Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 152 * 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 152 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 37 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 29 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 152 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 29 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 150218,211544,-7413.2588,-11212.8535,0,4094.7,0,53.3,0.0,0.0,0,0.0 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 899.46 MHEAD_RNG_PITCHd_Wd 129.1,25471,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -8.3 D_GRID 990

GPS2 150218,211544,-7413.2588,-11212.8535,0,4094.7,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 899.3,1.027767,-14 _24V_AH 12.90,64.981

FINISH2 899.3 _10V_AH 13.08,0.000

RAFOS_CLK 458 FG_AHR_24Vo 0.000

RAFOS 1,1518739624,0.133333,0.117778,67,64,59,54,53,51,174,218,203,132,143,114 FG_AHR_10Vo 0.000

RAFOS_FIX -7413.487793,-11211.888672,160218,030316,3,111,0.03 MEM 280072

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 13439,414

TT8_MAMPS 0.046438,0.103362 CAP_FILE_SIZE 60861,0

HUMID 44.76 CFSIZE 1024409600,1002160128

INTERNAL_PRESSURE 8.30695 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 12.80 SOUNDSPEED 1465.4

XPDR_PINGS 0 GPS 160218,031616,-7413.488,-11211.889,0,4111.0,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 239 13.20 nil 0 0 0.00

Roll_motor 0 76 0.79 nil 0 0 0.00

VBD_pump_during_apogee 530 1483 10153.04 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 12267 3 609.24

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 10883 2 328.84

TT8_Active 525 13 94.94

TT8_Sampling 898 34 408.84

TT8_CF8 53 52 36.74

TT8_Kalman 0 0 0.00

Analog_circuits 848 10 120.94

GPS_charging 0 0 0.00

Compass 599 7 58.78

RAFOS 960 1 18.84

Transponder 4 30 1.79

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.93 -146.0 2801 2311 2877 2804 0.0 0.0 0 10 0.00 0.00 -1.25 0.074 16390 0.000 0.000 2799 2310 3397 3426 3369 0 0 0 0 0 0 14.19 13.12 14.21

12 -0.93 -146.0 2799 2310 3427 3370 0.0 0.0 0 14 0.93 0.00 0.00 0.000 4102 0.057 0.000 2480 2310 3398 3427 3370 0 0 0 0 0 0 14.07 14.14 14.13

319 -0.93 -146.0 2481 2311 3429 3372 899.6 0.0 11 320 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3398 3426 3370 0 0 0 0 0 0 14.66 14.69 14.69

679 -0.93 -146.0 2481 2311 3429 3369 899.6 0.0 23 680 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3397 3427 3368 0 0 0 0 0 0 14.89 14.92 14.91

1039 -0.93 -146.0 2480 2310 3427 3368 899.6 -0.0 35 1040 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3397 3427 3368 0 0 0 0 0 0 14.99 15.02 15.00

1399 -0.93 -146.0 2480 2311 3426 3368 899.6 -0.0 47 1400 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3397 3427 3368 0 0 0 0 0 0 15.04 15.07 15.07

1759 -0.93 -146.0 2481 2311 3429 3368 899.6 -0.0 59 1760 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3396 3426 3367 0 0 0 0 0 0 15.09 15.11 15.11

2119 -0.93 -146.0 2481 2310 3428 3368 899.6 -0.0 71 2120 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3397 3427 3367 0 0 0 0 0 0 15.11 15.14 15.14

2479 -0.93 -146.0 2480 2311 3426 3367 899.6 -0.1 83 2480 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3396 3426 3366 0 0 0 0 0 0 15.11 15.14 15.14

2839 -0.93 -146.0 2480 2310 3426 3367 899.7 -0.0 95 2840 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3396 3426 3366 0 0 0 0 0 0 15.12 15.15 15.15

3199 -0.93 -146.0 2481 2311 3428 3367 899.7 0.0 107 3200 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3396 3426 3366 0 0 0 0 0 0 15.14 15.17 15.16

3559 -0.93 -146.0 2482 2311 3428 3366 899.7 0.1 119 3560 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.14 15.16 15.16

3920 -0.93 -146.0 2483 2311 3428 3366 899.7 -0.0 131 3920 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.15 15.18 15.18

4279 -0.93 -146.0 2481 2311 3428 3366 899.7 -0.0 143 4280 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.16 15.18 15.18

4639 -0.93 -146.0 2481 2311 3422 3366 899.7 0.0 155 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3395 3425 3365 0 0 0 0 0 0 15.16 15.19 15.18

