Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 148 * 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 148 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 27 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 14 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 360 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 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 180 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 360 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 120

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 180

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 148 MINV_10V 11 R_PORT_OVSHOOT 27 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 14 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 091018,163017,7412.4185,-14621.6016,6,0.9,8,18.4,0.4,132.9,7,8.2 SPEED_LIMITS 0.173,0.179

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -1.15 MHEAD_RNG_PITCHd_Wd 167.7,780,-22.0,-10.000,-29.22,1661

_SM_ANGLEo -75.5 D_GRID 360

GPS2 091018,163631,7412.4062,-14621.5947,3,0.9,3,18.4,0.6,152.1,7,7.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009161033.978978,18,7609,38,0126,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*09 ALTIM_TOP_PING 20.0,6.5

FINISH 0.3,1.020855 _24V_AH 13.14,69.238

SM_CCo 5792,35.92,0.278,0,0,500,577.44 _10V_AH 13.02,0.000

SM_GC -3.21,11.55,5.68,35.92,0.239,0.053,0.278,201,2396,500,-6.62,-0.99,577.44,0,0,0,0,0,0,14.06,14.09,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 362 FG_AHR_10Vo 0.000

MODEM 1,1539101138,74.43333,-147.95000,38.320,55302.3 MEM 334636

RAFOS_FIX 7408.119141,-14629.469727,091018,161633,2,255,0.00 DATA_FILE_SIZE 20115,623

IRIDIUM_FIX 7412.27,-14631.74,091018,143956 CAP_FILE_SIZE 75706,0

TT8_MAMPS 0.042693,0.919023 CFSIZE 2097872896,2069463040

HUMID 45.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88035 SOUNDSPEED 1443.4

TCM_TEMP 14.60 CURRENT 0.071,336.83,1

XPDR_PINGS 13 GPS 091018,181535,7412.152,-14622.384,35,0.9,36,18.4,0.2,5.8,9,5.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 151.36 nil 0 0 0.00

Roll_motor 120 209 331.75 nil 0 0 0.00

VBD_pump_during_apogee 623 1887 15465.60 nil 0 0 0.00

VBD_pump_during_surface 72 282 269.94 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 5742 26 1998.37

Iridium_during_xfer 222 185 541.07 nil 0 0 0.00

Transponder_ping 3 420 19.32 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 6 1.17

TT8 0 0 0.00

LPSleep 3756 2 112.99

TT8_Active 817 11 123.21

TT8_Sampling 1462 31 591.06

TT8_CF8 183 36 86.66

TT8_Kalman 0 0 0.00

Analog_circuits 1603 10 227.53

GPS_charging 0 0 0.00

Compass 897 6 78.77

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.92 -146.0 198 2396 448 543 0.0 0.0 0 84 0.00 0.00 -71.62 0.003 16386 0.000 0.000 197 2396 1932 2030 1834 0 0 0 0 0 0 14.35 28.83 14.37

87 -0.92 -146.0 198 2396 2032 1839 4.2 -11.6 7 133 9.65 4.80 -28.00 0.005 18692 0.454 0.093 2008 3955 3451 3574 3329 0 0 0 0 0 0 14.00 13.36 14.26

358 -0.92 -146.0 2008 3956 3564 3341 101.1 -24.4 60 365 0.00 4.53 0.00 0.000 1030 0.000 0.044 2015 2402 3451 3563 3340 0 0 0 0 0 0 14.39 14.33 14.41

543 -0.92 -146.0 2015 2402 3563 3341 141.9 -21.0 79 554 0.00 4.72 0.00 0.000 260 0.000 0.086 1997 3951 3451 3563 3340 0 0 0 0 0 0 14.55 14.35 14.57

691 -0.92 -146.0 1997 3951 3560 3344 175.8 -22.9 108 697 0.00 4.47 0.00 0.000 1030 0.000 0.044 2006 2399 3451 3560 3342 0 0 0 0 0 0 14.49 14.42 14.50

874 -0.92 -146.0 2007 2399 3561 3344 213.9 -20.1 127 885 0.00 4.93 0.00 0.000 516 0.000 0.066 2015 707 3451 3559 3343 0 0 0 0 0 0 14.62 14.44 14.64

915 -0.92 -146.0 2015 708 3561 3344 222.1 -19.6 135 926 0.17 4.93 0.00 0.000 3078 0.327 0.056 2029 2401 3451 3559 3343 0 0 0 0 0 0 14.29 14.44 14.50

