Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 143 * 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 143 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 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 15 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 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 350 UPLOAD_DIVES_MAX 3 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 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 6 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 350

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 390

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 200

C_VBD 2715 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

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 143 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 12 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 120218,061528,-7417.9536,-11227.5576,0,4130.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7438.000,-11235.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 346.39 MHEAD_RNG_PITCHd_Wd 132.1,37305,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 2.5 D_GRID 990

GPS2 120218,061528,-7417.9536,-11227.5576,0,4130.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 950.7,1.027720,-11 _24V_AH 13.02,63.833

FINISH2 949.6 _10V_AH 12.46,0.000

RAFOS_CLK 267 FG_AHR_24Vo 0.000

RAFOS_FIX -7418.456055,-11227.451172,120218,080840,0,1,0.10 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7412.77,-11226.25,110218,141555 MEM 280004

TT8_MAMPS 0.047187,0.294357 DATA_FILE_SIZE 20090,620

HUMID 42.36 CAP_FILE_SIZE 75371,0

INTERNAL_PRESSURE 7.72648 CFSIZE 1024409600,1003388928

TCM_TEMP 14.20 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 962.0,17.9 GPS 120218,085740,-7418.456,-11227.451,0,1001.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 263 14.65 nil 0 0 0.00

Roll_motor 59 154 119.06 nil 0 0 0.00

VBD_pump_during_apogee 1001 1358 17712.93 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 7272 2 276.38

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 26 420 142.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5046 2 145.25

TT8_Active 939 12 143.69

TT8_Sampling 1289 31 509.84

TT8_CF8 64 45 36.29

TT8_Kalman 0 0 0.00

Analog_circuits 1485 10 188.84

GPS_charging 0 0 0.00

Compass 891 7 83.17

RAFOS 0 0 0.00

Transponder 184 30 69.10

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

352.6 11.50 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

359.0 17.60 9000.00 0.0 0.00 0.00 17.60 0.0 0.95 1.00

365.4 23.60 23.60 0.0 0.95 1.00 23.60 0.0 0.94 1.00

371.8 29.50 29.50 0.0 0.94 1.00 29.50 0.0 0.92 1.00

378.2 35.50 35.50 0.0 0.93 1.00 35.50 0.0 0.94 1.00

384.8 41.80 41.80 0.0 0.95 1.00 41.80 0.0 0.95 1.00

397.6 53.30 53.40 0.0 0.92 1.00 53.30 0.0 0.90 1.00

404.1 59.50 59.40 0.0 0.91 1.00 59.50 0.0 0.95 1.00

417.0 71.00 71.10 0.0 0.91 1.00 71.00 0.0 0.89 1.00

423.9 77.00 77.00 0.0 0.89 1.00 77.00 0.0 0.87 1.00

992.7 25.40 9000.00 0.0 -0.08 0.99 25.40 1018.1 -0.09 1.00

986.5 15.00 9000.00 0.0 -0.10 0.97 15.00 971.5 1.68 1.00

980.4 21.20 9000.00 0.0 0.35 0.17 21.20 0.0 -1.02 1.00

974.3 28.20 28.10 0.0 -1.08 1.00 28.20 0.0 -1.15 1.00

968.0 24.40 9000.00 0.0 -0.26 0.21 24.40 943.6 0.60 1.00

962.0 17.30 17.90 944.1 0.88 0.96 17.30 944.7 1.18 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 -0.88 -146.0 2717 2509 2831 2606 0.0 0.0 0 11 0.00 0.00 -2.05 0.046 16390 0.000 0.000 2716 2508 3328 3465 3192 0 0 0 0 0 0 15.09 13.47 15.09

13 -0.88 -146.0 2717 2508 3462 3194 0.0 0.0 0 19 0.90 2.35 0.00 0.000 4356 0.112 0.152 2418 3756 3327 3456 3199 0 0 0 0 0 0 14.80 14.71 14.88

119 -0.88 -146.0 2419 3757 3446 3210 356.2 -10.6 21 127 0.00 2.25 0.00 0.000 1030 0.000 0.102 2419 2488 3327 3445 3209 0 0 0 0 0 0 14.94 14.81 14.97

423 -0.88 -146.0 2419 2489 3443 3211 389.0 -10.8 52 424 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2488 3326 3442 3210 0 0 0 0 0 0 15.11 15.15 15.14

723 -0.88 -146.0 2419 2487 3442 3212 421.5 -11.4 82 724 0.00 0.00 0.00 0.000 6 0.000 0.000 2418 2488 3326 3441 3211 0 0 0 0 0 0 15.12 15.15 15.15

