Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 106 * 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 106 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 16 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 280 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 106 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 16 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 280 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 070218,211544,-7415.4189,-11230.8428,0,4126.7,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.100,0.220

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7425.000,-11232.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 330.60 MHEAD_RNG_PITCHd_Wd 128.4,17753,-16.7,-10.000,-24.48,2160

_SM_ANGLEo 2.6 D_GRID 990

GPS2 070218,211544,-7415.4189,-11230.8428,0,4126.7,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 969.0,1.027720,-11 _24V_AH 12.88,50.103

FINISH2 966.7 _10V_AH 12.51,0.000

RAFOS_CLK 244 FG_AHR_24Vo 0.000

RAFOS_FIX -7415.800293,-11230.772461,070218,232346,0,1,0.08 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7411.98,-11233.55,070218,071146 MEM 280128

TT8_MAMPS 0.046438,0.289114 DATA_FILE_SIZE 20097,587

HUMID 42.24 CAP_FILE_SIZE 70439,0

INTERNAL_PRESSURE 7.72648 CFSIZE 1024409600,1007353856

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 SOUNDSPEED 1458.9

ALTIM_TOP_PING 976.1,13.8 GPS 070218,233746,-7415.800,-11230.772,0,1001.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 272 16.05 nil 0 0 0.00

Roll_motor 58 259 193.82 nil 0 0 0.00

VBD_pump_during_apogee 949 1368 16743.36 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 6674 3 336.45

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 19 420 105.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4569 2 132.05

TT8_Active 908 12 139.53

TT8_Sampling 1206 31 479.17

TT8_CF8 53 45 30.22

TT8_Kalman 0 0 0.00

Analog_circuits 1425 10 181.95

GPS_charging 0 0 0.00

Compass 844 7 79.10

RAFOS 0 0 0.00

Transponder 140 30 52.63

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

339.3 11.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

348.5 18.90 9000.00 0.0 0.00 0.00 18.90 0.0 0.80 1.00

357.2 26.10 26.10 0.0 0.82 1.00 26.10 0.0 0.83 1.00

366.0 33.20 33.20 0.0 0.82 1.00 33.20 0.0 0.81 1.00

374.8 40.30 40.30 0.0 0.81 1.00 40.30 0.0 0.81 1.00

383.1 47.30 47.30 0.0 0.82 1.00 47.30 0.0 0.84 1.00

992.4 29.50 9000.00 0.0 -0.02 0.84 29.50 1021.9 -0.03 1.00

984.2 19.60 9000.00 0.0 -0.04 0.87 19.60 964.6 1.21 1.00

976.1 14.60 13.80 962.3 0.92 0.96 14.60 961.5 0.62 1.00

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.94 -146.0 2718 2506 2824 2604 0.0 0.0 0 12 0.00 0.00 -2.10 0.045 16390 0.000 0.000 2718 2505 3322 3457 3187 0 0 0 0 0 0 15.08 13.60 15.09

13 -0.94 -146.0 2718 2506 3455 3190 0.0 0.0 0 20 0.98 2.33 0.00 0.000 4356 0.113 0.149 2394 3748 3322 3450 3194 0 0 0 0 0 0 14.82 14.75 14.89

128 -0.94 -146.0 2395 3749 3439 3204 343.0 -12.3 23 136 0.00 2.28 0.00 0.000 1030 0.000 0.099 2394 2488 3320 3438 3203 0 0 0 0 0 0 14.89 14.82 14.93

433 -0.94 -146.0 2395 2488 3437 3205 381.1 -12.8 54 439 0.00 2.42 0.00 0.000 260 0.000 0.151 2385 3747 3320 3436 3205 0 0 0 0 0 0 15.11 14.75 15.13

468 -0.94 -146.0 2385 3749 3435 3208 385.9 -13.9 61 476 0.00 2.28 0.00 0.000 1030 0.000 0.099 2385 2488 3320 3434 3206 0 0 0 0 0 0 14.87 14.81 14.91

773 -0.94 -146.0 2385 2488 3435 3208 425.2 -13.4 92 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2488 3321 3434 3208 0 0 0 0 0 0 15.11 15.14 15.14

1075 -0.94 -146.0 2385 2488 3434 3208 463.0 -12.8 122 1080 0.00 2.40 0.00 0.000 260 0.000 0.150 2376 3758 3320 3433 3208 0 0 0 0 0 0 15.09 14.77 15.11

