Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 211 * 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 211 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 46 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 211 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 46 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 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 230218,112750,-7418.8892,-11244.9482,0,1001.0,0,53.7,0.0,0.0,0,0.0 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 289.34 MHEAD_RNG_PITCHd_Wd 164.7,12074,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 1.2 D_GRID 990

GPS2 230218,112750,-7418.8892,-11244.9482,0,1001.0,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 273.2,1.027375,6 ALTIM_BOTTOM_PING 668.8,13.0

FINISH2 272.2 _24V_AH 12.35,84.378

RAFOS_CLK 253 _10V_AH 12.53,0.000

RAFOS 0,1519387264,12.032778,12.017777,100,65,60,58,51,48,598,163,220,200,176,124 FG_AHR_24Vo 0.000

RAFOS_FIX -7418.935547,-11247.967773,230218,121200,3,109,0.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 MEM 280040

TT8_MAMPS 0.039697,0.683837 DATA_FILE_SIZE 26725,765

HUMID 49.25 CAP_FILE_SIZE 91204,0

INTERNAL_PRESSURE 8.24835 CFSIZE 1024409600,995360768

TCM_TEMP 12.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1454.0

ALTIM_TOP_PING 276.5,9.8 GPS 230218,121600,-7418.936,-11247.968,0,4109.3,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 268 14.76 nil 0 0 0.00

Roll_motor 72 968 866.86 nil 0 0 0.00

VBD_pump_during_apogee 336 3007 12492.67 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 6826 11 995.01

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 156.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4775 2 138.23

TT8_Active 422 13 73.19

TT8_Sampling 1607 34 700.60

TT8_CF8 91 52 60.81

TT8_Kalman 0 0 0.00

Analog_circuits 999 10 136.53

GPS_charging 0 0 0.00

Compass 1097 7 103.03

RAFOS 720 1 13.53

Transponder 211 30 79.50

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

295.8 11.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

302.5 18.10 9000.00 0.0 0.00 0.00 18.10 0.0 0.96 1.00

308.9 24.00 24.00 0.0 0.94 1.00 24.00 0.0 0.92 1.00

315.3 30.20 30.20 0.0 0.95 1.00 30.20 0.0 0.97 1.00

621.3 58.20 9000.00 0.0 0.10 0.98 58.20 0.0 0.09 1.00

635.7 45.90 9000.00 0.0 0.07 0.77 45.90 681.6 -0.85 1.00

642.7 36.50 37.50 680.2 -0.99 0.99 36.50 679.2 -1.34 1.00

648.8 31.10 30.60 679.4 -1.14 0.99 31.10 679.9 -0.89 1.00

655.4 25.20 25.20 680.6 -0.90 1.00 25.20 680.6 -0.89 1.00

661.7 17.70 18.00 679.7 -1.04 0.99 17.70 679.4 -1.19 1.00

668.8 13.70 13.00 681.8 -0.85 0.96 13.70 682.5 -0.56 1.00

673.2 8.50 9000.00 0.0 -0.78 0.96 8.50 681.7 -1.18 1.00

667.0 16.90 9000.00 0.0 -1.30 0.98 16.90 0.0 -1.35 1.00

660.4 22.80 23.20 0.0 -1.12 0.99 22.80 0.0 -0.89 1.00

653.5 29.30 29.20 0.0 -0.92 1.00 29.30 0.0 -0.94 1.00

316.3 59.00 9000.00 0.0 -0.10 0.98 59.00 0.0 -0.09 1.00

309.6 50.50 9000.00 0.0 -0.07 0.91 50.50 259.1 1.27 1.00

303.4 43.60 43.40 260.0 1.20 1.00 43.60 259.8 1.11 1.00

296.7 34.20 9000.00 0.0 1.26 1.00 34.20 262.5 1.40 1.00

290.0 25.70 9000.00 0.0 1.33 1.00 25.70 264.3 1.27 1.00

283.2 17.50 17.40 265.8 1.24 1.00 17.50 265.7 1.21 1.00

276.5 9.90 9.80 266.7 1.17 1.00 9.90 266.6 1.13 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 -0.93 -146.0 2806 2267 2808 2742 0.0 0.0 0 13 0.00 0.08 -2.40 0.039 16390 0.000 0.968 2805 2305 3391 3412 3370 0 0 0 0 0 0 15.06 13.44 15.06

15 -0.93 -146.0 2806 2306 3413 3372 0.0 0.0 0 21 0.93 2.42 0.00 0.000 4612 0.123 0.081 2501 909 3391 3411 3371 0 0 0 0 0 0 14.72 14.75 14.80

