Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 190 * 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 190 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 24 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 190 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 24 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 260218,064126,-7407.6011,-11317.4414,4,1.6,6,53.9,0.1,0.0,5,5.8 SPEED_LIMITS 0.100,0.198

_CALLS 2 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 94.7,2988,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -65.7 D_GRID 465

GPS2 260218,064902,-7407.5518,-11317.3721,2,1.5,3,53.9,0.2,0.0,5,7.9

Post-dive calculations and measurements:

FREEZE 0.43,-1.782,-1.861,2,1,0 _24V_AH 12.50,68.419

FINISH 0.4,1.027301 _10V_AH 12.78,0.000

SM_CCo 5485,162.38,0.223,0,0,2205,300.18 FG_AHR_24Vo 0.000

SM_GC 0.80,8.48,0.45,162.38,0.078,0.099,0.223,190,2802,2205,-7.89,-0.79,300.18,0,0,0,0,0,0,14.56,14.56,14.22 FG_AHR_10Vo 0.000

RAFOS_CLK 226 MEM 280392

RAFOS_FIX -7408.101562,-11317.706055,260218,080826,0,1,0.19 DATA_FILE_SIZE 20069,579

IRIDIUM_FIX -7411.76,-11316.06,260218,064319 CAP_FILE_SIZE 73082,0

TT8_MAMPS 0.03745,0.286118 CFSIZE 1024409600,998555648

HUMID 44.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.8

TCM_TEMP 12.90 CURRENT 0.144,28.12,1

XPDR_PINGS 0 GPS 260218,082430,-7407.710,-11315.524,22,0.9,22,53.9,0.2,12.0,9,3.4

ALTIM_TOP_PING 5.3,5.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 475 138.81 nil 0 0 0.00

Roll_motor 51 99 64.21 nil 0 0 0.00

VBD_pump_during_apogee 226 2308 6527.33 nil 0 0 0.00

VBD_pump_during_surface 162 222 451.84 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 5473 7 500.10

Iridium_during_xfer 286 184 660.95 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 0.61

TT8 0 0 0.00

LPSleep 3942 2 116.40

TT8_Active 592 10 82.29

TT8_Sampling 1476 30 572.53

TT8_CF8 106 51 69.52

TT8_Kalman 0 0 0.00

Analog_circuits 1322 10 170.71

GPS_charging 0 0 0.00

Compass 834 6 71.92

RAFOS 0 0 0.00

Transponder 58 30 22.42

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 21.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.5 43.90 9000.00 0.0 0.00 0.00 43.90 0.0 1.05 1.00

83.5 87.90 87.90 0.0 1.05 1.00 87.90 0.0 1.05 1.00

103.8 108.90 109.00 0.0 1.04 1.00 108.90 0.0 1.03 1.00

149.4 155.50 155.60 -6.2 1.03 1.00 155.50 -6.1 1.02 1.00

108.9 113.50 113.90 -5.0 1.03 1.00 113.50 -4.6 1.04 1.00

88.7 92.20 92.30 -3.6 1.04 1.00 92.20 -3.5 1.05 1.00

68.5 71.00 71.00 -2.5 1.05 1.00 71.00 -2.5 1.05 1.00

47.4 49.20 49.10 -1.7 1.04 1.00 49.20 -1.8 1.03 1.00

26.5 28.00 27.90 -1.4 1.03 1.00 28.00 -1.5 1.01 1.00

5.3 5.30 5.50 -0.2 1.04 1.00 5.30 0.0 1.07 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 -121.7 191 2802 2237 2127 0.0 0.0 0 122 0.00 0.00 -107.03 0.003 16390 0.000 0.000 189 2804 3889 3901 3878 0 0 0 0 0 0 14.59 13.25 14.59

124 -1.04 -121.7 190 2804 3902 3880 2.8 -3.4 11 142 12.18 0.00 0.00 0.000 2086 0.475 0.000 2388 2803 3897 3903 3891 1 0 0 0 0 0 13.84 14.36 14.28

440 -1.04 -121.7 2389 2804 3904 3902 46.6 -12.9 43 446 0.00 2.00 0.00 0.000 260 0.000 0.093 2382 3904 3902 3903 3902 0 0 0 0 0 0 14.74 14.37 14.74

485 -1.04 -121.7 2382 3905 3904 3903 52.9 -14.3 52 492 0.00 1.90 0.00 0.000 1030 0.000 0.048 2382 2794 3902 3903 3902 0 0 0 0 0 0 14.52 14.49 14.54

