Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 161 * 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 161 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 17 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 161 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 500

D_ABORT 1020 MAX_BUOY 150 R_PORT_OVSHOOT 17 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 140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS 0.094,0.215

_CALLS 1 TGT_NAME out0

_XMS_NAKs 0 TGT_LATLONG -7411.000,-11227.690

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 386.84 MHEAD_RNG_PITCHd_Wd 312.3,42158,-15.4,-9.429,-23.69,2278

_SM_ANGLEo 1.8 D_GRID 990

GPS2 140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FINISH1 965.2,1.027719,-11 _24V_AH 12.38,70.538

FINISH2 963.4 _10V_AH 12.37,0.000

RAFOS_CLK 250 FG_AHR_24Vo 0.000

RAFOS_FIX -7433.330566,-11236.165039,140218,141447,0,1,0.08 FG_AHR_10Vo 0.000

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

TT8_MAMPS 0.047936,0.3745 DATA_FILE_SIZE 20071,562

HUMID 42.83 CAP_FILE_SIZE 70181,0

INTERNAL_PRESSURE 7.71672 CFSIZE 1024409600,1001422848

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 1 SOUNDSPEED 1459.5

ALTIM_TOP_PING 978.8,20.3 GPS 140218,142047,-7433.331,-11236.165,0,1001.0,0,53.5,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 262 14.05 nil 0 0 0.00

Roll_motor 53 352 235.22 nil 0 0 0.00

VBD_pump_during_apogee 847 1400 14701.14 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 6772 6 545.95

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 23 420 119.59 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4783 2 136.69

TT8_Active 805 12 122.28

TT8_Sampling 1180 31 463.63

TT8_CF8 69 45 38.70

TT8_Kalman 0 0 0.00

Analog_circuits 1306 10 164.89

GPS_charging 0 0 0.00

Compass 808 7 74.95

RAFOS 0 0 0.00

Transponder 161 30 60.10

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

393.8 12.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

400.2 19.20 9000.00 0.0 0.00 0.00 19.20 0.0 1.02 1.00

413.1 33.40 33.40 0.0 1.08 1.00 33.40 0.0 1.10 1.00

991.7 30.10 9000.00 0.0 0.01 0.10 30.10 0.0 -0.01 1.00

985.1 27.50 9000.00 0.0 -0.01 0.80 27.50 957.6 0.39 1.00

978.8 19.30 20.30 958.5 0.84 0.91 19.30 959.5 1.30 1.00

972.7 23.00 9000.00 0.0 0.37 0.31 23.00 0.0 -0.61 1.00

966.7 20.20 9000.00 0.0 -0.08 0.06 20.20 946.5 0.47 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 2710 2503 2833 2608 0.0 0.0 0 11 0.00 0.00 -1.92 0.049 16390 0.000 0.000 2709 2502 3324 3464 3184 0 0 0 0 0 0 15.07 13.37 15.06

13 -0.88 -146.0 2709 2503 3463 3188 0.0 0.0 0 19 0.90 2.38 0.00 0.000 4356 0.110 0.151 2410 3757 3324 3457 3192 0 0 0 0 0 0 14.75 14.67 14.84

68 -0.88 -146.0 2410 3758 3449 3202 391.5 -9.2 11 75 0.00 2.30 0.00 0.000 1030 0.000 0.099 2410 2491 3324 3448 3201 0 0 0 0 0 0 14.82 14.73 14.88

373 -0.88 -146.0 2411 2491 3445 3204 424.0 -10.8 42 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2491 3324 3445 3204 0 0 0 0 0 0 15.10 15.13 15.14

673 -0.88 -146.0 2411 2491 3444 3205 456.5 -10.7 72 679 0.00 2.47 0.00 0.000 260 0.000 0.155 2400 3757 3324 3443 3205 0 0 0 0 0 0 15.11 14.66 15.14

723 -0.88 -146.0 2401 3757 3438 3208 462.2 -11.4 82 729 0.00 2.30 0.00 0.000 1030 0.000 0.099 2401 2491 3324 3440 3208 0 0 0 0 0 0 14.79 14.71 14.83

1033 -0.88 -146.0 2402 2499 3440 3209 496.1 -10.7 114 1039 0.00 2.45 0.00 0.000 260 0.000 0.154 2391 3747 3323 3439 3208 0 0 0 0 0 0 15.11 14.66 15.14

