Glider dive log

ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 209 * 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 209 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 40 ALTIM_FREQUENCY 13

D_TGT 330 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 17 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 209 MAXI_24V 2 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 0 R_STBD_OVSHOOT 17 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 270218,141538,-7407.9307,-11315.9326,21,1.0,21,53.9,0.3,0.0,8,10.0 SPEED_LIMITS 0.100,0.198

_CALLS 1 TGT_NAME W0_1

_XMS_NAKs 0 TGT_LATLONG -7408.220,-11312.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 70.7,2069,-19.6,-10.000,-26.85,1770

_SM_ANGLEo -62.3 D_GRID 495

GPS2 270218,142100,-7407.9131,-11315.9297,2,1.0,5,53.9,0.6,47.1,8,8.1

Post-dive calculations and measurements:

FREEZE -0.04,-1.753,-1.860,2,1,0 ALTIM_TOP_PING 12.4,12.6

FINISH -0.0,1.027297 _24V_AH 12.28,72.410

SM_CCo 5535,163.32,0.223,0,0,2204,300.18 _10V_AH 12.62,0.000

SM_GC 0.84,8.48,0.45,163.32,0.076,0.102,0.223,191,2802,2204,-7.89,-0.59,300.18,0,0,0,0,0,0,14.52,14.54,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 223 FG_AHR_10Vo 0.000

RAFOS 0,1519743668,15.032778,15.018888,91,66,65,60,52,51,609,186,215,204,227,120 MEM 280160

RAFOS_FIX -7407.171387,-11315.152344,270218,151512,2,106,0.44 DATA_FILE_SIZE 20092,601

IRIDIUM_FIX -7406.39,-11416.89,270218,123251 CAP_FILE_SIZE 78051,0

TT8_MAMPS 0.038199,0.286867 CFSIZE 1024409600,996507648

HUMID 44.76 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.77292 SOUNDSPEED 1444.6

TCM_TEMP 13.00 CURRENT 0.097,67.62,1

XPDR_PINGS 0 GPS 270218,155730,-7408.158,-11313.072,32,0.8,32,53.9,0.3,176.0,12,3.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 472 134.04 nil 0 0 0.00

Roll_motor 52 101 65.16 nil 0 0 0.00

VBD_pump_during_apogee 235 2665 7701.23 nil 0 0 0.00

VBD_pump_during_surface 163 222 446.48 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 5523 7 496.05

Iridium_during_xfer 205 188 474.10 nil 0 0 0.00

Transponder_ping 15 420 81.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 8 0.83

TT8 0 0 0.00

LPSleep 3879 2 113.09

TT8_Active 577 10 79.19

TT8_Sampling 1461 30 559.84

TT8_CF8 114 51 73.89

TT8_Kalman 0 0 0.00

Analog_circuits 1243 10 158.56

GPS_charging 0 0 0.00

Compass 866 6 73.67

RAFOS 720 1 13.63

Transponder 113 30 42.78

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 11.60 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

21.2 22.80 9000.00 0.0 0.00 0.00 22.80 0.0 1.06 1.00

42.7 45.60 45.60 0.0 1.06 1.00 45.60 0.0 1.06 1.00

52.8 56.50 56.40 0.0 1.06 1.00 56.50 0.0 1.08 1.00

63.2 66.50 66.70 0.0 1.02 1.00 66.50 0.0 0.96 1.00

97.5 102.40 102.30 -4.8 1.03 1.00 102.40 -4.9 1.05 1.00

76.4 80.20 80.30 -3.9 1.05 1.00 80.20 -3.8 1.05 1.00

65.3 69.30 69.10 -3.8 1.03 1.00 69.30 -4.0 0.98 1.00

54.3 56.20 56.60 -2.3 1.09 1.00 56.20 -1.9 1.19 1.00

43.4 45.00 44.70 -1.3 1.11 1.00 45.00 -1.6 1.03 1.00

33.3 34.80 34.80 -1.5 1.02 1.00 34.80 -1.5 1.01 1.00

23.0 23.60 23.70 -0.7 1.05 1.00 23.60 -0.6 1.09 1.00

12.4 12.70 12.60 -0.2 1.06 1.00 12.70 -0.3 1.03 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

9 -1.04 -121.7 194 2807 2232 2130 0.0 0.0 0 122 0.00 0.00 -106.00 0.003 16390 0.000 0.000 194 2807 3890 3901 3879 0 0 0 0 0 0 14.60 12.95 14.59

