Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 898 * 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 898 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 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 12 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 12 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 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 898 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 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 210119,151512,-7438.3169,-11232.0996,0,4122.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideC1

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 418.13 MHEAD_RNG_PITCHd_Wd 6.8,1186,-43.8,-9.429,-45.00,333

_SM_ANGLEo 3.7 D_GRID 990

GPS2 210119,151512,-7438.3169,-11232.0996,0,4122.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 416.3,1.027419,4 _24V_AH 10.00,288.241

FINISH2 416.3 _10V_AH 10.26,0.000

RAFOS_CLK 400 FG_AHR_24Vo 0.000

RAFOS 0,1548093659,18.032354,18.016388,153,58,55,53,51,49,713,208,219,177,128,159 FG_AHR_10Vo 0.000

RAFOS_FIX -7438.175781,-11230.434570,210119,181824,3,132,0.08 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 36646,1067

TT8_MAMPS 0.045689,0.274134 CAP_FILE_SIZE 109903,0

HUMID 50.07 CFSIZE 1024409600,912359424

INTERNAL_PRESSURE 7.89012 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.40 SOUNDSPEED 1456.2

XPDR_PINGS 0 GPS 210119,181424,-7438.176,-11230.435,0,4132.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 340 44.94 nil 0 0 0.00

Roll_motor 109 81 89.61 nil 0 0 0.00

VBD_pump_during_apogee 278 3023 8415.30 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 9704 6 656.28

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 109.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7030 2 166.63

TT8_Active 341 10 38.09

TT8_Sampling 2126 30 662.08

TT8_CF8 308 51 162.59

TT8_Kalman 0 0 0.00

Analog_circuits 1132 10 117.35

GPS_charging 0 0 0.00

Compass 1524 6 105.40

RAFOS 720 1 11.08

Transponder 189 30 58.21

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

441.0 24.90 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

11 -2.02 -20.4 2782 2804 3537 3525 0.0 0.0 0 12 0.00 0.00 -0.28 0.250 16390 0.000 0.000 2780 2804 3589 3592 3587 0 0 0 0 0 0 11.35 10.59 11.27

16 -2.02 -20.4 2781 2805 3595 3591 0.0 0.0 0 24 2.65 2.70 0.00 0.000 4356 0.106 0.082 2123 3917 3590 3595 3586 0 0 0 0 0 0 11.15 11.14 11.24

251 -2.02 -20.4 2123 3917 3602 3584 436.3 -8.5 46 259 0.00 2.53 0.00 0.000 1030 0.000 0.037 2123 2794 3593 3601 3585 0 0 0 0 0 0 11.25 11.21 11.26

556 -2.03 -28.5 2123 2794 3601 3587 459.1 -6.9 77 563 0.00 3.22 -0.08 0.906 16932 0.000 0.051 2123 1386 3616 3624 3608 0 0 0 0 0 0 11.36 10.69 11.19

614 -2.03 -28.5 2123 1387 3624 3610 463.4 -7.8 88 621 0.00 3.35 0.00 0.000 1030 0.000 0.050 2119 2812 3616 3624 3609 0 0 0 0 0 0 11.24 11.18 11.26

919 -2.03 -28.5 2120 2813 3626 3609 488.5 -8.0 119 924 0.00 3.28 0.00 0.000 516 0.000 0.041 2119 1395 3616 3624 3609 0 0 0 0 0 0 11.36 11.18 11.36

966 -2.03 -28.5 2119 1396 3625 3610 492.1 -7.8 128 972 0.00 3.33 0.00 0.000 1030 0.000 0.050 2112 2812 3617 3625 3609 0 0 0 0 0 0 11.23 11.17 11.24

1271 -2.04 -35.2 2113 2812 3626 3609 515.4 -7.4 159 1276 0.00 3.28 0.00 0.000 548 0.000 0.039 2113 1389 3617 3625 3609 0 0 0 0 0 0 11.36 11.17 11.36

1313 -2.04 -42.4 2113 1388 3626 3609 518.5 -7.2 167 1318 0.00 3.33 0.00 0.000 1062 0.000 0.050 2106 2807 3616 3624 3609 0 0 0 0 0 0 11.25 11.18 11.26

1625 -2.05 -50.1 2106 2808 3625 3611 540.5 -7.1 199 1625 0.00 0.00 0.00 0.000 38 0.000 0.000 2106 2807 3616 3624 3609 0 0 0 0 0 0 11.37 11.36 11.36

