Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 210 * 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 210 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 35 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 19 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 210 MAXI_24V 2 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 35 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 19 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 270218,155730,-7408.1577,-11313.0723,32,0.8,32,53.9,0.3,176.0,12,3.3 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.81 MHEAD_RNG_PITCHd_Wd 21.2,25611,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -60.8 D_GRID 527

GPS2 270218,160306,-7408.1377,-11313.0674,2,0.7,3,53.9,0.1,0.0,12,8.3

Post-dive calculations and measurements:

FREEZE 0.09,-1.726,-1.860,2,1,0 _24V_AH 12.28,72.636

FINISH 0.1,1.027296 _10V_AH 12.63,0.000

SM_CCo 5514,164.93,0.222,0,0,2205,300.18 FG_AHR_24Vo 0.000

SM_GC 0.76,8.43,0.50,164.93,0.076,0.086,0.222,189,2815,2205,-7.89,-0.42,300.18,0,0,0,0,0,0,14.57,14.59,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 225 MEM 280108

RAFOS_FIX -7407.987305,-11313.750000,270218,171738,0,1,0.08 DATA_FILE_SIZE 20126,590

IRIDIUM_FIX -7411.76,-11316.06,270218,141744 CAP_FILE_SIZE 76904,0

TT8_MAMPS 0.038948,0.586467 CFSIZE 1024409600,996409344

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

INTERNAL_PRESSURE 7.78269 SOUNDSPEED 1444.2

TCM_TEMP 13.00 CURRENT 0.110,49.90,1

XPDR_PINGS 0 GPS 270218,173848,-7407.769,-11309.920,3,1.1,5,53.8,0.6,316.8,8,8.1

ALTIM_TOP_PING 10.9,10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 465 130.51 nil 0 0 0.00

Roll_motor 47 97 56.82 nil 0 0 0.00

VBD_pump_during_apogee 235 2674 7724.47 nil 0 0 0.00

VBD_pump_during_surface 164 221 449.31 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 5502 7 495.18

Iridium_during_xfer 221 189 516.62 nil 0 0 0.00

Transponder_ping 15 420 81.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.53

TT8 0 0 0.00

LPSleep 3896 2 113.68

TT8_Active 567 10 77.89

TT8_Sampling 1449 30 555.51

TT8_CF8 113 51 73.57

TT8_Kalman 0 0 0.00

Analog_circuits 1243 10 158.57

GPS_charging 0 0 0.00

Compass 850 6 72.38

RAFOS 0 0 0.00

Transponder 113 30 43.15

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

10.1 10.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.1 21.70 9000.00 0.0 0.00 0.00 21.70 0.0 1.08 1.00

30.3 32.30 32.40 0.0 1.06 1.00 32.30 0.0 1.04 1.00

41.1 43.20 43.30 0.0 1.03 1.00 43.20 0.0 1.01 1.00

52.2 54.90 54.80 0.0 1.03 1.00 54.90 0.0 1.05 1.00

63.3 67.00 66.90 0.0 1.07 1.00 67.00 0.0 1.09 1.00

95.9 100.20 100.30 -4.4 1.03 1.00 100.20 -4.3 1.02 1.00

85.1 88.10 88.80 -3.7 1.01 1.00 88.10 -3.0 1.12 1.00

74.4 77.80 77.50 -3.1 1.05 1.00 77.80 -3.4 0.96 1.00

64.0 66.90 67.10 -3.1 1.00 1.00 66.90 -2.9 1.05 1.00

53.8 55.70 55.80 -2.0 1.07 1.00 55.70 -1.9 1.10 1.00

32.2 33.00 32.90 -0.7 1.07 1.00 33.00 -0.8 1.05 1.00

21.6 22.20 22.10 -0.5 1.05 1.00 22.20 -0.6 1.02 1.00

10.9 10.80 10.90 0.0 1.04 1.00 10.80 0.1 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

10 -1.04 -121.7 192 2803 2234 2128 0.0 0.0 0 122 0.00 0.00 -107.32 0.003 16390 0.000 0.000 191 2802 3889 3901 3878 0 0 0 0 0 0 14.59 13.24 14.59

125 -1.04 -121.7 192 2803 3902 3880 2.4 -2.4 11 142 11.82 1.98 0.00 0.000 2340 0.465 0.079 2378 3922 3897 3903 3892 0 0 0 0 0 0 13.97 14.33 14.28

