Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 560 * 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 560 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 41 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 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 560 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 41 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 20 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 251118,043930,-7407.3384,-11320.9629,18,0.7,18,53.9,0.3,91.4,11,3.2 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 0.49 MHEAD_RNG_PITCHd_Wd 159.4,1998,-37.9,-10.000,-42.41,618

_SM_ANGLEo -66.4 D_GRID 990

GPS2 251118,045258,-7407.2808,-11321.1387,3,0.8,4,53.9,1.1,304.7,10,7.0

Post-dive calculations and measurements:

FREEZE 1.34,-1.512,-1.861,2,1,0 ALTIM_BOTTOM_PING 383.8,13.9

FINISH 1.3,1.027286 _24V_AH 12.31,180.087

SM_CCo 6125,179.32,0.221,0,0,2405,300.18 _10V_AH 12.69,0.000

SM_GC 0.53,10.32,1.98,179.32,0.146,0.056,0.221,187,2794,2405,-7.90,1.02,300.18,0,0,0,0,0,0,14.38,14.55,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 254 FG_AHR_10Vo 0.000

RAFOS 0,1543125661,6.032778,6.016944,129,61,61,58,57,56,642,210,158,223,176,201 MEM 279836

RAFOS_FIX -7406.181152,-11312.029297,251118,060628,3,111,1.02 DATA_FILE_SIZE 10138,344

IRIDIUM_FIX -7406.56,-11341.81,251118,022657 CAP_FILE_SIZE 70880,0

TT8_MAMPS 0.03745,0.26215 CFSIZE 1024409600,954318848

HUMID 46.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.79246 SOUNDSPEED 1445.1

TCM_TEMP 13.10 CURRENT 0.077,342.39,1

XPDR_PINGS 4 GPS 251118,063921,-7407.410,-11322.128,4,1.5,7,53.9,0.4,343.7,6,9.1

ALTIM_TOP_PING 13.7,14.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 436 133.89 nil 0 0 0.00

Roll_motor 62 93 71.75 nil 0 0 0.00

VBD_pump_during_apogee 138 2803 4774.13 nil 0 0 0.00

VBD_pump_during_surface 179 221 488.04 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 6079 3 297.91

Iridium_during_xfer 506 215 1345.54 nil 0 0 0.00

Transponder_ping 18 420 95.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.63

TT8 0 0 0.00

LPSleep 4951 2 145.14

TT8_Active 514 10 70.91

TT8_Sampling 1265 30 487.55

TT8_CF8 392 51 255.91

TT8_Kalman 0 0 0.00

Analog_circuits 1315 10 168.59

GPS_charging 0 0 0.00

Compass 499 6 42.76

RAFOS 720 1 13.71

Transponder 129 30 49.22

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

10.2 12.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.4 24.40 9000.00 0.0 0.00 0.00 24.40 0.0 1.09 1.00

