Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 30 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0099999998 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 30 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 3

D_BOOST 100 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 10 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 270 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 310 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 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 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 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 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 0.30000001 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 150 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 30 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 785

AD7714Ch0Gain 1 D_TGT 800 N_NOCOMM 1 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 0 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 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 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 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0099999998 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 270

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 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 310

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 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 20

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 300 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 0 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 1

DIVE 30 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 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 50 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 0 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 280118,011849,-7355.3555,-11304.8945,47,1.6,58,53.5,0.7,270.0,8,6.9 SPEED_LIMITS 0.171,0.250

_CALLS 1 TGT_NAME M1

_XMS_NAKs 0 TGT_LATLONG -7406.000,-13000.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.79 MHEAD_RNG_PITCHd_Wd 209.1,515323,-16.3,-9.877,-21.56,2183

_SM_ANGLEo -58.8 D_GRID 402

GPS2 280118,012401,-7355.3511,-11305.0732,3,0.9,5,53.5,1.1,275.7,10,4.6

Post-dive calculations and measurements:

FREEZE 0.86,-0.836,-1.857,2,1,0 _24V_AH 12.24,19.217

FINISH 0.9,1.027211 _10V_AH 12.57,0.000

SM_CCo 7089,174.45,0.230,0,0,1572,350.17 FG_AHR_24Vo 0.000

SM_GC 0.86,8.95,0.47,174.45,0.138,0.100,0.230,196,2808,1572,-7.88,-0.51,350.17,0,0,0,0,0,0,14.62,14.65,14.35 FG_AHR_10Vo 0.000

RAFOS_CLK 279 MEM 280572

RAFOS 0,1517108461,3.033333,3.016944,76,65,61,59,58,57,695,188,221,728,203,146 DATA_FILE_SIZE 26754,736

RAFOS_FIX -7407.013184,-11325.811523,280118,030308,2,72,3.64 CAP_FILE_SIZE 95014,0

IRIDIUM_FIX -7354.55,-11258.67,270118,225711 CFSIZE 1024409600,1016414208

TT8_MAMPS 0.038948,0.289863 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 46.02 INTR 0,2272.50,0x214570,0,24

INTERNAL_PRESSURE 7.79246 SOUNDSPEED 1447.3

TCM_TEMP 13.20 CURRENT 0.158,302.67,1

XPDR_PINGS 0 GPS 280118,032631,-7355.098,-11310.128,30,1.0,30,53.5,1.0,312.5,7,3.7

ALTIM_TOP_PING 9.6,9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 481 138.04 nil 0 0 0.00

Roll_motor 66 100 81.85 nil 0 0 0.00

VBD_pump_during_apogee 296 2775 10069.05 nil 0 0 0.00

VBD_pump_during_surface 174 229 490.04 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 7081 4 400.08

Iridium_during_xfer 227 189 527.13 nil 0 0 0.00

Transponder_ping 23 420 120.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.73

