Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 494 * 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 494 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 23 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 494 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 23 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 080918,091440,-7402.1509,-11302.5488,0,4100.3,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.239

_CALLS 3 TGT_NAME hold6

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.86 MHEAD_RNG_PITCHd_Wd 47.0,19395,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -37.1 D_GRID 990

GPS2 080918,091440,-7402.1509,-11302.5488,181,99.0,181,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE -0.07,-1.671,-1.869,2,91,0 ALTIM_BOTTOM_PING 461.8,12.4

FINISH -0.1,1.027424 _24V_AH 11.75,175.285

SM_CCo 7836,99.88,0.235,0,0,1354,350.04 _10V_AH 12.03,0.000

SM_GC 1.18,8.98,2.12,99.88,0.079,0.044,0.235,211,2289,1354,-8.03,0.59,350.04,0,0,0,0,0,0,14.66,14.71,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 336 FG_AHR_10Vo 0.000

RAFOS_FIX -7402.178711,-11303.634766,080918,121247,0,1,0.06 MEM 280812

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10118,338

TT8_MAMPS 0.044191,0.25466 CAP_FILE_SIZE 72106,0

HUMID 48.93 CFSIZE 1024409600,961429504

INTERNAL_PRESSURE 8.0921 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.80 SOUNDSPEED 1443.8

XPDR_PINGS 1 GPS 080918,120047,-7402.179,-11303.635,0,1001.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 15.2,15.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 400 106.83 nil 0 0 0.00

Roll_motor 71 157 132.53 nil 0 0 0.00

VBD_pump_during_apogee 351 2857 11800.06 nil 0 0 0.00

VBD_pump_during_surface 99 234 275.61 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 7835 2 248.66

Iridium_during_xfer 119 71 101.18 nil 0 0 0.00

Transponder_ping 19 420 97.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 10 22.93

TT8 0 0 0.00

LPSleep 6546 2 181.92

TT8_Active 646 13 107.50

TT8_Sampling 1101 34 460.84

TT8_CF8 458 52 291.26

TT8_Kalman 0 0 0.00

Analog_circuits 1083 10 142.05

GPS_charging 0 0 0.00

Compass 491 7 44.27

RAFOS 240 1 4.33

Transponder 141 30 50.97

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

25.5 30.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

435.5 38.70 9000.00 0.0 0.00 0.00 38.70 0.0 0.02 1.00

448.9 24.60 9000.00 0.0 0.00 0.01 24.60 473.5 -1.05 1.00

461.8 12.70 12.40 474.2 -0.99 1.00 12.70 474.5 -0.92 1.00

464.8 13.80 9000.00 0.0 -0.75 0.93 13.80 451.0 0.37 1.00

454.7 23.60 22.80 0.0 -1.07 0.86 23.60 0.0 -0.97 1.00

444.3 41.20 9000.00 0.0 -1.34 0.98 41.20 0.0 -1.69 1.00

40.6 42.60 9000.00 0.0 -0.03 0.33 42.60 0.0 -0.00 1.00

28.2 29.20 9000.00 0.0 0.01 0.19 29.20 -1.0 1.08 1.00

15.2 15.80 15.70 -0.5 1.06 1.00 15.80 -0.6 1.03 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 -107.1 214 2314 1403 1268 0.0 0.0 0 125 0.00 0.00 -108.97 0.002 16390 0.000 0.000 214 2314 3217 3216 3218 0 0 0 0 0 0 15.04 13.53 15.02

128 -1.06 -107.1 214 2315 3223 3218 4.4 -3.9 4 140 10.98 0.00 0.00 0.000 2310 0.400 0.000 2455 2314 3217 3219 3216 0 0 0 0 0 0 13.97 14.58 14.44

491 -1.06 -107.1 2456 2315 3232 3205 80.8 -19.7 20 496 0.00 2.58 0.00 0.000 516 0.000 0.076 2455 890 3216 3230 3203 0 0 0 0 0 0 15.04 14.50 15.06

