Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 956 * 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 956 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING 270 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 37 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 18 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 215 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 900 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 5.8000002 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 5.8000002 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 270 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 900

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 215

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 956 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 5.8000002 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 5.8000002 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 080219,004747,-7345.1196,-11704.5469,1,0.8,3,55.6,0.3,125.6,12,9.9 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG -7345.116,-11743.235

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.51 MHEAD_RNG_PITCHd_Wd 208.4,20000,-20.3,-10.000,-22.30,1639

_SM_ANGLEo -63.4 D_GRID 450

GPS2 080219,005154,-7345.1162,-11704.6387,2,0.8,4,55.6,0.5,272.9,12,9.0

Post-dive calculations and measurements:

FREEZE 0.47,0.677,-1.863,2,1,0 _24V_AH 5.92,318.025

FINISH 0.5,1.027221 _10V_AH 6.13,0.000

SM_CCo 9873,271.45,0.190,0,0,1900,399.91 FG_AHR_24Vo 0.000

SM_GC 0.52,11.93,0.68,271.45,0.068,0.080,0.190,199,2802,1900,-8.03,-0.37,399.91,0,0,0,0,0,0,10.73,10.84,10.36 FG_AHR_10Vo 0.000

RAFOS_CLK 419 MEM 281028

RAFOS 0,1549594861,3.032355,3.016944,65,57,53,53,52,47,171,157,188,210,119,1290 DATA_FILE_SIZE 33402,945

RAFOS_FIX -7345.264160,-11703.338867,080219,030327,0,1,0.07 CAP_FILE_SIZE 111592,0

IRIDIUM_FIX -7347.42,-11637.35,080219,002941 CFSIZE 1024409600,904871936

TT8_MAMPS 0.045689,0.562499 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.35 SOUNDSPEED 1445.7

INTERNAL_PRESSURE 7.78269 CURRENT 0.096,272.79,1

TCM_TEMP 13.20 GPS 080219,034238,-7345.238,-11710.329,25,1.1,25,55.7,0.3,0.0,9,10.0

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 38 429 96.61 nil 0 0 0.00

Roll_motor 100 86 51.67 nil 0 0 0.00

VBD_pump_during_apogee 696 2217 9147.62 nil 0 0 0.00

VBD_pump_during_surface 271 190 306.11 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 8944 5 278.88

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 6.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.35

TT8 0 0 0.00

LPSleep 7038 2 99.67

TT8_Active 1096 10 73.05

TT8_Sampling 1816 30 338.03

TT8_CF8 272 51 85.83

TT8_Kalman 0 0 0.00

Analog_circuits 1859 10 115.14

GPS_charging 0 0 0.00

Compass 1352 6 55.87

RAFOS 720 1 6.62

Transponder 0 5 0.02

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -1.05 -107.1 194 2817 1936 1815 0.0 0.0 0 142 0.00 0.00 -126.62 0.002 16390 0.000 0.000 193 2817 3922 3940 3905 0 0 0 0 0 0 11.17 9.80 11.17

147 -1.05 -107.1 193 2818 3943 3908 2.1 -2.4 13 177 22.65 2.75 0.00 0.000 2340 0.429 0.080 2420 3911 3934 3945 3924 0 0 0 0 0 0 10.19 10.59 10.52

183 -1.05 -107.1 2421 3912 3946 3926 10.7 -23.6 19 188 0.00 2.58 0.00 0.000 1030 0.000 0.043 2420 2801 3936 3945 3927 0 0 0 0 0 0 10.94 10.84 10.96

495 -1.05 -107.1 2420 2802 3946 3935 42.1 -9.9 51 500 0.00 3.30 0.00 0.000 516 0.000 0.046 2420 1392 3939 3945 3934 0 0 0 0 0 0 11.23 10.94 11.23

