Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 796 * 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 796 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 49 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 280 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 796 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 49 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 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 050119,181632,-7431.3311,-11209.9834,0,3145.5,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideE

_XMS_NAKs 0 TGT_LATLONG -7430.000,-11150.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 282.82 MHEAD_RNG_PITCHd_Wd 22.5,10193,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 2.6 D_GRID 990

GPS2 050119,181632,-7431.3311,-11209.9834,0,3145.5,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 289.2,1.027326,9 _10V_AH 11.13,0.000

FINISH2 289.1 FG_AHR_24Vo 0.000

RAFOS_CLK 264 FG_AHR_10Vo 0.000

RAFOS 0,1546722065,21.032354,21.018055,99,69,62,57,49,49,628,184,213,116,171,303 MEM 279756

RAFOS_FIX -7431.708496,-11211.063477,050119,212156,1,2,0.09 DATA_FILE_SIZE 23336,712

IRIDIUM_FIX -7410.06,-11230.52,311218,020608 CAP_FILE_SIZE 77658,0

TT8_MAMPS 0.041944,0.26964 CFSIZE 1024409600,925138944

HUMID 51.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.92918 INTR 0,4052.10,0x234cda,1,24

TCM_TEMP 13.00 SOUNDSPEED 1450.1

XPDR_PINGS 2 GPS 050119,210256,-7431.708,-11211.063,0,2002.0,0,53.5,0.0,0.0,0,0.0

_24V_AH 11.31,250.541

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.55 nil 0 0 0.00

Roll_motor 46 87 46.16 nil 0 0 0.00

VBD_pump_during_apogee 410 2929 13611.32 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 6261 12 853.78

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 108.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4279 2 110.02

