Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 172 * 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 172 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 21 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 172 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 21 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 240218,233939,-7403.9551,-11254.8682,8,0.7,20,53.6,0.3,358.8,12,3.7 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 128.7,11719,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -65.0 D_GRID 556

GPS2 240218,234441,-7403.9263,-11254.9961,2,0.7,5,53.6,1.0,348.6,12,5.3

Post-dive calculations and measurements:

FREEZE 0.56,-1.729,-1.861,2,1,0 ALTIM_TOP_PING 20.8,21.4

FINISH 0.6,1.027303 _24V_AH 12.53,64.895

SM_CCo 5585,165.23,0.226,0,0,2203,300.18 _10V_AH 12.68,0.000

SM_GC 0.73,8.45,0.45,165.23,0.076,0.096,0.226,196,2801,2203,-7.87,-0.79,300.18,0,0,0,0,0,0,14.59,14.59,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 236 FG_AHR_10Vo 0.000

RAFOS 0,1519516864,0.032778,0.017778,127,67,67,58,58,53,617,208,626,176,217,118 MEM 280476

RAFOS_FIX -7403.122559,-11253.785156,250218,000056,3,100,0.89 DATA_FILE_SIZE 20143,605

IRIDIUM_FIX -7354.38,-11011.58,240218,215938 CAP_FILE_SIZE 73039,0

TT8_MAMPS 0.038199,0.14231 CFSIZE 1024409600,1000325120

HUMID 45.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1443.2

TCM_TEMP 12.90 CURRENT 0.166,288.93,1

XPDR_PINGS 0 GPS 250218,012200,-7404.375,-11256.925,29,0.7,29,53.6,0.3,290.2,10,3.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 474 136.84 nil 0 0 0.00

Roll_motor 48 95 57.87 nil 0 0 0.00

VBD_pump_during_apogee 222 2286 6386.29 nil 0 0 0.00

VBD_pump_during_surface 165 226 468.79 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 5580 4 282.33

Iridium_during_xfer 201 187 473.09 nil 0 0 0.00

Transponder_ping 8 420 43.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.79

TT8 0 0 0.00

LPSleep 3980 2 116.58

TT8_Active 554 10 76.44

TT8_Sampling 1439 30 554.16

TT8_CF8 94 51 61.18

TT8_Kalman 0 0 0.00

Analog_circuits 1225 10 156.92

GPS_charging 0 0 0.00

Compass 871 6 74.50

RAFOS 720 1 13.69

Transponder 58 30 22.19

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

41.2 43.40 9000.00 0.0 0.00 0.00 43.40 0.0 1.04 1.00

103.0 107.10 107.20 -4.2 1.03 1.00 107.10 -4.1 1.03 1.00

82.7 87.10 86.50 -3.8 1.03 1.00 87.10 -4.4 0.99 1.00

41.9 43.60 43.80 -1.9 1.04 1.00 43.60 -1.7 1.07 1.00

20.8 21.50 21.40 -0.6 1.06 1.00 21.50 -0.7 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

9 -1.04 -121.7 183 2802 2231 2135 0.0 0.0 0 121 0.00 0.00 -107.72 0.003 16390 0.000 0.000 184 2801 3888 3899 3878 0 0 0 0 0 0 14.59 13.26 14.60

123 -1.04 -121.7 185 2801 3902 3879 3.1 -4.3 11 141 12.02 1.95 0.00 0.000 2340 0.474 0.077 2374 3909 3895 3902 3889 0 0 0 0 0 0 13.98 14.34 14.27

180 -1.04 -121.7 2375 3910 3903 3896 14.2 -14.9 22 187 0.00 1.90 0.00 0.000 1030 0.000 0.048 2375 2796 3898 3902 3895 0 0 0 0 0 0 14.49 14.41 14.47

485 -1.04 -121.7 2375 2796 3902 3902 55.8 -13.2 53 491 0.00 2.40 0.00 0.000 516 0.000 0.051 2376 1408 3901 3902 3901 0 0 0 0 0 0 14.75 14.43 14.75

