Glider dive log

SODA Oct18 * SG224 * Dive index * Mission links * Dive 6 * 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 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 6 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 15 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 8 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 643.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 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 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 150 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 1000 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 360 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 0.001 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 120

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 150

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 6 MINV_10V 11 R_PORT_OVSHOOT 15 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 8 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 200 N_DIVES 6 SEABIRD_C_G -9.9909048 XPDR_INHIBIT 90

D_OFFGRID 1000 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 131018,193814,7401.1733,-14553.7666,1,0.8,3,18.6,0.2,63.8,10,3.1 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 1.03 MHEAD_RNG_PITCHd_Wd 151.4,138309,-16.2,-10.000,-19.93,2572

_SM_ANGLEo -66.0 D_GRID 1000

GPS2 131018,194203,7401.1943,-14553.7842,3,0.8,4,18.6,0.1,0.0,10,4.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181013201652.881111,18,6106,37,0092,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0B SC_FREEKB 3906752

FINISH 0.1,1.009454 _24V_AH 12.97,2.134

SM_CCo 7270,0.00,0.000,0,0,493,655.69 _10V_AH 12.58,0.000

SM_GC 1.13,7.97,1.08,0.00,0.071,0.182,0.000,243,2909,493,-7.08,-0.06,655.69,0,0,0,0,0,0,14.34,14.27,14.42 FG_AHR_24Vo 0.000

RAFOS_CLK 251 FG_AHR_10Vo 0.000

MODEM 0,1539460823,73.00043,-148.33627,23.877,34980.4 MEM 303612

RAFOS_FIX 7315.493652,-14743.099609,131018,202023,1,2,94.38 DATA_FILE_SIZE 30026,851

IRIDIUM_FIX 7403.06,-14556.89,131018,193416 CAP_FILE_SIZE 103170,0

TT8_MAMPS 0.038948,0.98119 CFSIZE 1047117824,1036550144

HUMID 31.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.12531 SOUNDSPEED 1443.3

TCM_TEMP 13.10 CURRENT 0.234,348.83,1

XPDR_PINGS 1 GPS 131018,214453,7401.276,-14553.210,13,1.7,14,18.6,0.4,0.8,5,6.3

ALTIM_TOP_PING 19.5,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 455 121.23 nil 0 0 0.00

Roll_motor 113 245 360.86 nil 0 0 0.00

VBD_pump_during_apogee 713 1790 16565.18 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 7184 24 2248.81

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 20 3.61

TT8 314 11 46.34

LPSleep 4521 2 131.40

TT8_Active 818 11 120.68

TT8_Sampling 1575 30 603.34

TT8_CF8 141 43 78.07

TT8_Kalman 0 0 0.00

Analog_circuits 1553 10 195.48

GPS_charging 0 0 0.00

Compass 1223 5 76.96

RAFOS 2215 33 919.54

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

12 -0.77 -171.1 237 2912 476 506 0.0 0.0 0 115 0.00 0.00 -100.85 0.002 16386 0.000 0.000 237 2912 2126 2117 2136 0 0 0 0 0 0 14.76 28.83 14.78

119 -0.77 -171.1 237 2912 2118 2143 5.6 -9.7 10 167 10.38 0.00 -32.70 0.004 18982 0.456 0.000 2262 2913 3868 3901 3836 0 0 0 0 0 0 14.26 13.47 14.56

348 -0.77 -171.1 2261 2913 3902 3839 60.6 -19.3 36 353 0.00 2.72 0.00 0.000 516 0.000 0.151 2261 1487 3870 3901 3839 0 0 0 0 0 0 14.76 14.47 14.77

462 -0.77 -171.1 2262 1486 3901 3839 80.1 -16.2 58 468 0.00 2.95 0.00 0.000 1030 0.000 0.210 2256 2909 3870 3901 3839 0 0 0 0 0 0 14.63 14.45 14.65

656 -0.77 -171.1 2255 2909 3901 3839 111.7 -15.4 78 662 0.00 2.67 0.00 0.000 516 0.000 0.137 2255 1484 3870 3901 3839 0 0 0 0 0 0 14.81 14.52 14.82

