Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 176 * 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 176 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 20

D_FLARE 3 FIX_MISSING_TIMEOUT 1 R_PORT_OVSHOOT 40 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 22 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 4

D_NO_BLEED 400 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 2 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 0 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 5 N_NOCOMM 3 VBD_CNV -0.25119999 DEVICE2 -1

SURFACE_URGENCY_TRY 5 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 110 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 150 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 200 LOGGERDEVICE2 -1

T_NO_W 120 HEAPDBG 0 VBD_MAXERRORS 5 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS 5 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 300 PHONE_DEVICE 49

EXEC_T 0 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 300 GPS_DEVICE 64

EXEC_N 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 1 RAFOS_DEVICE 32

USE_BATHY -3 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 0.079999998 PITCH_MIN 200 CF8_MAXERRORS 2 SEABIRD_T_G 0.0044198656

D_OFFGRID 600 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 10 SEABIRD_T_J 3.2746798e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 MINV_10V 10 SEABIRD_C_G -9.9022408

MAX_BUOY 125 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_H 1.1403944

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 1.1 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 24 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

RHO 1.0275 PITCH_AD_RATE 175 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 3 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 20 EXEC_P 0 PITCH_ADJ_GAIN 0 SM_CC 300

ALTIM_PING_DEPTH 0 EXEC_T 0 PITCH_AD_RATE 175 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 5

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_MAX 3910 SURFACE_URGENCY_FORCE 10

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 1 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 5

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 PITCH_MIN 200 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 24 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00184 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_B 0.0133 PITCH_W_DBAND 0.5 T_ABORT 1440

CALL_WAIT 60 HD_C 1.6100001e-05 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_SLOPE 0.000108275 T_DIVE 110

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -160.68855 T_EPIRB 0

CF8_MAXERRORS 2 HEAPDBG 0 PROTOCOL 9 T_GPS 5

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.079999998 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 -1

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY -3

DEEPGLIDER 0 LOITER_DBDW 300 ROLL_ADJ_GAIN 0 USE_ICE 1

DEVICE1 -1 LOITER_D_NO_PUMP 300 ROLL_AD_RATE 300 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 2 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 1.1 ROLL_MIN 230 VBD_MAXERRORS 5

DIVE 176 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 40 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 10 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 600 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 250218,063001,-7406.3936,-11303.6006,2,1.0,5,53.7,0.3,285.2,8,8.7 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.72 MHEAD_RNG_PITCHd_Wd 173.8,5415,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -63.6 D_GRID 653

GPS2 250218,063442,-7406.3945,-11303.6445,3,0.9,3,53.7,0.3,170.5,8,8.6

Post-dive calculations and measurements:

FREEZE 0.30,-1.686,-1.861,2,1,0 _24V_AH 12.50,65.683

FINISH 0.3,1.027304 _10V_AH 12.66,0.000

SM_CCo 5695,166.10,0.225,0,0,2199,300.18 FG_AHR_24Vo 0.000

SM_GC 0.72,8.40,0.47,166.10,0.073,0.092,0.225,187,2809,2199,-7.87,-0.51,300.18,0,0,0,0,0,0,14.60,14.57,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 238 MEM 280388

RAFOS_FIX -7406.821777,-11303.105469,250218,080833,0,1,0.15 DATA_FILE_SIZE 20097,620

IRIDIUM_FIX -7407.37,-11309.85,250218,044752 CAP_FILE_SIZE 76244,0

TT8_MAMPS 0.038199,0.248668 CFSIZE 1024409600,999931904

HUMID 45.58 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1443.4

TCM_TEMP 12.90 CURRENT 0.054,212.10,1

XPDR_PINGS 0 GPS 250218,081400,-7406.966,-11305.742,30,1.0,30,53.8,0.1,0.0,7,3.9

ALTIM_TOP_PING 23.8,24.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 466 133.72 nil 0 0 0.00

Roll_motor 67 96 80.91 nil 0 0 0.00

VBD_pump_during_apogee 223 2305 6455.27 nil 0 0 0.00

VBD_pump_during_surface 166 224 466.97 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 5690 4 290.83

Iridium_during_xfer 181 193 439.29 nil 0 0 0.00

Transponder_ping 8 420 42.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.50

