Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 490 * 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 490 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 41 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 38 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 490 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 41 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 38 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 070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0 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 437.09 MHEAD_RNG_PITCHd_Wd 32.2,22756,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -0.6 D_GRID 990

GPS2 070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 436.1,1.027496,0 _24V_AH 11.78,173.953

FINISH2 435.6 _10V_AH 11.96,0.000

RAFOS_CLK 510 FG_AHR_24Vo 0.000

RAFOS 0,1536354061,21.032778,21.016945,156,65,59,57,56,56,653,180,208,224,241,190 FG_AHR_10Vo 0.000

RAFOS_FIX -7404.590820,-11307.617188,070918,212144,3,150,0.50 MEM 280816

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 30042,931

TT8_MAMPS 0.044191,0.280126 CAP_FILE_SIZE 99644,20

HUMID 48.30 CFSIZE 1024409600,961822720

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

TCM_TEMP 11.90 SOUNDSPEED 1447.9

XPDR_PINGS 0 GPS 070918,211544,-7404.591,-11307.617,0,4150.3,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 191 10.31 nil 0 0 0.00

Roll_motor 113 177 237.61 nil 0 0 0.00

VBD_pump_during_apogee 245 2802 8103.09 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 12933 2 405.25

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10667 2 294.72

TT8_Active 408 13 67.57

TT8_Sampling 1761 34 733.12

TT8_CF8 176 52 111.09

TT8_Kalman 0 0 0.00

Analog_circuits 1097 10 143.11

GPS_charging 0 0 0.00

Compass 1326 7 118.86

RAFOS 1200 1 21.53

Transponder 4 30 1.63

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

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 2801 2277 2836 2764 0.0 0.0 0 19 0.00 0.00 -6.85 0.030 16390 0.000 0.000 2800 2278 3237 3269 3206 0 0 0 0 1 0 14.45 12.63 14.45

22 -1.06 -107.1 2803 2278 3271 3207 0.0 0.0 0 28 1.10 2.50 0.00 0.000 4612 0.122 0.072 2460 900 3237 3269 3205 0 0 0 0 0 0 14.08 14.12 14.18

257 -1.06 -107.1 2460 901 3268 3205 437.2 0.2 34 264 0.00 2.50 0.00 0.000 1062 0.000 0.065 2460 2282 3236 3269 3204 0 0 0 0 0 0 14.57 14.50 14.64

649 -1.06 -107.1 2459 2286 3269 3204 437.2 -0.0 45 656 0.00 2.70 0.00 0.000 260 0.000 0.113 2460 3718 3236 3269 3204 0 0 0 0 0 0 15.09 14.50 15.11

887 -1.06 -107.1 2459 3718 3269 3204 437.1 0.0 79 895 0.00 2.47 0.00 0.000 1062 0.000 0.047 2460 2282 3236 3269 3204 0 0 0 0 0 0 14.79 14.76 14.83

1279 -1.06 -107.1 2459 2283 3270 3204 437.1 0.0 90 1286 0.00 2.72 0.00 0.000 260 0.000 0.114 2460 3711 3236 3269 3204 0 0 0 0 0 0 15.15 14.51 15.18

1518 -1.06 -107.1 2461 3711 3271 3204 437.1 0.1 124 1524 0.00 2.45 0.00 0.000 1062 0.000 0.047 2460 2281 3236 3270 3203 0 0 0 0 0 0 14.80 14.77 14.85

1911 -1.06 -107.1 2459 2281 3269 3204 437.1 0.0 135 1916 0.00 2.70 0.00 0.000 260 0.000 0.112 2460 3725 3237 3271 3203 0 0 0 0 0 0 15.14 14.54 15.16

2147 -1.06 -107.1 2461 3726 3271 3204 437.0 0.0 169 2154 0.00 2.45 0.00 0.000 1062 0.000 0.047 2460 2295 3236 3269 3203 0 0 0 0 0 0 14.81 14.76 14.83

2540 -1.06 -107.1 2460 2296 3269 3203 437.0 0.0 180 2546 0.00 2.70 0.00 0.000 260 0.000 0.112 2459 3715 3236 3269 3203 0 0 0 0 0 0 15.16 14.47 15.18

2777 -1.06 -107.1 2455 3715 3270 3203 437.0 0.0 214 2784 0.00 2.42 0.00 0.000 1062 0.000 0.047 2460 2293 3235 3268 3202 0 0 0 0 0 0 14.81 14.78 14.83

