Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 647 * 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 647 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 37 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 29 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 2560 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 2870 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 2 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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 2870 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 2560 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 647 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 29 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 2 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 291118,140601,-7407.7803,-11320.5752,34,0.7,34,53.9,0.2,309.7,12,3.2 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.73 MHEAD_RNG_PITCHd_Wd 188.1,2218,-37.9,-10.000,-39.41,475

_SM_ANGLEo -63.3 D_GRID 990

GPS2 291118,142334,-7407.6855,-11320.6748,2,0.7,4,53.9,0.0,0.0,12,3.0

Post-dive calculations and measurements:

FREEZE 1.19,-1.427,-1.862,2,1,0 ALTIM_BOTTOM_PING 389.7,7.2

FINISH 1.2,1.027306 _24V_AH 12.80,218.034

SM_CCo 7350,200.73,0.223,0,0,1131,350.04 _10V_AH 12.56,0.000

SM_GC 0.75,10.27,2.90,200.73,0.116,0.058,0.223,211,2311,1131,-8.24,-0.34,350.04,0,0,0,0,0,0,14.59,14.56,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 280 FG_AHR_10Vo 0.000

RAFOS 0,1543503683,15.032778,15.023056,133,59,57,54,53,50,543,157,212,201,174,143 MEM 280108

RAFOS_FIX -7406.469727,-11314.176758,291118,151512,3,106,1.29 DATA_FILE_SIZE 16778,473

IRIDIUM_FIX -7411.76,-11316.06,291118,110516 CAP_FILE_SIZE 81674,0

TT8_MAMPS 0.040446,0.70406 CFSIZE 1024409600,945635328

HUMID 46.14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.07257 SOUNDSPEED 1445.7

TCM_TEMP 12.00 CURRENT 0.093,357.25,1

XPDR_PINGS 0 GPS 291118,163050,-7407.588,-11321.596,3,1.0,5,53.9,0.6,60.7,7,5.5

ALTIM_TOP_PING 8.3,8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 420 135.85 nil 0 0 0.00

Roll_motor 72 144 133.43 nil 0 0 0.00

VBD_pump_during_apogee 98 2777 3487.92 nil 0 0 0.00

VBD_pump_during_surface 200 223 573.93 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 7357 7 671.43

Iridium_during_xfer 663 211 1800.55 nil 0 0 0.00

Transponder_ping 16 420 90.05 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.83

TT8 0 0 0.00

LPSleep 5957 2 172.86

TT8_Active 495 13 86.06

TT8_Sampling 1638 34 715.90

TT8_CF8 532 52 352.96

TT8_Kalman 0 0 0.00

Analog_circuits 1540 10 210.93

GPS_charging 0 0 0.00

Compass 682 7 64.16

RAFOS 720 1 13.56

Transponder 123 30 46.46

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

10.5 11.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.9 22.30 9000.00 0.0 0.00 0.00 22.30 0.0 1.03 1.00

31.7 33.90 33.80 0.0 1.05 1.00 33.90 0.0 1.07 1.00

364.9 33.80 9000.00 0.0 0.02 0.26 33.80 398.7 -0.00 1.00

375.1 22.20 9000.00 0.0 -0.02 0.28 22.20 397.3 -1.14 1.00

389.7 7.40 7.20 396.9 -1.05 1.00 7.40 397.1 -1.01 1.00

381.9 14.40 15.00 0.0 -1.01 0.99 14.40 0.0 -0.90 1.00

352.9 46.00 45.90 0.0 -1.06 1.00 46.00 0.0 -1.09 1.00

160.3 166.50 9000.00 0.0 -0.66 0.99 166.50 0.0 -0.63 1.00

149.2 155.10 9000.00 0.0 -0.58 0.98 155.10 -5.9 1.03 1.00

118.3 122.80 122.80 -4.5 1.04 1.00 122.80 -4.5 1.05 1.00

96.7 100.30 100.20 -3.5 1.04 1.00 100.30 -3.6 1.04 1.00

86.7 91.10 90.80 -4.1 1.01 1.00 91.10 -4.4 0.92 1.00

76.1 79.30 79.60 -3.5 1.02 1.00 79.30 -3.2 1.11 1.00

64.6 66.90 66.80 -2.2 1.10 1.00 66.90 -2.3 1.08 1.00

54.4 56.30 56.20 -1.8 1.06 1.00 56.30 -1.9 1.04 1.00

42.3 43.60 43.60 -1.3 1.05 1.00 43.60 -1.3 1.05 1.00

32.1 33.20 33.10 -1.0 1.04 1.00 33.20 -1.1 1.02 1.00

20.1 21.00 21.00 -0.9 1.02 1.00 21.00 -0.9 1.02 1.00

8.3 8.40 8.50 -0.2 1.04 1.00 8.40 -0.1 1.07 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

