Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 901 * 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 901 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 33 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 0 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 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 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 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 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 901 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 080219,091059,-7410.0659,-11155.1650,0,1001.0,0,53.1,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME EMM0

_XMS_NAKs 0 TGT_LATLONG -7410.220,-11226.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 654.50 MHEAD_RNG_PITCHd_Wd 217.2,15883,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -1.1 D_GRID 990

GPS2 080219,091059,-7410.0659,-11155.1650,0,1001.0,0,53.1,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE -0.10,-0.525,-0.448,2,2,0 _24V_AH 10.30,296.783

FINISH -0.1,1.006517 _10V_AH 10.32,0.000

SM_CCo 9152,153.75,0.207,0,0,1147,350.04 FG_AHR_24Vo 0.000

SM_GC 0.89,12.07,0.50,153.75,0.073,0.077,0.207,215,2310,1147,-8.24,-0.20,350.04,0,0,0,0,0,0,11.33,11.34,11.21 FG_AHR_10Vo 0.000

RAFOS_CLK 361 MEM 279928

RAFOS_FIX -7410.124512,-11154.140625,080219,111146,0,1,0.06 DATA_FILE_SIZE 13461,398

IRIDIUM_FIX -7415.26,-11103.96,080219,040415 CAP_FILE_SIZE 74951,0

TT8_MAMPS 0.048685,0.202979 CFSIZE 1024409600,917684224

HUMID 50.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1450.5

TCM_TEMP 12.10 CURRENT 0.243,255.65,1

XPDR_PINGS 2 GPS 080219,115130,-7410.429,-11202.783,33,0.7,33,53.1,0.3,262.6,12,3.1

ALTIM_TOP_PING 11.1,11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 230 39.61 nil 0 0 0.00

Roll_motor 111 97 111.13 nil 0 0 0.00

VBD_pump_during_apogee 367 2922 11075.93 nil 0 0 0.00

VBD_pump_during_surface 153 206 327.10 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 9146 3 352.42

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 80.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7677 2 183.03

TT8_Active 616 13 87.87

TT8_Sampling 897 34 322.26

TT8_CF8 240 52 131.10

TT8_Kalman 0 0 0.00

Analog_circuits 979 10 110.14

GPS_charging 0 0 0.00

Compass 575 7 44.49

RAFOS 0 0 0.00

Transponder 126 30 39.03

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

655.0 31.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

665.8 30.70 9000.00 0.0 0.00 0.00 30.70 696.5 -0.07 1.00

680.1 34.50 9000.00 0.0 0.13 0.63 34.50 0.0 0.27 1.00

694.0 39.20 9000.00 0.0 0.30 1.00 39.20 0.0 0.34 1.00

725.4 16.70 9000.00 0.0 -0.45 0.77 16.70 0.0 -0.72 1.00

714.9 24.10 9000.00 0.0 -0.72 1.00 24.10 0.0 -0.70 1.00

118.1 122.50 9000.00 0.0 -0.17 1.00 122.50 0.0 -0.16 1.00

87.6 90.80 9000.00 0.0 -0.13 0.87 90.80 -3.2 1.04 1.00

77.1 80.10 80.00 -2.9 1.04 1.00 80.10 -3.0 1.02 1.00

53.9 56.00 56.10 -2.2 1.03 1.00 56.00 -2.1 1.04 1.00

32.3 34.10 34.00 -1.7 1.03 1.00 34.10 -1.8 1.01 1.00

21.9 22.20 22.60 -0.7 1.05 1.00 22.20 -0.3 1.14 1.00

11.1 11.30 11.10 0.0 1.08 1.00 11.30 -0.2 1.01 1.00

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

11 -1.06 -107.1 2881 2292 2651 2582 0.0 0.0 0 19 0.00 0.00 -6.57 0.026 16390 0.000 0.000 2877 2292 3037 3081 2994 0 0 0 0 1 0 11.46 10.79 11.45

