Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 916 * 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 916 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 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 0 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 0 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 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 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 916 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 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 100219,200209,-7407.7671,-11320.8232,33,1.2,33,53.9,0.6,246.2,6,8.3 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 0.91 MHEAD_RNG_PITCHd_Wd 200.7,2120,-38.3,-10.000,-39.79,465

_SM_ANGLEo -64.1 D_GRID 990

GPS2 100219,201018,-7407.7256,-11320.8975,2,0.9,3,53.9,0.2,0.0,9,10.0

Post-dive calculations and measurements:

FREEZE 0.21,-0.346,-1.831,2,1,0 ALTIM_TOP_PING 17.9,18.3

FINISH 0.2,1.026826 _24V_AH 10.39,301.969

SM_CCo 5878,182.18,0.205,0,0,1147,350.04 _10V_AH 10.31,0.000

SM_GC 0.90,13.12,3.83,182.18,0.086,0.060,0.205,216,2298,1147,-8.25,-0.45,350.04,0,0,0,0,0,0,11.33,11.33,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 228 FG_AHR_10Vo 0.000

RAFOS 0,1549832491,21.032778,21.025278,174,60,59,58,57,56,495,195,215,163,145,206 MEM 279892

RAFOS_FIX -7405.142090,-11313.184570,100219,212144,2,152,1.58 DATA_FILE_SIZE 13445,375

IRIDIUM_FIX -7413.66,-11319.19,100219,172509 CAP_FILE_SIZE 66007,1

TT8_MAMPS 0.047187,0.293608 CFSIZE 1024409600,915996672

HUMID 48.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.11163 SOUNDSPEED 1447.1

TCM_TEMP 12.30 CURRENT 0.012,352.28,1

XPDR_PINGS 0 GPS 100219,215300,-7407.897,-11322.186,26,0.7,26,53.9,0.8,258.0,12,3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 406 146.41 nil 0 0 0.00

Roll_motor 88 151 138.53 nil 0 0 0.00

VBD_pump_during_apogee 313 2591 8449.85 nil 0 0 0.00

VBD_pump_during_surface 182 205 388.06 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 5871 7 487.88

Iridium_during_xfer 264 226 623.06 nil 0 0 0.00

Transponder_ping 15 420 68.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.54

TT8 0 0 0.00

LPSleep 4482 2 106.75

TT8_Active 655 13 93.45

TT8_Sampling 1064 34 381.93

TT8_CF8 358 52 195.08

TT8_Kalman 0 0 0.00

Analog_circuits 1257 10 141.35

GPS_charging 0 0 0.00

Compass 543 7 41.95

RAFOS 720 1 11.13

Transponder 119 30 37.06

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

31.7 34.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

42.3 44.70 9000.00 0.0 0.00 0.00 44.70 0.0 1.00 1.00

348.2 29.50 9000.00 0.0 -0.03 0.50 29.50 377.7 -0.05 1.00

362.5 13.30 9000.00 0.0 -0.08 0.77 13.30 375.8 -1.13 1.00

364.6 15.90 13.80 0.0 -0.94 0.93 15.90 348.7 1.24 1.00

354.0 25.30 24.80 0.0 -1.04 0.85 25.30 0.0 -0.89 1.00

118.6 122.60 9000.00 0.0 -0.42 1.00 122.60 0.0 -0.41 1.00

104.5 108.30 9000.00 0.0 -0.37 0.97 108.30 -3.8 1.01 1.00

91.2 94.30 94.40 -3.2 1.03 1.00 94.30 -3.1 1.05 1.00

65.0 67.10 67.10 -2.1 1.04 1.00 67.10 -2.1 1.04 1.00

54.1 55.60 55.60 -1.5 1.04 1.00 55.60 -1.5 1.06 1.00

42.6 44.20 44.10 -1.5 1.02 1.00 44.20 -1.6 0.99 1.00

29.4 29.60 29.80 -0.4 1.05 1.00 29.60 -0.2 1.11 1.00

17.9 18.60 18.30 -0.4 1.04 1.00 18.60 -0.7 0.96 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

11 -1.78 -30.2 215 2307 1169 1091 0.0 0.0 0 97 0.00 0.00 -85.00 0.002 16390 0.000 0.000 215 2307 2703 2710 2697 0 0 0 0 0 0 11.48 10.76 11.50

