Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 202 * 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 202 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 330 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 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 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 2 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 0 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 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 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 0 T_RSLEEP 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 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 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 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 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 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 0 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 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 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 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 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 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 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 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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

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 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 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 202 MAXI_24V 2 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 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 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 990 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 270218,024601,-7408.0928,-11313.0088,5,0.8,19,53.9,0.5,331.2,11,2.2 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 209.6,6150,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.6 D_GRID 484

GPS2 270218,025159,-7408.0679,-11313.0381,2,0.8,2,53.9,0.2,270.1,11,9.5

Post-dive calculations and measurements:

FREEZE 0.43,-1.698,-1.861,2,1,0 ALTIM_TOP_PING 16.3,16.5

FINISH 0.4,1.027304 _24V_AH 12.49,70.835

SM_CCo 5632,164.25,0.223,0,0,2205,300.18 _10V_AH 12.65,0.000

SM_GC 0.77,8.43,0.45,164.25,0.070,0.096,0.223,187,2811,2205,-7.89,-0.42,300.18,0,0,0,0,0,0,14.57,14.56,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 230 FG_AHR_10Vo 0.000

RAFOS 0,1519700464,3.032778,3.017778,135,61,57,55,55,52,631,217,188,171,138,207 MEM 280248

RAFOS_FIX -7407.178223,-11314.256836,270218,030316,3,131,1.21 DATA_FILE_SIZE 20062,605

IRIDIUM_FIX -7407.96,-11309.85,270218,010456 CAP_FILE_SIZE 80015,0

TT8_MAMPS 0.038948,0.879326 CFSIZE 1024409600,997195776

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 1444.5

TCM_TEMP 13.00 CURRENT 0.085,327.98,1

XPDR_PINGS 0 GPS 270218,042947,-7407.895,-11315.865,9,1.3,10,53.9,0.2,0.0,6,5.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 471 135.81 nil 0 0 0.00

Roll_motor 51 96 61.43 nil 0 0 0.00

VBD_pump_during_apogee 227 2292 6506.79 nil 0 0 0.00

VBD_pump_during_surface 164 222 456.69 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 5632 7 521.32

Iridium_during_xfer 248 182 566.07 nil 0 0 0.00

Transponder_ping 15 420 82.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.47

TT8 0 0 0.00

LPSleep 3983 2 116.40

TT8_Active 563 10 77.48

TT8_Sampling 1510 30 579.73

TT8_CF8 113 51 73.79

TT8_Kalman 0 0 0.00

Analog_circuits 1282 10 163.80

GPS_charging 0 0 0.00

Compass 871 6 74.32

RAFOS 720 1 13.66

Transponder 109 30 41.60

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

10.4 11.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 1.04 1.00

31.7 33.50 33.50 0.0 1.05 1.00 33.50 0.0 1.05 1.00

41.9 44.20 44.20 0.0 1.05 1.00 44.20 0.0 1.05 1.00

52.7 55.70 55.70 0.0 1.06 1.00 55.70 0.0 1.06 1.00

62.7 66.90 66.80 0.0 1.09 1.00 66.90 0.0 1.12 1.00

82.8 86.90 87.00 0.0 1.03 1.00 86.90 0.0 1.00 1.00

111.4 117.50 117.30 -5.9 1.04 1.00 117.50 -6.1 1.07 1.00

90.1 94.40 94.60 -4.5 1.07 1.00 94.40 -4.3 1.08 1.00

79.8 82.80 82.90 -3.1 1.10 1.00 82.80 -3.0 1.13 1.00

69.0 71.40 71.30 -2.3 1.09 1.00 71.40 -2.4 1.06 1.00

58.3 60.60 60.50 -2.2 1.03 1.00 60.60 -2.3 1.01 1.00

47.9 49.40 49.50 -1.6 1.05 1.00 49.40 -1.5 1.08 1.00

37.3 38.70 38.60 -1.3 1.04 1.00 38.70 -1.4 1.01 1.00

27.0 27.80 27.90 -0.9 1.03 1.00 27.80 -0.8 1.06 1.00

16.3 16.50 16.50 -0.2 1.06 1.00 16.50 -0.2 1.06 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

