Glider dive log

SODA Oct18 * SG224 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 224 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 20

MISSION 11 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 17 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 11 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 643.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 250 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 5

D_BOOST 5 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 3166 INT_PRESSURE_YINT 1

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 0.0012300001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 80 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 20 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 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 -6 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 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 100 PITCH_MIN 250 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2520 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044007064

MAX_BUOY 175 PITCH_CNV 0.0031300001 AH0_10V 0 SEABIRD_T_H 0.00063350337

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.4352601e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 2.8452994e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 5 SEABIRD_C_G -9.9909048

RHO 1.023 PITCH_TIMEOUT 25 MAXI_10V 0.80000001 SEABIRD_C_H 1.136714

MASS 53757 PITCH_AD_RATE 145 FG_AHR_10V 0 SEABIRD_C_I -0.0017763629

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00021546939

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -165.33157 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010780373 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3875 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.6e-05 C_ROLL_DIVE 2900 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044007064

AH0_10V 0 D_TGT 180 PHONE_DEVICE 49 SEABIRD_T_H 0.00063350337

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.4352601e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.8452994e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 145 SM_CC 643.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031300001 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 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 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 0.003 PITCH_MIN 250 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 25 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010780373 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -165.33157 T_DIVE 60

CAPUPLOAD 0 ID 224 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 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 80

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 2520 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2900 LOITER_DBDW 0 RHO 1.023 UNCOM_BLEED 20

C_VBD 3166 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53757 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3875 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 3 MINV_10V 11 R_PORT_OVSHOOT 17 VBD_MIN 500

D_ABORT 250 MINV_24V 11 R_STBD_OVSHOOT 11 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 5 MISSION 11 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 0

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 3 SEABIRD_C_G -9.9909048 XPDR_INHIBIT 90

D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_H 1.136714 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0017763629

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00021546939

Pre-dive calculations and measurements:

GPS1 131018,164340,7400.3022,-14553.1172,1,0.8,2,18.6,0.3,314.9,10,5.7 SPEED_LIMITS 0.173,0.276

_CALLS 1 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.02 MHEAD_RNG_PITCHd_Wd 151.9,137215,-16.2,-10.000,-19.93,2572

_SM_ANGLEo -64.9 D_GRID 100

GPS2 131018,164749,7400.3442,-14553.1680,2,0.8,3,18.6,0.4,18.0,10,5.7

Post-dive calculations and measurements:

FINISH 0.1,1.021336 _24V_AH 13.19,1.032

SM_CCo 2272,0.00,0.000,0,0,519,649.31 _10V_AH 12.71,0.000

SM_GC 1.21,8.20,1.05,0.00,0.094,0.164,0.000,244,2914,519,-7.08,0.03,649.31,0,0,0,0,0,0,14.38,14.31,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 80 FG_AHR_10Vo 0.000

MODEM 0,1539446495,73.00043,-148.33627,95.421,137359.4 MEM 303500

RAFOS_FIX 7400.082031,-14553.240234,131018,171736,0,1,0.22 DATA_FILE_SIZE 10155,291

IRIDIUM_FIX 7357.69,-14356.07,131018,163906 CAP_FILE_SIZE 49152,0

TT8_MAMPS 0.020223,0.92876 CFSIZE 1047117824,1036910592

HUMID 32.59 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.17414 INTR 0,3582.63,0x214798,7,24

TCM_TEMP 13.00 SOUNDSPEED 1439.7

XPDR_PINGS 0 CURRENT 0.362,342.32,1

ALTIM_TOP_PING 19.8,10.9 GPS 131018,172726,7400.513,-14553.421,1,1.4,2,18.6,0.2,0.0,6,9.7

SC_FREEKB 3908480

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 452 123.80 nil 0 0 0.00

Roll_motor 28 188 70.10 nil 0 0 0.00

VBD_pump_during_apogee 668 1475 13020.63 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 2183 39 1145.91

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 20 3.54

TT8 529 11 78.80

LPSleep 683 2 20.08

TT8_Active 671 11 100.09

TT8_Sampling 470 30 181.92

TT8_CF8 61 43 34.14

TT8_Kalman 0 0 0.00

Analog_circuits 1022 10 129.98

GPS_charging 0 0 0.00

Compass 428 5 27.20

RAFOS 0 0 0.00

Transponder 2 30 0.96

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

12 -0.81 -171.1 243 2893 494 518 0.0 0.0 0 115 0.00 0.00 -100.97 0.002 16386 0.000 0.000 243 2894 2092 2083 2101 0 0 0 0 0 0 14.84 28.83 14.86

119 -0.81 -171.1 243 2893 2084 2105 4.9 -7.8 10 176 10.20 2.65 -35.17 0.004 18980 0.453 0.143 2258 1485 3869 3904 3835 0 0 0 0 0 0 14.30 13.46 14.64

