Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 974 * 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 974 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 16 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 974 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 16 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 010319,010508,-7407.5659,-11316.0098,16,1.2,16,53.8,0.0,0.0,6,7.3 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 0.85 MHEAD_RNG_PITCHd_Wd 81.6,2342,-31.2,-10.000,-33.04,694

_SM_ANGLEo -62.3 D_GRID 990

GPS2 010319,011343,-7407.5747,-11315.9785,3,1.3,5,53.8,0.1,0.0,6,8.3

Post-dive calculations and measurements:

FREEZE -0.01,-1.730,-0.961,2,1,0 ALTIM_TOP_PING 12.0,12.0

FINISH -0.0,1.014180 _24V_AH 10.18,324.112

SM_CCo 8391,190.10,0.204,0,0,1147,350.04 _10V_AH 10.34,0.000

SM_GC 0.90,12.62,0.50,190.10,0.087,0.077,0.204,217,2307,1147,-8.24,-0.25,350.04,0,0,0,0,0,0,11.32,11.34,11.21 FG_AHR_24Vo 0.000

RAFOS_CLK 324 FG_AHR_10Vo 0.000

RAFOS 0,1551409288,3.032778,3.024444,65,63,63,60,57,55,494,203,151,183,219,174 MEM 280228

RAFOS_FIX -7408.195801,-11311.552734,010319,030328,1,2,0.38 DATA_FILE_SIZE 13449,410

IRIDIUM_FIX -7408.77,-11302.62,280219,222200 CAP_FILE_SIZE 76770,0

TT8_MAMPS 0.048685,0.289863 CFSIZE 1024409600,909557760

HUMID 49.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1446.2

TCM_TEMP 12.00 CURRENT 0.064,0.49,1

XPDR_PINGS 1 GPS 010319,033838,-7407.641,-11313.435,32,0.8,32,53.8,0.2,0.0,10,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 404 142.34 nil 0 0 0.00

Roll_motor 94 133 128.70 nil 0 0 0.00

VBD_pump_during_apogee 231 2776 6541.53 nil 0 0 0.00

VBD_pump_during_surface 190 204 395.28 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 8370 7 625.76

Iridium_during_xfer 272 230 638.00 nil 0 0 0.00

Transponder_ping 21 420 90.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.80

TT8 0 0 0.00

LPSleep 6915 2 165.19

TT8_Active 613 13 87.72

TT8_Sampling 1178 34 423.97

TT8_CF8 398 52 217.68

TT8_Kalman 0 0 0.00

Analog_circuits 1240 10 139.77

GPS_charging 0 0 0.00

Compass 593 7 45.98

RAFOS 720 1 11.17

Transponder 151 30 46.86

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

32.1 34.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

499.0 24.50 9000.00 0.0 0.00 0.00 24.50 523.5 -0.02 1.00

512.2 14.50 9000.00 0.0 -0.03 0.76 14.50 526.7 -0.76 1.00

513.8 17.20 9000.00 0.0 -0.60 0.87 0.00 0.0 0.00 0.00

131.9 137.30 9000.00 0.0 -0.32 1.00 137.30 0.0 -0.31 1.00

120.8 126.80 9000.00 0.0 -0.30 0.99 126.80 -6.0 0.95 1.00

110.3 114.50 114.90 -4.6 1.05 1.00 114.50 -4.2 1.17 1.00

97.3 101.20 100.90 -3.6 1.09 1.00 101.20 -3.9 1.02 1.00

71.2 74.10 74.10 -2.9 1.04 1.00 74.10 -2.9 1.04 1.00

58.4 60.60 60.70 -2.3 1.04 1.00 60.60 -2.2 1.05 1.00

34.3 35.20 35.30 -1.0 1.05 1.00 35.20 -0.9 1.05 1.00

22.8 23.20 23.20 -0.4 1.05 1.00 23.20 -0.4 1.04 1.00

12.0 12.00 12.00 0.0 1.04 1.00 12.00 -0.0 1.04 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 -1.48 -45.1 219 2306 1174 1092 0.0 0.0 0 102 0.00 0.00 -89.35 0.002 16390 0.000 0.000 220 2306 2759 2762 2757 0 0 0 0 0 0 11.50 10.72 11.50

107 -1.48 -45.1 222 2307 2765 2758 1.6 -0.9 3 129 16.48 3.42 0.00 0.000 2564 0.405 0.063 2388 892 2760 2764 2757 0 0 0 0 0 0 11.11 11.26 11.26

