Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 210 * 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 210 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 32 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 220 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 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 350 UPLOAD_DIVES_MAX 4 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 1.5 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 120 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 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 20 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 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 0 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 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 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 1440

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 350

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 20 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 120

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 4

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 210 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 220 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 0 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 230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7424.000,-11300.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 299.34 MHEAD_RNG_PITCHd_Wd 158.7,13256,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 0.0 D_GRID 990

GPS2 230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 290.1,1.027386,6 _24V_AH 12.33,84.046

FINISH2 288.9 _10V_AH 12.32,0.000

RAFOS_CLK 274 FG_AHR_24Vo 0.000

RAFOS_FIX -7418.889160,-11244.948242,230218,111150,0,1,0.22 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280000

TT8_MAMPS 0.039697,0.272636 DATA_FILE_SIZE 26734,788

HUMID 49.40 CAP_FILE_SIZE 91896,0

INTERNAL_PRESSURE 8.23859 CFSIZE 1024409600,995491840

TCM_TEMP 12.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.6

ALTIM_TOP_PING 294.8,11.3 GPS 230218,112750,-7418.889,-11244.948,0,1001.0,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 718.5,14.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 280 15.32 nil 0 0 0.00

Roll_motor 58 159 114.43 nil 0 0 0.00

VBD_pump_during_apogee 340 3056 12829.05 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 7480 11 1035.45

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 32 420 169.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5408 2 153.92

TT8_Active 392 13 66.85

TT8_Sampling 1652 34 708.26

TT8_CF8 93 52 60.46

TT8_Kalman 0 0 0.00

Analog_circuits 984 10 132.16

GPS_charging 0 0 0.00

Compass 1130 7 104.34

RAFOS 0 0 0.00

Transponder 230 30 85.16

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

319.9 27.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

682.9 51.70 9000.00 0.0 0.00 0.00 51.70 0.0 0.07 1.00

689.8 47.00 9000.00 0.0 0.06 0.96 47.00 736.8 -0.68 1.00

696.8 37.20 38.00 734.8 -1.04 0.96 37.20 734.0 -1.40 1.00

704.2 29.40 29.00 733.2 -1.23 0.99 29.40 733.6 -1.05 1.00

711.3 20.40 20.60 731.9 -1.16 1.00 20.40 731.7 -1.27 1.00

718.5 14.70 14.20 732.7 -1.02 0.98 14.70 733.2 -0.79 1.00

725.1 11.10 9000.00 0.0 -0.67 0.99 11.10 736.2 -0.55 1.00

726.5 10.90 9000.00 0.0 -0.50 0.99 0.00 0.0 0.00 0.00

712.4 23.10 23.10 0.0 -0.89 0.99 23.10 0.0 -0.87 1.00

355.4 84.30 9000.00 0.0 -0.19 0.99 84.30 0.0 -0.17 1.00

328.3 51.70 9000.00 0.0 -0.12 0.66 51.70 276.6 1.20 1.00

321.3 42.60 42.80 278.5 1.22 1.00 42.60 278.7 1.30 1.00

314.7 34.00 9000.00 0.0 1.30 1.00 34.00 280.7 1.30 1.00

308.0 26.10 26.00 282.0 1.24 1.00 26.10 281.9 1.18 1.00

302.0 19.20 19.20 282.8 1.16 1.00 19.20 282.8 1.15 1.00

294.8 11.40 11.30 283.5 1.12 1.00 11.40 283.4 1.08 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

9 -0.93 -146.0 2800 2313 2807 2740 0.0 0.0 0 12 0.00 0.00 -2.38 0.040 16390 0.000 0.000 2802 2311 3394 3416 3373 0 0 0 0 0 0 15.05 13.43 15.04

14 -0.93 -146.0 2804 2313 3418 3375 0.0 0.0 0 22 0.95 0.00 0.00 0.000 4102 0.118 0.000 2492 2312 3395 3416 3374 0 0 0 0 0 0 14.73 14.90 14.88

319 -0.93 -146.0 2492 2313 3415 3373 333.6 -12.7 31 325 0.00 2.53 0.00 0.000 260 0.000 0.107 2482 3705 3394 3416 3372 0 0 0 0 0 0 15.08 14.74 15.11

