Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 212 * 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 212 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 390 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 140 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 180 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 390 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 140

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 180

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 212 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 23 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 270218,192300,-7407.3857,-11306.9023,35,1.0,35,53.8,0.3,332.0,9,4.7 SPEED_LIMITS 0.093,0.192

_CALLS 2 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.80 MHEAD_RNG_PITCHd_Wd 41.8,22199,-17.8,-9.286,-25.79,1889

_SM_ANGLEo -61.6 D_GRID 639

GPS2 270218,193025,-7407.3340,-11306.9414,3,0.9,4,53.8,0.1,0.0,11,5.4

Post-dive calculations and measurements:

FREEZE 1.06,-1.743,-1.862,2,1,0 ALTIM_TOP_PING 13.9,14.1

FINISH 1.1,1.027305 _24V_AH 12.25,73.128

SM_CCo 7179,163.62,0.223,0,0,2204,300.18 _10V_AH 12.44,0.000

SM_GC 0.74,8.80,0.50,163.62,0.115,0.099,0.223,188,2803,2204,-7.90,-0.62,300.18,0,0,0,0,0,0,14.55,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 292 FG_AHR_10Vo 0.000

RAFOS 0,1519765265,21.032778,21.018055,180,62,59,58,58,56,611,138,121,190,169,212 MEM 280240

RAFOS_FIX -7406.866699,-11304.285156,270218,212144,3,131,0.25 DATA_FILE_SIZE 26713,732

IRIDIUM_FIX -7406.27,-11259.54,270218,192502 CAP_FILE_SIZE 91746,0

TT8_MAMPS 0.038199,0.805924 CFSIZE 1024409600,996196352

HUMID 45.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.8

TCM_TEMP 12.80 CURRENT 0.130,20.72,1

XPDR_PINGS 0 GPS 270218,213403,-7406.908,-11303.512,12,1.8,13,53.8,0.2,0.0,6,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 462 131.82 nil 0 0 0.00

Roll_motor 58 98 71.11 nil 0 0 0.00

VBD_pump_during_apogee 247 2828 8571.30 nil 0 0 0.00

VBD_pump_during_surface 163 223 447.74 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 7179 7 655.44

Iridium_during_xfer 283 188 653.04 nil 0 0 0.00

Transponder_ping 18 420 95.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.67

TT8 0 0 0.00

LPSleep 5304 2 152.44

TT8_Active 583 10 78.84

TT8_Sampling 1787 30 674.97

TT8_CF8 126 51 80.87

TT8_Kalman 0 0 0.00

Analog_circuits 1425 10 179.10

GPS_charging 0 0 0.00

Compass 1052 6 88.24

RAFOS 720 1 13.44

Transponder 129 30 48.47

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 11.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 0.99 1.00

30.7 32.60 32.50 0.0 1.03 1.00 32.60 0.0 1.07 1.00

40.8 43.50 43.50 0.0 1.07 1.00 43.50 0.0 1.08 1.00

51.0 53.90 54.00 0.0 1.05 1.00 53.90 0.0 1.02 1.00

61.3 64.50 64.50 0.0 1.03 1.00 64.50 0.0 1.03 1.00

71.7 76.00 75.90 0.0 1.07 1.00 76.00 0.0 1.11 1.00

82.3 86.90 87.00 0.0 1.06 1.00 86.90 0.0 1.03 1.00

110.9 115.40 115.50 -4.6 1.00 1.00 115.40 -4.5 1.00 1.00

89.0 92.80 93.20 -4.2 1.01 1.00 92.80 -3.8 1.03 1.00

77.9 81.00 81.10 -3.2 1.04 1.00 81.00 -3.1 1.06 1.00

66.8 70.10 69.90 -3.1 1.03 1.00 70.10 -3.3 0.98 1.00

56.6 58.50 58.80 -2.2 1.05 1.00 58.50 -1.9 1.14 1.00

45.7 47.60 47.40 -1.7 1.07 1.00 47.60 -1.9 1.00 1.00

35.1 36.30 36.40 -1.3 1.04 1.00 36.30 -1.2 1.07 1.00

24.3 24.70 24.70 -0.4 1.07 1.00 24.70 -0.4 1.07 1.00

13.9 14.20 14.10 -0.2 1.04 1.00 14.20 -0.3 1.01 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 -0.96 -121.7 187 2809 2231 2123 0.0 0.0 0 122 0.00 0.00 -106.47 0.003 16390 0.000 0.000 186 2810 3890 3901 3879 0 0 0 0 0 0 14.59 12.92 14.59