85 -0.93 -146.0 2500 909 3412 3371 296.4 -11.1 14 91 0.00 2.50 0.00 0.000 1030 0.000 0.076 2494 2314 3390 3411 3370 0 0 0 0 0 0 14.90 14.78 14.94

395 -0.93 -146.0 2493 2316 3411 3370 336.3 -13.3 46 396 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2315 3390 3411 3369 0 0 0 0 0 0 15.08 15.11 15.11

695 -0.93 -146.0 2493 2316 3411 3369 375.3 -13.5 76 696 0.00 0.00 0.00 0.000 6 0.000 0.000 2494 2315 3389 3411 3368 0 0 0 0 0 0 15.09 15.11 15.11

995 -0.93 -146.0 2495 2316 3413 3369 413.6 -12.9 106 1001 0.00 2.55 0.00 0.000 260 0.000 0.108 2484 3720 3389 3411 3368 0 0 0 0 0 0 15.09 14.75 15.11

1090 -0.93 -146.0 2482 3718 3410 3370 426.9 -13.8 125 1098 0.00 2.42 0.00 0.000 1030 0.000 0.046 2484 2301 3389 3411 3368 0 0 0 0 0 0 14.87 14.82 14.90

1395 -0.93 -146.0 2485 2304 3413 3368 465.6 -12.7 156 1401 0.00 2.53 0.00 0.000 516 0.000 0.079 2484 899 3389 3411 3367 0 0 0 0 0 0 15.09 14.73 15.11

1445 -0.93 -146.0 2484 899 3410 3368 472.0 -12.6 166 1451 0.00 2.50 0.00 0.000 1030 0.000 0.071 2474 2314 3389 3411 3367 0 0 0 0 0 0 14.90 14.78 14.95

1755 -0.93 -146.0 2473 2313 3411 3367 509.4 -11.5 198 1761 0.00 2.53 0.00 0.000 260 0.000 0.106 2459 3712 3389 3411 3367 0 0 0 0 0 0 15.11 14.73 15.13

1840 -0.93 -146.0 2464 3713 3412 3367 519.9 -12.7 215 1848 0.10 2.42 0.00 0.000 3078 0.246 0.045 2503 2291 3388 3411 3366 0 0 0 0 0 0 14.59 14.83 14.84

2145 -0.93 -146.0 2505 2292 3413 3367 554.6 -11.7 246 2154 0.00 2.45 0.00 0.000 516 0.000 0.076 2504 895 3388 3410 3366 0 0 0 0 0 0 15.11 14.76 15.14

2203 -0.93 -146.0 2503 896 3411 3367 561.9 -12.8 257 2211 0.00 2.53 0.00 0.000 1030 0.000 0.072 2503 2305 3388 3411 3366 0 0 0 0 0 0 14.83 14.75 14.88

2509 -0.93 -146.0 2503 2306 3411 3366 599.3 -12.0 288 2514 0.00 2.58 0.00 0.000 260 0.000 0.109 2495 3726 3388 3411 3366 0 0 0 0 0 0 15.11 14.73 15.13

2553 -0.93 -146.0 2495 3726 3410 3366 605.3 -13.6 297 2561 0.00 2.45 0.00 0.000 1030 0.000 0.046 2494 2301 3388 3411 3365 0 0 0 0 0 0 14.77 14.73 14.79

2860 -0.93 -146.0 2495 2301 3411 3366 642.7 -11.6 328 2865 0.00 2.47 0.00 0.000 516 0.000 0.077 2495 888 3388 3411 3365 0 0 0 0 0 0 15.05 14.75 15.08

2949 -0.93 -146.0 2496 889 3413 3366 654.3 -14.0 346 2955 0.00 2.50 0.00 0.000 1030 0.000 0.073 2489 2304 3388 3411 3366 0 0 0 0 0 0 14.90 14.77 14.93

3097 end dive: BOTTOM_OBSTACLE_DETECTED

state 3097 begin apogee

3102 -0.23 0.0 2490 2059 3411 3366 672.3 -11.7 362 3271 0.85 0.10 160.70 3.007 10246 0.221 0.155 2725 2119 2781 2818 2744 0 0 0 0 0 0 14.61 13.42 12.48

3273 end apogee: CONTROL_FINISHED_OK

state 3273 begin climb

3275 0.93 146.0 2725 2120 2818 2743 676.4 0.0 379 3454 1.27 0.00 175.68 2.896 10246 0.129 0.000 3099 2119 2184 2238 2131 0 0 0 0 0 0 13.50 13.28 12.35

