Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 186 * 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 186 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 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 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 186 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 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 170218,152439,-7408.4414,-11259.5957,38,0.8,38,53.8,0.4,100.1,11,4.7 SPEED_LIMITS 0.092,0.213

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.41 MHEAD_RNG_PITCHd_Wd 197.3,6260,-14.8,-9.167,-23.33,2336

_SM_ANGLEo -62.8 D_GRID 673

GPS2 170218,153805,-7408.3457,-11259.6426,4,0.8,5,53.8,0.7,14.2,11,6.9

Post-dive calculations and measurements:

FINISH1 639.7,1.027632,-7 _24V_AH 12.33,80.307

FINISH2 638.1 _10V_AH 12.23,0.000

RAFOS_CLK 244 FG_AHR_24Vo 0.000

RAFOS_FIX -7408.461914,-11258.814453,170218,171754,0,1,0.07 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7409.58,-11255.37,170218,111340 MEM 279864

TT8_MAMPS 0.041944,0.298102 DATA_FILE_SIZE 20045,565

HUMID 42.12 CAP_FILE_SIZE 81803,0

INTERNAL_PRESSURE 7.67765 CFSIZE 1024409600,998490112

TCM_TEMP 13.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 1 SOUNDSPEED 1449.8

ALTIM_TOP_PING 650.0,17.3 CURRENT 0.265,90.00,1

ALTIM_BOTTOM_PING 673.5,20.9 GPS 170218,172954,-7408.462,-11258.814,0,1001.0,0,53.8,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 481 93.74 nil 0 0 0.00

Roll_motor 53 158 103.87 nil 0 0 0.00

VBD_pump_during_apogee 727 1878 16856.32 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 6762 3 284.31

Iridium_during_xfer 653 200 1614.25 nil 0 0 0.00

Transponder_ping 27 420 142.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.79

TT8 0 0 0.00

LPSleep 4784 2 135.18

TT8_Active 775 12 116.40

TT8_Sampling 1845 31 716.57

TT8_CF8 169 45 93.82

TT8_Kalman 0 0 0.00

Analog_circuits 1947 10 242.88

GPS_charging 0 0 0.00

Compass 814 7 74.59

RAFOS 0 0 0.00

Transponder 193 30 71.07

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

13.8 15.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.1 21.70 9000.00 0.0 0.00 0.00 21.70 0.0 1.00 1.00

26.5 28.40 28.40 0.0 1.02 1.00 28.40 0.0 1.05 1.00

33.3 35.60 35.60 0.0 1.05 1.00 35.60 0.0 1.06 1.00

39.8 43.00 42.90 0.0 1.10 1.00 43.00 0.0 1.14 1.00

46.8 49.60 49.80 0.0 1.04 1.00 49.60 0.0 0.94 1.00

60.3 63.50 63.40 0.0 1.01 1.00 63.50 0.0 1.03 1.00

66.7 71.20 70.90 0.0 1.08 1.00 71.20 0.0 1.20 1.00

86.7 91.60 91.70 0.0 1.05 1.00 91.60 0.0 1.02 1.00

642.9 51.90 9000.00 0.0 -0.05 0.71 51.90 694.8 -0.07 1.00

655.1 41.30 9000.00 0.0 -0.08 0.97 41.30 696.4 -0.87 1.00

661.2 34.50 34.90 696.1 -0.94 1.00 34.50 695.7 -1.11 1.00

667.4 28.10 28.00 695.4 -1.07 1.00 28.10 695.5 -1.03 1.00

673.5 20.70 20.90 694.4 -1.13 1.00 20.70 694.2 -1.21 1.00

674.8 18.80 18.90 693.7 -1.24 1.00 0.00 0.0 0.00 0.00

668.7 19.40 9000.00 0.0 0.01 0.00 19.40 0.0 -0.10 1.00

662.4 27.70 9000.00 0.0 -0.72 0.80 27.70 0.0 -1.32 1.00

656.2 24.10 9000.00 0.0 -0.38 0.33 24.10 632.1 0.58 1.00

650.0 16.60 17.30 632.7 0.89 0.96 16.60 633.4 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.85 -146.0 203 2510 1486 1469 0.0 0.0 0 113 0.00 0.00 -97.88 0.002 16390 0.000 0.000 203 2510 3309 3383 3236 0 0 0 0 0 0 14.76 13.66 14.78

