Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 181 * 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 181 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 36 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 -1 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 -1

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 181 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 36 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 250218,145431,-7408.5127,-11310.7324,36,0.8,36,53.9,0.3,358.9,11,2.7 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.76 MHEAD_RNG_PITCHd_Wd 277.8,6491,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.2 D_GRID 526

GPS2 250218,150157,-7408.5034,-11310.7236,3,0.8,4,53.9,0.1,0.0,12,6.4

Post-dive calculations and measurements:

FREEZE 0.49,-1.731,-1.859,2,1,0 ALTIM_TOP_PING 21.3,21.6

FINISH 0.5,1.027272 _24V_AH 12.49,66.557

SM_CCo 5548,164.18,0.223,0,0,2204,300.18 _10V_AH 12.68,0.000

SM_GC 0.76,8.40,0.47,164.18,0.069,0.101,0.223,191,2806,2204,-7.88,-0.51,300.18,0,0,0,0,0,0,14.57,14.56,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 233 FG_AHR_10Vo 0.000

RAFOS 1,1519571225,15.133333,15.118055,73,57,57,55,54,51,572,159,146,206,216,229 MEM 280420

RAFOS_FIX -7408.298828,-11311.869141,250218,151512,2,88,0.87 DATA_FILE_SIZE 20081,606

IRIDIUM_FIX -7408.77,-11302.62,250218,113722 CAP_FILE_SIZE 73738,0

TT8_MAMPS 0.038948,0.206724 CFSIZE 1024409600,999440384

HUMID 45.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.5

TCM_TEMP 13.00 CURRENT 0.069,102.21,1

XPDR_PINGS 0 GPS 250218,163812,-7408.001,-11310.994,3,1.2,4,53.9,0.1,0.0,6,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 469 134.64 nil 0 0 0.00

Roll_motor 47 100 59.31 nil 0 0 0.00

VBD_pump_during_apogee 224 2298 6444.48 nil 0 0 0.00

VBD_pump_during_surface 164 223 458.05 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 5546 7 487.52

Iridium_during_xfer 321 204 820.77 nil 0 0 0.00

Transponder_ping 8 420 43.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.65

TT8 0 0 0.00

LPSleep 3949 2 115.69

TT8_Active 549 10 75.68

TT8_Sampling 1553 30 597.99

TT8_CF8 120 51 78.60

TT8_Kalman 0 0 0.00

Analog_circuits 1340 10 171.65

GPS_charging 0 0 0.00

Compass 873 6 74.63

RAFOS 480 1 9.13

Transponder 58 30 22.13

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 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 43.70 9000.00 0.0 0.00 0.00 43.70 0.0 1.05 1.00

82.3 86.30 86.30 0.0 1.04 1.00 86.30 0.0 1.04 1.00

104.7 108.70 108.90 -4.2 1.03 1.00 108.70 -4.0 1.00 1.00

62.7 65.20 65.50 -2.8 1.04 1.00 65.20 -2.5 1.04 1.00

41.7 43.00 43.10 -1.4 1.04 1.00 43.00 -1.3 1.06 1.00

21.3 21.60 21.60 -0.3 1.05 1.00 21.60 -0.3 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.04 -121.7 187 2802 2235 2129 0.0 0.0 0 122 0.00 0.00 -107.18 0.003 16390 0.000 0.000 186 2802 3889 3899 3879 0 0 0 0 0 0 14.53 13.19 14.54

124 -1.04 -121.7 186 2804 3901 3880 2.8 -3.5 11 142 12.00 2.42 0.00 0.000 2596 0.470 0.045 2390 1393 3896 3902 3890 0 0 0 0 0 0 13.96 14.32 14.25

336 -1.04 -121.7 2389 1393 3902 3902 32.4 -12.1 53 342 0.00 2.53 0.00 0.000 1030 0.000 0.070 2385 2794 3901 3902 3900 0 0 0 0 0 0 14.42 14.33 14.45

648 -1.04 -121.7 2385 2795 3903 3903 74.7 -13.6 85 653 0.00 1.98 0.00 0.000 260 0.000 0.093 2378 3909 3902 3902 3902 0 0 0 0 0 0 14.73 14.40 14.73

