Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 689 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 689 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 37 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 3

D_BOOST 110 SM_CC 399.91037 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 390 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 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 0 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 20 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 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 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 20 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 390

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 689 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

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 280 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7430.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 396.63 MHEAD_RNG_PITCHd_Wd 98.7,1136,-43.8,-9.429,-45.00,333

_SM_ANGLEo 3.8 D_GRID 990

GPS2 171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 392.4,1.027505,-0 _24V_AH 11.78,217.473

FINISH2 389.2 _10V_AH 12.08,0.000

RAFOS_CLK 363 FG_AHR_24Vo 0.000

RAFOS 0,1545048060,12.032354,12.016666,172,59,54,53,53,53,653,174,114,203,213,165 FG_AHR_10Vo 0.000

RAFOS_FIX -7429.869629,-11230.943359,171218,121200,3,134,0.07 MEM 279900

IRIDIUM_FIX -7410.85,-11223.24,141218,223050 DATA_FILE_SIZE 30059,933

TT8_MAMPS 0.038948,0.766976 CAP_FILE_SIZE 100251,0

HUMID 49.56 CFSIZE 1024409600,938590208

INTERNAL_PRESSURE 7.93895 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.40 SOUNDSPEED 1455.0

XPDR_PINGS 0 GPS 171218,121600,-7429.870,-11230.943,0,4134.3,0,53.4,0.0,0.0,0,0.0

ALTIM_TOP_PING 399.6,13.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 368 45.39 nil 0 0 0.00

Roll_motor 64 87 67.31 nil 0 0 0.00

VBD_pump_during_apogee 163 3051 5890.92 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 8791 10 1053.39

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 25 420 126.16 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 6494 2 181.23

TT8_Active 231 10 30.43

TT8_Sampling 1910 30 700.30

TT8_CF8 238 51 147.87

TT8_Kalman 0 0 0.00

Analog_circuits 912 10 111.30

GPS_charging 0 0 0.00

Compass 1336 6 108.82

RAFOS 720 1 13.05

Transponder 188 30 68.18

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

731.4 28.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

431.1 46.40 9000.00 0.0 0.00 0.00 46.40 0.0 -0.06 1.00

423.0 38.00 9000.00 0.0 -0.05 0.77 38.00 385.0 1.04 1.00

415.0 29.50 29.50 385.5 1.05 1.00 29.50 385.5 1.06 1.00

406.9 21.10 21.10 385.8 1.05 1.00 21.10 385.8 1.04 1.00

399.6 13.40 13.40 386.2 1.05 1.00 13.40 386.2 1.05 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

13 -2.02 -20.4 2778 2805 3533 3530 0.0 0.0 0 14 0.00 0.00 -0.28 0.320 16390 0.000 0.000 2777 2804 3589 3589 3590 0 0 0 0 0 0 14.83 12.72 14.59

18 -2.02 -20.4 2778 2805 3592 3593 0.0 0.0 0 26 2.03 0.00 0.00 0.000 4102 0.114 0.000 2125 2804 3591 3593 3589 0 0 0 0 0 0 14.28 14.44 14.40

324 -2.03 -28.2 2126 2804 3601 3589 417.0 -7.0 31 329 0.00 2.47 -0.08 1.238 16932 0.000 0.060 2125 1381 3617 3623 3612 0 0 0 0 0 0 14.92 12.83 13.94

375 -2.03 -28.2 2126 1382 3625 3614 420.9 -8.1 41 381 0.00 2.53 0.00 0.000 1030 0.000 0.055 2125 2818 3618 3624 3613 0 0 0 0 0 0 14.53 14.42 14.58

687 -2.03 -28.2 2126 2818 3627 3614 446.6 -8.1 73 692 0.00 1.95 0.00 0.000 260 0.000 0.078 2124 3916 3619 3625 3614 0 0 0 0 0 0 14.90 14.33 14.90

743 -2.03 -28.2 2125 3916 3626 3614 451.5 -8.7 84 749 0.00 1.90 0.00 0.000 1030 0.000 0.037 2130 2768 3619 3625 3614 0 0 0 0 0 0 14.41 14.38 14.42

1048 -2.03 -28.2 2131 2769 3626 3616 475.3 -7.7 115 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 2131 2768 3620 3625 3615 0 0 0 0 0 0 14.92 14.92 14.92