567 -1.05 -107.1 2421 1392 3946 3934 49.2 -9.8 65 573 0.00 3.42 0.00 0.000 1030 0.000 0.062 2420 2798 3938 3945 3931 0 0 0 0 0 0 10.98 10.89 11.00

879 -1.05 -107.1 2420 2798 3946 3939 79.5 -10.0 97 885 0.00 2.75 0.00 0.000 260 0.000 0.083 2420 3912 3941 3944 3939 0 0 0 0 0 0 11.23 10.85 11.22

937 -1.05 -107.1 2420 3912 3946 3939 85.6 -10.9 108 943 0.00 2.58 0.00 0.000 1030 0.000 0.043 2419 2792 3942 3945 3939 0 0 0 0 0 0 11.03 10.98 11.05

1242 -1.05 -107.1 2420 2793 3946 3947 116.1 -9.8 139 1247 0.00 3.30 0.00 0.000 516 0.000 0.046 2420 1391 3942 3945 3940 0 0 0 0 0 0 11.20 10.87 11.20

1304 -1.05 -107.1 2420 1392 3946 3940 122.2 -9.9 151 1309 0.00 3.45 0.00 0.000 1030 0.000 0.060 2419 2803 3942 3945 3940 0 0 0 0 0 0 10.99 10.90 11.01

1616 -1.05 -107.1 2420 2804 3946 3942 153.2 -9.9 183 1617 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2803 3943 3945 3941 0 0 0 0 0 0 11.24 11.24 11.26

1920 -1.05 -107.1 2420 2804 3946 3942 182.1 -9.6 213 1926 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2803 3943 3945 3941 0 0 0 0 0 0 11.22 11.22 11.22

2230 -1.05 -107.1 2419 2804 3946 3942 212.0 -9.5 244 2235 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2803 3943 3945 3942 0 0 0 0 0 0 11.22 11.22 11.22

2540 -1.05 -107.1 2420 2803 3946 3942 240.7 -9.2 275 2545 0.00 3.33 0.00 0.000 516 0.000 0.045 2419 1391 3943 3945 3941 0 0 0 0 0 0 11.22 10.92 11.21

2602 -1.05 -107.1 2420 1391 3946 3942 246.7 -9.1 287 2607 0.00 3.45 0.00 0.000 1030 0.000 0.061 2420 2804 3943 3945 3942 0 0 0 0 0 0 10.94 10.86 10.97

2914 -1.05 -107.1 2420 2804 3946 3942 274.9 -9.0 319 2919 0.00 3.35 0.00 0.000 516 0.000 0.045 2419 1387 3943 3945 3942 0 0 0 0 0 0 11.25 10.91 11.25

2950 -1.05 -107.1 2420 1388 3946 3943 278.4 -9.3 326 2957 0.00 3.47 0.00 0.000 1030 0.000 0.060 2419 2813 3943 3945 3941 0 0 0 0 0 0 10.99 10.90 11.02

3266 -1.05 -107.1 2420 2813 3946 3943 307.6 -9.4 354 3271 0.00 3.38 0.00 0.000 516 0.000 0.047 2419 1388 3943 3945 3942 0 0 0 0 0 0 11.25 10.93 11.25

3322 -1.05 -107.1 2420 1389 3946 3943 313.0 -9.4 365 3330 0.00 3.47 0.00 0.000 1030 0.000 0.061 2419 2810 3942 3944 3941 0 0 0 0 0 0 10.99 10.90 11.01

3628 -1.05 -107.1 2420 2811 3953 3943 340.5 -8.8 381 3628 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2810 3943 3945 3942 0 0 0 0 0 0 11.25 11.25 11.25

3927 -1.05 -107.1 2420 2810 3945 3941 366.5 -8.8 396 3933 0.00 3.35 0.00 0.000 516 0.000 0.047 2419 1391 3943 3945 3941 0 0 0 0 0 0 11.25 10.93 11.25

