Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 4 * 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 2500 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 4 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 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 0 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

D_TGT 360 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 ALTIM_PULSE 2

D_ABORT 600 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 450 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 5 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.80000001

D_PITCH 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 0 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 120 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 W_ADJ_DBAND 0 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 0 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0 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 2760 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 0.02 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 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 360 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 1 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0.02 SM_CC 450

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 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

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 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 0 T_BOOST 5

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 120

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 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 2760 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 2500 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 0

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 4 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 600 MAX_BUOY 150 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 0

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 0 N_DIVES 4 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 240118,195835,-7341.0718,-11414.5850,1,0.9,3,53.8,0.1,0.0,5,7.1 SPEED_LIMITS 0.173,0.251

_CALLS 1 TGT_NAME S1

_XMS_NAKs 0 TGT_LATLONG -7340.000,-11320.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 72.8,28542,-16.5,-10.000,-21.71,2158

_SM_ANGLEo -63.2 D_GRID 520

GPS2 240118,200209,-7341.0610,-11414.6709,21,1.3,21,53.8,0.3,263.0,5,10.0

Post-dive calculations and measurements:

FINISH 0.2,1.027273 _24V_AH 12.54,9.557

SM_CCo 7309,79.20,0.242,0,0,1174,450.15 _10V_AH 12.37,0.000

SM_GC 0.71,8.68,0.08,79.20,0.106,0.163,0.242,200,2512,1174,-7.97,1.27,450.15,0,0,0,0,0,0,14.47,14.54,14.29 FG_AHR_24Vo 0.000

RAFOS_CLK 287 FG_AHR_10Vo 0.000

RAFOS 0,1516827662,21.033333,21.017221,62,59,57,57,55,49,131,206,197,163,226,175 MEM 280308

RAFOS_FIX -7341.767090,-11415.175781,240118,222216,0,1,0.18 DATA_FILE_SIZE 33372,985

IRIDIUM_FIX -7343.20,-11406.32,240118,195507 CAP_FILE_SIZE 117399,0

TT8_MAMPS 0.03745,0.650132 CFSIZE 1024409600,1019494400

HUMID 52.75 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1446.2

TCM_TEMP 13.20 CURRENT 0.101,290.71,1

XPDR_PINGS 0 GPS 240118,220640,-7341.624,-11414.623,15,1.4,17,53.8,0.3,0.0,6,6.7

ALTIM_TOP_PING 5.9,6.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 459 134.40 nil 0 0 0.00

Roll_motor 74 162 151.82 nil 0 0 0.00

VBD_pump_during_apogee 909 2019 23021.14 nil 0 0 0.00

VBD_pump_during_surface 79 241 240.09 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 7288 8 754.80

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 90.85 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 8 2.60

TT8 0 0 0.00

LPSleep 4455 2 127.30

TT8_Active 1044 10 140.42

TT8_Sampling 1940 30 728.51

TT8_CF8 42 51 27.28

TT8_Kalman 0 0 0.00

Analog_circuits 1876 10 234.40

GPS_charging 0 0 0.00

Compass 1408 6 117.46

RAFOS 720 1 13.36

Transponder 121 30 45.03

Altimeter Analysis:

