Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 481 * 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 481 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 54 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 10 FILEMGR 2 VBD_MIN 900 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 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 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 0.059999999 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 110 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 10 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 4320

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 330

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 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

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 -7

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 481 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 54 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7407.000,-11308.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 9.72 MHEAD_RNG_PITCHd_Wd 206.9,3698,-26.1,-10.000,-28.16,996

_SM_ANGLEo -8.5 D_GRID 990

GPS2 060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 7.41,-1.839,-1.874,2,78,0 _24V_AH 12.21,171.690

FINISH1 7.4,1.027416,4 _10V_AH 12.41,0.000

FINISH2 7.1 FG_AHR_24Vo 0.000

RAFOS_CLK 302 FG_AHR_10Vo 0.000

RAFOS_FIX -7406.828125,-11300.039062,060918,232331,0,1,0.05 MEM 280788

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 13436,388

TT8_MAMPS 0.039697,0.264397 CAP_FILE_SIZE 69117,0

HUMID 50.90 CFSIZE 1024409600,962740224

INTERNAL_PRESSURE 8.19952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.80 SOUNDSPEED 1443.6

XPDR_PINGS 0 GPS 060918,235831,-7406.828,-11300.039,0,1001.0,0,53.2,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 488.7,11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 305 23.29 nil 0 0 0.00

Roll_motor 81 908 902.23 nil 0 0 0.00

VBD_pump_during_apogee 264 2892 9336.93 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 7701 2 255.48

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 19 420 100.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6417 2 183.97

TT8_Active 404 13 69.29

TT8_Sampling 882 34 380.99

TT8_CF8 133 52 87.55

TT8_Kalman 0 0 0.00

Analog_circuits 747 10 101.11

GPS_charging 0 0 0.00

Compass 560 7 52.13

RAFOS 0 0 0.00

Transponder 137 30 51.17

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

12.7 18.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

449.2 43.20 9000.00 0.0 0.00 0.00 43.20 0.0 0.06 1.00

462.3 35.80 9000.00 0.0 0.05 0.90 35.80 498.1 -0.56 1.00

475.6 16.00 18.00 493.6 -1.03 0.94 16.00 491.6 -1.49 1.00

488.7 14.40 11.40 500.1 -0.81 0.81 14.40 503.1 -0.12 1.00

484.2 14.70 9000.00 0.0 -0.13 0.97 14.70 0.0 -0.07 1.00

471.2 25.30 9000.00 0.0 -0.66 0.95 25.30 0.0 -0.82 1.00

19.1 19.70 9000.00 0.0 0.00 0.00 19.70 -0.6 0.01 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

8 end surface: CONTROL_FINISHED_OK

state 9 begin dive

12 -1.27 -64.7 2797 2270 2801 2732 0.0 0.0 0 20 0.00 0.08 -6.40 0.015 16390 0.000 0.908 2795 2305 3047 3077 3018 0 0 0 0 0 0 15.07 12.56 15.05

22 -1.27 -64.7 2797 2305 3078 3018 0.0 0.0 0 29 1.15 2.58 0.00 0.000 4356 0.054 0.103 2366 3720 3047 3076 3018 0 0 0 0 0 0 14.67 14.42 14.72

209 -1.27 -64.7 2367 3721 3078 3019 50.2 -20.0 27 217 0.00 2.42 0.00 0.000 1030 0.000 0.041 2366 2307 3047 3076 3018 0 0 0 0 0 0 14.72 14.69 14.76

554 -1.27 -64.7 2367 2308 3079 3019 122.8 -21.5 40 559 0.00 2.60 0.00 0.000 260 0.000 0.100 2356 3719 3047 3076 3018 0 0 0 0 0 0 15.14 14.50 15.16

790 -1.27 -64.7 2357 3720 3078 3019 175.8 -22.9 74 797 0.15 2.45 0.00 0.000 3078 0.290 0.042 2392 2290 3047 3076 3018 0 0 0 0 0 0 14.06 14.67 14.28

