Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 184 * 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 184 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 16 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 10 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 5 N_NOCOMM 3 VBD_CNV -0.24529999 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 360 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 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 200 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 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 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -3 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 0.1 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 2 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 3 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 6 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

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 360

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 0.1 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 420

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 2

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 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

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 184 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 16 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 10 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 2 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 170218,110600,-7408.8682,-11253.7930,23,1.4,23,53.7,0.9,340.6,7,5.6 SPEED_LIMITS 0.092,0.213

_CALLS 2 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.37 MHEAD_RNG_PITCHd_Wd 216.4,9219,-14.8,-9.167,-23.33,2336

_SM_ANGLEo -62.2 D_GRID 709

GPS2 170218,111935,-7408.7910,-11253.9082,3,0.8,3,53.7,0.3,348.1,11,8.8

Post-dive calculations and measurements:

FINISH1 679.5,1.027645,-7 _24V_AH 12.81,79.532

FINISH2 678.4 _10V_AH 12.46,0.000

RAFOS_CLK 272 FG_AHR_24Vo 0.000

RAFOS 0,1518868860,12.032778,12.016666,105,100,58,56,56,56,625,636,222,154,166,210 FG_AHR_10Vo 0.000

RAFOS_FIX -7408.796387,-11255.022461,170218,121200,3,118,0.17 MEM 279812

IRIDIUM_FIX -7408.47,-11245.06,170218,110847 DATA_FILE_SIZE 20088,618

TT8_MAMPS 0.04494,0.125083 CAP_FILE_SIZE 86521,0

HUMID 42.08 CFSIZE 1024409600,998670336

INTERNAL_PRESSURE 7.66789 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.80 SOUNDSPEED 1450.5

XPDR_PINGS 0 CURRENT 0.267,92.94,1

ALTIM_TOP_PING 687.0,14.4 GPS 170218,121600,-7408.796,-11255.022,0,4118.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 477 95.85 nil 0 0 0.00

Roll_motor 47 227 138.18 nil 0 0 0.00

VBD_pump_during_apogee 1021 1270 16620.26 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 7505 3 320.14

Iridium_during_xfer 610 179 1400.69 nil 0 0 0.00

Transponder_ping 27 420 147.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.72

