Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 87 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.0011186301 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.021746 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 87 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 26 ALTIM_FREQUENCY 13

D_TGT 500 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 20 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 6

D_BOOST 100 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2727 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 5 N_NOCOMM 3 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 180 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 270 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 3600 T_GPS 5 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -3 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 0.30000001 PITCH_MIN 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 600 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 10 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 10 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 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 17 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 160 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 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 500 N_NOCOMM 3 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 160 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 17 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0011186301 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.021746 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 180

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 3600

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 270

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2727 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 87 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 26 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 0 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 070218,055354,-7404.1274,-11228.4980,30,1.0,30,53.3,0.1,0.0,11,3.5 SPEED_LIMITS 0.093,0.171

_CALLS 1 TGT_NAME loiter

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 241.8,770,-25.3,-9.259,-38.91,1156

_SM_ANGLEo -65.9 D_GRID 890

GPS2 070218,055948,-7404.1470,-11228.5840,3,1.0,4,53.3,0.4,218.7,11,5.3

Post-dive calculations and measurements:

FREEZE 0.26,-1.223,-1.861,2,1,0 _24V_AH 12.58,42.973

FINISH 0.3,1.027296 _10V_AH 12.90,0.000

SM_CCo 9309,124.18,0.235,0,0,1298,350.04 FG_AHR_24Vo 0.000

SM_GC 1.13,8.80,2.10,124.18,0.073,0.055,0.235,211,2297,1298,-8.02,0.96,350.04,0,0,0,0,0,0,14.83,14.85,14.58 FG_AHR_10Vo 0.000

RAFOS_CLK 354 MEM 280468

RAFOS 0,1517983267,6.033333,6.018611,91,74,58,55,51,51,553,215,147,193,226,167 DATA_FILE_SIZE 26771,747

RAFOS_FIX -7405.207031,-11222.695312,070218,060628,3,101,3.82 CAP_FILE_SIZE 96564,0

IRIDIUM_FIX -7402.95,-11228.77,070218,013848 CFSIZE 1024409600,1009598464

TT8_MAMPS 0.038948,0.287616 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0

HUMID 46.88 INTR 0,6936.00,0x234cd8,1,24

INTERNAL_PRESSURE 8.08233 SOUNDSPEED 1446.6

TCM_TEMP 12.10 CURRENT 0.086,254.86,1

XPDR_PINGS 0 GPS 070218,083830,-7404.083,-11232.212,31,0.8,31,53.4,0.1,0.0,9,4.0

ALTIM_TOP_PING 7.6,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 422 117.40 nil 0 0 0.00

Roll_motor 30 116 44.98 nil 0 0 0.00

VBD_pump_during_apogee 630 2119 16817.72 nil 0 0 0.00

VBD_pump_during_surface 124 234 366.87 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 5712 4 333.13

Iridium_during_xfer 253 196 626.05 nil 0 0 0.00

Transponder_ping 27 420 146.62 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.74

