Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 559 * 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 559 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 42 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 3600 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 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 4320 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 -7 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 120 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 0 RAFOS_DEVICE 32

USE_BATHY 0 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 0.079999998 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 110 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 990 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 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

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 4320

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 330

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 0.079999998 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

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 3600 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 0 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 559 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 26 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 251118,022138,-7407.4727,-11318.8037,19,1.0,19,53.9,0.3,267.4,7,7.6 SPEED_LIMITS 0.100,0.187

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.46 MHEAD_RNG_PITCHd_Wd 184.2,3066,-28.2,-10.000,-33.93,1013

_SM_ANGLEo -64.9 D_GRID 990

GPS2 251118,023644,-7407.4214,-11318.9551,3,1.0,5,53.9,0.3,7.1,7,10.0

Post-dive calculations and measurements:

FREEZE -0.45,-1.485,-1.859,2,1,0 ALTIM_TOP_PING 14.8,15.1

FINISH -0.5,1.027282 _24V_AH 11.78,179.900

SM_CCo 7119,151.88,0.219,0,0,2404,300.18 _10V_AH 12.16,0.000

SM_GC 0.42,9.10,0.47,151.88,0.081,0.091,0.219,194,2812,2404,-7.88,-0.34,300.18,0,0,0,0,0,0,14.41,14.43,14.06 FG_AHR_24Vo 0.000

RAFOS_CLK 295 FG_AHR_10Vo 0.000

RAFOS 0,1543114892,3.032778,3.025556,135,71,61,57,54,50,498,203,178,215,116,149 MEM 279984

RAFOS_FIX -7406.369141,-11314.237305,251118,030316,3,143,1.30 DATA_FILE_SIZE 13475,434

IRIDIUM_FIX -7407.96,-11309.85,241118,234626 CAP_FILE_SIZE 76800,0

TT8_MAMPS 0.039697,0.268142 CFSIZE 1024409600,954417152

HUMID 47.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1446.2

TCM_TEMP 13.00 CURRENT 0.096,335.06,1

XPDR_PINGS 0 GPS 251118,043930,-7407.338,-11320.963,18,0.7,18,53.9,0.3,91.4,11,3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 436 119.89 nil 0 0 0.00

Roll_motor 63 93 70.31 nil 0 0 0.00

VBD_pump_during_apogee 197 2828 6589.96 nil 0 0 0.00

VBD_pump_during_surface 151 218 391.43 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 7120 3 263.70

Iridium_during_xfer 590 216 1506.47 nil 0 0 0.00

Transponder_ping 16 420 82.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.72

TT8 0 0 0.00

LPSleep 5741 2 161.28

TT8_Active 532 10 70.42

TT8_Sampling 1497 30 552.70

TT8_CF8 425 51 265.36

TT8_Kalman 0 0 0.00

Analog_circuits 1486 10 182.59

GPS_charging 0 0 0.00

Compass 626 6 51.37

RAFOS 720 1 13.13

Transponder 115 30 42.27

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

11.3 12.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.1 25.10 9000.00 0.0 0.00 0.00 25.10 0.0 1.16 1.00

