Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 414 * 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 414 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 43 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 414 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 43 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 150718,030328,-7406.6284,-11258.8174,0,2002.0,0,53.6,0.0,0.0,0,0.0 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 840.46 MHEAD_RNG_PITCHd_Wd 20.6,17869,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -13.2 D_GRID 990

GPS2 150718,030328,-7406.6284,-11258.8174,0,2002.0,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 7.62,-1.845,-1.872,2,11,0 ALTIM_TOP_PING 10.3,10.3

FINISH1 7.6,1.027393,5 _24V_AH 11.81,152.650

FINISH2 7.9 _10V_AH 11.91,0.000

RAFOS_CLK 350 FG_AHR_24Vo 0.000

RAFOS 0,1531634493,6.032778,6.025833,75,60,54,52,51,51,443,193,163,184,174,211 FG_AHR_10Vo 0.000

RAFOS_FIX -7402.462402,-11247.327148,150718,060628,3,90,0.84 MEM 280784

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 DATA_FILE_SIZE 13465,426

TT8_MAMPS 0.040446,0.26215 CAP_FILE_SIZE 74096,0

HUMID 50.31 CFSIZE 1024409600,970506240

INTERNAL_PRESSURE 8.22882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.30 SOUNDSPEED 1455.6

XPDR_PINGS 0 GPS 150718,061528,-7402.462,-11247.327,0,4090.3,0,53.6,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 234 14.91 nil 0 0 0.00

Roll_motor 87 148 152.79 nil 0 0 0.00

VBD_pump_during_apogee 479 3053 17296.51 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 9414 2 300.41

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 16 420 81.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7848 2 215.93

TT8_Active 582 13 95.84

TT8_Sampling 940 34 389.62

TT8_CF8 121 52 76.48

TT8_Kalman 0 0 0.00

Analog_circuits 988 10 128.34

GPS_charging 0 0 0.00

Compass 614 7 54.80

RAFOS 720 1 12.86

Transponder 115 30 41.22

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

842.4 20.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

853.3 8.80 9000.00 0.0 0.00 0.00 8.80 862.1 -1.06 1.00

849.7 12.40 12.50 0.0 -1.07 1.00 12.40 0.0 -1.00 1.00

835.6 27.00 27.00 0.0 -1.04 1.00 27.00 0.0 -1.04 1.00

825.4 35.90 36.30 0.0 -0.97 1.00 35.90 0.0 -0.87 1.00

802.6 51.00 9000.00 0.0 -0.72 1.00 51.00 0.0 -0.66 1.00

191.8 198.80 9000.00 0.0 -0.25 1.00 198.80 0.0 -0.24 1.00

148.5 154.30 9000.00 0.0 -0.19 0.88 154.30 -5.8 1.03 1.00

80.8 83.90 84.00 -3.2 1.04 1.00 83.90 -3.1 1.04 1.00

56.5 58.50 58.50 -2.0 1.04 1.00 58.50 -2.0 1.05 1.00

44.0 45.30 45.40 -1.4 1.04 1.00 45.30 -1.3 1.06 1.00

32.2 33.20 33.10 -0.9 1.04 1.00 33.20 -1.0 1.03 1.00

21.1 21.50 21.60 -0.5 1.04 1.00 21.50 -0.4 1.05 1.00

10.3 10.30 10.30 0.0 1.05 1.00 10.30 -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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2793 2294 2860 2803 0.0 0.0 0 18 0.00 0.00 -6.40 0.033 16390 0.000 0.000 2790 2293 3238 3262 3214 0 0 0 0 1 0 14.60 12.92 14.59

21 -1.06 -107.1 2793 2294 3265 3220 0.0 0.0 0 27 0.98 2.62 0.00 0.000 4356 0.059 0.103 2432 3723 3236 3262 3211 0 0 0 0 0 0 14.40 14.30 14.44

