Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 555 * 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 555 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 50 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 19 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 360 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 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 0

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 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 360

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 0 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 555 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 50 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 19 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 211018,031616,-7415.4141,-11214.7529,0,4117.3,0,53.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.092,0.233

_CALLS 3 TGT_NAME hold5

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 366.86 MHEAD_RNG_PITCHd_Wd 293.0,21772,-18.9,-9.167,-21.50,1798

_SM_ANGLEo -5.6 D_GRID 990

GPS2 211018,031616,-7415.4141,-11214.7529,0,4117.3,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 359.2,1.027450,3 _24V_AH 11.30,192.895

FINISH2 358.3 _10V_AH 11.56,0.000

RAFOS_CLK 340 FG_AHR_24Vo 0.000

RAFOS_FIX -7414.322754,-11214.296875,211018,060635,0,1,0.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 MEM 280760

TT8_MAMPS 0.040446,0.119091 DATA_FILE_SIZE 10112,444

HUMID 50.66 CAP_FILE_SIZE 74407,0

INTERNAL_PRESSURE 8.25812 CFSIZE 1024409600,955105280

TCM_TEMP 12.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1456.6

ALTIM_TOP_PING 374.7,18.5 GPS 211018,060035,-7414.323,-11214.297,0,1001.0,0,53.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 292 15.56 nil 0 0 0.00

Roll_motor 97 934 1028.89 nil 0 0 0.00

VBD_pump_during_apogee 428 3093 14975.29 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 8931 1 193.36

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 20 420 94.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7364 2 196.65

TT8_Active 518 13 82.83

TT8_Sampling 992 34 399.08

TT8_CF8 164 52 100.37

TT8_Kalman 0 0 0.00

Analog_circuits 929 10 117.09

GPS_charging 0 0 0.00

Compass 639 7 55.39

RAFOS 0 0 0.00

Transponder 143 30 49.82

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

823.5 43.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

841.1 23.10 9000.00 0.0 0.00 0.00 23.10 864.2 -1.18 1.00

802.3 58.50 59.90 0.0 -0.91 0.98 58.50 0.0 -0.91 1.00

399.0 43.50 9000.00 0.0 -0.01 0.03 43.50 355.5 0.04 1.00

385.1 29.10 9000.00 0.0 0.06 0.79 29.10 356.0 1.04 1.00

374.7 18.50 18.50 356.2 1.03 1.00 18.50 356.2 1.02 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 -0.99 -107.1 2804 2277 2811 2754 0.0 0.0 0 14 0.00 0.08 -1.58 0.059 16390 0.000 0.935 2802 2308 3238 3267 3210 0 0 0 0 0 0 14.97 12.86 14.94

17 -0.99 -107.1 2804 2310 3268 3209 0.0 0.0 0 24 0.95 2.45 0.00 0.000 4612 0.073 0.072 2466 915 3238 3267 3209 0 0 0 0 0 0 14.61 14.52 14.66

254 -0.99 -107.1 2465 912 3266 3208 412.5 -19.3 34 260 0.00 2.53 0.00 0.000 1030 0.000 0.075 2455 2308 3236 3266 3207 0 0 0 0 0 0 14.72 14.57 14.79

631 -0.99 -107.1 2455 2309 3266 3207 481.2 -17.8 46 641 0.00 2.70 0.00 0.000 260 0.000 0.118 2445 3715 3236 3266 3206 0 0 0 0 0 0 15.12 14.38 15.14

674 -0.99 -107.1 2446 3716 3268 3207 489.2 -19.1 52 682 0.12 2.45 0.00 0.000 3078 0.246 0.047 2477 2302 3236 3266 3206 0 0 0 0 0 0 14.21 14.66 14.39

1024 -0.99 -107.1 2478 2301 3267 3206 545.7 -16.2 60 1031 0.00 2.55 0.00 0.000 516 0.000 0.073 2477 902 3235 3266 3205 0 0 0 0 0 0 15.13 14.42 15.19

1094 -0.99 -107.1 2478 903 3268 3205 557.3 -16.6 70 1102 0.00 2.58 0.00 0.000 1030 0.000 0.073 2468 2309 3236 3268 3205 0 0 0 0 0 0 14.55 14.45 14.62

1472 -0.99 -107.1 2470 2310 3267 3206 619.2 -16.3 82 1479 0.00 2.58 0.00 0.000 516 0.000 0.073 2468 905 3235 3266 3205 0 0 0 0 0 0 15.14 14.38 15.16

