Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 872 * 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 872 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 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 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 2575 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 3 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 2870 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 2 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 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 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 2870 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 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 872 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 15 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 2 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 280119,104321,-7407.9253,-11323.5869,3,1.4,5,53.9,0.1,0.0,6,10.0 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 23.7,30643,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -67.7 D_GRID 990

GPS2 280119,105144,-7407.9473,-11323.5312,2,1.3,3,53.9,0.1,0.0,6,5.9

Post-dive calculations and measurements:

FREEZE -0.08,-0.123,-1.854,2,1,0 ALTIM_TOP_PING 11.9,12.1

FINISH -0.1,1.027151 _24V_AH 10.33,285.817

SM_CCo 7629,156.60,0.207,0,0,1147,350.04 _10V_AH 10.27,0.000

SM_GC 0.88,11.73,0.47,156.60,0.064,0.082,0.207,219,2306,1147,-8.23,-0.28,350.04,0,0,0,0,0,0,11.30,11.31,11.18 FG_AHR_24Vo 0.000

RAFOS_CLK 294 FG_AHR_10Vo 0.000

RAFOS 0,1548676894,12.032778,12.026111,100,63,62,61,59,58,472,206,171,225,152,193 MEM 279956

RAFOS_FIX -7405.916016,-11311.677734,280119,121200,3,117,1.40 DATA_FILE_SIZE 13442,356

IRIDIUM_FIX -7410.94,-11323.31,280119,085206 CAP_FILE_SIZE 72853,0

TT8_MAMPS 0.047187,0.486101 CFSIZE 1024409600,920895488

HUMID 49.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1446.7

TCM_TEMP 12.00 CURRENT 0.006,103.64,1

XPDR_PINGS 3 GPS 280119,130308,-7407.631,-11320.188,18,1.1,18,53.9,0.1,0.0,5,7.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 401 134.84 nil 0 0 0.00

Roll_motor 94 135 132.84 nil 0 0 0.00

VBD_pump_during_apogee 369 2658 10153.02 nil 0 0 0.00

VBD_pump_during_surface 156 206 334.13 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 7623 6 508.70

Iridium_during_xfer 253 223 584.26 nil 0 0 0.00

Transponder_ping 18 420 78.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.56

TT8 0 0 0.00

LPSleep 6156 2 146.06

TT8_Active 714 13 101.46

TT8_Sampling 1044 34 373.07

TT8_CF8 367 52 198.93

TT8_Kalman 0 0 0.00

Analog_circuits 1304 10 146.06

GPS_charging 0 0 0.00

Compass 516 7 39.76

RAFOS 720 1 11.09

Transponder 119 30 36.94

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

10.2 12.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

23.1 24.40 9000.00 0.0 0.00 0.00 24.40 0.0 0.94 1.00

36.7 38.70 38.50 0.0 1.00 1.00 38.70 0.0 1.05 1.00

379.3 40.50 9000.00 0.0 0.03 0.37 40.50 0.0 0.01 1.00

394.6 24.50 9000.00 0.0 -0.02 0.20 24.50 419.1 -1.05 1.00

405.7 15.40 14.80 0.0 -0.96 1.00 15.40 0.0 -0.82 1.00

390.7 34.10 31.90 0.0 -1.15 0.92 34.10 0.0 -1.25 1.00

368.8 53.70 54.50 0.0 -1.03 0.99 53.70 0.0 -0.89 1.00

109.0 113.10 9000.00 0.0 -0.26 0.97 113.10 0.0 -0.23 1.00

97.7 101.20 9000.00 0.0 -0.20 0.95 101.20 -3.5 1.05 1.00

87.5 90.80 90.70 -3.2 1.04 1.00 90.80 -3.3 1.02 1.00

75.7 78.50 78.50 -2.8 1.03 1.00 78.50 -2.8 1.04 1.00

53.0 54.80 54.80 -1.8 1.04 1.00 54.80 -1.8 1.04 1.00

42.4 44.10 44.00 -1.6 1.03 1.00 44.10 -1.7 1.01 1.00

32.1 33.00 33.10 -1.0 1.04 1.00 33.00 -0.9 1.08 1.00

21.9 22.80 22.60 -0.7 1.04 1.00 22.80 -0.9 1.00 1.00

11.9 12.00 12.10 -0.2 1.04 1.00 12.00 -0.1 1.08 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 -1.06 -107.1 222 2306 1182 1085 0.0 0.0 0 112 0.00 0.00 -100.15 0.002 16390 0.000 0.000 220 2306 3010 3016 3005 0 0 0 0 0 0 11.44 10.71 11.45

