Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 148 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 148 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 30 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 42 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 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 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 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 3 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 1 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 10 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 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 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

SPEED_FACTOR 1 PITCH_TIMEOUT 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

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

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 6 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 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 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 T_EPIRB 0

CF8_MAXERRORS 2 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 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

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 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 148 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 42 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 0 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7427.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 916.00 MHEAD_RNG_PITCHd_Wd 128.2,25655,-16.5,-9.429,-19.22,2384

_SM_ANGLEo 4.0 D_GRID 990

GPS2 150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 891.8,1.027692,-10 _24V_AH 13.06,64.019

FINISH2 891.7 _10V_AH 12.60,0.000

RAFOS_CLK 455 FG_AHR_24Vo 0.000

RAFOS 0,1518706866,15.032778,15.018333,116,76,59,57,55,54,500,206,134,217,172,193 FG_AHR_10Vo 0.000

RAFOS_FIX -7413.007324,-11213.056641,150218,181824,3,105,0.02 MEM 280072

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 43367,1256

TT8_MAMPS 0.04494,0.289114 CAP_FILE_SIZE 116809,12

HUMID 45.58 CFSIZE 1024409600,1002455040

INTERNAL_PRESSURE 8.29718 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 13.00 SOUNDSPEED 1465.4

XPDR_PINGS 0 GPS 150218,181424,-7413.007,-11213.057,0,4104.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 210 10.92 nil 0 0 0.00

Roll_motor 107 1375 1924.35 nil 0 0 0.00

VBD_pump_during_apogee 644 1401 11799.70 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 12541 3 624.02

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9468 2 275.58

TT8_Active 728 13 126.92

TT8_Sampling 2333 34 1023.07

TT8_CF8 88 52 58.94

TT8_Kalman 0 0 0.00

Analog_circuits 1654 10 227.18

GPS_charging 0 0 0.00

Compass 1788 7 168.76

RAFOS 1200 1 22.68

Transponder 4 30 1.72

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.93 -146.0 2795 2334 2512 2449 0.0 0.0 0 24 0.00 0.05 -7.53 0.028 16390 0.000 1.375 2795 2311 3403 3427 3380 0 0 0 0 1 0 14.52 13.34 14.53

26 -0.93 -146.0 2797 2313 3429 3381 916.4 0.0 1 33 0.98 2.55 0.00 0.000 4356 0.161 0.091 2504 3692 3402 3427 3378 0 0 0 0 0 0 14.27 14.31 14.36

257 -0.93 -146.0 2506 3699 3429 3378 914.3 0.7 47 263 0.00 2.47 0.00 0.000 1062 0.000 0.047 2504 2281 3402 3427 3377 0 0 0 0 0 0 14.58 14.54 14.63

627 -0.93 -146.0 2503 2279 3427 3377 911.7 0.6 61 633 0.00 2.53 0.00 0.000 260 0.000 0.090 2504 3695 3401 3427 3376 0 0 0 0 0 0 14.93 14.66 14.96

857 -0.93 -146.0 2504 3696 3427 3377 910.3 0.3 107 863 0.00 2.42 0.00 0.000 1062 0.000 0.051 2503 2299 3401 3427 3376 0 0 0 0 0 0 14.86 14.76 14.88

1227 -0.93 -146.0 2504 2298 3427 3375 907.7 0.9 121 1233 0.00 2.50 0.00 0.000 292 0.000 0.090 2504 3701 3401 3427 3375 0 0 0 0 0 0 15.03 14.76 15.07

1457 -0.93 -146.0 2505 3701 3429 3376 905.8 0.0 167 1464 0.00 2.42 0.00 0.000 1030 0.000 0.048 2507 2291 3401 3427 3375 0 0 0 0 0 0 14.87 14.78 14.90

1827 -0.93 -146.0 2503 2292 3427 3375 904.7 0.3 181 1833 0.00 2.53 0.00 0.000 260 0.000 0.088 2504 3693 3400 3427 3374 0 0 0 0 0 0 15.09 14.79 15.12

