Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 182 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 182 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 20

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 110 SM_CC 300 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 0 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 4 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 110 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 300 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 300 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -1 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 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

SPEED_FACTOR 1 PITCH_TIMEOUT 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 330 N_NOCOMM 3 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 20 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 150

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 300 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 300 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 182 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 250218,163812,-7408.0015,-11310.9941,3,1.2,4,53.9,0.1,0.0,6,9.3 SPEED_LIMITS 0.100,0.198

_CALLS 3 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 225.9,6205,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.4 D_GRID 508

GPS2 250218,164745,-7407.9893,-11310.8828,3,1.3,3,53.9,0.4,147.0,5,9.8

Post-dive calculations and measurements:

FREEZE -0.03,-1.703,-1.858,2,1,0 ALTIM_TOP_PING 23.5,24.5

FINISH -0.0,1.027269 _24V_AH 12.51,66.763

SM_CCo 5425,163.57,0.222,0,0,2204,300.18 _10V_AH 12.67,0.000

SM_GC 0.76,8.55,0.47,163.57,0.079,0.091,0.222,191,2810,2204,-7.88,-0.59,300.18,0,0,0,0,0,0,14.54,14.58,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 221 FG_AHR_10Vo 0.000

RAFOS 0,1519581665,18.032778,18.018055,150,70,57,53,52,52,625,185,144,166,221,205 MEM 280328

RAFOS_FIX -7407.634766,-11311.598633,250218,181824,3,124,0.14 DATA_FILE_SIZE 20106,616

IRIDIUM_FIX -7407.96,-11309.85,250218,164214 CAP_FILE_SIZE 78756,0

TT8_MAMPS 0.038948,0.477113 CFSIZE 1024409600,999342080

HUMID 44.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.6

TCM_TEMP 13.00 CURRENT 0.082,71.07,1

XPDR_PINGS 0 GPS 250218,182224,-7407.821,-11312.211,33,1.8,33,53.9,0.5,54.6,5,7.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 475 138.32 nil 0 0 0.00

Roll_motor 65 96 79.49 nil 0 0 0.00

VBD_pump_during_apogee 224 2277 6399.64 nil 0 0 0.00

VBD_pump_during_surface 163 221 453.98 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 5423 7 491.72

Iridium_during_xfer 344 186 803.40 nil 0 0 0.00

Transponder_ping 8 420 43.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.54

TT8 0 0 0.00

LPSleep 3878 2 113.52

TT8_Active 587 10 80.95

TT8_Sampling 1598 30 614.80

TT8_CF8 106 51 69.40

TT8_Kalman 0 0 0.00

Analog_circuits 1417 10 181.42

GPS_charging 0 0 0.00

Compass 889 6 75.93

RAFOS 720 1 13.68

Transponder 58 30 22.35

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

20.2 21.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.0 43.20 9000.00 0.0 0.00 0.00 43.20 0.0 1.04 1.00

61.4 66.10 65.80 0.0 1.08 1.00 66.10 0.0 1.12 1.00

126.2 131.00 131.30 -5.1 1.02 1.00 131.00 -4.8 1.00 1.00

106.1 110.20 110.60 -4.5 1.00 1.00 110.20 -4.1 1.03 1.00

84.9 88.10 88.20 -3.3 1.04 1.00 88.10 -3.2 1.04 1.00

64.6 67.00 67.00 -2.4 1.04 1.00 67.00 -2.4 1.04 1.00

43.5 45.40 45.30 -1.8 1.03 1.00 45.40 -1.9 1.02 1.00

23.5 24.40 24.50 -1.0 1.03 1.00 24.40 -0.9 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

9 -1.04 -121.7 192 2806 2233 2131 0.0 0.0 0 122 0.00 0.00 -106.55 0.003 16390 0.000 0.000 191 2807 3889 3900 3879 0 0 0 0 0 0 14.58 12.94 14.58

