Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 764 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 764 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 36 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 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 0 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 20 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 764 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 394.45 MHEAD_RNG_PITCHd_Wd 127.1,2080,-42.4,-9.429,-43.59,354

_SM_ANGLEo 3.8 D_GRID 990

GPS2 311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 398.32,-1.373,-2.175,2,5,0 _24V_AH 11.49,240.056

FINISH1 398.3,1.027500,0 _10V_AH 11.87,0.000

FINISH2 396.0 FG_AHR_24Vo 0.000

RAFOS_CLK 348 FG_AHR_10Vo 0.000

RAFOS 2,1546290786,21.232241,21.218334,150,66,59,57,54,53,572,213,202,192,145,178 MEM 279756

RAFOS_FIX -7415.113281,-11230.241211,311218,212144,2,154,0.33 DATA_FILE_SIZE 30022,939

IRIDIUM_FIX -7410.06,-11230.52,311218,020608 CAP_FILE_SIZE 100071,0

TT8_MAMPS 0.038948,0.669606 CFSIZE 1024409600,929447936

HUMID 50.59 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.92918 SOUNDSPEED 1454.2

TCM_TEMP 13.40 GPS 311218,211544,-7415.113,-11230.241,0,3154.0,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 371 43.15 nil 0 0 0.00

Roll_motor 67 86 66.62 nil 0 0 0.00

VBD_pump_during_apogee 171 3073 6068.70 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 8570 10 996.21

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 127.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6255 2 171.53

TT8_Active 251 10 32.49

TT8_Sampling 1891 30 681.25

TT8_CF8 257 51 157.11

TT8_Kalman 0 0 0.00

Analog_circuits 941 10 112.85

GPS_charging 0 0 0.00

Compass 1343 6 107.49

RAFOS 240 1 4.27

Transponder 194 30 69.36

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

765.3 31.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

10 -1.95 -21.7 2778 2814 3532 3528 0.0 0.0 0 11 0.00 0.00 -0.30 0.295 16390 0.000 0.000 2778 2814 3592 3592 3593 0 0 0 0 0 0 14.77 12.75 14.56

15 -1.95 -21.7 2778 2814 3596 3598 0.0 0.0 0 22 1.98 0.00 0.00 0.000 4102 0.120 0.000 2145 2813 3594 3596 3593 0 0 0 0 0 0 14.29 14.45 14.40

321 -1.96 -30.2 2146 2813 3604 3592 415.1 -7.0 31 322 0.00 0.00 -0.12 0.743 16422 0.000 0.000 2146 2813 3626 3632 3621 0 0 0 0 0 0 14.77 12.74 14.26

621 -1.96 -30.2 2146 2813 3637 3627 439.7 -8.6 61 628 0.00 1.95 0.00 0.000 260 0.000 0.080 2142 3914 3631 3637 3626 0 0 0 0 0 0 14.78 14.29 14.78

752 -1.96 -30.2 2143 3915 3638 3627 450.7 -8.4 86 758 0.00 1.90 0.00 0.000 1030 0.000 0.041 2142 2770 3632 3637 3627 0 0 0 0 0 0 14.54 14.47 14.56

1054 -1.96 -30.2 2142 2770 3638 3629 475.4 -8.1 117 1060 0.00 2.33 0.00 0.000 516 0.000 0.044 2142 1405 3632 3637 3627 0 0 0 0 0 0 14.78 14.36 14.78

1151 -1.96 -30.2 2143 1406 3638 3627 483.0 -7.6 136 1157 0.00 2.47 0.00 0.000 1030 0.000 0.056 2139 2813 3632 3638 3627 0 0 0 0 0 0 14.45 14.34 14.50

1456 -1.96 -30.2 2139 2813 3639 3626 506.2 -7.8 167 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2813 3632 3637 3627 0 0 0 0 0 0 14.75 14.76 14.76

1757 -1.96 -30.2 2139 2814 3640 3628 528.9 -7.6 197 1762 0.00 1.95 0.00 0.000 260 0.000 0.078 2133 3913 3632 3638 3627 0 0 0 0 0 0 14.69 14.26 14.69

