Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 496 * 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 496 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 54 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 496 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 54 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 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 080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0 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 10.39 MHEAD_RNG_PITCHd_Wd 45.4,20528,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.6 D_GRID 990

GPS2 080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 8.25,-1.878,-1.881,2,93,0 ALTIM_BOTTOM_PING 519.5,16.0

FINISH1 8.3,1.027508,-0 _24V_AH 11.64,175.932

FINISH2 8.3 _10V_AH 11.86,0.000

RAFOS_CLK 341 FG_AHR_24Vo 0.000

RAFOS 0,1536418869,15.032778,15.019167,99,61,56,55,50,49,592,213,126,177,153,139 FG_AHR_10Vo 0.000

RAFOS_FIX -7400.642090,-11253.115234,080918,151504,2,92,3.39 MEM 280816

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10165,342

TT8_MAMPS 0.040446,0.190246 CAP_FILE_SIZE 70443,0

HUMID 50.82 CFSIZE 1024409600,961232896

INTERNAL_PRESSURE 8.20929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.70 SOUNDSPEED 1444.4

XPDR_PINGS 0 GPS 080918,143937,-7402.341,-11304.923,0,1001.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 16.5,16.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 266 17.28 nil 0 0 0.00

Roll_motor 76 719 643.05 nil 0 0 0.00

VBD_pump_during_apogee 400 2903 13529.20 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 8650 2 273.56

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 21 420 105.11 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7274 2 199.30

TT8_Active 504 13 82.76

TT8_Sampling 815 34 336.68

TT8_CF8 136 52 85.45

TT8_Kalman 0 0 0.00

Analog_circuits 838 10 108.45

GPS_charging 0 0 0.00

Compass 495 7 44.05

RAFOS 480 1 8.54

Transponder 154 30 54.92

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

12.2 13.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.5 29.80 9000.00 0.0 0.00 0.00 29.80 0.0 1.59 1.00

494.8 42.60 9000.00 0.0 0.04 0.70 42.60 0.0 0.03 1.00

507.2 29.20 9000.00 0.0 0.01 0.20 29.20 536.4 -1.08 1.00

519.5 16.00 16.00 535.5 -1.07 1.00 16.00 535.5 -1.07 1.00

536.8 37.90 9000.00 0.0 0.36 0.23 37.90 0.0 1.27 1.00

521.2 17.80 9000.00 0.0 1.28 1.00 17.80 503.4 1.29 1.00

509.7 34.30 9000.00 0.0 0.20 0.06 34.30 0.0 -1.43 1.00

62.2 64.50 9000.00 0.0 -0.09 0.89 64.50 0.0 -0.07 1.00

50.9 52.60 9000.00 0.0 -0.05 0.83 52.60 -1.7 1.05 1.00

40.6 42.30 42.20 -1.6 1.03 1.00 42.30 -1.7 1.00 1.00

29.5 30.50 30.60 -1.1 1.03 1.00 30.50 -1.0 1.06 1.00

16.5 16.90 16.90 -0.4 1.05 1.00 16.90 -0.4 1.05 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

12 -1.06 -107.1 2804 2262 2815 2747 0.0 0.0 0 23 0.00 0.10 -10.20 0.010 16390 0.000 0.719 2803 2316 3221 3246 3196 0 0 0 0 0 0 15.08 12.59 15.06

26 -1.06 -107.1 2802 2317 3246 3197 0.0 0.0 0 32 1.00 2.45 0.00 0.000 4612 0.057 0.070 2434 914 3220 3246 3195 0 0 0 0 0 0 14.70 14.52 14.73

115 -1.06 -107.1 2433 915 3245 3197 24.9 -16.3 13 123 0.12 2.53 0.00 0.000 3078 0.262 0.072 2455 2298 3222 3246 3198 0 0 0 0 0 0 14.17 14.52 14.36

472 -1.06 -107.1 2455 2297 3246 3196 92.3 -20.5 28 479 0.00 2.53 0.00 0.000 516 0.000 0.073 2455 918 3220 3246 3195 0 0 0 0 0 0 15.06 14.47 15.08

507 -1.06 -107.1 2455 920 3248 3196 101.4 -26.0 33 517 0.00 2.53 0.00 0.000 1030 0.000 0.068 2445 2300 3220 3246 3195 0 0 0 0 0 0 14.62 14.52 14.68

