Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 955 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 955 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING 270 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 0

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 27 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 18 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 3

D_BOOST 110 SM_CC 399.91037 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 10 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 10 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 100 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 190 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 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 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 3600 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 -15 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 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 0.1 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 5.8000002 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 5.8000002 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 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 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 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 0

AD7714Ch0Gain 1 D_TGT 300 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 0 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 0 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 10

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 20

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 10

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING 270 PRESSURE_SLOPE 0.000108275 T_DIVE 100

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 P_OVSHOOT 0.039999999 T_LOITER 3600

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 190

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 -15

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 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 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 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 955 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 5.8000002 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 5.8000002 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 500 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 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 070219,215041,-7345.5093,-11701.3281,2,0.9,5,55.6,0.2,0.0,9,10.0 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG -7345.505,-11740.032

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.50 MHEAD_RNG_PITCHd_Wd 259.4,20000,-43.9,-10.000,-45.00,342

_SM_ANGLEo -62.8 D_GRID 300

GPS2 070219,215501,-7345.5054,-11701.4209,3,0.9,6,55.6,0.1,0.0,9,9.2

Post-dive calculations and measurements:

FREEZE -0.06,0.761,-1.860,2,1,0 _24V_AH 7.11,317.492

FINISH -0.1,1.027184 _10V_AH 7.31,0.000

SM_CCo 7838,310.70,0.193,0,0,1900,399.91 FG_AHR_24Vo 0.000

SM_GC 0.52,13.15,0.68,310.70,0.073,0.080,0.193,200,2799,1900,-8.03,-0.45,399.91,0,0,0,0,0,0,10.87,10.93,10.52 FG_AHR_10Vo 0.000

RAFOS_CLK 335 MEM 281028

RAFOS 0,1549584061,0.032355,0.016944,66,56,54,49,48,48,206,187,158,147,115,175 DATA_FILE_SIZE 30048,884

RAFOS_FIX -7345.275879,-11701.195312,080219,000031,0,1,0.06 CAP_FILE_SIZE 95810,2

IRIDIUM_FIX -7344.03,-11657.94,070219,213232 CFSIZE 1024409600,905003008

TT8_MAMPS 0.045689,0.543025 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.88 SOUNDSPEED 1444.9

INTERNAL_PRESSURE 7.77292 CURRENT 0.120,282.46,1

TCM_TEMP 13.00 GPS 080219,001239,-7345.162,-11703.936,23,0.9,31,55.6,0.6,281.4,12,7.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 39 435 122.87 nil 0 0 0.00

Roll_motor 56 82 32.98 nil 0 0 0.00

VBD_pump_during_apogee 253 2241 4043.14 nil 0 0 0.00

VBD_pump_during_surface 310 192 425.87 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 4216 5 167.65

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.75 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 8 8 0.54

TT8 0 0 0.00

LPSleep 5557 2 93.84

TT8_Active 750 10 59.60

TT8_Sampling 1687 30 374.31

TT8_CF8 240 51 90.38

TT8_Kalman 0 0 0.00

Analog_circuits 1404 10 103.66

GPS_charging 0 0 0.00

Compass 1261 6 62.16

RAFOS 240 1 2.63

Transponder 0 5 0.02

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

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

13 -2.02 -22.2 196 2803 1918 1812 0.0 0.0 0 124 0.00 0.00 -107.88 0.003 16390 0.000 0.000 195 2803 3585 3614 3557 0 0 0 0 0 0 11.23 9.85 11.22

128 -2.06 -50.8 196 2804 3611 3563 1.2 -1.4 11 162 19.33 3.35 -5.70 0.013 18980 0.435 0.053 2109 1393 3697 3707 3688 0 0 0 0 0 0 10.29 9.73 10.62

379 -2.06 -50.8 2109 1393 3714 3697 25.9 -13.3 60 386 0.00 3.35 0.00 0.000 1030 0.000 0.056 2108 2804 3705 3713 3697 0 0 0 0 0 0 11.05 10.96 11.07

685 -2.06 -50.8 2108 2799 3714 3699 68.2 -13.8 91 690 0.00 2.65 0.00 0.000 260 0.000 0.076 2100 3901 3705 3713 3698 0 0 0 0 0 0 11.26 10.93 11.27

