Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 893 * 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 893 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 23 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 14 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 5 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 65 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 9.3000002 RAFOS_PEAK_OFFSET 0 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 12 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 12 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 65 PITCH_ADJ_GAIN 0 SM_CC 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 9.3000002 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 5

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 893 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 14 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 210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME insideC1

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 396.72 MHEAD_RNG_PITCHd_Wd 325.7,7659,-19.3,-9.429,-21.50,1737

_SM_ANGLEo 5.5 D_GRID 990

GPS2 210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 403.2,1.027450,3 _24V_AH 10.02,286.643

FINISH2 403.2 _10V_AH 10.36,0.000

RAFOS_CLK 322 FG_AHR_24Vo 0.000

RAFOS 0,1548039667,3.032355,3.018611,149,65,62,60,54,50,682,197,161,215,181,149 FG_AHR_10Vo 0.000

RAFOS_FIX -7440.891113,-11236.327148,210119,030316,3,129,0.18 MEM 278872

IRIDIUM_FIX -7415.88,-11304.63,160119,112744 DATA_FILE_SIZE 26737,782

TT8_MAMPS 0.045689,0.290612 CAP_FILE_SIZE 92840,0

HUMID 50.47 CFSIZE 1024409600,912998400

INTERNAL_PRESSURE 7.93895 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.30 SOUNDSPEED 1454.3

XPDR_PINGS 0 GPS 210119,031616,-7440.891,-11236.327,0,4129.3,0,53.5,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 765.2,11.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 271 17.14 nil 0 0 0.00

Roll_motor 99 114 114.06 nil 0 0 0.00

VBD_pump_during_apogee 366 3007 11029.93 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 7858 7 570.61

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 28 420 117.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5613 2 134.34

TT8_Active 440 10 49.58

TT8_Sampling 1637 30 514.91

TT8_CF8 281 51 149.85

TT8_Kalman 0 0 0.00

Analog_circuits 1045 10 109.39

GPS_charging 0 0 0.00

Compass 1122 6 78.35

RAFOS 720 1 11.19

Transponder 204 30 63.48

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

403.2 10.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

409.7 17.60 9000.00 0.0 0.00 0.00 17.60 0.0 1.09 1.00

422.4 30.70 30.80 0.0 1.05 1.00 30.70 0.0 1.03 1.00

428.6 37.20 37.20 0.0 1.04 1.00 37.20 0.0 1.05 1.00

750.3 25.00 9000.00 0.0 -0.03 0.71 25.00 775.3 -0.04 1.00

758.2 18.10 9000.00 0.0 -0.05 0.89 18.10 776.3 -0.87 1.00

765.2 11.70 11.80 777.0 -0.89 1.00 11.70 776.9 -0.91 1.00

430.3 29.40 9000.00 0.0 -0.04 0.89 29.40 0.0 -0.05 1.00

417.0 14.30 9000.00 0.0 -0.03 0.34 14.30 402.7 1.14 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -1.01 -107.1 2783 2806 3526 3519 0.0 0.0 0 24 0.00 0.00 -7.12 0.024 16390 0.000 0.000 2782 2805 3945 3938 3953 0 0 0 0 1 0 11.36 10.60 11.33

28 -1.01 -107.1 2783 2805 3942 3957 396.9 0.0 1 34 1.42 3.30 0.00 0.000 4612 0.135 0.041 2451 1378 3949 3942 3957 0 0 0 0 0 0 11.13 11.19 11.21

85 -1.01 -107.1 2455 1377 3951 3959 400.8 -6.8 12 92 0.00 3.40 0.00 0.000 1062 0.000 0.058 2452 2807 3955 3950 3960 0 0 0 0 0 0 11.24 11.17 11.26

390 -1.01 -107.1 2453 2808 3954 3966 424.8 -7.9 43 395 0.00 2.67 0.00 0.000 260 0.000 0.083 2448 3911 3959 3953 3965 0 0 0 0 0 0 11.36 11.16 11.36

467 -1.01 -107.1 2449 3912 3955 3965 431.1 -8.3 58 473 0.00 2.55 0.00 0.000 1030 0.000 0.044 2448 2790 3959 3953 3965 0 0 0 0 0 0 11.26 11.21 11.27

772 -1.01 -107.1 2448 2792 3955 3967 455.1 -7.8 89 778 0.00 3.25 0.00 0.000 516 0.000 0.045 2448 1388 3960 3954 3966 0 0 0 0 0 0 11.36 11.17 11.36

