Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 953 * 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 953 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 56 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 10 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 10 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 10 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 100 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 190 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 3600 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 -15 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 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 0.1 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 6.5 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 6.6999998 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 2 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 300 N_NOCOMM 3 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 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 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 10

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 20

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 10

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 100

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 0.1 P_OVSHOOT 0.039999999 T_LOITER 3600

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 190

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 -15

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 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 1 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 953 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 56 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 6.6999998 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 6.5 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 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 300119,094501,-7408.0811,-11241.8877,3,1.1,28,53.5,0.3,260.2,9,5.8 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME hold4

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.58 MHEAD_RNG_PITCHd_Wd 351.6,11435,-20.3,-10.000,-22.30,1639

_SM_ANGLEo -62.2 D_GRID 300

GPS2 300119,094858,-7408.0742,-11241.9004,3,0.9,4,53.5,0.0,0.0,11,10.0

Post-dive calculations and measurements:

FREEZE 0.03,0.268,-1.849,2,1,0 ALTIM_TOP_PING 6.9,7.7

FINISH 0.0,1.027057 _24V_AH 6.72,314.349

SM_CCo 9489,269.17,0.187,0,0,1899,399.91 _10V_AH 6.89,0.000

SM_GC 0.56,11.98,0.68,269.17,0.076,0.072,0.187,198,2802,1899,-8.03,-0.40,399.91,0,0,0,0,0,0,10.83,10.90,10.48 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS 0,1548849664,12.032354,12.017777,130,59,58,53,51,50,568,179,161,231,141,120 MEM 280840

RAFOS_FIX -7407.952637,-11237.718750,300119,121200,3,107,0.24 DATA_FILE_SIZE 33324,980

IRIDIUM_FIX -7409.58,-11255.37,300119,092830 CAP_FILE_SIZE 431718,0

TT8_MAMPS 0.045689,0.274883 CFSIZE 1024409600,905068544

HUMID 48.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.7

TCM_TEMP 13.00 CURRENT 0.059,259.96,1

XPDR_PINGS 230 GPS 300119,123330,-7407.719,-11241.216,32,1.0,32,53.5,0.1,0.0,9,4.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 419 104.99 nil 0 0 0.00

Roll_motor 59 81 32.89 nil 0 0 0.00

VBD_pump_during_apogee 575 2168 8384.52 nil 0 0 0.00

VBD_pump_during_surface 269 186 337.64 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 5848 4 175.78

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 80 420 227.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.40

TT8 0 0 0.00

LPSleep 6631 2 105.55

TT8_Active 972 10 72.83

TT8_Sampling 1952 30 408.26

TT8_CF8 289 51 102.40

TT8_Kalman 0 0 0.00

Analog_circuits 1732 10 120.60

GPS_charging 0 0 0.00

Compass 1398 6 64.96

RAFOS 720 1 7.44

Transponder 174 30 36.00

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

13.5 15.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.0 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 1.05 1.00

26.1 28.00 28.00 0.0 1.03 1.00 28.00 0.0 1.00 1.00

32.6 34.60 34.60 0.0 1.00 1.00 34.60 0.0 1.02 1.00

52.5 55.70 55.70 0.0 1.05 1.00 55.70 0.0 1.06 1.00

72.5 76.80 76.80 0.0 1.06 1.00 76.80 0.0 1.05 1.00

79.0 82.90 83.10 0.0 1.03 1.00 82.90 0.0 0.94 1.00

86.6 89.90 89.90 -3.3 0.93 1.00 89.90 -3.3 0.92 1.00

73.1 76.00 76.30 -3.2 1.03 0.99 76.00 -2.9 1.03 1.00

53.1 55.00 55.10 -2.0 1.04 1.00 55.00 -1.9 1.05 1.00

46.3 48.10 48.00 -1.7 1.04 1.00 48.10 -1.8 1.01 1.00

33.3 34.70 34.70 -1.4 1.03 1.00 34.70 -1.4 1.03 1.00

26.4 27.40 27.40 -1.0 1.04 1.00 27.40 -1.0 1.06 1.00

19.4 19.90 19.90 -0.5 1.06 1.00 19.90 -0.5 1.07 1.00

13.4 13.70 13.60 -0.2 1.05 1.00 13.70 -0.3 1.03 1.00

6.9 7.80 7.70 -0.8 0.96 1.00 7.80 -0.9 0.91 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

