Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 36 * 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 36 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 19 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 36 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 19 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 280118,113630,-7354.7324,-11317.4316,21,0.9,21,53.6,0.8,128.5,8,4.2 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 0.81 MHEAD_RNG_PITCHd_Wd 50.5,9074,-16.9,-12.121,-21.59,2397

_SM_ANGLEo -63.4 D_GRID 341

GPS2 280118,114049,-7354.7109,-11317.4805,2,0.9,4,53.6,1.1,3.9,8,5.2

Post-dive calculations and measurements:

FREEZE -0.07,-0.858,-1.856,2,1,0 ALTIM_TOP_PING 6.6,6.5

FINISH -0.1,1.027215 _24V_AH 12.22,21.104

SM_CCo 5026,132.50,0.229,0,0,1573,350.17 _10V_AH 12.45,0.000

SM_GC 0.77,8.50,0.47,132.50,0.083,0.097,0.229,194,2812,1573,-7.88,-0.45,350.17,0,0,0,0,0,0,14.59,14.62,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 201 FG_AHR_10Vo 0.000

RAFOS 0,1517140864,12.033333,12.017777,76,65,58,58,57,53,685,218,169,204,145,92 MEM 280564

RAFOS_FIX -7352.907715,-11318.497070,280118,121200,3,103,1.60 DATA_FILE_SIZE 20113,559

IRIDIUM_FIX -7355.64,-11308.86,280118,101145 CAP_FILE_SIZE 72330,0

TT8_MAMPS 0.03745,0.242676 CFSIZE 1024409600,1015840768

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81199 SOUNDSPEED 1446.7

TCM_TEMP 13.20 CURRENT 0.117,313.38,1

XPDR_PINGS 0 GPS 280118,130810,-7354.668,-11315.748,13,1.3,16,53.6,0.3,328.4,4,5.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 491 139.15 nil 0 0 0.00

Roll_motor 42 98 50.77 nil 0 0 0.00

VBD_pump_during_apogee 388 2672 12673.23 nil 0 0 0.00

VBD_pump_during_surface 132 228 370.36 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 5016 4 287.41

Iridium_during_xfer 182 185 413.55 nil 0 0 0.00

Transponder_ping 19 420 101.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.63

TT8 0 0 0.00

LPSleep 3367 2 96.85

TT8_Active 659 10 89.29

TT8_Sampling 1367 30 516.85

TT8_CF8 48 51 30.88

TT8_Kalman 0 0 0.00

Analog_circuits 1300 10 163.55

GPS_charging 0 0 0.00

Compass 806 6 67.64

RAFOS 720 1 13.45

Transponder 138 30 51.72

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

18.2 21.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

27.1 28.90 9000.00 0.0 0.00 0.00 28.90 0.0 0.87 1.00

35.5 38.00 9000.00 0.0 0.00 0.00 38.00 0.0 1.08 1.00

52.1 55.60 9000.00 0.0 0.00 0.00 55.60 0.0 1.06 1.00

313.7 66.10 9000.00 0.0 0.12 0.62 66.10 0.0 0.04 1.00

322.7 55.60 9000.00 0.0 0.07 0.58 55.60 378.3 -1.17 1.00

332.1 46.40 9000.00 0.0 0.03 0.22 46.40 378.5 -0.98 1.00

341.3 39.60 9000.00 0.0 -0.02 0.06 39.60 380.9 -0.74 1.00

74.6 78.00 9000.00 0.0 -0.11 0.66 78.00 0.0 -0.14 1.00

56.7 58.40 9000.00 0.0 -0.08 0.62 58.40 -1.7 1.09 1.00

48.1 51.50 9000.00 0.0 -0.07 0.48 51.50 -3.4 0.80 1.00

40.0 41.20 9000.00 0.0 -0.05 0.18 41.20 -1.2 1.27 1.00

31.9 32.60 32.90 -1.0 1.06 1.00 32.60 -0.7 1.06 1.00

23.5 23.80 23.90 -0.4 1.06 1.00 23.80 -0.3 1.05 1.00

15.0 15.20 14.70 0.3 1.09 1.00 15.20 -0.2 1.01 1.00

6.6 6.50 6.50 0.1 1.04 1.00 6.50 0.1 1.04 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 -1.01 -194.6 194 2805 1597 1515 0.0 0.0 0 132 0.00 0.00 -122.40 0.003 16390 0.000 0.000 193 2806 3745 3756 3735 0 0 0 0 0 0 14.59 13.50 14.59