124 -1.04 -121.7 192 2807 3903 3879 3.4 -5.2 11 142 12.07 2.47 0.00 0.000 2596 0.475 0.047 2388 1394 3897 3904 3891 0 0 0 0 0 0 14.02 14.35 14.42

326 -1.04 -121.7 2389 1395 3904 3903 32.2 -13.1 51 332 0.00 2.53 0.00 0.000 1030 0.000 0.070 2386 2797 3903 3904 3902 0 0 0 0 0 0 14.44 14.35 14.47

636 -1.04 -121.7 2386 2797 3905 3903 71.8 -13.3 83 642 0.00 2.03 0.00 0.000 260 0.000 0.093 2384 3910 3903 3904 3903 0 0 0 0 0 0 14.75 14.38 14.75

671 -1.04 -121.7 2384 3911 3904 3904 76.8 -14.7 90 678 0.00 1.90 0.00 0.000 1030 0.000 0.050 2384 2793 3903 3903 3903 0 0 0 0 0 0 14.52 14.50 14.54

976 -1.04 -121.7 2384 2793 3905 3904 120.3 -14.1 121 983 0.00 2.03 0.00 0.000 260 0.000 0.092 2383 3904 3904 3904 3904 0 0 0 0 0 0 14.78 14.42 14.78

1007 -1.04 -121.7 2383 3906 3904 3906 124.9 -15.4 127 1012 0.00 1.88 0.00 0.000 1030 0.000 0.049 2383 2799 3904 3904 3904 0 0 0 0 0 0 14.57 14.54 14.59

1317 -1.04 -121.7 2383 2799 3905 3904 167.2 -13.7 159 1322 0.00 2.03 0.00 0.000 260 0.000 0.093 2380 3906 3903 3903 3904 0 0 0 0 0 0 14.81 14.43 14.81

1397 -1.04 -121.7 2379 3907 3905 3906 178.8 -14.7 175 1402 0.00 1.88 0.00 0.000 1030 0.000 0.049 2382 2804 3904 3904 3904 0 0 0 0 0 0 14.59 14.55 14.62

1707 -1.04 -121.7 2384 2804 3905 3905 218.4 -12.7 207 1712 0.00 2.00 0.00 0.000 260 0.000 0.092 2374 3903 3904 3904 3905 0 0 0 0 0 0 14.83 14.45 14.83

1812 -1.04 -121.7 2374 3904 3905 3906 234.0 -14.8 228 1819 0.00 1.88 0.00 0.000 1030 0.000 0.049 2374 2798 3901 3898 3905 0 0 0 0 0 0 14.60 14.56 14.62

2117 -1.04 -121.7 2374 2799 3904 3906 276.8 -14.2 259 2118 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2798 3904 3903 3905 0 0 0 0 0 0 14.83 14.83 14.83

2418 -1.04 -121.7 2374 2798 3905 3904 316.3 -13.1 283 2423 0.00 2.38 0.00 0.000 516 0.000 0.050 2374 1397 3904 3904 3905 0 0 0 0 0 0 14.84 14.54 14.84

2467 -1.04 -121.7 2374 1393 3905 3904 322.6 -12.3 293 2474 0.00 2.53 0.00 0.000 1030 0.000 0.070 2374 2805 3904 3904 3905 0 0 0 0 0 0 14.57 14.48 14.60

2536 end dive: TARGET_DEPTH_EXCEEDED

state 2536 begin apogee

2540 -0.23 0.0 2374 2547 3905 3904 331.3 -12.4 298 2660 1.05 0.00 113.88 2.277 10246 0.262 0.000 2648 2547 3396 3401 3392 0 0 0 0 0 0 14.25 13.80 12.93

2661 end apogee: CONTROL_FINISHED_OK

state 2661 begin climb

2662 1.04 121.7 2648 2547 3401 3393 335.8 0.0 304 2782 1.40 2.65 110.75 2.207 10756 0.165 0.070 3064 1163 2910 2914 2907 0 0 0 0 0 0 13.74 13.26 12.51

