Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 408 * 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 408 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 32 ALTIM_FREQUENCY 13

D_TGT 990 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 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 2782 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 4 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 0 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 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 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 0 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 0 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 2800 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 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

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 408 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 32 VBD_PUMP_AD_RATE_APOGEE 1.5

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 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 0 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 140718,121600,-7407.1011,-11301.9805,0,4110.7,0,53.6,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7407.000,-11308.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 15.56 MHEAD_RNG_PITCHd_Wd 219.9,3057,-31.1,-10.000,-32.93,699

_SM_ANGLEo -13.1 D_GRID 990

GPS2 140718,121600,-7407.1011,-11301.9805,0,4110.7,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.99,-1.821,-1.871,2,5,0 ALTIM_TOP_PING 14.0,14.1

FINISH1 10.0,1.027348,8 _24V_AH 12.06,150.570

FINISH2 9.2 _10V_AH 12.26,0.000

RAFOS_CLK 355 FG_AHR_24Vo 0.000

RAFOS 0,1531580475,15.032778,15.020833,112,65,59,55,53,51,572,197,209,119,142,175 FG_AHR_10Vo 0.000

RAFOS_FIX -7406.629883,-11307.498047,140718,151512,3,125,0.27 MEM 280784

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 DATA_FILE_SIZE 16778,460

TT8_MAMPS 0.040446,0.261401 CAP_FILE_SIZE 78524,0

HUMID 50.63 CFSIZE 1024409600,971063296

INTERNAL_PRESSURE 8.21906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.20 SOUNDSPEED 1448.4

XPDR_PINGS 0 GPS 140718,151512,-7406.630,-11307.498,0,4125.3,0,53.6,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 7 312 26.63 nil 0 0 0.00

Roll_motor 91 108 119.68 nil 0 0 0.00

VBD_pump_during_apogee 198 2934 7010.87 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 9130 2 297.29

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 115.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7711 2 218.39

TT8_Active 334 13 56.63

TT8_Sampling 1029 34 438.96

TT8_CF8 133 52 86.52

TT8_Kalman 0 0 0.00

Analog_circuits 729 10 97.46

GPS_charging 0 0 0.00

Compass 662 7 60.85

RAFOS 720 1 13.24

Transponder 161 30 59.52

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

27.8 30.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

553.3 34.40 9000.00 0.0 0.00 0.00 34.40 0.0 0.01 1.00

563.6 23.70 9000.00 0.0 0.00 0.02 23.70 587.3 -1.04 1.00

576.6 13.30 12.90 0.0 -0.90 0.99 13.30 0.0 -0.80 1.00

131.7 136.50 9000.00 0.0 -0.27 1.00 136.50 0.0 -0.28 1.00

110.4 114.60 9000.00 0.0 -0.24 0.96 114.60 -4.2 1.03 1.00

89.7 93.00 93.10 -3.4 1.03 1.00 93.00 -3.3 1.04 1.00

67.2 69.60 69.60 -2.4 1.04 1.00 69.60 -2.4 1.04 1.00

56.9 59.30 59.20 -2.3 1.03 1.00 59.30 -2.4 1.00 1.00

24.2 24.60 24.70 -0.5 1.05 1.00 24.60 -0.4 1.06 1.00

14.0 14.30 14.10 -0.1 1.05 1.00 14.30 -0.3 1.01 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -1.47 -45.4 2803 2304 2787 2723 0.0 0.0 0 15 0.00 0.00 -4.12 0.025 16390 0.000 0.000 2802 2304 2969 3004 2935 0 0 0 0 0 0 15.12 12.82 15.11

18 -1.47 -45.4 2804 2305 3007 2937 0.0 0.0 0 24 1.35 2.55 0.00 0.000 4356 0.054 0.103 2296 3725 2970 3004 2936 0 0 0 0 0 0 14.80 14.64 14.83

