Glider dive log

ORBIS Jan18 * SG222 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 222 HD_A 0.0021500001 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_B 0.0083999997 C_ROLL_DIVE 2350 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 HD_C 9.9999997e-06 C_ROLL_CLIMB 2400 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 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 0 R_PORT_OVSHOOT 22 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 9 ALTIM_PULSE 2

D_ABORT 600 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 4

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 XPDR_VALID 6

D_BOOST 100 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

T_BOOST 5 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.3499999

D_PITCH 0 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 0 COMM_SEQ 0 C_VBD 2968 MOTHERBOARD 4

D_CALL 0 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 60 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 75 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 N_GPS 100440 DBDW 0 COMPASS_DEVICE 97

EXEC_P 0 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 0 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_NO_PUMP 0 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY -1 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 0 XPDR_DEVICE 24

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_DBAND 0 SIM_W 0

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044060913

D_OFFGRID 600 PITCH_MAX 3890 AH0_24V 350 SEABIRD_T_H 0.00063889573

T_WATCHDOG 10 C_PITCH 2780 AH0_10V 0 SEABIRD_T_I 2.5185698e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 10 SEABIRD_T_J 3.0510489e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031257649 MINV_10V 10 SEABIRD_C_G -9.8844519

MAX_BUOY 150 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1298814

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 SEABIRD_C_I -0.0013862044

GLIDE_SLOPE 30 PITCH_GAIN 20 FG_AHR_10V 0 SEABIRD_C_J 0.00017915672

SPEED_FACTOR 1 PITCH_TIMEOUT 15 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 120 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS 53445 PITCH_MAXERRORS 1 PRESSURE_YINT -170.62135 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 PRESSURE_SLOPE 0.00010921927 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 230 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3750 ALTIM_PING_FIT 785

AD7714Ch0Gain 1 D_TGT 180 N_NOCOMM 1 SEABIRD_T_G 0.0044060913

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063889573

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5185698e-05

ALTIM_BOTTOM_TURN_MARGIN 0 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0510489e-06

ALTIM_FREQUENCY 13 EXEC_N 0 PITCH_ADJ_DBAND 1 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 0 PITCH_ADJ_GAIN 0.02 SM_CC 450

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 120 SPEED_FACTOR 1

ALTIM_PING_FIT 785 FERRY_MAX 45 PITCH_CNV 0.0031257649 STOP_T 0

ALTIM_PULSE 2 FG_AHR_10V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_GAIN 20 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3890 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_MIN 210 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 15 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.0021500001 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0083999997 PITCH_W_DBAND 0 T_ABORT 1440

CALL_WAIT 60 HD_C 9.9999997e-06 PITCH_W_GAIN 0 T_BOOST 5

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.00010921927 T_DIVE 60

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -170.62135 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT 0.039999999 T_LOITER 0

COMPASS2_DEVICE 149 ID 222 P_OVSHOOT_WITHG 0 T_MISSION 75

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.3499999 RAFOS_DEVICE 32 T_RSLEEP 2

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2780 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET 1.5 T_WATCHDOG 10

C_ROLL_DIVE 2350 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 60

C_VBD 2968 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 USE_ICE 0

DEVICE1 -1 LOITER_D_NO_PUMP 0 ROLL_AD_RATE 350 VBD_BLEED_AD_RATE 8

DEVICE2 -1 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53445 ROLL_MAX 3750 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 1

DIVE 3 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 500

D_ABORT 600 MAX_BUOY 150 R_PORT_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 100 MINV_10V 10 R_STBD_OVSHOOT 9 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MINV_24V 10 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 0 MISSION 8 SC_PROFILE 3.0 W_ADJ_DBAND 0

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 50 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 600 NOCOMM_ACTION 163 SEABIRD_C_G -9.8844519 XPDR_VALID 6

D_PITCH 0 N_DIVES 3 SEABIRD_C_H 1.1298814

D_SAFE 0 N_FILEKB 8 SEABIRD_C_I -0.0013862044

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00017915672

Pre-dive calculations and measurements:

