Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 495 * 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 495 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 28 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 495 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 28 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 080918,120047,-7402.1787,-11303.6348,0,1001.0,0,53.2,0.0,0.0,0,0.0 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 0.26 MHEAD_RNG_PITCHd_Wd 46.6,19930,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -17.9 D_GRID 990

GPS2 080918,120047,-7402.1787,-11303.6348,181,99.0,181,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 6.68,-1.862,-1.878,2,92,0 ALTIM_BOTTOM_PING 505.4,12.4

FINISH1 6.7,1.027487,1 _24V_AH 11.66,175.607

FINISH2 7.0 _10V_AH 11.84,0.000

RAFOS_CLK 349 FG_AHR_24Vo 0.000

RAFOS 0,1536408059,12.032778,12.016389,64,59,56,55,54,53,202,152,132,166,221,182 FG_AHR_10Vo 0.000

RAFOS_FIX -7402.341309,-11304.922852,080918,141437,0,1,0.08 MEM 280788

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10132,338

TT8_MAMPS 0.038199,0.286118 CAP_FILE_SIZE 74011,0

HUMID 50.90 CFSIZE 1024409600,961331200

INTERNAL_PRESSURE 8.21906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.90 SOUNDSPEED 1445.3

XPDR_PINGS 1 GPS 080918,143937,-7402.341,-11304.923,0,1001.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 10.2,10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 403 71.69 nil 0 0 0.00

Roll_motor 74 139 122.10 nil 0 0 0.00

VBD_pump_during_apogee 355 2887 11979.23 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 8372 2 265.32

Iridium_during_xfer 119 71 100.39 nil 0 0 0.00

Transponder_ping 21 420 102.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 181 10 22.53

TT8 0 0 0.00

LPSleep 7045 2 192.69

TT8_Active 558 13 91.31

TT8_Sampling 1104 34 455.06

TT8_CF8 462 52 288.82

TT8_Kalman 0 0 0.00

Analog_circuits 1014 10 130.91

GPS_charging 0 0 0.00

Compass 491 7 43.62

RAFOS 0 0 0.00

Transponder 146 30 52.18

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

27.4 29.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

37.6 40.00 9000.00 0.0 0.00 0.00 40.00 0.0 1.06 1.00

479.4 37.80 9000.00 0.0 0.01 0.11 37.80 517.2 -0.00 1.00

492.6 23.00 9000.00 0.0 -0.02 0.39 23.00 515.6 -1.12 1.00

505.4 13.20 12.40 517.8 -0.95 0.99 13.20 518.6 -0.77 1.00

504.1 12.60 13.50 0.0 -0.82 0.98 0.00 0.0 0.00 0.00

490.0 31.60 9000.00 0.0 -1.26 0.99 31.60 0.0 -1.35 1.00

101.8 105.80 9000.00 0.0 -0.21 0.97 105.80 0.0 -0.19 1.00

90.3 94.00 9000.00 0.0 -0.17 0.97 94.00 -3.7 1.03 1.00

80.2 83.60 83.50 -3.3 1.03 1.00 83.60 -3.4 1.03 1.00

56.9 59.00 59.10 -2.2 1.05 1.00 59.00 -2.1 1.06 1.00

46.8 48.30 48.30 -1.5 1.06 1.00 48.30 -1.5 1.06 1.00

33.6 36.30 36.00 -2.4 0.97 1.00 36.30 -2.7 0.91 1.00

23.1 24.20 24.70 -1.6 1.01 1.00 24.20 -1.1 1.15 1.00

10.2 10.20 10.10 0.1 1.11 1.00 10.20 0.0 1.09 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

12 -1.06 -107.1 211 2287 1389 1275 0.0 0.0 0 125 0.00 0.00 -108.00 0.002 16390 0.000 0.000 211 2286 3216 3213 3219 0 0 0 0 0 0 15.02 13.52 15.03

128 -1.06 -107.1 211 2287 3213 3220 6.0 -6.4 4 140 11.18 0.00 0.00 0.000 2054 0.403 0.000 2457 2285 3216 3217 3216 0 0 0 0 0 0 13.97 14.56 14.42

462 -1.06 -107.1 2456 2286 3229 3205 73.8 -18.6 16 467 0.00 2.65 0.00 0.000 260 0.000 0.103 2448 3716 3216 3229 3204 0 0 0 0 0 0 15.11 14.48 15.14

