Glider dive log

SODA Oct18 * SG228 * Dive index * Mission links * Dive 3 * 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 15 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 2

STOP_T 0 TGT_DEFAULT_LAT 7545 R_PORT_OVSHOOT 36 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 567.43622 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 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 75 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 2 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 2400 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 -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 0.0099999998 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.6100001e-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 180 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 567.43622

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 0.003 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.6100001e-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 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -154.09409 T_DIVE 60

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 75

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 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 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 3 MINV_10V 11 R_PORT_OVSHOOT 36 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 15 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 3 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 101018,234246,7416.0913,-14627.0264,3,0.6,5,18.4,0.2,301.7,12,4.8 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME AB3

_XMS_NAKs 0 TGT_LATLONG 7452.500,-14519.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.67 MHEAD_RNG_PITCHd_Wd 35.1,75017,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -76.2 D_GRID 180

GPS2 101018,234622,7416.0957,-14627.0703,4,0.6,4,18.4,0.1,0.0,12,7.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181011002837.235074,18,114,20,0065,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*39 ALTIM_TOP_PING 19.9,7.5

FINISH -0.3,1.020681 _24V_AH 13.42,71.055

SM_CCo 3359,93.15,0.906,1,0,540,567.62 _10V_AH 12.96,0.000

SM_GC 2.36,9.68,0.55,93.15,0.147,0.068,0.906,200,2398,540,-6.84,-1.08,567.62,0,0,0,0,1,0,14.39,14.45,13.70 FG_AHR_24Vo 0.000

RAFOS_CLK 163 FG_AHR_10Vo 0.000

MODEM 1,1539216333,74.42723,-147.94939,33.465,49026.6 MEM 326108

RAFOS_FIX 7414.693848,-14630.861328,111018,000037,4,255,1.28 DATA_FILE_SIZE 16761,447

IRIDIUM_FIX 7415.72,-14633.98,101018,233923 CAP_FILE_SIZE 71767,0

TT8_MAMPS 0.041944,0.965461 CFSIZE 2097872896,2095185920

HUMID 48.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 9.38818 SOUNDSPEED 1440.4

TCM_TEMP 15.00 CURRENT 0.407,12.30,1

XPDR_PINGS 119 GPS 111018,004523,7416.648,-14627.337,2,0.7,3,18.4,0.3,346.6,11,5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 437 131.83 nil 0 0 0.00

Roll_motor 108 81 117.77 nil 0 0 0.00

VBD_pump_during_apogee 549 1710 12618.61 nil 0 0 0.00

VBD_pump_during_surface 93 905 1132.27 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 3329 35 1582.98

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 169.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 6 1.22

TT8 0 0 0.00

LPSleep 1806 2 54.10

TT8_Active 649 11 97.43

TT8_Sampling 1013 31 407.58

TT8_CF8 76 36 36.01

TT8_Kalman 0 0 0.00

Analog_circuits 1198 10 169.30

GPS_charging 0 0 0.00

Compass 646 6 56.45

RAFOS 2149 33 919.08

Transponder 2 30 0.98

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.82 -146.0 200 2403 494 494 0.0 0.0 0 92 0.00 0.00 -81.88 0.003 16386 0.000 0.000 198 2402 1825 1965 1686 0 0 0 0 0 0 14.78 28.83 14.80

95 -0.82 -146.0 200 2403 1966 1690 5.5 -9.4 8 145 9.48 4.85 -32.40 0.005 18948 0.438 0.077 2147 721 3454 3560 3349 0 0 0 0 0 0 14.37 13.60 14.65

150 -0.82 -146.0 2147 722 3561 3351 31.7 -49.9 18 156 0.00 4.75 0.00 0.000 1030 0.000 0.050 2128 2402 3455 3560 3350 0 0 0 0 0 0 14.64 14.57 14.65

341 -0.82 -146.0 2128 2403 3560 3353 93.3 -22.0 38 346 0.00 4.53 0.00 0.000 260 0.000 0.081 2108 3947 3456 3560 3352 0 0 0 0 0 0 14.80 14.54 14.84

351 -0.82 -146.0 2109 3948 3560 3354 95.5 -21.0 40 357 0.00 4.30 0.00 0.000 1030 0.000 0.039 2110 2412 3456 3559 3354 0 0 0 0 0 0 14.64 14.57 14.65

542 -0.82 -146.0 2110 2411 3558 3354 135.7 -20.6 60 553 0.00 4.85 0.00 0.000 516 0.000 0.065 2110 709 3455 3556 3354 0 0 0 0 0 0 14.77 14.62 14.79

