Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 492 * 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 492 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 36 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 24 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 492 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 24 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 080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0 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 16.55 MHEAD_RNG_PITCHd_Wd 46.9,20775,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -6.7 D_GRID 990

GPS2 080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE -0.10,-1.736,-1.858,2,89,0 ALTIM_TOP_PING 7.8,8.6

FINISH -0.1,1.027263 ALTIM_BOTTOM_PING 461.5,12.4

SM_CCo 7740,94.50,0.236,0,0,1354,350.04 _24V_AH 11.63,174.627

SM_GC 0.70,8.98,0.40,94.50,0.084,0.085,0.236,215,2317,1354,-8.03,-0.42,350.04,0,0,0,0,0,0,14.74,14.72,14.22 _10V_AH 11.83,0.000

RAFOS_CLK 304 FG_AHR_24Vo 0.000

RAFOS 0,1536386462,6.032778,6.017222,104,65,63,50,50,49,639,151,222,167,191,116 FG_AHR_10Vo 0.000

RAFOS_FIX -7403.073730,-11304.868164,080918,060628,3,121,0.18 MEM 280816

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 13482,413

TT8_MAMPS 0.041195,0.23219 CAP_FILE_SIZE 70643,0

HUMID 49.37 CFSIZE 1024409600,961626112

INTERNAL_PRESSURE 8.08233 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.70 SOUNDSPEED 1443.6

XPDR_PINGS 0 GPS 080918,061528,-7403.074,-11304.868,0,4121.3,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 265 39.05 nil 0 0 0.00

Roll_motor 77 125 113.52 nil 0 0 0.00

VBD_pump_during_apogee 368 2848 12205.12 nil 0 0 0.00

VBD_pump_during_surface 94 235 258.95 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 7745 2 246.17

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 20 420 97.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6309 2 172.41

TT8_Active 563 13 92.08

TT8_Sampling 929 34 382.40

TT8_CF8 138 52 86.45

TT8_Kalman 0 0 0.00

Analog_circuits 926 10 119.50

GPS_charging 0 0 0.00

Compass 595 7 52.78

RAFOS 720 1 12.78

Transponder 146 30 52.15

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

17.8 18.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

424.9 45.40 9000.00 0.0 0.00 0.00 45.40 0.0 0.07 1.00

437.2 34.80 9000.00 0.0 0.05 0.82 34.80 472.0 -0.86 1.00

449.4 24.80 24.70 474.1 -0.85 1.00 24.80 474.2 -0.82 1.00

461.5 11.90 12.40 473.9 -0.94 0.99 11.90 473.4 -1.07 1.00

474.8 28.70 9000.00 0.0 0.17 0.06 28.70 0.0 1.26 1.00

464.4 11.90 9000.00 0.0 1.36 0.96 11.90 452.5 1.62 1.00

452.3 29.00 9000.00 0.0 -0.05 0.00 29.00 0.0 -1.41 1.00

438.1 39.90 41.20 0.0 -1.06 0.97 39.90 0.0 -0.77 1.00

63.8 66.20 9000.00 0.0 -0.08 0.94 66.20 0.0 -0.07 1.00

53.3 57.30 9000.00 0.0 -0.06 0.88 57.30 -4.0 0.85 1.00

42.5 44.30 45.00 -2.5 1.02 0.99 44.30 -1.8 1.20 1.00

32.0 33.40 33.10 -1.1 1.13 1.00 33.40 -1.4 1.04 1.00

19.7 22.10 21.90 -2.2 0.97 1.00 22.10 -2.4 0.92 1.00

7.8 8.00 8.60 -0.8 1.05 0.99 8.00 -0.2 1.18 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 2806 2308 2797 2724 0.0 0.0 0 21 0.00 0.00 -8.48 0.013 16390 0.000 0.000 2805 2307 3220 3250 3191 0 0 0 0 0 0 15.07 12.58 15.06

24 -1.06 -107.1 2805 2308 3250 3192 0.0 0.0 0 30 1.02 2.50 0.00 0.000 4612 0.073 0.067 2443 889 3220 3250 3191 0 0 0 0 0 0 14.62 14.52 14.67

