Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 203 * 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 203 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 34 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 25 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 203 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 25 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 220218,173343,-7412.8687,-11248.0098,0,1001.0,0,53.7,0.0,0.0,0,0.0 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 399.32 MHEAD_RNG_PITCHd_Wd 128.9,2097,-41.9,-9.429,-43.36,379

_SM_ANGLEo 1.0 D_GRID 990

GPS2 220218,173343,-7412.8687,-11248.0098,0,1001.0,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 398.89,-0.745,-2.178,2,3,0 _24V_AH 12.38,81.679

FINISH1 398.9,1.027515,-1 _10V_AH 12.61,0.000

FINISH2 396.3 FG_AHR_24Vo 0.000

RAFOS_CLK 240 FG_AHR_10Vo 0.000

RAFOS 0,1519322463,18.032778,18.017500,152,76,68,53,53,51,583,199,179,216,144,118 MEM 280040

RAFOS_FIX -7413.492676,-11247.583984,220218,181824,3,123,0.48 DATA_FILE_SIZE 23404,701

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 CAP_FILE_SIZE 81440,0

TT8_MAMPS 0.039697,0.850864 CFSIZE 1024409600,996327424

HUMID 48.85 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.25812 INTR 0,5200.37,0x234cd8,1,24

TCM_TEMP 12.60 SOUNDSPEED 1457.5

XPDR_PINGS 0 GPS 220218,181424,-7413.493,-11247.584,0,4123.3,0,53.7,0.0,0.0,0,0.0

ALTIM_BOTTOM_PING 753.6,26.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 378 45.47 nil 0 0 0.00

Roll_motor 56 168 117.04 nil 0 0 0.00

VBD_pump_during_apogee 172 3067 6540.68 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 6496 10 837.58

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 139.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4792 2 139.60

TT8_Active 222 13 38.72

TT8_Sampling 1468 34 644.10

TT8_CF8 81 52 54.08

TT8_Kalman 0 0 0.00

Analog_circuits 745 10 102.51

GPS_charging 0 0 0.00

Compass 1006 7 95.05

RAFOS 720 1 13.62

Transponder 192 30 72.74

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

708.5 71.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

722.3 57.20 9000.00 0.0 0.00 0.00 57.20 779.5 -1.03 1.00

735.1 42.10 42.50 777.6 -1.10 1.00 42.10 777.2 -1.18 1.00

741.2 37.00 36.50 777.7 -1.09 0.99 37.00 778.2 -0.84 1.00

747.4 31.90 31.90 779.3 -0.83 1.00 31.90 779.3 -0.82 1.00

753.6 25.90 26.00 779.6 -0.90 1.00 25.90 779.5 -0.97 1.00

760.6 21.40 9000.00 0.0 -0.79 0.98 21.40 782.0 -0.64 1.00

767.5 14.80 9000.00 0.0 -0.79 0.99 14.80 782.3 -0.96 1.00

770.0 15.00 9000.00 0.0 -0.73 0.92 15.00 0.0 0.08 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -1.93 -23.2 2799 2313 2830 2772 0.0 0.0 0 10 0.00 0.00 -0.32 0.275 16390 0.000 0.000 2800 2312 2892 2922 2862 0 0 0 0 0 0 15.02 13.39 14.98

12 -1.93 -23.2 2799 2313 2921 2863 0.0 0.0 0 18 1.83 2.53 0.00 0.000 4612 0.099 0.078 2165 892 2892 2922 2863 0 0 0 0 0 0 14.78 14.74 14.90

88 -1.93 -23.2 2164 893 2919 2867 405.7 -9.8 15 95 0.00 2.47 0.00 0.000 1030 0.000 0.070 2154 2301 2892 2919 2866 0 0 0 0 0 0 14.89 14.78 14.92

394 -1.93 -23.2 2155 2301 2921 2868 437.5 -10.0 46 399 0.00 2.50 0.00 0.000 516 0.000 0.075 2152 889 2892 2919 2866 0 0 0 0 0 0 15.04 14.74 15.07

433 -1.93 -23.2 2155 890 2921 2867 441.7 -10.3 54 439 0.17 2.50 0.00 0.000 3078 0.371 0.070 2174 2312 2893 2920 2866 0 0 0 0 0 0 14.45 14.78 14.82

743 -1.93 -23.2 2176 2313 2921 2867 470.0 -8.8 86 749 0.00 2.53 0.00 0.000 516 0.000 0.072 2175 885 2892 2919 2866 0 0 0 0 0 0 15.09 14.71 15.11

