Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 103 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.00177 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0133 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 103 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 8

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 17 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 13 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 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 10 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 400 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2715 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 25 N_NOCOMM 0 VBD_CNV -0.24529999 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 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 360 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 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 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 10 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 0 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 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 990 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2700 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 0 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

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 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00010921927 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 3750 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 8 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031257649 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 3890 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 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00177 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 9.9999997e-06 PITCH_W_GAIN 2 T_BOOST 10

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 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 222 P_OVSHOOT_WITHG 0 T_MISSION 360

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2700 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 0 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 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 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 1

DIVE 103 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 400 MISSION 8 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 -9.8844519 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME ip2

_XMS_NAKs 0 TGT_LATLONG -7414.250,-11228.500

_XMS_TOUTs 0 TGT_RADIUS 500.000

_SM_DEPTHo 397.19 MHEAD_RNG_PITCHd_Wd 139.9,3740,-20.9,-10.000,-27.90,1574

_SM_ANGLEo 2.4 D_GRID 990

GPS2 070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 399.64,-1.314,-2.177,2,2,0 _24V_AH 12.61,49.179

FINISH1 399.6,1.027505,-0 _10V_AH 12.58,0.000

FINISH2 398.4 FG_AHR_24Vo 0.000

RAFOS_CLK 334 FG_AHR_10Vo 0.000

RAFOS 0,1518015670,15.032778,15.019444,117,76,60,55,55,53,507,205,163,218,172,232 MEM 280100

RAFOS_FIX -7413.930176,-11225.535156,070218,151512,2,114,0.29 DATA_FILE_SIZE 26708,759

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 CAP_FILE_SIZE 91941,0

TT8_MAMPS 0.041195,0.291361 CFSIZE 1024409600,1007632384

HUMID 48.42 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.63859 SOUNDSPEED 1459.1

TCM_TEMP 13.90 GPS 070218,151512,-7413.930,-11225.535,0,3114.5,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 329 21.83 nil 0 0 0.00

Roll_motor 57 263 191.97 nil 0 0 0.00

VBD_pump_during_apogee 549 1750 12130.52 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 9197 6 698.05

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 32 420 173.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7045 2 204.73

TT8_Active 553 12 85.47

TT8_Sampling 1600 31 638.94

TT8_CF8 68 45 39.15

TT8_Kalman 0 0 0.00

Analog_circuits 1159 10 148.83

GPS_charging 0 0 0.00

Compass 1088 7 102.60

RAFOS 720 1 13.59

Transponder 232 30 87.65

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

993.3 15.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

984.9 14.50 9000.00 0.0 0.00 0.00 14.50 970.4 0.14 1.00

976.4 24.60 9000.00 0.0 -0.54 0.66 24.60 0.0 -1.19 1.00

967.6 13.90 9000.00 0.0 0.04 0.00 13.90 953.7 1.22 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

8 -1.08 -105.2 2701 2511 2844 2618 0.0 0.0 0 11 0.00 0.00 -1.35 0.069 16390 0.000 0.000 2700 2510 3158 3290 3027 0 0 0 0 0 0 15.07 13.62 15.07

12 -1.08 -105.2 2701 2511 3290 3029 0.0 0.0 0 14 1.08 0.00 0.00 0.000 4102 0.106 0.000 2346 2510 3158 3289 3028 0 0 0 0 0 0 14.85 14.98 14.95

310 -1.08 -105.2 2347 2510 3278 3039 433.2 -13.3 30 311 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2510 3158 3277 3040 0 0 0 0 0 0 15.07 15.09 15.09

609 -1.08 -105.2 2346 2514 3276 3042 472.9 -13.1 60 615 0.00 2.38 0.00 0.000 260 0.000 0.147 2337 3755 3158 3275 3041 0 0 0 0 0 0 15.10 14.76 15.13

634 -1.08 -105.2 2337 3756 3274 3043 476.3 -13.7 65 643 0.00 2.28 0.00 0.000 1030 0.000 0.096 2337 2487 3158 3273 3043 0 0 0 0 0 0 14.90 14.83 14.94

