Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 110 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 110 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 36 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 600 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 200 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 240 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 3 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2330 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0025631799 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0154106 ROLL_DEG 80 COMPASS_USE 4

HD_C 6.0999999e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 600 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 653.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0025631799 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0154106 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 6.0999999e-05 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 200

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 240

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2330 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 110 MINV_10V 11 R_PORT_OVSHOOT 36 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 051018,080631,7348.7822,-14703.0596,105,0.8,106,18.2,0.2,1.9,10,3.1 SPEED_LIMITS 0.173,0.179

_CALLS 2 TGT_NAME AB1

_XMS_NAKs 0 TGT_LATLONG 7337.500,-14725.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -1.58 MHEAD_RNG_PITCHd_Wd 170.6,23867,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -75.0 D_GRID 600

GPS2 051018,081603,7348.8242,-14703.1807,4,0.6,6,18.2,0.0,0.0,12,5.5

Post-dive calculations and measurements:

FINISH -1.4,1.020725 _24V_AH 13.05,52.976

SM_CCo 9099,0.00,0.000,0,0,500,577.44 _10V_AH 13.03,0.000

SM_GC -0.33,9.55,4.35,0.00,0.131,0.041,0.000,203,2415,500,-6.62,1.74,577.44,0,0,0,0,0,0,14.14,14.21,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 567 FG_AHR_10Vo 0.000

RAFOS_FIX 7347.902832,-14703.148438,051018,101043,0,1,0.19 MEM 334544

IRIDIUM_FIX 7353.85,-14646.54,051018,080911 DATA_FILE_SIZE 30052,847

TT8_MAMPS 0.041944,0.773717 CAP_FILE_SIZE 93798,0

HUMID 47.79 CFSIZE 2097872896,2075688960

INTERNAL_PRESSURE 8.88035 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1447.5

XPDR_PINGS 28 CURRENT 0.066,339.14,1

ALTIM_TOP_PING 19.8,5.7 GPS 051018,104945,7348.207,-14703.695,30,1.5,32,18.2,0.8,46.6,4,6.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 453 135.87 nil 0 0 0.00

Roll_motor 127 85 142.09 nil 0 0 0.00

VBD_pump_during_apogee 632 2135 17616.54 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 9090 20 2440.70

Iridium_during_xfer 356 180 838.99 nil 0 0 0.00

Transponder_ping 7 420 39.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 6 1.55

TT8 0 0 0.00

LPSleep 6704 2 201.81

TT8_Active 772 11 116.40

TT8_Sampling 2010 31 813.30

TT8_CF8 211 36 99.98

TT8_Kalman 0 0 0.00

Analog_circuits 1842 10 261.71

GPS_charging 0 0 0.00

Compass 1216 6 106.79

RAFOS 0 0 0.00

Transponder 2 30 0.98

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

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 8 begin dive

11 -0.92 -146.0 198 2403 461 534 0.0 0.0 0 83 0.00 0.00 -71.15 0.003 16386 0.000 0.000 198 2405 1935 2036 1834 0 0 0 0 0 0 14.40 28.83 14.42

86 -0.92 -146.0 200 2403 2037 1838 3.5 -11.7 7 130 9.60 5.00 -27.05 0.005 18948 0.454 0.075 2047 718 3449 3571 3328 0 0 0 0 0 0 14.02 13.67 14.27

340 -0.92 -146.0 2048 721 3572 3332 86.1 -19.6 57 352 0.00 4.97 0.00 0.000 1030 0.000 0.060 2028 2400 3450 3571 3330 0 0 0 0 0 0 14.35 14.27 14.35

530 -0.92 -146.0 2028 2401 3570 3331 126.8 -20.0 77 531 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2401 3448 3570 3326 0 0 0 0 0 0 14.52 14.53 14.54

711 -0.92 -146.0 2028 2401 3570 3330 162.5 -19.9 95 711 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2401 3450 3570 3330 0 0 0 0 0 0 14.55 14.57 14.57

890 -0.92 -146.0 2029 2401 3571 3331 196.9 -18.1 113 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2400 3450 3570 3330 0 0 0 0 0 0 14.57 14.59 14.59

1071 -0.92 -146.0 2029 2401 3571 3331 227.5 -15.8 131 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2400 3450 3570 3330 0 0 0 0 0 0 14.59 14.62 14.62