32.8 35.80 36.00 0.0 1.04 1.00 35.80 0.0 1.00 1.00

43.2 46.10 46.10 0.0 0.99 1.00 46.10 0.0 0.99 1.00

350.7 50.20 9000.00 0.0 0.03 0.55 50.20 0.0 0.01 1.00

361.7 37.70 9000.00 0.0 -0.01 0.05 37.70 399.4 -1.14 1.00

372.8 26.10 26.00 398.8 -1.09 1.00 26.10 398.9 -1.05 1.00

383.8 13.80 13.90 397.7 -1.09 1.00 13.80 397.6 -1.12 1.00

382.0 13.30 14.70 0.0 -1.20 0.96 0.00 0.0 0.00 0.00

368.5 25.00 9000.00 0.0 -0.79 0.98 25.00 0.0 -0.87 1.00

355.8 33.70 9000.00 0.0 -0.78 1.00 33.70 0.0 -0.69 1.00

135.2 141.30 9000.00 0.0 -0.49 1.00 141.30 0.0 -0.49 1.00

124.7 130.00 9000.00 0.0 -0.45 0.98 130.00 -5.3 1.08 1.00

90.2 93.90 93.80 -3.6 1.05 1.00 93.90 -3.7 1.05 1.00

78.7 82.20 82.10 -3.4 1.04 1.00 82.20 -3.5 1.02 1.00

68.6 71.60 71.70 -3.1 1.03 1.00 71.60 -3.0 1.05 1.00

57.9 60.40 60.30 -2.4 1.05 1.00 60.40 -2.5 1.05 1.00

46.6 48.00 48.10 -1.5 1.07 1.00 48.00 -1.4 1.10 1.00

36.1 37.90 37.70 -1.6 1.03 1.00 37.90 -1.8 0.96 1.00

25.3 26.60 26.80 -1.5 1.01 1.00 26.60 -1.3 1.05 1.00

13.7 13.90 14.00 -0.3 1.07 1.00 13.90 -0.2 1.09 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

12 -1.77 -40.8 195 2814 2424 2320 0.0 0.0 0 103 0.00 0.00 -89.82 0.003 16390 0.000 0.000 193 2814 3764 3785 3744 0 0 0 0 0 0 14.72 12.41 14.72

106 -1.77 -40.8 194 2814 3789 3755 1.5 -1.2 3 122 10.30 2.47 0.00 0.000 2564 0.437 0.044 2156 1390 3775 3789 3762 0 0 0 0 0 0 13.76 14.26 14.12

330 -1.77 -40.8 2157 1389 3791 3773 47.5 -21.0 36 337 0.00 2.55 0.00 0.000 1030 0.000 0.060 2155 2811 3781 3789 3773 0 0 0 0 0 0 14.40 14.33 14.45

688 -1.77 -40.8 2155 2811 3791 3776 123.1 -20.6 51 694 0.00 2.00 0.00 0.000 260 0.000 0.080 2147 3912 3783 3790 3776 0 0 0 0 0 0 14.91 14.31 14.91

743 -1.77 -40.8 2148 3913 3790 3777 135.2 -21.9 59 750 0.00 1.92 0.00 0.000 1030 0.000 0.040 2147 2770 3783 3790 3776 0 0 0 0 0 0 14.58 14.56 14.59

1136 -1.77 -40.8 2148 2772 3791 3778 213.8 -19.7 75 1142 0.00 2.38 0.00 0.000 516 0.000 0.046 2147 1413 3783 3790 3777 0 0 0 0 0 0 14.85 14.35 14.85

1268 -1.77 -40.8 2148 1413 3791 3778 239.4 -18.0 94 1275 0.00 2.50 0.00 0.000 1030 0.000 0.060 2145 2808 3783 3790 3777 0 0 0 0 0 0 14.42 14.34 14.46

1642 -1.77 -40.8 2145 2808 3792 3777 307.7 -18.4 105 1648 0.00 1.98 0.00 0.000 260 0.000 0.080 2136 3916 3783 3790 3777 0 0 0 0 0 0 14.85 14.34 14.85

1709 -1.77 -40.8 2140 3916 3791 3776 321.5 -20.1 115 1716 0.00 1.92 0.00 0.000 1030 0.000 0.040 2140 2790 3783 3790 3777 0 0 0 0 0 0 14.61 14.57 14.62

2086 end dive: BOTTOM_OBSTACLE_DETECTED

state 2086 begin apogee

2092 -0.23 0.0 2140 2552 3791 3779 394.5 -19.6 127 2148 2.05 0.00 52.45 2.804 10246 0.275 0.000 2649 2551 3601 3611 3592 0 0 0 0 0 0 13.78 14.05 12.60

2149 end apogee: CONTROL_FINISHED_OK

state 2149 begin climb

2152 1.77 40.8 2650 2553 3606 3592 394.6 0.0 128 2207 2.10 2.60 46.78 2.746 10756 0.129 0.060 3308 1164 3434 3447 3421 0 0 0 0 0 0 14.07 13.55 12.33

2264 1.82 76.4 3308 1165 3445 3419 391.5 4.1 137 2310 0.00 2.53 39.10 2.724 9254 0.000 0.067 3308 2550 3294 3309 3279 0 0 0 0 0 0 14.19 14.07 12.31

