Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 805 * 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 805 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 37 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 19 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 805 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 19 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 030119,125846,-7408.0801,-11319.3916,6,1.6,9,53.9,0.7,178.7,4,8.3 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 0.63 MHEAD_RNG_PITCHd_Wd 217.2,2988,-40.6,-10.000,-42.05,415

_SM_ANGLEo -64.7 D_GRID 990

GPS2 030119,130709,-7408.1177,-11319.5518,14,0.8,14,53.9,0.1,0.0,11,9.0

Post-dive calculations and measurements:

FREEZE 0.15,-0.624,-1.857,2,1,0 ALTIM_TOP_PING 12.0,11.6

FINISH 0.2,1.027213 _24V_AH 12.47,263.161

SM_CCo 8155,193.68,0.227,0,0,1146,350.04 _10V_AH 12.34,0.000

SM_GC 0.68,10.02,2.15,193.68,0.082,0.037,0.227,211,2288,1146,-8.23,0.93,350.04,0,0,0,0,0,0,14.43,14.53,14.32 FG_AHR_24Vo 0.000

RAFOS_CLK 305 FG_AHR_10Vo 0.000

RAFOS 0,1546527665,15.032778,15.018056,152,62,59,57,55,54,639,194,158,214,139,203 MEM 279960

RAFOS_FIX -7405.885254,-11312.512695,030119,151512,3,130,0.71 DATA_FILE_SIZE 16766,507

IRIDIUM_FIX -7407.14,-11317.07,030119,102345 CAP_FILE_SIZE 81255,0

TT8_MAMPS 0.040446,0.513065 CFSIZE 1024409600,928448512

HUMID 47.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1448.2

TCM_TEMP 12.20 CURRENT 0.024,250.10,1

XPDR_PINGS 0 GPS 030119,152808,-7408.369,-11321.042,30,1.0,30,53.9,0.2,0.0,9,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 413 129.56 nil 0 0 0.00

Roll_motor 82 94 97.12 nil 0 0 0.00

VBD_pump_during_apogee 109 2872 3908.07 nil 0 0 0.00

VBD_pump_during_surface 193 227 548.73 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 8162 7 712.77

Iridium_during_xfer 274 181 620.21 nil 0 0 0.00

Transponder_ping 21 420 111.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 10 2.09

TT8 0 0 0.00

LPSleep 6656 2 189.75

TT8_Active 495 13 84.46

TT8_Sampling 1372 34 589.43

TT8_CF8 344 52 224.40

TT8_Kalman 0 0 0.00

Analog_circuits 1183 10 159.13

GPS_charging 0 0 0.00

Compass 730 7 67.48

RAFOS 720 1 13.33

Transponder 154 30 57.17

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 11.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.3 22.60 9000.00 0.0 0.00 0.00 22.60 0.0 1.04 1.00

31.5 34.20 34.10 0.0 1.08 1.00 34.20 0.0 1.14 1.00

487.6 31.00 9000.00 0.0 0.01 0.07 31.00 518.6 -0.01 1.00

498.6 18.00 9000.00 0.0 -0.02 0.45 18.00 516.6 -1.18 1.00

503.3 14.10 13.60 0.0 -1.10 1.00 14.10 0.0 -0.83 1.00

492.3 27.50 27.00 0.0 -1.23 0.98 27.50 0.0 -1.22 1.00

103.1 107.00 9000.00 0.0 -0.22 0.99 107.00 0.0 -0.20 1.00

81.6 84.30 9000.00 0.0 -0.17 0.90 84.30 -2.7 1.06 1.00

71.4 74.00 73.80 -2.4 1.05 1.00 74.00 -2.6 1.01 1.00

61.3 63.30 63.30 -2.0 1.03 1.00 63.30 -2.0 1.06 1.00

51.2 53.00 53.00 -1.8 1.04 1.00 53.00 -1.8 1.02 1.00

38.1 39.20 39.20 -1.1 1.04 1.00 39.20 -1.1 1.05 1.00

25.1 25.00 25.10 0.0 1.07 1.00 25.00 0.1 1.09 1.00

12.0 11.80 11.60 0.4 1.05 1.00 11.80 0.2 1.01 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 -1.88 -26.9 211 2303 1184 1074 0.0 0.0 0 101 0.00 0.00 -87.40 0.002 16390 0.000 0.000 209 2302 2685 2689 2681 0 0 0 0 0 0 14.89 12.81 14.88

