Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 56 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 ALTIM_TOP_TURN_MARGIN 10

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 18 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 150 UPLOAD_DIVES_MAX 3 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 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 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 0.15000001 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 783

AD7714Ch0Gain 1 D_TGT 450 N_NOCOMM 3 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 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 783 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 10 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 150

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 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 -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 56 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 15 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 010218,102611,-7412.6943,-11224.2695,2,0.7,3,53.5,0.3,267.0,12,8.9 SPEED_LIMITS 0.173,0.220

_CALLS 1 TGT_NAME ip1

_XMS_NAKs 0 TGT_LATLONG -7411.616,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 800.000

_SM_DEPTHo 0.28 MHEAD_RNG_PITCHd_Wd 262.3,2623,-16.7,-10.000,-24.48,2160

_SM_ANGLEo -60.5 D_GRID 450

GPS2 010218,102947,-7412.7007,-11224.3477,2,0.8,2,53.5,0.1,0.0,11,7.4

Post-dive calculations and measurements:

FREEZE 0.32,-1.321,-1.861,2,1,0 ALTIM_TOP_PING 6.8,6.3

FINISH 0.3,1.027296 _24V_AH 12.38,32.993

SM_CCo 7378,111.90,0.239,0,0,1490,300.00 _10V_AH 12.56,0.000

SM_GC 0.38,8.65,0.62,111.90,0.114,0.145,0.239,207,2505,1490,-7.75,-0.25,300.00,0,0,0,0,0,0,14.85,14.78,14.57 FG_AHR_24Vo 0.000

RAFOS_CLK 271 FG_AHR_10Vo 0.000

RAFOS 0,1517486464,12.032778,12.017777,100,60,58,57,56,51,534,170,134,202,160,119 MEM 280324

RAFOS_FIX -7412.132324,-11223.813477,010218,121236,2,94,0.18 DATA_FILE_SIZE 29959,836

IRIDIUM_FIX -7429.22,-10841.35,010218,102124 CAP_FILE_SIZE 125942,0

TT8_MAMPS 0.040446,0.890561 CFSIZE 1024409600,1013252096

HUMID 45.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.4628 SOUNDSPEED 1445.7

TCM_TEMP 13.30 CURRENT 0.036,85.93,1

XPDR_PINGS 0 GPS 010218,123542,-7412.062,-11226.127,3,1.5,5,53.5,0.4,83.7,6,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 485 139.82 nil 0 0 0.00

Roll_motor 68 150 127.99 nil 0 0 0.00

VBD_pump_during_apogee 313 2887 11193.92 nil 0 0 0.00

VBD_pump_during_surface 111 238 330.65 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 7356 13 1193.62

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 137.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 9 0.52

TT8 0 0 0.00

LPSleep 5209 2 151.15

TT8_Active 590 12 90.94

TT8_Sampling 1716 31 684.41

TT8_CF8 43 45 24.47

TT8_Kalman 0 0 0.00

Analog_circuits 1227 10 157.25

GPS_charging 0 0 0.00

Compass 1198 7 112.79

RAFOS 720 1 13.56

Transponder 186 30 70.24

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

16.7 18.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.2 27.20 9000.00 0.0 0.00 0.00 27.20 0.0 1.04 1.00

