Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 958 * 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 958 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING 0 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 0

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 42 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 32 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 150 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 270 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 -60 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 5 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 5 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 0

AD7714Ch0Gain 1 D_TGT 450 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 0 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 0 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 0 PRESSURE_SLOPE 0.000108275 T_DIVE 150

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 270

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 -60

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 958 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 5 R_STBD_OVSHOOT 32 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 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 110219,051756,-7359.6167,-11810.9814,9,1.2,12,56.7,0.4,174.8,5,8.6 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG -7348.803,-11811.092

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.46 MHEAD_RNG_PITCHd_Wd 332.6,20000,-43.9,-10.000,-45.00,342

_SM_ANGLEo -56.5 D_GRID 450

GPS2 110219,052224,-7359.6016,-11811.0918,1,1.2,4,56.7,0.6,325.9,5,10.0

Post-dive calculations and measurements:

FREEZE -0.14,0.225,-1.858,2,1,0 _24V_AH 5.28,319.738

FINISH -0.1,1.027186 _10V_AH 5.59,0.000

SM_CCo 9714,327.02,0.192,0,0,1899,399.91 FG_AHR_24Vo 0.000

SM_GC 0.45,13.77,0.68,327.02,0.090,0.073,0.192,199,2806,1899,-8.03,-0.31,399.91,0,0,0,0,0,0,10.66,10.80,10.21 FG_AHR_10Vo 0.000

RAFOS_CLK 432 MEM 280944

RAFOS 0,1549864859,6.032355,6.016389,68,61,59,52,51,50,194,161,118,221,208,172 DATA_FILE_SIZE 30053,890

RAFOS_FIX -7359.209473,-11811.281250,110219,080815,0,1,0.08 CAP_FILE_SIZE 121361,2

IRIDIUM_FIX -7406.10,-11719.55,110219,041417 CFSIZE 1024409600,904593408

TT8_MAMPS 0.045689,0.285369 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,27

HUMID 49.64 SOUNDSPEED 1450.2

INTERNAL_PRESSURE 7.77292 CURRENT 0.020,311.28,1

TCM_TEMP 13.30 GPS 110219,081139,-7359.139,-11810.738,35,1.1,36,56.7,1.3,229.0,8,7.9

XPDR_PINGS 79

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 42 436 99.00 nil 0 0 0.00

Roll_motor 77 87 36.03 nil 0 0 0.00

VBD_pump_during_apogee 419 2083 4618.69 nil 0 0 0.00

VBD_pump_during_surface 327 192 331.55 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 2388 4 58.09

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 19 420 43.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.29

TT8 0 0 0.00

LPSleep 7273 2 93.92

TT8_Active 745 10 45.29

TT8_Sampling 1843 30 312.76

TT8_CF8 261 51 75.10

TT8_Kalman 0 0 0.00

Analog_circuits 1573 10 88.85

GPS_charging 0 0 0.00

Compass 1302 6 49.08

RAFOS 720 1 6.04

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

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

14 -2.02 -22.2 202 2786 1929 1822 0.0 0.0 0 126 0.00 0.00 -108.45 0.002 16390 0.000 0.000 201 2786 3585 3607 3563 0 0 0 0 0 0 11.14 9.63 11.14

130 -2.06 -51.0 202 2788 3611 3565 1.4 -1.4 11 165 21.60 2.83 -4.03 0.017 18724 0.437 0.088 2100 3892 3700 3710 3691 0 0 0 0 0 0 9.91 9.38 10.26

392 -2.06 -51.0 2100 3892 3716 3700 40.9 -16.4 62 398 0.00 2.47 0.00 0.000 1030 0.000 0.037 2101 2800 3707 3715 3699 0 0 0 0 0 0 11.00 10.95 11.02

700 -2.06 -51.0 2101 2801 3717 3701 83.1 -17.4 93 706 0.00 2.72 0.00 0.000 260 0.000 0.078 2100 3900 3708 3715 3701 0 0 0 0 0 0 11.28 10.79 11.28

833 -2.06 -51.0 2100 3901 3715 3702 107.7 -17.2 119 838 0.00 2.53 0.00 0.000 1030 0.000 0.037 2100 2797 3708 3715 3701 0 0 0 0 0 0 11.00 10.95 11.02