510 -1.04 -121.7 2375 1408 3903 3903 59.3 -13.9 58 517 0.00 2.50 0.00 0.000 1030 0.000 0.070 2373 2800 3901 3902 3901 0 0 0 0 0 0 14.50 14.42 14.52

815 -1.04 -121.7 2378 2801 3903 3903 101.3 -13.8 89 816 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2800 3902 3902 3902 0 0 0 0 0 0 14.80 14.80 14.80

1116 -1.04 -121.7 2373 2801 3903 3904 141.6 -13.3 119 1121 0.00 2.00 0.00 0.000 260 0.000 0.093 2371 3905 3902 3902 3903 0 0 0 0 0 0 14.82 14.45 14.81

1150 -1.04 -121.7 2371 3905 3902 3904 146.7 -14.9 126 1157 0.00 1.88 0.00 0.000 1030 0.000 0.047 2371 2800 3902 3902 3903 0 0 0 0 0 0 14.61 14.57 14.62

1455 -1.04 -121.7 2371 2801 3902 3904 189.2 -14.1 157 1456 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2800 3902 3902 3903 0 0 0 0 0 0 14.84 14.84 14.84

1755 -1.04 -121.7 2371 2800 3903 3903 230.4 -13.1 187 1761 0.00 2.40 0.00 0.000 516 0.000 0.052 2371 1408 3902 3902 3903 0 0 0 0 0 0 14.85 14.53 14.85

1800 -1.04 -121.7 2371 1409 3903 3904 236.3 -13.1 196 1807 0.00 2.47 0.00 0.000 1030 0.000 0.070 2369 2796 3902 3902 3903 0 0 0 0 0 0 14.58 14.50 14.62

2105 -1.04 -121.7 2371 2796 3903 3903 274.3 -12.6 227 2106 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2796 3902 3902 3903 0 0 0 0 0 0 14.87 14.87 14.87

2415 -1.04 -121.7 2369 2796 3903 3903 313.9 -13.6 253 2422 0.00 2.40 0.00 0.000 516 0.000 0.051 2370 1406 3906 3902 3911 0 0 0 0 0 0 14.88 14.55 14.88

2501 -1.04 -121.7 2371 1406 3903 3903 325.8 -13.8 270 2507 0.00 2.47 0.00 0.000 1030 0.000 0.070 2373 2798 3902 3902 3903 0 0 0 0 0 0 14.60 14.52 14.64

2536 end dive: TARGET_DEPTH_EXCEEDED

state 2536 begin apogee

2539 -0.23 0.0 2371 2552 3903 3904 330.6 -13.8 274 2659 1.08 0.00 113.15 2.287 10246 0.264 0.000 2651 2551 3396 3400 3392 0 0 0 0 0 0 14.26 13.82 12.97

2660 end apogee: CONTROL_FINISHED_OK

state 2660 begin climb

2661 1.04 121.7 2652 2552 3400 3393 336.2 0.0 280 2780 1.38 2.65 109.75 2.208 10756 0.161 0.066 3063 1161 2911 2914 2909 0 0 0 0 0 0 13.75 13.26 12.53

2805 1.05 121.7 3063 1162 2910 2906 328.3 9.4 307 2812 0.00 2.65 0.00 0.000 1094 0.000 0.069 3063 2562 2907 2910 2905 0 0 0 0 0 0 13.61 13.52 13.63

3110 1.05 121.7 3063 2564 2903 2902 294.1 11.8 325 3110 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2562 2900 2902 2899 0 0 0 0 0 0 14.40 14.40 14.40

3410 1.05 121.7 3064 2563 2903 2898 258.9 12.1 355 3415 0.00 2.50 0.00 0.000 516 0.000 0.065 3073 1166 2900 2902 2898 0 0 0 0 0 0 14.62 14.28 14.62

3485 1.05 121.7 3074 1166 2903 2897 250.5 13.1 370 3492 0.00 2.50 0.00 0.000 1030 0.000 0.073 3073 2551 2899 2901 2897 0 0 0 0 0 0 14.42 14.35 14.45

3790 1.05 121.7 3073 2552 2902 2898 211.6 12.8 401 3796 0.00 2.47 0.00 0.000 516 0.000 0.067 3084 1160 2899 2902 2897 0 0 0 0 0 0 14.74 14.38 14.73

