Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 211 * 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 211 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 39 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 26 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 211 MAXI_24V 2 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 0 R_STBD_OVSHOOT 26 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 270218,173848,-7407.7690,-11309.9199,3,1.1,5,53.8,0.6,316.8,8,8.1 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 31.9,23877,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.1 D_GRID 518

GPS2 270218,174415,-7407.7476,-11309.9355,2,1.1,3,53.8,0.4,10.5,8,8.8

Post-dive calculations and measurements:

FREEZE 0.26,-1.752,-1.861,2,1,0 ALTIM_TOP_PING 15.3,15.5

FINISH 0.3,1.027307 _24V_AH 12.28,72.863

SM_CCo 5665,164.55,0.223,0,0,2203,300.18 _10V_AH 12.62,0.000

SM_GC 0.81,8.48,0.47,164.55,0.075,0.096,0.223,186,2809,2203,-7.89,-0.51,300.18,0,0,0,0,0,0,14.56,14.56,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 231 FG_AHR_10Vo 0.000

RAFOS 0,1519754468,18.032778,18.018888,86,58,58,56,56,55,596,215,190,171,199,145 MEM 280112

RAFOS_FIX -7407.342773,-11309.042969,270218,181824,3,79,0.48 DATA_FILE_SIZE 20089,604

IRIDIUM_FIX -7410.67,-11305.70,270218,155931 CAP_FILE_SIZE 79004,0

TT8_MAMPS 0.038948,0.839629 CFSIZE 1024409600,996311040

HUMID 44.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.1

TCM_TEMP 12.80 CURRENT 0.110,33.43,1

XPDR_PINGS 1 GPS 270218,192300,-7407.386,-11306.902,35,1.0,35,53.8,0.3,332.0,9,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 465 130.94 nil 0 0 0.00

Roll_motor 52 98 63.56 nil 0 0 0.00

VBD_pump_during_apogee 235 2681 7759.17 nil 0 0 0.00

VBD_pump_during_surface 164 222 449.83 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 5664 7 508.16

Iridium_during_xfer 212 186 485.94 nil 0 0 0.00

Transponder_ping 16 420 82.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.60

TT8 0 0 0.00

LPSleep 4004 2 116.74

TT8_Active 577 10 79.27

TT8_Sampling 1472 30 563.94

TT8_CF8 114 51 73.97

TT8_Kalman 0 0 0.00

Analog_circuits 1255 10 160.09

GPS_charging 0 0 0.00

Compass 870 6 74.02

RAFOS 720 1 13.63

Transponder 114 30 43.18

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

10.6 12.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.9 22.30 9000.00 0.0 0.00 0.00 22.30 0.0 0.99 1.00

30.9 34.10 33.70 0.0 1.08 1.00 34.10 0.0 1.18 1.00

41.9 44.50 44.90 0.0 1.06 1.00 44.50 0.0 0.95 1.00

110.2 114.30 114.20 -4.0 1.02 1.00 114.30 -4.1 1.02 1.00

78.5 81.60 81.80 -3.3 1.02 1.00 81.60 -3.1 1.03 1.00

68.0 70.50 70.60 -2.6 1.04 1.00 70.50 -2.5 1.06 1.00

57.5 59.50 59.50 -2.0 1.05 1.00 59.50 -2.0 1.05 1.00

46.8 49.00 48.90 -2.1 1.02 1.00 49.00 -2.2 0.98 1.00

36.1 37.30 37.50 -1.4 1.04 1.00 37.30 -1.2 1.09 1.00

25.8 26.20 26.20 -0.4 1.08 1.00 26.20 -0.4 1.08 1.00

15.3 15.60 15.50 -0.2 1.04 1.00 15.60 -0.3 1.01 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 -121.7 190 2816 2235 2128 0.0 0.0 0 122 0.00 0.00 -106.45 0.003 16390 0.000 0.000 189 2816 3889 3900 3879 0 0 0 0 0 0 14.59 13.23 14.59

124 -1.04 -121.7 190 2817 3902 3880 2.7 -3.4 11 142 11.85 1.92 0.00 0.000 2340 0.465 0.080 2379 3910 3896 3903 3890 0 0 0 0 0 0 13.97 14.34 14.28

327 -1.04 -121.7 2379 3911 3904 3903 30.9 -13.5 51 332 0.00 1.88 0.00 0.000 1030 0.000 0.050 2380 2778 3902 3903 3901 0 0 0 0 0 0 14.54 14.48 14.56