TT8_Active 393 10 47.66

TT8_Sampling 1456 30 491.86

TT8_CF8 222 51 126.91

TT8_Kalman 0 0 0.00

Analog_circuits 953 10 107.17

GPS_charging 0 0 0.00

Compass 1022 6 76.71

RAFOS 480 1 8.01

Transponder 159 30 53.30

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

284.0 30.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

296.9 34.40 9000.00 0.0 0.00 0.00 34.40 0.0 0.33 1.00

303.6 21.50 9000.00 0.0 -0.34 0.27 21.50 325.1 -1.93 1.00

329.8 36.90 9000.00 0.0 0.22 0.21 36.90 0.0 0.59 1.00

545.5 52.40 9000.00 0.0 0.11 0.83 52.40 0.0 0.07 1.00

551.6 39.00 9000.00 0.0 0.04 0.34 39.00 590.6 -2.20 1.00

558.4 24.10 9000.00 0.0 -2.20 1.00 24.10 582.5 -2.19 1.00

564.6 9.70 9000.00 0.0 -2.25 1.00 9.70 574.3 -2.32 1.00

562.6 9.30 9000.00 0.0 -2.53 0.89 9.30 553.3 0.20 1.00

556.3 11.50 9000.00 0.0 -0.25 0.85 11.50 0.0 -0.35 1.00

549.7 12.50 9000.00 0.0 -0.25 0.95 12.50 0.0 -0.15 1.00

542.9 12.90 9000.00 0.0 -0.10 0.93 12.90 0.0 -0.06 1.00

536.2 11.70 9000.00 0.0 0.06 0.45 11.70 524.5 0.18 1.00

529.4 10.30 9000.00 0.0 0.19 1.00 10.30 519.1 0.21 1.00

522.7 8.90 9000.00 0.0 0.21 1.00 8.90 513.8 0.21 1.00

516.4 8.90 9000.00 0.0 0.10 0.73 0.00 0.0 0.00 0.00

509.6 7.40 9000.00 0.0 0.11 0.74 7.40 502.2 0.22 1.00

503.1 14.40 9000.00 0.0 -0.41 0.54 14.40 0.0 -1.08 1.00

496.8 20.40 20.50 0.0 -1.02 1.00 20.40 0.0 -0.95 1.00

490.5 22.40 9000.00 0.0 -0.63 0.92 22.40 0.0 -0.32 1.00

484.2 21.20 9000.00 0.0 -0.07 0.17 21.20 463.0 0.19 1.00

477.5 18.30 9000.00 0.0 0.31 0.96 18.30 459.2 0.43 1.00

471.0 17.10 9000.00 0.0 0.31 0.95 17.10 453.9 0.18 1.00

463.7 12.80 9000.00 0.0 0.40 0.92 12.80 450.9 0.59 1.00

457.5 8.60 9000.00 0.0 0.63 1.00 8.60 448.9 0.68 1.00

451.0 14.90 9000.00 0.0 -0.17 0.11 14.90 0.0 -0.97 1.00

445.0 16.00 9000.00 0.0 -0.60 0.87 16.00 0.0 -0.18 1.00

438.7 16.40 9000.00 0.0 -0.12 0.92 16.40 0.0 -0.06 1.00

406.6 9.00 9000.00 0.0 0.20 0.96 9.00 397.6 0.23 1.00

322.3 53.90 9000.00 0.0 -0.36 0.83 53.90 0.0 -0.53 1.00

316.0 56.20 9000.00 0.0 -0.53 1.00 56.20 0.0 -0.37 1.00

309.6 14.40 9000.00 0.0 3.13 0.71 14.40 295.2 6.53 1.00

303.3 52.60 9000.00 0.0 0.29 0.01 52.60 0.0 -6.06 1.00

296.6 11.00 9000.00 0.0 0.31 0.01 11.00 285.6 6.21 1.00

290.5 58.40 9000.00 0.0 -0.37 0.01 58.40 0.0 -7.77 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

10 -1.01 -107.1 2784 2814 3494 3488 0.0 0.0 0 14 0.00 0.00 -2.15 0.044 16390 0.000 0.000 2782 2814 3936 3930 3943 0 0 0 0 0 0 14.67 12.35 14.57

17 -1.01 -107.1 2784 2814 3939 3953 0.0 0.0 0 24 1.08 0.00 0.00 0.000 4102 0.126 0.000 2449 2814 3948 3941 3955 0 0 0 0 0 0 14.04 14.23 14.16

321 -1.01 -107.1 2449 2814 3954 3964 311.5 -10.2 31 326 0.00 2.53 0.00 0.000 516 0.000 0.047 2449 1396 3958 3953 3964 0 0 0 0 0 0 14.74 14.19 14.74

353 -1.01 -107.1 2449 1395 3955 3964 314.6 -9.7 37 358 0.00 2.58 0.00 0.000 1030 0.000 0.063 2443 2813 3959 3955 3964 0 0 0 0 0 0 14.26 14.09 14.33

664 -1.01 -107.1 2443 2814 3955 3967 345.4 -9.7 69 665 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2813 3959 3954 3965 0 0 0 0 0 0 14.76 14.76 14.76

965 -1.01 -107.1 2443 2813 3957 3966 373.4 -8.9 99 965 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2813 3960 3955 3966 0 0 0 0 0 0 14.76 14.76 14.76

1264 -1.01 -107.1 2444 2813 3956 3966 399.8 -9.1 129 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2813 3960 3955 3966 0 0 0 0 0 0 14.76 14.77 14.76

1564 -1.01 -107.1 2442 2814 3956 3967 426.3 -8.6 159 1565 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2813 3960 3955 3966 0 0 0 0 0 0 14.76 14.76 14.76

1864 -1.01 -107.1 2443 2813 3955 3966 453.2 -9.2 189 1870 0.00 2.08 0.00 0.000 260 0.000 0.087 2440 3915 3960 3955 3966 0 0 0 0 0 0 14.77 14.05 14.77

1907 -1.01 -107.1 2441 3915 3957 3966 457.1 -9.6 197 1912 0.00 1.92 0.00 0.000 1030 0.000 0.047 2440 2795 3960 3955 3966 0 0 0 0 0 0 14.38 14.31 14.41

2218 -1.01 -107.1 2440 2795 3957 3966 484.0 -8.7 229 2224 0.00 2.12 0.00 0.000 260 0.000 0.087 2439 3917 3961 3956 3966 0 0 0 0 0 0 14.77 14.03 14.77

2266 -1.01 -107.1 2439 3918 3956 3967 488.5 -9.6 238 2273 0.00 1.95 0.00 0.000 1030 0.000 0.047 2439 2786 3961 3956 3966 0 0 0 0 0 0 14.37 14.31 14.40

2570 -1.01 -107.1 2439 2786 3957 3966 516.0 -8.6 269 2571 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2786 3960 3955 3966 0 0 0 0 0 0 14.71 14.71 14.72

