Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 918 * 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 918 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 24 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 10 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 0 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 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 1 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0

ICE_FREEZE_MARGIN 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 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 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 918 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 10 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 100219,235710,-7407.9004,-11323.5459,2,0.8,4,53.9,0.2,4.8,9,7.0 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME hold0

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.86 MHEAD_RNG_PITCHd_Wd 19.3,30663,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -64.4 D_GRID 990

GPS2 110219,000600,-7407.8975,-11323.6172,26,0.8,26,53.9,0.9,252.4,11,3.6

Post-dive calculations and measurements:

FREEZE -0.00,-0.435,-1.836,2,1,0 ALTIM_BOTTOM_PING 390.8,20.7

FINISH -0.0,1.026909 _24V_AH 10.38,302.579

SM_CCo 7678,191.07,0.204,0,0,1146,350.04 _10V_AH 10.32,0.000

SM_GC 0.92,11.95,0.52,191.07,0.073,0.067,0.204,217,2309,1146,-8.24,-0.45,350.04,0,0,0,0,0,0,11.34,11.37,11.22 FG_AHR_24Vo 0.000

RAFOS_CLK 296 FG_AHR_10Vo 0.000

RAFOS 1,1549843635,0.133333,0.120833,61,58,55,53,50,48,209,511,163,188,114,153 MEM 279916

RAFOS_FIX -7406.936035,-11310.471680,110219,000056,1,2,12.94 DATA_FILE_SIZE 13449,368

IRIDIUM_FIX -7411.76,-11316.06,100219,215734 CAP_FILE_SIZE 73891,0

TT8_MAMPS 0.047187,0.370755 CFSIZE 1024409600,915800064

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

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1446.7

TCM_TEMP 12.00 CURRENT 0.025,178.51,1

XPDR_PINGS 2 GPS 110219,021835,-7407.620,-11320.691,4,1.2,6,53.9,0.7,8.4,5,9.2

ALTIM_TOP_PING 11.9,12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 403 137.68 nil 0 0 0.00

Roll_motor 102 134 142.69 nil 0 0 0.00

VBD_pump_during_apogee 314 2646 8633.53 nil 0 0 0.00

VBD_pump_during_surface 191 204 405.11 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 7673 6 520.56

Iridium_during_xfer 246 223 570.98 nil 0 0 0.00

Transponder_ping 17 420 75.20 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 10 3.04

TT8 0 0 0.00

LPSleep 6218 2 148.26

TT8_Active 693 13 98.85

TT8_Sampling 1081 34 388.16

TT8_CF8 394 52 214.82

TT8_Kalman 0 0 0.00

Analog_circuits 1282 10 144.28

GPS_charging 0 0 0.00

Compass 533 7 41.26

RAFOS 480 1 7.43

Transponder 116 30 36.08

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

11.7 14.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.9 24.10 9000.00 0.0 0.00 0.00 24.10 0.0 0.99 1.00

32.2 35.00 34.90 0.0 1.02 1.00 35.00 0.0 1.06 1.00

358.4 53.40 9000.00 0.0 0.07 0.88 53.40 0.0 0.06 1.00

374.5 39.60 9000.00 0.0 0.03 0.44 39.60 414.1 -0.86 1.00

390.8 19.70 20.70 411.5 -1.04 0.99 19.70 410.5 -1.22 1.00

399.8 14.70 13.10 0.0 -1.02 0.97 14.70 0.0 -0.56 1.00

389.2 23.90 9000.00 0.0 -0.77 0.90 23.90 0.0 -0.87 1.00

379.1 35.90 35.40 0.0 -1.03 0.99 35.90 0.0 -1.19 1.00

104.6 108.90 9000.00 0.0 -0.28 0.99 108.90 0.0 -0.27 1.00

58.8 61.70 9000.00 0.0 -0.15 0.46 61.70 -2.9 1.03 1.00

47.3 48.40 48.90 -1.6 1.05 1.00 48.40 -1.1 1.16 1.00

35.2 36.90 36.50 -1.3 1.05 1.00 36.90 -1.7 0.95 1.00

23.7 25.30 25.50 -1.8 0.98 1.00 25.30 -1.6 1.01 1.00

11.9 12.40 12.50 -0.6 1.06 1.00 12.40 -0.5 1.09 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -1.06 -107.1 222 2303 1177 1083 0.0 0.0 0 110 0.00 0.00 -97.12 0.002 16390 0.000 0.000 222 2304 3012 3019 3005 0 0 0 0 0 0 11.48 10.76 11.49

