Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 469 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 469 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 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 6

D_BOOST 110 SM_CC 350 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 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 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 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 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 0.059999999 PITCH_MIN 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

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 -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 469 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 050918,031408,-7404.5693,-11207.7930,0,4116.0,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME E0

_XMS_NAKs 0 TGT_LATLONG -7409.500,-11159.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 15.50 MHEAD_RNG_PITCHd_Wd 100.9,10156,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -7.5 D_GRID 990

GPS2 050918,031408,-7404.5693,-11207.7930,0,4116.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.63,-1.890,-1.876,2,66,0 _24V_AH 11.78,167.471

FINISH1 9.6,1.027419,4 _10V_AH 12.01,0.000

FINISH2 9.6 FG_AHR_24Vo 0.000

RAFOS_CLK 373 FG_AHR_10Vo 0.000

RAFOS 0,1536127265,6.032778,6.018055,125,67,58,58,51,50,536,208,159,191,235,149 MEM 280788

RAFOS_FIX -7406.150391,-11205.760742,050918,060628,3,124,0.29 DATA_FILE_SIZE 13468,414

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 CAP_FILE_SIZE 77246,0

TT8_MAMPS 0.041195,0.281624 CFSIZE 1024409600,963919872

HUMID 50.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.22882 SOUNDSPEED 1450.1

TCM_TEMP 12.30 GPS 050918,061528,-7406.150,-11205.761,0,4123.7,0,53.2,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 267 15.85 nil 0 0 0.00

Roll_motor 87 107 109.79 nil 0 0 0.00

VBD_pump_during_apogee 376 2975 13192.27 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 9859 2 315.78

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 24 420 118.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 8351 2 231.70

TT8_Active 484 13 80.45

TT8_Sampling 957 34 400.09

TT8_CF8 146 52 92.99

TT8_Kalman 0 0 0.00

Analog_circuits 870 10 113.95

GPS_charging 0 0 0.00

Compass 597 7 53.75

RAFOS 720 1 12.97

Transponder 170 30 61.37

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

577.0 30.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

588.6 16.00 9000.00 0.0 0.00 0.00 16.00 604.6 -1.21 1.00

569.7 34.00 35.20 0.0 -0.98 0.97 34.00 0.0 -0.95 1.00

47.6 49.30 9000.00 0.0 -0.05 0.73 49.30 0.0 -0.03 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -1.06 -107.1 2802 2303 2805 2724 0.0 0.0 0 21 0.00 0.00 -8.30 0.013 16390 0.000 0.000 2802 2304 3220 3255 3185 0 0 0 0 0 0 15.05 12.74 15.02

23 -1.06 -107.1 2802 2304 3255 3186 0.0 0.0 0 30 1.00 2.58 0.00 0.000 4356 0.067 0.107 2444 3709 3218 3255 3181 0 0 0 0 0 0 14.59 14.40 14.64

231 -1.06 -107.1 2443 3711 3254 3186 56.4 -21.1 30 238 0.00 2.47 0.00 0.000 1030 0.000 0.044 2444 2284 3220 3254 3186 0 0 0 0 0 0 14.65 14.59 14.69

583 -1.06 -107.1 2445 2284 3256 3187 126.0 -19.3 44 588 0.00 2.50 0.00 0.000 516 0.000 0.075 2444 891 3220 3254 3186 0 0 0 0 0 0 15.12 14.33 15.15

623 -1.06 -107.1 2445 891 3256 3187 134.3 -19.8 50 630 0.00 2.55 0.00 0.000 1030 0.000 0.067 2433 2298 3220 3254 3186 0 0 0 0 0 0 14.44 14.34 14.50

975 -1.06 -107.1 2432 2298 3254 3186 202.4 -19.3 64 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2297 3220 3254 3186 0 0 0 0 0 0 15.16 15.19 15.19

1324 -1.06 -107.1 2433 2299 3254 3187 267.8 -18.7 69 1331 0.00 2.58 0.00 0.000 516 0.000 0.073 2433 896 3219 3253 3186 0 0 0 0 0 0 15.02 14.33 15.04

1372 -1.06 -107.1 2432 897 3253 3186 277.2 -19.4 76 1380 0.12 2.55 0.00 0.000 3078 0.268 0.067 2453 2300 3219 3253 3186 0 0 0 0 0 0 14.02 14.42 14.23

