Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 125 * 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 125 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 23 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 16 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 3

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 3 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 125 MINV_10V 11 R_PORT_OVSHOOT 23 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 16 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 071018,013401,7353.9287,-14653.3740,116,1.0,117,18.2,0.6,0.0,9,4.0 SPEED_LIMITS 0.173,0.179

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -0.90 MHEAD_RNG_PITCHd_Wd 18.8,36793,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -70.2 D_GRID 600

GPS2 071018,014336,7354.0342,-14653.1465,4,0.8,4,18.3,1.0,123.2,10,9.7

Post-dive calculations and measurements:

FINISH 0.3,1.020546 _10V_AH 13.13,0.000

SM_CCo 8861,0.00,0.000,0,0,500,577.44 FG_AHR_24Vo 0.000

SM_GC 1.91,11.10,0.57,0.00,0.232,0.073,0.000,205,2397,500,-6.61,-1.08,577.44,0,0,0,0,0,0,14.06,14.11,14.28 FG_AHR_10Vo 0.000

RAFOS_CLK 53 MEM 334660

RAFOS_FIX 7354.731934,-14653.800781,071018,040407,0,1,0.15 DATA_FILE_SIZE 30090,828

IRIDIUM_FIX 7354.38,-14703.77,071018,013655 CAP_FILE_SIZE 96793,0

TT8_MAMPS 0.078645,0.823151 CFSIZE 2097872896,2073231360

HUMID 47.12 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89012 INTR 0,7978.42,0x2355a8,1,24

TCM_TEMP 14.60 SOUNDSPEED 1447.2

XPDR_PINGS 16 CURRENT 0.061,14.44,1

ALTIM_TOP_PING 19.4,5.8 GPS 071018,041501,7355.021,-14650.755,139,1.9,140,18.3,0.3,0.0,6,7.0

_24V_AH 13.05,59.443

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 440 141.60 nil 0 0 0.00

Roll_motor 167 160 350.85 nil 0 0 0.00

VBD_pump_during_apogee 621 2139 17340.97 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 8845 19 2293.42

Iridium_during_xfer 350 187 856.43 nil 0 0 0.00

Transponder_ping 4 420 23.29 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 6 1.19

TT8 0 0 0.00

LPSleep 6432 2 195.09

TT8_Active 808 11 122.82

TT8_Sampling 1979 31 806.74

TT8_CF8 230 36 109.78

TT8_Kalman 0 0 0.00

Analog_circuits 1855 10 265.55

GPS_charging 0 0 0.00

Compass 1189 6 105.25

RAFOS 2217 33 960.60

Transponder 2 30 0.99

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.92 -146.0 197 2401 462 533 0.0 0.0 0 75 0.00 0.00 -62.12 0.003 16386 0.000 0.000 196 2401 1703 1809 1598 0 0 0 0 0 0 14.48 28.83 14.50

77 -0.92 -146.0 197 2402 1811 1608 2.4 -8.5 6 133 9.25 4.70 -34.83 0.005 18692 0.441 0.094 2007 3949 3453 3575 3331 0 0 0 0 0 0 14.10 13.69 14.35

358 -0.92 -146.0 2006 3950 3566 3343 98.5 -25.3 61 366 0.00 4.47 0.00 0.000 1030 0.000 0.044 2014 2398 3453 3564 3342 0 0 0 0 0 0 14.46 14.39 14.47

543 -0.92 -146.0 2014 2398 3564 3342 138.5 -21.3 80 555 0.00 4.72 0.00 0.000 260 0.000 0.087 1997 3953 3456 3571 3342 0 0 0 0 0 0 14.60 14.40 14.62

740 -0.92 -146.0 1997 3953 3561 3346 184.6 -24.2 119 746 0.00 4.47 0.00 0.000 1030 0.000 0.044 2011 2398 3452 3560 3345 0 0 0 0 0 0 14.54 14.47 14.56

925 -0.92 -146.0 2011 2397 3561 3346 220.0 -17.6 138 936 0.00 4.93 0.00 0.000 516 0.000 0.066 2029 702 3452 3560 3345 0 0 0 0 0 0 14.67 14.47 14.69

