Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 202 * 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 202 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 3 R_PORT_OVSHOOT 44 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 110 SM_CC 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 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 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 4 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 1.5 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 0 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 20 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

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 0

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 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 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 120

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 4

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 -0.24529999

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 5

DIVE 202 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 44 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 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 220218,151512,-7412.2588,-11247.9062,0,4116.3,0,53.7,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 2 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.000,-11248.200

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 398.13 MHEAD_RNG_PITCHd_Wd 128.9,3227,-29.6,-9.429,-31.53,749

_SM_ANGLEo 2.7 D_GRID 990

GPS2 220218,151512,-7412.2588,-11247.9062,0,4116.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.72,-0.730,-2.178,2,2,0 _24V_AH 12.76,81.484

FINISH1 399.7,1.027509,-0 _10V_AH 12.92,0.000

FINISH2 398.8 FG_AHR_24Vo 0.000

RAFOS_CLK 273 FG_AHR_10Vo 0.000

RAFOS_FIX -7412.868652,-11248.009766,220218,171743,0,1,0.14 MEM 280000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 23407,740

TT8_MAMPS 0.038948,0.504826 CAP_FILE_SIZE 89318,0

HUMID 48.89 CFSIZE 1024409600,996409344

INTERNAL_PRESSURE 8.25812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 SOUNDSPEED 1457.0

XPDR_PINGS 0 GPS 220218,173343,-7412.869,-11248.010,0,1001.0,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 784.3,12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 345 30.55 nil 0 0 0.00

Roll_motor 73 971 907.46 nil 0 0 0.00

VBD_pump_during_apogee 111 3046 4343.71 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 7289 10 973.32

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 159.44 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5487 2 163.76

TT8_Active 220 13 39.43

TT8_Sampling 1560 34 701.29

TT8_CF8 90 52 61.66

TT8_Kalman 0 0 0.00

Analog_circuits 761 10 107.21

GPS_charging 0 0 0.00

Compass 1062 7 102.78

RAFOS 0 0 0.00

Transponder 214 30 82.98

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

749.3 48.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

756.5 40.80 9000.00 0.0 0.00 0.00 40.80 797.3 -1.08 1.00

763.5 32.50 32.60 796.1 -1.14 1.00 32.50 796.0 -1.19 1.00

770.6 25.80 25.50 796.1 -1.07 1.00 25.80 796.4 -0.94 1.00

777.3 19.00 19.10 796.4 -0.98 1.00 19.00 796.3 -1.01 1.00

784.3 12.60 12.50 796.8 -0.96 1.00 12.60 796.9 -0.91 1.00

789.8 9.00 8.80 798.6 -0.80 0.99 9.00 798.8 -0.65 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

9 -1.40 -45.8 2807 2274 2836 2775 0.0 0.0 0 11 0.00 0.08 -0.62 0.145 16390 0.000 0.972 2807 2311 2989 3020 2958 0 0 0 0 0 0 15.02 13.42 15.00

13 -1.40 -45.8 2808 2311 3019 2960 0.0 0.0 0 15 1.40 0.00 0.00 0.000 4102 0.109 0.000 2347 2310 2989 3020 2959 0 0 0 0 0 0 14.75 14.91 14.88

309 -1.40 -45.8 2345 2311 3019 2960 429.2 -11.0 30 315 0.00 2.50 0.00 0.000 516 0.000 0.079 2346 904 2989 3019 2960 0 0 0 0 0 0 15.05 14.72 15.07

399 -1.40 -45.8 2346 904 3020 2960 439.5 -12.0 48 405 0.00 2.53 0.00 0.000 1030 0.000 0.073 2337 2301 2989 3019 2959 0 0 0 0 0 0 14.90 14.72 14.92

709 -1.40 -45.8 2338 2302 3021 2960 473.5 -9.9 80 715 0.00 2.58 0.00 0.000 260 0.000 0.103 2326 3725 2987 3019 2955 0 0 0 0 0 0 15.05 14.72 15.08

764 -1.40 -45.8 2325 3725 3018 2959 479.2 -10.5 91 772 0.00 2.45 0.00 0.000 1030 0.000 0.046 2326 2302 2989 3019 2960 0 0 0 0 0 0 14.79 14.75 14.82

