Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 970 * 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 970 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 24 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 7 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 7 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 970 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 7 R_STBD_OVSHOOT 14 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 7 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 280219,150000,-7407.6328,-11317.0332,31,0.9,31,53.9,0.4,330.5,10,4.8 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 0.82 MHEAD_RNG_PITCHd_Wd 206.8,4096,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -60.2 D_GRID 990

GPS2 280219,150851,-7407.6216,-11316.9277,3,0.8,4,53.9,0.5,41.4,11,5.9

Post-dive calculations and measurements:

FREEZE -0.04,-1.702,-0.921,2,1,0 ALTIM_TOP_PING 16.8,17.2

FINISH -0.0,1.013575 _24V_AH 10.22,322.951

SM_CCo 9033,148.90,0.206,0,0,1146,350.04 _10V_AH 10.33,0.000

SM_GC 0.92,11.85,0.50,148.90,0.067,0.086,0.206,216,2301,1146,-8.24,-0.37,350.04,0,0,0,0,0,0,11.35,11.33,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 345 FG_AHR_10Vo 0.000

RAFOS 2,1551366784,15.233334,15.217778,75,61,58,56,56,55,622,173,213,289,117,191 MEM 279880

RAFOS_FIX -7407.298828,-11312.425781,280219,151512,1,2,6.24 DATA_FILE_SIZE 13452,415

IRIDIUM_FIX -7407.96,-11309.85,280219,124805 CAP_FILE_SIZE 80252,0

TT8_MAMPS 0.045689,0.746004 CFSIZE 1024409600,909950976

HUMID 50.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1447.3

TCM_TEMP 12.00 CURRENT 0.086,6.68,1

XPDR_PINGS 2 GPS 280219,174336,-7407.577,-11320.418,10,1.1,13,53.9,0.5,338.1,6,6.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 400 134.07 nil 0 0 0.00

Roll_motor 108 94 104.70 nil 0 0 0.00

VBD_pump_during_apogee 391 2737 10962.96 nil 0 0 0.00

VBD_pump_during_surface 148 205 313.15 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 8989 7 662.27

Iridium_during_xfer 255 226 590.30 nil 0 0 0.00

Transponder_ping 20 420 89.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.63

TT8 0 0 0.00

LPSleep 7346 2 175.30

TT8_Active 764 13 109.12

TT8_Sampling 1174 34 421.95

TT8_CF8 423 52 231.09

TT8_Kalman 0 0 0.00

Analog_circuits 1383 10 155.79

GPS_charging 0 0 0.00

Compass 600 7 46.46

RAFOS 240 1 3.72

Transponder 148 30 45.98

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

11.8 13.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.3 23.70 9000.00 0.0 0.00 0.00 23.70 0.0 0.94 1.00

34.5 37.90 37.50 0.0 1.06 1.00 37.90 0.0 1.16 1.00

47.1 50.10 50.50 0.0 1.06 1.00 50.10 0.0 0.97 1.00

471.1 25.80 9000.00 0.0 -0.04 0.72 25.80 496.9 -0.06 1.00

485.8 15.80 9000.00 0.0 -0.07 0.94 15.80 501.6 -0.68 1.00

487.7 17.60 9000.00 0.0 -0.56 0.93 0.00 0.0 0.00 0.00

475.7 24.90 9000.00 0.0 -0.71 0.89 24.90 0.0 -0.61 1.00

465.6 30.90 9000.00 0.0 -0.60 1.00 30.90 0.0 -0.59 1.00

67.8 70.70 9000.00 0.0 -0.11 0.99 70.70 0.0 -0.10 1.00

57.7 60.70 9000.00 0.0 -0.09 0.93 60.70 -3.0 0.99 1.00

47.7 49.20 49.50 -1.8 1.07 1.00 49.20 -1.5 1.15 1.00

37.2 38.40 38.20 -1.0 1.09 1.00 38.40 -1.2 1.03 1.00

27.1 27.70 27.80 -0.7 1.04 1.00 27.70 -0.6 1.06 1.00

16.8 17.30 17.20 -0.4 1.03 1.00 17.30 -0.5 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -1.06 -107.1 219 2310 1180 1087 0.0 0.0 0 115 0.00 0.00 -101.85 0.002 16390 0.000 0.000 217 2309 3012 3019 3005 0 0 0 0 0 0 11.48 10.72 11.50