956 -0.92 -146.0 2029 702 3561 3346 225.3 -17.9 144 967 0.00 4.93 0.00 0.000 1030 0.000 0.054 2009 2404 3452 3560 3345 0 0 0 0 0 0 14.54 14.46 14.55

1156 -0.92 -146.0 2009 2399 3560 3346 255.7 -13.7 163 1165 0.00 4.93 0.00 0.000 516 0.000 0.063 2014 704 3452 3560 3345 0 0 0 0 0 0 14.69 14.50 14.71

1176 -0.92 -146.0 2014 704 3560 3346 258.4 -13.6 167 1186 0.17 4.90 0.00 0.000 3078 0.324 0.052 2029 2400 3452 3559 3345 0 0 0 0 0 0 14.34 14.49 14.53

1496 -0.92 -146.0 2030 2401 3560 3346 298.2 -12.1 186 1506 0.00 4.90 0.00 0.000 516 0.000 0.064 2048 709 3452 3559 3345 0 0 0 0 0 0 14.73 14.54 14.76

1541 -0.92 -146.0 2048 709 3559 3346 303.8 -12.5 195 1550 0.00 4.88 0.00 0.000 1030 0.000 0.053 2029 2400 3452 3559 3345 0 0 0 0 0 0 14.63 14.55 14.64

1856 -0.92 -146.0 2027 2402 3562 3346 341.5 -11.8 213 1857 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2401 3452 3559 3345 0 0 0 0 0 0 14.77 14.79 14.78

2156 -0.92 -146.0 2029 2401 3559 3346 376.6 -11.7 228 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2401 3452 3559 3345 0 0 0 0 0 0 14.79 14.81 14.81

2456 -0.92 -146.0 2030 2401 3560 3346 411.0 -11.3 243 2466 0.00 4.90 0.00 0.000 516 0.000 0.067 2042 702 3452 3559 3345 0 0 0 0 0 0 14.81 14.61 14.83

2506 -0.92 -146.0 2043 703 3560 3346 417.1 -12.5 253 2513 0.00 4.88 0.00 0.000 1030 0.000 0.054 2022 2404 3452 3559 3345 0 0 0 0 0 0 14.69 14.62 14.71

2818 -0.92 -146.0 2023 2404 3560 3346 452.4 -11.3 270 2819 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2404 3452 3559 3345 0 0 0 0 0 0 14.82 14.84 14.84

3118 -0.92 -146.0 2022 2404 3559 3346 486.0 -11.1 285 3124 0.00 4.88 0.00 0.000 516 0.000 0.064 2026 709 3452 3559 3345 0 0 0 0 0 0 14.83 14.64 14.85

3159 -0.92 -146.0 2026 710 3560 3346 491.0 -12.3 293 3165 0.00 4.85 0.00 0.000 1030 0.000 0.053 2006 2403 3452 3558 3346 0 0 0 0 0 0 14.72 14.64 14.73

3480 -0.92 -146.0 2007 2404 3560 3346 528.5 -11.6 312 3481 0.00 0.00 0.00 0.000 6 0.000 0.000 2006 2402 3452 3559 3346 0 0 0 0 0 0 14.85 14.86 14.86

3780 -0.92 -146.0 2007 2403 3560 3347 563.1 -11.5 327 3790 0.00 4.88 0.00 0.000 516 0.000 0.063 2007 701 3451 3557 3346 0 0 0 0 0 0 14.85 14.66 14.88

3830 -0.92 -146.0 2008 702 3559 3347 569.4 -12.7 337 3837 0.17 4.88 0.00 0.000 3078 0.310 0.054 2023 2406 3452 3558 3346 0 0 0 0 0 0 14.52 14.66 14.71

4119 end dive: TARGET_DEPTH_EXCEEDED

state 4120 begin apogee

4125 -0.11 0.0 2028 2180 3558 3347 600.8 -10.6 353 4264 1.00 0.08 132.23 2.140 10246 0.272 0.161 2290 2214 2853 2921 2785 0 0 0 0 0 0 14.54 13.96 13.25

