Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 919 * 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 919 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 919 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 22 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 110219,021835,-7407.6201,-11320.6914,4,1.2,6,53.9,0.7,8.4,5,9.2 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 0.83 MHEAD_RNG_PITCHd_Wd 17.1,29154,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -65.3 D_GRID 990

GPS2 110219,022632,-7407.6040,-11320.8213,2,1.2,3,53.9,0.8,326.5,5,8.5

Post-dive calculations and measurements:

FREEZE 0.17,-0.489,-1.834,2,1,0 ALTIM_TOP_PING 16.4,16.8

FINISH 0.2,1.026887 _24V_AH 10.38,302.886

SM_CCo 8046,160.55,0.203,0,0,1146,350.04 _10V_AH 10.31,0.000

SM_GC 0.66,12.00,0.45,160.55,0.072,0.080,0.203,218,2300,1146,-8.23,-0.48,350.04,0,0,0,0,0,0,11.33,11.35,11.22 FG_AHR_24Vo 0.000

RAFOS_CLK 315 FG_AHR_10Vo 0.000

RAFOS 0,1549854095,3.032778,3.026389,91,64,55,53,51,48,460,197,122,213,157,85 MEM 279856

RAFOS_FIX -7405.907715,-11310.956055,110219,030308,2,77,2.07 DATA_FILE_SIZE 13402,409

IRIDIUM_FIX -7407.14,-11317.07,110219,000133 CAP_FILE_SIZE 75564,0

TT8_MAMPS 0.047187,0.20972 CFSIZE 1024409600,915701760

HUMID 50.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.0921 SOUNDSPEED 1447.2

TCM_TEMP 12.10 CURRENT 0.028,56.49,1

XPDR_PINGS 2 GPS 110219,044500,-7407.195,-11317.501,22,0.9,22,53.9,1.9,259.0,8,4.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 413 142.36 nil 0 0 0.00

Roll_motor 100 100 104.91 nil 0 0 0.00

VBD_pump_during_apogee 348 2644 9576.97 nil 0 0 0.00

VBD_pump_during_surface 160 203 339.12 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 8042 6 527.57

Iridium_during_xfer 250 222 579.59 nil 0 0 0.00

Transponder_ping 18 420 79.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.57

TT8 0 0 0.00

LPSleep 6493 2 154.64

TT8_Active 696 13 99.18

TT8_Sampling 1133 34 406.62

TT8_CF8 373 52 203.29

TT8_Kalman 0 0 0.00

Analog_circuits 1314 10 147.75

GPS_charging 0 0 0.00

Compass 591 7 45.70

RAFOS 720 1 11.13

Transponder 123 30 38.23

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

11.1 13.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

33.9 35.80 9000.00 0.0 0.00 0.00 35.80 0.0 0.96 1.00

46.1 48.40 48.10 0.0 0.98 1.00 48.40 0.0 1.03 1.00

58.8 63.10 62.80 0.0 1.10 1.00 63.10 0.0 1.16 1.00

369.2 39.40 9000.00 0.0 -0.05 0.59 39.40 408.6 -0.08 1.00

385.2 26.30 9000.00 0.0 -0.10 0.90 26.30 411.5 -0.82 1.00

395.8 18.60 9000.00 0.0 -0.79 1.00 18.60 414.4 -0.73 1.00

405.9 10.80 9000.00 0.0 -0.75 1.00 10.80 416.7 -0.77 1.00

407.0 12.90 9000.00 0.0 -0.61 0.88 0.00 0.0 0.00 0.00

395.5 29.00 9000.00 0.0 -1.55 0.96 29.00 0.0 -1.40 1.00

73.5 77.20 9000.00 0.0 -0.17 0.96 77.20 0.0 -0.15 1.00

50.7 52.00 9000.00 0.0 -0.10 0.67 52.00 -1.3 1.11 1.00

40.5 42.00 41.60 -1.1 1.07 1.00 42.00 -1.5 0.98 1.00

28.9 29.30 29.50 -0.6 1.04 1.00 29.30 -0.4 1.09 1.00

16.4 17.00 16.80 -0.4 1.04 1.00 17.00 -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 -107.1 218 2310 1172 1089 0.0 0.0 0 111 0.00 0.00 -99.12 0.002 16390 0.000 0.000 218 2310 3012 3017 3008 0 0 0 0 0 0 11.48 10.77 11.50