359 -1.48 -45.1 2389 893 2767 2757 45.7 -17.4 40 365 0.00 3.33 0.00 0.000 1030 0.000 0.055 2379 2302 2760 2765 2755 0 0 0 0 0 0 11.39 11.31 11.40

717 -1.48 -45.1 2378 2303 2768 2750 105.3 -16.3 55 722 0.00 3.35 0.00 0.000 516 0.000 0.057 2379 890 2760 2768 2752 0 0 0 0 0 0 11.50 11.31 11.52

954 -1.48 -45.1 2380 891 2771 2752 146.1 -17.4 89 961 0.00 3.28 0.00 0.000 1030 0.000 0.054 2368 2309 2759 2768 2751 0 0 0 0 0 0 11.40 11.31 11.41

1337 -1.48 -45.1 2368 2309 2769 2751 210.7 -16.4 103 1342 0.00 3.38 0.00 0.000 516 0.000 0.057 2368 888 2759 2769 2750 0 0 0 0 0 0 11.50 11.31 11.51

1399 -1.48 -45.1 2368 888 2768 2751 221.2 -16.7 112 1404 0.22 3.38 0.00 0.000 3078 0.314 0.057 2388 2303 2760 2770 2750 0 0 0 0 0 0 11.19 11.32 11.37

1783 -1.48 -45.1 2389 2303 2772 2750 276.2 -13.6 125 1789 0.00 3.35 0.00 0.000 516 0.000 0.057 2388 898 2759 2770 2748 0 0 0 0 0 0 11.51 11.30 11.52

2021 -1.48 -45.1 2389 899 2773 2750 307.6 -12.5 159 2026 0.00 3.30 0.00 0.000 1030 0.000 0.052 2379 2312 2759 2770 2749 0 0 0 0 0 0 11.40 11.33 11.42

2400 -1.48 -45.1 2379 2313 2772 2749 354.2 -12.2 171 2405 0.00 3.35 0.00 0.000 516 0.000 0.057 2379 895 2759 2771 2748 0 0 0 0 0 0 11.50 11.32 11.52

2469 -1.48 -45.1 2379 898 2770 2749 363.1 -12.7 181 2475 0.00 3.33 0.00 0.000 1030 0.000 0.056 2368 2307 2759 2770 2749 0 0 0 0 0 0 11.40 11.33 11.41

2847 -1.48 -45.1 2370 2308 2773 2749 411.5 -12.8 193 2853 0.00 3.53 0.00 0.000 260 0.000 0.094 2358 3720 2759 2771 2748 0 0 0 0 0 0 11.51 11.30 11.53

2889 -1.48 -45.1 2359 3721 2773 2749 417.2 -13.9 199 2895 0.22 3.25 0.00 0.000 3078 0.290 0.039 2390 2287 2760 2772 2748 0 0 0 0 0 0 11.19 11.37 11.38

3239 -1.48 -45.1 2391 2289 2773 2749 459.4 -12.2 207 3245 0.00 3.58 0.00 0.000 260 0.000 0.090 2381 3718 2759 2771 2748 0 0 0 0 0 0 11.51 11.31 11.53

3288 -1.48 -45.1 2380 3719 2766 2747 465.6 -13.1 214 3295 0.00 3.22 0.00 0.000 1030 0.000 0.037 2381 2298 2759 2771 2748 0 0 0 0 0 0 11.42 11.38 11.41

3631 -1.48 -45.1 2380 2299 2771 2748 505.7 -11.7 221 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2298 2760 2772 2748 0 0 0 0 0 0 11.52 11.53 11.53

3967 -1.54 -99.9 2382 2299 2774 2746 524.0 -1.9 227 3968 0.00 0.00 0.00 0.000 38 0.000 0.000 2380 2298 2759 2773 2746 0 0 0 0 0 0 11.52 11.54 11.53

4187 end dive: NO_VERTICAL_VELOCITY

state 4187 begin apogee

4196 -0.23 0.0 2382 2078 2775 2746 524.1 0.0 231 4272 2.10 0.10 71.35 2.777 10246 0.226 0.133 2791 2121 2576 2604 2548 0 0 0 0 0 0 11.24 11.13 10.18

