Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 139 * 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 139 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 32 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 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 139 MINV_10V 11 R_PORT_OVSHOOT 32 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 081018,155339,7410.3354,-14624.9922,77,0.9,77,18.4,0.6,147.5,8,7.9 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 -0.36 MHEAD_RNG_PITCHd_Wd 23.9,3373,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -74.5 D_GRID 600

GPS2 081018,160258,7410.3545,-14624.8682,4,1.2,7,18.4,0.1,0.0,6,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181008162034.283521,18,1089,30,0078,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D ALTIM_TOP_PING 18.8,5.9

FINISH -0.6,1.020786 _24V_AH 13.05,65.477

SM_CCo 9113,0.00,0.000,0,0,500,577.44 _10V_AH 13.36,0.000

SM_GC 0.94,10.60,5.62,0.00,0.165,0.054,0.000,196,2394,500,-6.61,-1.13,577.44,0,0,0,0,0,0,14.12,14.12,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 569 FG_AHR_10Vo 0.000

MODEM 2,1539015034,74.08334,-144.88333,34.346,49696.7 MEM 334652

RAFOS_FIX 7410.619141,-14628.865234,081018,161634,1,2,4.69 DATA_FILE_SIZE 26756,798

IRIDIUM_FIX 7414.00,-14627.38,081018,155630 CAP_FILE_SIZE 94003,0

TT8_MAMPS 0.042693,0.940744 CFSIZE 2097872896,2070937600

HUMID 46.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.88035 SOUNDSPEED 1447.1

TCM_TEMP 14.60 CURRENT 0.063,328.64,1

XPDR_PINGS 14 GPS 081018,183639,7411.321,-14623.258,17,0.9,17,18.4,0.2,0.0,9,8.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 465 152.15 nil 0 0 0.00

Roll_motor 119 76 118.98 nil 0 0 0.00

VBD_pump_during_apogee 622 2131 17307.54 nil 0 0 0.00

VBD_pump_during_surface 50 405 268.66 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 9037 19 2354.77

Iridium_during_xfer 332 184 799.56 nil 0 0 0.00

Transponder_ping 3 420 20.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 6 1.67

TT8 0 0 0.00

LPSleep 6753 2 208.42

TT8_Active 760 11 117.55

TT8_Sampling 1961 31 813.26

TT8_CF8 220 36 106.82

TT8_Kalman 0 0 0.00

Analog_circuits 1796 10 261.56

GPS_charging 0 0 0.00

Compass 1146 6 103.25

RAFOS 1922 33 847.37

Transponder 2 30 1.01

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 -146.0 204 2406 464 533 0.0 0.0 0 70 0.00 0.00 -57.95 0.004 16386 0.000 0.000 204 2405 1606 1698 1515 0 0 0 0 0 0 14.47 28.83 14.50

73 -0.92 -146.0 203 2406 1700 1518 2.9 -8.1 6 129 9.80 5.03 -38.50 0.005 18948 0.466 0.076 2047 718 3450 3574 3327 0 0 0 0 0 0 14.07 13.66 14.34

324 -0.92 -146.0 2047 719 3573 3330 86.5 -22.6 55 331 0.00 4.97 0.00 0.000 1030 0.000 0.060 2028 2400 3451 3574 3329 0 0 0 0 0 0 14.41 14.33 14.42

509 -0.92 -146.0 2029 2400 3573 3329 128.1 -21.7 74 510 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2397 3449 3569 3329 0 0 0 0 0 0 14.54 14.55 14.54

689 -0.92 -146.0 2029 2400 3574 3330 165.7 -20.8 92 689 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2400 3451 3573 3329 0 0 0 0 0 0 14.57 14.58 14.58

869 -0.92 -146.0 2030 2400 3574 3330 201.8 -19.2 110 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2400 3451 3573 3329 0 0 0 0 0 0 14.59 14.60 14.60

