Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 37 * 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 37 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 19 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 19 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 3034 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 5 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 0.003 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0125 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 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 4

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0125 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 3034 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 5 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 37 MINV_10V 0 R_PORT_OVSHOOT 19 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 19 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 161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.237

_CALLS 1 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.04 MHEAD_RNG_PITCHd_Wd 227.7,180822,-18.8,-10.000,-22.85,2249

_SM_ANGLEo 0.4 D_GRID 990

GPS2 161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0

Post-dive calculations and measurements:

FREEZE 0.85,-1.314,-1.430,2,7,0 _24V_AH 12.98,88.224

FINISH 0.8,1.021088 _10V_AH 12.84,0.000

SM_CCo 7288,404.67,1.142,2,0,720,567.62 FG_AHR_24Vo 0.000

SM_GC 1.79,9.75,5.72,404.67,0.118,0.046,1.142,201,2301,720,-6.83,-0.85,567.62,0,0,0,0,2,0,13.97,13.99,13.12 FG_AHR_10Vo 0.000

RAFOS_CLK 117 MEM 326644

RAFOS_FIX 7430.601562,-14620.511719,161018,121218,0,1,0.08 DATA_FILE_SIZE 33379,948

IRIDIUM_FIX 7422.60,-14645.18,141018,010831 CAP_FILE_SIZE 99011,0

TT8_MAMPS 0.080892,0.838131 CFSIZE 2097872896,2088665088

HUMID 40.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

INTERNAL_PRESSURE 9.24169 SOUNDSPEED 1442.6

TCM_TEMP 14.60 CURRENT 0.174,89.98,1

XPDR_PINGS 0 GPS 161018,122118,7430.602,-14620.512,0,1001.0,0,18.1,0.0,0.0,0,0.0

ALTIM_TOP_PING 19.6,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 306 62.66 nil 0 0 0.00

Roll_motor 186 84 205.09 nil 0 0 0.00

VBD_pump_during_apogee 1026 1500 19993.96 nil 0 0 0.00

VBD_pump_during_surface 404 1142 5999.32 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 7293 20 1980.83

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 4272 2 126.72

TT8_Active 1585 11 235.49

TT8_Sampling 1817 31 724.18

TT8_CF8 157 36 73.31

TT8_Kalman 0 0 0.00

Analog_circuits 2401 10 336.07

GPS_charging 0 0 0.00

Compass 1357 6 117.44

RAFOS 2212 33 937.27

Transponder 2 30 0.97

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.85 -146.0 2844 2304 1253 1275 0.0 0.0 0 152 0.00 0.00 -140.62 0.002 16386 0.000 0.000 2843 2303 3457 3568 3346 0 0 0 0 0 0 14.27 28.83 14.29

155 -0.85 -146.0 2844 2304 3571 3348 3.5 -6.0 14 172 2.33 5.10 -7.18 0.014 21028 0.151 0.081 2146 608 3630 3732 3529 0 0 0 0 0 0 14.14 13.32 14.25

367 -0.85 -146.0 2147 609 3733 3547 74.0 -24.7 56 378 0.00 5.00 0.00 0.000 1030 0.000 0.057 2128 2301 3639 3732 3546 0 0 0 0 0 0 14.35 14.27 14.36

557 -0.85 -146.0 2127 2307 3732 3549 107.9 -13.8 76 558 0.00 0.00 0.00 0.000 6 0.000 0.000 2128 2301 3640 3732 3548 0 0 0 0 0 0 14.53 14.55 14.55

737 -0.85 -146.0 2128 2301 3732 3550 128.3 -10.6 94 743 0.00 5.03 0.00 0.000 516 0.000 0.071 2146 605 3641 3732 3550 0 0 0 0 0 0 14.59 14.40 14.61

768 -0.85 -146.0 2146 601 3732 3551 132.0 -12.4 100 779 0.00 4.95 0.00 0.000 1030 0.000 0.051 2127 2307 3641 3732 3551 0 0 0 0 0 0 14.50 14.42 14.51

958 -0.85 -146.0 2127 2308 3732 3552 152.6 -10.2 120 969 0.00 4.93 0.00 0.000 260 0.000 0.080 2106 3945 3640 3729 3551 0 0 0 0 0 0 14.65 14.44 14.66