1260 -0.92 -146.0 2030 2401 3571 3331 253.4 -12.9 149 1271 0.00 4.93 0.00 0.000 516 0.000 0.070 2038 720 3450 3570 3331 0 0 0 0 0 0 14.65 14.45 14.66

1296 -0.92 -146.0 2038 720 3569 3331 258.2 -12.8 156 1303 0.00 4.90 0.00 0.000 1030 0.000 0.058 2019 2404 3450 3569 3331 0 0 0 0 0 0 14.52 14.45 14.53

1601 -0.92 -146.0 2019 2404 3569 3338 296.2 -12.2 172 1602 0.00 0.00 0.00 0.000 6 0.000 0.000 2019 2404 3450 3569 3331 0 0 0 0 0 0 14.70 14.72 14.71

1901 -0.92 -146.0 2019 2404 3568 3332 332.8 -12.1 187 1911 0.00 4.90 0.00 0.000 516 0.000 0.070 2027 721 3449 3568 3330 0 0 0 0 0 0 14.73 14.54 14.75

1941 -0.92 -146.0 2027 722 3569 3332 337.8 -12.8 195 1951 0.00 4.85 0.00 0.000 1030 0.000 0.057 2008 2401 3449 3567 3331 0 0 0 0 0 0 14.64 14.56 14.65

2261 -0.92 -146.0 2007 2402 3567 3332 377.7 -12.3 214 2262 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2401 3449 3567 3331 0 0 0 0 0 0 14.76 14.78 14.78

2561 -0.92 -146.0 2007 2402 3567 3332 414.9 -12.4 229 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2401 3449 3567 3331 0 0 0 0 0 0 14.79 14.81 14.81

2861 -0.92 -146.0 2009 2402 3568 3332 451.4 -12.0 244 2871 0.00 4.88 0.00 0.000 516 0.000 0.070 2012 718 3448 3566 3331 0 0 0 0 0 0 14.81 14.61 14.82

2921 -0.92 -146.0 2012 719 3567 3332 459.1 -12.9 256 2931 0.17 4.85 0.00 0.000 3078 0.311 0.060 2028 2402 3449 3566 3332 0 0 0 0 0 0 14.48 14.59 14.67

3241 -0.92 -146.0 2029 2402 3567 3332 494.3 -10.8 275 3242 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2402 3449 3566 3332 0 0 0 0 0 0 14.83 14.85 14.84

3541 -0.92 -146.0 2029 2402 3567 3332 526.2 -10.5 290 3547 0.00 4.85 0.00 0.000 516 0.000 0.070 2028 724 3449 3566 3332 0 0 0 0 0 0 14.84 14.64 14.86

3572 -0.92 -146.0 2029 724 3566 3334 529.8 -12.1 296 3583 0.00 4.82 0.00 0.000 1030 0.000 0.058 2009 2405 3448 3565 3332 0 0 0 0 0 0 14.73 14.65 14.74

3882 -0.92 -146.0 2009 2405 3565 3333 565.1 -11.3 313 3883 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2405 3449 3565 3333 0 0 0 0 0 0 14.85 14.88 14.87

4183 -0.92 -146.0 2010 2406 3566 3334 598.6 -11.1 328 4192 0.00 4.85 0.00 0.000 516 0.000 0.068 2012 721 3449 3565 3333 0 0 0 0 0 0 14.86 14.67 14.88

4195 end dive: TARGET_DEPTH_EXCEEDED

state 4195 begin apogee

4205 -0.11 0.0 1996 2214 3566 3334 600.3 -11.1 331 4343 1.17 0.00 135.73 2.135 10246 0.304 0.000 2289 2214 2855 2931 2780 0 0 0 0 0 0 14.53 13.98 13.22

4344 end apogee: CONTROL_FINISHED_OK

state 4344 begin climb

4347 0.92 146.0 2290 2214 2929 2780 603.4 0.0 338 4498 1.10 0.00 139.85 2.039 10502 0.158 0.000 2616 2213 2254 2276 2233 0 0 0 0 0 0 13.92 13.74 13.05

4783 0.92 146.0 2616 2214 2273 2217 527.1 20.1 381 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2213 2244 2272 2216 0 0 0 0 0 0 14.35 14.38 14.38

5083 0.92 146.0 2616 2214 2272 2212 467.4 19.8 396 5092 0.00 5.05 0.00 0.000 516 0.000 0.074 2638 521 2242 2274 2211 0 0 0 0 0 0 14.51 14.32 14.53

