Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 34 * 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 2800 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 34 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 2

D_ABORT 1020 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 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 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 220 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 270 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 2 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 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 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 2730 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 200 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 22 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 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 785

AD7714Ch0Gain 1 D_TGT 800 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 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

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 22 SURFACE_URGENCY 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 220

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 270

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 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2800 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 1

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 34 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 200 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 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 3 N_DIVES 0 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 280118,084200,-7354.7695,-11319.4971,32,1.0,32,53.6,1.3,306.0,7,4.0 SPEED_LIMITS 0.210,0.306

_CALLS 1 TGT_NAME S2_221

_XMS_NAKs 0 TGT_LATLONG -7354.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.78 MHEAD_RNG_PITCHd_Wd 56.4,10170,-16.9,-12.121,-21.59,2397

_SM_ANGLEo -61.4 D_GRID 313

GPS2 280118,084628,-7354.7471,-11319.6182,3,1.0,4,53.6,0.8,257.1,9,5.2

Post-dive calculations and measurements:

FREEZE -0.06,-0.868,-1.857,2,1,0 ALTIM_TOP_PING 9.1,8.9

FINISH -0.1,1.027232 _24V_AH 12.25,20.439

SM_CCo 4829,132.57,0.230,0,0,1574,350.17 _10V_AH 12.35,0.000

SM_GC 0.75,8.60,0.45,132.57,0.096,0.106,0.230,202,2799,1574,-7.88,-0.74,350.17,0,0,0,0,0,0,14.57,14.61,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 189 FG_AHR_10Vo 0.000

RAFOS 0,1517130067,9.033333,9.018611,62,62,61,55,54,54,204,681,173,152,229,217 MEM 280480

RAFOS_FIX -7352.648438,-11333.839844,280118,090940,2,71,4.90 DATA_FILE_SIZE 16787,514

IRIDIUM_FIX -7355.64,-11308.86,280118,071633 CAP_FILE_SIZE 67427,0

TT8_MAMPS 0.03745,0.278628 CFSIZE 1024409600,1016037376

HUMID 46.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.79246 SOUNDSPEED 1446.1

TCM_TEMP 13.20 CURRENT 0.191,310.06,1

XPDR_PINGS 0 GPS 280118,101018,-7354.728,-11318.616,6,1.5,6,53.6,0.9,158.8,4,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 491 139.34 nil 0 0 0.00

Roll_motor 28 105 36.89 nil 0 0 0.00

VBD_pump_during_apogee 386 2659 12600.62 nil 0 0 0.00

VBD_pump_during_surface 132 229 372.72 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 4820 4 280.05

Iridium_during_xfer 190 188 438.47 nil 0 0 0.00

Transponder_ping 18 420 95.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.62

