Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 122 * 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 122 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 15 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 122 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 11 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 090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 366.77 MHEAD_RNG_PITCHd_Wd 304.4,9786,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.6 D_GRID 990

GPS2 090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 361.3,1.027452,2 ALTIM_BOTTOM_PING 884.7,15.9

FINISH2 359.8 _24V_AH 13.10,56.263

RAFOS_CLK 331 _10V_AH 12.50,0.000

RAFOS 0,1518199261,18.032778,18.016945,67,56,54,54,54,54,1072,210,180,196,116,171 FG_AHR_24Vo 0.000

RAFOS_FIX -7455.579102,-11619.759766,090218,181852,1,2,12.14 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280128

TT8_MAMPS 0.041195,0.2996 DATA_FILE_SIZE 30012,836

HUMID 47.83 CAP_FILE_SIZE 98508,0

INTERNAL_PRESSURE 7.62882 CFSIZE 1024409600,1005666304

TCM_TEMP 13.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 SOUNDSPEED 1458.0

ALTIM_TOP_PING 363.6,9.1 GPS 090218,150224,-7416.281,-11226.994,0,2002.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 272 15.79 nil 0 0 0.00

Roll_motor 68 224 201.36 nil 0 0 0.00

VBD_pump_during_apogee 1002 1365 17939.81 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 9197 7 856.62

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 170.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6497 2 187.63

TT8_Active 972 12 149.15

TT8_Sampling 1718 31 681.83

TT8_CF8 76 45 43.29

TT8_Kalman 0 0 0.00

Analog_circuits 1657 10 211.38

GPS_charging 0 0 0.00

Compass 1198 7 112.19

RAFOS 720 1 13.50

Transponder 217 30 81.63

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

375.6 14.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

384.0 23.40 9000.00 0.0 0.00 0.00 23.40 0.0 1.02 1.00

854.9 47.50 9000.00 0.0 0.06 0.94 47.50 0.0 0.05 1.00

864.5 38.80 9000.00 0.0 0.04 0.86 38.80 903.3 -0.91 1.00

874.1 25.50 26.30 900.4 -1.14 0.98 25.50 899.6 -1.39 1.00

884.7 16.80 15.90 900.6 -1.09 0.98 16.80 901.5 -0.82 1.00

892.1 15.00 9000.00 0.0 -0.60 0.93 15.00 907.1 -0.24 1.00

884.1 18.60 9000.00 0.0 -0.36 0.80 18.60 0.0 -0.45 1.00

876.1 16.30 9000.00 0.0 -0.08 0.12 16.30 859.8 0.29 1.00

867.7 18.00 9000.00 0.0 0.04 0.06 18.00 0.0 -0.20 1.00

859.4 29.80 28.10 0.0 -0.81 0.84 29.80 0.0 -1.42 1.00

380.0 25.40 9000.00 0.0 0.00 0.03 25.40 354.6 0.01 1.00

371.9 17.40 9000.00 0.0 0.02 0.61 17.40 354.5 0.99 1.00

363.6 9.00 9.10 354.5 1.00 1.00 9.00 354.6 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 7 begin dive

8 -0.94 -146.0 2705 2507 2828 2610 0.0 0.0 0 11 0.00 0.00 -1.98 0.047 16390 0.000 0.000 2704 2510 3324 3463 3185 0 0 0 0 0 0 15.07 13.58 15.07

13 -0.94 -146.0 2705 2516 3461 3188 0.0 0.0 0 19 0.93 2.33 0.00 0.000 4356 0.115 0.152 2397 3752 3323 3454 3193 0 0 0 0 0 0 14.81 14.73 14.88

58 -0.94 -146.0 2397 3748 3447 3200 370.7 -9.7 9 67 0.00 2.28 0.00 0.000 1030 0.000 0.099 2397 2489 3323 3446 3201 0 0 0 0 0 0 14.85 14.79 14.90

363 -0.94 -146.0 2398 2489 3443 3205 406.8 -11.9 40 364 0.00 0.00 0.00 0.000 6 0.000 0.000 2397 2489 3323 3443 3204 0 0 0 0 0 0 15.09 15.12 15.12

665 -0.94 -146.0 2397 2489 3442 3206 442.3 -11.4 70 670 0.00 2.40 0.00 0.000 260 0.000 0.153 2387 3755 3323 3441 3205 0 0 0 0 0 0 15.07 14.76 15.09