1848 -1.96 -30.2 2134 3913 3641 3627 536.5 -8.1 215 1853 0.00 1.85 0.00 0.000 1030 0.000 0.041 2133 2797 3632 3638 3627 0 0 0 0 0 0 14.42 14.35 14.45

2159 -1.97 -38.7 2133 2798 3638 3628 558.8 -7.0 247 2160 0.00 0.00 0.00 0.000 38 0.000 0.000 2133 2797 3632 3638 3627 0 0 0 0 0 0 14.81 14.81 14.81

2460 -1.99 -48.0 2133 2798 3638 3628 579.4 -6.7 277 2466 0.00 2.00 0.00 0.000 292 0.000 0.076 2125 3914 3632 3638 3627 0 0 0 0 0 0 14.66 14.23 14.66

2517 -1.99 -55.0 2125 3914 3639 3626 583.6 -7.4 288 2523 0.00 1.88 0.00 0.000 1062 0.000 0.041 2125 2788 3631 3637 3626 0 0 0 0 0 0 14.47 14.42 14.52

2822 -2.01 -64.5 2124 2788 3634 3627 604.1 -6.7 319 2828 0.00 2.03 0.00 0.000 292 0.000 0.073 2118 3921 3631 3637 3626 0 0 0 0 0 0 14.78 14.23 14.78

2859 -2.01 -64.5 2118 3921 3639 3625 606.8 -7.4 326 2865 0.00 1.90 0.00 0.000 1030 0.000 0.041 2119 2785 3631 3637 3625 0 0 0 0 0 0 14.47 14.42 14.50

3164 -2.02 -75.1 2119 2785 3638 3626 627.5 -6.3 357 3170 0.00 2.03 0.00 0.000 292 0.000 0.074 2112 3913 3631 3637 3625 0 0 0 0 0 0 14.76 14.21 14.76

3231 -2.03 -84.2 2112 3914 3638 3625 631.9 -6.8 370 3237 0.00 1.88 0.00 0.000 1062 0.000 0.041 2111 2790 3631 3638 3624 0 0 0 0 0 0 14.45 14.39 14.47

3536 -2.04 -94.8 2112 2791 3639 3624 652.1 -6.4 401 3542 0.00 2.40 0.00 0.000 548 0.000 0.043 2111 1390 3630 3637 3624 0 0 0 0 0 0 14.76 14.26 14.76

3646 -2.06 -106.4 2112 1390 3639 3624 658.6 -6.1 422 3652 0.00 2.50 0.00 0.000 1062 0.000 0.054 2101 2810 3630 3637 3624 0 0 0 0 0 0 14.39 14.28 14.42

3948 -2.06 -107.1 2102 2810 3639 3623 677.0 -6.1 453 3949 0.00 0.00 0.00 0.000 38 0.000 0.000 2101 2810 3628 3636 3620 0 0 0 0 0 0 14.81 14.81 14.81

4248 -2.06 -107.1 2102 2811 3639 3623 693.1 -5.0 483 4253 0.00 1.98 0.00 0.000 292 0.000 0.076 2099 3915 3629 3637 3622 0 0 0 0 0 0 14.79 14.12 14.80

4479 -2.06 -107.1 2099 3916 3638 3623 704.6 -4.8 529 4486 0.00 1.88 0.00 0.000 1062 0.000 0.042 2099 2797 3629 3637 3621 0 0 0 0 0 0 14.43 14.38 14.47

4855 -2.06 -107.1 2098 2797 3639 3622 719.4 -3.7 543 4860 0.00 2.03 0.00 0.000 292 0.000 0.074 2090 3915 3629 3637 3621 0 0 0 0 0 0 14.75 14.15 14.75

5087 -2.06 -107.1 2091 3915 3639 3622 727.9 -3.8 589 5092 0.00 1.90 0.00 0.000 1062 0.000 0.042 2089 2783 3629 3637 3621 0 0 0 0 0 0 14.41 14.35 14.43

