Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 804 * 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 804 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 28 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 31 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 2575 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 3 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 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 804 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 31 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 030119,102000,-7407.9878,-11315.9814,21,1.1,21,53.9,1.4,216.1,7,4.7 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 0.66 MHEAD_RNG_PITCHd_Wd 205.4,4556,-23.7,-10.000,-25.85,1215

_SM_ANGLEo -63.5 D_GRID 990

GPS2 030119,102807,-7408.0078,-11316.2002,2,0.9,4,53.9,1.5,249.3,10,3.6

Post-dive calculations and measurements:

FREEZE -0.15,-0.741,-1.857,2,1,0 ALTIM_BOTTOM_PING 457.8,16.8

FINISH -0.2,1.027221 _24V_AH 11.84,262.995

SM_CCo 8760,185.45,0.228,0,0,1146,350.04 _10V_AH 12.23,0.000

SM_GC 0.44,9.20,0.40,185.45,0.068,0.096,0.228,209,2300,1146,-8.26,-0.65,350.04,0,0,0,0,0,0,14.46,14.33,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 329 FG_AHR_10Vo 0.000

RAFOS 0,1546516861,12.032778,12.016945,84,59,57,55,53,52,653,223,145,204,182,172 MEM 279896

RAFOS_FIX -7406.202637,-11309.998047,030119,121200,3,113,0.71 DATA_FILE_SIZE 16802,464

IRIDIUM_FIX -7410.67,-11305.70,030119,073009 CAP_FILE_SIZE 81189,0

TT8_MAMPS 0.039697,0.722785 CFSIZE 1024409600,928546816

HUMID 48.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1447.2

TCM_TEMP 12.20 CURRENT 0.063,332.76,1

XPDR_PINGS 0 GPS 030119,125846,-7408.080,-11319.392,6,1.6,9,53.9,0.7,178.7,4,8.3

ALTIM_TOP_PING 10.2,11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 406 112.42 nil 0 0 0.00

Roll_motor 70 155 129.86 nil 0 0 0.00

VBD_pump_during_apogee 180 2841 6079.58 nil 0 0 0.00

VBD_pump_during_surface 185 227 500.56 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 8759 6 701.68

Iridium_during_xfer 263 189 591.95 nil 0 0 0.00

Transponder_ping 20 420 100.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.82

TT8 0 0 0.00

LPSleep 7232 2 204.33

TT8_Active 573 13 96.86

TT8_Sampling 1289 34 548.84

TT8_CF8 353 52 228.38

TT8_Kalman 0 0 0.00

Analog_circuits 1212 10 161.60

GPS_charging 0 0 0.00

Compass 669 7 61.34

RAFOS 720 1 13.21

Transponder 143 30 52.76

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

10.2 10.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.3 21.60 9000.00 0.0 0.00 0.00 21.60 0.0 1.07 1.00

