Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 954 * 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 954 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 300 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 15 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 954 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 6.6999998 R_STBD_OVSHOOT 15 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 300119,123330,-7407.7192,-11241.2158,32,1.0,32,53.5,0.1,0.0,9,4.9 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 0.57 MHEAD_RNG_PITCHd_Wd 3.9,10758,-20.3,-10.000,-22.30,1639

_SM_ANGLEo -62.4 D_GRID 300

GPS2 300119,124209,-7407.6958,-11241.3232,3,0.8,4,53.5,0.3,0.0,12,8.3

Post-dive calculations and measurements:

FREEZE 0.52,0.076,-1.857,2,0,0 _10V_AH 6.57,0.000

FINISH 0.1,1.027177 FG_AHR_24Vo 0.000

SM_CCo 722146,0.00,0.000,0,0,1864,408.95 FG_AHR_10Vo 0.000

SM_GC 0.53,0.00,0.65,0.00,0.000,0.057,0.000,194,2803,1864,-8.08,-0.65,408.95,0,0,0,0,0,0,11.23,11.05,11.23 MEM 280440

RAFOS_CLK 31470 DATA_FILE_SIZE 32870,932

RAFOS 2,1549573986,21.232241,21.218334,64,58,54,54,53,50,185,122,205,215,146,194 CAP_FILE_SIZE 839203,6

RAFOS_FIX -7345.546387,-11700.493164,070219,212109,0,1,0.00 CFSIZE 1024409600,904347648

IRIDIUM_FIX -7346.26,-11753.04,070219,200617 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.04494,0.283122 SOUNDSPEED 1444.8

HUMID 53.07 CURRENT 11.198,180.96,1

INTERNAL_PRESSURE 7.81199 GPS 070219,211943,-7345.534,-11700.717,3,1.0,6,55.6,0.2,0.0,9,9.3

TCM_TEMP 13.00 ESCAPE_REASON VOLTAGE_CUTOFF_10V

XPDR_PINGS 189 ESCAPE_STARTED_DIVE 954

ALTIM_TOP_PING 12.6,12.9 EOP_CODE CONTROL_FINISHED_OK

_24V_AH 6.49,317.241 RECOV_CODE QUIT_COMMAND

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 0 0 0.00 nil 0 0 0.00

Roll_motor 1 56 0.46 nil 0 0 0.00

VBD_pump_during_apogee 0 0 0.00 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 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 47 420 128.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 120 2 1.83

TT8_Active 3 10 0.28

TT8_Sampling 34 30 6.96

TT8_CF8 27 51 9.38

TT8_Kalman 0 0 0.00

Analog_circuits 8 10 0.54

GPS_charging 0 0 0.00

Compass 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 5 0.01

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

14.3 15.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.4 22.20 9000.00 0.0 0.00 0.00 22.20 0.0 1.10 1.00

26.4 28.10 28.20 0.0 1.04 1.00 28.10 0.0 0.98 1.00

33.0 35.20 35.10 0.0 1.03 1.00 35.20 0.0 1.08 1.00

46.1 48.80 48.80 0.0 1.05 1.00 48.80 0.0 1.04 1.00

52.8 56.40 56.20 0.0 1.06 1.00 56.40 0.0 1.13 1.00

66.6 70.70 70.80 0.0 1.07 1.00 70.70 0.0 1.04 1.00

90.7 93.90 94.10 -3.4 0.99 1.00 93.90 -3.2 0.96 1.00

84.1 87.50 87.50 -3.4 0.96 1.00 87.50 -3.4 0.97 1.00

64.4 66.90 66.90 -2.5 1.03 1.00 66.90 -2.5 1.05 1.00

51.2 54.10 53.80 -2.6 1.02 1.00 54.10 -2.9 0.97 1.00

44.9 46.80 47.10 -2.2 1.02 1.00 46.80 -1.9 1.16 1.00

38.5 39.90 39.80 -1.3 1.11 1.00 39.90 -1.4 1.08 1.00

31.9 32.80 32.80 -0.9 1.07 1.00 32.80 -0.9 1.08 1.00

25.5 26.40 26.30 -0.8 1.04 1.00 26.40 -0.9 1.00 1.00

19.1 19.60 19.70 -0.6 1.03 1.00 19.60 -0.5 1.06 1.00

12.6 13.00 12.90 -0.3 1.05 1.00 13.00 -0.4 1.02 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 -107.1 199 2804 1942 1808 0.0 0.0 0 142 0.00 0.00 -124.50 0.002 16390 0.000 0.000 198 2804 3924 3941 3907 0 0 0 0 0 0 11.10 10.16 11.10

