Glider dive log

ORBIS Jan18 * SG223 * Dive index * Mission links * Dive 747 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 223 HD_A 0.00375924 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0

MISSION 5 HD_B 0.0090143103 C_ROLL_DIVE 2300 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 747 HD_C 2.26105e-06 C_ROLL_CLIMB 2100 ALTIM_TOP_TURN_MARGIN 7

N_DIVES 0 HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 1.8

STOP_T 0 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 30 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 34 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LAT 4736 R_STBD_OVSHOOT 31 ALTIM_PULSE 1

D_ABORT 1020 TGT_DEFAULT_LON -12218 ROLL_AD_RATE 50 ALTIM_SENSITIVITY 4

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 0 XPDR_VALID 6

D_BOOST 110 SM_CC 350 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 900 INT_PRESSURE_YINT 0.25

D_PITCH 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_SAFE 500 COMM_SEQ 0 C_VBD 2560 MOTHERBOARD 4

D_CALL 2 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

SURFACE_URGENCY 0 N_NOCOMM 0 VBD_CNV -0.24529999 DEVICE2 -1

SURFACE_URGENCY_TRY 100 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE3 -1

SURFACE_URGENCY_FORCE 100 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_MISSION 420 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_ABORT 4320 CALL_WAIT 45 VBD_PUMP_AD_RATE_APOGEE 1.5 LOGGERS 1

T_TURN 225 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

T_TURN_SAMPINT -7 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 2 T_RSLEEP 120 LOITER_W_DBAND 1 COMPASS2_DEVICE 149

EXEC_DT 0 STROBE 0 LOITER_DBDW 200 PHONE_DEVICE 49

EXEC_T 10029665 RAFOS_PEAK_OFFSET -1 LOITER_D_NO_PUMP 500 GPS_DEVICE 64

EXEC_N 6 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 32

USE_BATHY 0 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 225 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044087539

D_OFFGRID 990 PITCH_MAX 3880 AH0_24V 350 SEABIRD_T_H 0.00063761615

T_WATCHDOG 10 C_PITCH 2870 AH0_10V 0 SEABIRD_T_I 2.5496534e-05

RELAUNCH 1 PITCH_DBAND 0.1 MINV_24V 0 SEABIRD_T_J 3.0755168e-06

APOGEE_PITCH -5 PITCH_CNV 0.0031256899 MINV_10V 0 SEABIRD_C_G -9.8995104

MAX_BUOY 110 P_OVSHOOT 0.039999999 MAXI_24V 2 SEABIRD_C_H 1.1242845

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_10V 2 SEABIRD_C_I -0.0021703816

GLIDE_SLOPE 45 PITCH_GAIN 22 FG_AHR_10V 0 SEABIRD_C_J 0.00023950715

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 53553 PITCH_MAXERRORS 1 PRESSURE_YINT -185.88379 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001081376 SC_NDIVE 1.0

NAV_MODE 2 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1

FERRY_MAX 45 ROLL_MIN 245 COMPASS_USE 4

KALMAN_USE 2 ROLL_MAX 3890 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_TGT 990 N_NOCOMM 0 SEABIRD_T_G 0.0044087539

AH0_10V 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_H 0.00063761615

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 49 SEABIRD_T_I 2.5496534e-05

ALTIM_BOTTOM_TURN_MARGIN 10 EXEC_DT 0 PHONE_SUPPLY -2 SEABIRD_T_J 3.0755168e-06

ALTIM_FREQUENCY 13 EXEC_N 6 PITCH_ADJ_DBAND 0 SIM_W 0

ALTIM_PING_DELTA 10 EXEC_P 2 PITCH_ADJ_GAIN 0 SM_CC 350

ALTIM_PING_DEPTH 0 EXEC_T 10029665 PITCH_AD_RATE 20 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FERRY_MAX 45 PITCH_CNV 0.0031256899 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 0

ALTIM_TOP_MIN_OBSTACLE 1.8 FILEMGR 2 PITCH_MAX 3880 SURFACE_URGENCY_FORCE 100

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 3 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 100

