Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 104 * 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 104 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 21 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 11 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 104 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 11 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 070218,151512,-7413.9302,-11225.5352,0,3114.5,0,53.5,0.0,0.0,0,0.0 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 398.36 MHEAD_RNG_PITCHd_Wd 194.8,1605,-40.7,-10.000,-45.00,543

_SM_ANGLEo 4.0 D_GRID 990

GPS2 070218,151512,-7413.9302,-11225.5352,0,3114.5,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 398.93,-0.739,-2.178,2,3,0 _24V_AH 13.09,49.325

FINISH1 398.9,1.027505,-0 _10V_AH 13.35,0.000

FINISH2 397.7 FG_AHR_24Vo 0.000

RAFOS_CLK 328 FG_AHR_10Vo 0.000

RAFOS 0,1518026483,18.032778,18.023056,91,70,62,56,55,53,446,213,177,159,196,226 MEM 280128

RAFOS_FIX -7414.550293,-11229.760742,070218,181832,3,118,0.22 DATA_FILE_SIZE 23415,707

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 CAP_FILE_SIZE 91636,0

TT8_MAMPS 0.041944,0.214963 CFSIZE 1024409600,1007534080

HUMID 47.91 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 7.63859 SOUNDSPEED 1458.5

TCM_TEMP 14.00 GPS 070218,181632,-7414.550,-11229.761,0,4118.0,0,53.5,0.0,0.0,0,0.0

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 9 408 50.93 nil 0 0 0.00

Roll_motor 70 1018 943.36 nil 0 0 0.00

VBD_pump_during_apogee 242 1494 4736.23 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 8949 5 698.87

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 32 420 178.68 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 7061 2 217.77

TT8_Active 371 12 60.93

TT8_Sampling 1517 31 643.04

TT8_CF8 64 45 38.72

TT8_Kalman 0 0 0.00

Analog_circuits 890 10 121.25

GPS_charging 0 0 0.00

Compass 1014 7 101.47

RAFOS 720 1 14.42

Transponder 234 30 93.91

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

993.9 16.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

982.4 15.30 9000.00 0.0 0.00 0.00 15.30 967.1 0.11 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 -1.89 -35.5 2704 2482 2825 2634 0.0 0.0 0 10 0.00 0.08 -0.47 0.194 16390 0.000 1.019 2704 2508 2872 2979 2766 0 0 0 0 0 0 15.08 13.63 15.04

11 -1.89 -35.5 2705 2509 2980 2767 0.0 0.0 0 18 1.80 2.60 0.00 0.000 4612 0.097 0.116 2081 1082 2872 2978 2767 0 0 0 0 0 0 14.86 14.79 14.96

242 -1.89 -35.5 2081 1081 2974 2773 429.8 -14.6 46 248 0.00 2.67 0.00 0.000 1030 0.000 0.123 2069 2509 2873 2972 2774 0 0 0 0 0 0 14.87 14.77 14.91

552 -1.89 -35.5 2070 2509 2972 2774 475.6 -14.1 78 558 0.00 2.35 0.00 0.000 260 0.000 0.142 2059 3747 2872 2971 2774 0 0 0 0 0 0 15.09 14.76 15.13

674 -1.89 -35.5 2059 3747 2970 2776 493.7 -15.1 102 679 0.15 2.20 0.00 0.000 3078 0.396 0.095 2086 2493 2872 2969 2776 0 0 0 0 0 0 14.57 14.85 14.91

983 -1.89 -35.5 2086 2493 2969 2775 536.6 -13.6 134 989 0.00 2.40 0.00 0.000 260 0.000 0.145 2077 3755 2872 2968 2776 0 0 0 0 0 0 15.09 14.73 15.12

1018 -1.89 -35.5 2077 3756 2969 2778 541.5 -14.2 141 1026 0.00 2.25 0.00 0.000 1030 0.000 0.097 2077 2501 2871 2968 2775 0 0 0 0 0 0 14.89 14.83 14.92

1323 -1.89 -35.5 2077 2501 2969 2777 581.5 -12.5 172 1329 0.00 2.40 0.00 0.000 260 0.000 0.148 2068 3757 2872 2969 2776 0 0 0 0 0 0 15.09 14.73 15.12