33.8 37.40 37.20 0.0 1.11 1.00 37.40 0.0 1.19 1.00

41.9 45.50 45.70 0.0 1.10 1.00 45.50 0.0 1.00 1.00

58.5 61.90 61.90 0.0 1.00 1.00 61.90 0.0 0.99 1.00

75.8 13.50 9000.00 0.0 -0.95 0.43 13.50 89.3 -2.80 1.00

84.7 89.40 9000.00 0.0 0.52 0.03 89.40 0.0 8.53 1.00

93.1 17.10 9000.00 0.0 0.27 0.00 17.10 110.2 -8.61 1.00

115.7 120.30 9000.00 0.0 1.74 0.28 120.30 -4.6 4.57 1.00

90.9 95.40 9000.00 0.0 2.45 0.39 95.40 -4.5 1.00 1.00

74.7 78.50 78.60 -3.9 1.02 1.00 78.50 -3.8 1.04 1.00

66.7 73.10 72.20 -5.5 0.94 0.99 73.10 -6.4 0.67 1.00

57.6 61.30 62.20 -4.6 1.01 0.97 61.30 -3.7 1.30 1.00

48.8 50.30 50.20 -1.4 1.27 1.00 50.30 -1.5 1.25 1.00

40.6 42.30 41.90 -1.3 1.12 1.00 42.30 -1.7 0.98 1.00

31.9 32.80 33.00 -1.1 1.04 1.00 32.80 -0.9 1.09 1.00

23.5 25.10 24.80 -1.3 1.01 1.00 25.10 -1.6 0.92 1.00

15.2 14.30 14.90 0.3 1.11 0.99 14.30 0.9 1.30 1.00

6.8 6.90 6.30 0.5 1.09 0.99 6.90 -0.1 0.88 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 -0.94 -146.0 201 2517 1497 1440 0.0 0.0 0 111 0.00 0.00 -98.00 0.002 16390 0.000 0.000 200 2516 3311 3376 3247 0 0 0 0 0 0 14.86 13.97 14.89

113 -0.94 -146.0 201 2517 3377 3248 4.6 -8.0 10 131 12.02 2.60 0.00 0.000 2564 0.486 0.106 2392 1085 3312 3377 3247 0 0 0 0 0 0 14.38 14.61 14.66

340 -0.94 -146.0 2393 1085 3379 3247 43.9 -13.7 55 348 0.00 2.70 0.00 0.000 1030 0.000 0.125 2384 2505 3312 3377 3247 0 0 0 0 0 0 14.73 14.63 14.77

645 -0.94 -146.0 2386 2505 3378 3247 87.6 -14.6 86 651 0.00 2.38 0.00 0.000 260 0.000 0.146 2376 3747 3312 3377 3247 0 0 0 0 0 0 14.97 14.68 15.00

710 -0.94 -146.0 2377 3748 3378 3248 98.1 -16.5 99 718 0.00 2.28 0.00 0.000 1030 0.000 0.097 2376 2492 3312 3377 3247 0 0 0 0 0 0 14.80 14.73 14.83

1015 -0.94 -146.0 2376 2493 3378 3249 144.6 -14.9 130 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2492 3311 3377 3246 0 0 0 0 0 0 15.01 15.04 15.04

1315 -0.94 -146.0 2376 2493 3378 3248 188.3 -14.4 160 1321 0.00 2.42 0.00 0.000 260 0.000 0.149 2368 3757 3312 3377 3247 0 0 0 0 0 0 15.04 14.73 15.06

1350 -0.94 -146.0 2368 3757 3376 3247 193.6 -15.4 167 1358 0.00 2.28 0.00 0.000 1030 0.000 0.098 2368 2498 3312 3378 3247 0 0 0 0 0 0 14.85 14.78 14.88

1655 -0.94 -146.0 2369 2497 3378 3247 238.9 -14.3 198 1662 0.15 2.40 0.00 0.000 2308 0.303 0.150 2391 3754 3312 3377 3247 0 0 0 0 0 0 14.65 14.74 14.86

1686 -0.94 -146.0 2391 3755 3378 3248 243.2 -14.5 204 1692 0.00 2.25 0.00 0.000 1030 0.000 0.099 2391 2488 3310 3374 3247 0 0 0 0 0 0 14.91 14.81 14.93

1996 -0.94 -146.0 2391 2490 3378 3247 285.6 -13.9 236 1996 0.00 0.00 0.00 0.000 6 0.000 0.000 2391 2490 3311 3377 3246 0 0 0 0 0 0 15.04 15.08 15.07

2295 -0.94 -146.0 2396 2490 3378 3247 326.9 -14.1 266 2302 0.00 2.42 0.00 0.000 260 0.000 0.151 2383 3754 3312 3377 3247 0 0 0 0 0 0 15.06 14.75 15.08

