Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 557 * 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 557 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 56 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 557 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 56 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 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 211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0 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 362.90 MHEAD_RNG_PITCHd_Wd 290.9,19878,-18.9,-9.167,-21.50,1798

_SM_ANGLEo -5.0 D_GRID 990

GPS2 211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 353.6,1.027481,1 _24V_AH 11.36,193.660

FINISH2 352.6 _10V_AH 11.62,0.000

RAFOS_CLK 323 FG_AHR_24Vo 0.000

RAFOS 0,1540112459,9.032778,9.016389,122,60,58,53,52,51,561,197,215,163,232,179 FG_AHR_10Vo 0.000

RAFOS_FIX -7416.533203,-11210.432617,211018,090916,2,115,0.40 MEM 280760

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10116,362

TT8_MAMPS 0.039697,0.155792 CAP_FILE_SIZE 72675,0

HUMID 51.22 CFSIZE 1024409600,954908672

INTERNAL_PRESSURE 8.23859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.30 SOUNDSPEED 1454.6

XPDR_PINGS 0 GPS 211018,090816,-7416.533,-11210.433,0,3115.0,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 363.1,12.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.62 nil 0 0 0.00

Roll_motor 102 941 1099.47 nil 0 0 0.00

VBD_pump_during_apogee 411 3092 14440.54 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 8480 1 181.78

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 88.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7048 2 189.18

TT8_Active 544 13 87.37

TT8_Sampling 850 34 343.74

TT8_CF8 149 52 91.67

TT8_Kalman 0 0 0.00

Analog_circuits 888 10 112.58

GPS_charging 0 0 0.00

Compass 523 7 45.60

RAFOS 720 1 12.55

Transponder 130 30 45.62

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

791.7 30.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

802.5 19.00 9000.00 0.0 0.00 0.00 19.00 821.5 -1.10 1.00

795.8 28.00 26.90 0.0 -1.12 0.97 28.00 0.0 -1.34 1.00

383.6 35.10 9000.00 0.0 -0.03 0.70 35.10 0.0 -0.02 1.00

373.5 23.10 9000.00 0.0 0.00 0.01 23.10 350.4 1.19 1.00

363.1 13.00 12.70 350.4 1.08 1.00 13.00 350.1 0.97 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 2808 2269 2823 2758 0.0 0.0 0 20 0.00 0.08 -7.03 0.030 16390 0.000 0.942 2806 2301 3236 3266 3206 0 0 0 0 1 0 15.06 12.96 15.00

23 -0.99 -107.1 2808 2303 3268 3207 0.0 0.0 0 29 0.98 2.45 0.00 0.000 4612 0.080 0.070 2468 908 3236 3266 3206 0 0 0 0 0 0 14.56 14.46 14.62

224 -0.99 -107.1 2469 913 3268 3205 396.7 -17.1 29 231 0.00 2.58 0.00 0.000 1030 0.000 0.072 2457 2303 3234 3265 3204 0 0 0 0 0 0 14.52 14.42 14.59

581 -0.99 -107.1 2455 2304 3267 3204 458.0 -17.2 38 589 0.00 2.70 0.00 0.000 260 0.000 0.112 2445 3719 3234 3265 3203 0 0 0 0 0 0 15.18 14.31 15.21

609 -0.99 -107.1 2447 3720 3267 3204 463.2 -18.5 42 616 0.12 2.45 0.00 0.000 3078 0.250 0.047 2478 2303 3234 3265 3203 0 0 0 0 0 0 14.09 14.61 14.29

973 -0.99 -107.1 2479 2303 3267 3202 520.9 -15.7 52 979 0.00 2.55 0.00 0.000 516 0.000 0.071 2478 898 3233 3265 3202 0 0 0 0 0 0 15.19 14.35 15.21

1085 -0.99 -107.1 2479 899 3267 3203 539.4 -16.6 68 1091 0.00 2.60 0.00 0.000 1030 0.000 0.072 2470 2312 3234 3265 3203 0 0 0 0 0 0 14.49 14.40 14.56

1479 -0.99 -107.1 2469 2312 3265 3202 603.6 -16.1 82 1484 0.00 2.55 0.00 0.000 516 0.000 0.070 2469 898 3233 3265 3201 0 0 0 0 0 0 15.13 14.41 15.15

1519 -0.99 -107.1 2471 898 3268 3208 610.5 -16.6 88 1525 0.00 2.60 0.00 0.000 1030 0.000 0.071 2458 2308 3233 3265 3201 0 0 0 0 0 0 14.47 14.39 14.55

