Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 213 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 213 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 39 ALTIM_FREQUENCY 13

D_TGT 390 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 4 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 140 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 180 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 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 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -1 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 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 390 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-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 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 140

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 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 221 P_OVSHOOT_WITHG 0 T_MISSION 180

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

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 1 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 213 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 270218,213403,-7406.9082,-11303.5117,12,1.8,13,53.8,0.2,0.0,6,8.3 SPEED_LIMITS 0.093,0.192

_CALLS 2 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 54.2,20265,-17.8,-9.286,-25.79,1889

_SM_ANGLEo -64.2 D_GRID 653

GPS2 270218,214156,-7406.8486,-11303.4844,2,1.8,3,53.8,0.2,0.0,6,9.6

Post-dive calculations and measurements:

FREEZE 7.64,-1.814,-1.867,2,1,0 _24V_AH 12.22,73.363

FINISH1 7.6,1.027316,9 _10V_AH 12.61,0.000

FINISH2 6.5 FG_AHR_24Vo 0.000

RAFOS_CLK 287 FG_AHR_10Vo 0.000

RAFOS_FIX -7407.050781,-11304.308594,270218,232344,0,1,0.08 MEM 280096

IRIDIUM_FIX -7409.58,-11255.37,270218,213607 DATA_FILE_SIZE 23421,721

TT8_MAMPS 0.03745,0.746753 CAP_FILE_SIZE 88162,0

HUMID 48.30 CFSIZE 1024409600,996098048

INTERNAL_PRESSURE 7.87058 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.00 SOUNDSPEED 1444.3

XPDR_PINGS 1 CURRENT 0.251,270.00,1

ALTIM_TOP_PING 13.4,13.9 GPS 270218,234044,-7407.051,-11304.309,0,1001.0,0,53.8,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 461 87.51 nil 0 0 0.00

Roll_motor 60 97 72.87 nil 0 0 0.00

VBD_pump_during_apogee 239 2741 8020.93 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 7142 7 658.32

Iridium_during_xfer 309 193 732.30 nil 0 0 0.00

Transponder_ping 18 420 94.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.59

TT8 0 0 0.00

LPSleep 5252 2 153.01

TT8_Active 446 10 61.21

TT8_Sampling 1798 30 688.31

TT8_CF8 128 51 83.09

TT8_Kalman 0 0 0.00

Analog_circuits 1296 10 165.16

GPS_charging 0 0 0.00

Compass 1036 6 88.09

RAFOS 0 0 0.00

Transponder 130 30 49.40

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

10.3 11.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 22.10 9000.00 0.0 0.00 0.00 22.10 0.0 0.99 1.00

42.5 45.10 45.00 0.0 1.04 1.00 45.10 0.0 1.06 1.00

63.1 66.30 66.40 0.0 1.04 1.00 66.30 0.0 1.03 1.00

94.6 99.40 99.30 0.0 1.04 1.00 99.40 0.0 1.05 1.00

109.5 113.60 114.00 -4.5 1.02 1.00 113.60 -4.1 0.95 1.00

99.1 104.30 104.00 -4.9 0.94 1.00 104.30 -5.2 0.89 1.00

78.2 81.30 81.60 -3.4 1.04 1.00 81.30 -3.1 1.10 1.00

67.4 70.20 69.90 -2.5 1.08 1.00 70.20 -2.8 1.03 1.00

57.3 59.90 59.90 -2.6 1.02 1.00 59.90 -2.6 1.02 1.00

46.7 48.40 48.50 -1.8 1.06 1.00 48.40 -1.7 1.08 1.00

35.6 36.60 36.60 -1.0 1.07 1.00 36.60 -1.0 1.06 1.00

24.4 25.60 25.50 -1.1 1.02 1.00 25.60 -1.2 0.98 1.00

13.4 13.80 13.90 -0.5 1.03 1.00 13.80 -0.4 1.07 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 7 begin dive

9 -0.96 -121.7 189 2804 2232 2125 0.0 0.0 0 121 0.00 0.00 -107.35 0.003 16390 0.000 0.000 189 2804 3886 3897 3876 0 0 0 0 0 0 14.58 13.23 14.58

124 -0.96 -121.7 189 2805 3899 3877 2.7 -3.2 11 141 11.90 1.98 0.00 0.000 2340 0.461 0.078 2403 3924 3894 3900 3888 0 0 0 0 0 0 13.99 14.32 14.26