49 -1.06 -107.1 2444 886 3249 3192 20.7 -13.1 4 56 0.00 2.55 0.00 0.000 1030 0.000 0.076 2434 2291 3220 3250 3191 0 0 0 0 0 0 14.59 14.51 14.66

413 -1.06 -107.1 2433 2292 3250 3192 90.6 -19.9 20 420 0.00 2.53 0.00 0.000 516 0.000 0.068 2434 891 3220 3250 3191 0 0 0 0 0 0 15.18 14.49 15.21

490 -1.06 -107.1 2433 891 3250 3191 105.9 -19.7 31 502 0.12 2.58 0.00 0.000 3078 0.265 0.075 2454 2304 3220 3250 3191 0 0 0 0 0 0 14.16 14.50 14.35

834 -1.06 -107.1 2455 2303 3252 3192 170.9 -19.0 44 840 0.00 2.47 0.00 0.000 516 0.000 0.067 2454 888 3220 3250 3190 0 0 0 0 0 0 15.07 14.53 15.09

875 -1.06 -107.1 2454 889 3252 3191 179.1 -19.4 50 882 0.00 2.58 0.00 0.000 1030 0.000 0.074 2445 2307 3220 3250 3191 0 0 0 0 0 0 14.60 14.51 14.66

1284 -1.06 -107.1 2445 2308 3249 3191 257.3 -19.3 60 1289 0.00 2.53 0.00 0.000 516 0.000 0.067 2445 888 3220 3250 3191 0 0 0 0 0 0 15.07 14.54 15.09

1323 -1.06 -107.1 2445 888 3250 3191 265.3 -18.9 66 1330 0.00 2.58 0.00 0.000 1030 0.000 0.072 2434 2307 3220 3250 3191 0 0 0 0 0 0 14.58 14.48 14.65

1703 -1.06 -107.1 2434 2307 3250 3191 337.8 -19.2 75 1708 0.00 2.50 0.00 0.000 516 0.000 0.067 2435 894 3220 3250 3191 0 0 0 0 0 0 15.06 14.45 15.08

1736 -1.06 -107.1 2434 895 3250 3191 344.7 -19.8 80 1743 0.12 2.58 0.00 0.000 3078 0.265 0.074 2455 2309 3220 3250 3191 0 0 0 0 0 0 14.14 14.50 14.34

2124 -1.06 -107.1 2456 2311 3252 3191 412.8 -17.7 90 2125 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2310 3220 3250 3190 0 0 0 0 0 0 15.06 15.09 15.08

2470 end dive: BOTTOM_OBSTACLE_DETECTED

state 2470 begin apogee

2478 -0.23 0.0 2455 2047 3250 3191 473.7 -17.4 95 2595 0.90 0.15 114.75 2.848 10246 0.149 0.125 2725 2132 2781 2818 2745 0 0 0 0 0 0 14.42 13.74 12.43

2596 end apogee: CONTROL_FINISHED_OK

state 2596 begin climb

2599 1.06 107.1 2726 2133 2820 2745 474.8 0.0 96 2735 1.38 2.90 126.38 2.736 11012 0.127 0.079 3136 739 2343 2390 2297 0 0 0 0 0 0 13.75 13.07 11.77

2768 1.19 214.1 3137 740 2386 2294 472.8 3.3 119 2903 0.12 2.62 127.35 2.685 11302 0.076 0.055 3188 2095 1908 1972 1844 0 0 0 0 0 0 13.40 13.39 11.63

3315 1.19 214.1 3187 2095 1960 1830 423.8 10.2 152 3321 0.00 2.53 0.00 0.000 516 0.000 0.081 3192 742 1895 1960 1831 0 0 0 0 0 0 14.77 14.35 14.79

3496 1.19 214.1 3191 742 1958 1828 405.0 10.3 178 3503 0.00 2.42 0.00 0.000 1030 0.000 0.062 3192 2109 1893 1958 1828 0 0 0 0 0 0 14.64 14.57 14.69

3874 1.19 214.1 3191 2109 1958 1828 366.3 10.0 187 3881 0.00 2.62 0.00 0.000 260 0.000 0.106 3192 3513 1892 1958 1826 0 0 0 0 0 0 15.09 14.53 15.11