816 -2.06 -50.8 2102 3908 3714 3699 87.3 -15.0 117 822 0.00 2.50 0.00 0.000 1030 0.000 0.037 2100 2788 3705 3713 3698 0 0 0 0 0 0 11.09 11.05 11.11

1129 -2.06 -50.8 2101 2788 3716 3701 131.0 -13.1 149 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2788 3707 3714 3700 0 0 0 0 0 0 11.27 11.28 11.27

1433 -2.06 -50.8 2101 2788 3717 3699 170.6 -12.7 179 1438 0.00 2.72 0.00 0.000 260 0.000 0.076 2098 3906 3707 3715 3700 0 0 0 0 0 0 11.25 10.89 11.26

1655 -2.06 -50.8 2098 3905 3716 3700 202.6 -14.3 223 1660 0.00 2.50 0.00 0.000 1030 0.000 0.037 2097 2792 3707 3715 3700 0 0 0 0 0 0 11.09 11.05 11.11

1967 -2.06 -50.8 2098 2793 3716 3701 243.0 -12.3 255 1972 0.00 2.72 0.00 0.000 260 0.000 0.076 2093 3910 3708 3716 3700 0 0 0 0 0 0 11.27 10.93 11.28

2043 -2.06 -50.8 2093 3911 3716 3701 253.2 -13.5 270 2050 0.00 2.53 0.00 0.000 1030 0.000 0.037 2093 2791 3709 3715 3704 0 0 0 0 0 0 11.01 10.98 11.02

2348 -2.06 -50.8 2094 2791 3716 3700 291.0 -12.8 301 2355 0.00 3.22 0.00 0.000 516 0.000 0.042 2093 1400 3707 3715 3700 0 0 0 0 0 0 11.27 10.96 11.27

2417 end dive: TARGET_DEPTH_EXCEEDED

state 2417 begin apogee

2429 -0.23 0.0 2089 2549 3717 3699 300.2 -12.5 315 2573 3.97 0.00 137.68 2.241 10246 0.311 0.000 2692 2549 3495 3502 3488 0 0 0 0 0 0 10.49 8.80 7.29

2574 end apogee: CONTROL_FINISHED_OK

state 2574 begin loiter

2861 -0.23 0.0 2693 2550 3499 3485 299.0 2.1 339 2862 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3490 3497 3484 0 0 0 0 0 0 11.23 11.24 11.24

3165 -0.23 0.0 2693 2550 3498 3484 292.8 2.0 369 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3490 3496 3484 0 0 0 0 0 0 11.24 11.25 11.25

3475 -0.23 0.0 2693 2550 3496 3483 286.8 1.9 400 3480 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3489 3495 3483 0 0 0 0 0 0 11.26 11.26 11.26

3785 -0.23 0.0 2692 2551 3495 3484 280.5 2.1 431 3790 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3488 3494 3482 0 0 0 0 0 0 11.28 11.28 11.28

4095 -0.23 0.0 2692 2551 3494 3484 274.0 2.2 462 4100 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3487 3493 3482 0 0 0 0 0 0 11.29 11.29 11.29

4405 -0.23 0.0 2692 2551 3493 3483 267.2 2.1 493 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3487 3493 3482 0 0 0 0 0 0 11.29 11.29 11.29

4715 -0.23 0.0 2693 2550 3494 3482 260.8 1.9 524 4720 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3487 3493 3482 0 0 0 0 0 0 11.30 11.29 11.29

5025 -0.23 0.0 2693 2550 3494 3482 255.3 1.5 555 5030 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2549 3487 3493 3482 0 0 0 0 0 0 11.30 11.30 11.29

5335 -0.23 0.0 2692 2551 3494 3483 251.0 1.3 586 5340 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3486 3491 3482 0 0 0 0 0 0 11.30 11.30 11.30

5645 -0.23 0.0 2692 2551 3492 3483 247.2 1.3 617 5651 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3486 3492 3481 0 0 0 0 0 0 11.30 11.30 11.30

5955 -0.23 0.0 2693 2550 3493 3481 243.2 1.4 648 5960 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2550 3486 3492 3481 0 0 0 0 0 0 11.31 11.31 11.30