253 -1.47 -45.4 2297 3725 3002 2939 65.0 -22.0 34 260 0.10 2.45 0.00 0.000 3078 0.311 0.040 2320 2283 2969 3000 2938 0 0 0 0 0 0 14.31 14.78 14.52

603 -1.47 -45.4 2321 2284 3001 2938 139.2 -21.5 48 604 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2283 2968 2999 2938 0 0 0 0 0 0 15.16 15.21 15.21

984 -1.47 -45.4 2319 2283 2998 2939 216.6 -20.0 60 985 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2283 2968 2998 2938 0 0 0 0 0 0 15.12 15.14 15.14

1332 -1.47 -45.4 2321 2284 3001 2939 285.0 -19.6 65 1339 0.00 2.47 0.00 0.000 516 0.000 0.071 2320 912 2968 2999 2938 0 0 0 0 0 0 15.11 14.63 15.14

1494 -1.47 -45.4 2319 908 2998 2939 316.9 -19.8 88 1501 0.00 2.47 0.00 0.000 1030 0.000 0.062 2311 2308 2968 2998 2938 0 0 0 0 0 0 14.86 14.72 14.90

1894 -1.47 -45.4 2310 2308 2997 2939 394.1 -19.1 100 1895 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2308 2968 2998 2938 0 0 0 0 0 0 15.11 15.14 15.14

2242 -1.47 -45.4 2310 2307 2998 2939 457.1 -17.9 105 2249 0.00 2.60 0.00 0.000 260 0.000 0.096 2299 3717 2968 2998 2938 0 0 0 0 0 0 15.11 14.54 15.14

2276 -1.47 -45.4 2299 3718 2997 2939 463.6 -18.9 110 2283 0.00 2.45 0.00 0.000 1030 0.000 0.041 2299 2304 2968 2998 2938 0 0 0 0 0 0 14.88 14.83 14.90

2664 -1.47 -45.4 2301 2305 2999 2939 532.8 -18.0 120 2669 0.00 2.50 0.00 0.000 516 0.000 0.070 2299 892 2968 2998 2938 0 0 0 0 0 0 15.11 14.66 15.14

2836 -1.47 -45.4 2301 893 2999 2939 564.9 -17.9 145 2844 0.12 2.58 0.00 0.000 3078 0.312 0.062 2318 2314 2968 2998 2938 0 0 0 0 0 0 14.20 14.71 14.42

3221 -1.54 -105.8 2318 2310 2998 2939 587.1 -1.1 155 3228 0.00 2.58 0.00 0.000 548 0.000 0.070 2318 895 2968 2998 2939 0 0 0 0 0 0 15.19 14.60 15.21

3345 end dive: NO_VERTICAL_VELOCITY

state 3345 begin apogee

3352 -0.23 0.0 2311 2109 2998 2939 587.1 0.0 173 3406 1.45 0.00 51.05 2.935 10246 0.194 0.000 2726 2108 2782 2811 2753 0 0 0 0 0 0 14.43 14.27 12.91

3407 end apogee: CONTROL_FINISHED_OK

state 3407 begin climb

3409 1.54 105.8 2728 2110 2812 2753 587.1 0.0 173 3546 1.80 2.80 125.22 2.870 10500 0.122 0.090 3294 3505 2348 2376 2320 0 0 0 0 0 0 14.29 13.07 12.06

3572 1.54 105.8 3293 3504 2373 2318 578.2 10.6 203 3579 0.00 2.65 0.00 0.000 1030 0.000 0.044 3304 2104 2345 2373 2317 0 0 0 0 0 0 13.62 13.57 13.64

3995 1.54 105.8 3304 2104 2363 2307 528.6 11.7 218 4001 0.00 2.60 0.00 0.000 260 0.000 0.092 3304 3514 2334 2361 2307 0 0 0 0 0 0 14.81 14.47 14.84