734 -0.77 -171.1 2255 1484 3901 3839 123.6 -14.9 93 741 0.00 2.92 0.00 0.000 1030 0.000 0.203 2247 2909 3870 3901 3839 0 0 0 0 0 0 14.62 14.41 14.65

921 -0.77 -171.1 2247 2909 3901 3839 150.8 -14.0 112 927 0.00 2.80 0.00 0.000 516 0.000 0.177 2247 1491 3870 3901 3839 0 0 0 0 0 0 14.84 14.50 14.86

995 -0.77 -171.1 2248 1491 3902 3840 161.5 -13.4 125 1002 0.15 2.92 0.00 0.000 3078 0.293 0.207 2269 2912 3870 3901 3839 0 0 0 0 0 0 14.45 14.47 14.64

1180 -0.77 -171.1 2269 2911 3901 3840 183.7 -11.7 144 1185 0.00 2.85 0.00 0.000 516 0.000 0.185 2269 1487 3869 3900 3839 0 0 0 0 0 0 14.77 14.43 14.76

1255 -0.77 -171.1 2269 1487 3901 3840 192.4 -11.4 159 1263 0.00 3.05 0.00 0.000 1030 0.000 0.239 2269 2897 3869 3900 3839 0 0 0 0 0 0 14.62 14.42 14.64

1440 -0.77 -171.1 2269 2897 3901 3840 213.2 -11.2 178 1445 0.00 2.83 0.00 0.000 516 0.000 0.187 2270 1486 3869 3900 3839 0 0 0 0 0 0 14.76 14.42 14.78

1531 -0.77 -171.1 2269 1487 3901 3840 223.4 -11.1 196 1536 0.00 3.08 0.00 0.000 1030 0.000 0.241 2269 2909 3869 3900 3839 0 0 0 0 0 0 14.59 14.38 14.62

1721 -0.77 -171.1 2269 2910 3900 3840 244.6 -11.2 216 1726 0.00 2.85 0.00 0.000 516 0.000 0.187 2269 1488 3869 3900 3839 0 0 0 0 0 0 14.76 14.43 14.77

1811 -0.77 -171.1 2269 1488 3900 3840 255.0 -11.5 234 1816 0.00 3.03 0.00 0.000 1030 0.000 0.231 2263 2902 3869 3899 3839 0 0 0 0 0 0 14.59 14.37 14.63

2122 -0.77 -171.1 2263 2902 3899 3840 289.8 -10.3 251 2127 0.00 2.85 0.00 0.000 516 0.000 0.193 2263 1491 3868 3898 3839 0 0 0 0 0 0 14.77 14.42 14.78

2232 -0.77 -171.1 2264 1490 3899 3838 301.5 -10.7 273 2237 0.00 3.03 0.00 0.000 1030 0.000 0.232 2259 2901 3868 3898 3839 0 0 0 0 0 0 14.61 14.39 14.63

2543 -0.77 -171.1 2259 2902 3899 3839 333.9 -9.8 290 2548 0.00 2.70 0.00 0.000 548 0.000 0.149 2259 1486 3868 3898 3839 0 0 0 0 0 0 14.77 14.49 14.78

2638 -0.77 -171.1 2259 1486 3899 3839 343.2 -9.6 309 2644 0.00 3.08 0.00 0.000 1062 0.000 0.246 2256 2902 3868 3897 3839 0 0 0 0 0 0 14.62 14.43 14.64

2821 end dive: TARGET_DEPTH_EXCEEDED

state 2821 begin apogee

2827 -0.19 0.0 2257 2395 3899 3839 360.4 -9.2 319 2984 0.70 0.00 148.95 1.790 10246 0.210 0.000 2452 2393 3162 3151 3174 0 0 0 0 0 0 14.45 13.82 13.10