3749 0.93 146.0 3099 2120 2227 2122 630.6 11.1 427 3755 0.00 2.60 0.00 0.000 260 0.000 0.096 3099 3509 2172 2225 2120 0 0 0 0 0 0 14.46 14.20 14.49

3784 0.93 146.0 3100 3508 2227 2122 625.9 13.7 434 3791 0.00 2.47 0.00 0.000 1030 0.000 0.048 3112 2124 2172 2224 2121 0 0 0 0 0 0 14.32 14.27 14.35

4090 0.93 146.0 3109 2125 2220 2120 589.1 11.9 465 4090 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2124 2170 2220 2120 0 0 0 0 0 0 14.82 14.85 14.85

4389 0.93 146.0 3110 2125 2220 2120 552.3 12.3 495 4395 0.00 2.50 0.00 0.000 260 0.000 0.097 3109 3503 2168 2218 2119 0 0 0 0 0 0 14.95 14.59 14.98

4419 0.93 146.0 3108 3503 2218 2119 548.2 14.1 501 4426 0.00 2.45 0.00 0.000 1030 0.000 0.050 3120 2097 2168 2218 2119 0 0 0 0 0 0 14.68 14.63 14.71

4731 0.93 146.0 3119 2098 2211 2120 509.4 12.3 533 4737 0.00 2.53 0.00 0.000 516 0.000 0.095 3129 694 2167 2216 2119 0 0 0 0 0 0 15.00 14.72 15.03

4772 0.93 146.0 3129 695 2215 2120 504.1 13.4 541 4778 0.00 2.42 0.00 0.000 1030 0.000 0.063 3129 2098 2167 2215 2120 0 0 0 0 0 0 14.87 14.77 14.90

5082 0.93 146.0 3129 2098 2214 2120 465.0 12.7 573 5089 0.00 2.58 0.00 0.000 260 0.000 0.099 3133 3506 2167 2215 2119 0 0 0 0 0 0 15.04 14.73 15.06

5164 0.93 146.0 3130 3507 2216 2120 453.7 14.6 589 5171 0.17 2.40 0.00 0.000 5126 0.269 0.049 3099 2088 2169 2215 2124 0 0 0 0 0 0 14.61 14.80 14.85

5475 0.93 146.0 3098 2087 2212 2120 419.8 10.9 621 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2088 2166 2213 2119 0 0 0 0 0 0 15.07 15.09 15.09

5776 0.93 146.0 3098 2088 2213 2119 388.6 10.0 651 5781 0.00 2.58 0.00 0.000 260 0.000 0.098 3098 3513 2166 2214 2119 0 0 0 0 0 0 15.04 14.77 15.07

5825 0.93 146.0 3100 3513 2215 2120 382.6 11.9 661 5835 0.00 2.45 0.00 0.000 1030 0.000 0.050 3109 2094 2166 2214 2119 0 0 0 0 0 0 14.87 14.81 14.90

6139 0.93 146.0 3108 2095 2213 2120 348.1 11.1 693 6145 0.00 2.55 0.00 0.000 260 0.000 0.096 3108 3511 2166 2213 2119 0 0 0 0 0 0 15.08 14.75 15.11

6160 0.93 146.0 3107 3511 2212 2120 345.6 11.9 697 6167 0.00 2.45 0.00 0.000 1030 0.000 0.050 3118 2093 2166 2213 2119 0 0 0 0 0 0 14.87 14.81 14.89

6472 0.93 146.0 3119 2094 2214 2120 309.6 11.2 729 6478 0.00 2.55 0.00 0.000 260 0.000 0.095 3117 3509 2165 2212 2119 0 0 0 0 0 0 15.04 14.78 15.07

6492 0.93 146.0 3118 3506 2212 2120 307.1 12.9 733 6499 0.00 2.42 0.00 0.000 1030 0.000 0.050 3127 2083 2165 2212 2119 0 0 0 0 0 0 14.93 14.84 14.96

6792 end climb: SURFACE_OBSTACLE_DETECTED

state 6792 begin subsurface finish

6796 0.01 6.3 3127 2082 2211 2120 273.2 10.9 764 6805 1.12 0.00 -2.58 0.036 20486 0.210 0.000 2805 2083 2769 2803 2735 0 0 0 0 0 0 14.63 13.96 14.86

