Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 168 * 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 168 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 20

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 43 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 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 0 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 5 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 110 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 300 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 300 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -3 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 0.079999998 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 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 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 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 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 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 3 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 20 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.079999998 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 -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 300 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 300 ROLL_AD_RATE 300 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 168 MAXI_24V 0.60000002 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 10 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 600 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 240218,164831,-7402.4736,-11247.1836,35,0.8,35,53.5,0.1,0.0,11,3.1 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 2000.000

_SM_DEPTHo 0.70 MHEAD_RNG_PITCHd_Wd 141.6,16460,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.6 D_GRID 762

GPS2 240218,165300,-7402.4473,-11247.2764,1,0.7,3,53.5,0.5,312.9,12,4.8

Post-dive calculations and measurements:

FREEZE 0.99,-1.721,-1.862,2,1,0 ALTIM_TOP_PING 23.1,23.8

FINISH 1.0,1.027309 _24V_AH 12.52,64.119

SM_CCo 5617,164.38,0.223,0,0,2204,300.18 _10V_AH 12.70,0.000

SM_GC 0.70,8.40,2.97,164.38,0.070,0.073,0.223,196,2812,2204,-7.87,-0.42,300.18,0,0,0,0,0,0,14.57,14.57,14.25 FG_AHR_24Vo 0.000

RAFOS_CLK 236 FG_AHR_10Vo 0.000

RAFOS 0,1519495263,18.032778,18.017500,86,61,57,50,50,48,614,142,214,126,183,224 MEM 280656

RAFOS_FIX -7402.098633,-11247.233398,240218,181824,3,118,0.13 DATA_FILE_SIZE 20134,607

IRIDIUM_FIX -7402.16,-11235.99,240218,151543 CAP_FILE_SIZE 75118,0

TT8_MAMPS 0.03745,0.280875 CFSIZE 1024409600,1000718336

HUMID 45.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1443.5

TCM_TEMP 12.80 CURRENT 0.128,306.52,1

XPDR_PINGS 0 GPS 240218,183029,-7402.819,-11249.109,3,1.1,4,53.5,0.7,318.2,7,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 472 135.99 nil 0 0 0.00

Roll_motor 64 96 77.33 nil 0 0 0.00

VBD_pump_during_apogee 223 2294 6412.59 nil 0 0 0.00

VBD_pump_during_surface 164 223 459.71 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 5611 4 290.41

Iridium_during_xfer 170 190 407.34 nil 0 0 0.00

Transponder_ping 8 420 43.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.61

TT8 0 0 0.00

LPSleep 3985 2 116.93

TT8_Active 572 10 79.05

TT8_Sampling 1417 30 546.38

TT8_CF8 94 51 61.52

TT8_Kalman 0 0 0.00

Analog_circuits 1221 10 156.62

GPS_charging 0 0 0.00

Compass 874 6 74.86

RAFOS 720 1 13.72

Transponder 59 30 22.52

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

20.2 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.0 43.00 9000.00 0.0 0.00 0.00 43.00 0.0 1.02 1.00

104.3 109.20 109.20 -4.9 1.04 1.00 109.20 -4.9 1.05 1.00

63.7 66.40 66.60 -2.9 1.05 1.00 66.40 -2.7 1.05 1.00

43.4 45.00 45.00 -1.6 1.06 1.00 45.00 -1.6 1.05 1.00

23.1 23.80 23.80 -0.7 1.05 1.00 23.80 -0.7 1.04 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 -1.04 -121.7 192 2799 2232 2136 0.0 0.0 0 121 0.00 0.00 -108.05 0.003 16390 0.000 0.000 191 2800 3889 3901 3878 0 0 0 0 0 0 14.61 13.26 14.61

123 -1.04 -121.7 191 2801 3902 3879 3.0 -3.7 11 141 11.95 2.40 0.00 0.000 2596 0.473 0.045 2389 1399 3896 3903 3890 0 0 0 0 0 0 13.98 14.37 14.29

280 -1.04 -121.7 2389 1399 3904 3901 27.2 -13.5 42 287 0.00 2.53 0.00 0.000 1030 0.000 0.071 2384 2800 3901 3903 3900 0 0 0 0 0 0 14.45 14.37 14.47

585 -1.04 -121.7 2384 2800 3903 3904 70.7 -14.0 73 591 0.00 2.42 0.00 0.000 516 0.000 0.051 2384 1406 3902 3903 3902 0 0 0 0 0 0 14.76 14.46 14.77

