Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 790 * 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 790 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 21 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 2575 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 3 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 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 790 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 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 010119,012838,-7409.5498,-11156.6133,15,1.5,15,53.1,0.2,0.0,5,8.2 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7410.600,-11155.500

_XMS_TOUTs 0 TGT_RADIUS 2001.000

_SM_DEPTHo 0.86 MHEAD_RNG_PITCHd_Wd 113.7,2034,-43.7,-10.000,-45.00,362

_SM_ANGLEo -67.2 D_GRID 990

GPS2 010119,013607,-7409.5410,-11156.5684,3,1.3,6,53.1,0.3,131.0,6,10.0

Post-dive calculations and measurements:

FREEZE -0.03,-0.668,-1.861,2,1,0 ALTIM_TOP_PING 14.8,14.8

FINISH -0.0,1.027276 _24V_AH 12.59,258.694

SM_CCo 9596,206.68,0.230,0,0,1146,350.04 _10V_AH 12.40,0.000

SM_GC 0.87,10.12,0.40,206.68,0.080,0.098,0.230,209,2299,1146,-8.25,-0.71,350.04,0,0,0,0,0,0,14.50,14.31,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 368 FG_AHR_10Vo 0.000

RAFOS 0,1546311707,3.032778,3.029722,149,59,55,54,46,46,295,207,190,164,231,125 MEM 279968

RAFOS_FIX -7409.293457,-11208.990234,010119,030316,2,126,1.05 DATA_FILE_SIZE 20111,555

IRIDIUM_FIX -7408.59,-11202.69,311218,223102 CAP_FILE_SIZE 88424,0

TT8_MAMPS 0.039697,0.282373 CFSIZE 1024409600,930103296

HUMID 48.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1447.4

TCM_TEMP 12.00 CURRENT 0.037,347.14,1

XPDR_PINGS 0 GPS 010119,042100,-7409.746,-11155.824,18,0.9,18,53.1,0.2,319.9,7,3.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 411 129.54 nil 0 0 0.00

Roll_motor 87 97 108.30 nil 0 0 0.00

VBD_pump_during_apogee 94 2919 3486.04 nil 0 0 0.00

VBD_pump_during_surface 206 230 599.16 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 9596 6 813.56

Iridium_during_xfer 234 196 580.88 nil 0 0 0.00

Transponder_ping 23 420 124.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 1.03

TT8 0 0 0.00

LPSleep 7977 2 228.50

TT8_Active 509 13 87.25

TT8_Sampling 1416 34 611.02

TT8_CF8 354 52 231.72

TT8_Kalman 0 0 0.00

Analog_circuits 1189 10 160.79

GPS_charging 0 0 0.00

Compass 798 7 74.14

RAFOS 720 1 13.39

Transponder 170 30 63.33

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

10.0 11.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.5 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 1.04 1.00

31.0 32.70 32.70 0.0 1.04 1.00 32.70 0.0 1.03 1.00

53.3 56.60 56.60 0.0 1.06 1.00 56.60 0.0 1.07 1.00

536.9 22.10 9000.00 0.0 -0.04 0.50 22.10 559.0 -0.07 1.00

547.5 18.30 9000.00 0.0 -0.07 1.00 18.30 565.8 -0.36 1.00

558.0 15.40 9000.00 0.0 -0.32 1.00 15.40 573.4 -0.28 1.00

569.2 23.90 9000.00 0.0 0.26 0.43 23.90 0.0 0.76 1.00

123.5 128.40 9000.00 0.0 -0.25 0.99 128.40 0.0 -0.23 1.00

85.8 89.80 9000.00 0.0 -0.18 0.82 89.80 -4.0 1.02 1.00

61.0 63.10 63.40 -2.4 1.04 1.00 63.10 -2.1 1.08 1.00

48.8 51.20 50.80 -2.0 1.05 1.00 51.20 -2.4 0.98 1.00

37.2 38.00 38.30 -1.1 1.05 1.00 38.00 -0.8 1.14 1.00

25.8 26.30 26.10 -0.3 1.08 1.00 26.30 -0.5 1.03 1.00

14.8 14.80 14.80 0.0 1.04 1.00 14.80 0.0 1.05 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -2.01 -23.5 213 2306 1181 1085 0.0 0.0 0 97 0.00 0.00 -84.82 0.002 16390 0.000 0.000 212 2306 2670 2675 2665 0 0 0 0 0 0 14.91 12.86 14.90

