Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 201 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_A 0.00184 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_B 0.0133 C_ROLL_DIVE 2800 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 201 HD_C 1.6100001e-05 C_ROLL_CLIMB 2550 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 43 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 3

D_BOOST 110 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 FILEMGR 2 VBD_MIN 1900 INT_PRESSURE_YINT 0.80000001

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 150 COMM_SEQ 0 C_VBD 3400 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 4 N_NOCOMM 0 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 110 UPLOAD_DIVES_MAX 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 5 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 2 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -1 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 0.059999999 PITCH_MIN 200 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 PITCH_MAX 3910 AH0_24V 350 SEABIRD_T_H 0.00064431952

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.6320724e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0013212307

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017705678

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 53510 PITCH_MAXERRORS 1 PRESSURE_YINT -160.68855 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.000108275 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3910 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 330 N_NOCOMM 0 SEABIRD_T_G 0.0044198656

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064431952

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.6320724e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.2746798e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 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 0.0031300001 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 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 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.059999999 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 221 P_OVSHOOT_WITHG 0 T_MISSION 150

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.80000001 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2730 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2550 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2800 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 3400 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 1 ROLL_CNV 0.028270001 VBD_CNV -0.25119999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53510 ROLL_MAX 3910 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 5

DIVE 201 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 43 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 7 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 400 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.9022408 XPDR_VALID 3

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1403944

D_SAFE 150 N_FILEKB 8 SEABIRD_C_I -0.0013212307

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017705678

Pre-dive calculations and measurements:

GPS1 270218,010300,-7408.0874,-11315.5381,20,1.8,20,53.9,0.1,0.0,5,7.0 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 56.5,1824,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.7 D_GRID 508

GPS2 270218,010836,-7408.0693,-11315.5605,3,1.2,4,53.9,0.2,0.0,6,5.6

Post-dive calculations and measurements:

FREEZE 0.31,-1.727,-1.861,2,1,0 _24V_AH 12.51,70.627

FINISH 0.3,1.027309 _10V_AH 12.64,0.000

SM_CCo 5603,164.02,0.223,0,0,2205,300.18 FG_AHR_24Vo 0.000

SM_GC 0.81,8.43,1.95,164.02,0.067,0.056,0.223,186,2794,2205,-7.91,0.96,300.18,0,0,0,0,0,0,14.53,14.62,14.21 FG_AHR_10Vo 0.000

RAFOS_CLK 229 MEM 280212

RAFOS_FIX -7408.252930,-11316.246094,270218,020257,0,1,0.09 DATA_FILE_SIZE 20086,604

IRIDIUM_FIX -7408.22,-11327.41,260218,232013 CAP_FILE_SIZE 77426,0

TT8_MAMPS 0.03745,0.705558 CFSIZE 1024409600,997294080

HUMID 45.23 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.5

TCM_TEMP 13.10 CURRENT 0.059,29.95,1

XPDR_PINGS 1 GPS 270218,024601,-7408.093,-11313.009,5,0.8,19,53.9,0.5,331.2,11,2.2

ALTIM_TOP_PING 14.4,14.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 470 135.08 nil 0 0 0.00

Roll_motor 46 96 55.53 nil 0 0 0.00

VBD_pump_during_apogee 226 2307 6536.88 nil 0 0 0.00

VBD_pump_during_surface 164 222 456.80 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 5600 7 504.40

Iridium_during_xfer 226 186 530.01 nil 0 0 0.00

Transponder_ping 16 420 84.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.64

TT8 0 0 0.00

LPSleep 3961 2 115.66

TT8_Active 561 10 77.13

TT8_Sampling 1485 30 569.83

TT8_CF8 111 51 72.17

TT8_Kalman 0 0 0.00

Analog_circuits 1251 10 159.82

GPS_charging 0 0 0.00

Compass 875 6 74.61

RAFOS 0 0 0.00

Transponder 111 30 42.38

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

10.4 11.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.7 21.90 9000.00 0.0 0.00 0.00 21.90 0.0 1.02 1.00