1069 -1.40 -45.8 2327 2302 3021 2960 509.3 -9.8 122 1075 0.00 2.50 0.00 0.000 516 0.000 0.077 2326 904 2989 3018 2960 0 0 0 0 0 0 15.07 14.70 15.09

1190 -1.40 -45.8 2328 904 3018 2960 522.1 -9.8 146 1196 0.15 2.47 0.00 0.000 3078 0.344 0.070 2343 2311 2988 3018 2959 0 0 0 0 0 0 14.48 14.77 14.79

1500 -1.40 -45.8 2342 2312 3018 2960 553.8 -10.5 178 1506 0.00 2.50 0.00 0.000 516 0.000 0.076 2343 898 2989 3018 2960 0 0 0 0 0 0 15.06 14.73 15.08

1545 -1.40 -45.8 2344 899 3020 2960 558.6 -10.7 187 1552 0.00 2.53 0.00 0.000 1030 0.000 0.073 2335 2303 2989 3018 2960 0 0 0 0 0 0 14.81 14.73 14.85

1850 -1.40 -45.8 2335 2304 3020 2961 590.9 -10.2 218 1856 0.00 2.55 0.00 0.000 260 0.000 0.105 2323 3718 2988 3017 2959 0 0 0 0 0 0 15.08 14.73 15.11

1880 -1.40 -45.8 2323 3718 3017 2960 594.1 -10.3 224 1886 0.00 2.45 0.00 0.000 1030 0.000 0.048 2323 2290 2989 3018 2960 0 0 0 0 0 0 14.85 14.80 14.88

2190 -1.40 -45.8 2324 2290 3019 2960 626.8 -10.2 256 2196 0.00 2.45 0.00 0.000 516 0.000 0.075 2323 895 2988 3017 2959 0 0 0 0 0 0 15.07 14.72 15.10

2265 -1.40 -45.8 2325 896 3019 2960 634.6 -10.3 271 2272 0.12 2.53 0.00 0.000 3078 0.314 0.069 2349 2309 2988 3017 2959 0 0 0 0 0 0 14.48 14.73 14.79

2571 -1.40 -45.8 2348 2310 3015 2960 662.6 -8.9 302 2572 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2309 2988 3018 2959 0 0 0 0 0 0 15.03 15.05 15.05

2870 -1.40 -45.8 2349 2309 3017 2960 688.7 -8.7 332 2876 0.00 2.55 0.00 0.000 516 0.000 0.076 2349 896 2987 3016 2959 0 0 0 0 0 0 15.09 14.68 15.11

2965 -1.40 -45.8 2349 897 3016 2960 697.0 -8.6 351 2973 0.00 2.53 0.00 0.000 1030 0.000 0.068 2341 2312 2988 3017 2959 0 0 0 0 0 0 14.80 14.74 14.85

3272 -1.40 -45.8 2343 2307 3017 2960 722.6 -8.4 364 3277 0.00 2.50 0.00 0.000 516 0.000 0.076 2341 894 2988 3017 2960 0 0 0 0 0 0 15.04 14.73 15.07

3361 -1.40 -45.8 2342 894 3019 2960 730.4 -8.3 382 3367 0.00 2.50 0.00 0.000 1030 0.000 0.069 2329 2319 2988 3016 2960 0 0 0 0 0 0 14.88 14.76 14.92

3752 -1.40 -45.8 2329 2319 3017 2960 761.3 -7.9 400 3753 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2318 2987 3016 2958 0 0 0 0 0 0 15.09 15.12 15.11

4111 end dive: BOTTOM_OBSTACLE_DETECTED

state 4111 begin apogee

4115 -0.23 0.0 2329 2071 3016 2960 789.2 -7.9 412 4176 1.52 0.08 56.45 3.046 10246 0.282 0.187 2722 2115 2780 2812 2748 0 0 0 0 0 0 14.52 14.17 13.14

4176 end apogee: CONTROL_FINISHED_OK

state 4177 begin climb

4178 1.40 45.8 2723 2116 2814 2749 790.2 0.0 414 4242 1.73 2.70 55.30 3.040 10500 0.136 0.093 3250 3507 2594 2627 2561 0 0 0 0 0 0 14.18 13.63 12.76

