Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 113 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 113 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 13 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 360 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 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 10000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 10 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 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 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 20 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-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 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 360

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 113 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 13 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 080218,150224,-7423.8955,-11236.5508,0,2002.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7425.000,-11232.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 351.33 MHEAD_RNG_PITCHd_Wd 78.6,3051,-27.0,-10.000,-32.98,1063

_SM_ANGLEo 2.9 D_GRID 990

GPS2 080218,150224,-7423.8955,-11236.5508,0,2002.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 373.6,1.027465,2 _24V_AH 12.83,52.800

FINISH2 373.6 _10V_AH 12.81,0.000

RAFOS_CLK 342 FG_AHR_24Vo 0.000

RAFOS 0,1518112886,18.032778,18.023890,118,64,64,58,55,51,486,219,202,160,147,124 FG_AHR_10Vo 0.000

RAFOS_FIX -7425.363770,-11233.120117,080218,181824,2,136,0.28 MEM 280100

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 DATA_FILE_SIZE 26692,762

TT8_MAMPS 0.040446,0.290612 CAP_FILE_SIZE 93634,0

HUMID 47.83 CFSIZE 1024409600,1006632960

INTERNAL_PRESSURE 7.62882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.60 SOUNDSPEED 1457.5

XPDR_PINGS 0 GPS 080218,181424,-7425.364,-11233.120,0,3136.0,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 386.8,19.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 349 28.59 nil 0 0 0.00

Roll_motor 59 152 115.24 nil 0 0 0.00

VBD_pump_during_apogee 341 1942 8502.13 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9507 3 480.95

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 34 420 184.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7514 2 222.38

TT8_Active 383 12 60.27

TT8_Sampling 1607 31 653.65

TT8_CF8 65 45 38.10

TT8_Kalman 0 0 0.00

Analog_circuits 965 10 126.20

GPS_charging 0 0 0.00

Compass 1093 7 104.89

RAFOS 720 1 13.83

Transponder 245 30 94.40

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

367.8 21.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

976.0 15.60 9000.00 0.0 0.00 0.00 15.60 0.0 -0.01 1.00

448.0 90.00 9000.00 0.0 -0.06 0.20 90.00 0.0 -0.14 1.00

431.7 73.10 9000.00 0.0 -0.12 0.94 73.10 358.6 1.04 1.00

422.5 63.50 63.60 358.9 1.04 1.00 63.50 359.0 1.04 1.00

413.4 54.20 54.20 359.2 1.03 1.00 54.20 359.2 1.02 1.00

404.5 37.50 9000.00 0.0 1.44 0.97 37.50 367.0 1.88 1.00

395.4 28.30 9000.00 0.0 1.44 0.97 28.30 367.1 1.01 1.00

386.8 19.60 19.60 367.2 1.01 1.00 19.60 367.2 1.01 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

8 -1.31 -70.3 2717 2513 2825 2604 0.0 0.0 0 10 0.00 0.00 -1.02 0.090 16390 0.000 0.000 2717 2512 3017 3151 2884 0 0 0 0 0 0 15.09 13.60 15.06

11 -1.31 -70.3 2717 2513 3150 2887 0.0 0.0 0 18 1.33 2.30 0.00 0.000 4356 0.101 0.151 2272 3761 3017 3146 2888 0 0 0 0 0 0 14.83 14.76 14.90

212 -1.31 -70.3 2273 3761 3137 2899 378.6 -15.5 40 218 0.00 2.30 0.00 0.000 1030 0.000 0.101 2273 2492 3016 3135 2898 0 0 0 0 0 0 14.89 14.82 14.93

522 -1.31 -70.3 2273 2491 3136 2899 422.3 -14.3 72 528 0.00 2.42 0.00 0.000 260 0.000 0.152 2263 3750 3017 3135 2899 0 0 0 0 0 0 15.11 14.75 15.13

572 -1.31 -70.3 2263 3751 3133 2901 430.0 -15.4 82 578 0.00 2.28 0.00 0.000 1030 0.000 0.099 2263 2490 3017 3132 2902 0 0 0 0 0 0 14.89 14.82 14.93

882 -1.31 -70.3 2263 2491 3133 2901 473.2 -13.5 114 882 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2490 3016 3132 2901 0 0 0 0 0 0 15.11 15.14 15.14