124 -1.04 -121.7 195 2806 3902 3878 3.0 -4.2 11 142 12.00 1.95 0.00 0.000 2340 0.472 0.076 2380 3919 3897 3903 3891 0 0 0 0 0 0 13.97 14.35 14.28

346 -1.04 -121.7 2380 3919 3904 3903 34.1 -12.7 55 352 0.00 1.92 0.00 0.000 1030 0.000 0.047 2380 2786 3903 3904 3902 0 0 0 0 0 0 14.50 14.46 14.52

657 -1.04 -121.7 2381 2786 3904 3903 73.3 -12.6 87 662 0.00 2.35 0.00 0.000 516 0.000 0.051 2380 1401 3904 3904 3904 0 0 0 0 0 0 14.73 14.48 14.73

686 -1.04 -121.7 2381 1401 3905 3904 77.2 -12.3 93 693 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 14.57

997 -1.04 -121.7 2375 2805 3904 3905 116.7 -12.7 125 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2804 3904 3904 3904 0 0 0 0 0 0 14.80 14.80 14.80

1297 -1.04 -121.7 2376 2804 3905 3904 155.1 -12.1 155 1304 0.00 2.42 0.00 0.000 516 0.000 0.050 2375 1400 3903 3903 3904 0 0 0 0 0 0 14.82 14.49 14.81

1378 -1.04 -121.7 2376 1400 3905 3904 165.6 -12.4 171 1385 0.00 2.47 0.00 0.000 1030 0.000 0.070 2374 2818 3903 3903 3904 0 0 0 0 0 0 14.62 14.50 14.65

1689 -1.04 -121.7 2375 2818 3905 3905 203.2 -11.8 203 1695 0.00 1.95 0.00 0.000 260 0.000 0.092 2372 3902 3904 3904 3904 0 0 0 0 0 0 14.80 14.44 14.81

1729 -1.04 -121.7 2372 3902 3904 3906 208.2 -12.7 211 1736 0.00 1.88 0.00 0.000 1030 0.000 0.050 2373 2795 3903 3903 3904 0 0 0 0 0 0 14.59 14.56 14.61

2041 -1.04 -121.7 2372 2796 3902 3905 244.6 -11.9 243 2046 0.00 2.35 0.00 0.000 516 0.000 0.050 2372 1398 3903 3903 3904 0 0 0 0 0 0 14.85 14.54 14.85

2110 -1.04 -121.7 2373 1397 3905 3904 252.7 -11.5 257 2117 0.00 2.45 0.00 0.000 1030 0.000 0.069 2372 2804 3903 3903 3904 0 0 0 0 0 0 14.63 14.51 14.67

2421 -1.04 -121.7 2372 2805 3905 3904 288.4 -11.4 289 2428 0.00 2.00 0.00 0.000 260 0.000 0.091 2371 3917 3903 3903 3904 0 0 0 0 0 0 14.84 14.45 14.85

2522 -1.04 -121.7 2371 3918 3904 3905 300.9 -12.3 309 2528 0.00 1.90 0.00 0.000 1030 0.000 0.050 2371 2795 3904 3904 3904 0 0 0 0 0 0 14.62 14.57 14.62

2801 end dive: TARGET_DEPTH_EXCEEDED

state 2801 begin apogee

2805 -0.23 0.0 2372 2541 3905 3904 330.4 -10.0 326 2925 1.10 0.00 115.60 2.324 10246 0.266 0.000 2654 2541 3397 3402 3392 0 0 0 0 0 0 14.20 13.78 12.89

2926 end apogee: CONTROL_FINISHED_OK

state 2926 begin climb

2927 1.04 121.7 2656 2541 3403 3393 332.4 0.0 332 3057 1.40 2.78 119.70 2.665 10500 0.158 0.095 3057 3909 2912 2917 2907 0 0 0 0 0 0 13.71 13.24 12.28

3077 1.04 121.7 3058 3909 2917 2904 317.9 14.1 347 3083 0.00 2.55 0.00 0.000 1030 0.000 0.056 3067 2545 2908 2914 2903 0 0 0 0 0 0 13.52 13.46 13.54

3387 1.04 121.7 3067 2544 2909 2897 275.2 13.7 373 3394 0.00 2.53 0.00 0.000 260 0.000 0.096 3067 3907 2901 2907 2896 0 0 0 0 0 0 14.38 14.09 14.38

3443 1.04 121.7 3066 3908 2908 2898 266.3 16.7 384 3450 0.00 2.42 0.00 0.000 1030 0.000 0.057 3077 2539 2901 2906 2896 0 0 0 0 0 0 14.25 14.21 14.27

