Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 904 * 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 904 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 21 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 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 904 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

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 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 220119,121600,-7437.8906,-11202.2734,0,3076.5,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideE

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11200.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 391.52 MHEAD_RNG_PITCHd_Wd 46.8,1134,-43.8,-9.429,-45.00,333

_SM_ANGLEo 4.8 D_GRID 990

GPS2 220119,121600,-7437.8906,-11202.2734,0,3076.5,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 409.2,1.027472,1 _24V_AH 9.98,290.506

FINISH2 404.8 _10V_AH 10.25,0.000

RAFOS_CLK 381 FG_AHR_24Vo 0.000

RAFOS 0,1548169260,15.032354,15.016666,134,62,56,56,52,51,703,192,212,162,180,221 FG_AHR_10Vo 0.000

RAFOS_FIX -7438.441895,-11206.175781,220119,151512,3,124,0.20 MEM 278824

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 36687,1102

TT8_MAMPS 0.045689,0.282373 CAP_FILE_SIZE 111157,0

HUMID 49.84 CFSIZE 1024409600,911638528

INTERNAL_PRESSURE 7.91941 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.50 SOUNDSPEED 1454.9

XPDR_PINGS 0 GPS 220119,151512,-7438.442,-11206.176,0,4123.7,0,53.5,0.0,0.0,0,0.0

ALTIM_TOP_PING 422.6,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 346 48.77 nil 0 0 0.00

Roll_motor 108 83 90.46 nil 0 0 0.00

VBD_pump_during_apogee 218 2964 6476.78 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 9242 7 662.16

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 24 420 102.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6528 2 154.57

TT8_Active 309 10 34.49

TT8_Sampling 2179 30 677.97

TT8_CF8 323 51 170.25

TT8_Kalman 0 0 0.00

Analog_circuits 1112 10 115.14

GPS_charging 0 0 0.00

Compass 1574 6 108.78

RAFOS 720 1 11.07

Transponder 187 30 57.50

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

417.7 36.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

703.5 34.10 9000.00 0.0 0.00 0.00 34.10 0.0 -0.01 1.00

439.1 35.90 9000.00 0.0 -0.01 0.99 35.90 0.0 -0.01 1.00

430.8 27.40 9000.00 0.0 0.01 0.12 27.40 403.4 1.02 1.00

422.6 18.80 18.80 403.8 1.04 1.00 18.80 403.8 1.05 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 -2.02 -20.4 2782 2797 3536 3530 0.0 0.0 0 12 0.00 0.00 -0.28 0.257 16390 0.000 0.000 2781 2796 3587 3589 3585 0 0 0 0 0 0 11.36 10.60 11.28

16 -2.02 -20.4 2783 2796 3593 3589 0.0 0.0 0 25 2.65 3.25 0.00 0.000 4612 0.102 0.044 2124 1384 3589 3593 3585 0 0 0 0 0 0 11.17 11.18 11.24

141 -2.02 -20.4 2124 1385 3599 3585 399.6 -7.9 24 147 0.00 3.35 0.00 0.000 1030 0.000 0.053 2124 2807 3591 3598 3584 0 0 0 0 0 0 11.22 11.17 11.24

447 -2.02 -20.4 2124 2808 3600 3586 428.3 -9.9 55 452 0.00 2.62 0.00 0.000 260 0.000 0.072 2116 3917 3592 3600 3585 0 0 0 0 0 0 11.36 11.17 11.36

594 -2.02 -20.4 2117 3918 3601 3586 443.1 -9.4 84 600 0.00 2.55 0.00 0.000 1030 0.000 0.038 2119 2780 3592 3600 3585 0 0 0 0 0 0 11.26 11.21 11.27

898 -2.02 -20.4 2120 2781 3601 3585 466.1 -7.6 115 904 0.00 2.72 0.00 0.000 260 0.000 0.072 2113 3917 3592 3600 3585 0 0 0 0 0 0 11.36 11.17 11.37

1091 -2.02 -20.4 2113 3918 3601 3586 482.5 -9.1 153 1097 0.00 2.53 0.00 0.000 1030 0.000 0.038 2116 2793 3592 3600 3584 0 0 0 0 0 0 11.26 11.21 11.27

1404 -2.02 -20.4 2116 2794 3601 3586 505.9 -7.5 185 1410 0.00 3.20 0.00 0.000 516 0.000 0.041 2116 1395 3592 3600 3585 0 0 0 0 0 0 11.36 11.17 11.36