866 -1.06 -107.1 2446 2301 3246 3196 177.0 -19.7 48 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 2300 3220 3246 3195 0 0 0 0 0 0 15.16 15.19 15.19

1217 -1.06 -107.1 2446 2301 3247 3196 245.7 -19.6 56 1217 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2300 3220 3246 3195 0 0 0 0 0 0 15.05 15.08 15.08

1567 -1.06 -107.1 2446 2300 3246 3196 313.5 -19.3 61 1573 0.00 2.47 0.00 0.000 516 0.000 0.068 2447 919 3220 3246 3195 0 0 0 0 0 0 15.06 14.52 15.08

1615 -1.06 -107.1 2448 919 3248 3196 323.2 -19.7 68 1622 0.00 2.50 0.00 0.000 1030 0.000 0.067 2436 2305 3220 3246 3195 0 0 0 0 0 0 14.59 14.52 14.66

1987 -1.06 -107.1 2435 2305 3246 3194 394.6 -19.2 76 1992 0.00 2.50 0.00 0.000 516 0.000 0.070 2435 909 3220 3246 3195 0 0 0 0 0 0 15.03 14.50 15.07

2006 -1.06 -107.1 2435 910 3246 3195 398.7 -19.4 79 2014 0.12 2.53 0.00 0.000 3078 0.266 0.069 2456 2301 3220 3246 3195 0 0 0 0 0 0 14.12 14.50 14.33

2407 -1.06 -107.1 2456 2307 3246 3194 470.2 -17.7 91 2407 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2301 3220 3246 3195 0 0 0 0 0 0 15.05 15.08 15.07

2754 end dive: BOTTOM_OBSTACLE_DETECTED

state 2754 begin apogee

2760 -0.23 0.0 2458 2072 3248 3196 531.9 -17.6 96 2880 1.00 0.08 116.62 2.904 10246 0.230 0.176 2724 2113 2781 2814 2748 0 0 0 0 0 0 14.19 13.69 12.34

2881 end apogee: CONTROL_FINISHED_OK

state 2881 begin climb

2883 1.06 107.1 2725 2114 2814 2748 536.8 0.0 97 3022 1.35 2.97 128.60 2.800 10500 0.112 0.096 3139 3502 2342 2385 2300 0 0 0 0 0 0 13.74 13.01 11.69

3069 1.15 185.3 3140 3501 2383 2296 533.5 5.1 130 3169 0.00 2.60 95.28 2.744 9254 0.000 0.044 3148 2138 2025 2087 1964 0 0 0 0 0 0 13.51 13.45 11.64

3532 1.19 185.3 3149 2139 2079 1950 498.6 8.1 151 3539 0.12 2.67 0.00 0.000 2628 0.137 0.086 3199 693 2013 2077 1950 0 0 0 0 0 0 14.44 14.31 14.54

3574 1.20 185.3 3200 694 2078 1950 494.8 9.4 157 3580 0.00 2.53 0.00 0.000 1094 0.000 0.057 3199 2102 2012 2076 1949 0 0 0 0 0 0 14.50 14.42 14.54

3953 1.20 185.3 3199 2103 2076 1947 458.1 9.7 166 3959 0.00 2.58 0.00 0.000 260 0.000 0.101 3199 3509 2010 2074 1947 0 0 0 0 0 0 15.01 14.58 15.03

4007 1.20 185.3 3200 3509 2075 1947 452.2 10.7 174 4015 0.00 2.47 0.00 0.000 1030 0.000 0.047 3199 2090 2010 2073 1947 0 0 0 0 0 0 14.74 14.67 14.78

4372 1.20 185.3 3198 2090 2071 1946 417.1 9.7 181 4378 0.00 2.58 0.00 0.000 516 0.000 0.091 3199 696 2009 2072 1946 0 0 0 0 0 0 15.07 14.56 15.09

4399 1.20 185.3 3198 696 2071 1946 414.3 10.0 185 4406 0.00 2.50 0.00 0.000 1030 0.000 0.059 3199 2105 2008 2071 1946 0 0 0 0 0 0 14.74 14.67 14.80

4792 1.20 185.3 3198 2105 2070 1945 374.9 9.9 196 4798 0.00 2.60 0.00 0.000 260 0.000 0.100 3199 3523 2008 2071 1945 0 0 0 0 0 0 15.08 14.58 15.11