4265 end apogee: CONTROL_FINISHED_OK

state 4265 begin climb

4267 0.92 146.0 2290 2214 2921 2784 603.2 0.0 360 4407 1.12 0.00 136.05 2.049 10246 0.157 0.000 2619 2214 2255 2276 2235 0 0 0 0 0 0 13.94 13.74 13.05

4702 0.92 146.0 2619 2214 2272 2217 524.7 20.9 382 4712 0.00 5.05 0.00 0.000 516 0.000 0.072 2640 529 2242 2268 2216 0 0 0 0 0 0 14.36 14.17 14.38

4722 0.92 146.0 2641 530 2269 2217 520.3 22.1 386 4732 0.00 4.90 0.00 0.000 1030 0.000 0.050 2631 2197 2242 2268 2216 0 0 0 0 0 0 14.26 14.20 14.28

5042 0.92 146.0 2631 2197 2268 2213 451.4 21.2 405 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 2240 2268 2213 0 0 0 0 0 0 14.52 14.55 14.54

5342 0.92 146.0 2631 2198 2268 2212 388.1 20.8 420 5343 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 2239 2268 2211 0 0 0 0 0 0 14.62 14.64 14.62

5642 0.92 146.0 2632 2198 2269 2211 326.9 20.3 435 5643 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 2239 2268 2211 0 0 0 0 0 0 14.68 14.68 14.70

5942 0.92 146.0 2632 2198 2269 2210 270.8 17.7 450 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2197 2238 2268 2209 0 0 0 0 0 0 14.73 14.74 14.74

6242 0.92 146.0 2632 2198 2269 2208 226.4 12.3 473 6248 0.00 4.88 0.00 0.000 516 0.000 0.070 2652 526 2238 2268 2208 0 0 0 0 0 0 14.74 14.56 14.76

6308 0.92 146.0 2652 528 2268 2209 218.0 12.7 486 6315 0.00 4.80 0.00 0.000 1030 0.000 0.050 2649 2208 2237 2267 2208 0 0 0 0 0 0 14.64 14.58 14.64

6493 0.94 146.0 2650 2209 2270 2207 199.1 9.3 505 6500 0.00 4.90 0.00 0.000 580 0.000 0.067 2669 520 2237 2269 2206 0 0 0 0 0 0 14.75 14.56 14.77

6560 0.94 146.0 2670 521 2269 2208 192.3 10.4 518 6567 0.12 4.80 0.00 0.000 5126 0.349 0.049 2638 2209 2237 2268 2206 0 0 0 0 0 0 14.40 14.57 14.62

6747 1.02 146.0 2639 2210 2269 2205 177.8 7.2 537 6753 0.00 5.00 0.00 0.000 324 0.000 0.083 2634 3895 2236 2268 2205 0 0 0 0 0 0 14.76 14.57 14.78

6803 1.05 146.0 2634 3896 2268 2209 172.7 9.1 548 6810 0.00 4.75 0.00 0.000 1094 0.000 0.041 2654 2210 2237 2267 2208 0 0 0 0 0 0 14.66 14.61 14.67

6988 1.15 146.0 2654 2210 2268 2205 159.6 6.7 567 6999 0.12 4.85 0.00 0.000 2628 0.188 0.064 2716 515 2236 2268 2204 0 0 0 0 0 0 14.53 14.54 14.61

7035 1.20 146.0 2717 516 2269 2205 156.0 8.3 576 7041 0.00 4.78 0.00 0.000 1094 0.000 0.045 2702 2207 2236 2268 2204 0 0 0 0 0 0 14.66 14.59 14.67

7220 1.40 211.4 2702 2208 2268 2205 143.0 6.0 595 7283 0.22 5.10 54.55 1.624 10532 0.160 0.081 2773 3893 1987 2018 1957 0 0 0 0 0 0 14.54 14.31 13.69