105 -1.88 -26.9 210 2303 2691 2681 1.5 -1.4 3 121 10.05 2.53 0.00 0.000 2564 0.413 0.065 2261 898 2686 2691 2681 0 0 0 0 0 0 14.14 14.48 14.38

351 -1.88 -26.9 2261 898 2692 2680 36.4 -16.8 39 357 0.00 2.58 0.00 0.000 1030 0.000 0.060 2252 2329 2686 2693 2679 0 0 0 0 0 0 14.50 14.35 14.55

718 -1.88 -26.9 2252 2329 2696 2676 97.3 -16.7 55 724 0.00 2.60 0.00 0.000 516 0.000 0.064 2252 898 2685 2696 2675 0 0 0 0 0 0 14.91 14.13 14.93

954 -1.88 -26.9 2253 899 2692 2676 138.0 -17.4 89 961 0.00 2.58 0.00 0.000 1030 0.000 0.058 2241 2298 2685 2696 2675 0 0 0 0 0 0 14.31 14.24 14.36

1307 -1.88 -26.9 2241 2299 2696 2674 192.2 -14.7 103 1312 0.00 2.55 0.00 0.000 516 0.000 0.064 2242 900 2684 2696 2673 0 0 0 0 0 0 14.94 14.22 14.96

1543 -1.88 -26.9 2241 900 2696 2673 225.5 -14.3 137 1549 0.17 2.58 0.00 0.000 3078 0.353 0.059 2261 2302 2685 2697 2673 0 0 0 0 0 0 13.76 14.12 14.17

1920 -1.88 -26.9 2262 2303 2699 2673 272.6 -11.8 149 1927 0.00 2.60 0.00 0.000 516 0.000 0.063 2261 898 2684 2697 2672 0 0 0 0 0 0 14.91 14.12 14.93

2047 -1.88 -26.9 2261 898 2697 2673 287.5 -12.0 167 2052 0.00 2.55 0.00 0.000 1030 0.000 0.060 2252 2312 2685 2698 2672 0 0 0 0 0 0 14.42 14.29 14.47

2424 -1.88 -26.9 2252 2312 2698 2673 329.6 -10.6 179 2430 0.00 2.65 0.00 0.000 260 0.000 0.095 2242 3716 2685 2698 2672 0 0 0 0 0 0 14.96 14.24 14.98

2467 -1.88 -26.9 2242 3717 2700 2673 334.3 -11.3 185 2473 0.00 2.47 0.00 0.000 1030 0.000 0.041 2240 2284 2685 2698 2672 0 0 0 0 0 0 14.51 14.44 14.54

2817 -1.88 -26.9 2242 2285 2700 2673 371.3 -10.2 193 2823 0.00 2.53 0.00 0.000 516 0.000 0.062 2241 899 2685 2698 2672 0 0 0 0 0 0 14.71 14.17 14.73

2915 -1.88 -26.9 2241 900 2698 2673 381.9 -10.9 207 2920 0.17 2.55 0.00 0.000 3078 0.356 0.057 2261 2309 2685 2698 2672 0 0 0 0 0 0 13.73 14.27 14.15

3265 -1.88 -26.9 2260 2309 2698 2673 418.9 -10.5 215 3270 0.00 2.60 0.00 0.000 516 0.000 0.063 2261 903 2685 2699 2672 0 0 0 0 0 0 14.70 14.13 14.73

3411 -1.88 -26.9 2260 904 2699 2673 434.6 -11.5 236 3417 0.00 2.60 0.00 0.000 1030 0.000 0.060 2252 2323 2685 2699 2672 0 0 0 0 0 0 14.35 14.18 14.40

3768 -1.88 -26.9 2253 2324 2701 2673 471.3 -9.6 245 3769 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2323 2685 2699 2672 0 0 0 0 0 0 14.88 14.91 14.90

4104 -1.88 -26.9 2253 2324 2702 2677 503.8 -9.7 251 4105 0.00 0.00 0.00 0.000 6 0.000 0.000 2252 2323 2685 2699 2671 0 0 0 0 0 0 14.87 14.90 14.89

4440 -1.93 -67.3 2253 2324 2701 2673 513.5 -0.0 257 4449 0.00 2.67 0.00 0.000 292 0.000 0.095 2241 3719 2686 2700 2672 0 0 0 0 0 0 14.87 14.11 14.89