1198 -1.27 -64.7 2391 2294 3076 3018 257.5 -20.4 84 1203 0.00 2.65 0.00 0.000 260 0.000 0.099 2382 3723 3047 3077 3018 0 0 0 0 0 0 15.05 14.49 15.07

1259 -1.27 -64.7 2382 3724 3078 3018 271.1 -21.9 93 1268 0.00 2.45 0.00 0.000 1030 0.000 0.043 2382 2302 3046 3076 3017 0 0 0 0 0 0 14.73 14.69 14.76

1617 -1.27 -64.7 2382 2303 3077 3019 343.4 -20.1 99 1623 0.00 2.50 0.00 0.000 516 0.000 0.068 2382 902 3047 3076 3018 0 0 0 0 0 0 15.05 14.51 15.08

1679 -1.27 -64.7 2383 902 3078 3023 356.1 -20.0 108 1687 0.00 2.58 0.00 0.000 1030 0.000 0.068 2372 2305 3046 3076 3017 0 0 0 0 0 0 14.58 14.49 14.64

2037 -1.27 -64.7 2373 2306 3078 3019 423.5 -18.5 114 2043 0.00 2.55 0.00 0.000 516 0.000 0.068 2372 906 3047 3076 3018 0 0 0 0 0 0 15.05 14.45 15.08

2078 -1.27 -64.7 2373 907 3078 3019 431.2 -18.3 120 2085 0.10 2.55 0.00 0.000 3078 0.305 0.067 2384 2299 3046 3076 3017 0 0 0 0 0 0 14.06 14.49 14.26

2454 end dive: BOTTOM_OBSTACLE_DETECTED

state 2454 begin apogee

2460 -0.23 0.0 2386 2059 3078 3019 494.3 -16.7 129 2532 1.15 0.10 69.65 2.892 10246 0.160 0.161 2725 2122 2782 2815 2749 0 0 0 0 0 0 14.36 14.10 12.72

2533 end apogee: CONTROL_FINISHED_OK

state 2533 begin climb

2536 1.27 64.7 2727 2122 2816 2750 494.3 0.0 130 2619 1.58 2.75 75.38 2.798 10500 0.122 0.090 3207 3503 2517 2554 2481 0 0 0 0 0 0 14.15 13.24 12.21

2848 1.34 128.0 3206 3502 2543 2474 487.1 3.5 167 2928 0.00 2.45 71.03 2.787 9254 0.000 0.041 3221 2121 2259 2305 2214 0 0 0 0 0 0 14.38 14.32 12.35

3298 1.38 128.0 3215 2121 2295 2203 454.5 8.0 186 3304 0.00 2.60 0.00 0.000 324 0.000 0.097 3216 3503 2248 2295 2202 0 0 0 0 0 0 14.90 14.44 14.92

3346 1.41 128.0 3217 3503 2296 2204 450.3 8.7 193 3355 0.00 2.45 0.00 0.000 1094 0.000 0.046 3223 2103 2248 2294 2202 0 0 0 0 0 0 14.66 14.59 14.69

3718 1.43 147.8 3224 2103 2293 2202 420.5 8.0 201 3746 0.12 2.60 21.17 2.710 10788 0.126 0.089 3281 704 2177 2224 2130 0 0 0 0 0 0 14.76 14.52 13.16

3774 1.43 147.8 3280 704 2219 2130 415.2 9.7 209 3781 0.00 2.47 0.00 0.000 1030 0.000 0.057 3281 2098 2174 2221 2128 0 0 0 0 0 0 14.62 14.56 14.67

4137 1.43 147.8 3280 2098 2218 2125 374.6 11.4 216 4138 0.00 0.00 0.00 0.000 6 0.000 0.000 3281 2098 2171 2218 2125 0 0 0 0 0 0 15.09 15.11 15.11

4489 1.43 147.8 3282 2099 2219 2125 335.2 11.3 221 4495 0.00 2.58 0.00 0.000 260 0.000 0.096 3280 3516 2170 2217 2124 0 0 0 0 0 0 15.07 14.63 15.09

