Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 141 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_TOP_PING_RANGE 20

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 141 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 24 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 24 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 600 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 FILEMGR 0 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 0 PROTOCOL 9 C_VBD 2854 INT_PRESSURE_YINT 1.8

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 0.003 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 200 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 240 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 4 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 0 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 0.1 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 2330 CF8_MAXERRORS 20 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 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 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 -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0025631799 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0154106 ROLL_DEG 80 COMPASS_USE 4

HD_C 6.0999999e-05 C_ROLL_DIVE 2400 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 600 PHONE_DEVICE 49 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 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 653.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 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 46 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3810 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 0.0025631799 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0154106 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 6.0999999e-05 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 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 200

CAPUPLOAD 0 ID 228 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 1.8 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 240

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 2330 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2200 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2854 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 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 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 141 MINV_10V 11 R_PORT_OVSHOOT 24 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 24 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 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 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 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 081018,212439,7412.3345,-14621.8086,46,1.0,47,18.4,0.5,340.3,8,5.9 SPEED_LIMITS 0.173,0.179

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7412.000,-14622.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo -0.26 MHEAD_RNG_PITCHd_Wd 149.7,666,-23.2,-10.000,-30.00,1611

_SM_ANGLEo -75.3 D_GRID 600

GPS2 081018,213150,7412.3574,-14621.8574,5,1.0,8,18.4,0.1,0.0,8,7.4

Post-dive calculations and measurements:

FINISH -0.3,1.020802 _24V_AH 13.07,66.321

SM_CCo 9215,0.17,0.938,0,0,500,577.44 _10V_AH 13.08,0.000

SM_GC 1.74,11.05,0.68,0.17,0.221,0.063,0.938,198,2401,500,-6.63,-0.99,577.44,0,0,0,0,0,0,14.06,14.10,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 27 FG_AHR_10Vo 0.000

RAFOS_FIX 7411.477051,-14622.077148,091018,000004,0,1,0.18 MEM 334572

IRIDIUM_FIX 7409.98,-14618.60,081018,184128 DATA_FILE_SIZE 30075,822

TT8_MAMPS 0.077896,0.397719 CAP_FILE_SIZE 93755,0

HUMID 47.40 CFSIZE 2097872896,2070609920

INTERNAL_PRESSURE 8.88035 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.60 SOUNDSPEED 1447.5

XPDR_PINGS 11 CURRENT 0.075,327.32,1

ALTIM_TOP_PING 18.3,22.1 GPS 091018,000801,7411.793,-14621.920,74,0.8,75,18.4,0.5,35.0,12,2.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 467 153.34 nil 0 0 0.00

Roll_motor 118 160 248.24 nil 0 0 0.00

VBD_pump_during_apogee 617 2135 17238.10 nil 0 0 0.00

VBD_pump_during_surface 0 937 2.15 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 9211 19 2348.28

Iridium_during_xfer 265 185 641.63 nil 0 0 0.00

Transponder_ping 3 420 16.47 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 6 1.54

TT8 0 0 0.00

LPSleep 6826 2 206.26

TT8_Active 723 11 109.56

TT8_Sampling 1896 31 770.10

TT8_CF8 213 36 101.25

TT8_Kalman 0 0 0.00

Analog_circuits 1680 10 239.60

GPS_charging 0 0 0.00

Compass 1180 6 104.10

RAFOS 2156 33 930.62

Transponder 2 30 0.99

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.90 -132.7 199 2394 462 534 0.0 0.0 0 84 0.00 0.00 -71.50 0.003 16386 0.000 0.000 198 2393 1916 2020 1812 0 0 0 0 0 0 14.45 28.83 14.47

87 -0.90 -132.7 199 2394 2021 1818 4.6 -11.2 7 133 9.88 4.75 -27.58 0.005 18692 0.467 0.094 2012 3943 3398 3517 3279 0 0 0 0 0 0 14.05 13.44 14.33

358 -0.90 -132.7 2012 3943 3511 3288 101.2 -23.6 60 365 0.00 4.47 0.00 0.000 1030 0.000 0.044 2014 2398 3399 3511 3288 0 0 0 0 0 0 14.42 14.36 14.43

