Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 870 * 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 870 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 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 870 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 280119,061408,-7408.0698,-11320.6729,21,1.0,21,53.9,0.2,0.0,7,10.0 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 0.80 MHEAD_RNG_PITCHd_Wd 213.4,2395,-36.3,-10.000,-37.95,514

_SM_ANGLEo -65.8 D_GRID 990

GPS2 280119,062225,-7408.0410,-11320.7061,4,1.0,6,53.9,0.2,0.0,7,8.4

Post-dive calculations and measurements:

FREEZE -0.10,-0.280,-0.981,2,1,0 ALTIM_BOTTOM_PING 430.4,16.1

FINISH -0.1,1.014509 _24V_AH 10.32,285.171

SM_CCo 8444,208.43,0.206,0,0,1147,350.04 _10V_AH 10.43,0.000

SM_GC 0.83,13.05,0.52,208.43,0.077,0.076,0.206,213,2304,1147,-8.25,-0.42,350.04,0,0,0,0,0,0,11.31,11.31,11.18 FG_AHR_24Vo 0.000

RAFOS_CLK 327 FG_AHR_10Vo 0.000

RAFOS_FIX -7408.148438,-11320.261719,280119,080845,0,1,0.04 MEM 279896

IRIDIUM_FIX -7407.96,-11309.85,280119,031713 DATA_FILE_SIZE 16734,508

TT8_MAMPS 0.048685,0.266644 CAP_FILE_SIZE 80360,0

HUMID 49.17 CFSIZE 1024409600,921075712

INTERNAL_PRESSURE 8.10186 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.00 SOUNDSPEED 1446.6

XPDR_PINGS 2 CURRENT 0.036,342.01,1

ALTIM_TOP_PING 12.3,12.5 GPS 280119,084825,-7407.988,-11322.330,17,0.7,34,53.9,0.1,0.0,12,2.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 403 145.20 nil 0 0 0.00

Roll_motor 86 153 137.90 nil 0 0 0.00

VBD_pump_during_apogee 160 2697 4472.72 nil 0 0 0.00

VBD_pump_during_surface 208 205 442.63 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 8401 6 549.93

Iridium_during_xfer 270 232 649.93 nil 0 0 0.00

Transponder_ping 19 420 84.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.86

TT8 0 0 0.00

LPSleep 6885 2 165.90

TT8_Active 561 13 80.98

TT8_Sampling 1330 34 482.73

TT8_CF8 376 52 207.19

TT8_Kalman 0 0 0.00

Analog_circuits 1239 10 140.94

GPS_charging 0 0 0.00

Compass 731 7 57.16

RAFOS 0 0 0.00

Transponder 136 30 42.66

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

21.0 22.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

396.1 49.10 9000.00 0.0 0.00 0.00 49.10 0.0 0.07 1.00

419.6 26.10 9000.00 0.0 0.04 0.32 26.10 445.7 -0.98 1.00

430.4 16.40 16.10 446.5 -0.96 1.00 16.40 446.8 -0.90 1.00

99.6 103.90 9000.00 0.0 -0.25 0.99 103.90 0.0 -0.26 1.00

89.2 92.50 9000.00 0.0 -0.24 0.98 92.50 -3.3 1.10 1.00

79.1 82.00 81.90 -2.8 1.06 1.00 82.00 -2.9 1.04 1.00

66.3 68.60 68.60 -2.3 1.05 1.00 68.60 -2.3 1.05 1.00

55.2 57.40 57.30 -2.1 1.04 1.00 57.40 -2.2 1.01 1.00

44.4 45.30 45.50 -1.1 1.06 1.00 45.30 -0.9 1.12 1.00

34.1 35.00 34.80 -0.7 1.06 1.00 35.00 -0.9 1.00 1.00

24.1 24.50 24.50 -0.4 1.02 1.00 24.50 -0.4 1.05 1.00

12.3 12.50 12.50 -0.2 1.03 1.00 12.50 -0.2 1.02 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -1.69 -33.4 218 2307 1181 1083 0.0 0.0 0 98 0.00 0.00 -85.97 0.002 16390 0.000 0.000 216 2305 2711 2715 2707 0 0 0 0 0 0 11.43 10.71 11.45