23 -1.06 -107.1 2878 2293 3083 2995 0.0 0.0 0 30 1.40 3.28 0.00 0.000 4612 0.107 0.066 2536 899 3037 3081 2994 0 0 0 0 0 0 11.28 11.27 11.33

71 -1.06 -107.1 2535 900 3080 3001 658.5 -8.3 7 78 0.00 3.38 0.00 0.000 1030 0.000 0.062 2527 2306 3037 3080 2995 0 0 0 0 0 0 11.36 11.29 11.38

414 -1.06 -107.1 2529 2307 3081 2995 701.1 -12.4 14 415 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2306 3036 3079 2994 0 0 0 0 0 0 11.48 11.52 11.50

750 -1.06 -107.1 2527 2304 3078 2995 735.9 -10.3 20 751 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2306 3036 3078 2995 0 0 0 0 0 0 11.49 11.50 11.50

1082 end dive: NO_VERTICAL_VELOCITY

state 1082 begin apogee

1091 -0.23 0.0 2527 2088 3077 2995 735.8 0.0 26 1267 1.12 0.00 172.20 2.922 10246 0.106 0.000 2797 2087 2575 2608 2542 0 0 0 0 0 0 11.31 11.19 10.30

1268 end apogee: CONTROL_FINISHED_OK

state 1268 begin climb

1272 1.06 107.1 2798 2088 2609 2543 735.6 0.0 29 1453 1.73 3.35 168.27 2.844 10756 0.122 0.078 3213 711 2139 2176 2103 0 0 0 0 0 0 11.20 11.18 10.32

1623 1.06 107.1 3213 712 2169 2097 710.8 9.9 81 1629 0.00 3.22 0.00 0.000 1030 0.000 0.049 3212 2111 2131 2168 2095 0 0 0 0 0 0 11.35 11.28 11.36

1986 1.06 107.1 3213 2111 2164 2090 670.3 11.3 91 1991 0.00 3.50 0.00 0.000 260 0.000 0.096 3213 3516 2128 2165 2091 0 0 0 0 0 0 11.50 11.26 11.49

2062 1.06 107.1 3214 3517 2167 2092 661.1 12.1 102 2069 0.00 3.17 0.00 0.000 1030 0.000 0.040 3222 2110 2127 2165 2090 0 0 0 0 0 0 11.38 11.31 11.39

2433 1.06 107.1 3222 2111 2162 2090 620.7 10.8 113 2439 0.00 3.47 0.00 0.000 260 0.000 0.092 3223 3513 2126 2163 2089 0 0 0 0 0 0 11.48 11.28 11.50

2461 1.06 107.1 3220 3514 2165 2090 617.4 11.8 117 2467 0.00 3.22 0.00 0.000 1030 0.000 0.042 3232 2095 2126 2163 2089 0 0 0 0 0 0 11.38 11.32 11.40

2826 1.06 107.1 3233 2096 2163 2089 576.9 11.2 127 2831 0.00 3.38 0.00 0.000 516 0.000 0.082 3242 697 2124 2160 2089 0 0 0 0 0 0 11.48 11.29 11.50

2867 1.06 107.1 3243 698 2161 2090 572.2 11.4 133 2873 0.17 3.25 0.00 0.000 5126 0.230 0.054 3214 2104 2123 2159 2088 0 0 0 0 0 0 11.22 11.31 11.38

3217 1.06 107.1 3215 2105 2161 2088 536.4 10.2 141 3223 0.00 3.45 0.00 0.000 260 0.000 0.093 3214 3516 2123 2158 2088 0 0 0 0 0 0 11.50 11.29 11.51

3267 1.06 107.1 3216 3517 2161 2089 531.1 11.2 148 3273 0.00 3.20 0.00 0.000 1030 0.000 0.041 3223 2101 2124 2161 2088 0 0 0 0 0 0 11.39 11.33 11.41

3610 1.06 107.1 3222 2102 2153 2088 497.0 9.6 155 3611 0.00 0.00 0.00 0.000 6 0.000 0.000 3223 2101 2123 2158 2088 0 0 0 0 0 0 11.48 11.50 11.50