4014 -1.05 -107.1 2420 1391 3946 3941 374.2 -8.9 413 4020 0.00 3.45 0.00 0.000 1030 0.000 0.061 2420 2801 3943 3945 3941 0 0 0 0 0 0 11.00 10.90 11.02

4332 -1.05 -107.1 2420 2801 3946 3940 402.7 -8.9 431 4337 0.00 3.33 0.00 0.000 516 0.000 0.045 2419 1393 3942 3945 3940 0 0 0 0 0 0 11.23 10.92 11.23

4364 -1.05 -107.1 2420 1393 3946 3940 405.6 -8.9 437 4370 0.00 3.45 0.00 0.000 1030 0.000 0.061 2419 2804 3942 3944 3940 0 0 0 0 0 0 11.00 10.90 11.02

4677 -1.05 -107.1 2420 2804 3946 3939 433.4 -9.1 454 4678 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2804 3942 3945 3939 0 0 0 0 0 0 11.23 11.24 11.23

4873 end dive: TARGET_DEPTH_EXCEEDED

state 4873 begin apogee

4882 -0.23 0.0 2420 2547 3946 3939 451.8 -9.4 464 5243 1.45 0.00 356.80 2.218 10246 0.205 0.000 2697 2547 3492 3500 3484 0 0 0 0 0 0 10.66 7.86 6.29

5244 end apogee: CONTROL_FINISHED_OK

state 5244 begin loiter

5537 -0.23 0.0 2698 2548 3496 3482 454.1 2.2 497 5537 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2547 3488 3496 3481 0 0 0 0 0 0 11.05 11.05 11.05

5837 -0.23 0.0 2698 2547 3496 3480 448.6 1.8 512 5838 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2547 3487 3495 3480 0 0 0 0 0 0 11.15 11.15 11.15

6133 end loiter: LOITER_COMPLETE

state 6133 begin climb

6137 1.05 107.1 2698 2548 3494 3480 443.1 0.0 527 6492 1.75 4.28 339.95 2.081 11012 0.101 0.054 3122 1144 3068 3081 3055 0 0 0 0 0 0 10.71 7.08 5.92

6695 1.05 107.1 3122 1144 3077 3049 392.2 11.7 635 6700 0.00 3.60 0.00 0.000 1030 0.000 0.058 3122 2560 3065 3081 3049 0 0 0 0 0 0 10.55 10.47 10.58

7017 1.05 107.1 3123 2560 3076 3049 352.3 12.4 654 7022 0.00 3.47 0.00 0.000 260 0.000 0.086 3122 3909 3062 3075 3049 0 0 0 0 0 0 11.00 10.58 11.00

7068 1.05 107.1 3122 3910 3076 3050 345.2 14.2 664 7075 0.00 3.25 0.00 0.000 1030 0.000 0.044 3132 2543 3062 3075 3049 0 0 0 0 0 0 10.81 10.75 10.82

7382 1.05 107.1 3133 2544 3075 3050 304.2 13.3 681 7383 0.00 0.00 0.00 0.000 6 0.000 0.000 3132 2543 3062 3075 3049 0 0 0 0 0 0 11.06 11.06 11.06

7685 1.05 107.1 3133 2543 3076 3049 264.0 13.2 709 7690 0.00 3.53 0.00 0.000 260 0.000 0.086 3132 3916 3061 3074 3049 0 0 0 0 0 0 11.06 10.66 11.06

7742 1.05 107.1 3133 3916 3076 3049 255.0 15.2 720 7749 0.00 3.25 0.00 0.000 1030 0.000 0.044 3143 2542 3062 3075 3049 0 0 0 0 0 0 10.88 10.83 10.88

8047 1.05 107.1 3143 2540 3076 3049 213.0 13.6 751 8048 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2543 3061 3074 3049 0 0 0 0 0 0 11.12 11.12 11.13

8347 1.05 107.1 3144 2543 3076 3049 173.0 13.0 781 8348 0.00 0.00 0.00 0.000 6 0.000 0.000 3143 2542 3061 3074 3049 0 0 0 0 0 0 11.14 11.14 11.14