790 -1.04 -121.7 2382 2795 3904 3905 91.2 -12.7 83 796 0.00 2.40 0.00 0.000 516 0.000 0.050 2382 1402 3903 3903 3903 0 0 0 0 0 0 14.78 14.47 14.78

840 -1.04 -121.7 2382 1402 3904 3903 97.4 -12.2 93 847 0.00 2.50 0.00 0.000 1030 0.000 0.071 2381 2802 3903 3903 3903 0 0 0 0 0 0 14.52 14.45 14.56

1151 -1.04 -121.7 2382 2802 3904 3905 136.8 -12.3 125 1158 0.00 1.98 0.00 0.000 260 0.000 0.091 2374 3899 3903 3903 3903 0 0 0 0 0 0 14.81 14.44 14.81

1232 -1.04 -121.7 2375 3901 3904 3905 147.6 -13.3 141 1239 0.00 1.88 0.00 0.000 1030 0.000 0.050 2374 2795 3903 3903 3903 0 0 0 0 0 0 14.59 14.56 14.62

1543 -1.04 -121.7 2374 2796 3904 3905 187.6 -13.2 173 1543 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2795 3903 3903 3904 0 0 0 0 0 0 14.84 14.83 14.84

1844 -1.04 -121.7 2374 2795 3902 3904 227.5 -13.6 203 1845 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2795 3903 3903 3903 0 0 0 0 0 0 14.81 14.81 14.81

2144 -1.04 -121.7 2374 2797 3903 3905 265.8 -12.6 233 2144 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2796 3903 3903 3904 0 0 0 0 0 0 14.85 14.85 14.85

2443 -1.04 -121.7 2372 2796 3903 3905 303.6 -12.3 262 2449 0.00 2.03 0.00 0.000 260 0.000 0.093 2372 3906 3903 3903 3903 0 0 0 0 0 0 14.87 14.35 14.87

2503 -1.04 -121.7 2373 3906 3904 3904 311.6 -13.2 274 2509 0.00 1.88 0.00 0.000 1030 0.000 0.048 2373 2799 3903 3903 3903 0 0 0 0 0 0 14.52 14.48 14.53

2682 end dive: TARGET_DEPTH_EXCEEDED

state 2682 begin apogee

2686 -0.23 0.0 2373 2546 3903 3905 332.1 -10.7 286 2805 1.08 0.00 114.35 2.309 10246 0.264 0.000 2651 2543 3396 3401 3392 0 0 0 0 0 0 14.26 13.80 12.92

2806 end apogee: CONTROL_FINISHED_OK

state 2806 begin climb

2808 1.04 121.7 2653 2545 3402 3392 334.6 0.0 292 2927 1.40 0.00 111.82 2.209 10246 0.160 0.000 3055 2545 2911 2916 2907 0 0 0 0 0 0 13.74 13.34 12.50

3223 1.04 121.7 3056 2546 2904 2897 287.3 13.1 317 3229 0.00 2.53 0.00 0.000 260 0.000 0.094 3055 3906 2899 2903 2895 0 0 0 0 0 0 14.35 14.04 14.36

3248 1.04 121.7 3055 3907 2904 2897 283.5 15.5 322 3256 0.00 2.40 0.00 0.000 1030 0.000 0.056 3065 2557 2899 2904 2895 0 0 0 0 0 0 14.20 14.15 14.22

3553 1.04 121.7 3065 2557 2904 2895 242.6 12.4 353 3560 0.00 2.50 0.00 0.000 260 0.000 0.096 3065 3928 2899 2904 2895 0 0 0 0 0 0 14.63 14.30 14.63

3604 1.04 121.7 3065 3929 2904 2896 235.3 14.8 363 3610 0.00 2.42 0.00 0.000 1030 0.000 0.057 3075 2539 2899 2903 2895 0 0 0 0 0 0 14.44 14.39 14.47

3914 1.04 121.7 3075 2541 2904 2896 195.1 12.7 395 3920 0.00 2.45 0.00 0.000 516 0.000 0.067 3086 1161 2898 2903 2894 0 0 0 0 0 0 14.74 14.39 14.74

3949 1.04 121.7 3086 1162 2904 2895 190.8 12.5 402 3957 0.00 2.47 0.00 0.000 1030 0.000 0.071 3086 2571 2898 2902 2894 0 0 0 0 0 0 14.56 14.45 14.59