290 -0.96 -121.7 2405 3924 3901 3899 26.4 -12.8 44 297 0.00 1.92 0.00 0.000 1030 0.000 0.050 2404 2797 3899 3900 3899 0 0 0 0 0 0 14.47 14.43 14.49

596 -0.96 -121.7 2404 2798 3901 3903 63.1 -11.2 75 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2796 3900 3900 3901 0 0 0 0 0 0 14.71 14.71 14.71

897 -0.96 -121.7 2405 2797 3902 3902 94.6 -10.9 105 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2797 3901 3900 3902 0 0 0 0 0 0 14.76 14.76 14.76

1195 -0.96 -121.7 2404 2797 3901 3903 127.0 -10.4 135 1196 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2796 3901 3900 3902 0 0 0 0 0 0 14.81 14.81 14.81

1495 -0.96 -121.7 2405 2797 3901 3902 158.5 -10.8 165 1502 0.00 2.03 0.00 0.000 260 0.000 0.094 2398 3907 3900 3900 3901 0 0 0 0 0 0 14.83 14.44 14.82

1531 -0.96 -121.7 2399 3908 3901 3902 162.7 -11.8 172 1538 0.00 1.88 0.00 0.000 1030 0.000 0.050 2399 2798 3901 3900 3902 0 0 0 0 0 0 14.59 14.56 14.61

1836 -0.96 -121.7 2400 2799 3901 3903 196.1 -11.0 203 1841 0.00 2.40 0.00 0.000 516 0.000 0.051 2399 1399 3901 3900 3902 0 0 0 0 0 0 14.83 14.49 14.83

1862 -0.96 -121.7 2399 1400 3902 3903 198.9 -11.2 208 1868 0.00 2.47 0.00 0.000 1030 0.000 0.070 2398 2816 3901 3900 3902 0 0 0 0 0 0 14.62 14.50 14.66

2166 -0.96 -121.7 2398 2818 3901 3903 230.8 -9.9 239 2167 0.00 0.00 0.00 0.000 6 0.000 0.000 2398 2817 3901 3900 3902 0 0 0 0 0 0 14.84 14.83 14.84

2467 -0.96 -121.7 2398 2817 3901 3903 260.7 -10.5 269 2473 0.00 2.45 0.00 0.000 516 0.000 0.053 2398 1385 3901 3900 3902 0 0 0 0 0 0 14.76 14.53 14.76

2517 -0.96 -121.7 2398 1386 3901 3903 266.0 -10.3 279 2523 0.00 2.53 0.00 0.000 1030 0.000 0.071 2398 2806 3901 3900 3902 0 0 0 0 0 0 14.55 14.46 14.59

2827 -0.96 -121.7 2398 2807 3898 3903 297.7 -10.4 311 2832 0.00 2.42 0.00 0.000 516 0.000 0.051 2398 1377 3901 3900 3902 0 0 0 0 0 0 14.84 14.51 14.84

2917 -0.96 -121.7 2398 1378 3901 3903 306.9 -10.0 329 2923 0.00 2.55 0.00 0.000 1030 0.000 0.071 2397 2809 3901 3900 3902 0 0 0 0 0 0 14.54 14.47 14.59

3229 -0.96 -121.7 2397 2810 3902 3903 337.9 -10.0 346 3234 0.00 2.40 0.00 0.000 516 0.000 0.051 2397 1395 3901 3900 3902 0 0 0 0 0 0 14.85 14.53 14.85

3293 -0.96 -121.7 2397 1394 3901 3903 344.2 -10.2 359 3299 0.00 2.50 0.00 0.000 1030 0.000 0.070 2397 2799 3901 3900 3902 0 0 0 0 0 0 14.55 14.47 14.59

3609 -0.96 -121.7 2397 2799 3901 3902 376.2 -10.1 377 3614 0.00 1.95 0.00 0.000 260 0.000 0.093 2395 3910 3901 3900 3902 0 0 0 0 0 0 14.85 14.47 14.85

3654 -0.96 -121.7 2395 3910 3901 3902 380.9 -10.9 386 3659 0.00 1.90 0.00 0.000 1030 0.000 0.050 2395 2790 3901 3900 3902 0 0 0 0 0 0 14.60 14.56 14.62

3747 end dive: TARGET_DEPTH_EXCEEDED

state 3747 begin apogee

3751 -0.23 0.0 2396 2537 3901 3902 390.6 -10.1 393 3872 0.98 0.00 116.38 2.387 10246 0.252 0.000 2652 2537 3399 3403 3395 0 0 0 0 0 0 14.23 13.76 12.83

