Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 187 * 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 187 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 22 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 4 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 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 0.059999999 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

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 0.059999999 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 187 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 22 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 260218,012300,-7407.4878,-11316.5537,27,0.8,27,53.9,0.1,0.0,8,3.3 SPEED_LIMITS 0.100,0.198

_CALLS 2 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.78 MHEAD_RNG_PITCHd_Wd 192.7,3304,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.0 D_GRID 381

GPS2 260218,013019,-7407.4624,-11316.4785,2,0.8,3,53.9,0.3,43.5,8,6.2

Post-dive calculations and measurements:

FREEZE 1.02,-1.652,-1.860,2,1,0 ALTIM_TOP_PING 22.0,22.2

FINISH 1.0,1.027288 _24V_AH 12.52,67.787

SM_CCo 5601,163.40,0.222,0,0,2204,300.18 _10V_AH 12.65,0.000

SM_GC 0.74,8.57,2.97,163.40,0.086,0.073,0.222,186,2808,2204,-7.89,-0.48,300.18,0,0,0,0,0,0,14.56,14.54,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 232 FG_AHR_10Vo 0.000

RAFOS 0,1519614066,3.032778,3.018333,140,71,57,55,54,51,637,211,156,186,202,122 MEM 280304

RAFOS_FIX -7407.540527,-11318.323242,260218,030328,1,2,0.17 DATA_FILE_SIZE 20062,584

IRIDIUM_FIX -7406.55,-11317.07,260218,012454 CAP_FILE_SIZE 69997,0

TT8_MAMPS 0.038199,0.28462 CFSIZE 1024409600,998850560

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

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.8

TCM_TEMP 13.10 CURRENT 0.101,30.04,1

XPDR_PINGS 0 GPS 260218,030728,-7407.442,-11318.066,4,1.0,5,53.9,0.4,37.0,6,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 134.23 nil 0 0 0.00

Roll_motor 38 97 46.77 nil 0 0 0.00

VBD_pump_during_apogee 224 2287 6436.31 nil 0 0 0.00

VBD_pump_during_surface 163 221 453.85 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 5599 7 511.31

Iridium_during_xfer 268 193 649.41 nil 0 0 0.00

Transponder_ping 8 420 43.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.53

TT8 0 0 0.00

LPSleep 4113 2 120.21

TT8_Active 539 10 74.20

TT8_Sampling 1461 30 561.28

TT8_CF8 101 51 66.03

TT8_Kalman 0 0 0.00

Analog_circuits 1255 10 160.46

GPS_charging 0 0 0.00

Compass 841 6 71.78

RAFOS 240 1 4.55

Transponder 58 30 22.06

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

21.2 22.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

42.1 45.60 9000.00 0.0 0.00 0.00 45.60 0.0 1.11 1.00

62.1 65.40 65.80 0.0 1.05 1.00 65.40 0.0 0.99 1.00

83.6 86.70 86.70 -3.1 0.99 1.00 86.70 -3.1 0.99 1.00

62.9 67.50 66.80 -3.9 0.96 1.00 67.50 -4.6 0.93 1.00

42.5 44.00 44.80 -2.3 1.04 1.00 44.00 -1.5 1.15 1.00

22.0 22.50 22.20 -0.2 1.10 1.00 22.50 -0.5 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 -121.7 189 2802 2233 2129 0.0 0.0 0 121 0.00 0.00 -105.78 0.003 16390 0.000 0.000 188 2801 3894 3901 3887 0 0 0 0 0 0 14.59 12.94 14.59

123 -1.04 -121.7 189 2802 3902 3880 2.9 -3.5 11 141 11.85 2.42 0.00 0.000 2596 0.467 0.046 2383 1394 3897 3903 3891 0 0 0 0 0 0 13.96 14.35 14.26

