Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 120 * 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 120 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 10

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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -3 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 0.15000001 PITCH_MIN 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 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 150 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 3 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 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 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 5

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 10 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 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.15000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 390

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 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

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 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1

DIVE 120 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 26 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 110218,171625,-7409.2983,-11250.6006,34,0.7,34,53.7,0.1,0.0,12,3.1 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME WMM0

_XMS_NAKs 0 TGT_LATLONG -7408.900,-11254.810

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 247.2,2214,-31.9,-9.429,-33.76,643

_SM_ANGLEo -62.9 D_GRID 593

GPS2 110218,172434,-7409.2808,-11250.6611,2,0.7,3,53.7,0.3,296.4,12,9.0

Post-dive calculations and measurements:

FREEZE 0.25,-1.346,-1.861,2,1,0 ALTIM_TOP_PING 7.9,7.9

FINISH 0.3,1.027294 _24V_AH 13.05,55.380

SM_CCo 7394,156.32,0.233,0,0,1353,350.04 _10V_AH 12.78,0.000

SM_GC 1.11,9.10,0.38,156.32,0.079,0.103,0.233,212,2310,1353,-8.03,-0.37,350.04,0,0,0,0,0,0,14.91,14.87,14.55 FG_AHR_24Vo 0.000

RAFOS_CLK 273 FG_AHR_10Vo 0.000

RAFOS 0,1518372072,18.032778,18.020000,121,71,58,57,55,55,549,219,169,118,187,200 MEM 280056

RAFOS_FIX -7409.168457,-11246.833984,110218,181832,3,131,0.63 DATA_FILE_SIZE 20083,601

IRIDIUM_FIX -7412.29,-11251.17,110218,134714 CAP_FILE_SIZE 95790,0

TT8_MAMPS 0.041195,0.5243 CFSIZE 1024409600,1005699072

HUMID 46.41 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1447.1

TCM_TEMP 12.00 CURRENT 0.062,257.21,1

XPDR_PINGS 0 GPS 110218,193133,-7408.909,-11254.595,3,1.2,5,53.7,0.1,0.0,6,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 416 123.92 nil 0 0 0.00

Roll_motor 31 167 68.16 nil 0 0 0.00

VBD_pump_during_apogee 433 1411 7981.45 nil 0 0 0.00

VBD_pump_during_surface 156 233 475.99 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 7392 4 435.45

Iridium_during_xfer 380 205 1021.96 nil 0 0 0.00

Transponder_ping 41 420 224.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 10 0.66

TT8 0 0 0.00

LPSleep 5521 2 163.00

TT8_Active 706 13 124.79

TT8_Sampling 1715 34 762.61

TT8_CF8 106 52 71.79

TT8_Kalman 0 0 0.00

Analog_circuits 1556 10 216.80

GPS_charging 0 0 0.00

Compass 867 7 83.04

RAFOS 720 1 13.80

Transponder 290 30 111.46

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

18.8 20.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.8 26.40 9000.00 0.0 0.00 0.00 26.40 0.0 1.07 1.00