636 -1.04 -121.7 2380 2779 3904 3904 69.3 -12.5 83 642 0.00 2.38 0.00 0.000 516 0.000 0.051 2379 1401 3903 3903 3903 0 0 0 0 0 0 14.76 14.44 14.76

661 -1.04 -121.7 2380 1404 3904 3905 72.4 -13.2 88 668 0.00 2.50 0.00 0.000 1030 0.000 0.068 2375 2804 3903 3903 3903 0 0 0 0 0 0 14.50 14.42 14.54

966 -1.04 -121.7 2374 2805 3904 3905 110.2 -12.1 119 967 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2806 3903 3903 3904 0 0 0 0 0 0 14.80 14.80 14.80

1266 -1.04 -121.7 2375 2805 3903 3906 145.6 -11.9 149 1272 0.00 2.42 0.00 0.000 516 0.000 0.050 2374 1374 3904 3903 3905 0 0 0 0 0 0 14.81 14.50 14.82

1292 -1.04 -121.7 2375 1375 3904 3905 148.7 -12.0 154 1299 0.00 2.50 0.00 0.000 1030 0.000 0.070 2373 2809 3903 3903 3904 0 0 0 0 0 0 14.57 14.45 14.61

1597 -1.04 -121.7 2373 2810 3903 3906 185.9 -12.5 185 1603 0.00 2.40 0.00 0.000 516 0.000 0.051 2374 1393 3903 3903 3904 0 0 0 0 0 0 14.82 14.52 14.82

1642 -1.04 -121.7 2373 1394 3904 3905 191.6 -12.5 194 1649 0.00 2.50 0.00 0.000 1030 0.000 0.069 2373 2801 3903 3903 3904 0 0 0 0 0 0 14.55 14.47 14.58

1947 -1.04 -121.7 2373 2802 3904 3906 229.1 -12.1 225 1948 0.00 0.00 0.00 0.000 6 0.000 0.000 2373 2801 3904 3903 3905 0 0 0 0 0 0 14.83 14.83 14.83

2247 -1.04 -121.7 2374 2801 3904 3905 264.0 -11.2 255 2253 0.00 2.42 0.00 0.000 516 0.000 0.050 2373 1394 3903 3903 3904 0 0 0 0 0 0 14.84 14.50 14.85

2307 -1.04 -121.7 2373 1393 3904 3904 270.8 -11.2 267 2313 0.00 2.50 0.00 0.000 1030 0.000 0.070 2373 2801 3904 3903 3905 0 0 0 0 0 0 14.65 14.47 14.68

2628 -1.04 -121.7 2373 2801 3904 3905 305.0 -10.5 298 2633 0.00 2.00 0.00 0.000 260 0.000 0.093 2371 3916 3905 3906 3904 0 0 0 0 0 0 14.85 14.48 14.85

2663 -1.04 -121.7 2371 3917 3903 3905 309.0 -11.8 305 2670 0.00 1.90 0.00 0.000 1030 0.000 0.050 2372 2793 3903 3903 3904 0 0 0 0 0 0 14.62 14.57 14.63

2866 end dive: TARGET_DEPTH_EXCEEDED

state 2866 begin apogee

2870 -0.23 0.0 2372 2539 3903 3906 332.1 -11.4 316 2991 1.08 0.00 115.47 2.316 10246 0.264 0.000 2651 2538 3396 3401 3392 0 0 0 0 0 0 14.24 13.78 12.89

2992 end apogee: CONTROL_FINISHED_OK

state 2992 begin climb

2993 1.04 121.7 2652 2539 3401 3393 335.6 0.0 322 3118 1.40 0.00 120.18 2.681 10758 0.159 0.000 3058 2538 2912 2918 2907 0 0 0 0 0 0 13.71 13.23 12.28

3408 1.04 121.7 3059 2537 2906 2890 288.5 12.9 356 3413 0.00 2.55 0.00 0.000 260 0.000 0.095 3058 3911 2900 2905 2895 0 0 0 0 0 0 14.34 14.04 14.34

3458 1.04 121.7 3058 3911 2906 2896 281.2 14.8 366 3467 0.00 2.40 0.00 0.000 1030 0.000 0.057 3068 2557 2901 2908 2895 0 0 0 0 0 0 14.26 14.16 14.27

3771 1.04 121.7 3068 2557 2906 2894 240.5 13.1 398 3772 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2557 2899 2904 2894 0 0 0 0 0 0 14.63 14.64 14.63

