Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 559 * 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 559 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 61 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 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 559 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 61 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 211018,121352,-7415.5684,-11211.9727,0,4107.7,0,53.2,0.0,0.0,0,0.0 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 346.44 MHEAD_RNG_PITCHd_Wd 289.7,22425,-18.9,-9.167,-21.50,1798

_SM_ANGLEo -6.1 D_GRID 990

GPS2 211018,121352,-7415.5684,-11211.9727,0,4107.7,0,53.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 335.6,1.027471,1 _24V_AH 11.37,194.376

FINISH2 335.6 _10V_AH 11.61,0.000

RAFOS_CLK 347 FG_AHR_24Vo 0.000

RAFOS 0,1540134109,15.032778,15.030278,93,58,56,55,48,47,283,199,139,181,163,215 FG_AHR_10Vo 0.000

RAFOS_FIX -7414.638672,-11214.311523,211018,151504,3,101,0.19 MEM 280760

IRIDIUM_FIX -7401.82,-11218.56,160718,232131 DATA_FILE_SIZE 10110,396

TT8_MAMPS 0.038199,0.161784 CAP_FILE_SIZE 72355,0

HUMID 51.10 CFSIZE 1024409600,954712064

INTERNAL_PRESSURE 8.23859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 12.10 SOUNDSPEED 1454.7

XPDR_PINGS 0 GPS 211018,151304,-7414.639,-11214.312,0,4100.7,0,53.2,0.0,0.0,0,0.0

ALTIM_TOP_PING 345.3,11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 286 16.39 nil 0 0 0.00

Roll_motor 89 727 744.05 nil 0 0 0.00

VBD_pump_during_apogee 358 3092 12601.81 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 9164 1 196.51

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 88.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7720 2 207.05

TT8_Active 471 13 75.59

TT8_Sampling 903 34 365.12

TT8_CF8 151 52 92.94

TT8_Kalman 0 0 0.00

Analog_circuits 840 10 106.34

GPS_charging 0 0 0.00

Compass 572 7 49.76

RAFOS 720 1 12.54

Transponder 130 30 45.43

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

794.6 49.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

811.5 25.00 9000.00 0.0 0.00 0.00 25.00 836.5 -1.43 1.00

821.8 15.80 9000.00 0.0 -1.25 0.99 15.80 0.0 -0.89 1.00

808.0 27.40 27.70 0.0 -0.86 1.00 27.40 0.0 -0.84 1.00

795.2 38.80 38.70 0.0 -0.87 1.00 38.80 0.0 -0.89 1.00

372.2 39.40 9000.00 0.0 -0.02 0.31 39.40 0.0 -0.00 1.00

358.8 24.50 9000.00 0.0 0.02 0.24 24.50 334.3 1.11 1.00

345.3 12.30 11.80 333.5 1.01 1.00 12.30 333.0 0.90 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 -0.99 -107.1 2800 2262 2817 2751 0.0 0.0 0 20 0.00 0.10 -7.07 0.029 16390 0.000 0.728 2800 2312 3234 3264 3205 0 0 0 0 1 0 15.07 12.90 15.01

23 -0.99 -107.1 2800 2313 3264 3205 0.0 0.0 0 25 0.95 0.00 0.00 0.000 4102 0.070 0.000 2465 2313 3234 3264 3205 0 0 0 0 0 0 14.70 14.87 14.81

377 -0.99 -107.1 2465 2313 3265 3203 404.4 -16.6 7 383 0.00 2.62 0.00 0.000 260 0.000 0.108 2454 3715 3232 3263 3202 0 0 0 0 0 0 15.05 14.42 15.07

614 -0.99 -107.1 2453 3716 3263 3203 445.9 -17.8 41 622 0.00 2.42 0.00 0.000 1030 0.000 0.043 2454 2308 3232 3263 3202 0 0 0 0 0 0 14.71 14.66 14.74

