Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 58 * 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 58 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 21 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 26 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 58 MINV_10V 0 R_PORT_OVSHOOT 21 VBD_MIN 500

D_ABORT 1020 MINV_24V 0 R_STBD_OVSHOOT 26 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 191018,030724,7430.3013,-14617.2217,0,1001.0,0,18.1,0.0,0.0,0,0.0 SPEED_LIMITS 0.173,0.237

_CALLS 3 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 53.51 MHEAD_RNG_PITCHd_Wd 175.0,180007,-18.8,-10.000,-22.85,2249

_SM_ANGLEo -43.4 D_GRID 990

GPS2 191018,030724,7430.3013,-14617.2217,0,1001.0,0,18.1,0.0,0.0,0,0.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181019041651.598459,18,321,25,0042,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*36 ALTIM_TOP_PING 19.6,7.7

FREEZE 0.35,-1.399,-1.408,2,28,1 _24V_AH 13.02,101.239

FINISH 0.4,1.020772 _10V_AH 12.60,0.000

SM_CCo 6692,286.42,1.015,1,0,720,567.62 FG_AHR_24Vo 0.000

SM_GC 1.41,8.82,0.60,286.42,0.102,0.073,1.015,197,2297,720,-6.83,-0.99,567.62,0,0,0,0,1,0,13.74,13.74,13.02 FG_AHR_10Vo 0.000

RAFOS_CLK 252 MEM 326568

MODEM 0,1539921687,73.00043,-148.33627,87.392,126107.3 DATA_FILE_SIZE 29999,888

RAFOS_FIX 7419.248535,-14641.735352,191018,040424,6,255,6.86 CAP_FILE_SIZE 93853,8

IRIDIUM_FIX 7418.52,-14704.90,151018,101839 CFSIZE 2097872896,2084896768

TT8_MAMPS 0.042693,0.642642 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,0,17,0,0

HUMID 39.52 SOUNDSPEED 1442.1

INTERNAL_PRESSURE 9.11473 CURRENT 8.656,227.16,1

TCM_TEMP 14.50 GPS 191018,050809,7407.212,-14745.752,19,1.0,20,17.9,0.1,0.0,8,5.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 341 57.55 nil 0 0 0.00

Roll_motor 123 81 131.94 nil 0 0 0.00

VBD_pump_during_apogee 1077 1516 21275.58 nil 0 0 0.00

VBD_pump_during_surface 966 1108 13945.02 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 5979 24 1945.46

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 3239 2 94.29

TT8_Active 2031 11 296.21

TT8_Sampling 1687 31 659.81

TT8_CF8 156 36 71.49

TT8_Kalman 0 0 0.00

Analog_circuits 2835 10 389.36

GPS_charging 0 0 0.00

Compass 1271 6 107.96

RAFOS 2210 33 918.92

Transponder 2 30 0.95

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 2384 2296 3119 3038 0.0 0.0 0 16 0.00 0.00 -5.50 0.018 16390 0.000 0.000 2383 2296 3638 3708 3569 0 0 0 0 0 0 14.54 13.42 14.56

19 -0.85 -146.0 2384 2295 3718 3579 0.0 0.0 0 31 0.80 4.95 0.00 0.000 4612 0.137 0.065 2151 606 3664 3726 3602 0 0 0 0 0 0 14.33 14.35 14.40

256 -0.85 -146.0 2152 607 3761 3689 100.2 -11.3 47 263 0.00 4.90 0.00 0.000 1030 0.000 0.051 2133 2297 3724 3761 3688 0 0 0 0 0 0 14.49 14.42 14.50

441 -0.85 -146.0 2133 2298 3762 3695 113.9 -6.3 66 452 0.00 4.97 0.00 0.000 516 0.000 0.069 2151 602 3727 3760 3694 0 0 0 0 0 0 14.65 14.43 14.66

677 -0.85 -146.0 2152 604 3762 3699 127.5 -4.9 113 685 0.00 4.90 0.00 0.000 1062 0.000 0.050 2132 2306 3729 3760 3698 0 0 0 0 0 0 14.55 14.48 14.57

862 -0.85 -146.0 2133 2307 3762 3701 136.1 -4.4 132 874 0.00 4.95 0.00 0.000 548 0.000 0.067 2149 608 3731 3761 3701 0 0 0 0 0 0 14.70 14.50 14.71