114 -1.06 -107.1 222 2304 3019 3010 2.0 -1.9 3 137 17.30 3.50 0.00 0.000 2308 0.403 0.093 2515 3720 3013 3021 3006 0 0 0 0 0 0 11.14 11.25 11.33

200 -1.06 -107.1 2515 3720 3024 3003 24.5 -18.0 16 206 0.00 3.25 0.00 0.000 1030 0.000 0.038 2515 2298 3013 3024 3002 0 0 0 0 0 0 11.40 11.35 11.40

561 -1.06 -107.1 2516 2296 3028 3001 80.3 -15.5 31 566 0.00 3.33 0.00 0.000 516 0.000 0.063 2515 894 3013 3026 3000 0 0 0 0 0 0 11.49 11.31 11.51

695 -1.06 -107.1 2515 894 3026 3000 101.7 -16.1 50 701 0.00 3.33 0.00 0.000 1030 0.000 0.059 2504 2300 3012 3026 2999 0 0 0 0 0 0 11.40 11.31 11.41

1034 -1.06 -107.1 2504 2304 3027 2999 154.5 -15.5 63 1040 0.00 3.53 0.00 0.000 260 0.000 0.099 2493 3726 3012 3026 2999 0 0 0 0 0 0 11.50 11.30 11.52

1076 -1.06 -107.1 2494 3726 3027 2999 161.7 -17.3 69 1083 0.20 3.25 0.00 0.000 3078 0.258 0.039 2523 2295 3013 3027 2999 0 0 0 0 0 0 11.22 11.36 11.38

1458 -1.06 -107.1 2523 2294 3028 2998 216.5 -14.5 82 1458 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2294 3012 3028 2997 0 0 0 0 0 0 11.50 11.52 11.52

1790 -1.06 -107.1 2523 2300 3028 2998 265.3 -14.6 88 1791 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2294 3012 3028 2997 0 0 0 0 0 0 11.51 11.52 11.52

2126 -1.06 -107.1 2525 2294 3030 2998 312.2 -14.1 94 2132 0.00 3.33 0.00 0.000 516 0.000 0.063 2523 889 3012 3029 2996 0 0 0 0 0 0 11.51 11.32 11.52

2189 -1.06 -107.1 2523 890 3028 2997 321.1 -14.0 103 2195 0.00 3.35 0.00 0.000 1030 0.000 0.057 2515 2317 3012 3028 2996 0 0 0 0 0 0 11.40 11.32 11.42

2579 -1.06 -107.1 2514 2317 3028 2996 374.5 -13.7 116 2584 0.00 3.40 0.00 0.000 516 0.000 0.060 2515 891 3012 3029 2996 0 0 0 0 0 0 11.50 11.32 11.52

2611 -1.06 -107.1 2514 891 3028 2996 380.1 -14.8 121 2618 0.00 3.35 0.00 0.000 1030 0.000 0.057 2504 2309 3012 3028 2996 0 0 0 0 0 0 11.39 11.31 11.40

2798 end dive: BOTTOM_OBSTACLE_DETECTED

state 2798 begin apogee

2807 -0.23 0.0 2506 2077 3031 2996 406.7 -14.1 127 2970 1.50 0.10 156.02 2.646 10246 0.232 0.135 2793 2121 2574 2604 2544 0 0 0 0 0 0 11.25 11.17 10.38

2971 end apogee: CONTROL_FINISHED_OK

state 2971 begin climb

2975 1.06 107.1 2794 2121 2606 2544 410.0 0.0 130 3147 1.75 3.50 158.30 2.556 10500 0.132 0.093 3198 3499 2137 2174 2101 0 0 0 0 0 0 11.21 11.19 10.41

3209 1.07 107.1 3201 3500 2170 2095 397.9 9.1 164 3215 0.00 3.20 0.00 0.000 1094 0.000 0.039 3208 2116 2132 2170 2094 0 0 0 0 0 0 11.34 11.29 11.36

3592 1.10 107.1 3210 2117 2167 2088 364.9 8.6 176 3597 0.00 3.50 0.00 0.000 324 0.000 0.093 3208 3507 2126 2165 2087 0 0 0 0 0 0 11.47 11.27 11.48

3624 1.10 107.1 3208 3507 2164 2088 361.3 9.5 181 3631 0.00 3.25 0.00 0.000 1030 0.000 0.040 3216 2092 2125 2164 2087 0 0 0 0 0 0 11.38 11.32 11.39