2985 end apogee: CONTROL_FINISHED_OK

state 2985 begin climb

2988 0.77 171.1 2453 2394 3151 3174 369.7 0.0 327 3147 1.00 3.10 149.50 1.700 11012 0.127 0.184 2768 981 2465 2441 2490 0 0 0 0 0 0 13.85 13.60 12.97

3323 0.89 289.0 2763 981 2429 2481 369.7 5.3 391 3432 0.12 3.05 102.70 1.678 11302 0.149 0.207 2807 2409 1984 1930 2039 0 0 0 0 0 0 14.16 14.06 13.00

3728 0.89 289.0 2807 2408 1919 2029 323.2 12.3 427 3733 0.00 2.97 0.00 0.000 516 0.000 0.200 2813 983 1973 1918 2029 0 0 0 0 0 0 14.46 14.16 14.48

3788 0.89 289.0 2813 984 1915 2029 315.9 11.6 439 3793 0.00 2.92 0.00 0.000 1030 0.000 0.187 2813 2408 1972 1916 2029 0 0 0 0 0 0 14.35 14.21 14.39

4108 0.89 296.2 2816 2408 1916 2028 283.0 9.7 458 4115 0.00 0.00 5.45 1.356 8230 0.000 0.000 2812 2408 1957 1899 2015 0 0 0 0 0 0 14.67 14.39 13.66

4409 0.95 355.1 2813 2408 1892 2012 258.1 7.7 473 4472 0.00 2.97 52.22 1.623 8740 0.000 0.181 2818 990 1713 1636 1790 0 0 0 0 0 0 14.74 14.04 13.47

4637 0.95 355.1 2819 991 1630 1782 236.2 10.1 518 4644 0.00 2.90 0.00 0.000 1030 0.000 0.190 2819 2401 1703 1629 1778 0 0 0 0 0 0 14.43 14.27 14.44

4822 0.95 355.1 2819 2401 1629 1778 216.6 10.5 537 4827 0.00 2.88 0.00 0.000 516 0.000 0.183 2825 978 1703 1629 1778 0 0 0 0 0 0 14.66 14.35 14.69

4868 0.95 355.1 2826 978 1629 1778 211.9 10.6 546 4874 0.00 2.92 0.00 0.000 1030 0.000 0.194 2825 2411 1703 1628 1778 0 0 0 0 0 0 14.54 14.38 14.57

5053 0.95 355.1 2825 2412 1629 1773 192.5 10.1 565 5058 0.00 2.85 0.00 0.000 516 0.000 0.181 2833 984 1702 1628 1777 0 0 0 0 0 0 14.73 14.41 14.75

5128 0.96 361.7 2833 984 1627 1778 184.9 9.7 580 5141 0.00 3.08 5.10 1.302 9254 0.000 0.236 2833 2409 1687 1611 1763 0 0 0 0 0 0 14.59 14.40 13.74

5328 0.96 361.7 2833 2410 1612 1761 164.7 10.0 601 5333 0.00 2.83 0.00 0.000 516 0.000 0.181 2840 988 1686 1611 1761 0 0 0 0 0 0 14.75 14.45 14.76

5393 0.97 372.0 2841 988 1611 1761 158.2 9.6 614 5411 0.00 2.90 10.77 1.502 9254 0.000 0.196 2841 2412 1645 1566 1724 0 0 0 0 0 0 14.61 14.44 13.78

5590 0.97 374.0 2837 2412 1566 1719 139.0 9.9 635 5595 0.00 2.85 0.00 0.000 548 0.000 0.180 2849 980 1641 1565 1718 0 0 0 0 0 0 14.73 14.44 14.74

5655 0.98 378.4 2849 981 1564 1718 132.2 9.8 648 5668 0.00 2.92 6.60 1.379 9254 0.000 0.196 2848 2410 1620 1541 1699 0 0 0 0 0 0 14.58 14.42 13.76

5855 0.98 378.4 2849 2410 1542 1694 112.3 10.2 669 5860 0.00 2.85 0.00 0.000 516 0.000 0.181 2855 979 1617 1541 1694 0 0 0 0 0 0 14.73 14.45 14.76