495 -1.06 -107.1 2449 3717 3231 3205 80.8 -20.1 21 503 0.00 2.47 0.00 0.000 1030 0.000 0.045 2448 2286 3217 3230 3204 0 0 0 0 0 0 14.71 14.66 14.75

852 -1.06 -107.1 2447 2286 3230 3203 149.2 -19.0 36 859 0.00 2.67 0.00 0.000 260 0.000 0.103 2437 3709 3216 3230 3203 0 0 0 0 0 0 15.18 14.43 15.20

895 -1.06 -107.1 2438 3710 3233 3204 157.6 -20.2 42 901 0.00 2.45 0.00 0.000 1030 0.000 0.043 2437 2291 3217 3231 3203 0 0 0 0 0 0 14.71 14.68 14.75

1247 -1.06 -107.1 2438 2293 3234 3204 227.7 -19.9 53 1248 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2289 3217 3231 3203 0 0 0 0 0 0 15.06 15.08 15.08

1595 -1.06 -107.1 2438 2290 3234 3204 297.3 -19.9 58 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2437 2289 3217 3232 3203 0 0 0 0 0 0 15.07 15.09 15.09

1945 -1.06 -107.1 2438 2290 3234 3203 364.8 -19.2 63 1951 0.00 2.53 0.00 0.000 516 0.000 0.073 2437 899 3217 3233 3202 0 0 0 0 0 0 15.07 14.45 15.09

1993 -1.06 -107.1 2438 900 3238 3203 374.4 -19.6 70 2002 0.12 2.55 0.00 0.000 3078 0.259 0.067 2457 2299 3217 3233 3201 0 0 0 0 0 0 14.15 14.50 14.33

2367 -1.06 -107.1 2458 2300 3235 3202 440.0 -17.6 78 2372 0.00 2.65 0.00 0.000 260 0.000 0.106 2449 3725 3217 3233 3201 0 0 0 0 0 0 15.07 14.47 15.09

2399 -1.06 -107.1 2448 3725 3233 3202 446.4 -18.6 83 2406 0.00 2.47 0.00 0.000 1030 0.000 0.044 2449 2293 3217 3233 3201 0 0 0 0 0 0 14.73 14.69 14.77

2784 end dive: BOTTOM_OBSTACLE_DETECTED

state 2784 begin apogee

2790 -0.23 0.0 2449 2061 3234 3199 514.4 -17.6 93 2908 0.93 0.12 115.07 2.887 10246 0.143 0.140 2730 2136 2781 2809 2753 0 0 0 0 0 0 14.45 13.71 12.36

2909 end apogee: CONTROL_FINISHED_OK

state 2909 begin climb

2912 1.06 107.1 2730 2137 2808 2753 514.4 0.0 94 3052 1.35 2.92 127.40 2.759 11012 0.130 0.081 3134 738 2343 2382 2305 0 0 0 0 0 0 13.73 13.02 11.73

3106 1.17 201.7 3134 739 2374 2299 510.0 4.1 129 3227 0.12 2.60 113.38 2.708 11302 0.076 0.054 3185 2095 1957 2022 1892 0 0 0 0 0 0 13.52 13.50 11.66

3634 1.17 201.7 3185 2095 2010 1879 463.0 9.7 159 3640 0.00 2.65 0.00 0.000 260 0.000 0.100 3186 3513 1945 2011 1879 0 0 0 0 0 0 14.76 14.33 14.79

3668 1.17 201.7 3186 3513 2012 1878 459.3 10.7 164 3675 0.00 2.45 0.00 0.000 1030 0.000 0.047 3186 2131 1944 2010 1878 0 0 0 0 0 0 14.57 14.51 14.61

4054 1.17 201.7 3187 2132 2010 1879 421.6 9.9 174 4060 0.00 2.60 0.00 0.000 516 0.000 0.090 3186 697 1943 2008 1878 0 0 0 0 0 0 15.02 14.57 15.04

4088 1.17 201.7 3187 698 2011 1879 418.1 10.3 179 4095 0.00 2.47 0.00 0.000 1030 0.000 0.058 3186 2102 1943 2008 1878 0 0 0 0 0 0 14.72 14.65 14.76

4474 1.17 201.7 3186 2102 2008 1877 379.5 9.9 189 4481 0.00 2.58 0.00 0.000 260 0.000 0.099 3185 3516 1942 2008 1877 0 0 0 0 0 0 15.07 14.59 15.09

