Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 184 * 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 184 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 40 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 27 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 4 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 4 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 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 0.059999999 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 4

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 4

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 0.059999999 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 184 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 40 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 27 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 250218,200801,-7407.5654,-11313.4287,22,0.9,22,53.9,0.3,50.4,9,4.2 SPEED_LIMITS 0.100,0.198

_CALLS 2 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 194.1,4877,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -61.8 D_GRID 465

GPS2 250218,201535,-7407.5195,-11313.3740,2,0.7,3,53.9,0.1,0.0,11,5.8

Post-dive calculations and measurements:

FREEZE 0.53,-1.683,-1.859,2,1,0 ALTIM_TOP_PING 22.7,23.2

FINISH 0.5,1.027269 _24V_AH 12.51,67.175

SM_CCo 5556,162.35,0.223,0,0,2203,300.18 _10V_AH 12.80,0.000

SM_GC 0.78,8.45,0.45,162.35,0.076,0.085,0.223,189,2802,2203,-7.88,-0.71,300.18,0,0,0,0,0,0,14.56,14.57,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 223 FG_AHR_10Vo 0.000

RAFOS 0,1519592470,21.032778,21.019444,65,62,61,60,59,55,193,181,146,228,204,163 MEM 280380

RAFOS_FIX -7407.595703,-11311.958008,250218,212144,1,2,0.20 DATA_FILE_SIZE 20090,610

IRIDIUM_FIX -7408.77,-11302.62,250218,200953 CAP_FILE_SIZE 76726,0

TT8_MAMPS 0.038948,0.208971 CFSIZE 1024409600,999145472

HUMID 45.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1445.1

TCM_TEMP 13.00 CURRENT 0.138,41.84,1

XPDR_PINGS 0 GPS 250218,215156,-7407.447,-11314.429,2,1.1,3,53.9,0.5,355.6,8,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 463 133.10 nil 0 0 0.00

Roll_motor 60 97 74.60 nil 0 0 0.00

VBD_pump_during_apogee 224 2278 6408.93 nil 0 0 0.00

VBD_pump_during_surface 162 222 452.13 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 5544 7 523.22

Iridium_during_xfer 286 185 665.22 nil 0 0 0.00

Transponder_ping 8 420 43.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.58

TT8 0 0 0.00

LPSleep 3976 2 117.59

TT8_Active 572 10 79.68

TT8_Sampling 1534 30 595.98

TT8_CF8 104 51 68.80

TT8_Kalman 0 0 0.00

Analog_circuits 1333 10 172.37

GPS_charging 0 0 0.00

Compass 878 6 75.82

RAFOS 720 1 13.82

Transponder 59 30 22.84

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

20.3 22.00 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

40.6 43.00 9000.00 0.0 0.00 0.00 43.00 0.0 1.03 1.00

61.1 64.30 64.30 0.0 1.04 1.00 64.30 0.0 1.04 1.00

81.5 85.90 85.80 0.0 1.05 1.00 85.90 0.0 1.06 1.00

105.3 109.90 110.00 -4.7 1.03 1.00 109.90 -4.6 1.01 1.00

84.4 87.40 88.20 -3.8 1.04 1.00 87.40 -3.0 1.08 1.00

63.9 66.40 66.20 -2.3 1.05 1.00 66.40 -2.5 1.02 1.00

43.4 45.10 45.10 -1.7 1.03 1.00 45.10 -1.7 1.04 1.00

22.7 23.20 23.20 -0.5 1.05 1.00 23.20 -0.5 1.06 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -1.04 -121.7 193 2810 2231 2130 0.0 0.0 0 121 0.00 0.00 -105.38 0.003 16390 0.000 0.000 192 2809 3890 3902 3879 0 0 0 0 0 0 14.59 12.94 14.60

123 -1.04 -121.7 193 2810 3903 3881 3.3 -4.5 11 141 11.80 2.42 0.00 0.000 2596 0.464 0.045 2391 1397 3898 3904 3892 0 0 0 0 0 0 13.96 14.35 14.26

270 -1.04 -121.7 2392 1397 3905 3901 26.0 -12.9 40 277 0.00 2.50 0.00 0.000 1030 0.000 0.069 2387 2789 3902 3904 3901 0 0 0 0 0 0 14.50 14.34 14.52

575 -1.04 -121.7 2387 2791 3904 3904 67.7 -13.3 71 581 0.00 2.03 0.00 0.000 260 0.000 0.093 2384 3903 3903 3904 3903 0 0 0 0 0 0 14.75 14.38 14.75