33.0 35.70 36.00 0.0 1.06 1.00 35.70 0.0 0.97 1.00

47.4 51.40 51.20 0.0 1.04 1.00 51.40 0.0 1.09 1.00

62.3 66.20 66.40 0.0 1.04 1.00 66.20 0.0 0.99 1.00

77.0 82.10 81.90 0.0 1.04 1.00 82.10 0.0 1.08 1.00

376.7 26.30 9000.00 0.0 -0.15 0.90 26.30 403.0 -0.19 1.00

395.4 10.60 9000.00 0.0 -0.21 0.98 10.60 406.0 -0.84 1.00

389.4 13.60 14.90 0.0 -0.86 0.98 13.60 0.0 -0.50 1.00

378.4 28.40 27.70 0.0 -1.08 0.96 28.40 0.0 -1.35 1.00

114.3 119.80 9000.00 0.0 -0.37 0.99 119.80 0.0 -0.35 1.00

102.4 108.30 9000.00 0.0 -0.32 0.98 108.30 -5.9 0.97 1.00

91.8 95.70 96.20 -4.4 1.07 1.00 95.70 -3.9 1.19 1.00

81.4 84.40 84.20 -2.8 1.14 1.00 84.40 -3.0 1.09 1.00

71.3 76.20 75.80 -4.5 0.95 0.99 76.20 -4.9 0.81 1.00

59.9 62.50 63.10 -3.2 1.02 0.99 62.50 -2.6 1.20 1.00

49.7 52.00 51.70 -2.0 1.12 1.00 52.00 -2.3 1.03 1.00

37.7 39.70 39.70 -2.0 1.03 1.00 39.70 -2.0 1.03 1.00

26.6 27.70 27.80 -1.2 1.05 1.00 27.70 -1.1 1.08 1.00

14.8 15.10 15.10 -0.3 1.07 1.00 15.10 -0.3 1.07 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.36 -67.7 185 2815 2422 2323 0.0 0.0 0 109 0.00 0.00 -95.80 0.003 16390 0.000 0.000 184 2814 3872 3889 3856 0 0 0 0 0 0 14.73 12.40 14.73

112 -1.36 -67.7 185 2815 3891 3860 1.5 -1.8 3 128 11.02 2.53 0.00 0.000 2564 0.437 0.043 2296 1390 3882 3892 3872 0 0 0 0 0 0 13.77 14.37 14.31

302 -1.36 -67.7 2296 1390 3893 3884 37.7 -16.9 31 308 0.00 2.55 0.00 0.000 1030 0.000 0.061 2288 2803 3887 3892 3883 0 0 0 0 0 0 14.39 14.31 14.43

667 -1.36 -67.7 2288 2803 3893 3887 101.8 -17.9 47 672 0.00 2.45 0.00 0.000 516 0.000 0.047 2287 1390 3889 3892 3886 0 0 0 0 0 0 14.83 14.39 14.83

708 -1.36 -67.7 2288 1390 3894 3886 109.4 -17.9 53 715 0.00 2.55 0.00 0.000 1030 0.000 0.061 2277 2807 3889 3892 3886 0 0 0 0 0 0 14.42 14.33 14.46

1060 -1.36 -67.7 2277 2806 3893 3888 173.6 -18.1 67 1066 0.00 1.98 0.00 0.000 260 0.000 0.083 2272 3912 3889 3892 3887 0 0 0 0 0 0 14.92 14.34 14.92

1296 -1.36 -67.7 2273 3912 3893 3888 218.7 -18.7 101 1303 0.00 1.95 0.00 0.000 1030 0.000 0.043 2273 2776 3889 3892 3887 0 0 0 0 0 0 14.63 14.57 14.66

1677 -1.36 -67.7 2273 2776 3893 3887 284.1 -16.9 113 1683 0.00 2.40 0.00 0.000 516 0.000 0.047 2273 1400 3889 3892 3887 0 0 0 0 0 0 14.83 14.41 14.83

1803 -1.36 -67.7 2273 1401 3893 3888 304.8 -16.2 131 1808 0.00 2.50 0.00 0.000 1030 0.000 0.063 2272 2804 3889 3892 3887 0 0 0 0 0 0 14.50 14.36 14.55

2179 -1.36 -67.7 2270 2804 3893 3887 366.9 -16.3 143 2180 0.00 0.00 0.00 0.000 6 0.000 0.000 2272 2804 3889 3891 3887 0 0 0 0 0 0 14.92 14.92 14.92

2514 -1.39 -92.2 2271 2805 3892 3891 403.3 -7.5 149 2521 0.00 2.47 0.00 0.000 548 0.000 0.047 2272 1397 3890 3892 3889 0 0 0 0 0 0 14.94 14.36 14.94

2651 end dive: NO_VERTICAL_VELOCITY

state 2651 begin apogee

2660 -0.23 0.0 2273 2555 3893 3890 403.3 0.0 169 2745 1.38 0.00 81.90 2.828 10246 0.203 0.000 2654 2555 3598 3605 3592 0 0 0 0 0 0 13.97 13.85 12.41

2746 end apogee: CONTROL_FINISHED_OK

state 2746 begin climb

2749 1.39 92.2 2654 2556 3605 3592 403.5 0.0 170 2861 1.70 2.80 103.07 2.746 10500 0.125 0.090 3177 3912 3231 3244 3218 0 0 0 0 0 0 13.84 13.21 11.78