1182 -1.31 -70.3 2263 2490 3132 2900 513.0 -13.5 144 1183 0.00 0.00 0.00 0.000 6 0.000 0.000 2262 2490 3015 3131 2900 0 0 0 0 0 0 15.08 15.11 15.10

1482 -1.31 -70.3 2263 2490 3132 2900 552.5 -12.9 174 1488 0.00 2.42 0.00 0.000 260 0.000 0.148 2253 3755 3015 3131 2900 0 0 0 0 0 0 15.11 14.76 15.14

1526 -1.31 -70.3 2253 3757 3130 2903 558.7 -14.0 183 1534 0.00 2.28 0.00 0.000 1030 0.000 0.099 2253 2490 3015 3129 2902 0 0 0 0 0 0 14.90 14.83 14.94

1832 -1.31 -70.3 2254 2494 3130 2902 598.6 -12.8 214 1832 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2494 3015 3129 2902 0 0 0 0 0 0 15.11 15.14 15.14

2132 -1.31 -70.3 2253 2495 3130 2903 637.4 -12.9 244 2139 0.00 2.40 0.00 0.000 260 0.000 0.150 2244 3749 3015 3129 2901 0 0 0 0 0 0 15.12 14.76 15.14

2173 -1.31 -70.3 2244 3750 3129 2903 643.1 -13.9 252 2179 0.12 2.25 0.00 0.000 3078 0.350 0.098 2271 2502 3015 3128 2902 0 0 0 0 0 0 14.57 14.83 14.78

2484 -1.31 -70.3 2275 2503 3129 2903 681.0 -11.9 284 2485 0.00 0.00 0.00 0.000 6 0.000 0.000 2271 2502 3015 3128 2902 0 0 0 0 0 0 15.09 15.12 15.11

2795 -1.31 -70.3 2272 2501 3130 2902 718.0 -11.9 305 2800 0.00 2.58 0.00 0.000 516 0.000 0.113 2271 1078 3015 3128 2902 0 0 0 0 0 0 15.09 14.81 15.11

2814 -1.31 -70.3 2272 1078 3129 2902 720.6 -11.7 309 2821 0.00 2.67 0.00 0.000 1030 0.000 0.126 2263 2499 3015 3128 2902 0 0 0 0 0 0 14.88 14.77 14.93

3185 -1.31 -70.3 2263 2499 3129 2902 764.5 -11.6 323 3186 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2499 3015 3128 2902 0 0 0 0 0 0 15.13 15.16 15.16

3546 -1.31 -70.3 2264 2500 3129 2903 805.3 -11.3 335 3551 0.00 2.40 0.00 0.000 260 0.000 0.150 2253 3757 3015 3128 2902 0 0 0 0 0 0 15.14 14.76 15.15

3590 -1.31 -70.3 2254 3757 3128 2903 810.8 -12.5 344 3596 0.00 2.28 0.00 0.000 1030 0.000 0.098 2253 2495 3015 3128 2903 0 0 0 0 0 0 14.90 14.84 14.95

3966 -1.31 -70.3 2253 2496 3128 2904 853.8 -11.3 359 3967 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2496 3014 3127 2902 0 0 0 0 0 0 15.14 15.16 15.16

4325 -1.31 -70.3 2254 2495 3129 2903 893.9 -11.0 371 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2495 3015 3128 2903 0 0 0 0 0 0 15.14 15.17 15.16

4686 -1.31 -70.3 2254 2496 3128 2904 933.4 -10.9 383 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2495 3015 3127 2903 0 0 0 0 0 0 15.15 15.17 15.17

5045 -1.31 -70.3 2253 2496 3129 2903 971.8 -10.6 395 5046 0.00 0.00 0.00 0.000 6 0.000 0.000 2253 2495 3015 3128 2903 0 0 0 0 0 0 15.16 15.18 15.18

5224 end dive: TARGET_DEPTH_EXCEEDED

state 5224 begin apogee

5228 -0.23 0.0 2254 2194 3129 2903 990.8 -10.6 401 5380 1.50 0.00 143.70 1.942 10246 0.308 0.000 2625 2194 2716 2793 2640 0 0 0 0 1 0 14.64 13.97 12.83

5381 end apogee: CONTROL_FINISHED_OK

state 5381 begin climb

5382 1.31 70.3 2625 2195 2795 2641 994.6 0.0 406 5591 1.65 2.85 197.48 1.399 10756 0.135 0.128 3129 788 2423 2468 2378 0 0 0 0 0 0 13.96 13.67 13.14

