Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 187 * 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 187 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 23 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 187 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 23 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 170218,172954,-7408.4619,-11258.8145,0,1001.0,0,53.8,0.0,0.0,0,0.0 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 636.78 MHEAD_RNG_PITCHd_Wd 215.3,6690,-14.8,-9.167,-23.33,2336

_SM_ANGLEo 1.9 D_GRID 673

GPS2 170218,172954,-7408.4619,-11258.8145,0,1001.0,0,53.8,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 0.26,-1.524,-1.861,2,2,0 ALTIM_TOP_PING 7.7,8.0

FINISH 0.3,1.027302 _24V_AH 12.98,80.726

SM_CCo 7090,115.62,0.226,0,0,1491,300.00 _10V_AH 12.36,0.000

SM_GC 0.35,8.23,0.62,115.62,0.071,0.132,0.226,204,2503,1491,-7.75,-0.37,300.00,0,0,0,0,0,0,14.85,14.73,14.49 FG_AHR_24Vo 0.000

RAFOS_CLK 256 FG_AHR_10Vo 0.000

RAFOS 0,1518890468,18.032778,18.018888,151,72,56,55,52,51,596,203,220,157,189,125 MEM 279916

RAFOS_FIX -7408.656738,-11304.104492,170218,181824,3,143,1.01 DATA_FILE_SIZE 20083,630

IRIDIUM_FIX -7409.58,-11255.37,170218,111340 CAP_FILE_SIZE 82158,0

TT8_MAMPS 0.041944,0.296604 CFSIZE 1024409600,998375424

HUMID 46.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.48233 SOUNDSPEED 1450.4

TCM_TEMP 13.20 CURRENT 0.286,279.44,1

XPDR_PINGS 1 GPS 170218,193400,-7408.285,-11305.551,20,0.9,20,53.8,0.2,44.0,8,3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 226 33.07 nil 0 0 0.00

Roll_motor 67 149 131.76 nil 0 0 0.00

VBD_pump_during_apogee 1045 1289 17499.94 nil 0 0 0.00

VBD_pump_during_surface 115 226 339.84 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 7084 3 313.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 144.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4775 2 136.36