464 -0.93 -146.0 2483 3705 3415 3372 354.0 -14.2 60 471 0.00 2.42 0.00 0.000 1030 0.000 0.046 2482 2299 3393 3415 3371 0 0 0 0 0 0 14.81 14.76 14.84

769 -0.93 -146.0 2482 2298 3413 3371 393.4 -12.7 91 770 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2297 3393 3415 3371 0 0 0 0 0 0 15.09 15.11 15.11

1069 -0.93 -146.0 2481 2298 3413 3371 433.0 -14.0 121 1070 0.00 0.00 0.00 0.000 6 0.000 0.000 2482 2298 3392 3415 3370 0 0 0 0 0 0 15.08 15.11 15.11

1370 -0.93 -146.0 2483 2298 3417 3370 472.4 -13.0 151 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2297 3393 3416 3370 0 0 0 0 0 0 15.08 15.11 15.11

1669 -0.93 -146.0 2484 2298 3417 3370 510.4 -12.8 181 1676 0.00 2.58 0.00 0.000 260 0.000 0.107 2472 3710 3392 3415 3369 0 0 0 0 0 0 15.09 14.73 15.11

1695 -0.93 -146.0 2472 3711 3415 3369 513.7 -13.4 186 1702 0.00 2.40 0.00 0.000 1030 0.000 0.047 2472 2288 3391 3415 3368 0 0 0 0 0 0 14.93 14.85 14.95

2000 -0.93 -146.0 2473 2289 3417 3369 553.5 -13.2 217 2007 0.00 2.45 0.00 0.000 516 0.000 0.080 2472 898 3391 3415 3368 0 0 0 0 0 0 15.09 14.75 15.11

2026 -0.93 -146.0 2471 899 3415 3369 557.1 -13.9 222 2033 0.17 2.53 0.00 0.000 3078 0.281 0.073 2501 2302 3391 3415 3368 0 0 0 0 0 0 14.58 14.75 14.84

2332 -0.93 -146.0 2500 2302 3415 3369 593.0 -11.8 253 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2302 3391 3415 3368 0 0 0 0 0 0 15.05 15.08 15.07

2632 -0.93 -146.0 2500 2302 3415 3369 628.3 -11.9 283 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2301 3391 3415 3368 0 0 0 0 0 0 15.05 15.08 15.08

2932 -0.93 -146.0 2500 2302 3415 3369 662.4 -12.0 313 2938 0.00 2.50 0.00 0.000 516 0.000 0.080 2501 891 3391 3414 3368 0 0 0 0 0 0 15.05 14.76 15.08

3002 -0.93 -146.0 2502 891 3417 3369 671.1 -12.1 327 3008 0.00 2.50 0.00 0.000 1030 0.000 0.070 2493 2308 3391 3415 3368 0 0 0 0 0 0 14.87 14.74 14.90

3312 -0.93 -146.0 2494 2311 3417 3369 707.7 -12.1 355 3313 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2310 3391 3415 3368 0 0 0 0 0 0 15.11 15.14 15.13

3461 end dive: BOTTOM_OBSTACLE_DETECTED

state 3461 begin apogee

3466 -0.23 0.0 2493 2058 3415 3368 725.1 -11.4 360 3632 0.82 0.10 163.82 3.056 10246 0.216 0.159 2723 2117 2781 2818 2744 0 0 0 0 0 0 14.58 13.41 12.45

3633 end apogee: CONTROL_FINISHED_OK

state 3633 begin climb

3635 0.93 146.0 2722 2118 2817 2744 729.5 0.0 365 3817 1.30 0.00 176.62 2.947 10758 0.136 0.000 3096 2117 2184 2237 2131 0 0 0 0 0 0 13.43 13.27 12.33

4181 0.93 146.0 3095 2117 2224 2123 668.2 13.3 427 4182 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2117 2172 2222 2122 0 0 0 0 0 0 14.57 14.60 14.59

4481 0.93 146.0 3097 2117 2221 2122 627.3 13.7 457 4482 0.00 0.00 0.00 0.000 6 0.000 0.000 3096 2117 2169 2218 2120 0 0 0 0 0 0 14.85 14.88 14.88