4254 1.04 121.7 3087 2571 2903 2895 149.9 12.8 433 4265 0.00 2.45 0.00 0.000 260 0.000 0.097 3086 3904 2899 2904 2894 0 0 0 0 0 0 14.80 14.43 14.79

4289 1.04 121.7 3085 3904 2905 2894 144.6 15.4 439 4295 0.10 2.35 0.00 0.000 5126 0.295 0.057 3071 2553 2898 2903 2894 0 0 0 0 0 0 14.22 14.52 14.45

4600 1.04 121.7 3071 2554 2903 2895 106.5 12.1 471 4605 0.00 2.47 0.00 0.000 516 0.000 0.067 3080 1156 2898 2904 2893 0 0 0 0 0 0 14.82 14.47 14.82

4680 1.04 121.7 3080 1158 2904 2895 97.1 11.6 487 4685 0.00 2.47 0.00 0.000 1030 0.000 0.071 3080 2545 2898 2903 2894 0 0 0 0 0 0 14.57 14.49 14.66

4990 1.04 121.7 3080 2546 2904 2890 60.4 11.4 519 4995 0.00 2.50 0.00 0.000 260 0.000 0.097 3080 3910 2899 2904 2894 0 0 0 0 0 0 14.83 14.47 14.83

5054 1.04 121.7 3081 3911 2905 2895 51.7 13.5 532 5062 0.00 2.35 0.00 0.000 1030 0.000 0.057 3090 2552 2899 2904 2894 0 0 0 0 0 0 14.61 14.56 14.63

5360 1.04 121.7 3091 2553 2905 2895 14.2 13.1 563 5365 0.00 2.42 0.00 0.000 516 0.000 0.066 3101 1155 2899 2904 2894 0 0 0 0 0 0 14.84 14.51 14.84

5400 1.04 121.7 3101 1160 2905 2894 9.1 12.7 571 5406 0.15 2.45 0.00 0.000 5126 0.290 0.073 3073 2552 2899 2904 2894 0 0 0 0 0 0 14.28 14.52 14.60

5459 end climb: SURFACE_DEPTH_REACHED

state 5459 begin surface coast

5470 end surface coast: CONTROL_FINISHED_OK

state 5470 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	190	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	24	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	260218,064126,-7407.6011,-11317.4414,4,1.6,6,53.9,0.1,0.0,5,5.8	SPEED_LIMITS	0.100,0.198
_CALLS	2	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	94.7,2988,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-65.7	D_GRID	465
GPS2	260218,064902,-7407.5518,-11317.3721,2,1.5,3,53.9,0.2,0.0,5,7.9

FREEZE	0.43,-1.782,-1.861,2,1,0	_24V_AH	12.50,68.419
FINISH	0.4,1.027301	_10V_AH	12.78,0.000
SM_CCo	5485,162.38,0.223,0,0,2205,300.18	FG_AHR_24Vo	0.000
SM_GC	0.80,8.48,0.45,162.38,0.078,0.099,0.223,190,2802,2205,-7.89,-0.79,300.18,0,0,0,0,0,0,14.56,14.56,14.22	FG_AHR_10Vo	0.000
RAFOS_CLK	226	MEM	280392
RAFOS_FIX	-7408.101562,-11317.706055,260218,080826,0,1,0.19	DATA_FILE_SIZE	20069,579
IRIDIUM_FIX	-7411.76,-11316.06,260218,064319	CAP_FILE_SIZE	73082,0
TT8_MAMPS	0.03745,0.286118	CFSIZE	1024409600,998555648
HUMID	44.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.8
TCM_TEMP	12.90	CURRENT	0.144,28.12,1
XPDR_PINGS	0	GPS	260218,082430,-7407.710,-11315.524,22,0.9,22,53.9,0.2,12.0,9,3.4
ALTIM_TOP_PING	5.3,5.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	475	138.81	nil	0	0	0.00
Roll_motor	51	99	64.21	nil	0	0	0.00
VBD_pump_during_apogee	226	2308	6527.33	nil	0	0	0.00
VBD_pump_during_surface	162	222	451.84	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	5473	7	500.10
Iridium_during_xfer	286	184	660.95	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	0.61
TT8	0	0	0.00
LPSleep	3942	2	116.40
TT8_Active	592	10	82.29
TT8_Sampling	1476	30	572.53
TT8_CF8	106	51	69.52
TT8_Kalman	0	0	0.00
Analog_circuits	1322	10	170.71
GPS_charging	0	0	0.00
Compass	834	6	71.92
RAFOS	0	0	0.00
Transponder	58	30	22.42