101 -1.78 -30.2 217 2307 2705 2699 1.7 -1.4 3 124 15.82 3.40 0.00 0.000 2564 0.407 0.063 2295 887 2701 2705 2698 0 0 0 0 0 0 11.14 11.28 11.30

355 -1.78 -30.2 2296 889 2709 2695 49.1 -16.1 40 360 0.00 3.38 0.00 0.000 1030 0.000 0.054 2285 2302 2700 2707 2694 0 0 0 0 0 0 11.40 11.33 11.41

716 -1.78 -30.2 2285 2303 2709 2691 104.9 -15.3 55 721 0.00 3.35 0.00 0.000 516 0.000 0.059 2285 890 2700 2710 2690 0 0 0 0 0 0 11.50 11.32 11.51

952 -1.78 -30.2 2285 891 2710 2691 142.7 -15.4 89 958 0.00 3.28 0.00 0.000 1030 0.000 0.054 2275 2307 2700 2710 2690 0 0 0 0 0 0 11.39 11.32 11.40

1302 -1.78 -30.2 2276 2308 2713 2690 194.8 -14.2 103 1307 0.00 3.38 0.00 0.000 516 0.000 0.058 2275 886 2700 2711 2689 0 0 0 0 0 0 11.51 11.30 11.53

1400 -1.78 -30.2 2274 886 2711 2689 208.7 -13.6 117 1407 0.20 3.35 0.00 0.000 3078 0.330 0.055 2290 2306 2700 2712 2689 0 0 0 0 0 0 11.19 11.33 11.36

1751 -1.78 -30.2 2291 2307 2714 2689 255.5 -13.1 125 1757 0.00 3.35 0.00 0.000 516 0.000 0.057 2290 891 2700 2712 2688 0 0 0 0 0 0 11.50 11.33 11.52

1813 -1.78 -30.2 2290 892 2714 2689 263.8 -13.0 134 1818 0.00 3.35 0.00 0.000 1030 0.000 0.057 2280 2310 2700 2713 2688 0 0 0 0 0 0 11.40 11.33 11.42

2198 -1.78 -30.2 2280 2311 2712 2689 317.6 -14.0 147 2204 0.00 3.35 0.00 0.000 516 0.000 0.058 2280 891 2700 2712 2688 0 0 0 0 0 0 11.52 11.33 11.53

2254 -1.78 -30.2 2281 891 2714 2689 325.5 -14.2 155 2259 0.00 3.33 0.00 0.000 1030 0.000 0.054 2273 2309 2700 2713 2688 0 0 0 0 0 0 11.40 11.33 11.40

2650 -1.78 -30.2 2271 2309 2716 2687 374.8 -12.1 169 2656 0.00 3.33 0.00 0.000 516 0.000 0.056 2270 893 2700 2715 2686 0 0 0 0 0 0 11.50 11.33 11.52

2887 -1.83 -74.6 2269 894 2715 2687 374.9 -0.2 203 2893 0.00 3.28 -0.68 0.108 17446 0.000 0.049 2259 2313 2898 2922 2875 0 0 0 0 0 0 11.41 11.34 11.43

3265 -1.87 -107.1 2259 2313 2922 2875 374.9 0.0 215 3271 0.00 3.45 -0.40 0.180 16676 0.000 0.110 2248 3708 3021 3052 2991 0 0 0 0 0 0 11.51 10.93 11.45

3390 end dive: NO_VERTICAL_VELOCITY

state 3390 begin apogee

3403 -0.23 0.0 2250 2077 3053 2992 375.2 0.0 233 3564 2.53 0.08 156.20 2.591 10246 0.177 0.151 2789 2107 2575 2606 2544 0 0 0 0 0 0 11.25 11.17 10.39

3565 end apogee: CONTROL_FINISHED_OK

state 3565 begin climb

3569 1.87 107.1 2791 2107 2607 2545 375.0 0.0 236 3743 2.67 3.45 157.68 2.520 10756 0.086 0.073 3478 708 2136 2167 2106 0 0 0 0 0 0 11.24 11.17 10.39

3865 1.87 107.1 3478 709 2159 2102 338.5 18.8 279 3871 0.00 3.25 0.00 0.000 1030 0.000 0.050 3478 2102 2129 2159 2100 0 0 0 0 0 0 11.35 11.28 11.37

4235 1.87 107.1 3477 2103 2156 2095 268.1 19.0 290 4241 0.00 3.45 0.00 0.000 260 0.000 0.088 3478 3513 2125 2156 2095 0 0 0 0 0 0 11.47 11.28 11.48