GPS1 240118,181624,-7340.9790,-11415.4814,2,1.1,3,53.8,0.2,297.8,7,5.5 SPEED_LIMITS 0.173,0.278

_CALLS 2 TGT_NAME S1

_XMS_NAKs 0 TGT_LATLONG -7340.000,-11320.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.21 MHEAD_RNG_PITCHd_Wd 61.1,28998,-15.4,-10.000,-19.81,2201

_SM_ANGLEo -55.8 D_GRID 520

GPS2 240118,182119,-7340.9575,-11415.5723,3,1.1,4,53.8,0.6,300.0,7,7.2

Post-dive calculations and measurements:

FINISH -0.4,1.027266 _24V_AH 13.45,9.859

SM_CCo 4546,98.57,0.239,0,0,1131,450.13 _10V_AH 12.43,0.000

SM_GC 0.33,8.57,0.10,98.57,0.070,0.187,0.239,200,2348,1131,-8.00,0.62,450.13,0,0,0,0,0,0,14.74,14.67,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 156 FG_AHR_10Vo 0.000

RAFOS 1,1516817224,18.133333,18.117777,62,56,56,53,50,50,219,182,159,124,114,201 MEM 280332

RAFOS_FIX -7341.363281,-11416.080078,240118,191956,0,1,0.18 DATA_FILE_SIZE 23415,704

IRIDIUM_FIX -7333.41,-11856.64,240118,181303 CAP_FILE_SIZE 87320,1

TT8_MAMPS 0.041944,0.839629 CFSIZE 1024409600,1019625472

HUMID 52.79 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.5214 SOUNDSPEED 1444.5

TCM_TEMP 13.50 CURRENT 0.125,326.42,1

XPDR_PINGS 20 GPS 240118,193946,-7341.100,-11414.790,6,1.1,9,53.8,0.3,0.0,5,10.0

ALTIM_TOP_PING 7.3,-0.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 449 143.14 nil 0 0 0.00

Roll_motor 64 194 167.33 nil 0 0 0.00

VBD_pump_during_apogee 893 1720 20673.16 nil 0 0 0.00

VBD_pump_during_surface 98 238 316.45 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 4525 29 1767.47

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 13 420 77.67 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 6 9 0.75

TT8 0 0 0.00

LPSleep 2240 2 64.33

TT8_Active 1065 12 162.49

TT8_Sampling 1377 31 543.40

TT8_CF8 28 45 15.86

TT8_Kalman 0 0 0.00

Analog_circuits 1698 10 215.39

GPS_charging 0 0 0.00

Compass 1012 7 94.25

RAFOS 0 0 0.00

Transponder 60 30 22.45

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

21.1 22.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

31.3 34.80 9000.00 0.0 0.00 0.00 34.80 0.0 1.24 1.00

62.6 65.90 9000.00 0.0 0.00 0.00 65.90 0.0 0.99 1.00

72.7 76.30 9000.00 0.0 0.00 0.00 76.30 0.0 1.03 1.00

103.1 10.10 9000.00 0.0 0.02 0.00 10.10 113.2 -2.18 1.00

124.6 14.50 9000.00 0.0 -0.44 0.28 14.50 0.0 0.20 1.00

170.9 178.30 9000.00 0.0 0.81 0.27 178.30 -7.4 3.54 1.00

88.7 92.70 9000.00 0.0 0.94 0.27 92.70 -4.0 1.04 1.00

78.7 84.70 9000.00 0.0 0.96 0.26 84.70 -6.0 0.80 1.00

68.5 71.10 9000.00 0.0 0.73 0.27 71.10 -2.6 1.33 1.00

58.5 60.60 61.50 -3.0 1.04 1.00 60.60 -2.1 1.05 1.00

48.5 50.10 50.00 -1.5 1.09 1.00 50.10 -1.6 1.05 1.00

38.3 39.50 38.90 -0.6 1.11 1.00 39.50 -1.2 1.04 1.00

28.2 10.10 17.50 10.7 1.42 0.94 10.10 18.1 2.91 1.00

17.6 6.80 9000.00 0.0 1.45 0.94 6.80 10.8 0.31 1.00

7.3 7.70 -0.70 8.0 1.14 0.82 7.70 0.0 -0.09 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -0.95 -146.0 207 2350 564 428 0.0 0.0 0 165 0.00 0.00 -156.02 0.002 16386 0.000 0.000 206 2350 3499 3553 3446 0 0 0 0 0 0 14.93 28.83 14.96

