Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 178 * 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 178 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 37 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 21 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 -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 0.079999998 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 -1

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 178 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_MIN 1900

D_ABORT 1020 MAX_BUOY 125 R_PORT_OVSHOOT 37 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 110 MINV_10V 10 R_STBD_OVSHOOT 21 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 250218,095516,-7407.3940,-11307.6592,2,1.4,5,53.8,0.3,23.5,6,9.3 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 0.76 MHEAD_RNG_PITCHd_Wd 187.2,2682,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.8 D_GRID 542

GPS2 250218,095948,-7407.3867,-11307.6660,2,1.3,3,53.8,0.1,0.0,6,8.8

Post-dive calculations and measurements:

FREEZE 0.20,-1.715,-1.861,2,1,0 _24V_AH 12.50,66.072

FINISH 0.2,1.027306 _10V_AH 12.67,0.000

SM_CCo 5477,164.18,0.223,0,0,2205,300.18 FG_AHR_24Vo 0.000

SM_GC 0.76,8.45,0.50,164.18,0.074,0.098,0.223,190,2805,2205,-7.88,-0.51,300.18,0,0,0,0,0,0,14.56,14.56,14.24 FG_AHR_10Vo 0.000

RAFOS_CLK 227 MEM 280332

RAFOS_FIX -7407.679688,-11307.042969,250218,111121,0,1,0.11 DATA_FILE_SIZE 20096,598

IRIDIUM_FIX -7417.47,-11041.73,250218,081556 CAP_FILE_SIZE 74744,0

TT8_MAMPS 0.038199,0.234437 CFSIZE 1024409600,999735296

HUMID 44.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.2

TCM_TEMP 12.90 CURRENT 0.025,113.22,1

XPDR_PINGS 0 GPS 250218,113530,-7407.710,-11309.427,34,0.7,34,53.8,0.2,140.3,12,3.1

ALTIM_TOP_PING 20.6,20.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 468 134.46 nil 0 0 0.00

Roll_motor 68 97 83.63 nil 0 0 0.00

VBD_pump_during_apogee 224 2294 6436.76 nil 0 0 0.00

VBD_pump_during_surface 164 222 456.85 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 5472 4 278.11

Iridium_during_xfer 172 188 406.73 nil 0 0 0.00

Transponder_ping 8 420 43.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 8 0.62

TT8 0 0 0.00

LPSleep 3849 2 112.65

TT8_Active 587 10 80.90

TT8_Sampling 1401 30 538.92

TT8_CF8 97 51 63.40

TT8_Kalman 0 0 0.00

Analog_circuits 1233 10 157.89

GPS_charging 0 0 0.00

Compass 861 6 73.60

RAFOS 0 0 0.00

Transponder 60 30 23.04

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

21.4 22.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

42.3 44.70 9000.00 0.0 0.00 0.00 44.70 0.0 1.05 1.00

62.5 66.00 66.00 0.0 1.05 1.00 66.00 0.0 1.05 1.00

82.2 85.50 85.70 -3.5 1.02 1.00 85.50 -3.3 0.99 1.00

61.8 64.30 64.80 -3.0 1.02 1.00 64.30 -2.5 1.04 1.00

41.7 43.30 43.30 -1.6 1.04 1.00 43.30 -1.6 1.04 1.00

20.6 20.90 20.90 -0.3 1.05 1.00 20.90 -0.3 1.06 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 7 begin dive

9 -1.04 -121.7 188 2793 2233 2133 0.0 0.0 0 121 0.00 0.00 -107.47 0.003 16390 0.000 0.000 187 2793 3892 3900 3885 0 0 0 0 0 0 14.60 13.27 14.61

123 -1.04 -121.7 189 2793 3902 3879 3.0 -3.9 11 141 11.85 2.40 0.00 0.000 2596 0.468 0.047 2389 1397 3896 3903 3890 0 0 0 0 0 0 13.99 14.36 14.28

195 -1.04 -121.7 2388 1397 3903 3899 15.2 -13.4 25 202 0.00 2.53 0.00 0.000 1030 0.000 0.070 2378 2796 3900 3903 3898 0 0 0 0 0 0 14.41 14.34 14.44

506 -1.04 -121.7 2379 2795 3904 3902 59.3 -14.9 57 513 0.00 2.45 0.00 0.000 516 0.000 0.050 2378 1391 3902 3902 3902 0 0 0 0 0 0 14.75 14.42 14.75

552 -1.04 -121.7 2379 1391 3904 3902 66.1 -13.9 66 559 0.00 2.50 0.00 0.000 1030 0.000 0.071 2375 2802 3901 3901 3902 0 0 0 0 0 0 14.54 14.45 14.59