5459 -2.06 -107.1 2093 2785 3638 3623 738.7 -2.6 603 5464 0.00 2.05 0.00 0.000 292 0.000 0.073 2082 3912 3629 3637 3621 0 0 0 0 0 0 14.79 14.12 14.79

5690 -2.06 -107.1 2082 3912 3638 3621 744.1 -2.8 649 5696 0.15 1.88 0.00 0.000 3110 0.344 0.041 2109 2795 3633 3637 3629 0 0 0 0 0 0 13.66 14.34 14.09

6063 -2.06 -107.1 2109 2795 3639 3621 751.9 -2.1 663 6068 0.00 2.42 0.00 0.000 548 0.000 0.043 2109 1391 3629 3638 3621 0 0 0 0 0 0 14.76 13.98 14.77

6294 -2.06 -107.1 2109 1391 3638 3621 756.2 -1.7 709 6300 0.00 2.50 0.00 0.000 1062 0.000 0.054 2103 2804 3629 3637 3621 0 0 0 0 0 0 14.32 14.19 14.35

6666 -2.06 -107.1 2100 2804 3639 3621 761.4 -1.3 723 6671 0.00 2.42 0.00 0.000 548 0.000 0.041 2100 1399 3629 3637 3621 0 0 0 0 0 0 14.70 14.22 14.71

6897 -2.06 -107.1 2100 1400 3638 3622 764.0 -1.0 769 6903 0.00 2.50 0.00 0.000 1062 0.000 0.054 2089 2812 3629 3637 3621 0 0 0 0 0 0 14.24 14.12 14.28

7085 end dive: NO_VERTICAL_VELOCITY

state 7085 begin apogee

7093 -0.23 0.0 2090 2535 3638 3622 765.7 0.0 777 7140 2.67 0.00 42.50 3.016 10246 0.327 0.000 2697 2534 3492 3498 3487 0 0 0 0 0 0 13.81 14.02 12.76

7141 end apogee: CONTROL_FINISHED_OK

state 7141 begin climb

7144 2.06 107.1 2697 2535 3498 3487 765.3 0.0 778 7288 2.38 2.90 129.38 3.073 10500 0.113 0.086 3434 3904 3063 3083 3044 0 0 0 0 0 0 13.88 12.69 11.49

7352 2.06 107.1 3434 3905 3079 3039 722.7 31.2 817 7357 0.00 2.58 0.00 0.000 1030 0.000 0.050 3445 2562 3061 3079 3043 0 0 0 0 0 0 13.07 13.00 13.09

7721 2.06 107.1 3446 2563 3075 3034 616.7 28.0 851 7730 0.00 2.53 0.00 0.000 516 0.000 0.063 3456 1140 3051 3070 3032 0 0 0 0 0 0 14.46 14.03 14.46

7746 2.06 107.1 3456 1141 3071 3033 608.9 27.8 855 7753 0.00 2.53 0.00 0.000 1030 0.000 0.066 3456 2552 3051 3071 3032 0 0 0 0 0 0 14.19 14.11 14.22

8059 2.06 107.1 3456 2552 3072 3032 522.1 27.0 887 8060 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2552 3051 3071 3032 0 0 0 0 0 0 14.78 14.78 14.78

8359 2.06 107.1 3456 2553 3071 3033 442.1 27.0 917 8364 0.00 2.50 0.00 0.000 516 0.000 0.062 3466 1137 3051 3071 3031 0 0 0 0 0 0 14.81 14.37 14.81

8395 2.06 107.1 3466 1138 3071 3033 432.8 26.1 924 8403 0.17 2.53 0.00 0.000 5126 0.372 0.066 3435 2556 3051 3071 3032 0 0 0 0 0 0 13.90 14.39 14.40

8527 end climb: FINISH_DEPTH_REACHED

state 8527 begin subsurface finish

8535 0.00 0.0 3435 2557 3071 3033 398.3 25.4 938 8542 2.75 0.00 -1.90 0.047 20486 0.334 0.000 2779 2557 3512 3515 3509 0 0 0 0 0 0 14.04 12.83 14.45

