Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 969 * 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 969 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 24 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 16 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 10 FILEMGR 2 VBD_MIN 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2575 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 330 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 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 -7 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 10029665 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 0.059999999 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 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 7 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 7 SEABIRD_C_G -9.8995104

MAX_BUOY 110 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 2 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 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 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 4320

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 330

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 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 223 P_OVSHOOT_WITHG 0 T_MISSION 420

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 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

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 2575 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 969 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 7 R_STBD_OVSHOOT 16 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 7 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 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 280219,123954,-7408.1406,-11316.5557,34,1.7,34,53.9,0.4,0.0,5,8.7 SPEED_LIMITS 0.100,0.239

_CALLS 2 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.79 MHEAD_RNG_PITCHd_Wd 276.3,4667,-43.7,-10.000,-45.00,362

_SM_ANGLEo -63.5 D_GRID 990

GPS2 280219,125626,-7408.1597,-11316.1094,2,1.8,4,53.9,0.4,78.2,5,6.9

Post-dive calculations and measurements:

FREEZE -0.01,-1.751,-1.836,2,1,0 _24V_AH 10.24,322.577

FINISH -0.0,1.026952 _10V_AH 10.16,0.000

SM_CCo 7128,179.35,0.203,0,0,1147,350.04 FG_AHR_24Vo 0.000

SM_GC 0.87,13.25,0.55,179.35,0.080,0.063,0.203,217,2308,1147,-8.24,-0.25,350.04,0,0,0,0,0,0,11.32,11.34,11.21 FG_AHR_10Vo 0.000

RAFOS_CLK 274 MEM 279944

RAFOS_FIX -7407.831055,-11315.681641,280219,141450,0,1,0.09 DATA_FILE_SIZE 13450,393

IRIDIUM_FIX -7407.96,-11309.85,280219,053929 CAP_FILE_SIZE 74883,2

TT8_MAMPS 0.048685,0.595455 CFSIZE 1024409600,910049280

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.10186 SOUNDSPEED 1447.7

TCM_TEMP 12.10 CURRENT 0.059,31.96,1

XPDR_PINGS 2 GPS 280219,150000,-7407.633,-11317.033,31,0.9,31,53.9,0.4,330.5,10,4.8

ALTIM_TOP_PING 20.4,20.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 35 403 145.59 nil 0 0 0.00

Roll_motor 74 130 100.03 nil 0 0 0.00

VBD_pump_during_apogee 324 2708 9001.23 nil 0 0 0.00

VBD_pump_during_surface 179 203 373.72 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 7131 7 567.01

Iridium_during_xfer 554 247 1408.00 nil 0 0 0.00

Transponder_ping 20 420 86.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 10 0.68

TT8 0 0 0.00

LPSleep 5712 2 134.08

TT8_Active 657 13 92.28

TT8_Sampling 1363 34 481.99

TT8_CF8 543 52 291.26

TT8_Kalman 0 0 0.00

Analog_circuits 1558 10 172.62

GPS_charging 0 0 0.00

Compass 568 7 43.28

RAFOS 0 0 0.00

Transponder 140 30 42.84

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

27.9 29.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

461.8 16.90 9000.00 0.0 0.00 0.00 16.90 478.7 -0.03 1.00

467.3 15.20 9000.00 0.0 -0.03 0.99 15.20 0.0 -0.31 1.00

445.8 32.80 32.40 0.0 -0.86 0.97 32.80 0.0 -0.82 1.00

129.4 134.90 9000.00 0.0 -0.34 0.99 134.90 0.0 -0.32 1.00

118.2 123.50 9000.00 0.0 -0.30 0.98 123.50 -5.3 1.02 1.00

108.0 112.00 112.20 -4.2 1.07 1.00 112.00 -4.0 1.13 1.00

94.1 97.90 97.70 -3.6 1.06 1.00 97.90 -3.8 1.01 1.00

80.4 83.80 83.90 -3.5 1.02 1.00 83.80 -3.4 1.03 1.00

66.3 68.70 68.80 -2.5 1.05 1.00 68.70 -2.4 1.07 1.00

55.4 57.60 57.50 -2.1 1.05 1.00 57.60 -2.2 1.02 1.00

34.6 35.20 35.30 -0.7 1.06 1.00 35.20 -0.6 1.08 1.00

20.4 20.70 20.50 -0.1 1.05 1.00 20.70 -0.3 1.02 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