993 -0.99 -107.1 2453 2308 3263 3202 512.2 -17.6 53 1001 0.00 2.55 0.00 0.000 516 0.000 0.070 2454 901 3234 3263 3206 0 0 0 0 0 0 15.16 14.39 15.19

1097 -0.99 -107.1 2455 902 3265 3202 531.1 -17.8 68 1106 0.12 2.55 0.00 0.000 3078 0.256 0.069 2474 2299 3232 3263 3201 0 0 0 0 0 0 14.07 14.44 14.26

1441 -0.99 -107.1 2475 2300 3264 3202 589.7 -17.2 75 1448 0.00 2.55 0.00 0.000 516 0.000 0.069 2474 902 3231 3263 3200 0 0 0 0 0 0 15.16 14.38 15.18

1490 -0.99 -107.1 2473 902 3263 3200 598.4 -17.5 82 1497 0.00 2.58 0.00 0.000 1030 0.000 0.068 2466 2306 3232 3264 3201 0 0 0 0 0 0 14.52 14.42 14.59

1833 -0.99 -107.1 2467 2307 3265 3201 656.0 -16.4 89 1841 0.00 2.58 0.00 0.000 516 0.000 0.070 2466 899 3231 3263 3200 0 0 0 0 0 0 15.16 14.36 15.18

1874 -0.99 -107.1 2467 904 3265 3201 663.2 -17.2 95 1881 0.00 2.58 0.00 0.000 1030 0.000 0.070 2455 2304 3231 3263 3200 0 0 0 0 0 0 14.51 14.42 14.58

2225 -0.99 -107.1 2455 2304 3263 3199 722.5 -17.1 103 2232 0.00 2.58 0.00 0.000 516 0.000 0.071 2455 899 3231 3263 3200 0 0 0 0 0 0 15.16 14.34 15.18

2353 -0.99 -107.1 2456 900 3265 3200 744.0 -16.1 121 2360 0.15 2.53 0.00 0.000 3078 0.287 0.069 2474 2315 3231 3263 3200 0 0 0 0 0 0 14.11 14.48 14.42

2731 -0.99 -107.1 2474 2315 3263 3200 802.7 -15.2 133 2732 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2315 3231 3263 3199 0 0 0 0 0 0 15.14 15.16 15.16

3065 -0.99 -107.1 2474 2316 3263 3200 831.5 -4.4 139 3071 0.00 2.67 0.00 0.000 292 0.000 0.114 2474 3715 3231 3263 3199 0 0 0 0 0 0 15.15 14.24 15.17

3188 end dive: NO_VERTICAL_VELOCITY

state 3188 begin apogee

3197 -0.23 0.0 2474 2087 3263 3200 831.6 0.0 157 3326 0.77 0.00 126.57 3.093 10246 0.089 0.000 2733 2085 2781 2817 2745 0 0 0 0 0 0 14.54 13.54 12.09

3327 end apogee: CONTROL_FINISHED_OK

state 3327 begin climb

3330 0.99 107.1 2733 2087 2816 2745 832.0 0.0 159 3481 1.23 2.90 141.68 3.061 10756 0.072 0.087 3131 711 2344 2386 2303 0 0 0 0 0 0 13.64 12.47 11.37

3606 1.08 177.1 3130 712 2373 2297 822.7 5.2 202 3704 0.00 2.65 90.10 3.018 9254 0.000 0.058 3130 2107 2058 2118 1998 0 0 0 0 0 0 13.74 13.68 11.60

4089 1.11 177.1 3130 2107 2110 1986 786.5 7.7 229 4090 0.00 0.00 0.00 0.000 70 0.000 0.000 3131 2107 2048 2110 1986 0 0 0 0 0 0 14.90 14.92 14.92

4425 1.14 177.1 3130 2107 2108 1985 760.8 7.4 235 4431 0.12 2.62 0.00 0.000 2372 0.137 0.103 3174 3516 2046 2108 1984 0 0 0 0 0 0 14.79 14.54 14.88

