Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 193 * 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 193 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 39 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 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 193 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 22 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 260218,115139,-7408.2368,-11312.5332,17,1.0,17,53.9,0.2,4.2,7,5.0 SPEED_LIMITS 0.100,0.198

_CALLS 3 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11323.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 202.5,5434,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.8 D_GRID 495

GPS2 260218,120155,-7408.1846,-11312.5693,4,1.7,6,53.9,0.2,0.0,4,8.5

Post-dive calculations and measurements:

FREEZE 0.01,-1.738,-1.860,2,1,0 ALTIM_TOP_PING 22.2,22.9

FINISH 0.0,1.027296 _24V_AH 12.51,69.036

SM_CCo 5568,163.48,0.222,0,0,2204,300.18 _10V_AH 12.64,0.000

SM_GC 0.82,8.60,0.45,163.48,0.083,0.095,0.222,189,2802,2204,-7.88,-0.71,300.18,0,0,0,0,0,0,14.54,14.56,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 227 FG_AHR_10Vo 0.000

RAFOS 1,1519646830,12.133333,12.119445,85,63,57,54,53,51,555,198,147,233,92,129 MEM 280396

RAFOS_FIX -7408.022461,-11315.581055,260218,121200,2,106,1.85 DATA_FILE_SIZE 20085,621

IRIDIUM_FIX -7408.77,-11302.62,260218,115334 CAP_FILE_SIZE 79607,0

TT8_MAMPS 0.038948,0.2247 CFSIZE 1024409600,998260736

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.6

TCM_TEMP 13.00 CURRENT 0.067,354.92,1

XPDR_PINGS 0 GPS 260218,133900,-7408.146,-11314.849,32,0.8,32,53.9,0.1,0.0,10,3.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 472 137.95 nil 0 0 0.00

Roll_motor 62 97 75.69 nil 0 0 0.00

VBD_pump_during_apogee 225 2291 6468.44 nil 0 0 0.00

VBD_pump_during_surface 163 221 453.70 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 5568 7 518.24

Iridium_during_xfer 384 179 860.50 nil 0 0 0.00

Transponder_ping 8 420 43.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.86

TT8 0 0 0.00

LPSleep 4024 2 117.51

TT8_Active 573 10 78.85

TT8_Sampling 1646 30 631.49

TT8_CF8 120 51 77.97

TT8_Kalman 0 0 0.00

Analog_circuits 1444 10 184.39

GPS_charging 0 0 0.00

Compass 897 6 76.43

RAFOS 480 1 9.10

Transponder 59 30 22.45

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

20.4 21.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.4 43.60 9000.00 0.0 0.00 0.00 43.60 0.0 1.04 1.00

82.4 86.20 86.20 0.0 1.04 1.00 86.20 0.0 1.04 1.00

123.7 129.10 129.10 0.0 1.04 1.00 129.10 0.0 1.04 1.00

165.3 171.30 171.50 -6.2 1.03 1.00 171.30 -6.0 1.01 1.00

42.4 44.10 44.30 -1.9 1.04 1.00 44.10 -1.7 1.03 1.00

22.2 22.70 22.90 -0.7 1.04 1.00 22.70 -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 -121.7 171 2809 2232 2124 0.0 0.0 0 122 0.00 0.00 -107.50 0.003 16390 0.000 0.000 170 2810 3889 3900 3878 0 0 0 0 0 0 14.59 13.24 14.59

124 -1.04 -121.7 169 2811 3900 3880 2.8 -3.4 11 142 12.12 2.47 0.00 0.000 2596 0.473 0.048 2396 1398 3896 3902 3890 0 0 0 0 0 0 13.98 14.35 14.40

266 -1.04 -121.7 2396 1398 3901 3901 21.6 -11.6 39 272 0.00 2.53 0.00 0.000 1030 0.000 0.069 2386 2799 3901 3903 3899 0 0 0 0 0 0 14.42 14.34 14.45

576 -1.04 -121.7 2386 2798 3904 3903 62.8 -12.2 71 577 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2799 3900 3898 3903 0 0 0 0 0 0 14.73 14.74 14.74

876 -1.04 -121.7 2386 2799 3904 3903 99.0 -12.7 101 883 0.00 2.45 0.00 0.000 516 0.000 0.052 2386 1392 3902 3902 3903 0 0 0 0 0 0 14.77 14.47 14.77