13 -1.76 -30.8 213 2318 1168 1060 0.0 0.0 0 104 0.00 0.00 -89.50 0.002 16390 0.000 0.000 211 2317 2685 2690 2681 0 0 0 0 0 0 14.95 12.80 14.98

108 -1.76 -30.8 214 2318 2692 2683 1.3 -0.8 3 123 10.43 2.60 0.00 0.000 2564 0.421 0.066 2299 889 2687 2692 2682 0 0 0 0 0 0 14.09 14.57 14.52

353 -1.76 -30.8 2300 887 2695 2681 37.2 -15.7 39 359 0.00 2.58 0.00 0.000 1030 0.000 0.063 2290 2300 2687 2694 2681 0 0 0 0 0 0 14.46 14.38 14.52

720 -1.76 -30.8 2290 2300 2696 2676 94.0 -15.6 55 725 0.00 2.53 0.00 0.000 516 0.000 0.064 2290 895 2686 2696 2676 0 0 0 0 0 0 15.08 14.42 15.10

927 -1.76 -30.8 2290 894 2695 2676 126.8 -16.0 85 934 0.00 2.58 0.00 0.000 1030 0.000 0.061 2279 2303 2686 2697 2675 0 0 0 0 0 0 14.45 14.38 14.50

1280 -1.76 -30.8 2279 2304 2697 2674 180.8 -15.8 99 1286 0.00 2.53 0.00 0.000 516 0.000 0.063 2279 900 2686 2698 2674 0 0 0 0 0 0 14.96 14.37 14.98

1502 -1.76 -30.8 2279 900 2698 2674 212.6 -13.2 131 1508 0.17 2.55 0.00 0.000 3078 0.355 0.062 2300 2307 2683 2693 2673 0 0 0 0 0 0 13.78 14.42 14.22

1896 -1.76 -30.8 2301 2308 2701 2673 261.3 -12.6 145 1896 0.00 0.00 0.00 0.000 6 0.000 0.000 2300 2307 2685 2698 2672 0 0 0 0 0 0 15.07 15.09 15.09

2230 -1.76 -30.8 2301 2308 2701 2673 299.9 -11.5 151 2236 0.00 2.55 0.00 0.000 516 0.000 0.063 2300 896 2685 2699 2672 0 0 0 0 0 0 15.10 14.31 15.12

2271 -1.76 -30.8 2302 897 2700 2673 304.8 -11.2 157 2278 0.00 2.58 0.00 0.000 1030 0.000 0.061 2291 2300 2685 2699 2672 0 0 0 0 0 0 14.38 14.29 14.44

2624 -1.76 -30.8 2292 2301 2701 2673 344.2 -11.1 165 2629 0.00 2.58 0.00 0.000 516 0.000 0.063 2291 895 2686 2700 2672 0 0 0 0 0 0 14.95 14.06 14.97

2859 -1.76 -30.8 2291 895 2700 2673 372.6 -11.9 199 2865 0.00 2.60 0.00 0.000 1030 0.000 0.060 2280 2307 2685 2699 2672 0 0 0 0 0 0 14.36 14.28 14.42

3011 end dive: BOTTOM_OBSTACLE_DETECTED

state 3011 begin apogee

3019 -0.23 0.0 2281 2052 2702 2673 389.7 -11.0 207 3057 2.17 0.12 34.50 2.778 10246 0.310 0.145 2786 2127 2559 2585 2534 0 0 0 0 0 0 13.97 14.29 13.06

3058 end apogee: CONTROL_FINISHED_OK

state 3058 begin climb

3061 1.76 30.8 2789 2131 2585 2534 389.7 0.0 207 3109 2.05 2.65 36.45 2.697 10500 0.129 0.096 3433 3497 2432 2453 2411 0 0 0 0 0 0 14.34 14.14 12.81