147 -1.05 -107.1 199 2804 3943 3911 3.3 -5.0 13 177 22.00 2.85 0.00 0.000 2340 0.420 0.076 2420 3907 3934 3944 3925 0 0 0 0 0 0 10.07 10.47 10.41

374 -1.05 -107.1 2420 3908 3945 3935 37.8 -12.1 57 380 0.00 2.58 0.00 0.000 1030 0.000 0.042 2420 2797 3938 3943 3934 0 0 0 0 0 0 10.98 10.93 11.00

688 -1.05 -107.1 2420 2797 3946 3939 73.5 -11.4 89 694 0.00 3.33 0.00 0.000 516 0.000 0.044 2419 1392 3941 3944 3939 0 0 0 0 0 0 11.14 10.88 11.14

715 -1.05 -107.1 2420 1392 3946 3940 76.8 -11.6 94 722 0.00 3.45 0.00 0.000 1030 0.000 0.057 2423 2805 3942 3945 3939 0 0 0 0 0 0 10.95 10.86 10.97

1020 -1.05 -107.1 2420 2806 3946 3941 111.3 -11.2 125 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2805 3942 3944 3940 0 0 0 0 0 0 11.22 11.19 11.19

1320 -1.05 -107.1 2420 2805 3946 3941 144.5 -10.8 155 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2809 3943 3945 3941 0 0 0 0 0 0 11.19 11.19 11.19

1620 -1.05 -107.1 2420 2806 3945 3943 176.6 -10.6 185 1627 0.00 3.33 0.00 0.000 516 0.000 0.043 2420 1386 3942 3944 3941 0 0 0 0 0 0 11.20 10.89 11.20

1683 -1.05 -107.1 2420 1386 3946 3942 183.2 -10.4 197 1689 0.00 3.47 0.00 0.000 1030 0.000 0.057 2419 2810 3942 3944 3941 0 0 0 0 0 0 10.96 10.87 10.98

1996 -1.05 -107.1 2420 2811 3945 3943 216.8 -11.0 229 1997 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2810 3943 3944 3942 0 0 0 0 0 0 11.23 11.21 11.21

2296 -1.05 -107.1 2420 2810 3945 3942 249.3 -10.9 259 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2809 3943 3944 3942 0 0 0 0 0 0 11.21 11.21 11.21

2596 -1.05 -107.1 2418 2811 3943 3943 281.6 -10.6 289 2602 0.00 3.38 0.00 0.000 516 0.000 0.043 2419 1391 3942 3944 3941 0 0 0 0 0 0 11.21 10.90 11.21

2619 -1.05 -107.1 2420 1390 3946 3942 284.1 -10.7 293 2625 0.00 3.45 0.00 0.000 1030 0.000 0.058 2420 2805 3943 3944 3942 0 0 0 0 0 0 10.97 10.88 10.99

2777 end dive: TARGET_DEPTH_EXCEEDED

state 2777 begin apogee

2787 -0.23 0.0 2421 2547 3946 3942 300.9 -10.4 310 3104 1.48 0.00 313.77 2.077 10246 0.211 0.000 2697 2547 3492 3501 3484 0 0 0 0 0 0 10.62 8.03 6.63

3105 end apogee: CONTROL_FINISHED_OK

state 3105 begin loiter

3401 -0.23 0.0 2698 2547 3498 3480 306.4 1.2 341 3402 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3488 3497 3480 0 0 0 0 0 0 11.10 11.10 11.10

3701 -0.23 0.0 2698 2547 3497 3479 302.6 1.2 356 3702 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3487 3496 3479 0 0 0 0 0 0 11.17 11.17 11.17