824 -1.01 -107.1 2448 1388 3956 3966 459.3 -8.0 99 831 0.00 3.38 0.00 0.000 1030 0.000 0.060 2442 2804 3960 3955 3966 0 0 0 0 0 0 11.21 11.17 11.24

1137 -1.01 -107.1 2441 2805 3955 3967 484.8 -8.1 131 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2804 3960 3955 3966 0 0 0 0 0 0 11.36 11.36 11.37

1437 -1.01 -107.1 2441 2805 3956 3967 508.9 -8.0 161 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2441 2804 3961 3955 3967 0 0 0 0 0 0 11.37 11.37 11.37

1737 -1.01 -107.1 2441 2805 3956 3967 533.5 -8.3 191 1743 0.00 3.28 0.00 0.000 516 0.000 0.044 2441 1381 3960 3954 3966 0 0 0 0 0 0 11.37 11.18 11.37

1769 -1.01 -107.1 2442 1381 3957 3966 536.3 -8.8 197 1775 0.00 3.40 0.00 0.000 1030 0.000 0.061 2440 2807 3961 3956 3966 0 0 0 0 0 0 11.25 11.18 11.26

2082 -1.01 -107.1 2440 2808 3957 3968 561.6 -8.0 229 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2807 3961 3956 3966 0 0 0 0 0 0 11.37 11.37 11.37

2382 -1.01 -107.1 2440 2808 3957 3967 585.4 -7.8 259 2383 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2807 3961 3956 3966 0 0 0 0 0 0 11.37 11.37 11.37

2682 -1.01 -107.1 2440 2807 3958 3966 608.9 -7.7 289 2683 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2807 3961 3956 3966 0 0 0 0 0 0 11.37 11.37 11.37

2983 -1.01 -107.1 2440 2808 3957 3967 632.4 -7.8 319 2988 0.00 3.30 0.00 0.000 516 0.000 0.045 2439 1386 3961 3956 3966 0 0 0 0 0 0 11.36 11.19 11.36

3049 -1.01 -107.1 2440 1385 3957 3966 637.8 -7.8 332 3056 0.00 3.40 0.00 0.000 1030 0.000 0.061 2439 2803 3966 3966 3967 0 0 0 0 0 0 11.25 11.18 11.26

3354 -1.01 -107.1 2440 2803 3957 3966 661.9 -8.0 363 3359 0.00 2.70 0.00 0.000 260 0.000 0.083 2436 3914 3961 3956 3966 0 0 0 0 0 0 11.37 11.16 11.36

3386 -1.01 -107.1 2437 3915 3958 3966 664.4 -8.4 369 3392 0.00 2.58 0.00 0.000 1030 0.000 0.045 2436 2789 3961 3956 3966 0 0 0 0 0 0 11.26 11.21 11.27

3699 -1.01 -107.1 2437 2789 3957 3967 688.9 -7.2 401 3708 0.00 3.20 0.00 0.000 548 0.000 0.044 2436 1375 3961 3956 3967 0 0 0 0 0 0 11.36 11.19 11.36

3769 -1.01 -107.1 2437 1375 3958 3966 694.0 -7.0 414 3776 0.00 3.42 0.00 0.000 1062 0.000 0.062 2436 2809 3961 3956 3966 0 0 0 0 0 0 11.25 11.17 11.26

4094 -1.01 -107.1 2437 2808 3957 3966 718.8 -7.4 431 4095 0.00 0.00 0.00 0.000 38 0.000 0.000 2436 2808 3961 3957 3966 0 0 0 0 0 0 11.37 11.37 11.36

4455 -1.01 -107.1 2436 2808 3958 3966 746.4 -7.8 443 4460 0.00 2.67 0.00 0.000 260 0.000 0.084 2428 3916 3962 3957 3967 0 0 0 0 0 0 11.37 11.17 11.37

4492 -1.01 -107.1 2428 3917 3957 3968 749.3 -8.5 450 4497 0.00 2.55 0.00 0.000 1030 0.000 0.046 2428 2795 3962 3957 3967 0 0 0 0 0 0 11.26 11.22 11.27

4728 end dive: BOTTOM_OBSTACLE_DETECTED

state 4728 begin apogee

4737 -0.23 0.0 2429 2539 3957 3968 767.5 -7.7 462 4939 1.35 0.00 195.75 3.007 10246 0.208 0.000 2697 2538 3492 3501 3483 0 0 0 0 0 0 11.10 11.01 10.02