3982 1.12 107.1 3216 2093 2161 2086 328.7 9.2 190 3987 0.00 3.42 0.00 0.000 580 0.000 0.079 3226 691 2123 2161 2085 0 0 0 0 0 0 11.48 11.29 11.51

4038 1.14 107.1 3226 692 2158 2085 323.8 9.0 198 4044 0.00 3.25 0.00 0.000 1094 0.000 0.051 3226 2096 2122 2159 2085 0 0 0 0 0 0 11.33 11.29 11.36

4434 1.16 107.1 3226 2096 2158 2085 288.7 9.2 212 4439 0.00 3.53 0.00 0.000 324 0.000 0.094 3226 3509 2121 2158 2085 0 0 0 0 0 0 11.49 11.29 11.50

4495 1.16 107.1 3226 3510 2157 2085 282.1 10.4 221 4501 0.00 3.22 0.00 0.000 1030 0.000 0.039 3236 2098 2121 2158 2085 0 0 0 0 0 0 11.40 11.33 11.42

4880 1.18 107.1 3236 2099 2157 2085 248.6 8.6 234 4886 0.00 3.53 0.00 0.000 324 0.000 0.094 3236 3508 2119 2154 2084 0 0 0 0 0 0 11.51 11.29 11.52

4978 1.18 107.1 3237 3509 2159 2085 239.3 9.7 248 4983 0.00 3.22 0.00 0.000 1030 0.000 0.039 3247 2095 2120 2157 2084 0 0 0 0 0 0 11.39 11.33 11.41

5328 1.21 107.1 3248 2096 2158 2085 208.5 8.7 256 5334 0.00 3.53 0.00 0.000 324 0.000 0.094 3246 3516 2120 2156 2084 0 0 0 0 0 0 11.50 11.30 11.52

5356 1.21 107.1 3247 3517 2156 2085 205.8 9.8 260 5361 0.00 3.25 0.00 0.000 1030 0.000 0.042 3257 2100 2120 2157 2084 0 0 0 0 0 0 11.40 11.34 11.42

5724 1.21 107.1 3257 2100 2155 2084 170.1 9.8 275 5729 0.00 3.42 0.00 0.000 516 0.000 0.081 3268 686 2119 2155 2084 0 0 0 0 0 0 11.50 11.31 11.52

5757 1.21 107.1 3269 687 2156 2085 166.6 9.6 280 5763 0.00 3.30 0.00 0.000 1030 0.000 0.052 3268 2114 2119 2155 2084 0 0 0 0 0 0 11.40 11.33 11.43

6114 1.21 107.1 3269 2115 2156 2085 132.3 9.9 295 6120 0.00 3.47 0.00 0.000 260 0.000 0.096 3268 3516 2119 2154 2084 0 0 0 0 0 0 11.55 11.31 11.53

6177 1.21 107.1 3267 3516 2154 2084 125.4 10.9 304 6183 0.00 3.25 0.00 0.000 1030 0.000 0.041 3279 2087 2119 2154 2084 0 0 0 0 0 0 11.41 11.36 11.43

6538 1.21 107.1 3278 2088 2153 2084 90.9 9.8 319 6543 0.00 3.53 0.00 0.000 260 0.000 0.093 3279 3508 2119 2154 2084 0 0 0 0 0 0 11.51 11.29 11.52

6577 1.21 107.1 3280 3510 2155 2085 86.3 11.2 325 6584 0.20 3.22 0.00 0.000 5126 0.269 0.040 3259 2094 2118 2153 2084 0 0 0 0 0 0 11.22 11.36 11.38

6931 1.24 107.1 3261 2094 2155 2084 56.4 8.5 339 6932 0.00 0.00 0.00 0.000 70 0.000 0.000 3259 2093 2117 2152 2083 0 0 0 0 0 0 11.51 11.52 11.52

7264 1.27 107.1 3259 2093 2152 2084 28.0 8.5 351 7269 0.00 3.53 0.00 0.000 324 0.000 0.093 3259 3514 2117 2152 2083 0 0 0 0 0 0 11.51 11.31 11.53

7285 1.30 107.1 3260 3515 2154 2084 26.3 8.4 354 7291 0.00 3.25 0.00 0.000 1094 0.000 0.039 3268 2089 2117 2152 2083 0 0 0 0 0 0 11.42 11.36 11.43

