Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 31 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0099999998 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 31 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 SM_CC 350 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 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 1 VBD_CNV -0.25119999 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 270 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 310 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 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 0.30000001 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 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 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 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 785

AD7714Ch0Gain 1 D_TGT 800 N_NOCOMM 1 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 0 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 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 2 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 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 270

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 310

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 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 20

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 31 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 0 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 280118,032631,-7355.0977,-11310.1279,30,1.0,30,53.5,1.0,312.5,7,3.7 SPEED_LIMITS 0.171,0.250

_CALLS 1 TGT_NAME M1

_XMS_NAKs 0 TGT_LATLONG -7406.000,-13000.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 193.1,512679,-16.3,-9.877,-21.56,2183

_SM_ANGLEo -60.9 D_GRID 365

GPS2 280118,033200,-7355.0684,-11310.3291,2,0.9,3,53.5,0.4,62.7,8,8.7

Post-dive calculations and measurements:

FREEZE 0.44,-0.897,-1.859,2,1,0 _24V_AH 12.28,19.502

FINISH 0.4,1.027243 _10V_AH 12.56,0.000

SM_CCo 6590,175.05,0.230,0,0,1572,350.17 FG_AHR_24Vo 0.000

SM_GC 0.88,8.50,0.47,175.05,0.091,0.101,0.230,198,2799,1572,-7.88,-0.68,350.17,0,0,0,0,0,0,14.61,14.64,14.35 FG_AHR_10Vo 0.000

RAFOS_CLK 268 MEM 280552

RAFOS_FIX -7355.383301,-11309.524414,280118,050550,0,1,0.11 DATA_FILE_SIZE 23402,708

IRIDIUM_FIX -7357.26,-11254.55,280118,012035 CAP_FILE_SIZE 94299,0

TT8_MAMPS 0.038948,0.4494 CFSIZE 1024409600,1016315904

HUMID 46.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1446.6

TCM_TEMP 13.20 CURRENT 0.233,308.53,1

XPDR_PINGS 0 GPS 280118,052601,-7354.851,-11315.377,19,0.8,19,53.6,1.0,319.3,11,3.7

ALTIM_TOP_PING 12.2,12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 485 137.14 nil 0 0 0.00

Roll_motor 79 100 98.12 nil 0 0 0.00

VBD_pump_during_apogee 293 2726 9841.72 nil 0 0 0.00

VBD_pump_during_surface 175 229 493.34 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 6581 4 379.02

Iridium_during_xfer 248 183 559.26 nil 0 0 0.00

Transponder_ping 21 420 110.89 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.52

TT8 0 0 0.00

LPSleep 4629 2 134.30

TT8_Active 698 10 95.39

TT8_Sampling 1717 30 654.83

TT8_CF8 61 51 39.92

TT8_Kalman 0 0 0.00

Analog_circuits 1502 10 190.62

GPS_charging 0 0 0.00

Compass 1017 6 86.14

RAFOS 0 0 0.00

Transponder 151 30 57.12

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

16.8 17.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.3 27.40 9000.00 0.0 0.00 0.00 27.40 0.0 1.18 1.00