3169 -1.06 -107.1 2459 2294 3269 3203 437.0 0.0 225 3176 0.00 2.70 0.00 0.000 260 0.000 0.109 2459 3715 3235 3269 3202 0 0 0 0 0 0 15.16 14.46 15.19

3407 -1.06 -107.1 2461 3715 3271 3203 437.0 0.0 259 3414 0.00 2.42 0.00 0.000 1062 0.000 0.047 2459 2295 3235 3269 3202 0 0 0 0 0 0 14.80 14.78 14.83

3799 -1.06 -107.1 2459 2296 3269 3202 437.0 0.0 270 3806 0.00 2.70 0.00 0.000 260 0.000 0.110 2466 3719 3235 3269 3201 0 0 0 0 0 0 15.18 14.45 15.20

4038 -1.06 -107.1 2461 3720 3271 3202 436.9 0.0 304 4044 0.00 2.42 0.00 0.000 1062 0.000 0.045 2460 2302 3235 3269 3201 0 0 0 0 0 0 14.76 14.74 14.80

4429 -1.06 -107.1 2459 2302 3269 3202 437.0 0.0 315 4436 0.00 2.70 0.00 0.000 260 0.000 0.113 2460 3715 3235 3269 3201 0 0 0 0 0 0 15.17 14.40 15.19

4667 -1.06 -107.1 2459 3715 3269 3202 436.9 0.0 349 4674 0.00 2.45 0.00 0.000 1062 0.000 0.047 2460 2280 3235 3269 3201 0 0 0 0 0 0 14.76 14.73 14.79

5059 -1.06 -107.1 2459 2281 3269 3201 436.9 0.0 360 5066 0.00 2.72 0.00 0.000 260 0.000 0.109 2460 3715 3235 3269 3201 0 0 0 0 0 0 15.17 14.40 15.19

5298 -1.06 -107.1 2461 3720 3271 3201 436.9 -0.0 394 5304 0.00 2.42 0.00 0.000 1062 0.000 0.046 2459 2290 3235 3269 3201 0 0 0 0 0 0 14.76 14.72 14.78

5690 -1.06 -107.1 2460 2291 3271 3202 436.9 0.0 405 5696 0.00 2.70 0.00 0.000 260 0.000 0.107 2459 3714 3235 3269 3201 0 0 0 0 0 0 15.16 14.41 15.18

5927 -1.06 -107.1 2461 3715 3271 3202 436.9 0.0 439 5934 0.00 2.42 0.00 0.000 1062 0.000 0.046 2459 2294 3235 3269 3201 0 0 0 0 0 0 14.76 14.72 14.76

6319 -1.06 -107.1 2461 2295 3271 3201 436.9 0.0 450 6326 0.00 2.70 0.00 0.000 260 0.000 0.109 2460 3717 3233 3269 3197 0 0 0 0 0 0 15.17 14.38 15.19

6557 -1.06 -107.1 2458 3718 3269 3202 436.9 -0.0 484 6564 0.00 2.45 0.00 0.000 1062 0.000 0.046 2459 2290 3234 3269 3200 0 0 0 0 0 0 14.73 14.69 14.76

6949 -1.06 -107.1 2461 2290 3271 3201 436.9 0.0 495 6956 0.00 2.70 0.00 0.000 260 0.000 0.108 2459 3709 3234 3269 3200 0 0 0 0 0 0 15.16 14.36 15.18

7187 -1.06 -107.1 2461 3710 3271 3201 436.8 0.0 529 7194 0.00 2.42 0.00 0.000 1062 0.000 0.046 2460 2292 3234 3269 3200 0 0 0 0 0 0 14.73 14.69 14.76

7579 -1.06 -107.1 2460 2293 3271 3201 436.8 0.0 540 7586 0.00 2.70 0.00 0.000 260 0.000 0.106 2459 3716 3234 3269 3200 0 0 0 0 0 0 15.16 14.36 15.19

7817 -1.06 -107.1 2459 3717 3269 3201 436.8 0.0 574 7824 0.00 2.42 0.00 0.000 1062 0.000 0.047 2460 2308 3234 3269 3200 0 0 0 0 0 0 14.69 14.66 14.73

8209 -1.06 -107.1 2459 2309 3269 3200 436.8 0.0 585 8216 0.00 2.67 0.00 0.000 260 0.000 0.108 2460 3714 3234 3268 3200 0 0 0 0 0 0 15.15 14.34 15.18

