Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 195 * 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 195 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 39 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 195 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 24 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 260218,151956,-7408.0151,-11317.0059,3,1.3,6,53.9,0.2,0.0,6,9.1 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 0.79 MHEAD_RNG_PITCHd_Wd 219.2,3179,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -61.8 D_GRID 417

GPS2 260218,152806,-7407.9971,-11316.9941,2,1.2,4,53.9,0.2,0.0,6,8.8

Post-dive calculations and measurements:

FREEZE 0.64,-1.589,-1.860,2,1,0 _24V_AH 12.51,69.445

FINISH 0.6,1.027281 _10V_AH 12.74,0.000

SM_CCo 5567,162.65,0.222,0,0,2204,300.18 FG_AHR_24Vo 0.000

SM_GC 0.79,8.43,0.47,162.65,0.075,0.090,0.222,199,2812,2204,-7.87,-0.40,300.18,0,0,0,0,0,0,14.55,14.57,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 224 MEM 280500

RAFOS_FIX -7407.981445,-11316.303711,260218,171749,0,1,0.06 DATA_FILE_SIZE 20030,600

IRIDIUM_FIX -7407.14,-11317.07,260218,152204 CAP_FILE_SIZE 71194,0

TT8_MAMPS 0.03745,0.28462 CFSIZE 1024409600,998064128

HUMID 45.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1445.1

TCM_TEMP 13.00 CURRENT 0.074,10.53,1

XPDR_PINGS 1 GPS 260218,170509,-7407.755,-11319.067,17,1.1,26,53.9,0.2,0.0,10,3.8

ALTIM_TOP_PING 23.6,24.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 133.69 nil 0 0 0.00

Roll_motor 43 97 52.81 nil 0 0 0.00

VBD_pump_during_apogee 227 2302 6542.60 nil 0 0 0.00

VBD_pump_during_surface 162 221 451.41 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 5556 7 509.68

Iridium_during_xfer 318 183 731.08 nil 0 0 0.00

Transponder_ping 8 420 44.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.63

TT8 0 0 0.00

LPSleep 4037 2 118.82

TT8_Active 551 10 76.32

TT8_Sampling 1545 30 597.74

TT8_CF8 106 51 69.71

TT8_Kalman 0 0 0.00

Analog_circuits 1324 10 170.47

GPS_charging 0 0 0.00

Compass 864 6 74.24

RAFOS 0 0 0.00

Transponder 59 30 22.70

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

40.6 43.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

61.4 64.20 9000.00 0.0 0.00 0.00 64.20 0.0 1.00 1.00

64.1 66.70 66.80 -2.7 1.00 1.00 66.70 -2.6 0.93 1.00

44.1 45.40 45.40 -1.3 1.07 1.00 45.40 -1.3 1.07 1.00

23.6 24.40 24.30 -0.7 1.05 1.00 24.40 -0.8 1.02 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 -121.7 190 2803 2231 2126 0.0 0.0 0 122 0.00 0.00 -106.38 0.003 16390 0.000 0.000 189 2804 3890 3902 3879 0 0 0 0 0 0 14.59 12.93 14.59

124 -1.04 -121.7 190 2805 3903 3880 3.0 -3.9 11 142 11.88 2.45 0.00 0.000 2596 0.467 0.047 2393 1391 3898 3904 3893 0 0 0 0 0 0 13.96 14.35 14.26

336 -1.04 -121.7 2393 1391 3905 3902 32.5 -11.3 53 343 0.00 2.53 0.00 0.000 1030 0.000 0.072 2385 2793 3903 3904 3902 0 0 0 0 0 0 14.44 14.36 14.47

647 -1.04 -121.7 2385 2792 3905 3903 71.6 -12.7 85 648 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2792 3904 3904 3904 0 0 0 0 0 0 14.75 14.75 14.75

947 -1.04 -121.7 2384 2793 3904 3905 109.0 -12.9 115 953 0.00 2.03 0.00 0.000 260 0.000 0.092 2376 3910 3904 3904 3905 0 0 0 0 0 0 14.78 14.42 14.78

1022 -1.04 -121.7 2377 3911 3904 3906 119.6 -14.3 130 1029 0.00 1.90 0.00 0.000 1030 0.000 0.048 2376 2792 3904 3904 3905 0 0 0 0 0 0 14.57 14.54 14.59

1327 -1.04 -121.7 2376 2793 3905 3906 159.9 -13.2 161 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2792 3904 3904 3905 0 0 0 0 0 0 14.81 14.81 14.81

1627 -1.04 -121.7 2376 2797 3904 3905 198.0 -12.1 191 1633 0.00 2.03 0.00 0.000 260 0.000 0.091 2372 3903 3904 3904 3905 0 0 0 0 0 0 14.82 14.45 14.82

