Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 971 * 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 971 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 21 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 971 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 7 R_STBD_OVSHOOT 11 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 280219,174336,-7407.5771,-11320.4180,10,1.1,13,53.9,0.5,338.1,6,6.7 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 0.88 MHEAD_RNG_PITCHd_Wd 183.4,2312,-31.9,-10.000,-33.70,665

_SM_ANGLEo -65.5 D_GRID 990

GPS2 280219,175214,-7407.5464,-11320.4385,3,0.9,5,53.9,0.1,0.0,7,5.9

Post-dive calculations and measurements:

FREEZE -0.00,-1.685,-1.557,2,1,0 ALTIM_BOTTOM_PING 415.7,15.3

FINISH -0.0,1.022948 _24V_AH 10.22,323.167

SM_CCo 7385,210.25,0.205,0,0,1146,350.04 _10V_AH 10.33,0.000

SM_GC 0.90,12.48,0.47,210.25,0.067,0.085,0.205,217,2300,1146,-8.24,-0.37,350.04,0,0,0,0,0,0,11.33,11.33,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 289 FG_AHR_10Vo 0.000

RAFOS 0,1551376883,18.032778,18.023056,81,58,57,57,57,57,539,207,193,158,219,174 MEM 280008

RAFOS_FIX -7407.796875,-11315.677734,280219,181824,3,115,1.85 DATA_FILE_SIZE 13442,414

IRIDIUM_FIX -7409.04,-11320.18,280219,150434 CAP_FILE_SIZE 75516,0

TT8_MAMPS 0.047187,0.519057 CFSIZE 1024409600,909852672

HUMID 49.33 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1445.0

TCM_TEMP 12.10 CURRENT 0.058,332.99,1

XPDR_PINGS 0 GPS 280219,200037,-7407.708,-11322.433,27,1.9,34,53.9,0.1,0.0,6,5.2

ALTIM_TOP_PING 13.7,14.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 402 140.03 nil 0 0 0.00

Roll_motor 94 136 131.86 nil 0 0 0.00

VBD_pump_during_apogee 182 2698 5042.17 nil 0 0 0.00

VBD_pump_during_surface 210 205 440.54 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 7359 7 573.09

Iridium_during_xfer 279 221 632.92 nil 0 0 0.00

Transponder_ping 17 420 75.12 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.76

TT8 0 0 0.00

LPSleep 5969 2 142.44

TT8_Active 584 13 83.43

TT8_Sampling 1169 34 420.24

TT8_CF8 396 52 216.08

TT8_Kalman 0 0 0.00

Analog_circuits 1218 10 137.15

GPS_charging 0 0 0.00

Compass 598 7 46.33

RAFOS 720 1 11.16

Transponder 122 30 37.97

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

387.3 45.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

401.6 30.70 9000.00 0.0 0.00 0.00 30.70 432.3 -1.02 1.00

415.7 15.20 15.30 431.0 -1.06 1.00 15.20 430.9 -1.10 1.00

415.1 19.20 17.40 0.0 -0.98 0.95 0.00 0.0 0.00 0.00

389.2 48.20 48.30 0.0 -1.19 0.99 48.20 0.0 -1.12 1.00

145.5 151.30 9000.00 0.0 -0.46 0.98 151.30 0.0 -0.42 1.00

135.1 140.80 9000.00 0.0 -0.39 0.98 140.80 -5.7 1.01 1.00

101.4 105.90 105.90 -4.5 1.03 1.00 105.90 -4.5 1.04 1.00

90.8 94.40 94.50 -3.7 1.04 1.00 94.40 -3.6 1.08 1.00

57.9 61.50 61.40 -3.5 1.01 1.00 61.50 -3.6 1.00 1.00

47.7 49.50 50.20 -2.5 1.03 1.00 49.50 -1.8 1.18 1.00

36.7 37.70 37.60 -0.9 1.12 1.00 37.70 -1.0 1.07 1.00

24.4 24.90 24.80 -0.4 1.05 1.00 24.90 -0.5 1.04 1.00

13.7 14.90 14.70 -1.0 0.99 1.00 14.90 -1.2 0.93 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 -1.50 -43.1 218 2307 1170 1098 0.0 0.0 0 102 0.00 0.00 -89.68 0.002 16390 0.000 0.000 215 2307 2751 2754 2749 0 0 0 0 0 0 11.48 10.73 11.50

