Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 873 * 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 873 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 20 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 873 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 280119,130308,-7407.6313,-11320.1875,18,1.1,18,53.9,0.1,0.0,5,7.9 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 21.9,28846,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -67.4 D_GRID 990

GPS2 280119,131127,-7407.6436,-11320.1641,3,1.1,5,53.9,0.1,0.0,6,9.8

Post-dive calculations and measurements:

FREEZE -0.08,-0.105,-0.421,2,1,0 ALTIM_TOP_PING 9.0,9.5

FINISH -0.1,1.006129 _24V_AH 10.33,286.173

SM_CCo 8658,157.12,0.207,0,0,1146,350.04 _10V_AH 10.27,0.000

SM_GC 0.86,11.85,0.50,157.12,0.068,0.086,0.207,216,2304,1146,-8.24,-0.31,350.04,0,0,0,0,0,0,11.31,11.31,11.19 FG_AHR_24Vo 0.000

RAFOS_CLK 331 FG_AHR_10Vo 0.000

RAFOS 0,1548687676,15.032778,15.021111,131,68,66,58,54,48,566,207,165,190,224,148 MEM 279796

RAFOS_FIX -7405.734375,-11307.829102,280119,151512,3,116,0.97 DATA_FILE_SIZE 16781,458

IRIDIUM_FIX -7408.22,-11327.41,280119,104732 CAP_FILE_SIZE 80520,0

TT8_MAMPS 0.047936,0.697319 CFSIZE 1024409600,920780800

HUMID 49.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1447.4

TCM_TEMP 12.10 CURRENT 0.053,5.60,1

XPDR_PINGS 0 GPS 280119,154019,-7407.091,-11316.779,23,0.7,33,53.8,0.1,0.0,12,2.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 401 135.98 nil 0 0 0.00

Roll_motor 108 149 166.46 nil 0 0 0.00

VBD_pump_during_apogee 375 2699 10466.27 nil 0 0 0.00

VBD_pump_during_surface 157 206 335.25 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 8654 6 556.13

Iridium_during_xfer 278 219 631.58 nil 0 0 0.00

Transponder_ping 19 420 84.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 10 0.78

TT8 0 0 0.00

LPSleep 6958 2 165.07

TT8_Active 728 13 103.45

TT8_Sampling 1262 34 451.07

TT8_CF8 383 52 207.80

TT8_Kalman 0 0 0.00

Analog_circuits 1411 10 158.05

GPS_charging 0 0 0.00

Compass 660 7 50.85

RAFOS 720 1 11.09

Transponder 144 30 44.62

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

20.1 21.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

31.3 33.50 9000.00 0.0 0.00 0.00 33.50 0.0 1.10 1.00

42.1 44.60 44.70 0.0 1.06 1.00 44.60 0.0 1.03 1.00

405.7 44.80 9000.00 0.0 0.02 0.29 44.80 0.0 0.00 1.00

420.8 31.80 9000.00 0.0 -0.02 0.27 31.80 452.6 -0.86 1.00

431.1 27.50 9000.00 0.0 -0.69 0.97 27.50 458.6 -0.42 1.00

442.8 18.90 9000.00 0.0 -0.59 0.98 18.90 461.7 -0.74 1.00

457.3 11.80 9000.00 0.0 -0.60 0.99 11.80 469.1 -0.49 1.00

453.6 14.10 9000.00 0.0 -0.48 0.99 14.10 0.0 -0.62 1.00

443.1 20.10 9000.00 0.0 -0.58 1.00 20.10 0.0 -0.57 1.00

432.7 29.80 9000.00 0.0 -0.75 0.98 29.80 0.0 -0.93 1.00

169.9 176.00 9000.00 0.0 -0.56 1.00 176.00 0.0 -0.56 1.00

103.8 107.50 9000.00 0.0 -0.33 0.61 107.50 -3.7 1.04 1.00

72.5 75.50 75.30 -2.8 1.03 1.00 75.50 -3.0 1.02 1.00

50.9 52.80 53.00 -2.1 1.03 1.00 52.80 -1.9 1.05 1.00

40.6 41.90 42.00 -1.4 1.05 1.00 41.90 -1.3 1.06 1.00

30.6 31.30 31.30 -0.7 1.06 1.00 31.30 -0.7 1.06 1.00

19.5 19.90 19.90 -0.4 1.04 1.00 19.90 -0.4 1.03 1.00

9.0 9.60 9.50 -0.5 1.01 1.00 9.60 -0.6 0.98 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

