Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 175 * 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 175 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 34 ALTIM_FREQUENCY 13

D_TGT 330 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 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 175 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 34 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 250218,044600,-7405.6191,-11301.0254,24,0.9,24,53.7,0.3,271.6,10,3.4 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 0.72 MHEAD_RNG_PITCHd_Wd 155.4,7316,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.8 D_GRID 629

GPS2 250218,045046,-7405.6187,-11301.1230,3,0.9,4,53.7,0.2,287.8,10,5.3

Post-dive calculations and measurements:

FREEZE -0.12,-1.706,-1.860,2,1,0 ALTIM_TOP_PING 24.9,25.6

FINISH -0.1,1.027300 _24V_AH 12.57,65.487

SM_CCo 5718,165.55,0.226,0,0,2204,300.18 _10V_AH 12.71,0.000

SM_GC 0.72,8.48,0.47,165.55,0.076,0.096,0.226,189,2802,2204,-7.88,-0.68,300.18,0,0,0,0,0,0,14.56,14.56,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

RAFOS 0,1519538460,6.032778,6.016667,98,62,58,56,52,51,643,119,211,178,131,193 MEM 280356

RAFOS_FIX -7406.268066,-11305.791016,250218,060628,3,92,0.52 DATA_FILE_SIZE 20150,609

IRIDIUM_FIX -7407.67,-11252.31,250218,030618 CAP_FILE_SIZE 72898,0

TT8_MAMPS 0.03745,0.268891 CFSIZE 1024409600,1000030208

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1443.2

TCM_TEMP 12.90 CURRENT 0.128,237.08,1

XPDR_PINGS 0 GPS 250218,063001,-7406.394,-11303.601,2,1.0,5,53.7,0.3,285.2,8,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 133.89 nil 0 0 0.00

Roll_motor 47 97 58.22 nil 0 0 0.00

VBD_pump_during_apogee 220 2136 5924.79 nil 0 0 0.00

VBD_pump_during_surface 165 226 471.21 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 5713 4 291.63

Iridium_during_xfer 185 188 439.64 nil 0 0 0.00

Transponder_ping 8 420 43.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.62

TT8 0 0 0.00

LPSleep 4094 2 120.21

TT8_Active 564 10 77.95

TT8_Sampling 1436 30 554.05

TT8_CF8 95 51 62.51

TT8_Kalman 0 0 0.00

Analog_circuits 1218 10 156.40

GPS_charging 0 0 0.00

Compass 877 6 75.14

RAFOS 720 1 13.73

Transponder 60 30 23.19

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

20.2 21.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

40.8 43.10 9000.00 0.0 0.00 0.00 43.10 0.0 1.05 1.00

62.0 65.60 65.50 0.0 1.06 1.00 65.60 0.0 1.06 1.00

106.4 111.00 111.20 -4.8 1.04 1.00 111.00 -4.6 1.02 1.00

65.7 68.10 68.80 -3.1 1.04 1.00 68.10 -2.4 1.05 1.00

45.0 46.90 46.70 -1.7 1.05 1.00 46.90 -1.9 1.02 1.00

24.9 25.40 25.60 -0.7 1.05 1.00 25.40 -0.5 1.07 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.04 -121.7 192 2809 2232 2134 0.0 0.0 0 122 0.00 0.00 -107.57 0.003 16390 0.000 0.000 192 2808 3889 3900 3878 0 0 0 0 0 0 14.61 13.27 14.61

123 -1.04 -121.7 192 2809 3901 3884 3.2 -4.7 11 141 11.82 2.45 0.00 0.000 2596 0.467 0.047 2392 1384 3896 3902 3890 0 0 0 0 0 0 14.01 14.37 14.30

231 -1.04 -121.7 2393 1386 3903 3899 20.2 -12.9 32 237 0.00 2.50 0.00 0.000 1030 0.000 0.070 2387 2802 3900 3902 3898 0 0 0 0 0 0 14.49 14.38 14.52

535 -1.04 -121.7 2387 2803 3903 3903 60.7 -13.0 63 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2802 3902 3902 3902 0 0 0 0 0 0 14.74 14.75 14.75

