Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 203 * 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 203 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 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 37 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 23 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 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 2 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 0 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 4 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 45 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 10000 UNCOM_BLEED 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 3 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 200 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 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 20 SEABIRD_T_G 0.0044198656

D_OFFGRID 990 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 0 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 0 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 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 40 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 20 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 0 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 10 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 20 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 2 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 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 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 45 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 20 HEAPDBG 0 PROTOCOL 9 T_GPS 3

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 4

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 200 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 500 ROLL_AD_RATE 50 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 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 203 MAXI_24V 2 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 0 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 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 990 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 270218,042947,-7407.8950,-11315.8652,9,1.3,10,53.9,0.2,0.0,6,5.0 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W1

_XMS_NAKs 0 TGT_LATLONG -7407.500,-11325.000

_XMS_TOUTs 0 TGT_RADIUS 1200.000

_SM_DEPTHo 0.82 MHEAD_RNG_PITCHd_Wd 205.5,4664,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -64.0 D_GRID 458

GPS2 270218,043512,-7407.8687,-11315.8916,3,1.3,4,53.9,0.3,356.2,6,6.7

Post-dive calculations and measurements:

FREEZE -0.07,-1.705,-1.860,2,1,0 ALTIM_TOP_PING 10.9,10.8

FINISH -0.1,1.027299 _24V_AH 12.48,71.040

SM_CCo 5643,163.07,0.223,0,0,2204,300.18 _10V_AH 12.63,0.000

SM_GC 0.83,8.43,0.47,163.07,0.070,0.092,0.223,185,2811,2204,-7.90,-0.57,300.18,0,0,0,0,0,0,14.55,14.58,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

RAFOS 0,1519711267,6.032778,6.018611,136,64,57,57,53,52,633,195,214,151,117,186 MEM 280152

RAFOS_FIX -7406.502441,-11315.465820,270218,060604,2,118,0.45 DATA_FILE_SIZE 20071,614

IRIDIUM_FIX -7407.96,-11309.85,270218,024759 CAP_FILE_SIZE 79072,0

TT8_MAMPS 0.038948,0.282373 CFSIZE 1024409600,997097472

HUMID 45.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.8

TCM_TEMP 13.00 CURRENT 0.092,331.21,1

XPDR_PINGS 1 GPS 270218,061330,-7407.718,-11318.688,32,1.1,32,53.9,0.2,0.0,7,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 485 142.09 nil 0 0 0.00

Roll_motor 48 97 58.41 nil 0 0 0.00

VBD_pump_during_apogee 226 2295 6498.78 nil 0 0 0.00

VBD_pump_during_surface 163 222 453.06 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 5642 7 532.46

Iridium_during_xfer 213 188 501.96 nil 0 0 0.00

Transponder_ping 16 420 83.87 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.66

TT8 0 0 0.00

LPSleep 3994 2 116.54

TT8_Active 548 10 75.32

TT8_Sampling 1490 30 571.18

TT8_CF8 112 51 73.17

TT8_Kalman 0 0 0.00

Analog_circuits 1236 10 157.71

GPS_charging 0 0 0.00

Compass 884 6 75.29

RAFOS 480 1 9.09

Transponder 111 30 42.20

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

10.0 10.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.3 22.00 9000.00 0.0 0.00 0.00 22.00 0.0 1.08 1.00