3164 1.76 30.8 3432 3498 2447 2409 384.0 9.8 223 3170 0.00 2.40 0.00 0.000 1030 0.000 0.043 3443 2125 2428 2448 2408 0 0 0 0 0 0 14.53 14.48 14.54

3559 1.79 30.8 3443 2125 2445 2403 348.3 8.6 237 3560 0.00 0.00 0.00 0.000 70 0.000 0.000 3443 2124 2424 2445 2403 0 0 0 0 0 0 15.06 15.09 15.08

3892 1.80 40.1 3444 2126 2447 2402 321.3 8.0 243 3906 0.00 2.60 9.75 2.492 8740 0.000 0.079 3454 706 2394 2416 2372 0 0 0 0 0 0 15.11 14.64 13.34

4048 1.80 40.1 3460 706 2414 2372 306.5 10.1 265 4054 0.00 2.45 0.00 0.000 1030 0.000 0.054 3454 2100 2393 2414 2373 0 0 0 0 0 0 14.81 14.69 14.84

4397 1.81 40.1 3454 2101 2414 2370 273.6 9.3 273 4403 0.00 2.58 0.00 0.000 324 0.000 0.096 3454 3508 2391 2413 2369 0 0 0 0 0 0 15.02 14.53 15.04

4634 1.81 40.1 3454 3509 2412 2370 249.3 10.2 307 4640 0.00 2.42 0.00 0.000 1030 0.000 0.041 3465 2096 2390 2412 2369 0 0 0 0 0 0 14.66 14.62 14.70

5012 1.81 40.1 3465 2096 2413 2370 211.4 10.1 319 5018 0.00 2.65 0.00 0.000 260 0.000 0.093 3464 3512 2390 2412 2369 0 0 0 0 0 0 15.11 14.39 15.14

5068 1.81 40.1 3466 3513 2414 2370 205.0 11.9 327 5074 0.00 2.45 0.00 0.000 1030 0.000 0.042 3475 2089 2389 2410 2369 0 0 0 0 0 0 14.63 14.59 14.67

5435 1.85 40.1 3475 2090 2412 2370 171.8 8.3 346 5441 0.00 2.65 0.00 0.000 324 0.000 0.092 3474 3513 2393 2418 2369 0 0 0 0 0 0 15.00 14.45 15.02

5481 1.86 49.5 3476 3512 2414 2370 167.7 8.0 353 5496 0.00 2.45 10.85 2.406 9254 0.000 0.041 3486 2094 2357 2379 2335 0 0 0 0 0 0 14.61 14.56 13.39

5845 1.86 49.5 3485 2095 2377 2332 133.2 9.6 369 5852 0.00 2.53 0.00 0.000 516 0.000 0.079 3497 705 2354 2377 2331 0 0 0 0 0 0 15.11 14.48 15.13

6083 1.86 49.5 3498 707 2379 2333 110.8 9.9 403 6090 0.12 2.50 0.00 0.000 5126 0.330 0.054 3469 2112 2354 2377 2331 0 0 0 0 0 0 14.01 14.54 14.26

6433 1.88 49.5 3471 2112 2379 2331 79.2 9.0 417 6440 0.00 2.60 0.00 0.000 580 0.000 0.079 3478 705 2353 2377 2330 0 0 0 0 0 0 15.11 14.37 15.13

6524 1.90 49.5 3477 705 2376 2331 71.2 8.8 430 6531 0.00 2.47 0.00 0.000 1094 0.000 0.054 3478 2098 2353 2377 2330 0 0 0 0 0 0 14.50 14.42 14.54

6882 1.93 49.5 3479 2099 2379 2331 40.0 8.5 445 6888 0.00 2.62 0.00 0.000 324 0.000 0.095 3478 3517 2352 2376 2329 0 0 0 0 0 0 15.10 14.39 15.13

6958 1.95 49.5 3479 3517 2378 2331 32.6 9.0 456 6968 0.00 2.47 0.00 0.000 1094 0.000 0.042 3488 2095 2353 2376 2330 0 0 0 0 0 0 14.59 14.54 14.64

7302 1.96 59.1 3487 2095 2375 2328 3.7 7.9 469 7315 0.00 2.55 6.55 0.262 8740 0.000 0.076 3498 706 2314 2337 2291 0 0 0 0 0 0 15.10 14.45 14.21