256 -1.06 -107.1 2434 3724 3261 3211 859.9 -1.0 34 263 0.00 2.47 0.00 0.000 1062 0.000 0.040 2432 2292 3235 3261 3210 0 0 0 0 0 0 14.72 14.69 14.76

436 end dive: NO_VERTICAL_VELOCITY

state 436 begin apogee

442 -0.23 0.0 2433 2062 3261 3210 859.9 0.0 42 571 1.02 0.10 126.15 3.054 10246 0.194 0.148 2725 2124 2781 2815 2747 0 0 0 0 0 0 14.52 13.46 12.18

572 end apogee: CONTROL_FINISHED_OK

state 572 begin climb

574 1.06 107.1 2725 2125 2818 2748 860.0 0.0 43 724 1.42 2.90 137.48 2.990 10756 0.143 0.083 3134 739 2343 2385 2301 0 0 0 0 0 0 13.45 13.09 11.81

954 1.15 182.1 3134 740 2373 2297 852.4 5.3 105 1053 0.12 2.42 93.53 2.988 11302 0.130 0.051 3180 2103 2037 2100 1975 0 0 0 0 0 0 14.21 14.20 12.05

1430 1.20 225.2 3179 2104 2091 1965 820.0 7.3 128 1486 0.00 2.62 50.80 2.970 8996 0.000 0.083 3182 727 1861 1932 1790 0 0 0 0 0 0 14.78 13.74 12.69

1492 1.24 225.2 3184 728 1933 1791 815.7 8.1 137 1501 0.00 2.53 0.00 0.000 1094 0.000 0.052 3183 2103 1860 1931 1789 0 0 0 0 0 0 14.09 14.04 14.16

1849 1.32 287.8 3182 2098 1925 1781 793.6 6.1 143 1927 0.15 2.62 71.62 2.970 10788 0.142 0.086 3247 735 1608 1693 1523 0 0 0 0 0 0 14.69 13.69 12.65

2031 1.32 287.8 3246 736 1687 1519 776.6 10.6 169 2038 0.00 2.50 0.00 0.000 1030 0.000 0.056 3247 2098 1602 1686 1518 0 0 0 0 0 0 14.35 14.26 14.38

2410 1.32 287.8 3246 2098 1682 1514 732.1 11.8 178 2417 0.00 2.60 0.00 0.000 260 0.000 0.094 3247 3512 1597 1682 1513 0 0 0 0 0 0 14.99 14.65 15.01

2444 1.32 287.8 3246 3511 1682 1514 727.3 13.7 183 2452 0.10 2.42 0.00 0.000 5126 0.235 0.045 3228 2122 1597 1682 1513 0 0 0 0 0 0 14.55 14.78 14.70

2830 1.32 287.8 3228 2122 1681 1512 686.4 10.4 193 2836 0.00 2.60 0.00 0.000 516 0.000 0.091 3233 700 1596 1681 1511 0 0 0 0 0 0 15.09 14.72 15.11

2892 1.32 287.8 3234 701 1681 1512 679.6 10.5 202 2901 0.00 2.47 0.00 0.000 1030 0.000 0.057 3233 2108 1595 1679 1511 0 0 0 0 0 0 14.95 14.83 14.98

3250 1.32 287.8 3233 2109 1680 1512 644.1 9.9 208 3256 0.00 2.55 0.00 0.000 260 0.000 0.096 3233 3507 1594 1678 1511 0 0 0 0 0 0 15.13 14.75 15.15

3284 1.32 287.8 3234 3507 1680 1512 640.0 11.8 213 3291 0.00 2.45 0.00 0.000 1030 0.000 0.047 3236 2096 1594 1677 1511 0 0 0 0 0 0 14.97 14.88 15.01

3670 1.32 287.8 3235 2096 1676 1511 598.6 10.6 223 3676 0.00 2.53 0.00 0.000 516 0.000 0.092 3246 682 1593 1677 1510 0 0 0 0 0 0 15.16 14.76 15.17