12 -1.05 -107.1 191 2819 1921 1800 0.0 0.0 0 142 0.00 0.00 -125.20 0.002 16390 0.000 0.000 190 2820 3923 3941 3906 0 0 0 0 0 0 11.16 9.87 11.14

147 -1.05 -107.1 190 2821 3944 3910 3.0 -4.4 13 177 21.75 2.75 0.00 0.000 2340 0.420 0.076 2421 3900 3935 3945 3925 0 0 0 0 0 0 10.17 10.55 10.49

408 -1.05 -107.1 2421 3901 3946 3935 40.5 -12.1 63 413 0.00 2.47 0.00 0.000 1030 0.000 0.041 2421 2820 3940 3946 3934 0 0 0 0 0 0 11.02 10.98 11.03

720 -1.05 -107.1 2421 2820 3947 3938 75.9 -11.2 95 725 0.00 2.67 0.00 0.000 260 0.000 0.081 2420 3897 3942 3946 3938 0 0 0 0 0 0 11.21 10.86 11.21

848 -1.05 -107.1 2421 3898 3947 3938 91.1 -12.1 120 854 0.00 2.53 0.00 0.000 1030 0.000 0.041 2420 2797 3941 3945 3938 0 0 0 0 0 0 11.02 11.00 11.03

1153 -1.05 -107.1 2420 2798 3946 3940 124.5 -11.1 151 1158 0.00 3.30 0.00 0.000 516 0.000 0.043 2420 1391 3942 3946 3938 0 0 0 0 0 0 11.21 10.91 11.21

1185 -1.05 -107.1 2420 1392 3946 3940 128.1 -10.7 157 1191 0.00 3.40 0.00 0.000 1030 0.000 0.058 2420 2795 3942 3946 3939 0 0 0 0 0 0 10.98 10.90 11.00

1499 -1.05 -107.1 2420 2794 3947 3940 162.6 -10.8 189 1499 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2797 3942 3946 3939 0 0 0 0 0 0 11.17 11.17 11.17

1799 -1.05 -107.1 2421 2795 3947 3939 195.4 -10.8 219 1799 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2792 3943 3948 3939 0 0 0 0 0 0 11.17 11.17 11.17

2099 -1.05 -107.1 2420 2794 3947 3939 227.5 -10.5 249 2105 0.00 3.30 0.00 0.000 516 0.000 0.042 2420 1387 3942 3946 3939 0 0 0 0 0 0 11.17 10.93 11.19

2127 -1.05 -107.1 2421 1387 3947 3939 230.5 -10.4 254 2133 0.00 3.45 0.00 0.000 1030 0.000 0.057 2420 2808 3942 3946 3939 0 0 0 0 0 0 10.99 10.90 11.02

2432 -1.05 -107.1 2419 2809 3946 3939 261.9 -10.2 285 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2808 3942 3945 3939 0 0 0 0 0 0 11.21 11.21 11.21

2732 -1.05 -107.1 2421 2808 3946 3940 293.3 -10.2 315 2732 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2807 3942 3945 3939 0 0 0 0 0 0 11.20 11.20 11.21

2798 end dive: TARGET_DEPTH_EXCEEDED

state 2798 begin apogee

2807 -0.23 0.0 2420 2547 3946 3940 300.4 -10.2 322 3103 1.45 0.00 292.27 2.169 10246 0.210 0.000 2693 2546 3495 3504 3487 0 0 0 0 0 0 10.67 8.34 6.96

3104 end apogee: CONTROL_FINISHED_OK

state 3108 begin loiter

3402 -0.23 0.0 2693 2547 3499 3483 305.2 0.9 352 3402 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3490 3499 3482 0 0 0 0 0 0 11.12 11.12 11.12

3702 -0.23 0.0 2694 2547 3498 3482 302.3 1.0 367 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2546 3489 3498 3481 0 0 0 0 0 0 11.19 11.19 11.19

4002 -0.23 0.0 2693 2547 3498 3482 300.0 0.7 382 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2546 3489 3498 3481 0 0 0 0 0 0 11.22 11.22 11.22

4305 -0.23 0.0 2694 2547 3498 3482 298.2 0.6 411 4311 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3489 3497 3481 0 0 0 0 0 0 11.20 11.21 11.21

