Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 204 * 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 204 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 38 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 28 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 204 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 28 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 270218,061330,-7407.7178,-11318.6875,32,1.1,32,53.9,0.2,0.0,7,4.6 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 199.9,3203,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.9 D_GRID 319

GPS2 270218,061900,-7407.6904,-11318.7148,3,1.0,4,53.9,0.1,0.0,8,5.2

Post-dive calculations and measurements:

FREEZE 0.58,-1.657,-1.860,2,1,0 _24V_AH 12.50,71.243

FINISH 0.6,1.027293 _10V_AH 12.65,0.000

SM_CCo 5422,163.82,0.221,0,0,2204,300.18 FG_AHR_24Vo 0.000

SM_GC 0.83,8.50,2.97,163.82,0.071,0.071,0.221,185,2799,2204,-7.90,-0.59,300.18,0,0,0,0,0,0,14.55,14.53,14.22 FG_AHR_10Vo 0.000

RAFOS_CLK 221 MEM 280192

RAFOS_FIX -7407.843750,-11318.047852,270218,070735,0,1,0.08 DATA_FILE_SIZE 20088,606

IRIDIUM_FIX -7407.14,-11317.07,270218,043145 CAP_FILE_SIZE 79535,0

TT8_MAMPS 0.038199,0.368508 CFSIZE 1024409600,996999168

HUMID 45.03 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 13.10 CURRENT 0.114,339.82,1

XPDR_PINGS 0 GPS 270218,075331,-7407.519,-11321.309,18,1.0,18,54.0,0.1,0.0,8,4.0

ALTIM_TOP_PING 14.0,14.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 476 138.96 nil 0 0 0.00

Roll_motor 58 95 69.87 nil 0 0 0.00

VBD_pump_during_apogee 226 2282 6457.36 nil 0 0 0.00

VBD_pump_during_surface 163 221 452.74 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 5419 7 497.94

Iridium_during_xfer 219 188 517.29 nil 0 0 0.00

Transponder_ping 15 420 80.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.63

TT8 0 0 0.00

LPSleep 3771 2 110.22

TT8_Active 567 10 78.02

TT8_Sampling 1485 30 570.46

TT8_CF8 114 51 74.12

TT8_Kalman 0 0 0.00

Analog_circuits 1260 10 161.03

GPS_charging 0 0 0.00

Compass 873 6 74.43

RAFOS 0 0 0.00

Transponder 108 30 41.06

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

10.5 11.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.5 22.70 9000.00 0.0 0.00 0.00 22.70 0.0 1.02 1.00

32.4 34.30 34.20 0.0 1.04 1.00 34.30 0.0 1.06 1.00

42.9 46.10 46.00 0.0 1.10 1.00 46.10 0.0 1.12 1.00

53.7 56.50 56.80 0.0 1.04 1.00 56.50 0.0 0.96 1.00

63.8 66.80 66.70 0.0 0.99 1.00 66.80 0.0 1.02 1.00

95.7 101.40 101.40 0.0 1.07 1.00 101.40 0.0 1.08 1.00

142.2 150.00 150.20 -8.0 1.06 1.00 150.00 -7.8 1.05 1.00

88.4 92.60 93.20 -4.8 1.06 1.00 92.60 -4.2 1.07 1.00

78.0 81.00 81.20 -3.2 1.07 1.00 81.00 -3.0 1.12 1.00

67.1 69.60 69.50 -2.4 1.08 1.00 69.60 -2.5 1.05 1.00

56.7 58.80 58.80 -2.1 1.04 1.00 58.80 -2.1 1.04 1.00

46.5 48.40 48.40 -1.9 1.03 1.00 48.40 -1.9 1.02 1.00

35.5 36.40 36.50 -1.0 1.06 1.00 36.40 -0.9 1.09 1.00

25.0 25.60 25.50 -0.5 1.06 1.00 25.60 -0.6 1.03 1.00

14.0 14.10 14.10 -0.1 1.04 1.00 14.10 -0.1 1.05 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 -121.7 186 2812 2235 2127 0.0 0.0 0 122 0.00 0.00 -106.25 0.003 16390 0.000 0.000 185 2812 3890 3902 3878 0 0 0 0 0 0 14.59 12.92 14.59

125 -1.04 -121.7 186 2812 3903 3879 3.0 -4.0 11 142 12.20 2.50 0.00 0.000 2596 0.477 0.048 2399 1389 3897 3903 3892 0 0 0 0 0 0 13.97 14.35 14.40