3718 1.32 287.8 3247 682 1678 1512 593.5 10.4 230 3726 0.00 2.50 0.00 0.000 1030 0.000 0.057 3246 2105 1592 1675 1510 0 0 0 0 0 0 14.95 14.85 14.98

4090 1.32 287.8 3245 2105 1675 1511 554.4 10.6 238 4097 0.00 2.58 0.00 0.000 260 0.000 0.098 3246 3516 1592 1675 1510 0 0 0 0 0 0 15.15 14.74 15.18

4131 1.32 287.8 3245 3515 1675 1509 549.2 12.8 244 4139 0.12 2.47 0.00 0.000 5126 0.230 0.045 3220 2085 1592 1675 1510 0 0 0 0 0 0 14.60 14.88 14.76

4512 1.32 287.8 3220 2085 1674 1511 511.6 9.9 253 4517 0.00 2.50 0.00 0.000 516 0.000 0.091 3225 694 1592 1674 1510 0 0 0 0 0 0 15.16 14.77 15.19

4530 1.33 287.8 3225 695 1672 1511 509.7 9.4 256 4537 0.00 2.47 0.00 0.000 1094 0.000 0.058 3225 2110 1592 1674 1510 0 0 0 0 0 0 14.88 14.82 14.93

4933 1.34 287.8 3226 2111 1674 1511 472.2 9.4 268 4934 0.00 0.00 0.00 0.000 70 0.000 0.000 3225 2110 1592 1674 1510 0 0 0 0 0 0 15.16 15.19 15.18

5279 1.34 287.8 3225 2111 1673 1510 437.5 10.0 273 5280 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 2111 1592 1674 1510 0 0 0 0 0 0 15.21 15.23 15.23

5630 1.34 287.8 3231 2111 1674 1510 397.2 11.6 278 5637 0.00 2.60 0.00 0.000 516 0.000 0.091 3232 694 1595 1681 1510 0 0 0 0 0 0 15.16 14.69 15.19

5650 1.34 287.8 3234 695 1674 1511 394.6 11.9 281 5657 0.00 2.47 0.00 0.000 1030 0.000 0.058 3232 2103 1591 1673 1510 0 0 0 0 0 0 14.96 14.84 15.00

6050 1.34 287.8 3232 2103 1673 1510 350.3 10.7 293 6051 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2103 1591 1673 1510 0 0 0 0 0 0 15.16 15.19 15.18

6399 1.34 287.8 3233 2104 1675 1510 313.3 10.6 298 6407 0.00 2.58 0.00 0.000 516 0.000 0.090 3233 700 1590 1672 1508 0 0 0 0 0 0 15.21 14.70 15.24

6421 1.34 287.8 3233 701 1672 1510 310.9 11.0 301 6427 0.00 2.47 0.00 0.000 1030 0.000 0.057 3233 2112 1591 1672 1510 0 0 0 0 0 0 14.85 14.78 14.91

6820 1.34 287.8 3233 2112 1672 1510 263.8 11.8 313 6826 0.00 2.60 0.00 0.000 516 0.000 0.091 3233 696 1592 1674 1510 0 0 0 0 0 0 15.14 14.70 15.16

6868 1.34 287.8 3234 696 1672 1511 258.5 10.8 320 6875 0.00 2.50 0.00 0.000 1030 0.000 0.057 3233 2117 1590 1671 1510 0 0 0 0 0 0 14.92 14.83 14.95

7240 1.34 287.8 3234 2117 1672 1511 218.8 10.7 328 7246 0.00 2.55 0.00 0.000 260 0.000 0.097 3233 3510 1590 1670 1510 0 0 0 0 0 0 15.14 14.69 15.16

7288 1.34 287.8 3233 3509 1670 1510 213.4 11.1 335 7295 0.00 2.42 0.00 0.000 1030 0.000 0.045 3233 2100 1589 1670 1509 0 0 0 0 0 0 14.88 14.83 14.91