31.2 32.60 32.70 0.0 1.04 1.00 32.60 0.0 1.01 1.00

427.0 49.40 9000.00 0.0 0.06 0.86 49.40 0.0 0.04 1.00

437.8 38.70 9000.00 0.0 0.03 0.58 38.70 476.5 -0.99 1.00

447.8 27.00 27.40 475.2 -1.07 1.00 27.00 474.8 -1.17 1.00

457.8 17.10 16.80 474.6 -1.08 1.00 17.10 474.9 -0.99 1.00

466.8 17.40 9000.00 0.0 -0.51 0.75 17.40 449.4 0.03 1.00

451.5 35.00 9000.00 0.0 -1.07 0.64 35.00 0.0 -1.15 1.00

141.5 147.60 9000.00 0.0 -0.38 0.99 147.60 0.0 -0.36 1.00

118.7 125.60 9000.00 0.0 -0.31 0.94 125.60 -6.9 0.96 1.00

108.5 112.60 113.60 -5.1 1.04 0.99 112.60 -4.1 1.27 1.00

86.0 88.40 88.10 -2.1 1.13 1.00 88.40 -2.4 1.08 1.00

63.6 66.70 66.30 -2.7 1.02 1.00 66.70 -3.1 0.97 1.00

53.5 56.00 56.30 -2.8 0.99 1.00 56.00 -2.5 1.06 1.00

42.5 44.70 44.60 -2.1 1.04 1.00 44.70 -2.2 1.03 1.00

30.9 30.90 31.20 -0.3 1.11 1.00 30.90 0.0 1.19 1.00

20.5 21.30 20.80 -0.3 1.07 0.99 21.30 -0.8 0.92 1.00

10.2 11.30 11.40 -1.2 0.95 1.00 11.30 -1.1 0.97 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 8 begin dive

12 -1.17 -78.9 211 2320 1180 1078 0.0 0.0 0 110 0.00 0.00 -96.68 0.002 16390 0.000 0.000 210 2320 2898 2897 2900 0 0 0 0 0 0 14.88 12.81 14.88

114 -1.17 -78.9 209 2319 2896 2900 1.7 -1.5 3 130 11.02 2.62 0.00 0.000 2564 0.406 0.063 2490 886 2899 2898 2900 0 0 0 0 0 0 14.08 14.49 14.43

360 -1.17 -78.9 2491 890 2906 2895 40.3 -16.9 39 366 0.00 2.55 0.00 0.000 1030 0.000 0.062 2481 2300 2899 2904 2894 0 0 0 0 0 0 14.51 14.36 14.57

728 -1.17 -78.9 2481 2300 2906 2892 95.6 -15.5 55 733 0.00 2.58 0.00 0.000 516 0.000 0.067 2487 888 2898 2907 2890 0 0 0 0 0 0 14.78 14.23 14.80

942 -1.17 -78.9 2481 887 2907 2891 129.3 -15.6 86 949 0.00 2.60 0.00 0.000 1030 0.000 0.063 2471 2318 2898 2907 2890 0 0 0 0 0 0 14.41 14.24 14.45

1285 -1.17 -78.9 2470 2318 2908 2890 180.2 -14.7 99 1291 0.00 2.67 0.00 0.000 260 0.000 0.103 2460 3720 2898 2907 2889 0 0 0 0 0 0 14.96 14.18 14.98

1334 -1.17 -78.9 2459 3721 2908 2888 187.8 -16.1 106 1341 0.15 2.55 0.00 0.000 3078 0.275 0.041 2489 2252 2899 2909 2889 0 0 0 0 0 0 13.90 14.36 14.22

1709 -1.17 -78.9 2491 2253 2911 2889 235.7 -12.5 115 1714 0.00 2.80 0.00 0.000 260 0.000 0.102 2479 3711 2898 2909 2888 0 0 0 0 0 0 14.73 14.16 14.76

1762 -1.17 -78.9 2480 3711 2909 2889 243.2 -13.2 123 1768 0.00 2.47 0.00 0.000 1030 0.000 0.041 2480 2304 2897 2907 2888 0 0 0 0 0 0 14.23 14.23 14.28

2157 -1.17 -78.9 2480 2304 2910 2888 291.0 -12.1 137 2163 0.00 2.55 0.00 0.000 516 0.000 0.064 2480 912 2898 2910 2887 0 0 0 0 0 0 14.88 14.14 14.90

2274 -1.17 -78.9 2480 913 2911 2889 305.8 -12.7 154 2280 0.00 2.55 0.00 0.000 1030 0.000 0.062 2470 2306 2898 2910 2887 0 0 0 0 0 0 14.39 14.23 14.45

2659 -1.17 -78.9 2470 2307 2910 2888 353.0 -12.3 167 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2306 2898 2910 2887 0 0 0 0 0 0 14.90 14.92 14.92

2995 -1.17 -78.9 2471 2307 2911 2888 396.0 -12.6 173 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2306 2898 2910 2887 0 0 0 0 0 0 14.90 14.92 14.92

3331 -1.17 -78.9 2471 2306 2905 2888 432.9 -10.8 179 3337 0.00 2.58 0.00 0.000 516 0.000 0.061 2469 901 2898 2910 2887 0 0 0 0 0 0 14.88 14.11 14.89