102 -1.69 -33.4 217 2305 2715 2708 1.6 -1.2 3 124 15.85 3.40 0.00 0.000 2564 0.403 0.062 2315 887 2709 2717 2702 0 0 0 0 0 0 11.10 11.27 11.24

354 -1.69 -33.4 2316 887 2718 2706 43.6 -19.0 40 360 0.00 3.35 0.00 0.000 1030 0.000 0.057 2307 2299 2711 2718 2704 0 0 0 0 0 0 11.36 11.28 11.37

715 -1.69 -33.4 2308 2300 2722 2702 103.5 -15.9 55 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2307 2299 2710 2720 2701 0 0 0 0 0 0 11.46 11.48 11.46

1048 -1.69 -33.4 2307 2299 2721 2701 154.5 -15.1 67 1054 0.00 3.50 0.00 0.000 260 0.000 0.091 2296 3719 2710 2721 2699 0 0 0 0 0 0 11.47 11.26 11.48

1145 -1.69 -33.4 2297 3720 2724 2701 170.0 -15.4 81 1153 0.17 3.25 0.00 0.000 3078 0.311 0.037 2318 2281 2711 2722 2700 0 0 0 0 0 0 11.16 11.31 11.33

1499 -1.69 -33.4 2320 2281 2725 2701 217.9 -13.4 93 1505 0.00 3.25 0.00 0.000 516 0.000 0.060 2318 906 2711 2724 2699 0 0 0 0 0 0 11.46 11.28 11.48

1735 -1.69 -33.4 2320 901 2726 2700 248.5 -13.4 127 1741 0.00 3.33 0.00 0.000 1030 0.000 0.056 2309 2306 2711 2724 2699 0 0 0 0 0 0 11.36 11.29 11.38

2114 -1.69 -33.4 2311 2307 2726 2699 295.7 -12.1 139 2119 0.00 3.33 0.00 0.000 516 0.000 0.058 2310 901 2711 2724 2699 0 0 0 0 0 0 11.44 11.28 11.48

2271 -1.69 -33.4 2311 903 2726 2700 316.6 -13.8 161 2277 0.00 3.35 0.00 0.000 1030 0.000 0.055 2298 2310 2711 2724 2699 0 0 0 0 0 0 11.36 11.29 11.38

2621 -1.69 -33.4 2299 2311 2726 2700 362.9 -13.1 169 2627 0.00 3.35 0.00 0.000 516 0.000 0.059 2298 895 2711 2724 2699 0 0 0 0 0 0 11.45 11.29 11.48

2696 -1.69 -33.4 2299 896 2726 2699 372.5 -12.5 180 2704 0.20 3.30 0.00 0.000 3078 0.324 0.056 2318 2301 2711 2724 2698 0 0 0 0 0 0 11.14 11.29 11.28

3071 -1.69 -33.4 2320 2303 2727 2699 415.3 -11.5 191 3076 0.00 3.33 0.00 0.000 516 0.000 0.058 2318 901 2711 2725 2698 0 0 0 0 0 0 11.48 11.29 11.48

3205 -1.69 -33.4 2320 902 2727 2699 431.2 -11.8 210 3210 0.00 3.30 0.00 0.000 1030 0.000 0.055 2309 2303 2711 2725 2698 0 0 0 0 0 0 11.37 11.30 11.38

3290 end dive: BOTTOM_OBSTACLE_DETECTED

state 3290 begin apogee

3299 -0.23 0.0 2311 2081 2727 2699 441.8 -11.4 216 3356 2.78 0.08 51.92 2.697 10246 0.291 0.154 2788 2109 2575 2602 2549 0 0 0 0 0 0 11.18 11.14 10.32

3357 end apogee: CONTROL_FINISHED_OK

state 3357 begin climb

3360 1.69 33.4 2788 2109 2602 2549 445.6 0.0 217 3419 2.70 0.00 53.78 2.633 10246 0.134 0.000 3407 2109 2440 2462 2419 0 0 0 0 0 0 11.18 11.17 10.33

3742 1.73 33.4 3406 2108 2456 2414 419.8 8.2 224 3747 0.00 3.35 0.00 0.000 580 0.000 0.069 3418 710 2434 2455 2413 0 0 0 0 0 0 11.44 11.25 11.45