5605 1.31 70.3 3129 789 2465 2375 969.6 18.2 449 5612 0.00 2.85 0.00 0.000 1030 0.000 0.112 3129 2207 2418 2463 2374 0 0 0 0 0 0 13.83 13.76 13.86

5992 1.31 70.3 3129 2208 2458 2366 905.3 16.9 466 5993 0.00 0.00 0.00 0.000 6 0.000 0.000 3129 2208 2411 2457 2365 0 0 0 0 0 0 14.66 14.70 14.69

6352 1.31 70.3 3129 2208 2456 2364 845.3 16.6 478 6357 0.00 2.62 0.00 0.000 516 0.000 0.125 3139 792 2409 2456 2363 0 0 0 0 0 0 14.88 14.62 14.90

6397 1.31 70.3 3139 793 2456 2364 837.1 15.6 487 6402 0.00 2.60 0.00 0.000 1030 0.000 0.114 3139 2207 2408 2454 2363 0 0 0 0 0 0 14.77 14.64 14.80

6772 1.31 70.3 3139 2208 2455 2363 774.9 16.5 502 6773 0.00 0.00 0.00 0.000 6 0.000 0.000 3139 2207 2408 2454 2362 0 0 0 0 0 0 14.97 15.00 15.00

7133 1.31 70.3 3140 2207 2456 2360 716.4 16.0 514 7138 0.00 2.60 0.00 0.000 516 0.000 0.125 3150 789 2407 2455 2360 0 0 0 0 0 0 15.02 14.76 15.05

7186 1.31 70.3 3150 789 2455 2361 707.3 16.0 525 7195 0.00 2.62 0.00 0.000 1030 0.000 0.111 3150 2210 2407 2454 2360 0 0 0 0 0 0 14.84 14.76 14.88

7552 1.31 70.3 3150 2210 2455 2359 648.6 15.9 558 7552 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2210 2406 2453 2359 0 0 0 0 0 0 15.07 15.11 15.10

7851 1.31 70.3 3150 2210 2454 2358 602.1 15.3 588 7852 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2210 2406 2453 2359 0 0 0 0 0 0 15.09 15.12 15.11

8151 1.31 70.3 3150 2211 2453 2359 556.3 15.1 618 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 3150 2210 2405 2453 2358 0 0 0 0 0 0 15.10 15.13 15.13

8451 1.31 70.3 3150 2212 2453 2359 511.2 15.0 648 8458 0.00 2.65 0.00 0.000 516 0.000 0.123 3161 784 2404 2452 2357 0 0 0 0 0 0 15.11 14.78 15.14

8506 1.31 70.3 3161 784 2453 2358 502.9 15.2 659 8514 0.15 2.62 0.00 0.000 5126 0.321 0.111 3124 2212 2405 2452 2358 0 0 0 0 0 0 14.61 14.81 14.81

8812 1.31 70.3 3125 2212 2453 2357 461.5 13.2 690 8818 0.00 2.62 0.00 0.000 260 0.000 0.141 3124 3621 2404 2452 2357 0 0 0 0 0 0 15.11 14.79 15.14

8842 1.31 70.3 3125 3622 2452 2357 457.4 14.4 696 8848 0.00 2.58 0.00 0.000 1030 0.000 0.099 3134 2200 2404 2452 2357 0 0 0 0 0 0 14.90 14.82 15.00

9152 1.31 70.3 3134 2200 2452 2358 416.0 13.0 728 9152 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2199 2404 2452 2357 0 0 0 0 0 0 15.11 15.14 15.14

9453 1.31 70.3 3134 2200 2452 2357 378.3 12.0 758 9453 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2199 2403 2451 2356 0 0 0 0 0 0 15.09 15.11 15.11

9491 end climb: SURFACE_OBSTACLE_DETECTED

state 9491 begin subsurface finish

9494 0.00 1.8 3135 2199 2453 2357 373.6 11.9 762 9498 1.62 0.00 -1.12 0.080 20486 0.268 0.000 2702 2199 2722 2805 2639 0 0 0 0 0 0 14.69 13.62 14.94

9498 end subsurface finish: CONTROL_FINISHED_OK

state 9498 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	113	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	13	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	360	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	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	10000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	10	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	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	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	20	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	883