120 -1.06 -107.1 216 2310 3019 3006 1.5 -1.0 3 142 17.33 3.58 0.00 0.000 2308 0.401 0.092 2514 3717 3013 3021 3005 0 0 0 0 0 0 11.12 11.25 11.32

205 -1.06 -107.1 2513 3719 3024 3002 22.3 -17.0 16 212 0.00 3.22 0.00 0.000 1030 0.000 0.037 2514 2294 3012 3024 3001 0 0 0 0 0 0 11.36 11.33 11.39

562 -1.06 -107.1 2513 2295 3027 2999 79.8 -16.7 31 567 0.00 3.35 0.00 0.000 516 0.000 0.061 2514 888 3009 3021 2998 0 0 0 0 0 0 11.50 11.26 11.51

695 -1.06 -107.1 2514 888 3035 3000 101.9 -16.6 50 702 0.00 3.35 0.00 0.000 1030 0.000 0.059 2503 2303 3012 3027 2998 0 0 0 0 0 0 11.39 11.31 11.40

1038 -1.06 -107.1 2501 2304 3028 2997 156.7 -15.3 63 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2303 3012 3027 2997 0 0 0 0 0 0 11.50 11.52 11.52

1403 -1.06 -107.1 2504 2304 3030 2998 212.3 -15.3 75 1408 0.00 3.38 0.00 0.000 516 0.000 0.060 2503 895 3012 3028 2996 0 0 0 0 0 0 11.48 11.27 11.51

1458 -1.06 -107.1 2503 896 3027 2997 221.0 -15.9 83 1464 0.22 3.35 0.00 0.000 3078 0.266 0.059 2527 2302 3012 3028 2996 0 0 0 0 0 0 11.21 11.31 11.37

1853 -1.06 -107.1 2525 2302 3028 2995 275.0 -13.3 97 1859 0.00 3.38 0.00 0.000 516 0.000 0.060 2527 890 3012 3029 2995 0 0 0 0 0 0 11.50 11.31 11.52

1887 -1.06 -107.1 2528 891 3031 2995 279.9 -13.4 102 1892 0.00 3.33 0.00 0.000 1030 0.000 0.057 2518 2305 3010 3029 2992 0 0 0 0 0 0 11.40 11.32 11.41

2244 -1.06 -107.1 2518 2306 3029 2996 328.5 -13.8 111 2245 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2305 3012 3029 2995 0 0 0 0 0 0 11.52 11.53 11.53

2580 -1.06 -107.1 2518 2306 3029 2996 377.0 -14.3 117 2586 0.00 3.38 0.00 0.000 516 0.000 0.060 2518 892 3012 3029 2995 0 0 0 0 0 0 11.51 11.31 11.53

2608 -1.06 -107.1 2519 893 3031 2995 381.0 -14.4 121 2614 0.00 3.35 0.00 0.000 1030 0.000 0.055 2507 2304 3012 3030 2995 0 0 0 0 0 0 11.40 11.32 11.42

2972 -1.06 -107.1 2507 2305 3030 2995 432.3 -14.2 131 2977 0.00 3.38 0.00 0.000 516 0.000 0.059 2507 888 3010 3030 2991 0 0 0 0 0 0 11.51 11.31 11.52

3140 -1.06 -107.1 2507 888 3030 2995 456.2 -14.8 155 3149 0.15 3.33 0.00 0.000 3078 0.256 0.055 2523 2303 3012 3030 2994 0 0 0 0 0 0 11.21 11.30 11.33

3533 -1.06 -107.1 2522 2303 3032 2994 500.7 -10.6 169 3540 0.00 3.33 0.00 0.000 516 0.000 0.056 2523 895 3012 3032 2993 0 0 0 0 0 0 11.52 11.32 11.52