107 -1.50 -43.1 216 2308 2753 2749 1.5 -1.1 3 129 16.30 3.53 0.00 0.000 2308 0.402 0.090 2367 3716 2751 2753 2749 0 0 0 0 0 0 11.12 11.26 11.26

324 -1.50 -43.1 2367 3717 2757 2745 40.8 -18.7 35 330 0.00 3.25 0.00 0.000 1030 0.000 0.036 2367 2289 2751 2758 2745 0 0 0 0 0 0 11.40 11.36 11.41

688 -1.50 -43.1 2369 2288 2765 2744 105.6 -16.6 51 694 0.00 3.28 0.00 0.000 516 0.000 0.060 2368 896 2751 2760 2743 0 0 0 0 0 0 11.50 11.31 11.52

870 -1.50 -43.1 2368 897 2759 2743 135.5 -17.5 77 877 0.00 3.40 0.00 0.000 1030 0.000 0.059 2357 2308 2751 2760 2743 0 0 0 0 0 0 11.40 11.31 11.41

1225 -1.50 -43.1 2358 2309 2762 2743 190.9 -15.5 91 1231 0.00 3.30 0.00 0.000 516 0.000 0.058 2357 891 2751 2760 2742 0 0 0 0 0 0 11.50 11.31 11.51

1329 -1.50 -43.1 2356 892 2760 2742 207.7 -15.7 106 1336 0.25 3.38 0.00 0.000 3078 0.310 0.057 2381 2301 2750 2760 2741 0 0 0 0 0 0 11.19 11.32 11.37

1672 -1.50 -43.1 2383 2302 2763 2741 256.4 -13.9 113 1673 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2301 2751 2761 2741 0 0 0 0 0 0 11.51 11.53 11.52

2008 -1.50 -43.1 2383 2302 2764 2741 300.3 -13.1 119 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2301 2751 2762 2740 0 0 0 0 0 0 11.51 11.53 11.52

2344 -1.50 -43.1 2383 2302 2765 2741 343.0 -12.4 125 2350 0.00 3.33 0.00 0.000 516 0.000 0.057 2382 892 2751 2762 2740 0 0 0 0 0 0 11.52 11.32 11.54

2463 -1.50 -43.1 2381 892 2763 2740 358.3 -13.5 142 2469 0.00 3.38 0.00 0.000 1030 0.000 0.052 2372 2307 2751 2763 2740 0 0 0 0 0 0 11.40 11.33 11.42

2849 -1.50 -43.1 2371 2308 2763 2738 408.6 -12.7 155 2849 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2307 2751 2764 2739 0 0 0 0 0 0 11.52 11.53 11.53

2956 end dive: BOTTOM_OBSTACLE_DETECTED

state 2956 begin apogee

2966 -0.23 0.0 2374 2078 2765 2740 423.1 -12.7 157 3036 2.35 0.10 65.85 2.699 10246 0.275 0.136 2792 2122 2577 2605 2550 0 0 0 0 0 0 11.21 11.14 10.22

3037 end apogee: CONTROL_FINISHED_OK

state 3037 begin climb

3041 1.50 43.1 2791 2123 2605 2551 426.2 0.0 158 3121 2.45 3.47 69.07 2.642 10500 0.137 0.089 3349 3500 2399 2421 2377 0 0 0 0 0 0 11.21 11.15 10.24

3146 1.54 73.5 3349 3500 2418 2377 422.8 5.3 169 3199 0.00 3.15 47.88 2.601 9254 0.000 0.037 3360 2117 2275 2298 2252 0 0 0 0 0 0 11.35 11.29 10.24

3571 1.54 73.5 3359 2118 2291 2242 375.8 11.9 188 3576 0.00 3.47 0.00 0.000 260 0.000 0.090 3360 3499 2266 2291 2242 0 0 0 0 0 0 11.47 11.27 11.48

3619 1.54 73.5 3361 3500 2293 2244 369.8 12.7 195 3625 0.00 3.20 0.00 0.000 1030 0.000 0.039 3370 2097 2266 2291 2241 0 0 0 0 0 0 11.37 11.31 11.38