1118 -0.94 -146.0 2377 3759 3432 3210 469.0 -13.6 131 1126 0.00 2.30 0.00 0.000 1030 0.000 0.099 2376 2485 3320 3431 3209 0 0 0 0 0 0 14.90 14.83 14.94

1424 -0.94 -146.0 2377 2486 3432 3209 507.6 -12.4 162 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2485 3320 3431 3209 0 0 0 0 0 0 15.11 15.14 15.14

1723 -0.94 -146.0 2376 2485 3432 3209 544.9 -12.4 192 1729 0.00 2.42 0.00 0.000 260 0.000 0.151 2367 3750 3319 3430 3209 0 0 0 0 0 0 15.12 14.76 15.14

1753 -0.94 -146.0 2368 3750 3431 3209 548.9 -13.5 198 1761 0.10 2.25 0.00 0.000 3078 0.253 0.097 2394 2498 3319 3429 3210 0 0 0 0 0 0 14.68 14.83 14.83

2065 -0.94 -146.0 2394 2499 3430 3211 584.9 -11.6 230 2066 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2498 3319 3430 3209 0 0 0 0 0 0 15.11 15.14 15.14

2365 -0.94 -146.0 2394 2499 3430 3210 618.9 -11.4 260 2371 0.00 2.38 0.00 0.000 260 0.000 0.151 2385 3757 3319 3429 3209 0 0 0 0 0 0 15.08 14.77 15.11

2440 -0.94 -146.0 2386 3757 3430 3209 628.1 -12.3 275 2447 0.00 2.28 0.00 0.000 1030 0.000 0.098 2385 2494 3319 3429 3210 0 0 0 0 0 0 14.90 14.83 14.94

2745 -0.94 -146.0 2386 2495 3434 3211 663.4 -11.5 306 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2494 3319 3429 3210 0 0 0 0 0 0 15.11 15.14 15.14

3045 -0.94 -146.0 2386 2494 3430 3209 697.6 -11.3 336 3051 0.00 2.40 0.00 0.000 260 0.000 0.150 2377 3747 3319 3429 3210 0 0 0 0 0 0 15.11 14.74 15.14

3075 -0.94 -146.0 2378 3747 3430 3210 701.2 -12.6 342 3081 0.00 2.25 0.00 0.000 1030 0.000 0.097 2377 2497 3319 3428 3210 0 0 0 0 0 0 14.90 14.83 14.94

3465 -0.94 -146.0 2377 2498 3428 3211 746.1 -11.3 360 3471 0.00 2.40 0.00 0.000 260 0.000 0.151 2368 3749 3319 3428 3210 0 0 0 0 0 0 15.12 14.74 15.15

3495 -0.94 -146.0 2368 3750 3429 3211 749.6 -13.1 366 3501 0.10 2.25 0.00 0.000 3078 0.258 0.098 2395 2498 3319 3428 3210 0 0 0 0 0 0 14.66 14.83 14.81

3885 -0.94 -146.0 2395 2498 3429 3210 789.8 -10.4 384 3891 0.00 2.40 0.00 0.000 260 0.000 0.151 2386 3752 3319 3428 3210 0 0 0 0 0 0 15.13 14.75 15.16

3925 -0.94 -146.0 2386 3752 3429 3210 794.0 -11.4 392 3931 0.00 2.28 0.00 0.000 1030 0.000 0.098 2386 2491 3319 3428 3210 0 0 0 0 0 0 14.90 14.83 14.93

4307 -0.94 -146.0 2387 2490 3429 3208 835.0 -10.5 408 4311 0.00 2.38 0.00 0.000 260 0.000 0.150 2378 3753 3319 3428 3211 0 0 0 0 0 0 15.10 14.78 15.12

4350 -0.94 -146.0 2377 3754 3429 3212 839.7 -11.5 417 4357 0.00 2.28 0.00 0.000 1030 0.000 0.099 2378 2490 3319 3428 3210 0 0 0 0 0 0 14.90 14.83 14.94

4727 -0.94 -146.0 2378 2491 3429 3211 881.6 -11.0 432 4732 0.00 2.38 0.00 0.000 260 0.000 0.150 2369 3758 3319 3428 3211 0 0 0 0 0 0 15.13 14.77 15.16