124 -0.96 -121.7 188 2809 3903 3879 2.9 -3.7 11 142 11.98 1.95 0.00 0.000 2340 0.463 0.081 2407 3913 3898 3904 3892 0 0 0 0 0 0 13.99 14.33 14.28

366 -0.96 -121.7 2407 3913 3905 3903 36.8 -11.6 59 372 0.00 1.92 0.00 0.000 1030 0.000 0.050 2407 2787 3903 3903 3903 0 0 0 0 0 0 14.50 14.45 14.50

676 -0.96 -121.7 2406 2788 3904 3907 68.8 -10.9 91 682 0.00 2.40 0.00 0.000 516 0.000 0.053 2407 1392 3903 3904 3903 0 0 0 0 0 0 14.76 14.44 14.76

716 -0.96 -121.7 2405 1393 3904 3906 73.3 -11.1 99 722 0.00 2.50 0.00 0.000 1030 0.000 0.070 2401 2818 3904 3904 3905 0 0 0 0 0 0 14.57 14.45 14.59

1026 -0.96 -121.7 2402 2819 3904 3907 111.7 -12.1 131 1027 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2818 3905 3904 3906 0 0 0 0 0 0 14.80 14.80 14.80

1327 -0.96 -121.7 2401 2819 3904 3906 147.7 -11.6 161 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2816 3904 3904 3905 0 0 0 0 0 0 14.76 14.76 14.75

1626 -0.96 -121.7 2402 2819 3905 3907 181.2 -11.2 191 1632 0.00 2.42 0.00 0.000 516 0.000 0.052 2402 1393 3905 3904 3906 0 0 0 0 0 0 14.83 14.52 14.83

1696 -0.96 -121.7 2401 1393 3904 3907 188.8 -10.6 205 1704 0.00 2.50 0.00 0.000 1030 0.000 0.071 2400 2798 3904 3903 3906 0 0 0 0 0 0 14.64 14.47 14.66

2008 -0.96 -121.7 2401 2799 3905 3907 221.8 -10.7 237 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2798 3904 3903 3906 0 0 0 0 0 0 14.84 14.84 14.83

2308 -0.96 -121.7 2401 2798 3905 3906 254.3 -10.3 267 2313 0.00 2.42 0.00 0.000 516 0.000 0.051 2404 1362 3905 3904 3906 0 0 0 0 0 0 14.85 14.52 14.85

2403 -0.96 -121.7 2401 1362 3906 3906 264.1 -10.1 286 2410 0.00 2.53 0.00 0.000 1030 0.000 0.070 2400 2804 3904 3904 3905 0 0 0 0 0 0 14.52 14.41 14.55

2708 -0.96 -121.7 2401 2804 3905 3906 295.1 -10.6 317 2714 0.00 2.42 0.00 0.000 516 0.000 0.050 2400 1399 3904 3903 3906 0 0 0 0 0 0 14.85 14.50 14.84

2733 -0.96 -121.7 2401 1398 3905 3905 297.8 -11.7 322 2740 0.00 2.47 0.00 0.000 1030 0.000 0.070 2400 2818 3904 3904 3905 0 0 0 0 0 0 14.63 14.50 14.66

3039 -0.96 -121.7 2401 2818 3905 3906 329.5 -9.6 339 3044 0.00 2.42 0.00 0.000 516 0.000 0.050 2400 1396 3905 3904 3907 0 0 0 0 0 0 14.85 14.54 14.85

3074 -0.96 -121.7 2401 1397 3905 3906 332.7 -9.4 346 3081 0.00 2.50 0.00 0.000 1030 0.000 0.070 2400 2800 3903 3901 3906 0 0 0 0 0 0 14.55 14.47 14.66

3379 -0.96 -121.7 2400 2802 3904 3907 360.1 -9.4 362 3380 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2801 3905 3904 3906 0 0 0 0 0 0 14.85 14.85 14.85

