Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 409 * 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 409 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 33 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 409 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 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 140718,151512,-7406.6299,-11307.4980,0,4125.3,0,53.6,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME hold6

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 13.47 MHEAD_RNG_PITCHd_Wd 23.7,22149,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.5 D_GRID 990

GPS2 140718,151512,-7406.6299,-11307.4980,0,4125.3,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.73,-1.860,-1.871,2,6,0 ALTIM_BOTTOM_PING 557.2,7.8

FINISH1 9.7,1.027354,7 _24V_AH 11.87,150.911

FINISH2 9.2 _10V_AH 12.08,0.000

RAFOS_CLK 339 FG_AHR_24Vo 0.000

RAFOS_FIX -7406.121094,-11308.722656,140718,181838,0,1,0.11 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 MEM 280760

TT8_MAMPS 0.043442,0.258405 DATA_FILE_SIZE 13465,389

HUMID 49.52 CAP_FILE_SIZE 73149,0

INTERNAL_PRESSURE 8.21906 CFSIZE 1024409600,970981376

TCM_TEMP 12.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1447.7

ALTIM_TOP_PING 17.4,17.5 GPS 140718,180338,-7406.121,-11308.723,0,1001.0,0,53.6,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 273 18.07 nil 0 0 0.00

Roll_motor 82 156 153.90 nil 0 0 0.00

VBD_pump_during_apogee 431 2915 14919.50 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 8839 2 286.43

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 113.42 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7369 2 205.64

TT8_Active 531 13 88.71

TT8_Sampling 895 34 376.30

TT8_CF8 122 52 78.17

TT8_Kalman 0 0 0.00

Analog_circuits 903 10 119.01

GPS_charging 0 0 0.00

Compass 562 7 50.87

RAFOS 240 1 4.35

Transponder 164 30 59.56

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

14.3 15.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

25.4 27.40 9000.00 0.0 0.00 0.00 27.40 0.0 1.09 1.00

36.9 39.10 39.30 0.0 1.05 1.00 39.10 0.0 1.02 1.00

532.8 30.20 9000.00 0.0 -0.01 0.07 30.20 563.0 -0.02 1.00

545.6 17.10 9000.00 0.0 -0.03 0.67 17.10 562.7 -1.02 1.00

557.2 8.40 7.80 565.0 -0.89 0.99 8.40 565.6 -0.75 1.00

551.6 14.20 9000.00 0.0 -0.75 0.96 14.20 0.0 -1.04 1.00

535.6 29.30 29.40 0.0 -0.96 1.00 29.30 0.0 -0.94 1.00

87.6 90.80 9000.00 0.0 -0.15 0.98 90.80 0.0 -0.14 1.00

54.4 56.50 9000.00 0.0 -0.09 0.63 56.50 -2.1 1.03 1.00

44.4 47.20 46.80 -2.4 1.02 1.00 47.20 -2.8 0.93 1.00

30.9 31.80 32.10 -1.2 1.05 1.00 31.80 -0.9 1.14 1.00

17.4 17.70 17.50 -0.1 1.09 1.00 17.70 -0.3 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

10 -1.06 -107.1 2809 2301 2785 2724 0.0 0.0 0 21 0.00 0.00 -9.62 0.011 16390 0.000 0.000 2807 2301 3222 3249 3196 0 0 0 0 0 0 15.09 12.79 15.09

23 -1.06 -107.1 2809 2301 3250 3197 0.0 0.0 0 30 1.02 2.47 0.00 0.000 4612 0.083 0.073 2450 885 3223 3251 3196 0 0 0 0 0 0 14.66 14.61 14.73

49 -1.06 -107.1 2451 886 3250 3197 16.4 -9.6 4 56 0.00 2.58 0.00 0.000 1030 0.000 0.070 2439 2310 3222 3248 3196 0 0 0 0 0 0 14.77 14.67 14.81

415 -1.06 -107.1 2438 2310 3247 3195 82.7 -19.1 20 416 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2309 3221 3248 3194 0 0 0 0 0 0 15.09 15.11 15.11

750 -1.06 -107.1 2440 2311 3249 3195 145.5 -18.8 32 756 0.00 2.55 0.00 0.000 516 0.000 0.074 2438 903 3221 3248 3194 0 0 0 0 0 0 15.09 14.57 15.11