133 -1.01 -194.6 194 2806 3757 3735 6.1 -11.1 12 150 12.10 1.95 0.00 0.000 2308 0.492 0.081 2385 3918 3748 3756 3740 0 0 0 0 0 0 14.16 14.38 14.38

324 -1.01 -194.6 2385 3918 3755 3747 51.3 -18.3 50 331 0.00 1.92 0.00 0.000 1030 0.000 0.047 2385 2784 3750 3754 3747 0 0 0 0 0 0 14.53 14.50 14.54

635 -1.01 -194.6 2386 2784 3754 3748 104.4 -17.3 82 636 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2784 3751 3754 3748 0 0 0 0 0 0 14.73 14.74 14.73

935 -1.01 -194.6 2385 2785 3754 3748 156.2 -16.6 112 936 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2784 3750 3753 3748 0 0 0 0 0 0 14.78 14.79 14.78

1235 -1.01 -194.6 2385 2785 3754 3749 205.5 -16.2 142 1241 0.00 2.03 0.00 0.000 260 0.000 0.096 2385 3910 3750 3753 3748 0 0 0 0 0 0 14.81 14.56 14.81

1280 -1.01 -194.6 2384 3910 3754 3748 213.1 -16.9 151 1288 0.00 1.88 0.00 0.000 1030 0.000 0.050 2384 2787 3751 3753 3749 0 0 0 0 0 0 14.67 14.64 14.69

1585 -1.01 -194.6 2384 2789 3753 3750 259.1 -14.8 182 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2787 3750 3753 3748 0 0 0 0 0 0 14.83 14.86 14.83

1886 -1.01 -194.6 2384 2787 3754 3749 304.2 -15.1 211 1892 0.00 2.03 0.00 0.000 260 0.000 0.097 2384 3913 3750 3752 3748 0 0 0 0 0 0 14.81 14.59 14.82

1920 -1.01 -194.6 2384 3914 3754 3750 309.8 -16.0 218 1928 0.00 1.85 0.00 0.000 1030 0.000 0.051 2384 2804 3751 3754 3749 0 0 0 0 0 0 14.70 14.67 14.71

2126 end dive: TARGET_DEPTH_EXCEEDED

state 2126 begin apogee

2129 -0.23 0.0 2384 2550 3753 3750 341.3 -15.4 229 2321 1.00 0.00 188.45 2.673 10246 0.265 0.000 2650 2549 2966 2961 2971 0 0 0 0 0 0 14.50 13.49 12.54

2322 end apogee: CONTROL_FINISHED_OK

state 2322 begin climb

2324 1.01 194.6 2650 2550 2961 2972 347.7 0.0 238 2534 1.40 2.67 199.55 2.575 10756 0.171 0.070 3050 1167 2188 2179 2197 0 0 0 0 0 0 13.44 13.12 12.22

2587 1.01 194.6 3051 1167 2175 2197 326.9 12.4 289 2598 0.00 2.65 0.00 0.000 1030 0.000 0.072 3050 2551 2184 2174 2195 0 0 0 0 0 0 13.60 13.54 13.63

2893 1.01 194.6 3051 2550 2171 2193 286.3 13.1 310 2899 0.00 2.55 0.00 0.000 260 0.000 0.096 3051 3911 2181 2170 2192 0 0 0 0 0 0 14.31 14.08 14.32

2937 1.01 194.6 3050 3911 2171 2192 279.7 15.1 319 2946 0.00 2.40 0.00 0.000 1030 0.000 0.057 3060 2557 2181 2170 2192 0 0 0 0 0 0 14.21 14.17 14.22

3243 1.01 194.6 3060 2558 2171 2193 236.9 14.3 350 3243 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2557 2181 2170 2192 0 0 0 0 0 0 14.54 14.54 14.53