687 -1.04 -121.7 2381 3910 3902 3904 80.7 -14.8 93 694 0.00 1.90 0.00 0.000 1030 0.000 0.048 2381 2792 3902 3902 3903 0 0 0 0 0 0 14.53 14.50 14.54

999 -1.04 -121.7 2382 2793 3903 3903 124.2 -14.3 125 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2793 3902 3902 3903 0 0 0 0 0 0 14.75 14.75 14.74

1299 -1.04 -121.7 2381 2794 3902 3905 165.6 -13.8 155 1304 0.00 2.00 0.00 0.000 260 0.000 0.091 2378 3915 3903 3902 3904 0 0 0 0 0 0 14.77 14.47 14.77

1373 -1.04 -121.7 2379 3916 3904 3904 176.4 -14.7 170 1380 0.00 1.90 0.00 0.000 1030 0.000 0.050 2378 2795 3903 3902 3904 0 0 0 0 0 0 14.55 14.51 14.57

1678 -1.04 -121.7 2379 2796 3899 3905 217.0 -12.9 201 1679 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2796 3903 3902 3904 0 0 0 0 0 0 14.83 14.83 14.83

1978 -1.04 -121.7 2377 2796 3903 3905 254.2 -11.7 231 1984 0.00 2.03 0.00 0.000 260 0.000 0.092 2376 3907 3903 3902 3904 0 0 0 0 0 0 14.86 14.45 14.83

2048 -1.04 -121.7 2377 3907 3903 3904 263.3 -13.1 245 2056 0.00 1.88 0.00 0.000 1030 0.000 0.048 2376 2801 3903 3902 3904 0 0 0 0 0 0 14.61 14.57 14.62

2360 -1.04 -121.7 2377 2801 3904 3905 300.6 -11.6 277 2366 0.00 2.40 0.00 0.000 516 0.000 0.050 2376 1403 3903 3902 3904 0 0 0 0 0 0 14.83 14.51 14.83

2410 -1.04 -121.7 2377 1402 3903 3904 306.4 -11.4 287 2416 0.00 2.50 0.00 0.000 1030 0.000 0.070 2374 2802 3903 3902 3904 0 0 0 0 0 0 14.54 14.47 14.59

2620 end dive: TARGET_DEPTH_EXCEEDED

state 2620 begin apogee

2624 -0.23 0.0 2375 2545 3902 3904 332.3 -12.4 299 2743 1.05 0.00 113.62 2.299 10246 0.266 0.000 2647 2544 3397 3401 3393 0 0 0 0 0 0 14.25 13.81 12.93

2744 end apogee: CONTROL_FINISHED_OK

state 2744 begin climb

2745 1.04 121.7 2649 2544 3401 3392 335.8 0.0 305 2863 1.40 0.00 110.82 2.212 10758 0.163 0.000 3055 2544 2912 2915 2909 0 0 0 0 0 0 13.73 13.36 12.49

3164 1.04 121.7 3055 2544 2904 2897 290.8 13.1 347 3169 0.00 2.55 0.00 0.000 260 0.000 0.096 3055 3913 2899 2902 2897 0 0 0 0 0 0 14.33 14.07 14.32

3194 1.04 121.7 3055 3914 2904 2898 286.2 14.9 353 3199 0.00 2.38 0.00 0.000 1030 0.000 0.057 3064 2551 2900 2903 2897 0 0 0 0 0 0 14.24 14.17 14.26

3503 1.04 121.7 3064 2551 2902 2896 247.3 11.8 385 3509 0.00 2.50 0.00 0.000 516 0.000 0.069 3074 1156 2899 2902 2896 0 0 0 0 0 0 14.62 14.30 14.62

3558 1.04 121.7 3074 1158 2903 2897 241.0 11.3 396 3565 0.00 2.50 0.00 0.000 1030 0.000 0.072 3074 2544 2898 2902 2895 0 0 0 0 0 0 14.41 14.34 14.42

3863 1.04 121.7 3074 2545 2902 2896 203.6 12.5 427 3869 0.00 2.50 0.00 0.000 260 0.000 0.097 3074 3926 2898 2902 2895 0 0 0 0 0 0 14.73 14.40 14.73

