Glider dive log

Shilshole 01Nov17 * SG222 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_FIT 785

MISSION 5 HD_C 9.9999997e-06 C_ROLL_DIVE 2350 ALTIM_TOP_PING_RANGE 0

DIVE 6 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 6 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 28 ALTIM_PING_DELTA 7

D_TGT 165 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 25 ALTIM_FREQUENCY 13

D_ABORT 180 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 627.77997 ROLL_MAXERRORS 2 ALTIM_SENSITIVITY 4

D_BOOST 100 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 6

T_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_YINT -0.3499999

D_SAFE 0 PROTOCOL 9 C_VBD 2800 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

T_DIVE 55 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_MISSION 70 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_TURN_SAMPINT -5 HEAPDBG 0 UNCOM_BLEED 60 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_EPIRB 0 T_RSLEEP 3 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 97

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE 149

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 0 RAFOS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 210 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3890 CF8_MAXERRORS 2 SIM_W 0

RELAUNCH 1 C_PITCH 2780 AH0_24V 350 SEABIRD_T_G 0.0044060913

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00063889573

MAX_BUOY 150 PITCH_CNV 0.0031257649 MINV_24V 10 SEABIRD_T_I 2.5185698e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 10 SEABIRD_T_J 3.0510489e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8844519

SPEED_FACTOR 1 PITCH_GAIN 20 MAXI_10V 0.80000001 SEABIRD_C_H 1.1298814

RHO 1.023 PITCH_TIMEOUT 15 FG_AHR_10V 0 SEABIRD_C_I -0.0013862044

MASS 53346 PITCH_AD_RATE 120 FG_AHR_24V 0 SEABIRD_C_J 0.00017915672

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PRESSURE_YINT -156.88342 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0001074611 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 230 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3750 COMPASS_USE 4

AD7714Ch0Gain 1 D_SURF 2 N_NOCOMM 1 SEABIRD_C_J 0.00017915672

AH0_10V 0 D_TGT 165 N_NOSURFACE 0 SEABIRD_T_G 0.0044060913

AH0_24V 350 ESCAPE_HEADING 0 PHONE_DEVICE 49 SEABIRD_T_H 0.00063889573

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY -2 SEABIRD_T_I 2.5185698e-05

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.0510489e-06

ALTIM_PING_DELTA 7 EXEC_T 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 120 SM_CC 627.77997

ALTIM_PING_FIT 785 FG_AHR_10V 0 PITCH_CNV 0.0031257649 SPEED_FACTOR 1

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_SENSITIVITY 4 FILEMGR 0 PITCH_GAIN 20 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3890 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 64 PITCH_MIN 210 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_C 9.9999997e-06 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_ABORT 1440

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001074611 T_BOOST 5

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -156.88342 T_DIVE 55

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

COMM_SEQ 0 ID 222 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_YINT -0.3499999 RAFOS_CORR_THRESH 60 T_MISSION 70

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 32 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_PITCH 2780 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_DIVE 2350 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_VBD 2800 LOGGERS 1 RHO 1.023 UNCOM_BLEED 60

DBDW 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MASS 53346 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE4 -1 MASS_COMP 0 ROLL_MAX 3750 VBD_DBAND 2

DEVICE5 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE6 -1 MAXI_24V 0.60000002 ROLL_MIN 230 VBD_MAX 3960

DIVE 6 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

D_ABORT 180 MINV_10V 10 R_PORT_OVSHOOT 28 VBD_MIN 500

D_BOOST 100 MINV_24V 10 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_FINISH 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_NO_BLEED 50 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_OFFGRID 100 N_DIVES 6 SEABIRD_C_G -9.8844519 XPDR_INHIBIT 90

D_PITCH 0 N_FILEKB 8 SEABIRD_C_H 1.1298814 XPDR_VALID 6

D_SAFE 0 N_GPS 100440 SEABIRD_C_I -0.0013862044

Pre-dive calculations and measurements:

GPS1 011117,201608,4742.7173,-12225.1172,1,1.5,4,15.8,0.2,0.0,7,9.1 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME SW

_XMS_NAKs 0 TGT_LATLONG 4743.000,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.99 MHEAD_RNG_PITCHd_Wd 13.4,530,-17.5,-10.000,-21.04,2225