3543 1.01 194.6 3060 2558 2171 2193 195.8 13.0 380 3549 0.00 2.47 0.00 0.000 260 0.000 0.097 3060 3904 2181 2170 2192 0 0 0 0 0 0 14.65 14.41 14.65

3633 1.01 194.6 3060 3905 2171 2193 182.4 14.9 398 3639 0.00 2.35 0.00 0.000 1030 0.000 0.057 3071 2548 2181 2170 2192 0 0 0 0 0 0 14.51 14.47 14.52

3943 1.01 194.6 3071 2548 2171 2192 142.6 12.2 430 3949 0.00 2.47 0.00 0.000 260 0.000 0.098 3071 3906 2181 2171 2192 0 0 0 0 0 0 14.73 14.48 14.73

4033 1.01 194.6 3071 3906 2177 2192 129.9 13.9 448 4039 0.00 2.35 0.00 0.000 1030 0.000 0.057 3085 2543 2181 2170 2192 0 0 0 0 0 0 14.58 14.54 14.59

4343 1.01 194.6 3081 2543 2171 2192 88.7 14.6 480 4349 0.00 2.50 0.00 0.000 260 0.000 0.099 3081 3914 2181 2170 2192 0 0 0 0 0 0 14.78 14.54 14.78

4378 1.01 194.6 3081 3915 2169 2193 83.2 15.9 487 4387 0.15 2.33 0.00 0.000 5126 0.321 0.059 3061 2532 2181 2170 2192 0 0 0 0 0 0 14.42 14.60 14.64

4683 1.01 194.6 3061 2532 2171 2192 44.2 12.8 518 4689 0.00 2.50 0.00 0.000 260 0.000 0.098 3060 3909 2181 2170 2192 0 0 0 0 0 0 14.81 14.57 14.81

4758 1.01 194.6 3061 3907 2172 2192 33.6 13.6 533 4765 0.00 2.33 0.00 0.000 1030 0.000 0.057 3069 2553 2181 2170 2192 0 0 0 0 0 0 14.66 14.62 14.68

5002 end climb: SURFACE_DEPTH_REACHED

state 5002 begin surface coast

5012 end surface coast: CONTROL_FINISHED_OK

state 5012 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	36	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	19	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	280118,113630,-7354.7324,-11317.4316,21,0.9,21,53.6,0.8,128.5,8,4.2	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	0.81	MHEAD_RNG_PITCHd_Wd	50.5,9074,-16.9,-12.121,-21.59,2397
_SM_ANGLEo	-63.4	D_GRID	341
GPS2	280118,114049,-7354.7109,-11317.4805,2,0.9,4,53.6,1.1,3.9,8,5.2

FREEZE	-0.07,-0.858,-1.856,2,1,0	ALTIM_TOP_PING	6.6,6.5
FINISH	-0.1,1.027215	_24V_AH	12.22,21.104
SM_CCo	5026,132.50,0.229,0,0,1573,350.17	_10V_AH	12.45,0.000
SM_GC	0.77,8.50,0.47,132.50,0.083,0.097,0.229,194,2812,1573,-7.88,-0.45,350.17,0,0,0,0,0,0,14.59,14.62,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	201	FG_AHR_10Vo	0.000
RAFOS	0,1517140864,12.033333,12.017777,76,65,58,58,57,53,685,218,169,204,145,92	MEM	280564
RAFOS_FIX	-7352.907715,-11318.497070,280118,121200,3,103,1.60	DATA_FILE_SIZE	20113,559
IRIDIUM_FIX	-7355.64,-11308.86,280118,101145	CAP_FILE_SIZE	72330,0
TT8_MAMPS	0.03745,0.242676	CFSIZE	1024409600,1015840768
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81199	SOUNDSPEED	1446.7
TCM_TEMP	13.20	CURRENT	0.117,313.38,1
XPDR_PINGS	0	GPS	280118,130810,-7354.668,-11315.748,13,1.3,16,53.6,0.3,328.4,4,5.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	491	139.15	nil	0	0	0.00
Roll_motor	42	98	50.77	nil	0	0	0.00
VBD_pump_during_apogee	388	2672	12673.23	nil	0	0	0.00
VBD_pump_during_surface	132	228	370.36	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	5016	4	287.41
Iridium_during_xfer	182	185	413.55	nil	0	0	0.00
Transponder_ping	19	420	101.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.63
TT8	0	0	0.00
LPSleep	3367	2	96.85
TT8_Active	659	10	89.29
TT8_Sampling	1367	30	516.85
TT8_CF8	48	51	30.88
TT8_Kalman	0	0	0.00
Analog_circuits	1300	10	163.55
GPS_charging	0	0	0.00
Compass	806	6	67.64
RAFOS	720	1	13.45
Transponder	138	30	51.72