30.9 32.60 32.60 0.0 1.03 1.00 32.60 0.0 1.05 1.00

41.5 45.50 45.20 0.0 1.13 1.00 45.50 0.0 1.22 1.00

52.5 55.50 56.00 0.0 1.06 0.99 55.50 0.0 0.91 1.00

62.6 65.90 65.60 0.0 0.97 1.00 65.90 0.0 1.03 1.00

73.1 77.70 77.50 0.0 1.08 1.00 77.70 0.0 1.12 1.00

108.9 113.30 113.40 -4.5 1.02 1.00 113.30 -4.4 0.99 1.00

98.8 102.30 102.90 -4.1 0.99 1.00 102.30 -3.5 1.09 1.00

78.4 81.90 81.80 -3.4 1.03 1.00 81.90 -3.5 1.00 1.00

68.4 71.40 71.50 -3.1 1.02 1.00 71.40 -3.0 1.05 1.00

46.2 48.90 48.90 -2.7 1.02 1.00 48.90 -2.7 1.01 1.00

35.7 37.10 37.40 -1.7 1.04 1.00 37.10 -1.4 1.12 1.00

25.0 25.50 25.50 -0.5 1.10 1.00 25.50 -0.5 1.08 1.00

14.4 14.60 14.50 -0.1 1.06 1.00 14.60 -0.2 1.03 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 -1.04 -121.7 192 2805 2235 2127 0.0 0.0 0 122 0.00 0.00 -106.88 0.003 16390 0.000 0.000 190 2807 3885 3896 3875 0 0 0 0 0 0 14.59 13.24 14.59

124 -1.04 -121.7 192 2808 3898 3876 2.7 -3.1 11 142 12.02 1.98 0.00 0.000 2340 0.470 0.078 2382 3920 3892 3899 3886 0 0 0 0 0 0 13.96 14.33 14.26

336 -1.04 -121.7 2383 3920 3900 3897 32.9 -12.8 53 343 0.00 1.92 0.00 0.000 1030 0.000 0.049 2382 2797 3896 3895 3897 0 0 0 0 0 0 14.49 14.45 14.50

647 -1.04 -121.7 2383 2797 3900 3900 71.8 -13.0 85 648 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2797 3899 3899 3900 0 0 0 0 0 0 14.76 14.76 14.76

947 -1.04 -121.7 2383 2798 3899 3902 108.9 -12.2 115 953 0.00 2.03 0.00 0.000 260 0.000 0.090 2374 3907 3899 3899 3900 0 0 0 0 0 0 14.79 14.42 14.79

977 -1.04 -121.7 2375 3907 3900 3900 112.9 -14.1 121 984 0.00 1.90 0.00 0.000 1030 0.000 0.047 2374 2792 3904 3899 3909 0 0 0 0 0 0 14.58 14.54 14.59

1288 -1.04 -121.7 2374 2793 3901 3902 153.5 -11.7 153 1294 0.00 2.40 0.00 0.000 516 0.000 0.051 2374 1403 3899 3899 3900 0 0 0 0 0 0 14.81 14.47 14.81

1344 -1.04 -121.7 2375 1404 3900 3901 159.9 -10.6 164 1351 0.00 2.47 0.00 0.000 1030 0.000 0.070 2373 2806 3900 3899 3901 0 0 0 0 0 0 14.56 14.43 14.59

1649 -1.04 -121.7 2374 2806 3908 3901 197.0 -12.2 195 1654 0.00 2.40 0.00 0.000 516 0.000 0.050 2373 1400 3900 3899 3901 0 0 0 0 0 0 14.82 14.52 14.83

1693 -1.04 -121.7 2373 1402 3900 3902 202.6 -13.2 204 1700 0.00 2.53 0.00 0.000 1030 0.000 0.070 2372 2808 3900 3899 3901 0 0 0 0 0 0 14.54 14.47 14.58

1999 -1.04 -121.7 2373 2808 3900 3902 239.7 -12.4 235 2004 0.00 2.00 0.00 0.000 260 0.000 0.091 2370 3914 3900 3899 3901 0 0 0 0 0 0 14.83 14.45 14.83