847 -1.06 -107.1 2440 902 3250 3195 164.2 -19.0 46 854 0.10 2.53 0.00 0.000 3078 0.273 0.067 2453 2306 3221 3248 3194 0 0 0 0 0 0 14.30 14.63 14.48

1198 -1.06 -107.1 2454 2308 3250 3194 227.0 -17.8 57 1205 0.00 2.55 0.00 0.000 516 0.000 0.072 2453 889 3220 3248 3192 0 0 0 0 0 0 15.09 14.57 15.11

1232 -1.06 -107.1 2454 890 3250 3195 233.3 -18.0 62 1239 0.00 2.53 0.00 0.000 1030 0.000 0.065 2444 2302 3220 3247 3193 0 0 0 0 0 0 14.71 14.63 14.77

1620 -1.06 -107.1 2444 2303 3248 3193 301.8 -17.8 72 1625 0.00 2.53 0.00 0.000 516 0.000 0.073 2444 885 3220 3248 3192 0 0 0 0 0 0 15.09 14.62 15.12

1666 -1.06 -107.1 2444 885 3248 3193 310.6 -18.1 79 1673 0.00 2.55 0.00 0.000 1030 0.000 0.066 2433 2308 3220 3248 3193 0 0 0 0 0 0 14.69 14.61 14.73

2038 -1.06 -107.1 2433 2308 3247 3193 377.5 -18.1 87 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2308 3220 3248 3193 0 0 0 0 0 0 15.09 15.12 15.11

2388 -1.06 -107.1 2433 2309 3248 3193 440.4 -17.9 92 2394 0.00 2.55 0.00 0.000 516 0.000 0.072 2433 898 3220 3248 3192 0 0 0 0 0 0 15.10 14.54 15.11

2464 -1.06 -107.1 2434 899 3250 3195 454.4 -18.1 103 2471 0.12 2.55 0.00 0.000 3078 0.270 0.063 2454 2311 3220 3247 3193 0 0 0 0 0 0 14.24 14.66 14.44

2878 -1.06 -107.1 2455 2312 3250 3193 522.4 -16.4 117 2885 0.00 2.58 0.00 0.000 516 0.000 0.071 2454 892 3219 3247 3191 0 0 0 0 0 0 15.09 14.54 15.11

2905 -1.06 -107.1 2453 893 3248 3193 527.0 -16.7 121 2913 0.00 2.55 0.00 0.000 1030 0.000 0.063 2445 2311 3220 3248 3192 0 0 0 0 0 0 14.70 14.63 14.75

3086 end dive: BOTTOM_OBSTACLE_DETECTED

state 3086 begin apogee

3091 -0.23 0.0 2445 2060 3248 3193 557.2 -16.6 129 3211 1.05 0.10 116.60 2.915 10246 0.234 0.157 2724 2123 2778 2814 2743 0 0 0 0 0 0 14.29 13.71 12.43

3212 end apogee: CONTROL_FINISHED_OK

state 3212 begin climb

3214 1.06 107.1 2726 2124 2815 2746 562.0 0.0 130 3354 1.38 2.88 128.25 2.795 10756 0.131 0.083 3136 737 2343 2381 2305 0 0 0 0 0 0 13.71 13.15 11.90

3366 1.17 198.0 3136 737 2378 2305 562.1 4.3 159 3486 0.10 2.62 111.28 2.763 11302 0.077 0.050 3175 2093 1971 2039 1903 0 0 0 0 0 0 13.39 13.38 11.87

3863 1.17 198.0 3178 2094 2031 1888 513.7 10.4 185 3871 0.00 2.65 0.00 0.000 260 0.000 0.094 3176 3502 1958 2029 1887 0 0 0 0 0 0 14.71 14.32 14.73

3989 1.17 198.0 3175 3501 2035 1887 499.0 11.6 203 3996 0.00 2.42 0.00 0.000 1030 0.000 0.044 3179 2128 1958 2029 1887 0 0 0 0 0 0 14.69 14.59 14.73

4353 1.17 198.0 3179 2128 2021 1886 457.7 11.5 210 4354 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2128 1954 2025 1883 0 0 0 0 0 0 15.07 15.09 15.07

4704 1.17 198.0 3180 2127 2024 1886 420.4 10.6 215 4705 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2128 1954 2023 1885 0 0 0 0 0 0 15.07 15.09 15.09

5053 1.17 198.0 3178 2128 2022 1887 385.0 10.1 220 5054 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2128 1953 2021 1885 0 0 0 0 0 0 15.15 15.18 15.18