4781 0.93 146.0 3095 2117 2217 2121 593.0 11.4 487 4787 0.00 2.53 0.00 0.000 260 0.000 0.098 3096 3506 2169 2217 2121 0 0 0 0 0 0 14.97 14.68 15.00

4831 0.93 146.0 3095 3506 2217 2121 586.7 12.5 497 4837 0.00 2.38 0.00 0.000 1030 0.000 0.048 3112 2135 2169 2217 2121 0 0 0 0 0 0 14.78 14.73 14.81

5143 0.93 146.0 3107 2135 2217 2121 549.9 12.1 529 5148 0.00 2.60 0.00 0.000 516 0.000 0.096 3114 694 2168 2215 2121 0 0 0 0 0 0 14.95 14.70 14.99

5187 0.93 146.0 3114 695 2214 2121 544.2 12.5 538 5196 0.00 2.47 0.00 0.000 1030 0.000 0.061 3114 2096 2167 2214 2120 0 0 0 0 0 0 14.83 14.76 14.85

5492 0.93 146.0 3116 2097 2215 2121 507.1 11.7 569 5499 0.00 2.55 0.00 0.000 260 0.000 0.099 3115 3518 2167 2213 2121 0 0 0 0 0 0 15.06 14.76 15.09

5528 0.93 146.0 3114 3518 2213 2121 502.5 12.9 576 5535 0.00 2.45 0.00 0.000 1030 0.000 0.050 3130 2102 2166 2213 2120 0 0 0 0 0 0 14.78 14.73 14.81

5834 0.93 146.0 3126 2102 2215 2121 466.1 11.8 607 5839 0.00 2.55 0.00 0.000 260 0.000 0.096 3125 3513 2167 2213 2121 0 0 0 0 0 0 15.04 14.77 15.06

5868 0.93 146.0 3126 3514 2215 2121 461.6 13.3 614 5876 0.10 2.45 0.00 0.000 5126 0.249 0.049 3105 2090 2166 2213 2120 0 0 0 0 0 0 14.61 14.78 14.74

6174 0.93 146.0 3106 2091 2214 2121 428.3 10.8 645 6174 0.00 0.00 0.00 0.000 6 0.000 0.000 3105 2090 2166 2212 2120 0 0 0 0 0 0 15.07 15.11 15.11

6473 0.93 146.0 3106 2091 2213 2121 397.0 10.6 675 6479 0.00 2.58 0.00 0.000 260 0.000 0.096 3104 3518 2165 2211 2120 0 0 0 0 0 0 15.09 14.75 15.11

6513 0.93 146.0 3106 3522 2213 2121 392.4 11.9 683 6519 0.00 2.45 0.00 0.000 1030 0.000 0.048 3114 2097 2166 2211 2121 0 0 0 0 0 0 14.92 14.79 14.94

6823 0.93 146.0 3114 2098 2210 2121 358.4 10.8 715 6829 0.00 2.55 0.00 0.000 260 0.000 0.096 3114 3511 2165 2210 2121 0 0 0 0 0 0 15.09 14.76 15.11

6868 0.93 146.0 3113 3512 2210 2120 353.0 12.2 724 6875 0.00 2.42 0.00 0.000 1030 0.000 0.048 3124 2100 2165 2210 2121 0 0 0 0 0 0 14.83 14.79 14.88

7173 0.93 146.0 3124 2100 2209 2121 317.8 11.7 755 7179 0.00 2.55 0.00 0.000 260 0.000 0.097 3125 3514 2165 2210 2120 0 0 0 0 0 0 15.09 14.75 15.12

7203 0.93 146.0 3124 3515 2209 2121 314.1 12.8 761 7209 0.08 2.45 0.00 0.000 5126 0.262 0.049 3099 2091 2164 2209 2120 0 0 0 0 0 0 14.60 14.78 14.85

7442 end climb: SURFACE_OBSTACLE_DETECTED

state 7442 begin subsurface finish

7446 0.01 5.8 3099 2093 2209 2121 290.1 9.8 786 7458 1.00 2.62 -2.45 0.047 20740 0.201 0.119 2805 3517 2774 2807 2741 0 0 0 0 0 0 14.65 13.44 14.79