ALTIM_TOP_TURN_MARGIN 7 GLIDE_SLOPE 45 PITCH_MIN 225 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 GPS_DEVICE 64 PITCH_TIMEOUT 40 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_A 0.00375924 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HD_B 0.0090143103 PITCH_W_DBAND 0.5 T_ABORT 4320

CALL_WAIT 45 HD_C 2.26105e-06 PITCH_W_GAIN 2 T_BOOST 0

CAPMAXSIZE 10000 HEADING -1 PRESSURE_SLOPE 0.0001081376 T_DIVE 330

CAPUPLOAD 0 HEAD_ERRBAND 10 PRESSURE_YINT -185.88379 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 223 P_OVSHOOT_WITHG 0 T_MISSION 420

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_YINT 0.25 RAFOS_DEVICE 32 T_RSLEEP 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_PITCH 2870 LOGGERDEVICE1 53 RAFOS_MMODEM 0 T_TURN_SAMPINT -7

C_ROLL_CLIMB 2100 LOGGERDEVICE2 -1 RAFOS_PEAK_OFFSET -1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOGGERDEVICE3 -1 RELAUNCH 1 UNCOM_BLEED 200

C_VBD 2560 LOGGERDEVICE4 -1 RHO 1.0275 UPLOAD_DIVES_MAX 5

DBDW 0 LOGGERS 1 ROLL_ADJ_DBAND 0 USE_BATHY 0

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 0 ROLL_CNV 0.028270001 VBD_CNV -0.24529999

DEVICE3 -1 LOITER_W_DBAND 1 ROLL_DEG 40 VBD_DBAND 2

DEVICE4 -1 MASS 53553 ROLL_MAX 3890 VBD_LP_IGNORE 0

DEVICE5 -1 MASS_COMP 0 ROLL_MAXERRORS 0 VBD_MAX 3960

DEVICE6 -1 MAXI_10V 2 ROLL_MIN 245 VBD_MAXERRORS 5

DIVE 747 MAXI_24V 2 ROLL_TIMEOUT 30 VBD_MIN 900

D_ABORT 1020 MAX_BUOY 110 R_PORT_OVSHOOT 34 VBD_PUMP_AD_RATE_APOGEE 1.5

D_BOOST 110 MINV_10V 0 R_STBD_OVSHOOT 31 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 2 MINV_24V 0 SC_NDIVE 1.0 VBD_TIMEOUT 720

D_FINISH 10 MISSION 5 SC_PROFILE 3.0 W_ADJ_DBAND 2

D_FLARE 3 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 XPDR_DEVICE 24

D_NO_BLEED 500 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_INHIBIT 90

D_OFFGRID 990 NOCOMM_ACTION 163 SEABIRD_C_G -9.8995104 XPDR_VALID 6

D_PITCH 3 N_DIVES 0 SEABIRD_C_H 1.1242845

D_SAFE 500 N_FILEKB 8 SEABIRD_C_I -0.0021703816

D_SURF 2 N_GPS 100440 SEABIRD_C_J 0.00023950715

Pre-dive calculations and measurements:

GPS1 151218,213330,-7404.1880,-11252.8027,18,0.7,18,53.5,0.2,227.7,11,3.5 SPEED_LIMITS 0.100,0.239

_CALLS 1 TGT_NAME hold

_XMS_NAKs 0 TGT_LATLONG -7404.000,-11225.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 42.5,14260,-20.3,-10.000,-22.71,1648

_SM_ANGLEo -66.0 D_GRID 990

GPS2 151218,214102,-7404.1895,-11253.0391,2,0.7,3,53.5,1.0,275.8,12,8.0

Post-dive calculations and measurements:

