Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0099999998 C_ROLL_DIVE 2600 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 HD_C 1.6100001e-05 C_ROLL_CLIMB 2450 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 40 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 ALTIM_PULSE 2

D_ABORT 600 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 5 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 0 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 60 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 75 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -1 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 30 PITCH_GAIN 20 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 785

AD7714Ch0Gain 1 D_TGT 180 N_NOCOMM 1 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 0 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0.02 SM_CC 450

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_DBAND 0 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 0 T_BOOST 5

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 60

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 75

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2450 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2600 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 20

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 3 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 600 MAX_BUOY 150 R_PORT_OVSHOOT 40 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 0 N_DIVES 3 SEABIRD_C_H 1.1403944

D_SAFE 0 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 240118,182355,-7341.1084,-11415.0771,2,1.1,3,53.8,0.8,318.1,7,5.4 SPEED_LIMITS 0.173,0.251

_CALLS 1 TGT_NAME S1

_XMS_NAKs 0 TGT_LATLONG -7340.000,-11320.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.66 MHEAD_RNG_PITCHd_Wd 48.6,28781,-16.5,-10.000,-21.71,2158

_SM_ANGLEo -51.5 D_GRID 520

GPS2 240118,182650,-7341.0957,-11415.1221,3,1.1,4,53.8,0.2,0.6,7,5.7

Post-dive calculations and measurements:

FINISH 0.0,1.027247 _24V_AH 13.31,9.167

SM_CCo 4706,0.00,0.000,0,0,1142,458.69 _10V_AH 12.40,0.000

SM_GC 0.84,9.05,0.30,0.00,0.106,0.103,0.000,197,2608,1142,-8.10,-0.57,458.69,0,0,0,0,0,0,14.34,14.37,14.45 FG_AHR_24Vo 0.000

RAFOS_CLK 174 FG_AHR_10Vo 0.000

RAFOS_FIX -7341.526367,-11415.572266,240118,191954,0,1,0.18 MEM 280268

IRIDIUM_FIX -7345.69,-11409.46,240118,182148 DATA_FILE_SIZE 23385,734

TT8_MAMPS 0.038948,0.8239 CAP_FILE_SIZE 84419,1

HUMID 52.59 CFSIZE 1024409600,1019674624

INTERNAL_PRESSURE 7.84129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1444.4

XPDR_PINGS 0 CURRENT 0.168,342.05,1

ALTIM_TOP_PING 17.1,16.7 GPS 240118,194631,-7341.116,-11414.348,17,0.9,21,53.8,0.3,188.1,5,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 450 143.93 nil 0 0 0.00

Roll_motor 54 112 80.94 nil 0 0 0.00

VBD_pump_during_apogee 1278 980 16691.20 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 4624 26 1624.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 8 420 48.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.61

TT8 0 0 0.00

LPSleep 2093 2 59.97

TT8_Active 1246 10 168.04

TT8_Sampling 1398 30 526.45

TT8_CF8 32 51 20.77

TT8_Kalman 0 0 0.00

Analog_circuits 1970 10 246.73

GPS_charging 0 0 0.00

Compass 1052 6 88.00

RAFOS 0 0 0.00

Transponder 60 30 22.67

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

20.3 21.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

30.4 31.80 9000.00 0.0 0.00 0.00 31.80 0.0 1.05 1.00

40.9 43.20 9000.00 0.0 0.00 0.00 43.20 0.0 1.09 1.00

99.6 104.10 9000.00 0.0 0.00 0.00 104.10 -4.5 1.04 1.00

79.4 82.70 83.00 -3.6 1.04 1.00 82.70 -3.3 1.06 1.00

69.1 71.70 72.10 -3.0 1.04 1.00 71.70 -2.6 1.07 1.00

58.8 60.90 61.30 -2.5 1.04 1.00 60.90 -2.1 1.05 1.00

48.6 50.10 50.10 -1.5 1.06 1.00 50.10 -1.5 1.06 1.00

38.1 39.10 39.10 -1.0 1.06 1.00 39.10 -1.0 1.05 1.00

27.5 27.90 27.90 -0.4 1.05 1.00 27.90 -0.4 1.06 1.00

17.1 16.50 16.70 0.4 1.06 1.00 16.50 0.6 1.10 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.00 -146.0 196 2611 494 497 0.0 0.0 0 190 0.00 0.00 -180.20 0.003 16386 0.000 0.000 196 2612 3517 3528 3506 0 0 0 0 0 0 14.75 28.83 14.75