3962 1.54 73.5 3370 2097 2289 2240 329.7 11.7 202 3967 0.00 3.53 0.00 0.000 260 0.000 0.090 3370 3505 2264 2289 2239 0 0 0 0 0 0 11.49 11.28 11.51

4018 1.54 73.5 3370 3505 2289 2240 322.5 12.9 210 4023 0.00 3.22 0.00 0.000 1030 0.000 0.038 3379 2096 2263 2289 2238 0 0 0 0 0 0 11.39 11.31 11.41

4411 1.54 73.5 3380 2095 2288 2238 277.4 11.7 224 4416 0.00 3.40 0.00 0.000 516 0.000 0.074 3391 686 2263 2288 2238 0 0 0 0 0 0 11.48 11.29 11.50

4529 1.54 73.5 3391 687 2287 2238 262.9 12.2 241 4535 0.00 3.25 0.00 0.000 1030 0.000 0.047 3391 2096 2263 2288 2238 0 0 0 0 0 0 11.38 11.31 11.40

4914 1.54 73.5 3391 2097 2289 2245 220.3 10.7 254 4919 0.00 3.53 0.00 0.000 260 0.000 0.090 3391 3512 2262 2287 2237 0 0 0 0 0 0 11.50 11.29 11.52

4998 1.54 73.5 3392 3513 2289 2238 210.2 11.7 266 5004 0.22 3.22 0.00 0.000 5126 0.324 0.037 3372 2092 2262 2287 2237 0 0 0 0 0 0 11.17 11.35 11.38

5365 1.54 73.5 3373 2093 2289 2236 173.2 10.3 280 5370 0.00 3.53 0.00 0.000 260 0.000 0.090 3371 3512 2261 2286 2236 0 0 0 0 0 0 11.50 11.29 11.52

5433 1.54 73.5 3373 3513 2289 2237 165.8 10.6 290 5439 0.00 3.25 0.00 0.000 1030 0.000 0.038 3381 2093 2261 2286 2237 0 0 0 0 0 0 11.40 11.34 11.42

5787 1.56 73.5 3381 2093 2288 2237 132.5 9.2 304 5792 0.00 3.38 0.00 0.000 580 0.000 0.074 3391 695 2261 2286 2236 0 0 0 0 0 0 11.50 11.31 11.52

5911 1.59 73.5 3390 695 2286 2237 120.7 8.6 322 5916 0.00 3.25 0.00 0.000 1094 0.000 0.049 3391 2108 2261 2286 2236 0 0 0 0 0 0 11.40 11.33 11.42

6261 1.62 73.5 3392 2109 2288 2237 92.0 8.4 336 6267 0.00 3.50 0.00 0.000 324 0.000 0.090 3391 3513 2261 2286 2236 0 0 0 0 0 0 11.51 11.29 11.53

6450 1.64 73.5 3390 3514 2286 2237 75.4 8.6 363 6457 0.00 3.22 0.00 0.000 1094 0.000 0.035 3402 2090 2261 2285 2238 0 0 0 0 0 0 11.41 11.36 11.43

6793 1.68 73.5 3401 2091 2285 2233 48.9 8.0 376 6799 0.00 3.58 0.00 0.000 324 0.000 0.086 3401 3519 2261 2286 2236 0 0 0 0 0 0 11.51 11.31 11.53

6842 1.71 73.5 3401 3519 2285 2236 44.6 9.0 383 6849 0.00 3.25 0.00 0.000 1094 0.000 0.037 3412 2096 2263 2292 2235 0 0 0 0 0 0 11.41 11.36 11.43

7189 1.73 73.5 3412 2096 2287 2236 14.6 8.7 396 7198 0.00 3.22 0.00 0.000 580 0.000 0.072 3422 698 2260 2285 2236 0 0 0 0 0 0 11.51 11.31 11.52

7286 1.74 73.5 3423 699 2287 2236 5.4 9.5 409 7291 0.00 3.25 0.00 0.000 1094 0.000 0.048 3422 2111 2260 2285 2235 0 0 0 0 0 0 11.40 11.33 11.42