4001 -0.23 0.0 2697 2548 3496 3480 299.7 0.9 372 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3487 3495 3479 0 0 0 0 0 0 11.20 11.20 11.20

4305 -0.23 0.0 2697 2548 3495 3480 297.6 0.6 402 4311 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3487 3495 3479 0 0 0 0 0 0 11.19 11.19 11.19

4615 -0.23 0.0 2698 2548 3496 3479 295.6 0.7 433 4622 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3486 3494 3478 0 0 0 0 0 0 11.21 11.21 11.21

4925 -0.23 0.0 2697 2548 3494 3480 293.3 0.8 464 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3486 3494 3478 0 0 0 0 0 0 11.22 11.22 11.22

5235 -0.23 0.0 2698 2547 3494 3479 290.5 0.9 495 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3486 3494 3478 0 0 0 0 0 0 11.23 11.23 11.22

5545 -0.23 0.0 2698 2547 3495 3478 287.8 0.8 526 5551 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3485 3493 3478 0 0 0 0 0 0 11.23 11.24 11.23

5855 -0.23 0.0 2698 2548 3494 3480 285.7 0.5 557 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3485 3493 3478 0 0 0 0 0 0 11.24 11.24 11.24

6165 -0.23 0.0 2698 2547 3495 3478 284.5 0.3 588 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3486 3494 3478 0 0 0 0 0 0 11.24 11.24 11.25

6475 -0.23 0.0 2697 2548 3493 3478 283.6 0.3 619 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3486 3494 3478 0 0 0 0 0 0 11.25 11.25 11.24

6697 end loiter: LOITER_COMPLETE

state 6697 begin climb

6701 1.05 107.1 2697 2547 3495 3478 283.0 0.0 642 7015 1.80 0.00 298.42 2.073 10502 0.114 0.000 3112 2547 3065 3078 3052 0 0 0 0 0 0 10.83 7.85 6.49

7312 1.05 107.1 3112 2548 3074 3049 230.6 10.8 714 7318 0.00 3.50 0.00 0.000 260 0.000 0.081 3112 3910 3060 3073 3048 0 0 0 0 0 0 10.95 10.64 10.95

7349 1.05 107.1 3113 3910 3075 3049 226.1 12.4 721 7356 0.00 3.25 0.00 0.000 1030 0.000 0.042 3123 2541 3060 3073 3048 0 0 0 0 0 0 10.83 10.79 10.85

7654 1.05 107.1 3124 2542 3073 3048 191.9 10.8 752 7655 0.00 0.00 0.00 0.000 6 0.000 0.000 3123 2542 3059 3071 3047 0 0 0 0 0 0 11.09 11.09 11.09

7954 1.05 107.1 3123 2543 3071 3047 158.3 11.3 782 7961 0.00 3.38 0.00 0.000 516 0.000 0.054 3134 1154 3058 3071 3046 0 0 0 0 0 0 11.12 10.71 11.12

8012 1.05 107.1 3134 1155 3071 3046 151.7 11.5 793 8020 0.00 3.45 0.00 0.000 1030 0.000 0.057 3134 2561 3058 3071 3045 0 0 0 0 0 0 10.87 10.78 10.88

8319 1.05 107.1 3134 2561 3071 3045 116.9 11.4 824 8320 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2560 3057 3070 3045 0 0 0 0 0 0 11.07 11.08 11.08

8618 1.05 107.1 3135 2560 3070 3045 84.1 11.1 854 8619 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2561 3057 3069 3045 0 0 0 0 0 0 11.10 11.10 11.10

8919 1.05 107.1 3135 2560 3071 3045 51.2 10.8 884 8920 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2560 3057 3070 3045 0 0 0 0 0 0 11.11 11.11 11.11

9218 1.05 107.1 3134 2561 3071 3045 19.1 10.8 914 9219 0.00 0.00 0.00 0.000 6 0.000 0.000 3134 2560 3057 3069 3045 0 0 0 0 0 0 11.10 11.11 11.10