8542 end subsurface finish: CONTROL_FINISHED_OK

state 8542 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	764	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	36	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	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	0	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	20	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	394.45	MHEAD_RNG_PITCHd_Wd	127.1,2080,-42.4,-9.429,-43.59,354
_SM_ANGLEo	3.8	D_GRID	990
GPS2	311218,181008,-7413.1274,-11229.9609,0,3162.0,0,53.5,0.0,0.0,0,0.0

FREEZE	398.32,-1.373,-2.175,2,5,0	_24V_AH	11.49,240.056
FINISH1	398.3,1.027500,0	_10V_AH	11.87,0.000
FINISH2	396.0	FG_AHR_24Vo	0.000
RAFOS_CLK	348	FG_AHR_10Vo	0.000
RAFOS	2,1546290786,21.232241,21.218334,150,66,59,57,54,53,572,213,202,192,145,178	MEM	279756
RAFOS_FIX	-7415.113281,-11230.241211,311218,212144,2,154,0.33	DATA_FILE_SIZE	30022,939
IRIDIUM_FIX	-7410.06,-11230.52,311218,020608	CAP_FILE_SIZE	100071,0
TT8_MAMPS	0.038948,0.669606	CFSIZE	1024409600,929447936
HUMID	50.59	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.92918	SOUNDSPEED	1454.2
TCM_TEMP	13.40	GPS	311218,211544,-7415.113,-11230.241,0,3154.0,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	371	43.15	nil	0	0	0.00
Roll_motor	67	86	66.62	nil	0	0	0.00
VBD_pump_during_apogee	171	3073	6068.70	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	8570	10	996.21
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	127.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6255	2	171.53
TT8_Active	251	10	32.49
TT8_Sampling	1891	30	681.25
TT8_CF8	257	51	157.11
TT8_Kalman	0	0	0.00
Analog_circuits	941	10	112.85
GPS_charging	0	0	0.00
Compass	1343	6	107.49
RAFOS	240	1	4.27
Transponder	194	30	69.36