4007 1.19 214.1 3190 3513 1956 1828 351.4 11.3 206 4015 0.00 2.38 0.00 0.000 1030 0.000 0.046 3192 2134 1892 1957 1827 0 0 0 0 0 0 14.76 14.70 14.81

4364 1.20 214.1 3193 2135 1958 1828 317.0 9.5 212 4371 0.00 2.60 0.00 0.000 324 0.000 0.105 3192 3516 1891 1956 1827 0 0 0 0 0 0 15.12 14.53 15.15

4476 1.20 214.1 3193 3516 1958 1828 304.9 10.7 228 4483 0.00 2.45 0.00 0.000 1030 0.000 0.046 3191 2092 1891 1956 1827 0 0 0 0 0 0 14.78 14.72 14.82

4854 1.22 214.1 3191 2094 1955 1827 270.1 9.2 237 4861 0.00 2.65 0.00 0.000 324 0.000 0.103 3192 3509 1891 1955 1827 0 0 0 0 0 0 15.17 14.54 15.20

4945 1.22 214.1 3193 3509 1957 1828 260.9 9.8 250 4952 0.00 2.42 0.00 0.000 1030 0.000 0.047 3192 2101 1891 1955 1827 0 0 0 0 0 0 14.77 14.72 14.80

5344 1.23 214.1 3193 2102 1957 1827 224.2 9.2 262 5351 0.00 2.65 0.00 0.000 324 0.000 0.104 3192 3504 1890 1954 1826 0 0 0 0 0 0 15.16 14.52 15.19

5470 1.23 214.1 3193 3505 1956 1827 211.2 10.3 280 5477 0.00 2.42 0.00 0.000 1030 0.000 0.046 3192 2099 1890 1954 1826 0 0 0 0 0 0 14.75 14.69 14.78

5848 1.24 214.1 3193 2100 1956 1827 176.9 9.5 292 5855 0.00 2.65 0.00 0.000 324 0.000 0.105 3192 3503 1890 1954 1826 0 0 0 0 0 0 15.16 14.50 15.19

6023 1.24 214.1 3193 3504 1956 1827 158.5 10.6 317 6030 0.00 2.45 0.00 0.000 1030 0.000 0.046 3192 2089 1890 1954 1826 0 0 0 0 0 0 14.73 14.68 14.78

6380 1.24 214.1 3193 2088 1955 1827 123.7 9.7 332 6387 0.00 2.67 0.00 0.000 260 0.000 0.103 3191 3508 1889 1953 1826 0 0 0 0 0 0 15.16 14.48 15.19

6485 1.24 214.1 3191 3509 1953 1826 112.4 10.7 347 6493 0.00 2.45 0.00 0.000 1030 0.000 0.047 3192 2095 1889 1953 1826 0 0 0 0 0 0 14.73 14.68 14.76

6828 1.27 214.1 3193 2095 1955 1827 80.5 8.8 360 6835 0.00 2.67 0.00 0.000 324 0.000 0.104 3192 3513 1889 1953 1825 0 0 0 0 0 0 15.16 14.46 15.19

6926 1.27 214.1 3193 3512 1955 1833 70.2 10.6 374 6933 0.00 2.45 0.00 0.000 1030 0.000 0.046 3192 2093 1889 1953 1826 0 0 0 0 0 0 14.72 14.65 14.76

7278 1.28 214.1 3193 2094 1955 1826 37.5 9.4 388 7283 0.00 2.62 0.00 0.000 324 0.000 0.103 3192 3514 1889 1952 1826 0 0 0 0 0 0 15.16 14.52 15.18

7339 1.28 214.1 3191 3513 1952 1826 31.3 9.8 397 7346 0.00 2.45 0.00 0.000 1030 0.000 0.047 3192 2096 1889 1953 1825 0 0 0 0 0 0 14.71 14.66 14.77