4756 -0.94 -146.0 2369 3759 3429 3212 884.9 -10.5 438 4762 0.00 2.28 0.00 0.000 1030 0.000 0.098 2369 2494 3319 3428 3211 0 0 0 0 0 0 14.91 14.83 14.95

5147 -0.94 -146.0 2369 2495 3428 3212 929.7 -11.5 456 5148 0.00 0.00 0.00 0.000 6 0.000 0.000 2369 2494 3319 3428 3211 0 0 0 0 0 0 15.13 15.16 15.16

5507 -0.94 -146.0 2369 2495 3429 3213 969.8 -11.2 468 5512 0.00 2.40 0.00 0.000 260 0.000 0.150 2360 3749 3319 3428 3211 0 0 0 0 0 0 15.14 14.75 15.16

5591 -0.94 -146.0 2360 3749 3428 3212 980.3 -12.2 485 5600 0.12 2.25 0.00 0.000 3078 0.272 0.097 2392 2497 3319 3428 3211 0 0 0 0 0 0 14.64 14.83 14.81

5686 end dive: TARGET_DEPTH_EXCEEDED

state 5686 begin apogee

5690 -0.23 0.0 2393 2183 3429 3211 990.4 -10.4 489 6270 0.85 0.05 575.20 1.183 10246 0.230 0.259 2625 2199 2716 2773 2659 0 0 0 0 0 0 14.67 13.64 13.21

6271 end apogee: CONTROL_FINISHED_OK

state 6271 begin climb

6272 0.94 146.0 2626 2198 2770 2657 1005.0 0.0 508 6655 1.25 0.00 374.65 1.369 10498 0.133 0.000 2995 2198 2208 2248 2169 0 0 0 0 0 0 13.70 28.83 13.78

6655 end climb: SURFACE_OBSTACLE_DETECTED

state 6655 begin subsurface finish

6658 -0.01 -11.1 2996 2198 2243 2164 969.0 13.5 586 6666 1.17 2.95 -1.20 0.090 20740 0.234 0.162 2700 3617 2787 2888 2686 0 0 0 0 0 0 13.54 12.88 13.66

6666 end subsurface finish: CONTROL_FINISHED_OK

state 6666 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	106	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	16	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	280	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	070218,211544,-7415.4189,-11230.8428,0,4126.7,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.100,0.220
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7425.000,-11232.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	330.60	MHEAD_RNG_PITCHd_Wd	128.4,17753,-16.7,-10.000,-24.48,2160
_SM_ANGLEo	2.6	D_GRID	990
GPS2	070218,211544,-7415.4189,-11230.8428,0,4126.7,0,53.5,0.0,0.0,0,0.0

FINISH1	969.0,1.027720,-11	_24V_AH	12.88,50.103
FINISH2	966.7	_10V_AH	12.51,0.000
RAFOS_CLK	244	FG_AHR_24Vo	0.000
RAFOS_FIX	-7415.800293,-11230.772461,070218,232346,0,1,0.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7411.98,-11233.55,070218,071146	MEM	280128
TT8_MAMPS	0.046438,0.289114	DATA_FILE_SIZE	20097,587
HUMID	42.24	CAP_FILE_SIZE	70439,0
INTERNAL_PRESSURE	7.72648	CFSIZE	1024409600,1007353856
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	SOUNDSPEED	1458.9
ALTIM_TOP_PING	976.1,13.8	GPS	070218,233746,-7415.800,-11230.772,0,1001.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	272	16.05	nil	0	0	0.00
Roll_motor	58	259	193.82	nil	0	0	0.00
VBD_pump_during_apogee	949	1368	16743.36	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	6674	3	336.45
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	19	420	105.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4569	2	132.05
TT8_Active	908	12	139.53
TT8_Sampling	1206	31	479.17
TT8_CF8	53	45	30.22
TT8_Kalman	0	0	0.00
Analog_circuits	1425	10	181.95
GPS_charging	0	0	0.00
Compass	844	7	79.10
RAFOS	0	0	0.00
Transponder	140	30	52.63

		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
339.3	11.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
348.5	18.90	9000.00	0.0	0.00	0.00	18.90	0.0	0.80	1.00
357.2	26.10	26.10	0.0	0.82	1.00	26.10	0.0	0.83	1.00
366.0	33.20	33.20	0.0	0.82	1.00	33.20	0.0	0.81	1.00
374.8	40.30	40.30	0.0	0.81	1.00	40.30	0.0	0.81	1.00
383.1	47.30	47.30	0.0	0.82	1.00	47.30	0.0	0.84	1.00
992.4	29.50	9000.00	0.0	-0.02	0.84	29.50	1021.9	-0.03	1.00