1924 -2.06 -58.2 2106 2808 3625 3610 561.7 -6.9 229 1925 0.00 0.00 0.00 0.000 38 0.000 0.000 2106 2807 3617 3625 3609 0 0 0 0 0 0 11.36 11.36 11.36

2224 -2.08 -68.1 2107 2807 3626 3609 581.6 -6.4 259 2231 0.00 3.20 0.00 0.000 548 0.000 0.039 2106 1391 3616 3624 3609 0 0 0 0 0 0 11.37 11.19 11.36

2340 -2.09 -78.7 2107 1391 3626 3609 588.8 -6.2 281 2346 0.00 3.33 0.00 0.000 1062 0.000 0.050 2099 2805 3619 3629 3609 0 0 0 0 0 0 11.25 11.19 11.26

2653 -2.10 -89.0 2099 2806 3625 3609 608.3 -6.2 313 2654 0.00 0.00 0.00 0.000 38 0.000 0.000 2099 2805 3616 3625 3608 0 0 0 0 0 0 11.37 11.37 11.37

2953 -2.12 -99.7 2100 2806 3625 3609 626.5 -6.1 343 2958 0.00 2.62 0.00 0.000 292 0.000 0.070 2092 3910 3615 3624 3607 0 0 0 0 0 0 11.37 11.18 11.37

3100 -2.12 -107.1 2092 3911 3625 3607 636.1 -6.2 372 3106 0.00 2.50 0.00 0.000 1062 0.000 0.037 2092 2795 3615 3624 3606 0 0 0 0 0 0 11.26 11.22 11.27

3405 -2.12 -107.1 2092 2795 3625 3606 653.8 -5.3 403 3410 0.00 3.22 0.00 0.000 548 0.000 0.040 2092 1386 3615 3625 3606 0 0 0 0 0 0 11.37 11.19 11.37

3567 -2.12 -107.1 2092 1387 3625 3607 662.4 -5.5 435 3573 0.00 3.28 0.00 0.000 1062 0.000 0.050 2085 2805 3615 3624 3606 0 0 0 0 0 0 11.25 11.19 11.26

3880 -2.12 -107.1 2086 2805 3625 3606 679.1 -5.0 467 3881 0.00 0.00 0.00 0.000 38 0.000 0.000 2085 2805 3615 3625 3606 0 0 0 0 0 0 11.36 11.37 11.37

4180 -2.12 -107.1 2086 2805 3625 3605 693.4 -4.3 497 4181 0.00 0.00 0.00 0.000 38 0.000 0.000 2085 2804 3615 3625 3605 0 0 0 0 0 0 11.37 11.37 11.37

4503 -2.12 -107.1 2085 2806 3625 3606 705.7 -3.7 519 4508 0.00 2.62 0.00 0.000 292 0.000 0.070 2076 3917 3615 3625 3605 0 0 0 0 0 0 11.37 11.18 11.37

4735 -2.12 -107.1 2077 3918 3625 3606 714.0 -3.4 565 4741 0.00 2.53 0.00 0.000 1062 0.000 0.038 2077 2793 3614 3624 3604 0 0 0 0 0 0 11.26 11.22 11.28

5107 -2.12 -107.1 2077 2794 3625 3605 724.9 -2.3 579 5112 0.00 2.65 0.00 0.000 292 0.000 0.069 2068 3910 3614 3625 3604 0 0 0 0 0 0 11.38 11.18 11.37

5339 -2.12 -107.1 2068 3910 3626 3604 730.3 -1.9 625 5345 0.00 2.50 0.00 0.000 1062 0.000 0.037 2068 2796 3614 3625 3603 0 0 0 0 0 0 11.26 11.22 11.28

5712 -2.12 -107.1 2069 2795 3626 3604 737.1 -1.9 639 5717 0.00 2.65 0.00 0.000 292 0.000 0.069 2060 3913 3614 3625 3604 0 0 0 0 0 0 11.38 11.18 11.38

5944 -2.12 -107.1 2061 3913 3626 3604 741.2 -1.8 685 5951 0.20 2.53 0.00 0.000 3110 0.331 0.038 2088 2787 3614 3624 3604 0 0 0 0 0 0 11.04 11.23 11.23

6317 -2.12 -107.1 2088 2788 3626 3604 747.7 -1.8 699 6323 0.00 3.20 0.00 0.000 548 0.000 0.040 2091 1388 3614 3624 3604 0 0 0 0 0 0 11.38 11.19 11.38