232 -0.81 -171.1 2258 1484 3903 3837 36.2 -21.2 30 238 0.00 2.83 0.00 0.000 1030 0.000 0.175 2249 2905 3870 3903 3837 0 0 0 0 0 0 14.64 14.48 14.66

426 -0.81 -171.1 2249 2905 3903 3837 75.6 -17.3 50 432 0.00 1.90 0.00 0.000 260 0.000 0.189 2243 3875 3870 3903 3837 0 0 0 0 0 0 14.83 14.47 14.85

490 -0.81 -171.1 2243 3875 3902 3837 86.4 -17.2 62 496 0.00 1.77 0.00 0.000 1030 0.000 0.102 2243 2876 3869 3902 3837 0 0 0 0 0 0 14.64 14.55 14.66

572 end dive: TARGET_DEPTH_EXCEEDED

state 572 begin apogee

579 -0.19 0.0 2243 2393 3902 3837 100.7 -16.8 71 724 0.75 0.00 139.68 1.476 10246 0.239 0.000 2449 2393 3163 3145 3181 0 0 0 0 0 0 14.45 14.00 13.37

726 end apogee: CONTROL_FINISHED_OK

state 726 begin climb

729 0.81 171.1 2448 2393 3144 3177 110.9 0.0 86 881 1.10 2.90 141.40 1.399 11012 0.174 0.151 2777 989 2466 2435 2498 0 0 0 0 0 0 13.97 13.82 13.31

934 1.27 545.6 2777 989 2428 2491 122.9 -4.9 123 1246 0.47 2.92 300.27 1.361 11302 0.112 0.181 2925 2403 937 899 976 0 0 0 0 0 0 14.13 14.07 13.19

1424 1.27 545.6 2924 2403 903 963 71.9 16.0 198 1430 0.00 2.78 0.00 0.000 516 0.000 0.148 2933 994 933 903 963 0 0 0 0 0 0 14.44 14.16 14.45

1492 1.27 545.6 2933 994 902 961 61.9 13.9 211 1500 0.00 2.80 0.00 0.000 1030 0.000 0.156 2933 2403 932 903 961 0 0 0 0 0 0 14.32 14.19 14.34

1679 1.28 553.4 2933 2403 903 960 41.4 9.7 230 1692 0.00 2.83 6.90 1.190 8740 0.000 0.148 2940 983 906 878 934 0 0 0 0 0 0 14.62 14.29 13.73

1726 1.29 564.1 2940 983 878 933 36.9 9.6 238 1744 0.00 2.80 10.50 1.250 9254 0.000 0.160 2940 2405 862 836 889 0 0 0 0 0 0 14.46 14.32 13.71

1935 1.40 648.2 2939 2405 838 885 20.6 6.7 260 2013 0.00 0.00 70.20 1.302 8486 0.000 0.000 2940 2405 521 511 531 0 0 0 0 0 0 14.66 13.96 13.53

2169 end climb: SURFACE_DEPTH_REACHED

state 2169 begin surface coast

2191 end surface coast: CONTROL_FINISHED_OK

state 2191 begin surface

ID	224	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	20
MISSION	11	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	17	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	11	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	643.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	250	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	5
D_BOOST	5	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	3166	INT_PRESSURE_YINT	1
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	0.0012300001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	80	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	20	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	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	-6	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	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	100	PITCH_MIN	250	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2520	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044007064
MAX_BUOY	175	PITCH_CNV	0.0031300001	AH0_10V	0	SEABIRD_T_H	0.00063350337
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.4352601e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	2.8452994e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	5	SEABIRD_C_G	-9.9909048
RHO	1.023	PITCH_TIMEOUT	25	MAXI_10V	0.80000001	SEABIRD_C_H	1.136714
MASS	53757	PITCH_AD_RATE	145	FG_AHR_10V	0	SEABIRD_C_I	-0.0017763629
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00021546939
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-165.33157	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010780373	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3875	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.6e-05	C_ROLL_DIVE	2900	ALTIM_PING_FIT	0

GPS1	131018,164340,7400.3022,-14553.1172,1,0.8,2,18.6,0.3,314.9,10,5.7	SPEED_LIMITS	0.173,0.276
_CALLS	1	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.02	MHEAD_RNG_PITCHd_Wd	151.9,137215,-16.2,-10.000,-19.93,2572
_SM_ANGLEo	-64.9	D_GRID	100
GPS2	131018,164749,7400.3442,-14553.1680,2,0.8,3,18.6,0.4,18.0,10,5.7

