Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 417 * 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 417 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 34 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 417 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 34 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 150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0 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 870.33 MHEAD_RNG_PITCHd_Wd 38.7,7990,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.5 D_GRID 990

GPS2 150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.61,-1.876,-1.874,2,14,0 ALTIM_TOP_PING 20.9,21.4

FINISH1 9.6,1.027393,5 _24V_AH 11.80,153.722

FINISH2 9.4 _10V_AH 11.87,0.000

RAFOS_CLK 344 FG_AHR_24Vo 0.000

RAFOS 2,1531656833,12.233334,12.231389,110,59,55,54,51,51,259,182,217,172,159,194 FG_AHR_10Vo 0.000

RAFOS_FIX -7401.860352,-11231.405273,150718,121252,2,94,9.34 MEM 280760

IRIDIUM_FIX -7409.27,-11237.80,130718,233415 DATA_FILE_SIZE 13431,412

TT8_MAMPS 0.038199,0.248668 CAP_FILE_SIZE 73292,0

HUMID 50.47 CFSIZE 1024409600,970227712

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

TCM_TEMP 12.10 SOUNDSPEED 1454.1

XPDR_PINGS 0 GPS 150718,120312,-7403.829,-11240.703,0,2002.0,0,53.6,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 277 18.02 nil 0 0 0.00

Roll_motor 97 168 193.33 nil 0 0 0.00

VBD_pump_during_apogee 413 3070 14991.07 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 9355 2 298.71

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 17 420 85.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7848 2 215.19

TT8_Active 540 13 88.68

TT8_Sampling 919 34 379.72

TT8_CF8 122 52 76.76

TT8_Kalman 0 0 0.00

Analog_circuits 929 10 120.20

GPS_charging 0 0 0.00

Compass 594 7 52.86

RAFOS 0 0 0.00

Transponder 121 30 43.31

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

871.7 21.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

882.0 12.80 9000.00 0.0 0.00 0.00 12.80 894.8 -0.82 1.00

889.9 19.50 9000.00 0.0 -0.13 0.07 19.50 0.0 0.85 1.00

863.2 30.70 9000.00 0.0 -0.52 0.61 30.70 0.0 -0.42 1.00

68.8 71.00 9000.00 0.0 -0.06 0.97 71.00 0.0 -0.05 1.00

56.2 57.90 9000.00 0.0 -0.04 0.89 57.90 -1.7 1.04 1.00

43.3 44.40 44.40 -1.1 1.04 1.00 44.40 -1.1 1.05 1.00

20.9 21.40 21.40 -0.5 1.03 1.00 21.40 -0.5 1.03 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 2799 2300 2869 2811 0.0 0.0 0 18 0.00 0.00 -6.38 0.033 16390 0.000 0.000 2799 2299 3243 3268 3218 0 0 0 0 1 0 14.47 12.83 14.47

21 -1.06 -107.1 2801 2300 3271 3218 0.0 0.0 0 27 1.00 2.62 0.00 0.000 4356 0.060 0.103 2445 3712 3241 3268 3215 0 0 0 0 0 0 14.28 14.19 14.33

256 -1.06 -107.1 2446 3714 3269 3217 889.6 -1.0 34 263 0.00 2.47 0.00 0.000 1062 0.000 0.041 2445 2275 3241 3267 3216 0 0 0 0 0 0 14.70 14.66 14.72

436 end dive: NO_VERTICAL_VELOCITY

state 436 begin apogee

442 -0.23 0.0 2447 2069 3269 3216 889.6 0.0 42 574 0.95 0.08 129.50 3.071 10246 0.159 0.168 2730 2107 2781 2814 2748 0 0 0 0 0 0 14.57 13.40 12.12

575 end apogee: CONTROL_FINISHED_OK

state 575 begin climb

577 1.06 107.1 2732 2109 2817 2749 889.9 0.0 43 730 1.42 2.85 139.55 3.012 10756 0.145 0.082 3135 742 2343 2384 2303 0 0 0 0 0 0 13.42 13.06 11.80

