Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 871 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 871 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 29 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 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 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2575 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 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 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 871 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 29 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 280119,084825,-7407.9878,-11322.3301,17,0.7,34,53.9,0.1,0.0,12,2.4 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 238.8,1615,-43.7,-10.000,-45.00,362

_SM_ANGLEo -66.8 D_GRID 990

GPS2 280119,085616,-7408.0010,-11322.3896,2,0.6,3,53.9,0.2,0.0,12,9.7

Post-dive calculations and measurements:

FREEZE -0.05,-0.214,-1.144,2,1,0 ALTIM_TOP_PING 9.6,9.4

FINISH -0.0,1.016909 _24V_AH 10.34,285.476

SM_CCo 6167,178.38,0.203,0,0,1147,350.04 _10V_AH 10.26,0.000

SM_GC 0.87,13.30,0.52,178.38,0.083,0.078,0.203,220,2305,1147,-8.23,-0.37,350.04,0,0,0,0,0,0,11.29,11.31,11.18 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

RAFOS 0,1548666064,9.032778,9.017777,106,66,58,58,56,56,635,184,196,138,215,127 MEM 280008

RAFOS_FIX -7406.385742,-11313.069336,280119,090940,3,117,5.08 DATA_FILE_SIZE 13427,394

IRIDIUM_FIX -7409.04,-11320.18,280119,061752 CAP_FILE_SIZE 67221,1

TT8_MAMPS 0.047936,0.275632 CFSIZE 1024409600,920993792

HUMID 49.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1447.5

TCM_TEMP 12.30 CURRENT 0.007,310.22,1

XPDR_PINGS 2 GPS 280119,104321,-7407.925,-11323.587,3,1.4,5,53.9,0.1,0.0,6,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 404 147.50 nil 0 0 0.00

Roll_motor 81 106 89.42 nil 0 0 0.00

VBD_pump_during_apogee 322 2636 8786.51 nil 0 0 0.00

VBD_pump_during_surface 178 203 375.32 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 6162 7 463.27

Iridium_during_xfer 250 227 588.26 nil 0 0 0.00

Transponder_ping 17 420 76.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.58

TT8 0 0 0.00

LPSleep 4734 2 112.21

TT8_Active 656 13 93.05

TT8_Sampling 1088 34 388.39

TT8_CF8 346 52 187.40

TT8_Kalman 0 0 0.00

Analog_circuits 1255 10 140.44

GPS_charging 0 0 0.00

Compass 570 7 43.81

RAFOS 720 1 11.08

Transponder 128 30 39.48

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

10.7 11.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.3 22.70 9000.00 0.0 0.00 0.00 22.70 0.0 1.04 1.00

376.3 36.70 9000.00 0.0 0.05 0.83 36.70 0.0 0.04 1.00

389.4 22.10 9000.00 0.0 0.02 0.20 22.10 411.5 -1.11 1.00

398.5 16.40 15.40 0.0 -0.93 0.98 16.40 0.0 -0.63 1.00

376.6 35.70 35.10 0.0 -0.89 0.98 35.70 0.0 -0.88 1.00

177.2 183.40 9000.00 0.0 -0.75 1.00 183.40 0.0 -0.74 1.00

165.1 170.80 9000.00 0.0 -0.68 0.98 170.80 -5.7 1.04 1.00

95.5 98.90 98.90 -3.4 1.03 1.00 98.90 -3.4 1.03 1.00

62.4 64.40 64.50 -2.1 1.03 1.00 64.40 -2.0 1.04 1.00

51.6 53.10 53.10 -1.5 1.04 1.00 53.10 -1.5 1.05 1.00

41.3 42.50 42.40 -1.1 1.04 1.00 42.50 -1.2 1.03 1.00

31.0 31.60 31.60 -0.6 1.04 1.00 31.60 -0.6 1.06 1.00

20.6 20.90 20.80 -0.2 1.04 1.00 20.90 -0.3 1.03 1.00

9.6 9.40 9.40 0.2 1.04 1.00 9.40 0.2 1.05 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

10 -2.01 -23.5 215 2305 1190 1077 0.0 0.0 0 95 0.00 0.00 -84.05 0.002 16390 0.000 0.000 213 2304 2671 2675 2667 0 0 0 0 0 0 11.43 10.70 11.45