1732 -1.04 -121.7 2373 3903 3905 3905 212.0 -13.6 212 1739 0.00 1.88 0.00 0.000 1030 0.000 0.049 2369 2798 3904 3904 3905 0 0 0 0 0 0 14.59 14.56 14.62

2037 -1.04 -121.7 2373 2797 3906 3905 250.0 -12.2 243 2043 0.00 2.40 0.00 0.000 516 0.000 0.052 2372 1405 3904 3904 3905 0 0 0 0 0 0 14.83 14.50 14.83

2072 -1.04 -121.7 2373 1407 3905 3905 254.3 -12.3 250 2079 0.00 2.47 0.00 0.000 1030 0.000 0.070 2372 2795 3904 3904 3905 0 0 0 0 0 0 14.55 14.47 14.59

2377 -1.04 -121.7 2372 2796 3904 3906 290.6 -12.4 281 2384 0.00 2.42 0.00 0.000 516 0.000 0.050 2372 1398 3904 3904 3905 0 0 0 0 0 0 14.83 14.50 14.83

2408 -1.04 -121.7 2373 1396 3905 3905 294.3 -12.3 287 2414 0.00 2.50 0.00 0.000 1030 0.000 0.069 2372 2796 3904 3904 3905 0 0 0 0 0 0 14.55 14.47 14.59

2718 end dive: TARGET_DEPTH_EXCEEDED

state 2718 begin apogee

2722 -0.23 0.0 2372 2549 3904 3905 330.8 -11.8 306 2841 1.08 0.00 115.00 2.303 10246 0.268 0.000 2650 2549 3400 3407 3394 0 0 0 0 0 0 14.23 13.79 12.90

2842 end apogee: CONTROL_FINISHED_OK

state 2842 begin climb

2843 1.04 121.7 2651 2549 3404 3394 334.9 0.0 312 2963 1.42 2.75 112.12 2.206 10500 0.161 0.095 3058 3901 2911 2916 2907 0 0 0 0 0 0 13.71 13.30 12.51

2997 1.04 121.7 3059 3902 2915 2902 321.6 14.0 334 3005 0.00 2.50 0.00 0.000 1030 0.000 0.057 3068 2563 2906 2912 2901 0 0 0 0 0 0 13.62 13.59 13.65

3302 1.04 121.7 3068 2564 2906 2897 281.1 13.4 356 3308 0.00 2.53 0.00 0.000 516 0.000 0.067 3078 1147 2900 2905 2895 0 0 0 0 0 0 14.41 14.11 14.40

3393 1.04 121.7 3078 1148 2905 2896 269.8 12.1 374 3399 0.00 2.55 0.00 0.000 1030 0.000 0.071 3081 2547 2900 2905 2895 0 0 0 0 0 0 14.27 14.20 14.30

3703 1.04 121.7 3084 2549 2905 2896 229.4 13.0 406 3709 0.00 2.47 0.00 0.000 260 0.000 0.097 3078 3915 2899 2904 2895 0 0 0 0 0 0 14.66 14.35 14.66

3748 1.04 121.7 3078 3916 2906 2894 222.6 15.6 415 3755 0.00 2.40 0.00 0.000 1030 0.000 0.057 3088 2537 2899 2905 2894 0 0 0 0 0 0 14.45 14.40 14.47

4053 1.04 121.7 3089 2538 2906 2895 181.4 13.5 446 4054 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2534 2899 2905 2894 0 0 0 0 0 0 14.76 14.76 14.76

4353 1.04 121.7 3089 2538 2905 2895 141.7 12.9 476 4354 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2537 2900 2903 2898 0 0 0 0 0 0 14.80 14.78 14.81

4653 1.04 121.7 3089 2538 2903 2896 103.1 12.5 506 4658 0.00 2.45 0.00 0.000 260 0.000 0.096 3088 3906 2903 2912 2895 0 0 0 0 0 0 14.83 14.49 14.83

4683 1.04 121.7 3089 3906 2907 2894 98.9 14.6 512 4689 0.10 2.33 0.00 0.000 5126 0.286 0.057 3073 2554 2899 2905 2894 0 0 0 0 0 0 14.25 14.57 14.47

4994 1.04 121.7 3073 2555 2906 2894 64.1 11.1 544 4995 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2554 2900 2905 2895 0 0 0 0 0 0 14.81 14.81 14.80

5293 1.04 121.7 3073 2554 2905 2895 30.4 11.5 574 5294 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2555 2900 2905 2895 0 0 0 0 0 0 14.85 14.85 14.85