4322 1.40 45.8 3250 3507 2620 2557 775.7 14.6 442 4328 0.00 2.53 0.00 0.000 1030 0.000 0.046 3260 2118 2588 2620 2556 0 0 0 0 0 0 14.07 14.01 14.08

4692 1.40 45.8 3260 2119 2615 2551 723.5 14.1 456 4692 0.00 0.00 0.00 0.000 6 0.000 0.000 3261 2118 2582 2615 2550 0 0 0 0 0 0 14.76 14.80 14.78

5052 1.40 45.8 3260 2118 2613 2549 674.0 13.6 480 5057 0.00 2.58 0.00 0.000 516 0.000 0.091 3272 690 2581 2613 2549 0 0 0 0 0 0 14.94 14.55 14.96

5072 1.40 45.8 3271 691 2612 2549 671.3 13.2 484 5078 0.00 2.50 0.00 0.000 1030 0.000 0.062 3272 2096 2580 2612 2549 0 0 0 0 0 0 14.69 14.66 14.73

5382 1.40 45.8 3273 2097 2614 2549 629.8 13.4 516 5391 0.00 2.58 0.00 0.000 260 0.000 0.097 3272 3520 2580 2612 2548 0 0 0 0 0 0 15.01 14.61 15.03

5455 1.40 45.8 3271 3520 2612 2549 619.1 14.7 530 5461 0.15 2.42 0.00 0.000 5126 0.346 0.047 3255 2089 2577 2606 2548 0 0 0 0 0 0 14.47 14.77 14.79

5765 1.40 45.8 3254 2089 2611 2547 579.2 12.7 562 5771 0.00 2.62 0.00 0.000 260 0.000 0.095 3255 3541 2579 2611 2548 0 0 0 0 0 0 15.04 14.71 15.05

5810 1.40 45.8 3256 3540 2612 2548 573.0 13.7 571 5817 0.00 2.50 0.00 0.000 1030 0.000 0.048 3263 2087 2578 2610 2547 0 0 0 0 0 0 14.82 14.76 14.85

6115 1.40 45.8 3265 2089 2613 2548 535.6 12.2 602 6121 0.00 2.58 0.00 0.000 260 0.000 0.094 3264 3519 2578 2610 2547 0 0 0 0 0 0 15.07 14.73 15.09

6155 1.40 45.8 3263 3518 2609 2548 530.2 13.6 610 6161 0.00 2.45 0.00 0.000 1030 0.000 0.047 3275 2094 2578 2610 2547 0 0 0 0 0 0 14.84 14.79 14.93

6465 1.40 45.8 3274 2095 2610 2548 492.1 12.1 642 6466 0.00 0.00 0.00 0.000 6 0.000 0.000 3274 2094 2578 2610 2547 0 0 0 0 0 0 15.09 15.11 15.11

6765 1.40 45.8 3274 2095 2609 2549 455.8 12.1 672 6771 0.00 2.60 0.00 0.000 260 0.000 0.095 3274 3510 2578 2609 2547 0 0 0 0 0 0 15.09 14.72 15.12

6940 1.40 45.8 3274 3511 2609 2548 433.3 12.8 707 6951 0.12 2.42 0.00 0.000 5126 0.330 0.045 3256 2093 2579 2612 2547 0 0 0 0 0 0 14.47 14.81 14.69

7246 1.40 45.8 3255 2093 2608 2547 400.7 10.1 738 7246 0.00 0.00 0.00 0.000 6 0.000 0.000 3256 2093 2578 2609 2547 0 0 0 0 0 0 15.09 15.12 15.12

7255 end climb: FINISH_DEPTH_REACHED

state 7255 begin subsurface finish

7259 -0.00 -0.5 3257 2094 2611 2548 399.7 10.0 739 7268 1.73 0.00 -0.77 0.115 20486 0.270 0.000 2799 2093 2800 2829 2771 0 0 0 0 0 0 14.54 13.89 14.85

