Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 179 * 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 179 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 42 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 19 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 179 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 42 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 19 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 250218,113530,-7407.7100,-11309.4268,34,0.7,34,53.8,0.2,140.3,12,3.1 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 1000.000

_SM_DEPTHo 0.75 MHEAD_RNG_PITCHd_Wd 186.6,1623,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.4 D_GRID 543

GPS2 250218,114028,-7407.7065,-11309.4023,2,0.7,4,53.8,0.1,265.8,12,3.2

Post-dive calculations and measurements:

FREEZE 1.18,-1.784,-1.861,2,1,0 _24V_AH 12.52,66.256

FINISH1 1.2,1.027294,10 _10V_AH 12.68,0.000

FINISH2 -0.1 FG_AHR_24Vo 0.000

RAFOS_CLK 222 FG_AHR_10Vo 0.000

RAFOS 0,1519560062,12.032778,12.017222,101,59,58,53,52,52,640,216,141,197,175,207 MEM 280276

RAFOS_FIX -7407.592773,-11310.273438,250218,121200,3,102,0.23 DATA_FILE_SIZE 20122,618

IRIDIUM_FIX -7408.77,-11302.62,250218,095707 CAP_FILE_SIZE 74841,0

TT8_MAMPS 0.039697,0.280875 CFSIZE 1024409600,999636992

HUMID 47.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.87058 SOUNDSPEED 1444.4

TCM_TEMP 13.10 CURRENT 0.456,40.09,1

XPDR_PINGS 0 GPS 250218,121600,-7407.593,-11310.273,0,4102.0,0,53.8,0.0,0.0,0,0.0

ALTIM_TOP_PING 21.1,22.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 457 88.78 nil 0 0 0.00

Roll_motor 70 97 85.15 nil 0 0 0.00

VBD_pump_during_apogee 223 2275 6376.23 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 5662 4 293.26

Iridium_during_xfer 194 189 461.16 nil 0 0 0.00

Transponder_ping 8 420 43.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.72

TT8 0 0 0.00

LPSleep 3964 2 116.13

TT8_Active 442 10 60.95

TT8_Sampling 1455 30 559.98

TT8_CF8 97 51 63.64

TT8_Kalman 0 0 0.00

Analog_circuits 1130 10 144.76

GPS_charging 0 0 0.00

Compass 889 6 76.05

RAFOS 720 1 13.69

Transponder 58 30 22.19

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

20.0 21.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

40.6 42.90 9000.00 0.0 0.00 0.00 42.90 0.0 1.05 1.00

61.1 65.80 65.60 0.0 1.09 1.00 65.80 0.0 1.12 1.00

103.7 107.60 108.00 -4.3 1.02 1.00 107.60 -3.9 0.98 1.00

41.2 43.30 44.20 -3.0 1.02 1.00 43.30 -2.1 1.03 1.00

21.1 21.60 22.00 -0.9 1.04 1.00 21.60 -0.5 1.08 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

9 -1.04 -121.7 190 2805 2235 2132 0.0 0.0 0 122 0.00 0.00 -106.93 0.003 16390 0.000 0.000 190 2805 3889 3900 3878 0 0 0 0 0 0 14.59 13.22 14.58

123 -1.04 -121.7 191 2805 3901 3878 3.2 -4.2 11 141 11.60 2.42 0.00 0.000 2596 0.457 0.044 2392 1400 3896 3902 3890 0 0 0 0 0 0 14.00 14.35 14.28

236 -1.04 -121.7 2392 1401 3903 3900 20.6 -12.4 33 242 0.00 2.50 0.00 0.000 1030 0.000 0.071 2387 2802 3900 3902 3898 0 0 0 0 0 0 14.49 14.38 14.52

546 -1.04 -121.7 2387 2802 3904 3901 59.8 -13.0 65 547 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2802 3902 3902 3902 0 0 0 0 0 0 14.76 14.76 14.76

846 -1.04 -121.7 2387 2802 3904 3902 99.1 -12.9 95 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2802 3902 3902 3902 0 0 0 0 0 0 14.80 14.80 14.80

1146 -1.04 -121.7 2387 2802 3904 3903 137.5 -12.9 125 1152 0.00 2.45 0.00 0.000 516 0.000 0.053 2387 1395 3901 3902 3900 0 0 0 0 0 0 14.82 14.49 14.83

1196 -1.04 -121.7 2388 1394 3904 3903 144.0 -12.6 135 1202 0.00 2.53 0.00 0.000 1030 0.000 0.071 2384 2806 3903 3903 3903 0 0 0 0 0 0 14.56 14.48 14.59