530 -1.06 -107.1 2455 889 3231 3204 89.1 -19.7 26 537 0.00 2.58 0.00 0.000 1030 0.000 0.070 2446 2304 3217 3231 3204 0 0 0 0 0 0 14.59 14.50 14.66

883 -1.06 -107.1 2445 2304 3232 3203 155.9 -18.1 40 888 0.00 2.62 0.00 0.000 260 0.000 0.106 2435 3720 3217 3232 3202 0 0 0 0 0 0 15.05 14.48 15.08

915 -1.06 -107.1 2435 3721 3233 3203 162.7 -19.8 45 923 0.00 2.47 0.00 0.000 1030 0.000 0.046 2435 2295 3217 3232 3202 0 0 0 0 0 0 14.73 14.68 14.76

1275 -1.06 -107.1 2435 2295 3233 3203 234.1 -20.3 57 1281 0.00 2.65 0.00 0.000 260 0.000 0.108 2424 3716 3217 3233 3202 0 0 0 0 0 0 15.07 14.48 15.09

1371 -1.06 -107.1 2425 3717 3235 3202 255.5 -21.5 71 1378 0.12 2.45 0.00 0.000 3078 0.264 0.044 2456 2289 3217 3233 3202 0 0 0 0 0 0 14.15 14.68 14.35

1766 -1.06 -107.1 2455 2289 3233 3202 330.2 -19.0 82 1766 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2288 3217 3233 3202 0 0 0 0 0 0 15.05 15.11 15.08

2114 -1.06 -107.1 2455 2288 3233 3202 395.5 -18.6 87 2119 0.00 2.45 0.00 0.000 516 0.000 0.072 2456 908 3217 3234 3201 0 0 0 0 0 0 15.07 14.52 15.09

2140 -1.06 -107.1 2455 908 3233 3201 400.8 -19.2 91 2147 0.00 2.53 0.00 0.000 1030 0.000 0.067 2447 2304 3217 3234 3201 0 0 0 0 0 0 14.60 14.52 14.67

2533 end dive: BOTTOM_OBSTACLE_DETECTED

state 2533 begin apogee

2540 -0.23 0.0 2448 2070 3235 3201 475.0 -18.9 102 2656 0.98 0.10 113.32 2.857 10246 0.181 0.158 2727 2126 2782 2809 2756 0 0 0 0 0 0 14.33 13.74 12.40

2657 end apogee: CONTROL_FINISHED_OK

state 2657 begin climb

2659 1.06 107.1 2728 2127 2810 2755 476.5 0.0 103 2790 1.42 0.00 127.43 2.741 10502 0.172 0.000 3129 2126 2344 2384 2305 0 0 0 0 0 0 13.70 13.01 11.75

3096 1.18 206.7 3129 2127 2371 2291 464.8 3.8 119 3212 0.12 2.80 110.72 2.711 10532 0.129 0.097 3178 3503 1938 2002 1875 0 0 0 0 0 0 14.32 13.09 12.13

3352 1.18 206.7 3178 3503 1994 1867 442.1 10.5 156 3358 0.00 2.53 0.00 0.000 1030 0.000 0.044 3179 2128 1928 1990 1867 0 0 0 0 0 0 14.02 13.97 14.06

3724 1.18 206.7 3180 2129 1997 1861 406.2 9.7 164 3729 0.00 2.62 0.00 0.000 516 0.000 0.090 3179 695 1925 1991 1860 0 0 0 0 0 0 14.92 14.52 14.95

3778 1.18 206.7 3178 695 1990 1860 400.7 10.2 172 3785 0.00 2.50 0.00 0.000 1030 0.000 0.057 3179 2096 1924 1990 1859 0 0 0 0 0 0 14.66 14.60 14.71

4143 1.18 206.7 3179 2097 1989 1858 365.1 9.8 179 4149 0.00 2.60 0.00 0.000 260 0.000 0.100 3179 3515 1923 1989 1858 0 0 0 0 0 0 15.04 14.61 15.07

4205 1.18 206.7 3181 3517 1991 1859 358.4 10.7 188 4213 0.00 2.47 0.00 0.000 1030 0.000 0.047 3179 2092 1923 1989 1858 0 0 0 0 0 0 14.77 14.71 14.81