1388 -1.89 -35.5 2068 3758 2968 2778 590.2 -13.8 185 1396 0.00 2.28 0.00 0.000 1030 0.000 0.096 2068 2494 2872 2967 2777 0 0 0 0 0 0 14.88 14.82 14.92

1693 -1.89 -35.5 2069 2493 2968 2778 628.0 -11.9 216 1699 0.00 2.40 0.00 0.000 260 0.000 0.147 2058 3749 2872 2967 2777 0 0 0 0 0 0 15.09 14.73 15.12

1748 -1.89 -35.5 2059 3749 2967 2778 635.0 -13.0 227 1755 0.12 2.25 0.00 0.000 3078 0.405 0.096 2084 2497 2872 2966 2778 0 0 0 0 0 0 14.50 14.82 14.73

2053 -1.89 -35.5 2085 2497 2968 2778 670.4 -11.2 258 2059 0.00 2.40 0.00 0.000 260 0.000 0.147 2076 3754 2871 2966 2777 0 0 0 0 0 0 15.09 14.71 15.12

2113 -1.89 -35.5 2076 3755 2967 2779 677.5 -12.1 270 2119 0.00 2.28 0.00 0.000 1030 0.000 0.096 2076 2488 2872 2966 2778 0 0 0 0 0 0 14.85 14.80 14.89

2433 -1.89 -35.5 2077 2487 2967 2778 713.9 -11.1 295 2434 0.00 0.00 0.00 0.000 6 0.000 0.000 2076 2487 2872 2966 2778 0 0 0 0 0 0 15.10 15.13 15.12

2793 -1.89 -35.5 2077 2487 2967 2778 753.8 -11.0 307 2799 0.00 2.40 0.00 0.000 260 0.000 0.145 2067 3748 2872 2966 2778 0 0 0 0 0 0 15.11 14.74 15.14

2818 -1.89 -35.5 2068 3749 2967 2779 756.8 -12.9 312 2825 0.00 2.25 0.00 0.000 1030 0.000 0.094 2068 2495 2872 2966 2778 0 0 0 0 0 0 14.90 14.83 14.94

3183 -1.89 -35.5 2067 2494 2967 2778 795.9 -10.5 325 3184 0.00 0.00 0.00 0.000 6 0.000 0.000 2068 2493 2872 2966 2778 0 0 0 0 0 0 15.12 15.15 15.14

3543 -1.89 -35.5 2068 2494 2967 2778 833.5 -10.2 337 3550 0.00 2.40 0.00 0.000 260 0.000 0.145 2058 3754 2872 2966 2778 0 0 0 0 0 0 15.13 14.75 15.15

3594 -1.89 -35.5 2058 3755 2966 2779 839.1 -10.5 347 3600 0.17 2.22 0.00 0.000 3078 0.409 0.095 2089 2486 2872 2966 2779 0 0 0 0 0 0 14.56 14.86 14.89

3965 -1.89 -35.5 2090 2486 2967 2778 875.6 -9.7 361 3966 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2486 2872 2966 2778 0 0 0 0 0 0 15.09 15.12 15.11

4324 -1.89 -35.5 2089 2486 2967 2779 909.5 -9.2 373 4325 0.00 0.00 0.00 0.000 6 0.000 0.000 2089 2486 2872 2966 2778 0 0 0 0 0 0 15.14 15.16 15.16

4684 -1.89 -35.5 2089 2486 2967 2779 941.0 -8.7 385 4691 0.00 2.40 0.00 0.000 260 0.000 0.145 2080 3749 2874 2966 2783 0 0 0 0 0 0 15.14 14.78 15.16

4710 -1.91 -46.9 2080 3749 2966 2779 943.4 -7.9 390 4717 0.00 2.25 0.00 0.000 1062 0.000 0.093 2080 2490 2872 2966 2779 0 0 0 0 0 0 14.92 14.86 14.95

5075 -1.91 -46.9 2080 2491 2966 2780 976.0 -8.5 403 5081 0.00 2.40 0.00 0.000 260 0.000 0.143 2071 3754 2872 2966 2779 0 0 0 0 0 0 15.14 14.78 15.16

5111 -1.91 -46.9 2070 3755 2966 2780 979.0 -9.6 410 5116 0.00 2.22 0.00 0.000 1030 0.000 0.094 2070 2486 2871 2965 2778 0 0 0 0 0 0 14.98 14.87 15.00