2315 -0.94 -146.0 2384 3754 3378 3247 329.8 -14.6 270 2322 0.00 2.28 0.00 0.000 1030 0.000 0.099 2383 2492 3312 3377 3247 0 0 0 0 0 0 14.88 14.81 14.90

2625 -0.94 -146.0 2383 2493 3378 3248 372.9 -13.9 302 2626 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2492 3312 3377 3247 0 0 0 0 0 0 15.06 15.09 15.09

2926 -0.94 -146.0 2383 2493 3378 3248 414.4 -13.7 332 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2492 3312 3377 3247 0 0 0 0 0 0 15.07 15.09 15.09

3195 end dive: TARGET_DEPTH_EXCEEDED

state 3195 begin apogee

3198 -0.23 0.0 2384 2195 3378 3248 450.6 -13.3 359 3358 0.90 0.00 151.00 2.888 10246 0.255 0.000 2622 2194 2712 2772 2653 0 0 0 0 0 0 14.69 13.70 12.72

3359 end apogee: CONTROL_FINISHED_OK

state 3359 begin climb

3360 0.94 146.0 2622 2195 2772 2653 456.0 0.0 375 3532 1.30 3.03 162.10 2.746 10756 0.158 0.134 3003 789 2116 2181 2052 0 0 0 0 0 0 13.71 13.28 12.38

3575 0.94 146.0 3004 790 2175 2051 439.7 11.4 414 3583 0.00 2.85 0.00 0.000 1030 0.000 0.113 3003 2199 2108 2171 2046 0 0 0 0 0 0 13.75 13.69 13.78

3880 0.94 146.0 3004 2200 2171 2043 402.6 12.1 445 3886 0.00 2.83 0.00 0.000 260 0.000 0.143 3003 3622 2105 2170 2041 0 0 0 0 0 0 14.52 14.27 14.54

3910 0.94 146.0 3003 3623 2171 2042 398.7 13.8 451 3917 0.00 2.70 0.00 0.000 1030 0.000 0.105 3014 2200 2105 2170 2041 0 0 0 0 0 0 14.38 14.31 14.42

4220 0.94 146.0 3014 2199 2170 2040 360.4 11.9 483 4226 0.00 2.72 0.00 0.000 516 0.000 0.136 3025 785 2104 2169 2040 0 0 0 0 0 0 14.76 14.49 14.78

4275 0.94 146.0 3026 785 2169 2040 353.7 11.9 494 4283 0.00 2.67 0.00 0.000 1030 0.000 0.116 3025 2199 2104 2169 2040 0 0 0 0 0 0 14.59 14.52 14.64

4580 0.94 146.0 3025 2200 2169 2040 316.4 12.4 525 4586 0.00 2.72 0.00 0.000 260 0.000 0.144 3025 3611 2104 2168 2040 0 0 0 0 0 0 14.88 14.61 14.90

4635 0.94 146.0 3025 3612 2169 2041 309.0 13.1 536 4644 0.12 2.62 0.00 0.000 5126 0.252 0.105 3002 2189 2104 2168 2040 0 0 0 0 0 0 14.57 14.64 14.69

4940 0.94 146.0 3002 2189 2169 2039 274.6 11.1 567 4941 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2189 2103 2168 2039 0 0 0 0 0 0 14.95 14.97 14.97

5240 0.94 146.0 3002 2189 2169 2039 240.6 11.4 597 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2188 2103 2168 2039 0 0 0 0 0 0 14.98 15.02 15.01

5540 0.94 146.0 3002 2190 2170 2040 206.4 11.2 627 5547 0.00 2.75 0.00 0.000 260 0.000 0.145 3002 3618 2103 2168 2039 0 0 0 0 0 0 15.00 14.74 15.03

5581 0.94 146.0 3002 3619 2169 2039 201.5 12.4 635 5587 0.00 2.62 0.00 0.000 1030 0.000 0.106 3012 2190 2103 2168 2039 0 0 0 0 0 0 14.83 14.76 14.87

