Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 177 * 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 177 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 37 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 -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 0.079999998 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 -1

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 177 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 37 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 250218,081400,-7406.9663,-11305.7422,30,1.0,30,53.8,0.1,0.0,7,3.9 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 0.74 MHEAD_RNG_PITCHd_Wd 185.6,3943,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.1 D_GRID 556

GPS2 250218,081900,-7406.9609,-11305.7188,2,0.9,3,53.8,0.5,130.4,7,6.4

Post-dive calculations and measurements:

FREEZE -0.07,-1.776,-1.861,2,1,0 ALTIM_TOP_PING 22.9,23.6

FINISH -0.1,1.027307 _24V_AH 12.50,65.878

SM_CCo 5522,165.85,0.224,0,0,2203,300.18 _10V_AH 12.78,0.000

SM_GC 0.75,8.57,1.90,165.85,0.082,0.053,0.224,188,2803,2203,-7.88,1.30,300.18,0,0,0,0,0,0,14.57,14.63,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

RAFOS 0,1519549268,9.032778,9.018888,145,62,60,56,52,51,606,192,205,217,133,158 MEM 280364

RAFOS_FIX -7407.123535,-11307.754883,250218,090940,3,111,0.32 DATA_FILE_SIZE 20118,589

IRIDIUM_FIX -7406.27,-11259.54,250218,063150 CAP_FILE_SIZE 73474,0

TT8_MAMPS 0.038199,0.295855 CFSIZE 1024409600,999833600

HUMID 44.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.76316 SOUNDSPEED 1443.4

TCM_TEMP 12.80 CURRENT 0.024,171.94,1

XPDR_PINGS 0 GPS 250218,095516,-7407.394,-11307.659,2,1.4,5,53.8,0.3,23.5,6,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 467 134.38 nil 0 0 0.00

Roll_motor 55 97 66.89 nil 0 0 0.00

VBD_pump_during_apogee 223 2298 6418.77 nil 0 0 0.00

VBD_pump_during_surface 165 224 464.68 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 5504 4 281.32

Iridium_during_xfer 196 184 453.54 nil 0 0 0.00

Transponder_ping 8 420 43.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.59

TT8 0 0 0.00

LPSleep 3920 2 115.73

TT8_Active 576 10 80.03

TT8_Sampling 1416 30 549.61

TT8_CF8 110 51 72.56

TT8_Kalman 0 0 0.00

Analog_circuits 1231 10 158.93

GPS_charging 0 0 0.00

Compass 848 6 73.11

RAFOS 720 1 13.80

Transponder 58 30 22.53

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

20.8 22.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.6 44.10 9000.00 0.0 0.00 0.00 44.10 0.0 1.06 1.00

62.0 65.30 65.40 0.0 1.05 1.00 65.30 0.0 1.04 1.00

144.9 150.30 150.40 -5.5 1.03 1.00 150.30 -5.4 1.03 1.00

103.5 107.60 107.80 -4.3 1.03 1.00 107.60 -4.1 1.03 1.00

83.5 87.00 87.00 -3.5 1.03 1.00 87.00 -3.5 1.03 1.00

63.1 65.50 65.60 -2.5 1.04 1.00 65.50 -2.4 1.05 1.00

43.0 44.50 44.50 -1.5 1.05 1.00 44.50 -1.5 1.04 1.00

22.9 23.60 23.60 -0.7 1.04 1.00 23.60 -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 -121.7 189 2808 2232 2131 0.0 0.0 0 121 0.00 0.00 -107.88 0.003 16390 0.000 0.000 186 2809 3884 3895 3874 0 0 0 0 0 0 14.62 13.25 14.62

123 -1.04 -121.7 187 2811 3895 3876 2.9 -3.7 11 141 11.85 2.45 0.00 0.000 2596 0.467 0.046 2389 1388 3892 3898 3886 0 0 0 0 0 0 14.00 14.36 14.28

205 -1.04 -121.7 2392 1389 3899 3894 15.9 -12.4 27 211 0.00 2.55 0.00 0.000 1030 0.000 0.070 2387 2802 3893 3899 3887 0 0 0 0 0 0 14.42 14.34 14.45

515 -1.04 -121.7 2387 2802 3900 3898 56.6 -13.3 59 516 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2802 3898 3899 3898 0 0 0 0 0 0 14.74 14.74 14.76

815 -1.04 -121.7 2386 2802 3900 3899 96.5 -13.4 89 822 0.00 2.00 0.00 0.000 260 0.000 0.093 2380 3904 3899 3899 3899 0 0 0 0 0 0 14.79 14.44 14.79