593 -0.82 -146.0 2110 709 3555 3355 146.4 -20.7 70 605 0.17 4.80 0.00 0.000 3078 0.308 0.053 2127 2406 3454 3555 3354 0 0 0 0 0 0 14.47 14.64 14.68

781 end dive: TARGET_DEPTH_EXCEEDED

state 781 begin apogee

788 -0.11 0.0 2130 2185 3556 3355 181.6 -17.6 90 920 0.85 0.00 127.40 1.711 10246 0.282 0.000 2353 2183 2852 2915 2789 0 0 0 0 0 0 14.49 14.04 13.54

923 end apogee: CONTROL_FINISHED_OK

state 923 begin climb

925 0.82 146.0 2353 2184 2914 2789 191.3 0.0 104 1066 1.08 5.05 127.62 1.622 11012 0.205 0.073 2675 513 2254 2296 2212 0 0 0 0 0 0 14.07 13.97 13.42

1081 0.92 146.0 2676 514 2292 2212 185.1 6.7 132 1092 0.00 4.95 0.00 0.000 1094 0.000 0.047 2675 2209 2248 2291 2206 0 0 0 0 0 0 14.12 14.07 14.14

1272 1.00 146.0 2675 2209 2291 2197 170.8 7.4 152 1283 0.12 5.03 0.00 0.000 2372 0.171 0.078 2717 3888 2243 2289 2198 0 0 0 0 0 0 14.22 14.27 14.28

1333 1.00 146.0 2717 3888 2286 2199 164.8 10.3 164 1344 0.00 4.82 0.00 0.000 1030 0.000 0.041 2740 2202 2242 2286 2198 0 0 0 0 0 0 14.41 14.35 14.42

1523 1.06 146.0 2740 2202 2287 2200 148.4 8.0 184 1534 0.00 4.93 0.00 0.000 580 0.000 0.067 2761 512 2240 2286 2194 0 0 0 0 0 0 14.57 14.40 14.59

1629 1.11 146.0 2761 513 2284 2194 139.3 8.1 205 1636 0.00 4.80 0.00 0.000 1094 0.000 0.046 2758 2205 2238 2284 2193 0 0 0 0 0 0 14.52 14.46 14.54

1814 1.39 236.3 2759 2203 2286 2191 127.1 5.8 224 1902 0.25 5.07 76.10 1.603 10788 0.150 0.072 2860 510 1885 1936 1834 0 0 0 0 0 0 14.44 14.17 13.59

1942 1.39 236.3 2860 510 1930 1834 114.9 13.6 248 1953 0.00 4.88 0.00 0.000 1030 0.000 0.047 2857 2200 1880 1930 1830 0 0 0 0 0 0 14.30 14.23 14.31

2132 1.39 236.3 2857 2201 1928 1823 93.7 9.6 268 2143 0.00 4.95 0.00 0.000 516 0.000 0.070 2877 511 1875 1929 1822 0 0 0 0 0 0 14.52 14.32 14.54

2148 1.39 236.3 2877 512 1930 1824 92.1 10.0 271 2156 0.00 4.82 0.00 0.000 1030 0.000 0.047 2874 2199 1875 1929 1822 0 0 0 0 0 0 14.42 14.36 14.44

2333 1.68 334.4 2875 2201 1931 1819 78.0 5.4 290 2426 0.17 5.10 81.55 1.532 11044 0.161 0.071 2954 514 1485 1536 1435 0 0 0 0 0 0 14.37 14.10 13.57

2496 1.75 334.4 2953 514 1526 1435 66.4 7.6 321 2503 0.00 4.88 0.00 0.000 1094 0.000 0.047 2952 2204 1481 1526 1436 0 0 0 0 0 0 14.28 14.23 14.30

2681 2.26 504.2 2952 2206 1528 1426 58.0 2.1 340 2830 0.52 5.20 137.02 1.476 10532 0.122 0.078 3121 3894 795 796 794 0 0 0 0 0 0 14.27 14.00 13.49

3057 2.34 504.2 3122 3893 790 789 20.2 7.3 412 3063 0.00 4.85 0.00 0.000 1094 0.000 0.043 3143 2193 789 789 789 0 0 0 0 0 0 14.35 14.28 14.36

3250 2.46 504.2 3143 2193 795 782 6.7 6.1 432 3261 0.12 4.88 0.00 0.000 2628 0.185 0.066 3204 512 788 793 784 0 0 0 0 0 0 14.36 14.39 14.43

3306 2.51 504.2 3205 513 793 785 2.4 8.2 443 3314 0.00 4.80 0.00 0.000 1094 0.000 0.045 3194 2205 787 793 782 0 0 0 0 0 0 14.46 14.40 14.47