3883 1.04 121.7 3074 3926 2903 2896 200.8 13.9 431 3889 0.00 2.40 0.00 0.000 1030 0.000 0.057 3084 2549 2898 2902 2895 0 0 0 0 0 0 14.53 14.48 14.54

4193 1.04 121.7 3084 2550 2903 2897 163.1 12.2 463 4194 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2549 2899 2902 2896 0 0 0 0 0 0 14.81 14.79 14.79

4494 1.04 121.7 3085 2549 2904 2896 125.7 12.6 493 4495 0.00 0.00 0.00 0.000 6 0.000 0.000 3084 2549 2899 2902 2896 0 0 0 0 0 0 14.78 14.78 14.78

4793 1.04 121.7 3085 2549 2904 2896 89.0 12.0 523 4799 0.00 2.47 0.00 0.000 260 0.000 0.096 3085 3926 2899 2903 2896 0 0 0 0 0 0 14.85 14.50 14.85

4818 1.04 121.7 3084 3926 2904 2897 85.6 13.5 528 4826 0.10 2.38 0.00 0.000 5126 0.292 0.057 3069 2550 2900 2904 2896 0 0 0 0 0 0 14.26 14.57 14.46

5123 1.04 121.7 3069 2550 2904 2896 49.8 11.7 559 5129 0.00 2.45 0.00 0.000 516 0.000 0.068 3079 1157 2899 2903 2895 0 0 0 0 0 0 14.85 14.49 14.85

5173 1.04 121.7 3079 1158 2904 2897 44.1 11.7 569 5179 0.00 2.47 0.00 0.000 1030 0.000 0.070 3079 2549 2899 2903 2896 0 0 0 0 0 0 14.60 14.52 14.63

5484 1.04 121.7 3079 2550 2904 2897 5.6 10.1 601 5484 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2549 2899 2903 2895 0 0 0 0 0 0 14.86 14.87 14.87

5522 end climb: SURFACE_DEPTH_REACHED

state 5522 begin surface coast

5533 end surface coast: CONTROL_FINISHED_OK

state 5533 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	181	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	36	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	-1	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	250218,145431,-7408.5127,-11310.7324,36,0.8,36,53.9,0.3,358.9,11,2.7	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.76	MHEAD_RNG_PITCHd_Wd	277.8,6491,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.2	D_GRID	526
GPS2	250218,150157,-7408.5034,-11310.7236,3,0.8,4,53.9,0.1,0.0,12,6.4

FREEZE	0.49,-1.731,-1.859,2,1,0	ALTIM_TOP_PING	21.3,21.6
FINISH	0.5,1.027272	_24V_AH	12.49,66.557
SM_CCo	5548,164.18,0.223,0,0,2204,300.18	_10V_AH	12.68,0.000
SM_GC	0.76,8.40,0.47,164.18,0.069,0.101,0.223,191,2806,2204,-7.88,-0.51,300.18,0,0,0,0,0,0,14.57,14.56,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	233	FG_AHR_10Vo	0.000
RAFOS	1,1519571225,15.133333,15.118055,73,57,57,55,54,51,572,159,146,206,216,229	MEM	280420
RAFOS_FIX	-7408.298828,-11311.869141,250218,151512,2,88,0.87	DATA_FILE_SIZE	20081,606
IRIDIUM_FIX	-7408.77,-11302.62,250218,113722	CAP_FILE_SIZE	73738,0
TT8_MAMPS	0.038948,0.206724	CFSIZE	1024409600,999440384
HUMID	45.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.5
TCM_TEMP	13.00	CURRENT	0.069,102.21,1
XPDR_PINGS	0	GPS	250218,163812,-7408.001,-11310.994,3,1.2,4,53.9,0.1,0.0,6,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	469	134.64	nil	0	0	0.00
Roll_motor	47	100	59.31	nil	0	0	0.00
VBD_pump_during_apogee	224	2298	6444.48	nil	0	0	0.00
VBD_pump_during_surface	164	223	458.05	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	5546	7	487.52
Iridium_during_xfer	321	204	820.77	nil	0	0	0.00
Transponder_ping	8	420	43.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.65
TT8	0	0	0.00
LPSleep	3949	2	115.69
TT8_Active	549	10	75.68
TT8_Sampling	1553	30	597.99
TT8_CF8	120	51	78.60
TT8_Kalman	0	0	0.00
Analog_circuits	1340	10	171.65
GPS_charging	0	0	0.00
Compass	873	6	74.63
RAFOS	480	1	9.13
Transponder	58	30	22.13

