Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2100 ALTIM_TOP_PING_RANGE 20

MISSION 15 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 28 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 2 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 20 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 20 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 990 SM_CC 567.43622 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 2 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 10 PROTOCOL 9 C_VBD 2948 INT_PRESSURE_YINT 1.8

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 4 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 4 CALL_TRIES 3 PITCH_VBD_SHIFT 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 8 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 330 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 360 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 11400 STROBE 0 LOITER_W_DBAND 1 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 1 RAFOS_HIT_WINDOW 25200 LOITER_D_BOTTOM 250 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 2400 CF8_MAXERRORS 0 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 0 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 2 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 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 -154.09409 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.0019871001 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0216852 ROLL_DEG 80 COMPASS_USE 4

HD_C 3.8918901e-07 C_ROLL_DIVE 2300 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 990 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 180 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 567.43622

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 2 PITCH_GAIN 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 4

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 8

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019871001 PITCH_MIN 200 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0216852 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 3.8918901e-07 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 3 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010809835 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 T_DIVE 330

CAPUPLOAD 0 ID 228 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.8 P_OVSHOOT_WITHG 0 T_LOITER 11400

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 360

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 25200 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2100 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2300 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2948 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 1 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 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 28 MINV_10V 0 R_PORT_OVSHOOT 20 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 10 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 2 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.181

_CALLS 1 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 54.46 MHEAD_RNG_PITCHd_Wd 135.7,183544,-19.8,-10.000,-28.97,2248

_SM_ANGLEo -27.5 D_GRID 990

GPS2 151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 9.11,-1.387,-1.424,2,6,0 _24V_AH 13.27,82.818

FINISH1 9.1,1.020919,452 _10V_AH 13.15,0.000

FINISH2 6.6 FG_AHR_24Vo 0.000

RAFOS_CLK 494 FG_AHR_10Vo 0.000

RAFOS_FIX 7433.331055,-14630.600586,151018,030344,0,1,0.07 MEM 326568

IRIDIUM_FIX 7423.18,-14645.18,131018,195921 DATA_FILE_SIZE 30035,860

TT8_MAMPS 0.042693,0.653128 CAP_FILE_SIZE 90515,0

HUMID 43.38 CFSIZE 2097872896,2090401792

INTERNAL_PRESSURE 9.31005 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.70 SOUNDSPEED 1445.3

XPDR_PINGS 0 CURRENT 0.071,269.97,1

ALTIM_TOP_PING 19.5,5.9 GPS 151018,031944,7433.331,-14630.601,0,1001.0,0,18.2,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 367 31.98 nil 0 0 0.00

Roll_motor 168 86 193.29 nil 0 0 0.00

VBD_pump_during_apogee 679 1783 16080.96 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 7694 18 1901.19

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 5160 2 156.77

TT8_Active 788 11 119.96

TT8_Sampling 1673 31 682.94

TT8_CF8 154 36 73.73

TT8_Kalman 0 0 0.00

Analog_circuits 1510 10 216.54

GPS_charging 0 0 0.00

Compass 1234 6 109.41

RAFOS 0 0 0.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.87 -146.0 2403 2310 3055 2870 0.0 0.0 0 21 0.00 0.00 -5.70 0.018 16390 0.000 0.000 2402 2309 3558 3671 3445 0 0 0 0 0 0 14.59 13.46 14.60

23 -0.87 -146.0 2402 2310 3672 3447 60.6 0.0 1 30 0.85 4.97 0.00 0.000 4356 0.117 0.086 2105 3942 3560 3673 3448 0 0 0 0 0 0 14.38 14.40 14.45

255 -0.87 -146.0 2104 3944 3667 3466 113.3 -18.2 47 266 0.00 4.78 0.00 0.000 1030 0.000 0.045 2110 2293 3565 3666 3465 0 0 0 0 0 0 14.52 14.45 14.53

445 -0.87 -146.0 2110 2293 3666 3467 138.4 -12.2 67 456 0.00 5.00 0.00 0.000 260 0.000 0.082 2092 3949 3566 3665 3467 0 0 0 0 0 0 14.69 14.47 14.71

481 -0.87 -146.0 2091 3949 3665 3469 143.3 -13.9 74 488 0.00 4.75 0.00 0.000 1030 0.000 0.043 2097 2293 3566 3664 3468 0 0 0 0 0 0 14.55 14.50 14.57