FINISH1 739.9,1.027645,-7 _10V_AH 11.41,0.000

FINISH2 738.9 FG_AHR_24Vo 0.000

RAFOS_CLK 275 FG_AHR_10Vo 0.000

RAFOS_FIX -7404.148926,-11253.949219,151218,232313,0,1,0.07 MEM 280000

IRIDIUM_FIX -7404.37,-11256.48,151218,174230 DATA_FILE_SIZE 10106,299

TT8_MAMPS 0.04494,0.130326 CAP_FILE_SIZE 58464,0

HUMID 49.88 CFSIZE 1024409600,935018496

INTERNAL_PRESSURE 8.26789 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.40 SOUNDSPEED 1452.1

XPDR_PINGS 1 CURRENT 0.294,270.00,1

ALTIM_TOP_PING 747.8,12.3 GPS 151218,233513,-7404.149,-11253.949,0,1001.0,0,53.5,0.0,0.0,0,0.0

_24V_AH 11.19,246.559

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 413 71.30 nil 0 0 0.00

Roll_motor 60 104 70.64 nil 0 0 0.00

VBD_pump_during_apogee 340 3073 11703.92 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 417 3 15.21

Iridium_during_xfer 239 174 467.50 nil 0 0 0.00

Transponder_ping 15 420 74.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 5 10 0.65

TT8 0 0 0.00

LPSleep 5665 2 149.32

TT8_Active 384 13 60.57

TT8_Sampling 1031 34 409.43

TT8_CF8 266 52 160.70

TT8_Kalman 0 0 0.00

Analog_circuits 1023 10 127.31

GPS_charging 0 0 0.00

Compass 434 7 37.12

RAFOS 0 0 0.00

Transponder 109 30 37.35

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

10.5 12.10 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

23.2 24.50 9000.00 0.0 0.00 0.00 24.50 0.0 0.98 1.00

35.2 37.30 37.10 0.0 1.01 1.00 37.30 0.0 1.07 1.00

59.2 63.70 63.60 0.0 1.09 1.00 63.70 0.0 1.10 1.00

735.4 35.30 9000.00 0.0 -0.02 0.28 35.30 770.7 -0.04 1.00

747.4 14.90 9000.00 0.0 -0.06 0.84 14.90 762.3 -1.70 1.00

758.1 23.50 9000.00 0.0 -0.55 0.37 23.50 0.0 0.80 1.00

747.8 9.30 12.30 735.5 1.07 0.83 9.30 738.5 1.38 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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

14 -1.06 -107.1 212 2319 1158 1072 0.0 0.0 0 126 0.00 0.00 -105.25 0.002 16390 0.000 0.000 209 2319 2997 3003 2992 0 0 0 0 0 0 14.98 12.90 14.98

130 -1.06 -107.1 213 2320 3005 2993 3.3 -2.8 4 147 11.32 2.60 0.00 0.000 2564 0.413 0.073 2524 865 2998 3005 2992 0 0 0 0 0 0 14.15 14.54 14.57

197 -1.06 -107.1 2523 866 3006 2991 16.9 -15.2 14 203 0.00 2.60 0.00 0.000 1030 0.000 0.065 2515 2290 2998 3007 2990 0 0 0 0 0 0 14.57 14.48 14.62

550 -1.06 -107.1 2516 2291 3011 2987 67.2 -14.3 28 551 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2290 2998 3011 2986 0 0 0 0 0 0 15.15 15.18 15.17

883 -1.06 -107.1 2515 2291 3012 2986 115.1 -13.8 40 889 0.00 2.60 0.00 0.000 516 0.000 0.069 2515 892 2998 3012 2985 0 0 0 0 0 0 15.17 14.10 15.19

918 -1.06 -107.1 2515 892 3012 2985 120.1 -14.6 45 925 0.00 2.58 0.00 0.000 1030 0.000 0.061 2505 2299 2999 3013 2985 0 0 0 0 0 0 14.31 14.22 14.37

1278 -1.06 -107.1 2506 2300 3015 2985 171.2 -14.2 60 1283 0.00 2.60 0.00 0.000 516 0.000 0.068 2505 893 2998 3013 2984 0 0 0 0 0 0 15.14 14.14 15.16

