Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 206 * 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 206 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 20 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 206 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 20 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 270218,090656,-7407.5430,-11322.8477,3,1.8,5,54.0,0.2,329.8,6,9.0 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0_1

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 74.1,5654,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.8 D_GRID 319

GPS2 270218,091156,-7407.5181,-11322.8691,3,1.8,5,54.0,0.4,0.0,6,9.4

Post-dive calculations and measurements:

FREEZE -0.05,-1.695,-1.860,2,1,0 ALTIM_TOP_PING 12.3,12.4

FINISH -0.1,1.027293 _24V_AH 12.28,71.688

SM_CCo 5380,162.43,0.220,0,0,2204,300.18 _10V_AH 12.48,0.000

SM_GC 0.91,8.57,0.50,162.43,0.080,0.096,0.220,184,2811,2204,-7.90,-0.42,300.18,0,0,0,0,0,0,14.55,14.57,14.24 FG_AHR_24Vo 0.000

RAFOS_CLK 218 FG_AHR_10Vo 0.000

RAFOS 2,1519722785,9.233334,9.218056,67,63,62,60,58,52,626,182,117,213,154,195 MEM 280224

RAFOS_FIX -7406.401855,-11322.007812,270218,090940,2,96,13.12 DATA_FILE_SIZE 20107,598

IRIDIUM_FIX -7405.97,-11341.81,270218,075534 CAP_FILE_SIZE 77009,0

TT8_MAMPS 0.03745,0.459886 CFSIZE 1024409600,996802560

HUMID 44.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1445.0

TCM_TEMP 13.10 CURRENT 0.047,26.34,1

XPDR_PINGS 0 GPS 270218,104600,-7407.765,-11320.865,35,0.7,35,54.0,0.1,0.0,12,3.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 473 134.62 nil 0 0 0.00

Roll_motor 45 97 54.70 nil 0 0 0.00

VBD_pump_during_apogee 243 2754 8224.56 nil 0 0 0.00

VBD_pump_during_surface 162 220 439.45 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 5377 7 481.49

Iridium_during_xfer 193 181 430.87 nil 0 0 0.00

Transponder_ping 15 420 78.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 8 0.73

TT8 0 0 0.00

LPSleep 3754 2 108.24

TT8_Active 561 10 76.11

TT8_Sampling 1442 30 546.25

TT8_CF8 108 51 69.76

TT8_Kalman 0 0 0.00

Analog_circuits 1222 10 154.11

GPS_charging 0 0 0.00

Compass 861 6 72.48

RAFOS 240 1 4.49

Transponder 109 30 40.88

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

10.5 11.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.6 22.10 9000.00 0.0 0.00 0.00 22.10 0.0 1.08 1.00

31.7 33.20 33.40 0.0 1.04 1.00 33.20 0.0 1.00 1.00

41.7 44.00 43.90 0.0 1.04 1.00 44.00 0.0 1.08 1.00

64.1 68.10 68.10 0.0 1.08 1.00 68.10 0.0 1.08 1.00

106.6 111.90 112.10 0.0 1.04 1.00 111.90 0.0 1.03 1.00

320.5 25.30 9000.00 0.0 -0.24 0.60 25.30 345.8 -0.40 1.00

97.6 101.80 9000.00 0.0 -0.37 0.98 101.80 0.0 -0.34 1.00

87.2 90.30 9000.00 0.0 -0.31 0.97 90.30 -3.1 1.11 1.00

76.6 80.70 80.40 -3.8 1.00 1.00 80.70 -4.1 0.91 1.00

65.6 68.00 68.40 -2.8 1.04 1.00 68.00 -2.4 1.15 1.00

43.8 45.30 45.10 -1.3 1.07 1.00 45.30 -1.5 1.04 1.00

33.2 34.20 34.30 -1.1 1.04 1.00 34.20 -1.0 1.05 1.00

22.8 23.30 23.30 -0.5 1.05 1.00 23.30 -0.5 1.05 1.00

12.3 12.50 12.40 -0.1 1.04 1.00 12.50 -0.2 1.03 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

10 -1.04 -121.7 187 2806 2235 2130 0.0 0.0 0 122 0.00 0.00 -106.25 0.003 16390 0.000 0.000 185 2807 3890 3901 3879 0 0 0 0 0 0 14.59 12.94 14.59

124 -1.04 -121.7 185 2808 3904 3880 2.8 -3.4 11 141 12.07 2.00 0.00 0.000 2340 0.474 0.079 2383 3914 3898 3905 3892 0 0 0 0 0 0 13.99 14.34 14.40