857 -1.04 -121.7 2375 2804 3903 3904 107.7 -14.1 97 863 0.00 2.45 0.00 0.000 516 0.000 0.051 2375 1395 3903 3903 3904 0 0 0 0 0 0 14.80 14.47 14.80

902 -1.04 -121.7 2376 1396 3904 3902 114.0 -13.3 106 909 0.00 2.53 0.00 0.000 1030 0.000 0.070 2374 2802 3902 3902 3903 0 0 0 0 0 0 14.51 14.43 14.54

1207 -1.04 -121.7 2375 2802 3904 3904 154.6 -13.5 137 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2799 3903 3903 3903 0 0 0 0 0 0 14.83 14.83 14.83

1507 -1.04 -121.7 2375 2803 3904 3904 196.0 -13.5 167 1513 0.00 2.00 0.00 0.000 260 0.000 0.092 2372 3907 3903 3903 3904 0 0 0 0 0 0 14.85 14.47 14.85

1552 -1.04 -121.7 2372 3908 3904 3905 202.6 -15.0 176 1560 0.00 1.90 0.00 0.000 1030 0.000 0.047 2372 2786 3903 3903 3904 0 0 0 0 0 0 14.62 14.59 14.64

1857 -1.04 -121.7 2373 2785 3904 3903 242.4 -13.0 207 1863 0.00 2.05 0.00 0.000 260 0.000 0.091 2371 3909 3903 3903 3904 0 0 0 0 0 0 14.85 14.47 14.85

1923 -1.04 -121.7 2371 3910 3903 3905 251.8 -14.7 220 1930 0.00 1.88 0.00 0.000 1030 0.000 0.049 2372 2799 3903 3903 3904 0 0 0 0 0 0 14.64 14.59 14.65

2227 -1.04 -121.7 2372 2800 3903 3905 291.5 -13.1 251 2233 0.00 2.40 0.00 0.000 516 0.000 0.050 2371 1400 3903 3903 3904 0 0 0 0 0 0 14.86 14.53 14.86

2272 -1.04 -121.7 2372 1400 3903 3905 297.6 -13.6 260 2279 0.00 2.50 0.00 0.000 1030 0.000 0.070 2371 2802 3903 3903 3903 0 0 0 0 0 0 14.56 14.47 14.59

2517 end dive: TARGET_DEPTH_EXCEEDED

state 2517 begin apogee

2521 -0.23 0.0 2372 2543 3904 3903 330.1 -13.0 274 2640 1.05 0.00 113.38 2.294 10246 0.261 0.000 2647 2543 3399 3403 3395 0 0 0 0 0 0 14.29 13.81 12.94

2641 end apogee: CONTROL_FINISHED_OK

state 2641 begin climb

2642 1.04 121.7 2647 2544 3403 3396 334.5 0.0 280 2763 1.40 2.70 111.07 2.212 10756 0.161 0.067 3066 1163 2911 2914 2908 0 0 0 0 0 0 13.74 13.31 12.50

2802 1.04 121.7 3066 1164 2910 2902 322.9 10.5 310 2808 0.00 2.65 0.00 0.000 1030 0.000 0.070 3066 2541 2905 2908 2902 0 0 0 0 0 0 13.64 13.57 13.66

3112 1.04 121.7 3066 2543 2903 2898 285.8 12.1 332 3118 0.00 2.58 0.00 0.000 260 0.000 0.096 3066 3933 2899 2902 2897 0 0 0 0 0 0 14.41 14.11 14.42

3152 1.04 121.7 3066 3933 2902 2898 280.4 14.0 340 3158 0.00 2.45 0.00 0.000 1030 0.000 0.056 3076 2555 2899 2902 2897 0 0 0 0 0 0 14.26 14.21 14.28

3462 1.04 121.7 3076 2557 2902 2897 241.7 12.2 372 3468 0.00 2.53 0.00 0.000 516 0.000 0.067 3087 1144 2899 2902 2896 0 0 0 0 0 0 14.64 14.32 14.65

3517 1.04 121.7 3087 1148 2903 2895 235.1 12.0 383 3524 0.00 2.53 0.00 0.000 1030 0.000 0.073 3087 2550 2898 2901 2895 0 0 0 0 0 0 14.43 14.36 14.47

3822 1.04 121.7 3087 2550 2903 2895 196.1 12.4 414 3828 0.00 2.47 0.00 0.000 260 0.000 0.097 3087 3918 2898 2902 2895 0 0 0 0 0 0 14.75 14.42 14.75