1746 -1.06 -107.1 2452 2300 3253 3187 342.1 -17.3 84 1747 0.00 0.00 0.00 0.000 6 0.000 0.000 2453 2300 3219 3253 3186 0 0 0 0 0 0 15.01 15.03 15.03

2094 -1.06 -107.1 2454 2300 3255 3187 401.2 -16.8 89 2101 0.00 2.58 0.00 0.000 516 0.000 0.074 2453 896 3219 3253 3186 0 0 0 0 0 0 15.02 14.31 15.04

2142 -1.06 -107.1 2454 897 3255 3187 409.7 -17.6 96 2149 0.00 2.58 0.00 0.000 1030 0.000 0.068 2444 2308 3219 3253 3186 0 0 0 0 0 0 14.50 14.40 14.56

2515 -1.06 -107.1 2446 2309 3254 3187 472.6 -16.9 104 2516 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2308 3219 3253 3186 0 0 0 0 0 0 15.02 15.04 15.04

2864 -1.06 -107.1 2446 2309 3255 3187 532.4 -16.9 109 2871 0.00 2.67 0.00 0.000 260 0.000 0.105 2434 3718 3219 3253 3186 0 0 0 0 0 0 15.02 14.25 15.04

2891 -1.06 -107.1 2435 3718 3255 3187 537.2 -17.0 113 2899 0.00 2.50 0.00 0.000 1030 0.000 0.045 2434 2286 3219 3253 3186 0 0 0 0 0 0 14.62 14.58 14.66

3286 -1.06 -107.1 2433 2288 3252 3186 600.5 -16.4 124 3286 0.00 0.00 0.00 0.000 6 0.000 0.000 2434 2285 3219 3253 3186 0 0 0 0 0 0 15.00 15.03 15.02

3633 -1.06 -107.1 2435 2288 3255 3187 603.8 -0.0 129 3640 0.00 2.55 0.00 0.000 548 0.000 0.073 2434 899 3219 3253 3186 0 0 0 0 0 0 15.18 14.31 15.21

3686 end dive: NO_VERTICAL_VELOCITY

state 3687 begin apogee

3694 -0.23 0.0 2433 2123 3255 3186 603.9 0.0 137 3814 0.98 0.00 117.30 2.976 10246 0.129 0.000 2733 2122 2781 2816 2746 0 0 0 0 0 0 14.40 13.70 12.36

3815 end apogee: CONTROL_FINISHED_OK

state 3815 begin climb

3817 1.06 107.1 2735 2123 2819 2747 603.8 0.0 138 3959 1.33 2.88 130.32 2.860 10500 0.115 0.096 3135 3511 2346 2389 2303 0 0 0 0 0 0 13.72 13.10 11.78

4167 1.12 159.2 3136 3512 2383 2291 586.7 6.7 195 4237 0.00 2.58 61.90 2.816 9254 0.000 0.044 3144 2098 2129 2185 2073 0 0 0 0 0 0 14.15 14.10 12.25

4608 1.16 193.6 3144 2098 2177 2066 553.1 7.9 213 4650 0.00 2.75 38.28 2.805 8484 0.000 0.099 3144 3510 1991 2050 1932 0 0 0 0 0 0 14.86 14.21 12.89

4685 1.19 193.6 3145 3511 2049 1932 546.9 8.7 224 4692 0.08 2.55 0.00 0.000 3142 0.089 0.047 3193 2091 1988 2046 1931 0 0 0 0 0 0 14.32 14.34 14.38

5101 1.19 193.6 3194 2089 2042 1925 504.1 10.3 238 5106 0.00 2.55 0.00 0.000 516 0.000 0.092 3199 691 1983 2042 1924 0 0 0 0 0 0 15.00 14.54 15.02

5147 1.19 193.6 3200 692 2044 1924 499.3 9.9 245 5154 0.00 2.50 0.00 0.000 1030 0.000 0.057 3205 2110 1982 2042 1923 0 0 0 0 0 0 14.72 14.65 14.77

5519 1.19 193.6 3200 2111 2043 1922 460.0 10.4 253 5525 0.00 2.58 0.00 0.000 260 0.000 0.097 3199 3508 1981 2041 1922 0 0 0 0 0 0 15.06 14.58 15.08

5581 1.19 193.6 3200 3508 2043 1923 452.7 12.1 262 5589 0.00 2.45 0.00 0.000 1030 0.000 0.046 3207 2090 1981 2041 1922 0 0 0 0 0 0 14.71 14.65 14.75

