Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 33 * 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 33 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 20 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 33 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 20 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 280118,071458,-7354.7866,-11319.9766,3,1.0,5,53.6,1.5,281.8,8,6.7 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 62.8,10441,-16.9,-12.121,-21.59,2397

_SM_ANGLEo -60.3 D_GRID 308

GPS2 280118,071953,-7354.7588,-11320.1445,3,1.0,4,53.6,0.3,54.7,8,6.2

Post-dive calculations and measurements:

FREEZE -0.13,-0.920,-1.858,2,1,0 ALTIM_BOTTOM_PING 307.2,31.2

FINISH -0.1,1.027243 _24V_AH 12.24,20.108

SM_CCo 4705,133.20,0.230,0,0,1572,350.17 _10V_AH 12.44,0.000

SM_GC 0.93,8.43,0.45,133.20,0.080,0.102,0.230,195,2803,1572,-7.88,-0.74,350.17,0,0,0,0,0,0,14.59,14.61,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 188 FG_AHR_10Vo 0.000

RAFOS_FIX -7355.095703,-11320.793945,280118,080858,0,1,0.15 MEM 280580

IRIDIUM_FIX -7353.74,-11305.81,280118,052742 DATA_FILE_SIZE 16764,534

TT8_MAMPS 0.038199,0.170023 CAP_FILE_SIZE 70383,0

HUMID 46.53 CFSIZE 1024409600,1016135680

INTERNAL_PRESSURE 7.80222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1446.2

XPDR_PINGS 0 CURRENT 0.198,308.65,1

ALTIM_TOP_PING 10.6,10.4 GPS 280118,084200,-7354.770,-11319.497,32,1.0,32,53.6,1.3,306.0,7,4.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 487 137.19 nil 0 0 0.00

Roll_motor 42 116 60.31 nil 0 0 0.00

VBD_pump_during_apogee 385 2647 12481.72 nil 0 0 0.00

VBD_pump_during_surface 133 229 374.17 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 4696 4 272.28

Iridium_during_xfer 213 187 490.59 nil 0 0 0.00

Transponder_ping 18 420 93.82 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.63

TT8 0 0 0.00

LPSleep 3109 2 89.35

TT8_Active 652 10 88.22

TT8_Sampling 1333 30 503.46

TT8_CF8 51 51 32.77

TT8_Kalman 0 0 0.00

Analog_circuits 1306 10 164.20

GPS_charging 0 0 0.00

Compass 770 6 64.62

RAFOS 0 0 0.00

Transponder 126 30 47.36

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

17.6 19.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

26.1 28.20 9000.00 0.0 0.00 0.00 28.20 0.0 0.98 1.00

68.8 72.50 9000.00 0.0 0.00 0.00 72.50 0.0 1.04 1.00

263.0 80.40 9000.00 0.0 0.00 0.00 80.40 0.0 0.04 1.00

271.1 71.20 9000.00 0.0 0.17 0.63 71.20 342.3 -1.14 1.00

288.6 50.70 9000.00 0.0 0.08 0.24 50.70 339.3 -1.17 1.00

298.0 41.70 9000.00 0.0 -0.08 0.20 41.70 339.7 -0.96 1.00

307.2 31.60 31.20 338.4 -1.11 1.00 31.60 338.8 -1.10 1.00

311.8 27.40 26.80 338.6 -1.08 1.00 27.40 339.2 -0.91 1.00

303.4 36.60 36.00 0.0 -1.01 1.00 36.60 0.0 -1.10 1.00

129.0 136.70 9000.00 0.0 -0.58 1.00 136.70 0.0 -0.57 1.00

87.1 90.80 9000.00 0.0 -0.38 0.78 90.80 -3.7 1.10 1.00

70.6 73.00 9000.00 0.0 -0.28 0.55 73.00 -2.4 1.08 1.00

62.6 65.60 9000.00 0.0 -0.17 0.20 65.60 -3.0 0.93 1.00

54.1 56.20 55.80 -1.7 1.07 1.00 56.20 -2.1 1.11 1.00

45.4 47.50 47.40 -2.0 1.04 1.00 47.50 -2.1 1.00 1.00

37.0 39.40 39.20 -2.2 1.01 1.00 39.40 -2.4 0.96 1.00

28.6 30.50 30.50 -1.9 1.02 1.00 30.50 -1.9 1.06 1.00

19.6 19.40 20.30 -0.7 1.05 1.00 19.40 0.2 1.23 1.00

10.6 10.40 10.40 0.2 1.08 1.00 10.40 0.2 1.00 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 -194.6 202 2804 1597 1514 0.0 0.0 0 132 0.00 0.00 -123.07 0.003 16386 0.000 0.000 201 2804 3719 3728 3710 0 0 0 0 0 0 14.57 28.83 14.57