620 -1.04 -121.7 2384 3904 3904 3904 74.2 -14.5 80 627 0.00 1.90 0.00 0.000 1030 0.000 0.050 2384 2789 3903 3904 3903 0 0 0 0 0 0 14.54 14.50 14.56

925 -1.04 -121.7 2384 2791 3909 3905 113.1 -12.6 111 931 0.00 2.40 0.00 0.000 516 0.000 0.050 2384 1404 3904 3904 3904 0 0 0 0 0 0 14.80 14.47 14.80

945 -1.04 -121.7 2384 1404 3905 3904 115.6 -12.4 115 951 0.00 2.50 0.00 0.000 1030 0.000 0.070 2383 2797 3904 3904 3904 0 0 0 0 0 0 14.53 14.45 14.57

1255 -1.04 -121.7 2384 2797 3904 3906 156.3 -13.6 147 1261 0.00 2.00 0.00 0.000 260 0.000 0.091 2381 3904 3904 3904 3904 0 0 0 0 0 0 14.81 14.45 14.82

1295 -1.04 -121.7 2381 3905 3904 3905 162.0 -14.6 155 1301 0.00 1.88 0.00 0.000 1030 0.000 0.050 2381 2801 3904 3904 3904 0 0 0 0 0 0 14.59 14.56 14.62

1605 -1.04 -121.7 2381 2802 3903 3906 202.6 -12.9 187 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2801 3904 3904 3904 0 0 0 0 0 0 14.83 14.85 14.83

1905 -1.04 -121.7 2382 2801 3905 3905 239.6 -11.4 217 1911 0.00 2.03 0.00 0.000 260 0.000 0.092 2379 3906 3904 3904 3904 0 0 0 0 0 0 14.85 14.45 14.85

1995 -1.04 -121.7 2378 3907 3904 3906 251.2 -13.0 235 2001 0.00 1.88 0.00 0.000 1030 0.000 0.049 2379 2800 3904 3904 3904 0 0 0 0 0 0 14.61 14.57 14.64

2306 -1.04 -121.7 2379 2801 3905 3906 287.5 -11.6 267 2307 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2800 3904 3904 3904 0 0 0 0 0 0 14.77 14.76 14.76

2616 -1.04 -121.7 2379 2800 3905 3903 324.1 -11.6 288 2621 0.00 2.00 0.00 0.000 260 0.000 0.092 2375 3899 3904 3904 3905 0 0 0 0 0 0 14.85 14.47 14.85

2664 end dive: TARGET_DEPTH_EXCEEDED

state 2664 begin apogee

2670 -0.23 0.0 2375 2535 3904 3905 330.2 -12.5 298 2788 1.05 0.00 113.90 2.279 10246 0.264 0.000 2654 2537 3396 3401 3392 0 0 0 0 0 0 14.26 13.78 12.93

2789 end apogee: CONTROL_FINISHED_OK

state 2789 begin climb

2791 1.04 121.7 2650 2537 3402 3392 334.1 0.0 304 2912 1.42 2.60 110.90 2.205 10756 0.162 0.065 3068 1167 2910 2914 2907 0 0 0 0 0 0 13.74 13.26 12.51

2932 1.04 121.7 3068 1168 2910 2903 322.9 11.3 326 2937 0.00 2.60 0.00 0.000 1030 0.000 0.070 3068 2547 2905 2908 2902 0 0 0 0 0 0 13.59 13.51 13.62

3242 1.04 121.7 3068 2547 2904 2896 284.0 12.7 350 3247 0.00 2.53 0.00 0.000 260 0.000 0.096 3068 3911 2899 2903 2896 0 0 0 0 0 0 14.39 14.12 14.39

3322 1.04 121.7 3069 3911 2904 2896 272.5 14.9 366 3328 0.00 2.35 0.00 0.000 1030 0.000 0.057 3078 2558 2899 2903 2896 0 0 0 0 0 0 14.33 14.26 14.35

3632 1.04 121.7 3078 2559 2903 2896 231.8 12.6 398 3637 0.00 2.47 0.00 0.000 516 0.000 0.067 3089 1149 2898 2902 2894 0 0 0 0 0 0 14.64 14.34 14.64

3662 1.04 121.7 3089 1149 2903 2893 228.0 12.8 404 3668 0.00 2.47 0.00 0.000 1030 0.000 0.072 3089 2551 2898 2902 2894 0 0 0 0 0 0 14.49 14.38 14.51