7459 end subsurface finish: CONTROL_FINISHED_OK

state 7459 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	210	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	32	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	220	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	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	350	UPLOAD_DIVES_MAX	4	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	1.5	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	120	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	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	20	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	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	0	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	230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7424.000,-11300.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	299.34	MHEAD_RNG_PITCHd_Wd	158.7,13256,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	0.0	D_GRID	990
GPS2	230218,091440,-7417.9590,-11245.7227,0,4124.3,0,53.7,0.0,0.0,0,0.0

FINISH1	290.1,1.027386,6	_24V_AH	12.33,84.046
FINISH2	288.9	_10V_AH	12.32,0.000
RAFOS_CLK	274	FG_AHR_24Vo	0.000
RAFOS_FIX	-7418.889160,-11244.948242,230218,111150,0,1,0.22	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280000
TT8_MAMPS	0.039697,0.272636	DATA_FILE_SIZE	26734,788
HUMID	49.40	CAP_FILE_SIZE	91896,0
INTERNAL_PRESSURE	8.23859	CFSIZE	1024409600,995491840
TCM_TEMP	12.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.6
ALTIM_TOP_PING	294.8,11.3	GPS	230218,112750,-7418.889,-11244.948,0,1001.0,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	718.5,14.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	280	15.32	nil	0	0	0.00
Roll_motor	58	159	114.43	nil	0	0	0.00
VBD_pump_during_apogee	340	3056	12829.05	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	7480	11	1035.45
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	32	420	169.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5408	2	153.92
TT8_Active	392	13	66.85
TT8_Sampling	1652	34	708.26
TT8_CF8	93	52	60.46
TT8_Kalman	0	0	0.00
Analog_circuits	984	10	132.16
GPS_charging	0	0	0.00
Compass	1130	7	104.34
RAFOS	0	0	0.00
Transponder	230	30	85.16

		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
319.9	27.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
682.9	51.70	9000.00	0.0	0.00	0.00	51.70	0.0	0.07	1.00
689.8	47.00	9000.00	0.0	0.06	0.96	47.00	736.8	-0.68	1.00
696.8	37.20	38.00	734.8	-1.04	0.96	37.20	734.0	-1.40	1.00
704.2	29.40	29.00	733.2	-1.23	0.99	29.40	733.6	-1.05	1.00
711.3	20.40	20.60	731.9	-1.16	1.00	20.40	731.7	-1.27	1.00
718.5	14.70	14.20	732.7	-1.02	0.98	14.70	733.2	-0.79	1.00
725.1	11.10	9000.00	0.0	-0.67	0.99	11.10	736.2	-0.55	1.00
726.5	10.90	9000.00	0.0	-0.50	0.99	0.00	0.0	0.00	0.00