1049 -0.92 -146.0 2029 2401 3573 3330 234.9 -18.3 128 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2400 3451 3573 3329 0 0 0 0 0 0 14.60 14.62 14.62

1239 -0.92 -146.0 2028 2400 3573 3330 265.4 -15.0 142 1239 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2399 3450 3572 3329 0 0 0 0 0 0 14.62 14.64 14.64

1539 -0.92 -146.0 2029 2400 3574 3330 303.3 -11.9 157 1545 0.00 4.93 0.00 0.000 516 0.000 0.070 2042 719 3450 3572 3329 0 0 0 0 0 0 14.64 14.46 14.66

1615 -0.92 -146.0 2043 720 3572 3331 312.9 -11.5 172 1622 0.00 4.90 0.00 0.000 1030 0.000 0.057 2023 2406 3450 3571 3330 0 0 0 0 0 0 14.54 14.47 14.54

1920 -0.92 -146.0 2023 2406 3573 3331 350.0 -12.0 188 1921 0.00 0.00 0.00 0.000 6 0.000 0.000 2023 2406 3450 3571 3330 0 0 0 0 0 0 14.66 14.69 14.69

2222 -0.92 -146.0 2022 2407 3571 3331 386.0 -11.8 203 2231 0.00 4.90 0.00 0.000 516 0.000 0.070 2027 720 3450 3570 3330 0 0 0 0 0 0 14.72 14.52 14.73

2251 -0.92 -146.0 2028 721 3571 3331 390.0 -13.3 209 2258 0.00 4.85 0.00 0.000 1030 0.000 0.057 2008 2401 3450 3570 3331 0 0 0 0 0 0 14.62 14.54 14.63

2563 -0.92 -146.0 2009 2401 3572 3331 428.8 -12.4 226 2563 0.00 0.00 0.00 0.000 6 0.000 0.000 2007 2401 3450 3570 3331 0 0 0 0 0 0 14.76 14.78 14.78

2863 -0.92 -146.0 2009 2401 3571 3331 465.3 -12.0 241 2869 0.00 4.88 0.00 0.000 516 0.000 0.068 2012 721 3450 3570 3331 0 0 0 0 0 0 14.78 14.59 14.81

2909 -0.92 -146.0 2011 721 3570 3332 471.2 -12.8 250 2919 0.17 4.85 0.00 0.000 3078 0.312 0.056 2027 2410 3450 3569 3331 0 0 0 0 0 0 14.44 14.60 14.64

3225 -0.92 -146.0 2027 2407 3570 3332 505.4 -10.6 268 3225 0.00 0.00 0.00 0.000 6 0.000 0.000 2027 2407 3450 3570 3331 0 0 0 0 0 0 14.81 14.83 14.83

3524 -0.92 -146.0 2027 2408 3571 3331 537.3 -10.6 283 3534 0.00 4.88 0.00 0.000 516 0.000 0.068 2028 717 3451 3570 3332 0 0 0 0 0 0 14.83 14.62 14.85

3569 -0.92 -146.0 2028 718 3570 3333 542.5 -11.7 292 3580 0.00 4.82 0.00 0.000 1030 0.000 0.055 2008 2405 3450 3569 3331 0 0 0 0 0 0 14.71 14.64 14.73

3885 -0.92 -146.0 2008 2406 3569 3332 578.4 -11.1 310 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2405 3450 3569 3331 0 0 0 0 0 0 14.83 14.86 14.85

4082 end dive: TARGET_DEPTH_EXCEEDED

state 4082 begin apogee

4088 -0.11 0.0 2009 2192 3570 3332 600.6 -11.1 320 4227 1.08 0.00 135.00 2.131 10246 0.286 0.000 2285 2189 2851 2929 2774 0 0 0 0 0 0 14.52 13.99 13.24

4228 end apogee: CONTROL_FINISHED_OK

state 4228 begin climb

4230 0.92 146.0 2285 2190 2928 2774 602.8 0.0 327 4373 1.15 0.00 139.35 2.032 10246 0.160 0.000 2620 2190 2255 2279 2232 0 0 0 0 0 0 13.92 13.74 13.05