_SM_ANGLEo -67.2 D_GRID 186

GPS2 011117,202149,4742.7236,-12225.1104,2,1.4,3,15.8,0.2,0.0,7,9.2

Post-dive calculations and measurements:

FINISH 0.4,1.020863 _24V_AH 13.74,5.983

SM_CCo 3514,0.38,0.422,0,0,497,564.19 _10V_AH 13.33,0.000

SM_GC 0.98,8.10,0.30,0.38,0.057,0.132,0.422,206,2355,497,-7.99,-0.54,564.19,0,0,0,0,0,0,14.95,14.88,14.71 FG_AHR_24Vo 0.000

RAFOS_CLK 50 FG_AHR_10Vo 0.000

RAFOS 1,1509566945,20.166670,20.151388,60,60,59,56,55,52,159,185,203,123,213,228 MEM 300244

RAFOS_FIX 4801.556641,-12130.828125,011117,181852,5,130,0.00 DATA_FILE_SIZE 20090,639

IRIDIUM_FIX 4742.17,-12225.08,011117,191934 CAP_FILE_SIZE 77093,0

TT8_MAMPS 0.040446,0.900298 CFSIZE 1024409600,1021018112

HUMID 46.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.05853 SOUNDSPEED 1490.5

TCM_TEMP 19.40 CURRENT 0.193,225.11,1

XPDR_PINGS 5 GPS 011117,212125,4742.791,-12225.123,5,1.4,5,15.8,0.2,0.0,7,8.3

ALTIM_TOP_PING 12.8,-0.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 427 132.94 nil 0 0 0.00

Roll_motor 45 133 83.51 nil 0 0 0.00

VBD_pump_during_apogee 606 1178 9823.04 nil 0 0 0.00

VBD_pump_during_surface 147 422 857.12 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 3360 30 1392.15

Iridium_during_xfer 259 182 650.18 nil 0 0 0.00

Transponder_ping 12 420 72.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.65

