Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 7 ESCAPE_HEADING 180 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 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 16 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 6 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 660 SM_CC 653.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

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 3166 INT_PRESSURE_YINT 1.6

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 220 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 250 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 0 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 48

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2150 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 0.80000001 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0031999999 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.012 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.1999999e-06 C_ROLL_DIVE 2400 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 660 PHONE_DEVICE 48 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 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 883 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 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.1999999e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 220

CAPUPLOAD 0 ID 199 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 1.6 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 250

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 2150 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

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 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 6 MINV_10V 11 R_PORT_OVSHOOT 16 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 6 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 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 50 N_DIVES 0 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 210918,103601,7417.1113,-14633.5156,36,0.7,38,22.4,0.5,347.6,11,9.8 SPEED_LIMITS 0.173,0.241

_CALLS 1 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.67 MHEAD_RNG_PITCHd_Wd 268.5,44198,-18.8,-10.000,-22.50,2245

_SM_ANGLEo -62.7 D_GRID 660

GPS2 210918,104731,7417.1235,-14633.5117,8,0.7,8,22.4,0.0,354.1,11,10.0

Post-dive calculations and measurements:

SM_CCo 7920,407.67,1.828,0,0,501,653.97 _10V_AH 12.68,0.000

SM_GC 0.70,6.38,2.62,0.00,0.117,0.167,0.000,197,2397,496,-6.07,0.54,655.20,0,0,0,0,0,0,14.69,14.66,14.76 FG_AHR_24Vo 0.000

RAFOS_CLK 326 FG_AHR_10Vo 0.000

RAFOS_FIX 7416.653320,-14631.031250,210918,101038,0,1,0.09 MEM 334620

IRIDIUM_FIX 7416.86,-14640.60,210918,070316 DATA_FILE_SIZE 30027,868

TT8_MAMPS 0.041195,0.357273 CAP_FILE_SIZE 115285,1

HUMID 55.43 CFSIZE 2097872896,2092498944

INTERNAL_PRESSURE 9.42257 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0

TCM_TEMP 13.00 EOP_CODE POWER_ERROR_DETECTED

XPDR_PINGS 61 RECOV_CODE CURRENT_CUTOFF_10V

_24V_AH 12.65,4.335 GPS 210918,140602,7417.641,-14635.820,40,0.8,42,22.4,0.3,253.2,10,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 473 113.36 nil 0 0 0.00

Roll_motor 93 257 304.43 nil 0 0 0.00

VBD_pump_during_apogee 293 2222 8236.94 nil 0 0 0.00

VBD_pump_during_surface 407 1827 9425.02 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 7944 13 1318.95

Iridium_during_xfer 501 173 1101.99 nil 0 0 0.00

Transponder_ping 35 420 189.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 21 4.85

TT8 0 0 0.00

LPSleep 8992 2 263.39

TT8_Active 901 11 131.08

TT8_Sampling 2328 30 891.70

TT8_CF8 260 36 119.38

TT8_Kalman 0 0 0.00

Analog_circuits 2137 9 257.54

GPS_charging 0 0 0.00

Compass 1242 7 118.04

RAFOS 2215 33 926.84

Transponder 146 30 55.56

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

11.6 12.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

22.0 24.50 9000.00 0.0 0.00 0.00 24.50 0.0 1.12 1.00

32.2 35.30 35.40 0.0 1.09 1.00 35.30 0.0 1.06 1.00

42.9 45.30 45.50 0.0 1.00 1.00 45.30 0.0 0.93 1.00

64.3 6.10 9000.00 0.0 -1.04 0.70 6.10 70.4 -1.83 1.00

74.4 6.20 9000.00 0.0 -1.33 0.90 6.20 0.0 0.01 1.00

84.7 89.40 9000.00 0.0 4.10 0.75 89.40 0.0 8.08 1.00

95.6 100.70 9000.00 0.0 4.43 0.82 100.70 0.0 1.04 1.00

106.0 111.00 111.10 0.0 1.01 1.00 111.00 0.0 0.99 1.00

126.4 6.40 9000.00 0.0 -3.34 0.83 6.40 132.8 -5.13 1.00

167.8 175.60 9000.00 0.0 1.49 0.30 175.60 0.0 4.09 1.00

662.7 17.70 9000.00 0.0 -0.12 0.15 17.70 680.4 -0.32 1.00

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 -0.84 -146.0 193 2407 525 461 0.0 0.0 0 142 0.00 0.00 -131.07 0.002 16386 0.000 0.000 192 2406 2395 2430 2361 0 0 0 0 0 0 14.29 28.83 14.31