5890 0.94 146.0 3012 2190 2169 2039 167.0 11.0 667 5898 0.00 2.65 0.00 0.000 516 0.000 0.136 3023 788 2103 2168 2039 0 0 0 0 0 0 15.01 14.74 15.04

5961 0.94 146.0 3023 788 2168 2039 158.6 12.1 681 5969 0.00 2.62 0.00 0.000 1030 0.000 0.116 3022 2200 2103 2167 2039 0 0 0 0 0 0 14.84 14.76 14.90

6273 0.94 146.0 3022 2201 2169 2040 120.8 11.7 713 6279 0.00 2.70 0.00 0.000 260 0.000 0.145 3023 3614 2103 2167 2039 0 0 0 0 0 0 15.02 14.73 15.04

6323 0.94 146.0 3023 3614 2168 2039 114.2 14.0 723 6329 0.10 2.60 0.00 0.000 5126 0.267 0.106 3006 2196 2102 2167 2038 0 0 0 0 0 0 14.69 14.78 14.83

6633 0.94 146.0 3006 2194 2168 2038 79.2 11.7 755 6634 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2194 2102 2167 2038 0 0 0 0 0 0 15.03 15.06 15.06

6933 0.94 146.0 3006 2194 2168 2039 45.4 11.1 785 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2193 2102 2167 2038 0 0 0 0 0 0 15.04 15.07 15.07

7234 0.94 146.0 3006 2193 2165 2038 15.2 11.1 815 7239 0.00 2.70 0.00 0.000 260 0.000 0.147 3006 3627 2102 2167 2038 0 0 0 0 0 0 15.02 14.78 15.05

7303 0.94 146.0 3005 3628 2168 2039 7.3 12.1 829 7311 0.00 2.62 0.00 0.000 1030 0.000 0.106 3015 2194 2102 2167 2038 0 0 0 0 0 0 14.83 14.75 14.85

7354 end climb: SURFACE_DEPTH_REACHED

state 7354 begin surface coast

7364 end surface coast: CONTROL_FINISHED_OK

state 7364 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	56	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	ALTIM_TOP_TURN_MARGIN	10
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	18	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	150	UPLOAD_DIVES_MAX	3	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	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	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	0.15000001	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	783

GPS1	010218,102611,-7412.6943,-11224.2695,2,0.7,3,53.5,0.3,267.0,12,8.9	SPEED_LIMITS	0.173,0.220
_CALLS	1	TGT_NAME	ip1
_XMS_NAKs	0	TGT_LATLONG	-7411.616,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	800.000
_SM_DEPTHo	0.28	MHEAD_RNG_PITCHd_Wd	262.3,2623,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	-60.5	D_GRID	450
GPS2	010218,102947,-7412.7007,-11224.3477,2,0.8,2,53.5,0.1,0.0,11,7.4

FREEZE	0.32,-1.321,-1.861,2,1,0	ALTIM_TOP_PING	6.8,6.3
FINISH	0.3,1.027296	_24V_AH	12.38,32.993
SM_CCo	7378,111.90,0.239,0,0,1490,300.00	_10V_AH	12.56,0.000
SM_GC	0.38,8.65,0.62,111.90,0.114,0.145,0.239,207,2505,1490,-7.75,-0.25,300.00,0,0,0,0,0,0,14.85,14.78,14.57	FG_AHR_24Vo	0.000
RAFOS_CLK	271	FG_AHR_10Vo	0.000
RAFOS	0,1517486464,12.032778,12.017777,100,60,58,57,56,51,534,170,134,202,160,119	MEM	280324
RAFOS_FIX	-7412.132324,-11223.813477,010218,121236,2,94,0.18	DATA_FILE_SIZE	29959,836
IRIDIUM_FIX	-7429.22,-10841.35,010218,102124	CAP_FILE_SIZE	125942,0
TT8_MAMPS	0.040446,0.890561	CFSIZE	1024409600,1013252096
HUMID	45.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.4628	SOUNDSPEED	1445.7
TCM_TEMP	13.30	CURRENT	0.036,85.93,1
XPDR_PINGS	0	GPS	010218,123542,-7412.062,-11226.127,3,1.5,5,53.5,0.4,83.7,6,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	485	139.82	nil	0	0	0.00
Roll_motor	68	150	127.99	nil	0	0	0.00
VBD_pump_during_apogee	313	2887	11193.92	nil	0	0	0.00
VBD_pump_during_surface	111	238	330.65	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	7356	13	1193.62
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	137.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	9	0.52
TT8	0	0	0.00
LPSleep	5209	2	151.15
TT8_Active	590	12	90.94
TT8_Sampling	1716	31	684.41
TT8_CF8	43	45	24.47
TT8_Kalman	0	0	0.00
Analog_circuits	1227	10	157.25
GPS_charging	0	0	0.00
Compass	1198	7	112.79
RAFOS	720	1	13.56
Transponder	186	30	70.24