773 -1.93 -23.2 2174 886 2919 2867 472.7 -9.5 92 779 0.00 2.53 0.00 0.000 1030 0.000 0.070 2166 2300 2893 2919 2867 0 0 0 0 0 0 14.82 14.74 14.94

1084 -1.93 -23.2 2167 2301 2921 2867 500.7 -9.0 124 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2301 2892 2919 2865 0 0 0 0 0 0 15.04 15.07 15.06

1384 -1.93 -23.2 2168 2301 2921 2867 526.3 -8.3 154 1390 0.00 2.50 0.00 0.000 516 0.000 0.073 2166 885 2892 2919 2866 0 0 0 0 0 0 15.05 14.76 15.07

1439 -1.93 -23.2 2166 886 2921 2867 531.0 -7.8 165 1447 0.00 2.53 0.00 0.000 1030 0.000 0.070 2156 2301 2892 2919 2866 0 0 0 0 0 0 14.81 14.74 14.85

1744 -1.93 -23.2 2157 2302 2920 2867 555.2 -7.6 196 1750 0.00 2.50 0.00 0.000 516 0.000 0.073 2155 888 2892 2918 2866 0 0 0 0 0 0 15.07 14.69 15.09

1919 -1.95 -32.7 2155 889 2918 2867 569.1 -6.9 231 1927 0.00 2.50 0.00 0.000 1062 0.000 0.067 2145 2315 2892 2918 2866 0 0 0 0 0 0 14.87 14.75 14.90

2224 -1.95 -32.7 2146 2316 2920 2867 592.2 -7.4 262 2225 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2315 2892 2918 2866 0 0 0 0 0 0 15.07 15.10 15.09

2524 -1.95 -32.7 2146 2316 2920 2867 615.5 -7.8 292 2530 0.15 2.50 0.00 0.000 2564 0.379 0.070 2172 895 2891 2917 2866 0 0 0 0 0 0 14.42 14.68 14.76

2599 -1.95 -32.7 2170 896 2917 2866 621.4 -7.9 307 2606 0.00 2.47 0.00 0.000 1030 0.000 0.066 2162 2311 2892 2918 2866 0 0 0 0 0 0 14.88 14.76 14.90

2904 -1.96 -41.5 2162 2311 2917 2866 644.3 -7.0 338 2910 0.00 2.53 0.00 0.000 292 0.000 0.100 2152 3719 2891 2917 2866 0 0 0 0 0 0 15.07 14.71 15.10

3004 -1.96 -41.5 2153 3720 2919 2867 652.0 -8.1 358 3010 0.00 2.45 0.00 0.000 1030 0.000 0.044 2152 2287 2891 2917 2866 0 0 0 0 0 0 14.85 14.73 14.86

3314 -1.97 -50.2 2153 2288 2919 2868 674.9 -7.1 390 3315 0.00 0.00 0.00 0.000 38 0.000 0.000 2152 2285 2891 2917 2866 0 0 0 0 0 0 15.06 15.09 15.08

3614 -1.98 -60.9 2151 2288 2917 2867 695.4 -6.5 420 3620 0.00 2.42 0.00 0.000 548 0.000 0.075 2151 903 2891 2917 2866 0 0 0 0 0 0 15.07 14.71 15.09

3730 -1.99 -71.0 2153 904 2920 2867 703.0 -6.7 443 3736 0.00 2.45 0.00 0.000 1062 0.000 0.069 2141 2302 2892 2918 2866 0 0 0 0 0 0 14.88 14.76 14.90

4094 -2.01 -85.0 2141 2302 2917 2867 723.9 -5.6 456 4095 0.00 0.00 0.00 0.000 38 0.000 0.000 2141 2302 2891 2917 2866 0 0 0 0 0 0 15.09 15.12 15.10

4454 -2.03 -101.2 2141 2303 2917 2867 742.6 -5.0 468 4460 0.00 2.53 0.00 0.000 548 0.000 0.073 2141 894 2891 2917 2866 0 0 0 0 0 0 15.10 14.72 15.13

4684 -2.05 -117.7 2142 894 2919 2867 754.6 -4.9 514 4690 0.00 2.50 0.00 0.000 1062 0.000 0.063 2130 2322 2892 2918 2866 0 0 0 0 0 0 14.88 14.76 14.92