TT8 0 0 0.00

LPSleep 4030 2 117.86

TT8_Active 586 10 80.66

TT8_Sampling 1448 30 556.44

TT8_CF8 99 51 64.65

TT8_Kalman 0 0 0.00

Analog_circuits 1256 10 160.63

GPS_charging 0 0 0.00

Compass 892 6 76.18

RAFOS 0 0 0.00

Transponder 57 30 21.70

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

20.6 22.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

62.2 66.00 9000.00 0.0 0.00 0.00 66.00 0.0 1.06 1.00

83.1 87.90 87.90 0.0 1.05 1.00 87.90 0.0 1.05 1.00

332.3 33.80 9000.00 0.0 -0.16 0.78 33.80 366.1 -0.22 1.00

64.5 67.00 9000.00 0.0 -0.16 0.81 67.00 0.0 -0.12 1.00

43.8 45.40 9000.00 0.0 -0.08 0.52 45.40 -1.6 1.04 1.00

23.8 24.50 24.50 -0.7 1.04 1.00 24.50 -0.7 1.04 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.04 -121.7 190 2803 2234 2135 0.0 0.0 0 122 0.00 0.00 -108.05 0.003 16390 0.000 0.000 189 2802 3888 3899 3878 0 0 0 0 0 0 14.61 13.27 14.60

123 -1.04 -121.7 190 2803 3901 3879 2.9 -3.5 11 141 11.82 2.42 0.00 0.000 2596 0.467 0.046 2392 1395 3896 3902 3890 0 0 0 0 0 0 13.98 14.36 14.27

175 -1.04 -121.7 2393 1396 3903 3897 12.4 -13.4 21 182 0.00 2.53 0.00 0.000 1030 0.000 0.070 2386 2794 3899 3902 3896 0 0 0 0 0 0 14.40 14.33 14.44

486 -1.04 -121.7 2386 2795 3903 3903 53.6 -13.4 53 493 0.00 2.03 0.00 0.000 260 0.000 0.093 2385 3906 3902 3902 3902 0 0 0 0 0 0 14.73 14.38 14.73

542 -1.04 -121.7 2384 3906 3903 3902 61.6 -14.7 64 552 0.00 1.90 0.00 0.000 1030 0.000 0.049 2383 2791 3902 3902 3902 0 0 0 0 0 0 14.54 14.51 14.55

847 -1.04 -121.7 2385 2791 3902 3903 101.6 -13.1 95 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2791 3902 3902 3903 0 0 0 0 0 0 14.79 14.79 14.79

1147 -1.04 -121.7 2384 2792 3903 3905 143.1 -13.8 125 1153 0.00 2.40 0.00 0.000 516 0.000 0.051 2384 1401 3903 3902 3904 0 0 0 0 0 0 14.81 14.50 14.82

1168 -1.04 -121.7 2384 1401 3903 3904 145.9 -14.2 129 1174 0.00 2.50 0.00 0.000 1030 0.000 0.070 2383 2801 3903 3903 3903 0 0 0 0 0 0 14.56 14.47 14.59

1478 -1.04 -121.7 2384 2801 3904 3904 188.8 -14.3 161 1479 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2801 3903 3902 3904 0 0 0 0 0 0 14.83 14.84 14.83

1779 -1.04 -121.7 2383 2802 3903 3905 228.7 -13.3 191 1784 0.00 2.38 0.00 0.000 516 0.000 0.051 2383 1402 3903 3902 3904 0 0 0 0 0 0 14.81 14.56 14.81

1853 -1.04 -121.7 2383 1401 3903 3904 238.1 -12.1 206 1861 0.00 2.50 0.00 0.000 1030 0.000 0.071 2383 2798 3903 3902 3904 0 0 0 0 0 0 14.57 14.49 14.61

2159 -1.04 -121.7 2383 2799 3903 3905 275.5 -12.2 237 2165 0.00 2.00 0.00 0.000 260 0.000 0.092 2376 3910 3903 3902 3904 0 0 0 0 0 0 14.85 14.48 14.85

2254 -1.04 -121.7 2376 3911 3903 3905 288.2 -13.3 256 2261 0.00 1.88 0.00 0.000 1030 0.000 0.049 2376 2801 3903 3902 3904 0 0 0 0 0 0 14.62 14.59 14.64

2560 -1.04 -121.7 2377 2801 3903 3905 325.8 -12.4 277 2566 0.00 1.98 0.00 0.000 260 0.000 0.092 2374 3912 3903 3902 3904 0 0 0 0 0 0 14.85 14.50 14.85