4304 1.87 107.1 3476 3513 2154 2095 253.9 21.0 300 4310 0.00 3.20 0.00 0.000 1030 0.000 0.037 3488 2111 2125 2155 2095 0 0 0 0 0 0 11.38 11.32 11.40

4654 1.87 107.1 3489 2111 2155 2094 188.9 18.7 312 4660 0.00 3.42 0.00 0.000 516 0.000 0.075 3498 689 2123 2153 2093 0 0 0 0 0 0 11.50 11.29 11.51

4710 1.87 107.1 3501 690 2153 2093 178.3 18.9 320 4716 0.00 3.28 0.00 0.000 1030 0.000 0.051 3499 2106 2122 2151 2093 0 0 0 0 0 0 11.39 11.32 11.40

5074 1.87 107.1 3499 2106 2151 2093 113.9 17.0 336 5080 0.00 3.45 0.00 0.000 260 0.000 0.090 3499 3516 2121 2150 2093 0 0 0 0 0 0 11.50 11.30 11.52

5095 1.87 107.1 3499 3516 2150 2093 110.2 17.1 339 5102 0.28 3.25 0.00 0.000 5126 0.366 0.040 3476 2090 2121 2150 2092 0 0 0 0 0 0 11.17 11.33 11.38

5438 1.87 107.1 3477 2092 2152 2093 56.3 15.6 352 5444 0.00 3.50 0.00 0.000 260 0.000 0.088 3475 3514 2120 2149 2091 0 0 0 0 0 0 11.50 11.30 11.52

5480 1.87 107.1 3475 3515 2149 2092 49.4 16.7 358 5487 0.00 3.22 0.00 0.000 1030 0.000 0.038 3484 2098 2121 2150 2092 0 0 0 0 0 0 11.40 11.34 11.42

5830 1.87 107.1 3483 2099 2149 2091 2.6 10.4 372 5836 0.00 3.38 0.00 0.000 516 0.000 0.076 3495 698 2120 2149 2091 0 0 0 0 0 0 11.50 11.31 11.52

5841 end climb: SURFACE_DEPTH_REACHED

state 5841 begin surface coast

5848 end surface coast: CONTROL_FINISHED_OK

state 5848 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	916	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	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	0	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	0	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	100219,200209,-7407.7671,-11320.8232,33,1.2,33,53.9,0.6,246.2,6,8.3	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	0.91	MHEAD_RNG_PITCHd_Wd	200.7,2120,-38.3,-10.000,-39.79,465
_SM_ANGLEo	-64.1	D_GRID	990
GPS2	100219,201018,-7407.7256,-11320.8975,2,0.9,3,53.9,0.2,0.0,9,10.0

FREEZE	0.21,-0.346,-1.831,2,1,0	ALTIM_TOP_PING	17.9,18.3
FINISH	0.2,1.026826	_24V_AH	10.39,301.969
SM_CCo	5878,182.18,0.205,0,0,1147,350.04	_10V_AH	10.31,0.000
SM_GC	0.90,13.12,3.83,182.18,0.086,0.060,0.205,216,2298,1147,-8.25,-0.45,350.04,0,0,0,0,0,0,11.33,11.33,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	228	FG_AHR_10Vo	0.000
RAFOS	0,1549832491,21.032778,21.025278,174,60,59,58,57,56,495,195,215,163,145,206	MEM	279892
RAFOS_FIX	-7405.142090,-11313.184570,100219,212144,2,152,1.58	DATA_FILE_SIZE	13445,375
IRIDIUM_FIX	-7413.66,-11319.19,100219,172509	CAP_FILE_SIZE	66007,1
TT8_MAMPS	0.047187,0.293608	CFSIZE	1024409600,915996672
HUMID	48.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.11163	SOUNDSPEED	1447.1
TCM_TEMP	12.30	CURRENT	0.012,352.28,1
XPDR_PINGS	0	GPS	100219,215300,-7407.897,-11322.186,26,0.7,26,53.9,0.8,258.0,12,3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	406	146.41	nil	0	0	0.00
Roll_motor	88	151	138.53	nil	0	0	0.00
VBD_pump_during_apogee	313	2591	8449.85	nil	0	0	0.00
VBD_pump_during_surface	182	205	388.06	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	5871	7	487.88
Iridium_during_xfer	264	226	623.06	nil	0	0	0.00
Transponder_ping	15	420	68.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.54
TT8	0	0	0.00
LPSleep	4482	2	106.75
TT8_Active	655	13	93.45
TT8_Sampling	1064	34	381.93
TT8_CF8	358	52	195.08
TT8_Kalman	0	0	0.00
Analog_circuits	1257	10	141.35
GPS_charging	0	0	0.00
Compass	543	7	41.95
RAFOS	720	1	11.13
Transponder	119	30	37.06