2654 1.82 76.4 3308 2551 3302 3274 350.1 11.2 151 2660 0.00 2.53 0.00 0.000 260 0.000 0.093 3307 3905 3285 3301 3269 0 0 0 0 0 0 14.81 14.31 14.81

2688 1.82 76.4 3308 3906 3302 3272 346.2 11.3 156 2696 0.00 2.38 0.00 0.000 1030 0.000 0.054 3319 2559 3286 3301 3272 0 0 0 0 0 0 14.52 14.48 14.54

3046 1.82 76.4 3319 2559 3302 3272 305.2 11.1 165 3053 0.00 2.47 0.00 0.000 260 0.000 0.093 3318 3910 3282 3294 3271 0 0 0 0 0 0 14.85 14.38 14.85

3102 1.82 76.4 3318 3911 3301 3272 297.9 13.3 173 3109 0.00 2.40 0.00 0.000 1030 0.000 0.053 3329 2539 3285 3300 3270 0 0 0 0 0 0 14.57 14.52 14.59

3494 1.82 76.4 3329 2539 3301 3271 252.7 11.0 187 3500 0.00 2.55 0.00 0.000 260 0.000 0.093 3329 3904 3284 3300 3268 0 0 0 0 0 0 14.94 14.33 14.94

3731 1.82 76.4 3330 3904 3301 3271 223.0 13.3 221 3739 0.00 2.38 0.00 0.000 1030 0.000 0.053 3339 2550 3286 3301 3271 0 0 0 0 0 0 14.56 14.51 14.59

4085 1.82 76.4 3340 2550 3302 3271 181.5 10.8 235 4086 0.00 0.00 0.00 0.000 6 0.000 0.000 3339 2550 3285 3300 3270 0 0 0 0 0 0 14.87 14.86 14.86

4420 1.82 76.4 3340 2551 3302 3271 146.8 10.7 247 4425 0.00 2.47 0.00 0.000 516 0.000 0.062 3350 1146 3285 3300 3270 0 0 0 0 0 0 14.88 14.40 14.88

4452 1.82 76.4 3351 1147 3302 3271 143.1 10.5 252 4459 0.12 2.55 0.00 0.000 5126 0.309 0.070 3320 2551 3285 3300 3271 0 0 0 0 0 0 13.85 14.35 14.15

4810 1.83 76.4 3320 2551 3301 3271 109.6 9.2 267 4816 0.00 2.55 0.00 0.000 580 0.000 0.062 3331 1140 3286 3301 3271 0 0 0 0 0 0 14.94 14.32 14.93

4901 1.86 76.4 3330 1142 3300 3272 101.5 8.9 280 4907 0.00 2.55 0.00 0.000 1094 0.000 0.068 3331 2551 3285 3300 3271 0 0 0 0 0 0 14.42 14.35 14.47

5260 1.88 76.4 3331 2551 3302 3271 71.5 8.5 295 5265 0.00 2.50 0.00 0.000 324 0.000 0.091 3331 3916 3285 3300 3271 0 0 0 0 0 0 14.93 14.33 14.93

5314 1.91 76.4 3331 3916 3302 3271 66.8 8.6 303 5320 0.00 2.40 0.00 0.000 1094 0.000 0.053 3341 2544 3285 3300 3271 0 0 0 0 0 0 14.52 14.47 14.55

5680 1.95 76.4 3341 2545 3301 3272 37.2 8.4 319 5685 0.00 2.47 0.00 0.000 580 0.000 0.062 3352 1148 3286 3301 3271 0 0 0 0 0 0 14.93 14.39 14.92

5706 1.98 76.4 3352 1150 3301 3272 34.9 8.2 323 5712 0.00 2.55 0.00 0.000 1094 0.000 0.070 3352 2555 3286 3301 3271 0 0 0 0 0 0 14.41 14.33 14.46

6072 2.02 76.4 3352 2556 3301 3272 4.6 8.2 339 6077 0.00 2.50 0.00 0.000 324 0.000 0.092 3352 3911 3286 3301 3271 0 0 0 0 0 0 14.93 14.32 14.93