2594 end dive: TARGET_DEPTH_EXCEEDED

state 2594 begin apogee

2599 -0.23 0.0 2374 2540 3903 3905 330.6 -13.8 284 2718 1.05 0.00 113.62 2.306 10246 0.265 0.000 2647 2539 3396 3400 3393 0 0 0 0 0 0 14.27 13.80 12.92

2719 end apogee: CONTROL_FINISHED_OK

state 2719 begin climb

2721 1.04 121.7 2648 2540 3399 3394 335.1 0.0 290 2839 1.40 2.60 110.35 2.216 10756 0.163 0.065 3064 1174 2911 2915 2908 0 0 0 0 0 0 13.73 13.26 12.50

2863 1.04 121.7 3064 1175 2910 2906 325.7 10.0 317 2872 0.00 2.67 0.00 0.000 1030 0.000 0.070 3064 2558 2907 2909 2905 0 0 0 0 0 0 13.56 13.50 13.59

3170 1.04 121.7 3064 2559 2904 2900 291.1 11.9 336 3175 0.00 2.50 0.00 0.000 260 0.000 0.096 3064 3911 2900 2903 2898 0 0 0 0 0 0 14.37 14.10 14.36

3214 1.04 121.7 3064 3912 2904 2899 284.8 14.0 345 3222 0.00 2.40 0.00 0.000 1030 0.000 0.057 3074 2564 2901 2904 2899 0 0 0 0 0 0 14.22 14.18 14.26

3519 1.04 121.7 3075 2564 2904 2898 246.2 12.2 376 3525 0.00 2.50 0.00 0.000 260 0.000 0.096 3071 3906 2899 2902 2896 0 0 0 0 0 0 14.64 14.31 14.64

3549 1.04 121.7 3074 3907 2903 2898 242.2 13.7 382 3555 0.00 2.38 0.00 0.000 1030 0.000 0.057 3084 2549 2899 2902 2897 0 0 0 0 0 0 14.45 14.40 14.47

3859 1.04 121.7 3084 2549 2903 2898 204.1 12.3 414 3865 0.00 2.47 0.00 0.000 516 0.000 0.069 3095 1138 2899 2902 2897 0 0 0 0 0 0 14.73 14.42 14.73

3889 1.04 121.7 3095 1139 2903 2898 200.5 12.0 420 3895 0.10 2.55 0.00 0.000 5126 0.271 0.073 3057 2554 2899 2902 2897 0 0 0 0 0 0 14.23 14.42 14.53

4200 1.04 121.7 3057 2554 2904 2897 166.6 11.1 452 4201 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2554 2899 2902 2896 0 0 0 0 0 0 14.76 14.76 14.76

4499 1.04 121.7 3057 2554 2903 2900 134.2 10.5 482 4505 0.00 2.50 0.00 0.000 516 0.000 0.068 3066 1123 2899 2902 2896 0 0 0 0 0 0 14.82 14.49 14.82

4554 1.04 121.7 3066 1123 2903 2896 128.5 10.2 493 4562 0.00 2.55 0.00 0.000 1030 0.000 0.071 3066 2549 2899 2902 2896 0 0 0 0 0 0 14.57 14.48 14.61

4859 1.04 121.7 3066 2549 2903 2897 95.1 10.9 524 4865 0.00 2.47 0.00 0.000 260 0.000 0.096 3066 3909 2899 2902 2896 0 0 0 0 0 0 14.84 14.48 14.84

4909 1.04 121.7 3066 3909 2903 2897 89.1 12.2 534 4915 0.00 2.35 0.00 0.000 1030 0.000 0.057 3075 2548 2899 2902 2896 0 0 0 0 0 0 14.62 14.58 14.64

5219 1.04 121.7 3075 2548 2903 2897 54.4 11.2 566 5225 0.00 2.45 0.00 0.000 516 0.000 0.067 3086 1155 2899 2902 2896 0 0 0 0 0 0 14.84 14.52 14.85

5240 1.04 121.7 3084 1157 2903 2897 52.2 11.0 570 5245 0.00 2.45 0.00 0.000 1030 0.000 0.073 3086 2555 2899 2902 2896 0 0 0 0 0 0 14.66 14.54 14.69