1508 -0.99 -107.1 2469 905 3268 3206 624.9 -16.2 87 1514 0.00 2.55 0.00 0.000 1030 0.000 0.073 2458 2299 3235 3266 3205 0 0 0 0 0 0 14.52 14.42 14.59

1864 -0.99 -107.1 2458 2300 3266 3206 680.8 -15.8 96 1871 0.00 2.55 0.00 0.000 516 0.000 0.075 2458 911 3235 3267 3204 0 0 0 0 0 0 15.14 14.33 15.16

1934 -0.99 -107.1 2459 910 3269 3205 692.3 -16.3 106 1944 0.00 2.55 0.00 0.000 1030 0.000 0.073 2447 2305 3235 3266 3204 0 0 0 0 0 0 14.49 14.39 14.57

2314 -0.99 -107.1 2449 2306 3268 3206 753.8 -16.3 118 2320 0.15 2.70 0.00 0.000 2308 0.293 0.116 2469 3715 3235 3267 3204 0 0 0 0 0 0 14.20 14.26 14.48

2434 -0.99 -107.1 2469 3715 3266 3205 772.9 -15.7 135 2439 0.00 2.42 0.00 0.000 1030 0.000 0.047 2465 2298 3235 3266 3204 0 0 0 0 0 0 14.75 14.66 14.78

2817 -0.99 -107.1 2469 2296 3266 3204 832.3 -15.5 148 2818 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2296 3235 3267 3204 0 0 0 0 0 0 15.12 15.16 15.15

3154 -0.99 -107.1 2470 2296 3268 3205 861.0 -4.3 154 3160 0.00 2.55 0.00 0.000 548 0.000 0.073 2469 904 3235 3266 3204 0 0 0 0 0 0 15.12 14.28 15.15

3291 end dive: NO_VERTICAL_VELOCITY

state 3291 begin apogee

3299 -0.23 0.0 2471 2120 3277 3205 860.8 0.0 174 3429 0.82 0.00 127.78 3.094 10246 0.106 0.000 2733 2116 2781 2817 2746 0 0 0 0 0 0 14.47 13.48 12.02

3430 end apogee: CONTROL_FINISHED_OK

state 3430 begin climb

3433 0.99 107.1 2732 2119 2816 2746 861.2 0.0 176 3591 1.25 2.97 145.68 3.075 10500 0.090 0.103 3121 3505 2344 2385 2304 0 0 0 0 0 0 13.57 12.74 11.30

3744 1.14 224.1 3128 3506 2380 2296 854.2 2.5 224 3907 0.10 2.60 154.93 3.048 11302 0.077 0.046 3169 2101 1867 1935 1799 0 0 0 0 0 0 13.78 13.79 11.31

4249 1.14 224.1 3168 2102 1926 1786 806.8 10.5 254 4256 0.00 2.65 0.00 0.000 516 0.000 0.091 3173 701 1855 1925 1786 0 0 0 0 0 0 14.73 14.28 14.76

4312 1.15 224.1 3174 702 1925 1786 800.9 8.5 263 4318 0.00 2.53 0.00 0.000 1094 0.000 0.060 3173 2107 1853 1922 1784 0 0 0 0 0 0 14.52 14.45 14.57

4697 1.15 224.1 3172 2106 1920 1784 762.6 9.9 276 4704 0.00 2.65 0.00 0.000 260 0.000 0.108 3173 3513 1851 1919 1783 0 0 0 0 0 0 15.09 14.47 15.11

4753 1.15 224.1 3173 3514 1922 1784 756.7 10.8 284 4759 0.00 2.47 0.00 0.000 1030 0.000 0.049 3173 2097 1850 1921 1779 0 0 0 0 0 0 14.70 14.64 14.76

5145 1.15 224.1 3173 2097 1918 1783 717.2 10.0 298 5152 0.00 2.67 0.00 0.000 260 0.000 0.109 3173 3506 1850 1918 1783 0 0 0 0 0 0 15.14 14.46 15.16

5180 1.15 224.1 3174 3507 1921 1783 713.4 10.7 303 5186 0.00 2.47 0.00 0.000 1030 0.000 0.050 3173 2092 1850 1918 1782 0 0 0 0 0 0 14.71 14.65 14.76