947 -1.04 -121.7 2387 1392 3903 3903 108.2 -13.2 115 953 0.00 2.47 0.00 0.000 1030 0.000 0.070 2384 2802 3903 3903 3903 0 0 0 0 0 0 14.59 14.47 14.62

1257 -1.04 -121.7 2384 2802 3908 3903 148.4 -13.6 147 1258 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2802 3903 3903 3903 0 0 0 0 0 0 14.81 14.81 14.81

1557 -1.04 -121.7 2385 2801 3903 3904 188.0 -13.3 177 1563 0.00 2.00 0.00 0.000 260 0.000 0.092 2376 3904 3905 3908 3903 0 0 0 0 0 0 14.82 14.44 14.83

1684 -1.04 -121.7 2376 3905 3903 3904 205.8 -14.1 202 1690 0.00 1.85 0.00 0.000 1030 0.000 0.048 2376 2790 3903 3903 3903 0 0 0 0 0 0 14.58 14.51 14.61

1987 -1.04 -121.7 2376 2789 3904 3903 242.0 -11.3 233 1994 0.00 2.03 0.00 0.000 260 0.000 0.091 2372 3902 3903 3903 3903 0 0 0 0 0 0 14.84 14.45 14.83

2048 -1.04 -121.7 2374 3903 3903 3904 249.7 -12.6 245 2055 0.00 1.88 0.00 0.000 1030 0.000 0.049 2374 2795 3902 3902 3903 0 0 0 0 0 0 14.62 14.57 14.63

2360 -1.04 -121.7 2374 2795 3904 3904 287.0 -11.9 277 2366 0.00 2.38 0.00 0.000 516 0.000 0.051 2374 1394 3902 3902 3903 0 0 0 0 0 0 14.83 14.52 14.83

2395 -1.04 -121.7 2374 1395 3903 3904 291.2 -11.7 284 2402 0.00 2.47 0.00 0.000 1030 0.000 0.069 2377 2809 3902 3902 3903 0 0 0 0 0 0 14.63 14.54 14.66

2701 -1.04 -121.7 2373 2810 3903 3904 325.9 -11.5 304 2706 0.00 2.40 0.00 0.000 516 0.000 0.050 2373 1399 3902 3902 3903 0 0 0 0 0 0 14.84 14.54 14.84

2735 end dive: TARGET_DEPTH_EXCEEDED

state 2735 begin apogee

2740 -0.23 0.0 2373 2554 3903 3904 330.0 -11.6 311 2858 1.08 0.00 114.40 2.292 10246 0.273 0.000 2649 2553 3397 3402 3393 0 0 0 0 0 0 14.22 13.80 12.93

2859 end apogee: CONTROL_FINISHED_OK

state 2859 begin climb

2861 1.04 121.7 2650 2554 3402 3393 333.6 0.0 317 2981 1.40 2.72 111.20 2.208 10756 0.166 0.066 3063 1164 2911 2915 2907 0 0 0 0 0 0 13.71 13.31 12.51

3025 1.04 121.7 3064 1168 2910 2901 319.1 12.3 348 3032 0.00 2.62 0.00 0.000 1030 0.000 0.070 3063 2539 2904 2909 2900 0 0 0 0 0 0 13.66 13.59 13.68

3330 1.04 121.7 3064 2539 2905 2895 280.9 12.1 371 3331 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2538 2900 2904 2896 0 0 0 0 0 0 14.41 14.41 14.41

3630 1.04 121.7 3064 2539 2904 2894 243.4 12.9 401 3636 0.00 2.50 0.00 0.000 260 0.000 0.096 3063 3910 2899 2903 2895 0 0 0 0 0 0 14.65 14.31 14.62

3685 1.04 121.7 3064 3911 2904 2896 235.4 14.4 412 3692 0.00 2.38 0.00 0.000 1030 0.000 0.057 3073 2553 2898 2903 2894 0 0 0 0 0 0 14.45 14.40 14.47

3990 1.04 121.7 3074 2553 2905 2895 195.2 12.8 443 3996 0.00 2.50 0.00 0.000 516 0.000 0.068 3084 1131 2899 2903 2895 0 0 0 0 0 0 14.73 14.42 14.73

4005 1.04 121.7 3084 1132 2904 2896 193.3 12.7 446 4013 0.00 2.55 0.00 0.000 1030 0.000 0.070 3084 2551 2899 2904 2894 0 0 0 0 0 0 14.50 14.42 14.53

