Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 652 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.0042300001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0085000005 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 652 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 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 3

D_BOOST 110 SM_CC 399.91037 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 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 3492 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 25 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 50 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 350 UPLOAD_DIVES_MAX 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 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 0 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 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2775 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-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 399.91037

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031300001 STOP_T 0

ALTIM_PULSE 1 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 25

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 50

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 25

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0042300001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0085000005 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 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 221 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 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2775 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 0 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3492 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 -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 652 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 7 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 -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 111218,001456,-7414.0942,-11231.2998,0,4115.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.239

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11230.000

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 393.94 MHEAD_RNG_PITCHd_Wd 60.4,715,-43.8,-9.429,-45.00,333

_SM_ANGLEo 3.7 D_GRID 990

GPS2 111218,001456,-7414.0942,-11231.2998,0,4115.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.39,-1.379,-2.176,2,4,0 _24V_AH 11.52,205.018

FINISH1 399.4,1.027506,-0 _10V_AH 11.97,0.000

FINISH2 395.9 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

RAFOS 0,1544497284,3.032355,3.023333,110,74,63,61,53,51,436,212,183,147,92,226 MEM 280220

RAFOS_FIX -7414.633301,-11229.833984,111218,030308,3,109,0.12 DATA_FILE_SIZE 30020,933

IRIDIUM_FIX -7408.15,-11227.51,101218,044119 CAP_FILE_SIZE 107470,0

TT8_MAMPS 0.03745,0.602196 CFSIZE 1024409600,943505408

HUMID 49.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.93895 SOUNDSPEED 1455.4

TCM_TEMP 13.40 GPS 111218,031408,-7414.633,-11229.834,0,4109.3,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 10 363 43.22 nil 0 0 0.00

Roll_motor 84 88 85.90 nil 0 0 0.00

VBD_pump_during_apogee 171 3089 6111.91 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 9407 9 1055.51

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 145.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7064 2 195.32

TT8_Active 261 10 34.07

TT8_Sampling 1929 30 701.08

TT8_CF8 237 51 145.87

TT8_Kalman 0 0 0.00

Analog_circuits 957 10 115.71

GPS_charging 0 0 0.00

Compass 1338 6 107.97

RAFOS 720 1 12.93

Transponder 216 30 77.64

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

803.8 28.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

395.9 71.10 9000.00 0.0 0.00 0.00 71.10 0.0 -0.10 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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

13 -2.02 -20.4 2777 2812 3537 3533 0.0 0.0 0 14 0.00 0.00 -0.25 0.353 16390 0.000 0.000 2778 2811 3587 3586 3589 0 0 0 0 0 0 14.85 12.62 14.59

18 -2.02 -20.4 2776 2813 3590 3592 0.0 0.0 0 24 2.00 2.00 0.00 0.000 4356 0.115 0.087 2121 3916 3589 3590 3589 0 0 0 0 0 0 14.35 14.34 14.53

123 -2.03 -30.7 2121 3917 3596 3586 399.3 -6.2 20 128 0.00 1.88 -0.17 0.532 17446 0.000 0.039 2121 2780 3634 3639 3629 0 0 0 0 0 0 14.63 14.58 14.45

434 -2.03 -30.7 2121 2781 3644 3634 427.4 -10.1 52 438 0.00 2.35 0.00 0.000 516 0.000 0.044 2121 1405 3638 3644 3633 0 0 0 0 0 0 14.89 14.44 14.90

524 -2.03 -30.7 2121 1406 3645 3638 436.6 -10.1 70 529 0.00 2.53 0.00 0.000 1030 0.000 0.057 2119 2819 3638 3644 3633 0 0 0 0 0 0 14.42 14.31 14.47

835 -2.03 -30.7 2119 2819 3645 3634 467.3 -9.3 102 836 0.00 0.00 0.00 0.000 6 0.000 0.000 2119 2819 3639 3645 3634 0 0 0 0 0 0 14.91 14.91 14.91