31.0 32.70 32.90 0.0 1.04 1.00 32.70 0.0 1.00 1.00

42.0 44.70 44.60 0.0 1.05 1.00 44.70 0.0 1.09 1.00

62.6 66.00 66.10 0.0 1.05 1.00 66.00 0.0 1.03 1.00

94.9 99.50 99.40 -4.5 1.04 1.00 99.50 -4.6 1.04 1.00

84.1 87.30 87.90 -3.8 1.03 1.00 87.30 -3.2 1.13 1.00

73.6 77.10 76.90 -3.3 1.05 1.00 77.10 -3.5 0.97 1.00

63.1 65.30 65.60 -2.5 1.05 1.00 65.30 -2.2 1.12 1.00

53.0 55.40 55.20 -2.2 1.06 1.00 55.40 -2.4 0.98 1.00

42.2 43.90 44.00 -1.8 1.03 1.00 43.90 -1.7 1.06 1.00

32.1 33.00 33.00 -0.9 1.07 1.00 33.00 -0.9 1.08 1.00

21.2 21.70 21.60 -0.4 1.06 1.00 21.70 -0.5 1.04 1.00

10.9 10.80 10.80 0.1 1.04 1.00 10.80 0.1 1.06 1.00

-0.1 7.60 9000.00 0.0 0.66 0.90 7.60 -7.7 0.29 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 -121.7 188 2813 2235 2128 0.0 0.0 0 123 0.00 0.00 -106.78 0.003 16390 0.000 0.000 187 2812 3890 3901 3879 0 0 0 0 0 0 14.59 13.24 14.59

125 -1.04 -121.7 188 2813 3902 3880 2.8 -3.3 11 142 12.40 2.50 0.00 0.000 2596 0.485 0.046 2396 1385 3897 3903 3891 0 0 0 0 0 0 13.96 14.36 14.42

261 -1.04 -121.7 2397 1384 3904 3901 23.4 -12.4 38 268 0.00 2.55 0.00 0.000 1030 0.000 0.069 2386 2798 3902 3903 3901 0 0 0 0 0 0 14.42 14.34 14.45

566 -1.04 -121.7 2386 2799 3904 3905 61.4 -12.7 69 567 0.00 0.00 0.00 0.000 6 0.000 0.000 2386 2798 3903 3903 3903 0 0 0 0 0 0 14.75 14.75 14.75

866 -1.04 -121.7 2386 2799 3904 3906 97.6 -12.4 99 872 0.00 2.45 0.00 0.000 516 0.000 0.050 2386 1387 3903 3903 3904 0 0 0 0 0 0 14.79 14.45 14.79

926 -1.04 -121.7 2386 1388 3904 3906 104.6 -11.5 111 932 0.00 2.55 0.00 0.000 1030 0.000 0.070 2384 2812 3904 3903 3905 0 0 0 0 0 0 14.52 14.45 14.55

1236 -1.04 -121.7 2384 2813 3903 3906 143.0 -12.1 143 1242 0.00 1.98 0.00 0.000 260 0.000 0.092 2376 3905 3904 3903 3905 0 0 0 0 0 0 14.82 14.44 14.82

1356 -1.04 -121.7 2377 3905 3904 3905 158.7 -13.2 167 1362 0.00 1.90 0.00 0.000 1030 0.000 0.050 2377 2786 3904 3903 3905 0 0 0 0 0 0 14.59 14.56 14.61

1666 -1.04 -121.7 2377 2786 3904 3906 196.1 -11.7 199 1667 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2786 3904 3903 3905 0 0 0 0 0 0 14.83 14.83 14.83

1967 -1.04 -121.7 2377 2786 3904 3905 231.2 -11.4 229 1968 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2786 3904 3903 3905 0 0 0 0 0 0 14.76 14.76 14.76

2266 -1.04 -121.7 2377 2786 3905 3906 265.3 -11.5 259 2272 0.00 2.40 0.00 0.000 516 0.000 0.050 2376 1394 3904 3903 3905 0 0 0 0 0 0 14.85 14.50 14.85

2291 -1.04 -121.7 2377 1394 3904 3906 268.2 -11.6 264 2298 0.00 2.53 0.00 0.000 1030 0.000 0.069 2375 2810 3904 3903 3905 0 0 0 0 0 0 14.57 14.48 14.59

2597 -1.04 -121.7 2376 2811 3905 3904 303.1 -11.3 294 2603 0.00 1.98 0.00 0.000 260 0.000 0.092 2374 3918 3904 3903 3905 0 0 0 0 0 0 14.80 14.48 14.81