939 -1.08 -105.2 2337 2487 3274 3043 516.9 -13.0 96 945 0.00 2.42 0.00 0.000 260 0.000 0.147 2328 3754 3158 3273 3043 0 0 0 0 0 0 15.10 14.75 15.12

980 -1.08 -105.2 2328 3754 3273 3045 522.5 -14.2 104 985 0.00 2.22 0.00 0.000 1030 0.000 0.096 2327 2491 3157 3271 3044 0 0 0 0 0 0 14.95 14.85 14.98

1289 -1.08 -105.2 2328 2494 3272 3046 565.6 -13.9 136 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2493 3158 3272 3045 0 0 0 0 0 0 15.10 15.13 15.12

1590 -1.08 -105.2 2328 2494 3272 3046 605.3 -13.1 166 1595 0.00 2.38 0.00 0.000 260 0.000 0.147 2318 3763 3158 3271 3045 0 0 0 0 0 0 15.10 14.77 15.13

1644 -1.08 -105.2 2318 3764 3271 3047 612.8 -14.2 177 1653 0.12 2.28 0.00 0.000 3078 0.303 0.096 2348 2499 3158 3271 3046 0 0 0 0 0 0 14.62 14.83 14.79

1949 -1.08 -105.2 2348 2500 3271 3047 649.2 -11.7 208 1950 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2499 3158 3271 3046 0 0 0 0 0 0 15.10 15.13 15.13

2250 -1.08 -105.2 2348 2500 3271 3048 684.1 -11.7 238 2255 0.00 2.35 0.00 0.000 260 0.000 0.151 2341 3748 3159 3271 3047 0 0 0 0 0 0 15.07 14.76 15.09

2289 -1.08 -105.2 2341 3749 3272 3047 689.1 -12.8 246 2295 0.00 2.28 0.00 0.000 1030 0.000 0.097 2341 2488 3159 3271 3047 0 0 0 0 0 0 14.90 14.82 14.93

2599 -1.08 -105.2 2341 2488 3272 3048 725.9 -11.8 264 2600 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2488 3160 3271 3049 0 0 0 0 0 0 15.11 15.14 15.14

2960 -1.08 -105.2 2341 2489 3271 3050 767.0 -11.1 276 2965 0.00 2.42 0.00 0.000 260 0.000 0.147 2332 3756 3159 3270 3049 0 0 0 0 0 0 15.12 14.76 15.14

3054 -1.08 -105.2 2332 3756 3271 3050 778.1 -12.1 295 3060 0.00 2.28 0.00 0.000 1030 0.000 0.096 2332 2491 3160 3271 3049 0 0 0 0 0 0 14.90 14.83 14.93

3441 -1.08 -105.2 2332 2492 3271 3050 823.6 -11.7 312 3446 0.00 2.38 0.00 0.000 260 0.000 0.147 2322 3756 3160 3271 3049 0 0 0 0 0 0 15.08 14.78 15.11

3509 -1.08 -105.2 2322 3757 3271 3050 832.5 -12.8 326 3515 0.00 2.28 0.00 0.000 1030 0.000 0.097 2323 2494 3160 3271 3049 0 0 0 0 0 0 14.90 14.83 14.93

3890 -1.08 -105.2 2323 2494 3272 3049 879.0 -12.3 342 3891 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2494 3160 3271 3049 0 0 0 0 0 0 15.11 15.15 15.14

4250 -1.08 -105.2 2323 2494 3272 3049 923.0 -12.4 354 4250 0.00 0.00 0.00 0.000 6 0.000 0.000 2323 2494 3160 3271 3049 0 0 0 0 0 0 15.13 15.16 15.15

4610 -1.08 -105.2 2323 2495 3271 3050 965.7 -11.6 366 4616 0.15 2.40 0.00 0.000 2308 0.330 0.147 2344 3751 3160 3271 3049 0 0 0 0 0 0 14.64 14.77 14.91

4675 -1.08 -105.2 2344 3752 3270 3050 972.9 -11.3 379 4681 0.00 2.25 0.00 0.000 1030 0.000 0.096 2344 2498 3160 3271 3049 0 0 0 0 0 0 14.91 14.83 14.95