1135 -2.03 -30.7 2120 2819 3646 3635 494.7 -8.9 132 1140 0.00 1.95 0.00 0.000 260 0.000 0.077 2114 3912 3640 3645 3635 0 0 0 0 0 0 14.91 14.34 14.91

1181 -2.03 -30.7 2114 3913 3645 3636 499.0 -9.6 141 1188 0.00 1.85 0.00 0.000 1030 0.000 0.041 2114 2798 3639 3645 3634 0 0 0 0 0 0 14.60 14.52 14.62

1486 -2.03 -30.7 2114 2799 3646 3637 525.7 -8.5 172 1491 0.00 2.40 0.00 0.000 516 0.000 0.043 2114 1404 3640 3645 3635 0 0 0 0 0 0 14.87 14.40 14.87

1587 -2.03 -30.7 2114 1405 3646 3636 534.2 -8.1 192 1592 0.00 2.47 0.00 0.000 1030 0.000 0.057 2112 2809 3640 3645 3635 0 0 0 0 0 0 14.52 14.39 14.55

1898 -2.03 -30.7 2113 2809 3647 3635 560.2 -8.2 224 1903 0.00 1.95 0.00 0.000 260 0.000 0.076 2107 3906 3640 3645 3635 0 0 0 0 0 0 14.93 14.33 14.94

1979 -2.03 -30.7 2108 3907 3647 3635 567.4 -8.8 240 1984 0.00 1.88 0.00 0.000 1030 0.000 0.041 2107 2795 3638 3645 3631 0 0 0 0 0 0 14.57 14.50 14.59

2290 -2.03 -30.7 2107 2795 3646 3635 591.0 -7.6 272 2295 0.00 2.40 0.00 0.000 516 0.000 0.043 2107 1400 3640 3646 3635 0 0 0 0 0 0 14.94 14.40 14.94

2398 -2.04 -38.5 2107 1402 3646 3636 598.8 -7.0 293 2408 0.00 2.47 0.00 0.000 1062 0.000 0.056 2100 2801 3640 3646 3635 0 0 0 0 0 0 14.40 14.28 14.44

2704 -2.05 -46.0 2100 2801 3646 3635 621.3 -7.1 324 2709 0.00 2.00 0.00 0.000 292 0.000 0.076 2100 3912 3640 3645 3635 0 0 0 0 0 0 14.93 14.09 14.94

2785 -2.06 -53.1 2099 3913 3646 3634 627.4 -7.3 340 2790 0.00 1.88 0.00 0.000 1062 0.000 0.041 2099 2791 3639 3645 3634 0 0 0 0 0 0 14.58 14.52 14.59

3096 -2.07 -65.2 2099 2797 3646 3635 646.8 -5.7 372 3100 0.00 2.40 0.00 0.000 548 0.000 0.043 2100 1406 3639 3645 3634 0 0 0 0 0 0 14.92 14.40 14.92

3219 -2.08 -74.7 2099 1407 3646 3635 654.2 -6.5 396 3224 0.00 2.50 0.00 0.000 1062 0.000 0.057 2098 2806 3639 3645 3634 0 0 0 0 0 0 14.47 14.34 14.50

3530 -2.10 -86.5 2099 2806 3647 3633 673.0 -5.8 428 3534 0.00 1.98 0.00 0.000 292 0.000 0.074 2090 3916 3638 3645 3632 0 0 0 0 0 0 14.92 14.30 14.92

3620 -2.11 -97.1 2091 3917 3647 3633 678.5 -6.1 446 3625 0.00 1.88 0.00 0.000 1062 0.000 0.041 2090 2796 3638 3645 3632 0 0 0 0 0 0 14.57 14.50 14.58

3931 -2.12 -107.1 2090 2797 3646 3633 695.8 -5.3 478 3936 0.00 2.42 0.00 0.000 548 0.000 0.042 2090 1395 3638 3645 3632 0 0 0 0 0 0 14.88 14.36 14.88