TT8 0 0 0.00

LPSleep 7107 2 211.81

TT8_Active 808 13 144.06

TT8_Sampling 1800 34 807.83

TT8_CF8 77 52 52.77

TT8_Kalman 0 0 0.00

Analog_circuits 1669 10 234.71

GPS_charging 0 0 0.00

Compass 1070 7 103.46

RAFOS 720 1 13.93

Transponder 196 30 76.13

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

8.2 9.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

16.5 17.40 9000.00 0.0 0.00 0.00 17.40 0.0 1.00 1.00

24.6 25.90 25.80 0.0 1.02 1.00 25.90 0.0 1.05 1.00

32.6 34.10 34.20 0.0 1.04 1.00 34.10 0.0 1.03 1.00

40.8 42.60 42.60 0.0 1.04 1.00 42.60 0.0 1.04 1.00

74.6 78.30 78.30 0.0 1.05 1.00 78.30 0.0 1.06 1.00

503.9 30.50 9000.00 0.0 -0.06 0.42 30.50 534.4 -0.11 1.00

164.4 170.70 9000.00 0.0 -0.19 0.38 170.70 0.0 -0.41 1.00

131.0 135.80 9000.00 0.0 -0.34 0.90 135.80 -4.8 1.04 1.00

114.5 118.20 118.30 -3.8 1.05 1.00 118.20 -3.7 1.07 1.00

106.3 109.80 109.70 -3.4 1.05 1.00 109.80 -3.5 1.02 1.00

98.0 102.00 101.90 -3.9 0.98 1.00 102.00 -4.0 0.94 1.00

89.8 93.10 93.20 -3.4 1.02 1.00 93.10 -3.3 1.09 1.00

81.6 84.10 84.10 -2.5 1.09 1.00 84.10 -2.5 1.10 1.00

73.4 76.40 76.10 -2.7 1.02 1.00 76.40 -3.0 0.94 1.00

65.1 67.00 67.30 -2.2 1.03 1.00 67.00 -1.9 1.13 1.00

56.9 58.60 58.40 -1.5 1.08 1.00 58.60 -1.7 1.02 1.00

48.7 49.80 49.90 -1.2 1.05 1.00 49.80 -1.1 1.07 1.00

40.5 41.30 41.20 -0.7 1.06 1.00 41.30 -0.8 1.04 1.00

32.3 32.80 32.80 -0.5 1.04 1.00 32.80 -0.5 1.04 1.00

24.1 24.00 24.00 0.1 1.05 1.00 24.00 0.1 1.07 1.00

15.9 15.60 15.50 0.4 1.05 1.00 15.60 0.3 1.02 1.00

7.6 7.50 7.50 0.1 1.00 1.00 7.50 0.1 0.98 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.24 -70.3 214 2305 1326 1253 0.0 0.0 0 112 0.00 0.00 -101.15 0.002 16390 0.000 0.000 212 2304 3014 3005 3023 0 0 0 0 0 0 14.79 13.58 14.82

113 -1.33 -146.0 212 2304 3005 3023 2.1 -1.4 10 144 10.32 2.62 -11.82 0.008 18980 0.422 0.113 2365 890 3323 3333 3314 0 0 0 0 0 0 14.39 13.56 14.67

368 -1.33 -146.0 2365 891 3336 3314 50.0 -20.2 60 374 0.00 2.58 0.00 0.000 1030 0.000 0.083 2355 2296 3323 3334 3313 0 0 0 0 0 0 14.71 14.65 14.75

678 -1.33 -146.0 2354 2297 3334 3314 112.6 -19.5 92 678 0.00 0.00 0.00 0.000 6 0.000 0.000 2355 2296 3324 3336 3313 0 0 0 0 0 0 14.95 14.98 14.98

979 -1.33 -146.0 2354 2296 3334 3314 172.1 -19.6 122 979 0.00 0.00 0.00 0.000 6 0.000 0.000 2355 2296 3323 3334 3313 0 0 0 0 0 0 14.96 14.99 14.98

1279 -1.33 -146.0 2354 2297 3334 3314 230.2 -19.2 152 1284 0.00 2.58 0.00 0.000 260 0.000 0.116 2344 3712 3323 3334 3313 0 0 0 0 0 0 14.99 14.76 15.02

1319 -1.33 -146.0 2344 3713 3334 3312 238.5 -21.3 160 1324 0.00 2.42 0.00 0.000 1030 0.000 0.054 2344 2288 3323 3334 3313 0 0 0 0 0 0 14.90 14.83 14.92

1628 -1.33 -146.0 2344 2287 3334 3313 300.0 -19.8 192 1629 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2287 3324 3335 3313 0 0 0 0 0 0 15.04 15.07 15.07

1939 -1.33 -146.0 2346 2287 3337 3313 360.9 -19.9 208 1940 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2285 3324 3335 3313 0 0 0 0 0 0 15.02 15.06 15.05