835 -1.04 -121.7 2387 2803 3903 3903 102.0 -13.8 93 836 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2802 3901 3899 3903 0 0 0 0 0 0 14.79 14.79 14.79

1135 -1.04 -121.7 2388 2802 3909 3903 141.4 -13.0 123 1141 0.00 2.00 0.00 0.000 260 0.000 0.093 2381 3909 3902 3902 3903 0 0 0 0 0 0 14.82 14.46 14.82

1156 -1.04 -121.7 2381 3910 3903 3904 144.1 -13.2 127 1161 0.00 1.85 0.00 0.000 1030 0.000 0.048 2381 2786 3902 3903 3901 0 0 0 0 0 0 14.66 14.60 14.68

1466 -1.04 -121.7 2382 2786 3904 3903 185.3 -12.2 159 1471 0.00 2.35 0.00 0.000 516 0.000 0.050 2381 1395 3902 3902 3903 0 0 0 0 0 0 14.80 14.54 14.80

1520 -1.04 -121.7 2382 1396 3903 3904 191.7 -11.4 170 1527 0.00 2.50 0.00 0.000 1030 0.000 0.070 2381 2795 3902 3902 3903 0 0 0 0 0 0 14.57 14.50 14.61

1825 -1.04 -121.7 2381 2796 3903 3905 229.4 -13.7 201 1832 0.00 2.00 0.00 0.000 260 0.000 0.089 2377 3909 3903 3902 3904 0 0 0 0 0 0 14.85 14.49 14.85

1931 -1.04 -121.7 2378 3909 3903 3905 245.4 -15.2 222 1938 0.00 1.88 0.00 0.000 1030 0.000 0.048 2378 2798 3903 3902 3904 0 0 0 0 0 0 14.63 14.59 14.64

2236 -1.04 -121.7 2377 2798 3904 3904 285.0 -12.7 253 2243 0.00 2.40 0.00 0.000 516 0.000 0.051 2377 1402 3903 3903 3903 0 0 0 0 0 0 14.85 14.52 14.85

2267 -1.04 -121.7 2378 1403 3903 3905 289.0 -12.6 259 2273 0.00 2.50 0.00 0.000 1030 0.000 0.071 2377 2805 3905 3902 3909 0 0 0 0 0 0 14.57 14.51 14.62

2579 -1.04 -121.7 2377 2806 3902 3905 328.5 -12.6 280 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2805 3903 3902 3904 0 0 0 0 0 0 14.83 14.83 14.83

2595 end dive: TARGET_DEPTH_EXCEEDED

state 2595 begin apogee

2599 -0.23 0.0 2378 2544 3902 3904 331.1 -12.7 281 2719 1.02 0.00 112.80 2.080 10246 0.260 0.000 2647 2543 3394 3398 3390 0 0 0 0 0 0 14.28 13.81 13.27

2720 end apogee: CONTROL_FINISHED_OK

state 2720 begin climb

2721 1.04 121.7 2648 2543 3398 3389 335.0 0.0 287 2838 1.40 0.00 107.80 2.137 10758 0.167 0.000 3053 2543 2911 2914 2909 0 0 0 0 0 0 13.81 13.40 12.57

3137 1.04 121.7 3054 2543 2905 2899 292.8 11.3 323 3137 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2543 2901 2903 2899 0 0 0 0 0 0 14.35 14.35 14.35

3437 1.04 121.7 3054 2544 2903 2898 259.1 11.4 353 3444 0.00 2.47 0.00 0.000 516 0.000 0.067 3063 1162 2899 2902 2897 0 0 0 0 0 0 14.61 14.28 14.61

3478 1.04 121.7 3063 1164 2903 2898 254.4 11.5 361 3485 0.00 2.50 0.00 0.000 1030 0.000 0.070 3063 2547 2899 2902 2896 0 0 0 0 0 0 14.42 14.32 14.42

3789 1.04 121.7 3064 2547 2903 2897 218.5 9.9 393 3796 0.00 2.50 0.00 0.000 260 0.000 0.095 3063 3906 2899 2902 2896 0 0 0 0 0 0 14.72 14.39 14.72

3820 1.04 121.7 3064 3906 2903 2896 214.9 11.8 399 3826 0.00 2.35 0.00 0.000 1030 0.000 0.057 3073 2558 2899 2902 2896 0 0 0 0 0 0 14.52 14.47 14.54

