Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 558 * 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 558 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 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 360 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0

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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 360

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 0 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 558 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 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 211018,090816,-7416.5332,-11210.4326,0,3115.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.092,0.233

_CALLS 3 TGT_NAME hold5

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 356.31 MHEAD_RNG_PITCHd_Wd 289.1,24364,-18.9,-9.167,-21.50,1798

_SM_ANGLEo -5.8 D_GRID 990

GPS2 211018,090816,-7416.5332,-11210.4326,0,3115.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 343.0,1.027466,2 _24V_AH 11.36,194.039

FINISH2 342.3 _10V_AH 11.62,0.000

RAFOS_CLK 323 FG_AHR_24Vo 0.000

RAFOS 0,1540123261,12.032778,12.016945,107,58,55,55,54,53,544,196,209,120,138,223 FG_AHR_10Vo 0.000

RAFOS_FIX -7415.568359,-11211.972656,211018,121252,3,108,0.17 MEM 280808

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10110,379

TT8_MAMPS 0.039697,0.29211 CAP_FILE_SIZE 69190,0

HUMID 51.14 CFSIZE 1024409600,954810368

INTERNAL_PRESSURE 8.24835 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.20 INTR 0,4908.99,0x234cda,1,24

XPDR_PINGS 0 SOUNDSPEED 1455.8

ALTIM_TOP_PING 358.4,17.4 GPS 211018,121352,-7415.568,-11211.973,0,4107.7,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 259 14.14 nil 0 0 0.00

Roll_motor 87 940 934.24 nil 0 0 0.00

VBD_pump_during_apogee 409 3092 14389.61 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 8583 1 185.74

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 19 420 93.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7149 2 191.91

TT8_Active 494 13 79.48

TT8_Sampling 871 34 352.37

TT8_CF8 150 52 92.58

TT8_Kalman 0 0 0.00

Analog_circuits 861 10 109.16

GPS_charging 0 0 0.00

Compass 547 7 47.68

RAFOS 720 1 12.55

Transponder 137 30 48.08

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

804.4 32.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

817.2 20.70 9000.00 0.0 0.00 0.00 20.70 837.9 -0.94 1.00

801.6 43.90 9000.00 0.0 -1.32 0.89 43.90 0.0 -1.49 1.00

462.9 133.50 9000.00 0.0 -0.29 0.98 133.50 0.0 -0.26 1.00

399.4 67.00 9000.00 0.0 -0.13 0.34 67.00 332.4 1.05 1.00

368.7 29.60 31.20 337.5 1.09 1.00 29.60 339.1 1.22 1.00

358.4 17.60 17.40 341.0 1.21 1.00 17.60 340.8 1.17 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 -0.99 -107.1 2802 2268 2825 2761 0.0 0.0 0 20 0.00 0.08 -7.03 0.030 16390 0.000 0.941 2802 2302 3234 3264 3205 0 0 0 0 1 0 15.07 12.95 15.01

23 -0.99 -107.1 2804 2302 3266 3206 0.0 0.0 0 29 0.95 2.45 0.00 0.000 4612 0.070 0.069 2463 907 3235 3264 3206 0 0 0 0 0 0 14.60 14.46 14.66

189 -0.99 -107.1 2464 910 3266 3204 383.6 -17.6 24 196 0.00 2.58 0.00 0.000 1030 0.000 0.073 2453 2307 3233 3264 3203 0 0 0 0 0 0 14.53 14.42 14.61

584 -0.99 -107.1 2452 2309 3264 3203 455.4 -18.4 38 589 0.00 2.53 0.00 0.000 516 0.000 0.070 2453 910 3232 3262 3202 0 0 0 0 0 0 15.04 14.45 15.07

616 -0.99 -107.1 2454 911 3265 3203 461.8 -18.4 43 623 0.12 2.55 0.00 0.000 3078 0.256 0.069 2474 2305 3233 3264 3202 0 0 0 0 0 0 14.08 14.45 14.28

974 -0.99 -107.1 2473 2305 3264 3201 521.7 -16.7 52 979 0.00 2.50 0.00 0.000 516 0.000 0.068 2473 916 3232 3264 3201 0 0 0 0 0 0 15.04 14.45 15.06