134 -1.01 -194.6 202 2804 3731 3711 5.8 -10.5 12 152 12.05 2.00 -0.52 0.166 18692 0.487 0.116 2388 3904 3747 3751 3743 0 0 0 0 0 0 14.14 13.43 14.42

226 -1.01 -194.6 2389 3904 3752 3751 31.7 -18.8 30 232 0.00 1.90 0.00 0.000 1030 0.000 0.049 2389 2789 3749 3751 3748 0 0 0 0 0 0 14.48 14.47 14.49

536 -1.01 -194.6 2388 2788 3751 3749 83.9 -17.0 62 542 0.00 2.38 0.00 0.000 516 0.000 0.053 2389 1409 3749 3750 3748 0 0 0 0 0 0 14.71 14.48 14.71

571 -1.01 -194.6 2388 1416 3751 3749 89.9 -16.9 69 579 0.00 2.50 0.00 0.000 1030 0.000 0.076 2387 2801 3749 3750 3749 0 0 0 0 0 0 14.54 14.49 14.57

876 -1.01 -194.6 2388 2803 3751 3750 142.5 -17.6 100 882 0.00 2.00 0.00 0.000 260 0.000 0.097 2386 3912 3749 3750 3749 0 0 0 0 0 0 14.77 14.52 14.77

956 -1.01 -194.6 2386 3913 3751 3751 157.2 -18.5 116 962 0.00 1.88 0.00 0.000 1030 0.000 0.050 2386 2803 3749 3750 3749 0 0 0 0 0 0 14.64 14.57 14.64

1266 -1.01 -194.6 2386 2802 3750 3749 209.6 -16.4 148 1267 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2802 3749 3750 3749 0 0 0 0 0 0 14.81 14.81 14.81

1566 -1.01 -194.6 2386 2803 3752 3749 258.0 -15.9 178 1572 0.00 2.00 0.00 0.000 260 0.000 0.099 2385 3909 3749 3750 3749 0 0 0 0 0 0 14.83 14.57 14.83

1597 -1.01 -194.6 2386 3908 3752 3749 263.0 -17.1 184 1602 0.00 1.88 0.00 0.000 1030 0.000 0.052 2385 2795 3749 3750 3749 0 0 0 0 0 0 14.68 14.65 14.69

1895 end dive: TARGET_DEPTH_EXCEEDED

state 1895 begin apogee

1898 -0.23 0.0 2386 2542 3751 3750 310.2 -15.3 212 2089 1.00 0.00 187.10 2.648 10246 0.267 0.000 2649 2541 2966 2961 2971 0 0 0 0 0 0 14.49 13.50 12.58

2090 end apogee: CONTROL_FINISHED_OK

state 2090 begin climb

2091 1.01 194.6 2650 2542 2962 2973 317.1 0.0 221 2302 1.40 2.72 198.05 2.551 10756 0.177 0.071 3050 1165 2190 2179 2201 0 0 0 0 0 0 13.45 13.12 12.24

2410 1.01 194.6 3049 1165 2172 2195 290.7 12.0 283 2417 0.00 2.62 0.00 0.000 1030 0.000 0.073 3050 2550 2183 2172 2194 0 0 0 0 0 0 13.78 13.73 13.81

2720 1.01 194.6 3050 2551 2170 2194 250.9 12.6 315 2728 0.00 2.55 0.00 0.000 260 0.000 0.098 3050 3911 2181 2170 2192 0 0 0 0 0 0 14.37 14.13 14.37

2792 1.01 194.6 3049 3912 2170 2194 240.8 14.4 329 2798 0.00 2.40 0.00 0.000 1030 0.000 0.057 3060 2555 2181 2170 2192 0 0 0 0 0 0 14.26 14.22 14.28