635 -1.04 -121.7 2385 1407 3903 3903 77.5 -13.2 83 641 0.00 2.50 0.00 0.000 1030 0.000 0.072 2383 2801 3902 3903 3902 0 0 0 0 0 0 14.52 14.44 14.55

945 -1.04 -121.7 2383 2802 3904 3904 117.4 -12.4 115 951 0.00 2.42 0.00 0.000 516 0.000 0.050 2383 1404 3903 3903 3903 0 0 0 0 0 0 14.81 14.50 14.81

975 -1.04 -121.7 2384 1404 3904 3903 121.1 -12.5 121 982 0.00 2.50 0.00 0.000 1030 0.000 0.071 2382 2805 3902 3903 3902 0 0 0 0 0 0 14.56 14.47 14.59

1286 -1.04 -121.7 2383 2806 3905 3903 161.6 -13.9 153 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2806 3903 3903 3903 0 0 0 0 0 0 14.83 14.83 14.83

1586 -1.04 -121.7 2383 2806 3905 3903 202.3 -13.2 183 1592 0.00 1.98 0.00 0.000 260 0.000 0.092 2374 3902 3903 3903 3903 0 0 0 0 0 0 14.85 14.49 14.85

1611 -1.04 -121.7 2374 3904 3904 3904 205.8 -14.5 188 1618 0.00 1.88 0.00 0.000 1030 0.000 0.050 2374 2794 3903 3903 3903 0 0 0 0 0 0 14.64 14.60 14.65

1916 -1.04 -121.7 2375 2795 3904 3904 247.0 -13.6 219 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2794 3903 3903 3903 0 0 0 0 0 0 14.86 14.86 14.86

2217 -1.04 -121.7 2375 2795 3904 3904 286.7 -12.6 249 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2794 3903 3903 3903 0 0 0 0 0 0 14.83 14.83 14.83

2526 -1.04 -121.7 2375 2795 3904 3905 324.0 -11.6 270 2527 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2794 3903 3903 3903 0 0 0 0 0 0 14.89 14.89 14.89

2585 end dive: TARGET_DEPTH_EXCEEDED

state 2585 begin apogee

2589 -0.23 0.0 2376 2538 3901 3903 330.9 -11.5 273 2709 1.05 0.00 113.35 2.294 10246 0.260 0.000 2651 2539 3396 3400 3393 0 0 0 0 0 0 14.31 13.72 12.95

2710 end apogee: CONTROL_FINISHED_OK

state 2710 begin climb

2711 1.04 121.7 2652 2538 3401 3393 333.7 0.0 279 2829 1.38 2.60 109.90 2.210 10756 0.158 0.065 3065 1168 2912 2915 2910 0 0 0 0 0 0 13.76 13.28 12.52

2863 1.04 121.7 3065 1169 2910 2906 322.0 11.2 308 2869 0.00 2.65 0.00 0.000 1030 0.000 0.070 3065 2552 2907 2909 2905 0 0 0 0 0 0 13.62 13.56 13.64

3168 1.04 121.7 3066 2552 2904 2901 285.5 11.8 331 3174 0.00 2.53 0.00 0.000 260 0.000 0.095 3065 3897 2902 2903 2901 0 0 0 0 0 0 14.40 14.09 14.40

3203 1.04 121.7 3065 3897 2904 2901 280.9 13.5 338 3210 0.00 2.35 0.00 0.000 1030 0.000 0.056 3075 2565 2901 2902 2901 0 0 0 0 0 0 14.25 14.22 14.26

3508 1.04 121.7 3076 2565 2904 2900 244.6 11.7 369 3515 0.00 2.53 0.00 0.000 516 0.000 0.067 3086 1151 2900 2902 2899 0 0 0 0 0 0 14.64 14.33 14.64

3564 1.04 121.7 3086 1152 2903 2899 238.0 11.6 380 3571 0.00 2.53 0.00 0.000 1030 0.000 0.073 3086 2550 2900 2902 2898 0 0 0 0 0 0 14.42 14.35 14.46

3869 1.04 121.7 3085 2550 2903 2899 198.7 13.3 411 3875 0.00 2.47 0.00 0.000 516 0.000 0.067 3096 1155 2900 2902 2898 0 0 0 0 0 0 14.74 14.42 14.74

3894 1.04 121.7 3097 1155 2904 2899 195.4 12.9 416 3901 0.10 2.50 0.00 0.000 5126 0.269 0.073 3058 2553 2900 2902 2898 0 0 0 0 0 0 14.25 14.43 14.53

