Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 972 * 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 972 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 25 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 972 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 25 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 280219,200037,-7407.7085,-11322.4326,27,1.9,34,53.9,0.1,0.0,6,5.2 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME W0a

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.90 MHEAD_RNG_PITCHd_Wd 57.8,5381,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -68.0 D_GRID 990

GPS2 280219,200844,-7407.6909,-11322.4521,3,0.8,5,53.9,0.2,0.0,12,5.1

Post-dive calculations and measurements:

FREEZE -0.02,-1.660,-1.846,2,1,0 ALTIM_TOP_PING 16.1,16.5

FINISH -0.0,1.027098 _24V_AH 10.24,323.544

SM_CCo 7522,132.77,0.206,0,0,1147,350.04 _10V_AH 10.13,0.000

SM_GC 0.90,11.73,0.55,132.77,0.063,0.075,0.206,214,2309,1147,-8.25,-0.17,350.04,0,0,0,0,0,0,11.34,11.33,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 292 FG_AHR_10Vo 0.000

RAFOS 0,1551387665,21.032778,21.018055,63,63,62,54,54,53,200,213,134,170,191,159 MEM 280144

RAFOS_FIX -7404.381836,-11310.031250,280219,212136,2,102,2.26 DATA_FILE_SIZE 13457,369

IRIDIUM_FIX -7359.56,-11531.15,280219,174736 CAP_FILE_SIZE 67449,0

TT8_MAMPS 0.04494,0.291361 CFSIZE 1024409600,909754368

HUMID 50.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1446.1

TCM_TEMP 12.10 CURRENT 0.023,309.07,1

XPDR_PINGS 0 GPS 280219,221800,-7407.760,-11319.339,21,1.0,21,53.9,0.2,0.0,7,4.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 402 135.25 nil 0 0 0.00

Roll_motor 74 95 72.95 nil 0 0 0.00

VBD_pump_during_apogee 418 2664 11419.90 nil 0 0 0.00

VBD_pump_during_surface 132 205 279.79 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 7522 7 583.47

Iridium_during_xfer 252 224 582.05 nil 0 0 0.00

Transponder_ping 16 420 72.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.75

TT8 0 0 0.00

LPSleep 6037 2 141.28

TT8_Active 687 13 96.30

TT8_Sampling 1045 34 368.50

TT8_CF8 386 52 206.81

TT8_Kalman 0 0 0.00

Analog_circuits 1283 10 141.67

GPS_charging 0 0 0.00

Compass 535 7 40.61

RAFOS 720 1 10.94

Transponder 123 30 37.66

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

20.7 22.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

54.2 57.00 9000.00 0.0 0.00 0.00 57.00 0.0 1.03 1.00

392.2 28.70 9000.00 0.0 -0.02 0.07 28.70 420.9 -0.08 1.00

406.7 11.70 9000.00 0.0 -0.11 0.89 11.70 418.4 -1.17 1.00

407.4 13.60 12.30 0.0 -1.07 0.98 0.00 0.0 0.00 0.00

379.2 10.70 9000.00 0.0 0.07 0.61 10.70 368.5 0.10 1.00

368.0 22.20 9000.00 0.0 -0.16 0.28 22.20 0.0 -1.03 1.00

81.5 84.50 9000.00 0.0 -0.23 0.99 84.50 0.0 -0.22 1.00

71.1 73.90 9000.00 0.0 -0.19 0.96 73.90 -2.8 1.02 1.00

49.3 51.10 51.10 -1.8 1.04 1.00 51.10 -1.8 1.05 1.00

38.3 39.50 39.60 -1.3 1.04 1.00 39.50 -1.2 1.05 1.00

27.4 27.90 27.90 -0.5 1.06 1.00 27.90 -0.5 1.06 1.00

16.1 16.60 16.50 -0.4 1.04 1.00 16.60 -0.5 1.00 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

11 -1.06 -107.1 219 2304 1182 1088 0.0 0.0 0 114 0.00 0.00 -100.72 0.002 16390 0.000 0.000 217 2303 3012 3019 3005 0 0 0 0 0 0 11.48 10.72 11.50

119 -1.06 -107.1 219 2305 3022 3007 1.6 -1.1 3 142 17.35 3.40 0.00 0.000 2564 0.402 0.063 2521 893 3014 3022 3006 0 0 0 0 0 0 11.12 11.26 11.32

317 -1.06 -107.1 2521 894 3022 3005 41.5 -16.4 32 322 0.00 3.42 0.00 0.000 1030 0.000 0.059 2512 2308 3013 3023 3004 0 0 0 0 0 0 11.39 11.31 11.40