4819 1.20 185.3 3200 3524 2072 1945 371.9 10.8 200 4826 0.00 2.50 0.00 0.000 1030 0.000 0.047 3199 2091 2007 2070 1945 0 0 0 0 0 0 14.76 14.71 14.81

5212 1.20 185.3 3198 2092 2069 1945 332.5 10.1 211 5213 0.00 0.00 0.00 0.000 6 0.000 0.000 3199 2092 2006 2069 1944 0 0 0 0 0 0 15.09 15.11 15.11

5562 1.22 185.3 3200 2093 2072 1945 300.4 9.1 216 5568 0.00 2.58 0.00 0.000 580 0.000 0.090 3199 699 2006 2069 1944 0 0 0 0 0 0 15.18 14.53 15.20

5590 1.24 185.3 3200 700 2071 1945 297.8 9.2 220 5596 0.00 2.50 0.00 0.000 1094 0.000 0.058 3199 2111 2006 2069 1944 0 0 0 0 0 0 14.71 14.65 14.77

5982 1.25 185.3 3198 2112 2069 1944 261.1 9.5 231 5988 0.00 2.62 0.00 0.000 324 0.000 0.102 3199 3515 2006 2069 1944 0 0 0 0 0 0 15.18 14.53 15.21

6010 1.25 185.3 3201 3516 2071 1945 258.1 10.7 235 6017 0.00 2.50 0.00 0.000 1030 0.000 0.048 3199 2089 2006 2068 1944 0 0 0 0 0 0 14.73 14.68 14.78

6402 1.26 185.3 3199 2090 2069 1944 220.9 9.4 246 6403 0.00 0.00 0.00 0.000 70 0.000 0.000 3199 2089 2003 2064 1943 0 0 0 0 0 0 15.09 15.12 15.11

6766 1.28 185.3 3200 2090 2070 1944 186.8 9.1 253 6772 0.00 2.67 0.00 0.000 324 0.000 0.099 3199 3507 2005 2068 1943 0 0 0 0 0 0 15.18 14.50 15.20

6800 1.28 185.3 3198 3508 2068 1944 183.4 9.6 258 6808 0.00 2.45 0.00 0.000 1030 0.000 0.046 3199 2097 2005 2068 1943 0 0 0 0 0 0 14.73 14.71 14.78

7158 1.32 217.7 3199 2098 2068 1944 153.0 8.0 273 7191 0.00 0.00 31.08 2.515 8230 0.000 0.000 3199 2097 1892 1955 1829 0 0 0 0 0 0 15.19 14.45 13.19

7523 1.32 217.7 3200 2098 1952 1826 118.3 9.9 286 7523 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2098 1887 1950 1825 0 0 0 0 0 0 15.00 15.02 15.00

7858 1.37 258.6 3199 2098 1949 1824 92.1 7.5 298 7894 0.15 2.62 28.67 0.506 10532 0.130 0.101 3262 3514 1724 1787 1661 0 0 0 0 0 0 14.78 14.59 14.12

7927 1.37 258.6 3261 3514 1786 1660 83.0 14.2 308 7934 0.10 2.47 0.00 0.000 5126 0.257 0.047 3245 2097 1722 1786 1658 0 0 0 0 0 0 14.35 14.66 14.52

8279 1.37 258.6 3244 2097 1783 1652 42.3 10.0 322 8285 0.00 2.58 0.00 0.000 516 0.000 0.093 3245 686 1717 1783 1652 0 0 0 0 0 0 15.12 14.54 15.15

8306 1.37 258.6 3245 686 1783 1653 39.0 11.6 326 8313 0.00 2.53 0.00 0.000 1030 0.000 0.061 3245 2105 1717 1783 1651 0 0 0 0 0 0 14.66 14.59 14.73

8583 end climb: FINISH_DEPTH_REACHED

state 8585 begin subsurface finish

8591 -0.00 -0.4 3246 2106 1784 1651 8.3 10.0 339 8629 1.60 2.62 -32.47 0.004 20996 0.209 0.103 2797 690 2787 2818 2756 0 0 0 0 0 0 14.34 12.71 14.67