		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	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	43.70	9000.00	0.0	0.00	0.00	43.70	0.0	1.05	1.00
82.3	86.30	86.30	0.0	1.04	1.00	86.30	0.0	1.04	1.00

104.7	108.70	108.90	-4.2	1.03	1.00	108.70	-4.0	1.00	1.00
62.7	65.20	65.50	-2.8	1.04	1.00	65.20	-2.5	1.04	1.00
41.7	43.00	43.10	-1.4	1.04	1.00	43.00	-1.3	1.06	1.00
21.3	21.60	21.60	-0.3	1.05	1.00	21.60	-0.3	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.04	-121.7	187	2802	2235	2129	0.0	0.0	0	122	0.00	0.00	-107.18	0.003	16390	0.000	0.000	186	2802	3889	3899	3879	0	0	0	0	0	0	14.53	13.19	14.54
124	-1.04	-121.7	186	2804	3901	3880	2.8	-3.5	11	142	12.00	2.42	0.00	0.000	2596	0.470	0.045	2390	1393	3896	3902	3890	0	0	0	0	0	0	13.96	14.32	14.25
336	-1.04	-121.7	2389	1393	3902	3902	32.4	-12.1	53	342	0.00	2.53	0.00	0.000	1030	0.000	0.070	2385	2794	3901	3902	3900	0	0	0	0	0	0	14.42	14.33	14.45
648	-1.04	-121.7	2385	2795	3903	3903	74.7	-13.6	85	653	0.00	1.98	0.00	0.000	260	0.000	0.093	2378	3909	3902	3902	3902	0	0	0	0	0	0	14.73	14.40	14.73
687	-1.04	-121.7	2381	3910	3902	3904	80.7	-14.8	93	694	0.00	1.90	0.00	0.000	1030	0.000	0.048	2381	2792	3902	3902	3903	0	0	0	0	0	0	14.53	14.50	14.54
999	-1.04	-121.7	2382	2793	3903	3903	124.2	-14.3	125	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2793	3902	3902	3903	0	0	0	0	0	0	14.75	14.75	14.74
1299	-1.04	-121.7	2381	2794	3902	3905	165.6	-13.8	155	1304	0.00	2.00	0.00	0.000	260	0.000	0.091	2378	3915	3903	3902	3904	0	0	0	0	0	0	14.77	14.47	14.77
1373	-1.04	-121.7	2379	3916	3904	3904	176.4	-14.7	170	1380	0.00	1.90	0.00	0.000	1030	0.000	0.050	2378	2795	3903	3902	3904	0	0	0	0	0	0	14.55	14.51	14.57
1678	-1.04	-121.7	2379	2796	3899	3905	217.0	-12.9	201	1679	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2796	3903	3902	3904	0	0	0	0	0	0	14.83	14.83	14.83
1978	-1.04	-121.7	2377	2796	3903	3905	254.2	-11.7	231	1984	0.00	2.03	0.00	0.000	260	0.000	0.092	2376	3907	3903	3902	3904	0	0	0	0	0	0	14.86	14.45	14.83
2048	-1.04	-121.7	2377	3907	3903	3904	263.3	-13.1	245	2056	0.00	1.88	0.00	0.000	1030	0.000	0.048	2376	2801	3903	3902	3904	0	0	0	0	0	0	14.61	14.57	14.62
2360	-1.04	-121.7	2377	2801	3904	3905	300.6	-11.6	277	2366	0.00	2.40	0.00	0.000	516	0.000	0.050	2376	1403	3903	3902	3904	0	0	0	0	0	0	14.83	14.51	14.83
2410	-1.04	-121.7	2377	1402	3903	3904	306.4	-11.4	287	2416	0.00	2.50	0.00	0.000	1030	0.000	0.070	2374	2802	3903	3902	3904	0	0	0	0	0	0	14.54	14.47	14.59
2620	end dive: TARGET_DEPTH_EXCEEDED