1023 -0.88 -146.0 2419 2488 3442 3212 454.5 -10.5 112 1029 0.00 2.45 0.00 0.000 260 0.000 0.155 2410 3750 3325 3440 3211 0 0 0 0 0 0 15.13 14.71 15.16

1083 -0.88 -146.0 2410 3751 3438 3215 461.2 -11.2 124 1090 0.00 2.28 0.00 0.000 1030 0.000 0.098 2410 2488 3325 3437 3214 0 0 0 0 0 0 14.88 14.81 14.92

1394 -0.88 -146.0 2410 2489 3438 3214 495.7 -10.9 156 1400 0.00 2.45 0.00 0.000 260 0.000 0.153 2402 3751 3325 3437 3214 0 0 0 0 0 0 15.13 14.71 15.15

1424 -0.88 -146.0 2402 3751 3437 3214 499.1 -11.2 162 1430 0.00 2.28 0.00 0.000 1030 0.000 0.098 2401 2492 3325 3436 3214 0 0 0 0 0 0 14.88 14.80 14.92

1734 -0.88 -146.0 2402 2492 3437 3214 534.3 -11.1 194 1740 0.00 2.42 0.00 0.000 260 0.000 0.152 2393 3752 3325 3436 3214 0 0 0 0 0 0 15.12 14.70 15.15

1789 -0.88 -146.0 2393 3752 3436 3215 540.8 -12.1 205 1797 0.00 2.28 0.00 0.000 1030 0.000 0.098 2393 2493 3324 3435 3214 0 0 0 0 0 0 14.86 14.79 14.91

2094 -0.88 -146.0 2393 2492 3437 3214 575.4 -11.4 236 2100 0.00 2.42 0.00 0.000 260 0.000 0.153 2384 3750 3324 3435 3214 0 0 0 0 0 0 15.12 14.69 15.15

2124 -0.88 -146.0 2384 3750 3435 3215 578.9 -12.1 242 2130 0.10 2.28 0.00 0.000 3078 0.259 0.098 2411 2491 3324 3435 3214 0 0 0 0 0 0 14.59 14.79 14.76

2434 -0.88 -146.0 2412 2492 3436 3215 611.7 -10.4 274 2435 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2491 3324 3435 3214 0 0 0 0 0 0 15.14 15.14 15.14

2734 -0.88 -146.0 2412 2492 3436 3215 642.9 -10.3 304 2740 0.00 2.45 0.00 0.000 260 0.000 0.152 2402 3756 3324 3434 3214 0 0 0 0 0 0 15.13 14.69 15.15

2769 -0.88 -146.0 2403 3756 3435 3216 646.7 -11.0 311 2776 0.00 2.28 0.00 0.000 1030 0.000 0.099 2402 2497 3324 3435 3214 0 0 0 0 0 0 14.85 14.78 14.90

3074 -0.88 -146.0 2403 2497 3436 3214 679.2 -10.6 342 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2497 3324 3434 3214 0 0 0 0 0 0 15.11 15.15 15.14

3394 -0.88 -146.0 2403 2497 3435 3215 712.6 -10.4 366 3400 0.00 2.42 0.00 0.000 260 0.000 0.154 2394 3753 3324 3434 3214 0 0 0 0 0 0 15.13 14.69 15.15

3439 -0.88 -146.0 2394 3754 3435 3216 717.6 -11.3 375 3445 0.00 2.28 0.00 0.000 1030 0.000 0.098 2394 2496 3324 3434 3214 0 0 0 0 0 0 14.86 14.80 14.90

3814 -0.88 -146.0 2394 2496 3435 3215 756.8 -10.3 390 3820 0.00 2.42 0.00 0.000 260 0.000 0.154 2385 3749 3324 3434 3215 0 0 0 0 0 0 15.14 14.69 15.16

3849 -0.88 -146.0 2386 3749 3435 3215 760.4 -11.3 397 3856 0.10 2.28 0.00 0.000 3078 0.263 0.097 2412 2489 3324 3434 3215 0 0 0 0 0 0 14.58 14.79 14.76

4235 -0.88 -146.0 2412 2490 3435 3216 799.3 -10.0 414 4236 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2489 3324 3433 3215 0 0 0 0 0 0 15.14 15.16 15.16

4596 -0.88 -146.0 2412 2489 3435 3216 833.9 -9.5 426 4601 0.00 2.40 0.00 0.000 260 0.000 0.152 2404 3755 3324 3434 3215 0 0 0 0 0 0 15.14 14.71 15.17