8447 -1.06 -107.1 2459 3714 3269 3201 436.8 0.0 619 8454 0.00 2.45 0.00 0.000 1062 0.000 0.047 2460 2292 3234 3269 3199 0 0 0 0 0 0 14.71 14.67 14.73

8839 -1.06 -107.1 2458 2292 3268 3200 436.8 0.0 630 8846 0.00 2.72 0.00 0.000 260 0.000 0.107 2459 3721 3234 3269 3200 0 0 0 0 0 0 15.13 14.33 15.15

9077 -1.06 -107.1 2460 3725 3270 3201 436.7 0.0 664 9084 0.00 2.47 0.00 0.000 1062 0.000 0.047 2460 2292 3234 3268 3200 0 0 0 0 0 0 14.67 14.64 14.71

9469 -1.06 -107.1 2461 2293 3271 3199 436.7 0.0 675 9476 0.00 2.70 0.00 0.000 260 0.000 0.106 2460 3715 3234 3269 3200 0 0 0 0 0 0 15.14 14.32 15.17

9707 -1.06 -107.1 2460 3715 3270 3201 436.7 0.0 709 9714 0.00 2.42 0.00 0.000 1062 0.000 0.045 2459 2299 3233 3267 3200 0 0 0 0 0 0 14.69 14.65 14.71

10099 -1.06 -107.1 2461 2300 3271 3201 436.7 0.0 720 10106 0.00 2.70 0.00 0.000 260 0.000 0.110 2460 3710 3234 3269 3200 0 0 0 0 0 0 15.15 14.31 15.19

10337 -1.06 -107.1 2461 3713 3271 3201 436.7 0.0 754 10344 0.00 2.42 0.00 0.000 1062 0.000 0.046 2460 2297 3234 3269 3200 0 0 0 0 0 0 14.70 14.67 14.73

10729 -1.06 -107.1 2459 2298 3269 3201 436.7 0.0 765 10736 0.00 2.70 0.00 0.000 260 0.000 0.109 2460 3714 3234 3269 3200 0 0 0 0 0 0 15.14 14.31 15.16

10967 -1.06 -107.1 2461 3714 3271 3201 436.6 -0.0 799 10975 0.00 2.45 0.00 0.000 1062 0.000 0.045 2460 2285 3234 3268 3200 0 0 0 0 0 0 14.68 14.64 14.70

11360 -1.06 -107.1 2461 2287 3270 3201 436.6 0.0 810 11366 0.00 2.72 0.00 0.000 260 0.000 0.108 2460 3716 3234 3269 3200 0 0 0 0 0 0 15.15 14.30 15.17

11597 -1.06 -107.1 2459 3716 3268 3200 436.6 0.0 844 11605 0.00 2.45 0.00 0.000 1062 0.000 0.047 2460 2286 3234 3268 3200 0 0 0 0 0 0 14.70 14.66 14.72

11989 -1.06 -107.1 2460 2287 3270 3201 436.6 0.0 855 11996 0.00 2.72 0.00 0.000 260 0.000 0.107 2459 3715 3234 3269 3199 0 0 0 0 0 0 15.14 14.31 15.16

12227 -1.06 -107.1 2459 3715 3268 3200 436.6 0.0 889 12235 0.00 2.42 0.00 0.000 1062 0.000 0.045 2459 2295 3233 3268 3199 0 0 0 0 0 0 14.69 14.66 14.73

12617 end dive: HALF_MISSION_TIME_EXCEEDED

state 12618 begin apogee

12624 -0.23 0.0 2459 2072 3268 3200 436.6 0.0 900 12745 0.85 0.08 118.80 2.802 10246 0.102 0.177 2733 2111 2782 2820 2744 0 0 0 0 0 0 14.41 13.69 12.39

12746 end apogee: CONTROL_FINISHED_OK

state 12746 begin climb

12749 1.06 107.1 2734 2112 2821 2743 436.7 0.0 901 12886 1.30 2.85 126.68 2.695 10756 0.095 0.081 3147 745 2342 2388 2296 0 0 0 0 0 0 13.76 13.07 11.78

12896 end climb: NO_VERTICAL_VELOCITY

state 12896 begin subsurface finish

12904 0.00 0.2 3149 2106 2388 2293 436.1 0.9 929 12915 1.33 2.80 -1.52 0.068 20996 0.191 0.102 2806 740 2791 2830 2753 0 0 0 0 0 0 13.14 12.11 13.27