115 -1.06 -107.1 219 2311 3020 3009 1.9 -1.7 3 139 17.88 3.45 0.00 0.000 2308 0.413 0.095 2514 3703 3014 3020 3008 0 0 0 0 0 0 11.14 11.26 11.33

208 -1.06 -107.1 2515 3704 3025 3005 26.3 -18.2 17 215 0.00 3.20 0.00 0.000 1030 0.000 0.037 2514 2290 3013 3023 3003 0 0 0 0 0 0 11.40 11.35 11.41

562 -1.06 -107.1 2513 2290 3026 3001 80.0 -15.3 31 567 0.00 3.30 0.00 0.000 516 0.000 0.063 2514 893 3013 3026 3000 0 0 0 0 0 0 11.50 11.29 11.52

651 -1.06 -107.1 2514 894 3026 3001 94.7 -16.1 44 656 0.00 3.33 0.00 0.000 1030 0.000 0.057 2503 2300 3013 3026 3001 0 0 0 0 0 0 11.40 11.33 11.42

1011 -1.06 -107.1 2505 2301 3030 3001 150.3 -15.7 59 1012 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2300 3013 3027 2999 0 0 0 0 0 0 11.50 11.52 11.52

1344 -1.06 -107.1 2505 2300 3030 3000 202.9 -14.9 71 1350 0.00 3.38 0.00 0.000 516 0.000 0.060 2504 892 3013 3028 2999 0 0 0 0 0 0 11.52 11.31 11.53

1463 -1.06 -107.1 2505 893 3030 2999 220.9 -14.9 88 1469 0.20 3.35 0.00 0.000 3078 0.260 0.056 2523 2301 3013 3028 2999 0 0 0 0 0 0 11.23 11.32 11.38

1848 -1.06 -107.1 2522 2302 3029 2999 273.3 -13.5 101 1855 0.00 3.55 0.00 0.000 260 0.000 0.100 2514 3721 3013 3029 2998 0 0 0 0 0 0 11.52 11.31 11.53

1940 -1.06 -107.1 2515 3723 3031 2999 286.6 -12.9 114 1945 0.00 3.25 0.00 0.000 1030 0.000 0.037 2514 2287 3013 3029 2998 0 0 0 0 0 0 11.42 11.38 11.43

2297 -1.06 -107.1 2514 2286 3029 2998 328.7 -11.6 123 2302 0.00 3.58 0.00 0.000 260 0.000 0.096 2503 3721 3013 3029 2997 0 0 0 0 0 0 11.50 11.31 11.52

2367 -1.06 -107.1 2505 3723 3035 2998 339.0 -15.4 133 2373 0.00 3.25 0.00 0.000 1030 0.000 0.037 2503 2295 3013 3030 2997 0 0 0 0 0 0 11.43 11.38 11.43

2747 -1.06 -107.1 2503 2294 3030 2997 393.4 -14.3 145 2753 0.00 3.60 0.00 0.000 260 0.000 0.099 2492 3718 3013 3030 2996 0 0 0 0 0 0 11.51 11.31 11.52

2802 -1.06 -107.1 2492 3718 3031 2997 402.7 -16.3 153 2809 0.20 3.25 0.00 0.000 3078 0.258 0.038 2522 2298 3013 3030 2996 0 0 0 0 0 0 11.22 11.34 11.37

3198 -1.06 -107.1 2522 2296 3032 2995 417.6 -0.0 167 3203 0.00 3.33 0.00 0.000 548 0.000 0.060 2522 896 3012 3032 2993 0 0 0 0 0 0 11.50 11.33 11.52

3255 end dive: NO_VERTICAL_VELOCITY

state 3255 begin apogee

3266 -0.23 0.0 2522 2113 3034 2995 417.6 0.0 176 3427 1.20 0.00 156.73 2.645 10246 0.130 0.000 2797 2112 2574 2605 2543 0 0 0 0 0 0 11.31 11.20 10.38

3428 end apogee: CONTROL_FINISHED_OK

state 3428 begin climb

3432 1.06 107.1 2800 2113 2608 2544 417.5 0.0 179 3604 1.73 3.53 159.35 2.556 10500 0.121 0.094 3206 3512 2136 2175 2098 0 0 0 0 0 0 11.21 11.18 10.39

3674 1.07 107.1 3207 3513 2173 2093 403.0 9.5 214 3680 0.00 3.25 0.00 0.000 1094 0.000 0.039 3213 2100 2132 2173 2092 0 0 0 0 0 0 11.35 11.29 11.37