666 -0.87 -146.0 2096 2293 3665 3469 166.9 -12.6 93 673 0.00 4.90 0.00 0.000 516 0.000 0.067 2096 605 3566 3665 3468 0 0 0 0 0 0 14.71 14.52 14.73

698 -0.87 -146.0 2096 605 3665 3469 171.1 -14.1 99 709 0.17 4.88 0.00 0.000 3078 0.368 0.052 2110 2300 3567 3665 3469 0 0 0 0 0 0 14.31 14.52 14.55

888 -0.87 -146.0 2109 2300 3665 3470 194.1 -11.9 119 899 0.00 4.95 0.00 0.000 260 0.000 0.083 2091 3952 3566 3664 3469 0 0 0 0 0 0 14.72 14.50 14.74

914 -0.87 -146.0 2090 3953 3663 3470 197.6 -13.7 124 921 0.00 4.72 0.00 0.000 1030 0.000 0.043 2096 2297 3566 3662 3470 0 0 0 0 0 0 14.62 14.56 14.64

1099 -0.87 -146.0 2097 2297 3664 3471 218.8 -10.6 143 1110 0.00 4.95 0.00 0.000 260 0.000 0.080 2078 3949 3566 3662 3470 0 0 0 0 0 0 14.73 14.54 14.78

1200 -0.87 -146.0 2079 3949 3662 3473 231.4 -11.6 163 1211 0.15 4.72 0.00 0.000 3078 0.351 0.043 2112 2290 3567 3661 3473 0 0 0 0 0 0 14.33 14.53 14.55

1392 -0.87 -146.0 2112 2290 3662 3473 245.3 -6.5 183 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2290 3566 3661 3472 0 0 0 0 0 0 14.76 14.78 14.78

1570 -0.87 -146.0 2112 2290 3659 3473 255.9 -5.7 196 1571 0.00 0.00 0.00 0.000 38 0.000 0.000 2112 2290 3566 3661 3471 0 0 0 0 0 0 14.78 14.80 14.80

1870 -0.87 -146.0 2112 2290 3661 3472 267.8 -3.4 211 1880 0.00 4.82 0.00 0.000 548 0.000 0.063 2124 613 3566 3661 3472 0 0 0 0 0 0 14.81 14.62 14.82

2105 -0.87 -146.0 2124 613 3661 3473 275.9 -2.8 258 2112 0.00 4.82 0.00 0.000 1062 0.000 0.048 2105 2309 3566 3661 3472 0 0 0 0 0 0 14.70 14.64 14.71

2410 -0.87 -146.0 2106 2310 3662 3473 281.9 -2.0 274 2420 0.00 4.90 0.00 0.000 548 0.000 0.066 2105 612 3566 3661 3472 0 0 0 0 0 0 14.83 14.63 14.85

2645 -0.87 -146.0 2106 613 3662 3473 288.3 -2.5 321 2653 0.15 4.80 0.00 0.000 3110 0.340 0.049 2112 2301 3566 3660 3472 0 0 0 0 0 0 14.45 14.66 14.67

2950 -0.87 -146.0 2112 2301 3660 3473 294.8 -2.4 337 2957 0.00 4.88 0.00 0.000 548 0.000 0.067 2120 613 3566 3660 3472 0 0 0 0 0 0 14.85 14.65 14.86

3182 -0.87 -146.0 2119 614 3660 3473 300.1 -2.1 383 3192 0.00 4.80 0.00 0.000 1062 0.000 0.049 2100 2309 3566 3660 3472 0 0 0 0 0 0 14.73 14.67 14.75

3492 -0.87 -146.0 2100 2307 3660 3472 304.7 -1.5 400 3493 0.00 0.00 0.00 0.000 38 0.000 0.000 2100 2309 3566 3660 3472 0 0 0 0 0 0 14.86 14.88 14.88

3792 -0.87 -146.0 2100 2312 3660 3473 308.4 -1.2 415 3801 0.00 4.90 0.00 0.000 548 0.000 0.067 2100 609 3566 3660 3472 0 0 0 0 0 0 14.86 14.67 14.88