116 -1.06 -107.1 222 2307 3018 3006 1.5 -1.1 3 139 17.33 0.00 0.00 0.000 2310 0.402 0.000 2523 2306 3011 3017 3005 0 0 0 0 0 0 11.11 11.33 11.30

464 -1.06 -107.1 2522 2306 3022 2999 61.9 -14.7 19 469 0.00 3.40 0.00 0.000 516 0.000 0.065 2523 886 3011 3024 2998 0 0 0 0 0 0 11.45 11.27 11.47

587 -1.06 -107.1 2523 887 3024 2999 81.8 -15.6 37 597 0.00 3.30 0.00 0.000 1030 0.000 0.057 2514 2303 3011 3024 2998 0 0 0 0 0 0 11.33 11.29 11.35

942 -1.06 -107.1 2516 2301 3027 2998 136.1 -15.9 51 948 0.00 3.38 0.00 0.000 516 0.000 0.063 2514 890 3011 3025 2997 0 0 0 0 0 0 11.46 11.26 11.48

1017 -1.06 -107.1 2516 890 3027 2997 148.5 -16.2 62 1024 0.00 3.33 0.00 0.000 1030 0.000 0.058 2499 2300 3009 3025 2994 0 0 0 0 0 0 11.36 11.29 11.38

1360 -1.06 -107.1 2505 2301 3027 2996 202.3 -16.1 75 1366 0.00 3.53 0.00 0.000 260 0.000 0.100 2493 3721 3010 3025 2996 0 0 0 0 0 0 11.48 11.26 11.49

1395 -1.06 -107.1 2492 3721 3025 2996 207.8 -15.7 80 1401 0.20 3.25 0.00 0.000 3078 0.259 0.040 2522 2289 3010 3026 2995 0 0 0 0 0 0 11.19 11.32 11.34

1752 -1.06 -107.1 2522 2288 3026 2996 260.8 -14.7 89 1759 0.00 3.30 0.00 0.000 516 0.000 0.061 2523 894 3009 3026 2993 0 0 0 0 0 0 11.48 11.28 11.49

1794 -1.06 -107.1 2522 894 3026 2995 267.2 -15.5 95 1800 0.00 3.35 0.00 0.000 1030 0.000 0.059 2514 2300 3010 3026 2995 0 0 0 0 0 0 11.37 11.29 11.38

2144 -1.06 -107.1 2514 2301 3026 2995 317.0 -13.8 103 2145 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2300 3008 3022 2995 0 0 0 0 0 0 11.48 11.50 11.50

2480 -1.06 -107.1 2515 2301 3029 2994 363.3 -13.6 109 2487 0.00 3.33 0.00 0.000 516 0.000 0.060 2514 899 3010 3026 2994 0 0 0 0 0 0 11.48 11.29 11.50

2515 -1.06 -107.1 2514 900 3026 2995 368.3 -14.7 114 2521 0.00 3.30 0.00 0.000 1030 0.000 0.057 2503 2311 3010 3027 2994 0 0 0 0 0 0 11.37 11.29 11.38

2872 -1.06 -107.1 2504 2312 3031 2993 416.1 -13.3 123 2878 0.00 3.35 0.00 0.000 516 0.000 0.057 2503 892 3010 3029 2992 0 0 0 0 0 0 11.48 11.29 11.50

2900 -1.06 -107.1 2503 893 3029 2993 416.1 -0.1 127 2906 0.00 3.30 0.00 0.000 1062 0.000 0.056 2502 2302 3011 3029 2993 0 0 0 0 0 0 11.38 11.30 11.39

3037 end dive: NO_VERTICAL_VELOCITY

state 3037 begin apogee

3045 -0.23 0.0 2503 2078 3031 2993 416.3 0.0 133 3209 1.30 0.10 157.27 2.658 10246 0.150 0.135 2791 2122 2574 2605 2544 0 0 0 0 0 0 11.26 11.15 10.33

3210 end apogee: CONTROL_FINISHED_OK

state 3210 begin climb

3214 1.06 107.1 2793 2122 2606 2543 416.0 0.0 136 3387 1.75 3.45 161.30 2.571 10756 0.125 0.073 3210 712 2138 2175 2101 0 0 0 0 0 0 11.17 11.04 10.34

3449 1.10 141.7 3208 713 2168 2097 403.5 7.8 170 3511 0.00 3.20 51.15 2.502 9254 0.000 0.049 3210 2097 1996 2040 1953 0 0 0 0 0 0 11.32 11.25 10.36