3973 1.04 121.7 3089 2551 2903 2894 186.9 13.8 436 3978 0.00 2.45 0.00 0.000 260 0.000 0.098 3089 3907 2898 2902 2894 0 0 0 0 0 0 14.71 14.42 14.71

4027 1.04 121.7 3089 3907 2903 2894 178.5 15.1 447 4034 0.12 2.35 0.00 0.000 5126 0.290 0.057 3067 2554 2897 2902 2893 0 0 0 0 0 0 14.19 14.49 14.40

4332 1.04 121.7 3068 2554 2903 2893 142.6 11.4 478 4338 0.00 2.47 0.00 0.000 516 0.000 0.067 3077 1132 2897 2902 2893 0 0 0 0 0 0 14.78 14.46 14.77

4367 1.04 121.7 3078 1133 2903 2895 138.6 11.3 485 4375 0.00 2.55 0.00 0.000 1030 0.000 0.070 3077 2556 2898 2902 2894 0 0 0 0 0 0 14.53 14.47 14.57

4672 1.04 121.7 3077 2558 2903 2895 101.8 11.9 516 4678 0.00 2.47 0.00 0.000 260 0.000 0.097 3077 3908 2898 2902 2894 0 0 0 0 0 0 14.80 14.45 14.80

4697 1.04 121.7 3077 3908 2904 2894 98.5 13.2 521 4705 0.00 2.35 0.00 0.000 1030 0.000 0.057 3088 2552 2897 2902 2893 0 0 0 0 0 0 14.59 14.54 14.62

5002 1.04 121.7 3087 2553 2903 2895 61.6 11.9 552 5008 0.00 2.42 0.00 0.000 516 0.000 0.067 3099 1153 2898 2902 2894 0 0 0 0 0 0 14.83 14.50 14.83

5037 1.04 121.7 3098 1153 2902 2893 57.4 11.8 559 5044 0.10 2.50 0.00 0.000 5126 0.266 0.073 3071 2550 2898 2903 2894 0 0 0 0 0 0 14.28 14.50 14.48

5342 1.04 121.7 3071 2551 2903 2895 23.8 11.3 590 5343 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2550 2898 2903 2894 0 0 0 0 0 0 14.83 14.83 14.83

5532 end climb: SURFACE_DEPTH_REACHED

state 5532 begin surface coast

5541 end surface coast: CONTROL_FINISHED_OK

state 5541 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	184	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	40	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	27	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	4	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	4	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	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	0.059999999	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	250218,200801,-7407.5654,-11313.4287,22,0.9,22,53.9,0.3,50.4,9,4.2	SPEED_LIMITS	0.100,0.198
_CALLS	2	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	194.1,4877,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-61.8	D_GRID	465
GPS2	250218,201535,-7407.5195,-11313.3740,2,0.7,3,53.9,0.1,0.0,11,5.8

FREEZE	0.53,-1.683,-1.859,2,1,0	ALTIM_TOP_PING	22.7,23.2
FINISH	0.5,1.027269	_24V_AH	12.51,67.175
SM_CCo	5556,162.35,0.223,0,0,2203,300.18	_10V_AH	12.80,0.000
SM_GC	0.78,8.45,0.45,162.35,0.076,0.085,0.223,189,2802,2203,-7.88,-0.71,300.18,0,0,0,0,0,0,14.56,14.57,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	223	FG_AHR_10Vo	0.000
RAFOS	0,1519592470,21.032778,21.019444,65,62,61,60,59,55,193,181,146,228,204,163	MEM	280380
RAFOS_FIX	-7407.595703,-11311.958008,250218,212144,1,2,0.20	DATA_FILE_SIZE	20090,610
IRIDIUM_FIX	-7408.77,-11302.62,250218,200953	CAP_FILE_SIZE	76726,0
TT8_MAMPS	0.038948,0.208971	CFSIZE	1024409600,999145472
HUMID	45.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1445.1
TCM_TEMP	13.00	CURRENT	0.138,41.84,1
XPDR_PINGS	0	GPS	250218,215156,-7407.447,-11314.429,2,1.1,3,53.9,0.5,355.6,8,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	463	133.10	nil	0	0	0.00
Roll_motor	60	97	74.60	nil	0	0	0.00
VBD_pump_during_apogee	224	2278	6408.93	nil	0	0	0.00
VBD_pump_during_surface	162	222	452.13	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	5544	7	523.22
Iridium_during_xfer	286	185	665.22	nil	0	0	0.00
Transponder_ping	8	420	43.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.58
TT8	0	0	0.00
LPSleep	3976	2	117.59
TT8_Active	572	10	79.68
TT8_Sampling	1534	30	595.98
TT8_CF8	104	51	68.80
TT8_Kalman	0	0	0.00
Analog_circuits	1333	10	172.37
GPS_charging	0	0	0.00
Compass	878	6	75.82
RAFOS	720	1	13.82
Transponder	59	30	22.84