5550 1.04 121.7 3086 2555 2903 2897 15.7 11.7 602 5555 0.00 2.47 0.00 0.000 516 0.000 0.067 3097 1126 2899 2902 2896 0 0 0 0 0 0 14.86 14.52 14.86

5590 1.04 121.7 3097 1127 2903 2897 10.9 12.1 610 5596 0.15 2.53 0.00 0.000 5126 0.287 0.073 3065 2546 2899 2902 2896 0 0 0 0 0 0 14.31 14.52 14.62

5669 end climb: SURFACE_DEPTH_REACHED

state 5669 begin surface coast

5680 end surface coast: CONTROL_FINISHED_OK

state 5680 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	176	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	20
D_FLARE	3	FIX_MISSING_TIMEOUT	1	R_PORT_OVSHOOT	40	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	22	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	4
D_NO_BLEED	400	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	2	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	0	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	5	N_NOCOMM	3	VBD_CNV	-0.25119999	DEVICE2	-1
SURFACE_URGENCY_TRY	5	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	110	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	150	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	200	LOGGERDEVICE2	-1
T_NO_W	120	HEAPDBG	0	VBD_MAXERRORS	5	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS	5	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	300	PHONE_DEVICE	49
EXEC_T	0	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	300	GPS_DEVICE	64
EXEC_N	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	1	RAFOS_DEVICE	32
USE_BATHY	-3	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	0.079999998	PITCH_MIN	200	CF8_MAXERRORS	2	SEABIRD_T_G	0.0044198656
D_OFFGRID	600	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	10	SEABIRD_T_J	3.2746798e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	MINV_10V	10	SEABIRD_C_G	-9.9022408
MAX_BUOY	125	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_H	1.1403944
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	1.1	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	24	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
RHO	1.0275	PITCH_AD_RATE	175	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	250218,063001,-7406.3936,-11303.6006,2,1.0,5,53.7,0.3,285.2,8,8.7	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.72	MHEAD_RNG_PITCHd_Wd	173.8,5415,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-63.6	D_GRID	653
GPS2	250218,063442,-7406.3945,-11303.6445,3,0.9,3,53.7,0.3,170.5,8,8.6

FREEZE	0.30,-1.686,-1.861,2,1,0	_24V_AH	12.50,65.683
FINISH	0.3,1.027304	_10V_AH	12.66,0.000
SM_CCo	5695,166.10,0.225,0,0,2199,300.18	FG_AHR_24Vo	0.000
SM_GC	0.72,8.40,0.47,166.10,0.073,0.092,0.225,187,2809,2199,-7.87,-0.51,300.18,0,0,0,0,0,0,14.60,14.57,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	238	MEM	280388
RAFOS_FIX	-7406.821777,-11303.105469,250218,080833,0,1,0.15	DATA_FILE_SIZE	20097,620
IRIDIUM_FIX	-7407.37,-11309.85,250218,044752	CAP_FILE_SIZE	76244,0
TT8_MAMPS	0.038199,0.248668	CFSIZE	1024409600,999931904
HUMID	45.58	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1443.4
TCM_TEMP	12.90	CURRENT	0.054,212.10,1
XPDR_PINGS	0	GPS	250218,081400,-7406.966,-11305.742,30,1.0,30,53.8,0.1,0.0,7,3.9
ALTIM_TOP_PING	23.8,24.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	466	133.72	nil	0	0	0.00
Roll_motor	67	96	80.91	nil	0	0	0.00
VBD_pump_during_apogee	223	2305	6455.27	nil	0	0	0.00
VBD_pump_during_surface	166	224	466.97	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	5690	4	290.83
Iridium_during_xfer	181	193	439.29	nil	0	0	0.00
Transponder_ping	8	420	42.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.50
TT8	0	0	0.00
LPSleep	4030	2	117.86
TT8_Active	586	10	80.66
TT8_Sampling	1448	30	556.44
TT8_CF8	99	51	64.65
TT8_Kalman	0	0	0.00
Analog_circuits	1256	10	160.63
GPS_charging	0	0	0.00
Compass	892	6	76.18
RAFOS	0	0	0.00
Transponder	57	30	21.70

		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
20.6	22.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
62.2	66.00	9000.00	0.0	0.00	0.00	66.00	0.0	1.06	1.00
83.1	87.90	87.90	0.0	1.05	1.00	87.90	0.0	1.05	1.00
332.3	33.80	9000.00	0.0	-0.16	0.78	33.80	366.1	-0.22	1.00