2902 1.41 92.2 3177 3913 3243 3213 397.6 9.1 197 2908 0.00 2.55 0.00 0.000 1094 0.000 0.052 3187 2563 3228 3243 3213 0 0 0 0 0 0 13.58 13.54 13.59

3266 1.41 92.2 3188 2563 3236 3209 361.9 9.9 207 3273 0.00 2.55 0.00 0.000 516 0.000 0.062 3198 1137 3222 3235 3209 0 0 0 0 0 0 14.78 14.30 14.78

3323 1.42 92.2 3198 1137 3236 3210 356.7 9.3 215 3329 0.00 2.53 0.00 0.000 1094 0.000 0.068 3198 2563 3222 3235 3209 0 0 0 0 0 0 14.52 14.39 14.57

3714 1.42 92.2 3198 2564 3234 3209 314.9 10.9 229 3720 0.00 2.50 0.00 0.000 260 0.000 0.093 3198 3907 3221 3234 3208 0 0 0 0 0 0 14.91 14.33 14.91

3910 1.42 92.2 3198 3907 3235 3207 292.1 11.7 257 3917 0.00 2.40 0.00 0.000 1030 0.000 0.050 3208 2526 3220 3234 3206 0 0 0 0 0 0 14.57 14.53 14.60

4275 1.42 92.2 3209 2526 3234 3207 257.3 9.5 267 4281 0.00 2.40 0.00 0.000 516 0.000 0.063 3218 1154 3220 3234 3207 0 0 0 0 0 0 14.88 14.43 14.88

4512 1.42 92.2 3220 1154 3235 3207 233.6 10.0 301 4519 0.10 2.53 0.00 0.000 5126 0.284 0.069 3194 2555 3220 3233 3207 0 0 0 0 0 0 13.97 14.38 14.23

4892 1.44 92.2 3194 2554 3235 3207 197.9 9.3 313 4898 0.00 2.53 0.00 0.000 324 0.000 0.092 3193 3910 3220 3234 3207 0 0 0 0 0 0 14.93 14.29 14.93

4988 1.44 92.2 3193 3910 3235 3207 187.9 10.3 327 4995 0.00 2.38 0.00 0.000 1030 0.000 0.051 3204 2543 3220 3233 3207 0 0 0 0 0 0 14.55 14.52 14.59

5341 1.47 92.2 3204 2543 3235 3208 157.2 8.5 341 5342 0.00 0.00 0.00 0.000 70 0.000 0.000 3204 2542 3220 3234 3207 0 0 0 0 0 0 14.88 14.88 14.88

5674 1.49 92.2 3205 2543 3236 3207 127.3 9.0 353 5680 0.00 2.55 0.00 0.000 324 0.000 0.093 3204 3909 3220 3234 3207 0 0 0 0 0 0 14.95 14.27 14.95

5723 1.49 92.2 3204 3909 3235 3207 122.6 9.8 360 5730 0.00 2.38 0.00 0.000 1030 0.000 0.050 3214 2551 3220 3234 3206 0 0 0 0 0 0 14.54 14.50 14.57

6066 1.52 92.2 3215 2552 3234 3208 93.1 8.3 373 6072 0.00 2.55 0.00 0.000 324 0.000 0.092 3214 3914 3220 3234 3206 0 0 0 0 0 0 14.95 14.27 14.95

6195 1.54 92.2 3214 3916 3234 3208 81.4 9.3 391 6200 0.00 2.35 0.00 0.000 1094 0.000 0.050 3225 2545 3221 3235 3207 0 0 0 0 0 0 14.63 14.56 14.66

6544 1.56 111.9 3225 2546 3234 3208 53.1 8.0 405 6564 0.00 2.47 12.82 0.388 8740 0.000 0.060 3236 1147 3152 3168 3137 0 0 0 0 0 0 14.92 14.33 13.75

6598 1.59 111.9 3236 1148 3167 3135 48.4 8.8 413 6604 0.00 2.55 0.00 0.000 1094 0.000 0.067 3236 2551 3150 3166 3135 0 0 0 0 0 0 14.42 14.33 14.47

6962 1.59 111.9 3236 2557 3165 3133 12.0 10.5 429 6963 0.00 0.00 0.00 0.000 6 0.000 0.000 3236 2557 3148 3164 3132 0 0 0 0 0 0 14.93 14.94 14.93