11 -1.06 -107.1 219 2310 1170 1093 0.0 0.0 0 114 0.00 0.00 -101.47 0.002 16390 0.000 0.000 219 2310 3012 3016 3009 0 0 0 0 0 0 11.44 10.72 11.46

118 -1.06 -107.1 219 2310 3016 3009 1.5 -1.0 3 142 17.33 3.50 0.00 0.000 2308 0.402 0.093 2514 3716 3013 3018 3008 0 0 0 0 0 0 11.11 11.22 11.30

337 -1.06 -107.1 2514 3717 3024 3003 45.6 -16.8 35 343 0.00 3.25 0.00 0.000 1030 0.000 0.037 2515 2283 3013 3024 3002 0 0 0 0 0 0 11.37 11.31 11.38

704 -1.06 -107.1 2514 2282 3025 3001 102.5 -15.3 51 710 0.00 3.30 0.00 0.000 516 0.000 0.064 2515 895 3012 3025 3000 0 0 0 0 0 0 11.47 11.27 11.48

772 -1.06 -107.1 2515 896 3027 3001 113.6 -15.7 61 779 0.00 3.35 0.00 0.000 1030 0.000 0.059 2504 2300 3013 3026 3000 0 0 0 0 0 0 11.36 11.28 11.37

1126 -1.06 -107.1 2504 2301 3026 3001 167.8 -15.9 75 1131 0.00 3.33 0.00 0.000 516 0.000 0.061 2503 895 3012 3026 2999 0 0 0 0 0 0 11.46 11.28 11.48

1274 -1.06 -107.1 2505 896 3028 3000 192.1 -16.6 96 1279 0.20 3.33 0.00 0.000 3078 0.264 0.057 2523 2306 3013 3027 2999 0 0 0 0 0 0 11.19 11.29 11.34

1633 -1.06 -107.1 2523 2306 3027 2999 243.5 -14.2 106 1638 0.00 3.53 0.00 0.000 260 0.000 0.102 2514 3715 3013 3027 2999 0 0 0 0 0 0 11.47 11.26 11.48

1701 -1.06 -107.1 2516 3716 3029 2999 254.7 -16.1 116 1706 0.00 3.20 0.00 0.000 1030 0.000 0.037 2514 2300 3013 3028 2998 0 0 0 0 0 0 11.38 11.33 11.40

2079 -1.06 -107.1 2514 2299 3034 2999 310.5 -14.8 128 2084 0.00 3.33 0.00 0.000 516 0.000 0.061 2515 895 3013 3028 2998 0 0 0 0 0 0 11.48 11.29 11.50

2106 -1.06 -107.1 2514 895 3028 2998 314.5 -14.4 132 2112 0.00 3.33 0.00 0.000 1030 0.000 0.058 2503 2310 3012 3028 2997 0 0 0 0 0 0 11.37 11.29 11.39

2471 -1.06 -107.1 2503 2311 3036 2998 366.6 -14.4 142 2477 0.00 3.50 0.00 0.000 260 0.000 0.100 2493 3716 3012 3028 2997 0 0 0 0 0 0 11.48 11.27 11.50

2533 -1.06 -107.1 2494 3717 3030 2998 376.3 -16.3 151 2540 0.20 3.22 0.00 0.000 3078 0.256 0.037 2527 2289 3012 3028 2997 0 0 0 0 0 0 11.20 11.33 11.35

2919 -1.06 -107.1 2524 2288 3031 2997 428.3 -13.5 164 2924 0.00 3.28 0.00 0.000 516 0.000 0.061 2523 895 3012 3029 2996 0 0 0 0 0 0 11.48 11.29 11.52