3101 1.01 194.6 3060 2556 2170 2191 200.6 12.8 361 3108 0.00 2.50 0.00 0.000 516 0.000 0.072 3071 1160 2180 2169 2191 0 0 0 0 0 0 14.57 14.33 14.58

3152 1.01 194.6 3071 1161 2169 2186 194.4 12.2 371 3158 0.00 2.50 0.00 0.000 1030 0.000 0.073 3071 2550 2179 2169 2190 0 0 0 0 0 0 14.42 14.36 14.45

3462 1.01 194.6 3071 2550 2169 2192 156.1 12.3 403 3468 0.00 2.42 0.00 0.000 260 0.000 0.098 3070 3906 2179 2169 2190 0 0 0 0 0 0 14.64 14.45 14.65

3506 1.01 194.6 3071 3909 2170 2191 150.0 13.2 412 3514 0.00 2.35 0.00 0.000 1030 0.000 0.058 3080 2548 2179 2169 2190 0 0 0 0 0 0 14.54 14.49 14.56

3812 1.01 194.6 3081 2549 2170 2192 110.3 13.5 443 3812 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2548 2179 2169 2190 0 0 0 0 0 0 14.74 14.75 14.75

4111 1.01 194.6 3080 2549 2169 2192 69.3 13.7 473 4118 0.00 2.45 0.00 0.000 516 0.000 0.072 3090 1160 2179 2169 2190 0 0 0 0 0 0 14.78 14.53 14.78

4131 1.01 194.6 3092 1160 2170 2191 66.6 13.5 477 4138 0.12 2.47 0.00 0.000 5126 0.283 0.073 3059 2553 2179 2168 2190 0 0 0 0 0 0 14.42 14.55 14.58

4443 1.01 194.6 3059 2554 2169 2191 28.6 12.0 509 4443 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2553 2179 2169 2190 0 0 0 0 0 0 14.78 14.78 14.78

4681 end climb: SURFACE_DEPTH_REACHED

state 4681 begin surface coast

4691 end surface coast: CONTROL_FINISHED_OK

state 4691 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	33	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	20	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	280118,071458,-7354.7866,-11319.9766,3,1.0,5,53.6,1.5,281.8,8,6.7	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	62.8,10441,-16.9,-12.121,-21.59,2397
_SM_ANGLEo	-60.3	D_GRID	308
GPS2	280118,071953,-7354.7588,-11320.1445,3,1.0,4,53.6,0.3,54.7,8,6.2

FREEZE	-0.13,-0.920,-1.858,2,1,0	ALTIM_BOTTOM_PING	307.2,31.2
FINISH	-0.1,1.027243	_24V_AH	12.24,20.108
SM_CCo	4705,133.20,0.230,0,0,1572,350.17	_10V_AH	12.44,0.000
SM_GC	0.93,8.43,0.45,133.20,0.080,0.102,0.230,195,2803,1572,-7.88,-0.74,350.17,0,0,0,0,0,0,14.59,14.61,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	188	FG_AHR_10Vo	0.000
RAFOS_FIX	-7355.095703,-11320.793945,280118,080858,0,1,0.15	MEM	280580
IRIDIUM_FIX	-7353.74,-11305.81,280118,052742	DATA_FILE_SIZE	16764,534
TT8_MAMPS	0.038199,0.170023	CAP_FILE_SIZE	70383,0
HUMID	46.53	CFSIZE	1024409600,1016135680
INTERNAL_PRESSURE	7.80222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1446.2
XPDR_PINGS	0	CURRENT	0.198,308.65,1
ALTIM_TOP_PING	10.6,10.4	GPS	280118,084200,-7354.770,-11319.497,32,1.0,32,53.6,1.3,306.0,7,4.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	487	137.19	nil	0	0	0.00
Roll_motor	42	116	60.31	nil	0	0	0.00
VBD_pump_during_apogee	385	2647	12481.72	nil	0	0	0.00
VBD_pump_during_surface	133	229	374.17	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	4696	4	272.28
Iridium_during_xfer	213	187	490.59	nil	0	0	0.00
Transponder_ping	18	420	93.82	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.63
TT8	0	0	0.00
LPSleep	3109	2	89.35
TT8_Active	652	10	88.22
TT8_Sampling	1333	30	503.46
TT8_CF8	51	51	32.77
TT8_Kalman	0	0	0.00
Analog_circuits	1306	10	164.20
GPS_charging	0	0	0.00
Compass	770	6	64.62
RAFOS	0	0	0.00
Transponder	126	30	47.36

