Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 867 * 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 867 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 22 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 400 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 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 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 0 T_GPS 3 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 13 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 20 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 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 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 0 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 990 N_NOCOMM 0 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 13 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

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 350

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 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 390

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 120

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 5

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 -0.25119999

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 867 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 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 0 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 170119,001456,-7414.0781,-11228.2998,0,4116.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 390.62 MHEAD_RNG_PITCHd_Wd 196.1,913,-43.8,-9.429,-45.00,333

_SM_ANGLEo 5.0 D_GRID 990

GPS2 170119,001456,-7414.0781,-11228.2998,0,4116.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 398.51,-0.989,-2.176,2,4,0 _24V_AH 10.07,276.827

FINISH1 398.5,1.027501,-0 _10V_AH 10.43,0.000

FINISH2 394.0 FG_AHR_24Vo 0.000

RAFOS_CLK 397 FG_AHR_10Vo 0.000

RAFOS 0,1547694060,3.032355,3.016667,114,69,59,54,53,51,566,194,217,141,177,124 MEM 278872

RAFOS_FIX -7414.904785,-11229.052734,170119,030308,3,108,0.15 DATA_FILE_SIZE 33294,992

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 CAP_FILE_SIZE 107900,0

TT8_MAMPS 0.043442,0.267393 CFSIZE 1024409600,916307968

HUMID 50.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.93895 SOUNDSPEED 1456.2

TCM_TEMP 13.50 GPS 170119,031408,-7414.905,-11229.053,0,4108.3,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 345 49.16 nil 0 0 0.00

Roll_motor 95 97 93.09 nil 0 0 0.00

VBD_pump_during_apogee 231 2998 6984.51 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 9629 6 665.85

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 113.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7084 2 170.68

TT8_Active 344 10 39.01

TT8_Sampling 2007 30 635.40

TT8_CF8 301 51 161.31

TT8_Kalman 0 0 0.00

Analog_circuits 1047 10 110.34

GPS_charging 0 0 0.00

Compass 1418 6 99.75

RAFOS 720 1 11.26

Transponder 192 30 60.13

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

6 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -2.02 -20.4 2783 2803 3537 3533 0.0 0.0 0 12 0.00 0.00 -0.28 0.255 16390 0.000 0.000 2781 2803 3590 3590 3591 0 0 0 0 0 0 11.33 10.60 11.26

16 -2.02 -20.4 2782 2804 3594 3594 0.0 0.0 0 29 2.67 3.28 0.00 0.000 4612 0.110 0.043 2121 1379 3591 3595 3588 0 0 0 0 0 0 11.14 11.19 11.20

236 -2.03 -28.8 2122 1380 3601 3589 404.4 -6.8 43 243 0.00 3.38 -0.12 0.548 17446 0.000 0.052 2121 2816 3622 3628 3617 0 0 0 0 0 0 11.23 11.17 11.21

541 -2.03 -28.8 2122 2816 3633 3620 430.0 -8.4 74 546 0.00 3.30 0.00 0.000 516 0.000 0.040 2121 1378 3625 3631 3620 0 0 0 0 0 0 11.34 11.17 11.35

568 -2.03 -28.8 2121 1378 3632 3619 432.2 -8.5 79 574 0.00 3.35 0.00 0.000 1030 0.000 0.051 2114 2800 3626 3632 3620 0 0 0 0 0 0 11.24 11.17 11.25

873 -2.03 -28.8 2114 2800 3633 3620 457.9 -8.1 110 878 0.00 2.62 0.00 0.000 260 0.000 0.072 2109 3908 3626 3631 3621 0 0 0 0 0 0 11.35 11.15 11.35

998 -2.03 -28.8 2109 3909 3633 3621 468.4 -8.6 134 1003 0.00 2.53 0.00 0.000 1030 0.000 0.038 2109 2784 3626 3632 3621 0 0 0 0 0 0 11.24 11.19 11.25

1309 -2.03 -28.8 2108 2784 3633 3621 492.5 -7.5 166 1317 0.00 3.15 0.00 0.000 516 0.000 0.041 2109 1395 3626 3632 3620 0 0 0 0 0 0 11.35 11.17 11.35

1329 -2.03 -28.8 2106 1396 3633 3620 494.1 -7.6 169 1336 0.00 3.30 0.00 0.000 1030 0.000 0.050 2100 2802 3626 3631 3621 0 0 0 0 0 0 11.24 11.17 11.25