4045 1.10 107.1 3213 2100 2165 2086 371.8 8.5 225 4046 0.00 0.00 0.00 0.000 70 0.000 0.000 3213 2100 2125 2165 2086 0 0 0 0 0 0 11.48 11.50 11.50

4381 1.12 107.1 3215 2100 2164 2085 341.8 9.1 231 4387 0.00 3.53 0.00 0.000 324 0.000 0.093 3214 3513 2123 2163 2084 0 0 0 0 0 0 11.49 11.28 11.50

4479 1.12 107.1 3213 3514 2162 2085 331.5 10.2 245 4485 0.00 3.25 0.00 0.000 1030 0.000 0.039 3224 2095 2123 2162 2084 0 0 0 0 0 0 11.39 11.33 11.41

4830 1.14 107.1 3225 2094 2162 2085 300.7 8.9 253 4836 0.00 3.55 0.00 0.000 324 0.000 0.091 3224 3515 2122 2160 2084 0 0 0 0 0 0 11.48 11.29 11.50

4913 1.14 107.1 3225 3516 2162 2085 292.1 10.4 265 4919 0.00 3.25 0.00 0.000 1030 0.000 0.039 3234 2096 2122 2160 2084 0 0 0 0 0 0 11.39 11.34 11.43

5277 1.16 107.1 3234 2096 2158 2084 259.2 8.8 275 5283 0.00 3.42 0.00 0.000 580 0.000 0.080 3244 693 2120 2158 2083 0 0 0 0 0 0 11.51 11.29 11.52

5298 1.18 107.1 3244 694 2158 2083 257.2 9.2 278 5303 0.00 3.28 0.00 0.000 1094 0.000 0.054 3243 2108 2120 2158 2083 0 0 0 0 0 0 11.40 11.33 11.42

5670 1.20 107.1 3244 2108 2157 2084 223.2 9.0 289 5676 0.00 3.47 0.00 0.000 324 0.000 0.095 3244 3510 2123 2163 2083 0 0 0 0 0 0 11.50 11.30 11.51

5760 1.20 107.1 3244 3511 2157 2084 214.1 10.0 302 5766 0.00 3.22 0.00 0.000 1030 0.000 0.039 3255 2097 2120 2157 2083 0 0 0 0 0 0 11.40 11.34 11.43

6121 1.21 107.1 3254 2097 2156 2084 181.5 9.2 314 6126 0.00 3.40 0.00 0.000 580 0.000 0.080 3265 694 2120 2157 2083 0 0 0 0 0 0 11.50 11.31 11.52

6154 1.24 107.1 3266 694 2157 2084 178.2 8.8 319 6160 0.00 3.25 0.00 0.000 1094 0.000 0.053 3265 2101 2119 2155 2083 0 0 0 0 0 0 11.39 11.31 11.40

6511 1.24 107.1 3266 2102 2157 2084 144.1 9.6 334 6517 0.00 3.45 0.00 0.000 260 0.000 0.092 3265 3512 2119 2156 2083 0 0 0 0 0 0 11.52 11.31 11.53

6553 1.24 107.1 3266 3513 2158 2084 139.7 10.7 340 6560 0.00 3.22 0.00 0.000 1030 0.000 0.040 3276 2089 2119 2155 2083 0 0 0 0 0 0 11.38 11.35 11.40

6908 1.25 107.1 3272 2093 2155 2083 105.6 9.4 354 6908 0.00 0.00 0.00 0.000 70 0.000 0.000 3276 2092 2123 2163 2083 0 0 0 0 0 0 11.50 11.52 11.52

7240 1.26 107.1 3276 2093 2157 2084 73.5 9.2 366 7241 0.00 0.00 0.00 0.000 70 0.000 0.000 3276 2092 2118 2154 2083 0 0 0 0 0 0 11.50 11.52 11.52

7576 1.26 107.1 3276 2093 2154 2083 42.6 9.8 378 7581 0.00 3.38 0.00 0.000 516 0.000 0.078 3286 690 2118 2154 2083 0 0 0 0 0 0 11.52 11.31 11.53

7673 1.32 150.7 3287 691 2154 2084 35.0 7.3 392 7716 0.00 3.28 32.80 0.303 9254 0.000 0.050 3287 2113 1957 1994 1920 0 0 0 0 0 0 11.41 11.33 11.18