366 -1.04 -121.7 2379 3922 3904 3902 37.2 -13.5 59 372 0.00 1.95 0.00 0.000 1030 0.000 0.047 2379 2774 3902 3903 3902 0 0 0 0 0 0 14.50 14.47 14.52

676 -1.04 -121.7 2379 2775 3904 3906 75.5 -12.1 91 682 0.00 2.08 0.00 0.000 260 0.000 0.090 2373 3916 3903 3903 3904 0 0 0 0 0 0 14.76 14.40 14.76

731 -1.04 -121.7 2373 3916 3904 3904 82.7 -13.2 102 738 0.00 1.90 0.00 0.000 1030 0.000 0.048 2373 2791 3903 3903 3904 0 0 0 0 0 0 14.55 14.52 14.57

1036 -1.04 -121.7 2374 2791 3904 3905 119.8 -11.9 133 1042 0.00 2.35 0.00 0.000 516 0.000 0.050 2373 1391 3908 3911 3905 0 0 0 0 0 0 14.79 14.50 14.80

1067 -1.04 -121.7 2374 1391 3905 3906 123.4 -11.8 139 1072 0.00 2.53 0.00 0.000 1030 0.000 0.070 2372 2809 3904 3903 3905 0 0 0 0 0 0 14.62 14.46 14.64

1377 -1.04 -121.7 2372 2810 3903 3906 161.3 -12.7 171 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2372 2809 3904 3903 3905 0 0 0 0 0 0 14.82 14.82 14.86

1677 -1.04 -121.7 2373 2807 3904 3906 198.4 -12.0 201 1683 0.00 2.42 0.00 0.000 516 0.000 0.050 2373 1375 3904 3903 3906 0 0 0 0 0 0 14.83 14.52 14.83

1767 -1.04 -121.7 2373 1377 3904 3907 208.5 -11.3 219 1773 0.00 2.50 0.00 0.000 1030 0.000 0.069 2372 2809 3904 3903 3905 0 0 0 0 0 0 14.63 14.50 14.66

2078 -1.04 -121.7 2373 2809 3904 3904 246.2 -12.3 251 2083 0.00 2.45 0.00 0.000 516 0.000 0.051 2372 1391 3904 3903 3906 0 0 0 0 0 0 14.84 14.50 14.85

2123 -1.04 -121.7 2373 1391 3904 3907 251.6 -11.8 260 2130 0.00 2.50 0.00 0.000 1030 0.000 0.069 2369 2799 3904 3903 3905 0 0 0 0 0 0 14.45 14.42 14.47

2428 -1.04 -121.7 2373 2799 3904 3906 286.1 -11.0 291 2433 0.00 2.00 0.00 0.000 260 0.000 0.093 2370 3910 3904 3903 3905 0 0 0 0 0 0 14.84 14.45 14.84

2483 -1.04 -121.7 2371 3910 3904 3906 292.6 -12.2 302 2489 0.00 1.88 0.00 0.000 1030 0.000 0.049 2371 2800 3904 3903 3905 0 0 0 0 0 0 14.61 14.57 14.64

2789 -1.04 -121.7 2371 2800 3904 3906 327.1 -11.6 321 2790 0.00 0.00 0.00 0.000 6 0.000 0.000 2370 2800 3904 3903 3906 0 0 0 0 0 0 14.84 14.85 14.84

2826 end dive: TARGET_DEPTH_EXCEEDED

state 2826 begin apogee

2830 -0.23 0.0 2371 2547 3904 3907 331.6 -11.5 323 2950 1.08 0.00 115.53 2.310 10246 0.265 0.000 2649 2546 3397 3401 3393 0 0 0 0 0 0 14.24 13.78 12.90

2951 end apogee: CONTROL_FINISHED_OK

state 2951 begin climb

2953 1.04 121.7 2651 2546 3402 3392 335.0 0.0 329 3077 1.42 0.00 119.68 2.674 10502 0.158 0.000 3060 2546 2913 2918 2908 0 0 0 0 0 0 13.71 13.24 12.28

3368 1.04 121.7 3061 2546 2907 2896 286.5 12.4 364 3373 0.00 2.55 0.00 0.000 260 0.000 0.095 3060 3920 2901 2906 2896 0 0 0 0 0 0 14.34 14.02 14.34

3392 1.04 121.7 3059 3919 2906 2896 283.0 14.0 369 3400 0.00 2.42 0.00 0.000 1030 0.000 0.057 3070 2557 2901 2906 2896 0 0 0 0 0 0 14.18 14.14 14.19