TT8 0 0 0.00

LPSleep 5101 2 148.13

TT8_Active 664 10 90.75

TT8_Sampling 1756 30 670.08

TT8_CF8 65 51 41.97

TT8_Kalman 0 0 0.00

Analog_circuits 1463 10 185.81

GPS_charging 0 0 0.00

Compass 1057 6 89.60

RAFOS 720 1 13.58

Transponder 166 30 62.75

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

18.8 20.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

35.7 37.10 9000.00 0.0 0.00 0.00 37.10 0.0 1.00 1.00

44.6 46.80 9000.00 0.0 0.00 0.00 46.80 0.0 1.09 1.00

52.8 55.40 9000.00 0.0 0.00 0.00 55.40 0.0 1.05 1.00

61.2 65.30 64.60 0.0 1.06 1.00 65.30 0.0 1.18 1.00

388.9 70.00 9000.00 0.0 0.06 0.46 70.00 0.0 0.01 1.00

397.1 61.20 9000.00 0.0 0.03 0.37 61.20 458.3 -1.07 1.00

68.6 70.50 9000.00 0.0 0.01 0.03 70.50 0.0 -0.03 1.00

59.7 63.70 9000.00 0.0 0.00 0.02 63.70 -4.0 0.76 1.00

34.2 35.40 9000.00 0.0 0.03 0.16 35.40 -1.2 1.11 1.00

26.0 26.90 9000.00 0.0 0.05 0.15 26.90 -0.9 1.04 1.00

17.9 18.10 18.30 -0.4 1.05 1.00 18.10 -0.2 1.09 1.00

9.6 10.40 9.60 0.0 1.07 1.00 10.40 -0.8 0.93 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.92 -146.0 202 2805 1597 1516 0.0 0.0 0 122 0.00 0.00 -113.03 0.003 16386 0.000 0.000 201 2805 3490 3501 3479 0 0 0 0 0 0 14.57 28.83 14.57

123 -0.92 -146.0 202 2805 3502 3480 4.0 -6.4 11 142 12.05 2.42 -1.45 0.079 19236 0.482 0.068 2422 1389 3552 3554 3550 0 0 0 0 0 0 14.14 13.61 14.36

340 -0.92 -146.0 2423 1389 3554 3555 42.5 -14.6 54 348 0.00 2.55 0.00 0.000 1030 0.000 0.077 2423 2801 3553 3553 3554 0 0 0 0 0 0 14.49 14.42 14.51

646 -0.92 -146.0 2423 2802 3554 3556 85.1 -13.7 85 646 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2801 3554 3553 3555 0 0 0 0 0 0 14.73 14.73 14.73

946 -0.92 -146.0 2423 2801 3555 3555 126.9 -13.8 115 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2801 3554 3553 3555 0 0 0 0 0 0 14.78 14.78 14.78

1246 -0.92 -146.0 2423 2801 3555 3555 168.4 -14.0 145 1253 0.00 1.98 0.00 0.000 260 0.000 0.098 2416 3901 3554 3553 3555 0 0 0 0 0 0 14.81 14.55 14.81

1301 -0.92 -146.0 2416 3904 3555 3555 176.6 -14.4 156 1309 0.00 1.88 0.00 0.000 1030 0.000 0.051 2415 2793 3554 3553 3555 0 0 0 0 0 0 14.66 14.63 14.67

1606 -0.92 -146.0 2416 2793 3554 3556 218.5 -13.7 187 1613 0.00 2.00 0.00 0.000 260 0.000 0.096 2414 3900 3554 3553 3555 0 0 0 0 0 0 14.83 14.57 14.83

1661 -0.92 -146.0 2414 3900 3554 3555 226.7 -14.9 198 1669 0.00 1.85 0.00 0.000 1030 0.000 0.051 2414 2802 3554 3553 3555 0 0 0 0 0 0 14.68 14.64 14.69

1966 -0.92 -146.0 2415 2801 3554 3555 269.7 -14.2 229 1967 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2801 3554 3553 3555 0 0 0 0 0 0 14.84 14.85 14.84

2266 -0.92 -146.0 2415 2802 3554 3555 312.0 -13.7 255 2273 0.00 2.00 0.00 0.000 260 0.000 0.097 2414 3911 3554 3553 3555 0 0 0 0 0 0 14.85 14.61 14.85

2306 -0.92 -146.0 2415 3913 3554 3556 317.8 -14.7 263 2313 0.00 1.88 0.00 0.000 1030 0.000 0.051 2415 2795 3554 3553 3555 0 0 0 0 0 0 14.71 14.67 14.71

2626 -0.92 -146.0 2415 2796 3553 3557 359.6 -13.0 282 2633 0.00 2.38 0.00 0.000 516 0.000 0.054 2413 1407 3554 3553 3555 0 0 0 0 0 0 14.86 14.63 14.87