1634 -2.03 -28.8 2101 2802 3633 3620 517.3 -7.4 200 1635 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2802 3626 3632 3621 0 0 0 0 0 0 11.36 11.36 11.36

1934 -2.04 -35.8 2100 2802 3633 3621 539.7 -7.3 230 1935 0.00 0.00 0.00 0.000 38 0.000 0.000 2100 2802 3625 3631 3620 0 0 0 0 0 0 11.35 11.36 11.36

2234 -2.05 -43.4 2101 2803 3633 3620 560.9 -7.1 260 2235 0.00 0.00 0.00 0.000 38 0.000 0.000 2100 2802 3626 3631 3621 0 0 0 0 0 0 11.36 11.36 11.36

2534 -2.06 -52.5 2101 2802 3632 3620 581.4 -6.6 290 2535 0.00 0.00 0.00 0.000 38 0.000 0.000 2100 2802 3625 3631 3620 0 0 0 0 0 0 11.35 11.35 11.36

2834 -2.07 -63.5 2101 2803 3633 3619 600.4 -6.0 320 2839 0.00 3.25 0.00 0.000 548 0.000 0.039 2098 1390 3625 3631 3619 0 0 0 0 0 0 11.36 11.18 11.35

2901 -2.08 -74.7 2101 1390 3632 3619 604.4 -6.0 333 2908 0.00 3.33 0.00 0.000 1062 0.000 0.049 2089 2806 3624 3630 3619 0 0 0 0 0 0 11.24 11.18 11.25

3206 -2.10 -87.5 2090 2806 3633 3618 622.0 -5.5 364 3211 0.00 3.28 0.00 0.000 548 0.000 0.039 2090 1384 3624 3631 3618 0 0 0 0 0 0 11.36 11.18 11.36

3243 -2.12 -101.1 2091 1384 3633 3618 624.0 -5.2 371 3249 0.00 3.33 0.00 0.000 1062 0.000 0.048 2078 2808 3625 3632 3618 0 0 0 0 0 0 11.24 11.18 11.25

3548 -2.12 -107.1 2079 2808 3633 3618 640.0 -5.3 402 3553 0.00 2.60 0.00 0.000 292 0.000 0.070 2072 3909 3624 3631 3617 0 0 0 0 0 0 11.36 11.17 11.36

3599 -2.12 -107.1 2072 3909 3633 3617 642.9 -5.5 412 3604 0.00 2.50 0.00 0.000 1062 0.000 0.038 2071 2796 3624 3631 3617 0 0 0 0 0 0 11.25 11.21 11.26

3911 -2.12 -107.1 2072 2797 3632 3617 658.1 -4.7 444 3912 0.00 0.00 0.00 0.000 38 0.000 0.000 2071 2797 3624 3631 3617 0 0 0 0 0 0 11.36 11.36 11.36

4211 -2.12 -107.1 2072 2799 3633 3617 671.2 -4.1 474 4216 0.00 3.20 0.00 0.000 548 0.000 0.039 2070 1390 3624 3631 3617 0 0 0 0 0 0 11.36 11.19 11.36

4263 -2.12 -107.1 2071 1391 3632 3618 673.4 -4.2 484 4268 0.00 3.33 0.00 0.000 1062 0.000 0.050 2068 2809 3624 3631 3617 0 0 0 0 0 0 11.24 11.20 11.26

4575 -2.12 -107.1 2069 2809 3632 3617 685.8 -3.9 516 4580 0.00 3.28 0.00 0.000 548 0.000 0.039 2069 1384 3623 3631 3616 0 0 0 0 0 0 11.36 11.19 11.36

4657 -2.12 -107.1 2069 1384 3632 3617 688.7 -3.4 532 4662 0.20 3.33 0.00 0.000 3110 0.345 0.049 2087 2807 3623 3631 3616 0 0 0 0 0 0 11.04 11.17 11.21

4969 -2.12 -107.1 2088 2808 3631 3618 699.1 -3.5 564 4974 0.00 2.60 0.00 0.000 292 0.000 0.070 2079 3911 3623 3631 3616 0 0 0 0 0 0 11.36 11.17 11.36

5201 -2.12 -107.1 2080 3909 3633 3616 707.4 -3.8 610 5206 0.00 2.53 0.00 0.000 1062 0.000 0.039 2082 2789 3623 3631 3616 0 0 0 0 0 0 11.26 11.21 11.26

