Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 962 * 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 962 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING 0 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 0

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 27 ALTIM_FREQUENCY 13

D_TGT 450 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 0 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 10 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 10 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 150 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 270 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 3600 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 -60 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 1 RAFOS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 2 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SIM_W 0.090000004

ICE_FREEZE_MARGIN 0.1 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 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_TGT 450 N_NOCOMM 3 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 0.090000004

ALTIM_PING_DELTA 0 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 0 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 10

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 20

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 10

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 0 PRESSURE_SLOPE 0.000108275 T_DIVE 150

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 0.1 P_OVSHOOT 0.039999999 T_LOITER 3600

COMPASS2_DEVICE 149 ID 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP -60

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 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 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 962 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 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 2 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 110219,210228,-7356.6367,-11833.1465,20,1.4,32,56.9,0.2,0.0,5,10.0 SPEED_LIMITS 0.100,0.244

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG -7345.802,-11833.318

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.42 MHEAD_RNG_PITCHd_Wd 319.3,20000,-43.9,-10.000,-45.00,342

_SM_ANGLEo -53.2 D_GRID 450

GPS2 110219,210700,-7356.6011,-11833.3184,19,0.9,19,56.9,1.8,240.2,10,9.9

Post-dive calculations and measurements:

FINISH 0.0,1.027461 _24V_AH 3.98,321.930

SM_CCo 10797,570.55,1.045,1,0,1891,399.91 _10V_AH 5.05,0.000

SM_GC 0.49,15.75,0.73,0.00,0.077,0.057,0.000,205,2806,1880,-8.02,-0.28,404.93,0,0,0,0,0,0,9.41,9.45,9.53 FG_AHR_24Vo 0.000

RAFOS_CLK 468 FG_AHR_10Vo 0.000

RAFOS 1,1549919272,21.132666,21.131111,63,63,59,56,55,52,198,213,231,164,144,123 MEM 280564

RAFOS_FIX -7356.377930,-11833.445312,110219,232353,0,1,0.04 DATA_FILE_SIZE 36642,1101

IRIDIUM_FIX -7359.48,-11750.59,110219,195830 CAP_FILE_SIZE 140881,10

TT8_MAMPS 0.053179,0.280126 CFSIZE 1024409600,904232960

HUMID 50.23 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,0,11,0,21

INTERNAL_PRESSURE 7.80222 SOUNDSPEED 1444.7

TCM_TEMP 12.70 CURRENT 0.039,323.84,1

XPDR_PINGS 90 GPS 120219,002031,-7356.179,-11833.422,48,0.9,49,56.9,0.3,0.0,9,8.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 45 408 74.02 nil 0 0 0.00

Roll_motor 82 95 31.49 nil 0 0 0.00

VBD_pump_during_apogee 372 1758 2606.71 nil 0 0 0.00

VBD_pump_during_surface 1260 1346 6754.07 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 6459 5 145.14

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 22 420 37.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 8 0.94

TT8 0 0 0.00

LPSleep 7329 2 85.50

TT8_Active 1821 10 100.01

TT8_Sampling 2124 30 325.68

TT8_CF8 305 51 79.09

TT8_Kalman 0 0 0.00

Analog_circuits 2699 10 137.70

GPS_charging 0 0 0.00

Compass 1603 6 54.59

RAFOS 480 1 3.64

Transponder 0 5 0.01

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

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

13 -2.02 -22.2 200 2799 1921 1823 0.0 0.0 0 44 0.00 0.00 -30.25 0.005 16386 0.000 0.000 199 2799 2354 2379 2329 0 0 0 0 0 0 11.03 28.83 11.02

49 -2.02 -22.2 199 2800 2386 2330 3.3 -8.6 3 169 22.42 2.88 -90.00 0.003 18692 0.409 0.096 2118 3909 3584 3586 3582 0 0 0 0 0 0 9.48 9.24 9.85

397 -2.02 -22.2 2118 3910 3596 3586 35.2 -8.6 70 403 0.00 2.58 0.00 0.000 1030 0.000 0.034 2118 2784 3590 3596 3584 0 0 0 0 0 0 10.81 10.76 10.83

702 -2.02 -22.2 2119 2784 3596 3585 62.8 -9.5 101 708 0.00 2.85 0.00 0.000 260 0.000 0.073 2115 3914 3590 3596 3585 0 0 0 0 0 0 11.10 10.59 11.10