3678 end dive: TARGET_DEPTH_EXCEEDED

state 3678 begin apogee

3682 -0.23 0.0 2401 2540 3905 3908 390.8 -9.9 377 3809 0.98 0.00 124.90 2.828 10246 0.254 0.000 2656 2540 3400 3404 3396 0 0 0 0 0 0 14.24 13.54 12.55

3810 end apogee: CONTROL_FINISHED_OK

state 3810 begin climb

3812 0.96 121.7 2657 2540 3404 3394 393.5 0.0 383 3945 1.33 2.78 122.50 2.729 10500 0.159 0.095 3035 3925 2913 2918 2908 0 0 0 0 0 0 13.47 13.19 12.25

3979 0.96 121.7 3035 3926 2917 2912 378.3 13.8 415 3985 0.00 2.50 0.00 0.000 1030 0.000 0.056 3044 2558 2909 2915 2903 0 0 0 0 0 0 13.62 13.55 13.63

4300 0.96 121.7 3045 2558 2908 2897 339.7 11.6 434 4301 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2558 2902 2907 2897 0 0 0 0 0 0 14.40 14.41 14.41

4599 0.96 121.7 3045 2558 2908 2896 303.7 12.7 449 4600 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2558 2901 2906 2896 0 0 0 0 0 0 14.64 14.64 14.64

4899 0.96 121.7 3045 2559 2907 2897 265.7 12.8 477 4905 0.00 2.45 0.00 0.000 260 0.000 0.096 3044 3918 2902 2908 2896 0 0 0 0 0 0 14.73 14.42 14.73

4920 0.96 121.7 3045 3918 2908 2896 262.8 14.2 481 4927 0.00 2.38 0.00 0.000 1030 0.000 0.057 3055 2542 2901 2907 2896 0 0 0 0 0 0 14.53 14.48 14.55

5231 0.96 121.7 3055 2542 2908 2896 225.6 12.3 513 5237 0.00 2.42 0.00 0.000 516 0.000 0.067 3065 1137 2901 2906 2896 0 0 0 0 0 0 14.79 14.46 14.79

5322 0.96 121.7 3065 1138 2907 2897 214.1 12.3 531 5327 0.00 2.47 0.00 0.000 1030 0.000 0.071 3065 2554 2901 2907 2896 0 0 0 0 0 0 14.61 14.50 14.64

5632 0.96 121.7 3065 2554 2908 2896 175.0 12.3 563 5638 0.00 2.42 0.00 0.000 260 0.000 0.097 3065 3910 2902 2908 2896 0 0 0 0 0 0 14.81 14.47 14.81

5708 0.96 121.7 3065 3910 2908 2897 164.5 13.9 578 5718 0.17 2.35 0.00 0.000 5126 0.302 0.057 3038 2514 2902 2908 2896 0 0 0 0 0 0 14.28 14.57 14.59

6013 0.96 121.7 3038 2514 2909 2896 131.6 10.6 609 6019 0.00 2.50 0.00 0.000 260 0.000 0.095 3037 3912 2901 2907 2896 0 0 0 0 0 0 14.81 14.49 14.81

6043 0.96 121.7 3037 3912 2909 2896 127.9 12.5 615 6049 0.00 2.35 0.00 0.000 1030 0.000 0.056 3047 2537 2901 2907 2896 0 0 0 0 0 0 14.59 14.59 14.64

6354 0.96 121.7 3046 2537 2909 2896 94.5 11.2 647 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2543 2902 2908 2896 0 0 0 0 0 0 14.86 14.86 14.86

6654 0.96 121.7 3047 2537 2909 2896 61.2 11.3 677 6660 0.00 2.47 0.00 0.000 260 0.000 0.096 3046 3918 2901 2907 2896 0 0 0 0 0 0 14.88 14.52 14.89

6690 0.96 121.7 3046 3919 2908 2897 56.6 13.3 684 6696 0.00 2.33 0.00 0.000 1030 0.000 0.057 3056 2533 2901 2907 2896 0 0 0 0 0 0 14.69 14.63 14.71

6994 0.96 121.7 3057 2533 2908 2896 19.7 11.5 715 6995 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2533 2901 2907 2896 0 0 0 0 0 0 14.88 14.88 14.89