5117 0.92 146.0 2638 522 2270 2213 460.2 21.5 403 5125 0.00 4.90 0.00 0.000 1030 0.000 0.055 2632 2200 2243 2268 2218 0 0 0 0 0 0 14.40 14.34 14.42

5423 0.92 146.0 2633 2201 2270 2211 397.3 20.4 419 5423 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2200 2239 2268 2210 0 0 0 0 0 0 14.62 14.64 14.63

5723 0.92 146.0 2632 2201 2269 2210 336.9 19.8 434 5723 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2200 2238 2268 2209 0 0 0 0 0 0 14.70 14.70 14.70

6023 0.92 146.0 2633 2201 2270 2209 280.4 18.0 449 6023 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2201 2238 2268 2208 0 0 0 0 0 0 14.71 14.74 14.74

6323 0.92 146.0 2633 2201 2270 2208 230.9 14.7 470 6334 0.00 4.90 0.00 0.000 516 0.000 0.073 2652 525 2238 2269 2207 0 0 0 0 0 0 14.74 14.55 14.76

6374 0.92 146.0 2648 525 2270 2207 223.3 14.4 480 6385 0.00 4.80 0.00 0.000 1030 0.000 0.053 2649 2204 2237 2268 2206 0 0 0 0 0 0 14.64 14.57 14.66

6565 0.92 146.0 2649 2204 2270 2205 202.1 9.5 500 6565 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2204 2237 2269 2205 0 0 0 0 0 0 14.75 14.77 14.77

6745 0.97 146.0 2649 2205 2269 2205 186.1 8.2 518 6746 0.00 0.00 0.00 0.000 70 0.000 0.000 2649 2204 2235 2269 2201 0 0 0 0 0 0 14.76 14.78 14.78

6925 1.05 146.0 2649 2205 2270 2205 172.1 7.2 536 6936 0.00 4.88 0.00 0.000 580 0.000 0.070 2669 522 2236 2269 2204 0 0 0 0 0 0 14.77 14.57 14.78

6966 1.11 146.0 2668 522 2268 2205 169.0 8.0 544 6977 0.00 4.80 0.00 0.000 1094 0.000 0.051 2666 2209 2236 2268 2204 0 0 0 0 0 0 14.66 14.60 14.68

7156 1.31 212.2 2667 2209 2270 2204 156.4 5.9 564 7219 0.25 0.00 56.50 1.638 10534 0.164 0.000 2745 2208 1985 2017 1953 0 0 0 0 0 0 14.55 14.33 13.69

7396 1.31 212.2 2743 2209 2009 1946 128.8 13.0 590 7396 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2208 1979 2013 1945 0 0 0 0 0 0 14.57 14.59 14.59

7576 1.31 212.2 2745 2210 2012 1943 107.4 11.1 608 7587 0.00 5.00 0.00 0.000 516 0.000 0.071 2765 518 1975 2008 1943 0 0 0 0 0 0 14.61 14.42 14.62

7693 1.33 212.2 2765 518 2006 1944 94.9 9.5 631 7701 0.00 4.88 0.00 0.000 1094 0.000 0.054 2761 2207 1973 2005 1942 0 0 0 0 0 0 14.52 14.45 14.53

7877 1.55 287.6 2760 2207 2008 1940 81.8 5.3 650 7955 0.20 5.18 64.62 1.545 10532 0.159 0.086 2809 3889 1677 1709 1646 0 0 0 0 0 0 14.42 14.16 13.60

8182 1.87 391.2 2810 3889 1704 1641 55.7 3.6 709 8280 0.32 4.88 86.38 1.479 11302 0.152 0.045 2926 2198 1255 1280 1230 0 0 0 0 0 0 14.27 14.33 13.46

8465 2.07 458.3 2926 2199 1275 1219 35.6 5.8 746 8531 0.20 5.28 54.30 1.431 10532 0.148 0.083 2990 3890 980 992 968 0 0 0 0 0 0 14.18 13.95 13.50

8756 2.49 599.9 2991 3891 988 965 28.3 1.2 803 8861 0.38 4.90 94.88 1.418 11302 0.138 0.039 3122 2190 497 475 519 0 0 0 0 0 0 14.20 14.26 13.42

9036 2.49 599.9 3123 2191 475 510 2.7 9.9 840 9047 0.00 5.22 0.00 0.000 260 0.000 0.082 3123 3886 490 472 509 0 0 0 0 0 0 14.32 14.12 14.34