756 1.16 188.6 3135 743 2383 2302 886.5 4.9 77 870 0.10 2.62 105.72 2.991 11302 0.076 0.051 3174 2102 2015 2081 1949 0 0 0 0 0 0 13.47 13.45 11.81

1219 1.20 188.6 3176 2102 2072 1939 851.7 8.0 98 1225 0.00 2.62 0.00 0.000 324 0.000 0.095 3175 3515 2003 2069 1937 0 0 0 0 0 0 14.69 14.40 14.71

1331 1.22 188.6 3176 3515 2072 1939 841.4 9.0 114 1337 0.00 2.42 0.00 0.000 1094 0.000 0.044 3178 2138 2003 2069 1937 0 0 0 0 0 0 14.66 14.61 14.69

1708 1.26 222.5 3179 2139 2067 1937 811.7 7.9 123 1751 0.00 2.65 38.95 2.967 8484 0.000 0.097 3177 3515 1873 1942 1804 0 0 0 0 0 0 15.08 14.35 13.00

1799 1.29 222.5 3179 3515 1941 1803 803.6 8.3 136 1806 0.10 2.53 0.00 0.000 3142 0.083 0.044 3226 2093 1870 1939 1802 0 0 0 0 0 0 14.50 14.50 14.54

2192 1.29 222.5 3227 2094 1937 1799 759.8 11.4 147 2198 0.00 2.60 0.00 0.000 260 0.000 0.093 3226 3525 1866 1935 1798 0 0 0 0 0 0 15.04 14.71 15.07

2219 1.29 222.5 3227 3526 1936 1798 756.3 12.4 151 2226 0.00 2.50 0.00 0.000 1030 0.000 0.045 3233 2096 1866 1935 1798 0 0 0 0 0 0 14.88 14.81 14.90

2612 1.29 222.5 3235 2096 1935 1798 713.1 11.0 162 2618 0.00 2.58 0.00 0.000 260 0.000 0.095 3233 3521 1865 1933 1798 0 0 0 0 0 0 15.11 14.76 15.14

2653 1.29 222.5 3233 3522 1933 1797 707.9 12.6 168 2660 0.00 2.50 0.00 0.000 1030 0.000 0.045 3242 2083 1865 1933 1797 0 0 0 0 0 0 14.95 14.87 15.00

3032 1.29 222.5 3244 2084 1933 1797 664.2 11.5 177 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 3242 2083 1863 1931 1796 0 0 0 0 0 0 15.14 15.16 15.16

3381 1.29 222.5 3243 2084 1932 1797 622.3 12.1 182 3388 0.00 2.62 0.00 0.000 260 0.000 0.096 3242 3509 1863 1930 1796 0 0 0 0 0 0 15.19 14.74 15.22

3423 1.29 222.5 3242 3509 1930 1796 616.4 14.5 188 3430 0.12 2.45 0.00 0.000 5126 0.239 0.044 3217 2094 1862 1929 1795 0 0 0 0 0 0 14.59 14.90 14.76

3802 1.29 222.5 3217 2095 1929 1796 574.0 10.9 197 3803 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2095 1862 1929 1795 0 0 0 0 0 0 15.15 15.19 15.21

4151 1.29 222.5 3217 2095 1928 1795 538.0 10.3 202 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 3218 2095 1862 1930 1795 0 0 0 0 0 0 15.22 15.25 15.25

4502 1.29 222.5 3218 2096 1928 1796 501.6 10.4 207 4508 0.00 2.60 0.00 0.000 260 0.000 0.096 3217 3503 1861 1928 1795 0 0 0 0 0 0 15.16 14.72 15.18

4529 1.29 222.5 3218 3503 1930 1795 498.6 11.0 211 4536 0.00 2.45 0.00 0.000 1030 0.000 0.047 3223 2094 1861 1928 1795 0 0 0 0 0 0 14.98 14.88 15.02