4007 -2.12 -107.1 2090 1396 3646 3633 699.5 -4.8 493 4014 0.00 2.50 0.00 0.000 1062 0.000 0.054 2079 2811 3638 3645 3632 0 0 0 0 0 0 14.46 14.35 14.50

4324 -2.12 -107.1 2079 2812 3646 3633 715.1 -4.8 505 4330 0.00 2.00 0.00 0.000 292 0.000 0.074 2073 3912 3638 3645 3631 0 0 0 0 0 0 14.88 14.14 14.88

4486 -2.12 -107.1 2074 3911 3646 3631 723.4 -5.1 537 4492 0.00 1.88 0.00 0.000 1062 0.000 0.040 2073 2790 3637 3645 3630 0 0 0 0 0 0 14.54 14.49 14.58

4870 -2.12 -107.1 2074 2791 3646 3632 740.9 -4.6 553 4876 0.00 2.38 0.00 0.000 548 0.000 0.041 2074 1403 3638 3645 3631 0 0 0 0 0 0 14.89 14.32 14.89

4962 -2.12 -107.1 2074 1403 3646 3631 745.0 -4.1 571 4967 0.00 2.50 0.00 0.000 1062 0.000 0.056 2071 2801 3638 3645 3631 0 0 0 0 0 0 14.47 14.34 14.50

5356 -2.12 -107.1 2071 2801 3646 3631 759.8 -3.4 589 5362 0.00 1.98 0.00 0.000 292 0.000 0.073 2063 3914 3637 3645 3630 0 0 0 0 0 0 14.88 14.26 14.88

5588 -2.12 -107.1 2062 3916 3647 3630 768.8 -3.9 635 5593 0.15 1.88 0.00 0.000 3110 0.343 0.041 2090 2797 3637 3645 3629 0 0 0 0 0 0 13.64 14.39 14.09

5962 -2.12 -107.1 2090 2798 3646 3632 780.7 -3.2 649 5967 0.00 2.00 0.00 0.000 292 0.000 0.074 2082 3912 3638 3645 3631 0 0 0 0 0 0 14.91 14.24 14.91

6075 -2.12 -107.1 2083 3912 3647 3630 784.3 -3.2 671 6080 0.00 1.88 0.00 0.000 1062 0.000 0.041 2083 2793 3638 3645 3631 0 0 0 0 0 0 14.53 14.47 14.55

6446 -2.12 -107.1 2083 2793 3647 3631 795.0 -2.7 685 6447 0.00 0.00 0.00 0.000 38 0.000 0.000 2082 2793 3638 3645 3631 0 0 0 0 0 0 14.86 14.84 14.86

6806 -2.12 -107.1 2084 2794 3647 3631 803.5 -2.1 697 6807 0.00 0.00 0.00 0.000 38 0.000 0.000 2083 2793 3638 3645 3631 0 0 0 0 0 0 14.90 14.90 14.89

7166 -2.12 -107.1 2083 2794 3646 3632 810.0 -1.7 709 7172 0.00 2.42 0.00 0.000 548 0.000 0.042 2083 1386 3638 3645 3631 0 0 0 0 0 0 14.85 14.32 14.86

7398 -2.12 -107.1 2083 1387 3647 3631 813.6 -1.4 755 7403 0.00 2.53 0.00 0.000 1062 0.000 0.054 2073 2814 3638 3645 3631 0 0 0 0 0 0 14.35 14.23 14.38

7765 end dive: NO_VERTICAL_VELOCITY

state 7765 begin apogee

7773 -0.23 0.0 2074 2536 3646 3632 817.1 0.0 769 7822 2.72 0.00 45.17 3.023 10246 0.320 0.000 2697 2535 3491 3497 3486 0 0 0 0 0 0 13.69 13.98 12.54

7823 end apogee: CONTROL_FINISHED_OK

state 7823 begin climb

7826 2.12 107.1 2698 2536 3498 3486 817.3 0.0 770 7964 2.40 2.88 126.57 3.089 10500 0.117 0.086 3455 3909 3064 3085 3044 0 0 0 0 0 0 14.05 13.01 11.52