935 -2.02 -22.2 2116 3914 3597 3584 84.0 -9.1 147 940 0.00 2.58 0.00 0.000 1030 0.000 0.037 2116 2808 3590 3596 3585 0 0 0 0 0 0 10.82 10.78 10.83

1247 -2.02 -22.2 2116 2809 3597 3587 111.6 -8.7 179 1252 0.00 2.80 0.00 0.000 260 0.000 0.073 2115 3914 3590 3596 3585 0 0 0 0 0 0 11.09 10.57 11.08

1479 -2.02 -22.2 2115 3916 3597 3586 132.4 -9.0 225 1485 0.00 2.60 0.00 0.000 1030 0.000 0.037 2115 2797 3591 3597 3585 0 0 0 0 0 0 10.83 10.78 10.84

1792 -2.02 -22.2 2115 2798 3597 3586 160.5 -8.9 257 1798 0.00 2.83 0.00 0.000 260 0.000 0.074 2114 3914 3591 3597 3585 0 0 0 0 0 0 11.12 10.60 11.12

2010 -2.02 -22.2 2114 3914 3598 3586 180.2 -8.8 300 2016 0.00 2.60 0.00 0.000 1030 0.000 0.037 2114 2797 3591 3597 3585 0 0 0 0 0 0 10.83 10.79 10.85

2315 -2.02 -22.2 2114 2797 3598 3586 207.6 -9.2 331 2320 0.00 3.35 0.00 0.000 516 0.000 0.041 2114 1392 3591 3598 3585 0 0 0 0 0 0 11.12 10.67 11.13

2548 -2.02 -22.2 2115 1392 3599 3586 228.4 -9.4 377 2554 0.00 3.47 0.00 0.000 1030 0.000 0.052 2114 2811 3591 3599 3584 0 0 0 0 0 0 10.75 10.66 10.78

2861 -2.02 -22.2 2114 2811 3600 3585 256.4 -9.1 409 2867 0.00 2.78 0.00 0.000 260 0.000 0.075 2113 3913 3592 3599 3585 0 0 0 0 0 0 11.14 10.60 11.14

2963 -2.02 -22.2 2114 3913 3600 3586 265.6 -9.1 429 2969 0.00 2.60 0.00 0.000 1030 0.000 0.037 2113 2796 3592 3599 3585 0 0 0 0 0 0 10.84 10.79 10.86

3276 -2.02 -22.2 2114 2796 3600 3585 293.9 -8.9 461 3282 0.00 3.35 0.00 0.000 516 0.000 0.041 2113 1391 3592 3599 3586 0 0 0 0 0 0 11.12 10.62 11.12

3349 -2.02 -22.2 2114 1392 3599 3586 300.5 -8.4 475 3355 0.00 3.47 0.00 0.000 1030 0.000 0.052 2113 2804 3592 3599 3585 0 0 0 0 0 0 10.75 10.67 10.81

3662 -2.02 -22.2 2113 2804 3601 3585 327.8 -8.4 492 3667 0.00 2.78 0.00 0.000 260 0.000 0.075 2113 3907 3592 3599 3585 0 0 0 0 0 0 11.14 10.57 11.14

3774 -2.02 -22.2 2113 3907 3600 3585 337.8 -8.9 514 3779 0.00 2.60 0.00 0.000 1030 0.000 0.037 2113 2792 3592 3599 3585 0 0 0 0 0 0 10.84 10.79 10.86

4086 -2.02 -22.2 2114 2791 3600 3585 364.8 -8.6 531 4091 0.00 3.35 0.00 0.000 516 0.000 0.041 2112 1391 3592 3600 3585 0 0 0 0 0 0 11.14 10.68 11.14

4288 -2.02 -22.2 2113 1392 3600 3586 383.0 -9.1 571 4294 0.00 3.50 0.00 0.000 1030 0.000 0.053 2112 2806 3592 3599 3585 0 0 0 0 0 0 10.75 10.66 10.79

4610 -2.02 -22.2 2113 2805 3600 3585 412.0 -9.3 590 4611 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2805 3592 3599 3585 0 0 0 0 0 0 11.14 11.14 11.14

4911 -2.02 -22.2 2113 2805 3600 3584 438.8 -8.7 605 4917 0.00 3.40 0.00 0.000 516 0.000 0.040 2112 1389 3592 3599 3585 0 0 0 0 0 0 11.14 10.70 11.14