4516 1.43 147.8 3281 3517 2217 2124 331.9 11.8 225 4523 0.00 2.47 0.00 0.000 1030 0.000 0.044 3286 2090 2170 2217 2124 0 0 0 0 0 0 14.77 14.71 14.81

4908 1.43 147.8 3285 2091 2216 2124 288.4 10.9 236 4909 0.00 0.00 0.00 0.000 6 0.000 0.000 3285 2091 2169 2216 2123 0 0 0 0 0 0 15.09 15.11 15.11

5258 1.43 147.8 3290 2091 2215 2124 252.7 10.0 241 5265 0.00 2.55 0.00 0.000 516 0.000 0.090 3289 703 2169 2215 2123 0 0 0 0 0 0 15.17 14.54 15.19

5285 1.43 147.8 3288 703 2215 2124 250.0 9.8 245 5294 0.00 2.47 0.00 0.000 1030 0.000 0.056 3289 2112 2169 2215 2123 0 0 0 0 0 0 14.76 14.69 14.80

5678 1.43 147.8 3290 2112 2217 2124 207.9 10.9 256 5684 0.00 2.60 0.00 0.000 260 0.000 0.097 3289 3510 2168 2214 2123 0 0 0 0 0 0 15.08 14.53 15.11

5748 1.43 147.8 3288 3511 2214 2125 199.6 11.9 266 5755 0.12 2.45 0.00 0.000 5126 0.285 0.044 3264 2098 2168 2214 2123 0 0 0 0 0 0 14.24 14.69 14.45

6100 1.45 147.8 3265 2098 2216 2123 167.0 9.3 280 6105 0.00 2.60 0.00 0.000 324 0.000 0.099 3264 3508 2168 2214 2122 0 0 0 0 0 0 15.15 14.58 15.18

6174 1.45 147.8 3263 3508 2214 2123 159.3 10.0 291 6183 0.00 2.45 0.00 0.000 1030 0.000 0.045 3270 2098 2168 2214 2122 0 0 0 0 0 0 14.67 14.64 14.71

6518 1.48 147.8 3270 2099 2214 2123 129.5 8.6 304 6524 0.00 2.62 0.00 0.000 324 0.000 0.098 3271 3503 2168 2214 2122 0 0 0 0 0 0 15.17 14.51 15.19

6595 1.48 147.8 3270 3502 2214 2123 121.9 9.7 315 6603 0.00 2.45 0.00 0.000 1030 0.000 0.046 3271 2092 2168 2214 2122 0 0 0 0 0 0 14.70 14.64 14.75

6938 1.51 147.8 3270 2093 2214 2122 91.6 8.1 328 6944 0.00 2.62 0.00 0.000 324 0.000 0.095 3271 3503 2167 2213 2122 0 0 0 0 0 0 15.16 14.50 15.19

7086 1.56 187.7 3272 3502 2216 2122 78.9 5.9 349 7121 0.00 2.40 27.15 0.461 9254 0.000 0.045 3270 2092 2014 2067 1961 0 0 0 0 0 0 14.82 14.71 14.07

7470 1.56 187.7 3270 2092 2062 1952 38.5 10.5 368 7476 0.00 2.60 0.00 0.000 516 0.000 0.094 3271 694 2007 2063 1952 0 0 0 0 0 0 15.14 14.47 15.17

7498 1.57 187.7 3270 695 2062 1952 35.9 9.4 372 7505 0.08 2.50 0.00 0.000 3142 0.107 0.062 3308 2100 2007 2062 1952 0 0 0 0 0 0 14.52 14.58 14.62

7695 end climb: FINISH_DEPTH_REACHED

state 7695 begin subsurface finish

7700 0.01 4.3 3310 2101 2064 1951 7.4 14.4 382 7736 1.80 2.67 -25.27 0.005 20740 0.223 0.123 2802 3516 2767 2804 2731 0 0 0 0 0 0 14.27 12.67 14.62