4515 1.17 201.7 3188 3517 2010 1878 375.2 10.5 195 4522 0.00 2.47 0.00 0.000 1030 0.000 0.047 3186 2095 1942 2008 1877 0 0 0 0 0 0 14.71 14.65 14.76

4894 1.17 201.7 3186 2095 2007 1877 338.5 9.7 204 4895 0.00 0.00 0.00 0.000 6 0.000 0.000 3186 2095 1945 2014 1877 0 0 0 0 0 0 15.09 15.11 15.11

5243 1.18 201.7 3187 2095 2005 1877 305.3 9.4 209 5244 0.00 0.00 0.00 0.000 70 0.000 0.000 3186 2094 1942 2008 1876 0 0 0 0 0 0 15.16 15.19 15.19

5595 1.21 201.7 3187 2095 2007 1875 274.8 8.6 214 5600 0.00 2.62 0.00 0.000 324 0.000 0.100 3186 3513 1940 2005 1876 0 0 0 0 0 0 15.09 14.54 15.12

5628 1.23 201.7 3186 3513 2005 1876 271.7 9.2 219 5635 0.00 2.47 0.00 0.000 1094 0.000 0.047 3186 2091 1940 2005 1875 0 0 0 0 0 0 14.76 14.70 14.81

6015 1.25 201.7 3186 2092 2004 1876 237.8 9.0 229 6021 0.00 2.55 0.00 0.000 580 0.000 0.092 3186 692 1940 2004 1876 0 0 0 0 0 0 15.09 14.51 15.12

6056 1.27 201.7 3188 693 2005 1876 234.2 8.7 235 6062 0.00 2.50 0.00 0.000 1094 0.000 0.059 3186 2104 1939 2003 1875 0 0 0 0 0 0 14.71 14.63 14.76

6434 1.27 201.7 3188 2105 2006 1876 198.8 9.6 244 6440 0.00 2.60 0.00 0.000 260 0.000 0.101 3186 3521 1939 2004 1875 0 0 0 0 0 0 15.09 14.53 15.11

6482 1.27 201.7 3188 3522 2009 1876 193.8 10.6 251 6490 0.00 2.50 0.00 0.000 1030 0.000 0.047 3187 2087 1939 2004 1875 0 0 0 0 0 0 14.73 14.66 14.78

6826 1.29 201.7 3186 2086 2009 1876 161.3 9.2 264 6827 0.00 0.00 0.00 0.000 70 0.000 0.000 3186 2087 1939 2003 1875 0 0 0 0 0 0 15.21 15.21 15.21

7161 1.31 201.7 3188 2088 2005 1876 130.9 9.1 276 7168 0.00 2.67 0.00 0.000 324 0.000 0.099 3185 3508 1939 2003 1875 0 0 0 0 0 0 15.16 14.48 15.19

7196 1.31 201.7 3187 3508 2006 1875 127.3 10.1 281 7204 0.08 2.45 0.00 0.000 3078 0.103 0.046 3225 2096 1939 2003 1875 0 0 0 0 0 0 14.59 14.67 14.68

7556 1.31 201.7 3225 2096 2003 1875 90.3 10.3 296 7561 0.00 2.62 0.00 0.000 260 0.000 0.096 3225 3511 1940 2006 1875 0 0 0 0 0 0 15.08 14.54 15.11

7596 1.31 201.7 3227 3512 2005 1876 85.4 12.4 302 7602 0.00 2.47 0.00 0.000 1030 0.000 0.047 3227 2099 1939 2003 1875 0 0 0 0 0 0 14.73 14.64 14.75

7947 1.31 201.7 3228 2099 2005 1876 48.9 9.8 316 7952 0.00 2.55 0.00 0.000 516 0.000 0.092 3227 697 1939 2003 1875 0 0 0 0 0 0 15.17 14.52 15.20

7967 1.31 201.7 3231 698 2005 1876 46.8 9.6 319 7974 0.00 2.50 0.00 0.000 1030 0.000 0.061 3227 2109 1938 2002 1874 0 0 0 0 0 0 14.64 14.57 14.71

8309 end climb: FINISH_DEPTH_REACHED

state 8309 begin subsurface finish

8315 0.00 0.7 3227 2110 2002 1871 6.7 12.1 332 8353 1.48 2.62 -28.50 0.005 20740 0.192 0.126 2803 3516 2781 2816 2746 0 0 0 0 0 0 14.28 12.52 14.45