7320 1.40 211.4 2772 3894 2014 1959 132.7 15.1 613 7326 0.00 4.90 0.00 0.000 1030 0.000 0.043 2792 2202 1985 2014 1957 0 0 0 0 0 0 14.40 14.35 14.42

7511 1.40 211.4 2793 2202 2014 1950 107.4 11.3 633 7518 0.00 4.95 0.00 0.000 516 0.000 0.065 2814 506 1980 2012 1949 0 0 0 0 0 0 14.58 14.40 14.60

7563 1.40 211.4 2814 506 2007 1951 101.2 12.5 643 7574 0.12 4.90 0.00 0.000 5126 0.367 0.048 2786 2207 1978 2008 1949 0 0 0 0 0 0 14.26 14.44 14.48

7755 1.52 211.4 2786 2208 2009 1948 86.0 6.0 663 7755 0.00 0.00 0.00 0.000 70 0.000 0.000 2786 2207 1977 2008 1947 0 0 0 0 0 0 14.62 14.64 14.64

7933 1.86 326.0 2787 2209 2010 1947 79.2 2.9 681 8039 0.43 5.22 95.88 1.522 10532 0.142 0.085 2919 3888 1520 1548 1492 0 0 0 0 0 0 14.40 14.06 13.52

8275 2.21 443.2 2920 3890 1542 1487 48.8 2.8 744 8379 0.32 4.93 95.22 1.445 11302 0.155 0.040 3036 2182 1042 1052 1033 0 0 0 0 0 0 14.19 14.25 13.41

8555 2.64 584.6 3037 2183 1048 1019 29.5 1.2 781 8675 0.45 5.32 107.10 1.398 10532 0.129 0.080 3168 3892 494 464 524 0 0 0 0 0 0 14.09 13.80 13.35

8767 2.64 584.6 3168 3892 461 523 7.6 17.9 820 8779 0.00 5.00 0.00 0.000 1030 0.000 0.045 3186 2210 490 461 520 0 0 0 0 0 0 14.10 14.04 14.12

8824 end climb: SURFACE_DEPTH_REACHED

state 8824 begin surface coast

8834 end surface coast: CONTROL_FINISHED_OK

state 8834 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	125	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	23	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	16	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	3
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	071018,013401,7353.9287,-14653.3740,116,1.0,117,18.2,0.6,0.0,9,4.0	SPEED_LIMITS	0.173,0.179
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.90	MHEAD_RNG_PITCHd_Wd	18.8,36793,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-70.2	D_GRID	600
GPS2	071018,014336,7354.0342,-14653.1465,4,0.8,4,18.3,1.0,123.2,10,9.7

FINISH	0.3,1.020546	_10V_AH	13.13,0.000
SM_CCo	8861,0.00,0.000,0,0,500,577.44	FG_AHR_24Vo	0.000
SM_GC	1.91,11.10,0.57,0.00,0.232,0.073,0.000,205,2397,500,-6.61,-1.08,577.44,0,0,0,0,0,0,14.06,14.11,14.28	FG_AHR_10Vo	0.000
RAFOS_CLK	53	MEM	334660
RAFOS_FIX	7354.731934,-14653.800781,071018,040407,0,1,0.15	DATA_FILE_SIZE	30090,828
IRIDIUM_FIX	7354.38,-14703.77,071018,013655	CAP_FILE_SIZE	96793,0
TT8_MAMPS	0.078645,0.823151	CFSIZE	2097872896,2073231360
HUMID	47.12	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89012	INTR	0,7978.42,0x2355a8,1,24
TCM_TEMP	14.60	SOUNDSPEED	1447.2
XPDR_PINGS	16	CURRENT	0.061,14.44,1
ALTIM_TOP_PING	19.4,5.8	GPS	071018,041501,7355.021,-14650.755,139,1.9,140,18.3,0.3,0.0,6,7.0
_24V_AH	13.05,59.443