3548 -1.17 -78.9 2470 901 2911 2883 458.7 -11.7 210 3555 0.15 2.58 0.00 0.000 3078 0.304 0.060 2488 2311 2899 2911 2887 0 0 0 0 0 0 13.83 14.20 14.17

3608 end dive: BOTTOM_OBSTACLE_DETECTED

state 3608 begin apogee

3616 -0.23 0.0 2487 2060 2910 2888 466.1 -11.8 212 3703 1.20 0.10 84.12 2.841 10246 0.241 0.155 2796 2123 2576 2604 2548 0 0 0 0 0 0 13.97 13.83 12.76

3704 end apogee: CONTROL_FINISHED_OK

state 3704 begin climb

3708 1.17 78.9 2796 2124 2604 2547 468.9 0.0 213 3808 1.52 0.00 96.60 2.723 10246 0.133 0.000 3243 2123 2251 2280 2223 0 0 0 0 0 0 13.74 12.88 11.84

4115 1.17 78.9 3245 2124 2271 2212 435.1 9.8 221 4116 0.00 0.00 0.00 0.000 6 0.000 0.000 3243 2123 2240 2270 2210 0 0 0 0 0 0 14.00 14.02 14.02

4451 1.17 78.9 3245 2124 2268 2209 401.9 10.0 227 4457 0.00 2.55 0.00 0.000 516 0.000 0.078 3254 742 2237 2266 2209 0 0 0 0 0 0 14.76 14.28 14.78

4521 1.17 78.9 3253 742 2264 2209 394.8 10.1 237 4527 0.00 2.42 0.00 0.000 1030 0.000 0.054 3254 2093 2236 2264 2209 0 0 0 0 0 0 14.39 14.31 14.42

4899 1.18 78.9 3253 2094 2263 2207 358.8 9.4 249 4905 0.00 1.42 0.00 0.000 324 0.000 0.086 3254 2863 2234 2262 2207 0 0 0 0 0 0 14.94 14.40 14.96

5138 1.18 78.9 3253 2863 2262 2206 333.5 11.0 283 5143 0.00 1.27 0.00 0.000 1030 0.000 0.041 3259 2126 2234 2262 2206 0 0 0 0 0 0 14.57 14.54 14.62

5516 1.20 78.9 3259 2122 2262 2206 297.0 9.4 295 5522 0.00 2.62 0.00 0.000 324 0.000 0.098 3259 3519 2233 2262 2205 0 0 0 0 0 0 14.85 14.38 14.88

5550 1.20 78.9 3260 3519 2264 2206 293.3 10.6 300 5556 0.00 2.45 0.00 0.000 1030 0.000 0.044 3270 2101 2233 2262 2205 0 0 0 0 0 0 14.64 14.54 14.69

5908 1.20 78.9 3271 2102 2264 2205 258.4 9.8 309 5914 0.00 2.60 0.00 0.000 516 0.000 0.083 3279 694 2233 2262 2205 0 0 0 0 0 0 14.93 14.35 14.95

5963 1.20 78.9 3280 694 2261 2206 252.8 10.0 317 5969 0.00 2.53 0.00 0.000 1030 0.000 0.056 3281 2122 2233 2261 2205 0 0 0 0 0 0 14.59 14.44 14.65

6358 1.20 78.9 3281 2122 2262 2205 213.1 10.1 331 6359 0.00 0.00 0.00 0.000 6 0.000 0.000 3276 2122 2232 2261 2204 0 0 0 0 0 0 14.89 14.92 14.92

6691 1.21 78.9 3282 2123 2262 2205 181.0 9.2 340 6697 0.00 2.60 0.00 0.000 324 0.000 0.099 3281 3516 2232 2261 2204 0 0 0 0 0 0 14.92 14.33 14.95

6782 1.21 78.9 3280 3513 2260 2204 171.2 10.8 353 6788 0.12 2.50 0.00 0.000 5126 0.283 0.043 3259 2093 2232 2260 2204 0 0 0 0 0 0 14.00 14.42 14.21

