Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0083999997 C_ROLL_DIVE 2500 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 11 HD_C 9.9999997e-06 C_ROLL_CLIMB 2200 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 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 17 ALTIM_FREQUENCY 13

D_TGT 660 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 12 ALTIM_PULSE 2

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 6

D_BOOST 100 SM_CC 300 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 5 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 0 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 220 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 250 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 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 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -1 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 600 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2730 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 10 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 30 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 15 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 120 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 0.02 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 785

AD7714Ch0Gain 1 D_TGT 660 N_NOCOMM 1 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 0 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_PING_DELTA 0 EXEC_P 0 PITCH_ADJ_GAIN 0.02 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 120 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 22 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 15 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0083999997 PITCH_W_DBAND 0 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_W_GAIN 0 T_BOOST 5

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 220

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 250

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 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 2200 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 350 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 11 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 12 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 0 N_DIVES 0 SEABIRD_C_H 1.1298814

D_SAFE 0 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 250118,165030,-7342.3071,-11350.6387,21,0.9,21,53.6,0.7,342.3,9,4.2 SPEED_LIMITS 0.173,0.278

_CALLS 1 TGT_NAME S1

_XMS_NAKs 0 TGT_LATLONG -7340.000,-11320.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.45 MHEAD_RNG_PITCHd_Wd 35.8,16570,-15.4,-10.000,-19.81,2201

_SM_ANGLEo -67.8 D_GRID 642

GPS2 250118,165720,-7342.2837,-11350.7607,2,0.9,4,53.6,0.3,161.2,9,3.9

Post-dive calculations and measurements:

FREEZE 670.41,0.000,0.000,0,1,0 _24V_AH 13.07,14.844

SM_CCo 8050,287.27,1.216,0,0,500,605.40 _10V_AH 12.50,0.000

SM_GC 0.29,8.45,0.60,0.00,0.105,0.135,0.000,202,2505,480,-7.84,-0.34,610.31,0,0,0,0,0,0,15.00,14.92,15.06 FG_AHR_24Vo 0.000

RAFOS_CLK 426 FG_AHR_10Vo 0.000

RAFOS 0,1516903268,18.033333,18.018888,57,54,53,53,50,48,191,155,120,212,233,166 MEM 280336

RAFOS_FIX -7342.481934,-11352.237305,250118,181824,0,1,0.13 DATA_FILE_SIZE 16762,551

IRIDIUM_FIX -7341.10,-11346.09,250118,130228 CAP_FILE_SIZE 159965,14

TT8_MAMPS 0.039697,0.572236 CFSIZE 1024409600,1018494976

HUMID 52.36 ERRORS 0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0

INTERNAL_PRESSURE 7.41397 SOUNDSPEED 1449.3

TCM_TEMP 13.80 CURRENT 0.062,319.67,1

XPDR_PINGS 45 GPS 250118,201139,-7342.184,-11347.502,23,1.2,23,53.6,0.6,175.0,7,8.6

ALTIM_BOTTOM_PING 644.0,26.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 458 136.25 nil 0 0 0.00

Roll_motor 38 172 86.61 nil 0 0 0.00

VBD_pump_during_apogee 660 1397 12059.65 nil 0 0 0.00

VBD_pump_during_surface 1727 1268 28634.07 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 6621 9 801.15

Iridium_during_xfer 300 189 745.69 nil 0 0 0.00

Transponder_ping 136 420 746.56 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 9 0.73