2239 -1.33 -146.0 2344 2287 3334 3314 417.8 -18.4 223 2244 0.00 2.60 0.00 0.000 260 0.000 0.113 2334 3714 3323 3334 3313 0 0 0 0 0 0 15.04 14.81 15.07

2288 -1.33 -146.0 2334 3714 3334 3313 427.4 -19.4 233 2295 0.12 2.42 0.00 0.000 3078 0.292 0.054 2365 2301 3324 3335 3313 0 0 0 0 0 0 14.66 14.83 14.82

2598 -1.33 -146.0 2366 2301 3337 3313 480.4 -17.1 250 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 2364 2300 3323 3335 3312 0 0 0 0 0 0 15.08 15.11 15.11

2717 end dive: TARGET_DEPTH_EXCEEDED

state 2717 begin apogee

2721 -0.23 0.0 2365 2080 3335 3309 501.6 -17.7 256 2975 1.33 0.00 245.38 2.120 10246 0.265 0.000 2721 2078 2725 2759 2692 0 0 0 0 1 0 14.71 13.50 12.58

2976 end apogee: CONTROL_FINISHED_OK

state 2976 begin loiter

3318 -0.23 0.0 2720 2078 2754 2687 502.9 2.5 276 3319 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2720 2754 2686 0 0 0 0 0 0 14.52 14.55 14.54

3688 -0.23 0.0 2720 2078 2753 2686 493.9 2.6 292 3689 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2719 2753 2685 0 0 0 0 0 0 14.81 14.83 14.83

3988 -0.23 0.0 2720 2078 2752 2685 486.0 2.6 307 3989 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2718 2752 2684 0 0 0 0 0 0 14.93 14.96 14.95

4288 -0.23 0.0 2722 2079 2753 2685 478.5 2.4 322 4289 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2718 2753 2684 0 0 0 0 0 0 15.01 15.04 15.04

4589 -0.23 0.0 2720 2078 2750 2684 471.6 2.2 337 4590 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2717 2751 2684 0 0 0 0 0 0 15.07 15.09 15.09

4889 -0.23 0.0 2720 2078 2750 2685 465.3 1.8 352 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2717 2750 2684 0 0 0 0 0 0 15.11 15.14 15.14

5188 -0.23 0.0 2720 2078 2749 2684 459.3 2.0 367 5189 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2717 2750 2684 0 0 0 0 0 0 15.14 15.17 15.16

5488 -0.23 0.0 2722 2079 2751 2684 453.9 1.8 382 5489 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2716 2749 2683 0 0 0 0 0 0 15.16 15.19 15.19

5788 -0.23 0.0 2720 2078 2749 2684 448.4 1.8 397 5789 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2716 2749 2683 0 0 0 0 0 0 15.19 15.21 15.21

6088 -0.23 0.0 2722 2079 2751 2684 442.7 1.9 412 6089 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2716 2749 2683 0 0 0 0 0 0 15.20 15.23 15.23

6388 -0.23 0.0 2720 2078 2748 2684 437.3 1.9 427 6389 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2078 2716 2749 2683 0 0 0 0 0 0 15.21 15.24 15.24

6567 end loiter: LOITER_COMPLETE

state 6567 begin climb

6568 1.33 146.0 2720 2078 2748 2683 434.1 0.0 436 6969 1.52 2.90 385.27 1.431 10500 0.142 0.103 3215 3508 2125 2167 2084 0 0 0 0 0 0 14.92 13.62 13.16

7098 1.33 146.0 3216 3510 2163 2078 366.0 18.9 536 7104 0.00 2.55 0.00 0.000 1030 0.000 0.054 3225 2129 2119 2161 2077 0 0 0 0 0 0 14.06 14.01 14.07