TT8_Active 1116 12 169.34

TT8_Sampling 1313 31 515.13

TT8_CF8 80 45 44.96

TT8_Kalman 0 0 0.00

Analog_circuits 1674 10 211.07

GPS_charging 0 0 0.00

Compass 905 7 83.78

RAFOS 720 1 13.35

Transponder 185 30 68.77

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

654.8 59.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

668.9 31.20 9000.00 0.0 0.00 0.00 31.20 700.1 -2.01 1.00

674.6 13.30 9000.00 0.0 -2.27 0.99 13.30 0.0 -3.14 1.00

668.3 15.20 9000.00 0.0 -1.47 0.27 15.20 0.0 -0.30 1.00

662.2 18.30 9000.00 0.0 -0.40 0.98 18.30 0.0 -0.51 1.00

655.5 13.90 9000.00 0.0 0.11 0.10 13.90 641.6 0.66 1.00

649.0 23.90 9000.00 0.0 -0.42 0.30 23.90 0.0 -1.54 1.00

115.4 120.10 9000.00 0.0 -0.19 0.99 120.10 0.0 -0.18 1.00

102.7 107.30 9000.00 0.0 -0.17 0.98 107.30 -4.6 1.01 1.00

96.7 104.00 103.20 -6.5 0.88 0.98 104.00 -7.3 0.55 1.00

78.2 82.30 82.70 -4.5 1.06 0.99 82.30 -4.1 1.17 1.00

71.2 74.30 74.20 -3.0 1.17 1.00 74.30 -3.1 1.14 1.00

65.2 69.10 68.70 -3.5 1.02 0.99 69.10 -3.9 0.87 1.00

58.8 61.70 62.00 -3.2 1.01 0.99 61.70 -2.9 1.16 1.00

52.2 54.30 54.30 -2.1 1.14 1.00 54.30 -2.1 1.12 1.00

46.0 47.80 47.70 -1.7 1.09 1.00 47.80 -1.8 1.05 1.00

39.6 41.40 41.30 -1.7 1.03 1.00 41.40 -1.8 1.00 1.00

33.5 34.90 35.00 -1.5 1.03 1.00 34.90 -1.4 1.07 1.00

26.9 27.90 27.90 -1.0 1.06 1.00 27.90 -1.0 1.06 1.00

20.1 21.10 21.00 -0.9 1.02 1.00 21.10 -1.0 1.00 1.00

13.9 14.50 14.60 -0.7 1.03 1.00 14.50 -0.6 1.06 1.00

7.7 8.10 8.00 -0.3 1.05 1.00 8.10 -0.4 1.03 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 2710 2511 2866 2658 0.0 0.0 0 12 0.00 0.00 -1.42 0.066 16390 0.000 0.000 2709 2511 3334 3455 3214 0 0 0 0 0 0 14.27 12.98 14.28

13 -0.85 -146.0 2711 2511 3453 3220 0.0 0.0 0 20 0.90 2.45 0.00 0.000 4356 0.113 0.150 2429 3756 3336 3448 3225 0 0 0 0 0 0 14.03 13.99 14.10

244 -0.85 -146.0 2430 3756 3438 3235 655.2 -9.1 46 250 0.00 2.35 0.00 0.000 1030 0.000 0.099 2429 2495 3336 3438 3234 0 0 0 0 0 0 14.45 14.38 14.49

462 end dive: TARGET_DEPTH_EXCEEDED

state 462 begin apogee

466 -0.23 0.0 2430 2190 3439 3235 674.1 -8.6 55 1057 0.73 0.00 587.33 1.289 10246 0.226 0.000 2624 2189 2717 2777 2657 0 0 0 0 0 0 14.42 13.66 13.07

1058 end apogee: CONTROL_FINISHED_OK

state 1058 begin climb

1060 0.85 146.0 2624 2189 2775 2654 684.5 0.0 74 1534 1.20 2.83 458.60 1.260 10756 0.141 0.124 2983 795 2115 2156 2075 0 0 0 0 0 0 13.62 13.60 13.11

1568 0.85 146.0 2983 795 2151 2070 635.3 12.4 171 1575 0.00 2.78 0.00 0.000 1030 0.000 0.111 2983 2208 2109 2150 2069 0 0 0 0 0 0 13.91 13.79 13.94

1954 0.85 146.0 2984 2208 2148 2061 586.7 12.5 188 1955 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2208 2104 2147 2061 0 0 0 0 0 0 14.74 14.77 14.77

2315 0.85 146.0 2983 2209 2147 2060 540.6 12.6 200 2316 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2208 2102 2146 2059 0 0 0 0 0 0 14.94 14.97 14.96

2684 0.85 146.0 2984 2208 2146 2059 493.7 12.6 213 2690 0.00 2.62 0.00 0.000 516 0.000 0.125 2994 786 2101 2144 2058 0 0 0 0 0 0 15.03 14.69 15.06

2714 0.85 146.0 2994 786 2145 2058 489.8 12.5 219 2720 0.00 2.62 0.00 0.000 1030 0.000 0.112 2994 2202 2101 2145 2058 0 0 0 0 0 0 14.79 14.72 14.84

3024 0.85 146.0 2994 2203 2146 2058 450.6 12.3 236 3030 0.00 2.62 0.00 0.000 516 0.000 0.126 3004 782 2101 2145 2058 0 0 0 0 0 0 15.07 14.73 15.09

3054 0.85 146.0 3005 782 2146 2057 446.9 12.2 242 3060 0.00 2.65 0.00 0.000 1030 0.000 0.114 3004 2234 2101 2145 2058 0 0 0 0 0 0 14.89 14.73 14.93

3364 0.85 146.0 3004 2234 2146 2057 406.7 13.1 259 3365 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2234 2101 2145 2057 0 0 0 0 0 0 15.09 15.12 15.11

3665 0.85 146.0 3004 2235 2145 2058 367.5 13.1 274 3670 0.00 2.67 0.00 0.000 516 0.000 0.126 3015 785 2101 2145 2057 0 0 0 0 0 0 15.11 14.75 15.13

3714 0.85 146.0 3016 785 2145 2057 360.8 13.6 284 3724 0.10 2.62 0.00 0.000 5126 0.215 0.114 2973 2201 2100 2144 2057 0 0 0 0 0 0 14.68 14.74 14.92