167 -0.95 -146.0 207 2350 3554 3446 3.3 -8.6 25 188 11.65 2.55 -1.50 0.060 18980 0.449 0.129 2469 944 3565 3627 3503 0 0 0 0 0 0 14.43 13.50 14.73

207 -0.88 -146.0 2469 944 3629 3503 14.6 -14.4 32 214 0.10 2.65 0.00 0.000 3206 0.230 0.119 2489 2350 3565 3628 3503 0 0 0 0 0 0 14.53 14.62 14.65

393 -0.93 -146.0 2491 2351 3629 3504 32.2 -9.2 69 401 0.00 2.70 0.00 0.000 420 0.000 0.146 2479 3747 3565 3628 3503 0 0 0 0 0 0 14.93 14.57 14.97

465 -0.97 -146.0 2479 3747 3629 3502 38.9 -10.2 83 472 0.00 2.53 0.00 0.000 1158 0.000 0.091 2479 2351 3565 3627 3503 0 0 0 0 0 0 14.72 14.65 14.76

651 -1.00 -146.0 2480 2352 3629 3502 56.7 -9.6 120 658 0.00 2.70 0.00 0.000 420 0.000 0.147 2470 3747 3568 3633 3503 0 0 0 0 0 0 14.97 14.59 15.00

697 -1.04 -146.0 2470 3748 3629 3504 61.3 -10.0 129 704 0.00 2.53 0.00 0.000 1158 0.000 0.093 2475 2353 3565 3628 3502 0 0 0 0 0 0 14.75 14.68 14.79

883 -1.06 -146.0 2471 2348 3629 3502 80.2 -10.1 166 891 0.00 2.70 0.00 0.000 388 0.000 0.148 2462 3740 3565 3628 3502 0 0 0 0 0 0 14.99 14.53 15.02

930 -1.09 -146.0 2462 3741 3629 3502 84.8 -10.4 175 937 0.00 2.53 0.00 0.000 1158 0.000 0.096 2461 2354 3565 3628 3502 0 0 0 0 0 0 14.76 14.67 14.79

1117 -1.09 -146.0 2462 2354 3629 3502 103.1 -9.6 209 1122 0.00 2.65 0.00 0.000 292 0.000 0.151 2453 3747 3565 3628 3502 0 0 0 0 0 0 14.90 14.60 14.94

1156 -1.09 -146.0 2453 3747 3629 3502 107.1 -9.9 217 1162 0.00 2.55 0.00 0.000 1062 0.000 0.097 2453 2348 3565 3628 3502 0 0 0 0 0 0 14.76 14.68 14.81

1466 -1.09 -146.0 2453 2349 3629 3503 139.3 -10.5 249 1472 0.00 2.70 0.00 0.000 260 0.000 0.151 2444 3740 3565 3628 3502 0 0 0 0 0 0 15.05 14.61 15.09

1551 -1.09 -146.0 2445 3741 3629 3503 149.0 -11.3 266 1559 0.00 2.53 0.00 0.000 1030 0.000 0.099 2444 2351 3565 3628 3502 0 0 0 0 0 0 14.78 14.69 14.82

1835 end dive: TARGET_DEPTH_EXCEEDED

state 1835 begin apogee

1838 -0.25 0.0 2444 2407 3629 3503 180.9 -11.0 295 2200 0.90 0.00 357.58 1.321 10246 0.221 0.000 2692 2411 2969 3017 2922 0 0 0 0 0 0 14.61 14.12 13.53

2201 end apogee: CONTROL_FINISHED_OK

state 2201 begin climb

2202 0.95 146.0 2693 2406 3013 2918 200.8 0.0 331 2572 1.25 2.83 355.65 1.156 11012 0.109 0.125 3096 993 2366 2408 2324 0 0 0 0 0 0 14.09 13.99 13.49