7329 end climb: SURFACE_DEPTH_REACHED

state 7329 begin surface coast

7358 end surface coast: FINISH_DEPTH_REACHED

state 7358 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	971	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	21	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	280219,174336,-7407.5771,-11320.4180,10,1.1,13,53.9,0.5,338.1,6,6.7	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	0.88	MHEAD_RNG_PITCHd_Wd	183.4,2312,-31.9,-10.000,-33.70,665
_SM_ANGLEo	-65.5	D_GRID	990
GPS2	280219,175214,-7407.5464,-11320.4385,3,0.9,5,53.9,0.1,0.0,7,5.9

FREEZE	-0.00,-1.685,-1.557,2,1,0	ALTIM_BOTTOM_PING	415.7,15.3
FINISH	-0.0,1.022948	_24V_AH	10.22,323.167
SM_CCo	7385,210.25,0.205,0,0,1146,350.04	_10V_AH	10.33,0.000
SM_GC	0.90,12.48,0.47,210.25,0.067,0.085,0.205,217,2300,1146,-8.24,-0.37,350.04,0,0,0,0,0,0,11.33,11.33,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	289	FG_AHR_10Vo	0.000
RAFOS	0,1551376883,18.032778,18.023056,81,58,57,57,57,57,539,207,193,158,219,174	MEM	280008
RAFOS_FIX	-7407.796875,-11315.677734,280219,181824,3,115,1.85	DATA_FILE_SIZE	13442,414
IRIDIUM_FIX	-7409.04,-11320.18,280219,150434	CAP_FILE_SIZE	75516,0
TT8_MAMPS	0.047187,0.519057	CFSIZE	1024409600,909852672
HUMID	49.33	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1445.0
TCM_TEMP	12.10	CURRENT	0.058,332.99,1
XPDR_PINGS	0	GPS	280219,200037,-7407.708,-11322.433,27,1.9,34,53.9,0.1,0.0,6,5.2
ALTIM_TOP_PING	13.7,14.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	402	140.03	nil	0	0	0.00
Roll_motor	94	136	131.86	nil	0	0	0.00
VBD_pump_during_apogee	182	2698	5042.17	nil	0	0	0.00
VBD_pump_during_surface	210	205	440.54	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	7359	7	573.09
Iridium_during_xfer	279	221	632.92	nil	0	0	0.00
Transponder_ping	17	420	75.12	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.76
TT8	0	0	0.00
LPSleep	5969	2	142.44
TT8_Active	584	13	83.43
TT8_Sampling	1169	34	420.24
TT8_CF8	396	52	216.08
TT8_Kalman	0	0	0.00
Analog_circuits	1218	10	137.15
GPS_charging	0	0	0.00
Compass	598	7	46.33
RAFOS	720	1	11.16
Transponder	122	30	37.97

		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
387.3	45.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
401.6	30.70	9000.00	0.0	0.00	0.00	30.70	432.3	-1.02	1.00
415.7	15.20	15.30	431.0	-1.06	1.00	15.20	430.9	-1.10	1.00