3855 1.05 121.7 3084 1160 2903 2897 203.3 12.6 414 3862 0.00 2.47 0.00 0.000 1030 0.000 0.070 3084 2546 2899 2902 2897 0 0 0 0 0 0 14.52 14.45 14.54

4160 1.05 121.7 3084 2546 2903 2897 162.9 12.7 445 4161 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2546 2899 2902 2897 0 0 0 0 0 0 14.81 14.81 14.80

4460 1.05 121.7 3084 2547 2902 2898 126.6 11.7 475 4461 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2546 2899 2902 2897 0 0 0 0 0 0 14.83 14.83 14.83

4760 1.05 121.7 3084 2546 2900 2897 93.0 11.3 505 4761 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2546 2899 2902 2897 0 0 0 0 0 0 14.86 14.85 14.85

5060 1.05 121.7 3084 2546 2903 2897 60.1 11.5 535 5066 0.00 2.45 0.00 0.000 516 0.000 0.067 3094 1161 2899 2901 2897 0 0 0 0 0 0 14.88 14.51 14.88

5100 1.05 121.7 3094 1162 2902 2898 55.4 12.2 543 5106 0.00 2.45 0.00 0.000 1030 0.000 0.072 3095 2543 2899 2902 2897 0 0 0 0 0 0 14.62 14.54 14.65

5410 1.05 121.7 3094 2544 2902 2898 19.6 11.5 575 5416 0.00 2.45 0.00 0.000 516 0.000 0.067 3105 1157 2899 2902 2897 0 0 0 0 0 0 14.88 14.52 14.89

5545 1.05 121.7 3105 1158 2903 2898 3.7 12.6 602 5553 0.10 2.47 0.00 0.000 5126 0.263 0.073 3077 2551 2899 2902 2897 0 0 0 0 0 0 14.30 14.54 14.51

5559 end climb: SURFACE_DEPTH_REACHED

state 5559 begin surface coast

5570 end surface coast: CONTROL_FINISHED_OK

state 5570 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	172	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	21	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	240218,233939,-7403.9551,-11254.8682,8,0.7,20,53.6,0.3,358.8,12,3.7	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	128.7,11719,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-65.0	D_GRID	556
GPS2	240218,234441,-7403.9263,-11254.9961,2,0.7,5,53.6,1.0,348.6,12,5.3

FREEZE	0.56,-1.729,-1.861,2,1,0	ALTIM_TOP_PING	20.8,21.4
FINISH	0.6,1.027303	_24V_AH	12.53,64.895
SM_CCo	5585,165.23,0.226,0,0,2203,300.18	_10V_AH	12.68,0.000
SM_GC	0.73,8.45,0.45,165.23,0.076,0.096,0.226,196,2801,2203,-7.87,-0.79,300.18,0,0,0,0,0,0,14.59,14.59,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	236	FG_AHR_10Vo	0.000
RAFOS	0,1519516864,0.032778,0.017778,127,67,67,58,58,53,617,208,626,176,217,118	MEM	280476
RAFOS_FIX	-7403.122559,-11253.785156,250218,000056,3,100,0.89	DATA_FILE_SIZE	20143,605
IRIDIUM_FIX	-7354.38,-11011.58,240218,215938	CAP_FILE_SIZE	73039,0
TT8_MAMPS	0.038199,0.14231	CFSIZE	1024409600,1000325120
HUMID	45.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1443.2
TCM_TEMP	12.90	CURRENT	0.166,288.93,1
XPDR_PINGS	0	GPS	250218,012200,-7404.375,-11256.925,29,0.7,29,53.6,0.3,290.2,10,3.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	474	136.84	nil	0	0	0.00
Roll_motor	48	95	57.87	nil	0	0	0.00
VBD_pump_during_apogee	222	2286	6386.29	nil	0	0	0.00
VBD_pump_during_surface	165	226	468.79	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	5580	4	282.33
Iridium_during_xfer	201	187	473.09	nil	0	0	0.00
Transponder_ping	8	420	43.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.79
TT8	0	0	0.00
LPSleep	3980	2	116.58
TT8_Active	554	10	76.44
TT8_Sampling	1439	30	554.16
TT8_CF8	94	51	61.18
TT8_Kalman	0	0	0.00
Analog_circuits	1225	10	156.92
GPS_charging	0	0	0.00
Compass	871	6	74.50
RAFOS	720	1	13.69
Transponder	58	30	22.19