3946 1.06 107.1 3223 2102 2160 2089 464.7 9.7 161 3951 0.00 3.53 0.00 0.000 260 0.000 0.095 3223 3519 2123 2158 2088 0 0 0 0 0 0 11.49 11.29 11.50

3988 1.06 107.1 3223 3519 2153 2089 460.3 10.7 167 3993 0.00 3.25 0.00 0.000 1030 0.000 0.041 3233 2091 2123 2158 2088 0 0 0 0 0 0 11.40 11.33 11.42

4337 1.06 107.1 3231 2091 2157 2088 426.1 9.7 175 4343 0.00 3.40 0.00 0.000 516 0.000 0.080 3244 690 2122 2157 2088 0 0 0 0 0 0 11.50 11.30 11.52

4372 1.06 107.1 3243 691 2156 2088 422.6 10.2 180 4378 0.20 3.28 0.00 0.000 5126 0.230 0.053 3210 2111 2122 2156 2088 0 0 0 0 0 0 11.24 11.32 11.38

4729 1.08 107.1 3211 2112 2158 2088 391.5 8.6 189 4735 0.00 3.45 0.00 0.000 324 0.000 0.097 3210 3512 2122 2156 2088 0 0 0 0 0 0 11.50 11.28 11.52

4827 1.09 107.1 3210 3512 2155 2087 382.2 9.5 203 4833 0.00 3.22 0.00 0.000 1094 0.000 0.040 3219 2089 2122 2156 2088 0 0 0 0 0 0 11.40 11.34 11.42

5177 1.12 107.1 3218 2090 2155 2087 351.5 8.7 211 5186 0.00 3.50 0.00 0.000 324 0.000 0.093 3219 3513 2121 2156 2087 0 0 0 0 0 0 11.50 11.29 11.52

5220 1.13 107.1 3218 3514 2155 2087 347.4 9.3 217 5226 0.00 3.25 0.00 0.000 1094 0.000 0.041 3229 2097 2121 2156 2087 0 0 0 0 0 0 11.40 11.34 11.42

5572 1.15 107.1 3228 2097 2149 2087 315.9 9.2 225 5577 0.00 3.50 0.00 0.000 324 0.000 0.094 3229 3512 2120 2155 2086 0 0 0 0 0 0 11.50 11.29 11.51

5612 1.15 107.1 3230 3514 2157 2087 311.6 10.3 231 5618 0.00 3.25 0.00 0.000 1030 0.000 0.041 3238 2088 2120 2155 2086 0 0 0 0 0 0 11.40 11.35 11.42

5963 1.18 107.1 3240 2088 2156 2087 281.1 8.7 239 5963 0.00 0.00 0.00 0.000 70 0.000 0.000 3239 2088 2120 2155 2086 0 0 0 0 0 0 11.51 11.53 11.52

6299 1.21 107.1 3238 2088 2154 2086 252.4 8.5 245 6305 0.00 3.47 0.00 0.000 324 0.000 0.093 3238 3516 2119 2153 2086 0 0 0 0 0 0 11.51 11.30 11.52

6376 1.21 107.1 3238 3517 2154 2087 244.8 9.8 256 6381 0.00 3.25 0.00 0.000 1030 0.000 0.040 3249 2087 2120 2155 2085 0 0 0 0 0 0 11.40 11.35 11.43

6748 1.21 107.1 3250 2087 2156 2086 209.4 9.6 267 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 3249 2086 2119 2153 2085 0 0 0 0 0 0 11.50 11.52 11.53

7083 1.23 107.1 3251 2087 2155 2086 179.7 8.7 277 7088 0.00 3.55 0.00 0.000 324 0.000 0.093 3249 3513 2119 2153 2085 0 0 0 0 0 0 11.51 11.30 11.53

7159 1.23 107.1 3250 3514 2155 2086 172.3 9.8 288 7166 0.00 3.25 0.00 0.000 1030 0.000 0.039 3260 2093 2119 2153 2086 0 0 0 0 0 0 11.39 11.34 11.41