2967 -1.06 -107.1 2523 896 3028 2996 434.9 -13.6 171 2974 0.00 3.33 0.00 0.000 1030 0.000 0.059 2514 2311 3012 3029 2996 0 0 0 0 0 0 11.38 11.29 11.39

3311 -1.06 -107.1 2514 2312 3028 2994 464.1 -6.3 178 3312 0.00 0.00 0.00 0.000 38 0.000 0.000 2514 2311 3013 3032 2994 0 0 0 0 0 0 11.48 11.50 11.50

3587 end dive: NO_VERTICAL_VELOCITY

state 3587 begin apogee

3596 -0.23 0.0 2515 2081 3034 2995 463.9 0.0 183 3760 1.23 0.08 160.75 2.700 10246 0.137 0.149 2792 2110 2575 2606 2544 0 0 0 0 0 0 11.27 11.15 10.33

3761 end apogee: CONTROL_FINISHED_OK

state 3761 begin climb

3765 1.06 107.1 2792 2110 2605 2544 463.9 0.0 186 3943 1.77 3.47 162.93 2.614 10756 0.135 0.076 3212 715 2136 2175 2098 0 0 0 0 0 0 11.17 11.15 10.34

3977 1.10 141.7 3212 716 2171 2096 453.1 7.8 217 4040 0.00 3.20 51.62 2.540 9254 0.000 0.046 3212 2100 1996 2041 1951 0 0 0 0 0 0 11.30 11.23 10.36

4376 1.10 141.7 3213 2100 2037 1941 417.3 9.5 232 4382 0.00 3.38 0.00 0.000 516 0.000 0.076 3221 712 1987 2034 1940 0 0 0 0 0 0 11.45 11.24 11.47

4607 1.10 141.7 3221 712 2030 1940 399.4 10.3 265 4614 0.00 3.20 0.00 0.000 1030 0.000 0.047 3220 2105 1984 2030 1939 0 0 0 0 0 0 11.34 11.28 11.36

4992 1.10 141.7 3222 2106 2032 1939 356.5 10.5 278 4998 0.00 3.47 0.00 0.000 260 0.000 0.090 3221 3513 1983 2029 1937 0 0 0 0 0 0 11.47 11.25 11.48

5048 1.10 141.7 3222 3514 2031 1938 350.1 11.4 286 5054 0.00 3.17 0.00 0.000 1030 0.000 0.039 3230 2119 1983 2029 1938 0 0 0 0 0 0 11.37 11.30 11.38

5440 1.10 141.7 3229 2119 2028 1938 310.3 10.0 300 5441 0.00 0.00 0.00 0.000 6 0.000 0.000 3230 2119 1982 2028 1937 0 0 0 0 0 0 11.48 11.49 11.49

5776 1.10 141.7 3229 2119 2026 1937 276.8 10.0 306 5782 0.00 3.45 0.00 0.000 260 0.000 0.094 3230 3512 1982 2027 1937 0 0 0 0 0 0 11.48 11.26 11.49

5881 1.10 141.7 3229 3513 2027 1937 265.2 11.1 321 5889 0.00 3.22 0.00 0.000 1030 0.000 0.038 3240 2093 1982 2027 1937 0 0 0 0 0 0 11.38 11.31 11.39

6224 1.10 141.7 3239 2093 2022 1937 231.1 9.7 328 6230 0.00 3.50 0.00 0.000 260 0.000 0.091 3240 3514 1981 2026 1936 0 0 0 0 0 0 11.48 11.27 11.50

6287 1.10 141.7 3241 3514 2028 1937 224.3 11.1 337 6294 0.00 3.25 0.00 0.000 1030 0.000 0.040 3249 2096 1981 2026 1936 0 0 0 0 0 0 11.38 11.31 11.40

6648 1.10 141.7 3251 2096 2027 1937 187.6 10.6 351 6653 0.00 3.42 0.00 0.000 516 0.000 0.082 3260 683 1980 2025 1936 0 0 0 0 0 0 11.47 11.28 11.49

6764 1.10 141.7 3261 687 2026 1939 174.7 10.6 368 6770 0.20 3.28 0.00 0.000 5126 0.227 0.050 3227 2105 1979 2023 1936 0 0 0 0 0 0 11.21 11.30 11.36