TT8 0 0 0.00

LPSleep 1507 2 46.43

TT8_Active 781 12 127.83

TT8_Sampling 1537 31 650.53

TT8_CF8 44 45 26.78

TT8_Kalman 0 0 0.00

Analog_circuits 1600 10 217.62

GPS_charging 0 0 0.00

Compass 920 7 91.89

RAFOS 1500 1 29.99

Transponder 73 30 29.53

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

9.0 6.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

16.0 6.30 9000.00 0.0 0.00 0.00 6.30 0.0 0.04 1.00

24.0 7.80 9000.00 0.0 0.00 0.00 7.80 0.0 0.19 1.00

31.3 10.60 9000.00 0.0 0.00 0.00 10.60 0.0 0.38 1.00

45.7 46.20 9000.00 0.0 1.05 0.74 46.20 0.0 2.47 1.00

60.7 11.80 9000.00 0.0 0.40 0.18 11.80 72.5 -2.29 1.00

67.7 12.00 9000.00 0.0 0.07 0.01 12.00 0.0 0.03 1.00

74.8 12.30 9000.00 0.0 -0.25 0.08 12.30 0.0 0.04 1.00

81.8 11.90 9000.00 0.0 -0.90 0.67 11.90 93.7 -0.06 1.00

89.2 11.50 9000.00 0.0 -0.01 0.10 11.50 100.7 -0.05 1.00

96.8 11.40 9000.00 0.0 -0.03 0.73 11.40 108.2 -0.01 1.00

104.1 11.30 9000.00 0.0 -0.04 0.92 11.30 115.4 -0.01 1.00

111.6 11.50 9000.00 0.0 -0.01 0.51 11.50 0.0 0.03 1.00

118.8 9.10 9000.00 0.0 -0.06 0.51 9.10 127.9 -0.33 1.00

126.0 127.10 9000.00 0.0 3.11 0.48 127.10 0.0 16.39 1.00

133.3 134.40 9000.00 0.0 4.95 0.75 134.40 0.0 1.00 1.00

154.6 41.50 9000.00 0.0 0.93 0.06 41.50 196.1 -4.36 1.00

162.2 33.50 9000.00 0.0 -0.84 0.07 33.50 195.7 -1.05 1.00

137.3 138.10 9000.00 0.0 -3.24 0.87 138.10 0.0 -4.20 1.00

129.9 131.00 9000.00 0.0 -3.63 0.93 131.00 -1.1 0.96 1.00

115.5 11.60 9000.00 0.0 -0.42 0.02 11.60 103.9 8.29 1.00

108.5 9.60 9000.00 0.0 0.84 0.07 9.60 98.9 0.29 1.00

100.9 9.50 9000.00 0.0 4.23 0.87 9.50 91.4 0.01 1.00

93.6 9.50 9000.00 0.0 3.16 0.67 0.00 0.0 0.00 0.00

86.5 9.50 9000.00 0.0 0.06 0.51 0.00 0.0 0.00 0.00

79.2 9.70 9000.00 0.0 0.00 0.27 9.70 0.0 -0.03 1.00

71.8 10.00 9000.00 0.0 -0.02 0.79 10.00 0.0 -0.04 1.00

64.4 10.70 9000.00 0.0 -0.04 0.87 10.70 0.0 -0.09 1.00

56.6 12.20 9000.00 0.0 -0.09 0.85 12.20 0.0 -0.19 1.00

49.2 50.10 9000.00 0.0 -1.10 0.55 50.10 0.0 -5.12 1.00

41.7 41.50 9000.00 0.0 -1.36 0.70 41.50 0.2 1.15 1.00

34.6 34.40 9000.00 0.0 -1.04 0.48 34.40 0.2 1.00 1.00

27.2 7.80 9000.00 0.0 0.33 0.04 7.80 19.4 3.59 1.00

19.9 6.00 9000.00 0.0 1.67 0.93 6.00 13.9 0.25 1.00

12.8 5.70 -0.90 13.7 1.38 0.83 5.70 7.1 0.04 1.00

5.5 6.10 9000.00 0.0 0.81 0.55 6.10 0.0 -0.05 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 -1.05 -146.6 198 2363 562 450 0.0 0.0 0 105 0.00 0.00 -96.28 0.003 16386 0.000 0.000 198 2363 3280 3333 3228 0 0 0 0 0 0 14.97 28.83 15.00

107 -1.05 -146.6 198 2364 3333 3229 4.0 -8.3 16 124 10.90 2.55 -2.10 0.042 18724 0.428 0.134 2424 3744 3399 3464 3335 0 0 0 0 0 0 14.56 13.74 14.85

348 -0.86 -146.6 2424 3744 3466 3336 57.4 -19.1 63 355 0.28 2.40 0.00 0.000 3206 0.253 0.069 2498 2351 3399 3464 3335 0 0 0 0 0 0 14.70 14.80 14.83

534 -0.80 -146.6 2499 2352 3466 3336 83.0 -12.4 100 535 0.00 0.00 0.00 0.000 134 0.000 0.000 2498 2351 3399 3464 3335 0 0 0 0 0 0 15.09 15.13 15.12

714 -0.75 -146.6 2497 2352 3464 3336 106.8 -13.5 136 722 0.15 2.55 0.00 0.000 2436 0.269 0.126 2524 3736 3399 3464 3335 0 0 0 0 0 0 14.80 14.85 14.98

761 -0.75 -146.6 2525 3737 3465 3336 112.8 -12.2 145 769 0.00 2.38 0.00 0.000 1030 0.000 0.072 2524 2357 3399 3464 3335 0 0 0 0 0 0 14.95 14.90 14.99

949 -0.75 -146.6 2523 2358 3464 3335 133.3 -9.4 182 955 0.00 2.53 0.00 0.000 292 0.000 0.132 2517 3740 3399 3464 3335 0 0 0 0 0 0 15.12 14.88 15.15

1010 -0.75 -146.6 2517 3740 3465 3336 139.9 -11.5 194 1017 0.00 2.35 0.00 0.000 1030 0.000 0.073 2517 2348 3399 3464 3335 0 0 0 0 0 0 15.03 14.95 15.05

1196 -0.75 -146.6 2517 2349 3464 3336 161.0 -11.9 231 1203 0.00 2.47 0.00 0.000 516 0.000 0.095 2517 942 3399 3464 3335 0 0 0 0 0 0 15.15 14.89 15.18

1231 end dive: TARGET_DEPTH_EXCEEDED

state 1231 begin apogee

1235 -0.25 0.0 2508 2191 3464 3336 165.2 -11.6 238 1586 0.65 0.00 345.27 1.085 10246 0.224 0.000 2692 2191 2803 2842 2764 0 0 0 0 0 0 14.78 14.33 13.88