5038 end dive: TARGET_DEPTH_EXCEEDED

state 5038 begin apogee

5049 -0.23 0.0 2113 2554 3600 3585 450.2 -8.7 630 5167 4.28 0.00 101.53 1.713 10246 0.314 0.000 2693 2554 3528 3533 3524 0 0 0 0 2 0 9.74 6.48 4.07

5168 end apogee: CONTROL_FINISHED_OK

state 5168 begin loiter

5458 -0.23 0.0 2692 2555 3532 3525 412.7 9.2 651 5499 0.00 0.00 35.42 1.759 8198 0.000 0.000 2693 2554 3504 3508 3501 0 0 0 0 0 0 11.10 5.96 4.24

5799 -0.23 0.0 2694 2554 3509 3501 382.8 8.8 668 5838 0.00 0.00 32.55 1.745 8198 0.000 0.000 2693 2554 3482 3486 3479 0 0 0 0 0 0 11.12 6.56 4.35

6138 -0.23 0.0 2694 2554 3487 3478 352.3 8.9 685 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3482 3486 3478 0 0 0 0 0 0 11.13 11.13 11.13

6438 -0.23 0.0 2693 2555 3486 3479 325.3 8.3 700 6439 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3481 3485 3478 0 0 0 0 0 0 11.18 11.18 11.18

6738 -0.23 0.0 2693 2554 3485 3477 298.8 8.8 715 6740 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2554 3480 3484 3476 0 0 0 0 0 0 11.21 11.20 11.20

7042 -0.23 0.0 2693 2555 3485 3478 272.0 9.0 745 7047 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3480 3484 3477 0 0 0 0 0 0 11.17 11.17 11.17

7352 -0.23 0.0 2693 2554 3485 3477 244.4 9.0 776 7357 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3480 3483 3477 0 0 0 0 0 0 11.19 11.19 11.19

7662 -0.23 0.0 2693 2554 3482 3476 216.6 9.2 807 7667 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3480 3483 3477 0 0 0 0 0 0 11.19 11.19 11.19

7972 -0.23 0.0 2693 2555 3483 3477 188.4 9.1 838 7977 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3479 3482 3476 0 0 0 0 0 0 11.20 11.20 11.20

8282 -0.23 0.0 2693 2554 3482 3477 160.4 9.2 869 8288 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2554 3479 3482 3476 0 0 0 0 0 0 11.19 11.19 11.20

8592 -0.23 0.0 2694 2554 3483 3476 132.8 8.9 900 8597 0.00 0.00 0.00 0.000 6 0.000 0.000 2693 2553 3478 3481 3476 0 0 0 0 0 0 11.21 11.21 11.21

8764 end loiter: LOITER_COMPLETE

state 8764 begin climb

8768 2.02 22.2 2693 2554 3482 3476 116.8 0.0 918 8838 3.08 4.57 55.70 1.726 10500 0.099 0.075 3420 3904 3443 3450 3436 0 0 0 0 0 0 10.56 5.91 4.10

8991 2.04 22.2 3420 3905 3451 3435 96.8 9.1 957 9077 0.00 3.30 71.57 0.998 9286 0.000 0.046 3430 2557 3427 3436 3418 0 0 0 0 1 0 10.58 10.52 4.07

9377 2.06 22.2 3431 2557 3436 3417 62.0 9.1 1002 9472 0.00 4.57 75.62 1.026 8516 0.000 0.076 3430 3901 3406 3415 3397 0 0 0 0 1 0 10.98 5.93 4.18

9585 2.07 22.2 3430 3902 3416 3397 43.5 9.1 1040 9590 0.00 3.33 0.00 0.000 1094 0.000 0.046 3440 2544 3405 3415 3396 0 0 0 0 0 0 10.60 10.55 10.62

9897 2.10 22.2 3440 2545 3415 3396 15.3 8.9 1072 9902 0.00 3.47 0.00 0.000 580 0.000 0.057 3451 1149 3405 3415 3396 0 0 0 0 0 0 11.02 10.52 11.02

10017 2.11 22.2 3451 1149 3416 3397 4.8 9.1 1095 10024 0.00 3.53 0.00 0.000 1094 0.000 0.058 3451 2551 3405 3415 3396 0 0 0 0 0 0 10.64 10.55 10.67