8630 end subsurface finish: CONTROL_FINISHED_OK

state 8630 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	496	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	54	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0	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	10.39	MHEAD_RNG_PITCHd_Wd	45.4,20528,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.6	D_GRID	990
GPS2	080918,143937,-7402.3413,-11304.9229,0,1001.0,0,53.2,0.0,0.0,0,0.0

FREEZE	8.25,-1.878,-1.881,2,93,0	ALTIM_BOTTOM_PING	519.5,16.0
FINISH1	8.3,1.027508,-0	_24V_AH	11.64,175.932
FINISH2	8.3	_10V_AH	11.86,0.000
RAFOS_CLK	341	FG_AHR_24Vo	0.000
RAFOS	0,1536418869,15.032778,15.019167,99,61,56,55,50,49,592,213,126,177,153,139	FG_AHR_10Vo	0.000
RAFOS_FIX	-7400.642090,-11253.115234,080918,151504,2,92,3.39	MEM	280816
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10165,342
TT8_MAMPS	0.040446,0.190246	CAP_FILE_SIZE	70443,0
HUMID	50.82	CFSIZE	1024409600,961232896
INTERNAL_PRESSURE	8.20929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.70	SOUNDSPEED	1444.4
XPDR_PINGS	0	GPS	080918,143937,-7402.341,-11304.923,0,1001.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	16.5,16.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	266	17.28	nil	0	0	0.00
Roll_motor	76	719	643.05	nil	0	0	0.00
VBD_pump_during_apogee	400	2903	13529.20	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	8650	2	273.56
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	21	420	105.11	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7274	2	199.30
TT8_Active	504	13	82.76
TT8_Sampling	815	34	336.68
TT8_CF8	136	52	85.45
TT8_Kalman	0	0	0.00
Analog_circuits	838	10	108.45
GPS_charging	0	0	0.00
Compass	495	7	44.05
RAFOS	480	1	8.54
Transponder	154	30	54.92

		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
12.2	13.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.5	29.80	9000.00	0.0	0.00	0.00	29.80	0.0	1.59	1.00
494.8	42.60	9000.00	0.0	0.04	0.70	42.60	0.0	0.03	1.00
507.2	29.20	9000.00	0.0	0.01	0.20	29.20	536.4	-1.08	1.00
519.5	16.00	16.00	535.5	-1.07	1.00	16.00	535.5	-1.07	1.00
536.8	37.90	9000.00	0.0	0.36	0.23	37.90	0.0	1.27	1.00

