Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 151 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 151 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 6

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 38 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 350 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 15 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 280 FILEMGR 2 VBD_MIN 500 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2782 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 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 400 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 400 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 225 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2800 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-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 350

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 3880 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 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 15

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 350

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 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 223 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 0.25 RAFOS_DEVICE 32 T_RSLEEP 10

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2800 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2782 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 3

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_DBDW 400 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 400 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 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 1

DIVE 151 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 0 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 280 MISSION 5 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 -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 150218,204256,-7412.9976,-11213.0752,0,1001.0,0,53.3,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.270

_CALLS 1 TGT_NAME inside0

_XMS_NAKs 0 TGT_LATLONG -7427.000,-11215.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 899.77 MHEAD_RNG_PITCHd_Wd 128.8,25949,-16.5,-9.429,-19.22,2384

_SM_ANGLEo -4.3 D_GRID 990

GPS2 150218,204256,-7412.9976,-11213.0752,0,1001.0,0,53.3,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 899.0,1.027731,-12 _24V_AH 12.85,64.740

FINISH2 899.0 _10V_AH 12.60,0.000

RAFOS_CLK 449 FG_AHR_24Vo 0.000

RAFOS 0,1518728476,21.032778,21.021111,130,65,58,56,55,54,448,192,201,149,174,223 FG_AHR_10Vo 0.000

RAFOS_FIX -7413.258789,-11212.853516,150218,212144,3,95,0.25 MEM 280048

IRIDIUM_FIX -7412.42,-11208.63,140218,203555 DATA_FILE_SIZE 29981,982

TT8_MAMPS 0.047936,0.27713 CAP_FILE_SIZE 97261,11

HUMID 44.68 CFSIZE 1024409600,1002225664

INTERNAL_PRESSURE 8.31672 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.90 SOUNDSPEED 1465.4

XPDR_PINGS 0 GPS 150218,211544,-7413.259,-11212.854,0,4094.7,0,53.3,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 256 14.49 nil 0 0 0.00

Roll_motor 73 113 108.10 nil 0 0 0.00

VBD_pump_during_apogee 501 1662 10711.54 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 12249 3 598.43

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.70 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 9804 2 285.38

TT8_Active 573 13 99.87

TT8_Sampling 1864 34 817.30

TT8_CF8 72 52 47.99

TT8_Kalman 0 0 0.00

Analog_circuits 1282 10 176.18

GPS_charging 0 0 0.00

Compass 1401 7 132.28

RAFOS 1200 1 22.68

Transponder 4 30 1.72

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

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 -0.93 -146.0 2801 2303 2866 2798 0.0 0.0 0 10 0.00 0.00 -1.27 0.073 16390 0.000 0.000 2801 2300 3402 3431 3373 0 0 0 0 0 0 14.16 13.14 14.17

12 -0.93 -146.0 2801 2303 3431 3374 0.0 0.0 0 18 0.90 2.70 0.00 0.000 4356 0.063 0.114 2487 3711 3402 3431 3374 0 0 0 0 0 0 14.03 13.95 14.06

242 -0.93 -146.0 2489 3712 3432 3374 899.3 1.3 46 248 0.00 2.50 0.00 0.000 1062 0.000 0.050 2488 2310 3402 3430 3374 0 0 0 0 0 0 14.40 14.35 14.42

612 -0.93 -146.0 2489 2310 3432 3374 899.3 0.0 60 613 0.00 0.00 0.00 0.000 38 0.000 0.000 2487 2309 3401 3430 3373 0 0 0 0 0 0 14.87 14.90 14.90

973 -0.93 -146.0 2487 2310 3430 3372 899.3 0.0 72 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2309 3401 3430 3372 0 0 0 0 0 0 14.99 15.02 15.01

1333 -0.93 -146.0 2487 2310 3430 3371 899.3 -0.0 84 1334 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2309 3400 3430 3371 0 0 0 0 0 0 15.04 15.08 15.07

1694 -0.93 -146.0 2487 2310 3430 3370 899.3 0.0 96 1694 0.00 0.00 0.00 0.000 38 0.000 0.000 2488 2310 3400 3430 3371 0 0 0 0 0 0 15.09 15.11 15.11

2052 -0.93 -146.0 2490 2310 3432 3370 899.3 0.0 108 2053 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2311 3399 3430 3369 0 0 0 0 0 0 15.12 15.15 15.14