1349 -2.03 -28.2 2132 2768 3627 3615 498.2 -7.6 145 1350 0.00 0.00 0.00 0.000 6 0.000 0.000 2132 2768 3619 3625 3614 0 0 0 0 0 0 14.78 14.77 14.77

1648 -2.04 -35.0 2131 2769 3626 3616 520.3 -7.3 175 1649 0.00 0.00 0.00 0.000 38 0.000 0.000 2131 2768 3619 3624 3614 0 0 0 0 0 0 14.92 14.92 14.92

1948 -2.05 -42.9 2132 2766 3627 3615 542.2 -7.0 205 1954 0.00 2.35 0.00 0.000 548 0.000 0.042 2131 1396 3619 3625 3614 0 0 0 0 0 0 14.92 14.37 14.92

1976 -2.05 -50.2 2132 1397 3627 3614 544.1 -7.2 210 1982 0.00 2.50 0.00 0.000 1062 0.000 0.056 2129 2814 3619 3625 3614 0 0 0 0 0 0 14.49 14.37 14.52

2280 -2.06 -58.4 2130 2808 3626 3614 565.1 -6.9 241 2281 0.00 0.00 0.00 0.000 38 0.000 0.000 2129 2813 3620 3626 3614 0 0 0 0 0 0 14.90 14.91 14.90

2580 -2.08 -68.5 2129 2814 3626 3614 584.5 -6.3 271 2585 0.00 1.95 0.00 0.000 292 0.000 0.078 2124 3908 3619 3625 3613 0 0 0 0 0 0 14.90 14.29 14.90

2637 -2.09 -77.1 2125 3908 3627 3613 588.3 -6.8 282 2643 0.00 1.85 0.00 0.000 1062 0.000 0.039 2131 2793 3618 3625 3612 0 0 0 0 0 0 14.57 14.50 14.58

2941 -2.10 -88.9 2131 2794 3626 3612 606.8 -5.8 313 2942 0.00 0.00 0.00 0.000 38 0.000 0.000 2131 2793 3618 3625 3612 0 0 0 0 0 0 14.85 14.85 14.85

3241 -2.12 -102.4 2131 2794 3626 3613 623.2 -5.3 343 3242 0.12 0.00 0.00 0.000 4134 0.172 0.000 2088 2793 3619 3625 3613 0 0 0 0 0 0 14.35 14.51 14.47

3541 -2.12 -107.1 2087 2791 3625 3611 639.6 -5.3 373 3542 0.00 0.00 0.00 0.000 38 0.000 0.000 2088 2793 3617 3624 3610 0 0 0 0 0 0 14.85 14.85 14.86

3841 -2.12 -107.1 2088 2794 3626 3610 654.4 -4.6 403 3846 0.00 2.40 0.00 0.000 548 0.000 0.042 2092 1392 3617 3625 3610 0 0 0 0 0 0 14.85 14.36 14.85

3903 -2.12 -107.1 2093 1392 3626 3611 657.3 -4.5 415 3908 0.00 2.53 0.00 0.000 1062 0.000 0.054 2084 2811 3617 3625 3609 0 0 0 0 0 0 14.22 14.12 14.26

4215 -2.12 -107.1 2084 2812 3625 3610 669.4 -3.4 447 4219 0.00 1.95 0.00 0.000 292 0.000 0.073 2075 3910 3617 3625 3609 0 0 0 0 0 0 14.76 14.28 14.76

4445 -2.12 -107.1 2076 3909 3627 3609 678.6 -4.3 493 4451 0.00 1.88 0.00 0.000 1062 0.000 0.040 2079 2790 3617 3625 3609 0 0 0 0 0 0 14.52 14.47 14.54

4757 -2.12 -107.1 2079 2791 3626 3609 689.9 -3.2 525 4763 0.00 2.03 0.00 0.000 292 0.000 0.073 2070 3913 3616 3625 3608 0 0 0 0 0 0 14.94 14.26 14.91

4989 -2.12 -107.1 2071 3913 3626 3607 697.7 -3.3 571 4994 0.00 1.88 0.00 0.000 1062 0.000 0.039 2071 2788 3616 3625 3607 0 0 0 0 0 0 14.54 14.48 14.56

5313 -2.12 -107.1 2071 2789 3627 3608 706.9 -2.8 588 5318 0.00 2.03 0.00 0.000 292 0.000 0.073 2067 3909 3617 3626 3608 0 0 0 0 0 0 14.76 14.04 14.76