6550 -2.12 -107.1 2092 1390 3625 3606 752.5 -2.6 745 6556 0.00 3.30 0.00 0.000 1062 0.000 0.048 2080 2802 3614 3624 3604 0 0 0 0 0 0 11.26 11.20 11.27

6923 -2.12 -107.1 2081 2803 3625 3604 759.6 -1.9 759 6928 0.00 3.25 0.00 0.000 548 0.000 0.039 2082 1383 3614 3624 3604 0 0 0 0 0 0 11.38 11.20 11.38

7155 -2.12 -107.1 2083 1383 3625 3604 764.1 -1.8 805 7161 0.00 3.33 0.00 0.000 1062 0.000 0.048 2072 2808 3614 3624 3604 0 0 0 0 0 0 11.26 11.19 11.28

7528 -2.12 -107.1 2072 2808 3625 3606 769.9 -1.5 819 7533 0.00 3.25 0.00 0.000 548 0.000 0.039 2072 1390 3614 3624 3604 0 0 0 0 0 0 11.38 11.20 11.38

7760 -2.12 -107.1 2072 1391 3625 3606 773.0 -1.3 865 7767 0.17 3.30 0.00 0.000 3110 0.340 0.049 2088 2804 3614 3625 3604 0 0 0 0 0 0 11.05 11.20 11.23

8100 end dive: NO_VERTICAL_VELOCITY

state 8100 begin apogee

8108 -0.23 0.0 2091 2539 3625 3603 776.1 0.0 878 8170 3.65 0.00 56.20 3.023 10246 0.311 0.000 2692 2538 3492 3501 3484 0 0 0 0 0 0 11.05 11.00 10.00

8171 end apogee: CONTROL_FINISHED_OK

state 8171 begin climb

8175 2.12 107.1 2693 2540 3501 3485 775.9 0.0 880 8363 3.05 3.42 173.60 2.998 10500 0.095 0.082 3455 3900 3065 3091 3039 0 0 0 0 0 0 11.09 11.01 10.03

8426 2.12 107.1 3455 3901 3090 3036 725.3 30.8 927 8432 0.00 3.12 0.00 0.000 1030 0.000 0.047 3465 2549 3061 3089 3034 0 0 0 0 0 0 11.19 11.14 11.21

8791 2.12 107.1 3466 2549 3082 3029 619.3 28.8 958 8796 0.00 3.35 0.00 0.000 516 0.000 0.060 3476 1140 3055 3081 3029 0 0 0 0 0 0 11.32 11.12 11.32

8833 2.12 107.1 3476 1139 3082 3029 607.1 28.2 966 8841 0.00 3.28 0.00 0.000 1030 0.000 0.061 3475 2546 3054 3080 3029 0 0 0 0 0 0 11.17 11.12 11.23

9148 2.12 107.1 3476 2545 3080 3029 516.1 28.9 998 9153 0.00 3.35 0.00 0.000 516 0.000 0.060 3486 1143 3055 3080 3030 0 0 0 0 0 0 11.34 11.14 11.34

9170 2.12 107.1 3485 1142 3081 3029 509.9 26.9 1002 9175 0.20 3.38 0.00 0.000 5126 0.339 0.061 3461 2557 3054 3080 3029 0 0 0 0 0 0 11.00 11.14 11.21

9483 2.12 107.1 3461 2558 3081 3030 425.1 26.4 1034 9488 0.00 3.38 0.00 0.000 516 0.000 0.058 3470 1141 3054 3079 3029 0 0 0 0 0 0 11.33 11.14 11.33

9579 2.16 138.5 3472 1141 3079 3029 416.4 -0.3 1053 9636 0.00 3.35 48.55 2.648 9254 0.000 0.057 3471 2553 2941 2967 2915 0 0 0 0 0 0 11.24 11.16 10.09

9659 end climb: NO_VERTICAL_VELOCITY

state 9659 begin subsurface finish

9667 0.01 4.1 3472 2553 2965 2912 416.3 -0.1 1066 9673 3.28 0.00 -1.15 0.063 20738 0.197 0.000 2782 2552 2937 2963 2911 0 0 0 0 0 0 11.04 28.83 11.17