846 -1.04 -121.7 2380 3905 3900 3899 100.9 -14.3 95 852 0.00 1.90 0.00 0.000 1030 0.000 0.048 2380 2787 3895 3891 3899 0 0 0 0 0 0 14.58 14.54 14.60

1156 -1.04 -121.7 2381 2787 3899 3900 142.3 -13.2 127 1156 0.00 0.00 0.00 0.000 6 0.000 0.000 2380 2787 3899 3898 3900 0 0 0 0 0 0 14.82 14.82 14.82

1456 -1.04 -121.7 2380 2787 3900 3900 182.3 -13.3 157 1462 0.00 2.38 0.00 0.000 516 0.000 0.050 2380 1404 3899 3898 3900 0 0 0 0 0 0 14.84 14.51 14.84

1501 -1.04 -121.7 2380 1404 3899 3901 188.4 -13.1 166 1508 0.00 2.47 0.00 0.000 1030 0.000 0.071 2376 2795 3896 3898 3894 0 0 0 0 0 0 14.57 14.49 14.59

1806 -1.04 -121.7 2377 2795 3900 3901 228.7 -13.2 197 1813 0.00 2.00 0.00 0.000 260 0.000 0.092 2372 3903 3899 3899 3900 0 0 0 0 0 0 14.85 14.47 14.85

1857 -1.04 -121.7 2371 3903 3900 3900 235.7 -14.0 207 1863 0.00 1.88 0.00 0.000 1030 0.000 0.050 2372 2795 3899 3899 3900 0 0 0 0 0 0 14.63 14.59 14.65

2167 -1.04 -121.7 2373 2795 3900 3901 275.8 -12.5 239 2173 0.00 2.03 0.00 0.000 260 0.000 0.093 2370 3906 3899 3899 3900 0 0 0 0 0 0 14.87 14.48 14.87

2192 -1.04 -121.7 2370 3907 3900 3899 279.1 -13.7 244 2199 0.00 1.88 0.00 0.000 1030 0.000 0.049 2370 2798 3899 3899 3900 0 0 0 0 0 0 14.64 14.60 14.66

2497 -1.04 -121.7 2370 2799 3899 3901 318.4 -12.9 268 2503 0.00 2.03 0.00 0.000 260 0.000 0.093 2370 3908 3899 3899 3900 0 0 0 0 0 0 14.86 14.43 14.87

2558 -1.04 -121.7 2371 3909 3900 3900 326.6 -13.8 280 2563 0.00 1.88 0.00 0.000 1030 0.000 0.048 2370 2801 3899 3898 3901 0 0 0 0 0 0 14.62 14.60 14.63

2597 end dive: TARGET_DEPTH_EXCEEDED

state 2597 begin apogee

2601 -0.23 0.0 2370 2549 3899 3901 332.0 -14.0 285 2720 1.08 0.00 112.88 2.298 10246 0.262 0.000 2651 2548 3396 3400 3392 0 0 0 0 0 0 14.28 13.81 12.92

2721 end apogee: CONTROL_FINISHED_OK

state 2721 begin climb

2722 1.04 121.7 2652 2548 3400 3393 336.4 0.0 291 2845 1.42 2.70 110.57 2.216 10756 0.161 0.067 3071 1161 2910 2913 2907 0 0 0 0 0 0 13.75 13.31 12.50

2865 1.04 121.7 3071 1161 2911 2903 326.0 11.1 310 2871 0.00 2.62 0.00 0.000 1030 0.000 0.070 3071 2549 2906 2909 2903 0 0 0 0 0 0 13.60 13.52 13.62

3176 1.04 121.7 3072 2549 2903 2897 287.3 12.7 333 3182 0.00 2.53 0.00 0.000 260 0.000 0.096 3069 3910 2899 2902 2897 0 0 0 0 0 0 14.39 14.10 14.39

3236 1.04 121.7 3072 3911 2902 2898 278.6 14.6 345 3243 0.00 2.40 0.00 0.000 1030 0.000 0.057 3082 2558 2899 2902 2896 0 0 0 0 0 0 14.26 14.24 14.28

3547 1.04 121.7 3082 2559 2903 2896 237.5 13.1 377 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 3082 2558 2899 2902 2896 0 0 0 0 0 0 14.62 14.64 14.64