6157 end loiter: LOITER_COMPLETE

state 6157 begin climb

6161 2.06 50.8 2693 2550 3493 3480 240.2 0.0 669 6295 3.03 3.83 116.03 2.209 10756 0.096 0.055 3446 1150 3290 3304 3276 0 0 0 0 0 0 10.90 8.68 7.11

6522 2.06 50.8 3446 1151 3301 3273 193.9 16.4 737 6527 0.00 3.42 0.00 0.000 1030 0.000 0.059 3446 2553 3286 3301 3271 0 0 0 0 0 0 10.91 10.83 10.93

6834 2.06 50.8 3447 2553 3301 3270 142.7 16.0 769 6839 0.00 3.38 0.00 0.000 516 0.000 0.055 3456 1150 3285 3300 3270 0 0 0 0 0 0 11.19 10.84 11.19

6866 2.06 50.8 3457 1150 3301 3270 137.7 15.2 775 6871 0.00 3.42 0.00 0.000 1030 0.000 0.058 3457 2560 3285 3300 3270 0 0 0 0 0 0 10.96 10.87 10.98

7178 2.06 50.8 3457 2560 3300 3270 89.9 14.7 807 7183 0.00 3.35 0.00 0.000 260 0.000 0.082 3457 3909 3284 3299 3269 0 0 0 0 0 0 11.21 10.83 11.20

7235 2.06 50.8 3457 3909 3300 3269 81.4 14.9 818 7243 0.22 3.15 0.00 0.000 5126 0.380 0.044 3442 2553 3284 3300 3269 0 0 0 0 0 0 10.52 10.96 10.83

7540 2.06 50.8 3442 2556 3299 3270 39.3 13.2 849 7546 0.00 3.40 0.00 0.000 260 0.000 0.083 3438 3910 3284 3299 3269 0 0 0 0 0 0 11.21 10.84 11.21

7612 2.06 50.8 3438 3911 3299 3270 29.0 14.3 863 7617 0.00 3.20 0.00 0.000 1030 0.000 0.045 3448 2539 3283 3299 3268 0 0 0 0 0 0 11.02 10.98 11.03

7804 end climb: SURFACE_DEPTH_REACHED

state 7804 begin surface coast

7810 end surface coast: CONTROL_FINISHED_OK

state 7810 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	955	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	270	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	0
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	27	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	18	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	3
D_BOOST	110	SM_CC	399.91037	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	10	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	10	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	100	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	190	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	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	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	3600	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	-15	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	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	0.1	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	5.8000002	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	5.8000002	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	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	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	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	0

GPS1	070219,215041,-7345.5093,-11701.3281,2,0.9,5,55.6,0.2,0.0,9,10.0	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	-7345.505,-11740.032
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.50	MHEAD_RNG_PITCHd_Wd	259.4,20000,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-62.8	D_GRID	300
GPS2	070219,215501,-7345.5054,-11701.4209,3,0.9,6,55.6,0.1,0.0,9,9.2

FREEZE	-0.06,0.761,-1.860,2,1,0	_24V_AH	7.11,317.492
FINISH	-0.1,1.027184	_10V_AH	7.31,0.000
SM_CCo	7838,310.70,0.193,0,0,1900,399.91	FG_AHR_24Vo	0.000
SM_GC	0.52,13.15,0.68,310.70,0.073,0.080,0.193,200,2799,1900,-8.03,-0.45,399.91,0,0,0,0,0,0,10.87,10.93,10.52	FG_AHR_10Vo	0.000
RAFOS_CLK	335	MEM	281028
RAFOS	0,1549584061,0.032355,0.016944,66,56,54,49,48,48,206,187,158,147,115,175	DATA_FILE_SIZE	30048,884
RAFOS_FIX	-7345.275879,-11701.195312,080219,000031,0,1,0.06	CAP_FILE_SIZE	95810,2
IRIDIUM_FIX	-7344.03,-11657.94,070219,213232	CFSIZE	1024409600,905003008
TT8_MAMPS	0.045689,0.543025	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.88	SOUNDSPEED	1444.9
INTERNAL_PRESSURE	7.77292	CURRENT	0.120,282.46,1
TCM_TEMP	13.00	GPS	080219,001239,-7345.162,-11703.936,23,0.9,31,55.6,0.6,281.4,12,7.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	39	435	122.87	nil	0	0	0.00
Roll_motor	56	82	32.98	nil	0	0	0.00
VBD_pump_during_apogee	253	2241	4043.14	nil	0	0	0.00
VBD_pump_during_surface	310	192	425.87	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	4216	5	167.65
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.75	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	8	8	0.54
TT8	0	0	0.00
LPSleep	5557	2	93.84
TT8_Active	750	10	59.60
TT8_Sampling	1687	30	374.31
TT8_CF8	240	51	90.38
TT8_Kalman	0	0	0.00
Analog_circuits	1404	10	103.66
GPS_charging	0	0	0.00
Compass	1261	6	62.16
RAFOS	240	1	2.63
Transponder	0	5	0.02