1324 -1.06 -107.1 2506 894 3015 2985 178.5 -15.1 67 1332 0.12 2.60 0.00 0.000 3078 0.262 0.061 2524 2303 2998 3013 2984 0 0 0 0 0 0 13.75 14.19 13.95

1670 -1.06 -107.1 2526 2304 3016 2984 225.0 -13.4 77 1671 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2304 2999 3014 2984 0 0 0 0 0 0 15.14 15.17 15.16

2003 -1.06 -107.1 2525 2304 3016 2984 267.1 -12.4 83 2004 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2303 2998 3014 2983 0 0 0 0 0 0 15.16 15.19 15.19

2339 -1.06 -107.1 2525 2304 3016 2984 308.4 -12.4 89 2346 0.00 2.60 0.00 0.000 516 0.000 0.067 2524 891 2998 3014 2983 0 0 0 0 0 0 15.16 14.02 15.19

2402 -1.06 -107.1 2526 891 3017 2984 316.5 -12.7 98 2408 0.00 2.60 0.00 0.000 1030 0.000 0.060 2515 2300 2999 3015 2983 0 0 0 0 0 0 14.16 14.09 14.23

2788 -1.06 -107.1 2515 2301 3015 2983 366.5 -13.1 111 2789 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2300 2999 3015 2983 0 0 0 0 0 0 14.83 14.85 14.85

3124 -1.06 -107.1 2515 2301 3015 2983 411.1 -13.2 117 3130 0.00 2.60 0.00 0.000 516 0.000 0.067 2515 899 2998 3014 2982 0 0 0 0 0 0 14.83 14.00 14.85

3172 -1.06 -107.1 2515 900 3015 2983 417.7 -13.6 124 3179 0.00 2.60 0.00 0.000 1030 0.000 0.060 2505 2307 2998 3015 2982 0 0 0 0 0 0 14.14 14.06 14.20

3515 -1.06 -107.1 2504 2308 3015 2982 461.9 -12.7 131 3521 0.00 2.65 0.00 0.000 516 0.000 0.067 2505 895 2998 3015 2982 0 0 0 0 0 0 15.16 13.90 15.18

3550 -1.06 -107.1 2506 897 3017 2983 466.4 -13.2 136 3557 0.12 2.62 0.00 0.000 3078 0.262 0.062 2524 2308 2998 3015 2982 0 0 0 0 0 0 13.67 14.06 13.88

3907 -1.06 -107.1 2523 2308 3015 2983 506.9 -11.1 145 3908 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2308 2999 3016 2982 0 0 0 0 0 0 15.16 15.19 15.18

4243 -1.06 -107.1 2522 2309 3016 2983 548.6 -12.8 151 4249 0.00 2.65 0.00 0.000 516 0.000 0.067 2524 902 2999 3016 2982 0 0 0 0 0 0 15.16 13.86 15.18

4335 -1.06 -107.1 2525 903 3018 2983 561.7 -14.6 164 4340 0.00 2.58 0.00 0.000 1030 0.000 0.062 2515 2304 2999 3016 2982 0 0 0 0 0 0 14.28 14.12 14.33

4691 -1.06 -107.1 2517 2305 3018 2983 608.6 -12.3 173 4698 0.00 2.78 0.00 0.000 260 0.000 0.104 2505 3721 2998 3016 2981 0 0 0 0 0 0 15.16 13.93 15.18

4754 -1.06 -107.1 2505 3722 3017 2983 615.7 -12.0 182 4760 0.00 2.55 0.00 0.000 1030 0.000 0.043 2505 2290 2999 3017 2981 0 0 0 0 0 0 14.27 14.23 14.29

5139 -1.06 -107.1 2506 2291 3019 2982 661.1 -12.1 195 5145 0.00 2.60 0.00 0.000 516 0.000 0.067 2505 903 2999 3017 2982 0 0 0 0 0 0 15.16 13.88 15.18

5244 -1.06 -107.1 2504 904 3017 2982 674.3 -12.4 210 5255 0.10 2.62 0.00 0.000 3078 0.267 0.063 2529 2305 2999 3017 2981 0 0 0 0 0 0 13.66 14.02 14.05