4027 -0.87 -146.0 2101 609 3661 3473 311.4 -1.1 462 4034 0.15 4.78 0.00 0.000 3110 0.335 0.049 2110 2301 3565 3659 3472 0 0 0 0 0 0 14.49 14.69 14.71

4149 end dive: NO_VERTICAL_VELOCITY

state 4149 begin apogee

4155 -0.11 0.0 2112 2094 3661 3473 312.3 0.0 469 4294 0.98 0.00 133.65 1.783 10246 0.297 0.000 2357 2092 2943 2999 2888 0 0 0 0 0 0 14.50 14.10 13.45

4295 end apogee: CONTROL_FINISHED_OK

state 4295 begin climb

4297 0.87 146.0 2358 2093 2998 2888 307.4 0.0 476 4438 1.05 5.40 129.35 1.697 10500 0.161 0.086 2671 3783 2345 2358 2332 0 0 0 0 0 0 14.02 13.85 13.27

4458 0.87 146.0 2672 3784 2352 2333 289.4 13.2 506 4466 0.00 5.05 0.00 0.000 1030 0.000 0.049 2691 2111 2340 2350 2330 0 0 0 0 0 0 14.02 13.94 14.03

4771 0.87 146.0 2691 2110 2351 2321 249.4 11.7 523 4777 0.00 5.12 0.00 0.000 516 0.000 0.077 2713 406 2335 2350 2320 0 0 0 0 0 0 14.45 14.24 14.47

4822 0.87 146.0 2713 406 2348 2319 243.7 10.5 533 4835 0.15 4.95 0.00 0.000 5126 0.243 0.050 2680 2102 2333 2350 2317 0 0 0 0 0 0 14.19 14.29 14.35

5014 0.90 146.0 2680 2103 2353 2318 225.2 9.1 553 5025 0.00 5.10 0.00 0.000 324 0.000 0.084 2680 3783 2334 2350 2318 0 0 0 0 0 0 14.54 14.33 14.56

5040 0.90 146.0 2679 3784 2350 2318 222.5 9.7 558 5049 0.00 4.93 0.00 0.000 1030 0.000 0.047 2696 2091 2334 2351 2317 0 0 0 0 0 0 14.45 14.38 14.46

5226 0.92 146.0 2697 2097 2353 2318 205.3 9.2 577 5237 0.00 4.97 0.00 0.000 580 0.000 0.076 2718 407 2334 2352 2316 0 0 0 0 0 0 14.61 14.39 14.62

5268 0.94 146.0 2718 411 2352 2317 201.3 9.2 585 5280 0.00 4.88 0.00 0.000 1094 0.000 0.049 2718 2101 2333 2353 2314 0 0 0 0 0 0 14.47 14.40 14.48

5458 0.96 146.0 2719 2102 2354 2315 183.3 9.4 605 5469 0.00 5.07 0.00 0.000 324 0.000 0.083 2718 3788 2333 2352 2315 0 0 0 0 0 0 14.65 14.37 14.66

5479 0.96 146.0 2718 3789 2353 2317 181.1 10.4 609 5492 0.00 4.90 0.00 0.000 1030 0.000 0.046 2739 2095 2333 2351 2315 0 0 0 0 0 0 14.52 14.45 14.54

5670 0.96 146.0 2739 2095 2353 2315 162.0 9.9 629 5681 0.00 4.97 0.00 0.000 516 0.000 0.076 2760 409 2333 2353 2313 0 0 0 0 0 0 14.68 14.47 14.70

5696 0.96 146.0 2761 410 2355 2314 159.1 10.8 634 5705 0.20 4.88 0.00 0.000 5126 0.256 0.050 2713 2103 2336 2354 2318 0 0 0 0 0 0 14.37 14.50 14.56

5883 1.02 146.0 2714 2106 2355 2312 143.3 8.2 653 5895 0.00 5.07 0.00 0.000 324 0.000 0.084 2713 3791 2332 2352 2312 0 0 0 0 0 0 14.71 14.48 14.72

5900 1.05 146.0 2713 3792 2353 2314 141.6 8.7 656 5907 0.00 4.88 0.00 0.000 1094 0.000 0.046 2734 2098 2332 2352 2313 0 0 0 0 0 0 14.60 14.53 14.62

