Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 55 * 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 10

DIVE 55 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 63 ALTIM_FREQUENCY 13

D_TGT 800 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 45 ALTIM_PULSE 1

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 3 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 300 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 340 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 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -3 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 125 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 783

AD7714Ch0Gain 1 D_TGT 800 N_NOCOMM 3 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 10 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 783 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 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 300

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 340

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 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 -3

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 55 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 63 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 45 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 300118,232632,-7353.9111,-11200.4492,3,1.0,4,52.8,0.2,0.0,10,7.7 SPEED_LIMITS 0.154,0.222

_CALLS 4 TGT_NAME E1N

_XMS_NAKs 0 TGT_LATLONG -7354.000,-11154.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 355.8,3383,-25.8,-8.889,-30.00,934

_SM_ANGLEo -58.5 D_GRID 609

GPS2 300118,233823,-7353.8857,-11200.5742,3,1.0,5,52.8,0.2,0.0,9,5.3

Post-dive calculations and measurements:

FREEZE 0.11,-1.393,-1.861,2,1,0 ALTIM_BOTTOM_PING 611.8,24.2

FINISH 0.1,1.027298 _24V_AH 12.17,27.581

SM_CCo 7896,198.15,0.226,0,0,1573,350.17 _10V_AH 12.53,0.000

SM_GC 0.76,8.68,0.47,198.15,0.080,0.093,0.226,197,2812,1573,-7.88,-0.48,350.17,0,0,0,0,0,0,14.64,14.66,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 317 FG_AHR_10Vo 0.000

RAFOS 0,1517356867,0.033333,0.018611,109,61,61,59,58,58,624,228,190,115,175,132 MEM 280324

RAFOS_FIX -7356.670898,-11148.098633,310118,000056,3,129,3.75 DATA_FILE_SIZE 23421,699

IRIDIUM_FIX -7356.27,-11202.52,300118,233146 CAP_FILE_SIZE 101073,0

TT8_MAMPS 0.038199,0.20972 CFSIZE 1024409600,1013776384

HUMID 45.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1448.0

TCM_TEMP 13.00 CURRENT 0.024,13.92,1

XPDR_PINGS 0 GPS 310118,015430,-7353.107,-11157.742,17,1.9,17,52.7,0.9,294.7,4,8.0

ALTIM_TOP_PING 13.5,14.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 487 140.70 nil 0 0 0.00

Roll_motor 49 121 73.94 nil 0 0 0.00

VBD_pump_during_apogee 260 2945 9347.14 nil 0 0 0.00

VBD_pump_during_surface 198 225 544.21 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 7874 4 415.02

Iridium_during_xfer 465 198 1122.88 nil 0 0 0.00

Transponder_ping 32 420 167.40 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.73