2057 -0.93 -146.0 2504 3694 3427 3374 903.1 -0.1 227 2064 0.00 2.40 0.00 0.000 1062 0.000 0.050 2504 2299 3400 3427 3374 0 0 0 0 0 0 14.88 14.83 14.92

2428 -0.93 -146.0 2505 2300 3429 3374 903.0 0.0 241 2434 0.00 2.47 0.00 0.000 292 0.000 0.090 2505 3696 3400 3427 3373 0 0 0 0 0 0 15.11 14.81 15.14

2658 -0.93 -146.0 2504 3697 3428 3374 902.8 -0.0 287 2664 0.00 2.42 0.00 0.000 1062 0.000 0.051 2504 2289 3401 3429 3373 0 0 0 0 0 0 14.88 14.83 14.92

3029 -0.93 -146.0 2505 2290 3429 3374 903.5 -0.0 301 3034 0.00 2.47 0.00 0.000 292 0.000 0.090 2504 3692 3400 3427 3373 0 0 0 0 0 0 15.13 14.82 15.15

3258 -0.93 -146.0 2505 3693 3428 3374 902.9 -0.0 347 3265 0.00 2.40 0.00 0.000 1062 0.000 0.050 2504 2297 3399 3427 3372 0 0 0 0 0 0 14.90 14.83 14.94

3629 -0.93 -146.0 2503 2298 3427 3373 903.3 -0.0 361 3635 0.00 2.50 0.00 0.000 292 0.000 0.090 2504 3709 3398 3426 3371 0 0 0 0 0 0 15.12 14.81 15.14

3859 -0.93 -146.0 2505 3710 3430 3373 902.8 -0.0 407 3866 0.00 2.45 0.00 0.000 1062 0.000 0.051 2504 2289 3399 3427 3372 0 0 0 0 0 0 14.89 14.83 14.92

4230 -0.93 -146.0 2505 2290 3429 3372 902.8 0.0 421 4236 0.00 2.53 0.00 0.000 260 0.000 0.086 2504 3702 3399 3427 3372 0 0 0 0 0 0 15.15 14.81 15.19

4460 -0.93 -146.0 2505 3703 3429 3372 902.8 -0.0 467 4467 0.00 2.42 0.00 0.000 1062 0.000 0.051 2504 2291 3397 3428 3367 0 0 0 0 0 0 14.90 14.84 14.94

4831 -0.93 -146.0 2503 2292 3426 3376 902.8 0.0 481 4837 0.00 2.47 0.00 0.000 292 0.000 0.085 2504 3700 3399 3427 3371 0 0 0 0 0 0 15.15 14.83 15.17

5061 -0.93 -146.0 2505 3700 3429 3372 902.8 0.0 527 5067 0.00 2.42 0.00 0.000 1062 0.000 0.051 2503 2290 3398 3426 3370 0 0 0 0 0 0 14.90 14.83 14.93

5431 -0.93 -146.0 2503 2290 3424 3371 902.8 0.0 541 5437 0.00 2.47 0.00 0.000 292 0.000 0.090 2504 3693 3398 3427 3370 0 0 0 0 0 0 15.16 14.82 15.19

5661 -0.93 -146.0 2505 3694 3429 3371 902.8 0.0 587 5668 0.00 2.40 0.00 0.000 1062 0.000 0.052 2504 2303 3398 3427 3370 0 0 0 0 0 0 14.90 14.84 14.95

6032 -0.93 -146.0 2505 2304 3429 3371 902.8 0.0 601 6038 0.00 2.50 0.00 0.000 292 0.000 0.089 2504 3720 3398 3427 3370 0 0 0 0 0 0 15.16 14.82 15.19

6262 -0.93 -146.0 2504 3726 3427 3371 902.8 0.0 647 6268 0.00 2.47 0.00 0.000 1062 0.000 0.053 2504 2288 3398 3427 3370 0 0 0 0 0 0 14.90 14.83 14.93