30.8 33.30 33.30 0.0 1.11 1.00 33.30 0.0 1.15 1.00

37.0 39.10 39.30 0.0 1.05 1.00 39.10 0.0 0.94 1.00

191.4 198.40 198.40 -7.0 1.03 1.00 198.40 -7.0 1.03 1.00

179.2 185.90 185.90 -6.7 1.03 1.00 185.90 -6.7 1.02 1.00

160.9 166.80 166.80 -5.9 1.03 1.00 166.80 -5.9 1.04 1.00

154.7 160.20 160.30 -5.6 1.04 1.00 160.20 -5.5 1.06 1.00

139.9 144.70 144.70 -4.8 1.05 1.00 144.70 -4.8 1.05 1.00

132.6 137.40 137.30 -4.7 1.04 1.00 137.40 -4.8 1.00 1.00

125.7 130.40 130.40 -4.7 1.01 1.00 130.40 -4.7 1.01 1.00

112.0 116.10 116.10 -4.1 1.04 1.00 116.10 -4.1 1.04 1.00

105.1 108.40 108.50 -3.4 1.06 1.00 108.40 -3.3 1.12 1.00

92.1 95.80 95.60 -3.5 1.01 1.00 95.80 -3.7 0.97 1.00

84.9 87.40 87.80 -2.9 1.03 1.00 87.40 -2.5 1.17 1.00

77.6 80.40 80.20 -2.6 1.05 1.00 80.40 -2.8 0.96 1.00

71.5 75.00 75.00 -3.5 0.93 1.00 75.00 -3.5 0.89 1.00

65.5 67.80 68.10 -2.6 1.05 0.99 67.80 -2.3 1.20 1.00

59.5 61.50 61.40 -1.9 1.12 1.00 61.50 -2.0 1.05 1.00

53.5 54.80 54.90 -1.4 1.08 1.00 54.80 -1.3 1.12 1.00

47.5 49.40 49.20 -1.7 1.01 1.00 49.40 -1.9 0.90 1.00

41.3 42.40 42.60 -1.3 1.02 1.00 42.40 -1.1 1.13 1.00

34.7 35.10 35.10 -0.4 1.12 1.00 35.10 -0.4 1.11 1.00

27.6 27.80 27.70 -0.1 1.07 1.00 27.80 -0.2 1.03 1.00

20.6 20.40 20.40 0.2 1.03 1.00 20.40 0.2 1.06 1.00

14.5 14.20 14.20 0.3 1.03 1.00 14.20 0.3 1.02 1.00

7.9 8.00 7.90 0.0 0.98 1.00 8.00 -0.1 0.94 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

8 -1.50 -39.4 212 2310 1373 1298 0.0 0.0 0 102 0.00 0.00 -93.00 0.002 16390 0.000 0.000 211 2310 2943 2932 2954 0 0 0 0 0 0 14.75 13.43 14.78

104 -1.56 -90.7 210 2310 2932 2954 1.8 -1.2 9 128 10.00 2.65 -9.57 0.011 18980 0.417 0.109 2293 891 3153 3163 3143 0 0 0 0 0 0 14.34 13.45 14.64

321 -1.56 -90.7 2289 891 3165 3143 39.0 -20.2 52 329 0.00 2.58 0.00 0.000 1030 0.000 0.080 2284 2295 3153 3164 3143 0 0 0 0 0 0 14.68 14.61 14.72

627 -1.56 -90.7 2285 2296 3165 3138 99.4 -19.8 83 628 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 2295 3153 3164 3143 0 0 0 0 0 0 14.92 14.95 14.95

926 -1.56 -90.7 2283 2295 3163 3143 158.3 -19.9 113 933 0.00 2.55 0.00 0.000 516 0.000 0.083 2284 889 3153 3164 3142 0 0 0 0 0 0 15.00 14.71 15.03

992 -1.56 -90.7 2285 891 3165 3144 171.8 -20.6 126 1000 0.00 2.58 0.00 0.000 1030 0.000 0.083 2273 2302 3152 3163 3142 0 0 0 0 0 0 14.78 14.71 14.82

1297 -1.56 -90.7 2273 2303 3163 3147 232.4 -19.5 157 1298 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2302 3153 3164 3142 0 0 0 0 0 0 15.04 15.07 15.06

1597 -1.56 -90.7 2273 2303 3163 3142 290.8 -19.4 187 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2273 2302 3152 3163 3142 0 0 0 0 0 0 15.08 15.09 15.08

1907 -1.56 -90.7 2273 2303 3164 3143 348.4 -18.8 205 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2274 2302 3152 3163 3142 0 0 0 0 0 0 15.08 15.11 15.09

2208 -1.56 -90.7 2273 2303 3166 3143 402.4 -17.9 220 2213 0.00 2.50 0.00 0.000 516 0.000 0.083 2273 888 3153 3164 3142 0 0 0 0 0 0 15.05 14.80 15.07

2262 -1.56 -90.7 2273 889 3163 3148 412.4 -17.8 231 2270 0.12 2.55 0.00 0.000 3078 0.323 0.081 2292 2305 3153 3164 3142 0 0 0 0 0 0 14.58 14.80 14.77