101 -2.01 -23.5 212 2307 2675 2667 1.5 -1.0 3 117 9.80 2.55 0.00 0.000 2564 0.412 0.067 2216 885 2672 2678 2666 0 0 0 0 0 0 14.11 14.51 14.37

347 -2.01 -23.5 2215 884 2678 2665 39.2 -16.9 39 353 0.00 2.58 0.00 0.000 1030 0.000 0.061 2208 2319 2671 2679 2664 0 0 0 0 0 0 14.54 14.40 14.60

714 -2.01 -23.5 2209 2320 2682 2662 97.9 -15.7 55 719 0.00 2.62 0.00 0.000 516 0.000 0.065 2208 877 2670 2680 2660 0 0 0 0 0 0 14.94 14.29 14.95

950 -2.01 -23.5 2207 877 2681 2661 134.5 -14.8 89 956 0.00 2.58 0.00 0.000 1030 0.000 0.060 2197 2302 2670 2680 2660 0 0 0 0 0 0 14.49 14.35 14.54

1299 -2.01 -23.5 2195 2302 2682 2660 183.6 -13.6 103 1305 0.00 2.58 0.00 0.000 516 0.000 0.065 2197 885 2670 2682 2659 0 0 0 0 0 0 14.95 14.24 14.96

1537 -2.01 -23.5 2197 886 2683 2660 216.4 -13.9 137 1544 0.12 2.62 0.00 0.000 3078 0.346 0.057 2224 2308 2670 2683 2658 0 0 0 0 0 0 13.77 14.26 14.22

1919 -2.01 -23.5 2219 2308 2685 2660 262.5 -11.8 149 1925 0.00 2.60 0.00 0.000 516 0.000 0.065 2218 882 2671 2683 2659 0 0 0 0 0 0 14.77 14.22 14.79

2155 -2.01 -23.5 2219 883 2686 2660 291.7 -12.1 183 2161 0.00 2.62 0.00 0.000 1030 0.000 0.059 2213 2308 2671 2683 2659 0 0 0 0 0 0 14.31 14.25 14.38

2534 -2.01 -23.5 2209 2308 2683 2659 334.7 -11.0 195 2539 0.00 2.60 0.00 0.000 516 0.000 0.063 2209 882 2671 2684 2659 0 0 0 0 0 0 14.76 14.22 14.78

2596 -2.01 -23.5 2209 883 2684 2659 341.6 -10.9 204 2602 0.00 2.62 0.00 0.000 1030 0.000 0.060 2199 2303 2671 2684 2659 0 0 0 0 0 0 14.46 14.23 14.50

2983 -2.01 -23.5 2200 2304 2686 2659 382.6 -10.6 217 2988 0.00 2.60 0.00 0.000 516 0.000 0.063 2199 882 2671 2684 2659 0 0 0 0 0 0 14.75 14.02 14.77

3058 -2.01 -23.5 2198 883 2684 2659 391.0 -10.1 228 3064 0.12 2.62 0.00 0.000 3078 0.352 0.057 2218 2308 2671 2684 2658 0 0 0 0 0 0 13.77 14.23 14.21

3433 -2.01 -23.5 2220 2309 2686 2659 428.4 -10.0 239 3438 0.00 2.62 0.00 0.000 516 0.000 0.064 2218 877 2671 2684 2658 0 0 0 0 0 0 14.71 14.19 14.75

3472 -2.01 -23.5 2220 878 2686 2659 432.8 -10.3 245 3479 0.00 2.65 0.00 0.000 1030 0.000 0.061 2210 2305 2671 2685 2658 0 0 0 0 0 0 14.42 14.17 14.47

3822 -2.01 -23.5 2209 2305 2681 2658 467.6 -9.9 253 3829 0.00 2.60 0.00 0.000 516 0.000 0.063 2210 880 2671 2685 2658 0 0 0 0 0 0 14.90 14.06 14.92