3769 1.77 33.4 3419 710 2457 2414 417.5 8.1 228 3775 0.00 3.20 0.00 0.000 1094 0.000 0.046 3418 2107 2434 2455 2413 0 0 0 0 0 0 11.36 11.29 11.37

4133 1.80 33.4 3418 2102 2453 2407 387.0 8.4 238 4134 0.00 0.00 0.00 0.000 70 0.000 0.000 3418 2101 2432 2454 2411 0 0 0 0 0 0 11.47 11.48 11.48

4469 1.82 33.4 3417 2104 2453 2411 357.4 8.9 244 4471 0.15 0.00 0.00 0.000 2118 0.135 0.000 3454 2102 2431 2453 2410 0 0 0 0 0 0 11.30 11.38 11.36

4806 1.84 33.4 3455 2102 2454 2411 327.3 9.2 250 4812 0.00 3.38 0.00 0.000 580 0.000 0.072 3465 707 2431 2452 2410 0 0 0 0 0 0 11.46 11.27 11.48

5043 1.87 33.4 3464 707 2452 2411 307.3 8.3 284 5050 0.00 3.15 0.00 0.000 1094 0.000 0.043 3465 2100 2431 2452 2410 0 0 0 0 0 0 11.33 11.29 11.35

5422 1.91 33.4 3466 2101 2453 2411 276.1 8.3 296 5427 0.00 3.33 0.00 0.000 580 0.000 0.070 3474 720 2430 2451 2410 0 0 0 0 0 0 11.47 11.28 11.49

5578 1.92 46.1 3474 716 2451 2410 265.3 7.4 318 5602 0.00 3.17 18.45 2.450 9254 0.000 0.045 3474 2102 2389 2412 2366 0 0 0 0 0 0 11.37 11.31 10.37

5986 1.94 46.1 3477 2103 2408 2365 227.9 9.2 334 5986 0.00 0.00 0.00 0.000 70 0.000 0.000 3474 2102 2384 2405 2364 0 0 0 0 0 0 11.45 11.48 11.48

6318 1.96 46.1 3474 2103 2405 2364 197.5 8.9 340 6324 0.00 3.33 0.00 0.000 580 0.000 0.071 3484 711 2384 2405 2364 0 0 0 0 0 0 11.47 11.25 11.49

6492 1.98 46.1 3485 711 2406 2363 182.9 8.9 365 6498 0.00 3.17 0.00 0.000 1094 0.000 0.044 3485 2104 2384 2405 2363 0 0 0 0 0 0 11.37 11.31 11.39

6849 1.98 46.1 3485 2105 2407 2364 148.3 10.3 380 6855 0.00 3.35 0.00 0.000 516 0.000 0.070 3495 712 2383 2404 2363 0 0 0 0 0 0 11.48 11.28 11.50

6933 2.01 63.5 3497 713 2406 2363 142.6 6.5 392 6967 0.00 3.20 26.48 2.374 9254 0.000 0.047 3495 2110 2317 2338 2296 0 0 0 0 0 0 11.37 11.31 10.39

7325 2.01 63.5 3496 2110 2337 2294 104.8 9.7 412 7331 0.00 3.42 0.00 0.000 260 0.000 0.088 3495 3510 2314 2335 2294 0 0 0 0 0 0 11.47 11.26 11.48

7563 2.01 63.5 3495 3511 2337 2294 79.7 10.6 446 7572 0.00 3.12 0.00 0.000 1030 0.000 0.034 3505 2113 2314 2335 2293 0 0 0 0 0 0 11.34 11.31 11.36

7917 2.03 63.5 3507 2114 2337 2294 45.2 8.9 460 7925 0.00 3.40 0.00 0.000 324 0.000 0.084 3505 3512 2313 2335 2292 0 0 0 0 0 0 11.47 11.27 11.48

8156 2.04 76.7 3506 3513 2336 2293 24.1 7.3 494 8174 0.00 3.22 10.05 0.281 9254 0.000 0.034 3516 2094 2262 2284 2241 0 0 0 0 0 0 11.38 11.33 11.17