4665 0.92 146.0 2621 2191 2274 2215 523.9 20.9 349 4665 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2190 2243 2273 2214 0 0 0 0 0 0 14.35 14.37 14.36

4965 0.92 146.0 2620 2190 2273 2210 461.2 21.0 364 4975 0.00 4.95 0.00 0.000 516 0.000 0.072 2641 520 2240 2272 2209 0 0 0 0 0 0 14.50 14.28 14.52

4980 0.92 146.0 2642 521 2271 2211 457.8 21.0 367 4988 0.00 4.85 0.00 0.000 1030 0.000 0.054 2633 2206 2240 2270 2210 0 0 0 0 0 0 14.40 14.33 14.42

5285 0.92 146.0 2634 2207 2271 2209 392.9 20.8 383 5286 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2206 2239 2270 2208 0 0 0 0 0 0 14.61 14.63 14.63

5586 0.92 146.0 2634 2207 2272 2207 331.8 19.9 398 5595 0.00 4.93 0.00 0.000 516 0.000 0.073 2653 525 2238 2271 2206 0 0 0 0 0 0 14.67 14.48 14.72

5605 0.92 146.0 2653 525 2270 2206 327.8 19.8 402 5615 0.00 4.85 0.00 0.000 1030 0.000 0.054 2649 2208 2237 2270 2205 0 0 0 0 0 0 14.57 14.50 14.58

5925 0.92 146.0 2649 2208 2270 2210 267.7 17.2 421 5932 0.00 4.95 0.00 0.000 516 0.000 0.073 2669 522 2238 2272 2204 0 0 0 0 0 0 14.72 14.51 14.73

5962 0.92 146.0 2670 522 2270 2205 261.5 17.5 428 5969 0.15 4.82 0.00 0.000 5126 0.348 0.055 2633 2203 2236 2268 2204 0 0 0 0 0 0 14.38 14.54 14.59

6267 0.95 146.0 2634 2204 2271 2204 226.3 9.0 455 6268 0.00 0.00 0.00 0.000 70 0.000 0.000 2633 2203 2236 2270 2203 0 0 0 0 0 0 14.74 14.76 14.78

6447 0.99 146.0 2632 2204 2271 2203 211.1 8.6 473 6454 0.00 4.93 0.00 0.000 580 0.000 0.072 2652 519 2236 2271 2202 0 0 0 0 0 0 14.75 14.55 14.77

6474 1.03 146.0 2652 519 2269 2209 208.6 8.7 478 6481 0.00 4.80 0.00 0.000 1094 0.000 0.051 2648 2205 2235 2268 2202 0 0 0 0 0 0 14.60 14.54 14.62

6659 1.09 146.0 2648 2206 2272 2203 193.0 7.9 497 6660 0.00 0.00 0.00 0.000 70 0.000 0.000 2647 2205 2235 2270 2201 0 0 0 0 0 0 14.76 14.78 14.77

6839 1.20 146.0 2648 2205 2271 2202 180.2 6.3 515 6841 0.22 0.00 0.00 0.000 2118 0.164 0.000 2713 2205 2236 2271 2202 0 0 0 0 0 0 14.50 14.64 14.62

7019 1.29 146.0 2713 2206 2271 2202 166.6 7.0 533 7020 0.00 0.00 0.00 0.000 70 0.000 0.000 2713 2205 2236 2270 2202 0 0 0 0 0 0 14.77 14.79 14.78

7199 1.39 146.0 2714 2206 2273 2201 154.2 6.8 551 7201 0.20 0.00 0.00 0.000 2118 0.168 0.000 2773 2205 2235 2270 2201 0 0 0 0 0 0 14.52 14.65 14.63

7379 1.51 146.0 2774 2206 2272 2202 142.1 6.1 569 7386 0.12 4.90 0.00 0.000 2628 0.190 0.067 2835 516 2235 2270 2201 0 0 0 0 0 0 14.52 14.59 14.59