3676 end dive: NO_VERTICAL_VELOCITY

state 3676 begin apogee

3688 -0.23 0.0 2522 2118 3034 2994 500.7 0.0 190 3851 1.20 0.00 159.68 2.737 10246 0.139 0.000 2792 2117 2575 2607 2544 0 0 0 0 0 0 11.29 11.14 10.22

3852 end apogee: CONTROL_FINISHED_OK

state 3852 begin climb

3856 1.06 107.1 2792 2117 2606 2545 500.7 0.0 193 4023 1.80 0.00 163.18 2.657 10246 0.130 0.000 3205 2116 2140 2177 2104 0 0 0 0 0 0 11.20 11.12 10.22

4356 1.11 152.8 3205 2117 2169 2092 471.8 7.1 202 4439 0.00 3.55 69.05 2.598 8740 0.000 0.075 3215 692 1951 1994 1908 0 0 0 0 0 0 11.46 11.15 10.26

4470 1.15 152.8 3216 692 1995 1907 463.0 8.3 218 4476 0.00 3.25 0.00 0.000 1094 0.000 0.048 3215 2095 1949 1993 1905 0 0 0 0 0 0 11.33 11.26 11.36

4866 1.16 152.8 3215 2097 1989 1900 427.2 9.1 232 4871 0.00 3.53 0.00 0.000 324 0.000 0.095 3215 3518 1943 1989 1898 0 0 0 0 0 0 11.46 11.26 11.48

4954 1.16 152.8 3216 3518 1991 1899 417.3 10.9 245 4961 0.00 3.28 0.00 0.000 1030 0.000 0.039 3225 2091 1944 1988 1900 0 0 0 0 0 0 11.37 11.32 11.40

5313 1.16 152.8 3224 2092 1987 1898 380.9 10.2 254 5318 0.00 3.42 0.00 0.000 516 0.000 0.080 3234 693 1942 1987 1897 0 0 0 0 0 0 11.47 11.28 11.49

5361 1.16 152.8 3233 694 1985 1898 376.1 9.9 261 5367 0.00 3.30 0.00 0.000 1030 0.000 0.053 3235 2112 1941 1986 1897 0 0 0 0 0 0 11.38 11.30 11.40

5704 1.16 152.8 3233 2112 1985 1898 339.5 10.8 268 5709 0.00 3.42 0.00 0.000 260 0.000 0.093 3234 3511 1941 1985 1897 0 0 0 0 0 0 11.49 11.27 11.51

5780 1.16 152.8 3233 3511 1984 1897 330.4 12.3 279 5786 0.00 3.28 0.00 0.000 1030 0.000 0.039 3244 2091 1941 1985 1897 0 0 0 0 0 0 11.39 11.33 11.41

6152 1.16 152.8 3244 2093 1984 1897 291.4 10.3 290 6152 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 2091 1940 1984 1896 0 0 0 0 0 0 11.50 11.51 11.51

6488 1.16 152.8 3245 2091 1985 1896 254.2 11.1 296 6493 0.00 3.60 0.00 0.000 260 0.000 0.093 3244 3514 1940 1984 1896 0 0 0 0 0 0 11.50 11.29 11.52

6571 1.16 152.8 3245 3514 1986 1897 244.1 12.0 308 6577 0.00 3.28 0.00 0.000 1030 0.000 0.038 3254 2094 1939 1984 1895 0 0 0 0 0 0 11.40 11.34 11.42

6936 1.16 152.8 3254 2094 1982 1896 203.3 11.1 318 6936 0.00 0.00 0.00 0.000 6 0.000 0.000 3254 2094 1939 1983 1896 0 0 0 0 0 0 11.50 11.52 11.52

7272 1.16 152.8 3256 2094 1985 1897 166.9 10.9 329 7277 0.00 3.58 0.00 0.000 260 0.000 0.093 3254 3517 1939 1983 1896 0 0 0 0 0 0 11.50 11.29 11.52

7313 1.16 152.8 3254 3518 1982 1896 162.0 12.0 335 7319 0.00 3.28 0.00 0.000 1030 0.000 0.039 3265 2092 1939 1983 1896 0 0 0 0 0 0 11.40 11.34 11.42