7268 end subsurface finish: CONTROL_FINISHED_OK

state 7268 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	202	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	3	R_PORT_OVSHOOT	44	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	110	SM_CC	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	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	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	4	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	1.5	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	0	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	20	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	220218,151512,-7412.2588,-11247.9062,0,4116.3,0,53.7,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	2	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.000,-11248.200
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	398.13	MHEAD_RNG_PITCHd_Wd	128.9,3227,-29.6,-9.429,-31.53,749
_SM_ANGLEo	2.7	D_GRID	990
GPS2	220218,151512,-7412.2588,-11247.9062,0,4116.3,0,53.7,0.0,0.0,0,0.0

FREEZE	399.72,-0.730,-2.178,2,2,0	_24V_AH	12.76,81.484
FINISH1	399.7,1.027509,-0	_10V_AH	12.92,0.000
FINISH2	398.8	FG_AHR_24Vo	0.000
RAFOS_CLK	273	FG_AHR_10Vo	0.000
RAFOS_FIX	-7412.868652,-11248.009766,220218,171743,0,1,0.14	MEM	280000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	23407,740
TT8_MAMPS	0.038948,0.504826	CAP_FILE_SIZE	89318,0
HUMID	48.89	CFSIZE	1024409600,996409344
INTERNAL_PRESSURE	8.25812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	SOUNDSPEED	1457.0
XPDR_PINGS	0	GPS	220218,173343,-7412.869,-11248.010,0,1001.0,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	784.3,12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	345	30.55	nil	0	0	0.00
Roll_motor	73	971	907.46	nil	0	0	0.00
VBD_pump_during_apogee	111	3046	4343.71	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	7289	10	973.32
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	159.44	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5487	2	163.76
TT8_Active	220	13	39.43
TT8_Sampling	1560	34	701.29
TT8_CF8	90	52	61.66
TT8_Kalman	0	0	0.00
Analog_circuits	761	10	107.21
GPS_charging	0	0	0.00
Compass	1062	7	102.78
RAFOS	0	0	0.00
Transponder	214	30	82.98