191 -1.00 -146.0 196 2612 3529 3506 4.4 -10.9 29 213 11.57 2.38 -0.77 0.148 18692 0.451 0.112 2455 3910 3552 3558 3547 0 0 0 0 0 0 14.19 13.31 14.45

277 -1.00 -146.0 2456 3909 3559 3549 23.3 -12.2 45 285 0.00 2.22 0.00 0.000 1030 0.000 0.047 2455 2591 3553 3557 3549 0 0 0 0 0 0 14.54 14.50 14.56

463 -1.00 -146.0 2456 2591 3559 3550 46.6 -12.7 82 471 0.00 2.40 0.00 0.000 260 0.000 0.098 2454 3901 3553 3557 3550 0 0 0 0 0 0 14.75 14.41 14.75

530 -0.98 -146.0 2454 3901 3558 3550 55.2 -13.2 95 537 0.08 2.20 0.00 0.000 3206 0.260 0.047 2474 2606 3553 3557 3550 0 0 0 0 0 0 14.30 14.55 14.48

716 -0.98 -146.0 2476 2606 3557 3550 77.7 -12.3 132 723 0.00 2.38 0.00 0.000 260 0.000 0.098 2470 3904 3553 3556 3550 0 0 0 0 0 0 14.78 14.42 14.78

772 -0.98 -146.0 2470 3904 3558 3550 85.0 -13.1 143 780 0.00 2.22 0.00 0.000 1030 0.000 0.049 2470 2590 3553 3556 3550 0 0 0 0 0 0 14.59 14.56 14.61

963 -0.98 -146.0 2470 2591 3557 3552 109.5 -13.0 174 969 0.00 2.40 0.00 0.000 260 0.000 0.096 2468 3902 3553 3556 3550 0 0 0 0 0 0 14.82 14.37 14.82

994 -0.98 -146.0 2468 3902 3557 3550 113.6 -14.1 180 999 0.00 2.20 0.00 0.000 1030 0.000 0.050 2468 2583 3553 3556 3550 0 0 0 0 0 0 14.60 14.55 14.62

1303 -0.98 -146.0 2468 2583 3557 3550 151.0 -11.3 212 1310 0.00 2.42 0.00 0.000 260 0.000 0.096 2469 3909 3553 3556 3550 0 0 0 0 0 0 14.85 14.38 14.84

1403 -0.98 -146.0 2468 3910 3556 3551 162.9 -11.8 232 1410 0.00 2.22 0.00 0.000 1030 0.000 0.047 2467 2596 3553 3556 3550 0 0 0 0 0 0 14.53 14.50 14.54

1563 end dive: TARGET_DEPTH_EXCEEDED

state 1563 begin apogee

1566 -0.25 0.0 2468 2456 3557 3550 181.0 -11.2 249 1985 0.90 0.00 409.45 0.929 10246 0.235 0.000 2712 2456 2967 2967 2967 0 0 0 0 0 0 14.34 14.00 13.52

1986 end apogee: CONTROL_FINISHED_OK

state 1986 begin climb

1987 1.00 146.0 2712 2457 2966 2966 206.4 0.0 291 2485 1.33 2.62 483.48 0.834 11012 0.135 0.083 3128 1063 2384 2378 2391 0 0 0 0 0 0 13.96 13.90 13.52

2579 0.83 146.0 3129 1064 2373 2388 197.5 10.3 402 2586 0.22 2.53 0.00 0.000 5254 0.298 0.073 3073 2448 2378 2372 2385 0 0 0 0 0 0 14.00 14.19 14.19

2890 0.72 174.6 3074 2448 2371 2386 168.3 8.6 434 2969 0.17 2.67 73.90 0.981 12708 0.383 0.093 3040 3866 2271 2262 2281 0 0 0 0 0 0 14.21 14.12 13.69

3088 0.59 174.6 3039 3867 2258 2273 149.6 10.3 472 3095 0.17 2.47 0.00 0.000 5254 0.291 0.053 2992 2445 2263 2256 2271 0 0 0 0 0 0 14.17 14.34 14.39