4999 -0.93 -146.0 2480 2311 3425 3366 899.8 -0.0 167 5000 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.15 15.18 15.18

5359 -0.93 -146.0 2481 2311 3428 3366 899.8 -0.0 179 5360 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3395 3425 3365 0 0 0 0 0 0 15.15 15.18 15.17

5719 -0.93 -146.0 2480 2311 3425 3364 899.8 0.0 191 5720 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.15 15.18 15.18

6079 -0.93 -146.0 2480 2311 3428 3366 899.8 0.0 203 6080 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3398 3432 3365 0 0 0 0 0 0 15.16 15.19 15.19

6440 -0.93 -146.0 2481 2311 3427 3365 899.8 -0.0 215 6440 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3395 3425 3365 0 0 0 0 0 0 15.17 15.20 15.19

6799 -0.93 -146.0 2481 2311 3427 3364 899.9 -0.0 227 6800 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3395 3426 3365 0 0 0 0 0 0 15.18 15.21 15.20

7159 -0.93 -146.0 2478 2311 3424 3365 899.9 -0.0 239 7160 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3423 3365 0 0 0 0 0 0 15.18 15.21 15.21

7519 -0.93 -146.0 2481 2311 3427 3365 899.9 -0.0 251 7520 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3425 3364 0 0 0 0 0 0 15.18 15.21 15.22

7879 -0.93 -146.0 2480 2311 3425 3365 899.9 -0.0 263 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3394 3424 3364 0 0 0 0 0 0 15.19 15.21 15.21

8239 -0.93 -146.0 2482 2311 3427 3364 899.9 -0.0 275 8240 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3425 3364 0 0 0 0 0 0 15.19 15.21 15.21

8599 -0.93 -146.0 2481 2311 3426 3364 899.9 -0.0 287 8600 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3393 3424 3363 0 0 0 0 0 0 15.19 15.21 15.21

8959 -0.93 -146.0 2480 2310 3432 3364 900.0 -0.0 299 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3394 3424 3364 0 0 0 0 0 0 15.19 15.21 15.21

9319 -0.93 -146.0 2480 2311 3424 3364 900.0 -0.0 311 9320 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3425 3364 0 0 0 0 0 0 15.19 15.21 15.21

9679 -0.93 -146.0 2481 2311 3426 3365 900.0 -0.0 323 9680 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3425 3364 0 0 0 0 0 0 15.19 15.21 15.21

10039 -0.93 -146.0 2481 2311 3426 3365 900.0 -0.0 335 10040 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3394 3424 3364 0 0 0 0 0 0 15.19 15.22 15.21

10399 -0.93 -146.0 2481 2311 3427 3365 900.0 -0.0 347 10400 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3424 3364 0 0 0 0 0 0 15.18 15.21 15.20

10759 -0.93 -146.0 2480 2311 3422 3364 900.0 -0.0 359 10760 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2310 3394 3424 3364 0 0 0 0 0 0 15.18 15.21 15.20

11119 -0.93 -146.0 2481 2311 3426 3364 900.1 0.0 371 11120 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 2310 3393 3424 3363 0 0 0 0 0 0 15.18 15.21 15.20

11479 -0.93 -146.0 2480 2311 3424 3364 900.1 -0.0 383 11480 0.00 0.00 0.00 0.000 38 0.000 0.000 2480 2311 3393 3424 3363 0 0 0 0 0 0 15.19 15.21 15.21

11718 end dive: HALF_MISSION_TIME_EXCEEDED

state 11718 begin apogee

11722 -0.23 0.0 2482 2074 3426 3360 900.1 -0.0 391 12082 0.85 0.00 355.50 1.346 10246 0.184 0.000 2729 2075 2782 2820 2744 0 0 0 0 0 0 14.74 13.86 13.35

12083 end apogee: CONTROL_FINISHED_OK

state 12083 begin climb

12084 0.93 146.0 2730 2075 2819 2744 900.4 0.0 403 12263 1.27 0.00 175.10 1.483 10754 0.154 0.000 3096 2074 2408 2444 2372 0 0 0 0 0 0 13.82 28.83 13.94

12263 end climb: NO_VERTICAL_VELOCITY

state 12263 begin subsurface finish

12267 -0.02 -13.5 3096 2075 2441 2369 899.3 0.5 414 12277 1.23 0.00 -6.55 0.031 20486 0.239 0.000 2795 2074 2849 2886 2812 0 0 0 0 1 0 13.51 12.90 13.69