2606 0.73 146.0 3096 994 2405 2320 193.5 12.5 396 2614 0.30 2.75 0.00 0.000 5254 0.305 0.120 3024 2396 2360 2404 2317 0 0 0 0 0 0 14.03 14.13 14.17

2911 0.59 146.0 3024 2397 2402 2308 161.7 10.2 427 2917 0.22 2.65 0.00 0.000 4740 0.276 0.129 2981 988 2354 2400 2308 0 0 0 0 0 0 14.44 14.48 14.66

2941 0.58 198.6 2981 989 2402 2308 159.0 7.5 433 3066 0.00 2.70 115.70 1.265 9382 0.000 0.122 2981 2402 2154 2200 2109 0 0 0 0 0 0 14.59 14.49 13.64

3370 0.54 209.0 2980 2403 2192 2095 116.5 9.5 487 3383 0.00 2.70 4.68 1.720 8868 0.000 0.129 2991 999 2115 2162 2069 0 0 0 0 0 0 14.81 14.51 13.45

3442 0.49 213.8 2991 1000 2167 2074 109.7 9.8 501 3456 0.15 2.67 4.62 1.720 13478 0.240 0.122 2940 2401 2096 2142 2050 0 0 0 0 0 0 14.47 14.54 13.47

3753 0.53 246.2 2940 2401 2150 2052 83.3 8.5 552 3779 0.00 2.72 22.05 0.508 8740 0.000 0.131 2947 993 1963 2010 1917 0 0 0 0 0 0 14.89 14.57 14.31

3848 0.59 270.8 2948 993 2012 1920 75.1 8.9 570 3869 0.00 2.67 16.62 0.476 9382 0.000 0.123 2948 2412 1864 1910 1819 0 0 0 0 0 0 14.73 14.59 14.33

4048 0.62 273.3 2948 2415 1913 1820 56.0 9.9 609 4056 0.10 2.75 2.40 0.363 10916 0.155 0.132 3010 996 1851 1899 1804 0 0 0 0 0 0 14.70 14.54 14.39

4095 0.59 273.3 3010 995 1903 1810 50.2 12.6 618 4102 0.12 2.67 0.00 0.000 5254 0.220 0.125 2975 2401 1856 1903 1809 0 0 0 0 0 0 14.52 14.58 14.65

4281 0.59 273.3 2975 2401 1906 1810 29.3 11.3 655 4288 0.00 2.70 0.00 0.000 516 0.000 0.133 2984 991 1858 1906 1810 0 0 0 0 0 0 14.90 14.55 14.93

4322 0.59 273.3 2984 991 1907 1810 24.6 11.0 663 4330 0.00 2.67 0.00 0.000 1030 0.000 0.124 2984 2395 1856 1903 1810 0 0 0 0 0 0 14.66 14.57 14.71

4503 0.97 605.4 2984 2396 1906 1810 3.2 12.2 699 4519 0.32 0.00 14.07 0.257 10882 0.076 0.000 3106 2395 1770 1816 1724 0 0 0 0 0 0 14.71 28.83 14.76

4520 end climb: SURFACE_DEPTH_REACHED

state 4520 begin surface coast

4533 end surface coast: CONTROL_FINISHED_OK

state 4533 begin surface

ID	222	HD_A	0.0021500001	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_B	0.0083999997	C_ROLL_DIVE	2350	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	HD_C	9.9999997e-06	C_ROLL_CLIMB	2400	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	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	0	R_PORT_OVSHOOT	22	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	9	ALTIM_PULSE	2
D_ABORT	600	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	4
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	XPDR_VALID	6
D_BOOST	100	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
T_BOOST	5	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.3499999
D_PITCH	0	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	0	COMM_SEQ	0	C_VBD	2968	MOTHERBOARD	4
D_CALL	0	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	60	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	75	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	N_GPS	100440	DBDW	0	COMPASS_DEVICE	97
EXEC_P	0	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	0	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_NO_PUMP	0	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	-1	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	0	XPDR_DEVICE	24
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_DBAND	0	SIM_W	0
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	210	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044060913
D_OFFGRID	600	PITCH_MAX	3890	AH0_24V	350	SEABIRD_T_H	0.00063889573
T_WATCHDOG	10	C_PITCH	2780	AH0_10V	0	SEABIRD_T_I	2.5185698e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	10	SEABIRD_T_J	3.0510489e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031257649	MINV_10V	10	SEABIRD_C_G	-9.8844519
MAX_BUOY	150	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1298814
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	SEABIRD_C_I	-0.0013862044
GLIDE_SLOPE	30	PITCH_GAIN	20	FG_AHR_10V	0	SEABIRD_C_J	0.00017915672
SPEED_FACTOR	1	PITCH_TIMEOUT	15	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	120	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS	53445	PITCH_MAXERRORS	1	PRESSURE_YINT	-170.62135	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	PRESSURE_SLOPE	0.00010921927	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	230	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3750	ALTIM_PING_FIT	785