4635 -0.88 -146.0 2404 3756 3434 3216 837.9 -10.2 434 4641 0.00 2.28 0.00 0.000 1030 0.000 0.098 2403 2497 3324 3434 3215 0 0 0 0 0 0 14.87 14.79 14.91

5017 -0.88 -146.0 2404 2497 3435 3216 875.2 -9.7 450 5018 0.00 0.00 0.00 0.000 6 0.000 0.000 2404 2497 3325 3434 3216 0 0 0 0 0 0 15.10 15.13 15.12

5376 -0.88 -146.0 2404 2497 3435 3216 910.7 -10.1 462 5377 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2497 3324 3434 3215 0 0 0 0 0 0 15.10 15.13 15.13

5737 -0.88 -146.0 2404 2497 3434 3216 947.0 -10.0 474 5742 0.00 2.40 0.00 0.000 260 0.000 0.153 2394 3761 3323 3431 3216 0 0 0 0 0 0 15.11 14.72 15.13

5797 -0.88 -146.0 2394 3761 3435 3216 953.3 -10.1 486 5802 0.00 2.25 0.00 0.000 1030 0.000 0.096 2394 2489 3324 3434 3215 0 0 0 0 0 0 14.95 14.83 14.98

6186 end dive: TARGET_DEPTH_EXCEEDED

state 6186 begin apogee

6189 -0.23 0.0 2395 2189 3434 3217 991.0 -9.7 504 6759 0.85 0.00 564.75 1.170 10246 0.233 0.000 2626 2188 2715 2772 2658 0 0 0 0 0 0 14.64 13.76 13.22

6761 end apogee: CONTROL_FINISHED_OK

state 6761 begin climb

6762 0.88 146.0 2626 2189 2770 2657 1001.3 0.0 523 7211 1.20 2.83 436.58 1.359 11012 0.134 0.124 2991 791 2117 2152 2083 0 0 0 0 0 0 13.72 13.53 13.08

7249 end climb: SURFACE_OBSTACLE_DETECTED

state 7249 begin subsurface finish

7255 -0.01 -11.1 2992 2210 2142 2074 950.7 14.2 619 7262 1.12 2.83 -1.40 0.079 20996 0.227 0.144 2710 799 2786 2902 2671 0 0 0 0 0 0 13.74 13.02 13.86

7263 end subsurface finish: CONTROL_FINISHED_OK

state 7263 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	143	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	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	15	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	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	350	UPLOAD_DIVES_MAX	3	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	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	120218,061528,-7417.9536,-11227.5576,0,4130.3,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7438.000,-11235.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	346.39	MHEAD_RNG_PITCHd_Wd	132.1,37305,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	2.5	D_GRID	990
GPS2	120218,061528,-7417.9536,-11227.5576,0,4130.3,0,53.5,0.0,0.0,0,0.0

FINISH1	950.7,1.027720,-11	_24V_AH	13.02,63.833
FINISH2	949.6	_10V_AH	12.46,0.000
RAFOS_CLK	267	FG_AHR_24Vo	0.000
RAFOS_FIX	-7418.456055,-11227.451172,120218,080840,0,1,0.10	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	MEM	280004
TT8_MAMPS	0.047187,0.294357	DATA_FILE_SIZE	20090,620
HUMID	42.36	CAP_FILE_SIZE	75371,0
INTERNAL_PRESSURE	7.72648	CFSIZE	1024409600,1003388928
TCM_TEMP	14.20	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	962.0,17.9	GPS	120218,085740,-7418.456,-11227.451,0,1001.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	263	14.65	nil	0	0	0.00
Roll_motor	59	154	119.06	nil	0	0	0.00
VBD_pump_during_apogee	1001	1358	17712.93	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	7272	2	276.38
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	26	420	142.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5046	2	145.25
TT8_Active	939	12	143.69
TT8_Sampling	1289	31	509.84
TT8_CF8	64	45	36.29
TT8_Kalman	0	0	0.00
Analog_circuits	1485	10	188.84
GPS_charging	0	0	0.00
Compass	891	7	83.17
RAFOS	0	0	0.00
Transponder	184	30	69.10