2568 -1.56 -90.7 2292 2305 3163 3142 464.0 -16.9 247 2569 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 2305 3152 3164 3141 0 0 0 0 0 0 15.05 15.08 15.07

2868 -1.56 -90.7 2293 2306 3166 3142 511.9 -15.7 261 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2305 3152 3164 3141 0 0 0 0 0 0 15.07 15.09 15.09

3229 -1.56 -90.7 2294 2306 3166 3142 567.4 -15.5 273 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2305 3152 3164 3141 0 0 0 0 0 0 15.08 15.11 15.11

3407 end dive: TARGET_DEPTH_EXCEEDED

state 3407 begin apogee

3411 -0.23 0.0 2293 2062 3165 3142 595.3 -15.4 279 3662 1.65 0.10 247.68 1.323 10246 0.289 0.168 2722 2121 2782 2809 2756 0 0 0 0 0 0 14.64 14.02 13.56

3663 end apogee: CONTROL_FINISHED_OK

state 3663 begin climb

3665 1.56 90.7 2723 2122 2809 2754 601.8 0.0 287 3863 1.90 0.00 185.65 1.411 10502 0.139 0.000 3294 2121 2407 2435 2380 0 0 0 0 0 0 14.03 13.50 13.05

4219 1.56 90.7 3295 2121 2426 2374 510.6 18.9 326 4220 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 2121 2398 2424 2373 0 0 0 0 0 0 14.52 14.54 14.54

4578 1.56 90.7 3295 2122 2424 2372 445.6 17.7 343 4583 0.00 2.55 0.00 0.000 260 0.000 0.100 3294 3512 2396 2421 2371 0 0 0 0 0 0 14.81 14.55 14.83

4597 1.56 90.7 3294 3512 2421 2372 441.9 18.5 347 4604 0.00 2.42 0.00 0.000 1030 0.000 0.050 3305 2124 2396 2422 2371 0 0 0 0 0 0 14.66 14.60 14.67

4918 1.56 90.7 3306 2124 2423 2371 384.7 17.8 366 4919 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2395 2421 2370 0 0 0 0 0 0 14.89 14.92 14.92

5218 1.56 90.7 3306 2124 2422 2371 330.9 17.6 381 5218 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2397 2420 2375 0 0 0 0 0 0 14.99 15.02 15.02

5518 1.56 90.7 3306 2125 2421 2371 280.3 16.3 402 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2396 2423 2370 0 0 0 0 0 0 15.00 15.02 15.02

5818 1.56 90.7 3306 2125 2420 2371 231.4 15.3 432 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2394 2418 2370 0 0 0 0 0 0 15.06 15.09 15.09

6119 1.56 90.7 3304 2124 2417 2370 185.3 15.2 462 6120 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2394 2418 2370 0 0 0 0 0 0 15.04 15.07 15.07

6419 1.56 90.7 3304 2124 2417 2370 139.9 14.8 492 6420 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2123 2393 2417 2370 0 0 0 0 0 0 15.05 15.09 15.08

6719 1.56 90.7 3304 2124 2417 2370 98.2 14.0 522 6724 0.00 2.50 0.00 0.000 260 0.000 0.101 3305 3515 2393 2417 2369 0 0 0 0 0 0 15.07 14.83 15.09

6773 1.56 90.7 3306 3516 2419 2370 89.9 15.1 533 6781 0.00 2.45 0.00 0.000 1030 0.000 0.051 3316 2089 2393 2417 2370 0 0 0 0 0 0 14.91 14.85 14.95

7078 1.56 90.7 3317 2089 2418 2372 44.4 15.2 564 7084 0.00 2.53 0.00 0.000 516 0.000 0.096 3327 698 2393 2416 2370 0 0 0 0 0 0 15.11 14.78 15.14

7138 1.56 90.7 3328 699 2418 2370 35.3 14.2 576 7146 0.00 2.47 0.00 0.000 1030 0.000 0.068 3327 2105 2393 2416 2370 0 0 0 0 0 0 14.88 14.82 14.92