4452 1.14 177.1 3175 3517 2110 1985 758.2 9.3 239 4459 0.00 2.45 0.00 0.000 1030 0.000 0.047 3176 2112 2046 2108 1984 0 0 0 0 0 0 14.75 14.69 14.78

4817 1.14 177.1 3175 2111 2105 1984 722.0 10.2 249 4823 0.00 2.58 0.00 0.000 516 0.000 0.090 3176 696 2044 2106 1983 0 0 0 0 0 0 15.07 14.59 15.10

4858 1.14 177.1 3175 697 2105 1984 717.2 11.4 255 4865 0.00 2.50 0.00 0.000 1030 0.000 0.060 3176 2110 2044 2105 1983 0 0 0 0 0 0 14.71 14.64 14.77

5208 1.14 177.1 3181 2110 2105 1983 680.1 10.2 263 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 3176 2110 2044 2105 1983 0 0 0 0 0 0 15.16 15.19 15.19

5544 1.14 177.1 3177 2110 2107 1983 647.3 9.8 269 5551 0.00 2.62 0.00 0.000 260 0.000 0.104 3175 3512 2043 2104 1982 0 0 0 0 0 0 15.16 14.50 15.19

5573 1.14 177.1 3176 3513 2107 1983 644.2 11.0 273 5579 0.00 2.47 0.00 0.000 1030 0.000 0.047 3175 2094 2043 2105 1982 0 0 0 0 0 0 14.73 14.66 14.77

5937 1.14 177.1 3175 2095 2104 1983 609.6 9.4 283 5943 0.00 2.55 0.00 0.000 516 0.000 0.090 3176 695 2043 2104 1982 0 0 0 0 0 0 15.09 14.55 15.11

5972 1.14 177.1 3175 695 2103 1983 606.3 9.2 288 5978 0.00 2.50 0.00 0.000 1030 0.000 0.060 3176 2112 2042 2103 1982 0 0 0 0 0 0 14.67 14.60 14.73

6329 1.14 177.1 3175 2113 2103 1983 573.8 9.0 297 6335 0.00 2.60 0.00 0.000 260 0.000 0.104 3176 3520 2042 2103 1982 0 0 0 0 0 0 15.08 14.51 15.11

6377 1.14 177.1 3177 3521 2105 1983 568.8 10.5 304 6385 0.00 2.50 0.00 0.000 1030 0.000 0.048 3176 2088 2042 2103 1982 0 0 0 0 0 0 14.70 14.64 14.75

6720 1.14 177.1 3175 2088 2102 1982 536.4 9.4 311 6727 0.00 2.70 0.00 0.000 260 0.000 0.103 3176 3511 2042 2103 1981 0 0 0 0 0 0 15.15 14.42 15.17

6748 1.14 177.1 3175 3512 2102 1982 533.6 10.1 315 6755 0.00 2.47 0.00 0.000 1030 0.000 0.048 3176 2098 2042 2104 1981 0 0 0 0 0 0 14.68 14.62 14.73

7112 1.14 177.1 3175 2099 2102 1982 500.6 8.9 325 7120 0.00 2.67 0.00 0.000 260 0.000 0.102 3175 3513 2041 2102 1981 0 0 0 0 0 0 15.14 14.34 15.17

7147 1.14 177.1 3175 3514 2102 1982 497.4 9.3 330 7155 0.00 2.47 0.00 0.000 1030 0.000 0.047 3172 2100 2041 2102 1981 0 0 0 0 0 0 14.67 14.61 14.72

7505 1.16 177.1 3177 2100 2104 1982 468.4 8.1 339 7505 0.00 0.00 0.00 0.000 70 0.000 0.000 3176 2099 2041 2102 1981 0 0 0 0 0 0 15.14 15.17 15.16

7841 1.19 177.1 3174 2100 2100 1982 441.3 8.0 345 7847 0.00 2.67 0.00 0.000 324 0.000 0.102 3176 3515 2041 2102 1981 0 0 0 0 0 0 15.16 14.38 15.19