4027 1.54 105.8 3305 3515 2363 2308 524.3 12.6 223 4034 0.00 2.50 0.00 0.000 1030 0.000 0.044 3315 2088 2333 2360 2306 0 0 0 0 0 0 14.63 14.58 14.66

4413 1.54 105.8 3314 2089 2359 2306 478.8 11.8 233 4419 0.00 2.55 0.00 0.000 516 0.000 0.087 3325 701 2332 2359 2306 0 0 0 0 0 0 15.04 14.58 15.04

4447 1.54 105.8 3326 702 2361 2306 474.6 11.8 238 4455 0.00 2.47 0.00 0.000 1030 0.000 0.056 3325 2102 2332 2358 2306 0 0 0 0 0 0 14.83 14.73 14.88

4833 1.54 105.8 3325 2102 2357 2305 429.3 11.7 248 4839 0.00 2.60 0.00 0.000 260 0.000 0.093 3327 3513 2331 2357 2305 0 0 0 0 0 0 15.07 14.63 15.10

4951 1.54 105.8 3322 3512 2355 2304 413.5 13.7 265 4958 0.17 2.47 0.00 0.000 5126 0.307 0.042 3292 2088 2330 2356 2304 0 0 0 0 0 0 14.31 14.81 14.54

5323 1.54 105.8 3294 2089 2357 2305 373.2 10.7 273 5329 0.00 2.62 0.00 0.000 260 0.000 0.090 3292 3516 2329 2355 2304 0 0 0 0 0 0 15.10 14.64 15.12

5378 1.54 105.8 3292 3515 2355 2304 366.7 11.8 281 5385 0.00 2.47 0.00 0.000 1030 0.000 0.043 3300 2090 2329 2355 2303 0 0 0 0 0 0 14.91 14.82 14.95

5743 1.54 105.8 3301 2091 2357 2304 328.6 10.3 288 5749 0.00 2.62 0.00 0.000 260 0.000 0.090 3300 3516 2328 2354 2303 0 0 0 0 0 0 15.11 14.64 15.13

5791 1.54 105.8 3300 3516 2354 2304 323.4 10.9 295 5798 0.00 2.45 0.00 0.000 1030 0.000 0.042 3310 2097 2328 2354 2303 0 0 0 0 0 0 14.83 14.78 14.87

6163 1.54 105.8 3310 2098 2354 2303 286.4 10.0 303 6164 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2097 2328 2354 2302 0 0 0 0 0 0 15.11 15.14 15.14

6512 1.54 105.8 3310 2097 2354 2302 252.3 9.8 308 6519 0.00 2.62 0.00 0.000 260 0.000 0.093 3311 3516 2328 2354 2302 0 0 0 0 0 0 15.19 14.59 15.21

6575 1.54 105.8 3312 3517 2355 2303 245.1 11.7 317 6583 0.00 2.47 0.00 0.000 1030 0.000 0.043 3321 2089 2327 2353 2302 0 0 0 0 0 0 14.92 14.82 14.95

6933 1.54 105.8 3322 2093 2350 2303 209.4 9.8 323 6939 0.00 2.55 0.00 0.000 516 0.000 0.086 3331 701 2327 2353 2302 0 0 0 0 0 0 15.11 14.60 15.14

6981 1.56 105.8 3330 701 2353 2303 204.8 9.4 330 6989 0.12 2.45 0.00 0.000 5190 0.295 0.056 3299 2103 2327 2353 2302 0 0 0 0 0 0 14.31 14.74 14.53

7355 1.57 120.5 3299 2104 2353 2301 175.2 7.8 344 7374 0.00 2.58 12.20 2.437 8484 0.000 0.093 3299 3506 2288 2317 2260 0 0 0 0 0 0 15.11 14.72 13.36

7429 1.59 120.5 3300 3507 2318 2261 168.5 9.2 355 7437 0.00 2.45 0.00 0.000 1094 0.000 0.043 3308 2092 2287 2315 2260 0 0 0 0 0 0 14.78 14.72 14.81

