Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 648 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 648 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 38 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 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 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 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2560 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 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 1.5 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2560 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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 648 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1.5

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 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 291118,163050,-7407.5884,-11321.5957,3,1.0,5,53.9,0.6,60.7,7,5.5 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.75 MHEAD_RNG_PITCHd_Wd 169.2,1710,-38.4,-10.000,-39.91,462

_SM_ANGLEo -65.6 D_GRID 990

GPS2 291118,164521,-7407.4697,-11321.6250,3,1.1,4,53.9,0.5,1.8,6,8.7

Post-dive calculations and measurements:

FREEZE 0.77,-1.377,-1.861,2,1,0 ALTIM_BOTTOM_PING 392.1,11.8

FINISH 0.8,1.027290 _24V_AH 12.83,218.192

SM_CCo 7544,205.75,0.225,0,0,1131,350.04 _10V_AH 12.59,0.000

SM_GC 0.71,10.15,2.90,205.75,0.093,0.060,0.225,213,2300,1131,-8.23,-0.59,350.04,0,0,0,0,0,0,14.56,14.42,14.36 FG_AHR_24Vo 0.000

RAFOS_CLK 288 FG_AHR_10Vo 0.000

RAFOS 0,1543514464,18.032778,18.017778,81,65,55,53,53,53,645,656,137,208,176,195 MEM 279856

RAFOS_FIX -7406.579102,-11315.843750,291118,181824,3,96,0.63 DATA_FILE_SIZE 13413,427

IRIDIUM_FIX -7409.04,-11320.18,291118,141236 CAP_FILE_SIZE 79954,0

TT8_MAMPS 0.038948,0.20223 CFSIZE 1024409600,945553408

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

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1445.0

TCM_TEMP 11.90 CURRENT 0.087,354.58,1

XPDR_PINGS 2 GPS 291118,185600,-7407.436,-11322.805,19,1.1,19,53.9,0.2,0.0,7,5.2

ALTIM_TOP_PING 13.9,14.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 419 134.87 nil 0 0 0.00

Roll_motor 76 97 95.29 nil 0 0 0.00

VBD_pump_during_apogee 89 2780 3197.58 nil 0 0 0.00

VBD_pump_during_surface 205 224 593.71 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 7550 7 696.76

Iridium_during_xfer 506 199 1296.99 nil 0 0 0.00

Transponder_ping 17 420 94.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.71

TT8 0 0 0.00

LPSleep 6233 2 181.30

TT8_Active 500 13 87.01

TT8_Sampling 1411 34 618.32

TT8_CF8 486 52 323.37

TT8_Kalman 0 0 0.00

Analog_circuits 1361 10 186.79

GPS_charging 0 0 0.00

Compass 617 7 58.23

RAFOS 720 1 13.60

Transponder 118 30 44.67

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

24.5 26.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

37.1 40.70 9000.00 0.0 0.00 0.00 40.70 0.0 1.17 1.00

368.1 37.30 9000.00 0.0 0.01 0.11 37.30 405.4 -0.01 1.00

379.7 22.50 9000.00 0.0 -0.03 0.44 22.50 402.2 -1.28 1.00

392.1 12.80 11.80 403.9 -1.02 0.98 12.80 404.9 -0.78 1.00

396.8 18.90 9000.00 0.0 -0.33 0.35 18.90 377.9 1.30 1.00

383.9 24.10 9000.00 0.0 -0.51 0.35 24.10 0.0 -0.40 1.00

100.4 104.80 9000.00 0.0 -0.29 1.00 104.80 0.0 -0.28 1.00

90.0 94.10 9000.00 0.0 -0.26 0.98 94.10 -4.1 1.03 1.00

79.3 83.40 83.40 -4.1 1.01 1.00 83.40 -4.1 1.00 1.00

67.5 70.10 70.30 -2.8 1.07 1.00 70.10 -2.6 1.13 1.00

57.4 60.00 59.70 -2.3 1.08 1.00 60.00 -2.6 1.00 1.00

46.4 47.80 48.00 -1.6 1.06 1.00 47.80 -1.4 1.11 1.00

35.2 36.50 36.30 -1.1 1.06 1.00 36.50 -1.3 1.01 1.00

24.2 24.80 24.90 -0.7 1.04 1.00 24.80 -0.6 1.06 1.00

13.9 14.10 14.10 -0.2 1.05 1.00 14.10 -0.2 1.04 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 -1.78 -30.0 218 2316 1177 1055 0.0 0.0 0 102 0.00 0.00 -88.97 0.002 16390 0.000 0.000 210 2315 2683 2687 2679 0 0 0 0 0 0 14.95 12.83 14.98