5254 end dive: TARGET_DEPTH_EXCEEDED

state 5254 begin apogee

5257 -0.23 0.0 2071 2185 2966 2779 992.3 -9.1 419 5369 2.38 0.05 102.12 1.494 10246 0.357 0.274 2622 2201 2714 2795 2634 0 0 0 0 1 0 14.59 14.20 13.09

5370 end apogee: CONTROL_FINISHED_OK

state 5370 begin climb

5371 1.91 46.9 2623 2200 2798 2634 994.7 0.0 422 5515 2.25 0.00 140.05 1.396 10246 0.134 0.000 3313 2201 2523 2575 2471 0 0 0 0 0 0 14.27 14.03 13.50

5856 1.91 46.9 3313 2201 2562 2461 913.7 19.2 439 5861 0.00 2.65 0.00 0.000 516 0.000 0.125 3324 789 2511 2562 2460 0 0 0 0 0 0 14.70 14.45 14.74

5890 1.91 46.9 3324 789 2562 2460 906.6 19.5 446 5896 0.00 2.67 0.00 0.000 1030 0.000 0.113 3324 2209 2510 2561 2460 0 0 0 0 0 0 14.57 14.50 14.62

6276 1.91 46.9 3324 2210 2560 2458 832.7 19.2 463 6281 0.00 2.62 0.00 0.000 516 0.000 0.124 3334 794 2508 2559 2457 0 0 0 0 0 0 14.93 14.65 14.96

6330 1.91 46.9 3334 794 2560 2458 822.0 18.7 474 6339 0.00 2.62 0.00 0.000 1030 0.000 0.110 3334 2208 2508 2559 2457 0 0 0 0 0 0 14.73 14.66 14.78

6696 1.91 46.9 3335 2208 2559 2456 753.8 18.4 487 6701 0.00 2.60 0.00 0.000 516 0.000 0.121 3344 792 2507 2558 2456 0 0 0 0 0 0 14.98 14.72 15.00

6765 1.91 46.9 3344 793 2559 2457 741.1 18.2 501 6772 0.12 2.60 0.00 0.000 5126 0.348 0.109 3316 2204 2507 2558 2456 0 0 0 0 0 0 14.52 14.70 14.72

7136 1.91 46.9 3311 2204 2559 2456 676.0 17.1 524 7137 0.00 0.00 0.00 0.000 6 0.000 0.000 3315 2204 2506 2557 2455 0 0 0 0 0 0 15.04 15.07 15.07

7436 1.91 46.9 3316 2203 2558 2455 625.5 17.1 554 7437 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2204 2506 2557 2455 0 0 0 0 0 0 15.07 15.09 15.09

7736 1.91 46.9 3316 2204 2557 2455 575.8 16.0 584 7742 0.00 2.65 0.00 0.000 260 0.000 0.132 3315 3613 2505 2556 2455 0 0 0 0 0 0 15.08 14.75 15.11

7761 1.91 46.9 3315 3614 2556 2456 571.6 16.9 589 7770 0.00 2.55 0.00 0.000 1030 0.000 0.097 3325 2202 2505 2555 2455 0 0 0 0 0 0 14.87 14.81 14.92

8066 1.91 46.9 3326 2201 2556 2455 521.1 15.8 620 8067 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2201 2505 2555 2455 0 0 0 0 0 0 15.09 15.11 15.11

8366 1.91 46.9 3325 2201 2555 2456 475.9 14.7 650 8367 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2201 2505 2555 2455 0 0 0 0 0 0 15.09 15.12 15.11

8666 1.91 46.9 3325 2201 2555 2455 433.8 13.8 680 8667 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2200 2504 2555 2454 0 0 0 0 0 0 15.10 15.13 15.13

8926 end climb: FINISH_DEPTH_REACHED

state 8926 begin subsurface finish

8929 -0.00 -0.2 3325 2201 2560 2455 398.9 13.5 706 8938 2.53 0.00 -0.77 0.116 20486 0.323 0.000 2705 2200 2736 2817 2656 0 0 0 0 0 0 14.64 13.63 14.92