		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

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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
13	-2.02	-22.2	196	2803	1918	1812	0.0	0.0	0	124	0.00	0.00	-107.88	0.003	16390	0.000	0.000	195	2803	3585	3614	3557	0	0	0	0	0	0	11.23	9.85	11.22
128	-2.06	-50.8	196	2804	3611	3563	1.2	-1.4	11	162	19.33	3.35	-5.70	0.013	18980	0.435	0.053	2109	1393	3697	3707	3688	0	0	0	0	0	0	10.29	9.73	10.62
379	-2.06	-50.8	2109	1393	3714	3697	25.9	-13.3	60	386	0.00	3.35	0.00	0.000	1030	0.000	0.056	2108	2804	3705	3713	3697	0	0	0	0	0	0	11.05	10.96	11.07
685	-2.06	-50.8	2108	2799	3714	3699	68.2	-13.8	91	690	0.00	2.65	0.00	0.000	260	0.000	0.076	2100	3901	3705	3713	3698	0	0	0	0	0	0	11.26	10.93	11.27
816	-2.06	-50.8	2102	3908	3714	3699	87.3	-15.0	117	822	0.00	2.50	0.00	0.000	1030	0.000	0.037	2100	2788	3705	3713	3698	0	0	0	0	0	0	11.09	11.05	11.11
1129	-2.06	-50.8	2101	2788	3716	3701	131.0	-13.1	149	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2788	3707	3714	3700	0	0	0	0	0	0	11.27	11.28	11.27
1433	-2.06	-50.8	2101	2788	3717	3699	170.6	-12.7	179	1438	0.00	2.72	0.00	0.000	260	0.000	0.076	2098	3906	3707	3715	3700	0	0	0	0	0	0	11.25	10.89	11.26
1655	-2.06	-50.8	2098	3905	3716	3700	202.6	-14.3	223	1660	0.00	2.50	0.00	0.000	1030	0.000	0.037	2097	2792	3707	3715	3700	0	0	0	0	0	0	11.09	11.05	11.11
1967	-2.06	-50.8	2098	2793	3716	3701	243.0	-12.3	255	1972	0.00	2.72	0.00	0.000	260	0.000	0.076	2093	3910	3708	3716	3700	0	0	0	0	0	0	11.27	10.93	11.28
2043	-2.06	-50.8	2093	3911	3716	3701	253.2	-13.5	270	2050	0.00	2.53	0.00	0.000	1030	0.000	0.037	2093	2791	3709	3715	3704	0	0	0	0	0	0	11.01	10.98	11.02
2348	-2.06	-50.8	2094	2791	3716	3700	291.0	-12.8	301	2355	0.00	3.22	0.00	0.000	516	0.000	0.042	2093	1400	3707	3715	3700	0	0	0	0	0	0	11.27	10.96	11.27
2417	end dive: TARGET_DEPTH_EXCEEDED
state	2417	begin apogee
2429	-0.23	0.0	2089	2549	3717	3699	300.2	-12.5	315	2573	3.97	0.00	137.68	2.241	10246	0.311	0.000	2692	2549	3495	3502	3488	0	0	0	0	0	0	10.49	8.80	7.29
2574	end apogee: CONTROL_FINISHED_OK
state	2574	begin loiter
2861	-0.23	0.0	2693	2550	3499	3485	299.0	2.1	339	2862	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3490	3497	3484	0	0	0	0	0	0	11.23	11.24	11.24
3165	-0.23	0.0	2693	2550	3498	3484	292.8	2.0	369	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3490	3496	3484	0	0	0	0	0	0	11.24	11.25	11.25
3475	-0.23	0.0	2693	2550	3496	3483	286.8	1.9	400	3480	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3489	3495	3483	0	0	0	0	0	0	11.26	11.26	11.26