4199 1.04 121.7 3062 2554 2903 2899 161.5 10.6 447 4205 0.00 2.47 0.00 0.000 260 0.000 0.096 3058 3909 2900 2902 2899 0 0 0 0 0 0 14.78 14.45 14.78

4219 1.04 121.7 3058 3910 2903 2900 159.0 12.0 451 4225 0.00 2.35 0.00 0.000 1030 0.000 0.056 3067 2546 2900 2902 2899 0 0 0 0 0 0 14.58 14.53 14.60

4530 1.04 121.7 3067 2547 2903 2900 124.7 10.8 483 4535 0.00 2.42 0.00 0.000 516 0.000 0.068 3077 1147 2900 2902 2899 0 0 0 0 0 0 14.78 14.51 14.78

4604 1.04 121.7 3078 1147 2903 2899 116.5 10.9 498 4611 0.00 2.50 0.00 0.000 1030 0.000 0.073 3077 2550 2900 2902 2898 0 0 0 0 0 0 14.58 14.50 14.61

4909 1.04 121.7 3078 2550 2903 2899 80.6 11.3 529 4916 0.00 2.47 0.00 0.000 260 0.000 0.096 3077 3906 2900 2902 2898 0 0 0 0 0 0 14.84 14.46 14.84

4940 1.04 121.7 3078 3906 2904 2898 76.6 13.3 535 4946 0.00 2.33 0.00 0.000 1030 0.000 0.057 3088 2556 2900 2902 2898 0 0 0 0 0 0 14.62 14.58 14.64

5250 1.04 121.7 3088 2556 2903 2899 40.0 11.3 567 5256 0.00 2.45 0.00 0.000 516 0.000 0.068 3099 1144 2900 2902 2898 0 0 0 0 0 0 14.86 14.53 14.85

5275 1.04 121.7 3099 1144 2904 2899 37.4 10.7 572 5282 0.10 2.50 0.00 0.000 5126 0.269 0.073 3072 2551 2900 2902 2899 0 0 0 0 0 0 14.30 14.53 14.51

5580 1.04 121.7 3072 2552 2903 2898 3.6 11.6 603 5587 0.00 2.42 0.00 0.000 516 0.000 0.067 3081 1151 2900 2902 2899 0 0 0 0 0 0 14.87 14.53 14.87

5595 end climb: SURFACE_DEPTH_REACHED

state 5595 begin surface coast

5600 end surface coast: CONTROL_FINISHED_OK

state 5600 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	168	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	20
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	43	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	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	0	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	5	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	110	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	300	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	300	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.079999998	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	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	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	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	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	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	240218,164831,-7402.4736,-11247.1836,35,0.8,35,53.5,0.1,0.0,11,3.1	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	2000.000
_SM_DEPTHo	0.70	MHEAD_RNG_PITCHd_Wd	141.6,16460,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.6	D_GRID	762
GPS2	240218,165300,-7402.4473,-11247.2764,1,0.7,3,53.5,0.5,312.9,12,4.8

FREEZE	0.99,-1.721,-1.862,2,1,0	ALTIM_TOP_PING	23.1,23.8
FINISH	1.0,1.027309	_24V_AH	12.52,64.119
SM_CCo	5617,164.38,0.223,0,0,2204,300.18	_10V_AH	12.70,0.000
SM_GC	0.70,8.40,2.97,164.38,0.070,0.073,0.223,196,2812,2204,-7.87,-0.42,300.18,0,0,0,0,0,0,14.57,14.57,14.25	FG_AHR_24Vo	0.000
RAFOS_CLK	236	FG_AHR_10Vo	0.000
RAFOS	0,1519495263,18.032778,18.017500,86,61,57,50,50,48,614,142,214,126,183,224	MEM	280656
RAFOS_FIX	-7402.098633,-11247.233398,240218,181824,3,118,0.13	DATA_FILE_SIZE	20134,607
IRIDIUM_FIX	-7402.16,-11235.99,240218,151543	CAP_FILE_SIZE	75118,0
TT8_MAMPS	0.03745,0.280875	CFSIZE	1024409600,1000718336
HUMID	45.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1443.5
TCM_TEMP	12.80	CURRENT	0.128,306.52,1
XPDR_PINGS	0	GPS	240218,183029,-7402.819,-11249.109,3,1.1,4,53.5,0.7,318.2,7,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	472	135.99	nil	0	0	0.00
Roll_motor	64	96	77.33	nil	0	0	0.00
VBD_pump_during_apogee	223	2294	6412.59	nil	0	0	0.00
VBD_pump_during_surface	164	223	459.71	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	5611	4	290.41
Iridium_during_xfer	170	190	407.34	nil	0	0	0.00
Transponder_ping	8	420	43.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.61
TT8	0	0	0.00
LPSleep	3985	2	116.93
TT8_Active	572	10	79.05
TT8_Sampling	1417	30	546.38
TT8_CF8	94	51	61.52
TT8_Kalman	0	0	0.00
Analog_circuits	1221	10	156.62
GPS_charging	0	0	0.00
Compass	874	6	74.86
RAFOS	720	1	13.72
Transponder	59	30	22.52