232 -1.04 -121.7 2399 1389 3904 3901 18.6 -10.8 32 238 0.00 2.50 0.00 0.000 1030 0.000 0.068 2388 2801 3903 3904 3902 0 0 0 0 0 0 14.47 14.36 14.50

536 -1.04 -121.7 2390 2801 3905 3904 57.4 -12.3 63 542 0.00 2.47 0.00 0.000 516 0.000 0.051 2389 1387 3903 3904 3903 0 0 0 0 0 0 14.73 14.41 14.73

566 -1.04 -121.7 2389 1387 3904 3904 61.1 -12.2 69 573 0.00 2.53 0.00 0.000 1030 0.000 0.069 2384 2819 3904 3904 3904 0 0 0 0 0 0 14.54 14.42 14.58

877 -1.04 -121.7 2385 2819 3905 3904 100.7 -12.4 101 884 0.00 1.98 0.00 0.000 260 0.000 0.092 2377 3912 3904 3904 3905 0 0 0 0 0 0 14.78 14.42 14.78

943 -1.04 -121.7 2378 3912 3905 3904 109.8 -14.0 114 950 0.00 1.90 0.00 0.000 1030 0.000 0.050 2377 2796 3904 3904 3904 0 0 0 0 0 0 14.46 14.46 14.47

1248 -1.04 -121.7 2378 2797 3904 3905 150.4 -12.7 145 1255 0.00 2.03 0.00 0.000 260 0.000 0.090 2369 3905 3904 3904 3904 0 0 0 0 0 0 14.80 14.43 14.81

1284 -1.04 -121.7 2371 3907 3904 3905 155.0 -13.4 152 1291 0.00 1.90 0.00 0.000 1030 0.000 0.048 2370 2794 3903 3902 3905 0 0 0 0 0 0 14.45 14.42 14.47

1589 -1.04 -121.7 2371 2795 3905 3905 194.0 -12.4 183 1590 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2794 3904 3904 3904 0 0 0 0 0 0 14.85 14.83 14.81

1889 -1.04 -121.7 2375 2795 3904 3906 229.8 -11.5 213 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 2371 2794 3908 3912 3905 0 0 0 0 0 0 14.82 14.82 14.82

2189 -1.04 -121.7 2371 2795 3905 3905 264.1 -11.7 243 2195 0.00 2.42 0.00 0.000 516 0.000 0.050 2370 1389 3903 3903 3904 0 0 0 0 0 0 14.81 14.47 14.81

2319 -1.04 -121.7 2371 1389 3904 3906 278.8 -10.8 269 2326 0.00 2.55 0.00 0.000 1030 0.000 0.070 2370 2811 3904 3904 3904 0 0 0 0 0 0 14.54 14.46 14.65

2630 -1.04 -121.7 2370 2811 3905 3904 314.3 -11.6 295 2631 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2811 3904 3904 3904 0 0 0 0 0 0 14.81 14.81 14.81

2688 end dive: TARGET_DEPTH_EXCEEDED

state 2689 begin apogee

2693 -0.23 0.0 2371 2538 3905 3904 320.8 -11.1 298 2813 1.10 0.00 114.75 2.283 10246 0.267 0.000 2654 2538 3398 3403 3394 0 0 0 0 0 0 14.22 13.78 12.92

2814 end apogee: CONTROL_FINISHED_OK

state 2814 begin climb

2815 1.04 121.7 2656 2537 3404 3394 323.7 0.0 304 2936 1.38 2.70 111.55 2.194 10756 0.162 0.066 3064 1160 2911 2916 2906 0 0 0 0 0 0 13.71 13.31 12.50

2950 1.04 121.7 3064 1161 2913 2903 312.5 11.6 329 2958 0.00 2.70 0.00 0.000 1030 0.000 0.070 3064 2576 2906 2912 2901 0 0 0 0 0 0 13.54 13.46 13.57

3257 1.04 121.7 3064 2576 2906 2895 272.6 12.8 357 3258 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2576 2899 2905 2894 0 0 0 0 0 0 14.40 14.40 14.40

3557 1.04 121.7 3064 2577 2904 2894 234.7 12.8 387 3563 0.00 2.50 0.00 0.000 516 0.000 0.067 3073 1160 2898 2904 2893 0 0 0 0 0 0 14.63 14.31 14.63

3652 1.04 121.7 3074 1161 2904 2893 223.1 12.0 406 3659 0.00 2.47 0.00 0.000 1030 0.000 0.070 3073 2558 2897 2903 2892 0 0 0 0 0 0 14.48 14.37 14.51

3957 1.04 121.7 3074 2558 2905 2892 184.0 13.0 437 3964 0.00 2.47 0.00 0.000 260 0.000 0.095 3073 3928 2898 2904 2892 0 0 0 0 0 0 14.75 14.41 14.75