3398 0.67 243.5 2992 2446 2252 2273 126.8 6.7 504 3595 0.00 2.67 185.55 0.926 8484 0.000 0.093 2991 3853 1990 1982 1999 0 0 0 0 0 0 14.71 13.95 13.59

3654 0.65 243.5 2991 3855 1980 1995 106.0 10.4 552 3661 0.00 2.47 0.00 0.000 1158 0.000 0.052 3002 2448 1986 1979 1994 0 0 0 0 0 0 14.26 14.21 14.27

3960 0.66 253.7 3002 2447 1976 1992 77.0 9.5 607 3968 0.00 2.62 3.85 0.418 8484 0.000 0.095 3002 3859 1960 1952 1968 0 0 0 0 0 0 14.63 14.38 14.04

4002 0.62 253.7 3002 3859 1962 1971 72.5 11.4 615 4010 0.00 2.42 1.38 0.317 9350 0.000 0.052 3011 2460 1958 1952 1965 0 0 0 0 0 0 14.45 14.40 14.09

4189 0.62 253.7 3012 2460 1961 1971 53.2 10.2 652 4197 0.00 2.58 0.00 0.000 260 0.000 0.096 3011 3865 1966 1960 1972 0 0 0 0 0 0 14.70 14.40 14.70

4216 0.58 253.7 3012 3865 1961 1972 50.2 11.7 657 4223 0.10 2.45 0.00 0.000 5254 0.260 0.054 2994 2443 1966 1960 1972 0 0 0 0 0 0 14.23 14.42 14.39

4402 0.61 255.5 2995 2443 1960 1972 32.4 9.9 694 4410 0.00 2.55 2.45 0.324 8612 0.000 0.096 2994 3861 1951 1945 1958 0 0 0 0 0 0 14.72 14.42 14.19

4434 0.59 255.5 2994 3861 1952 1962 28.8 11.4 700 4443 0.00 2.45 0.00 0.000 1158 0.000 0.054 3004 2443 1954 1947 1962 0 0 0 0 0 0 14.52 14.47 14.54

4506 1.04 620.0 3005 2444 1952 1965 21.2 10.7 714 4628 0.40 0.00 118.62 0.271 10754 0.151 0.000 3126 2443 1145 1130 1160 0 0 0 0 0 0 14.40 28.83 14.55

4629 end climb: SURFACE_DEPTH_REACHED

state 4629 begin surface coast

4631 end surface coast: CONTROL_FINISHED_OK

state 4632 begin surface

ID	221	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0099999998	C_ROLL_DIVE	2600	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	HD_C	1.6100001e-05	C_ROLL_CLIMB	2450	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	40	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	ALTIM_PULSE	2
D_ABORT	600	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	5	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	0	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	60	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	75	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-1	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	30	PITCH_GAIN	20	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	785

GPS1	240118,182355,-7341.1084,-11415.0771,2,1.1,3,53.8,0.8,318.1,7,5.4	SPEED_LIMITS	0.173,0.251
_CALLS	1	TGT_NAME	S1
_XMS_NAKs	0	TGT_LATLONG	-7340.000,-11320.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.66	MHEAD_RNG_PITCHd_Wd	48.6,28781,-16.5,-10.000,-21.71,2158
_SM_ANGLEo	-51.5	D_GRID	520
GPS2	240118,182650,-7341.0957,-11415.1221,3,1.1,4,53.8,0.2,0.6,7,5.7

FINISH	0.0,1.027247	_24V_AH	13.31,9.167
SM_CCo	4706,0.00,0.000,0,0,1142,458.69	_10V_AH	12.40,0.000
SM_GC	0.84,9.05,0.30,0.00,0.106,0.103,0.000,197,2608,1142,-8.10,-0.57,458.69,0,0,0,0,0,0,14.34,14.37,14.45	FG_AHR_24Vo	0.000
RAFOS_CLK	174	FG_AHR_10Vo	0.000
RAFOS_FIX	-7341.526367,-11415.572266,240118,191954,0,1,0.18	MEM	280268
IRIDIUM_FIX	-7345.69,-11409.46,240118,182148	DATA_FILE_SIZE	23385,734
TT8_MAMPS	0.038948,0.8239	CAP_FILE_SIZE	84419,1
HUMID	52.59	CFSIZE	1024409600,1019674624
INTERNAL_PRESSURE	7.84129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1444.4
XPDR_PINGS	0	CURRENT	0.168,342.05,1
ALTIM_TOP_PING	17.1,16.7	GPS	240118,194631,-7341.116,-11414.348,17,0.9,21,53.8,0.3,188.1,5,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	450	143.93	nil	0	0	0.00
Roll_motor	54	112	80.94	nil	0	0	0.00
VBD_pump_during_apogee	1278	980	16691.20	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	4624	26	1624.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	8	420	48.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.61
TT8	0	0	0.00
LPSleep	2093	2	59.97
TT8_Active	1246	10	168.04
TT8_Sampling	1398	30	526.45
TT8_CF8	32	51	20.77
TT8_Kalman	0	0	0.00
Analog_circuits	1970	10	246.73
GPS_charging	0	0	0.00
Compass	1052	6	88.00
RAFOS	0	0	0.00
Transponder	60	30	22.67