2676 -0.92 -146.0 2415 1407 3554 3555 365.8 -12.2 292 2683 0.00 2.47 0.00 0.000 1030 0.000 0.076 2414 2804 3554 3553 3555 0 0 0 0 0 0 14.69 14.62 14.71

2966 end dive: TARGET_DEPTH_EXCEEDED

state 2966 begin apogee

2969 -0.23 0.0 2415 2548 3553 3555 402.4 -13.4 308 3117 0.88 0.00 145.15 2.775 10246 0.262 0.000 2647 2547 2966 2963 2969 0 0 0 0 0 0 14.51 13.61 12.65

3118 end apogee: CONTROL_FINISHED_OK

state 3118 begin climb

3119 0.92 146.0 2647 2548 2963 2970 408.2 0.0 315 3279 1.30 2.67 151.25 2.667 10756 0.174 0.068 3026 1164 2384 2370 2398 0 0 0 0 0 0 13.57 13.08 12.24

3312 0.92 146.0 3027 1164 2366 2393 398.1 9.8 352 3319 0.00 2.67 0.00 0.000 1030 0.000 0.072 3026 2547 2380 2366 2395 0 0 0 0 0 0 13.52 13.46 13.53

3628 0.92 146.0 3027 2548 2360 2389 362.2 12.2 370 3634 0.00 2.53 0.00 0.000 260 0.000 0.099 3027 3913 2374 2359 2390 0 0 0 0 0 0 14.31 14.08 14.31

3647 0.92 146.0 3027 3914 2360 2391 359.6 13.1 374 3655 0.00 2.42 0.00 0.000 1030 0.000 0.058 3037 2551 2374 2359 2389 0 0 0 0 0 0 14.19 14.14 14.19

3969 0.92 146.0 3037 2552 2359 2389 322.7 11.2 393 3976 0.00 2.47 0.00 0.000 516 0.000 0.071 3048 1148 2372 2357 2388 0 0 0 0 0 0 14.51 14.31 14.52

4029 0.92 146.0 3048 1149 2357 2389 316.0 10.8 405 4037 0.00 2.55 0.00 0.000 1030 0.000 0.074 3048 2560 2371 2357 2386 0 0 0 0 0 0 14.40 14.34 14.42

4340 0.92 146.0 3048 2560 2358 2387 281.6 11.0 431 4347 0.00 2.47 0.00 0.000 260 0.000 0.099 3048 3909 2372 2358 2386 0 0 0 0 0 0 14.66 14.42 14.66

4385 0.92 146.0 3048 3911 2360 2388 275.9 13.0 440 4393 0.10 2.38 0.00 0.000 5126 0.292 0.059 3032 2541 2372 2358 2387 0 0 0 0 0 0 14.32 14.47 14.47

4691 0.92 146.0 3033 2541 2358 2388 243.9 10.6 471 4697 0.00 2.50 0.00 0.000 260 0.000 0.097 3032 3907 2372 2357 2387 0 0 0 0 0 0 14.73 14.48 14.73

4735 0.92 146.0 3032 3908 2359 2388 238.5 12.1 480 4743 0.00 2.35 0.00 0.000 1030 0.000 0.060 3042 2546 2372 2358 2387 0 0 0 0 0 0 14.58 14.54 14.60

5041 0.92 146.0 3043 2547 2358 2388 205.8 10.8 511 5041 0.00 0.00 0.00 0.000 6 0.000 0.000 3042 2546 2372 2357 2387 0 0 0 0 0 0 14.78 14.78 14.78

5341 0.92 146.0 3043 2546 2358 2387 173.6 10.2 541 5348 0.00 2.45 0.00 0.000 516 0.000 0.070 3053 1153 2371 2356 2386 0 0 0 0 0 0 14.81 14.56 14.81

5376 0.92 146.0 3053 1154 2357 2387 170.0 10.3 548 5384 0.00 2.47 0.00 0.000 1030 0.000 0.073 3053 2550 2371 2356 2386 0 0 0 0 0 0 14.62 14.57 14.66