1493 -2.03 -28.3 2117 1396 3600 3586 512.2 -7.0 202 1499 0.00 3.33 0.00 0.000 1062 0.000 0.050 2110 2810 3592 3600 3585 0 0 0 0 0 0 11.25 11.18 11.26

1797 -2.04 -37.3 2112 2811 3601 3586 532.8 -6.6 233 1803 0.00 2.60 0.00 0.000 292 0.000 0.070 2103 3910 3592 3600 3584 0 0 0 0 0 0 11.36 11.16 11.36

1955 -2.05 -45.3 2104 3911 3601 3585 543.8 -7.0 264 1961 0.00 2.50 0.00 0.000 1062 0.000 0.038 2102 2795 3592 3600 3584 0 0 0 0 0 0 11.26 11.21 11.27

2260 -2.06 -57.0 2104 2794 3601 3584 562.7 -5.8 295 2265 0.00 2.65 0.00 0.000 292 0.000 0.070 2095 3910 3592 3600 3584 0 0 0 0 0 0 11.37 11.17 11.36

2397 -2.07 -66.9 2096 3910 3601 3583 571.2 -6.4 322 2403 0.00 2.53 0.00 0.000 1062 0.000 0.038 2095 2791 3591 3600 3583 0 0 0 0 0 0 11.26 11.21 11.27

2702 -2.09 -78.5 2096 2792 3602 3583 589.6 -5.8 353 2707 0.00 2.67 0.00 0.000 292 0.000 0.070 2087 3918 3591 3600 3582 0 0 0 0 0 0 11.37 11.16 11.37

2769 -2.10 -87.7 2087 3924 3601 3582 593.9 -6.6 366 2775 0.00 2.55 0.00 0.000 1062 0.000 0.039 2087 2790 3591 3600 3582 0 0 0 0 0 0 11.26 11.21 11.27

3074 -2.12 -101.5 2087 2792 3601 3584 609.9 -5.1 397 3080 0.00 3.17 0.00 0.000 548 0.000 0.041 2087 1398 3591 3600 3582 0 0 0 0 0 0 11.37 11.19 11.37

3227 -2.12 -107.1 2087 1398 3602 3582 618.1 -5.4 427 3233 0.00 3.25 0.00 0.000 1062 0.000 0.050 2077 2809 3591 3600 3582 0 0 0 0 0 0 11.25 11.19 11.26

3540 -2.12 -107.1 2078 2809 3601 3587 635.1 -5.0 459 3541 0.00 0.00 0.00 0.000 38 0.000 0.000 2077 2808 3591 3600 3582 0 0 0 0 0 0 11.37 11.37 11.36

3840 -2.12 -107.1 2077 2810 3601 3583 649.6 -4.3 489 3841 0.00 0.00 0.00 0.000 38 0.000 0.000 2077 2809 3591 3600 3582 0 0 0 0 0 0 11.37 11.37 11.37

4144 -2.12 -107.1 2078 2809 3601 3582 661.0 -3.5 519 4149 0.00 3.28 0.00 0.000 548 0.000 0.040 2076 1384 3591 3600 3582 0 0 0 0 0 0 11.36 11.19 11.36

4311 -2.12 -107.1 2078 1384 3601 3582 666.5 -3.0 552 4317 0.00 3.35 0.00 0.000 1062 0.000 0.050 2069 2810 3591 3600 3582 0 0 0 0 0 0 11.26 11.19 11.26

4616 -2.12 -107.1 2070 2813 3601 3583 675.1 -2.4 583 4617 0.00 0.00 0.00 0.000 38 0.000 0.000 2069 2811 3589 3600 3579 0 0 0 0 0 0 11.37 11.37 11.37

4919 -2.12 -107.1 2070 2812 3600 3582 681.3 -1.7 613 4925 0.00 3.28 0.00 0.000 548 0.000 0.040 2069 1387 3590 3600 3581 0 0 0 0 0 0 11.36 11.19 11.37

5117 -2.12 -107.1 2070 1388 3600 3582 684.6 -1.5 652 5124 0.20 3.33 0.00 0.000 3110 0.347 0.049 2088 2807 3590 3600 3581 0 0 0 0 0 0 11.04 11.20 11.24

5422 -2.12 -107.1 2088 2808 3601 3582 690.6 -2.1 683 5427 0.00 2.60 0.00 0.000 292 0.000 0.070 2080 3910 3590 3600 3581 0 0 0 0 0 0 11.38 11.17 11.37

