Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 204 * 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 204 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 31 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 204 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 26 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 220218,181424,-7413.4927,-11247.5840,0,4123.3,0,53.7,0.0,0.0,0,0.0 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 395.42 MHEAD_RNG_PITCHd_Wd 144.6,989,-43.6,-9.429,-45.00,352

_SM_ANGLEo 1.5 D_GRID 990

GPS2 220218,181424,-7413.4927,-11247.5840,0,4123.3,0,53.7,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 397.95,-0.737,-2.177,2,4,0 ALTIM_BOTTOM_PING 782.7,9.4

FINISH1 398.0,1.027514,-1 _24V_AH 12.33,81.908

FINISH2 394.3 _10V_AH 12.53,0.000

RAFOS_CLK 257 FG_AHR_24Vo 0.000

RAFOS 0,1519333259,21.032778,21.016388,58,56,55,54,50,49,158,187,205,135,125,110 FG_AHR_10Vo 0.000

RAFOS_FIX -7411.416992,-11304.054688,220218,212144,2,123,0.84 MEM 280000

IRIDIUM_FIX -7413.09,-11243.88,220218,093243 DATA_FILE_SIZE 26698,794

TT8_MAMPS 0.041195,0.86135 CAP_FILE_SIZE 92300,0

HUMID 47.91 CFSIZE 1024409600,996196352

INTERNAL_PRESSURE 8.26789 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.60 SOUNDSPEED 1457.9

XPDR_PINGS 0 GPS 220218,211544,-7411.417,-11304.055,0,3123.0,0,53.7,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 388 49.35 nil 0 0 0.00

Roll_motor 72 116 103.95 nil 0 0 0.00

VBD_pump_during_apogee 205 3070 7786.29 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 6948 10 892.58

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 154.06 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5020 2 145.32

TT8_Active 263 13 45.55

TT8_Sampling 1649 34 719.25

TT8_CF8 91 52 60.72

TT8_Kalman 0 0 0.00

Analog_circuits 859 10 117.38

GPS_charging 0 0 0.00

Compass 1137 7 106.79

RAFOS 720 1 13.53

Transponder 211 30 79.52

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

750.3 46.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

756.6 36.30 9000.00 0.0 0.00 0.00 36.30 792.9 -1.59 1.00

762.8 29.20 9000.00 0.0 -1.37 0.99 29.20 792.0 -1.15 1.00

769.4 23.30 23.10 792.5 -1.01 0.99 23.30 792.7 -0.89 1.00

776.6 17.00 17.00 793.6 -0.88 1.00 17.00 793.6 -0.88 1.00

782.7 8.80 9.40 792.1 -1.08 0.98 8.80 791.5 -1.34 1.00

782.6 10.80 9.90 792.5 -1.19 0.95 0.00 0.0 0.00 0.00

775.8 14.90 9000.00 0.0 -0.75 0.91 14.90 0.0 -0.60 1.00

769.1 16.60 9000.00 0.0 -0.43 0.95 16.60 0.0 -0.25 1.00

762.6 23.50 9000.00 0.0 -0.65 0.89 23.50 0.0 -1.06 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 -2.01 -21.5 2803 2305 2822 2772 0.0 0.0 0 11 0.00 0.00 -0.32 0.280 16390 0.000 0.000 2803 2305 2887 2914 2861 0 0 0 0 0 0 14.97 13.41 14.91

12 -2.01 -21.5 2804 2302 2917 2862 0.0 0.0 0 18 1.92 0.00 0.00 0.000 4614 0.103 0.000 2145 2305 2888 2915 2861 0 0 0 0 0 0 14.73 14.87 14.85

323 -2.01 -21.5 2146 2306 2915 2864 426.5 -10.2 32 328 0.00 2.50 0.00 0.000 516 0.000 0.076 2145 889 2888 2913 2864 0 0 0 0 0 0 15.04 14.64 15.07

