Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 201 * 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 201 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 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 9 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 4 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 4

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 201 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 9 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 190218,181008,-7410.9604,-11204.9629,0,3101.5,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.092,0.213

_CALLS 1 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7410.600,-11155.500

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 723.66 MHEAD_RNG_PITCHd_Wd 358.9,4825,-14.8,-9.167,-23.33,2336

_SM_ANGLEo 2.5 D_GRID 688

GPS2 190218,181008,-7410.9604,-11204.9629,0,3101.5,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 0.94,-1.631,-1.860,2,2,0 _24V_AH 12.26,86.564

FINISH 0.9,1.027285 _10V_AH 12.18,0.000

SM_CCo 6367,157.12,0.223,0,0,1490,300.00 FG_AHR_24Vo 0.000

SM_GC 0.33,8.43,3.25,157.12,0.094,0.119,0.223,199,2505,1490,-7.75,-0.31,300.00,0,0,0,0,0,0,14.87,14.66,14.44 FG_AHR_10Vo 0.000

RAFOS_CLK 234 MEM 279888

RAFOS_FIX -7410.622559,-11205.680664,190218,202035,0,1,0.10 DATA_FILE_SIZE 20086,578

IRIDIUM_FIX -7413.56,-11218.94,190218,112450 CAP_FILE_SIZE 81595,0

TT8_MAMPS 0.040446,0.286867 CFSIZE 1024409600,996818944

HUMID 44.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.47257 SOUNDSPEED 1449.6

TCM_TEMP 13.10 CURRENT 0.165,42.98,1

XPDR_PINGS 0 GPS 190218,201230,-7410.195,-11201.248,24,0.8,24,53.2,0.2,286.4,10,3.6

ALTIM_TOP_PING 7.2,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 247 35.86 nil 0 0 0.00

Roll_motor 83 150 154.83 nil 0 0 0.00

VBD_pump_during_apogee 680 2024 16883.95 nil 0 0 0.00

VBD_pump_during_surface 157 222 428.83 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 6359 3 271.85

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 135.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4466 2 125.67

TT8_Active 830 12 124.14

TT8_Sampling 1226 31 474.08

TT8_CF8 83 45 46.21

TT8_Kalman 0 0 0.00

Analog_circuits 1348 10 167.50

GPS_charging 0 0 0.00

Compass 831 7 75.82

RAFOS 0 0 0.00

Transponder 188 30 68.99

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

715.7 22.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

696.6 29.20 9000.00 0.0 0.00 0.00 29.20 0.0 -0.33 1.00

671.2 25.50 9000.00 0.0 -0.05 0.11 25.50 645.7 0.15 1.00

180.5 187.70 9000.00 0.0 -0.32 1.00 187.70 0.0 -0.33 1.00

147.1 155.20 9000.00 0.0 -0.28 0.94 155.20 -8.1 0.97 1.00

140.8 147.00 147.80 -7.0 1.01 1.00 147.00 -6.2 1.30 1.00

113.0 117.70 117.50 -4.5 1.09 1.00 117.70 -4.7 1.05 1.00

106.0 110.80 110.60 -4.6 1.04 1.00 110.80 -4.8 0.99 1.00

93.3 97.70 97.70 -4.4 1.02 1.00 97.70 -4.4 1.03 1.00

86.3 89.90 90.00 -3.7 1.06 1.00 89.90 -3.6 1.11 1.00

80.3 84.00 83.80 -3.5 1.06 1.00 84.00 -3.7 0.98 1.00

73.3 76.40 76.60 -3.3 1.04 1.00 76.40 -3.1 1.09 1.00

66.5 69.60 69.50 -3.0 1.04 1.00 69.60 -3.1 1.00 1.00

59.6 62.20 62.30 -2.7 1.03 1.00 62.20 -2.6 1.07 1.00

52.7 54.90 54.90 -2.2 1.07 1.00 54.90 -2.2 1.06 1.00

45.9 48.00 48.00 -2.1 1.04 1.00 48.00 -2.1 1.01 1.00

39.2 40.70 40.80 -1.6 1.06 1.00 40.70 -1.5 1.09 1.00

32.4 33.60 33.50 -1.1 1.07 1.00 33.60 -1.2 1.04 1.00

26.0 27.20 27.20 -1.2 1.02 1.00 27.20 -1.2 1.00 1.00

19.5 20.30 20.30 -0.8 1.03 1.00 20.30 -0.8 1.06 1.00

13.5 14.00 14.00 -0.5 1.05 1.00 14.00 -0.5 1.05 1.00

7.2 7.50 7.60 -0.4 1.03 1.00 7.50 -0.3 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 2709 2513 2882 2685 0.0 0.0 0 11 0.00 0.00 -1.27 0.070 16390 0.000 0.000 2708 2513 3329 3446 3213 0 0 0 0 0 0 14.26 12.90 14.26