5544 -2.12 -107.1 2068 3909 3626 3607 713.8 -2.8 634 5549 0.00 1.88 0.00 0.000 1062 0.000 0.038 2067 2786 3616 3625 3607 0 0 0 0 0 0 14.52 14.46 14.54

5915 -2.12 -107.1 2068 2787 3626 3609 722.5 -2.3 648 5920 0.00 2.40 0.00 0.000 548 0.000 0.040 2067 1394 3616 3625 3607 0 0 0 0 0 0 14.85 14.33 14.85

6091 -2.12 -107.1 2067 1395 3625 3609 726.8 -2.2 683 6097 0.17 2.50 0.00 0.000 3110 0.369 0.054 2092 2811 3616 3625 3608 0 0 0 0 0 0 13.66 14.31 14.13

6459 -2.12 -107.1 2092 2811 3626 3608 734.0 -1.8 696 6460 0.00 0.00 0.00 0.000 38 0.000 0.000 2091 2810 3616 3625 3608 0 0 0 0 0 0 14.79 14.79 14.80

6816 -2.12 -107.1 2092 2811 3626 3610 739.5 -1.4 708 6821 0.00 2.45 0.00 0.000 548 0.000 0.041 2092 1395 3617 3626 3608 0 0 0 0 0 0 14.88 14.33 14.88

7047 -2.12 -107.1 2098 1395 3626 3609 742.4 -1.2 754 7052 0.00 2.53 0.00 0.000 1062 0.000 0.055 2083 2815 3615 3625 3605 0 0 0 0 0 0 14.33 14.21 14.37

7385 end dive: NO_VERTICAL_VELOCITY

state 7385 begin apogee

7392 -0.23 0.0 2084 2536 3626 3610 745.6 0.0 767 7436 2.67 0.00 39.15 3.007 10246 0.319 0.000 2699 2535 3491 3498 3485 0 0 0 0 0 0 13.81 14.07 12.74

7437 end apogee: CONTROL_FINISHED_OK

state 7437 begin climb

7440 2.12 107.1 2700 2535 3499 3485 745.2 0.0 768 7579 2.35 2.80 124.72 3.052 10500 0.103 0.085 3457 3899 3063 3086 3040 0 0 0 0 0 0 14.12 13.09 11.78

7711 2.12 107.1 3457 3900 3080 3032 679.7 32.8 819 7718 0.00 2.40 0.00 0.000 1030 0.000 0.049 3467 2552 3054 3078 3031 0 0 0 0 0 0 14.04 13.97 14.07

8016 2.12 107.1 3468 2552 3075 3030 590.4 28.7 850 8021 0.00 2.47 0.00 0.000 516 0.000 0.062 3478 1150 3050 3073 3028 0 0 0 0 0 0 14.83 14.44 14.82

8062 2.12 107.1 3478 1150 3074 3027 577.5 27.7 859 8068 0.00 2.47 0.00 0.000 1030 0.000 0.066 3477 2551 3050 3073 3027 0 0 0 0 0 0 14.59 14.47 14.64

8367 2.12 107.1 3478 2552 3074 3028 491.2 28.0 890 8372 0.00 2.47 0.00 0.000 516 0.000 0.060 3487 1148 3050 3073 3027 0 0 0 0 0 0 14.91 14.45 14.91

8393 2.12 107.1 3488 1148 3075 3027 483.9 27.8 895 8400 0.17 2.50 0.00 0.000 5126 0.366 0.064 3456 2562 3050 3073 3027 0 0 0 0 0 0 13.94 14.42 14.45

8701 2.12 107.1 3456 2562 3074 3028 401.6 26.7 926 8708 0.00 2.45 0.00 0.000 516 0.000 0.060 3466 1156 3050 3073 3027 0 0 0 0 0 0 14.90 14.40 14.90

8731 end climb: SURFACE_OBSTACLE_DETECTED

state 8731 begin subsurface finish

8741 -0.00 -0.2 3468 2559 3074 3027 392.4 26.0 932 8748 2.92 0.00 -1.92 0.046 20486 0.338 0.000 2780 2560 3512 3515 3509 0 0 0 0 0 0 14.03 12.81 14.46