3873 end apogee: CONTROL_FINISHED_OK

state 3873 begin climb

3874 0.96 121.7 2653 2537 3404 3394 393.9 0.0 399 4001 1.33 0.00 123.03 2.742 10246 0.155 0.000 3034 2537 2913 2918 2908 0 0 0 0 0 0 13.69 13.21 12.22

4289 0.96 121.7 3035 2537 2907 2896 349.7 12.3 420 4294 0.00 2.55 0.00 0.000 260 0.000 0.094 3034 3912 2901 2906 2896 0 0 0 0 0 0 14.33 14.01 14.33

4339 0.96 121.7 3034 3913 2906 2897 343.0 13.8 430 4344 0.00 2.42 0.00 0.000 1030 0.000 0.057 3044 2543 2901 2906 2896 0 0 0 0 0 0 14.16 14.12 14.17

4650 0.96 121.7 3044 2543 2907 2895 305.6 12.1 447 4655 0.00 2.47 0.00 0.000 516 0.000 0.068 3054 1143 2900 2905 2895 0 0 0 0 0 0 14.64 14.32 14.67

4689 0.96 121.7 3054 1144 2906 2895 300.6 12.5 455 4698 0.00 2.50 0.00 0.000 1030 0.000 0.071 3053 2564 2899 2905 2894 0 0 0 0 0 0 14.47 14.35 14.50

5002 0.96 121.7 3054 2563 2905 2894 261.4 12.1 488 5003 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2564 2899 2905 2894 0 0 0 0 0 0 14.74 14.74 14.75

5303 0.96 121.7 3054 2565 2906 2895 224.0 12.6 518 5308 0.00 2.42 0.00 0.000 260 0.000 0.098 3054 3914 2900 2906 2894 0 0 0 0 0 0 14.80 14.46 14.79

5337 0.96 121.7 3054 3914 2907 2894 219.1 14.3 525 5345 0.00 2.35 0.00 0.000 1030 0.000 0.057 3063 2552 2899 2904 2894 0 0 0 0 0 0 14.58 14.53 14.59

5643 0.96 121.7 3063 2552 2907 2894 181.3 12.7 556 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2551 2900 2906 2894 0 0 0 0 0 0 14.83 14.83 14.83

5943 0.96 121.7 3064 2553 2905 2895 143.8 12.0 586 5948 0.00 2.45 0.00 0.000 260 0.000 0.098 3064 3916 2900 2906 2894 0 0 0 0 0 0 14.85 14.50 14.85

5987 0.96 121.7 3064 3918 2907 2896 137.7 14.0 595 5994 0.12 2.35 0.00 0.000 5126 0.286 0.057 3041 2549 2900 2906 2894 0 0 0 0 0 0 14.26 14.57 14.48

6293 0.96 121.7 3042 2549 2907 2894 104.0 10.9 626 6298 0.00 2.42 0.00 0.000 516 0.000 0.068 3050 1138 2900 2906 2894 0 0 0 0 0 0 14.86 14.52 14.85

6342 0.96 121.7 3051 1138 2907 2894 98.6 10.7 636 6348 0.00 2.47 0.00 0.000 1030 0.000 0.071 3050 2563 2900 2906 2894 0 0 0 0 0 0 14.66 14.53 14.69

6652 0.96 121.7 3049 2563 2908 2896 62.6 12.0 668 6658 0.00 2.40 0.00 0.000 260 0.000 0.097 3050 3907 2900 2906 2894 0 0 0 0 0 0 14.87 14.50 14.87

6694 0.96 121.7 3051 3907 2908 2894 57.3 13.4 676 6699 0.00 2.30 0.00 0.000 1030 0.000 0.057 3060 2536 2900 2906 2894 0 0 0 0 0 0 14.69 14.62 14.71

7003 0.96 121.7 3060 2536 2908 2895 20.7 12.3 708 7004 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2536 2900 2906 2894 0 0 0 0 0 0 14.88 14.87 14.88

7111 end climb: FINISH_DEPTH_REACHED

state 7112 begin subsurface finish

7115 0.01 9.3 3060 2537 2907 2894 7.6 11.3 719 7135 1.20 0.00 -16.52 0.008 20486 0.243 0.000 2735 2535 3367 3361 3373 0 0 0 0 0 0 14.33 13.02 14.62