43.2 46.30 9000.00 0.0 0.00 0.00 46.30 0.0 1.06 1.00

60.6 63.50 9000.00 0.0 0.00 0.00 63.50 0.0 0.99 1.00

346.4 49.30 9000.00 0.0 0.05 0.14 49.30 395.7 -0.05 1.00

356.9 37.80 9000.00 0.0 0.00 0.00 37.80 394.7 -1.10 1.00

365.4 28.40 9000.00 0.0 -0.05 0.47 28.40 393.8 -1.11 1.00

367.0 27.80 9000.00 0.0 -0.10 0.72 0.00 0.0 0.00 0.00

87.4 91.80 9000.00 0.0 -0.21 0.93 91.80 0.0 -0.23 1.00

70.6 72.60 9000.00 0.0 -0.18 0.91 72.60 -2.0 1.14 1.00

62.1 65.60 9000.00 0.0 -0.16 0.85 65.60 -3.5 0.82 1.00

54.0 56.10 9000.00 0.0 -0.14 0.60 56.10 -2.1 1.17 1.00

45.7 47.20 47.30 -1.6 1.06 1.00 47.20 -1.5 1.07 1.00

37.6 40.70 40.10 -2.5 1.00 1.00 40.70 -3.1 0.80 1.00

29.1 29.60 30.20 -1.1 1.06 1.00 29.60 -0.5 1.31 1.00

20.4 21.30 21.40 -1.0 1.04 1.00 21.30 -0.9 0.95 1.00

12.2 11.90 12.20 0.0 1.07 1.00 11.90 0.3 1.15 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.92 -146.0 196 2810 1598 1514 0.0 0.0 0 124 0.00 0.00 -114.28 0.003 16390 0.000 0.000 196 2811 3551 3563 3539 0 0 0 0 0 0 14.57 13.43 14.57

125 -0.92 -146.0 196 2818 3564 3542 4.3 -6.9 11 142 12.10 2.42 0.00 0.000 2596 0.485 0.049 2420 1392 3554 3563 3546 0 0 0 0 0 0 14.13 14.37 14.36

266 -0.92 -146.0 2421 1391 3561 3554 31.7 -14.0 39 272 0.00 2.53 0.00 0.000 1030 0.000 0.076 2420 2795 3557 3560 3554 0 0 0 0 0 0 14.47 14.40 14.49

576 -0.92 -146.0 2420 2796 3560 3555 74.6 -14.0 71 582 0.00 2.00 0.00 0.000 260 0.000 0.098 2417 3903 3557 3559 3555 0 0 0 0 0 0 14.72 14.47 14.73

652 -0.92 -146.0 2417 3904 3561 3556 85.8 -14.7 86 659 0.00 1.88 0.00 0.000 1030 0.000 0.051 2417 2798 3556 3557 3555 0 0 0 0 0 0 14.59 14.55 14.60

956 -0.92 -146.0 2417 2798 3560 3554 126.5 -12.7 117 962 0.00 2.40 0.00 0.000 516 0.000 0.054 2417 1400 3557 3559 3555 0 0 0 0 0 0 14.78 14.54 14.78

976 -0.92 -146.0 2417 1401 3560 3555 129.0 -12.4 121 982 0.00 2.50 0.00 0.000 1030 0.000 0.076 2417 2799 3557 3559 3555 0 0 0 0 0 0 14.60 14.54 14.63

1286 -0.92 -146.0 2417 2801 3560 3557 169.0 -13.6 153 1292 0.00 2.00 0.00 0.000 260 0.000 0.096 2414 3912 3557 3559 3555 0 0 0 0 0 0 14.81 14.56 14.81

1321 -0.92 -146.0 2415 3912 3560 3556 174.0 -14.2 160 1328 0.00 1.88 0.00 0.000 1030 0.000 0.050 2414 2799 3557 3559 3555 0 0 0 0 0 0 14.66 14.63 14.68

1626 -0.92 -146.0 2415 2800 3560 3557 215.3 -13.4 191 1632 0.00 2.00 0.00 0.000 260 0.000 0.096 2414 3911 3557 3559 3555 0 0 0 0 0 0 14.83 14.57 14.83

1656 -0.92 -146.0 2414 3913 3560 3556 219.5 -14.2 197 1662 0.00 1.88 0.00 0.000 1030 0.000 0.050 2414 2795 3557 3559 3555 0 0 0 0 0 0 14.69 14.65 14.70

1966 -0.92 -146.0 2415 2795 3562 3556 261.0 -13.6 229 1972 0.00 2.38 0.00 0.000 516 0.000 0.053 2415 1402 3557 3559 3556 0 0 0 0 0 0 14.85 14.61 14.85

2061 -0.92 -146.0 2415 1403 3560 3557 274.1 -13.7 248 2069 0.00 2.47 0.00 0.000 1030 0.000 0.076 2414 2795 3557 3559 3555 0 0 0 0 0 0 14.67 14.60 14.69

2366 -0.92 -146.0 2414 2796 3559 3557 316.6 -13.3 273 2375 0.00 1.98 0.00 0.000 260 0.000 0.097 2414 3903 3557 3559 3556 0 0 0 0 0 0 14.86 14.61 14.86