4556 end dive: NO_VERTICAL_VELOCITY

state 4556 begin apogee

4567 -0.23 0.0 2241 2083 2700 2672 513.5 0.0 274 4601 2.33 0.00 30.83 2.873 10246 0.298 0.000 2795 2083 2573 2599 2548 0 0 0 0 0 0 14.04 14.36 13.25

4602 end apogee: CONTROL_FINISHED_OK

state 4602 begin climb

4606 1.93 67.3 2797 2084 2600 2548 513.5 0.0 274 4693 2.28 2.67 78.28 2.850 10756 0.141 0.076 3492 703 2297 2318 2277 0 0 0 0 0 0 14.05 13.38 12.47

4926 1.93 67.3 3491 703 2310 2269 466.8 17.9 323 4933 0.00 2.58 0.00 0.000 1030 0.000 0.052 3492 2112 2289 2311 2268 0 0 0 0 0 0 14.26 14.19 14.29

5311 1.93 67.3 3493 2113 2311 2263 400.6 17.0 336 5318 0.00 2.60 0.00 0.000 260 0.000 0.093 3492 3520 2285 2309 2262 0 0 0 0 0 0 14.95 14.45 14.97

5346 1.93 67.3 3492 3521 2309 2263 394.2 18.5 341 5352 0.00 2.47 0.00 0.000 1030 0.000 0.041 3503 2101 2285 2309 2262 0 0 0 0 0 0 14.60 14.54 14.64

5703 1.93 67.3 3504 2102 2310 2262 333.3 16.8 350 5709 0.00 2.53 0.00 0.000 516 0.000 0.078 3514 704 2284 2308 2261 0 0 0 0 0 0 14.96 14.42 14.98

5773 1.93 67.3 3514 705 2310 2262 322.5 15.7 360 5779 0.00 2.53 0.00 0.000 1030 0.000 0.053 3514 2113 2284 2308 2261 0 0 0 0 0 0 14.54 14.46 14.59

6151 1.93 67.3 3513 2113 2307 2261 263.6 15.4 372 6157 0.00 2.58 0.00 0.000 260 0.000 0.092 3513 3505 2283 2307 2260 0 0 0 0 0 0 14.95 14.39 14.97

6361 1.93 67.3 3513 3505 2305 2261 228.7 16.2 402 6367 0.12 2.47 0.00 0.000 5126 0.373 0.039 3488 2086 2280 2300 2260 0 0 0 0 0 0 13.92 14.48 14.43

6715 1.93 67.3 3489 2088 2308 2261 179.9 13.7 412 6720 0.00 2.55 0.00 0.000 516 0.000 0.079 3497 697 2283 2306 2260 0 0 0 0 0 0 14.83 14.35 14.85

6761 1.93 67.3 3496 698 2306 2260 172.9 13.7 419 6769 0.00 2.53 0.00 0.000 1030 0.000 0.054 3497 2098 2282 2306 2259 0 0 0 0 0 0 14.46 14.39 14.50

7108 1.93 67.3 3496 2100 2306 2260 128.1 12.9 432 7113 0.00 2.67 0.00 0.000 260 0.000 0.093 3498 3522 2282 2306 2258 0 0 0 0 0 0 14.90 14.34 14.92

7161 1.93 67.3 3498 3522 2307 2259 120.6 13.1 440 7167 0.00 2.45 0.00 0.000 1030 0.000 0.040 3505 2098 2282 2305 2259 0 0 0 0 0 0 14.57 14.46 14.62

7527 1.93 67.3 3506 2098 2307 2260 74.2 13.0 456 7532 0.00 2.65 0.00 0.000 260 0.000 0.093 3506 3510 2282 2305 2259 0 0 0 0 0 0 14.90 14.30 14.95

7763 1.93 67.3 3506 3511 2306 2260 43.2 12.6 490 7769 0.00 2.45 0.00 0.000 1030 0.000 0.039 3516 2084 2282 2304 2261 0 0 0 0 0 0 14.57 14.47 14.62

8113 1.93 67.3 3517 2085 2306 2259 2.9 11.1 504 8119 0.00 2.70 0.00 0.000 260 0.000 0.087 3516 3514 2281 2304 2258 0 0 0 0 0 0 14.90 14.21 14.93