5681 0.92 146.0 3053 2551 2358 2386 138.7 10.3 579 5688 0.00 2.45 0.00 0.000 260 0.000 0.098 3053 3903 2372 2358 2386 0 0 0 0 0 0 14.81 14.58 14.83

5737 0.92 146.0 3055 3904 2359 2387 132.4 11.7 590 5744 0.12 2.33 0.00 0.000 5126 0.305 0.059 3031 2551 2372 2358 2386 0 0 0 0 0 0 14.45 14.63 14.62

6042 0.92 146.0 3031 2552 2358 2385 104.3 9.5 621 6049 0.00 2.45 0.00 0.000 516 0.000 0.072 3041 1159 2370 2356 2385 0 0 0 0 0 0 14.83 14.59 14.83

6082 0.92 146.0 3041 1159 2356 2385 100.5 9.5 629 6090 0.00 2.47 0.00 0.000 1030 0.000 0.074 3041 2556 2371 2357 2385 0 0 0 0 0 0 14.67 14.60 14.69

6393 0.92 146.0 3041 2560 2358 2385 69.6 9.9 661 6394 0.00 0.00 0.00 0.000 6 0.000 0.000 3041 2556 2371 2357 2385 0 0 0 0 0 0 14.85 14.84 14.85

6693 0.92 146.0 3041 2556 2358 2385 38.4 10.7 691 6700 0.00 2.45 0.00 0.000 260 0.000 0.099 3041 3910 2371 2357 2385 0 0 0 0 0 0 14.85 14.61 14.85

6753 0.92 146.0 3041 3911 2359 2387 31.5 10.8 703 6760 0.00 2.33 0.00 0.000 1030 0.000 0.057 3051 2551 2371 2357 2385 0 0 0 0 0 0 14.70 14.66 14.71

7063 end climb: SURFACE_DEPTH_REACHED

state 7063 begin surface coast

7074 end surface coast: CONTROL_FINISHED_OK

state 7074 begin surface

ID	221	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0099999998	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	30	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	3
D_BOOST	100	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	10	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	270	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	310	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	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	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	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	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	0.30000001	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	150	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	30	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	785

GPS1	280118,011849,-7355.3555,-11304.8945,47,1.6,58,53.5,0.7,270.0,8,6.9	SPEED_LIMITS	0.171,0.250
_CALLS	1	TGT_NAME	M1
_XMS_NAKs	0	TGT_LATLONG	-7406.000,-13000.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.79	MHEAD_RNG_PITCHd_Wd	209.1,515323,-16.3,-9.877,-21.56,2183
_SM_ANGLEo	-58.8	D_GRID	402
GPS2	280118,012401,-7355.3511,-11305.0732,3,0.9,5,53.5,1.1,275.7,10,4.6