1114 -0.85 -146.0 2107 3946 3727 3559 172.3 -13.1 151 1121 0.00 4.75 0.00 0.000 1030 0.000 0.042 2124 2289 3642 3726 3558 0 0 0 0 0 0 14.57 14.50 14.58

1299 -0.85 -146.0 2126 2290 3728 3559 191.7 -9.9 170 1306 0.00 4.90 0.00 0.000 516 0.000 0.067 2146 604 3642 3726 3558 0 0 0 0 0 0 14.71 14.51 14.72

1415 -0.85 -146.0 2147 606 3728 3561 204.9 -10.8 193 1422 0.00 4.88 0.00 0.000 1030 0.000 0.050 2127 2302 3642 3726 3559 0 0 0 0 0 0 14.59 14.52 14.60

1601 -0.85 -146.0 2128 2303 3728 3560 221.0 -8.0 212 1612 0.00 4.95 0.00 0.000 516 0.000 0.069 2146 612 3642 3726 3559 0 0 0 0 0 0 14.73 14.49 14.74

1776 -0.85 -146.0 2146 613 3727 3561 235.0 -6.1 247 1783 0.00 4.85 0.00 0.000 1030 0.000 0.050 2126 2307 3643 3726 3560 0 0 0 0 0 0 14.63 14.57 14.65

1962 -0.85 -146.0 2126 2306 3727 3561 244.1 -5.1 266 1968 0.00 4.97 0.00 0.000 548 0.000 0.069 2146 606 3643 3726 3560 0 0 0 0 0 0 14.76 14.54 14.77

2033 -0.85 -146.0 2146 607 3728 3562 248.1 -5.6 280 2044 0.00 4.85 0.00 0.000 1062 0.000 0.050 2127 2298 3644 3727 3561 0 0 0 0 0 0 14.64 14.57 14.66

2223 -0.85 -146.0 2126 2299 3727 3561 254.8 -2.9 293 2234 0.00 4.90 0.00 0.000 292 0.000 0.081 2105 3945 3643 3725 3561 0 0 0 0 0 0 14.78 14.57 14.79

2459 -0.85 -146.0 2106 3946 3725 3570 259.6 -2.0 340 2466 0.00 4.68 0.00 0.000 1062 0.000 0.039 2124 2283 3643 3723 3564 0 0 0 0 0 0 14.68 14.63 14.69

2764 -0.85 -146.0 2124 2283 3724 3564 263.4 -1.0 356 2774 0.00 4.80 0.00 0.000 548 0.000 0.064 2144 616 3644 3724 3565 0 0 0 0 0 0 14.81 14.62 14.83

2999 -0.85 -146.0 2145 616 3726 3566 266.7 -1.8 403 3006 0.00 4.80 0.00 0.000 1062 0.000 0.050 2125 2306 3644 3724 3565 0 0 0 0 0 0 14.71 14.64 14.71

3304 -0.85 -146.0 2126 2307 3726 3566 270.7 -0.8 419 3314 0.00 4.90 0.00 0.000 548 0.000 0.069 2143 612 3644 3724 3565 0 0 0 0 0 0 14.83 14.63 14.85

3539 -0.85 -146.0 2145 613 3726 3567 272.3 -1.0 466 3547 0.00 4.80 0.00 0.000 1062 0.000 0.050 2125 2304 3644 3724 3565 0 0 0 0 0 0 14.72 14.66 14.73

3662 end dive: NO_VERTICAL_VELOCITY

state 3662 begin apogee

3668 -0.11 0.0 2126 2105 3724 3566 273.4 0.0 473 4097 0.93 0.00 426.40 1.473 10246 0.306 0.000 2354 2104 3034 3085 2984 0 0 0 0 0 0 14.47 13.77 13.21

4100 end apogee: CONTROL_FINISHED_OK

state 4100 begin climb

4103 0.85 146.0 2355 2105 3082 2980 257.4 0.0 494 4321 1.08 5.55 204.15 1.501 10500 0.174 0.082 2660 3786 2432 2445 2419 0 0 0 0 0 0 13.70 13.52 12.98

4546 0.87 146.0 2660 3787 2434 2418 223.3 9.2 578 4557 0.00 5.05 0.00 0.000 1094 0.000 0.041 2661 2092 2423 2430 2416 0 0 0 0 0 0 14.00 13.96 14.02