7875 1.19 177.1 3177 3516 2104 1982 438.2 9.0 350 7883 0.00 2.50 0.00 0.000 1030 0.000 0.045 3176 2088 2041 2101 1981 0 0 0 0 0 0 14.65 14.61 14.69

8233 1.21 177.1 3175 2088 2101 1981 409.7 7.9 359 8239 0.00 2.58 0.00 0.000 580 0.000 0.092 3176 700 2041 2101 1981 0 0 0 0 0 0 15.19 14.38 15.21

8268 1.23 177.1 3175 700 2101 1981 406.8 8.0 364 8274 0.00 2.50 0.00 0.000 1094 0.000 0.060 3176 2103 2040 2101 1980 0 0 0 0 0 0 14.59 14.51 14.65

8625 1.26 177.1 3177 2104 2102 1982 378.0 8.1 373 8631 0.00 2.65 0.00 0.000 324 0.000 0.102 3176 3516 2040 2100 1981 0 0 0 0 0 0 15.19 14.36 15.21

8729 1.26 177.1 3177 3517 2102 1982 368.5 8.8 388 8737 0.00 2.47 0.00 0.000 1030 0.000 0.046 3176 2095 2040 2100 1981 0 0 0 0 0 0 14.63 14.57 14.67

9073 1.28 177.1 3175 2096 2100 1980 340.8 8.0 395 9074 0.12 0.00 0.00 0.000 2118 0.142 0.000 3220 2095 2040 2100 1980 0 0 0 0 0 0 14.79 14.88 14.85

9126 end climb: SURFACE_OBSTACLE_DETECTED

state 9126 begin subsurface finish

9132 0.00 1.5 3226 2095 2102 1981 335.6 8.2 396 9144 1.55 0.00 -8.38 0.024 20486 0.215 0.000 2804 2095 2795 2833 2757 0 0 0 0 1 0 14.14 12.74 14.52

9144 end subsurface finish: CONTROL_FINISHED_OK

state 9144 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	559	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	61	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	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	211018,121352,-7415.5684,-11211.9727,0,4107.7,0,53.2,0.0,0.0,0,0.0	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	346.44	MHEAD_RNG_PITCHd_Wd	289.7,22425,-18.9,-9.167,-21.50,1798
_SM_ANGLEo	-6.1	D_GRID	990
GPS2	211018,121352,-7415.5684,-11211.9727,0,4107.7,0,53.2,0.0,0.0,0,0.0

FINISH1	335.6,1.027471,1	_24V_AH	11.37,194.376
FINISH2	335.6	_10V_AH	11.61,0.000
RAFOS_CLK	347	FG_AHR_24Vo	0.000
RAFOS	0,1540134109,15.032778,15.030278,93,58,56,55,48,47,283,199,139,181,163,215	FG_AHR_10Vo	0.000
RAFOS_FIX	-7414.638672,-11214.311523,211018,151504,3,101,0.19	MEM	280760
IRIDIUM_FIX	-7401.82,-11218.56,160718,232131	DATA_FILE_SIZE	10110,396
TT8_MAMPS	0.038199,0.161784	CAP_FILE_SIZE	72355,0
HUMID	51.10	CFSIZE	1024409600,954712064
INTERNAL_PRESSURE	8.23859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	12.10	SOUNDSPEED	1454.7
XPDR_PINGS	0	GPS	211018,151304,-7414.639,-11214.312,0,4100.7,0,53.2,0.0,0.0,0,0.0
ALTIM_TOP_PING	345.3,11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	286	16.39	nil	0	0	0.00
Roll_motor	89	727	744.05	nil	0	0	0.00
VBD_pump_during_apogee	358	3092	12601.81	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	9164	1	196.51
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	88.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7720	2	207.05
TT8_Active	471	13	75.59
TT8_Sampling	903	34	365.12
TT8_CF8	151	52	92.94
TT8_Kalman	0	0	0.00
Analog_circuits	840	10	106.34
GPS_charging	0	0	0.00
Compass	572	7	49.76
RAFOS	720	1	12.54
Transponder	130	30	45.43