3887 1.04 121.7 3087 3919 2903 2896 187.1 13.9 427 3894 0.10 2.40 0.00 0.000 5126 0.291 0.057 3072 2539 2898 2902 2895 0 0 0 0 0 0 14.21 14.50 14.42

4192 1.04 121.7 3072 2539 2902 2897 152.1 11.6 458 4198 0.00 2.40 0.00 0.000 516 0.000 0.067 3081 1156 2898 2901 2895 0 0 0 0 0 0 14.81 14.48 14.81

4222 1.04 121.7 3082 1156 2903 2895 148.7 11.5 464 4228 0.00 2.50 0.00 0.000 1030 0.000 0.070 3081 2553 2898 2902 2895 0 0 0 0 0 0 14.56 14.51 14.59

4532 1.04 121.7 3082 2553 2903 2895 111.1 12.0 496 4538 0.00 2.47 0.00 0.000 260 0.000 0.096 3081 3905 2898 2902 2895 0 0 0 0 0 0 14.83 14.47 14.83

4557 1.04 121.7 3082 3907 2903 2895 107.9 13.4 501 4565 0.00 2.35 0.00 0.000 1030 0.000 0.057 3092 2552 2898 2902 2895 0 0 0 0 0 0 14.62 14.57 14.64

4862 1.04 121.7 3092 2553 2902 2895 70.0 11.9 532 4868 0.00 2.47 0.00 0.000 516 0.000 0.067 3103 1154 2898 2902 2895 0 0 0 0 0 0 14.85 14.50 14.86

4887 1.04 121.7 3103 1154 2903 2895 67.0 12.0 537 4895 0.12 2.50 0.00 0.000 5126 0.269 0.073 3069 2552 2898 2902 2895 0 0 0 0 0 0 14.28 14.52 14.50

5192 1.04 121.7 3068 2552 2902 2896 32.6 11.5 568 5198 0.00 2.47 0.00 0.000 260 0.000 0.096 3069 3906 2898 2902 2895 0 0 0 0 0 0 14.86 14.50 14.86

5217 1.04 121.7 3070 3907 2904 2897 29.3 13.6 573 5225 0.00 2.35 0.00 0.000 1030 0.000 0.057 3078 2539 2897 2900 2895 0 0 0 0 0 0 14.63 14.59 14.65

5451 end climb: SURFACE_DEPTH_REACHED

state 5451 begin surface coast

5462 end surface coast: CONTROL_FINISHED_OK

state 5462 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	178	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	37	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	21	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	-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	0.079999998	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	250218,095516,-7407.3940,-11307.6592,2,1.4,5,53.8,0.3,23.5,6,9.3	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	0.76	MHEAD_RNG_PITCHd_Wd	187.2,2682,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.8	D_GRID	542
GPS2	250218,095948,-7407.3867,-11307.6660,2,1.3,3,53.8,0.1,0.0,6,8.8

FREEZE	0.20,-1.715,-1.861,2,1,0	_24V_AH	12.50,66.072
FINISH	0.2,1.027306	_10V_AH	12.67,0.000
SM_CCo	5477,164.18,0.223,0,0,2205,300.18	FG_AHR_24Vo	0.000
SM_GC	0.76,8.45,0.50,164.18,0.074,0.098,0.223,190,2805,2205,-7.88,-0.51,300.18,0,0,0,0,0,0,14.56,14.56,14.24	FG_AHR_10Vo	0.000
RAFOS_CLK	227	MEM	280332
RAFOS_FIX	-7407.679688,-11307.042969,250218,111121,0,1,0.11	DATA_FILE_SIZE	20096,598
IRIDIUM_FIX	-7417.47,-11041.73,250218,081556	CAP_FILE_SIZE	74744,0
TT8_MAMPS	0.038199,0.234437	CFSIZE	1024409600,999735296
HUMID	44.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.2
TCM_TEMP	12.90	CURRENT	0.025,113.22,1
XPDR_PINGS	0	GPS	250218,113530,-7407.710,-11309.427,34,0.7,34,53.8,0.2,140.3,12,3.1
ALTIM_TOP_PING	20.6,20.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	468	134.46	nil	0	0	0.00
Roll_motor	68	97	83.63	nil	0	0	0.00
VBD_pump_during_apogee	224	2294	6436.76	nil	0	0	0.00
VBD_pump_during_surface	164	222	456.85	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	5472	4	278.11
Iridium_during_xfer	172	188	406.73	nil	0	0	0.00
Transponder_ping	8	420	43.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	8	0.62
TT8	0	0	0.00
LPSleep	3849	2	112.65
TT8_Active	587	10	80.90
TT8_Sampling	1401	30	538.92
TT8_CF8	97	51	63.40
TT8_Kalman	0	0	0.00
Analog_circuits	1233	10	157.89
GPS_charging	0	0	0.00
Compass	861	6	73.60
RAFOS	0	0	0.00
Transponder	60	30	23.04