433 -2.01 -21.5 2146 890 2915 2864 438.3 -10.5 54 439 0.00 2.47 0.00 0.000 1030 0.000 0.069 2134 2302 2888 2913 2864 0 0 0 0 0 0 14.85 14.73 14.90

743 -2.01 -21.5 2133 2302 2913 2864 470.0 -10.0 86 748 0.00 2.50 0.00 0.000 516 0.000 0.076 2130 896 2888 2913 2864 0 0 0 0 0 0 15.07 14.66 15.09

833 -2.01 -21.5 2135 891 2915 2864 478.8 -9.4 104 840 0.17 2.55 0.00 0.000 3078 0.378 0.071 2154 2345 2888 2913 2863 0 0 0 0 0 0 14.42 14.72 14.79

1144 -2.01 -21.5 2154 2345 2915 2864 506.6 -8.7 136 1145 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2345 2888 2913 2863 0 0 0 0 0 0 15.07 15.09 15.09

1444 -2.01 -21.5 2155 2345 2915 2864 531.9 -8.2 166 1450 0.00 2.47 0.00 0.000 260 0.000 0.099 2145 3722 2887 2912 2863 0 0 0 0 0 0 15.07 14.69 15.09

1484 -2.01 -21.5 2151 3722 2912 2864 535.4 -9.3 174 1490 0.00 2.45 0.00 0.000 1030 0.000 0.046 2145 2292 2887 2912 2863 0 0 0 0 0 0 14.83 14.80 14.92

1794 -2.02 -28.8 2145 2291 2912 2864 559.8 -7.3 206 1800 0.00 2.45 0.00 0.000 548 0.000 0.074 2145 895 2887 2912 2863 0 0 0 0 0 0 15.06 14.74 15.08

1990 -2.02 -28.8 2146 895 2911 2864 574.1 -8.1 245 1997 0.00 2.47 0.00 0.000 1030 0.000 0.067 2135 2309 2886 2912 2861 0 0 0 0 0 0 14.88 14.77 14.91

2294 -2.03 -37.7 2136 2309 2914 2864 595.4 -6.8 276 2300 0.00 2.58 0.00 0.000 292 0.000 0.100 2124 3716 2887 2911 2863 0 0 0 0 0 0 15.05 14.69 15.07

2525 -2.04 -46.1 2125 3717 2913 2864 611.6 -7.0 322 2531 0.00 2.40 0.00 0.000 1062 0.000 0.044 2124 2294 2887 2911 2863 0 0 0 0 0 0 14.85 14.77 14.88

2836 -2.05 -57.5 2126 2293 2913 2863 631.2 -6.1 354 2841 0.00 2.45 0.00 0.000 548 0.000 0.074 2125 892 2887 2911 2863 0 0 0 0 0 0 15.09 14.74 15.11

2905 -2.07 -67.3 2124 893 2911 2864 635.7 -6.6 368 2911 0.00 2.47 0.00 0.000 1062 0.000 0.070 2114 2305 2887 2911 2863 0 0 0 0 0 0 14.90 14.78 14.92

3216 -2.08 -79.0 2113 2305 2911 2864 654.4 -6.0 400 3221 0.00 2.47 0.00 0.000 548 0.000 0.073 2114 895 2887 2911 2863 0 0 0 0 0 0 15.10 14.75 15.12

3296 -2.10 -91.6 2113 896 2911 2864 659.1 -5.8 416 3301 0.00 2.47 0.00 0.000 1062 0.000 0.069 2103 2308 2887 2911 2863 0 0 0 0 0 0 14.90 14.78 14.92

3606 -2.11 -104.7 2102 2308 2910 2864 676.6 -5.6 448 3611 0.00 2.50 0.00 0.000 548 0.000 0.072 2103 888 2886 2910 2863 0 0 0 0 0 0 15.11 14.76 15.13

3706 -2.13 -116.9 2104 889 2913 2871 682.4 -5.9 468 3711 0.00 2.47 0.00 0.000 1062 0.000 0.065 2092 2309 2887 2911 2863 0 0 0 0 0 0 14.90 14.78 14.93