12277 end subsurface finish: CONTROL_FINISHED_OK

state 12277 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	152	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	37	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	29	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	150218,211544,-7413.2588,-11212.8535,0,4094.7,0,53.3,0.0,0.0,0,0.0	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	899.46	MHEAD_RNG_PITCHd_Wd	129.1,25471,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-8.3	D_GRID	990
GPS2	150218,211544,-7413.2588,-11212.8535,0,4094.7,0,53.3,0.0,0.0,0,0.0

FINISH1	899.3,1.027767,-14	_24V_AH	12.90,64.981
FINISH2	899.3	_10V_AH	13.08,0.000
RAFOS_CLK	458	FG_AHR_24Vo	0.000
RAFOS	1,1518739624,0.133333,0.117778,67,64,59,54,53,51,174,218,203,132,143,114	FG_AHR_10Vo	0.000
RAFOS_FIX	-7413.487793,-11211.888672,160218,030316,3,111,0.03	MEM	280072
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	13439,414
TT8_MAMPS	0.046438,0.103362	CAP_FILE_SIZE	60861,0
HUMID	44.76	CFSIZE	1024409600,1002160128
INTERNAL_PRESSURE	8.30695	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	12.80	SOUNDSPEED	1465.4
XPDR_PINGS	0	GPS	160218,031616,-7413.488,-11211.889,0,4111.0,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	239	13.20	nil	0	0	0.00
Roll_motor	0	76	0.79	nil	0	0	0.00
VBD_pump_during_apogee	530	1483	10153.04	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	12267	3	609.24
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	10883	2	328.84
TT8_Active	525	13	94.94
TT8_Sampling	898	34	408.84
TT8_CF8	53	52	36.74
TT8_Kalman	0	0	0.00
Analog_circuits	848	10	120.94
GPS_charging	0	0	0.00
Compass	599	7	58.78
RAFOS	960	1	18.84
Transponder	4	30	1.79