5404 1.17 198.0 3180 2128 2022 1885 348.9 10.4 225 5405 0.00 0.00 0.00 0.000 6 0.000 0.000 3179 2127 1952 2020 1885 0 0 0 0 0 0 15.11 15.14 15.14

5754 1.17 198.0 3178 2128 2024 1886 314.1 9.8 230 5760 0.00 2.62 0.00 0.000 516 0.000 0.090 3179 701 1951 2018 1885 0 0 0 0 0 0 15.18 14.63 15.21

5802 1.18 198.0 3178 699 2017 1886 309.5 9.5 237 5810 0.00 2.45 0.00 0.000 1094 0.000 0.056 3179 2100 1950 2018 1883 0 0 0 0 0 0 14.81 14.76 14.85

6173 1.18 198.0 3180 2101 2019 1886 273.6 9.8 245 6181 0.00 2.60 0.00 0.000 260 0.000 0.095 3179 3516 1951 2017 1885 0 0 0 0 0 0 15.19 14.64 15.21

6272 1.18 198.0 3178 3515 2016 1886 263.1 11.0 259 6278 0.00 2.45 0.00 0.000 1030 0.000 0.044 3179 2096 1951 2017 1885 0 0 0 0 0 0 14.82 14.76 14.85

6663 1.20 198.0 3178 2097 2016 1885 227.6 8.9 270 6664 0.00 0.00 0.00 0.000 70 0.000 0.000 3179 2096 1951 2017 1885 0 0 0 0 0 0 15.19 15.21 15.21

7014 1.22 198.0 3178 2097 2016 1886 196.2 8.9 275 7020 0.00 2.58 0.00 0.000 324 0.000 0.095 3179 3509 1950 2016 1885 0 0 0 0 0 0 15.11 14.66 15.14

7125 1.22 198.0 3179 3509 2015 1886 185.0 9.9 291 7132 0.00 2.47 0.00 0.000 1030 0.000 0.044 3179 2078 1949 2016 1883 0 0 0 0 0 0 14.82 14.77 14.86

7489 1.26 230.9 3180 2078 2017 1884 156.2 7.9 307 7525 0.00 2.62 31.12 2.498 8484 0.000 0.093 3179 3507 1837 1904 1770 0 0 0 0 0 0 15.16 14.26 13.28

7552 1.26 230.9 3180 3508 1904 1770 150.1 11.1 316 7559 0.00 2.50 0.00 0.000 1030 0.000 0.045 3179 2088 1835 1902 1768 0 0 0 0 0 0 14.64 14.58 14.66

7912 1.26 230.9 3180 2088 1904 1765 110.2 10.2 331 7917 0.00 2.60 0.00 0.000 260 0.000 0.093 3179 3511 1831 1899 1764 0 0 0 0 0 0 15.01 14.61 15.04

7937 1.26 230.9 3180 3512 1900 1764 107.2 11.1 335 7944 0.00 2.47 0.00 0.000 1030 0.000 0.046 3179 2095 1831 1898 1764 0 0 0 0 0 0 14.69 14.64 14.73

8303 1.35 299.4 3180 2096 1900 1764 75.8 5.7 351 8353 0.17 2.67 43.88 0.447 10532 0.120 0.098 3247 3514 1555 1633 1478 0 0 0 0 0 0 14.78 14.62 14.20

8408 1.35 299.4 3248 3515 1632 1478 63.5 14.3 366 8415 0.00 2.45 0.00 0.000 1030 0.000 0.046 3257 2096 1552 1629 1476 0 0 0 0 0 0 14.80 14.69 14.85

8749 1.35 299.4 3256 2096 1627 1468 12.7 16.1 379 8756 0.00 2.62 0.00 0.000 260 0.000 0.092 3256 3511 1547 1627 1467 0 0 0 0 0 0 15.11 14.59 15.14

8769 end climb: FINISH_DEPTH_REACHED

state 8769 begin subsurface finish

8776 0.01 7.4 3267 2082 1629 1468 9.7 15.7 382 8820 1.62 2.67 -34.20 0.004 20740 0.221 0.119 2793 3503 2754 2781 2728 0 0 0 0 0 0 14.40 12.79 14.71