TT8 0 0 0.00

LPSleep 5217 2 150.17

TT8_Active 1030 12 157.48

TT8_Sampling 1902 31 752.35

TT8_CF8 164 45 92.53

TT8_Kalman 0 0 0.00

Analog_circuits 2201 10 279.78

GPS_charging 0 0 0.00

Compass 889 7 83.01

RAFOS 720 1 13.46

Transponder 195 30 73.02

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

7.0 11.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

13.5 15.20 9000.00 0.0 0.00 0.00 15.20 0.0 0.55 1.00

19.8 21.40 9000.00 0.0 0.76 0.97 21.40 0.0 0.98 1.00

26.2 28.10 28.00 0.0 1.02 1.00 28.10 0.0 1.05 1.00

32.2 34.40 34.40 0.0 1.05 1.00 34.40 0.0 1.05 1.00

38.7 41.10 41.10 0.0 1.05 1.00 41.10 0.0 1.03 1.00

45.9 48.90 48.80 0.0 1.06 1.00 48.90 0.0 1.08 1.00

52.2 56.90 56.70 0.0 1.16 1.00 56.90 0.0 1.27 1.00

58.7 62.00 62.50 0.0 1.03 0.98 62.00 0.0 0.78 1.00

78.6 83.20 83.00 0.0 1.01 1.00 83.20 0.0 1.07 1.00

684.7 63.40 9000.00 0.0 -0.01 0.18 63.40 748.1 -0.03 1.00

691.1 57.30 9000.00 0.0 -0.04 0.95 57.30 748.4 -0.95 1.00

697.3 33.80 9000.00 0.0 -2.33 0.89 33.80 731.1 -3.79 1.00

703.9 20.90 9000.00 0.0 -2.84 0.96 20.90 724.8 -1.95 1.00

710.3 11.80 9000.00 0.0 -1.70 0.99 11.80 722.1 -1.42 1.00

711.9 11.40 9000.00 0.0 -1.26 0.98 0.00 0.0 0.00 0.00

705.8 27.20 9000.00 0.0 -2.81 0.95 27.20 0.0 -2.59 1.00

699.5 30.90 9000.00 0.0 -1.57 0.88 30.90 0.0 -0.59 1.00

693.3 19.50 9000.00 0.0 0.61 0.44 19.50 673.8 1.84 1.00

687.0 15.70 14.40 672.6 1.21 0.92 15.70 671.3 0.60 1.00

680.6 16.40 9000.00 0.0 0.25 0.59 16.40 0.0 -0.11 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.85 -146.0 198 2510 1485 1466 0.0 0.0 0 114 0.00 0.00 -99.38 0.002 16390 0.000 0.000 197 2510 3311 3384 3238 0 0 0 0 0 0 14.77 13.11 14.80

116 -0.85 -146.0 198 2510 3385 3238 2.1 -2.9 10 135 12.43 2.58 0.00 0.000 2596 0.477 0.103 2418 1076 3313 3386 3240 0 0 0 0 0 0 14.20 14.50 14.57

339 -0.85 -146.0 2419 1076 3389 3240 40.7 -14.0 54 345 0.00 2.72 0.00 0.000 1030 0.000 0.125 2409 2510 3314 3388 3240 0 0 0 0 0 0 14.68 14.49 14.71

649 -0.85 -146.0 2409 2510 3388 3241 81.3 -13.5 86 655 0.00 2.45 0.00 0.000 260 0.000 0.155 2400 3778 3314 3388 3240 0 0 0 0 0 0 14.97 14.52 15.00

699 -0.85 -146.0 2400 3778 3389 3240 88.5 -14.6 96 705 0.00 2.38 0.00 0.000 1030 0.000 0.096 2400 2484 3316 3393 3240 0 0 0 0 0 0 14.70 14.62 14.74

1009 -0.85 -146.0 2400 2485 3389 3240 128.6 -13.2 128 1010 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2484 3314 3388 3240 0 0 0 0 0 0 15.01 15.04 15.04

1309 -0.85 -146.0 2400 2484 3389 3240 168.4 -13.1 158 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 2401 2484 3314 3388 3240 0 0 0 0 0 0 15.04 15.07 15.06

1609 -0.85 -146.0 2401 2484 3389 3239 206.5 -12.7 188 1615 0.00 2.50 0.00 0.000 260 0.000 0.158 2392 3747 3314 3388 3240 0 0 0 0 0 0 15.04 14.53 15.07

1700 -0.85 -146.0 2392 3749 3389 3240 219.0 -13.8 206 1706 0.10 2.30 0.00 0.000 3078 0.269 0.096 2425 2495 3314 3388 3240 0 0 0 0 0 0 14.42 14.67 14.73

2010 -0.85 -146.0 2425 2496 3388 3241 251.3 -9.8 238 2011 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2495 3316 3388 3244 0 0 0 0 0 0 15.07 15.10 15.09

2310 -0.85 -146.0 2425 2496 3389 3241 281.0 -10.0 268 2316 0.00 2.60 0.00 0.000 516 0.000 0.112 2425 1079 3314 3388 3240 0 0 0 0 0 0 15.03 14.64 15.04

2355 -0.85 -146.0 2425 1079 3389 3240 285.5 -10.1 277 2363 0.00 2.70 0.00 0.000 1030 0.000 0.127 2418 2511 3314 3388 3240 0 0 0 0 0 0 14.79 14.59 14.85

2660 -0.85 -146.0 2418 2512 3388 3241 318.6 -11.3 300 2666 0.00 2.42 0.00 0.000 260 0.000 0.157 2409 3749 3314 3388 3240 0 0 0 0 0 0 15.07 14.54 15.10

2720 -0.85 -146.0 2410 3748 3389 3240 325.9 -12.3 312 2726 0.00 2.30 0.00 0.000 1030 0.000 0.099 2409 2490 3313 3387 3240 0 0 0 0 0 0 14.75 14.67 14.80

3041 -0.85 -146.0 2410 2490 3389 3240 362.8 -11.2 331 3042 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2490 3314 3388 3240 0 0 0 0 0 0 15.03 15.06 15.05