7142 1.24 78.9 3259 2093 2260 2204 139.0 8.8 368 7143 0.00 0.00 0.00 0.000 70 0.000 0.000 3261 2093 2231 2260 2203 0 0 0 0 0 0 14.89 14.92 14.92

7475 1.26 78.9 3260 2093 2259 2204 109.1 8.6 380 7483 0.00 2.72 0.00 0.000 324 0.000 0.098 3260 3517 2231 2260 2203 0 0 0 0 0 0 14.92 14.28 14.94

7636 1.26 78.9 3261 3518 2261 2204 93.9 9.7 403 7644 0.00 2.53 0.00 0.000 1030 0.000 0.042 3269 2091 2231 2259 2203 0 0 0 0 0 0 14.45 14.38 14.49

7983 1.29 78.9 3269 2092 2259 2203 63.6 8.5 416 7988 0.00 2.70 0.00 0.000 324 0.000 0.096 3269 3509 2231 2259 2203 0 0 0 0 0 0 14.78 14.28 14.81

8094 1.32 78.9 3269 3508 2259 2203 53.5 8.9 432 8099 0.00 2.47 0.00 0.000 1094 0.000 0.041 3279 2086 2231 2259 2203 0 0 0 0 0 0 14.55 14.45 14.59

8460 1.34 78.9 3281 2087 2261 2203 23.4 8.8 448 8465 0.00 2.72 0.00 0.000 324 0.000 0.096 3279 3519 2230 2259 2202 0 0 0 0 0 0 14.89 14.26 14.91

8499 1.34 78.9 3279 3519 2259 2203 19.0 10.8 454 8506 0.00 2.53 0.00 0.000 1030 0.000 0.044 3289 2094 2230 2259 2202 0 0 0 0 0 0 14.42 14.36 14.57

8706 end climb: SURFACE_DEPTH_REACHED

state 8706 begin surface coast

8738 end surface coast: CONTROL_FINISHED_OK

state 8738 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	804	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	28	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	31	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	2575	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	3	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	030119,102000,-7407.9878,-11315.9814,21,1.1,21,53.9,1.4,216.1,7,4.7	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	0.66	MHEAD_RNG_PITCHd_Wd	205.4,4556,-23.7,-10.000,-25.85,1215
_SM_ANGLEo	-63.5	D_GRID	990
GPS2	030119,102807,-7408.0078,-11316.2002,2,0.9,4,53.9,1.5,249.3,10,3.6

FREEZE	-0.15,-0.741,-1.857,2,1,0	ALTIM_BOTTOM_PING	457.8,16.8
FINISH	-0.2,1.027221	_24V_AH	11.84,262.995
SM_CCo	8760,185.45,0.228,0,0,1146,350.04	_10V_AH	12.23,0.000
SM_GC	0.44,9.20,0.40,185.45,0.068,0.096,0.228,209,2300,1146,-8.26,-0.65,350.04,0,0,0,0,0,0,14.46,14.33,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	329	FG_AHR_10Vo	0.000
RAFOS	0,1546516861,12.032778,12.016945,84,59,57,55,53,52,653,223,145,204,182,172	MEM	279896
RAFOS_FIX	-7406.202637,-11309.998047,030119,121200,3,113,0.71	DATA_FILE_SIZE	16802,464
IRIDIUM_FIX	-7410.67,-11305.70,030119,073009	CAP_FILE_SIZE	81189,0
TT8_MAMPS	0.039697,0.722785	CFSIZE	1024409600,928546816
HUMID	48.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1447.2
TCM_TEMP	12.20	CURRENT	0.063,332.76,1
XPDR_PINGS	0	GPS	030119,125846,-7408.080,-11319.392,6,1.6,9,53.9,0.7,178.7,4,8.3
ALTIM_TOP_PING	10.2,11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	406	112.42	nil	0	0	0.00
Roll_motor	70	155	129.86	nil	0	0	0.00
VBD_pump_during_apogee	180	2841	6079.58	nil	0	0	0.00
VBD_pump_during_surface	185	227	500.56	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	8759	6	701.68
Iridium_during_xfer	263	189	591.95	nil	0	0	0.00
Transponder_ping	20	420	100.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.82
TT8	0	0	0.00
LPSleep	7232	2	204.33
TT8_Active	573	13	96.86
TT8_Sampling	1289	34	548.84
TT8_CF8	353	52	228.38
TT8_Kalman	0	0	0.00
Analog_circuits	1212	10	161.60
GPS_charging	0	0	0.00
Compass	669	7	61.34
RAFOS	720	1	13.21
Transponder	143	30	52.76