1507 -1.04 -121.7 2385 2807 3903 3904 186.0 -13.6 167 1512 0.00 1.98 0.00 0.000 260 0.000 0.093 2379 3900 3903 3903 3903 0 0 0 0 0 0 14.84 14.47 14.84

1591 -1.04 -121.7 2378 3901 3904 3905 198.3 -14.7 184 1599 0.00 1.88 0.00 0.000 1030 0.000 0.050 2379 2795 3902 3902 3902 0 0 0 0 0 0 14.62 14.58 14.64

1897 -1.04 -121.7 2379 2795 3899 3903 239.4 -13.2 215 1897 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2795 3902 3902 3903 0 0 0 0 0 0 14.85 14.85 14.85

2197 -1.04 -121.7 2379 2796 3904 3905 277.8 -12.8 245 2203 0.00 2.03 0.00 0.000 260 0.000 0.093 2374 3907 3902 3902 3903 0 0 0 0 0 0 14.86 14.47 14.85

2242 -1.04 -121.7 2375 3908 3904 3905 284.1 -13.9 254 2249 0.00 1.88 0.00 0.000 1030 0.000 0.050 2375 2797 3902 3902 3903 0 0 0 0 0 0 14.63 14.59 14.65

2548 -1.04 -121.7 2375 2798 3903 3905 322.3 -12.1 276 2553 0.00 2.35 0.00 0.000 516 0.000 0.051 2375 1402 3903 3903 3903 0 0 0 0 0 0 14.87 14.57 14.87

2582 -1.04 -121.7 2375 1403 3903 3905 326.5 -11.9 283 2589 0.00 2.50 0.00 0.000 1030 0.000 0.071 2375 2805 3902 3902 3903 0 0 0 0 0 0 14.59 14.52 14.63

2627 end dive: TARGET_DEPTH_EXCEEDED

state 2627 begin apogee

2631 -0.23 0.0 2376 2547 3904 3903 331.9 -11.9 286 2750 1.05 0.00 113.20 2.275 10246 0.259 0.000 2651 2547 3397 3401 3394 0 0 0 0 0 0 14.28 13.83 12.96

2751 end apogee: CONTROL_FINISHED_OK

state 2751 begin climb

2752 1.04 121.7 2652 2546 3402 3393 335.4 0.0 292 2872 1.38 2.62 110.65 2.202 10756 0.162 0.064 3063 1163 2912 2917 2907 0 0 0 0 0 0 13.75 13.26 12.52

2896 1.04 121.7 3064 1163 2910 2903 324.2 11.5 319 2904 0.00 2.67 0.00 0.000 1030 0.000 0.070 3063 2548 2905 2909 2902 0 0 0 0 0 0 13.58 13.51 13.64

3203 1.04 121.7 3064 2549 2904 2897 286.6 12.2 340 3208 0.00 2.53 0.00 0.000 260 0.000 0.096 3063 3913 2899 2902 2896 0 0 0 0 0 0 14.39 14.10 14.39

3226 1.04 121.7 3064 3913 2903 2896 283.3 13.5 345 3235 0.00 2.42 0.00 0.000 1030 0.000 0.057 3073 2554 2899 2902 2896 0 0 0 0 0 0 14.22 14.19 14.25

3532 1.04 121.7 3073 2555 2902 2897 245.1 12.1 376 3538 0.00 2.53 0.00 0.000 260 0.000 0.097 3073 3906 2899 2902 2896 0 0 0 0 0 0 14.63 14.31 14.64

3567 1.04 121.7 3074 3907 2902 2897 240.1 14.5 383 3574 0.00 2.38 0.00 0.000 1030 0.000 0.057 3084 2550 2898 2901 2895 0 0 0 0 0 0 14.45 14.40 14.47

3872 1.04 121.7 3084 2551 2902 2896 203.1 12.0 414 3878 0.00 2.47 0.00 0.000 516 0.000 0.068 3095 1158 2895 2902 2889 0 0 0 0 0 0 14.74 14.40 14.74

3907 1.04 121.7 3095 1159 2902 2896 198.9 11.8 421 3915 0.10 2.50 0.00 0.000 5126 0.270 0.073 3066 2548 2897 2901 2894 0 0 0 0 0 0 14.23 14.42 14.42

4212 1.04 121.7 3070 2549 2903 2894 164.2 11.0 452 4218 0.00 2.47 0.00 0.000 260 0.000 0.097 3068 3899 2897 2901 2894 0 0 0 0 0 0 14.79 14.45 14.80

4267 1.04 121.7 3069 3900 2902 2896 157.1 13.8 463 4274 0.00 2.35 0.00 0.000 1030 0.000 0.057 3078 2540 2897 2901 2894 0 0 0 0 0 0 14.58 14.54 14.60