9050 end climb: SURFACE_DEPTH_REACHED

state 9050 begin surface coast

9070 end surface coast: CONTROL_FINISHED_OK

state 9070 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	110	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	36	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	600	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	200	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	240	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	3	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2330	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0025631799	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0154106	ROLL_DEG	80	COMPASS_USE	4
HD_C	6.0999999e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	051018,080631,7348.7822,-14703.0596,105,0.8,106,18.2,0.2,1.9,10,3.1	SPEED_LIMITS	0.173,0.179
_CALLS	2	TGT_NAME	AB1
_XMS_NAKs	0	TGT_LATLONG	7337.500,-14725.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-1.58	MHEAD_RNG_PITCHd_Wd	170.6,23867,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-75.0	D_GRID	600
GPS2	051018,081603,7348.8242,-14703.1807,4,0.6,6,18.2,0.0,0.0,12,5.5

FINISH	-1.4,1.020725	_24V_AH	13.05,52.976
SM_CCo	9099,0.00,0.000,0,0,500,577.44	_10V_AH	13.03,0.000
SM_GC	-0.33,9.55,4.35,0.00,0.131,0.041,0.000,203,2415,500,-6.62,1.74,577.44,0,0,0,0,0,0,14.14,14.21,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	567	FG_AHR_10Vo	0.000
RAFOS_FIX	7347.902832,-14703.148438,051018,101043,0,1,0.19	MEM	334544
IRIDIUM_FIX	7353.85,-14646.54,051018,080911	DATA_FILE_SIZE	30052,847
TT8_MAMPS	0.041944,0.773717	CAP_FILE_SIZE	93798,0
HUMID	47.79	CFSIZE	2097872896,2075688960
INTERNAL_PRESSURE	8.88035	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1447.5
XPDR_PINGS	28	CURRENT	0.066,339.14,1
ALTIM_TOP_PING	19.8,5.7	GPS	051018,104945,7348.207,-14703.695,30,1.5,32,18.2,0.8,46.6,4,6.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	453	135.87	nil	0	0	0.00
Roll_motor	127	85	142.09	nil	0	0	0.00
VBD_pump_during_apogee	632	2135	17616.54	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	9090	20	2440.70
Iridium_during_xfer	356	180	838.99	nil	0	0	0.00
Transponder_ping	7	420	39.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	6	1.55
TT8	0	0	0.00
LPSleep	6704	2	201.81
TT8_Active	772	11	116.40
TT8_Sampling	2010	31	813.30
TT8_CF8	211	36	99.98
TT8_Kalman	0	0	0.00
Analog_circuits	1842	10	261.71
GPS_charging	0	0	0.00
Compass	1216	6	106.79
RAFOS	0	0	0.00
Transponder	2	30	0.98