3876 1.10 141.7 3210 2097 2034 1941 363.3 9.9 189 3882 0.00 3.50 0.00 0.000 260 0.000 0.093 3210 3516 1987 2033 1941 0 0 0 0 0 0 11.45 11.24 11.47

3911 1.10 141.7 3211 3516 2035 1942 359.7 10.6 194 3918 0.00 3.20 0.00 0.000 1030 0.000 0.040 3218 2118 1987 2033 1941 0 0 0 0 0 0 11.34 11.29 11.36

4269 1.10 141.7 3220 2118 2033 1941 324.1 9.8 203 4270 0.00 0.00 0.00 0.000 6 0.000 0.000 3219 2118 1985 2030 1940 0 0 0 0 0 0 11.45 11.47 11.46

4605 1.10 141.7 3220 2118 2031 1940 291.4 9.7 209 4610 0.00 3.47 0.00 0.000 260 0.000 0.093 3219 3516 1984 2029 1939 0 0 0 0 0 0 11.45 11.25 11.47

4653 1.10 141.7 3218 3517 2029 1940 286.3 10.7 216 4660 0.00 3.25 0.00 0.000 1030 0.000 0.039 3227 2098 1983 2028 1939 0 0 0 0 0 0 11.36 11.31 11.38

4996 1.10 141.7 3228 2099 2030 1938 252.1 10.2 223 4997 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2098 1983 2028 1939 0 0 0 0 0 0 11.48 11.49 11.48

5333 1.12 141.7 3228 2099 2029 1939 221.5 9.0 229 5339 0.00 3.53 0.00 0.000 324 0.000 0.096 3227 3514 1982 2026 1938 0 0 0 0 0 0 11.46 11.26 11.48

5402 1.12 141.7 3228 3516 2029 1939 213.8 12.1 239 5408 0.00 3.25 0.00 0.000 1030 0.000 0.040 3236 2095 1982 2026 1938 0 0 0 0 0 0 11.37 11.31 11.39

5755 1.12 141.7 3242 2096 2025 1938 178.5 9.8 254 5761 0.00 3.53 0.00 0.000 260 0.000 0.093 3236 3517 1981 2025 1938 0 0 0 0 0 0 11.48 11.27 11.49

5867 1.12 141.7 3237 3518 2027 1938 166.0 11.4 270 5872 0.00 3.25 0.00 0.000 1030 0.000 0.040 3246 2094 1981 2025 1938 0 0 0 0 0 0 11.38 11.31 11.39

6230 1.12 141.7 3247 2095 2026 1937 129.1 10.2 286 6236 0.00 3.53 0.00 0.000 260 0.000 0.091 3246 3512 1980 2024 1937 0 0 0 0 0 0 11.48 11.26 11.50

6244 1.12 141.7 3246 3512 2024 1938 127.6 10.5 288 6250 0.00 3.25 0.00 0.000 1030 0.000 0.041 3256 2096 1978 2019 1937 0 0 0 0 0 0 11.38 11.31 11.40

6594 1.12 141.7 3258 2096 2026 1938 91.8 10.3 302 6601 0.00 3.42 0.00 0.000 516 0.000 0.080 3267 694 1980 2023 1937 0 0 0 0 0 0 11.48 11.27 11.50

6637 1.12 141.7 3268 695 2025 1938 87.5 10.6 308 6642 0.20 3.25 0.00 0.000 5126 0.230 0.052 3235 2104 1980 2023 1937 0 0 0 0 0 0 11.21 11.33 11.36

6989 1.14 141.7 3234 2105 2022 1938 55.5 8.9 322 6990 0.00 0.00 0.00 0.000 70 0.000 0.000 3235 2103 1979 2022 1937 0 0 0 0 0 0 11.48 11.50 11.50

7325 1.16 141.7 3236 2104 2024 1938 24.6 9.0 334 7331 0.00 3.45 0.00 0.000 580 0.000 0.080 3242 687 1979 2022 1937 0 0 0 0 0 0 11.48 11.28 11.50

7408 1.18 141.7 3242 687 2021 1938 16.8 9.0 346 7414 0.00 3.30 0.00 0.000 1094 0.000 0.050 3242 2112 1979 2021 1937 0 0 0 0 0 0 11.38 11.31 11.40