145 -0.84 -146.0 193 2406 2432 2362 4.5 -7.9 13 194 9.23 2.92 -32.08 0.004 18724 0.474 0.257 1860 3776 3764 3806 3722 0 0 0 0 0 0 13.93 13.57 14.20

420 -0.79 -146.0 1860 3777 3807 3725 74.4 -19.0 66 426 0.15 2.70 0.00 0.000 3206 0.302 0.171 1889 2395 3765 3806 3725 0 0 0 0 0 0 14.11 14.16 14.27

606 -0.83 -146.0 1889 2397 3807 3725 100.7 -12.9 85 612 0.00 2.95 0.00 0.000 388 0.000 0.240 1880 3776 3765 3806 3725 0 0 0 0 0 0 14.45 14.16 14.47

837 -0.88 -146.0 1880 3777 3807 3726 131.5 -12.5 131 842 0.00 2.65 0.00 0.000 1158 0.000 0.171 1880 2403 3765 3806 3725 0 0 0 0 0 0 14.38 14.27 14.40

1030 -0.96 -146.0 1881 2402 3807 3725 152.9 -10.9 151 1035 0.12 2.88 0.00 0.000 4484 0.155 0.233 1829 3772 3765 3806 3725 0 0 0 0 0 0 14.35 14.23 14.39

1260 -0.96 -146.0 1830 3772 3807 3725 185.4 -13.8 197 1266 0.00 2.65 0.00 0.000 1030 0.000 0.170 1829 2397 3765 3806 3725 0 0 0 0 0 0 14.43 14.33 14.45

1454 -0.96 -146.0 1830 2397 3807 3725 209.8 -12.5 217 1460 0.00 2.88 0.00 0.000 260 0.000 0.234 1821 3775 3765 3806 3725 0 0 0 0 0 0 14.58 14.26 14.59

1686 -0.96 -146.0 1821 3772 3807 3725 241.1 -12.9 263 1691 0.00 2.65 0.00 0.000 1030 0.000 0.177 1821 2399 3764 3806 3722 0 0 0 0 0 0 14.47 14.35 14.50

1887 -1.00 -146.0 1821 2399 3807 3725 264.4 -11.3 276 1892 0.00 2.85 0.00 0.000 388 0.000 0.238 1811 3772 3765 3806 3725 0 0 0 0 0 0 14.59 14.31 14.63

2117 -1.00 -146.0 1811 3772 3807 3724 291.3 -11.0 322 2123 0.00 2.65 0.00 0.000 1030 0.000 0.177 1811 2399 3765 3806 3725 0 0 0 0 0 0 14.52 14.40 14.54

2430 -1.06 -146.0 1811 2398 3807 3726 321.9 -9.8 334 2435 0.00 2.88 0.00 0.000 420 0.000 0.242 1801 3772 3765 3806 3724 0 0 0 0 0 0 14.67 14.36 14.69

2660 -1.06 -146.0 1800 3773 3807 3725 347.3 -10.4 380 2666 0.00 2.62 0.00 0.000 1030 0.000 0.171 1801 2399 3765 3806 3724 0 0 0 0 0 0 14.57 14.45 14.59

2973 -1.11 -146.0 1800 2399 3807 3723 377.6 -9.4 392 2978 0.00 2.85 0.00 0.000 420 0.000 0.237 1791 3772 3762 3802 3723 0 0 0 0 0 0 14.70 14.40 14.71

3203 -1.11 -146.0 1791 3772 3807 3722 402.1 -10.7 438 3209 0.00 2.60 0.00 0.000 1030 0.000 0.169 1791 2399 3764 3806 3723 0 0 0 0 0 0 14.54 14.45 14.57