4572 1.04 121.7 3078 2541 2902 2896 121.3 11.9 494 4578 0.00 2.47 0.00 0.000 260 0.000 0.096 3078 3913 2897 2900 2894 0 0 0 0 0 0 14.83 14.49 14.83

4602 1.04 121.7 3077 3914 2902 2896 117.3 13.4 500 4608 0.00 2.35 0.00 0.000 1030 0.000 0.057 3088 2556 2898 2902 2895 0 0 0 0 0 0 14.62 14.57 14.63

4912 1.04 121.7 3088 2557 2902 2896 80.5 11.7 532 4918 0.00 2.47 0.00 0.000 516 0.000 0.067 3099 1156 2898 2902 2894 0 0 0 0 0 0 14.85 14.50 14.85

4957 1.04 121.7 3099 1157 2902 2896 75.2 11.7 541 4965 0.10 2.50 0.00 0.000 5126 0.265 0.073 3072 2554 2897 2901 2894 0 0 0 0 0 0 14.30 14.52 14.51

5263 1.04 121.7 3071 2556 2902 2896 41.2 10.8 572 5268 0.00 2.42 0.00 0.000 516 0.000 0.067 3081 1154 2897 2901 2894 0 0 0 0 0 0 14.83 14.53 14.83

5287 1.04 121.7 3081 1155 2902 2896 38.4 11.5 577 5295 0.00 2.50 0.00 0.000 1030 0.000 0.071 3081 2556 2898 2902 2894 0 0 0 0 0 0 14.59 14.52 14.64

5592 1.04 121.7 3082 2556 2903 2894 2.2 12.3 608 5598 0.00 2.45 0.00 0.000 516 0.000 0.067 3092 1144 2897 2901 2894 0 0 0 0 0 0 14.88 14.54 14.87

5601 end climb: FINISH_DEPTH_REACHED

state 5601 begin subsurface finish

5607 0.01 10.5 3093 2554 2903 2894 1.2 12.7 610 5651 1.27 2.42 -36.60 0.005 20996 0.251 0.085 2745 1153 3360 3353 3367 0 0 0 0 0 0 14.31 13.46 14.51

5652 end subsurface finish: CONTROL_FINISHED_OK

state 5652 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	179	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	42	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	19	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	250218,113530,-7407.7100,-11309.4268,34,0.7,34,53.8,0.2,140.3,12,3.1	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	1000.000
_SM_DEPTHo	0.75	MHEAD_RNG_PITCHd_Wd	186.6,1623,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.4	D_GRID	543
GPS2	250218,114028,-7407.7065,-11309.4023,2,0.7,4,53.8,0.1,265.8,12,3.2

FREEZE	1.18,-1.784,-1.861,2,1,0	_24V_AH	12.52,66.256
FINISH1	1.2,1.027294,10	_10V_AH	12.68,0.000
FINISH2	-0.1	FG_AHR_24Vo	0.000
RAFOS_CLK	222	FG_AHR_10Vo	0.000
RAFOS	0,1519560062,12.032778,12.017222,101,59,58,53,52,52,640,216,141,197,175,207	MEM	280276
RAFOS_FIX	-7407.592773,-11310.273438,250218,121200,3,102,0.23	DATA_FILE_SIZE	20122,618
IRIDIUM_FIX	-7408.77,-11302.62,250218,095707	CAP_FILE_SIZE	74841,0
TT8_MAMPS	0.039697,0.280875	CFSIZE	1024409600,999636992
HUMID	47.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.87058	SOUNDSPEED	1444.4
TCM_TEMP	13.10	CURRENT	0.456,40.09,1
XPDR_PINGS	0	GPS	250218,121600,-7407.593,-11310.273,0,4102.0,0,53.8,0.0,0.0,0,0.0
ALTIM_TOP_PING	21.1,22.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	457	88.78	nil	0	0	0.00
Roll_motor	70	97	85.15	nil	0	0	0.00
VBD_pump_during_apogee	223	2275	6376.23	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	5662	4	293.26
Iridium_during_xfer	194	189	461.16	nil	0	0	0.00
Transponder_ping	8	420	43.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.72
TT8	0	0	0.00
LPSleep	3964	2	116.13
TT8_Active	442	10	60.95
TT8_Sampling	1455	30	559.98
TT8_CF8	97	51	63.64
TT8_Kalman	0	0	0.00
Analog_circuits	1130	10	144.76
GPS_charging	0	0	0.00
Compass	889	6	76.05
RAFOS	720	1	13.69
Transponder	58	30	22.19