1145 -2.06 -51.0 2101 2797 3717 3701 153.7 -13.0 151 1150 0.00 2.72 0.00 0.000 260 0.000 0.076 2097 3891 3708 3716 3701 0 0 0 0 0 0 11.30 10.80 11.31

1202 -2.06 -51.0 2097 3893 3717 3702 161.5 -13.8 162 1208 0.00 2.50 0.00 0.000 1030 0.000 0.037 2097 2793 3708 3716 3701 0 0 0 0 0 0 11.00 10.96 11.02

1507 -2.06 -51.0 2098 2793 3718 3702 204.2 -14.0 193 1513 0.00 2.72 0.00 0.000 260 0.000 0.074 2092 3899 3709 3716 3702 0 0 0 0 0 0 11.31 10.81 11.31

1550 -2.06 -51.0 2092 3900 3717 3703 210.2 -14.1 201 1556 0.00 2.53 0.00 0.000 1030 0.000 0.037 2092 2792 3709 3717 3702 0 0 0 0 0 0 11.00 10.96 11.02

1863 -2.06 -51.0 2092 2792 3718 3702 251.9 -13.1 233 1869 0.00 3.28 0.00 0.000 516 0.000 0.042 2092 1392 3709 3718 3701 0 0 0 0 0 0 11.30 10.86 11.30

1945 -2.06 -51.0 2093 1393 3719 3704 262.5 -12.6 249 1952 0.00 3.38 0.00 0.000 1030 0.000 0.054 2087 2787 3710 3718 3703 0 0 0 0 0 0 10.94 10.85 10.97

2259 -2.06 -51.0 2088 2787 3719 3701 303.9 -13.5 280 2264 0.00 3.28 0.00 0.000 516 0.000 0.041 2087 1401 3710 3718 3702 0 0 0 0 0 0 11.31 10.87 11.31

2401 -2.06 -51.0 2088 1401 3719 3701 322.6 -13.2 308 2406 0.20 3.42 0.00 0.000 3078 0.345 0.055 2109 2806 3710 3718 3702 0 0 0 0 0 0 10.45 10.83 10.78

2726 -2.06 -51.0 2109 2806 3718 3703 361.1 -12.1 327 2732 0.00 3.35 0.00 0.000 516 0.000 0.041 2108 1391 3710 3718 3702 0 0 0 0 0 0 11.27 10.86 11.27

2814 -2.06 -51.0 2109 1392 3718 3703 372.0 -12.1 344 2819 0.00 3.42 0.00 0.000 1030 0.000 0.054 2106 2802 3710 3718 3702 0 0 0 0 0 0 10.93 10.85 10.96

3130 -2.06 -51.0 2106 2802 3718 3703 410.3 -12.1 362 3131 0.00 0.00 0.00 0.000 6 0.000 0.000 2106 2802 3710 3718 3702 0 0 0 0 0 0 11.29 11.29 11.29

3430 -2.06 -51.0 2107 2802 3719 3702 445.5 -11.5 377 3436 0.00 3.33 0.00 0.000 516 0.000 0.041 2106 1393 3709 3718 3701 0 0 0 0 0 0 11.33 10.88 11.31

3463 -2.06 -51.0 2107 1393 3718 3702 449.2 -11.5 383 3468 0.00 3.42 0.00 0.000 1030 0.000 0.054 2102 2804 3709 3718 3701 0 0 0 0 0 0 10.95 10.86 10.98

3470 end dive: TARGET_DEPTH_EXCEEDED

state 3470 begin apogee

3480 -0.23 0.0 2103 2540 3719 3701 450.4 -10.8 385 3707 4.03 0.00 219.82 2.084 10246 0.311 0.000 2692 2541 3492 3499 3486 0 0 0 0 0 0 10.22 7.17 5.52

3707 end apogee: CONTROL_FINISHED_OK

state 3707 begin loiter

3997 -0.23 0.0 2692 2541 3497 3484 446.1 2.7 411 3998 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3489 3496 3483 0 0 0 0 0 0 11.05 11.06 11.06

4297 -0.23 0.0 2692 2542 3496 3484 438.0 2.6 426 4298 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2540 3489 3495 3483 0 0 0 0 0 0 11.16 11.15 11.16