7441 1.59 146.0 2836 517 2269 2203 137.6 7.3 581 7448 0.00 4.80 0.00 0.000 1094 0.000 0.050 2822 2204 2235 2268 2202 0 0 0 0 0 0 14.68 14.62 14.69

7633 1.84 229.9 2822 2205 2268 2202 126.4 4.8 601 7707 0.30 0.00 71.60 1.613 10790 0.160 0.000 2916 2204 1914 1943 1886 0 0 0 0 0 0 14.54 14.28 13.65

7883 1.84 229.9 2916 2205 1936 1873 94.7 13.6 630 7884 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2204 1904 1936 1873 0 0 0 0 0 0 14.52 14.54 14.54

8063 1.94 229.9 2917 2205 1936 1870 76.6 6.8 648 8064 0.12 0.00 0.00 0.000 2118 0.190 0.000 2952 2204 1902 1935 1869 0 0 0 0 0 0 14.34 14.48 14.47

8243 2.50 417.1 2951 2205 1935 1869 73.8 -1.6 666 8411 0.55 5.15 155.07 1.496 10788 0.143 0.070 3146 522 1147 1152 1142 0 0 0 0 0 0 14.37 13.93 13.38

8592 2.62 417.1 3146 522 1133 1142 33.7 6.0 732 8604 0.00 4.93 0.00 0.000 1094 0.000 0.050 3136 2205 1137 1134 1140 0 0 0 0 0 0 14.26 14.20 14.28

8782 3.07 567.8 3136 2206 1136 1137 31.0 0.7 752 8916 0.55 5.12 121.25 1.413 11044 0.138 0.069 3330 521 532 494 571 0 0 0 0 0 0 14.23 13.85 13.39

9015 end climb: SURFACE_DEPTH_REACHED

state 9015 begin surface coast

9025 end surface coast: CONTROL_FINISHED_OK

state 9025 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	139	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	32	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	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	081018,155339,7410.3354,-14624.9922,77,0.9,77,18.4,0.6,147.5,8,7.9	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	-0.36	MHEAD_RNG_PITCHd_Wd	23.9,3373,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-74.5	D_GRID	600
GPS2	081018,160258,7410.3545,-14624.8682,4,1.2,7,18.4,0.1,0.0,6,9.1

MODEM_MSG	CACST,6,1,20181008162034.283521,18,1089,30,0078,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0D	ALTIM_TOP_PING	18.8,5.9
FINISH	-0.6,1.020786	_24V_AH	13.05,65.477
SM_CCo	9113,0.00,0.000,0,0,500,577.44	_10V_AH	13.36,0.000
SM_GC	0.94,10.60,5.62,0.00,0.165,0.054,0.000,196,2394,500,-6.61,-1.13,577.44,0,0,0,0,0,0,14.12,14.12,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	569	FG_AHR_10Vo	0.000
MODEM	2,1539015034,74.08334,-144.88333,34.346,49696.7	MEM	334652
RAFOS_FIX	7410.619141,-14628.865234,081018,161634,1,2,4.69	DATA_FILE_SIZE	26756,798
IRIDIUM_FIX	7414.00,-14627.38,081018,155630	CAP_FILE_SIZE	94003,0
TT8_MAMPS	0.042693,0.940744	CFSIZE	2097872896,2070937600
HUMID	46.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.88035	SOUNDSPEED	1447.1
TCM_TEMP	14.60	CURRENT	0.063,328.64,1
XPDR_PINGS	14	GPS	081018,183639,7411.321,-14623.258,17,0.9,17,18.4,0.2,0.0,9,8.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	465	152.15	nil	0	0	0.00
Roll_motor	119	76	118.98	nil	0	0	0.00
VBD_pump_during_apogee	622	2131	17307.54	nil	0	0	0.00
VBD_pump_during_surface	50	405	268.66	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	9037	19	2354.77
Iridium_during_xfer	332	184	799.56	nil	0	0	0.00
Transponder_ping	3	420	20.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	6	1.67
TT8	0	0	0.00
LPSleep	6753	2	208.42
TT8_Active	760	11	117.55
TT8_Sampling	1961	31	813.26
TT8_CF8	220	36	106.82
TT8_Kalman	0	0	0.00
Analog_circuits	1796	10	261.56
GPS_charging	0	0	0.00
Compass	1146	6	103.25
RAFOS	1922	33	847.37
Transponder	2	30	1.01