718 -0.94 -146.0 2387 3757 3438 3209 449.1 -12.5 81 726 0.00 2.28 0.00 0.000 1030 0.000 0.099 2387 2496 3323 3438 3208 0 0 0 0 0 0 14.86 14.79 14.90

1023 -0.94 -146.0 2387 2496 3439 3209 485.2 -12.3 112 1024 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2495 3322 3437 3208 0 0 0 0 0 0 15.09 15.13 15.11

1324 -0.94 -146.0 2387 2496 3437 3209 521.5 -11.9 142 1324 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2495 3322 3437 3208 0 0 0 0 0 0 15.10 15.13 15.13

1623 -0.94 -146.0 2388 2496 3437 3208 556.0 -11.2 172 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2495 3322 3436 3208 0 0 0 0 0 0 15.10 15.13 15.12

1924 -0.94 -146.0 2387 2496 3437 3208 590.3 -11.3 202 1929 0.00 2.42 0.00 0.000 260 0.000 0.151 2378 3756 3322 3436 3208 0 0 0 0 0 0 15.11 14.73 15.13

1954 -0.94 -146.0 2379 3756 3436 3209 593.9 -12.4 208 1960 0.00 2.25 0.00 0.000 1030 0.000 0.099 2379 2483 3322 3435 3209 0 0 0 0 0 0 14.95 14.84 14.97

2264 -0.94 -146.0 2379 2483 3436 3209 630.6 -11.9 240 2264 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2483 3321 3434 3209 0 0 0 0 0 0 15.10 15.13 15.12

2564 -0.94 -146.0 2379 2484 3435 3210 666.0 -11.3 270 2570 0.00 2.45 0.00 0.000 260 0.000 0.151 2369 3757 3321 3434 3209 0 0 0 0 0 0 15.10 14.73 15.12

2624 -0.94 -146.0 2370 3757 3435 3210 673.2 -12.0 282 2630 0.00 2.28 0.00 0.000 1030 0.000 0.097 2369 2493 3321 3433 3210 0 0 0 0 0 0 14.88 14.81 14.92

2944 -0.94 -146.0 2370 2493 3434 3210 711.0 -11.9 309 2951 0.00 2.42 0.00 0.000 260 0.000 0.151 2360 3754 3321 3432 3210 0 0 0 0 0 0 15.10 14.73 15.12

2979 -0.94 -146.0 2361 3754 3434 3210 715.5 -13.1 316 2986 0.12 2.28 0.00 0.000 3078 0.272 0.098 2393 2493 3321 3433 3210 0 0 0 0 0 0 14.62 14.81 14.79

3365 -0.94 -146.0 2393 2493 3434 3210 756.7 -10.4 333 3371 0.00 2.60 0.00 0.000 516 0.000 0.116 2393 1084 3321 3433 3210 0 0 0 0 0 0 15.11 14.76 15.14

3390 -0.94 -146.0 2393 1085 3434 3210 759.4 -10.9 338 3398 0.00 2.67 0.00 0.000 1030 0.000 0.125 2384 2505 3321 3433 3210 0 0 0 0 0 0 14.85 14.74 14.90

3757 -0.94 -146.0 2384 2506 3433 3211 798.2 -10.4 351 3762 0.00 2.35 0.00 0.000 260 0.000 0.150 2375 3759 3321 3433 3210 0 0 0 0 0 0 15.08 14.75 15.13

3801 -0.94 -146.0 2376 3759 3433 3211 803.1 -11.7 360 3807 0.00 2.28 0.00 0.000 1030 0.000 0.099 2376 2498 3321 3432 3210 0 0 0 0 0 0 14.88 14.81 14.92

4177 -0.94 -146.0 2376 2498 3433 3211 845.3 -10.9 375 4182 0.00 2.38 0.00 0.000 260 0.000 0.152 2366 3755 3321 3432 3210 0 0 0 0 0 0 15.11 14.75 15.14

4206 -0.94 -146.0 2367 3756 3433 3211 848.5 -10.6 381 4213 0.10 2.28 0.00 0.000 3078 0.272 0.099 2392 2495 3321 3432 3210 0 0 0 0 0 0 14.63 14.81 14.80