12916 end subsurface finish: CONTROL_FINISHED_OK

state 12916 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	490	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	41	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	38	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	070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0	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	437.09	MHEAD_RNG_PITCHd_Wd	32.2,22756,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-0.6	D_GRID	990
GPS2	070918,203335,-7404.9893,-11309.6143,0,1001.0,0,53.2,0.0,0.0,0,0.0

FINISH1	436.1,1.027496,0	_24V_AH	11.78,173.953
FINISH2	435.6	_10V_AH	11.96,0.000
RAFOS_CLK	510	FG_AHR_24Vo	0.000
RAFOS	0,1536354061,21.032778,21.016945,156,65,59,57,56,56,653,180,208,224,241,190	FG_AHR_10Vo	0.000
RAFOS_FIX	-7404.590820,-11307.617188,070918,212144,3,150,0.50	MEM	280816
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	30042,931
TT8_MAMPS	0.044191,0.280126	CAP_FILE_SIZE	99644,20
HUMID	48.30	CFSIZE	1024409600,961822720
INTERNAL_PRESSURE	8.22882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	11.90	SOUNDSPEED	1447.9
XPDR_PINGS	0	GPS	070918,211544,-7404.591,-11307.617,0,4150.3,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	191	10.31	nil	0	0	0.00
Roll_motor	113	177	237.61	nil	0	0	0.00
VBD_pump_during_apogee	245	2802	8103.09	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	12933	2	405.25
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10667	2	294.72
TT8_Active	408	13	67.57
TT8_Sampling	1761	34	733.12
TT8_CF8	176	52	111.09
TT8_Kalman	0	0	0.00
Analog_circuits	1097	10	143.11
GPS_charging	0	0	0.00
Compass	1326	7	118.86
RAFOS	1200	1	21.53
Transponder	4	30	1.63