115 -0.85 -146.0 204 2511 3384 3238 2.9 -4.7 10 135 12.50 2.65 0.00 0.000 2596 0.482 0.105 2418 1077 3311 3385 3238 0 0 0 0 0 0 14.19 14.50 14.45

174 -0.85 -146.0 2418 1077 3387 3238 17.0 -16.4 21 181 0.00 2.72 0.00 0.000 1030 0.000 0.132 2410 2501 3314 3392 3237 0 0 0 0 0 0 14.64 14.46 14.68

485 -0.85 -146.0 2410 2503 3387 3239 56.1 -12.0 53 492 0.00 2.62 0.00 0.000 516 0.000 0.112 2410 1078 3312 3387 3238 0 0 0 0 0 0 14.96 14.57 14.99

521 -0.85 -146.0 2411 1079 3387 3239 60.9 -13.8 60 528 0.00 2.72 0.00 0.000 1030 0.000 0.127 2401 2519 3312 3386 3238 0 0 0 0 0 0 14.74 14.55 14.77

826 -0.85 -146.0 2401 2520 3387 3239 102.0 -13.8 91 832 0.00 2.42 0.00 0.000 260 0.000 0.156 2396 3756 3312 3387 3237 0 0 0 0 0 0 15.02 14.54 15.05

856 -0.85 -146.0 2393 3756 3387 3241 106.2 -14.5 97 864 0.10 2.33 0.00 0.000 3078 0.283 0.099 2417 2486 3312 3387 3238 0 0 0 0 0 0 14.41 14.66 14.59

1168 -0.85 -146.0 2417 2488 3387 3239 147.1 -12.5 129 1169 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2487 3312 3387 3238 0 0 0 0 0 0 15.04 15.07 15.07

1468 -0.85 -146.0 2417 2487 3387 3239 182.7 -11.2 159 1474 0.00 2.50 0.00 0.000 260 0.000 0.158 2409 3780 3312 3387 3238 0 0 0 0 0 0 15.07 14.58 15.09

1534 -0.85 -146.0 2410 3780 3388 3238 190.4 -12.1 172 1540 0.00 2.33 0.00 0.000 1030 0.000 0.100 2409 2487 3311 3386 3237 0 0 0 0 0 0 14.85 14.73 14.89

1838 -0.85 -146.0 2409 2488 3388 3238 227.2 -12.0 203 1845 0.00 2.58 0.00 0.000 516 0.000 0.114 2409 1079 3312 3386 3238 0 0 0 0 0 0 15.07 14.65 15.09

1895 -0.85 -146.0 2409 1079 3386 3238 234.1 -12.5 214 1902 0.00 2.70 0.00 0.000 1030 0.000 0.128 2400 2512 3312 3386 3238 0 0 0 0 0 0 14.83 14.63 14.87

2200 -0.85 -146.0 2400 2513 3387 3239 272.3 -12.5 245 2206 0.00 2.38 0.00 0.000 260 0.000 0.155 2391 3751 3312 3386 3238 0 0 0 0 0 0 15.03 14.59 15.05

2280 -0.85 -146.0 2392 3751 3387 3238 283.2 -13.8 261 2287 0.10 2.30 0.00 0.000 3078 0.275 0.099 2429 2491 3312 3386 3238 0 0 0 0 0 0 14.45 14.69 14.76

2592 -0.85 -146.0 2429 2492 3387 3239 317.5 -10.8 285 2598 0.00 2.45 0.00 0.000 260 0.000 0.158 2422 3760 3312 3387 3238 0 0 0 0 0 0 15.04 14.60 15.07

2682 -0.85 -146.0 2423 3760 3387 3238 327.7 -11.3 303 2688 0.00 2.33 0.00 0.000 1030 0.000 0.100 2423 2489 3311 3386 3237 0 0 0 0 0 0 14.78 14.71 14.83