TT8 0 0 0.00

LPSleep 6114 2 176.97

TT8_Active 697 10 95.03

TT8_Sampling 1946 30 740.09

TT8_CF8 64 51 41.46

TT8_Kalman 0 0 0.00

Analog_circuits 1701 10 215.39

GPS_charging 0 0 0.00

Compass 1004 6 84.84

RAFOS 720 1 13.53

Transponder 231 30 87.06

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

8.5 9.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

16.9 18.50 9000.00 0.0 0.00 0.00 18.50 0.0 1.06 1.00

25.5 27.20 27.30 0.0 1.03 1.00 27.20 0.0 1.01 1.00

33.6 35.90 35.80 0.0 1.04 1.00 35.90 0.0 1.07 1.00

43.4 45.80 45.90 0.0 1.03 1.00 45.80 0.0 1.01 1.00

574.3 62.60 9000.00 0.0 0.04 0.88 62.60 0.0 0.03 1.00

582.9 52.80 9000.00 0.0 0.02 0.65 52.80 635.7 -1.14 1.00

591.4 44.00 43.80 635.2 -1.09 1.00 44.00 635.4 -1.04 1.00

600.3 38.00 37.50 637.8 -0.85 0.99 38.00 638.3 -0.67 1.00

611.8 23.40 24.20 636.0 -1.03 0.97 23.40 635.2 -1.27 1.00

613.7 20.80 20.80 634.5 -1.27 1.00 0.00 0.0 0.00 0.00

188.5 195.50 9000.00 0.0 -0.41 1.00 195.50 0.0 -0.41 1.00

126.7 131.90 9000.00 0.0 -0.30 0.78 131.90 -5.2 1.03 1.00

118.2 122.50 122.80 -4.6 1.04 1.00 122.50 -4.3 1.11 1.00

92.1 95.30 95.30 -3.2 1.05 1.00 95.30 -3.2 1.04 1.00

83.8 88.40 87.80 -4.0 1.00 1.00 88.40 -4.6 0.83 1.00

74.6 77.10 77.70 -3.1 1.04 0.99 77.10 -2.5 1.23 1.00

66.0 69.10 68.70 -2.7 1.09 0.99 69.10 -3.1 0.93 1.00

57.3 59.70 59.90 -2.6 1.02 1.00 59.70 -2.4 1.08 1.00

48.8 51.60 51.40 -2.6 1.02 1.00 51.60 -2.8 0.95 1.00

39.9 41.10 41.50 -1.6 1.06 1.00 41.10 -1.2 1.18 1.00

30.6 31.10 31.00 -0.4 1.12 1.00 31.10 -0.5 1.08 1.00

22.2 24.50 24.10 -1.9 0.94 0.99 24.50 -2.3 0.79 1.00

13.5 13.70 14.30 -0.8 1.02 0.98 13.70 -0.2 1.24 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.24 -55.0 194 2813 486 474 0.0 0.0 0 181 0.00 0.00 -167.60 0.002 16390 0.000 0.000 193 2814 3188 3195 3182 0 0 0 0 0 0 14.54 13.48 14.54

183 -1.32 -117.8 194 2814 3197 3180 2.0 -2.0 17 212 11.65 1.95 -9.43 0.011 18724 0.487 0.122 2291 3882 3439 3434 3444 0 0 0 0 0 0 14.11 13.30 14.42

335 -1.32 -117.8 2291 3883 3437 3448 31.7 -20.7 47 342 0.00 1.80 0.00 0.000 1030 0.000 0.046 2291 2813 3442 3437 3447 0 0 0 0 0 0 14.49 14.46 14.51

647 -1.32 -117.8 2291 2815 3438 3449 91.7 -19.3 79 652 0.00 2.35 0.00 0.000 516 0.000 0.050 2291 1410 3442 3437 3447 0 0 0 0 0 0 14.69 14.50 14.69

696 -1.32 -117.8 2289 1411 3438 3449 101.0 -18.3 89 702 0.00 2.42 0.00 0.000 1030 0.000 0.070 2282 2778 3442 3437 3448 0 0 0 0 0 0 14.54 14.47 14.57

1006 -1.32 -117.8 2282 2779 3438 3449 160.2 -19.2 121 1013 0.00 2.03 0.00 0.000 260 0.000 0.091 2278 3910 3442 3437 3448 0 0 0 0 0 0 14.77 14.50 14.77

1047 -1.32 -117.8 2278 3910 3438 3446 168.6 -20.9 129 1054 0.00 1.85 0.00 0.000 1030 0.000 0.047 2278 2804 3442 3437 3448 0 0 0 0 0 0 14.62 14.58 14.63

1358 -1.32 -117.8 2278 2804 3438 3448 228.4 -19.2 161 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2804 3442 3437 3448 0 0 0 0 0 0 14.79 14.80 14.79

1658 -1.32 -117.8 2278 2804 3438 3448 284.0 -18.6 191 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2804 3442 3437 3447 0 0 0 0 0 0 14.82 14.81 14.81

1969 -1.32 -117.8 2278 2805 3437 3448 340.7 -18.3 211 1969 0.00 0.00 0.00 0.000 6 0.000 0.000 2278 2804 3442 3437 3448 0 0 0 0 0 0 14.81 14.81 14.81

2269 -1.32 -117.8 2278 2804 3438 3448 394.3 -17.3 226 2274 0.00 2.33 0.00 0.000 516 0.000 0.048 2278 1407 3442 3437 3448 0 0 0 0 0 0 14.81 14.59 14.82