8820 end subsurface finish: CONTROL_FINISHED_OK

state 8821 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	409	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	33	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	140718,151512,-7406.6299,-11307.4980,0,4125.3,0,53.6,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	hold6
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	13.47	MHEAD_RNG_PITCHd_Wd	23.7,22149,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.5	D_GRID	990
GPS2	140718,151512,-7406.6299,-11307.4980,0,4125.3,0,53.6,0.0,0.0,0,0.0

FREEZE	9.73,-1.860,-1.871,2,6,0	ALTIM_BOTTOM_PING	557.2,7.8
FINISH1	9.7,1.027354,7	_24V_AH	11.87,150.911
FINISH2	9.2	_10V_AH	12.08,0.000
RAFOS_CLK	339	FG_AHR_24Vo	0.000
RAFOS_FIX	-7406.121094,-11308.722656,140718,181838,0,1,0.11	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	MEM	280760
TT8_MAMPS	0.043442,0.258405	DATA_FILE_SIZE	13465,389
HUMID	49.52	CAP_FILE_SIZE	73149,0
INTERNAL_PRESSURE	8.21906	CFSIZE	1024409600,970981376
TCM_TEMP	12.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1447.7
ALTIM_TOP_PING	17.4,17.5	GPS	140718,180338,-7406.121,-11308.723,0,1001.0,0,53.6,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	273	18.07	nil	0	0	0.00
Roll_motor	82	156	153.90	nil	0	0	0.00
VBD_pump_during_apogee	431	2915	14919.50	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	8839	2	286.43
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	113.42	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7369	2	205.64
TT8_Active	531	13	88.71
TT8_Sampling	895	34	376.30
TT8_CF8	122	52	78.17
TT8_Kalman	0	0	0.00
Analog_circuits	903	10	119.01
GPS_charging	0	0	0.00
Compass	562	7	50.87
RAFOS	240	1	4.35
Transponder	164	30	59.56

		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
14.3	15.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
25.4	27.40	9000.00	0.0	0.00	0.00	27.40	0.0	1.09	1.00
36.9	39.10	39.30	0.0	1.05	1.00	39.10	0.0	1.02	1.00
532.8	30.20	9000.00	0.0	-0.01	0.07	30.20	563.0	-0.02	1.00
545.6	17.10	9000.00	0.0	-0.03	0.67	17.10	562.7	-1.02	1.00
557.2	8.40	7.80	565.0	-0.89	0.99	8.40	565.6	-0.75	1.00

