Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 917 * 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 917 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 24 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 917 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 11 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 100219,215300,-7407.8970,-11322.1855,26,0.7,26,53.9,0.8,258.0,12,3.5 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 0.90 MHEAD_RNG_PITCHd_Wd 236.5,1570,-43.7,-10.000,-45.00,362

_SM_ANGLEo -65.0 D_GRID 990

GPS2 100219,220133,-7407.8716,-11322.2139,3,0.8,4,53.9,0.5,141.4,12,7.1

Post-dive calculations and measurements:

FREEZE -0.03,-0.436,-1.759,2,1,0 _24V_AH 10.38,302.275

FINISH -0.0,1.025813 _10V_AH 10.31,0.000

SM_CCo 6658,186.35,0.203,0,0,1145,350.04 FG_AHR_24Vo 0.000

SM_GC 0.87,12.98,0.52,186.35,0.068,0.077,0.203,222,2301,1145,-8.23,-0.31,350.04,0,0,0,0,0,0,11.32,11.33,11.21 FG_AHR_10Vo 0.000

RAFOS_CLK 255 MEM 279900

RAFOS_FIX -7407.844727,-11321.821289,100219,232341,0,1,0.03 DATA_FILE_SIZE 13422,413

IRIDIUM_FIX -7410.67,-11305.70,100219,200555 CAP_FILE_SIZE 68685,2

TT8_MAMPS 0.045689,0.173019 CFSIZE 1024409600,915898368

HUMID 49.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1448.0

TCM_TEMP 12.20 CURRENT 0.016,197.37,1

XPDR_PINGS 1 GPS 100219,235710,-7407.900,-11323.546,2,0.8,4,53.9,0.2,4.8,9,7.0

ALTIM_TOP_PING 19.0,19.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 408 147.99 nil 0 0 0.00

Roll_motor 74 106 82.42 nil 0 0 0.00

VBD_pump_during_apogee 320 2626 8730.83 nil 0 0 0.00

VBD_pump_during_surface 186 202 392.13 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 6652 7 494.80

Iridium_during_xfer 251 218 571.51 nil 0 0 0.00

Transponder_ping 17 420 75.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.64

TT8 0 0 0.00

LPSleep 5187 2 123.54

TT8_Active 662 13 94.33

TT8_Sampling 1125 34 403.78

TT8_CF8 377 52 205.25

TT8_Kalman 0 0 0.00

Analog_circuits 1266 10 142.33

GPS_charging 0 0 0.00

Compass 597 7 46.11

RAFOS 0 0 0.00

Transponder 122 30 37.91

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

21.7 22.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

32.1 34.20 9000.00 0.0 0.00 0.00 34.20 0.0 1.11 1.00

370.9 44.30 9000.00 0.0 0.05 0.74 44.30 0.0 0.03 1.00

395.0 17.30 9000.00 0.0 -0.01 0.04 17.30 412.3 -1.12 1.00

399.0 17.60 15.60 0.0 -1.01 0.98 17.60 381.4 0.07 1.00

96.9 100.40 9000.00 0.0 -0.28 1.00 100.40 0.0 -0.27 1.00

62.4 63.90 9000.00 0.0 -0.19 0.73 63.90 -1.5 1.06 1.00

51.6 52.70 52.60 -1.0 1.06 1.00 52.70 -1.1 1.04 1.00

40.8 41.60 41.60 -0.8 1.03 1.00 41.60 -0.8 1.03 1.00

29.5 29.70 29.70 -0.2 1.04 1.00 29.70 -0.2 1.05 1.00

19.0 19.60 19.40 -0.4 1.01 1.00 19.60 -0.6 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -2.01 -23.5 217 2302 1178 1088 0.0 0.0 0 97 0.00 0.00 -82.90 0.002 16390 0.000 0.000 215 2303 2671 2674 2668 0 0 0 0 0 0 11.48 10.76 11.50

101 -2.01 -23.5 219 2304 2677 2669 1.9 -1.4 3 124 15.32 3.35 0.00 0.000 2564 0.409 0.061 2216 891 2672 2677 2668 0 0 0 0 0 0 11.14 11.26 11.33

356 -2.01 -23.5 2217 892 2680 2672 48.6 -16.1 40 361 0.00 3.38 0.00 0.000 1030 0.000 0.055 2207 2309 2672 2679 2666 0 0 0 0 0 0 11.39 11.32 11.40