64.5	67.00	9000.00	0.0	-0.16	0.81	67.00	0.0	-0.12	1.00
43.8	45.40	9000.00	0.0	-0.08	0.52	45.40	-1.6	1.04	1.00
23.8	24.50	24.50	-0.7	1.04	1.00	24.50	-0.7	1.04	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.04	-121.7	190	2803	2234	2135	0.0	0.0	0	122	0.00	0.00	-108.05	0.003	16390	0.000	0.000	189	2802	3888	3899	3878	0	0	0	0	0	0	14.61	13.27	14.60
123	-1.04	-121.7	190	2803	3901	3879	2.9	-3.5	11	141	11.82	2.42	0.00	0.000	2596	0.467	0.046	2392	1395	3896	3902	3890	0	0	0	0	0	0	13.98	14.36	14.27
175	-1.04	-121.7	2393	1396	3903	3897	12.4	-13.4	21	182	0.00	2.53	0.00	0.000	1030	0.000	0.070	2386	2794	3899	3902	3896	0	0	0	0	0	0	14.40	14.33	14.44
486	-1.04	-121.7	2386	2795	3903	3903	53.6	-13.4	53	493	0.00	2.03	0.00	0.000	260	0.000	0.093	2385	3906	3902	3902	3902	0	0	0	0	0	0	14.73	14.38	14.73
542	-1.04	-121.7	2384	3906	3903	3902	61.6	-14.7	64	552	0.00	1.90	0.00	0.000	1030	0.000	0.049	2383	2791	3902	3902	3902	0	0	0	0	0	0	14.54	14.51	14.55
847	-1.04	-121.7	2385	2791	3902	3903	101.6	-13.1	95	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2791	3902	3902	3903	0	0	0	0	0	0	14.79	14.79	14.79
1147	-1.04	-121.7	2384	2792	3903	3905	143.1	-13.8	125	1153	0.00	2.40	0.00	0.000	516	0.000	0.051	2384	1401	3903	3902	3904	0	0	0	0	0	0	14.81	14.50	14.82
1168	-1.04	-121.7	2384	1401	3903	3904	145.9	-14.2	129	1174	0.00	2.50	0.00	0.000	1030	0.000	0.070	2383	2801	3903	3903	3903	0	0	0	0	0	0	14.56	14.47	14.59
1478	-1.04	-121.7	2384	2801	3904	3904	188.8	-14.3	161	1479	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2801	3903	3902	3904	0	0	0	0	0	0	14.83	14.84	14.83
1779	-1.04	-121.7	2383	2802	3903	3905	228.7	-13.3	191	1784	0.00	2.38	0.00	0.000	516	0.000	0.051	2383	1402	3903	3902	3904	0	0	0	0	0	0	14.81	14.56	14.81
1853	-1.04	-121.7	2383	1401	3903	3904	238.1	-12.1	206	1861	0.00	2.50	0.00	0.000	1030	0.000	0.071	2383	2798	3903	3902	3904	0	0	0	0	0	0	14.57	14.49	14.61
2159	-1.04	-121.7	2383	2799	3903	3905	275.5	-12.2	237	2165	0.00	2.00	0.00	0.000	260	0.000	0.092	2376	3910	3903	3902	3904	0	0	0	0	0	0	14.85	14.48	14.85
2254	-1.04	-121.7	2376	3911	3903	3905	288.2	-13.3	256	2261	0.00	1.88	0.00	0.000	1030	0.000	0.049	2376	2801	3903	3902	3904	0	0	0	0	0	0	14.62	14.59	14.64
2560	-1.04	-121.7	2377	2801	3903	3905	325.8	-12.4	277	2566	0.00	1.98	0.00	0.000	260	0.000	0.092	2374	3912	3903	3902	3904	0	0	0	0	0	0	14.85	14.50	14.85
2594	end dive: TARGET_DEPTH_EXCEEDED
state	2594	begin apogee
2599	-0.23	0.0	2374	2540	3903	3905	330.6	-13.8	284	2718	1.05	0.00	113.62	2.306	10246	0.265	0.000	2647	2539	3396	3400	3393	0	0	0	0	0	0	14.27	13.80	12.92
2719	end apogee: CONTROL_FINISHED_OK
state	2719	begin climb