4615 -0.23 0.0 2694 2546 3498 3480 296.5 0.5 442 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3488 3497 3480 0 0 0 0 0 0 11.21 11.21 11.21

4926 -0.23 0.0 2694 2547 3497 3481 294.7 0.7 473 4932 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3488 3497 3480 0 0 0 0 0 0 11.22 11.22 11.22

5235 -0.23 0.0 2693 2547 3497 3481 292.7 0.7 504 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3488 3496 3480 0 0 0 0 0 0 11.24 11.24 11.24

5545 -0.23 0.0 2694 2546 3498 3480 290.3 0.8 535 5551 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2546 3488 3496 3480 0 0 0 0 0 0 11.24 11.24 11.24

5852 -0.23 0.0 2694 2548 3496 3481 287.9 0.8 566 5852 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2546 3488 3496 3480 0 0 0 0 0 0 11.26 11.26 11.26

6155 -0.23 0.0 2694 2546 3497 3480 285.8 0.6 596 6161 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3488 3496 3480 0 0 0 0 0 0 11.25 11.25 11.25

6465 -0.23 0.0 2692 2547 3496 3481 284.1 0.4 627 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2546 3488 3497 3480 0 0 0 0 0 0 11.26 11.25 11.26

6707 end loiter: LOITER_COMPLETE

state 6708 begin climb

6712 1.05 107.1 2693 2547 3497 3481 283.1 0.0 652 7009 1.80 4.15 283.02 2.163 10500 0.116 0.080 3109 3912 3067 3082 3053 0 0 0 0 0 0 10.80 8.18 6.72

7121 1.05 107.1 3109 3913 3087 3050 253.3 12.6 725 7128 0.00 3.30 0.00 0.000 1030 0.000 0.043 3119 2543 3063 3078 3048 0 0 0 0 0 0 10.74 10.69 10.75

7425 1.05 107.1 3120 2544 3076 3047 219.2 11.2 756 7430 0.00 3.42 0.00 0.000 516 0.000 0.054 3131 1142 3060 3074 3046 0 0 0 0 0 0 11.06 10.73 11.06

7457 1.05 107.1 3132 1141 3077 3045 215.7 10.7 762 7462 0.00 3.47 0.00 0.000 1030 0.000 0.057 3131 2559 3060 3075 3045 0 0 0 0 0 0 10.85 10.76 10.87

7769 1.05 107.1 3131 2560 3075 3046 181.2 11.0 794 7770 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2559 3059 3074 3045 0 0 0 0 0 0 11.12 11.12 11.12

8069 1.05 107.1 3130 2559 3075 3045 148.0 11.0 824 8070 0.00 0.00 0.00 0.000 6 0.000 0.000 3131 2559 3059 3073 3045 0 0 0 0 0 0 11.14 11.14 11.14

8369 1.05 107.1 3131 2560 3073 3046 114.4 11.1 854 8375 0.00 3.38 0.00 0.000 516 0.000 0.052 3142 1141 3059 3073 3045 0 0 0 0 0 0 11.15 10.79 11.15

8422 1.05 107.1 3142 1143 3073 3045 108.5 11.2 864 8427 0.00 3.45 0.00 0.000 1030 0.000 0.056 3141 2561 3058 3073 3044 0 0 0 0 0 0 10.92 10.83 10.94

8735 1.05 107.1 3142 2561 3073 3045 73.1 11.2 896 8740 0.00 3.42 0.00 0.000 516 0.000 0.053 3152 1141 3058 3073 3044 0 0 0 0 0 0 11.12 10.82 11.12

8767 1.05 107.1 3152 1142 3073 3044 69.5 10.6 902 8772 0.22 3.45 0.00 0.000 5126 0.260 0.057 3118 2560 3058 3072 3044 0 0 0 0 0 0 10.62 10.84 10.83

9079 1.05 107.1 3119 2560 3074 3044 38.5 9.8 934 9085 0.00 3.40 0.00 0.000 260 0.000 0.082 3118 3911 3058 3072 3044 0 0 0 0 0 0 11.18 10.80 11.18

9156 1.05 107.1 3117 3912 3072 3045 30.0 11.1 949 9163 0.00 3.20 0.00 0.000 1030 0.000 0.043 3127 2540 3058 3072 3044 0 0 0 0 0 0 10.99 10.94 11.00