7136 end subsurface finish: CONTROL_FINISHED_OK

state 7136 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	213	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	39	ALTIM_FREQUENCY	13
D_TGT	390	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	4	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	140	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	180	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	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	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-1	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	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	270218,213403,-7406.9082,-11303.5117,12,1.8,13,53.8,0.2,0.0,6,8.3	SPEED_LIMITS	0.093,0.192
_CALLS	2	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	54.2,20265,-17.8,-9.286,-25.79,1889
_SM_ANGLEo	-64.2	D_GRID	653
GPS2	270218,214156,-7406.8486,-11303.4844,2,1.8,3,53.8,0.2,0.0,6,9.6

FREEZE	7.64,-1.814,-1.867,2,1,0	_24V_AH	12.22,73.363
FINISH1	7.6,1.027316,9	_10V_AH	12.61,0.000
FINISH2	6.5	FG_AHR_24Vo	0.000
RAFOS_CLK	287	FG_AHR_10Vo	0.000
RAFOS_FIX	-7407.050781,-11304.308594,270218,232344,0,1,0.08	MEM	280096
IRIDIUM_FIX	-7409.58,-11255.37,270218,213607	DATA_FILE_SIZE	23421,721
TT8_MAMPS	0.03745,0.746753	CAP_FILE_SIZE	88162,0
HUMID	48.30	CFSIZE	1024409600,996098048
INTERNAL_PRESSURE	7.87058	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.00	SOUNDSPEED	1444.3
XPDR_PINGS	1	CURRENT	0.251,270.00,1
ALTIM_TOP_PING	13.4,13.9	GPS	270218,234044,-7407.051,-11304.309,0,1001.0,0,53.8,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	461	87.51	nil	0	0	0.00
Roll_motor	60	97	72.87	nil	0	0	0.00
VBD_pump_during_apogee	239	2741	8020.93	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	7142	7	658.32
Iridium_during_xfer	309	193	732.30	nil	0	0	0.00
Transponder_ping	18	420	94.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.59
TT8	0	0	0.00
LPSleep	5252	2	153.01
TT8_Active	446	10	61.21
TT8_Sampling	1798	30	688.31
TT8_CF8	128	51	83.09
TT8_Kalman	0	0	0.00
Analog_circuits	1296	10	165.16
GPS_charging	0	0	0.00
Compass	1036	6	88.09
RAFOS	0	0	0.00
Transponder	130	30	49.40

		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
10.3	11.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	22.10	9000.00	0.0	0.00	0.00	22.10	0.0	0.99	1.00
42.5	45.10	45.00	0.0	1.04	1.00	45.10	0.0	1.06	1.00
63.1	66.30	66.40	0.0	1.04	1.00	66.30	0.0	1.03	1.00
94.6	99.40	99.30	0.0	1.04	1.00	99.40	0.0	1.05	1.00