8749 end subsurface finish: CONTROL_FINISHED_OK

state 8749 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	689	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	37	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	3
D_BOOST	110	SM_CC	399.91037	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	390	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	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	0	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	20	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7430.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	396.63	MHEAD_RNG_PITCHd_Wd	98.7,1136,-43.8,-9.429,-45.00,333
_SM_ANGLEo	3.8	D_GRID	990
GPS2	171218,091440,-7429.4575,-11231.0713,0,4128.3,0,53.4,0.0,0.0,0,0.0

FINISH1	392.4,1.027505,-0	_24V_AH	11.78,217.473
FINISH2	389.2	_10V_AH	12.08,0.000
RAFOS_CLK	363	FG_AHR_24Vo	0.000
RAFOS	0,1545048060,12.032354,12.016666,172,59,54,53,53,53,653,174,114,203,213,165	FG_AHR_10Vo	0.000
RAFOS_FIX	-7429.869629,-11230.943359,171218,121200,3,134,0.07	MEM	279900
IRIDIUM_FIX	-7410.85,-11223.24,141218,223050	DATA_FILE_SIZE	30059,933
TT8_MAMPS	0.038948,0.766976	CAP_FILE_SIZE	100251,0
HUMID	49.56	CFSIZE	1024409600,938590208
INTERNAL_PRESSURE	7.93895	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.40	SOUNDSPEED	1455.0
XPDR_PINGS	0	GPS	171218,121600,-7429.870,-11230.943,0,4134.3,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING	399.6,13.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	368	45.39	nil	0	0	0.00
Roll_motor	64	87	67.31	nil	0	0	0.00
VBD_pump_during_apogee	163	3051	5890.92	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	8791	10	1053.39
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	25	420	126.16	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	6494	2	181.23
TT8_Active	231	10	30.43
TT8_Sampling	1910	30	700.30
TT8_CF8	238	51	147.87
TT8_Kalman	0	0	0.00
Analog_circuits	912	10	111.30
GPS_charging	0	0	0.00
Compass	1336	6	108.82
RAFOS	720	1	13.05
Transponder	188	30	68.18