543 -0.90 -132.7 2015 2398 3512 3289 141.8 -21.1 79 554 0.00 4.70 0.00 0.000 260 0.000 0.085 1997 3942 3399 3510 3288 0 0 0 0 0 0 14.59 14.39 14.61

624 -0.90 -132.7 1998 3943 3509 3290 160.7 -23.9 95 634 0.00 4.45 0.00 0.000 1030 0.000 0.044 2010 2395 3398 3508 3289 0 0 0 0 0 0 14.51 14.45 14.52

814 -0.90 -132.7 2010 2394 3508 3289 200.5 -20.0 115 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2394 3398 3508 3289 0 0 0 0 0 0 14.64 14.66 14.66

994 -0.90 -132.7 2011 2395 3509 3290 233.9 -18.0 133 1000 0.00 4.90 0.00 0.000 516 0.000 0.065 2014 710 3398 3508 3288 0 0 0 0 0 0 14.66 14.48 14.69

1030 -0.90 -132.7 2014 711 3508 3290 240.9 -19.7 140 1038 0.17 4.90 0.00 0.000 3078 0.333 0.057 2030 2391 3398 3507 3289 0 0 0 0 0 0 14.33 14.48 14.53

1225 -0.90 -132.7 2030 2391 3508 3290 270.1 -13.5 153 1226 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2391 3398 3507 3289 0 0 0 0 0 0 14.71 14.72 14.72

1525 -0.90 -132.7 2034 2391 3508 3290 307.0 -12.2 168 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2391 3398 3507 3289 0 0 0 0 0 0 14.74 14.76 14.76

1825 -0.90 -132.7 2031 2392 3508 3290 341.1 -10.9 183 1835 0.00 4.93 0.00 0.000 516 0.000 0.069 2040 701 3397 3506 3289 0 0 0 0 0 0 14.77 14.57 14.81

1875 -0.90 -132.7 2041 703 3508 3290 347.2 -12.7 193 1882 0.00 4.90 0.00 0.000 1030 0.000 0.056 2021 2402 3397 3506 3289 0 0 0 0 0 0 14.66 14.59 14.68

2187 -0.90 -132.7 2020 2402 3506 3290 382.2 -11.3 210 2188 0.00 0.00 0.00 0.000 6 0.000 0.000 2021 2401 3396 3503 3289 0 0 0 0 0 0 14.79 14.81 14.81

2487 -0.90 -132.7 2020 2402 3506 3291 415.4 -10.9 225 2493 0.00 4.90 0.00 0.000 516 0.000 0.063 2028 705 3397 3506 3289 0 0 0 0 0 0 14.81 14.62 14.83

2523 -0.90 -132.7 2029 706 3506 3290 419.7 -12.0 232 2530 0.12 4.88 0.00 0.000 3078 0.322 0.056 2031 2401 3397 3505 3289 0 0 0 0 0 0 14.47 14.62 14.66

2828 -0.90 -132.7 2032 2402 3506 3290 451.7 -10.6 248 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2031 2401 3397 3505 3289 0 0 0 0 0 0 14.82 14.84 14.84

3128 -0.90 -132.7 2031 2401 3505 3290 483.1 -10.4 263 3138 0.00 4.88 0.00 0.000 516 0.000 0.065 2042 710 3397 3505 3289 0 0 0 0 0 0 14.83 14.64 14.85

3158 -0.90 -132.7 2043 712 3506 3290 486.4 -11.5 269 3164 0.00 4.85 0.00 0.000 1030 0.000 0.055 2022 2401 3397 3505 3289 0 0 0 0 0 0 14.72 14.64 14.73

3469 -0.90 -132.7 2022 2402 3505 3290 519.4 -10.5 286 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2022 2402 3397 3506 3289 0 0 0 0 0 0 14.85 14.85 14.87

3769 -0.90 -132.7 2023 2402 3506 3291 550.5 -10.2 301 3775 0.00 4.88 0.00 0.000 516 0.000 0.063 2026 705 3397 3505 3290 0 0 0 0 0 0 14.86 14.65 14.88