2993 -0.85 -146.0 2423 2491 3387 3239 360.1 -10.7 320 2994 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2490 3312 3386 3238 0 0 0 0 0 0 15.10 15.13 15.12

3294 -0.85 -146.0 2423 2490 3387 3238 391.0 -9.9 335 3299 0.00 2.58 0.00 0.000 516 0.000 0.115 2423 1085 3312 3386 3238 0 0 0 0 0 0 15.07 14.66 15.09

3318 -0.85 -146.0 2423 1086 3387 3239 393.7 -10.7 340 3324 0.00 2.70 0.00 0.000 1030 0.000 0.127 2415 2520 3312 3386 3238 0 0 0 0 0 0 14.83 14.63 14.88

3634 -0.85 -146.0 2415 2521 3387 3239 427.0 -10.9 358 3634 0.00 0.00 0.00 0.000 6 0.000 0.000 2415 2520 3311 3386 3237 0 0 0 0 0 0 15.11 15.14 15.14

3935 -0.85 -146.0 2415 2520 3387 3238 459.1 -10.8 373 3940 0.00 2.38 0.00 0.000 260 0.000 0.157 2406 3758 3312 3387 3238 0 0 0 0 0 0 15.11 14.62 15.14

3989 -0.85 -146.0 2406 3764 3387 3239 465.7 -12.1 384 3996 0.00 2.33 0.00 0.000 1030 0.000 0.101 2406 2490 3312 3386 3238 0 0 0 0 0 0 14.79 14.72 14.83

4295 -0.85 -146.0 2407 2490 3388 3238 498.0 -9.9 400 4296 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2490 3312 3387 3238 0 0 0 0 0 0 15.11 15.14 15.14

4605 -0.85 -146.0 2407 2490 3388 3238 528.1 -9.7 411 4606 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 2490 3312 3387 3237 0 0 0 0 0 0 15.07 15.10 15.09

4966 -0.85 -146.0 2406 2490 3387 3239 565.6 -10.4 423 4971 0.00 2.45 0.00 0.000 260 0.000 0.157 2398 3760 3312 3387 3238 0 0 0 0 0 0 15.08 14.61 15.11

5011 -0.85 -146.0 2396 3760 3388 3238 570.7 -11.4 432 5016 0.00 2.33 0.00 0.000 1030 0.000 0.099 2398 2488 3312 3387 3238 0 0 0 0 0 0 14.79 14.71 14.84

5386 -0.85 -146.0 2398 2489 3388 3239 611.2 -10.7 447 5387 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2488 3312 3387 3238 0 0 0 0 0 0 15.07 15.11 15.10

5747 -0.85 -146.0 2399 2488 3389 3238 649.0 -10.2 459 5748 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2487 3313 3388 3239 0 0 0 0 0 0 15.09 15.10 15.11

5985 end dive: TARGET_DEPTH_EXCEEDED

state 5985 begin apogee

5990 -0.23 0.0 2399 2190 3389 3239 673.5 -10.2 467 6279 0.85 0.00 280.98 1.878 10246 0.243 0.000 2622 2189 2713 2767 2659 0 0 0 0 1 0 14.50 13.45 12.33

6280 end apogee: CONTROL_FINISHED_OK

state 6280 begin climb

6281 0.85 146.0 2623 2188 2770 2659 680.2 0.0 476 6737 1.23 0.00 446.95 1.355 10754 0.154 0.000 2966 2189 2134 2180 2088 0 0 0 0 0 0 13.45 28.83 13.52

6739 end climb: SURFACE_OBSTACLE_DETECTED

state 6739 begin subsurface finish

6742 -0.01 -6.7 2967 2190 2176 2086 639.7 11.5 563 6753 1.00 2.88 -1.62 0.067 20996 0.199 0.143 2709 791 2763 2871 2656 0 0 0 0 0 0 13.57 12.80 13.66