7774 1.61 120.5 3308 2093 2315 2260 137.1 9.2 368 7779 0.00 2.58 0.00 0.000 324 0.000 0.089 3308 3513 2287 2315 2259 0 0 0 0 0 0 15.11 14.65 15.13

7954 1.61 120.5 3309 3512 2316 2260 119.2 9.9 394 7962 0.00 2.45 0.00 0.000 1030 0.000 0.041 3319 2099 2286 2314 2259 0 0 0 0 0 0 14.77 14.71 14.81

8306 1.62 120.5 3320 2099 2315 2259 87.0 9.5 408 8311 0.00 2.58 0.00 0.000 324 0.000 0.093 3318 3516 2286 2314 2258 0 0 0 0 0 0 15.15 14.65 15.17

8360 1.62 120.5 3319 3516 2316 2259 81.1 10.5 416 8367 0.00 2.45 0.00 0.000 1030 0.000 0.043 3329 2097 2286 2314 2258 0 0 0 0 0 0 14.78 14.74 14.83

8726 1.63 135.2 3328 2098 2313 2258 50.3 7.8 432 8740 0.00 2.65 9.62 0.382 8484 0.000 0.093 3329 3518 2227 2255 2199 0 0 0 0 0 0 15.16 14.66 14.17

8815 1.63 135.2 3328 3518 2253 2197 40.8 12.0 445 8822 0.00 2.45 0.00 0.000 1030 0.000 0.042 3338 2101 2225 2254 2197 0 0 0 0 0 0 14.78 14.69 14.83

9081 end climb: FINISH_DEPTH_REACHED

state 9081 begin subsurface finish

9086 0.01 7.7 3338 2102 2252 2194 10.0 12.6 456 9111 1.95 2.58 -14.82 0.008 20996 0.255 0.109 2808 703 2753 2784 2723 0 0 0 0 0 0 14.33 12.75 14.69

9111 end subsurface finish: CONTROL_FINISHED_OK

state 9111 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	408	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	32	ALTIM_FREQUENCY	13
D_TGT	990	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	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	2782	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	4	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	0	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	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	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	0	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	140718,121600,-7407.1011,-11301.9805,0,4110.7,0,53.6,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7407.000,-11308.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	15.56	MHEAD_RNG_PITCHd_Wd	219.9,3057,-31.1,-10.000,-32.93,699
_SM_ANGLEo	-13.1	D_GRID	990
GPS2	140718,121600,-7407.1011,-11301.9805,0,4110.7,0,53.6,0.0,0.0,0,0.0

FREEZE	9.99,-1.821,-1.871,2,5,0	ALTIM_TOP_PING	14.0,14.1
FINISH1	10.0,1.027348,8	_24V_AH	12.06,150.570
FINISH2	9.2	_10V_AH	12.26,0.000
RAFOS_CLK	355	FG_AHR_24Vo	0.000
RAFOS	0,1531580475,15.032778,15.020833,112,65,59,55,53,51,572,197,209,119,142,175	FG_AHR_10Vo	0.000
RAFOS_FIX	-7406.629883,-11307.498047,140718,151512,3,125,0.27	MEM	280784
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	DATA_FILE_SIZE	16778,460
TT8_MAMPS	0.040446,0.261401	CAP_FILE_SIZE	78524,0
HUMID	50.63	CFSIZE	1024409600,971063296
INTERNAL_PRESSURE	8.21906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.20	SOUNDSPEED	1448.4
XPDR_PINGS	0	GPS	140718,151512,-7406.630,-11307.498,0,4125.3,0,53.6,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	7	312	26.63	nil	0	0	0.00
Roll_motor	91	108	119.68	nil	0	0	0.00
VBD_pump_during_apogee	198	2934	7010.87	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	9130	2	297.29
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	115.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7711	2	218.39
TT8_Active	334	13	56.63
TT8_Sampling	1029	34	438.96
TT8_CF8	133	52	86.52
TT8_Kalman	0	0	0.00
Analog_circuits	729	10	97.46
GPS_charging	0	0	0.00
Compass	662	7	60.85
RAFOS	720	1	13.24
Transponder	161	30	59.52