3811 -0.90 -132.7 2026 705 3506 3297 555.1 -11.2 309 3817 0.12 4.85 0.00 0.000 3078 0.321 0.053 2030 2407 3397 3505 3290 0 0 0 0 0 0 14.51 14.66 14.71

4132 -0.90 -132.7 2030 2408 3505 3291 586.8 -9.8 328 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2030 2408 3397 3505 3290 0 0 0 0 0 0 14.87 14.89 14.88

4270 end dive: TARGET_DEPTH_EXCEEDED

state 4270 begin apogee

4276 -0.11 0.0 2033 2179 3506 3291 600.4 -9.8 335 4402 0.98 0.08 122.82 2.136 10246 0.279 0.161 2285 2214 2853 2927 2779 0 0 0 0 0 0 14.54 14.00 13.28

4403 end apogee: CONTROL_FINISHED_OK

state 4403 begin climb

4405 0.90 132.7 2286 2215 2926 2778 602.7 0.0 341 4535 1.10 0.00 125.38 2.040 10502 0.161 0.000 2612 2214 2308 2330 2286 0 0 0 0 0 0 13.96 13.78 13.07

4822 0.90 132.7 2612 2215 2328 2270 530.4 20.1 380 4823 0.00 0.00 0.00 0.000 6 0.000 0.000 2612 2214 2298 2328 2269 0 0 0 0 0 0 14.37 14.39 14.39

5122 0.90 132.7 2612 2214 2328 2265 471.5 19.4 395 5132 0.00 5.00 0.00 0.000 516 0.000 0.070 2634 525 2296 2327 2265 0 0 0 0 0 0 14.52 14.33 14.54

5157 0.90 132.7 2635 526 2325 2266 464.3 20.3 402 5165 0.00 4.85 0.00 0.000 1030 0.000 0.051 2631 2193 2294 2324 2265 0 0 0 0 0 0 14.40 14.34 14.42

5462 0.90 132.7 2631 2194 2324 2264 401.8 20.4 418 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2194 2293 2324 2263 0 0 0 0 0 0 14.62 14.64 14.64

5762 0.90 132.7 2632 2194 2326 2263 342.3 19.9 433 5763 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2193 2293 2324 2262 0 0 0 0 0 0 14.67 14.69 14.69

6062 0.90 132.7 2631 2194 2325 2262 287.1 17.4 448 6063 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2193 2293 2325 2261 0 0 0 0 0 0 14.72 14.74 14.73

6362 0.90 132.7 2632 2194 2326 2262 242.7 12.3 465 6363 0.00 0.00 0.00 0.000 6 0.000 0.000 2631 2194 2293 2325 2261 0 0 0 0 0 0 14.75 14.77 14.77

6542 0.97 132.7 2631 2194 2325 2261 226.3 7.8 483 6553 0.00 4.85 0.00 0.000 580 0.000 0.070 2651 522 2292 2324 2260 0 0 0 0 0 0 14.76 14.59 14.77

6598 1.01 132.7 2652 523 2324 2264 221.7 8.7 494 6606 0.00 4.80 0.00 0.000 1094 0.000 0.049 2649 2207 2291 2322 2260 0 0 0 0 0 0 14.66 14.60 14.68

6784 1.08 132.7 2650 2208 2325 2261 207.2 7.6 513 6795 0.00 4.97 0.00 0.000 324 0.000 0.083 2649 3885 2292 2323 2261 0 0 0 0 0 0 14.75 14.59 14.78

6880 1.08 132.7 2649 3882 2322 2263 198.1 9.5 532 6887 0.00 4.75 0.00 0.000 1030 0.000 0.043 2669 2209 2292 2322 2262 0 0 0 0 0 0 14.67 14.61 14.69

7066 1.19 132.7 2669 2209 2323 2260 185.0 6.4 551 7067 0.15 0.00 0.00 0.000 2118 0.181 0.000 2712 2208 2291 2323 2260 0 0 0 0 0 0 14.54 14.67 14.66