3785	-0.23	0.0	2692	2551	3495	3484	280.5	2.1	431	3790	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3488	3494	3482	0	0	0	0	0	0	11.28	11.28	11.28
4095	-0.23	0.0	2692	2551	3494	3484	274.0	2.2	462	4100	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3487	3493	3482	0	0	0	0	0	0	11.29	11.29	11.29
4405	-0.23	0.0	2692	2551	3493	3483	267.2	2.1	493	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3487	3493	3482	0	0	0	0	0	0	11.29	11.29	11.29
4715	-0.23	0.0	2693	2550	3494	3482	260.8	1.9	524	4720	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3487	3493	3482	0	0	0	0	0	0	11.30	11.29	11.29
5025	-0.23	0.0	2693	2550	3494	3482	255.3	1.5	555	5030	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2549	3487	3493	3482	0	0	0	0	0	0	11.30	11.30	11.29
5335	-0.23	0.0	2692	2551	3494	3483	251.0	1.3	586	5340	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3486	3491	3482	0	0	0	0	0	0	11.30	11.30	11.30
5645	-0.23	0.0	2692	2551	3492	3483	247.2	1.3	617	5651	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3486	3492	3481	0	0	0	0	0	0	11.30	11.30	11.30
5955	-0.23	0.0	2693	2550	3493	3481	243.2	1.4	648	5960	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2550	3486	3492	3481	0	0	0	0	0	0	11.31	11.31	11.30
6157	end loiter: LOITER_COMPLETE
state	6157	begin climb
6161	2.06	50.8	2693	2550	3493	3480	240.2	0.0	669	6295	3.03	3.83	116.03	2.209	10756	0.096	0.055	3446	1150	3290	3304	3276	0	0	0	0	0	0	10.90	8.68	7.11
6522	2.06	50.8	3446	1151	3301	3273	193.9	16.4	737	6527	0.00	3.42	0.00	0.000	1030	0.000	0.059	3446	2553	3286	3301	3271	0	0	0	0	0	0	10.91	10.83	10.93
6834	2.06	50.8	3447	2553	3301	3270	142.7	16.0	769	6839	0.00	3.38	0.00	0.000	516	0.000	0.055	3456	1150	3285	3300	3270	0	0	0	0	0	0	11.19	10.84	11.19
6866	2.06	50.8	3457	1150	3301	3270	137.7	15.2	775	6871	0.00	3.42	0.00	0.000	1030	0.000	0.058	3457	2560	3285	3300	3270	0	0	0	0	0	0	10.96	10.87	10.98
7178	2.06	50.8	3457	2560	3300	3270	89.9	14.7	807	7183	0.00	3.35	0.00	0.000	260	0.000	0.082	3457	3909	3284	3299	3269	0	0	0	0	0	0	11.21	10.83	11.20
7235	2.06	50.8	3457	3909	3300	3269	81.4	14.9	818	7243	0.22	3.15	0.00	0.000	5126	0.380	0.044	3442	2553	3284	3300	3269	0	0	0	0	0	0	10.52	10.96	10.83
7540	2.06	50.8	3442	2556	3299	3270	39.3	13.2	849	7546	0.00	3.40	0.00	0.000	260	0.000	0.083	3438	3910	3284	3299	3269	0	0	0	0	0	0	11.21	10.84	11.21
7612	2.06	50.8	3438	3911	3299	3270	29.0	14.3	863	7617	0.00	3.20	0.00	0.000	1030	0.000	0.045	3448	2539	3283	3299	3268	0	0	0	0	0	0	11.02	10.98	11.03
7804	end climb: SURFACE_DEPTH_REACHED
state	7804	begin surface coast
7810	end surface coast: CONTROL_FINISHED_OK
state	7810	begin surface