5588 -1.06 -107.1 2527 2306 3016 2982 711.4 -10.7 217 5589 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2306 2999 3017 2981 0 0 0 0 0 0 14.82 14.85 14.84

5924 -1.06 -107.1 2529 2306 3017 2981 747.4 -11.1 223 5925 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2306 2999 3017 2981 0 0 0 0 0 0 14.82 14.85 14.85

6260 -1.06 -107.1 2531 2306 3021 2981 757.7 -0.0 229 6266 0.00 2.60 0.00 0.000 548 0.000 0.066 2530 902 2998 3018 2979 0 0 0 0 0 0 15.16 13.94 15.18

6382 end dive: NO_VERTICAL_VELOCITY

state 6382 begin apogee

6392 -0.23 0.0 2530 2119 3019 2981 757.8 0.0 247 6517 0.93 0.00 123.32 3.074 10246 0.154 0.000 2797 2119 2559 2589 2529 0 0 0 0 0 0 13.97 13.45 12.26

6518 end apogee: CONTROL_FINISHED_OK

state 6518 begin climb

6521 1.06 107.1 2798 2119 2591 2529 758.0 0.0 249 6673 1.48 3.08 145.27 2.985 10500 0.171 0.095 3203 3509 2122 2164 2080 0 0 0 0 0 0 13.38 12.21 11.24

6742 1.12 160.3 3203 3509 2163 2074 748.6 6.7 284 6819 0.00 2.78 71.68 2.905 9254 0.000 0.041 3210 2111 1906 1954 1859 0 0 0 0 0 0 12.97 12.93 11.19

6879 end climb: SURFACE_OBSTACLE_DETECTED

state 6879 begin subsurface finish

6889 -0.01 -7.4 3209 2107 1952 1852 739.9 6.1 297 6899 1.35 2.95 -1.80 0.056 20996 0.180 0.099 2871 698 2605 2645 2566 0 0 0 0 0 0 12.74 11.58 12.86

6899 end subsurface finish: CONTROL_FINISHED_OK

state 6899 begin surface

ID	223	HD_A	0.00375924	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0
MISSION	5	HD_B	0.0090143103	C_ROLL_DIVE	2300	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	747	HD_C	2.26105e-06	C_ROLL_CLIMB	2100	ALTIM_TOP_TURN_MARGIN	7
N_DIVES	0	HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	1.8
STOP_T	0	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	30	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	34	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LAT	4736	R_STBD_OVSHOOT	31	ALTIM_PULSE	1
D_ABORT	1020	TGT_DEFAULT_LON	-12218	ROLL_AD_RATE	50	ALTIM_SENSITIVITY	4
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	0	XPDR_VALID	6
D_BOOST	110	SM_CC	350	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	900	INT_PRESSURE_YINT	0.25
D_PITCH	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_SAFE	500	COMM_SEQ	0	C_VBD	2560	MOTHERBOARD	4
D_CALL	2	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
SURFACE_URGENCY	0	N_NOCOMM	0	VBD_CNV	-0.24529999	DEVICE2	-1
SURFACE_URGENCY_TRY	100	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE3	-1
SURFACE_URGENCY_FORCE	100	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_MISSION	420	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_ABORT	4320	CALL_WAIT	45	VBD_PUMP_AD_RATE_APOGEE	1.5	LOGGERS	1
T_TURN	225	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
T_TURN_SAMPINT	-7	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	2	T_RSLEEP	120	LOITER_W_DBAND	1	COMPASS2_DEVICE	149
EXEC_DT	0	STROBE	0	LOITER_DBDW	200	PHONE_DEVICE	49
EXEC_T	10029665	RAFOS_PEAK_OFFSET	-1	LOITER_D_NO_PUMP	500	GPS_DEVICE	64
EXEC_N	6	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	32
USE_BATHY	0	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	225	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044087539
D_OFFGRID	990	PITCH_MAX	3880	AH0_24V	350	SEABIRD_T_H	0.00063761615
T_WATCHDOG	10	C_PITCH	2870	AH0_10V	0	SEABIRD_T_I	2.5496534e-05
RELAUNCH	1	PITCH_DBAND	0.1	MINV_24V	0	SEABIRD_T_J	3.0755168e-06
APOGEE_PITCH	-5	PITCH_CNV	0.0031256899	MINV_10V	0	SEABIRD_C_G	-9.8995104
MAX_BUOY	110	P_OVSHOOT	0.039999999	MAXI_24V	2	SEABIRD_C_H	1.1242845
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_10V	2	SEABIRD_C_I	-0.0021703816
GLIDE_SLOPE	45	PITCH_GAIN	22	FG_AHR_10V	0	SEABIRD_C_J	0.00023950715
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	53553	PITCH_MAXERRORS	1	PRESSURE_YINT	-185.88379	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001081376	SC_NDIVE	1.0
NAV_MODE	2	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1
FERRY_MAX	45	ROLL_MIN	245	COMPASS_USE	4
KALMAN_USE	2	ROLL_MAX	3890	ALTIM_PING_FIT	883