4008 1.04 121.7 3074 3929 2905 2892 176.4 15.4 447 4014 0.00 2.40 0.00 0.000 1030 0.000 0.057 3084 2545 2898 2904 2893 0 0 0 0 0 0 14.54 14.49 14.56

4318 1.04 121.7 3084 2545 2905 2892 134.4 12.8 479 4324 0.00 2.42 0.00 0.000 516 0.000 0.067 3094 1153 2898 2904 2892 0 0 0 0 0 0 14.81 14.47 14.81

4368 1.04 121.7 3095 1153 2905 2892 127.8 13.3 489 4375 0.15 2.50 0.00 0.000 5126 0.290 0.072 3063 2577 2898 2904 2892 0 0 0 0 0 0 14.26 14.49 14.57

4679 1.04 121.7 3063 2578 2905 2893 89.7 11.7 521 4685 0.00 2.42 0.00 0.000 260 0.000 0.094 3063 3904 2898 2904 2893 0 0 0 0 0 0 14.83 14.50 14.83

4710 1.04 121.7 3063 3905 2905 2894 85.6 14.2 527 4715 0.00 2.33 0.00 0.000 1030 0.000 0.058 3068 2536 2898 2904 2892 0 0 0 0 0 0 14.66 14.59 14.68

5020 1.04 121.7 3071 2537 2904 2893 48.5 11.8 559 5025 0.00 2.47 0.00 0.000 260 0.000 0.096 3071 3911 2897 2903 2892 0 0 0 0 0 0 14.85 14.50 14.85

5045 1.04 121.7 3071 3912 2906 2893 45.1 14.0 564 5052 0.00 2.38 0.00 0.000 1030 0.000 0.057 3082 2537 2898 2905 2892 0 0 0 0 0 0 14.62 14.57 14.64

5350 1.04 121.7 3081 2537 2906 2893 7.3 11.1 595 5356 0.00 2.47 0.00 0.000 516 0.000 0.070 3092 1143 2897 2905 2890 0 0 0 0 0 0 14.87 14.49 14.87

5394 end climb: SURFACE_DEPTH_REACHED

state 5394 begin surface coast

5405 end surface coast: CONTROL_FINISHED_OK

state 5405 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	204	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	38	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	28	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	270218,061330,-7407.7178,-11318.6875,32,1.1,32,53.9,0.2,0.0,7,4.6	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	199.9,3203,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.9	D_GRID	319
GPS2	270218,061900,-7407.6904,-11318.7148,3,1.0,4,53.9,0.1,0.0,8,5.2

FREEZE	0.58,-1.657,-1.860,2,1,0	_24V_AH	12.50,71.243
FINISH	0.6,1.027293	_10V_AH	12.65,0.000
SM_CCo	5422,163.82,0.221,0,0,2204,300.18	FG_AHR_24Vo	0.000
SM_GC	0.83,8.50,2.97,163.82,0.071,0.071,0.221,185,2799,2204,-7.90,-0.59,300.18,0,0,0,0,0,0,14.55,14.53,14.22	FG_AHR_10Vo	0.000
RAFOS_CLK	221	MEM	280192
RAFOS_FIX	-7407.843750,-11318.047852,270218,070735,0,1,0.08	DATA_FILE_SIZE	20088,606
IRIDIUM_FIX	-7407.14,-11317.07,270218,043145	CAP_FILE_SIZE	79535,0
TT8_MAMPS	0.038199,0.368508	CFSIZE	1024409600,996999168
HUMID	45.03	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	13.10	CURRENT	0.114,339.82,1
XPDR_PINGS	0	GPS	270218,075331,-7407.519,-11321.309,18,1.0,18,54.0,0.1,0.0,8,4.0
ALTIM_TOP_PING	14.0,14.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	476	138.96	nil	0	0	0.00
Roll_motor	58	95	69.87	nil	0	0	0.00
VBD_pump_during_apogee	226	2282	6457.36	nil	0	0	0.00
VBD_pump_during_surface	163	221	452.74	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	5419	7	497.94
Iridium_during_xfer	219	188	517.29	nil	0	0	0.00
Transponder_ping	15	420	80.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.63
TT8	0	0	0.00
LPSleep	3771	2	110.22
TT8_Active	567	10	78.02
TT8_Sampling	1485	30	570.46
TT8_CF8	114	51	74.12
TT8_Kalman	0	0	0.00
Analog_circuits	1260	10	161.03
GPS_charging	0	0	0.00
Compass	873	6	74.43
RAFOS	0	0	0.00
Transponder	108	30	41.06