2871 -1.01 -107.1 2439 2788 3956 3967 540.9 -8.7 299 2872 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2786 3960 3956 3965 0 0 0 0 0 0 14.71 14.71 14.71

3171 -1.01 -107.1 2439 2787 3956 3967 566.0 -7.0 329 3171 0.00 0.00 0.00 0.000 38 0.000 0.000 2438 2786 3960 3955 3966 0 0 0 0 0 0 14.75 14.77 14.75

3357 end dive: NO_VERTICAL_VELOCITY

state 3357 begin apogee

3365 -0.23 0.0 2439 2543 3956 3969 568.9 0.0 348 3511 0.88 0.00 139.32 2.930 10246 0.143 0.000 2698 2542 3490 3498 3483 0 0 0 0 0 0 13.83 12.76 11.74

3512 end apogee: CONTROL_FINISHED_OK

state 3512 begin climb

3518 1.01 107.1 2700 2542 3500 3483 568.8 0.0 363 3669 1.40 3.03 139.82 2.820 10500 0.115 0.086 3096 3906 3064 3081 3047 0 0 0 0 0 0 12.85 12.40 11.31

3740 1.01 107.1 3096 3907 3078 3042 547.5 14.9 403 3745 0.00 2.65 0.00 0.000 1030 0.000 0.045 3107 2550 3058 3077 3040 0 0 0 0 0 0 12.92 12.86 12.93

4051 1.01 107.1 3106 2551 3071 3037 505.8 13.3 435 4061 0.00 2.75 0.00 0.000 516 0.000 0.059 3117 1147 3052 3070 3035 0 0 0 0 0 0 13.47 12.98 13.47

4248 1.01 107.1 3117 1148 3070 3033 481.3 11.9 473 4254 0.00 2.78 0.00 0.000 1030 0.000 0.063 3118 2555 3051 3070 3032 0 0 0 0 0 0 13.34 13.21 13.39

4560 1.01 107.1 3119 2556 3069 3033 443.6 10.0 505 4566 0.00 2.67 0.00 0.000 516 0.000 0.055 3130 1140 3050 3069 3031 0 0 0 0 0 0 14.05 13.52 14.05

4588 1.15 216.6 3130 1140 3070 3031 442.5 2.9 510 4729 0.00 2.70 131.60 2.721 9254 0.000 0.060 3130 2570 2628 2653 2604 0 0 0 0 0 0 13.69 13.57 11.48

5026 1.15 216.6 3134 2572 2632 2591 400.3 13.0 565 5032 0.00 2.83 0.00 0.000 516 0.000 0.057 3148 1148 2609 2630 2589 0 0 0 0 0 0 13.33 12.93 13.33

5103 1.15 216.6 3144 1148 2629 2589 391.3 12.8 580 5109 0.00 2.80 0.00 0.000 1030 0.000 0.068 3141 2550 2608 2629 2588 0 0 0 0 0 0 13.21 13.07 13.24

5408 1.15 216.6 3147 2552 2630 2587 353.2 12.0 611 5409 0.00 0.00 0.00 0.000 6 0.000 0.000 3147 2552 2606 2626 2587 0 0 0 0 0 0 13.96 13.96 13.96

5708 1.15 216.6 3147 2553 2626 2587 326.9 12.0 641 5714 0.00 2.62 0.00 0.000 516 0.000 0.059 3155 1151 2605 2624 2586 0 0 0 0 0 0 14.19 13.65 14.19

5742 1.15 216.6 3156 1150 2625 2585 322.3 14.1 647 5746 0.00 2.65 0.00 0.000 1030 0.000 0.065 3156 2556 2604 2623 2585 0 0 0 0 0 0 13.81 13.65 13.86

6053 1.15 216.6 3157 2557 2625 2584 291.2 10.8 679 6059 0.00 2.60 0.00 0.000 516 0.000 0.060 3166 1151 2603 2623 2584 0 0 0 0 0 0 14.38 13.71 14.38

6212 end climb: NO_VERTICAL_VELOCITY

state 6212 begin subsurface finish

6222 0.01 8.8 3167 2565 2624 2585 289.2 0.2 711 6230 1.52 0.00 -4.12 0.024 20483 0.264 0.000 2777 2566 3478 3483 3474 0 0 0 0 0 0 13.62 28.83 13.98