2831 1.04 121.7 3063 1163 2908 2902 322.0 12.7 336 2837 0.00 2.62 0.00 0.000 1030 0.000 0.073 3063 2557 2904 2908 2900 0 0 0 0 0 0 13.72 13.63 13.74

3141 1.04 121.7 3064 2557 2904 2896 280.9 13.4 361 3148 0.00 2.50 0.00 0.000 260 0.000 0.096 3064 3909 2899 2903 2896 0 0 0 0 0 0 14.42 14.13 14.42

3187 1.04 121.7 3064 3911 2903 2897 273.9 15.2 370 3194 0.00 2.40 0.00 0.000 1030 0.000 0.056 3074 2557 2899 2902 2896 0 0 0 0 0 0 14.27 14.23 14.28

3492 1.04 121.7 3073 2558 2898 2897 235.2 12.5 401 3499 0.00 2.50 0.00 0.000 260 0.000 0.096 3073 3904 2898 2902 2895 0 0 0 0 0 0 14.63 14.30 14.64

3513 1.04 121.7 3074 3904 2904 2896 232.3 13.7 405 3520 0.00 2.38 0.00 0.000 1030 0.000 0.056 3084 2545 2899 2902 2896 0 0 0 0 0 0 14.45 14.40 14.47

3824 1.04 121.7 3084 2545 2904 2895 192.2 12.7 437 3831 0.00 2.47 0.00 0.000 516 0.000 0.068 3094 1157 2899 2902 2896 0 0 0 0 0 0 14.75 14.40 14.75

3850 1.04 121.7 3094 1157 2903 2896 189.0 12.1 442 3858 0.08 2.47 0.00 0.000 5126 0.269 0.072 3074 2540 2899 2902 2896 0 0 0 0 0 0 14.23 14.42 14.42

4155 1.04 121.7 3075 2540 2903 2895 151.7 12.1 473 4161 0.00 2.50 0.00 0.000 260 0.000 0.096 3074 3931 2899 2902 2896 0 0 0 0 0 0 14.80 14.45 14.80

4196 1.04 121.7 3075 3931 2904 2896 146.2 13.9 481 4202 0.00 2.40 0.00 0.000 1030 0.000 0.057 3090 2548 2899 2903 2896 0 0 0 0 0 0 14.54 14.52 14.57

4506 1.04 121.7 3084 2549 2903 2897 106.6 13.3 513 4515 0.00 2.45 0.00 0.000 516 0.000 0.068 3095 1161 2899 2902 2896 0 0 0 0 0 0 14.83 14.47 14.81

4534 1.04 121.7 3095 1162 2903 2897 103.0 12.6 518 4541 0.12 2.45 0.00 0.000 5126 0.295 0.072 3069 2562 2899 2902 2896 0 0 0 0 0 0 14.30 14.51 14.59

4839 1.04 121.7 3070 2563 2903 2897 65.9 11.8 549 4845 0.00 2.42 0.00 0.000 260 0.000 0.096 3069 3911 2899 2903 2895 0 0 0 0 0 0 14.83 14.50 14.83

4900 1.04 121.7 3070 3912 2905 2896 57.9 13.2 561 4907 0.00 2.35 0.00 0.000 1030 0.000 0.056 3079 2552 2900 2904 2896 0 0 0 0 0 0 14.62 14.57 14.64

5211 1.04 121.7 3079 2553 2904 2897 22.4 11.0 593 5217 0.00 2.47 0.00 0.000 516 0.000 0.067 3089 1154 2899 2904 2895 0 0 0 0 0 0 14.84 14.49 14.84

5236 1.04 121.7 3090 1155 2904 2897 19.7 10.0 598 5243 0.00 2.47 0.00 0.000 1030 0.000 0.071 3089 2541 2900 2904 2896 0 0 0 0 0 0 14.56 14.48 14.59