5023 end dive: BOTTOM_OBSTACLE_DETECTED

state 5023 begin apogee

5027 -0.23 0.0 2132 2056 2919 2867 770.1 -4.4 527 5062 2.45 0.10 30.88 2.974 10246 0.328 0.168 2721 2124 2781 2811 2751 0 0 0 0 0 0 14.44 14.47 13.39

5063 end apogee: CONTROL_FINISHED_OK

state 5063 begin climb

5065 2.05 117.7 2720 2124 2811 2751 770.0 0.0 528 5215 2.35 2.72 141.35 3.068 10500 0.141 0.088 3452 3496 2299 2328 2271 0 0 0 0 0 0 14.45 13.22 12.38

5354 2.05 117.7 3453 3497 2320 2265 705.3 30.6 584 5360 0.00 2.47 0.00 0.000 1030 0.000 0.044 3462 2128 2291 2318 2264 0 0 0 0 0 0 14.03 13.99 14.11

5724 2.05 117.7 3463 2128 2313 2261 601.3 28.1 623 5730 0.00 2.62 0.00 0.000 516 0.000 0.086 3473 686 2284 2311 2258 0 0 0 0 0 0 14.72 14.45 14.75

5744 2.05 117.7 3474 686 2310 2259 595.6 28.4 627 5750 0.00 2.53 0.00 0.000 1030 0.000 0.060 3473 2093 2284 2310 2258 0 0 0 0 0 0 14.54 14.47 14.62

6054 2.05 117.7 3472 2092 2308 2256 508.5 28.0 659 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 3473 2092 2282 2309 2256 0 0 0 0 0 0 14.90 14.92 14.92

6354 2.05 117.7 3474 2093 2309 2256 427.5 25.9 689 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 3473 2093 2281 2308 2255 0 0 0 0 0 0 14.96 14.99 14.99

6463 end climb: FINISH_DEPTH_REACHED

state 6463 begin subsurface finish

6467 -0.00 -0.8 3474 2093 2303 2256 398.9 26.0 700 6477 2.75 0.00 -1.83 0.050 20486 0.323 0.000 2803 2093 2797 2822 2772 0 0 0 0 0 0 14.46 13.87 14.78

6477 end subsurface finish: CONTROL_FINISHED_OK

state 6477 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	203	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	34	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	25	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	220218,173343,-7412.8687,-11248.0098,0,1001.0,0,53.7,0.0,0.0,0,0.0	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	399.32	MHEAD_RNG_PITCHd_Wd	128.9,2097,-41.9,-9.429,-43.36,379
_SM_ANGLEo	1.0	D_GRID	990
GPS2	220218,173343,-7412.8687,-11248.0098,0,1001.0,0,53.7,0.0,0.0,0,0.0

FREEZE	398.89,-0.745,-2.178,2,3,0	_24V_AH	12.38,81.679
FINISH1	398.9,1.027515,-1	_10V_AH	12.61,0.000
FINISH2	396.3	FG_AHR_24Vo	0.000
RAFOS_CLK	240	FG_AHR_10Vo	0.000
RAFOS	0,1519322463,18.032778,18.017500,152,76,68,53,53,51,583,199,179,216,144,118	MEM	280040
RAFOS_FIX	-7413.492676,-11247.583984,220218,181824,3,123,0.48	DATA_FILE_SIZE	23404,701
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	CAP_FILE_SIZE	81440,0
TT8_MAMPS	0.039697,0.850864	CFSIZE	1024409600,996327424
HUMID	48.85	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.25812	INTR	0,5200.37,0x234cd8,1,24
TCM_TEMP	12.60	SOUNDSPEED	1457.5
XPDR_PINGS	0	GPS	220218,181424,-7413.493,-11247.584,0,4123.3,0,53.7,0.0,0.0,0,0.0
ALTIM_BOTTOM_PING	753.6,26.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	378	45.47	nil	0	0	0.00
Roll_motor	56	168	117.04	nil	0	0	0.00
VBD_pump_during_apogee	172	3067	6540.68	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	6496	10	837.58
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	139.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4792	2	139.60
TT8_Active	222	13	38.72
TT8_Sampling	1468	34	644.10
TT8_CF8	81	52	54.08
TT8_Kalman	0	0	0.00
Analog_circuits	745	10	102.51
GPS_charging	0	0	0.00
Compass	1006	7	95.05
RAFOS	720	1	13.62
Transponder	192	30	72.74