5655 -2.12 -107.1 2081 3910 3601 3580 695.6 -2.2 729 5661 0.00 2.50 0.00 0.000 1062 0.000 0.038 2085 2796 3590 3600 3580 0 0 0 0 0 0 11.26 11.22 11.28

5987 -2.12 -107.1 2085 2797 3601 3582 702.4 -1.9 755 5992 0.00 2.65 0.00 0.000 292 0.000 0.070 2076 3913 3590 3600 3581 0 0 0 0 0 0 11.37 11.18 11.37

6219 -2.12 -107.1 2077 3913 3602 3580 706.4 -1.5 801 6225 0.00 2.53 0.00 0.000 1062 0.000 0.039 2084 2790 3588 3597 3580 0 0 0 0 0 0 11.27 11.22 11.28

6592 -2.12 -107.1 2084 2792 3602 3581 711.7 -1.5 815 6597 0.00 3.20 0.00 0.000 548 0.000 0.040 2092 1394 3590 3600 3581 0 0 0 0 0 0 11.38 11.20 11.38

6824 -2.12 -107.1 2093 1395 3601 3582 715.5 -2.1 861 6830 0.00 3.30 0.00 0.000 1062 0.000 0.049 2082 2804 3590 3600 3580 0 0 0 0 0 0 11.26 11.19 11.26

7197 -2.12 -107.1 2082 2804 3600 3582 720.9 -1.3 875 7197 0.00 0.00 0.00 0.000 38 0.000 0.000 2081 2804 3590 3599 3581 0 0 0 0 0 0 11.37 11.37 11.37

7557 -2.12 -107.1 2082 2804 3601 3581 725.8 -1.2 887 7562 0.00 3.25 0.00 0.000 548 0.000 0.040 2083 1386 3590 3600 3581 0 0 0 0 0 0 11.37 11.21 11.37

7789 -2.12 -107.1 2082 1388 3600 3582 728.7 -0.8 933 7795 0.00 3.33 0.00 0.000 1062 0.000 0.048 2072 2809 3586 3599 3574 0 0 0 0 0 0 11.26 11.17 11.27

7888 end dive: NO_VERTICAL_VELOCITY

state 7888 begin apogee

7896 -0.23 0.0 2073 2545 3601 3582 729.4 0.0 938 7951 3.83 0.00 45.33 2.952 10246 0.318 0.000 2695 2545 3494 3502 3486 0 0 0 0 0 0 11.05 10.90 9.98

7952 end apogee: CONTROL_FINISHED_OK

state 7952 begin climb

7956 2.12 107.1 2696 2546 3503 3485 729.2 0.0 940 8141 3.08 3.40 173.60 2.964 10500 0.105 0.083 3451 3909 3065 3091 3040 0 0 0 0 0 0 11.10 10.88 10.00

8263 2.12 107.1 3451 3909 3087 3031 664.9 30.8 997 8274 0.00 3.15 0.00 0.000 1030 0.000 0.049 3461 2545 3058 3085 3031 0 0 0 0 0 0 11.21 11.16 11.21

8571 2.12 107.1 3461 2546 3081 3029 578.8 28.1 1028 8576 0.00 3.35 0.00 0.000 516 0.000 0.060 3471 1139 3054 3080 3029 0 0 0 0 0 0 11.33 11.13 11.33

8612 2.12 107.1 3472 1139 3081 3028 567.2 27.6 1036 8618 0.00 3.40 0.00 0.000 1030 0.000 0.064 3472 2551 3053 3078 3029 0 0 0 0 0 0 11.21 11.14 11.24

8924 2.12 107.1 3471 2552 3080 3029 480.9 27.2 1068 8931 0.00 3.35 0.00 0.000 516 0.000 0.060 3478 1142 3054 3079 3029 0 0 0 0 0 0 11.34 11.12 11.34

8967 2.12 107.1 3480 1143 3080 3028 469.5 26.4 1076 8972 0.00 3.40 0.00 0.000 1030 0.000 0.063 3482 2561 3054 3079 3029 0 0 0 0 0 0 11.22 11.14 11.24

9185 end climb: SURFACE_OBSTACLE_DETECTED

state 9185 begin subsurface finish

9193 0.00 1.4 3482 2561 3081 3028 409.2 26.7 1099 9212 4.35 3.38 -7.30 0.023 20996 0.337 0.067 2783 1139 3513 3517 3510 0 0 0 0 1 0 11.02 10.70 11.20

