Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 38 * 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 38 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 21 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 38 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 21 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 280118,144554,-7354.6597,-11313.5166,32,1.1,32,53.6,1.4,293.5,7,4.8 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 0.76 MHEAD_RNG_PITCHd_Wd 42.8,7099,-16.9,-12.121,-21.59,2397

_SM_ANGLEo -58.2 D_GRID 371

GPS2 280118,145034,-7354.6504,-11313.6211,3,1.1,4,53.6,0.9,291.6,7,5.6

Post-dive calculations and measurements:

FREEZE 0.22,-0.841,-1.856,2,1,0 _24V_AH 12.21,21.789

FINISH 0.2,1.027207 _10V_AH 12.43,0.000

SM_CCo 5585,133.02,0.230,0,0,1573,350.17 FG_AHR_24Vo 0.000

SM_GC 0.74,8.55,0.47,133.02,0.094,0.103,0.230,200,2811,1573,-7.88,-0.42,350.17,0,0,0,0,0,0,14.61,14.64,14.38 FG_AHR_10Vo 0.000

RAFOS_CLK 222 MEM 280492

RAFOS 0,1517151670,15.033333,15.019444,61,60,56,49,49,48,201,656,186,170,128,221 DATA_FILE_SIZE 20050,564

RAFOS_FIX -7352.784668,-11313.031250,280118,151548,1,2,3.18 CAP_FILE_SIZE 75405,0

IRIDIUM_FIX -7357.54,-11311.92,280118,130939 CFSIZE 1024409600,1015644160

TT8_MAMPS 0.038948,0.289863 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0

HUMID 46.57 INTR 0,5575.09,0x214568,7,24

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1447.1

TCM_TEMP 13.20 CURRENT 0.096,337.43,1

XPDR_PINGS 0 GPS 280118,162654,-7354.569,-11311.026,2,1.4,5,53.5,0.9,223.8,5,8.5

ALTIM_TOP_PING 12.3,12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 489 138.09 nil 0 0 0.00

Roll_motor 42 102 52.82 nil 0 0 0.00

VBD_pump_during_apogee 390 2703 12891.17 nil 0 0 0.00

VBD_pump_during_surface 133 229 372.76 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 5576 4 314.20

Iridium_during_xfer 204 179 449.16 nil 0 0 0.00

Transponder_ping 21 420 110.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.69

TT8 0 0 0.00

LPSleep 3891 2 111.74

TT8_Active 670 10 90.59

TT8_Sampling 1403 30 529.42

TT8_CF8 51 51 32.75

TT8_Kalman 0 0 0.00

Analog_circuits 1341 10 168.37

GPS_charging 0 0 0.00

Compass 813 6 68.15

RAFOS 720 1 13.42

Transponder 153 30 57.10

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

26.2 27.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

44.2 45.70 9000.00 0.0 0.00 0.00 45.70 0.0 0.99 1.00

70.1 72.70 9000.00 0.0 0.00 0.00 72.70 0.0 1.04 1.00

364.1 49.60 9000.00 0.0 0.00 0.00 49.60 413.7 -0.08 1.00

373.4 37.30 9000.00 0.0 -0.01 0.01 37.30 410.7 -1.32 1.00

109.1 115.80 9000.00 0.0 -0.09 0.23 115.80 0.0 -0.30 1.00

73.8 75.90 9000.00 0.0 -0.15 0.57 75.90 -2.1 1.13 1.00

56.1 58.70 9000.00 0.0 -0.12 0.40 58.70 -2.6 0.97 1.00

38.9 40.60 9000.00 0.0 -0.07 0.10 40.60 -1.7 1.05 1.00

30.1 30.60 30.70 -0.6 1.07 1.00 30.60 -0.5 1.14 1.00

21.3 23.10 22.60 -1.3 1.02 1.00 23.10 -1.8 0.85 1.00

12.3 12.20 12.60 -0.3 1.05 1.00 12.20 0.1 1.21 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 -194.6 203 2809 1594 1517 0.0 0.0 0 132 0.00 0.00 -122.95 0.003 16390 0.000 0.000 203 2808 3743 3753 3733 0 0 0 0 0 0 14.59 13.50 14.59