8939 end subsurface finish: CONTROL_FINISHED_OK

state 8939 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	104	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	21	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	11	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	070218,151512,-7413.9302,-11225.5352,0,3114.5,0,53.5,0.0,0.0,0,0.0	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	398.36	MHEAD_RNG_PITCHd_Wd	194.8,1605,-40.7,-10.000,-45.00,543
_SM_ANGLEo	4.0	D_GRID	990
GPS2	070218,151512,-7413.9302,-11225.5352,0,3114.5,0,53.5,0.0,0.0,0,0.0

FREEZE	398.93,-0.739,-2.178,2,3,0	_24V_AH	13.09,49.325
FINISH1	398.9,1.027505,-0	_10V_AH	13.35,0.000
FINISH2	397.7	FG_AHR_24Vo	0.000
RAFOS_CLK	328	FG_AHR_10Vo	0.000
RAFOS	0,1518026483,18.032778,18.023056,91,70,62,56,55,53,446,213,177,159,196,226	MEM	280128
RAFOS_FIX	-7414.550293,-11229.760742,070218,181832,3,118,0.22	DATA_FILE_SIZE	23415,707
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	CAP_FILE_SIZE	91636,0
TT8_MAMPS	0.041944,0.214963	CFSIZE	1024409600,1007534080
HUMID	47.91	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	7.63859	SOUNDSPEED	1458.5
TCM_TEMP	14.00	GPS	070218,181632,-7414.550,-11229.761,0,4118.0,0,53.5,0.0,0.0,0,0.0
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	9	408	50.93	nil	0	0	0.00
Roll_motor	70	1018	943.36	nil	0	0	0.00
VBD_pump_during_apogee	242	1494	4736.23	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	8949	5	698.87
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	32	420	178.68	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	7061	2	217.77
TT8_Active	371	12	60.93
TT8_Sampling	1517	31	643.04
TT8_CF8	64	45	38.72
TT8_Kalman	0	0	0.00
Analog_circuits	890	10	121.25
GPS_charging	0	0	0.00
Compass	1014	7	101.47
RAFOS	720	1	14.42
Transponder	234	30	93.91

		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
993.9	16.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00