4016 -2.14 -131.5 2091 2310 2911 2864 699.4 -5.2 500 4021 0.00 2.47 0.00 0.000 548 0.000 0.073 2093 900 2887 2910 2864 0 0 0 0 0 0 15.10 14.75 15.12

4106 -2.16 -145.8 2093 901 2919 2864 704.2 -5.3 518 4112 0.00 2.50 0.00 0.000 1062 0.000 0.067 2081 2308 2886 2910 2863 0 0 0 0 0 0 14.83 14.76 14.88

4498 -2.16 -146.0 2082 2308 2913 2864 724.7 -5.4 536 4503 0.00 2.47 0.00 0.000 548 0.000 0.072 2081 895 2887 2911 2863 0 0 0 0 0 0 15.07 14.76 15.09

4727 -2.16 -146.0 2080 895 2910 2864 738.1 -5.6 582 4733 0.17 2.45 0.00 0.000 3110 0.389 0.065 2101 2307 2886 2910 2863 0 0 0 0 0 0 14.40 14.78 14.77

5099 -2.16 -146.0 2103 2307 2912 2866 757.9 -5.1 596 5104 0.00 2.50 0.00 0.000 292 0.000 0.095 2091 3712 2886 2910 2863 0 0 0 0 0 0 15.10 14.75 15.12

5219 -2.16 -146.0 2092 3713 2911 2864 764.0 -5.0 620 5224 0.00 2.38 0.00 0.000 1062 0.000 0.043 2092 2295 2886 2910 2863 0 0 0 0 0 0 14.93 14.86 14.95

5609 -2.16 -146.0 2093 2295 2913 2865 781.9 -4.4 638 5614 0.00 2.45 0.00 0.000 548 0.000 0.074 2092 892 2887 2910 2864 0 0 0 0 0 0 15.10 14.76 15.13

5628 end dive: BOTTOM_OBSTACLE_DETECTED

state 5628 begin apogee

5634 -0.23 0.0 2084 2117 2912 2864 782.7 -4.1 642 5668 2.67 0.00 29.67 2.968 10246 0.336 0.000 2720 2116 2780 2810 2750 0 0 0 0 0 0 14.45 14.52 13.40

5669 end apogee: CONTROL_FINISHED_OK

state 5669 begin climb

5670 2.16 146.0 2722 2118 2812 2751 782.6 0.0 643 5858 2.47 2.78 175.98 3.071 10500 0.140 0.086 3493 3509 2184 2213 2156 0 0 0 0 0 0 14.47 13.16 12.33

5897 2.16 146.0 3492 3509 2209 2151 734.9 34.4 686 5904 0.00 2.58 0.00 0.000 1030 0.000 0.044 3503 2110 2179 2209 2150 0 0 0 0 0 0 13.76 13.69 13.78

6263 2.16 146.0 3503 2110 2200 2141 612.5 33.2 719 6269 0.00 2.60 0.00 0.000 516 0.000 0.086 3514 687 2173 2207 2140 0 0 0 0 0 0 14.60 14.35 14.64

6335 2.16 146.0 3515 688 2199 2140 589.3 33.2 733 6341 0.00 2.50 0.00 0.000 1030 0.000 0.060 3515 2102 2168 2197 2140 0 0 0 0 0 0 14.52 14.42 14.54

6645 2.16 146.0 3514 2103 2196 2138 486.0 33.3 765 6646 0.00 0.00 0.00 0.000 6 0.000 0.000 3514 2102 2167 2196 2138 0 0 0 0 0 0 14.88 14.90 14.90

6915 end climb: FINISH_DEPTH_REACHED

state 6915 begin subsurface finish

6919 -0.00 -0.7 3514 2102 2194 2137 398.0 31.4 792 6932 2.88 2.58 -2.25 0.041 20996 0.325 0.116 2812 692 2795 2819 2771 0 0 0 0 0 0 14.45 13.84 14.76