		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
41.2	43.40	9000.00	0.0	0.00	0.00	43.40	0.0	1.04	1.00

103.0	107.10	107.20	-4.2	1.03	1.00	107.10	-4.1	1.03	1.00
82.7	87.10	86.50	-3.8	1.03	1.00	87.10	-4.4	0.99	1.00
41.9	43.60	43.80	-1.9	1.04	1.00	43.60	-1.7	1.07	1.00
20.8	21.50	21.40	-0.6	1.06	1.00	21.50	-0.7	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
9	-1.04	-121.7	183	2802	2231	2135	0.0	0.0	0	121	0.00	0.00	-107.72	0.003	16390	0.000	0.000	184	2801	3888	3899	3878	0	0	0	0	0	0	14.59	13.26	14.60
123	-1.04	-121.7	185	2801	3902	3879	3.1	-4.3	11	141	12.02	1.95	0.00	0.000	2340	0.474	0.077	2374	3909	3895	3902	3889	0	0	0	0	0	0	13.98	14.34	14.27
180	-1.04	-121.7	2375	3910	3903	3896	14.2	-14.9	22	187	0.00	1.90	0.00	0.000	1030	0.000	0.048	2375	2796	3898	3902	3895	0	0	0	0	0	0	14.49	14.41	14.47
485	-1.04	-121.7	2375	2796	3902	3902	55.8	-13.2	53	491	0.00	2.40	0.00	0.000	516	0.000	0.051	2376	1408	3901	3902	3901	0	0	0	0	0	0	14.75	14.43	14.75
510	-1.04	-121.7	2375	1408	3903	3903	59.3	-13.9	58	517	0.00	2.50	0.00	0.000	1030	0.000	0.070	2373	2800	3901	3902	3901	0	0	0	0	0	0	14.50	14.42	14.52
815	-1.04	-121.7	2378	2801	3903	3903	101.3	-13.8	89	816	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2800	3902	3902	3902	0	0	0	0	0	0	14.80	14.80	14.80
1116	-1.04	-121.7	2373	2801	3903	3904	141.6	-13.3	119	1121	0.00	2.00	0.00	0.000	260	0.000	0.093	2371	3905	3902	3902	3903	0	0	0	0	0	0	14.82	14.45	14.81
1150	-1.04	-121.7	2371	3905	3902	3904	146.7	-14.9	126	1157	0.00	1.88	0.00	0.000	1030	0.000	0.047	2371	2800	3902	3902	3903	0	0	0	0	0	0	14.61	14.57	14.62
1455	-1.04	-121.7	2371	2801	3902	3904	189.2	-14.1	157	1456	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2800	3902	3902	3903	0	0	0	0	0	0	14.84	14.84	14.84
1755	-1.04	-121.7	2371	2800	3903	3903	230.4	-13.1	187	1761	0.00	2.40	0.00	0.000	516	0.000	0.052	2371	1408	3902	3902	3903	0	0	0	0	0	0	14.85	14.53	14.85
1800	-1.04	-121.7	2371	1409	3903	3904	236.3	-13.1	196	1807	0.00	2.47	0.00	0.000	1030	0.000	0.070	2369	2796	3902	3902	3903	0	0	0	0	0	0	14.58	14.50	14.62
2105	-1.04	-121.7	2371	2796	3903	3903	274.3	-12.6	227	2106	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2796	3902	3902	3903	0	0	0	0	0	0	14.87	14.87	14.87
2415	-1.04	-121.7	2369	2796	3903	3903	313.9	-13.6	253	2422	0.00	2.40	0.00	0.000	516	0.000	0.051	2370	1406	3906	3902	3911	0	0	0	0	0	0	14.88	14.55	14.88
2501	-1.04	-121.7	2371	1406	3903	3903	325.8	-13.8	270	2507	0.00	2.47	0.00	0.000	1030	0.000	0.070	2373	2798	3902	3902	3903	0	0	0	0	0	0	14.60	14.52	14.64