		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
352.6	11.50	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
359.0	17.60	9000.00	0.0	0.00	0.00	17.60	0.0	0.95	1.00
365.4	23.60	23.60	0.0	0.95	1.00	23.60	0.0	0.94	1.00
371.8	29.50	29.50	0.0	0.94	1.00	29.50	0.0	0.92	1.00
378.2	35.50	35.50	0.0	0.93	1.00	35.50	0.0	0.94	1.00
384.8	41.80	41.80	0.0	0.95	1.00	41.80	0.0	0.95	1.00
397.6	53.30	53.40	0.0	0.92	1.00	53.30	0.0	0.90	1.00
404.1	59.50	59.40	0.0	0.91	1.00	59.50	0.0	0.95	1.00
417.0	71.00	71.10	0.0	0.91	1.00	71.00	0.0	0.89	1.00
423.9	77.00	77.00	0.0	0.89	1.00	77.00	0.0	0.87	1.00
992.7	25.40	9000.00	0.0	-0.08	0.99	25.40	1018.1	-0.09	1.00

986.5	15.00	9000.00	0.0	-0.10	0.97	15.00	971.5	1.68	1.00
980.4	21.20	9000.00	0.0	0.35	0.17	21.20	0.0	-1.02	1.00
974.3	28.20	28.10	0.0	-1.08	1.00	28.20	0.0	-1.15	1.00
968.0	24.40	9000.00	0.0	-0.26	0.21	24.40	943.6	0.60	1.00
962.0	17.30	17.90	944.1	0.88	0.96	17.30	944.7	1.18	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	-0.88	-146.0	2717	2509	2831	2606	0.0	0.0	0	11	0.00	0.00	-2.05	0.046	16390	0.000	0.000	2716	2508	3328	3465	3192	0	0	0	0	0	0	15.09	13.47	15.09
13	-0.88	-146.0	2717	2508	3462	3194	0.0	0.0	0	19	0.90	2.35	0.00	0.000	4356	0.112	0.152	2418	3756	3327	3456	3199	0	0	0	0	0	0	14.80	14.71	14.88
119	-0.88	-146.0	2419	3757	3446	3210	356.2	-10.6	21	127	0.00	2.25	0.00	0.000	1030	0.000	0.102	2419	2488	3327	3445	3209	0	0	0	0	0	0	14.94	14.81	14.97
423	-0.88	-146.0	2419	2489	3443	3211	389.0	-10.8	52	424	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2488	3326	3442	3210	0	0	0	0	0	0	15.11	15.15	15.14
723	-0.88	-146.0	2419	2487	3442	3212	421.5	-11.4	82	724	0.00	0.00	0.00	0.000	6	0.000	0.000	2418	2488	3326	3441	3211	0	0	0	0	0	0	15.12	15.15	15.15
1023	-0.88	-146.0	2419	2488	3442	3212	454.5	-10.5	112	1029	0.00	2.45	0.00	0.000	260	0.000	0.155	2410	3750	3325	3440	3211	0	0	0	0	0	0	15.13	14.71	15.16
1083	-0.88	-146.0	2410	3751	3438	3215	461.2	-11.2	124	1090	0.00	2.28	0.00	0.000	1030	0.000	0.098	2410	2488	3325	3437	3214	0	0	0	0	0	0	14.88	14.81	14.92
1394	-0.88	-146.0	2410	2489	3438	3214	495.7	-10.9	156	1400	0.00	2.45	0.00	0.000	260	0.000	0.153	2402	3751	3325	3437	3214	0	0	0	0	0	0	15.13	14.71	15.15
1424	-0.88	-146.0	2402	3751	3437	3214	499.1	-11.2	162	1430	0.00	2.28	0.00	0.000	1030	0.000	0.098	2401	2492	3325	3436	3214	0	0	0	0	0	0	14.88	14.80	14.92
1734	-0.88	-146.0	2402	2492	3437	3214	534.3	-11.1	194	1740	0.00	2.42	0.00	0.000	260	0.000	0.152	2393	3752	3325	3436	3214	0	0	0	0	0	0	15.12	14.70	15.15
1789	-0.88	-146.0	2393	3752	3436	3215	540.8	-12.1	205	1797	0.00	2.28	0.00	0.000	1030	0.000	0.098	2393	2493	3324	3435	3214	0	0	0	0	0	0	14.86	14.79	14.91
2094	-0.88	-146.0	2393	2492	3437	3214	575.4	-11.4	236	2100	0.00	2.42	0.00	0.000	260	0.000	0.153	2384	3750	3324	3435	3214	0	0	0	0	0	0	15.12	14.69	15.15
2124	-0.88	-146.0	2384	3750	3435	3215	578.9	-12.1	242	2130	0.10	2.28	0.00	0.000	3078	0.259	0.098	2411	2491	3324	3435	3214	0	0	0	0	0	0	14.59	14.79	14.76