		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
708.5	71.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
722.3	57.20	9000.00	0.0	0.00	0.00	57.20	779.5	-1.03	1.00
735.1	42.10	42.50	777.6	-1.10	1.00	42.10	777.2	-1.18	1.00
741.2	37.00	36.50	777.7	-1.09	0.99	37.00	778.2	-0.84	1.00
747.4	31.90	31.90	779.3	-0.83	1.00	31.90	779.3	-0.82	1.00
753.6	25.90	26.00	779.6	-0.90	1.00	25.90	779.5	-0.97	1.00
760.6	21.40	9000.00	0.0	-0.79	0.98	21.40	782.0	-0.64	1.00
767.5	14.80	9000.00	0.0	-0.79	0.99	14.80	782.3	-0.96	1.00
770.0	15.00	9000.00	0.0	-0.73	0.92	15.00	0.0	0.08	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-1.93	-23.2	2799	2313	2830	2772	0.0	0.0	0	10	0.00	0.00	-0.32	0.275	16390	0.000	0.000	2800	2312	2892	2922	2862	0	0	0	0	0	0	15.02	13.39	14.98
12	-1.93	-23.2	2799	2313	2921	2863	0.0	0.0	0	18	1.83	2.53	0.00	0.000	4612	0.099	0.078	2165	892	2892	2922	2863	0	0	0	0	0	0	14.78	14.74	14.90
88	-1.93	-23.2	2164	893	2919	2867	405.7	-9.8	15	95	0.00	2.47	0.00	0.000	1030	0.000	0.070	2154	2301	2892	2919	2866	0	0	0	0	0	0	14.89	14.78	14.92
394	-1.93	-23.2	2155	2301	2921	2868	437.5	-10.0	46	399	0.00	2.50	0.00	0.000	516	0.000	0.075	2152	889	2892	2919	2866	0	0	0	0	0	0	15.04	14.74	15.07
433	-1.93	-23.2	2155	890	2921	2867	441.7	-10.3	54	439	0.17	2.50	0.00	0.000	3078	0.371	0.070	2174	2312	2893	2920	2866	0	0	0	0	0	0	14.45	14.78	14.82
743	-1.93	-23.2	2176	2313	2921	2867	470.0	-8.8	86	749	0.00	2.53	0.00	0.000	516	0.000	0.072	2175	885	2892	2919	2866	0	0	0	0	0	0	15.09	14.71	15.11
773	-1.93	-23.2	2174	886	2919	2867	472.7	-9.5	92	779	0.00	2.53	0.00	0.000	1030	0.000	0.070	2166	2300	2893	2919	2867	0	0	0	0	0	0	14.82	14.74	14.94
1084	-1.93	-23.2	2167	2301	2921	2867	500.7	-9.0	124	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2301	2892	2919	2865	0	0	0	0	0	0	15.04	15.07	15.06
1384	-1.93	-23.2	2168	2301	2921	2867	526.3	-8.3	154	1390	0.00	2.50	0.00	0.000	516	0.000	0.073	2166	885	2892	2919	2866	0	0	0	0	0	0	15.05	14.76	15.07
1439	-1.93	-23.2	2166	886	2921	2867	531.0	-7.8	165	1447	0.00	2.53	0.00	0.000	1030	0.000	0.070	2156	2301	2892	2919	2866	0	0	0	0	0	0	14.81	14.74	14.85
1744	-1.93	-23.2	2157	2302	2920	2867	555.2	-7.6	196	1750	0.00	2.50	0.00	0.000	516	0.000	0.073	2155	888	2892	2918	2866	0	0	0	0	0	0	15.07	14.69	15.09
1919	-1.95	-32.7	2155	889	2918	2867	569.1	-6.9	231	1927	0.00	2.50	0.00	0.000	1062	0.000	0.067	2145	2315	2892	2918	2866	0	0	0	0	0	0	14.87	14.75	14.90
2224	-1.95	-32.7	2146	2316	2920	2867	592.2	-7.4	262	2225	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2315	2892	2918	2866	0	0	0	0	0	0	15.07	15.10	15.09
2524	-1.95	-32.7	2146	2316	2920	2867	615.5	-7.8	292	2530	0.15	2.50	0.00	0.000	2564	0.379	0.070	2172	895	2891	2917	2866	0	0	0	0	0	0	14.42	14.68	14.76