3749 1.04 121.7 3077 2539 2908 2896 223.1 13.8 415 3754 0.00 2.45 0.00 0.000 516 0.000 0.069 3088 1138 2901 2906 2896 0 0 0 0 0 0 14.62 14.35 14.62

3768 1.04 121.7 3085 1139 2907 2896 220.4 13.8 419 3774 0.00 2.53 0.00 0.000 1030 0.000 0.071 3088 2574 2901 2907 2895 0 0 0 0 0 0 14.48 14.37 14.51

4078 1.04 121.7 3088 2574 2908 2895 176.2 14.5 451 4084 0.00 2.53 0.00 0.000 516 0.000 0.067 3098 1150 2900 2906 2895 0 0 0 0 0 0 14.73 14.41 14.75

4098 1.04 121.7 3099 1151 2907 2896 173.4 13.8 455 4104 0.15 2.50 0.00 0.000 5126 0.288 0.073 3067 2551 2900 2907 2894 0 0 0 0 0 0 14.24 14.43 14.54

4408 1.04 121.7 3067 2551 2908 2895 133.8 12.4 487 4409 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2551 2901 2907 2895 0 0 0 0 0 0 14.78 14.78 14.78

4708 1.04 121.7 3068 2551 2908 2895 98.6 11.6 517 4709 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2551 2901 2907 2895 0 0 0 0 0 0 14.81 14.81 14.81

5008 1.04 121.7 3067 2551 2909 2896 62.8 12.4 547 5009 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2551 2901 2907 2895 0 0 0 0 0 0 14.83 14.83 14.83

5309 1.04 121.7 3066 2552 2914 2896 25.9 12.1 577 5315 0.00 2.42 0.00 0.000 516 0.000 0.068 3076 1147 2901 2907 2895 0 0 0 0 0 0 14.84 14.51 14.86

5330 1.04 121.7 3077 1147 2908 2896 23.0 14.0 581 5337 0.00 2.45 0.00 0.000 1030 0.000 0.071 3076 2557 2901 2907 2896 0 0 0 0 0 0 14.66 14.54 14.69

5509 end climb: SURFACE_DEPTH_REACHED

state 5509 begin surface coast

5520 end surface coast: CONTROL_FINISHED_OK

state 5520 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	209	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	40	ALTIM_FREQUENCY	13
D_TGT	330	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	17	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	270218,141538,-7407.9307,-11315.9326,21,1.0,21,53.9,0.3,0.0,8,10.0	SPEED_LIMITS	0.100,0.198
_CALLS	1	TGT_NAME	W0_1
_XMS_NAKs	0	TGT_LATLONG	-7408.220,-11312.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	70.7,2069,-19.6,-10.000,-26.85,1770
_SM_ANGLEo	-62.3	D_GRID	495
GPS2	270218,142100,-7407.9131,-11315.9297,2,1.0,5,53.9,0.6,47.1,8,8.1

FREEZE	-0.04,-1.753,-1.860,2,1,0	ALTIM_TOP_PING	12.4,12.6
FINISH	-0.0,1.027297	_24V_AH	12.28,72.410
SM_CCo	5535,163.32,0.223,0,0,2204,300.18	_10V_AH	12.62,0.000
SM_GC	0.84,8.48,0.45,163.32,0.076,0.102,0.223,191,2802,2204,-7.89,-0.59,300.18,0,0,0,0,0,0,14.52,14.54,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	223	FG_AHR_10Vo	0.000
RAFOS	0,1519743668,15.032778,15.018888,91,66,65,60,52,51,609,186,215,204,227,120	MEM	280160
RAFOS_FIX	-7407.171387,-11315.152344,270218,151512,2,106,0.44	DATA_FILE_SIZE	20092,601
IRIDIUM_FIX	-7406.39,-11416.89,270218,123251	CAP_FILE_SIZE	78051,0
TT8_MAMPS	0.038199,0.286867	CFSIZE	1024409600,996507648
HUMID	44.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.77292	SOUNDSPEED	1444.6
TCM_TEMP	13.00	CURRENT	0.097,67.62,1
XPDR_PINGS	0	GPS	270218,155730,-7408.158,-11313.072,32,0.8,32,53.9,0.3,176.0,12,3.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	472	134.04	nil	0	0	0.00
Roll_motor	52	101	65.16	nil	0	0	0.00
VBD_pump_during_apogee	235	2665	7701.23	nil	0	0	0.00
VBD_pump_during_surface	163	222	446.48	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	5523	7	496.05
Iridium_during_xfer	205	188	474.10	nil	0	0	0.00
Transponder_ping	15	420	81.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	8	0.83
TT8	0	0	0.00
LPSleep	3879	2	113.09
TT8_Active	577	10	79.19
TT8_Sampling	1461	30	559.84
TT8_CF8	114	51	73.89
TT8_Kalman	0	0	0.00
Analog_circuits	1243	10	158.56
GPS_charging	0	0	0.00
Compass	866	6	73.67
RAFOS	720	1	13.63
Transponder	113	30	42.78