13 -0.85 -146.0 2709 2513 3446 3217 0.0 0.0 0 20 0.90 2.47 0.00 0.000 4356 0.115 0.151 2429 3763 3331 3441 3221 0 0 0 0 0 0 14.00 13.95 14.08

22 end dive: TARGET_DEPTH_EXCEEDED

state 22 begin apogee

29 -0.23 0.0 2430 2195 3439 3224 722.0 2.3 2 288 0.75 0.00 250.95 2.024 10246 0.227 0.000 2620 2195 2711 2772 2651 0 0 0 0 1 0 13.93 13.34 12.26

289 end apogee: CONTROL_FINISHED_OK

state 289 begin climb

291 0.85 146.0 2621 2194 2773 2651 721.6 0.0 10 733 1.23 2.90 429.40 1.335 10756 0.142 0.124 2976 789 2114 2161 2067 0 0 0 0 0 0 13.36 13.57 13.00

838 0.85 146.0 2976 789 2134 2041 650.8 10.5 115 844 0.00 2.75 0.00 0.000 1030 0.000 0.111 2976 2206 2086 2133 2040 0 0 0 0 0 0 14.08 13.96 14.12

1215 0.85 146.0 2976 2208 2131 2035 604.7 12.3 130 1220 0.00 2.72 0.00 0.000 260 0.000 0.145 2976 3616 2081 2130 2033 0 0 0 0 0 0 14.76 14.47 14.79

1235 0.85 146.0 2977 3616 2131 2034 601.9 13.7 134 1241 0.00 2.60 0.00 0.000 1030 0.000 0.098 2987 2188 2082 2130 2034 0 0 0 0 0 0 14.65 14.53 14.69

1605 0.85 146.0 2987 2187 2131 2032 552.0 13.8 148 1611 0.00 2.75 0.00 0.000 260 0.000 0.147 2987 3620 2080 2129 2032 0 0 0 0 0 0 15.01 14.62 15.00

1625 0.85 146.0 2987 3620 2130 2032 549.2 13.9 152 1631 0.00 2.62 0.00 0.000 1030 0.000 0.099 2998 2196 2080 2129 2031 0 0 0 0 0 0 14.73 14.66 14.86

1995 0.85 146.0 2998 2194 2129 2031 499.3 13.4 166 2000 0.00 2.62 0.00 0.000 516 0.000 0.126 3009 778 2079 2127 2031 0 0 0 0 0 0 15.04 14.69 15.07

2045 0.85 146.0 3009 779 2129 2032 492.5 13.5 176 2051 0.15 2.62 0.00 0.000 5126 0.228 0.113 2973 2214 2079 2128 2030 0 0 0 0 0 0 14.64 14.71 14.86

2356 0.85 146.0 2974 2214 2128 2029 455.8 11.6 193 2362 0.00 2.67 0.00 0.000 260 0.000 0.145 2973 3623 2077 2127 2028 0 0 0 0 0 0 15.04 14.69 15.07

2376 0.85 146.0 2974 3623 2128 2029 453.3 12.6 197 2383 0.00 2.58 0.00 0.000 1030 0.000 0.100 2982 2193 2078 2128 2029 0 0 0 0 0 0 14.89 14.75 14.93

2698 0.85 146.0 2982 2193 2128 2030 415.3 12.0 216 2703 0.00 2.60 0.00 0.000 516 0.000 0.129 2993 786 2078 2127 2029 0 0 0 0 0 0 15.10 14.71 15.13

2747 0.85 146.0 2993 787 2127 2030 409.3 12.2 226 2753 0.00 2.60 0.00 0.000 1030 0.000 0.115 2993 2207 2078 2127 2029 0 0 0 0 0 0 14.90 14.73 14.94

3057 0.85 146.0 2993 2208 2128 2028 370.0 12.6 243 3063 0.00 2.67 0.00 0.000 260 0.000 0.147 2993 3617 2077 2127 2028 0 0 0 0 0 0 15.11 14.71 15.14