6095 end climb: SURFACE_DEPTH_REACHED

state 6095 begin surface coast

6102 end surface coast: CONTROL_FINISHED_OK

state 6102 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	560	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	41	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	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	251118,043930,-7407.3384,-11320.9629,18,0.7,18,53.9,0.3,91.4,11,3.2	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	0.49	MHEAD_RNG_PITCHd_Wd	159.4,1998,-37.9,-10.000,-42.41,618
_SM_ANGLEo	-66.4	D_GRID	990
GPS2	251118,045258,-7407.2808,-11321.1387,3,0.8,4,53.9,1.1,304.7,10,7.0

FREEZE	1.34,-1.512,-1.861,2,1,0	ALTIM_BOTTOM_PING	383.8,13.9
FINISH	1.3,1.027286	_24V_AH	12.31,180.087
SM_CCo	6125,179.32,0.221,0,0,2405,300.18	_10V_AH	12.69,0.000
SM_GC	0.53,10.32,1.98,179.32,0.146,0.056,0.221,187,2794,2405,-7.90,1.02,300.18,0,0,0,0,0,0,14.38,14.55,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	254	FG_AHR_10Vo	0.000
RAFOS	0,1543125661,6.032778,6.016944,129,61,61,58,57,56,642,210,158,223,176,201	MEM	279836
RAFOS_FIX	-7406.181152,-11312.029297,251118,060628,3,111,1.02	DATA_FILE_SIZE	10138,344
IRIDIUM_FIX	-7406.56,-11341.81,251118,022657	CAP_FILE_SIZE	70880,0
TT8_MAMPS	0.03745,0.26215	CFSIZE	1024409600,954318848
HUMID	46.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.79246	SOUNDSPEED	1445.1
TCM_TEMP	13.10	CURRENT	0.077,342.39,1
XPDR_PINGS	4	GPS	251118,063921,-7407.410,-11322.128,4,1.5,7,53.9,0.4,343.7,6,9.1
ALTIM_TOP_PING	13.7,14.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	436	133.89	nil	0	0	0.00
Roll_motor	62	93	71.75	nil	0	0	0.00
VBD_pump_during_apogee	138	2803	4774.13	nil	0	0	0.00
VBD_pump_during_surface	179	221	488.04	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	6079	3	297.91
Iridium_during_xfer	506	215	1345.54	nil	0	0	0.00
Transponder_ping	18	420	95.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.63
TT8	0	0	0.00
LPSleep	4951	2	145.14
TT8_Active	514	10	70.91
TT8_Sampling	1265	30	487.55
TT8_CF8	392	51	255.91
TT8_Kalman	0	0	0.00
Analog_circuits	1315	10	168.59
GPS_charging	0	0	0.00
Compass	499	6	42.76
RAFOS	720	1	13.71
Transponder	129	30	49.22

		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
10.2	12.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.4	24.40	9000.00	0.0	0.00	0.00	24.40	0.0	1.09	1.00
32.8	35.80	36.00	0.0	1.04	1.00	35.80	0.0	1.00	1.00
43.2	46.10	46.10	0.0	0.99	1.00	46.10	0.0	0.99	1.00
350.7	50.20	9000.00	0.0	0.03	0.55	50.20	0.0	0.01	1.00
361.7	37.70	9000.00	0.0	-0.01	0.05	37.70	399.4	-1.14	1.00
372.8	26.10	26.00	398.8	-1.09	1.00	26.10	398.9	-1.05	1.00
383.8	13.80	13.90	397.7	-1.09	1.00	13.80	397.6	-1.12	1.00