4272 end apogee: CONTROL_FINISHED_OK

state 4273 begin climb

4277 1.54 99.9 2791 2122 2604 2548 524.1 0.0 232 4449 2.45 3.53 160.05 2.713 10500 0.124 0.090 3361 3498 2167 2193 2141 0 0 0 0 0 0 11.21 11.14 10.20

4494 1.54 99.9 3363 3498 2194 2138 505.2 15.7 253 4500 0.00 3.17 0.00 0.000 1030 0.000 0.037 3371 2112 2164 2192 2137 0 0 0 0 0 0 11.34 11.28 11.36

4865 1.54 99.9 3373 2114 2187 2129 447.8 15.7 264 4870 0.00 3.50 0.00 0.000 260 0.000 0.086 3371 3509 2156 2185 2128 0 0 0 0 0 0 11.48 11.26 11.50

4914 1.54 99.9 3373 3510 2186 2130 439.9 16.4 271 4921 0.00 3.25 0.00 0.000 1030 0.000 0.037 3382 2093 2156 2185 2128 0 0 0 0 0 0 11.37 11.32 11.40

5257 1.54 99.9 3382 2093 2183 2128 386.4 15.5 278 5262 0.00 3.53 0.00 0.000 260 0.000 0.086 3382 3510 2155 2183 2127 0 0 0 0 0 0 11.47 11.28 11.50

5327 1.54 99.9 3382 3511 2181 2128 375.3 16.0 288 5334 0.00 3.25 0.00 0.000 1030 0.000 0.037 3393 2093 2155 2183 2127 0 0 0 0 0 0 11.38 11.33 11.40

5705 1.54 99.9 3392 2093 2180 2126 320.9 14.1 300 5706 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 2092 2152 2179 2125 0 0 0 0 0 0 11.49 11.51 11.51

6041 1.54 99.9 3394 2093 2182 2131 275.8 13.7 306 6046 0.00 3.50 0.00 0.000 260 0.000 0.088 3393 3500 2152 2180 2125 0 0 0 0 0 0 11.48 11.29 11.52

6083 1.54 99.9 3392 3501 2180 2125 269.8 14.5 312 6089 0.25 3.20 0.00 0.000 5126 0.322 0.037 3369 2095 2152 2180 2124 0 0 0 0 0 0 11.17 11.34 11.37

6434 1.54 99.9 3370 2097 2181 2125 225.9 12.4 320 6439 0.00 3.38 0.00 0.000 516 0.000 0.076 3378 697 2151 2179 2124 0 0 0 0 0 0 11.50 11.29 11.52

6462 1.54 99.9 3378 699 2180 2125 222.4 12.4 324 6467 0.00 3.22 0.00 0.000 1030 0.000 0.051 3378 2097 2151 2178 2124 0 0 0 0 0 0 11.39 11.32 11.41

6829 1.54 99.9 3379 2098 2179 2125 175.9 12.6 337 6835 0.00 3.50 0.00 0.000 260 0.000 0.090 3378 3512 2150 2177 2124 0 0 0 0 0 0 11.50 11.28 11.51

6884 1.54 99.9 3377 3515 2177 2125 167.7 14.0 345 6890 0.00 3.22 0.00 0.000 1030 0.000 0.037 3389 2094 2150 2177 2124 0 0 0 0 0 0 11.40 11.34 11.42

7249 1.54 99.9 3388 2095 2177 2125 120.8 13.1 361 7255 0.00 3.40 0.00 0.000 516 0.000 0.075 3402 691 2150 2177 2123 0 0 0 0 0 0 11.49 11.30 11.51

7304 1.54 99.9 3400 691 2179 2125 113.7 12.8 369 7311 0.20 3.25 0.00 0.000 5126 0.301 0.050 3372 2102 2149 2176 2123 0 0 0 0 0 0 11.19 11.32 11.38

7669 1.54 99.9 3373 2103 2179 2124 71.2 11.4 385 7670 0.00 0.00 0.00 0.000 6 0.000 0.000 3371 2102 2149 2176 2123 0 0 0 0 0 0 11.50 11.52 11.52

8005 1.54 99.9 3370 2103 2176 2124 34.3 10.5 397 8005 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 2103 2149 2176 2123 0 0 0 0 0 0 11.50 11.52 11.52