8125 end climb: SURFACE_DEPTH_REACHED

state 8125 begin surface coast

8131 end surface coast: CONTROL_FINISHED_OK

state 8131 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	805	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	37	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	19	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	030119,125846,-7408.0801,-11319.3916,6,1.6,9,53.9,0.7,178.7,4,8.3	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	0.63	MHEAD_RNG_PITCHd_Wd	217.2,2988,-40.6,-10.000,-42.05,415
_SM_ANGLEo	-64.7	D_GRID	990
GPS2	030119,130709,-7408.1177,-11319.5518,14,0.8,14,53.9,0.1,0.0,11,9.0

FREEZE	0.15,-0.624,-1.857,2,1,0	ALTIM_TOP_PING	12.0,11.6
FINISH	0.2,1.027213	_24V_AH	12.47,263.161
SM_CCo	8155,193.68,0.227,0,0,1146,350.04	_10V_AH	12.34,0.000
SM_GC	0.68,10.02,2.15,193.68,0.082,0.037,0.227,211,2288,1146,-8.23,0.93,350.04,0,0,0,0,0,0,14.43,14.53,14.32	FG_AHR_24Vo	0.000
RAFOS_CLK	305	FG_AHR_10Vo	0.000
RAFOS	0,1546527665,15.032778,15.018056,152,62,59,57,55,54,639,194,158,214,139,203	MEM	279960
RAFOS_FIX	-7405.885254,-11312.512695,030119,151512,3,130,0.71	DATA_FILE_SIZE	16766,507
IRIDIUM_FIX	-7407.14,-11317.07,030119,102345	CAP_FILE_SIZE	81255,0
TT8_MAMPS	0.040446,0.513065	CFSIZE	1024409600,928448512
HUMID	47.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1448.2
TCM_TEMP	12.20	CURRENT	0.024,250.10,1
XPDR_PINGS	0	GPS	030119,152808,-7408.369,-11321.042,30,1.0,30,53.9,0.2,0.0,9,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	413	129.56	nil	0	0	0.00
Roll_motor	82	94	97.12	nil	0	0	0.00
VBD_pump_during_apogee	109	2872	3908.07	nil	0	0	0.00
VBD_pump_during_surface	193	227	548.73	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	8162	7	712.77
Iridium_during_xfer	274	181	620.21	nil	0	0	0.00
Transponder_ping	21	420	111.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	10	2.09
TT8	0	0	0.00
LPSleep	6656	2	189.75
TT8_Active	495	13	84.46
TT8_Sampling	1372	34	589.43
TT8_CF8	344	52	224.40
TT8_Kalman	0	0	0.00
Analog_circuits	1183	10	159.13
GPS_charging	0	0	0.00
Compass	730	7	67.48
RAFOS	720	1	13.33
Transponder	154	30	57.17

		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	11.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.3	22.60	9000.00	0.0	0.00	0.00	22.60	0.0	1.04	1.00
31.5	34.20	34.10	0.0	1.08	1.00	34.20	0.0	1.14	1.00
487.6	31.00	9000.00	0.0	0.01	0.07	31.00	518.6	-0.01	1.00
498.6	18.00	9000.00	0.0	-0.02	0.45	18.00	516.6	-1.18	1.00