1106 -0.92 -146.0 2031 2402 3560 3344 253.7 -15.1 154 1107 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2400 3451 3559 3343 0 0 0 0 0 0 14.66 14.69 14.69

1405 -0.92 -146.0 2030 2402 3560 3344 292.8 -12.3 169 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2401 3451 3559 3343 0 0 0 0 0 0 14.71 14.73 14.73

1705 -0.92 -146.0 2029 2401 3560 3343 327.9 -11.6 184 1706 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 2401 3451 3559 3343 0 0 0 0 0 0 14.75 14.77 14.76

2002 end dive: TARGET_DEPTH_EXCEEDED

state 2003 begin apogee

2008 -0.11 0.0 2031 2184 3559 3343 361.4 -11.0 199 2147 1.00 0.05 132.05 1.887 10246 0.278 0.210 2290 2207 2851 2924 2778 0 0 0 0 0 0 14.45 13.92 13.29

2148 end apogee: CONTROL_FINISHED_OK

state 2148 begin climb

2151 0.92 146.0 2291 2208 2923 2778 364.2 0.0 206 2297 1.12 5.43 134.00 1.792 10500 0.172 0.090 2618 3893 2253 2280 2227 0 0 0 0 0 0 13.93 13.76 13.14

2307 0.92 146.0 2618 3893 2278 2229 345.5 18.2 235 2317 0.00 5.10 0.00 0.000 1030 0.000 0.047 2638 2211 2252 2277 2227 0 0 0 0 0 0 13.90 13.84 13.93

2622 0.92 146.0 2639 2210 2276 2213 284.1 18.5 253 2628 0.00 5.10 0.00 0.000 516 0.000 0.070 2660 505 2243 2275 2212 0 0 0 0 0 0 14.38 14.19 14.40

2648 0.92 146.0 2659 504 2272 2214 279.2 18.3 258 2658 0.15 4.97 0.00 0.000 5126 0.339 0.054 2630 2198 2242 2273 2212 0 0 0 0 0 0 14.07 14.22 14.26

2964 0.92 146.0 2632 2198 2274 2209 233.9 12.4 282 2964 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2198 2240 2273 2208 0 0 0 0 0 0 14.53 14.55 14.54

3144 0.94 146.0 2632 2198 2274 2208 216.2 9.2 300 3156 0.00 5.00 0.00 0.000 580 0.000 0.072 2652 508 2240 2273 2207 0 0 0 0 0 0 14.57 14.38 14.62

3191 0.94 146.0 2651 509 2272 2208 211.2 10.1 309 3199 0.00 4.90 0.00 0.000 1030 0.000 0.052 2649 2203 2239 2272 2206 0 0 0 0 0 0 14.45 14.38 14.46

3376 1.00 146.0 2649 2203 2274 2205 195.8 8.1 328 3388 0.00 5.10 0.00 0.000 324 0.000 0.084 2646 3892 2239 2271 2207 0 0 0 0 0 0 14.62 14.40 14.64

3408 1.00 146.0 2645 3893 2270 2209 192.8 10.1 334 3419 0.00 4.90 0.00 0.000 1030 0.000 0.042 2666 2183 2238 2270 2206 0 0 0 0 0 0 14.52 14.47 14.54

3599 1.07 146.0 2666 2183 2274 2204 177.6 7.8 354 3609 0.00 4.88 0.00 0.000 580 0.000 0.066 2687 509 2238 2272 2204 0 0 0 0 0 0 14.64 14.47 14.66

3665 1.12 146.0 2688 509 2273 2205 172.2 8.3 367 3671 0.00 4.88 0.00 0.000 1094 0.000 0.049 2680 2204 2237 2272 2203 0 0 0 0 0 0 14.56 14.50 14.58

3850 1.22 146.0 2680 2206 2274 2203 159.4 6.5 386 3851 0.15 0.00 0.00 0.000 2118 0.171 0.000 2723 2205 2237 2273 2202 0 0 0 0 0 0 14.47 14.59 14.57

4030 1.34 146.0 2724 2206 2275 2204 147.7 6.3 404 4031 0.12 0.00 0.00 0.000 2118 0.192 0.000 2758 2205 2237 2273 2202 0 0 0 0 0 0 14.47 14.61 14.59

4210 1.55 217.3 2758 2206 2274 2202 136.7 5.6 422 4282 0.20 5.22 60.65 1.629 10532 0.169 0.084 2822 3891 1963 1994 1932 0 0 0 0 0 0 14.49 14.19 13.62