982.4	15.30	9000.00	0.0	0.00	0.00	15.30	967.1	0.11	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	-1.89	-35.5	2704	2482	2825	2634	0.0	0.0	0	10	0.00	0.08	-0.47	0.194	16390	0.000	1.019	2704	2508	2872	2979	2766	0	0	0	0	0	0	15.08	13.63	15.04
11	-1.89	-35.5	2705	2509	2980	2767	0.0	0.0	0	18	1.80	2.60	0.00	0.000	4612	0.097	0.116	2081	1082	2872	2978	2767	0	0	0	0	0	0	14.86	14.79	14.96
242	-1.89	-35.5	2081	1081	2974	2773	429.8	-14.6	46	248	0.00	2.67	0.00	0.000	1030	0.000	0.123	2069	2509	2873	2972	2774	0	0	0	0	0	0	14.87	14.77	14.91
552	-1.89	-35.5	2070	2509	2972	2774	475.6	-14.1	78	558	0.00	2.35	0.00	0.000	260	0.000	0.142	2059	3747	2872	2971	2774	0	0	0	0	0	0	15.09	14.76	15.13
674	-1.89	-35.5	2059	3747	2970	2776	493.7	-15.1	102	679	0.15	2.20	0.00	0.000	3078	0.396	0.095	2086	2493	2872	2969	2776	0	0	0	0	0	0	14.57	14.85	14.91
983	-1.89	-35.5	2086	2493	2969	2775	536.6	-13.6	134	989	0.00	2.40	0.00	0.000	260	0.000	0.145	2077	3755	2872	2968	2776	0	0	0	0	0	0	15.09	14.73	15.12
1018	-1.89	-35.5	2077	3756	2969	2778	541.5	-14.2	141	1026	0.00	2.25	0.00	0.000	1030	0.000	0.097	2077	2501	2871	2968	2775	0	0	0	0	0	0	14.89	14.83	14.92
1323	-1.89	-35.5	2077	2501	2969	2777	581.5	-12.5	172	1329	0.00	2.40	0.00	0.000	260	0.000	0.148	2068	3757	2872	2969	2776	0	0	0	0	0	0	15.09	14.73	15.12
1388	-1.89	-35.5	2068	3758	2968	2778	590.2	-13.8	185	1396	0.00	2.28	0.00	0.000	1030	0.000	0.096	2068	2494	2872	2967	2777	0	0	0	0	0	0	14.88	14.82	14.92
1693	-1.89	-35.5	2069	2493	2968	2778	628.0	-11.9	216	1699	0.00	2.40	0.00	0.000	260	0.000	0.147	2058	3749	2872	2967	2777	0	0	0	0	0	0	15.09	14.73	15.12
1748	-1.89	-35.5	2059	3749	2967	2778	635.0	-13.0	227	1755	0.12	2.25	0.00	0.000	3078	0.405	0.096	2084	2497	2872	2966	2778	0	0	0	0	0	0	14.50	14.82	14.73
2053	-1.89	-35.5	2085	2497	2968	2778	670.4	-11.2	258	2059	0.00	2.40	0.00	0.000	260	0.000	0.147	2076	3754	2871	2966	2777	0	0	0	0	0	0	15.09	14.71	15.12
2113	-1.89	-35.5	2076	3755	2967	2779	677.5	-12.1	270	2119	0.00	2.28	0.00	0.000	1030	0.000	0.096	2076	2488	2872	2966	2778	0	0	0	0	0	0	14.85	14.80	14.89
2433	-1.89	-35.5	2077	2487	2967	2778	713.9	-11.1	295	2434	0.00	0.00	0.00	0.000	6	0.000	0.000	2076	2487	2872	2966	2778	0	0	0	0	0	0	15.10	15.13	15.12
2793	-1.89	-35.5	2077	2487	2967	2778	753.8	-11.0	307	2799	0.00	2.40	0.00	0.000	260	0.000	0.145	2067	3748	2872	2966	2778	0	0	0	0	0	0	15.11	14.74	15.14
2818	-1.89	-35.5	2068	3749	2967	2779	756.8	-12.9	312	2825	0.00	2.25	0.00	0.000	1030	0.000	0.094	2068	2495	2872	2966	2778	0	0	0	0	0	0	14.90	14.83	14.94
3183	-1.89	-35.5	2067	2494	2967	2778	795.9	-10.5	325	3184	0.00	0.00	0.00	0.000	6	0.000	0.000	2068	2493	2872	2966	2778	0	0	0	0	0	0	15.12	15.15	15.14
3543	-1.89	-35.5	2068	2494	2967	2778	833.5	-10.2	337	3550	0.00	2.40	0.00	0.000	260	0.000	0.145	2058	3754	2872	2966	2778	0	0	0	0	0	0	15.13	14.75	15.15
3594	-1.89	-35.5	2058	3755	2966	2779	839.1	-10.5	347	3600	0.17	2.22	0.00	0.000	3078	0.409	0.095	2089	2486	2872	2966	2779	0	0	0	0	0	0	14.56	14.86	14.89
3965	-1.89	-35.5	2090	2486	2967	2778	875.6	-9.7	361	3966	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2486	2872	2966	2778	0	0	0	0	0	0	15.09	15.12	15.11
4324	-1.89	-35.5	2089	2486	2967	2779	909.5	-9.2	373	4325	0.00	0.00	0.00	0.000	6	0.000	0.000	2089	2486	2872	2966	2778	0	0	0	0	0	0	15.14	15.16	15.16