		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	204	2406	464	533	0.0	0.0	0	70	0.00	0.00	-57.95	0.004	16386	0.000	0.000	204	2405	1606	1698	1515	0	0	0	0	0	0	14.47	28.83	14.50
73	-0.92	-146.0	203	2406	1700	1518	2.9	-8.1	6	129	9.80	5.03	-38.50	0.005	18948	0.466	0.076	2047	718	3450	3574	3327	0	0	0	0	0	0	14.07	13.66	14.34
324	-0.92	-146.0	2047	719	3573	3330	86.5	-22.6	55	331	0.00	4.97	0.00	0.000	1030	0.000	0.060	2028	2400	3451	3574	3329	0	0	0	0	0	0	14.41	14.33	14.42
509	-0.92	-146.0	2029	2400	3573	3329	128.1	-21.7	74	510	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2397	3449	3569	3329	0	0	0	0	0	0	14.54	14.55	14.54
689	-0.92	-146.0	2029	2400	3574	3330	165.7	-20.8	92	689	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2400	3451	3573	3329	0	0	0	0	0	0	14.57	14.58	14.58
869	-0.92	-146.0	2030	2400	3574	3330	201.8	-19.2	110	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2400	3451	3573	3329	0	0	0	0	0	0	14.59	14.60	14.60
1049	-0.92	-146.0	2029	2401	3573	3330	234.9	-18.3	128	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2400	3451	3573	3329	0	0	0	0	0	0	14.60	14.62	14.62
1239	-0.92	-146.0	2028	2400	3573	3330	265.4	-15.0	142	1239	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2399	3450	3572	3329	0	0	0	0	0	0	14.62	14.64	14.64
1539	-0.92	-146.0	2029	2400	3574	3330	303.3	-11.9	157	1545	0.00	4.93	0.00	0.000	516	0.000	0.070	2042	719	3450	3572	3329	0	0	0	0	0	0	14.64	14.46	14.66
1615	-0.92	-146.0	2043	720	3572	3331	312.9	-11.5	172	1622	0.00	4.90	0.00	0.000	1030	0.000	0.057	2023	2406	3450	3571	3330	0	0	0	0	0	0	14.54	14.47	14.54
1920	-0.92	-146.0	2023	2406	3573	3331	350.0	-12.0	188	1921	0.00	0.00	0.00	0.000	6	0.000	0.000	2023	2406	3450	3571	3330	0	0	0	0	0	0	14.66	14.69	14.69
2222	-0.92	-146.0	2022	2407	3571	3331	386.0	-11.8	203	2231	0.00	4.90	0.00	0.000	516	0.000	0.070	2027	720	3450	3570	3330	0	0	0	0	0	0	14.72	14.52	14.73
2251	-0.92	-146.0	2028	721	3571	3331	390.0	-13.3	209	2258	0.00	4.85	0.00	0.000	1030	0.000	0.057	2008	2401	3450	3570	3331	0	0	0	0	0	0	14.62	14.54	14.63
2563	-0.92	-146.0	2009	2401	3572	3331	428.8	-12.4	226	2563	0.00	0.00	0.00	0.000	6	0.000	0.000	2007	2401	3450	3570	3331	0	0	0	0	0	0	14.76	14.78	14.78
2863	-0.92	-146.0	2009	2401	3571	3331	465.3	-12.0	241	2869	0.00	4.88	0.00	0.000	516	0.000	0.068	2012	721	3450	3570	3331	0	0	0	0	0	0	14.78	14.59	14.81