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	440	141.60	nil	0	0	0.00
Roll_motor	167	160	350.85	nil	0	0	0.00
VBD_pump_during_apogee	621	2139	17340.97	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	8845	19	2293.42
Iridium_during_xfer	350	187	856.43	nil	0	0	0.00
Transponder_ping	4	420	23.29	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	6	1.19
TT8	0	0	0.00
LPSleep	6432	2	195.09
TT8_Active	808	11	122.82
TT8_Sampling	1979	31	806.74
TT8_CF8	230	36	109.78
TT8_Kalman	0	0	0.00
Analog_circuits	1855	10	265.55
GPS_charging	0	0	0.00
Compass	1189	6	105.25
RAFOS	2217	33	960.60
Transponder	2	30	0.99

		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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.92	-146.0	197	2401	462	533	0.0	0.0	0	75	0.00	0.00	-62.12	0.003	16386	0.000	0.000	196	2401	1703	1809	1598	0	0	0	0	0	0	14.48	28.83	14.50
77	-0.92	-146.0	197	2402	1811	1608	2.4	-8.5	6	133	9.25	4.70	-34.83	0.005	18692	0.441	0.094	2007	3949	3453	3575	3331	0	0	0	0	0	0	14.10	13.69	14.35
358	-0.92	-146.0	2006	3950	3566	3343	98.5	-25.3	61	366	0.00	4.47	0.00	0.000	1030	0.000	0.044	2014	2398	3453	3564	3342	0	0	0	0	0	0	14.46	14.39	14.47
543	-0.92	-146.0	2014	2398	3564	3342	138.5	-21.3	80	555	0.00	4.72	0.00	0.000	260	0.000	0.087	1997	3953	3456	3571	3342	0	0	0	0	0	0	14.60	14.40	14.62
740	-0.92	-146.0	1997	3953	3561	3346	184.6	-24.2	119	746	0.00	4.47	0.00	0.000	1030	0.000	0.044	2011	2398	3452	3560	3345	0	0	0	0	0	0	14.54	14.47	14.56
925	-0.92	-146.0	2011	2397	3561	3346	220.0	-17.6	138	936	0.00	4.93	0.00	0.000	516	0.000	0.066	2029	702	3452	3560	3345	0	0	0	0	0	0	14.67	14.47	14.69
956	-0.92	-146.0	2029	702	3561	3346	225.3	-17.9	144	967	0.00	4.93	0.00	0.000	1030	0.000	0.054	2009	2404	3452	3560	3345	0	0	0	0	0	0	14.54	14.46	14.55
1156	-0.92	-146.0	2009	2399	3560	3346	255.7	-13.7	163	1165	0.00	4.93	0.00	0.000	516	0.000	0.063	2014	704	3452	3560	3345	0	0	0	0	0	0	14.69	14.50	14.71
1176	-0.92	-146.0	2014	704	3560	3346	258.4	-13.6	167	1186	0.17	4.90	0.00	0.000	3078	0.324	0.052	2029	2400	3452	3559	3345	0	0	0	0	0	0	14.34	14.49	14.53
1496	-0.92	-146.0	2030	2401	3560	3346	298.2	-12.1	186	1506	0.00	4.90	0.00	0.000	516	0.000	0.064	2048	709	3452	3559	3345	0	0	0	0	0	0	14.73	14.54	14.76
1541	-0.92	-146.0	2048	709	3559	3346	303.8	-12.5	195	1550	0.00	4.88	0.00	0.000	1030	0.000	0.053	2029	2400	3452	3559	3345	0	0	0	0	0	0	14.63	14.55	14.64
1856	-0.92	-146.0	2027	2402	3562	3346	341.5	-11.8	213	1857	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2401	3452	3559	3345	0	0	0	0	0	0	14.77	14.79	14.78
2156	-0.92	-146.0	2029	2401	3559	3346	376.6	-11.7	228	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2401	3452	3559	3345	0	0	0	0	0	0	14.79	14.81	14.81