4684	-1.89	-35.5	2089	2486	2967	2779	941.0	-8.7	385	4691	0.00	2.40	0.00	0.000	260	0.000	0.145	2080	3749	2874	2966	2783	0	0	0	0	0	0	15.14	14.78	15.16
4710	-1.91	-46.9	2080	3749	2966	2779	943.4	-7.9	390	4717	0.00	2.25	0.00	0.000	1062	0.000	0.093	2080	2490	2872	2966	2779	0	0	0	0	0	0	14.92	14.86	14.95
5075	-1.91	-46.9	2080	2491	2966	2780	976.0	-8.5	403	5081	0.00	2.40	0.00	0.000	260	0.000	0.143	2071	3754	2872	2966	2779	0	0	0	0	0	0	15.14	14.78	15.16
5111	-1.91	-46.9	2070	3755	2966	2780	979.0	-9.6	410	5116	0.00	2.22	0.00	0.000	1030	0.000	0.094	2070	2486	2871	2965	2778	0	0	0	0	0	0	14.98	14.87	15.00
5254	end dive: TARGET_DEPTH_EXCEEDED
state	5254	begin apogee
5257	-0.23	0.0	2071	2185	2966	2779	992.3	-9.1	419	5369	2.38	0.05	102.12	1.494	10246	0.357	0.274	2622	2201	2714	2795	2634	0	0	0	0	1	0	14.59	14.20	13.09
5370	end apogee: CONTROL_FINISHED_OK
state	5370	begin climb
5371	1.91	46.9	2623	2200	2798	2634	994.7	0.0	422	5515	2.25	0.00	140.05	1.396	10246	0.134	0.000	3313	2201	2523	2575	2471	0	0	0	0	0	0	14.27	14.03	13.50
5856	1.91	46.9	3313	2201	2562	2461	913.7	19.2	439	5861	0.00	2.65	0.00	0.000	516	0.000	0.125	3324	789	2511	2562	2460	0	0	0	0	0	0	14.70	14.45	14.74
5890	1.91	46.9	3324	789	2562	2460	906.6	19.5	446	5896	0.00	2.67	0.00	0.000	1030	0.000	0.113	3324	2209	2510	2561	2460	0	0	0	0	0	0	14.57	14.50	14.62
6276	1.91	46.9	3324	2210	2560	2458	832.7	19.2	463	6281	0.00	2.62	0.00	0.000	516	0.000	0.124	3334	794	2508	2559	2457	0	0	0	0	0	0	14.93	14.65	14.96
6330	1.91	46.9	3334	794	2560	2458	822.0	18.7	474	6339	0.00	2.62	0.00	0.000	1030	0.000	0.110	3334	2208	2508	2559	2457	0	0	0	0	0	0	14.73	14.66	14.78
6696	1.91	46.9	3335	2208	2559	2456	753.8	18.4	487	6701	0.00	2.60	0.00	0.000	516	0.000	0.121	3344	792	2507	2558	2456	0	0	0	0	0	0	14.98	14.72	15.00
6765	1.91	46.9	3344	793	2559	2457	741.1	18.2	501	6772	0.12	2.60	0.00	0.000	5126	0.348	0.109	3316	2204	2507	2558	2456	0	0	0	0	0	0	14.52	14.70	14.72
7136	1.91	46.9	3311	2204	2559	2456	676.0	17.1	524	7137	0.00	0.00	0.00	0.000	6	0.000	0.000	3315	2204	2506	2557	2455	0	0	0	0	0	0	15.04	15.07	15.07
7436	1.91	46.9	3316	2203	2558	2455	625.5	17.1	554	7437	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2204	2506	2557	2455	0	0	0	0	0	0	15.07	15.09	15.09
7736	1.91	46.9	3316	2204	2557	2455	575.8	16.0	584	7742	0.00	2.65	0.00	0.000	260	0.000	0.132	3315	3613	2505	2556	2455	0	0	0	0	0	0	15.08	14.75	15.11
7761	1.91	46.9	3315	3614	2556	2456	571.6	16.9	589	7770	0.00	2.55	0.00	0.000	1030	0.000	0.097	3325	2202	2505	2555	2455	0	0	0	0	0	0	14.87	14.81	14.92
8066	1.91	46.9	3326	2201	2556	2455	521.1	15.8	620	8067	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2201	2505	2555	2455	0	0	0	0	0	0	15.09	15.11	15.11
8366	1.91	46.9	3325	2201	2555	2456	475.9	14.7	650	8367	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2201	2505	2555	2455	0	0	0	0	0	0	15.09	15.12	15.11
8666	1.91	46.9	3325	2201	2555	2455	433.8	13.8	680	8667	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2200	2504	2555	2454	0	0	0	0	0	0	15.10	15.13	15.13
8926	end climb: FINISH_DEPTH_REACHED
state	8926	begin subsurface finish
8929	-0.00	-0.2	3325	2201	2560	2455	398.9	13.5	706	8938	2.53	0.00	-0.77	0.116	20486	0.323	0.000	2705	2200	2736	2817	2656	0	0	0	0	0	0	14.64	13.63	14.92
8939	end subsurface finish: CONTROL_FINISHED_OK
state	8939	begin surface