5542 end climb: SURFACE_DEPTH_REACHED

state 5542 begin surface coast

5552 end surface coast: CONTROL_FINISHED_OK

state 5552 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	195	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	39	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	260218,151956,-7408.0151,-11317.0059,3,1.3,6,53.9,0.2,0.0,6,9.1	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	0.79	MHEAD_RNG_PITCHd_Wd	219.2,3179,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-61.8	D_GRID	417
GPS2	260218,152806,-7407.9971,-11316.9941,2,1.2,4,53.9,0.2,0.0,6,8.8

FREEZE	0.64,-1.589,-1.860,2,1,0	_24V_AH	12.51,69.445
FINISH	0.6,1.027281	_10V_AH	12.74,0.000
SM_CCo	5567,162.65,0.222,0,0,2204,300.18	FG_AHR_24Vo	0.000
SM_GC	0.79,8.43,0.47,162.65,0.075,0.090,0.222,199,2812,2204,-7.87,-0.40,300.18,0,0,0,0,0,0,14.55,14.57,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	224	MEM	280500
RAFOS_FIX	-7407.981445,-11316.303711,260218,171749,0,1,0.06	DATA_FILE_SIZE	20030,600
IRIDIUM_FIX	-7407.14,-11317.07,260218,152204	CAP_FILE_SIZE	71194,0
TT8_MAMPS	0.03745,0.28462	CFSIZE	1024409600,998064128
HUMID	45.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1445.1
TCM_TEMP	13.00	CURRENT	0.074,10.53,1
XPDR_PINGS	1	GPS	260218,170509,-7407.755,-11319.067,17,1.1,26,53.9,0.2,0.0,10,3.8
ALTIM_TOP_PING	23.6,24.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	133.69	nil	0	0	0.00
Roll_motor	43	97	52.81	nil	0	0	0.00
VBD_pump_during_apogee	227	2302	6542.60	nil	0	0	0.00
VBD_pump_during_surface	162	221	451.41	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	5556	7	509.68
Iridium_during_xfer	318	183	731.08	nil	0	0	0.00
Transponder_ping	8	420	44.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.63
TT8	0	0	0.00
LPSleep	4037	2	118.82
TT8_Active	551	10	76.32
TT8_Sampling	1545	30	597.74
TT8_CF8	106	51	69.71
TT8_Kalman	0	0	0.00
Analog_circuits	1324	10	170.47
GPS_charging	0	0	0.00
Compass	864	6	74.24
RAFOS	0	0	0.00
Transponder	59	30	22.70

		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
40.6	43.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
61.4	64.20	9000.00	0.0	0.00	0.00	64.20	0.0	1.00	1.00