2456	-0.92	-146.0	2030	2401	3560	3346	411.0	-11.3	243	2466	0.00	4.90	0.00	0.000	516	0.000	0.067	2042	702	3452	3559	3345	0	0	0	0	0	0	14.81	14.61	14.83
2506	-0.92	-146.0	2043	703	3560	3346	417.1	-12.5	253	2513	0.00	4.88	0.00	0.000	1030	0.000	0.054	2022	2404	3452	3559	3345	0	0	0	0	0	0	14.69	14.62	14.71
2818	-0.92	-146.0	2023	2404	3560	3346	452.4	-11.3	270	2819	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2404	3452	3559	3345	0	0	0	0	0	0	14.82	14.84	14.84
3118	-0.92	-146.0	2022	2404	3559	3346	486.0	-11.1	285	3124	0.00	4.88	0.00	0.000	516	0.000	0.064	2026	709	3452	3559	3345	0	0	0	0	0	0	14.83	14.64	14.85
3159	-0.92	-146.0	2026	710	3560	3346	491.0	-12.3	293	3165	0.00	4.85	0.00	0.000	1030	0.000	0.053	2006	2403	3452	3558	3346	0	0	0	0	0	0	14.72	14.64	14.73
3480	-0.92	-146.0	2007	2404	3560	3346	528.5	-11.6	312	3481	0.00	0.00	0.00	0.000	6	0.000	0.000	2006	2402	3452	3559	3346	0	0	0	0	0	0	14.85	14.86	14.86
3780	-0.92	-146.0	2007	2403	3560	3347	563.1	-11.5	327	3790	0.00	4.88	0.00	0.000	516	0.000	0.063	2007	701	3451	3557	3346	0	0	0	0	0	0	14.85	14.66	14.88
3830	-0.92	-146.0	2008	702	3559	3347	569.4	-12.7	337	3837	0.17	4.88	0.00	0.000	3078	0.310	0.054	2023	2406	3452	3558	3346	0	0	0	0	0	0	14.52	14.66	14.71
4119	end dive: TARGET_DEPTH_EXCEEDED
state	4120	begin apogee
4125	-0.11	0.0	2028	2180	3558	3347	600.8	-10.6	353	4264	1.00	0.08	132.23	2.140	10246	0.272	0.161	2290	2214	2853	2921	2785	0	0	0	0	0	0	14.54	13.96	13.25
4265	end apogee: CONTROL_FINISHED_OK
state	4265	begin climb
4267	0.92	146.0	2290	2214	2921	2784	603.2	0.0	360	4407	1.12	0.00	136.05	2.049	10246	0.157	0.000	2619	2214	2255	2276	2235	0	0	0	0	0	0	13.94	13.74	13.05
4702	0.92	146.0	2619	2214	2272	2217	524.7	20.9	382	4712	0.00	5.05	0.00	0.000	516	0.000	0.072	2640	529	2242	2268	2216	0	0	0	0	0	0	14.36	14.17	14.38
4722	0.92	146.0	2641	530	2269	2217	520.3	22.1	386	4732	0.00	4.90	0.00	0.000	1030	0.000	0.050	2631	2197	2242	2268	2216	0	0	0	0	0	0	14.26	14.20	14.28
5042	0.92	146.0	2631	2197	2268	2213	451.4	21.2	405	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	2240	2268	2213	0	0	0	0	0	0	14.52	14.55	14.54
5342	0.92	146.0	2631	2198	2268	2212	388.1	20.8	420	5343	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	2239	2268	2211	0	0	0	0	0	0	14.62	14.64	14.62
5642	0.92	146.0	2632	2198	2269	2211	326.9	20.3	435	5643	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	2239	2268	2211	0	0	0	0	0	0	14.68	14.68	14.70
5942	0.92	146.0	2632	2198	2269	2210	270.8	17.7	450	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2197	2238	2268	2209	0	0	0	0	0	0	14.73	14.74	14.74