674 -1.06 -107.1 2512 2309 3026 3001 100.1 -16.4 47 679 0.00 3.42 0.00 0.000 516 0.000 0.060 2513 891 3013 3026 3000 0 0 0 0 0 0 11.50 11.31 11.52

764 -1.06 -107.1 2513 892 3029 3000 116.0 -17.2 60 771 0.00 3.33 0.00 0.000 1030 0.000 0.056 2502 2303 3010 3026 2995 0 0 0 0 0 0 11.31 11.21 11.35

1125 -1.06 -107.1 2503 2304 3029 3000 175.4 -16.6 75 1130 0.00 3.38 0.00 0.000 516 0.000 0.060 2502 888 3013 3027 2999 0 0 0 0 0 0 11.50 11.31 11.52

1200 -1.06 -107.1 2501 888 3027 2999 189.1 -17.2 86 1207 0.25 3.38 0.00 0.000 3078 0.264 0.057 2530 2310 3013 3027 2999 0 0 0 0 0 0 11.21 11.31 11.37

1575 -1.06 -107.1 2530 2311 3028 2999 244.3 -14.7 95 1576 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2310 3013 3028 2998 0 0 0 0 0 0 11.50 11.52 11.51

1908 -1.06 -107.1 2529 2311 3028 2999 291.6 -14.1 101 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2310 3013 3028 2998 0 0 0 0 0 0 11.49 11.51 11.51

2244 -1.06 -107.1 2530 2311 3028 2998 337.9 -13.8 107 2249 0.00 3.40 0.00 0.000 516 0.000 0.060 2530 895 3013 3029 2997 0 0 0 0 0 0 11.50 11.31 11.52

2299 -1.06 -107.1 2532 895 3031 2998 345.9 -13.7 115 2304 0.00 3.35 0.00 0.000 1030 0.000 0.056 2521 2309 3013 3029 2997 0 0 0 0 0 0 11.40 11.32 11.42

2694 -1.06 -107.1 2519 2310 3030 2998 399.7 -13.4 129 2695 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2309 3013 3029 2997 0 0 0 0 0 0 11.50 11.52 11.52

3027 -1.06 -107.1 2522 2310 3033 2994 418.2 -1.4 135 3032 0.00 3.35 0.00 0.000 548 0.000 0.056 2521 888 3013 3032 2995 0 0 0 0 0 0 11.52 11.32 11.53

3149 end dive: NO_VERTICAL_VELOCITY

state 3149 begin apogee

3160 -0.23 0.0 2519 2119 3034 2995 418.2 0.0 153 3322 1.25 0.00 158.45 2.664 10246 0.158 0.000 2792 2118 2576 2607 2546 0 0 0 0 0 0 11.28 11.14 10.24

3323 end apogee: CONTROL_FINISHED_OK

state 3323 begin climb

3327 1.06 107.1 2792 2119 2607 2546 418.1 0.0 156 3496 1.70 0.00 160.80 2.565 10502 0.111 0.000 3200 2118 2139 2176 2103 0 0 0 0 0 0 11.19 11.12 10.25

3825 1.08 107.1 3202 2119 2170 2092 383.8 8.6 186 3826 0.00 0.00 0.00 0.000 70 0.000 0.000 3200 2118 2130 2168 2092 0 0 0 0 0 0 11.47 11.49 11.48

4162 1.17 174.6 3201 2119 2166 2090 361.8 5.8 192 4272 0.15 3.60 99.30 2.518 10532 0.098 0.096 3251 3515 1862 1907 1818 0 0 0 0 0 0 11.33 11.15 10.27

4392 1.17 174.6 3247 3515 1906 1817 335.5 12.6 225 4398 0.00 3.28 0.00 0.000 1030 0.000 0.037 3261 2094 1860 1904 1816 0 0 0 0 0 0 11.36 11.30 11.37

4777 1.17 174.6 3262 2095 1911 1808 289.1 12.2 238 4783 0.00 3.55 0.00 0.000 260 0.000 0.090 3259 3514 1855 1902 1808 0 0 0 0 0 0 11.48 11.26 11.50

4854 1.17 174.6 3262 3511 1903 1809 278.6 13.8 249 4860 0.00 3.28 0.00 0.000 1030 0.000 0.039 3271 2094 1854 1901 1808 0 0 0 0 0 0 11.38 11.32 11.40

5226 1.17 174.6 3272 2094 1900 1807 233.1 12.1 260 5231 0.00 3.42 0.00 0.000 516 0.000 0.078 3282 692 1852 1899 1806 0 0 0 0 0 0 11.47 11.28 11.50