FREEZE	0.86,-0.836,-1.857,2,1,0	_24V_AH	12.24,19.217
FINISH	0.9,1.027211	_10V_AH	12.57,0.000
SM_CCo	7089,174.45,0.230,0,0,1572,350.17	FG_AHR_24Vo	0.000
SM_GC	0.86,8.95,0.47,174.45,0.138,0.100,0.230,196,2808,1572,-7.88,-0.51,350.17,0,0,0,0,0,0,14.62,14.65,14.35	FG_AHR_10Vo	0.000
RAFOS_CLK	279	MEM	280572
RAFOS	0,1517108461,3.033333,3.016944,76,65,61,59,58,57,695,188,221,728,203,146	DATA_FILE_SIZE	26754,736
RAFOS_FIX	-7407.013184,-11325.811523,280118,030308,2,72,3.64	CAP_FILE_SIZE	95014,0
IRIDIUM_FIX	-7354.55,-11258.67,270118,225711	CFSIZE	1024409600,1016414208
TT8_MAMPS	0.038948,0.289863	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	46.02	INTR	0,2272.50,0x214570,0,24
INTERNAL_PRESSURE	7.79246	SOUNDSPEED	1447.3
TCM_TEMP	13.20	CURRENT	0.158,302.67,1
XPDR_PINGS	0	GPS	280118,032631,-7355.098,-11310.128,30,1.0,30,53.5,1.0,312.5,7,3.7
ALTIM_TOP_PING	9.6,9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	481	138.04	nil	0	0	0.00
Roll_motor	66	100	81.85	nil	0	0	0.00
VBD_pump_during_apogee	296	2775	10069.05	nil	0	0	0.00
VBD_pump_during_surface	174	229	490.04	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	7081	4	400.08
Iridium_during_xfer	227	189	527.13	nil	0	0	0.00
Transponder_ping	23	420	120.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.73
TT8	0	0	0.00
LPSleep	5101	2	148.13
TT8_Active	664	10	90.75
TT8_Sampling	1756	30	670.08
TT8_CF8	65	51	41.97
TT8_Kalman	0	0	0.00
Analog_circuits	1463	10	185.81
GPS_charging	0	0	0.00
Compass	1057	6	89.60
RAFOS	720	1	13.58
Transponder	166	30	62.75

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
18.8	20.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
35.7	37.10	9000.00	0.0	0.00	0.00	37.10	0.0	1.00	1.00
44.6	46.80	9000.00	0.0	0.00	0.00	46.80	0.0	1.09	1.00
52.8	55.40	9000.00	0.0	0.00	0.00	55.40	0.0	1.05	1.00
61.2	65.30	64.60	0.0	1.06	1.00	65.30	0.0	1.18	1.00
388.9	70.00	9000.00	0.0	0.06	0.46	70.00	0.0	0.01	1.00
397.1	61.20	9000.00	0.0	0.03	0.37	61.20	458.3	-1.07	1.00