551.6	14.20	9000.00	0.0	-0.75	0.96	14.20	0.0	-1.04	1.00
535.6	29.30	29.40	0.0	-0.96	1.00	29.30	0.0	-0.94	1.00
87.6	90.80	9000.00	0.0	-0.15	0.98	90.80	0.0	-0.14	1.00
54.4	56.50	9000.00	0.0	-0.09	0.63	56.50	-2.1	1.03	1.00
44.4	47.20	46.80	-2.4	1.02	1.00	47.20	-2.8	0.93	1.00
30.9	31.80	32.10	-1.2	1.05	1.00	31.80	-0.9	1.14	1.00
17.4	17.70	17.50	-0.1	1.09	1.00	17.70	-0.3	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
10	-1.06	-107.1	2809	2301	2785	2724	0.0	0.0	0	21	0.00	0.00	-9.62	0.011	16390	0.000	0.000	2807	2301	3222	3249	3196	0	0	0	0	0	0	15.09	12.79	15.09
23	-1.06	-107.1	2809	2301	3250	3197	0.0	0.0	0	30	1.02	2.47	0.00	0.000	4612	0.083	0.073	2450	885	3223	3251	3196	0	0	0	0	0	0	14.66	14.61	14.73
49	-1.06	-107.1	2451	886	3250	3197	16.4	-9.6	4	56	0.00	2.58	0.00	0.000	1030	0.000	0.070	2439	2310	3222	3248	3196	0	0	0	0	0	0	14.77	14.67	14.81
415	-1.06	-107.1	2438	2310	3247	3195	82.7	-19.1	20	416	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2309	3221	3248	3194	0	0	0	0	0	0	15.09	15.11	15.11
750	-1.06	-107.1	2440	2311	3249	3195	145.5	-18.8	32	756	0.00	2.55	0.00	0.000	516	0.000	0.074	2438	903	3221	3248	3194	0	0	0	0	0	0	15.09	14.57	15.11
847	-1.06	-107.1	2440	902	3250	3195	164.2	-19.0	46	854	0.10	2.53	0.00	0.000	3078	0.273	0.067	2453	2306	3221	3248	3194	0	0	0	0	0	0	14.30	14.63	14.48
1198	-1.06	-107.1	2454	2308	3250	3194	227.0	-17.8	57	1205	0.00	2.55	0.00	0.000	516	0.000	0.072	2453	889	3220	3248	3192	0	0	0	0	0	0	15.09	14.57	15.11
1232	-1.06	-107.1	2454	890	3250	3195	233.3	-18.0	62	1239	0.00	2.53	0.00	0.000	1030	0.000	0.065	2444	2302	3220	3247	3193	0	0	0	0	0	0	14.71	14.63	14.77
1620	-1.06	-107.1	2444	2303	3248	3193	301.8	-17.8	72	1625	0.00	2.53	0.00	0.000	516	0.000	0.073	2444	885	3220	3248	3192	0	0	0	0	0	0	15.09	14.62	15.12
1666	-1.06	-107.1	2444	885	3248	3193	310.6	-18.1	79	1673	0.00	2.55	0.00	0.000	1030	0.000	0.066	2433	2308	3220	3248	3193	0	0	0	0	0	0	14.69	14.61	14.73
2038	-1.06	-107.1	2433	2308	3247	3193	377.5	-18.1	87	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2308	3220	3248	3193	0	0	0	0	0	0	15.09	15.12	15.11
2388	-1.06	-107.1	2433	2309	3248	3193	440.4	-17.9	92	2394	0.00	2.55	0.00	0.000	516	0.000	0.072	2433	898	3220	3248	3192	0	0	0	0	0	0	15.10	14.54	15.11
2464	-1.06	-107.1	2434	899	3250	3195	454.4	-18.1	103	2471	0.12	2.55	0.00	0.000	3078	0.270	0.063	2454	2311	3220	3247	3193	0	0	0	0	0	0	14.24	14.66	14.44
2878	-1.06	-107.1	2455	2312	3250	3193	522.4	-16.4	117	2885	0.00	2.58	0.00	0.000	516	0.000	0.071	2454	892	3219	3247	3191	0	0	0	0	0	0	15.09	14.54	15.11
2905	-1.06	-107.1	2453	893	3248	3193	527.0	-16.7	121	2913	0.00	2.55	0.00	0.000	1030	0.000	0.063	2445	2311	3220	3248	3192	0	0	0	0	0	0	14.70	14.63	14.75
3086	end dive: BOTTOM_OBSTACLE_DETECTED
state	3086	begin apogee
3091	-0.23	0.0	2445	2060	3248	3193	557.2	-16.6	129	3211	1.05	0.10	116.60	2.915	10246	0.234	0.157	2724	2123	2778	2814	2743	0	0	0	0	0	0	14.29	13.71	12.43
3212	end apogee: CONTROL_FINISHED_OK
state	3212	begin climb
3214	1.06	107.1	2726	2124	2815	2746	562.0	0.0	130	3354	1.38	2.88	128.25	2.795	10756	0.131	0.083	3136	737	2343	2381	2305	0	0	0	0	0	0	13.71	13.15	11.90
3366	1.17	198.0	3136	737	2378	2305	562.1	4.3	159	3486	0.10	2.62	111.28	2.763	11302	0.077	0.050	3175	2093	1971	2039	1903	0	0	0	0	0	0	13.39	13.38	11.87