4029 0.85 146.0 2973 2201 2145 2056 326.7 10.6 301 4035 0.00 2.67 0.00 0.000 260 0.000 0.146 2973 3615 2100 2144 2056 0 0 0 0 0 0 15.08 14.73 15.11

4064 0.85 146.0 2973 3615 2145 2057 322.5 12.2 308 4071 0.00 2.53 0.00 0.000 1030 0.000 0.100 2982 2202 2100 2144 2056 0 0 0 0 0 0 14.94 14.81 14.97

4369 0.85 146.0 2983 2199 2145 2056 288.1 10.9 329 4370 0.00 0.00 0.00 0.000 6 0.000 0.000 2982 2199 2098 2140 2057 0 0 0 0 0 0 15.12 15.15 15.14

4669 0.85 146.0 2983 2199 2145 2055 255.2 11.1 359 4675 0.00 2.70 0.00 0.000 260 0.000 0.146 2982 3620 2099 2144 2055 0 0 0 0 0 0 15.12 14.73 15.15

4704 0.85 146.0 2982 3621 2145 2056 250.8 12.6 366 4711 0.00 2.58 0.00 0.000 1030 0.000 0.102 2993 2188 2100 2144 2056 0 0 0 0 0 0 14.95 14.79 14.97

5009 0.85 146.0 2993 2187 2144 2056 216.1 11.0 397 5016 0.00 2.72 0.00 0.000 260 0.000 0.147 2993 3614 2099 2144 2055 0 0 0 0 0 0 15.12 14.72 15.15

5055 0.85 146.0 2993 3614 2145 2057 210.7 11.9 406 5062 0.00 2.60 0.00 0.000 1030 0.000 0.101 3004 2194 2099 2144 2055 0 0 0 0 0 0 14.85 14.76 14.97

5360 0.85 146.0 3004 2193 2145 2055 176.8 11.5 437 5367 0.00 2.62 0.00 0.000 516 0.000 0.129 3014 775 2099 2143 2055 0 0 0 0 0 0 15.12 14.73 15.14

5436 0.85 146.0 3014 776 2145 2056 167.8 11.9 452 5444 0.10 2.65 0.00 0.000 5126 0.215 0.116 2972 2201 2099 2143 2055 0 0 0 0 0 0 14.65 14.71 14.90

5741 0.85 146.0 2972 2201 2144 2053 137.1 9.8 483 5742 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2201 2097 2143 2052 0 0 0 0 0 0 15.11 15.14 15.14

6042 0.85 146.0 2972 2202 2144 2054 108.9 9.3 513 6048 0.00 2.70 0.00 0.000 260 0.000 0.146 2971 3621 2098 2143 2053 0 0 0 0 0 0 15.07 14.71 15.10

6103 0.85 146.0 2972 3622 2144 2054 102.7 10.3 525 6109 0.00 2.58 0.00 0.000 1030 0.000 0.103 2981 2193 2098 2143 2053 0 0 0 0 0 0 14.92 14.78 14.96

6414 0.85 146.0 2981 2191 2144 2053 71.2 9.7 557 6420 0.00 2.62 0.00 0.000 516 0.000 0.130 2992 780 2097 2143 2052 0 0 0 0 0 0 15.07 14.71 15.10

6439 0.85 146.0 2992 779 2144 2052 68.6 10.2 562 6446 0.00 2.62 0.00 0.000 1030 0.000 0.116 2992 2213 2097 2143 2052 0 0 0 0 0 0 14.89 14.71 14.95

6745 0.85 146.0 2992 2213 2144 2050 39.6 9.0 593 6751 0.00 2.67 0.00 0.000 260 0.000 0.149 2991 3614 2097 2143 2052 0 0 0 0 0 0 15.07 14.68 15.09

6775 0.85 146.0 2992 3614 2144 2052 36.0 11.9 599 6781 0.00 2.58 0.00 0.000 1030 0.000 0.102 3003 2189 2097 2143 2052 0 0 0 0 0 0 14.90 14.75 14.95