99 -2.01 -23.5 215 2305 2678 2666 1.5 -1.1 3 122 15.23 3.35 0.00 0.000 2564 0.405 0.060 2215 896 2672 2677 2667 0 0 0 0 0 0 11.10 11.24 11.29

252 -2.01 -23.5 2216 898 2680 2667 25.2 -18.4 25 259 0.00 3.35 0.00 0.000 1030 0.000 0.059 2204 2300 2672 2678 2666 0 0 0 0 0 0 11.32 11.26 11.34

605 -2.01 -23.5 2205 2301 2680 2663 84.1 -16.2 39 611 0.00 3.42 0.00 0.000 260 0.000 0.090 2195 3715 2671 2680 2662 0 0 0 0 0 0 11.45 11.26 11.48

820 -2.01 -23.5 2199 3716 2680 2662 120.2 -16.1 70 827 0.00 3.20 0.00 0.000 1030 0.000 0.035 2196 2302 2671 2682 2661 0 0 0 0 0 0 11.37 11.33 11.38

1167 -2.01 -23.5 2195 2303 2683 2662 173.5 -15.8 83 1172 0.00 3.33 0.00 0.000 516 0.000 0.059 2195 897 2671 2682 2661 0 0 0 0 0 0 11.45 11.28 11.48

1402 -2.01 -23.5 2197 897 2684 2661 211.8 -14.9 117 1409 0.25 3.35 0.00 0.000 3078 0.343 0.054 2216 2303 2671 2683 2660 0 0 0 0 0 0 11.14 11.28 11.32

1780 -2.01 -23.5 2217 2304 2685 2661 265.1 -13.8 129 1787 0.00 3.35 0.00 0.000 516 0.000 0.057 2216 889 2671 2683 2660 0 0 0 0 0 0 11.48 11.29 11.49

2018 -2.01 -23.5 2217 890 2685 2661 297.9 -12.3 163 2024 0.00 3.35 0.00 0.000 1030 0.000 0.052 2207 2303 2671 2683 2660 0 0 0 0 0 0 11.37 11.30 11.38

2396 -2.01 -23.5 2207 2304 2683 2660 344.5 -12.0 175 2402 0.00 3.33 0.00 0.000 516 0.000 0.057 2208 898 2671 2683 2660 0 0 0 0 0 0 11.48 11.28 11.49

2432 -2.01 -23.5 2209 899 2686 2660 348.7 -11.9 180 2437 0.00 3.38 0.00 0.000 1030 0.000 0.060 2197 2306 2671 2684 2658 0 0 0 0 0 0 11.37 11.29 11.38

2789 -2.01 -23.5 2197 2306 2684 2660 389.4 -11.2 189 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2197 2306 2671 2683 2659 0 0 0 0 0 0 11.45 11.48 11.48

3124 -2.05 -50.8 2197 2307 2685 2659 408.8 -2.3 195 3130 0.00 3.50 -0.43 0.171 16676 0.000 0.106 2186 3723 2802 2824 2781 0 0 0 0 0 0 11.48 10.72 11.44

3362 -2.09 -86.0 2185 3724 2824 2781 408.8 -0.0 229 3369 0.00 3.22 -0.45 0.160 17446 0.000 0.037 2186 2274 2942 2969 2916 0 0 0 0 0 0 11.39 11.35 11.40

3740 -2.12 -107.1 2187 2274 2971 2915 408.9 0.0 241 3747 0.00 3.62 -0.28 0.261 16676 0.000 0.106 2174 3721 3026 3058 2994 0 0 0 0 0 0 11.48 10.72 11.43

3863 end dive: NO_VERTICAL_VELOCITY

state 3866 begin apogee

3878 -0.23 0.0 2175 2100 3057 2995 408.9 0.0 259 4043 3.10 0.00 159.98 2.637 10246 0.220 0.000 2791 2098 2577 2608 2546 0 0 0 0 0 0 11.21 11.17 10.34

4044 end apogee: CONTROL_FINISHED_OK

state 4044 begin climb

4048 2.12 107.1 2793 2099 2610 2548 409.0 0.0 262 4225 3.12 3.38 162.27 2.555 10756 0.116 0.071 3555 713 2139 2166 2113 0 0 0 0 0 0 11.19 11.17 10.36

4295 2.12 107.1 3555 713 2163 2110 378.0 22.0 299 4304 0.00 3.25 0.00 0.000 1030 0.000 0.050 3554 2113 2135 2161 2109 0 0 0 0 0 0 11.32 11.24 11.31