7573 end climb: SURFACE_DEPTH_REACHED

state 7573 begin surface coast

7604 end surface coast: CONTROL_FINISHED_OK

state 7604 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	872	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	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	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	2575	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	3	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	2870	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	2	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	280119,104321,-7407.9253,-11323.5869,3,1.4,5,53.9,0.1,0.0,6,10.0	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	23.7,30643,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-67.7	D_GRID	990
GPS2	280119,105144,-7407.9473,-11323.5312,2,1.3,3,53.9,0.1,0.0,6,5.9

FREEZE	-0.08,-0.123,-1.854,2,1,0	ALTIM_TOP_PING	11.9,12.1
FINISH	-0.1,1.027151	_24V_AH	10.33,285.817
SM_CCo	7629,156.60,0.207,0,0,1147,350.04	_10V_AH	10.27,0.000
SM_GC	0.88,11.73,0.47,156.60,0.064,0.082,0.207,219,2306,1147,-8.23,-0.28,350.04,0,0,0,0,0,0,11.30,11.31,11.18	FG_AHR_24Vo	0.000
RAFOS_CLK	294	FG_AHR_10Vo	0.000
RAFOS	0,1548676894,12.032778,12.026111,100,63,62,61,59,58,472,206,171,225,152,193	MEM	279956
RAFOS_FIX	-7405.916016,-11311.677734,280119,121200,3,117,1.40	DATA_FILE_SIZE	13442,356
IRIDIUM_FIX	-7410.94,-11323.31,280119,085206	CAP_FILE_SIZE	72853,0
TT8_MAMPS	0.047187,0.486101	CFSIZE	1024409600,920895488
HUMID	49.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1446.7
TCM_TEMP	12.00	CURRENT	0.006,103.64,1
XPDR_PINGS	3	GPS	280119,130308,-7407.631,-11320.188,18,1.1,18,53.9,0.1,0.0,5,7.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	401	134.84	nil	0	0	0.00
Roll_motor	94	135	132.84	nil	0	0	0.00
VBD_pump_during_apogee	369	2658	10153.02	nil	0	0	0.00
VBD_pump_during_surface	156	206	334.13	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	7623	6	508.70
Iridium_during_xfer	253	223	584.26	nil	0	0	0.00
Transponder_ping	18	420	78.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.56
TT8	0	0	0.00
LPSleep	6156	2	146.06
TT8_Active	714	13	101.46
TT8_Sampling	1044	34	373.07
TT8_CF8	367	52	198.93
TT8_Kalman	0	0	0.00
Analog_circuits	1304	10	146.06
GPS_charging	0	0	0.00
Compass	516	7	39.76
RAFOS	720	1	11.09
Transponder	119	30	36.94

		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
10.2	12.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
23.1	24.40	9000.00	0.0	0.00	0.00	24.40	0.0	0.94	1.00
36.7	38.70	38.50	0.0	1.00	1.00	38.70	0.0	1.05	1.00
379.3	40.50	9000.00	0.0	0.03	0.37	40.50	0.0	0.01	1.00
394.6	24.50	9000.00	0.0	-0.02	0.20	24.50	419.1	-1.05	1.00