9437 end climb: SURFACE_DEPTH_REACHED

state 9438 begin surface coast

9462 end surface coast: CONTROL_FINISHED_OK

state 9462 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	953	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	56	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	10	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	10	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	10	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	100	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	190	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	3600	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	-15	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	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	0.1	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	6.5	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	6.6999998	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	2	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	300119,094501,-7408.0811,-11241.8877,3,1.1,28,53.5,0.3,260.2,9,5.8	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	hold4
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.58	MHEAD_RNG_PITCHd_Wd	351.6,11435,-20.3,-10.000,-22.30,1639
_SM_ANGLEo	-62.2	D_GRID	300
GPS2	300119,094858,-7408.0742,-11241.9004,3,0.9,4,53.5,0.0,0.0,11,10.0

FREEZE	0.03,0.268,-1.849,2,1,0	ALTIM_TOP_PING	6.9,7.7
FINISH	0.0,1.027057	_24V_AH	6.72,314.349
SM_CCo	9489,269.17,0.187,0,0,1899,399.91	_10V_AH	6.89,0.000
SM_GC	0.56,11.98,0.68,269.17,0.076,0.072,0.187,198,2802,1899,-8.03,-0.40,399.91,0,0,0,0,0,0,10.83,10.90,10.48	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS	0,1548849664,12.032354,12.017777,130,59,58,53,51,50,568,179,161,231,141,120	MEM	280840
RAFOS_FIX	-7407.952637,-11237.718750,300119,121200,3,107,0.24	DATA_FILE_SIZE	33324,980
IRIDIUM_FIX	-7409.58,-11255.37,300119,092830	CAP_FILE_SIZE	431718,0
TT8_MAMPS	0.045689,0.274883	CFSIZE	1024409600,905068544
HUMID	48.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.7
TCM_TEMP	13.00	CURRENT	0.059,259.96,1
XPDR_PINGS	230	GPS	300119,123330,-7407.719,-11241.216,32,1.0,32,53.5,0.1,0.0,9,4.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	419	104.99	nil	0	0	0.00
Roll_motor	59	81	32.89	nil	0	0	0.00
VBD_pump_during_apogee	575	2168	8384.52	nil	0	0	0.00
VBD_pump_during_surface	269	186	337.64	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	5848	4	175.78
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	80	420	227.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.40
TT8	0	0	0.00
LPSleep	6631	2	105.55
TT8_Active	972	10	72.83
TT8_Sampling	1952	30	408.26
TT8_CF8	289	51	102.40
TT8_Kalman	0	0	0.00
Analog_circuits	1732	10	120.60
GPS_charging	0	0	0.00
Compass	1398	6	64.96
RAFOS	720	1	7.44
Transponder	174	30	36.00

		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
13.5	15.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.0	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	1.05	1.00
26.1	28.00	28.00	0.0	1.03	1.00	28.00	0.0	1.00	1.00
32.6	34.60	34.60	0.0	1.00	1.00	34.60	0.0	1.02	1.00
52.5	55.70	55.70	0.0	1.05	1.00	55.70	0.0	1.06	1.00
72.5	76.80	76.80	0.0	1.06	1.00	76.80	0.0	1.05	1.00
79.0	82.90	83.10	0.0	1.03	1.00	82.90	0.0	0.94	1.00