4657 2.12 107.1 3553 2113 2156 2102 297.5 22.3 308 4662 0.00 3.42 0.00 0.000 260 0.000 0.086 3553 3517 2129 2157 2102 0 0 0 0 0 0 11.44 11.25 11.45

4739 2.12 107.1 3553 3517 2155 2102 277.9 22.7 320 4748 0.00 3.20 0.00 0.000 1030 0.000 0.036 3565 2106 2126 2150 2102 0 0 0 0 0 0 11.36 11.29 11.37

5108 2.12 107.1 3565 2107 2154 2100 200.9 20.8 330 5114 0.00 3.42 0.00 0.000 516 0.000 0.075 3576 691 2126 2153 2100 0 0 0 0 0 0 11.45 11.26 11.47

5134 2.12 107.1 3576 692 2154 2101 194.9 20.2 334 5140 0.00 3.28 0.00 0.000 1030 0.000 0.049 3576 2103 2126 2152 2100 0 0 0 0 0 0 11.36 11.29 11.38

5499 2.12 107.1 3575 2110 2150 2099 118.3 20.2 350 5504 0.00 3.42 0.00 0.000 516 0.000 0.073 3586 696 2124 2150 2099 0 0 0 0 0 0 11.45 11.26 11.47

5540 2.12 107.1 3585 696 2149 2099 109.6 21.1 356 5548 0.25 3.30 0.00 0.000 5126 0.379 0.050 3556 2109 2124 2150 2099 0 0 0 0 0 0 11.12 11.27 11.33

5891 2.12 107.1 3557 2111 2151 2098 41.3 18.8 370 5896 0.00 3.42 0.00 0.000 260 0.000 0.084 3546 3518 2123 2149 2098 0 0 0 0 0 0 11.45 11.27 11.48

6019 2.12 107.1 3547 3519 2151 2099 17.9 18.4 388 6025 0.00 3.22 0.00 0.000 1030 0.000 0.037 3555 2097 2123 2149 2098 0 0 0 0 0 0 11.37 11.31 11.39

6112 end climb: SURFACE_DEPTH_REACHED

state 6112 begin surface coast

6140 end surface coast: CONTROL_FINISHED_OK

state 6140 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	871	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	29	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	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	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2575	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	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	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	280119,084825,-7407.9878,-11322.3301,17,0.7,34,53.9,0.1,0.0,12,2.4	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	238.8,1615,-43.7,-10.000,-45.00,362
_SM_ANGLEo	-66.8	D_GRID	990
GPS2	280119,085616,-7408.0010,-11322.3896,2,0.6,3,53.9,0.2,0.0,12,9.7

FREEZE	-0.05,-0.214,-1.144,2,1,0	ALTIM_TOP_PING	9.6,9.4
FINISH	-0.0,1.016909	_24V_AH	10.34,285.476
SM_CCo	6167,178.38,0.203,0,0,1147,350.04	_10V_AH	10.26,0.000
SM_GC	0.87,13.30,0.52,178.38,0.083,0.078,0.203,220,2305,1147,-8.23,-0.37,350.04,0,0,0,0,0,0,11.29,11.31,11.18	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
RAFOS	0,1548666064,9.032778,9.017777,106,66,58,58,56,56,635,184,196,138,215,127	MEM	280008
RAFOS_FIX	-7406.385742,-11313.069336,280119,090940,3,117,5.08	DATA_FILE_SIZE	13427,394
IRIDIUM_FIX	-7409.04,-11320.18,280119,061752	CAP_FILE_SIZE	67221,1
TT8_MAMPS	0.047936,0.275632	CFSIZE	1024409600,920993792
HUMID	49.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1447.5
TCM_TEMP	12.30	CURRENT	0.007,310.22,1
XPDR_PINGS	2	GPS	280119,104321,-7407.925,-11323.587,3,1.4,5,53.9,0.1,0.0,6,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	404	147.50	nil	0	0	0.00
Roll_motor	81	106	89.42	nil	0	0	0.00
VBD_pump_during_apogee	322	2636	8786.51	nil	0	0	0.00
VBD_pump_during_surface	178	203	375.32	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	6162	7	463.27
Iridium_during_xfer	250	227	588.26	nil	0	0	0.00
Transponder_ping	17	420	76.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.58
TT8	0	0	0.00
LPSleep	4734	2	112.21
TT8_Active	656	13	93.05
TT8_Sampling	1088	34	388.39
TT8_CF8	346	52	187.40
TT8_Kalman	0	0	0.00
Analog_circuits	1255	10	140.44
GPS_charging	0	0	0.00
Compass	570	7	43.81
RAFOS	720	1	11.08
Transponder	128	30	39.48