716 -2.01 -23.5 2203 2309 2680 2663 104.2 -14.9 55 721 0.00 3.38 0.00 0.000 516 0.000 0.059 2208 889 2672 2683 2662 0 0 0 0 0 0 11.50 11.31 11.51

952 -2.01 -23.5 2206 890 2680 2663 141.6 -15.6 89 958 0.00 3.33 0.00 0.000 1030 0.000 0.055 2197 2301 2670 2680 2661 0 0 0 0 0 0 11.40 11.33 11.42

1305 -2.01 -23.5 2196 2302 2681 2661 192.2 -14.0 103 1310 0.00 3.33 0.00 0.000 516 0.000 0.057 2198 895 2671 2682 2661 0 0 0 0 0 0 11.50 11.31 11.52

1541 -2.01 -23.5 2198 896 2684 2662 226.3 -14.1 137 1548 0.25 3.33 0.00 0.000 3078 0.347 0.055 2218 2310 2671 2682 2661 0 0 0 0 0 0 11.19 11.33 11.38

1923 -2.01 -23.5 2219 2310 2684 2661 276.4 -13.1 149 1929 0.00 3.35 0.00 0.000 516 0.000 0.057 2218 889 2671 2683 2660 0 0 0 0 0 0 11.50 11.31 11.52

1970 -2.01 -23.5 2217 890 2683 2660 283.1 -13.2 156 1977 0.00 3.35 0.00 0.000 1030 0.000 0.057 2209 2304 2672 2685 2660 0 0 0 0 0 0 11.40 11.33 11.42

2314 -2.01 -23.5 2210 2305 2684 2660 325.3 -12.1 163 2314 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2304 2671 2683 2660 0 0 0 0 0 0 11.51 11.53 11.52

2650 -2.01 -23.5 2208 2310 2683 2660 364.9 -11.7 169 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2304 2671 2683 2659 0 0 0 0 0 0 11.51 11.53 11.52

2986 -2.01 -23.5 2208 2305 2683 2660 401.0 -10.9 175 2991 0.00 3.35 0.00 0.000 516 0.000 0.057 2209 889 2671 2683 2659 0 0 0 0 0 0 11.51 11.33 11.53

3070 -2.01 -23.5 2208 889 2684 2660 409.4 -9.2 187 3075 0.00 3.33 0.00 0.000 1030 0.000 0.053 2198 2306 2671 2684 2659 0 0 0 0 0 0 11.41 11.34 11.43

3434 -2.01 -23.5 2198 2306 2684 2658 409.4 0.1 197 3440 0.00 3.47 0.00 0.000 260 0.000 0.093 2188 3722 2671 2685 2658 0 0 0 0 0 0 11.50 11.31 11.52

3672 -2.06 -59.4 2189 3723 2687 2659 409.4 0.2 231 3678 0.00 3.22 -0.52 0.137 17446 0.000 0.037 2187 2274 2832 2855 2810 0 0 0 0 0 0 11.43 11.39 11.44

4050 -2.10 -94.7 2187 2275 2854 2810 409.5 -0.0 243 4058 0.00 3.60 -0.47 0.152 16676 0.000 0.106 2177 3721 2979 3008 2950 0 0 0 0 0 0 11.51 10.78 11.46

4289 -2.12 -107.1 2178 3721 3010 2951 409.5 -0.1 277 4295 0.00 3.20 -0.17 0.407 17446 0.000 0.038 2177 2292 3032 3064 3001 0 0 0 0 0 0 11.43 11.39 11.43

4327 end dive: NO_VERTICAL_VELOCITY

state 4327 begin apogee

4336 -0.23 0.0 2178 2098 3067 3002 409.5 0.0 283 4502 3.00 0.00 160.77 2.626 10246 0.203 0.000 2791 2095 2575 2606 2544 0 0 0 0 0 0 11.26 11.19 10.38

4503 end apogee: CONTROL_FINISHED_OK

state 4503 begin climb

4507 2.12 107.1 2793 2096 2607 2545 409.6 0.0 286 4683 3.05 3.42 159.50 2.566 10756 0.094 0.071 3556 710 2137 2164 2110 0 0 0 0 0 0 11.22 11.19 10.40