5939 1.19 193.6 3206 2091 2040 1921 410.6 11.9 268 5939 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2090 1980 2040 1921 0 0 0 0 0 0 15.07 15.11 15.10

6288 1.19 193.6 3208 2091 2042 1921 369.2 11.8 273 6289 0.00 0.00 0.00 0.000 6 0.000 0.000 3206 2092 1980 2041 1920 0 0 0 0 0 0 15.14 15.17 15.17

6639 1.19 193.6 3208 2091 2041 1920 329.4 11.3 278 6645 0.00 2.65 0.00 0.000 260 0.000 0.096 3206 3505 1979 2039 1919 0 0 0 0 0 0 15.07 14.54 15.11

6680 1.19 193.6 3208 3505 2041 1920 324.7 11.3 284 6687 0.12 2.45 0.00 0.000 5126 0.230 0.044 3181 2093 1979 2039 1919 0 0 0 0 0 0 14.35 14.69 14.52

7062 1.21 193.6 3182 2094 2041 1920 290.4 9.1 293 7067 0.00 2.55 0.00 0.000 580 0.000 0.091 3184 699 1979 2039 1919 0 0 0 0 0 0 15.08 14.55 15.11

7100 1.21 193.6 3186 699 2040 1920 286.1 10.2 299 7108 0.00 2.47 0.00 0.000 1030 0.000 0.057 3185 2105 1978 2038 1919 0 0 0 0 0 0 14.71 14.64 14.76

7479 1.22 193.6 3184 2105 2038 1918 249.7 9.5 308 7485 0.00 2.58 0.00 0.000 324 0.000 0.096 3185 3517 1978 2038 1918 0 0 0 0 0 0 15.07 14.56 15.09

7513 1.22 193.6 3186 3517 2041 1919 246.1 10.1 313 7520 0.00 2.47 0.00 0.000 1030 0.000 0.047 3185 2095 1977 2037 1918 0 0 0 0 0 0 14.71 14.65 14.76

7899 1.23 193.6 3186 2096 2040 1919 210.9 9.2 323 7900 0.00 0.00 0.00 0.000 70 0.000 0.000 3185 2095 1978 2038 1918 0 0 0 0 0 0 15.07 15.09 15.10

8263 1.23 193.6 3184 2096 2036 1919 174.5 10.2 333 8269 0.00 2.65 0.00 0.000 260 0.000 0.096 3185 3510 1977 2037 1918 0 0 0 0 0 0 15.06 14.48 15.09

8311 1.23 193.6 3184 3510 2037 1919 168.9 11.6 340 8319 0.00 2.47 0.00 0.000 1030 0.000 0.045 3185 2085 1977 2036 1918 0 0 0 0 0 0 14.71 14.64 14.76

8655 1.23 193.6 3186 2086 2039 1919 133.6 10.4 353 8655 0.00 0.00 0.00 0.000 6 0.000 0.000 3184 2085 1977 2037 1918 0 0 0 0 0 0 15.17 15.17 15.19

8990 1.23 193.6 3184 2086 2037 1918 98.8 10.1 365 8991 0.00 0.00 0.00 0.000 6 0.000 0.000 3187 2085 1977 2037 1917 0 0 0 0 0 0 15.19 15.21 15.21

9326 1.29 239.3 3186 2086 2039 1917 65.1 7.1 377 9361 0.00 2.58 28.52 0.415 8740 0.000 0.094 3185 700 1804 1864 1744 0 0 0 0 0 0 15.16 14.52 14.09

9396 1.29 239.3 3185 701 1862 1739 57.5 12.8 387 9404 0.00 2.47 0.00 0.000 1030 0.000 0.057 3185 2102 1801 1863 1739 0 0 0 0 0 0 14.67 14.60 14.72

9749 1.29 239.3 3186 2103 1862 1734 14.3 10.6 401 9754 0.00 2.55 0.00 0.000 260 0.000 0.092 3185 3509 1796 1859 1733 0 0 0 0 0 0 15.04 14.51 15.07

9793 end climb: FINISH_DEPTH_REACHED

state 9793 begin subsurface finish

9801 0.01 4.1 3185 2100 1859 1733 9.6 9.1 408 9837 1.40 2.60 -26.35 0.005 20996 0.222 0.106 2803 695 2768 2806 2730 0 0 0 0 0 0 14.11 12.87 14.30