		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
16.7	18.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.2	27.20	9000.00	0.0	0.00	0.00	27.20	0.0	1.04	1.00
33.8	37.40	37.20	0.0	1.11	1.00	37.40	0.0	1.19	1.00
41.9	45.50	45.70	0.0	1.10	1.00	45.50	0.0	1.00	1.00
58.5	61.90	61.90	0.0	1.00	1.00	61.90	0.0	0.99	1.00
75.8	13.50	9000.00	0.0	-0.95	0.43	13.50	89.3	-2.80	1.00
84.7	89.40	9000.00	0.0	0.52	0.03	89.40	0.0	8.53	1.00
93.1	17.10	9000.00	0.0	0.27	0.00	17.10	110.2	-8.61	1.00

115.7	120.30	9000.00	0.0	1.74	0.28	120.30	-4.6	4.57	1.00
90.9	95.40	9000.00	0.0	2.45	0.39	95.40	-4.5	1.00	1.00
74.7	78.50	78.60	-3.9	1.02	1.00	78.50	-3.8	1.04	1.00
66.7	73.10	72.20	-5.5	0.94	0.99	73.10	-6.4	0.67	1.00
57.6	61.30	62.20	-4.6	1.01	0.97	61.30	-3.7	1.30	1.00
48.8	50.30	50.20	-1.4	1.27	1.00	50.30	-1.5	1.25	1.00
40.6	42.30	41.90	-1.3	1.12	1.00	42.30	-1.7	0.98	1.00
31.9	32.80	33.00	-1.1	1.04	1.00	32.80	-0.9	1.09	1.00
23.5	25.10	24.80	-1.3	1.01	1.00	25.10	-1.6	0.92	1.00
15.2	14.30	14.90	0.3	1.11	0.99	14.30	0.9	1.30	1.00
6.8	6.90	6.30	0.5	1.09	0.99	6.90	-0.1	0.88	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	-0.94	-146.0	201	2517	1497	1440	0.0	0.0	0	111	0.00	0.00	-98.00	0.002	16390	0.000	0.000	200	2516	3311	3376	3247	0	0	0	0	0	0	14.86	13.97	14.89
113	-0.94	-146.0	201	2517	3377	3248	4.6	-8.0	10	131	12.02	2.60	0.00	0.000	2564	0.486	0.106	2392	1085	3312	3377	3247	0	0	0	0	0	0	14.38	14.61	14.66
340	-0.94	-146.0	2393	1085	3379	3247	43.9	-13.7	55	348	0.00	2.70	0.00	0.000	1030	0.000	0.125	2384	2505	3312	3377	3247	0	0	0	0	0	0	14.73	14.63	14.77
645	-0.94	-146.0	2386	2505	3378	3247	87.6	-14.6	86	651	0.00	2.38	0.00	0.000	260	0.000	0.146	2376	3747	3312	3377	3247	0	0	0	0	0	0	14.97	14.68	15.00
710	-0.94	-146.0	2377	3748	3378	3248	98.1	-16.5	99	718	0.00	2.28	0.00	0.000	1030	0.000	0.097	2376	2492	3312	3377	3247	0	0	0	0	0	0	14.80	14.73	14.83
1015	-0.94	-146.0	2376	2493	3378	3249	144.6	-14.9	130	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2492	3311	3377	3246	0	0	0	0	0	0	15.01	15.04	15.04
1315	-0.94	-146.0	2376	2493	3378	3248	188.3	-14.4	160	1321	0.00	2.42	0.00	0.000	260	0.000	0.149	2368	3757	3312	3377	3247	0	0	0	0	0	0	15.04	14.73	15.06
1350	-0.94	-146.0	2368	3757	3376	3247	193.6	-15.4	167	1358	0.00	2.28	0.00	0.000	1030	0.000	0.098	2368	2498	3312	3378	3247	0	0	0	0	0	0	14.85	14.78	14.88