4736 0.92 146.0 2661 2092 2435 2412 207.7 8.4 598 4747 0.12 5.25 0.00 0.000 2372 0.182 0.079 2675 3787 2422 2433 2412 0 0 0 0 0 0 14.05 14.10 14.16

4938 0.94 146.0 2674 3787 2432 2412 190.6 9.1 638 4944 0.00 4.95 0.00 0.000 1094 0.000 0.042 2675 2095 2422 2433 2411 0 0 0 0 0 0 14.31 14.26 14.33

5129 0.99 146.0 2675 2091 2433 2410 174.7 8.5 658 5135 0.15 5.03 0.00 0.000 2628 0.181 0.073 2719 406 2421 2433 2409 0 0 0 0 0 0 14.21 14.31 14.29

5150 1.04 146.0 2718 407 2433 2408 172.9 8.4 662 5157 0.00 4.90 0.00 0.000 1094 0.000 0.045 2717 2109 2420 2433 2407 0 0 0 0 0 0 14.40 14.35 14.42

5342 1.12 146.0 2717 2112 2435 2413 159.0 7.1 682 5343 0.15 0.00 0.00 0.000 2118 0.214 0.000 2751 2111 2420 2434 2406 0 0 0 0 0 0 14.31 14.47 14.45

5522 1.23 146.0 2756 2112 2434 2406 147.2 6.5 700 5529 0.12 5.07 0.00 0.000 2628 0.155 0.076 2818 405 2417 2430 2405 0 0 0 0 0 0 14.42 14.42 14.50

5569 1.23 146.0 2818 408 2436 2406 143.1 9.5 709 5576 0.00 4.88 0.00 0.000 1030 0.000 0.050 2818 2092 2419 2435 2404 0 0 0 0 0 0 14.52 14.45 14.54

5754 1.23 146.0 2819 2096 2437 2404 121.3 12.2 728 5760 0.00 5.15 0.00 0.000 260 0.000 0.085 2817 3793 2419 2435 2403 0 0 0 0 0 0 14.66 14.42 14.68

5795 1.23 146.0 2817 3793 2433 2405 115.7 13.4 736 5803 0.17 4.93 0.00 0.000 5126 0.293 0.049 2801 2099 2418 2433 2404 0 0 0 0 0 0 14.33 14.48 14.53

5990 1.26 146.0 2804 2099 2435 2403 96.4 9.1 756 5996 0.00 5.03 0.00 0.000 580 0.000 0.078 2822 409 2418 2435 2402 0 0 0 0 0 0 14.63 14.42 14.65

6046 1.28 146.0 2821 410 2435 2402 91.1 9.3 767 6053 0.00 4.88 0.00 0.000 1094 0.000 0.050 2822 2101 2418 2435 2401 0 0 0 0 0 0 14.54 14.47 14.56

6231 1.40 146.0 2823 2103 2436 2399 77.0 6.0 786 6242 0.00 5.03 0.00 0.000 580 0.000 0.077 2843 407 2418 2436 2401 0 0 0 0 0 0 14.63 14.42 14.65

6272 1.51 146.0 2843 408 2435 2400 74.2 6.3 794 6284 0.12 4.90 0.00 0.000 3142 0.177 0.048 2879 2110 2418 2436 2400 0 0 0 0 0 0 14.43 14.48 14.54

6464 1.91 281.7 2879 2111 2436 2400 65.3 3.8 814 6608 0.40 5.25 131.15 1.457 10532 0.128 0.082 3011 3789 1878 1886 1870 0 0 0 0 0 0 14.40 14.00 13.47

6708 1.96 281.7 3011 3790 1877 1864 46.1 8.4 860 6714 0.00 5.03 0.00 0.000 1094 0.000 0.046 3036 2092 1868 1875 1861 0 0 0 0 0 0 14.21 14.14 14.22

6900 2.45 445.5 3034 2092 1875 1856 35.3 2.5 880 7175 0.45 5.25 264.58 1.261 10788 0.119 0.076 3201 405 1220 1211 1229 0 0 0 0 0 0 14.22 13.72 13.34

7258 end climb: SURFACE_DEPTH_REACHED

state 7258 begin surface coast

7263 end surface coast: CONTROL_FINISHED_OK

state 7263 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	37	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	19	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	19	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	3034	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	5	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	0.003	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0125	ROLL_DEG	80	COMPASS_USE	4
HD_C	3.8918901e-07	C_ROLL_DIVE	2300	ALTIM_PING_FIT	0