5572 -2.12 -107.1 2083 2789 3633 3616 719.6 -3.3 624 5578 0.00 3.20 0.00 0.000 548 0.000 0.040 2081 1389 3623 3631 3615 0 0 0 0 0 0 11.36 11.19 11.36

5635 -2.12 -107.1 2083 1389 3632 3617 721.5 -3.0 636 5640 0.00 3.33 0.00 0.000 1062 0.000 0.049 2072 2812 3623 3631 3616 0 0 0 0 0 0 11.25 11.19 11.26

6030 -2.12 -107.1 2072 2813 3632 3617 733.2 -2.9 654 6035 0.00 2.60 0.00 0.000 292 0.000 0.071 2065 3909 3625 3635 3615 0 0 0 0 0 0 11.36 11.17 11.36

6159 -2.12 -107.1 2065 3910 3632 3616 736.8 -2.7 679 6164 0.00 2.50 0.00 0.000 1062 0.000 0.039 2066 2798 3623 3632 3615 0 0 0 0 0 0 11.25 11.21 11.26

6546 -2.12 -107.1 2066 2798 3633 3616 746.3 -2.5 696 6551 0.00 2.65 0.00 0.000 292 0.000 0.070 2060 3915 3623 3632 3615 0 0 0 0 0 0 11.36 11.17 11.36

6778 -2.12 -107.1 2060 3915 3632 3614 752.0 -2.4 742 6783 0.20 2.53 0.00 0.000 3110 0.340 0.039 2086 2793 3623 3631 3615 0 0 0 0 0 0 11.02 11.21 11.22

7150 -2.12 -107.1 2086 2793 3634 3617 759.2 -1.9 756 7155 0.00 2.65 0.00 0.000 292 0.000 0.069 2078 3911 3623 3631 3615 0 0 0 0 0 0 11.36 11.17 11.36

7381 -2.12 -107.1 2078 3911 3632 3616 763.2 -2.1 802 7386 0.00 2.50 0.00 0.000 1062 0.000 0.039 2085 2796 3623 3631 3615 0 0 0 0 0 0 11.26 11.21 11.26

7753 -2.12 -107.1 2086 2797 3633 3616 767.7 -1.2 816 7758 0.00 2.65 0.00 0.000 292 0.000 0.069 2076 3913 3623 3631 3616 0 0 0 0 0 0 11.36 11.17 11.36

7985 -2.12 -107.1 2077 3911 3631 3616 770.2 -0.9 862 7990 0.00 2.53 0.00 0.000 1062 0.000 0.040 2082 2790 3623 3631 3615 0 0 0 0 0 0 11.26 11.21 11.26

8113 end dive: NO_VERTICAL_VELOCITY

state 8113 begin apogee

8121 -0.23 0.0 2083 2539 3632 3617 771.2 0.0 868 8185 3.72 0.00 58.45 2.998 10246 0.312 0.000 2695 2538 3492 3498 3487 0 0 0 0 0 0 11.05 11.03 10.07

8186 end apogee: CONTROL_FINISHED_OK

state 8186 begin climb

8190 2.12 107.1 2696 2537 3500 3488 770.5 0.0 870 8368 3.12 0.00 172.90 2.978 10246 0.097 0.000 3456 2538 3065 3084 3046 0 0 0 0 0 0 11.09 11.02 10.08

8717 2.12 107.1 3455 2539 3074 3037 638.6 29.2 902 8718 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2538 3056 3074 3038 0 0 0 0 0 0 11.31 11.31 11.31

9018 2.12 107.1 3457 2538 3073 3037 553.1 27.8 932 9019 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 2538 3054 3072 3036 0 0 0 0 0 0 11.31 11.32 11.32

9318 2.12 107.1 3457 2537 3073 3037 470.2 27.7 962 9319 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 2537 3054 3072 3037 0 0 0 0 0 0 11.32 11.33 11.33

9584 end climb: FINISH_DEPTH_REACHED

state 9584 begin subsurface finish

9592 -0.00 -0.0 3457 2538 3071 3037 398.5 26.4 989 9612 4.22 3.42 -7.35 0.024 20740 0.333 0.097 2779 3910 3517 3519 3515 0 0 0 0 1 0 11.02 10.58 11.19