286 -1.04 -121.7 2383 3914 3905 3902 26.6 -13.3 43 292 0.00 1.92 0.00 0.000 1030 0.000 0.048 2383 2792 3902 3903 3901 0 0 0 0 0 0 14.47 14.44 14.50

596 -1.04 -121.7 2383 2793 3904 3902 65.3 -12.5 75 602 0.00 2.38 0.00 0.000 516 0.000 0.052 2383 1392 3902 3903 3902 0 0 0 0 0 0 14.75 14.46 14.75

641 -1.04 -121.7 2387 1393 3904 3905 70.9 -12.6 84 648 0.00 2.53 0.00 0.000 1030 0.000 0.070 2379 2802 3903 3903 3904 0 0 0 0 0 0 14.50 14.42 14.53

946 -1.04 -121.7 2378 2804 3904 3906 110.5 -13.1 115 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2379 2802 3903 3903 3904 0 0 0 0 0 0 14.78 14.78 14.79

1246 -1.04 -121.7 2379 2804 3904 3906 146.4 -11.8 145 1252 0.00 2.00 0.00 0.000 260 0.000 0.091 2372 3910 3904 3903 3905 0 0 0 0 0 0 14.81 14.43 14.81

1292 -1.04 -121.7 2372 3911 3904 3906 152.3 -13.5 154 1299 0.00 1.90 0.00 0.000 1030 0.000 0.047 2372 2784 3904 3903 3905 0 0 0 0 0 0 14.59 14.56 14.61

1597 -1.04 -121.7 2372 2785 3904 3906 189.1 -12.3 185 1598 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2782 3904 3903 3905 0 0 0 0 0 0 14.82 14.83 14.82

1897 -1.04 -121.7 2371 2784 3905 3905 224.9 -12.0 215 1902 0.00 2.05 0.00 0.000 260 0.000 0.093 2370 3913 3904 3903 3905 0 0 0 0 0 0 14.83 14.45 14.83

1942 -1.04 -121.7 2371 3914 3904 3906 230.9 -13.4 224 1949 0.00 1.90 0.00 0.000 1030 0.000 0.049 2371 2792 3904 3903 3905 0 0 0 0 0 0 14.62 14.57 14.64

2247 -1.04 -121.7 2371 2788 3905 3905 267.2 -11.7 255 2252 0.00 2.05 0.00 0.000 260 0.000 0.092 2368 3917 3904 3903 3905 0 0 0 0 0 0 14.84 14.45 14.83

2292 -1.04 -121.7 2369 3918 3904 3906 272.8 -12.7 264 2299 0.00 1.90 0.00 0.000 1030 0.000 0.050 2370 2797 3904 3904 3905 0 0 0 0 0 0 14.62 14.58 14.62

2598 -1.04 -121.7 2371 2796 3905 3905 307.8 -11.2 292 2602 0.00 2.38 0.00 0.000 516 0.000 0.051 2370 1386 3904 3903 3905 0 0 0 0 0 0 14.80 14.54 14.80

2657 -1.04 -121.7 2370 1387 3904 3906 314.7 -11.4 304 2663 0.00 2.53 0.00 0.000 1030 0.000 0.070 2370 2833 3904 3903 3905 0 0 0 0 0 0 14.63 14.51 14.66

2696 end dive: TARGET_DEPTH_EXCEEDED

state 2696 begin apogee

2700 -0.23 0.0 2371 2543 3904 3905 319.2 -11.4 309 2826 1.10 0.00 122.62 2.755 10246 0.270 0.000 2654 2543 3399 3403 3395 0 0 0 0 0 0 14.24 13.58 12.58

2827 end apogee: CONTROL_FINISHED_OK

state 2827 begin climb

2829 1.04 121.7 2655 2543 3404 3393 322.1 0.0 315 2958 1.40 0.00 120.50 2.655 10758 0.162 0.000 3052 2543 2911 2916 2907 0 0 0 0 0 0 13.50 13.14 12.28

3244 1.04 121.7 3053 2544 2905 2896 276.8 13.2 363 3245 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2543 2900 2905 2896 0 0 0 0 0 0 14.31 14.31 14.31

3542 1.04 121.7 3053 2544 2905 2896 237.8 13.4 393 3549 0.00 2.50 0.00 0.000 260 0.000 0.096 3053 3919 2899 2904 2894 0 0 0 0 0 0 14.60 14.29 14.57