7369 end climb: SURFACE_DEPTH_REACHED

state 7369 begin surface coast

7379 end surface coast: CONTROL_FINISHED_OK

state 7379 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	120	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	10
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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.15000001	PITCH_MIN	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	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	150	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	110218,171625,-7409.2983,-11250.6006,34,0.7,34,53.7,0.1,0.0,12,3.1	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	WMM0
_XMS_NAKs	0	TGT_LATLONG	-7408.900,-11254.810
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	247.2,2214,-31.9,-9.429,-33.76,643
_SM_ANGLEo	-62.9	D_GRID	593
GPS2	110218,172434,-7409.2808,-11250.6611,2,0.7,3,53.7,0.3,296.4,12,9.0

FREEZE	0.25,-1.346,-1.861,2,1,0	ALTIM_TOP_PING	7.9,7.9
FINISH	0.3,1.027294	_24V_AH	13.05,55.380
SM_CCo	7394,156.32,0.233,0,0,1353,350.04	_10V_AH	12.78,0.000
SM_GC	1.11,9.10,0.38,156.32,0.079,0.103,0.233,212,2310,1353,-8.03,-0.37,350.04,0,0,0,0,0,0,14.91,14.87,14.55	FG_AHR_24Vo	0.000
RAFOS_CLK	273	FG_AHR_10Vo	0.000
RAFOS	0,1518372072,18.032778,18.020000,121,71,58,57,55,55,549,219,169,118,187,200	MEM	280056
RAFOS_FIX	-7409.168457,-11246.833984,110218,181832,3,131,0.63	DATA_FILE_SIZE	20083,601
IRIDIUM_FIX	-7412.29,-11251.17,110218,134714	CAP_FILE_SIZE	95790,0
TT8_MAMPS	0.041195,0.5243	CFSIZE	1024409600,1005699072
HUMID	46.41	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1447.1
TCM_TEMP	12.00	CURRENT	0.062,257.21,1
XPDR_PINGS	0	GPS	110218,193133,-7408.909,-11254.595,3,1.2,5,53.7,0.1,0.0,6,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	416	123.92	nil	0	0	0.00
Roll_motor	31	167	68.16	nil	0	0	0.00
VBD_pump_during_apogee	433	1411	7981.45	nil	0	0	0.00
VBD_pump_during_surface	156	233	475.99	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	7392	4	435.45
Iridium_during_xfer	380	205	1021.96	nil	0	0	0.00
Transponder_ping	41	420	224.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	10	0.66
TT8	0	0	0.00
LPSleep	5521	2	163.00
TT8_Active	706	13	124.79
TT8_Sampling	1715	34	762.61
TT8_CF8	106	52	71.79
TT8_Kalman	0	0	0.00
Analog_circuits	1556	10	216.80
GPS_charging	0	0	0.00
Compass	867	7	83.04
RAFOS	720	1	13.80
Transponder	290	30	111.46

		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
18.8	20.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.8	26.40	9000.00	0.0	0.00	0.00	26.40	0.0	1.07	1.00
30.8	33.30	33.30	0.0	1.11	1.00	33.30	0.0	1.15	1.00
37.0	39.10	39.30	0.0	1.05	1.00	39.10	0.0	0.94	1.00