1588 end apogee: CONTROL_FINISHED_OK

state 1588 begin climb

1588 1.05 146.6 2692 2192 2839 2760 178.1 0.0 298 1768 1.38 2.58 169.23 1.089 10756 0.152 0.101 3121 794 2188 2230 2146 0 0 0 0 0 0 14.31 14.29 13.83

1887 0.96 146.6 3121 794 2219 2122 150.5 13.0 352 1894 0.10 2.55 0.00 0.000 5254 0.234 0.096 3094 2201 2172 2219 2126 0 0 0 0 0 0 14.51 14.60 14.64

2073 0.89 146.6 3095 2202 2220 2122 127.4 12.5 389 2081 0.00 2.62 0.00 0.000 388 0.000 0.129 3094 3607 2170 2218 2122 0 0 0 0 0 0 14.99 14.70 15.02

2110 0.75 146.6 3095 3608 2218 2122 122.3 14.0 396 2117 0.28 2.45 0.00 0.000 5254 0.243 0.075 3027 2207 2169 2218 2121 0 0 0 0 0 0 14.68 14.80 14.81

2296 0.82 187.1 3027 2207 2217 2118 104.3 8.1 433 2345 0.00 0.00 44.17 1.179 8358 0.000 0.000 3027 2206 2029 2077 1982 0 0 0 0 0 0 15.06 14.52 14.13

2524 0.91 227.3 3027 2206 2067 1961 84.9 8.2 477 2550 0.15 2.58 19.73 0.437 10660 0.106 0.125 3110 3611 1872 1922 1823 0 0 0 0 0 0 14.85 14.70 14.50

2579 0.81 227.3 3110 3610 1934 1824 77.5 16.1 487 2586 0.28 2.47 0.00 0.000 5254 0.233 0.075 3033 2202 1879 1935 1823 0 0 0 0 0 0 14.64 14.75 14.82

2765 0.87 227.3 3033 2202 1943 1824 57.8 10.5 524 2773 0.00 2.58 1.40 0.244 8580 0.000 0.126 3032 3611 1872 1931 1814 0 0 0 0 0 0 15.05 14.81 14.73

2808 0.89 227.3 3032 3611 1940 1816 52.9 12.2 532 2814 0.00 2.42 0.00 0.000 1158 0.000 0.075 3041 2188 1878 1941 1815 0 0 0 0 0 0 14.89 14.82 14.92

2993 0.94 227.3 3042 2188 1945 1816 32.0 10.5 569 3001 0.12 2.60 0.00 0.000 2436 0.122 0.128 3117 3618 1880 1945 1816 0 0 0 0 0 0 14.95 14.78 15.00

3025 0.84 227.3 3117 3618 1944 1816 27.7 15.3 575 3033 0.25 2.47 0.00 0.000 5254 0.234 0.074 3058 2195 1880 1945 1816 0 0 0 0 0 0 14.73 14.85 14.87

3213 0.93 277.4 3058 2195 1944 1816 8.5 7.7 612 3243 0.00 0.00 26.65 0.216 8358 0.000 0.000 3058 2195 1665 1721 1610 0 0 0 0 0 0 15.11 14.92 14.76

3325 end climb: SURFACE_DEPTH_REACHED

state 3326 begin surface coast

3351 end surface coast: CONTROL_FINISHED_OK

state 3351 begin surface

ID	222	HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_FIT	785
MISSION	5	HD_C	9.9999997e-06	C_ROLL_DIVE	2350	ALTIM_TOP_PING_RANGE	0
DIVE	6	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	6	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	28	ALTIM_PING_DELTA	7
D_TGT	165	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	25	ALTIM_FREQUENCY	13
D_ABORT	180	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	627.77997	ROLL_MAXERRORS	2	ALTIM_SENSITIVITY	4
D_BOOST	100	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	6
T_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_YINT	-0.3499999
D_SAFE	0	PROTOCOL	9	C_VBD	2800	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
T_DIVE	55	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_MISSION	70	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_TURN_SAMPINT	-5	HEAPDBG	0	UNCOM_BLEED	60	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_EPIRB	0	T_RSLEEP	3	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	97
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	149
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	0	RAFOS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	210	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3890	CF8_MAXERRORS	2	SIM_W	0
RELAUNCH	1	C_PITCH	2780	AH0_24V	350	SEABIRD_T_G	0.0044060913
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00063889573
MAX_BUOY	150	PITCH_CNV	0.0031257649	MINV_24V	10	SEABIRD_T_I	2.5185698e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	10	SEABIRD_T_J	3.0510489e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8844519
SPEED_FACTOR	1	PITCH_GAIN	20	MAXI_10V	0.80000001	SEABIRD_C_H	1.1298814
RHO	1.023	PITCH_TIMEOUT	15	FG_AHR_10V	0	SEABIRD_C_I	-0.0013862044
MASS	53346	PITCH_AD_RATE	120	FG_AHR_24V	0	SEABIRD_C_J	0.00017915672
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PRESSURE_YINT	-156.88342	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0001074611	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	230	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3750	COMPASS_USE	4