		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
20.0	21.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
40.6	42.90	9000.00	0.0	0.00	0.00	42.90	0.0	1.05	1.00
61.1	65.80	65.60	0.0	1.09	1.00	65.80	0.0	1.12	1.00

103.7	107.60	108.00	-4.3	1.02	1.00	107.60	-3.9	0.98	1.00
41.2	43.30	44.20	-3.0	1.02	1.00	43.30	-2.1	1.03	1.00
21.1	21.60	22.00	-0.9	1.04	1.00	21.60	-0.5	1.08	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
9	-1.04	-121.7	190	2805	2235	2132	0.0	0.0	0	122	0.00	0.00	-106.93	0.003	16390	0.000	0.000	190	2805	3889	3900	3878	0	0	0	0	0	0	14.59	13.22	14.58
123	-1.04	-121.7	191	2805	3901	3878	3.2	-4.2	11	141	11.60	2.42	0.00	0.000	2596	0.457	0.044	2392	1400	3896	3902	3890	0	0	0	0	0	0	14.00	14.35	14.28
236	-1.04	-121.7	2392	1401	3903	3900	20.6	-12.4	33	242	0.00	2.50	0.00	0.000	1030	0.000	0.071	2387	2802	3900	3902	3898	0	0	0	0	0	0	14.49	14.38	14.52
546	-1.04	-121.7	2387	2802	3904	3901	59.8	-13.0	65	547	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2802	3902	3902	3902	0	0	0	0	0	0	14.76	14.76	14.76
846	-1.04	-121.7	2387	2802	3904	3902	99.1	-12.9	95	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2802	3902	3902	3902	0	0	0	0	0	0	14.80	14.80	14.80
1146	-1.04	-121.7	2387	2802	3904	3903	137.5	-12.9	125	1152	0.00	2.45	0.00	0.000	516	0.000	0.053	2387	1395	3901	3902	3900	0	0	0	0	0	0	14.82	14.49	14.83
1196	-1.04	-121.7	2388	1394	3904	3903	144.0	-12.6	135	1202	0.00	2.53	0.00	0.000	1030	0.000	0.071	2384	2806	3903	3903	3903	0	0	0	0	0	0	14.56	14.48	14.59
1507	-1.04	-121.7	2385	2807	3903	3904	186.0	-13.6	167	1512	0.00	1.98	0.00	0.000	260	0.000	0.093	2379	3900	3903	3903	3903	0	0	0	0	0	0	14.84	14.47	14.84
1591	-1.04	-121.7	2378	3901	3904	3905	198.3	-14.7	184	1599	0.00	1.88	0.00	0.000	1030	0.000	0.050	2379	2795	3902	3902	3902	0	0	0	0	0	0	14.62	14.58	14.64
1897	-1.04	-121.7	2379	2795	3899	3903	239.4	-13.2	215	1897	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2795	3902	3902	3903	0	0	0	0	0	0	14.85	14.85	14.85
2197	-1.04	-121.7	2379	2796	3904	3905	277.8	-12.8	245	2203	0.00	2.03	0.00	0.000	260	0.000	0.093	2374	3907	3902	3902	3903	0	0	0	0	0	0	14.86	14.47	14.85
2242	-1.04	-121.7	2375	3908	3904	3905	284.1	-13.9	254	2249	0.00	1.88	0.00	0.000	1030	0.000	0.050	2375	2797	3902	3902	3903	0	0	0	0	0	0	14.63	14.59	14.65
2548	-1.04	-121.7	2375	2798	3903	3905	322.3	-12.1	276	2553	0.00	2.35	0.00	0.000	516	0.000	0.051	2375	1402	3903	3903	3903	0	0	0	0	0	0	14.87	14.57	14.87
2582	-1.04	-121.7	2375	1403	3903	3905	326.5	-11.9	283	2589	0.00	2.50	0.00	0.000	1030	0.000	0.071	2375	2805	3902	3902	3903	0	0	0	0	0	0	14.59	14.52	14.63
2627	end dive: TARGET_DEPTH_EXCEEDED
state	2627	begin apogee
2631	-0.23	0.0	2376	2547	3904	3903	331.9	-11.9	286	2750	1.05	0.00	113.20	2.275	10246	0.259	0.000	2651	2547	3397	3401	3394	0	0	0	0	0	0	14.28	13.83	12.96
2751	end apogee: CONTROL_FINISHED_OK
state	2751	begin climb