6806 end subsurface finish: CONTROL_FINISHED_OK

state 6806 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	211	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	46	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	230218,112750,-7418.8892,-11244.9482,0,1001.0,0,53.7,0.0,0.0,0,0.0	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	289.34	MHEAD_RNG_PITCHd_Wd	164.7,12074,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	1.2	D_GRID	990
GPS2	230218,112750,-7418.8892,-11244.9482,0,1001.0,0,53.7,0.0,0.0,0,0.0

FINISH1	273.2,1.027375,6	ALTIM_BOTTOM_PING	668.8,13.0
FINISH2	272.2	_24V_AH	12.35,84.378
RAFOS_CLK	253	_10V_AH	12.53,0.000
RAFOS	0,1519387264,12.032778,12.017777,100,65,60,58,51,48,598,163,220,200,176,124	FG_AHR_24Vo	0.000
RAFOS_FIX	-7418.935547,-11247.967773,230218,121200,3,109,0.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	MEM	280040
TT8_MAMPS	0.039697,0.683837	DATA_FILE_SIZE	26725,765
HUMID	49.25	CAP_FILE_SIZE	91204,0
INTERNAL_PRESSURE	8.24835	CFSIZE	1024409600,995360768
TCM_TEMP	12.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1454.0
ALTIM_TOP_PING	276.5,9.8	GPS	230218,121600,-7418.936,-11247.968,0,4109.3,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	268	14.76	nil	0	0	0.00
Roll_motor	72	968	866.86	nil	0	0	0.00
VBD_pump_during_apogee	336	3007	12492.67	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	6826	11	995.01
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	156.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4775	2	138.23
TT8_Active	422	13	73.19
TT8_Sampling	1607	34	700.60
TT8_CF8	91	52	60.81
TT8_Kalman	0	0	0.00
Analog_circuits	999	10	136.53
GPS_charging	0	0	0.00
Compass	1097	7	103.03
RAFOS	720	1	13.53
Transponder	211	30	79.50

		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
295.8	11.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
302.5	18.10	9000.00	0.0	0.00	0.00	18.10	0.0	0.96	1.00
308.9	24.00	24.00	0.0	0.94	1.00	24.00	0.0	0.92	1.00
315.3	30.20	30.20	0.0	0.95	1.00	30.20	0.0	0.97	1.00
621.3	58.20	9000.00	0.0	0.10	0.98	58.20	0.0	0.09	1.00
635.7	45.90	9000.00	0.0	0.07	0.77	45.90	681.6	-0.85	1.00
642.7	36.50	37.50	680.2	-0.99	0.99	36.50	679.2	-1.34	1.00
648.8	31.10	30.60	679.4	-1.14	0.99	31.10	679.9	-0.89	1.00
655.4	25.20	25.20	680.6	-0.90	1.00	25.20	680.6	-0.89	1.00
661.7	17.70	18.00	679.7	-1.04	0.99	17.70	679.4	-1.19	1.00
668.8	13.70	13.00	681.8	-0.85	0.96	13.70	682.5	-0.56	1.00
673.2	8.50	9000.00	0.0	-0.78	0.96	8.50	681.7	-1.18	1.00

