Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 199 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 199 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 4 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 110 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 5 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -1 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 0.059999999 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 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 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 330 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 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 0.0031300001 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 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 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 150

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 5

DIVE 199 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 260218,213555,-7407.7632,-11320.6592,31,1.6,31,54.0,0.0,0.0,9,6.6 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 57.9,4454,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.0 D_GRID 381

GPS2 260218,214116,-7407.7358,-11320.6172,2,1.1,3,54.0,0.4,11.8,11,8.5

Post-dive calculations and measurements:

FREEZE 0.56,-1.599,-1.860,2,1,0 _24V_AH 12.50,70.207

FINISH 0.6,1.027291 _10V_AH 12.64,0.000

SM_CCo 5591,162.95,0.222,0,0,2203,300.18 FG_AHR_24Vo 0.000

SM_GC 0.82,8.55,0.50,162.95,0.077,0.093,0.222,185,2821,2203,-7.91,-0.23,300.18,0,0,0,0,0,0,14.54,14.57,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 227 MEM 280380

RAFOS_FIX -7407.982422,-11321.235352,260218,232314,0,1,0.10 DATA_FILE_SIZE 20079,629

IRIDIUM_FIX -7409.04,-11320.18,260218,195955 CAP_FILE_SIZE 81168,0

TT8_MAMPS 0.03745,0.201481 CFSIZE 1024409600,997670912

HUMID 45.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.8

TCM_TEMP 13.00 CURRENT 0.089,48.93,1

XPDR_PINGS 0 GPS 260218,231814,-7407.800,-11317.849,3,1.1,5,53.9,0.4,42.2,6,8.5

ALTIM_TOP_PING 11.5,11.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 474 138.14 nil 0 0 0.00

Roll_motor 59 97 73.32 nil 0 0 0.00

VBD_pump_during_apogee 227 2307 6554.72 nil 0 0 0.00

VBD_pump_during_surface 162 221 451.88 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 5590 7 512.60

Iridium_during_xfer 210 188 496.29 nil 0 0 0.00

Transponder_ping 15 420 82.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.58

TT8 0 0 0.00

LPSleep 3893 2 113.69

TT8_Active 575 10 79.06

TT8_Sampling 1507 30 578.28

TT8_CF8 112 51 72.85

TT8_Kalman 0 0 0.00

Analog_circuits 1278 10 163.24

GPS_charging 0 0 0.00

Compass 905 6 77.17

RAFOS 0 0 0.00

Transponder 112 30 42.62

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

10.6 11.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.0 22.40 9000.00 0.0 0.00 0.00 22.40 0.0 1.01 1.00

31.5 33.10 33.10 0.0 1.02 1.00 33.10 0.0 1.02 1.00

42.7 44.90 44.80 0.0 1.04 1.00 44.90 0.0 1.05 1.00

53.5 56.80 56.70 0.0 1.07 1.00 56.80 0.0 1.10 1.00

85.5 89.80 89.90 0.0 1.04 1.00 89.80 0.0 1.03 1.00

139.1 144.30 144.40 -5.3 1.02 1.00 144.30 -5.2 1.02 1.00

118.3 122.70 123.00 -4.7 1.02 1.00 122.70 -4.4 1.04 1.00

108.2 112.60 112.50 -4.3 1.03 1.00 112.60 -4.4 1.00 1.00

86.6 89.80 89.80 -3.2 1.04 1.00 89.80 -3.2 1.06 1.00

65.0 67.40 67.30 -2.3 1.05 1.00 67.40 -2.4 1.04 1.00

54.2 56.30 56.20 -2.0 1.03 1.00 56.30 -2.1 1.03 1.00

43.4 44.70 44.80 -1.4 1.05 1.00 44.70 -1.3 1.07 1.00

32.4 33.40 33.30 -0.9 1.05 1.00 33.40 -1.0 1.03 1.00

22.2 22.60 22.60 -0.4 1.05 1.00 22.60 -0.4 1.06 1.00

11.5 11.70 11.60 -0.1 1.04 1.00 11.70 -0.2 1.02 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 -1.04 -121.7 195 2802 2235 2129 0.0 0.0 0 122 0.00 0.00 -106.55 0.003 16390 0.000 0.000 194 2802 3890 3902 3879 0 0 0 0 0 0 14.59 12.94 14.58