7154 end climb: SURFACE_DEPTH_REACHED

state 7154 begin surface coast

7163 end surface coast: CONTROL_FINISHED_OK

state 7163 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	212	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	390	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	140	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	180	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	270218,192300,-7407.3857,-11306.9023,35,1.0,35,53.8,0.3,332.0,9,4.7	SPEED_LIMITS	0.093,0.192
_CALLS	2	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.80	MHEAD_RNG_PITCHd_Wd	41.8,22199,-17.8,-9.286,-25.79,1889
_SM_ANGLEo	-61.6	D_GRID	639
GPS2	270218,193025,-7407.3340,-11306.9414,3,0.9,4,53.8,0.1,0.0,11,5.4

FREEZE	1.06,-1.743,-1.862,2,1,0	ALTIM_TOP_PING	13.9,14.1
FINISH	1.1,1.027305	_24V_AH	12.25,73.128
SM_CCo	7179,163.62,0.223,0,0,2204,300.18	_10V_AH	12.44,0.000
SM_GC	0.74,8.80,0.50,163.62,0.115,0.099,0.223,188,2803,2204,-7.90,-0.62,300.18,0,0,0,0,0,0,14.55,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	292	FG_AHR_10Vo	0.000
RAFOS	0,1519765265,21.032778,21.018055,180,62,59,58,58,56,611,138,121,190,169,212	MEM	280240
RAFOS_FIX	-7406.866699,-11304.285156,270218,212144,3,131,0.25	DATA_FILE_SIZE	26713,732
IRIDIUM_FIX	-7406.27,-11259.54,270218,192502	CAP_FILE_SIZE	91746,0
TT8_MAMPS	0.038199,0.805924	CFSIZE	1024409600,996196352
HUMID	45.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.8
TCM_TEMP	12.80	CURRENT	0.130,20.72,1
XPDR_PINGS	0	GPS	270218,213403,-7406.908,-11303.512,12,1.8,13,53.8,0.2,0.0,6,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	462	131.82	nil	0	0	0.00
Roll_motor	58	98	71.11	nil	0	0	0.00
VBD_pump_during_apogee	247	2828	8571.30	nil	0	0	0.00
VBD_pump_during_surface	163	223	447.74	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	7179	7	655.44
Iridium_during_xfer	283	188	653.04	nil	0	0	0.00
Transponder_ping	18	420	95.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.67
TT8	0	0	0.00
LPSleep	5304	2	152.44
TT8_Active	583	10	78.84
TT8_Sampling	1787	30	674.97
TT8_CF8	126	51	80.87
TT8_Kalman	0	0	0.00
Analog_circuits	1425	10	179.10
GPS_charging	0	0	0.00
Compass	1052	6	88.24
RAFOS	720	1	13.44
Transponder	129	30	48.47

		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	11.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	0.99	1.00
30.7	32.60	32.50	0.0	1.03	1.00	32.60	0.0	1.07	1.00
40.8	43.50	43.50	0.0	1.07	1.00	43.50	0.0	1.08	1.00
51.0	53.90	54.00	0.0	1.05	1.00	53.90	0.0	1.02	1.00
61.3	64.50	64.50	0.0	1.03	1.00	64.50	0.0	1.03	1.00
71.7	76.00	75.90	0.0	1.07	1.00	76.00	0.0	1.11	1.00
82.3	86.90	87.00	0.0	1.06	1.00	86.90	0.0	1.03	1.00