4922 1.29 222.5 3224 2094 1927 1796 459.6 9.9 222 4928 0.00 2.55 0.00 0.000 516 0.000 0.090 3234 701 1861 1927 1795 0 0 0 0 0 0 15.16 14.69 15.19

4956 1.29 222.5 3231 701 1926 1795 456.2 10.3 227 4963 0.00 2.47 0.00 0.000 1030 0.000 0.058 3231 2109 1860 1925 1795 0 0 0 0 0 0 14.96 14.84 15.01

5342 1.29 222.5 3231 2110 1925 1795 413.9 11.2 237 5349 0.00 2.58 0.00 0.000 260 0.000 0.098 3231 3534 1859 1925 1794 0 0 0 0 0 0 15.16 14.73 15.18

5411 1.29 222.5 3232 3535 1927 1795 405.0 12.9 247 5418 0.00 2.47 0.00 0.000 1030 0.000 0.044 3241 2098 1859 1925 1794 0 0 0 0 0 0 14.89 14.84 14.94

5833 1.29 222.5 3241 2098 1925 1795 358.8 10.9 262 5838 0.00 2.58 0.00 0.000 260 0.000 0.096 3241 3517 1860 1925 1795 0 0 0 0 0 0 15.16 14.74 15.18

5866 1.29 222.5 3241 3516 1925 1795 354.8 11.8 267 5873 0.15 2.47 0.00 0.000 5126 0.264 0.045 3213 2091 1863 1932 1795 0 0 0 0 0 0 14.53 14.86 14.69

6252 1.31 222.5 3215 2091 1927 1795 319.2 9.1 277 6259 0.00 2.55 0.00 0.000 580 0.000 0.090 3220 694 1859 1925 1794 0 0 0 0 0 0 15.15 14.66 15.18

6279 1.33 222.5 3221 695 1926 1795 316.6 9.2 281 6287 0.00 2.45 0.00 0.000 1094 0.000 0.056 3220 2101 1859 1924 1794 0 0 0 0 0 0 14.85 14.78 14.90

6672 1.34 222.5 3220 2102 1924 1795 280.4 9.2 292 6673 0.00 0.00 0.00 0.000 70 0.000 0.000 3220 2102 1859 1924 1794 0 0 0 0 0 0 15.16 15.18 15.18

7021 1.36 222.5 3219 2102 1924 1794 248.8 9.0 297 7029 0.00 2.58 0.00 0.000 580 0.000 0.087 3227 701 1859 1924 1794 0 0 0 0 0 0 15.21 14.67 15.23

7042 1.37 222.5 3229 702 1925 1795 246.8 9.4 300 7049 0.00 2.45 0.00 0.000 1094 0.000 0.057 3227 2100 1858 1923 1794 0 0 0 0 0 0 14.84 14.77 14.89

7442 1.37 222.5 3227 2101 1923 1794 205.3 10.5 312 7448 0.00 2.60 0.00 0.000 260 0.000 0.097 3228 3509 1858 1923 1793 0 0 0 0 0 0 15.14 14.65 15.17

7490 1.37 222.5 3229 3510 1925 1795 199.6 11.9 319 7497 0.00 2.47 0.00 0.000 1030 0.000 0.045 3236 2088 1858 1923 1794 0 0 0 0 0 0 14.95 14.84 14.99

7849 1.37 222.5 3235 2089 1923 1794 162.0 10.2 334 7854 0.00 2.60 0.00 0.000 260 0.000 0.095 3235 3513 1858 1923 1793 0 0 0 0 0 0 15.19 14.70 15.21

7868 1.37 222.5 3233 3513 1925 1794 159.7 10.3 337 7877 0.00 2.47 0.00 0.000 1030 0.000 0.046 3245 2094 1858 1923 1793 0 0 0 0 0 0 14.94 14.84 14.98