5400 end climb: SURFACE_DEPTH_REACHED

state 5400 begin surface coast

5410 end surface coast: CONTROL_FINISHED_OK

state 5410 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	182	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	20
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	110	SM_CC	300	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	0	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	4	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	110	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	300	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	300	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-1	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	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
SPEED_FACTOR	1	PITCH_TIMEOUT	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	250218,163812,-7408.0015,-11310.9941,3,1.2,4,53.9,0.1,0.0,6,9.3	SPEED_LIMITS	0.100,0.198
_CALLS	3	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	225.9,6205,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.4	D_GRID	508
GPS2	250218,164745,-7407.9893,-11310.8828,3,1.3,3,53.9,0.4,147.0,5,9.8

FREEZE	-0.03,-1.703,-1.858,2,1,0	ALTIM_TOP_PING	23.5,24.5
FINISH	-0.0,1.027269	_24V_AH	12.51,66.763
SM_CCo	5425,163.57,0.222,0,0,2204,300.18	_10V_AH	12.67,0.000
SM_GC	0.76,8.55,0.47,163.57,0.079,0.091,0.222,191,2810,2204,-7.88,-0.59,300.18,0,0,0,0,0,0,14.54,14.58,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	221	FG_AHR_10Vo	0.000
RAFOS	0,1519581665,18.032778,18.018055,150,70,57,53,52,52,625,185,144,166,221,205	MEM	280328
RAFOS_FIX	-7407.634766,-11311.598633,250218,181824,3,124,0.14	DATA_FILE_SIZE	20106,616
IRIDIUM_FIX	-7407.96,-11309.85,250218,164214	CAP_FILE_SIZE	78756,0
TT8_MAMPS	0.038948,0.477113	CFSIZE	1024409600,999342080
HUMID	44.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.6
TCM_TEMP	13.00	CURRENT	0.082,71.07,1
XPDR_PINGS	0	GPS	250218,182224,-7407.821,-11312.211,33,1.8,33,53.9,0.5,54.6,5,7.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	475	138.32	nil	0	0	0.00
Roll_motor	65	96	79.49	nil	0	0	0.00
VBD_pump_during_apogee	224	2277	6399.64	nil	0	0	0.00
VBD_pump_during_surface	163	221	453.98	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	5423	7	491.72
Iridium_during_xfer	344	186	803.40	nil	0	0	0.00
Transponder_ping	8	420	43.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.54
TT8	0	0	0.00
LPSleep	3878	2	113.52
TT8_Active	587	10	80.95
TT8_Sampling	1598	30	614.80
TT8_CF8	106	51	69.40
TT8_Kalman	0	0	0.00
Analog_circuits	1417	10	181.42
GPS_charging	0	0	0.00
Compass	889	6	75.93
RAFOS	720	1	13.68
Transponder	58	30	22.35

		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
20.2	21.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.0	43.20	9000.00	0.0	0.00	0.00	43.20	0.0	1.04	1.00
61.4	66.10	65.80	0.0	1.08	1.00	66.10	0.0	1.12	1.00