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

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

20.6 21.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

31.1 33.90 9000.00 0.0 0.00 0.00 33.90 0.0 1.17 1.00

41.4 43.20 9000.00 0.0 0.00 0.00 43.20 0.0 0.90 1.00

51.8 54.40 9000.00 0.0 0.00 0.00 54.40 0.0 1.08 1.00

161.5 167.20 167.20 -5.7 1.03 1.00 167.20 -5.7 1.03 1.00

67.1 69.60 70.10 -3.0 1.03 1.00 69.60 -2.5 1.03 1.00

56.8 58.60 59.00 -2.2 1.03 1.00 58.60 -1.8 1.07 1.00

46.7 48.00 48.40 -1.7 1.03 1.00 48.00 -1.3 1.05 1.00

36.5 37.50 37.50 -1.0 1.04 1.00 37.50 -1.0 1.03 1.00

26.3 26.90 26.80 -0.5 1.04 1.00 26.90 -0.6 1.04 1.00

15.9 16.10 16.10 -0.2 1.04 1.00 16.10 -0.2 1.04 1.00

5.9 6.30 6.10 -0.2 1.03 1.00 6.30 -0.4 0.98 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 -0.93 -146.0 198 2506 1140 1125 0.0 0.0 0 149 0.00 0.00 -140.05 0.003 16386 0.000 0.000 197 2507 3462 3475 3450 0 0 0 0 0 0 14.69 28.83 14.70

151 -0.93 -146.0 198 2508 3476 3451 4.7 -11.8 22 169 11.70 2.45 -2.03 0.057 18948 0.459 0.099 2451 1097 3551 3554 3549 0 0 0 0 0 0 14.16 13.29 14.40

208 -0.93 -146.0 2452 1097 3554 3548 19.3 -13.6 32 215 0.00 2.53 0.00 0.000 1030 0.000 0.078 2451 2500 3552 3554 3551 0 0 0 0 0 0 14.47 14.40 14.50

394 -0.93 -146.0 2451 2501 3554 3552 43.2 -12.9 69 401 0.00 2.58 0.00 0.000 260 0.000 0.100 2443 3907 3552 3554 3551 0 0 0 0 0 0 14.73 14.40 14.73

495 -0.89 -146.0 2444 3907 3556 3551 57.5 -14.3 89 503 0.08 2.40 0.00 0.000 3206 0.269 0.047 2465 2494 3552 3553 3551 0 0 0 0 0 0 14.31 14.52 14.48

681 -0.89 -146.0 2464 2495 3554 3552 80.9 -12.3 126 690 0.00 2.58 0.00 0.000 260 0.000 0.096 2460 3910 3553 3554 3552 0 0 0 0 0 0 14.78 14.45 14.78

763 -0.89 -146.0 2460 3911 3555 3548 91.9 -13.6 142 771 0.00 2.40 0.00 0.000 1030 0.000 0.045 2460 2498 3552 3554 3551 0 0 0 0 0 0 14.51 14.48 14.53

955 -0.89 -146.0 2461 2495 3553 3552 117.5 -13.3 167 961 0.00 2.58 0.00 0.000 260 0.000 0.097 2455 3907 3552 3554 3551 0 0 0 0 0 0 14.82 14.47 14.84

1035 -0.89 -146.0 2455 3910 3554 3553 128.6 -13.8 183 1041 0.00 2.40 0.00 0.000 1030 0.000 0.047 2455 2494 3552 3554 3551 0 0 0 0 0 0 14.62 14.59 14.63

1345 -0.89 -146.0 2456 2494 3555 3552 169.2 -13.4 215 1351 0.00 2.58 0.00 0.000 260 0.000 0.098 2454 3903 3553 3554 3552 0 0 0 0 0 0 14.85 14.50 14.85

1515 -0.89 -146.0 2454 3903 3554 3552 193.0 -14.0 249 1521 0.00 2.38 0.00 0.000 1030 0.000 0.048 2453 2498 3553 3554 3552 0 0 0 0 0 0 14.64 14.59 14.66

1825 -0.89 -146.0 2454 2498 3555 3552 233.1 -12.6 281 1831 0.00 2.58 0.00 0.000 260 0.000 0.100 2452 3902 3552 3553 3551 0 0 0 0 0 0 14.88 14.50 14.88

1960 -0.89 -146.0 2452 3905 3554 3553 250.8 -13.0 308 1968 0.00 2.38 0.00 0.000 1030 0.000 0.049 2452 2499 3552 3553 3552 0 0 0 0 0 0 14.65 14.61 14.67

2265 -0.89 -146.0 2453 2501 3554 3553 288.7 -12.6 324 2271 0.00 2.55 0.00 0.000 260 0.000 0.097 2452 3903 3552 3553 3552 0 0 0 0 0 0 14.87 14.51 14.89