1869 -0.99 -107.1 2460 2310 3267 3202 666.6 -15.9 96 1876 0.00 2.58 0.00 0.000 516 0.000 0.070 2459 902 3233 3265 3201 0 0 0 0 0 0 15.15 14.33 15.17

1967 -0.99 -107.1 2460 903 3267 3201 683.2 -17.0 110 1974 0.10 2.58 0.00 0.000 3078 0.264 0.070 2472 2305 3233 3265 3201 0 0 0 0 0 0 14.02 14.38 14.21

2317 -0.99 -107.1 2472 2306 3265 3201 739.6 -16.0 118 2324 0.00 2.55 0.00 0.000 516 0.000 0.070 2472 912 3232 3265 3200 0 0 0 0 0 0 15.15 14.31 15.17

2360 -0.99 -107.1 2474 913 3267 3201 746.3 -16.1 124 2366 0.00 2.55 0.00 0.000 1030 0.000 0.070 2464 2319 3232 3265 3200 0 0 0 0 0 0 14.60 14.42 14.66

2709 -0.99 -107.1 2465 2321 3267 3201 800.4 -15.7 132 2715 0.00 2.60 0.00 0.000 516 0.000 0.072 2464 902 3232 3265 3199 0 0 0 0 0 0 15.14 14.30 15.16

2786 -0.99 -107.1 2464 903 3266 3201 811.7 -14.8 143 2793 0.00 2.58 0.00 0.000 1030 0.000 0.068 2453 2307 3232 3265 3200 0 0 0 0 0 0 14.43 14.35 14.50

3154 end dive: NO_VERTICAL_VELOCITY

state 3154 begin apogee

3161 -0.23 0.0 2455 2073 3267 3200 818.4 0.0 154 3290 0.90 0.08 126.28 3.092 10246 0.135 0.175 2725 2109 2781 2817 2745 0 0 0 0 0 0 14.33 13.53 12.10

3291 end apogee: CONTROL_FINISHED_OK

state 3291 begin climb

3294 0.99 107.1 2725 2110 2816 2745 818.1 0.0 156 3444 1.33 2.88 142.45 3.053 10756 0.113 0.083 3118 736 2344 2386 2302 0 0 0 0 0 0 13.62 12.79 11.36

3507 1.08 180.8 3118 737 2380 2299 811.8 5.0 169 3612 0.00 2.67 97.47 3.000 9254 0.000 0.055 3117 2098 2042 2103 1981 0 0 0 0 0 0 13.43 13.34 11.40

3997 1.13 220.3 3119 2099 2097 1970 780.4 6.9 197 4047 0.15 2.65 44.90 2.992 10788 0.124 0.088 3172 731 1882 1949 1816 0 0 0 0 0 0 14.59 14.15 12.71

4074 1.13 220.3 3174 733 1948 1816 773.6 9.0 208 4080 0.00 2.53 0.00 0.000 1030 0.000 0.059 3173 2107 1880 1946 1814 0 0 0 0 0 0 14.33 14.26 14.37

4439 1.13 220.3 3172 2114 1941 1809 738.4 9.7 218 4444 0.00 2.58 0.00 0.000 260 0.000 0.106 3173 3510 1877 1946 1808 0 0 0 0 0 0 15.01 14.58 15.04

4480 1.13 220.3 3172 3511 1941 1809 734.1 10.5 224 4486 0.00 2.40 0.00 0.000 1030 0.000 0.047 3173 2127 1874 1941 1808 0 0 0 0 0 0 14.76 14.69 14.79

4830 1.13 220.3 3174 2128 1940 1808 700.3 9.6 232 4836 0.00 2.62 0.00 0.000 516 0.000 0.090 3173 700 1872 1938 1807 0 0 0 0 0 0 15.14 14.56 15.16

4858 1.13 220.3 3174 701 1943 1808 697.7 8.9 236 4864 0.00 2.47 0.00 0.000 1030 0.000 0.060 3173 2102 1872 1938 1807 0 0 0 0 0 0 14.73 14.66 14.78

5223 1.13 220.3 3172 2103 1937 1808 665.8 8.9 246 5228 0.00 2.60 0.00 0.000 260 0.000 0.105 3173 3517 1872 1938 1806 0 0 0 0 0 0 15.09 14.57 15.11