		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
31.7	34.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
42.3	44.70	9000.00	0.0	0.00	0.00	44.70	0.0	1.00	1.00
348.2	29.50	9000.00	0.0	-0.03	0.50	29.50	377.7	-0.05	1.00
362.5	13.30	9000.00	0.0	-0.08	0.77	13.30	375.8	-1.13	1.00

364.6	15.90	13.80	0.0	-0.94	0.93	15.90	348.7	1.24	1.00
354.0	25.30	24.80	0.0	-1.04	0.85	25.30	0.0	-0.89	1.00
118.6	122.60	9000.00	0.0	-0.42	1.00	122.60	0.0	-0.41	1.00
104.5	108.30	9000.00	0.0	-0.37	0.97	108.30	-3.8	1.01	1.00
91.2	94.30	94.40	-3.2	1.03	1.00	94.30	-3.1	1.05	1.00
65.0	67.10	67.10	-2.1	1.04	1.00	67.10	-2.1	1.04	1.00
54.1	55.60	55.60	-1.5	1.04	1.00	55.60	-1.5	1.06	1.00
42.6	44.20	44.10	-1.5	1.02	1.00	44.20	-1.6	0.99	1.00
29.4	29.60	29.80	-0.4	1.05	1.00	29.60	-0.2	1.11	1.00
17.9	18.60	18.30	-0.4	1.04	1.00	18.60	-0.7	0.96	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
11	-1.78	-30.2	215	2307	1169	1091	0.0	0.0	0	97	0.00	0.00	-85.00	0.002	16390	0.000	0.000	215	2307	2703	2710	2697	0	0	0	0	0	0	11.48	10.76	11.50
101	-1.78	-30.2	217	2307	2705	2699	1.7	-1.4	3	124	15.82	3.40	0.00	0.000	2564	0.407	0.063	2295	887	2701	2705	2698	0	0	0	0	0	0	11.14	11.28	11.30
355	-1.78	-30.2	2296	889	2709	2695	49.1	-16.1	40	360	0.00	3.38	0.00	0.000	1030	0.000	0.054	2285	2302	2700	2707	2694	0	0	0	0	0	0	11.40	11.33	11.41
716	-1.78	-30.2	2285	2303	2709	2691	104.9	-15.3	55	721	0.00	3.35	0.00	0.000	516	0.000	0.059	2285	890	2700	2710	2690	0	0	0	0	0	0	11.50	11.32	11.51
952	-1.78	-30.2	2285	891	2710	2691	142.7	-15.4	89	958	0.00	3.28	0.00	0.000	1030	0.000	0.054	2275	2307	2700	2710	2690	0	0	0	0	0	0	11.39	11.32	11.40
1302	-1.78	-30.2	2276	2308	2713	2690	194.8	-14.2	103	1307	0.00	3.38	0.00	0.000	516	0.000	0.058	2275	886	2700	2711	2689	0	0	0	0	0	0	11.51	11.30	11.53
1400	-1.78	-30.2	2274	886	2711	2689	208.7	-13.6	117	1407	0.20	3.35	0.00	0.000	3078	0.330	0.055	2290	2306	2700	2712	2689	0	0	0	0	0	0	11.19	11.33	11.36
1751	-1.78	-30.2	2291	2307	2714	2689	255.5	-13.1	125	1757	0.00	3.35	0.00	0.000	516	0.000	0.057	2290	891	2700	2712	2688	0	0	0	0	0	0	11.50	11.33	11.52
1813	-1.78	-30.2	2290	892	2714	2689	263.8	-13.0	134	1818	0.00	3.35	0.00	0.000	1030	0.000	0.057	2280	2310	2700	2713	2688	0	0	0	0	0	0	11.40	11.33	11.42
2198	-1.78	-30.2	2280	2311	2712	2689	317.6	-14.0	147	2204	0.00	3.35	0.00	0.000	516	0.000	0.058	2280	891	2700	2712	2688	0	0	0	0	0	0	11.52	11.33	11.53
2254	-1.78	-30.2	2281	891	2714	2689	325.5	-14.2	155	2259	0.00	3.33	0.00	0.000	1030	0.000	0.054	2273	2309	2700	2713	2688	0	0	0	0	0	0	11.40	11.33	11.40