6932 end subsurface finish: CONTROL_FINISHED_OK

state 6932 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	204	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	31	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	220218,181424,-7413.4927,-11247.5840,0,4123.3,0,53.7,0.0,0.0,0,0.0	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	395.42	MHEAD_RNG_PITCHd_Wd	144.6,989,-43.6,-9.429,-45.00,352
_SM_ANGLEo	1.5	D_GRID	990
GPS2	220218,181424,-7413.4927,-11247.5840,0,4123.3,0,53.7,0.0,0.0,0,0.0

FREEZE	397.95,-0.737,-2.177,2,4,0	ALTIM_BOTTOM_PING	782.7,9.4
FINISH1	398.0,1.027514,-1	_24V_AH	12.33,81.908
FINISH2	394.3	_10V_AH	12.53,0.000
RAFOS_CLK	257	FG_AHR_24Vo	0.000
RAFOS	0,1519333259,21.032778,21.016388,58,56,55,54,50,49,158,187,205,135,125,110	FG_AHR_10Vo	0.000
RAFOS_FIX	-7411.416992,-11304.054688,220218,212144,2,123,0.84	MEM	280000
IRIDIUM_FIX	-7413.09,-11243.88,220218,093243	DATA_FILE_SIZE	26698,794
TT8_MAMPS	0.041195,0.86135	CAP_FILE_SIZE	92300,0
HUMID	47.91	CFSIZE	1024409600,996196352
INTERNAL_PRESSURE	8.26789	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.60	SOUNDSPEED	1457.9
XPDR_PINGS	0	GPS	220218,211544,-7411.417,-11304.055,0,3123.0,0,53.7,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	388	49.35	nil	0	0	0.00
Roll_motor	72	116	103.95	nil	0	0	0.00
VBD_pump_during_apogee	205	3070	7786.29	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	6948	10	892.58
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	154.06	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5020	2	145.32
TT8_Active	263	13	45.55
TT8_Sampling	1649	34	719.25
TT8_CF8	91	52	60.72
TT8_Kalman	0	0	0.00
Analog_circuits	859	10	117.38
GPS_charging	0	0	0.00
Compass	1137	7	106.79
RAFOS	720	1	13.53
Transponder	211	30	79.52

		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
750.3	46.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
756.6	36.30	9000.00	0.0	0.00	0.00	36.30	792.9	-1.59	1.00
762.8	29.20	9000.00	0.0	-1.37	0.99	29.20	792.0	-1.15	1.00
769.4	23.30	23.10	792.5	-1.01	0.99	23.30	792.7	-0.89	1.00
776.6	17.00	17.00	793.6	-0.88	1.00	17.00	793.6	-0.88	1.00
782.7	8.80	9.40	792.1	-1.08	0.98	8.80	791.5	-1.34	1.00
782.6	10.80	9.90	792.5	-1.19	0.95	0.00	0.0	0.00	0.00