3863	1.17	198.0	3178	2094	2031	1888	513.7	10.4	185	3871	0.00	2.65	0.00	0.000	260	0.000	0.094	3176	3502	1958	2029	1887	0	0	0	0	0	0	14.71	14.32	14.73
3989	1.17	198.0	3175	3501	2035	1887	499.0	11.6	203	3996	0.00	2.42	0.00	0.000	1030	0.000	0.044	3179	2128	1958	2029	1887	0	0	0	0	0	0	14.69	14.59	14.73
4353	1.17	198.0	3179	2128	2021	1886	457.7	11.5	210	4354	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2128	1954	2025	1883	0	0	0	0	0	0	15.07	15.09	15.07
4704	1.17	198.0	3180	2127	2024	1886	420.4	10.6	215	4705	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2128	1954	2023	1885	0	0	0	0	0	0	15.07	15.09	15.09
5053	1.17	198.0	3178	2128	2022	1887	385.0	10.1	220	5054	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2128	1953	2021	1885	0	0	0	0	0	0	15.15	15.18	15.18
5404	1.17	198.0	3180	2128	2022	1885	348.9	10.4	225	5405	0.00	0.00	0.00	0.000	6	0.000	0.000	3179	2127	1952	2020	1885	0	0	0	0	0	0	15.11	15.14	15.14
5754	1.17	198.0	3178	2128	2024	1886	314.1	9.8	230	5760	0.00	2.62	0.00	0.000	516	0.000	0.090	3179	701	1951	2018	1885	0	0	0	0	0	0	15.18	14.63	15.21
5802	1.18	198.0	3178	699	2017	1886	309.5	9.5	237	5810	0.00	2.45	0.00	0.000	1094	0.000	0.056	3179	2100	1950	2018	1883	0	0	0	0	0	0	14.81	14.76	14.85
6173	1.18	198.0	3180	2101	2019	1886	273.6	9.8	245	6181	0.00	2.60	0.00	0.000	260	0.000	0.095	3179	3516	1951	2017	1885	0	0	0	0	0	0	15.19	14.64	15.21
6272	1.18	198.0	3178	3515	2016	1886	263.1	11.0	259	6278	0.00	2.45	0.00	0.000	1030	0.000	0.044	3179	2096	1951	2017	1885	0	0	0	0	0	0	14.82	14.76	14.85
6663	1.20	198.0	3178	2097	2016	1885	227.6	8.9	270	6664	0.00	0.00	0.00	0.000	70	0.000	0.000	3179	2096	1951	2017	1885	0	0	0	0	0	0	15.19	15.21	15.21
7014	1.22	198.0	3178	2097	2016	1886	196.2	8.9	275	7020	0.00	2.58	0.00	0.000	324	0.000	0.095	3179	3509	1950	2016	1885	0	0	0	0	0	0	15.11	14.66	15.14
7125	1.22	198.0	3179	3509	2015	1886	185.0	9.9	291	7132	0.00	2.47	0.00	0.000	1030	0.000	0.044	3179	2078	1949	2016	1883	0	0	0	0	0	0	14.82	14.77	14.86
7489	1.26	230.9	3180	2078	2017	1884	156.2	7.9	307	7525	0.00	2.62	31.12	2.498	8484	0.000	0.093	3179	3507	1837	1904	1770	0	0	0	0	0	0	15.16	14.26	13.28
7552	1.26	230.9	3180	3508	1904	1770	150.1	11.1	316	7559	0.00	2.50	0.00	0.000	1030	0.000	0.045	3179	2088	1835	1902	1768	0	0	0	0	0	0	14.64	14.58	14.66
7912	1.26	230.9	3180	2088	1904	1765	110.2	10.2	331	7917	0.00	2.60	0.00	0.000	260	0.000	0.093	3179	3511	1831	1899	1764	0	0	0	0	0	0	15.01	14.61	15.04
7937	1.26	230.9	3180	3512	1900	1764	107.2	11.1	335	7944	0.00	2.47	0.00	0.000	1030	0.000	0.046	3179	2095	1831	1898	1764	0	0	0	0	0	0	14.69	14.64	14.73
8303	1.35	299.4	3180	2096	1900	1764	75.8	5.7	351	8353	0.17	2.67	43.88	0.447	10532	0.120	0.098	3247	3514	1555	1633	1478	0	0	0	0	0	0	14.78	14.62	14.20
8408	1.35	299.4	3248	3515	1632	1478	63.5	14.3	366	8415	0.00	2.45	0.00	0.000	1030	0.000	0.046	3257	2096	1552	1629	1476	0	0	0	0	0	0	14.80	14.69	14.85
8749	1.35	299.4	3256	2096	1627	1468	12.7	16.1	379	8756	0.00	2.62	0.00	0.000	260	0.000	0.092	3256	3511	1547	1627	1467	0	0	0	0	0	0	15.11	14.59	15.14
8769	end climb: FINISH_DEPTH_REACHED
state	8769	begin subsurface finish
8776	0.01	7.4	3267	2082	1629	1468	9.7	15.7	382	8820	1.62	2.67	-34.20	0.004	20740	0.221	0.119	2793	3503	2754	2781	2728	0	0	0	0	0	0	14.40	12.79	14.71
8820	end subsurface finish: CONTROL_FINISHED_OK
state	8821	begin surface