5538 1.15 224.1 3173 2092 1917 1783 677.6 10.3 312 5543 0.00 2.65 0.00 0.000 260 0.000 0.106 3173 3517 1849 1917 1782 0 0 0 0 0 0 15.07 14.50 15.08

5593 1.15 224.1 3174 3518 1919 1783 671.3 11.4 320 5599 0.00 2.47 0.00 0.000 1030 0.000 0.048 3173 2098 1849 1917 1782 0 0 0 0 0 0 14.69 14.63 14.73

5988 1.15 224.1 3172 2099 1916 1782 630.3 10.4 334 5993 0.00 2.60 0.00 0.000 516 0.000 0.094 3172 688 1849 1916 1782 0 0 0 0 0 0 15.07 14.50 15.09

6034 1.15 224.1 3174 688 1917 1782 625.4 10.0 341 6042 0.00 2.53 0.00 0.000 1030 0.000 0.062 3171 2109 1846 1910 1782 0 0 0 0 0 0 14.62 14.54 14.69

6377 1.15 224.1 3173 2109 1917 1782 591.0 10.0 348 6383 0.00 2.65 0.00 0.000 260 0.000 0.109 3173 3507 1848 1915 1781 0 0 0 0 0 0 15.16 14.39 15.19

6447 1.15 224.1 3174 3508 1917 1782 583.2 11.2 358 6454 0.00 2.47 0.00 0.000 1030 0.000 0.048 3173 2091 1848 1915 1781 0 0 0 0 0 0 14.64 14.59 14.69

6825 1.15 224.1 3173 2091 1914 1781 546.0 9.7 370 6826 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2091 1847 1914 1781 0 0 0 0 0 0 15.16 15.19 15.18

7161 1.15 224.1 3172 2091 1914 1781 513.7 9.6 376 7167 0.00 2.70 0.00 0.000 260 0.000 0.106 3173 3509 1848 1914 1782 0 0 0 0 0 0 15.16 14.35 15.21

7196 1.15 224.1 3174 3509 1916 1781 510.1 10.4 381 7203 0.00 2.47 0.00 0.000 1030 0.000 0.047 3173 2091 1847 1914 1781 0 0 0 0 0 0 14.63 14.56 14.67

7554 1.15 224.1 3172 2091 1913 1781 476.5 9.4 390 7554 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2091 1847 1913 1781 0 0 0 0 0 0 15.04 15.07 15.07

7889 1.15 224.1 3174 2092 1915 1783 446.7 8.8 396 7895 0.00 2.70 0.00 0.000 260 0.000 0.105 3173 3508 1847 1913 1781 0 0 0 0 0 0 15.17 14.32 15.20

7931 1.15 224.1 3174 3508 1915 1781 442.6 10.1 402 7937 0.00 2.50 0.00 0.000 1030 0.000 0.049 3173 2089 1846 1913 1780 0 0 0 0 0 0 14.59 14.53 14.64

8282 1.15 224.1 3173 2090 1912 1782 409.7 9.5 410 8287 0.00 2.70 0.00 0.000 260 0.000 0.106 3173 3520 1846 1913 1780 0 0 0 0 0 0 15.03 14.35 15.05

8309 1.15 224.1 3170 3520 1912 1780 406.8 10.3 414 8315 0.00 2.53 0.00 0.000 1030 0.000 0.050 3173 2089 1843 1907 1780 0 0 0 0 0 0 14.58 14.51 14.63

8673 1.18 224.1 3172 2089 1912 1780 376.8 7.7 424 8679 0.00 2.62 0.00 0.000 580 0.000 0.095 3173 692 1846 1912 1780 0 0 0 0 0 0 15.16 14.29 15.18

8729 1.20 224.1 3173 692 1911 1781 372.4 8.1 432 8735 0.00 2.55 0.00 0.000 1094 0.000 0.060 3173 2106 1846 1912 1780 0 0 0 0 0 0 14.52 14.43 14.58

8894 end climb: SURFACE_OBSTACLE_DETECTED

state 8894 begin subsurface finish

8901 0.00 2.5 3173 2107 1912 1780 359.2 7.9 442 8911 1.30 2.65 -3.47 0.031 20740 0.194 0.130 2805 3512 2789 2827 2752 0 0 0 0 0 0 14.10 12.69 14.28