7320 end climb: SURFACE_DEPTH_REACHED

state 7320 begin surface coast

7327 end surface coast: CONTROL_FINISHED_OK

state 7327 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	647	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	37	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	29	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	2560	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	2870	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	2	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	291118,140601,-7407.7803,-11320.5752,34,0.7,34,53.9,0.2,309.7,12,3.2	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.73	MHEAD_RNG_PITCHd_Wd	188.1,2218,-37.9,-10.000,-39.41,475
_SM_ANGLEo	-63.3	D_GRID	990
GPS2	291118,142334,-7407.6855,-11320.6748,2,0.7,4,53.9,0.0,0.0,12,3.0

FREEZE	1.19,-1.427,-1.862,2,1,0	ALTIM_BOTTOM_PING	389.7,7.2
FINISH	1.2,1.027306	_24V_AH	12.80,218.034
SM_CCo	7350,200.73,0.223,0,0,1131,350.04	_10V_AH	12.56,0.000
SM_GC	0.75,10.27,2.90,200.73,0.116,0.058,0.223,211,2311,1131,-8.24,-0.34,350.04,0,0,0,0,0,0,14.59,14.56,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	280	FG_AHR_10Vo	0.000
RAFOS	0,1543503683,15.032778,15.023056,133,59,57,54,53,50,543,157,212,201,174,143	MEM	280108
RAFOS_FIX	-7406.469727,-11314.176758,291118,151512,3,106,1.29	DATA_FILE_SIZE	16778,473
IRIDIUM_FIX	-7411.76,-11316.06,291118,110516	CAP_FILE_SIZE	81674,0
TT8_MAMPS	0.040446,0.70406	CFSIZE	1024409600,945635328
HUMID	46.14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.07257	SOUNDSPEED	1445.7
TCM_TEMP	12.00	CURRENT	0.093,357.25,1
XPDR_PINGS	0	GPS	291118,163050,-7407.588,-11321.596,3,1.0,5,53.9,0.6,60.7,7,5.5
ALTIM_TOP_PING	8.3,8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	420	135.85	nil	0	0	0.00
Roll_motor	72	144	133.43	nil	0	0	0.00
VBD_pump_during_apogee	98	2777	3487.92	nil	0	0	0.00
VBD_pump_during_surface	200	223	573.93	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	7357	7	671.43
Iridium_during_xfer	663	211	1800.55	nil	0	0	0.00
Transponder_ping	16	420	90.05	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.83
TT8	0	0	0.00
LPSleep	5957	2	172.86
TT8_Active	495	13	86.06
TT8_Sampling	1638	34	715.90
TT8_CF8	532	52	352.96
TT8_Kalman	0	0	0.00
Analog_circuits	1540	10	210.93
GPS_charging	0	0	0.00
Compass	682	7	64.16
RAFOS	720	1	13.56
Transponder	123	30	46.46

		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
10.5	11.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.9	22.30	9000.00	0.0	0.00	0.00	22.30	0.0	1.03	1.00
31.7	33.90	33.80	0.0	1.05	1.00	33.90	0.0	1.07	1.00
364.9	33.80	9000.00	0.0	0.02	0.26	33.80	398.7	-0.00	1.00
375.1	22.20	9000.00	0.0	-0.02	0.28	22.20	397.3	-1.14	1.00
389.7	7.40	7.20	396.9	-1.05	1.00	7.40	397.1	-1.01	1.00