7645 1.34 287.8 3233 2101 1670 1510 178.0 9.8 347 7652 0.00 2.58 0.00 0.000 516 0.000 0.091 3234 689 1589 1670 1509 0 0 0 0 0 0 15.21 14.67 15.23

7694 1.34 287.8 3233 689 1669 1513 173.2 9.8 354 7703 0.00 2.50 0.00 0.000 1030 0.000 0.057 3233 2109 1589 1670 1509 0 0 0 0 0 0 14.92 14.81 14.94

8037 1.34 287.8 3234 2109 1671 1510 140.3 9.8 367 8044 0.00 2.60 0.00 0.000 516 0.000 0.090 3234 698 1589 1670 1509 0 0 0 0 0 0 15.21 14.61 15.23

8079 1.34 287.8 3233 699 1668 1509 136.1 9.8 373 8086 0.00 2.50 0.00 0.000 1030 0.000 0.057 3233 2110 1589 1669 1509 0 0 0 0 0 0 14.92 14.81 14.94

8430 1.34 287.8 3233 2110 1668 1510 100.7 10.1 387 8430 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2110 1589 1669 1509 0 0 0 0 0 0 15.21 15.24 15.23

8765 1.34 287.8 3234 2111 1670 1510 65.8 10.8 399 8766 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2110 1588 1668 1509 0 0 0 0 0 0 15.21 15.24 15.23

9102 1.34 287.8 3234 2111 1671 1509 32.2 10.7 411 9103 0.00 0.00 0.00 0.000 6 0.000 0.000 3233 2110 1588 1669 1508 0 0 0 0 0 0 15.14 15.16 15.16

9351 end climb: FINISH_DEPTH_REACHED

state 9351 begin subsurface finish

9357 0.01 5.4 3233 2111 1668 1512 7.6 10.1 420 9398 1.45 2.62 -35.25 0.005 20996 0.180 0.099 2803 682 2761 2784 2739 0 0 0 0 0 0 14.50 12.75 14.66

9398 end subsurface finish: CONTROL_FINISHED_OK

state 9398 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	414	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	43	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	150718,030328,-7406.6284,-11258.8174,0,2002.0,0,53.6,0.0,0.0,0,0.0	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	840.46	MHEAD_RNG_PITCHd_Wd	20.6,17869,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-13.2	D_GRID	990
GPS2	150718,030328,-7406.6284,-11258.8174,0,2002.0,0,53.6,0.0,0.0,0,0.0

FREEZE	7.62,-1.845,-1.872,2,11,0	ALTIM_TOP_PING	10.3,10.3
FINISH1	7.6,1.027393,5	_24V_AH	11.81,152.650
FINISH2	7.9	_10V_AH	11.91,0.000
RAFOS_CLK	350	FG_AHR_24Vo	0.000
RAFOS	0,1531634493,6.032778,6.025833,75,60,54,52,51,51,443,193,163,184,174,211	FG_AHR_10Vo	0.000
RAFOS_FIX	-7402.462402,-11247.327148,150718,060628,3,90,0.84	MEM	280784
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	DATA_FILE_SIZE	13465,426
TT8_MAMPS	0.040446,0.26215	CAP_FILE_SIZE	74096,0
HUMID	50.31	CFSIZE	1024409600,970506240
INTERNAL_PRESSURE	8.22882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.30	SOUNDSPEED	1455.6
XPDR_PINGS	0	GPS	150718,061528,-7402.462,-11247.327,0,4090.3,0,53.6,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	234	14.91	nil	0	0	0.00
Roll_motor	87	148	152.79	nil	0	0	0.00
VBD_pump_during_apogee	479	3053	17296.51	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	9414	2	300.41
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	16	420	81.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7848	2	215.93
TT8_Active	582	13	95.84
TT8_Sampling	940	34	389.62
TT8_CF8	121	52	76.48
TT8_Kalman	0	0	0.00
Analog_circuits	988	10	128.34
GPS_charging	0	0	0.00
Compass	614	7	54.80
RAFOS	720	1	12.86
Transponder	115	30	41.22