4564 1.19 206.7 3180 2093 1990 1859 324.8 9.4 194 4564 0.00 0.00 0.00 0.000 70 0.000 0.000 3179 2092 1926 1995 1858 0 0 0 0 0 0 15.08 15.11 15.14

4913 1.21 206.7 3177 2092 1986 1858 293.4 8.9 199 4919 0.00 2.65 0.00 0.000 324 0.000 0.099 3179 3508 1922 1987 1857 0 0 0 0 0 0 15.18 14.57 15.21

4975 1.21 206.7 3181 3508 1990 1858 287.4 9.9 208 4983 0.00 2.45 0.00 0.000 1030 0.000 0.046 3179 2091 1922 1987 1858 0 0 0 0 0 0 14.78 14.71 14.83

5333 1.24 206.7 3180 2090 1987 1857 255.7 8.9 214 5334 0.00 0.00 0.00 0.000 70 0.000 0.000 3179 2091 1921 1986 1857 0 0 0 0 0 0 15.19 15.22 15.21

5684 1.26 206.7 3174 2092 1986 1857 225.4 8.7 219 5689 0.00 2.62 0.00 0.000 324 0.000 0.099 3179 3518 1921 1986 1856 0 0 0 0 0 0 15.10 14.60 15.13

5717 1.26 206.7 3181 3519 1988 1857 222.2 9.5 224 5725 0.00 2.47 0.00 0.000 1030 0.000 0.047 3179 2093 1921 1986 1857 0 0 0 0 0 0 14.77 14.71 14.81

6090 1.29 206.7 3179 2094 1986 1856 190.0 8.8 235 6096 0.12 2.53 0.00 0.000 2628 0.140 0.091 3233 701 1921 1986 1856 0 0 0 0 0 0 14.81 14.57 14.90

6117 1.29 206.7 3232 702 1985 1857 187.2 9.9 239 6123 0.00 2.47 0.00 0.000 1030 0.000 0.061 3233 2109 1920 1985 1856 0 0 0 0 0 0 14.70 14.65 14.77

6481 1.29 206.7 3232 2109 1985 1857 147.7 10.5 255 6487 0.00 2.60 0.00 0.000 260 0.000 0.101 3233 3504 1921 1987 1856 0 0 0 0 0 0 15.18 14.52 15.21

6571 1.29 206.7 3232 3504 1985 1856 137.4 11.2 268 6578 0.00 2.45 0.00 0.000 1030 0.000 0.047 3233 2092 1920 1985 1856 0 0 0 0 0 0 14.74 14.68 14.78

6929 1.29 206.7 3232 2092 1985 1856 99.9 9.9 283 6936 0.00 2.67 0.00 0.000 260 0.000 0.101 3233 3513 1920 1985 1856 0 0 0 0 0 0 15.17 14.49 15.19

7013 1.29 206.7 3231 3513 1985 1856 89.3 12.6 295 7019 0.00 2.47 0.00 0.000 1030 0.000 0.047 3233 2094 1920 1985 1856 0 0 0 0 0 0 14.73 14.66 14.78

7378 1.29 206.7 3232 2094 1985 1856 48.3 10.9 311 7383 0.00 2.65 0.00 0.000 260 0.000 0.100 3233 3520 1920 1985 1855 0 0 0 0 0 0 15.16 14.54 15.19

7447 1.29 206.7 3234 3521 1987 1857 40.6 10.9 321 7453 0.00 2.50 0.00 0.000 1030 0.000 0.048 3233 2090 1920 1984 1856 0 0 0 0 0 0 14.71 14.64 14.75

7800 1.29 206.7 3234 2090 1986 1856 2.6 11.1 335 7806 0.00 2.60 0.00 0.000 260 0.000 0.099 3233 3504 1920 1985 1855 0 0 0 0 0 0 15.08 14.50 15.11