9838 end subsurface finish: CONTROL_FINISHED_OK

state 9838 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	469	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	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	6
D_BOOST	110	SM_CC	350	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	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	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	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	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	0.059999999	PITCH_MIN	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	050918,031408,-7404.5693,-11207.7930,0,4116.0,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	E0
_XMS_NAKs	0	TGT_LATLONG	-7409.500,-11159.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	15.50	MHEAD_RNG_PITCHd_Wd	100.9,10156,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-7.5	D_GRID	990
GPS2	050918,031408,-7404.5693,-11207.7930,0,4116.0,0,53.2,0.0,0.0,0,0.0

FREEZE	9.63,-1.890,-1.876,2,66,0	_24V_AH	11.78,167.471
FINISH1	9.6,1.027419,4	_10V_AH	12.01,0.000
FINISH2	9.6	FG_AHR_24Vo	0.000
RAFOS_CLK	373	FG_AHR_10Vo	0.000
RAFOS	0,1536127265,6.032778,6.018055,125,67,58,58,51,50,536,208,159,191,235,149	MEM	280788
RAFOS_FIX	-7406.150391,-11205.760742,050918,060628,3,124,0.29	DATA_FILE_SIZE	13468,414
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	CAP_FILE_SIZE	77246,0
TT8_MAMPS	0.041195,0.281624	CFSIZE	1024409600,963919872
HUMID	50.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.22882	SOUNDSPEED	1450.1
TCM_TEMP	12.30	GPS	050918,061528,-7406.150,-11205.761,0,4123.7,0,53.2,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	267	15.85	nil	0	0	0.00
Roll_motor	87	107	109.79	nil	0	0	0.00
VBD_pump_during_apogee	376	2975	13192.27	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	9859	2	315.78
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	24	420	118.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	8351	2	231.70
TT8_Active	484	13	80.45
TT8_Sampling	957	34	400.09
TT8_CF8	146	52	92.99
TT8_Kalman	0	0	0.00
Analog_circuits	870	10	113.95
GPS_charging	0	0	0.00
Compass	597	7	53.75
RAFOS	720	1	12.97
Transponder	170	30	61.37

		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
577.0	30.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
588.6	16.00	9000.00	0.0	0.00	0.00	16.00	604.6	-1.21	1.00