		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
10.2	10.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.3	21.60	9000.00	0.0	0.00	0.00	21.60	0.0	1.07	1.00
31.2	32.60	32.70	0.0	1.04	1.00	32.60	0.0	1.01	1.00
427.0	49.40	9000.00	0.0	0.06	0.86	49.40	0.0	0.04	1.00
437.8	38.70	9000.00	0.0	0.03	0.58	38.70	476.5	-0.99	1.00
447.8	27.00	27.40	475.2	-1.07	1.00	27.00	474.8	-1.17	1.00
457.8	17.10	16.80	474.6	-1.08	1.00	17.10	474.9	-0.99	1.00

466.8	17.40	9000.00	0.0	-0.51	0.75	17.40	449.4	0.03	1.00
451.5	35.00	9000.00	0.0	-1.07	0.64	35.00	0.0	-1.15	1.00
141.5	147.60	9000.00	0.0	-0.38	0.99	147.60	0.0	-0.36	1.00
118.7	125.60	9000.00	0.0	-0.31	0.94	125.60	-6.9	0.96	1.00
108.5	112.60	113.60	-5.1	1.04	0.99	112.60	-4.1	1.27	1.00
86.0	88.40	88.10	-2.1	1.13	1.00	88.40	-2.4	1.08	1.00
63.6	66.70	66.30	-2.7	1.02	1.00	66.70	-3.1	0.97	1.00
53.5	56.00	56.30	-2.8	0.99	1.00	56.00	-2.5	1.06	1.00
42.5	44.70	44.60	-2.1	1.04	1.00	44.70	-2.2	1.03	1.00
30.9	30.90	31.20	-0.3	1.11	1.00	30.90	0.0	1.19	1.00
20.5	21.30	20.80	-0.3	1.07	0.99	21.30	-0.8	0.92	1.00
10.2	11.30	11.40	-1.2	0.95	1.00	11.30	-1.1	0.97	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	8	begin dive
12	-1.17	-78.9	211	2320	1180	1078	0.0	0.0	0	110	0.00	0.00	-96.68	0.002	16390	0.000	0.000	210	2320	2898	2897	2900	0	0	0	0	0	0	14.88	12.81	14.88
114	-1.17	-78.9	209	2319	2896	2900	1.7	-1.5	3	130	11.02	2.62	0.00	0.000	2564	0.406	0.063	2490	886	2899	2898	2900	0	0	0	0	0	0	14.08	14.49	14.43
360	-1.17	-78.9	2491	890	2906	2895	40.3	-16.9	39	366	0.00	2.55	0.00	0.000	1030	0.000	0.062	2481	2300	2899	2904	2894	0	0	0	0	0	0	14.51	14.36	14.57
728	-1.17	-78.9	2481	2300	2906	2892	95.6	-15.5	55	733	0.00	2.58	0.00	0.000	516	0.000	0.067	2487	888	2898	2907	2890	0	0	0	0	0	0	14.78	14.23	14.80
942	-1.17	-78.9	2481	887	2907	2891	129.3	-15.6	86	949	0.00	2.60	0.00	0.000	1030	0.000	0.063	2471	2318	2898	2907	2890	0	0	0	0	0	0	14.41	14.24	14.45
1285	-1.17	-78.9	2470	2318	2908	2890	180.2	-14.7	99	1291	0.00	2.67	0.00	0.000	260	0.000	0.103	2460	3720	2898	2907	2889	0	0	0	0	0	0	14.96	14.18	14.98
1334	-1.17	-78.9	2459	3721	2908	2888	187.8	-16.1	106	1341	0.15	2.55	0.00	0.000	3078	0.275	0.041	2489	2252	2899	2909	2889	0	0	0	0	0	0	13.90	14.36	14.22