2297 -1.32 -117.8 2279 1406 3439 3447 399.4 -16.5 232 2304 0.00 2.47 0.00 0.000 1030 0.000 0.071 2277 2804 3447 3447 3448 0 0 0 0 0 0 14.65 14.59 14.69

2608 -1.32 -117.8 2278 2804 3438 3448 452.2 -17.0 249 2614 0.00 1.95 0.00 0.000 260 0.000 0.092 2275 3904 3445 3443 3448 0 0 0 0 0 0 14.85 14.59 14.85

2648 -1.32 -117.8 2273 3904 3439 3448 459.5 -18.5 257 2656 0.10 1.83 0.00 0.000 3078 0.337 0.047 2299 2808 3442 3437 3447 0 0 0 0 0 0 14.40 14.66 14.61

2970 -1.32 -117.8 2300 2807 3438 3447 510.7 -15.7 275 2976 0.00 2.35 0.00 0.000 516 0.000 0.050 2299 1394 3442 3437 3447 0 0 0 0 0 0 14.83 14.63 14.83

3039 -1.32 -117.8 2299 1395 3437 3449 521.3 -15.0 289 3046 0.00 2.47 0.00 0.000 1030 0.000 0.072 2299 2797 3442 3437 3447 0 0 0 0 0 0 14.68 14.60 14.70

3420 -1.32 -117.8 2300 2798 3437 3449 578.8 -15.0 305 3427 0.00 1.98 0.00 0.000 260 0.000 0.090 2292 3910 3442 3437 3448 0 0 0 0 0 0 14.90 14.60 14.88

3571 -1.32 -117.8 2291 3911 3437 3449 602.7 -16.6 335 3577 0.00 1.85 0.00 0.000 1030 0.000 0.048 2292 2797 3441 3437 3446 0 0 0 0 0 0 14.71 14.69 14.73

3630 end dive: TARGET_DEPTH_EXCEEDED

state 3631 begin apogee

3634 -0.23 0.0 2293 2552 3439 3448 611.8 -14.8 342 3764 1.42 0.00 127.03 2.945 10246 0.308 0.000 2649 2551 2965 2964 2967 0 0 0 0 0 0 14.44 13.62 12.61

3765 end apogee: CONTROL_FINISHED_OK

state 3765 begin climb

3766 1.32 117.8 2651 2551 2965 2967 615.1 0.0 346 3906 1.73 0.00 133.75 2.867 10502 0.164 0.000 3142 2552 2495 2487 2504 0 0 0 0 0 0 13.57 13.13 12.17

4262 1.32 117.8 3143 2552 2474 2494 542.4 16.1 378 4267 0.00 2.50 0.00 0.000 260 0.000 0.094 3142 3907 2484 2473 2495 0 0 0 0 0 0 14.30 14.09 14.30

4311 1.32 117.8 3142 3908 2474 2496 533.7 17.8 388 4317 0.00 2.35 0.00 0.000 1030 0.000 0.057 3152 2557 2483 2473 2494 0 0 0 0 0 0 14.24 14.19 14.26

4691 1.32 117.8 3153 2557 2472 2493 469.8 16.8 405 4691 0.00 0.00 0.00 0.000 6 0.000 0.000 3152 2557 2482 2471 2493 0 0 0 0 0 0 14.59 14.59 14.59

4991 1.32 117.8 3153 2558 2472 2494 420.1 16.3 420 4997 0.00 2.45 0.00 0.000 260 0.000 0.094 3152 3897 2482 2471 2493 0 0 0 0 0 0 14.69 14.44 14.69

5026 1.32 117.8 3153 3898 2472 2494 413.9 17.7 427 5033 0.00 2.33 0.00 0.000 1030 0.000 0.057 3162 2556 2481 2470 2493 0 0 0 0 0 0 14.52 14.49 14.54

5331 1.32 117.8 3163 2556 2472 2493 363.3 16.2 443 5337 0.00 2.47 0.00 0.000 516 0.000 0.070 3173 1157 2481 2470 2493 0 0 0 0 0 0 14.75 14.50 14.75