2405 -0.89 -146.0 2453 3903 3554 3552 307.3 -13.3 352 2411 0.00 2.38 0.00 0.000 1030 0.000 0.047 2452 2493 3552 3553 3551 0 0 0 0 0 0 14.66 14.62 14.69

2726 -0.89 -146.0 2452 2495 3553 3552 346.9 -11.9 371 2731 0.00 2.53 0.00 0.000 260 0.000 0.099 2452 3910 3552 3553 3551 0 0 0 0 0 0 14.90 14.54 14.90

2830 end dive: TARGET_DEPTH_EXCEEDED

state 2830 begin apogee

2835 -0.23 0.0 2453 2538 3554 3551 360.0 -12.5 392 3053 0.85 0.00 208.50 2.020 10246 0.252 0.000 2678 2538 2969 2970 2969 0 0 0 0 1 0 14.38 13.62 12.54

3054 end apogee: CONTROL_FINISHED_OK

state 3054 begin climb

3055 0.93 146.0 2678 2536 2971 2970 370.6 0.0 403 3516 1.30 2.55 447.02 0.888 11012 0.169 0.076 3058 1164 2380 2371 2390 0 0 0 0 0 0 13.62 13.78 13.38

3740 0.86 169.4 3058 1165 2359 2380 350.3 8.9 539 3793 0.00 2.53 47.72 1.067 9382 0.000 0.073 3058 2549 2293 2283 2304 0 0 0 0 0 0 14.26 14.19 13.62

4102 0.74 169.4 3058 2549 2273 2295 311.6 11.0 566 4103 0.25 0.00 0.00 0.000 4230 0.314 0.000 3003 2549 2284 2273 2295 0 0 0 0 0 0 14.17 14.42 14.40

4402 0.73 202.9 3003 2548 2271 2295 284.8 8.4 581 4507 0.00 2.55 93.38 0.949 8612 0.000 0.097 3003 3902 2156 2146 2166 0 0 0 0 0 0 14.69 14.08 13.71

4546 0.65 202.9 3003 3903 2145 2162 271.4 11.0 609 4552 0.12 2.35 0.00 0.000 5254 0.263 0.052 2980 2558 2152 2143 2162 0 0 0 0 0 0 14.07 14.23 14.21

4856 0.67 219.1 2980 2558 2138 2162 243.1 9.2 631 4892 0.00 2.58 29.73 1.213 8740 0.000 0.076 2989 1160 2091 2082 2100 0 0 0 0 0 0 14.66 14.23 13.85

4920 0.71 229.3 2989 1160 2075 2093 237.1 9.5 643 4934 0.00 2.53 8.20 1.727 9382 0.000 0.073 2989 2549 2058 2048 2068 0 0 0 0 0 0 14.35 14.28 13.62

5231 0.71 231.4 2990 2549 2041 2063 206.0 9.9 675 5236 0.00 2.47 0.00 0.000 292 0.000 0.097 2988 3903 2052 2042 2063 0 0 0 0 0 0 14.66 14.38 14.66

5305 0.68 231.4 2989 3904 2043 2064 197.6 11.2 690 5313 0.00 2.33 0.00 0.000 1158 0.000 0.052 2998 2557 2052 2042 2063 0 0 0 0 0 0 14.51 14.46 14.53

5610 0.68 231.4 2999 2557 2042 2063 166.5 10.0 721 5611 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2557 2051 2040 2062 0 0 0 0 0 0 14.76 14.76 14.76

5910 0.69 239.4 2999 2557 2041 2062 137.6 9.6 751 5934 0.00 0.00 19.00 1.285 8230 0.000 0.000 2998 2557 2012 2002 2022 0 0 0 0 0 0 14.81 14.48 14.03