954 -0.85 -146.0 2150 609 3763 3703 140.5 -4.2 150 965 0.00 4.85 0.00 0.000 1062 0.000 0.050 2131 2304 3731 3761 3702 0 0 0 0 0 0 14.61 14.55 14.62

1144 -0.85 -146.0 2132 2305 3762 3705 147.3 -3.9 170 1155 0.00 4.85 0.00 0.000 292 0.000 0.078 2110 3938 3732 3761 3704 0 0 0 0 0 0 14.74 14.53 14.78

1380 -0.85 -146.0 2111 3939 3762 3706 159.4 -4.8 217 1388 0.00 4.70 0.00 0.000 1062 0.000 0.047 2127 2290 3733 3761 3705 0 0 0 0 0 0 14.64 14.59 14.66

1565 -0.85 -146.0 2127 2292 3763 3709 166.8 -3.8 236 1577 0.00 4.88 0.00 0.000 548 0.000 0.067 2145 608 3734 3761 3708 0 0 0 0 0 0 14.76 14.55 14.78

1802 -0.85 -146.0 2145 609 3763 3711 175.5 -3.4 283 1809 0.00 4.85 0.00 0.000 1062 0.000 0.050 2126 2306 3736 3762 3710 0 0 0 0 0 0 14.66 14.59 14.67

1988 -0.85 -146.0 2127 2307 3763 3711 180.5 -2.8 302 1988 0.00 0.00 0.00 0.000 38 0.000 0.000 2126 2306 3735 3761 3710 0 0 0 0 0 0 14.79 14.81 14.81

2168 -0.85 -146.0 2127 2307 3763 3711 185.4 -2.6 320 2179 0.00 4.88 0.00 0.000 292 0.000 0.080 2105 3951 3736 3762 3711 0 0 0 0 0 0 14.80 14.59 14.81

2330 -0.85 -146.0 2105 3952 3761 3712 189.8 -2.4 352 2341 0.00 4.68 0.00 0.000 1062 0.000 0.041 2123 2293 3736 3761 3712 0 0 0 0 0 0 14.69 14.64 14.71

2520 -0.85 -146.0 2122 2293 3761 3712 192.7 -1.3 372 2532 0.00 4.80 0.00 0.000 548 0.000 0.063 2125 617 3737 3761 3713 0 0 0 0 0 0 14.80 14.60 14.81

2757 -0.85 -146.0 2125 618 3763 3716 195.6 -1.2 419 2764 0.00 4.80 0.00 0.000 1062 0.000 0.047 2105 2305 3737 3761 3713 0 0 0 0 0 0 14.68 14.62 14.69

2943 -0.85 -146.0 2105 2306 3762 3714 197.4 -0.9 438 2954 0.00 4.88 0.00 0.000 548 0.000 0.065 2124 619 3738 3762 3714 0 0 0 0 0 0 14.76 14.58 14.78

3179 -0.85 -146.0 2125 620 3763 3715 199.9 -1.0 485 3187 0.00 4.80 0.00 0.000 1062 0.000 0.049 2105 2300 3738 3762 3714 0 0 0 0 0 0 14.65 14.59 14.66

3302 end dive: NO_VERTICAL_VELOCITY

state 3302 begin apogee

3308 -0.11 0.0 2106 2101 3763 3716 200.9 0.0 498 3587 1.08 0.00 264.83 1.517 10246 0.342 0.000 2354 2099 3028 3047 3010 0 0 0 0 1 0 14.37 13.76 13.28

3588 end apogee: CONTROL_FINISHED_OK

state 3588 begin climb

3590 0.85 146.0 2356 2100 3047 3010 190.2 0.0 526 3782 1.17 5.47 178.50 1.448 11012 0.241 0.082 2658 3782 2431 2427 2436 0 0 0 0 0 0 13.78 13.66 13.14

4007 0.85 146.0 2658 3783 2419 2432 149.9 10.3 606 4013 0.00 5.00 0.00 0.000 1030 0.000 0.042 2658 2099 2425 2420 2431 0 0 0 0 0 0 14.09 14.04 14.12