2412 -0.93 -146.0 2487 2310 3429 3370 899.3 0.0 120 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2487 2309 3399 3429 3369 0 0 0 0 0 0 15.14 15.16 15.16

2773 -0.93 -146.0 2488 2311 3430 3369 899.3 0.0 132 2773 0.00 0.00 0.00 0.000 38 0.000 0.000 2488 2309 3399 3429 3369 0 0 0 0 0 0 15.15 15.18 15.17

3132 -0.93 -146.0 2489 2310 3431 3369 899.3 0.0 144 3133 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2309 3398 3429 3368 0 0 0 0 0 0 15.16 15.19 15.19

3492 -0.93 -146.0 2487 2310 3428 3368 899.3 0.0 156 3493 0.00 0.00 0.00 0.000 6 0.000 0.000 2488 2309 3398 3428 3368 0 0 0 0 0 0 15.16 15.20 15.19

3852 -0.93 -146.0 2487 2306 3428 3369 899.3 0.0 168 3853 0.00 0.00 0.00 0.000 38 0.000 0.000 2488 2309 3398 3428 3368 0 0 0 0 0 0 15.17 15.21 15.20

4212 -0.93 -146.0 2488 2310 3427 3372 899.3 0.0 180 4219 0.00 2.60 0.00 0.000 516 0.000 0.105 2488 894 3398 3428 3368 0 0 0 0 0 0 15.18 14.81 15.21

4444 -0.93 -146.0 2488 894 3427 3368 899.4 1.0 226 4449 0.00 2.42 0.00 0.000 1062 0.000 0.052 2478 2317 3395 3424 3367 0 0 0 0 0 0 15.01 14.91 15.03

4814 -0.93 -146.0 2479 2318 3429 3368 899.4 0.0 240 4820 0.00 2.58 0.00 0.000 548 0.000 0.098 2478 885 3397 3427 3368 0 0 0 0 0 0 15.17 14.85 15.20

5044 -0.93 -146.0 2477 886 3427 3368 899.4 0.0 286 5051 0.00 2.47 0.00 0.000 1062 0.000 0.057 2476 2298 3397 3428 3367 0 0 0 0 0 0 14.94 14.90 14.97

5415 -0.93 -146.0 2476 2299 3427 3368 899.4 -0.0 300 5421 0.00 2.53 0.00 0.000 548 0.000 0.098 2476 893 3397 3427 3367 0 0 0 0 0 0 15.16 14.84 15.19

5645 -0.93 -146.0 2476 893 3429 3368 899.5 -0.0 346 5652 0.10 2.47 0.00 0.000 3110 0.239 0.057 2496 2308 3397 3427 3367 0 0 0 0 0 0 14.71 14.87 14.85

6017 -0.93 -146.0 2497 2308 3429 3368 899.5 -0.0 360 6022 0.00 2.55 0.00 0.000 548 0.000 0.098 2495 892 3397 3427 3367 0 0 0 0 0 0 15.16 14.83 15.19

6247 -0.93 -146.0 2495 892 3427 3367 899.5 0.0 406 6252 0.00 2.47 0.00 0.000 1062 0.000 0.054 2488 2313 3397 3427 3367 0 0 0 0 0 0 14.93 14.88 15.02

6617 -0.93 -146.0 2490 2314 3429 3368 899.5 -0.0 420 6623 0.00 2.58 0.00 0.000 548 0.000 0.097 2488 885 3397 3427 3367 0 0 0 0 0 0 15.16 14.83 15.19

6847 -0.93 -146.0 2489 886 3428 3367 899.5 0.0 466 6853 0.00 2.47 0.00 0.000 1062 0.000 0.052 2478 2309 3396 3427 3366 0 0 0 0 0 0 14.93 14.88 14.96

7217 -0.93 -146.0 2480 2310 3428 3367 899.5 0.0 480 7223 0.00 2.55 0.00 0.000 548 0.000 0.097 2479 892 3397 3427 3367 0 0 0 0 0 0 15.15 14.82 15.18

7447 -0.93 -146.0 2478 893 3426 3367 899.5 -0.0 526 7453 0.00 2.45 0.00 0.000 1062 0.000 0.050 2476 2304 3396 3426 3366 0 0 0 0 0 0 14.92 14.87 14.96

7817 -0.93 -146.0 2477 2305 3428 3367 899.5 -0.0 540 7823 0.00 2.55 0.00 0.000 548 0.000 0.099 2476 891 3396 3426 3366 0 0 0 0 0 0 15.15 14.82 15.18