5253 1.17 174.6 3281 693 1899 1806 229.9 11.5 264 5259 0.20 3.28 0.00 0.000 5126 0.227 0.052 3249 2104 1852 1899 1806 0 0 0 0 0 0 11.22 11.31 11.37

5621 1.17 174.6 3250 2105 1901 1806 188.7 11.4 275 5626 0.00 3.50 0.00 0.000 260 0.000 0.093 3249 3515 1852 1899 1805 0 0 0 0 0 0 11.49 11.29 11.50

5675 1.17 174.6 3249 3517 1898 1806 181.7 12.5 283 5680 0.00 3.25 0.00 0.000 1030 0.000 0.040 3257 2096 1852 1899 1805 0 0 0 0 0 0 11.39 11.33 11.41

6042 1.17 174.6 3257 2096 1897 1804 142.2 10.2 299 6047 0.00 3.42 0.00 0.000 516 0.000 0.079 3268 690 1851 1898 1805 0 0 0 0 0 0 11.49 11.29 11.50

6083 1.17 174.6 3268 691 1897 1805 137.5 10.8 305 6088 0.00 3.28 0.00 0.000 1030 0.000 0.053 3268 2104 1850 1897 1804 0 0 0 0 0 0 11.39 11.31 11.41

6432 1.17 174.6 3269 2104 1899 1805 100.8 10.7 319 6437 0.00 3.50 0.00 0.000 260 0.000 0.092 3268 3515 1850 1897 1804 0 0 0 0 0 0 11.50 11.29 11.52

6516 1.17 174.6 3268 3515 1897 1804 91.5 11.2 331 6522 0.20 3.28 0.00 0.000 5126 0.261 0.038 3248 2093 1851 1898 1804 0 0 0 0 0 0 11.22 11.34 11.38

6880 1.17 174.6 3247 2093 1897 1803 57.6 9.8 347 6881 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 2092 1850 1897 1803 0 0 0 0 0 0 11.50 11.52 11.52

7216 1.17 174.6 3249 2093 1899 1804 24.5 9.8 359 7217 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 2092 1850 1897 1803 0 0 0 0 0 0 11.50 11.52 11.52

7464 end climb: SURFACE_DEPTH_REACHED

state 7464 begin surface coast

7492 end surface coast: CONTROL_FINISHED_OK

state 7496 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	972	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	25	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	280219,200037,-7407.7085,-11322.4326,27,1.9,34,53.9,0.1,0.0,6,5.2	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	W0a
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.90	MHEAD_RNG_PITCHd_Wd	57.8,5381,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-68.0	D_GRID	990
GPS2	280219,200844,-7407.6909,-11322.4521,3,0.8,5,53.9,0.2,0.0,12,5.1

FREEZE	-0.02,-1.660,-1.846,2,1,0	ALTIM_TOP_PING	16.1,16.5
FINISH	-0.0,1.027098	_24V_AH	10.24,323.544
SM_CCo	7522,132.77,0.206,0,0,1147,350.04	_10V_AH	10.13,0.000
SM_GC	0.90,11.73,0.55,132.77,0.063,0.075,0.206,214,2309,1147,-8.25,-0.17,350.04,0,0,0,0,0,0,11.34,11.33,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	292	FG_AHR_10Vo	0.000
RAFOS	0,1551387665,21.032778,21.018055,63,63,62,54,54,53,200,213,134,170,191,159	MEM	280144
RAFOS_FIX	-7404.381836,-11310.031250,280219,212136,2,102,2.26	DATA_FILE_SIZE	13457,369
IRIDIUM_FIX	-7359.56,-11531.15,280219,174736	CAP_FILE_SIZE	67449,0
TT8_MAMPS	0.04494,0.291361	CFSIZE	1024409600,909754368
HUMID	50.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1446.1
TCM_TEMP	12.10	CURRENT	0.023,309.07,1
XPDR_PINGS	0	GPS	280219,221800,-7407.760,-11319.339,21,1.0,21,53.9,0.2,0.0,7,4.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	402	135.25	nil	0	0	0.00
Roll_motor	74	95	72.95	nil	0	0	0.00
VBD_pump_during_apogee	418	2664	11419.90	nil	0	0	0.00
VBD_pump_during_surface	132	205	279.79	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	7522	7	583.47
Iridium_during_xfer	252	224	582.05	nil	0	0	0.00
Transponder_ping	16	420	72.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.75
TT8	0	0	0.00
LPSleep	6037	2	141.28
TT8_Active	687	13	96.30
TT8_Sampling	1045	34	368.50
TT8_CF8	386	52	206.81
TT8_Kalman	0	0	0.00
Analog_circuits	1283	10	141.67
GPS_charging	0	0	0.00
Compass	535	7	40.61
RAFOS	720	1	10.94
Transponder	123	30	37.66