GPS1	151218,213330,-7404.1880,-11252.8027,18,0.7,18,53.5,0.2,227.7,11,3.5	SPEED_LIMITS	0.100,0.239
_CALLS	1	TGT_NAME	hold
_XMS_NAKs	0	TGT_LATLONG	-7404.000,-11225.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	42.5,14260,-20.3,-10.000,-22.71,1648
_SM_ANGLEo	-66.0	D_GRID	990
GPS2	151218,214102,-7404.1895,-11253.0391,2,0.7,3,53.5,1.0,275.8,12,8.0

FINISH1	739.9,1.027645,-7	_10V_AH	11.41,0.000
FINISH2	738.9	FG_AHR_24Vo	0.000
RAFOS_CLK	275	FG_AHR_10Vo	0.000
RAFOS_FIX	-7404.148926,-11253.949219,151218,232313,0,1,0.07	MEM	280000
IRIDIUM_FIX	-7404.37,-11256.48,151218,174230	DATA_FILE_SIZE	10106,299
TT8_MAMPS	0.04494,0.130326	CAP_FILE_SIZE	58464,0
HUMID	49.88	CFSIZE	1024409600,935018496
INTERNAL_PRESSURE	8.26789	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.40	SOUNDSPEED	1452.1
XPDR_PINGS	1	CURRENT	0.294,270.00,1
ALTIM_TOP_PING	747.8,12.3	GPS	151218,233513,-7404.149,-11253.949,0,1001.0,0,53.5,0.0,0.0,0,0.0
_24V_AH	11.19,246.559

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	413	71.30	nil	0	0	0.00
Roll_motor	60	104	70.64	nil	0	0	0.00
VBD_pump_during_apogee	340	3073	11703.92	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	417	3	15.21
Iridium_during_xfer	239	174	467.50	nil	0	0	0.00
Transponder_ping	15	420	74.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	5	10	0.65
TT8	0	0	0.00
LPSleep	5665	2	149.32
TT8_Active	384	13	60.57
TT8_Sampling	1031	34	409.43
TT8_CF8	266	52	160.70
TT8_Kalman	0	0	0.00
Analog_circuits	1023	10	127.31
GPS_charging	0	0	0.00
Compass	434	7	37.12
RAFOS	0	0	0.00
Transponder	109	30	37.35

		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
10.5	12.10	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
23.2	24.50	9000.00	0.0	0.00	0.00	24.50	0.0	0.98	1.00
35.2	37.30	37.10	0.0	1.01	1.00	37.30	0.0	1.07	1.00
59.2	63.70	63.60	0.0	1.09	1.00	63.70	0.0	1.10	1.00
735.4	35.30	9000.00	0.0	-0.02	0.28	35.30	770.7	-0.04	1.00
747.4	14.90	9000.00	0.0	-0.06	0.84	14.90	762.3	-1.70	1.00
758.1	23.50	9000.00	0.0	-0.55	0.37	23.50	0.0	0.80	1.00