GPS1	240118,181624,-7340.9790,-11415.4814,2,1.1,3,53.8,0.2,297.8,7,5.5	SPEED_LIMITS	0.173,0.278
_CALLS	2	TGT_NAME	S1
_XMS_NAKs	0	TGT_LATLONG	-7340.000,-11320.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.21	MHEAD_RNG_PITCHd_Wd	61.1,28998,-15.4,-10.000,-19.81,2201
_SM_ANGLEo	-55.8	D_GRID	520
GPS2	240118,182119,-7340.9575,-11415.5723,3,1.1,4,53.8,0.6,300.0,7,7.2

FINISH	-0.4,1.027266	_24V_AH	13.45,9.859
SM_CCo	4546,98.57,0.239,0,0,1131,450.13	_10V_AH	12.43,0.000
SM_GC	0.33,8.57,0.10,98.57,0.070,0.187,0.239,200,2348,1131,-8.00,0.62,450.13,0,0,0,0,0,0,14.74,14.67,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	156	FG_AHR_10Vo	0.000
RAFOS	1,1516817224,18.133333,18.117777,62,56,56,53,50,50,219,182,159,124,114,201	MEM	280332
RAFOS_FIX	-7341.363281,-11416.080078,240118,191956,0,1,0.18	DATA_FILE_SIZE	23415,704
IRIDIUM_FIX	-7333.41,-11856.64,240118,181303	CAP_FILE_SIZE	87320,1
TT8_MAMPS	0.041944,0.839629	CFSIZE	1024409600,1019625472
HUMID	52.79	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.5214	SOUNDSPEED	1444.5
TCM_TEMP	13.50	CURRENT	0.125,326.42,1
XPDR_PINGS	20	GPS	240118,193946,-7341.100,-11414.790,6,1.1,9,53.8,0.3,0.0,5,10.0
ALTIM_TOP_PING	7.3,-0.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	449	143.14	nil	0	0	0.00
Roll_motor	64	194	167.33	nil	0	0	0.00
VBD_pump_during_apogee	893	1720	20673.16	nil	0	0	0.00
VBD_pump_during_surface	98	238	316.45	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	4525	29	1767.47
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	13	420	77.67	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	6	9	0.75
TT8	0	0	0.00
LPSleep	2240	2	64.33
TT8_Active	1065	12	162.49
TT8_Sampling	1377	31	543.40
TT8_CF8	28	45	15.86
TT8_Kalman	0	0	0.00
Analog_circuits	1698	10	215.39
GPS_charging	0	0	0.00
Compass	1012	7	94.25
RAFOS	0	0	0.00
Transponder	60	30	22.45

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R
21.1	22.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
31.3	34.80	9000.00	0.0	0.00	0.00	34.80	0.0	1.24	1.00
62.6	65.90	9000.00	0.0	0.00	0.00	65.90	0.0	0.99	1.00
72.7	76.30	9000.00	0.0	0.00	0.00	76.30	0.0	1.03	1.00
103.1	10.10	9000.00	0.0	0.02	0.00	10.10	113.2	-2.18	1.00
124.6	14.50	9000.00	0.0	-0.44	0.28	14.50	0.0	0.20	1.00