		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	11.60	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
21.2	22.80	9000.00	0.0	0.00	0.00	22.80	0.0	1.06	1.00
42.7	45.60	45.60	0.0	1.06	1.00	45.60	0.0	1.06	1.00
52.8	56.50	56.40	0.0	1.06	1.00	56.50	0.0	1.08	1.00
63.2	66.50	66.70	0.0	1.02	1.00	66.50	0.0	0.96	1.00

97.5	102.40	102.30	-4.8	1.03	1.00	102.40	-4.9	1.05	1.00
76.4	80.20	80.30	-3.9	1.05	1.00	80.20	-3.8	1.05	1.00
65.3	69.30	69.10	-3.8	1.03	1.00	69.30	-4.0	0.98	1.00
54.3	56.20	56.60	-2.3	1.09	1.00	56.20	-1.9	1.19	1.00
43.4	45.00	44.70	-1.3	1.11	1.00	45.00	-1.6	1.03	1.00
33.3	34.80	34.80	-1.5	1.02	1.00	34.80	-1.5	1.01	1.00
23.0	23.60	23.70	-0.7	1.05	1.00	23.60	-0.6	1.09	1.00
12.4	12.70	12.60	-0.2	1.06	1.00	12.70	-0.3	1.03	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
9	-1.04	-121.7	194	2807	2232	2130	0.0	0.0	0	122	0.00	0.00	-106.00	0.003	16390	0.000	0.000	194	2807	3890	3901	3879	0	0	0	0	0	0	14.60	12.95	14.59
124	-1.04	-121.7	195	2806	3902	3878	3.0	-4.2	11	142	12.00	1.95	0.00	0.000	2340	0.472	0.076	2380	3919	3897	3903	3891	0	0	0	0	0	0	13.97	14.35	14.28
346	-1.04	-121.7	2380	3919	3904	3903	34.1	-12.7	55	352	0.00	1.92	0.00	0.000	1030	0.000	0.047	2380	2786	3903	3904	3902	0	0	0	0	0	0	14.50	14.46	14.52
657	-1.04	-121.7	2381	2786	3904	3903	73.3	-12.6	87	662	0.00	2.35	0.00	0.000	516	0.000	0.051	2380	1401	3904	3904	3904	0	0	0	0	0	0	14.73	14.48	14.73
686	-1.04	-121.7	2381	1401	3905	3904	77.2	-12.3	93	693	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	14.57
997	-1.04	-121.7	2375	2805	3904	3905	116.7	-12.7	125	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2804	3904	3904	3904	0	0	0	0	0	0	14.80	14.80	14.80
1297	-1.04	-121.7	2376	2804	3905	3904	155.1	-12.1	155	1304	0.00	2.42	0.00	0.000	516	0.000	0.050	2375	1400	3903	3903	3904	0	0	0	0	0	0	14.82	14.49	14.81
1378	-1.04	-121.7	2376	1400	3905	3904	165.6	-12.4	171	1385	0.00	2.47	0.00	0.000	1030	0.000	0.070	2374	2818	3903	3903	3904	0	0	0	0	0	0	14.62	14.50	14.65
1689	-1.04	-121.7	2375	2818	3905	3905	203.2	-11.8	203	1695	0.00	1.95	0.00	0.000	260	0.000	0.092	2372	3902	3904	3904	3904	0	0	0	0	0	0	14.80	14.44	14.81
1729	-1.04	-121.7	2372	3902	3904	3906	208.2	-12.7	211	1736	0.00	1.88	0.00	0.000	1030	0.000	0.050	2373	2795	3903	3903	3904	0	0	0	0	0	0	14.59	14.56	14.61
2041	-1.04	-121.7	2372	2796	3902	3905	244.6	-11.9	243	2046	0.00	2.35	0.00	0.000	516	0.000	0.050	2372	1398	3903	3903	3904	0	0	0	0	0	0	14.85	14.54	14.85
2110	-1.04	-121.7	2373	1397	3905	3904	252.7	-11.5	257	2117	0.00	2.45	0.00	0.000	1030	0.000	0.069	2372	2804	3903	3903	3904	0	0	0	0	0	0	14.63	14.51	14.67