68.6	70.50	9000.00	0.0	0.01	0.03	70.50	0.0	-0.03	1.00
59.7	63.70	9000.00	0.0	0.00	0.02	63.70	-4.0	0.76	1.00
34.2	35.40	9000.00	0.0	0.03	0.16	35.40	-1.2	1.11	1.00
26.0	26.90	9000.00	0.0	0.05	0.15	26.90	-0.9	1.04	1.00
17.9	18.10	18.30	-0.4	1.05	1.00	18.10	-0.2	1.09	1.00
9.6	10.40	9.60	0.0	1.07	1.00	10.40	-0.8	0.93	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.92	-146.0	202	2805	1597	1516	0.0	0.0	0	122	0.00	0.00	-113.03	0.003	16386	0.000	0.000	201	2805	3490	3501	3479	0	0	0	0	0	0	14.57	28.83	14.57
123	-0.92	-146.0	202	2805	3502	3480	4.0	-6.4	11	142	12.05	2.42	-1.45	0.079	19236	0.482	0.068	2422	1389	3552	3554	3550	0	0	0	0	0	0	14.14	13.61	14.36
340	-0.92	-146.0	2423	1389	3554	3555	42.5	-14.6	54	348	0.00	2.55	0.00	0.000	1030	0.000	0.077	2423	2801	3553	3553	3554	0	0	0	0	0	0	14.49	14.42	14.51
646	-0.92	-146.0	2423	2802	3554	3556	85.1	-13.7	85	646	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2801	3554	3553	3555	0	0	0	0	0	0	14.73	14.73	14.73
946	-0.92	-146.0	2423	2801	3555	3555	126.9	-13.8	115	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2801	3554	3553	3555	0	0	0	0	0	0	14.78	14.78	14.78
1246	-0.92	-146.0	2423	2801	3555	3555	168.4	-14.0	145	1253	0.00	1.98	0.00	0.000	260	0.000	0.098	2416	3901	3554	3553	3555	0	0	0	0	0	0	14.81	14.55	14.81
1301	-0.92	-146.0	2416	3904	3555	3555	176.6	-14.4	156	1309	0.00	1.88	0.00	0.000	1030	0.000	0.051	2415	2793	3554	3553	3555	0	0	0	0	0	0	14.66	14.63	14.67
1606	-0.92	-146.0	2416	2793	3554	3556	218.5	-13.7	187	1613	0.00	2.00	0.00	0.000	260	0.000	0.096	2414	3900	3554	3553	3555	0	0	0	0	0	0	14.83	14.57	14.83
1661	-0.92	-146.0	2414	3900	3554	3555	226.7	-14.9	198	1669	0.00	1.85	0.00	0.000	1030	0.000	0.051	2414	2802	3554	3553	3555	0	0	0	0	0	0	14.68	14.64	14.69
1966	-0.92	-146.0	2415	2801	3554	3555	269.7	-14.2	229	1967	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2801	3554	3553	3555	0	0	0	0	0	0	14.84	14.85	14.84
2266	-0.92	-146.0	2415	2802	3554	3555	312.0	-13.7	255	2273	0.00	2.00	0.00	0.000	260	0.000	0.097	2414	3911	3554	3553	3555	0	0	0	0	0	0	14.85	14.61	14.85
2306	-0.92	-146.0	2415	3913	3554	3556	317.8	-14.7	263	2313	0.00	1.88	0.00	0.000	1030	0.000	0.051	2415	2795	3554	3553	3555	0	0	0	0	0	0	14.71	14.67	14.71
2626	-0.92	-146.0	2415	2796	3553	3557	359.6	-13.0	282	2633	0.00	2.38	0.00	0.000	516	0.000	0.054	2413	1407	3554	3553	3555	0	0	0	0	0	0	14.86	14.63	14.87
2676	-0.92	-146.0	2415	1407	3554	3555	365.8	-12.2	292	2683	0.00	2.47	0.00	0.000	1030	0.000	0.076	2414	2804	3554	3553	3555	0	0	0	0	0	0	14.69	14.62	14.71
2966	end dive: TARGET_DEPTH_EXCEEDED
state	2966	begin apogee
2969	-0.23	0.0	2415	2548	3553	3555	402.4	-13.4	308	3117	0.88	0.00	145.15	2.775	10246	0.262	0.000	2647	2547	2966	2963	2969	0	0	0	0	0	0	14.51	13.61	12.65
3118	end apogee: CONTROL_FINISHED_OK
state	3118	begin climb
3119	0.92	146.0	2647	2548	2963	2970	408.2	0.0	315	3279	1.30	2.67	151.25	2.667	10756	0.174	0.068	3026	1164	2384	2370	2398	0	0	0	0	0	0	13.57	13.08	12.24