3613 1.04 121.7 3053 3919 2904 2895 227.3 15.7 407 3619 0.00 2.38 0.00 0.000 1030 0.000 0.056 3063 2555 2899 2905 2894 0 0 0 0 0 0 14.43 14.39 14.45

3923 1.04 121.7 3064 2554 2905 2892 186.2 12.3 439 3924 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2555 2898 2904 2893 0 0 0 0 0 0 14.73 14.74 14.74

4223 1.04 121.7 3063 2556 2904 2895 148.5 12.6 469 4229 0.00 2.45 0.00 0.000 260 0.000 0.095 3063 3920 2899 2904 2894 0 0 0 0 0 0 14.79 14.46 14.79

4279 1.04 121.7 3063 3920 2903 2895 140.6 14.3 480 4286 0.00 2.35 0.00 0.000 1030 0.000 0.058 3072 2539 2899 2904 2894 0 0 0 0 0 0 14.63 14.56 14.65

4584 1.04 121.7 3073 2539 2905 2894 102.7 12.5 511 4589 0.00 2.42 0.00 0.000 516 0.000 0.068 3083 1157 2898 2903 2894 0 0 0 0 0 0 14.83 14.47 14.83

4614 1.04 121.7 3083 1157 2905 2893 98.9 12.5 517 4620 0.00 2.45 0.00 0.000 1030 0.000 0.071 3086 2564 2898 2904 2893 0 0 0 0 0 0 14.64 14.52 14.66

4925 1.04 121.7 3083 2564 2905 2893 57.7 13.2 549 4926 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2564 2898 2903 2893 0 0 0 0 0 0 14.88 14.84 14.84

5225 1.04 121.7 3084 2564 2905 2893 18.8 13.5 579 5230 0.00 2.45 0.00 0.000 260 0.000 0.097 3083 3938 2898 2903 2893 0 0 0 0 0 0 14.85 14.50 14.85

5270 1.04 121.7 3084 3938 2905 2893 12.3 15.0 588 5277 0.00 2.35 0.00 0.000 1030 0.000 0.057 3094 2539 2898 2904 2893 0 0 0 0 0 0 14.69 14.62 14.70

5353 end climb: SURFACE_DEPTH_REACHED

state 5353 begin surface coast

5365 end surface coast: CONTROL_FINISHED_OK

state 5365 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	206	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	20	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	270218,090656,-7407.5430,-11322.8477,3,1.8,5,54.0,0.2,329.8,6,9.0	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0_1
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	74.1,5654,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.8	D_GRID	319
GPS2	270218,091156,-7407.5181,-11322.8691,3,1.8,5,54.0,0.4,0.0,6,9.4

FREEZE	-0.05,-1.695,-1.860,2,1,0	ALTIM_TOP_PING	12.3,12.4
FINISH	-0.1,1.027293	_24V_AH	12.28,71.688
SM_CCo	5380,162.43,0.220,0,0,2204,300.18	_10V_AH	12.48,0.000
SM_GC	0.91,8.57,0.50,162.43,0.080,0.096,0.220,184,2811,2204,-7.90,-0.42,300.18,0,0,0,0,0,0,14.55,14.57,14.24	FG_AHR_24Vo	0.000
RAFOS_CLK	218	FG_AHR_10Vo	0.000
RAFOS	2,1519722785,9.233334,9.218056,67,63,62,60,58,52,626,182,117,213,154,195	MEM	280224
RAFOS_FIX	-7406.401855,-11322.007812,270218,090940,2,96,13.12	DATA_FILE_SIZE	20107,598
IRIDIUM_FIX	-7405.97,-11341.81,270218,075534	CAP_FILE_SIZE	77009,0
TT8_MAMPS	0.03745,0.459886	CFSIZE	1024409600,996802560
HUMID	44.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1445.0
TCM_TEMP	13.10	CURRENT	0.047,26.34,1
XPDR_PINGS	0	GPS	270218,104600,-7407.765,-11320.865,35,0.7,35,54.0,0.1,0.0,12,3.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	473	134.62	nil	0	0	0.00
Roll_motor	45	97	54.70	nil	0	0	0.00
VBD_pump_during_apogee	243	2754	8224.56	nil	0	0	0.00
VBD_pump_during_surface	162	220	439.45	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	5377	7	481.49
Iridium_during_xfer	193	181	430.87	nil	0	0	0.00
Transponder_ping	15	420	78.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	8	0.73
TT8	0	0	0.00
LPSleep	3754	2	108.24
TT8_Active	561	10	76.11
TT8_Sampling	1442	30	546.25
TT8_CF8	108	51	69.76
TT8_Kalman	0	0	0.00
Analog_circuits	1222	10	154.11
GPS_charging	0	0	0.00
Compass	861	6	72.48
RAFOS	240	1	4.49
Transponder	109	30	40.88