GPS1	161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.237
_CALLS	1	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.04	MHEAD_RNG_PITCHd_Wd	227.7,180822,-18.8,-10.000,-22.85,2249
_SM_ANGLEo	0.4	D_GRID	990
GPS2	161018,081521,7431.2344,-14621.2715,0,10255.0,0,18.1,0.0,0.0,0,0.0

FREEZE	0.85,-1.314,-1.430,2,7,0	_24V_AH	12.98,88.224
FINISH	0.8,1.021088	_10V_AH	12.84,0.000
SM_CCo	7288,404.67,1.142,2,0,720,567.62	FG_AHR_24Vo	0.000
SM_GC	1.79,9.75,5.72,404.67,0.118,0.046,1.142,201,2301,720,-6.83,-0.85,567.62,0,0,0,0,2,0,13.97,13.99,13.12	FG_AHR_10Vo	0.000
RAFOS_CLK	117	MEM	326644
RAFOS_FIX	7430.601562,-14620.511719,161018,121218,0,1,0.08	DATA_FILE_SIZE	33379,948
IRIDIUM_FIX	7422.60,-14645.18,141018,010831	CAP_FILE_SIZE	99011,0
TT8_MAMPS	0.080892,0.838131	CFSIZE	2097872896,2088665088
HUMID	40.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
INTERNAL_PRESSURE	9.24169	SOUNDSPEED	1442.6
TCM_TEMP	14.60	CURRENT	0.174,89.98,1
XPDR_PINGS	0	GPS	161018,122118,7430.602,-14620.512,0,1001.0,0,18.1,0.0,0.0,0,0.0
ALTIM_TOP_PING	19.6,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	306	62.66	nil	0	0	0.00
Roll_motor	186	84	205.09	nil	0	0	0.00
VBD_pump_during_apogee	1026	1500	19993.96	nil	0	0	0.00
VBD_pump_during_surface	404	1142	5999.32	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	7293	20	1980.83
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	4272	2	126.72
TT8_Active	1585	11	235.49
TT8_Sampling	1817	31	724.18
TT8_CF8	157	36	73.31
TT8_Kalman	0	0	0.00
Analog_circuits	2401	10	336.07
GPS_charging	0	0	0.00
Compass	1357	6	117.44
RAFOS	2212	33	937.27
Transponder	2	30	0.97