133 -1.01 -194.6 202 2809 3756 3735 5.9 -10.4 12 152 12.05 0.00 0.00 0.000 2054 0.490 0.000 2396 2808 3747 3755 3739 1 0 0 0 0 0 14.14 14.45 14.42

449 -1.01 -194.6 2396 2808 3753 3747 66.7 -17.1 44 450 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2808 3750 3753 3747 0 0 0 0 0 0 14.71 14.71 14.71

749 -1.01 -194.6 2396 2811 3754 3747 116.6 -16.7 74 755 0.00 1.98 0.00 0.000 260 0.000 0.097 2388 3905 3749 3752 3747 0 0 0 0 0 0 14.76 14.52 14.76

770 -1.01 -194.6 2389 3906 3753 3747 120.0 -17.2 78 775 0.00 1.88 0.00 0.000 1030 0.000 0.050 2389 2794 3749 3752 3747 0 0 0 0 0 0 14.62 14.59 14.66

1079 -1.01 -194.6 2389 2794 3753 3748 173.8 -17.4 110 1085 0.00 2.38 0.00 0.000 516 0.000 0.052 2389 1397 3749 3752 3747 0 0 0 0 0 0 14.80 14.57 14.80

1114 -1.01 -194.6 2389 1399 3752 3748 179.6 -16.1 117 1123 0.00 2.50 0.00 0.000 1030 0.000 0.075 2388 2801 3750 3752 3748 0 0 0 0 0 0 14.63 14.57 14.66

1419 -1.01 -194.6 2388 2802 3753 3749 228.0 -15.2 148 1425 0.00 1.98 0.00 0.000 260 0.000 0.097 2385 3906 3750 3752 3748 0 0 0 0 0 0 14.82 14.57 14.83

1449 -1.01 -194.6 2386 3904 3753 3748 232.8 -16.5 154 1458 0.00 1.85 0.00 0.000 1030 0.000 0.050 2385 2800 3750 3752 3748 0 0 0 0 0 0 14.68 14.64 14.68

1762 -1.01 -194.6 2386 2800 3751 3749 281.1 -15.8 186 1768 0.00 2.00 0.00 0.000 260 0.000 0.098 2384 3909 3750 3752 3748 0 0 0 0 0 0 14.83 14.58 14.83

1787 -1.01 -194.6 2384 3910 3752 3749 285.2 -16.6 191 1794 0.00 1.88 0.00 0.000 1030 0.000 0.051 2384 2793 3749 3751 3748 0 0 0 0 0 0 14.69 14.66 14.70

2092 -1.01 -194.6 2385 2793 3753 3748 332.2 -15.6 212 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2793 3749 3751 3748 0 0 0 0 0 0 14.85 14.85 14.85

2352 end dive: TARGET_DEPTH_EXCEEDED

state 2352 begin apogee

2355 -0.23 0.0 2385 2553 3752 3749 373.4 -15.6 225 2548 1.00 0.00 189.40 2.704 10246 0.268 0.000 2649 2551 2972 2963 2982 0 0 0 0 0 0 14.51 13.47 12.52

2549 end apogee: CONTROL_FINISHED_OK

state 2549 begin climb

2550 1.01 194.6 2651 2551 2962 2974 380.4 0.0 234 2762 1.40 2.70 201.12 2.605 10756 0.171 0.070 3052 1161 2191 2181 2202 0 0 0 0 0 0 13.43 13.12 12.21

2855 1.01 194.6 3053 1161 2176 2196 354.2 12.7 293 2864 0.00 2.62 0.00 0.000 1030 0.000 0.072 3052 2547 2185 2174 2196 0 0 0 0 0 0 13.74 13.69 13.76

3160 1.01 194.6 3053 2548 2172 2196 313.1 13.3 309 3167 0.00 2.55 0.00 0.000 260 0.000 0.098 3052 3907 2183 2172 2194 0 0 0 0 0 0 14.35 14.12 14.35

3202 1.01 194.6 3052 3907 2174 2194 307.0 15.3 317 3208 0.00 2.35 0.00 0.000 1030 0.000 0.057 3063 2552 2183 2172 2194 0 0 0 0 0 0 14.27 14.21 14.28

3512 1.01 194.6 3063 2551 2172 2193 263.7 13.6 348 3513 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2552 2181 2171 2192 0 0 0 0 0 0 14.57 14.57 14.57