		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
10.5	11.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.6	22.10	9000.00	0.0	0.00	0.00	22.10	0.0	1.08	1.00
31.7	33.20	33.40	0.0	1.04	1.00	33.20	0.0	1.00	1.00
41.7	44.00	43.90	0.0	1.04	1.00	44.00	0.0	1.08	1.00
64.1	68.10	68.10	0.0	1.08	1.00	68.10	0.0	1.08	1.00
106.6	111.90	112.10	0.0	1.04	1.00	111.90	0.0	1.03	1.00
320.5	25.30	9000.00	0.0	-0.24	0.60	25.30	345.8	-0.40	1.00

97.6	101.80	9000.00	0.0	-0.37	0.98	101.80	0.0	-0.34	1.00
87.2	90.30	9000.00	0.0	-0.31	0.97	90.30	-3.1	1.11	1.00
76.6	80.70	80.40	-3.8	1.00	1.00	80.70	-4.1	0.91	1.00
65.6	68.00	68.40	-2.8	1.04	1.00	68.00	-2.4	1.15	1.00
43.8	45.30	45.10	-1.3	1.07	1.00	45.30	-1.5	1.04	1.00
33.2	34.20	34.30	-1.1	1.04	1.00	34.20	-1.0	1.05	1.00
22.8	23.30	23.30	-0.5	1.05	1.00	23.30	-0.5	1.05	1.00
12.3	12.50	12.40	-0.1	1.04	1.00	12.50	-0.2	1.03	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
10	-1.04	-121.7	187	2806	2235	2130	0.0	0.0	0	122	0.00	0.00	-106.25	0.003	16390	0.000	0.000	185	2807	3890	3901	3879	0	0	0	0	0	0	14.59	12.94	14.59
124	-1.04	-121.7	185	2808	3904	3880	2.8	-3.4	11	141	12.07	2.00	0.00	0.000	2340	0.474	0.079	2383	3914	3898	3905	3892	0	0	0	0	0	0	13.99	14.34	14.40
286	-1.04	-121.7	2383	3914	3905	3902	26.6	-13.3	43	292	0.00	1.92	0.00	0.000	1030	0.000	0.048	2383	2792	3902	3903	3901	0	0	0	0	0	0	14.47	14.44	14.50
596	-1.04	-121.7	2383	2793	3904	3902	65.3	-12.5	75	602	0.00	2.38	0.00	0.000	516	0.000	0.052	2383	1392	3902	3903	3902	0	0	0	0	0	0	14.75	14.46	14.75
641	-1.04	-121.7	2387	1393	3904	3905	70.9	-12.6	84	648	0.00	2.53	0.00	0.000	1030	0.000	0.070	2379	2802	3903	3903	3904	0	0	0	0	0	0	14.50	14.42	14.53
946	-1.04	-121.7	2378	2804	3904	3906	110.5	-13.1	115	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2379	2802	3903	3903	3904	0	0	0	0	0	0	14.78	14.78	14.79
1246	-1.04	-121.7	2379	2804	3904	3906	146.4	-11.8	145	1252	0.00	2.00	0.00	0.000	260	0.000	0.091	2372	3910	3904	3903	3905	0	0	0	0	0	0	14.81	14.43	14.81
1292	-1.04	-121.7	2372	3911	3904	3906	152.3	-13.5	154	1299	0.00	1.90	0.00	0.000	1030	0.000	0.047	2372	2784	3904	3903	3905	0	0	0	0	0	0	14.59	14.56	14.61
1597	-1.04	-121.7	2372	2785	3904	3906	189.1	-12.3	185	1598	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2782	3904	3903	3905	0	0	0	0	0	0	14.82	14.83	14.82
1897	-1.04	-121.7	2371	2784	3905	3905	224.9	-12.0	215	1902	0.00	2.05	0.00	0.000	260	0.000	0.093	2370	3913	3904	3903	3905	0	0	0	0	0	0	14.83	14.45	14.83
1942	-1.04	-121.7	2371	3914	3904	3906	230.9	-13.4	224	1949	0.00	1.90	0.00	0.000	1030	0.000	0.049	2371	2792	3904	3903	3905	0	0	0	0	0	0	14.62	14.57	14.64
2247	-1.04	-121.7	2371	2788	3905	3905	267.2	-11.7	255	2252	0.00	2.05	0.00	0.000	260	0.000	0.092	2368	3917	3904	3903	3905	0	0	0	0	0	0	14.84	14.45	14.83