775.8	14.90	9000.00	0.0	-0.75	0.91	14.90	0.0	-0.60	1.00
769.1	16.60	9000.00	0.0	-0.43	0.95	16.60	0.0	-0.25	1.00
762.6	23.50	9000.00	0.0	-0.65	0.89	23.50	0.0	-1.06	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	-2.01	-21.5	2803	2305	2822	2772	0.0	0.0	0	11	0.00	0.00	-0.32	0.280	16390	0.000	0.000	2803	2305	2887	2914	2861	0	0	0	0	0	0	14.97	13.41	14.91
12	-2.01	-21.5	2804	2302	2917	2862	0.0	0.0	0	18	1.92	0.00	0.00	0.000	4614	0.103	0.000	2145	2305	2888	2915	2861	0	0	0	0	0	0	14.73	14.87	14.85
323	-2.01	-21.5	2146	2306	2915	2864	426.5	-10.2	32	328	0.00	2.50	0.00	0.000	516	0.000	0.076	2145	889	2888	2913	2864	0	0	0	0	0	0	15.04	14.64	15.07
433	-2.01	-21.5	2146	890	2915	2864	438.3	-10.5	54	439	0.00	2.47	0.00	0.000	1030	0.000	0.069	2134	2302	2888	2913	2864	0	0	0	0	0	0	14.85	14.73	14.90
743	-2.01	-21.5	2133	2302	2913	2864	470.0	-10.0	86	748	0.00	2.50	0.00	0.000	516	0.000	0.076	2130	896	2888	2913	2864	0	0	0	0	0	0	15.07	14.66	15.09
833	-2.01	-21.5	2135	891	2915	2864	478.8	-9.4	104	840	0.17	2.55	0.00	0.000	3078	0.378	0.071	2154	2345	2888	2913	2863	0	0	0	0	0	0	14.42	14.72	14.79
1144	-2.01	-21.5	2154	2345	2915	2864	506.6	-8.7	136	1145	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2345	2888	2913	2863	0	0	0	0	0	0	15.07	15.09	15.09
1444	-2.01	-21.5	2155	2345	2915	2864	531.9	-8.2	166	1450	0.00	2.47	0.00	0.000	260	0.000	0.099	2145	3722	2887	2912	2863	0	0	0	0	0	0	15.07	14.69	15.09
1484	-2.01	-21.5	2151	3722	2912	2864	535.4	-9.3	174	1490	0.00	2.45	0.00	0.000	1030	0.000	0.046	2145	2292	2887	2912	2863	0	0	0	0	0	0	14.83	14.80	14.92
1794	-2.02	-28.8	2145	2291	2912	2864	559.8	-7.3	206	1800	0.00	2.45	0.00	0.000	548	0.000	0.074	2145	895	2887	2912	2863	0	0	0	0	0	0	15.06	14.74	15.08
1990	-2.02	-28.8	2146	895	2911	2864	574.1	-8.1	245	1997	0.00	2.47	0.00	0.000	1030	0.000	0.067	2135	2309	2886	2912	2861	0	0	0	0	0	0	14.88	14.77	14.91
2294	-2.03	-37.7	2136	2309	2914	2864	595.4	-6.8	276	2300	0.00	2.58	0.00	0.000	292	0.000	0.100	2124	3716	2887	2911	2863	0	0	0	0	0	0	15.05	14.69	15.07
2525	-2.04	-46.1	2125	3717	2913	2864	611.6	-7.0	322	2531	0.00	2.40	0.00	0.000	1062	0.000	0.044	2124	2294	2887	2911	2863	0	0	0	0	0	0	14.85	14.77	14.88
2836	-2.05	-57.5	2126	2293	2913	2863	631.2	-6.1	354	2841	0.00	2.45	0.00	0.000	548	0.000	0.074	2125	892	2887	2911	2863	0	0	0	0	0	0	15.09	14.74	15.11
2905	-2.07	-67.3	2124	893	2911	2864	635.7	-6.6	368	2911	0.00	2.47	0.00	0.000	1062	0.000	0.070	2114	2305	2887	2911	2863	0	0	0	0	0	0	14.90	14.78	14.92
3216	-2.08	-79.0	2113	2305	2911	2864	654.4	-6.0	400	3221	0.00	2.47	0.00	0.000	548	0.000	0.073	2114	895	2887	2911	2863	0	0	0	0	0	0	15.10	14.75	15.12
3296	-2.10	-91.6	2113	896	2911	2864	659.1	-5.8	416	3301	0.00	2.47	0.00	0.000	1062	0.000	0.069	2103	2308	2887	2911	2863	0	0	0	0	0	0	14.90	14.78	14.92