1655	-0.94	-146.0	2369	2497	3378	3247	238.9	-14.3	198	1662	0.15	2.40	0.00	0.000	2308	0.303	0.150	2391	3754	3312	3377	3247	0	0	0	0	0	0	14.65	14.74	14.86
1686	-0.94	-146.0	2391	3755	3378	3248	243.2	-14.5	204	1692	0.00	2.25	0.00	0.000	1030	0.000	0.099	2391	2488	3310	3374	3247	0	0	0	0	0	0	14.91	14.81	14.93
1996	-0.94	-146.0	2391	2490	3378	3247	285.6	-13.9	236	1996	0.00	0.00	0.00	0.000	6	0.000	0.000	2391	2490	3311	3377	3246	0	0	0	0	0	0	15.04	15.08	15.07
2295	-0.94	-146.0	2396	2490	3378	3247	326.9	-14.1	266	2302	0.00	2.42	0.00	0.000	260	0.000	0.151	2383	3754	3312	3377	3247	0	0	0	0	0	0	15.06	14.75	15.08
2315	-0.94	-146.0	2384	3754	3378	3247	329.8	-14.6	270	2322	0.00	2.28	0.00	0.000	1030	0.000	0.099	2383	2492	3312	3377	3247	0	0	0	0	0	0	14.88	14.81	14.90
2625	-0.94	-146.0	2383	2493	3378	3248	372.9	-13.9	302	2626	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2492	3312	3377	3247	0	0	0	0	0	0	15.06	15.09	15.09
2926	-0.94	-146.0	2383	2493	3378	3248	414.4	-13.7	332	2926	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2492	3312	3377	3247	0	0	0	0	0	0	15.07	15.09	15.09
3195	end dive: TARGET_DEPTH_EXCEEDED
state	3195	begin apogee
3198	-0.23	0.0	2384	2195	3378	3248	450.6	-13.3	359	3358	0.90	0.00	151.00	2.888	10246	0.255	0.000	2622	2194	2712	2772	2653	0	0	0	0	0	0	14.69	13.70	12.72
3359	end apogee: CONTROL_FINISHED_OK
state	3359	begin climb
3360	0.94	146.0	2622	2195	2772	2653	456.0	0.0	375	3532	1.30	3.03	162.10	2.746	10756	0.158	0.134	3003	789	2116	2181	2052	0	0	0	0	0	0	13.71	13.28	12.38
3575	0.94	146.0	3004	790	2175	2051	439.7	11.4	414	3583	0.00	2.85	0.00	0.000	1030	0.000	0.113	3003	2199	2108	2171	2046	0	0	0	0	0	0	13.75	13.69	13.78
3880	0.94	146.0	3004	2200	2171	2043	402.6	12.1	445	3886	0.00	2.83	0.00	0.000	260	0.000	0.143	3003	3622	2105	2170	2041	0	0	0	0	0	0	14.52	14.27	14.54
3910	0.94	146.0	3003	3623	2171	2042	398.7	13.8	451	3917	0.00	2.70	0.00	0.000	1030	0.000	0.105	3014	2200	2105	2170	2041	0	0	0	0	0	0	14.38	14.31	14.42
4220	0.94	146.0	3014	2199	2170	2040	360.4	11.9	483	4226	0.00	2.72	0.00	0.000	516	0.000	0.136	3025	785	2104	2169	2040	0	0	0	0	0	0	14.76	14.49	14.78
4275	0.94	146.0	3026	785	2169	2040	353.7	11.9	494	4283	0.00	2.67	0.00	0.000	1030	0.000	0.116	3025	2199	2104	2169	2040	0	0	0	0	0	0	14.59	14.52	14.64