6753 end subsurface finish: CONTROL_FINISHED_OK

state 6753 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	186	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	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	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	170218,152439,-7408.4414,-11259.5957,38,0.8,38,53.8,0.4,100.1,11,4.7	SPEED_LIMITS	0.092,0.213
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.41	MHEAD_RNG_PITCHd_Wd	197.3,6260,-14.8,-9.167,-23.33,2336
_SM_ANGLEo	-62.8	D_GRID	673
GPS2	170218,153805,-7408.3457,-11259.6426,4,0.8,5,53.8,0.7,14.2,11,6.9

FINISH1	639.7,1.027632,-7	_24V_AH	12.33,80.307
FINISH2	638.1	_10V_AH	12.23,0.000
RAFOS_CLK	244	FG_AHR_24Vo	0.000
RAFOS_FIX	-7408.461914,-11258.814453,170218,171754,0,1,0.07	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7409.58,-11255.37,170218,111340	MEM	279864
TT8_MAMPS	0.041944,0.298102	DATA_FILE_SIZE	20045,565
HUMID	42.12	CAP_FILE_SIZE	81803,0
INTERNAL_PRESSURE	7.67765	CFSIZE	1024409600,998490112
TCM_TEMP	13.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	1	SOUNDSPEED	1449.8
ALTIM_TOP_PING	650.0,17.3	CURRENT	0.265,90.00,1
ALTIM_BOTTOM_PING	673.5,20.9	GPS	170218,172954,-7408.462,-11258.814,0,1001.0,0,53.8,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	481	93.74	nil	0	0	0.00
Roll_motor	53	158	103.87	nil	0	0	0.00
VBD_pump_during_apogee	727	1878	16856.32	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	6762	3	284.31
Iridium_during_xfer	653	200	1614.25	nil	0	0	0.00
Transponder_ping	27	420	142.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.79
TT8	0	0	0.00
LPSleep	4784	2	135.18
TT8_Active	775	12	116.40
TT8_Sampling	1845	31	716.57
TT8_CF8	169	45	93.82
TT8_Kalman	0	0	0.00
Analog_circuits	1947	10	242.88
GPS_charging	0	0	0.00
Compass	814	7	74.59
RAFOS	0	0	0.00
Transponder	193	30	71.07

		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
13.8	15.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.1	21.70	9000.00	0.0	0.00	0.00	21.70	0.0	1.00	1.00
26.5	28.40	28.40	0.0	1.02	1.00	28.40	0.0	1.05	1.00
33.3	35.60	35.60	0.0	1.05	1.00	35.60	0.0	1.06	1.00
39.8	43.00	42.90	0.0	1.10	1.00	43.00	0.0	1.14	1.00
46.8	49.60	49.80	0.0	1.04	1.00	49.60	0.0	0.94	1.00
60.3	63.50	63.40	0.0	1.01	1.00	63.50	0.0	1.03	1.00
66.7	71.20	70.90	0.0	1.08	1.00	71.20	0.0	1.20	1.00
86.7	91.60	91.70	0.0	1.05	1.00	91.60	0.0	1.02	1.00
642.9	51.90	9000.00	0.0	-0.05	0.71	51.90	694.8	-0.07	1.00
655.1	41.30	9000.00	0.0	-0.08	0.97	41.30	696.4	-0.87	1.00
661.2	34.50	34.90	696.1	-0.94	1.00	34.50	695.7	-1.11	1.00
667.4	28.10	28.00	695.4	-1.07	1.00	28.10	695.5	-1.03	1.00
673.5	20.70	20.90	694.4	-1.13	1.00	20.70	694.2	-1.21	1.00
674.8	18.80	18.90	693.7	-1.24	1.00	0.00	0.0	0.00	0.00