		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
794.6	49.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
811.5	25.00	9000.00	0.0	0.00	0.00	25.00	836.5	-1.43	1.00

821.8	15.80	9000.00	0.0	-1.25	0.99	15.80	0.0	-0.89	1.00
808.0	27.40	27.70	0.0	-0.86	1.00	27.40	0.0	-0.84	1.00
795.2	38.80	38.70	0.0	-0.87	1.00	38.80	0.0	-0.89	1.00
372.2	39.40	9000.00	0.0	-0.02	0.31	39.40	0.0	-0.00	1.00
358.8	24.50	9000.00	0.0	0.02	0.24	24.50	334.3	1.11	1.00
345.3	12.30	11.80	333.5	1.01	1.00	12.30	333.0	0.90	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	-0.99	-107.1	2800	2262	2817	2751	0.0	0.0	0	20	0.00	0.10	-7.07	0.029	16390	0.000	0.728	2800	2312	3234	3264	3205	0	0	0	0	1	0	15.07	12.90	15.01
23	-0.99	-107.1	2800	2313	3264	3205	0.0	0.0	0	25	0.95	0.00	0.00	0.000	4102	0.070	0.000	2465	2313	3234	3264	3205	0	0	0	0	0	0	14.70	14.87	14.81
377	-0.99	-107.1	2465	2313	3265	3203	404.4	-16.6	7	383	0.00	2.62	0.00	0.000	260	0.000	0.108	2454	3715	3232	3263	3202	0	0	0	0	0	0	15.05	14.42	15.07
614	-0.99	-107.1	2453	3716	3263	3203	445.9	-17.8	41	622	0.00	2.42	0.00	0.000	1030	0.000	0.043	2454	2308	3232	3263	3202	0	0	0	0	0	0	14.71	14.66	14.74
993	-0.99	-107.1	2453	2308	3263	3202	512.2	-17.6	53	1001	0.00	2.55	0.00	0.000	516	0.000	0.070	2454	901	3234	3263	3206	0	0	0	0	0	0	15.16	14.39	15.19
1097	-0.99	-107.1	2455	902	3265	3202	531.1	-17.8	68	1106	0.12	2.55	0.00	0.000	3078	0.256	0.069	2474	2299	3232	3263	3201	0	0	0	0	0	0	14.07	14.44	14.26
1441	-0.99	-107.1	2475	2300	3264	3202	589.7	-17.2	75	1448	0.00	2.55	0.00	0.000	516	0.000	0.069	2474	902	3231	3263	3200	0	0	0	0	0	0	15.16	14.38	15.18
1490	-0.99	-107.1	2473	902	3263	3200	598.4	-17.5	82	1497	0.00	2.58	0.00	0.000	1030	0.000	0.068	2466	2306	3232	3264	3201	0	0	0	0	0	0	14.52	14.42	14.59
1833	-0.99	-107.1	2467	2307	3265	3201	656.0	-16.4	89	1841	0.00	2.58	0.00	0.000	516	0.000	0.070	2466	899	3231	3263	3200	0	0	0	0	0	0	15.16	14.36	15.18
1874	-0.99	-107.1	2467	904	3265	3201	663.2	-17.2	95	1881	0.00	2.58	0.00	0.000	1030	0.000	0.070	2455	2304	3231	3263	3200	0	0	0	0	0	0	14.51	14.42	14.58
2225	-0.99	-107.1	2455	2304	3263	3199	722.5	-17.1	103	2232	0.00	2.58	0.00	0.000	516	0.000	0.071	2455	899	3231	3263	3200	0	0	0	0	0	0	15.16	14.34	15.18
2353	-0.99	-107.1	2456	900	3265	3200	744.0	-16.1	121	2360	0.15	2.53	0.00	0.000	3078	0.287	0.069	2474	2315	3231	3263	3200	0	0	0	0	0	0	14.11	14.48	14.42