7736 end subsurface finish: CONTROL_FINISHED_OK

state 7736 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	481	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	54	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	10	FILEMGR	2	VBD_MIN	900	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	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	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	0.059999999	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	110	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	060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7407.000,-11308.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	9.72	MHEAD_RNG_PITCHd_Wd	206.9,3698,-26.1,-10.000,-28.16,996
_SM_ANGLEo	-8.5	D_GRID	990
GPS2	060918,211544,-7406.6572,-11300.8115,0,3143.0,0,53.2,0.0,0.0,0,0.0

FREEZE	7.41,-1.839,-1.874,2,78,0	_24V_AH	12.21,171.690
FINISH1	7.4,1.027416,4	_10V_AH	12.41,0.000
FINISH2	7.1	FG_AHR_24Vo	0.000
RAFOS_CLK	302	FG_AHR_10Vo	0.000
RAFOS_FIX	-7406.828125,-11300.039062,060918,232331,0,1,0.05	MEM	280788
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	13436,388
TT8_MAMPS	0.039697,0.264397	CAP_FILE_SIZE	69117,0
HUMID	50.90	CFSIZE	1024409600,962740224
INTERNAL_PRESSURE	8.19952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.80	SOUNDSPEED	1443.6
XPDR_PINGS	0	GPS	060918,235831,-7406.828,-11300.039,0,1001.0,0,53.2,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	488.7,11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	305	23.29	nil	0	0	0.00
Roll_motor	81	908	902.23	nil	0	0	0.00
VBD_pump_during_apogee	264	2892	9336.93	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	7701	2	255.48
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	19	420	100.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6417	2	183.97
TT8_Active	404	13	69.29
TT8_Sampling	882	34	380.99
TT8_CF8	133	52	87.55
TT8_Kalman	0	0	0.00
Analog_circuits	747	10	101.11
GPS_charging	0	0	0.00
Compass	560	7	52.13
RAFOS	0	0	0.00
Transponder	137	30	51.17

		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
12.7	18.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
449.2	43.20	9000.00	0.0	0.00	0.00	43.20	0.0	0.06	1.00
462.3	35.80	9000.00	0.0	0.05	0.90	35.80	498.1	-0.56	1.00
475.6	16.00	18.00	493.6	-1.03	0.94	16.00	491.6	-1.49	1.00
488.7	14.40	11.40	500.1	-0.81	0.81	14.40	503.1	-0.12	1.00