3847 1.04 121.7 3082 2560 2901 2897 200.6 12.4 407 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2558 2899 2902 2896 0 0 0 0 0 0 14.73 14.73 14.73

4147 1.04 121.7 3081 2559 2902 2898 163.4 12.1 437 4148 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2558 2899 2902 2896 0 0 0 0 0 0 14.78 14.78 14.78

4447 1.04 121.7 3082 2558 2902 2895 128.2 12.6 467 4453 0.00 2.50 0.00 0.000 516 0.000 0.068 3093 1149 2899 2902 2896 0 0 0 0 0 0 14.81 14.47 14.81

4472 1.04 121.7 3093 1149 2903 2896 125.1 12.4 472 4480 0.08 2.50 0.00 0.000 5126 0.272 0.072 3072 2550 2899 2902 2896 0 0 0 0 0 0 14.28 14.49 14.48

4777 1.04 121.7 3072 2551 2899 2897 89.9 11.3 503 4783 0.00 2.47 0.00 0.000 260 0.000 0.096 3072 3903 2899 2902 2896 0 0 0 0 0 0 14.83 14.48 14.83

4817 1.04 121.7 3072 3903 2903 2896 84.7 13.4 511 4823 0.00 2.35 0.00 0.000 1030 0.000 0.057 3082 2541 2900 2902 2898 0 0 0 0 0 0 14.62 14.57 14.66

5127 1.04 121.7 3082 2541 2903 2896 47.9 11.8 543 5133 0.00 2.42 0.00 0.000 516 0.000 0.067 3092 1162 2899 2902 2896 0 0 0 0 0 0 14.85 14.50 14.81

5168 1.04 121.7 3093 1163 2902 2897 43.0 12.6 551 5173 0.00 2.42 0.00 0.000 1030 0.000 0.072 3092 2550 2898 2902 2895 0 0 0 0 0 0 14.66 14.54 14.69

5477 1.04 121.7 3092 2551 2902 2896 4.4 12.1 583 5483 0.00 2.42 0.00 0.000 260 0.000 0.097 3092 3905 2899 2902 2896 0 0 0 0 0 0 14.85 14.51 14.85

5496 end climb: SURFACE_DEPTH_REACHED

state 5496 begin surface coast

5506 end surface coast: CONTROL_FINISHED_OK

state 5506 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	177	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	37	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	-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	0.079999998	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	250218,081400,-7406.9663,-11305.7422,30,1.0,30,53.8,0.1,0.0,7,3.9	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	0.74	MHEAD_RNG_PITCHd_Wd	185.6,3943,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.1	D_GRID	556
GPS2	250218,081900,-7406.9609,-11305.7188,2,0.9,3,53.8,0.5,130.4,7,6.4

FREEZE	-0.07,-1.776,-1.861,2,1,0	ALTIM_TOP_PING	22.9,23.6
FINISH	-0.1,1.027307	_24V_AH	12.50,65.878
SM_CCo	5522,165.85,0.224,0,0,2203,300.18	_10V_AH	12.78,0.000
SM_GC	0.75,8.57,1.90,165.85,0.082,0.053,0.224,188,2803,2203,-7.88,1.30,300.18,0,0,0,0,0,0,14.57,14.63,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
RAFOS	0,1519549268,9.032778,9.018888,145,62,60,56,52,51,606,192,205,217,133,158	MEM	280364
RAFOS_FIX	-7407.123535,-11307.754883,250218,090940,3,111,0.32	DATA_FILE_SIZE	20118,589
IRIDIUM_FIX	-7406.27,-11259.54,250218,063150	CAP_FILE_SIZE	73474,0
TT8_MAMPS	0.038199,0.295855	CFSIZE	1024409600,999833600
HUMID	44.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.76316	SOUNDSPEED	1443.4
TCM_TEMP	12.80	CURRENT	0.024,171.94,1
XPDR_PINGS	0	GPS	250218,095516,-7407.394,-11307.659,2,1.4,5,53.8,0.3,23.5,6,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	467	134.38	nil	0	0	0.00
Roll_motor	55	97	66.89	nil	0	0	0.00
VBD_pump_during_apogee	223	2298	6418.77	nil	0	0	0.00
VBD_pump_during_surface	165	224	464.68	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	5504	4	281.32
Iridium_during_xfer	196	184	453.54	nil	0	0	0.00
Transponder_ping	8	420	43.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.59
TT8	0	0	0.00
LPSleep	3920	2	115.73
TT8_Active	576	10	80.03
TT8_Sampling	1416	30	549.61
TT8_CF8	110	51	72.56
TT8_Kalman	0	0	0.00
Analog_circuits	1231	10	158.93
GPS_charging	0	0	0.00
Compass	848	6	73.11
RAFOS	720	1	13.80
Transponder	58	30	22.53