7696 end climb: SURFACE_DEPTH_REACHED

state 7696 begin surface coast

7722 end surface coast: CONTROL_FINISHED_OK

state 7722 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	492	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	36	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	24	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	080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0	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	16.55	MHEAD_RNG_PITCHd_Wd	46.9,20775,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-6.7	D_GRID	990
GPS2	080918,031408,-7402.0400,-11305.2344,0,3098.0,0,53.2,0.0,0.0,0,0.0

FREEZE	-0.10,-1.736,-1.858,2,89,0	ALTIM_TOP_PING	7.8,8.6
FINISH	-0.1,1.027263	ALTIM_BOTTOM_PING	461.5,12.4
SM_CCo	7740,94.50,0.236,0,0,1354,350.04	_24V_AH	11.63,174.627
SM_GC	0.70,8.98,0.40,94.50,0.084,0.085,0.236,215,2317,1354,-8.03,-0.42,350.04,0,0,0,0,0,0,14.74,14.72,14.22	_10V_AH	11.83,0.000
RAFOS_CLK	304	FG_AHR_24Vo	0.000
RAFOS	0,1536386462,6.032778,6.017222,104,65,63,50,50,49,639,151,222,167,191,116	FG_AHR_10Vo	0.000
RAFOS_FIX	-7403.073730,-11304.868164,080918,060628,3,121,0.18	MEM	280816
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	13482,413
TT8_MAMPS	0.041195,0.23219	CAP_FILE_SIZE	70643,0
HUMID	49.37	CFSIZE	1024409600,961626112
INTERNAL_PRESSURE	8.08233	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.70	SOUNDSPEED	1443.6
XPDR_PINGS	0	GPS	080918,061528,-7403.074,-11304.868,0,4121.3,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	265	39.05	nil	0	0	0.00
Roll_motor	77	125	113.52	nil	0	0	0.00
VBD_pump_during_apogee	368	2848	12205.12	nil	0	0	0.00
VBD_pump_during_surface	94	235	258.95	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	7745	2	246.17
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	20	420	97.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6309	2	172.41
TT8_Active	563	13	92.08
TT8_Sampling	929	34	382.40
TT8_CF8	138	52	86.45
TT8_Kalman	0	0	0.00
Analog_circuits	926	10	119.50
GPS_charging	0	0	0.00
Compass	595	7	52.78
RAFOS	720	1	12.78
Transponder	146	30	52.15

		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
17.8	18.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
424.9	45.40	9000.00	0.0	0.00	0.00	45.40	0.0	0.07	1.00
437.2	34.80	9000.00	0.0	0.05	0.82	34.80	472.0	-0.86	1.00
449.4	24.80	24.70	474.1	-0.85	1.00	24.80	474.2	-0.82	1.00
461.5	11.90	12.40	473.9	-0.94	0.99	11.90	473.4	-1.07	1.00
474.8	28.70	9000.00	0.0	0.17	0.06	28.70	0.0	1.26	1.00