7809 end climb: SURFACE_DEPTH_REACHED

state 7809 begin surface coast

7816 end surface coast: CONTROL_FINISHED_OK

state 7816 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	494	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	23	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	080918,091440,-7402.1509,-11302.5488,0,4100.3,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.239
_CALLS	3	TGT_NAME	hold6
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.86	MHEAD_RNG_PITCHd_Wd	47.0,19395,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-37.1	D_GRID	990
GPS2	080918,091440,-7402.1509,-11302.5488,181,99.0,181,53.2,0.0,0.0,0,0.0

FREEZE	-0.07,-1.671,-1.869,2,91,0	ALTIM_BOTTOM_PING	461.8,12.4
FINISH	-0.1,1.027424	_24V_AH	11.75,175.285
SM_CCo	7836,99.88,0.235,0,0,1354,350.04	_10V_AH	12.03,0.000
SM_GC	1.18,8.98,2.12,99.88,0.079,0.044,0.235,211,2289,1354,-8.03,0.59,350.04,0,0,0,0,0,0,14.66,14.71,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	336	FG_AHR_10Vo	0.000
RAFOS_FIX	-7402.178711,-11303.634766,080918,121247,0,1,0.06	MEM	280812
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10118,338
TT8_MAMPS	0.044191,0.25466	CAP_FILE_SIZE	72106,0
HUMID	48.93	CFSIZE	1024409600,961429504
INTERNAL_PRESSURE	8.0921	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.80	SOUNDSPEED	1443.8
XPDR_PINGS	1	GPS	080918,120047,-7402.179,-11303.635,0,1001.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	15.2,15.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	400	106.83	nil	0	0	0.00
Roll_motor	71	157	132.53	nil	0	0	0.00
VBD_pump_during_apogee	351	2857	11800.06	nil	0	0	0.00
VBD_pump_during_surface	99	234	275.61	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	7835	2	248.66
Iridium_during_xfer	119	71	101.18	nil	0	0	0.00
Transponder_ping	19	420	97.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	10	22.93
TT8	0	0	0.00
LPSleep	6546	2	181.92
TT8_Active	646	13	107.50
TT8_Sampling	1101	34	460.84
TT8_CF8	458	52	291.26
TT8_Kalman	0	0	0.00
Analog_circuits	1083	10	142.05
GPS_charging	0	0	0.00
Compass	491	7	44.27
RAFOS	240	1	4.33
Transponder	141	30	50.97

		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
25.5	30.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
435.5	38.70	9000.00	0.0	0.00	0.00	38.70	0.0	0.02	1.00
448.9	24.60	9000.00	0.0	0.00	0.01	24.60	473.5	-1.05	1.00
461.8	12.70	12.40	474.2	-0.99	1.00	12.70	474.5	-0.92	1.00