4304 1.55 217.3 2823 3892 1994 1933 128.0 11.4 439 4310 0.00 4.97 0.00 0.000 1030 0.000 0.047 2844 2197 1962 1992 1932 0 0 0 0 0 0 14.34 14.28 14.36

4487 1.55 217.3 2843 2196 1990 1924 102.8 13.2 458 4488 0.00 0.00 0.00 0.000 6 0.000 0.000 2844 2196 1957 1990 1924 0 0 0 0 0 0 14.52 14.54 14.54

4667 1.63 217.3 2844 2196 1988 1923 85.8 7.4 476 4679 0.00 5.12 0.00 0.000 324 0.000 0.082 2838 3891 1955 1987 1923 0 0 0 0 0 0 14.57 14.35 14.59

4684 1.69 217.3 2839 3892 1988 1920 84.6 8.1 479 4691 0.00 4.88 0.00 0.000 1094 0.000 0.041 2858 2194 1955 1987 1923 0 0 0 0 0 0 14.48 14.42 14.50

4869 2.09 352.6 2858 2194 1987 1922 77.5 1.6 498 4990 0.45 0.00 114.10 1.527 10790 0.143 0.000 2997 2193 1411 1436 1386 0 0 0 0 0 0 14.39 13.91 13.43

5169 2.38 447.6 2998 2193 1430 1376 50.1 4.1 535 5259 0.28 5.07 77.55 1.453 10788 0.147 0.067 3105 512 1020 1024 1017 0 0 0 0 0 0 14.17 13.88 13.40

5309 2.38 447.6 3106 513 1015 1019 38.3 14.4 561 5316 0.00 5.03 0.00 0.000 1030 0.000 0.050 3098 2207 1016 1015 1018 0 0 0 0 0 0 14.13 14.07 14.15

5501 2.92 627.7 3099 2209 1016 1012 27.2 -1.1 581 5617 0.50 5.20 105.30 1.414 10788 0.131 0.070 3277 513 495 459 531 0 0 0 0 0 0 14.15 13.91 13.37

5711 end climb: SURFACE_DEPTH_REACHED

state 5711 begin surface coast

5721 end surface coast: CONTROL_FINISHED_OK

state 5721 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	148	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	27	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	14	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	360	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	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	180	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	091018,163017,7412.4185,-14621.6016,6,0.9,8,18.4,0.4,132.9,7,8.2	SPEED_LIMITS	0.173,0.179
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-1.15	MHEAD_RNG_PITCHd_Wd	167.7,780,-22.0,-10.000,-29.22,1661
_SM_ANGLEo	-75.5	D_GRID	360
GPS2	091018,163631,7412.4062,-14621.5947,3,0.9,3,18.4,0.6,152.1,7,7.9