3892 -2.01 -23.5 2210 880 2684 2658 474.7 -9.9 263 3898 0.00 2.65 0.00 0.000 1030 0.000 0.060 2199 2310 2671 2685 2658 0 0 0 0 0 0 14.25 14.17 14.31

4271 -2.01 -23.5 2201 2311 2687 2654 508.4 -8.7 275 4276 0.00 2.65 0.00 0.000 260 0.000 0.097 2190 3719 2670 2684 2657 0 0 0 0 0 0 14.71 14.13 14.73

4319 -2.01 -23.5 2190 3720 2687 2659 512.9 -9.3 282 4327 0.17 2.55 0.00 0.000 3078 0.360 0.041 2217 2239 2671 2684 2658 0 0 0 0 0 0 13.67 14.31 14.12

4662 -2.01 -23.5 2219 2240 2687 2657 541.9 -8.3 289 4669 0.00 2.80 0.00 0.000 260 0.000 0.093 2208 3724 2670 2684 2657 0 0 0 0 0 0 14.90 14.06 14.92

4812 -2.01 -23.5 2210 3725 2687 2658 556.6 -9.9 310 4818 0.00 2.53 0.00 0.000 1030 0.000 0.039 2209 2254 2671 2685 2657 0 0 0 0 0 0 14.41 14.34 14.43

5167 -2.05 -57.0 2210 2255 2690 2655 570.5 -0.5 319 5172 0.00 2.45 0.00 0.000 548 0.000 0.067 2208 909 2670 2688 2653 0 0 0 0 0 0 14.85 14.12 14.88

5289 end dive: NO_VERTICAL_VELOCITY

state 5289 begin apogee

5299 -0.23 0.0 2201 2112 2685 2654 570.6 0.0 337 5330 2.12 0.00 27.40 2.915 10246 0.189 0.000 2795 2112 2574 2600 2548 0 0 0 0 0 0 14.09 14.37 13.23

5331 end apogee: CONTROL_FINISHED_OK

state 5331 begin climb

5335 2.05 57.0 2795 2112 2599 2548 570.6 0.0 337 5411 2.38 2.67 67.45 2.919 11012 0.128 0.074 3535 718 2341 2361 2321 0 0 0 0 0 0 14.11 13.52 12.59

5612 2.05 57.0 3535 719 2353 2314 533.6 18.7 379 5617 0.00 2.47 0.00 0.000 1030 0.000 0.054 3535 2115 2333 2354 2313 0 0 0 0 0 0 14.49 14.37 14.53

5992 2.05 57.0 3535 2116 2352 2309 467.2 17.1 391 5997 0.00 2.58 0.00 0.000 260 0.000 0.093 3533 3521 2330 2352 2308 0 0 0 0 0 0 14.92 14.52 14.95

6066 2.05 57.0 3534 3519 2353 2309 453.6 17.2 402 6073 0.00 2.45 0.00 0.000 1030 0.000 0.042 3542 2111 2330 2351 2309 0 0 0 0 0 0 14.64 14.59 14.69

6437 2.05 57.0 3543 2112 2353 2307 393.7 15.9 413 6442 0.00 2.60 0.00 0.000 260 0.000 0.092 3542 3519 2326 2345 2307 0 0 0 0 0 0 15.00 14.46 15.02

6493 2.05 57.0 3543 3520 2354 2308 384.4 16.5 421 6499 0.00 2.50 0.00 0.000 1030 0.000 0.041 3553 2089 2328 2350 2306 0 0 0 0 0 0 14.52 14.47 14.57

6888 2.05 57.0 3554 2088 2353 2307 322.4 15.8 435 6896 0.00 2.62 0.00 0.000 260 0.000 0.090 3553 3509 2327 2349 2306 0 0 0 0 0 0 14.95 14.34 14.97

7049 2.05 57.0 3552 3509 2349 2307 294.8 17.0 458 7057 0.15 2.47 0.00 0.000 5126 0.375 0.041 3531 2091 2327 2349 2305 0 0 0 0 0 0 13.93 14.49 14.22