		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
10.7	11.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.3	22.70	9000.00	0.0	0.00	0.00	22.70	0.0	1.04	1.00
376.3	36.70	9000.00	0.0	0.05	0.83	36.70	0.0	0.04	1.00
389.4	22.10	9000.00	0.0	0.02	0.20	22.10	411.5	-1.11	1.00

398.5	16.40	15.40	0.0	-0.93	0.98	16.40	0.0	-0.63	1.00
376.6	35.70	35.10	0.0	-0.89	0.98	35.70	0.0	-0.88	1.00
177.2	183.40	9000.00	0.0	-0.75	1.00	183.40	0.0	-0.74	1.00
165.1	170.80	9000.00	0.0	-0.68	0.98	170.80	-5.7	1.04	1.00
95.5	98.90	98.90	-3.4	1.03	1.00	98.90	-3.4	1.03	1.00
62.4	64.40	64.50	-2.1	1.03	1.00	64.40	-2.0	1.04	1.00
51.6	53.10	53.10	-1.5	1.04	1.00	53.10	-1.5	1.05	1.00
41.3	42.50	42.40	-1.1	1.04	1.00	42.50	-1.2	1.03	1.00
31.0	31.60	31.60	-0.6	1.04	1.00	31.60	-0.6	1.06	1.00
20.6	20.90	20.80	-0.2	1.04	1.00	20.90	-0.3	1.03	1.00
9.6	9.40	9.40	0.2	1.04	1.00	9.40	0.2	1.05	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
10	-2.01	-23.5	215	2305	1190	1077	0.0	0.0	0	95	0.00	0.00	-84.05	0.002	16390	0.000	0.000	213	2304	2671	2675	2667	0	0	0	0	0	0	11.43	10.70	11.45
99	-2.01	-23.5	215	2305	2678	2666	1.5	-1.1	3	122	15.23	3.35	0.00	0.000	2564	0.405	0.060	2215	896	2672	2677	2667	0	0	0	0	0	0	11.10	11.24	11.29
252	-2.01	-23.5	2216	898	2680	2667	25.2	-18.4	25	259	0.00	3.35	0.00	0.000	1030	0.000	0.059	2204	2300	2672	2678	2666	0	0	0	0	0	0	11.32	11.26	11.34
605	-2.01	-23.5	2205	2301	2680	2663	84.1	-16.2	39	611	0.00	3.42	0.00	0.000	260	0.000	0.090	2195	3715	2671	2680	2662	0	0	0	0	0	0	11.45	11.26	11.48
820	-2.01	-23.5	2199	3716	2680	2662	120.2	-16.1	70	827	0.00	3.20	0.00	0.000	1030	0.000	0.035	2196	2302	2671	2682	2661	0	0	0	0	0	0	11.37	11.33	11.38
1167	-2.01	-23.5	2195	2303	2683	2662	173.5	-15.8	83	1172	0.00	3.33	0.00	0.000	516	0.000	0.059	2195	897	2671	2682	2661	0	0	0	0	0	0	11.45	11.28	11.48
1402	-2.01	-23.5	2197	897	2684	2661	211.8	-14.9	117	1409	0.25	3.35	0.00	0.000	3078	0.343	0.054	2216	2303	2671	2683	2660	0	0	0	0	0	0	11.14	11.28	11.32
1780	-2.01	-23.5	2217	2304	2685	2661	265.1	-13.8	129	1787	0.00	3.35	0.00	0.000	516	0.000	0.057	2216	889	2671	2683	2660	0	0	0	0	0	0	11.48	11.29	11.49
2018	-2.01	-23.5	2217	890	2685	2661	297.9	-12.3	163	2024	0.00	3.35	0.00	0.000	1030	0.000	0.052	2207	2303	2671	2683	2660	0	0	0	0	0	0	11.37	11.30	11.38
2396	-2.01	-23.5	2207	2304	2683	2660	344.5	-12.0	175	2402	0.00	3.33	0.00	0.000	516	0.000	0.057	2208	898	2671	2683	2660	0	0	0	0	0	0	11.48	11.28	11.49
2432	-2.01	-23.5	2209	899	2686	2660	348.7	-11.9	180	2437	0.00	3.38	0.00	0.000	1030	0.000	0.060	2197	2306	2671	2684	2658	0	0	0	0	0	0	11.37	11.29	11.38