		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
20.3	21.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
30.4	31.80	9000.00	0.0	0.00	0.00	31.80	0.0	1.05	1.00
40.9	43.20	9000.00	0.0	0.00	0.00	43.20	0.0	1.09	1.00

99.6	104.10	9000.00	0.0	0.00	0.00	104.10	-4.5	1.04	1.00
79.4	82.70	83.00	-3.6	1.04	1.00	82.70	-3.3	1.06	1.00
69.1	71.70	72.10	-3.0	1.04	1.00	71.70	-2.6	1.07	1.00
58.8	60.90	61.30	-2.5	1.04	1.00	60.90	-2.1	1.05	1.00
48.6	50.10	50.10	-1.5	1.06	1.00	50.10	-1.5	1.06	1.00
38.1	39.10	39.10	-1.0	1.06	1.00	39.10	-1.0	1.05	1.00
27.5	27.90	27.90	-0.4	1.05	1.00	27.90	-0.4	1.06	1.00
17.1	16.50	16.70	0.4	1.06	1.00	16.50	0.6	1.10	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.00	-146.0	196	2611	494	497	0.0	0.0	0	190	0.00	0.00	-180.20	0.003	16386	0.000	0.000	196	2612	3517	3528	3506	0	0	0	0	0	0	14.75	28.83	14.75
191	-1.00	-146.0	196	2612	3529	3506	4.4	-10.9	29	213	11.57	2.38	-0.77	0.148	18692	0.451	0.112	2455	3910	3552	3558	3547	0	0	0	0	0	0	14.19	13.31	14.45
277	-1.00	-146.0	2456	3909	3559	3549	23.3	-12.2	45	285	0.00	2.22	0.00	0.000	1030	0.000	0.047	2455	2591	3553	3557	3549	0	0	0	0	0	0	14.54	14.50	14.56
463	-1.00	-146.0	2456	2591	3559	3550	46.6	-12.7	82	471	0.00	2.40	0.00	0.000	260	0.000	0.098	2454	3901	3553	3557	3550	0	0	0	0	0	0	14.75	14.41	14.75
530	-0.98	-146.0	2454	3901	3558	3550	55.2	-13.2	95	537	0.08	2.20	0.00	0.000	3206	0.260	0.047	2474	2606	3553	3557	3550	0	0	0	0	0	0	14.30	14.55	14.48
716	-0.98	-146.0	2476	2606	3557	3550	77.7	-12.3	132	723	0.00	2.38	0.00	0.000	260	0.000	0.098	2470	3904	3553	3556	3550	0	0	0	0	0	0	14.78	14.42	14.78
772	-0.98	-146.0	2470	3904	3558	3550	85.0	-13.1	143	780	0.00	2.22	0.00	0.000	1030	0.000	0.049	2470	2590	3553	3556	3550	0	0	0	0	0	0	14.59	14.56	14.61
963	-0.98	-146.0	2470	2591	3557	3552	109.5	-13.0	174	969	0.00	2.40	0.00	0.000	260	0.000	0.096	2468	3902	3553	3556	3550	0	0	0	0	0	0	14.82	14.37	14.82
994	-0.98	-146.0	2468	3902	3557	3550	113.6	-14.1	180	999	0.00	2.20	0.00	0.000	1030	0.000	0.050	2468	2583	3553	3556	3550	0	0	0	0	0	0	14.60	14.55	14.62
1303	-0.98	-146.0	2468	2583	3557	3550	151.0	-11.3	212	1310	0.00	2.42	0.00	0.000	260	0.000	0.096	2469	3909	3553	3556	3550	0	0	0	0	0	0	14.85	14.38	14.84
1403	-0.98	-146.0	2468	3910	3556	3551	162.9	-11.8	232	1410	0.00	2.22	0.00	0.000	1030	0.000	0.047	2467	2596	3553	3556	3550	0	0	0	0	0	0	14.53	14.50	14.54