5257 1.13 220.3 3173 3518 1938 1806 662.3 10.0 251 5263 0.00 2.47 0.00 0.000 1030 0.000 0.048 3168 2092 1872 1938 1806 0 0 0 0 0 0 14.76 14.70 14.80

5614 1.13 220.3 3173 2093 1937 1806 627.9 9.6 260 5620 0.00 2.58 0.00 0.000 516 0.000 0.091 3173 695 1871 1937 1805 0 0 0 0 0 0 15.19 14.52 15.22

5656 1.13 220.3 3174 695 1939 1806 623.9 9.6 266 5663 0.00 2.50 0.00 0.000 1030 0.000 0.060 3173 2110 1871 1937 1805 0 0 0 0 0 0 14.69 14.61 14.76

6007 1.13 220.3 3172 2111 1936 1806 589.0 10.0 274 6012 0.00 2.58 0.00 0.000 260 0.000 0.104 3174 3509 1871 1937 1805 0 0 0 0 0 0 15.09 14.53 15.11

6034 1.13 220.3 3172 3509 1936 1806 585.9 11.2 278 6040 0.00 2.45 0.00 0.000 1030 0.000 0.048 3173 2100 1870 1937 1804 0 0 0 0 0 0 14.71 14.65 14.77

6398 1.13 220.3 3172 2102 1936 1806 548.3 10.3 288 6404 0.00 2.58 0.00 0.000 516 0.000 0.091 3173 704 1870 1936 1805 0 0 0 0 0 0 15.19 14.47 15.21

6440 1.13 220.3 3174 705 1938 1806 544.1 9.9 294 6447 0.00 2.47 0.00 0.000 1030 0.000 0.060 3173 2103 1870 1936 1805 0 0 0 0 0 0 14.66 14.59 14.72

6791 1.13 220.3 3172 2104 1935 1805 510.9 9.4 302 6796 0.00 2.60 0.00 0.000 260 0.000 0.104 3173 3513 1870 1936 1804 0 0 0 0 0 0 15.07 14.50 15.10

6818 1.13 220.3 3172 3513 1935 1805 508.0 10.2 306 6824 0.00 2.47 0.00 0.000 1030 0.000 0.049 3173 2100 1870 1936 1804 0 0 0 0 0 0 14.68 14.62 14.73

7182 1.13 220.3 3175 2100 1938 1805 471.7 10.1 316 7188 0.00 2.62 0.00 0.000 516 0.000 0.090 3173 690 1870 1936 1804 0 0 0 0 0 0 15.17 14.43 15.20

7224 1.13 220.3 3178 690 1934 1805 467.5 10.0 322 7231 0.00 2.53 0.00 0.000 1030 0.000 0.061 3173 2100 1869 1935 1804 0 0 0 0 0 0 14.56 14.47 14.61

7575 1.13 220.3 3174 2101 1937 1804 433.5 9.7 330 7580 0.00 2.62 0.00 0.000 260 0.000 0.106 3173 3517 1870 1936 1804 0 0 0 0 0 0 15.07 14.45 15.09

7609 1.13 220.3 3172 3518 1935 1804 429.9 10.2 335 7615 0.00 2.50 0.00 0.000 1030 0.000 0.048 3173 2091 1869 1935 1804 0 0 0 0 0 0 14.66 14.60 14.71

7967 1.13 220.3 3174 2092 1937 1804 398.2 8.8 344 7968 0.00 0.00 0.00 0.000 6 0.000 0.000 3173 2091 1869 1935 1804 0 0 0 0 0 0 15.06 15.09 15.08

8302 1.13 220.3 3172 2092 1937 1804 368.5 8.9 350 8309 0.00 2.70 0.00 0.000 260 0.000 0.103 3173 3511 1868 1934 1803 0 0 0 0 0 0 15.16 14.36 15.19

8344 1.13 220.3 3175 3512 1937 1804 364.4 9.8 356 8351 0.00 2.47 0.00 0.000 1030 0.000 0.047 3172 2096 1869 1935 1803 0 0 0 0 0 0 14.64 14.59 14.69

8467 end climb: SURFACE_OBSTACLE_DETECTED

state 8467 begin subsurface finish

8473 0.00 1.0 3174 2096 1937 1804 353.6 8.6 360 8486 1.30 2.67 -3.38 0.034 20740 0.193 0.127 2802 3518 2796 2833 2760 0 0 0 0 0 0 14.21 12.77 14.37