7503 1.26 107.1 3261 2094 2155 2087 141.0 8.8 301 7504 0.00 0.00 0.00 0.000 70 0.000 0.000 3258 2093 2118 2152 2085 0 0 0 0 0 0 11.50 11.52 11.51

7839 1.29 107.1 3259 2093 2152 2086 113.3 8.5 313 7844 0.00 3.53 0.00 0.000 324 0.000 0.093 3259 3512 2118 2152 2085 0 0 0 0 0 0 11.51 11.29 11.52

7880 1.29 107.1 3261 3516 2154 2086 109.2 9.7 319 7886 0.00 3.25 0.00 0.000 1030 0.000 0.040 3270 2090 2120 2152 2088 0 0 0 0 0 0 11.41 11.35 11.43

8234 1.31 107.1 3270 2091 2152 2086 77.8 8.7 333 8241 0.00 3.47 0.00 0.000 324 0.000 0.093 3270 3511 2118 2152 2085 0 0 0 0 0 0 11.50 11.30 11.52

8324 1.31 107.1 3271 3513 2154 2086 69.0 9.6 346 8331 0.00 3.25 0.00 0.000 1030 0.000 0.039 3281 2092 2118 2152 2085 0 0 0 0 0 0 11.40 11.35 11.42

8685 1.36 145.8 3280 2092 2151 2085 38.5 7.6 361 8723 0.00 3.47 27.50 0.314 8740 0.000 0.082 3291 687 1977 2012 1943 0 0 0 0 0 0 11.51 11.27 11.18

8850 1.36 145.8 3292 688 2010 1940 21.9 10.7 385 8856 0.00 3.28 0.00 0.000 1030 0.000 0.053 3291 2104 1973 2008 1939 0 0 0 0 0 0 11.40 11.33 11.42

9099 end climb: SURFACE_DEPTH_REACHED

state 9099 begin surface coast

9126 end surface coast: FINISH_DEPTH_REACHED

state 9126 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	901	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	33	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	0	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	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	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	080219,091059,-7410.0659,-11155.1650,0,1001.0,0,53.1,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	EMM0
_XMS_NAKs	0	TGT_LATLONG	-7410.220,-11226.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	654.50	MHEAD_RNG_PITCHd_Wd	217.2,15883,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-1.1	D_GRID	990
GPS2	080219,091059,-7410.0659,-11155.1650,0,1001.0,0,53.1,0.0,0.0,0,0.0

FREEZE	-0.10,-0.525,-0.448,2,2,0	_24V_AH	10.30,296.783
FINISH	-0.1,1.006517	_10V_AH	10.32,0.000
SM_CCo	9152,153.75,0.207,0,0,1147,350.04	FG_AHR_24Vo	0.000
SM_GC	0.89,12.07,0.50,153.75,0.073,0.077,0.207,215,2310,1147,-8.24,-0.20,350.04,0,0,0,0,0,0,11.33,11.34,11.21	FG_AHR_10Vo	0.000
RAFOS_CLK	361	MEM	279928
RAFOS_FIX	-7410.124512,-11154.140625,080219,111146,0,1,0.06	DATA_FILE_SIZE	13461,398
IRIDIUM_FIX	-7415.26,-11103.96,080219,040415	CAP_FILE_SIZE	74951,0
TT8_MAMPS	0.048685,0.202979	CFSIZE	1024409600,917684224
HUMID	50.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1450.5
TCM_TEMP	12.10	CURRENT	0.243,255.65,1
XPDR_PINGS	2	GPS	080219,115130,-7410.429,-11202.783,33,0.7,33,53.1,0.3,262.6,12,3.1
ALTIM_TOP_PING	11.1,11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	230	39.61	nil	0	0	0.00
Roll_motor	111	97	111.13	nil	0	0	0.00
VBD_pump_during_apogee	367	2922	11075.93	nil	0	0	0.00
VBD_pump_during_surface	153	206	327.10	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	9146	3	352.42
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	80.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7677	2	183.03
TT8_Active	616	13	87.87
TT8_Sampling	897	34	322.26
TT8_CF8	240	52	131.10
TT8_Kalman	0	0	0.00
Analog_circuits	979	10	110.14
GPS_charging	0	0	0.00
Compass	575	7	44.49
RAFOS	0	0	0.00
Transponder	126	30	39.03