6231 0.69 244.3 2998 2557 1991 2010 106.3 9.8 783 6231 0.00 0.00 0.00 0.000 38 0.000 0.000 2998 2557 2000 1990 2010 0 0 0 0 0 0 14.76 14.76 14.76

6530 0.69 245.4 2998 2558 1989 2012 75.6 9.9 836 6538 0.00 2.50 0.00 0.000 548 0.000 0.080 3009 1158 1999 1989 2009 0 0 0 0 0 0 14.80 14.49 14.79

6557 0.69 246.4 3009 1158 1990 2010 72.9 10.0 841 6565 0.00 2.47 1.90 0.288 9254 0.000 0.075 3009 2547 1987 1978 1997 0 0 0 0 0 0 14.58 14.52 14.27

6744 0.69 246.4 3009 2547 1990 2005 53.7 10.3 878 6752 0.00 2.45 1.92 0.308 8452 0.000 0.096 3009 3921 1988 1980 1996 0 0 0 0 0 0 14.81 14.52 14.26

6791 0.63 246.4 3009 3922 1988 2003 48.0 12.6 887 6798 0.17 2.35 0.00 0.000 5254 0.259 0.054 2971 2546 1995 1988 2003 0 0 0 0 0 0 14.36 14.58 14.54

6977 0.73 288.3 2972 2546 1989 2004 31.6 8.0 924 7010 0.00 0.00 28.95 0.343 8358 0.000 0.000 2971 2546 1819 1810 1828 0 0 0 0 0 0 14.83 14.56 14.29

7189 0.84 323.5 2970 2546 1816 1829 13.8 8.3 965 7216 0.20 2.50 22.67 0.288 10916 0.156 0.077 3040 1161 1678 1672 1685 0 0 0 0 0 0 14.50 14.46 14.33

7235 0.84 323.5 3040 1162 1675 1686 8.7 12.3 973 7242 0.00 2.50 0.00 0.000 1030 0.000 0.076 3039 2559 1679 1674 1685 0 0 0 0 0 0 14.55 14.48 14.58

7285 end climb: SURFACE_DEPTH_REACHED

state 7285 begin surface coast

7295 end surface coast: CONTROL_FINISHED_OK

state 7295 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	2500	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	4	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	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	0	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
D_TGT	360	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	ALTIM_PULSE	2
D_ABORT	600	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	450	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	5	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.80000001
D_PITCH	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	0	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	120	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	W_ADJ_DBAND	0	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	0	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0	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	2760	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	0.02	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	785

GPS1	240118,195835,-7341.0718,-11414.5850,1,0.9,3,53.8,0.1,0.0,5,7.1	SPEED_LIMITS	0.173,0.251
_CALLS	1	TGT_NAME	S1
_XMS_NAKs	0	TGT_LATLONG	-7340.000,-11320.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	72.8,28542,-16.5,-10.000,-21.71,2158
_SM_ANGLEo	-63.2	D_GRID	520
GPS2	240118,200209,-7341.0610,-11414.6709,21,1.3,21,53.8,0.3,263.0,5,10.0