2682 -1.04 -121.7 2374 3918 3904 3906 313.4 -12.4 311 2688 0.00 1.88 0.00 0.000 1030 0.000 0.049 2373 2785 3904 3903 3905 0 0 0 0 0 0 14.67 14.61 14.69

2835 end dive: TARGET_DEPTH_EXCEEDED

state 2835 begin apogee

2839 -0.23 0.0 2375 2545 3904 3905 331.0 -11.1 321 2960 1.08 0.00 115.47 2.295 10246 0.265 0.000 2652 2545 3396 3402 3391 0 0 0 0 0 0 14.23 13.78 12.91

2961 end apogee: CONTROL_FINISHED_OK

state 2961 begin climb

2962 1.04 121.7 2653 2546 3401 3393 334.0 0.0 327 3079 1.40 0.00 111.43 2.208 10502 0.160 0.000 3060 2545 2912 2917 2907 0 0 0 0 0 0 13.71 13.33 12.48

3377 1.04 121.7 3060 2546 2905 2897 286.1 13.1 368 3383 0.00 2.55 0.00 0.000 260 0.000 0.095 3060 3912 2900 2905 2895 0 0 0 0 0 0 14.35 14.06 14.35

3412 1.04 121.7 3061 3912 2905 2895 281.1 14.6 375 3419 0.00 2.42 0.00 0.000 1030 0.000 0.056 3070 2552 2900 2905 2895 0 0 0 0 0 0 14.20 14.16 14.21

3717 1.04 121.7 3069 2554 2905 2895 240.9 13.1 406 3723 0.00 2.53 0.00 0.000 516 0.000 0.068 3080 1147 2898 2903 2893 0 0 0 0 0 0 14.63 14.29 14.63

3742 1.04 121.7 3080 1146 2905 2893 237.7 12.3 411 3749 0.00 2.55 0.00 0.000 1030 0.000 0.071 3080 2560 2898 2904 2893 0 0 0 0 0 0 14.40 14.32 14.42

4047 1.04 121.7 3080 2560 2904 2894 195.5 13.8 442 4053 0.00 2.45 0.00 0.000 260 0.000 0.097 3082 3916 2898 2904 2893 0 0 0 0 0 0 14.73 14.40 14.73

4097 1.04 121.7 3080 3917 2904 2894 187.7 15.9 452 4103 0.00 2.40 0.00 0.000 1030 0.000 0.057 3091 2536 2898 2904 2893 0 0 0 0 0 0 14.53 14.48 14.58

4407 1.04 121.7 3091 2536 2905 2893 145.1 13.2 484 4413 0.00 2.42 0.00 0.000 516 0.000 0.068 3101 1144 2898 2904 2893 0 0 0 0 0 0 14.79 14.47 14.79

4427 1.04 121.7 3102 1145 2904 2894 142.4 13.3 488 4433 0.17 2.53 0.00 0.000 5126 0.281 0.072 3063 2555 2898 2904 2893 0 0 0 0 0 0 14.26 14.46 14.57

4738 1.04 121.7 3063 2555 2905 2892 105.5 11.9 520 4743 0.00 2.42 0.00 0.000 260 0.000 0.095 3063 3907 2898 2904 2893 0 0 0 0 0 0 14.78 14.49 14.78

4783 1.04 121.7 3063 3908 2905 2895 99.4 13.9 529 4790 0.00 2.35 0.00 0.000 1030 0.000 0.057 3071 2549 2898 2904 2893 0 0 0 0 0 0 14.60 14.56 14.62

5088 1.04 121.7 3072 2549 2906 2893 63.1 11.5 560 5089 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2549 2898 2904 2893 0 0 0 0 0 0 14.80 14.80 14.80

5388 1.04 121.7 3071 2549 2905 2894 28.3 12.3 590 5388 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2549 2900 2908 2893 0 0 0 0 0 0 14.86 14.86 14.86