6085 1.10 146.0 2734 2099 2362 2312 126.0 8.4 675 6096 0.00 4.95 0.00 0.000 580 0.000 0.076 2755 409 2332 2354 2311 0 0 0 0 0 0 14.73 14.50 14.74

6126 1.12 146.0 2755 410 2355 2312 122.2 9.4 683 6137 0.00 4.85 0.00 0.000 1094 0.000 0.048 2755 2104 2332 2354 2310 0 0 0 0 0 0 14.62 14.55 14.64

6316 1.20 146.0 2754 2105 2356 2311 106.7 7.5 703 6317 0.00 0.00 0.00 0.000 70 0.000 0.000 2755 2104 2332 2355 2310 0 0 0 0 0 0 14.73 14.76 14.75

6496 1.46 235.3 2756 2105 2357 2311 95.2 5.9 721 6580 0.35 0.00 81.32 1.523 10534 0.118 0.000 2870 2106 1987 2006 1968 0 0 0 0 0 0 14.54 14.23 13.63

6756 1.53 235.3 2869 2105 1991 1950 71.6 7.9 750 6757 0.00 0.00 0.00 0.000 70 0.000 0.000 2870 2105 1970 1991 1949 0 0 0 0 0 0 14.50 14.52 14.52

6936 1.91 364.0 2870 2106 1991 1948 62.0 4.1 768 7059 0.45 0.00 117.07 1.428 10534 0.114 0.000 3016 2105 1457 1464 1451 0 0 0 0 0 0 14.37 14.02 13.50

7236 2.00 364.0 3016 2106 1454 1440 36.8 7.2 801 7237 0.00 0.00 0.00 0.000 70 0.000 0.000 3015 2105 1446 1454 1439 0 0 0 0 0 0 14.40 14.42 14.42

7416 2.48 523.5 3015 2106 1453 1438 30.5 2.7 819 7639 0.52 0.00 218.18 1.257 10530 0.107 0.000 3191 2105 873 849 897 0 0 0 0 0 0 14.29 28.83 14.35

7640 end climb: FINISH_DEPTH_REACHED

state 7640 begin subsurface finish

7645 1.36 451.8 3191 2105 852 901 9.1 10.5 858 7659 1.38 0.00 -7.18 0.017 20486 0.257 0.000 2845 2105 1109 1106 1113 0 0 0 0 0 0 13.79 13.43 13.91

7659 end subsurface finish: CONTROL_FINISHED_OK

state 7659 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	28	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	2	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	20	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	20	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	990	SM_CC	567.43622	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	2	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	10	PROTOCOL	9	C_VBD	2948	INT_PRESSURE_YINT	1.8
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	4	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	4	CALL_TRIES	3	PITCH_VBD_SHIFT	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	8	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	330	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	360	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	11400	STROBE	0	LOITER_W_DBAND	1	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	1	RAFOS_HIT_WINDOW	25200	LOITER_D_BOTTOM	250	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	2400	CF8_MAXERRORS	0	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	0	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	2	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	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	-154.09409	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.0019871001	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0216852	ROLL_DEG	80	COMPASS_USE	4
HD_C	3.8918901e-07	C_ROLL_DIVE	2300	ALTIM_PING_FIT	0

GPS1	151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.181
_CALLS	1	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	54.46	MHEAD_RNG_PITCHd_Wd	135.7,183544,-19.8,-10.000,-28.97,2248
_SM_ANGLEo	-27.5	D_GRID	990
GPS2	151018,000521,7433.7480,-14630.2598,0,6255.0,0,18.2,0.0,0.0,0,0.0