86.6	89.90	89.90	-3.3	0.93	1.00	89.90	-3.3	0.92	1.00
73.1	76.00	76.30	-3.2	1.03	0.99	76.00	-2.9	1.03	1.00
53.1	55.00	55.10	-2.0	1.04	1.00	55.00	-1.9	1.05	1.00
46.3	48.10	48.00	-1.7	1.04	1.00	48.10	-1.8	1.01	1.00
33.3	34.70	34.70	-1.4	1.03	1.00	34.70	-1.4	1.03	1.00
26.4	27.40	27.40	-1.0	1.04	1.00	27.40	-1.0	1.06	1.00
19.4	19.90	19.90	-0.5	1.06	1.00	19.90	-0.5	1.07	1.00
13.4	13.70	13.60	-0.2	1.05	1.00	13.70	-0.3	1.03	1.00
6.9	7.80	7.70	-0.8	0.96	1.00	7.80	-0.9	0.91	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
12	-1.05	-107.1	191	2819	1921	1800	0.0	0.0	0	142	0.00	0.00	-125.20	0.002	16390	0.000	0.000	190	2820	3923	3941	3906	0	0	0	0	0	0	11.16	9.87	11.14
147	-1.05	-107.1	190	2821	3944	3910	3.0	-4.4	13	177	21.75	2.75	0.00	0.000	2340	0.420	0.076	2421	3900	3935	3945	3925	0	0	0	0	0	0	10.17	10.55	10.49
408	-1.05	-107.1	2421	3901	3946	3935	40.5	-12.1	63	413	0.00	2.47	0.00	0.000	1030	0.000	0.041	2421	2820	3940	3946	3934	0	0	0	0	0	0	11.02	10.98	11.03
720	-1.05	-107.1	2421	2820	3947	3938	75.9	-11.2	95	725	0.00	2.67	0.00	0.000	260	0.000	0.081	2420	3897	3942	3946	3938	0	0	0	0	0	0	11.21	10.86	11.21
848	-1.05	-107.1	2421	3898	3947	3938	91.1	-12.1	120	854	0.00	2.53	0.00	0.000	1030	0.000	0.041	2420	2797	3941	3945	3938	0	0	0	0	0	0	11.02	11.00	11.03
1153	-1.05	-107.1	2420	2798	3946	3940	124.5	-11.1	151	1158	0.00	3.30	0.00	0.000	516	0.000	0.043	2420	1391	3942	3946	3938	0	0	0	0	0	0	11.21	10.91	11.21
1185	-1.05	-107.1	2420	1392	3946	3940	128.1	-10.7	157	1191	0.00	3.40	0.00	0.000	1030	0.000	0.058	2420	2795	3942	3946	3939	0	0	0	0	0	0	10.98	10.90	11.00
1499	-1.05	-107.1	2420	2794	3947	3940	162.6	-10.8	189	1499	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2797	3942	3946	3939	0	0	0	0	0	0	11.17	11.17	11.17
1799	-1.05	-107.1	2421	2795	3947	3939	195.4	-10.8	219	1799	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2792	3943	3948	3939	0	0	0	0	0	0	11.17	11.17	11.17
2099	-1.05	-107.1	2420	2794	3947	3939	227.5	-10.5	249	2105	0.00	3.30	0.00	0.000	516	0.000	0.042	2420	1387	3942	3946	3939	0	0	0	0	0	0	11.17	10.93	11.19
2127	-1.05	-107.1	2421	1387	3947	3939	230.5	-10.4	254	2133	0.00	3.45	0.00	0.000	1030	0.000	0.057	2420	2808	3942	3946	3939	0	0	0	0	0	0	10.99	10.90	11.02
2432	-1.05	-107.1	2419	2809	3946	3939	261.9	-10.2	285	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2808	3942	3945	3939	0	0	0	0	0	0	11.21	11.21	11.21
2732	-1.05	-107.1	2421	2808	3946	3940	293.3	-10.2	315	2732	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2807	3942	3945	3939	0	0	0	0	0	0	11.20	11.20	11.21
2798	end dive: TARGET_DEPTH_EXCEEDED
state	2798	begin apogee
2807	-0.23	0.0	2420	2547	3946	3940	300.4	-10.2	322	3103	1.45	0.00	292.27	2.169	10246	0.210	0.000	2693	2546	3495	3504	3487	0	0	0	0	0	0	10.67	8.34	6.96
3104	end apogee: CONTROL_FINISHED_OK
state	3108	begin loiter
3402	-0.23	0.0	2693	2547	3499	3483	305.2	0.9	352	3402	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3490	3499	3482	0	0	0	0	0	0	11.12	11.12	11.12
3702	-0.23	0.0	2694	2547	3498	3482	302.3	1.0	367	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2546	3489	3498	3481	0	0	0	0	0	0	11.19	11.19	11.19
4002	-0.23	0.0	2693	2547	3498	3482	300.0	0.7	382	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2546	3489	3498	3481	0	0	0	0	0	0	11.22	11.22	11.22