		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

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	8	begin dive
11	-0.92	-146.0	198	2403	461	534	0.0	0.0	0	83	0.00	0.00	-71.15	0.003	16386	0.000	0.000	198	2405	1935	2036	1834	0	0	0	0	0	0	14.40	28.83	14.42
86	-0.92	-146.0	200	2403	2037	1838	3.5	-11.7	7	130	9.60	5.00	-27.05	0.005	18948	0.454	0.075	2047	718	3449	3571	3328	0	0	0	0	0	0	14.02	13.67	14.27
340	-0.92	-146.0	2048	721	3572	3332	86.1	-19.6	57	352	0.00	4.97	0.00	0.000	1030	0.000	0.060	2028	2400	3450	3571	3330	0	0	0	0	0	0	14.35	14.27	14.35
530	-0.92	-146.0	2028	2401	3570	3331	126.8	-20.0	77	531	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2401	3448	3570	3326	0	0	0	0	0	0	14.52	14.53	14.54
711	-0.92	-146.0	2028	2401	3570	3330	162.5	-19.9	95	711	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2401	3450	3570	3330	0	0	0	0	0	0	14.55	14.57	14.57
890	-0.92	-146.0	2029	2401	3571	3331	196.9	-18.1	113	891	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2400	3450	3570	3330	0	0	0	0	0	0	14.57	14.59	14.59
1071	-0.92	-146.0	2029	2401	3571	3331	227.5	-15.8	131	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2400	3450	3570	3330	0	0	0	0	0	0	14.59	14.62	14.62
1260	-0.92	-146.0	2030	2401	3571	3331	253.4	-12.9	149	1271	0.00	4.93	0.00	0.000	516	0.000	0.070	2038	720	3450	3570	3331	0	0	0	0	0	0	14.65	14.45	14.66
1296	-0.92	-146.0	2038	720	3569	3331	258.2	-12.8	156	1303	0.00	4.90	0.00	0.000	1030	0.000	0.058	2019	2404	3450	3569	3331	0	0	0	0	0	0	14.52	14.45	14.53
1601	-0.92	-146.0	2019	2404	3569	3338	296.2	-12.2	172	1602	0.00	0.00	0.00	0.000	6	0.000	0.000	2019	2404	3450	3569	3331	0	0	0	0	0	0	14.70	14.72	14.71
1901	-0.92	-146.0	2019	2404	3568	3332	332.8	-12.1	187	1911	0.00	4.90	0.00	0.000	516	0.000	0.070	2027	721	3449	3568	3330	0	0	0	0	0	0	14.73	14.54	14.75
1941	-0.92	-146.0	2027	722	3569	3332	337.8	-12.8	195	1951	0.00	4.85	0.00	0.000	1030	0.000	0.057	2008	2401	3449	3567	3331	0	0	0	0	0	0	14.64	14.56	14.65
2261	-0.92	-146.0	2007	2402	3567	3332	377.7	-12.3	214	2262	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2401	3449	3567	3331	0	0	0	0	0	0	14.76	14.78	14.78
2561	-0.92	-146.0	2007	2402	3567	3332	414.9	-12.4	229	2562	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2401	3449	3567	3331	0	0	0	0	0	0	14.79	14.81	14.81
2861	-0.92	-146.0	2009	2402	3568	3332	451.4	-12.0	244	2871	0.00	4.88	0.00	0.000	516	0.000	0.070	2012	718	3448	3566	3331	0	0	0	0	0	0	14.81	14.61	14.82
2921	-0.92	-146.0	2012	719	3567	3332	459.1	-12.9	256	2931	0.17	4.85	0.00	0.000	3078	0.311	0.060	2028	2402	3449	3566	3332	0	0	0	0	0	0	14.48	14.59	14.67
3241	-0.92	-146.0	2029	2402	3567	3332	494.3	-10.8	275	3242	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2402	3449	3566	3332	0	0	0	0	0	0	14.83	14.85	14.84
3541	-0.92	-146.0	2029	2402	3567	3332	526.2	-10.5	290	3547	0.00	4.85	0.00	0.000	516	0.000	0.070	2028	724	3449	3566	3332	0	0	0	0	0	0	14.84	14.64	14.86
3572	-0.92	-146.0	2029	724	3566	3334	529.8	-12.1	296	3583	0.00	4.82	0.00	0.000	1030	0.000	0.058	2009	2405	3448	3565	3332	0	0	0	0	0	0	14.73	14.65	14.74
3882	-0.92	-146.0	2009	2405	3565	3333	565.1	-11.3	313	3883	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2405	3449	3565	3333	0	0	0	0	0	0	14.85	14.88	14.87
4183	-0.92	-146.0	2010	2406	3566	3334	598.6	-11.1	328	4192	0.00	4.85	0.00	0.000	516	0.000	0.068	2012	721	3449	3565	3333	0	0	0	0	0	0	14.86	14.67	14.88
4195	end dive: TARGET_DEPTH_EXCEEDED
state	4195	begin apogee
4205	-0.11	0.0	1996	2214	3566	3334	600.3	-11.1	331	4343	1.17	0.00	135.73	2.135	10246	0.304	0.000	2289	2214	2855	2931	2780	0	0	0	0	0	0	14.53	13.98	13.22