4130 1.04 121.7 3073 2558 2903 2896 177.8 11.5 431 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2558 2899 2902 2897 0 0 0 0 0 0 14.78 14.78 14.78

4430 1.04 121.7 3073 2558 2903 2897 142.7 11.9 461 4436 0.00 2.45 0.00 0.000 516 0.000 0.068 3084 1148 2899 2902 2897 0 0 0 0 0 0 14.81 14.50 14.80

4531 1.04 121.7 3084 1148 2903 2901 131.6 10.6 481 4537 0.00 2.45 0.00 0.000 1030 0.000 0.073 3084 2550 2898 2901 2896 0 0 0 0 0 0 14.63 14.52 14.66

4841 1.04 121.7 3085 2550 2903 2890 96.6 12.1 513 4848 0.00 2.47 0.00 0.000 260 0.000 0.097 3084 3901 2899 2902 2897 0 0 0 0 0 0 14.82 14.47 14.82

4887 1.04 121.7 3084 3902 2903 2897 90.4 13.8 522 4894 0.10 2.35 0.00 0.000 5126 0.298 0.057 3069 2545 2899 2902 2896 0 0 0 0 0 0 14.23 14.57 14.48

5192 1.04 121.7 3069 2545 2904 2896 57.2 10.5 553 5193 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2545 2899 2902 2896 0 0 0 0 0 0 14.84 14.84 14.84

5492 1.04 121.7 3070 2546 2902 2897 25.3 11.3 583 5500 0.00 2.47 0.00 0.000 260 0.000 0.096 3069 3899 2899 2902 2896 0 0 0 0 0 0 14.86 14.49 14.85

5539 1.04 121.7 3069 3899 2903 2896 19.2 13.2 592 5546 0.00 2.33 0.00 0.000 1030 0.000 0.056 3078 2546 2899 2902 2896 0 0 0 0 0 0 14.64 14.59 14.66

5693 end climb: SURFACE_DEPTH_REACHED

state 5693 begin surface coast

5703 end surface coast: CONTROL_FINISHED_OK

state 5703 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	175	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	34	ALTIM_FREQUENCY	13
D_TGT	330	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	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	250218,044600,-7405.6191,-11301.0254,24,0.9,24,53.7,0.3,271.6,10,3.4	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	0.72	MHEAD_RNG_PITCHd_Wd	155.4,7316,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.8	D_GRID	629
GPS2	250218,045046,-7405.6187,-11301.1230,3,0.9,4,53.7,0.2,287.8,10,5.3

FREEZE	-0.12,-1.706,-1.860,2,1,0	ALTIM_TOP_PING	24.9,25.6
FINISH	-0.1,1.027300	_24V_AH	12.57,65.487
SM_CCo	5718,165.55,0.226,0,0,2204,300.18	_10V_AH	12.71,0.000
SM_GC	0.72,8.48,0.47,165.55,0.076,0.096,0.226,189,2802,2204,-7.88,-0.68,300.18,0,0,0,0,0,0,14.56,14.56,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
RAFOS	0,1519538460,6.032778,6.016667,98,62,58,56,52,51,643,119,211,178,131,193	MEM	280356
RAFOS_FIX	-7406.268066,-11305.791016,250218,060628,3,92,0.52	DATA_FILE_SIZE	20150,609
IRIDIUM_FIX	-7407.67,-11252.31,250218,030618	CAP_FILE_SIZE	72898,0
TT8_MAMPS	0.03745,0.268891	CFSIZE	1024409600,1000030208
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1443.2
TCM_TEMP	12.90	CURRENT	0.128,237.08,1
XPDR_PINGS	0	GPS	250218,063001,-7406.394,-11303.601,2,1.0,5,53.7,0.3,285.2,8,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	133.89	nil	0	0	0.00
Roll_motor	47	97	58.22	nil	0	0	0.00
VBD_pump_during_apogee	220	2136	5924.79	nil	0	0	0.00
VBD_pump_during_surface	165	226	471.21	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	5713	4	291.63
Iridium_during_xfer	185	188	439.64	nil	0	0	0.00
Transponder_ping	8	420	43.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.62
TT8	0	0	0.00
LPSleep	4094	2	120.21
TT8_Active	564	10	77.95
TT8_Sampling	1436	30	554.05
TT8_CF8	95	51	62.51
TT8_Kalman	0	0	0.00
Analog_circuits	1218	10	156.40
GPS_charging	0	0	0.00
Compass	877	6	75.14
RAFOS	720	1	13.73
Transponder	60	30	23.19