4940 end apogee: CONTROL_FINISHED_OK

state 4940 begin climb

4944 1.01 107.1 2698 2538 3501 3482 770.6 0.0 469 5124 1.67 3.42 170.30 2.950 10500 0.107 0.084 3095 3915 3064 3083 3045 0 0 0 0 0 0 11.07 10.91 10.04

5166 1.01 107.1 3096 3916 3082 3041 749.2 15.4 507 5171 0.00 3.17 0.00 0.000 1030 0.000 0.046 3106 2541 3058 3076 3041 0 0 0 0 0 0 11.19 11.14 11.20

5533 1.01 107.1 3106 2542 3074 3037 697.9 13.7 524 5538 0.00 3.38 0.00 0.000 260 0.000 0.086 3106 3911 3055 3074 3036 0 0 0 0 0 0 11.32 11.12 11.32

5589 1.01 107.1 3107 3911 3075 3036 688.7 16.1 535 5596 0.00 3.15 0.00 0.000 1030 0.000 0.046 3117 2541 3055 3074 3036 0 0 0 0 0 0 11.22 11.17 11.24

5894 1.01 107.1 3118 2540 3074 3036 645.0 14.2 566 5904 0.00 3.25 0.00 0.000 516 0.000 0.057 3127 1147 3053 3072 3035 0 0 0 0 0 0 11.33 11.12 11.33

5925 1.01 107.1 3128 1147 3073 3034 640.7 14.4 571 5931 0.00 3.38 0.00 0.000 1030 0.000 0.060 3128 2561 3053 3072 3035 0 0 0 0 0 0 11.20 11.13 11.22

6230 1.01 107.1 3125 2561 3074 3035 596.2 14.4 602 6236 0.00 3.33 0.00 0.000 260 0.000 0.086 3128 3911 3054 3073 3035 0 0 0 0 0 0 11.34 11.12 11.34

6278 1.01 107.1 3128 3911 3074 3035 588.7 16.2 611 6287 0.22 3.15 0.00 0.000 5126 0.262 0.045 3101 2538 3054 3073 3035 0 0 0 0 0 0 11.06 11.19 11.21

6585 1.01 107.1 3101 2539 3073 3035 548.0 13.7 642 6586 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2538 3053 3073 3034 0 0 0 0 0 0 11.33 11.33 11.33

6885 1.01 107.1 3102 2538 3073 3035 507.9 13.2 672 6890 0.00 3.38 0.00 0.000 260 0.000 0.086 3101 3908 3053 3072 3035 0 0 0 0 0 0 11.31 11.13 11.33

6931 1.01 107.1 3101 3910 3073 3036 500.9 15.1 681 6938 0.00 3.12 0.00 0.000 1030 0.000 0.045 3111 2546 3054 3073 3035 0 0 0 0 0 0 11.24 11.19 11.26

7237 1.01 107.1 3112 2547 3073 3036 461.1 12.8 712 7242 0.00 3.35 0.00 0.000 260 0.000 0.086 3111 3910 3053 3072 3035 0 0 0 0 0 0 11.34 11.14 11.35

7298 1.01 107.1 3112 3911 3073 3037 452.2 14.8 724 7304 0.00 3.15 0.00 0.000 1030 0.000 0.045 3122 2540 3054 3073 3036 0 0 0 0 0 0 11.25 11.20 11.26

7610 1.01 107.1 3122 2540 3074 3036 411.8 13.0 756 7615 0.00 3.38 0.00 0.000 260 0.000 0.086 3122 3908 3054 3073 3036 0 0 0 0 0 0 11.36 11.14 11.36

7637 1.01 107.1 3122 3910 3073 3037 407.9 15.0 761 7644 0.17 3.15 0.00 0.000 5126 0.272 0.046 3105 2540 3054 3072 3036 0 0 0 0 0 0 11.07 11.20 11.23

7831 end climb: NO_VERTICAL_VELOCITY

state 7831 begin subsurface finish

7840 0.00 2.6 3106 2541 3074 3035 403.2 0.3 781 7846 1.45 1.23 -1.77 0.054 20739 0.151 0.115 2778 3032 3508 3512 3505 0 0 0 0 0 0 11.11 10.60 11.20