382.0	13.30	14.70	0.0	-1.20	0.96	0.00	0.0	0.00	0.00
368.5	25.00	9000.00	0.0	-0.79	0.98	25.00	0.0	-0.87	1.00
355.8	33.70	9000.00	0.0	-0.78	1.00	33.70	0.0	-0.69	1.00
135.2	141.30	9000.00	0.0	-0.49	1.00	141.30	0.0	-0.49	1.00
124.7	130.00	9000.00	0.0	-0.45	0.98	130.00	-5.3	1.08	1.00
90.2	93.90	93.80	-3.6	1.05	1.00	93.90	-3.7	1.05	1.00
78.7	82.20	82.10	-3.4	1.04	1.00	82.20	-3.5	1.02	1.00
68.6	71.60	71.70	-3.1	1.03	1.00	71.60	-3.0	1.05	1.00
57.9	60.40	60.30	-2.4	1.05	1.00	60.40	-2.5	1.05	1.00
46.6	48.00	48.10	-1.5	1.07	1.00	48.00	-1.4	1.10	1.00
36.1	37.90	37.70	-1.6	1.03	1.00	37.90	-1.8	0.96	1.00
25.3	26.60	26.80	-1.5	1.01	1.00	26.60	-1.3	1.05	1.00
13.7	13.90	14.00	-0.3	1.07	1.00	13.90	-0.2	1.09	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
12	-1.77	-40.8	195	2814	2424	2320	0.0	0.0	0	103	0.00	0.00	-89.82	0.003	16390	0.000	0.000	193	2814	3764	3785	3744	0	0	0	0	0	0	14.72	12.41	14.72
106	-1.77	-40.8	194	2814	3789	3755	1.5	-1.2	3	122	10.30	2.47	0.00	0.000	2564	0.437	0.044	2156	1390	3775	3789	3762	0	0	0	0	0	0	13.76	14.26	14.12
330	-1.77	-40.8	2157	1389	3791	3773	47.5	-21.0	36	337	0.00	2.55	0.00	0.000	1030	0.000	0.060	2155	2811	3781	3789	3773	0	0	0	0	0	0	14.40	14.33	14.45
688	-1.77	-40.8	2155	2811	3791	3776	123.1	-20.6	51	694	0.00	2.00	0.00	0.000	260	0.000	0.080	2147	3912	3783	3790	3776	0	0	0	0	0	0	14.91	14.31	14.91
743	-1.77	-40.8	2148	3913	3790	3777	135.2	-21.9	59	750	0.00	1.92	0.00	0.000	1030	0.000	0.040	2147	2770	3783	3790	3776	0	0	0	0	0	0	14.58	14.56	14.59
1136	-1.77	-40.8	2148	2772	3791	3778	213.8	-19.7	75	1142	0.00	2.38	0.00	0.000	516	0.000	0.046	2147	1413	3783	3790	3777	0	0	0	0	0	0	14.85	14.35	14.85
1268	-1.77	-40.8	2148	1413	3791	3778	239.4	-18.0	94	1275	0.00	2.50	0.00	0.000	1030	0.000	0.060	2145	2808	3783	3790	3777	0	0	0	0	0	0	14.42	14.34	14.46
1642	-1.77	-40.8	2145	2808	3792	3777	307.7	-18.4	105	1648	0.00	1.98	0.00	0.000	260	0.000	0.080	2136	3916	3783	3790	3777	0	0	0	0	0	0	14.85	14.34	14.85
1709	-1.77	-40.8	2140	3916	3791	3776	321.5	-20.1	115	1716	0.00	1.92	0.00	0.000	1030	0.000	0.040	2140	2790	3783	3790	3777	0	0	0	0	0	0	14.61	14.57	14.62
2086	end dive: BOTTOM_OBSTACLE_DETECTED
state	2086	begin apogee
2092	-0.23	0.0	2140	2552	3791	3779	394.5	-19.6	127	2148	2.05	0.00	52.45	2.804	10246	0.275	0.000	2649	2551	3601	3611	3592	0	0	0	0	0	0	13.78	14.05	12.60
2149	end apogee: CONTROL_FINISHED_OK
state	2149	begin climb
2152	1.77	40.8	2650	2553	3606	3592	394.6	0.0	128	2207	2.10	2.60	46.78	2.746	10756	0.129	0.060	3308	1164	3434	3447	3421	0	0	0	0	0	0	14.07	13.55	12.33