FINISH	0.2,1.027273	_24V_AH	12.54,9.557
SM_CCo	7309,79.20,0.242,0,0,1174,450.15	_10V_AH	12.37,0.000
SM_GC	0.71,8.68,0.08,79.20,0.106,0.163,0.242,200,2512,1174,-7.97,1.27,450.15,0,0,0,0,0,0,14.47,14.54,14.29	FG_AHR_24Vo	0.000
RAFOS_CLK	287	FG_AHR_10Vo	0.000
RAFOS	0,1516827662,21.033333,21.017221,62,59,57,57,55,49,131,206,197,163,226,175	MEM	280308
RAFOS_FIX	-7341.767090,-11415.175781,240118,222216,0,1,0.18	DATA_FILE_SIZE	33372,985
IRIDIUM_FIX	-7343.20,-11406.32,240118,195507	CAP_FILE_SIZE	117399,0
TT8_MAMPS	0.03745,0.650132	CFSIZE	1024409600,1019494400
HUMID	52.75	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1446.2
TCM_TEMP	13.20	CURRENT	0.101,290.71,1
XPDR_PINGS	0	GPS	240118,220640,-7341.624,-11414.623,15,1.4,17,53.8,0.3,0.0,6,6.7
ALTIM_TOP_PING	5.9,6.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	459	134.40	nil	0	0	0.00
Roll_motor	74	162	151.82	nil	0	0	0.00
VBD_pump_during_apogee	909	2019	23021.14	nil	0	0	0.00
VBD_pump_during_surface	79	241	240.09	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	7288	8	754.80
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	90.85	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	8	2.60
TT8	0	0	0.00
LPSleep	4455	2	127.30
TT8_Active	1044	10	140.42
TT8_Sampling	1940	30	728.51
TT8_CF8	42	51	27.28
TT8_Kalman	0	0	0.00
Analog_circuits	1876	10	234.40
GPS_charging	0	0	0.00
Compass	1408	6	117.46
RAFOS	720	1	13.36
Transponder	121	30	45.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
20.6	21.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
31.1	33.90	9000.00	0.0	0.00	0.00	33.90	0.0	1.17	1.00
41.4	43.20	9000.00	0.0	0.00	0.00	43.20	0.0	0.90	1.00
51.8	54.40	9000.00	0.0	0.00	0.00	54.40	0.0	1.08	1.00