7847 end subsurface finish: NO_VERTICAL_VELOCITY

state 7847 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	893	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	23	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	14	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	5	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	65	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	9.3000002	RAFOS_PEAK_OFFSET	0	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	12	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	210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	insideC1
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	396.72	MHEAD_RNG_PITCHd_Wd	325.7,7659,-19.3,-9.429,-21.50,1737
_SM_ANGLEo	5.5	D_GRID	990
GPS2	210119,001456,-7441.9062,-11235.1211,0,4164.7,0,53.5,0.0,0.0,0,0.0

FINISH1	403.2,1.027450,3	_24V_AH	10.02,286.643
FINISH2	403.2	_10V_AH	10.36,0.000
RAFOS_CLK	322	FG_AHR_24Vo	0.000
RAFOS	0,1548039667,3.032355,3.018611,149,65,62,60,54,50,682,197,161,215,181,149	FG_AHR_10Vo	0.000
RAFOS_FIX	-7440.891113,-11236.327148,210119,030316,3,129,0.18	MEM	278872
IRIDIUM_FIX	-7415.88,-11304.63,160119,112744	DATA_FILE_SIZE	26737,782
TT8_MAMPS	0.045689,0.290612	CAP_FILE_SIZE	92840,0
HUMID	50.47	CFSIZE	1024409600,912998400
INTERNAL_PRESSURE	7.93895	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.30	SOUNDSPEED	1454.3
XPDR_PINGS	0	GPS	210119,031616,-7440.891,-11236.327,0,4129.3,0,53.5,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	765.2,11.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	271	17.14	nil	0	0	0.00
Roll_motor	99	114	114.06	nil	0	0	0.00
VBD_pump_during_apogee	366	3007	11029.93	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	7858	7	570.61
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	28	420	117.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5613	2	134.34
TT8_Active	440	10	49.58
TT8_Sampling	1637	30	514.91
TT8_CF8	281	51	149.85
TT8_Kalman	0	0	0.00
Analog_circuits	1045	10	109.39
GPS_charging	0	0	0.00
Compass	1122	6	78.35
RAFOS	720	1	11.19
Transponder	204	30	63.48

		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
403.2	10.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
409.7	17.60	9000.00	0.0	0.00	0.00	17.60	0.0	1.09	1.00
422.4	30.70	30.80	0.0	1.05	1.00	30.70	0.0	1.03	1.00
428.6	37.20	37.20	0.0	1.04	1.00	37.20	0.0	1.05	1.00
750.3	25.00	9000.00	0.0	-0.03	0.71	25.00	775.3	-0.04	1.00
758.2	18.10	9000.00	0.0	-0.05	0.89	18.10	776.3	-0.87	1.00
765.2	11.70	11.80	777.0	-0.89	1.00	11.70	776.9	-0.91	1.00