7065 end climb: SURFACE_DEPTH_REACHED

state 7065 begin surface coast

7075 end surface coast: CONTROL_FINISHED_OK

state 7075 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	187	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	23	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	170218,172954,-7408.4619,-11258.8145,0,1001.0,0,53.8,0.0,0.0,0,0.0	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	636.78	MHEAD_RNG_PITCHd_Wd	215.3,6690,-14.8,-9.167,-23.33,2336
_SM_ANGLEo	1.9	D_GRID	673
GPS2	170218,172954,-7408.4619,-11258.8145,0,1001.0,0,53.8,0.0,0.0,0,0.0

FREEZE	0.26,-1.524,-1.861,2,2,0	ALTIM_TOP_PING	7.7,8.0
FINISH	0.3,1.027302	_24V_AH	12.98,80.726
SM_CCo	7090,115.62,0.226,0,0,1491,300.00	_10V_AH	12.36,0.000
SM_GC	0.35,8.23,0.62,115.62,0.071,0.132,0.226,204,2503,1491,-7.75,-0.37,300.00,0,0,0,0,0,0,14.85,14.73,14.49	FG_AHR_24Vo	0.000
RAFOS_CLK	256	FG_AHR_10Vo	0.000
RAFOS	0,1518890468,18.032778,18.018888,151,72,56,55,52,51,596,203,220,157,189,125	MEM	279916
RAFOS_FIX	-7408.656738,-11304.104492,170218,181824,3,143,1.01	DATA_FILE_SIZE	20083,630
IRIDIUM_FIX	-7409.58,-11255.37,170218,111340	CAP_FILE_SIZE	82158,0
TT8_MAMPS	0.041944,0.296604	CFSIZE	1024409600,998375424
HUMID	46.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.48233	SOUNDSPEED	1450.4
TCM_TEMP	13.20	CURRENT	0.286,279.44,1
XPDR_PINGS	1	GPS	170218,193400,-7408.285,-11305.551,20,0.9,20,53.8,0.2,44.0,8,3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	226	33.07	nil	0	0	0.00
Roll_motor	67	149	131.76	nil	0	0	0.00
VBD_pump_during_apogee	1045	1289	17499.94	nil	0	0	0.00
VBD_pump_during_surface	115	226	339.84	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	7084	3	313.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	144.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4775	2	136.36
TT8_Active	1116	12	169.34
TT8_Sampling	1313	31	515.13
TT8_CF8	80	45	44.96
TT8_Kalman	0	0	0.00
Analog_circuits	1674	10	211.07
GPS_charging	0	0	0.00
Compass	905	7	83.78
RAFOS	720	1	13.35
Transponder	185	30	68.77

		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
654.8	59.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
668.9	31.20	9000.00	0.0	0.00	0.00	31.20	700.1	-2.01	1.00