8004 2.12 107.1 3455 3910 3081 3041 780.4 31.9 803 8010 0.00 2.55 0.00 0.000 1030 0.000 0.050 3465 2557 3058 3078 3039 0 0 0 0 0 0 13.47 13.40 13.49

8371 2.12 107.1 3466 2557 3073 3033 670.7 29.1 823 8378 0.00 2.50 0.00 0.000 516 0.000 0.064 3476 1150 3056 3081 3032 0 0 0 0 0 0 14.81 14.30 14.81

8414 2.12 107.1 3476 1151 3073 3033 658.3 28.9 831 8420 0.00 2.50 0.00 0.000 1030 0.000 0.070 3476 2550 3052 3072 3032 0 0 0 0 0 0 14.55 14.42 14.59

8726 2.12 107.1 3476 2550 3071 3033 567.3 28.7 863 8732 0.00 2.53 0.00 0.000 516 0.000 0.067 3486 1138 3051 3071 3032 0 0 0 0 0 0 14.83 14.42 14.83

8783 2.12 107.1 3486 1139 3072 3032 551.4 27.4 874 8790 0.15 2.53 0.00 0.000 5126 0.363 0.070 3460 2555 3051 3071 3031 0 0 0 0 0 0 13.93 14.45 14.42

9088 2.12 107.1 3460 2555 3072 3032 468.7 27.2 905 9089 0.00 0.00 0.00 0.000 6 0.000 0.000 3459 2556 3051 3071 3032 0 0 0 0 0 0 14.91 14.91 14.91

9345 end climb: FINISH_DEPTH_REACHED

state 9345 begin subsurface finish

9352 -0.00 -0.3 3461 2555 3073 3032 399.4 26.0 931 9366 2.90 2.55 -1.90 0.047 20996 0.336 0.087 2790 1154 3519 3523 3515 0 0 0 0 0 0 13.97 12.76 14.42

9366 end subsurface finish: CONTROL_FINISHED_OK

state 9366 begin surface

ID	221	HD_A	0.0042300001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0085000005	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	652	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	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	3
D_BOOST	110	SM_CC	399.91037	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	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	3492	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	25	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	50	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	350	UPLOAD_DIVES_MAX	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	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	0	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	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2775	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	111218,001456,-7414.0942,-11231.2998,0,4115.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.239
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11230.000
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	393.94	MHEAD_RNG_PITCHd_Wd	60.4,715,-43.8,-9.429,-45.00,333
_SM_ANGLEo	3.7	D_GRID	990
GPS2	111218,001456,-7414.0942,-11231.2998,0,4115.7,0,53.5,0.0,0.0,0,0.0

FREEZE	399.39,-1.379,-2.176,2,4,0	_24V_AH	11.52,205.018
FINISH1	399.4,1.027506,-0	_10V_AH	11.97,0.000
FINISH2	395.9	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
RAFOS	0,1544497284,3.032355,3.023333,110,74,63,61,53,51,436,212,183,147,92,226	MEM	280220
RAFOS_FIX	-7414.633301,-11229.833984,111218,030308,3,109,0.12	DATA_FILE_SIZE	30020,933
IRIDIUM_FIX	-7408.15,-11227.51,101218,044119	CAP_FILE_SIZE	107470,0
TT8_MAMPS	0.03745,0.602196	CFSIZE	1024409600,943505408
HUMID	49.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.93895	SOUNDSPEED	1455.4
TCM_TEMP	13.40	GPS	111218,031408,-7414.633,-11229.834,0,4109.3,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	10	363	43.22	nil	0	0	0.00
Roll_motor	84	88	85.90	nil	0	0	0.00
VBD_pump_during_apogee	171	3089	6111.91	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	9407	9	1055.51
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	145.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7064	2	195.32
TT8_Active	261	10	34.07
TT8_Sampling	1929	30	701.08
TT8_CF8	237	51	145.87
TT8_Kalman	0	0	0.00
Analog_circuits	957	10	115.71
GPS_charging	0	0	0.00
Compass	1338	6	107.97
RAFOS	720	1	12.93
Transponder	216	30	77.64