7121 1.10 141.7 3229 2106 2025 1937 139.4 10.1 383 7122 0.00 0.00 0.00 0.000 6 0.000 0.000 3227 2105 1979 2023 1936 0 0 0 0 0 0 11.48 11.50 11.50

7458 1.13 141.7 3229 2106 2025 1937 109.3 8.7 395 7463 0.00 3.47 0.00 0.000 324 0.000 0.093 3227 3512 1979 2023 1936 0 0 0 0 0 0 11.48 11.26 11.50

7506 1.13 141.7 3226 3512 2022 1936 104.4 10.1 402 7515 0.00 3.25 0.00 0.000 1030 0.000 0.039 3234 2089 1979 2023 1936 0 0 0 0 0 0 11.38 11.32 11.40

7853 1.14 141.7 3234 2089 2022 1936 72.5 9.4 415 7859 0.00 3.55 0.00 0.000 324 0.000 0.093 3235 3512 1978 2022 1935 0 0 0 0 0 0 11.48 11.28 11.49

7879 1.14 141.7 3234 3512 2022 1936 69.5 10.0 419 7885 0.00 3.22 0.00 0.000 1030 0.000 0.041 3245 2098 1978 2022 1935 0 0 0 0 0 0 11.38 11.32 11.40

8246 1.15 141.7 3246 2099 2024 1936 35.3 9.3 435 8252 0.00 3.40 0.00 0.000 580 0.000 0.081 3255 691 1978 2022 1935 0 0 0 0 0 0 11.48 11.28 11.50

8307 1.15 141.7 3256 692 2024 1936 29.2 9.5 444 8313 0.00 3.28 0.00 0.000 1030 0.000 0.051 3255 2103 1978 2022 1935 0 0 0 0 0 0 11.38 11.31 11.40

8608 end climb: SURFACE_DEPTH_REACHED

state 8608 begin surface coast

8633 end surface coast: CONTROL_FINISHED_OK

state 8633 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	873	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	20	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	280119,130308,-7407.6313,-11320.1875,18,1.1,18,53.9,0.1,0.0,5,7.9	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	21.9,28846,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-67.4	D_GRID	990
GPS2	280119,131127,-7407.6436,-11320.1641,3,1.1,5,53.9,0.1,0.0,6,9.8

FREEZE	-0.08,-0.105,-0.421,2,1,0	ALTIM_TOP_PING	9.0,9.5
FINISH	-0.1,1.006129	_24V_AH	10.33,286.173
SM_CCo	8658,157.12,0.207,0,0,1146,350.04	_10V_AH	10.27,0.000
SM_GC	0.86,11.85,0.50,157.12,0.068,0.086,0.207,216,2304,1146,-8.24,-0.31,350.04,0,0,0,0,0,0,11.31,11.31,11.19	FG_AHR_24Vo	0.000
RAFOS_CLK	331	FG_AHR_10Vo	0.000
RAFOS	0,1548687676,15.032778,15.021111,131,68,66,58,54,48,566,207,165,190,224,148	MEM	279796
RAFOS_FIX	-7405.734375,-11307.829102,280119,151512,3,116,0.97	DATA_FILE_SIZE	16781,458
IRIDIUM_FIX	-7408.22,-11327.41,280119,104732	CAP_FILE_SIZE	80520,0
TT8_MAMPS	0.047936,0.697319	CFSIZE	1024409600,920780800
HUMID	49.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1447.4
TCM_TEMP	12.10	CURRENT	0.053,5.60,1
XPDR_PINGS	0	GPS	280119,154019,-7407.091,-11316.779,23,0.7,33,53.8,0.1,0.0,12,2.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	401	135.98	nil	0	0	0.00
Roll_motor	108	149	166.46	nil	0	0	0.00
VBD_pump_during_apogee	375	2699	10466.27	nil	0	0	0.00
VBD_pump_during_surface	157	206	335.25	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	8654	6	556.13
Iridium_during_xfer	278	219	631.58	nil	0	0	0.00
Transponder_ping	19	420	84.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	10	0.78
TT8	0	0	0.00
LPSleep	6958	2	165.07
TT8_Active	728	13	103.45
TT8_Sampling	1262	34	451.07
TT8_CF8	383	52	207.80
TT8_Kalman	0	0	0.00
Analog_circuits	1411	10	158.05
GPS_charging	0	0	0.00
Compass	660	7	50.85
RAFOS	720	1	11.09
Transponder	144	30	44.62