4833 2.12 107.1 3558 711 2152 2104 360.4 21.3 333 4839 0.00 3.22 0.00 0.000 1030 0.000 0.050 3556 2103 2129 2155 2103 0 0 0 0 0 0 11.36 11.29 11.38

5174 2.12 107.1 3556 2103 2150 2099 285.9 21.5 340 5180 0.00 3.50 0.00 0.000 260 0.000 0.088 3557 3512 2124 2151 2098 0 0 0 0 0 0 11.46 11.27 11.48

5236 2.12 107.1 3552 3512 2150 2099 271.8 23.1 349 5241 0.00 3.20 0.00 0.000 1030 0.000 0.037 3568 2109 2123 2150 2097 0 0 0 0 0 0 11.38 11.32 11.40

5625 2.12 107.1 3566 2112 2148 2098 189.9 21.1 362 5630 0.00 3.42 0.00 0.000 516 0.000 0.074 3577 689 2123 2149 2097 0 0 0 0 0 0 11.48 11.29 11.50

5693 2.12 107.1 3577 689 2147 2097 174.9 20.3 372 5700 0.00 3.35 0.00 0.000 1030 0.000 0.050 3578 2114 2122 2147 2097 0 0 0 0 0 0 11.38 11.31 11.40

6043 2.12 107.1 3577 2114 2146 2096 102.8 20.6 386 6044 0.00 0.00 0.00 0.000 6 0.000 0.000 3577 2114 2121 2147 2095 0 0 0 0 0 0 11.50 11.52 11.52

6379 2.12 107.1 3578 2114 2148 2095 35.3 19.3 398 6385 0.00 3.45 0.00 0.000 260 0.000 0.092 3578 3516 2120 2146 2095 0 0 0 0 0 0 11.50 11.29 11.52

6428 2.12 107.1 3579 3517 2142 2096 25.1 21.1 405 6435 0.30 3.22 0.00 0.000 5126 0.398 0.037 3553 2097 2120 2146 2095 0 0 0 0 0 0 11.17 11.34 11.38

6600 end climb: SURFACE_DEPTH_REACHED

state 6600 begin surface coast

6631 end surface coast: CONTROL_FINISHED_OK

state 6631 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	917	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	24	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	100219,215300,-7407.8970,-11322.1855,26,0.7,26,53.9,0.8,258.0,12,3.5	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	0.90	MHEAD_RNG_PITCHd_Wd	236.5,1570,-43.7,-10.000,-45.00,362
_SM_ANGLEo	-65.0	D_GRID	990
GPS2	100219,220133,-7407.8716,-11322.2139,3,0.8,4,53.9,0.5,141.4,12,7.1

FREEZE	-0.03,-0.436,-1.759,2,1,0	_24V_AH	10.38,302.275
FINISH	-0.0,1.025813	_10V_AH	10.31,0.000
SM_CCo	6658,186.35,0.203,0,0,1145,350.04	FG_AHR_24Vo	0.000
SM_GC	0.87,12.98,0.52,186.35,0.068,0.077,0.203,222,2301,1145,-8.23,-0.31,350.04,0,0,0,0,0,0,11.32,11.33,11.21	FG_AHR_10Vo	0.000
RAFOS_CLK	255	MEM	279900
RAFOS_FIX	-7407.844727,-11321.821289,100219,232341,0,1,0.03	DATA_FILE_SIZE	13422,413
IRIDIUM_FIX	-7410.67,-11305.70,100219,200555	CAP_FILE_SIZE	68685,2
TT8_MAMPS	0.045689,0.173019	CFSIZE	1024409600,915898368
HUMID	49.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1448.0
TCM_TEMP	12.20	CURRENT	0.016,197.37,1
XPDR_PINGS	1	GPS	100219,235710,-7407.900,-11323.546,2,0.8,4,53.9,0.2,4.8,9,7.0
ALTIM_TOP_PING	19.0,19.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	408	147.99	nil	0	0	0.00
Roll_motor	74	106	82.42	nil	0	0	0.00
VBD_pump_during_apogee	320	2626	8730.83	nil	0	0	0.00
VBD_pump_during_surface	186	202	392.13	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	6652	7	494.80
Iridium_during_xfer	251	218	571.51	nil	0	0	0.00
Transponder_ping	17	420	75.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.64
TT8	0	0	0.00
LPSleep	5187	2	123.54
TT8_Active	662	13	94.33
TT8_Sampling	1125	34	403.78
TT8_CF8	377	52	205.25
TT8_Kalman	0	0	0.00
Analog_circuits	1266	10	142.33
GPS_charging	0	0	0.00
Compass	597	7	46.11
RAFOS	0	0	0.00
Transponder	122	30	37.91