2789	-2.01	-23.5	2197	2306	2684	2660	389.4	-11.2	189	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2197	2306	2671	2683	2659	0	0	0	0	0	0	11.45	11.48	11.48
3124	-2.05	-50.8	2197	2307	2685	2659	408.8	-2.3	195	3130	0.00	3.50	-0.43	0.171	16676	0.000	0.106	2186	3723	2802	2824	2781	0	0	0	0	0	0	11.48	10.72	11.44
3362	-2.09	-86.0	2185	3724	2824	2781	408.8	-0.0	229	3369	0.00	3.22	-0.45	0.160	17446	0.000	0.037	2186	2274	2942	2969	2916	0	0	0	0	0	0	11.39	11.35	11.40
3740	-2.12	-107.1	2187	2274	2971	2915	408.9	0.0	241	3747	0.00	3.62	-0.28	0.261	16676	0.000	0.106	2174	3721	3026	3058	2994	0	0	0	0	0	0	11.48	10.72	11.43
3863	end dive: NO_VERTICAL_VELOCITY
state	3866	begin apogee
3878	-0.23	0.0	2175	2100	3057	2995	408.9	0.0	259	4043	3.10	0.00	159.98	2.637	10246	0.220	0.000	2791	2098	2577	2608	2546	0	0	0	0	0	0	11.21	11.17	10.34
4044	end apogee: CONTROL_FINISHED_OK
state	4044	begin climb
4048	2.12	107.1	2793	2099	2610	2548	409.0	0.0	262	4225	3.12	3.38	162.27	2.555	10756	0.116	0.071	3555	713	2139	2166	2113	0	0	0	0	0	0	11.19	11.17	10.36
4295	2.12	107.1	3555	713	2163	2110	378.0	22.0	299	4304	0.00	3.25	0.00	0.000	1030	0.000	0.050	3554	2113	2135	2161	2109	0	0	0	0	0	0	11.32	11.24	11.31
4657	2.12	107.1	3553	2113	2156	2102	297.5	22.3	308	4662	0.00	3.42	0.00	0.000	260	0.000	0.086	3553	3517	2129	2157	2102	0	0	0	0	0	0	11.44	11.25	11.45
4739	2.12	107.1	3553	3517	2155	2102	277.9	22.7	320	4748	0.00	3.20	0.00	0.000	1030	0.000	0.036	3565	2106	2126	2150	2102	0	0	0	0	0	0	11.36	11.29	11.37
5108	2.12	107.1	3565	2107	2154	2100	200.9	20.8	330	5114	0.00	3.42	0.00	0.000	516	0.000	0.075	3576	691	2126	2153	2100	0	0	0	0	0	0	11.45	11.26	11.47
5134	2.12	107.1	3576	692	2154	2101	194.9	20.2	334	5140	0.00	3.28	0.00	0.000	1030	0.000	0.049	3576	2103	2126	2152	2100	0	0	0	0	0	0	11.36	11.29	11.38
5499	2.12	107.1	3575	2110	2150	2099	118.3	20.2	350	5504	0.00	3.42	0.00	0.000	516	0.000	0.073	3586	696	2124	2150	2099	0	0	0	0	0	0	11.45	11.26	11.47
5540	2.12	107.1	3585	696	2149	2099	109.6	21.1	356	5548	0.25	3.30	0.00	0.000	5126	0.379	0.050	3556	2109	2124	2150	2099	0	0	0	0	0	0	11.12	11.27	11.33
5891	2.12	107.1	3557	2111	2151	2098	41.3	18.8	370	5896	0.00	3.42	0.00	0.000	260	0.000	0.084	3546	3518	2123	2149	2098	0	0	0	0	0	0	11.45	11.27	11.48
6019	2.12	107.1	3547	3519	2151	2099	17.9	18.4	388	6025	0.00	3.22	0.00	0.000	1030	0.000	0.037	3555	2097	2123	2149	2098	0	0	0	0	0	0	11.37	11.31	11.39
6112	end climb: SURFACE_DEPTH_REACHED
state	6112	begin surface coast
6140	end surface coast: CONTROL_FINISHED_OK
state	6140	begin surface