109.5	113.60	114.00	-4.5	1.02	1.00	113.60	-4.1	0.95	1.00
99.1	104.30	104.00	-4.9	0.94	1.00	104.30	-5.2	0.89	1.00
78.2	81.30	81.60	-3.4	1.04	1.00	81.30	-3.1	1.10	1.00
67.4	70.20	69.90	-2.5	1.08	1.00	70.20	-2.8	1.03	1.00
57.3	59.90	59.90	-2.6	1.02	1.00	59.90	-2.6	1.02	1.00
46.7	48.40	48.50	-1.8	1.06	1.00	48.40	-1.7	1.08	1.00
35.6	36.60	36.60	-1.0	1.07	1.00	36.60	-1.0	1.06	1.00
24.4	25.60	25.50	-1.1	1.02	1.00	25.60	-1.2	0.98	1.00
13.4	13.80	13.90	-0.5	1.03	1.00	13.80	-0.4	1.07	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	7	begin dive
9	-0.96	-121.7	189	2804	2232	2125	0.0	0.0	0	121	0.00	0.00	-107.35	0.003	16390	0.000	0.000	189	2804	3886	3897	3876	0	0	0	0	0	0	14.58	13.23	14.58
124	-0.96	-121.7	189	2805	3899	3877	2.7	-3.2	11	141	11.90	1.98	0.00	0.000	2340	0.461	0.078	2403	3924	3894	3900	3888	0	0	0	0	0	0	13.99	14.32	14.26
290	-0.96	-121.7	2405	3924	3901	3899	26.4	-12.8	44	297	0.00	1.92	0.00	0.000	1030	0.000	0.050	2404	2797	3899	3900	3899	0	0	0	0	0	0	14.47	14.43	14.49
596	-0.96	-121.7	2404	2798	3901	3903	63.1	-11.2	75	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2796	3900	3900	3901	0	0	0	0	0	0	14.71	14.71	14.71
897	-0.96	-121.7	2405	2797	3902	3902	94.6	-10.9	105	898	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2797	3901	3900	3902	0	0	0	0	0	0	14.76	14.76	14.76
1195	-0.96	-121.7	2404	2797	3901	3903	127.0	-10.4	135	1196	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2796	3901	3900	3902	0	0	0	0	0	0	14.81	14.81	14.81
1495	-0.96	-121.7	2405	2797	3901	3902	158.5	-10.8	165	1502	0.00	2.03	0.00	0.000	260	0.000	0.094	2398	3907	3900	3900	3901	0	0	0	0	0	0	14.83	14.44	14.82
1531	-0.96	-121.7	2399	3908	3901	3902	162.7	-11.8	172	1538	0.00	1.88	0.00	0.000	1030	0.000	0.050	2399	2798	3901	3900	3902	0	0	0	0	0	0	14.59	14.56	14.61
1836	-0.96	-121.7	2400	2799	3901	3903	196.1	-11.0	203	1841	0.00	2.40	0.00	0.000	516	0.000	0.051	2399	1399	3901	3900	3902	0	0	0	0	0	0	14.83	14.49	14.83
1862	-0.96	-121.7	2399	1400	3902	3903	198.9	-11.2	208	1868	0.00	2.47	0.00	0.000	1030	0.000	0.070	2398	2816	3901	3900	3902	0	0	0	0	0	0	14.62	14.50	14.66
2166	-0.96	-121.7	2398	2818	3901	3903	230.8	-9.9	239	2167	0.00	0.00	0.00	0.000	6	0.000	0.000	2398	2817	3901	3900	3902	0	0	0	0	0	0	14.84	14.83	14.84
2467	-0.96	-121.7	2398	2817	3901	3903	260.7	-10.5	269	2473	0.00	2.45	0.00	0.000	516	0.000	0.053	2398	1385	3901	3900	3902	0	0	0	0	0	0	14.76	14.53	14.76
2517	-0.96	-121.7	2398	1386	3901	3903	266.0	-10.3	279	2523	0.00	2.53	0.00	0.000	1030	0.000	0.071	2398	2806	3901	3900	3902	0	0	0	0	0	0	14.55	14.46	14.59
2827	-0.96	-121.7	2398	2807	3898	3903	297.7	-10.4	311	2832	0.00	2.42	0.00	0.000	516	0.000	0.051	2398	1377	3901	3900	3902	0	0	0	0	0	0	14.84	14.51	14.84
2917	-0.96	-121.7	2398	1378	3901	3903	306.9	-10.0	329	2923	0.00	2.55	0.00	0.000	1030	0.000	0.071	2397	2809	3901	3900	3902	0	0	0	0	0	0	14.54	14.47	14.59
3229	-0.96	-121.7	2397	2810	3902	3903	337.9	-10.0	346	3234	0.00	2.40	0.00	0.000	516	0.000	0.051	2397	1395	3901	3900	3902	0	0	0	0	0	0	14.85	14.53	14.85
3293	-0.96	-121.7	2397	1394	3901	3903	344.2	-10.2	359	3299	0.00	2.50	0.00	0.000	1030	0.000	0.070	2397	2799	3901	3900	3902	0	0	0	0	0	0	14.55	14.47	14.59
3609	-0.96	-121.7	2397	2799	3901	3902	376.2	-10.1	377	3614	0.00	1.95	0.00	0.000	260	0.000	0.093	2395	3910	3901	3900	3902	0	0	0	0	0	0	14.85	14.47	14.85