464.4	11.90	9000.00	0.0	1.36	0.96	11.90	452.5	1.62	1.00
452.3	29.00	9000.00	0.0	-0.05	0.00	29.00	0.0	-1.41	1.00
438.1	39.90	41.20	0.0	-1.06	0.97	39.90	0.0	-0.77	1.00
63.8	66.20	9000.00	0.0	-0.08	0.94	66.20	0.0	-0.07	1.00
53.3	57.30	9000.00	0.0	-0.06	0.88	57.30	-4.0	0.85	1.00
42.5	44.30	45.00	-2.5	1.02	0.99	44.30	-1.8	1.20	1.00
32.0	33.40	33.10	-1.1	1.13	1.00	33.40	-1.4	1.04	1.00
19.7	22.10	21.90	-2.2	0.97	1.00	22.10	-2.4	0.92	1.00
7.8	8.00	8.60	-0.8	1.05	0.99	8.00	-0.2	1.18	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	2806	2308	2797	2724	0.0	0.0	0	21	0.00	0.00	-8.48	0.013	16390	0.000	0.000	2805	2307	3220	3250	3191	0	0	0	0	0	0	15.07	12.58	15.06
24	-1.06	-107.1	2805	2308	3250	3192	0.0	0.0	0	30	1.02	2.50	0.00	0.000	4612	0.073	0.067	2443	889	3220	3250	3191	0	0	0	0	0	0	14.62	14.52	14.67
49	-1.06	-107.1	2444	886	3249	3192	20.7	-13.1	4	56	0.00	2.55	0.00	0.000	1030	0.000	0.076	2434	2291	3220	3250	3191	0	0	0	0	0	0	14.59	14.51	14.66
413	-1.06	-107.1	2433	2292	3250	3192	90.6	-19.9	20	420	0.00	2.53	0.00	0.000	516	0.000	0.068	2434	891	3220	3250	3191	0	0	0	0	0	0	15.18	14.49	15.21
490	-1.06	-107.1	2433	891	3250	3191	105.9	-19.7	31	502	0.12	2.58	0.00	0.000	3078	0.265	0.075	2454	2304	3220	3250	3191	0	0	0	0	0	0	14.16	14.50	14.35
834	-1.06	-107.1	2455	2303	3252	3192	170.9	-19.0	44	840	0.00	2.47	0.00	0.000	516	0.000	0.067	2454	888	3220	3250	3190	0	0	0	0	0	0	15.07	14.53	15.09
875	-1.06	-107.1	2454	889	3252	3191	179.1	-19.4	50	882	0.00	2.58	0.00	0.000	1030	0.000	0.074	2445	2307	3220	3250	3191	0	0	0	0	0	0	14.60	14.51	14.66
1284	-1.06	-107.1	2445	2308	3249	3191	257.3	-19.3	60	1289	0.00	2.53	0.00	0.000	516	0.000	0.067	2445	888	3220	3250	3191	0	0	0	0	0	0	15.07	14.54	15.09
1323	-1.06	-107.1	2445	888	3250	3191	265.3	-18.9	66	1330	0.00	2.58	0.00	0.000	1030	0.000	0.072	2434	2307	3220	3250	3191	0	0	0	0	0	0	14.58	14.48	14.65
1703	-1.06	-107.1	2434	2307	3250	3191	337.8	-19.2	75	1708	0.00	2.50	0.00	0.000	516	0.000	0.067	2435	894	3220	3250	3191	0	0	0	0	0	0	15.06	14.45	15.08
1736	-1.06	-107.1	2434	895	3250	3191	344.7	-19.8	80	1743	0.12	2.58	0.00	0.000	3078	0.265	0.074	2455	2309	3220	3250	3191	0	0	0	0	0	0	14.14	14.50	14.34
2124	-1.06	-107.1	2456	2311	3252	3191	412.8	-17.7	90	2125	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2310	3220	3250	3190	0	0	0	0	0	0	15.06	15.09	15.08
2470	end dive: BOTTOM_OBSTACLE_DETECTED
state	2470	begin apogee
2478	-0.23	0.0	2455	2047	3250	3191	473.7	-17.4	95	2595	0.90	0.15	114.75	2.848	10246	0.149	0.125	2725	2132	2781	2818	2745	0	0	0	0	0	0	14.42	13.74	12.43
2596	end apogee: CONTROL_FINISHED_OK
state	2596	begin climb
2599	1.06	107.1	2726	2133	2820	2745	474.8	0.0	96	2735	1.38	2.90	126.38	2.736	11012	0.127	0.079	3136	739	2343	2390	2297	0	0	0	0	0	0	13.75	13.07	11.77
2768	1.19	214.1	3137	740	2386	2294	472.8	3.3	119	2903	0.12	2.62	127.35	2.685	11302	0.076	0.055	3188	2095	1908	1972	1844	0	0	0	0	0	0	13.40	13.39	11.63