984.2	19.60	9000.00	0.0	-0.04	0.87	19.60	964.6	1.21	1.00
976.1	14.60	13.80	962.3	0.92	0.96	14.60	961.5	0.62	1.00

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.94	-146.0	2718	2506	2824	2604	0.0	0.0	0	12	0.00	0.00	-2.10	0.045	16390	0.000	0.000	2718	2505	3322	3457	3187	0	0	0	0	0	0	15.08	13.60	15.09
13	-0.94	-146.0	2718	2506	3455	3190	0.0	0.0	0	20	0.98	2.33	0.00	0.000	4356	0.113	0.149	2394	3748	3322	3450	3194	0	0	0	0	0	0	14.82	14.75	14.89
128	-0.94	-146.0	2395	3749	3439	3204	343.0	-12.3	23	136	0.00	2.28	0.00	0.000	1030	0.000	0.099	2394	2488	3320	3438	3203	0	0	0	0	0	0	14.89	14.82	14.93
433	-0.94	-146.0	2395	2488	3437	3205	381.1	-12.8	54	439	0.00	2.42	0.00	0.000	260	0.000	0.151	2385	3747	3320	3436	3205	0	0	0	0	0	0	15.11	14.75	15.13
468	-0.94	-146.0	2385	3749	3435	3208	385.9	-13.9	61	476	0.00	2.28	0.00	0.000	1030	0.000	0.099	2385	2488	3320	3434	3206	0	0	0	0	0	0	14.87	14.81	14.91
773	-0.94	-146.0	2385	2488	3435	3208	425.2	-13.4	92	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2488	3321	3434	3208	0	0	0	0	0	0	15.11	15.14	15.14
1075	-0.94	-146.0	2385	2488	3434	3208	463.0	-12.8	122	1080	0.00	2.40	0.00	0.000	260	0.000	0.150	2376	3758	3320	3433	3208	0	0	0	0	0	0	15.09	14.77	15.11
1118	-0.94	-146.0	2377	3759	3432	3210	469.0	-13.6	131	1126	0.00	2.30	0.00	0.000	1030	0.000	0.099	2376	2485	3320	3431	3209	0	0	0	0	0	0	14.90	14.83	14.94
1424	-0.94	-146.0	2377	2486	3432	3209	507.6	-12.4	162	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2485	3320	3431	3209	0	0	0	0	0	0	15.11	15.14	15.14
1723	-0.94	-146.0	2376	2485	3432	3209	544.9	-12.4	192	1729	0.00	2.42	0.00	0.000	260	0.000	0.151	2367	3750	3319	3430	3209	0	0	0	0	0	0	15.12	14.76	15.14
1753	-0.94	-146.0	2368	3750	3431	3209	548.9	-13.5	198	1761	0.10	2.25	0.00	0.000	3078	0.253	0.097	2394	2498	3319	3429	3210	0	0	0	0	0	0	14.68	14.83	14.83
2065	-0.94	-146.0	2394	2499	3430	3211	584.9	-11.6	230	2066	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2498	3319	3430	3209	0	0	0	0	0	0	15.11	15.14	15.14
2365	-0.94	-146.0	2394	2499	3430	3210	618.9	-11.4	260	2371	0.00	2.38	0.00	0.000	260	0.000	0.151	2385	3757	3319	3429	3209	0	0	0	0	0	0	15.08	14.77	15.11
2440	-0.94	-146.0	2386	3757	3430	3209	628.1	-12.3	275	2447	0.00	2.28	0.00	0.000	1030	0.000	0.098	2385	2494	3319	3429	3210	0	0	0	0	0	0	14.90	14.83	14.94
2745	-0.94	-146.0	2386	2495	3434	3211	663.4	-11.5	306	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2494	3319	3429	3210	0	0	0	0	0	0	15.11	15.14	15.14
3045	-0.94	-146.0	2386	2494	3430	3209	697.6	-11.3	336	3051	0.00	2.40	0.00	0.000	260	0.000	0.150	2377	3747	3319	3429	3210	0	0	0	0	0	0	15.11	14.74	15.14