1029 -0.99 -107.1 2473 917 3263 3201 531.3 -17.2 60 1036 0.00 2.55 0.00 0.000 1030 0.000 0.069 2465 2303 3232 3264 3201 0 0 0 0 0 0 14.50 14.40 14.57

1421 -0.99 -107.1 2464 2304 3263 3201 597.4 -17.0 74 1428 0.00 2.53 0.00 0.000 516 0.000 0.070 2464 920 3232 3264 3200 0 0 0 0 0 0 15.19 14.35 15.21

1456 -0.99 -107.1 2466 922 3265 3201 603.4 -17.5 79 1462 0.00 2.55 0.00 0.000 1030 0.000 0.071 2455 2309 3232 3264 3200 0 0 0 0 0 0 14.50 14.40 14.57

1813 -0.99 -107.1 2454 2309 3263 3200 665.3 -17.5 88 1813 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2309 3232 3264 3200 0 0 0 0 0 0 15.19 15.22 15.22

2149 -0.99 -107.1 2454 2309 3263 3200 722.0 -17.0 94 2155 0.00 2.55 0.00 0.000 516 0.000 0.070 2455 918 3233 3264 3202 0 0 0 0 0 0 15.16 14.33 15.19

2219 -0.99 -107.1 2456 917 3264 3200 733.6 -16.8 104 2229 0.12 2.55 0.00 0.000 3078 0.259 0.070 2475 2300 3231 3263 3199 0 0 0 0 0 0 14.01 14.39 14.20

2600 -0.99 -107.1 2474 2300 3263 3199 791.3 -15.1 116 2605 0.00 2.42 0.00 0.000 516 0.000 0.069 2475 911 3231 3264 3199 0 0 0 0 0 0 15.15 14.38 15.16

2668 -0.99 -107.1 2475 913 3264 3200 802.3 -15.7 126 2675 0.00 2.58 0.00 0.000 1030 0.000 0.070 2467 2310 3231 3264 3199 0 0 0 0 0 0 14.46 14.38 14.52

3046 -0.99 -107.1 2466 2310 3264 3200 835.7 -3.8 138 3053 0.00 2.70 0.00 0.000 292 0.000 0.116 2460 3711 3231 3264 3199 0 0 0 0 0 0 15.16 14.22 15.19

3228 end dive: NO_VERTICAL_VELOCITY

state 3228 begin apogee

3236 -0.23 0.0 2461 2098 3264 3199 835.7 0.0 164 3364 0.88 0.00 125.53 3.092 10246 0.124 0.000 2732 2097 2782 2818 2747 0 0 0 0 0 0 14.40 13.55 12.12

3365 end apogee: CONTROL_FINISHED_OK

state 3365 begin climb

3368 0.99 107.1 2733 2098 2820 2747 835.8 0.0 166 3520 1.27 2.95 141.65 3.060 10756 0.108 0.083 3117 718 2346 2388 2305 0 0 0 0 0 0 13.61 12.78 11.36

3609 1.07 168.3 3117 719 2375 2300 826.7 5.7 204 3699 0.00 2.70 81.15 3.012 9254 0.000 0.057 3117 2103 2094 2154 2034 0 0 0 0 0 0 13.59 13.52 11.55

4064 1.13 220.9 3119 2105 2147 2024 797.6 6.2 227 4137 0.15 2.78 61.33 3.013 10532 0.119 0.103 3171 3512 1878 1944 1812 0 0 0 0 0 0 14.58 13.95 12.58

4166 1.13 220.9 3170 3512 1942 1811 787.7 10.2 241 4172 0.00 2.50 0.00 0.000 1030 0.000 0.047 3175 2112 1876 1943 1810 0 0 0 0 0 0 14.27 14.19 14.30

4514 1.13 220.9 3176 2112 1939 1804 749.9 10.9 249 4521 0.00 2.60 0.00 0.000 516 0.000 0.090 3175 700 1871 1937 1805 0 0 0 0 0 0 15.04 14.55 15.07

4563 1.13 220.9 3175 700 1936 1804 744.5 11.1 256 4571 0.00 2.50 0.00 0.000 1030 0.000 0.060 3175 2110 1870 1936 1804 0 0 0 0 0 0 14.71 14.64 14.76