5930 0.98 385.9 2856 980 1541 1694 104.6 9.7 684 5943 0.00 3.03 7.82 1.411 9254 0.000 0.225 2855 2406 1591 1512 1671 0 0 0 0 0 0 14.57 14.39 13.79

6130 1.01 407.5 2855 2407 1512 1664 85.8 9.1 705 6157 0.00 2.92 20.15 1.476 8740 0.000 0.182 2862 988 1499 1420 1579 0 0 0 0 0 0 14.72 13.99 13.73

6208 1.02 420.4 2862 988 1419 1574 78.5 9.5 720 6226 0.00 3.12 11.88 1.401 9254 0.000 0.243 2862 2412 1448 1368 1528 0 0 0 0 0 0 14.47 14.28 13.69

6405 1.07 466.9 2862 2412 1368 1517 60.2 8.2 741 6445 0.00 0.00 38.55 1.431 8742 0.000 0.000 2862 2411 1263 1192 1335 0 0 0 0 0 0 14.63 14.14 13.57

6625 1.14 544.9 2862 2412 1190 1317 45.9 6.9 765 6695 0.00 2.97 63.55 1.382 8740 0.000 0.180 2864 986 940 906 974 0 0 0 0 0 0 14.56 13.94 13.43

6737 1.24 646.0 2865 987 908 968 38.6 6.0 786 6826 0.17 2.95 82.82 1.332 11302 0.118 0.187 2920 2403 530 539 521 0 0 0 0 0 0 14.16 14.06 13.31

7012 1.27 675.2 2921 2404 539 512 15.1 8.8 821 7024 0.00 2.95 7.40 1.206 8740 0.000 0.172 2925 983 496 506 486 0 0 0 0 0 0 14.45 14.13 13.58

7131 1.31 711.1 2925 983 506 485 5.4 8.6 844 7138 0.00 2.92 0.00 0.000 1062 0.000 0.190 2926 2401 495 505 485 0 0 0 0 0 0 14.33 14.21 14.35

7172 end climb: SURFACE_DEPTH_REACHED

state 7172 begin surface coast

7192 end surface coast: CONTROL_FINISHED_OK

state 7192 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	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	6	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	15	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	8	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	643.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	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	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	150	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	1000	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	131018,193814,7401.1733,-14553.7666,1,0.8,3,18.6,0.2,63.8,10,3.1	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	1.03	MHEAD_RNG_PITCHd_Wd	151.4,138309,-16.2,-10.000,-19.93,2572
_SM_ANGLEo	-66.0	D_GRID	1000
GPS2	131018,194203,7401.1943,-14553.7842,3,0.8,4,18.6,0.1,0.0,10,4.7