8353 end subsurface finish: CONTROL_FINISHED_OK

state 8353 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	495	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	28	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	080918,120047,-7402.1787,-11303.6348,0,1001.0,0,53.2,0.0,0.0,0,0.0	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	0.26	MHEAD_RNG_PITCHd_Wd	46.6,19930,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-17.9	D_GRID	990
GPS2	080918,120047,-7402.1787,-11303.6348,181,99.0,181,53.2,0.0,0.0,0,0.0

FREEZE	6.68,-1.862,-1.878,2,92,0	ALTIM_BOTTOM_PING	505.4,12.4
FINISH1	6.7,1.027487,1	_24V_AH	11.66,175.607
FINISH2	7.0	_10V_AH	11.84,0.000
RAFOS_CLK	349	FG_AHR_24Vo	0.000
RAFOS	0,1536408059,12.032778,12.016389,64,59,56,55,54,53,202,152,132,166,221,182	FG_AHR_10Vo	0.000
RAFOS_FIX	-7402.341309,-11304.922852,080918,141437,0,1,0.08	MEM	280788
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10132,338
TT8_MAMPS	0.038199,0.286118	CAP_FILE_SIZE	74011,0
HUMID	50.90	CFSIZE	1024409600,961331200
INTERNAL_PRESSURE	8.21906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.90	SOUNDSPEED	1445.3
XPDR_PINGS	1	GPS	080918,143937,-7402.341,-11304.923,0,1001.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	10.2,10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	403	71.69	nil	0	0	0.00
Roll_motor	74	139	122.10	nil	0	0	0.00
VBD_pump_during_apogee	355	2887	11979.23	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	8372	2	265.32
Iridium_during_xfer	119	71	100.39	nil	0	0	0.00
Transponder_ping	21	420	102.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	181	10	22.53
TT8	0	0	0.00
LPSleep	7045	2	192.69
TT8_Active	558	13	91.31
TT8_Sampling	1104	34	455.06
TT8_CF8	462	52	288.82
TT8_Kalman	0	0	0.00
Analog_circuits	1014	10	130.91
GPS_charging	0	0	0.00
Compass	491	7	43.62
RAFOS	0	0	0.00
Transponder	146	30	52.18

		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
27.4	29.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
37.6	40.00	9000.00	0.0	0.00	0.00	40.00	0.0	1.06	1.00
479.4	37.80	9000.00	0.0	0.01	0.11	37.80	517.2	-0.00	1.00
492.6	23.00	9000.00	0.0	-0.02	0.39	23.00	515.6	-1.12	1.00
505.4	13.20	12.40	517.8	-0.95	0.99	13.20	518.6	-0.77	1.00