6632 -0.93 -146.0 2505 2289 3428 3371 902.8 0.0 661 6638 0.00 2.50 0.00 0.000 292 0.000 0.090 2504 3703 3398 3427 3370 0 0 0 0 0 0 15.16 14.78 15.19

6862 -0.93 -146.0 2503 3704 3426 3370 902.8 0.0 707 6868 0.00 2.45 0.00 0.000 1062 0.000 0.054 2504 2290 3397 3426 3369 0 0 0 0 0 0 14.89 14.83 14.94

7232 -0.93 -146.0 2505 2291 3428 3371 902.8 0.0 721 7239 0.00 2.50 0.00 0.000 292 0.000 0.090 2500 3703 3398 3426 3370 0 0 0 0 0 0 15.16 14.77 15.19

7463 -0.93 -146.0 2503 3704 3426 3370 902.8 -0.0 767 7469 0.00 2.42 0.00 0.000 1062 0.000 0.053 2504 2301 3396 3425 3368 0 0 0 0 0 0 14.86 14.79 14.89

7833 -0.93 -146.0 2503 2301 3425 3370 902.8 0.0 781 7839 0.00 2.47 0.00 0.000 292 0.000 0.086 2504 3703 3397 3426 3369 0 0 0 0 0 0 15.15 14.82 15.18

8063 -0.93 -146.0 2503 3704 3426 3370 902.7 1.4 827 8069 0.00 2.45 0.00 0.000 1062 0.000 0.055 2504 2289 3398 3426 3370 0 0 0 0 0 0 14.86 14.78 14.90

8433 -0.93 -146.0 2502 2290 3426 3370 902.8 -0.0 841 8440 0.00 2.50 0.00 0.000 292 0.000 0.089 2504 3703 3398 3426 3370 0 0 0 0 0 0 15.16 14.81 15.19

8664 -0.93 -146.0 2503 3704 3426 3370 902.7 0.8 887 8670 0.00 2.45 0.00 0.000 1062 0.000 0.054 2504 2289 3401 3432 3370 0 0 0 0 0 0 14.88 14.82 14.92

9034 -0.93 -146.0 2503 2290 3426 3375 902.7 0.0 901 9040 0.00 2.50 0.00 0.000 292 0.000 0.090 2504 3699 3397 3425 3369 0 0 0 0 0 0 15.16 14.81 15.18

9264 -0.93 -146.0 2505 3701 3427 3370 902.7 1.2 947 9271 0.00 2.42 0.00 0.000 1062 0.000 0.050 2504 2291 3397 3426 3369 0 0 0 0 0 0 14.90 14.83 14.92

9635 -0.93 -146.0 2505 2292 3428 3370 901.7 0.1 961 9641 0.00 2.50 0.00 0.000 292 0.000 0.092 2508 3703 3397 3426 3369 0 0 0 0 0 0 15.16 14.81 15.18

9865 -0.93 -146.0 2505 3704 3427 3370 899.8 1.3 1007 9871 0.00 2.42 0.00 0.000 1062 0.000 0.046 2504 2290 3397 3425 3369 0 0 0 0 0 0 14.89 14.83 14.93

10235 -0.93 -146.0 2505 2290 3426 3369 898.9 0.0 1021 10241 0.00 2.50 0.00 0.000 292 0.000 0.090 2504 3700 3397 3425 3369 0 0 0 0 0 0 15.16 14.81 15.18

10465 -0.93 -146.0 2506 3701 3427 3371 897.4 1.7 1067 10472 0.00 2.40 0.00 0.000 1062 0.000 0.047 2504 2303 3397 3425 3369 0 0 0 0 0 0 14.90 14.83 14.92

10836 -0.93 -146.0 2509 2304 3427 3369 895.9 -0.0 1081 10842 0.00 2.60 0.00 0.000 548 0.000 0.107 2504 892 3396 3425 3367 0 0 0 0 0 0 15.14 14.74 15.16