3342 -0.85 -146.0 2410 2490 3388 3241 395.8 -10.6 346 3347 0.00 2.45 0.00 0.000 260 0.000 0.157 2400 3753 3313 3387 3240 0 0 0 0 0 0 15.04 14.58 15.07

3381 -0.85 -146.0 2401 3753 3389 3240 400.4 -11.4 354 3387 0.00 2.30 0.00 0.000 1030 0.000 0.099 2401 2497 3314 3388 3240 0 0 0 0 0 0 14.78 14.68 14.81

3702 -0.85 -146.0 2401 2498 3388 3241 435.9 -11.0 373 3708 0.00 2.42 0.00 0.000 260 0.000 0.158 2392 3757 3313 3387 3240 0 0 0 0 0 0 15.04 14.52 15.07

3732 -0.85 -146.0 2393 3757 3389 3240 439.5 -11.8 379 3738 0.10 2.33 0.00 0.000 3078 0.268 0.099 2418 2490 3314 3388 3240 0 0 0 0 0 0 14.42 14.69 14.60

4042 -0.85 -146.0 2418 2490 3388 3240 470.8 -9.7 396 4043 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2490 3313 3388 3239 0 0 0 0 0 0 15.11 15.14 15.14

4343 -0.85 -146.0 2418 2491 3389 3241 499.6 -9.7 411 4344 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2490 3314 3388 3240 0 0 0 0 0 0 15.06 15.09 15.10

4662 -0.85 -146.0 2418 2491 3389 3241 531.1 -9.8 422 4671 0.00 2.45 0.00 0.000 260 0.000 0.156 2410 3753 3314 3388 3240 0 0 0 0 0 0 15.12 14.52 15.15

4715 -0.85 -146.0 2411 3754 3389 3241 536.7 -10.6 432 4721 0.00 2.30 0.00 0.000 1030 0.000 0.099 2410 2498 3314 3389 3240 0 0 0 0 0 0 14.77 14.69 14.82

5087 -0.85 -146.0 2410 2499 3390 3241 573.9 -9.9 446 5088 0.00 0.00 0.00 0.000 6 0.000 0.000 2408 2498 3314 3389 3240 0 0 0 0 0 0 15.06 15.09 15.08

5447 -0.85 -146.0 2410 2498 3391 3240 609.7 -9.9 458 5447 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2498 3314 3389 3240 0 0 0 0 0 0 15.06 15.09 15.09

5807 -0.85 -146.0 2410 2499 3391 3241 644.2 -9.4 470 5808 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2498 3315 3390 3240 0 0 0 0 0 0 15.07 15.09 15.09

6166 -0.85 -146.0 2410 2499 3391 3241 681.5 -10.5 482 6171 0.00 2.42 0.00 0.000 260 0.000 0.157 2401 3754 3315 3390 3240 0 0 0 0 0 0 15.14 14.58 15.16

6235 -0.85 -146.0 2401 3754 3390 3240 689.0 -10.9 496 6241 0.00 2.30 0.00 0.000 1030 0.000 0.097 2401 2494 3315 3390 3240 0 0 0 0 0 0 14.78 14.70 14.83

6436 end dive: TARGET_DEPTH_EXCEEDED

state 6436 begin apogee

6440 -0.23 0.0 2402 2182 3400 3240 710.3 -10.8 506 6995 0.85 0.08 550.08 0.959 10246 0.243 0.227 2626 2209 2716 2774 2658 0 0 0 0 0 0 14.47 13.77 13.39

6996 end apogee: CONTROL_FINISHED_OK

state 6996 begin climb

6998 0.85 146.0 2627 2209 2772 2656 717.7 0.0 524 7478 1.17 0.00 471.00 1.271 11010 0.145 0.000 2972 2209 2157 2203 2111 0 0 0 0 0 0 13.81 28.83 13.89

7479 end climb: SURFACE_OBSTACLE_DETECTED

state 7479 begin subsurface finish

7483 -0.01 -7.4 2973 2210 2199 2107 679.5 10.4 617 7490 1.02 2.90 -1.52 0.070 20996 0.199 0.139 2709 796 2765 2873 2658 0 0 0 0 0 0 13.55 12.81 13.66