		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
20.1	21.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
31.3	33.50	9000.00	0.0	0.00	0.00	33.50	0.0	1.10	1.00
42.1	44.60	44.70	0.0	1.06	1.00	44.60	0.0	1.03	1.00
405.7	44.80	9000.00	0.0	0.02	0.29	44.80	0.0	0.00	1.00
420.8	31.80	9000.00	0.0	-0.02	0.27	31.80	452.6	-0.86	1.00
431.1	27.50	9000.00	0.0	-0.69	0.97	27.50	458.6	-0.42	1.00
442.8	18.90	9000.00	0.0	-0.59	0.98	18.90	461.7	-0.74	1.00
457.3	11.80	9000.00	0.0	-0.60	0.99	11.80	469.1	-0.49	1.00

453.6	14.10	9000.00	0.0	-0.48	0.99	14.10	0.0	-0.62	1.00
443.1	20.10	9000.00	0.0	-0.58	1.00	20.10	0.0	-0.57	1.00
432.7	29.80	9000.00	0.0	-0.75	0.98	29.80	0.0	-0.93	1.00
169.9	176.00	9000.00	0.0	-0.56	1.00	176.00	0.0	-0.56	1.00
103.8	107.50	9000.00	0.0	-0.33	0.61	107.50	-3.7	1.04	1.00
72.5	75.50	75.30	-2.8	1.03	1.00	75.50	-3.0	1.02	1.00
50.9	52.80	53.00	-2.1	1.03	1.00	52.80	-1.9	1.05	1.00
40.6	41.90	42.00	-1.4	1.05	1.00	41.90	-1.3	1.06	1.00
30.6	31.30	31.30	-0.7	1.06	1.00	31.30	-0.7	1.06	1.00
19.5	19.90	19.90	-0.4	1.04	1.00	19.90	-0.4	1.03	1.00
9.0	9.60	9.50	-0.5	1.01	1.00	9.60	-0.6	0.98	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
11	-1.06	-107.1	219	2310	1170	1093	0.0	0.0	0	114	0.00	0.00	-101.47	0.002	16390	0.000	0.000	219	2310	3012	3016	3009	0	0	0	0	0	0	11.44	10.72	11.46
118	-1.06	-107.1	219	2310	3016	3009	1.5	-1.0	3	142	17.33	3.50	0.00	0.000	2308	0.402	0.093	2514	3716	3013	3018	3008	0	0	0	0	0	0	11.11	11.22	11.30
337	-1.06	-107.1	2514	3717	3024	3003	45.6	-16.8	35	343	0.00	3.25	0.00	0.000	1030	0.000	0.037	2515	2283	3013	3024	3002	0	0	0	0	0	0	11.37	11.31	11.38
704	-1.06	-107.1	2514	2282	3025	3001	102.5	-15.3	51	710	0.00	3.30	0.00	0.000	516	0.000	0.064	2515	895	3012	3025	3000	0	0	0	0	0	0	11.47	11.27	11.48
772	-1.06	-107.1	2515	896	3027	3001	113.6	-15.7	61	779	0.00	3.35	0.00	0.000	1030	0.000	0.059	2504	2300	3013	3026	3000	0	0	0	0	0	0	11.36	11.28	11.37
1126	-1.06	-107.1	2504	2301	3026	3001	167.8	-15.9	75	1131	0.00	3.33	0.00	0.000	516	0.000	0.061	2503	895	3012	3026	2999	0	0	0	0	0	0	11.46	11.28	11.48
1274	-1.06	-107.1	2505	896	3028	3000	192.1	-16.6	96	1279	0.20	3.33	0.00	0.000	3078	0.264	0.057	2523	2306	3013	3027	2999	0	0	0	0	0	0	11.19	11.29	11.34
1633	-1.06	-107.1	2523	2306	3027	2999	243.5	-14.2	106	1638	0.00	3.53	0.00	0.000	260	0.000	0.102	2514	3715	3013	3027	2999	0	0	0	0	0	0	11.47	11.26	11.48