9612 end subsurface finish: CONTROL_FINISHED_OK

state 9612 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	867	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	22	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	400	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	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	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	0	T_GPS	3	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	13	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	20	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	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	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	0	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	170119,001456,-7414.0781,-11228.2998,0,4116.3,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	390.62	MHEAD_RNG_PITCHd_Wd	196.1,913,-43.8,-9.429,-45.00,333
_SM_ANGLEo	5.0	D_GRID	990
GPS2	170119,001456,-7414.0781,-11228.2998,0,4116.3,0,53.5,0.0,0.0,0,0.0

FREEZE	398.51,-0.989,-2.176,2,4,0	_24V_AH	10.07,276.827
FINISH1	398.5,1.027501,-0	_10V_AH	10.43,0.000
FINISH2	394.0	FG_AHR_24Vo	0.000
RAFOS_CLK	397	FG_AHR_10Vo	0.000
RAFOS	0,1547694060,3.032355,3.016667,114,69,59,54,53,51,566,194,217,141,177,124	MEM	278872
RAFOS_FIX	-7414.904785,-11229.052734,170119,030308,3,108,0.15	DATA_FILE_SIZE	33294,992
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	CAP_FILE_SIZE	107900,0
TT8_MAMPS	0.043442,0.267393	CFSIZE	1024409600,916307968
HUMID	50.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.93895	SOUNDSPEED	1456.2
TCM_TEMP	13.50	GPS	170119,031408,-7414.905,-11229.053,0,4108.3,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	345	49.16	nil	0	0	0.00
Roll_motor	95	97	93.09	nil	0	0	0.00
VBD_pump_during_apogee	231	2998	6984.51	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	9629	6	665.85
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	113.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7084	2	170.68
TT8_Active	344	10	39.01
TT8_Sampling	2007	30	635.40
TT8_CF8	301	51	161.31
TT8_Kalman	0	0	0.00
Analog_circuits	1047	10	110.34
GPS_charging	0	0	0.00
Compass	1418	6	99.75
RAFOS	720	1	11.26
Transponder	192	30	60.13