4596 end dive: BOTTOM_OBSTACLE_DETECTED

state 4596 begin apogee

4600 -0.23 0.0 2393 2183 3433 3212 890.9 -10.9 399 5184 0.85 0.08 578.88 1.182 10246 0.233 0.224 2622 2210 2716 2772 2660 0 0 0 0 0 0 14.67 13.63 13.17

5185 end apogee: CONTROL_FINISHED_OK

state 5185 begin climb

5186 0.94 146.0 2625 2210 2771 2658 897.9 0.0 418 5622 1.25 2.92 424.00 1.366 11012 0.116 0.127 3011 792 2117 2151 2084 0 0 0 0 0 0 13.71 13.59 13.10

5811 0.94 146.0 3012 792 2140 2074 829.5 14.4 540 5817 0.00 2.72 0.00 0.000 1030 0.000 0.112 3011 2196 2106 2139 2074 0 0 0 0 0 0 14.23 14.16 14.28

6193 0.94 146.0 3011 2199 2139 2070 772.9 14.7 556 6193 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2198 2103 2138 2069 0 0 0 0 0 0 14.77 14.81 14.80

6553 0.94 146.0 3011 2199 2139 2068 721.3 14.4 568 6554 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2198 2103 2139 2067 0 0 0 0 0 0 14.92 14.95 14.95

6912 0.94 146.0 3011 2199 2139 2067 669.9 14.3 594 6913 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2198 2102 2138 2066 0 0 0 0 0 0 14.99 15.02 15.01

7212 0.94 146.0 3011 2199 2139 2066 627.7 13.7 624 7213 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2198 2101 2138 2065 0 0 0 0 0 0 15.01 15.04 15.04

7512 0.94 146.0 3012 2198 2139 2065 586.5 13.9 654 7517 0.00 2.60 0.00 0.000 516 0.000 0.129 3021 788 2101 2137 2065 0 0 0 0 0 0 15.02 14.76 15.06

7536 0.94 146.0 3022 788 2138 2065 583.0 14.0 659 7544 0.00 2.62 0.00 0.000 1030 0.000 0.114 3021 2207 2101 2137 2065 0 0 0 0 0 0 14.85 14.77 14.90

7841 0.94 146.0 3021 2208 2138 2065 540.0 14.0 690 7842 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2207 2100 2137 2064 0 0 0 0 0 0 15.08 15.11 15.11

8142 0.94 146.0 3022 2206 2138 2064 497.4 13.8 720 8142 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2205 2100 2137 2064 0 0 0 0 0 0 15.09 15.11 15.11

8441 0.94 146.0 3021 2208 2138 2064 454.9 14.4 750 8447 0.00 2.65 0.00 0.000 516 0.000 0.127 3032 791 2100 2137 2063 0 0 0 0 0 0 15.09 14.77 15.12

8506 0.94 146.0 3032 791 2137 2065 445.4 14.7 763 8515 0.08 2.60 0.00 0.000 5126 0.232 0.115 3002 2198 2099 2136 2063 0 0 0 0 0 0 14.72 14.78 14.93

8812 0.94 146.0 3002 2199 2137 2065 406.6 12.0 794 8818 0.00 2.67 0.00 0.000 260 0.000 0.145 3002 3623 2100 2137 2063 0 0 0 0 0 0 15.06 14.78 15.09

8836 0.94 146.0 3002 3624 2137 2064 403.3 13.3 799 8845 0.00 2.58 0.00 0.000 1030 0.000 0.102 3012 2207 2099 2136 2063 0 0 0 0 0 0 14.88 14.81 14.92

9141 0.94 146.0 3012 2205 2137 2063 364.2 12.7 830 9150 0.00 2.67 0.00 0.000 516 0.000 0.132 3023 781 2099 2136 2063 0 0 0 0 0 0 15.10 14.76 15.13

9162 end climb: SURFACE_OBSTACLE_DETECTED

state 9162 begin subsurface finish

9168 0.00 2.4 3024 2206 2137 2064 361.3 12.9 834 9181 1.10 2.67 -2.15 0.053 20996 0.210 0.152 2716 763 2723 2833 2613 0 0 0 0 0 0 14.69 13.59 14.84