503.3	14.10	13.60	0.0	-1.10	1.00	14.10	0.0	-0.83	1.00
492.3	27.50	27.00	0.0	-1.23	0.98	27.50	0.0	-1.22	1.00
103.1	107.00	9000.00	0.0	-0.22	0.99	107.00	0.0	-0.20	1.00
81.6	84.30	9000.00	0.0	-0.17	0.90	84.30	-2.7	1.06	1.00
71.4	74.00	73.80	-2.4	1.05	1.00	74.00	-2.6	1.01	1.00
61.3	63.30	63.30	-2.0	1.03	1.00	63.30	-2.0	1.06	1.00
51.2	53.00	53.00	-1.8	1.04	1.00	53.00	-1.8	1.02	1.00
38.1	39.20	39.20	-1.1	1.04	1.00	39.20	-1.1	1.05	1.00
25.1	25.00	25.10	0.0	1.07	1.00	25.00	0.1	1.09	1.00
12.0	11.80	11.60	0.4	1.05	1.00	11.80	0.2	1.01	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	-1.88	-26.9	211	2303	1184	1074	0.0	0.0	0	101	0.00	0.00	-87.40	0.002	16390	0.000	0.000	209	2302	2685	2689	2681	0	0	0	0	0	0	14.89	12.81	14.88
105	-1.88	-26.9	210	2303	2691	2681	1.5	-1.4	3	121	10.05	2.53	0.00	0.000	2564	0.413	0.065	2261	898	2686	2691	2681	0	0	0	0	0	0	14.14	14.48	14.38
351	-1.88	-26.9	2261	898	2692	2680	36.4	-16.8	39	357	0.00	2.58	0.00	0.000	1030	0.000	0.060	2252	2329	2686	2693	2679	0	0	0	0	0	0	14.50	14.35	14.55
718	-1.88	-26.9	2252	2329	2696	2676	97.3	-16.7	55	724	0.00	2.60	0.00	0.000	516	0.000	0.064	2252	898	2685	2696	2675	0	0	0	0	0	0	14.91	14.13	14.93
954	-1.88	-26.9	2253	899	2692	2676	138.0	-17.4	89	961	0.00	2.58	0.00	0.000	1030	0.000	0.058	2241	2298	2685	2696	2675	0	0	0	0	0	0	14.31	14.24	14.36
1307	-1.88	-26.9	2241	2299	2696	2674	192.2	-14.7	103	1312	0.00	2.55	0.00	0.000	516	0.000	0.064	2242	900	2684	2696	2673	0	0	0	0	0	0	14.94	14.22	14.96
1543	-1.88	-26.9	2241	900	2696	2673	225.5	-14.3	137	1549	0.17	2.58	0.00	0.000	3078	0.353	0.059	2261	2302	2685	2697	2673	0	0	0	0	0	0	13.76	14.12	14.17
1920	-1.88	-26.9	2262	2303	2699	2673	272.6	-11.8	149	1927	0.00	2.60	0.00	0.000	516	0.000	0.063	2261	898	2684	2697	2672	0	0	0	0	0	0	14.91	14.12	14.93
2047	-1.88	-26.9	2261	898	2697	2673	287.5	-12.0	167	2052	0.00	2.55	0.00	0.000	1030	0.000	0.060	2252	2312	2685	2698	2672	0	0	0	0	0	0	14.42	14.29	14.47
2424	-1.88	-26.9	2252	2312	2698	2673	329.6	-10.6	179	2430	0.00	2.65	0.00	0.000	260	0.000	0.095	2242	3716	2685	2698	2672	0	0	0	0	0	0	14.96	14.24	14.98
2467	-1.88	-26.9	2242	3717	2700	2673	334.3	-11.3	185	2473	0.00	2.47	0.00	0.000	1030	0.000	0.041	2240	2284	2685	2698	2672	0	0	0	0	0	0	14.51	14.44	14.54
2817	-1.88	-26.9	2242	2285	2700	2673	371.3	-10.2	193	2823	0.00	2.53	0.00	0.000	516	0.000	0.062	2241	899	2685	2698	2672	0	0	0	0	0	0	14.71	14.17	14.73
2915	-1.88	-26.9	2241	900	2698	2673	381.9	-10.9	207	2920	0.17	2.55	0.00	0.000	3078	0.356	0.057	2261	2309	2685	2698	2672	0	0	0	0	0	0	13.73	14.27	14.15
3265	-1.88	-26.9	2260	2309	2698	2673	418.9	-10.5	215	3270	0.00	2.60	0.00	0.000	516	0.000	0.063	2261	903	2685	2699	2672	0	0	0	0	0	0	14.70	14.13	14.73
3411	-1.88	-26.9	2260	904	2699	2673	434.6	-11.5	236	3417	0.00	2.60	0.00	0.000	1030	0.000	0.060	2252	2323	2685	2699	2672	0	0	0	0	0	0	14.35	14.18	14.40
3768	-1.88	-26.9	2253	2324	2701	2673	471.3	-9.6	245	3769	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2323	2685	2699	2672	0	0	0	0	0	0	14.88	14.91	14.90