		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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.85	-146.0	2844	2304	1253	1275	0.0	0.0	0	152	0.00	0.00	-140.62	0.002	16386	0.000	0.000	2843	2303	3457	3568	3346	0	0	0	0	0	0	14.27	28.83	14.29
155	-0.85	-146.0	2844	2304	3571	3348	3.5	-6.0	14	172	2.33	5.10	-7.18	0.014	21028	0.151	0.081	2146	608	3630	3732	3529	0	0	0	0	0	0	14.14	13.32	14.25
367	-0.85	-146.0	2147	609	3733	3547	74.0	-24.7	56	378	0.00	5.00	0.00	0.000	1030	0.000	0.057	2128	2301	3639	3732	3546	0	0	0	0	0	0	14.35	14.27	14.36
557	-0.85	-146.0	2127	2307	3732	3549	107.9	-13.8	76	558	0.00	0.00	0.00	0.000	6	0.000	0.000	2128	2301	3640	3732	3548	0	0	0	0	0	0	14.53	14.55	14.55
737	-0.85	-146.0	2128	2301	3732	3550	128.3	-10.6	94	743	0.00	5.03	0.00	0.000	516	0.000	0.071	2146	605	3641	3732	3550	0	0	0	0	0	0	14.59	14.40	14.61
768	-0.85	-146.0	2146	601	3732	3551	132.0	-12.4	100	779	0.00	4.95	0.00	0.000	1030	0.000	0.051	2127	2307	3641	3732	3551	0	0	0	0	0	0	14.50	14.42	14.51
958	-0.85	-146.0	2127	2308	3732	3552	152.6	-10.2	120	969	0.00	4.93	0.00	0.000	260	0.000	0.080	2106	3945	3640	3729	3551	0	0	0	0	0	0	14.65	14.44	14.66
1114	-0.85	-146.0	2107	3946	3727	3559	172.3	-13.1	151	1121	0.00	4.75	0.00	0.000	1030	0.000	0.042	2124	2289	3642	3726	3558	0	0	0	0	0	0	14.57	14.50	14.58
1299	-0.85	-146.0	2126	2290	3728	3559	191.7	-9.9	170	1306	0.00	4.90	0.00	0.000	516	0.000	0.067	2146	604	3642	3726	3558	0	0	0	0	0	0	14.71	14.51	14.72
1415	-0.85	-146.0	2147	606	3728	3561	204.9	-10.8	193	1422	0.00	4.88	0.00	0.000	1030	0.000	0.050	2127	2302	3642	3726	3559	0	0	0	0	0	0	14.59	14.52	14.60
1601	-0.85	-146.0	2128	2303	3728	3560	221.0	-8.0	212	1612	0.00	4.95	0.00	0.000	516	0.000	0.069	2146	612	3642	3726	3559	0	0	0	0	0	0	14.73	14.49	14.74
1776	-0.85	-146.0	2146	613	3727	3561	235.0	-6.1	247	1783	0.00	4.85	0.00	0.000	1030	0.000	0.050	2126	2307	3643	3726	3560	0	0	0	0	0	0	14.63	14.57	14.65
1962	-0.85	-146.0	2126	2306	3727	3561	244.1	-5.1	266	1968	0.00	4.97	0.00	0.000	548	0.000	0.069	2146	606	3643	3726	3560	0	0	0	0	0	0	14.76	14.54	14.77
2033	-0.85	-146.0	2146	607	3728	3562	248.1	-5.6	280	2044	0.00	4.85	0.00	0.000	1062	0.000	0.050	2127	2298	3644	3727	3561	0	0	0	0	0	0	14.64	14.57	14.66
2223	-0.85	-146.0	2126	2299	3727	3561	254.8	-2.9	293	2234	0.00	4.90	0.00	0.000	292	0.000	0.081	2105	3945	3643	3725	3561	0	0	0	0	0	0	14.78	14.57	14.79
2459	-0.85	-146.0	2106	3946	3725	3570	259.6	-2.0	340	2466	0.00	4.68	0.00	0.000	1062	0.000	0.039	2124	2283	3643	3723	3564	0	0	0	0	0	0	14.68	14.63	14.69
2764	-0.85	-146.0	2124	2283	3724	3564	263.4	-1.0	356	2774	0.00	4.80	0.00	0.000	548	0.000	0.064	2144	616	3644	3724	3565	0	0	0	0	0	0	14.81	14.62	14.83
2999	-0.85	-146.0	2145	616	3726	3566	266.7	-1.8	403	3006	0.00	4.80	0.00	0.000	1062	0.000	0.050	2125	2306	3644	3724	3565	0	0	0	0	0	0	14.71	14.64	14.71
3304	-0.85	-146.0	2126	2307	3726	3566	270.7	-0.8	419	3314	0.00	4.90	0.00	0.000	548	0.000	0.069	2143	612	3644	3724	3565	0	0	0	0	0	0	14.83	14.63	14.85
3539	-0.85	-146.0	2145	613	3726	3567	272.3	-1.0	466	3547	0.00	4.80	0.00	0.000	1062	0.000	0.050	2125	2304	3644	3724	3565	0	0	0	0	0	0	14.72	14.66	14.73