TT8 0 0 0.00

LPSleep 3285 2 93.73

TT8_Active 630 10 84.67

TT8_Sampling 1287 30 482.55

TT8_CF8 46 51 29.49

TT8_Kalman 0 0 0.00

Analog_circuits 1241 10 154.84

GPS_charging 0 0 0.00

Compass 742 6 61.81

RAFOS 720 1 13.34

Transponder 130 30 48.26

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

9.2 11.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

17.2 19.50 9000.00 0.0 0.00 0.00 19.50 0.0 0.99 1.00

34.9 37.50 9000.00 0.0 0.00 0.00 37.50 0.0 1.02 1.00

289.2 59.20 9000.00 0.0 0.00 0.00 59.20 0.0 0.09 1.00

298.1 50.80 9000.00 0.0 0.12 0.80 50.80 348.9 -0.94 1.00

306.9 40.30 9000.00 0.0 0.08 0.62 40.30 347.2 -1.19 1.00

316.0 31.50 9000.00 0.0 0.02 0.06 31.50 347.5 -0.97 1.00

317.7 31.00 30.20 347.9 -1.02 1.00 0.00 0.0 0.00 0.00

77.9 82.90 9000.00 0.0 -0.20 0.91 82.90 0.0 -0.22 1.00

69.8 72.40 9000.00 0.0 -0.18 0.95 72.40 -2.6 1.30 1.00

61.7 64.10 9000.00 0.0 -0.17 0.90 64.10 -2.4 1.02 1.00

52.9 55.90 9000.00 0.0 -0.14 0.67 55.90 -3.0 0.93 1.00

43.6 45.60 45.40 -1.8 1.07 1.00 45.60 -2.0 1.11 1.00

35.2 35.60 36.30 -1.1 1.06 1.00 35.60 -0.4 1.19 1.00

26.3 27.30 26.90 -0.6 1.06 1.00 27.30 -1.0 0.93 1.00

17.6 17.40 17.30 0.3 1.08 1.00 17.40 0.2 1.14 1.00

9.1 9.20 8.90 0.2 1.05 1.00 9.20 -0.1 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

7 -1.01 -194.6 196 2805 1597 1516 0.0 0.0 0 132 0.00 0.00 -123.28 0.003 16386 0.000 0.000 195 2806 3743 3752 3734 0 0 0 0 0 0 14.59 28.83 14.59

134 -1.01 -194.6 196 2806 3754 3735 6.1 -11.5 12 152 12.12 1.95 0.00 0.000 2308 0.492 0.082 2389 3903 3747 3754 3740 0 0 0 0 0 0 14.16 14.38 14.43

206 -1.01 -194.6 2389 3903 3754 3745 27.8 -19.3 26 212 0.00 1.90 0.00 0.000 1030 0.000 0.050 2389 2790 3748 3752 3745 0 0 0 0 0 0 14.48 14.45 14.50

516 -1.01 -194.6 2389 2791 3753 3748 82.3 -16.5 58 522 0.00 2.40 0.00 0.000 516 0.000 0.054 2389 1399 3749 3752 3747 0 0 0 0 0 0 14.71 14.49 14.71

556 -1.01 -194.6 2389 1400 3752 3747 88.6 -15.4 66 562 0.00 2.50 0.00 0.000 1030 0.000 0.076 2387 2797 3749 3752 3747 0 0 0 0 0 0 14.55 14.48 14.57

866 -1.01 -194.6 2388 2798 3752 3748 138.9 -16.6 98 872 0.00 2.00 0.00 0.000 260 0.000 0.097 2385 3910 3752 3758 3747 0 0 0 0 0 0 14.76 14.52 14.76

940 -1.01 -194.6 2386 3910 3753 3748 152.3 -18.1 113 949 0.00 1.88 0.00 0.000 1030 0.000 0.051 2385 2801 3749 3751 3747 0 0 0 0 0 0 14.63 14.59 14.64

1246 -1.01 -194.6 2386 2805 3753 3747 203.4 -16.4 144 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2802 3749 3752 3747 0 0 0 0 0 0 14.79 14.80 14.79

1546 -1.01 -194.6 2385 2802 3752 3748 250.3 -15.2 174 1546 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2802 3749 3751 3747 0 0 0 0 0 0 14.82 14.82 14.82

1846 -1.01 -194.6 2386 2802 3752 3747 295.1 -14.8 204 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2802 3750 3751 3749 0 0 0 0 0 0 14.83 14.83 14.83

1986 end dive: TARGET_DEPTH_EXCEEDED

state 1986 begin apogee

1989 -0.23 0.0 2391 2547 3752 3747 316.0 -15.1 213 2180 1.00 0.00 187.93 2.659 10246 0.268 0.000 2649 2548 2967 2962 2972 0 0 0 0 0 0 14.48 13.49 12.55

2181 end apogee: CONTROL_FINISHED_OK

state 2181 begin climb

2183 1.01 194.6 2650 2547 2962 2972 322.0 0.0 222 2390 1.40 2.67 198.90 2.544 10756 0.173 0.068 3050 1164 2190 2180 2201 0 0 0 0 0 0 13.44 13.05 12.25

2429 1.01 194.6 3052 1163 2175 2196 302.9 12.7 269 2437 0.00 2.67 0.00 0.000 1030 0.000 0.072 3050 2548 2185 2174 2196 0 0 0 0 0 0 13.52 13.46 13.54