		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
17.6	19.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
26.1	28.20	9000.00	0.0	0.00	0.00	28.20	0.0	0.98	1.00
68.8	72.50	9000.00	0.0	0.00	0.00	72.50	0.0	1.04	1.00
263.0	80.40	9000.00	0.0	0.00	0.00	80.40	0.0	0.04	1.00
271.1	71.20	9000.00	0.0	0.17	0.63	71.20	342.3	-1.14	1.00
288.6	50.70	9000.00	0.0	0.08	0.24	50.70	339.3	-1.17	1.00
298.0	41.70	9000.00	0.0	-0.08	0.20	41.70	339.7	-0.96	1.00
307.2	31.60	31.20	338.4	-1.11	1.00	31.60	338.8	-1.10	1.00
311.8	27.40	26.80	338.6	-1.08	1.00	27.40	339.2	-0.91	1.00

303.4	36.60	36.00	0.0	-1.01	1.00	36.60	0.0	-1.10	1.00
129.0	136.70	9000.00	0.0	-0.58	1.00	136.70	0.0	-0.57	1.00
87.1	90.80	9000.00	0.0	-0.38	0.78	90.80	-3.7	1.10	1.00
70.6	73.00	9000.00	0.0	-0.28	0.55	73.00	-2.4	1.08	1.00
62.6	65.60	9000.00	0.0	-0.17	0.20	65.60	-3.0	0.93	1.00
54.1	56.20	55.80	-1.7	1.07	1.00	56.20	-2.1	1.11	1.00
45.4	47.50	47.40	-2.0	1.04	1.00	47.50	-2.1	1.00	1.00
37.0	39.40	39.20	-2.2	1.01	1.00	39.40	-2.4	0.96	1.00
28.6	30.50	30.50	-1.9	1.02	1.00	30.50	-1.9	1.06	1.00
19.6	19.40	20.30	-0.7	1.05	1.00	19.40	0.2	1.23	1.00
10.6	10.40	10.40	0.2	1.08	1.00	10.40	0.2	1.00	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	202	2804	1597	1514	0.0	0.0	0	132	0.00	0.00	-123.07	0.003	16386	0.000	0.000	201	2804	3719	3728	3710	0	0	0	0	0	0	14.57	28.83	14.57
134	-1.01	-194.6	202	2804	3731	3711	5.8	-10.5	12	152	12.05	2.00	-0.52	0.166	18692	0.487	0.116	2388	3904	3747	3751	3743	0	0	0	0	0	0	14.14	13.43	14.42
226	-1.01	-194.6	2389	3904	3752	3751	31.7	-18.8	30	232	0.00	1.90	0.00	0.000	1030	0.000	0.049	2389	2789	3749	3751	3748	0	0	0	0	0	0	14.48	14.47	14.49
536	-1.01	-194.6	2388	2788	3751	3749	83.9	-17.0	62	542	0.00	2.38	0.00	0.000	516	0.000	0.053	2389	1409	3749	3750	3748	0	0	0	0	0	0	14.71	14.48	14.71
571	-1.01	-194.6	2388	1416	3751	3749	89.9	-16.9	69	579	0.00	2.50	0.00	0.000	1030	0.000	0.076	2387	2801	3749	3750	3749	0	0	0	0	0	0	14.54	14.49	14.57
876	-1.01	-194.6	2388	2803	3751	3750	142.5	-17.6	100	882	0.00	2.00	0.00	0.000	260	0.000	0.097	2386	3912	3749	3750	3749	0	0	0	0	0	0	14.77	14.52	14.77
956	-1.01	-194.6	2386	3913	3751	3751	157.2	-18.5	116	962	0.00	1.88	0.00	0.000	1030	0.000	0.050	2386	2803	3749	3750	3749	0	0	0	0	0	0	14.64	14.57	14.64
1266	-1.01	-194.6	2386	2802	3750	3749	209.6	-16.4	148	1267	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2802	3749	3750	3749	0	0	0	0	0	0	14.81	14.81	14.81