3812 1.01 194.6 3063 2553 2171 2193 223.9 13.0 378 3818 0.00 2.47 0.00 0.000 260 0.000 0.097 3063 3902 2181 2171 2191 0 0 0 0 0 0 14.67 14.42 14.67

3832 1.01 194.6 3063 3906 2171 2193 221.0 14.3 382 3838 0.00 2.35 0.00 0.000 1030 0.000 0.057 3073 2547 2181 2170 2192 0 0 0 0 0 0 14.52 14.47 14.53

4142 1.01 194.6 3073 2547 2171 2193 180.3 12.9 414 4148 0.00 2.45 0.00 0.000 516 0.000 0.070 3084 1160 2180 2170 2191 0 0 0 0 0 0 14.73 14.50 14.73

4177 1.01 194.6 3084 1161 2170 2192 175.7 12.9 421 4186 0.10 2.47 0.00 0.000 5126 0.278 0.073 3058 2550 2180 2170 2190 0 0 0 0 0 0 14.38 14.51 14.54

4482 1.01 194.6 3058 2550 2171 2190 139.1 12.2 452 4489 0.00 2.47 0.00 0.000 516 0.000 0.070 3067 1151 2180 2170 2191 0 0 0 0 0 0 14.78 14.54 14.78

4507 1.01 194.6 3068 1151 2171 2190 136.1 11.8 457 4517 0.00 2.47 0.00 0.000 1030 0.000 0.073 3067 2550 2180 2170 2190 0 0 0 0 0 0 14.59 14.55 14.64

4813 1.01 194.6 3067 2551 2171 2192 95.4 13.5 488 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2549 2180 2170 2190 0 0 0 0 0 0 14.81 14.81 14.81

5112 1.01 194.6 3067 2550 2171 2190 57.3 12.6 518 5113 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2550 2180 2171 2190 0 0 0 0 0 0 14.83 14.83 14.83

5412 1.01 194.6 3067 2551 2171 2190 20.0 12.3 548 5413 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2550 2180 2170 2190 0 0 0 0 0 0 14.85 14.85 14.85

5562 end climb: SURFACE_DEPTH_REACHED

state 5562 begin surface coast

5572 end surface coast: CONTROL_FINISHED_OK

state 5572 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	38	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	21	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	280118,144554,-7354.6597,-11313.5166,32,1.1,32,53.6,1.4,293.5,7,4.8	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	0.76	MHEAD_RNG_PITCHd_Wd	42.8,7099,-16.9,-12.121,-21.59,2397
_SM_ANGLEo	-58.2	D_GRID	371
GPS2	280118,145034,-7354.6504,-11313.6211,3,1.1,4,53.6,0.9,291.6,7,5.6

FREEZE	0.22,-0.841,-1.856,2,1,0	_24V_AH	12.21,21.789
FINISH	0.2,1.027207	_10V_AH	12.43,0.000
SM_CCo	5585,133.02,0.230,0,0,1573,350.17	FG_AHR_24Vo	0.000
SM_GC	0.74,8.55,0.47,133.02,0.094,0.103,0.230,200,2811,1573,-7.88,-0.42,350.17,0,0,0,0,0,0,14.61,14.64,14.38	FG_AHR_10Vo	0.000
RAFOS_CLK	222	MEM	280492
RAFOS	0,1517151670,15.033333,15.019444,61,60,56,49,49,48,201,656,186,170,128,221	DATA_FILE_SIZE	20050,564
RAFOS_FIX	-7352.784668,-11313.031250,280118,151548,1,2,3.18	CAP_FILE_SIZE	75405,0
IRIDIUM_FIX	-7357.54,-11311.92,280118,130939	CFSIZE	1024409600,1015644160
TT8_MAMPS	0.038948,0.289863	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,0,0
HUMID	46.57	INTR	0,5575.09,0x214568,7,24
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1447.1
TCM_TEMP	13.20	CURRENT	0.096,337.43,1
XPDR_PINGS	0	GPS	280118,162654,-7354.569,-11311.026,2,1.4,5,53.5,0.9,223.8,5,8.5
ALTIM_TOP_PING	12.3,12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	489	138.09	nil	0	0	0.00
Roll_motor	42	102	52.82	nil	0	0	0.00
VBD_pump_during_apogee	390	2703	12891.17	nil	0	0	0.00
VBD_pump_during_surface	133	229	372.76	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	5576	4	314.20
Iridium_during_xfer	204	179	449.16	nil	0	0	0.00
Transponder_ping	21	420	110.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.69
TT8	0	0	0.00
LPSleep	3891	2	111.74
TT8_Active	670	10	90.59
TT8_Sampling	1403	30	529.42
TT8_CF8	51	51	32.75
TT8_Kalman	0	0	0.00
Analog_circuits	1341	10	168.37
GPS_charging	0	0	0.00
Compass	813	6	68.15
RAFOS	720	1	13.42
Transponder	153	30	57.10