6230 end subsurface finish: NO_VERTICAL_VELOCITY

state 6230 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	796	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	49	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	280	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	050119,181632,-7431.3311,-11209.9834,0,3145.5,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideE
_XMS_NAKs	0	TGT_LATLONG	-7430.000,-11150.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	282.82	MHEAD_RNG_PITCHd_Wd	22.5,10193,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	2.6	D_GRID	990
GPS2	050119,181632,-7431.3311,-11209.9834,0,3145.5,0,53.5,0.0,0.0,0,0.0

FINISH1	289.2,1.027326,9	_10V_AH	11.13,0.000
FINISH2	289.1	FG_AHR_24Vo	0.000
RAFOS_CLK	264	FG_AHR_10Vo	0.000
RAFOS	0,1546722065,21.032354,21.018055,99,69,62,57,49,49,628,184,213,116,171,303	MEM	279756
RAFOS_FIX	-7431.708496,-11211.063477,050119,212156,1,2,0.09	DATA_FILE_SIZE	23336,712
IRIDIUM_FIX	-7410.06,-11230.52,311218,020608	CAP_FILE_SIZE	77658,0
TT8_MAMPS	0.041944,0.26964	CFSIZE	1024409600,925138944
HUMID	51.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.92918	INTR	0,4052.10,0x234cda,1,24
TCM_TEMP	13.00	SOUNDSPEED	1450.1
XPDR_PINGS	2	GPS	050119,210256,-7431.708,-11211.063,0,2002.0,0,53.5,0.0,0.0,0,0.0
_24V_AH	11.31,250.541

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.55	nil	0	0	0.00
Roll_motor	46	87	46.16	nil	0	0	0.00
VBD_pump_during_apogee	410	2929	13611.32	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	6261	12	853.78
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	108.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4279	2	110.02
TT8_Active	393	10	47.66
TT8_Sampling	1456	30	491.86
TT8_CF8	222	51	126.91
TT8_Kalman	0	0	0.00
Analog_circuits	953	10	107.17
GPS_charging	0	0	0.00
Compass	1022	6	76.71
RAFOS	480	1	8.01
Transponder	159	30	53.30

		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
284.0	30.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
296.9	34.40	9000.00	0.0	0.00	0.00	34.40	0.0	0.33	1.00
303.6	21.50	9000.00	0.0	-0.34	0.27	21.50	325.1	-1.93	1.00
329.8	36.90	9000.00	0.0	0.22	0.21	36.90	0.0	0.59	1.00
545.5	52.40	9000.00	0.0	0.11	0.83	52.40	0.0	0.07	1.00
551.6	39.00	9000.00	0.0	0.04	0.34	39.00	590.6	-2.20	1.00
558.4	24.10	9000.00	0.0	-2.20	1.00	24.10	582.5	-2.19	1.00
564.6	9.70	9000.00	0.0	-2.25	1.00	9.70	574.3	-2.32	1.00