4908 1.13 220.9 3174 2110 1934 1803 706.2 11.1 263 4917 0.00 2.55 0.00 0.000 260 0.000 0.106 3175 3510 1869 1935 1803 0 0 0 0 0 0 15.07 14.60 15.10

4957 1.13 220.9 3176 3511 1937 1804 699.9 12.8 270 4965 0.00 2.45 0.00 0.000 1030 0.000 0.047 3175 2098 1868 1935 1802 0 0 0 0 0 0 14.75 14.70 14.81

5301 1.13 220.9 3176 2098 1935 1803 662.8 10.7 277 5308 0.00 2.62 0.00 0.000 260 0.000 0.103 3175 3519 1867 1933 1802 0 0 0 0 0 0 15.16 14.59 15.18

5336 1.13 220.9 3176 3519 1934 1803 658.6 12.0 282 5342 0.00 2.45 0.00 0.000 1030 0.000 0.049 3175 2090 1867 1933 1801 0 0 0 0 0 0 14.85 14.74 14.89

5693 1.13 220.9 3174 2089 1932 1802 618.5 11.1 291 5694 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2089 1866 1932 1801 0 0 0 0 0 0 15.09 15.11 15.11

6029 1.13 220.9 3175 2090 1932 1802 584.6 9.9 297 6036 0.00 2.62 0.00 0.000 260 0.000 0.103 3176 3508 1866 1932 1801 0 0 0 0 0 0 15.09 14.57 15.11

6063 1.13 220.9 3175 3508 1932 1802 581.0 10.3 302 6070 0.00 2.47 0.00 0.000 1030 0.000 0.047 3176 2085 1866 1932 1801 0 0 0 0 0 0 14.74 14.68 14.78

6420 1.13 220.9 3175 2085 1931 1802 546.1 9.9 311 6427 0.00 2.67 0.00 0.000 260 0.000 0.102 3176 3504 1866 1931 1801 0 0 0 0 0 0 15.17 14.48 15.20

6455 1.13 220.9 3177 3505 1933 1802 542.3 10.9 316 6463 0.00 2.45 0.00 0.000 1030 0.000 0.047 3176 2096 1866 1931 1801 0 0 0 0 0 0 14.73 14.66 14.78

6813 1.13 220.9 3177 2096 1933 1801 506.8 9.9 325 6814 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2094 1865 1931 1800 0 0 0 0 0 0 15.08 15.11 15.10

7149 1.13 220.9 3177 2096 1932 1801 473.9 9.7 331 7155 0.00 2.65 0.00 0.000 260 0.000 0.104 3170 3517 1866 1931 1801 0 0 0 0 0 0 15.08 14.50 15.10

7190 1.13 220.9 3177 3518 1933 1801 469.5 10.8 337 7198 0.00 2.50 0.00 0.000 1030 0.000 0.047 3176 2088 1865 1930 1800 0 0 0 0 0 0 14.70 14.63 14.73

7540 1.13 220.9 3175 2089 1930 1801 436.3 9.6 345 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2088 1866 1931 1801 0 0 0 0 0 0 15.17 15.20 15.19

7876 1.13 220.9 3175 2089 1929 1801 404.9 9.3 351 7883 0.00 2.70 0.00 0.000 260 0.000 0.104 3175 3512 1865 1930 1800 0 0 0 0 0 0 15.17 14.40 15.19

7939 1.13 220.9 3177 3513 1931 1801 398.7 10.0 360 7946 0.00 2.47 0.00 0.000 1030 0.000 0.046 3176 2094 1865 1930 1800 0 0 0 0 0 0 14.68 14.62 14.72

8325 1.13 220.9 3177 2096 1931 1801 363.6 9.1 373 8325 0.00 0.00 0.00 0.000 6 0.000 0.000 3175 2095 1864 1929 1800 0 0 0 0 0 0 15.16 15.19 15.19

8545 end climb: SURFACE_OBSTACLE_DETECTED

state 8546 begin subsurface finish

8552 0.00 1.7 3177 2096 1930 1801 343.0 9.2 377 8563 1.30 2.67 -3.47 0.032 20740 0.185 0.126 2800 3519 2789 2827 2751 0 0 0 0 0 0 14.26 12.67 14.41