8912 end subsurface finish: CONTROL_FINISHED_OK

state 8912 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	555	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	50	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	19	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	360	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	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	0
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	211018,031616,-7415.4141,-11214.7529,0,4117.3,0,53.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.092,0.233
_CALLS	3	TGT_NAME	hold5
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	366.86	MHEAD_RNG_PITCHd_Wd	293.0,21772,-18.9,-9.167,-21.50,1798
_SM_ANGLEo	-5.6	D_GRID	990
GPS2	211018,031616,-7415.4141,-11214.7529,0,4117.3,0,53.2,0.0,0.0,0,0.0

FINISH1	359.2,1.027450,3	_24V_AH	11.30,192.895
FINISH2	358.3	_10V_AH	11.56,0.000
RAFOS_CLK	340	FG_AHR_24Vo	0.000
RAFOS_FIX	-7414.322754,-11214.296875,211018,060635,0,1,0.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	MEM	280760
TT8_MAMPS	0.040446,0.119091	DATA_FILE_SIZE	10112,444
HUMID	50.66	CAP_FILE_SIZE	74407,0
INTERNAL_PRESSURE	8.25812	CFSIZE	1024409600,955105280
TCM_TEMP	12.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1456.6
ALTIM_TOP_PING	374.7,18.5	GPS	211018,060035,-7414.323,-11214.297,0,1001.0,0,53.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	292	15.56	nil	0	0	0.00
Roll_motor	97	934	1028.89	nil	0	0	0.00
VBD_pump_during_apogee	428	3093	14975.29	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	8931	1	193.36
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	20	420	94.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7364	2	196.65
TT8_Active	518	13	82.83
TT8_Sampling	992	34	399.08
TT8_CF8	164	52	100.37
TT8_Kalman	0	0	0.00
Analog_circuits	929	10	117.09
GPS_charging	0	0	0.00
Compass	639	7	55.39
RAFOS	0	0	0.00
Transponder	143	30	49.82

		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
823.5	43.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
841.1	23.10	9000.00	0.0	0.00	0.00	23.10	864.2	-1.18	1.00