		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
10.5	11.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.5	22.70	9000.00	0.0	0.00	0.00	22.70	0.0	1.02	1.00
32.4	34.30	34.20	0.0	1.04	1.00	34.30	0.0	1.06	1.00
42.9	46.10	46.00	0.0	1.10	1.00	46.10	0.0	1.12	1.00
53.7	56.50	56.80	0.0	1.04	1.00	56.50	0.0	0.96	1.00
63.8	66.80	66.70	0.0	0.99	1.00	66.80	0.0	1.02	1.00
95.7	101.40	101.40	0.0	1.07	1.00	101.40	0.0	1.08	1.00

142.2	150.00	150.20	-8.0	1.06	1.00	150.00	-7.8	1.05	1.00
88.4	92.60	93.20	-4.8	1.06	1.00	92.60	-4.2	1.07	1.00
78.0	81.00	81.20	-3.2	1.07	1.00	81.00	-3.0	1.12	1.00
67.1	69.60	69.50	-2.4	1.08	1.00	69.60	-2.5	1.05	1.00
56.7	58.80	58.80	-2.1	1.04	1.00	58.80	-2.1	1.04	1.00
46.5	48.40	48.40	-1.9	1.03	1.00	48.40	-1.9	1.02	1.00
35.5	36.40	36.50	-1.0	1.06	1.00	36.40	-0.9	1.09	1.00
25.0	25.60	25.50	-0.5	1.06	1.00	25.60	-0.6	1.03	1.00
14.0	14.10	14.10	-0.1	1.04	1.00	14.10	-0.1	1.05	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	186	2812	2235	2127	0.0	0.0	0	122	0.00	0.00	-106.25	0.003	16390	0.000	0.000	185	2812	3890	3902	3878	0	0	0	0	0	0	14.59	12.92	14.59
125	-1.04	-121.7	186	2812	3903	3879	3.0	-4.0	11	142	12.20	2.50	0.00	0.000	2596	0.477	0.048	2399	1389	3897	3903	3892	0	0	0	0	0	0	13.97	14.35	14.40
232	-1.04	-121.7	2399	1389	3904	3901	18.6	-10.8	32	238	0.00	2.50	0.00	0.000	1030	0.000	0.068	2388	2801	3903	3904	3902	0	0	0	0	0	0	14.47	14.36	14.50
536	-1.04	-121.7	2390	2801	3905	3904	57.4	-12.3	63	542	0.00	2.47	0.00	0.000	516	0.000	0.051	2389	1387	3903	3904	3903	0	0	0	0	0	0	14.73	14.41	14.73
566	-1.04	-121.7	2389	1387	3904	3904	61.1	-12.2	69	573	0.00	2.53	0.00	0.000	1030	0.000	0.069	2384	2819	3904	3904	3904	0	0	0	0	0	0	14.54	14.42	14.58
877	-1.04	-121.7	2385	2819	3905	3904	100.7	-12.4	101	884	0.00	1.98	0.00	0.000	260	0.000	0.092	2377	3912	3904	3904	3905	0	0	0	0	0	0	14.78	14.42	14.78
943	-1.04	-121.7	2378	3912	3905	3904	109.8	-14.0	114	950	0.00	1.90	0.00	0.000	1030	0.000	0.050	2377	2796	3904	3904	3904	0	0	0	0	0	0	14.46	14.46	14.47
1248	-1.04	-121.7	2378	2797	3904	3905	150.4	-12.7	145	1255	0.00	2.03	0.00	0.000	260	0.000	0.090	2369	3905	3904	3904	3904	0	0	0	0	0	0	14.80	14.43	14.81
1284	-1.04	-121.7	2371	3907	3904	3905	155.0	-13.4	152	1291	0.00	1.90	0.00	0.000	1030	0.000	0.048	2370	2794	3903	3902	3905	0	0	0	0	0	0	14.45	14.42	14.47
1589	-1.04	-121.7	2371	2795	3905	3905	194.0	-12.4	183	1590	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2794	3904	3904	3904	0	0	0	0	0	0	14.85	14.83	14.81
1889	-1.04	-121.7	2375	2795	3904	3906	229.8	-11.5	213	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	2371	2794	3908	3912	3905	0	0	0	0	0	0	14.82	14.82	14.82
2189	-1.04	-121.7	2371	2795	3905	3905	264.1	-11.7	243	2195	0.00	2.42	0.00	0.000	516	0.000	0.050	2370	1389	3903	3903	3904	0	0	0	0	0	0	14.81	14.47	14.81