GPS1	011117,201608,4742.7173,-12225.1172,1,1.5,4,15.8,0.2,0.0,7,9.1	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	SW
_XMS_NAKs	0	TGT_LATLONG	4743.000,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.99	MHEAD_RNG_PITCHd_Wd	13.4,530,-17.5,-10.000,-21.04,2225
_SM_ANGLEo	-67.2	D_GRID	186
GPS2	011117,202149,4742.7236,-12225.1104,2,1.4,3,15.8,0.2,0.0,7,9.2

FINISH	0.4,1.020863	_24V_AH	13.74,5.983
SM_CCo	3514,0.38,0.422,0,0,497,564.19	_10V_AH	13.33,0.000
SM_GC	0.98,8.10,0.30,0.38,0.057,0.132,0.422,206,2355,497,-7.99,-0.54,564.19,0,0,0,0,0,0,14.95,14.88,14.71	FG_AHR_24Vo	0.000
RAFOS_CLK	50	FG_AHR_10Vo	0.000
RAFOS	1,1509566945,20.166670,20.151388,60,60,59,56,55,52,159,185,203,123,213,228	MEM	300244
RAFOS_FIX	4801.556641,-12130.828125,011117,181852,5,130,0.00	DATA_FILE_SIZE	20090,639
IRIDIUM_FIX	4742.17,-12225.08,011117,191934	CAP_FILE_SIZE	77093,0
TT8_MAMPS	0.040446,0.900298	CFSIZE	1024409600,1021018112
HUMID	46.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.05853	SOUNDSPEED	1490.5
TCM_TEMP	19.40	CURRENT	0.193,225.11,1
XPDR_PINGS	5	GPS	011117,212125,4742.791,-12225.123,5,1.4,5,15.8,0.2,0.0,7,8.3
ALTIM_TOP_PING	12.8,-0.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	427	132.94	nil	0	0	0.00
Roll_motor	45	133	83.51	nil	0	0	0.00
VBD_pump_during_apogee	606	1178	9823.04	nil	0	0	0.00
VBD_pump_during_surface	147	422	857.12	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	3360	30	1392.15
Iridium_during_xfer	259	182	650.18	nil	0	0	0.00
Transponder_ping	12	420	72.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.65
TT8	0	0	0.00
LPSleep	1507	2	46.43
TT8_Active	781	12	127.83
TT8_Sampling	1537	31	650.53
TT8_CF8	44	45	26.78
TT8_Kalman	0	0	0.00
Analog_circuits	1600	10	217.62
GPS_charging	0	0	0.00
Compass	920	7	91.89
RAFOS	1500	1	29.99
Transponder	73	30	29.53

		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
9.0	6.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
16.0	6.30	9000.00	0.0	0.00	0.00	6.30	0.0	0.04	1.00
24.0	7.80	9000.00	0.0	0.00	0.00	7.80	0.0	0.19	1.00
31.3	10.60	9000.00	0.0	0.00	0.00	10.60	0.0	0.38	1.00
45.7	46.20	9000.00	0.0	1.05	0.74	46.20	0.0	2.47	1.00
60.7	11.80	9000.00	0.0	0.40	0.18	11.80	72.5	-2.29	1.00
67.7	12.00	9000.00	0.0	0.07	0.01	12.00	0.0	0.03	1.00
74.8	12.30	9000.00	0.0	-0.25	0.08	12.30	0.0	0.04	1.00
81.8	11.90	9000.00	0.0	-0.90	0.67	11.90	93.7	-0.06	1.00
89.2	11.50	9000.00	0.0	-0.01	0.10	11.50	100.7	-0.05	1.00
96.8	11.40	9000.00	0.0	-0.03	0.73	11.40	108.2	-0.01	1.00
104.1	11.30	9000.00	0.0	-0.04	0.92	11.30	115.4	-0.01	1.00
111.6	11.50	9000.00	0.0	-0.01	0.51	11.50	0.0	0.03	1.00
118.8	9.10	9000.00	0.0	-0.06	0.51	9.10	127.9	-0.33	1.00
126.0	127.10	9000.00	0.0	3.11	0.48	127.10	0.0	16.39	1.00
133.3	134.40	9000.00	0.0	4.95	0.75	134.40	0.0	1.00	1.00
154.6	41.50	9000.00	0.0	0.93	0.06	41.50	196.1	-4.36	1.00
162.2	33.50	9000.00	0.0	-0.84	0.07	33.50	195.7	-1.05	1.00