2292	-1.04	-121.7	2369	3918	3904	3906	272.8	-12.7	264	2299	0.00	1.90	0.00	0.000	1030	0.000	0.050	2370	2797	3904	3904	3905	0	0	0	0	0	0	14.62	14.58	14.62
2598	-1.04	-121.7	2371	2796	3905	3905	307.8	-11.2	292	2602	0.00	2.38	0.00	0.000	516	0.000	0.051	2370	1386	3904	3903	3905	0	0	0	0	0	0	14.80	14.54	14.80
2657	-1.04	-121.7	2370	1387	3904	3906	314.7	-11.4	304	2663	0.00	2.53	0.00	0.000	1030	0.000	0.070	2370	2833	3904	3903	3905	0	0	0	0	0	0	14.63	14.51	14.66
2696	end dive: TARGET_DEPTH_EXCEEDED
state	2696	begin apogee
2700	-0.23	0.0	2371	2543	3904	3905	319.2	-11.4	309	2826	1.10	0.00	122.62	2.755	10246	0.270	0.000	2654	2543	3399	3403	3395	0	0	0	0	0	0	14.24	13.58	12.58
2827	end apogee: CONTROL_FINISHED_OK
state	2827	begin climb
2829	1.04	121.7	2655	2543	3404	3393	322.1	0.0	315	2958	1.40	0.00	120.50	2.655	10758	0.162	0.000	3052	2543	2911	2916	2907	0	0	0	0	0	0	13.50	13.14	12.28
3244	1.04	121.7	3053	2544	2905	2896	276.8	13.2	363	3245	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2543	2900	2905	2896	0	0	0	0	0	0	14.31	14.31	14.31
3542	1.04	121.7	3053	2544	2905	2896	237.8	13.4	393	3549	0.00	2.50	0.00	0.000	260	0.000	0.096	3053	3919	2899	2904	2894	0	0	0	0	0	0	14.60	14.29	14.57
3613	1.04	121.7	3053	3919	2904	2895	227.3	15.7	407	3619	0.00	2.38	0.00	0.000	1030	0.000	0.056	3063	2555	2899	2905	2894	0	0	0	0	0	0	14.43	14.39	14.45
3923	1.04	121.7	3064	2554	2905	2892	186.2	12.3	439	3924	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2555	2898	2904	2893	0	0	0	0	0	0	14.73	14.74	14.74
4223	1.04	121.7	3063	2556	2904	2895	148.5	12.6	469	4229	0.00	2.45	0.00	0.000	260	0.000	0.095	3063	3920	2899	2904	2894	0	0	0	0	0	0	14.79	14.46	14.79
4279	1.04	121.7	3063	3920	2903	2895	140.6	14.3	480	4286	0.00	2.35	0.00	0.000	1030	0.000	0.058	3072	2539	2899	2904	2894	0	0	0	0	0	0	14.63	14.56	14.65
4584	1.04	121.7	3073	2539	2905	2894	102.7	12.5	511	4589	0.00	2.42	0.00	0.000	516	0.000	0.068	3083	1157	2898	2903	2894	0	0	0	0	0	0	14.83	14.47	14.83
4614	1.04	121.7	3083	1157	2905	2893	98.9	12.5	517	4620	0.00	2.45	0.00	0.000	1030	0.000	0.071	3086	2564	2898	2904	2893	0	0	0	0	0	0	14.64	14.52	14.66
4925	1.04	121.7	3083	2564	2905	2893	57.7	13.2	549	4926	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2564	2898	2903	2893	0	0	0	0	0	0	14.88	14.84	14.84
5225	1.04	121.7	3084	2564	2905	2893	18.8	13.5	579	5230	0.00	2.45	0.00	0.000	260	0.000	0.097	3083	3938	2898	2903	2893	0	0	0	0	0	0	14.85	14.50	14.85
5270	1.04	121.7	3084	3938	2905	2893	12.3	15.0	588	5277	0.00	2.35	0.00	0.000	1030	0.000	0.057	3094	2539	2898	2904	2893	0	0	0	0	0	0	14.69	14.62	14.70
5353	end climb: SURFACE_DEPTH_REACHED
state	5353	begin surface coast
5365	end surface coast: CONTROL_FINISHED_OK
state	5365	begin surface