4848 end dive: TARGET_DEPTH_EXCEEDED

state 4849 begin apogee

4852 -0.23 0.0 2345 2183 3272 3048 991.6 -10.5 389 5097 1.05 0.05 235.95 1.750 10246 0.256 0.263 2622 2198 2716 2781 2651 0 0 0 0 1 0 14.67 13.65 12.61

5098 end apogee: CONTROL_FINISHED_OK

state 5098 begin climb

5099 1.08 105.2 2624 2198 2783 2651 996.7 0.0 397 5424 1.45 2.75 313.65 1.535 10756 0.137 0.125 3057 788 2285 2328 2242 0 0 0 0 0 0 13.72 13.50 13.05

5468 1.08 105.2 3057 789 2321 2238 954.7 15.9 469 5475 0.00 2.80 0.00 0.000 1030 0.000 0.111 3057 2215 2278 2320 2236 0 0 0 0 0 0 13.93 13.81 13.95

5860 1.08 105.2 3057 2216 2319 2228 891.7 16.0 487 5861 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2215 2273 2319 2227 0 0 0 0 0 0 14.66 14.68 14.69

6220 1.08 105.2 3058 2215 2319 2224 835.3 15.6 499 6225 0.00 2.65 0.00 0.000 516 0.000 0.126 3068 789 2270 2317 2224 0 0 0 0 0 0 14.86 14.61 14.90

6269 1.08 105.2 3068 790 2317 2225 827.3 15.8 509 6279 0.00 2.65 0.00 0.000 1030 0.000 0.112 3068 2210 2270 2316 2225 0 0 0 0 0 0 14.71 14.62 14.74

6644 1.08 105.2 3068 2210 2317 2223 767.0 16.3 523 6644 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2210 2269 2316 2222 0 0 0 0 0 0 14.96 14.99 14.99

7004 1.08 105.2 3069 2210 2317 2222 711.6 15.1 535 7005 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2210 2268 2316 2221 0 0 0 0 0 0 15.01 15.04 15.04

7363 1.08 105.2 3069 2210 2316 2221 657.1 15.3 565 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2209 2268 2315 2221 0 0 0 0 0 0 15.03 15.07 15.07

7663 1.08 105.2 3068 2211 2316 2222 611.2 15.4 595 7664 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2209 2267 2315 2220 0 0 0 0 0 0 15.04 15.07 15.07

7964 1.08 105.2 3068 2210 2310 2220 565.9 14.9 625 7969 0.00 2.60 0.00 0.000 516 0.000 0.125 3079 791 2267 2315 2220 0 0 0 0 0 0 15.05 14.79 15.08

8002 1.08 105.2 3079 791 2316 2220 559.8 15.4 633 8009 0.10 2.60 0.00 0.000 5126 0.276 0.111 3053 2204 2267 2314 2220 0 0 0 0 0 0 14.65 14.78 14.81

8313 1.08 105.2 3053 2205 2316 2220 515.7 13.7 665 8319 0.00 2.67 0.00 0.000 260 0.000 0.141 3053 3616 2266 2314 2219 0 0 0 0 0 0 15.09 14.76 15.11

8373 1.08 105.2 3054 3616 2315 2220 506.6 15.5 677 8380 0.00 2.58 0.00 0.000 1030 0.000 0.100 3062 2196 2267 2315 2219 0 0 0 0 0 0 14.88 14.81 14.92

8684 1.08 105.2 3063 2194 2315 2220 463.3 13.7 709 8685 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2194 2266 2314 2219 0 0 0 0 0 0 15.09 15.12 15.12

8985 1.08 105.2 3063 2195 2315 2220 422.9 13.0 739 8986 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2194 2266 2314 2219 0 0 0 0 0 0 15.07 15.09 15.09

9163 end climb: FINISH_DEPTH_REACHED

state 9163 begin subsurface finish

9167 -0.00 -0.3 3063 2194 2315 2218 399.6 12.9 757 9180 1.30 2.72 -1.50 0.076 20740 0.243 0.168 2703 3613 2729 2826 2633 0 0 0 0 0 0 14.69 13.63 14.85