464.8	13.80	9000.00	0.0	-0.75	0.93	13.80	451.0	0.37	1.00
454.7	23.60	22.80	0.0	-1.07	0.86	23.60	0.0	-0.97	1.00
444.3	41.20	9000.00	0.0	-1.34	0.98	41.20	0.0	-1.69	1.00
40.6	42.60	9000.00	0.0	-0.03	0.33	42.60	0.0	-0.00	1.00
28.2	29.20	9000.00	0.0	0.01	0.19	29.20	-1.0	1.08	1.00
15.2	15.80	15.70	-0.5	1.06	1.00	15.80	-0.6	1.03	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	214	2314	1403	1268	0.0	0.0	0	125	0.00	0.00	-108.97	0.002	16390	0.000	0.000	214	2314	3217	3216	3218	0	0	0	0	0	0	15.04	13.53	15.02
128	-1.06	-107.1	214	2315	3223	3218	4.4	-3.9	4	140	10.98	0.00	0.00	0.000	2310	0.400	0.000	2455	2314	3217	3219	3216	0	0	0	0	0	0	13.97	14.58	14.44
491	-1.06	-107.1	2456	2315	3232	3205	80.8	-19.7	20	496	0.00	2.58	0.00	0.000	516	0.000	0.076	2455	890	3216	3230	3203	0	0	0	0	0	0	15.04	14.50	15.06
530	-1.06	-107.1	2455	889	3231	3204	89.1	-19.7	26	537	0.00	2.58	0.00	0.000	1030	0.000	0.070	2446	2304	3217	3231	3204	0	0	0	0	0	0	14.59	14.50	14.66
883	-1.06	-107.1	2445	2304	3232	3203	155.9	-18.1	40	888	0.00	2.62	0.00	0.000	260	0.000	0.106	2435	3720	3217	3232	3202	0	0	0	0	0	0	15.05	14.48	15.08
915	-1.06	-107.1	2435	3721	3233	3203	162.7	-19.8	45	923	0.00	2.47	0.00	0.000	1030	0.000	0.046	2435	2295	3217	3232	3202	0	0	0	0	0	0	14.73	14.68	14.76
1275	-1.06	-107.1	2435	2295	3233	3203	234.1	-20.3	57	1281	0.00	2.65	0.00	0.000	260	0.000	0.108	2424	3716	3217	3233	3202	0	0	0	0	0	0	15.07	14.48	15.09
1371	-1.06	-107.1	2425	3717	3235	3202	255.5	-21.5	71	1378	0.12	2.45	0.00	0.000	3078	0.264	0.044	2456	2289	3217	3233	3202	0	0	0	0	0	0	14.15	14.68	14.35
1766	-1.06	-107.1	2455	2289	3233	3202	330.2	-19.0	82	1766	0.00	0.00	0.00	0.000	6	0.000	0.000	2455	2288	3217	3233	3202	0	0	0	0	0	0	15.05	15.11	15.08
2114	-1.06	-107.1	2455	2288	3233	3202	395.5	-18.6	87	2119	0.00	2.45	0.00	0.000	516	0.000	0.072	2456	908	3217	3234	3201	0	0	0	0	0	0	15.07	14.52	15.09
2140	-1.06	-107.1	2455	908	3233	3201	400.8	-19.2	91	2147	0.00	2.53	0.00	0.000	1030	0.000	0.067	2447	2304	3217	3234	3201	0	0	0	0	0	0	14.60	14.52	14.67
2533	end dive: BOTTOM_OBSTACLE_DETECTED
state	2533	begin apogee
2540	-0.23	0.0	2448	2070	3235	3201	475.0	-18.9	102	2656	0.98	0.10	113.32	2.857	10246	0.181	0.158	2727	2126	2782	2809	2756	0	0	0	0	0	0	14.33	13.74	12.40
2657	end apogee: CONTROL_FINISHED_OK
state	2657	begin climb
2659	1.06	107.1	2728	2127	2810	2755	476.5	0.0	103	2790	1.42	0.00	127.43	2.741	10502	0.172	0.000	3129	2126	2344	2384	2305	0	0	0	0	0	0	13.70	13.01	11.75
3096	1.18	206.7	3129	2127	2371	2291	464.8	3.8	119	3212	0.12	2.80	110.72	2.711	10532	0.129	0.097	3178	3503	1938	2002	1875	0	0	0	0	0	0	14.32	13.09	12.13
3352	1.18	206.7	3178	3503	1994	1867	442.1	10.5	156	3358	0.00	2.53	0.00	0.000	1030	0.000	0.044	3179	2128	1928	1990	1867	0	0	0	0	0	0	14.02	13.97	14.06
3724	1.18	206.7	3180	2129	1997	1861	406.2	9.7	164	3729	0.00	2.62	0.00	0.000	516	0.000	0.090	3179	695	1925	1991	1860	0	0	0	0	0	0	14.92	14.52	14.95