10046 end climb: SURFACE_DEPTH_REACHED

state 10046 begin surface coast

10066 end surface coast: CONTROL_FINISHED_OK

state 10066 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	962	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	0	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	0
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	27	ALTIM_FREQUENCY	13
D_TGT	450	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	0	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	10	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	10	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	150	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	270	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	3600	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	-60	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	1	RAFOS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	2	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SIM_W	0.090000004
ICE_FREEZE_MARGIN	0.1	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	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	0

GPS1	110219,210228,-7356.6367,-11833.1465,20,1.4,32,56.9,0.2,0.0,5,10.0	SPEED_LIMITS	0.100,0.244
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	-7345.802,-11833.318
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.42	MHEAD_RNG_PITCHd_Wd	319.3,20000,-43.9,-10.000,-45.00,342
_SM_ANGLEo	-53.2	D_GRID	450
GPS2	110219,210700,-7356.6011,-11833.3184,19,0.9,19,56.9,1.8,240.2,10,9.9

FINISH	0.0,1.027461	_24V_AH	3.98,321.930
SM_CCo	10797,570.55,1.045,1,0,1891,399.91	_10V_AH	5.05,0.000
SM_GC	0.49,15.75,0.73,0.00,0.077,0.057,0.000,205,2806,1880,-8.02,-0.28,404.93,0,0,0,0,0,0,9.41,9.45,9.53	FG_AHR_24Vo	0.000
RAFOS_CLK	468	FG_AHR_10Vo	0.000
RAFOS	1,1549919272,21.132666,21.131111,63,63,59,56,55,52,198,213,231,164,144,123	MEM	280564
RAFOS_FIX	-7356.377930,-11833.445312,110219,232353,0,1,0.04	DATA_FILE_SIZE	36642,1101
IRIDIUM_FIX	-7359.48,-11750.59,110219,195830	CAP_FILE_SIZE	140881,10
TT8_MAMPS	0.053179,0.280126	CFSIZE	1024409600,904232960
HUMID	50.23	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,0,11,0,21
INTERNAL_PRESSURE	7.80222	SOUNDSPEED	1444.7
TCM_TEMP	12.70	CURRENT	0.039,323.84,1
XPDR_PINGS	90	GPS	120219,002031,-7356.179,-11833.422,48,0.9,49,56.9,0.3,0.0,9,8.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	45	408	74.02	nil	0	0	0.00
Roll_motor	82	95	31.49	nil	0	0	0.00
VBD_pump_during_apogee	372	1758	2606.71	nil	0	0	0.00
VBD_pump_during_surface	1260	1346	6754.07	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	6459	5	145.14
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	22	420	37.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	8	0.94
TT8	0	0	0.00
LPSleep	7329	2	85.50
TT8_Active	1821	10	100.01
TT8_Sampling	2124	30	325.68
TT8_CF8	305	51	79.09
TT8_Kalman	0	0	0.00
Analog_circuits	2699	10	137.70
GPS_charging	0	0	0.00
Compass	1603	6	54.59
RAFOS	480	1	3.64
Transponder	0	5	0.01