2536	end dive: TARGET_DEPTH_EXCEEDED
state	2536	begin apogee
2539	-0.23	0.0	2371	2552	3903	3904	330.6	-13.8	274	2659	1.08	0.00	113.15	2.287	10246	0.264	0.000	2651	2551	3396	3400	3392	0	0	0	0	0	0	14.26	13.82	12.97
2660	end apogee: CONTROL_FINISHED_OK
state	2660	begin climb
2661	1.04	121.7	2652	2552	3400	3393	336.2	0.0	280	2780	1.38	2.65	109.75	2.208	10756	0.161	0.066	3063	1161	2911	2914	2909	0	0	0	0	0	0	13.75	13.26	12.53
2805	1.05	121.7	3063	1162	2910	2906	328.3	9.4	307	2812	0.00	2.65	0.00	0.000	1094	0.000	0.069	3063	2562	2907	2910	2905	0	0	0	0	0	0	13.61	13.52	13.63
3110	1.05	121.7	3063	2564	2903	2902	294.1	11.8	325	3110	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2562	2900	2902	2899	0	0	0	0	0	0	14.40	14.40	14.40
3410	1.05	121.7	3064	2563	2903	2898	258.9	12.1	355	3415	0.00	2.50	0.00	0.000	516	0.000	0.065	3073	1166	2900	2902	2898	0	0	0	0	0	0	14.62	14.28	14.62
3485	1.05	121.7	3074	1166	2903	2897	250.5	13.1	370	3492	0.00	2.50	0.00	0.000	1030	0.000	0.073	3073	2551	2899	2901	2897	0	0	0	0	0	0	14.42	14.35	14.45
3790	1.05	121.7	3073	2552	2902	2898	211.6	12.8	401	3796	0.00	2.47	0.00	0.000	516	0.000	0.067	3084	1160	2899	2902	2897	0	0	0	0	0	0	14.74	14.38	14.73
3855	1.05	121.7	3084	1160	2903	2897	203.3	12.6	414	3862	0.00	2.47	0.00	0.000	1030	0.000	0.070	3084	2546	2899	2902	2897	0	0	0	0	0	0	14.52	14.45	14.54
4160	1.05	121.7	3084	2546	2903	2897	162.9	12.7	445	4161	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2546	2899	2902	2897	0	0	0	0	0	0	14.81	14.81	14.80
4460	1.05	121.7	3084	2547	2902	2898	126.6	11.7	475	4461	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2546	2899	2902	2897	0	0	0	0	0	0	14.83	14.83	14.83
4760	1.05	121.7	3084	2546	2900	2897	93.0	11.3	505	4761	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2546	2899	2902	2897	0	0	0	0	0	0	14.86	14.85	14.85
5060	1.05	121.7	3084	2546	2903	2897	60.1	11.5	535	5066	0.00	2.45	0.00	0.000	516	0.000	0.067	3094	1161	2899	2901	2897	0	0	0	0	0	0	14.88	14.51	14.88
5100	1.05	121.7	3094	1162	2902	2898	55.4	12.2	543	5106	0.00	2.45	0.00	0.000	1030	0.000	0.072	3095	2543	2899	2902	2897	0	0	0	0	0	0	14.62	14.54	14.65
5410	1.05	121.7	3094	2544	2902	2898	19.6	11.5	575	5416	0.00	2.45	0.00	0.000	516	0.000	0.067	3105	1157	2899	2902	2897	0	0	0	0	0	0	14.88	14.52	14.89
5545	1.05	121.7	3105	1158	2903	2898	3.7	12.6	602	5553	0.10	2.47	0.00	0.000	5126	0.263	0.073	3077	2551	2899	2902	2897	0	0	0	0	0	0	14.30	14.54	14.51
5559	end climb: SURFACE_DEPTH_REACHED
state	5559	begin surface coast
5570	end surface coast: CONTROL_FINISHED_OK
state	5570	begin surface