8047 -0.93 -146.0 2476 891 3421 3367 900.3 0.0 586 8053 0.00 2.47 0.00 0.000 1062 0.000 0.054 2475 2309 3396 3426 3366 0 0 0 0 0 0 14.92 14.88 14.97

8418 -0.93 -146.0 2474 2310 3426 3367 899.6 -0.0 600 8423 0.00 2.55 0.00 0.000 548 0.000 0.098 2475 890 3396 3426 3366 0 0 0 0 0 0 15.16 14.82 15.18

8647 -0.93 -146.0 2473 890 3425 3366 900.3 0.0 646 8653 0.00 2.45 0.00 0.000 1062 0.000 0.051 2472 2301 3396 3426 3366 0 0 0 0 0 0 14.92 14.86 14.96

9018 -0.93 -146.0 2473 2302 3428 3367 899.6 0.0 660 9024 0.00 2.55 0.00 0.000 548 0.000 0.097 2472 887 3396 3426 3366 0 0 0 0 0 0 15.16 14.82 15.19

9248 -0.93 -146.0 2473 892 3428 3367 900.1 0.0 706 9254 0.17 2.47 0.00 0.000 3110 0.256 0.054 2504 2332 3396 3426 3366 0 0 0 0 0 0 14.71 14.88 14.92

9618 -0.93 -146.0 2504 2333 3425 3366 899.6 0.0 720 9624 0.00 2.60 0.00 0.000 548 0.000 0.099 2504 891 3396 3426 3366 0 0 0 0 0 0 15.13 14.80 15.15

9848 -0.93 -146.0 2505 892 3428 3367 900.1 -0.1 766 9855 0.00 2.45 0.00 0.000 1062 0.000 0.050 2503 2302 3395 3426 3365 0 0 0 0 0 0 14.91 14.83 14.93

10219 -0.93 -146.0 2502 2303 3426 3366 899.6 -0.0 780 10225 0.00 2.55 0.00 0.000 548 0.000 0.103 2503 896 3395 3424 3366 0 0 0 0 0 0 15.14 14.79 15.18

10449 -0.93 -146.0 2503 896 3425 3366 899.6 -0.0 826 10455 0.00 2.45 0.00 0.000 1062 0.000 0.053 2502 2302 3395 3425 3366 0 0 0 0 0 0 14.91 14.85 14.95

10820 -0.93 -146.0 2502 2302 3424 3366 899.6 -0.0 840 10825 0.00 2.55 0.00 0.000 548 0.000 0.100 2502 892 3395 3425 3365 0 0 0 0 0 0 15.16 14.80 15.18

11049 -0.93 -146.0 2503 893 3427 3366 899.6 -0.1 886 11055 0.00 2.45 0.00 0.000 1062 0.000 0.051 2496 2300 3395 3425 3365 0 0 0 0 0 0 14.95 14.85 14.94

11420 -0.93 -146.0 2497 2305 3428 3366 899.6 -0.0 900 11426 0.00 2.55 0.00 0.000 548 0.000 0.100 2496 895 3395 3425 3365 0 0 0 0 0 0 15.16 14.81 15.18

11650 -0.93 -146.0 2497 896 3427 3366 899.6 0.0 946 11656 0.00 2.45 0.00 0.000 1062 0.000 0.053 2489 2303 3395 3425 3365 0 0 0 0 0 0 14.90 14.85 14.95

11718 end dive: HALF_MISSION_TIME_EXCEEDED

state 11719 begin apogee

11722 -0.23 0.0 2490 2083 3426 3366 899.6 0.2 950 12058 0.82 0.00 332.60 1.366 10246 0.201 0.000 2726 2083 2782 2820 2745 0 0 0 0 0 0 14.71 13.89 13.35

12059 end apogee: CONTROL_FINISHED_OK

state 12059 begin climb

12060 0.93 146.0 2725 2083 2815 2743 899.9 0.0 961 12234 1.27 0.00 168.85 1.662 11010 0.163 0.000 3092 2083 2427 2465 2390 0 0 0 0 0 0 13.81 28.83 13.90

12235 end climb: NO_VERTICAL_VELOCITY

state 12235 begin subsurface finish

12238 -0.01 -11.7 3093 2084 2462 2384 899.0 0.5 982 12242 1.12 0.00 -1.02 0.086 20486 0.197 0.000 2799 2083 2847 2881 2813 0 0 0 0 0 0 13.50 12.85 13.65