9674 end subsurface finish: NO_VERTICAL_VELOCITY

state 9674 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	898	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	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	12	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	210119,151512,-7438.3169,-11232.0996,0,4122.3,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideC1
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	418.13	MHEAD_RNG_PITCHd_Wd	6.8,1186,-43.8,-9.429,-45.00,333
_SM_ANGLEo	3.7	D_GRID	990
GPS2	210119,151512,-7438.3169,-11232.0996,0,4122.3,0,53.5,0.0,0.0,0,0.0

FINISH1	416.3,1.027419,4	_24V_AH	10.00,288.241
FINISH2	416.3	_10V_AH	10.26,0.000
RAFOS_CLK	400	FG_AHR_24Vo	0.000
RAFOS	0,1548093659,18.032354,18.016388,153,58,55,53,51,49,713,208,219,177,128,159	FG_AHR_10Vo	0.000
RAFOS_FIX	-7438.175781,-11230.434570,210119,181824,3,132,0.08	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	36646,1067
TT8_MAMPS	0.045689,0.274134	CAP_FILE_SIZE	109903,0
HUMID	50.07	CFSIZE	1024409600,912359424
INTERNAL_PRESSURE	7.89012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.40	SOUNDSPEED	1456.2
XPDR_PINGS	0	GPS	210119,181424,-7438.176,-11230.435,0,4132.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	340	44.94	nil	0	0	0.00
Roll_motor	109	81	89.61	nil	0	0	0.00
VBD_pump_during_apogee	278	3023	8415.30	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	9704	6	656.28
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	109.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7030	2	166.63
TT8_Active	341	10	38.09
TT8_Sampling	2126	30	662.08
TT8_CF8	308	51	162.59
TT8_Kalman	0	0	0.00
Analog_circuits	1132	10	117.35
GPS_charging	0	0	0.00
Compass	1524	6	105.40
RAFOS	720	1	11.08
Transponder	189	30	58.21