11 -2.01 -23.5 214 2307 1177 1083 0.0 0.0 0 99 0.00 0.00 -86.62 0.002 16390 0.000 0.000 214 2305 2671 2675 2667 0 0 0 0 0 0 11.47 10.71 11.49

104 -2.01 -23.5 216 2306 2677 2668 1.5 -1.1 3 125 15.15 0.00 0.00 0.000 2566 0.404 0.000 2214 2304 2672 2678 2667 0 0 0 0 0 0 11.10 11.31 11.25

463 -2.01 -23.5 2216 2305 2682 2663 64.0 -18.7 19 468 0.00 3.40 0.00 0.000 516 0.000 0.060 2215 888 2671 2680 2662 0 0 0 0 0 0 11.50 11.31 11.51

699 -2.01 -23.5 2216 889 2681 2663 108.5 -16.9 53 706 0.00 3.38 0.00 0.000 1030 0.000 0.054 2206 2304 2671 2681 2661 0 0 0 0 0 0 11.40 11.32 11.41

1049 -2.01 -23.5 2205 2300 2682 2660 165.8 -16.0 67 1055 0.00 3.35 0.00 0.000 516 0.000 0.057 2206 893 2670 2682 2659 0 0 0 0 0 0 11.50 11.32 11.51

1091 -2.01 -23.5 2207 894 2685 2660 172.6 -15.8 73 1097 0.00 3.38 0.00 0.000 1030 0.000 0.057 2196 2309 2671 2683 2659 0 0 0 0 0 0 11.38 11.31 11.40

1442 -2.01 -23.5 2195 2309 2683 2660 226.7 -15.5 84 1448 0.00 3.38 0.00 0.000 516 0.000 0.058 2195 889 2670 2683 2658 0 0 0 0 0 0 11.50 11.29 11.51

1574 -2.01 -23.5 2195 890 2683 2661 248.4 -16.1 103 1580 0.20 3.35 0.00 0.000 3078 0.349 0.054 2210 2307 2671 2683 2659 0 0 0 0 0 0 11.17 11.32 11.36

1945 -2.01 -23.5 2211 2307 2683 2659 301.1 -13.7 114 1951 0.00 3.35 0.00 0.000 516 0.000 0.056 2211 889 2671 2684 2658 0 0 0 0 0 0 11.51 11.31 11.52

2008 -2.01 -23.5 2213 889 2686 2659 309.3 -12.4 123 2014 0.00 3.30 0.00 0.000 1030 0.000 0.054 2202 2307 2671 2684 2658 0 0 0 0 0 0 11.40 11.33 11.41

2394 -2.01 -23.5 2202 2308 2683 2662 358.7 -12.7 136 2395 0.00 0.00 0.00 0.000 6 0.000 0.000 2203 2307 2671 2684 2658 0 0 0 0 0 0 11.51 11.52 11.52

2730 -2.01 -23.5 2205 2308 2686 2659 399.1 -11.9 142 2736 0.00 3.35 0.00 0.000 516 0.000 0.054 2203 899 2671 2684 2658 0 0 0 0 0 0 11.50 11.32 11.51

2764 -2.01 -23.5 2202 894 2684 2658 403.3 -12.1 147 2770 0.20 3.42 0.00 0.000 3078 0.350 0.054 2216 2302 2671 2684 2658 0 0 0 0 0 0 11.18 11.33 11.37

3121 -2.01 -23.5 2217 2303 2687 2658 443.4 -11.1 156 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 2216 2302 2671 2685 2658 0 0 0 0 0 0 11.51 11.53 11.52