7246 1.29 132.7 2712 2209 2324 2261 172.8 6.5 569 7246 0.00 0.00 0.00 0.000 70 0.000 0.000 2712 2209 2291 2322 2260 0 0 0 0 0 0 14.78 14.81 14.80

7426 1.51 203.8 2712 2209 2323 2260 162.3 5.5 587 7489 0.32 0.00 60.97 1.654 10534 0.154 0.000 2811 2208 2023 2054 1992 0 0 0 0 0 0 14.56 14.33 13.68

7665 1.51 203.8 2812 2208 2047 1981 133.8 13.8 614 7666 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2208 2013 2045 1981 0 0 0 0 0 0 14.57 14.58 14.59

7846 1.51 203.8 2810 2209 2045 1979 112.9 10.3 632 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2208 2011 2045 1978 0 0 0 0 0 0 14.61 14.63 14.63

8026 1.56 203.8 2810 2208 2045 1976 96.5 8.3 650 8027 0.00 0.00 0.00 0.000 70 0.000 0.000 2811 2208 2009 2044 1975 0 0 0 0 0 0 14.63 14.65 14.65

8206 1.88 310.3 2811 2209 2044 1974 86.9 3.2 668 8307 0.35 5.22 90.68 1.544 10532 0.149 0.083 2905 3889 1586 1617 1555 0 0 0 0 0 0 14.40 14.09 13.52

8367 1.88 310.3 2905 3889 1612 1554 68.7 16.0 698 8374 0.00 4.97 0.00 0.000 1030 0.000 0.044 2925 2199 1581 1612 1551 0 0 0 0 0 0 14.23 14.18 14.25

8559 2.24 431.0 2926 2199 1612 1543 57.8 2.3 718 8671 0.38 5.28 99.38 1.469 10532 0.144 0.080 3041 3889 1090 1099 1081 0 0 0 0 0 0 14.24 13.90 13.42

8914 2.73 595.4 3042 3889 1095 1074 29.2 -0.5 783 9043 0.47 4.95 118.28 1.408 11302 0.138 0.039 3205 2178 496 468 524 0 0 0 0 0 0 14.18 14.25 13.37

9178 end climb: SURFACE_DEPTH_REACHED

state 9178 begin surface coast

9188 end surface coast: CONTROL_FINISHED_OK

state 9188 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	141	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	24	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	24	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	600	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	FILEMGR	0	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	0	PROTOCOL	9	C_VBD	2854	INT_PRESSURE_YINT	1.8
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	0.003	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	200	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	240	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	4	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	0	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	0.1	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	2330	CF8_MAXERRORS	20	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	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	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	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0025631799	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0154106	ROLL_DEG	80	COMPASS_USE	4
HD_C	6.0999999e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	081018,212439,7412.3345,-14621.8086,46,1.0,47,18.4,0.5,340.3,8,5.9	SPEED_LIMITS	0.173,0.179
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7412.000,-14622.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	-0.26	MHEAD_RNG_PITCHd_Wd	149.7,666,-23.2,-10.000,-30.00,1611
_SM_ANGLEo	-75.3	D_GRID	600
GPS2	081018,213150,7412.3574,-14621.8574,5,1.0,8,18.4,0.1,0.0,8,7.4