		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
842.4	20.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
853.3	8.80	9000.00	0.0	0.00	0.00	8.80	862.1	-1.06	1.00

849.7	12.40	12.50	0.0	-1.07	1.00	12.40	0.0	-1.00	1.00
835.6	27.00	27.00	0.0	-1.04	1.00	27.00	0.0	-1.04	1.00
825.4	35.90	36.30	0.0	-0.97	1.00	35.90	0.0	-0.87	1.00
802.6	51.00	9000.00	0.0	-0.72	1.00	51.00	0.0	-0.66	1.00
191.8	198.80	9000.00	0.0	-0.25	1.00	198.80	0.0	-0.24	1.00
148.5	154.30	9000.00	0.0	-0.19	0.88	154.30	-5.8	1.03	1.00
80.8	83.90	84.00	-3.2	1.04	1.00	83.90	-3.1	1.04	1.00
56.5	58.50	58.50	-2.0	1.04	1.00	58.50	-2.0	1.05	1.00
44.0	45.30	45.40	-1.4	1.04	1.00	45.30	-1.3	1.06	1.00
32.2	33.20	33.10	-0.9	1.04	1.00	33.20	-1.0	1.03	1.00
21.1	21.50	21.60	-0.5	1.04	1.00	21.50	-0.4	1.05	1.00
10.3	10.30	10.30	0.0	1.05	1.00	10.30	-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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2793	2294	2860	2803	0.0	0.0	0	18	0.00	0.00	-6.40	0.033	16390	0.000	0.000	2790	2293	3238	3262	3214	0	0	0	0	1	0	14.60	12.92	14.59
21	-1.06	-107.1	2793	2294	3265	3220	0.0	0.0	0	27	0.98	2.62	0.00	0.000	4356	0.059	0.103	2432	3723	3236	3262	3211	0	0	0	0	0	0	14.40	14.30	14.44
256	-1.06	-107.1	2434	3724	3261	3211	859.9	-1.0	34	263	0.00	2.47	0.00	0.000	1062	0.000	0.040	2432	2292	3235	3261	3210	0	0	0	0	0	0	14.72	14.69	14.76
436	end dive: NO_VERTICAL_VELOCITY
state	436	begin apogee
442	-0.23	0.0	2433	2062	3261	3210	859.9	0.0	42	571	1.02	0.10	126.15	3.054	10246	0.194	0.148	2725	2124	2781	2815	2747	0	0	0	0	0	0	14.52	13.46	12.18
572	end apogee: CONTROL_FINISHED_OK
state	572	begin climb
574	1.06	107.1	2725	2125	2818	2748	860.0	0.0	43	724	1.42	2.90	137.48	2.990	10756	0.143	0.083	3134	739	2343	2385	2301	0	0	0	0	0	0	13.45	13.09	11.81
954	1.15	182.1	3134	740	2373	2297	852.4	5.3	105	1053	0.12	2.42	93.53	2.988	11302	0.130	0.051	3180	2103	2037	2100	1975	0	0	0	0	0	0	14.21	14.20	12.05
1430	1.20	225.2	3179	2104	2091	1965	820.0	7.3	128	1486	0.00	2.62	50.80	2.970	8996	0.000	0.083	3182	727	1861	1932	1790	0	0	0	0	0	0	14.78	13.74	12.69
1492	1.24	225.2	3184	728	1933	1791	815.7	8.1	137	1501	0.00	2.53	0.00	0.000	1094	0.000	0.052	3183	2103	1860	1931	1789	0	0	0	0	0	0	14.09	14.04	14.16
1849	1.32	287.8	3182	2098	1925	1781	793.6	6.1	143	1927	0.15	2.62	71.62	2.970	10788	0.142	0.086	3247	735	1608	1693	1523	0	0	0	0	0	0	14.69	13.69	12.65
2031	1.32	287.8	3246	736	1687	1519	776.6	10.6	169	2038	0.00	2.50	0.00	0.000	1030	0.000	0.056	3247	2098	1602	1686	1518	0	0	0	0	0	0	14.35	14.26	14.38