2731	-0.99	-107.1	2474	2315	3263	3200	802.7	-15.2	133	2732	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2315	3231	3263	3199	0	0	0	0	0	0	15.14	15.16	15.16
3065	-0.99	-107.1	2474	2316	3263	3200	831.5	-4.4	139	3071	0.00	2.67	0.00	0.000	292	0.000	0.114	2474	3715	3231	3263	3199	0	0	0	0	0	0	15.15	14.24	15.17
3188	end dive: NO_VERTICAL_VELOCITY
state	3188	begin apogee
3197	-0.23	0.0	2474	2087	3263	3200	831.6	0.0	157	3326	0.77	0.00	126.57	3.093	10246	0.089	0.000	2733	2085	2781	2817	2745	0	0	0	0	0	0	14.54	13.54	12.09
3327	end apogee: CONTROL_FINISHED_OK
state	3327	begin climb
3330	0.99	107.1	2733	2087	2816	2745	832.0	0.0	159	3481	1.23	2.90	141.68	3.061	10756	0.072	0.087	3131	711	2344	2386	2303	0	0	0	0	0	0	13.64	12.47	11.37
3606	1.08	177.1	3130	712	2373	2297	822.7	5.2	202	3704	0.00	2.65	90.10	3.018	9254	0.000	0.058	3130	2107	2058	2118	1998	0	0	0	0	0	0	13.74	13.68	11.60
4089	1.11	177.1	3130	2107	2110	1986	786.5	7.7	229	4090	0.00	0.00	0.00	0.000	70	0.000	0.000	3131	2107	2048	2110	1986	0	0	0	0	0	0	14.90	14.92	14.92
4425	1.14	177.1	3130	2107	2108	1985	760.8	7.4	235	4431	0.12	2.62	0.00	0.000	2372	0.137	0.103	3174	3516	2046	2108	1984	0	0	0	0	0	0	14.79	14.54	14.88
4452	1.14	177.1	3175	3517	2110	1985	758.2	9.3	239	4459	0.00	2.45	0.00	0.000	1030	0.000	0.047	3176	2112	2046	2108	1984	0	0	0	0	0	0	14.75	14.69	14.78
4817	1.14	177.1	3175	2111	2105	1984	722.0	10.2	249	4823	0.00	2.58	0.00	0.000	516	0.000	0.090	3176	696	2044	2106	1983	0	0	0	0	0	0	15.07	14.59	15.10
4858	1.14	177.1	3175	697	2105	1984	717.2	11.4	255	4865	0.00	2.50	0.00	0.000	1030	0.000	0.060	3176	2110	2044	2105	1983	0	0	0	0	0	0	14.71	14.64	14.77
5208	1.14	177.1	3181	2110	2105	1983	680.1	10.2	263	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	3176	2110	2044	2105	1983	0	0	0	0	0	0	15.16	15.19	15.19
5544	1.14	177.1	3177	2110	2107	1983	647.3	9.8	269	5551	0.00	2.62	0.00	0.000	260	0.000	0.104	3175	3512	2043	2104	1982	0	0	0	0	0	0	15.16	14.50	15.19
5573	1.14	177.1	3176	3513	2107	1983	644.2	11.0	273	5579	0.00	2.47	0.00	0.000	1030	0.000	0.047	3175	2094	2043	2105	1982	0	0	0	0	0	0	14.73	14.66	14.77
5937	1.14	177.1	3175	2095	2104	1983	609.6	9.4	283	5943	0.00	2.55	0.00	0.000	516	0.000	0.090	3176	695	2043	2104	1982	0	0	0	0	0	0	15.09	14.55	15.11
5972	1.14	177.1	3175	695	2103	1983	606.3	9.2	288	5978	0.00	2.50	0.00	0.000	1030	0.000	0.060	3176	2112	2042	2103	1982	0	0	0	0	0	0	14.67	14.60	14.73