2734 1.01 194.6 3051 2548 2170 2191 260.6 13.8 299 2735 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2548 2181 2170 2192 0 0 0 0 0 0 14.29 14.29 14.29

3034 1.01 194.6 3051 2547 2169 2192 220.2 13.2 329 3035 0.00 0.00 0.00 0.000 6 0.000 0.000 3050 2547 2179 2169 2190 0 0 0 0 0 0 14.51 14.51 14.51

3334 1.01 194.6 3050 2548 2170 2192 182.3 12.3 359 3335 0.00 0.00 0.00 0.000 6 0.000 0.000 3051 2548 2180 2169 2191 0 0 0 0 0 0 14.62 14.63 14.63

3635 1.02 194.6 3051 2548 2170 2191 146.3 11.3 389 3641 0.00 2.45 0.00 0.000 324 0.000 0.099 3050 3914 2181 2169 2193 0 0 0 0 0 0 14.68 14.47 14.68

3655 1.02 194.6 3052 3915 2170 2192 143.7 12.7 393 3662 0.00 2.35 0.00 0.000 1030 0.000 0.057 3061 2557 2180 2169 2191 0 0 0 0 0 0 14.55 14.52 14.57

3966 1.02 194.6 3061 2556 2170 2191 105.8 12.4 425 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2556 2180 2169 2191 0 0 0 0 0 0 14.76 14.76 14.75

4267 1.03 194.6 3061 2557 2165 2192 69.8 11.6 455 4272 0.00 2.42 0.00 0.000 580 0.000 0.070 3071 1154 2179 2168 2191 0 0 0 0 0 0 14.77 14.56 14.76

4301 1.04 194.6 3072 1154 2169 2190 65.8 11.5 462 4308 0.00 2.47 0.00 0.000 1094 0.000 0.073 3071 2556 2179 2168 2190 0 0 0 0 0 0 14.62 14.57 14.64

4607 1.04 194.6 3072 2553 2169 2190 26.3 12.4 493 4608 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2553 2178 2167 2189 0 0 0 0 0 0 14.79 14.80 14.79

4806 end climb: SURFACE_DEPTH_REACHED

state 4806 begin surface coast

4815 end surface coast: CONTROL_FINISHED_OK

state 4815 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	2800	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	34	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	2
D_ABORT	1020	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	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	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	220	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	270	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	2	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	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	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	2730	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	200	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	22	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	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	785

GPS1	280118,084200,-7354.7695,-11319.4971,32,1.0,32,53.6,1.3,306.0,7,4.0	SPEED_LIMITS	0.210,0.306
_CALLS	1	TGT_NAME	S2_221
_XMS_NAKs	0	TGT_LATLONG	-7354.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.78	MHEAD_RNG_PITCHd_Wd	56.4,10170,-16.9,-12.121,-21.59,2397
_SM_ANGLEo	-61.4	D_GRID	313
GPS2	280118,084628,-7354.7471,-11319.6182,3,1.0,4,53.6,0.8,257.1,9,5.2

FREEZE	-0.06,-0.868,-1.857,2,1,0	ALTIM_TOP_PING	9.1,8.9
FINISH	-0.1,1.027232	_24V_AH	12.25,20.439
SM_CCo	4829,132.57,0.230,0,0,1574,350.17	_10V_AH	12.35,0.000
SM_GC	0.75,8.60,0.45,132.57,0.096,0.106,0.230,202,2799,1574,-7.88,-0.74,350.17,0,0,0,0,0,0,14.57,14.61,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	189	FG_AHR_10Vo	0.000
RAFOS	0,1517130067,9.033333,9.018611,62,62,61,55,54,54,204,681,173,152,229,217	MEM	280480
RAFOS_FIX	-7352.648438,-11333.839844,280118,090940,2,71,4.90	DATA_FILE_SIZE	16787,514
IRIDIUM_FIX	-7355.64,-11308.86,280118,071633	CAP_FILE_SIZE	67427,0
TT8_MAMPS	0.03745,0.278628	CFSIZE	1024409600,1016037376
HUMID	46.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.79246	SOUNDSPEED	1446.1
TCM_TEMP	13.20	CURRENT	0.191,310.06,1
XPDR_PINGS	0	GPS	280118,101018,-7354.728,-11318.616,6,1.5,6,53.6,0.9,158.8,4,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	491	139.34	nil	0	0	0.00
Roll_motor	28	105	36.89	nil	0	0	0.00
VBD_pump_during_apogee	386	2659	12600.62	nil	0	0	0.00
VBD_pump_during_surface	132	229	372.72	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	4820	4	280.05
Iridium_during_xfer	190	188	438.47	nil	0	0	0.00
Transponder_ping	18	420	95.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.62
TT8	0	0	0.00
LPSleep	3285	2	93.73
TT8_Active	630	10	84.67
TT8_Sampling	1287	30	482.55
TT8_CF8	46	51	29.49
TT8_Kalman	0	0	0.00
Analog_circuits	1241	10	154.84
GPS_charging	0	0	0.00
Compass	742	6	61.81
RAFOS	720	1	13.34
Transponder	130	30	48.26