110.9	115.40	115.50	-4.6	1.00	1.00	115.40	-4.5	1.00	1.00
89.0	92.80	93.20	-4.2	1.01	1.00	92.80	-3.8	1.03	1.00
77.9	81.00	81.10	-3.2	1.04	1.00	81.00	-3.1	1.06	1.00
66.8	70.10	69.90	-3.1	1.03	1.00	70.10	-3.3	0.98	1.00
56.6	58.50	58.80	-2.2	1.05	1.00	58.50	-1.9	1.14	1.00
45.7	47.60	47.40	-1.7	1.07	1.00	47.60	-1.9	1.00	1.00
35.1	36.30	36.40	-1.3	1.04	1.00	36.30	-1.2	1.07	1.00
24.3	24.70	24.70	-0.4	1.07	1.00	24.70	-0.4	1.07	1.00
13.9	14.20	14.10	-0.2	1.04	1.00	14.20	-0.3	1.01	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	-0.96	-121.7	187	2809	2231	2123	0.0	0.0	0	122	0.00	0.00	-106.47	0.003	16390	0.000	0.000	186	2810	3890	3901	3879	0	0	0	0	0	0	14.59	12.92	14.59
124	-0.96	-121.7	188	2809	3903	3879	2.9	-3.7	11	142	11.98	1.95	0.00	0.000	2340	0.463	0.081	2407	3913	3898	3904	3892	0	0	0	0	0	0	13.99	14.33	14.28
366	-0.96	-121.7	2407	3913	3905	3903	36.8	-11.6	59	372	0.00	1.92	0.00	0.000	1030	0.000	0.050	2407	2787	3903	3903	3903	0	0	0	0	0	0	14.50	14.45	14.50
676	-0.96	-121.7	2406	2788	3904	3907	68.8	-10.9	91	682	0.00	2.40	0.00	0.000	516	0.000	0.053	2407	1392	3903	3904	3903	0	0	0	0	0	0	14.76	14.44	14.76
716	-0.96	-121.7	2405	1393	3904	3906	73.3	-11.1	99	722	0.00	2.50	0.00	0.000	1030	0.000	0.070	2401	2818	3904	3904	3905	0	0	0	0	0	0	14.57	14.45	14.59
1026	-0.96	-121.7	2402	2819	3904	3907	111.7	-12.1	131	1027	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2818	3905	3904	3906	0	0	0	0	0	0	14.80	14.80	14.80
1327	-0.96	-121.7	2401	2819	3904	3906	147.7	-11.6	161	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2816	3904	3904	3905	0	0	0	0	0	0	14.76	14.76	14.75
1626	-0.96	-121.7	2402	2819	3905	3907	181.2	-11.2	191	1632	0.00	2.42	0.00	0.000	516	0.000	0.052	2402	1393	3905	3904	3906	0	0	0	0	0	0	14.83	14.52	14.83
1696	-0.96	-121.7	2401	1393	3904	3907	188.8	-10.6	205	1704	0.00	2.50	0.00	0.000	1030	0.000	0.071	2400	2798	3904	3903	3906	0	0	0	0	0	0	14.64	14.47	14.66
2008	-0.96	-121.7	2401	2799	3905	3907	221.8	-10.7	237	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2798	3904	3903	3906	0	0	0	0	0	0	14.84	14.84	14.83
2308	-0.96	-121.7	2401	2798	3905	3906	254.3	-10.3	267	2313	0.00	2.42	0.00	0.000	516	0.000	0.051	2404	1362	3905	3904	3906	0	0	0	0	0	0	14.85	14.52	14.85
2403	-0.96	-121.7	2401	1362	3906	3906	264.1	-10.1	286	2410	0.00	2.53	0.00	0.000	1030	0.000	0.070	2400	2804	3904	3904	3905	0	0	0	0	0	0	14.52	14.41	14.55
2708	-0.96	-121.7	2401	2804	3905	3906	295.1	-10.6	317	2714	0.00	2.42	0.00	0.000	516	0.000	0.050	2400	1399	3904	3903	3906	0	0	0	0	0	0	14.85	14.50	14.84
2733	-0.96	-121.7	2401	1398	3905	3905	297.8	-11.7	322	2740	0.00	2.47	0.00	0.000	1030	0.000	0.070	2400	2818	3904	3904	3905	0	0	0	0	0	0	14.63	14.50	14.66
3039	-0.96	-121.7	2401	2818	3905	3906	329.5	-9.6	339	3044	0.00	2.42	0.00	0.000	516	0.000	0.050	2400	1396	3905	3904	3907	0	0	0	0	0	0	14.85	14.54	14.85
3074	-0.96	-121.7	2401	1397	3905	3906	332.7	-9.4	346	3081	0.00	2.50	0.00	0.000	1030	0.000	0.070	2400	2800	3903	3901	3906	0	0	0	0	0	0	14.55	14.47	14.66