5416 1.32 117.8 3174 1157 2471 2492 349.9 15.3 460 5422 0.00 2.45 0.00 0.000 1030 0.000 0.073 3173 2559 2480 2470 2491 0 0 0 0 0 0 14.62 14.53 14.63

5731 1.32 117.8 3171 2559 2471 2491 300.1 15.6 478 5732 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2558 2481 2470 2492 0 0 0 0 0 0 14.80 14.81 14.79

6031 1.32 117.8 3173 2560 2471 2493 254.1 14.9 507 6032 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2559 2481 2470 2492 0 0 0 0 0 0 14.82 14.82 14.82

6331 1.32 117.8 3173 2560 2471 2493 209.2 14.6 537 6338 0.00 2.47 0.00 0.000 516 0.000 0.069 3183 1155 2481 2470 2492 0 0 0 0 0 0 14.83 14.57 14.85

6392 1.32 117.8 3184 1155 2471 2490 200.3 14.4 549 6399 0.00 2.45 0.00 0.000 1030 0.000 0.073 3184 2546 2481 2471 2491 0 0 0 0 0 0 14.66 14.60 14.68

6702 1.32 117.8 3184 2545 2471 2491 154.5 14.8 581 6704 0.15 0.00 0.00 0.000 4102 0.352 0.000 3155 2546 2480 2470 2491 0 0 0 0 0 0 14.43 14.70 14.68

7002 1.32 117.8 3163 2545 2471 2491 115.7 12.3 611 7003 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2545 2480 2470 2491 0 0 0 0 0 0 14.86 14.86 14.86

7302 1.32 117.8 3155 2546 2471 2492 75.8 13.2 641 7303 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2546 2480 2470 2491 0 0 0 0 0 0 14.87 14.87 14.88

7602 1.32 117.8 3155 2546 2471 2490 38.6 12.9 671 7603 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2545 2480 2470 2490 0 0 0 0 0 0 14.87 14.88 14.87

7872 end climb: SURFACE_DEPTH_REACHED

state 7872 begin surface coast

7882 end surface coast: CONTROL_FINISHED_OK

state 7882 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	10
DIVE	55	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	63	ALTIM_FREQUENCY	13
D_TGT	800	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	45	ALTIM_PULSE	1
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	3	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	300	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	340	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	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-3	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	125	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	783

GPS1	300118,232632,-7353.9111,-11200.4492,3,1.0,4,52.8,0.2,0.0,10,7.7	SPEED_LIMITS	0.154,0.222
_CALLS	4	TGT_NAME	E1N
_XMS_NAKs	0	TGT_LATLONG	-7354.000,-11154.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	355.8,3383,-25.8,-8.889,-30.00,934
_SM_ANGLEo	-58.5	D_GRID	609
GPS2	300118,233823,-7353.8857,-11200.5742,3,1.0,5,52.8,0.2,0.0,9,5.3

FREEZE	0.11,-1.393,-1.861,2,1,0	ALTIM_BOTTOM_PING	611.8,24.2
FINISH	0.1,1.027298	_24V_AH	12.17,27.581
SM_CCo	7896,198.15,0.226,0,0,1573,350.17	_10V_AH	12.53,0.000
SM_GC	0.76,8.68,0.47,198.15,0.080,0.093,0.226,197,2812,1573,-7.88,-0.48,350.17,0,0,0,0,0,0,14.64,14.66,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	317	FG_AHR_10Vo	0.000
RAFOS	0,1517356867,0.033333,0.018611,109,61,61,59,58,58,624,228,190,115,175,132	MEM	280324
RAFOS_FIX	-7356.670898,-11148.098633,310118,000056,3,129,3.75	DATA_FILE_SIZE	23421,699
IRIDIUM_FIX	-7356.27,-11202.52,300118,233146	CAP_FILE_SIZE	101073,0
TT8_MAMPS	0.038199,0.20972	CFSIZE	1024409600,1013776384
HUMID	45.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1448.0
TCM_TEMP	13.00	CURRENT	0.024,13.92,1
XPDR_PINGS	0	GPS	310118,015430,-7353.107,-11157.742,17,1.9,17,52.7,0.9,294.7,4,8.0
ALTIM_TOP_PING	13.5,14.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	487	140.70	nil	0	0	0.00
Roll_motor	49	121	73.94	nil	0	0	0.00
VBD_pump_during_apogee	260	2945	9347.14	nil	0	0	0.00
VBD_pump_during_surface	198	225	544.21	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	7874	4	415.02
Iridium_during_xfer	465	198	1122.88	nil	0	0	0.00
Transponder_ping	32	420	167.40	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.73
TT8	0	0	0.00
LPSleep	6114	2	176.97
TT8_Active	697	10	95.03
TT8_Sampling	1946	30	740.09
TT8_CF8	64	51	41.46
TT8_Kalman	0	0	0.00
Analog_circuits	1701	10	215.39
GPS_charging	0	0	0.00
Compass	1004	6	84.84
RAFOS	720	1	13.53
Transponder	231	30	87.06