		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
9.2	11.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
17.2	19.50	9000.00	0.0	0.00	0.00	19.50	0.0	0.99	1.00
34.9	37.50	9000.00	0.0	0.00	0.00	37.50	0.0	1.02	1.00
289.2	59.20	9000.00	0.0	0.00	0.00	59.20	0.0	0.09	1.00
298.1	50.80	9000.00	0.0	0.12	0.80	50.80	348.9	-0.94	1.00
306.9	40.30	9000.00	0.0	0.08	0.62	40.30	347.2	-1.19	1.00
316.0	31.50	9000.00	0.0	0.02	0.06	31.50	347.5	-0.97	1.00
317.7	31.00	30.20	347.9	-1.02	1.00	0.00	0.0	0.00	0.00

77.9	82.90	9000.00	0.0	-0.20	0.91	82.90	0.0	-0.22	1.00
69.8	72.40	9000.00	0.0	-0.18	0.95	72.40	-2.6	1.30	1.00
61.7	64.10	9000.00	0.0	-0.17	0.90	64.10	-2.4	1.02	1.00
52.9	55.90	9000.00	0.0	-0.14	0.67	55.90	-3.0	0.93	1.00
43.6	45.60	45.40	-1.8	1.07	1.00	45.60	-2.0	1.11	1.00
35.2	35.60	36.30	-1.1	1.06	1.00	35.60	-0.4	1.19	1.00
26.3	27.30	26.90	-0.6	1.06	1.00	27.30	-1.0	0.93	1.00
17.6	17.40	17.30	0.3	1.08	1.00	17.40	0.2	1.14	1.00
9.1	9.20	8.90	0.2	1.05	1.00	9.20	-0.1	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
7	-1.01	-194.6	196	2805	1597	1516	0.0	0.0	0	132	0.00	0.00	-123.28	0.003	16386	0.000	0.000	195	2806	3743	3752	3734	0	0	0	0	0	0	14.59	28.83	14.59
134	-1.01	-194.6	196	2806	3754	3735	6.1	-11.5	12	152	12.12	1.95	0.00	0.000	2308	0.492	0.082	2389	3903	3747	3754	3740	0	0	0	0	0	0	14.16	14.38	14.43
206	-1.01	-194.6	2389	3903	3754	3745	27.8	-19.3	26	212	0.00	1.90	0.00	0.000	1030	0.000	0.050	2389	2790	3748	3752	3745	0	0	0	0	0	0	14.48	14.45	14.50
516	-1.01	-194.6	2389	2791	3753	3748	82.3	-16.5	58	522	0.00	2.40	0.00	0.000	516	0.000	0.054	2389	1399	3749	3752	3747	0	0	0	0	0	0	14.71	14.49	14.71
556	-1.01	-194.6	2389	1400	3752	3747	88.6	-15.4	66	562	0.00	2.50	0.00	0.000	1030	0.000	0.076	2387	2797	3749	3752	3747	0	0	0	0	0	0	14.55	14.48	14.57
866	-1.01	-194.6	2388	2798	3752	3748	138.9	-16.6	98	872	0.00	2.00	0.00	0.000	260	0.000	0.097	2385	3910	3752	3758	3747	0	0	0	0	0	0	14.76	14.52	14.76
940	-1.01	-194.6	2386	3910	3753	3748	152.3	-18.1	113	949	0.00	1.88	0.00	0.000	1030	0.000	0.051	2385	2801	3749	3751	3747	0	0	0	0	0	0	14.63	14.59	14.64
1246	-1.01	-194.6	2386	2805	3753	3747	203.4	-16.4	144	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2802	3749	3752	3747	0	0	0	0	0	0	14.79	14.80	14.79
1546	-1.01	-194.6	2385	2802	3752	3748	250.3	-15.2	174	1546	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2802	3749	3751	3747	0	0	0	0	0	0	14.82	14.82	14.82