		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

731.4	28.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
431.1	46.40	9000.00	0.0	0.00	0.00	46.40	0.0	-0.06	1.00
423.0	38.00	9000.00	0.0	-0.05	0.77	38.00	385.0	1.04	1.00
415.0	29.50	29.50	385.5	1.05	1.00	29.50	385.5	1.06	1.00
406.9	21.10	21.10	385.8	1.05	1.00	21.10	385.8	1.04	1.00
399.6	13.40	13.40	386.2	1.05	1.00	13.40	386.2	1.05	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
13	-2.02	-20.4	2778	2805	3533	3530	0.0	0.0	0	14	0.00	0.00	-0.28	0.320	16390	0.000	0.000	2777	2804	3589	3589	3590	0	0	0	0	0	0	14.83	12.72	14.59
18	-2.02	-20.4	2778	2805	3592	3593	0.0	0.0	0	26	2.03	0.00	0.00	0.000	4102	0.114	0.000	2125	2804	3591	3593	3589	0	0	0	0	0	0	14.28	14.44	14.40
324	-2.03	-28.2	2126	2804	3601	3589	417.0	-7.0	31	329	0.00	2.47	-0.08	1.238	16932	0.000	0.060	2125	1381	3617	3623	3612	0	0	0	0	0	0	14.92	12.83	13.94
375	-2.03	-28.2	2126	1382	3625	3614	420.9	-8.1	41	381	0.00	2.53	0.00	0.000	1030	0.000	0.055	2125	2818	3618	3624	3613	0	0	0	0	0	0	14.53	14.42	14.58
687	-2.03	-28.2	2126	2818	3627	3614	446.6	-8.1	73	692	0.00	1.95	0.00	0.000	260	0.000	0.078	2124	3916	3619	3625	3614	0	0	0	0	0	0	14.90	14.33	14.90
743	-2.03	-28.2	2125	3916	3626	3614	451.5	-8.7	84	749	0.00	1.90	0.00	0.000	1030	0.000	0.037	2130	2768	3619	3625	3614	0	0	0	0	0	0	14.41	14.38	14.42
1048	-2.03	-28.2	2131	2769	3626	3616	475.3	-7.7	115	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	2131	2768	3620	3625	3615	0	0	0	0	0	0	14.92	14.92	14.92
1349	-2.03	-28.2	2132	2768	3627	3615	498.2	-7.6	145	1350	0.00	0.00	0.00	0.000	6	0.000	0.000	2132	2768	3619	3625	3614	0	0	0	0	0	0	14.78	14.77	14.77
1648	-2.04	-35.0	2131	2769	3626	3616	520.3	-7.3	175	1649	0.00	0.00	0.00	0.000	38	0.000	0.000	2131	2768	3619	3624	3614	0	0	0	0	0	0	14.92	14.92	14.92
1948	-2.05	-42.9	2132	2766	3627	3615	542.2	-7.0	205	1954	0.00	2.35	0.00	0.000	548	0.000	0.042	2131	1396	3619	3625	3614	0	0	0	0	0	0	14.92	14.37	14.92
1976	-2.05	-50.2	2132	1397	3627	3614	544.1	-7.2	210	1982	0.00	2.50	0.00	0.000	1062	0.000	0.056	2129	2814	3619	3625	3614	0	0	0	0	0	0	14.49	14.37	14.52
2280	-2.06	-58.4	2130	2808	3626	3614	565.1	-6.9	241	2281	0.00	0.00	0.00	0.000	38	0.000	0.000	2129	2813	3620	3626	3614	0	0	0	0	0	0	14.90	14.91	14.90
2580	-2.08	-68.5	2129	2814	3626	3614	584.5	-6.3	271	2585	0.00	1.95	0.00	0.000	292	0.000	0.078	2124	3908	3619	3625	3613	0	0	0	0	0	0	14.90	14.29	14.90
2637	-2.09	-77.1	2125	3908	3627	3613	588.3	-6.8	282	2643	0.00	1.85	0.00	0.000	1062	0.000	0.039	2131	2793	3618	3625	3612	0	0	0	0	0	0	14.57	14.50	14.58
2941	-2.10	-88.9	2131	2794	3626	3612	606.8	-5.8	313	2942	0.00	0.00	0.00	0.000	38	0.000	0.000	2131	2793	3618	3625	3612	0	0	0	0	0	0	14.85	14.85	14.85
3241	-2.12	-102.4	2131	2794	3626	3613	623.2	-5.3	343	3242	0.12	0.00	0.00	0.000	4134	0.172	0.000	2088	2793	3619	3625	3613	0	0	0	0	0	0	14.35	14.51	14.47
3541	-2.12	-107.1	2087	2791	3625	3611	639.6	-5.3	373	3542	0.00	0.00	0.00	0.000	38	0.000	0.000	2088	2793	3617	3624	3610	0	0	0	0	0	0	14.85	14.85	14.86
3841	-2.12	-107.1	2088	2794	3626	3610	654.4	-4.6	403	3846	0.00	2.40	0.00	0.000	548	0.000	0.042	2092	1392	3617	3625	3610	0	0	0	0	0	0	14.85	14.36	14.85
3903	-2.12	-107.1	2093	1392	3626	3611	657.3	-4.5	415	3908	0.00	2.53	0.00	0.000	1062	0.000	0.054	2084	2811	3617	3625	3609	0	0	0	0	0	0	14.22	14.12	14.26