137.3	138.10	9000.00	0.0	-3.24	0.87	138.10	0.0	-4.20	1.00
129.9	131.00	9000.00	0.0	-3.63	0.93	131.00	-1.1	0.96	1.00
115.5	11.60	9000.00	0.0	-0.42	0.02	11.60	103.9	8.29	1.00
108.5	9.60	9000.00	0.0	0.84	0.07	9.60	98.9	0.29	1.00
100.9	9.50	9000.00	0.0	4.23	0.87	9.50	91.4	0.01	1.00
93.6	9.50	9000.00	0.0	3.16	0.67	0.00	0.0	0.00	0.00
86.5	9.50	9000.00	0.0	0.06	0.51	0.00	0.0	0.00	0.00
79.2	9.70	9000.00	0.0	0.00	0.27	9.70	0.0	-0.03	1.00
71.8	10.00	9000.00	0.0	-0.02	0.79	10.00	0.0	-0.04	1.00
64.4	10.70	9000.00	0.0	-0.04	0.87	10.70	0.0	-0.09	1.00
56.6	12.20	9000.00	0.0	-0.09	0.85	12.20	0.0	-0.19	1.00
49.2	50.10	9000.00	0.0	-1.10	0.55	50.10	0.0	-5.12	1.00
41.7	41.50	9000.00	0.0	-1.36	0.70	41.50	0.2	1.15	1.00
34.6	34.40	9000.00	0.0	-1.04	0.48	34.40	0.2	1.00	1.00
27.2	7.80	9000.00	0.0	0.33	0.04	7.80	19.4	3.59	1.00
19.9	6.00	9000.00	0.0	1.67	0.93	6.00	13.9	0.25	1.00
12.8	5.70	-0.90	13.7	1.38	0.83	5.70	7.1	0.04	1.00
5.5	6.10	9000.00	0.0	0.81	0.55	6.10	0.0	-0.05	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	-1.05	-146.6	198	2363	562	450	0.0	0.0	0	105	0.00	0.00	-96.28	0.003	16386	0.000	0.000	198	2363	3280	3333	3228	0	0	0	0	0	0	14.97	28.83	15.00
107	-1.05	-146.6	198	2364	3333	3229	4.0	-8.3	16	124	10.90	2.55	-2.10	0.042	18724	0.428	0.134	2424	3744	3399	3464	3335	0	0	0	0	0	0	14.56	13.74	14.85
348	-0.86	-146.6	2424	3744	3466	3336	57.4	-19.1	63	355	0.28	2.40	0.00	0.000	3206	0.253	0.069	2498	2351	3399	3464	3335	0	0	0	0	0	0	14.70	14.80	14.83
534	-0.80	-146.6	2499	2352	3466	3336	83.0	-12.4	100	535	0.00	0.00	0.00	0.000	134	0.000	0.000	2498	2351	3399	3464	3335	0	0	0	0	0	0	15.09	15.13	15.12
714	-0.75	-146.6	2497	2352	3464	3336	106.8	-13.5	136	722	0.15	2.55	0.00	0.000	2436	0.269	0.126	2524	3736	3399	3464	3335	0	0	0	0	0	0	14.80	14.85	14.98
761	-0.75	-146.6	2525	3737	3465	3336	112.8	-12.2	145	769	0.00	2.38	0.00	0.000	1030	0.000	0.072	2524	2357	3399	3464	3335	0	0	0	0	0	0	14.95	14.90	14.99
949	-0.75	-146.6	2523	2358	3464	3335	133.3	-9.4	182	955	0.00	2.53	0.00	0.000	292	0.000	0.132	2517	3740	3399	3464	3335	0	0	0	0	0	0	15.12	14.88	15.15
1010	-0.75	-146.6	2517	3740	3465	3336	139.9	-11.5	194	1017	0.00	2.35	0.00	0.000	1030	0.000	0.073	2517	2348	3399	3464	3335	0	0	0	0	0	0	15.03	14.95	15.05