1709	-1.17	-78.9	2491	2253	2911	2889	235.7	-12.5	115	1714	0.00	2.80	0.00	0.000	260	0.000	0.102	2479	3711	2898	2909	2888	0	0	0	0	0	0	14.73	14.16	14.76
1762	-1.17	-78.9	2480	3711	2909	2889	243.2	-13.2	123	1768	0.00	2.47	0.00	0.000	1030	0.000	0.041	2480	2304	2897	2907	2888	0	0	0	0	0	0	14.23	14.23	14.28
2157	-1.17	-78.9	2480	2304	2910	2888	291.0	-12.1	137	2163	0.00	2.55	0.00	0.000	516	0.000	0.064	2480	912	2898	2910	2887	0	0	0	0	0	0	14.88	14.14	14.90
2274	-1.17	-78.9	2480	913	2911	2889	305.8	-12.7	154	2280	0.00	2.55	0.00	0.000	1030	0.000	0.062	2470	2306	2898	2910	2887	0	0	0	0	0	0	14.39	14.23	14.45
2659	-1.17	-78.9	2470	2307	2910	2888	353.0	-12.3	167	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2306	2898	2910	2887	0	0	0	0	0	0	14.90	14.92	14.92
2995	-1.17	-78.9	2471	2307	2911	2888	396.0	-12.6	173	2996	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2306	2898	2910	2887	0	0	0	0	0	0	14.90	14.92	14.92
3331	-1.17	-78.9	2471	2306	2905	2888	432.9	-10.8	179	3337	0.00	2.58	0.00	0.000	516	0.000	0.061	2469	901	2898	2910	2887	0	0	0	0	0	0	14.88	14.11	14.89
3548	-1.17	-78.9	2470	901	2911	2883	458.7	-11.7	210	3555	0.15	2.58	0.00	0.000	3078	0.304	0.060	2488	2311	2899	2911	2887	0	0	0	0	0	0	13.83	14.20	14.17
3608	end dive: BOTTOM_OBSTACLE_DETECTED
state	3608	begin apogee
3616	-0.23	0.0	2487	2060	2910	2888	466.1	-11.8	212	3703	1.20	0.10	84.12	2.841	10246	0.241	0.155	2796	2123	2576	2604	2548	0	0	0	0	0	0	13.97	13.83	12.76
3704	end apogee: CONTROL_FINISHED_OK
state	3704	begin climb
3708	1.17	78.9	2796	2124	2604	2547	468.9	0.0	213	3808	1.52	0.00	96.60	2.723	10246	0.133	0.000	3243	2123	2251	2280	2223	0	0	0	0	0	0	13.74	12.88	11.84
4115	1.17	78.9	3245	2124	2271	2212	435.1	9.8	221	4116	0.00	0.00	0.00	0.000	6	0.000	0.000	3243	2123	2240	2270	2210	0	0	0	0	0	0	14.00	14.02	14.02
4451	1.17	78.9	3245	2124	2268	2209	401.9	10.0	227	4457	0.00	2.55	0.00	0.000	516	0.000	0.078	3254	742	2237	2266	2209	0	0	0	0	0	0	14.76	14.28	14.78
4521	1.17	78.9	3253	742	2264	2209	394.8	10.1	237	4527	0.00	2.42	0.00	0.000	1030	0.000	0.054	3254	2093	2236	2264	2209	0	0	0	0	0	0	14.39	14.31	14.42
4899	1.18	78.9	3253	2094	2263	2207	358.8	9.4	249	4905	0.00	1.42	0.00	0.000	324	0.000	0.086	3254	2863	2234	2262	2207	0	0	0	0	0	0	14.94	14.40	14.96
5138	1.18	78.9	3253	2863	2262	2206	333.5	11.0	283	5143	0.00	1.27	0.00	0.000	1030	0.000	0.041	3259	2126	2234	2262	2206	0	0	0	0	0	0	14.57	14.54	14.62