		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
20.3	22.00	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
40.6	43.00	9000.00	0.0	0.00	0.00	43.00	0.0	1.03	1.00
61.1	64.30	64.30	0.0	1.04	1.00	64.30	0.0	1.04	1.00
81.5	85.90	85.80	0.0	1.05	1.00	85.90	0.0	1.06	1.00

105.3	109.90	110.00	-4.7	1.03	1.00	109.90	-4.6	1.01	1.00
84.4	87.40	88.20	-3.8	1.04	1.00	87.40	-3.0	1.08	1.00
63.9	66.40	66.20	-2.3	1.05	1.00	66.40	-2.5	1.02	1.00
43.4	45.10	45.10	-1.7	1.03	1.00	45.10	-1.7	1.04	1.00
22.7	23.20	23.20	-0.5	1.05	1.00	23.20	-0.5	1.06	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-1.04	-121.7	193	2810	2231	2130	0.0	0.0	0	121	0.00	0.00	-105.38	0.003	16390	0.000	0.000	192	2809	3890	3902	3879	0	0	0	0	0	0	14.59	12.94	14.60
123	-1.04	-121.7	193	2810	3903	3881	3.3	-4.5	11	141	11.80	2.42	0.00	0.000	2596	0.464	0.045	2391	1397	3898	3904	3892	0	0	0	0	0	0	13.96	14.35	14.26
270	-1.04	-121.7	2392	1397	3905	3901	26.0	-12.9	40	277	0.00	2.50	0.00	0.000	1030	0.000	0.069	2387	2789	3902	3904	3901	0	0	0	0	0	0	14.50	14.34	14.52
575	-1.04	-121.7	2387	2791	3904	3904	67.7	-13.3	71	581	0.00	2.03	0.00	0.000	260	0.000	0.093	2384	3903	3903	3904	3903	0	0	0	0	0	0	14.75	14.38	14.75
620	-1.04	-121.7	2384	3904	3904	3904	74.2	-14.5	80	627	0.00	1.90	0.00	0.000	1030	0.000	0.050	2384	2789	3903	3904	3903	0	0	0	0	0	0	14.54	14.50	14.56
925	-1.04	-121.7	2384	2791	3909	3905	113.1	-12.6	111	931	0.00	2.40	0.00	0.000	516	0.000	0.050	2384	1404	3904	3904	3904	0	0	0	0	0	0	14.80	14.47	14.80
945	-1.04	-121.7	2384	1404	3905	3904	115.6	-12.4	115	951	0.00	2.50	0.00	0.000	1030	0.000	0.070	2383	2797	3904	3904	3904	0	0	0	0	0	0	14.53	14.45	14.57
1255	-1.04	-121.7	2384	2797	3904	3906	156.3	-13.6	147	1261	0.00	2.00	0.00	0.000	260	0.000	0.091	2381	3904	3904	3904	3904	0	0	0	0	0	0	14.81	14.45	14.82
1295	-1.04	-121.7	2381	3905	3904	3905	162.0	-14.6	155	1301	0.00	1.88	0.00	0.000	1030	0.000	0.050	2381	2801	3904	3904	3904	0	0	0	0	0	0	14.59	14.56	14.62
1605	-1.04	-121.7	2381	2802	3903	3906	202.6	-12.9	187	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2801	3904	3904	3904	0	0	0	0	0	0	14.83	14.85	14.83
1905	-1.04	-121.7	2382	2801	3905	3905	239.6	-11.4	217	1911	0.00	2.03	0.00	0.000	260	0.000	0.092	2379	3906	3904	3904	3904	0	0	0	0	0	0	14.85	14.45	14.85
1995	-1.04	-121.7	2378	3907	3904	3906	251.2	-13.0	235	2001	0.00	1.88	0.00	0.000	1030	0.000	0.049	2379	2800	3904	3904	3904	0	0	0	0	0	0	14.61	14.57	14.64
2306	-1.04	-121.7	2379	2801	3905	3906	287.5	-11.6	267	2307	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2800	3904	3904	3904	0	0	0	0	0	0	14.77	14.76	14.76
2616	-1.04	-121.7	2379	2800	3905	3903	324.1	-11.6	288	2621	0.00	2.00	0.00	0.000	260	0.000	0.092	2375	3899	3904	3904	3905	0	0	0	0	0	0	14.85	14.47	14.85