8651 1.05 107.1 3143 2543 3075 3051 135.7 11.8 811 8656 0.00 3.50 0.00 0.000 260 0.000 0.086 3143 3909 3061 3074 3049 0 0 0 0 0 0 11.11 10.70 11.11

8677 1.05 107.1 3144 3909 3076 3049 131.8 13.1 816 8685 0.25 3.22 0.00 0.000 5126 0.289 0.044 3118 2543 3061 3074 3049 0 0 0 0 0 0 10.48 10.86 10.74

8982 1.05 107.1 3118 2543 3076 3049 100.4 10.4 847 8988 0.00 3.50 0.00 0.000 260 0.000 0.085 3117 3916 3061 3074 3049 0 0 0 0 0 0 11.14 10.71 11.14

8999 1.05 107.1 3118 3916 3075 3049 98.5 10.8 850 9005 0.00 3.22 0.00 0.000 1030 0.000 0.044 3127 2547 3062 3076 3049 0 0 0 0 0 0 10.93 10.86 10.94

9304 1.05 107.1 3128 2547 3074 3049 64.7 11.3 881 9310 0.00 3.50 0.00 0.000 260 0.000 0.085 3127 3915 3060 3073 3048 0 0 0 0 0 0 11.11 10.69 11.11

9401 1.05 107.1 3128 3916 3075 3049 52.8 11.8 900 9408 0.00 3.22 0.00 0.000 1030 0.000 0.044 3138 2550 3061 3074 3049 0 0 0 0 0 0 10.93 10.88 10.95

9706 1.05 107.1 3139 2546 3073 3047 17.5 12.1 931 9707 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2546 3059 3072 3047 0 0 0 0 0 0 11.17 11.17 11.17

9832 end climb: SURFACE_DEPTH_REACHED

state 9832 begin surface coast

9843 end surface coast: CONTROL_FINISHED_OK

state 9843 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	956	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	270	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	37	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	18	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	215	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	900	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	5.8000002	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	5.8000002	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	080219,004747,-7345.1196,-11704.5469,1,0.8,3,55.6,0.3,125.6,12,9.9	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	-7345.116,-11743.235
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.51	MHEAD_RNG_PITCHd_Wd	208.4,20000,-20.3,-10.000,-22.30,1639
_SM_ANGLEo	-63.4	D_GRID	450
GPS2	080219,005154,-7345.1162,-11704.6387,2,0.8,4,55.6,0.5,272.9,12,9.0

FREEZE	0.47,0.677,-1.863,2,1,0	_24V_AH	5.92,318.025
FINISH	0.5,1.027221	_10V_AH	6.13,0.000
SM_CCo	9873,271.45,0.190,0,0,1900,399.91	FG_AHR_24Vo	0.000
SM_GC	0.52,11.93,0.68,271.45,0.068,0.080,0.190,199,2802,1900,-8.03,-0.37,399.91,0,0,0,0,0,0,10.73,10.84,10.36	FG_AHR_10Vo	0.000
RAFOS_CLK	419	MEM	281028
RAFOS	0,1549594861,3.032355,3.016944,65,57,53,53,52,47,171,157,188,210,119,1290	DATA_FILE_SIZE	33402,945
RAFOS_FIX	-7345.264160,-11703.338867,080219,030327,0,1,0.07	CAP_FILE_SIZE	111592,0
IRIDIUM_FIX	-7347.42,-11637.35,080219,002941	CFSIZE	1024409600,904871936
TT8_MAMPS	0.045689,0.562499	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.35	SOUNDSPEED	1445.7
INTERNAL_PRESSURE	7.78269	CURRENT	0.096,272.79,1
TCM_TEMP	13.20	GPS	080219,034238,-7345.238,-11710.329,25,1.1,25,55.7,0.3,0.0,9,10.0
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	38	429	96.61	nil	0	0	0.00
Roll_motor	100	86	51.67	nil	0	0	0.00
VBD_pump_during_apogee	696	2217	9147.62	nil	0	0	0.00
VBD_pump_during_surface	271	190	306.11	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	8944	5	278.88
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	6.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.35
TT8	0	0	0.00
LPSleep	7038	2	99.67
TT8_Active	1096	10	73.05
TT8_Sampling	1816	30	338.03
TT8_CF8	272	51	85.83
TT8_Kalman	0	0	0.00
Analog_circuits	1859	10	115.14
GPS_charging	0	0	0.00
Compass	1352	6	55.87
RAFOS	720	1	6.62
Transponder	0	5	0.02