		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

803.8	28.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
395.9	71.10	9000.00	0.0	0.00	0.00	71.10	0.0	-0.10	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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
13	-2.02	-20.4	2777	2812	3537	3533	0.0	0.0	0	14	0.00	0.00	-0.25	0.353	16390	0.000	0.000	2778	2811	3587	3586	3589	0	0	0	0	0	0	14.85	12.62	14.59
18	-2.02	-20.4	2776	2813	3590	3592	0.0	0.0	0	24	2.00	2.00	0.00	0.000	4356	0.115	0.087	2121	3916	3589	3590	3589	0	0	0	0	0	0	14.35	14.34	14.53
123	-2.03	-30.7	2121	3917	3596	3586	399.3	-6.2	20	128	0.00	1.88	-0.17	0.532	17446	0.000	0.039	2121	2780	3634	3639	3629	0	0	0	0	0	0	14.63	14.58	14.45
434	-2.03	-30.7	2121	2781	3644	3634	427.4	-10.1	52	438	0.00	2.35	0.00	0.000	516	0.000	0.044	2121	1405	3638	3644	3633	0	0	0	0	0	0	14.89	14.44	14.90
524	-2.03	-30.7	2121	1406	3645	3638	436.6	-10.1	70	529	0.00	2.53	0.00	0.000	1030	0.000	0.057	2119	2819	3638	3644	3633	0	0	0	0	0	0	14.42	14.31	14.47
835	-2.03	-30.7	2119	2819	3645	3634	467.3	-9.3	102	836	0.00	0.00	0.00	0.000	6	0.000	0.000	2119	2819	3639	3645	3634	0	0	0	0	0	0	14.91	14.91	14.91
1135	-2.03	-30.7	2120	2819	3646	3635	494.7	-8.9	132	1140	0.00	1.95	0.00	0.000	260	0.000	0.077	2114	3912	3640	3645	3635	0	0	0	0	0	0	14.91	14.34	14.91
1181	-2.03	-30.7	2114	3913	3645	3636	499.0	-9.6	141	1188	0.00	1.85	0.00	0.000	1030	0.000	0.041	2114	2798	3639	3645	3634	0	0	0	0	0	0	14.60	14.52	14.62
1486	-2.03	-30.7	2114	2799	3646	3637	525.7	-8.5	172	1491	0.00	2.40	0.00	0.000	516	0.000	0.043	2114	1404	3640	3645	3635	0	0	0	0	0	0	14.87	14.40	14.87
1587	-2.03	-30.7	2114	1405	3646	3636	534.2	-8.1	192	1592	0.00	2.47	0.00	0.000	1030	0.000	0.057	2112	2809	3640	3645	3635	0	0	0	0	0	0	14.52	14.39	14.55
1898	-2.03	-30.7	2113	2809	3647	3635	560.2	-8.2	224	1903	0.00	1.95	0.00	0.000	260	0.000	0.076	2107	3906	3640	3645	3635	0	0	0	0	0	0	14.93	14.33	14.94
1979	-2.03	-30.7	2108	3907	3647	3635	567.4	-8.8	240	1984	0.00	1.88	0.00	0.000	1030	0.000	0.041	2107	2795	3638	3645	3631	0	0	0	0	0	0	14.57	14.50	14.59
2290	-2.03	-30.7	2107	2795	3646	3635	591.0	-7.6	272	2295	0.00	2.40	0.00	0.000	516	0.000	0.043	2107	1400	3640	3646	3635	0	0	0	0	0	0	14.94	14.40	14.94
2398	-2.04	-38.5	2107	1402	3646	3636	598.8	-7.0	293	2408	0.00	2.47	0.00	0.000	1062	0.000	0.056	2100	2801	3640	3646	3635	0	0	0	0	0	0	14.40	14.28	14.44