FINISH	-0.3,1.020802	_24V_AH	13.07,66.321
SM_CCo	9215,0.17,0.938,0,0,500,577.44	_10V_AH	13.08,0.000
SM_GC	1.74,11.05,0.68,0.17,0.221,0.063,0.938,198,2401,500,-6.63,-0.99,577.44,0,0,0,0,0,0,14.06,14.10,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	27	FG_AHR_10Vo	0.000
RAFOS_FIX	7411.477051,-14622.077148,091018,000004,0,1,0.18	MEM	334572
IRIDIUM_FIX	7409.98,-14618.60,081018,184128	DATA_FILE_SIZE	30075,822
TT8_MAMPS	0.077896,0.397719	CAP_FILE_SIZE	93755,0
HUMID	47.40	CFSIZE	2097872896,2070609920
INTERNAL_PRESSURE	8.88035	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.60	SOUNDSPEED	1447.5
XPDR_PINGS	11	CURRENT	0.075,327.32,1
ALTIM_TOP_PING	18.3,22.1	GPS	091018,000801,7411.793,-14621.920,74,0.8,75,18.4,0.5,35.0,12,2.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	467	153.34	nil	0	0	0.00
Roll_motor	118	160	248.24	nil	0	0	0.00
VBD_pump_during_apogee	617	2135	17238.10	nil	0	0	0.00
VBD_pump_during_surface	0	937	2.15	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	9211	19	2348.28
Iridium_during_xfer	265	185	641.63	nil	0	0	0.00
Transponder_ping	3	420	16.47	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	6	1.54
TT8	0	0	0.00
LPSleep	6826	2	206.26
TT8_Active	723	11	109.56
TT8_Sampling	1896	31	770.10
TT8_CF8	213	36	101.25
TT8_Kalman	0	0	0.00
Analog_circuits	1680	10	239.60
GPS_charging	0	0	0.00
Compass	1180	6	104.10
RAFOS	2156	33	930.62
Transponder	2	30	0.99