7628 end climb: SURFACE_DEPTH_REACHED

state 7628 begin surface coast

7652 end surface coast: CONTROL_FINISHED_OK

state 7652 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	918	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	24	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	10	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	0	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	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	1	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0
ICE_FREEZE_MARGIN	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	100219,235710,-7407.9004,-11323.5459,2,0.8,4,53.9,0.2,4.8,9,7.0	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	hold0
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.86	MHEAD_RNG_PITCHd_Wd	19.3,30663,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-64.4	D_GRID	990
GPS2	110219,000600,-7407.8975,-11323.6172,26,0.8,26,53.9,0.9,252.4,11,3.6

FREEZE	-0.00,-0.435,-1.836,2,1,0	ALTIM_BOTTOM_PING	390.8,20.7
FINISH	-0.0,1.026909	_24V_AH	10.38,302.579
SM_CCo	7678,191.07,0.204,0,0,1146,350.04	_10V_AH	10.32,0.000
SM_GC	0.92,11.95,0.52,191.07,0.073,0.067,0.204,217,2309,1146,-8.24,-0.45,350.04,0,0,0,0,0,0,11.34,11.37,11.22	FG_AHR_24Vo	0.000
RAFOS_CLK	296	FG_AHR_10Vo	0.000
RAFOS	1,1549843635,0.133333,0.120833,61,58,55,53,50,48,209,511,163,188,114,153	MEM	279916
RAFOS_FIX	-7406.936035,-11310.471680,110219,000056,1,2,12.94	DATA_FILE_SIZE	13449,368
IRIDIUM_FIX	-7411.76,-11316.06,100219,215734	CAP_FILE_SIZE	73891,0
TT8_MAMPS	0.047187,0.370755	CFSIZE	1024409600,915800064
HUMID	49.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1446.7
TCM_TEMP	12.00	CURRENT	0.025,178.51,1
XPDR_PINGS	2	GPS	110219,021835,-7407.620,-11320.691,4,1.2,6,53.9,0.7,8.4,5,9.2
ALTIM_TOP_PING	11.9,12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	403	137.68	nil	0	0	0.00
Roll_motor	102	134	142.69	nil	0	0	0.00
VBD_pump_during_apogee	314	2646	8633.53	nil	0	0	0.00
VBD_pump_during_surface	191	204	405.11	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	7673	6	520.56
Iridium_during_xfer	246	223	570.98	nil	0	0	0.00
Transponder_ping	17	420	75.20	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	10	3.04
TT8	0	0	0.00
LPSleep	6218	2	148.26
TT8_Active	693	13	98.85
TT8_Sampling	1081	34	388.16
TT8_CF8	394	52	214.82
TT8_Kalman	0	0	0.00
Analog_circuits	1282	10	144.28
GPS_charging	0	0	0.00
Compass	533	7	41.26
RAFOS	480	1	7.43
Transponder	116	30	36.08

		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
11.7	14.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.9	24.10	9000.00	0.0	0.00	0.00	24.10	0.0	0.99	1.00
32.2	35.00	34.90	0.0	1.02	1.00	35.00	0.0	1.06	1.00
358.4	53.40	9000.00	0.0	0.07	0.88	53.40	0.0	0.06	1.00
374.5	39.60	9000.00	0.0	0.03	0.44	39.60	414.1	-0.86	1.00
390.8	19.70	20.70	411.5	-1.04	0.99	19.70	410.5	-1.22	1.00