9212 end subsurface finish: CONTROL_FINISHED_OK

state 9212 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	904	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	21	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	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	220119,121600,-7437.8906,-11202.2734,0,3076.5,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideE
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11200.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	391.52	MHEAD_RNG_PITCHd_Wd	46.8,1134,-43.8,-9.429,-45.00,333
_SM_ANGLEo	4.8	D_GRID	990
GPS2	220119,121600,-7437.8906,-11202.2734,0,3076.5,0,53.5,0.0,0.0,0,0.0

FINISH1	409.2,1.027472,1	_24V_AH	9.98,290.506
FINISH2	404.8	_10V_AH	10.25,0.000
RAFOS_CLK	381	FG_AHR_24Vo	0.000
RAFOS	0,1548169260,15.032354,15.016666,134,62,56,56,52,51,703,192,212,162,180,221	FG_AHR_10Vo	0.000
RAFOS_FIX	-7438.441895,-11206.175781,220119,151512,3,124,0.20	MEM	278824
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	36687,1102
TT8_MAMPS	0.045689,0.282373	CAP_FILE_SIZE	111157,0
HUMID	49.84	CFSIZE	1024409600,911638528
INTERNAL_PRESSURE	7.91941	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.50	SOUNDSPEED	1454.9
XPDR_PINGS	0	GPS	220119,151512,-7438.442,-11206.176,0,4123.7,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING	422.6,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	346	48.77	nil	0	0	0.00
Roll_motor	108	83	90.46	nil	0	0	0.00
VBD_pump_during_apogee	218	2964	6476.78	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	9242	7	662.16
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	24	420	102.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6528	2	154.57
TT8_Active	309	10	34.49
TT8_Sampling	2179	30	677.97
TT8_CF8	323	51	170.25
TT8_Kalman	0	0	0.00
Analog_circuits	1112	10	115.14
GPS_charging	0	0	0.00
Compass	1574	6	108.78
RAFOS	720	1	11.07
Transponder	187	30	57.50

		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
417.7	36.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