FINISH	0.1,1.021336	_24V_AH	13.19,1.032
SM_CCo	2272,0.00,0.000,0,0,519,649.31	_10V_AH	12.71,0.000
SM_GC	1.21,8.20,1.05,0.00,0.094,0.164,0.000,244,2914,519,-7.08,0.03,649.31,0,0,0,0,0,0,14.38,14.31,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	80	FG_AHR_10Vo	0.000
MODEM	0,1539446495,73.00043,-148.33627,95.421,137359.4	MEM	303500
RAFOS_FIX	7400.082031,-14553.240234,131018,171736,0,1,0.22	DATA_FILE_SIZE	10155,291
IRIDIUM_FIX	7357.69,-14356.07,131018,163906	CAP_FILE_SIZE	49152,0
TT8_MAMPS	0.020223,0.92876	CFSIZE	1047117824,1036910592
HUMID	32.59	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.17414	INTR	0,3582.63,0x214798,7,24
TCM_TEMP	13.00	SOUNDSPEED	1439.7
XPDR_PINGS	0	CURRENT	0.362,342.32,1
ALTIM_TOP_PING	19.8,10.9	GPS	131018,172726,7400.513,-14553.421,1,1.4,2,18.6,0.2,0.0,6,9.7
SC_FREEKB	3908480

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	452	123.80	nil	0	0	0.00
Roll_motor	28	188	70.10	nil	0	0	0.00
VBD_pump_during_apogee	668	1475	13020.63	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	2183	39	1145.91
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	20	3.54
TT8	529	11	78.80
LPSleep	683	2	20.08
TT8_Active	671	11	100.09
TT8_Sampling	470	30	181.92
TT8_CF8	61	43	34.14
TT8_Kalman	0	0	0.00
Analog_circuits	1022	10	129.98
GPS_charging	0	0	0.00
Compass	428	5	27.20
RAFOS	0	0	0.00
Transponder	2	30	0.96

		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
12	-0.81	-171.1	243	2893	494	518	0.0	0.0	0	115	0.00	0.00	-100.97	0.002	16386	0.000	0.000	243	2894	2092	2083	2101	0	0	0	0	0	0	14.84	28.83	14.86
119	-0.81	-171.1	243	2893	2084	2105	4.9	-7.8	10	176	10.20	2.65	-35.17	0.004	18980	0.453	0.143	2258	1485	3869	3904	3835	0	0	0	0	0	0	14.30	13.46	14.64
232	-0.81	-171.1	2258	1484	3903	3837	36.2	-21.2	30	238	0.00	2.83	0.00	0.000	1030	0.000	0.175	2249	2905	3870	3903	3837	0	0	0	0	0	0	14.64	14.48	14.66
426	-0.81	-171.1	2249	2905	3903	3837	75.6	-17.3	50	432	0.00	1.90	0.00	0.000	260	0.000	0.189	2243	3875	3870	3903	3837	0	0	0	0	0	0	14.83	14.47	14.85
490	-0.81	-171.1	2243	3875	3902	3837	86.4	-17.2	62	496	0.00	1.77	0.00	0.000	1030	0.000	0.102	2243	2876	3869	3902	3837	0	0	0	0	0	0	14.64	14.55	14.66
572	end dive: TARGET_DEPTH_EXCEEDED
state	572	begin apogee
579	-0.19	0.0	2243	2393	3902	3837	100.7	-16.8	71	724	0.75	0.00	139.68	1.476	10246	0.239	0.000	2449	2393	3163	3145	3181	0	0	0	0	0	0	14.45	14.00	13.37
726	end apogee: CONTROL_FINISHED_OK
state	726	begin climb
729	0.81	171.1	2448	2393	3144	3177	110.9	0.0	86	881	1.10	2.90	141.40	1.399	11012	0.174	0.151	2777	989	2466	2435	2498	0	0	0	0	0	0	13.97	13.82	13.31
934	1.27	545.6	2777	989	2428	2491	122.9	-4.9	123	1246	0.47	2.92	300.27	1.361	11302	0.112	0.181	2925	2403	937	899	976	0	0	0	0	0	0	14.13	14.07	13.19
1424	1.27	545.6	2924	2403	903	963	71.9	16.0	198	1430	0.00	2.78	0.00	0.000	516	0.000	0.148	2933	994	933	903	963	0	0	0	0	0	0	14.44	14.16	14.45
1492	1.27	545.6	2933	994	902	961	61.9	13.9	211	1500	0.00	2.80	0.00	0.000	1030	0.000	0.156	2933	2403	932	903	961	0	0	0	0	0	0	14.32	14.19	14.34
1679	1.28	553.4	2933	2403	903	960	41.4	9.7	230	1692	0.00	2.83	6.90	1.190	8740	0.000	0.148	2940	983	906	878	934	0	0	0	0	0	0	14.62	14.29	13.73
1726	1.29	564.1	2940	983	878	933	36.9	9.6	238	1744	0.00	2.80	10.50	1.250	9254	0.000	0.160	2940	2405	862	836	889	0	0	0	0	0	0	14.46	14.32	13.71
1935	1.40	648.2	2939	2405	838	885	20.6	6.7	260	2013	0.00	0.00	70.20	1.302	8486	0.000	0.000	2940	2405	521	511	531	0	0	0	0	0	0	14.66	13.96	13.53
2169	end climb: SURFACE_DEPTH_REACHED
state	2169	begin surface coast
2191	end surface coast: CONTROL_FINISHED_OK
state	2191	begin surface