674.6	13.30	9000.00	0.0	-2.27	0.99	13.30	0.0	-3.14	1.00
668.3	15.20	9000.00	0.0	-1.47	0.27	15.20	0.0	-0.30	1.00
662.2	18.30	9000.00	0.0	-0.40	0.98	18.30	0.0	-0.51	1.00
655.5	13.90	9000.00	0.0	0.11	0.10	13.90	641.6	0.66	1.00
649.0	23.90	9000.00	0.0	-0.42	0.30	23.90	0.0	-1.54	1.00
115.4	120.10	9000.00	0.0	-0.19	0.99	120.10	0.0	-0.18	1.00
102.7	107.30	9000.00	0.0	-0.17	0.98	107.30	-4.6	1.01	1.00
96.7	104.00	103.20	-6.5	0.88	0.98	104.00	-7.3	0.55	1.00
78.2	82.30	82.70	-4.5	1.06	0.99	82.30	-4.1	1.17	1.00
71.2	74.30	74.20	-3.0	1.17	1.00	74.30	-3.1	1.14	1.00
65.2	69.10	68.70	-3.5	1.02	0.99	69.10	-3.9	0.87	1.00
58.8	61.70	62.00	-3.2	1.01	0.99	61.70	-2.9	1.16	1.00
52.2	54.30	54.30	-2.1	1.14	1.00	54.30	-2.1	1.12	1.00
46.0	47.80	47.70	-1.7	1.09	1.00	47.80	-1.8	1.05	1.00
39.6	41.40	41.30	-1.7	1.03	1.00	41.40	-1.8	1.00	1.00
33.5	34.90	35.00	-1.5	1.03	1.00	34.90	-1.4	1.07	1.00
26.9	27.90	27.90	-1.0	1.06	1.00	27.90	-1.0	1.06	1.00
20.1	21.10	21.00	-0.9	1.02	1.00	21.10	-1.0	1.00	1.00
13.9	14.50	14.60	-0.7	1.03	1.00	14.50	-0.6	1.06	1.00
7.7	8.10	8.00	-0.3	1.05	1.00	8.10	-0.4	1.03	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	2710	2511	2866	2658	0.0	0.0	0	12	0.00	0.00	-1.42	0.066	16390	0.000	0.000	2709	2511	3334	3455	3214	0	0	0	0	0	0	14.27	12.98	14.28
13	-0.85	-146.0	2711	2511	3453	3220	0.0	0.0	0	20	0.90	2.45	0.00	0.000	4356	0.113	0.150	2429	3756	3336	3448	3225	0	0	0	0	0	0	14.03	13.99	14.10
244	-0.85	-146.0	2430	3756	3438	3235	655.2	-9.1	46	250	0.00	2.35	0.00	0.000	1030	0.000	0.099	2429	2495	3336	3438	3234	0	0	0	0	0	0	14.45	14.38	14.49
462	end dive: TARGET_DEPTH_EXCEEDED
state	462	begin apogee
466	-0.23	0.0	2430	2190	3439	3235	674.1	-8.6	55	1057	0.73	0.00	587.33	1.289	10246	0.226	0.000	2624	2189	2717	2777	2657	0	0	0	0	0	0	14.42	13.66	13.07
1058	end apogee: CONTROL_FINISHED_OK
state	1058	begin climb
1060	0.85	146.0	2624	2189	2775	2654	684.5	0.0	74	1534	1.20	2.83	458.60	1.260	10756	0.141	0.124	2983	795	2115	2156	2075	0	0	0	0	0	0	13.62	13.60	13.11
1568	0.85	146.0	2983	795	2151	2070	635.3	12.4	171	1575	0.00	2.78	0.00	0.000	1030	0.000	0.111	2983	2208	2109	2150	2069	0	0	0	0	0	0	13.91	13.79	13.94
1954	0.85	146.0	2984	2208	2148	2061	586.7	12.5	188	1955	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2208	2104	2147	2061	0	0	0	0	0	0	14.74	14.77	14.77
2315	0.85	146.0	2983	2209	2147	2060	540.6	12.6	200	2316	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2208	2102	2146	2059	0	0	0	0	0	0	14.94	14.97	14.96
2684	0.85	146.0	2984	2208	2146	2059	493.7	12.6	213	2690	0.00	2.62	0.00	0.000	516	0.000	0.125	2994	786	2101	2144	2058	0	0	0	0	0	0	15.03	14.69	15.06
2714	0.85	146.0	2994	786	2145	2058	489.8	12.5	219	2720	0.00	2.62	0.00	0.000	1030	0.000	0.112	2994	2202	2101	2145	2058	0	0	0	0	0	0	14.79	14.72	14.84
3024	0.85	146.0	2994	2203	2146	2058	450.6	12.3	236	3030	0.00	2.62	0.00	0.000	516	0.000	0.126	3004	782	2101	2145	2058	0	0	0	0	0	0	15.07	14.73	15.09
3054	0.85	146.0	3005	782	2146	2057	446.9	12.2	242	3060	0.00	2.65	0.00	0.000	1030	0.000	0.114	3004	2234	2101	2145	2058	0	0	0	0	0	0	14.89	14.73	14.93