703.5	34.10	9000.00	0.0	0.00	0.00	34.10	0.0	-0.01	1.00
439.1	35.90	9000.00	0.0	-0.01	0.99	35.90	0.0	-0.01	1.00
430.8	27.40	9000.00	0.0	0.01	0.12	27.40	403.4	1.02	1.00
422.6	18.80	18.80	403.8	1.04	1.00	18.80	403.8	1.05	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	-2.02	-20.4	2782	2797	3536	3530	0.0	0.0	0	12	0.00	0.00	-0.28	0.257	16390	0.000	0.000	2781	2796	3587	3589	3585	0	0	0	0	0	0	11.36	10.60	11.28
16	-2.02	-20.4	2783	2796	3593	3589	0.0	0.0	0	25	2.65	3.25	0.00	0.000	4612	0.102	0.044	2124	1384	3589	3593	3585	0	0	0	0	0	0	11.17	11.18	11.24
141	-2.02	-20.4	2124	1385	3599	3585	399.6	-7.9	24	147	0.00	3.35	0.00	0.000	1030	0.000	0.053	2124	2807	3591	3598	3584	0	0	0	0	0	0	11.22	11.17	11.24
447	-2.02	-20.4	2124	2808	3600	3586	428.3	-9.9	55	452	0.00	2.62	0.00	0.000	260	0.000	0.072	2116	3917	3592	3600	3585	0	0	0	0	0	0	11.36	11.17	11.36
594	-2.02	-20.4	2117	3918	3601	3586	443.1	-9.4	84	600	0.00	2.55	0.00	0.000	1030	0.000	0.038	2119	2780	3592	3600	3585	0	0	0	0	0	0	11.26	11.21	11.27
898	-2.02	-20.4	2120	2781	3601	3585	466.1	-7.6	115	904	0.00	2.72	0.00	0.000	260	0.000	0.072	2113	3917	3592	3600	3585	0	0	0	0	0	0	11.36	11.17	11.37
1091	-2.02	-20.4	2113	3918	3601	3586	482.5	-9.1	153	1097	0.00	2.53	0.00	0.000	1030	0.000	0.038	2116	2793	3592	3600	3584	0	0	0	0	0	0	11.26	11.21	11.27
1404	-2.02	-20.4	2116	2794	3601	3586	505.9	-7.5	185	1410	0.00	3.20	0.00	0.000	516	0.000	0.041	2116	1395	3592	3600	3585	0	0	0	0	0	0	11.36	11.17	11.36
1493	-2.03	-28.3	2117	1396	3600	3586	512.2	-7.0	202	1499	0.00	3.33	0.00	0.000	1062	0.000	0.050	2110	2810	3592	3600	3585	0	0	0	0	0	0	11.25	11.18	11.26
1797	-2.04	-37.3	2112	2811	3601	3586	532.8	-6.6	233	1803	0.00	2.60	0.00	0.000	292	0.000	0.070	2103	3910	3592	3600	3584	0	0	0	0	0	0	11.36	11.16	11.36
1955	-2.05	-45.3	2104	3911	3601	3585	543.8	-7.0	264	1961	0.00	2.50	0.00	0.000	1062	0.000	0.038	2102	2795	3592	3600	3584	0	0	0	0	0	0	11.26	11.21	11.27
2260	-2.06	-57.0	2104	2794	3601	3584	562.7	-5.8	295	2265	0.00	2.65	0.00	0.000	292	0.000	0.070	2095	3910	3592	3600	3584	0	0	0	0	0	0	11.37	11.17	11.36
2397	-2.07	-66.9	2096	3910	3601	3583	571.2	-6.4	322	2403	0.00	2.53	0.00	0.000	1062	0.000	0.038	2095	2791	3591	3600	3583	0	0	0	0	0	0	11.26	11.21	11.27
2702	-2.09	-78.5	2096	2792	3602	3583	589.6	-5.8	353	2707	0.00	2.67	0.00	0.000	292	0.000	0.070	2087	3918	3591	3600	3582	0	0	0	0	0	0	11.37	11.16	11.37
2769	-2.10	-87.7	2087	3924	3601	3582	593.9	-6.6	366	2775	0.00	2.55	0.00	0.000	1062	0.000	0.039	2087	2790	3591	3600	3582	0	0	0	0	0	0	11.26	11.21	11.27
3074	-2.12	-101.5	2087	2792	3601	3584	609.9	-5.1	397	3080	0.00	3.17	0.00	0.000	548	0.000	0.041	2087	1398	3591	3600	3582	0	0	0	0	0	0	11.37	11.19	11.37
3227	-2.12	-107.1	2087	1398	3602	3582	618.1	-5.4	427	3233	0.00	3.25	0.00	0.000	1062	0.000	0.050	2077	2809	3591	3600	3582	0	0	0	0	0	0	11.25	11.19	11.26
3540	-2.12	-107.1	2078	2809	3601	3587	635.1	-5.0	459	3541	0.00	0.00	0.00	0.000	38	0.000	0.000	2077	2808	3591	3600	3582	0	0	0	0	0	0	11.37	11.37	11.36
3840	-2.12	-107.1	2077	2810	3601	3583	649.6	-4.3	489	3841	0.00	0.00	0.00	0.000	38	0.000	0.000	2077	2809	3591	3600	3582	0	0	0	0	0	0	11.37	11.37	11.37
4144	-2.12	-107.1	2078	2809	3601	3582	661.0	-3.5	519	4149	0.00	3.28	0.00	0.000	548	0.000	0.040	2076	1384	3591	3600	3582	0	0	0	0	0	0	11.36	11.19	11.36
4311	-2.12	-107.1	2078	1384	3601	3582	666.5	-3.0	552	4317	0.00	3.35	0.00	0.000	1062	0.000	0.050	2069	2810	3591	3600	3582	0	0	0	0	0	0	11.26	11.19	11.26