		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
27.8	30.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
553.3	34.40	9000.00	0.0	0.00	0.00	34.40	0.0	0.01	1.00
563.6	23.70	9000.00	0.0	0.00	0.02	23.70	587.3	-1.04	1.00

576.6	13.30	12.90	0.0	-0.90	0.99	13.30	0.0	-0.80	1.00
131.7	136.50	9000.00	0.0	-0.27	1.00	136.50	0.0	-0.28	1.00
110.4	114.60	9000.00	0.0	-0.24	0.96	114.60	-4.2	1.03	1.00
89.7	93.00	93.10	-3.4	1.03	1.00	93.00	-3.3	1.04	1.00
67.2	69.60	69.60	-2.4	1.04	1.00	69.60	-2.4	1.04	1.00
56.9	59.30	59.20	-2.3	1.03	1.00	59.30	-2.4	1.00	1.00
24.2	24.60	24.70	-0.5	1.05	1.00	24.60	-0.4	1.06	1.00
14.0	14.30	14.10	-0.1	1.05	1.00	14.30	-0.3	1.01	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-1.47	-45.4	2803	2304	2787	2723	0.0	0.0	0	15	0.00	0.00	-4.12	0.025	16390	0.000	0.000	2802	2304	2969	3004	2935	0	0	0	0	0	0	15.12	12.82	15.11
18	-1.47	-45.4	2804	2305	3007	2937	0.0	0.0	0	24	1.35	2.55	0.00	0.000	4356	0.054	0.103	2296	3725	2970	3004	2936	0	0	0	0	0	0	14.80	14.64	14.83
253	-1.47	-45.4	2297	3725	3002	2939	65.0	-22.0	34	260	0.10	2.45	0.00	0.000	3078	0.311	0.040	2320	2283	2969	3000	2938	0	0	0	0	0	0	14.31	14.78	14.52
603	-1.47	-45.4	2321	2284	3001	2938	139.2	-21.5	48	604	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	2283	2968	2999	2938	0	0	0	0	0	0	15.16	15.21	15.21
984	-1.47	-45.4	2319	2283	2998	2939	216.6	-20.0	60	985	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	2283	2968	2998	2938	0	0	0	0	0	0	15.12	15.14	15.14
1332	-1.47	-45.4	2321	2284	3001	2939	285.0	-19.6	65	1339	0.00	2.47	0.00	0.000	516	0.000	0.071	2320	912	2968	2999	2938	0	0	0	0	0	0	15.11	14.63	15.14
1494	-1.47	-45.4	2319	908	2998	2939	316.9	-19.8	88	1501	0.00	2.47	0.00	0.000	1030	0.000	0.062	2311	2308	2968	2998	2938	0	0	0	0	0	0	14.86	14.72	14.90
1894	-1.47	-45.4	2310	2308	2997	2939	394.1	-19.1	100	1895	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2308	2968	2998	2938	0	0	0	0	0	0	15.11	15.14	15.14
2242	-1.47	-45.4	2310	2307	2998	2939	457.1	-17.9	105	2249	0.00	2.60	0.00	0.000	260	0.000	0.096	2299	3717	2968	2998	2938	0	0	0	0	0	0	15.11	14.54	15.14
2276	-1.47	-45.4	2299	3718	2997	2939	463.6	-18.9	110	2283	0.00	2.45	0.00	0.000	1030	0.000	0.041	2299	2304	2968	2998	2938	0	0	0	0	0	0	14.88	14.83	14.90
2664	-1.47	-45.4	2301	2305	2999	2939	532.8	-18.0	120	2669	0.00	2.50	0.00	0.000	516	0.000	0.070	2299	892	2968	2998	2938	0	0	0	0	0	0	15.11	14.66	15.14