3319 end climb: SURFACE_DEPTH_REACHED

state 3319 begin surface coast

3340 end surface coast: CONTROL_FINISHED_OK

state 3340 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_TOP_PING_RANGE	20
MISSION	15	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	2
STOP_T	0	TGT_DEFAULT_LAT	7545	R_PORT_OVSHOOT	36	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	567.43622	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	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	75	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	2	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	2400	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	-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	0.0099999998	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.6100001e-05	C_ROLL_DIVE	2400	ALTIM_PING_FIT	0

GPS1	101018,234246,7416.0913,-14627.0264,3,0.6,5,18.4,0.2,301.7,12,4.8	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	AB3
_XMS_NAKs	0	TGT_LATLONG	7452.500,-14519.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.67	MHEAD_RNG_PITCHd_Wd	35.1,75017,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-76.2	D_GRID	180
GPS2	101018,234622,7416.0957,-14627.0703,4,0.6,4,18.4,0.1,0.0,12,7.7

MODEM_MSG	CACST,6,1,20181011002837.235074,18,114,20,0065,0150,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*39	ALTIM_TOP_PING	19.9,7.5
FINISH	-0.3,1.020681	_24V_AH	13.42,71.055
SM_CCo	3359,93.15,0.906,1,0,540,567.62	_10V_AH	12.96,0.000
SM_GC	2.36,9.68,0.55,93.15,0.147,0.068,0.906,200,2398,540,-6.84,-1.08,567.62,0,0,0,0,1,0,14.39,14.45,13.70	FG_AHR_24Vo	0.000
RAFOS_CLK	163	FG_AHR_10Vo	0.000
MODEM	1,1539216333,74.42723,-147.94939,33.465,49026.6	MEM	326108
RAFOS_FIX	7414.693848,-14630.861328,111018,000037,4,255,1.28	DATA_FILE_SIZE	16761,447
IRIDIUM_FIX	7415.72,-14633.98,101018,233923	CAP_FILE_SIZE	71767,0
TT8_MAMPS	0.041944,0.965461	CFSIZE	2097872896,2095185920
HUMID	48.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	9.38818	SOUNDSPEED	1440.4
TCM_TEMP	15.00	CURRENT	0.407,12.30,1
XPDR_PINGS	119	GPS	111018,004523,7416.648,-14627.337,2,0.7,3,18.4,0.3,346.6,11,5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	437	131.83	nil	0	0	0.00
Roll_motor	108	81	117.77	nil	0	0	0.00
VBD_pump_during_apogee	549	1710	12618.61	nil	0	0	0.00
VBD_pump_during_surface	93	905	1132.27	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	3329	35	1582.98
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	169.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	6	1.22
TT8	0	0	0.00
LPSleep	1806	2	54.10
TT8_Active	649	11	97.43
TT8_Sampling	1013	31	407.58
TT8_CF8	76	36	36.01
TT8_Kalman	0	0	0.00
Analog_circuits	1198	10	169.30
GPS_charging	0	0	0.00
Compass	646	6	56.45
RAFOS	2149	33	919.08
Transponder	2	30	0.98