415.1	19.20	17.40	0.0	-0.98	0.95	0.00	0.0	0.00	0.00
389.2	48.20	48.30	0.0	-1.19	0.99	48.20	0.0	-1.12	1.00
145.5	151.30	9000.00	0.0	-0.46	0.98	151.30	0.0	-0.42	1.00
135.1	140.80	9000.00	0.0	-0.39	0.98	140.80	-5.7	1.01	1.00
101.4	105.90	105.90	-4.5	1.03	1.00	105.90	-4.5	1.04	1.00
90.8	94.40	94.50	-3.7	1.04	1.00	94.40	-3.6	1.08	1.00
57.9	61.50	61.40	-3.5	1.01	1.00	61.50	-3.6	1.00	1.00
47.7	49.50	50.20	-2.5	1.03	1.00	49.50	-1.8	1.18	1.00
36.7	37.70	37.60	-0.9	1.12	1.00	37.70	-1.0	1.07	1.00
24.4	24.90	24.80	-0.4	1.05	1.00	24.90	-0.5	1.04	1.00
13.7	14.90	14.70	-1.0	0.99	1.00	14.90	-1.2	0.93	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	-1.50	-43.1	218	2307	1170	1098	0.0	0.0	0	102	0.00	0.00	-89.68	0.002	16390	0.000	0.000	215	2307	2751	2754	2749	0	0	0	0	0	0	11.48	10.73	11.50
107	-1.50	-43.1	216	2308	2753	2749	1.5	-1.1	3	129	16.30	3.53	0.00	0.000	2308	0.402	0.090	2367	3716	2751	2753	2749	0	0	0	0	0	0	11.12	11.26	11.26
324	-1.50	-43.1	2367	3717	2757	2745	40.8	-18.7	35	330	0.00	3.25	0.00	0.000	1030	0.000	0.036	2367	2289	2751	2758	2745	0	0	0	0	0	0	11.40	11.36	11.41
688	-1.50	-43.1	2369	2288	2765	2744	105.6	-16.6	51	694	0.00	3.28	0.00	0.000	516	0.000	0.060	2368	896	2751	2760	2743	0	0	0	0	0	0	11.50	11.31	11.52
870	-1.50	-43.1	2368	897	2759	2743	135.5	-17.5	77	877	0.00	3.40	0.00	0.000	1030	0.000	0.059	2357	2308	2751	2760	2743	0	0	0	0	0	0	11.40	11.31	11.41
1225	-1.50	-43.1	2358	2309	2762	2743	190.9	-15.5	91	1231	0.00	3.30	0.00	0.000	516	0.000	0.058	2357	891	2751	2760	2742	0	0	0	0	0	0	11.50	11.31	11.51
1329	-1.50	-43.1	2356	892	2760	2742	207.7	-15.7	106	1336	0.25	3.38	0.00	0.000	3078	0.310	0.057	2381	2301	2750	2760	2741	0	0	0	0	0	0	11.19	11.32	11.37
1672	-1.50	-43.1	2383	2302	2763	2741	256.4	-13.9	113	1673	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2301	2751	2761	2741	0	0	0	0	0	0	11.51	11.53	11.52
2008	-1.50	-43.1	2383	2302	2764	2741	300.3	-13.1	119	2009	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2301	2751	2762	2740	0	0	0	0	0	0	11.51	11.53	11.52
2344	-1.50	-43.1	2383	2302	2765	2741	343.0	-12.4	125	2350	0.00	3.33	0.00	0.000	516	0.000	0.057	2382	892	2751	2762	2740	0	0	0	0	0	0	11.52	11.32	11.54
2463	-1.50	-43.1	2381	892	2763	2740	358.3	-13.5	142	2469	0.00	3.38	0.00	0.000	1030	0.000	0.052	2372	2307	2751	2763	2740	0	0	0	0	0	0	11.40	11.33	11.42
2849	-1.50	-43.1	2371	2308	2763	2738	408.6	-12.7	155	2849	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2307	2751	2764	2739	0	0	0	0	0	0	11.52	11.53	11.53
2956	end dive: BOTTOM_OBSTACLE_DETECTED
state	2956	begin apogee
2966	-0.23	0.0	2374	2078	2765	2740	423.1	-12.7	157	3036	2.35	0.10	65.85	2.699	10246	0.275	0.136	2792	2122	2577	2605	2550	0	0	0	0	0	0	11.21	11.14	10.22
3037	end apogee: CONTROL_FINISHED_OK
state	3037	begin climb
3041	1.50	43.1	2791	2123	2605	2551	426.2	0.0	158	3121	2.45	3.47	69.07	2.642	10500	0.137	0.089	3349	3500	2399	2421	2377	0	0	0	0	0	0	11.21	11.15	10.24