		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	21.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.5	43.90	9000.00	0.0	0.00	0.00	43.90	0.0	1.05	1.00
83.5	87.90	87.90	0.0	1.05	1.00	87.90	0.0	1.05	1.00
103.8	108.90	109.00	0.0	1.04	1.00	108.90	0.0	1.03	1.00

149.4	155.50	155.60	-6.2	1.03	1.00	155.50	-6.1	1.02	1.00
108.9	113.50	113.90	-5.0	1.03	1.00	113.50	-4.6	1.04	1.00
88.7	92.20	92.30	-3.6	1.04	1.00	92.20	-3.5	1.05	1.00
68.5	71.00	71.00	-2.5	1.05	1.00	71.00	-2.5	1.05	1.00
47.4	49.20	49.10	-1.7	1.04	1.00	49.20	-1.8	1.03	1.00
26.5	28.00	27.90	-1.4	1.03	1.00	28.00	-1.5	1.01	1.00
5.3	5.30	5.50	-0.2	1.04	1.00	5.30	0.0	1.07	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	191	2802	2237	2127	0.0	0.0	0	122	0.00	0.00	-107.03	0.003	16390	0.000	0.000	189	2804	3889	3901	3878	0	0	0	0	0	0	14.59	13.25	14.59
124	-1.04	-121.7	190	2804	3902	3880	2.8	-3.4	11	142	12.18	0.00	0.00	0.000	2086	0.475	0.000	2388	2803	3897	3903	3891	1	0	0	0	0	0	13.84	14.36	14.28
440	-1.04	-121.7	2389	2804	3904	3902	46.6	-12.9	43	446	0.00	2.00	0.00	0.000	260	0.000	0.093	2382	3904	3902	3903	3902	0	0	0	0	0	0	14.74	14.37	14.74
485	-1.04	-121.7	2382	3905	3904	3903	52.9	-14.3	52	492	0.00	1.90	0.00	0.000	1030	0.000	0.048	2382	2794	3902	3903	3902	0	0	0	0	0	0	14.52	14.49	14.54
790	-1.04	-121.7	2382	2795	3904	3905	91.2	-12.7	83	796	0.00	2.40	0.00	0.000	516	0.000	0.050	2382	1402	3903	3903	3903	0	0	0	0	0	0	14.78	14.47	14.78
840	-1.04	-121.7	2382	1402	3904	3903	97.4	-12.2	93	847	0.00	2.50	0.00	0.000	1030	0.000	0.071	2381	2802	3903	3903	3903	0	0	0	0	0	0	14.52	14.45	14.56
1151	-1.04	-121.7	2382	2802	3904	3905	136.8	-12.3	125	1158	0.00	1.98	0.00	0.000	260	0.000	0.091	2374	3899	3903	3903	3903	0	0	0	0	0	0	14.81	14.44	14.81
1232	-1.04	-121.7	2375	3901	3904	3905	147.6	-13.3	141	1239	0.00	1.88	0.00	0.000	1030	0.000	0.050	2374	2795	3903	3903	3903	0	0	0	0	0	0	14.59	14.56	14.62
1543	-1.04	-121.7	2374	2796	3904	3905	187.6	-13.2	173	1543	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2795	3903	3903	3904	0	0	0	0	0	0	14.84	14.83	14.84
1844	-1.04	-121.7	2374	2795	3902	3904	227.5	-13.6	203	1845	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2795	3903	3903	3903	0	0	0	0	0	0	14.81	14.81	14.81
2144	-1.04	-121.7	2374	2797	3903	3905	265.8	-12.6	233	2144	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2796	3903	3903	3904	0	0	0	0	0	0	14.85	14.85	14.85
2443	-1.04	-121.7	2372	2796	3903	3905	303.6	-12.3	262	2449	0.00	2.03	0.00	0.000	260	0.000	0.093	2372	3906	3903	3903	3903	0	0	0	0	0	0	14.87	14.35	14.87
2503	-1.04	-121.7	2373	3906	3904	3904	311.6	-13.2	274	2509	0.00	1.88	0.00	0.000	1030	0.000	0.048	2373	2799	3903	3903	3903	0	0	0	0	0	0	14.52	14.48	14.53