TT8 0 0 0.00

LPSleep 7512 2 216.93

TT8_Active 2483 12 380.96

TT8_Sampling 1917 31 760.80

TT8_CF8 69 45 39.13

TT8_Kalman 0 0 0.00

Analog_circuits 3325 10 424.06

GPS_charging 0 0 0.00

Compass 794 7 74.42

RAFOS 720 1 13.50

Transponder 892 30 334.83

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

3.6 9.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

132.9 138.10 9000.00 0.0 0.00 0.00 138.10 0.0 0.99 1.00

616.4 57.70 9000.00 0.0 0.00 0.00 57.70 674.1 -0.17 1.00

622.7 51.70 9000.00 0.0 0.00 0.00 51.70 674.4 -0.95 1.00

628.8 46.10 9000.00 0.0 -0.02 0.01 46.10 674.9 -0.92 1.00

631.8 42.40 9000.00 0.0 -0.18 0.99 42.40 674.2 -1.23 1.00

634.8 41.10 40.40 675.2 -0.93 0.99 41.10 675.9 -0.43 1.00

637.9 33.10 35.30 673.2 -1.13 0.94 33.10 671.0 -2.58 1.00

641.0 30.00 30.30 671.3 -1.36 0.95 30.00 671.0 -1.00 1.00

644.0 27.50 26.60 670.6 -1.33 0.95 27.50 671.5 -0.83 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.88 -146.0 198 2495 1763 1717 0.0 0.0 0 94 0.00 0.00 -84.30 0.003 16386 0.000 0.000 197 2494 3392 3458 3327 0 0 0 0 0 0 14.73 28.83 14.76

95 -0.88 -146.0 198 2494 3450 3327 3.6 -7.5 11 119 11.73 2.45 -3.75 0.031 18724 0.458 0.172 2428 3753 3564 3640 3489 0 0 0 0 0 0 14.31 13.90 14.51

194 -0.85 -146.0 2426 3754 3641 3490 23.2 -12.3 29 204 0.00 2.30 0.00 0.000 1158 0.000 0.110 2428 2499 3564 3640 3489 0 0 0 0 0 0 14.63 14.52 14.65

384 -0.82 -146.0 2428 2500 3641 3490 46.5 -12.4 66 391 0.15 0.00 0.00 0.000 2182 0.256 0.000 2462 2498 3564 3640 3489 0 0 0 0 0 0 14.51 14.74 14.69

570 -0.82 -146.0 2462 2500 3641 3490 66.4 -10.8 103 579 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 2499 3564 3640 3489 0 0 0 0 0 0 14.82 14.85 14.84

759 -0.82 -146.0 2461 2499 3641 3490 87.3 -11.0 140 766 0.00 2.40 0.00 0.000 260 0.000 0.158 2454 3749 3564 3640 3489 0 0 0 0 0 0 14.85 14.59 14.88

785 -0.82 -146.0 2454 3748 3641 3489 90.1 -11.6 145 796 0.00 2.33 0.00 0.000 1030 0.000 0.109 2454 2497 3564 3640 3489 0 0 0 0 0 0 14.77 14.64 14.78

976 -0.82 -146.0 2454 2498 3638 3489 111.8 -11.5 172 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 2497 3564 3640 3489 0 0 0 0 0 0 14.85 14.88 14.88

1276 -0.82 -146.0 2452 2498 3639 3490 144.3 -10.4 202 1282 0.00 2.40 0.00 0.000 260 0.000 0.158 2445 3750 3564 3640 3489 0 0 0 0 0 0 14.89 14.65 14.91

1307 -0.82 -146.0 2445 3750 3641 3489 147.7 -11.3 208 1313 0.00 2.28 0.00 0.000 1030 0.000 0.111 2445 2492 3564 3640 3489 0 0 0 0 0 0 14.82 14.71 14.84

1618 -0.82 -146.0 2445 2493 3641 3490 182.5 -11.4 240 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2492 3564 3640 3489 0 0 0 0 0 0 14.93 14.97 14.95

1918 -0.82 -146.0 2445 2493 3641 3490 217.1 -11.4 270 1924 0.00 2.40 0.00 0.000 260 0.000 0.156 2436 3749 3564 3640 3489 0 0 0 0 0 0 14.96 14.68 14.97

1964 -0.82 -146.0 2436 3749 3641 3490 222.5 -11.8 279 1972 0.12 2.25 0.00 0.000 3078 0.259 0.110 2464 2499 3564 3640 3489 0 0 0 0 0 0 14.66 14.74 14.83

2280 -0.85 -146.0 2463 2500 3640 3490 254.1 -9.6 309 2280 0.00 0.00 0.00 0.000 166 0.000 0.000 2463 2499 3564 3640 3489 0 0 0 0 0 0 14.98 15.01 15.00