230 -1.04 -121.7 2383 1395 3904 3900 19.2 -12.9 32 237 0.00 2.55 0.00 0.000 1030 0.000 0.071 2383 2802 3901 3903 3899 0 0 0 0 0 0 14.41 14.33 14.44

535 -1.04 -121.7 2384 2802 3904 3903 58.7 -12.7 63 541 0.00 2.00 0.00 0.000 260 0.000 0.091 2375 3906 3902 3903 3902 0 0 0 0 0 0 14.74 14.39 14.74

570 -1.04 -121.7 2375 3911 3904 3903 63.6 -14.0 70 577 0.00 1.90 0.00 0.000 1030 0.000 0.047 2375 2792 3902 3903 3902 0 0 0 0 0 0 14.53 14.50 14.55

876 -1.04 -121.7 2375 2794 3904 3904 103.4 -13.1 101 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2792 3904 3905 3903 0 0 0 0 0 0 14.73 14.74 14.74

1176 -1.04 -121.7 2375 2793 3904 3905 142.1 -12.8 131 1177 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2792 3903 3903 3903 0 0 0 0 0 0 14.80 14.81 14.81

1475 -1.04 -121.7 2375 2793 3904 3905 179.7 -12.5 161 1482 0.00 2.03 0.00 0.000 260 0.000 0.091 2372 3901 3903 3903 3904 0 0 0 0 0 0 14.83 14.45 14.83

1556 -1.04 -121.7 2373 3903 3904 3905 190.7 -14.0 177 1562 0.00 1.88 0.00 0.000 1030 0.000 0.050 2373 2798 3903 3903 3903 0 0 0 0 0 0 14.59 14.57 14.62

1866 -1.04 -121.7 2372 2798 3904 3904 229.6 -12.4 209 1867 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2798 3902 3902 3903 0 0 0 0 0 0 14.84 14.84 14.84

2167 -1.04 -121.7 2376 2799 3904 3904 267.3 -12.2 239 2168 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2798 3903 3903 3903 0 0 0 0 0 0 14.76 14.76 14.77

2466 -1.04 -121.7 2373 2799 3904 3905 302.5 -11.1 268 2467 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2798 3903 3903 3903 0 0 0 0 0 0 14.85 14.85 14.85

2706 end dive: TARGET_DEPTH_EXCEEDED

state 2706 begin apogee

2710 -0.23 0.0 2373 2544 3905 3904 330.3 -11.7 280 2830 1.05 0.00 113.97 2.287 10246 0.262 0.000 2647 2544 3397 3402 3393 0 0 0 0 0 0 14.26 13.78 12.93

2831 end apogee: CONTROL_FINISHED_OK

state 2831 begin climb

2832 1.04 121.7 2647 2545 3402 3394 333.2 0.0 286 2949 1.40 0.00 110.78 2.209 10758 0.164 0.000 3053 2544 2913 2917 2909 0 0 0 0 0 0 13.74 13.34 12.52

3246 1.04 121.7 3053 2545 2906 2899 287.0 12.4 327 3247 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2544 2901 2905 2898 0 0 0 0 0 0 14.36 14.36 14.37

3547 1.04 121.7 3051 2544 2905 2898 250.3 12.4 357 3553 0.00 2.47 0.00 0.000 260 0.000 0.095 3053 3906 2901 2905 2897 0 0 0 0 0 0 14.62 14.30 14.62

3592 1.04 121.7 3053 3907 2906 2896 243.9 14.0 366 3599 0.00 2.38 0.00 0.000 1030 0.000 0.057 3063 2552 2900 2904 2897 0 0 0 0 0 0 14.43 14.38 14.45

3898 1.04 121.7 3062 2552 2905 2897 206.8 12.6 397 3904 0.00 2.45 0.00 0.000 516 0.000 0.069 3073 1151 2901 2905 2897 0 0 0 0 0 0 14.69 14.42 14.69