7419 1.33 146.0 3224 2129 2156 2072 310.4 17.5 555 7420 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 2129 2114 2157 2071 0 0 0 0 0 0 14.56 14.59 14.59

7718 1.33 146.0 3225 2130 2157 2071 258.6 17.2 582 7719 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 2129 2112 2155 2070 0 0 0 0 0 0 14.77 14.80 14.80

8018 1.33 146.0 3226 2130 2155 2068 209.5 16.3 612 8019 0.00 0.00 0.00 0.000 6 0.000 0.000 3225 2129 2110 2153 2068 0 0 0 0 0 0 14.90 14.91 14.90

8318 1.33 146.0 3225 2130 2151 2069 161.1 16.0 642 8324 0.00 2.58 0.00 0.000 260 0.000 0.105 3225 3515 2109 2151 2068 0 0 0 0 0 0 14.94 14.69 14.97

8368 1.33 146.0 3225 3515 2151 2069 152.5 17.6 652 8375 0.00 2.47 0.00 0.000 1030 0.000 0.056 3236 2102 2109 2151 2068 0 0 0 0 0 0 14.79 14.74 14.82

8678 1.33 146.0 3237 2102 2152 2069 101.3 16.5 684 8679 0.00 0.00 0.00 0.000 6 0.000 0.000 3241 2102 2109 2150 2068 0 0 0 0 0 0 14.99 15.02 15.02

8978 1.33 146.0 3236 2103 2151 2069 52.0 16.3 714 8979 0.00 0.00 0.00 0.000 6 0.000 0.000 3234 2101 2108 2149 2068 0 0 0 0 0 0 15.02 15.05 15.04

9279 1.33 146.0 3235 2102 2148 2069 2.7 16.3 744 9285 0.00 2.60 0.00 0.000 260 0.000 0.106 3236 3507 2109 2151 2068 0 0 0 0 0 0 15.04 14.78 15.06

9287 end climb: SURFACE_DEPTH_REACHED

state 9287 begin surface coast

9293 end surface coast: CONTROL_FINISHED_OK

state 9293 begin surface

ID	223	HD_A	0.0011186301	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.021746	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	87	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	26	ALTIM_FREQUENCY	13
D_TGT	500	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	20	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	6
D_BOOST	100	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2727	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	5	N_NOCOMM	3	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	180	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	270	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	3600	T_GPS	5	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.30000001	PITCH_MIN	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	600	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	10	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	10	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	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	17	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	160	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	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	070218,055354,-7404.1274,-11228.4980,30,1.0,30,53.3,0.1,0.0,11,3.5	SPEED_LIMITS	0.093,0.171
_CALLS	1	TGT_NAME	loiter
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	241.8,770,-25.3,-9.259,-38.91,1156
_SM_ANGLEo	-65.9	D_GRID	890
GPS2	070218,055948,-7404.1470,-11228.5840,3,1.0,4,53.3,0.4,218.7,11,5.3