405.7	15.40	14.80	0.0	-0.96	1.00	15.40	0.0	-0.82	1.00
390.7	34.10	31.90	0.0	-1.15	0.92	34.10	0.0	-1.25	1.00
368.8	53.70	54.50	0.0	-1.03	0.99	53.70	0.0	-0.89	1.00
109.0	113.10	9000.00	0.0	-0.26	0.97	113.10	0.0	-0.23	1.00
97.7	101.20	9000.00	0.0	-0.20	0.95	101.20	-3.5	1.05	1.00
87.5	90.80	90.70	-3.2	1.04	1.00	90.80	-3.3	1.02	1.00
75.7	78.50	78.50	-2.8	1.03	1.00	78.50	-2.8	1.04	1.00
53.0	54.80	54.80	-1.8	1.04	1.00	54.80	-1.8	1.04	1.00
42.4	44.10	44.00	-1.6	1.03	1.00	44.10	-1.7	1.01	1.00
32.1	33.00	33.10	-1.0	1.04	1.00	33.00	-0.9	1.08	1.00
21.9	22.80	22.60	-0.7	1.04	1.00	22.80	-0.9	1.00	1.00
11.9	12.00	12.10	-0.2	1.04	1.00	12.00	-0.1	1.08	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	-1.06	-107.1	222	2306	1182	1085	0.0	0.0	0	112	0.00	0.00	-100.15	0.002	16390	0.000	0.000	220	2306	3010	3016	3005	0	0	0	0	0	0	11.44	10.71	11.45
116	-1.06	-107.1	222	2307	3018	3006	1.5	-1.1	3	139	17.33	0.00	0.00	0.000	2310	0.402	0.000	2523	2306	3011	3017	3005	0	0	0	0	0	0	11.11	11.33	11.30
464	-1.06	-107.1	2522	2306	3022	2999	61.9	-14.7	19	469	0.00	3.40	0.00	0.000	516	0.000	0.065	2523	886	3011	3024	2998	0	0	0	0	0	0	11.45	11.27	11.47
587	-1.06	-107.1	2523	887	3024	2999	81.8	-15.6	37	597	0.00	3.30	0.00	0.000	1030	0.000	0.057	2514	2303	3011	3024	2998	0	0	0	0	0	0	11.33	11.29	11.35
942	-1.06	-107.1	2516	2301	3027	2998	136.1	-15.9	51	948	0.00	3.38	0.00	0.000	516	0.000	0.063	2514	890	3011	3025	2997	0	0	0	0	0	0	11.46	11.26	11.48
1017	-1.06	-107.1	2516	890	3027	2997	148.5	-16.2	62	1024	0.00	3.33	0.00	0.000	1030	0.000	0.058	2499	2300	3009	3025	2994	0	0	0	0	0	0	11.36	11.29	11.38
1360	-1.06	-107.1	2505	2301	3027	2996	202.3	-16.1	75	1366	0.00	3.53	0.00	0.000	260	0.000	0.100	2493	3721	3010	3025	2996	0	0	0	0	0	0	11.48	11.26	11.49
1395	-1.06	-107.1	2492	3721	3025	2996	207.8	-15.7	80	1401	0.20	3.25	0.00	0.000	3078	0.259	0.040	2522	2289	3010	3026	2995	0	0	0	0	0	0	11.19	11.32	11.34
1752	-1.06	-107.1	2522	2288	3026	2996	260.8	-14.7	89	1759	0.00	3.30	0.00	0.000	516	0.000	0.061	2523	894	3009	3026	2993	0	0	0	0	0	0	11.48	11.28	11.49
1794	-1.06	-107.1	2522	894	3026	2995	267.2	-15.5	95	1800	0.00	3.35	0.00	0.000	1030	0.000	0.059	2514	2300	3010	3026	2995	0	0	0	0	0	0	11.37	11.29	11.38
2144	-1.06	-107.1	2514	2301	3026	2995	317.0	-13.8	103	2145	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2300	3008	3022	2995	0	0	0	0	0	0	11.48	11.50	11.50
2480	-1.06	-107.1	2515	2301	3029	2994	363.3	-13.6	109	2487	0.00	3.33	0.00	0.000	516	0.000	0.060	2514	899	3010	3026	2994	0	0	0	0	0	0	11.48	11.29	11.50
2515	-1.06	-107.1	2514	900	3026	2995	368.3	-14.7	114	2521	0.00	3.30	0.00	0.000	1030	0.000	0.057	2503	2311	3010	3027	2994	0	0	0	0	0	0	11.37	11.29	11.38
2872	-1.06	-107.1	2504	2312	3031	2993	416.1	-13.3	123	2878	0.00	3.35	0.00	0.000	516	0.000	0.057	2503	892	3010	3029	2992	0	0	0	0	0	0	11.48	11.29	11.50
2900	-1.06	-107.1	2503	893	3029	2993	416.1	-0.1	127	2906	0.00	3.30	0.00	0.000	1062	0.000	0.056	2502	2302	3011	3029	2993	0	0	0	0	0	0	11.38	11.30	11.39
3037	end dive: NO_VERTICAL_VELOCITY
state	3037	begin apogee
3045	-0.23	0.0	2503	2078	3031	2993	416.3	0.0	133	3209	1.30	0.10	157.27	2.658	10246	0.150	0.135	2791	2122	2574	2605	2544	0	0	0	0	0	0	11.26	11.15	10.33