1068 -0.88 -146.0 2392 3748 3439 3209 500.3 -11.6 121 1076 0.00 2.28 0.00 0.000 1030 0.000 0.098 2392 2490 3323 3438 3209 0 0 0 0 0 0 14.85 14.76 14.88

1373 -0.88 -146.0 2392 2491 3438 3210 534.1 -11.2 152 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2490 3323 3437 3209 0 0 0 0 0 0 15.11 15.14 15.13

1673 -0.88 -146.0 2392 2491 3438 3209 567.2 -11.2 182 1679 0.00 2.45 0.00 0.000 260 0.000 0.153 2383 3751 3323 3437 3209 0 0 0 0 0 0 15.11 14.65 15.14

1743 -0.88 -146.0 2383 3752 3437 3210 575.5 -11.9 196 1750 0.10 2.30 0.00 0.000 3078 0.255 0.099 2410 2488 3322 3436 3209 0 0 0 0 0 0 14.51 14.71 14.67

2055 -0.88 -146.0 2411 2489 3437 3210 607.4 -10.1 228 2056 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2488 3322 3436 3209 0 0 0 0 0 0 15.06 15.09 15.08

2354 -0.88 -146.0 2410 2490 3437 3211 637.2 -10.0 258 2360 0.00 2.45 0.00 0.000 260 0.000 0.155 2401 3747 3323 3436 3210 0 0 0 0 0 0 15.09 14.63 15.11

2404 -0.88 -146.0 2402 3748 3436 3210 642.5 -10.9 268 2410 0.00 2.28 0.00 0.000 1030 0.000 0.098 2401 2497 3322 3435 3209 0 0 0 0 0 0 14.82 14.73 14.85

2714 -0.88 -146.0 2401 2498 3436 3211 675.1 -10.4 300 2720 0.00 2.45 0.00 0.000 260 0.000 0.155 2393 3752 3322 3435 3209 0 0 0 0 0 0 15.09 14.62 15.12

2749 -0.88 -146.0 2393 3752 3436 3205 679.0 -11.5 307 2756 0.00 2.25 0.00 0.000 1030 0.000 0.099 2393 2492 3322 3435 3210 0 0 0 0 0 0 14.90 14.77 14.93

3074 -0.88 -146.0 2393 2491 3436 3211 713.5 -10.4 332 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2393 2492 3322 3435 3209 0 0 0 0 0 0 15.10 15.14 15.13

3434 -0.88 -146.0 2393 2492 3436 3209 752.4 -10.9 344 3440 0.00 2.40 0.00 0.000 260 0.000 0.153 2384 3749 3322 3435 3209 0 0 0 0 0 0 15.11 14.67 15.14

3504 -0.88 -146.0 2385 3750 3436 3209 760.7 -11.0 358 3510 0.10 2.28 0.00 0.000 3078 0.258 0.098 2411 2497 3322 3435 3210 0 0 0 0 0 0 14.53 14.76 14.71

3884 -0.88 -146.0 2411 2497 3436 3210 797.8 -9.4 374 3890 0.00 2.45 0.00 0.000 260 0.000 0.155 2403 3751 3322 3435 3210 0 0 0 0 0 0 15.11 14.64 15.14

3934 -0.88 -146.0 2403 3752 3435 3211 803.0 -10.0 384 3940 0.00 2.30 0.00 0.000 1030 0.000 0.098 2403 2484 3322 3435 3210 0 0 0 0 0 0 14.83 14.75 14.88

4305 -0.88 -146.0 2403 2489 3435 3210 839.6 -9.7 398 4306 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2488 3322 3435 3210 0 0 0 0 0 0 15.11 15.14 15.14

4664 -0.88 -146.0 2403 2488 3435 3210 874.0 -9.5 410 4673 0.00 2.45 0.00 0.000 260 0.000 0.154 2394 3746 3322 3434 3210 0 0 0 0 0 0 15.13 14.64 15.15

4707 -0.88 -146.0 2394 3747 3435 3211 878.4 -10.2 418 4713 0.00 2.25 0.00 0.000 1030 0.000 0.096 2394 2499 3322 3434 3210 0 0 0 0 0 0 14.83 14.76 14.88