		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
21.7	22.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
32.1	34.20	9000.00	0.0	0.00	0.00	34.20	0.0	1.11	1.00
370.9	44.30	9000.00	0.0	0.05	0.74	44.30	0.0	0.03	1.00
395.0	17.30	9000.00	0.0	-0.01	0.04	17.30	412.3	-1.12	1.00

399.0	17.60	15.60	0.0	-1.01	0.98	17.60	381.4	0.07	1.00
96.9	100.40	9000.00	0.0	-0.28	1.00	100.40	0.0	-0.27	1.00
62.4	63.90	9000.00	0.0	-0.19	0.73	63.90	-1.5	1.06	1.00
51.6	52.70	52.60	-1.0	1.06	1.00	52.70	-1.1	1.04	1.00
40.8	41.60	41.60	-0.8	1.03	1.00	41.60	-0.8	1.03	1.00
29.5	29.70	29.70	-0.2	1.04	1.00	29.70	-0.2	1.05	1.00
19.0	19.60	19.40	-0.4	1.01	1.00	19.60	-0.6	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-2.01	-23.5	217	2302	1178	1088	0.0	0.0	0	97	0.00	0.00	-82.90	0.002	16390	0.000	0.000	215	2303	2671	2674	2668	0	0	0	0	0	0	11.48	10.76	11.50
101	-2.01	-23.5	219	2304	2677	2669	1.9	-1.4	3	124	15.32	3.35	0.00	0.000	2564	0.409	0.061	2216	891	2672	2677	2668	0	0	0	0	0	0	11.14	11.26	11.33
356	-2.01	-23.5	2217	892	2680	2672	48.6	-16.1	40	361	0.00	3.38	0.00	0.000	1030	0.000	0.055	2207	2309	2672	2679	2666	0	0	0	0	0	0	11.39	11.32	11.40
716	-2.01	-23.5	2203	2309	2680	2663	104.2	-14.9	55	721	0.00	3.38	0.00	0.000	516	0.000	0.059	2208	889	2672	2683	2662	0	0	0	0	0	0	11.50	11.31	11.51
952	-2.01	-23.5	2206	890	2680	2663	141.6	-15.6	89	958	0.00	3.33	0.00	0.000	1030	0.000	0.055	2197	2301	2670	2680	2661	0	0	0	0	0	0	11.40	11.33	11.42
1305	-2.01	-23.5	2196	2302	2681	2661	192.2	-14.0	103	1310	0.00	3.33	0.00	0.000	516	0.000	0.057	2198	895	2671	2682	2661	0	0	0	0	0	0	11.50	11.31	11.52
1541	-2.01	-23.5	2198	896	2684	2662	226.3	-14.1	137	1548	0.25	3.33	0.00	0.000	3078	0.347	0.055	2218	2310	2671	2682	2661	0	0	0	0	0	0	11.19	11.33	11.38
1923	-2.01	-23.5	2219	2310	2684	2661	276.4	-13.1	149	1929	0.00	3.35	0.00	0.000	516	0.000	0.057	2218	889	2671	2683	2660	0	0	0	0	0	0	11.50	11.31	11.52
1970	-2.01	-23.5	2217	890	2683	2660	283.1	-13.2	156	1977	0.00	3.35	0.00	0.000	1030	0.000	0.057	2209	2304	2672	2685	2660	0	0	0	0	0	0	11.40	11.33	11.42
2314	-2.01	-23.5	2210	2305	2684	2660	325.3	-12.1	163	2314	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2304	2671	2683	2660	0	0	0	0	0	0	11.51	11.53	11.52
2650	-2.01	-23.5	2208	2310	2683	2660	364.9	-11.7	169	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2304	2671	2683	2659	0	0	0	0	0	0	11.51	11.53	11.52
2986	-2.01	-23.5	2208	2305	2683	2660	401.0	-10.9	175	2991	0.00	3.35	0.00	0.000	516	0.000	0.057	2209	889	2671	2683	2659	0	0	0	0	0	0	11.51	11.33	11.53