4597 -0.23 0.0 2692 2541 3495 3483 429.9 2.7 441 4598 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3488 3495 3482 0 0 0 0 0 0 11.20 11.21 11.20

4897 -0.23 0.0 2693 2541 3495 3482 421.5 2.7 456 4898 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3488 3494 3482 0 0 0 0 0 0 11.23 11.22 11.23

5197 -0.23 0.0 2693 2541 3494 3482 413.8 2.4 471 5198 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3487 3493 3482 0 0 0 0 0 0 11.24 11.24 11.24

5497 -0.23 0.0 2691 2542 3494 3483 406.7 2.3 486 5498 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2540 3487 3493 3482 0 0 0 0 0 0 11.26 11.26 11.26

5797 -0.23 0.0 2693 2541 3494 3481 400.0 2.2 501 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2540 3487 3493 3481 0 0 0 0 0 0 11.26 11.26 11.27

6097 -0.23 0.0 2692 2542 3494 3483 394.2 1.8 516 6098 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2540 3487 3493 3482 0 0 0 0 0 0 11.27 11.27 11.27

6397 -0.23 0.0 2692 2541 3494 3483 388.1 2.0 531 6398 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2540 3487 3493 3481 0 0 0 0 0 0 11.28 11.28 11.28

6698 -0.23 0.0 2693 2541 3493 3482 382.3 1.9 546 6698 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3487 3493 3482 0 0 0 0 0 0 11.28 11.28 11.28

6997 -0.23 0.0 2692 2542 3493 3483 376.5 2.0 561 6998 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2541 3487 3493 3481 0 0 0 0 0 0 11.29 11.29 11.29

7293 end loiter: LOITER_COMPLETE

state 7293 begin climb

7297 2.06 51.0 2692 2542 3493 3483 370.4 0.0 576 7509 3.08 4.62 199.95 2.006 10500 0.095 0.079 3437 3903 3291 3305 3277 0 0 0 0 0 0 10.77 6.62 5.28

7738 2.06 51.0 3436 3903 3306 3271 306.3 17.6 664 7743 0.00 3.30 0.00 0.000 1030 0.000 0.047 3446 2548 3288 3305 3271 0 0 0 0 0 0 10.68 10.63 10.69

8050 2.06 51.0 3446 2549 3303 3272 254.7 17.0 696 8051 0.00 0.00 0.00 0.000 6 0.000 0.000 3446 2548 3287 3303 3271 0 0 0 0 0 0 11.01 11.02 11.02

8353 2.06 51.0 3447 2548 3303 3271 205.5 15.9 726 8358 0.00 3.47 0.00 0.000 516 0.000 0.057 3457 1138 3286 3302 3271 0 0 0 0 0 0 11.04 10.66 11.05

8390 2.06 51.0 3458 1140 3302 3272 199.2 15.5 733 8397 0.00 3.53 0.00 0.000 1030 0.000 0.060 3455 2555 3286 3302 3270 0 0 0 0 0 0 10.78 10.69 10.80

8695 2.06 51.0 3458 2556 3303 3270 149.5 16.9 764 8700 0.00 3.45 0.00 0.000 260 0.000 0.082 3457 3911 3285 3301 3270 0 0 0 0 0 0 11.12 10.64 11.12

8732 2.06 51.0 3458 3911 3303 3270 143.1 17.6 771 8739 0.25 3.28 0.00 0.000 5126 0.378 0.046 3440 2535 3285 3301 3270 0 0 0 0 0 0 10.22 10.76 10.58

9037 2.06 51.0 3441 2539 3302 3269 96.5 14.0 802 9038 0.00 0.00 0.00 0.000 6 0.000 0.000 3441 2539 3284 3300 3269 0 0 0 0 0 0 11.13 11.13 11.13

9341 2.06 51.0 3442 2539 3301 3268 54.2 15.3 832 9346 0.00 3.50 0.00 0.000 260 0.000 0.081 3434 3911 3284 3300 3268 0 0 0 0 0 0 11.11 10.67 11.11

9573 2.06 51.0 3435 3912 3301 3268 17.0 14.7 878 9578 0.00 3.25 0.00 0.000 1030 0.000 0.047 3444 2546 3284 3300 3268 0 0 0 0 0 0 10.88 10.83 10.90