124 -1.04 -121.7 195 2803 3903 3879 2.8 -3.2 11 142 12.05 2.03 0.00 0.000 2340 0.474 0.080 2384 3916 3897 3904 3890 0 0 0 0 0 0 13.97 14.33 14.40

366 -1.04 -121.7 2384 3917 3904 3903 36.6 -13.1 59 372 0.00 1.92 0.00 0.000 1030 0.000 0.048 2384 2791 3902 3904 3901 0 0 0 0 0 0 14.49 14.46 14.51

676 -1.04 -121.7 2385 2792 3905 3903 74.1 -12.2 91 683 0.00 2.42 0.00 0.000 516 0.000 0.051 2384 1391 3903 3903 3903 0 0 0 0 0 0 14.76 14.44 14.76

722 -1.04 -121.7 2385 1391 3905 3903 79.9 -12.4 100 729 0.00 2.55 0.00 0.000 1030 0.000 0.070 2382 2812 3904 3904 3904 0 0 0 0 0 0 14.50 14.42 14.53

1027 -1.04 -121.7 2383 2813 3903 3906 118.8 -12.2 131 1033 0.00 2.00 0.00 0.000 260 0.000 0.090 2375 3915 3903 3903 3904 0 0 0 0 0 0 14.81 14.42 14.79

1057 -1.04 -121.7 2375 3915 3904 3905 122.9 -13.3 137 1064 0.00 1.90 0.00 0.000 1030 0.000 0.048 2375 2798 3903 3903 3904 0 0 0 0 0 0 14.57 14.54 14.60

1368 -1.04 -121.7 2375 2798 3905 3904 161.3 -12.5 169 1375 0.00 2.42 0.00 0.000 516 0.000 0.051 2375 1395 3904 3904 3904 0 0 0 0 0 0 14.81 14.47 14.81

1424 -1.04 -121.7 2375 1396 3904 3906 168.0 -11.8 180 1431 0.00 2.55 0.00 0.000 1030 0.000 0.069 2373 2809 3904 3904 3904 0 0 0 0 0 0 14.49 14.41 14.52

1729 -1.04 -121.7 2373 2810 3904 3905 205.4 -12.2 211 1735 0.00 2.00 0.00 0.000 260 0.000 0.092 2371 3911 3904 3904 3904 0 0 0 0 0 0 14.82 14.44 14.82

1790 -1.04 -121.7 2373 3912 3904 3904 213.3 -13.5 223 1795 0.00 1.88 0.00 0.000 1030 0.000 0.049 2372 2785 3904 3904 3904 0 0 0 0 0 0 14.65 14.59 14.67

2099 -1.04 -121.7 2372 2785 3905 3904 251.4 -12.1 255 2105 0.00 2.05 0.00 0.000 260 0.000 0.090 2370 3904 3903 3903 3904 0 0 0 0 0 0 14.81 14.43 14.81

2159 -1.04 -121.7 2370 3905 3903 3905 259.0 -13.1 267 2165 0.00 1.90 0.00 0.000 1030 0.000 0.049 2371 2790 3903 3903 3904 0 0 0 0 0 0 14.58 14.55 14.61

2469 -1.04 -121.7 2370 2791 3904 3905 294.0 -10.7 299 2475 0.00 2.05 0.00 0.000 260 0.000 0.090 2370 3911 3903 3903 3904 0 0 0 0 0 0 14.81 14.43 14.81

2514 -1.04 -121.7 2370 3912 3905 3903 299.4 -12.3 308 2521 0.00 1.90 0.00 0.000 1030 0.000 0.049 2370 2795 3903 3903 3904 0 0 0 0 0 0 14.59 14.55 14.60