8212 1.37 222.5 3247 2094 1925 1793 125.3 10.3 350 8218 0.00 2.55 0.00 0.000 516 0.000 0.090 3255 707 1857 1923 1792 0 0 0 0 0 0 15.14 14.63 15.16

8246 1.37 222.5 3257 702 1925 1794 121.7 10.7 355 8253 0.00 2.47 0.00 0.000 1030 0.000 0.059 3255 2102 1857 1922 1793 0 0 0 0 0 0 14.91 14.78 14.96

8603 1.37 222.5 3255 2102 1922 1793 84.9 10.4 370 8610 0.00 2.60 0.00 0.000 260 0.000 0.099 3255 3508 1854 1917 1792 0 0 0 0 0 0 15.19 14.63 15.22

8666 1.37 222.5 3256 3509 1924 1793 77.4 12.2 379 8673 0.00 2.47 0.00 0.000 1030 0.000 0.045 3265 2083 1857 1922 1793 0 0 0 0 0 0 14.89 14.82 14.92

9025 1.37 222.5 3267 2084 1924 1793 37.1 11.2 394 9030 0.00 2.50 0.00 0.000 516 0.000 0.091 3274 698 1859 1922 1796 0 0 0 0 0 0 15.18 14.66 15.21

9072 1.37 222.5 3274 699 1921 1793 32.1 10.2 401 9081 0.12 2.50 0.00 0.000 5126 0.278 0.060 3244 2112 1854 1916 1792 0 0 0 0 0 0 14.46 14.77 14.62

9302 end climb: FINISH_DEPTH_REACHED

state 9302 begin subsurface finish

9307 0.01 5.4 3244 2113 1921 1793 9.6 10.0 410 9339 1.52 2.55 -25.20 0.005 20740 0.194 0.122 2793 3505 2759 2788 2731 0 0 0 0 0 0 14.49 13.65 14.78

9339 end subsurface finish: CONTROL_FINISHED_OK

state 9339 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	417	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	34	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	150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0	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	870.33	MHEAD_RNG_PITCHd_Wd	38.7,7990,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.5	D_GRID	990
GPS2	150718,120312,-7403.8291,-11240.7031,0,2002.0,0,53.6,0.0,0.0,0,0.0

FREEZE	9.61,-1.876,-1.874,2,14,0	ALTIM_TOP_PING	20.9,21.4
FINISH1	9.6,1.027393,5	_24V_AH	11.80,153.722
FINISH2	9.4	_10V_AH	11.87,0.000
RAFOS_CLK	344	FG_AHR_24Vo	0.000
RAFOS	2,1531656833,12.233334,12.231389,110,59,55,54,51,51,259,182,217,172,159,194	FG_AHR_10Vo	0.000
RAFOS_FIX	-7401.860352,-11231.405273,150718,121252,2,94,9.34	MEM	280760
IRIDIUM_FIX	-7409.27,-11237.80,130718,233415	DATA_FILE_SIZE	13431,412
TT8_MAMPS	0.038199,0.248668	CAP_FILE_SIZE	73292,0
HUMID	50.47	CFSIZE	1024409600,970227712
INTERNAL_PRESSURE	8.22882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.10	SOUNDSPEED	1454.1
XPDR_PINGS	0	GPS	150718,120312,-7403.829,-11240.703,0,2002.0,0,53.6,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	277	18.02	nil	0	0	0.00
Roll_motor	97	168	193.33	nil	0	0	0.00
VBD_pump_during_apogee	413	3070	14991.07	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	9355	2	298.71
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	17	420	85.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7848	2	215.19
TT8_Active	540	13	88.68
TT8_Sampling	919	34	379.72
TT8_CF8	122	52	76.76
TT8_Kalman	0	0	0.00
Analog_circuits	929	10	120.20
GPS_charging	0	0	0.00
Compass	594	7	52.86
RAFOS	0	0	0.00
Transponder	121	30	43.31