5616 end climb: SURFACE_DEPTH_REACHED

state 5616 begin surface coast

5627 end surface coast: CONTROL_FINISHED_OK

state 5627 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	203	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	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	37	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	23	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	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	2	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	0	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	4	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	45	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	10000	UNCOM_BLEED	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	3	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	200	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	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	20	SEABIRD_T_G	0.0044198656
D_OFFGRID	990	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	0	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	0	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	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	40	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	20	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	270218,042947,-7407.8950,-11315.8652,9,1.3,10,53.9,0.2,0.0,6,5.0	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W1
_XMS_NAKs	0	TGT_LATLONG	-7407.500,-11325.000
_XMS_TOUTs	0	TGT_RADIUS	1200.000
_SM_DEPTHo	0.82	MHEAD_RNG_PITCHd_Wd	205.5,4664,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-64.0	D_GRID	458
GPS2	270218,043512,-7407.8687,-11315.8916,3,1.3,4,53.9,0.3,356.2,6,6.7

FREEZE	-0.07,-1.705,-1.860,2,1,0	ALTIM_TOP_PING	10.9,10.8
FINISH	-0.1,1.027299	_24V_AH	12.48,71.040
SM_CCo	5643,163.07,0.223,0,0,2204,300.18	_10V_AH	12.63,0.000
SM_GC	0.83,8.43,0.47,163.07,0.070,0.092,0.223,185,2811,2204,-7.90,-0.57,300.18,0,0,0,0,0,0,14.55,14.58,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
RAFOS	0,1519711267,6.032778,6.018611,136,64,57,57,53,52,633,195,214,151,117,186	MEM	280152
RAFOS_FIX	-7406.502441,-11315.465820,270218,060604,2,118,0.45	DATA_FILE_SIZE	20071,614
IRIDIUM_FIX	-7407.96,-11309.85,270218,024759	CAP_FILE_SIZE	79072,0
TT8_MAMPS	0.038948,0.282373	CFSIZE	1024409600,997097472
HUMID	45.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.8
TCM_TEMP	13.00	CURRENT	0.092,331.21,1
XPDR_PINGS	1	GPS	270218,061330,-7407.718,-11318.688,32,1.1,32,53.9,0.2,0.0,7,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	485	142.09	nil	0	0	0.00
Roll_motor	48	97	58.41	nil	0	0	0.00
VBD_pump_during_apogee	226	2295	6498.78	nil	0	0	0.00
VBD_pump_during_surface	163	222	453.06	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	5642	7	532.46
Iridium_during_xfer	213	188	501.96	nil	0	0	0.00
Transponder_ping	16	420	83.87	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.66
TT8	0	0	0.00
LPSleep	3994	2	116.54
TT8_Active	548	10	75.32
TT8_Sampling	1490	30	571.18
TT8_CF8	112	51	73.17
TT8_Kalman	0	0	0.00
Analog_circuits	1236	10	157.71
GPS_charging	0	0	0.00
Compass	884	6	75.29
RAFOS	480	1	9.09
Transponder	111	30	42.20

		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
10.0	10.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.3	22.00	9000.00	0.0	0.00	0.00	22.00	0.0	1.08	1.00
31.0	32.70	32.90	0.0	1.04	1.00	32.70	0.0	1.00	1.00
42.0	44.70	44.60	0.0	1.05	1.00	44.70	0.0	1.09	1.00
62.6	66.00	66.10	0.0	1.05	1.00	66.00	0.0	1.03	1.00