9180 end subsurface finish: CONTROL_FINISHED_OK

state 9180 begin surface

ID	222	HD_A	0.00177	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0133	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	103	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	8
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	17	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	13	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	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	10	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	400	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2715	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	25	N_NOCOMM	0	VBD_CNV	-0.24529999	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	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	360	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	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	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	10	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	0	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	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	990	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2700	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	0	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
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	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00010921927	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	3750	ALTIM_PING_FIT	883

GPS1	070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	ip2
_XMS_NAKs	0	TGT_LATLONG	-7414.250,-11228.500
_XMS_TOUTs	0	TGT_RADIUS	500.000
_SM_DEPTHo	397.19	MHEAD_RNG_PITCHd_Wd	139.9,3740,-20.9,-10.000,-27.90,1574
_SM_ANGLEo	2.4	D_GRID	990
GPS2	070218,121600,-7412.2861,-11226.7715,0,4125.3,0,53.5,0.0,0.0,0,0.0

FREEZE	399.64,-1.314,-2.177,2,2,0	_24V_AH	12.61,49.179
FINISH1	399.6,1.027505,-0	_10V_AH	12.58,0.000
FINISH2	398.4	FG_AHR_24Vo	0.000
RAFOS_CLK	334	FG_AHR_10Vo	0.000
RAFOS	0,1518015670,15.032778,15.019444,117,76,60,55,55,53,507,205,163,218,172,232	MEM	280100
RAFOS_FIX	-7413.930176,-11225.535156,070218,151512,2,114,0.29	DATA_FILE_SIZE	26708,759
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	CAP_FILE_SIZE	91941,0
TT8_MAMPS	0.041195,0.291361	CFSIZE	1024409600,1007632384
HUMID	48.42	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.63859	SOUNDSPEED	1459.1
TCM_TEMP	13.90	GPS	070218,151512,-7413.930,-11225.535,0,3114.5,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	329	21.83	nil	0	0	0.00
Roll_motor	57	263	191.97	nil	0	0	0.00
VBD_pump_during_apogee	549	1750	12130.52	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	9197	6	698.05
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	32	420	173.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7045	2	204.73
TT8_Active	553	12	85.47
TT8_Sampling	1600	31	638.94
TT8_CF8	68	45	39.15
TT8_Kalman	0	0	0.00
Analog_circuits	1159	10	148.83
GPS_charging	0	0	0.00
Compass	1088	7	102.60
RAFOS	720	1	13.59
Transponder	232	30	87.65

		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
993.3	15.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