2789 end dive: TARGET_DEPTH_EXCEEDED

state 2789 begin apogee

2793 -0.23 0.0 2370 2541 3904 3904 331.2 -11.1 323 2912 1.10 0.00 115.12 2.307 10246 0.268 0.000 2654 2541 3399 3403 3395 0 0 0 0 0 0 14.23 13.78 12.89

2913 end apogee: CONTROL_FINISHED_OK

state 2913 begin climb

2915 1.04 121.7 2655 2541 3405 3395 334.6 0.0 329 3032 1.42 0.00 112.15 2.202 10758 0.161 0.000 3067 2541 2912 2917 2907 0 0 0 0 0 0 13.71 13.33 12.50

3329 1.04 121.7 3068 2542 2906 2896 286.3 13.6 370 3336 0.00 2.55 0.00 0.000 260 0.000 0.094 3067 3909 2900 2905 2896 0 0 0 0 0 0 14.35 14.06 14.35

3370 1.04 121.7 3067 3909 2906 2896 280.2 15.6 378 3377 0.00 2.42 0.00 0.000 1030 0.000 0.057 3077 2522 2900 2905 2895 0 0 0 0 0 0 14.26 14.19 14.28

3681 1.04 121.7 3078 2522 2905 2895 238.0 12.9 410 3687 0.00 2.42 0.00 0.000 516 0.000 0.067 3088 1143 2899 2904 2895 0 0 0 0 0 0 14.63 14.33 14.63

3696 1.04 121.7 3088 1143 2905 2894 236.0 12.4 413 3705 0.00 2.55 0.00 0.000 1030 0.000 0.070 3088 2551 2899 2904 2894 0 0 0 0 0 0 14.40 14.36 14.43

4002 1.04 121.7 3088 2553 2905 2895 194.9 13.3 444 4007 0.00 2.47 0.00 0.000 260 0.000 0.096 3088 3918 2899 2905 2894 0 0 0 0 0 0 14.73 14.41 14.73

4088 1.04 121.7 3089 3919 2906 2894 182.0 15.2 461 4094 0.17 2.35 0.00 0.000 5126 0.304 0.057 3061 2540 2899 2905 2894 0 0 0 0 0 0 14.18 14.52 14.50

4392 1.04 121.7 3061 2540 2906 2894 145.0 12.1 492 4392 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2540 2899 2905 2894 0 0 0 0 0 0 14.79 14.80 14.79

4692 1.04 121.7 3061 2541 2905 2898 110.0 11.7 522 4698 0.00 2.45 0.00 0.000 516 0.000 0.066 3070 1155 2899 2905 2894 0 0 0 0 0 0 14.83 14.47 14.83

4768 1.04 121.7 3071 1155 2906 2893 101.3 11.3 537 4774 0.00 2.45 0.00 0.000 1030 0.000 0.070 3070 2553 2899 2904 2894 0 0 0 0 0 0 14.62 14.52 14.62

5073 1.04 121.7 3071 2554 2906 2894 65.0 11.9 568 5078 0.00 2.45 0.00 0.000 516 0.000 0.067 3080 1150 2899 2905 2894 0 0 0 0 0 0 14.81 14.52 14.81

5108 1.04 121.7 3081 1150 2906 2894 60.9 11.9 575 5114 0.00 2.47 0.00 0.000 1030 0.000 0.071 3080 2559 2899 2905 2893 0 0 0 0 0 0 14.60 14.49 14.64

5412 1.04 121.7 3080 2560 2906 2895 23.6 12.4 606 5419 0.00 2.47 0.00 0.000 260 0.000 0.098 3080 3910 2899 2905 2894 0 0 0 0 0 0 14.86 14.47 14.85

5474 1.04 121.7 3080 3911 2906 2895 14.7 15.2 618 5480 0.00 2.35 0.00 0.000 1030 0.000 0.057 3090 2548 2900 2906 2894 0 0 0 0 0 0 14.62 14.58 14.65