3953 1.04 121.7 3074 1151 2906 2896 199.8 12.1 408 3960 0.00 2.50 0.00 0.000 1030 0.000 0.071 3073 2547 2901 2905 2897 0 0 0 0 0 0 14.50 14.42 14.53

4258 1.04 121.7 3074 2548 2906 2896 161.9 12.1 439 4259 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2547 2901 2905 2897 0 0 0 0 0 0 14.78 14.79 14.79

4558 1.04 121.7 3074 2548 2906 2897 125.3 11.5 469 4559 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2547 2901 2905 2897 0 0 0 0 0 0 14.82 14.82 14.82

4858 1.04 121.7 3073 2547 2906 2898 89.1 12.3 499 4864 0.00 2.47 0.00 0.000 260 0.000 0.098 3073 3900 2900 2904 2896 0 0 0 0 0 0 14.84 14.47 14.84

4908 1.04 121.7 3074 3900 2907 2897 82.2 13.9 509 4915 0.00 2.33 0.00 0.000 1030 0.000 0.057 3084 2553 2901 2906 2896 0 0 0 0 0 0 14.62 14.57 14.64

5219 1.04 121.7 3084 2553 2907 2897 44.4 12.4 541 5225 0.00 2.47 0.00 0.000 516 0.000 0.067 3094 1152 2901 2906 2896 0 0 0 0 0 0 14.85 14.50 14.85

5244 1.04 121.7 3094 1153 2907 2898 41.3 12.1 546 5252 0.10 2.50 0.00 0.000 5126 0.259 0.072 3068 2553 2901 2906 2897 0 0 0 0 0 0 14.31 14.52 14.66

5550 1.04 121.7 3068 2553 2907 2896 5.3 11.6 577 5556 0.00 2.42 0.00 0.000 516 0.000 0.067 3077 1154 2901 2906 2897 0 0 0 0 0 0 14.85 14.52 14.85

5580 end climb: SURFACE_DEPTH_REACHED

state 5580 begin surface coast

5584 end surface coast: CONTROL_FINISHED_OK

state 5584 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	187	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	22	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	4	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	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	0.059999999	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	260218,012300,-7407.4878,-11316.5537,27,0.8,27,53.9,0.1,0.0,8,3.3	SPEED_LIMITS	0.100,0.198
_CALLS	2	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.78	MHEAD_RNG_PITCHd_Wd	192.7,3304,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.0	D_GRID	381
GPS2	260218,013019,-7407.4624,-11316.4785,2,0.8,3,53.9,0.3,43.5,8,6.2

FREEZE	1.02,-1.652,-1.860,2,1,0	ALTIM_TOP_PING	22.0,22.2
FINISH	1.0,1.027288	_24V_AH	12.52,67.787
SM_CCo	5601,163.40,0.222,0,0,2204,300.18	_10V_AH	12.65,0.000
SM_GC	0.74,8.57,2.97,163.40,0.086,0.073,0.222,186,2808,2204,-7.89,-0.48,300.18,0,0,0,0,0,0,14.56,14.54,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	232	FG_AHR_10Vo	0.000
RAFOS	0,1519614066,3.032778,3.018333,140,71,57,55,54,51,637,211,156,186,202,122	MEM	280304
RAFOS_FIX	-7407.540527,-11318.323242,260218,030328,1,2,0.17	DATA_FILE_SIZE	20062,584
IRIDIUM_FIX	-7406.55,-11317.07,260218,012454	CAP_FILE_SIZE	69997,0
TT8_MAMPS	0.038199,0.28462	CFSIZE	1024409600,998850560
HUMID	45.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.8
TCM_TEMP	13.10	CURRENT	0.101,30.04,1
XPDR_PINGS	0	GPS	260218,030728,-7407.442,-11318.066,4,1.0,5,53.9,0.4,37.0,6,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	134.23	nil	0	0	0.00
Roll_motor	38	97	46.77	nil	0	0	0.00
VBD_pump_during_apogee	224	2287	6436.31	nil	0	0	0.00
VBD_pump_during_surface	163	221	453.85	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	5599	7	511.31
Iridium_during_xfer	268	193	649.41	nil	0	0	0.00
Transponder_ping	8	420	43.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.53
TT8	0	0	0.00
LPSleep	4113	2	120.21
TT8_Active	539	10	74.20
TT8_Sampling	1461	30	561.28
TT8_CF8	101	51	66.03
TT8_Kalman	0	0	0.00
Analog_circuits	1255	10	160.46
GPS_charging	0	0	0.00
Compass	841	6	71.78
RAFOS	240	1	4.55
Transponder	58	30	22.06