8563 end subsurface finish: CONTROL_FINISHED_OK

state 8563 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	558	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	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	360	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	211018,090816,-7416.5332,-11210.4326,0,3115.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.092,0.233
_CALLS	3	TGT_NAME	hold5
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	356.31	MHEAD_RNG_PITCHd_Wd	289.1,24364,-18.9,-9.167,-21.50,1798
_SM_ANGLEo	-5.8	D_GRID	990
GPS2	211018,090816,-7416.5332,-11210.4326,0,3115.0,0,53.2,0.0,0.0,0,0.0

FINISH1	343.0,1.027466,2	_24V_AH	11.36,194.039
FINISH2	342.3	_10V_AH	11.62,0.000
RAFOS_CLK	323	FG_AHR_24Vo	0.000
RAFOS	0,1540123261,12.032778,12.016945,107,58,55,55,54,53,544,196,209,120,138,223	FG_AHR_10Vo	0.000
RAFOS_FIX	-7415.568359,-11211.972656,211018,121252,3,108,0.17	MEM	280808
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10110,379
TT8_MAMPS	0.039697,0.29211	CAP_FILE_SIZE	69190,0
HUMID	51.14	CFSIZE	1024409600,954810368
INTERNAL_PRESSURE	8.24835	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.20	INTR	0,4908.99,0x234cda,1,24
XPDR_PINGS	0	SOUNDSPEED	1455.8
ALTIM_TOP_PING	358.4,17.4	GPS	211018,121352,-7415.568,-11211.973,0,4107.7,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	259	14.14	nil	0	0	0.00
Roll_motor	87	940	934.24	nil	0	0	0.00
VBD_pump_during_apogee	409	3092	14389.61	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	8583	1	185.74
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	19	420	93.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7149	2	191.91
TT8_Active	494	13	79.48
TT8_Sampling	871	34	352.37
TT8_CF8	150	52	92.58
TT8_Kalman	0	0	0.00
Analog_circuits	861	10	109.16
GPS_charging	0	0	0.00
Compass	547	7	47.68
RAFOS	720	1	12.55
Transponder	137	30	48.08

		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
804.4	32.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
817.2	20.70	9000.00	0.0	0.00	0.00	20.70	837.9	-0.94	1.00