2410	1.32	287.8	3246	2098	1682	1514	732.1	11.8	178	2417	0.00	2.60	0.00	0.000	260	0.000	0.094	3247	3512	1597	1682	1513	0	0	0	0	0	0	14.99	14.65	15.01
2444	1.32	287.8	3246	3511	1682	1514	727.3	13.7	183	2452	0.10	2.42	0.00	0.000	5126	0.235	0.045	3228	2122	1597	1682	1513	0	0	0	0	0	0	14.55	14.78	14.70
2830	1.32	287.8	3228	2122	1681	1512	686.4	10.4	193	2836	0.00	2.60	0.00	0.000	516	0.000	0.091	3233	700	1596	1681	1511	0	0	0	0	0	0	15.09	14.72	15.11
2892	1.32	287.8	3234	701	1681	1512	679.6	10.5	202	2901	0.00	2.47	0.00	0.000	1030	0.000	0.057	3233	2108	1595	1679	1511	0	0	0	0	0	0	14.95	14.83	14.98
3250	1.32	287.8	3233	2109	1680	1512	644.1	9.9	208	3256	0.00	2.55	0.00	0.000	260	0.000	0.096	3233	3507	1594	1678	1511	0	0	0	0	0	0	15.13	14.75	15.15
3284	1.32	287.8	3234	3507	1680	1512	640.0	11.8	213	3291	0.00	2.45	0.00	0.000	1030	0.000	0.047	3236	2096	1594	1677	1511	0	0	0	0	0	0	14.97	14.88	15.01
3670	1.32	287.8	3235	2096	1676	1511	598.6	10.6	223	3676	0.00	2.53	0.00	0.000	516	0.000	0.092	3246	682	1593	1677	1510	0	0	0	0	0	0	15.16	14.76	15.17
3718	1.32	287.8	3247	682	1678	1512	593.5	10.4	230	3726	0.00	2.50	0.00	0.000	1030	0.000	0.057	3246	2105	1592	1675	1510	0	0	0	0	0	0	14.95	14.85	14.98
4090	1.32	287.8	3245	2105	1675	1511	554.4	10.6	238	4097	0.00	2.58	0.00	0.000	260	0.000	0.098	3246	3516	1592	1675	1510	0	0	0	0	0	0	15.15	14.74	15.18
4131	1.32	287.8	3245	3515	1675	1509	549.2	12.8	244	4139	0.12	2.47	0.00	0.000	5126	0.230	0.045	3220	2085	1592	1675	1510	0	0	0	0	0	0	14.60	14.88	14.76
4512	1.32	287.8	3220	2085	1674	1511	511.6	9.9	253	4517	0.00	2.50	0.00	0.000	516	0.000	0.091	3225	694	1592	1674	1510	0	0	0	0	0	0	15.16	14.77	15.19
4530	1.33	287.8	3225	695	1672	1511	509.7	9.4	256	4537	0.00	2.47	0.00	0.000	1094	0.000	0.058	3225	2110	1592	1674	1510	0	0	0	0	0	0	14.88	14.82	14.93
4933	1.34	287.8	3226	2111	1674	1511	472.2	9.4	268	4934	0.00	0.00	0.00	0.000	70	0.000	0.000	3225	2110	1592	1674	1510	0	0	0	0	0	0	15.16	15.19	15.18
5279	1.34	287.8	3225	2111	1673	1510	437.5	10.0	273	5280	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	2111	1592	1674	1510	0	0	0	0	0	0	15.21	15.23	15.23
5630	1.34	287.8	3231	2111	1674	1510	397.2	11.6	278	5637	0.00	2.60	0.00	0.000	516	0.000	0.091	3232	694	1595	1681	1510	0	0	0	0	0	0	15.16	14.69	15.19
5650	1.34	287.8	3234	695	1674	1511	394.6	11.9	281	5657	0.00	2.47	0.00	0.000	1030	0.000	0.058	3232	2103	1591	1673	1510	0	0	0	0	0	0	14.96	14.84	15.00