9384 end climb: SURFACE_DEPTH_REACHED

state 9384 begin surface coast

9395 end surface coast: CONTROL_FINISHED_OK

state 9395 begin surface

state 9891 begin surface

state 721744 begin surface

state 721907 begin surface

state 722071 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	954	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	300	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	15	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	300119,123330,-7407.7192,-11241.2158,32,1.0,32,53.5,0.1,0.0,9,4.9	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	0.57	MHEAD_RNG_PITCHd_Wd	3.9,10758,-20.3,-10.000,-22.30,1639
_SM_ANGLEo	-62.4	D_GRID	300
GPS2	300119,124209,-7407.6958,-11241.3232,3,0.8,4,53.5,0.3,0.0,12,8.3

FREEZE	0.52,0.076,-1.857,2,0,0	_10V_AH	6.57,0.000
FINISH	0.1,1.027177	FG_AHR_24Vo	0.000
SM_CCo	722146,0.00,0.000,0,0,1864,408.95	FG_AHR_10Vo	0.000
SM_GC	0.53,0.00,0.65,0.00,0.000,0.057,0.000,194,2803,1864,-8.08,-0.65,408.95,0,0,0,0,0,0,11.23,11.05,11.23	MEM	280440
RAFOS_CLK	31470	DATA_FILE_SIZE	32870,932
RAFOS	2,1549573986,21.232241,21.218334,64,58,54,54,53,50,185,122,205,215,146,194	CAP_FILE_SIZE	839203,6
RAFOS_FIX	-7345.546387,-11700.493164,070219,212109,0,1,0.00	CFSIZE	1024409600,904347648
IRIDIUM_FIX	-7346.26,-11753.04,070219,200617	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.04494,0.283122	SOUNDSPEED	1444.8
HUMID	53.07	CURRENT	11.198,180.96,1
INTERNAL_PRESSURE	7.81199	GPS	070219,211943,-7345.534,-11700.717,3,1.0,6,55.6,0.2,0.0,9,9.3
TCM_TEMP	13.00	ESCAPE_REASON	VOLTAGE_CUTOFF_10V
XPDR_PINGS	189	ESCAPE_STARTED_DIVE	954
ALTIM_TOP_PING	12.6,12.9	EOP_CODE	CONTROL_FINISHED_OK
_24V_AH	6.49,317.241	RECOV_CODE	QUIT_COMMAND

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	0	0	0.00	nil	0	0	0.00
Roll_motor	1	56	0.46	nil	0	0	0.00
VBD_pump_during_apogee	0	0	0.00	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	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	47	420	128.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	120	2	1.83
TT8_Active	3	10	0.28
TT8_Sampling	34	30	6.96
TT8_CF8	27	51	9.38
TT8_Kalman	0	0	0.00
Analog_circuits	8	10	0.54
GPS_charging	0	0	0.00
Compass	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	5	0.01

		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
14.3	15.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.4	22.20	9000.00	0.0	0.00	0.00	22.20	0.0	1.10	1.00
26.4	28.10	28.20	0.0	1.04	1.00	28.10	0.0	0.98	1.00
33.0	35.20	35.10	0.0	1.03	1.00	35.20	0.0	1.08	1.00
46.1	48.80	48.80	0.0	1.05	1.00	48.80	0.0	1.04	1.00
52.8	56.40	56.20	0.0	1.06	1.00	56.40	0.0	1.13	1.00
66.6	70.70	70.80	0.0	1.07	1.00	70.70	0.0	1.04	1.00