		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
20.2	21.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
40.8	43.10	9000.00	0.0	0.00	0.00	43.10	0.0	1.05	1.00
62.0	65.60	65.50	0.0	1.06	1.00	65.60	0.0	1.06	1.00

106.4	111.00	111.20	-4.8	1.04	1.00	111.00	-4.6	1.02	1.00
65.7	68.10	68.80	-3.1	1.04	1.00	68.10	-2.4	1.05	1.00
45.0	46.90	46.70	-1.7	1.05	1.00	46.90	-1.9	1.02	1.00
24.9	25.40	25.60	-0.7	1.05	1.00	25.40	-0.5	1.07	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.04	-121.7	192	2809	2232	2134	0.0	0.0	0	122	0.00	0.00	-107.57	0.003	16390	0.000	0.000	192	2808	3889	3900	3878	0	0	0	0	0	0	14.61	13.27	14.61
123	-1.04	-121.7	192	2809	3901	3884	3.2	-4.7	11	141	11.82	2.45	0.00	0.000	2596	0.467	0.047	2392	1384	3896	3902	3890	0	0	0	0	0	0	14.01	14.37	14.30
231	-1.04	-121.7	2393	1386	3903	3899	20.2	-12.9	32	237	0.00	2.50	0.00	0.000	1030	0.000	0.070	2387	2802	3900	3902	3898	0	0	0	0	0	0	14.49	14.38	14.52
535	-1.04	-121.7	2387	2803	3903	3903	60.7	-13.0	63	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2802	3902	3902	3902	0	0	0	0	0	0	14.74	14.75	14.75
835	-1.04	-121.7	2387	2803	3903	3903	102.0	-13.8	93	836	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2802	3901	3899	3903	0	0	0	0	0	0	14.79	14.79	14.79
1135	-1.04	-121.7	2388	2802	3909	3903	141.4	-13.0	123	1141	0.00	2.00	0.00	0.000	260	0.000	0.093	2381	3909	3902	3902	3903	0	0	0	0	0	0	14.82	14.46	14.82
1156	-1.04	-121.7	2381	3910	3903	3904	144.1	-13.2	127	1161	0.00	1.85	0.00	0.000	1030	0.000	0.048	2381	2786	3902	3903	3901	0	0	0	0	0	0	14.66	14.60	14.68
1466	-1.04	-121.7	2382	2786	3904	3903	185.3	-12.2	159	1471	0.00	2.35	0.00	0.000	516	0.000	0.050	2381	1395	3902	3902	3903	0	0	0	0	0	0	14.80	14.54	14.80
1520	-1.04	-121.7	2382	1396	3903	3904	191.7	-11.4	170	1527	0.00	2.50	0.00	0.000	1030	0.000	0.070	2381	2795	3902	3902	3903	0	0	0	0	0	0	14.57	14.50	14.61
1825	-1.04	-121.7	2381	2796	3903	3905	229.4	-13.7	201	1832	0.00	2.00	0.00	0.000	260	0.000	0.089	2377	3909	3903	3902	3904	0	0	0	0	0	0	14.85	14.49	14.85
1931	-1.04	-121.7	2378	3909	3903	3905	245.4	-15.2	222	1938	0.00	1.88	0.00	0.000	1030	0.000	0.048	2378	2798	3903	3902	3904	0	0	0	0	0	0	14.63	14.59	14.64
2236	-1.04	-121.7	2377	2798	3904	3904	285.0	-12.7	253	2243	0.00	2.40	0.00	0.000	516	0.000	0.051	2377	1402	3903	3903	3903	0	0	0	0	0	0	14.85	14.52	14.85
2267	-1.04	-121.7	2378	1403	3903	3905	289.0	-12.6	259	2273	0.00	2.50	0.00	0.000	1030	0.000	0.071	2377	2805	3905	3902	3909	0	0	0	0	0	0	14.57	14.51	14.62
2579	-1.04	-121.7	2377	2806	3902	3905	328.5	-12.6	280	2579	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2805	3903	3902	3904	0	0	0	0	0	0	14.83	14.83	14.83
