	-1.6	1.04	1.00	25.60	-1.9	1.01	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	-1.04	-121.7	196	2815	2230	2137	0.0	0.0	0	121	0.00	0.00	-108.60	0.003	16390	0.000	0.000	195	2815	3889	3900	3878	0	0	0	0	0	0	14.61	13.26	14.60
123	-1.04	-121.7	196	2815	3902	3880	2.9	-3.8	11	141	11.95	2.45	0.00	0.000	2596	0.474	0.044	2383	1384	3896	3903	3890	0	0	0	0	0	0	14.00	14.36	14.29
185	-1.04	-121.7	2382	1385	3903	3897	14.5	-13.9	23	191	0.00	2.55	0.00	0.000	1030	0.000	0.070	2382	2798	3899	3902	3897	0	0	0	0	0	0	14.41	14.34	14.44
495	-1.04	-121.7	2382	2798	3903	3902	57.2	-13.4	55	495	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2798	3902	3903	3902	0	0	0	0	0	0	14.75	14.74	14.74
795	-1.04	-121.7	2382	2802	3903	3904	97.6	-13.0	85	801	0.00	2.00	0.00	0.000	260	0.000	0.092	2374	3904	3900	3899	3902	0	0	0	0	0	0	14.79	14.44	14.79
825	-1.04	-121.7	2374	3905	3903	3903	101.8	-13.8	91	831	0.00	1.90	0.00	0.000	1030	0.000	0.050	2374	2782	3902	3902	3902	0	0	0	0	0	0	14.58	14.55	14.59
1135	-1.04	-121.7	2374	2783	3903	3903	144.3	-14.8	123	1141	0.00	2.38	0.00	0.000	516	0.000	0.051	2374	1405	3902	3902	3903	0	0	0	0	0	0	14.83	14.50	14.83
1185	-1.04	-121.7	2374	1406	3903	3905	151.6	-14.4	133	1192	0.00	2.50	0.00	0.000	1030	0.000	0.071	2374	2805	3903	3903	3903	0	0	0	0	0	0	14.57	14.49	14.60
1496	-1.04	-121.7	2374	2805	3904	3903	197.9	-14.5	165	1497	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2805	3903	3903	3903	0	0	0	0	0	0	14.84	14.84	14.83
1796	-1.04	-121.7	2374	2806	3903	3904	238.2	-12.8	195	1797	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2805	3903	3903	3903	0	0	0	0	0	0	14.85	14.85	14.85
2096	-1.04	-121.7	2374	2805	3904	3903	274.8	-11.6	225	2103	0.00	2.42	0.00	0.000	516	0.000	0.051	2373	1401	3902	3902	3903	0	0	0	0	0	0	14.85	14.53	14.85
2117	-1.04	-121.7	2374	1401	3908	3903	277.2	-11.4	229	2124	0.00	2.50	0.00	0.000	1030	0.000	0.071	2373	2802	3903	3903	3903	0	0	0	0	0	0	14.62	14.52	14.62
2429	-1.04	-121.7	2374	2803	3903	3904	312.3	-11.4	256	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2802	3903	3903	3903	0	0	0	0	0	0	14.83	14.83	14.83
2586	end dive: TARGET_DEPTH_EXCEEDED
state	2586	begin apogee
2590	-0.23	0.0	2374	2541	3901	3904	331.2	-12.1	264	2711	1.05	0.00	113.45	2.274	10246	0.265	0.000	2647	2540	3396	3400	3392	0	0	0	0	0	0	14.29	13.72	12.96
2712	end apogee: CONTROL_FINISHED_OK
state	2712	begin climb
2713	1.04	121.7	2648	2540	3401	3393	334.9	0.0	270	2831	1.42	0.00	110.28	2.199	10758	0.159	0.000	3059	2540	2911	2914	2909	0	0	0	0	0	0	13.77	13.35	12.55
3128	1.04	121.7	3058	2541	2903	2901	291.3	12.5	300	3129	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2540	2900	2901	2900	0	0	0	0	0	0	14.35	14.35	14.35
3428	1.04	121.7	3059	2542	2900	2900	253.6	12.6	330	3434	0.00	2.47	0.00	0.000	516	0.000	0.068	3069	1158	2900	2901	2899	0	0	0	0	0	0	14.59	14.28	14.59
3463	1.04	121.7	3069	1159	2903	2899	249.2	12.4	337	3471	0.00	2.50	0.00	0.000	1030	0.000	0.070	3070	2546	2899	2902	2897	0	0	0	0	0	0	14.37	14.30	14.40
3768	1.04	121.7	3070	2546	2903	2898	211.3	11.9	368	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2546	2899	2901	2898	0	0	0	0	0	0	14.71	14.71	14.71
4068	1.04	121.7	3070	2546	2902	2899	177.2	10.9	398	4069	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2546	2900	2902	2898	0	0	0	0	0	0	14.78	14.77	14.78
4368	1.04	121.7	3070	2547	2903	2899	145.2	11.0	428	4374	0.00	2.47	0.00	0.000	260	0.000	0.096	3069	3899	2900	2902	2898	0	0	0	0	0	0	14.81	14.46	14.80
4403	1.04	121.7	3069	3900	2903	2899	140.6	13.4	435	4410	0.00	2.30	0.00	0.000	1030	0.000	0.056	3079	2563	2900	2902	2898	0	0	0	0	0	0	14.57	14.57	14.59
4708	1.04	121.7	3079	2563	2903	2898	104.8	12.5	466	4714	0.00	2.47	0.00	0.000	516	0.000	0.067	3090	1158	2902	2907	2898	0	0	0	0	0	0	14.83	14.49	14.83
4773	1.04	121.7	3090	1158	2903	2898	96.9	11.8	479	4780	0.00	2.47	0.00	0.000	1030	0.000	0.072	3090	2547	2900	2902	2898	0	0	0	0	0	0	14.56	14.48	14.59
5078	1.04	121.7	3090	2548	2903	2899	59.4	12.6	510	5084	0.00	2.47	0.00	0.000	260	0.000	0.098	3090	3901	2900	2902	2898	0	0	0	0	0	0	14.85	14.49	14.85
5093	1.04	121.7	3090	3902	2904	2898	57.3	13.2	513	5101	0.12	2.33	0.00	0.000	5126	0.293	0.057	3068	2554	2900	2902	2898	0	0	0	0	0	0	14.24	14.56	14.47
5398	1.04	121.7	3068	2555	2903	2903	24.8	11.2	544	5404	0.00	2.47	0.00	0.000	516	0.000	0.067	3078	1154	2900	2902	2898	0	0	0	0	0	0	14.85	14.50	14.86
5433	1.04	121.7	3079	1154	2903	2897	20.9	11.0	551	5440	0.00	2.47	0.00	0.000	1030	0.000	0.070	3078	2546	2900	2903	2897	0	0	0	0	0	0	14.57	14.50	14.61
5598	end climb: SURFACE_DEPTH_REACHED
state	5598	begin surface coast
5607	end surface coast: CONTROL_FINISHED_OK
state	5607	begin surface