2704	-2.05	-46.0	2100	2801	3646	3635	621.3	-7.1	324	2709	0.00	2.00	0.00	0.000	292	0.000	0.076	2100	3912	3640	3645	3635	0	0	0	0	0	0	14.93	14.09	14.94
2785	-2.06	-53.1	2099	3913	3646	3634	627.4	-7.3	340	2790	0.00	1.88	0.00	0.000	1062	0.000	0.041	2099	2791	3639	3645	3634	0	0	0	0	0	0	14.58	14.52	14.59
3096	-2.07	-65.2	2099	2797	3646	3635	646.8	-5.7	372	3100	0.00	2.40	0.00	0.000	548	0.000	0.043	2100	1406	3639	3645	3634	0	0	0	0	0	0	14.92	14.40	14.92
3219	-2.08	-74.7	2099	1407	3646	3635	654.2	-6.5	396	3224	0.00	2.50	0.00	0.000	1062	0.000	0.057	2098	2806	3639	3645	3634	0	0	0	0	0	0	14.47	14.34	14.50
3530	-2.10	-86.5	2099	2806	3647	3633	673.0	-5.8	428	3534	0.00	1.98	0.00	0.000	292	0.000	0.074	2090	3916	3638	3645	3632	0	0	0	0	0	0	14.92	14.30	14.92
3620	-2.11	-97.1	2091	3917	3647	3633	678.5	-6.1	446	3625	0.00	1.88	0.00	0.000	1062	0.000	0.041	2090	2796	3638	3645	3632	0	0	0	0	0	0	14.57	14.50	14.58
3931	-2.12	-107.1	2090	2797	3646	3633	695.8	-5.3	478	3936	0.00	2.42	0.00	0.000	548	0.000	0.042	2090	1395	3638	3645	3632	0	0	0	0	0	0	14.88	14.36	14.88
4007	-2.12	-107.1	2090	1396	3646	3633	699.5	-4.8	493	4014	0.00	2.50	0.00	0.000	1062	0.000	0.054	2079	2811	3638	3645	3632	0	0	0	0	0	0	14.46	14.35	14.50
4324	-2.12	-107.1	2079	2812	3646	3633	715.1	-4.8	505	4330	0.00	2.00	0.00	0.000	292	0.000	0.074	2073	3912	3638	3645	3631	0	0	0	0	0	0	14.88	14.14	14.88
4486	-2.12	-107.1	2074	3911	3646	3631	723.4	-5.1	537	4492	0.00	1.88	0.00	0.000	1062	0.000	0.040	2073	2790	3637	3645	3630	0	0	0	0	0	0	14.54	14.49	14.58
4870	-2.12	-107.1	2074	2791	3646	3632	740.9	-4.6	553	4876	0.00	2.38	0.00	0.000	548	0.000	0.041	2074	1403	3638	3645	3631	0	0	0	0	0	0	14.89	14.32	14.89
4962	-2.12	-107.1	2074	1403	3646	3631	745.0	-4.1	571	4967	0.00	2.50	0.00	0.000	1062	0.000	0.056	2071	2801	3638	3645	3631	0	0	0	0	0	0	14.47	14.34	14.50
5356	-2.12	-107.1	2071	2801	3646	3631	759.8	-3.4	589	5362	0.00	1.98	0.00	0.000	292	0.000	0.073	2063	3914	3637	3645	3630	0	0	0	0	0	0	14.88	14.26	14.88
5588	-2.12	-107.1	2062	3916	3647	3630	768.8	-3.9	635	5593	0.15	1.88	0.00	0.000	3110	0.343	0.041	2090	2797	3637	3645	3629	0	0	0	0	0	0	13.64	14.39	14.09
5962	-2.12	-107.1	2090	2798	3646	3632	780.7	-3.2	649	5967	0.00	2.00	0.00	0.000	292	0.000	0.074	2082	3912	3638	3645	3631	0	0	0	0	0	0	14.91	14.24	14.91