2394 -0.92 -146.0 2415 3903 3560 3556 320.4 -13.8 278 2401 0.00 1.85 0.00 0.000 1030 0.000 0.052 2414 2802 3557 3559 3555 0 0 0 0 0 0 14.70 14.66 14.71

2710 -0.92 -146.0 2414 2803 3560 3556 362.1 -13.0 296 2716 0.00 2.38 0.00 0.000 516 0.000 0.054 2414 1404 3556 3558 3555 0 0 0 0 0 0 14.87 14.63 14.88

2735 end dive: TARGET_DEPTH_EXCEEDED

state 2735 begin apogee

2740 -0.23 0.0 2415 2560 3560 3556 365.4 -13.0 301 2887 0.90 0.00 143.90 2.726 10246 0.272 0.000 2651 2560 2967 2965 2970 0 0 0 0 0 0 14.50 13.62 12.66

2888 end apogee: CONTROL_FINISHED_OK

state 2888 begin climb

2889 0.92 146.0 2651 2561 2966 2971 370.5 0.0 308 3044 1.30 0.00 150.05 2.624 10758 0.174 0.000 3018 2560 2384 2370 2399 0 0 0 0 0 0 13.57 13.19 12.28

3335 0.92 146.0 3018 2561 2362 2392 334.3 9.7 346 3343 0.00 2.58 0.00 0.000 516 0.000 0.070 3029 1158 2374 2359 2390 0 0 0 0 0 0 14.25 14.02 14.26

3372 0.92 146.0 3028 1159 2360 2390 330.7 9.8 353 3380 0.00 2.55 0.00 0.000 1030 0.000 0.073 3029 2544 2374 2359 2389 0 0 0 0 0 0 14.13 14.07 14.15

3678 0.92 146.0 3029 2544 2360 2390 299.3 10.2 369 3680 0.00 0.00 0.00 0.000 6 0.000 0.000 3029 2544 2374 2359 2389 0 0 0 0 0 0 14.49 14.50 14.49

3977 0.93 146.0 3029 2545 2359 2390 271.0 9.3 399 3983 0.00 2.47 0.00 0.000 580 0.000 0.070 3039 1161 2373 2358 2389 0 0 0 0 0 0 14.63 14.39 14.64

4032 0.95 146.0 3039 1162 2358 2388 266.2 8.8 410 4044 0.00 2.47 0.00 0.000 1094 0.000 0.073 3039 2545 2373 2358 2388 0 0 0 0 0 0 14.48 14.42 14.50

4337 0.95 146.0 3040 2545 2358 2388 237.2 9.8 441 4343 0.00 2.47 0.00 0.000 260 0.000 0.099 3039 3904 2373 2359 2388 0 0 0 0 0 0 14.71 14.47 14.72

4367 0.95 146.0 3039 3905 2360 2389 233.9 11.5 447 4374 0.00 2.33 0.00 0.000 1030 0.000 0.058 3049 2559 2373 2359 2387 0 0 0 0 0 0 14.57 14.53 14.59

4677 0.95 146.0 3050 2559 2360 2388 202.6 10.8 479 4684 0.00 2.47 0.00 0.000 516 0.000 0.070 3060 1156 2373 2358 2388 0 0 0 0 0 0 14.77 14.52 14.77

4742 0.95 146.0 3060 1155 2358 2388 195.5 11.0 492 4750 0.00 2.47 0.00 0.000 1030 0.000 0.074 3060 2550 2372 2358 2387 0 0 0 0 0 0 14.60 14.54 14.62

5047 0.95 146.0 3060 2551 2359 2388 162.3 10.5 523 5053 0.00 2.45 0.00 0.000 260 0.000 0.099 3060 3904 2373 2359 2387 0 0 0 0 0 0 14.80 14.55 14.81

5082 0.95 146.0 3060 3905 2361 2388 158.2 12.0 530 5091 0.10 2.33 0.00 0.000 5126 0.322 0.059 3045 2550 2373 2359 2387 0 0 0 0 0 0 14.43 14.61 14.59