2682	end dive: TARGET_DEPTH_EXCEEDED
state	2682	begin apogee
2686	-0.23	0.0	2373	2546	3903	3905	332.1	-10.7	286	2805	1.08	0.00	114.35	2.309	10246	0.264	0.000	2651	2543	3396	3401	3392	0	0	0	0	0	0	14.26	13.80	12.92
2806	end apogee: CONTROL_FINISHED_OK
state	2806	begin climb
2808	1.04	121.7	2653	2545	3402	3392	334.6	0.0	292	2927	1.40	0.00	111.82	2.209	10246	0.160	0.000	3055	2545	2911	2916	2907	0	0	0	0	0	0	13.74	13.34	12.50
3223	1.04	121.7	3056	2546	2904	2897	287.3	13.1	317	3229	0.00	2.53	0.00	0.000	260	0.000	0.094	3055	3906	2899	2903	2895	0	0	0	0	0	0	14.35	14.04	14.36
3248	1.04	121.7	3055	3907	2904	2897	283.5	15.5	322	3256	0.00	2.40	0.00	0.000	1030	0.000	0.056	3065	2557	2899	2904	2895	0	0	0	0	0	0	14.20	14.15	14.22
3553	1.04	121.7	3065	2557	2904	2895	242.6	12.4	353	3560	0.00	2.50	0.00	0.000	260	0.000	0.096	3065	3928	2899	2904	2895	0	0	0	0	0	0	14.63	14.30	14.63
3604	1.04	121.7	3065	3929	2904	2896	235.3	14.8	363	3610	0.00	2.42	0.00	0.000	1030	0.000	0.057	3075	2539	2899	2903	2895	0	0	0	0	0	0	14.44	14.39	14.47
3914	1.04	121.7	3075	2541	2904	2896	195.1	12.7	395	3920	0.00	2.45	0.00	0.000	516	0.000	0.067	3086	1161	2898	2903	2894	0	0	0	0	0	0	14.74	14.39	14.74
3949	1.04	121.7	3086	1162	2904	2895	190.8	12.5	402	3957	0.00	2.47	0.00	0.000	1030	0.000	0.071	3086	2571	2898	2902	2894	0	0	0	0	0	0	14.56	14.45	14.59
4254	1.04	121.7	3087	2571	2903	2895	149.9	12.8	433	4265	0.00	2.45	0.00	0.000	260	0.000	0.097	3086	3904	2899	2904	2894	0	0	0	0	0	0	14.80	14.43	14.79
4289	1.04	121.7	3085	3904	2905	2894	144.6	15.4	439	4295	0.10	2.35	0.00	0.000	5126	0.295	0.057	3071	2553	2898	2903	2894	0	0	0	0	0	0	14.22	14.52	14.45
4600	1.04	121.7	3071	2554	2903	2895	106.5	12.1	471	4605	0.00	2.47	0.00	0.000	516	0.000	0.067	3080	1156	2898	2904	2893	0	0	0	0	0	0	14.82	14.47	14.82
4680	1.04	121.7	3080	1158	2904	2895	97.1	11.6	487	4685	0.00	2.47	0.00	0.000	1030	0.000	0.071	3080	2545	2898	2903	2894	0	0	0	0	0	0	14.57	14.49	14.66
4990	1.04	121.7	3080	2546	2904	2890	60.4	11.4	519	4995	0.00	2.50	0.00	0.000	260	0.000	0.097	3080	3910	2899	2904	2894	0	0	0	0	0	0	14.83	14.47	14.83
5054	1.04	121.7	3081	3911	2905	2895	51.7	13.5	532	5062	0.00	2.35	0.00	0.000	1030	0.000	0.057	3090	2552	2899	2904	2894	0	0	0	0	0	0	14.61	14.56	14.63
5360	1.04	121.7	3091	2553	2905	2895	14.2	13.1	563	5365	0.00	2.42	0.00	0.000	516	0.000	0.066	3101	1155	2899	2904	2894	0	0	0	0	0	0	14.84	14.51	14.84
5400	1.04	121.7	3101	1160	2905	2894	9.1	12.7	571	5406	0.15	2.45	0.00	0.000	5126	0.290	0.073	3073	2552	2899	2904	2894	0	0	0	0	0	0	14.28	14.52	14.60
5459	end climb: SURFACE_DEPTH_REACHED
state	5459	begin surface coast
5470	end surface coast: CONTROL_FINISHED_OK
state	5470	begin surface