126.2	131.00	131.30	-5.1	1.02	1.00	131.00	-4.8	1.00	1.00
106.1	110.20	110.60	-4.5	1.00	1.00	110.20	-4.1	1.03	1.00
84.9	88.10	88.20	-3.3	1.04	1.00	88.10	-3.2	1.04	1.00
64.6	67.00	67.00	-2.4	1.04	1.00	67.00	-2.4	1.04	1.00
43.5	45.40	45.30	-1.8	1.03	1.00	45.40	-1.9	1.02	1.00
23.5	24.40	24.50	-1.0	1.03	1.00	24.40	-0.9	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
9	-1.04	-121.7	192	2806	2233	2131	0.0	0.0	0	122	0.00	0.00	-106.55	0.003	16390	0.000	0.000	191	2807	3889	3900	3879	0	0	0	0	0	0	14.58	12.94	14.58
124	-1.04	-121.7	192	2807	3903	3879	3.4	-5.2	11	142	12.07	2.47	0.00	0.000	2596	0.475	0.047	2388	1394	3897	3904	3891	0	0	0	0	0	0	14.02	14.35	14.42
326	-1.04	-121.7	2389	1395	3904	3903	32.2	-13.1	51	332	0.00	2.53	0.00	0.000	1030	0.000	0.070	2386	2797	3903	3904	3902	0	0	0	0	0	0	14.44	14.35	14.47
636	-1.04	-121.7	2386	2797	3905	3903	71.8	-13.3	83	642	0.00	2.03	0.00	0.000	260	0.000	0.093	2384	3910	3903	3904	3903	0	0	0	0	0	0	14.75	14.38	14.75
671	-1.04	-121.7	2384	3911	3904	3904	76.8	-14.7	90	678	0.00	1.90	0.00	0.000	1030	0.000	0.050	2384	2793	3903	3903	3903	0	0	0	0	0	0	14.52	14.50	14.54
976	-1.04	-121.7	2384	2793	3905	3904	120.3	-14.1	121	983	0.00	2.03	0.00	0.000	260	0.000	0.092	2383	3904	3904	3904	3904	0	0	0	0	0	0	14.78	14.42	14.78
1007	-1.04	-121.7	2383	3906	3904	3906	124.9	-15.4	127	1012	0.00	1.88	0.00	0.000	1030	0.000	0.049	2383	2799	3904	3904	3904	0	0	0	0	0	0	14.57	14.54	14.59
1317	-1.04	-121.7	2383	2799	3905	3904	167.2	-13.7	159	1322	0.00	2.03	0.00	0.000	260	0.000	0.093	2380	3906	3903	3903	3904	0	0	0	0	0	0	14.81	14.43	14.81
1397	-1.04	-121.7	2379	3907	3905	3906	178.8	-14.7	175	1402	0.00	1.88	0.00	0.000	1030	0.000	0.049	2382	2804	3904	3904	3904	0	0	0	0	0	0	14.59	14.55	14.62
1707	-1.04	-121.7	2384	2804	3905	3905	218.4	-12.7	207	1712	0.00	2.00	0.00	0.000	260	0.000	0.092	2374	3903	3904	3904	3905	0	0	0	0	0	0	14.83	14.45	14.83
1812	-1.04	-121.7	2374	3904	3905	3906	234.0	-14.8	228	1819	0.00	1.88	0.00	0.000	1030	0.000	0.049	2374	2798	3901	3898	3905	0	0	0	0	0	0	14.60	14.56	14.62
2117	-1.04	-121.7	2374	2799	3904	3906	276.8	-14.2	259	2118	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2798	3904	3903	3905	0	0	0	0	0	0	14.83	14.83	14.83
2418	-1.04	-121.7	2374	2798	3905	3904	316.3	-13.1	283	2423	0.00	2.38	0.00	0.000	516	0.000	0.050	2374	1397	3904	3904	3905	0	0	0	0	0	0	14.84	14.54	14.84
2467	-1.04	-121.7	2374	1393	3905	3904	322.6	-12.3	293	2474	0.00	2.53	0.00	0.000	1030	0.000	0.070	2374	2805	3904	3904	3905	0	0	0	0	0	0	14.57	14.48	14.60
2536	end dive: TARGET_DEPTH_EXCEEDED
state	2536	begin apogee
2540	-0.23	0.0	2374	2547	3905	3904	331.3	-12.4	298	2660	1.05	0.00	113.88	2.277	10246	0.262	0.000	2648	2547	3396	3401	3392	0	0	0	0	0	0	14.25	13.80	12.93