2836	-1.47	-45.4	2301	893	2999	2939	564.9	-17.9	145	2844	0.12	2.58	0.00	0.000	3078	0.312	0.062	2318	2314	2968	2998	2938	0	0	0	0	0	0	14.20	14.71	14.42
3221	-1.54	-105.8	2318	2310	2998	2939	587.1	-1.1	155	3228	0.00	2.58	0.00	0.000	548	0.000	0.070	2318	895	2968	2998	2939	0	0	0	0	0	0	15.19	14.60	15.21
3345	end dive: NO_VERTICAL_VELOCITY
state	3345	begin apogee
3352	-0.23	0.0	2311	2109	2998	2939	587.1	0.0	173	3406	1.45	0.00	51.05	2.935	10246	0.194	0.000	2726	2108	2782	2811	2753	0	0	0	0	0	0	14.43	14.27	12.91
3407	end apogee: CONTROL_FINISHED_OK
state	3407	begin climb
3409	1.54	105.8	2728	2110	2812	2753	587.1	0.0	173	3546	1.80	2.80	125.22	2.870	10500	0.122	0.090	3294	3505	2348	2376	2320	0	0	0	0	0	0	14.29	13.07	12.06
3572	1.54	105.8	3293	3504	2373	2318	578.2	10.6	203	3579	0.00	2.65	0.00	0.000	1030	0.000	0.044	3304	2104	2345	2373	2317	0	0	0	0	0	0	13.62	13.57	13.64
3995	1.54	105.8	3304	2104	2363	2307	528.6	11.7	218	4001	0.00	2.60	0.00	0.000	260	0.000	0.092	3304	3514	2334	2361	2307	0	0	0	0	0	0	14.81	14.47	14.84
4027	1.54	105.8	3305	3515	2363	2308	524.3	12.6	223	4034	0.00	2.50	0.00	0.000	1030	0.000	0.044	3315	2088	2333	2360	2306	0	0	0	0	0	0	14.63	14.58	14.66
4413	1.54	105.8	3314	2089	2359	2306	478.8	11.8	233	4419	0.00	2.55	0.00	0.000	516	0.000	0.087	3325	701	2332	2359	2306	0	0	0	0	0	0	15.04	14.58	15.04
4447	1.54	105.8	3326	702	2361	2306	474.6	11.8	238	4455	0.00	2.47	0.00	0.000	1030	0.000	0.056	3325	2102	2332	2358	2306	0	0	0	0	0	0	14.83	14.73	14.88
4833	1.54	105.8	3325	2102	2357	2305	429.3	11.7	248	4839	0.00	2.60	0.00	0.000	260	0.000	0.093	3327	3513	2331	2357	2305	0	0	0	0	0	0	15.07	14.63	15.10
4951	1.54	105.8	3322	3512	2355	2304	413.5	13.7	265	4958	0.17	2.47	0.00	0.000	5126	0.307	0.042	3292	2088	2330	2356	2304	0	0	0	0	0	0	14.31	14.81	14.54
5323	1.54	105.8	3294	2089	2357	2305	373.2	10.7	273	5329	0.00	2.62	0.00	0.000	260	0.000	0.090	3292	3516	2329	2355	2304	0	0	0	0	0	0	15.10	14.64	15.12
5378	1.54	105.8	3292	3515	2355	2304	366.7	11.8	281	5385	0.00	2.47	0.00	0.000	1030	0.000	0.043	3300	2090	2329	2355	2303	0	0	0	0	0	0	14.91	14.82	14.95
5743	1.54	105.8	3301	2091	2357	2304	328.6	10.3	288	5749	0.00	2.62	0.00	0.000	260	0.000	0.090	3300	3516	2328	2354	2303	0	0	0	0	0	0	15.11	14.64	15.13