		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
871.7	21.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
882.0	12.80	9000.00	0.0	0.00	0.00	12.80	894.8	-0.82	1.00
889.9	19.50	9000.00	0.0	-0.13	0.07	19.50	0.0	0.85	1.00

863.2	30.70	9000.00	0.0	-0.52	0.61	30.70	0.0	-0.42	1.00
68.8	71.00	9000.00	0.0	-0.06	0.97	71.00	0.0	-0.05	1.00
56.2	57.90	9000.00	0.0	-0.04	0.89	57.90	-1.7	1.04	1.00
43.3	44.40	44.40	-1.1	1.04	1.00	44.40	-1.1	1.05	1.00
20.9	21.40	21.40	-0.5	1.03	1.00	21.40	-0.5	1.03	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	2799	2300	2869	2811	0.0	0.0	0	18	0.00	0.00	-6.38	0.033	16390	0.000	0.000	2799	2299	3243	3268	3218	0	0	0	0	1	0	14.47	12.83	14.47
21	-1.06	-107.1	2801	2300	3271	3218	0.0	0.0	0	27	1.00	2.62	0.00	0.000	4356	0.060	0.103	2445	3712	3241	3268	3215	0	0	0	0	0	0	14.28	14.19	14.33
256	-1.06	-107.1	2446	3714	3269	3217	889.6	-1.0	34	263	0.00	2.47	0.00	0.000	1062	0.000	0.041	2445	2275	3241	3267	3216	0	0	0	0	0	0	14.70	14.66	14.72
436	end dive: NO_VERTICAL_VELOCITY
state	436	begin apogee
442	-0.23	0.0	2447	2069	3269	3216	889.6	0.0	42	574	0.95	0.08	129.50	3.071	10246	0.159	0.168	2730	2107	2781	2814	2748	0	0	0	0	0	0	14.57	13.40	12.12
575	end apogee: CONTROL_FINISHED_OK
state	575	begin climb
577	1.06	107.1	2732	2109	2817	2749	889.9	0.0	43	730	1.42	2.85	139.55	3.012	10756	0.145	0.082	3135	742	2343	2384	2303	0	0	0	0	0	0	13.42	13.06	11.80
756	1.16	188.6	3135	743	2383	2302	886.5	4.9	77	870	0.10	2.62	105.72	2.991	11302	0.076	0.051	3174	2102	2015	2081	1949	0	0	0	0	0	0	13.47	13.45	11.81
1219	1.20	188.6	3176	2102	2072	1939	851.7	8.0	98	1225	0.00	2.62	0.00	0.000	324	0.000	0.095	3175	3515	2003	2069	1937	0	0	0	0	0	0	14.69	14.40	14.71
1331	1.22	188.6	3176	3515	2072	1939	841.4	9.0	114	1337	0.00	2.42	0.00	0.000	1094	0.000	0.044	3178	2138	2003	2069	1937	0	0	0	0	0	0	14.66	14.61	14.69
1708	1.26	222.5	3179	2139	2067	1937	811.7	7.9	123	1751	0.00	2.65	38.95	2.967	8484	0.000	0.097	3177	3515	1873	1942	1804	0	0	0	0	0	0	15.08	14.35	13.00
1799	1.29	222.5	3179	3515	1941	1803	803.6	8.3	136	1806	0.10	2.53	0.00	0.000	3142	0.083	0.044	3226	2093	1870	1939	1802	0	0	0	0	0	0	14.50	14.50	14.54
2192	1.29	222.5	3227	2094	1937	1799	759.8	11.4	147	2198	0.00	2.60	0.00	0.000	260	0.000	0.093	3226	3525	1866	1935	1798	0	0	0	0	0	0	15.04	14.71	15.07
2219	1.29	222.5	3227	3526	1936	1798	756.3	12.4	151	2226	0.00	2.50	0.00	0.000	1030	0.000	0.045	3233	2096	1866	1935	1798	0	0	0	0	0	0	14.88	14.81	14.90