90.7	93.90	94.10	-3.4	0.99	1.00	93.90	-3.2	0.96	1.00
84.1	87.50	87.50	-3.4	0.96	1.00	87.50	-3.4	0.97	1.00
64.4	66.90	66.90	-2.5	1.03	1.00	66.90	-2.5	1.05	1.00
51.2	54.10	53.80	-2.6	1.02	1.00	54.10	-2.9	0.97	1.00
44.9	46.80	47.10	-2.2	1.02	1.00	46.80	-1.9	1.16	1.00
38.5	39.90	39.80	-1.3	1.11	1.00	39.90	-1.4	1.08	1.00
31.9	32.80	32.80	-0.9	1.07	1.00	32.80	-0.9	1.08	1.00
25.5	26.40	26.30	-0.8	1.04	1.00	26.40	-0.9	1.00	1.00
19.1	19.60	19.70	-0.6	1.03	1.00	19.60	-0.5	1.06	1.00
12.6	13.00	12.90	-0.3	1.05	1.00	13.00	-0.4	1.02	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	199	2804	1942	1808	0.0	0.0	0	142	0.00	0.00	-124.50	0.002	16390	0.000	0.000	198	2804	3924	3941	3907	0	0	0	0	0	0	11.10	10.16	11.10
147	-1.05	-107.1	199	2804	3943	3911	3.3	-5.0	13	177	22.00	2.85	0.00	0.000	2340	0.420	0.076	2420	3907	3934	3944	3925	0	0	0	0	0	0	10.07	10.47	10.41
374	-1.05	-107.1	2420	3908	3945	3935	37.8	-12.1	57	380	0.00	2.58	0.00	0.000	1030	0.000	0.042	2420	2797	3938	3943	3934	0	0	0	0	0	0	10.98	10.93	11.00
688	-1.05	-107.1	2420	2797	3946	3939	73.5	-11.4	89	694	0.00	3.33	0.00	0.000	516	0.000	0.044	2419	1392	3941	3944	3939	0	0	0	0	0	0	11.14	10.88	11.14
715	-1.05	-107.1	2420	1392	3946	3940	76.8	-11.6	94	722	0.00	3.45	0.00	0.000	1030	0.000	0.057	2423	2805	3942	3945	3939	0	0	0	0	0	0	10.95	10.86	10.97
1020	-1.05	-107.1	2420	2806	3946	3941	111.3	-11.2	125	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2805	3942	3944	3940	0	0	0	0	0	0	11.22	11.19	11.19
1320	-1.05	-107.1	2420	2805	3946	3941	144.5	-10.8	155	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2809	3943	3945	3941	0	0	0	0	0	0	11.19	11.19	11.19
1620	-1.05	-107.1	2420	2806	3945	3943	176.6	-10.6	185	1627	0.00	3.33	0.00	0.000	516	0.000	0.043	2420	1386	3942	3944	3941	0	0	0	0	0	0	11.20	10.89	11.20
1683	-1.05	-107.1	2420	1386	3946	3942	183.2	-10.4	197	1689	0.00	3.47	0.00	0.000	1030	0.000	0.057	2419	2810	3942	3944	3941	0	0	0	0	0	0	10.96	10.87	10.98
1996	-1.05	-107.1	2420	2811	3945	3943	216.8	-11.0	229	1997	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2810	3943	3944	3942	0	0	0	0	0	0	11.23	11.21	11.21
2296	-1.05	-107.1	2420	2810	3945	3942	249.3	-10.9	259	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2809	3943	3944	3942	0	0	0	0	0	0	11.21	11.21	11.21
2596	-1.05	-107.1	2418	2811	3943	3943	281.6	-10.6	289	2602	0.00	3.38	0.00	0.000	516	0.000	0.043	2419	1391	3942	3944	3941	0	0	0	0	0	0	11.21	10.90	11.21
2619	-1.05	-107.1	2420	1390	3946	3942	284.1	-10.7	293	2625	0.00	3.45	0.00	0.000	1030	0.000	0.058	2420	2805	3943	3944	3942	0	0	0	0	0	0	10.97	10.88	10.99
2777	end dive: TARGET_DEPTH_EXCEEDED
state	2777	begin apogee
2787	-0.23	0.0	2421	2547	3946	3942	300.9	-10.4	310	3104	1.48	0.00	313.77	2.077	10246	0.211	0.000	2697	2547	3492	3501	3484	0	0	0	0	0	0	10.62	8.03	6.63
3105	end apogee: CONTROL_FINISHED_OK
state	3105	begin loiter
3401	-0.23	0.0	2698	2547	3498	3480	306.4	1.2	341	3402	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3488	3497	3480	0	0	0	0	0	0	11.10	11.10	11.10
3701	-0.23	0.0	2698	2547	3497	3479	302.6	1.2	356	3702	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3487	3496	3479	0	0	0	0	0	0	11.17	11.17	11.17