2595	end dive: TARGET_DEPTH_EXCEEDED
state	2595	begin apogee
2599	-0.23	0.0	2378	2544	3902	3904	331.1	-12.7	281	2719	1.02	0.00	112.80	2.080	10246	0.260	0.000	2647	2543	3394	3398	3390	0	0	0	0	0	0	14.28	13.81	13.27
2720	end apogee: CONTROL_FINISHED_OK
state	2720	begin climb
2721	1.04	121.7	2648	2543	3398	3389	335.0	0.0	287	2838	1.40	0.00	107.80	2.137	10758	0.167	0.000	3053	2543	2911	2914	2909	0	0	0	0	0	0	13.81	13.40	12.57
3137	1.04	121.7	3054	2543	2905	2899	292.8	11.3	323	3137	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2543	2901	2903	2899	0	0	0	0	0	0	14.35	14.35	14.35
3437	1.04	121.7	3054	2544	2903	2898	259.1	11.4	353	3444	0.00	2.47	0.00	0.000	516	0.000	0.067	3063	1162	2899	2902	2897	0	0	0	0	0	0	14.61	14.28	14.61
3478	1.04	121.7	3063	1164	2903	2898	254.4	11.5	361	3485	0.00	2.50	0.00	0.000	1030	0.000	0.070	3063	2547	2899	2902	2896	0	0	0	0	0	0	14.42	14.32	14.42
3789	1.04	121.7	3064	2547	2903	2897	218.5	9.9	393	3796	0.00	2.50	0.00	0.000	260	0.000	0.095	3063	3906	2899	2902	2896	0	0	0	0	0	0	14.72	14.39	14.72
3820	1.04	121.7	3064	3906	2903	2896	214.9	11.8	399	3826	0.00	2.35	0.00	0.000	1030	0.000	0.057	3073	2558	2899	2902	2896	0	0	0	0	0	0	14.52	14.47	14.54
4130	1.04	121.7	3073	2558	2903	2896	177.8	11.5	431	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2558	2899	2902	2897	0	0	0	0	0	0	14.78	14.78	14.78
4430	1.04	121.7	3073	2558	2903	2897	142.7	11.9	461	4436	0.00	2.45	0.00	0.000	516	0.000	0.068	3084	1148	2899	2902	2897	0	0	0	0	0	0	14.81	14.50	14.80
4531	1.04	121.7	3084	1148	2903	2901	131.6	10.6	481	4537	0.00	2.45	0.00	0.000	1030	0.000	0.073	3084	2550	2898	2901	2896	0	0	0	0	0	0	14.63	14.52	14.66
4841	1.04	121.7	3085	2550	2903	2890	96.6	12.1	513	4848	0.00	2.47	0.00	0.000	260	0.000	0.097	3084	3901	2899	2902	2897	0	0	0	0	0	0	14.82	14.47	14.82
4887	1.04	121.7	3084	3902	2903	2897	90.4	13.8	522	4894	0.10	2.35	0.00	0.000	5126	0.298	0.057	3069	2545	2899	2902	2896	0	0	0	0	0	0	14.23	14.57	14.48
5192	1.04	121.7	3069	2545	2904	2896	57.2	10.5	553	5193	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2545	2899	2902	2896	0	0	0	0	0	0	14.84	14.84	14.84
5492	1.04	121.7	3070	2546	2902	2897	25.3	11.3	583	5500	0.00	2.47	0.00	0.000	260	0.000	0.096	3069	3899	2899	2902	2896	0	0	0	0	0	0	14.86	14.49	14.85
5539	1.04	121.7	3069	3899	2903	2896	19.2	13.2	592	5546	0.00	2.33	0.00	0.000	1030	0.000	0.056	3078	2546	2899	2902	2896	0	0	0	0	0	0	14.64	14.59	14.66
5693	end climb: SURFACE_DEPTH_REACHED
state	5693	begin surface coast
5703	end surface coast: CONTROL_FINISHED_OK
state	5703	begin surface