5516	1.20	78.9	3259	2122	2262	2206	297.0	9.4	295	5522	0.00	2.62	0.00	0.000	324	0.000	0.098	3259	3519	2233	2262	2205	0	0	0	0	0	0	14.85	14.38	14.88
5550	1.20	78.9	3260	3519	2264	2206	293.3	10.6	300	5556	0.00	2.45	0.00	0.000	1030	0.000	0.044	3270	2101	2233	2262	2205	0	0	0	0	0	0	14.64	14.54	14.69
5908	1.20	78.9	3271	2102	2264	2205	258.4	9.8	309	5914	0.00	2.60	0.00	0.000	516	0.000	0.083	3279	694	2233	2262	2205	0	0	0	0	0	0	14.93	14.35	14.95
5963	1.20	78.9	3280	694	2261	2206	252.8	10.0	317	5969	0.00	2.53	0.00	0.000	1030	0.000	0.056	3281	2122	2233	2261	2205	0	0	0	0	0	0	14.59	14.44	14.65
6358	1.20	78.9	3281	2122	2262	2205	213.1	10.1	331	6359	0.00	0.00	0.00	0.000	6	0.000	0.000	3276	2122	2232	2261	2204	0	0	0	0	0	0	14.89	14.92	14.92
6691	1.21	78.9	3282	2123	2262	2205	181.0	9.2	340	6697	0.00	2.60	0.00	0.000	324	0.000	0.099	3281	3516	2232	2261	2204	0	0	0	0	0	0	14.92	14.33	14.95
6782	1.21	78.9	3280	3513	2260	2204	171.2	10.8	353	6788	0.12	2.50	0.00	0.000	5126	0.283	0.043	3259	2093	2232	2260	2204	0	0	0	0	0	0	14.00	14.42	14.21
7142	1.24	78.9	3259	2093	2260	2204	139.0	8.8	368	7143	0.00	0.00	0.00	0.000	70	0.000	0.000	3261	2093	2231	2260	2203	0	0	0	0	0	0	14.89	14.92	14.92
7475	1.26	78.9	3260	2093	2259	2204	109.1	8.6	380	7483	0.00	2.72	0.00	0.000	324	0.000	0.098	3260	3517	2231	2260	2203	0	0	0	0	0	0	14.92	14.28	14.94
7636	1.26	78.9	3261	3518	2261	2204	93.9	9.7	403	7644	0.00	2.53	0.00	0.000	1030	0.000	0.042	3269	2091	2231	2259	2203	0	0	0	0	0	0	14.45	14.38	14.49
7983	1.29	78.9	3269	2092	2259	2203	63.6	8.5	416	7988	0.00	2.70	0.00	0.000	324	0.000	0.096	3269	3509	2231	2259	2203	0	0	0	0	0	0	14.78	14.28	14.81
8094	1.32	78.9	3269	3508	2259	2203	53.5	8.9	432	8099	0.00	2.47	0.00	0.000	1094	0.000	0.041	3279	2086	2231	2259	2203	0	0	0	0	0	0	14.55	14.45	14.59
8460	1.34	78.9	3281	2087	2261	2203	23.4	8.8	448	8465	0.00	2.72	0.00	0.000	324	0.000	0.096	3279	3519	2230	2259	2202	0	0	0	0	0	0	14.89	14.26	14.91
8499	1.34	78.9	3279	3519	2259	2203	19.0	10.8	454	8506	0.00	2.53	0.00	0.000	1030	0.000	0.044	3289	2094	2230	2259	2202	0	0	0	0	0	0	14.42	14.36	14.57
8706	end climb: SURFACE_DEPTH_REACHED
state	8706	begin surface coast
8738	end surface coast: CONTROL_FINISHED_OK
state	8738	begin surface