5563 end climb: SURFACE_DEPTH_REACHED

state 5563 begin surface coast

5575 end surface coast: CONTROL_FINISHED_OK

state 5575 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	199	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	4	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	110	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	5	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-1	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	0.059999999	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	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	3910	ALTIM_PING_FIT	883

GPS1	260218,213555,-7407.7632,-11320.6592,31,1.6,31,54.0,0.0,0.0,9,6.6	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	57.9,4454,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.0	D_GRID	381
GPS2	260218,214116,-7407.7358,-11320.6172,2,1.1,3,54.0,0.4,11.8,11,8.5

FREEZE	0.56,-1.599,-1.860,2,1,0	_24V_AH	12.50,70.207
FINISH	0.6,1.027291	_10V_AH	12.64,0.000
SM_CCo	5591,162.95,0.222,0,0,2203,300.18	FG_AHR_24Vo	0.000
SM_GC	0.82,8.55,0.50,162.95,0.077,0.093,0.222,185,2821,2203,-7.91,-0.23,300.18,0,0,0,0,0,0,14.54,14.57,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	227	MEM	280380
RAFOS_FIX	-7407.982422,-11321.235352,260218,232314,0,1,0.10	DATA_FILE_SIZE	20079,629
IRIDIUM_FIX	-7409.04,-11320.18,260218,195955	CAP_FILE_SIZE	81168,0
TT8_MAMPS	0.03745,0.201481	CFSIZE	1024409600,997670912
HUMID	45.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.8
TCM_TEMP	13.00	CURRENT	0.089,48.93,1
XPDR_PINGS	0	GPS	260218,231814,-7407.800,-11317.849,3,1.1,5,53.9,0.4,42.2,6,8.5
ALTIM_TOP_PING	11.5,11.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	474	138.14	nil	0	0	0.00
Roll_motor	59	97	73.32	nil	0	0	0.00
VBD_pump_during_apogee	227	2307	6554.72	nil	0	0	0.00
VBD_pump_during_surface	162	221	451.88	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	5590	7	512.60
Iridium_during_xfer	210	188	496.29	nil	0	0	0.00
Transponder_ping	15	420	82.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.58
TT8	0	0	0.00
LPSleep	3893	2	113.69
TT8_Active	575	10	79.06
TT8_Sampling	1507	30	578.28
TT8_CF8	112	51	72.85
TT8_Kalman	0	0	0.00
Analog_circuits	1278	10	163.24
GPS_charging	0	0	0.00
Compass	905	6	77.17
RAFOS	0	0	0.00
Transponder	112	30	42.62

		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
10.6	11.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.0	22.40	9000.00	0.0	0.00	0.00	22.40	0.0	1.01	1.00
31.5	33.10	33.10	0.0	1.02	1.00	33.10	0.0	1.02	1.00
42.7	44.90	44.80	0.0	1.04	1.00	44.90	0.0	1.05	1.00
53.5	56.80	56.70	0.0	1.07	1.00	56.80	0.0	1.10	1.00
85.5	89.80	89.90	0.0	1.04	1.00	89.80	0.0	1.03	1.00