3662	end dive: NO_VERTICAL_VELOCITY
state	3662	begin apogee
3668	-0.11	0.0	2126	2105	3724	3566	273.4	0.0	473	4097	0.93	0.00	426.40	1.473	10246	0.306	0.000	2354	2104	3034	3085	2984	0	0	0	0	0	0	14.47	13.77	13.21
4100	end apogee: CONTROL_FINISHED_OK
state	4100	begin climb
4103	0.85	146.0	2355	2105	3082	2980	257.4	0.0	494	4321	1.08	5.55	204.15	1.501	10500	0.174	0.082	2660	3786	2432	2445	2419	0	0	0	0	0	0	13.70	13.52	12.98
4546	0.87	146.0	2660	3787	2434	2418	223.3	9.2	578	4557	0.00	5.05	0.00	0.000	1094	0.000	0.041	2661	2092	2423	2430	2416	0	0	0	0	0	0	14.00	13.96	14.02
4736	0.92	146.0	2661	2092	2435	2412	207.7	8.4	598	4747	0.12	5.25	0.00	0.000	2372	0.182	0.079	2675	3787	2422	2433	2412	0	0	0	0	0	0	14.05	14.10	14.16
4938	0.94	146.0	2674	3787	2432	2412	190.6	9.1	638	4944	0.00	4.95	0.00	0.000	1094	0.000	0.042	2675	2095	2422	2433	2411	0	0	0	0	0	0	14.31	14.26	14.33
5129	0.99	146.0	2675	2091	2433	2410	174.7	8.5	658	5135	0.15	5.03	0.00	0.000	2628	0.181	0.073	2719	406	2421	2433	2409	0	0	0	0	0	0	14.21	14.31	14.29
5150	1.04	146.0	2718	407	2433	2408	172.9	8.4	662	5157	0.00	4.90	0.00	0.000	1094	0.000	0.045	2717	2109	2420	2433	2407	0	0	0	0	0	0	14.40	14.35	14.42
5342	1.12	146.0	2717	2112	2435	2413	159.0	7.1	682	5343	0.15	0.00	0.00	0.000	2118	0.214	0.000	2751	2111	2420	2434	2406	0	0	0	0	0	0	14.31	14.47	14.45
5522	1.23	146.0	2756	2112	2434	2406	147.2	6.5	700	5529	0.12	5.07	0.00	0.000	2628	0.155	0.076	2818	405	2417	2430	2405	0	0	0	0	0	0	14.42	14.42	14.50
5569	1.23	146.0	2818	408	2436	2406	143.1	9.5	709	5576	0.00	4.88	0.00	0.000	1030	0.000	0.050	2818	2092	2419	2435	2404	0	0	0	0	0	0	14.52	14.45	14.54
5754	1.23	146.0	2819	2096	2437	2404	121.3	12.2	728	5760	0.00	5.15	0.00	0.000	260	0.000	0.085	2817	3793	2419	2435	2403	0	0	0	0	0	0	14.66	14.42	14.68
5795	1.23	146.0	2817	3793	2433	2405	115.7	13.4	736	5803	0.17	4.93	0.00	0.000	5126	0.293	0.049	2801	2099	2418	2433	2404	0	0	0	0	0	0	14.33	14.48	14.53
5990	1.26	146.0	2804	2099	2435	2403	96.4	9.1	756	5996	0.00	5.03	0.00	0.000	580	0.000	0.078	2822	409	2418	2435	2402	0	0	0	0	0	0	14.63	14.42	14.65
6046	1.28	146.0	2821	410	2435	2402	91.1	9.3	767	6053	0.00	4.88	0.00	0.000	1094	0.000	0.050	2822	2101	2418	2435	2401	0	0	0	0	0	0	14.54	14.47	14.56
6231	1.40	146.0	2823	2103	2436	2399	77.0	6.0	786	6242	0.00	5.03	0.00	0.000	580	0.000	0.077	2843	407	2418	2436	2401	0	0	0	0	0	0	14.63	14.42	14.65
6272	1.51	146.0	2843	408	2435	2400	74.2	6.3	794	6284	0.12	4.90	0.00	0.000	3142	0.177	0.048	2879	2110	2418	2436	2400	0	0	0	0	0	0	14.43	14.48	14.54
6464	1.91	281.7	2879	2111	2436	2400	65.3	3.8	814	6608	0.40	5.25	131.15	1.457	10532	0.128	0.082	3011	3789	1878	1886	1870	0	0	0	0	0	0	14.40	14.00	13.47
6708	1.96	281.7	3011	3790	1877	1864	46.1	8.4	860	6714	0.00	5.03	0.00	0.000	1094	0.000	0.046	3036	2092	1868	1875	1861	0	0	0	0	0	0	14.21	14.14	14.22
6900	2.45	445.5	3034	2092	1875	1856	35.3	2.5	880	7175	0.45	5.25	264.58	1.261	10788	0.119	0.076	3201	405	1220	1211	1229	0	0	0	0	0	0	14.22	13.72	13.34
7258	end climb: SURFACE_DEPTH_REACHED
state	7258	begin surface coast
7263	end surface coast: CONTROL_FINISHED_OK
state	7263	begin surface