		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
20.7	22.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
54.2	57.00	9000.00	0.0	0.00	0.00	57.00	0.0	1.03	1.00
392.2	28.70	9000.00	0.0	-0.02	0.07	28.70	420.9	-0.08	1.00
406.7	11.70	9000.00	0.0	-0.11	0.89	11.70	418.4	-1.17	1.00

407.4	13.60	12.30	0.0	-1.07	0.98	0.00	0.0	0.00	0.00
379.2	10.70	9000.00	0.0	0.07	0.61	10.70	368.5	0.10	1.00
368.0	22.20	9000.00	0.0	-0.16	0.28	22.20	0.0	-1.03	1.00
81.5	84.50	9000.00	0.0	-0.23	0.99	84.50	0.0	-0.22	1.00
71.1	73.90	9000.00	0.0	-0.19	0.96	73.90	-2.8	1.02	1.00
49.3	51.10	51.10	-1.8	1.04	1.00	51.10	-1.8	1.05	1.00
38.3	39.50	39.60	-1.3	1.04	1.00	39.50	-1.2	1.05	1.00
27.4	27.90	27.90	-0.5	1.06	1.00	27.90	-0.5	1.06	1.00
16.1	16.60	16.50	-0.4	1.04	1.00	16.60	-0.5	1.00	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
11	-1.06	-107.1	219	2304	1182	1088	0.0	0.0	0	114	0.00	0.00	-100.72	0.002	16390	0.000	0.000	217	2303	3012	3019	3005	0	0	0	0	0	0	11.48	10.72	11.50
119	-1.06	-107.1	219	2305	3022	3007	1.6	-1.1	3	142	17.35	3.40	0.00	0.000	2564	0.402	0.063	2521	893	3014	3022	3006	0	0	0	0	0	0	11.12	11.26	11.32
317	-1.06	-107.1	2521	894	3022	3005	41.5	-16.4	32	322	0.00	3.42	0.00	0.000	1030	0.000	0.059	2512	2308	3013	3023	3004	0	0	0	0	0	0	11.39	11.31	11.40
674	-1.06	-107.1	2512	2309	3026	3001	100.1	-16.4	47	679	0.00	3.42	0.00	0.000	516	0.000	0.060	2513	891	3013	3026	3000	0	0	0	0	0	0	11.50	11.31	11.52
764	-1.06	-107.1	2513	892	3029	3000	116.0	-17.2	60	771	0.00	3.33	0.00	0.000	1030	0.000	0.056	2502	2303	3010	3026	2995	0	0	0	0	0	0	11.31	11.21	11.35
1125	-1.06	-107.1	2503	2304	3029	3000	175.4	-16.6	75	1130	0.00	3.38	0.00	0.000	516	0.000	0.060	2502	888	3013	3027	2999	0	0	0	0	0	0	11.50	11.31	11.52
1200	-1.06	-107.1	2501	888	3027	2999	189.1	-17.2	86	1207	0.25	3.38	0.00	0.000	3078	0.264	0.057	2530	2310	3013	3027	2999	0	0	0	0	0	0	11.21	11.31	11.37
1575	-1.06	-107.1	2530	2311	3028	2999	244.3	-14.7	95	1576	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2310	3013	3028	2998	0	0	0	0	0	0	11.50	11.52	11.51
1908	-1.06	-107.1	2529	2311	3028	2999	291.6	-14.1	101	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2310	3013	3028	2998	0	0	0	0	0	0	11.49	11.51	11.51
2244	-1.06	-107.1	2530	2311	3028	2998	337.9	-13.8	107	2249	0.00	3.40	0.00	0.000	516	0.000	0.060	2530	895	3013	3029	2997	0	0	0	0	0	0	11.50	11.31	11.52
2299	-1.06	-107.1	2532	895	3031	2998	345.9	-13.7	115	2304	0.00	3.35	0.00	0.000	1030	0.000	0.056	2521	2309	3013	3029	2997	0	0	0	0	0	0	11.40	11.32	11.42
2694	-1.06	-107.1	2519	2310	3030	2998	399.7	-13.4	129	2695	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2309	3013	3029	2997	0	0	0	0	0	0	11.50	11.52	11.52
3027	-1.06	-107.1	2522	2310	3033	2994	418.2	-1.4	135	3032	0.00	3.35	0.00	0.000	548	0.000	0.056	2521	888	3013	3032	2995	0	0	0	0	0	0	11.52	11.32	11.53