FREEZE	9.11,-1.387,-1.424,2,6,0	_24V_AH	13.27,82.818
FINISH1	9.1,1.020919,452	_10V_AH	13.15,0.000
FINISH2	6.6	FG_AHR_24Vo	0.000
RAFOS_CLK	494	FG_AHR_10Vo	0.000
RAFOS_FIX	7433.331055,-14630.600586,151018,030344,0,1,0.07	MEM	326568
IRIDIUM_FIX	7423.18,-14645.18,131018,195921	DATA_FILE_SIZE	30035,860
TT8_MAMPS	0.042693,0.653128	CAP_FILE_SIZE	90515,0
HUMID	43.38	CFSIZE	2097872896,2090401792
INTERNAL_PRESSURE	9.31005	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.70	SOUNDSPEED	1445.3
XPDR_PINGS	0	CURRENT	0.071,269.97,1
ALTIM_TOP_PING	19.5,5.9	GPS	151018,031944,7433.331,-14630.601,0,1001.0,0,18.2,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	367	31.98	nil	0	0	0.00
Roll_motor	168	86	193.29	nil	0	0	0.00
VBD_pump_during_apogee	679	1783	16080.96	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	7694	18	1901.19
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	5160	2	156.77
TT8_Active	788	11	119.96
TT8_Sampling	1673	31	682.94
TT8_CF8	154	36	73.73
TT8_Kalman	0	0	0.00
Analog_circuits	1510	10	216.54
GPS_charging	0	0	0.00
Compass	1234	6	109.41
RAFOS	0	0	0.00
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.87	-146.0	2403	2310	3055	2870	0.0	0.0	0	21	0.00	0.00	-5.70	0.018	16390	0.000	0.000	2402	2309	3558	3671	3445	0	0	0	0	0	0	14.59	13.46	14.60
23	-0.87	-146.0	2402	2310	3672	3447	60.6	0.0	1	30	0.85	4.97	0.00	0.000	4356	0.117	0.086	2105	3942	3560	3673	3448	0	0	0	0	0	0	14.38	14.40	14.45
255	-0.87	-146.0	2104	3944	3667	3466	113.3	-18.2	47	266	0.00	4.78	0.00	0.000	1030	0.000	0.045	2110	2293	3565	3666	3465	0	0	0	0	0	0	14.52	14.45	14.53
445	-0.87	-146.0	2110	2293	3666	3467	138.4	-12.2	67	456	0.00	5.00	0.00	0.000	260	0.000	0.082	2092	3949	3566	3665	3467	0	0	0	0	0	0	14.69	14.47	14.71
481	-0.87	-146.0	2091	3949	3665	3469	143.3	-13.9	74	488	0.00	4.75	0.00	0.000	1030	0.000	0.043	2097	2293	3566	3664	3468	0	0	0	0	0	0	14.55	14.50	14.57
666	-0.87	-146.0	2096	2293	3665	3469	166.9	-12.6	93	673	0.00	4.90	0.00	0.000	516	0.000	0.067	2096	605	3566	3665	3468	0	0	0	0	0	0	14.71	14.52	14.73
698	-0.87	-146.0	2096	605	3665	3469	171.1	-14.1	99	709	0.17	4.88	0.00	0.000	3078	0.368	0.052	2110	2300	3567	3665	3469	0	0	0	0	0	0	14.31	14.52	14.55
888	-0.87	-146.0	2109	2300	3665	3470	194.1	-11.9	119	899	0.00	4.95	0.00	0.000	260	0.000	0.083	2091	3952	3566	3664	3469	0	0	0	0	0	0	14.72	14.50	14.74
914	-0.87	-146.0	2090	3953	3663	3470	197.6	-13.7	124	921	0.00	4.72	0.00	0.000	1030	0.000	0.043	2096	2297	3566	3662	3470	0	0	0	0	0	0	14.62	14.56	14.64
1099	-0.87	-146.0	2097	2297	3664	3471	218.8	-10.6	143	1110	0.00	4.95	0.00	0.000	260	0.000	0.080	2078	3949	3566	3662	3470	0	0	0	0	0	0	14.73	14.54	14.78
1200	-0.87	-146.0	2079	3949	3662	3473	231.4	-11.6	163	1211	0.15	4.72	0.00	0.000	3078	0.351	0.043	2112	2290	3567	3661	3473	0	0	0	0	0	0	14.33	14.53	14.55