GPS1	080218,150224,-7423.8955,-11236.5508,0,2002.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7425.000,-11232.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	351.33	MHEAD_RNG_PITCHd_Wd	78.6,3051,-27.0,-10.000,-32.98,1063
_SM_ANGLEo	2.9	D_GRID	990
GPS2	080218,150224,-7423.8955,-11236.5508,0,2002.0,0,53.5,0.0,0.0,0,0.0

FINISH1	373.6,1.027465,2	_24V_AH	12.83,52.800
FINISH2	373.6	_10V_AH	12.81,0.000
RAFOS_CLK	342	FG_AHR_24Vo	0.000
RAFOS	0,1518112886,18.032778,18.023890,118,64,64,58,55,51,486,219,202,160,147,124	FG_AHR_10Vo	0.000
RAFOS_FIX	-7425.363770,-11233.120117,080218,181824,2,136,0.28	MEM	280100
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	DATA_FILE_SIZE	26692,762
TT8_MAMPS	0.040446,0.290612	CAP_FILE_SIZE	93634,0
HUMID	47.83	CFSIZE	1024409600,1006632960
INTERNAL_PRESSURE	7.62882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.60	SOUNDSPEED	1457.5
XPDR_PINGS	0	GPS	080218,181424,-7425.364,-11233.120,0,3136.0,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	386.8,19.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	349	28.59	nil	0	0	0.00
Roll_motor	59	152	115.24	nil	0	0	0.00
VBD_pump_during_apogee	341	1942	8502.13	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9507	3	480.95
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	34	420	184.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7514	2	222.38
TT8_Active	383	12	60.27
TT8_Sampling	1607	31	653.65
TT8_CF8	65	45	38.10
TT8_Kalman	0	0	0.00
Analog_circuits	965	10	126.20
GPS_charging	0	0	0.00
Compass	1093	7	104.89
RAFOS	720	1	13.83
Transponder	245	30	94.40

		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
367.8	21.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