10 -1.04 -121.7 187 2794 2234 2126 0.0 0.0 0 123 0.00 0.00 -107.05 0.003 16390 0.000 0.000 183 2794 3889 3901 3878 0 0 0 0 0 0 14.58 13.24 14.58

125 -1.04 -121.7 187 2794 3902 3879 2.7 -3.0 11 142 12.05 2.42 0.00 0.000 2596 0.471 0.047 2393 1384 3897 3903 3891 0 0 0 0 0 0 13.96 14.35 14.27

281 -1.04 -121.7 2392 1385 3903 3902 25.1 -12.9 42 288 0.00 2.58 0.00 0.000 1030 0.000 0.070 2387 2808 3901 3902 3901 0 0 0 0 0 0 14.41 14.34 14.45

586 -1.04 -121.7 2388 2808 3904 3903 61.3 -12.7 73 593 0.00 2.42 0.00 0.000 516 0.000 0.050 2387 1393 3903 3903 3903 0 0 0 0 0 0 14.73 14.43 14.73

622 -1.04 -121.7 2387 1393 3903 3903 65.8 -12.5 80 629 0.00 2.55 0.00 0.000 1030 0.000 0.070 2381 2809 3903 3903 3903 0 0 0 0 0 0 14.48 14.40 14.52

928 -1.04 -121.7 2382 2810 3904 3905 104.0 -12.7 111 933 0.00 1.98 0.00 0.000 260 0.000 0.091 2373 3919 3902 3902 3903 0 0 0 0 0 0 14.72 14.44 14.71

962 -1.04 -121.7 2374 3920 3904 3906 108.9 -14.2 118 969 0.00 1.92 0.00 0.000 1030 0.000 0.049 2373 2792 3903 3903 3903 0 0 0 0 0 0 14.56 14.52 14.58

1267 -1.04 -121.7 2373 2793 3904 3905 148.1 -12.5 149 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2793 3903 3903 3904 0 0 0 0 0 0 14.79 14.79 14.79

1568 -1.04 -121.7 2374 2794 3904 3905 186.2 -12.4 179 1569 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2793 3903 3903 3904 0 0 0 0 0 0 14.76 14.75 14.76

1867 -1.04 -121.7 2374 2793 3904 3904 223.4 -12.6 209 1874 0.00 2.05 0.00 0.000 260 0.000 0.093 2371 3912 3903 3903 3904 0 0 0 0 0 0 14.83 14.44 14.83

1963 -1.04 -121.7 2372 3912 3903 3905 235.4 -12.4 228 1970 0.00 1.90 0.00 0.000 1030 0.000 0.050 2371 2793 3903 3903 3904 0 0 0 0 0 0 14.60 14.56 14.66

2268 -1.04 -121.7 2372 2793 3903 3905 270.4 -11.8 259 2273 0.00 2.05 0.00 0.000 260 0.000 0.092 2370 3915 3903 3903 3904 0 0 0 0 0 0 14.83 14.45 14.83

2313 -1.04 -121.7 2370 3916 3904 3904 276.1 -12.8 268 2320 0.00 1.90 0.00 0.000 1030 0.000 0.050 2370 2799 3903 3903 3904 0 0 0 0 0 0 14.60 14.57 14.62

2628 -1.04 -121.7 2370 2800 3903 3905 312.3 -11.5 295 2633 0.00 2.03 0.00 0.000 260 0.000 0.091 2369 3912 3903 3903 3904 0 0 0 0 0 0 14.84 14.45 14.84