7392 2.05 57.0 3532 2092 2351 2306 247.4 13.4 465 7393 0.00 0.00 0.00 0.000 6 0.000 0.000 3531 2091 2327 2349 2305 0 0 0 0 0 0 14.96 14.97 14.98

7728 2.05 57.0 3531 2091 2349 2305 204.3 12.9 471 7734 0.00 2.55 0.00 0.000 516 0.000 0.080 3540 698 2327 2349 2305 0 0 0 0 0 0 14.95 14.33 14.97

7784 2.05 57.0 3541 698 2350 2306 197.2 12.7 479 7790 0.00 2.50 0.00 0.000 1030 0.000 0.054 3540 2114 2326 2348 2305 0 0 0 0 0 0 14.57 14.42 14.63

8151 2.05 57.0 3541 2115 2350 2305 152.1 11.8 495 8156 0.00 2.60 0.00 0.000 260 0.000 0.094 3540 3515 2326 2348 2304 0 0 0 0 0 0 14.92 14.33 14.95

8211 2.05 57.0 3539 3515 2346 2305 144.3 12.5 504 8217 0.00 2.50 0.00 0.000 1030 0.000 0.041 3549 2094 2326 2347 2305 0 0 0 0 0 0 14.47 14.41 14.52

8568 2.05 57.0 3549 2094 2347 2305 104.1 11.5 519 8569 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2094 2325 2347 2304 0 0 0 0 0 0 14.95 14.97 14.97

8904 2.05 57.0 3551 2095 2349 2305 67.1 11.2 531 8905 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2094 2325 2347 2304 0 0 0 0 0 0 14.94 14.96 14.96

9241 2.05 57.0 3550 2095 2349 2305 31.7 10.0 543 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 3549 2094 2325 2347 2304 0 0 0 0 0 0 14.93 14.96 14.95

9545 end climb: SURFACE_DEPTH_REACHED

state 9545 begin surface coast

9573 end surface coast: CONTROL_FINISHED_OK

state 9573 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	790	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	21	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	2575	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	3	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	010119,012838,-7409.5498,-11156.6133,15,1.5,15,53.1,0.2,0.0,5,8.2	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7410.600,-11155.500
_XMS_TOUTs	0	TGT_RADIUS	2001.000
_SM_DEPTHo	0.86	MHEAD_RNG_PITCHd_Wd	113.7,2034,-43.7,-10.000,-45.00,362
_SM_ANGLEo	-67.2	D_GRID	990
GPS2	010119,013607,-7409.5410,-11156.5684,3,1.3,6,53.1,0.3,131.0,6,10.0

FREEZE	-0.03,-0.668,-1.861,2,1,0	ALTIM_TOP_PING	14.8,14.8
FINISH	-0.0,1.027276	_24V_AH	12.59,258.694
SM_CCo	9596,206.68,0.230,0,0,1146,350.04	_10V_AH	12.40,0.000
SM_GC	0.87,10.12,0.40,206.68,0.080,0.098,0.230,209,2299,1146,-8.25,-0.71,350.04,0,0,0,0,0,0,14.50,14.31,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	368	FG_AHR_10Vo	0.000
RAFOS	0,1546311707,3.032778,3.029722,149,59,55,54,46,46,295,207,190,164,231,125	MEM	279968
RAFOS_FIX	-7409.293457,-11208.990234,010119,030316,2,126,1.05	DATA_FILE_SIZE	20111,555
IRIDIUM_FIX	-7408.59,-11202.69,311218,223102	CAP_FILE_SIZE	88424,0
TT8_MAMPS	0.039697,0.282373	CFSIZE	1024409600,930103296
HUMID	48.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1447.4
TCM_TEMP	12.00	CURRENT	0.037,347.14,1
XPDR_PINGS	0	GPS	010119,042100,-7409.746,-11155.824,18,0.9,18,53.1,0.2,319.9,7,3.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	411	129.54	nil	0	0	0.00
Roll_motor	87	97	108.30	nil	0	0	0.00
VBD_pump_during_apogee	94	2919	3486.04	nil	0	0	0.00
VBD_pump_during_surface	206	230	599.16	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	9596	6	813.56
Iridium_during_xfer	234	196	580.88	nil	0	0	0.00
Transponder_ping	23	420	124.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	1.03
TT8	0	0	0.00
LPSleep	7977	2	228.50
TT8_Active	509	13	87.25
TT8_Sampling	1416	34	611.02
TT8_CF8	354	52	231.72
TT8_Kalman	0	0	0.00
Analog_circuits	1189	10	160.79
GPS_charging	0	0	0.00
Compass	798	7	74.14
RAFOS	720	1	13.39
Transponder	170	30	63.33