161.5	167.20	167.20	-5.7	1.03	1.00	167.20	-5.7	1.03	1.00
67.1	69.60	70.10	-3.0	1.03	1.00	69.60	-2.5	1.03	1.00
56.8	58.60	59.00	-2.2	1.03	1.00	58.60	-1.8	1.07	1.00
46.7	48.00	48.40	-1.7	1.03	1.00	48.00	-1.3	1.05	1.00
36.5	37.50	37.50	-1.0	1.04	1.00	37.50	-1.0	1.03	1.00
26.3	26.90	26.80	-0.5	1.04	1.00	26.90	-0.6	1.04	1.00
15.9	16.10	16.10	-0.2	1.04	1.00	16.10	-0.2	1.04	1.00
5.9	6.30	6.10	-0.2	1.03	1.00	6.30	-0.4	0.98	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	-0.93	-146.0	198	2506	1140	1125	0.0	0.0	0	149	0.00	0.00	-140.05	0.003	16386	0.000	0.000	197	2507	3462	3475	3450	0	0	0	0	0	0	14.69	28.83	14.70
151	-0.93	-146.0	198	2508	3476	3451	4.7	-11.8	22	169	11.70	2.45	-2.03	0.057	18948	0.459	0.099	2451	1097	3551	3554	3549	0	0	0	0	0	0	14.16	13.29	14.40
208	-0.93	-146.0	2452	1097	3554	3548	19.3	-13.6	32	215	0.00	2.53	0.00	0.000	1030	0.000	0.078	2451	2500	3552	3554	3551	0	0	0	0	0	0	14.47	14.40	14.50
394	-0.93	-146.0	2451	2501	3554	3552	43.2	-12.9	69	401	0.00	2.58	0.00	0.000	260	0.000	0.100	2443	3907	3552	3554	3551	0	0	0	0	0	0	14.73	14.40	14.73
495	-0.89	-146.0	2444	3907	3556	3551	57.5	-14.3	89	503	0.08	2.40	0.00	0.000	3206	0.269	0.047	2465	2494	3552	3553	3551	0	0	0	0	0	0	14.31	14.52	14.48
681	-0.89	-146.0	2464	2495	3554	3552	80.9	-12.3	126	690	0.00	2.58	0.00	0.000	260	0.000	0.096	2460	3910	3553	3554	3552	0	0	0	0	0	0	14.78	14.45	14.78
763	-0.89	-146.0	2460	3911	3555	3548	91.9	-13.6	142	771	0.00	2.40	0.00	0.000	1030	0.000	0.045	2460	2498	3552	3554	3551	0	0	0	0	0	0	14.51	14.48	14.53
955	-0.89	-146.0	2461	2495	3553	3552	117.5	-13.3	167	961	0.00	2.58	0.00	0.000	260	0.000	0.097	2455	3907	3552	3554	3551	0	0	0	0	0	0	14.82	14.47	14.84
1035	-0.89	-146.0	2455	3910	3554	3553	128.6	-13.8	183	1041	0.00	2.40	0.00	0.000	1030	0.000	0.047	2455	2494	3552	3554	3551	0	0	0	0	0	0	14.62	14.59	14.63
1345	-0.89	-146.0	2456	2494	3555	3552	169.2	-13.4	215	1351	0.00	2.58	0.00	0.000	260	0.000	0.098	2454	3903	3553	3554	3552	0	0	0	0	0	0	14.85	14.50	14.85
1515	-0.89	-146.0	2454	3903	3554	3552	193.0	-14.0	249	1521	0.00	2.38	0.00	0.000	1030	0.000	0.048	2453	2498	3553	3554	3552	0	0	0	0	0	0	14.64	14.59	14.66
1825	-0.89	-146.0	2454	2498	3555	3552	233.1	-12.6	281	1831	0.00	2.58	0.00	0.000	260	0.000	0.100	2452	3902	3552	3553	3551	0	0	0	0	0	0	14.88	14.50	14.88
1960	-0.89	-146.0	2452	3905	3554	3553	250.8	-13.0	308	1968	0.00	2.38	0.00	0.000	1030	0.000	0.049	2452	2499	3552	3553	3552	0	0	0	0	0	0	14.65	14.61	14.67
2265	-0.89	-146.0	2453	2501	3554	3553	288.7	-12.6	324	2271	0.00	2.55	0.00	0.000	260	0.000	0.097	2452	3903	3552	3553	3552	0	0	0	0	0	0	14.87	14.51	14.89
2405	-0.89	-146.0	2453	3903	3554	3552	307.3	-13.3	352	2411	0.00	2.38	0.00	0.000	1030	0.000	0.047	2452	2493	3552	3553	3551	0	0	0	0	0	0	14.66	14.62	14.69
2726	-0.89	-146.0	2452	2495	3553	3552	346.9	-11.9	371	2731	0.00	2.53	0.00	0.000	260	0.000	0.099	2452	3910	3552	3553	3551	0	0	0	0	0	0	14.90	14.54	14.90
2830	end dive: TARGET_DEPTH_EXCEEDED
state	2830	begin apogee
2835	-0.23	0.0	2453	2538	3554	3551	360.0	-12.5	392	3053	0.85	0.00	208.50	2.020	10246	0.252	0.000	2678	2538	2969	2970	2969	0	0	0	0	1	0	14.38	13.62	12.54