94.9	99.50	99.40	-4.5	1.04	1.00	99.50	-4.6	1.04	1.00
84.1	87.30	87.90	-3.8	1.03	1.00	87.30	-3.2	1.13	1.00
73.6	77.10	76.90	-3.3	1.05	1.00	77.10	-3.5	0.97	1.00
63.1	65.30	65.60	-2.5	1.05	1.00	65.30	-2.2	1.12	1.00
53.0	55.40	55.20	-2.2	1.06	1.00	55.40	-2.4	0.98	1.00
42.2	43.90	44.00	-1.8	1.03	1.00	43.90	-1.7	1.06	1.00
32.1	33.00	33.00	-0.9	1.07	1.00	33.00	-0.9	1.08	1.00
21.2	21.70	21.60	-0.4	1.06	1.00	21.70	-0.5	1.04	1.00
10.9	10.80	10.80	0.1	1.04	1.00	10.80	0.1	1.06	1.00
-0.1	7.60	9000.00	0.0	0.66	0.90	7.60	-7.7	0.29	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	188	2813	2235	2128	0.0	0.0	0	123	0.00	0.00	-106.78	0.003	16390	0.000	0.000	187	2812	3890	3901	3879	0	0	0	0	0	0	14.59	13.24	14.59
125	-1.04	-121.7	188	2813	3902	3880	2.8	-3.3	11	142	12.40	2.50	0.00	0.000	2596	0.485	0.046	2396	1385	3897	3903	3891	0	0	0	0	0	0	13.96	14.36	14.42
261	-1.04	-121.7	2397	1384	3904	3901	23.4	-12.4	38	268	0.00	2.55	0.00	0.000	1030	0.000	0.069	2386	2798	3902	3903	3901	0	0	0	0	0	0	14.42	14.34	14.45
566	-1.04	-121.7	2386	2799	3904	3905	61.4	-12.7	69	567	0.00	0.00	0.00	0.000	6	0.000	0.000	2386	2798	3903	3903	3903	0	0	0	0	0	0	14.75	14.75	14.75
866	-1.04	-121.7	2386	2799	3904	3906	97.6	-12.4	99	872	0.00	2.45	0.00	0.000	516	0.000	0.050	2386	1387	3903	3903	3904	0	0	0	0	0	0	14.79	14.45	14.79
926	-1.04	-121.7	2386	1388	3904	3906	104.6	-11.5	111	932	0.00	2.55	0.00	0.000	1030	0.000	0.070	2384	2812	3904	3903	3905	0	0	0	0	0	0	14.52	14.45	14.55
1236	-1.04	-121.7	2384	2813	3903	3906	143.0	-12.1	143	1242	0.00	1.98	0.00	0.000	260	0.000	0.092	2376	3905	3904	3903	3905	0	0	0	0	0	0	14.82	14.44	14.82
1356	-1.04	-121.7	2377	3905	3904	3905	158.7	-13.2	167	1362	0.00	1.90	0.00	0.000	1030	0.000	0.050	2377	2786	3904	3903	3905	0	0	0	0	0	0	14.59	14.56	14.61
1666	-1.04	-121.7	2377	2786	3904	3906	196.1	-11.7	199	1667	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2786	3904	3903	3905	0	0	0	0	0	0	14.83	14.83	14.83
1967	-1.04	-121.7	2377	2786	3904	3905	231.2	-11.4	229	1968	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2786	3904	3903	3905	0	0	0	0	0	0	14.76	14.76	14.76
2266	-1.04	-121.7	2377	2786	3905	3906	265.3	-11.5	259	2272	0.00	2.40	0.00	0.000	516	0.000	0.050	2376	1394	3904	3903	3905	0	0	0	0	0	0	14.85	14.50	14.85
2291	-1.04	-121.7	2377	1394	3904	3906	268.2	-11.6	264	2298	0.00	2.53	0.00	0.000	1030	0.000	0.069	2375	2810	3904	3903	3905	0	0	0	0	0	0	14.57	14.48	14.59
2597	-1.04	-121.7	2376	2811	3905	3904	303.1	-11.3	294	2603	0.00	1.98	0.00	0.000	260	0.000	0.092	2374	3918	3904	3903	3905	0	0	0	0	0	0	14.80	14.48	14.81