8340 end climb: SURFACE_DEPTH_REACHED

state 8340 begin surface coast

8364 end surface coast: FINISH_DEPTH_REACHED

state 8364 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	974	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	16	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	010319,010508,-7407.5659,-11316.0098,16,1.2,16,53.8,0.0,0.0,6,7.3	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	0.85	MHEAD_RNG_PITCHd_Wd	81.6,2342,-31.2,-10.000,-33.04,694
_SM_ANGLEo	-62.3	D_GRID	990
GPS2	010319,011343,-7407.5747,-11315.9785,3,1.3,5,53.8,0.1,0.0,6,8.3

FREEZE	-0.01,-1.730,-0.961,2,1,0	ALTIM_TOP_PING	12.0,12.0
FINISH	-0.0,1.014180	_24V_AH	10.18,324.112
SM_CCo	8391,190.10,0.204,0,0,1147,350.04	_10V_AH	10.34,0.000
SM_GC	0.90,12.62,0.50,190.10,0.087,0.077,0.204,217,2307,1147,-8.24,-0.25,350.04,0,0,0,0,0,0,11.32,11.34,11.21	FG_AHR_24Vo	0.000
RAFOS_CLK	324	FG_AHR_10Vo	0.000
RAFOS	0,1551409288,3.032778,3.024444,65,63,63,60,57,55,494,203,151,183,219,174	MEM	280228
RAFOS_FIX	-7408.195801,-11311.552734,010319,030328,1,2,0.38	DATA_FILE_SIZE	13449,410
IRIDIUM_FIX	-7408.77,-11302.62,280219,222200	CAP_FILE_SIZE	76770,0
TT8_MAMPS	0.048685,0.289863	CFSIZE	1024409600,909557760
HUMID	49.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1446.2
TCM_TEMP	12.00	CURRENT	0.064,0.49,1
XPDR_PINGS	1	GPS	010319,033838,-7407.641,-11313.435,32,0.8,32,53.8,0.2,0.0,10,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	404	142.34	nil	0	0	0.00
Roll_motor	94	133	128.70	nil	0	0	0.00
VBD_pump_during_apogee	231	2776	6541.53	nil	0	0	0.00
VBD_pump_during_surface	190	204	395.28	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	8370	7	625.76
Iridium_during_xfer	272	230	638.00	nil	0	0	0.00
Transponder_ping	21	420	90.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.80
TT8	0	0	0.00
LPSleep	6915	2	165.19
TT8_Active	613	13	87.72
TT8_Sampling	1178	34	423.97
TT8_CF8	398	52	217.68
TT8_Kalman	0	0	0.00
Analog_circuits	1240	10	139.77
GPS_charging	0	0	0.00
Compass	593	7	45.98
RAFOS	720	1	11.17
Transponder	151	30	46.86

		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
32.1	34.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
499.0	24.50	9000.00	0.0	0.00	0.00	24.50	523.5	-0.02	1.00
512.2	14.50	9000.00	0.0	-0.03	0.76	14.50	526.7	-0.76	1.00