3698 1.04 121.7 3070 2557 2907 2895 242.2 14.1 400 3704 0.00 2.50 0.00 0.000 516 0.000 0.068 3080 1153 2900 2905 2895 0 0 0 0 0 0 14.62 14.27 14.63

3723 1.04 121.7 3080 1152 2906 2895 238.7 14.0 405 3730 0.00 2.53 0.00 0.000 1030 0.000 0.072 3080 2556 2899 2905 2894 0 0 0 0 0 0 14.39 14.32 14.42

4029 1.04 121.7 3080 2556 2906 2894 193.5 13.9 436 4034 0.00 2.47 0.00 0.000 516 0.000 0.066 3091 1138 2899 2905 2894 0 0 0 0 0 0 14.69 14.42 14.69

4048 1.04 121.7 3091 1139 2906 2895 190.7 13.8 440 4054 0.00 2.50 0.00 0.000 1030 0.000 0.071 3090 2564 2899 2905 2894 0 0 0 0 0 0 14.56 14.45 14.59

4358 1.04 121.7 3091 2565 2906 2895 149.1 13.2 472 4359 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2565 2900 2905 2896 0 0 0 0 0 0 14.80 14.80 14.80

4658 1.04 121.7 3091 2566 2907 2895 108.1 13.7 502 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 3090 2565 2900 2906 2894 0 0 0 0 0 0 14.83 14.83 14.83

4958 1.04 121.7 3091 2565 2907 2894 67.8 13.2 532 4959 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2564 2900 2906 2894 0 0 0 0 0 0 14.85 14.85 14.85

5258 1.04 121.7 3091 2565 2907 2895 29.6 13.0 562 5264 0.00 2.45 0.00 0.000 260 0.000 0.098 3091 3934 2900 2906 2894 0 0 0 0 0 0 14.87 14.50 14.87

5289 1.04 121.7 3091 3934 2908 2894 25.4 14.7 568 5295 0.10 2.40 0.00 0.000 5126 0.278 0.056 3063 2538 2900 2907 2894 0 0 0 0 0 0 14.28 14.59 14.62

5487 end climb: SURFACE_DEPTH_REACHED

state 5488 begin surface coast

5499 end surface coast: CONTROL_FINISHED_OK

state 5499 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	210	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	35	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	19	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	270218,155730,-7408.1577,-11313.0723,32,0.8,32,53.9,0.3,176.0,12,3.3	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.81	MHEAD_RNG_PITCHd_Wd	21.2,25611,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-60.8	D_GRID	527
GPS2	270218,160306,-7408.1377,-11313.0674,2,0.7,3,53.9,0.1,0.0,12,8.3

FREEZE	0.09,-1.726,-1.860,2,1,0	_24V_AH	12.28,72.636
FINISH	0.1,1.027296	_10V_AH	12.63,0.000
SM_CCo	5514,164.93,0.222,0,0,2205,300.18	FG_AHR_24Vo	0.000
SM_GC	0.76,8.43,0.50,164.93,0.076,0.086,0.222,189,2815,2205,-7.89,-0.42,300.18,0,0,0,0,0,0,14.57,14.59,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	225	MEM	280108
RAFOS_FIX	-7407.987305,-11313.750000,270218,171738,0,1,0.08	DATA_FILE_SIZE	20126,590
IRIDIUM_FIX	-7411.76,-11316.06,270218,141744	CAP_FILE_SIZE	76904,0
TT8_MAMPS	0.038948,0.586467	CFSIZE	1024409600,996409344
HUMID	45.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.78269	SOUNDSPEED	1444.2
TCM_TEMP	13.00	CURRENT	0.110,49.90,1
XPDR_PINGS	0	GPS	270218,173848,-7407.769,-11309.920,3,1.1,5,53.8,0.6,316.8,8,8.1
ALTIM_TOP_PING	10.9,10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	465	130.51	nil	0	0	0.00
Roll_motor	47	97	56.82	nil	0	0	0.00
VBD_pump_during_apogee	235	2674	7724.47	nil	0	0	0.00
VBD_pump_during_surface	164	221	449.31	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	5502	7	495.18
Iridium_during_xfer	221	189	516.62	nil	0	0	0.00
Transponder_ping	15	420	81.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.53
TT8	0	0	0.00
LPSleep	3896	2	113.68
TT8_Active	567	10	77.89
TT8_Sampling	1449	30	555.51
TT8_CF8	113	51	73.57
TT8_Kalman	0	0	0.00
Analog_circuits	1243	10	158.57
GPS_charging	0	0	0.00
Compass	850	6	72.38
RAFOS	0	0	0.00
Transponder	113	30	43.15