2434	-0.88	-146.0	2412	2492	3436	3215	611.7	-10.4	274	2435	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2491	3324	3435	3214	0	0	0	0	0	0	15.14	15.14	15.14
2734	-0.88	-146.0	2412	2492	3436	3215	642.9	-10.3	304	2740	0.00	2.45	0.00	0.000	260	0.000	0.152	2402	3756	3324	3434	3214	0	0	0	0	0	0	15.13	14.69	15.15
2769	-0.88	-146.0	2403	3756	3435	3216	646.7	-11.0	311	2776	0.00	2.28	0.00	0.000	1030	0.000	0.099	2402	2497	3324	3435	3214	0	0	0	0	0	0	14.85	14.78	14.90
3074	-0.88	-146.0	2403	2497	3436	3214	679.2	-10.6	342	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2497	3324	3434	3214	0	0	0	0	0	0	15.11	15.15	15.14
3394	-0.88	-146.0	2403	2497	3435	3215	712.6	-10.4	366	3400	0.00	2.42	0.00	0.000	260	0.000	0.154	2394	3753	3324	3434	3214	0	0	0	0	0	0	15.13	14.69	15.15
3439	-0.88	-146.0	2394	3754	3435	3216	717.6	-11.3	375	3445	0.00	2.28	0.00	0.000	1030	0.000	0.098	2394	2496	3324	3434	3214	0	0	0	0	0	0	14.86	14.80	14.90
3814	-0.88	-146.0	2394	2496	3435	3215	756.8	-10.3	390	3820	0.00	2.42	0.00	0.000	260	0.000	0.154	2385	3749	3324	3434	3215	0	0	0	0	0	0	15.14	14.69	15.16
3849	-0.88	-146.0	2386	3749	3435	3215	760.4	-11.3	397	3856	0.10	2.28	0.00	0.000	3078	0.263	0.097	2412	2489	3324	3434	3215	0	0	0	0	0	0	14.58	14.79	14.76
4235	-0.88	-146.0	2412	2490	3435	3216	799.3	-10.0	414	4236	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2489	3324	3433	3215	0	0	0	0	0	0	15.14	15.16	15.16
4596	-0.88	-146.0	2412	2489	3435	3216	833.9	-9.5	426	4601	0.00	2.40	0.00	0.000	260	0.000	0.152	2404	3755	3324	3434	3215	0	0	0	0	0	0	15.14	14.71	15.17
4635	-0.88	-146.0	2404	3756	3434	3216	837.9	-10.2	434	4641	0.00	2.28	0.00	0.000	1030	0.000	0.098	2403	2497	3324	3434	3215	0	0	0	0	0	0	14.87	14.79	14.91
5017	-0.88	-146.0	2404	2497	3435	3216	875.2	-9.7	450	5018	0.00	0.00	0.00	0.000	6	0.000	0.000	2404	2497	3325	3434	3216	0	0	0	0	0	0	15.10	15.13	15.12
5376	-0.88	-146.0	2404	2497	3435	3216	910.7	-10.1	462	5377	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2497	3324	3434	3215	0	0	0	0	0	0	15.10	15.13	15.13
5737	-0.88	-146.0	2404	2497	3434	3216	947.0	-10.0	474	5742	0.00	2.40	0.00	0.000	260	0.000	0.153	2394	3761	3323	3431	3216	0	0	0	0	0	0	15.11	14.72	15.13
5797	-0.88	-146.0	2394	3761	3435	3216	953.3	-10.1	486	5802	0.00	2.25	0.00	0.000	1030	0.000	0.096	2394	2489	3324	3434	3215	0	0	0	0	0	0	14.95	14.83	14.98
6186	end dive: TARGET_DEPTH_EXCEEDED
state	6186	begin apogee
6189	-0.23	0.0	2395	2189	3434	3217	991.0	-9.7	504	6759	0.85	0.00	564.75	1.170	10246	0.233	0.000	2626	2188	2715	2772	2658	0	0	0	0	0	0	14.64	13.76	13.22
6761	end apogee: CONTROL_FINISHED_OK
state	6761	begin climb
6762	0.88	146.0	2626	2189	2770	2657	1001.3	0.0	523	7211	1.20	2.83	436.58	1.359	11012	0.134	0.124	2991	791	2117	2152	2083	0	0	0	0	0	0	13.72	13.53	13.08
7249	end climb: SURFACE_OBSTACLE_DETECTED
state	7249	begin subsurface finish
7255	-0.01	-11.1	2992	2210	2142	2074	950.7	14.2	619	7262	1.12	2.83	-1.40	0.079	20996	0.227	0.144	2710	799	2786	2902	2671	0	0	0	0	0	0	13.74	13.02	13.86
7263	end subsurface finish: CONTROL_FINISHED_OK
state	7263	begin surface