		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

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	2801	2277	2836	2764	0.0	0.0	0	19	0.00	0.00	-6.85	0.030	16390	0.000	0.000	2800	2278	3237	3269	3206	0	0	0	0	1	0	14.45	12.63	14.45
22	-1.06	-107.1	2803	2278	3271	3207	0.0	0.0	0	28	1.10	2.50	0.00	0.000	4612	0.122	0.072	2460	900	3237	3269	3205	0	0	0	0	0	0	14.08	14.12	14.18
257	-1.06	-107.1	2460	901	3268	3205	437.2	0.2	34	264	0.00	2.50	0.00	0.000	1062	0.000	0.065	2460	2282	3236	3269	3204	0	0	0	0	0	0	14.57	14.50	14.64
649	-1.06	-107.1	2459	2286	3269	3204	437.2	-0.0	45	656	0.00	2.70	0.00	0.000	260	0.000	0.113	2460	3718	3236	3269	3204	0	0	0	0	0	0	15.09	14.50	15.11
887	-1.06	-107.1	2459	3718	3269	3204	437.1	0.0	79	895	0.00	2.47	0.00	0.000	1062	0.000	0.047	2460	2282	3236	3269	3204	0	0	0	0	0	0	14.79	14.76	14.83
1279	-1.06	-107.1	2459	2283	3270	3204	437.1	0.0	90	1286	0.00	2.72	0.00	0.000	260	0.000	0.114	2460	3711	3236	3269	3204	0	0	0	0	0	0	15.15	14.51	15.18
1518	-1.06	-107.1	2461	3711	3271	3204	437.1	0.1	124	1524	0.00	2.45	0.00	0.000	1062	0.000	0.047	2460	2281	3236	3270	3203	0	0	0	0	0	0	14.80	14.77	14.85
1911	-1.06	-107.1	2459	2281	3269	3204	437.1	0.0	135	1916	0.00	2.70	0.00	0.000	260	0.000	0.112	2460	3725	3237	3271	3203	0	0	0	0	0	0	15.14	14.54	15.16
2147	-1.06	-107.1	2461	3726	3271	3204	437.0	0.0	169	2154	0.00	2.45	0.00	0.000	1062	0.000	0.047	2460	2295	3236	3269	3203	0	0	0	0	0	0	14.81	14.76	14.83
2540	-1.06	-107.1	2460	2296	3269	3203	437.0	0.0	180	2546	0.00	2.70	0.00	0.000	260	0.000	0.112	2459	3715	3236	3269	3203	0	0	0	0	0	0	15.16	14.47	15.18
2777	-1.06	-107.1	2455	3715	3270	3203	437.0	0.0	214	2784	0.00	2.42	0.00	0.000	1062	0.000	0.047	2460	2293	3235	3268	3202	0	0	0	0	0	0	14.81	14.78	14.83
3169	-1.06	-107.1	2459	2294	3269	3203	437.0	0.0	225	3176	0.00	2.70	0.00	0.000	260	0.000	0.109	2459	3715	3235	3269	3202	0	0	0	0	0	0	15.16	14.46	15.19
3407	-1.06	-107.1	2461	3715	3271	3203	437.0	0.0	259	3414	0.00	2.42	0.00	0.000	1062	0.000	0.047	2459	2295	3235	3269	3202	0	0	0	0	0	0	14.80	14.78	14.83
3799	-1.06	-107.1	2459	2296	3269	3202	437.0	0.0	270	3806	0.00	2.70	0.00	0.000	260	0.000	0.110	2466	3719	3235	3269	3201	0	0	0	0	0	0	15.18	14.45	15.20
4038	-1.06	-107.1	2461	3720	3271	3202	436.9	0.0	304	4044	0.00	2.42	0.00	0.000	1062	0.000	0.045	2460	2302	3235	3269	3201	0	0	0	0	0	0	14.76	14.74	14.80
4429	-1.06	-107.1	2459	2302	3269	3202	437.0	0.0	315	4436	0.00	2.70	0.00	0.000	260	0.000	0.113	2460	3715	3235	3269	3201	0	0	0	0	0	0	15.17	14.40	15.19
4667	-1.06	-107.1	2459	3715	3269	3202	436.9	0.0	349	4674	0.00	2.45	0.00	0.000	1062	0.000	0.047	2460	2280	3235	3269	3201	0	0	0	0	0	0	14.76	14.73	14.79
5059	-1.06	-107.1	2459	2281	3269	3201	436.9	0.0	360	5066	0.00	2.72	0.00	0.000	260	0.000	0.109	2460	3715	3235	3269	3201	0	0	0	0	0	0	15.17	14.40	15.19
5298	-1.06	-107.1	2461	3720	3271	3201	436.9	-0.0	394	5304	0.00	2.42	0.00	0.000	1062	0.000	0.046	2459	2290	3235	3269	3201	0	0	0	0	0	0	14.76	14.72	14.78
5690	-1.06	-107.1	2460	2291	3271	3202	436.9	0.0	405	5696	0.00	2.70	0.00	0.000	260	0.000	0.107	2459	3714	3235	3269	3201	0	0	0	0	0	0	15.16	14.41	15.18
5927	-1.06	-107.1	2461	3715	3271	3202	436.9	0.0	439	5934	0.00	2.42	0.00	0.000	1062	0.000	0.046	2459	2294	3235	3269	3201	0	0	0	0	0	0	14.76	14.72	14.76
6319	-1.06	-107.1	2461	2295	3271	3201	436.9	0.0	450	6326	0.00	2.70	0.00	0.000	260	0.000	0.109	2460	3717	3233	3269	3197	0	0	0	0	0	0	15.17	14.38	15.19
6557	-1.06	-107.1	2458	3718	3269	3202	436.9	-0.0	484	6564	0.00	2.45	0.00	0.000	1062	0.000	0.046	2459	2290	3234	3269	3200	0	0	0	0	0	0	14.73	14.69	14.76