		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
21.2	22.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
42.1	45.60	9000.00	0.0	0.00	0.00	45.60	0.0	1.11	1.00
62.1	65.40	65.80	0.0	1.05	1.00	65.40	0.0	0.99	1.00

83.6	86.70	86.70	-3.1	0.99	1.00	86.70	-3.1	0.99	1.00
62.9	67.50	66.80	-3.9	0.96	1.00	67.50	-4.6	0.93	1.00
42.5	44.00	44.80	-2.3	1.04	1.00	44.00	-1.5	1.15	1.00
22.0	22.50	22.20	-0.2	1.10	1.00	22.50	-0.5	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	189	2802	2233	2129	0.0	0.0	0	121	0.00	0.00	-105.78	0.003	16390	0.000	0.000	188	2801	3894	3901	3887	0	0	0	0	0	0	14.59	12.94	14.59
123	-1.04	-121.7	189	2802	3902	3880	2.9	-3.5	11	141	11.85	2.42	0.00	0.000	2596	0.467	0.046	2383	1394	3897	3903	3891	0	0	0	0	0	0	13.96	14.35	14.26
230	-1.04	-121.7	2383	1395	3904	3900	19.2	-12.9	32	237	0.00	2.55	0.00	0.000	1030	0.000	0.071	2383	2802	3901	3903	3899	0	0	0	0	0	0	14.41	14.33	14.44
535	-1.04	-121.7	2384	2802	3904	3903	58.7	-12.7	63	541	0.00	2.00	0.00	0.000	260	0.000	0.091	2375	3906	3902	3903	3902	0	0	0	0	0	0	14.74	14.39	14.74
570	-1.04	-121.7	2375	3911	3904	3903	63.6	-14.0	70	577	0.00	1.90	0.00	0.000	1030	0.000	0.047	2375	2792	3902	3903	3902	0	0	0	0	0	0	14.53	14.50	14.55
876	-1.04	-121.7	2375	2794	3904	3904	103.4	-13.1	101	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2792	3904	3905	3903	0	0	0	0	0	0	14.73	14.74	14.74
1176	-1.04	-121.7	2375	2793	3904	3905	142.1	-12.8	131	1177	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2792	3903	3903	3903	0	0	0	0	0	0	14.80	14.81	14.81
1475	-1.04	-121.7	2375	2793	3904	3905	179.7	-12.5	161	1482	0.00	2.03	0.00	0.000	260	0.000	0.091	2372	3901	3903	3903	3904	0	0	0	0	0	0	14.83	14.45	14.83
1556	-1.04	-121.7	2373	3903	3904	3905	190.7	-14.0	177	1562	0.00	1.88	0.00	0.000	1030	0.000	0.050	2373	2798	3903	3903	3903	0	0	0	0	0	0	14.59	14.57	14.62
1866	-1.04	-121.7	2372	2798	3904	3904	229.6	-12.4	209	1867	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2798	3902	3902	3903	0	0	0	0	0	0	14.84	14.84	14.84
2167	-1.04	-121.7	2376	2799	3904	3904	267.3	-12.2	239	2168	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2798	3903	3903	3903	0	0	0	0	0	0	14.76	14.76	14.77
2466	-1.04	-121.7	2373	2799	3904	3905	302.5	-11.1	268	2467	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2798	3903	3903	3903	0	0	0	0	0	0	14.85	14.85	14.85
2706	end dive: TARGET_DEPTH_EXCEEDED