504.1	12.60	13.50	0.0	-0.82	0.98	0.00	0.0	0.00	0.00
490.0	31.60	9000.00	0.0	-1.26	0.99	31.60	0.0	-1.35	1.00
101.8	105.80	9000.00	0.0	-0.21	0.97	105.80	0.0	-0.19	1.00
90.3	94.00	9000.00	0.0	-0.17	0.97	94.00	-3.7	1.03	1.00
80.2	83.60	83.50	-3.3	1.03	1.00	83.60	-3.4	1.03	1.00
56.9	59.00	59.10	-2.2	1.05	1.00	59.00	-2.1	1.06	1.00
46.8	48.30	48.30	-1.5	1.06	1.00	48.30	-1.5	1.06	1.00
33.6	36.30	36.00	-2.4	0.97	1.00	36.30	-2.7	0.91	1.00
23.1	24.20	24.70	-1.6	1.01	1.00	24.20	-1.1	1.15	1.00
10.2	10.20	10.10	0.1	1.11	1.00	10.20	0.0	1.09	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
12	-1.06	-107.1	211	2287	1389	1275	0.0	0.0	0	125	0.00	0.00	-108.00	0.002	16390	0.000	0.000	211	2286	3216	3213	3219	0	0	0	0	0	0	15.02	13.52	15.03
128	-1.06	-107.1	211	2287	3213	3220	6.0	-6.4	4	140	11.18	0.00	0.00	0.000	2054	0.403	0.000	2457	2285	3216	3217	3216	0	0	0	0	0	0	13.97	14.56	14.42
462	-1.06	-107.1	2456	2286	3229	3205	73.8	-18.6	16	467	0.00	2.65	0.00	0.000	260	0.000	0.103	2448	3716	3216	3229	3204	0	0	0	0	0	0	15.11	14.48	15.14
495	-1.06	-107.1	2449	3717	3231	3205	80.8	-20.1	21	503	0.00	2.47	0.00	0.000	1030	0.000	0.045	2448	2286	3217	3230	3204	0	0	0	0	0	0	14.71	14.66	14.75
852	-1.06	-107.1	2447	2286	3230	3203	149.2	-19.0	36	859	0.00	2.67	0.00	0.000	260	0.000	0.103	2437	3709	3216	3230	3203	0	0	0	0	0	0	15.18	14.43	15.20
895	-1.06	-107.1	2438	3710	3233	3204	157.6	-20.2	42	901	0.00	2.45	0.00	0.000	1030	0.000	0.043	2437	2291	3217	3231	3203	0	0	0	0	0	0	14.71	14.68	14.75
1247	-1.06	-107.1	2438	2293	3234	3204	227.7	-19.9	53	1248	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2289	3217	3231	3203	0	0	0	0	0	0	15.06	15.08	15.08
1595	-1.06	-107.1	2438	2290	3234	3204	297.3	-19.9	58	1596	0.00	0.00	0.00	0.000	6	0.000	0.000	2437	2289	3217	3232	3203	0	0	0	0	0	0	15.07	15.09	15.09
1945	-1.06	-107.1	2438	2290	3234	3203	364.8	-19.2	63	1951	0.00	2.53	0.00	0.000	516	0.000	0.073	2437	899	3217	3233	3202	0	0	0	0	0	0	15.07	14.45	15.09
1993	-1.06	-107.1	2438	900	3238	3203	374.4	-19.6	70	2002	0.12	2.55	0.00	0.000	3078	0.259	0.067	2457	2299	3217	3233	3201	0	0	0	0	0	0	14.15	14.50	14.33
2367	-1.06	-107.1	2458	2300	3235	3202	440.0	-17.6	78	2372	0.00	2.65	0.00	0.000	260	0.000	0.106	2449	3725	3217	3233	3201	0	0	0	0	0	0	15.07	14.47	15.09
2399	-1.06	-107.1	2448	3725	3233	3202	446.4	-18.6	83	2406	0.00	2.47	0.00	0.000	1030	0.000	0.044	2449	2293	3217	3233	3201	0	0	0	0	0	0	14.73	14.69	14.77
2784	end dive: BOTTOM_OBSTACLE_DETECTED
state	2784	begin apogee
2790	-0.23	0.0	2449	2061	3234	3199	514.4	-17.6	93	2908	0.93	0.12	115.07	2.887	10246	0.143	0.140	2730	2136	2781	2809	2753	0	0	0	0	0	0	14.45	13.71	12.36
2909	end apogee: CONTROL_FINISHED_OK
state	2909	begin climb
2912	1.06	107.1	2730	2137	2808	2753	514.4	0.0	94	3052	1.35	2.92	127.40	2.759	11012	0.130	0.081	3134	738	2343	2382	2305	0	0	0	0	0	0	13.73	13.02	11.73
3106	1.17	201.7	3134	739	2374	2299	510.0	4.1	129	3227	0.12	2.60	113.38	2.708	11302	0.076	0.054	3185	2095	1957	2022	1892	0	0	0	0	0	0	13.52	13.50	11.66
3634	1.17	201.7	3185	2095	2010	1879	463.0	9.7	159	3640	0.00	2.65	0.00	0.000	260	0.000	0.100	3186	3513	1945	2011	1879	0	0	0	0	0	0	14.76	14.33	14.79