2579 -0.88 -146.0 2464 2500 3641 3489 283.4 -9.9 324 2580 0.00 0.00 0.00 0.000 166 0.000 0.000 2462 2499 3564 3640 3489 0 0 0 0 0 0 15.00 15.03 15.02

2879 -0.91 -146.0 2463 2500 3641 3490 312.3 -9.3 339 2885 0.00 2.38 0.00 0.000 420 0.000 0.158 2455 3750 3564 3640 3489 0 0 0 0 0 0 15.02 14.74 15.04

2925 -0.94 -146.0 2455 3750 3641 3489 316.8 -10.2 348 2931 0.00 2.25 0.00 0.000 1158 0.000 0.112 2455 2499 3564 3639 3489 0 0 0 0 0 0 14.91 14.80 14.93

3241 -0.97 -146.0 2455 2500 3640 3490 347.9 -10.1 366 3242 0.12 0.00 0.00 0.000 4230 0.132 0.000 2400 2498 3564 3640 3489 0 0 0 0 0 0 14.87 14.95 14.94

3541 -0.92 -146.0 2400 2499 3641 3489 386.6 -12.8 381 3542 0.12 0.00 0.00 0.000 2182 0.273 0.000 2425 2499 3564 3640 3489 0 0 0 0 0 0 14.71 14.94 14.90

3841 -0.92 -146.0 2426 2499 3640 3490 420.1 -11.2 396 3847 0.00 2.38 0.00 0.000 260 0.000 0.157 2417 3751 3564 3639 3489 0 0 0 0 0 0 15.02 14.76 15.05

3887 -0.92 -146.0 2417 3752 3640 3489 425.5 -11.9 405 3894 0.00 2.25 0.00 0.000 1030 0.000 0.109 2417 2498 3564 3640 3489 0 0 0 0 0 0 14.92 14.81 14.95

4204 -0.92 -146.0 2417 2499 3641 3489 461.9 -11.6 423 4205 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2498 3564 3639 3489 0 0 0 0 0 0 15.03 15.07 15.06

4504 -0.92 -146.0 2417 2495 3639 3489 496.2 -11.3 438 4505 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2499 3564 3639 3489 0 0 0 0 0 0 15.04 15.07 15.07

4814 -0.92 -146.0 2417 2500 3640 3490 530.4 -11.0 449 4821 0.00 2.38 0.00 0.000 260 0.000 0.158 2408 3753 3564 3640 3489 0 0 0 0 0 0 15.04 14.78 15.07

4856 -0.90 -146.0 2409 3753 3640 3490 535.3 -11.7 457 4865 0.12 2.25 0.00 0.000 3206 0.273 0.109 2436 2497 3564 3640 3489 0 0 0 0 0 0 14.71 14.83 14.91

5240 -0.90 -146.0 2436 2498 3641 3490 574.0 -10.2 473 5241 0.00 0.00 0.00 0.000 6 0.000 0.000 2436 2497 3564 3639 3489 0 0 0 0 0 0 15.04 15.07 15.07

5600 -0.90 -146.0 2436 2498 3641 3490 609.8 -9.9 485 5607 0.00 2.38 0.00 0.000 292 0.000 0.159 2427 3750 3565 3640 3490 0 0 0 0 0 0 15.04 14.78 15.07

5627 -0.90 -146.0 2428 3750 3640 3490 612.7 -10.8 490 5635 0.00 2.28 0.00 0.000 1030 0.000 0.112 2427 2502 3564 3640 3489 0 0 0 0 0 0 14.88 14.83 14.93

5931 end dive: TARGET_DEPTH_EXCEEDED

state 5931 begin apogee

5934 -0.23 0.0 2428 2198 3641 3491 644.0 -10.2 501 6429 0.80 0.00 491.85 1.274 10246 0.211 0.000 2653 2197 2968 3018 2919 0 0 0 0 0 0 14.76 13.80 13.21

6430 end apogee: CONTROL_FINISHED_OK

state 6430 begin climb

6431 0.88 146.0 2654 2198 3017 2918 669.0 0.0 517 6604 1.12 0.00 168.32 1.398 10754 0.096 0.000 3007 2196 2714 2758 2671 0 0 0 0 0 0 13.79 28.83 13.85