747.8	9.30	12.30	735.5	1.07	0.83	9.30	738.5	1.38	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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
14	-1.06	-107.1	212	2319	1158	1072	0.0	0.0	0	126	0.00	0.00	-105.25	0.002	16390	0.000	0.000	209	2319	2997	3003	2992	0	0	0	0	0	0	14.98	12.90	14.98
130	-1.06	-107.1	213	2320	3005	2993	3.3	-2.8	4	147	11.32	2.60	0.00	0.000	2564	0.413	0.073	2524	865	2998	3005	2992	0	0	0	0	0	0	14.15	14.54	14.57
197	-1.06	-107.1	2523	866	3006	2991	16.9	-15.2	14	203	0.00	2.60	0.00	0.000	1030	0.000	0.065	2515	2290	2998	3007	2990	0	0	0	0	0	0	14.57	14.48	14.62
550	-1.06	-107.1	2516	2291	3011	2987	67.2	-14.3	28	551	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2290	2998	3011	2986	0	0	0	0	0	0	15.15	15.18	15.17
883	-1.06	-107.1	2515	2291	3012	2986	115.1	-13.8	40	889	0.00	2.60	0.00	0.000	516	0.000	0.069	2515	892	2998	3012	2985	0	0	0	0	0	0	15.17	14.10	15.19
918	-1.06	-107.1	2515	892	3012	2985	120.1	-14.6	45	925	0.00	2.58	0.00	0.000	1030	0.000	0.061	2505	2299	2999	3013	2985	0	0	0	0	0	0	14.31	14.22	14.37
1278	-1.06	-107.1	2506	2300	3015	2985	171.2	-14.2	60	1283	0.00	2.60	0.00	0.000	516	0.000	0.068	2505	893	2998	3013	2984	0	0	0	0	0	0	15.14	14.14	15.16
1324	-1.06	-107.1	2506	894	3015	2985	178.5	-15.1	67	1332	0.12	2.60	0.00	0.000	3078	0.262	0.061	2524	2303	2998	3013	2984	0	0	0	0	0	0	13.75	14.19	13.95
1670	-1.06	-107.1	2526	2304	3016	2984	225.0	-13.4	77	1671	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2304	2999	3014	2984	0	0	0	0	0	0	15.14	15.17	15.16
2003	-1.06	-107.1	2525	2304	3016	2984	267.1	-12.4	83	2004	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2303	2998	3014	2983	0	0	0	0	0	0	15.16	15.19	15.19
2339	-1.06	-107.1	2525	2304	3016	2984	308.4	-12.4	89	2346	0.00	2.60	0.00	0.000	516	0.000	0.067	2524	891	2998	3014	2983	0	0	0	0	0	0	15.16	14.02	15.19
2402	-1.06	-107.1	2526	891	3017	2984	316.5	-12.7	98	2408	0.00	2.60	0.00	0.000	1030	0.000	0.060	2515	2300	2999	3015	2983	0	0	0	0	0	0	14.16	14.09	14.23
2788	-1.06	-107.1	2515	2301	3015	2983	366.5	-13.1	111	2789	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2300	2999	3015	2983	0	0	0	0	0	0	14.83	14.85	14.85
3124	-1.06	-107.1	2515	2301	3015	2983	411.1	-13.2	117	3130	0.00	2.60	0.00	0.000	516	0.000	0.067	2515	899	2998	3014	2982	0	0	0	0	0	0	14.83	14.00	14.85
3172	-1.06	-107.1	2515	900	3015	2983	417.7	-13.6	124	3179	0.00	2.60	0.00	0.000	1030	0.000	0.060	2505	2307	2998	3015	2982	0	0	0	0	0	0	14.14	14.06	14.20
3515	-1.06	-107.1	2504	2308	3015	2982	461.9	-12.7	131	3521	0.00	2.65	0.00	0.000	516	0.000	0.067	2505	895	2998	3015	2982	0	0	0	0	0	0	15.16	13.90	15.18