		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
749.3	48.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
756.5	40.80	9000.00	0.0	0.00	0.00	40.80	797.3	-1.08	1.00
763.5	32.50	32.60	796.1	-1.14	1.00	32.50	796.0	-1.19	1.00
770.6	25.80	25.50	796.1	-1.07	1.00	25.80	796.4	-0.94	1.00
777.3	19.00	19.10	796.4	-0.98	1.00	19.00	796.3	-1.01	1.00
784.3	12.60	12.50	796.8	-0.96	1.00	12.60	796.9	-0.91	1.00
789.8	9.00	8.80	798.6	-0.80	0.99	9.00	798.8	-0.65	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
9	-1.40	-45.8	2807	2274	2836	2775	0.0	0.0	0	11	0.00	0.08	-0.62	0.145	16390	0.000	0.972	2807	2311	2989	3020	2958	0	0	0	0	0	0	15.02	13.42	15.00
13	-1.40	-45.8	2808	2311	3019	2960	0.0	0.0	0	15	1.40	0.00	0.00	0.000	4102	0.109	0.000	2347	2310	2989	3020	2959	0	0	0	0	0	0	14.75	14.91	14.88
309	-1.40	-45.8	2345	2311	3019	2960	429.2	-11.0	30	315	0.00	2.50	0.00	0.000	516	0.000	0.079	2346	904	2989	3019	2960	0	0	0	0	0	0	15.05	14.72	15.07
399	-1.40	-45.8	2346	904	3020	2960	439.5	-12.0	48	405	0.00	2.53	0.00	0.000	1030	0.000	0.073	2337	2301	2989	3019	2959	0	0	0	0	0	0	14.90	14.72	14.92
709	-1.40	-45.8	2338	2302	3021	2960	473.5	-9.9	80	715	0.00	2.58	0.00	0.000	260	0.000	0.103	2326	3725	2987	3019	2955	0	0	0	0	0	0	15.05	14.72	15.08
764	-1.40	-45.8	2325	3725	3018	2959	479.2	-10.5	91	772	0.00	2.45	0.00	0.000	1030	0.000	0.046	2326	2302	2989	3019	2960	0	0	0	0	0	0	14.79	14.75	14.82
1069	-1.40	-45.8	2327	2302	3021	2960	509.3	-9.8	122	1075	0.00	2.50	0.00	0.000	516	0.000	0.077	2326	904	2989	3018	2960	0	0	0	0	0	0	15.07	14.70	15.09
1190	-1.40	-45.8	2328	904	3018	2960	522.1	-9.8	146	1196	0.15	2.47	0.00	0.000	3078	0.344	0.070	2343	2311	2988	3018	2959	0	0	0	0	0	0	14.48	14.77	14.79
1500	-1.40	-45.8	2342	2312	3018	2960	553.8	-10.5	178	1506	0.00	2.50	0.00	0.000	516	0.000	0.076	2343	898	2989	3018	2960	0	0	0	0	0	0	15.06	14.73	15.08
1545	-1.40	-45.8	2344	899	3020	2960	558.6	-10.7	187	1552	0.00	2.53	0.00	0.000	1030	0.000	0.073	2335	2303	2989	3018	2960	0	0	0	0	0	0	14.81	14.73	14.85
1850	-1.40	-45.8	2335	2304	3020	2961	590.9	-10.2	218	1856	0.00	2.55	0.00	0.000	260	0.000	0.105	2323	3718	2988	3017	2959	0	0	0	0	0	0	15.08	14.73	15.11
1880	-1.40	-45.8	2323	3718	3017	2960	594.1	-10.3	224	1886	0.00	2.45	0.00	0.000	1030	0.000	0.048	2323	2290	2989	3018	2960	0	0	0	0	0	0	14.85	14.80	14.88
2190	-1.40	-45.8	2324	2290	3019	2960	626.8	-10.2	256	2196	0.00	2.45	0.00	0.000	516	0.000	0.075	2323	895	2988	3017	2959	0	0	0	0	0	0	15.07	14.72	15.10
2265	-1.40	-45.8	2325	896	3019	2960	634.6	-10.3	271	2272	0.12	2.53	0.00	0.000	3078	0.314	0.069	2349	2309	2988	3017	2959	0	0	0	0	0	0	14.48	14.73	14.79
2571	-1.40	-45.8	2348	2310	3015	2960	662.6	-8.9	302	2572	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2309	2988	3018	2959	0	0	0	0	0	0	15.03	15.05	15.05
2870	-1.40	-45.8	2349	2309	3017	2960	688.7	-8.7	332	2876	0.00	2.55	0.00	0.000	516	0.000	0.076	2349	896	2987	3016	2959	0	0	0	0	0	0	15.09	14.68	15.11
2965	-1.40	-45.8	2349	897	3016	2960	697.0	-8.6	351	2973	0.00	2.53	0.00	0.000	1030	0.000	0.068	2341	2312	2988	3017	2959	0	0	0	0	0	0	14.80	14.74	14.85
3272	-1.40	-45.8	2343	2307	3017	2960	722.6	-8.4	364	3277	0.00	2.50	0.00	0.000	516	0.000	0.076	2341	894	2988	3017	2960	0	0	0	0	0	0	15.04	14.73	15.07