7991 end climb: SURFACE_DEPTH_REACHED

state 7991 begin surface coast

8020 end surface coast: CONTROL_FINISHED_OK

state 8020 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	919	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	110219,021835,-7407.6201,-11320.6914,4,1.2,6,53.9,0.7,8.4,5,9.2	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	0.83	MHEAD_RNG_PITCHd_Wd	17.1,29154,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-65.3	D_GRID	990
GPS2	110219,022632,-7407.6040,-11320.8213,2,1.2,3,53.9,0.8,326.5,5,8.5

FREEZE	0.17,-0.489,-1.834,2,1,0	ALTIM_TOP_PING	16.4,16.8
FINISH	0.2,1.026887	_24V_AH	10.38,302.886
SM_CCo	8046,160.55,0.203,0,0,1146,350.04	_10V_AH	10.31,0.000
SM_GC	0.66,12.00,0.45,160.55,0.072,0.080,0.203,218,2300,1146,-8.23,-0.48,350.04,0,0,0,0,0,0,11.33,11.35,11.22	FG_AHR_24Vo	0.000
RAFOS_CLK	315	FG_AHR_10Vo	0.000
RAFOS	0,1549854095,3.032778,3.026389,91,64,55,53,51,48,460,197,122,213,157,85	MEM	279856
RAFOS_FIX	-7405.907715,-11310.956055,110219,030308,2,77,2.07	DATA_FILE_SIZE	13402,409
IRIDIUM_FIX	-7407.14,-11317.07,110219,000133	CAP_FILE_SIZE	75564,0
TT8_MAMPS	0.047187,0.20972	CFSIZE	1024409600,915701760
HUMID	50.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.0921	SOUNDSPEED	1447.2
TCM_TEMP	12.10	CURRENT	0.028,56.49,1
XPDR_PINGS	2	GPS	110219,044500,-7407.195,-11317.501,22,0.9,22,53.9,1.9,259.0,8,4.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	413	142.36	nil	0	0	0.00
Roll_motor	100	100	104.91	nil	0	0	0.00
VBD_pump_during_apogee	348	2644	9576.97	nil	0	0	0.00
VBD_pump_during_surface	160	203	339.12	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	8042	6	527.57
Iridium_during_xfer	250	222	579.59	nil	0	0	0.00
Transponder_ping	18	420	79.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.57
TT8	0	0	0.00
LPSleep	6493	2	154.64
TT8_Active	696	13	99.18
TT8_Sampling	1133	34	406.62
TT8_CF8	373	52	203.29
TT8_Kalman	0	0	0.00
Analog_circuits	1314	10	147.75
GPS_charging	0	0	0.00
Compass	591	7	45.70
RAFOS	720	1	11.13
Transponder	123	30	38.23

		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
11.1	13.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
33.9	35.80	9000.00	0.0	0.00	0.00	35.80	0.0	0.96	1.00
46.1	48.40	48.10	0.0	0.98	1.00	48.40	0.0	1.03	1.00
58.8	63.10	62.80	0.0	1.10	1.00	63.10	0.0	1.16	1.00
369.2	39.40	9000.00	0.0	-0.05	0.59	39.40	408.6	-0.08	1.00
385.2	26.30	9000.00	0.0	-0.10	0.90	26.30	411.5	-0.82	1.00
395.8	18.60	9000.00	0.0	-0.79	1.00	18.60	414.4	-0.73	1.00
405.9	10.80	9000.00	0.0	-0.75	1.00	10.80	416.7	-0.77	1.00