		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
10.0	11.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.5	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	1.04	1.00
31.0	32.70	32.70	0.0	1.04	1.00	32.70	0.0	1.03	1.00
53.3	56.60	56.60	0.0	1.06	1.00	56.60	0.0	1.07	1.00
536.9	22.10	9000.00	0.0	-0.04	0.50	22.10	559.0	-0.07	1.00
547.5	18.30	9000.00	0.0	-0.07	1.00	18.30	565.8	-0.36	1.00
558.0	15.40	9000.00	0.0	-0.32	1.00	15.40	573.4	-0.28	1.00
569.2	23.90	9000.00	0.0	0.26	0.43	23.90	0.0	0.76	1.00

123.5	128.40	9000.00	0.0	-0.25	0.99	128.40	0.0	-0.23	1.00
85.8	89.80	9000.00	0.0	-0.18	0.82	89.80	-4.0	1.02	1.00
61.0	63.10	63.40	-2.4	1.04	1.00	63.10	-2.1	1.08	1.00
48.8	51.20	50.80	-2.0	1.05	1.00	51.20	-2.4	0.98	1.00
37.2	38.00	38.30	-1.1	1.05	1.00	38.00	-0.8	1.14	1.00
25.8	26.30	26.10	-0.3	1.08	1.00	26.30	-0.5	1.03	1.00
14.8	14.80	14.80	0.0	1.04	1.00	14.80	0.0	1.05	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-2.01	-23.5	213	2306	1181	1085	0.0	0.0	0	97	0.00	0.00	-84.82	0.002	16390	0.000	0.000	212	2306	2670	2675	2665	0	0	0	0	0	0	14.91	12.86	14.90
101	-2.01	-23.5	212	2307	2675	2667	1.5	-1.0	3	117	9.80	2.55	0.00	0.000	2564	0.412	0.067	2216	885	2672	2678	2666	0	0	0	0	0	0	14.11	14.51	14.37
347	-2.01	-23.5	2215	884	2678	2665	39.2	-16.9	39	353	0.00	2.58	0.00	0.000	1030	0.000	0.061	2208	2319	2671	2679	2664	0	0	0	0	0	0	14.54	14.40	14.60
714	-2.01	-23.5	2209	2320	2682	2662	97.9	-15.7	55	719	0.00	2.62	0.00	0.000	516	0.000	0.065	2208	877	2670	2680	2660	0	0	0	0	0	0	14.94	14.29	14.95
950	-2.01	-23.5	2207	877	2681	2661	134.5	-14.8	89	956	0.00	2.58	0.00	0.000	1030	0.000	0.060	2197	2302	2670	2680	2660	0	0	0	0	0	0	14.49	14.35	14.54
1299	-2.01	-23.5	2195	2302	2682	2660	183.6	-13.6	103	1305	0.00	2.58	0.00	0.000	516	0.000	0.065	2197	885	2670	2682	2659	0	0	0	0	0	0	14.95	14.24	14.96
1537	-2.01	-23.5	2197	886	2683	2660	216.4	-13.9	137	1544	0.12	2.62	0.00	0.000	3078	0.346	0.057	2224	2308	2670	2683	2658	0	0	0	0	0	0	13.77	14.26	14.22
1919	-2.01	-23.5	2219	2308	2685	2660	262.5	-11.8	149	1925	0.00	2.60	0.00	0.000	516	0.000	0.065	2218	882	2671	2683	2659	0	0	0	0	0	0	14.77	14.22	14.79
2155	-2.01	-23.5	2219	883	2686	2660	291.7	-12.1	183	2161	0.00	2.62	0.00	0.000	1030	0.000	0.059	2213	2308	2671	2683	2659	0	0	0	0	0	0	14.31	14.25	14.38