MODEM_MSG	CACST,6,1,20181009161033.978978,18,7609,38,0126,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*09	ALTIM_TOP_PING	20.0,6.5
FINISH	0.3,1.020855	_24V_AH	13.14,69.238
SM_CCo	5792,35.92,0.278,0,0,500,577.44	_10V_AH	13.02,0.000
SM_GC	-3.21,11.55,5.68,35.92,0.239,0.053,0.278,201,2396,500,-6.62,-0.99,577.44,0,0,0,0,0,0,14.06,14.09,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	362	FG_AHR_10Vo	0.000
MODEM	1,1539101138,74.43333,-147.95000,38.320,55302.3	MEM	334636
RAFOS_FIX	7408.119141,-14629.469727,091018,161633,2,255,0.00	DATA_FILE_SIZE	20115,623
IRIDIUM_FIX	7412.27,-14631.74,091018,143956	CAP_FILE_SIZE	75706,0
TT8_MAMPS	0.042693,0.919023	CFSIZE	2097872896,2069463040
HUMID	45.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88035	SOUNDSPEED	1443.4
TCM_TEMP	14.60	CURRENT	0.071,336.83,1
XPDR_PINGS	13	GPS	091018,181535,7412.152,-14622.384,35,0.9,36,18.4,0.2,5.8,9,5.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	151.36	nil	0	0	0.00
Roll_motor	120	209	331.75	nil	0	0	0.00
VBD_pump_during_apogee	623	1887	15465.60	nil	0	0	0.00
VBD_pump_during_surface	72	282	269.94	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	5742	26	1998.37
Iridium_during_xfer	222	185	541.07	nil	0	0	0.00
Transponder_ping	3	420	19.32	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	6	1.17
TT8	0	0	0.00
LPSleep	3756	2	112.99
TT8_Active	817	11	123.21
TT8_Sampling	1462	31	591.06
TT8_CF8	183	36	86.66
TT8_Kalman	0	0	0.00
Analog_circuits	1603	10	227.53
GPS_charging	0	0	0.00
Compass	897	6	78.77
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.92	-146.0	198	2396	448	543	0.0	0.0	0	84	0.00	0.00	-71.62	0.003	16386	0.000	0.000	197	2396	1932	2030	1834	0	0	0	0	0	0	14.35	28.83	14.37
87	-0.92	-146.0	198	2396	2032	1839	4.2	-11.6	7	133	9.65	4.80	-28.00	0.005	18692	0.454	0.093	2008	3955	3451	3574	3329	0	0	0	0	0	0	14.00	13.36	14.26
358	-0.92	-146.0	2008	3956	3564	3341	101.1	-24.4	60	365	0.00	4.53	0.00	0.000	1030	0.000	0.044	2015	2402	3451	3563	3340	0	0	0	0	0	0	14.39	14.33	14.41
543	-0.92	-146.0	2015	2402	3563	3341	141.9	-21.0	79	554	0.00	4.72	0.00	0.000	260	0.000	0.086	1997	3951	3451	3563	3340	0	0	0	0	0	0	14.55	14.35	14.57
691	-0.92	-146.0	1997	3951	3560	3344	175.8	-22.9	108	697	0.00	4.47	0.00	0.000	1030	0.000	0.044	2006	2399	3451	3560	3342	0	0	0	0	0	0	14.49	14.42	14.50
874	-0.92	-146.0	2007	2399	3561	3344	213.9	-20.1	127	885	0.00	4.93	0.00	0.000	516	0.000	0.066	2015	707	3451	3559	3343	0	0	0	0	0	0	14.62	14.44	14.64
915	-0.92	-146.0	2015	708	3561	3344	222.1	-19.6	135	926	0.17	4.93	0.00	0.000	3078	0.327	0.056	2029	2401	3451	3559	3343	0	0	0	0	0	0	14.29	14.44	14.50
1106	-0.92	-146.0	2031	2402	3560	3344	253.7	-15.1	154	1107	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2400	3451	3559	3343	0	0	0	0	0	0	14.66	14.69	14.69
1405	-0.92	-146.0	2030	2402	3560	3344	292.8	-12.3	169	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2401	3451	3559	3343	0	0	0	0	0	0	14.71	14.73	14.73
1705	-0.92	-146.0	2029	2401	3560	3343	327.9	-11.6	184	1706	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	2401	3451	3559	3343	0	0	0	0	0	0	14.75	14.77	14.76
2002	end dive: TARGET_DEPTH_EXCEEDED
state	2003	begin apogee
2008	-0.11	0.0	2031	2184	3559	3343	361.4	-11.0	199	2147	1.00	0.05	132.05	1.887	10246	0.278	0.210	2290	2207	2851	2924	2778	0	0	0	0	0	0	14.45	13.92	13.29
2148	end apogee: CONTROL_FINISHED_OK
state	2148	begin climb