3516 -1.15 -146.0 1792 2400 3807 3723 432.8 -9.9 450 3521 0.00 2.83 0.00 0.000 420 0.000 0.233 1781 3772 3764 3806 3723 0 0 0 0 0 0 14.73 14.42 14.74

3746 -1.15 -146.0 1781 3771 3807 3722 458.8 -11.2 496 3752 0.00 2.60 0.00 0.000 1030 0.000 0.166 1781 2395 3762 3806 3718 0 0 0 0 0 0 14.60 14.50 14.62

4057 -1.15 -146.0 1781 2396 3807 3724 490.7 -10.2 508 4062 0.00 2.85 0.00 0.000 260 0.000 0.236 1771 3776 3764 3806 3722 0 0 0 0 0 0 14.74 14.43 14.76

4295 -1.15 -146.0 1772 3776 3808 3722 518.1 -12.1 554 4301 0.00 2.58 0.00 0.000 1030 0.000 0.164 1771 2403 3764 3806 3722 0 0 0 0 0 0 14.55 14.48 14.58

4606 -1.15 -146.0 1771 2403 3808 3724 551.4 -10.6 566 4612 0.00 2.80 0.00 0.000 260 0.000 0.232 1761 3768 3764 3806 3722 0 0 0 0 0 0 14.66 14.36 14.69

4837 -1.15 -146.0 1761 3769 3807 3724 579.0 -12.0 612 4842 0.00 2.60 0.00 0.000 1030 0.000 0.162 1761 2394 3764 3806 3722 0 0 0 0 0 0 14.53 14.43 14.55

5148 -1.15 -146.0 1761 2395 3807 3724 612.7 -10.8 624 5153 0.00 2.85 0.00 0.000 260 0.000 0.231 1751 3772 3764 3806 3722 0 0 0 0 0 0 14.63 14.34 14.64

5363 -1.15 -146.0 1752 3772 3807 3722 638.7 -12.1 667 5368 0.00 2.62 0.00 0.000 1030 0.000 0.164 1751 2394 3764 3806 3722 0 0 0 0 0 0 14.48 14.37 14.50

5566 end dive: TARGET_DEPTH_EXCEEDED

state 5566 begin apogee

5572 -0.19 0.0 1752 2395 3807 3723 661.6 -11.1 678 5707 1.27 0.00 132.07 2.222 10246 0.272 0.000 2083 2394 3165 3233 3098 0 0 0 0 0 0 14.31 13.48 12.73

5708 end apogee: CONTROL_FINISHED_OK

state 5708 begin climb

5711 0.84 146.0 2084 2394 3230 3094 664.4 0.0 682 5855 1.08 3.15 130.88 2.150 11012 0.108 0.221 2422 3770 2563 2644 2482 0 0 1 0 0 0 13.50 13.29 12.65

6031 0.63 146.0 2418 3770 2645 2470 624.5 17.7 745 6037 0.32 2.70 0.00 0.000 5254 0.302 0.157 2358 2395 2556 2644 2469 0 0 0 0 0 0 13.81 13.89 13.99

6350 0.56 146.0 2359 2395 2645 2464 584.9 12.2 758 6355 0.00 2.70 0.00 0.000 644 0.000 0.162 2368 990 2554 2644 2464 0 0 0 0 0 0 14.32 14.09 14.34

6385 0.50 146.0 2368 992 2645 2464 580.2 12.3 765 6392 0.22 2.80 0.00 0.000 5254 0.288 0.179 2318 2403 2554 2644 2464 0 0 0 0 0 0 14.06 14.08 14.22

6712 0.50 146.0 2318 2402 2645 2462 546.0 10.3 780 6717 0.00 2.80 0.00 0.000 260 0.000 0.221 2317 3769 2553 2644 2462 0 0 0 0 0 0 14.49 14.20 14.53

6802 0.44 146.0 2317 3768 2645 2462 535.2 12.1 798 6808 0.15 2.60 0.00 0.000 5254 0.280 0.161 2294 2400 2553 2644 2462 0 0 0 0 0 0 14.22 14.28 14.39