4305	-0.23	0.0	2694	2547	3498	3482	298.2	0.6	411	4311	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3489	3497	3481	0	0	0	0	0	0	11.20	11.21	11.21
4615	-0.23	0.0	2694	2546	3498	3480	296.5	0.5	442	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3488	3497	3480	0	0	0	0	0	0	11.21	11.21	11.21
4926	-0.23	0.0	2694	2547	3497	3481	294.7	0.7	473	4932	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3488	3497	3480	0	0	0	0	0	0	11.22	11.22	11.22
5235	-0.23	0.0	2693	2547	3497	3481	292.7	0.7	504	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3488	3496	3480	0	0	0	0	0	0	11.24	11.24	11.24
5545	-0.23	0.0	2694	2546	3498	3480	290.3	0.8	535	5551	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2546	3488	3496	3480	0	0	0	0	0	0	11.24	11.24	11.24
5852	-0.23	0.0	2694	2548	3496	3481	287.9	0.8	566	5852	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2546	3488	3496	3480	0	0	0	0	0	0	11.26	11.26	11.26
6155	-0.23	0.0	2694	2546	3497	3480	285.8	0.6	596	6161	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3488	3496	3480	0	0	0	0	0	0	11.25	11.25	11.25
6465	-0.23	0.0	2692	2547	3496	3481	284.1	0.4	627	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2546	3488	3497	3480	0	0	0	0	0	0	11.26	11.25	11.26
6707	end loiter: LOITER_COMPLETE
state	6708	begin climb
6712	1.05	107.1	2693	2547	3497	3481	283.1	0.0	652	7009	1.80	4.15	283.02	2.163	10500	0.116	0.080	3109	3912	3067	3082	3053	0	0	0	0	0	0	10.80	8.18	6.72
7121	1.05	107.1	3109	3913	3087	3050	253.3	12.6	725	7128	0.00	3.30	0.00	0.000	1030	0.000	0.043	3119	2543	3063	3078	3048	0	0	0	0	0	0	10.74	10.69	10.75
7425	1.05	107.1	3120	2544	3076	3047	219.2	11.2	756	7430	0.00	3.42	0.00	0.000	516	0.000	0.054	3131	1142	3060	3074	3046	0	0	0	0	0	0	11.06	10.73	11.06
7457	1.05	107.1	3132	1141	3077	3045	215.7	10.7	762	7462	0.00	3.47	0.00	0.000	1030	0.000	0.057	3131	2559	3060	3075	3045	0	0	0	0	0	0	10.85	10.76	10.87
7769	1.05	107.1	3131	2560	3075	3046	181.2	11.0	794	7770	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2559	3059	3074	3045	0	0	0	0	0	0	11.12	11.12	11.12
8069	1.05	107.1	3130	2559	3075	3045	148.0	11.0	824	8070	0.00	0.00	0.00	0.000	6	0.000	0.000	3131	2559	3059	3073	3045	0	0	0	0	0	0	11.14	11.14	11.14
8369	1.05	107.1	3131	2560	3073	3046	114.4	11.1	854	8375	0.00	3.38	0.00	0.000	516	0.000	0.052	3142	1141	3059	3073	3045	0	0	0	0	0	0	11.15	10.79	11.15
8422	1.05	107.1	3142	1143	3073	3045	108.5	11.2	864	8427	0.00	3.45	0.00	0.000	1030	0.000	0.056	3141	2561	3058	3073	3044	0	0	0	0	0	0	10.92	10.83	10.94
8735	1.05	107.1	3142	2561	3073	3045	73.1	11.2	896	8740	0.00	3.42	0.00	0.000	516	0.000	0.053	3152	1141	3058	3073	3044	0	0	0	0	0	0	11.12	10.82	11.12
8767	1.05	107.1	3152	1142	3073	3044	69.5	10.6	902	8772	0.22	3.45	0.00	0.000	5126	0.260	0.057	3118	2560	3058	3072	3044	0	0	0	0	0	0	10.62	10.84	10.83
9079	1.05	107.1	3119	2560	3074	3044	38.5	9.8	934	9085	0.00	3.40	0.00	0.000	260	0.000	0.082	3118	3911	3058	3072	3044	0	0	0	0	0	0	11.18	10.80	11.18
9156	1.05	107.1	3117	3912	3072	3045	30.0	11.1	949	9163	0.00	3.20	0.00	0.000	1030	0.000	0.043	3127	2540	3058	3072	3044	0	0	0	0	0	0	10.99	10.94	11.00
9437	end climb: SURFACE_DEPTH_REACHED
state	9438	begin surface coast
9462	end surface coast: CONTROL_FINISHED_OK
state	9462	begin surface