		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
18.2	21.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
27.1	28.90	9000.00	0.0	0.00	0.00	28.90	0.0	0.87	1.00
35.5	38.00	9000.00	0.0	0.00	0.00	38.00	0.0	1.08	1.00
52.1	55.60	9000.00	0.0	0.00	0.00	55.60	0.0	1.06	1.00
313.7	66.10	9000.00	0.0	0.12	0.62	66.10	0.0	0.04	1.00
322.7	55.60	9000.00	0.0	0.07	0.58	55.60	378.3	-1.17	1.00
332.1	46.40	9000.00	0.0	0.03	0.22	46.40	378.5	-0.98	1.00
341.3	39.60	9000.00	0.0	-0.02	0.06	39.60	380.9	-0.74	1.00

74.6	78.00	9000.00	0.0	-0.11	0.66	78.00	0.0	-0.14	1.00
56.7	58.40	9000.00	0.0	-0.08	0.62	58.40	-1.7	1.09	1.00
48.1	51.50	9000.00	0.0	-0.07	0.48	51.50	-3.4	0.80	1.00
40.0	41.20	9000.00	0.0	-0.05	0.18	41.20	-1.2	1.27	1.00
31.9	32.60	32.90	-1.0	1.06	1.00	32.60	-0.7	1.06	1.00
23.5	23.80	23.90	-0.4	1.06	1.00	23.80	-0.3	1.05	1.00
15.0	15.20	14.70	0.3	1.09	1.00	15.20	-0.2	1.01	1.00
6.6	6.50	6.50	0.1	1.04	1.00	6.50	0.1	1.04	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	-1.01	-194.6	194	2805	1597	1515	0.0	0.0	0	132	0.00	0.00	-122.40	0.003	16390	0.000	0.000	193	2806	3745	3756	3735	0	0	0	0	0	0	14.59	13.50	14.59
133	-1.01	-194.6	194	2806	3757	3735	6.1	-11.1	12	150	12.10	1.95	0.00	0.000	2308	0.492	0.081	2385	3918	3748	3756	3740	0	0	0	0	0	0	14.16	14.38	14.38
324	-1.01	-194.6	2385	3918	3755	3747	51.3	-18.3	50	331	0.00	1.92	0.00	0.000	1030	0.000	0.047	2385	2784	3750	3754	3747	0	0	0	0	0	0	14.53	14.50	14.54
635	-1.01	-194.6	2386	2784	3754	3748	104.4	-17.3	82	636	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2784	3751	3754	3748	0	0	0	0	0	0	14.73	14.74	14.73
935	-1.01	-194.6	2385	2785	3754	3748	156.2	-16.6	112	936	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2784	3750	3753	3748	0	0	0	0	0	0	14.78	14.79	14.78
1235	-1.01	-194.6	2385	2785	3754	3749	205.5	-16.2	142	1241	0.00	2.03	0.00	0.000	260	0.000	0.096	2385	3910	3750	3753	3748	0	0	0	0	0	0	14.81	14.56	14.81
1280	-1.01	-194.6	2384	3910	3754	3748	213.1	-16.9	151	1288	0.00	1.88	0.00	0.000	1030	0.000	0.050	2384	2787	3751	3753	3749	0	0	0	0	0	0	14.67	14.64	14.69
1585	-1.01	-194.6	2384	2789	3753	3750	259.1	-14.8	182	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2787	3750	3753	3748	0	0	0	0	0	0	14.83	14.86	14.83
1886	-1.01	-194.6	2384	2787	3754	3749	304.2	-15.1	211	1892	0.00	2.03	0.00	0.000	260	0.000	0.097	2384	3913	3750	3752	3748	0	0	0	0	0	0	14.81	14.59	14.82
1920	-1.01	-194.6	2384	3914	3754	3750	309.8	-16.0	218	1928	0.00	1.85	0.00	0.000	1030	0.000	0.051	2384	2804	3751	3754	3749	0	0	0	0	0	0	14.70	14.67	14.71