484.2	14.70	9000.00	0.0	-0.13	0.97	14.70	0.0	-0.07	1.00
471.2	25.30	9000.00	0.0	-0.66	0.95	25.30	0.0	-0.82	1.00
19.1	19.70	9000.00	0.0	0.00	0.00	19.70	-0.6	0.01	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
8	end surface: CONTROL_FINISHED_OK
state	9	begin dive
12	-1.27	-64.7	2797	2270	2801	2732	0.0	0.0	0	20	0.00	0.08	-6.40	0.015	16390	0.000	0.908	2795	2305	3047	3077	3018	0	0	0	0	0	0	15.07	12.56	15.05
22	-1.27	-64.7	2797	2305	3078	3018	0.0	0.0	0	29	1.15	2.58	0.00	0.000	4356	0.054	0.103	2366	3720	3047	3076	3018	0	0	0	0	0	0	14.67	14.42	14.72
209	-1.27	-64.7	2367	3721	3078	3019	50.2	-20.0	27	217	0.00	2.42	0.00	0.000	1030	0.000	0.041	2366	2307	3047	3076	3018	0	0	0	0	0	0	14.72	14.69	14.76
554	-1.27	-64.7	2367	2308	3079	3019	122.8	-21.5	40	559	0.00	2.60	0.00	0.000	260	0.000	0.100	2356	3719	3047	3076	3018	0	0	0	0	0	0	15.14	14.50	15.16
790	-1.27	-64.7	2357	3720	3078	3019	175.8	-22.9	74	797	0.15	2.45	0.00	0.000	3078	0.290	0.042	2392	2290	3047	3076	3018	0	0	0	0	0	0	14.06	14.67	14.28
1198	-1.27	-64.7	2391	2294	3076	3018	257.5	-20.4	84	1203	0.00	2.65	0.00	0.000	260	0.000	0.099	2382	3723	3047	3077	3018	0	0	0	0	0	0	15.05	14.49	15.07
1259	-1.27	-64.7	2382	3724	3078	3018	271.1	-21.9	93	1268	0.00	2.45	0.00	0.000	1030	0.000	0.043	2382	2302	3046	3076	3017	0	0	0	0	0	0	14.73	14.69	14.76
1617	-1.27	-64.7	2382	2303	3077	3019	343.4	-20.1	99	1623	0.00	2.50	0.00	0.000	516	0.000	0.068	2382	902	3047	3076	3018	0	0	0	0	0	0	15.05	14.51	15.08
1679	-1.27	-64.7	2383	902	3078	3023	356.1	-20.0	108	1687	0.00	2.58	0.00	0.000	1030	0.000	0.068	2372	2305	3046	3076	3017	0	0	0	0	0	0	14.58	14.49	14.64
2037	-1.27	-64.7	2373	2306	3078	3019	423.5	-18.5	114	2043	0.00	2.55	0.00	0.000	516	0.000	0.068	2372	906	3047	3076	3018	0	0	0	0	0	0	15.05	14.45	15.08
2078	-1.27	-64.7	2373	907	3078	3019	431.2	-18.3	120	2085	0.10	2.55	0.00	0.000	3078	0.305	0.067	2384	2299	3046	3076	3017	0	0	0	0	0	0	14.06	14.49	14.26
2454	end dive: BOTTOM_OBSTACLE_DETECTED
state	2454	begin apogee
2460	-0.23	0.0	2386	2059	3078	3019	494.3	-16.7	129	2532	1.15	0.10	69.65	2.892	10246	0.160	0.161	2725	2122	2782	2815	2749	0	0	0	0	0	0	14.36	14.10	12.72
2533	end apogee: CONTROL_FINISHED_OK
state	2533	begin climb
2536	1.27	64.7	2727	2122	2816	2750	494.3	0.0	130	2619	1.58	2.75	75.38	2.798	10500	0.122	0.090	3207	3503	2517	2554	2481	0	0	0	0	0	0	14.15	13.24	12.21
2848	1.34	128.0	3206	3502	2543	2474	487.1	3.5	167	2928	0.00	2.45	71.03	2.787	9254	0.000	0.041	3221	2121	2259	2305	2214	0	0	0	0	0	0	14.38	14.32	12.35
3298	1.38	128.0	3215	2121	2295	2203	454.5	8.0	186	3304	0.00	2.60	0.00	0.000	324	0.000	0.097	3216	3503	2248	2295	2202	0	0	0	0	0	0	14.90	14.44	14.92
3346	1.41	128.0	3217	3503	2296	2204	450.3	8.7	193	3355	0.00	2.45	0.00	0.000	1094	0.000	0.046	3223	2103	2248	2294	2202	0	0	0	0	0	0	14.66	14.59	14.69
3718	1.43	147.8	3224	2103	2293	2202	420.5	8.0	201	3746	0.12	2.60	21.17	2.710	10788	0.126	0.089	3281	704	2177	2224	2130	0	0	0	0	0	0	14.76	14.52	13.16