106 -1.78 -30.0 209 2316 2688 2681 1.4 -0.9 3 117 10.48 0.00 0.00 0.000 2054 0.419 0.000 2290 2313 2685 2689 2681 0 0 0 0 0 0 14.14 14.66 14.55

433 -1.78 -30.0 2290 2313 2693 2676 45.7 -15.1 15 439 0.00 2.58 0.00 0.000 516 0.000 0.067 2291 902 2684 2693 2675 0 0 0 0 0 0 15.10 14.38 15.12

671 -1.78 -30.0 2290 902 2693 2675 82.1 -15.3 49 678 0.00 2.58 0.00 0.000 1030 0.000 0.063 2281 2308 2681 2694 2669 0 0 0 0 0 0 14.48 14.40 14.54

1021 -1.78 -30.0 2281 2308 2695 2673 132.8 -14.1 63 1027 0.00 2.58 0.00 0.000 516 0.000 0.064 2282 899 2684 2696 2672 0 0 0 0 0 0 15.11 14.28 15.14

1224 -1.78 -30.0 2283 899 2698 2673 161.7 -15.1 92 1230 0.00 2.60 0.00 0.000 1030 0.000 0.063 2271 2302 2683 2695 2672 0 0 0 0 0 0 14.31 14.22 14.36

1584 -1.78 -30.0 2271 2303 2696 2673 209.7 -13.2 106 1589 0.00 2.55 0.00 0.000 516 0.000 0.063 2271 902 2684 2696 2673 0 0 0 0 0 0 14.95 14.34 14.97

1630 -1.78 -30.0 2271 902 2696 2672 216.9 -14.5 113 1639 0.15 2.58 0.00 0.000 3078 0.338 0.064 2293 2307 2684 2696 2672 0 0 0 0 0 0 13.71 14.31 13.94

1973 -1.78 -30.0 2292 2308 2696 2672 259.5 -11.8 120 1979 0.00 2.58 0.00 0.000 516 0.000 0.064 2293 898 2683 2697 2670 0 0 0 0 0 0 15.10 14.23 15.12

2071 -1.78 -30.0 2292 898 2696 2672 271.6 -12.2 134 2077 0.00 2.58 0.00 0.000 1030 0.000 0.062 2284 2309 2683 2696 2671 0 0 0 0 0 0 14.38 14.29 14.45

2422 -1.78 -30.0 2283 2310 2697 2672 315.4 -12.4 142 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2309 2684 2697 2671 0 0 0 0 0 0 14.93 14.96 14.95

2758 -1.78 -30.0 2283 2310 2697 2672 355.6 -11.9 148 2759 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2310 2684 2697 2671 0 0 0 0 0 0 14.92 14.95 14.94

3094 -1.78 -30.0 2285 2310 2699 2672 392.1 -10.7 154 3100 0.00 2.55 0.00 0.000 516 0.000 0.062 2284 901 2684 2697 2671 0 0 0 0 0 0 14.92 14.28 14.95

3111 end dive: BOTTOM_OBSTACLE_DETECTED

state 3111 begin apogee

3120 -0.23 0.0 2276 2109 2699 2672 394.4 -11.2 157 3157 2.22 0.00 33.70 2.781 10246 0.314 0.000 2792 2109 2560 2585 2535 0 0 0 0 0 0 13.98 14.32 13.08

3158 end apogee: CONTROL_FINISHED_OK

state 3158 begin climb

3161 1.78 30.0 2792 2109 2585 2535 394.4 0.0 157 3205 2.08 2.65 35.17 2.704 10500 0.138 0.097 3436 3511 2437 2458 2416 0 0 0 0 0 0 14.34 14.15 12.84

3260 1.80 30.0 3435 3511 2453 2416 389.6 9.3 172 3267 0.00 2.50 0.00 0.000 1094 0.000 0.043 3446 2094 2433 2453 2414 0 0 0 0 0 0 14.54 14.48 14.56