3146	1.54	73.5	3349	3500	2418	2377	422.8	5.3	169	3199	0.00	3.15	47.88	2.601	9254	0.000	0.037	3360	2117	2275	2298	2252	0	0	0	0	0	0	11.35	11.29	10.24
3571	1.54	73.5	3359	2118	2291	2242	375.8	11.9	188	3576	0.00	3.47	0.00	0.000	260	0.000	0.090	3360	3499	2266	2291	2242	0	0	0	0	0	0	11.47	11.27	11.48
3619	1.54	73.5	3361	3500	2293	2244	369.8	12.7	195	3625	0.00	3.20	0.00	0.000	1030	0.000	0.039	3370	2097	2266	2291	2241	0	0	0	0	0	0	11.37	11.31	11.38
3962	1.54	73.5	3370	2097	2289	2240	329.7	11.7	202	3967	0.00	3.53	0.00	0.000	260	0.000	0.090	3370	3505	2264	2289	2239	0	0	0	0	0	0	11.49	11.28	11.51
4018	1.54	73.5	3370	3505	2289	2240	322.5	12.9	210	4023	0.00	3.22	0.00	0.000	1030	0.000	0.038	3379	2096	2263	2289	2238	0	0	0	0	0	0	11.39	11.31	11.41
4411	1.54	73.5	3380	2095	2288	2238	277.4	11.7	224	4416	0.00	3.40	0.00	0.000	516	0.000	0.074	3391	686	2263	2288	2238	0	0	0	0	0	0	11.48	11.29	11.50
4529	1.54	73.5	3391	687	2287	2238	262.9	12.2	241	4535	0.00	3.25	0.00	0.000	1030	0.000	0.047	3391	2096	2263	2288	2238	0	0	0	0	0	0	11.38	11.31	11.40
4914	1.54	73.5	3391	2097	2289	2245	220.3	10.7	254	4919	0.00	3.53	0.00	0.000	260	0.000	0.090	3391	3512	2262	2287	2237	0	0	0	0	0	0	11.50	11.29	11.52
4998	1.54	73.5	3392	3513	2289	2238	210.2	11.7	266	5004	0.22	3.22	0.00	0.000	5126	0.324	0.037	3372	2092	2262	2287	2237	0	0	0	0	0	0	11.17	11.35	11.38
5365	1.54	73.5	3373	2093	2289	2236	173.2	10.3	280	5370	0.00	3.53	0.00	0.000	260	0.000	0.090	3371	3512	2261	2286	2236	0	0	0	0	0	0	11.50	11.29	11.52
5433	1.54	73.5	3373	3513	2289	2237	165.8	10.6	290	5439	0.00	3.25	0.00	0.000	1030	0.000	0.038	3381	2093	2261	2286	2237	0	0	0	0	0	0	11.40	11.34	11.42
5787	1.56	73.5	3381	2093	2288	2237	132.5	9.2	304	5792	0.00	3.38	0.00	0.000	580	0.000	0.074	3391	695	2261	2286	2236	0	0	0	0	0	0	11.50	11.31	11.52
5911	1.59	73.5	3390	695	2286	2237	120.7	8.6	322	5916	0.00	3.25	0.00	0.000	1094	0.000	0.049	3391	2108	2261	2286	2236	0	0	0	0	0	0	11.40	11.33	11.42
6261	1.62	73.5	3392	2109	2288	2237	92.0	8.4	336	6267	0.00	3.50	0.00	0.000	324	0.000	0.090	3391	3513	2261	2286	2236	0	0	0	0	0	0	11.51	11.29	11.53
6450	1.64	73.5	3390	3514	2286	2237	75.4	8.6	363	6457	0.00	3.22	0.00	0.000	1094	0.000	0.035	3402	2090	2261	2285	2238	0	0	0	0	0	0	11.41	11.36	11.43
6793	1.68	73.5	3401	2091	2285	2233	48.9	8.0	376	6799	0.00	3.58	0.00	0.000	324	0.000	0.086	3401	3519	2261	2286	2236	0	0	0	0	0	0	11.51	11.31	11.53
6842	1.71	73.5	3401	3519	2285	2236	44.6	9.0	383	6849	0.00	3.25	0.00	0.000	1094	0.000	0.037	3412	2096	2263	2292	2235	0	0	0	0	0	0	11.41	11.36	11.43
7189	1.73	73.5	3412	2096	2287	2236	14.6	8.7	396	7198	0.00	3.22	0.00	0.000	580	0.000	0.072	3422	698	2260	2285	2236	0	0	0	0	0	0	11.51	11.31	11.52
7286	1.74	73.5	3423	699	2287	2236	5.4	9.5	409	7291	0.00	3.25	0.00	0.000	1094	0.000	0.048	3422	2111	2260	2285	2235	0	0	0	0	0	0	11.40	11.33	11.42
7329	end climb: SURFACE_DEPTH_REACHED
state	7329	begin surface coast
7358	end surface coast: FINISH_DEPTH_REACHED
state	7358	begin surface