4310 1.04 121.7 3085 2552 2905 2894 154.9 12.8 477 4316 0.00 2.47 0.00 0.000 260 0.000 0.096 3084 3926 2899 2904 2895 0 0 0 0 0 0 14.77 14.44 14.77

4355 1.04 121.7 3084 3926 2906 2896 148.3 15.2 486 4363 0.12 2.40 0.00 0.000 5126 0.292 0.057 3063 2543 2899 2904 2894 0 0 0 0 0 0 14.20 14.51 14.42

4660 1.04 121.7 3064 2543 2905 2894 110.2 12.3 517 4666 0.00 2.45 0.00 0.000 516 0.000 0.068 3072 1161 2899 2905 2894 0 0 0 0 0 0 14.79 14.45 14.79

4690 1.04 121.7 3072 1162 2905 2896 106.5 12.5 523 4696 0.00 2.47 0.00 0.000 1030 0.000 0.070 3072 2549 2899 2904 2894 0 0 0 0 0 0 14.64 14.47 14.65

5000 1.04 121.7 3072 2549 2905 2895 67.9 12.1 555 5006 0.00 2.47 0.00 0.000 260 0.000 0.097 3072 3901 2900 2905 2895 0 0 0 0 0 0 14.82 14.45 14.82

5031 1.04 121.7 3072 3901 2906 2896 63.9 13.8 561 5040 0.00 2.35 0.00 0.000 1030 0.000 0.057 3082 2546 2899 2905 2894 0 0 0 0 0 0 14.60 14.55 14.62

5344 1.04 121.7 3077 2547 2906 2896 25.9 10.8 593 5350 0.00 2.45 0.00 0.000 516 0.000 0.068 3093 1157 2899 2905 2894 0 0 0 0 0 0 14.85 14.45 14.85

5409 1.04 121.7 3093 1157 2907 2894 19.2 10.1 606 5417 0.00 2.50 0.00 0.000 1030 0.000 0.073 3092 2553 2899 2905 2894 0 0 0 0 0 0 14.59 14.50 14.62

5543 end climb: SURFACE_DEPTH_REACHED

state 5543 begin surface coast

5553 end surface coast: CONTROL_FINISHED_OK

state 5553 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	193	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	39	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	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	260218,115139,-7408.2368,-11312.5332,17,1.0,17,53.9,0.2,4.2,7,5.0	SPEED_LIMITS	0.100,0.198
_CALLS	3	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11323.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	202.5,5434,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.8	D_GRID	495
GPS2	260218,120155,-7408.1846,-11312.5693,4,1.7,6,53.9,0.2,0.0,4,8.5

FREEZE	0.01,-1.738,-1.860,2,1,0	ALTIM_TOP_PING	22.2,22.9
FINISH	0.0,1.027296	_24V_AH	12.51,69.036
SM_CCo	5568,163.48,0.222,0,0,2204,300.18	_10V_AH	12.64,0.000
SM_GC	0.82,8.60,0.45,163.48,0.083,0.095,0.222,189,2802,2204,-7.88,-0.71,300.18,0,0,0,0,0,0,14.54,14.56,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	227	FG_AHR_10Vo	0.000
RAFOS	1,1519646830,12.133333,12.119445,85,63,57,54,53,51,555,198,147,233,92,129	MEM	280396
RAFOS_FIX	-7408.022461,-11315.581055,260218,121200,2,106,1.85	DATA_FILE_SIZE	20085,621
IRIDIUM_FIX	-7408.77,-11302.62,260218,115334	CAP_FILE_SIZE	79607,0
TT8_MAMPS	0.038948,0.2247	CFSIZE	1024409600,998260736
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.6
TCM_TEMP	13.00	CURRENT	0.067,354.92,1
XPDR_PINGS	0	GPS	260218,133900,-7408.146,-11314.849,32,0.8,32,53.9,0.1,0.0,10,3.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	472	137.95	nil	0	0	0.00
Roll_motor	62	97	75.69	nil	0	0	0.00
VBD_pump_during_apogee	225	2291	6468.44	nil	0	0	0.00
VBD_pump_during_surface	163	221	453.70	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	5568	7	518.24
Iridium_during_xfer	384	179	860.50	nil	0	0	0.00
Transponder_ping	8	420	43.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.86
TT8	0	0	0.00
LPSleep	4024	2	117.51
TT8_Active	573	10	78.85
TT8_Sampling	1646	30	631.49
TT8_CF8	120	51	77.97
TT8_Kalman	0	0	0.00
Analog_circuits	1444	10	184.39
GPS_charging	0	0	0.00
Compass	897	6	76.43
RAFOS	480	1	9.10
Transponder	59	30	22.45