2752	1.04	121.7	2652	2546	3402	3393	335.4	0.0	292	2872	1.38	2.62	110.65	2.202	10756	0.162	0.064	3063	1163	2912	2917	2907	0	0	0	0	0	0	13.75	13.26	12.52
2896	1.04	121.7	3064	1163	2910	2903	324.2	11.5	319	2904	0.00	2.67	0.00	0.000	1030	0.000	0.070	3063	2548	2905	2909	2902	0	0	0	0	0	0	13.58	13.51	13.64
3203	1.04	121.7	3064	2549	2904	2897	286.6	12.2	340	3208	0.00	2.53	0.00	0.000	260	0.000	0.096	3063	3913	2899	2902	2896	0	0	0	0	0	0	14.39	14.10	14.39
3226	1.04	121.7	3064	3913	2903	2896	283.3	13.5	345	3235	0.00	2.42	0.00	0.000	1030	0.000	0.057	3073	2554	2899	2902	2896	0	0	0	0	0	0	14.22	14.19	14.25
3532	1.04	121.7	3073	2555	2902	2897	245.1	12.1	376	3538	0.00	2.53	0.00	0.000	260	0.000	0.097	3073	3906	2899	2902	2896	0	0	0	0	0	0	14.63	14.31	14.64
3567	1.04	121.7	3074	3907	2902	2897	240.1	14.5	383	3574	0.00	2.38	0.00	0.000	1030	0.000	0.057	3084	2550	2898	2901	2895	0	0	0	0	0	0	14.45	14.40	14.47
3872	1.04	121.7	3084	2551	2902	2896	203.1	12.0	414	3878	0.00	2.47	0.00	0.000	516	0.000	0.068	3095	1158	2895	2902	2889	0	0	0	0	0	0	14.74	14.40	14.74
3907	1.04	121.7	3095	1159	2902	2896	198.9	11.8	421	3915	0.10	2.50	0.00	0.000	5126	0.270	0.073	3066	2548	2897	2901	2894	0	0	0	0	0	0	14.23	14.42	14.42
4212	1.04	121.7	3070	2549	2903	2894	164.2	11.0	452	4218	0.00	2.47	0.00	0.000	260	0.000	0.097	3068	3899	2897	2901	2894	0	0	0	0	0	0	14.79	14.45	14.80
4267	1.04	121.7	3069	3900	2902	2896	157.1	13.8	463	4274	0.00	2.35	0.00	0.000	1030	0.000	0.057	3078	2540	2897	2901	2894	0	0	0	0	0	0	14.58	14.54	14.60
4572	1.04	121.7	3078	2541	2902	2896	121.3	11.9	494	4578	0.00	2.47	0.00	0.000	260	0.000	0.096	3078	3913	2897	2900	2894	0	0	0	0	0	0	14.83	14.49	14.83
4602	1.04	121.7	3077	3914	2902	2896	117.3	13.4	500	4608	0.00	2.35	0.00	0.000	1030	0.000	0.057	3088	2556	2898	2902	2895	0	0	0	0	0	0	14.62	14.57	14.63
4912	1.04	121.7	3088	2557	2902	2896	80.5	11.7	532	4918	0.00	2.47	0.00	0.000	516	0.000	0.067	3099	1156	2898	2902	2894	0	0	0	0	0	0	14.85	14.50	14.85
4957	1.04	121.7	3099	1157	2902	2896	75.2	11.7	541	4965	0.10	2.50	0.00	0.000	5126	0.265	0.073	3072	2554	2897	2901	2894	0	0	0	0	0	0	14.30	14.52	14.51
5263	1.04	121.7	3071	2556	2902	2896	41.2	10.8	572	5268	0.00	2.42	0.00	0.000	516	0.000	0.067	3081	1154	2897	2901	2894	0	0	0	0	0	0	14.83	14.53	14.83
5287	1.04	121.7	3081	1155	2902	2896	38.4	11.5	577	5295	0.00	2.50	0.00	0.000	1030	0.000	0.071	3081	2556	2898	2902	2894	0	0	0	0	0	0	14.59	14.52	14.64
5592	1.04	121.7	3082	2556	2903	2894	2.2	12.3	608	5598	0.00	2.45	0.00	0.000	516	0.000	0.067	3092	1144	2897	2901	2894	0	0	0	0	0	0	14.88	14.54	14.87
5601	end climb: FINISH_DEPTH_REACHED
state	5601	begin subsurface finish
5607	0.01	10.5	3093	2554	2903	2894	1.2	12.7	610	5651	1.27	2.42	-36.60	0.005	20996	0.251	0.085	2745	1153	3360	3353	3367	0	0	0	0	0	0	14.31	13.46	14.51
5652	end subsurface finish: CONTROL_FINISHED_OK
state	5652	begin surface