562.6	9.30	9000.00	0.0	-2.53	0.89	9.30	553.3	0.20	1.00
556.3	11.50	9000.00	0.0	-0.25	0.85	11.50	0.0	-0.35	1.00
549.7	12.50	9000.00	0.0	-0.25	0.95	12.50	0.0	-0.15	1.00
542.9	12.90	9000.00	0.0	-0.10	0.93	12.90	0.0	-0.06	1.00
536.2	11.70	9000.00	0.0	0.06	0.45	11.70	524.5	0.18	1.00
529.4	10.30	9000.00	0.0	0.19	1.00	10.30	519.1	0.21	1.00
522.7	8.90	9000.00	0.0	0.21	1.00	8.90	513.8	0.21	1.00
516.4	8.90	9000.00	0.0	0.10	0.73	0.00	0.0	0.00	0.00
509.6	7.40	9000.00	0.0	0.11	0.74	7.40	502.2	0.22	1.00
503.1	14.40	9000.00	0.0	-0.41	0.54	14.40	0.0	-1.08	1.00
496.8	20.40	20.50	0.0	-1.02	1.00	20.40	0.0	-0.95	1.00
490.5	22.40	9000.00	0.0	-0.63	0.92	22.40	0.0	-0.32	1.00
484.2	21.20	9000.00	0.0	-0.07	0.17	21.20	463.0	0.19	1.00
477.5	18.30	9000.00	0.0	0.31	0.96	18.30	459.2	0.43	1.00
471.0	17.10	9000.00	0.0	0.31	0.95	17.10	453.9	0.18	1.00
463.7	12.80	9000.00	0.0	0.40	0.92	12.80	450.9	0.59	1.00
457.5	8.60	9000.00	0.0	0.63	1.00	8.60	448.9	0.68	1.00
451.0	14.90	9000.00	0.0	-0.17	0.11	14.90	0.0	-0.97	1.00
445.0	16.00	9000.00	0.0	-0.60	0.87	16.00	0.0	-0.18	1.00
438.7	16.40	9000.00	0.0	-0.12	0.92	16.40	0.0	-0.06	1.00
406.6	9.00	9000.00	0.0	0.20	0.96	9.00	397.6	0.23	1.00
322.3	53.90	9000.00	0.0	-0.36	0.83	53.90	0.0	-0.53	1.00
316.0	56.20	9000.00	0.0	-0.53	1.00	56.20	0.0	-0.37	1.00
309.6	14.40	9000.00	0.0	3.13	0.71	14.40	295.2	6.53	1.00
303.3	52.60	9000.00	0.0	0.29	0.01	52.60	0.0	-6.06	1.00
296.6	11.00	9000.00	0.0	0.31	0.01	11.00	285.6	6.21	1.00
290.5	58.40	9000.00	0.0	-0.37	0.01	58.40	0.0	-7.77	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
10	-1.01	-107.1	2784	2814	3494	3488	0.0	0.0	0	14	0.00	0.00	-2.15	0.044	16390	0.000	0.000	2782	2814	3936	3930	3943	0	0	0	0	0	0	14.67	12.35	14.57
17	-1.01	-107.1	2784	2814	3939	3953	0.0	0.0	0	24	1.08	0.00	0.00	0.000	4102	0.126	0.000	2449	2814	3948	3941	3955	0	0	0	0	0	0	14.04	14.23	14.16
321	-1.01	-107.1	2449	2814	3954	3964	311.5	-10.2	31	326	0.00	2.53	0.00	0.000	516	0.000	0.047	2449	1396	3958	3953	3964	0	0	0	0	0	0	14.74	14.19	14.74
353	-1.01	-107.1	2449	1395	3955	3964	314.6	-9.7	37	358	0.00	2.58	0.00	0.000	1030	0.000	0.063	2443	2813	3959	3955	3964	0	0	0	0	0	0	14.26	14.09	14.33
664	-1.01	-107.1	2443	2814	3955	3967	345.4	-9.7	69	665	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2813	3959	3954	3965	0	0	0	0	0	0	14.76	14.76	14.76
965	-1.01	-107.1	2443	2813	3957	3966	373.4	-8.9	99	965	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2813	3960	3955	3966	0	0	0	0	0	0	14.76	14.76	14.76
1264	-1.01	-107.1	2444	2813	3956	3966	399.8	-9.1	129	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2813	3960	3955	3966	0	0	0	0	0	0	14.76	14.77	14.76
1564	-1.01	-107.1	2442	2814	3956	3967	426.3	-8.6	159	1565	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2813	3960	3955	3966	0	0	0	0	0	0	14.76	14.76	14.76
1864	-1.01	-107.1	2443	2813	3955	3966	453.2	-9.2	189	1870	0.00	2.08	0.00	0.000	260	0.000	0.087	2440	3915	3960	3955	3966	0	0	0	0	0	0	14.77	14.05	14.77
1907	-1.01	-107.1	2441	3915	3957	3966	457.1	-9.6	197	1912	0.00	1.92	0.00	0.000	1030	0.000	0.047	2440	2795	3960	3955	3966	0	0	0	0	0	0	14.38	14.31	14.41