12242 end subsurface finish: CONTROL_FINISHED_OK

state 12242 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	151	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	6
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	38	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	350	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	15	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	280	FILEMGR	2	VBD_MIN	500	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2782	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	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	400	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	400	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	225	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2800	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	150218,204256,-7412.9976,-11213.0752,0,1001.0,0,53.3,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.270
_CALLS	1	TGT_NAME	inside0
_XMS_NAKs	0	TGT_LATLONG	-7427.000,-11215.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	899.77	MHEAD_RNG_PITCHd_Wd	128.8,25949,-16.5,-9.429,-19.22,2384
_SM_ANGLEo	-4.3	D_GRID	990
GPS2	150218,204256,-7412.9976,-11213.0752,0,1001.0,0,53.3,0.0,0.0,0,0.0

FINISH1	899.0,1.027731,-12	_24V_AH	12.85,64.740
FINISH2	899.0	_10V_AH	12.60,0.000
RAFOS_CLK	449	FG_AHR_24Vo	0.000
RAFOS	0,1518728476,21.032778,21.021111,130,65,58,56,55,54,448,192,201,149,174,223	FG_AHR_10Vo	0.000
RAFOS_FIX	-7413.258789,-11212.853516,150218,212144,3,95,0.25	MEM	280048
IRIDIUM_FIX	-7412.42,-11208.63,140218,203555	DATA_FILE_SIZE	29981,982
TT8_MAMPS	0.047936,0.27713	CAP_FILE_SIZE	97261,11
HUMID	44.68	CFSIZE	1024409600,1002225664
INTERNAL_PRESSURE	8.31672	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.90	SOUNDSPEED	1465.4
XPDR_PINGS	0	GPS	150218,211544,-7413.259,-11212.854,0,4094.7,0,53.3,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	256	14.49	nil	0	0	0.00
Roll_motor	73	113	108.10	nil	0	0	0.00
VBD_pump_during_apogee	501	1662	10711.54	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	12249	3	598.43
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.70	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	9804	2	285.38
TT8_Active	573	13	99.87
TT8_Sampling	1864	34	817.30
TT8_CF8	72	52	47.99
TT8_Kalman	0	0	0.00
Analog_circuits	1282	10	176.18
GPS_charging	0	0	0.00
Compass	1401	7	132.28
RAFOS	1200	1	22.68
Transponder	4	30	1.72