8394 end climb: SURFACE_DEPTH_REACHED

state 8394 begin surface coast

8418 end surface coast: CONTROL_FINISHED_OK

state 8418 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	870	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	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	280119,061408,-7408.0698,-11320.6729,21,1.0,21,53.9,0.2,0.0,7,10.0	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	0.80	MHEAD_RNG_PITCHd_Wd	213.4,2395,-36.3,-10.000,-37.95,514
_SM_ANGLEo	-65.8	D_GRID	990
GPS2	280119,062225,-7408.0410,-11320.7061,4,1.0,6,53.9,0.2,0.0,7,8.4

FREEZE	-0.10,-0.280,-0.981,2,1,0	ALTIM_BOTTOM_PING	430.4,16.1
FINISH	-0.1,1.014509	_24V_AH	10.32,285.171
SM_CCo	8444,208.43,0.206,0,0,1147,350.04	_10V_AH	10.43,0.000
SM_GC	0.83,13.05,0.52,208.43,0.077,0.076,0.206,213,2304,1147,-8.25,-0.42,350.04,0,0,0,0,0,0,11.31,11.31,11.18	FG_AHR_24Vo	0.000
RAFOS_CLK	327	FG_AHR_10Vo	0.000
RAFOS_FIX	-7408.148438,-11320.261719,280119,080845,0,1,0.04	MEM	279896
IRIDIUM_FIX	-7407.96,-11309.85,280119,031713	DATA_FILE_SIZE	16734,508
TT8_MAMPS	0.048685,0.266644	CAP_FILE_SIZE	80360,0
HUMID	49.17	CFSIZE	1024409600,921075712
INTERNAL_PRESSURE	8.10186	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1446.6
XPDR_PINGS	2	CURRENT	0.036,342.01,1
ALTIM_TOP_PING	12.3,12.5	GPS	280119,084825,-7407.988,-11322.330,17,0.7,34,53.9,0.1,0.0,12,2.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	403	145.20	nil	0	0	0.00
Roll_motor	86	153	137.90	nil	0	0	0.00
VBD_pump_during_apogee	160	2697	4472.72	nil	0	0	0.00
VBD_pump_during_surface	208	205	442.63	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	8401	6	549.93
Iridium_during_xfer	270	232	649.93	nil	0	0	0.00
Transponder_ping	19	420	84.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.86
TT8	0	0	0.00
LPSleep	6885	2	165.90
TT8_Active	561	13	80.98
TT8_Sampling	1330	34	482.73
TT8_CF8	376	52	207.19
TT8_Kalman	0	0	0.00
Analog_circuits	1239	10	140.94
GPS_charging	0	0	0.00
Compass	731	7	57.16
RAFOS	0	0	0.00
Transponder	136	30	42.66

		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
21.0	22.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
396.1	49.10	9000.00	0.0	0.00	0.00	49.10	0.0	0.07	1.00
419.6	26.10	9000.00	0.0	0.04	0.32	26.10	445.7	-0.98	1.00
430.4	16.40	16.10	446.5	-0.96	1.00	16.40	446.8	-0.90	1.00