399.8	14.70	13.10	0.0	-1.02	0.97	14.70	0.0	-0.56	1.00
389.2	23.90	9000.00	0.0	-0.77	0.90	23.90	0.0	-0.87	1.00
379.1	35.90	35.40	0.0	-1.03	0.99	35.90	0.0	-1.19	1.00
104.6	108.90	9000.00	0.0	-0.28	0.99	108.90	0.0	-0.27	1.00
58.8	61.70	9000.00	0.0	-0.15	0.46	61.70	-2.9	1.03	1.00
47.3	48.40	48.90	-1.6	1.05	1.00	48.40	-1.1	1.16	1.00
35.2	36.90	36.50	-1.3	1.05	1.00	36.90	-1.7	0.95	1.00
23.7	25.30	25.50	-1.8	0.98	1.00	25.30	-1.6	1.01	1.00
11.9	12.40	12.50	-0.6	1.06	1.00	12.40	-0.5	1.09	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-1.06	-107.1	222	2303	1177	1083	0.0	0.0	0	110	0.00	0.00	-97.12	0.002	16390	0.000	0.000	222	2304	3012	3019	3005	0	0	0	0	0	0	11.48	10.76	11.49
114	-1.06	-107.1	222	2304	3019	3010	2.0	-1.9	3	137	17.30	3.50	0.00	0.000	2308	0.403	0.093	2515	3720	3013	3021	3006	0	0	0	0	0	0	11.14	11.25	11.33
200	-1.06	-107.1	2515	3720	3024	3003	24.5	-18.0	16	206	0.00	3.25	0.00	0.000	1030	0.000	0.038	2515	2298	3013	3024	3002	0	0	0	0	0	0	11.40	11.35	11.40
561	-1.06	-107.1	2516	2296	3028	3001	80.3	-15.5	31	566	0.00	3.33	0.00	0.000	516	0.000	0.063	2515	894	3013	3026	3000	0	0	0	0	0	0	11.49	11.31	11.51
695	-1.06	-107.1	2515	894	3026	3000	101.7	-16.1	50	701	0.00	3.33	0.00	0.000	1030	0.000	0.059	2504	2300	3012	3026	2999	0	0	0	0	0	0	11.40	11.31	11.41
1034	-1.06	-107.1	2504	2304	3027	2999	154.5	-15.5	63	1040	0.00	3.53	0.00	0.000	260	0.000	0.099	2493	3726	3012	3026	2999	0	0	0	0	0	0	11.50	11.30	11.52
1076	-1.06	-107.1	2494	3726	3027	2999	161.7	-17.3	69	1083	0.20	3.25	0.00	0.000	3078	0.258	0.039	2523	2295	3013	3027	2999	0	0	0	0	0	0	11.22	11.36	11.38
1458	-1.06	-107.1	2523	2294	3028	2998	216.5	-14.5	82	1458	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2294	3012	3028	2997	0	0	0	0	0	0	11.50	11.52	11.52
1790	-1.06	-107.1	2523	2300	3028	2998	265.3	-14.6	88	1791	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2294	3012	3028	2997	0	0	0	0	0	0	11.51	11.52	11.52
2126	-1.06	-107.1	2525	2294	3030	2998	312.2	-14.1	94	2132	0.00	3.33	0.00	0.000	516	0.000	0.063	2523	889	3012	3029	2996	0	0	0	0	0	0	11.51	11.32	11.52
2189	-1.06	-107.1	2523	890	3028	2997	321.1	-14.0	103	2195	0.00	3.35	0.00	0.000	1030	0.000	0.057	2515	2317	3012	3028	2996	0	0	0	0	0	0	11.40	11.32	11.42
2579	-1.06	-107.1	2514	2317	3028	2996	374.5	-13.7	116	2584	0.00	3.40	0.00	0.000	516	0.000	0.060	2515	891	3012	3029	2996	0	0	0	0	0	0	11.50	11.32	11.52
2611	-1.06	-107.1	2514	891	3028	2996	380.1	-14.8	121	2618	0.00	3.35	0.00	0.000	1030	0.000	0.057	2504	2309	3012	3028	2996	0	0	0	0	0	0	11.39	11.31	11.40
2798	end dive: BOTTOM_OBSTACLE_DETECTED
state	2798	begin apogee
2807	-0.23	0.0	2506	2077	3031	2996	406.7	-14.1	127	2970	1.50	0.10	156.02	2.646	10246	0.232	0.135	2793	2121	2574	2604	2544	0	0	0	0	0	0	11.25	11.17	10.38
2971	end apogee: CONTROL_FINISHED_OK
state	2971	begin climb
2975	1.06	107.1	2794	2121	2606	2544	410.0	0.0	130	3147	1.75	3.50	158.30	2.556	10500	0.132	0.093	3198	3499	2137	2174	2101	0	0	0	0	0	0	11.21	11.19	10.41
3209	1.07	107.1	3201	3500	2170	2095	397.9	9.1	164	3215	0.00	3.20	0.00	0.000	1094	0.000	0.039	3208	2116	2132	2170	2094	0	0	0	0	0	0	11.34	11.29	11.36