		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

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	-0.93	-146.0	2801	2303	2866	2798	0.0	0.0	0	10	0.00	0.00	-1.27	0.073	16390	0.000	0.000	2801	2300	3402	3431	3373	0	0	0	0	0	0	14.16	13.14	14.17
12	-0.93	-146.0	2801	2303	3431	3374	0.0	0.0	0	18	0.90	2.70	0.00	0.000	4356	0.063	0.114	2487	3711	3402	3431	3374	0	0	0	0	0	0	14.03	13.95	14.06
242	-0.93	-146.0	2489	3712	3432	3374	899.3	1.3	46	248	0.00	2.50	0.00	0.000	1062	0.000	0.050	2488	2310	3402	3430	3374	0	0	0	0	0	0	14.40	14.35	14.42
612	-0.93	-146.0	2489	2310	3432	3374	899.3	0.0	60	613	0.00	0.00	0.00	0.000	38	0.000	0.000	2487	2309	3401	3430	3373	0	0	0	0	0	0	14.87	14.90	14.90
973	-0.93	-146.0	2487	2310	3430	3372	899.3	0.0	72	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2309	3401	3430	3372	0	0	0	0	0	0	14.99	15.02	15.01
1333	-0.93	-146.0	2487	2310	3430	3371	899.3	-0.0	84	1334	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2309	3400	3430	3371	0	0	0	0	0	0	15.04	15.08	15.07
1694	-0.93	-146.0	2487	2310	3430	3370	899.3	0.0	96	1694	0.00	0.00	0.00	0.000	38	0.000	0.000	2488	2310	3400	3430	3371	0	0	0	0	0	0	15.09	15.11	15.11
2052	-0.93	-146.0	2490	2310	3432	3370	899.3	0.0	108	2053	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2311	3399	3430	3369	0	0	0	0	0	0	15.12	15.15	15.14
2412	-0.93	-146.0	2487	2310	3429	3370	899.3	0.0	120	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2487	2309	3399	3429	3369	0	0	0	0	0	0	15.14	15.16	15.16
2773	-0.93	-146.0	2488	2311	3430	3369	899.3	0.0	132	2773	0.00	0.00	0.00	0.000	38	0.000	0.000	2488	2309	3399	3429	3369	0	0	0	0	0	0	15.15	15.18	15.17
3132	-0.93	-146.0	2489	2310	3431	3369	899.3	0.0	144	3133	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2309	3398	3429	3368	0	0	0	0	0	0	15.16	15.19	15.19
3492	-0.93	-146.0	2487	2310	3428	3368	899.3	0.0	156	3493	0.00	0.00	0.00	0.000	6	0.000	0.000	2488	2309	3398	3428	3368	0	0	0	0	0	0	15.16	15.20	15.19
3852	-0.93	-146.0	2487	2306	3428	3369	899.3	0.0	168	3853	0.00	0.00	0.00	0.000	38	0.000	0.000	2488	2309	3398	3428	3368	0	0	0	0	0	0	15.17	15.21	15.20
4212	-0.93	-146.0	2488	2310	3427	3372	899.3	0.0	180	4219	0.00	2.60	0.00	0.000	516	0.000	0.105	2488	894	3398	3428	3368	0	0	0	0	0	0	15.18	14.81	15.21
4444	-0.93	-146.0	2488	894	3427	3368	899.4	1.0	226	4449	0.00	2.42	0.00	0.000	1062	0.000	0.052	2478	2317	3395	3424	3367	0	0	0	0	0	0	15.01	14.91	15.03
4814	-0.93	-146.0	2479	2318	3429	3368	899.4	0.0	240	4820	0.00	2.58	0.00	0.000	548	0.000	0.098	2478	885	3397	3427	3368	0	0	0	0	0	0	15.17	14.85	15.20
5044	-0.93	-146.0	2477	886	3427	3368	899.4	0.0	286	5051	0.00	2.47	0.00	0.000	1062	0.000	0.057	2476	2298	3397	3428	3367	0	0	0	0	0	0	14.94	14.90	14.97
5415	-0.93	-146.0	2476	2299	3427	3368	899.4	-0.0	300	5421	0.00	2.53	0.00	0.000	548	0.000	0.098	2476	893	3397	3427	3367	0	0	0	0	0	0	15.16	14.84	15.19
5645	-0.93	-146.0	2476	893	3429	3368	899.5	-0.0	346	5652	0.10	2.47	0.00	0.000	3110	0.239	0.057	2496	2308	3397	3427	3367	0	0	0	0	0	0	14.71	14.87	14.85
6017	-0.93	-146.0	2497	2308	3429	3368	899.5	-0.0	360	6022	0.00	2.55	0.00	0.000	548	0.000	0.098	2495	892	3397	3427	3367	0	0	0	0	0	0	15.16	14.83	15.19
6247	-0.93	-146.0	2495	892	3427	3367	899.5	0.0	406	6252	0.00	2.47	0.00	0.000	1062	0.000	0.054	2488	2313	3397	3427	3367	0	0	0	0	0	0	14.93	14.88	15.02
6617	-0.93	-146.0	2490	2314	3429	3368	899.5	-0.0	420	6623	0.00	2.58	0.00	0.000	548	0.000	0.097	2488	885	3397	3427	3367	0	0	0	0	0	0	15.16	14.83	15.19