2599	-1.95	-32.7	2170	896	2917	2866	621.4	-7.9	307	2606	0.00	2.47	0.00	0.000	1030	0.000	0.066	2162	2311	2892	2918	2866	0	0	0	0	0	0	14.88	14.76	14.90
2904	-1.96	-41.5	2162	2311	2917	2866	644.3	-7.0	338	2910	0.00	2.53	0.00	0.000	292	0.000	0.100	2152	3719	2891	2917	2866	0	0	0	0	0	0	15.07	14.71	15.10
3004	-1.96	-41.5	2153	3720	2919	2867	652.0	-8.1	358	3010	0.00	2.45	0.00	0.000	1030	0.000	0.044	2152	2287	2891	2917	2866	0	0	0	0	0	0	14.85	14.73	14.86
3314	-1.97	-50.2	2153	2288	2919	2868	674.9	-7.1	390	3315	0.00	0.00	0.00	0.000	38	0.000	0.000	2152	2285	2891	2917	2866	0	0	0	0	0	0	15.06	15.09	15.08
3614	-1.98	-60.9	2151	2288	2917	2867	695.4	-6.5	420	3620	0.00	2.42	0.00	0.000	548	0.000	0.075	2151	903	2891	2917	2866	0	0	0	0	0	0	15.07	14.71	15.09
3730	-1.99	-71.0	2153	904	2920	2867	703.0	-6.7	443	3736	0.00	2.45	0.00	0.000	1062	0.000	0.069	2141	2302	2892	2918	2866	0	0	0	0	0	0	14.88	14.76	14.90
4094	-2.01	-85.0	2141	2302	2917	2867	723.9	-5.6	456	4095	0.00	0.00	0.00	0.000	38	0.000	0.000	2141	2302	2891	2917	2866	0	0	0	0	0	0	15.09	15.12	15.10
4454	-2.03	-101.2	2141	2303	2917	2867	742.6	-5.0	468	4460	0.00	2.53	0.00	0.000	548	0.000	0.073	2141	894	2891	2917	2866	0	0	0	0	0	0	15.10	14.72	15.13
4684	-2.05	-117.7	2142	894	2919	2867	754.6	-4.9	514	4690	0.00	2.50	0.00	0.000	1062	0.000	0.063	2130	2322	2892	2918	2866	0	0	0	0	0	0	14.88	14.76	14.92
5023	end dive: BOTTOM_OBSTACLE_DETECTED
state	5023	begin apogee
5027	-0.23	0.0	2132	2056	2919	2867	770.1	-4.4	527	5062	2.45	0.10	30.88	2.974	10246	0.328	0.168	2721	2124	2781	2811	2751	0	0	0	0	0	0	14.44	14.47	13.39
5063	end apogee: CONTROL_FINISHED_OK
state	5063	begin climb
5065	2.05	117.7	2720	2124	2811	2751	770.0	0.0	528	5215	2.35	2.72	141.35	3.068	10500	0.141	0.088	3452	3496	2299	2328	2271	0	0	0	0	0	0	14.45	13.22	12.38
5354	2.05	117.7	3453	3497	2320	2265	705.3	30.6	584	5360	0.00	2.47	0.00	0.000	1030	0.000	0.044	3462	2128	2291	2318	2264	0	0	0	0	0	0	14.03	13.99	14.11
5724	2.05	117.7	3463	2128	2313	2261	601.3	28.1	623	5730	0.00	2.62	0.00	0.000	516	0.000	0.086	3473	686	2284	2311	2258	0	0	0	0	0	0	14.72	14.45	14.75
5744	2.05	117.7	3474	686	2310	2259	595.6	28.4	627	5750	0.00	2.53	0.00	0.000	1030	0.000	0.060	3473	2093	2284	2310	2258	0	0	0	0	0	0	14.54	14.47	14.62
6054	2.05	117.7	3472	2092	2308	2256	508.5	28.0	659	6055	0.00	0.00	0.00	0.000	6	0.000	0.000	3473	2092	2282	2309	2256	0	0	0	0	0	0	14.90	14.92	14.92
6354	2.05	117.7	3474	2093	2309	2256	427.5	25.9	689	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	3473	2093	2281	2308	2255	0	0	0	0	0	0	14.96	14.99	14.99
6463	end climb: FINISH_DEPTH_REACHED
state	6463	begin subsurface finish
6467	-0.00	-0.8	3474	2093	2303	2256	398.9	26.0	700	6477	2.75	0.00	-1.83	0.050	20486	0.323	0.000	2803	2093	2797	2822	2772	0	0	0	0	0	0	14.46	13.87	14.78
6477	end subsurface finish: CONTROL_FINISHED_OK
state	6477	begin surface