3102 0.85 146.0 2994 3616 2128 2029 363.8 14.0 252 3108 0.00 2.60 0.00 0.000 1030 0.000 0.101 3003 2197 2077 2127 2028 0 0 0 0 0 0 14.83 14.75 14.88

3418 0.85 146.0 3003 2195 2128 2029 322.9 13.1 270 3423 0.00 2.62 0.00 0.000 516 0.000 0.129 3014 780 2077 2127 2028 0 0 0 0 0 0 15.08 14.72 15.10

3448 0.85 146.0 3014 781 2128 2029 318.9 13.6 276 3454 0.17 2.60 0.00 0.000 5126 0.219 0.115 2971 2205 2077 2127 2028 0 0 0 0 0 0 14.67 14.73 14.90

3758 0.85 146.0 2971 2206 2127 2028 283.9 11.1 300 3764 0.00 2.70 0.00 0.000 260 0.000 0.148 2971 3624 2076 2126 2027 0 0 0 0 0 0 15.11 14.69 15.14

3793 0.85 146.0 2972 3624 2127 2027 279.6 12.5 307 3800 0.00 2.62 0.00 0.000 1030 0.000 0.102 2981 2190 2077 2127 2027 0 0 0 0 0 0 14.95 14.73 14.97

4098 0.85 146.0 2981 2188 2127 2027 244.7 11.6 338 4104 0.00 2.62 0.00 0.000 516 0.000 0.129 2991 776 2076 2126 2027 0 0 0 0 0 0 15.11 14.70 15.14

4124 0.85 146.0 2991 777 2127 2027 241.8 12.0 343 4130 0.00 2.62 0.00 0.000 1030 0.000 0.115 2991 2208 2076 2126 2027 0 0 0 0 0 0 14.86 14.69 14.91

4428 0.85 146.0 2991 2208 2127 2026 207.5 11.3 374 4429 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2209 2076 2127 2026 0 0 0 0 0 0 15.11 15.14 15.14

4728 0.85 146.0 2991 2209 2127 2026 172.4 11.4 404 4729 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2208 2075 2126 2025 0 0 0 0 0 0 15.11 15.14 15.14

5028 0.85 146.0 2992 2209 2127 2025 139.7 10.7 434 5034 0.00 2.65 0.00 0.000 516 0.000 0.126 3002 780 2075 2126 2025 0 0 0 0 0 0 15.11 14.69 15.14

5058 0.85 146.0 3002 780 2127 2022 136.4 11.4 440 5064 0.00 2.62 0.00 0.000 1030 0.000 0.115 3002 2213 2075 2126 2025 0 0 0 0 0 0 14.88 14.71 14.94

5368 0.85 146.0 3002 2213 2127 2025 100.2 11.6 472 5375 0.00 2.67 0.00 0.000 260 0.000 0.147 3002 3616 2075 2126 2025 0 0 0 0 0 0 15.11 14.66 15.14

5394 0.85 146.0 3001 3617 2128 2026 96.9 13.0 477 5403 0.17 2.62 0.00 0.000 5126 0.248 0.101 2971 2163 2075 2126 2025 0 0 0 0 0 0 14.57 14.69 14.85

5700 0.85 146.0 2972 2161 2127 2024 66.5 9.8 508 5701 0.00 0.00 0.00 0.000 6 0.000 0.000 2971 2162 2074 2125 2024 0 0 0 0 0 0 15.07 15.09 15.09

5999 0.85 146.0 2971 2162 2127 2024 37.3 9.5 538 6005 0.00 2.58 0.00 0.000 516 0.000 0.129 2981 779 2075 2126 2024 0 0 0 0 0 0 15.11 14.66 15.14

6024 0.85 146.0 2981 780 2126 2025 34.8 10.0 543 6031 0.00 2.65 0.00 0.000 1030 0.000 0.117 2981 2219 2075 2126 2024 0 0 0 0 0 0 14.85 14.65 14.91

6329 0.85 146.0 2981 2219 2127 2024 3.1 10.2 574 6335 0.00 2.67 0.00 0.000 516 0.000 0.129 2991 786 2074 2126 2023 0 0 0 0 0 0 15.10 14.66 15.13