3312	0.92	146.0	3027	1164	2366	2393	398.1	9.8	352	3319	0.00	2.67	0.00	0.000	1030	0.000	0.072	3026	2547	2380	2366	2395	0	0	0	0	0	0	13.52	13.46	13.53
3628	0.92	146.0	3027	2548	2360	2389	362.2	12.2	370	3634	0.00	2.53	0.00	0.000	260	0.000	0.099	3027	3913	2374	2359	2390	0	0	0	0	0	0	14.31	14.08	14.31
3647	0.92	146.0	3027	3914	2360	2391	359.6	13.1	374	3655	0.00	2.42	0.00	0.000	1030	0.000	0.058	3037	2551	2374	2359	2389	0	0	0	0	0	0	14.19	14.14	14.19
3969	0.92	146.0	3037	2552	2359	2389	322.7	11.2	393	3976	0.00	2.47	0.00	0.000	516	0.000	0.071	3048	1148	2372	2357	2388	0	0	0	0	0	0	14.51	14.31	14.52
4029	0.92	146.0	3048	1149	2357	2389	316.0	10.8	405	4037	0.00	2.55	0.00	0.000	1030	0.000	0.074	3048	2560	2371	2357	2386	0	0	0	0	0	0	14.40	14.34	14.42
4340	0.92	146.0	3048	2560	2358	2387	281.6	11.0	431	4347	0.00	2.47	0.00	0.000	260	0.000	0.099	3048	3909	2372	2358	2386	0	0	0	0	0	0	14.66	14.42	14.66
4385	0.92	146.0	3048	3911	2360	2388	275.9	13.0	440	4393	0.10	2.38	0.00	0.000	5126	0.292	0.059	3032	2541	2372	2358	2387	0	0	0	0	0	0	14.32	14.47	14.47
4691	0.92	146.0	3033	2541	2358	2388	243.9	10.6	471	4697	0.00	2.50	0.00	0.000	260	0.000	0.097	3032	3907	2372	2357	2387	0	0	0	0	0	0	14.73	14.48	14.73
4735	0.92	146.0	3032	3908	2359	2388	238.5	12.1	480	4743	0.00	2.35	0.00	0.000	1030	0.000	0.060	3042	2546	2372	2358	2387	0	0	0	0	0	0	14.58	14.54	14.60
5041	0.92	146.0	3043	2547	2358	2388	205.8	10.8	511	5041	0.00	0.00	0.00	0.000	6	0.000	0.000	3042	2546	2372	2357	2387	0	0	0	0	0	0	14.78	14.78	14.78
5341	0.92	146.0	3043	2546	2358	2387	173.6	10.2	541	5348	0.00	2.45	0.00	0.000	516	0.000	0.070	3053	1153	2371	2356	2386	0	0	0	0	0	0	14.81	14.56	14.81
5376	0.92	146.0	3053	1154	2357	2387	170.0	10.3	548	5384	0.00	2.47	0.00	0.000	1030	0.000	0.073	3053	2550	2371	2356	2386	0	0	0	0	0	0	14.62	14.57	14.66
5681	0.92	146.0	3053	2551	2358	2386	138.7	10.3	579	5688	0.00	2.45	0.00	0.000	260	0.000	0.098	3053	3903	2372	2358	2386	0	0	0	0	0	0	14.81	14.58	14.83
5737	0.92	146.0	3055	3904	2359	2387	132.4	11.7	590	5744	0.12	2.33	0.00	0.000	5126	0.305	0.059	3031	2551	2372	2358	2386	0	0	0	0	0	0	14.45	14.63	14.62
6042	0.92	146.0	3031	2552	2358	2385	104.3	9.5	621	6049	0.00	2.45	0.00	0.000	516	0.000	0.072	3041	1159	2370	2356	2385	0	0	0	0	0	0	14.83	14.59	14.83
6082	0.92	146.0	3041	1159	2356	2385	100.5	9.5	629	6090	0.00	2.47	0.00	0.000	1030	0.000	0.074	3041	2556	2371	2357	2385	0	0	0	0	0	0	14.67	14.60	14.69
6393	0.92	146.0	3041	2560	2358	2385	69.6	9.9	661	6394	0.00	0.00	0.00	0.000	6	0.000	0.000	3041	2556	2371	2357	2385	0	0	0	0	0	0	14.85	14.84	14.85
6693	0.92	146.0	3041	2556	2358	2385	38.4	10.7	691	6700	0.00	2.45	0.00	0.000	260	0.000	0.099	3041	3910	2371	2357	2385	0	0	0	0	0	0	14.85	14.61	14.85
6753	0.92	146.0	3041	3911	2359	2387	31.5	10.8	703	6760	0.00	2.33	0.00	0.000	1030	0.000	0.057	3051	2551	2371	2357	2385	0	0	0	0	0	0	14.70	14.66	14.71
7063	end climb: SURFACE_DEPTH_REACHED
state	7063	begin surface coast
7074	end surface coast: CONTROL_FINISHED_OK
state	7074	begin surface