		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

441.0	24.90	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
11	-2.02	-20.4	2782	2804	3537	3525	0.0	0.0	0	12	0.00	0.00	-0.28	0.250	16390	0.000	0.000	2780	2804	3589	3592	3587	0	0	0	0	0	0	11.35	10.59	11.27
16	-2.02	-20.4	2781	2805	3595	3591	0.0	0.0	0	24	2.65	2.70	0.00	0.000	4356	0.106	0.082	2123	3917	3590	3595	3586	0	0	0	0	0	0	11.15	11.14	11.24
251	-2.02	-20.4	2123	3917	3602	3584	436.3	-8.5	46	259	0.00	2.53	0.00	0.000	1030	0.000	0.037	2123	2794	3593	3601	3585	0	0	0	0	0	0	11.25	11.21	11.26
556	-2.03	-28.5	2123	2794	3601	3587	459.1	-6.9	77	563	0.00	3.22	-0.08	0.906	16932	0.000	0.051	2123	1386	3616	3624	3608	0	0	0	0	0	0	11.36	10.69	11.19
614	-2.03	-28.5	2123	1387	3624	3610	463.4	-7.8	88	621	0.00	3.35	0.00	0.000	1030	0.000	0.050	2119	2812	3616	3624	3609	0	0	0	0	0	0	11.24	11.18	11.26
919	-2.03	-28.5	2120	2813	3626	3609	488.5	-8.0	119	924	0.00	3.28	0.00	0.000	516	0.000	0.041	2119	1395	3616	3624	3609	0	0	0	0	0	0	11.36	11.18	11.36
966	-2.03	-28.5	2119	1396	3625	3610	492.1	-7.8	128	972	0.00	3.33	0.00	0.000	1030	0.000	0.050	2112	2812	3617	3625	3609	0	0	0	0	0	0	11.23	11.17	11.24
1271	-2.04	-35.2	2113	2812	3626	3609	515.4	-7.4	159	1276	0.00	3.28	0.00	0.000	548	0.000	0.039	2113	1389	3617	3625	3609	0	0	0	0	0	0	11.36	11.17	11.36
1313	-2.04	-42.4	2113	1388	3626	3609	518.5	-7.2	167	1318	0.00	3.33	0.00	0.000	1062	0.000	0.050	2106	2807	3616	3624	3609	0	0	0	0	0	0	11.25	11.18	11.26
1625	-2.05	-50.1	2106	2808	3625	3611	540.5	-7.1	199	1625	0.00	0.00	0.00	0.000	38	0.000	0.000	2106	2807	3616	3624	3609	0	0	0	0	0	0	11.37	11.36	11.36
1924	-2.06	-58.2	2106	2808	3625	3610	561.7	-6.9	229	1925	0.00	0.00	0.00	0.000	38	0.000	0.000	2106	2807	3617	3625	3609	0	0	0	0	0	0	11.36	11.36	11.36
2224	-2.08	-68.1	2107	2807	3626	3609	581.6	-6.4	259	2231	0.00	3.20	0.00	0.000	548	0.000	0.039	2106	1391	3616	3624	3609	0	0	0	0	0	0	11.37	11.19	11.36
2340	-2.09	-78.7	2107	1391	3626	3609	588.8	-6.2	281	2346	0.00	3.33	0.00	0.000	1062	0.000	0.050	2099	2805	3619	3629	3609	0	0	0	0	0	0	11.25	11.19	11.26
2653	-2.10	-89.0	2099	2806	3625	3609	608.3	-6.2	313	2654	0.00	0.00	0.00	0.000	38	0.000	0.000	2099	2805	3616	3625	3608	0	0	0	0	0	0	11.37	11.37	11.37
2953	-2.12	-99.7	2100	2806	3625	3609	626.5	-6.1	343	2958	0.00	2.62	0.00	0.000	292	0.000	0.070	2092	3910	3615	3624	3607	0	0	0	0	0	0	11.37	11.18	11.37
3100	-2.12	-107.1	2092	3911	3625	3607	636.1	-6.2	372	3106	0.00	2.50	0.00	0.000	1062	0.000	0.037	2092	2795	3615	3624	3606	0	0	0	0	0	0	11.26	11.22	11.27
3405	-2.12	-107.1	2092	2795	3625	3606	653.8	-5.3	403	3410	0.00	3.22	0.00	0.000	548	0.000	0.040	2092	1386	3615	3625	3606	0	0	0	0	0	0	11.37	11.19	11.37
3567	-2.12	-107.1	2092	1387	3625	3607	662.4	-5.5	435	3573	0.00	3.28	0.00	0.000	1062	0.000	0.050	2085	2805	3615	3624	3606	0	0	0	0	0	0	11.25	11.19	11.26
3880	-2.12	-107.1	2086	2805	3625	3606	679.1	-5.0	467	3881	0.00	0.00	0.00	0.000	38	0.000	0.000	2085	2805	3615	3625	3606	0	0	0	0	0	0	11.36	11.37	11.37
4180	-2.12	-107.1	2086	2805	3625	3605	693.4	-4.3	497	4181	0.00	0.00	0.00	0.000	38	0.000	0.000	2085	2804	3615	3625	3605	0	0	0	0	0	0	11.37	11.37	11.37
4503	-2.12	-107.1	2085	2806	3625	3606	705.7	-3.7	519	4508	0.00	2.62	0.00	0.000	292	0.000	0.070	2076	3917	3615	3625	3605	0	0	0	0	0	0	11.37	11.18	11.37
4735	-2.12	-107.1	2077	3918	3625	3606	714.0	-3.4	565	4741	0.00	2.53	0.00	0.000	1062	0.000	0.038	2077	2793	3614	3624	3604	0	0	0	0	0	0	11.26	11.22	11.28