3458 -2.01 -23.5 2217 2303 2689 2656 477.2 -9.7 162 3463 0.00 3.35 0.00 0.000 516 0.000 0.054 2213 886 2671 2687 2655 0 0 0 0 0 0 11.51 11.32 11.53

3695 -2.06 -58.7 2216 887 2689 2654 477.2 -0.0 196 3701 0.00 3.30 -0.50 0.143 17446 0.000 0.048 2207 2307 2836 2860 2813 0 0 0 0 0 0 11.40 11.34 11.42

4073 -2.10 -93.9 2207 2308 2859 2813 477.2 -0.0 208 4079 0.00 3.35 -0.40 0.181 16932 0.000 0.066 2207 892 2975 3005 2946 0 0 0 0 0 0 11.52 10.93 11.47

4311 -2.12 -107.1 2209 893 3007 2947 477.3 0.3 242 4317 0.00 3.28 -0.17 0.406 17446 0.000 0.050 2197 2309 3033 3066 3000 0 0 0 0 0 0 11.36 11.31 11.39

4405 end dive: NO_VERTICAL_VELOCITY

state 4405 begin apogee

4415 -0.23 0.0 2199 2068 3068 3001 477.3 0.0 249 4583 3.00 0.10 163.57 2.709 10246 0.220 0.131 2792 2115 2577 2609 2545 0 0 0 0 0 0 11.24 11.13 10.24

4584 end apogee: CONTROL_FINISHED_OK

state 4584 begin climb

4588 2.12 107.1 2793 2116 2608 2545 477.4 0.0 252 4768 3.15 3.53 160.93 2.622 10500 0.125 0.084 3542 3499 2138 2164 2112 0 0 0 0 0 0 11.21 11.14 10.26

4865 2.12 107.1 3542 3499 2164 2107 435.8 23.6 293 4874 0.00 3.12 0.00 0.000 1030 0.000 0.035 3553 2119 2134 2164 2105 0 0 0 0 0 0 11.32 11.27 11.33

5253 2.12 107.1 3552 2120 2157 2100 352.0 21.1 306 5254 0.00 0.00 0.00 0.000 6 0.000 0.000 3553 2119 2129 2158 2100 0 0 0 0 0 0 11.46 11.48 11.48

5589 2.12 107.1 3553 2121 2157 2097 276.5 22.6 312 5594 0.00 3.45 0.00 0.000 260 0.000 0.086 3553 3503 2126 2156 2097 0 0 0 0 0 0 11.47 11.28 11.49

5609 2.12 107.1 3552 3504 2155 2098 271.8 22.2 315 5615 0.00 3.20 0.00 0.000 1030 0.000 0.036 3563 2100 2126 2155 2097 0 0 0 0 0 0 11.38 11.32 11.40

5984 2.12 107.1 3564 2100 2155 2098 196.4 20.1 326 5986 0.00 0.00 0.00 0.000 6 0.000 0.000 3563 2100 2125 2153 2097 0 0 0 0 0 0 11.48 11.50 11.50

6320 2.12 107.1 3564 2100 2154 2097 129.4 19.0 338 6325 0.00 3.38 0.00 0.000 516 0.000 0.074 3574 695 2124 2152 2096 0 0 0 0 0 0 11.48 11.29 11.50

6375 2.12 107.1 3575 694 2153 2097 118.2 19.4 346 6380 0.00 3.22 0.00 0.000 1030 0.000 0.049 3574 2097 2123 2151 2096 0 0 0 0 0 0 11.39 11.32 11.41

6738 2.12 107.1 3576 2098 2152 2098 56.5 17.3 362 6747 0.00 3.42 0.00 0.000 260 0.000 0.086 3574 3531 2123 2150 2096 0 0 0 0 0 0 11.50 11.29 11.52

6880 2.12 107.1 3575 3531 2152 2092 29.3 19.1 382 6886 0.25 3.28 0.00 0.000 5126 0.397 0.034 3557 2087 2123 2150 2096 0 0 0 0 0 0 11.15 11.34 11.37