8486 end subsurface finish: CONTROL_FINISHED_OK

state 8486 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	557	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	56	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0	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	362.90	MHEAD_RNG_PITCHd_Wd	290.9,19878,-18.9,-9.167,-21.50,1798
_SM_ANGLEo	-5.0	D_GRID	990
GPS2	211018,060035,-7414.3228,-11214.2969,0,1001.0,0,53.2,0.0,0.0,0,0.0

FINISH1	353.6,1.027481,1	_24V_AH	11.36,193.660
FINISH2	352.6	_10V_AH	11.62,0.000
RAFOS_CLK	323	FG_AHR_24Vo	0.000
RAFOS	0,1540112459,9.032778,9.016389,122,60,58,53,52,51,561,197,215,163,232,179	FG_AHR_10Vo	0.000
RAFOS_FIX	-7416.533203,-11210.432617,211018,090916,2,115,0.40	MEM	280760
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10116,362
TT8_MAMPS	0.039697,0.155792	CAP_FILE_SIZE	72675,0
HUMID	51.22	CFSIZE	1024409600,954908672
INTERNAL_PRESSURE	8.23859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.30	SOUNDSPEED	1454.6
XPDR_PINGS	0	GPS	211018,090816,-7416.533,-11210.433,0,3115.0,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	363.1,12.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.62	nil	0	0	0.00
Roll_motor	102	941	1099.47	nil	0	0	0.00
VBD_pump_during_apogee	411	3092	14440.54	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	8480	1	181.78
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	88.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7048	2	189.18
TT8_Active	544	13	87.37
TT8_Sampling	850	34	343.74
TT8_CF8	149	52	91.67
TT8_Kalman	0	0	0.00
Analog_circuits	888	10	112.58
GPS_charging	0	0	0.00
Compass	523	7	45.60
RAFOS	720	1	12.55
Transponder	130	30	45.62

		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
791.7	30.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
802.5	19.00	9000.00	0.0	0.00	0.00	19.00	821.5	-1.10	1.00