6338 end climb: SURFACE_DEPTH_REACHED

state 6338 begin surface coast

6349 end surface coast: CONTROL_FINISHED_OK

state 6349 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	201	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	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	9	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	4	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	190218,181008,-7410.9604,-11204.9629,0,3101.5,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.092,0.213
_CALLS	1	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7410.600,-11155.500
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	723.66	MHEAD_RNG_PITCHd_Wd	358.9,4825,-14.8,-9.167,-23.33,2336
_SM_ANGLEo	2.5	D_GRID	688
GPS2	190218,181008,-7410.9604,-11204.9629,0,3101.5,0,53.3,0.0,0.0,0,0.0

FREEZE	0.94,-1.631,-1.860,2,2,0	_24V_AH	12.26,86.564
FINISH	0.9,1.027285	_10V_AH	12.18,0.000
SM_CCo	6367,157.12,0.223,0,0,1490,300.00	FG_AHR_24Vo	0.000
SM_GC	0.33,8.43,3.25,157.12,0.094,0.119,0.223,199,2505,1490,-7.75,-0.31,300.00,0,0,0,0,0,0,14.87,14.66,14.44	FG_AHR_10Vo	0.000
RAFOS_CLK	234	MEM	279888
RAFOS_FIX	-7410.622559,-11205.680664,190218,202035,0,1,0.10	DATA_FILE_SIZE	20086,578
IRIDIUM_FIX	-7413.56,-11218.94,190218,112450	CAP_FILE_SIZE	81595,0
TT8_MAMPS	0.040446,0.286867	CFSIZE	1024409600,996818944
HUMID	44.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.47257	SOUNDSPEED	1449.6
TCM_TEMP	13.10	CURRENT	0.165,42.98,1
XPDR_PINGS	0	GPS	190218,201230,-7410.195,-11201.248,24,0.8,24,53.2,0.2,286.4,10,3.6
ALTIM_TOP_PING	7.2,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	247	35.86	nil	0	0	0.00
Roll_motor	83	150	154.83	nil	0	0	0.00
VBD_pump_during_apogee	680	2024	16883.95	nil	0	0	0.00
VBD_pump_during_surface	157	222	428.83	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	6359	3	271.85
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	135.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4466	2	125.67
TT8_Active	830	12	124.14
TT8_Sampling	1226	31	474.08
TT8_CF8	83	45	46.21
TT8_Kalman	0	0	0.00
Analog_circuits	1348	10	167.50
GPS_charging	0	0	0.00
Compass	831	7	75.82
RAFOS	0	0	0.00
Transponder	188	30	68.99