2909	-0.92	-146.0	2011	721	3570	3332	471.2	-12.8	250	2919	0.17	4.85	0.00	0.000	3078	0.312	0.056	2027	2410	3450	3569	3331	0	0	0	0	0	0	14.44	14.60	14.64
3225	-0.92	-146.0	2027	2407	3570	3332	505.4	-10.6	268	3225	0.00	0.00	0.00	0.000	6	0.000	0.000	2027	2407	3450	3570	3331	0	0	0	0	0	0	14.81	14.83	14.83
3524	-0.92	-146.0	2027	2408	3571	3331	537.3	-10.6	283	3534	0.00	4.88	0.00	0.000	516	0.000	0.068	2028	717	3451	3570	3332	0	0	0	0	0	0	14.83	14.62	14.85
3569	-0.92	-146.0	2028	718	3570	3333	542.5	-11.7	292	3580	0.00	4.82	0.00	0.000	1030	0.000	0.055	2008	2405	3450	3569	3331	0	0	0	0	0	0	14.71	14.64	14.73
3885	-0.92	-146.0	2008	2406	3569	3332	578.4	-11.1	310	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2405	3450	3569	3331	0	0	0	0	0	0	14.83	14.86	14.85
4082	end dive: TARGET_DEPTH_EXCEEDED
state	4082	begin apogee
4088	-0.11	0.0	2009	2192	3570	3332	600.6	-11.1	320	4227	1.08	0.00	135.00	2.131	10246	0.286	0.000	2285	2189	2851	2929	2774	0	0	0	0	0	0	14.52	13.99	13.24
4228	end apogee: CONTROL_FINISHED_OK
state	4228	begin climb
4230	0.92	146.0	2285	2190	2928	2774	602.8	0.0	327	4373	1.15	0.00	139.35	2.032	10246	0.160	0.000	2620	2190	2255	2279	2232	0	0	0	0	0	0	13.92	13.74	13.05
4665	0.92	146.0	2621	2191	2274	2215	523.9	20.9	349	4665	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2190	2243	2273	2214	0	0	0	0	0	0	14.35	14.37	14.36
4965	0.92	146.0	2620	2190	2273	2210	461.2	21.0	364	4975	0.00	4.95	0.00	0.000	516	0.000	0.072	2641	520	2240	2272	2209	0	0	0	0	0	0	14.50	14.28	14.52
4980	0.92	146.0	2642	521	2271	2211	457.8	21.0	367	4988	0.00	4.85	0.00	0.000	1030	0.000	0.054	2633	2206	2240	2270	2210	0	0	0	0	0	0	14.40	14.33	14.42
5285	0.92	146.0	2634	2207	2271	2209	392.9	20.8	383	5286	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2206	2239	2270	2208	0	0	0	0	0	0	14.61	14.63	14.63
5586	0.92	146.0	2634	2207	2272	2207	331.8	19.9	398	5595	0.00	4.93	0.00	0.000	516	0.000	0.073	2653	525	2238	2271	2206	0	0	0	0	0	0	14.67	14.48	14.72
5605	0.92	146.0	2653	525	2270	2206	327.8	19.8	402	5615	0.00	4.85	0.00	0.000	1030	0.000	0.054	2649	2208	2237	2270	2205	0	0	0	0	0	0	14.57	14.50	14.58
5925	0.92	146.0	2649	2208	2270	2210	267.7	17.2	421	5932	0.00	4.95	0.00	0.000	516	0.000	0.073	2669	522	2238	2272	2204	0	0	0	0	0	0	14.72	14.51	14.73
5962	0.92	146.0	2670	522	2270	2205	261.5	17.5	428	5969	0.15	4.82	0.00	0.000	5126	0.348	0.055	2633	2203	2236	2268	2204	0	0	0	0	0	0	14.38	14.54	14.59