2612	1.29	222.5	3235	2096	1935	1798	713.1	11.0	162	2618	0.00	2.58	0.00	0.000	260	0.000	0.095	3233	3521	1865	1933	1798	0	0	0	0	0	0	15.11	14.76	15.14
2653	1.29	222.5	3233	3522	1933	1797	707.9	12.6	168	2660	0.00	2.50	0.00	0.000	1030	0.000	0.045	3242	2083	1865	1933	1797	0	0	0	0	0	0	14.95	14.87	15.00
3032	1.29	222.5	3244	2084	1933	1797	664.2	11.5	177	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	3242	2083	1863	1931	1796	0	0	0	0	0	0	15.14	15.16	15.16
3381	1.29	222.5	3243	2084	1932	1797	622.3	12.1	182	3388	0.00	2.62	0.00	0.000	260	0.000	0.096	3242	3509	1863	1930	1796	0	0	0	0	0	0	15.19	14.74	15.22
3423	1.29	222.5	3242	3509	1930	1796	616.4	14.5	188	3430	0.12	2.45	0.00	0.000	5126	0.239	0.044	3217	2094	1862	1929	1795	0	0	0	0	0	0	14.59	14.90	14.76
3802	1.29	222.5	3217	2095	1929	1796	574.0	10.9	197	3803	0.00	0.00	0.00	0.000	6	0.000	0.000	3217	2095	1862	1929	1795	0	0	0	0	0	0	15.15	15.19	15.21
4151	1.29	222.5	3217	2095	1928	1795	538.0	10.3	202	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	3218	2095	1862	1930	1795	0	0	0	0	0	0	15.22	15.25	15.25
4502	1.29	222.5	3218	2096	1928	1796	501.6	10.4	207	4508	0.00	2.60	0.00	0.000	260	0.000	0.096	3217	3503	1861	1928	1795	0	0	0	0	0	0	15.16	14.72	15.18
4529	1.29	222.5	3218	3503	1930	1795	498.6	11.0	211	4536	0.00	2.45	0.00	0.000	1030	0.000	0.047	3223	2094	1861	1928	1795	0	0	0	0	0	0	14.98	14.88	15.02
4922	1.29	222.5	3224	2094	1927	1796	459.6	9.9	222	4928	0.00	2.55	0.00	0.000	516	0.000	0.090	3234	701	1861	1927	1795	0	0	0	0	0	0	15.16	14.69	15.19
4956	1.29	222.5	3231	701	1926	1795	456.2	10.3	227	4963	0.00	2.47	0.00	0.000	1030	0.000	0.058	3231	2109	1860	1925	1795	0	0	0	0	0	0	14.96	14.84	15.01
5342	1.29	222.5	3231	2110	1925	1795	413.9	11.2	237	5349	0.00	2.58	0.00	0.000	260	0.000	0.098	3231	3534	1859	1925	1794	0	0	0	0	0	0	15.16	14.73	15.18
5411	1.29	222.5	3232	3535	1927	1795	405.0	12.9	247	5418	0.00	2.47	0.00	0.000	1030	0.000	0.044	3241	2098	1859	1925	1794	0	0	0	0	0	0	14.89	14.84	14.94
5833	1.29	222.5	3241	2098	1925	1795	358.8	10.9	262	5838	0.00	2.58	0.00	0.000	260	0.000	0.096	3241	3517	1860	1925	1795	0	0	0	0	0	0	15.16	14.74	15.18
5866	1.29	222.5	3241	3516	1925	1795	354.8	11.8	267	5873	0.15	2.47	0.00	0.000	5126	0.264	0.045	3213	2091	1863	1932	1795	0	0	0	0	0	0	14.53	14.86	14.69
6252	1.31	222.5	3215	2091	1927	1795	319.2	9.1	277	6259	0.00	2.55	0.00	0.000	580	0.000	0.090	3220	694	1859	1925	1794	0	0	0	0	0	0	15.15	14.66	15.18