5387 0.95 146.0 3046 2550 2360 2387 126.4 10.5 561 5393 0.00 2.45 0.00 0.000 516 0.000 0.070 3055 1157 2372 2358 2387 0 0 0 0 0 0 14.83 14.58 14.83

5427 0.95 146.0 3055 1156 2359 2386 122.3 10.1 569 5433 0.00 2.47 0.00 0.000 1030 0.000 0.073 3055 2556 2372 2358 2387 0 0 0 0 0 0 14.66 14.59 14.68

5737 0.95 146.0 3055 2556 2359 2388 90.9 9.8 601 5743 0.00 2.45 0.00 0.000 260 0.000 0.099 3054 3910 2373 2359 2387 0 0 0 0 0 0 14.84 14.59 14.85

5852 0.95 146.0 3055 3911 2361 2388 77.1 12.7 624 5860 0.00 2.33 0.00 0.000 1030 0.000 0.058 3065 2552 2372 2360 2385 0 0 0 0 0 0 14.69 14.64 14.70

6158 0.95 146.0 3065 2552 2360 2387 41.0 11.7 655 6163 0.00 2.47 0.00 0.000 516 0.000 0.072 3075 1145 2372 2358 2387 0 0 0 0 0 0 14.85 14.59 14.85

6222 0.95 146.0 3075 1146 2359 2391 34.1 9.7 668 6230 0.12 2.50 0.00 0.000 5126 0.282 0.075 3042 2556 2372 2358 2386 0 0 0 0 0 0 14.50 14.62 14.64

6528 0.95 146.0 3042 2556 2358 2387 6.3 12.2 699 6533 0.00 2.42 0.00 0.000 260 0.000 0.096 3042 3927 2372 2358 2387 0 0 0 0 0 0 14.86 14.60 14.86

6558 0.95 146.0 3043 3928 2362 2388 2.3 13.6 705 6564 0.00 2.38 0.00 0.000 1030 0.000 0.060 3052 2545 2372 2359 2386 0 0 0 0 0 0 14.69 14.65 14.71

6566 end climb: SURFACE_DEPTH_REACHED

state 6566 begin surface coast

6577 end surface coast: CONTROL_FINISHED_OK

state 6577 begin surface

ID	221	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0099999998	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	31	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	SM_CC	350	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	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	1	VBD_CNV	-0.25119999	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	270	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	310	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	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	0.30000001	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	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	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	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	785

GPS1	280118,032631,-7355.0977,-11310.1279,30,1.0,30,53.5,1.0,312.5,7,3.7	SPEED_LIMITS	0.171,0.250
_CALLS	1	TGT_NAME	M1
_XMS_NAKs	0	TGT_LATLONG	-7406.000,-13000.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	193.1,512679,-16.3,-9.877,-21.56,2183
_SM_ANGLEo	-60.9	D_GRID	365
GPS2	280118,033200,-7355.0684,-11310.3291,2,0.9,3,53.5,0.4,62.7,8,8.7

FREEZE	0.44,-0.897,-1.859,2,1,0	_24V_AH	12.28,19.502
FINISH	0.4,1.027243	_10V_AH	12.56,0.000
SM_CCo	6590,175.05,0.230,0,0,1572,350.17	FG_AHR_24Vo	0.000
SM_GC	0.88,8.50,0.47,175.05,0.091,0.101,0.230,198,2799,1572,-7.88,-0.68,350.17,0,0,0,0,0,0,14.61,14.64,14.35	FG_AHR_10Vo	0.000
RAFOS_CLK	268	MEM	280552
RAFOS_FIX	-7355.383301,-11309.524414,280118,050550,0,1,0.11	DATA_FILE_SIZE	23402,708
IRIDIUM_FIX	-7357.26,-11254.55,280118,012035	CAP_FILE_SIZE	94299,0
TT8_MAMPS	0.038948,0.4494	CFSIZE	1024409600,1016315904
HUMID	46.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1446.6
TCM_TEMP	13.20	CURRENT	0.233,308.53,1
XPDR_PINGS	0	GPS	280118,052601,-7354.851,-11315.377,19,0.8,19,53.6,1.0,319.3,11,3.7
ALTIM_TOP_PING	12.2,12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	485	137.14	nil	0	0	0.00
Roll_motor	79	100	98.12	nil	0	0	0.00
VBD_pump_during_apogee	293	2726	9841.72	nil	0	0	0.00
VBD_pump_during_surface	175	229	493.34	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	6581	4	379.02
Iridium_during_xfer	248	183	559.26	nil	0	0	0.00
Transponder_ping	21	420	110.89	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.52
TT8	0	0	0.00
LPSleep	4629	2	134.30
TT8_Active	698	10	95.39
TT8_Sampling	1717	30	654.83
TT8_CF8	61	51	39.92
TT8_Kalman	0	0	0.00
Analog_circuits	1502	10	190.62
GPS_charging	0	0	0.00
Compass	1017	6	86.14
RAFOS	0	0	0.00
Transponder	151	30	57.12