4344	end apogee: CONTROL_FINISHED_OK
state	4344	begin climb
4347	0.92	146.0	2290	2214	2929	2780	603.4	0.0	338	4498	1.10	0.00	139.85	2.039	10502	0.158	0.000	2616	2213	2254	2276	2233	0	0	0	0	0	0	13.92	13.74	13.05
4783	0.92	146.0	2616	2214	2273	2217	527.1	20.1	381	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2213	2244	2272	2216	0	0	0	0	0	0	14.35	14.38	14.38
5083	0.92	146.0	2616	2214	2272	2212	467.4	19.8	396	5092	0.00	5.05	0.00	0.000	516	0.000	0.074	2638	521	2242	2274	2211	0	0	0	0	0	0	14.51	14.32	14.53
5117	0.92	146.0	2638	522	2270	2213	460.2	21.5	403	5125	0.00	4.90	0.00	0.000	1030	0.000	0.055	2632	2200	2243	2268	2218	0	0	0	0	0	0	14.40	14.34	14.42
5423	0.92	146.0	2633	2201	2270	2211	397.3	20.4	419	5423	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2200	2239	2268	2210	0	0	0	0	0	0	14.62	14.64	14.63
5723	0.92	146.0	2632	2201	2269	2210	336.9	19.8	434	5723	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2200	2238	2268	2209	0	0	0	0	0	0	14.70	14.70	14.70
6023	0.92	146.0	2633	2201	2270	2209	280.4	18.0	449	6023	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2201	2238	2268	2208	0	0	0	0	0	0	14.71	14.74	14.74
6323	0.92	146.0	2633	2201	2270	2208	230.9	14.7	470	6334	0.00	4.90	0.00	0.000	516	0.000	0.073	2652	525	2238	2269	2207	0	0	0	0	0	0	14.74	14.55	14.76
6374	0.92	146.0	2648	525	2270	2207	223.3	14.4	480	6385	0.00	4.80	0.00	0.000	1030	0.000	0.053	2649	2204	2237	2268	2206	0	0	0	0	0	0	14.64	14.57	14.66
6565	0.92	146.0	2649	2204	2270	2205	202.1	9.5	500	6565	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2204	2237	2269	2205	0	0	0	0	0	0	14.75	14.77	14.77
6745	0.97	146.0	2649	2205	2269	2205	186.1	8.2	518	6746	0.00	0.00	0.00	0.000	70	0.000	0.000	2649	2204	2235	2269	2201	0	0	0	0	0	0	14.76	14.78	14.78
6925	1.05	146.0	2649	2205	2270	2205	172.1	7.2	536	6936	0.00	4.88	0.00	0.000	580	0.000	0.070	2669	522	2236	2269	2204	0	0	0	0	0	0	14.77	14.57	14.78
6966	1.11	146.0	2668	522	2268	2205	169.0	8.0	544	6977	0.00	4.80	0.00	0.000	1094	0.000	0.051	2666	2209	2236	2268	2204	0	0	0	0	0	0	14.66	14.60	14.68
7156	1.31	212.2	2667	2209	2270	2204	156.4	5.9	564	7219	0.25	0.00	56.50	1.638	10534	0.164	0.000	2745	2208	1985	2017	1953	0	0	0	0	0	0	14.55	14.33	13.69
7396	1.31	212.2	2743	2209	2009	1946	128.8	13.0	590	7396	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2208	1979	2013	1945	0	0	0	0	0	0	14.57	14.59	14.59
7576	1.31	212.2	2745	2210	2012	1943	107.4	11.1	608	7587	0.00	5.00	0.00	0.000	516	0.000	0.071	2765	518	1975	2008	1943	0	0	0	0	0	0	14.61	14.42	14.62
7693	1.33	212.2	2765	518	2006	1944	94.9	9.5	631	7701	0.00	4.88	0.00	0.000	1094	0.000	0.054	2761	2207	1973	2005	1942	0	0	0	0	0	0	14.52	14.45	14.53
7877	1.55	287.6	2760	2207	2008	1940	81.8	5.3	650	7955	0.20	5.18	64.62	1.545	10532	0.159	0.086	2809	3889	1677	1709	1646	0	0	0	0	0	0	14.42	14.16	13.60
8182	1.87	391.2	2810	3889	1704	1641	55.7	3.6	709	8280	0.32	4.88	86.38	1.479	11302	0.152	0.045	2926	2198	1255	1280	1230	0	0	0	0	0	0	14.27	14.33	13.46
8465	2.07	458.3	2926	2199	1275	1219	35.6	5.8	746	8531	0.20	5.28	54.30	1.431	10532	0.148	0.083	2990	3890	980	992	968	0	0	0	0	0	0	14.18	13.95	13.50
8756	2.49	599.9	2991	3891	988	965	28.3	1.2	803	8861	0.38	4.90	94.88	1.418	11302	0.138	0.039	3122	2190	497	475	519	0	0	0	0	0	0	14.20	14.26	13.42
9036	2.49	599.9	3123	2191	475	510	2.7	9.9	840	9047	0.00	5.22	0.00	0.000	260	0.000	0.082	3123	3886	490	472	509	0	0	0	0	0	0	14.32	14.12	14.34
9050	end climb: SURFACE_DEPTH_REACHED
state	9050	begin surface coast
9070	end surface coast: CONTROL_FINISHED_OK
state	9070	begin surface