3606	-2.11	-104.7	2102	2308	2910	2864	676.6	-5.6	448	3611	0.00	2.50	0.00	0.000	548	0.000	0.072	2103	888	2886	2910	2863	0	0	0	0	0	0	15.11	14.76	15.13
3706	-2.13	-116.9	2104	889	2913	2871	682.4	-5.9	468	3711	0.00	2.47	0.00	0.000	1062	0.000	0.065	2092	2309	2887	2911	2863	0	0	0	0	0	0	14.90	14.78	14.93
4016	-2.14	-131.5	2091	2310	2911	2864	699.4	-5.2	500	4021	0.00	2.47	0.00	0.000	548	0.000	0.073	2093	900	2887	2910	2864	0	0	0	0	0	0	15.10	14.75	15.12
4106	-2.16	-145.8	2093	901	2919	2864	704.2	-5.3	518	4112	0.00	2.50	0.00	0.000	1062	0.000	0.067	2081	2308	2886	2910	2863	0	0	0	0	0	0	14.83	14.76	14.88
4498	-2.16	-146.0	2082	2308	2913	2864	724.7	-5.4	536	4503	0.00	2.47	0.00	0.000	548	0.000	0.072	2081	895	2887	2911	2863	0	0	0	0	0	0	15.07	14.76	15.09
4727	-2.16	-146.0	2080	895	2910	2864	738.1	-5.6	582	4733	0.17	2.45	0.00	0.000	3110	0.389	0.065	2101	2307	2886	2910	2863	0	0	0	0	0	0	14.40	14.78	14.77
5099	-2.16	-146.0	2103	2307	2912	2866	757.9	-5.1	596	5104	0.00	2.50	0.00	0.000	292	0.000	0.095	2091	3712	2886	2910	2863	0	0	0	0	0	0	15.10	14.75	15.12
5219	-2.16	-146.0	2092	3713	2911	2864	764.0	-5.0	620	5224	0.00	2.38	0.00	0.000	1062	0.000	0.043	2092	2295	2886	2910	2863	0	0	0	0	0	0	14.93	14.86	14.95
5609	-2.16	-146.0	2093	2295	2913	2865	781.9	-4.4	638	5614	0.00	2.45	0.00	0.000	548	0.000	0.074	2092	892	2887	2910	2864	0	0	0	0	0	0	15.10	14.76	15.13
5628	end dive: BOTTOM_OBSTACLE_DETECTED
state	5628	begin apogee
5634	-0.23	0.0	2084	2117	2912	2864	782.7	-4.1	642	5668	2.67	0.00	29.67	2.968	10246	0.336	0.000	2720	2116	2780	2810	2750	0	0	0	0	0	0	14.45	14.52	13.40
5669	end apogee: CONTROL_FINISHED_OK
state	5669	begin climb
5670	2.16	146.0	2722	2118	2812	2751	782.6	0.0	643	5858	2.47	2.78	175.98	3.071	10500	0.140	0.086	3493	3509	2184	2213	2156	0	0	0	0	0	0	14.47	13.16	12.33
5897	2.16	146.0	3492	3509	2209	2151	734.9	34.4	686	5904	0.00	2.58	0.00	0.000	1030	0.000	0.044	3503	2110	2179	2209	2150	0	0	0	0	0	0	13.76	13.69	13.78
6263	2.16	146.0	3503	2110	2200	2141	612.5	33.2	719	6269	0.00	2.60	0.00	0.000	516	0.000	0.086	3514	687	2173	2207	2140	0	0	0	0	0	0	14.60	14.35	14.64
6335	2.16	146.0	3515	688	2199	2140	589.3	33.2	733	6341	0.00	2.50	0.00	0.000	1030	0.000	0.060	3515	2102	2168	2197	2140	0	0	0	0	0	0	14.52	14.42	14.54
6645	2.16	146.0	3514	2103	2196	2138	486.0	33.3	765	6646	0.00	0.00	0.00	0.000	6	0.000	0.000	3514	2102	2167	2196	2138	0	0	0	0	0	0	14.88	14.90	14.90
6915	end climb: FINISH_DEPTH_REACHED
state	6915	begin subsurface finish
6919	-0.00	-0.7	3514	2102	2194	2137	398.0	31.4	792	6932	2.88	2.58	-2.25	0.041	20996	0.325	0.116	2812	692	2795	2819	2771	0	0	0	0	0	0	14.45	13.84	14.76
6932	end subsurface finish: CONTROL_FINISHED_OK
state	6932	begin surface