		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
20.8	22.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.6	44.10	9000.00	0.0	0.00	0.00	44.10	0.0	1.06	1.00
62.0	65.30	65.40	0.0	1.05	1.00	65.30	0.0	1.04	1.00

144.9	150.30	150.40	-5.5	1.03	1.00	150.30	-5.4	1.03	1.00
103.5	107.60	107.80	-4.3	1.03	1.00	107.60	-4.1	1.03	1.00
83.5	87.00	87.00	-3.5	1.03	1.00	87.00	-3.5	1.03	1.00
63.1	65.50	65.60	-2.5	1.04	1.00	65.50	-2.4	1.05	1.00
43.0	44.50	44.50	-1.5	1.05	1.00	44.50	-1.5	1.04	1.00
22.9	23.60	23.60	-0.7	1.04	1.00	23.60	-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	189	2808	2232	2131	0.0	0.0	0	121	0.00	0.00	-107.88	0.003	16390	0.000	0.000	186	2809	3884	3895	3874	0	0	0	0	0	0	14.62	13.25	14.62
123	-1.04	-121.7	187	2811	3895	3876	2.9	-3.7	11	141	11.85	2.45	0.00	0.000	2596	0.467	0.046	2389	1388	3892	3898	3886	0	0	0	0	0	0	14.00	14.36	14.28
205	-1.04	-121.7	2392	1389	3899	3894	15.9	-12.4	27	211	0.00	2.55	0.00	0.000	1030	0.000	0.070	2387	2802	3893	3899	3887	0	0	0	0	0	0	14.42	14.34	14.45
515	-1.04	-121.7	2387	2802	3900	3898	56.6	-13.3	59	516	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2802	3898	3899	3898	0	0	0	0	0	0	14.74	14.74	14.76
815	-1.04	-121.7	2386	2802	3900	3899	96.5	-13.4	89	822	0.00	2.00	0.00	0.000	260	0.000	0.093	2380	3904	3899	3899	3899	0	0	0	0	0	0	14.79	14.44	14.79
846	-1.04	-121.7	2380	3905	3900	3899	100.9	-14.3	95	852	0.00	1.90	0.00	0.000	1030	0.000	0.048	2380	2787	3895	3891	3899	0	0	0	0	0	0	14.58	14.54	14.60
1156	-1.04	-121.7	2381	2787	3899	3900	142.3	-13.2	127	1156	0.00	0.00	0.00	0.000	6	0.000	0.000	2380	2787	3899	3898	3900	0	0	0	0	0	0	14.82	14.82	14.82
1456	-1.04	-121.7	2380	2787	3900	3900	182.3	-13.3	157	1462	0.00	2.38	0.00	0.000	516	0.000	0.050	2380	1404	3899	3898	3900	0	0	0	0	0	0	14.84	14.51	14.84
1501	-1.04	-121.7	2380	1404	3899	3901	188.4	-13.1	166	1508	0.00	2.47	0.00	0.000	1030	0.000	0.071	2376	2795	3896	3898	3894	0	0	0	0	0	0	14.57	14.49	14.59
1806	-1.04	-121.7	2377	2795	3900	3901	228.7	-13.2	197	1813	0.00	2.00	0.00	0.000	260	0.000	0.092	2372	3903	3899	3899	3900	0	0	0	0	0	0	14.85	14.47	14.85
1857	-1.04	-121.7	2371	3903	3900	3900	235.7	-14.0	207	1863	0.00	1.88	0.00	0.000	1030	0.000	0.050	2372	2795	3899	3899	3900	0	0	0	0	0	0	14.63	14.59	14.65
2167	-1.04	-121.7	2373	2795	3900	3901	275.8	-12.5	239	2173	0.00	2.03	0.00	0.000	260	0.000	0.093	2370	3906	3899	3899	3900	0	0	0	0	0	0	14.87	14.48	14.87
2192	-1.04	-121.7	2370	3907	3900	3899	279.1	-13.7	244	2199	0.00	1.88	0.00	0.000	1030	0.000	0.049	2370	2798	3899	3899	3900	0	0	0	0	0	0	14.64	14.60	14.66
2497	-1.04	-121.7	2370	2799	3899	3901	318.4	-12.9	268	2503	0.00	2.03	0.00	0.000	260	0.000	0.093	2370	3908	3899	3899	3900	0	0	0	0	0	0	14.86	14.43	14.87