6267	0.95	146.0	2634	2204	2271	2204	226.3	9.0	455	6268	0.00	0.00	0.00	0.000	70	0.000	0.000	2633	2203	2236	2270	2203	0	0	0	0	0	0	14.74	14.76	14.78
6447	0.99	146.0	2632	2204	2271	2203	211.1	8.6	473	6454	0.00	4.93	0.00	0.000	580	0.000	0.072	2652	519	2236	2271	2202	0	0	0	0	0	0	14.75	14.55	14.77
6474	1.03	146.0	2652	519	2269	2209	208.6	8.7	478	6481	0.00	4.80	0.00	0.000	1094	0.000	0.051	2648	2205	2235	2268	2202	0	0	0	0	0	0	14.60	14.54	14.62
6659	1.09	146.0	2648	2206	2272	2203	193.0	7.9	497	6660	0.00	0.00	0.00	0.000	70	0.000	0.000	2647	2205	2235	2270	2201	0	0	0	0	0	0	14.76	14.78	14.77
6839	1.20	146.0	2648	2205	2271	2202	180.2	6.3	515	6841	0.22	0.00	0.00	0.000	2118	0.164	0.000	2713	2205	2236	2271	2202	0	0	0	0	0	0	14.50	14.64	14.62
7019	1.29	146.0	2713	2206	2271	2202	166.6	7.0	533	7020	0.00	0.00	0.00	0.000	70	0.000	0.000	2713	2205	2236	2270	2202	0	0	0	0	0	0	14.77	14.79	14.78
7199	1.39	146.0	2714	2206	2273	2201	154.2	6.8	551	7201	0.20	0.00	0.00	0.000	2118	0.168	0.000	2773	2205	2235	2270	2201	0	0	0	0	0	0	14.52	14.65	14.63
7379	1.51	146.0	2774	2206	2272	2202	142.1	6.1	569	7386	0.12	4.90	0.00	0.000	2628	0.190	0.067	2835	516	2235	2270	2201	0	0	0	0	0	0	14.52	14.59	14.59
7441	1.59	146.0	2836	517	2269	2203	137.6	7.3	581	7448	0.00	4.80	0.00	0.000	1094	0.000	0.050	2822	2204	2235	2268	2202	0	0	0	0	0	0	14.68	14.62	14.69
7633	1.84	229.9	2822	2205	2268	2202	126.4	4.8	601	7707	0.30	0.00	71.60	1.613	10790	0.160	0.000	2916	2204	1914	1943	1886	0	0	0	0	0	0	14.54	14.28	13.65
7883	1.84	229.9	2916	2205	1936	1873	94.7	13.6	630	7884	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2204	1904	1936	1873	0	0	0	0	0	0	14.52	14.54	14.54
8063	1.94	229.9	2917	2205	1936	1870	76.6	6.8	648	8064	0.12	0.00	0.00	0.000	2118	0.190	0.000	2952	2204	1902	1935	1869	0	0	0	0	0	0	14.34	14.48	14.47
8243	2.50	417.1	2951	2205	1935	1869	73.8	-1.6	666	8411	0.55	5.15	155.07	1.496	10788	0.143	0.070	3146	522	1147	1152	1142	0	0	0	0	0	0	14.37	13.93	13.38
8592	2.62	417.1	3146	522	1133	1142	33.7	6.0	732	8604	0.00	4.93	0.00	0.000	1094	0.000	0.050	3136	2205	1137	1134	1140	0	0	0	0	0	0	14.26	14.20	14.28
8782	3.07	567.8	3136	2206	1136	1137	31.0	0.7	752	8916	0.55	5.12	121.25	1.413	11044	0.138	0.069	3330	521	532	494	571	0	0	0	0	0	0	14.23	13.85	13.39
9015	end climb: SURFACE_DEPTH_REACHED
state	9015	begin surface coast
9025	end surface coast: CONTROL_FINISHED_OK
state	9025	begin surface