9181 end subsurface finish: CONTROL_FINISHED_OK

state 9181 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	122	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	15	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	366.77	MHEAD_RNG_PITCHd_Wd	304.4,9786,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.6	D_GRID	990
GPS2	090218,150224,-7416.2808,-11226.9941,0,2002.0,0,53.5,0.0,0.0,0,0.0

FINISH1	361.3,1.027452,2	ALTIM_BOTTOM_PING	884.7,15.9
FINISH2	359.8	_24V_AH	13.10,56.263
RAFOS_CLK	331	_10V_AH	12.50,0.000
RAFOS	0,1518199261,18.032778,18.016945,67,56,54,54,54,54,1072,210,180,196,116,171	FG_AHR_24Vo	0.000
RAFOS_FIX	-7455.579102,-11619.759766,090218,181852,1,2,12.14	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280128
TT8_MAMPS	0.041195,0.2996	DATA_FILE_SIZE	30012,836
HUMID	47.83	CAP_FILE_SIZE	98508,0
INTERNAL_PRESSURE	7.62882	CFSIZE	1024409600,1005666304
TCM_TEMP	13.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	SOUNDSPEED	1458.0
ALTIM_TOP_PING	363.6,9.1	GPS	090218,150224,-7416.281,-11226.994,0,2002.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	272	15.79	nil	0	0	0.00
Roll_motor	68	224	201.36	nil	0	0	0.00
VBD_pump_during_apogee	1002	1365	17939.81	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	9197	7	856.62
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	170.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6497	2	187.63
TT8_Active	972	12	149.15
TT8_Sampling	1718	31	681.83
TT8_CF8	76	45	43.29
TT8_Kalman	0	0	0.00
Analog_circuits	1657	10	211.38
GPS_charging	0	0	0.00
Compass	1198	7	112.19
RAFOS	720	1	13.50
Transponder	217	30	81.63

		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
375.6	14.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
384.0	23.40	9000.00	0.0	0.00	0.00	23.40	0.0	1.02	1.00
854.9	47.50	9000.00	0.0	0.06	0.94	47.50	0.0	0.05	1.00
864.5	38.80	9000.00	0.0	0.04	0.86	38.80	903.3	-0.91	1.00
874.1	25.50	26.30	900.4	-1.14	0.98	25.50	899.6	-1.39	1.00
884.7	16.80	15.90	900.6	-1.09	0.98	16.80	901.5	-0.82	1.00
892.1	15.00	9000.00	0.0	-0.60	0.93	15.00	907.1	-0.24	1.00