		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
21.4	22.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
42.3	44.70	9000.00	0.0	0.00	0.00	44.70	0.0	1.05	1.00
62.5	66.00	66.00	0.0	1.05	1.00	66.00	0.0	1.05	1.00

82.2	85.50	85.70	-3.5	1.02	1.00	85.50	-3.3	0.99	1.00
61.8	64.30	64.80	-3.0	1.02	1.00	64.30	-2.5	1.04	1.00
41.7	43.30	43.30	-1.6	1.04	1.00	43.30	-1.6	1.04	1.00
20.6	20.90	20.90	-0.3	1.05	1.00	20.90	-0.3	1.06	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	7	begin dive
9	-1.04	-121.7	188	2793	2233	2133	0.0	0.0	0	121	0.00	0.00	-107.47	0.003	16390	0.000	0.000	187	2793	3892	3900	3885	0	0	0	0	0	0	14.60	13.27	14.61
123	-1.04	-121.7	189	2793	3902	3879	3.0	-3.9	11	141	11.85	2.40	0.00	0.000	2596	0.468	0.047	2389	1397	3896	3903	3890	0	0	0	0	0	0	13.99	14.36	14.28
195	-1.04	-121.7	2388	1397	3903	3899	15.2	-13.4	25	202	0.00	2.53	0.00	0.000	1030	0.000	0.070	2378	2796	3900	3903	3898	0	0	0	0	0	0	14.41	14.34	14.44
506	-1.04	-121.7	2379	2795	3904	3902	59.3	-14.9	57	513	0.00	2.45	0.00	0.000	516	0.000	0.050	2378	1391	3902	3902	3902	0	0	0	0	0	0	14.75	14.42	14.75
552	-1.04	-121.7	2379	1391	3904	3902	66.1	-13.9	66	559	0.00	2.50	0.00	0.000	1030	0.000	0.071	2375	2802	3901	3901	3902	0	0	0	0	0	0	14.54	14.45	14.59
857	-1.04	-121.7	2375	2804	3903	3904	107.7	-14.1	97	863	0.00	2.45	0.00	0.000	516	0.000	0.051	2375	1395	3903	3903	3904	0	0	0	0	0	0	14.80	14.47	14.80
902	-1.04	-121.7	2376	1396	3904	3902	114.0	-13.3	106	909	0.00	2.53	0.00	0.000	1030	0.000	0.070	2374	2802	3902	3902	3903	0	0	0	0	0	0	14.51	14.43	14.54
1207	-1.04	-121.7	2375	2802	3904	3904	154.6	-13.5	137	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2799	3903	3903	3903	0	0	0	0	0	0	14.83	14.83	14.83
1507	-1.04	-121.7	2375	2803	3904	3904	196.0	-13.5	167	1513	0.00	2.00	0.00	0.000	260	0.000	0.092	2372	3907	3903	3903	3904	0	0	0	0	0	0	14.85	14.47	14.85
1552	-1.04	-121.7	2372	3908	3904	3905	202.6	-15.0	176	1560	0.00	1.90	0.00	0.000	1030	0.000	0.047	2372	2786	3903	3903	3904	0	0	0	0	0	0	14.62	14.59	14.64
1857	-1.04	-121.7	2373	2785	3904	3903	242.4	-13.0	207	1863	0.00	2.05	0.00	0.000	260	0.000	0.091	2371	3909	3903	3903	3904	0	0	0	0	0	0	14.85	14.47	14.85
1923	-1.04	-121.7	2371	3910	3903	3905	251.8	-14.7	220	1930	0.00	1.88	0.00	0.000	1030	0.000	0.049	2372	2799	3903	3903	3904	0	0	0	0	0	0	14.64	14.59	14.65
2227	-1.04	-121.7	2372	2800	3903	3905	291.5	-13.1	251	2233	0.00	2.40	0.00	0.000	516	0.000	0.050	2371	1400	3903	3903	3904	0	0	0	0	0	0	14.86	14.53	14.86
2272	-1.04	-121.7	2372	1400	3903	3905	297.6	-13.6	260	2279	0.00	2.50	0.00	0.000	1030	0.000	0.070	2371	2802	3903	3903	3903	0	0	0	0	0	0	14.56	14.47	14.59
2517	end dive: TARGET_DEPTH_EXCEEDED
state	2517	begin apogee