3550	-1.06	-107.1	2506	897	3017	2983	466.4	-13.2	136	3557	0.12	2.62	0.00	0.000	3078	0.262	0.062	2524	2308	2998	3015	2982	0	0	0	0	0	0	13.67	14.06	13.88
3907	-1.06	-107.1	2523	2308	3015	2983	506.9	-11.1	145	3908	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2308	2999	3016	2982	0	0	0	0	0	0	15.16	15.19	15.18
4243	-1.06	-107.1	2522	2309	3016	2983	548.6	-12.8	151	4249	0.00	2.65	0.00	0.000	516	0.000	0.067	2524	902	2999	3016	2982	0	0	0	0	0	0	15.16	13.86	15.18
4335	-1.06	-107.1	2525	903	3018	2983	561.7	-14.6	164	4340	0.00	2.58	0.00	0.000	1030	0.000	0.062	2515	2304	2999	3016	2982	0	0	0	0	0	0	14.28	14.12	14.33
4691	-1.06	-107.1	2517	2305	3018	2983	608.6	-12.3	173	4698	0.00	2.78	0.00	0.000	260	0.000	0.104	2505	3721	2998	3016	2981	0	0	0	0	0	0	15.16	13.93	15.18
4754	-1.06	-107.1	2505	3722	3017	2983	615.7	-12.0	182	4760	0.00	2.55	0.00	0.000	1030	0.000	0.043	2505	2290	2999	3017	2981	0	0	0	0	0	0	14.27	14.23	14.29
5139	-1.06	-107.1	2506	2291	3019	2982	661.1	-12.1	195	5145	0.00	2.60	0.00	0.000	516	0.000	0.067	2505	903	2999	3017	2982	0	0	0	0	0	0	15.16	13.88	15.18
5244	-1.06	-107.1	2504	904	3017	2982	674.3	-12.4	210	5255	0.10	2.62	0.00	0.000	3078	0.267	0.063	2529	2305	2999	3017	2981	0	0	0	0	0	0	13.66	14.02	14.05
5588	-1.06	-107.1	2527	2306	3016	2982	711.4	-10.7	217	5589	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2306	2999	3017	2981	0	0	0	0	0	0	14.82	14.85	14.84
5924	-1.06	-107.1	2529	2306	3017	2981	747.4	-11.1	223	5925	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2306	2999	3017	2981	0	0	0	0	0	0	14.82	14.85	14.85
6260	-1.06	-107.1	2531	2306	3021	2981	757.7	-0.0	229	6266	0.00	2.60	0.00	0.000	548	0.000	0.066	2530	902	2998	3018	2979	0	0	0	0	0	0	15.16	13.94	15.18
6382	end dive: NO_VERTICAL_VELOCITY
state	6382	begin apogee
6392	-0.23	0.0	2530	2119	3019	2981	757.8	0.0	247	6517	0.93	0.00	123.32	3.074	10246	0.154	0.000	2797	2119	2559	2589	2529	0	0	0	0	0	0	13.97	13.45	12.26
6518	end apogee: CONTROL_FINISHED_OK
state	6518	begin climb
6521	1.06	107.1	2798	2119	2591	2529	758.0	0.0	249	6673	1.48	3.08	145.27	2.985	10500	0.171	0.095	3203	3509	2122	2164	2080	0	0	0	0	0	0	13.38	12.21	11.24
6742	1.12	160.3	3203	3509	2163	2074	748.6	6.7	284	6819	0.00	2.78	71.68	2.905	9254	0.000	0.041	3210	2111	1906	1954	1859	0	0	0	0	0	0	12.97	12.93	11.19
6879	end climb: SURFACE_OBSTACLE_DETECTED
state	6879	begin subsurface finish
6889	-0.01	-7.4	3209	2107	1952	1852	739.9	6.1	297	6899	1.35	2.95	-1.80	0.056	20996	0.180	0.099	2871	698	2605	2645	2566	0	0	0	0	0	0	12.74	11.58	12.86
6899	end subsurface finish: CONTROL_FINISHED_OK
state	6899	begin surface