3075	-0.94	-146.0	2378	3747	3430	3210	701.2	-12.6	342	3081	0.00	2.25	0.00	0.000	1030	0.000	0.097	2377	2497	3319	3428	3210	0	0	0	0	0	0	14.90	14.83	14.94
3465	-0.94	-146.0	2377	2498	3428	3211	746.1	-11.3	360	3471	0.00	2.40	0.00	0.000	260	0.000	0.151	2368	3749	3319	3428	3210	0	0	0	0	0	0	15.12	14.74	15.15
3495	-0.94	-146.0	2368	3750	3429	3211	749.6	-13.1	366	3501	0.10	2.25	0.00	0.000	3078	0.258	0.098	2395	2498	3319	3428	3210	0	0	0	0	0	0	14.66	14.83	14.81
3885	-0.94	-146.0	2395	2498	3429	3210	789.8	-10.4	384	3891	0.00	2.40	0.00	0.000	260	0.000	0.151	2386	3752	3319	3428	3210	0	0	0	0	0	0	15.13	14.75	15.16
3925	-0.94	-146.0	2386	3752	3429	3210	794.0	-11.4	392	3931	0.00	2.28	0.00	0.000	1030	0.000	0.098	2386	2491	3319	3428	3210	0	0	0	0	0	0	14.90	14.83	14.93
4307	-0.94	-146.0	2387	2490	3429	3208	835.0	-10.5	408	4311	0.00	2.38	0.00	0.000	260	0.000	0.150	2378	3753	3319	3428	3211	0	0	0	0	0	0	15.10	14.78	15.12
4350	-0.94	-146.0	2377	3754	3429	3212	839.7	-11.5	417	4357	0.00	2.28	0.00	0.000	1030	0.000	0.099	2378	2490	3319	3428	3210	0	0	0	0	0	0	14.90	14.83	14.94
4727	-0.94	-146.0	2378	2491	3429	3211	881.6	-11.0	432	4732	0.00	2.38	0.00	0.000	260	0.000	0.150	2369	3758	3319	3428	3211	0	0	0	0	0	0	15.13	14.77	15.16
4756	-0.94	-146.0	2369	3759	3429	3212	884.9	-10.5	438	4762	0.00	2.28	0.00	0.000	1030	0.000	0.098	2369	2494	3319	3428	3211	0	0	0	0	0	0	14.91	14.83	14.95
5147	-0.94	-146.0	2369	2495	3428	3212	929.7	-11.5	456	5148	0.00	0.00	0.00	0.000	6	0.000	0.000	2369	2494	3319	3428	3211	0	0	0	0	0	0	15.13	15.16	15.16
5507	-0.94	-146.0	2369	2495	3429	3213	969.8	-11.2	468	5512	0.00	2.40	0.00	0.000	260	0.000	0.150	2360	3749	3319	3428	3211	0	0	0	0	0	0	15.14	14.75	15.16
5591	-0.94	-146.0	2360	3749	3428	3212	980.3	-12.2	485	5600	0.12	2.25	0.00	0.000	3078	0.272	0.097	2392	2497	3319	3428	3211	0	0	0	0	0	0	14.64	14.83	14.81
5686	end dive: TARGET_DEPTH_EXCEEDED
state	5686	begin apogee
5690	-0.23	0.0	2393	2183	3429	3211	990.4	-10.4	489	6270	0.85	0.05	575.20	1.183	10246	0.230	0.259	2625	2199	2716	2773	2659	0	0	0	0	0	0	14.67	13.64	13.21
6271	end apogee: CONTROL_FINISHED_OK
state	6271	begin climb
6272	0.94	146.0	2626	2198	2770	2657	1005.0	0.0	508	6655	1.25	0.00	374.65	1.369	10498	0.133	0.000	2995	2198	2208	2248	2169	0	0	0	0	0	0	13.70	28.83	13.78
6655	end climb: SURFACE_OBSTACLE_DETECTED
state	6655	begin subsurface finish
6658	-0.01	-11.1	2996	2198	2243	2164	969.0	13.5	586	6666	1.17	2.95	-1.20	0.090	20740	0.234	0.162	2700	3617	2787	2888	2686	0	0	0	0	0	0	13.54	12.88	13.66
6666	end subsurface finish: CONTROL_FINISHED_OK
state	6666	begin surface