6847	-0.93	-146.0	2489	886	3428	3367	899.5	0.0	466	6853	0.00	2.47	0.00	0.000	1062	0.000	0.052	2478	2309	3396	3427	3366	0	0	0	0	0	0	14.93	14.88	14.96
7217	-0.93	-146.0	2480	2310	3428	3367	899.5	0.0	480	7223	0.00	2.55	0.00	0.000	548	0.000	0.097	2479	892	3397	3427	3367	0	0	0	0	0	0	15.15	14.82	15.18
7447	-0.93	-146.0	2478	893	3426	3367	899.5	-0.0	526	7453	0.00	2.45	0.00	0.000	1062	0.000	0.050	2476	2304	3396	3426	3366	0	0	0	0	0	0	14.92	14.87	14.96
7817	-0.93	-146.0	2477	2305	3428	3367	899.5	-0.0	540	7823	0.00	2.55	0.00	0.000	548	0.000	0.099	2476	891	3396	3426	3366	0	0	0	0	0	0	15.15	14.82	15.18
8047	-0.93	-146.0	2476	891	3421	3367	900.3	0.0	586	8053	0.00	2.47	0.00	0.000	1062	0.000	0.054	2475	2309	3396	3426	3366	0	0	0	0	0	0	14.92	14.88	14.97
8418	-0.93	-146.0	2474	2310	3426	3367	899.6	-0.0	600	8423	0.00	2.55	0.00	0.000	548	0.000	0.098	2475	890	3396	3426	3366	0	0	0	0	0	0	15.16	14.82	15.18
8647	-0.93	-146.0	2473	890	3425	3366	900.3	0.0	646	8653	0.00	2.45	0.00	0.000	1062	0.000	0.051	2472	2301	3396	3426	3366	0	0	0	0	0	0	14.92	14.86	14.96
9018	-0.93	-146.0	2473	2302	3428	3367	899.6	0.0	660	9024	0.00	2.55	0.00	0.000	548	0.000	0.097	2472	887	3396	3426	3366	0	0	0	0	0	0	15.16	14.82	15.19
9248	-0.93	-146.0	2473	892	3428	3367	900.1	0.0	706	9254	0.17	2.47	0.00	0.000	3110	0.256	0.054	2504	2332	3396	3426	3366	0	0	0	0	0	0	14.71	14.88	14.92
9618	-0.93	-146.0	2504	2333	3425	3366	899.6	0.0	720	9624	0.00	2.60	0.00	0.000	548	0.000	0.099	2504	891	3396	3426	3366	0	0	0	0	0	0	15.13	14.80	15.15
9848	-0.93	-146.0	2505	892	3428	3367	900.1	-0.1	766	9855	0.00	2.45	0.00	0.000	1062	0.000	0.050	2503	2302	3395	3426	3365	0	0	0	0	0	0	14.91	14.83	14.93
10219	-0.93	-146.0	2502	2303	3426	3366	899.6	-0.0	780	10225	0.00	2.55	0.00	0.000	548	0.000	0.103	2503	896	3395	3424	3366	0	0	0	0	0	0	15.14	14.79	15.18
10449	-0.93	-146.0	2503	896	3425	3366	899.6	-0.0	826	10455	0.00	2.45	0.00	0.000	1062	0.000	0.053	2502	2302	3395	3425	3366	0	0	0	0	0	0	14.91	14.85	14.95
10820	-0.93	-146.0	2502	2302	3424	3366	899.6	-0.0	840	10825	0.00	2.55	0.00	0.000	548	0.000	0.100	2502	892	3395	3425	3365	0	0	0	0	0	0	15.16	14.80	15.18
11049	-0.93	-146.0	2503	893	3427	3366	899.6	-0.1	886	11055	0.00	2.45	0.00	0.000	1062	0.000	0.051	2496	2300	3395	3425	3365	0	0	0	0	0	0	14.95	14.85	14.94
11420	-0.93	-146.0	2497	2305	3428	3366	899.6	-0.0	900	11426	0.00	2.55	0.00	0.000	548	0.000	0.100	2496	895	3395	3425	3365	0	0	0	0	0	0	15.16	14.81	15.18
11650	-0.93	-146.0	2497	896	3427	3366	899.6	0.0	946	11656	0.00	2.45	0.00	0.000	1062	0.000	0.053	2489	2303	3395	3425	3365	0	0	0	0	0	0	14.90	14.85	14.95
11718	end dive: HALF_MISSION_TIME_EXCEEDED
state	11719	begin apogee
11722	-0.23	0.0	2490	2083	3426	3366	899.6	0.2	950	12058	0.82	0.00	332.60	1.366	10246	0.201	0.000	2726	2083	2782	2820	2745	0	0	0	0	0	0	14.71	13.89	13.35
12059	end apogee: CONTROL_FINISHED_OK
state	12059	begin climb
12060	0.93	146.0	2725	2083	2815	2743	899.9	0.0	961	12234	1.27	0.00	168.85	1.662	11010	0.163	0.000	3092	2083	2427	2465	2390	0	0	0	0	0	0	13.81	28.83	13.90
12235	end climb: NO_VERTICAL_VELOCITY
state	12235	begin subsurface finish
12238	-0.01	-11.7	3093	2084	2462	2384	899.0	0.5	982	12242	1.12	0.00	-1.02	0.086	20486	0.197	0.000	2799	2083	2847	2881	2813	0	0	0	0	0	0	13.50	12.85	13.65
12242	end subsurface finish: CONTROL_FINISHED_OK
state	12242	begin surface