3054	end apogee: CONTROL_FINISHED_OK
state	3054	begin climb
3055	0.93	146.0	2678	2536	2971	2970	370.6	0.0	403	3516	1.30	2.55	447.02	0.888	11012	0.169	0.076	3058	1164	2380	2371	2390	0	0	0	0	0	0	13.62	13.78	13.38
3740	0.86	169.4	3058	1165	2359	2380	350.3	8.9	539	3793	0.00	2.53	47.72	1.067	9382	0.000	0.073	3058	2549	2293	2283	2304	0	0	0	0	0	0	14.26	14.19	13.62
4102	0.74	169.4	3058	2549	2273	2295	311.6	11.0	566	4103	0.25	0.00	0.00	0.000	4230	0.314	0.000	3003	2549	2284	2273	2295	0	0	0	0	0	0	14.17	14.42	14.40
4402	0.73	202.9	3003	2548	2271	2295	284.8	8.4	581	4507	0.00	2.55	93.38	0.949	8612	0.000	0.097	3003	3902	2156	2146	2166	0	0	0	0	0	0	14.69	14.08	13.71
4546	0.65	202.9	3003	3903	2145	2162	271.4	11.0	609	4552	0.12	2.35	0.00	0.000	5254	0.263	0.052	2980	2558	2152	2143	2162	0	0	0	0	0	0	14.07	14.23	14.21
4856	0.67	219.1	2980	2558	2138	2162	243.1	9.2	631	4892	0.00	2.58	29.73	1.213	8740	0.000	0.076	2989	1160	2091	2082	2100	0	0	0	0	0	0	14.66	14.23	13.85
4920	0.71	229.3	2989	1160	2075	2093	237.1	9.5	643	4934	0.00	2.53	8.20	1.727	9382	0.000	0.073	2989	2549	2058	2048	2068	0	0	0	0	0	0	14.35	14.28	13.62
5231	0.71	231.4	2990	2549	2041	2063	206.0	9.9	675	5236	0.00	2.47	0.00	0.000	292	0.000	0.097	2988	3903	2052	2042	2063	0	0	0	0	0	0	14.66	14.38	14.66
5305	0.68	231.4	2989	3904	2043	2064	197.6	11.2	690	5313	0.00	2.33	0.00	0.000	1158	0.000	0.052	2998	2557	2052	2042	2063	0	0	0	0	0	0	14.51	14.46	14.53
5610	0.68	231.4	2999	2557	2042	2063	166.5	10.0	721	5611	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2557	2051	2040	2062	0	0	0	0	0	0	14.76	14.76	14.76
5910	0.69	239.4	2999	2557	2041	2062	137.6	9.6	751	5934	0.00	0.00	19.00	1.285	8230	0.000	0.000	2998	2557	2012	2002	2022	0	0	0	0	0	0	14.81	14.48	14.03
6231	0.69	244.3	2998	2557	1991	2010	106.3	9.8	783	6231	0.00	0.00	0.00	0.000	38	0.000	0.000	2998	2557	2000	1990	2010	0	0	0	0	0	0	14.76	14.76	14.76
6530	0.69	245.4	2998	2558	1989	2012	75.6	9.9	836	6538	0.00	2.50	0.00	0.000	548	0.000	0.080	3009	1158	1999	1989	2009	0	0	0	0	0	0	14.80	14.49	14.79
6557	0.69	246.4	3009	1158	1990	2010	72.9	10.0	841	6565	0.00	2.47	1.90	0.288	9254	0.000	0.075	3009	2547	1987	1978	1997	0	0	0	0	0	0	14.58	14.52	14.27
6744	0.69	246.4	3009	2547	1990	2005	53.7	10.3	878	6752	0.00	2.45	1.92	0.308	8452	0.000	0.096	3009	3921	1988	1980	1996	0	0	0	0	0	0	14.81	14.52	14.26
6791	0.63	246.4	3009	3922	1988	2003	48.0	12.6	887	6798	0.17	2.35	0.00	0.000	5254	0.259	0.054	2971	2546	1995	1988	2003	0	0	0	0	0	0	14.36	14.58	14.54
6977	0.73	288.3	2972	2546	1989	2004	31.6	8.0	924	7010	0.00	0.00	28.95	0.343	8358	0.000	0.000	2971	2546	1819	1810	1828	0	0	0	0	0	0	14.83	14.56	14.29
7189	0.84	323.5	2970	2546	1816	1829	13.8	8.3	965	7216	0.20	2.50	22.67	0.288	10916	0.156	0.077	3040	1161	1678	1672	1685	0	0	0	0	0	0	14.50	14.46	14.33
7235	0.84	323.5	3040	1162	1675	1686	8.7	12.3	973	7242	0.00	2.50	0.00	0.000	1030	0.000	0.076	3039	2559	1679	1674	1685	0	0	0	0	0	0	14.55	14.48	14.58
7285	end climb: SURFACE_DEPTH_REACHED
state	7285	begin surface coast
7295	end surface coast: CONTROL_FINISHED_OK
state	7295	begin surface