		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
6	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-2.02	-20.4	2783	2803	3537	3533	0.0	0.0	0	12	0.00	0.00	-0.28	0.255	16390	0.000	0.000	2781	2803	3590	3590	3591	0	0	0	0	0	0	11.33	10.60	11.26
16	-2.02	-20.4	2782	2804	3594	3594	0.0	0.0	0	29	2.67	3.28	0.00	0.000	4612	0.110	0.043	2121	1379	3591	3595	3588	0	0	0	0	0	0	11.14	11.19	11.20
236	-2.03	-28.8	2122	1380	3601	3589	404.4	-6.8	43	243	0.00	3.38	-0.12	0.548	17446	0.000	0.052	2121	2816	3622	3628	3617	0	0	0	0	0	0	11.23	11.17	11.21
541	-2.03	-28.8	2122	2816	3633	3620	430.0	-8.4	74	546	0.00	3.30	0.00	0.000	516	0.000	0.040	2121	1378	3625	3631	3620	0	0	0	0	0	0	11.34	11.17	11.35
568	-2.03	-28.8	2121	1378	3632	3619	432.2	-8.5	79	574	0.00	3.35	0.00	0.000	1030	0.000	0.051	2114	2800	3626	3632	3620	0	0	0	0	0	0	11.24	11.17	11.25
873	-2.03	-28.8	2114	2800	3633	3620	457.9	-8.1	110	878	0.00	2.62	0.00	0.000	260	0.000	0.072	2109	3908	3626	3631	3621	0	0	0	0	0	0	11.35	11.15	11.35
998	-2.03	-28.8	2109	3909	3633	3621	468.4	-8.6	134	1003	0.00	2.53	0.00	0.000	1030	0.000	0.038	2109	2784	3626	3632	3621	0	0	0	0	0	0	11.24	11.19	11.25
1309	-2.03	-28.8	2108	2784	3633	3621	492.5	-7.5	166	1317	0.00	3.15	0.00	0.000	516	0.000	0.041	2109	1395	3626	3632	3620	0	0	0	0	0	0	11.35	11.17	11.35
1329	-2.03	-28.8	2106	1396	3633	3620	494.1	-7.6	169	1336	0.00	3.30	0.00	0.000	1030	0.000	0.050	2100	2802	3626	3631	3621	0	0	0	0	0	0	11.24	11.17	11.25
1634	-2.03	-28.8	2101	2802	3633	3620	517.3	-7.4	200	1635	0.00	0.00	0.00	0.000	6	0.000	0.000	2100	2802	3626	3632	3621	0	0	0	0	0	0	11.36	11.36	11.36
1934	-2.04	-35.8	2100	2802	3633	3621	539.7	-7.3	230	1935	0.00	0.00	0.00	0.000	38	0.000	0.000	2100	2802	3625	3631	3620	0	0	0	0	0	0	11.35	11.36	11.36
2234	-2.05	-43.4	2101	2803	3633	3620	560.9	-7.1	260	2235	0.00	0.00	0.00	0.000	38	0.000	0.000	2100	2802	3626	3631	3621	0	0	0	0	0	0	11.36	11.36	11.36
2534	-2.06	-52.5	2101	2802	3632	3620	581.4	-6.6	290	2535	0.00	0.00	0.00	0.000	38	0.000	0.000	2100	2802	3625	3631	3620	0	0	0	0	0	0	11.35	11.35	11.36
2834	-2.07	-63.5	2101	2803	3633	3619	600.4	-6.0	320	2839	0.00	3.25	0.00	0.000	548	0.000	0.039	2098	1390	3625	3631	3619	0	0	0	0	0	0	11.36	11.18	11.35
2901	-2.08	-74.7	2101	1390	3632	3619	604.4	-6.0	333	2908	0.00	3.33	0.00	0.000	1062	0.000	0.049	2089	2806	3624	3630	3619	0	0	0	0	0	0	11.24	11.18	11.25
3206	-2.10	-87.5	2090	2806	3633	3618	622.0	-5.5	364	3211	0.00	3.28	0.00	0.000	548	0.000	0.039	2090	1384	3624	3631	3618	0	0	0	0	0	0	11.36	11.18	11.36
3243	-2.12	-101.1	2091	1384	3633	3618	624.0	-5.2	371	3249	0.00	3.33	0.00	0.000	1062	0.000	0.048	2078	2808	3625	3632	3618	0	0	0	0	0	0	11.24	11.18	11.25
3548	-2.12	-107.1	2079	2808	3633	3618	640.0	-5.3	402	3553	0.00	2.60	0.00	0.000	292	0.000	0.070	2072	3909	3624	3631	3617	0	0	0	0	0	0	11.36	11.17	11.36
3599	-2.12	-107.1	2072	3909	3633	3617	642.9	-5.5	412	3604	0.00	2.50	0.00	0.000	1062	0.000	0.038	2071	2796	3624	3631	3617	0	0	0	0	0	0	11.25	11.21	11.26
3911	-2.12	-107.1	2072	2797	3632	3617	658.1	-4.7	444	3912	0.00	0.00	0.00	0.000	38	0.000	0.000	2071	2797	3624	3631	3617	0	0	0	0	0	0	11.36	11.36	11.36
4211	-2.12	-107.1	2072	2799	3633	3617	671.2	-4.1	474	4216	0.00	3.20	0.00	0.000	548	0.000	0.039	2070	1390	3624	3631	3617	0	0	0	0	0	0	11.36	11.19	11.36
4263	-2.12	-107.1	2071	1391	3632	3618	673.4	-4.2	484	4268	0.00	3.33	0.00	0.000	1062	0.000	0.050	2068	2809	3624	3631	3617	0	0	0	0	0	0	11.24	11.20	11.26