3774	1.43	147.8	3280	704	2219	2130	415.2	9.7	209	3781	0.00	2.47	0.00	0.000	1030	0.000	0.057	3281	2098	2174	2221	2128	0	0	0	0	0	0	14.62	14.56	14.67
4137	1.43	147.8	3280	2098	2218	2125	374.6	11.4	216	4138	0.00	0.00	0.00	0.000	6	0.000	0.000	3281	2098	2171	2218	2125	0	0	0	0	0	0	15.09	15.11	15.11
4489	1.43	147.8	3282	2099	2219	2125	335.2	11.3	221	4495	0.00	2.58	0.00	0.000	260	0.000	0.096	3280	3516	2170	2217	2124	0	0	0	0	0	0	15.07	14.63	15.09
4516	1.43	147.8	3281	3517	2217	2124	331.9	11.8	225	4523	0.00	2.47	0.00	0.000	1030	0.000	0.044	3286	2090	2170	2217	2124	0	0	0	0	0	0	14.77	14.71	14.81
4908	1.43	147.8	3285	2091	2216	2124	288.4	10.9	236	4909	0.00	0.00	0.00	0.000	6	0.000	0.000	3285	2091	2169	2216	2123	0	0	0	0	0	0	15.09	15.11	15.11
5258	1.43	147.8	3290	2091	2215	2124	252.7	10.0	241	5265	0.00	2.55	0.00	0.000	516	0.000	0.090	3289	703	2169	2215	2123	0	0	0	0	0	0	15.17	14.54	15.19
5285	1.43	147.8	3288	703	2215	2124	250.0	9.8	245	5294	0.00	2.47	0.00	0.000	1030	0.000	0.056	3289	2112	2169	2215	2123	0	0	0	0	0	0	14.76	14.69	14.80
5678	1.43	147.8	3290	2112	2217	2124	207.9	10.9	256	5684	0.00	2.60	0.00	0.000	260	0.000	0.097	3289	3510	2168	2214	2123	0	0	0	0	0	0	15.08	14.53	15.11
5748	1.43	147.8	3288	3511	2214	2125	199.6	11.9	266	5755	0.12	2.45	0.00	0.000	5126	0.285	0.044	3264	2098	2168	2214	2123	0	0	0	0	0	0	14.24	14.69	14.45
6100	1.45	147.8	3265	2098	2216	2123	167.0	9.3	280	6105	0.00	2.60	0.00	0.000	324	0.000	0.099	3264	3508	2168	2214	2122	0	0	0	0	0	0	15.15	14.58	15.18
6174	1.45	147.8	3263	3508	2214	2123	159.3	10.0	291	6183	0.00	2.45	0.00	0.000	1030	0.000	0.045	3270	2098	2168	2214	2122	0	0	0	0	0	0	14.67	14.64	14.71
6518	1.48	147.8	3270	2099	2214	2123	129.5	8.6	304	6524	0.00	2.62	0.00	0.000	324	0.000	0.098	3271	3503	2168	2214	2122	0	0	0	0	0	0	15.17	14.51	15.19
6595	1.48	147.8	3270	3502	2214	2123	121.9	9.7	315	6603	0.00	2.45	0.00	0.000	1030	0.000	0.046	3271	2092	2168	2214	2122	0	0	0	0	0	0	14.70	14.64	14.75
6938	1.51	147.8	3270	2093	2214	2122	91.6	8.1	328	6944	0.00	2.62	0.00	0.000	324	0.000	0.095	3271	3503	2167	2213	2122	0	0	0	0	0	0	15.16	14.50	15.19
7086	1.56	187.7	3272	3502	2216	2122	78.9	5.9	349	7121	0.00	2.40	27.15	0.461	9254	0.000	0.045	3270	2092	2014	2067	1961	0	0	0	0	0	0	14.82	14.71	14.07
7470	1.56	187.7	3270	2092	2062	1952	38.5	10.5	368	7476	0.00	2.60	0.00	0.000	516	0.000	0.094	3271	694	2007	2063	1952	0	0	0	0	0	0	15.14	14.47	15.17
7498	1.57	187.7	3270	695	2062	1952	35.9	9.4	372	7505	0.08	2.50	0.00	0.000	3142	0.107	0.062	3308	2100	2007	2062	1952	0	0	0	0	0	0	14.52	14.58	14.62
7695	end climb: FINISH_DEPTH_REACHED
state	7695	begin subsurface finish
7700	0.01	4.3	3310	2101	2064	1951	7.4	14.4	382	7736	1.80	2.67	-25.27	0.005	20740	0.223	0.123	2802	3516	2767	2804	2731	0	0	0	0	0	0	14.27	12.67	14.62
7736	end subsurface finish: CONTROL_FINISHED_OK
state	7736	begin surface