381.9	14.40	15.00	0.0	-1.01	0.99	14.40	0.0	-0.90	1.00
352.9	46.00	45.90	0.0	-1.06	1.00	46.00	0.0	-1.09	1.00
160.3	166.50	9000.00	0.0	-0.66	0.99	166.50	0.0	-0.63	1.00
149.2	155.10	9000.00	0.0	-0.58	0.98	155.10	-5.9	1.03	1.00
118.3	122.80	122.80	-4.5	1.04	1.00	122.80	-4.5	1.05	1.00
96.7	100.30	100.20	-3.5	1.04	1.00	100.30	-3.6	1.04	1.00
86.7	91.10	90.80	-4.1	1.01	1.00	91.10	-4.4	0.92	1.00
76.1	79.30	79.60	-3.5	1.02	1.00	79.30	-3.2	1.11	1.00
64.6	66.90	66.80	-2.2	1.10	1.00	66.90	-2.3	1.08	1.00
54.4	56.30	56.20	-1.8	1.06	1.00	56.30	-1.9	1.04	1.00
42.3	43.60	43.60	-1.3	1.05	1.00	43.60	-1.3	1.05	1.00
32.1	33.20	33.10	-1.0	1.04	1.00	33.20	-1.1	1.02	1.00
20.1	21.00	21.00	-0.9	1.02	1.00	21.00	-0.9	1.02	1.00
8.3	8.40	8.50	-0.2	1.04	1.00	8.40	-0.1	1.07	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
13	-1.76	-30.8	213	2318	1168	1060	0.0	0.0	0	104	0.00	0.00	-89.50	0.002	16390	0.000	0.000	211	2317	2685	2690	2681	0	0	0	0	0	0	14.95	12.80	14.98
108	-1.76	-30.8	214	2318	2692	2683	1.3	-0.8	3	123	10.43	2.60	0.00	0.000	2564	0.421	0.066	2299	889	2687	2692	2682	0	0	0	0	0	0	14.09	14.57	14.52
353	-1.76	-30.8	2300	887	2695	2681	37.2	-15.7	39	359	0.00	2.58	0.00	0.000	1030	0.000	0.063	2290	2300	2687	2694	2681	0	0	0	0	0	0	14.46	14.38	14.52
720	-1.76	-30.8	2290	2300	2696	2676	94.0	-15.6	55	725	0.00	2.53	0.00	0.000	516	0.000	0.064	2290	895	2686	2696	2676	0	0	0	0	0	0	15.08	14.42	15.10
927	-1.76	-30.8	2290	894	2695	2676	126.8	-16.0	85	934	0.00	2.58	0.00	0.000	1030	0.000	0.061	2279	2303	2686	2697	2675	0	0	0	0	0	0	14.45	14.38	14.50
1280	-1.76	-30.8	2279	2304	2697	2674	180.8	-15.8	99	1286	0.00	2.53	0.00	0.000	516	0.000	0.063	2279	900	2686	2698	2674	0	0	0	0	0	0	14.96	14.37	14.98
1502	-1.76	-30.8	2279	900	2698	2674	212.6	-13.2	131	1508	0.17	2.55	0.00	0.000	3078	0.355	0.062	2300	2307	2683	2693	2673	0	0	0	0	0	0	13.78	14.42	14.22
1896	-1.76	-30.8	2301	2308	2701	2673	261.3	-12.6	145	1896	0.00	0.00	0.00	0.000	6	0.000	0.000	2300	2307	2685	2698	2672	0	0	0	0	0	0	15.07	15.09	15.09
2230	-1.76	-30.8	2301	2308	2701	2673	299.9	-11.5	151	2236	0.00	2.55	0.00	0.000	516	0.000	0.063	2300	896	2685	2699	2672	0	0	0	0	0	0	15.10	14.31	15.12
2271	-1.76	-30.8	2302	897	2700	2673	304.8	-11.2	157	2278	0.00	2.58	0.00	0.000	1030	0.000	0.061	2291	2300	2685	2699	2672	0	0	0	0	0	0	14.38	14.29	14.44
2624	-1.76	-30.8	2292	2301	2701	2673	344.2	-11.1	165	2629	0.00	2.58	0.00	0.000	516	0.000	0.063	2291	895	2686	2700	2672	0	0	0	0	0	0	14.95	14.06	14.97
2859	-1.76	-30.8	2291	895	2700	2673	372.6	-11.9	199	2865	0.00	2.60	0.00	0.000	1030	0.000	0.060	2280	2307	2685	2699	2672	0	0	0	0	0	0	14.36	14.28	14.42
3011	end dive: BOTTOM_OBSTACLE_DETECTED
state	3011	begin apogee
3019	-0.23	0.0	2281	2052	2702	2673	389.7	-11.0	207	3057	2.17	0.12	34.50	2.778	10246	0.310	0.145	2786	2127	2559	2585	2534	0	0	0	0	0	0	13.97	14.29	13.06
3058	end apogee: CONTROL_FINISHED_OK