		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
26.2	27.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
44.2	45.70	9000.00	0.0	0.00	0.00	45.70	0.0	0.99	1.00
70.1	72.70	9000.00	0.0	0.00	0.00	72.70	0.0	1.04	1.00
364.1	49.60	9000.00	0.0	0.00	0.00	49.60	413.7	-0.08	1.00
373.4	37.30	9000.00	0.0	-0.01	0.01	37.30	410.7	-1.32	1.00

109.1	115.80	9000.00	0.0	-0.09	0.23	115.80	0.0	-0.30	1.00
73.8	75.90	9000.00	0.0	-0.15	0.57	75.90	-2.1	1.13	1.00
56.1	58.70	9000.00	0.0	-0.12	0.40	58.70	-2.6	0.97	1.00
38.9	40.60	9000.00	0.0	-0.07	0.10	40.60	-1.7	1.05	1.00
30.1	30.60	30.70	-0.6	1.07	1.00	30.60	-0.5	1.14	1.00
21.3	23.10	22.60	-1.3	1.02	1.00	23.10	-1.8	0.85	1.00
12.3	12.20	12.60	-0.3	1.05	1.00	12.20	0.1	1.21	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	203	2809	1594	1517	0.0	0.0	0	132	0.00	0.00	-122.95	0.003	16390	0.000	0.000	203	2808	3743	3753	3733	0	0	0	0	0	0	14.59	13.50	14.59
133	-1.01	-194.6	202	2809	3756	3735	5.9	-10.4	12	152	12.05	0.00	0.00	0.000	2054	0.490	0.000	2396	2808	3747	3755	3739	1	0	0	0	0	0	14.14	14.45	14.42
449	-1.01	-194.6	2396	2808	3753	3747	66.7	-17.1	44	450	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2808	3750	3753	3747	0	0	0	0	0	0	14.71	14.71	14.71
749	-1.01	-194.6	2396	2811	3754	3747	116.6	-16.7	74	755	0.00	1.98	0.00	0.000	260	0.000	0.097	2388	3905	3749	3752	3747	0	0	0	0	0	0	14.76	14.52	14.76
770	-1.01	-194.6	2389	3906	3753	3747	120.0	-17.2	78	775	0.00	1.88	0.00	0.000	1030	0.000	0.050	2389	2794	3749	3752	3747	0	0	0	0	0	0	14.62	14.59	14.66
1079	-1.01	-194.6	2389	2794	3753	3748	173.8	-17.4	110	1085	0.00	2.38	0.00	0.000	516	0.000	0.052	2389	1397	3749	3752	3747	0	0	0	0	0	0	14.80	14.57	14.80
1114	-1.01	-194.6	2389	1399	3752	3748	179.6	-16.1	117	1123	0.00	2.50	0.00	0.000	1030	0.000	0.075	2388	2801	3750	3752	3748	0	0	0	0	0	0	14.63	14.57	14.66
1419	-1.01	-194.6	2388	2802	3753	3749	228.0	-15.2	148	1425	0.00	1.98	0.00	0.000	260	0.000	0.097	2385	3906	3750	3752	3748	0	0	0	0	0	0	14.82	14.57	14.83
1449	-1.01	-194.6	2386	3904	3753	3748	232.8	-16.5	154	1458	0.00	1.85	0.00	0.000	1030	0.000	0.050	2385	2800	3750	3752	3748	0	0	0	0	0	0	14.68	14.64	14.68
1762	-1.01	-194.6	2386	2800	3751	3749	281.1	-15.8	186	1768	0.00	2.00	0.00	0.000	260	0.000	0.098	2384	3909	3750	3752	3748	0	0	0	0	0	0	14.83	14.58	14.83
1787	-1.01	-194.6	2384	3910	3752	3749	285.2	-16.6	191	1794	0.00	1.88	0.00	0.000	1030	0.000	0.051	2384	2793	3749	3751	3748	0	0	0	0	0	0	14.69	14.66	14.70
2092	-1.01	-194.6	2385	2793	3753	3748	332.2	-15.6	212	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2793	3749	3751	3748	0	0	0	0	0	0	14.85	14.85	14.85