7664 1.16 152.8 3266 2093 1983 1896 124.2 10.3 349 7669 0.00 3.55 0.00 0.000 260 0.000 0.092 3265 3512 1938 1981 1895 0 0 0 0 0 0 11.51 11.29 11.52

7692 1.16 152.8 3264 3512 1982 1895 121.1 11.1 353 7697 0.17 3.25 0.00 0.000 5126 0.252 0.040 3253 2095 1939 1982 1896 0 0 0 0 0 0 11.23 11.35 11.39

8060 1.19 152.8 3249 2094 1981 1896 88.1 8.7 369 8065 0.00 3.42 0.00 0.000 580 0.000 0.080 3257 691 1938 1982 1895 0 0 0 0 0 0 11.50 11.30 11.52

8107 1.21 152.8 3259 691 1983 1896 83.6 9.1 376 8114 0.00 3.28 0.00 0.000 1094 0.000 0.052 3257 2110 1938 1981 1895 0 0 0 0 0 0 11.40 11.33 11.42

8454 1.23 152.8 3259 2109 1982 1896 52.7 9.0 389 8455 0.00 0.00 0.00 0.000 70 0.000 0.000 3257 2110 1938 1982 1895 0 0 0 0 0 0 11.49 11.52 11.52

8786 1.23 152.8 3257 2110 1980 1895 21.5 9.6 401 8791 0.00 3.45 0.00 0.000 516 0.000 0.080 3268 694 1935 1980 1891 0 0 0 0 0 0 11.51 11.29 11.52

8836 1.23 152.8 3269 695 1982 1896 16.8 9.9 408 8842 0.00 3.25 0.00 0.000 1030 0.000 0.051 3268 2101 1937 1979 1895 0 0 0 0 0 0 11.39 11.32 11.41

8978 end climb: SURFACE_DEPTH_REACHED

state 8978 begin surface coast

9006 end surface coast: FINISH_DEPTH_REACHED

state 9006 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	970	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	24	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	7	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	7	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	280219,150000,-7407.6328,-11317.0332,31,0.9,31,53.9,0.4,330.5,10,4.8	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	0.82	MHEAD_RNG_PITCHd_Wd	206.8,4096,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-60.2	D_GRID	990
GPS2	280219,150851,-7407.6216,-11316.9277,3,0.8,4,53.9,0.5,41.4,11,5.9

FREEZE	-0.04,-1.702,-0.921,2,1,0	ALTIM_TOP_PING	16.8,17.2
FINISH	-0.0,1.013575	_24V_AH	10.22,322.951
SM_CCo	9033,148.90,0.206,0,0,1146,350.04	_10V_AH	10.33,0.000
SM_GC	0.92,11.85,0.50,148.90,0.067,0.086,0.206,216,2301,1146,-8.24,-0.37,350.04,0,0,0,0,0,0,11.35,11.33,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	345	FG_AHR_10Vo	0.000
RAFOS	2,1551366784,15.233334,15.217778,75,61,58,56,56,55,622,173,213,289,117,191	MEM	279880
RAFOS_FIX	-7407.298828,-11312.425781,280219,151512,1,2,6.24	DATA_FILE_SIZE	13452,415
IRIDIUM_FIX	-7407.96,-11309.85,280219,124805	CAP_FILE_SIZE	80252,0
TT8_MAMPS	0.045689,0.746004	CFSIZE	1024409600,909950976
HUMID	50.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1447.3
TCM_TEMP	12.00	CURRENT	0.086,6.68,1
XPDR_PINGS	2	GPS	280219,174336,-7407.577,-11320.418,10,1.1,13,53.9,0.5,338.1,6,6.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	400	134.07	nil	0	0	0.00
Roll_motor	108	94	104.70	nil	0	0	0.00
VBD_pump_during_apogee	391	2737	10962.96	nil	0	0	0.00
VBD_pump_during_surface	148	205	313.15	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	8989	7	662.27
Iridium_during_xfer	255	226	590.30	nil	0	0	0.00
Transponder_ping	20	420	89.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.63
TT8	0	0	0.00
LPSleep	7346	2	175.30
TT8_Active	764	13	109.12
TT8_Sampling	1174	34	421.95
TT8_CF8	423	52	231.09
TT8_Kalman	0	0	0.00
Analog_circuits	1383	10	155.79
GPS_charging	0	0	0.00
Compass	600	7	46.46
RAFOS	240	1	3.72
Transponder	148	30	45.98