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.90	-132.7	199	2394	462	534	0.0	0.0	0	84	0.00	0.00	-71.50	0.003	16386	0.000	0.000	198	2393	1916	2020	1812	0	0	0	0	0	0	14.45	28.83	14.47
87	-0.90	-132.7	199	2394	2021	1818	4.6	-11.2	7	133	9.88	4.75	-27.58	0.005	18692	0.467	0.094	2012	3943	3398	3517	3279	0	0	0	0	0	0	14.05	13.44	14.33
358	-0.90	-132.7	2012	3943	3511	3288	101.2	-23.6	60	365	0.00	4.47	0.00	0.000	1030	0.000	0.044	2014	2398	3399	3511	3288	0	0	0	0	0	0	14.42	14.36	14.43
543	-0.90	-132.7	2015	2398	3512	3289	141.8	-21.1	79	554	0.00	4.70	0.00	0.000	260	0.000	0.085	1997	3942	3399	3510	3288	0	0	0	0	0	0	14.59	14.39	14.61
624	-0.90	-132.7	1998	3943	3509	3290	160.7	-23.9	95	634	0.00	4.45	0.00	0.000	1030	0.000	0.044	2010	2395	3398	3508	3289	0	0	0	0	0	0	14.51	14.45	14.52
814	-0.90	-132.7	2010	2394	3508	3289	200.5	-20.0	115	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2394	3398	3508	3289	0	0	0	0	0	0	14.64	14.66	14.66
994	-0.90	-132.7	2011	2395	3509	3290	233.9	-18.0	133	1000	0.00	4.90	0.00	0.000	516	0.000	0.065	2014	710	3398	3508	3288	0	0	0	0	0	0	14.66	14.48	14.69
1030	-0.90	-132.7	2014	711	3508	3290	240.9	-19.7	140	1038	0.17	4.90	0.00	0.000	3078	0.333	0.057	2030	2391	3398	3507	3289	0	0	0	0	0	0	14.33	14.48	14.53
1225	-0.90	-132.7	2030	2391	3508	3290	270.1	-13.5	153	1226	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2391	3398	3507	3289	0	0	0	0	0	0	14.71	14.72	14.72
1525	-0.90	-132.7	2034	2391	3508	3290	307.0	-12.2	168	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2391	3398	3507	3289	0	0	0	0	0	0	14.74	14.76	14.76
1825	-0.90	-132.7	2031	2392	3508	3290	341.1	-10.9	183	1835	0.00	4.93	0.00	0.000	516	0.000	0.069	2040	701	3397	3506	3289	0	0	0	0	0	0	14.77	14.57	14.81
1875	-0.90	-132.7	2041	703	3508	3290	347.2	-12.7	193	1882	0.00	4.90	0.00	0.000	1030	0.000	0.056	2021	2402	3397	3506	3289	0	0	0	0	0	0	14.66	14.59	14.68
2187	-0.90	-132.7	2020	2402	3506	3290	382.2	-11.3	210	2188	0.00	0.00	0.00	0.000	6	0.000	0.000	2021	2401	3396	3503	3289	0	0	0	0	0	0	14.79	14.81	14.81
2487	-0.90	-132.7	2020	2402	3506	3291	415.4	-10.9	225	2493	0.00	4.90	0.00	0.000	516	0.000	0.063	2028	705	3397	3506	3289	0	0	0	0	0	0	14.81	14.62	14.83
2523	-0.90	-132.7	2029	706	3506	3290	419.7	-12.0	232	2530	0.12	4.88	0.00	0.000	3078	0.322	0.056	2031	2401	3397	3505	3289	0	0	0	0	0	0	14.47	14.62	14.66
2828	-0.90	-132.7	2032	2402	3506	3290	451.7	-10.6	248	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2031	2401	3397	3505	3289	0	0	0	0	0	0	14.82	14.84	14.84
3128	-0.90	-132.7	2031	2401	3505	3290	483.1	-10.4	263	3138	0.00	4.88	0.00	0.000	516	0.000	0.065	2042	710	3397	3505	3289	0	0	0	0	0	0	14.83	14.64	14.85
3158	-0.90	-132.7	2043	712	3506	3290	486.4	-11.5	269	3164	0.00	4.85	0.00	0.000	1030	0.000	0.055	2022	2401	3397	3505	3289	0	0	0	0	0	0	14.72	14.64	14.73
3469	-0.90	-132.7	2022	2402	3505	3290	519.4	-10.5	286	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2022	2402	3397	3506	3289	0	0	0	0	0	0	14.85	14.85	14.87
3769	-0.90	-132.7	2023	2402	3506	3291	550.5	-10.2	301	3775	0.00	4.88	0.00	0.000	516	0.000	0.063	2026	705	3397	3505	3290	0	0	0	0	0	0	14.86	14.65	14.88
3811	-0.90	-132.7	2026	705	3506	3297	555.1	-11.2	309	3817	0.12	4.85	0.00	0.000	3078	0.321	0.053	2030	2407	3397	3505	3290	0	0	0	0	0	0	14.51	14.66	14.71
4132	-0.90	-132.7	2030	2408	3505	3291	586.8	-9.8	328	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	2030	2408	3397	3505	3290	0	0	0	0	0	0	14.87	14.89	14.88
4270	end dive: TARGET_DEPTH_EXCEEDED
state	4270	begin apogee
4276	-0.11	0.0	2033	2179	3506	3291	600.4	-9.8	335	4402	0.98	0.08	122.82	2.136	10246	0.279	0.161	2285	2214	2853	2927	2779	0	0	0	0	0	0	14.54	14.00	13.28