1392	-0.87	-146.0	2112	2290	3662	3473	245.3	-6.5	183	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2290	3566	3661	3472	0	0	0	0	0	0	14.76	14.78	14.78
1570	-0.87	-146.0	2112	2290	3659	3473	255.9	-5.7	196	1571	0.00	0.00	0.00	0.000	38	0.000	0.000	2112	2290	3566	3661	3471	0	0	0	0	0	0	14.78	14.80	14.80
1870	-0.87	-146.0	2112	2290	3661	3472	267.8	-3.4	211	1880	0.00	4.82	0.00	0.000	548	0.000	0.063	2124	613	3566	3661	3472	0	0	0	0	0	0	14.81	14.62	14.82
2105	-0.87	-146.0	2124	613	3661	3473	275.9	-2.8	258	2112	0.00	4.82	0.00	0.000	1062	0.000	0.048	2105	2309	3566	3661	3472	0	0	0	0	0	0	14.70	14.64	14.71
2410	-0.87	-146.0	2106	2310	3662	3473	281.9	-2.0	274	2420	0.00	4.90	0.00	0.000	548	0.000	0.066	2105	612	3566	3661	3472	0	0	0	0	0	0	14.83	14.63	14.85
2645	-0.87	-146.0	2106	613	3662	3473	288.3	-2.5	321	2653	0.15	4.80	0.00	0.000	3110	0.340	0.049	2112	2301	3566	3660	3472	0	0	0	0	0	0	14.45	14.66	14.67
2950	-0.87	-146.0	2112	2301	3660	3473	294.8	-2.4	337	2957	0.00	4.88	0.00	0.000	548	0.000	0.067	2120	613	3566	3660	3472	0	0	0	0	0	0	14.85	14.65	14.86
3182	-0.87	-146.0	2119	614	3660	3473	300.1	-2.1	383	3192	0.00	4.80	0.00	0.000	1062	0.000	0.049	2100	2309	3566	3660	3472	0	0	0	0	0	0	14.73	14.67	14.75
3492	-0.87	-146.0	2100	2307	3660	3472	304.7	-1.5	400	3493	0.00	0.00	0.00	0.000	38	0.000	0.000	2100	2309	3566	3660	3472	0	0	0	0	0	0	14.86	14.88	14.88
3792	-0.87	-146.0	2100	2312	3660	3473	308.4	-1.2	415	3801	0.00	4.90	0.00	0.000	548	0.000	0.067	2100	609	3566	3660	3472	0	0	0	0	0	0	14.86	14.67	14.88
4027	-0.87	-146.0	2101	609	3661	3473	311.4	-1.1	462	4034	0.15	4.78	0.00	0.000	3110	0.335	0.049	2110	2301	3565	3659	3472	0	0	0	0	0	0	14.49	14.69	14.71
4149	end dive: NO_VERTICAL_VELOCITY
state	4149	begin apogee
4155	-0.11	0.0	2112	2094	3661	3473	312.3	0.0	469	4294	0.98	0.00	133.65	1.783	10246	0.297	0.000	2357	2092	2943	2999	2888	0	0	0	0	0	0	14.50	14.10	13.45
4295	end apogee: CONTROL_FINISHED_OK
state	4295	begin climb
4297	0.87	146.0	2358	2093	2998	2888	307.4	0.0	476	4438	1.05	5.40	129.35	1.697	10500	0.161	0.086	2671	3783	2345	2358	2332	0	0	0	0	0	0	14.02	13.85	13.27
4458	0.87	146.0	2672	3784	2352	2333	289.4	13.2	506	4466	0.00	5.05	0.00	0.000	1030	0.000	0.049	2691	2111	2340	2350	2330	0	0	0	0	0	0	14.02	13.94	14.03
4771	0.87	146.0	2691	2110	2351	2321	249.4	11.7	523	4777	0.00	5.12	0.00	0.000	516	0.000	0.077	2713	406	2335	2350	2320	0	0	0	0	0	0	14.45	14.24	14.47
4822	0.87	146.0	2713	406	2348	2319	243.7	10.5	533	4835	0.15	4.95	0.00	0.000	5126	0.243	0.050	2680	2102	2333	2350	2317	0	0	0	0	0	0	14.19	14.29	14.35
5014	0.90	146.0	2680	2103	2353	2318	225.2	9.1	553	5025	0.00	5.10	0.00	0.000	324	0.000	0.084	2680	3783	2334	2350	2318	0	0	0	0	0	0	14.54	14.33	14.56