4071 1.04 121.7 3068 2557 2906 2894 200.5 13.2 428 4076 0.00 2.45 0.00 0.000 516 0.000 0.067 3078 1147 2899 2904 2894 0 0 0 0 0 0 14.73 14.41 14.73

4116 1.04 121.7 3079 1147 2906 2894 194.9 12.4 437 4123 0.00 2.53 0.00 0.000 1030 0.000 0.071 3078 2563 2899 2904 2894 0 0 0 0 0 0 14.50 14.42 14.53

4421 1.04 121.7 3079 2563 2906 2894 156.7 12.7 468 4426 0.00 2.42 0.00 0.000 260 0.000 0.096 3078 3917 2899 2905 2894 0 0 0 0 0 0 14.79 14.46 14.78

4456 1.04 121.7 3079 3917 2906 2894 151.6 14.8 475 4463 0.00 2.35 0.00 0.000 1030 0.000 0.056 3088 2550 2898 2905 2892 0 0 0 0 0 0 14.57 14.52 14.59

4762 1.04 121.7 3089 2550 2906 2894 110.2 13.1 506 4763 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2550 2899 2905 2893 0 0 0 0 0 0 14.79 14.79 14.79

5061 1.04 121.7 3089 2550 2906 2894 70.8 12.6 536 5066 0.00 2.45 0.00 0.000 260 0.000 0.099 3088 3916 2899 2905 2894 0 0 0 0 0 0 14.83 14.50 14.84

5101 1.04 121.7 3088 3916 2906 2895 65.0 15.0 544 5107 0.12 2.35 0.00 0.000 5126 0.287 0.057 3067 2547 2899 2905 2893 0 0 0 0 0 0 14.25 14.58 14.64

5411 1.04 121.7 3067 2549 2906 2895 29.9 10.8 576 5417 0.00 2.42 0.00 0.000 260 0.000 0.095 3066 3909 2899 2905 2894 0 0 0 0 0 0 14.85 14.51 14.85

5446 1.04 121.7 3067 3908 2906 2893 25.0 14.5 583 5453 0.00 2.33 0.00 0.000 1030 0.000 0.056 3076 2552 2899 2905 2894 0 0 0 0 0 0 14.62 14.58 14.65

5640 end climb: SURFACE_DEPTH_REACHED

state 5640 begin surface coast

5650 end surface coast: CONTROL_FINISHED_OK

state 5650 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	211	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	39	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	26	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	270218,173848,-7407.7690,-11309.9199,3,1.1,5,53.8,0.6,316.8,8,8.1	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	31.9,23877,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.1	D_GRID	518
GPS2	270218,174415,-7407.7476,-11309.9355,2,1.1,3,53.8,0.4,10.5,8,8.8

FREEZE	0.26,-1.752,-1.861,2,1,0	ALTIM_TOP_PING	15.3,15.5
FINISH	0.3,1.027307	_24V_AH	12.28,72.863
SM_CCo	5665,164.55,0.223,0,0,2203,300.18	_10V_AH	12.62,0.000
SM_GC	0.81,8.48,0.47,164.55,0.075,0.096,0.223,186,2809,2203,-7.89,-0.51,300.18,0,0,0,0,0,0,14.56,14.56,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	231	FG_AHR_10Vo	0.000
RAFOS	0,1519754468,18.032778,18.018888,86,58,58,56,56,55,596,215,190,171,199,145	MEM	280112
RAFOS_FIX	-7407.342773,-11309.042969,270218,181824,3,79,0.48	DATA_FILE_SIZE	20089,604
IRIDIUM_FIX	-7410.67,-11305.70,270218,155931	CAP_FILE_SIZE	79004,0
TT8_MAMPS	0.038948,0.839629	CFSIZE	1024409600,996311040
HUMID	44.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.1
TCM_TEMP	12.80	CURRENT	0.110,33.43,1
XPDR_PINGS	1	GPS	270218,192300,-7407.386,-11306.902,35,1.0,35,53.8,0.3,332.0,9,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	465	130.94	nil	0	0	0.00
Roll_motor	52	98	63.56	nil	0	0	0.00
VBD_pump_during_apogee	235	2681	7759.17	nil	0	0	0.00
VBD_pump_during_surface	164	222	449.83	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	5664	7	508.16
Iridium_during_xfer	212	186	485.94	nil	0	0	0.00
Transponder_ping	16	420	82.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.60
TT8	0	0	0.00
LPSleep	4004	2	116.74
TT8_Active	577	10	79.27
TT8_Sampling	1472	30	563.94
TT8_CF8	114	51	73.97
TT8_Kalman	0	0	0.00
Analog_circuits	1255	10	160.09
GPS_charging	0	0	0.00
Compass	870	6	74.02
RAFOS	720	1	13.63
Transponder	114	30	43.18