2126	end dive: TARGET_DEPTH_EXCEEDED
state	2126	begin apogee
2129	-0.23	0.0	2384	2550	3753	3750	341.3	-15.4	229	2321	1.00	0.00	188.45	2.673	10246	0.265	0.000	2650	2549	2966	2961	2971	0	0	0	0	0	0	14.50	13.49	12.54
2322	end apogee: CONTROL_FINISHED_OK
state	2322	begin climb
2324	1.01	194.6	2650	2550	2961	2972	347.7	0.0	238	2534	1.40	2.67	199.55	2.575	10756	0.171	0.070	3050	1167	2188	2179	2197	0	0	0	0	0	0	13.44	13.12	12.22
2587	1.01	194.6	3051	1167	2175	2197	326.9	12.4	289	2598	0.00	2.65	0.00	0.000	1030	0.000	0.072	3050	2551	2184	2174	2195	0	0	0	0	0	0	13.60	13.54	13.63
2893	1.01	194.6	3051	2550	2171	2193	286.3	13.1	310	2899	0.00	2.55	0.00	0.000	260	0.000	0.096	3051	3911	2181	2170	2192	0	0	0	0	0	0	14.31	14.08	14.32
2937	1.01	194.6	3050	3911	2171	2192	279.7	15.1	319	2946	0.00	2.40	0.00	0.000	1030	0.000	0.057	3060	2557	2181	2170	2192	0	0	0	0	0	0	14.21	14.17	14.22
3243	1.01	194.6	3060	2558	2171	2193	236.9	14.3	350	3243	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2557	2181	2170	2192	0	0	0	0	0	0	14.54	14.54	14.53
3543	1.01	194.6	3060	2558	2171	2193	195.8	13.0	380	3549	0.00	2.47	0.00	0.000	260	0.000	0.097	3060	3904	2181	2170	2192	0	0	0	0	0	0	14.65	14.41	14.65
3633	1.01	194.6	3060	3905	2171	2193	182.4	14.9	398	3639	0.00	2.35	0.00	0.000	1030	0.000	0.057	3071	2548	2181	2170	2192	0	0	0	0	0	0	14.51	14.47	14.52
3943	1.01	194.6	3071	2548	2171	2192	142.6	12.2	430	3949	0.00	2.47	0.00	0.000	260	0.000	0.098	3071	3906	2181	2171	2192	0	0	0	0	0	0	14.73	14.48	14.73
4033	1.01	194.6	3071	3906	2177	2192	129.9	13.9	448	4039	0.00	2.35	0.00	0.000	1030	0.000	0.057	3085	2543	2181	2170	2192	0	0	0	0	0	0	14.58	14.54	14.59
4343	1.01	194.6	3081	2543	2171	2192	88.7	14.6	480	4349	0.00	2.50	0.00	0.000	260	0.000	0.099	3081	3914	2181	2170	2192	0	0	0	0	0	0	14.78	14.54	14.78
4378	1.01	194.6	3081	3915	2169	2193	83.2	15.9	487	4387	0.15	2.33	0.00	0.000	5126	0.321	0.059	3061	2532	2181	2170	2192	0	0	0	0	0	0	14.42	14.60	14.64
4683	1.01	194.6	3061	2532	2171	2192	44.2	12.8	518	4689	0.00	2.50	0.00	0.000	260	0.000	0.098	3060	3909	2181	2170	2192	0	0	0	0	0	0	14.81	14.57	14.81
4758	1.01	194.6	3061	3907	2172	2192	33.6	13.6	533	4765	0.00	2.33	0.00	0.000	1030	0.000	0.057	3069	2553	2181	2170	2192	0	0	0	0	0	0	14.66	14.62	14.68
5002	end climb: SURFACE_DEPTH_REACHED
state	5002	begin surface coast
5012	end surface coast: CONTROL_FINISHED_OK
state	5012	begin surface