4580	0.94	146.0	3025	2200	2169	2040	316.4	12.4	525	4586	0.00	2.72	0.00	0.000	260	0.000	0.144	3025	3611	2104	2168	2040	0	0	0	0	0	0	14.88	14.61	14.90
4635	0.94	146.0	3025	3612	2169	2041	309.0	13.1	536	4644	0.12	2.62	0.00	0.000	5126	0.252	0.105	3002	2189	2104	2168	2040	0	0	0	0	0	0	14.57	14.64	14.69
4940	0.94	146.0	3002	2189	2169	2039	274.6	11.1	567	4941	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2189	2103	2168	2039	0	0	0	0	0	0	14.95	14.97	14.97
5240	0.94	146.0	3002	2189	2169	2039	240.6	11.4	597	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	3002	2188	2103	2168	2039	0	0	0	0	0	0	14.98	15.02	15.01
5540	0.94	146.0	3002	2190	2170	2040	206.4	11.2	627	5547	0.00	2.75	0.00	0.000	260	0.000	0.145	3002	3618	2103	2168	2039	0	0	0	0	0	0	15.00	14.74	15.03
5581	0.94	146.0	3002	3619	2169	2039	201.5	12.4	635	5587	0.00	2.62	0.00	0.000	1030	0.000	0.106	3012	2190	2103	2168	2039	0	0	0	0	0	0	14.83	14.76	14.87
5890	0.94	146.0	3012	2190	2169	2039	167.0	11.0	667	5898	0.00	2.65	0.00	0.000	516	0.000	0.136	3023	788	2103	2168	2039	0	0	0	0	0	0	15.01	14.74	15.04
5961	0.94	146.0	3023	788	2168	2039	158.6	12.1	681	5969	0.00	2.62	0.00	0.000	1030	0.000	0.116	3022	2200	2103	2167	2039	0	0	0	0	0	0	14.84	14.76	14.90
6273	0.94	146.0	3022	2201	2169	2040	120.8	11.7	713	6279	0.00	2.70	0.00	0.000	260	0.000	0.145	3023	3614	2103	2167	2039	0	0	0	0	0	0	15.02	14.73	15.04
6323	0.94	146.0	3023	3614	2168	2039	114.2	14.0	723	6329	0.10	2.60	0.00	0.000	5126	0.267	0.106	3006	2196	2102	2167	2038	0	0	0	0	0	0	14.69	14.78	14.83
6633	0.94	146.0	3006	2194	2168	2038	79.2	11.7	755	6634	0.00	0.00	0.00	0.000	6	0.000	0.000	3006	2194	2102	2167	2038	0	0	0	0	0	0	15.03	15.06	15.06
6933	0.94	146.0	3006	2194	2168	2039	45.4	11.1	785	6934	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	2193	2102	2167	2038	0	0	0	0	0	0	15.04	15.07	15.07
7234	0.94	146.0	3006	2193	2165	2038	15.2	11.1	815	7239	0.00	2.70	0.00	0.000	260	0.000	0.147	3006	3627	2102	2167	2038	0	0	0	0	0	0	15.02	14.78	15.05
7303	0.94	146.0	3005	3628	2168	2039	7.3	12.1	829	7311	0.00	2.62	0.00	0.000	1030	0.000	0.106	3015	2194	2102	2167	2038	0	0	0	0	0	0	14.83	14.75	14.85
7354	end climb: SURFACE_DEPTH_REACHED
state	7354	begin surface coast
7364	end surface coast: CONTROL_FINISHED_OK
state	7364	begin surface