3654	-0.96	-121.7	2395	3910	3901	3902	380.9	-10.9	386	3659	0.00	1.90	0.00	0.000	1030	0.000	0.050	2395	2790	3901	3900	3902	0	0	0	0	0	0	14.60	14.56	14.62
3747	end dive: TARGET_DEPTH_EXCEEDED
state	3747	begin apogee
3751	-0.23	0.0	2396	2537	3901	3902	390.6	-10.1	393	3872	0.98	0.00	116.38	2.387	10246	0.252	0.000	2652	2537	3399	3403	3395	0	0	0	0	0	0	14.23	13.76	12.83
3873	end apogee: CONTROL_FINISHED_OK
state	3873	begin climb
3874	0.96	121.7	2653	2537	3404	3394	393.9	0.0	399	4001	1.33	0.00	123.03	2.742	10246	0.155	0.000	3034	2537	2913	2918	2908	0	0	0	0	0	0	13.69	13.21	12.22
4289	0.96	121.7	3035	2537	2907	2896	349.7	12.3	420	4294	0.00	2.55	0.00	0.000	260	0.000	0.094	3034	3912	2901	2906	2896	0	0	0	0	0	0	14.33	14.01	14.33
4339	0.96	121.7	3034	3913	2906	2897	343.0	13.8	430	4344	0.00	2.42	0.00	0.000	1030	0.000	0.057	3044	2543	2901	2906	2896	0	0	0	0	0	0	14.16	14.12	14.17
4650	0.96	121.7	3044	2543	2907	2895	305.6	12.1	447	4655	0.00	2.47	0.00	0.000	516	0.000	0.068	3054	1143	2900	2905	2895	0	0	0	0	0	0	14.64	14.32	14.67
4689	0.96	121.7	3054	1144	2906	2895	300.6	12.5	455	4698	0.00	2.50	0.00	0.000	1030	0.000	0.071	3053	2564	2899	2905	2894	0	0	0	0	0	0	14.47	14.35	14.50
5002	0.96	121.7	3054	2563	2905	2894	261.4	12.1	488	5003	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2564	2899	2905	2894	0	0	0	0	0	0	14.74	14.74	14.75
5303	0.96	121.7	3054	2565	2906	2895	224.0	12.6	518	5308	0.00	2.42	0.00	0.000	260	0.000	0.098	3054	3914	2900	2906	2894	0	0	0	0	0	0	14.80	14.46	14.79
5337	0.96	121.7	3054	3914	2907	2894	219.1	14.3	525	5345	0.00	2.35	0.00	0.000	1030	0.000	0.057	3063	2552	2899	2904	2894	0	0	0	0	0	0	14.58	14.53	14.59
5643	0.96	121.7	3063	2552	2907	2894	181.3	12.7	556	5643	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2551	2900	2906	2894	0	0	0	0	0	0	14.83	14.83	14.83
5943	0.96	121.7	3064	2553	2905	2895	143.8	12.0	586	5948	0.00	2.45	0.00	0.000	260	0.000	0.098	3064	3916	2900	2906	2894	0	0	0	0	0	0	14.85	14.50	14.85
5987	0.96	121.7	3064	3918	2907	2896	137.7	14.0	595	5994	0.12	2.35	0.00	0.000	5126	0.286	0.057	3041	2549	2900	2906	2894	0	0	0	0	0	0	14.26	14.57	14.48
6293	0.96	121.7	3042	2549	2907	2894	104.0	10.9	626	6298	0.00	2.42	0.00	0.000	516	0.000	0.068	3050	1138	2900	2906	2894	0	0	0	0	0	0	14.86	14.52	14.85
6342	0.96	121.7	3051	1138	2907	2894	98.6	10.7	636	6348	0.00	2.47	0.00	0.000	1030	0.000	0.071	3050	2563	2900	2906	2894	0	0	0	0	0	0	14.66	14.53	14.69
6652	0.96	121.7	3049	2563	2908	2896	62.6	12.0	668	6658	0.00	2.40	0.00	0.000	260	0.000	0.097	3050	3907	2900	2906	2894	0	0	0	0	0	0	14.87	14.50	14.87
6694	0.96	121.7	3051	3907	2908	2894	57.3	13.4	676	6699	0.00	2.30	0.00	0.000	1030	0.000	0.057	3060	2536	2900	2906	2894	0	0	0	0	0	0	14.69	14.62	14.71
7003	0.96	121.7	3060	2536	2908	2895	20.7	12.3	708	7004	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2536	2900	2906	2894	0	0	0	0	0	0	14.88	14.87	14.88
7111	end climb: FINISH_DEPTH_REACHED
state	7112	begin subsurface finish
7115	0.01	9.3	3060	2537	2907	2894	7.6	11.3	719	7135	1.20	0.00	-16.52	0.008	20486	0.243	0.000	2735	2535	3367	3361	3373	0	0	0	0	0	0	14.33	13.02	14.62
7136	end subsurface finish: CONTROL_FINISHED_OK
state	7136	begin surface