3361	-1.40	-45.8	2342	894	3019	2960	730.4	-8.3	382	3367	0.00	2.50	0.00	0.000	1030	0.000	0.069	2329	2319	2988	3016	2960	0	0	0	0	0	0	14.88	14.76	14.92
3752	-1.40	-45.8	2329	2319	3017	2960	761.3	-7.9	400	3753	0.00	0.00	0.00	0.000	6	0.000	0.000	2330	2318	2987	3016	2958	0	0	0	0	0	0	15.09	15.12	15.11
4111	end dive: BOTTOM_OBSTACLE_DETECTED
state	4111	begin apogee
4115	-0.23	0.0	2329	2071	3016	2960	789.2	-7.9	412	4176	1.52	0.08	56.45	3.046	10246	0.282	0.187	2722	2115	2780	2812	2748	0	0	0	0	0	0	14.52	14.17	13.14
4176	end apogee: CONTROL_FINISHED_OK
state	4177	begin climb
4178	1.40	45.8	2723	2116	2814	2749	790.2	0.0	414	4242	1.73	2.70	55.30	3.040	10500	0.136	0.093	3250	3507	2594	2627	2561	0	0	0	0	0	0	14.18	13.63	12.76
4322	1.40	45.8	3250	3507	2620	2557	775.7	14.6	442	4328	0.00	2.53	0.00	0.000	1030	0.000	0.046	3260	2118	2588	2620	2556	0	0	0	0	0	0	14.07	14.01	14.08
4692	1.40	45.8	3260	2119	2615	2551	723.5	14.1	456	4692	0.00	0.00	0.00	0.000	6	0.000	0.000	3261	2118	2582	2615	2550	0	0	0	0	0	0	14.76	14.80	14.78
5052	1.40	45.8	3260	2118	2613	2549	674.0	13.6	480	5057	0.00	2.58	0.00	0.000	516	0.000	0.091	3272	690	2581	2613	2549	0	0	0	0	0	0	14.94	14.55	14.96
5072	1.40	45.8	3271	691	2612	2549	671.3	13.2	484	5078	0.00	2.50	0.00	0.000	1030	0.000	0.062	3272	2096	2580	2612	2549	0	0	0	0	0	0	14.69	14.66	14.73
5382	1.40	45.8	3273	2097	2614	2549	629.8	13.4	516	5391	0.00	2.58	0.00	0.000	260	0.000	0.097	3272	3520	2580	2612	2548	0	0	0	0	0	0	15.01	14.61	15.03
5455	1.40	45.8	3271	3520	2612	2549	619.1	14.7	530	5461	0.15	2.42	0.00	0.000	5126	0.346	0.047	3255	2089	2577	2606	2548	0	0	0	0	0	0	14.47	14.77	14.79
5765	1.40	45.8	3254	2089	2611	2547	579.2	12.7	562	5771	0.00	2.62	0.00	0.000	260	0.000	0.095	3255	3541	2579	2611	2548	0	0	0	0	0	0	15.04	14.71	15.05
5810	1.40	45.8	3256	3540	2612	2548	573.0	13.7	571	5817	0.00	2.50	0.00	0.000	1030	0.000	0.048	3263	2087	2578	2610	2547	0	0	0	0	0	0	14.82	14.76	14.85
6115	1.40	45.8	3265	2089	2613	2548	535.6	12.2	602	6121	0.00	2.58	0.00	0.000	260	0.000	0.094	3264	3519	2578	2610	2547	0	0	0	0	0	0	15.07	14.73	15.09
6155	1.40	45.8	3263	3518	2609	2548	530.2	13.6	610	6161	0.00	2.45	0.00	0.000	1030	0.000	0.047	3275	2094	2578	2610	2547	0	0	0	0	0	0	14.84	14.79	14.93
6465	1.40	45.8	3274	2095	2610	2548	492.1	12.1	642	6466	0.00	0.00	0.00	0.000	6	0.000	0.000	3274	2094	2578	2610	2547	0	0	0	0	0	0	15.09	15.11	15.11
6765	1.40	45.8	3274	2095	2609	2549	455.8	12.1	672	6771	0.00	2.60	0.00	0.000	260	0.000	0.095	3274	3510	2578	2609	2547	0	0	0	0	0	0	15.09	14.72	15.12
6940	1.40	45.8	3274	3511	2609	2548	433.3	12.8	707	6951	0.12	2.42	0.00	0.000	5126	0.330	0.045	3256	2093	2579	2612	2547	0	0	0	0	0	0	14.47	14.81	14.69
7246	1.40	45.8	3255	2093	2608	2547	400.7	10.1	738	7246	0.00	0.00	0.00	0.000	6	0.000	0.000	3256	2093	2578	2609	2547	0	0	0	0	0	0	15.09	15.12	15.12
7255	end climb: FINISH_DEPTH_REACHED
state	7255	begin subsurface finish
7259	-0.00	-0.5	3257	2094	2611	2548	399.7	10.0	739	7268	1.73	0.00	-0.77	0.115	20486	0.270	0.000	2799	2093	2800	2829	2771	0	0	0	0	0	0	14.54	13.89	14.85
7268	end subsurface finish: CONTROL_FINISHED_OK
state	7268	begin surface