		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
16.8	17.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.3	27.40	9000.00	0.0	0.00	0.00	27.40	0.0	1.18	1.00
43.2	46.30	9000.00	0.0	0.00	0.00	46.30	0.0	1.06	1.00
60.6	63.50	9000.00	0.0	0.00	0.00	63.50	0.0	0.99	1.00
346.4	49.30	9000.00	0.0	0.05	0.14	49.30	395.7	-0.05	1.00
356.9	37.80	9000.00	0.0	0.00	0.00	37.80	394.7	-1.10	1.00
365.4	28.40	9000.00	0.0	-0.05	0.47	28.40	393.8	-1.11	1.00
367.0	27.80	9000.00	0.0	-0.10	0.72	0.00	0.0	0.00	0.00

87.4	91.80	9000.00	0.0	-0.21	0.93	91.80	0.0	-0.23	1.00
70.6	72.60	9000.00	0.0	-0.18	0.91	72.60	-2.0	1.14	1.00
62.1	65.60	9000.00	0.0	-0.16	0.85	65.60	-3.5	0.82	1.00
54.0	56.10	9000.00	0.0	-0.14	0.60	56.10	-2.1	1.17	1.00
45.7	47.20	47.30	-1.6	1.06	1.00	47.20	-1.5	1.07	1.00
37.6	40.70	40.10	-2.5	1.00	1.00	40.70	-3.1	0.80	1.00
29.1	29.60	30.20	-1.1	1.06	1.00	29.60	-0.5	1.31	1.00
20.4	21.30	21.40	-1.0	1.04	1.00	21.30	-0.9	0.95	1.00
12.2	11.90	12.20	0.0	1.07	1.00	11.90	0.3	1.15	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.92	-146.0	196	2810	1598	1514	0.0	0.0	0	124	0.00	0.00	-114.28	0.003	16390	0.000	0.000	196	2811	3551	3563	3539	0	0	0	0	0	0	14.57	13.43	14.57
125	-0.92	-146.0	196	2818	3564	3542	4.3	-6.9	11	142	12.10	2.42	0.00	0.000	2596	0.485	0.049	2420	1392	3554	3563	3546	0	0	0	0	0	0	14.13	14.37	14.36
266	-0.92	-146.0	2421	1391	3561	3554	31.7	-14.0	39	272	0.00	2.53	0.00	0.000	1030	0.000	0.076	2420	2795	3557	3560	3554	0	0	0	0	0	0	14.47	14.40	14.49
576	-0.92	-146.0	2420	2796	3560	3555	74.6	-14.0	71	582	0.00	2.00	0.00	0.000	260	0.000	0.098	2417	3903	3557	3559	3555	0	0	0	0	0	0	14.72	14.47	14.73
652	-0.92	-146.0	2417	3904	3561	3556	85.8	-14.7	86	659	0.00	1.88	0.00	0.000	1030	0.000	0.051	2417	2798	3556	3557	3555	0	0	0	0	0	0	14.59	14.55	14.60
956	-0.92	-146.0	2417	2798	3560	3554	126.5	-12.7	117	962	0.00	2.40	0.00	0.000	516	0.000	0.054	2417	1400	3557	3559	3555	0	0	0	0	0	0	14.78	14.54	14.78
976	-0.92	-146.0	2417	1401	3560	3555	129.0	-12.4	121	982	0.00	2.50	0.00	0.000	1030	0.000	0.076	2417	2799	3557	3559	3555	0	0	0	0	0	0	14.60	14.54	14.63
1286	-0.92	-146.0	2417	2801	3560	3557	169.0	-13.6	153	1292	0.00	2.00	0.00	0.000	260	0.000	0.096	2414	3912	3557	3559	3555	0	0	0	0	0	0	14.81	14.56	14.81