7072 end climb: SURFACE_DEPTH_REACHED

state 7076 begin surface coast

7100 end surface coast: CONTROL_FINISHED_OK

state 7101 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	969	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	24	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	16	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	10	FILEMGR	2	VBD_MIN	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2575	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	330	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	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	-7	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	10029665	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	0.059999999	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	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	7	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	7	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	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	2	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	280219,123954,-7408.1406,-11316.5557,34,1.7,34,53.9,0.4,0.0,5,8.7	SPEED_LIMITS	0.100,0.239
_CALLS	2	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.79	MHEAD_RNG_PITCHd_Wd	276.3,4667,-43.7,-10.000,-45.00,362
_SM_ANGLEo	-63.5	D_GRID	990
GPS2	280219,125626,-7408.1597,-11316.1094,2,1.8,4,53.9,0.4,78.2,5,6.9

FREEZE	-0.01,-1.751,-1.836,2,1,0	_24V_AH	10.24,322.577
FINISH	-0.0,1.026952	_10V_AH	10.16,0.000
SM_CCo	7128,179.35,0.203,0,0,1147,350.04	FG_AHR_24Vo	0.000
SM_GC	0.87,13.25,0.55,179.35,0.080,0.063,0.203,217,2308,1147,-8.24,-0.25,350.04,0,0,0,0,0,0,11.32,11.34,11.21	FG_AHR_10Vo	0.000
RAFOS_CLK	274	MEM	279944
RAFOS_FIX	-7407.831055,-11315.681641,280219,141450,0,1,0.09	DATA_FILE_SIZE	13450,393
IRIDIUM_FIX	-7407.96,-11309.85,280219,053929	CAP_FILE_SIZE	74883,2
TT8_MAMPS	0.048685,0.595455	CFSIZE	1024409600,910049280
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.10186	SOUNDSPEED	1447.7
TCM_TEMP	12.10	CURRENT	0.059,31.96,1
XPDR_PINGS	2	GPS	280219,150000,-7407.633,-11317.033,31,0.9,31,53.9,0.4,330.5,10,4.8
ALTIM_TOP_PING	20.4,20.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	35	403	145.59	nil	0	0	0.00
Roll_motor	74	130	100.03	nil	0	0	0.00
VBD_pump_during_apogee	324	2708	9001.23	nil	0	0	0.00
VBD_pump_during_surface	179	203	373.72	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	7131	7	567.01
Iridium_during_xfer	554	247	1408.00	nil	0	0	0.00
Transponder_ping	20	420	86.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	10	0.68
TT8	0	0	0.00
LPSleep	5712	2	134.08
TT8_Active	657	13	92.28
TT8_Sampling	1363	34	481.99
TT8_CF8	543	52	291.26
TT8_Kalman	0	0	0.00
Analog_circuits	1558	10	172.62
GPS_charging	0	0	0.00
Compass	568	7	43.28
RAFOS	0	0	0.00
Transponder	140	30	42.84

		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
27.9	29.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
461.8	16.90	9000.00	0.0	0.00	0.00	16.90	478.7	-0.03	1.00