FREEZE	0.26,-1.223,-1.861,2,1,0	_24V_AH	12.58,42.973
FINISH	0.3,1.027296	_10V_AH	12.90,0.000
SM_CCo	9309,124.18,0.235,0,0,1298,350.04	FG_AHR_24Vo	0.000
SM_GC	1.13,8.80,2.10,124.18,0.073,0.055,0.235,211,2297,1298,-8.02,0.96,350.04,0,0,0,0,0,0,14.83,14.85,14.58	FG_AHR_10Vo	0.000
RAFOS_CLK	354	MEM	280468
RAFOS	0,1517983267,6.033333,6.018611,91,74,58,55,51,51,553,215,147,193,226,167	DATA_FILE_SIZE	26771,747
RAFOS_FIX	-7405.207031,-11222.695312,070218,060628,3,101,3.82	CAP_FILE_SIZE	96564,0
IRIDIUM_FIX	-7402.95,-11228.77,070218,013848	CFSIZE	1024409600,1009598464
TT8_MAMPS	0.038948,0.287616	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID	46.88	INTR	0,6936.00,0x234cd8,1,24
INTERNAL_PRESSURE	8.08233	SOUNDSPEED	1446.6
TCM_TEMP	12.10	CURRENT	0.086,254.86,1
XPDR_PINGS	0	GPS	070218,083830,-7404.083,-11232.212,31,0.8,31,53.4,0.1,0.0,9,4.0
ALTIM_TOP_PING	7.6,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	422	117.40	nil	0	0	0.00
Roll_motor	30	116	44.98	nil	0	0	0.00
VBD_pump_during_apogee	630	2119	16817.72	nil	0	0	0.00
VBD_pump_during_surface	124	234	366.87	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	5712	4	333.13
Iridium_during_xfer	253	196	626.05	nil	0	0	0.00
Transponder_ping	27	420	146.62	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.74
TT8	0	0	0.00
LPSleep	7107	2	211.81
TT8_Active	808	13	144.06
TT8_Sampling	1800	34	807.83
TT8_CF8	77	52	52.77
TT8_Kalman	0	0	0.00
Analog_circuits	1669	10	234.71
GPS_charging	0	0	0.00
Compass	1070	7	103.46
RAFOS	720	1	13.93
Transponder	196	30	76.13

		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
8.2	9.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
16.5	17.40	9000.00	0.0	0.00	0.00	17.40	0.0	1.00	1.00
24.6	25.90	25.80	0.0	1.02	1.00	25.90	0.0	1.05	1.00
32.6	34.10	34.20	0.0	1.04	1.00	34.10	0.0	1.03	1.00
40.8	42.60	42.60	0.0	1.04	1.00	42.60	0.0	1.04	1.00
74.6	78.30	78.30	0.0	1.05	1.00	78.30	0.0	1.06	1.00
503.9	30.50	9000.00	0.0	-0.06	0.42	30.50	534.4	-0.11	1.00