884.1	18.60	9000.00	0.0	-0.36	0.80	18.60	0.0	-0.45	1.00
876.1	16.30	9000.00	0.0	-0.08	0.12	16.30	859.8	0.29	1.00
867.7	18.00	9000.00	0.0	0.04	0.06	18.00	0.0	-0.20	1.00
859.4	29.80	28.10	0.0	-0.81	0.84	29.80	0.0	-1.42	1.00
380.0	25.40	9000.00	0.0	0.00	0.03	25.40	354.6	0.01	1.00
371.9	17.40	9000.00	0.0	0.02	0.61	17.40	354.5	0.99	1.00
363.6	9.00	9.10	354.5	1.00	1.00	9.00	354.6	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	7	begin dive
8	-0.94	-146.0	2705	2507	2828	2610	0.0	0.0	0	11	0.00	0.00	-1.98	0.047	16390	0.000	0.000	2704	2510	3324	3463	3185	0	0	0	0	0	0	15.07	13.58	15.07
13	-0.94	-146.0	2705	2516	3461	3188	0.0	0.0	0	19	0.93	2.33	0.00	0.000	4356	0.115	0.152	2397	3752	3323	3454	3193	0	0	0	0	0	0	14.81	14.73	14.88
58	-0.94	-146.0	2397	3748	3447	3200	370.7	-9.7	9	67	0.00	2.28	0.00	0.000	1030	0.000	0.099	2397	2489	3323	3446	3201	0	0	0	0	0	0	14.85	14.79	14.90
363	-0.94	-146.0	2398	2489	3443	3205	406.8	-11.9	40	364	0.00	0.00	0.00	0.000	6	0.000	0.000	2397	2489	3323	3443	3204	0	0	0	0	0	0	15.09	15.12	15.12
665	-0.94	-146.0	2397	2489	3442	3206	442.3	-11.4	70	670	0.00	2.40	0.00	0.000	260	0.000	0.153	2387	3755	3323	3441	3205	0	0	0	0	0	0	15.07	14.76	15.09
718	-0.94	-146.0	2387	3757	3438	3209	449.1	-12.5	81	726	0.00	2.28	0.00	0.000	1030	0.000	0.099	2387	2496	3323	3438	3208	0	0	0	0	0	0	14.86	14.79	14.90
1023	-0.94	-146.0	2387	2496	3439	3209	485.2	-12.3	112	1024	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2495	3322	3437	3208	0	0	0	0	0	0	15.09	15.13	15.11
1324	-0.94	-146.0	2387	2496	3437	3209	521.5	-11.9	142	1324	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2495	3322	3437	3208	0	0	0	0	0	0	15.10	15.13	15.13
1623	-0.94	-146.0	2388	2496	3437	3208	556.0	-11.2	172	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2495	3322	3436	3208	0	0	0	0	0	0	15.10	15.13	15.12
1924	-0.94	-146.0	2387	2496	3437	3208	590.3	-11.3	202	1929	0.00	2.42	0.00	0.000	260	0.000	0.151	2378	3756	3322	3436	3208	0	0	0	0	0	0	15.11	14.73	15.13
1954	-0.94	-146.0	2379	3756	3436	3209	593.9	-12.4	208	1960	0.00	2.25	0.00	0.000	1030	0.000	0.099	2379	2483	3322	3435	3209	0	0	0	0	0	0	14.95	14.84	14.97
2264	-0.94	-146.0	2379	2483	3436	3209	630.6	-11.9	240	2264	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2483	3321	3434	3209	0	0	0	0	0	0	15.10	15.13	15.12
2564	-0.94	-146.0	2379	2484	3435	3210	666.0	-11.3	270	2570	0.00	2.45	0.00	0.000	260	0.000	0.151	2369	3757	3321	3434	3209	0	0	0	0	0	0	15.10	14.73	15.12
2624	-0.94	-146.0	2370	3757	3435	3210	673.2	-12.0	282	2630	0.00	2.28	0.00	0.000	1030	0.000	0.097	2369	2493	3321	3433	3210	0	0	0	0	0	0	14.88	14.81	14.92
2944	-0.94	-146.0	2370	2493	3434	3210	711.0	-11.9	309	2951	0.00	2.42	0.00	0.000	260	0.000	0.151	2360	3754	3321	3432	3210	0	0	0	0	0	0	15.10	14.73	15.12
2979	-0.94	-146.0	2361	3754	3434	3210	715.5	-13.1	316	2986	0.12	2.28	0.00	0.000	3078	0.272	0.098	2393	2493	3321	3433	3210	0	0	0	0	0	0	14.62	14.81	14.79
3365	-0.94	-146.0	2393	2493	3434	3210	756.7	-10.4	333	3371	0.00	2.60	0.00	0.000	516	0.000	0.116	2393	1084	3321	3433	3210	0	0	0	0	0	0	15.11	14.76	15.14
3390	-0.94	-146.0	2393	1085	3434	3210	759.4	-10.9	338	3398	0.00	2.67	0.00	0.000	1030	0.000	0.125	2384	2505	3321	3433	3210	0	0	0	0	0	0	14.85	14.74	14.90
3757	-0.94	-146.0	2384	2506	3433	3211	798.2	-10.4	351	3762	0.00	2.35	0.00	0.000	260	0.000	0.150	2375	3759	3321	3433	3210	0	0	0	0	0	0	15.08	14.75	15.13