99.6	103.90	9000.00	0.0	-0.25	0.99	103.90	0.0	-0.26	1.00
89.2	92.50	9000.00	0.0	-0.24	0.98	92.50	-3.3	1.10	1.00
79.1	82.00	81.90	-2.8	1.06	1.00	82.00	-2.9	1.04	1.00
66.3	68.60	68.60	-2.3	1.05	1.00	68.60	-2.3	1.05	1.00
55.2	57.40	57.30	-2.1	1.04	1.00	57.40	-2.2	1.01	1.00
44.4	45.30	45.50	-1.1	1.06	1.00	45.30	-0.9	1.12	1.00
34.1	35.00	34.80	-0.7	1.06	1.00	35.00	-0.9	1.00	1.00
24.1	24.50	24.50	-0.4	1.02	1.00	24.50	-0.4	1.05	1.00
12.3	12.50	12.50	-0.2	1.03	1.00	12.50	-0.2	1.02	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-1.69	-33.4	218	2307	1181	1083	0.0	0.0	0	98	0.00	0.00	-85.97	0.002	16390	0.000	0.000	216	2305	2711	2715	2707	0	0	0	0	0	0	11.43	10.71	11.45
102	-1.69	-33.4	217	2305	2715	2708	1.6	-1.2	3	124	15.85	3.40	0.00	0.000	2564	0.403	0.062	2315	887	2709	2717	2702	0	0	0	0	0	0	11.10	11.27	11.24
354	-1.69	-33.4	2316	887	2718	2706	43.6	-19.0	40	360	0.00	3.35	0.00	0.000	1030	0.000	0.057	2307	2299	2711	2718	2704	0	0	0	0	0	0	11.36	11.28	11.37
715	-1.69	-33.4	2308	2300	2722	2702	103.5	-15.9	55	715	0.00	0.00	0.00	0.000	6	0.000	0.000	2307	2299	2710	2720	2701	0	0	0	0	0	0	11.46	11.48	11.46
1048	-1.69	-33.4	2307	2299	2721	2701	154.5	-15.1	67	1054	0.00	3.50	0.00	0.000	260	0.000	0.091	2296	3719	2710	2721	2699	0	0	0	0	0	0	11.47	11.26	11.48
1145	-1.69	-33.4	2297	3720	2724	2701	170.0	-15.4	81	1153	0.17	3.25	0.00	0.000	3078	0.311	0.037	2318	2281	2711	2722	2700	0	0	0	0	0	0	11.16	11.31	11.33
1499	-1.69	-33.4	2320	2281	2725	2701	217.9	-13.4	93	1505	0.00	3.25	0.00	0.000	516	0.000	0.060	2318	906	2711	2724	2699	0	0	0	0	0	0	11.46	11.28	11.48
1735	-1.69	-33.4	2320	901	2726	2700	248.5	-13.4	127	1741	0.00	3.33	0.00	0.000	1030	0.000	0.056	2309	2306	2711	2724	2699	0	0	0	0	0	0	11.36	11.29	11.38
2114	-1.69	-33.4	2311	2307	2726	2699	295.7	-12.1	139	2119	0.00	3.33	0.00	0.000	516	0.000	0.058	2310	901	2711	2724	2699	0	0	0	0	0	0	11.44	11.28	11.48
2271	-1.69	-33.4	2311	903	2726	2700	316.6	-13.8	161	2277	0.00	3.35	0.00	0.000	1030	0.000	0.055	2298	2310	2711	2724	2699	0	0	0	0	0	0	11.36	11.29	11.38
2621	-1.69	-33.4	2299	2311	2726	2700	362.9	-13.1	169	2627	0.00	3.35	0.00	0.000	516	0.000	0.059	2298	895	2711	2724	2699	0	0	0	0	0	0	11.45	11.29	11.48
2696	-1.69	-33.4	2299	896	2726	2699	372.5	-12.5	180	2704	0.20	3.30	0.00	0.000	3078	0.324	0.056	2318	2301	2711	2724	2698	0	0	0	0	0	0	11.14	11.29	11.28
3071	-1.69	-33.4	2320	2303	2727	2699	415.3	-11.5	191	3076	0.00	3.33	0.00	0.000	516	0.000	0.058	2318	901	2711	2725	2698	0	0	0	0	0	0	11.48	11.29	11.48
3205	-1.69	-33.4	2320	902	2727	2699	431.2	-11.8	210	3210	0.00	3.30	0.00	0.000	1030	0.000	0.055	2309	2303	2711	2725	2698	0	0	0	0	0	0	11.37	11.30	11.38
3290	end dive: BOTTOM_OBSTACLE_DETECTED
state	3290	begin apogee
3299	-0.23	0.0	2311	2081	2727	2699	441.8	-11.4	216	3356	2.78	0.08	51.92	2.697	10246	0.291	0.154	2788	2109	2575	2602	2549	0	0	0	0	0	0	11.18	11.14	10.32