3210	end apogee: CONTROL_FINISHED_OK
state	3210	begin climb
3214	1.06	107.1	2793	2122	2606	2543	416.0	0.0	136	3387	1.75	3.45	161.30	2.571	10756	0.125	0.073	3210	712	2138	2175	2101	0	0	0	0	0	0	11.17	11.04	10.34
3449	1.10	141.7	3208	713	2168	2097	403.5	7.8	170	3511	0.00	3.20	51.15	2.502	9254	0.000	0.049	3210	2097	1996	2040	1953	0	0	0	0	0	0	11.32	11.25	10.36
3876	1.10	141.7	3210	2097	2034	1941	363.3	9.9	189	3882	0.00	3.50	0.00	0.000	260	0.000	0.093	3210	3516	1987	2033	1941	0	0	0	0	0	0	11.45	11.24	11.47
3911	1.10	141.7	3211	3516	2035	1942	359.7	10.6	194	3918	0.00	3.20	0.00	0.000	1030	0.000	0.040	3218	2118	1987	2033	1941	0	0	0	0	0	0	11.34	11.29	11.36
4269	1.10	141.7	3220	2118	2033	1941	324.1	9.8	203	4270	0.00	0.00	0.00	0.000	6	0.000	0.000	3219	2118	1985	2030	1940	0	0	0	0	0	0	11.45	11.47	11.46
4605	1.10	141.7	3220	2118	2031	1940	291.4	9.7	209	4610	0.00	3.47	0.00	0.000	260	0.000	0.093	3219	3516	1984	2029	1939	0	0	0	0	0	0	11.45	11.25	11.47
4653	1.10	141.7	3218	3517	2029	1940	286.3	10.7	216	4660	0.00	3.25	0.00	0.000	1030	0.000	0.039	3227	2098	1983	2028	1939	0	0	0	0	0	0	11.36	11.31	11.38
4996	1.10	141.7	3228	2099	2030	1938	252.1	10.2	223	4997	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2098	1983	2028	1939	0	0	0	0	0	0	11.48	11.49	11.48
5333	1.12	141.7	3228	2099	2029	1939	221.5	9.0	229	5339	0.00	3.53	0.00	0.000	324	0.000	0.096	3227	3514	1982	2026	1938	0	0	0	0	0	0	11.46	11.26	11.48
5402	1.12	141.7	3228	3516	2029	1939	213.8	12.1	239	5408	0.00	3.25	0.00	0.000	1030	0.000	0.040	3236	2095	1982	2026	1938	0	0	0	0	0	0	11.37	11.31	11.39
5755	1.12	141.7	3242	2096	2025	1938	178.5	9.8	254	5761	0.00	3.53	0.00	0.000	260	0.000	0.093	3236	3517	1981	2025	1938	0	0	0	0	0	0	11.48	11.27	11.49
5867	1.12	141.7	3237	3518	2027	1938	166.0	11.4	270	5872	0.00	3.25	0.00	0.000	1030	0.000	0.040	3246	2094	1981	2025	1938	0	0	0	0	0	0	11.38	11.31	11.39
6230	1.12	141.7	3247	2095	2026	1937	129.1	10.2	286	6236	0.00	3.53	0.00	0.000	260	0.000	0.091	3246	3512	1980	2024	1937	0	0	0	0	0	0	11.48	11.26	11.50
6244	1.12	141.7	3246	3512	2024	1938	127.6	10.5	288	6250	0.00	3.25	0.00	0.000	1030	0.000	0.041	3256	2096	1978	2019	1937	0	0	0	0	0	0	11.38	11.31	11.40
6594	1.12	141.7	3258	2096	2026	1938	91.8	10.3	302	6601	0.00	3.42	0.00	0.000	516	0.000	0.080	3267	694	1980	2023	1937	0	0	0	0	0	0	11.48	11.27	11.50
6637	1.12	141.7	3268	695	2025	1938	87.5	10.6	308	6642	0.20	3.25	0.00	0.000	5126	0.230	0.052	3235	2104	1980	2023	1937	0	0	0	0	0	0	11.21	11.33	11.36
6989	1.14	141.7	3234	2105	2022	1938	55.5	8.9	322	6990	0.00	0.00	0.00	0.000	70	0.000	0.000	3235	2103	1979	2022	1937	0	0	0	0	0	0	11.48	11.50	11.50
7325	1.16	141.7	3236	2104	2024	1938	24.6	9.0	334	7331	0.00	3.45	0.00	0.000	580	0.000	0.080	3242	687	1979	2022	1937	0	0	0	0	0	0	11.48	11.28	11.50
7408	1.18	141.7	3242	687	2021	1938	16.8	9.0	346	7414	0.00	3.30	0.00	0.000	1094	0.000	0.050	3242	2112	1979	2021	1937	0	0	0	0	0	0	11.38	11.31	11.40
7573	end climb: SURFACE_DEPTH_REACHED
state	7573	begin surface coast
7604	end surface coast: CONTROL_FINISHED_OK
state	7604	begin surface