7490 end subsurface finish: CONTROL_FINISHED_OK

state 7490 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	184	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	16	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	10	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	5	N_NOCOMM	3	VBD_CNV	-0.24529999	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	360	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	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	200	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	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	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.1	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	2	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	170218,110600,-7408.8682,-11253.7930,23,1.4,23,53.7,0.9,340.6,7,5.6	SPEED_LIMITS	0.092,0.213
_CALLS	2	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.37	MHEAD_RNG_PITCHd_Wd	216.4,9219,-14.8,-9.167,-23.33,2336
_SM_ANGLEo	-62.2	D_GRID	709
GPS2	170218,111935,-7408.7910,-11253.9082,3,0.8,3,53.7,0.3,348.1,11,8.8

FINISH1	679.5,1.027645,-7	_24V_AH	12.81,79.532
FINISH2	678.4	_10V_AH	12.46,0.000
RAFOS_CLK	272	FG_AHR_24Vo	0.000
RAFOS	0,1518868860,12.032778,12.016666,105,100,58,56,56,56,625,636,222,154,166,210	FG_AHR_10Vo	0.000
RAFOS_FIX	-7408.796387,-11255.022461,170218,121200,3,118,0.17	MEM	279812
IRIDIUM_FIX	-7408.47,-11245.06,170218,110847	DATA_FILE_SIZE	20088,618
TT8_MAMPS	0.04494,0.125083	CAP_FILE_SIZE	86521,0
HUMID	42.08	CFSIZE	1024409600,998670336
INTERNAL_PRESSURE	7.66789	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.80	SOUNDSPEED	1450.5
XPDR_PINGS	0	CURRENT	0.267,92.94,1
ALTIM_TOP_PING	687.0,14.4	GPS	170218,121600,-7408.796,-11255.022,0,4118.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	477	95.85	nil	0	0	0.00
Roll_motor	47	227	138.18	nil	0	0	0.00
VBD_pump_during_apogee	1021	1270	16620.26	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	7505	3	320.14
Iridium_during_xfer	610	179	1400.69	nil	0	0	0.00
Transponder_ping	27	420	147.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.72
TT8	0	0	0.00
LPSleep	5217	2	150.17
TT8_Active	1030	12	157.48
TT8_Sampling	1902	31	752.35
TT8_CF8	164	45	92.53
TT8_Kalman	0	0	0.00
Analog_circuits	2201	10	279.78
GPS_charging	0	0	0.00
Compass	889	7	83.01
RAFOS	720	1	13.46
Transponder	195	30	73.02

		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
7.0	11.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
13.5	15.20	9000.00	0.0	0.00	0.00	15.20	0.0	0.55	1.00
19.8	21.40	9000.00	0.0	0.76	0.97	21.40	0.0	0.98	1.00
26.2	28.10	28.00	0.0	1.02	1.00	28.10	0.0	1.05	1.00
32.2	34.40	34.40	0.0	1.05	1.00	34.40	0.0	1.05	1.00
38.7	41.10	41.10	0.0	1.05	1.00	41.10	0.0	1.03	1.00
45.9	48.90	48.80	0.0	1.06	1.00	48.90	0.0	1.08	1.00
52.2	56.90	56.70	0.0	1.16	1.00	56.90	0.0	1.27	1.00
58.7	62.00	62.50	0.0	1.03	0.98	62.00	0.0	0.78	1.00
78.6	83.20	83.00	0.0	1.01	1.00	83.20	0.0	1.07	1.00
684.7	63.40	9000.00	0.0	-0.01	0.18	63.40	748.1	-0.03	1.00
691.1	57.30	9000.00	0.0	-0.04	0.95	57.30	748.4	-0.95	1.00
697.3	33.80	9000.00	0.0	-2.33	0.89	33.80	731.1	-3.79	1.00
703.9	20.90	9000.00	0.0	-2.84	0.96	20.90	724.8	-1.95	1.00
710.3	11.80	9000.00	0.0	-1.70	0.99	11.80	722.1	-1.42	1.00
711.9	11.40	9000.00	0.0	-1.26	0.98	0.00	0.0	0.00	0.00