2721	1.04	121.7	2648	2540	3399	3394	335.1	0.0	290	2839	1.40	2.60	110.35	2.216	10756	0.163	0.065	3064	1174	2911	2915	2908	0	0	0	0	0	0	13.73	13.26	12.50
2863	1.04	121.7	3064	1175	2910	2906	325.7	10.0	317	2872	0.00	2.67	0.00	0.000	1030	0.000	0.070	3064	2558	2907	2909	2905	0	0	0	0	0	0	13.56	13.50	13.59
3170	1.04	121.7	3064	2559	2904	2900	291.1	11.9	336	3175	0.00	2.50	0.00	0.000	260	0.000	0.096	3064	3911	2900	2903	2898	0	0	0	0	0	0	14.37	14.10	14.36
3214	1.04	121.7	3064	3912	2904	2899	284.8	14.0	345	3222	0.00	2.40	0.00	0.000	1030	0.000	0.057	3074	2564	2901	2904	2899	0	0	0	0	0	0	14.22	14.18	14.26
3519	1.04	121.7	3075	2564	2904	2898	246.2	12.2	376	3525	0.00	2.50	0.00	0.000	260	0.000	0.096	3071	3906	2899	2902	2896	0	0	0	0	0	0	14.64	14.31	14.64
3549	1.04	121.7	3074	3907	2903	2898	242.2	13.7	382	3555	0.00	2.38	0.00	0.000	1030	0.000	0.057	3084	2549	2899	2902	2897	0	0	0	0	0	0	14.45	14.40	14.47
3859	1.04	121.7	3084	2549	2903	2898	204.1	12.3	414	3865	0.00	2.47	0.00	0.000	516	0.000	0.069	3095	1138	2899	2902	2897	0	0	0	0	0	0	14.73	14.42	14.73
3889	1.04	121.7	3095	1139	2903	2898	200.5	12.0	420	3895	0.10	2.55	0.00	0.000	5126	0.271	0.073	3057	2554	2899	2902	2897	0	0	0	0	0	0	14.23	14.42	14.53
4200	1.04	121.7	3057	2554	2904	2897	166.6	11.1	452	4201	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2554	2899	2902	2896	0	0	0	0	0	0	14.76	14.76	14.76
4499	1.04	121.7	3057	2554	2903	2900	134.2	10.5	482	4505	0.00	2.50	0.00	0.000	516	0.000	0.068	3066	1123	2899	2902	2896	0	0	0	0	0	0	14.82	14.49	14.82
4554	1.04	121.7	3066	1123	2903	2896	128.5	10.2	493	4562	0.00	2.55	0.00	0.000	1030	0.000	0.071	3066	2549	2899	2902	2896	0	0	0	0	0	0	14.57	14.48	14.61
4859	1.04	121.7	3066	2549	2903	2897	95.1	10.9	524	4865	0.00	2.47	0.00	0.000	260	0.000	0.096	3066	3909	2899	2902	2896	0	0	0	0	0	0	14.84	14.48	14.84
4909	1.04	121.7	3066	3909	2903	2897	89.1	12.2	534	4915	0.00	2.35	0.00	0.000	1030	0.000	0.057	3075	2548	2899	2902	2896	0	0	0	0	0	0	14.62	14.58	14.64
5219	1.04	121.7	3075	2548	2903	2897	54.4	11.2	566	5225	0.00	2.45	0.00	0.000	516	0.000	0.067	3086	1155	2899	2902	2896	0	0	0	0	0	0	14.84	14.52	14.85
5240	1.04	121.7	3084	1157	2903	2897	52.2	11.0	570	5245	0.00	2.45	0.00	0.000	1030	0.000	0.073	3086	2555	2899	2902	2896	0	0	0	0	0	0	14.66	14.54	14.69
5550	1.04	121.7	3086	2555	2903	2897	15.7	11.7	602	5555	0.00	2.47	0.00	0.000	516	0.000	0.067	3097	1126	2899	2902	2896	0	0	0	0	0	0	14.86	14.52	14.86
5590	1.04	121.7	3097	1127	2903	2897	10.9	12.1	610	5596	0.15	2.53	0.00	0.000	5126	0.287	0.073	3065	2546	2899	2902	2896	0	0	0	0	0	0	14.31	14.52	14.62
5669	end climb: SURFACE_DEPTH_REACHED
state	5669	begin surface coast
5680	end surface coast: CONTROL_FINISHED_OK
state	5680	begin surface