1701	-1.06	-107.1	2516	3716	3029	2999	254.7	-16.1	116	1706	0.00	3.20	0.00	0.000	1030	0.000	0.037	2514	2300	3013	3028	2998	0	0	0	0	0	0	11.38	11.33	11.40
2079	-1.06	-107.1	2514	2299	3034	2999	310.5	-14.8	128	2084	0.00	3.33	0.00	0.000	516	0.000	0.061	2515	895	3013	3028	2998	0	0	0	0	0	0	11.48	11.29	11.50
2106	-1.06	-107.1	2514	895	3028	2998	314.5	-14.4	132	2112	0.00	3.33	0.00	0.000	1030	0.000	0.058	2503	2310	3012	3028	2997	0	0	0	0	0	0	11.37	11.29	11.39
2471	-1.06	-107.1	2503	2311	3036	2998	366.6	-14.4	142	2477	0.00	3.50	0.00	0.000	260	0.000	0.100	2493	3716	3012	3028	2997	0	0	0	0	0	0	11.48	11.27	11.50
2533	-1.06	-107.1	2494	3717	3030	2998	376.3	-16.3	151	2540	0.20	3.22	0.00	0.000	3078	0.256	0.037	2527	2289	3012	3028	2997	0	0	0	0	0	0	11.20	11.33	11.35
2919	-1.06	-107.1	2524	2288	3031	2997	428.3	-13.5	164	2924	0.00	3.28	0.00	0.000	516	0.000	0.061	2523	895	3012	3029	2996	0	0	0	0	0	0	11.48	11.29	11.52
2967	-1.06	-107.1	2523	896	3028	2996	434.9	-13.6	171	2974	0.00	3.33	0.00	0.000	1030	0.000	0.059	2514	2311	3012	3029	2996	0	0	0	0	0	0	11.38	11.29	11.39
3311	-1.06	-107.1	2514	2312	3028	2994	464.1	-6.3	178	3312	0.00	0.00	0.00	0.000	38	0.000	0.000	2514	2311	3013	3032	2994	0	0	0	0	0	0	11.48	11.50	11.50
3587	end dive: NO_VERTICAL_VELOCITY
state	3587	begin apogee
3596	-0.23	0.0	2515	2081	3034	2995	463.9	0.0	183	3760	1.23	0.08	160.75	2.700	10246	0.137	0.149	2792	2110	2575	2606	2544	0	0	0	0	0	0	11.27	11.15	10.33
3761	end apogee: CONTROL_FINISHED_OK
state	3761	begin climb
3765	1.06	107.1	2792	2110	2605	2544	463.9	0.0	186	3943	1.77	3.47	162.93	2.614	10756	0.135	0.076	3212	715	2136	2175	2098	0	0	0	0	0	0	11.17	11.15	10.34
3977	1.10	141.7	3212	716	2171	2096	453.1	7.8	217	4040	0.00	3.20	51.62	2.540	9254	0.000	0.046	3212	2100	1996	2041	1951	0	0	0	0	0	0	11.30	11.23	10.36
4376	1.10	141.7	3213	2100	2037	1941	417.3	9.5	232	4382	0.00	3.38	0.00	0.000	516	0.000	0.076	3221	712	1987	2034	1940	0	0	0	0	0	0	11.45	11.24	11.47
4607	1.10	141.7	3221	712	2030	1940	399.4	10.3	265	4614	0.00	3.20	0.00	0.000	1030	0.000	0.047	3220	2105	1984	2030	1939	0	0	0	0	0	0	11.34	11.28	11.36
4992	1.10	141.7	3222	2106	2032	1939	356.5	10.5	278	4998	0.00	3.47	0.00	0.000	260	0.000	0.090	3221	3513	1983	2029	1937	0	0	0	0	0	0	11.47	11.25	11.48