2664	end dive: TARGET_DEPTH_EXCEEDED
state	2664	begin apogee
2670	-0.23	0.0	2375	2535	3904	3905	330.2	-12.5	298	2788	1.05	0.00	113.90	2.279	10246	0.264	0.000	2654	2537	3396	3401	3392	0	0	0	0	0	0	14.26	13.78	12.93
2789	end apogee: CONTROL_FINISHED_OK
state	2789	begin climb
2791	1.04	121.7	2650	2537	3402	3392	334.1	0.0	304	2912	1.42	2.60	110.90	2.205	10756	0.162	0.065	3068	1167	2910	2914	2907	0	0	0	0	0	0	13.74	13.26	12.51
2932	1.04	121.7	3068	1168	2910	2903	322.9	11.3	326	2937	0.00	2.60	0.00	0.000	1030	0.000	0.070	3068	2547	2905	2908	2902	0	0	0	0	0	0	13.59	13.51	13.62
3242	1.04	121.7	3068	2547	2904	2896	284.0	12.7	350	3247	0.00	2.53	0.00	0.000	260	0.000	0.096	3068	3911	2899	2903	2896	0	0	0	0	0	0	14.39	14.12	14.39
3322	1.04	121.7	3069	3911	2904	2896	272.5	14.9	366	3328	0.00	2.35	0.00	0.000	1030	0.000	0.057	3078	2558	2899	2903	2896	0	0	0	0	0	0	14.33	14.26	14.35
3632	1.04	121.7	3078	2559	2903	2896	231.8	12.6	398	3637	0.00	2.47	0.00	0.000	516	0.000	0.067	3089	1149	2898	2902	2894	0	0	0	0	0	0	14.64	14.34	14.64
3662	1.04	121.7	3089	1149	2903	2893	228.0	12.8	404	3668	0.00	2.47	0.00	0.000	1030	0.000	0.072	3089	2551	2898	2902	2894	0	0	0	0	0	0	14.49	14.38	14.51
3973	1.04	121.7	3089	2551	2903	2894	186.9	13.8	436	3978	0.00	2.45	0.00	0.000	260	0.000	0.098	3089	3907	2898	2902	2894	0	0	0	0	0	0	14.71	14.42	14.71
4027	1.04	121.7	3089	3907	2903	2894	178.5	15.1	447	4034	0.12	2.35	0.00	0.000	5126	0.290	0.057	3067	2554	2897	2902	2893	0	0	0	0	0	0	14.19	14.49	14.40
4332	1.04	121.7	3068	2554	2903	2893	142.6	11.4	478	4338	0.00	2.47	0.00	0.000	516	0.000	0.067	3077	1132	2897	2902	2893	0	0	0	0	0	0	14.78	14.46	14.77
4367	1.04	121.7	3078	1133	2903	2895	138.6	11.3	485	4375	0.00	2.55	0.00	0.000	1030	0.000	0.070	3077	2556	2898	2902	2894	0	0	0	0	0	0	14.53	14.47	14.57
4672	1.04	121.7	3077	2558	2903	2895	101.8	11.9	516	4678	0.00	2.47	0.00	0.000	260	0.000	0.097	3077	3908	2898	2902	2894	0	0	0	0	0	0	14.80	14.45	14.80
4697	1.04	121.7	3077	3908	2904	2894	98.5	13.2	521	4705	0.00	2.35	0.00	0.000	1030	0.000	0.057	3088	2552	2897	2902	2893	0	0	0	0	0	0	14.59	14.54	14.62
5002	1.04	121.7	3087	2553	2903	2895	61.6	11.9	552	5008	0.00	2.42	0.00	0.000	516	0.000	0.067	3099	1153	2898	2902	2894	0	0	0	0	0	0	14.83	14.50	14.83
5037	1.04	121.7	3098	1153	2902	2893	57.4	11.8	559	5044	0.10	2.50	0.00	0.000	5126	0.266	0.073	3071	2550	2898	2903	2894	0	0	0	0	0	0	14.28	14.50	14.48
5342	1.04	121.7	3071	2551	2903	2895	23.8	11.3	590	5343	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2550	2898	2903	2894	0	0	0	0	0	0	14.83	14.83	14.83
5532	end climb: SURFACE_DEPTH_REACHED
state	5532	begin surface coast
5541	end surface coast: CONTROL_FINISHED_OK
state	5541	begin surface