9671 end climb: SURFACE_DEPTH_REACHED

state 9671 begin surface coast

9681 end surface coast: CONTROL_FINISHED_OK

state 9685 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	958	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	0	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	0
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	42	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	32	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	150	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	270	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	-60	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	5	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	5	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	0

GPS1	110219,051756,-7359.6167,-11810.9814,9,1.2,12,56.7,0.4,174.8,5,8.6	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	-7348.803,-11811.092
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.46	MHEAD_RNG_PITCHd_Wd	332.6,20000,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-56.5	D_GRID	450
GPS2	110219,052224,-7359.6016,-11811.0918,1,1.2,4,56.7,0.6,325.9,5,10.0

FREEZE	-0.14,0.225,-1.858,2,1,0	_24V_AH	5.28,319.738
FINISH	-0.1,1.027186	_10V_AH	5.59,0.000
SM_CCo	9714,327.02,0.192,0,0,1899,399.91	FG_AHR_24Vo	0.000
SM_GC	0.45,13.77,0.68,327.02,0.090,0.073,0.192,199,2806,1899,-8.03,-0.31,399.91,0,0,0,0,0,0,10.66,10.80,10.21	FG_AHR_10Vo	0.000
RAFOS_CLK	432	MEM	280944
RAFOS	0,1549864859,6.032355,6.016389,68,61,59,52,51,50,194,161,118,221,208,172	DATA_FILE_SIZE	30053,890
RAFOS_FIX	-7359.209473,-11811.281250,110219,080815,0,1,0.08	CAP_FILE_SIZE	121361,2
IRIDIUM_FIX	-7406.10,-11719.55,110219,041417	CFSIZE	1024409600,904593408
TT8_MAMPS	0.045689,0.285369	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,27
HUMID	49.64	SOUNDSPEED	1450.2
INTERNAL_PRESSURE	7.77292	CURRENT	0.020,311.28,1
TCM_TEMP	13.30	GPS	110219,081139,-7359.139,-11810.738,35,1.1,36,56.7,1.3,229.0,8,7.9
XPDR_PINGS	79

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	42	436	99.00	nil	0	0	0.00
Roll_motor	77	87	36.03	nil	0	0	0.00
VBD_pump_during_apogee	419	2083	4618.69	nil	0	0	0.00
VBD_pump_during_surface	327	192	331.55	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	2388	4	58.09
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	19	420	43.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.29
TT8	0	0	0.00
LPSleep	7273	2	93.92
TT8_Active	745	10	45.29
TT8_Sampling	1843	30	312.76
TT8_CF8	261	51	75.10
TT8_Kalman	0	0	0.00
Analog_circuits	1573	10	88.85
GPS_charging	0	0	0.00
Compass	1302	6	49.08
RAFOS	720	1	6.04
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