4616	-2.12	-107.1	2070	2813	3601	3583	675.1	-2.4	583	4617	0.00	0.00	0.00	0.000	38	0.000	0.000	2069	2811	3589	3600	3579	0	0	0	0	0	0	11.37	11.37	11.37
4919	-2.12	-107.1	2070	2812	3600	3582	681.3	-1.7	613	4925	0.00	3.28	0.00	0.000	548	0.000	0.040	2069	1387	3590	3600	3581	0	0	0	0	0	0	11.36	11.19	11.37
5117	-2.12	-107.1	2070	1388	3600	3582	684.6	-1.5	652	5124	0.20	3.33	0.00	0.000	3110	0.347	0.049	2088	2807	3590	3600	3581	0	0	0	0	0	0	11.04	11.20	11.24
5422	-2.12	-107.1	2088	2808	3601	3582	690.6	-2.1	683	5427	0.00	2.60	0.00	0.000	292	0.000	0.070	2080	3910	3590	3600	3581	0	0	0	0	0	0	11.38	11.17	11.37
5655	-2.12	-107.1	2081	3910	3601	3580	695.6	-2.2	729	5661	0.00	2.50	0.00	0.000	1062	0.000	0.038	2085	2796	3590	3600	3580	0	0	0	0	0	0	11.26	11.22	11.28
5987	-2.12	-107.1	2085	2797	3601	3582	702.4	-1.9	755	5992	0.00	2.65	0.00	0.000	292	0.000	0.070	2076	3913	3590	3600	3581	0	0	0	0	0	0	11.37	11.18	11.37
6219	-2.12	-107.1	2077	3913	3602	3580	706.4	-1.5	801	6225	0.00	2.53	0.00	0.000	1062	0.000	0.039	2084	2790	3588	3597	3580	0	0	0	0	0	0	11.27	11.22	11.28
6592	-2.12	-107.1	2084	2792	3602	3581	711.7	-1.5	815	6597	0.00	3.20	0.00	0.000	548	0.000	0.040	2092	1394	3590	3600	3581	0	0	0	0	0	0	11.38	11.20	11.38
6824	-2.12	-107.1	2093	1395	3601	3582	715.5	-2.1	861	6830	0.00	3.30	0.00	0.000	1062	0.000	0.049	2082	2804	3590	3600	3580	0	0	0	0	0	0	11.26	11.19	11.26
7197	-2.12	-107.1	2082	2804	3600	3582	720.9	-1.3	875	7197	0.00	0.00	0.00	0.000	38	0.000	0.000	2081	2804	3590	3599	3581	0	0	0	0	0	0	11.37	11.37	11.37
7557	-2.12	-107.1	2082	2804	3601	3581	725.8	-1.2	887	7562	0.00	3.25	0.00	0.000	548	0.000	0.040	2083	1386	3590	3600	3581	0	0	0	0	0	0	11.37	11.21	11.37
7789	-2.12	-107.1	2082	1388	3600	3582	728.7	-0.8	933	7795	0.00	3.33	0.00	0.000	1062	0.000	0.048	2072	2809	3586	3599	3574	0	0	0	0	0	0	11.26	11.17	11.27
7888	end dive: NO_VERTICAL_VELOCITY
state	7888	begin apogee
7896	-0.23	0.0	2073	2545	3601	3582	729.4	0.0	938	7951	3.83	0.00	45.33	2.952	10246	0.318	0.000	2695	2545	3494	3502	3486	0	0	0	0	0	0	11.05	10.90	9.98
7952	end apogee: CONTROL_FINISHED_OK
state	7952	begin climb
7956	2.12	107.1	2696	2546	3503	3485	729.2	0.0	940	8141	3.08	3.40	173.60	2.964	10500	0.105	0.083	3451	3909	3065	3091	3040	0	0	0	0	0	0	11.10	10.88	10.00
8263	2.12	107.1	3451	3909	3087	3031	664.9	30.8	997	8274	0.00	3.15	0.00	0.000	1030	0.000	0.049	3461	2545	3058	3085	3031	0	0	0	0	0	0	11.21	11.16	11.21
8571	2.12	107.1	3461	2546	3081	3029	578.8	28.1	1028	8576	0.00	3.35	0.00	0.000	516	0.000	0.060	3471	1139	3054	3080	3029	0	0	0	0	0	0	11.33	11.13	11.33
8612	2.12	107.1	3472	1139	3081	3028	567.2	27.6	1036	8618	0.00	3.40	0.00	0.000	1030	0.000	0.064	3472	2551	3053	3078	3029	0	0	0	0	0	0	11.21	11.14	11.24
8924	2.12	107.1	3471	2552	3080	3029	480.9	27.2	1068	8931	0.00	3.35	0.00	0.000	516	0.000	0.060	3478	1142	3054	3079	3029	0	0	0	0	0	0	11.34	11.12	11.34
8967	2.12	107.1	3480	1143	3080	3028	469.5	26.4	1076	8972	0.00	3.40	0.00	0.000	1030	0.000	0.063	3482	2561	3054	3079	3029	0	0	0	0	0	0	11.22	11.14	11.24
9185	end climb: SURFACE_OBSTACLE_DETECTED
state	9185	begin subsurface finish
9193	0.00	1.4	3482	2561	3081	3028	409.2	26.7	1099	9212	4.35	3.38	-7.30	0.023	20996	0.337	0.067	2783	1139	3513	3517	3510	0	0	0	0	1	0	11.02	10.70	11.20
9212	end subsurface finish: CONTROL_FINISHED_OK
state	9212	begin surface