3315	1.19	214.1	3187	2095	1960	1830	423.8	10.2	152	3321	0.00	2.53	0.00	0.000	516	0.000	0.081	3192	742	1895	1960	1831	0	0	0	0	0	0	14.77	14.35	14.79
3496	1.19	214.1	3191	742	1958	1828	405.0	10.3	178	3503	0.00	2.42	0.00	0.000	1030	0.000	0.062	3192	2109	1893	1958	1828	0	0	0	0	0	0	14.64	14.57	14.69
3874	1.19	214.1	3191	2109	1958	1828	366.3	10.0	187	3881	0.00	2.62	0.00	0.000	260	0.000	0.106	3192	3513	1892	1958	1826	0	0	0	0	0	0	15.09	14.53	15.11
4007	1.19	214.1	3190	3513	1956	1828	351.4	11.3	206	4015	0.00	2.38	0.00	0.000	1030	0.000	0.046	3192	2134	1892	1957	1827	0	0	0	0	0	0	14.76	14.70	14.81
4364	1.20	214.1	3193	2135	1958	1828	317.0	9.5	212	4371	0.00	2.60	0.00	0.000	324	0.000	0.105	3192	3516	1891	1956	1827	0	0	0	0	0	0	15.12	14.53	15.15
4476	1.20	214.1	3193	3516	1958	1828	304.9	10.7	228	4483	0.00	2.45	0.00	0.000	1030	0.000	0.046	3191	2092	1891	1956	1827	0	0	0	0	0	0	14.78	14.72	14.82
4854	1.22	214.1	3191	2094	1955	1827	270.1	9.2	237	4861	0.00	2.65	0.00	0.000	324	0.000	0.103	3192	3509	1891	1955	1827	0	0	0	0	0	0	15.17	14.54	15.20
4945	1.22	214.1	3193	3509	1957	1828	260.9	9.8	250	4952	0.00	2.42	0.00	0.000	1030	0.000	0.047	3192	2101	1891	1955	1827	0	0	0	0	0	0	14.77	14.72	14.80
5344	1.23	214.1	3193	2102	1957	1827	224.2	9.2	262	5351	0.00	2.65	0.00	0.000	324	0.000	0.104	3192	3504	1890	1954	1826	0	0	0	0	0	0	15.16	14.52	15.19
5470	1.23	214.1	3193	3505	1956	1827	211.2	10.3	280	5477	0.00	2.42	0.00	0.000	1030	0.000	0.046	3192	2099	1890	1954	1826	0	0	0	0	0	0	14.75	14.69	14.78
5848	1.24	214.1	3193	2100	1956	1827	176.9	9.5	292	5855	0.00	2.65	0.00	0.000	324	0.000	0.105	3192	3503	1890	1954	1826	0	0	0	0	0	0	15.16	14.50	15.19
6023	1.24	214.1	3193	3504	1956	1827	158.5	10.6	317	6030	0.00	2.45	0.00	0.000	1030	0.000	0.046	3192	2089	1890	1954	1826	0	0	0	0	0	0	14.73	14.68	14.78
6380	1.24	214.1	3193	2088	1955	1827	123.7	9.7	332	6387	0.00	2.67	0.00	0.000	260	0.000	0.103	3191	3508	1889	1953	1826	0	0	0	0	0	0	15.16	14.48	15.19
6485	1.24	214.1	3191	3509	1953	1826	112.4	10.7	347	6493	0.00	2.45	0.00	0.000	1030	0.000	0.047	3192	2095	1889	1953	1826	0	0	0	0	0	0	14.73	14.68	14.76
6828	1.27	214.1	3193	2095	1955	1827	80.5	8.8	360	6835	0.00	2.67	0.00	0.000	324	0.000	0.104	3192	3513	1889	1953	1825	0	0	0	0	0	0	15.16	14.46	15.19
6926	1.27	214.1	3193	3512	1955	1833	70.2	10.6	374	6933	0.00	2.45	0.00	0.000	1030	0.000	0.046	3192	2093	1889	1953	1826	0	0	0	0	0	0	14.72	14.65	14.76
7278	1.28	214.1	3193	2094	1955	1826	37.5	9.4	388	7283	0.00	2.62	0.00	0.000	324	0.000	0.103	3192	3514	1889	1952	1826	0	0	0	0	0	0	15.16	14.52	15.18
7339	1.28	214.1	3191	3513	1952	1826	31.3	9.8	397	7346	0.00	2.45	0.00	0.000	1030	0.000	0.047	3192	2096	1889	1953	1825	0	0	0	0	0	0	14.71	14.66	14.77
7696	end climb: SURFACE_DEPTH_REACHED
state	7696	begin surface coast
7722	end surface coast: CONTROL_FINISHED_OK
state	7722	begin surface