521.2	17.80	9000.00	0.0	1.28	1.00	17.80	503.4	1.29	1.00
509.7	34.30	9000.00	0.0	0.20	0.06	34.30	0.0	-1.43	1.00
62.2	64.50	9000.00	0.0	-0.09	0.89	64.50	0.0	-0.07	1.00
50.9	52.60	9000.00	0.0	-0.05	0.83	52.60	-1.7	1.05	1.00
40.6	42.30	42.20	-1.6	1.03	1.00	42.30	-1.7	1.00	1.00
29.5	30.50	30.60	-1.1	1.03	1.00	30.50	-1.0	1.06	1.00
16.5	16.90	16.90	-0.4	1.05	1.00	16.90	-0.4	1.05	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
12	-1.06	-107.1	2804	2262	2815	2747	0.0	0.0	0	23	0.00	0.10	-10.20	0.010	16390	0.000	0.719	2803	2316	3221	3246	3196	0	0	0	0	0	0	15.08	12.59	15.06
26	-1.06	-107.1	2802	2317	3246	3197	0.0	0.0	0	32	1.00	2.45	0.00	0.000	4612	0.057	0.070	2434	914	3220	3246	3195	0	0	0	0	0	0	14.70	14.52	14.73
115	-1.06	-107.1	2433	915	3245	3197	24.9	-16.3	13	123	0.12	2.53	0.00	0.000	3078	0.262	0.072	2455	2298	3222	3246	3198	0	0	0	0	0	0	14.17	14.52	14.36
472	-1.06	-107.1	2455	2297	3246	3196	92.3	-20.5	28	479	0.00	2.53	0.00	0.000	516	0.000	0.073	2455	918	3220	3246	3195	0	0	0	0	0	0	15.06	14.47	15.08
507	-1.06	-107.1	2455	920	3248	3196	101.4	-26.0	33	517	0.00	2.53	0.00	0.000	1030	0.000	0.068	2445	2300	3220	3246	3195	0	0	0	0	0	0	14.62	14.52	14.68
866	-1.06	-107.1	2446	2301	3246	3196	177.0	-19.7	48	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2446	2300	3220	3246	3195	0	0	0	0	0	0	15.16	15.19	15.19
1217	-1.06	-107.1	2446	2301	3247	3196	245.7	-19.6	56	1217	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2300	3220	3246	3195	0	0	0	0	0	0	15.05	15.08	15.08
1567	-1.06	-107.1	2446	2300	3246	3196	313.5	-19.3	61	1573	0.00	2.47	0.00	0.000	516	0.000	0.068	2447	919	3220	3246	3195	0	0	0	0	0	0	15.06	14.52	15.08
1615	-1.06	-107.1	2448	919	3248	3196	323.2	-19.7	68	1622	0.00	2.50	0.00	0.000	1030	0.000	0.067	2436	2305	3220	3246	3195	0	0	0	0	0	0	14.59	14.52	14.66
1987	-1.06	-107.1	2435	2305	3246	3194	394.6	-19.2	76	1992	0.00	2.50	0.00	0.000	516	0.000	0.070	2435	909	3220	3246	3195	0	0	0	0	0	0	15.03	14.50	15.07
2006	-1.06	-107.1	2435	910	3246	3195	398.7	-19.4	79	2014	0.12	2.53	0.00	0.000	3078	0.266	0.069	2456	2301	3220	3246	3195	0	0	0	0	0	0	14.12	14.50	14.33
2407	-1.06	-107.1	2456	2307	3246	3194	470.2	-17.7	91	2407	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2301	3220	3246	3195	0	0	0	0	0	0	15.05	15.08	15.07
2754	end dive: BOTTOM_OBSTACLE_DETECTED
state	2754	begin apogee
2760	-0.23	0.0	2458	2072	3248	3196	531.9	-17.6	96	2880	1.00	0.08	116.62	2.904	10246	0.230	0.176	2724	2113	2781	2814	2748	0	0	0	0	0	0	14.19	13.69	12.34
2881	end apogee: CONTROL_FINISHED_OK
state	2881	begin climb
2883	1.06	107.1	2725	2114	2814	2748	536.8	0.0	97	3022	1.35	2.97	128.60	2.800	10500	0.112	0.096	3139	3502	2342	2385	2300	0	0	0	0	0	0	13.74	13.01	11.69
3069	1.15	185.3	3140	3501	2383	2296	533.5	5.1	130	3169	0.00	2.60	95.28	2.744	9254	0.000	0.044	3148	2138	2025	2087	1964	0	0	0	0	0	0	13.51	13.45	11.64
3532	1.19	185.3	3149	2139	2079	1950	498.6	8.1	151	3539	0.12	2.67	0.00	0.000	2628	0.137	0.086	3199	693	2013	2077	1950	0	0	0	0	0	0	14.44	14.31	14.54
3574	1.20	185.3	3200	694	2078	1950	494.8	9.4	157	3580	0.00	2.53	0.00	0.000	1094	0.000	0.057	3199	2102	2012	2076	1949	0	0	0	0	0	0	14.50	14.42	14.54