3149	end dive: NO_VERTICAL_VELOCITY
state	3149	begin apogee
3160	-0.23	0.0	2519	2119	3034	2995	418.2	0.0	153	3322	1.25	0.00	158.45	2.664	10246	0.158	0.000	2792	2118	2576	2607	2546	0	0	0	0	0	0	11.28	11.14	10.24
3323	end apogee: CONTROL_FINISHED_OK
state	3323	begin climb
3327	1.06	107.1	2792	2119	2607	2546	418.1	0.0	156	3496	1.70	0.00	160.80	2.565	10502	0.111	0.000	3200	2118	2139	2176	2103	0	0	0	0	0	0	11.19	11.12	10.25
3825	1.08	107.1	3202	2119	2170	2092	383.8	8.6	186	3826	0.00	0.00	0.00	0.000	70	0.000	0.000	3200	2118	2130	2168	2092	0	0	0	0	0	0	11.47	11.49	11.48
4162	1.17	174.6	3201	2119	2166	2090	361.8	5.8	192	4272	0.15	3.60	99.30	2.518	10532	0.098	0.096	3251	3515	1862	1907	1818	0	0	0	0	0	0	11.33	11.15	10.27
4392	1.17	174.6	3247	3515	1906	1817	335.5	12.6	225	4398	0.00	3.28	0.00	0.000	1030	0.000	0.037	3261	2094	1860	1904	1816	0	0	0	0	0	0	11.36	11.30	11.37
4777	1.17	174.6	3262	2095	1911	1808	289.1	12.2	238	4783	0.00	3.55	0.00	0.000	260	0.000	0.090	3259	3514	1855	1902	1808	0	0	0	0	0	0	11.48	11.26	11.50
4854	1.17	174.6	3262	3511	1903	1809	278.6	13.8	249	4860	0.00	3.28	0.00	0.000	1030	0.000	0.039	3271	2094	1854	1901	1808	0	0	0	0	0	0	11.38	11.32	11.40
5226	1.17	174.6	3272	2094	1900	1807	233.1	12.1	260	5231	0.00	3.42	0.00	0.000	516	0.000	0.078	3282	692	1852	1899	1806	0	0	0	0	0	0	11.47	11.28	11.50
5253	1.17	174.6	3281	693	1899	1806	229.9	11.5	264	5259	0.20	3.28	0.00	0.000	5126	0.227	0.052	3249	2104	1852	1899	1806	0	0	0	0	0	0	11.22	11.31	11.37
5621	1.17	174.6	3250	2105	1901	1806	188.7	11.4	275	5626	0.00	3.50	0.00	0.000	260	0.000	0.093	3249	3515	1852	1899	1805	0	0	0	0	0	0	11.49	11.29	11.50
5675	1.17	174.6	3249	3517	1898	1806	181.7	12.5	283	5680	0.00	3.25	0.00	0.000	1030	0.000	0.040	3257	2096	1852	1899	1805	0	0	0	0	0	0	11.39	11.33	11.41
6042	1.17	174.6	3257	2096	1897	1804	142.2	10.2	299	6047	0.00	3.42	0.00	0.000	516	0.000	0.079	3268	690	1851	1898	1805	0	0	0	0	0	0	11.49	11.29	11.50
6083	1.17	174.6	3268	691	1897	1805	137.5	10.8	305	6088	0.00	3.28	0.00	0.000	1030	0.000	0.053	3268	2104	1850	1897	1804	0	0	0	0	0	0	11.39	11.31	11.41
6432	1.17	174.6	3269	2104	1899	1805	100.8	10.7	319	6437	0.00	3.50	0.00	0.000	260	0.000	0.092	3268	3515	1850	1897	1804	0	0	0	0	0	0	11.50	11.29	11.52
6516	1.17	174.6	3268	3515	1897	1804	91.5	11.2	331	6522	0.20	3.28	0.00	0.000	5126	0.261	0.038	3248	2093	1851	1898	1804	0	0	0	0	0	0	11.22	11.34	11.38
6880	1.17	174.6	3247	2093	1897	1803	57.6	9.8	347	6881	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	2092	1850	1897	1803	0	0	0	0	0	0	11.50	11.52	11.52
7216	1.17	174.6	3249	2093	1899	1804	24.5	9.8	359	7217	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	2092	1850	1897	1803	0	0	0	0	0	0	11.50	11.52	11.52
7464	end climb: SURFACE_DEPTH_REACHED
state	7464	begin surface coast
7492	end surface coast: CONTROL_FINISHED_OK
state	7496	begin surface