4198 0.85 146.0 2658 2097 2421 2429 131.1 10.0 626 4209 0.00 5.20 0.00 0.000 260 0.000 0.079 2658 3780 2425 2421 2429 0 0 0 0 0 0 14.33 14.15 14.34

4299 0.85 146.0 2658 3780 2420 2430 120.9 9.9 646 4305 0.00 4.90 0.00 0.000 1030 0.000 0.041 2658 2098 2425 2422 2429 0 0 0 0 0 0 14.29 14.24 14.31

4490 0.87 146.0 2659 2097 2424 2428 103.2 9.1 666 4491 0.00 0.00 0.00 0.000 70 0.000 0.000 2658 2096 2425 2423 2427 0 0 0 0 0 0 14.47 14.48 14.48

4670 0.92 146.0 2659 2097 2424 2427 87.8 8.3 684 4682 0.12 5.00 0.00 0.000 2628 0.161 0.073 2693 417 2424 2422 2426 0 0 0 0 0 0 14.31 14.31 14.39

4784 0.97 146.0 2694 417 2421 2428 79.0 8.4 706 4794 0.10 4.90 0.00 0.000 3142 0.278 0.051 2699 2098 2421 2420 2423 0 0 0 0 0 0 14.21 14.36 14.35

4974 1.26 242.8 2698 2099 2422 2423 67.4 5.6 726 5094 0.32 5.18 108.12 1.423 10788 0.185 0.081 2796 418 2040 2032 2048 0 0 0 0 0 0 14.31 13.94 13.48

5176 1.28 242.8 2797 419 2019 2039 51.9 9.4 764 5188 0.00 4.97 0.00 0.000 1094 0.000 0.050 2782 2104 2029 2021 2037 0 0 0 0 0 0 14.21 14.14 14.23

5366 1.62 355.5 2782 2105 2022 2034 40.3 4.8 784 5937 0.50 0.00 525.72 1.204 11042 0.279 0.000 2906 2105 1669 1665 1673 0 0 0 0 7 0 14.12 28.83 13.21

5938 end climb: SURFACE_DEPTH_REACHED

state 5938 begin surface coast

5951 end surface coast: CONTROL_FINISHED_OK

state 5951 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	58	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	21	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	26	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	191018,030724,7430.3013,-14617.2217,0,1001.0,0,18.1,0.0,0.0,0,0.0	SPEED_LIMITS	0.173,0.237
_CALLS	3	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	53.51	MHEAD_RNG_PITCHd_Wd	175.0,180007,-18.8,-10.000,-22.85,2249
_SM_ANGLEo	-43.4	D_GRID	990
GPS2	191018,030724,7430.3013,-14617.2217,0,1001.0,0,18.1,0.0,0.0,0,0.0

MODEM_MSG	CACST,6,1,20181019041651.598459,18,321,25,0042,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*36	ALTIM_TOP_PING	19.6,7.7
FREEZE	0.35,-1.399,-1.408,2,28,1	_24V_AH	13.02,101.239
FINISH	0.4,1.020772	_10V_AH	12.60,0.000
SM_CCo	6692,286.42,1.015,1,0,720,567.62	FG_AHR_24Vo	0.000
SM_GC	1.41,8.82,0.60,286.42,0.102,0.073,1.015,197,2297,720,-6.83,-0.99,567.62,0,0,0,0,1,0,13.74,13.74,13.02	FG_AHR_10Vo	0.000
RAFOS_CLK	252	MEM	326568
MODEM	0,1539921687,73.00043,-148.33627,87.392,126107.3	DATA_FILE_SIZE	29999,888
RAFOS_FIX	7419.248535,-14641.735352,191018,040424,6,255,6.86	CAP_FILE_SIZE	93853,8
IRIDIUM_FIX	7418.52,-14704.90,151018,101839	CFSIZE	2097872896,2084896768
TT8_MAMPS	0.042693,0.642642	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,0,17,0,0
HUMID	39.52	SOUNDSPEED	1442.1
INTERNAL_PRESSURE	9.11473	CURRENT	8.656,227.16,1
TCM_TEMP	14.50	GPS	191018,050809,7407.212,-14745.752,19,1.0,20,17.9,0.1,0.0,8,5.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	341	57.55	nil	0	0	0.00
Roll_motor	123	81	131.94	nil	0	0	0.00
VBD_pump_during_apogee	1077	1516	21275.58	nil	0	0	0.00
VBD_pump_during_surface	966	1108	13945.02	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	5979	24	1945.46
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	3239	2	94.29
TT8_Active	2031	11	296.21
TT8_Sampling	1687	31	659.81
TT8_CF8	156	36	71.49
TT8_Kalman	0	0	0.00
Analog_circuits	2835	10	389.36
GPS_charging	0	0	0.00
Compass	1271	6	107.96
RAFOS	2210	33	918.92
Transponder	2	30	0.95