2682	-1.04	-121.7	2374	3918	3904	3906	313.4	-12.4	311	2688	0.00	1.88	0.00	0.000	1030	0.000	0.049	2373	2785	3904	3903	3905	0	0	0	0	0	0	14.67	14.61	14.69
2835	end dive: TARGET_DEPTH_EXCEEDED
state	2835	begin apogee
2839	-0.23	0.0	2375	2545	3904	3905	331.0	-11.1	321	2960	1.08	0.00	115.47	2.295	10246	0.265	0.000	2652	2545	3396	3402	3391	0	0	0	0	0	0	14.23	13.78	12.91
2961	end apogee: CONTROL_FINISHED_OK
state	2961	begin climb
2962	1.04	121.7	2653	2546	3401	3393	334.0	0.0	327	3079	1.40	0.00	111.43	2.208	10502	0.160	0.000	3060	2545	2912	2917	2907	0	0	0	0	0	0	13.71	13.33	12.48
3377	1.04	121.7	3060	2546	2905	2897	286.1	13.1	368	3383	0.00	2.55	0.00	0.000	260	0.000	0.095	3060	3912	2900	2905	2895	0	0	0	0	0	0	14.35	14.06	14.35
3412	1.04	121.7	3061	3912	2905	2895	281.1	14.6	375	3419	0.00	2.42	0.00	0.000	1030	0.000	0.056	3070	2552	2900	2905	2895	0	0	0	0	0	0	14.20	14.16	14.21
3717	1.04	121.7	3069	2554	2905	2895	240.9	13.1	406	3723	0.00	2.53	0.00	0.000	516	0.000	0.068	3080	1147	2898	2903	2893	0	0	0	0	0	0	14.63	14.29	14.63
3742	1.04	121.7	3080	1146	2905	2893	237.7	12.3	411	3749	0.00	2.55	0.00	0.000	1030	0.000	0.071	3080	2560	2898	2904	2893	0	0	0	0	0	0	14.40	14.32	14.42
4047	1.04	121.7	3080	2560	2904	2894	195.5	13.8	442	4053	0.00	2.45	0.00	0.000	260	0.000	0.097	3082	3916	2898	2904	2893	0	0	0	0	0	0	14.73	14.40	14.73
4097	1.04	121.7	3080	3917	2904	2894	187.7	15.9	452	4103	0.00	2.40	0.00	0.000	1030	0.000	0.057	3091	2536	2898	2904	2893	0	0	0	0	0	0	14.53	14.48	14.58
4407	1.04	121.7	3091	2536	2905	2893	145.1	13.2	484	4413	0.00	2.42	0.00	0.000	516	0.000	0.068	3101	1144	2898	2904	2893	0	0	0	0	0	0	14.79	14.47	14.79
4427	1.04	121.7	3102	1145	2904	2894	142.4	13.3	488	4433	0.17	2.53	0.00	0.000	5126	0.281	0.072	3063	2555	2898	2904	2893	0	0	0	0	0	0	14.26	14.46	14.57
4738	1.04	121.7	3063	2555	2905	2892	105.5	11.9	520	4743	0.00	2.42	0.00	0.000	260	0.000	0.095	3063	3907	2898	2904	2893	0	0	0	0	0	0	14.78	14.49	14.78
4783	1.04	121.7	3063	3908	2905	2895	99.4	13.9	529	4790	0.00	2.35	0.00	0.000	1030	0.000	0.057	3071	2549	2898	2904	2893	0	0	0	0	0	0	14.60	14.56	14.62
5088	1.04	121.7	3072	2549	2906	2893	63.1	11.5	560	5089	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2549	2898	2904	2893	0	0	0	0	0	0	14.80	14.80	14.80
5388	1.04	121.7	3071	2549	2905	2894	28.3	12.3	590	5388	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2549	2900	2908	2893	0	0	0	0	0	0	14.86	14.86	14.86
5616	end climb: SURFACE_DEPTH_REACHED
state	5616	begin surface coast
5627	end surface coast: CONTROL_FINISHED_OK
state	5627	begin surface