		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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-0.93	-146.0	2801	2311	2877	2804	0.0	0.0	0	10	0.00	0.00	-1.25	0.074	16390	0.000	0.000	2799	2310	3397	3426	3369	0	0	0	0	0	0	14.19	13.12	14.21
12	-0.93	-146.0	2799	2310	3427	3370	0.0	0.0	0	14	0.93	0.00	0.00	0.000	4102	0.057	0.000	2480	2310	3398	3427	3370	0	0	0	0	0	0	14.07	14.14	14.13
319	-0.93	-146.0	2481	2311	3429	3372	899.6	0.0	11	320	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3398	3426	3370	0	0	0	0	0	0	14.66	14.69	14.69
679	-0.93	-146.0	2481	2311	3429	3369	899.6	0.0	23	680	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3397	3427	3368	0	0	0	0	0	0	14.89	14.92	14.91
1039	-0.93	-146.0	2480	2310	3427	3368	899.6	-0.0	35	1040	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3397	3427	3368	0	0	0	0	0	0	14.99	15.02	15.00
1399	-0.93	-146.0	2480	2311	3426	3368	899.6	-0.0	47	1400	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3397	3427	3368	0	0	0	0	0	0	15.04	15.07	15.07
1759	-0.93	-146.0	2481	2311	3429	3368	899.6	-0.0	59	1760	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3396	3426	3367	0	0	0	0	0	0	15.09	15.11	15.11
2119	-0.93	-146.0	2481	2310	3428	3368	899.6	-0.0	71	2120	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3397	3427	3367	0	0	0	0	0	0	15.11	15.14	15.14
2479	-0.93	-146.0	2480	2311	3426	3367	899.6	-0.1	83	2480	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3396	3426	3366	0	0	0	0	0	0	15.11	15.14	15.14
2839	-0.93	-146.0	2480	2310	3426	3367	899.7	-0.0	95	2840	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3396	3426	3366	0	0	0	0	0	0	15.12	15.15	15.15
3199	-0.93	-146.0	2481	2311	3428	3367	899.7	0.0	107	3200	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3396	3426	3366	0	0	0	0	0	0	15.14	15.17	15.16
3559	-0.93	-146.0	2482	2311	3428	3366	899.7	0.1	119	3560	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.14	15.16	15.16
3920	-0.93	-146.0	2483	2311	3428	3366	899.7	-0.0	131	3920	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.15	15.18	15.18
4279	-0.93	-146.0	2481	2311	3428	3366	899.7	-0.0	143	4280	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.16	15.18	15.18
4639	-0.93	-146.0	2481	2311	3422	3366	899.7	0.0	155	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3395	3425	3365	0	0	0	0	0	0	15.16	15.19	15.18
4999	-0.93	-146.0	2480	2311	3425	3366	899.8	-0.0	167	5000	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.15	15.18	15.18
5359	-0.93	-146.0	2481	2311	3428	3366	899.8	-0.0	179	5360	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3395	3425	3365	0	0	0	0	0	0	15.15	15.18	15.17
5719	-0.93	-146.0	2480	2311	3425	3364	899.8	0.0	191	5720	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.15	15.18	15.18
6079	-0.93	-146.0	2480	2311	3428	3366	899.8	0.0	203	6080	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3398	3432	3365	0	0	0	0	0	0	15.16	15.19	15.19
6440	-0.93	-146.0	2481	2311	3427	3365	899.8	-0.0	215	6440	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3395	3425	3365	0	0	0	0	0	0	15.17	15.20	15.19
6799	-0.93	-146.0	2481	2311	3427	3364	899.9	-0.0	227	6800	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3395	3426	3365	0	0	0	0	0	0	15.18	15.21	15.20
7159	-0.93	-146.0	2478	2311	3424	3365	899.9	-0.0	239	7160	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3423	3365	0	0	0	0	0	0	15.18	15.21	15.21
7519	-0.93	-146.0	2481	2311	3427	3365	899.9	-0.0	251	7520	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3425	3364	0	0	0	0	0	0	15.18	15.21	15.22
7879	-0.93	-146.0	2480	2311	3425	3365	899.9	-0.0	263	7880	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3394	3424	3364	0	0	0	0	0	0	15.19	15.21	15.21
8239	-0.93	-146.0	2482	2311	3427	3364	899.9	-0.0	275	8240	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3425	3364	0	0	0	0	0	0	15.19	15.21	15.21
8599	-0.93	-146.0	2481	2311	3426	3364	899.9	-0.0	287	8600	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3393	3424	3363	0	0	0	0	0	0	15.19	15.21	15.21
8959	-0.93	-146.0	2480	2310	3432	3364	900.0	-0.0	299	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3394	3424	3364	0	0	0	0	0	0	15.19	15.21	15.21
9319	-0.93	-146.0	2480	2311	3424	3364	900.0	-0.0	311	9320	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3425	3364	0	0	0	0	0	0	15.19	15.21	15.21
9679	-0.93	-146.0	2481	2311	3426	3365	900.0	-0.0	323	9680	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3425	3364	0	0	0	0	0	0	15.19	15.21	15.21
10039	-0.93	-146.0	2481	2311	3426	3365	900.0	-0.0	335	10040	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3394	3424	3364	0	0	0	0	0	0	15.19	15.22	15.21
10399	-0.93	-146.0	2481	2311	3427	3365	900.0	-0.0	347	10400	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3424	3364	0	0	0	0	0	0	15.18	15.21	15.20
10759	-0.93	-146.0	2480	2311	3422	3364	900.0	-0.0	359	10760	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2310	3394	3424	3364	0	0	0	0	0	0	15.18	15.21	15.20
11119	-0.93	-146.0	2481	2311	3426	3364	900.1	0.0	371	11120	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	2310	3393	3424	3363	0	0	0	0	0	0	15.18	15.21	15.20
11479	-0.93	-146.0	2480	2311	3424	3364	900.1	-0.0	383	11480	0.00	0.00	0.00	0.000	38	0.000	0.000	2480	2311	3393	3424	3363	0	0	0	0	0	0	15.19	15.21	15.21
11718	end dive: HALF_MISSION_TIME_EXCEEDED
state	11718	begin apogee
11722	-0.23	0.0	2482	2074	3426	3360	900.1	-0.0	391	12082	0.85	0.00	355.50	1.346	10246	0.184	0.000	2729	2075	2782	2820	2744	0	0	0	0	0	0	14.74	13.86	13.35
12083	end apogee: CONTROL_FINISHED_OK
state	12083	begin climb
12084	0.93	146.0	2730	2075	2819	2744	900.4	0.0	403	12263	1.27	0.00	175.10	1.483	10754	0.154	0.000	3096	2074	2408	2444	2372	0	0	0	0	0	0	13.82	28.83	13.94
12263	end climb: NO_VERTICAL_VELOCITY
state	12263	begin subsurface finish
12267	-0.02	-13.5	3096	2075	2441	2369	899.3	0.5	414	12277	1.23	0.00	-6.55	0.031	20486	0.239	0.000	2795	2074	2849	2886	2812	0	0	0	0	1	0	13.51	12.90	13.69
12277	end subsurface finish: CONTROL_FINISHED_OK
state	12277	begin surface