		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
20.4	21.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.4	43.60	9000.00	0.0	0.00	0.00	43.60	0.0	1.04	1.00
82.4	86.20	86.20	0.0	1.04	1.00	86.20	0.0	1.04	1.00
123.7	129.10	129.10	0.0	1.04	1.00	129.10	0.0	1.04	1.00

165.3	171.30	171.50	-6.2	1.03	1.00	171.30	-6.0	1.01	1.00
42.4	44.10	44.30	-1.9	1.04	1.00	44.10	-1.7	1.03	1.00
22.2	22.70	22.90	-0.7	1.04	1.00	22.70	-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	171	2809	2232	2124	0.0	0.0	0	122	0.00	0.00	-107.50	0.003	16390	0.000	0.000	170	2810	3889	3900	3878	0	0	0	0	0	0	14.59	13.24	14.59
124	-1.04	-121.7	169	2811	3900	3880	2.8	-3.4	11	142	12.12	2.47	0.00	0.000	2596	0.473	0.048	2396	1398	3896	3902	3890	0	0	0	0	0	0	13.98	14.35	14.40
266	-1.04	-121.7	2396	1398	3901	3901	21.6	-11.6	39	272	0.00	2.53	0.00	0.000	1030	0.000	0.069	2386	2799	3901	3903	3899	0	0	0	0	0	0	14.42	14.34	14.45
576	-1.04	-121.7	2386	2798	3904	3903	62.8	-12.2	71	577	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2799	3900	3898	3903	0	0	0	0	0	0	14.73	14.74	14.74
876	-1.04	-121.7	2386	2799	3904	3903	99.0	-12.7	101	883	0.00	2.45	0.00	0.000	516	0.000	0.052	2386	1392	3902	3902	3903	0	0	0	0	0	0	14.77	14.47	14.77
947	-1.04	-121.7	2387	1392	3903	3903	108.2	-13.2	115	953	0.00	2.47	0.00	0.000	1030	0.000	0.070	2384	2802	3903	3903	3903	0	0	0	0	0	0	14.59	14.47	14.62
1257	-1.04	-121.7	2384	2802	3908	3903	148.4	-13.6	147	1258	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2802	3903	3903	3903	0	0	0	0	0	0	14.81	14.81	14.81
1557	-1.04	-121.7	2385	2801	3903	3904	188.0	-13.3	177	1563	0.00	2.00	0.00	0.000	260	0.000	0.092	2376	3904	3905	3908	3903	0	0	0	0	0	0	14.82	14.44	14.83
1684	-1.04	-121.7	2376	3905	3903	3904	205.8	-14.1	202	1690	0.00	1.85	0.00	0.000	1030	0.000	0.048	2376	2790	3903	3903	3903	0	0	0	0	0	0	14.58	14.51	14.61
1987	-1.04	-121.7	2376	2789	3904	3903	242.0	-11.3	233	1994	0.00	2.03	0.00	0.000	260	0.000	0.091	2372	3902	3903	3903	3903	0	0	0	0	0	0	14.84	14.45	14.83
2048	-1.04	-121.7	2374	3903	3903	3904	249.7	-12.6	245	2055	0.00	1.88	0.00	0.000	1030	0.000	0.049	2374	2795	3902	3902	3903	0	0	0	0	0	0	14.62	14.57	14.63
2360	-1.04	-121.7	2374	2795	3904	3904	287.0	-11.9	277	2366	0.00	2.38	0.00	0.000	516	0.000	0.051	2374	1394	3902	3902	3903	0	0	0	0	0	0	14.83	14.52	14.83
2395	-1.04	-121.7	2374	1395	3903	3904	291.2	-11.7	284	2402	0.00	2.47	0.00	0.000	1030	0.000	0.069	2377	2809	3902	3902	3903	0	0	0	0	0	0	14.63	14.54	14.66
2701	-1.04	-121.7	2373	2810	3903	3904	325.9	-11.5	304	2706	0.00	2.40	0.00	0.000	516	0.000	0.050	2373	1399	3902	3902	3903	0	0	0	0	0	0	14.84	14.54	14.84
2735	end dive: TARGET_DEPTH_EXCEEDED