3357	end apogee: CONTROL_FINISHED_OK
state	3357	begin climb
3360	1.69	33.4	2788	2109	2602	2549	445.6	0.0	217	3419	2.70	0.00	53.78	2.633	10246	0.134	0.000	3407	2109	2440	2462	2419	0	0	0	0	0	0	11.18	11.17	10.33
3742	1.73	33.4	3406	2108	2456	2414	419.8	8.2	224	3747	0.00	3.35	0.00	0.000	580	0.000	0.069	3418	710	2434	2455	2413	0	0	0	0	0	0	11.44	11.25	11.45
3769	1.77	33.4	3419	710	2457	2414	417.5	8.1	228	3775	0.00	3.20	0.00	0.000	1094	0.000	0.046	3418	2107	2434	2455	2413	0	0	0	0	0	0	11.36	11.29	11.37
4133	1.80	33.4	3418	2102	2453	2407	387.0	8.4	238	4134	0.00	0.00	0.00	0.000	70	0.000	0.000	3418	2101	2432	2454	2411	0	0	0	0	0	0	11.47	11.48	11.48
4469	1.82	33.4	3417	2104	2453	2411	357.4	8.9	244	4471	0.15	0.00	0.00	0.000	2118	0.135	0.000	3454	2102	2431	2453	2410	0	0	0	0	0	0	11.30	11.38	11.36
4806	1.84	33.4	3455	2102	2454	2411	327.3	9.2	250	4812	0.00	3.38	0.00	0.000	580	0.000	0.072	3465	707	2431	2452	2410	0	0	0	0	0	0	11.46	11.27	11.48
5043	1.87	33.4	3464	707	2452	2411	307.3	8.3	284	5050	0.00	3.15	0.00	0.000	1094	0.000	0.043	3465	2100	2431	2452	2410	0	0	0	0	0	0	11.33	11.29	11.35
5422	1.91	33.4	3466	2101	2453	2411	276.1	8.3	296	5427	0.00	3.33	0.00	0.000	580	0.000	0.070	3474	720	2430	2451	2410	0	0	0	0	0	0	11.47	11.28	11.49
5578	1.92	46.1	3474	716	2451	2410	265.3	7.4	318	5602	0.00	3.17	18.45	2.450	9254	0.000	0.045	3474	2102	2389	2412	2366	0	0	0	0	0	0	11.37	11.31	10.37
5986	1.94	46.1	3477	2103	2408	2365	227.9	9.2	334	5986	0.00	0.00	0.00	0.000	70	0.000	0.000	3474	2102	2384	2405	2364	0	0	0	0	0	0	11.45	11.48	11.48
6318	1.96	46.1	3474	2103	2405	2364	197.5	8.9	340	6324	0.00	3.33	0.00	0.000	580	0.000	0.071	3484	711	2384	2405	2364	0	0	0	0	0	0	11.47	11.25	11.49
6492	1.98	46.1	3485	711	2406	2363	182.9	8.9	365	6498	0.00	3.17	0.00	0.000	1094	0.000	0.044	3485	2104	2384	2405	2363	0	0	0	0	0	0	11.37	11.31	11.39
6849	1.98	46.1	3485	2105	2407	2364	148.3	10.3	380	6855	0.00	3.35	0.00	0.000	516	0.000	0.070	3495	712	2383	2404	2363	0	0	0	0	0	0	11.48	11.28	11.50
6933	2.01	63.5	3497	713	2406	2363	142.6	6.5	392	6967	0.00	3.20	26.48	2.374	9254	0.000	0.047	3495	2110	2317	2338	2296	0	0	0	0	0	0	11.37	11.31	10.39
7325	2.01	63.5	3496	2110	2337	2294	104.8	9.7	412	7331	0.00	3.42	0.00	0.000	260	0.000	0.088	3495	3510	2314	2335	2294	0	0	0	0	0	0	11.47	11.26	11.48
7563	2.01	63.5	3495	3511	2337	2294	79.7	10.6	446	7572	0.00	3.12	0.00	0.000	1030	0.000	0.034	3505	2113	2314	2335	2293	0	0	0	0	0	0	11.34	11.31	11.36
7917	2.03	63.5	3507	2114	2337	2294	45.2	8.9	460	7925	0.00	3.40	0.00	0.000	324	0.000	0.084	3505	3512	2313	2335	2292	0	0	0	0	0	0	11.47	11.27	11.48
8156	2.04	76.7	3506	3513	2336	2293	24.1	7.3	494	8174	0.00	3.22	10.05	0.281	9254	0.000	0.034	3516	2094	2262	2284	2241	0	0	0	0	0	0	11.38	11.33	11.17
8394	end climb: SURFACE_DEPTH_REACHED
state	8394	begin surface coast
8418	end surface coast: CONTROL_FINISHED_OK
state	8418	begin surface