		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
8.5	9.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
16.9	18.50	9000.00	0.0	0.00	0.00	18.50	0.0	1.06	1.00
25.5	27.20	27.30	0.0	1.03	1.00	27.20	0.0	1.01	1.00
33.6	35.90	35.80	0.0	1.04	1.00	35.90	0.0	1.07	1.00
43.4	45.80	45.90	0.0	1.03	1.00	45.80	0.0	1.01	1.00
574.3	62.60	9000.00	0.0	0.04	0.88	62.60	0.0	0.03	1.00
582.9	52.80	9000.00	0.0	0.02	0.65	52.80	635.7	-1.14	1.00
591.4	44.00	43.80	635.2	-1.09	1.00	44.00	635.4	-1.04	1.00
600.3	38.00	37.50	637.8	-0.85	0.99	38.00	638.3	-0.67	1.00
611.8	23.40	24.20	636.0	-1.03	0.97	23.40	635.2	-1.27	1.00
613.7	20.80	20.80	634.5	-1.27	1.00	0.00	0.0	0.00	0.00

188.5	195.50	9000.00	0.0	-0.41	1.00	195.50	0.0	-0.41	1.00
126.7	131.90	9000.00	0.0	-0.30	0.78	131.90	-5.2	1.03	1.00
118.2	122.50	122.80	-4.6	1.04	1.00	122.50	-4.3	1.11	1.00
92.1	95.30	95.30	-3.2	1.05	1.00	95.30	-3.2	1.04	1.00
83.8	88.40	87.80	-4.0	1.00	1.00	88.40	-4.6	0.83	1.00
74.6	77.10	77.70	-3.1	1.04	0.99	77.10	-2.5	1.23	1.00
66.0	69.10	68.70	-2.7	1.09	0.99	69.10	-3.1	0.93	1.00
57.3	59.70	59.90	-2.6	1.02	1.00	59.70	-2.4	1.08	1.00
48.8	51.60	51.40	-2.6	1.02	1.00	51.60	-2.8	0.95	1.00
39.9	41.10	41.50	-1.6	1.06	1.00	41.10	-1.2	1.18	1.00
30.6	31.10	31.00	-0.4	1.12	1.00	31.10	-0.5	1.08	1.00
22.2	24.50	24.10	-1.9	0.94	0.99	24.50	-2.3	0.79	1.00
13.5	13.70	14.30	-0.8	1.02	0.98	13.70	-0.2	1.24	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.24	-55.0	194	2813	486	474	0.0	0.0	0	181	0.00	0.00	-167.60	0.002	16390	0.000	0.000	193	2814	3188	3195	3182	0	0	0	0	0	0	14.54	13.48	14.54
183	-1.32	-117.8	194	2814	3197	3180	2.0	-2.0	17	212	11.65	1.95	-9.43	0.011	18724	0.487	0.122	2291	3882	3439	3434	3444	0	0	0	0	0	0	14.11	13.30	14.42
335	-1.32	-117.8	2291	3883	3437	3448	31.7	-20.7	47	342	0.00	1.80	0.00	0.000	1030	0.000	0.046	2291	2813	3442	3437	3447	0	0	0	0	0	0	14.49	14.46	14.51
647	-1.32	-117.8	2291	2815	3438	3449	91.7	-19.3	79	652	0.00	2.35	0.00	0.000	516	0.000	0.050	2291	1410	3442	3437	3447	0	0	0	0	0	0	14.69	14.50	14.69
696	-1.32	-117.8	2289	1411	3438	3449	101.0	-18.3	89	702	0.00	2.42	0.00	0.000	1030	0.000	0.070	2282	2778	3442	3437	3448	0	0	0	0	0	0	14.54	14.47	14.57
1006	-1.32	-117.8	2282	2779	3438	3449	160.2	-19.2	121	1013	0.00	2.03	0.00	0.000	260	0.000	0.091	2278	3910	3442	3437	3448	0	0	0	0	0	0	14.77	14.50	14.77