705.8	27.20	9000.00	0.0	-2.81	0.95	27.20	0.0	-2.59	1.00
699.5	30.90	9000.00	0.0	-1.57	0.88	30.90	0.0	-0.59	1.00
693.3	19.50	9000.00	0.0	0.61	0.44	19.50	673.8	1.84	1.00
687.0	15.70	14.40	672.6	1.21	0.92	15.70	671.3	0.60	1.00
680.6	16.40	9000.00	0.0	0.25	0.59	16.40	0.0	-0.11	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.85	-146.0	198	2510	1485	1466	0.0	0.0	0	114	0.00	0.00	-99.38	0.002	16390	0.000	0.000	197	2510	3311	3384	3238	0	0	0	0	0	0	14.77	13.11	14.80
116	-0.85	-146.0	198	2510	3385	3238	2.1	-2.9	10	135	12.43	2.58	0.00	0.000	2596	0.477	0.103	2418	1076	3313	3386	3240	0	0	0	0	0	0	14.20	14.50	14.57
339	-0.85	-146.0	2419	1076	3389	3240	40.7	-14.0	54	345	0.00	2.72	0.00	0.000	1030	0.000	0.125	2409	2510	3314	3388	3240	0	0	0	0	0	0	14.68	14.49	14.71
649	-0.85	-146.0	2409	2510	3388	3241	81.3	-13.5	86	655	0.00	2.45	0.00	0.000	260	0.000	0.155	2400	3778	3314	3388	3240	0	0	0	0	0	0	14.97	14.52	15.00
699	-0.85	-146.0	2400	3778	3389	3240	88.5	-14.6	96	705	0.00	2.38	0.00	0.000	1030	0.000	0.096	2400	2484	3316	3393	3240	0	0	0	0	0	0	14.70	14.62	14.74
1009	-0.85	-146.0	2400	2485	3389	3240	128.6	-13.2	128	1010	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2484	3314	3388	3240	0	0	0	0	0	0	15.01	15.04	15.04
1309	-0.85	-146.0	2400	2484	3389	3240	168.4	-13.1	158	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	2401	2484	3314	3388	3240	0	0	0	0	0	0	15.04	15.07	15.06
1609	-0.85	-146.0	2401	2484	3389	3239	206.5	-12.7	188	1615	0.00	2.50	0.00	0.000	260	0.000	0.158	2392	3747	3314	3388	3240	0	0	0	0	0	0	15.04	14.53	15.07
1700	-0.85	-146.0	2392	3749	3389	3240	219.0	-13.8	206	1706	0.10	2.30	0.00	0.000	3078	0.269	0.096	2425	2495	3314	3388	3240	0	0	0	0	0	0	14.42	14.67	14.73
2010	-0.85	-146.0	2425	2496	3388	3241	251.3	-9.8	238	2011	0.00	0.00	0.00	0.000	6	0.000	0.000	2425	2495	3316	3388	3244	0	0	0	0	0	0	15.07	15.10	15.09
2310	-0.85	-146.0	2425	2496	3389	3241	281.0	-10.0	268	2316	0.00	2.60	0.00	0.000	516	0.000	0.112	2425	1079	3314	3388	3240	0	0	0	0	0	0	15.03	14.64	15.04
2355	-0.85	-146.0	2425	1079	3389	3240	285.5	-10.1	277	2363	0.00	2.70	0.00	0.000	1030	0.000	0.127	2418	2511	3314	3388	3240	0	0	0	0	0	0	14.79	14.59	14.85
2660	-0.85	-146.0	2418	2512	3388	3241	318.6	-11.3	300	2666	0.00	2.42	0.00	0.000	260	0.000	0.157	2409	3749	3314	3388	3240	0	0	0	0	0	0	15.07	14.54	15.10
2720	-0.85	-146.0	2410	3748	3389	3240	325.9	-12.3	312	2726	0.00	2.30	0.00	0.000	1030	0.000	0.099	2409	2490	3313	3387	3240	0	0	0	0	0	0	14.75	14.67	14.80
3041	-0.85	-146.0	2410	2490	3389	3240	362.8	-11.2	331	3042	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2490	3314	3388	3240	0	0	0	0	0	0	15.03	15.06	15.05