2521	-0.23	0.0	2372	2543	3904	3903	330.1	-13.0	274	2640	1.05	0.00	113.38	2.294	10246	0.261	0.000	2647	2543	3399	3403	3395	0	0	0	0	0	0	14.29	13.81	12.94
2641	end apogee: CONTROL_FINISHED_OK
state	2641	begin climb
2642	1.04	121.7	2647	2544	3403	3396	334.5	0.0	280	2763	1.40	2.70	111.07	2.212	10756	0.161	0.067	3066	1163	2911	2914	2908	0	0	0	0	0	0	13.74	13.31	12.50
2802	1.04	121.7	3066	1164	2910	2902	322.9	10.5	310	2808	0.00	2.65	0.00	0.000	1030	0.000	0.070	3066	2541	2905	2908	2902	0	0	0	0	0	0	13.64	13.57	13.66
3112	1.04	121.7	3066	2543	2903	2898	285.8	12.1	332	3118	0.00	2.58	0.00	0.000	260	0.000	0.096	3066	3933	2899	2902	2897	0	0	0	0	0	0	14.41	14.11	14.42
3152	1.04	121.7	3066	3933	2902	2898	280.4	14.0	340	3158	0.00	2.45	0.00	0.000	1030	0.000	0.056	3076	2555	2899	2902	2897	0	0	0	0	0	0	14.26	14.21	14.28
3462	1.04	121.7	3076	2557	2902	2897	241.7	12.2	372	3468	0.00	2.53	0.00	0.000	516	0.000	0.067	3087	1144	2899	2902	2896	0	0	0	0	0	0	14.64	14.32	14.65
3517	1.04	121.7	3087	1148	2903	2895	235.1	12.0	383	3524	0.00	2.53	0.00	0.000	1030	0.000	0.073	3087	2550	2898	2901	2895	0	0	0	0	0	0	14.43	14.36	14.47
3822	1.04	121.7	3087	2550	2903	2895	196.1	12.4	414	3828	0.00	2.47	0.00	0.000	260	0.000	0.097	3087	3918	2898	2902	2895	0	0	0	0	0	0	14.75	14.42	14.75
3887	1.04	121.7	3087	3919	2903	2896	187.1	13.9	427	3894	0.10	2.40	0.00	0.000	5126	0.291	0.057	3072	2539	2898	2902	2895	0	0	0	0	0	0	14.21	14.50	14.42
4192	1.04	121.7	3072	2539	2902	2897	152.1	11.6	458	4198	0.00	2.40	0.00	0.000	516	0.000	0.067	3081	1156	2898	2901	2895	0	0	0	0	0	0	14.81	14.48	14.81
4222	1.04	121.7	3082	1156	2903	2895	148.7	11.5	464	4228	0.00	2.50	0.00	0.000	1030	0.000	0.070	3081	2553	2898	2902	2895	0	0	0	0	0	0	14.56	14.51	14.59
4532	1.04	121.7	3082	2553	2903	2895	111.1	12.0	496	4538	0.00	2.47	0.00	0.000	260	0.000	0.096	3081	3905	2898	2902	2895	0	0	0	0	0	0	14.83	14.47	14.83
4557	1.04	121.7	3082	3907	2903	2895	107.9	13.4	501	4565	0.00	2.35	0.00	0.000	1030	0.000	0.057	3092	2552	2898	2902	2895	0	0	0	0	0	0	14.62	14.57	14.64
4862	1.04	121.7	3092	2553	2902	2895	70.0	11.9	532	4868	0.00	2.47	0.00	0.000	516	0.000	0.067	3103	1154	2898	2902	2895	0	0	0	0	0	0	14.85	14.50	14.86
4887	1.04	121.7	3103	1154	2903	2895	67.0	12.0	537	4895	0.12	2.50	0.00	0.000	5126	0.269	0.073	3069	2552	2898	2902	2895	0	0	0	0	0	0	14.28	14.52	14.50
5192	1.04	121.7	3068	2552	2902	2896	32.6	11.5	568	5198	0.00	2.47	0.00	0.000	260	0.000	0.096	3069	3906	2898	2902	2895	0	0	0	0	0	0	14.86	14.50	14.86
5217	1.04	121.7	3070	3907	2904	2897	29.3	13.6	573	5225	0.00	2.35	0.00	0.000	1030	0.000	0.057	3078	2539	2897	2900	2895	0	0	0	0	0	0	14.63	14.59	14.65
5451	end climb: SURFACE_DEPTH_REACHED
state	5451	begin surface coast
5462	end surface coast: CONTROL_FINISHED_OK
state	5462	begin surface