5088 -0.88 -146.0 2394 2500 3435 3211 914.9 -9.6 434 5089 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2499 3322 3434 3210 0 0 0 0 0 0 15.12 15.15 15.15

5447 -0.88 -146.0 2394 2499 3436 3210 950.2 -9.9 446 5448 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2499 3322 3434 3210 0 0 0 0 0 0 15.14 15.16 15.16

5807 -0.88 -146.0 2394 2500 3436 3211 985.5 -9.7 458 5816 0.00 2.42 0.00 0.000 260 0.000 0.155 2386 3746 3322 3435 3210 0 0 0 0 0 0 15.14 14.64 15.16

5835 -0.88 -146.0 2386 3746 3435 3211 988.4 -10.2 463 5843 0.10 2.25 0.00 0.000 3078 0.262 0.096 2412 2500 3322 3434 3210 0 0 0 0 0 0 14.52 14.76 14.71

5869 end dive: TARGET_DEPTH_EXCEEDED

state 5869 begin apogee

5873 -0.23 0.0 2413 2187 3435 3211 991.7 -9.6 465 6327 0.77 0.03 445.42 1.330 10246 0.226 0.353 2623 2196 2713 2769 2658 0 0 0 0 1 0 14.59 13.43 12.38

6329 end apogee: CONTROL_FINISHED_OK

state 6329 begin climb

6330 0.88 146.0 2624 2197 2774 2658 1004.1 0.0 480 6741 1.25 0.00 402.35 1.401 11010 0.135 0.000 2984 2196 2211 2245 2178 0 0 0 0 0 0 13.52 28.83 13.59

6741 end climb: SURFACE_OBSTACLE_DETECTED

state 6741 begin subsurface finish

6746 -0.01 -11.1 2985 2196 2240 2174 965.2 13.9 561 6753 1.10 2.90 -1.20 0.091 20996 0.222 0.143 2712 783 2786 2890 2683 0 0 0 0 0 0 13.57 12.88 13.68

6754 end subsurface finish: CONTROL_FINISHED_OK

state 6754 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	161	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	17	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	140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0	SPEED_LIMITS	0.094,0.215
_CALLS	1	TGT_NAME	out0
_XMS_NAKs	0	TGT_LATLONG	-7411.000,-11227.690
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	386.84	MHEAD_RNG_PITCHd_Wd	312.3,42158,-15.4,-9.429,-23.69,2278
_SM_ANGLEo	1.8	D_GRID	990
GPS2	140218,121600,-7433.6499,-11236.0420,0,4128.3,0,53.5,0.0,0.0,0,0.0

FINISH1	965.2,1.027719,-11	_24V_AH	12.38,70.538
FINISH2	963.4	_10V_AH	12.37,0.000
RAFOS_CLK	250	FG_AHR_24Vo	0.000
RAFOS_FIX	-7433.330566,-11236.165039,140218,141447,0,1,0.08	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7412.77,-11226.25,110218,141555	MEM	280004
TT8_MAMPS	0.047936,0.3745	DATA_FILE_SIZE	20071,562
HUMID	42.83	CAP_FILE_SIZE	70181,0
INTERNAL_PRESSURE	7.71672	CFSIZE	1024409600,1001422848
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	1	SOUNDSPEED	1459.5
ALTIM_TOP_PING	978.8,20.3	GPS	140218,142047,-7433.331,-11236.165,0,1001.0,0,53.5,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	262	14.05	nil	0	0	0.00
Roll_motor	53	352	235.22	nil	0	0	0.00
VBD_pump_during_apogee	847	1400	14701.14	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	6772	6	545.95
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	23	420	119.59	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4783	2	136.69
TT8_Active	805	12	122.28
TT8_Sampling	1180	31	463.63
TT8_CF8	69	45	38.70
TT8_Kalman	0	0	0.00
Analog_circuits	1306	10	164.89
GPS_charging	0	0	0.00
Compass	808	7	74.95
RAFOS	0	0	0.00
Transponder	161	30	60.10

		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
393.8	12.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
400.2	19.20	9000.00	0.0	0.00	0.00	19.20	0.0	1.02	1.00
413.1	33.40	33.40	0.0	1.08	1.00	33.40	0.0	1.10	1.00