801.6	43.90	9000.00	0.0	-1.32	0.89	43.90	0.0	-1.49	1.00
462.9	133.50	9000.00	0.0	-0.29	0.98	133.50	0.0	-0.26	1.00
399.4	67.00	9000.00	0.0	-0.13	0.34	67.00	332.4	1.05	1.00
368.7	29.60	31.20	337.5	1.09	1.00	29.60	339.1	1.22	1.00
358.4	17.60	17.40	341.0	1.21	1.00	17.60	340.8	1.17	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	-0.99	-107.1	2802	2268	2825	2761	0.0	0.0	0	20	0.00	0.08	-7.03	0.030	16390	0.000	0.941	2802	2302	3234	3264	3205	0	0	0	0	1	0	15.07	12.95	15.01
23	-0.99	-107.1	2804	2302	3266	3206	0.0	0.0	0	29	0.95	2.45	0.00	0.000	4612	0.070	0.069	2463	907	3235	3264	3206	0	0	0	0	0	0	14.60	14.46	14.66
189	-0.99	-107.1	2464	910	3266	3204	383.6	-17.6	24	196	0.00	2.58	0.00	0.000	1030	0.000	0.073	2453	2307	3233	3264	3203	0	0	0	0	0	0	14.53	14.42	14.61
584	-0.99	-107.1	2452	2309	3264	3203	455.4	-18.4	38	589	0.00	2.53	0.00	0.000	516	0.000	0.070	2453	910	3232	3262	3202	0	0	0	0	0	0	15.04	14.45	15.07
616	-0.99	-107.1	2454	911	3265	3203	461.8	-18.4	43	623	0.12	2.55	0.00	0.000	3078	0.256	0.069	2474	2305	3233	3264	3202	0	0	0	0	0	0	14.08	14.45	14.28
974	-0.99	-107.1	2473	2305	3264	3201	521.7	-16.7	52	979	0.00	2.50	0.00	0.000	516	0.000	0.068	2473	916	3232	3264	3201	0	0	0	0	0	0	15.04	14.45	15.06
1029	-0.99	-107.1	2473	917	3263	3201	531.3	-17.2	60	1036	0.00	2.55	0.00	0.000	1030	0.000	0.069	2465	2303	3232	3264	3201	0	0	0	0	0	0	14.50	14.40	14.57
1421	-0.99	-107.1	2464	2304	3263	3201	597.4	-17.0	74	1428	0.00	2.53	0.00	0.000	516	0.000	0.070	2464	920	3232	3264	3200	0	0	0	0	0	0	15.19	14.35	15.21
1456	-0.99	-107.1	2466	922	3265	3201	603.4	-17.5	79	1462	0.00	2.55	0.00	0.000	1030	0.000	0.071	2455	2309	3232	3264	3200	0	0	0	0	0	0	14.50	14.40	14.57
1813	-0.99	-107.1	2454	2309	3263	3200	665.3	-17.5	88	1813	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2309	3232	3264	3200	0	0	0	0	0	0	15.19	15.22	15.22
2149	-0.99	-107.1	2454	2309	3263	3200	722.0	-17.0	94	2155	0.00	2.55	0.00	0.000	516	0.000	0.070	2455	918	3233	3264	3202	0	0	0	0	0	0	15.16	14.33	15.19
2219	-0.99	-107.1	2456	917	3264	3200	733.6	-16.8	104	2229	0.12	2.55	0.00	0.000	3078	0.259	0.070	2475	2300	3231	3263	3199	0	0	0	0	0	0	14.01	14.39	14.20
2600	-0.99	-107.1	2474	2300	3263	3199	791.3	-15.1	116	2605	0.00	2.42	0.00	0.000	516	0.000	0.069	2475	911	3231	3264	3199	0	0	0	0	0	0	15.15	14.38	15.16
2668	-0.99	-107.1	2475	913	3264	3200	802.3	-15.7	126	2675	0.00	2.58	0.00	0.000	1030	0.000	0.070	2467	2310	3231	3264	3199	0	0	0	0	0	0	14.46	14.38	14.52
3046	-0.99	-107.1	2466	2310	3264	3200	835.7	-3.8	138	3053	0.00	2.70	0.00	0.000	292	0.000	0.116	2460	3711	3231	3264	3199	0	0	0	0	0	0	15.16	14.22	15.19
3228	end dive: NO_VERTICAL_VELOCITY
state	3228	begin apogee
3236	-0.23	0.0	2461	2098	3264	3199	835.7	0.0	164	3364	0.88	0.00	125.53	3.092	10246	0.124	0.000	2732	2097	2782	2818	2747	0	0	0	0	0	0	14.40	13.55	12.12
3365	end apogee: CONTROL_FINISHED_OK
state	3365	begin climb
3368	0.99	107.1	2733	2098	2820	2747	835.8	0.0	166	3520	1.27	2.95	141.65	3.060	10756	0.108	0.083	3117	718	2346	2388	2305	0	0	0	0	0	0	13.61	12.78	11.36
3609	1.07	168.3	3117	719	2375	2300	826.7	5.7	204	3699	0.00	2.70	81.15	3.012	9254	0.000	0.057	3117	2103	2094	2154	2034	0	0	0	0	0	0	13.59	13.52	11.55