802.3	58.50	59.90	0.0	-0.91	0.98	58.50	0.0	-0.91	1.00
399.0	43.50	9000.00	0.0	-0.01	0.03	43.50	355.5	0.04	1.00
385.1	29.10	9000.00	0.0	0.06	0.79	29.10	356.0	1.04	1.00
374.7	18.50	18.50	356.2	1.03	1.00	18.50	356.2	1.02	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	-0.99	-107.1	2804	2277	2811	2754	0.0	0.0	0	14	0.00	0.08	-1.58	0.059	16390	0.000	0.935	2802	2308	3238	3267	3210	0	0	0	0	0	0	14.97	12.86	14.94
17	-0.99	-107.1	2804	2310	3268	3209	0.0	0.0	0	24	0.95	2.45	0.00	0.000	4612	0.073	0.072	2466	915	3238	3267	3209	0	0	0	0	0	0	14.61	14.52	14.66
254	-0.99	-107.1	2465	912	3266	3208	412.5	-19.3	34	260	0.00	2.53	0.00	0.000	1030	0.000	0.075	2455	2308	3236	3266	3207	0	0	0	0	0	0	14.72	14.57	14.79
631	-0.99	-107.1	2455	2309	3266	3207	481.2	-17.8	46	641	0.00	2.70	0.00	0.000	260	0.000	0.118	2445	3715	3236	3266	3206	0	0	0	0	0	0	15.12	14.38	15.14
674	-0.99	-107.1	2446	3716	3268	3207	489.2	-19.1	52	682	0.12	2.45	0.00	0.000	3078	0.246	0.047	2477	2302	3236	3266	3206	0	0	0	0	0	0	14.21	14.66	14.39
1024	-0.99	-107.1	2478	2301	3267	3206	545.7	-16.2	60	1031	0.00	2.55	0.00	0.000	516	0.000	0.073	2477	902	3235	3266	3205	0	0	0	0	0	0	15.13	14.42	15.19
1094	-0.99	-107.1	2478	903	3268	3205	557.3	-16.6	70	1102	0.00	2.58	0.00	0.000	1030	0.000	0.073	2468	2309	3236	3268	3205	0	0	0	0	0	0	14.55	14.45	14.62
1472	-0.99	-107.1	2470	2310	3267	3206	619.2	-16.3	82	1479	0.00	2.58	0.00	0.000	516	0.000	0.073	2468	905	3235	3266	3205	0	0	0	0	0	0	15.14	14.38	15.16
1508	-0.99	-107.1	2469	905	3268	3206	624.9	-16.2	87	1514	0.00	2.55	0.00	0.000	1030	0.000	0.073	2458	2299	3235	3266	3205	0	0	0	0	0	0	14.52	14.42	14.59
1864	-0.99	-107.1	2458	2300	3266	3206	680.8	-15.8	96	1871	0.00	2.55	0.00	0.000	516	0.000	0.075	2458	911	3235	3267	3204	0	0	0	0	0	0	15.14	14.33	15.16
1934	-0.99	-107.1	2459	910	3269	3205	692.3	-16.3	106	1944	0.00	2.55	0.00	0.000	1030	0.000	0.073	2447	2305	3235	3266	3204	0	0	0	0	0	0	14.49	14.39	14.57
2314	-0.99	-107.1	2449	2306	3268	3206	753.8	-16.3	118	2320	0.15	2.70	0.00	0.000	2308	0.293	0.116	2469	3715	3235	3267	3204	0	0	0	0	0	0	14.20	14.26	14.48
2434	-0.99	-107.1	2469	3715	3266	3205	772.9	-15.7	135	2439	0.00	2.42	0.00	0.000	1030	0.000	0.047	2465	2298	3235	3266	3204	0	0	0	0	0	0	14.75	14.66	14.78
2817	-0.99	-107.1	2469	2296	3266	3204	832.3	-15.5	148	2818	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2296	3235	3267	3204	0	0	0	0	0	0	15.12	15.16	15.15
3154	-0.99	-107.1	2470	2296	3268	3205	861.0	-4.3	154	3160	0.00	2.55	0.00	0.000	548	0.000	0.073	2469	904	3235	3266	3204	0	0	0	0	0	0	15.12	14.28	15.15
3291	end dive: NO_VERTICAL_VELOCITY
state	3291	begin apogee
3299	-0.23	0.0	2471	2120	3277	3205	860.8	0.0	174	3429	0.82	0.00	127.78	3.094	10246	0.106	0.000	2733	2116	2781	2817	2746	0	0	0	0	0	0	14.47	13.48	12.02
3430	end apogee: CONTROL_FINISHED_OK
state	3430	begin climb
3433	0.99	107.1	2732	2119	2816	2746	861.2	0.0	176	3591	1.25	2.97	145.68	3.075	10500	0.090	0.103	3121	3505	2344	2385	2304	0	0	0	0	0	0	13.57	12.74	11.30
3744	1.14	224.1	3128	3506	2380	2296	854.2	2.5	224	3907	0.10	2.60	154.93	3.048	11302	0.077	0.046	3169	2101	1867	1935	1799	0	0	0	0	0	0	13.78	13.79	11.31
4249	1.14	224.1	3168	2102	1926	1786	806.8	10.5	254	4256	0.00	2.65	0.00	0.000	516	0.000	0.091	3173	701	1855	1925	1786	0	0	0	0	0	0	14.73	14.28	14.76
4312	1.15	224.1	3174	702	1925	1786	800.9	8.5	263	4318	0.00	2.53	0.00	0.000	1094	0.000	0.060	3173	2107	1853	1922	1784	0	0	0	0	0	0	14.52	14.45	14.57