1563	end dive: TARGET_DEPTH_EXCEEDED
state	1563	begin apogee
1566	-0.25	0.0	2468	2456	3557	3550	181.0	-11.2	249	1985	0.90	0.00	409.45	0.929	10246	0.235	0.000	2712	2456	2967	2967	2967	0	0	0	0	0	0	14.34	14.00	13.52
1986	end apogee: CONTROL_FINISHED_OK
state	1986	begin climb
1987	1.00	146.0	2712	2457	2966	2966	206.4	0.0	291	2485	1.33	2.62	483.48	0.834	11012	0.135	0.083	3128	1063	2384	2378	2391	0	0	0	0	0	0	13.96	13.90	13.52
2579	0.83	146.0	3129	1064	2373	2388	197.5	10.3	402	2586	0.22	2.53	0.00	0.000	5254	0.298	0.073	3073	2448	2378	2372	2385	0	0	0	0	0	0	14.00	14.19	14.19
2890	0.72	174.6	3074	2448	2371	2386	168.3	8.6	434	2969	0.17	2.67	73.90	0.981	12708	0.383	0.093	3040	3866	2271	2262	2281	0	0	0	0	0	0	14.21	14.12	13.69
3088	0.59	174.6	3039	3867	2258	2273	149.6	10.3	472	3095	0.17	2.47	0.00	0.000	5254	0.291	0.053	2992	2445	2263	2256	2271	0	0	0	0	0	0	14.17	14.34	14.39
3398	0.67	243.5	2992	2446	2252	2273	126.8	6.7	504	3595	0.00	2.67	185.55	0.926	8484	0.000	0.093	2991	3853	1990	1982	1999	0	0	0	0	0	0	14.71	13.95	13.59
3654	0.65	243.5	2991	3855	1980	1995	106.0	10.4	552	3661	0.00	2.47	0.00	0.000	1158	0.000	0.052	3002	2448	1986	1979	1994	0	0	0	0	0	0	14.26	14.21	14.27
3960	0.66	253.7	3002	2447	1976	1992	77.0	9.5	607	3968	0.00	2.62	3.85	0.418	8484	0.000	0.095	3002	3859	1960	1952	1968	0	0	0	0	0	0	14.63	14.38	14.04
4002	0.62	253.7	3002	3859	1962	1971	72.5	11.4	615	4010	0.00	2.42	1.38	0.317	9350	0.000	0.052	3011	2460	1958	1952	1965	0	0	0	0	0	0	14.45	14.40	14.09
4189	0.62	253.7	3012	2460	1961	1971	53.2	10.2	652	4197	0.00	2.58	0.00	0.000	260	0.000	0.096	3011	3865	1966	1960	1972	0	0	0	0	0	0	14.70	14.40	14.70
4216	0.58	253.7	3012	3865	1961	1972	50.2	11.7	657	4223	0.10	2.45	0.00	0.000	5254	0.260	0.054	2994	2443	1966	1960	1972	0	0	0	0	0	0	14.23	14.42	14.39
4402	0.61	255.5	2995	2443	1960	1972	32.4	9.9	694	4410	0.00	2.55	2.45	0.324	8612	0.000	0.096	2994	3861	1951	1945	1958	0	0	0	0	0	0	14.72	14.42	14.19
4434	0.59	255.5	2994	3861	1952	1962	28.8	11.4	700	4443	0.00	2.45	0.00	0.000	1158	0.000	0.054	3004	2443	1954	1947	1962	0	0	0	0	0	0	14.52	14.47	14.54
4506	1.04	620.0	3005	2444	1952	1965	21.2	10.7	714	4628	0.40	0.00	118.62	0.271	10754	0.151	0.000	3126	2443	1145	1130	1160	0	0	0	0	0	0	14.40	28.83	14.55
4629	end climb: SURFACE_DEPTH_REACHED
state	4629	begin surface coast
4631	end surface coast: CONTROL_FINISHED_OK
state	4632	begin surface