		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
10.1	10.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.1	21.70	9000.00	0.0	0.00	0.00	21.70	0.0	1.08	1.00
30.3	32.30	32.40	0.0	1.06	1.00	32.30	0.0	1.04	1.00
41.1	43.20	43.30	0.0	1.03	1.00	43.20	0.0	1.01	1.00
52.2	54.90	54.80	0.0	1.03	1.00	54.90	0.0	1.05	1.00
63.3	67.00	66.90	0.0	1.07	1.00	67.00	0.0	1.09	1.00

95.9	100.20	100.30	-4.4	1.03	1.00	100.20	-4.3	1.02	1.00
85.1	88.10	88.80	-3.7	1.01	1.00	88.10	-3.0	1.12	1.00
74.4	77.80	77.50	-3.1	1.05	1.00	77.80	-3.4	0.96	1.00
64.0	66.90	67.10	-3.1	1.00	1.00	66.90	-2.9	1.05	1.00
53.8	55.70	55.80	-2.0	1.07	1.00	55.70	-1.9	1.10	1.00
32.2	33.00	32.90	-0.7	1.07	1.00	33.00	-0.8	1.05	1.00
21.6	22.20	22.10	-0.5	1.05	1.00	22.20	-0.6	1.02	1.00
10.9	10.80	10.90	0.0	1.04	1.00	10.80	0.1	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
10	-1.04	-121.7	192	2803	2234	2128	0.0	0.0	0	122	0.00	0.00	-107.32	0.003	16390	0.000	0.000	191	2802	3889	3901	3878	0	0	0	0	0	0	14.59	13.24	14.59
125	-1.04	-121.7	192	2803	3902	3880	2.4	-2.4	11	142	11.82	1.98	0.00	0.000	2340	0.465	0.079	2378	3922	3897	3903	3892	0	0	0	0	0	0	13.97	14.33	14.28
366	-1.04	-121.7	2379	3922	3904	3902	37.2	-13.5	59	372	0.00	1.95	0.00	0.000	1030	0.000	0.047	2379	2774	3902	3903	3902	0	0	0	0	0	0	14.50	14.47	14.52
676	-1.04	-121.7	2379	2775	3904	3906	75.5	-12.1	91	682	0.00	2.08	0.00	0.000	260	0.000	0.090	2373	3916	3903	3903	3904	0	0	0	0	0	0	14.76	14.40	14.76
731	-1.04	-121.7	2373	3916	3904	3904	82.7	-13.2	102	738	0.00	1.90	0.00	0.000	1030	0.000	0.048	2373	2791	3903	3903	3904	0	0	0	0	0	0	14.55	14.52	14.57
1036	-1.04	-121.7	2374	2791	3904	3905	119.8	-11.9	133	1042	0.00	2.35	0.00	0.000	516	0.000	0.050	2373	1391	3908	3911	3905	0	0	0	0	0	0	14.79	14.50	14.80
1067	-1.04	-121.7	2374	1391	3905	3906	123.4	-11.8	139	1072	0.00	2.53	0.00	0.000	1030	0.000	0.070	2372	2809	3904	3903	3905	0	0	0	0	0	0	14.62	14.46	14.64
1377	-1.04	-121.7	2372	2810	3903	3906	161.3	-12.7	171	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2372	2809	3904	3903	3905	0	0	0	0	0	0	14.82	14.82	14.86
1677	-1.04	-121.7	2373	2807	3904	3906	198.4	-12.0	201	1683	0.00	2.42	0.00	0.000	516	0.000	0.050	2373	1375	3904	3903	3906	0	0	0	0	0	0	14.83	14.52	14.83
1767	-1.04	-121.7	2373	1377	3904	3907	208.5	-11.3	219	1773	0.00	2.50	0.00	0.000	1030	0.000	0.069	2372	2809	3904	3903	3905	0	0	0	0	0	0	14.63	14.50	14.66
2078	-1.04	-121.7	2373	2809	3904	3904	246.2	-12.3	251	2083	0.00	2.45	0.00	0.000	516	0.000	0.051	2372	1391	3904	3903	3906	0	0	0	0	0	0	14.84	14.50	14.85
2123	-1.04	-121.7	2373	1391	3904	3907	251.6	-11.8	260	2130	0.00	2.50	0.00	0.000	1030	0.000	0.069	2369	2799	3904	3903	3905	0	0	0	0	0	0	14.45	14.42	14.47