164.4	170.70	9000.00	0.0	-0.19	0.38	170.70	0.0	-0.41	1.00
131.0	135.80	9000.00	0.0	-0.34	0.90	135.80	-4.8	1.04	1.00
114.5	118.20	118.30	-3.8	1.05	1.00	118.20	-3.7	1.07	1.00
106.3	109.80	109.70	-3.4	1.05	1.00	109.80	-3.5	1.02	1.00
98.0	102.00	101.90	-3.9	0.98	1.00	102.00	-4.0	0.94	1.00
89.8	93.10	93.20	-3.4	1.02	1.00	93.10	-3.3	1.09	1.00
81.6	84.10	84.10	-2.5	1.09	1.00	84.10	-2.5	1.10	1.00
73.4	76.40	76.10	-2.7	1.02	1.00	76.40	-3.0	0.94	1.00
65.1	67.00	67.30	-2.2	1.03	1.00	67.00	-1.9	1.13	1.00
56.9	58.60	58.40	-1.5	1.08	1.00	58.60	-1.7	1.02	1.00
48.7	49.80	49.90	-1.2	1.05	1.00	49.80	-1.1	1.07	1.00
40.5	41.30	41.20	-0.7	1.06	1.00	41.30	-0.8	1.04	1.00
32.3	32.80	32.80	-0.5	1.04	1.00	32.80	-0.5	1.04	1.00
24.1	24.00	24.00	0.1	1.05	1.00	24.00	0.1	1.07	1.00
15.9	15.60	15.50	0.4	1.05	1.00	15.60	0.3	1.02	1.00
7.6	7.50	7.50	0.1	1.00	1.00	7.50	0.1	0.98	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.24	-70.3	214	2305	1326	1253	0.0	0.0	0	112	0.00	0.00	-101.15	0.002	16390	0.000	0.000	212	2304	3014	3005	3023	0	0	0	0	0	0	14.79	13.58	14.82
113	-1.33	-146.0	212	2304	3005	3023	2.1	-1.4	10	144	10.32	2.62	-11.82	0.008	18980	0.422	0.113	2365	890	3323	3333	3314	0	0	0	0	0	0	14.39	13.56	14.67
368	-1.33	-146.0	2365	891	3336	3314	50.0	-20.2	60	374	0.00	2.58	0.00	0.000	1030	0.000	0.083	2355	2296	3323	3334	3313	0	0	0	0	0	0	14.71	14.65	14.75
678	-1.33	-146.0	2354	2297	3334	3314	112.6	-19.5	92	678	0.00	0.00	0.00	0.000	6	0.000	0.000	2355	2296	3324	3336	3313	0	0	0	0	0	0	14.95	14.98	14.98
979	-1.33	-146.0	2354	2296	3334	3314	172.1	-19.6	122	979	0.00	0.00	0.00	0.000	6	0.000	0.000	2355	2296	3323	3334	3313	0	0	0	0	0	0	14.96	14.99	14.98
1279	-1.33	-146.0	2354	2297	3334	3314	230.2	-19.2	152	1284	0.00	2.58	0.00	0.000	260	0.000	0.116	2344	3712	3323	3334	3313	0	0	0	0	0	0	14.99	14.76	15.02
1319	-1.33	-146.0	2344	3713	3334	3312	238.5	-21.3	160	1324	0.00	2.42	0.00	0.000	1030	0.000	0.054	2344	2288	3323	3334	3313	0	0	0	0	0	0	14.90	14.83	14.92
1628	-1.33	-146.0	2344	2287	3334	3313	300.0	-19.8	192	1629	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2287	3324	3335	3313	0	0	0	0	0	0	15.04	15.07	15.07
1939	-1.33	-146.0	2346	2287	3337	3313	360.9	-19.9	208	1940	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2285	3324	3335	3313	0	0	0	0	0	0	15.02	15.06	15.05
2239	-1.33	-146.0	2344	2287	3334	3314	417.8	-18.4	223	2244	0.00	2.60	0.00	0.000	260	0.000	0.113	2334	3714	3323	3334	3313	0	0	0	0	0	0	15.04	14.81	15.07
2288	-1.33	-146.0	2334	3714	3334	3313	427.4	-19.4	233	2295	0.12	2.42	0.00	0.000	3078	0.292	0.054	2365	2301	3324	3335	3313	0	0	0	0	0	0	14.66	14.83	14.82
2598	-1.33	-146.0	2366	2301	3337	3313	480.4	-17.1	250	2599	0.00	0.00	0.00	0.000	6	0.000	0.000	2364	2300	3323	3335	3312	0	0	0	0	0	0	15.08	15.11	15.11
2717	end dive: TARGET_DEPTH_EXCEEDED
state	2717	begin apogee
2721	-0.23	0.0	2365	2080	3335	3309	501.6	-17.7	256	2975	1.33	0.00	245.38	2.120	10246	0.265	0.000	2721	2078	2725	2759	2692	0	0	0	0	1	0	14.71	13.50	12.58
2976	end apogee: CONTROL_FINISHED_OK
state	2976	begin loiter
3318	-0.23	0.0	2720	2078	2754	2687	502.9	2.5	276	3319	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2720	2754	2686	0	0	0	0	0	0	14.52	14.55	14.54