3379	-0.96	-121.7	2400	2802	3904	3907	360.1	-9.4	362	3380	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2801	3905	3904	3906	0	0	0	0	0	0	14.85	14.85	14.85
3678	end dive: TARGET_DEPTH_EXCEEDED
state	3678	begin apogee
3682	-0.23	0.0	2401	2540	3905	3908	390.8	-9.9	377	3809	0.98	0.00	124.90	2.828	10246	0.254	0.000	2656	2540	3400	3404	3396	0	0	0	0	0	0	14.24	13.54	12.55
3810	end apogee: CONTROL_FINISHED_OK
state	3810	begin climb
3812	0.96	121.7	2657	2540	3404	3394	393.5	0.0	383	3945	1.33	2.78	122.50	2.729	10500	0.159	0.095	3035	3925	2913	2918	2908	0	0	0	0	0	0	13.47	13.19	12.25
3979	0.96	121.7	3035	3926	2917	2912	378.3	13.8	415	3985	0.00	2.50	0.00	0.000	1030	0.000	0.056	3044	2558	2909	2915	2903	0	0	0	0	0	0	13.62	13.55	13.63
4300	0.96	121.7	3045	2558	2908	2897	339.7	11.6	434	4301	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2558	2902	2907	2897	0	0	0	0	0	0	14.40	14.41	14.41
4599	0.96	121.7	3045	2558	2908	2896	303.7	12.7	449	4600	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2558	2901	2906	2896	0	0	0	0	0	0	14.64	14.64	14.64
4899	0.96	121.7	3045	2559	2907	2897	265.7	12.8	477	4905	0.00	2.45	0.00	0.000	260	0.000	0.096	3044	3918	2902	2908	2896	0	0	0	0	0	0	14.73	14.42	14.73
4920	0.96	121.7	3045	3918	2908	2896	262.8	14.2	481	4927	0.00	2.38	0.00	0.000	1030	0.000	0.057	3055	2542	2901	2907	2896	0	0	0	0	0	0	14.53	14.48	14.55
5231	0.96	121.7	3055	2542	2908	2896	225.6	12.3	513	5237	0.00	2.42	0.00	0.000	516	0.000	0.067	3065	1137	2901	2906	2896	0	0	0	0	0	0	14.79	14.46	14.79
5322	0.96	121.7	3065	1138	2907	2897	214.1	12.3	531	5327	0.00	2.47	0.00	0.000	1030	0.000	0.071	3065	2554	2901	2907	2896	0	0	0	0	0	0	14.61	14.50	14.64
5632	0.96	121.7	3065	2554	2908	2896	175.0	12.3	563	5638	0.00	2.42	0.00	0.000	260	0.000	0.097	3065	3910	2902	2908	2896	0	0	0	0	0	0	14.81	14.47	14.81
5708	0.96	121.7	3065	3910	2908	2897	164.5	13.9	578	5718	0.17	2.35	0.00	0.000	5126	0.302	0.057	3038	2514	2902	2908	2896	0	0	0	0	0	0	14.28	14.57	14.59
6013	0.96	121.7	3038	2514	2909	2896	131.6	10.6	609	6019	0.00	2.50	0.00	0.000	260	0.000	0.095	3037	3912	2901	2907	2896	0	0	0	0	0	0	14.81	14.49	14.81
6043	0.96	121.7	3037	3912	2909	2896	127.9	12.5	615	6049	0.00	2.35	0.00	0.000	1030	0.000	0.056	3047	2537	2901	2907	2896	0	0	0	0	0	0	14.59	14.59	14.64
6354	0.96	121.7	3046	2537	2909	2896	94.5	11.2	647	6354	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2543	2902	2908	2896	0	0	0	0	0	0	14.86	14.86	14.86
6654	0.96	121.7	3047	2537	2909	2896	61.2	11.3	677	6660	0.00	2.47	0.00	0.000	260	0.000	0.096	3046	3918	2901	2907	2896	0	0	0	0	0	0	14.88	14.52	14.89
6690	0.96	121.7	3046	3919	2908	2897	56.6	13.3	684	6696	0.00	2.33	0.00	0.000	1030	0.000	0.057	3056	2533	2901	2907	2896	0	0	0	0	0	0	14.69	14.63	14.71
6994	0.96	121.7	3057	2533	2908	2896	19.7	11.5	715	6995	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2533	2901	2907	2896	0	0	0	0	0	0	14.88	14.88	14.89
7154	end climb: SURFACE_DEPTH_REACHED
state	7154	begin surface coast
7163	end surface coast: CONTROL_FINISHED_OK
state	7163	begin surface