2024 -1.04 -121.7 2370 3914 3900 3902 242.9 -12.7 240 2031 0.00 1.90 0.00 0.000 1030 0.000 0.049 2371 2802 3896 3892 3901 0 0 0 0 0 0 14.47 14.44 14.49

2329 -1.04 -121.7 2371 2803 3899 3902 278.4 -11.8 271 2334 0.00 2.42 0.00 0.000 516 0.000 0.050 2371 1399 3900 3899 3901 0 0 0 0 0 0 14.83 14.50 14.84

2383 -1.04 -121.7 2371 1399 3900 3900 284.6 -11.2 282 2391 0.00 2.53 0.00 0.000 1030 0.000 0.069 2371 2802 3899 3898 3901 0 0 0 0 0 0 14.50 14.42 14.53

2699 -1.04 -121.7 2370 2803 3899 3901 321.8 -12.0 305 2705 0.00 2.40 0.00 0.000 516 0.000 0.050 2370 1389 3900 3899 3901 0 0 0 0 0 0 14.85 14.52 14.85

2749 -1.04 -121.7 2371 1389 3900 3901 327.8 -11.6 315 2755 0.00 2.53 0.00 0.000 1030 0.000 0.070 2370 2804 3899 3899 3900 0 0 0 0 0 0 14.56 14.49 14.59

2778 end dive: TARGET_DEPTH_EXCEEDED

state 2778 begin apogee

2782 -0.23 0.0 2371 2546 3900 3903 331.1 -11.0 318 2902 1.10 0.00 114.60 2.307 10246 0.270 0.000 2654 2546 3398 3403 3393 0 0 0 0 0 0 14.23 13.78 12.90

2903 end apogee: CONTROL_FINISHED_OK

state 2903 begin climb

2904 1.04 121.7 2655 2546 3403 3392 334.0 0.0 324 3023 1.40 0.00 111.88 2.213 10758 0.162 0.000 3060 2546 2911 2916 2907 0 0 0 0 0 0 13.71 13.33 12.51

3320 1.04 121.7 3060 2547 2906 2897 287.6 13.2 361 3321 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2546 2900 2905 2895 0 0 0 0 0 0 14.32 14.32 14.32

3619 1.04 121.7 3060 2547 2904 2896 249.4 12.3 391 3620 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2546 2899 2904 2895 0 0 0 0 0 0 14.61 14.62 14.62

3919 1.04 121.7 3060 2546 2905 2895 213.8 11.9 421 3926 0.00 2.47 0.00 0.000 260 0.000 0.095 3060 3913 2899 2904 2895 0 0 0 0 0 0 14.72 14.39 14.72

3945 1.04 121.7 3060 3913 2905 2894 210.2 14.2 426 3952 0.00 2.38 0.00 0.000 1030 0.000 0.057 3070 2553 2899 2904 2895 0 0 0 0 0 0 14.52 14.47 14.54

4251 1.04 121.7 3070 2553 2905 2894 171.0 12.9 457 4257 0.00 2.45 0.00 0.000 516 0.000 0.067 3080 1144 2899 2904 2895 0 0 0 0 0 0 14.74 14.45 14.74

4306 1.04 121.7 3080 1144 2905 2895 164.0 12.6 468 4313 0.00 2.53 0.00 0.000 1030 0.000 0.070 3080 2555 2899 2904 2895 0 0 0 0 0 0 14.53 14.45 14.57

4611 1.04 121.7 3080 2555 2906 2895 124.2 12.9 499 4612 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2555 2899 2905 2894 0 0 0 0 0 0 14.81 14.81 14.81

4911 1.04 121.7 3080 2555 2906 2895 86.0 12.8 529 4912 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2555 2900 2905 2895 0 0 0 0 0 0 14.83 14.83 14.83

5211 1.04 121.7 3080 2556 2906 2896 48.7 12.4 559 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2555 2901 2905 2898 0 0 0 0 0 0 14.85 14.85 14.85