10846 -0.93 -146.0 2503 892 3429 3369 896.5 -0.3 1083 10852 0.00 2.42 0.00 0.000 1062 0.000 0.050 2504 2291 3398 3429 3368 0 0 0 0 0 0 14.90 14.81 14.93

11228 -0.93 -146.0 2505 2292 3427 3369 895.3 0.0 1099 11233 0.00 2.53 0.00 0.000 292 0.000 0.094 2503 3716 3396 3425 3368 0 0 0 0 0 0 15.14 14.81 15.16

11457 -0.93 -146.0 2505 3717 3427 3370 895.1 0.0 1145 11463 0.00 2.47 0.00 0.000 1062 0.000 0.051 2504 2286 3396 3425 3368 0 0 0 0 0 0 14.86 14.79 14.90

11706 end dive: HALF_MISSION_TIME_EXCEEDED

state 11706 begin apogee

11709 -0.23 0.0 2506 2082 3427 3369 894.5 -0.0 1155 12070 0.73 0.00 351.65 1.338 10246 0.135 0.000 2732 2081 2779 2815 2744 0 0 0 0 0 0 14.78 13.88 13.36

12071 end apogee: CONTROL_FINISHED_OK

state 12071 begin climb

12073 0.93 146.0 2732 2082 2814 2744 892.6 0.0 1167 12380 1.12 2.80 293.02 1.401 10756 0.076 0.114 3114 701 2180 2225 2136 0 0 0 0 0 0 13.89 13.48 13.06

12517 end climb: NO_VERTICAL_VELOCITY

state 12517 begin subsurface finish

12524 -0.01 -9.7 3115 2118 2217 2128 891.8 0.2 1255 12531 1.15 2.12 -1.48 0.076 20995 0.210 0.130 2808 1056 2845 2875 2815 0 0 0 0 0 0 13.95 13.13 14.07

12531 end subsurface finish: NO_VERTICAL_VELOCITY

state 12531 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	148	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	30	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	42	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	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	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	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	3	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	1	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	10	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	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	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
SPEED_FACTOR	1	PITCH_TIMEOUT	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7427.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	916.00	MHEAD_RNG_PITCHd_Wd	128.2,25655,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	4.0	D_GRID	990
GPS2	150218,121600,-7413.1523,-11213.5791,0,4113.7,0,53.3,0.0,0.0,0,0.0

FINISH1	891.8,1.027692,-10	_24V_AH	13.06,64.019
FINISH2	891.7	_10V_AH	12.60,0.000
RAFOS_CLK	455	FG_AHR_24Vo	0.000
RAFOS	0,1518706866,15.032778,15.018333,116,76,59,57,55,54,500,206,134,217,172,193	FG_AHR_10Vo	0.000
RAFOS_FIX	-7413.007324,-11213.056641,150218,181824,3,105,0.02	MEM	280072
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	43367,1256
TT8_MAMPS	0.04494,0.289114	CAP_FILE_SIZE	116809,12
HUMID	45.58	CFSIZE	1024409600,1002455040
INTERNAL_PRESSURE	8.29718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	13.00	SOUNDSPEED	1465.4
XPDR_PINGS	0	GPS	150218,181424,-7413.007,-11213.057,0,4104.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	210	10.92	nil	0	0	0.00
Roll_motor	107	1375	1924.35	nil	0	0	0.00
VBD_pump_during_apogee	644	1401	11799.70	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	12541	3	624.02
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9468	2	275.58
TT8_Active	728	13	126.92
TT8_Sampling	2333	34	1023.07
TT8_CF8	88	52	58.94
TT8_Kalman	0	0	0.00
Analog_circuits	1654	10	227.18
GPS_charging	0	0	0.00
Compass	1788	7	168.76
RAFOS	1200	1	22.68
Transponder	4	30	1.72