3801	-0.94	-146.0	2376	3759	3433	3211	803.1	-11.7	360	3807	0.00	2.28	0.00	0.000	1030	0.000	0.099	2376	2498	3321	3432	3210	0	0	0	0	0	0	14.88	14.81	14.92
4177	-0.94	-146.0	2376	2498	3433	3211	845.3	-10.9	375	4182	0.00	2.38	0.00	0.000	260	0.000	0.152	2366	3755	3321	3432	3210	0	0	0	0	0	0	15.11	14.75	15.14
4206	-0.94	-146.0	2367	3756	3433	3211	848.5	-10.6	381	4213	0.10	2.28	0.00	0.000	3078	0.272	0.099	2392	2495	3321	3432	3210	0	0	0	0	0	0	14.63	14.81	14.80
4596	end dive: BOTTOM_OBSTACLE_DETECTED
state	4596	begin apogee
4600	-0.23	0.0	2393	2183	3433	3212	890.9	-10.9	399	5184	0.85	0.08	578.88	1.182	10246	0.233	0.224	2622	2210	2716	2772	2660	0	0	0	0	0	0	14.67	13.63	13.17
5185	end apogee: CONTROL_FINISHED_OK
state	5185	begin climb
5186	0.94	146.0	2625	2210	2771	2658	897.9	0.0	418	5622	1.25	2.92	424.00	1.366	11012	0.116	0.127	3011	792	2117	2151	2084	0	0	0	0	0	0	13.71	13.59	13.10
5811	0.94	146.0	3012	792	2140	2074	829.5	14.4	540	5817	0.00	2.72	0.00	0.000	1030	0.000	0.112	3011	2196	2106	2139	2074	0	0	0	0	0	0	14.23	14.16	14.28
6193	0.94	146.0	3011	2199	2139	2070	772.9	14.7	556	6193	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2198	2103	2138	2069	0	0	0	0	0	0	14.77	14.81	14.80
6553	0.94	146.0	3011	2199	2139	2068	721.3	14.4	568	6554	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2198	2103	2139	2067	0	0	0	0	0	0	14.92	14.95	14.95
6912	0.94	146.0	3011	2199	2139	2067	669.9	14.3	594	6913	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2198	2102	2138	2066	0	0	0	0	0	0	14.99	15.02	15.01
7212	0.94	146.0	3011	2199	2139	2066	627.7	13.7	624	7213	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2198	2101	2138	2065	0	0	0	0	0	0	15.01	15.04	15.04
7512	0.94	146.0	3012	2198	2139	2065	586.5	13.9	654	7517	0.00	2.60	0.00	0.000	516	0.000	0.129	3021	788	2101	2137	2065	0	0	0	0	0	0	15.02	14.76	15.06
7536	0.94	146.0	3022	788	2138	2065	583.0	14.0	659	7544	0.00	2.62	0.00	0.000	1030	0.000	0.114	3021	2207	2101	2137	2065	0	0	0	0	0	0	14.85	14.77	14.90
7841	0.94	146.0	3021	2208	2138	2065	540.0	14.0	690	7842	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2207	2100	2137	2064	0	0	0	0	0	0	15.08	15.11	15.11
8142	0.94	146.0	3022	2206	2138	2064	497.4	13.8	720	8142	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2205	2100	2137	2064	0	0	0	0	0	0	15.09	15.11	15.11
8441	0.94	146.0	3021	2208	2138	2064	454.9	14.4	750	8447	0.00	2.65	0.00	0.000	516	0.000	0.127	3032	791	2100	2137	2063	0	0	0	0	0	0	15.09	14.77	15.12
8506	0.94	146.0	3032	791	2137	2065	445.4	14.7	763	8515	0.08	2.60	0.00	0.000	5126	0.232	0.115	3002	2198	2099	2136	2063	0	0	0	0	0	0	14.72	14.78	14.93
8812	0.94	146.0	3002	2199	2137	2065	406.6	12.0	794	8818	0.00	2.67	0.00	0.000	260	0.000	0.145	3002	3623	2100	2137	2063	0	0	0	0	0	0	15.06	14.78	15.09
8836	0.94	146.0	3002	3624	2137	2064	403.3	13.3	799	8845	0.00	2.58	0.00	0.000	1030	0.000	0.102	3012	2207	2099	2136	2063	0	0	0	0	0	0	14.88	14.81	14.92
9141	0.94	146.0	3012	2205	2137	2063	364.2	12.7	830	9150	0.00	2.67	0.00	0.000	516	0.000	0.132	3023	781	2099	2136	2063	0	0	0	0	0	0	15.10	14.76	15.13
9162	end climb: SURFACE_OBSTACLE_DETECTED
state	9162	begin subsurface finish
9168	0.00	2.4	3024	2206	2137	2064	361.3	12.9	834	9181	1.10	2.67	-2.15	0.053	20996	0.210	0.152	2716	763	2723	2833	2613	0	0	0	0	0	0	14.69	13.59	14.84
9181	end subsurface finish: CONTROL_FINISHED_OK
state	9181	begin surface