4215	-2.12	-107.1	2084	2812	3625	3610	669.4	-3.4	447	4219	0.00	1.95	0.00	0.000	292	0.000	0.073	2075	3910	3617	3625	3609	0	0	0	0	0	0	14.76	14.28	14.76
4445	-2.12	-107.1	2076	3909	3627	3609	678.6	-4.3	493	4451	0.00	1.88	0.00	0.000	1062	0.000	0.040	2079	2790	3617	3625	3609	0	0	0	0	0	0	14.52	14.47	14.54
4757	-2.12	-107.1	2079	2791	3626	3609	689.9	-3.2	525	4763	0.00	2.03	0.00	0.000	292	0.000	0.073	2070	3913	3616	3625	3608	0	0	0	0	0	0	14.94	14.26	14.91
4989	-2.12	-107.1	2071	3913	3626	3607	697.7	-3.3	571	4994	0.00	1.88	0.00	0.000	1062	0.000	0.039	2071	2788	3616	3625	3607	0	0	0	0	0	0	14.54	14.48	14.56
5313	-2.12	-107.1	2071	2789	3627	3608	706.9	-2.8	588	5318	0.00	2.03	0.00	0.000	292	0.000	0.073	2067	3909	3617	3626	3608	0	0	0	0	0	0	14.76	14.04	14.76
5544	-2.12	-107.1	2068	3909	3626	3607	713.8	-2.8	634	5549	0.00	1.88	0.00	0.000	1062	0.000	0.038	2067	2786	3616	3625	3607	0	0	0	0	0	0	14.52	14.46	14.54
5915	-2.12	-107.1	2068	2787	3626	3609	722.5	-2.3	648	5920	0.00	2.40	0.00	0.000	548	0.000	0.040	2067	1394	3616	3625	3607	0	0	0	0	0	0	14.85	14.33	14.85
6091	-2.12	-107.1	2067	1395	3625	3609	726.8	-2.2	683	6097	0.17	2.50	0.00	0.000	3110	0.369	0.054	2092	2811	3616	3625	3608	0	0	0	0	0	0	13.66	14.31	14.13
6459	-2.12	-107.1	2092	2811	3626	3608	734.0	-1.8	696	6460	0.00	0.00	0.00	0.000	38	0.000	0.000	2091	2810	3616	3625	3608	0	0	0	0	0	0	14.79	14.79	14.80
6816	-2.12	-107.1	2092	2811	3626	3610	739.5	-1.4	708	6821	0.00	2.45	0.00	0.000	548	0.000	0.041	2092	1395	3617	3626	3608	0	0	0	0	0	0	14.88	14.33	14.88
7047	-2.12	-107.1	2098	1395	3626	3609	742.4	-1.2	754	7052	0.00	2.53	0.00	0.000	1062	0.000	0.055	2083	2815	3615	3625	3605	0	0	0	0	0	0	14.33	14.21	14.37
7385	end dive: NO_VERTICAL_VELOCITY
state	7385	begin apogee
7392	-0.23	0.0	2084	2536	3626	3610	745.6	0.0	767	7436	2.67	0.00	39.15	3.007	10246	0.319	0.000	2699	2535	3491	3498	3485	0	0	0	0	0	0	13.81	14.07	12.74
7437	end apogee: CONTROL_FINISHED_OK
state	7437	begin climb
7440	2.12	107.1	2700	2535	3499	3485	745.2	0.0	768	7579	2.35	2.80	124.72	3.052	10500	0.103	0.085	3457	3899	3063	3086	3040	0	0	0	0	0	0	14.12	13.09	11.78
7711	2.12	107.1	3457	3900	3080	3032	679.7	32.8	819	7718	0.00	2.40	0.00	0.000	1030	0.000	0.049	3467	2552	3054	3078	3031	0	0	0	0	0	0	14.04	13.97	14.07
8016	2.12	107.1	3468	2552	3075	3030	590.4	28.7	850	8021	0.00	2.47	0.00	0.000	516	0.000	0.062	3478	1150	3050	3073	3028	0	0	0	0	0	0	14.83	14.44	14.82
8062	2.12	107.1	3478	1150	3074	3027	577.5	27.7	859	8068	0.00	2.47	0.00	0.000	1030	0.000	0.066	3477	2551	3050	3073	3027	0	0	0	0	0	0	14.59	14.47	14.64
8367	2.12	107.1	3478	2552	3074	3028	491.2	28.0	890	8372	0.00	2.47	0.00	0.000	516	0.000	0.060	3487	1148	3050	3073	3027	0	0	0	0	0	0	14.91	14.45	14.91
8393	2.12	107.1	3488	1148	3075	3027	483.9	27.8	895	8400	0.17	2.50	0.00	0.000	5126	0.366	0.064	3456	2562	3050	3073	3027	0	0	0	0	0	0	13.94	14.42	14.45
8701	2.12	107.1	3456	2562	3074	3028	401.6	26.7	926	8708	0.00	2.45	0.00	0.000	516	0.000	0.060	3466	1156	3050	3073	3027	0	0	0	0	0	0	14.90	14.40	14.90
8731	end climb: SURFACE_OBSTACLE_DETECTED
state	8731	begin subsurface finish
8741	-0.00	-0.2	3468	2559	3074	3027	392.4	26.0	932	8748	2.92	0.00	-1.92	0.046	20486	0.338	0.000	2780	2560	3512	3515	3509	0	0	0	0	0	0	14.03	12.81	14.46
8749	end subsurface finish: CONTROL_FINISHED_OK
state	8749	begin surface