2663 -1.04 -121.7 2370 3912 3904 3904 316.5 -12.1 302 2670 0.00 1.90 0.00 0.000 1030 0.000 0.050 2369 2794 3903 3903 3904 0 0 0 0 0 0 14.61 14.57 14.62

2806 end dive: TARGET_DEPTH_EXCEEDED

state 2806 begin apogee

2811 -0.23 0.0 2370 2543 3904 3904 331.8 -10.3 310 2931 1.10 0.00 115.55 2.293 10246 0.264 0.000 2654 2543 3397 3402 3392 0 0 0 0 0 0 14.23 13.78 12.90

2932 end apogee: CONTROL_FINISHED_OK

state 2932 begin climb

2933 1.04 121.7 2656 2543 3402 3392 334.3 0.0 316 3050 1.38 0.00 111.68 2.213 10502 0.160 0.000 3056 2543 2912 2917 2907 0 0 0 0 0 0 13.71 13.33 12.49

3348 1.04 121.7 3057 2543 2906 2896 287.7 12.8 356 3354 0.00 2.55 0.00 0.000 260 0.000 0.095 3056 3909 2899 2904 2895 0 0 0 0 0 0 14.36 14.06 14.35

3388 1.04 121.7 3061 3908 2904 2896 282.1 14.5 364 3394 0.00 2.38 0.00 0.000 1030 0.000 0.057 3066 2549 2900 2905 2896 0 0 0 0 0 0 14.25 14.18 14.27

3698 1.04 121.7 3066 2550 2904 2896 241.3 12.9 396 3699 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2550 2899 2904 2894 0 0 0 0 0 0 14.64 14.64 14.64

3998 1.04 121.7 3066 2551 2905 2896 203.7 12.5 426 3999 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2550 2899 2904 2895 0 0 0 0 0 0 14.73 14.73 14.73

4298 1.04 121.7 3063 2551 2905 2896 166.4 11.7 456 4304 0.00 2.47 0.00 0.000 260 0.000 0.096 3066 3915 2899 2905 2894 0 0 0 0 0 0 14.79 14.45 14.80

4338 1.04 121.7 3066 3916 2906 2895 161.0 14.1 464 4344 0.00 2.38 0.00 0.000 1030 0.000 0.057 3076 2523 2900 2905 2895 0 0 0 0 0 0 14.62 14.54 14.64

4649 1.04 121.7 3077 2523 2906 2895 122.5 12.0 496 4654 0.00 2.53 0.00 0.000 260 0.000 0.096 3076 3917 2900 2905 2895 0 0 0 0 0 0 14.78 14.48 14.78

4673 1.04 121.7 3077 3912 2906 2895 119.1 14.1 501 4681 0.00 2.38 0.00 0.000 1030 0.000 0.057 3087 2517 2900 2906 2895 0 0 0 0 0 0 14.65 14.57 14.67

4979 1.04 121.7 3088 2517 2907 2895 79.8 13.0 532 4984 0.00 2.53 0.00 0.000 260 0.000 0.096 3087 3920 2900 2906 2895 0 0 0 0 0 0 14.81 14.50 14.81

5003 1.04 121.7 3087 3921 2907 2896 76.1 15.6 537 5012 0.12 2.38 0.00 0.000 5126 0.285 0.057 3066 2549 2900 2906 2895 0 0 0 0 0 0 14.24 14.57 14.47

5308 1.04 121.7 3066 2549 2908 2895 38.6 13.8 568 5314 0.00 2.42 0.00 0.000 516 0.000 0.068 3075 1151 2900 2906 2895 0 0 0 0 0 0 14.86 14.51 14.85

5358 1.04 121.7 3075 1152 2907 2896 32.2 12.3 578 5364 0.00 2.47 0.00 0.000 1030 0.000 0.070 3075 2564 2900 2907 2894 0 0 0 0 0 0 14.66 14.53 14.69