7136 0.45 158.9 2295 2400 2645 2460 503.7 9.4 814 7150 0.00 2.75 10.45 1.825 8740 0.000 0.167 2303 994 2514 2613 2415 0 0 0 0 0 0 14.59 14.23 13.57

7166 0.47 179.5 2304 994 2614 2415 500.6 9.1 820 7191 0.00 2.78 19.60 1.917 9254 0.000 0.183 2304 2401 2431 2534 2329 0 0 0 0 0 0 14.37 14.22 13.40

7499 0.47 179.5 2304 2402 2535 2326 467.0 10.2 836 7504 0.00 2.83 0.00 0.000 260 0.000 0.226 2303 3769 2427 2534 2320 0 0 0 0 0 0 14.48 14.21 14.50

7574 0.47 179.5 2304 3769 2535 2320 457.9 11.9 851 7579 0.00 2.62 0.00 0.000 1030 0.000 0.160 2311 2394 2427 2534 2320 0 0 0 0 0 0 14.36 14.26 14.38

7890 0.47 179.5 2312 2394 2535 2317 425.1 10.3 864 7895 0.00 2.83 0.00 0.000 260 0.000 0.221 2311 3771 2426 2534 2318 0 0 0 0 0 0 14.59 14.31 14.62

7908 end climb: POWER_ERROR_DETECTED

ID	199	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	7	ESCAPE_HEADING	180	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	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	16	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	6	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	660	SM_CC	653.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
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	3166	INT_PRESSURE_YINT	1.6
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	220	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	250	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	0	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	48
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2150	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	0.80000001	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0031999999	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.012	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.1999999e-06	C_ROLL_DIVE	2400	ALTIM_PING_FIT	883

GPS1	210918,103601,7417.1113,-14633.5156,36,0.7,38,22.4,0.5,347.6,11,9.8	SPEED_LIMITS	0.173,0.241
_CALLS	1	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.67	MHEAD_RNG_PITCHd_Wd	268.5,44198,-18.8,-10.000,-22.50,2245
_SM_ANGLEo	-62.7	D_GRID	660
GPS2	210918,104731,7417.1235,-14633.5117,8,0.7,8,22.4,0.0,354.1,11,10.0

SM_CCo	7920,407.67,1.828,0,0,501,653.97	_10V_AH	12.68,0.000
SM_GC	0.70,6.38,2.62,0.00,0.117,0.167,0.000,197,2397,496,-6.07,0.54,655.20,0,0,0,0,0,0,14.69,14.66,14.76	FG_AHR_24Vo	0.000
RAFOS_CLK	326	FG_AHR_10Vo	0.000
RAFOS_FIX	7416.653320,-14631.031250,210918,101038,0,1,0.09	MEM	334620
IRIDIUM_FIX	7416.86,-14640.60,210918,070316	DATA_FILE_SIZE	30027,868
TT8_MAMPS	0.041195,0.357273	CAP_FILE_SIZE	115285,1
HUMID	55.43	CFSIZE	2097872896,2092498944
INTERNAL_PRESSURE	9.42257	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
TCM_TEMP	13.00	EOP_CODE	POWER_ERROR_DETECTED
XPDR_PINGS	61	RECOV_CODE	CURRENT_CUTOFF_10V
_24V_AH	12.65,4.335	GPS	210918,140602,7417.641,-14635.820,40,0.8,42,22.4,0.3,253.2,10,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	473	113.36	nil	0	0	0.00
Roll_motor	93	257	304.43	nil	0	0	0.00
VBD_pump_during_apogee	293	2222	8236.94	nil	0	0	0.00
VBD_pump_during_surface	407	1827	9425.02	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	7944	13	1318.95
Iridium_during_xfer	501	173	1101.99	nil	0	0	0.00
Transponder_ping	35	420	189.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	21	4.85
TT8	0	0	0.00
LPSleep	8992	2	263.39
TT8_Active	901	11	131.08
TT8_Sampling	2328	30	891.70
TT8_CF8	260	36	119.38
TT8_Kalman	0	0	0.00
Analog_circuits	2137	9	257.54
GPS_charging	0	0	0.00
Compass	1242	7	118.04
RAFOS	2215	33	926.84
Transponder	146	30	55.56