2558	-1.04	-121.7	2371	3909	3900	3900	326.6	-13.8	280	2563	0.00	1.88	0.00	0.000	1030	0.000	0.048	2370	2801	3899	3898	3901	0	0	0	0	0	0	14.62	14.60	14.63
2597	end dive: TARGET_DEPTH_EXCEEDED
state	2597	begin apogee
2601	-0.23	0.0	2370	2549	3899	3901	332.0	-14.0	285	2720	1.08	0.00	112.88	2.298	10246	0.262	0.000	2651	2548	3396	3400	3392	0	0	0	0	0	0	14.28	13.81	12.92
2721	end apogee: CONTROL_FINISHED_OK
state	2721	begin climb
2722	1.04	121.7	2652	2548	3400	3393	336.4	0.0	291	2845	1.42	2.70	110.57	2.216	10756	0.161	0.067	3071	1161	2910	2913	2907	0	0	0	0	0	0	13.75	13.31	12.50
2865	1.04	121.7	3071	1161	2911	2903	326.0	11.1	310	2871	0.00	2.62	0.00	0.000	1030	0.000	0.070	3071	2549	2906	2909	2903	0	0	0	0	0	0	13.60	13.52	13.62
3176	1.04	121.7	3072	2549	2903	2897	287.3	12.7	333	3182	0.00	2.53	0.00	0.000	260	0.000	0.096	3069	3910	2899	2902	2897	0	0	0	0	0	0	14.39	14.10	14.39
3236	1.04	121.7	3072	3911	2902	2898	278.6	14.6	345	3243	0.00	2.40	0.00	0.000	1030	0.000	0.057	3082	2558	2899	2902	2896	0	0	0	0	0	0	14.26	14.24	14.28
3547	1.04	121.7	3082	2559	2903	2896	237.5	13.1	377	3548	0.00	0.00	0.00	0.000	6	0.000	0.000	3082	2558	2899	2902	2896	0	0	0	0	0	0	14.62	14.64	14.64
3847	1.04	121.7	3082	2560	2901	2897	200.6	12.4	407	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2558	2899	2902	2896	0	0	0	0	0	0	14.73	14.73	14.73
4147	1.04	121.7	3081	2559	2902	2898	163.4	12.1	437	4148	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2558	2899	2902	2896	0	0	0	0	0	0	14.78	14.78	14.78
4447	1.04	121.7	3082	2558	2902	2895	128.2	12.6	467	4453	0.00	2.50	0.00	0.000	516	0.000	0.068	3093	1149	2899	2902	2896	0	0	0	0	0	0	14.81	14.47	14.81
4472	1.04	121.7	3093	1149	2903	2896	125.1	12.4	472	4480	0.08	2.50	0.00	0.000	5126	0.272	0.072	3072	2550	2899	2902	2896	0	0	0	0	0	0	14.28	14.49	14.48
4777	1.04	121.7	3072	2551	2899	2897	89.9	11.3	503	4783	0.00	2.47	0.00	0.000	260	0.000	0.096	3072	3903	2899	2902	2896	0	0	0	0	0	0	14.83	14.48	14.83
4817	1.04	121.7	3072	3903	2903	2896	84.7	13.4	511	4823	0.00	2.35	0.00	0.000	1030	0.000	0.057	3082	2541	2900	2902	2898	0	0	0	0	0	0	14.62	14.57	14.66
5127	1.04	121.7	3082	2541	2903	2896	47.9	11.8	543	5133	0.00	2.42	0.00	0.000	516	0.000	0.067	3092	1162	2899	2902	2896	0	0	0	0	0	0	14.85	14.50	14.81
5168	1.04	121.7	3093	1163	2902	2897	43.0	12.6	551	5173	0.00	2.42	0.00	0.000	1030	0.000	0.072	3092	2550	2898	2902	2895	0	0	0	0	0	0	14.66	14.54	14.69
5477	1.04	121.7	3092	2551	2902	2896	4.4	12.1	583	5483	0.00	2.42	0.00	0.000	260	0.000	0.097	3092	3905	2899	2902	2896	0	0	0	0	0	0	14.85	14.51	14.85
5496	end climb: SURFACE_DEPTH_REACHED
state	5496	begin surface coast
5506	end surface coast: CONTROL_FINISHED_OK
state	5506	begin surface