7072 end climb: SURFACE_DEPTH_REACHED

state 7072 begin surface coast

7099 end surface coast: CONTROL_FINISHED_OK

state 7100 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	559	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	42	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	3600	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	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	4320	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	-7	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	120	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	0	RAFOS_DEVICE	32
USE_BATHY	0	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	0.079999998	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	110	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	251118,022138,-7407.4727,-11318.8037,19,1.0,19,53.9,0.3,267.4,7,7.6	SPEED_LIMITS	0.100,0.187
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.46	MHEAD_RNG_PITCHd_Wd	184.2,3066,-28.2,-10.000,-33.93,1013
_SM_ANGLEo	-64.9	D_GRID	990
GPS2	251118,023644,-7407.4214,-11318.9551,3,1.0,5,53.9,0.3,7.1,7,10.0

FREEZE	-0.45,-1.485,-1.859,2,1,0	ALTIM_TOP_PING	14.8,15.1
FINISH	-0.5,1.027282	_24V_AH	11.78,179.900
SM_CCo	7119,151.88,0.219,0,0,2404,300.18	_10V_AH	12.16,0.000
SM_GC	0.42,9.10,0.47,151.88,0.081,0.091,0.219,194,2812,2404,-7.88,-0.34,300.18,0,0,0,0,0,0,14.41,14.43,14.06	FG_AHR_24Vo	0.000
RAFOS_CLK	295	FG_AHR_10Vo	0.000
RAFOS	0,1543114892,3.032778,3.025556,135,71,61,57,54,50,498,203,178,215,116,149	MEM	279984
RAFOS_FIX	-7406.369141,-11314.237305,251118,030316,3,143,1.30	DATA_FILE_SIZE	13475,434
IRIDIUM_FIX	-7407.96,-11309.85,241118,234626	CAP_FILE_SIZE	76800,0
TT8_MAMPS	0.039697,0.268142	CFSIZE	1024409600,954417152
HUMID	47.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1446.2
TCM_TEMP	13.00	CURRENT	0.096,335.06,1
XPDR_PINGS	0	GPS	251118,043930,-7407.338,-11320.963,18,0.7,18,53.9,0.3,91.4,11,3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	436	119.89	nil	0	0	0.00
Roll_motor	63	93	70.31	nil	0	0	0.00
VBD_pump_during_apogee	197	2828	6589.96	nil	0	0	0.00
VBD_pump_during_surface	151	218	391.43	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	7120	3	263.70
Iridium_during_xfer	590	216	1506.47	nil	0	0	0.00
Transponder_ping	16	420	82.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.72
TT8	0	0	0.00
LPSleep	5741	2	161.28
TT8_Active	532	10	70.42
TT8_Sampling	1497	30	552.70
TT8_CF8	425	51	265.36
TT8_Kalman	0	0	0.00
Analog_circuits	1486	10	182.59
GPS_charging	0	0	0.00
Compass	626	6	51.37
RAFOS	720	1	13.13
Transponder	115	30	42.27

		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
11.3	12.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.1	25.10	9000.00	0.0	0.00	0.00	25.10	0.0	1.16	1.00
33.0	35.70	36.00	0.0	1.06	1.00	35.70	0.0	0.97	1.00
47.4	51.40	51.20	0.0	1.04	1.00	51.40	0.0	1.09	1.00
62.3	66.20	66.40	0.0	1.04	1.00	66.20	0.0	0.99	1.00
77.0	82.10	81.90	0.0	1.04	1.00	82.10	0.0	1.08	1.00
376.7	26.30	9000.00	0.0	-0.15	0.90	26.30	403.0	-0.19	1.00
395.4	10.60	9000.00	0.0	-0.21	0.98	10.60	406.0	-0.84	1.00