		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
655.0	31.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
665.8	30.70	9000.00	0.0	0.00	0.00	30.70	696.5	-0.07	1.00
680.1	34.50	9000.00	0.0	0.13	0.63	34.50	0.0	0.27	1.00
694.0	39.20	9000.00	0.0	0.30	1.00	39.20	0.0	0.34	1.00

725.4	16.70	9000.00	0.0	-0.45	0.77	16.70	0.0	-0.72	1.00
714.9	24.10	9000.00	0.0	-0.72	1.00	24.10	0.0	-0.70	1.00
118.1	122.50	9000.00	0.0	-0.17	1.00	122.50	0.0	-0.16	1.00
87.6	90.80	9000.00	0.0	-0.13	0.87	90.80	-3.2	1.04	1.00
77.1	80.10	80.00	-2.9	1.04	1.00	80.10	-3.0	1.02	1.00
53.9	56.00	56.10	-2.2	1.03	1.00	56.00	-2.1	1.04	1.00
32.3	34.10	34.00	-1.7	1.03	1.00	34.10	-1.8	1.01	1.00
21.9	22.20	22.60	-0.7	1.05	1.00	22.20	-0.3	1.14	1.00
11.1	11.30	11.10	0.0	1.08	1.00	11.30	-0.2	1.01	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
11	-1.06	-107.1	2881	2292	2651	2582	0.0	0.0	0	19	0.00	0.00	-6.57	0.026	16390	0.000	0.000	2877	2292	3037	3081	2994	0	0	0	0	1	0	11.46	10.79	11.45
23	-1.06	-107.1	2878	2293	3083	2995	0.0	0.0	0	30	1.40	3.28	0.00	0.000	4612	0.107	0.066	2536	899	3037	3081	2994	0	0	0	0	0	0	11.28	11.27	11.33
71	-1.06	-107.1	2535	900	3080	3001	658.5	-8.3	7	78	0.00	3.38	0.00	0.000	1030	0.000	0.062	2527	2306	3037	3080	2995	0	0	0	0	0	0	11.36	11.29	11.38
414	-1.06	-107.1	2529	2307	3081	2995	701.1	-12.4	14	415	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2306	3036	3079	2994	0	0	0	0	0	0	11.48	11.52	11.50
750	-1.06	-107.1	2527	2304	3078	2995	735.9	-10.3	20	751	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2306	3036	3078	2995	0	0	0	0	0	0	11.49	11.50	11.50
1082	end dive: NO_VERTICAL_VELOCITY
state	1082	begin apogee
1091	-0.23	0.0	2527	2088	3077	2995	735.8	0.0	26	1267	1.12	0.00	172.20	2.922	10246	0.106	0.000	2797	2087	2575	2608	2542	0	0	0	0	0	0	11.31	11.19	10.30
1268	end apogee: CONTROL_FINISHED_OK
state	1268	begin climb
1272	1.06	107.1	2798	2088	2609	2543	735.6	0.0	29	1453	1.73	3.35	168.27	2.844	10756	0.122	0.078	3213	711	2139	2176	2103	0	0	0	0	0	0	11.20	11.18	10.32
1623	1.06	107.1	3213	712	2169	2097	710.8	9.9	81	1629	0.00	3.22	0.00	0.000	1030	0.000	0.049	3212	2111	2131	2168	2095	0	0	0	0	0	0	11.35	11.28	11.36
1986	1.06	107.1	3213	2111	2164	2090	670.3	11.3	91	1991	0.00	3.50	0.00	0.000	260	0.000	0.096	3213	3516	2128	2165	2091	0	0	0	0	0	0	11.50	11.26	11.49