3070	-2.01	-23.5	2208	889	2684	2660	409.4	-9.2	187	3075	0.00	3.33	0.00	0.000	1030	0.000	0.053	2198	2306	2671	2684	2659	0	0	0	0	0	0	11.41	11.34	11.43
3434	-2.01	-23.5	2198	2306	2684	2658	409.4	0.1	197	3440	0.00	3.47	0.00	0.000	260	0.000	0.093	2188	3722	2671	2685	2658	0	0	0	0	0	0	11.50	11.31	11.52
3672	-2.06	-59.4	2189	3723	2687	2659	409.4	0.2	231	3678	0.00	3.22	-0.52	0.137	17446	0.000	0.037	2187	2274	2832	2855	2810	0	0	0	0	0	0	11.43	11.39	11.44
4050	-2.10	-94.7	2187	2275	2854	2810	409.5	-0.0	243	4058	0.00	3.60	-0.47	0.152	16676	0.000	0.106	2177	3721	2979	3008	2950	0	0	0	0	0	0	11.51	10.78	11.46
4289	-2.12	-107.1	2178	3721	3010	2951	409.5	-0.1	277	4295	0.00	3.20	-0.17	0.407	17446	0.000	0.038	2177	2292	3032	3064	3001	0	0	0	0	0	0	11.43	11.39	11.43
4327	end dive: NO_VERTICAL_VELOCITY
state	4327	begin apogee
4336	-0.23	0.0	2178	2098	3067	3002	409.5	0.0	283	4502	3.00	0.00	160.77	2.626	10246	0.203	0.000	2791	2095	2575	2606	2544	0	0	0	0	0	0	11.26	11.19	10.38
4503	end apogee: CONTROL_FINISHED_OK
state	4503	begin climb
4507	2.12	107.1	2793	2096	2607	2545	409.6	0.0	286	4683	3.05	3.42	159.50	2.566	10756	0.094	0.071	3556	710	2137	2164	2110	0	0	0	0	0	0	11.22	11.19	10.40
4833	2.12	107.1	3558	711	2152	2104	360.4	21.3	333	4839	0.00	3.22	0.00	0.000	1030	0.000	0.050	3556	2103	2129	2155	2103	0	0	0	0	0	0	11.36	11.29	11.38
5174	2.12	107.1	3556	2103	2150	2099	285.9	21.5	340	5180	0.00	3.50	0.00	0.000	260	0.000	0.088	3557	3512	2124	2151	2098	0	0	0	0	0	0	11.46	11.27	11.48
5236	2.12	107.1	3552	3512	2150	2099	271.8	23.1	349	5241	0.00	3.20	0.00	0.000	1030	0.000	0.037	3568	2109	2123	2150	2097	0	0	0	0	0	0	11.38	11.32	11.40
5625	2.12	107.1	3566	2112	2148	2098	189.9	21.1	362	5630	0.00	3.42	0.00	0.000	516	0.000	0.074	3577	689	2123	2149	2097	0	0	0	0	0	0	11.48	11.29	11.50
5693	2.12	107.1	3577	689	2147	2097	174.9	20.3	372	5700	0.00	3.35	0.00	0.000	1030	0.000	0.050	3578	2114	2122	2147	2097	0	0	0	0	0	0	11.38	11.31	11.40
6043	2.12	107.1	3577	2114	2146	2096	102.8	20.6	386	6044	0.00	0.00	0.00	0.000	6	0.000	0.000	3577	2114	2121	2147	2095	0	0	0	0	0	0	11.50	11.52	11.52
6379	2.12	107.1	3578	2114	2148	2095	35.3	19.3	398	6385	0.00	3.45	0.00	0.000	260	0.000	0.092	3578	3516	2120	2146	2095	0	0	0	0	0	0	11.50	11.29	11.52
6428	2.12	107.1	3579	3517	2142	2096	25.1	21.1	405	6435	0.30	3.22	0.00	0.000	5126	0.398	0.037	3553	2097	2120	2146	2095	0	0	0	0	0	0	11.17	11.34	11.38
6600	end climb: SURFACE_DEPTH_REACHED
state	6600	begin surface coast
6631	end surface coast: CONTROL_FINISHED_OK
state	6631	begin surface