		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	2384	2296	3119	3038	0.0	0.0	0	16	0.00	0.00	-5.50	0.018	16390	0.000	0.000	2383	2296	3638	3708	3569	0	0	0	0	0	0	14.54	13.42	14.56
19	-0.85	-146.0	2384	2295	3718	3579	0.0	0.0	0	31	0.80	4.95	0.00	0.000	4612	0.137	0.065	2151	606	3664	3726	3602	0	0	0	0	0	0	14.33	14.35	14.40
256	-0.85	-146.0	2152	607	3761	3689	100.2	-11.3	47	263	0.00	4.90	0.00	0.000	1030	0.000	0.051	2133	2297	3724	3761	3688	0	0	0	0	0	0	14.49	14.42	14.50
441	-0.85	-146.0	2133	2298	3762	3695	113.9	-6.3	66	452	0.00	4.97	0.00	0.000	516	0.000	0.069	2151	602	3727	3760	3694	0	0	0	0	0	0	14.65	14.43	14.66
677	-0.85	-146.0	2152	604	3762	3699	127.5	-4.9	113	685	0.00	4.90	0.00	0.000	1062	0.000	0.050	2132	2306	3729	3760	3698	0	0	0	0	0	0	14.55	14.48	14.57
862	-0.85	-146.0	2133	2307	3762	3701	136.1	-4.4	132	874	0.00	4.95	0.00	0.000	548	0.000	0.067	2149	608	3731	3761	3701	0	0	0	0	0	0	14.70	14.50	14.71
954	-0.85	-146.0	2150	609	3763	3703	140.5	-4.2	150	965	0.00	4.85	0.00	0.000	1062	0.000	0.050	2131	2304	3731	3761	3702	0	0	0	0	0	0	14.61	14.55	14.62
1144	-0.85	-146.0	2132	2305	3762	3705	147.3	-3.9	170	1155	0.00	4.85	0.00	0.000	292	0.000	0.078	2110	3938	3732	3761	3704	0	0	0	0	0	0	14.74	14.53	14.78
1380	-0.85	-146.0	2111	3939	3762	3706	159.4	-4.8	217	1388	0.00	4.70	0.00	0.000	1062	0.000	0.047	2127	2290	3733	3761	3705	0	0	0	0	0	0	14.64	14.59	14.66
1565	-0.85	-146.0	2127	2292	3763	3709	166.8	-3.8	236	1577	0.00	4.88	0.00	0.000	548	0.000	0.067	2145	608	3734	3761	3708	0	0	0	0	0	0	14.76	14.55	14.78
1802	-0.85	-146.0	2145	609	3763	3711	175.5	-3.4	283	1809	0.00	4.85	0.00	0.000	1062	0.000	0.050	2126	2306	3736	3762	3710	0	0	0	0	0	0	14.66	14.59	14.67
1988	-0.85	-146.0	2127	2307	3763	3711	180.5	-2.8	302	1988	0.00	0.00	0.00	0.000	38	0.000	0.000	2126	2306	3735	3761	3710	0	0	0	0	0	0	14.79	14.81	14.81
2168	-0.85	-146.0	2127	2307	3763	3711	185.4	-2.6	320	2179	0.00	4.88	0.00	0.000	292	0.000	0.080	2105	3951	3736	3762	3711	0	0	0	0	0	0	14.80	14.59	14.81
2330	-0.85	-146.0	2105	3952	3761	3712	189.8	-2.4	352	2341	0.00	4.68	0.00	0.000	1062	0.000	0.041	2123	2293	3736	3761	3712	0	0	0	0	0	0	14.69	14.64	14.71
2520	-0.85	-146.0	2122	2293	3761	3712	192.7	-1.3	372	2532	0.00	4.80	0.00	0.000	548	0.000	0.063	2125	617	3737	3761	3713	0	0	0	0	0	0	14.80	14.60	14.81