191.4	198.40	198.40	-7.0	1.03	1.00	198.40	-7.0	1.03	1.00
179.2	185.90	185.90	-6.7	1.03	1.00	185.90	-6.7	1.02	1.00
160.9	166.80	166.80	-5.9	1.03	1.00	166.80	-5.9	1.04	1.00
154.7	160.20	160.30	-5.6	1.04	1.00	160.20	-5.5	1.06	1.00
139.9	144.70	144.70	-4.8	1.05	1.00	144.70	-4.8	1.05	1.00
132.6	137.40	137.30	-4.7	1.04	1.00	137.40	-4.8	1.00	1.00
125.7	130.40	130.40	-4.7	1.01	1.00	130.40	-4.7	1.01	1.00
112.0	116.10	116.10	-4.1	1.04	1.00	116.10	-4.1	1.04	1.00
105.1	108.40	108.50	-3.4	1.06	1.00	108.40	-3.3	1.12	1.00
92.1	95.80	95.60	-3.5	1.01	1.00	95.80	-3.7	0.97	1.00
84.9	87.40	87.80	-2.9	1.03	1.00	87.40	-2.5	1.17	1.00
77.6	80.40	80.20	-2.6	1.05	1.00	80.40	-2.8	0.96	1.00
71.5	75.00	75.00	-3.5	0.93	1.00	75.00	-3.5	0.89	1.00
65.5	67.80	68.10	-2.6	1.05	0.99	67.80	-2.3	1.20	1.00
59.5	61.50	61.40	-1.9	1.12	1.00	61.50	-2.0	1.05	1.00
53.5	54.80	54.90	-1.4	1.08	1.00	54.80	-1.3	1.12	1.00
47.5	49.40	49.20	-1.7	1.01	1.00	49.40	-1.9	0.90	1.00
41.3	42.40	42.60	-1.3	1.02	1.00	42.40	-1.1	1.13	1.00
34.7	35.10	35.10	-0.4	1.12	1.00	35.10	-0.4	1.11	1.00
27.6	27.80	27.70	-0.1	1.07	1.00	27.80	-0.2	1.03	1.00
20.6	20.40	20.40	0.2	1.03	1.00	20.40	0.2	1.06	1.00
14.5	14.20	14.20	0.3	1.03	1.00	14.20	0.3	1.02	1.00
7.9	8.00	7.90	0.0	0.98	1.00	8.00	-0.1	0.94	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
8	-1.50	-39.4	212	2310	1373	1298	0.0	0.0	0	102	0.00	0.00	-93.00	0.002	16390	0.000	0.000	211	2310	2943	2932	2954	0	0	0	0	0	0	14.75	13.43	14.78
104	-1.56	-90.7	210	2310	2932	2954	1.8	-1.2	9	128	10.00	2.65	-9.57	0.011	18980	0.417	0.109	2293	891	3153	3163	3143	0	0	0	0	0	0	14.34	13.45	14.64
321	-1.56	-90.7	2289	891	3165	3143	39.0	-20.2	52	329	0.00	2.58	0.00	0.000	1030	0.000	0.080	2284	2295	3153	3164	3143	0	0	0	0	0	0	14.68	14.61	14.72
627	-1.56	-90.7	2285	2296	3165	3138	99.4	-19.8	83	628	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	2295	3153	3164	3143	0	0	0	0	0	0	14.92	14.95	14.95
926	-1.56	-90.7	2283	2295	3163	3143	158.3	-19.9	113	933	0.00	2.55	0.00	0.000	516	0.000	0.083	2284	889	3153	3164	3142	0	0	0	0	0	0	15.00	14.71	15.03
992	-1.56	-90.7	2285	891	3165	3144	171.8	-20.6	126	1000	0.00	2.58	0.00	0.000	1030	0.000	0.083	2273	2302	3152	3163	3142	0	0	0	0	0	0	14.78	14.71	14.82
1297	-1.56	-90.7	2273	2303	3163	3147	232.4	-19.5	157	1298	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2302	3153	3164	3142	0	0	0	0	0	0	15.04	15.07	15.06
1597	-1.56	-90.7	2273	2303	3163	3142	290.8	-19.4	187	1598	0.00	0.00	0.00	0.000	6	0.000	0.000	2273	2302	3152	3163	3142	0	0	0	0	0	0	15.08	15.09	15.08
1907	-1.56	-90.7	2273	2303	3164	3143	348.4	-18.8	205	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	2274	2302	3152	3163	3142	0	0	0	0	0	0	15.08	15.11	15.09
2208	-1.56	-90.7	2273	2303	3166	3143	402.4	-17.9	220	2213	0.00	2.50	0.00	0.000	516	0.000	0.083	2273	888	3153	3164	3142	0	0	0	0	0	0	15.05	14.80	15.07
2262	-1.56	-90.7	2273	889	3163	3148	412.4	-17.8	231	2270	0.12	2.55	0.00	0.000	3078	0.323	0.081	2292	2305	3153	3164	3142	0	0	0	0	0	0	14.58	14.80	14.77