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-1.05	-107.1	194	2817	1936	1815	0.0	0.0	0	142	0.00	0.00	-126.62	0.002	16390	0.000	0.000	193	2817	3922	3940	3905	0	0	0	0	0	0	11.17	9.80	11.17
147	-1.05	-107.1	193	2818	3943	3908	2.1	-2.4	13	177	22.65	2.75	0.00	0.000	2340	0.429	0.080	2420	3911	3934	3945	3924	0	0	0	0	0	0	10.19	10.59	10.52
183	-1.05	-107.1	2421	3912	3946	3926	10.7	-23.6	19	188	0.00	2.58	0.00	0.000	1030	0.000	0.043	2420	2801	3936	3945	3927	0	0	0	0	0	0	10.94	10.84	10.96
495	-1.05	-107.1	2420	2802	3946	3935	42.1	-9.9	51	500	0.00	3.30	0.00	0.000	516	0.000	0.046	2420	1392	3939	3945	3934	0	0	0	0	0	0	11.23	10.94	11.23
567	-1.05	-107.1	2421	1392	3946	3934	49.2	-9.8	65	573	0.00	3.42	0.00	0.000	1030	0.000	0.062	2420	2798	3938	3945	3931	0	0	0	0	0	0	10.98	10.89	11.00
879	-1.05	-107.1	2420	2798	3946	3939	79.5	-10.0	97	885	0.00	2.75	0.00	0.000	260	0.000	0.083	2420	3912	3941	3944	3939	0	0	0	0	0	0	11.23	10.85	11.22
937	-1.05	-107.1	2420	3912	3946	3939	85.6	-10.9	108	943	0.00	2.58	0.00	0.000	1030	0.000	0.043	2419	2792	3942	3945	3939	0	0	0	0	0	0	11.03	10.98	11.05
1242	-1.05	-107.1	2420	2793	3946	3947	116.1	-9.8	139	1247	0.00	3.30	0.00	0.000	516	0.000	0.046	2420	1391	3942	3945	3940	0	0	0	0	0	0	11.20	10.87	11.20
1304	-1.05	-107.1	2420	1392	3946	3940	122.2	-9.9	151	1309	0.00	3.45	0.00	0.000	1030	0.000	0.060	2419	2803	3942	3945	3940	0	0	0	0	0	0	10.99	10.90	11.01
1616	-1.05	-107.1	2420	2804	3946	3942	153.2	-9.9	183	1617	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2803	3943	3945	3941	0	0	0	0	0	0	11.24	11.24	11.26
1920	-1.05	-107.1	2420	2804	3946	3942	182.1	-9.6	213	1926	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2803	3943	3945	3941	0	0	0	0	0	0	11.22	11.22	11.22
2230	-1.05	-107.1	2419	2804	3946	3942	212.0	-9.5	244	2235	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2803	3943	3945	3942	0	0	0	0	0	0	11.22	11.22	11.22
2540	-1.05	-107.1	2420	2803	3946	3942	240.7	-9.2	275	2545	0.00	3.33	0.00	0.000	516	0.000	0.045	2419	1391	3943	3945	3941	0	0	0	0	0	0	11.22	10.92	11.21
2602	-1.05	-107.1	2420	1391	3946	3942	246.7	-9.1	287	2607	0.00	3.45	0.00	0.000	1030	0.000	0.061	2420	2804	3943	3945	3942	0	0	0	0	0	0	10.94	10.86	10.97
2914	-1.05	-107.1	2420	2804	3946	3942	274.9	-9.0	319	2919	0.00	3.35	0.00	0.000	516	0.000	0.045	2419	1387	3943	3945	3942	0	0	0	0	0	0	11.25	10.91	11.25