513.8	17.20	9000.00	0.0	-0.60	0.87	0.00	0.0	0.00	0.00
131.9	137.30	9000.00	0.0	-0.32	1.00	137.30	0.0	-0.31	1.00
120.8	126.80	9000.00	0.0	-0.30	0.99	126.80	-6.0	0.95	1.00
110.3	114.50	114.90	-4.6	1.05	1.00	114.50	-4.2	1.17	1.00
97.3	101.20	100.90	-3.6	1.09	1.00	101.20	-3.9	1.02	1.00
71.2	74.10	74.10	-2.9	1.04	1.00	74.10	-2.9	1.04	1.00
58.4	60.60	60.70	-2.3	1.04	1.00	60.60	-2.2	1.05	1.00
34.3	35.20	35.30	-1.0	1.05	1.00	35.20	-0.9	1.05	1.00
22.8	23.20	23.20	-0.4	1.05	1.00	23.20	-0.4	1.04	1.00
12.0	12.00	12.00	0.0	1.04	1.00	12.00	-0.0	1.04	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	-1.48	-45.1	219	2306	1174	1092	0.0	0.0	0	102	0.00	0.00	-89.35	0.002	16390	0.000	0.000	220	2306	2759	2762	2757	0	0	0	0	0	0	11.50	10.72	11.50
107	-1.48	-45.1	222	2307	2765	2758	1.6	-0.9	3	129	16.48	3.42	0.00	0.000	2564	0.405	0.063	2388	892	2760	2764	2757	0	0	0	0	0	0	11.11	11.26	11.26
359	-1.48	-45.1	2389	893	2767	2757	45.7	-17.4	40	365	0.00	3.33	0.00	0.000	1030	0.000	0.055	2379	2302	2760	2765	2755	0	0	0	0	0	0	11.39	11.31	11.40
717	-1.48	-45.1	2378	2303	2768	2750	105.3	-16.3	55	722	0.00	3.35	0.00	0.000	516	0.000	0.057	2379	890	2760	2768	2752	0	0	0	0	0	0	11.50	11.31	11.52
954	-1.48	-45.1	2380	891	2771	2752	146.1	-17.4	89	961	0.00	3.28	0.00	0.000	1030	0.000	0.054	2368	2309	2759	2768	2751	0	0	0	0	0	0	11.40	11.31	11.41
1337	-1.48	-45.1	2368	2309	2769	2751	210.7	-16.4	103	1342	0.00	3.38	0.00	0.000	516	0.000	0.057	2368	888	2759	2769	2750	0	0	0	0	0	0	11.50	11.31	11.51
1399	-1.48	-45.1	2368	888	2768	2751	221.2	-16.7	112	1404	0.22	3.38	0.00	0.000	3078	0.314	0.057	2388	2303	2760	2770	2750	0	0	0	0	0	0	11.19	11.32	11.37
1783	-1.48	-45.1	2389	2303	2772	2750	276.2	-13.6	125	1789	0.00	3.35	0.00	0.000	516	0.000	0.057	2388	898	2759	2770	2748	0	0	0	0	0	0	11.51	11.30	11.52
2021	-1.48	-45.1	2389	899	2773	2750	307.6	-12.5	159	2026	0.00	3.30	0.00	0.000	1030	0.000	0.052	2379	2312	2759	2770	2749	0	0	0	0	0	0	11.40	11.33	11.42
2400	-1.48	-45.1	2379	2313	2772	2749	354.2	-12.2	171	2405	0.00	3.35	0.00	0.000	516	0.000	0.057	2379	895	2759	2771	2748	0	0	0	0	0	0	11.50	11.32	11.52
2469	-1.48	-45.1	2379	898	2770	2749	363.1	-12.7	181	2475	0.00	3.33	0.00	0.000	1030	0.000	0.056	2368	2307	2759	2770	2749	0	0	0	0	0	0	11.40	11.33	11.41
2847	-1.48	-45.1	2370	2308	2773	2749	411.5	-12.8	193	2853	0.00	3.53	0.00	0.000	260	0.000	0.094	2358	3720	2759	2771	2748	0	0	0	0	0	0	11.51	11.30	11.53
2889	-1.48	-45.1	2359	3721	2773	2749	417.2	-13.9	199	2895	0.22	3.25	0.00	0.000	3078	0.290	0.039	2390	2287	2760	2772	2748	0	0	0	0	0	0	11.19	11.37	11.38
3239	-1.48	-45.1	2391	2289	2773	2749	459.4	-12.2	207	3245	0.00	3.58	0.00	0.000	260	0.000	0.090	2381	3718	2759	2771	2748	0	0	0	0	0	0	11.51	11.31	11.53
3288	-1.48	-45.1	2380	3719	2766	2747	465.6	-13.1	214	3295	0.00	3.22	0.00	0.000	1030	0.000	0.037	2381	2298	2759	2771	2748	0	0	0	0	0	0	11.42	11.38	11.41
3631	-1.48	-45.1	2380	2299	2771	2748	505.7	-11.7	221	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2298	2760	2772	2748	0	0	0	0	0	0	11.52	11.53	11.53