3592	1.10	107.1	3210	2117	2167	2088	364.9	8.6	176	3597	0.00	3.50	0.00	0.000	324	0.000	0.093	3208	3507	2126	2165	2087	0	0	0	0	0	0	11.47	11.27	11.48
3624	1.10	107.1	3208	3507	2164	2088	361.3	9.5	181	3631	0.00	3.25	0.00	0.000	1030	0.000	0.040	3216	2092	2125	2164	2087	0	0	0	0	0	0	11.38	11.32	11.39
3982	1.12	107.1	3216	2093	2161	2086	328.7	9.2	190	3987	0.00	3.42	0.00	0.000	580	0.000	0.079	3226	691	2123	2161	2085	0	0	0	0	0	0	11.48	11.29	11.51
4038	1.14	107.1	3226	692	2158	2085	323.8	9.0	198	4044	0.00	3.25	0.00	0.000	1094	0.000	0.051	3226	2096	2122	2159	2085	0	0	0	0	0	0	11.33	11.29	11.36
4434	1.16	107.1	3226	2096	2158	2085	288.7	9.2	212	4439	0.00	3.53	0.00	0.000	324	0.000	0.094	3226	3509	2121	2158	2085	0	0	0	0	0	0	11.49	11.29	11.50
4495	1.16	107.1	3226	3510	2157	2085	282.1	10.4	221	4501	0.00	3.22	0.00	0.000	1030	0.000	0.039	3236	2098	2121	2158	2085	0	0	0	0	0	0	11.40	11.33	11.42
4880	1.18	107.1	3236	2099	2157	2085	248.6	8.6	234	4886	0.00	3.53	0.00	0.000	324	0.000	0.094	3236	3508	2119	2154	2084	0	0	0	0	0	0	11.51	11.29	11.52
4978	1.18	107.1	3237	3509	2159	2085	239.3	9.7	248	4983	0.00	3.22	0.00	0.000	1030	0.000	0.039	3247	2095	2120	2157	2084	0	0	0	0	0	0	11.39	11.33	11.41
5328	1.21	107.1	3248	2096	2158	2085	208.5	8.7	256	5334	0.00	3.53	0.00	0.000	324	0.000	0.094	3246	3516	2120	2156	2084	0	0	0	0	0	0	11.50	11.30	11.52
5356	1.21	107.1	3247	3517	2156	2085	205.8	9.8	260	5361	0.00	3.25	0.00	0.000	1030	0.000	0.042	3257	2100	2120	2157	2084	0	0	0	0	0	0	11.40	11.34	11.42
5724	1.21	107.1	3257	2100	2155	2084	170.1	9.8	275	5729	0.00	3.42	0.00	0.000	516	0.000	0.081	3268	686	2119	2155	2084	0	0	0	0	0	0	11.50	11.31	11.52
5757	1.21	107.1	3269	687	2156	2085	166.6	9.6	280	5763	0.00	3.30	0.00	0.000	1030	0.000	0.052	3268	2114	2119	2155	2084	0	0	0	0	0	0	11.40	11.33	11.43
6114	1.21	107.1	3269	2115	2156	2085	132.3	9.9	295	6120	0.00	3.47	0.00	0.000	260	0.000	0.096	3268	3516	2119	2154	2084	0	0	0	0	0	0	11.55	11.31	11.53
6177	1.21	107.1	3267	3516	2154	2084	125.4	10.9	304	6183	0.00	3.25	0.00	0.000	1030	0.000	0.041	3279	2087	2119	2154	2084	0	0	0	0	0	0	11.41	11.36	11.43
6538	1.21	107.1	3278	2088	2153	2084	90.9	9.8	319	6543	0.00	3.53	0.00	0.000	260	0.000	0.093	3279	3508	2119	2154	2084	0	0	0	0	0	0	11.51	11.29	11.52
6577	1.21	107.1	3280	3510	2155	2085	86.3	11.2	325	6584	0.20	3.22	0.00	0.000	5126	0.269	0.040	3259	2094	2118	2153	2084	0	0	0	0	0	0	11.22	11.36	11.38
6931	1.24	107.1	3261	2094	2155	2084	56.4	8.5	339	6932	0.00	0.00	0.00	0.000	70	0.000	0.000	3259	2093	2117	2152	2083	0	0	0	0	0	0	11.51	11.52	11.52
7264	1.27	107.1	3259	2093	2152	2084	28.0	8.5	351	7269	0.00	3.53	0.00	0.000	324	0.000	0.093	3259	3514	2117	2152	2083	0	0	0	0	0	0	11.51	11.31	11.53
7285	1.30	107.1	3260	3515	2154	2084	26.3	8.4	354	7291	0.00	3.25	0.00	0.000	1094	0.000	0.039	3268	2089	2117	2152	2083	0	0	0	0	0	0	11.42	11.36	11.43
7628	end climb: SURFACE_DEPTH_REACHED
state	7628	begin surface coast
7652	end surface coast: CONTROL_FINISHED_OK
state	7652	begin surface