		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
11.6	12.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
22.0	24.50	9000.00	0.0	0.00	0.00	24.50	0.0	1.12	1.00
32.2	35.30	35.40	0.0	1.09	1.00	35.30	0.0	1.06	1.00
42.9	45.30	45.50	0.0	1.00	1.00	45.30	0.0	0.93	1.00
64.3	6.10	9000.00	0.0	-1.04	0.70	6.10	70.4	-1.83	1.00
74.4	6.20	9000.00	0.0	-1.33	0.90	6.20	0.0	0.01	1.00
84.7	89.40	9000.00	0.0	4.10	0.75	89.40	0.0	8.08	1.00
95.6	100.70	9000.00	0.0	4.43	0.82	100.70	0.0	1.04	1.00
106.0	111.00	111.10	0.0	1.01	1.00	111.00	0.0	0.99	1.00
126.4	6.40	9000.00	0.0	-3.34	0.83	6.40	132.8	-5.13	1.00
167.8	175.60	9000.00	0.0	1.49	0.30	175.60	0.0	4.09	1.00
662.7	17.70	9000.00	0.0	-0.12	0.15	17.70	680.4	-0.32	1.00

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	-0.84	-146.0	193	2407	525	461	0.0	0.0	0	142	0.00	0.00	-131.07	0.002	16386	0.000	0.000	192	2406	2395	2430	2361	0	0	0	0	0	0	14.29	28.83	14.31
145	-0.84	-146.0	193	2406	2432	2362	4.5	-7.9	13	194	9.23	2.92	-32.08	0.004	18724	0.474	0.257	1860	3776	3764	3806	3722	0	0	0	0	0	0	13.93	13.57	14.20
420	-0.79	-146.0	1860	3777	3807	3725	74.4	-19.0	66	426	0.15	2.70	0.00	0.000	3206	0.302	0.171	1889	2395	3765	3806	3725	0	0	0	0	0	0	14.11	14.16	14.27
606	-0.83	-146.0	1889	2397	3807	3725	100.7	-12.9	85	612	0.00	2.95	0.00	0.000	388	0.000	0.240	1880	3776	3765	3806	3725	0	0	0	0	0	0	14.45	14.16	14.47
837	-0.88	-146.0	1880	3777	3807	3726	131.5	-12.5	131	842	0.00	2.65	0.00	0.000	1158	0.000	0.171	1880	2403	3765	3806	3725	0	0	0	0	0	0	14.38	14.27	14.40
1030	-0.96	-146.0	1881	2402	3807	3725	152.9	-10.9	151	1035	0.12	2.88	0.00	0.000	4484	0.155	0.233	1829	3772	3765	3806	3725	0	0	0	0	0	0	14.35	14.23	14.39
1260	-0.96	-146.0	1830	3772	3807	3725	185.4	-13.8	197	1266	0.00	2.65	0.00	0.000	1030	0.000	0.170	1829	2397	3765	3806	3725	0	0	0	0	0	0	14.43	14.33	14.45
1454	-0.96	-146.0	1830	2397	3807	3725	209.8	-12.5	217	1460	0.00	2.88	0.00	0.000	260	0.000	0.234	1821	3775	3765	3806	3725	0	0	0	0	0	0	14.58	14.26	14.59
1686	-0.96	-146.0	1821	3772	3807	3725	241.1	-12.9	263	1691	0.00	2.65	0.00	0.000	1030	0.000	0.177	1821	2399	3764	3806	3722	0	0	0	0	0	0	14.47	14.35	14.50
1887	-1.00	-146.0	1821	2399	3807	3725	264.4	-11.3	276	1892	0.00	2.85	0.00	0.000	388	0.000	0.238	1811	3772	3765	3806	3725	0	0	0	0	0	0	14.59	14.31	14.63