569.7	34.00	35.20	0.0	-0.98	0.97	34.00	0.0	-0.95	1.00
47.6	49.30	9000.00	0.0	-0.05	0.73	49.30	0.0	-0.03	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-1.06	-107.1	2802	2303	2805	2724	0.0	0.0	0	21	0.00	0.00	-8.30	0.013	16390	0.000	0.000	2802	2304	3220	3255	3185	0	0	0	0	0	0	15.05	12.74	15.02
23	-1.06	-107.1	2802	2304	3255	3186	0.0	0.0	0	30	1.00	2.58	0.00	0.000	4356	0.067	0.107	2444	3709	3218	3255	3181	0	0	0	0	0	0	14.59	14.40	14.64
231	-1.06	-107.1	2443	3711	3254	3186	56.4	-21.1	30	238	0.00	2.47	0.00	0.000	1030	0.000	0.044	2444	2284	3220	3254	3186	0	0	0	0	0	0	14.65	14.59	14.69
583	-1.06	-107.1	2445	2284	3256	3187	126.0	-19.3	44	588	0.00	2.50	0.00	0.000	516	0.000	0.075	2444	891	3220	3254	3186	0	0	0	0	0	0	15.12	14.33	15.15
623	-1.06	-107.1	2445	891	3256	3187	134.3	-19.8	50	630	0.00	2.55	0.00	0.000	1030	0.000	0.067	2433	2298	3220	3254	3186	0	0	0	0	0	0	14.44	14.34	14.50
975	-1.06	-107.1	2432	2298	3254	3186	202.4	-19.3	64	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2297	3220	3254	3186	0	0	0	0	0	0	15.16	15.19	15.19
1324	-1.06	-107.1	2433	2299	3254	3187	267.8	-18.7	69	1331	0.00	2.58	0.00	0.000	516	0.000	0.073	2433	896	3219	3253	3186	0	0	0	0	0	0	15.02	14.33	15.04
1372	-1.06	-107.1	2432	897	3253	3186	277.2	-19.4	76	1380	0.12	2.55	0.00	0.000	3078	0.268	0.067	2453	2300	3219	3253	3186	0	0	0	0	0	0	14.02	14.42	14.23
1746	-1.06	-107.1	2452	2300	3253	3187	342.1	-17.3	84	1747	0.00	0.00	0.00	0.000	6	0.000	0.000	2453	2300	3219	3253	3186	0	0	0	0	0	0	15.01	15.03	15.03
2094	-1.06	-107.1	2454	2300	3255	3187	401.2	-16.8	89	2101	0.00	2.58	0.00	0.000	516	0.000	0.074	2453	896	3219	3253	3186	0	0	0	0	0	0	15.02	14.31	15.04
2142	-1.06	-107.1	2454	897	3255	3187	409.7	-17.6	96	2149	0.00	2.58	0.00	0.000	1030	0.000	0.068	2444	2308	3219	3253	3186	0	0	0	0	0	0	14.50	14.40	14.56
2515	-1.06	-107.1	2446	2309	3254	3187	472.6	-16.9	104	2516	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2308	3219	3253	3186	0	0	0	0	0	0	15.02	15.04	15.04
2864	-1.06	-107.1	2446	2309	3255	3187	532.4	-16.9	109	2871	0.00	2.67	0.00	0.000	260	0.000	0.105	2434	3718	3219	3253	3186	0	0	0	0	0	0	15.02	14.25	15.04
2891	-1.06	-107.1	2435	3718	3255	3187	537.2	-17.0	113	2899	0.00	2.50	0.00	0.000	1030	0.000	0.045	2434	2286	3219	3253	3186	0	0	0	0	0	0	14.62	14.58	14.66
3286	-1.06	-107.1	2433	2288	3252	3186	600.5	-16.4	124	3286	0.00	0.00	0.00	0.000	6	0.000	0.000	2434	2285	3219	3253	3186	0	0	0	0	0	0	15.00	15.03	15.02
3633	-1.06	-107.1	2435	2288	3255	3187	603.8	-0.0	129	3640	0.00	2.55	0.00	0.000	548	0.000	0.073	2434	899	3219	3253	3186	0	0	0	0	0	0	15.18	14.31	15.21
3686	end dive: NO_VERTICAL_VELOCITY
state	3687	begin apogee
3694	-0.23	0.0	2433	2123	3255	3186	603.9	0.0	137	3814	0.98	0.00	117.30	2.976	10246	0.129	0.000	2733	2122	2781	2816	2746	0	0	0	0	0	0	14.40	13.70	12.36
3815	end apogee: CONTROL_FINISHED_OK
state	3815	begin climb
3817	1.06	107.1	2735	2123	2819	2747	603.8	0.0	138	3959	1.33	2.88	130.32	2.860	10500	0.115	0.096	3135	3511	2346	2389	2303	0	0	0	0	0	0	13.72	13.10	11.78
4167	1.12	159.2	3136	3512	2383	2291	586.7	6.7	195	4237	0.00	2.58	61.90	2.816	9254	0.000	0.044	3144	2098	2129	2185	2073	0	0	0	0	0	0	14.15	14.10	12.25
4608	1.16	193.6	3144	2098	2177	2066	553.1	7.9	213	4650	0.00	2.75	38.28	2.805	8484	0.000	0.099	3144	3510	1991	2050	1932	0	0	0	0	0	0	14.86	14.21	12.89