		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
765.3	31.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
10	-1.95	-21.7	2778	2814	3532	3528	0.0	0.0	0	11	0.00	0.00	-0.30	0.295	16390	0.000	0.000	2778	2814	3592	3592	3593	0	0	0	0	0	0	14.77	12.75	14.56
15	-1.95	-21.7	2778	2814	3596	3598	0.0	0.0	0	22	1.98	0.00	0.00	0.000	4102	0.120	0.000	2145	2813	3594	3596	3593	0	0	0	0	0	0	14.29	14.45	14.40
321	-1.96	-30.2	2146	2813	3604	3592	415.1	-7.0	31	322	0.00	0.00	-0.12	0.743	16422	0.000	0.000	2146	2813	3626	3632	3621	0	0	0	0	0	0	14.77	12.74	14.26
621	-1.96	-30.2	2146	2813	3637	3627	439.7	-8.6	61	628	0.00	1.95	0.00	0.000	260	0.000	0.080	2142	3914	3631	3637	3626	0	0	0	0	0	0	14.78	14.29	14.78
752	-1.96	-30.2	2143	3915	3638	3627	450.7	-8.4	86	758	0.00	1.90	0.00	0.000	1030	0.000	0.041	2142	2770	3632	3637	3627	0	0	0	0	0	0	14.54	14.47	14.56
1054	-1.96	-30.2	2142	2770	3638	3629	475.4	-8.1	117	1060	0.00	2.33	0.00	0.000	516	0.000	0.044	2142	1405	3632	3637	3627	0	0	0	0	0	0	14.78	14.36	14.78
1151	-1.96	-30.2	2143	1406	3638	3627	483.0	-7.6	136	1157	0.00	2.47	0.00	0.000	1030	0.000	0.056	2139	2813	3632	3638	3627	0	0	0	0	0	0	14.45	14.34	14.50
1456	-1.96	-30.2	2139	2813	3639	3626	506.2	-7.8	167	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2813	3632	3637	3627	0	0	0	0	0	0	14.75	14.76	14.76
1757	-1.96	-30.2	2139	2814	3640	3628	528.9	-7.6	197	1762	0.00	1.95	0.00	0.000	260	0.000	0.078	2133	3913	3632	3638	3627	0	0	0	0	0	0	14.69	14.26	14.69
1848	-1.96	-30.2	2134	3913	3641	3627	536.5	-8.1	215	1853	0.00	1.85	0.00	0.000	1030	0.000	0.041	2133	2797	3632	3638	3627	0	0	0	0	0	0	14.42	14.35	14.45
2159	-1.97	-38.7	2133	2798	3638	3628	558.8	-7.0	247	2160	0.00	0.00	0.00	0.000	38	0.000	0.000	2133	2797	3632	3638	3627	0	0	0	0	0	0	14.81	14.81	14.81
2460	-1.99	-48.0	2133	2798	3638	3628	579.4	-6.7	277	2466	0.00	2.00	0.00	0.000	292	0.000	0.076	2125	3914	3632	3638	3627	0	0	0	0	0	0	14.66	14.23	14.66
2517	-1.99	-55.0	2125	3914	3639	3626	583.6	-7.4	288	2523	0.00	1.88	0.00	0.000	1062	0.000	0.041	2125	2788	3631	3637	3626	0	0	0	0	0	0	14.47	14.42	14.52
2822	-2.01	-64.5	2124	2788	3634	3627	604.1	-6.7	319	2828	0.00	2.03	0.00	0.000	292	0.000	0.073	2118	3921	3631	3637	3626	0	0	0	0	0	0	14.78	14.23	14.78
2859	-2.01	-64.5	2118	3921	3639	3625	606.8	-7.4	326	2865	0.00	1.90	0.00	0.000	1030	0.000	0.041	2119	2785	3631	3637	3625	0	0	0	0	0	0	14.47	14.42	14.50
3164	-2.02	-75.1	2119	2785	3638	3626	627.5	-6.3	357	3170	0.00	2.03	0.00	0.000	292	0.000	0.074	2112	3913	3631	3637	3625	0	0	0	0	0	0	14.76	14.21	14.76
3231	-2.03	-84.2	2112	3914	3638	3625	631.9	-6.8	370	3237	0.00	1.88	0.00	0.000	1062	0.000	0.041	2111	2790	3631	3638	3624	0	0	0	0	0	0	14.45	14.39	14.47
3536	-2.04	-94.8	2112	2791	3639	3624	652.1	-6.4	401	3542	0.00	2.40	0.00	0.000	548	0.000	0.043	2111	1390	3630	3637	3624	0	0	0	0	0	0	14.76	14.26	14.76
3646	-2.06	-106.4	2112	1390	3639	3624	658.6	-6.1	422	3652	0.00	2.50	0.00	0.000	1062	0.000	0.054	2101	2810	3630	3637	3624	0	0	0	0	0	0	14.39	14.28	14.42
3948	-2.06	-107.1	2102	2810	3639	3623	677.0	-6.1	453	3949	0.00	0.00	0.00	0.000	38	0.000	0.000	2101	2810	3628	3636	3620	0	0	0	0	0	0	14.81	14.81	14.81