		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

715.7	22.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
696.6	29.20	9000.00	0.0	0.00	0.00	29.20	0.0	-0.33	1.00
671.2	25.50	9000.00	0.0	-0.05	0.11	25.50	645.7	0.15	1.00
180.5	187.70	9000.00	0.0	-0.32	1.00	187.70	0.0	-0.33	1.00
147.1	155.20	9000.00	0.0	-0.28	0.94	155.20	-8.1	0.97	1.00
140.8	147.00	147.80	-7.0	1.01	1.00	147.00	-6.2	1.30	1.00
113.0	117.70	117.50	-4.5	1.09	1.00	117.70	-4.7	1.05	1.00
106.0	110.80	110.60	-4.6	1.04	1.00	110.80	-4.8	0.99	1.00
93.3	97.70	97.70	-4.4	1.02	1.00	97.70	-4.4	1.03	1.00
86.3	89.90	90.00	-3.7	1.06	1.00	89.90	-3.6	1.11	1.00
80.3	84.00	83.80	-3.5	1.06	1.00	84.00	-3.7	0.98	1.00
73.3	76.40	76.60	-3.3	1.04	1.00	76.40	-3.1	1.09	1.00
66.5	69.60	69.50	-3.0	1.04	1.00	69.60	-3.1	1.00	1.00
59.6	62.20	62.30	-2.7	1.03	1.00	62.20	-2.6	1.07	1.00
52.7	54.90	54.90	-2.2	1.07	1.00	54.90	-2.2	1.06	1.00
45.9	48.00	48.00	-2.1	1.04	1.00	48.00	-2.1	1.01	1.00
39.2	40.70	40.80	-1.6	1.06	1.00	40.70	-1.5	1.09	1.00
32.4	33.60	33.50	-1.1	1.07	1.00	33.60	-1.2	1.04	1.00
26.0	27.20	27.20	-1.2	1.02	1.00	27.20	-1.2	1.00	1.00
19.5	20.30	20.30	-0.8	1.03	1.00	20.30	-0.8	1.06	1.00
13.5	14.00	14.00	-0.5	1.05	1.00	14.00	-0.5	1.05	1.00
7.2	7.50	7.60	-0.4	1.03	1.00	7.50	-0.3	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	2709	2513	2882	2685	0.0	0.0	0	11	0.00	0.00	-1.27	0.070	16390	0.000	0.000	2708	2513	3329	3446	3213	0	0	0	0	0	0	14.26	12.90	14.26
13	-0.85	-146.0	2709	2513	3446	3217	0.0	0.0	0	20	0.90	2.47	0.00	0.000	4356	0.115	0.151	2429	3763	3331	3441	3221	0	0	0	0	0	0	14.00	13.95	14.08
22	end dive: TARGET_DEPTH_EXCEEDED
state	22	begin apogee
29	-0.23	0.0	2430	2195	3439	3224	722.0	2.3	2	288	0.75	0.00	250.95	2.024	10246	0.227	0.000	2620	2195	2711	2772	2651	0	0	0	0	1	0	13.93	13.34	12.26
289	end apogee: CONTROL_FINISHED_OK
state	289	begin climb
291	0.85	146.0	2621	2194	2773	2651	721.6	0.0	10	733	1.23	2.90	429.40	1.335	10756	0.142	0.124	2976	789	2114	2161	2067	0	0	0	0	0	0	13.36	13.57	13.00
838	0.85	146.0	2976	789	2134	2041	650.8	10.5	115	844	0.00	2.75	0.00	0.000	1030	0.000	0.111	2976	2206	2086	2133	2040	0	0	0	0	0	0	14.08	13.96	14.12
1215	0.85	146.0	2976	2208	2131	2035	604.7	12.3	130	1220	0.00	2.72	0.00	0.000	260	0.000	0.145	2976	3616	2081	2130	2033	0	0	0	0	0	0	14.76	14.47	14.79
1235	0.85	146.0	2977	3616	2131	2034	601.9	13.7	134	1241	0.00	2.60	0.00	0.000	1030	0.000	0.098	2987	2188	2082	2130	2034	0	0	0	0	0	0	14.65	14.53	14.69
1605	0.85	146.0	2987	2187	2131	2032	552.0	13.8	148	1611	0.00	2.75	0.00	0.000	260	0.000	0.147	2987	3620	2080	2129	2032	0	0	0	0	0	0	15.01	14.62	15.00
1625	0.85	146.0	2987	3620	2130	2032	549.2	13.9	152	1631	0.00	2.62	0.00	0.000	1030	0.000	0.099	2998	2196	2080	2129	2031	0	0	0	0	0	0	14.73	14.66	14.86
1995	0.85	146.0	2998	2194	2129	2031	499.3	13.4	166	2000	0.00	2.62	0.00	0.000	516	0.000	0.126	3009	778	2079	2127	2031	0	0	0	0	0	0	15.04	14.69	15.07
2045	0.85	146.0	3009	779	2129	2032	492.5	13.5	176	2051	0.15	2.62	0.00	0.000	5126	0.228	0.113	2973	2214	2079	2128	2030	0	0	0	0	0	0	14.64	14.71	14.86
2356	0.85	146.0	2974	2214	2128	2029	455.8	11.6	193	2362	0.00	2.67	0.00	0.000	260	0.000	0.145	2973	3623	2077	2127	2028	0	0	0	0	0	0	15.04	14.69	15.07