state	2706	begin apogee
2710	-0.23	0.0	2373	2544	3905	3904	330.3	-11.7	280	2830	1.05	0.00	113.97	2.287	10246	0.262	0.000	2647	2544	3397	3402	3393	0	0	0	0	0	0	14.26	13.78	12.93
2831	end apogee: CONTROL_FINISHED_OK
state	2831	begin climb
2832	1.04	121.7	2647	2545	3402	3394	333.2	0.0	286	2949	1.40	0.00	110.78	2.209	10758	0.164	0.000	3053	2544	2913	2917	2909	0	0	0	0	0	0	13.74	13.34	12.52
3246	1.04	121.7	3053	2545	2906	2899	287.0	12.4	327	3247	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2544	2901	2905	2898	0	0	0	0	0	0	14.36	14.36	14.37
3547	1.04	121.7	3051	2544	2905	2898	250.3	12.4	357	3553	0.00	2.47	0.00	0.000	260	0.000	0.095	3053	3906	2901	2905	2897	0	0	0	0	0	0	14.62	14.30	14.62
3592	1.04	121.7	3053	3907	2906	2896	243.9	14.0	366	3599	0.00	2.38	0.00	0.000	1030	0.000	0.057	3063	2552	2900	2904	2897	0	0	0	0	0	0	14.43	14.38	14.45
3898	1.04	121.7	3062	2552	2905	2897	206.8	12.6	397	3904	0.00	2.45	0.00	0.000	516	0.000	0.069	3073	1151	2901	2905	2897	0	0	0	0	0	0	14.69	14.42	14.69
3953	1.04	121.7	3074	1151	2906	2896	199.8	12.1	408	3960	0.00	2.50	0.00	0.000	1030	0.000	0.071	3073	2547	2901	2905	2897	0	0	0	0	0	0	14.50	14.42	14.53
4258	1.04	121.7	3074	2548	2906	2896	161.9	12.1	439	4259	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2547	2901	2905	2897	0	0	0	0	0	0	14.78	14.79	14.79
4558	1.04	121.7	3074	2548	2906	2897	125.3	11.5	469	4559	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2547	2901	2905	2897	0	0	0	0	0	0	14.82	14.82	14.82
4858	1.04	121.7	3073	2547	2906	2898	89.1	12.3	499	4864	0.00	2.47	0.00	0.000	260	0.000	0.098	3073	3900	2900	2904	2896	0	0	0	0	0	0	14.84	14.47	14.84
4908	1.04	121.7	3074	3900	2907	2897	82.2	13.9	509	4915	0.00	2.33	0.00	0.000	1030	0.000	0.057	3084	2553	2901	2906	2896	0	0	0	0	0	0	14.62	14.57	14.64
5219	1.04	121.7	3084	2553	2907	2897	44.4	12.4	541	5225	0.00	2.47	0.00	0.000	516	0.000	0.067	3094	1152	2901	2906	2896	0	0	0	0	0	0	14.85	14.50	14.85
5244	1.04	121.7	3094	1153	2907	2898	41.3	12.1	546	5252	0.10	2.50	0.00	0.000	5126	0.259	0.072	3068	2553	2901	2906	2897	0	0	0	0	0	0	14.31	14.52	14.66
5550	1.04	121.7	3068	2553	2907	2896	5.3	11.6	577	5556	0.00	2.42	0.00	0.000	516	0.000	0.067	3077	1154	2901	2906	2897	0	0	0	0	0	0	14.85	14.52	14.85
5580	end climb: SURFACE_DEPTH_REACHED
state	5580	begin surface coast
5584	end surface coast: CONTROL_FINISHED_OK
state	5584	begin surface