6242	0.92	146.0	2632	2198	2269	2208	226.4	12.3	473	6248	0.00	4.88	0.00	0.000	516	0.000	0.070	2652	526	2238	2268	2208	0	0	0	0	0	0	14.74	14.56	14.76
6308	0.92	146.0	2652	528	2268	2209	218.0	12.7	486	6315	0.00	4.80	0.00	0.000	1030	0.000	0.050	2649	2208	2237	2267	2208	0	0	0	0	0	0	14.64	14.58	14.64
6493	0.94	146.0	2650	2209	2270	2207	199.1	9.3	505	6500	0.00	4.90	0.00	0.000	580	0.000	0.067	2669	520	2237	2269	2206	0	0	0	0	0	0	14.75	14.56	14.77
6560	0.94	146.0	2670	521	2269	2208	192.3	10.4	518	6567	0.12	4.80	0.00	0.000	5126	0.349	0.049	2638	2209	2237	2268	2206	0	0	0	0	0	0	14.40	14.57	14.62
6747	1.02	146.0	2639	2210	2269	2205	177.8	7.2	537	6753	0.00	5.00	0.00	0.000	324	0.000	0.083	2634	3895	2236	2268	2205	0	0	0	0	0	0	14.76	14.57	14.78
6803	1.05	146.0	2634	3896	2268	2209	172.7	9.1	548	6810	0.00	4.75	0.00	0.000	1094	0.000	0.041	2654	2210	2237	2267	2208	0	0	0	0	0	0	14.66	14.61	14.67
6988	1.15	146.0	2654	2210	2268	2205	159.6	6.7	567	6999	0.12	4.85	0.00	0.000	2628	0.188	0.064	2716	515	2236	2268	2204	0	0	0	0	0	0	14.53	14.54	14.61
7035	1.20	146.0	2717	516	2269	2205	156.0	8.3	576	7041	0.00	4.78	0.00	0.000	1094	0.000	0.045	2702	2207	2236	2268	2204	0	0	0	0	0	0	14.66	14.59	14.67
7220	1.40	211.4	2702	2208	2268	2205	143.0	6.0	595	7283	0.22	5.10	54.55	1.624	10532	0.160	0.081	2773	3893	1987	2018	1957	0	0	0	0	0	0	14.54	14.31	13.69
7320	1.40	211.4	2772	3894	2014	1959	132.7	15.1	613	7326	0.00	4.90	0.00	0.000	1030	0.000	0.043	2792	2202	1985	2014	1957	0	0	0	0	0	0	14.40	14.35	14.42
7511	1.40	211.4	2793	2202	2014	1950	107.4	11.3	633	7518	0.00	4.95	0.00	0.000	516	0.000	0.065	2814	506	1980	2012	1949	0	0	0	0	0	0	14.58	14.40	14.60
7563	1.40	211.4	2814	506	2007	1951	101.2	12.5	643	7574	0.12	4.90	0.00	0.000	5126	0.367	0.048	2786	2207	1978	2008	1949	0	0	0	0	0	0	14.26	14.44	14.48
7755	1.52	211.4	2786	2208	2009	1948	86.0	6.0	663	7755	0.00	0.00	0.00	0.000	70	0.000	0.000	2786	2207	1977	2008	1947	0	0	0	0	0	0	14.62	14.64	14.64
7933	1.86	326.0	2787	2209	2010	1947	79.2	2.9	681	8039	0.43	5.22	95.88	1.522	10532	0.142	0.085	2919	3888	1520	1548	1492	0	0	0	0	0	0	14.40	14.06	13.52
8275	2.21	443.2	2920	3890	1542	1487	48.8	2.8	744	8379	0.32	4.93	95.22	1.445	11302	0.155	0.040	3036	2182	1042	1052	1033	0	0	0	0	0	0	14.19	14.25	13.41
8555	2.64	584.6	3037	2183	1048	1019	29.5	1.2	781	8675	0.45	5.32	107.10	1.398	10532	0.129	0.080	3168	3892	494	464	524	0	0	0	0	0	0	14.09	13.80	13.35
8767	2.64	584.6	3168	3892	461	523	7.6	17.9	820	8779	0.00	5.00	0.00	0.000	1030	0.000	0.045	3186	2210	490	461	520	0	0	0	0	0	0	14.10	14.04	14.12
8824	end climb: SURFACE_DEPTH_REACHED
state	8824	begin surface coast
8834	end surface coast: CONTROL_FINISHED_OK
state	8834	begin surface