2264	1.82	76.4	3308	1165	3445	3419	391.5	4.1	137	2310	0.00	2.53	39.10	2.724	9254	0.000	0.067	3308	2550	3294	3309	3279	0	0	0	0	0	0	14.19	14.07	12.31
2654	1.82	76.4	3308	2551	3302	3274	350.1	11.2	151	2660	0.00	2.53	0.00	0.000	260	0.000	0.093	3307	3905	3285	3301	3269	0	0	0	0	0	0	14.81	14.31	14.81
2688	1.82	76.4	3308	3906	3302	3272	346.2	11.3	156	2696	0.00	2.38	0.00	0.000	1030	0.000	0.054	3319	2559	3286	3301	3272	0	0	0	0	0	0	14.52	14.48	14.54
3046	1.82	76.4	3319	2559	3302	3272	305.2	11.1	165	3053	0.00	2.47	0.00	0.000	260	0.000	0.093	3318	3910	3282	3294	3271	0	0	0	0	0	0	14.85	14.38	14.85
3102	1.82	76.4	3318	3911	3301	3272	297.9	13.3	173	3109	0.00	2.40	0.00	0.000	1030	0.000	0.053	3329	2539	3285	3300	3270	0	0	0	0	0	0	14.57	14.52	14.59
3494	1.82	76.4	3329	2539	3301	3271	252.7	11.0	187	3500	0.00	2.55	0.00	0.000	260	0.000	0.093	3329	3904	3284	3300	3268	0	0	0	0	0	0	14.94	14.33	14.94
3731	1.82	76.4	3330	3904	3301	3271	223.0	13.3	221	3739	0.00	2.38	0.00	0.000	1030	0.000	0.053	3339	2550	3286	3301	3271	0	0	0	0	0	0	14.56	14.51	14.59
4085	1.82	76.4	3340	2550	3302	3271	181.5	10.8	235	4086	0.00	0.00	0.00	0.000	6	0.000	0.000	3339	2550	3285	3300	3270	0	0	0	0	0	0	14.87	14.86	14.86
4420	1.82	76.4	3340	2551	3302	3271	146.8	10.7	247	4425	0.00	2.47	0.00	0.000	516	0.000	0.062	3350	1146	3285	3300	3270	0	0	0	0	0	0	14.88	14.40	14.88
4452	1.82	76.4	3351	1147	3302	3271	143.1	10.5	252	4459	0.12	2.55	0.00	0.000	5126	0.309	0.070	3320	2551	3285	3300	3271	0	0	0	0	0	0	13.85	14.35	14.15
4810	1.83	76.4	3320	2551	3301	3271	109.6	9.2	267	4816	0.00	2.55	0.00	0.000	580	0.000	0.062	3331	1140	3286	3301	3271	0	0	0	0	0	0	14.94	14.32	14.93
4901	1.86	76.4	3330	1142	3300	3272	101.5	8.9	280	4907	0.00	2.55	0.00	0.000	1094	0.000	0.068	3331	2551	3285	3300	3271	0	0	0	0	0	0	14.42	14.35	14.47
5260	1.88	76.4	3331	2551	3302	3271	71.5	8.5	295	5265	0.00	2.50	0.00	0.000	324	0.000	0.091	3331	3916	3285	3300	3271	0	0	0	0	0	0	14.93	14.33	14.93
5314	1.91	76.4	3331	3916	3302	3271	66.8	8.6	303	5320	0.00	2.40	0.00	0.000	1094	0.000	0.053	3341	2544	3285	3300	3271	0	0	0	0	0	0	14.52	14.47	14.55
5680	1.95	76.4	3341	2545	3301	3272	37.2	8.4	319	5685	0.00	2.47	0.00	0.000	580	0.000	0.062	3352	1148	3286	3301	3271	0	0	0	0	0	0	14.93	14.39	14.92
5706	1.98	76.4	3352	1150	3301	3272	34.9	8.2	323	5712	0.00	2.55	0.00	0.000	1094	0.000	0.070	3352	2555	3286	3301	3271	0	0	0	0	0	0	14.41	14.33	14.46
6072	2.02	76.4	3352	2556	3301	3272	4.6	8.2	339	6077	0.00	2.50	0.00	0.000	324	0.000	0.092	3352	3911	3286	3301	3271	0	0	0	0	0	0	14.93	14.32	14.93
6095	end climb: SURFACE_DEPTH_REACHED
state	6095	begin surface coast
6102	end surface coast: CONTROL_FINISHED_OK
state	6102	begin surface