2376	0.85	146.0	2974	3623	2128	2029	453.3	12.6	197	2383	0.00	2.58	0.00	0.000	1030	0.000	0.100	2982	2193	2078	2128	2029	0	0	0	0	0	0	14.89	14.75	14.93
2698	0.85	146.0	2982	2193	2128	2030	415.3	12.0	216	2703	0.00	2.60	0.00	0.000	516	0.000	0.129	2993	786	2078	2127	2029	0	0	0	0	0	0	15.10	14.71	15.13
2747	0.85	146.0	2993	787	2127	2030	409.3	12.2	226	2753	0.00	2.60	0.00	0.000	1030	0.000	0.115	2993	2207	2078	2127	2029	0	0	0	0	0	0	14.90	14.73	14.94
3057	0.85	146.0	2993	2208	2128	2028	370.0	12.6	243	3063	0.00	2.67	0.00	0.000	260	0.000	0.147	2993	3617	2077	2127	2028	0	0	0	0	0	0	15.11	14.71	15.14
3102	0.85	146.0	2994	3616	2128	2029	363.8	14.0	252	3108	0.00	2.60	0.00	0.000	1030	0.000	0.101	3003	2197	2077	2127	2028	0	0	0	0	0	0	14.83	14.75	14.88
3418	0.85	146.0	3003	2195	2128	2029	322.9	13.1	270	3423	0.00	2.62	0.00	0.000	516	0.000	0.129	3014	780	2077	2127	2028	0	0	0	0	0	0	15.08	14.72	15.10
3448	0.85	146.0	3014	781	2128	2029	318.9	13.6	276	3454	0.17	2.60	0.00	0.000	5126	0.219	0.115	2971	2205	2077	2127	2028	0	0	0	0	0	0	14.67	14.73	14.90
3758	0.85	146.0	2971	2206	2127	2028	283.9	11.1	300	3764	0.00	2.70	0.00	0.000	260	0.000	0.148	2971	3624	2076	2126	2027	0	0	0	0	0	0	15.11	14.69	15.14
3793	0.85	146.0	2972	3624	2127	2027	279.6	12.5	307	3800	0.00	2.62	0.00	0.000	1030	0.000	0.102	2981	2190	2077	2127	2027	0	0	0	0	0	0	14.95	14.73	14.97
4098	0.85	146.0	2981	2188	2127	2027	244.7	11.6	338	4104	0.00	2.62	0.00	0.000	516	0.000	0.129	2991	776	2076	2126	2027	0	0	0	0	0	0	15.11	14.70	15.14
4124	0.85	146.0	2991	777	2127	2027	241.8	12.0	343	4130	0.00	2.62	0.00	0.000	1030	0.000	0.115	2991	2208	2076	2126	2027	0	0	0	0	0	0	14.86	14.69	14.91
4428	0.85	146.0	2991	2208	2127	2026	207.5	11.3	374	4429	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2209	2076	2127	2026	0	0	0	0	0	0	15.11	15.14	15.14
4728	0.85	146.0	2991	2209	2127	2026	172.4	11.4	404	4729	0.00	0.00	0.00	0.000	6	0.000	0.000	2991	2208	2075	2126	2025	0	0	0	0	0	0	15.11	15.14	15.14
5028	0.85	146.0	2992	2209	2127	2025	139.7	10.7	434	5034	0.00	2.65	0.00	0.000	516	0.000	0.126	3002	780	2075	2126	2025	0	0	0	0	0	0	15.11	14.69	15.14
5058	0.85	146.0	3002	780	2127	2022	136.4	11.4	440	5064	0.00	2.62	0.00	0.000	1030	0.000	0.115	3002	2213	2075	2126	2025	0	0	0	0	0	0	14.88	14.71	14.94
5368	0.85	146.0	3002	2213	2127	2025	100.2	11.6	472	5375	0.00	2.67	0.00	0.000	260	0.000	0.147	3002	3616	2075	2126	2025	0	0	0	0	0	0	15.11	14.66	15.14
5394	0.85	146.0	3001	3617	2128	2026	96.9	13.0	477	5403	0.17	2.62	0.00	0.000	5126	0.248	0.101	2971	2163	2075	2126	2025	0	0	0	0	0	0	14.57	14.69	14.85
5700	0.85	146.0	2972	2161	2127	2024	66.5	9.8	508	5701	0.00	0.00	0.00	0.000	6	0.000	0.000	2971	2162	2074	2125	2024	0	0	0	0	0	0	15.07	15.09	15.09
5999	0.85	146.0	2971	2162	2127	2024	37.3	9.5	538	6005	0.00	2.58	0.00	0.000	516	0.000	0.129	2981	779	2075	2126	2024	0	0	0	0	0	0	15.11	14.66	15.14
6024	0.85	146.0	2981	780	2126	2025	34.8	10.0	543	6031	0.00	2.65	0.00	0.000	1030	0.000	0.117	2981	2219	2075	2126	2024	0	0	0	0	0	0	14.85	14.65	14.91
6329	0.85	146.0	2981	2219	2127	2024	3.1	10.2	574	6335	0.00	2.67	0.00	0.000	516	0.000	0.129	2991	786	2074	2126	2023	0	0	0	0	0	0	15.10	14.66	15.13
6338	end climb: SURFACE_DEPTH_REACHED
state	6338	begin surface coast
6349	end surface coast: CONTROL_FINISHED_OK
state	6349	begin surface