407.0	12.90	9000.00	0.0	-0.61	0.88	0.00	0.0	0.00	0.00
395.5	29.00	9000.00	0.0	-1.55	0.96	29.00	0.0	-1.40	1.00
73.5	77.20	9000.00	0.0	-0.17	0.96	77.20	0.0	-0.15	1.00
50.7	52.00	9000.00	0.0	-0.10	0.67	52.00	-1.3	1.11	1.00
40.5	42.00	41.60	-1.1	1.07	1.00	42.00	-1.5	0.98	1.00
28.9	29.30	29.50	-0.6	1.04	1.00	29.30	-0.4	1.09	1.00
16.4	17.00	16.80	-0.4	1.04	1.00	17.00	-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	218	2310	1172	1089	0.0	0.0	0	111	0.00	0.00	-99.12	0.002	16390	0.000	0.000	218	2310	3012	3017	3008	0	0	0	0	0	0	11.48	10.77	11.50
115	-1.06	-107.1	219	2311	3020	3009	1.9	-1.7	3	139	17.88	3.45	0.00	0.000	2308	0.413	0.095	2514	3703	3014	3020	3008	0	0	0	0	0	0	11.14	11.26	11.33
208	-1.06	-107.1	2515	3704	3025	3005	26.3	-18.2	17	215	0.00	3.20	0.00	0.000	1030	0.000	0.037	2514	2290	3013	3023	3003	0	0	0	0	0	0	11.40	11.35	11.41
562	-1.06	-107.1	2513	2290	3026	3001	80.0	-15.3	31	567	0.00	3.30	0.00	0.000	516	0.000	0.063	2514	893	3013	3026	3000	0	0	0	0	0	0	11.50	11.29	11.52
651	-1.06	-107.1	2514	894	3026	3001	94.7	-16.1	44	656	0.00	3.33	0.00	0.000	1030	0.000	0.057	2503	2300	3013	3026	3001	0	0	0	0	0	0	11.40	11.33	11.42
1011	-1.06	-107.1	2505	2301	3030	3001	150.3	-15.7	59	1012	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2300	3013	3027	2999	0	0	0	0	0	0	11.50	11.52	11.52
1344	-1.06	-107.1	2505	2300	3030	3000	202.9	-14.9	71	1350	0.00	3.38	0.00	0.000	516	0.000	0.060	2504	892	3013	3028	2999	0	0	0	0	0	0	11.52	11.31	11.53
1463	-1.06	-107.1	2505	893	3030	2999	220.9	-14.9	88	1469	0.20	3.35	0.00	0.000	3078	0.260	0.056	2523	2301	3013	3028	2999	0	0	0	0	0	0	11.23	11.32	11.38
1848	-1.06	-107.1	2522	2302	3029	2999	273.3	-13.5	101	1855	0.00	3.55	0.00	0.000	260	0.000	0.100	2514	3721	3013	3029	2998	0	0	0	0	0	0	11.52	11.31	11.53
1940	-1.06	-107.1	2515	3723	3031	2999	286.6	-12.9	114	1945	0.00	3.25	0.00	0.000	1030	0.000	0.037	2514	2287	3013	3029	2998	0	0	0	0	0	0	11.42	11.38	11.43
2297	-1.06	-107.1	2514	2286	3029	2998	328.7	-11.6	123	2302	0.00	3.58	0.00	0.000	260	0.000	0.096	2503	3721	3013	3029	2997	0	0	0	0	0	0	11.50	11.31	11.52
2367	-1.06	-107.1	2505	3723	3035	2998	339.0	-15.4	133	2373	0.00	3.25	0.00	0.000	1030	0.000	0.037	2503	2295	3013	3030	2997	0	0	0	0	0	0	11.43	11.38	11.43
2747	-1.06	-107.1	2503	2294	3030	2997	393.4	-14.3	145	2753	0.00	3.60	0.00	0.000	260	0.000	0.099	2492	3718	3013	3030	2996	0	0	0	0	0	0	11.51	11.31	11.52
2802	-1.06	-107.1	2492	3718	3031	2997	402.7	-16.3	153	2809	0.20	3.25	0.00	0.000	3078	0.258	0.038	2522	2298	3013	3030	2996	0	0	0	0	0	0	11.22	11.34	11.37
3198	-1.06	-107.1	2522	2296	3032	2995	417.6	-0.0	167	3203	0.00	3.33	0.00	0.000	548	0.000	0.060	2522	896	3012	3032	2993	0	0	0	0	0	0	11.50	11.33	11.52
3255	end dive: NO_VERTICAL_VELOCITY
state	3255	begin apogee
3266	-0.23	0.0	2522	2113	3034	2995	417.6	0.0	176	3427	1.20	0.00	156.73	2.645	10246	0.130	0.000	2797	2112	2574	2605	2543	0	0	0	0	0	0	11.31	11.20	10.38
3428	end apogee: CONTROL_FINISHED_OK
state	3428	begin climb