		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
10.6	12.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.9	22.30	9000.00	0.0	0.00	0.00	22.30	0.0	0.99	1.00
30.9	34.10	33.70	0.0	1.08	1.00	34.10	0.0	1.18	1.00
41.9	44.50	44.90	0.0	1.06	1.00	44.50	0.0	0.95	1.00

110.2	114.30	114.20	-4.0	1.02	1.00	114.30	-4.1	1.02	1.00
78.5	81.60	81.80	-3.3	1.02	1.00	81.60	-3.1	1.03	1.00
68.0	70.50	70.60	-2.6	1.04	1.00	70.50	-2.5	1.06	1.00
57.5	59.50	59.50	-2.0	1.05	1.00	59.50	-2.0	1.05	1.00
46.8	49.00	48.90	-2.1	1.02	1.00	49.00	-2.2	0.98	1.00
36.1	37.30	37.50	-1.4	1.04	1.00	37.30	-1.2	1.09	1.00
25.8	26.20	26.20	-0.4	1.08	1.00	26.20	-0.4	1.08	1.00
15.3	15.60	15.50	-0.2	1.04	1.00	15.60	-0.3	1.01	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	190	2816	2235	2128	0.0	0.0	0	122	0.00	0.00	-106.45	0.003	16390	0.000	0.000	189	2816	3889	3900	3879	0	0	0	0	0	0	14.59	13.23	14.59
124	-1.04	-121.7	190	2817	3902	3880	2.7	-3.4	11	142	11.85	1.92	0.00	0.000	2340	0.465	0.080	2379	3910	3896	3903	3890	0	0	0	0	0	0	13.97	14.34	14.28
327	-1.04	-121.7	2379	3911	3904	3903	30.9	-13.5	51	332	0.00	1.88	0.00	0.000	1030	0.000	0.050	2380	2778	3902	3903	3901	0	0	0	0	0	0	14.54	14.48	14.56
636	-1.04	-121.7	2380	2779	3904	3904	69.3	-12.5	83	642	0.00	2.38	0.00	0.000	516	0.000	0.051	2379	1401	3903	3903	3903	0	0	0	0	0	0	14.76	14.44	14.76
661	-1.04	-121.7	2380	1404	3904	3905	72.4	-13.2	88	668	0.00	2.50	0.00	0.000	1030	0.000	0.068	2375	2804	3903	3903	3903	0	0	0	0	0	0	14.50	14.42	14.54
966	-1.04	-121.7	2374	2805	3904	3905	110.2	-12.1	119	967	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2806	3903	3903	3904	0	0	0	0	0	0	14.80	14.80	14.80
1266	-1.04	-121.7	2375	2805	3903	3906	145.6	-11.9	149	1272	0.00	2.42	0.00	0.000	516	0.000	0.050	2374	1374	3904	3903	3905	0	0	0	0	0	0	14.81	14.50	14.82
1292	-1.04	-121.7	2375	1375	3904	3905	148.7	-12.0	154	1299	0.00	2.50	0.00	0.000	1030	0.000	0.070	2373	2809	3903	3903	3904	0	0	0	0	0	0	14.57	14.45	14.61
1597	-1.04	-121.7	2373	2810	3903	3906	185.9	-12.5	185	1603	0.00	2.40	0.00	0.000	516	0.000	0.051	2374	1393	3903	3903	3904	0	0	0	0	0	0	14.82	14.52	14.82
1642	-1.04	-121.7	2373	1394	3904	3905	191.6	-12.5	194	1649	0.00	2.50	0.00	0.000	1030	0.000	0.069	2373	2801	3903	3903	3904	0	0	0	0	0	0	14.55	14.47	14.58
1947	-1.04	-121.7	2373	2802	3904	3906	229.1	-12.1	225	1948	0.00	0.00	0.00	0.000	6	0.000	0.000	2373	2801	3904	3903	3905	0	0	0	0	0	0	14.83	14.83	14.83
2247	-1.04	-121.7	2374	2801	3904	3905	264.0	-11.2	255	2253	0.00	2.42	0.00	0.000	516	0.000	0.050	2373	1394	3903	3903	3904	0	0	0	0	0	0	14.84	14.50	14.85
2307	-1.04	-121.7	2373	1393	3904	3904	270.8	-11.2	267	2313	0.00	2.50	0.00	0.000	1030	0.000	0.070	2373	2801	3904	3903	3905	0	0	0	0	0	0	14.65	14.47	14.68