2950	-1.05	-107.1	2420	1388	3946	3943	278.4	-9.3	326	2957	0.00	3.47	0.00	0.000	1030	0.000	0.060	2419	2813	3943	3945	3941	0	0	0	0	0	0	10.99	10.90	11.02
3266	-1.05	-107.1	2420	2813	3946	3943	307.6	-9.4	354	3271	0.00	3.38	0.00	0.000	516	0.000	0.047	2419	1388	3943	3945	3942	0	0	0	0	0	0	11.25	10.93	11.25
3322	-1.05	-107.1	2420	1389	3946	3943	313.0	-9.4	365	3330	0.00	3.47	0.00	0.000	1030	0.000	0.061	2419	2810	3942	3944	3941	0	0	0	0	0	0	10.99	10.90	11.01
3628	-1.05	-107.1	2420	2811	3953	3943	340.5	-8.8	381	3628	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2810	3943	3945	3942	0	0	0	0	0	0	11.25	11.25	11.25
3927	-1.05	-107.1	2420	2810	3945	3941	366.5	-8.8	396	3933	0.00	3.35	0.00	0.000	516	0.000	0.047	2419	1391	3943	3945	3941	0	0	0	0	0	0	11.25	10.93	11.25
4014	-1.05	-107.1	2420	1391	3946	3941	374.2	-8.9	413	4020	0.00	3.45	0.00	0.000	1030	0.000	0.061	2420	2801	3943	3945	3941	0	0	0	0	0	0	11.00	10.90	11.02
4332	-1.05	-107.1	2420	2801	3946	3940	402.7	-8.9	431	4337	0.00	3.33	0.00	0.000	516	0.000	0.045	2419	1393	3942	3945	3940	0	0	0	0	0	0	11.23	10.92	11.23
4364	-1.05	-107.1	2420	1393	3946	3940	405.6	-8.9	437	4370	0.00	3.45	0.00	0.000	1030	0.000	0.061	2419	2804	3942	3944	3940	0	0	0	0	0	0	11.00	10.90	11.02
4677	-1.05	-107.1	2420	2804	3946	3939	433.4	-9.1	454	4678	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2804	3942	3945	3939	0	0	0	0	0	0	11.23	11.24	11.23
4873	end dive: TARGET_DEPTH_EXCEEDED
state	4873	begin apogee
4882	-0.23	0.0	2420	2547	3946	3939	451.8	-9.4	464	5243	1.45	0.00	356.80	2.218	10246	0.205	0.000	2697	2547	3492	3500	3484	0	0	0	0	0	0	10.66	7.86	6.29
5244	end apogee: CONTROL_FINISHED_OK
state	5244	begin loiter
5537	-0.23	0.0	2698	2548	3496	3482	454.1	2.2	497	5537	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2547	3488	3496	3481	0	0	0	0	0	0	11.05	11.05	11.05
5837	-0.23	0.0	2698	2547	3496	3480	448.6	1.8	512	5838	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2547	3487	3495	3480	0	0	0	0	0	0	11.15	11.15	11.15
6133	end loiter: LOITER_COMPLETE
state	6133	begin climb
6137	1.05	107.1	2698	2548	3494	3480	443.1	0.0	527	6492	1.75	4.28	339.95	2.081	11012	0.101	0.054	3122	1144	3068	3081	3055	0	0	0	0	0	0	10.71	7.08	5.92
6695	1.05	107.1	3122	1144	3077	3049	392.2	11.7	635	6700	0.00	3.60	0.00	0.000	1030	0.000	0.058	3122	2560	3065	3081	3049	0	0	0	0	0	0	10.55	10.47	10.58