4001	-0.23	0.0	2697	2548	3496	3480	299.7	0.9	372	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3487	3495	3479	0	0	0	0	0	0	11.20	11.20	11.20
4305	-0.23	0.0	2697	2548	3495	3480	297.6	0.6	402	4311	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3487	3495	3479	0	0	0	0	0	0	11.19	11.19	11.19
4615	-0.23	0.0	2698	2548	3496	3479	295.6	0.7	433	4622	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3486	3494	3478	0	0	0	0	0	0	11.21	11.21	11.21
4925	-0.23	0.0	2697	2548	3494	3480	293.3	0.8	464	4931	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3486	3494	3478	0	0	0	0	0	0	11.22	11.22	11.22
5235	-0.23	0.0	2698	2547	3494	3479	290.5	0.9	495	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3486	3494	3478	0	0	0	0	0	0	11.23	11.23	11.22
5545	-0.23	0.0	2698	2547	3495	3478	287.8	0.8	526	5551	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3485	3493	3478	0	0	0	0	0	0	11.23	11.24	11.23
5855	-0.23	0.0	2698	2548	3494	3480	285.7	0.5	557	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3485	3493	3478	0	0	0	0	0	0	11.24	11.24	11.24
6165	-0.23	0.0	2698	2547	3495	3478	284.5	0.3	588	6171	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3486	3494	3478	0	0	0	0	0	0	11.24	11.24	11.25
6475	-0.23	0.0	2697	2548	3493	3478	283.6	0.3	619	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3486	3494	3478	0	0	0	0	0	0	11.25	11.25	11.24
6697	end loiter: LOITER_COMPLETE
state	6697	begin climb
6701	1.05	107.1	2697	2547	3495	3478	283.0	0.0	642	7015	1.80	0.00	298.42	2.073	10502	0.114	0.000	3112	2547	3065	3078	3052	0	0	0	0	0	0	10.83	7.85	6.49
7312	1.05	107.1	3112	2548	3074	3049	230.6	10.8	714	7318	0.00	3.50	0.00	0.000	260	0.000	0.081	3112	3910	3060	3073	3048	0	0	0	0	0	0	10.95	10.64	10.95
7349	1.05	107.1	3113	3910	3075	3049	226.1	12.4	721	7356	0.00	3.25	0.00	0.000	1030	0.000	0.042	3123	2541	3060	3073	3048	0	0	0	0	0	0	10.83	10.79	10.85
7654	1.05	107.1	3124	2542	3073	3048	191.9	10.8	752	7655	0.00	0.00	0.00	0.000	6	0.000	0.000	3123	2542	3059	3071	3047	0	0	0	0	0	0	11.09	11.09	11.09
7954	1.05	107.1	3123	2543	3071	3047	158.3	11.3	782	7961	0.00	3.38	0.00	0.000	516	0.000	0.054	3134	1154	3058	3071	3046	0	0	0	0	0	0	11.12	10.71	11.12
8012	1.05	107.1	3134	1155	3071	3046	151.7	11.5	793	8020	0.00	3.45	0.00	0.000	1030	0.000	0.057	3134	2561	3058	3071	3045	0	0	0	0	0	0	10.87	10.78	10.88
8319	1.05	107.1	3134	2561	3071	3045	116.9	11.4	824	8320	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2560	3057	3070	3045	0	0	0	0	0	0	11.07	11.08	11.08
8618	1.05	107.1	3135	2560	3070	3045	84.1	11.1	854	8619	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2561	3057	3069	3045	0	0	0	0	0	0	11.10	11.10	11.10
8919	1.05	107.1	3135	2560	3071	3045	51.2	10.8	884	8920	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2560	3057	3070	3045	0	0	0	0	0	0	11.11	11.11	11.11
9218	1.05	107.1	3134	2561	3071	3045	19.1	10.8	914	9219	0.00	0.00	0.00	0.000	6	0.000	0.000	3134	2560	3057	3069	3045	0	0	0	0	0	0	11.10	11.11	11.10
9384	end climb: SURFACE_DEPTH_REACHED
state	9384	begin surface coast
9395	end surface coast: CONTROL_FINISHED_OK
state	9395	begin surface
state	9891	begin surface
state	721744	begin surface
state	721907	begin surface
state	722071	begin surface