2568	-1.56	-90.7	2292	2305	3163	3142	464.0	-16.9	247	2569	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	2305	3152	3164	3141	0	0	0	0	0	0	15.05	15.08	15.07
2868	-1.56	-90.7	2293	2306	3166	3142	511.9	-15.7	261	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2305	3152	3164	3141	0	0	0	0	0	0	15.07	15.09	15.09
3229	-1.56	-90.7	2294	2306	3166	3142	567.4	-15.5	273	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2305	3152	3164	3141	0	0	0	0	0	0	15.08	15.11	15.11
3407	end dive: TARGET_DEPTH_EXCEEDED
state	3407	begin apogee
3411	-0.23	0.0	2293	2062	3165	3142	595.3	-15.4	279	3662	1.65	0.10	247.68	1.323	10246	0.289	0.168	2722	2121	2782	2809	2756	0	0	0	0	0	0	14.64	14.02	13.56
3663	end apogee: CONTROL_FINISHED_OK
state	3663	begin climb
3665	1.56	90.7	2723	2122	2809	2754	601.8	0.0	287	3863	1.90	0.00	185.65	1.411	10502	0.139	0.000	3294	2121	2407	2435	2380	0	0	0	0	0	0	14.03	13.50	13.05
4219	1.56	90.7	3295	2121	2426	2374	510.6	18.9	326	4220	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	2121	2398	2424	2373	0	0	0	0	0	0	14.52	14.54	14.54
4578	1.56	90.7	3295	2122	2424	2372	445.6	17.7	343	4583	0.00	2.55	0.00	0.000	260	0.000	0.100	3294	3512	2396	2421	2371	0	0	0	0	0	0	14.81	14.55	14.83
4597	1.56	90.7	3294	3512	2421	2372	441.9	18.5	347	4604	0.00	2.42	0.00	0.000	1030	0.000	0.050	3305	2124	2396	2422	2371	0	0	0	0	0	0	14.66	14.60	14.67
4918	1.56	90.7	3306	2124	2423	2371	384.7	17.8	366	4919	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2395	2421	2370	0	0	0	0	0	0	14.89	14.92	14.92
5218	1.56	90.7	3306	2124	2422	2371	330.9	17.6	381	5218	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2397	2420	2375	0	0	0	0	0	0	14.99	15.02	15.02
5518	1.56	90.7	3306	2125	2421	2371	280.3	16.3	402	5519	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2396	2423	2370	0	0	0	0	0	0	15.00	15.02	15.02
5818	1.56	90.7	3306	2125	2420	2371	231.4	15.3	432	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2394	2418	2370	0	0	0	0	0	0	15.06	15.09	15.09
6119	1.56	90.7	3304	2124	2417	2370	185.3	15.2	462	6120	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2394	2418	2370	0	0	0	0	0	0	15.04	15.07	15.07
6419	1.56	90.7	3304	2124	2417	2370	139.9	14.8	492	6420	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2123	2393	2417	2370	0	0	0	0	0	0	15.05	15.09	15.08
6719	1.56	90.7	3304	2124	2417	2370	98.2	14.0	522	6724	0.00	2.50	0.00	0.000	260	0.000	0.101	3305	3515	2393	2417	2369	0	0	0	0	0	0	15.07	14.83	15.09
6773	1.56	90.7	3306	3516	2419	2370	89.9	15.1	533	6781	0.00	2.45	0.00	0.000	1030	0.000	0.051	3316	2089	2393	2417	2370	0	0	0	0	0	0	14.91	14.85	14.95
7078	1.56	90.7	3317	2089	2418	2372	44.4	15.2	564	7084	0.00	2.53	0.00	0.000	516	0.000	0.096	3327	698	2393	2416	2370	0	0	0	0	0	0	15.11	14.78	15.14
7138	1.56	90.7	3328	699	2418	2370	35.3	14.2	576	7146	0.00	2.47	0.00	0.000	1030	0.000	0.068	3327	2105	2393	2416	2370	0	0	0	0	0	0	14.88	14.82	14.92
7369	end climb: SURFACE_DEPTH_REACHED
state	7369	begin surface coast
7379	end surface coast: CONTROL_FINISHED_OK
state	7379	begin surface