668.7	19.40	9000.00	0.0	0.01	0.00	19.40	0.0	-0.10	1.00
662.4	27.70	9000.00	0.0	-0.72	0.80	27.70	0.0	-1.32	1.00
656.2	24.10	9000.00	0.0	-0.38	0.33	24.10	632.1	0.58	1.00
650.0	16.60	17.30	632.7	0.89	0.96	16.60	633.4	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.85	-146.0	203	2510	1486	1469	0.0	0.0	0	113	0.00	0.00	-97.88	0.002	16390	0.000	0.000	203	2510	3309	3383	3236	0	0	0	0	0	0	14.76	13.66	14.78
115	-0.85	-146.0	204	2511	3384	3238	2.9	-4.7	10	135	12.50	2.65	0.00	0.000	2596	0.482	0.105	2418	1077	3311	3385	3238	0	0	0	0	0	0	14.19	14.50	14.45
174	-0.85	-146.0	2418	1077	3387	3238	17.0	-16.4	21	181	0.00	2.72	0.00	0.000	1030	0.000	0.132	2410	2501	3314	3392	3237	0	0	0	0	0	0	14.64	14.46	14.68
485	-0.85	-146.0	2410	2503	3387	3239	56.1	-12.0	53	492	0.00	2.62	0.00	0.000	516	0.000	0.112	2410	1078	3312	3387	3238	0	0	0	0	0	0	14.96	14.57	14.99
521	-0.85	-146.0	2411	1079	3387	3239	60.9	-13.8	60	528	0.00	2.72	0.00	0.000	1030	0.000	0.127	2401	2519	3312	3386	3238	0	0	0	0	0	0	14.74	14.55	14.77
826	-0.85	-146.0	2401	2520	3387	3239	102.0	-13.8	91	832	0.00	2.42	0.00	0.000	260	0.000	0.156	2396	3756	3312	3387	3237	0	0	0	0	0	0	15.02	14.54	15.05
856	-0.85	-146.0	2393	3756	3387	3241	106.2	-14.5	97	864	0.10	2.33	0.00	0.000	3078	0.283	0.099	2417	2486	3312	3387	3238	0	0	0	0	0	0	14.41	14.66	14.59
1168	-0.85	-146.0	2417	2488	3387	3239	147.1	-12.5	129	1169	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2487	3312	3387	3238	0	0	0	0	0	0	15.04	15.07	15.07
1468	-0.85	-146.0	2417	2487	3387	3239	182.7	-11.2	159	1474	0.00	2.50	0.00	0.000	260	0.000	0.158	2409	3780	3312	3387	3238	0	0	0	0	0	0	15.07	14.58	15.09
1534	-0.85	-146.0	2410	3780	3388	3238	190.4	-12.1	172	1540	0.00	2.33	0.00	0.000	1030	0.000	0.100	2409	2487	3311	3386	3237	0	0	0	0	0	0	14.85	14.73	14.89
1838	-0.85	-146.0	2409	2488	3388	3238	227.2	-12.0	203	1845	0.00	2.58	0.00	0.000	516	0.000	0.114	2409	1079	3312	3386	3238	0	0	0	0	0	0	15.07	14.65	15.09
1895	-0.85	-146.0	2409	1079	3386	3238	234.1	-12.5	214	1902	0.00	2.70	0.00	0.000	1030	0.000	0.128	2400	2512	3312	3386	3238	0	0	0	0	0	0	14.83	14.63	14.87
2200	-0.85	-146.0	2400	2513	3387	3239	272.3	-12.5	245	2206	0.00	2.38	0.00	0.000	260	0.000	0.155	2391	3751	3312	3386	3238	0	0	0	0	0	0	15.03	14.59	15.05
2280	-0.85	-146.0	2392	3751	3387	3238	283.2	-13.8	261	2287	0.10	2.30	0.00	0.000	3078	0.275	0.099	2429	2491	3312	3386	3238	0	0	0	0	0	0	14.45	14.69	14.76
2592	-0.85	-146.0	2429	2492	3387	3239	317.5	-10.8	285	2598	0.00	2.45	0.00	0.000	260	0.000	0.158	2422	3760	3312	3387	3238	0	0	0	0	0	0	15.04	14.60	15.07
2682	-0.85	-146.0	2423	3760	3387	3238	327.7	-11.3	303	2688	0.00	2.33	0.00	0.000	1030	0.000	0.100	2423	2489	3311	3386	3237	0	0	0	0	0	0	14.78	14.71	14.83