state	2620	begin apogee
2624	-0.23	0.0	2375	2545	3902	3904	332.3	-12.4	299	2743	1.05	0.00	113.62	2.299	10246	0.266	0.000	2647	2544	3397	3401	3393	0	0	0	0	0	0	14.25	13.81	12.93
2744	end apogee: CONTROL_FINISHED_OK
state	2744	begin climb
2745	1.04	121.7	2649	2544	3401	3392	335.8	0.0	305	2863	1.40	0.00	110.82	2.212	10758	0.163	0.000	3055	2544	2912	2915	2909	0	0	0	0	0	0	13.73	13.36	12.49
3164	1.04	121.7	3055	2544	2904	2897	290.8	13.1	347	3169	0.00	2.55	0.00	0.000	260	0.000	0.096	3055	3913	2899	2902	2897	0	0	0	0	0	0	14.33	14.07	14.32
3194	1.04	121.7	3055	3914	2904	2898	286.2	14.9	353	3199	0.00	2.38	0.00	0.000	1030	0.000	0.057	3064	2551	2900	2903	2897	0	0	0	0	0	0	14.24	14.17	14.26
3503	1.04	121.7	3064	2551	2902	2896	247.3	11.8	385	3509	0.00	2.50	0.00	0.000	516	0.000	0.069	3074	1156	2899	2902	2896	0	0	0	0	0	0	14.62	14.30	14.62
3558	1.04	121.7	3074	1158	2903	2897	241.0	11.3	396	3565	0.00	2.50	0.00	0.000	1030	0.000	0.072	3074	2544	2898	2902	2895	0	0	0	0	0	0	14.41	14.34	14.42
3863	1.04	121.7	3074	2545	2902	2896	203.6	12.5	427	3869	0.00	2.50	0.00	0.000	260	0.000	0.097	3074	3926	2898	2902	2895	0	0	0	0	0	0	14.73	14.40	14.73
3883	1.04	121.7	3074	3926	2903	2896	200.8	13.9	431	3889	0.00	2.40	0.00	0.000	1030	0.000	0.057	3084	2549	2898	2902	2895	0	0	0	0	0	0	14.53	14.48	14.54
4193	1.04	121.7	3084	2550	2903	2897	163.1	12.2	463	4194	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2549	2899	2902	2896	0	0	0	0	0	0	14.81	14.79	14.79
4494	1.04	121.7	3085	2549	2904	2896	125.7	12.6	493	4495	0.00	0.00	0.00	0.000	6	0.000	0.000	3084	2549	2899	2902	2896	0	0	0	0	0	0	14.78	14.78	14.78
4793	1.04	121.7	3085	2549	2904	2896	89.0	12.0	523	4799	0.00	2.47	0.00	0.000	260	0.000	0.096	3085	3926	2899	2903	2896	0	0	0	0	0	0	14.85	14.50	14.85
4818	1.04	121.7	3084	3926	2904	2897	85.6	13.5	528	4826	0.10	2.38	0.00	0.000	5126	0.292	0.057	3069	2550	2900	2904	2896	0	0	0	0	0	0	14.26	14.57	14.46
5123	1.04	121.7	3069	2550	2904	2896	49.8	11.7	559	5129	0.00	2.45	0.00	0.000	516	0.000	0.068	3079	1157	2899	2903	2895	0	0	0	0	0	0	14.85	14.49	14.85
5173	1.04	121.7	3079	1158	2904	2897	44.1	11.7	569	5179	0.00	2.47	0.00	0.000	1030	0.000	0.070	3079	2549	2899	2903	2896	0	0	0	0	0	0	14.60	14.52	14.63
5484	1.04	121.7	3079	2550	2904	2897	5.6	10.1	601	5484	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2549	2899	2903	2895	0	0	0	0	0	0	14.86	14.87	14.87
5522	end climb: SURFACE_DEPTH_REACHED
state	5522	begin surface coast
5533	end surface coast: CONTROL_FINISHED_OK
state	5533	begin surface