MODEM_MSG	CACST,6,1,20181013201652.881111,18,6106,37,0092,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*0B	SC_FREEKB	3906752
FINISH	0.1,1.009454	_24V_AH	12.97,2.134
SM_CCo	7270,0.00,0.000,0,0,493,655.69	_10V_AH	12.58,0.000
SM_GC	1.13,7.97,1.08,0.00,0.071,0.182,0.000,243,2909,493,-7.08,-0.06,655.69,0,0,0,0,0,0,14.34,14.27,14.42	FG_AHR_24Vo	0.000
RAFOS_CLK	251	FG_AHR_10Vo	0.000
MODEM	0,1539460823,73.00043,-148.33627,23.877,34980.4	MEM	303612
RAFOS_FIX	7315.493652,-14743.099609,131018,202023,1,2,94.38	DATA_FILE_SIZE	30026,851
IRIDIUM_FIX	7403.06,-14556.89,131018,193416	CAP_FILE_SIZE	103170,0
TT8_MAMPS	0.038948,0.98119	CFSIZE	1047117824,1036550144
HUMID	31.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.12531	SOUNDSPEED	1443.3
TCM_TEMP	13.10	CURRENT	0.234,348.83,1
XPDR_PINGS	1	GPS	131018,214453,7401.276,-14553.210,13,1.7,14,18.6,0.4,0.8,5,6.3
ALTIM_TOP_PING	19.5,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	455	121.23	nil	0	0	0.00
Roll_motor	113	245	360.86	nil	0	0	0.00
VBD_pump_during_apogee	713	1790	16565.18	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	7184	24	2248.81
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	20	3.61
TT8	314	11	46.34
LPSleep	4521	2	131.40
TT8_Active	818	11	120.68
TT8_Sampling	1575	30	603.34
TT8_CF8	141	43	78.07
TT8_Kalman	0	0	0.00
Analog_circuits	1553	10	195.48
GPS_charging	0	0	0.00
Compass	1223	5	76.96
RAFOS	2215	33	919.54
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
12	-0.77	-171.1	237	2912	476	506	0.0	0.0	0	115	0.00	0.00	-100.85	0.002	16386	0.000	0.000	237	2912	2126	2117	2136	0	0	0	0	0	0	14.76	28.83	14.78
119	-0.77	-171.1	237	2912	2118	2143	5.6	-9.7	10	167	10.38	0.00	-32.70	0.004	18982	0.456	0.000	2262	2913	3868	3901	3836	0	0	0	0	0	0	14.26	13.47	14.56
348	-0.77	-171.1	2261	2913	3902	3839	60.6	-19.3	36	353	0.00	2.72	0.00	0.000	516	0.000	0.151	2261	1487	3870	3901	3839	0	0	0	0	0	0	14.76	14.47	14.77
462	-0.77	-171.1	2262	1486	3901	3839	80.1	-16.2	58	468	0.00	2.95	0.00	0.000	1030	0.000	0.210	2256	2909	3870	3901	3839	0	0	0	0	0	0	14.63	14.45	14.65
656	-0.77	-171.1	2255	2909	3901	3839	111.7	-15.4	78	662	0.00	2.67	0.00	0.000	516	0.000	0.137	2255	1484	3870	3901	3839	0	0	0	0	0	0	14.81	14.52	14.82
734	-0.77	-171.1	2255	1484	3901	3839	123.6	-14.9	93	741	0.00	2.92	0.00	0.000	1030	0.000	0.203	2247	2909	3870	3901	3839	0	0	0	0	0	0	14.62	14.41	14.65
921	-0.77	-171.1	2247	2909	3901	3839	150.8	-14.0	112	927	0.00	2.80	0.00	0.000	516	0.000	0.177	2247	1491	3870	3901	3839	0	0	0	0	0	0	14.84	14.50	14.86
995	-0.77	-171.1	2248	1491	3902	3840	161.5	-13.4	125	1002	0.15	2.92	0.00	0.000	3078	0.293	0.207	2269	2912	3870	3901	3839	0	0	0	0	0	0	14.45	14.47	14.64