5511 1.04 121.7 3080 2556 2906 2896 11.1 10.9 589 5518 0.00 2.45 0.00 0.000 260 0.000 0.096 3080 3920 2900 2905 2895 0 0 0 0 0 0 14.85 14.50 14.85

5577 end climb: SURFACE_DEPTH_REACHED

state 5577 begin surface coast

5586 end surface coast: CONTROL_FINISHED_OK

state 5586 begin surface

ID	221	HD_A	0.00184	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_B	0.0133	C_ROLL_DIVE	2800	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	201	HD_C	1.6100001e-05	C_ROLL_CLIMB	2550	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	3
D_BOOST	110	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	FILEMGR	2	VBD_MIN	1900	INT_PRESSURE_YINT	0.80000001
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	150	COMM_SEQ	0	C_VBD	3400	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	4	N_NOCOMM	0	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	110	UPLOAD_DIVES_MAX	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	5	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	2	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-1	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	0.059999999	PITCH_MIN	200	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	PITCH_MAX	3910	AH0_24V	350	SEABIRD_T_H	0.00064431952
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.6320724e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0013212307
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017705678
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	53510	PITCH_MAXERRORS	1	PRESSURE_YINT	-160.68855	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.000108275	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3910	ALTIM_PING_FIT	883

GPS1	270218,010300,-7408.0874,-11315.5381,20,1.8,20,53.9,0.1,0.0,5,7.0	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	56.5,1824,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.7	D_GRID	508
GPS2	270218,010836,-7408.0693,-11315.5605,3,1.2,4,53.9,0.2,0.0,6,5.6

FREEZE	0.31,-1.727,-1.861,2,1,0	_24V_AH	12.51,70.627
FINISH	0.3,1.027309	_10V_AH	12.64,0.000
SM_CCo	5603,164.02,0.223,0,0,2205,300.18	FG_AHR_24Vo	0.000
SM_GC	0.81,8.43,1.95,164.02,0.067,0.056,0.223,186,2794,2205,-7.91,0.96,300.18,0,0,0,0,0,0,14.53,14.62,14.21	FG_AHR_10Vo	0.000
RAFOS_CLK	229	MEM	280212
RAFOS_FIX	-7408.252930,-11316.246094,270218,020257,0,1,0.09	DATA_FILE_SIZE	20086,604
IRIDIUM_FIX	-7408.22,-11327.41,260218,232013	CAP_FILE_SIZE	77426,0
TT8_MAMPS	0.03745,0.705558	CFSIZE	1024409600,997294080
HUMID	45.23	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.5
TCM_TEMP	13.10	CURRENT	0.059,29.95,1
XPDR_PINGS	1	GPS	270218,024601,-7408.093,-11313.009,5,0.8,19,53.9,0.5,331.2,11,2.2
ALTIM_TOP_PING	14.4,14.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	470	135.08	nil	0	0	0.00
Roll_motor	46	96	55.53	nil	0	0	0.00
VBD_pump_during_apogee	226	2307	6536.88	nil	0	0	0.00
VBD_pump_during_surface	164	222	456.80	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	5600	7	504.40
Iridium_during_xfer	226	186	530.01	nil	0	0	0.00
Transponder_ping	16	420	84.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.64
TT8	0	0	0.00
LPSleep	3961	2	115.66
TT8_Active	561	10	77.13
TT8_Sampling	1485	30	569.83
TT8_CF8	111	51	72.17
TT8_Kalman	0	0	0.00
Analog_circuits	1251	10	159.82
GPS_charging	0	0	0.00
Compass	875	6	74.61
RAFOS	0	0	0.00
Transponder	111	30	42.38

		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
10.4	11.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.7	21.90	9000.00	0.0	0.00	0.00	21.90	0.0	1.02	1.00
30.9	32.60	32.60	0.0	1.03	1.00	32.60	0.0	1.05	1.00
41.5	45.50	45.20	0.0	1.13	1.00	45.50	0.0	1.22	1.00
52.5	55.50	56.00	0.0	1.06	0.99	55.50	0.0	0.91	1.00
62.6	65.90	65.60	0.0	0.97	1.00	65.90	0.0	1.03	1.00
73.1	77.70	77.50	0.0	1.08	1.00	77.70	0.0	1.12	1.00