2757	-0.85	-146.0	2125	618	3763	3716	195.6	-1.2	419	2764	0.00	4.80	0.00	0.000	1062	0.000	0.047	2105	2305	3737	3761	3713	0	0	0	0	0	0	14.68	14.62	14.69
2943	-0.85	-146.0	2105	2306	3762	3714	197.4	-0.9	438	2954	0.00	4.88	0.00	0.000	548	0.000	0.065	2124	619	3738	3762	3714	0	0	0	0	0	0	14.76	14.58	14.78
3179	-0.85	-146.0	2125	620	3763	3715	199.9	-1.0	485	3187	0.00	4.80	0.00	0.000	1062	0.000	0.049	2105	2300	3738	3762	3714	0	0	0	0	0	0	14.65	14.59	14.66
3302	end dive: NO_VERTICAL_VELOCITY
state	3302	begin apogee
3308	-0.11	0.0	2106	2101	3763	3716	200.9	0.0	498	3587	1.08	0.00	264.83	1.517	10246	0.342	0.000	2354	2099	3028	3047	3010	0	0	0	0	1	0	14.37	13.76	13.28
3588	end apogee: CONTROL_FINISHED_OK
state	3588	begin climb
3590	0.85	146.0	2356	2100	3047	3010	190.2	0.0	526	3782	1.17	5.47	178.50	1.448	11012	0.241	0.082	2658	3782	2431	2427	2436	0	0	0	0	0	0	13.78	13.66	13.14
4007	0.85	146.0	2658	3783	2419	2432	149.9	10.3	606	4013	0.00	5.00	0.00	0.000	1030	0.000	0.042	2658	2099	2425	2420	2431	0	0	0	0	0	0	14.09	14.04	14.12
4198	0.85	146.0	2658	2097	2421	2429	131.1	10.0	626	4209	0.00	5.20	0.00	0.000	260	0.000	0.079	2658	3780	2425	2421	2429	0	0	0	0	0	0	14.33	14.15	14.34
4299	0.85	146.0	2658	3780	2420	2430	120.9	9.9	646	4305	0.00	4.90	0.00	0.000	1030	0.000	0.041	2658	2098	2425	2422	2429	0	0	0	0	0	0	14.29	14.24	14.31
4490	0.87	146.0	2659	2097	2424	2428	103.2	9.1	666	4491	0.00	0.00	0.00	0.000	70	0.000	0.000	2658	2096	2425	2423	2427	0	0	0	0	0	0	14.47	14.48	14.48
4670	0.92	146.0	2659	2097	2424	2427	87.8	8.3	684	4682	0.12	5.00	0.00	0.000	2628	0.161	0.073	2693	417	2424	2422	2426	0	0	0	0	0	0	14.31	14.31	14.39
4784	0.97	146.0	2694	417	2421	2428	79.0	8.4	706	4794	0.10	4.90	0.00	0.000	3142	0.278	0.051	2699	2098	2421	2420	2423	0	0	0	0	0	0	14.21	14.36	14.35
4974	1.26	242.8	2698	2099	2422	2423	67.4	5.6	726	5094	0.32	5.18	108.12	1.423	10788	0.185	0.081	2796	418	2040	2032	2048	0	0	0	0	0	0	14.31	13.94	13.48
5176	1.28	242.8	2797	419	2019	2039	51.9	9.4	764	5188	0.00	4.97	0.00	0.000	1094	0.000	0.050	2782	2104	2029	2021	2037	0	0	0	0	0	0	14.21	14.14	14.23
5366	1.62	355.5	2782	2105	2022	2034	40.3	4.8	784	5937	0.50	0.00	525.72	1.204	11042	0.279	0.000	2906	2105	1669	1665	1673	0	0	0	0	7	0	14.12	28.83	13.21
5938	end climb: SURFACE_DEPTH_REACHED
state	5938	begin surface coast
5951	end surface coast: CONTROL_FINISHED_OK
state	5951	begin surface