5607 end climb: SURFACE_DEPTH_REACHED

state 5607 begin surface coast

5617 end surface coast: CONTROL_FINISHED_OK

state 5617 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	202	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	330	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	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	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	2	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	0	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	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	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	0	T_RSLEEP	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	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	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	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	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	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	270218,024601,-7408.0928,-11313.0088,5,0.8,19,53.9,0.5,331.2,11,2.2	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	209.6,6150,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.6	D_GRID	484
GPS2	270218,025159,-7408.0679,-11313.0381,2,0.8,2,53.9,0.2,270.1,11,9.5

FREEZE	0.43,-1.698,-1.861,2,1,0	ALTIM_TOP_PING	16.3,16.5
FINISH	0.4,1.027304	_24V_AH	12.49,70.835
SM_CCo	5632,164.25,0.223,0,0,2205,300.18	_10V_AH	12.65,0.000
SM_GC	0.77,8.43,0.45,164.25,0.070,0.096,0.223,187,2811,2205,-7.89,-0.42,300.18,0,0,0,0,0,0,14.57,14.56,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	230	FG_AHR_10Vo	0.000
RAFOS	0,1519700464,3.032778,3.017778,135,61,57,55,55,52,631,217,188,171,138,207	MEM	280248
RAFOS_FIX	-7407.178223,-11314.256836,270218,030316,3,131,1.21	DATA_FILE_SIZE	20062,605
IRIDIUM_FIX	-7407.96,-11309.85,270218,010456	CAP_FILE_SIZE	80015,0
TT8_MAMPS	0.038948,0.879326	CFSIZE	1024409600,997195776
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	1444.5
TCM_TEMP	13.00	CURRENT	0.085,327.98,1
XPDR_PINGS	0	GPS	270218,042947,-7407.895,-11315.865,9,1.3,10,53.9,0.2,0.0,6,5.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	471	135.81	nil	0	0	0.00
Roll_motor	51	96	61.43	nil	0	0	0.00
VBD_pump_during_apogee	227	2292	6506.79	nil	0	0	0.00
VBD_pump_during_surface	164	222	456.69	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	5632	7	521.32
Iridium_during_xfer	248	182	566.07	nil	0	0	0.00
Transponder_ping	15	420	82.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.47
TT8	0	0	0.00
LPSleep	3983	2	116.40
TT8_Active	563	10	77.48
TT8_Sampling	1510	30	579.73
TT8_CF8	113	51	73.79
TT8_Kalman	0	0	0.00
Analog_circuits	1282	10	163.80
GPS_charging	0	0	0.00
Compass	871	6	74.32
RAFOS	720	1	13.66
Transponder	109	30	41.60

		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
10.4	11.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	1.04	1.00
31.7	33.50	33.50	0.0	1.05	1.00	33.50	0.0	1.05	1.00
41.9	44.20	44.20	0.0	1.05	1.00	44.20	0.0	1.05	1.00
52.7	55.70	55.70	0.0	1.06	1.00	55.70	0.0	1.06	1.00
62.7	66.90	66.80	0.0	1.09	1.00	66.90	0.0	1.12	1.00
82.8	86.90	87.00	0.0	1.03	1.00	86.90	0.0	1.00	1.00