6949	-1.06	-107.1	2461	2290	3271	3201	436.9	0.0	495	6956	0.00	2.70	0.00	0.000	260	0.000	0.108	2459	3709	3234	3269	3200	0	0	0	0	0	0	15.16	14.36	15.18
7187	-1.06	-107.1	2461	3710	3271	3201	436.8	0.0	529	7194	0.00	2.42	0.00	0.000	1062	0.000	0.046	2460	2292	3234	3269	3200	0	0	0	0	0	0	14.73	14.69	14.76
7579	-1.06	-107.1	2460	2293	3271	3201	436.8	0.0	540	7586	0.00	2.70	0.00	0.000	260	0.000	0.106	2459	3716	3234	3269	3200	0	0	0	0	0	0	15.16	14.36	15.19
7817	-1.06	-107.1	2459	3717	3269	3201	436.8	0.0	574	7824	0.00	2.42	0.00	0.000	1062	0.000	0.047	2460	2308	3234	3269	3200	0	0	0	0	0	0	14.69	14.66	14.73
8209	-1.06	-107.1	2459	2309	3269	3200	436.8	0.0	585	8216	0.00	2.67	0.00	0.000	260	0.000	0.108	2460	3714	3234	3268	3200	0	0	0	0	0	0	15.15	14.34	15.18
8447	-1.06	-107.1	2459	3714	3269	3201	436.8	0.0	619	8454	0.00	2.45	0.00	0.000	1062	0.000	0.047	2460	2292	3234	3269	3199	0	0	0	0	0	0	14.71	14.67	14.73
8839	-1.06	-107.1	2458	2292	3268	3200	436.8	0.0	630	8846	0.00	2.72	0.00	0.000	260	0.000	0.107	2459	3721	3234	3269	3200	0	0	0	0	0	0	15.13	14.33	15.15
9077	-1.06	-107.1	2460	3725	3270	3201	436.7	0.0	664	9084	0.00	2.47	0.00	0.000	1062	0.000	0.047	2460	2292	3234	3268	3200	0	0	0	0	0	0	14.67	14.64	14.71
9469	-1.06	-107.1	2461	2293	3271	3199	436.7	0.0	675	9476	0.00	2.70	0.00	0.000	260	0.000	0.106	2460	3715	3234	3269	3200	0	0	0	0	0	0	15.14	14.32	15.17
9707	-1.06	-107.1	2460	3715	3270	3201	436.7	0.0	709	9714	0.00	2.42	0.00	0.000	1062	0.000	0.045	2459	2299	3233	3267	3200	0	0	0	0	0	0	14.69	14.65	14.71
10099	-1.06	-107.1	2461	2300	3271	3201	436.7	0.0	720	10106	0.00	2.70	0.00	0.000	260	0.000	0.110	2460	3710	3234	3269	3200	0	0	0	0	0	0	15.15	14.31	15.19
10337	-1.06	-107.1	2461	3713	3271	3201	436.7	0.0	754	10344	0.00	2.42	0.00	0.000	1062	0.000	0.046	2460	2297	3234	3269	3200	0	0	0	0	0	0	14.70	14.67	14.73
10729	-1.06	-107.1	2459	2298	3269	3201	436.7	0.0	765	10736	0.00	2.70	0.00	0.000	260	0.000	0.109	2460	3714	3234	3269	3200	0	0	0	0	0	0	15.14	14.31	15.16
10967	-1.06	-107.1	2461	3714	3271	3201	436.6	-0.0	799	10975	0.00	2.45	0.00	0.000	1062	0.000	0.045	2460	2285	3234	3268	3200	0	0	0	0	0	0	14.68	14.64	14.70
11360	-1.06	-107.1	2461	2287	3270	3201	436.6	0.0	810	11366	0.00	2.72	0.00	0.000	260	0.000	0.108	2460	3716	3234	3269	3200	0	0	0	0	0	0	15.15	14.30	15.17
11597	-1.06	-107.1	2459	3716	3268	3200	436.6	0.0	844	11605	0.00	2.45	0.00	0.000	1062	0.000	0.047	2460	2286	3234	3268	3200	0	0	0	0	0	0	14.70	14.66	14.72
11989	-1.06	-107.1	2460	2287	3270	3201	436.6	0.0	855	11996	0.00	2.72	0.00	0.000	260	0.000	0.107	2459	3715	3234	3269	3199	0	0	0	0	0	0	15.14	14.31	15.16
12227	-1.06	-107.1	2459	3715	3268	3200	436.6	0.0	889	12235	0.00	2.42	0.00	0.000	1062	0.000	0.045	2459	2295	3233	3268	3199	0	0	0	0	0	0	14.69	14.66	14.73
12617	end dive: HALF_MISSION_TIME_EXCEEDED
state	12618	begin apogee
12624	-0.23	0.0	2459	2072	3268	3200	436.6	0.0	900	12745	0.85	0.08	118.80	2.802	10246	0.102	0.177	2733	2111	2782	2820	2744	0	0	0	0	0	0	14.41	13.69	12.39
12746	end apogee: CONTROL_FINISHED_OK
state	12746	begin climb
12749	1.06	107.1	2734	2112	2821	2743	436.7	0.0	901	12886	1.30	2.85	126.68	2.695	10756	0.095	0.081	3147	745	2342	2388	2296	0	0	0	0	0	0	13.76	13.07	11.78
12896	end climb: NO_VERTICAL_VELOCITY
state	12896	begin subsurface finish
12904	0.00	0.2	3149	2106	2388	2293	436.1	0.9	929	12915	1.33	2.80	-1.52	0.068	20996	0.191	0.102	2806	740	2791	2830	2753	0	0	0	0	0	0	13.14	12.11	13.27
12916	end subsurface finish: CONTROL_FINISHED_OK
state	12916	begin surface