2421	-1.04	-121.7	2372	2805	3905	3904	288.4	-11.4	289	2428	0.00	2.00	0.00	0.000	260	0.000	0.091	2371	3917	3903	3903	3904	0	0	0	0	0	0	14.84	14.45	14.85
2522	-1.04	-121.7	2371	3918	3904	3905	300.9	-12.3	309	2528	0.00	1.90	0.00	0.000	1030	0.000	0.050	2371	2795	3904	3904	3904	0	0	0	0	0	0	14.62	14.57	14.62
2801	end dive: TARGET_DEPTH_EXCEEDED
state	2801	begin apogee
2805	-0.23	0.0	2372	2541	3905	3904	330.4	-10.0	326	2925	1.10	0.00	115.60	2.324	10246	0.266	0.000	2654	2541	3397	3402	3392	0	0	0	0	0	0	14.20	13.78	12.89
2926	end apogee: CONTROL_FINISHED_OK
state	2926	begin climb
2927	1.04	121.7	2656	2541	3403	3393	332.4	0.0	332	3057	1.40	2.78	119.70	2.665	10500	0.158	0.095	3057	3909	2912	2917	2907	0	0	0	0	0	0	13.71	13.24	12.28
3077	1.04	121.7	3058	3909	2917	2904	317.9	14.1	347	3083	0.00	2.55	0.00	0.000	1030	0.000	0.056	3067	2545	2908	2914	2903	0	0	0	0	0	0	13.52	13.46	13.54
3387	1.04	121.7	3067	2544	2909	2897	275.2	13.7	373	3394	0.00	2.53	0.00	0.000	260	0.000	0.096	3067	3907	2901	2907	2896	0	0	0	0	0	0	14.38	14.09	14.38
3443	1.04	121.7	3066	3908	2908	2898	266.3	16.7	384	3450	0.00	2.42	0.00	0.000	1030	0.000	0.057	3077	2539	2901	2906	2896	0	0	0	0	0	0	14.25	14.21	14.27
3749	1.04	121.7	3077	2539	2908	2896	223.1	13.8	415	3754	0.00	2.45	0.00	0.000	516	0.000	0.069	3088	1138	2901	2906	2896	0	0	0	0	0	0	14.62	14.35	14.62
3768	1.04	121.7	3085	1139	2907	2896	220.4	13.8	419	3774	0.00	2.53	0.00	0.000	1030	0.000	0.071	3088	2574	2901	2907	2895	0	0	0	0	0	0	14.48	14.37	14.51
4078	1.04	121.7	3088	2574	2908	2895	176.2	14.5	451	4084	0.00	2.53	0.00	0.000	516	0.000	0.067	3098	1150	2900	2906	2895	0	0	0	0	0	0	14.73	14.41	14.75
4098	1.04	121.7	3099	1151	2907	2896	173.4	13.8	455	4104	0.15	2.50	0.00	0.000	5126	0.288	0.073	3067	2551	2900	2907	2894	0	0	0	0	0	0	14.24	14.43	14.54
4408	1.04	121.7	3067	2551	2908	2895	133.8	12.4	487	4409	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2551	2901	2907	2895	0	0	0	0	0	0	14.78	14.78	14.78
4708	1.04	121.7	3068	2551	2908	2895	98.6	11.6	517	4709	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2551	2901	2907	2895	0	0	0	0	0	0	14.81	14.81	14.81
5008	1.04	121.7	3067	2551	2909	2896	62.8	12.4	547	5009	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2551	2901	2907	2895	0	0	0	0	0	0	14.83	14.83	14.83
5309	1.04	121.7	3066	2552	2914	2896	25.9	12.1	577	5315	0.00	2.42	0.00	0.000	516	0.000	0.068	3076	1147	2901	2907	2895	0	0	0	0	0	0	14.84	14.51	14.86
5330	1.04	121.7	3077	1147	2908	2896	23.0	14.0	581	5337	0.00	2.45	0.00	0.000	1030	0.000	0.071	3076	2557	2901	2907	2896	0	0	0	0	0	0	14.66	14.54	14.69
5509	end climb: SURFACE_DEPTH_REACHED
state	5509	begin surface coast
5520	end surface coast: CONTROL_FINISHED_OK
state	5520	begin surface