		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
11.8	13.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.3	23.70	9000.00	0.0	0.00	0.00	23.70	0.0	0.94	1.00
34.5	37.90	37.50	0.0	1.06	1.00	37.90	0.0	1.16	1.00
47.1	50.10	50.50	0.0	1.06	1.00	50.10	0.0	0.97	1.00
471.1	25.80	9000.00	0.0	-0.04	0.72	25.80	496.9	-0.06	1.00
485.8	15.80	9000.00	0.0	-0.07	0.94	15.80	501.6	-0.68	1.00

487.7	17.60	9000.00	0.0	-0.56	0.93	0.00	0.0	0.00	0.00
475.7	24.90	9000.00	0.0	-0.71	0.89	24.90	0.0	-0.61	1.00
465.6	30.90	9000.00	0.0	-0.60	1.00	30.90	0.0	-0.59	1.00
67.8	70.70	9000.00	0.0	-0.11	0.99	70.70	0.0	-0.10	1.00
57.7	60.70	9000.00	0.0	-0.09	0.93	60.70	-3.0	0.99	1.00
47.7	49.20	49.50	-1.8	1.07	1.00	49.20	-1.5	1.15	1.00
37.2	38.40	38.20	-1.0	1.09	1.00	38.40	-1.2	1.03	1.00
27.1	27.70	27.80	-0.7	1.04	1.00	27.70	-0.6	1.06	1.00
16.8	17.30	17.20	-0.4	1.03	1.00	17.30	-0.5	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-1.06	-107.1	219	2310	1180	1087	0.0	0.0	0	115	0.00	0.00	-101.85	0.002	16390	0.000	0.000	217	2309	3012	3019	3005	0	0	0	0	0	0	11.48	10.72	11.50
120	-1.06	-107.1	216	2310	3019	3006	1.5	-1.0	3	142	17.33	3.58	0.00	0.000	2308	0.401	0.092	2514	3717	3013	3021	3005	0	0	0	0	0	0	11.12	11.25	11.32
205	-1.06	-107.1	2513	3719	3024	3002	22.3	-17.0	16	212	0.00	3.22	0.00	0.000	1030	0.000	0.037	2514	2294	3012	3024	3001	0	0	0	0	0	0	11.36	11.33	11.39
562	-1.06	-107.1	2513	2295	3027	2999	79.8	-16.7	31	567	0.00	3.35	0.00	0.000	516	0.000	0.061	2514	888	3009	3021	2998	0	0	0	0	0	0	11.50	11.26	11.51
695	-1.06	-107.1	2514	888	3035	3000	101.9	-16.6	50	702	0.00	3.35	0.00	0.000	1030	0.000	0.059	2503	2303	3012	3027	2998	0	0	0	0	0	0	11.39	11.31	11.40
1038	-1.06	-107.1	2501	2304	3028	2997	156.7	-15.3	63	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2303	3012	3027	2997	0	0	0	0	0	0	11.50	11.52	11.52
1403	-1.06	-107.1	2504	2304	3030	2998	212.3	-15.3	75	1408	0.00	3.38	0.00	0.000	516	0.000	0.060	2503	895	3012	3028	2996	0	0	0	0	0	0	11.48	11.27	11.51
1458	-1.06	-107.1	2503	896	3027	2997	221.0	-15.9	83	1464	0.22	3.35	0.00	0.000	3078	0.266	0.059	2527	2302	3012	3028	2996	0	0	0	0	0	0	11.21	11.31	11.37
1853	-1.06	-107.1	2525	2302	3028	2995	275.0	-13.3	97	1859	0.00	3.38	0.00	0.000	516	0.000	0.060	2527	890	3012	3029	2995	0	0	0	0	0	0	11.50	11.31	11.52