976.0	15.60	9000.00	0.0	0.00	0.00	15.60	0.0	-0.01	1.00
448.0	90.00	9000.00	0.0	-0.06	0.20	90.00	0.0	-0.14	1.00
431.7	73.10	9000.00	0.0	-0.12	0.94	73.10	358.6	1.04	1.00
422.5	63.50	63.60	358.9	1.04	1.00	63.50	359.0	1.04	1.00
413.4	54.20	54.20	359.2	1.03	1.00	54.20	359.2	1.02	1.00
404.5	37.50	9000.00	0.0	1.44	0.97	37.50	367.0	1.88	1.00
395.4	28.30	9000.00	0.0	1.44	0.97	28.30	367.1	1.01	1.00
386.8	19.60	19.60	367.2	1.01	1.00	19.60	367.2	1.01	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
8	-1.31	-70.3	2717	2513	2825	2604	0.0	0.0	0	10	0.00	0.00	-1.02	0.090	16390	0.000	0.000	2717	2512	3017	3151	2884	0	0	0	0	0	0	15.09	13.60	15.06
11	-1.31	-70.3	2717	2513	3150	2887	0.0	0.0	0	18	1.33	2.30	0.00	0.000	4356	0.101	0.151	2272	3761	3017	3146	2888	0	0	0	0	0	0	14.83	14.76	14.90
212	-1.31	-70.3	2273	3761	3137	2899	378.6	-15.5	40	218	0.00	2.30	0.00	0.000	1030	0.000	0.101	2273	2492	3016	3135	2898	0	0	0	0	0	0	14.89	14.82	14.93
522	-1.31	-70.3	2273	2491	3136	2899	422.3	-14.3	72	528	0.00	2.42	0.00	0.000	260	0.000	0.152	2263	3750	3017	3135	2899	0	0	0	0	0	0	15.11	14.75	15.13
572	-1.31	-70.3	2263	3751	3133	2901	430.0	-15.4	82	578	0.00	2.28	0.00	0.000	1030	0.000	0.099	2263	2490	3017	3132	2902	0	0	0	0	0	0	14.89	14.82	14.93
882	-1.31	-70.3	2263	2491	3133	2901	473.2	-13.5	114	882	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2490	3016	3132	2901	0	0	0	0	0	0	15.11	15.14	15.14
1182	-1.31	-70.3	2263	2490	3132	2900	513.0	-13.5	144	1183	0.00	0.00	0.00	0.000	6	0.000	0.000	2262	2490	3015	3131	2900	0	0	0	0	0	0	15.08	15.11	15.10
1482	-1.31	-70.3	2263	2490	3132	2900	552.5	-12.9	174	1488	0.00	2.42	0.00	0.000	260	0.000	0.148	2253	3755	3015	3131	2900	0	0	0	0	0	0	15.11	14.76	15.14
1526	-1.31	-70.3	2253	3757	3130	2903	558.7	-14.0	183	1534	0.00	2.28	0.00	0.000	1030	0.000	0.099	2253	2490	3015	3129	2902	0	0	0	0	0	0	14.90	14.83	14.94
1832	-1.31	-70.3	2254	2494	3130	2902	598.6	-12.8	214	1832	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2494	3015	3129	2902	0	0	0	0	0	0	15.11	15.14	15.14
2132	-1.31	-70.3	2253	2495	3130	2903	637.4	-12.9	244	2139	0.00	2.40	0.00	0.000	260	0.000	0.150	2244	3749	3015	3129	2901	0	0	0	0	0	0	15.12	14.76	15.14
2173	-1.31	-70.3	2244	3750	3129	2903	643.1	-13.9	252	2179	0.12	2.25	0.00	0.000	3078	0.350	0.098	2271	2502	3015	3128	2902	0	0	0	0	0	0	14.57	14.83	14.78
2484	-1.31	-70.3	2275	2503	3129	2903	681.0	-11.9	284	2485	0.00	0.00	0.00	0.000	6	0.000	0.000	2271	2502	3015	3128	2902	0	0	0	0	0	0	15.09	15.12	15.11
2795	-1.31	-70.3	2272	2501	3130	2902	718.0	-11.9	305	2800	0.00	2.58	0.00	0.000	516	0.000	0.113	2271	1078	3015	3128	2902	0	0	0	0	0	0	15.09	14.81	15.11
2814	-1.31	-70.3	2272	1078	3129	2902	720.6	-11.7	309	2821	0.00	2.67	0.00	0.000	1030	0.000	0.126	2263	2499	3015	3128	2902	0	0	0	0	0	0	14.88	14.77	14.93
3185	-1.31	-70.3	2263	2499	3129	2902	764.5	-11.6	323	3186	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2499	3015	3128	2902	0	0	0	0	0	0	15.13	15.16	15.16
3546	-1.31	-70.3	2264	2500	3129	2903	805.3	-11.3	335	3551	0.00	2.40	0.00	0.000	260	0.000	0.150	2253	3757	3015	3128	2902	0	0	0	0	0	0	15.14	14.76	15.15
3590	-1.31	-70.3	2254	3757	3128	2903	810.8	-12.5	344	3596	0.00	2.28	0.00	0.000	1030	0.000	0.098	2253	2495	3015	3128	2903	0	0	0	0	0	0	14.90	14.84	14.95
3966	-1.31	-70.3	2253	2496	3128	2904	853.8	-11.3	359	3967	0.00	0.00	0.00	0.000	6	0.000	0.000	2254	2496	3014	3127	2902	0	0	0	0	0	0	15.14	15.16	15.16
4325	-1.31	-70.3	2254	2495	3129	2903	893.9	-11.0	371	4326	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2495	3015	3128	2903	0	0	0	0	0	0	15.14	15.17	15.16