2534	-2.01	-23.5	2209	2308	2683	2659	334.7	-11.0	195	2539	0.00	2.60	0.00	0.000	516	0.000	0.063	2209	882	2671	2684	2659	0	0	0	0	0	0	14.76	14.22	14.78
2596	-2.01	-23.5	2209	883	2684	2659	341.6	-10.9	204	2602	0.00	2.62	0.00	0.000	1030	0.000	0.060	2199	2303	2671	2684	2659	0	0	0	0	0	0	14.46	14.23	14.50
2983	-2.01	-23.5	2200	2304	2686	2659	382.6	-10.6	217	2988	0.00	2.60	0.00	0.000	516	0.000	0.063	2199	882	2671	2684	2659	0	0	0	0	0	0	14.75	14.02	14.77
3058	-2.01	-23.5	2198	883	2684	2659	391.0	-10.1	228	3064	0.12	2.62	0.00	0.000	3078	0.352	0.057	2218	2308	2671	2684	2658	0	0	0	0	0	0	13.77	14.23	14.21
3433	-2.01	-23.5	2220	2309	2686	2659	428.4	-10.0	239	3438	0.00	2.62	0.00	0.000	516	0.000	0.064	2218	877	2671	2684	2658	0	0	0	0	0	0	14.71	14.19	14.75
3472	-2.01	-23.5	2220	878	2686	2659	432.8	-10.3	245	3479	0.00	2.65	0.00	0.000	1030	0.000	0.061	2210	2305	2671	2685	2658	0	0	0	0	0	0	14.42	14.17	14.47
3822	-2.01	-23.5	2209	2305	2681	2658	467.6	-9.9	253	3829	0.00	2.60	0.00	0.000	516	0.000	0.063	2210	880	2671	2685	2658	0	0	0	0	0	0	14.90	14.06	14.92
3892	-2.01	-23.5	2210	880	2684	2658	474.7	-9.9	263	3898	0.00	2.65	0.00	0.000	1030	0.000	0.060	2199	2310	2671	2685	2658	0	0	0	0	0	0	14.25	14.17	14.31
4271	-2.01	-23.5	2201	2311	2687	2654	508.4	-8.7	275	4276	0.00	2.65	0.00	0.000	260	0.000	0.097	2190	3719	2670	2684	2657	0	0	0	0	0	0	14.71	14.13	14.73
4319	-2.01	-23.5	2190	3720	2687	2659	512.9	-9.3	282	4327	0.17	2.55	0.00	0.000	3078	0.360	0.041	2217	2239	2671	2684	2658	0	0	0	0	0	0	13.67	14.31	14.12
4662	-2.01	-23.5	2219	2240	2687	2657	541.9	-8.3	289	4669	0.00	2.80	0.00	0.000	260	0.000	0.093	2208	3724	2670	2684	2657	0	0	0	0	0	0	14.90	14.06	14.92
4812	-2.01	-23.5	2210	3725	2687	2658	556.6	-9.9	310	4818	0.00	2.53	0.00	0.000	1030	0.000	0.039	2209	2254	2671	2685	2657	0	0	0	0	0	0	14.41	14.34	14.43
5167	-2.05	-57.0	2210	2255	2690	2655	570.5	-0.5	319	5172	0.00	2.45	0.00	0.000	548	0.000	0.067	2208	909	2670	2688	2653	0	0	0	0	0	0	14.85	14.12	14.88
5289	end dive: NO_VERTICAL_VELOCITY
state	5289	begin apogee
5299	-0.23	0.0	2201	2112	2685	2654	570.6	0.0	337	5330	2.12	0.00	27.40	2.915	10246	0.189	0.000	2795	2112	2574	2600	2548	0	0	0	0	0	0	14.09	14.37	13.23
5331	end apogee: CONTROL_FINISHED_OK
state	5331	begin climb
5335	2.05	57.0	2795	2112	2599	2548	570.6	0.0	337	5411	2.38	2.67	67.45	2.919	11012	0.128	0.074	3535	718	2341	2361	2321	0	0	0	0	0	0	14.11	13.52	12.59