2628	-1.04	-121.7	2373	2801	3904	3905	305.0	-10.5	298	2633	0.00	2.00	0.00	0.000	260	0.000	0.093	2371	3916	3905	3906	3904	0	0	0	0	0	0	14.85	14.48	14.85
2663	-1.04	-121.7	2371	3917	3903	3905	309.0	-11.8	305	2670	0.00	1.90	0.00	0.000	1030	0.000	0.050	2372	2793	3903	3903	3904	0	0	0	0	0	0	14.62	14.57	14.63
2866	end dive: TARGET_DEPTH_EXCEEDED
state	2866	begin apogee
2870	-0.23	0.0	2372	2539	3903	3906	332.1	-11.4	316	2991	1.08	0.00	115.47	2.316	10246	0.264	0.000	2651	2538	3396	3401	3392	0	0	0	0	0	0	14.24	13.78	12.89
2992	end apogee: CONTROL_FINISHED_OK
state	2992	begin climb
2993	1.04	121.7	2652	2539	3401	3393	335.6	0.0	322	3118	1.40	0.00	120.18	2.681	10758	0.159	0.000	3058	2538	2912	2918	2907	0	0	0	0	0	0	13.71	13.23	12.28
3408	1.04	121.7	3059	2537	2906	2890	288.5	12.9	356	3413	0.00	2.55	0.00	0.000	260	0.000	0.095	3058	3911	2900	2905	2895	0	0	0	0	0	0	14.34	14.04	14.34
3458	1.04	121.7	3058	3911	2906	2896	281.2	14.8	366	3467	0.00	2.40	0.00	0.000	1030	0.000	0.057	3068	2557	2901	2908	2895	0	0	0	0	0	0	14.26	14.16	14.27
3771	1.04	121.7	3068	2557	2906	2894	240.5	13.1	398	3772	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2557	2899	2904	2894	0	0	0	0	0	0	14.63	14.64	14.63
4071	1.04	121.7	3068	2557	2906	2894	200.5	13.2	428	4076	0.00	2.45	0.00	0.000	516	0.000	0.067	3078	1147	2899	2904	2894	0	0	0	0	0	0	14.73	14.41	14.73
4116	1.04	121.7	3079	1147	2906	2894	194.9	12.4	437	4123	0.00	2.53	0.00	0.000	1030	0.000	0.071	3078	2563	2899	2904	2894	0	0	0	0	0	0	14.50	14.42	14.53
4421	1.04	121.7	3079	2563	2906	2894	156.7	12.7	468	4426	0.00	2.42	0.00	0.000	260	0.000	0.096	3078	3917	2899	2905	2894	0	0	0	0	0	0	14.79	14.46	14.78
4456	1.04	121.7	3079	3917	2906	2894	151.6	14.8	475	4463	0.00	2.35	0.00	0.000	1030	0.000	0.056	3088	2550	2898	2905	2892	0	0	0	0	0	0	14.57	14.52	14.59
4762	1.04	121.7	3089	2550	2906	2894	110.2	13.1	506	4763	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2550	2899	2905	2893	0	0	0	0	0	0	14.79	14.79	14.79
5061	1.04	121.7	3089	2550	2906	2894	70.8	12.6	536	5066	0.00	2.45	0.00	0.000	260	0.000	0.099	3088	3916	2899	2905	2894	0	0	0	0	0	0	14.83	14.50	14.84
5101	1.04	121.7	3088	3916	2906	2895	65.0	15.0	544	5107	0.12	2.35	0.00	0.000	5126	0.287	0.057	3067	2547	2899	2905	2893	0	0	0	0	0	0	14.25	14.58	14.64
5411	1.04	121.7	3067	2549	2906	2895	29.9	10.8	576	5417	0.00	2.42	0.00	0.000	260	0.000	0.095	3066	3909	2899	2905	2894	0	0	0	0	0	0	14.85	14.51	14.85
5446	1.04	121.7	3067	3908	2906	2893	25.0	14.5	583	5453	0.00	2.33	0.00	0.000	1030	0.000	0.056	3076	2552	2899	2905	2894	0	0	0	0	0	0	14.62	14.58	14.65
5640	end climb: SURFACE_DEPTH_REACHED
state	5640	begin surface coast
5650	end surface coast: CONTROL_FINISHED_OK
state	5650	begin surface