4686	-1.31	-70.3	2254	2496	3128	2904	933.4	-10.9	383	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2495	3015	3127	2903	0	0	0	0	0	0	15.15	15.17	15.17
5045	-1.31	-70.3	2253	2496	3129	2903	971.8	-10.6	395	5046	0.00	0.00	0.00	0.000	6	0.000	0.000	2253	2495	3015	3128	2903	0	0	0	0	0	0	15.16	15.18	15.18
5224	end dive: TARGET_DEPTH_EXCEEDED
state	5224	begin apogee
5228	-0.23	0.0	2254	2194	3129	2903	990.8	-10.6	401	5380	1.50	0.00	143.70	1.942	10246	0.308	0.000	2625	2194	2716	2793	2640	0	0	0	0	1	0	14.64	13.97	12.83
5381	end apogee: CONTROL_FINISHED_OK
state	5381	begin climb
5382	1.31	70.3	2625	2195	2795	2641	994.6	0.0	406	5591	1.65	2.85	197.48	1.399	10756	0.135	0.128	3129	788	2423	2468	2378	0	0	0	0	0	0	13.96	13.67	13.14
5605	1.31	70.3	3129	789	2465	2375	969.6	18.2	449	5612	0.00	2.85	0.00	0.000	1030	0.000	0.112	3129	2207	2418	2463	2374	0	0	0	0	0	0	13.83	13.76	13.86
5992	1.31	70.3	3129	2208	2458	2366	905.3	16.9	466	5993	0.00	0.00	0.00	0.000	6	0.000	0.000	3129	2208	2411	2457	2365	0	0	0	0	0	0	14.66	14.70	14.69
6352	1.31	70.3	3129	2208	2456	2364	845.3	16.6	478	6357	0.00	2.62	0.00	0.000	516	0.000	0.125	3139	792	2409	2456	2363	0	0	0	0	0	0	14.88	14.62	14.90
6397	1.31	70.3	3139	793	2456	2364	837.1	15.6	487	6402	0.00	2.60	0.00	0.000	1030	0.000	0.114	3139	2207	2408	2454	2363	0	0	0	0	0	0	14.77	14.64	14.80
6772	1.31	70.3	3139	2208	2455	2363	774.9	16.5	502	6773	0.00	0.00	0.00	0.000	6	0.000	0.000	3139	2207	2408	2454	2362	0	0	0	0	0	0	14.97	15.00	15.00
7133	1.31	70.3	3140	2207	2456	2360	716.4	16.0	514	7138	0.00	2.60	0.00	0.000	516	0.000	0.125	3150	789	2407	2455	2360	0	0	0	0	0	0	15.02	14.76	15.05
7186	1.31	70.3	3150	789	2455	2361	707.3	16.0	525	7195	0.00	2.62	0.00	0.000	1030	0.000	0.111	3150	2210	2407	2454	2360	0	0	0	0	0	0	14.84	14.76	14.88
7552	1.31	70.3	3150	2210	2455	2359	648.6	15.9	558	7552	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	2210	2406	2453	2359	0	0	0	0	0	0	15.07	15.11	15.10
7851	1.31	70.3	3150	2210	2454	2358	602.1	15.3	588	7852	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	2210	2406	2453	2359	0	0	0	0	0	0	15.09	15.12	15.11
8151	1.31	70.3	3150	2211	2453	2359	556.3	15.1	618	8152	0.00	0.00	0.00	0.000	6	0.000	0.000	3150	2210	2405	2453	2358	0	0	0	0	0	0	15.10	15.13	15.13
8451	1.31	70.3	3150	2212	2453	2359	511.2	15.0	648	8458	0.00	2.65	0.00	0.000	516	0.000	0.123	3161	784	2404	2452	2357	0	0	0	0	0	0	15.11	14.78	15.14
8506	1.31	70.3	3161	784	2453	2358	502.9	15.2	659	8514	0.15	2.62	0.00	0.000	5126	0.321	0.111	3124	2212	2405	2452	2358	0	0	0	0	0	0	14.61	14.81	14.81
8812	1.31	70.3	3125	2212	2453	2357	461.5	13.2	690	8818	0.00	2.62	0.00	0.000	260	0.000	0.141	3124	3621	2404	2452	2357	0	0	0	0	0	0	15.11	14.79	15.14
8842	1.31	70.3	3125	3622	2452	2357	457.4	14.4	696	8848	0.00	2.58	0.00	0.000	1030	0.000	0.099	3134	2200	2404	2452	2357	0	0	0	0	0	0	14.90	14.82	15.00
9152	1.31	70.3	3134	2200	2452	2358	416.0	13.0	728	9152	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2199	2404	2452	2357	0	0	0	0	0	0	15.11	15.14	15.14
9453	1.31	70.3	3134	2200	2452	2357	378.3	12.0	758	9453	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2199	2403	2451	2356	0	0	0	0	0	0	15.09	15.11	15.11
9491	end climb: SURFACE_OBSTACLE_DETECTED
state	9491	begin subsurface finish
9494	0.00	1.8	3135	2199	2453	2357	373.6	11.9	762	9498	1.62	0.00	-1.12	0.080	20486	0.268	0.000	2702	2199	2722	2805	2639	0	0	0	0	0	0	14.69	13.62	14.94
9498	end subsurface finish: CONTROL_FINISHED_OK
state	9498	begin surface