3603 1.81 30.0 3447 2095 2452 2410 358.0 9.2 179 3609 0.00 2.55 0.00 0.000 580 0.000 0.080 3456 699 2430 2451 2410 0 0 0 0 0 0 15.07 14.51 15.09

3729 1.83 30.0 3456 699 2450 2410 346.4 9.0 197 3735 0.00 2.53 0.00 0.000 1094 0.000 0.055 3457 2108 2429 2449 2409 0 0 0 0 0 0 14.65 14.57 14.71

4107 1.87 30.0 3458 2109 2451 2409 314.8 8.1 209 4113 0.00 2.65 0.00 0.000 324 0.000 0.096 3457 3516 2428 2448 2408 0 0 0 0 0 0 15.11 14.42 15.14

4156 1.91 30.0 3458 3517 2450 2409 310.9 8.2 216 4163 0.00 2.47 0.00 0.000 1094 0.000 0.042 3467 2089 2430 2452 2408 0 0 0 0 0 0 14.66 14.62 14.70

4499 1.92 43.0 3466 2091 2447 2408 284.8 7.1 223 4519 0.00 2.65 14.10 2.570 8484 0.000 0.093 3467 3506 2382 2404 2361 0 0 0 0 0 0 15.11 14.59 13.31

4541 1.94 43.0 3467 3511 2402 2361 281.3 9.3 229 4547 0.00 2.45 0.00 0.000 1094 0.000 0.042 3478 2092 2381 2403 2360 0 0 0 0 0 0 14.72 14.69 14.77

4893 1.94 43.0 3479 2093 2403 2359 246.5 9.7 237 4898 0.00 2.50 0.00 0.000 516 0.000 0.079 3488 702 2379 2401 2358 0 0 0 0 0 0 15.02 14.53 15.04

5047 1.94 43.0 3488 702 2401 2359 230.4 10.4 259 5052 0.00 2.47 0.00 0.000 1030 0.000 0.054 3488 2109 2379 2400 2358 0 0 0 0 0 0 14.74 14.62 14.78

5395 1.94 43.0 3490 2110 2403 2358 194.5 10.5 267 5401 0.00 2.60 0.00 0.000 516 0.000 0.077 3498 701 2378 2400 2357 0 0 0 0 0 0 15.09 14.38 15.11

5472 1.94 43.0 3498 702 2400 2358 186.2 10.5 278 5480 0.00 2.50 0.00 0.000 1030 0.000 0.055 3499 2098 2378 2400 2357 0 0 0 0 0 0 14.57 14.51 14.62

5817 1.97 43.0 3499 2098 2401 2358 154.4 8.6 291 5822 0.00 2.60 0.00 0.000 324 0.000 0.096 3499 3509 2378 2400 2357 0 0 0 0 0 0 15.08 14.44 15.10

5955 1.97 43.0 3500 3509 2400 2358 140.4 10.8 311 5961 0.00 2.45 0.00 0.000 1030 0.000 0.040 3505 2093 2378 2400 2357 0 0 0 0 0 0 14.54 14.50 14.58

6321 1.99 43.0 3511 2094 2401 2358 108.1 8.9 327 6326 0.00 2.50 0.00 0.000 580 0.000 0.076 3520 704 2378 2400 2357 0 0 0 0 0 0 15.08 14.42 15.11

6557 2.02 43.0 3520 705 2399 2357 88.3 8.2 361 6563 0.00 2.50 0.00 0.000 1094 0.000 0.053 3520 2103 2378 2399 2357 0 0 0 0 0 0 14.52 14.46 14.69

6909 2.04 54.5 3521 2103 2401 2358 63.3 7.4 375 6921 0.00 2.58 6.65 0.422 8484 0.000 0.093 3520 3509 2339 2360 2319 0 0 0 0 0 0 15.07 14.33 14.03

6991 2.04 54.5 3519 3510 2360 2319 55.2 10.6 387 6997 0.00 2.45 0.00 0.000 1030 0.000 0.041 3531 2096 2339 2361 2318 0 0 0 0 0 0 14.61 14.57 14.64

7355 2.04 54.5 3532 2097 2361 2317 18.3 10.4 403 7361 0.00 2.58 0.00 0.000 516 0.000 0.077 3542 697 2337 2359 2316 0 0 0 0 0 0 15.09 14.29 15.11