4104	-1.88	-26.9	2253	2324	2702	2677	503.8	-9.7	251	4105	0.00	0.00	0.00	0.000	6	0.000	0.000	2252	2323	2685	2699	2671	0	0	0	0	0	0	14.87	14.90	14.89
4440	-1.93	-67.3	2253	2324	2701	2673	513.5	-0.0	257	4449	0.00	2.67	0.00	0.000	292	0.000	0.095	2241	3719	2686	2700	2672	0	0	0	0	0	0	14.87	14.11	14.89
4556	end dive: NO_VERTICAL_VELOCITY
state	4556	begin apogee
4567	-0.23	0.0	2241	2083	2700	2672	513.5	0.0	274	4601	2.33	0.00	30.83	2.873	10246	0.298	0.000	2795	2083	2573	2599	2548	0	0	0	0	0	0	14.04	14.36	13.25
4602	end apogee: CONTROL_FINISHED_OK
state	4602	begin climb
4606	1.93	67.3	2797	2084	2600	2548	513.5	0.0	274	4693	2.28	2.67	78.28	2.850	10756	0.141	0.076	3492	703	2297	2318	2277	0	0	0	0	0	0	14.05	13.38	12.47
4926	1.93	67.3	3491	703	2310	2269	466.8	17.9	323	4933	0.00	2.58	0.00	0.000	1030	0.000	0.052	3492	2112	2289	2311	2268	0	0	0	0	0	0	14.26	14.19	14.29
5311	1.93	67.3	3493	2113	2311	2263	400.6	17.0	336	5318	0.00	2.60	0.00	0.000	260	0.000	0.093	3492	3520	2285	2309	2262	0	0	0	0	0	0	14.95	14.45	14.97
5346	1.93	67.3	3492	3521	2309	2263	394.2	18.5	341	5352	0.00	2.47	0.00	0.000	1030	0.000	0.041	3503	2101	2285	2309	2262	0	0	0	0	0	0	14.60	14.54	14.64
5703	1.93	67.3	3504	2102	2310	2262	333.3	16.8	350	5709	0.00	2.53	0.00	0.000	516	0.000	0.078	3514	704	2284	2308	2261	0	0	0	0	0	0	14.96	14.42	14.98
5773	1.93	67.3	3514	705	2310	2262	322.5	15.7	360	5779	0.00	2.53	0.00	0.000	1030	0.000	0.053	3514	2113	2284	2308	2261	0	0	0	0	0	0	14.54	14.46	14.59
6151	1.93	67.3	3513	2113	2307	2261	263.6	15.4	372	6157	0.00	2.58	0.00	0.000	260	0.000	0.092	3513	3505	2283	2307	2260	0	0	0	0	0	0	14.95	14.39	14.97
6361	1.93	67.3	3513	3505	2305	2261	228.7	16.2	402	6367	0.12	2.47	0.00	0.000	5126	0.373	0.039	3488	2086	2280	2300	2260	0	0	0	0	0	0	13.92	14.48	14.43
6715	1.93	67.3	3489	2088	2308	2261	179.9	13.7	412	6720	0.00	2.55	0.00	0.000	516	0.000	0.079	3497	697	2283	2306	2260	0	0	0	0	0	0	14.83	14.35	14.85
6761	1.93	67.3	3496	698	2306	2260	172.9	13.7	419	6769	0.00	2.53	0.00	0.000	1030	0.000	0.054	3497	2098	2282	2306	2259	0	0	0	0	0	0	14.46	14.39	14.50
7108	1.93	67.3	3496	2100	2306	2260	128.1	12.9	432	7113	0.00	2.67	0.00	0.000	260	0.000	0.093	3498	3522	2282	2306	2258	0	0	0	0	0	0	14.90	14.34	14.92
7161	1.93	67.3	3498	3522	2307	2259	120.6	13.1	440	7167	0.00	2.45	0.00	0.000	1030	0.000	0.040	3505	2098	2282	2305	2259	0	0	0	0	0	0	14.57	14.46	14.62
7527	1.93	67.3	3506	2098	2307	2260	74.2	13.0	456	7532	0.00	2.65	0.00	0.000	260	0.000	0.093	3506	3510	2282	2305	2259	0	0	0	0	0	0	14.90	14.30	14.95
7763	1.93	67.3	3506	3511	2306	2260	43.2	12.6	490	7769	0.00	2.45	0.00	0.000	1030	0.000	0.039	3516	2084	2282	2304	2261	0	0	0	0	0	0	14.57	14.47	14.62
8113	1.93	67.3	3517	2085	2306	2259	2.9	11.1	504	8119	0.00	2.70	0.00	0.000	260	0.000	0.087	3516	3514	2281	2304	2258	0	0	0	0	0	0	14.90	14.21	14.93
8125	end climb: SURFACE_DEPTH_REACHED
state	8125	begin surface coast
8131	end surface coast: CONTROL_FINISHED_OK
state	8131	begin surface