430.3	29.40	9000.00	0.0	-0.04	0.89	29.40	0.0	-0.05	1.00
417.0	14.30	9000.00	0.0	-0.03	0.34	14.30	402.7	1.14	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-1.01	-107.1	2783	2806	3526	3519	0.0	0.0	0	24	0.00	0.00	-7.12	0.024	16390	0.000	0.000	2782	2805	3945	3938	3953	0	0	0	0	1	0	11.36	10.60	11.33
28	-1.01	-107.1	2783	2805	3942	3957	396.9	0.0	1	34	1.42	3.30	0.00	0.000	4612	0.135	0.041	2451	1378	3949	3942	3957	0	0	0	0	0	0	11.13	11.19	11.21
85	-1.01	-107.1	2455	1377	3951	3959	400.8	-6.8	12	92	0.00	3.40	0.00	0.000	1062	0.000	0.058	2452	2807	3955	3950	3960	0	0	0	0	0	0	11.24	11.17	11.26
390	-1.01	-107.1	2453	2808	3954	3966	424.8	-7.9	43	395	0.00	2.67	0.00	0.000	260	0.000	0.083	2448	3911	3959	3953	3965	0	0	0	0	0	0	11.36	11.16	11.36
467	-1.01	-107.1	2449	3912	3955	3965	431.1	-8.3	58	473	0.00	2.55	0.00	0.000	1030	0.000	0.044	2448	2790	3959	3953	3965	0	0	0	0	0	0	11.26	11.21	11.27
772	-1.01	-107.1	2448	2792	3955	3967	455.1	-7.8	89	778	0.00	3.25	0.00	0.000	516	0.000	0.045	2448	1388	3960	3954	3966	0	0	0	0	0	0	11.36	11.17	11.36
824	-1.01	-107.1	2448	1388	3956	3966	459.3	-8.0	99	831	0.00	3.38	0.00	0.000	1030	0.000	0.060	2442	2804	3960	3955	3966	0	0	0	0	0	0	11.21	11.17	11.24
1137	-1.01	-107.1	2441	2805	3955	3967	484.8	-8.1	131	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2804	3960	3955	3966	0	0	0	0	0	0	11.36	11.36	11.37
1437	-1.01	-107.1	2441	2805	3956	3967	508.9	-8.0	161	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2441	2804	3961	3955	3967	0	0	0	0	0	0	11.37	11.37	11.37
1737	-1.01	-107.1	2441	2805	3956	3967	533.5	-8.3	191	1743	0.00	3.28	0.00	0.000	516	0.000	0.044	2441	1381	3960	3954	3966	0	0	0	0	0	0	11.37	11.18	11.37
1769	-1.01	-107.1	2442	1381	3957	3966	536.3	-8.8	197	1775	0.00	3.40	0.00	0.000	1030	0.000	0.061	2440	2807	3961	3956	3966	0	0	0	0	0	0	11.25	11.18	11.26
2082	-1.01	-107.1	2440	2808	3957	3968	561.6	-8.0	229	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2807	3961	3956	3966	0	0	0	0	0	0	11.37	11.37	11.37
2382	-1.01	-107.1	2440	2808	3957	3967	585.4	-7.8	259	2383	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2807	3961	3956	3966	0	0	0	0	0	0	11.37	11.37	11.37
2682	-1.01	-107.1	2440	2807	3958	3966	608.9	-7.7	289	2683	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2807	3961	3956	3966	0	0	0	0	0	0	11.37	11.37	11.37
2983	-1.01	-107.1	2440	2808	3957	3967	632.4	-7.8	319	2988	0.00	3.30	0.00	0.000	516	0.000	0.045	2439	1386	3961	3956	3966	0	0	0	0	0	0	11.36	11.19	11.36
3049	-1.01	-107.1	2440	1385	3957	3966	637.8	-7.8	332	3056	0.00	3.40	0.00	0.000	1030	0.000	0.061	2439	2803	3966	3966	3967	0	0	0	0	0	0	11.25	11.18	11.26
3354	-1.01	-107.1	2440	2803	3957	3966	661.9	-8.0	363	3359	0.00	2.70	0.00	0.000	260	0.000	0.083	2436	3914	3961	3956	3966	0	0	0	0	0	0	11.37	11.16	11.36
3386	-1.01	-107.1	2437	3915	3958	3966	664.4	-8.4	369	3392	0.00	2.58	0.00	0.000	1030	0.000	0.045	2436	2789	3961	3956	3966	0	0	0	0	0	0	11.26	11.21	11.27
3699	-1.01	-107.1	2437	2789	3957	3967	688.9	-7.2	401	3708	0.00	3.20	0.00	0.000	548	0.000	0.044	2436	1375	3961	3956	3967	0	0	0	0	0	0	11.36	11.19	11.36
3769	-1.01	-107.1	2437	1375	3958	3966	694.0	-7.0	414	3776	0.00	3.42	0.00	0.000	1062	0.000	0.062	2436	2809	3961	3956	3966	0	0	0	0	0	0	11.25	11.17	11.26