		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

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
13	-2.02	-22.2	200	2799	1921	1823	0.0	0.0	0	44	0.00	0.00	-30.25	0.005	16386	0.000	0.000	199	2799	2354	2379	2329	0	0	0	0	0	0	11.03	28.83	11.02
49	-2.02	-22.2	199	2800	2386	2330	3.3	-8.6	3	169	22.42	2.88	-90.00	0.003	18692	0.409	0.096	2118	3909	3584	3586	3582	0	0	0	0	0	0	9.48	9.24	9.85
397	-2.02	-22.2	2118	3910	3596	3586	35.2	-8.6	70	403	0.00	2.58	0.00	0.000	1030	0.000	0.034	2118	2784	3590	3596	3584	0	0	0	0	0	0	10.81	10.76	10.83
702	-2.02	-22.2	2119	2784	3596	3585	62.8	-9.5	101	708	0.00	2.85	0.00	0.000	260	0.000	0.073	2115	3914	3590	3596	3585	0	0	0	0	0	0	11.10	10.59	11.10
935	-2.02	-22.2	2116	3914	3597	3584	84.0	-9.1	147	940	0.00	2.58	0.00	0.000	1030	0.000	0.037	2116	2808	3590	3596	3585	0	0	0	0	0	0	10.82	10.78	10.83
1247	-2.02	-22.2	2116	2809	3597	3587	111.6	-8.7	179	1252	0.00	2.80	0.00	0.000	260	0.000	0.073	2115	3914	3590	3596	3585	0	0	0	0	0	0	11.09	10.57	11.08
1479	-2.02	-22.2	2115	3916	3597	3586	132.4	-9.0	225	1485	0.00	2.60	0.00	0.000	1030	0.000	0.037	2115	2797	3591	3597	3585	0	0	0	0	0	0	10.83	10.78	10.84
1792	-2.02	-22.2	2115	2798	3597	3586	160.5	-8.9	257	1798	0.00	2.83	0.00	0.000	260	0.000	0.074	2114	3914	3591	3597	3585	0	0	0	0	0	0	11.12	10.60	11.12
2010	-2.02	-22.2	2114	3914	3598	3586	180.2	-8.8	300	2016	0.00	2.60	0.00	0.000	1030	0.000	0.037	2114	2797	3591	3597	3585	0	0	0	0	0	0	10.83	10.79	10.85
2315	-2.02	-22.2	2114	2797	3598	3586	207.6	-9.2	331	2320	0.00	3.35	0.00	0.000	516	0.000	0.041	2114	1392	3591	3598	3585	0	0	0	0	0	0	11.12	10.67	11.13
2548	-2.02	-22.2	2115	1392	3599	3586	228.4	-9.4	377	2554	0.00	3.47	0.00	0.000	1030	0.000	0.052	2114	2811	3591	3599	3584	0	0	0	0	0	0	10.75	10.66	10.78
2861	-2.02	-22.2	2114	2811	3600	3585	256.4	-9.1	409	2867	0.00	2.78	0.00	0.000	260	0.000	0.075	2113	3913	3592	3599	3585	0	0	0	0	0	0	11.14	10.60	11.14
2963	-2.02	-22.2	2114	3913	3600	3586	265.6	-9.1	429	2969	0.00	2.60	0.00	0.000	1030	0.000	0.037	2113	2796	3592	3599	3585	0	0	0	0	0	0	10.84	10.79	10.86
3276	-2.02	-22.2	2114	2796	3600	3585	293.9	-8.9	461	3282	0.00	3.35	0.00	0.000	516	0.000	0.041	2113	1391	3592	3599	3586	0	0	0	0	0	0	11.12	10.62	11.12
3349	-2.02	-22.2	2114	1392	3599	3586	300.5	-8.4	475	3355	0.00	3.47	0.00	0.000	1030	0.000	0.052	2113	2804	3592	3599	3585	0	0	0	0	0	0	10.75	10.67	10.81
3662	-2.02	-22.2	2113	2804	3601	3585	327.8	-8.4	492	3667	0.00	2.78	0.00	0.000	260	0.000	0.075	2113	3907	3592	3599	3585	0	0	0	0	0	0	11.14	10.57	11.14
3774	-2.02	-22.2	2113	3907	3600	3585	337.8	-8.9	514	3779	0.00	2.60	0.00	0.000	1030	0.000	0.037	2113	2792	3592	3599	3585	0	0	0	0	0	0	10.84	10.79	10.86
4086	-2.02	-22.2	2114	2791	3600	3585	364.8	-8.6	531	4091	0.00	3.35	0.00	0.000	516	0.000	0.041	2112	1391	3592	3600	3585	0	0	0	0	0	0	11.14	10.68	11.14
4288	-2.02	-22.2	2113	1392	3600	3586	383.0	-9.1	571	4294	0.00	3.50	0.00	0.000	1030	0.000	0.053	2112	2806	3592	3599	3585	0	0	0	0	0	0	10.75	10.66	10.79
4610	-2.02	-22.2	2113	2805	3600	3585	412.0	-9.3	590	4611	0.00	0.00	0.00	0.000	6	0.000	0.000	2118	2805	3592	3599	3585	0	0	0	0	0	0	11.14	11.14	11.14