139.1	144.30	144.40	-5.3	1.02	1.00	144.30	-5.2	1.02	1.00
118.3	122.70	123.00	-4.7	1.02	1.00	122.70	-4.4	1.04	1.00
108.2	112.60	112.50	-4.3	1.03	1.00	112.60	-4.4	1.00	1.00
86.6	89.80	89.80	-3.2	1.04	1.00	89.80	-3.2	1.06	1.00
65.0	67.40	67.30	-2.3	1.05	1.00	67.40	-2.4	1.04	1.00
54.2	56.30	56.20	-2.0	1.03	1.00	56.30	-2.1	1.03	1.00
43.4	44.70	44.80	-1.4	1.05	1.00	44.70	-1.3	1.07	1.00
32.4	33.40	33.30	-0.9	1.05	1.00	33.40	-1.0	1.03	1.00
22.2	22.60	22.60	-0.4	1.05	1.00	22.60	-0.4	1.06	1.00
11.5	11.70	11.60	-0.1	1.04	1.00	11.70	-0.2	1.02	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	-1.04	-121.7	195	2802	2235	2129	0.0	0.0	0	122	0.00	0.00	-106.55	0.003	16390	0.000	0.000	194	2802	3890	3902	3879	0	0	0	0	0	0	14.59	12.94	14.58
124	-1.04	-121.7	195	2803	3903	3879	2.8	-3.2	11	142	12.05	2.03	0.00	0.000	2340	0.474	0.080	2384	3916	3897	3904	3890	0	0	0	0	0	0	13.97	14.33	14.40
366	-1.04	-121.7	2384	3917	3904	3903	36.6	-13.1	59	372	0.00	1.92	0.00	0.000	1030	0.000	0.048	2384	2791	3902	3904	3901	0	0	0	0	0	0	14.49	14.46	14.51
676	-1.04	-121.7	2385	2792	3905	3903	74.1	-12.2	91	683	0.00	2.42	0.00	0.000	516	0.000	0.051	2384	1391	3903	3903	3903	0	0	0	0	0	0	14.76	14.44	14.76
722	-1.04	-121.7	2385	1391	3905	3903	79.9	-12.4	100	729	0.00	2.55	0.00	0.000	1030	0.000	0.070	2382	2812	3904	3904	3904	0	0	0	0	0	0	14.50	14.42	14.53
1027	-1.04	-121.7	2383	2813	3903	3906	118.8	-12.2	131	1033	0.00	2.00	0.00	0.000	260	0.000	0.090	2375	3915	3903	3903	3904	0	0	0	0	0	0	14.81	14.42	14.79
1057	-1.04	-121.7	2375	3915	3904	3905	122.9	-13.3	137	1064	0.00	1.90	0.00	0.000	1030	0.000	0.048	2375	2798	3903	3903	3904	0	0	0	0	0	0	14.57	14.54	14.60
1368	-1.04	-121.7	2375	2798	3905	3904	161.3	-12.5	169	1375	0.00	2.42	0.00	0.000	516	0.000	0.051	2375	1395	3904	3904	3904	0	0	0	0	0	0	14.81	14.47	14.81
1424	-1.04	-121.7	2375	1396	3904	3906	168.0	-11.8	180	1431	0.00	2.55	0.00	0.000	1030	0.000	0.069	2373	2809	3904	3904	3904	0	0	0	0	0	0	14.49	14.41	14.52
1729	-1.04	-121.7	2373	2810	3904	3905	205.4	-12.2	211	1735	0.00	2.00	0.00	0.000	260	0.000	0.092	2371	3911	3904	3904	3904	0	0	0	0	0	0	14.82	14.44	14.82
1790	-1.04	-121.7	2373	3912	3904	3904	213.3	-13.5	223	1795	0.00	1.88	0.00	0.000	1030	0.000	0.049	2372	2785	3904	3904	3904	0	0	0	0	0	0	14.65	14.59	14.67
2099	-1.04	-121.7	2372	2785	3905	3904	251.4	-12.1	255	2105	0.00	2.05	0.00	0.000	260	0.000	0.090	2370	3904	3903	3903	3904	0	0	0	0	0	0	14.81	14.43	14.81
2159	-1.04	-121.7	2370	3905	3903	3905	259.0	-13.1	267	2165	0.00	1.90	0.00	0.000	1030	0.000	0.049	2371	2790	3903	3903	3904	0	0	0	0	0	0	14.58	14.55	14.61
2469	-1.04	-121.7	2370	2791	3904	3905	294.0	-10.7	299	2475	0.00	2.05	0.00	0.000	260	0.000	0.090	2370	3911	3903	3903	3904	0	0	0	0	0	0	14.81	14.43	14.81