2428	-1.04	-121.7	2373	2799	3904	3906	286.1	-11.0	291	2433	0.00	2.00	0.00	0.000	260	0.000	0.093	2370	3910	3904	3903	3905	0	0	0	0	0	0	14.84	14.45	14.84
2483	-1.04	-121.7	2371	3910	3904	3906	292.6	-12.2	302	2489	0.00	1.88	0.00	0.000	1030	0.000	0.049	2371	2800	3904	3903	3905	0	0	0	0	0	0	14.61	14.57	14.64
2789	-1.04	-121.7	2371	2800	3904	3906	327.1	-11.6	321	2790	0.00	0.00	0.00	0.000	6	0.000	0.000	2370	2800	3904	3903	3906	0	0	0	0	0	0	14.84	14.85	14.84
2826	end dive: TARGET_DEPTH_EXCEEDED
state	2826	begin apogee
2830	-0.23	0.0	2371	2547	3904	3907	331.6	-11.5	323	2950	1.08	0.00	115.53	2.310	10246	0.265	0.000	2649	2546	3397	3401	3393	0	0	0	0	0	0	14.24	13.78	12.90
2951	end apogee: CONTROL_FINISHED_OK
state	2951	begin climb
2953	1.04	121.7	2651	2546	3402	3392	335.0	0.0	329	3077	1.42	0.00	119.68	2.674	10502	0.158	0.000	3060	2546	2913	2918	2908	0	0	0	0	0	0	13.71	13.24	12.28
3368	1.04	121.7	3061	2546	2907	2896	286.5	12.4	364	3373	0.00	2.55	0.00	0.000	260	0.000	0.095	3060	3920	2901	2906	2896	0	0	0	0	0	0	14.34	14.02	14.34
3392	1.04	121.7	3059	3919	2906	2896	283.0	14.0	369	3400	0.00	2.42	0.00	0.000	1030	0.000	0.057	3070	2557	2901	2906	2896	0	0	0	0	0	0	14.18	14.14	14.19
3698	1.04	121.7	3070	2557	2907	2895	242.2	14.1	400	3704	0.00	2.50	0.00	0.000	516	0.000	0.068	3080	1153	2900	2905	2895	0	0	0	0	0	0	14.62	14.27	14.63
3723	1.04	121.7	3080	1152	2906	2895	238.7	14.0	405	3730	0.00	2.53	0.00	0.000	1030	0.000	0.072	3080	2556	2899	2905	2894	0	0	0	0	0	0	14.39	14.32	14.42
4029	1.04	121.7	3080	2556	2906	2894	193.5	13.9	436	4034	0.00	2.47	0.00	0.000	516	0.000	0.066	3091	1138	2899	2905	2894	0	0	0	0	0	0	14.69	14.42	14.69
4048	1.04	121.7	3091	1139	2906	2895	190.7	13.8	440	4054	0.00	2.50	0.00	0.000	1030	0.000	0.071	3090	2564	2899	2905	2894	0	0	0	0	0	0	14.56	14.45	14.59
4358	1.04	121.7	3091	2565	2906	2895	149.1	13.2	472	4359	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2565	2900	2905	2896	0	0	0	0	0	0	14.80	14.80	14.80
4658	1.04	121.7	3091	2566	2907	2895	108.1	13.7	502	4659	0.00	0.00	0.00	0.000	6	0.000	0.000	3090	2565	2900	2906	2894	0	0	0	0	0	0	14.83	14.83	14.83
4958	1.04	121.7	3091	2565	2907	2894	67.8	13.2	532	4959	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2564	2900	2906	2894	0	0	0	0	0	0	14.85	14.85	14.85
5258	1.04	121.7	3091	2565	2907	2895	29.6	13.0	562	5264	0.00	2.45	0.00	0.000	260	0.000	0.098	3091	3934	2900	2906	2894	0	0	0	0	0	0	14.87	14.50	14.87
5289	1.04	121.7	3091	3934	2908	2894	25.4	14.7	568	5295	0.10	2.40	0.00	0.000	5126	0.278	0.056	3063	2538	2900	2907	2894	0	0	0	0	0	0	14.28	14.59	14.62
5487	end climb: SURFACE_DEPTH_REACHED
state	5488	begin surface coast
5499	end surface coast: CONTROL_FINISHED_OK
state	5499	begin surface