2661	end apogee: CONTROL_FINISHED_OK
state	2661	begin climb
2662	1.04	121.7	2648	2547	3401	3393	335.8	0.0	304	2782	1.40	2.65	110.75	2.207	10756	0.165	0.070	3064	1163	2910	2914	2907	0	0	0	0	0	0	13.74	13.26	12.51
2831	1.04	121.7	3063	1163	2908	2902	322.0	12.7	336	2837	0.00	2.62	0.00	0.000	1030	0.000	0.073	3063	2557	2904	2908	2900	0	0	0	0	0	0	13.72	13.63	13.74
3141	1.04	121.7	3064	2557	2904	2896	280.9	13.4	361	3148	0.00	2.50	0.00	0.000	260	0.000	0.096	3064	3909	2899	2903	2896	0	0	0	0	0	0	14.42	14.13	14.42
3187	1.04	121.7	3064	3911	2903	2897	273.9	15.2	370	3194	0.00	2.40	0.00	0.000	1030	0.000	0.056	3074	2557	2899	2902	2896	0	0	0	0	0	0	14.27	14.23	14.28
3492	1.04	121.7	3073	2558	2898	2897	235.2	12.5	401	3499	0.00	2.50	0.00	0.000	260	0.000	0.096	3073	3904	2898	2902	2895	0	0	0	0	0	0	14.63	14.30	14.64
3513	1.04	121.7	3074	3904	2904	2896	232.3	13.7	405	3520	0.00	2.38	0.00	0.000	1030	0.000	0.056	3084	2545	2899	2902	2896	0	0	0	0	0	0	14.45	14.40	14.47
3824	1.04	121.7	3084	2545	2904	2895	192.2	12.7	437	3831	0.00	2.47	0.00	0.000	516	0.000	0.068	3094	1157	2899	2902	2896	0	0	0	0	0	0	14.75	14.40	14.75
3850	1.04	121.7	3094	1157	2903	2896	189.0	12.1	442	3858	0.08	2.47	0.00	0.000	5126	0.269	0.072	3074	2540	2899	2902	2896	0	0	0	0	0	0	14.23	14.42	14.42
4155	1.04	121.7	3075	2540	2903	2895	151.7	12.1	473	4161	0.00	2.50	0.00	0.000	260	0.000	0.096	3074	3931	2899	2902	2896	0	0	0	0	0	0	14.80	14.45	14.80
4196	1.04	121.7	3075	3931	2904	2896	146.2	13.9	481	4202	0.00	2.40	0.00	0.000	1030	0.000	0.057	3090	2548	2899	2903	2896	0	0	0	0	0	0	14.54	14.52	14.57
4506	1.04	121.7	3084	2549	2903	2897	106.6	13.3	513	4515	0.00	2.45	0.00	0.000	516	0.000	0.068	3095	1161	2899	2902	2896	0	0	0	0	0	0	14.83	14.47	14.81
4534	1.04	121.7	3095	1162	2903	2897	103.0	12.6	518	4541	0.12	2.45	0.00	0.000	5126	0.295	0.072	3069	2562	2899	2902	2896	0	0	0	0	0	0	14.30	14.51	14.59
4839	1.04	121.7	3070	2563	2903	2897	65.9	11.8	549	4845	0.00	2.42	0.00	0.000	260	0.000	0.096	3069	3911	2899	2903	2895	0	0	0	0	0	0	14.83	14.50	14.83
4900	1.04	121.7	3070	3912	2905	2896	57.9	13.2	561	4907	0.00	2.35	0.00	0.000	1030	0.000	0.056	3079	2552	2900	2904	2896	0	0	0	0	0	0	14.62	14.57	14.64
5211	1.04	121.7	3079	2553	2904	2897	22.4	11.0	593	5217	0.00	2.47	0.00	0.000	516	0.000	0.067	3089	1154	2899	2904	2895	0	0	0	0	0	0	14.84	14.49	14.84
5236	1.04	121.7	3090	1155	2904	2897	19.7	10.0	598	5243	0.00	2.47	0.00	0.000	1030	0.000	0.071	3089	2541	2900	2904	2896	0	0	0	0	0	0	14.56	14.48	14.59
5400	end climb: SURFACE_DEPTH_REACHED
state	5400	begin surface coast
5410	end surface coast: CONTROL_FINISHED_OK
state	5410	begin surface