2514	-1.04	-121.7	2370	3912	3905	3903	299.4	-12.3	308	2521	0.00	1.90	0.00	0.000	1030	0.000	0.049	2370	2795	3903	3903	3904	0	0	0	0	0	0	14.59	14.55	14.60
2789	end dive: TARGET_DEPTH_EXCEEDED
state	2789	begin apogee
2793	-0.23	0.0	2370	2541	3904	3904	331.2	-11.1	323	2912	1.10	0.00	115.12	2.307	10246	0.268	0.000	2654	2541	3399	3403	3395	0	0	0	0	0	0	14.23	13.78	12.89
2913	end apogee: CONTROL_FINISHED_OK
state	2913	begin climb
2915	1.04	121.7	2655	2541	3405	3395	334.6	0.0	329	3032	1.42	0.00	112.15	2.202	10758	0.161	0.000	3067	2541	2912	2917	2907	0	0	0	0	0	0	13.71	13.33	12.50
3329	1.04	121.7	3068	2542	2906	2896	286.3	13.6	370	3336	0.00	2.55	0.00	0.000	260	0.000	0.094	3067	3909	2900	2905	2896	0	0	0	0	0	0	14.35	14.06	14.35
3370	1.04	121.7	3067	3909	2906	2896	280.2	15.6	378	3377	0.00	2.42	0.00	0.000	1030	0.000	0.057	3077	2522	2900	2905	2895	0	0	0	0	0	0	14.26	14.19	14.28
3681	1.04	121.7	3078	2522	2905	2895	238.0	12.9	410	3687	0.00	2.42	0.00	0.000	516	0.000	0.067	3088	1143	2899	2904	2895	0	0	0	0	0	0	14.63	14.33	14.63
3696	1.04	121.7	3088	1143	2905	2894	236.0	12.4	413	3705	0.00	2.55	0.00	0.000	1030	0.000	0.070	3088	2551	2899	2904	2894	0	0	0	0	0	0	14.40	14.36	14.43
4002	1.04	121.7	3088	2553	2905	2895	194.9	13.3	444	4007	0.00	2.47	0.00	0.000	260	0.000	0.096	3088	3918	2899	2905	2894	0	0	0	0	0	0	14.73	14.41	14.73
4088	1.04	121.7	3089	3919	2906	2894	182.0	15.2	461	4094	0.17	2.35	0.00	0.000	5126	0.304	0.057	3061	2540	2899	2905	2894	0	0	0	0	0	0	14.18	14.52	14.50
4392	1.04	121.7	3061	2540	2906	2894	145.0	12.1	492	4392	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2540	2899	2905	2894	0	0	0	0	0	0	14.79	14.80	14.79
4692	1.04	121.7	3061	2541	2905	2898	110.0	11.7	522	4698	0.00	2.45	0.00	0.000	516	0.000	0.066	3070	1155	2899	2905	2894	0	0	0	0	0	0	14.83	14.47	14.83
4768	1.04	121.7	3071	1155	2906	2893	101.3	11.3	537	4774	0.00	2.45	0.00	0.000	1030	0.000	0.070	3070	2553	2899	2904	2894	0	0	0	0	0	0	14.62	14.52	14.62
5073	1.04	121.7	3071	2554	2906	2894	65.0	11.9	568	5078	0.00	2.45	0.00	0.000	516	0.000	0.067	3080	1150	2899	2905	2894	0	0	0	0	0	0	14.81	14.52	14.81
5108	1.04	121.7	3081	1150	2906	2894	60.9	11.9	575	5114	0.00	2.47	0.00	0.000	1030	0.000	0.071	3080	2559	2899	2905	2893	0	0	0	0	0	0	14.60	14.49	14.64
5412	1.04	121.7	3080	2560	2906	2895	23.6	12.4	606	5419	0.00	2.47	0.00	0.000	260	0.000	0.098	3080	3910	2899	2905	2894	0	0	0	0	0	0	14.86	14.47	14.85
5474	1.04	121.7	3080	3911	2906	2895	14.7	15.2	618	5480	0.00	2.35	0.00	0.000	1030	0.000	0.057	3090	2548	2900	2906	2894	0	0	0	0	0	0	14.62	14.58	14.65
5563	end climb: SURFACE_DEPTH_REACHED
state	5563	begin surface coast
5575	end surface coast: CONTROL_FINISHED_OK
state	5575	begin surface