4697	1.15	224.1	3172	2106	1920	1784	762.6	9.9	276	4704	0.00	2.65	0.00	0.000	260	0.000	0.108	3173	3513	1851	1919	1783	0	0	0	0	0	0	15.09	14.47	15.11
4753	1.15	224.1	3173	3514	1922	1784	756.7	10.8	284	4759	0.00	2.47	0.00	0.000	1030	0.000	0.049	3173	2097	1850	1921	1779	0	0	0	0	0	0	14.70	14.64	14.76
5145	1.15	224.1	3173	2097	1918	1783	717.2	10.0	298	5152	0.00	2.67	0.00	0.000	260	0.000	0.109	3173	3506	1850	1918	1783	0	0	0	0	0	0	15.14	14.46	15.16
5180	1.15	224.1	3174	3507	1921	1783	713.4	10.7	303	5186	0.00	2.47	0.00	0.000	1030	0.000	0.050	3173	2092	1850	1918	1782	0	0	0	0	0	0	14.71	14.65	14.76
5538	1.15	224.1	3173	2092	1917	1783	677.6	10.3	312	5543	0.00	2.65	0.00	0.000	260	0.000	0.106	3173	3517	1849	1917	1782	0	0	0	0	0	0	15.07	14.50	15.08
5593	1.15	224.1	3174	3518	1919	1783	671.3	11.4	320	5599	0.00	2.47	0.00	0.000	1030	0.000	0.048	3173	2098	1849	1917	1782	0	0	0	0	0	0	14.69	14.63	14.73
5988	1.15	224.1	3172	2099	1916	1782	630.3	10.4	334	5993	0.00	2.60	0.00	0.000	516	0.000	0.094	3172	688	1849	1916	1782	0	0	0	0	0	0	15.07	14.50	15.09
6034	1.15	224.1	3174	688	1917	1782	625.4	10.0	341	6042	0.00	2.53	0.00	0.000	1030	0.000	0.062	3171	2109	1846	1910	1782	0	0	0	0	0	0	14.62	14.54	14.69
6377	1.15	224.1	3173	2109	1917	1782	591.0	10.0	348	6383	0.00	2.65	0.00	0.000	260	0.000	0.109	3173	3507	1848	1915	1781	0	0	0	0	0	0	15.16	14.39	15.19
6447	1.15	224.1	3174	3508	1917	1782	583.2	11.2	358	6454	0.00	2.47	0.00	0.000	1030	0.000	0.048	3173	2091	1848	1915	1781	0	0	0	0	0	0	14.64	14.59	14.69
6825	1.15	224.1	3173	2091	1914	1781	546.0	9.7	370	6826	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2091	1847	1914	1781	0	0	0	0	0	0	15.16	15.19	15.18
7161	1.15	224.1	3172	2091	1914	1781	513.7	9.6	376	7167	0.00	2.70	0.00	0.000	260	0.000	0.106	3173	3509	1848	1914	1782	0	0	0	0	0	0	15.16	14.35	15.21
7196	1.15	224.1	3174	3509	1916	1781	510.1	10.4	381	7203	0.00	2.47	0.00	0.000	1030	0.000	0.047	3173	2091	1847	1914	1781	0	0	0	0	0	0	14.63	14.56	14.67
7554	1.15	224.1	3172	2091	1913	1781	476.5	9.4	390	7554	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2091	1847	1913	1781	0	0	0	0	0	0	15.04	15.07	15.07
7889	1.15	224.1	3174	2092	1915	1783	446.7	8.8	396	7895	0.00	2.70	0.00	0.000	260	0.000	0.105	3173	3508	1847	1913	1781	0	0	0	0	0	0	15.17	14.32	15.20
7931	1.15	224.1	3174	3508	1915	1781	442.6	10.1	402	7937	0.00	2.50	0.00	0.000	1030	0.000	0.049	3173	2089	1846	1913	1780	0	0	0	0	0	0	14.59	14.53	14.64
8282	1.15	224.1	3173	2090	1912	1782	409.7	9.5	410	8287	0.00	2.70	0.00	0.000	260	0.000	0.106	3173	3520	1846	1913	1780	0	0	0	0	0	0	15.03	14.35	15.05
8309	1.15	224.1	3170	3520	1912	1780	406.8	10.3	414	8315	0.00	2.53	0.00	0.000	1030	0.000	0.050	3173	2089	1843	1907	1780	0	0	0	0	0	0	14.58	14.51	14.63
8673	1.18	224.1	3172	2089	1912	1780	376.8	7.7	424	8679	0.00	2.62	0.00	0.000	580	0.000	0.095	3173	692	1846	1912	1780	0	0	0	0	0	0	15.16	14.29	15.18
8729	1.20	224.1	3173	692	1911	1781	372.4	8.1	432	8735	0.00	2.55	0.00	0.000	1094	0.000	0.060	3173	2106	1846	1912	1780	0	0	0	0	0	0	14.52	14.43	14.58
8894	end climb: SURFACE_OBSTACLE_DETECTED
state	8894	begin subsurface finish
8901	0.00	2.5	3173	2107	1912	1780	359.2	7.9	442	8911	1.30	2.65	-3.47	0.031	20740	0.194	0.130	2805	3512	2789	2827	2752	0	0	0	0	0	0	14.10	12.69	14.28
8912	end subsurface finish: CONTROL_FINISHED_OK
state	8912	begin surface