1321	-0.92	-146.0	2415	3912	3560	3556	174.0	-14.2	160	1328	0.00	1.88	0.00	0.000	1030	0.000	0.050	2414	2799	3557	3559	3555	0	0	0	0	0	0	14.66	14.63	14.68
1626	-0.92	-146.0	2415	2800	3560	3557	215.3	-13.4	191	1632	0.00	2.00	0.00	0.000	260	0.000	0.096	2414	3911	3557	3559	3555	0	0	0	0	0	0	14.83	14.57	14.83
1656	-0.92	-146.0	2414	3913	3560	3556	219.5	-14.2	197	1662	0.00	1.88	0.00	0.000	1030	0.000	0.050	2414	2795	3557	3559	3555	0	0	0	0	0	0	14.69	14.65	14.70
1966	-0.92	-146.0	2415	2795	3562	3556	261.0	-13.6	229	1972	0.00	2.38	0.00	0.000	516	0.000	0.053	2415	1402	3557	3559	3556	0	0	0	0	0	0	14.85	14.61	14.85
2061	-0.92	-146.0	2415	1403	3560	3557	274.1	-13.7	248	2069	0.00	2.47	0.00	0.000	1030	0.000	0.076	2414	2795	3557	3559	3555	0	0	0	0	0	0	14.67	14.60	14.69
2366	-0.92	-146.0	2414	2796	3559	3557	316.6	-13.3	273	2375	0.00	1.98	0.00	0.000	260	0.000	0.097	2414	3903	3557	3559	3556	0	0	0	0	0	0	14.86	14.61	14.86
2394	-0.92	-146.0	2415	3903	3560	3556	320.4	-13.8	278	2401	0.00	1.85	0.00	0.000	1030	0.000	0.052	2414	2802	3557	3559	3555	0	0	0	0	0	0	14.70	14.66	14.71
2710	-0.92	-146.0	2414	2803	3560	3556	362.1	-13.0	296	2716	0.00	2.38	0.00	0.000	516	0.000	0.054	2414	1404	3556	3558	3555	0	0	0	0	0	0	14.87	14.63	14.88
2735	end dive: TARGET_DEPTH_EXCEEDED
state	2735	begin apogee
2740	-0.23	0.0	2415	2560	3560	3556	365.4	-13.0	301	2887	0.90	0.00	143.90	2.726	10246	0.272	0.000	2651	2560	2967	2965	2970	0	0	0	0	0	0	14.50	13.62	12.66
2888	end apogee: CONTROL_FINISHED_OK
state	2888	begin climb
2889	0.92	146.0	2651	2561	2966	2971	370.5	0.0	308	3044	1.30	0.00	150.05	2.624	10758	0.174	0.000	3018	2560	2384	2370	2399	0	0	0	0	0	0	13.57	13.19	12.28
3335	0.92	146.0	3018	2561	2362	2392	334.3	9.7	346	3343	0.00	2.58	0.00	0.000	516	0.000	0.070	3029	1158	2374	2359	2390	0	0	0	0	0	0	14.25	14.02	14.26
3372	0.92	146.0	3028	1159	2360	2390	330.7	9.8	353	3380	0.00	2.55	0.00	0.000	1030	0.000	0.073	3029	2544	2374	2359	2389	0	0	0	0	0	0	14.13	14.07	14.15
3678	0.92	146.0	3029	2544	2360	2390	299.3	10.2	369	3680	0.00	0.00	0.00	0.000	6	0.000	0.000	3029	2544	2374	2359	2389	0	0	0	0	0	0	14.49	14.50	14.49
3977	0.93	146.0	3029	2545	2359	2390	271.0	9.3	399	3983	0.00	2.47	0.00	0.000	580	0.000	0.070	3039	1161	2373	2358	2389	0	0	0	0	0	0	14.63	14.39	14.64
4032	0.95	146.0	3039	1162	2358	2388	266.2	8.8	410	4044	0.00	2.47	0.00	0.000	1094	0.000	0.073	3039	2545	2373	2358	2388	0	0	0	0	0	0	14.48	14.42	14.50