1047	-1.32	-117.8	2278	3910	3438	3446	168.6	-20.9	129	1054	0.00	1.85	0.00	0.000	1030	0.000	0.047	2278	2804	3442	3437	3448	0	0	0	0	0	0	14.62	14.58	14.63
1358	-1.32	-117.8	2278	2804	3438	3448	228.4	-19.2	161	1358	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2804	3442	3437	3448	0	0	0	0	0	0	14.79	14.80	14.79
1658	-1.32	-117.8	2278	2804	3438	3448	284.0	-18.6	191	1658	0.00	0.00	0.00	0.000	6	0.000	0.000	2277	2804	3442	3437	3447	0	0	0	0	0	0	14.82	14.81	14.81
1969	-1.32	-117.8	2278	2805	3437	3448	340.7	-18.3	211	1969	0.00	0.00	0.00	0.000	6	0.000	0.000	2278	2804	3442	3437	3448	0	0	0	0	0	0	14.81	14.81	14.81
2269	-1.32	-117.8	2278	2804	3438	3448	394.3	-17.3	226	2274	0.00	2.33	0.00	0.000	516	0.000	0.048	2278	1407	3442	3437	3448	0	0	0	0	0	0	14.81	14.59	14.82
2297	-1.32	-117.8	2279	1406	3439	3447	399.4	-16.5	232	2304	0.00	2.47	0.00	0.000	1030	0.000	0.071	2277	2804	3447	3447	3448	0	0	0	0	0	0	14.65	14.59	14.69
2608	-1.32	-117.8	2278	2804	3438	3448	452.2	-17.0	249	2614	0.00	1.95	0.00	0.000	260	0.000	0.092	2275	3904	3445	3443	3448	0	0	0	0	0	0	14.85	14.59	14.85
2648	-1.32	-117.8	2273	3904	3439	3448	459.5	-18.5	257	2656	0.10	1.83	0.00	0.000	3078	0.337	0.047	2299	2808	3442	3437	3447	0	0	0	0	0	0	14.40	14.66	14.61
2970	-1.32	-117.8	2300	2807	3438	3447	510.7	-15.7	275	2976	0.00	2.35	0.00	0.000	516	0.000	0.050	2299	1394	3442	3437	3447	0	0	0	0	0	0	14.83	14.63	14.83
3039	-1.32	-117.8	2299	1395	3437	3449	521.3	-15.0	289	3046	0.00	2.47	0.00	0.000	1030	0.000	0.072	2299	2797	3442	3437	3447	0	0	0	0	0	0	14.68	14.60	14.70
3420	-1.32	-117.8	2300	2798	3437	3449	578.8	-15.0	305	3427	0.00	1.98	0.00	0.000	260	0.000	0.090	2292	3910	3442	3437	3448	0	0	0	0	0	0	14.90	14.60	14.88
3571	-1.32	-117.8	2291	3911	3437	3449	602.7	-16.6	335	3577	0.00	1.85	0.00	0.000	1030	0.000	0.048	2292	2797	3441	3437	3446	0	0	0	0	0	0	14.71	14.69	14.73
3630	end dive: TARGET_DEPTH_EXCEEDED
state	3631	begin apogee
3634	-0.23	0.0	2293	2552	3439	3448	611.8	-14.8	342	3764	1.42	0.00	127.03	2.945	10246	0.308	0.000	2649	2551	2965	2964	2967	0	0	0	0	0	0	14.44	13.62	12.61
3765	end apogee: CONTROL_FINISHED_OK
state	3765	begin climb
3766	1.32	117.8	2651	2551	2965	2967	615.1	0.0	346	3906	1.73	0.00	133.75	2.867	10502	0.164	0.000	3142	2552	2495	2487	2504	0	0	0	0	0	0	13.57	13.13	12.17
4262	1.32	117.8	3143	2552	2474	2494	542.4	16.1	378	4267	0.00	2.50	0.00	0.000	260	0.000	0.094	3142	3907	2484	2473	2495	0	0	0	0	0	0	14.30	14.09	14.30