2062	1.06	107.1	3214	3517	2167	2092	661.1	12.1	102	2069	0.00	3.17	0.00	0.000	1030	0.000	0.040	3222	2110	2127	2165	2090	0	0	0	0	0	0	11.38	11.31	11.39
2433	1.06	107.1	3222	2111	2162	2090	620.7	10.8	113	2439	0.00	3.47	0.00	0.000	260	0.000	0.092	3223	3513	2126	2163	2089	0	0	0	0	0	0	11.48	11.28	11.50
2461	1.06	107.1	3220	3514	2165	2090	617.4	11.8	117	2467	0.00	3.22	0.00	0.000	1030	0.000	0.042	3232	2095	2126	2163	2089	0	0	0	0	0	0	11.38	11.32	11.40
2826	1.06	107.1	3233	2096	2163	2089	576.9	11.2	127	2831	0.00	3.38	0.00	0.000	516	0.000	0.082	3242	697	2124	2160	2089	0	0	0	0	0	0	11.48	11.29	11.50
2867	1.06	107.1	3243	698	2161	2090	572.2	11.4	133	2873	0.17	3.25	0.00	0.000	5126	0.230	0.054	3214	2104	2123	2159	2088	0	0	0	0	0	0	11.22	11.31	11.38
3217	1.06	107.1	3215	2105	2161	2088	536.4	10.2	141	3223	0.00	3.45	0.00	0.000	260	0.000	0.093	3214	3516	2123	2158	2088	0	0	0	0	0	0	11.50	11.29	11.51
3267	1.06	107.1	3216	3517	2161	2089	531.1	11.2	148	3273	0.00	3.20	0.00	0.000	1030	0.000	0.041	3223	2101	2124	2161	2088	0	0	0	0	0	0	11.39	11.33	11.41
3610	1.06	107.1	3222	2102	2153	2088	497.0	9.6	155	3611	0.00	0.00	0.00	0.000	6	0.000	0.000	3223	2101	2123	2158	2088	0	0	0	0	0	0	11.48	11.50	11.50
3946	1.06	107.1	3223	2102	2160	2089	464.7	9.7	161	3951	0.00	3.53	0.00	0.000	260	0.000	0.095	3223	3519	2123	2158	2088	0	0	0	0	0	0	11.49	11.29	11.50
3988	1.06	107.1	3223	3519	2153	2089	460.3	10.7	167	3993	0.00	3.25	0.00	0.000	1030	0.000	0.041	3233	2091	2123	2158	2088	0	0	0	0	0	0	11.40	11.33	11.42
4337	1.06	107.1	3231	2091	2157	2088	426.1	9.7	175	4343	0.00	3.40	0.00	0.000	516	0.000	0.080	3244	690	2122	2157	2088	0	0	0	0	0	0	11.50	11.30	11.52
4372	1.06	107.1	3243	691	2156	2088	422.6	10.2	180	4378	0.20	3.28	0.00	0.000	5126	0.230	0.053	3210	2111	2122	2156	2088	0	0	0	0	0	0	11.24	11.32	11.38
4729	1.08	107.1	3211	2112	2158	2088	391.5	8.6	189	4735	0.00	3.45	0.00	0.000	324	0.000	0.097	3210	3512	2122	2156	2088	0	0	0	0	0	0	11.50	11.28	11.52
4827	1.09	107.1	3210	3512	2155	2087	382.2	9.5	203	4833	0.00	3.22	0.00	0.000	1094	0.000	0.040	3219	2089	2122	2156	2088	0	0	0	0	0	0	11.40	11.34	11.42
5177	1.12	107.1	3218	2090	2155	2087	351.5	8.7	211	5186	0.00	3.50	0.00	0.000	324	0.000	0.093	3219	3513	2121	2156	2087	0	0	0	0	0	0	11.50	11.29	11.52
5220	1.13	107.1	3218	3514	2155	2087	347.4	9.3	217	5226	0.00	3.25	0.00	0.000	1094	0.000	0.041	3229	2097	2121	2156	2087	0	0	0	0	0	0	11.40	11.34	11.42