		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
20.2	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.0	43.00	9000.00	0.0	0.00	0.00	43.00	0.0	1.02	1.00

104.3	109.20	109.20	-4.9	1.04	1.00	109.20	-4.9	1.05	1.00
63.7	66.40	66.60	-2.9	1.05	1.00	66.40	-2.7	1.05	1.00
43.4	45.00	45.00	-1.6	1.06	1.00	45.00	-1.6	1.05	1.00
23.1	23.80	23.80	-0.7	1.05	1.00	23.80	-0.7	1.04	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	-1.04	-121.7	192	2799	2232	2136	0.0	0.0	0	121	0.00	0.00	-108.05	0.003	16390	0.000	0.000	191	2800	3889	3901	3878	0	0	0	0	0	0	14.61	13.26	14.61
123	-1.04	-121.7	191	2801	3902	3879	3.0	-3.7	11	141	11.95	2.40	0.00	0.000	2596	0.473	0.045	2389	1399	3896	3903	3890	0	0	0	0	0	0	13.98	14.37	14.29
280	-1.04	-121.7	2389	1399	3904	3901	27.2	-13.5	42	287	0.00	2.53	0.00	0.000	1030	0.000	0.071	2384	2800	3901	3903	3900	0	0	0	0	0	0	14.45	14.37	14.47
585	-1.04	-121.7	2384	2800	3903	3904	70.7	-14.0	73	591	0.00	2.42	0.00	0.000	516	0.000	0.051	2384	1406	3902	3903	3902	0	0	0	0	0	0	14.76	14.46	14.77
635	-1.04	-121.7	2385	1407	3903	3903	77.5	-13.2	83	641	0.00	2.50	0.00	0.000	1030	0.000	0.072	2383	2801	3902	3903	3902	0	0	0	0	0	0	14.52	14.44	14.55
945	-1.04	-121.7	2383	2802	3904	3904	117.4	-12.4	115	951	0.00	2.42	0.00	0.000	516	0.000	0.050	2383	1404	3903	3903	3903	0	0	0	0	0	0	14.81	14.50	14.81
975	-1.04	-121.7	2384	1404	3904	3903	121.1	-12.5	121	982	0.00	2.50	0.00	0.000	1030	0.000	0.071	2382	2805	3902	3903	3902	0	0	0	0	0	0	14.56	14.47	14.59
1286	-1.04	-121.7	2383	2806	3905	3903	161.6	-13.9	153	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2806	3903	3903	3903	0	0	0	0	0	0	14.83	14.83	14.83
1586	-1.04	-121.7	2383	2806	3905	3903	202.3	-13.2	183	1592	0.00	1.98	0.00	0.000	260	0.000	0.092	2374	3902	3903	3903	3903	0	0	0	0	0	0	14.85	14.49	14.85
1611	-1.04	-121.7	2374	3904	3904	3904	205.8	-14.5	188	1618	0.00	1.88	0.00	0.000	1030	0.000	0.050	2374	2794	3903	3903	3903	0	0	0	0	0	0	14.64	14.60	14.65
1916	-1.04	-121.7	2375	2795	3904	3904	247.0	-13.6	219	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2794	3903	3903	3903	0	0	0	0	0	0	14.86	14.86	14.86
2217	-1.04	-121.7	2375	2795	3904	3904	286.7	-12.6	249	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2794	3903	3903	3903	0	0	0	0	0	0	14.83	14.83	14.83
2526	-1.04	-121.7	2375	2795	3904	3905	324.0	-11.6	270	2527	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2794	3903	3903	3903	0	0	0	0	0	0	14.89	14.89	14.89
2585	end dive: TARGET_DEPTH_EXCEEDED
state	2585	begin apogee
2589	-0.23	0.0	2376	2538	3901	3903	330.9	-11.5	273	2709	1.05	0.00	113.35	2.294	10246	0.260	0.000	2651	2539	3396	3400	3393	0	0	0	0	0	0	14.31	13.72	12.95
2710	end apogee: CONTROL_FINISHED_OK
state	2710	begin climb