1180	-0.77	-171.1	2269	2911	3901	3840	183.7	-11.7	144	1185	0.00	2.85	0.00	0.000	516	0.000	0.185	2269	1487	3869	3900	3839	0	0	0	0	0	0	14.77	14.43	14.76
1255	-0.77	-171.1	2269	1487	3901	3840	192.4	-11.4	159	1263	0.00	3.05	0.00	0.000	1030	0.000	0.239	2269	2897	3869	3900	3839	0	0	0	0	0	0	14.62	14.42	14.64
1440	-0.77	-171.1	2269	2897	3901	3840	213.2	-11.2	178	1445	0.00	2.83	0.00	0.000	516	0.000	0.187	2270	1486	3869	3900	3839	0	0	0	0	0	0	14.76	14.42	14.78
1531	-0.77	-171.1	2269	1487	3901	3840	223.4	-11.1	196	1536	0.00	3.08	0.00	0.000	1030	0.000	0.241	2269	2909	3869	3900	3839	0	0	0	0	0	0	14.59	14.38	14.62
1721	-0.77	-171.1	2269	2910	3900	3840	244.6	-11.2	216	1726	0.00	2.85	0.00	0.000	516	0.000	0.187	2269	1488	3869	3900	3839	0	0	0	0	0	0	14.76	14.43	14.77
1811	-0.77	-171.1	2269	1488	3900	3840	255.0	-11.5	234	1816	0.00	3.03	0.00	0.000	1030	0.000	0.231	2263	2902	3869	3899	3839	0	0	0	0	0	0	14.59	14.37	14.63
2122	-0.77	-171.1	2263	2902	3899	3840	289.8	-10.3	251	2127	0.00	2.85	0.00	0.000	516	0.000	0.193	2263	1491	3868	3898	3839	0	0	0	0	0	0	14.77	14.42	14.78
2232	-0.77	-171.1	2264	1490	3899	3838	301.5	-10.7	273	2237	0.00	3.03	0.00	0.000	1030	0.000	0.232	2259	2901	3868	3898	3839	0	0	0	0	0	0	14.61	14.39	14.63
2543	-0.77	-171.1	2259	2902	3899	3839	333.9	-9.8	290	2548	0.00	2.70	0.00	0.000	548	0.000	0.149	2259	1486	3868	3898	3839	0	0	0	0	0	0	14.77	14.49	14.78
2638	-0.77	-171.1	2259	1486	3899	3839	343.2	-9.6	309	2644	0.00	3.08	0.00	0.000	1062	0.000	0.246	2256	2902	3868	3897	3839	0	0	0	0	0	0	14.62	14.43	14.64
2821	end dive: TARGET_DEPTH_EXCEEDED
state	2821	begin apogee
2827	-0.19	0.0	2257	2395	3899	3839	360.4	-9.2	319	2984	0.70	0.00	148.95	1.790	10246	0.210	0.000	2452	2393	3162	3151	3174	0	0	0	0	0	0	14.45	13.82	13.10
2985	end apogee: CONTROL_FINISHED_OK
state	2985	begin climb
2988	0.77	171.1	2453	2394	3151	3174	369.7	0.0	327	3147	1.00	3.10	149.50	1.700	11012	0.127	0.184	2768	981	2465	2441	2490	0	0	0	0	0	0	13.85	13.60	12.97
3323	0.89	289.0	2763	981	2429	2481	369.7	5.3	391	3432	0.12	3.05	102.70	1.678	11302	0.149	0.207	2807	2409	1984	1930	2039	0	0	0	0	0	0	14.16	14.06	13.00
3728	0.89	289.0	2807	2408	1919	2029	323.2	12.3	427	3733	0.00	2.97	0.00	0.000	516	0.000	0.200	2813	983	1973	1918	2029	0	0	0	0	0	0	14.46	14.16	14.48
3788	0.89	289.0	2813	984	1915	2029	315.9	11.6	439	3793	0.00	2.92	0.00	0.000	1030	0.000	0.187	2813	2408	1972	1916	2029	0	0	0	0	0	0	14.35	14.21	14.39
4108	0.89	296.2	2816	2408	1916	2028	283.0	9.7	458	4115	0.00	0.00	5.45	1.356	8230	0.000	0.000	2812	2408	1957	1899	2015	0	0	0	0	0	0	14.67	14.39	13.66
4409	0.95	355.1	2813	2408	1892	2012	258.1	7.7	473	4472	0.00	2.97	52.22	1.623	8740	0.000	0.181	2818	990	1713	1636	1790	0	0	0	0	0	0	14.74	14.04	13.47