3668	1.17	201.7	3186	3513	2012	1878	459.3	10.7	164	3675	0.00	2.45	0.00	0.000	1030	0.000	0.047	3186	2131	1944	2010	1878	0	0	0	0	0	0	14.57	14.51	14.61
4054	1.17	201.7	3187	2132	2010	1879	421.6	9.9	174	4060	0.00	2.60	0.00	0.000	516	0.000	0.090	3186	697	1943	2008	1878	0	0	0	0	0	0	15.02	14.57	15.04
4088	1.17	201.7	3187	698	2011	1879	418.1	10.3	179	4095	0.00	2.47	0.00	0.000	1030	0.000	0.058	3186	2102	1943	2008	1878	0	0	0	0	0	0	14.72	14.65	14.76
4474	1.17	201.7	3186	2102	2008	1877	379.5	9.9	189	4481	0.00	2.58	0.00	0.000	260	0.000	0.099	3185	3516	1942	2008	1877	0	0	0	0	0	0	15.07	14.59	15.09
4515	1.17	201.7	3188	3517	2010	1878	375.2	10.5	195	4522	0.00	2.47	0.00	0.000	1030	0.000	0.047	3186	2095	1942	2008	1877	0	0	0	0	0	0	14.71	14.65	14.76
4894	1.17	201.7	3186	2095	2007	1877	338.5	9.7	204	4895	0.00	0.00	0.00	0.000	6	0.000	0.000	3186	2095	1945	2014	1877	0	0	0	0	0	0	15.09	15.11	15.11
5243	1.18	201.7	3187	2095	2005	1877	305.3	9.4	209	5244	0.00	0.00	0.00	0.000	70	0.000	0.000	3186	2094	1942	2008	1876	0	0	0	0	0	0	15.16	15.19	15.19
5595	1.21	201.7	3187	2095	2007	1875	274.8	8.6	214	5600	0.00	2.62	0.00	0.000	324	0.000	0.100	3186	3513	1940	2005	1876	0	0	0	0	0	0	15.09	14.54	15.12
5628	1.23	201.7	3186	3513	2005	1876	271.7	9.2	219	5635	0.00	2.47	0.00	0.000	1094	0.000	0.047	3186	2091	1940	2005	1875	0	0	0	0	0	0	14.76	14.70	14.81
6015	1.25	201.7	3186	2092	2004	1876	237.8	9.0	229	6021	0.00	2.55	0.00	0.000	580	0.000	0.092	3186	692	1940	2004	1876	0	0	0	0	0	0	15.09	14.51	15.12
6056	1.27	201.7	3188	693	2005	1876	234.2	8.7	235	6062	0.00	2.50	0.00	0.000	1094	0.000	0.059	3186	2104	1939	2003	1875	0	0	0	0	0	0	14.71	14.63	14.76
6434	1.27	201.7	3188	2105	2006	1876	198.8	9.6	244	6440	0.00	2.60	0.00	0.000	260	0.000	0.101	3186	3521	1939	2004	1875	0	0	0	0	0	0	15.09	14.53	15.11
6482	1.27	201.7	3188	3522	2009	1876	193.8	10.6	251	6490	0.00	2.50	0.00	0.000	1030	0.000	0.047	3187	2087	1939	2004	1875	0	0	0	0	0	0	14.73	14.66	14.78
6826	1.29	201.7	3186	2086	2009	1876	161.3	9.2	264	6827	0.00	0.00	0.00	0.000	70	0.000	0.000	3186	2087	1939	2003	1875	0	0	0	0	0	0	15.21	15.21	15.21
7161	1.31	201.7	3188	2088	2005	1876	130.9	9.1	276	7168	0.00	2.67	0.00	0.000	324	0.000	0.099	3185	3508	1939	2003	1875	0	0	0	0	0	0	15.16	14.48	15.19
7196	1.31	201.7	3187	3508	2006	1875	127.3	10.1	281	7204	0.08	2.45	0.00	0.000	3078	0.103	0.046	3225	2096	1939	2003	1875	0	0	0	0	0	0	14.59	14.67	14.68
7556	1.31	201.7	3225	2096	2003	1875	90.3	10.3	296	7561	0.00	2.62	0.00	0.000	260	0.000	0.096	3225	3511	1940	2006	1875	0	0	0	0	0	0	15.08	14.54	15.11
7596	1.31	201.7	3227	3512	2005	1876	85.4	12.4	302	7602	0.00	2.47	0.00	0.000	1030	0.000	0.047	3227	2099	1939	2003	1875	0	0	0	0	0	0	14.73	14.64	14.75
7947	1.31	201.7	3228	2099	2005	1876	48.9	9.8	316	7952	0.00	2.55	0.00	0.000	516	0.000	0.092	3227	697	1939	2003	1875	0	0	0	0	0	0	15.17	14.52	15.20
7967	1.31	201.7	3231	698	2005	1876	46.8	9.6	319	7974	0.00	2.50	0.00	0.000	1030	0.000	0.061	3227	2109	1938	2002	1874	0	0	0	0	0	0	14.64	14.57	14.71
8309	end climb: FINISH_DEPTH_REACHED
state	8309	begin subsurface finish
8315	0.00	0.7	3227	2110	2002	1871	6.7	12.1	332	8353	1.48	2.62	-28.50	0.005	20740	0.192	0.126	2803	3516	2781	2816	2746	0	0	0	0	0	0	14.28	12.52	14.45
8353	end subsurface finish: CONTROL_FINISHED_OK
state	8353	begin surface