6605 end climb: NO_VERTICAL_VELOCITY

state 6605 begin surface

ID	222	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0083999997	C_ROLL_DIVE	2500	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	11	HD_C	9.9999997e-06	C_ROLL_CLIMB	2200	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	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	17	ALTIM_FREQUENCY	13
D_TGT	660	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	12	ALTIM_PULSE	2
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	6
D_BOOST	100	SM_CC	300	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	5	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	0	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	220	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	250	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	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	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-1	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	600	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2730	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	10	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	30	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	15	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	120	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	0.02	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	785

GPS1	250118,165030,-7342.3071,-11350.6387,21,0.9,21,53.6,0.7,342.3,9,4.2	SPEED_LIMITS	0.173,0.278
_CALLS	1	TGT_NAME	S1
_XMS_NAKs	0	TGT_LATLONG	-7340.000,-11320.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.45	MHEAD_RNG_PITCHd_Wd	35.8,16570,-15.4,-10.000,-19.81,2201
_SM_ANGLEo	-67.8	D_GRID	642
GPS2	250118,165720,-7342.2837,-11350.7607,2,0.9,4,53.6,0.3,161.2,9,3.9

FREEZE	670.41,0.000,0.000,0,1,0	_24V_AH	13.07,14.844
SM_CCo	8050,287.27,1.216,0,0,500,605.40	_10V_AH	12.50,0.000
SM_GC	0.29,8.45,0.60,0.00,0.105,0.135,0.000,202,2505,480,-7.84,-0.34,610.31,0,0,0,0,0,0,15.00,14.92,15.06	FG_AHR_24Vo	0.000
RAFOS_CLK	426	FG_AHR_10Vo	0.000
RAFOS	0,1516903268,18.033333,18.018888,57,54,53,53,50,48,191,155,120,212,233,166	MEM	280336
RAFOS_FIX	-7342.481934,-11352.237305,250118,181824,0,1,0.13	DATA_FILE_SIZE	16762,551
IRIDIUM_FIX	-7341.10,-11346.09,250118,130228	CAP_FILE_SIZE	159965,14
TT8_MAMPS	0.039697,0.572236	CFSIZE	1024409600,1018494976
HUMID	52.36	ERRORS	0,0,0,0,0,0,0,0,0,0,2,0,0,0,0,0
INTERNAL_PRESSURE	7.41397	SOUNDSPEED	1449.3
TCM_TEMP	13.80	CURRENT	0.062,319.67,1
XPDR_PINGS	45	GPS	250118,201139,-7342.184,-11347.502,23,1.2,23,53.6,0.6,175.0,7,8.6
ALTIM_BOTTOM_PING	644.0,26.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	458	136.25	nil	0	0	0.00
Roll_motor	38	172	86.61	nil	0	0	0.00
VBD_pump_during_apogee	660	1397	12059.65	nil	0	0	0.00
VBD_pump_during_surface	1727	1268	28634.07	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	6621	9	801.15
Iridium_during_xfer	300	189	745.69	nil	0	0	0.00
Transponder_ping	136	420	746.56	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	9	0.73
TT8	0	0	0.00
LPSleep	7512	2	216.93
TT8_Active	2483	12	380.96
TT8_Sampling	1917	31	760.80
TT8_CF8	69	45	39.13
TT8_Kalman	0	0	0.00
Analog_circuits	3325	10	424.06
GPS_charging	0	0	0.00
Compass	794	7	74.42
RAFOS	720	1	13.50
Transponder	892	30	334.83