467.3	15.20	9000.00	0.0	-0.03	0.99	15.20	0.0	-0.31	1.00
445.8	32.80	32.40	0.0	-0.86	0.97	32.80	0.0	-0.82	1.00
129.4	134.90	9000.00	0.0	-0.34	0.99	134.90	0.0	-0.32	1.00
118.2	123.50	9000.00	0.0	-0.30	0.98	123.50	-5.3	1.02	1.00
108.0	112.00	112.20	-4.2	1.07	1.00	112.00	-4.0	1.13	1.00
94.1	97.90	97.70	-3.6	1.06	1.00	97.90	-3.8	1.01	1.00
80.4	83.80	83.90	-3.5	1.02	1.00	83.80	-3.4	1.03	1.00
66.3	68.70	68.80	-2.5	1.05	1.00	68.70	-2.4	1.07	1.00
55.4	57.60	57.50	-2.1	1.05	1.00	57.60	-2.2	1.02	1.00
34.6	35.20	35.30	-0.7	1.06	1.00	35.20	-0.6	1.08	1.00
20.4	20.70	20.50	-0.1	1.05	1.00	20.70	-0.3	1.02	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
11	-2.01	-23.5	214	2307	1177	1083	0.0	0.0	0	99	0.00	0.00	-86.62	0.002	16390	0.000	0.000	214	2305	2671	2675	2667	0	0	0	0	0	0	11.47	10.71	11.49
104	-2.01	-23.5	216	2306	2677	2668	1.5	-1.1	3	125	15.15	0.00	0.00	0.000	2566	0.404	0.000	2214	2304	2672	2678	2667	0	0	0	0	0	0	11.10	11.31	11.25
463	-2.01	-23.5	2216	2305	2682	2663	64.0	-18.7	19	468	0.00	3.40	0.00	0.000	516	0.000	0.060	2215	888	2671	2680	2662	0	0	0	0	0	0	11.50	11.31	11.51
699	-2.01	-23.5	2216	889	2681	2663	108.5	-16.9	53	706	0.00	3.38	0.00	0.000	1030	0.000	0.054	2206	2304	2671	2681	2661	0	0	0	0	0	0	11.40	11.32	11.41
1049	-2.01	-23.5	2205	2300	2682	2660	165.8	-16.0	67	1055	0.00	3.35	0.00	0.000	516	0.000	0.057	2206	893	2670	2682	2659	0	0	0	0	0	0	11.50	11.32	11.51
1091	-2.01	-23.5	2207	894	2685	2660	172.6	-15.8	73	1097	0.00	3.38	0.00	0.000	1030	0.000	0.057	2196	2309	2671	2683	2659	0	0	0	0	0	0	11.38	11.31	11.40
1442	-2.01	-23.5	2195	2309	2683	2660	226.7	-15.5	84	1448	0.00	3.38	0.00	0.000	516	0.000	0.058	2195	889	2670	2683	2658	0	0	0	0	0	0	11.50	11.29	11.51
1574	-2.01	-23.5	2195	890	2683	2661	248.4	-16.1	103	1580	0.20	3.35	0.00	0.000	3078	0.349	0.054	2210	2307	2671	2683	2659	0	0	0	0	0	0	11.17	11.32	11.36
1945	-2.01	-23.5	2211	2307	2683	2659	301.1	-13.7	114	1951	0.00	3.35	0.00	0.000	516	0.000	0.056	2211	889	2671	2684	2658	0	0	0	0	0	0	11.51	11.31	11.52
2008	-2.01	-23.5	2213	889	2686	2659	309.3	-12.4	123	2014	0.00	3.30	0.00	0.000	1030	0.000	0.054	2202	2307	2671	2684	2658	0	0	0	0	0	0	11.40	11.33	11.41
2394	-2.01	-23.5	2202	2308	2683	2662	358.7	-12.7	136	2395	0.00	0.00	0.00	0.000	6	0.000	0.000	2203	2307	2671	2684	2658	0	0	0	0	0	0	11.51	11.52	11.52
2730	-2.01	-23.5	2205	2308	2686	2659	399.1	-11.9	142	2736	0.00	3.35	0.00	0.000	516	0.000	0.054	2203	899	2671	2684	2658	0	0	0	0	0	0	11.50	11.32	11.51
2764	-2.01	-23.5	2202	894	2684	2658	403.3	-12.1	147	2770	0.20	3.42	0.00	0.000	3078	0.350	0.054	2216	2302	2671	2684	2658	0	0	0	0	0	0	11.18	11.33	11.37