389.4	13.60	14.90	0.0	-0.86	0.98	13.60	0.0	-0.50	1.00
378.4	28.40	27.70	0.0	-1.08	0.96	28.40	0.0	-1.35	1.00
114.3	119.80	9000.00	0.0	-0.37	0.99	119.80	0.0	-0.35	1.00
102.4	108.30	9000.00	0.0	-0.32	0.98	108.30	-5.9	0.97	1.00
91.8	95.70	96.20	-4.4	1.07	1.00	95.70	-3.9	1.19	1.00
81.4	84.40	84.20	-2.8	1.14	1.00	84.40	-3.0	1.09	1.00
71.3	76.20	75.80	-4.5	0.95	0.99	76.20	-4.9	0.81	1.00
59.9	62.50	63.10	-3.2	1.02	0.99	62.50	-2.6	1.20	1.00
49.7	52.00	51.70	-2.0	1.12	1.00	52.00	-2.3	1.03	1.00
37.7	39.70	39.70	-2.0	1.03	1.00	39.70	-2.0	1.03	1.00
26.6	27.70	27.80	-1.2	1.05	1.00	27.70	-1.1	1.08	1.00
14.8	15.10	15.10	-0.3	1.07	1.00	15.10	-0.3	1.07	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.36	-67.7	185	2815	2422	2323	0.0	0.0	0	109	0.00	0.00	-95.80	0.003	16390	0.000	0.000	184	2814	3872	3889	3856	0	0	0	0	0	0	14.73	12.40	14.73
112	-1.36	-67.7	185	2815	3891	3860	1.5	-1.8	3	128	11.02	2.53	0.00	0.000	2564	0.437	0.043	2296	1390	3882	3892	3872	0	0	0	0	0	0	13.77	14.37	14.31
302	-1.36	-67.7	2296	1390	3893	3884	37.7	-16.9	31	308	0.00	2.55	0.00	0.000	1030	0.000	0.061	2288	2803	3887	3892	3883	0	0	0	0	0	0	14.39	14.31	14.43
667	-1.36	-67.7	2288	2803	3893	3887	101.8	-17.9	47	672	0.00	2.45	0.00	0.000	516	0.000	0.047	2287	1390	3889	3892	3886	0	0	0	0	0	0	14.83	14.39	14.83
708	-1.36	-67.7	2288	1390	3894	3886	109.4	-17.9	53	715	0.00	2.55	0.00	0.000	1030	0.000	0.061	2277	2807	3889	3892	3886	0	0	0	0	0	0	14.42	14.33	14.46
1060	-1.36	-67.7	2277	2806	3893	3888	173.6	-18.1	67	1066	0.00	1.98	0.00	0.000	260	0.000	0.083	2272	3912	3889	3892	3887	0	0	0	0	0	0	14.92	14.34	14.92
1296	-1.36	-67.7	2273	3912	3893	3888	218.7	-18.7	101	1303	0.00	1.95	0.00	0.000	1030	0.000	0.043	2273	2776	3889	3892	3887	0	0	0	0	0	0	14.63	14.57	14.66
1677	-1.36	-67.7	2273	2776	3893	3887	284.1	-16.9	113	1683	0.00	2.40	0.00	0.000	516	0.000	0.047	2273	1400	3889	3892	3887	0	0	0	0	0	0	14.83	14.41	14.83
1803	-1.36	-67.7	2273	1401	3893	3888	304.8	-16.2	131	1808	0.00	2.50	0.00	0.000	1030	0.000	0.063	2272	2804	3889	3892	3887	0	0	0	0	0	0	14.50	14.36	14.55
2179	-1.36	-67.7	2270	2804	3893	3887	366.9	-16.3	143	2180	0.00	0.00	0.00	0.000	6	0.000	0.000	2272	2804	3889	3891	3887	0	0	0	0	0	0	14.92	14.92	14.92
2514	-1.39	-92.2	2271	2805	3892	3891	403.3	-7.5	149	2521	0.00	2.47	0.00	0.000	548	0.000	0.047	2272	1397	3890	3892	3889	0	0	0	0	0	0	14.94	14.36	14.94
2651	end dive: NO_VERTICAL_VELOCITY
state	2651	begin apogee
2660	-0.23	0.0	2273	2555	3893	3890	403.3	0.0	169	2745	1.38	0.00	81.90	2.828	10246	0.203	0.000	2654	2555	3598	3605	3592	0	0	0	0	0	0	13.97	13.85	12.41
2746	end apogee: CONTROL_FINISHED_OK
state	2746	begin climb
2749	1.39	92.2	2654	2556	3605	3592	403.5	0.0	170	2861	1.70	2.80	103.07	2.746	10500	0.125	0.090	3177	3912	3231	3244	3218	0	0	0	0	0	0	13.84	13.21	11.78