667.0	16.90	9000.00	0.0	-1.30	0.98	16.90	0.0	-1.35	1.00
660.4	22.80	23.20	0.0	-1.12	0.99	22.80	0.0	-0.89	1.00
653.5	29.30	29.20	0.0	-0.92	1.00	29.30	0.0	-0.94	1.00
316.3	59.00	9000.00	0.0	-0.10	0.98	59.00	0.0	-0.09	1.00
309.6	50.50	9000.00	0.0	-0.07	0.91	50.50	259.1	1.27	1.00
303.4	43.60	43.40	260.0	1.20	1.00	43.60	259.8	1.11	1.00
296.7	34.20	9000.00	0.0	1.26	1.00	34.20	262.5	1.40	1.00
290.0	25.70	9000.00	0.0	1.33	1.00	25.70	264.3	1.27	1.00
283.2	17.50	17.40	265.8	1.24	1.00	17.50	265.7	1.21	1.00
276.5	9.90	9.80	266.7	1.17	1.00	9.90	266.6	1.13	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	-0.93	-146.0	2806	2267	2808	2742	0.0	0.0	0	13	0.00	0.08	-2.40	0.039	16390	0.000	0.968	2805	2305	3391	3412	3370	0	0	0	0	0	0	15.06	13.44	15.06
15	-0.93	-146.0	2806	2306	3413	3372	0.0	0.0	0	21	0.93	2.42	0.00	0.000	4612	0.123	0.081	2501	909	3391	3411	3371	0	0	0	0	0	0	14.72	14.75	14.80
85	-0.93	-146.0	2500	909	3412	3371	296.4	-11.1	14	91	0.00	2.50	0.00	0.000	1030	0.000	0.076	2494	2314	3390	3411	3370	0	0	0	0	0	0	14.90	14.78	14.94
395	-0.93	-146.0	2493	2316	3411	3370	336.3	-13.3	46	396	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2315	3390	3411	3369	0	0	0	0	0	0	15.08	15.11	15.11
695	-0.93	-146.0	2493	2316	3411	3369	375.3	-13.5	76	696	0.00	0.00	0.00	0.000	6	0.000	0.000	2494	2315	3389	3411	3368	0	0	0	0	0	0	15.09	15.11	15.11
995	-0.93	-146.0	2495	2316	3413	3369	413.6	-12.9	106	1001	0.00	2.55	0.00	0.000	260	0.000	0.108	2484	3720	3389	3411	3368	0	0	0	0	0	0	15.09	14.75	15.11
1090	-0.93	-146.0	2482	3718	3410	3370	426.9	-13.8	125	1098	0.00	2.42	0.00	0.000	1030	0.000	0.046	2484	2301	3389	3411	3368	0	0	0	0	0	0	14.87	14.82	14.90
1395	-0.93	-146.0	2485	2304	3413	3368	465.6	-12.7	156	1401	0.00	2.53	0.00	0.000	516	0.000	0.079	2484	899	3389	3411	3367	0	0	0	0	0	0	15.09	14.73	15.11
1445	-0.93	-146.0	2484	899	3410	3368	472.0	-12.6	166	1451	0.00	2.50	0.00	0.000	1030	0.000	0.071	2474	2314	3389	3411	3367	0	0	0	0	0	0	14.90	14.78	14.95
1755	-0.93	-146.0	2473	2313	3411	3367	509.4	-11.5	198	1761	0.00	2.53	0.00	0.000	260	0.000	0.106	2459	3712	3389	3411	3367	0	0	0	0	0	0	15.11	14.73	15.13
1840	-0.93	-146.0	2464	3713	3412	3367	519.9	-12.7	215	1848	0.10	2.42	0.00	0.000	3078	0.246	0.045	2503	2291	3388	3411	3366	0	0	0	0	0	0	14.59	14.83	14.84
2145	-0.93	-146.0	2505	2292	3413	3367	554.6	-11.7	246	2154	0.00	2.45	0.00	0.000	516	0.000	0.076	2504	895	3388	3410	3366	0	0	0	0	0	0	15.11	14.76	15.14
2203	-0.93	-146.0	2503	896	3411	3367	561.9	-12.8	257	2211	0.00	2.53	0.00	0.000	1030	0.000	0.072	2503	2305	3388	3411	3366	0	0	0	0	0	0	14.83	14.75	14.88
2509	-0.93	-146.0	2503	2306	3411	3366	599.3	-12.0	288	2514	0.00	2.58	0.00	0.000	260	0.000	0.109	2495	3726	3388	3411	3366	0	0	0	0	0	0	15.11	14.73	15.13
2553	-0.93	-146.0	2495	3726	3410	3366	605.3	-13.6	297	2561	0.00	2.45	0.00	0.000	1030	0.000	0.046	2494	2301	3388	3411	3365	0	0	0	0	0	0	14.77	14.73	14.79
2860	-0.93	-146.0	2495	2301	3411	3366	642.7	-11.6	328	2865	0.00	2.47	0.00	0.000	516	0.000	0.077	2495	888	3388	3411	3365	0	0	0	0	0	0	15.05	14.75	15.08
2949	-0.93	-146.0	2496	889	3413	3366	654.3	-14.0	346	2955	0.00	2.50	0.00	0.000	1030	0.000	0.073	2489	2304	3388	3411	3366	0	0	0	0	0	0	14.90	14.77	14.93