2650	-1.78	-30.2	2271	2309	2716	2687	374.8	-12.1	169	2656	0.00	3.33	0.00	0.000	516	0.000	0.056	2270	893	2700	2715	2686	0	0	0	0	0	0	11.50	11.33	11.52
2887	-1.83	-74.6	2269	894	2715	2687	374.9	-0.2	203	2893	0.00	3.28	-0.68	0.108	17446	0.000	0.049	2259	2313	2898	2922	2875	0	0	0	0	0	0	11.41	11.34	11.43
3265	-1.87	-107.1	2259	2313	2922	2875	374.9	0.0	215	3271	0.00	3.45	-0.40	0.180	16676	0.000	0.110	2248	3708	3021	3052	2991	0	0	0	0	0	0	11.51	10.93	11.45
3390	end dive: NO_VERTICAL_VELOCITY
state	3390	begin apogee
3403	-0.23	0.0	2250	2077	3053	2992	375.2	0.0	233	3564	2.53	0.08	156.20	2.591	10246	0.177	0.151	2789	2107	2575	2606	2544	0	0	0	0	0	0	11.25	11.17	10.39
3565	end apogee: CONTROL_FINISHED_OK
state	3565	begin climb
3569	1.87	107.1	2791	2107	2607	2545	375.0	0.0	236	3743	2.67	3.45	157.68	2.520	10756	0.086	0.073	3478	708	2136	2167	2106	0	0	0	0	0	0	11.24	11.17	10.39
3865	1.87	107.1	3478	709	2159	2102	338.5	18.8	279	3871	0.00	3.25	0.00	0.000	1030	0.000	0.050	3478	2102	2129	2159	2100	0	0	0	0	0	0	11.35	11.28	11.37
4235	1.87	107.1	3477	2103	2156	2095	268.1	19.0	290	4241	0.00	3.45	0.00	0.000	260	0.000	0.088	3478	3513	2125	2156	2095	0	0	0	0	0	0	11.47	11.28	11.48
4304	1.87	107.1	3476	3513	2154	2095	253.9	21.0	300	4310	0.00	3.20	0.00	0.000	1030	0.000	0.037	3488	2111	2125	2155	2095	0	0	0	0	0	0	11.38	11.32	11.40
4654	1.87	107.1	3489	2111	2155	2094	188.9	18.7	312	4660	0.00	3.42	0.00	0.000	516	0.000	0.075	3498	689	2123	2153	2093	0	0	0	0	0	0	11.50	11.29	11.51
4710	1.87	107.1	3501	690	2153	2093	178.3	18.9	320	4716	0.00	3.28	0.00	0.000	1030	0.000	0.051	3499	2106	2122	2151	2093	0	0	0	0	0	0	11.39	11.32	11.40
5074	1.87	107.1	3499	2106	2151	2093	113.9	17.0	336	5080	0.00	3.45	0.00	0.000	260	0.000	0.090	3499	3516	2121	2150	2093	0	0	0	0	0	0	11.50	11.30	11.52
5095	1.87	107.1	3499	3516	2150	2093	110.2	17.1	339	5102	0.28	3.25	0.00	0.000	5126	0.366	0.040	3476	2090	2121	2150	2092	0	0	0	0	0	0	11.17	11.33	11.38
5438	1.87	107.1	3477	2092	2152	2093	56.3	15.6	352	5444	0.00	3.50	0.00	0.000	260	0.000	0.088	3475	3514	2120	2149	2091	0	0	0	0	0	0	11.50	11.30	11.52
5480	1.87	107.1	3475	3515	2149	2092	49.4	16.7	358	5487	0.00	3.22	0.00	0.000	1030	0.000	0.038	3484	2098	2121	2150	2092	0	0	0	0	0	0	11.40	11.34	11.42
5830	1.87	107.1	3483	2099	2149	2091	2.6	10.4	372	5836	0.00	3.38	0.00	0.000	516	0.000	0.076	3495	698	2120	2149	2091	0	0	0	0	0	0	11.50	11.31	11.52
5841	end climb: SURFACE_DEPTH_REACHED
state	5841	begin surface coast
5848	end surface coast: CONTROL_FINISHED_OK
state	5848	begin surface