2711	1.04	121.7	2652	2538	3401	3393	333.7	0.0	279	2829	1.38	2.60	109.90	2.210	10756	0.158	0.065	3065	1168	2912	2915	2910	0	0	0	0	0	0	13.76	13.28	12.52
2863	1.04	121.7	3065	1169	2910	2906	322.0	11.2	308	2869	0.00	2.65	0.00	0.000	1030	0.000	0.070	3065	2552	2907	2909	2905	0	0	0	0	0	0	13.62	13.56	13.64
3168	1.04	121.7	3066	2552	2904	2901	285.5	11.8	331	3174	0.00	2.53	0.00	0.000	260	0.000	0.095	3065	3897	2902	2903	2901	0	0	0	0	0	0	14.40	14.09	14.40
3203	1.04	121.7	3065	3897	2904	2901	280.9	13.5	338	3210	0.00	2.35	0.00	0.000	1030	0.000	0.056	3075	2565	2901	2902	2901	0	0	0	0	0	0	14.25	14.22	14.26
3508	1.04	121.7	3076	2565	2904	2900	244.6	11.7	369	3515	0.00	2.53	0.00	0.000	516	0.000	0.067	3086	1151	2900	2902	2899	0	0	0	0	0	0	14.64	14.33	14.64
3564	1.04	121.7	3086	1152	2903	2899	238.0	11.6	380	3571	0.00	2.53	0.00	0.000	1030	0.000	0.073	3086	2550	2900	2902	2898	0	0	0	0	0	0	14.42	14.35	14.46
3869	1.04	121.7	3085	2550	2903	2899	198.7	13.3	411	3875	0.00	2.47	0.00	0.000	516	0.000	0.067	3096	1155	2900	2902	2898	0	0	0	0	0	0	14.74	14.42	14.74
3894	1.04	121.7	3097	1155	2904	2899	195.4	12.9	416	3901	0.10	2.50	0.00	0.000	5126	0.269	0.073	3058	2553	2900	2902	2898	0	0	0	0	0	0	14.25	14.43	14.53
4199	1.04	121.7	3062	2554	2903	2899	161.5	10.6	447	4205	0.00	2.47	0.00	0.000	260	0.000	0.096	3058	3909	2900	2902	2899	0	0	0	0	0	0	14.78	14.45	14.78
4219	1.04	121.7	3058	3910	2903	2900	159.0	12.0	451	4225	0.00	2.35	0.00	0.000	1030	0.000	0.056	3067	2546	2900	2902	2899	0	0	0	0	0	0	14.58	14.53	14.60
4530	1.04	121.7	3067	2547	2903	2900	124.7	10.8	483	4535	0.00	2.42	0.00	0.000	516	0.000	0.068	3077	1147	2900	2902	2899	0	0	0	0	0	0	14.78	14.51	14.78
4604	1.04	121.7	3078	1147	2903	2899	116.5	10.9	498	4611	0.00	2.50	0.00	0.000	1030	0.000	0.073	3077	2550	2900	2902	2898	0	0	0	0	0	0	14.58	14.50	14.61
4909	1.04	121.7	3078	2550	2903	2899	80.6	11.3	529	4916	0.00	2.47	0.00	0.000	260	0.000	0.096	3077	3906	2900	2902	2898	0	0	0	0	0	0	14.84	14.46	14.84
4940	1.04	121.7	3078	3906	2904	2898	76.6	13.3	535	4946	0.00	2.33	0.00	0.000	1030	0.000	0.057	3088	2556	2900	2902	2898	0	0	0	0	0	0	14.62	14.58	14.64
5250	1.04	121.7	3088	2556	2903	2899	40.0	11.3	567	5256	0.00	2.45	0.00	0.000	516	0.000	0.068	3099	1144	2900	2902	2898	0	0	0	0	0	0	14.86	14.53	14.85
5275	1.04	121.7	3099	1144	2904	2899	37.4	10.7	572	5282	0.10	2.50	0.00	0.000	5126	0.269	0.073	3072	2551	2900	2902	2899	0	0	0	0	0	0	14.30	14.53	14.51
5580	1.04	121.7	3072	2552	2903	2898	3.6	11.6	603	5587	0.00	2.42	0.00	0.000	516	0.000	0.067	3081	1151	2900	2902	2899	0	0	0	0	0	0	14.87	14.53	14.87
5595	end climb: SURFACE_DEPTH_REACHED
state	5595	begin surface coast
5600	end surface coast: CONTROL_FINISHED_OK
state	5600	begin surface