		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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.82	-146.0	200	2403	494	494	0.0	0.0	0	92	0.00	0.00	-81.88	0.003	16386	0.000	0.000	198	2402	1825	1965	1686	0	0	0	0	0	0	14.78	28.83	14.80
95	-0.82	-146.0	200	2403	1966	1690	5.5	-9.4	8	145	9.48	4.85	-32.40	0.005	18948	0.438	0.077	2147	721	3454	3560	3349	0	0	0	0	0	0	14.37	13.60	14.65
150	-0.82	-146.0	2147	722	3561	3351	31.7	-49.9	18	156	0.00	4.75	0.00	0.000	1030	0.000	0.050	2128	2402	3455	3560	3350	0	0	0	0	0	0	14.64	14.57	14.65
341	-0.82	-146.0	2128	2403	3560	3353	93.3	-22.0	38	346	0.00	4.53	0.00	0.000	260	0.000	0.081	2108	3947	3456	3560	3352	0	0	0	0	0	0	14.80	14.54	14.84
351	-0.82	-146.0	2109	3948	3560	3354	95.5	-21.0	40	357	0.00	4.30	0.00	0.000	1030	0.000	0.039	2110	2412	3456	3559	3354	0	0	0	0	0	0	14.64	14.57	14.65
542	-0.82	-146.0	2110	2411	3558	3354	135.7	-20.6	60	553	0.00	4.85	0.00	0.000	516	0.000	0.065	2110	709	3455	3556	3354	0	0	0	0	0	0	14.77	14.62	14.79
593	-0.82	-146.0	2110	709	3555	3355	146.4	-20.7	70	605	0.17	4.80	0.00	0.000	3078	0.308	0.053	2127	2406	3454	3555	3354	0	0	0	0	0	0	14.47	14.64	14.68
781	end dive: TARGET_DEPTH_EXCEEDED
state	781	begin apogee
788	-0.11	0.0	2130	2185	3556	3355	181.6	-17.6	90	920	0.85	0.00	127.40	1.711	10246	0.282	0.000	2353	2183	2852	2915	2789	0	0	0	0	0	0	14.49	14.04	13.54
923	end apogee: CONTROL_FINISHED_OK
state	923	begin climb
925	0.82	146.0	2353	2184	2914	2789	191.3	0.0	104	1066	1.08	5.05	127.62	1.622	11012	0.205	0.073	2675	513	2254	2296	2212	0	0	0	0	0	0	14.07	13.97	13.42
1081	0.92	146.0	2676	514	2292	2212	185.1	6.7	132	1092	0.00	4.95	0.00	0.000	1094	0.000	0.047	2675	2209	2248	2291	2206	0	0	0	0	0	0	14.12	14.07	14.14
1272	1.00	146.0	2675	2209	2291	2197	170.8	7.4	152	1283	0.12	5.03	0.00	0.000	2372	0.171	0.078	2717	3888	2243	2289	2198	0	0	0	0	0	0	14.22	14.27	14.28
1333	1.00	146.0	2717	3888	2286	2199	164.8	10.3	164	1344	0.00	4.82	0.00	0.000	1030	0.000	0.041	2740	2202	2242	2286	2198	0	0	0	0	0	0	14.41	14.35	14.42
1523	1.06	146.0	2740	2202	2287	2200	148.4	8.0	184	1534	0.00	4.93	0.00	0.000	580	0.000	0.067	2761	512	2240	2286	2194	0	0	0	0	0	0	14.57	14.40	14.59
1629	1.11	146.0	2761	513	2284	2194	139.3	8.1	205	1636	0.00	4.80	0.00	0.000	1094	0.000	0.046	2758	2205	2238	2284	2193	0	0	0	0	0	0	14.52	14.46	14.54
1814	1.39	236.3	2759	2203	2286	2191	127.1	5.8	224	1902	0.25	5.07	76.10	1.603	10788	0.150	0.072	2860	510	1885	1936	1834	0	0	0	0	0	0	14.44	14.17	13.59
1942	1.39	236.3	2860	510	1930	1834	114.9	13.6	248	1953	0.00	4.88	0.00	0.000	1030	0.000	0.047	2857	2200	1880	1930	1830	0	0	0	0	0	0	14.30	14.23	14.31
2132	1.39	236.3	2857	2201	1928	1823	93.7	9.6	268	2143	0.00	4.95	0.00	0.000	516	0.000	0.070	2877	511	1875	1929	1822	0	0	0	0	0	0	14.52	14.32	14.54
2148	1.39	236.3	2877	512	1930	1824	92.1	10.0	271	2156	0.00	4.82	0.00	0.000	1030	0.000	0.047	2874	2199	1875	1929	1822	0	0	0	0	0	0	14.42	14.36	14.44
2333	1.68	334.4	2875	2201	1931	1819	78.0	5.4	290	2426	0.17	5.10	81.55	1.532	11044	0.161	0.071	2954	514	1485	1536	1435	0	0	0	0	0	0	14.37	14.10	13.57
2496	1.75	334.4	2953	514	1526	1435	66.4	7.6	321	2503	0.00	4.88	0.00	0.000	1094	0.000	0.047	2952	2204	1481	1526	1436	0	0	0	0	0	0	14.28	14.23	14.30
2681	2.26	504.2	2952	2206	1528	1426	58.0	2.1	340	2830	0.52	5.20	137.02	1.476	10532	0.122	0.078	3121	3894	795	796	794	0	0	0	0	0	0	14.27	14.00	13.49
3057	2.34	504.2	3122	3893	790	789	20.2	7.3	412	3063	0.00	4.85	0.00	0.000	1094	0.000	0.043	3143	2193	789	789	789	0	0	0	0	0	0	14.35	14.28	14.36
3250	2.46	504.2	3143	2193	795	782	6.7	6.1	432	3261	0.12	4.88	0.00	0.000	2628	0.185	0.066	3204	512	788	793	784	0	0	0	0	0	0	14.36	14.39	14.43
3306	2.51	504.2	3205	513	793	785	2.4	8.2	443	3314	0.00	4.80	0.00	0.000	1094	0.000	0.045	3194	2205	787	793	782	0	0	0	0	0	0	14.46	14.40	14.47
3319	end climb: SURFACE_DEPTH_REACHED
state	3319	begin surface coast
3340	end surface coast: CONTROL_FINISHED_OK
state	3340	begin surface