1196	-0.75	-146.6	2517	2349	3464	3336	161.0	-11.9	231	1203	0.00	2.47	0.00	0.000	516	0.000	0.095	2517	942	3399	3464	3335	0	0	0	0	0	0	15.15	14.89	15.18
1231	end dive: TARGET_DEPTH_EXCEEDED
state	1231	begin apogee
1235	-0.25	0.0	2508	2191	3464	3336	165.2	-11.6	238	1586	0.65	0.00	345.27	1.085	10246	0.224	0.000	2692	2191	2803	2842	2764	0	0	0	0	0	0	14.78	14.33	13.88
1588	end apogee: CONTROL_FINISHED_OK
state	1588	begin climb
1588	1.05	146.6	2692	2192	2839	2760	178.1	0.0	298	1768	1.38	2.58	169.23	1.089	10756	0.152	0.101	3121	794	2188	2230	2146	0	0	0	0	0	0	14.31	14.29	13.83
1887	0.96	146.6	3121	794	2219	2122	150.5	13.0	352	1894	0.10	2.55	0.00	0.000	5254	0.234	0.096	3094	2201	2172	2219	2126	0	0	0	0	0	0	14.51	14.60	14.64
2073	0.89	146.6	3095	2202	2220	2122	127.4	12.5	389	2081	0.00	2.62	0.00	0.000	388	0.000	0.129	3094	3607	2170	2218	2122	0	0	0	0	0	0	14.99	14.70	15.02
2110	0.75	146.6	3095	3608	2218	2122	122.3	14.0	396	2117	0.28	2.45	0.00	0.000	5254	0.243	0.075	3027	2207	2169	2218	2121	0	0	0	0	0	0	14.68	14.80	14.81
2296	0.82	187.1	3027	2207	2217	2118	104.3	8.1	433	2345	0.00	0.00	44.17	1.179	8358	0.000	0.000	3027	2206	2029	2077	1982	0	0	0	0	0	0	15.06	14.52	14.13
2524	0.91	227.3	3027	2206	2067	1961	84.9	8.2	477	2550	0.15	2.58	19.73	0.437	10660	0.106	0.125	3110	3611	1872	1922	1823	0	0	0	0	0	0	14.85	14.70	14.50
2579	0.81	227.3	3110	3610	1934	1824	77.5	16.1	487	2586	0.28	2.47	0.00	0.000	5254	0.233	0.075	3033	2202	1879	1935	1823	0	0	0	0	0	0	14.64	14.75	14.82
2765	0.87	227.3	3033	2202	1943	1824	57.8	10.5	524	2773	0.00	2.58	1.40	0.244	8580	0.000	0.126	3032	3611	1872	1931	1814	0	0	0	0	0	0	15.05	14.81	14.73
2808	0.89	227.3	3032	3611	1940	1816	52.9	12.2	532	2814	0.00	2.42	0.00	0.000	1158	0.000	0.075	3041	2188	1878	1941	1815	0	0	0	0	0	0	14.89	14.82	14.92
2993	0.94	227.3	3042	2188	1945	1816	32.0	10.5	569	3001	0.12	2.60	0.00	0.000	2436	0.122	0.128	3117	3618	1880	1945	1816	0	0	0	0	0	0	14.95	14.78	15.00
3025	0.84	227.3	3117	3618	1944	1816	27.7	15.3	575	3033	0.25	2.47	0.00	0.000	5254	0.234	0.074	3058	2195	1880	1945	1816	0	0	0	0	0	0	14.73	14.85	14.87
3213	0.93	277.4	3058	2195	1944	1816	8.5	7.7	612	3243	0.00	0.00	26.65	0.216	8358	0.000	0.000	3058	2195	1665	1721	1610	0	0	0	0	0	0	15.11	14.92	14.76
3325	end climb: SURFACE_DEPTH_REACHED
state	3326	begin surface coast
3351	end surface coast: CONTROL_FINISHED_OK
state	3351	begin surface