7513 end climb: SURFACE_DEPTH_REACHED

state 7513 begin surface coast

7520 end surface coast: CONTROL_FINISHED_OK

state 7520 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	648	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	38	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	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	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	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2560	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	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	1.5	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	291118,163050,-7407.5884,-11321.5957,3,1.0,5,53.9,0.6,60.7,7,5.5	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.75	MHEAD_RNG_PITCHd_Wd	169.2,1710,-38.4,-10.000,-39.91,462
_SM_ANGLEo	-65.6	D_GRID	990
GPS2	291118,164521,-7407.4697,-11321.6250,3,1.1,4,53.9,0.5,1.8,6,8.7

FREEZE	0.77,-1.377,-1.861,2,1,0	ALTIM_BOTTOM_PING	392.1,11.8
FINISH	0.8,1.027290	_24V_AH	12.83,218.192
SM_CCo	7544,205.75,0.225,0,0,1131,350.04	_10V_AH	12.59,0.000
SM_GC	0.71,10.15,2.90,205.75,0.093,0.060,0.225,213,2300,1131,-8.23,-0.59,350.04,0,0,0,0,0,0,14.56,14.42,14.36	FG_AHR_24Vo	0.000
RAFOS_CLK	288	FG_AHR_10Vo	0.000
RAFOS	0,1543514464,18.032778,18.017778,81,65,55,53,53,53,645,656,137,208,176,195	MEM	279856
RAFOS_FIX	-7406.579102,-11315.843750,291118,181824,3,96,0.63	DATA_FILE_SIZE	13413,427
IRIDIUM_FIX	-7409.04,-11320.18,291118,141236	CAP_FILE_SIZE	79954,0
TT8_MAMPS	0.038948,0.20223	CFSIZE	1024409600,945553408
HUMID	46.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1445.0
TCM_TEMP	11.90	CURRENT	0.087,354.58,1
XPDR_PINGS	2	GPS	291118,185600,-7407.436,-11322.805,19,1.1,19,53.9,0.2,0.0,7,5.2
ALTIM_TOP_PING	13.9,14.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	419	134.87	nil	0	0	0.00
Roll_motor	76	97	95.29	nil	0	0	0.00
VBD_pump_during_apogee	89	2780	3197.58	nil	0	0	0.00
VBD_pump_during_surface	205	224	593.71	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	7550	7	696.76
Iridium_during_xfer	506	199	1296.99	nil	0	0	0.00
Transponder_ping	17	420	94.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.71
TT8	0	0	0.00
LPSleep	6233	2	181.30
TT8_Active	500	13	87.01
TT8_Sampling	1411	34	618.32
TT8_CF8	486	52	323.37
TT8_Kalman	0	0	0.00
Analog_circuits	1361	10	186.79
GPS_charging	0	0	0.00
Compass	617	7	58.23
RAFOS	720	1	13.60
Transponder	118	30	44.67

		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
24.5	26.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
37.1	40.70	9000.00	0.0	0.00	0.00	40.70	0.0	1.17	1.00
368.1	37.30	9000.00	0.0	0.01	0.11	37.30	405.4	-0.01	1.00
379.7	22.50	9000.00	0.0	-0.03	0.44	22.50	402.2	-1.28	1.00
392.1	12.80	11.80	403.9	-1.02	0.98	12.80	404.9	-0.78	1.00