4575	-2.12	-107.1	2069	2809	3632	3617	685.8	-3.9	516	4580	0.00	3.28	0.00	0.000	548	0.000	0.039	2069	1384	3623	3631	3616	0	0	0	0	0	0	11.36	11.19	11.36
4657	-2.12	-107.1	2069	1384	3632	3617	688.7	-3.4	532	4662	0.20	3.33	0.00	0.000	3110	0.345	0.049	2087	2807	3623	3631	3616	0	0	0	0	0	0	11.04	11.17	11.21
4969	-2.12	-107.1	2088	2808	3631	3618	699.1	-3.5	564	4974	0.00	2.60	0.00	0.000	292	0.000	0.070	2079	3911	3623	3631	3616	0	0	0	0	0	0	11.36	11.17	11.36
5201	-2.12	-107.1	2080	3909	3633	3616	707.4	-3.8	610	5206	0.00	2.53	0.00	0.000	1062	0.000	0.039	2082	2789	3623	3631	3616	0	0	0	0	0	0	11.26	11.21	11.26
5572	-2.12	-107.1	2083	2789	3633	3616	719.6	-3.3	624	5578	0.00	3.20	0.00	0.000	548	0.000	0.040	2081	1389	3623	3631	3615	0	0	0	0	0	0	11.36	11.19	11.36
5635	-2.12	-107.1	2083	1389	3632	3617	721.5	-3.0	636	5640	0.00	3.33	0.00	0.000	1062	0.000	0.049	2072	2812	3623	3631	3616	0	0	0	0	0	0	11.25	11.19	11.26
6030	-2.12	-107.1	2072	2813	3632	3617	733.2	-2.9	654	6035	0.00	2.60	0.00	0.000	292	0.000	0.071	2065	3909	3625	3635	3615	0	0	0	0	0	0	11.36	11.17	11.36
6159	-2.12	-107.1	2065	3910	3632	3616	736.8	-2.7	679	6164	0.00	2.50	0.00	0.000	1062	0.000	0.039	2066	2798	3623	3632	3615	0	0	0	0	0	0	11.25	11.21	11.26
6546	-2.12	-107.1	2066	2798	3633	3616	746.3	-2.5	696	6551	0.00	2.65	0.00	0.000	292	0.000	0.070	2060	3915	3623	3632	3615	0	0	0	0	0	0	11.36	11.17	11.36
6778	-2.12	-107.1	2060	3915	3632	3614	752.0	-2.4	742	6783	0.20	2.53	0.00	0.000	3110	0.340	0.039	2086	2793	3623	3631	3615	0	0	0	0	0	0	11.02	11.21	11.22
7150	-2.12	-107.1	2086	2793	3634	3617	759.2	-1.9	756	7155	0.00	2.65	0.00	0.000	292	0.000	0.069	2078	3911	3623	3631	3615	0	0	0	0	0	0	11.36	11.17	11.36
7381	-2.12	-107.1	2078	3911	3632	3616	763.2	-2.1	802	7386	0.00	2.50	0.00	0.000	1062	0.000	0.039	2085	2796	3623	3631	3615	0	0	0	0	0	0	11.26	11.21	11.26
7753	-2.12	-107.1	2086	2797	3633	3616	767.7	-1.2	816	7758	0.00	2.65	0.00	0.000	292	0.000	0.069	2076	3913	3623	3631	3616	0	0	0	0	0	0	11.36	11.17	11.36
7985	-2.12	-107.1	2077	3911	3631	3616	770.2	-0.9	862	7990	0.00	2.53	0.00	0.000	1062	0.000	0.040	2082	2790	3623	3631	3615	0	0	0	0	0	0	11.26	11.21	11.26
8113	end dive: NO_VERTICAL_VELOCITY
state	8113	begin apogee
8121	-0.23	0.0	2083	2539	3632	3617	771.2	0.0	868	8185	3.72	0.00	58.45	2.998	10246	0.312	0.000	2695	2538	3492	3498	3487	0	0	0	0	0	0	11.05	11.03	10.07
8186	end apogee: CONTROL_FINISHED_OK
state	8186	begin climb
8190	2.12	107.1	2696	2537	3500	3488	770.5	0.0	870	8368	3.12	0.00	172.90	2.978	10246	0.097	0.000	3456	2538	3065	3084	3046	0	0	0	0	0	0	11.09	11.02	10.08
8717	2.12	107.1	3455	2539	3074	3037	638.6	29.2	902	8718	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2538	3056	3074	3038	0	0	0	0	0	0	11.31	11.31	11.31
9018	2.12	107.1	3457	2538	3073	3037	553.1	27.8	932	9019	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	2538	3054	3072	3036	0	0	0	0	0	0	11.31	11.32	11.32
9318	2.12	107.1	3457	2537	3073	3037	470.2	27.7	962	9319	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	2537	3054	3072	3037	0	0	0	0	0	0	11.32	11.33	11.33
9584	end climb: FINISH_DEPTH_REACHED
state	9584	begin subsurface finish
9592	-0.00	-0.0	3457	2538	3071	3037	398.5	26.4	989	9612	4.22	3.42	-7.35	0.024	20740	0.333	0.097	2779	3910	3517	3519	3515	0	0	0	0	1	0	11.02	10.58	11.19
9612	end subsurface finish: CONTROL_FINISHED_OK
state	9612	begin surface