108.9	113.30	113.40	-4.5	1.02	1.00	113.30	-4.4	0.99	1.00
98.8	102.30	102.90	-4.1	0.99	1.00	102.30	-3.5	1.09	1.00
78.4	81.90	81.80	-3.4	1.03	1.00	81.90	-3.5	1.00	1.00
68.4	71.40	71.50	-3.1	1.02	1.00	71.40	-3.0	1.05	1.00
46.2	48.90	48.90	-2.7	1.02	1.00	48.90	-2.7	1.01	1.00
35.7	37.10	37.40	-1.7	1.04	1.00	37.10	-1.4	1.12	1.00
25.0	25.50	25.50	-0.5	1.10	1.00	25.50	-0.5	1.08	1.00
14.4	14.60	14.50	-0.1	1.06	1.00	14.60	-0.2	1.03	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	-1.04	-121.7	192	2805	2235	2127	0.0	0.0	0	122	0.00	0.00	-106.88	0.003	16390	0.000	0.000	190	2807	3885	3896	3875	0	0	0	0	0	0	14.59	13.24	14.59
124	-1.04	-121.7	192	2808	3898	3876	2.7	-3.1	11	142	12.02	1.98	0.00	0.000	2340	0.470	0.078	2382	3920	3892	3899	3886	0	0	0	0	0	0	13.96	14.33	14.26
336	-1.04	-121.7	2383	3920	3900	3897	32.9	-12.8	53	343	0.00	1.92	0.00	0.000	1030	0.000	0.049	2382	2797	3896	3895	3897	0	0	0	0	0	0	14.49	14.45	14.50
647	-1.04	-121.7	2383	2797	3900	3900	71.8	-13.0	85	648	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2797	3899	3899	3900	0	0	0	0	0	0	14.76	14.76	14.76
947	-1.04	-121.7	2383	2798	3899	3902	108.9	-12.2	115	953	0.00	2.03	0.00	0.000	260	0.000	0.090	2374	3907	3899	3899	3900	0	0	0	0	0	0	14.79	14.42	14.79
977	-1.04	-121.7	2375	3907	3900	3900	112.9	-14.1	121	984	0.00	1.90	0.00	0.000	1030	0.000	0.047	2374	2792	3904	3899	3909	0	0	0	0	0	0	14.58	14.54	14.59
1288	-1.04	-121.7	2374	2793	3901	3902	153.5	-11.7	153	1294	0.00	2.40	0.00	0.000	516	0.000	0.051	2374	1403	3899	3899	3900	0	0	0	0	0	0	14.81	14.47	14.81
1344	-1.04	-121.7	2375	1404	3900	3901	159.9	-10.6	164	1351	0.00	2.47	0.00	0.000	1030	0.000	0.070	2373	2806	3900	3899	3901	0	0	0	0	0	0	14.56	14.43	14.59
1649	-1.04	-121.7	2374	2806	3908	3901	197.0	-12.2	195	1654	0.00	2.40	0.00	0.000	516	0.000	0.050	2373	1400	3900	3899	3901	0	0	0	0	0	0	14.82	14.52	14.83
1693	-1.04	-121.7	2373	1402	3900	3902	202.6	-13.2	204	1700	0.00	2.53	0.00	0.000	1030	0.000	0.070	2372	2808	3900	3899	3901	0	0	0	0	0	0	14.54	14.47	14.58
1999	-1.04	-121.7	2373	2808	3900	3902	239.7	-12.4	235	2004	0.00	2.00	0.00	0.000	260	0.000	0.091	2370	3914	3900	3899	3901	0	0	0	0	0	0	14.83	14.45	14.83
2024	-1.04	-121.7	2370	3914	3900	3902	242.9	-12.7	240	2031	0.00	1.90	0.00	0.000	1030	0.000	0.049	2371	2802	3896	3892	3901	0	0	0	0	0	0	14.47	14.44	14.49
2329	-1.04	-121.7	2371	2803	3899	3902	278.4	-11.8	271	2334	0.00	2.42	0.00	0.000	516	0.000	0.050	2371	1399	3900	3899	3901	0	0	0	0	0	0	14.83	14.50	14.84