4064	1.13	220.9	3119	2105	2147	2024	797.6	6.2	227	4137	0.15	2.78	61.33	3.013	10532	0.119	0.103	3171	3512	1878	1944	1812	0	0	0	0	0	0	14.58	13.95	12.58
4166	1.13	220.9	3170	3512	1942	1811	787.7	10.2	241	4172	0.00	2.50	0.00	0.000	1030	0.000	0.047	3175	2112	1876	1943	1810	0	0	0	0	0	0	14.27	14.19	14.30
4514	1.13	220.9	3176	2112	1939	1804	749.9	10.9	249	4521	0.00	2.60	0.00	0.000	516	0.000	0.090	3175	700	1871	1937	1805	0	0	0	0	0	0	15.04	14.55	15.07
4563	1.13	220.9	3175	700	1936	1804	744.5	11.1	256	4571	0.00	2.50	0.00	0.000	1030	0.000	0.060	3175	2110	1870	1936	1804	0	0	0	0	0	0	14.71	14.64	14.76
4908	1.13	220.9	3174	2110	1934	1803	706.2	11.1	263	4917	0.00	2.55	0.00	0.000	260	0.000	0.106	3175	3510	1869	1935	1803	0	0	0	0	0	0	15.07	14.60	15.10
4957	1.13	220.9	3176	3511	1937	1804	699.9	12.8	270	4965	0.00	2.45	0.00	0.000	1030	0.000	0.047	3175	2098	1868	1935	1802	0	0	0	0	0	0	14.75	14.70	14.81
5301	1.13	220.9	3176	2098	1935	1803	662.8	10.7	277	5308	0.00	2.62	0.00	0.000	260	0.000	0.103	3175	3519	1867	1933	1802	0	0	0	0	0	0	15.16	14.59	15.18
5336	1.13	220.9	3176	3519	1934	1803	658.6	12.0	282	5342	0.00	2.45	0.00	0.000	1030	0.000	0.049	3175	2090	1867	1933	1801	0	0	0	0	0	0	14.85	14.74	14.89
5693	1.13	220.9	3174	2089	1932	1802	618.5	11.1	291	5694	0.00	0.00	0.00	0.000	6	0.000	0.000	3176	2089	1866	1932	1801	0	0	0	0	0	0	15.09	15.11	15.11
6029	1.13	220.9	3175	2090	1932	1802	584.6	9.9	297	6036	0.00	2.62	0.00	0.000	260	0.000	0.103	3176	3508	1866	1932	1801	0	0	0	0	0	0	15.09	14.57	15.11
6063	1.13	220.9	3175	3508	1932	1802	581.0	10.3	302	6070	0.00	2.47	0.00	0.000	1030	0.000	0.047	3176	2085	1866	1932	1801	0	0	0	0	0	0	14.74	14.68	14.78
6420	1.13	220.9	3175	2085	1931	1802	546.1	9.9	311	6427	0.00	2.67	0.00	0.000	260	0.000	0.102	3176	3504	1866	1931	1801	0	0	0	0	0	0	15.17	14.48	15.20
6455	1.13	220.9	3177	3505	1933	1802	542.3	10.9	316	6463	0.00	2.45	0.00	0.000	1030	0.000	0.047	3176	2096	1866	1931	1801	0	0	0	0	0	0	14.73	14.66	14.78
6813	1.13	220.9	3177	2096	1933	1801	506.8	9.9	325	6814	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2094	1865	1931	1800	0	0	0	0	0	0	15.08	15.11	15.10
7149	1.13	220.9	3177	2096	1932	1801	473.9	9.7	331	7155	0.00	2.65	0.00	0.000	260	0.000	0.104	3170	3517	1866	1931	1801	0	0	0	0	0	0	15.08	14.50	15.10
7190	1.13	220.9	3177	3518	1933	1801	469.5	10.8	337	7198	0.00	2.50	0.00	0.000	1030	0.000	0.047	3176	2088	1865	1930	1800	0	0	0	0	0	0	14.70	14.63	14.73
7540	1.13	220.9	3175	2089	1930	1801	436.3	9.6	345	7541	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2088	1866	1931	1801	0	0	0	0	0	0	15.17	15.20	15.19
7876	1.13	220.9	3175	2089	1929	1801	404.9	9.3	351	7883	0.00	2.70	0.00	0.000	260	0.000	0.104	3175	3512	1865	1930	1800	0	0	0	0	0	0	15.17	14.40	15.19
7939	1.13	220.9	3177	3513	1931	1801	398.7	10.0	360	7946	0.00	2.47	0.00	0.000	1030	0.000	0.046	3176	2094	1865	1930	1800	0	0	0	0	0	0	14.68	14.62	14.72
8325	1.13	220.9	3177	2096	1931	1801	363.6	9.1	373	8325	0.00	0.00	0.00	0.000	6	0.000	0.000	3175	2095	1864	1929	1800	0	0	0	0	0	0	15.16	15.19	15.19
8545	end climb: SURFACE_OBSTACLE_DETECTED
state	8546	begin subsurface finish
8552	0.00	1.7	3177	2096	1930	1801	343.0	9.2	377	8563	1.30	2.67	-3.47	0.032	20740	0.185	0.126	2800	3519	2789	2827	2751	0	0	0	0	0	0	14.26	12.67	14.41
8563	end subsurface finish: CONTROL_FINISHED_OK
state	8563	begin surface