2151	0.92	146.0	2291	2208	2923	2778	364.2	0.0	206	2297	1.12	5.43	134.00	1.792	10500	0.172	0.090	2618	3893	2253	2280	2227	0	0	0	0	0	0	13.93	13.76	13.14
2307	0.92	146.0	2618	3893	2278	2229	345.5	18.2	235	2317	0.00	5.10	0.00	0.000	1030	0.000	0.047	2638	2211	2252	2277	2227	0	0	0	0	0	0	13.90	13.84	13.93
2622	0.92	146.0	2639	2210	2276	2213	284.1	18.5	253	2628	0.00	5.10	0.00	0.000	516	0.000	0.070	2660	505	2243	2275	2212	0	0	0	0	0	0	14.38	14.19	14.40
2648	0.92	146.0	2659	504	2272	2214	279.2	18.3	258	2658	0.15	4.97	0.00	0.000	5126	0.339	0.054	2630	2198	2242	2273	2212	0	0	0	0	0	0	14.07	14.22	14.26
2964	0.92	146.0	2632	2198	2274	2209	233.9	12.4	282	2964	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2198	2240	2273	2208	0	0	0	0	0	0	14.53	14.55	14.54
3144	0.94	146.0	2632	2198	2274	2208	216.2	9.2	300	3156	0.00	5.00	0.00	0.000	580	0.000	0.072	2652	508	2240	2273	2207	0	0	0	0	0	0	14.57	14.38	14.62
3191	0.94	146.0	2651	509	2272	2208	211.2	10.1	309	3199	0.00	4.90	0.00	0.000	1030	0.000	0.052	2649	2203	2239	2272	2206	0	0	0	0	0	0	14.45	14.38	14.46
3376	1.00	146.0	2649	2203	2274	2205	195.8	8.1	328	3388	0.00	5.10	0.00	0.000	324	0.000	0.084	2646	3892	2239	2271	2207	0	0	0	0	0	0	14.62	14.40	14.64
3408	1.00	146.0	2645	3893	2270	2209	192.8	10.1	334	3419	0.00	4.90	0.00	0.000	1030	0.000	0.042	2666	2183	2238	2270	2206	0	0	0	0	0	0	14.52	14.47	14.54
3599	1.07	146.0	2666	2183	2274	2204	177.6	7.8	354	3609	0.00	4.88	0.00	0.000	580	0.000	0.066	2687	509	2238	2272	2204	0	0	0	0	0	0	14.64	14.47	14.66
3665	1.12	146.0	2688	509	2273	2205	172.2	8.3	367	3671	0.00	4.88	0.00	0.000	1094	0.000	0.049	2680	2204	2237	2272	2203	0	0	0	0	0	0	14.56	14.50	14.58
3850	1.22	146.0	2680	2206	2274	2203	159.4	6.5	386	3851	0.15	0.00	0.00	0.000	2118	0.171	0.000	2723	2205	2237	2273	2202	0	0	0	0	0	0	14.47	14.59	14.57
4030	1.34	146.0	2724	2206	2275	2204	147.7	6.3	404	4031	0.12	0.00	0.00	0.000	2118	0.192	0.000	2758	2205	2237	2273	2202	0	0	0	0	0	0	14.47	14.61	14.59
4210	1.55	217.3	2758	2206	2274	2202	136.7	5.6	422	4282	0.20	5.22	60.65	1.629	10532	0.169	0.084	2822	3891	1963	1994	1932	0	0	0	0	0	0	14.49	14.19	13.62
4304	1.55	217.3	2823	3892	1994	1933	128.0	11.4	439	4310	0.00	4.97	0.00	0.000	1030	0.000	0.047	2844	2197	1962	1992	1932	0	0	0	0	0	0	14.34	14.28	14.36
4487	1.55	217.3	2843	2196	1990	1924	102.8	13.2	458	4488	0.00	0.00	0.00	0.000	6	0.000	0.000	2844	2196	1957	1990	1924	0	0	0	0	0	0	14.52	14.54	14.54
4667	1.63	217.3	2844	2196	1988	1923	85.8	7.4	476	4679	0.00	5.12	0.00	0.000	324	0.000	0.082	2838	3891	1955	1987	1923	0	0	0	0	0	0	14.57	14.35	14.59
4684	1.69	217.3	2839	3892	1988	1920	84.6	8.1	479	4691	0.00	4.88	0.00	0.000	1094	0.000	0.041	2858	2194	1955	1987	1923	0	0	0	0	0	0	14.48	14.42	14.50
4869	2.09	352.6	2858	2194	1987	1922	77.5	1.6	498	4990	0.45	0.00	114.10	1.527	10790	0.143	0.000	2997	2193	1411	1436	1386	0	0	0	0	0	0	14.39	13.91	13.43
5169	2.38	447.6	2998	2193	1430	1376	50.1	4.1	535	5259	0.28	5.07	77.55	1.453	10788	0.147	0.067	3105	512	1020	1024	1017	0	0	0	0	0	0	14.17	13.88	13.40
5309	2.38	447.6	3106	513	1015	1019	38.3	14.4	561	5316	0.00	5.03	0.00	0.000	1030	0.000	0.050	3098	2207	1016	1015	1018	0	0	0	0	0	0	14.13	14.07	14.15
5501	2.92	627.7	3099	2209	1016	1012	27.2	-1.1	581	5617	0.50	5.20	105.30	1.414	10788	0.131	0.070	3277	513	495	459	531	0	0	0	0	0	0	14.15	13.91	13.37
5711	end climb: SURFACE_DEPTH_REACHED
state	5711	begin surface coast
5721	end surface coast: CONTROL_FINISHED_OK
state	5721	begin surface