111.4	117.50	117.30	-5.9	1.04	1.00	117.50	-6.1	1.07	1.00
90.1	94.40	94.60	-4.5	1.07	1.00	94.40	-4.3	1.08	1.00
79.8	82.80	82.90	-3.1	1.10	1.00	82.80	-3.0	1.13	1.00
69.0	71.40	71.30	-2.3	1.09	1.00	71.40	-2.4	1.06	1.00
58.3	60.60	60.50	-2.2	1.03	1.00	60.60	-2.3	1.01	1.00
47.9	49.40	49.50	-1.6	1.05	1.00	49.40	-1.5	1.08	1.00
37.3	38.70	38.60	-1.3	1.04	1.00	38.70	-1.4	1.01	1.00
27.0	27.80	27.90	-0.9	1.03	1.00	27.80	-0.8	1.06	1.00
16.3	16.50	16.50	-0.2	1.06	1.00	16.50	-0.2	1.06	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
10	-1.04	-121.7	187	2794	2234	2126	0.0	0.0	0	123	0.00	0.00	-107.05	0.003	16390	0.000	0.000	183	2794	3889	3901	3878	0	0	0	0	0	0	14.58	13.24	14.58
125	-1.04	-121.7	187	2794	3902	3879	2.7	-3.0	11	142	12.05	2.42	0.00	0.000	2596	0.471	0.047	2393	1384	3897	3903	3891	0	0	0	0	0	0	13.96	14.35	14.27
281	-1.04	-121.7	2392	1385	3903	3902	25.1	-12.9	42	288	0.00	2.58	0.00	0.000	1030	0.000	0.070	2387	2808	3901	3902	3901	0	0	0	0	0	0	14.41	14.34	14.45
586	-1.04	-121.7	2388	2808	3904	3903	61.3	-12.7	73	593	0.00	2.42	0.00	0.000	516	0.000	0.050	2387	1393	3903	3903	3903	0	0	0	0	0	0	14.73	14.43	14.73
622	-1.04	-121.7	2387	1393	3903	3903	65.8	-12.5	80	629	0.00	2.55	0.00	0.000	1030	0.000	0.070	2381	2809	3903	3903	3903	0	0	0	0	0	0	14.48	14.40	14.52
928	-1.04	-121.7	2382	2810	3904	3905	104.0	-12.7	111	933	0.00	1.98	0.00	0.000	260	0.000	0.091	2373	3919	3902	3902	3903	0	0	0	0	0	0	14.72	14.44	14.71
962	-1.04	-121.7	2374	3920	3904	3906	108.9	-14.2	118	969	0.00	1.92	0.00	0.000	1030	0.000	0.049	2373	2792	3903	3903	3903	0	0	0	0	0	0	14.56	14.52	14.58
1267	-1.04	-121.7	2373	2793	3904	3905	148.1	-12.5	149	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2793	3903	3903	3904	0	0	0	0	0	0	14.79	14.79	14.79
1568	-1.04	-121.7	2374	2794	3904	3905	186.2	-12.4	179	1569	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2793	3903	3903	3904	0	0	0	0	0	0	14.76	14.75	14.76
1867	-1.04	-121.7	2374	2793	3904	3904	223.4	-12.6	209	1874	0.00	2.05	0.00	0.000	260	0.000	0.093	2371	3912	3903	3903	3904	0	0	0	0	0	0	14.83	14.44	14.83
1963	-1.04	-121.7	2372	3912	3903	3905	235.4	-12.4	228	1970	0.00	1.90	0.00	0.000	1030	0.000	0.050	2371	2793	3903	3903	3904	0	0	0	0	0	0	14.60	14.56	14.66
2268	-1.04	-121.7	2372	2793	3903	3905	270.4	-11.8	259	2273	0.00	2.05	0.00	0.000	260	0.000	0.092	2370	3915	3903	3903	3904	0	0	0	0	0	0	14.83	14.45	14.83
2313	-1.04	-121.7	2370	3916	3904	3904	276.1	-12.8	268	2320	0.00	1.90	0.00	0.000	1030	0.000	0.050	2370	2799	3903	3903	3904	0	0	0	0	0	0	14.60	14.57	14.62
2628	-1.04	-121.7	2370	2800	3903	3905	312.3	-11.5	295	2633	0.00	2.03	0.00	0.000	260	0.000	0.091	2369	3912	3903	3903	3904	0	0	0	0	0	0	14.84	14.45	14.84