991.7	30.10	9000.00	0.0	0.01	0.10	30.10	0.0	-0.01	1.00
985.1	27.50	9000.00	0.0	-0.01	0.80	27.50	957.6	0.39	1.00
978.8	19.30	20.30	958.5	0.84	0.91	19.30	959.5	1.30	1.00
972.7	23.00	9000.00	0.0	0.37	0.31	23.00	0.0	-0.61	1.00
966.7	20.20	9000.00	0.0	-0.08	0.06	20.20	946.5	0.47	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	2710	2503	2833	2608	0.0	0.0	0	11	0.00	0.00	-1.92	0.049	16390	0.000	0.000	2709	2502	3324	3464	3184	0	0	0	0	0	0	15.07	13.37	15.06
13	-0.88	-146.0	2709	2503	3463	3188	0.0	0.0	0	19	0.90	2.38	0.00	0.000	4356	0.110	0.151	2410	3757	3324	3457	3192	0	0	0	0	0	0	14.75	14.67	14.84
68	-0.88	-146.0	2410	3758	3449	3202	391.5	-9.2	11	75	0.00	2.30	0.00	0.000	1030	0.000	0.099	2410	2491	3324	3448	3201	0	0	0	0	0	0	14.82	14.73	14.88
373	-0.88	-146.0	2411	2491	3445	3204	424.0	-10.8	42	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2491	3324	3445	3204	0	0	0	0	0	0	15.10	15.13	15.14
673	-0.88	-146.0	2411	2491	3444	3205	456.5	-10.7	72	679	0.00	2.47	0.00	0.000	260	0.000	0.155	2400	3757	3324	3443	3205	0	0	0	0	0	0	15.11	14.66	15.14
723	-0.88	-146.0	2401	3757	3438	3208	462.2	-11.4	82	729	0.00	2.30	0.00	0.000	1030	0.000	0.099	2401	2491	3324	3440	3208	0	0	0	0	0	0	14.79	14.71	14.83
1033	-0.88	-146.0	2402	2499	3440	3209	496.1	-10.7	114	1039	0.00	2.45	0.00	0.000	260	0.000	0.154	2391	3747	3323	3439	3208	0	0	0	0	0	0	15.11	14.66	15.14
1068	-0.88	-146.0	2392	3748	3439	3209	500.3	-11.6	121	1076	0.00	2.28	0.00	0.000	1030	0.000	0.098	2392	2490	3323	3438	3209	0	0	0	0	0	0	14.85	14.76	14.88
1373	-0.88	-146.0	2392	2491	3438	3210	534.1	-11.2	152	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2490	3323	3437	3209	0	0	0	0	0	0	15.11	15.14	15.13
1673	-0.88	-146.0	2392	2491	3438	3209	567.2	-11.2	182	1679	0.00	2.45	0.00	0.000	260	0.000	0.153	2383	3751	3323	3437	3209	0	0	0	0	0	0	15.11	14.65	15.14
1743	-0.88	-146.0	2383	3752	3437	3210	575.5	-11.9	196	1750	0.10	2.30	0.00	0.000	3078	0.255	0.099	2410	2488	3322	3436	3209	0	0	0	0	0	0	14.51	14.71	14.67
2055	-0.88	-146.0	2411	2489	3437	3210	607.4	-10.1	228	2056	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2488	3322	3436	3209	0	0	0	0	0	0	15.06	15.09	15.08
2354	-0.88	-146.0	2410	2490	3437	3211	637.2	-10.0	258	2360	0.00	2.45	0.00	0.000	260	0.000	0.155	2401	3747	3323	3436	3210	0	0	0	0	0	0	15.09	14.63	15.11
2404	-0.88	-146.0	2402	3748	3436	3210	642.5	-10.9	268	2410	0.00	2.28	0.00	0.000	1030	0.000	0.098	2401	2497	3322	3435	3209	0	0	0	0	0	0	14.82	14.73	14.85
2714	-0.88	-146.0	2401	2498	3436	3211	675.1	-10.4	300	2720	0.00	2.45	0.00	0.000	260	0.000	0.155	2393	3752	3322	3435	3209	0	0	0	0	0	0	15.09	14.62	15.12
2749	-0.88	-146.0	2393	3752	3436	3205	679.0	-11.5	307	2756	0.00	2.25	0.00	0.000	1030	0.000	0.099	2393	2492	3322	3435	3210	0	0	0	0	0	0	14.90	14.77	14.93