		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
3.6	9.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
132.9	138.10	9000.00	0.0	0.00	0.00	138.10	0.0	0.99	1.00
616.4	57.70	9000.00	0.0	0.00	0.00	57.70	674.1	-0.17	1.00
622.7	51.70	9000.00	0.0	0.00	0.00	51.70	674.4	-0.95	1.00
628.8	46.10	9000.00	0.0	-0.02	0.01	46.10	674.9	-0.92	1.00
631.8	42.40	9000.00	0.0	-0.18	0.99	42.40	674.2	-1.23	1.00
634.8	41.10	40.40	675.2	-0.93	0.99	41.10	675.9	-0.43	1.00
637.9	33.10	35.30	673.2	-1.13	0.94	33.10	671.0	-2.58	1.00
641.0	30.00	30.30	671.3	-1.36	0.95	30.00	671.0	-1.00	1.00
644.0	27.50	26.60	670.6	-1.33	0.95	27.50	671.5	-0.83	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.88	-146.0	198	2495	1763	1717	0.0	0.0	0	94	0.00	0.00	-84.30	0.003	16386	0.000	0.000	197	2494	3392	3458	3327	0	0	0	0	0	0	14.73	28.83	14.76
95	-0.88	-146.0	198	2494	3450	3327	3.6	-7.5	11	119	11.73	2.45	-3.75	0.031	18724	0.458	0.172	2428	3753	3564	3640	3489	0	0	0	0	0	0	14.31	13.90	14.51
194	-0.85	-146.0	2426	3754	3641	3490	23.2	-12.3	29	204	0.00	2.30	0.00	0.000	1158	0.000	0.110	2428	2499	3564	3640	3489	0	0	0	0	0	0	14.63	14.52	14.65
384	-0.82	-146.0	2428	2500	3641	3490	46.5	-12.4	66	391	0.15	0.00	0.00	0.000	2182	0.256	0.000	2462	2498	3564	3640	3489	0	0	0	0	0	0	14.51	14.74	14.69
570	-0.82	-146.0	2462	2500	3641	3490	66.4	-10.8	103	579	0.00	0.00	0.00	0.000	6	0.000	0.000	2461	2499	3564	3640	3489	0	0	0	0	0	0	14.82	14.85	14.84
759	-0.82	-146.0	2461	2499	3641	3490	87.3	-11.0	140	766	0.00	2.40	0.00	0.000	260	0.000	0.158	2454	3749	3564	3640	3489	0	0	0	0	0	0	14.85	14.59	14.88
785	-0.82	-146.0	2454	3748	3641	3489	90.1	-11.6	145	796	0.00	2.33	0.00	0.000	1030	0.000	0.109	2454	2497	3564	3640	3489	0	0	0	0	0	0	14.77	14.64	14.78
976	-0.82	-146.0	2454	2498	3638	3489	111.8	-11.5	172	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2454	2497	3564	3640	3489	0	0	0	0	0	0	14.85	14.88	14.88
1276	-0.82	-146.0	2452	2498	3639	3490	144.3	-10.4	202	1282	0.00	2.40	0.00	0.000	260	0.000	0.158	2445	3750	3564	3640	3489	0	0	0	0	0	0	14.89	14.65	14.91
1307	-0.82	-146.0	2445	3750	3641	3489	147.7	-11.3	208	1313	0.00	2.28	0.00	0.000	1030	0.000	0.111	2445	2492	3564	3640	3489	0	0	0	0	0	0	14.82	14.71	14.84
1618	-0.82	-146.0	2445	2493	3641	3490	182.5	-11.4	240	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2492	3564	3640	3489	0	0	0	0	0	0	14.93	14.97	14.95
1918	-0.82	-146.0	2445	2493	3641	3490	217.1	-11.4	270	1924	0.00	2.40	0.00	0.000	260	0.000	0.156	2436	3749	3564	3640	3489	0	0	0	0	0	0	14.96	14.68	14.97
1964	-0.82	-146.0	2436	3749	3641	3490	222.5	-11.8	279	1972	0.12	2.25	0.00	0.000	3078	0.259	0.110	2464	2499	3564	3640	3489	0	0	0	0	0	0	14.66	14.74	14.83