2218	-1.01	-107.1	2440	2795	3957	3966	484.0	-8.7	229	2224	0.00	2.12	0.00	0.000	260	0.000	0.087	2439	3917	3961	3956	3966	0	0	0	0	0	0	14.77	14.03	14.77
2266	-1.01	-107.1	2439	3918	3956	3967	488.5	-9.6	238	2273	0.00	1.95	0.00	0.000	1030	0.000	0.047	2439	2786	3961	3956	3966	0	0	0	0	0	0	14.37	14.31	14.40
2570	-1.01	-107.1	2439	2786	3957	3966	516.0	-8.6	269	2571	0.00	0.00	0.00	0.000	6	0.000	0.000	2439	2786	3960	3955	3966	0	0	0	0	0	0	14.71	14.71	14.72
2871	-1.01	-107.1	2439	2788	3956	3967	540.9	-8.7	299	2872	0.00	0.00	0.00	0.000	6	0.000	0.000	2438	2786	3960	3956	3965	0	0	0	0	0	0	14.71	14.71	14.71
3171	-1.01	-107.1	2439	2787	3956	3967	566.0	-7.0	329	3171	0.00	0.00	0.00	0.000	38	0.000	0.000	2438	2786	3960	3955	3966	0	0	0	0	0	0	14.75	14.77	14.75
3357	end dive: NO_VERTICAL_VELOCITY
state	3357	begin apogee
3365	-0.23	0.0	2439	2543	3956	3969	568.9	0.0	348	3511	0.88	0.00	139.32	2.930	10246	0.143	0.000	2698	2542	3490	3498	3483	0	0	0	0	0	0	13.83	12.76	11.74
3512	end apogee: CONTROL_FINISHED_OK
state	3512	begin climb
3518	1.01	107.1	2700	2542	3500	3483	568.8	0.0	363	3669	1.40	3.03	139.82	2.820	10500	0.115	0.086	3096	3906	3064	3081	3047	0	0	0	0	0	0	12.85	12.40	11.31
3740	1.01	107.1	3096	3907	3078	3042	547.5	14.9	403	3745	0.00	2.65	0.00	0.000	1030	0.000	0.045	3107	2550	3058	3077	3040	0	0	0	0	0	0	12.92	12.86	12.93
4051	1.01	107.1	3106	2551	3071	3037	505.8	13.3	435	4061	0.00	2.75	0.00	0.000	516	0.000	0.059	3117	1147	3052	3070	3035	0	0	0	0	0	0	13.47	12.98	13.47
4248	1.01	107.1	3117	1148	3070	3033	481.3	11.9	473	4254	0.00	2.78	0.00	0.000	1030	0.000	0.063	3118	2555	3051	3070	3032	0	0	0	0	0	0	13.34	13.21	13.39
4560	1.01	107.1	3119	2556	3069	3033	443.6	10.0	505	4566	0.00	2.67	0.00	0.000	516	0.000	0.055	3130	1140	3050	3069	3031	0	0	0	0	0	0	14.05	13.52	14.05
4588	1.15	216.6	3130	1140	3070	3031	442.5	2.9	510	4729	0.00	2.70	131.60	2.721	9254	0.000	0.060	3130	2570	2628	2653	2604	0	0	0	0	0	0	13.69	13.57	11.48
5026	1.15	216.6	3134	2572	2632	2591	400.3	13.0	565	5032	0.00	2.83	0.00	0.000	516	0.000	0.057	3148	1148	2609	2630	2589	0	0	0	0	0	0	13.33	12.93	13.33
5103	1.15	216.6	3144	1148	2629	2589	391.3	12.8	580	5109	0.00	2.80	0.00	0.000	1030	0.000	0.068	3141	2550	2608	2629	2588	0	0	0	0	0	0	13.21	13.07	13.24
5408	1.15	216.6	3147	2552	2630	2587	353.2	12.0	611	5409	0.00	0.00	0.00	0.000	6	0.000	0.000	3147	2552	2606	2626	2587	0	0	0	0	0	0	13.96	13.96	13.96
5708	1.15	216.6	3147	2553	2626	2587	326.9	12.0	641	5714	0.00	2.62	0.00	0.000	516	0.000	0.059	3155	1151	2605	2624	2586	0	0	0	0	0	0	14.19	13.65	14.19
5742	1.15	216.6	3156	1150	2625	2585	322.3	14.1	647	5746	0.00	2.65	0.00	0.000	1030	0.000	0.065	3156	2556	2604	2623	2585	0	0	0	0	0	0	13.81	13.65	13.86
6053	1.15	216.6	3157	2557	2625	2584	291.2	10.8	679	6059	0.00	2.60	0.00	0.000	516	0.000	0.060	3166	1151	2603	2623	2584	0	0	0	0	0	0	14.38	13.71	14.38
6212	end climb: NO_VERTICAL_VELOCITY
state	6212	begin subsurface finish
6222	0.01	8.8	3167	2565	2624	2585	289.2	0.2	711	6230	1.52	0.00	-4.12	0.024	20483	0.264	0.000	2777	2566	3478	3483	3474	0	0	0	0	0	0	13.62	28.83	13.98
6230	end subsurface finish: NO_VERTICAL_VELOCITY
state	6230	begin surface