3074	-0.88	-146.0	2393	2491	3436	3211	713.5	-10.4	332	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2393	2492	3322	3435	3209	0	0	0	0	0	0	15.10	15.14	15.13
3434	-0.88	-146.0	2393	2492	3436	3209	752.4	-10.9	344	3440	0.00	2.40	0.00	0.000	260	0.000	0.153	2384	3749	3322	3435	3209	0	0	0	0	0	0	15.11	14.67	15.14
3504	-0.88	-146.0	2385	3750	3436	3209	760.7	-11.0	358	3510	0.10	2.28	0.00	0.000	3078	0.258	0.098	2411	2497	3322	3435	3210	0	0	0	0	0	0	14.53	14.76	14.71
3884	-0.88	-146.0	2411	2497	3436	3210	797.8	-9.4	374	3890	0.00	2.45	0.00	0.000	260	0.000	0.155	2403	3751	3322	3435	3210	0	0	0	0	0	0	15.11	14.64	15.14
3934	-0.88	-146.0	2403	3752	3435	3211	803.0	-10.0	384	3940	0.00	2.30	0.00	0.000	1030	0.000	0.098	2403	2484	3322	3435	3210	0	0	0	0	0	0	14.83	14.75	14.88
4305	-0.88	-146.0	2403	2489	3435	3210	839.6	-9.7	398	4306	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2488	3322	3435	3210	0	0	0	0	0	0	15.11	15.14	15.14
4664	-0.88	-146.0	2403	2488	3435	3210	874.0	-9.5	410	4673	0.00	2.45	0.00	0.000	260	0.000	0.154	2394	3746	3322	3434	3210	0	0	0	0	0	0	15.13	14.64	15.15
4707	-0.88	-146.0	2394	3747	3435	3211	878.4	-10.2	418	4713	0.00	2.25	0.00	0.000	1030	0.000	0.096	2394	2499	3322	3434	3210	0	0	0	0	0	0	14.83	14.76	14.88
5088	-0.88	-146.0	2394	2500	3435	3211	914.9	-9.6	434	5089	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2499	3322	3434	3210	0	0	0	0	0	0	15.12	15.15	15.15
5447	-0.88	-146.0	2394	2499	3436	3210	950.2	-9.9	446	5448	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2499	3322	3434	3210	0	0	0	0	0	0	15.14	15.16	15.16
5807	-0.88	-146.0	2394	2500	3436	3211	985.5	-9.7	458	5816	0.00	2.42	0.00	0.000	260	0.000	0.155	2386	3746	3322	3435	3210	0	0	0	0	0	0	15.14	14.64	15.16
5835	-0.88	-146.0	2386	3746	3435	3211	988.4	-10.2	463	5843	0.10	2.25	0.00	0.000	3078	0.262	0.096	2412	2500	3322	3434	3210	0	0	0	0	0	0	14.52	14.76	14.71
5869	end dive: TARGET_DEPTH_EXCEEDED
state	5869	begin apogee
5873	-0.23	0.0	2413	2187	3435	3211	991.7	-9.6	465	6327	0.77	0.03	445.42	1.330	10246	0.226	0.353	2623	2196	2713	2769	2658	0	0	0	0	1	0	14.59	13.43	12.38
6329	end apogee: CONTROL_FINISHED_OK
state	6329	begin climb
6330	0.88	146.0	2624	2197	2774	2658	1004.1	0.0	480	6741	1.25	0.00	402.35	1.401	11010	0.135	0.000	2984	2196	2211	2245	2178	0	0	0	0	0	0	13.52	28.83	13.59
6741	end climb: SURFACE_OBSTACLE_DETECTED
state	6741	begin subsurface finish
6746	-0.01	-11.1	2985	2196	2240	2174	965.2	13.9	561	6753	1.10	2.90	-1.20	0.091	20996	0.222	0.143	2712	783	2786	2890	2683	0	0	0	0	0	0	13.57	12.88	13.68
6754	end subsurface finish: CONTROL_FINISHED_OK
state	6754	begin surface