3967	-1.54	-99.9	2382	2299	2774	2746	524.0	-1.9	227	3968	0.00	0.00	0.00	0.000	38	0.000	0.000	2380	2298	2759	2773	2746	0	0	0	0	0	0	11.52	11.54	11.53
4187	end dive: NO_VERTICAL_VELOCITY
state	4187	begin apogee
4196	-0.23	0.0	2382	2078	2775	2746	524.1	0.0	231	4272	2.10	0.10	71.35	2.777	10246	0.226	0.133	2791	2121	2576	2604	2548	0	0	0	0	0	0	11.24	11.13	10.18
4272	end apogee: CONTROL_FINISHED_OK
state	4273	begin climb
4277	1.54	99.9	2791	2122	2604	2548	524.1	0.0	232	4449	2.45	3.53	160.05	2.713	10500	0.124	0.090	3361	3498	2167	2193	2141	0	0	0	0	0	0	11.21	11.14	10.20
4494	1.54	99.9	3363	3498	2194	2138	505.2	15.7	253	4500	0.00	3.17	0.00	0.000	1030	0.000	0.037	3371	2112	2164	2192	2137	0	0	0	0	0	0	11.34	11.28	11.36
4865	1.54	99.9	3373	2114	2187	2129	447.8	15.7	264	4870	0.00	3.50	0.00	0.000	260	0.000	0.086	3371	3509	2156	2185	2128	0	0	0	0	0	0	11.48	11.26	11.50
4914	1.54	99.9	3373	3510	2186	2130	439.9	16.4	271	4921	0.00	3.25	0.00	0.000	1030	0.000	0.037	3382	2093	2156	2185	2128	0	0	0	0	0	0	11.37	11.32	11.40
5257	1.54	99.9	3382	2093	2183	2128	386.4	15.5	278	5262	0.00	3.53	0.00	0.000	260	0.000	0.086	3382	3510	2155	2183	2127	0	0	0	0	0	0	11.47	11.28	11.50
5327	1.54	99.9	3382	3511	2181	2128	375.3	16.0	288	5334	0.00	3.25	0.00	0.000	1030	0.000	0.037	3393	2093	2155	2183	2127	0	0	0	0	0	0	11.38	11.33	11.40
5705	1.54	99.9	3392	2093	2180	2126	320.9	14.1	300	5706	0.00	0.00	0.00	0.000	6	0.000	0.000	3393	2092	2152	2179	2125	0	0	0	0	0	0	11.49	11.51	11.51
6041	1.54	99.9	3394	2093	2182	2131	275.8	13.7	306	6046	0.00	3.50	0.00	0.000	260	0.000	0.088	3393	3500	2152	2180	2125	0	0	0	0	0	0	11.48	11.29	11.52
6083	1.54	99.9	3392	3501	2180	2125	269.8	14.5	312	6089	0.25	3.20	0.00	0.000	5126	0.322	0.037	3369	2095	2152	2180	2124	0	0	0	0	0	0	11.17	11.34	11.37
6434	1.54	99.9	3370	2097	2181	2125	225.9	12.4	320	6439	0.00	3.38	0.00	0.000	516	0.000	0.076	3378	697	2151	2179	2124	0	0	0	0	0	0	11.50	11.29	11.52
6462	1.54	99.9	3378	699	2180	2125	222.4	12.4	324	6467	0.00	3.22	0.00	0.000	1030	0.000	0.051	3378	2097	2151	2178	2124	0	0	0	0	0	0	11.39	11.32	11.41
6829	1.54	99.9	3379	2098	2179	2125	175.9	12.6	337	6835	0.00	3.50	0.00	0.000	260	0.000	0.090	3378	3512	2150	2177	2124	0	0	0	0	0	0	11.50	11.28	11.51
6884	1.54	99.9	3377	3515	2177	2125	167.7	14.0	345	6890	0.00	3.22	0.00	0.000	1030	0.000	0.037	3389	2094	2150	2177	2124	0	0	0	0	0	0	11.40	11.34	11.42
7249	1.54	99.9	3388	2095	2177	2125	120.8	13.1	361	7255	0.00	3.40	0.00	0.000	516	0.000	0.075	3402	691	2150	2177	2123	0	0	0	0	0	0	11.49	11.30	11.51
7304	1.54	99.9	3400	691	2179	2125	113.7	12.8	369	7311	0.20	3.25	0.00	0.000	5126	0.301	0.050	3372	2102	2149	2176	2123	0	0	0	0	0	0	11.19	11.32	11.38
7669	1.54	99.9	3373	2103	2179	2124	71.2	11.4	385	7670	0.00	0.00	0.00	0.000	6	0.000	0.000	3371	2102	2149	2176	2123	0	0	0	0	0	0	11.50	11.52	11.52
8005	1.54	99.9	3370	2103	2176	2124	34.3	10.5	397	8005	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	2103	2149	2176	2123	0	0	0	0	0	0	11.50	11.52	11.52
8340	end climb: SURFACE_DEPTH_REACHED
state	8340	begin surface coast
8364	end surface coast: FINISH_DEPTH_REACHED
state	8364	begin surface