1846	-1.01	-194.6	2386	2802	3752	3747	295.1	-14.8	204	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2802	3750	3751	3749	0	0	0	0	0	0	14.83	14.83	14.83
1986	end dive: TARGET_DEPTH_EXCEEDED
state	1986	begin apogee
1989	-0.23	0.0	2391	2547	3752	3747	316.0	-15.1	213	2180	1.00	0.00	187.93	2.659	10246	0.268	0.000	2649	2548	2967	2962	2972	0	0	0	0	0	0	14.48	13.49	12.55
2181	end apogee: CONTROL_FINISHED_OK
state	2181	begin climb
2183	1.01	194.6	2650	2547	2962	2972	322.0	0.0	222	2390	1.40	2.67	198.90	2.544	10756	0.173	0.068	3050	1164	2190	2180	2201	0	0	0	0	0	0	13.44	13.05	12.25
2429	1.01	194.6	3052	1163	2175	2196	302.9	12.7	269	2437	0.00	2.67	0.00	0.000	1030	0.000	0.072	3050	2548	2185	2174	2196	0	0	0	0	0	0	13.52	13.46	13.54
2734	1.01	194.6	3051	2548	2170	2191	260.6	13.8	299	2735	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2548	2181	2170	2192	0	0	0	0	0	0	14.29	14.29	14.29
3034	1.01	194.6	3051	2547	2169	2192	220.2	13.2	329	3035	0.00	0.00	0.00	0.000	6	0.000	0.000	3050	2547	2179	2169	2190	0	0	0	0	0	0	14.51	14.51	14.51
3334	1.01	194.6	3050	2548	2170	2192	182.3	12.3	359	3335	0.00	0.00	0.00	0.000	6	0.000	0.000	3051	2548	2180	2169	2191	0	0	0	0	0	0	14.62	14.63	14.63
3635	1.02	194.6	3051	2548	2170	2191	146.3	11.3	389	3641	0.00	2.45	0.00	0.000	324	0.000	0.099	3050	3914	2181	2169	2193	0	0	0	0	0	0	14.68	14.47	14.68
3655	1.02	194.6	3052	3915	2170	2192	143.7	12.7	393	3662	0.00	2.35	0.00	0.000	1030	0.000	0.057	3061	2557	2180	2169	2191	0	0	0	0	0	0	14.55	14.52	14.57
3966	1.02	194.6	3061	2556	2170	2191	105.8	12.4	425	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2556	2180	2169	2191	0	0	0	0	0	0	14.76	14.76	14.75
4267	1.03	194.6	3061	2557	2165	2192	69.8	11.6	455	4272	0.00	2.42	0.00	0.000	580	0.000	0.070	3071	1154	2179	2168	2191	0	0	0	0	0	0	14.77	14.56	14.76
4301	1.04	194.6	3072	1154	2169	2190	65.8	11.5	462	4308	0.00	2.47	0.00	0.000	1094	0.000	0.073	3071	2556	2179	2168	2190	0	0	0	0	0	0	14.62	14.57	14.64
4607	1.04	194.6	3072	2553	2169	2190	26.3	12.4	493	4608	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2553	2178	2167	2189	0	0	0	0	0	0	14.79	14.80	14.79
4806	end climb: SURFACE_DEPTH_REACHED
state	4806	begin surface coast
4815	end surface coast: CONTROL_FINISHED_OK
state	4815	begin surface