170.9	178.30	9000.00	0.0	0.81	0.27	178.30	-7.4	3.54	1.00
88.7	92.70	9000.00	0.0	0.94	0.27	92.70	-4.0	1.04	1.00
78.7	84.70	9000.00	0.0	0.96	0.26	84.70	-6.0	0.80	1.00
68.5	71.10	9000.00	0.0	0.73	0.27	71.10	-2.6	1.33	1.00
58.5	60.60	61.50	-3.0	1.04	1.00	60.60	-2.1	1.05	1.00
48.5	50.10	50.00	-1.5	1.09	1.00	50.10	-1.6	1.05	1.00
38.3	39.50	38.90	-0.6	1.11	1.00	39.50	-1.2	1.04	1.00
28.2	10.10	17.50	10.7	1.42	0.94	10.10	18.1	2.91	1.00
17.6	6.80	9000.00	0.0	1.45	0.94	6.80	10.8	0.31	1.00
7.3	7.70	-0.70	8.0	1.14	0.82	7.70	0.0	-0.09	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-0.95	-146.0	207	2350	564	428	0.0	0.0	0	165	0.00	0.00	-156.02	0.002	16386	0.000	0.000	206	2350	3499	3553	3446	0	0	0	0	0	0	14.93	28.83	14.96
167	-0.95	-146.0	207	2350	3554	3446	3.3	-8.6	25	188	11.65	2.55	-1.50	0.060	18980	0.449	0.129	2469	944	3565	3627	3503	0	0	0	0	0	0	14.43	13.50	14.73
207	-0.88	-146.0	2469	944	3629	3503	14.6	-14.4	32	214	0.10	2.65	0.00	0.000	3206	0.230	0.119	2489	2350	3565	3628	3503	0	0	0	0	0	0	14.53	14.62	14.65
393	-0.93	-146.0	2491	2351	3629	3504	32.2	-9.2	69	401	0.00	2.70	0.00	0.000	420	0.000	0.146	2479	3747	3565	3628	3503	0	0	0	0	0	0	14.93	14.57	14.97
465	-0.97	-146.0	2479	3747	3629	3502	38.9	-10.2	83	472	0.00	2.53	0.00	0.000	1158	0.000	0.091	2479	2351	3565	3627	3503	0	0	0	0	0	0	14.72	14.65	14.76
651	-1.00	-146.0	2480	2352	3629	3502	56.7	-9.6	120	658	0.00	2.70	0.00	0.000	420	0.000	0.147	2470	3747	3568	3633	3503	0	0	0	0	0	0	14.97	14.59	15.00
697	-1.04	-146.0	2470	3748	3629	3504	61.3	-10.0	129	704	0.00	2.53	0.00	0.000	1158	0.000	0.093	2475	2353	3565	3628	3502	0	0	0	0	0	0	14.75	14.68	14.79
883	-1.06	-146.0	2471	2348	3629	3502	80.2	-10.1	166	891	0.00	2.70	0.00	0.000	388	0.000	0.148	2462	3740	3565	3628	3502	0	0	0	0	0	0	14.99	14.53	15.02
930	-1.09	-146.0	2462	3741	3629	3502	84.8	-10.4	175	937	0.00	2.53	0.00	0.000	1158	0.000	0.096	2461	2354	3565	3628	3502	0	0	0	0	0	0	14.76	14.67	14.79
1117	-1.09	-146.0	2462	2354	3629	3502	103.1	-9.6	209	1122	0.00	2.65	0.00	0.000	292	0.000	0.151	2453	3747	3565	3628	3502	0	0	0	0	0	0	14.90	14.60	14.94
1156	-1.09	-146.0	2453	3747	3629	3502	107.1	-9.9	217	1162	0.00	2.55	0.00	0.000	1062	0.000	0.097	2453	2348	3565	3628	3502	0	0	0	0	0	0	14.76	14.68	14.81
1466	-1.09	-146.0	2453	2349	3629	3503	139.3	-10.5	249	1472	0.00	2.70	0.00	0.000	260	0.000	0.151	2444	3740	3565	3628	3502	0	0	0	0	0	0	15.05	14.61	15.09