5572	1.15	107.1	3228	2097	2149	2087	315.9	9.2	225	5577	0.00	3.50	0.00	0.000	324	0.000	0.094	3229	3512	2120	2155	2086	0	0	0	0	0	0	11.50	11.29	11.51
5612	1.15	107.1	3230	3514	2157	2087	311.6	10.3	231	5618	0.00	3.25	0.00	0.000	1030	0.000	0.041	3238	2088	2120	2155	2086	0	0	0	0	0	0	11.40	11.35	11.42
5963	1.18	107.1	3240	2088	2156	2087	281.1	8.7	239	5963	0.00	0.00	0.00	0.000	70	0.000	0.000	3239	2088	2120	2155	2086	0	0	0	0	0	0	11.51	11.53	11.52
6299	1.21	107.1	3238	2088	2154	2086	252.4	8.5	245	6305	0.00	3.47	0.00	0.000	324	0.000	0.093	3238	3516	2119	2153	2086	0	0	0	0	0	0	11.51	11.30	11.52
6376	1.21	107.1	3238	3517	2154	2087	244.8	9.8	256	6381	0.00	3.25	0.00	0.000	1030	0.000	0.040	3249	2087	2120	2155	2085	0	0	0	0	0	0	11.40	11.35	11.43
6748	1.21	107.1	3250	2087	2156	2086	209.4	9.6	267	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	3249	2086	2119	2153	2085	0	0	0	0	0	0	11.50	11.52	11.53
7083	1.23	107.1	3251	2087	2155	2086	179.7	8.7	277	7088	0.00	3.55	0.00	0.000	324	0.000	0.093	3249	3513	2119	2153	2085	0	0	0	0	0	0	11.51	11.30	11.53
7159	1.23	107.1	3250	3514	2155	2086	172.3	9.8	288	7166	0.00	3.25	0.00	0.000	1030	0.000	0.039	3260	2093	2119	2153	2086	0	0	0	0	0	0	11.39	11.34	11.41
7503	1.26	107.1	3261	2094	2155	2087	141.0	8.8	301	7504	0.00	0.00	0.00	0.000	70	0.000	0.000	3258	2093	2118	2152	2085	0	0	0	0	0	0	11.50	11.52	11.51
7839	1.29	107.1	3259	2093	2152	2086	113.3	8.5	313	7844	0.00	3.53	0.00	0.000	324	0.000	0.093	3259	3512	2118	2152	2085	0	0	0	0	0	0	11.51	11.29	11.52
7880	1.29	107.1	3261	3516	2154	2086	109.2	9.7	319	7886	0.00	3.25	0.00	0.000	1030	0.000	0.040	3270	2090	2120	2152	2088	0	0	0	0	0	0	11.41	11.35	11.43
8234	1.31	107.1	3270	2091	2152	2086	77.8	8.7	333	8241	0.00	3.47	0.00	0.000	324	0.000	0.093	3270	3511	2118	2152	2085	0	0	0	0	0	0	11.50	11.30	11.52
8324	1.31	107.1	3271	3513	2154	2086	69.0	9.6	346	8331	0.00	3.25	0.00	0.000	1030	0.000	0.039	3281	2092	2118	2152	2085	0	0	0	0	0	0	11.40	11.35	11.42
8685	1.36	145.8	3280	2092	2151	2085	38.5	7.6	361	8723	0.00	3.47	27.50	0.314	8740	0.000	0.082	3291	687	1977	2012	1943	0	0	0	0	0	0	11.51	11.27	11.18
8850	1.36	145.8	3292	688	2010	1940	21.9	10.7	385	8856	0.00	3.28	0.00	0.000	1030	0.000	0.053	3291	2104	1973	2008	1939	0	0	0	0	0	0	11.40	11.33	11.42
9099	end climb: SURFACE_DEPTH_REACHED
state	9099	begin surface coast
9126	end surface coast: FINISH_DEPTH_REACHED
state	9126	begin surface