3342	-0.85	-146.0	2410	2490	3388	3241	395.8	-10.6	346	3347	0.00	2.45	0.00	0.000	260	0.000	0.157	2400	3753	3313	3387	3240	0	0	0	0	0	0	15.04	14.58	15.07
3381	-0.85	-146.0	2401	3753	3389	3240	400.4	-11.4	354	3387	0.00	2.30	0.00	0.000	1030	0.000	0.099	2401	2497	3314	3388	3240	0	0	0	0	0	0	14.78	14.68	14.81
3702	-0.85	-146.0	2401	2498	3388	3241	435.9	-11.0	373	3708	0.00	2.42	0.00	0.000	260	0.000	0.158	2392	3757	3313	3387	3240	0	0	0	0	0	0	15.04	14.52	15.07
3732	-0.85	-146.0	2393	3757	3389	3240	439.5	-11.8	379	3738	0.10	2.33	0.00	0.000	3078	0.268	0.099	2418	2490	3314	3388	3240	0	0	0	0	0	0	14.42	14.69	14.60
4042	-0.85	-146.0	2418	2490	3388	3240	470.8	-9.7	396	4043	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2490	3313	3388	3239	0	0	0	0	0	0	15.11	15.14	15.14
4343	-0.85	-146.0	2418	2491	3389	3241	499.6	-9.7	411	4344	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2490	3314	3388	3240	0	0	0	0	0	0	15.06	15.09	15.10
4662	-0.85	-146.0	2418	2491	3389	3241	531.1	-9.8	422	4671	0.00	2.45	0.00	0.000	260	0.000	0.156	2410	3753	3314	3388	3240	0	0	0	0	0	0	15.12	14.52	15.15
4715	-0.85	-146.0	2411	3754	3389	3241	536.7	-10.6	432	4721	0.00	2.30	0.00	0.000	1030	0.000	0.099	2410	2498	3314	3389	3240	0	0	0	0	0	0	14.77	14.69	14.82
5087	-0.85	-146.0	2410	2499	3390	3241	573.9	-9.9	446	5088	0.00	0.00	0.00	0.000	6	0.000	0.000	2408	2498	3314	3389	3240	0	0	0	0	0	0	15.06	15.09	15.08
5447	-0.85	-146.0	2410	2498	3391	3240	609.7	-9.9	458	5447	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2498	3314	3389	3240	0	0	0	0	0	0	15.06	15.09	15.09
5807	-0.85	-146.0	2410	2499	3391	3241	644.2	-9.4	470	5808	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2498	3315	3390	3240	0	0	0	0	0	0	15.07	15.09	15.09
6166	-0.85	-146.0	2410	2499	3391	3241	681.5	-10.5	482	6171	0.00	2.42	0.00	0.000	260	0.000	0.157	2401	3754	3315	3390	3240	0	0	0	0	0	0	15.14	14.58	15.16
6235	-0.85	-146.0	2401	3754	3390	3240	689.0	-10.9	496	6241	0.00	2.30	0.00	0.000	1030	0.000	0.097	2401	2494	3315	3390	3240	0	0	0	0	0	0	14.78	14.70	14.83
6436	end dive: TARGET_DEPTH_EXCEEDED
state	6436	begin apogee
6440	-0.23	0.0	2402	2182	3400	3240	710.3	-10.8	506	6995	0.85	0.08	550.08	0.959	10246	0.243	0.227	2626	2209	2716	2774	2658	0	0	0	0	0	0	14.47	13.77	13.39
6996	end apogee: CONTROL_FINISHED_OK
state	6996	begin climb
6998	0.85	146.0	2627	2209	2772	2656	717.7	0.0	524	7478	1.17	0.00	471.00	1.271	11010	0.145	0.000	2972	2209	2157	2203	2111	0	0	0	0	0	0	13.81	28.83	13.89
7479	end climb: SURFACE_OBSTACLE_DETECTED
state	7479	begin subsurface finish
7483	-0.01	-7.4	2973	2210	2199	2107	679.5	10.4	617	7490	1.02	2.90	-1.52	0.070	20996	0.199	0.139	2709	796	2765	2873	2658	0	0	0	0	0	0	13.55	12.81	13.66
7490	end subsurface finish: CONTROL_FINISHED_OK
state	7490	begin surface