1551	-1.09	-146.0	2445	3741	3629	3503	149.0	-11.3	266	1559	0.00	2.53	0.00	0.000	1030	0.000	0.099	2444	2351	3565	3628	3502	0	0	0	0	0	0	14.78	14.69	14.82
1835	end dive: TARGET_DEPTH_EXCEEDED
state	1835	begin apogee
1838	-0.25	0.0	2444	2407	3629	3503	180.9	-11.0	295	2200	0.90	0.00	357.58	1.321	10246	0.221	0.000	2692	2411	2969	3017	2922	0	0	0	0	0	0	14.61	14.12	13.53
2201	end apogee: CONTROL_FINISHED_OK
state	2201	begin climb
2202	0.95	146.0	2693	2406	3013	2918	200.8	0.0	331	2572	1.25	2.83	355.65	1.156	11012	0.109	0.125	3096	993	2366	2408	2324	0	0	0	0	0	0	14.09	13.99	13.49
2606	0.73	146.0	3096	994	2405	2320	193.5	12.5	396	2614	0.30	2.75	0.00	0.000	5254	0.305	0.120	3024	2396	2360	2404	2317	0	0	0	0	0	0	14.03	14.13	14.17
2911	0.59	146.0	3024	2397	2402	2308	161.7	10.2	427	2917	0.22	2.65	0.00	0.000	4740	0.276	0.129	2981	988	2354	2400	2308	0	0	0	0	0	0	14.44	14.48	14.66
2941	0.58	198.6	2981	989	2402	2308	159.0	7.5	433	3066	0.00	2.70	115.70	1.265	9382	0.000	0.122	2981	2402	2154	2200	2109	0	0	0	0	0	0	14.59	14.49	13.64
3370	0.54	209.0	2980	2403	2192	2095	116.5	9.5	487	3383	0.00	2.70	4.68	1.720	8868	0.000	0.129	2991	999	2115	2162	2069	0	0	0	0	0	0	14.81	14.51	13.45
3442	0.49	213.8	2991	1000	2167	2074	109.7	9.8	501	3456	0.15	2.67	4.62	1.720	13478	0.240	0.122	2940	2401	2096	2142	2050	0	0	0	0	0	0	14.47	14.54	13.47
3753	0.53	246.2	2940	2401	2150	2052	83.3	8.5	552	3779	0.00	2.72	22.05	0.508	8740	0.000	0.131	2947	993	1963	2010	1917	0	0	0	0	0	0	14.89	14.57	14.31
3848	0.59	270.8	2948	993	2012	1920	75.1	8.9	570	3869	0.00	2.67	16.62	0.476	9382	0.000	0.123	2948	2412	1864	1910	1819	0	0	0	0	0	0	14.73	14.59	14.33
4048	0.62	273.3	2948	2415	1913	1820	56.0	9.9	609	4056	0.10	2.75	2.40	0.363	10916	0.155	0.132	3010	996	1851	1899	1804	0	0	0	0	0	0	14.70	14.54	14.39
4095	0.59	273.3	3010	995	1903	1810	50.2	12.6	618	4102	0.12	2.67	0.00	0.000	5254	0.220	0.125	2975	2401	1856	1903	1809	0	0	0	0	0	0	14.52	14.58	14.65
4281	0.59	273.3	2975	2401	1906	1810	29.3	11.3	655	4288	0.00	2.70	0.00	0.000	516	0.000	0.133	2984	991	1858	1906	1810	0	0	0	0	0	0	14.90	14.55	14.93
4322	0.59	273.3	2984	991	1907	1810	24.6	11.0	663	4330	0.00	2.67	0.00	0.000	1030	0.000	0.124	2984	2395	1856	1903	1810	0	0	0	0	0	0	14.66	14.57	14.71
4503	0.97	605.4	2984	2396	1906	1810	3.2	12.2	699	4519	0.32	0.00	14.07	0.257	10882	0.076	0.000	3106	2395	1770	1816	1724	0	0	0	0	0	0	14.71	28.83	14.76
4520	end climb: SURFACE_DEPTH_REACHED
state	4520	begin surface coast
4533	end surface coast: CONTROL_FINISHED_OK
state	4533	begin surface