2383	-1.04	-121.7	2371	1399	3900	3900	284.6	-11.2	282	2391	0.00	2.53	0.00	0.000	1030	0.000	0.069	2371	2802	3899	3898	3901	0	0	0	0	0	0	14.50	14.42	14.53
2699	-1.04	-121.7	2370	2803	3899	3901	321.8	-12.0	305	2705	0.00	2.40	0.00	0.000	516	0.000	0.050	2370	1389	3900	3899	3901	0	0	0	0	0	0	14.85	14.52	14.85
2749	-1.04	-121.7	2371	1389	3900	3901	327.8	-11.6	315	2755	0.00	2.53	0.00	0.000	1030	0.000	0.070	2370	2804	3899	3899	3900	0	0	0	0	0	0	14.56	14.49	14.59
2778	end dive: TARGET_DEPTH_EXCEEDED
state	2778	begin apogee
2782	-0.23	0.0	2371	2546	3900	3903	331.1	-11.0	318	2902	1.10	0.00	114.60	2.307	10246	0.270	0.000	2654	2546	3398	3403	3393	0	0	0	0	0	0	14.23	13.78	12.90
2903	end apogee: CONTROL_FINISHED_OK
state	2903	begin climb
2904	1.04	121.7	2655	2546	3403	3392	334.0	0.0	324	3023	1.40	0.00	111.88	2.213	10758	0.162	0.000	3060	2546	2911	2916	2907	0	0	0	0	0	0	13.71	13.33	12.51
3320	1.04	121.7	3060	2547	2906	2897	287.6	13.2	361	3321	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2546	2900	2905	2895	0	0	0	0	0	0	14.32	14.32	14.32
3619	1.04	121.7	3060	2547	2904	2896	249.4	12.3	391	3620	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2546	2899	2904	2895	0	0	0	0	0	0	14.61	14.62	14.62
3919	1.04	121.7	3060	2546	2905	2895	213.8	11.9	421	3926	0.00	2.47	0.00	0.000	260	0.000	0.095	3060	3913	2899	2904	2895	0	0	0	0	0	0	14.72	14.39	14.72
3945	1.04	121.7	3060	3913	2905	2894	210.2	14.2	426	3952	0.00	2.38	0.00	0.000	1030	0.000	0.057	3070	2553	2899	2904	2895	0	0	0	0	0	0	14.52	14.47	14.54
4251	1.04	121.7	3070	2553	2905	2894	171.0	12.9	457	4257	0.00	2.45	0.00	0.000	516	0.000	0.067	3080	1144	2899	2904	2895	0	0	0	0	0	0	14.74	14.45	14.74
4306	1.04	121.7	3080	1144	2905	2895	164.0	12.6	468	4313	0.00	2.53	0.00	0.000	1030	0.000	0.070	3080	2555	2899	2904	2895	0	0	0	0	0	0	14.53	14.45	14.57
4611	1.04	121.7	3080	2555	2906	2895	124.2	12.9	499	4612	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2555	2899	2905	2894	0	0	0	0	0	0	14.81	14.81	14.81
4911	1.04	121.7	3080	2555	2906	2895	86.0	12.8	529	4912	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2555	2900	2905	2895	0	0	0	0	0	0	14.83	14.83	14.83
5211	1.04	121.7	3080	2556	2906	2896	48.7	12.4	559	5212	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2555	2901	2905	2898	0	0	0	0	0	0	14.85	14.85	14.85
5511	1.04	121.7	3080	2556	2906	2896	11.1	10.9	589	5518	0.00	2.45	0.00	0.000	260	0.000	0.096	3080	3920	2900	2905	2895	0	0	0	0	0	0	14.85	14.50	14.85
5577	end climb: SURFACE_DEPTH_REACHED
state	5577	begin surface coast
5586	end surface coast: CONTROL_FINISHED_OK
state	5586	begin surface