3097	end dive: BOTTOM_OBSTACLE_DETECTED
state	3097	begin apogee
3102	-0.23	0.0	2490	2059	3411	3366	672.3	-11.7	362	3271	0.85	0.10	160.70	3.007	10246	0.221	0.155	2725	2119	2781	2818	2744	0	0	0	0	0	0	14.61	13.42	12.48
3273	end apogee: CONTROL_FINISHED_OK
state	3273	begin climb
3275	0.93	146.0	2725	2120	2818	2743	676.4	0.0	379	3454	1.27	0.00	175.68	2.896	10246	0.129	0.000	3099	2119	2184	2238	2131	0	0	0	0	0	0	13.50	13.28	12.35
3749	0.93	146.0	3099	2120	2227	2122	630.6	11.1	427	3755	0.00	2.60	0.00	0.000	260	0.000	0.096	3099	3509	2172	2225	2120	0	0	0	0	0	0	14.46	14.20	14.49
3784	0.93	146.0	3100	3508	2227	2122	625.9	13.7	434	3791	0.00	2.47	0.00	0.000	1030	0.000	0.048	3112	2124	2172	2224	2121	0	0	0	0	0	0	14.32	14.27	14.35
4090	0.93	146.0	3109	2125	2220	2120	589.1	11.9	465	4090	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2124	2170	2220	2120	0	0	0	0	0	0	14.82	14.85	14.85
4389	0.93	146.0	3110	2125	2220	2120	552.3	12.3	495	4395	0.00	2.50	0.00	0.000	260	0.000	0.097	3109	3503	2168	2218	2119	0	0	0	0	0	0	14.95	14.59	14.98
4419	0.93	146.0	3108	3503	2218	2119	548.2	14.1	501	4426	0.00	2.45	0.00	0.000	1030	0.000	0.050	3120	2097	2168	2218	2119	0	0	0	0	0	0	14.68	14.63	14.71
4731	0.93	146.0	3119	2098	2211	2120	509.4	12.3	533	4737	0.00	2.53	0.00	0.000	516	0.000	0.095	3129	694	2167	2216	2119	0	0	0	0	0	0	15.00	14.72	15.03
4772	0.93	146.0	3129	695	2215	2120	504.1	13.4	541	4778	0.00	2.42	0.00	0.000	1030	0.000	0.063	3129	2098	2167	2215	2120	0	0	0	0	0	0	14.87	14.77	14.90
5082	0.93	146.0	3129	2098	2214	2120	465.0	12.7	573	5089	0.00	2.58	0.00	0.000	260	0.000	0.099	3133	3506	2167	2215	2119	0	0	0	0	0	0	15.04	14.73	15.06
5164	0.93	146.0	3130	3507	2216	2120	453.7	14.6	589	5171	0.17	2.40	0.00	0.000	5126	0.269	0.049	3099	2088	2169	2215	2124	0	0	0	0	0	0	14.61	14.80	14.85
5475	0.93	146.0	3098	2087	2212	2120	419.8	10.9	621	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2088	2166	2213	2119	0	0	0	0	0	0	15.07	15.09	15.09
5776	0.93	146.0	3098	2088	2213	2119	388.6	10.0	651	5781	0.00	2.58	0.00	0.000	260	0.000	0.098	3098	3513	2166	2214	2119	0	0	0	0	0	0	15.04	14.77	15.07
5825	0.93	146.0	3100	3513	2215	2120	382.6	11.9	661	5835	0.00	2.45	0.00	0.000	1030	0.000	0.050	3109	2094	2166	2214	2119	0	0	0	0	0	0	14.87	14.81	14.90
6139	0.93	146.0	3108	2095	2213	2120	348.1	11.1	693	6145	0.00	2.55	0.00	0.000	260	0.000	0.096	3108	3511	2166	2213	2119	0	0	0	0	0	0	15.08	14.75	15.11
6160	0.93	146.0	3107	3511	2212	2120	345.6	11.9	697	6167	0.00	2.45	0.00	0.000	1030	0.000	0.050	3118	2093	2166	2213	2119	0	0	0	0	0	0	14.87	14.81	14.89
6472	0.93	146.0	3119	2094	2214	2120	309.6	11.2	729	6478	0.00	2.55	0.00	0.000	260	0.000	0.095	3117	3509	2165	2212	2119	0	0	0	0	0	0	15.04	14.78	15.07
6492	0.93	146.0	3118	3506	2212	2120	307.1	12.9	733	6499	0.00	2.42	0.00	0.000	1030	0.000	0.050	3127	2083	2165	2212	2119	0	0	0	0	0	0	14.93	14.84	14.96
6792	end climb: SURFACE_OBSTACLE_DETECTED
state	6792	begin subsurface finish
6796	0.01	6.3	3127	2082	2211	2120	273.2	10.9	764	6805	1.12	0.00	-2.58	0.036	20486	0.210	0.000	2805	2083	2769	2803	2735	0	0	0	0	0	0	14.63	13.96	14.86
6806	end subsurface finish: CONTROL_FINISHED_OK
state	6806	begin surface