795.8	28.00	26.90	0.0	-1.12	0.97	28.00	0.0	-1.34	1.00
383.6	35.10	9000.00	0.0	-0.03	0.70	35.10	0.0	-0.02	1.00
373.5	23.10	9000.00	0.0	0.00	0.01	23.10	350.4	1.19	1.00
363.1	13.00	12.70	350.4	1.08	1.00	13.00	350.1	0.97	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	2808	2269	2823	2758	0.0	0.0	0	20	0.00	0.08	-7.03	0.030	16390	0.000	0.942	2806	2301	3236	3266	3206	0	0	0	0	1	0	15.06	12.96	15.00
23	-0.99	-107.1	2808	2303	3268	3207	0.0	0.0	0	29	0.98	2.45	0.00	0.000	4612	0.080	0.070	2468	908	3236	3266	3206	0	0	0	0	0	0	14.56	14.46	14.62
224	-0.99	-107.1	2469	913	3268	3205	396.7	-17.1	29	231	0.00	2.58	0.00	0.000	1030	0.000	0.072	2457	2303	3234	3265	3204	0	0	0	0	0	0	14.52	14.42	14.59
581	-0.99	-107.1	2455	2304	3267	3204	458.0	-17.2	38	589	0.00	2.70	0.00	0.000	260	0.000	0.112	2445	3719	3234	3265	3203	0	0	0	0	0	0	15.18	14.31	15.21
609	-0.99	-107.1	2447	3720	3267	3204	463.2	-18.5	42	616	0.12	2.45	0.00	0.000	3078	0.250	0.047	2478	2303	3234	3265	3203	0	0	0	0	0	0	14.09	14.61	14.29
973	-0.99	-107.1	2479	2303	3267	3202	520.9	-15.7	52	979	0.00	2.55	0.00	0.000	516	0.000	0.071	2478	898	3233	3265	3202	0	0	0	0	0	0	15.19	14.35	15.21
1085	-0.99	-107.1	2479	899	3267	3203	539.4	-16.6	68	1091	0.00	2.60	0.00	0.000	1030	0.000	0.072	2470	2312	3234	3265	3203	0	0	0	0	0	0	14.49	14.40	14.56
1479	-0.99	-107.1	2469	2312	3265	3202	603.6	-16.1	82	1484	0.00	2.55	0.00	0.000	516	0.000	0.070	2469	898	3233	3265	3201	0	0	0	0	0	0	15.13	14.41	15.15
1519	-0.99	-107.1	2471	898	3268	3208	610.5	-16.6	88	1525	0.00	2.60	0.00	0.000	1030	0.000	0.071	2458	2308	3233	3265	3201	0	0	0	0	0	0	14.47	14.39	14.55
1869	-0.99	-107.1	2460	2310	3267	3202	666.6	-15.9	96	1876	0.00	2.58	0.00	0.000	516	0.000	0.070	2459	902	3233	3265	3201	0	0	0	0	0	0	15.15	14.33	15.17
1967	-0.99	-107.1	2460	903	3267	3201	683.2	-17.0	110	1974	0.10	2.58	0.00	0.000	3078	0.264	0.070	2472	2305	3233	3265	3201	0	0	0	0	0	0	14.02	14.38	14.21
2317	-0.99	-107.1	2472	2306	3265	3201	739.6	-16.0	118	2324	0.00	2.55	0.00	0.000	516	0.000	0.070	2472	912	3232	3265	3200	0	0	0	0	0	0	15.15	14.31	15.17
2360	-0.99	-107.1	2474	913	3267	3201	746.3	-16.1	124	2366	0.00	2.55	0.00	0.000	1030	0.000	0.070	2464	2319	3232	3265	3200	0	0	0	0	0	0	14.60	14.42	14.66
2709	-0.99	-107.1	2465	2321	3267	3201	800.4	-15.7	132	2715	0.00	2.60	0.00	0.000	516	0.000	0.072	2464	902	3232	3265	3199	0	0	0	0	0	0	15.14	14.30	15.16
2786	-0.99	-107.1	2464	903	3266	3201	811.7	-14.8	143	2793	0.00	2.58	0.00	0.000	1030	0.000	0.068	2453	2307	3232	3265	3200	0	0	0	0	0	0	14.43	14.35	14.50
3154	end dive: NO_VERTICAL_VELOCITY
state	3154	begin apogee
3161	-0.23	0.0	2455	2073	3267	3200	818.4	0.0	154	3290	0.90	0.08	126.28	3.092	10246	0.135	0.175	2725	2109	2781	2817	2745	0	0	0	0	0	0	14.33	13.53	12.10
3291	end apogee: CONTROL_FINISHED_OK
state	3291	begin climb
3294	0.99	107.1	2725	2110	2816	2745	818.1	0.0	156	3444	1.33	2.88	142.45	3.053	10756	0.113	0.083	3118	736	2344	2386	2302	0	0	0	0	0	0	13.62	12.79	11.36
3507	1.08	180.8	3118	737	2380	2299	811.8	5.0	169	3612	0.00	2.67	97.47	3.000	9254	0.000	0.055	3117	2098	2042	2103	1981	0	0	0	0	0	0	13.43	13.34	11.40
3997	1.13	220.3	3119	2099	2097	1970	780.4	6.9	197	4047	0.15	2.65	44.90	2.992	10788	0.124	0.088	3172	731	1882	1949	1816	0	0	0	0	0	0	14.59	14.15	12.71
4074	1.13	220.3	3174	733	1948	1816	773.6	9.0	208	4080	0.00	2.53	0.00	0.000	1030	0.000	0.059	3173	2107	1880	1946	1814	0	0	0	0	0	0	14.33	14.26	14.37