1887	-1.06	-107.1	2528	891	3031	2995	279.9	-13.4	102	1892	0.00	3.33	0.00	0.000	1030	0.000	0.057	2518	2305	3010	3029	2992	0	0	0	0	0	0	11.40	11.32	11.41
2244	-1.06	-107.1	2518	2306	3029	2996	328.5	-13.8	111	2245	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2305	3012	3029	2995	0	0	0	0	0	0	11.52	11.53	11.53
2580	-1.06	-107.1	2518	2306	3029	2996	377.0	-14.3	117	2586	0.00	3.38	0.00	0.000	516	0.000	0.060	2518	892	3012	3029	2995	0	0	0	0	0	0	11.51	11.31	11.53
2608	-1.06	-107.1	2519	893	3031	2995	381.0	-14.4	121	2614	0.00	3.35	0.00	0.000	1030	0.000	0.055	2507	2304	3012	3030	2995	0	0	0	0	0	0	11.40	11.32	11.42
2972	-1.06	-107.1	2507	2305	3030	2995	432.3	-14.2	131	2977	0.00	3.38	0.00	0.000	516	0.000	0.059	2507	888	3010	3030	2991	0	0	0	0	0	0	11.51	11.31	11.52
3140	-1.06	-107.1	2507	888	3030	2995	456.2	-14.8	155	3149	0.15	3.33	0.00	0.000	3078	0.256	0.055	2523	2303	3012	3030	2994	0	0	0	0	0	0	11.21	11.30	11.33
3533	-1.06	-107.1	2522	2303	3032	2994	500.7	-10.6	169	3540	0.00	3.33	0.00	0.000	516	0.000	0.056	2523	895	3012	3032	2993	0	0	0	0	0	0	11.52	11.32	11.52
3676	end dive: NO_VERTICAL_VELOCITY
state	3676	begin apogee
3688	-0.23	0.0	2522	2118	3034	2994	500.7	0.0	190	3851	1.20	0.00	159.68	2.737	10246	0.139	0.000	2792	2117	2575	2607	2544	0	0	0	0	0	0	11.29	11.14	10.22
3852	end apogee: CONTROL_FINISHED_OK
state	3852	begin climb
3856	1.06	107.1	2792	2117	2606	2545	500.7	0.0	193	4023	1.80	0.00	163.18	2.657	10246	0.130	0.000	3205	2116	2140	2177	2104	0	0	0	0	0	0	11.20	11.12	10.22
4356	1.11	152.8	3205	2117	2169	2092	471.8	7.1	202	4439	0.00	3.55	69.05	2.598	8740	0.000	0.075	3215	692	1951	1994	1908	0	0	0	0	0	0	11.46	11.15	10.26
4470	1.15	152.8	3216	692	1995	1907	463.0	8.3	218	4476	0.00	3.25	0.00	0.000	1094	0.000	0.048	3215	2095	1949	1993	1905	0	0	0	0	0	0	11.33	11.26	11.36
4866	1.16	152.8	3215	2097	1989	1900	427.2	9.1	232	4871	0.00	3.53	0.00	0.000	324	0.000	0.095	3215	3518	1943	1989	1898	0	0	0	0	0	0	11.46	11.26	11.48
4954	1.16	152.8	3216	3518	1991	1899	417.3	10.9	245	4961	0.00	3.28	0.00	0.000	1030	0.000	0.039	3225	2091	1944	1988	1900	0	0	0	0	0	0	11.37	11.32	11.40
5313	1.16	152.8	3224	2092	1987	1898	380.9	10.2	254	5318	0.00	3.42	0.00	0.000	516	0.000	0.080	3234	693	1942	1987	1897	0	0	0	0	0	0	11.47	11.28	11.49
5361	1.16	152.8	3233	694	1985	1898	376.1	9.9	261	5367	0.00	3.30	0.00	0.000	1030	0.000	0.053	3235	2112	1941	1986	1897	0	0	0	0	0	0	11.38	11.30	11.40