4637	0.95	355.1	2819	991	1630	1782	236.2	10.1	518	4644	0.00	2.90	0.00	0.000	1030	0.000	0.190	2819	2401	1703	1629	1778	0	0	0	0	0	0	14.43	14.27	14.44
4822	0.95	355.1	2819	2401	1629	1778	216.6	10.5	537	4827	0.00	2.88	0.00	0.000	516	0.000	0.183	2825	978	1703	1629	1778	0	0	0	0	0	0	14.66	14.35	14.69
4868	0.95	355.1	2826	978	1629	1778	211.9	10.6	546	4874	0.00	2.92	0.00	0.000	1030	0.000	0.194	2825	2411	1703	1628	1778	0	0	0	0	0	0	14.54	14.38	14.57
5053	0.95	355.1	2825	2412	1629	1773	192.5	10.1	565	5058	0.00	2.85	0.00	0.000	516	0.000	0.181	2833	984	1702	1628	1777	0	0	0	0	0	0	14.73	14.41	14.75
5128	0.96	361.7	2833	984	1627	1778	184.9	9.7	580	5141	0.00	3.08	5.10	1.302	9254	0.000	0.236	2833	2409	1687	1611	1763	0	0	0	0	0	0	14.59	14.40	13.74
5328	0.96	361.7	2833	2410	1612	1761	164.7	10.0	601	5333	0.00	2.83	0.00	0.000	516	0.000	0.181	2840	988	1686	1611	1761	0	0	0	0	0	0	14.75	14.45	14.76
5393	0.97	372.0	2841	988	1611	1761	158.2	9.6	614	5411	0.00	2.90	10.77	1.502	9254	0.000	0.196	2841	2412	1645	1566	1724	0	0	0	0	0	0	14.61	14.44	13.78
5590	0.97	374.0	2837	2412	1566	1719	139.0	9.9	635	5595	0.00	2.85	0.00	0.000	548	0.000	0.180	2849	980	1641	1565	1718	0	0	0	0	0	0	14.73	14.44	14.74
5655	0.98	378.4	2849	981	1564	1718	132.2	9.8	648	5668	0.00	2.92	6.60	1.379	9254	0.000	0.196	2848	2410	1620	1541	1699	0	0	0	0	0	0	14.58	14.42	13.76
5855	0.98	378.4	2849	2410	1542	1694	112.3	10.2	669	5860	0.00	2.85	0.00	0.000	516	0.000	0.181	2855	979	1617	1541	1694	0	0	0	0	0	0	14.73	14.45	14.76
5930	0.98	385.9	2856	980	1541	1694	104.6	9.7	684	5943	0.00	3.03	7.82	1.411	9254	0.000	0.225	2855	2406	1591	1512	1671	0	0	0	0	0	0	14.57	14.39	13.79
6130	1.01	407.5	2855	2407	1512	1664	85.8	9.1	705	6157	0.00	2.92	20.15	1.476	8740	0.000	0.182	2862	988	1499	1420	1579	0	0	0	0	0	0	14.72	13.99	13.73
6208	1.02	420.4	2862	988	1419	1574	78.5	9.5	720	6226	0.00	3.12	11.88	1.401	9254	0.000	0.243	2862	2412	1448	1368	1528	0	0	0	0	0	0	14.47	14.28	13.69
6405	1.07	466.9	2862	2412	1368	1517	60.2	8.2	741	6445	0.00	0.00	38.55	1.431	8742	0.000	0.000	2862	2411	1263	1192	1335	0	0	0	0	0	0	14.63	14.14	13.57
6625	1.14	544.9	2862	2412	1190	1317	45.9	6.9	765	6695	0.00	2.97	63.55	1.382	8740	0.000	0.180	2864	986	940	906	974	0	0	0	0	0	0	14.56	13.94	13.43
6737	1.24	646.0	2865	987	908	968	38.6	6.0	786	6826	0.17	2.95	82.82	1.332	11302	0.118	0.187	2920	2403	530	539	521	0	0	0	0	0	0	14.16	14.06	13.31
7012	1.27	675.2	2921	2404	539	512	15.1	8.8	821	7024	0.00	2.95	7.40	1.206	8740	0.000	0.172	2925	983	496	506	486	0	0	0	0	0	0	14.45	14.13	13.58
7131	1.31	711.1	2925	983	506	485	5.4	8.6	844	7138	0.00	2.92	0.00	0.000	1062	0.000	0.190	2926	2401	495	505	485	0	0	0	0	0	0	14.33	14.21	14.35
7172	end climb: SURFACE_DEPTH_REACHED
state	7172	begin surface coast
7192	end surface coast: CONTROL_FINISHED_OK
state	7192	begin surface