3953	1.20	185.3	3199	2103	2076	1947	458.1	9.7	166	3959	0.00	2.58	0.00	0.000	260	0.000	0.101	3199	3509	2010	2074	1947	0	0	0	0	0	0	15.01	14.58	15.03
4007	1.20	185.3	3200	3509	2075	1947	452.2	10.7	174	4015	0.00	2.47	0.00	0.000	1030	0.000	0.047	3199	2090	2010	2073	1947	0	0	0	0	0	0	14.74	14.67	14.78
4372	1.20	185.3	3198	2090	2071	1946	417.1	9.7	181	4378	0.00	2.58	0.00	0.000	516	0.000	0.091	3199	696	2009	2072	1946	0	0	0	0	0	0	15.07	14.56	15.09
4399	1.20	185.3	3198	696	2071	1946	414.3	10.0	185	4406	0.00	2.50	0.00	0.000	1030	0.000	0.059	3199	2105	2008	2071	1946	0	0	0	0	0	0	14.74	14.67	14.80
4792	1.20	185.3	3198	2105	2070	1945	374.9	9.9	196	4798	0.00	2.60	0.00	0.000	260	0.000	0.100	3199	3523	2008	2071	1945	0	0	0	0	0	0	15.08	14.58	15.11
4819	1.20	185.3	3200	3524	2072	1945	371.9	10.8	200	4826	0.00	2.50	0.00	0.000	1030	0.000	0.047	3199	2091	2007	2070	1945	0	0	0	0	0	0	14.76	14.71	14.81
5212	1.20	185.3	3198	2092	2069	1945	332.5	10.1	211	5213	0.00	0.00	0.00	0.000	6	0.000	0.000	3199	2092	2006	2069	1944	0	0	0	0	0	0	15.09	15.11	15.11
5562	1.22	185.3	3200	2093	2072	1945	300.4	9.1	216	5568	0.00	2.58	0.00	0.000	580	0.000	0.090	3199	699	2006	2069	1944	0	0	0	0	0	0	15.18	14.53	15.20
5590	1.24	185.3	3200	700	2071	1945	297.8	9.2	220	5596	0.00	2.50	0.00	0.000	1094	0.000	0.058	3199	2111	2006	2069	1944	0	0	0	0	0	0	14.71	14.65	14.77
5982	1.25	185.3	3198	2112	2069	1944	261.1	9.5	231	5988	0.00	2.62	0.00	0.000	324	0.000	0.102	3199	3515	2006	2069	1944	0	0	0	0	0	0	15.18	14.53	15.21
6010	1.25	185.3	3201	3516	2071	1945	258.1	10.7	235	6017	0.00	2.50	0.00	0.000	1030	0.000	0.048	3199	2089	2006	2068	1944	0	0	0	0	0	0	14.73	14.68	14.78
6402	1.26	185.3	3199	2090	2069	1944	220.9	9.4	246	6403	0.00	0.00	0.00	0.000	70	0.000	0.000	3199	2089	2003	2064	1943	0	0	0	0	0	0	15.09	15.12	15.11
6766	1.28	185.3	3200	2090	2070	1944	186.8	9.1	253	6772	0.00	2.67	0.00	0.000	324	0.000	0.099	3199	3507	2005	2068	1943	0	0	0	0	0	0	15.18	14.50	15.20
6800	1.28	185.3	3198	3508	2068	1944	183.4	9.6	258	6808	0.00	2.45	0.00	0.000	1030	0.000	0.046	3199	2097	2005	2068	1943	0	0	0	0	0	0	14.73	14.71	14.78
7158	1.32	217.7	3199	2098	2068	1944	153.0	8.0	273	7191	0.00	0.00	31.08	2.515	8230	0.000	0.000	3199	2097	1892	1955	1829	0	0	0	0	0	0	15.19	14.45	13.19
7523	1.32	217.7	3200	2098	1952	1826	118.3	9.9	286	7523	0.00	0.00	0.00	0.000	6	0.000	0.000	3198	2098	1887	1950	1825	0	0	0	0	0	0	15.00	15.02	15.00
7858	1.37	258.6	3199	2098	1949	1824	92.1	7.5	298	7894	0.15	2.62	28.67	0.506	10532	0.130	0.101	3262	3514	1724	1787	1661	0	0	0	0	0	0	14.78	14.59	14.12
7927	1.37	258.6	3261	3514	1786	1660	83.0	14.2	308	7934	0.10	2.47	0.00	0.000	5126	0.257	0.047	3245	2097	1722	1786	1658	0	0	0	0	0	0	14.35	14.66	14.52
8279	1.37	258.6	3244	2097	1783	1652	42.3	10.0	322	8285	0.00	2.58	0.00	0.000	516	0.000	0.093	3245	686	1717	1783	1652	0	0	0	0	0	0	15.12	14.54	15.15
8306	1.37	258.6	3245	686	1783	1653	39.0	11.6	326	8313	0.00	2.53	0.00	0.000	1030	0.000	0.061	3245	2105	1717	1783	1651	0	0	0	0	0	0	14.66	14.59	14.73
8583	end climb: FINISH_DEPTH_REACHED
state	8585	begin subsurface finish
8591	-0.00	-0.4	3246	2106	1784	1651	8.3	10.0	339	8629	1.60	2.62	-32.47	0.004	20996	0.209	0.103	2797	690	2787	2818	2756	0	0	0	0	0	0	14.34	12.71	14.67
8630	end subsurface finish: CONTROL_FINISHED_OK
state	8630	begin surface