2663	-1.04	-121.7	2370	3912	3904	3904	316.5	-12.1	302	2670	0.00	1.90	0.00	0.000	1030	0.000	0.050	2369	2794	3903	3903	3904	0	0	0	0	0	0	14.61	14.57	14.62
2806	end dive: TARGET_DEPTH_EXCEEDED
state	2806	begin apogee
2811	-0.23	0.0	2370	2543	3904	3904	331.8	-10.3	310	2931	1.10	0.00	115.55	2.293	10246	0.264	0.000	2654	2543	3397	3402	3392	0	0	0	0	0	0	14.23	13.78	12.90
2932	end apogee: CONTROL_FINISHED_OK
state	2932	begin climb
2933	1.04	121.7	2656	2543	3402	3392	334.3	0.0	316	3050	1.38	0.00	111.68	2.213	10502	0.160	0.000	3056	2543	2912	2917	2907	0	0	0	0	0	0	13.71	13.33	12.49
3348	1.04	121.7	3057	2543	2906	2896	287.7	12.8	356	3354	0.00	2.55	0.00	0.000	260	0.000	0.095	3056	3909	2899	2904	2895	0	0	0	0	0	0	14.36	14.06	14.35
3388	1.04	121.7	3061	3908	2904	2896	282.1	14.5	364	3394	0.00	2.38	0.00	0.000	1030	0.000	0.057	3066	2549	2900	2905	2896	0	0	0	0	0	0	14.25	14.18	14.27
3698	1.04	121.7	3066	2550	2904	2896	241.3	12.9	396	3699	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2550	2899	2904	2894	0	0	0	0	0	0	14.64	14.64	14.64
3998	1.04	121.7	3066	2551	2905	2896	203.7	12.5	426	3999	0.00	0.00	0.00	0.000	6	0.000	0.000	3065	2550	2899	2904	2895	0	0	0	0	0	0	14.73	14.73	14.73
4298	1.04	121.7	3063	2551	2905	2896	166.4	11.7	456	4304	0.00	2.47	0.00	0.000	260	0.000	0.096	3066	3915	2899	2905	2894	0	0	0	0	0	0	14.79	14.45	14.80
4338	1.04	121.7	3066	3916	2906	2895	161.0	14.1	464	4344	0.00	2.38	0.00	0.000	1030	0.000	0.057	3076	2523	2900	2905	2895	0	0	0	0	0	0	14.62	14.54	14.64
4649	1.04	121.7	3077	2523	2906	2895	122.5	12.0	496	4654	0.00	2.53	0.00	0.000	260	0.000	0.096	3076	3917	2900	2905	2895	0	0	0	0	0	0	14.78	14.48	14.78
4673	1.04	121.7	3077	3912	2906	2895	119.1	14.1	501	4681	0.00	2.38	0.00	0.000	1030	0.000	0.057	3087	2517	2900	2906	2895	0	0	0	0	0	0	14.65	14.57	14.67
4979	1.04	121.7	3088	2517	2907	2895	79.8	13.0	532	4984	0.00	2.53	0.00	0.000	260	0.000	0.096	3087	3920	2900	2906	2895	0	0	0	0	0	0	14.81	14.50	14.81
5003	1.04	121.7	3087	3921	2907	2896	76.1	15.6	537	5012	0.12	2.38	0.00	0.000	5126	0.285	0.057	3066	2549	2900	2906	2895	0	0	0	0	0	0	14.24	14.57	14.47
5308	1.04	121.7	3066	2549	2908	2895	38.6	13.8	568	5314	0.00	2.42	0.00	0.000	516	0.000	0.068	3075	1151	2900	2906	2895	0	0	0	0	0	0	14.86	14.51	14.85
5358	1.04	121.7	3075	1152	2907	2896	32.2	12.3	578	5364	0.00	2.47	0.00	0.000	1030	0.000	0.070	3075	2564	2900	2907	2894	0	0	0	0	0	0	14.66	14.53	14.69
5607	end climb: SURFACE_DEPTH_REACHED
state	5607	begin surface coast
5617	end surface coast: CONTROL_FINISHED_OK
state	5617	begin surface