5612	2.05	57.0	3535	719	2353	2314	533.6	18.7	379	5617	0.00	2.47	0.00	0.000	1030	0.000	0.054	3535	2115	2333	2354	2313	0	0	0	0	0	0	14.49	14.37	14.53
5992	2.05	57.0	3535	2116	2352	2309	467.2	17.1	391	5997	0.00	2.58	0.00	0.000	260	0.000	0.093	3533	3521	2330	2352	2308	0	0	0	0	0	0	14.92	14.52	14.95
6066	2.05	57.0	3534	3519	2353	2309	453.6	17.2	402	6073	0.00	2.45	0.00	0.000	1030	0.000	0.042	3542	2111	2330	2351	2309	0	0	0	0	0	0	14.64	14.59	14.69
6437	2.05	57.0	3543	2112	2353	2307	393.7	15.9	413	6442	0.00	2.60	0.00	0.000	260	0.000	0.092	3542	3519	2326	2345	2307	0	0	0	0	0	0	15.00	14.46	15.02
6493	2.05	57.0	3543	3520	2354	2308	384.4	16.5	421	6499	0.00	2.50	0.00	0.000	1030	0.000	0.041	3553	2089	2328	2350	2306	0	0	0	0	0	0	14.52	14.47	14.57
6888	2.05	57.0	3554	2088	2353	2307	322.4	15.8	435	6896	0.00	2.62	0.00	0.000	260	0.000	0.090	3553	3509	2327	2349	2306	0	0	0	0	0	0	14.95	14.34	14.97
7049	2.05	57.0	3552	3509	2349	2307	294.8	17.0	458	7057	0.15	2.47	0.00	0.000	5126	0.375	0.041	3531	2091	2327	2349	2305	0	0	0	0	0	0	13.93	14.49	14.22
7392	2.05	57.0	3532	2092	2351	2306	247.4	13.4	465	7393	0.00	0.00	0.00	0.000	6	0.000	0.000	3531	2091	2327	2349	2305	0	0	0	0	0	0	14.96	14.97	14.98
7728	2.05	57.0	3531	2091	2349	2305	204.3	12.9	471	7734	0.00	2.55	0.00	0.000	516	0.000	0.080	3540	698	2327	2349	2305	0	0	0	0	0	0	14.95	14.33	14.97
7784	2.05	57.0	3541	698	2350	2306	197.2	12.7	479	7790	0.00	2.50	0.00	0.000	1030	0.000	0.054	3540	2114	2326	2348	2305	0	0	0	0	0	0	14.57	14.42	14.63
8151	2.05	57.0	3541	2115	2350	2305	152.1	11.8	495	8156	0.00	2.60	0.00	0.000	260	0.000	0.094	3540	3515	2326	2348	2304	0	0	0	0	0	0	14.92	14.33	14.95
8211	2.05	57.0	3539	3515	2346	2305	144.3	12.5	504	8217	0.00	2.50	0.00	0.000	1030	0.000	0.041	3549	2094	2326	2347	2305	0	0	0	0	0	0	14.47	14.41	14.52
8568	2.05	57.0	3549	2094	2347	2305	104.1	11.5	519	8569	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2094	2325	2347	2304	0	0	0	0	0	0	14.95	14.97	14.97
8904	2.05	57.0	3551	2095	2349	2305	67.1	11.2	531	8905	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2094	2325	2347	2304	0	0	0	0	0	0	14.94	14.96	14.96
9241	2.05	57.0	3550	2095	2349	2305	31.7	10.0	543	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	3549	2094	2325	2347	2304	0	0	0	0	0	0	14.93	14.96	14.95
9545	end climb: SURFACE_DEPTH_REACHED
state	9545	begin surface coast
9573	end surface coast: CONTROL_FINISHED_OK
state	9573	begin surface