4439	1.13	220.3	3172	2114	1941	1809	738.4	9.7	218	4444	0.00	2.58	0.00	0.000	260	0.000	0.106	3173	3510	1877	1946	1808	0	0	0	0	0	0	15.01	14.58	15.04
4480	1.13	220.3	3172	3511	1941	1809	734.1	10.5	224	4486	0.00	2.40	0.00	0.000	1030	0.000	0.047	3173	2127	1874	1941	1808	0	0	0	0	0	0	14.76	14.69	14.79
4830	1.13	220.3	3174	2128	1940	1808	700.3	9.6	232	4836	0.00	2.62	0.00	0.000	516	0.000	0.090	3173	700	1872	1938	1807	0	0	0	0	0	0	15.14	14.56	15.16
4858	1.13	220.3	3174	701	1943	1808	697.7	8.9	236	4864	0.00	2.47	0.00	0.000	1030	0.000	0.060	3173	2102	1872	1938	1807	0	0	0	0	0	0	14.73	14.66	14.78
5223	1.13	220.3	3172	2103	1937	1808	665.8	8.9	246	5228	0.00	2.60	0.00	0.000	260	0.000	0.105	3173	3517	1872	1938	1806	0	0	0	0	0	0	15.09	14.57	15.11
5257	1.13	220.3	3173	3518	1938	1806	662.3	10.0	251	5263	0.00	2.47	0.00	0.000	1030	0.000	0.048	3168	2092	1872	1938	1806	0	0	0	0	0	0	14.76	14.70	14.80
5614	1.13	220.3	3173	2093	1937	1806	627.9	9.6	260	5620	0.00	2.58	0.00	0.000	516	0.000	0.091	3173	695	1871	1937	1805	0	0	0	0	0	0	15.19	14.52	15.22
5656	1.13	220.3	3174	695	1939	1806	623.9	9.6	266	5663	0.00	2.50	0.00	0.000	1030	0.000	0.060	3173	2110	1871	1937	1805	0	0	0	0	0	0	14.69	14.61	14.76
6007	1.13	220.3	3172	2111	1936	1806	589.0	10.0	274	6012	0.00	2.58	0.00	0.000	260	0.000	0.104	3174	3509	1871	1937	1805	0	0	0	0	0	0	15.09	14.53	15.11
6034	1.13	220.3	3172	3509	1936	1806	585.9	11.2	278	6040	0.00	2.45	0.00	0.000	1030	0.000	0.048	3173	2100	1870	1937	1804	0	0	0	0	0	0	14.71	14.65	14.77
6398	1.13	220.3	3172	2102	1936	1806	548.3	10.3	288	6404	0.00	2.58	0.00	0.000	516	0.000	0.091	3173	704	1870	1936	1805	0	0	0	0	0	0	15.19	14.47	15.21
6440	1.13	220.3	3174	705	1938	1806	544.1	9.9	294	6447	0.00	2.47	0.00	0.000	1030	0.000	0.060	3173	2103	1870	1936	1805	0	0	0	0	0	0	14.66	14.59	14.72
6791	1.13	220.3	3172	2104	1935	1805	510.9	9.4	302	6796	0.00	2.60	0.00	0.000	260	0.000	0.104	3173	3513	1870	1936	1804	0	0	0	0	0	0	15.07	14.50	15.10
6818	1.13	220.3	3172	3513	1935	1805	508.0	10.2	306	6824	0.00	2.47	0.00	0.000	1030	0.000	0.049	3173	2100	1870	1936	1804	0	0	0	0	0	0	14.68	14.62	14.73
7182	1.13	220.3	3175	2100	1938	1805	471.7	10.1	316	7188	0.00	2.62	0.00	0.000	516	0.000	0.090	3173	690	1870	1936	1804	0	0	0	0	0	0	15.17	14.43	15.20
7224	1.13	220.3	3178	690	1934	1805	467.5	10.0	322	7231	0.00	2.53	0.00	0.000	1030	0.000	0.061	3173	2100	1869	1935	1804	0	0	0	0	0	0	14.56	14.47	14.61
7575	1.13	220.3	3174	2101	1937	1804	433.5	9.7	330	7580	0.00	2.62	0.00	0.000	260	0.000	0.106	3173	3517	1870	1936	1804	0	0	0	0	0	0	15.07	14.45	15.09
7609	1.13	220.3	3172	3518	1935	1804	429.9	10.2	335	7615	0.00	2.50	0.00	0.000	1030	0.000	0.048	3173	2091	1869	1935	1804	0	0	0	0	0	0	14.66	14.60	14.71
7967	1.13	220.3	3174	2092	1937	1804	398.2	8.8	344	7968	0.00	0.00	0.00	0.000	6	0.000	0.000	3173	2091	1869	1935	1804	0	0	0	0	0	0	15.06	15.09	15.08
8302	1.13	220.3	3172	2092	1937	1804	368.5	8.9	350	8309	0.00	2.70	0.00	0.000	260	0.000	0.103	3173	3511	1868	1934	1803	0	0	0	0	0	0	15.16	14.36	15.19
8344	1.13	220.3	3175	3512	1937	1804	364.4	9.8	356	8351	0.00	2.47	0.00	0.000	1030	0.000	0.047	3172	2096	1869	1935	1803	0	0	0	0	0	0	14.64	14.59	14.69
8467	end climb: SURFACE_OBSTACLE_DETECTED
state	8467	begin subsurface finish
8473	0.00	1.0	3174	2096	1937	1804	353.6	8.6	360	8486	1.30	2.67	-3.38	0.034	20740	0.193	0.127	2802	3518	2796	2833	2760	0	0	0	0	0	0	14.21	12.77	14.37
8486	end subsurface finish: CONTROL_FINISHED_OK
state	8486	begin surface