5791	1.54	105.8	3300	3516	2354	2304	323.4	10.9	295	5798	0.00	2.45	0.00	0.000	1030	0.000	0.042	3310	2097	2328	2354	2303	0	0	0	0	0	0	14.83	14.78	14.87
6163	1.54	105.8	3310	2098	2354	2303	286.4	10.0	303	6164	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2097	2328	2354	2302	0	0	0	0	0	0	15.11	15.14	15.14
6512	1.54	105.8	3310	2097	2354	2302	252.3	9.8	308	6519	0.00	2.62	0.00	0.000	260	0.000	0.093	3311	3516	2328	2354	2302	0	0	0	0	0	0	15.19	14.59	15.21
6575	1.54	105.8	3312	3517	2355	2303	245.1	11.7	317	6583	0.00	2.47	0.00	0.000	1030	0.000	0.043	3321	2089	2327	2353	2302	0	0	0	0	0	0	14.92	14.82	14.95
6933	1.54	105.8	3322	2093	2350	2303	209.4	9.8	323	6939	0.00	2.55	0.00	0.000	516	0.000	0.086	3331	701	2327	2353	2302	0	0	0	0	0	0	15.11	14.60	15.14
6981	1.56	105.8	3330	701	2353	2303	204.8	9.4	330	6989	0.12	2.45	0.00	0.000	5190	0.295	0.056	3299	2103	2327	2353	2302	0	0	0	0	0	0	14.31	14.74	14.53
7355	1.57	120.5	3299	2104	2353	2301	175.2	7.8	344	7374	0.00	2.58	12.20	2.437	8484	0.000	0.093	3299	3506	2288	2317	2260	0	0	0	0	0	0	15.11	14.72	13.36
7429	1.59	120.5	3300	3507	2318	2261	168.5	9.2	355	7437	0.00	2.45	0.00	0.000	1094	0.000	0.043	3308	2092	2287	2315	2260	0	0	0	0	0	0	14.78	14.72	14.81
7774	1.61	120.5	3308	2093	2315	2260	137.1	9.2	368	7779	0.00	2.58	0.00	0.000	324	0.000	0.089	3308	3513	2287	2315	2259	0	0	0	0	0	0	15.11	14.65	15.13
7954	1.61	120.5	3309	3512	2316	2260	119.2	9.9	394	7962	0.00	2.45	0.00	0.000	1030	0.000	0.041	3319	2099	2286	2314	2259	0	0	0	0	0	0	14.77	14.71	14.81
8306	1.62	120.5	3320	2099	2315	2259	87.0	9.5	408	8311	0.00	2.58	0.00	0.000	324	0.000	0.093	3318	3516	2286	2314	2258	0	0	0	0	0	0	15.15	14.65	15.17
8360	1.62	120.5	3319	3516	2316	2259	81.1	10.5	416	8367	0.00	2.45	0.00	0.000	1030	0.000	0.043	3329	2097	2286	2314	2258	0	0	0	0	0	0	14.78	14.74	14.83
8726	1.63	135.2	3328	2098	2313	2258	50.3	7.8	432	8740	0.00	2.65	9.62	0.382	8484	0.000	0.093	3329	3518	2227	2255	2199	0	0	0	0	0	0	15.16	14.66	14.17
8815	1.63	135.2	3328	3518	2253	2197	40.8	12.0	445	8822	0.00	2.45	0.00	0.000	1030	0.000	0.042	3338	2101	2225	2254	2197	0	0	0	0	0	0	14.78	14.69	14.83
9081	end climb: FINISH_DEPTH_REACHED
state	9081	begin subsurface finish
9086	0.01	7.7	3338	2102	2252	2194	10.0	12.6	456	9111	1.95	2.58	-14.82	0.008	20996	0.255	0.109	2808	703	2753	2784	2723	0	0	0	0	0	0	14.33	12.75	14.69
9111	end subsurface finish: CONTROL_FINISHED_OK
state	9111	begin surface