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
14	-2.02	-22.2	202	2786	1929	1822	0.0	0.0	0	126	0.00	0.00	-108.45	0.002	16390	0.000	0.000	201	2786	3585	3607	3563	0	0	0	0	0	0	11.14	9.63	11.14
130	-2.06	-51.0	202	2788	3611	3565	1.4	-1.4	11	165	21.60	2.83	-4.03	0.017	18724	0.437	0.088	2100	3892	3700	3710	3691	0	0	0	0	0	0	9.91	9.38	10.26
392	-2.06	-51.0	2100	3892	3716	3700	40.9	-16.4	62	398	0.00	2.47	0.00	0.000	1030	0.000	0.037	2101	2800	3707	3715	3699	0	0	0	0	0	0	11.00	10.95	11.02
700	-2.06	-51.0	2101	2801	3717	3701	83.1	-17.4	93	706	0.00	2.72	0.00	0.000	260	0.000	0.078	2100	3900	3708	3715	3701	0	0	0	0	0	0	11.28	10.79	11.28
833	-2.06	-51.0	2100	3901	3715	3702	107.7	-17.2	119	838	0.00	2.53	0.00	0.000	1030	0.000	0.037	2100	2797	3708	3715	3701	0	0	0	0	0	0	11.00	10.95	11.02
1145	-2.06	-51.0	2101	2797	3717	3701	153.7	-13.0	151	1150	0.00	2.72	0.00	0.000	260	0.000	0.076	2097	3891	3708	3716	3701	0	0	0	0	0	0	11.30	10.80	11.31
1202	-2.06	-51.0	2097	3893	3717	3702	161.5	-13.8	162	1208	0.00	2.50	0.00	0.000	1030	0.000	0.037	2097	2793	3708	3716	3701	0	0	0	0	0	0	11.00	10.96	11.02
1507	-2.06	-51.0	2098	2793	3718	3702	204.2	-14.0	193	1513	0.00	2.72	0.00	0.000	260	0.000	0.074	2092	3899	3709	3716	3702	0	0	0	0	0	0	11.31	10.81	11.31
1550	-2.06	-51.0	2092	3900	3717	3703	210.2	-14.1	201	1556	0.00	2.53	0.00	0.000	1030	0.000	0.037	2092	2792	3709	3717	3702	0	0	0	0	0	0	11.00	10.96	11.02
1863	-2.06	-51.0	2092	2792	3718	3702	251.9	-13.1	233	1869	0.00	3.28	0.00	0.000	516	0.000	0.042	2092	1392	3709	3718	3701	0	0	0	0	0	0	11.30	10.86	11.30
1945	-2.06	-51.0	2093	1393	3719	3704	262.5	-12.6	249	1952	0.00	3.38	0.00	0.000	1030	0.000	0.054	2087	2787	3710	3718	3703	0	0	0	0	0	0	10.94	10.85	10.97
2259	-2.06	-51.0	2088	2787	3719	3701	303.9	-13.5	280	2264	0.00	3.28	0.00	0.000	516	0.000	0.041	2087	1401	3710	3718	3702	0	0	0	0	0	0	11.31	10.87	11.31
2401	-2.06	-51.0	2088	1401	3719	3701	322.6	-13.2	308	2406	0.20	3.42	0.00	0.000	3078	0.345	0.055	2109	2806	3710	3718	3702	0	0	0	0	0	0	10.45	10.83	10.78
2726	-2.06	-51.0	2109	2806	3718	3703	361.1	-12.1	327	2732	0.00	3.35	0.00	0.000	516	0.000	0.041	2108	1391	3710	3718	3702	0	0	0	0	0	0	11.27	10.86	11.27
2814	-2.06	-51.0	2109	1392	3718	3703	372.0	-12.1	344	2819	0.00	3.42	0.00	0.000	1030	0.000	0.054	2106	2802	3710	3718	3702	0	0	0	0	0	0	10.93	10.85	10.96
3130	-2.06	-51.0	2106	2802	3718	3703	410.3	-12.1	362	3131	0.00	0.00	0.00	0.000	6	0.000	0.000	2106	2802	3710	3718	3702	0	0	0	0	0	0	11.29	11.29	11.29
3430	-2.06	-51.0	2107	2802	3719	3702	445.5	-11.5	377	3436	0.00	3.33	0.00	0.000	516	0.000	0.041	2106	1393	3709	3718	3701	0	0	0	0	0	0	11.33	10.88	11.31
3463	-2.06	-51.0	2107	1393	3718	3702	449.2	-11.5	383	3468	0.00	3.42	0.00	0.000	1030	0.000	0.054	2102	2804	3709	3718	3701	0	0	0	0	0	0	10.95	10.86	10.98
3470	end dive: TARGET_DEPTH_EXCEEDED
state	3470	begin apogee
3480	-0.23	0.0	2103	2540	3719	3701	450.4	-10.8	385	3707	4.03	0.00	219.82	2.084	10246	0.311	0.000	2692	2541	3492	3499	3486	0	0	0	0	0	0	10.22	7.17	5.52
3707	end apogee: CONTROL_FINISHED_OK
state	3707	begin loiter
3997	-0.23	0.0	2692	2541	3497	3484	446.1	2.7	411	3998	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3489	3496	3483	0	0	0	0	0	0	11.05	11.06	11.06