6075	-2.12	-107.1	2083	3912	3647	3630	784.3	-3.2	671	6080	0.00	1.88	0.00	0.000	1062	0.000	0.041	2083	2793	3638	3645	3631	0	0	0	0	0	0	14.53	14.47	14.55
6446	-2.12	-107.1	2083	2793	3647	3631	795.0	-2.7	685	6447	0.00	0.00	0.00	0.000	38	0.000	0.000	2082	2793	3638	3645	3631	0	0	0	0	0	0	14.86	14.84	14.86
6806	-2.12	-107.1	2084	2794	3647	3631	803.5	-2.1	697	6807	0.00	0.00	0.00	0.000	38	0.000	0.000	2083	2793	3638	3645	3631	0	0	0	0	0	0	14.90	14.90	14.89
7166	-2.12	-107.1	2083	2794	3646	3632	810.0	-1.7	709	7172	0.00	2.42	0.00	0.000	548	0.000	0.042	2083	1386	3638	3645	3631	0	0	0	0	0	0	14.85	14.32	14.86
7398	-2.12	-107.1	2083	1387	3647	3631	813.6	-1.4	755	7403	0.00	2.53	0.00	0.000	1062	0.000	0.054	2073	2814	3638	3645	3631	0	0	0	0	0	0	14.35	14.23	14.38
7765	end dive: NO_VERTICAL_VELOCITY
state	7765	begin apogee
7773	-0.23	0.0	2074	2536	3646	3632	817.1	0.0	769	7822	2.72	0.00	45.17	3.023	10246	0.320	0.000	2697	2535	3491	3497	3486	0	0	0	0	0	0	13.69	13.98	12.54
7823	end apogee: CONTROL_FINISHED_OK
state	7823	begin climb
7826	2.12	107.1	2698	2536	3498	3486	817.3	0.0	770	7964	2.40	2.88	126.57	3.089	10500	0.117	0.086	3455	3909	3064	3085	3044	0	0	0	0	0	0	14.05	13.01	11.52
8004	2.12	107.1	3455	3910	3081	3041	780.4	31.9	803	8010	0.00	2.55	0.00	0.000	1030	0.000	0.050	3465	2557	3058	3078	3039	0	0	0	0	0	0	13.47	13.40	13.49
8371	2.12	107.1	3466	2557	3073	3033	670.7	29.1	823	8378	0.00	2.50	0.00	0.000	516	0.000	0.064	3476	1150	3056	3081	3032	0	0	0	0	0	0	14.81	14.30	14.81
8414	2.12	107.1	3476	1151	3073	3033	658.3	28.9	831	8420	0.00	2.50	0.00	0.000	1030	0.000	0.070	3476	2550	3052	3072	3032	0	0	0	0	0	0	14.55	14.42	14.59
8726	2.12	107.1	3476	2550	3071	3033	567.3	28.7	863	8732	0.00	2.53	0.00	0.000	516	0.000	0.067	3486	1138	3051	3071	3032	0	0	0	0	0	0	14.83	14.42	14.83
8783	2.12	107.1	3486	1139	3072	3032	551.4	27.4	874	8790	0.15	2.53	0.00	0.000	5126	0.363	0.070	3460	2555	3051	3071	3031	0	0	0	0	0	0	13.93	14.45	14.42
9088	2.12	107.1	3460	2555	3072	3032	468.7	27.2	905	9089	0.00	0.00	0.00	0.000	6	0.000	0.000	3459	2556	3051	3071	3032	0	0	0	0	0	0	14.91	14.91	14.91
9345	end climb: FINISH_DEPTH_REACHED
state	9345	begin subsurface finish
9352	-0.00	-0.3	3461	2555	3073	3032	399.4	26.0	931	9366	2.90	2.55	-1.90	0.047	20996	0.336	0.087	2790	1154	3519	3523	3515	0	0	0	0	0	0	13.97	12.76	14.42
9366	end subsurface finish: CONTROL_FINISHED_OK
state	9366	begin surface