5040	0.90	146.0	2679	3784	2350	2318	222.5	9.7	558	5049	0.00	4.93	0.00	0.000	1030	0.000	0.047	2696	2091	2334	2351	2317	0	0	0	0	0	0	14.45	14.38	14.46
5226	0.92	146.0	2697	2097	2353	2318	205.3	9.2	577	5237	0.00	4.97	0.00	0.000	580	0.000	0.076	2718	407	2334	2352	2316	0	0	0	0	0	0	14.61	14.39	14.62
5268	0.94	146.0	2718	411	2352	2317	201.3	9.2	585	5280	0.00	4.88	0.00	0.000	1094	0.000	0.049	2718	2101	2333	2353	2314	0	0	0	0	0	0	14.47	14.40	14.48
5458	0.96	146.0	2719	2102	2354	2315	183.3	9.4	605	5469	0.00	5.07	0.00	0.000	324	0.000	0.083	2718	3788	2333	2352	2315	0	0	0	0	0	0	14.65	14.37	14.66
5479	0.96	146.0	2718	3789	2353	2317	181.1	10.4	609	5492	0.00	4.90	0.00	0.000	1030	0.000	0.046	2739	2095	2333	2351	2315	0	0	0	0	0	0	14.52	14.45	14.54
5670	0.96	146.0	2739	2095	2353	2315	162.0	9.9	629	5681	0.00	4.97	0.00	0.000	516	0.000	0.076	2760	409	2333	2353	2313	0	0	0	0	0	0	14.68	14.47	14.70
5696	0.96	146.0	2761	410	2355	2314	159.1	10.8	634	5705	0.20	4.88	0.00	0.000	5126	0.256	0.050	2713	2103	2336	2354	2318	0	0	0	0	0	0	14.37	14.50	14.56
5883	1.02	146.0	2714	2106	2355	2312	143.3	8.2	653	5895	0.00	5.07	0.00	0.000	324	0.000	0.084	2713	3791	2332	2352	2312	0	0	0	0	0	0	14.71	14.48	14.72
5900	1.05	146.0	2713	3792	2353	2314	141.6	8.7	656	5907	0.00	4.88	0.00	0.000	1094	0.000	0.046	2734	2098	2332	2352	2313	0	0	0	0	0	0	14.60	14.53	14.62
6085	1.10	146.0	2734	2099	2362	2312	126.0	8.4	675	6096	0.00	4.95	0.00	0.000	580	0.000	0.076	2755	409	2332	2354	2311	0	0	0	0	0	0	14.73	14.50	14.74
6126	1.12	146.0	2755	410	2355	2312	122.2	9.4	683	6137	0.00	4.85	0.00	0.000	1094	0.000	0.048	2755	2104	2332	2354	2310	0	0	0	0	0	0	14.62	14.55	14.64
6316	1.20	146.0	2754	2105	2356	2311	106.7	7.5	703	6317	0.00	0.00	0.00	0.000	70	0.000	0.000	2755	2104	2332	2355	2310	0	0	0	0	0	0	14.73	14.76	14.75
6496	1.46	235.3	2756	2105	2357	2311	95.2	5.9	721	6580	0.35	0.00	81.32	1.523	10534	0.118	0.000	2870	2106	1987	2006	1968	0	0	0	0	0	0	14.54	14.23	13.63
6756	1.53	235.3	2869	2105	1991	1950	71.6	7.9	750	6757	0.00	0.00	0.00	0.000	70	0.000	0.000	2870	2105	1970	1991	1949	0	0	0	0	0	0	14.50	14.52	14.52
6936	1.91	364.0	2870	2106	1991	1948	62.0	4.1	768	7059	0.45	0.00	117.07	1.428	10534	0.114	0.000	3016	2105	1457	1464	1451	0	0	0	0	0	0	14.37	14.02	13.50
7236	2.00	364.0	3016	2106	1454	1440	36.8	7.2	801	7237	0.00	0.00	0.00	0.000	70	0.000	0.000	3015	2105	1446	1454	1439	0	0	0	0	0	0	14.40	14.42	14.42
7416	2.48	523.5	3015	2106	1453	1438	30.5	2.7	819	7639	0.52	0.00	218.18	1.257	10530	0.107	0.000	3191	2105	873	849	897	0	0	0	0	0	0	14.29	28.83	14.35
7640	end climb: FINISH_DEPTH_REACHED
state	7640	begin subsurface finish
7645	1.36	451.8	3191	2105	852	901	9.1	10.5	858	7659	1.38	0.00	-7.18	0.017	20486	0.257	0.000	2845	2105	1109	1106	1113	0	0	0	0	0	0	13.79	13.43	13.91
7659	end subsurface finish: CONTROL_FINISHED_OK
state	7659	begin surface