7017	1.05	107.1	3123	2560	3076	3049	352.3	12.4	654	7022	0.00	3.47	0.00	0.000	260	0.000	0.086	3122	3909	3062	3075	3049	0	0	0	0	0	0	11.00	10.58	11.00
7068	1.05	107.1	3122	3910	3076	3050	345.2	14.2	664	7075	0.00	3.25	0.00	0.000	1030	0.000	0.044	3132	2543	3062	3075	3049	0	0	0	0	0	0	10.81	10.75	10.82
7382	1.05	107.1	3133	2544	3075	3050	304.2	13.3	681	7383	0.00	0.00	0.00	0.000	6	0.000	0.000	3132	2543	3062	3075	3049	0	0	0	0	0	0	11.06	11.06	11.06
7685	1.05	107.1	3133	2543	3076	3049	264.0	13.2	709	7690	0.00	3.53	0.00	0.000	260	0.000	0.086	3132	3916	3061	3074	3049	0	0	0	0	0	0	11.06	10.66	11.06
7742	1.05	107.1	3133	3916	3076	3049	255.0	15.2	720	7749	0.00	3.25	0.00	0.000	1030	0.000	0.044	3143	2542	3062	3075	3049	0	0	0	0	0	0	10.88	10.83	10.88
8047	1.05	107.1	3143	2540	3076	3049	213.0	13.6	751	8048	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2543	3061	3074	3049	0	0	0	0	0	0	11.12	11.12	11.13
8347	1.05	107.1	3144	2543	3076	3049	173.0	13.0	781	8348	0.00	0.00	0.00	0.000	6	0.000	0.000	3143	2542	3061	3074	3049	0	0	0	0	0	0	11.14	11.14	11.14
8651	1.05	107.1	3143	2543	3075	3051	135.7	11.8	811	8656	0.00	3.50	0.00	0.000	260	0.000	0.086	3143	3909	3061	3074	3049	0	0	0	0	0	0	11.11	10.70	11.11
8677	1.05	107.1	3144	3909	3076	3049	131.8	13.1	816	8685	0.25	3.22	0.00	0.000	5126	0.289	0.044	3118	2543	3061	3074	3049	0	0	0	0	0	0	10.48	10.86	10.74
8982	1.05	107.1	3118	2543	3076	3049	100.4	10.4	847	8988	0.00	3.50	0.00	0.000	260	0.000	0.085	3117	3916	3061	3074	3049	0	0	0	0	0	0	11.14	10.71	11.14
8999	1.05	107.1	3118	3916	3075	3049	98.5	10.8	850	9005	0.00	3.22	0.00	0.000	1030	0.000	0.044	3127	2547	3062	3076	3049	0	0	0	0	0	0	10.93	10.86	10.94
9304	1.05	107.1	3128	2547	3074	3049	64.7	11.3	881	9310	0.00	3.50	0.00	0.000	260	0.000	0.085	3127	3915	3060	3073	3048	0	0	0	0	0	0	11.11	10.69	11.11
9401	1.05	107.1	3128	3916	3075	3049	52.8	11.8	900	9408	0.00	3.22	0.00	0.000	1030	0.000	0.044	3138	2550	3061	3074	3049	0	0	0	0	0	0	10.93	10.88	10.95
9706	1.05	107.1	3139	2546	3073	3047	17.5	12.1	931	9707	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2546	3059	3072	3047	0	0	0	0	0	0	11.17	11.17	11.17
9832	end climb: SURFACE_DEPTH_REACHED
state	9832	begin surface coast
9843	end surface coast: CONTROL_FINISHED_OK
state	9843	begin surface