5704	1.16	152.8	3233	2112	1985	1898	339.5	10.8	268	5709	0.00	3.42	0.00	0.000	260	0.000	0.093	3234	3511	1941	1985	1897	0	0	0	0	0	0	11.49	11.27	11.51
5780	1.16	152.8	3233	3511	1984	1897	330.4	12.3	279	5786	0.00	3.28	0.00	0.000	1030	0.000	0.039	3244	2091	1941	1985	1897	0	0	0	0	0	0	11.39	11.33	11.41
6152	1.16	152.8	3244	2093	1984	1897	291.4	10.3	290	6152	0.00	0.00	0.00	0.000	6	0.000	0.000	3244	2091	1940	1984	1896	0	0	0	0	0	0	11.50	11.51	11.51
6488	1.16	152.8	3245	2091	1985	1896	254.2	11.1	296	6493	0.00	3.60	0.00	0.000	260	0.000	0.093	3244	3514	1940	1984	1896	0	0	0	0	0	0	11.50	11.29	11.52
6571	1.16	152.8	3245	3514	1986	1897	244.1	12.0	308	6577	0.00	3.28	0.00	0.000	1030	0.000	0.038	3254	2094	1939	1984	1895	0	0	0	0	0	0	11.40	11.34	11.42
6936	1.16	152.8	3254	2094	1982	1896	203.3	11.1	318	6936	0.00	0.00	0.00	0.000	6	0.000	0.000	3254	2094	1939	1983	1896	0	0	0	0	0	0	11.50	11.52	11.52
7272	1.16	152.8	3256	2094	1985	1897	166.9	10.9	329	7277	0.00	3.58	0.00	0.000	260	0.000	0.093	3254	3517	1939	1983	1896	0	0	0	0	0	0	11.50	11.29	11.52
7313	1.16	152.8	3254	3518	1982	1896	162.0	12.0	335	7319	0.00	3.28	0.00	0.000	1030	0.000	0.039	3265	2092	1939	1983	1896	0	0	0	0	0	0	11.40	11.34	11.42
7664	1.16	152.8	3266	2093	1983	1896	124.2	10.3	349	7669	0.00	3.55	0.00	0.000	260	0.000	0.092	3265	3512	1938	1981	1895	0	0	0	0	0	0	11.51	11.29	11.52
7692	1.16	152.8	3264	3512	1982	1895	121.1	11.1	353	7697	0.17	3.25	0.00	0.000	5126	0.252	0.040	3253	2095	1939	1982	1896	0	0	0	0	0	0	11.23	11.35	11.39
8060	1.19	152.8	3249	2094	1981	1896	88.1	8.7	369	8065	0.00	3.42	0.00	0.000	580	0.000	0.080	3257	691	1938	1982	1895	0	0	0	0	0	0	11.50	11.30	11.52
8107	1.21	152.8	3259	691	1983	1896	83.6	9.1	376	8114	0.00	3.28	0.00	0.000	1094	0.000	0.052	3257	2110	1938	1981	1895	0	0	0	0	0	0	11.40	11.33	11.42
8454	1.23	152.8	3259	2109	1982	1896	52.7	9.0	389	8455	0.00	0.00	0.00	0.000	70	0.000	0.000	3257	2110	1938	1982	1895	0	0	0	0	0	0	11.49	11.52	11.52
8786	1.23	152.8	3257	2110	1980	1895	21.5	9.6	401	8791	0.00	3.45	0.00	0.000	516	0.000	0.080	3268	694	1935	1980	1891	0	0	0	0	0	0	11.51	11.29	11.52
8836	1.23	152.8	3269	695	1982	1896	16.8	9.9	408	8842	0.00	3.25	0.00	0.000	1030	0.000	0.051	3268	2101	1937	1979	1895	0	0	0	0	0	0	11.39	11.32	11.41
8978	end climb: SURFACE_DEPTH_REACHED
state	8978	begin surface coast
9006	end surface coast: FINISH_DEPTH_REACHED
state	9006	begin surface