state	2735	begin apogee
2740	-0.23	0.0	2373	2554	3903	3904	330.0	-11.6	311	2858	1.08	0.00	114.40	2.292	10246	0.273	0.000	2649	2553	3397	3402	3393	0	0	0	0	0	0	14.22	13.80	12.93
2859	end apogee: CONTROL_FINISHED_OK
state	2859	begin climb
2861	1.04	121.7	2650	2554	3402	3393	333.6	0.0	317	2981	1.40	2.72	111.20	2.208	10756	0.166	0.066	3063	1164	2911	2915	2907	0	0	0	0	0	0	13.71	13.31	12.51
3025	1.04	121.7	3064	1168	2910	2901	319.1	12.3	348	3032	0.00	2.62	0.00	0.000	1030	0.000	0.070	3063	2539	2904	2909	2900	0	0	0	0	0	0	13.66	13.59	13.68
3330	1.04	121.7	3064	2539	2905	2895	280.9	12.1	371	3331	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2538	2900	2904	2896	0	0	0	0	0	0	14.41	14.41	14.41
3630	1.04	121.7	3064	2539	2904	2894	243.4	12.9	401	3636	0.00	2.50	0.00	0.000	260	0.000	0.096	3063	3910	2899	2903	2895	0	0	0	0	0	0	14.65	14.31	14.62
3685	1.04	121.7	3064	3911	2904	2896	235.4	14.4	412	3692	0.00	2.38	0.00	0.000	1030	0.000	0.057	3073	2553	2898	2903	2894	0	0	0	0	0	0	14.45	14.40	14.47
3990	1.04	121.7	3074	2553	2905	2895	195.2	12.8	443	3996	0.00	2.50	0.00	0.000	516	0.000	0.068	3084	1131	2899	2903	2895	0	0	0	0	0	0	14.73	14.42	14.73
4005	1.04	121.7	3084	1132	2904	2896	193.3	12.7	446	4013	0.00	2.55	0.00	0.000	1030	0.000	0.070	3084	2551	2899	2904	2894	0	0	0	0	0	0	14.50	14.42	14.53
4310	1.04	121.7	3085	2552	2905	2894	154.9	12.8	477	4316	0.00	2.47	0.00	0.000	260	0.000	0.096	3084	3926	2899	2904	2895	0	0	0	0	0	0	14.77	14.44	14.77
4355	1.04	121.7	3084	3926	2906	2896	148.3	15.2	486	4363	0.12	2.40	0.00	0.000	5126	0.292	0.057	3063	2543	2899	2904	2894	0	0	0	0	0	0	14.20	14.51	14.42
4660	1.04	121.7	3064	2543	2905	2894	110.2	12.3	517	4666	0.00	2.45	0.00	0.000	516	0.000	0.068	3072	1161	2899	2905	2894	0	0	0	0	0	0	14.79	14.45	14.79
4690	1.04	121.7	3072	1162	2905	2896	106.5	12.5	523	4696	0.00	2.47	0.00	0.000	1030	0.000	0.070	3072	2549	2899	2904	2894	0	0	0	0	0	0	14.64	14.47	14.65
5000	1.04	121.7	3072	2549	2905	2895	67.9	12.1	555	5006	0.00	2.47	0.00	0.000	260	0.000	0.097	3072	3901	2900	2905	2895	0	0	0	0	0	0	14.82	14.45	14.82
5031	1.04	121.7	3072	3901	2906	2896	63.9	13.8	561	5040	0.00	2.35	0.00	0.000	1030	0.000	0.057	3082	2546	2899	2905	2894	0	0	0	0	0	0	14.60	14.55	14.62
5344	1.04	121.7	3077	2547	2906	2896	25.9	10.8	593	5350	0.00	2.45	0.00	0.000	516	0.000	0.068	3093	1157	2899	2905	2894	0	0	0	0	0	0	14.85	14.45	14.85
5409	1.04	121.7	3093	1157	2907	2894	19.2	10.1	606	5417	0.00	2.50	0.00	0.000	1030	0.000	0.073	3092	2553	2899	2905	2894	0	0	0	0	0	0	14.59	14.50	14.62
5543	end climb: SURFACE_DEPTH_REACHED
state	5543	begin surface coast
5553	end surface coast: CONTROL_FINISHED_OK
state	5553	begin surface