3688	-0.23	0.0	2720	2078	2753	2686	493.9	2.6	292	3689	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2719	2753	2685	0	0	0	0	0	0	14.81	14.83	14.83
3988	-0.23	0.0	2720	2078	2752	2685	486.0	2.6	307	3989	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2718	2752	2684	0	0	0	0	0	0	14.93	14.96	14.95
4288	-0.23	0.0	2722	2079	2753	2685	478.5	2.4	322	4289	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2718	2753	2684	0	0	0	0	0	0	15.01	15.04	15.04
4589	-0.23	0.0	2720	2078	2750	2684	471.6	2.2	337	4590	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2717	2751	2684	0	0	0	0	0	0	15.07	15.09	15.09
4889	-0.23	0.0	2720	2078	2750	2685	465.3	1.8	352	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2717	2750	2684	0	0	0	0	0	0	15.11	15.14	15.14
5188	-0.23	0.0	2720	2078	2749	2684	459.3	2.0	367	5189	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2717	2750	2684	0	0	0	0	0	0	15.14	15.17	15.16
5488	-0.23	0.0	2722	2079	2751	2684	453.9	1.8	382	5489	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2716	2749	2683	0	0	0	0	0	0	15.16	15.19	15.19
5788	-0.23	0.0	2720	2078	2749	2684	448.4	1.8	397	5789	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2716	2749	2683	0	0	0	0	0	0	15.19	15.21	15.21
6088	-0.23	0.0	2722	2079	2751	2684	442.7	1.9	412	6089	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2716	2749	2683	0	0	0	0	0	0	15.20	15.23	15.23
6388	-0.23	0.0	2720	2078	2748	2684	437.3	1.9	427	6389	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2078	2716	2749	2683	0	0	0	0	0	0	15.21	15.24	15.24
6567	end loiter: LOITER_COMPLETE
state	6567	begin climb
6568	1.33	146.0	2720	2078	2748	2683	434.1	0.0	436	6969	1.52	2.90	385.27	1.431	10500	0.142	0.103	3215	3508	2125	2167	2084	0	0	0	0	0	0	14.92	13.62	13.16
7098	1.33	146.0	3216	3510	2163	2078	366.0	18.9	536	7104	0.00	2.55	0.00	0.000	1030	0.000	0.054	3225	2129	2119	2161	2077	0	0	0	0	0	0	14.06	14.01	14.07
7419	1.33	146.0	3224	2129	2156	2072	310.4	17.5	555	7420	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	2129	2114	2157	2071	0	0	0	0	0	0	14.56	14.59	14.59
7718	1.33	146.0	3225	2130	2157	2071	258.6	17.2	582	7719	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	2129	2112	2155	2070	0	0	0	0	0	0	14.77	14.80	14.80
8018	1.33	146.0	3226	2130	2155	2068	209.5	16.3	612	8019	0.00	0.00	0.00	0.000	6	0.000	0.000	3225	2129	2110	2153	2068	0	0	0	0	0	0	14.90	14.91	14.90
8318	1.33	146.0	3225	2130	2151	2069	161.1	16.0	642	8324	0.00	2.58	0.00	0.000	260	0.000	0.105	3225	3515	2109	2151	2068	0	0	0	0	0	0	14.94	14.69	14.97
8368	1.33	146.0	3225	3515	2151	2069	152.5	17.6	652	8375	0.00	2.47	0.00	0.000	1030	0.000	0.056	3236	2102	2109	2151	2068	0	0	0	0	0	0	14.79	14.74	14.82
8678	1.33	146.0	3237	2102	2152	2069	101.3	16.5	684	8679	0.00	0.00	0.00	0.000	6	0.000	0.000	3241	2102	2109	2150	2068	0	0	0	0	0	0	14.99	15.02	15.02
8978	1.33	146.0	3236	2103	2151	2069	52.0	16.3	714	8979	0.00	0.00	0.00	0.000	6	0.000	0.000	3234	2101	2108	2149	2068	0	0	0	0	0	0	15.02	15.05	15.04
9279	1.33	146.0	3235	2102	2148	2069	2.7	16.3	744	9285	0.00	2.60	0.00	0.000	260	0.000	0.106	3236	3507	2109	2151	2068	0	0	0	0	0	0	15.04	14.78	15.06
9287	end climb: SURFACE_DEPTH_REACHED
state	9287	begin surface coast
9293	end surface coast: CONTROL_FINISHED_OK
state	9293	begin surface