4911	-2.02	-22.2	2113	2805	3600	3584	438.8	-8.7	605	4917	0.00	3.40	0.00	0.000	516	0.000	0.040	2112	1389	3592	3599	3585	0	0	0	0	0	0	11.14	10.70	11.14
5038	end dive: TARGET_DEPTH_EXCEEDED
state	5038	begin apogee
5049	-0.23	0.0	2113	2554	3600	3585	450.2	-8.7	630	5167	4.28	0.00	101.53	1.713	10246	0.314	0.000	2693	2554	3528	3533	3524	0	0	0	0	2	0	9.74	6.48	4.07
5168	end apogee: CONTROL_FINISHED_OK
state	5168	begin loiter
5458	-0.23	0.0	2692	2555	3532	3525	412.7	9.2	651	5499	0.00	0.00	35.42	1.759	8198	0.000	0.000	2693	2554	3504	3508	3501	0	0	0	0	0	0	11.10	5.96	4.24
5799	-0.23	0.0	2694	2554	3509	3501	382.8	8.8	668	5838	0.00	0.00	32.55	1.745	8198	0.000	0.000	2693	2554	3482	3486	3479	0	0	0	0	0	0	11.12	6.56	4.35
6138	-0.23	0.0	2694	2554	3487	3478	352.3	8.9	685	6139	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3482	3486	3478	0	0	0	0	0	0	11.13	11.13	11.13
6438	-0.23	0.0	2693	2555	3486	3479	325.3	8.3	700	6439	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3481	3485	3478	0	0	0	0	0	0	11.18	11.18	11.18
6738	-0.23	0.0	2693	2554	3485	3477	298.8	8.8	715	6740	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2554	3480	3484	3476	0	0	0	0	0	0	11.21	11.20	11.20
7042	-0.23	0.0	2693	2555	3485	3478	272.0	9.0	745	7047	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3480	3484	3477	0	0	0	0	0	0	11.17	11.17	11.17
7352	-0.23	0.0	2693	2554	3485	3477	244.4	9.0	776	7357	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3480	3483	3477	0	0	0	0	0	0	11.19	11.19	11.19
7662	-0.23	0.0	2693	2554	3482	3476	216.6	9.2	807	7667	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3480	3483	3477	0	0	0	0	0	0	11.19	11.19	11.19
7972	-0.23	0.0	2693	2555	3483	3477	188.4	9.1	838	7977	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3479	3482	3476	0	0	0	0	0	0	11.20	11.20	11.20
8282	-0.23	0.0	2693	2554	3482	3477	160.4	9.2	869	8288	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2554	3479	3482	3476	0	0	0	0	0	0	11.19	11.19	11.20
8592	-0.23	0.0	2694	2554	3483	3476	132.8	8.9	900	8597	0.00	0.00	0.00	0.000	6	0.000	0.000	2693	2553	3478	3481	3476	0	0	0	0	0	0	11.21	11.21	11.21
8764	end loiter: LOITER_COMPLETE
state	8764	begin climb
8768	2.02	22.2	2693	2554	3482	3476	116.8	0.0	918	8838	3.08	4.57	55.70	1.726	10500	0.099	0.075	3420	3904	3443	3450	3436	0	0	0	0	0	0	10.56	5.91	4.10
8991	2.04	22.2	3420	3905	3451	3435	96.8	9.1	957	9077	0.00	3.30	71.57	0.998	9286	0.000	0.046	3430	2557	3427	3436	3418	0	0	0	0	1	0	10.58	10.52	4.07
9377	2.06	22.2	3431	2557	3436	3417	62.0	9.1	1002	9472	0.00	4.57	75.62	1.026	8516	0.000	0.076	3430	3901	3406	3415	3397	0	0	0	0	1	0	10.98	5.93	4.18
9585	2.07	22.2	3430	3902	3416	3397	43.5	9.1	1040	9590	0.00	3.33	0.00	0.000	1094	0.000	0.046	3440	2544	3405	3415	3396	0	0	0	0	0	0	10.60	10.55	10.62
9897	2.10	22.2	3440	2545	3415	3396	15.3	8.9	1072	9902	0.00	3.47	0.00	0.000	580	0.000	0.057	3451	1149	3405	3415	3396	0	0	0	0	0	0	11.02	10.52	11.02
10017	2.11	22.2	3451	1149	3416	3397	4.8	9.1	1095	10024	0.00	3.53	0.00	0.000	1094	0.000	0.058	3451	2551	3405	3415	3396	0	0	0	0	0	0	10.64	10.55	10.67
10046	end climb: SURFACE_DEPTH_REACHED
state	10046	begin surface coast
10066	end surface coast: CONTROL_FINISHED_OK
state	10066	begin surface