4685	1.19	193.6	3145	3511	2049	1932	546.9	8.7	224	4692	0.08	2.55	0.00	0.000	3142	0.089	0.047	3193	2091	1988	2046	1931	0	0	0	0	0	0	14.32	14.34	14.38
5101	1.19	193.6	3194	2089	2042	1925	504.1	10.3	238	5106	0.00	2.55	0.00	0.000	516	0.000	0.092	3199	691	1983	2042	1924	0	0	0	0	0	0	15.00	14.54	15.02
5147	1.19	193.6	3200	692	2044	1924	499.3	9.9	245	5154	0.00	2.50	0.00	0.000	1030	0.000	0.057	3205	2110	1982	2042	1923	0	0	0	0	0	0	14.72	14.65	14.77
5519	1.19	193.6	3200	2111	2043	1922	460.0	10.4	253	5525	0.00	2.58	0.00	0.000	260	0.000	0.097	3199	3508	1981	2041	1922	0	0	0	0	0	0	15.06	14.58	15.08
5581	1.19	193.6	3200	3508	2043	1923	452.7	12.1	262	5589	0.00	2.45	0.00	0.000	1030	0.000	0.046	3207	2090	1981	2041	1922	0	0	0	0	0	0	14.71	14.65	14.75
5939	1.19	193.6	3206	2091	2040	1921	410.6	11.9	268	5939	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2090	1980	2040	1921	0	0	0	0	0	0	15.07	15.11	15.10
6288	1.19	193.6	3208	2091	2042	1921	369.2	11.8	273	6289	0.00	0.00	0.00	0.000	6	0.000	0.000	3206	2092	1980	2041	1920	0	0	0	0	0	0	15.14	15.17	15.17
6639	1.19	193.6	3208	2091	2041	1920	329.4	11.3	278	6645	0.00	2.65	0.00	0.000	260	0.000	0.096	3206	3505	1979	2039	1919	0	0	0	0	0	0	15.07	14.54	15.11
6680	1.19	193.6	3208	3505	2041	1920	324.7	11.3	284	6687	0.12	2.45	0.00	0.000	5126	0.230	0.044	3181	2093	1979	2039	1919	0	0	0	0	0	0	14.35	14.69	14.52
7062	1.21	193.6	3182	2094	2041	1920	290.4	9.1	293	7067	0.00	2.55	0.00	0.000	580	0.000	0.091	3184	699	1979	2039	1919	0	0	0	0	0	0	15.08	14.55	15.11
7100	1.21	193.6	3186	699	2040	1920	286.1	10.2	299	7108	0.00	2.47	0.00	0.000	1030	0.000	0.057	3185	2105	1978	2038	1919	0	0	0	0	0	0	14.71	14.64	14.76
7479	1.22	193.6	3184	2105	2038	1918	249.7	9.5	308	7485	0.00	2.58	0.00	0.000	324	0.000	0.096	3185	3517	1978	2038	1918	0	0	0	0	0	0	15.07	14.56	15.09
7513	1.22	193.6	3186	3517	2041	1919	246.1	10.1	313	7520	0.00	2.47	0.00	0.000	1030	0.000	0.047	3185	2095	1977	2037	1918	0	0	0	0	0	0	14.71	14.65	14.76
7899	1.23	193.6	3186	2096	2040	1919	210.9	9.2	323	7900	0.00	0.00	0.00	0.000	70	0.000	0.000	3185	2095	1978	2038	1918	0	0	0	0	0	0	15.07	15.09	15.10
8263	1.23	193.6	3184	2096	2036	1919	174.5	10.2	333	8269	0.00	2.65	0.00	0.000	260	0.000	0.096	3185	3510	1977	2037	1918	0	0	0	0	0	0	15.06	14.48	15.09
8311	1.23	193.6	3184	3510	2037	1919	168.9	11.6	340	8319	0.00	2.47	0.00	0.000	1030	0.000	0.045	3185	2085	1977	2036	1918	0	0	0	0	0	0	14.71	14.64	14.76
8655	1.23	193.6	3186	2086	2039	1919	133.6	10.4	353	8655	0.00	0.00	0.00	0.000	6	0.000	0.000	3184	2085	1977	2037	1918	0	0	0	0	0	0	15.17	15.17	15.19
8990	1.23	193.6	3184	2086	2037	1918	98.8	10.1	365	8991	0.00	0.00	0.00	0.000	6	0.000	0.000	3187	2085	1977	2037	1917	0	0	0	0	0	0	15.19	15.21	15.21
9326	1.29	239.3	3186	2086	2039	1917	65.1	7.1	377	9361	0.00	2.58	28.52	0.415	8740	0.000	0.094	3185	700	1804	1864	1744	0	0	0	0	0	0	15.16	14.52	14.09
9396	1.29	239.3	3185	701	1862	1739	57.5	12.8	387	9404	0.00	2.47	0.00	0.000	1030	0.000	0.057	3185	2102	1801	1863	1739	0	0	0	0	0	0	14.67	14.60	14.72
9749	1.29	239.3	3186	2103	1862	1734	14.3	10.6	401	9754	0.00	2.55	0.00	0.000	260	0.000	0.092	3185	3509	1796	1859	1733	0	0	0	0	0	0	15.04	14.51	15.07
9793	end climb: FINISH_DEPTH_REACHED
state	9793	begin subsurface finish
9801	0.01	4.1	3185	2100	1859	1733	9.6	9.1	408	9837	1.40	2.60	-26.35	0.005	20996	0.222	0.106	2803	695	2768	2806	2730	0	0	0	0	0	0	14.11	12.87	14.30
9838	end subsurface finish: CONTROL_FINISHED_OK
state	9838	begin surface