5107	-2.12	-107.1	2077	2794	3625	3605	724.9	-2.3	579	5112	0.00	2.65	0.00	0.000	292	0.000	0.069	2068	3910	3614	3625	3604	0	0	0	0	0	0	11.38	11.18	11.37
5339	-2.12	-107.1	2068	3910	3626	3604	730.3	-1.9	625	5345	0.00	2.50	0.00	0.000	1062	0.000	0.037	2068	2796	3614	3625	3603	0	0	0	0	0	0	11.26	11.22	11.28
5712	-2.12	-107.1	2069	2795	3626	3604	737.1	-1.9	639	5717	0.00	2.65	0.00	0.000	292	0.000	0.069	2060	3913	3614	3625	3604	0	0	0	0	0	0	11.38	11.18	11.38
5944	-2.12	-107.1	2061	3913	3626	3604	741.2	-1.8	685	5951	0.20	2.53	0.00	0.000	3110	0.331	0.038	2088	2787	3614	3624	3604	0	0	0	0	0	0	11.04	11.23	11.23
6317	-2.12	-107.1	2088	2788	3626	3604	747.7	-1.8	699	6323	0.00	3.20	0.00	0.000	548	0.000	0.040	2091	1388	3614	3624	3604	0	0	0	0	0	0	11.38	11.19	11.38
6550	-2.12	-107.1	2092	1390	3625	3606	752.5	-2.6	745	6556	0.00	3.30	0.00	0.000	1062	0.000	0.048	2080	2802	3614	3624	3604	0	0	0	0	0	0	11.26	11.20	11.27
6923	-2.12	-107.1	2081	2803	3625	3604	759.6	-1.9	759	6928	0.00	3.25	0.00	0.000	548	0.000	0.039	2082	1383	3614	3624	3604	0	0	0	0	0	0	11.38	11.20	11.38
7155	-2.12	-107.1	2083	1383	3625	3604	764.1	-1.8	805	7161	0.00	3.33	0.00	0.000	1062	0.000	0.048	2072	2808	3614	3624	3604	0	0	0	0	0	0	11.26	11.19	11.28
7528	-2.12	-107.1	2072	2808	3625	3606	769.9	-1.5	819	7533	0.00	3.25	0.00	0.000	548	0.000	0.039	2072	1390	3614	3624	3604	0	0	0	0	0	0	11.38	11.20	11.38
7760	-2.12	-107.1	2072	1391	3625	3606	773.0	-1.3	865	7767	0.17	3.30	0.00	0.000	3110	0.340	0.049	2088	2804	3614	3625	3604	0	0	0	0	0	0	11.05	11.20	11.23
8100	end dive: NO_VERTICAL_VELOCITY
state	8100	begin apogee
8108	-0.23	0.0	2091	2539	3625	3603	776.1	0.0	878	8170	3.65	0.00	56.20	3.023	10246	0.311	0.000	2692	2538	3492	3501	3484	0	0	0	0	0	0	11.05	11.00	10.00
8171	end apogee: CONTROL_FINISHED_OK
state	8171	begin climb
8175	2.12	107.1	2693	2540	3501	3485	775.9	0.0	880	8363	3.05	3.42	173.60	2.998	10500	0.095	0.082	3455	3900	3065	3091	3039	0	0	0	0	0	0	11.09	11.01	10.03
8426	2.12	107.1	3455	3901	3090	3036	725.3	30.8	927	8432	0.00	3.12	0.00	0.000	1030	0.000	0.047	3465	2549	3061	3089	3034	0	0	0	0	0	0	11.19	11.14	11.21
8791	2.12	107.1	3466	2549	3082	3029	619.3	28.8	958	8796	0.00	3.35	0.00	0.000	516	0.000	0.060	3476	1140	3055	3081	3029	0	0	0	0	0	0	11.32	11.12	11.32
8833	2.12	107.1	3476	1139	3082	3029	607.1	28.2	966	8841	0.00	3.28	0.00	0.000	1030	0.000	0.061	3475	2546	3054	3080	3029	0	0	0	0	0	0	11.17	11.12	11.23
9148	2.12	107.1	3476	2545	3080	3029	516.1	28.9	998	9153	0.00	3.35	0.00	0.000	516	0.000	0.060	3486	1143	3055	3080	3030	0	0	0	0	0	0	11.34	11.14	11.34
9170	2.12	107.1	3485	1142	3081	3029	509.9	26.9	1002	9175	0.20	3.38	0.00	0.000	5126	0.339	0.061	3461	2557	3054	3080	3029	0	0	0	0	0	0	11.00	11.14	11.21
9483	2.12	107.1	3461	2558	3081	3030	425.1	26.4	1034	9488	0.00	3.38	0.00	0.000	516	0.000	0.058	3470	1141	3054	3079	3029	0	0	0	0	0	0	11.33	11.14	11.33
9579	2.16	138.5	3472	1141	3079	3029	416.4	-0.3	1053	9636	0.00	3.35	48.55	2.648	9254	0.000	0.057	3471	2553	2941	2967	2915	0	0	0	0	0	0	11.24	11.16	10.09
9659	end climb: NO_VERTICAL_VELOCITY
state	9659	begin subsurface finish
9667	0.01	4.1	3472	2553	2965	2912	416.3	-0.1	1066	9673	3.28	0.00	-1.15	0.063	20738	0.197	0.000	2782	2552	2937	2963	2911	0	0	0	0	0	0	11.04	28.83	11.17
9674	end subsurface finish: NO_VERTICAL_VELOCITY
state	9674	begin surface