1566	-1.01	-194.6	2386	2803	3752	3749	258.0	-15.9	178	1572	0.00	2.00	0.00	0.000	260	0.000	0.099	2385	3909	3749	3750	3749	0	0	0	0	0	0	14.83	14.57	14.83
1597	-1.01	-194.6	2386	3908	3752	3749	263.0	-17.1	184	1602	0.00	1.88	0.00	0.000	1030	0.000	0.052	2385	2795	3749	3750	3749	0	0	0	0	0	0	14.68	14.65	14.69
1895	end dive: TARGET_DEPTH_EXCEEDED
state	1895	begin apogee
1898	-0.23	0.0	2386	2542	3751	3750	310.2	-15.3	212	2089	1.00	0.00	187.10	2.648	10246	0.267	0.000	2649	2541	2966	2961	2971	0	0	0	0	0	0	14.49	13.50	12.58
2090	end apogee: CONTROL_FINISHED_OK
state	2090	begin climb
2091	1.01	194.6	2650	2542	2962	2973	317.1	0.0	221	2302	1.40	2.72	198.05	2.551	10756	0.177	0.071	3050	1165	2190	2179	2201	0	0	0	0	0	0	13.45	13.12	12.24
2410	1.01	194.6	3049	1165	2172	2195	290.7	12.0	283	2417	0.00	2.62	0.00	0.000	1030	0.000	0.073	3050	2550	2183	2172	2194	0	0	0	0	0	0	13.78	13.73	13.81
2720	1.01	194.6	3050	2551	2170	2194	250.9	12.6	315	2728	0.00	2.55	0.00	0.000	260	0.000	0.098	3050	3911	2181	2170	2192	0	0	0	0	0	0	14.37	14.13	14.37
2792	1.01	194.6	3049	3912	2170	2194	240.8	14.4	329	2798	0.00	2.40	0.00	0.000	1030	0.000	0.057	3060	2555	2181	2170	2192	0	0	0	0	0	0	14.26	14.22	14.28
3101	1.01	194.6	3060	2556	2170	2191	200.6	12.8	361	3108	0.00	2.50	0.00	0.000	516	0.000	0.072	3071	1160	2180	2169	2191	0	0	0	0	0	0	14.57	14.33	14.58
3152	1.01	194.6	3071	1161	2169	2186	194.4	12.2	371	3158	0.00	2.50	0.00	0.000	1030	0.000	0.073	3071	2550	2179	2169	2190	0	0	0	0	0	0	14.42	14.36	14.45
3462	1.01	194.6	3071	2550	2169	2192	156.1	12.3	403	3468	0.00	2.42	0.00	0.000	260	0.000	0.098	3070	3906	2179	2169	2190	0	0	0	0	0	0	14.64	14.45	14.65
3506	1.01	194.6	3071	3909	2170	2191	150.0	13.2	412	3514	0.00	2.35	0.00	0.000	1030	0.000	0.058	3080	2548	2179	2169	2190	0	0	0	0	0	0	14.54	14.49	14.56
3812	1.01	194.6	3081	2549	2170	2192	110.3	13.5	443	3812	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2548	2179	2169	2190	0	0	0	0	0	0	14.74	14.75	14.75
4111	1.01	194.6	3080	2549	2169	2192	69.3	13.7	473	4118	0.00	2.45	0.00	0.000	516	0.000	0.072	3090	1160	2179	2169	2190	0	0	0	0	0	0	14.78	14.53	14.78
4131	1.01	194.6	3092	1160	2170	2191	66.6	13.5	477	4138	0.12	2.47	0.00	0.000	5126	0.283	0.073	3059	2553	2179	2168	2190	0	0	0	0	0	0	14.42	14.55	14.58
4443	1.01	194.6	3059	2554	2169	2191	28.6	12.0	509	4443	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2553	2179	2169	2190	0	0	0	0	0	0	14.78	14.78	14.78
4681	end climb: SURFACE_DEPTH_REACHED
state	4681	begin surface coast
4691	end surface coast: CONTROL_FINISHED_OK
state	4691	begin surface