712.4	23.10	23.10	0.0	-0.89	0.99	23.10	0.0	-0.87	1.00
355.4	84.30	9000.00	0.0	-0.19	0.99	84.30	0.0	-0.17	1.00
328.3	51.70	9000.00	0.0	-0.12	0.66	51.70	276.6	1.20	1.00
321.3	42.60	42.80	278.5	1.22	1.00	42.60	278.7	1.30	1.00
314.7	34.00	9000.00	0.0	1.30	1.00	34.00	280.7	1.30	1.00
308.0	26.10	26.00	282.0	1.24	1.00	26.10	281.9	1.18	1.00
302.0	19.20	19.20	282.8	1.16	1.00	19.20	282.8	1.15	1.00
294.8	11.40	11.30	283.5	1.12	1.00	11.40	283.4	1.08	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
9	-0.93	-146.0	2800	2313	2807	2740	0.0	0.0	0	12	0.00	0.00	-2.38	0.040	16390	0.000	0.000	2802	2311	3394	3416	3373	0	0	0	0	0	0	15.05	13.43	15.04
14	-0.93	-146.0	2804	2313	3418	3375	0.0	0.0	0	22	0.95	0.00	0.00	0.000	4102	0.118	0.000	2492	2312	3395	3416	3374	0	0	0	0	0	0	14.73	14.90	14.88
319	-0.93	-146.0	2492	2313	3415	3373	333.6	-12.7	31	325	0.00	2.53	0.00	0.000	260	0.000	0.107	2482	3705	3394	3416	3372	0	0	0	0	0	0	15.08	14.74	15.11
464	-0.93	-146.0	2483	3705	3415	3372	354.0	-14.2	60	471	0.00	2.42	0.00	0.000	1030	0.000	0.046	2482	2299	3393	3415	3371	0	0	0	0	0	0	14.81	14.76	14.84
769	-0.93	-146.0	2482	2298	3413	3371	393.4	-12.7	91	770	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2297	3393	3415	3371	0	0	0	0	0	0	15.09	15.11	15.11
1069	-0.93	-146.0	2481	2298	3413	3371	433.0	-14.0	121	1070	0.00	0.00	0.00	0.000	6	0.000	0.000	2482	2298	3392	3415	3370	0	0	0	0	0	0	15.08	15.11	15.11
1370	-0.93	-146.0	2483	2298	3417	3370	472.4	-13.0	151	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2297	3393	3416	3370	0	0	0	0	0	0	15.08	15.11	15.11
1669	-0.93	-146.0	2484	2298	3417	3370	510.4	-12.8	181	1676	0.00	2.58	0.00	0.000	260	0.000	0.107	2472	3710	3392	3415	3369	0	0	0	0	0	0	15.09	14.73	15.11
1695	-0.93	-146.0	2472	3711	3415	3369	513.7	-13.4	186	1702	0.00	2.40	0.00	0.000	1030	0.000	0.047	2472	2288	3391	3415	3368	0	0	0	0	0	0	14.93	14.85	14.95
2000	-0.93	-146.0	2473	2289	3417	3369	553.5	-13.2	217	2007	0.00	2.45	0.00	0.000	516	0.000	0.080	2472	898	3391	3415	3368	0	0	0	0	0	0	15.09	14.75	15.11
2026	-0.93	-146.0	2471	899	3415	3369	557.1	-13.9	222	2033	0.17	2.53	0.00	0.000	3078	0.281	0.073	2501	2302	3391	3415	3368	0	0	0	0	0	0	14.58	14.75	14.84
2332	-0.93	-146.0	2500	2302	3415	3369	593.0	-11.8	253	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2302	3391	3415	3368	0	0	0	0	0	0	15.05	15.08	15.07
2632	-0.93	-146.0	2500	2302	3415	3369	628.3	-11.9	283	2633	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2301	3391	3415	3368	0	0	0	0	0	0	15.05	15.08	15.08
2932	-0.93	-146.0	2500	2302	3415	3369	662.4	-12.0	313	2938	0.00	2.50	0.00	0.000	516	0.000	0.080	2501	891	3391	3414	3368	0	0	0	0	0	0	15.05	14.76	15.08
3002	-0.93	-146.0	2502	891	3417	3369	671.1	-12.1	327	3008	0.00	2.50	0.00	0.000	1030	0.000	0.070	2493	2308	3391	3415	3368	0	0	0	0	0	0	14.87	14.74	14.90
3312	-0.93	-146.0	2494	2311	3417	3369	707.7	-12.1	355	3313	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2310	3391	3415	3368	0	0	0	0	0	0	15.11	15.14	15.13
3461	end dive: BOTTOM_OBSTACLE_DETECTED
state	3461	begin apogee
3466	-0.23	0.0	2493	2058	3415	3368	725.1	-11.4	360	3632	0.82	0.10	163.82	3.056	10246	0.216	0.159	2723	2117	2781	2818	2744	0	0	0	0	0	0	14.58	13.41	12.45