984.9	14.50	9000.00	0.0	0.00	0.00	14.50	970.4	0.14	1.00
976.4	24.60	9000.00	0.0	-0.54	0.66	24.60	0.0	-1.19	1.00
967.6	13.90	9000.00	0.0	0.04	0.00	13.90	953.7	1.22	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
8	-1.08	-105.2	2701	2511	2844	2618	0.0	0.0	0	11	0.00	0.00	-1.35	0.069	16390	0.000	0.000	2700	2510	3158	3290	3027	0	0	0	0	0	0	15.07	13.62	15.07
12	-1.08	-105.2	2701	2511	3290	3029	0.0	0.0	0	14	1.08	0.00	0.00	0.000	4102	0.106	0.000	2346	2510	3158	3289	3028	0	0	0	0	0	0	14.85	14.98	14.95
310	-1.08	-105.2	2347	2510	3278	3039	433.2	-13.3	30	311	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2510	3158	3277	3040	0	0	0	0	0	0	15.07	15.09	15.09
609	-1.08	-105.2	2346	2514	3276	3042	472.9	-13.1	60	615	0.00	2.38	0.00	0.000	260	0.000	0.147	2337	3755	3158	3275	3041	0	0	0	0	0	0	15.10	14.76	15.13
634	-1.08	-105.2	2337	3756	3274	3043	476.3	-13.7	65	643	0.00	2.28	0.00	0.000	1030	0.000	0.096	2337	2487	3158	3273	3043	0	0	0	0	0	0	14.90	14.83	14.94
939	-1.08	-105.2	2337	2487	3274	3043	516.9	-13.0	96	945	0.00	2.42	0.00	0.000	260	0.000	0.147	2328	3754	3158	3273	3043	0	0	0	0	0	0	15.10	14.75	15.12
980	-1.08	-105.2	2328	3754	3273	3045	522.5	-14.2	104	985	0.00	2.22	0.00	0.000	1030	0.000	0.096	2327	2491	3157	3271	3044	0	0	0	0	0	0	14.95	14.85	14.98
1289	-1.08	-105.2	2328	2494	3272	3046	565.6	-13.9	136	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2493	3158	3272	3045	0	0	0	0	0	0	15.10	15.13	15.12
1590	-1.08	-105.2	2328	2494	3272	3046	605.3	-13.1	166	1595	0.00	2.38	0.00	0.000	260	0.000	0.147	2318	3763	3158	3271	3045	0	0	0	0	0	0	15.10	14.77	15.13
1644	-1.08	-105.2	2318	3764	3271	3047	612.8	-14.2	177	1653	0.12	2.28	0.00	0.000	3078	0.303	0.096	2348	2499	3158	3271	3046	0	0	0	0	0	0	14.62	14.83	14.79
1949	-1.08	-105.2	2348	2500	3271	3047	649.2	-11.7	208	1950	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2499	3158	3271	3046	0	0	0	0	0	0	15.10	15.13	15.13
2250	-1.08	-105.2	2348	2500	3271	3048	684.1	-11.7	238	2255	0.00	2.35	0.00	0.000	260	0.000	0.151	2341	3748	3159	3271	3047	0	0	0	0	0	0	15.07	14.76	15.09
2289	-1.08	-105.2	2341	3749	3272	3047	689.1	-12.8	246	2295	0.00	2.28	0.00	0.000	1030	0.000	0.097	2341	2488	3159	3271	3047	0	0	0	0	0	0	14.90	14.82	14.93
2599	-1.08	-105.2	2341	2488	3272	3048	725.9	-11.8	264	2600	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2488	3160	3271	3049	0	0	0	0	0	0	15.11	15.14	15.14
2960	-1.08	-105.2	2341	2489	3271	3050	767.0	-11.1	276	2965	0.00	2.42	0.00	0.000	260	0.000	0.147	2332	3756	3159	3270	3049	0	0	0	0	0	0	15.12	14.76	15.14
3054	-1.08	-105.2	2332	3756	3271	3050	778.1	-12.1	295	3060	0.00	2.28	0.00	0.000	1030	0.000	0.096	2332	2491	3160	3271	3049	0	0	0	0	0	0	14.90	14.83	14.93
3441	-1.08	-105.2	2332	2492	3271	3050	823.6	-11.7	312	3446	0.00	2.38	0.00	0.000	260	0.000	0.147	2322	3756	3160	3271	3049	0	0	0	0	0	0	15.08	14.78	15.11
3509	-1.08	-105.2	2322	3757	3271	3050	832.5	-12.8	326	3515	0.00	2.28	0.00	0.000	1030	0.000	0.097	2323	2494	3160	3271	3049	0	0	0	0	0	0	14.90	14.83	14.93
3890	-1.08	-105.2	2323	2494	3272	3049	879.0	-12.3	342	3891	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2494	3160	3271	3049	0	0	0	0	0	0	15.11	15.15	15.14
4250	-1.08	-105.2	2323	2494	3272	3049	923.0	-12.4	354	4250	0.00	0.00	0.00	0.000	6	0.000	0.000	2323	2494	3160	3271	3049	0	0	0	0	0	0	15.13	15.16	15.15