6329	1.14	177.1	3175	2113	2103	1983	573.8	9.0	297	6335	0.00	2.60	0.00	0.000	260	0.000	0.104	3176	3520	2042	2103	1982	0	0	0	0	0	0	15.08	14.51	15.11
6377	1.14	177.1	3177	3521	2105	1983	568.8	10.5	304	6385	0.00	2.50	0.00	0.000	1030	0.000	0.048	3176	2088	2042	2103	1982	0	0	0	0	0	0	14.70	14.64	14.75
6720	1.14	177.1	3175	2088	2102	1982	536.4	9.4	311	6727	0.00	2.70	0.00	0.000	260	0.000	0.103	3176	3511	2042	2103	1981	0	0	0	0	0	0	15.15	14.42	15.17
6748	1.14	177.1	3175	3512	2102	1982	533.6	10.1	315	6755	0.00	2.47	0.00	0.000	1030	0.000	0.048	3176	2098	2042	2104	1981	0	0	0	0	0	0	14.68	14.62	14.73
7112	1.14	177.1	3175	2099	2102	1982	500.6	8.9	325	7120	0.00	2.67	0.00	0.000	260	0.000	0.102	3175	3513	2041	2102	1981	0	0	0	0	0	0	15.14	14.34	15.17
7147	1.14	177.1	3175	3514	2102	1982	497.4	9.3	330	7155	0.00	2.47	0.00	0.000	1030	0.000	0.047	3172	2100	2041	2102	1981	0	0	0	0	0	0	14.67	14.61	14.72
7505	1.16	177.1	3177	2100	2104	1982	468.4	8.1	339	7505	0.00	0.00	0.00	0.000	70	0.000	0.000	3176	2099	2041	2102	1981	0	0	0	0	0	0	15.14	15.17	15.16
7841	1.19	177.1	3174	2100	2100	1982	441.3	8.0	345	7847	0.00	2.67	0.00	0.000	324	0.000	0.102	3176	3515	2041	2102	1981	0	0	0	0	0	0	15.16	14.38	15.19
7875	1.19	177.1	3177	3516	2104	1982	438.2	9.0	350	7883	0.00	2.50	0.00	0.000	1030	0.000	0.045	3176	2088	2041	2101	1981	0	0	0	0	0	0	14.65	14.61	14.69
8233	1.21	177.1	3175	2088	2101	1981	409.7	7.9	359	8239	0.00	2.58	0.00	0.000	580	0.000	0.092	3176	700	2041	2101	1981	0	0	0	0	0	0	15.19	14.38	15.21
8268	1.23	177.1	3175	700	2101	1981	406.8	8.0	364	8274	0.00	2.50	0.00	0.000	1094	0.000	0.060	3176	2103	2040	2101	1980	0	0	0	0	0	0	14.59	14.51	14.65
8625	1.26	177.1	3177	2104	2102	1982	378.0	8.1	373	8631	0.00	2.65	0.00	0.000	324	0.000	0.102	3176	3516	2040	2100	1981	0	0	0	0	0	0	15.19	14.36	15.21
8729	1.26	177.1	3177	3517	2102	1982	368.5	8.8	388	8737	0.00	2.47	0.00	0.000	1030	0.000	0.046	3176	2095	2040	2100	1981	0	0	0	0	0	0	14.63	14.57	14.67
9073	1.28	177.1	3175	2096	2100	1980	340.8	8.0	395	9074	0.12	0.00	0.00	0.000	2118	0.142	0.000	3220	2095	2040	2100	1980	0	0	0	0	0	0	14.79	14.88	14.85
9126	end climb: SURFACE_OBSTACLE_DETECTED
state	9126	begin subsurface finish
9132	0.00	1.5	3226	2095	2102	1981	335.6	8.2	396	9144	1.55	0.00	-8.38	0.024	20486	0.215	0.000	2804	2095	2795	2833	2757	0	0	0	0	1	0	14.14	12.74	14.52
9144	end subsurface finish: CONTROL_FINISHED_OK
state	9144	begin surface