3121	-2.01	-23.5	2217	2303	2687	2658	443.4	-11.1	156	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	2216	2302	2671	2685	2658	0	0	0	0	0	0	11.51	11.53	11.52
3458	-2.01	-23.5	2217	2303	2689	2656	477.2	-9.7	162	3463	0.00	3.35	0.00	0.000	516	0.000	0.054	2213	886	2671	2687	2655	0	0	0	0	0	0	11.51	11.32	11.53
3695	-2.06	-58.7	2216	887	2689	2654	477.2	-0.0	196	3701	0.00	3.30	-0.50	0.143	17446	0.000	0.048	2207	2307	2836	2860	2813	0	0	0	0	0	0	11.40	11.34	11.42
4073	-2.10	-93.9	2207	2308	2859	2813	477.2	-0.0	208	4079	0.00	3.35	-0.40	0.181	16932	0.000	0.066	2207	892	2975	3005	2946	0	0	0	0	0	0	11.52	10.93	11.47
4311	-2.12	-107.1	2209	893	3007	2947	477.3	0.3	242	4317	0.00	3.28	-0.17	0.406	17446	0.000	0.050	2197	2309	3033	3066	3000	0	0	0	0	0	0	11.36	11.31	11.39
4405	end dive: NO_VERTICAL_VELOCITY
state	4405	begin apogee
4415	-0.23	0.0	2199	2068	3068	3001	477.3	0.0	249	4583	3.00	0.10	163.57	2.709	10246	0.220	0.131	2792	2115	2577	2609	2545	0	0	0	0	0	0	11.24	11.13	10.24
4584	end apogee: CONTROL_FINISHED_OK
state	4584	begin climb
4588	2.12	107.1	2793	2116	2608	2545	477.4	0.0	252	4768	3.15	3.53	160.93	2.622	10500	0.125	0.084	3542	3499	2138	2164	2112	0	0	0	0	0	0	11.21	11.14	10.26
4865	2.12	107.1	3542	3499	2164	2107	435.8	23.6	293	4874	0.00	3.12	0.00	0.000	1030	0.000	0.035	3553	2119	2134	2164	2105	0	0	0	0	0	0	11.32	11.27	11.33
5253	2.12	107.1	3552	2120	2157	2100	352.0	21.1	306	5254	0.00	0.00	0.00	0.000	6	0.000	0.000	3553	2119	2129	2158	2100	0	0	0	0	0	0	11.46	11.48	11.48
5589	2.12	107.1	3553	2121	2157	2097	276.5	22.6	312	5594	0.00	3.45	0.00	0.000	260	0.000	0.086	3553	3503	2126	2156	2097	0	0	0	0	0	0	11.47	11.28	11.49
5609	2.12	107.1	3552	3504	2155	2098	271.8	22.2	315	5615	0.00	3.20	0.00	0.000	1030	0.000	0.036	3563	2100	2126	2155	2097	0	0	0	0	0	0	11.38	11.32	11.40
5984	2.12	107.1	3564	2100	2155	2098	196.4	20.1	326	5986	0.00	0.00	0.00	0.000	6	0.000	0.000	3563	2100	2125	2153	2097	0	0	0	0	0	0	11.48	11.50	11.50
6320	2.12	107.1	3564	2100	2154	2097	129.4	19.0	338	6325	0.00	3.38	0.00	0.000	516	0.000	0.074	3574	695	2124	2152	2096	0	0	0	0	0	0	11.48	11.29	11.50
6375	2.12	107.1	3575	694	2153	2097	118.2	19.4	346	6380	0.00	3.22	0.00	0.000	1030	0.000	0.049	3574	2097	2123	2151	2096	0	0	0	0	0	0	11.39	11.32	11.41
6738	2.12	107.1	3576	2098	2152	2098	56.5	17.3	362	6747	0.00	3.42	0.00	0.000	260	0.000	0.086	3574	3531	2123	2150	2096	0	0	0	0	0	0	11.50	11.29	11.52
6880	2.12	107.1	3575	3531	2152	2092	29.3	19.1	382	6886	0.25	3.28	0.00	0.000	5126	0.397	0.034	3557	2087	2123	2150	2096	0	0	0	0	0	0	11.15	11.34	11.37
7072	end climb: SURFACE_DEPTH_REACHED
state	7076	begin surface coast
7100	end surface coast: CONTROL_FINISHED_OK
state	7101	begin surface