6050	1.34	287.8	3232	2103	1673	1510	350.3	10.7	293	6051	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	2103	1591	1673	1510	0	0	0	0	0	0	15.16	15.19	15.18
6399	1.34	287.8	3233	2104	1675	1510	313.3	10.6	298	6407	0.00	2.58	0.00	0.000	516	0.000	0.090	3233	700	1590	1672	1508	0	0	0	0	0	0	15.21	14.70	15.24
6421	1.34	287.8	3233	701	1672	1510	310.9	11.0	301	6427	0.00	2.47	0.00	0.000	1030	0.000	0.057	3233	2112	1591	1672	1510	0	0	0	0	0	0	14.85	14.78	14.91
6820	1.34	287.8	3233	2112	1672	1510	263.8	11.8	313	6826	0.00	2.60	0.00	0.000	516	0.000	0.091	3233	696	1592	1674	1510	0	0	0	0	0	0	15.14	14.70	15.16
6868	1.34	287.8	3234	696	1672	1511	258.5	10.8	320	6875	0.00	2.50	0.00	0.000	1030	0.000	0.057	3233	2117	1590	1671	1510	0	0	0	0	0	0	14.92	14.83	14.95
7240	1.34	287.8	3234	2117	1672	1511	218.8	10.7	328	7246	0.00	2.55	0.00	0.000	260	0.000	0.097	3233	3510	1590	1670	1510	0	0	0	0	0	0	15.14	14.69	15.16
7288	1.34	287.8	3233	3509	1670	1510	213.4	11.1	335	7295	0.00	2.42	0.00	0.000	1030	0.000	0.045	3233	2100	1589	1670	1509	0	0	0	0	0	0	14.88	14.83	14.91
7645	1.34	287.8	3233	2101	1670	1510	178.0	9.8	347	7652	0.00	2.58	0.00	0.000	516	0.000	0.091	3234	689	1589	1670	1509	0	0	0	0	0	0	15.21	14.67	15.23
7694	1.34	287.8	3233	689	1669	1513	173.2	9.8	354	7703	0.00	2.50	0.00	0.000	1030	0.000	0.057	3233	2109	1589	1670	1509	0	0	0	0	0	0	14.92	14.81	14.94
8037	1.34	287.8	3234	2109	1671	1510	140.3	9.8	367	8044	0.00	2.60	0.00	0.000	516	0.000	0.090	3234	698	1589	1670	1509	0	0	0	0	0	0	15.21	14.61	15.23
8079	1.34	287.8	3233	699	1668	1509	136.1	9.8	373	8086	0.00	2.50	0.00	0.000	1030	0.000	0.057	3233	2110	1589	1669	1509	0	0	0	0	0	0	14.92	14.81	14.94
8430	1.34	287.8	3233	2110	1668	1510	100.7	10.1	387	8430	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	2110	1589	1669	1509	0	0	0	0	0	0	15.21	15.24	15.23
8765	1.34	287.8	3234	2111	1670	1510	65.8	10.8	399	8766	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	2110	1588	1668	1509	0	0	0	0	0	0	15.21	15.24	15.23
9102	1.34	287.8	3234	2111	1671	1509	32.2	10.7	411	9103	0.00	0.00	0.00	0.000	6	0.000	0.000	3233	2110	1588	1669	1508	0	0	0	0	0	0	15.14	15.16	15.16
9351	end climb: FINISH_DEPTH_REACHED
state	9351	begin subsurface finish
9357	0.01	5.4	3233	2111	1668	1512	7.6	10.1	420	9398	1.45	2.62	-35.25	0.005	20996	0.180	0.099	2803	682	2761	2784	2739	0	0	0	0	0	0	14.50	12.75	14.66
9398	end subsurface finish: CONTROL_FINISHED_OK
state	9398	begin surface