3633	end apogee: CONTROL_FINISHED_OK
state	3633	begin climb
3635	0.93	146.0	2722	2118	2817	2744	729.5	0.0	365	3817	1.30	0.00	176.62	2.947	10758	0.136	0.000	3096	2117	2184	2237	2131	0	0	0	0	0	0	13.43	13.27	12.33
4181	0.93	146.0	3095	2117	2224	2123	668.2	13.3	427	4182	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2117	2172	2222	2122	0	0	0	0	0	0	14.57	14.60	14.59
4481	0.93	146.0	3097	2117	2221	2122	627.3	13.7	457	4482	0.00	0.00	0.00	0.000	6	0.000	0.000	3096	2117	2169	2218	2120	0	0	0	0	0	0	14.85	14.88	14.88
4781	0.93	146.0	3095	2117	2217	2121	593.0	11.4	487	4787	0.00	2.53	0.00	0.000	260	0.000	0.098	3096	3506	2169	2217	2121	0	0	0	0	0	0	14.97	14.68	15.00
4831	0.93	146.0	3095	3506	2217	2121	586.7	12.5	497	4837	0.00	2.38	0.00	0.000	1030	0.000	0.048	3112	2135	2169	2217	2121	0	0	0	0	0	0	14.78	14.73	14.81
5143	0.93	146.0	3107	2135	2217	2121	549.9	12.1	529	5148	0.00	2.60	0.00	0.000	516	0.000	0.096	3114	694	2168	2215	2121	0	0	0	0	0	0	14.95	14.70	14.99
5187	0.93	146.0	3114	695	2214	2121	544.2	12.5	538	5196	0.00	2.47	0.00	0.000	1030	0.000	0.061	3114	2096	2167	2214	2120	0	0	0	0	0	0	14.83	14.76	14.85
5492	0.93	146.0	3116	2097	2215	2121	507.1	11.7	569	5499	0.00	2.55	0.00	0.000	260	0.000	0.099	3115	3518	2167	2213	2121	0	0	0	0	0	0	15.06	14.76	15.09
5528	0.93	146.0	3114	3518	2213	2121	502.5	12.9	576	5535	0.00	2.45	0.00	0.000	1030	0.000	0.050	3130	2102	2166	2213	2120	0	0	0	0	0	0	14.78	14.73	14.81
5834	0.93	146.0	3126	2102	2215	2121	466.1	11.8	607	5839	0.00	2.55	0.00	0.000	260	0.000	0.096	3125	3513	2167	2213	2121	0	0	0	0	0	0	15.04	14.77	15.06
5868	0.93	146.0	3126	3514	2215	2121	461.6	13.3	614	5876	0.10	2.45	0.00	0.000	5126	0.249	0.049	3105	2090	2166	2213	2120	0	0	0	0	0	0	14.61	14.78	14.74
6174	0.93	146.0	3106	2091	2214	2121	428.3	10.8	645	6174	0.00	0.00	0.00	0.000	6	0.000	0.000	3105	2090	2166	2212	2120	0	0	0	0	0	0	15.07	15.11	15.11
6473	0.93	146.0	3106	2091	2213	2121	397.0	10.6	675	6479	0.00	2.58	0.00	0.000	260	0.000	0.096	3104	3518	2165	2211	2120	0	0	0	0	0	0	15.09	14.75	15.11
6513	0.93	146.0	3106	3522	2213	2121	392.4	11.9	683	6519	0.00	2.45	0.00	0.000	1030	0.000	0.048	3114	2097	2166	2211	2121	0	0	0	0	0	0	14.92	14.79	14.94
6823	0.93	146.0	3114	2098	2210	2121	358.4	10.8	715	6829	0.00	2.55	0.00	0.000	260	0.000	0.096	3114	3511	2165	2210	2121	0	0	0	0	0	0	15.09	14.76	15.11
6868	0.93	146.0	3113	3512	2210	2120	353.0	12.2	724	6875	0.00	2.42	0.00	0.000	1030	0.000	0.048	3124	2100	2165	2210	2121	0	0	0	0	0	0	14.83	14.79	14.88
7173	0.93	146.0	3124	2100	2209	2121	317.8	11.7	755	7179	0.00	2.55	0.00	0.000	260	0.000	0.097	3125	3514	2165	2210	2120	0	0	0	0	0	0	15.09	14.75	15.12
7203	0.93	146.0	3124	3515	2209	2121	314.1	12.8	761	7209	0.08	2.45	0.00	0.000	5126	0.262	0.049	3099	2091	2164	2209	2120	0	0	0	0	0	0	14.60	14.78	14.85
7442	end climb: SURFACE_OBSTACLE_DETECTED
state	7442	begin subsurface finish
7446	0.01	5.8	3099	2093	2209	2121	290.1	9.8	786	7458	1.00	2.62	-2.45	0.047	20740	0.201	0.119	2805	3517	2774	2807	2741	0	0	0	0	0	0	14.65	13.44	14.79
7459	end subsurface finish: CONTROL_FINISHED_OK
state	7459	begin surface