3364	0.85	146.0	3004	2234	2146	2057	406.7	13.1	259	3365	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2234	2101	2145	2057	0	0	0	0	0	0	15.09	15.12	15.11
3665	0.85	146.0	3004	2235	2145	2058	367.5	13.1	274	3670	0.00	2.67	0.00	0.000	516	0.000	0.126	3015	785	2101	2145	2057	0	0	0	0	0	0	15.11	14.75	15.13
3714	0.85	146.0	3016	785	2145	2057	360.8	13.6	284	3724	0.10	2.62	0.00	0.000	5126	0.215	0.114	2973	2201	2100	2144	2057	0	0	0	0	0	0	14.68	14.74	14.92
4029	0.85	146.0	2973	2201	2145	2056	326.7	10.6	301	4035	0.00	2.67	0.00	0.000	260	0.000	0.146	2973	3615	2100	2144	2056	0	0	0	0	0	0	15.08	14.73	15.11
4064	0.85	146.0	2973	3615	2145	2057	322.5	12.2	308	4071	0.00	2.53	0.00	0.000	1030	0.000	0.100	2982	2202	2100	2144	2056	0	0	0	0	0	0	14.94	14.81	14.97
4369	0.85	146.0	2983	2199	2145	2056	288.1	10.9	329	4370	0.00	0.00	0.00	0.000	6	0.000	0.000	2982	2199	2098	2140	2057	0	0	0	0	0	0	15.12	15.15	15.14
4669	0.85	146.0	2983	2199	2145	2055	255.2	11.1	359	4675	0.00	2.70	0.00	0.000	260	0.000	0.146	2982	3620	2099	2144	2055	0	0	0	0	0	0	15.12	14.73	15.15
4704	0.85	146.0	2982	3621	2145	2056	250.8	12.6	366	4711	0.00	2.58	0.00	0.000	1030	0.000	0.102	2993	2188	2100	2144	2056	0	0	0	0	0	0	14.95	14.79	14.97
5009	0.85	146.0	2993	2187	2144	2056	216.1	11.0	397	5016	0.00	2.72	0.00	0.000	260	0.000	0.147	2993	3614	2099	2144	2055	0	0	0	0	0	0	15.12	14.72	15.15
5055	0.85	146.0	2993	3614	2145	2057	210.7	11.9	406	5062	0.00	2.60	0.00	0.000	1030	0.000	0.101	3004	2194	2099	2144	2055	0	0	0	0	0	0	14.85	14.76	14.97
5360	0.85	146.0	3004	2193	2145	2055	176.8	11.5	437	5367	0.00	2.62	0.00	0.000	516	0.000	0.129	3014	775	2099	2143	2055	0	0	0	0	0	0	15.12	14.73	15.14
5436	0.85	146.0	3014	776	2145	2056	167.8	11.9	452	5444	0.10	2.65	0.00	0.000	5126	0.215	0.116	2972	2201	2099	2143	2055	0	0	0	0	0	0	14.65	14.71	14.90
5741	0.85	146.0	2972	2201	2144	2053	137.1	9.8	483	5742	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2201	2097	2143	2052	0	0	0	0	0	0	15.11	15.14	15.14
6042	0.85	146.0	2972	2202	2144	2054	108.9	9.3	513	6048	0.00	2.70	0.00	0.000	260	0.000	0.146	2971	3621	2098	2143	2053	0	0	0	0	0	0	15.07	14.71	15.10
6103	0.85	146.0	2972	3622	2144	2054	102.7	10.3	525	6109	0.00	2.58	0.00	0.000	1030	0.000	0.103	2981	2193	2098	2143	2053	0	0	0	0	0	0	14.92	14.78	14.96
6414	0.85	146.0	2981	2191	2144	2053	71.2	9.7	557	6420	0.00	2.62	0.00	0.000	516	0.000	0.130	2992	780	2097	2143	2052	0	0	0	0	0	0	15.07	14.71	15.10
6439	0.85	146.0	2992	779	2144	2052	68.6	10.2	562	6446	0.00	2.62	0.00	0.000	1030	0.000	0.116	2992	2213	2097	2143	2052	0	0	0	0	0	0	14.89	14.71	14.95
6745	0.85	146.0	2992	2213	2144	2050	39.6	9.0	593	6751	0.00	2.67	0.00	0.000	260	0.000	0.149	2991	3614	2097	2143	2052	0	0	0	0	0	0	15.07	14.68	15.09
6775	0.85	146.0	2992	3614	2144	2052	36.0	11.9	599	6781	0.00	2.58	0.00	0.000	1030	0.000	0.102	3003	2189	2097	2143	2052	0	0	0	0	0	0	14.90	14.75	14.95
7065	end climb: SURFACE_DEPTH_REACHED
state	7065	begin surface coast
7075	end surface coast: CONTROL_FINISHED_OK
state	7075	begin surface