4094	-1.01	-107.1	2437	2808	3957	3966	718.8	-7.4	431	4095	0.00	0.00	0.00	0.000	38	0.000	0.000	2436	2808	3961	3957	3966	0	0	0	0	0	0	11.37	11.37	11.36
4455	-1.01	-107.1	2436	2808	3958	3966	746.4	-7.8	443	4460	0.00	2.67	0.00	0.000	260	0.000	0.084	2428	3916	3962	3957	3967	0	0	0	0	0	0	11.37	11.17	11.37
4492	-1.01	-107.1	2428	3917	3957	3968	749.3	-8.5	450	4497	0.00	2.55	0.00	0.000	1030	0.000	0.046	2428	2795	3962	3957	3967	0	0	0	0	0	0	11.26	11.22	11.27
4728	end dive: BOTTOM_OBSTACLE_DETECTED
state	4728	begin apogee
4737	-0.23	0.0	2429	2539	3957	3968	767.5	-7.7	462	4939	1.35	0.00	195.75	3.007	10246	0.208	0.000	2697	2538	3492	3501	3483	0	0	0	0	0	0	11.10	11.01	10.02
4940	end apogee: CONTROL_FINISHED_OK
state	4940	begin climb
4944	1.01	107.1	2698	2538	3501	3482	770.6	0.0	469	5124	1.67	3.42	170.30	2.950	10500	0.107	0.084	3095	3915	3064	3083	3045	0	0	0	0	0	0	11.07	10.91	10.04
5166	1.01	107.1	3096	3916	3082	3041	749.2	15.4	507	5171	0.00	3.17	0.00	0.000	1030	0.000	0.046	3106	2541	3058	3076	3041	0	0	0	0	0	0	11.19	11.14	11.20
5533	1.01	107.1	3106	2542	3074	3037	697.9	13.7	524	5538	0.00	3.38	0.00	0.000	260	0.000	0.086	3106	3911	3055	3074	3036	0	0	0	0	0	0	11.32	11.12	11.32
5589	1.01	107.1	3107	3911	3075	3036	688.7	16.1	535	5596	0.00	3.15	0.00	0.000	1030	0.000	0.046	3117	2541	3055	3074	3036	0	0	0	0	0	0	11.22	11.17	11.24
5894	1.01	107.1	3118	2540	3074	3036	645.0	14.2	566	5904	0.00	3.25	0.00	0.000	516	0.000	0.057	3127	1147	3053	3072	3035	0	0	0	0	0	0	11.33	11.12	11.33
5925	1.01	107.1	3128	1147	3073	3034	640.7	14.4	571	5931	0.00	3.38	0.00	0.000	1030	0.000	0.060	3128	2561	3053	3072	3035	0	0	0	0	0	0	11.20	11.13	11.22
6230	1.01	107.1	3125	2561	3074	3035	596.2	14.4	602	6236	0.00	3.33	0.00	0.000	260	0.000	0.086	3128	3911	3054	3073	3035	0	0	0	0	0	0	11.34	11.12	11.34
6278	1.01	107.1	3128	3911	3074	3035	588.7	16.2	611	6287	0.22	3.15	0.00	0.000	5126	0.262	0.045	3101	2538	3054	3073	3035	0	0	0	0	0	0	11.06	11.19	11.21
6585	1.01	107.1	3101	2539	3073	3035	548.0	13.7	642	6586	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2538	3053	3073	3034	0	0	0	0	0	0	11.33	11.33	11.33
6885	1.01	107.1	3102	2538	3073	3035	507.9	13.2	672	6890	0.00	3.38	0.00	0.000	260	0.000	0.086	3101	3908	3053	3072	3035	0	0	0	0	0	0	11.31	11.13	11.33
6931	1.01	107.1	3101	3910	3073	3036	500.9	15.1	681	6938	0.00	3.12	0.00	0.000	1030	0.000	0.045	3111	2546	3054	3073	3035	0	0	0	0	0	0	11.24	11.19	11.26
7237	1.01	107.1	3112	2547	3073	3036	461.1	12.8	712	7242	0.00	3.35	0.00	0.000	260	0.000	0.086	3111	3910	3053	3072	3035	0	0	0	0	0	0	11.34	11.14	11.35
7298	1.01	107.1	3112	3911	3073	3037	452.2	14.8	724	7304	0.00	3.15	0.00	0.000	1030	0.000	0.045	3122	2540	3054	3073	3036	0	0	0	0	0	0	11.25	11.20	11.26
7610	1.01	107.1	3122	2540	3074	3036	411.8	13.0	756	7615	0.00	3.38	0.00	0.000	260	0.000	0.086	3122	3908	3054	3073	3036	0	0	0	0	0	0	11.36	11.14	11.36
7637	1.01	107.1	3122	3910	3073	3037	407.9	15.0	761	7644	0.17	3.15	0.00	0.000	5126	0.272	0.046	3105	2540	3054	3072	3036	0	0	0	0	0	0	11.07	11.20	11.23
7831	end climb: NO_VERTICAL_VELOCITY
state	7831	begin subsurface finish
7840	0.00	2.6	3106	2541	3074	3035	403.2	0.3	781	7846	1.45	1.23	-1.77	0.054	20739	0.151	0.115	2778	3032	3508	3512	3505	0	0	0	0	0	0	11.11	10.60	11.20
7847	end subsurface finish: NO_VERTICAL_VELOCITY
state	7847	begin surface