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.93	-146.0	2795	2334	2512	2449	0.0	0.0	0	24	0.00	0.05	-7.53	0.028	16390	0.000	1.375	2795	2311	3403	3427	3380	0	0	0	0	1	0	14.52	13.34	14.53
26	-0.93	-146.0	2797	2313	3429	3381	916.4	0.0	1	33	0.98	2.55	0.00	0.000	4356	0.161	0.091	2504	3692	3402	3427	3378	0	0	0	0	0	0	14.27	14.31	14.36
257	-0.93	-146.0	2506	3699	3429	3378	914.3	0.7	47	263	0.00	2.47	0.00	0.000	1062	0.000	0.047	2504	2281	3402	3427	3377	0	0	0	0	0	0	14.58	14.54	14.63
627	-0.93	-146.0	2503	2279	3427	3377	911.7	0.6	61	633	0.00	2.53	0.00	0.000	260	0.000	0.090	2504	3695	3401	3427	3376	0	0	0	0	0	0	14.93	14.66	14.96
857	-0.93	-146.0	2504	3696	3427	3377	910.3	0.3	107	863	0.00	2.42	0.00	0.000	1062	0.000	0.051	2503	2299	3401	3427	3376	0	0	0	0	0	0	14.86	14.76	14.88
1227	-0.93	-146.0	2504	2298	3427	3375	907.7	0.9	121	1233	0.00	2.50	0.00	0.000	292	0.000	0.090	2504	3701	3401	3427	3375	0	0	0	0	0	0	15.03	14.76	15.07
1457	-0.93	-146.0	2505	3701	3429	3376	905.8	0.0	167	1464	0.00	2.42	0.00	0.000	1030	0.000	0.048	2507	2291	3401	3427	3375	0	0	0	0	0	0	14.87	14.78	14.90
1827	-0.93	-146.0	2503	2292	3427	3375	904.7	0.3	181	1833	0.00	2.53	0.00	0.000	260	0.000	0.088	2504	3693	3400	3427	3374	0	0	0	0	0	0	15.09	14.79	15.12
2057	-0.93	-146.0	2504	3694	3427	3374	903.1	-0.1	227	2064	0.00	2.40	0.00	0.000	1062	0.000	0.050	2504	2299	3400	3427	3374	0	0	0	0	0	0	14.88	14.83	14.92
2428	-0.93	-146.0	2505	2300	3429	3374	903.0	0.0	241	2434	0.00	2.47	0.00	0.000	292	0.000	0.090	2505	3696	3400	3427	3373	0	0	0	0	0	0	15.11	14.81	15.14
2658	-0.93	-146.0	2504	3697	3428	3374	902.8	-0.0	287	2664	0.00	2.42	0.00	0.000	1062	0.000	0.051	2504	2289	3401	3429	3373	0	0	0	0	0	0	14.88	14.83	14.92
3029	-0.93	-146.0	2505	2290	3429	3374	903.5	-0.0	301	3034	0.00	2.47	0.00	0.000	292	0.000	0.090	2504	3692	3400	3427	3373	0	0	0	0	0	0	15.13	14.82	15.15
3258	-0.93	-146.0	2505	3693	3428	3374	902.9	-0.0	347	3265	0.00	2.40	0.00	0.000	1062	0.000	0.050	2504	2297	3399	3427	3372	0	0	0	0	0	0	14.90	14.83	14.94
3629	-0.93	-146.0	2503	2298	3427	3373	903.3	-0.0	361	3635	0.00	2.50	0.00	0.000	292	0.000	0.090	2504	3709	3398	3426	3371	0	0	0	0	0	0	15.12	14.81	15.14
3859	-0.93	-146.0	2505	3710	3430	3373	902.8	-0.0	407	3866	0.00	2.45	0.00	0.000	1062	0.000	0.051	2504	2289	3399	3427	3372	0	0	0	0	0	0	14.89	14.83	14.92