2319	-1.04	-121.7	2371	1389	3904	3906	278.8	-10.8	269	2326	0.00	2.55	0.00	0.000	1030	0.000	0.070	2370	2811	3904	3904	3904	0	0	0	0	0	0	14.54	14.46	14.65
2630	-1.04	-121.7	2370	2811	3905	3904	314.3	-11.6	295	2631	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2811	3904	3904	3904	0	0	0	0	0	0	14.81	14.81	14.81
2688	end dive: TARGET_DEPTH_EXCEEDED
state	2689	begin apogee
2693	-0.23	0.0	2371	2538	3905	3904	320.8	-11.1	298	2813	1.10	0.00	114.75	2.283	10246	0.267	0.000	2654	2538	3398	3403	3394	0	0	0	0	0	0	14.22	13.78	12.92
2814	end apogee: CONTROL_FINISHED_OK
state	2814	begin climb
2815	1.04	121.7	2656	2537	3404	3394	323.7	0.0	304	2936	1.38	2.70	111.55	2.194	10756	0.162	0.066	3064	1160	2911	2916	2906	0	0	0	0	0	0	13.71	13.31	12.50
2950	1.04	121.7	3064	1161	2913	2903	312.5	11.6	329	2958	0.00	2.70	0.00	0.000	1030	0.000	0.070	3064	2576	2906	2912	2901	0	0	0	0	0	0	13.54	13.46	13.57
3257	1.04	121.7	3064	2576	2906	2895	272.6	12.8	357	3258	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2576	2899	2905	2894	0	0	0	0	0	0	14.40	14.40	14.40
3557	1.04	121.7	3064	2577	2904	2894	234.7	12.8	387	3563	0.00	2.50	0.00	0.000	516	0.000	0.067	3073	1160	2898	2904	2893	0	0	0	0	0	0	14.63	14.31	14.63
3652	1.04	121.7	3074	1161	2904	2893	223.1	12.0	406	3659	0.00	2.47	0.00	0.000	1030	0.000	0.070	3073	2558	2897	2903	2892	0	0	0	0	0	0	14.48	14.37	14.51
3957	1.04	121.7	3074	2558	2905	2892	184.0	13.0	437	3964	0.00	2.47	0.00	0.000	260	0.000	0.095	3073	3928	2898	2904	2892	0	0	0	0	0	0	14.75	14.41	14.75
4008	1.04	121.7	3074	3929	2905	2892	176.4	15.4	447	4014	0.00	2.40	0.00	0.000	1030	0.000	0.057	3084	2545	2898	2904	2893	0	0	0	0	0	0	14.54	14.49	14.56
4318	1.04	121.7	3084	2545	2905	2892	134.4	12.8	479	4324	0.00	2.42	0.00	0.000	516	0.000	0.067	3094	1153	2898	2904	2892	0	0	0	0	0	0	14.81	14.47	14.81
4368	1.04	121.7	3095	1153	2905	2892	127.8	13.3	489	4375	0.15	2.50	0.00	0.000	5126	0.290	0.072	3063	2577	2898	2904	2892	0	0	0	0	0	0	14.26	14.49	14.57
4679	1.04	121.7	3063	2578	2905	2893	89.7	11.7	521	4685	0.00	2.42	0.00	0.000	260	0.000	0.094	3063	3904	2898	2904	2893	0	0	0	0	0	0	14.83	14.50	14.83
4710	1.04	121.7	3063	3905	2905	2894	85.6	14.2	527	4715	0.00	2.33	0.00	0.000	1030	0.000	0.058	3068	2536	2898	2904	2892	0	0	0	0	0	0	14.66	14.59	14.68
5020	1.04	121.7	3071	2537	2904	2893	48.5	11.8	559	5025	0.00	2.47	0.00	0.000	260	0.000	0.096	3071	3911	2897	2903	2892	0	0	0	0	0	0	14.85	14.50	14.85
5045	1.04	121.7	3071	3912	2906	2893	45.1	14.0	564	5052	0.00	2.38	0.00	0.000	1030	0.000	0.057	3082	2537	2898	2905	2892	0	0	0	0	0	0	14.62	14.57	14.64
5350	1.04	121.7	3081	2537	2906	2893	7.3	11.1	595	5356	0.00	2.47	0.00	0.000	516	0.000	0.070	3092	1143	2897	2905	2890	0	0	0	0	0	0	14.87	14.49	14.87
5394	end climb: SURFACE_DEPTH_REACHED
state	5394	begin surface coast
5405	end surface coast: CONTROL_FINISHED_OK
state	5405	begin surface