64.1	66.70	66.80	-2.7	1.00	1.00	66.70	-2.6	0.93	1.00
44.1	45.40	45.40	-1.3	1.07	1.00	45.40	-1.3	1.07	1.00
23.6	24.40	24.30	-0.7	1.05	1.00	24.40	-0.8	1.02	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	190	2803	2231	2126	0.0	0.0	0	122	0.00	0.00	-106.38	0.003	16390	0.000	0.000	189	2804	3890	3902	3879	0	0	0	0	0	0	14.59	12.93	14.59
124	-1.04	-121.7	190	2805	3903	3880	3.0	-3.9	11	142	11.88	2.45	0.00	0.000	2596	0.467	0.047	2393	1391	3898	3904	3893	0	0	0	0	0	0	13.96	14.35	14.26
336	-1.04	-121.7	2393	1391	3905	3902	32.5	-11.3	53	343	0.00	2.53	0.00	0.000	1030	0.000	0.072	2385	2793	3903	3904	3902	0	0	0	0	0	0	14.44	14.36	14.47
647	-1.04	-121.7	2385	2792	3905	3903	71.6	-12.7	85	648	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2792	3904	3904	3904	0	0	0	0	0	0	14.75	14.75	14.75
947	-1.04	-121.7	2384	2793	3904	3905	109.0	-12.9	115	953	0.00	2.03	0.00	0.000	260	0.000	0.092	2376	3910	3904	3904	3905	0	0	0	0	0	0	14.78	14.42	14.78
1022	-1.04	-121.7	2377	3911	3904	3906	119.6	-14.3	130	1029	0.00	1.90	0.00	0.000	1030	0.000	0.048	2376	2792	3904	3904	3905	0	0	0	0	0	0	14.57	14.54	14.59
1327	-1.04	-121.7	2376	2793	3905	3906	159.9	-13.2	161	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2792	3904	3904	3905	0	0	0	0	0	0	14.81	14.81	14.81
1627	-1.04	-121.7	2376	2797	3904	3905	198.0	-12.1	191	1633	0.00	2.03	0.00	0.000	260	0.000	0.091	2372	3903	3904	3904	3905	0	0	0	0	0	0	14.82	14.45	14.82
1732	-1.04	-121.7	2373	3903	3905	3905	212.0	-13.6	212	1739	0.00	1.88	0.00	0.000	1030	0.000	0.049	2369	2798	3904	3904	3905	0	0	0	0	0	0	14.59	14.56	14.62
2037	-1.04	-121.7	2373	2797	3906	3905	250.0	-12.2	243	2043	0.00	2.40	0.00	0.000	516	0.000	0.052	2372	1405	3904	3904	3905	0	0	0	0	0	0	14.83	14.50	14.83
2072	-1.04	-121.7	2373	1407	3905	3905	254.3	-12.3	250	2079	0.00	2.47	0.00	0.000	1030	0.000	0.070	2372	2795	3904	3904	3905	0	0	0	0	0	0	14.55	14.47	14.59
2377	-1.04	-121.7	2372	2796	3904	3906	290.6	-12.4	281	2384	0.00	2.42	0.00	0.000	516	0.000	0.050	2372	1398	3904	3904	3905	0	0	0	0	0	0	14.83	14.50	14.83
2408	-1.04	-121.7	2373	1396	3905	3905	294.3	-12.3	287	2414	0.00	2.50	0.00	0.000	1030	0.000	0.069	2372	2796	3904	3904	3905	0	0	0	0	0	0	14.55	14.47	14.59
2718	end dive: TARGET_DEPTH_EXCEEDED
state	2718	begin apogee
2722	-0.23	0.0	2372	2549	3904	3905	330.8	-11.8	306	2841	1.08	0.00	115.00	2.303	10246	0.268	0.000	2650	2549	3400	3407	3394	0	0	0	0	0	0	14.23	13.79	12.90
2842	end apogee: CONTROL_FINISHED_OK
state	2842	begin climb
2843	1.04	121.7	2651	2549	3404	3394	334.9	0.0	312	2963	1.42	2.75	112.12	2.206	10500	0.161	0.095	3058	3901	2911	2916	2907	0	0	0	0	0	0	13.71	13.30	12.51
2997	1.04	121.7	3059	3902	2915	2902	321.6	14.0	334	3005	0.00	2.50	0.00	0.000	1030	0.000	0.057	3068	2563	2906	2912	2901	0	0	0	0	0	0	13.62	13.59	13.65
3302	1.04	121.7	3068	2564	2906	2897	281.1	13.4	356	3308	0.00	2.53	0.00	0.000	516	0.000	0.067	3078	1147	2900	2905	2895	0	0	0	0	0	0	14.41	14.11	14.40
3393	1.04	121.7	3078	1148	2905	2896	269.8	12.1	374	3399	0.00	2.55	0.00	0.000	1030	0.000	0.071	3081	2547	2900	2905	2895	0	0	0	0	0	0	14.27	14.20	14.30
3703	1.04	121.7	3084	2549	2905	2896	229.4	13.0	406	3709	0.00	2.47	0.00	0.000	260	0.000	0.097	3078	3915	2899	2904	2895	0	0	0	0	0	0	14.66	14.35	14.66
3748	1.04	121.7	3078	3916	2906	2894	222.6	15.6	415	3755	0.00	2.40	0.00	0.000	1030	0.000	0.057	3088	2537	2899	2905	2894	0	0	0	0	0	0	14.45	14.40	14.47
4053	1.04	121.7	3089	2538	2906	2895	181.4	13.5	446	4054	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2534	2899	2905	2894	0	0	0	0	0	0	14.76	14.76	14.76
4353	1.04	121.7	3089	2538	2905	2895	141.7	12.9	476	4354	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2537	2900	2903	2898	0	0	0	0	0	0	14.80	14.78	14.81
4653	1.04	121.7	3089	2538	2903	2896	103.1	12.5	506	4658	0.00	2.45	0.00	0.000	260	0.000	0.096	3088	3906	2903	2912	2895	0	0	0	0	0	0	14.83	14.49	14.83
4683	1.04	121.7	3089	3906	2907	2894	98.9	14.6	512	4689	0.10	2.33	0.00	0.000	5126	0.286	0.057	3073	2554	2899	2905	2894	0	0	0	0	0	0	14.25	14.57	14.47
4994	1.04	121.7	3073	2555	2906	2894	64.1	11.1	544	4995	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2554	2900	2905	2895	0	0	0	0	0	0	14.81	14.81	14.80
5293	1.04	121.7	3073	2554	2905	2895	30.4	11.5	574	5294	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2555	2900	2905	2895	0	0	0	0	0	0	14.85	14.85	14.85
5542	end climb: SURFACE_DEPTH_REACHED
state	5542	begin surface coast
5552	end surface coast: CONTROL_FINISHED_OK
state	5552	begin surface