6279	1.33	222.5	3221	695	1926	1795	316.6	9.2	281	6287	0.00	2.45	0.00	0.000	1094	0.000	0.056	3220	2101	1859	1924	1794	0	0	0	0	0	0	14.85	14.78	14.90
6672	1.34	222.5	3220	2102	1924	1795	280.4	9.2	292	6673	0.00	0.00	0.00	0.000	70	0.000	0.000	3220	2102	1859	1924	1794	0	0	0	0	0	0	15.16	15.18	15.18
7021	1.36	222.5	3219	2102	1924	1794	248.8	9.0	297	7029	0.00	2.58	0.00	0.000	580	0.000	0.087	3227	701	1859	1924	1794	0	0	0	0	0	0	15.21	14.67	15.23
7042	1.37	222.5	3229	702	1925	1795	246.8	9.4	300	7049	0.00	2.45	0.00	0.000	1094	0.000	0.057	3227	2100	1858	1923	1794	0	0	0	0	0	0	14.84	14.77	14.89
7442	1.37	222.5	3227	2101	1923	1794	205.3	10.5	312	7448	0.00	2.60	0.00	0.000	260	0.000	0.097	3228	3509	1858	1923	1793	0	0	0	0	0	0	15.14	14.65	15.17
7490	1.37	222.5	3229	3510	1925	1795	199.6	11.9	319	7497	0.00	2.47	0.00	0.000	1030	0.000	0.045	3236	2088	1858	1923	1794	0	0	0	0	0	0	14.95	14.84	14.99
7849	1.37	222.5	3235	2089	1923	1794	162.0	10.2	334	7854	0.00	2.60	0.00	0.000	260	0.000	0.095	3235	3513	1858	1923	1793	0	0	0	0	0	0	15.19	14.70	15.21
7868	1.37	222.5	3233	3513	1925	1794	159.7	10.3	337	7877	0.00	2.47	0.00	0.000	1030	0.000	0.046	3245	2094	1858	1923	1793	0	0	0	0	0	0	14.94	14.84	14.98
8212	1.37	222.5	3247	2094	1925	1793	125.3	10.3	350	8218	0.00	2.55	0.00	0.000	516	0.000	0.090	3255	707	1857	1923	1792	0	0	0	0	0	0	15.14	14.63	15.16
8246	1.37	222.5	3257	702	1925	1794	121.7	10.7	355	8253	0.00	2.47	0.00	0.000	1030	0.000	0.059	3255	2102	1857	1922	1793	0	0	0	0	0	0	14.91	14.78	14.96
8603	1.37	222.5	3255	2102	1922	1793	84.9	10.4	370	8610	0.00	2.60	0.00	0.000	260	0.000	0.099	3255	3508	1854	1917	1792	0	0	0	0	0	0	15.19	14.63	15.22
8666	1.37	222.5	3256	3509	1924	1793	77.4	12.2	379	8673	0.00	2.47	0.00	0.000	1030	0.000	0.045	3265	2083	1857	1922	1793	0	0	0	0	0	0	14.89	14.82	14.92
9025	1.37	222.5	3267	2084	1924	1793	37.1	11.2	394	9030	0.00	2.50	0.00	0.000	516	0.000	0.091	3274	698	1859	1922	1796	0	0	0	0	0	0	15.18	14.66	15.21
9072	1.37	222.5	3274	699	1921	1793	32.1	10.2	401	9081	0.12	2.50	0.00	0.000	5126	0.278	0.060	3244	2112	1854	1916	1792	0	0	0	0	0	0	14.46	14.77	14.62
9302	end climb: FINISH_DEPTH_REACHED
state	9302	begin subsurface finish
9307	0.01	5.4	3244	2113	1921	1793	9.6	10.0	410	9339	1.52	2.55	-25.20	0.005	20740	0.194	0.122	2793	3505	2759	2788	2731	0	0	0	0	0	0	14.49	13.65	14.78
9339	end subsurface finish: CONTROL_FINISHED_OK
state	9339	begin surface