4248	-2.06	-107.1	2102	2811	3639	3623	693.1	-5.0	483	4253	0.00	1.98	0.00	0.000	292	0.000	0.076	2099	3915	3629	3637	3622	0	0	0	0	0	0	14.79	14.12	14.80
4479	-2.06	-107.1	2099	3916	3638	3623	704.6	-4.8	529	4486	0.00	1.88	0.00	0.000	1062	0.000	0.042	2099	2797	3629	3637	3621	0	0	0	0	0	0	14.43	14.38	14.47
4855	-2.06	-107.1	2098	2797	3639	3622	719.4	-3.7	543	4860	0.00	2.03	0.00	0.000	292	0.000	0.074	2090	3915	3629	3637	3621	0	0	0	0	0	0	14.75	14.15	14.75
5087	-2.06	-107.1	2091	3915	3639	3622	727.9	-3.8	589	5092	0.00	1.90	0.00	0.000	1062	0.000	0.042	2089	2783	3629	3637	3621	0	0	0	0	0	0	14.41	14.35	14.43
5459	-2.06	-107.1	2093	2785	3638	3623	738.7	-2.6	603	5464	0.00	2.05	0.00	0.000	292	0.000	0.073	2082	3912	3629	3637	3621	0	0	0	0	0	0	14.79	14.12	14.79
5690	-2.06	-107.1	2082	3912	3638	3621	744.1	-2.8	649	5696	0.15	1.88	0.00	0.000	3110	0.344	0.041	2109	2795	3633	3637	3629	0	0	0	0	0	0	13.66	14.34	14.09
6063	-2.06	-107.1	2109	2795	3639	3621	751.9	-2.1	663	6068	0.00	2.42	0.00	0.000	548	0.000	0.043	2109	1391	3629	3638	3621	0	0	0	0	0	0	14.76	13.98	14.77
6294	-2.06	-107.1	2109	1391	3638	3621	756.2	-1.7	709	6300	0.00	2.50	0.00	0.000	1062	0.000	0.054	2103	2804	3629	3637	3621	0	0	0	0	0	0	14.32	14.19	14.35
6666	-2.06	-107.1	2100	2804	3639	3621	761.4	-1.3	723	6671	0.00	2.42	0.00	0.000	548	0.000	0.041	2100	1399	3629	3637	3621	0	0	0	0	0	0	14.70	14.22	14.71
6897	-2.06	-107.1	2100	1400	3638	3622	764.0	-1.0	769	6903	0.00	2.50	0.00	0.000	1062	0.000	0.054	2089	2812	3629	3637	3621	0	0	0	0	0	0	14.24	14.12	14.28
7085	end dive: NO_VERTICAL_VELOCITY
state	7085	begin apogee
7093	-0.23	0.0	2090	2535	3638	3622	765.7	0.0	777	7140	2.67	0.00	42.50	3.016	10246	0.327	0.000	2697	2534	3492	3498	3487	0	0	0	0	0	0	13.81	14.02	12.76
7141	end apogee: CONTROL_FINISHED_OK
state	7141	begin climb
7144	2.06	107.1	2697	2535	3498	3487	765.3	0.0	778	7288	2.38	2.90	129.38	3.073	10500	0.113	0.086	3434	3904	3063	3083	3044	0	0	0	0	0	0	13.88	12.69	11.49
7352	2.06	107.1	3434	3905	3079	3039	722.7	31.2	817	7357	0.00	2.58	0.00	0.000	1030	0.000	0.050	3445	2562	3061	3079	3043	0	0	0	0	0	0	13.07	13.00	13.09
7721	2.06	107.1	3446	2563	3075	3034	616.7	28.0	851	7730	0.00	2.53	0.00	0.000	516	0.000	0.063	3456	1140	3051	3070	3032	0	0	0	0	0	0	14.46	14.03	14.46
7746	2.06	107.1	3456	1141	3071	3033	608.9	27.8	855	7753	0.00	2.53	0.00	0.000	1030	0.000	0.066	3456	2552	3051	3071	3032	0	0	0	0	0	0	14.19	14.11	14.22
8059	2.06	107.1	3456	2552	3072	3032	522.1	27.0	887	8060	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2552	3051	3071	3032	0	0	0	0	0	0	14.78	14.78	14.78
8359	2.06	107.1	3456	2553	3071	3033	442.1	27.0	917	8364	0.00	2.50	0.00	0.000	516	0.000	0.062	3466	1137	3051	3071	3031	0	0	0	0	0	0	14.81	14.37	14.81
8395	2.06	107.1	3466	1138	3071	3033	432.8	26.1	924	8403	0.17	2.53	0.00	0.000	5126	0.372	0.066	3435	2556	3051	3071	3032	0	0	0	0	0	0	13.90	14.39	14.40
8527	end climb: FINISH_DEPTH_REACHED
state	8527	begin subsurface finish
8535	0.00	0.0	3435	2557	3071	3033	398.3	25.4	938	8542	2.75	0.00	-1.90	0.047	20486	0.334	0.000	2779	2557	3512	3515	3509	0	0	0	0	0	0	14.04	12.83	14.45
8542	end subsurface finish: CONTROL_FINISHED_OK
state	8542	begin surface