4297	-0.23	0.0	2692	2542	3496	3484	438.0	2.6	426	4298	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2540	3489	3495	3483	0	0	0	0	0	0	11.16	11.15	11.16
4597	-0.23	0.0	2692	2541	3495	3483	429.9	2.7	441	4598	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3488	3495	3482	0	0	0	0	0	0	11.20	11.21	11.20
4897	-0.23	0.0	2693	2541	3495	3482	421.5	2.7	456	4898	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3488	3494	3482	0	0	0	0	0	0	11.23	11.22	11.23
5197	-0.23	0.0	2693	2541	3494	3482	413.8	2.4	471	5198	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3487	3493	3482	0	0	0	0	0	0	11.24	11.24	11.24
5497	-0.23	0.0	2691	2542	3494	3483	406.7	2.3	486	5498	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2540	3487	3493	3482	0	0	0	0	0	0	11.26	11.26	11.26
5797	-0.23	0.0	2693	2541	3494	3481	400.0	2.2	501	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2540	3487	3493	3481	0	0	0	0	0	0	11.26	11.26	11.27
6097	-0.23	0.0	2692	2542	3494	3483	394.2	1.8	516	6098	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2540	3487	3493	3482	0	0	0	0	0	0	11.27	11.27	11.27
6397	-0.23	0.0	2692	2541	3494	3483	388.1	2.0	531	6398	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2540	3487	3493	3481	0	0	0	0	0	0	11.28	11.28	11.28
6698	-0.23	0.0	2693	2541	3493	3482	382.3	1.9	546	6698	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3487	3493	3482	0	0	0	0	0	0	11.28	11.28	11.28
6997	-0.23	0.0	2692	2542	3493	3483	376.5	2.0	561	6998	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2541	3487	3493	3481	0	0	0	0	0	0	11.29	11.29	11.29
7293	end loiter: LOITER_COMPLETE
state	7293	begin climb
7297	2.06	51.0	2692	2542	3493	3483	370.4	0.0	576	7509	3.08	4.62	199.95	2.006	10500	0.095	0.079	3437	3903	3291	3305	3277	0	0	0	0	0	0	10.77	6.62	5.28
7738	2.06	51.0	3436	3903	3306	3271	306.3	17.6	664	7743	0.00	3.30	0.00	0.000	1030	0.000	0.047	3446	2548	3288	3305	3271	0	0	0	0	0	0	10.68	10.63	10.69
8050	2.06	51.0	3446	2549	3303	3272	254.7	17.0	696	8051	0.00	0.00	0.00	0.000	6	0.000	0.000	3446	2548	3287	3303	3271	0	0	0	0	0	0	11.01	11.02	11.02
8353	2.06	51.0	3447	2548	3303	3271	205.5	15.9	726	8358	0.00	3.47	0.00	0.000	516	0.000	0.057	3457	1138	3286	3302	3271	0	0	0	0	0	0	11.04	10.66	11.05
8390	2.06	51.0	3458	1140	3302	3272	199.2	15.5	733	8397	0.00	3.53	0.00	0.000	1030	0.000	0.060	3455	2555	3286	3302	3270	0	0	0	0	0	0	10.78	10.69	10.80
8695	2.06	51.0	3458	2556	3303	3270	149.5	16.9	764	8700	0.00	3.45	0.00	0.000	260	0.000	0.082	3457	3911	3285	3301	3270	0	0	0	0	0	0	11.12	10.64	11.12
8732	2.06	51.0	3458	3911	3303	3270	143.1	17.6	771	8739	0.25	3.28	0.00	0.000	5126	0.378	0.046	3440	2535	3285	3301	3270	0	0	0	0	0	0	10.22	10.76	10.58
9037	2.06	51.0	3441	2539	3302	3269	96.5	14.0	802	9038	0.00	0.00	0.00	0.000	6	0.000	0.000	3441	2539	3284	3300	3269	0	0	0	0	0	0	11.13	11.13	11.13
9341	2.06	51.0	3442	2539	3301	3268	54.2	15.3	832	9346	0.00	3.50	0.00	0.000	260	0.000	0.081	3434	3911	3284	3300	3268	0	0	0	0	0	0	11.11	10.67	11.11
9573	2.06	51.0	3435	3912	3301	3268	17.0	14.7	878	9578	0.00	3.25	0.00	0.000	1030	0.000	0.047	3444	2546	3284	3300	3268	0	0	0	0	0	0	10.88	10.83	10.90
9671	end climb: SURFACE_DEPTH_REACHED
state	9671	begin surface coast
9681	end surface coast: CONTROL_FINISHED_OK
state	9685	begin surface