2352	end dive: TARGET_DEPTH_EXCEEDED
state	2352	begin apogee
2355	-0.23	0.0	2385	2553	3752	3749	373.4	-15.6	225	2548	1.00	0.00	189.40	2.704	10246	0.268	0.000	2649	2551	2972	2963	2982	0	0	0	0	0	0	14.51	13.47	12.52
2549	end apogee: CONTROL_FINISHED_OK
state	2549	begin climb
2550	1.01	194.6	2651	2551	2962	2974	380.4	0.0	234	2762	1.40	2.70	201.12	2.605	10756	0.171	0.070	3052	1161	2191	2181	2202	0	0	0	0	0	0	13.43	13.12	12.21
2855	1.01	194.6	3053	1161	2176	2196	354.2	12.7	293	2864	0.00	2.62	0.00	0.000	1030	0.000	0.072	3052	2547	2185	2174	2196	0	0	0	0	0	0	13.74	13.69	13.76
3160	1.01	194.6	3053	2548	2172	2196	313.1	13.3	309	3167	0.00	2.55	0.00	0.000	260	0.000	0.098	3052	3907	2183	2172	2194	0	0	0	0	0	0	14.35	14.12	14.35
3202	1.01	194.6	3052	3907	2174	2194	307.0	15.3	317	3208	0.00	2.35	0.00	0.000	1030	0.000	0.057	3063	2552	2183	2172	2194	0	0	0	0	0	0	14.27	14.21	14.28
3512	1.01	194.6	3063	2551	2172	2193	263.7	13.6	348	3513	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2552	2181	2171	2192	0	0	0	0	0	0	14.57	14.57	14.57
3812	1.01	194.6	3063	2553	2171	2193	223.9	13.0	378	3818	0.00	2.47	0.00	0.000	260	0.000	0.097	3063	3902	2181	2171	2191	0	0	0	0	0	0	14.67	14.42	14.67
3832	1.01	194.6	3063	3906	2171	2193	221.0	14.3	382	3838	0.00	2.35	0.00	0.000	1030	0.000	0.057	3073	2547	2181	2170	2192	0	0	0	0	0	0	14.52	14.47	14.53
4142	1.01	194.6	3073	2547	2171	2193	180.3	12.9	414	4148	0.00	2.45	0.00	0.000	516	0.000	0.070	3084	1160	2180	2170	2191	0	0	0	0	0	0	14.73	14.50	14.73
4177	1.01	194.6	3084	1161	2170	2192	175.7	12.9	421	4186	0.10	2.47	0.00	0.000	5126	0.278	0.073	3058	2550	2180	2170	2190	0	0	0	0	0	0	14.38	14.51	14.54
4482	1.01	194.6	3058	2550	2171	2190	139.1	12.2	452	4489	0.00	2.47	0.00	0.000	516	0.000	0.070	3067	1151	2180	2170	2191	0	0	0	0	0	0	14.78	14.54	14.78
4507	1.01	194.6	3068	1151	2171	2190	136.1	11.8	457	4517	0.00	2.47	0.00	0.000	1030	0.000	0.073	3067	2550	2180	2170	2190	0	0	0	0	0	0	14.59	14.55	14.64
4813	1.01	194.6	3067	2551	2171	2192	95.4	13.5	488	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2549	2180	2170	2190	0	0	0	0	0	0	14.81	14.81	14.81
5112	1.01	194.6	3067	2550	2171	2190	57.3	12.6	518	5113	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2550	2180	2171	2190	0	0	0	0	0	0	14.83	14.83	14.83
5412	1.01	194.6	3067	2551	2171	2190	20.0	12.3	548	5413	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2550	2180	2170	2190	0	0	0	0	0	0	14.85	14.85	14.85
5562	end climb: SURFACE_DEPTH_REACHED
state	5562	begin surface coast
5572	end surface coast: CONTROL_FINISHED_OK
state	5572	begin surface