4311	1.32	117.8	3142	3908	2474	2496	533.7	17.8	388	4317	0.00	2.35	0.00	0.000	1030	0.000	0.057	3152	2557	2483	2473	2494	0	0	0	0	0	0	14.24	14.19	14.26
4691	1.32	117.8	3153	2557	2472	2493	469.8	16.8	405	4691	0.00	0.00	0.00	0.000	6	0.000	0.000	3152	2557	2482	2471	2493	0	0	0	0	0	0	14.59	14.59	14.59
4991	1.32	117.8	3153	2558	2472	2494	420.1	16.3	420	4997	0.00	2.45	0.00	0.000	260	0.000	0.094	3152	3897	2482	2471	2493	0	0	0	0	0	0	14.69	14.44	14.69
5026	1.32	117.8	3153	3898	2472	2494	413.9	17.7	427	5033	0.00	2.33	0.00	0.000	1030	0.000	0.057	3162	2556	2481	2470	2493	0	0	0	0	0	0	14.52	14.49	14.54
5331	1.32	117.8	3163	2556	2472	2493	363.3	16.2	443	5337	0.00	2.47	0.00	0.000	516	0.000	0.070	3173	1157	2481	2470	2493	0	0	0	0	0	0	14.75	14.50	14.75
5416	1.32	117.8	3174	1157	2471	2492	349.9	15.3	460	5422	0.00	2.45	0.00	0.000	1030	0.000	0.073	3173	2559	2480	2470	2491	0	0	0	0	0	0	14.62	14.53	14.63
5731	1.32	117.8	3171	2559	2471	2491	300.1	15.6	478	5732	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2558	2481	2470	2492	0	0	0	0	0	0	14.80	14.81	14.79
6031	1.32	117.8	3173	2560	2471	2493	254.1	14.9	507	6032	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2559	2481	2470	2492	0	0	0	0	0	0	14.82	14.82	14.82
6331	1.32	117.8	3173	2560	2471	2493	209.2	14.6	537	6338	0.00	2.47	0.00	0.000	516	0.000	0.069	3183	1155	2481	2470	2492	0	0	0	0	0	0	14.83	14.57	14.85
6392	1.32	117.8	3184	1155	2471	2490	200.3	14.4	549	6399	0.00	2.45	0.00	0.000	1030	0.000	0.073	3184	2546	2481	2471	2491	0	0	0	0	0	0	14.66	14.60	14.68
6702	1.32	117.8	3184	2545	2471	2491	154.5	14.8	581	6704	0.15	0.00	0.00	0.000	4102	0.352	0.000	3155	2546	2480	2470	2491	0	0	0	0	0	0	14.43	14.70	14.68
7002	1.32	117.8	3163	2545	2471	2491	115.7	12.3	611	7003	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	2545	2480	2470	2491	0	0	0	0	0	0	14.86	14.86	14.86
7302	1.32	117.8	3155	2546	2471	2492	75.8	13.2	641	7303	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	2546	2480	2470	2491	0	0	0	0	0	0	14.87	14.87	14.88
7602	1.32	117.8	3155	2546	2471	2490	38.6	12.9	671	7603	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	2545	2480	2470	2490	0	0	0	0	0	0	14.87	14.88	14.87
7872	end climb: SURFACE_DEPTH_REACHED
state	7872	begin surface coast
7882	end surface coast: CONTROL_FINISHED_OK
state	7882	begin surface