396.8	18.90	9000.00	0.0	-0.33	0.35	18.90	377.9	1.30	1.00
383.9	24.10	9000.00	0.0	-0.51	0.35	24.10	0.0	-0.40	1.00
100.4	104.80	9000.00	0.0	-0.29	1.00	104.80	0.0	-0.28	1.00
90.0	94.10	9000.00	0.0	-0.26	0.98	94.10	-4.1	1.03	1.00
79.3	83.40	83.40	-4.1	1.01	1.00	83.40	-4.1	1.00	1.00
67.5	70.10	70.30	-2.8	1.07	1.00	70.10	-2.6	1.13	1.00
57.4	60.00	59.70	-2.3	1.08	1.00	60.00	-2.6	1.00	1.00
46.4	47.80	48.00	-1.6	1.06	1.00	47.80	-1.4	1.11	1.00
35.2	36.50	36.30	-1.1	1.06	1.00	36.50	-1.3	1.01	1.00
24.2	24.80	24.90	-0.7	1.04	1.00	24.80	-0.6	1.06	1.00
13.9	14.10	14.10	-0.2	1.05	1.00	14.10	-0.2	1.04	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	-1.78	-30.0	218	2316	1177	1055	0.0	0.0	0	102	0.00	0.00	-88.97	0.002	16390	0.000	0.000	210	2315	2683	2687	2679	0	0	0	0	0	0	14.95	12.83	14.98
106	-1.78	-30.0	209	2316	2688	2681	1.4	-0.9	3	117	10.48	0.00	0.00	0.000	2054	0.419	0.000	2290	2313	2685	2689	2681	0	0	0	0	0	0	14.14	14.66	14.55
433	-1.78	-30.0	2290	2313	2693	2676	45.7	-15.1	15	439	0.00	2.58	0.00	0.000	516	0.000	0.067	2291	902	2684	2693	2675	0	0	0	0	0	0	15.10	14.38	15.12
671	-1.78	-30.0	2290	902	2693	2675	82.1	-15.3	49	678	0.00	2.58	0.00	0.000	1030	0.000	0.063	2281	2308	2681	2694	2669	0	0	0	0	0	0	14.48	14.40	14.54
1021	-1.78	-30.0	2281	2308	2695	2673	132.8	-14.1	63	1027	0.00	2.58	0.00	0.000	516	0.000	0.064	2282	899	2684	2696	2672	0	0	0	0	0	0	15.11	14.28	15.14
1224	-1.78	-30.0	2283	899	2698	2673	161.7	-15.1	92	1230	0.00	2.60	0.00	0.000	1030	0.000	0.063	2271	2302	2683	2695	2672	0	0	0	0	0	0	14.31	14.22	14.36
1584	-1.78	-30.0	2271	2303	2696	2673	209.7	-13.2	106	1589	0.00	2.55	0.00	0.000	516	0.000	0.063	2271	902	2684	2696	2673	0	0	0	0	0	0	14.95	14.34	14.97
1630	-1.78	-30.0	2271	902	2696	2672	216.9	-14.5	113	1639	0.15	2.58	0.00	0.000	3078	0.338	0.064	2293	2307	2684	2696	2672	0	0	0	0	0	0	13.71	14.31	13.94
1973	-1.78	-30.0	2292	2308	2696	2672	259.5	-11.8	120	1979	0.00	2.58	0.00	0.000	516	0.000	0.064	2293	898	2683	2697	2670	0	0	0	0	0	0	15.10	14.23	15.12
2071	-1.78	-30.0	2292	898	2696	2672	271.6	-12.2	134	2077	0.00	2.58	0.00	0.000	1030	0.000	0.062	2284	2309	2683	2696	2671	0	0	0	0	0	0	14.38	14.29	14.45
2422	-1.78	-30.0	2283	2310	2697	2672	315.4	-12.4	142	2423	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	2309	2684	2697	2671	0	0	0	0	0	0	14.93	14.96	14.95
2758	-1.78	-30.0	2283	2310	2697	2672	355.6	-11.9	148	2759	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2310	2684	2697	2671	0	0	0	0	0	0	14.92	14.95	14.94
3094	-1.78	-30.0	2285	2310	2699	2672	392.1	-10.7	154	3100	0.00	2.55	0.00	0.000	516	0.000	0.062	2284	901	2684	2697	2671	0	0	0	0	0	0	14.92	14.28	14.95
3111	end dive: BOTTOM_OBSTACLE_DETECTED
state	3111	begin apogee
3120	-0.23	0.0	2276	2109	2699	2672	394.4	-11.2	157	3157	2.22	0.00	33.70	2.781	10246	0.314	0.000	2792	2109	2560	2585	2535	0	0	0	0	0	0	13.98	14.32	13.08
3158	end apogee: CONTROL_FINISHED_OK
state	3158	begin climb