2902	1.41	92.2	3177	3913	3243	3213	397.6	9.1	197	2908	0.00	2.55	0.00	0.000	1094	0.000	0.052	3187	2563	3228	3243	3213	0	0	0	0	0	0	13.58	13.54	13.59
3266	1.41	92.2	3188	2563	3236	3209	361.9	9.9	207	3273	0.00	2.55	0.00	0.000	516	0.000	0.062	3198	1137	3222	3235	3209	0	0	0	0	0	0	14.78	14.30	14.78
3323	1.42	92.2	3198	1137	3236	3210	356.7	9.3	215	3329	0.00	2.53	0.00	0.000	1094	0.000	0.068	3198	2563	3222	3235	3209	0	0	0	0	0	0	14.52	14.39	14.57
3714	1.42	92.2	3198	2564	3234	3209	314.9	10.9	229	3720	0.00	2.50	0.00	0.000	260	0.000	0.093	3198	3907	3221	3234	3208	0	0	0	0	0	0	14.91	14.33	14.91
3910	1.42	92.2	3198	3907	3235	3207	292.1	11.7	257	3917	0.00	2.40	0.00	0.000	1030	0.000	0.050	3208	2526	3220	3234	3206	0	0	0	0	0	0	14.57	14.53	14.60
4275	1.42	92.2	3209	2526	3234	3207	257.3	9.5	267	4281	0.00	2.40	0.00	0.000	516	0.000	0.063	3218	1154	3220	3234	3207	0	0	0	0	0	0	14.88	14.43	14.88
4512	1.42	92.2	3220	1154	3235	3207	233.6	10.0	301	4519	0.10	2.53	0.00	0.000	5126	0.284	0.069	3194	2555	3220	3233	3207	0	0	0	0	0	0	13.97	14.38	14.23
4892	1.44	92.2	3194	2554	3235	3207	197.9	9.3	313	4898	0.00	2.53	0.00	0.000	324	0.000	0.092	3193	3910	3220	3234	3207	0	0	0	0	0	0	14.93	14.29	14.93
4988	1.44	92.2	3193	3910	3235	3207	187.9	10.3	327	4995	0.00	2.38	0.00	0.000	1030	0.000	0.051	3204	2543	3220	3233	3207	0	0	0	0	0	0	14.55	14.52	14.59
5341	1.47	92.2	3204	2543	3235	3208	157.2	8.5	341	5342	0.00	0.00	0.00	0.000	70	0.000	0.000	3204	2542	3220	3234	3207	0	0	0	0	0	0	14.88	14.88	14.88
5674	1.49	92.2	3205	2543	3236	3207	127.3	9.0	353	5680	0.00	2.55	0.00	0.000	324	0.000	0.093	3204	3909	3220	3234	3207	0	0	0	0	0	0	14.95	14.27	14.95
5723	1.49	92.2	3204	3909	3235	3207	122.6	9.8	360	5730	0.00	2.38	0.00	0.000	1030	0.000	0.050	3214	2551	3220	3234	3206	0	0	0	0	0	0	14.54	14.50	14.57
6066	1.52	92.2	3215	2552	3234	3208	93.1	8.3	373	6072	0.00	2.55	0.00	0.000	324	0.000	0.092	3214	3914	3220	3234	3206	0	0	0	0	0	0	14.95	14.27	14.95
6195	1.54	92.2	3214	3916	3234	3208	81.4	9.3	391	6200	0.00	2.35	0.00	0.000	1094	0.000	0.050	3225	2545	3221	3235	3207	0	0	0	0	0	0	14.63	14.56	14.66
6544	1.56	111.9	3225	2546	3234	3208	53.1	8.0	405	6564	0.00	2.47	12.82	0.388	8740	0.000	0.060	3236	1147	3152	3168	3137	0	0	0	0	0	0	14.92	14.33	13.75
6598	1.59	111.9	3236	1148	3167	3135	48.4	8.8	413	6604	0.00	2.55	0.00	0.000	1094	0.000	0.067	3236	2551	3150	3166	3135	0	0	0	0	0	0	14.42	14.33	14.47
6962	1.59	111.9	3236	2557	3165	3133	12.0	10.5	429	6963	0.00	0.00	0.00	0.000	6	0.000	0.000	3236	2557	3148	3164	3132	0	0	0	0	0	0	14.93	14.94	14.93
7072	end climb: SURFACE_DEPTH_REACHED
state	7072	begin surface coast
7099	end surface coast: CONTROL_FINISHED_OK
state	7100	begin surface