state	3058	begin climb
3061	1.76	30.8	2789	2131	2585	2534	389.7	0.0	207	3109	2.05	2.65	36.45	2.697	10500	0.129	0.096	3433	3497	2432	2453	2411	0	0	0	0	0	0	14.34	14.14	12.81
3164	1.76	30.8	3432	3498	2447	2409	384.0	9.8	223	3170	0.00	2.40	0.00	0.000	1030	0.000	0.043	3443	2125	2428	2448	2408	0	0	0	0	0	0	14.53	14.48	14.54
3559	1.79	30.8	3443	2125	2445	2403	348.3	8.6	237	3560	0.00	0.00	0.00	0.000	70	0.000	0.000	3443	2124	2424	2445	2403	0	0	0	0	0	0	15.06	15.09	15.08
3892	1.80	40.1	3444	2126	2447	2402	321.3	8.0	243	3906	0.00	2.60	9.75	2.492	8740	0.000	0.079	3454	706	2394	2416	2372	0	0	0	0	0	0	15.11	14.64	13.34
4048	1.80	40.1	3460	706	2414	2372	306.5	10.1	265	4054	0.00	2.45	0.00	0.000	1030	0.000	0.054	3454	2100	2393	2414	2373	0	0	0	0	0	0	14.81	14.69	14.84
4397	1.81	40.1	3454	2101	2414	2370	273.6	9.3	273	4403	0.00	2.58	0.00	0.000	324	0.000	0.096	3454	3508	2391	2413	2369	0	0	0	0	0	0	15.02	14.53	15.04
4634	1.81	40.1	3454	3509	2412	2370	249.3	10.2	307	4640	0.00	2.42	0.00	0.000	1030	0.000	0.041	3465	2096	2390	2412	2369	0	0	0	0	0	0	14.66	14.62	14.70
5012	1.81	40.1	3465	2096	2413	2370	211.4	10.1	319	5018	0.00	2.65	0.00	0.000	260	0.000	0.093	3464	3512	2390	2412	2369	0	0	0	0	0	0	15.11	14.39	15.14
5068	1.81	40.1	3466	3513	2414	2370	205.0	11.9	327	5074	0.00	2.45	0.00	0.000	1030	0.000	0.042	3475	2089	2389	2410	2369	0	0	0	0	0	0	14.63	14.59	14.67
5435	1.85	40.1	3475	2090	2412	2370	171.8	8.3	346	5441	0.00	2.65	0.00	0.000	324	0.000	0.092	3474	3513	2393	2418	2369	0	0	0	0	0	0	15.00	14.45	15.02
5481	1.86	49.5	3476	3512	2414	2370	167.7	8.0	353	5496	0.00	2.45	10.85	2.406	9254	0.000	0.041	3486	2094	2357	2379	2335	0	0	0	0	0	0	14.61	14.56	13.39
5845	1.86	49.5	3485	2095	2377	2332	133.2	9.6	369	5852	0.00	2.53	0.00	0.000	516	0.000	0.079	3497	705	2354	2377	2331	0	0	0	0	0	0	15.11	14.48	15.13
6083	1.86	49.5	3498	707	2379	2333	110.8	9.9	403	6090	0.12	2.50	0.00	0.000	5126	0.330	0.054	3469	2112	2354	2377	2331	0	0	0	0	0	0	14.01	14.54	14.26
6433	1.88	49.5	3471	2112	2379	2331	79.2	9.0	417	6440	0.00	2.60	0.00	0.000	580	0.000	0.079	3478	705	2353	2377	2330	0	0	0	0	0	0	15.11	14.37	15.13
6524	1.90	49.5	3477	705	2376	2331	71.2	8.8	430	6531	0.00	2.47	0.00	0.000	1094	0.000	0.054	3478	2098	2353	2377	2330	0	0	0	0	0	0	14.50	14.42	14.54
6882	1.93	49.5	3479	2099	2379	2331	40.0	8.5	445	6888	0.00	2.62	0.00	0.000	324	0.000	0.095	3478	3517	2352	2376	2329	0	0	0	0	0	0	15.10	14.39	15.13
6958	1.95	49.5	3479	3517	2378	2331	32.6	9.0	456	6968	0.00	2.47	0.00	0.000	1094	0.000	0.042	3488	2095	2353	2376	2330	0	0	0	0	0	0	14.59	14.54	14.64
7302	1.96	59.1	3487	2095	2375	2328	3.7	7.9	469	7315	0.00	2.55	6.55	0.262	8740	0.000	0.076	3498	706	2314	2337	2291	0	0	0	0	0	0	15.10	14.45	14.21
7320	end climb: SURFACE_DEPTH_REACHED
state	7320	begin surface coast
7327	end surface coast: CONTROL_FINISHED_OK
state	7327	begin surface