5048	1.10	141.7	3222	3514	2031	1938	350.1	11.4	286	5054	0.00	3.17	0.00	0.000	1030	0.000	0.039	3230	2119	1983	2029	1938	0	0	0	0	0	0	11.37	11.30	11.38
5440	1.10	141.7	3229	2119	2028	1938	310.3	10.0	300	5441	0.00	0.00	0.00	0.000	6	0.000	0.000	3230	2119	1982	2028	1937	0	0	0	0	0	0	11.48	11.49	11.49
5776	1.10	141.7	3229	2119	2026	1937	276.8	10.0	306	5782	0.00	3.45	0.00	0.000	260	0.000	0.094	3230	3512	1982	2027	1937	0	0	0	0	0	0	11.48	11.26	11.49
5881	1.10	141.7	3229	3513	2027	1937	265.2	11.1	321	5889	0.00	3.22	0.00	0.000	1030	0.000	0.038	3240	2093	1982	2027	1937	0	0	0	0	0	0	11.38	11.31	11.39
6224	1.10	141.7	3239	2093	2022	1937	231.1	9.7	328	6230	0.00	3.50	0.00	0.000	260	0.000	0.091	3240	3514	1981	2026	1936	0	0	0	0	0	0	11.48	11.27	11.50
6287	1.10	141.7	3241	3514	2028	1937	224.3	11.1	337	6294	0.00	3.25	0.00	0.000	1030	0.000	0.040	3249	2096	1981	2026	1936	0	0	0	0	0	0	11.38	11.31	11.40
6648	1.10	141.7	3251	2096	2027	1937	187.6	10.6	351	6653	0.00	3.42	0.00	0.000	516	0.000	0.082	3260	683	1980	2025	1936	0	0	0	0	0	0	11.47	11.28	11.49
6764	1.10	141.7	3261	687	2026	1939	174.7	10.6	368	6770	0.20	3.28	0.00	0.000	5126	0.227	0.050	3227	2105	1979	2023	1936	0	0	0	0	0	0	11.21	11.30	11.36
7121	1.10	141.7	3229	2106	2025	1937	139.4	10.1	383	7122	0.00	0.00	0.00	0.000	6	0.000	0.000	3227	2105	1979	2023	1936	0	0	0	0	0	0	11.48	11.50	11.50
7458	1.13	141.7	3229	2106	2025	1937	109.3	8.7	395	7463	0.00	3.47	0.00	0.000	324	0.000	0.093	3227	3512	1979	2023	1936	0	0	0	0	0	0	11.48	11.26	11.50
7506	1.13	141.7	3226	3512	2022	1936	104.4	10.1	402	7515	0.00	3.25	0.00	0.000	1030	0.000	0.039	3234	2089	1979	2023	1936	0	0	0	0	0	0	11.38	11.32	11.40
7853	1.14	141.7	3234	2089	2022	1936	72.5	9.4	415	7859	0.00	3.55	0.00	0.000	324	0.000	0.093	3235	3512	1978	2022	1935	0	0	0	0	0	0	11.48	11.28	11.49
7879	1.14	141.7	3234	3512	2022	1936	69.5	10.0	419	7885	0.00	3.22	0.00	0.000	1030	0.000	0.041	3245	2098	1978	2022	1935	0	0	0	0	0	0	11.38	11.32	11.40
8246	1.15	141.7	3246	2099	2024	1936	35.3	9.3	435	8252	0.00	3.40	0.00	0.000	580	0.000	0.081	3255	691	1978	2022	1935	0	0	0	0	0	0	11.48	11.28	11.50
8307	1.15	141.7	3256	692	2024	1936	29.2	9.5	444	8313	0.00	3.28	0.00	0.000	1030	0.000	0.051	3255	2103	1978	2022	1935	0	0	0	0	0	0	11.38	11.31	11.40
8608	end climb: SURFACE_DEPTH_REACHED
state	8608	begin surface coast
8633	end surface coast: CONTROL_FINISHED_OK
state	8633	begin surface