2993	-0.85	-146.0	2423	2491	3387	3239	360.1	-10.7	320	2994	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2490	3312	3386	3238	0	0	0	0	0	0	15.10	15.13	15.12
3294	-0.85	-146.0	2423	2490	3387	3238	391.0	-9.9	335	3299	0.00	2.58	0.00	0.000	516	0.000	0.115	2423	1085	3312	3386	3238	0	0	0	0	0	0	15.07	14.66	15.09
3318	-0.85	-146.0	2423	1086	3387	3239	393.7	-10.7	340	3324	0.00	2.70	0.00	0.000	1030	0.000	0.127	2415	2520	3312	3386	3238	0	0	0	0	0	0	14.83	14.63	14.88
3634	-0.85	-146.0	2415	2521	3387	3239	427.0	-10.9	358	3634	0.00	0.00	0.00	0.000	6	0.000	0.000	2415	2520	3311	3386	3237	0	0	0	0	0	0	15.11	15.14	15.14
3935	-0.85	-146.0	2415	2520	3387	3238	459.1	-10.8	373	3940	0.00	2.38	0.00	0.000	260	0.000	0.157	2406	3758	3312	3387	3238	0	0	0	0	0	0	15.11	14.62	15.14
3989	-0.85	-146.0	2406	3764	3387	3239	465.7	-12.1	384	3996	0.00	2.33	0.00	0.000	1030	0.000	0.101	2406	2490	3312	3386	3238	0	0	0	0	0	0	14.79	14.72	14.83
4295	-0.85	-146.0	2407	2490	3388	3238	498.0	-9.9	400	4296	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2490	3312	3387	3238	0	0	0	0	0	0	15.11	15.14	15.14
4605	-0.85	-146.0	2407	2490	3388	3238	528.1	-9.7	411	4606	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	2490	3312	3387	3237	0	0	0	0	0	0	15.07	15.10	15.09
4966	-0.85	-146.0	2406	2490	3387	3239	565.6	-10.4	423	4971	0.00	2.45	0.00	0.000	260	0.000	0.157	2398	3760	3312	3387	3238	0	0	0	0	0	0	15.08	14.61	15.11
5011	-0.85	-146.0	2396	3760	3388	3238	570.7	-11.4	432	5016	0.00	2.33	0.00	0.000	1030	0.000	0.099	2398	2488	3312	3387	3238	0	0	0	0	0	0	14.79	14.71	14.84
5386	-0.85	-146.0	2398	2489	3388	3239	611.2	-10.7	447	5387	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2488	3312	3387	3238	0	0	0	0	0	0	15.07	15.11	15.10
5747	-0.85	-146.0	2399	2488	3389	3238	649.0	-10.2	459	5748	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2487	3313	3388	3239	0	0	0	0	0	0	15.09	15.10	15.11
5985	end dive: TARGET_DEPTH_EXCEEDED
state	5985	begin apogee
5990	-0.23	0.0	2399	2190	3389	3239	673.5	-10.2	467	6279	0.85	0.00	280.98	1.878	10246	0.243	0.000	2622	2189	2713	2767	2659	0	0	0	0	1	0	14.50	13.45	12.33
6280	end apogee: CONTROL_FINISHED_OK
state	6280	begin climb
6281	0.85	146.0	2623	2188	2770	2659	680.2	0.0	476	6737	1.23	0.00	446.95	1.355	10754	0.154	0.000	2966	2189	2134	2180	2088	0	0	0	0	0	0	13.45	28.83	13.52
6739	end climb: SURFACE_OBSTACLE_DETECTED
state	6739	begin subsurface finish
6742	-0.01	-6.7	2967	2190	2176	2086	639.7	11.5	563	6753	1.00	2.88	-1.62	0.067	20996	0.199	0.143	2709	791	2763	2871	2656	0	0	0	0	0	0	13.57	12.80	13.66
6753	end subsurface finish: CONTROL_FINISHED_OK
state	6753	begin surface