4230	-0.93	-146.0	2505	2290	3429	3372	902.8	0.0	421	4236	0.00	2.53	0.00	0.000	260	0.000	0.086	2504	3702	3399	3427	3372	0	0	0	0	0	0	15.15	14.81	15.19
4460	-0.93	-146.0	2505	3703	3429	3372	902.8	-0.0	467	4467	0.00	2.42	0.00	0.000	1062	0.000	0.051	2504	2291	3397	3428	3367	0	0	0	0	0	0	14.90	14.84	14.94
4831	-0.93	-146.0	2503	2292	3426	3376	902.8	0.0	481	4837	0.00	2.47	0.00	0.000	292	0.000	0.085	2504	3700	3399	3427	3371	0	0	0	0	0	0	15.15	14.83	15.17
5061	-0.93	-146.0	2505	3700	3429	3372	902.8	0.0	527	5067	0.00	2.42	0.00	0.000	1062	0.000	0.051	2503	2290	3398	3426	3370	0	0	0	0	0	0	14.90	14.83	14.93
5431	-0.93	-146.0	2503	2290	3424	3371	902.8	0.0	541	5437	0.00	2.47	0.00	0.000	292	0.000	0.090	2504	3693	3398	3427	3370	0	0	0	0	0	0	15.16	14.82	15.19
5661	-0.93	-146.0	2505	3694	3429	3371	902.8	0.0	587	5668	0.00	2.40	0.00	0.000	1062	0.000	0.052	2504	2303	3398	3427	3370	0	0	0	0	0	0	14.90	14.84	14.95
6032	-0.93	-146.0	2505	2304	3429	3371	902.8	0.0	601	6038	0.00	2.50	0.00	0.000	292	0.000	0.089	2504	3720	3398	3427	3370	0	0	0	0	0	0	15.16	14.82	15.19
6262	-0.93	-146.0	2504	3726	3427	3371	902.8	0.0	647	6268	0.00	2.47	0.00	0.000	1062	0.000	0.053	2504	2288	3398	3427	3370	0	0	0	0	0	0	14.90	14.83	14.93
6632	-0.93	-146.0	2505	2289	3428	3371	902.8	0.0	661	6638	0.00	2.50	0.00	0.000	292	0.000	0.090	2504	3703	3398	3427	3370	0	0	0	0	0	0	15.16	14.78	15.19
6862	-0.93	-146.0	2503	3704	3426	3370	902.8	0.0	707	6868	0.00	2.45	0.00	0.000	1062	0.000	0.054	2504	2290	3397	3426	3369	0	0	0	0	0	0	14.89	14.83	14.94
7232	-0.93	-146.0	2505	2291	3428	3371	902.8	0.0	721	7239	0.00	2.50	0.00	0.000	292	0.000	0.090	2500	3703	3398	3426	3370	0	0	0	0	0	0	15.16	14.77	15.19
7463	-0.93	-146.0	2503	3704	3426	3370	902.8	-0.0	767	7469	0.00	2.42	0.00	0.000	1062	0.000	0.053	2504	2301	3396	3425	3368	0	0	0	0	0	0	14.86	14.79	14.89
7833	-0.93	-146.0	2503	2301	3425	3370	902.8	0.0	781	7839	0.00	2.47	0.00	0.000	292	0.000	0.086	2504	3703	3397	3426	3369	0	0	0	0	0	0	15.15	14.82	15.18
8063	-0.93	-146.0	2503	3704	3426	3370	902.7	1.4	827	8069	0.00	2.45	0.00	0.000	1062	0.000	0.055	2504	2289	3398	3426	3370	0	0	0	0	0	0	14.86	14.78	14.90
8433	-0.93	-146.0	2502	2290	3426	3370	902.8	-0.0	841	8440	0.00	2.50	0.00	0.000	292	0.000	0.089	2504	3703	3398	3426	3370	0	0	0	0	0	0	15.16	14.81	15.19
8664	-0.93	-146.0	2503	3704	3426	3370	902.7	0.8	887	8670	0.00	2.45	0.00	0.000	1062	0.000	0.054	2504	2289	3401	3432	3370	0	0	0	0	0	0	14.88	14.82	14.92