3432	1.06	107.1	2800	2113	2608	2544	417.5	0.0	179	3604	1.73	3.53	159.35	2.556	10500	0.121	0.094	3206	3512	2136	2175	2098	0	0	0	0	0	0	11.21	11.18	10.39
3674	1.07	107.1	3207	3513	2173	2093	403.0	9.5	214	3680	0.00	3.25	0.00	0.000	1094	0.000	0.039	3213	2100	2132	2173	2092	0	0	0	0	0	0	11.35	11.29	11.37
4045	1.10	107.1	3213	2100	2165	2086	371.8	8.5	225	4046	0.00	0.00	0.00	0.000	70	0.000	0.000	3213	2100	2125	2165	2086	0	0	0	0	0	0	11.48	11.50	11.50
4381	1.12	107.1	3215	2100	2164	2085	341.8	9.1	231	4387	0.00	3.53	0.00	0.000	324	0.000	0.093	3214	3513	2123	2163	2084	0	0	0	0	0	0	11.49	11.28	11.50
4479	1.12	107.1	3213	3514	2162	2085	331.5	10.2	245	4485	0.00	3.25	0.00	0.000	1030	0.000	0.039	3224	2095	2123	2162	2084	0	0	0	0	0	0	11.39	11.33	11.41
4830	1.14	107.1	3225	2094	2162	2085	300.7	8.9	253	4836	0.00	3.55	0.00	0.000	324	0.000	0.091	3224	3515	2122	2160	2084	0	0	0	0	0	0	11.48	11.29	11.50
4913	1.14	107.1	3225	3516	2162	2085	292.1	10.4	265	4919	0.00	3.25	0.00	0.000	1030	0.000	0.039	3234	2096	2122	2160	2084	0	0	0	0	0	0	11.39	11.34	11.43
5277	1.16	107.1	3234	2096	2158	2084	259.2	8.8	275	5283	0.00	3.42	0.00	0.000	580	0.000	0.080	3244	693	2120	2158	2083	0	0	0	0	0	0	11.51	11.29	11.52
5298	1.18	107.1	3244	694	2158	2083	257.2	9.2	278	5303	0.00	3.28	0.00	0.000	1094	0.000	0.054	3243	2108	2120	2158	2083	0	0	0	0	0	0	11.40	11.33	11.42
5670	1.20	107.1	3244	2108	2157	2084	223.2	9.0	289	5676	0.00	3.47	0.00	0.000	324	0.000	0.095	3244	3510	2123	2163	2083	0	0	0	0	0	0	11.50	11.30	11.51
5760	1.20	107.1	3244	3511	2157	2084	214.1	10.0	302	5766	0.00	3.22	0.00	0.000	1030	0.000	0.039	3255	2097	2120	2157	2083	0	0	0	0	0	0	11.40	11.34	11.43
6121	1.21	107.1	3254	2097	2156	2084	181.5	9.2	314	6126	0.00	3.40	0.00	0.000	580	0.000	0.080	3265	694	2120	2157	2083	0	0	0	0	0	0	11.50	11.31	11.52
6154	1.24	107.1	3266	694	2157	2084	178.2	8.8	319	6160	0.00	3.25	0.00	0.000	1094	0.000	0.053	3265	2101	2119	2155	2083	0	0	0	0	0	0	11.39	11.31	11.40
6511	1.24	107.1	3266	2102	2157	2084	144.1	9.6	334	6517	0.00	3.45	0.00	0.000	260	0.000	0.092	3265	3512	2119	2156	2083	0	0	0	0	0	0	11.52	11.31	11.53
6553	1.24	107.1	3266	3513	2158	2084	139.7	10.7	340	6560	0.00	3.22	0.00	0.000	1030	0.000	0.040	3276	2089	2119	2155	2083	0	0	0	0	0	0	11.38	11.35	11.40
6908	1.25	107.1	3272	2093	2155	2083	105.6	9.4	354	6908	0.00	0.00	0.00	0.000	70	0.000	0.000	3276	2092	2123	2163	2083	0	0	0	0	0	0	11.50	11.52	11.52
7240	1.26	107.1	3276	2093	2157	2084	73.5	9.2	366	7241	0.00	0.00	0.00	0.000	70	0.000	0.000	3276	2092	2118	2154	2083	0	0	0	0	0	0	11.50	11.52	11.52
7576	1.26	107.1	3276	2093	2154	2083	42.6	9.8	378	7581	0.00	3.38	0.00	0.000	516	0.000	0.078	3286	690	2118	2154	2083	0	0	0	0	0	0	11.52	11.31	11.53
7673	1.32	150.7	3287	691	2154	2084	35.0	7.3	392	7716	0.00	3.28	32.80	0.303	9254	0.000	0.050	3287	2113	1957	1994	1920	0	0	0	0	0	0	11.41	11.33	11.18
7991	end climb: SURFACE_DEPTH_REACHED
state	7991	begin surface coast
8020	end surface coast: CONTROL_FINISHED_OK
state	8020	begin surface