4337	0.95	146.0	3040	2545	2358	2388	237.2	9.8	441	4343	0.00	2.47	0.00	0.000	260	0.000	0.099	3039	3904	2373	2359	2388	0	0	0	0	0	0	14.71	14.47	14.72
4367	0.95	146.0	3039	3905	2360	2389	233.9	11.5	447	4374	0.00	2.33	0.00	0.000	1030	0.000	0.058	3049	2559	2373	2359	2387	0	0	0	0	0	0	14.57	14.53	14.59
4677	0.95	146.0	3050	2559	2360	2388	202.6	10.8	479	4684	0.00	2.47	0.00	0.000	516	0.000	0.070	3060	1156	2373	2358	2388	0	0	0	0	0	0	14.77	14.52	14.77
4742	0.95	146.0	3060	1155	2358	2388	195.5	11.0	492	4750	0.00	2.47	0.00	0.000	1030	0.000	0.074	3060	2550	2372	2358	2387	0	0	0	0	0	0	14.60	14.54	14.62
5047	0.95	146.0	3060	2551	2359	2388	162.3	10.5	523	5053	0.00	2.45	0.00	0.000	260	0.000	0.099	3060	3904	2373	2359	2387	0	0	0	0	0	0	14.80	14.55	14.81
5082	0.95	146.0	3060	3905	2361	2388	158.2	12.0	530	5091	0.10	2.33	0.00	0.000	5126	0.322	0.059	3045	2550	2373	2359	2387	0	0	0	0	0	0	14.43	14.61	14.59
5387	0.95	146.0	3046	2550	2360	2387	126.4	10.5	561	5393	0.00	2.45	0.00	0.000	516	0.000	0.070	3055	1157	2372	2358	2387	0	0	0	0	0	0	14.83	14.58	14.83
5427	0.95	146.0	3055	1156	2359	2386	122.3	10.1	569	5433	0.00	2.47	0.00	0.000	1030	0.000	0.073	3055	2556	2372	2358	2387	0	0	0	0	0	0	14.66	14.59	14.68
5737	0.95	146.0	3055	2556	2359	2388	90.9	9.8	601	5743	0.00	2.45	0.00	0.000	260	0.000	0.099	3054	3910	2373	2359	2387	0	0	0	0	0	0	14.84	14.59	14.85
5852	0.95	146.0	3055	3911	2361	2388	77.1	12.7	624	5860	0.00	2.33	0.00	0.000	1030	0.000	0.058	3065	2552	2372	2360	2385	0	0	0	0	0	0	14.69	14.64	14.70
6158	0.95	146.0	3065	2552	2360	2387	41.0	11.7	655	6163	0.00	2.47	0.00	0.000	516	0.000	0.072	3075	1145	2372	2358	2387	0	0	0	0	0	0	14.85	14.59	14.85
6222	0.95	146.0	3075	1146	2359	2391	34.1	9.7	668	6230	0.12	2.50	0.00	0.000	5126	0.282	0.075	3042	2556	2372	2358	2386	0	0	0	0	0	0	14.50	14.62	14.64
6528	0.95	146.0	3042	2556	2358	2387	6.3	12.2	699	6533	0.00	2.42	0.00	0.000	260	0.000	0.096	3042	3927	2372	2358	2387	0	0	0	0	0	0	14.86	14.60	14.86
6558	0.95	146.0	3043	3928	2362	2388	2.3	13.6	705	6564	0.00	2.38	0.00	0.000	1030	0.000	0.060	3052	2545	2372	2359	2386	0	0	0	0	0	0	14.69	14.65	14.71
6566	end climb: SURFACE_DEPTH_REACHED
state	6566	begin surface coast
6577	end surface coast: CONTROL_FINISHED_OK
state	6577	begin surface