9034	-0.93	-146.0	2503	2290	3426	3375	902.7	0.0	901	9040	0.00	2.50	0.00	0.000	292	0.000	0.090	2504	3699	3397	3425	3369	0	0	0	0	0	0	15.16	14.81	15.18
9264	-0.93	-146.0	2505	3701	3427	3370	902.7	1.2	947	9271	0.00	2.42	0.00	0.000	1062	0.000	0.050	2504	2291	3397	3426	3369	0	0	0	0	0	0	14.90	14.83	14.92
9635	-0.93	-146.0	2505	2292	3428	3370	901.7	0.1	961	9641	0.00	2.50	0.00	0.000	292	0.000	0.092	2508	3703	3397	3426	3369	0	0	0	0	0	0	15.16	14.81	15.18
9865	-0.93	-146.0	2505	3704	3427	3370	899.8	1.3	1007	9871	0.00	2.42	0.00	0.000	1062	0.000	0.046	2504	2290	3397	3425	3369	0	0	0	0	0	0	14.89	14.83	14.93
10235	-0.93	-146.0	2505	2290	3426	3369	898.9	0.0	1021	10241	0.00	2.50	0.00	0.000	292	0.000	0.090	2504	3700	3397	3425	3369	0	0	0	0	0	0	15.16	14.81	15.18
10465	-0.93	-146.0	2506	3701	3427	3371	897.4	1.7	1067	10472	0.00	2.40	0.00	0.000	1062	0.000	0.047	2504	2303	3397	3425	3369	0	0	0	0	0	0	14.90	14.83	14.92
10836	-0.93	-146.0	2509	2304	3427	3369	895.9	-0.0	1081	10842	0.00	2.60	0.00	0.000	548	0.000	0.107	2504	892	3396	3425	3367	0	0	0	0	0	0	15.14	14.74	15.16
10846	-0.93	-146.0	2503	892	3429	3369	896.5	-0.3	1083	10852	0.00	2.42	0.00	0.000	1062	0.000	0.050	2504	2291	3398	3429	3368	0	0	0	0	0	0	14.90	14.81	14.93
11228	-0.93	-146.0	2505	2292	3427	3369	895.3	0.0	1099	11233	0.00	2.53	0.00	0.000	292	0.000	0.094	2503	3716	3396	3425	3368	0	0	0	0	0	0	15.14	14.81	15.16
11457	-0.93	-146.0	2505	3717	3427	3370	895.1	0.0	1145	11463	0.00	2.47	0.00	0.000	1062	0.000	0.051	2504	2286	3396	3425	3368	0	0	0	0	0	0	14.86	14.79	14.90
11706	end dive: HALF_MISSION_TIME_EXCEEDED
state	11706	begin apogee
11709	-0.23	0.0	2506	2082	3427	3369	894.5	-0.0	1155	12070	0.73	0.00	351.65	1.338	10246	0.135	0.000	2732	2081	2779	2815	2744	0	0	0	0	0	0	14.78	13.88	13.36
12071	end apogee: CONTROL_FINISHED_OK
state	12071	begin climb
12073	0.93	146.0	2732	2082	2814	2744	892.6	0.0	1167	12380	1.12	2.80	293.02	1.401	10756	0.076	0.114	3114	701	2180	2225	2136	0	0	0	0	0	0	13.89	13.48	13.06
12517	end climb: NO_VERTICAL_VELOCITY
state	12517	begin subsurface finish
12524	-0.01	-9.7	3115	2118	2217	2128	891.8	0.2	1255	12531	1.15	2.12	-1.48	0.076	20995	0.210	0.130	2808	1056	2845	2875	2815	0	0	0	0	0	0	13.95	13.13	14.07
12531	end subsurface finish: NO_VERTICAL_VELOCITY
state	12531	begin surface