4403	end apogee: CONTROL_FINISHED_OK
state	4403	begin climb
4405	0.90	132.7	2286	2215	2926	2778	602.7	0.0	341	4535	1.10	0.00	125.38	2.040	10502	0.161	0.000	2612	2214	2308	2330	2286	0	0	0	0	0	0	13.96	13.78	13.07
4822	0.90	132.7	2612	2215	2328	2270	530.4	20.1	380	4823	0.00	0.00	0.00	0.000	6	0.000	0.000	2612	2214	2298	2328	2269	0	0	0	0	0	0	14.37	14.39	14.39
5122	0.90	132.7	2612	2214	2328	2265	471.5	19.4	395	5132	0.00	5.00	0.00	0.000	516	0.000	0.070	2634	525	2296	2327	2265	0	0	0	0	0	0	14.52	14.33	14.54
5157	0.90	132.7	2635	526	2325	2266	464.3	20.3	402	5165	0.00	4.85	0.00	0.000	1030	0.000	0.051	2631	2193	2294	2324	2265	0	0	0	0	0	0	14.40	14.34	14.42
5462	0.90	132.7	2631	2194	2324	2264	401.8	20.4	418	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2194	2293	2324	2263	0	0	0	0	0	0	14.62	14.64	14.64
5762	0.90	132.7	2632	2194	2326	2263	342.3	19.9	433	5763	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2193	2293	2324	2262	0	0	0	0	0	0	14.67	14.69	14.69
6062	0.90	132.7	2631	2194	2325	2262	287.1	17.4	448	6063	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2193	2293	2325	2261	0	0	0	0	0	0	14.72	14.74	14.73
6362	0.90	132.7	2632	2194	2326	2262	242.7	12.3	465	6363	0.00	0.00	0.00	0.000	6	0.000	0.000	2631	2194	2293	2325	2261	0	0	0	0	0	0	14.75	14.77	14.77
6542	0.97	132.7	2631	2194	2325	2261	226.3	7.8	483	6553	0.00	4.85	0.00	0.000	580	0.000	0.070	2651	522	2292	2324	2260	0	0	0	0	0	0	14.76	14.59	14.77
6598	1.01	132.7	2652	523	2324	2264	221.7	8.7	494	6606	0.00	4.80	0.00	0.000	1094	0.000	0.049	2649	2207	2291	2322	2260	0	0	0	0	0	0	14.66	14.60	14.68
6784	1.08	132.7	2650	2208	2325	2261	207.2	7.6	513	6795	0.00	4.97	0.00	0.000	324	0.000	0.083	2649	3885	2292	2323	2261	0	0	0	0	0	0	14.75	14.59	14.78
6880	1.08	132.7	2649	3882	2322	2263	198.1	9.5	532	6887	0.00	4.75	0.00	0.000	1030	0.000	0.043	2669	2209	2292	2322	2262	0	0	0	0	0	0	14.67	14.61	14.69
7066	1.19	132.7	2669	2209	2323	2260	185.0	6.4	551	7067	0.15	0.00	0.00	0.000	2118	0.181	0.000	2712	2208	2291	2323	2260	0	0	0	0	0	0	14.54	14.67	14.66
7246	1.29	132.7	2712	2209	2324	2261	172.8	6.5	569	7246	0.00	0.00	0.00	0.000	70	0.000	0.000	2712	2209	2291	2322	2260	0	0	0	0	0	0	14.78	14.81	14.80
7426	1.51	203.8	2712	2209	2323	2260	162.3	5.5	587	7489	0.32	0.00	60.97	1.654	10534	0.154	0.000	2811	2208	2023	2054	1992	0	0	0	0	0	0	14.56	14.33	13.68
7665	1.51	203.8	2812	2208	2047	1981	133.8	13.8	614	7666	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2208	2013	2045	1981	0	0	0	0	0	0	14.57	14.58	14.59
7846	1.51	203.8	2810	2209	2045	1979	112.9	10.3	632	7846	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2208	2011	2045	1978	0	0	0	0	0	0	14.61	14.63	14.63
8026	1.56	203.8	2810	2208	2045	1976	96.5	8.3	650	8027	0.00	0.00	0.00	0.000	70	0.000	0.000	2811	2208	2009	2044	1975	0	0	0	0	0	0	14.63	14.65	14.65
8206	1.88	310.3	2811	2209	2044	1974	86.9	3.2	668	8307	0.35	5.22	90.68	1.544	10532	0.149	0.083	2905	3889	1586	1617	1555	0	0	0	0	0	0	14.40	14.09	13.52
8367	1.88	310.3	2905	3889	1612	1554	68.7	16.0	698	8374	0.00	4.97	0.00	0.000	1030	0.000	0.044	2925	2199	1581	1612	1551	0	0	0	0	0	0	14.23	14.18	14.25
8559	2.24	431.0	2926	2199	1612	1543	57.8	2.3	718	8671	0.38	5.28	99.38	1.469	10532	0.144	0.080	3041	3889	1090	1099	1081	0	0	0	0	0	0	14.24	13.90	13.42
8914	2.73	595.4	3042	3889	1095	1074	29.2	-0.5	783	9043	0.47	4.95	118.28	1.408	11302	0.138	0.039	3205	2178	496	468	524	0	0	0	0	0	0	14.18	14.25	13.37
9178	end climb: SURFACE_DEPTH_REACHED
state	9178	begin surface coast
9188	end surface coast: CONTROL_FINISHED_OK
state	9188	begin surface