3778	1.18	206.7	3178	695	1990	1860	400.7	10.2	172	3785	0.00	2.50	0.00	0.000	1030	0.000	0.057	3179	2096	1924	1990	1859	0	0	0	0	0	0	14.66	14.60	14.71
4143	1.18	206.7	3179	2097	1989	1858	365.1	9.8	179	4149	0.00	2.60	0.00	0.000	260	0.000	0.100	3179	3515	1923	1989	1858	0	0	0	0	0	0	15.04	14.61	15.07
4205	1.18	206.7	3181	3517	1991	1859	358.4	10.7	188	4213	0.00	2.47	0.00	0.000	1030	0.000	0.047	3179	2092	1923	1989	1858	0	0	0	0	0	0	14.77	14.71	14.81
4564	1.19	206.7	3180	2093	1990	1859	324.8	9.4	194	4564	0.00	0.00	0.00	0.000	70	0.000	0.000	3179	2092	1926	1995	1858	0	0	0	0	0	0	15.08	15.11	15.14
4913	1.21	206.7	3177	2092	1986	1858	293.4	8.9	199	4919	0.00	2.65	0.00	0.000	324	0.000	0.099	3179	3508	1922	1987	1857	0	0	0	0	0	0	15.18	14.57	15.21
4975	1.21	206.7	3181	3508	1990	1858	287.4	9.9	208	4983	0.00	2.45	0.00	0.000	1030	0.000	0.046	3179	2091	1922	1987	1858	0	0	0	0	0	0	14.78	14.71	14.83
5333	1.24	206.7	3180	2090	1987	1857	255.7	8.9	214	5334	0.00	0.00	0.00	0.000	70	0.000	0.000	3179	2091	1921	1986	1857	0	0	0	0	0	0	15.19	15.22	15.21
5684	1.26	206.7	3174	2092	1986	1857	225.4	8.7	219	5689	0.00	2.62	0.00	0.000	324	0.000	0.099	3179	3518	1921	1986	1856	0	0	0	0	0	0	15.10	14.60	15.13
5717	1.26	206.7	3181	3519	1988	1857	222.2	9.5	224	5725	0.00	2.47	0.00	0.000	1030	0.000	0.047	3179	2093	1921	1986	1857	0	0	0	0	0	0	14.77	14.71	14.81
6090	1.29	206.7	3179	2094	1986	1856	190.0	8.8	235	6096	0.12	2.53	0.00	0.000	2628	0.140	0.091	3233	701	1921	1986	1856	0	0	0	0	0	0	14.81	14.57	14.90
6117	1.29	206.7	3232	702	1985	1857	187.2	9.9	239	6123	0.00	2.47	0.00	0.000	1030	0.000	0.061	3233	2109	1920	1985	1856	0	0	0	0	0	0	14.70	14.65	14.77
6481	1.29	206.7	3232	2109	1985	1857	147.7	10.5	255	6487	0.00	2.60	0.00	0.000	260	0.000	0.101	3233	3504	1921	1987	1856	0	0	0	0	0	0	15.18	14.52	15.21
6571	1.29	206.7	3232	3504	1985	1856	137.4	11.2	268	6578	0.00	2.45	0.00	0.000	1030	0.000	0.047	3233	2092	1920	1985	1856	0	0	0	0	0	0	14.74	14.68	14.78
6929	1.29	206.7	3232	2092	1985	1856	99.9	9.9	283	6936	0.00	2.67	0.00	0.000	260	0.000	0.101	3233	3513	1920	1985	1856	0	0	0	0	0	0	15.17	14.49	15.19
7013	1.29	206.7	3231	3513	1985	1856	89.3	12.6	295	7019	0.00	2.47	0.00	0.000	1030	0.000	0.047	3233	2094	1920	1985	1856	0	0	0	0	0	0	14.73	14.66	14.78
7378	1.29	206.7	3232	2094	1985	1856	48.3	10.9	311	7383	0.00	2.65	0.00	0.000	260	0.000	0.100	3233	3520	1920	1985	1855	0	0	0	0	0	0	15.16	14.54	15.19
7447	1.29	206.7	3234	3521	1987	1857	40.6	10.9	321	7453	0.00	2.50	0.00	0.000	1030	0.000	0.048	3233	2090	1920	1984	1856	0	0	0	0	0	0	14.71	14.64	14.75
7800	1.29	206.7	3234	2090	1986	1856	2.6	11.1	335	7806	0.00	2.60	0.00	0.000	260	0.000	0.099	3233	3504	1920	1985	1855	0	0	0	0	0	0	15.08	14.50	15.11
7809	end climb: SURFACE_DEPTH_REACHED
state	7809	begin surface coast
7816	end surface coast: CONTROL_FINISHED_OK
state	7816	begin surface