3161	1.78	30.0	2792	2109	2585	2535	394.4	0.0	157	3205	2.08	2.65	35.17	2.704	10500	0.138	0.097	3436	3511	2437	2458	2416	0	0	0	0	0	0	14.34	14.15	12.84
3260	1.80	30.0	3435	3511	2453	2416	389.6	9.3	172	3267	0.00	2.50	0.00	0.000	1094	0.000	0.043	3446	2094	2433	2453	2414	0	0	0	0	0	0	14.54	14.48	14.56
3603	1.81	30.0	3447	2095	2452	2410	358.0	9.2	179	3609	0.00	2.55	0.00	0.000	580	0.000	0.080	3456	699	2430	2451	2410	0	0	0	0	0	0	15.07	14.51	15.09
3729	1.83	30.0	3456	699	2450	2410	346.4	9.0	197	3735	0.00	2.53	0.00	0.000	1094	0.000	0.055	3457	2108	2429	2449	2409	0	0	0	0	0	0	14.65	14.57	14.71
4107	1.87	30.0	3458	2109	2451	2409	314.8	8.1	209	4113	0.00	2.65	0.00	0.000	324	0.000	0.096	3457	3516	2428	2448	2408	0	0	0	0	0	0	15.11	14.42	15.14
4156	1.91	30.0	3458	3517	2450	2409	310.9	8.2	216	4163	0.00	2.47	0.00	0.000	1094	0.000	0.042	3467	2089	2430	2452	2408	0	0	0	0	0	0	14.66	14.62	14.70
4499	1.92	43.0	3466	2091	2447	2408	284.8	7.1	223	4519	0.00	2.65	14.10	2.570	8484	0.000	0.093	3467	3506	2382	2404	2361	0	0	0	0	0	0	15.11	14.59	13.31
4541	1.94	43.0	3467	3511	2402	2361	281.3	9.3	229	4547	0.00	2.45	0.00	0.000	1094	0.000	0.042	3478	2092	2381	2403	2360	0	0	0	0	0	0	14.72	14.69	14.77
4893	1.94	43.0	3479	2093	2403	2359	246.5	9.7	237	4898	0.00	2.50	0.00	0.000	516	0.000	0.079	3488	702	2379	2401	2358	0	0	0	0	0	0	15.02	14.53	15.04
5047	1.94	43.0	3488	702	2401	2359	230.4	10.4	259	5052	0.00	2.47	0.00	0.000	1030	0.000	0.054	3488	2109	2379	2400	2358	0	0	0	0	0	0	14.74	14.62	14.78
5395	1.94	43.0	3490	2110	2403	2358	194.5	10.5	267	5401	0.00	2.60	0.00	0.000	516	0.000	0.077	3498	701	2378	2400	2357	0	0	0	0	0	0	15.09	14.38	15.11
5472	1.94	43.0	3498	702	2400	2358	186.2	10.5	278	5480	0.00	2.50	0.00	0.000	1030	0.000	0.055	3499	2098	2378	2400	2357	0	0	0	0	0	0	14.57	14.51	14.62
5817	1.97	43.0	3499	2098	2401	2358	154.4	8.6	291	5822	0.00	2.60	0.00	0.000	324	0.000	0.096	3499	3509	2378	2400	2357	0	0	0	0	0	0	15.08	14.44	15.10
5955	1.97	43.0	3500	3509	2400	2358	140.4	10.8	311	5961	0.00	2.45	0.00	0.000	1030	0.000	0.040	3505	2093	2378	2400	2357	0	0	0	0	0	0	14.54	14.50	14.58
6321	1.99	43.0	3511	2094	2401	2358	108.1	8.9	327	6326	0.00	2.50	0.00	0.000	580	0.000	0.076	3520	704	2378	2400	2357	0	0	0	0	0	0	15.08	14.42	15.11
6557	2.02	43.0	3520	705	2399	2357	88.3	8.2	361	6563	0.00	2.50	0.00	0.000	1094	0.000	0.053	3520	2103	2378	2399	2357	0	0	0	0	0	0	14.52	14.46	14.69
6909	2.04	54.5	3521	2103	2401	2358	63.3	7.4	375	6921	0.00	2.58	6.65	0.422	8484	0.000	0.093	3520	3509	2339	2360	2319	0	0	0	0	0	0	15.07	14.33	14.03
6991	2.04	54.5	3519	3510	2360	2319	55.2	10.6	387	6997	0.00	2.45	0.00	0.000	1030	0.000	0.041	3531	2096	2339	2361	2318	0	0	0	0	0	0	14.61	14.57	14.64
7355	2.04	54.5	3532	2097	2361	2317	18.3	10.4	403	7361	0.00	2.58	0.00	0.000	516	0.000	0.077	3542	697	2337	2359	2316	0	0	0	0	0	0	15.09	14.29	15.11
7513	end climb: SURFACE_DEPTH_REACHED
state	7513	begin surface coast
7520	end surface coast: CONTROL_FINISHED_OK
state	7520	begin surface