4610	-1.08	-105.2	2323	2495	3271	3050	965.7	-11.6	366	4616	0.15	2.40	0.00	0.000	2308	0.330	0.147	2344	3751	3160	3271	3049	0	0	0	0	0	0	14.64	14.77	14.91
4675	-1.08	-105.2	2344	3752	3270	3050	972.9	-11.3	379	4681	0.00	2.25	0.00	0.000	1030	0.000	0.096	2344	2498	3160	3271	3049	0	0	0	0	0	0	14.91	14.83	14.95
4848	end dive: TARGET_DEPTH_EXCEEDED
state	4849	begin apogee
4852	-0.23	0.0	2345	2183	3272	3048	991.6	-10.5	389	5097	1.05	0.05	235.95	1.750	10246	0.256	0.263	2622	2198	2716	2781	2651	0	0	0	0	1	0	14.67	13.65	12.61
5098	end apogee: CONTROL_FINISHED_OK
state	5098	begin climb
5099	1.08	105.2	2624	2198	2783	2651	996.7	0.0	397	5424	1.45	2.75	313.65	1.535	10756	0.137	0.125	3057	788	2285	2328	2242	0	0	0	0	0	0	13.72	13.50	13.05
5468	1.08	105.2	3057	789	2321	2238	954.7	15.9	469	5475	0.00	2.80	0.00	0.000	1030	0.000	0.111	3057	2215	2278	2320	2236	0	0	0	0	0	0	13.93	13.81	13.95
5860	1.08	105.2	3057	2216	2319	2228	891.7	16.0	487	5861	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2215	2273	2319	2227	0	0	0	0	0	0	14.66	14.68	14.69
6220	1.08	105.2	3058	2215	2319	2224	835.3	15.6	499	6225	0.00	2.65	0.00	0.000	516	0.000	0.126	3068	789	2270	2317	2224	0	0	0	0	0	0	14.86	14.61	14.90
6269	1.08	105.2	3068	790	2317	2225	827.3	15.8	509	6279	0.00	2.65	0.00	0.000	1030	0.000	0.112	3068	2210	2270	2316	2225	0	0	0	0	0	0	14.71	14.62	14.74
6644	1.08	105.2	3068	2210	2317	2223	767.0	16.3	523	6644	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2210	2269	2316	2222	0	0	0	0	0	0	14.96	14.99	14.99
7004	1.08	105.2	3069	2210	2317	2222	711.6	15.1	535	7005	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2210	2268	2316	2221	0	0	0	0	0	0	15.01	15.04	15.04
7363	1.08	105.2	3069	2210	2316	2221	657.1	15.3	565	7364	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2209	2268	2315	2221	0	0	0	0	0	0	15.03	15.07	15.07
7663	1.08	105.2	3068	2211	2316	2222	611.2	15.4	595	7664	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2209	2267	2315	2220	0	0	0	0	0	0	15.04	15.07	15.07
7964	1.08	105.2	3068	2210	2310	2220	565.9	14.9	625	7969	0.00	2.60	0.00	0.000	516	0.000	0.125	3079	791	2267	2315	2220	0	0	0	0	0	0	15.05	14.79	15.08
8002	1.08	105.2	3079	791	2316	2220	559.8	15.4	633	8009	0.10	2.60	0.00	0.000	5126	0.276	0.111	3053	2204	2267	2314	2220	0	0	0	0	0	0	14.65	14.78	14.81
8313	1.08	105.2	3053	2205	2316	2220	515.7	13.7	665	8319	0.00	2.67	0.00	0.000	260	0.000	0.141	3053	3616	2266	2314	2219	0	0	0	0	0	0	15.09	14.76	15.11
8373	1.08	105.2	3054	3616	2315	2220	506.6	15.5	677	8380	0.00	2.58	0.00	0.000	1030	0.000	0.100	3062	2196	2267	2315	2219	0	0	0	0	0	0	14.88	14.81	14.92
8684	1.08	105.2	3063	2194	2315	2220	463.3	13.7	709	8685	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2194	2266	2314	2219	0	0	0	0	0	0	15.09	15.12	15.12
8985	1.08	105.2	3063	2195	2315	2220	422.9	13.0	739	8986	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2194	2266	2314	2219	0	0	0	0	0	0	15.07	15.09	15.09
9163	end climb: FINISH_DEPTH_REACHED
state	9163	begin subsurface finish
9167	-0.00	-0.3	3063	2194	2315	2218	399.6	12.9	757	9180	1.30	2.72	-1.50	0.076	20740	0.243	0.168	2703	3613	2729	2826	2633	0	0	0	0	0	0	14.69	13.63	14.85
9180	end subsurface finish: CONTROL_FINISHED_OK
state	9180	begin surface