2280	-0.85	-146.0	2463	2500	3640	3490	254.1	-9.6	309	2280	0.00	0.00	0.00	0.000	166	0.000	0.000	2463	2499	3564	3640	3489	0	0	0	0	0	0	14.98	15.01	15.00
2579	-0.88	-146.0	2464	2500	3641	3489	283.4	-9.9	324	2580	0.00	0.00	0.00	0.000	166	0.000	0.000	2462	2499	3564	3640	3489	0	0	0	0	0	0	15.00	15.03	15.02
2879	-0.91	-146.0	2463	2500	3641	3490	312.3	-9.3	339	2885	0.00	2.38	0.00	0.000	420	0.000	0.158	2455	3750	3564	3640	3489	0	0	0	0	0	0	15.02	14.74	15.04
2925	-0.94	-146.0	2455	3750	3641	3489	316.8	-10.2	348	2931	0.00	2.25	0.00	0.000	1158	0.000	0.112	2455	2499	3564	3639	3489	0	0	0	0	0	0	14.91	14.80	14.93
3241	-0.97	-146.0	2455	2500	3640	3490	347.9	-10.1	366	3242	0.12	0.00	0.00	0.000	4230	0.132	0.000	2400	2498	3564	3640	3489	0	0	0	0	0	0	14.87	14.95	14.94
3541	-0.92	-146.0	2400	2499	3641	3489	386.6	-12.8	381	3542	0.12	0.00	0.00	0.000	2182	0.273	0.000	2425	2499	3564	3640	3489	0	0	0	0	0	0	14.71	14.94	14.90
3841	-0.92	-146.0	2426	2499	3640	3490	420.1	-11.2	396	3847	0.00	2.38	0.00	0.000	260	0.000	0.157	2417	3751	3564	3639	3489	0	0	0	0	0	0	15.02	14.76	15.05
3887	-0.92	-146.0	2417	3752	3640	3489	425.5	-11.9	405	3894	0.00	2.25	0.00	0.000	1030	0.000	0.109	2417	2498	3564	3640	3489	0	0	0	0	0	0	14.92	14.81	14.95
4204	-0.92	-146.0	2417	2499	3641	3489	461.9	-11.6	423	4205	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2498	3564	3639	3489	0	0	0	0	0	0	15.03	15.07	15.06
4504	-0.92	-146.0	2417	2495	3639	3489	496.2	-11.3	438	4505	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2499	3564	3639	3489	0	0	0	0	0	0	15.04	15.07	15.07
4814	-0.92	-146.0	2417	2500	3640	3490	530.4	-11.0	449	4821	0.00	2.38	0.00	0.000	260	0.000	0.158	2408	3753	3564	3640	3489	0	0	0	0	0	0	15.04	14.78	15.07
4856	-0.90	-146.0	2409	3753	3640	3490	535.3	-11.7	457	4865	0.12	2.25	0.00	0.000	3206	0.273	0.109	2436	2497	3564	3640	3489	0	0	0	0	0	0	14.71	14.83	14.91
5240	-0.90	-146.0	2436	2498	3641	3490	574.0	-10.2	473	5241	0.00	0.00	0.00	0.000	6	0.000	0.000	2436	2497	3564	3639	3489	0	0	0	0	0	0	15.04	15.07	15.07
5600	-0.90	-146.0	2436	2498	3641	3490	609.8	-9.9	485	5607	0.00	2.38	0.00	0.000	292	0.000	0.159	2427	3750	3565	3640	3490	0	0	0	0	0	0	15.04	14.78	15.07
5627	-0.90	-146.0	2428	3750	3640	3490	612.7	-10.8	490	5635	0.00	2.28	0.00	0.000	1030	0.000	0.112	2427	2502	3564	3640	3489	0	0	0	0	0	0	14.88	14.83	14.93
5931	end dive: TARGET_DEPTH_EXCEEDED
state	5931	begin apogee
5934	-0.23	0.0	2428	2198	3641	3491	644.0	-10.2	501	6429	0.80	0.00	491.85	1.274	10246	0.211	0.000	2653	2197	2968	3018	2919	0	0	0	0	0	0	14.76	13.80	13.21
6430	end apogee: CONTROL_FINISHED_OK
state	6430	begin climb
6431	0.88	146.0	2654	2198	3017	2918	669.0	0.0	517	6604	1.12	0.00	168.32	1.398	10754	0.096	0.000	3007	2196	2714	2758	2671	0	0	0	0	0	0	13.79	28.83	13.85
6605	end climb: NO_VERTICAL_VELOCITY
state	6605	begin surface