2117	-1.00	-146.0	1811	3772	3807	3724	291.3	-11.0	322	2123	0.00	2.65	0.00	0.000	1030	0.000	0.177	1811	2399	3765	3806	3725	0	0	0	0	0	0	14.52	14.40	14.54
2430	-1.06	-146.0	1811	2398	3807	3726	321.9	-9.8	334	2435	0.00	2.88	0.00	0.000	420	0.000	0.242	1801	3772	3765	3806	3724	0	0	0	0	0	0	14.67	14.36	14.69
2660	-1.06	-146.0	1800	3773	3807	3725	347.3	-10.4	380	2666	0.00	2.62	0.00	0.000	1030	0.000	0.171	1801	2399	3765	3806	3724	0	0	0	0	0	0	14.57	14.45	14.59
2973	-1.11	-146.0	1800	2399	3807	3723	377.6	-9.4	392	2978	0.00	2.85	0.00	0.000	420	0.000	0.237	1791	3772	3762	3802	3723	0	0	0	0	0	0	14.70	14.40	14.71
3203	-1.11	-146.0	1791	3772	3807	3722	402.1	-10.7	438	3209	0.00	2.60	0.00	0.000	1030	0.000	0.169	1791	2399	3764	3806	3723	0	0	0	0	0	0	14.54	14.45	14.57
3516	-1.15	-146.0	1792	2400	3807	3723	432.8	-9.9	450	3521	0.00	2.83	0.00	0.000	420	0.000	0.233	1781	3772	3764	3806	3723	0	0	0	0	0	0	14.73	14.42	14.74
3746	-1.15	-146.0	1781	3771	3807	3722	458.8	-11.2	496	3752	0.00	2.60	0.00	0.000	1030	0.000	0.166	1781	2395	3762	3806	3718	0	0	0	0	0	0	14.60	14.50	14.62
4057	-1.15	-146.0	1781	2396	3807	3724	490.7	-10.2	508	4062	0.00	2.85	0.00	0.000	260	0.000	0.236	1771	3776	3764	3806	3722	0	0	0	0	0	0	14.74	14.43	14.76
4295	-1.15	-146.0	1772	3776	3808	3722	518.1	-12.1	554	4301	0.00	2.58	0.00	0.000	1030	0.000	0.164	1771	2403	3764	3806	3722	0	0	0	0	0	0	14.55	14.48	14.58
4606	-1.15	-146.0	1771	2403	3808	3724	551.4	-10.6	566	4612	0.00	2.80	0.00	0.000	260	0.000	0.232	1761	3768	3764	3806	3722	0	0	0	0	0	0	14.66	14.36	14.69
4837	-1.15	-146.0	1761	3769	3807	3724	579.0	-12.0	612	4842	0.00	2.60	0.00	0.000	1030	0.000	0.162	1761	2394	3764	3806	3722	0	0	0	0	0	0	14.53	14.43	14.55
5148	-1.15	-146.0	1761	2395	3807	3724	612.7	-10.8	624	5153	0.00	2.85	0.00	0.000	260	0.000	0.231	1751	3772	3764	3806	3722	0	0	0	0	0	0	14.63	14.34	14.64
5363	-1.15	-146.0	1752	3772	3807	3722	638.7	-12.1	667	5368	0.00	2.62	0.00	0.000	1030	0.000	0.164	1751	2394	3764	3806	3722	0	0	0	0	0	0	14.48	14.37	14.50
5566	end dive: TARGET_DEPTH_EXCEEDED
state	5566	begin apogee
5572	-0.19	0.0	1752	2395	3807	3723	661.6	-11.1	678	5707	1.27	0.00	132.07	2.222	10246	0.272	0.000	2083	2394	3165	3233	3098	0	0	0	0	0	0	14.31	13.48	12.73
5708	end apogee: CONTROL_FINISHED_OK
state	5708	begin climb
5711	0.84	146.0	2084	2394	3230	3094	664.4	0.0	682	5855	1.08	3.15	130.88	2.150	11012	0.108	0.221	2422	3770	2563	2644	2482	0	0	1	0	0	0	13.50	13.29	12.65
6031	0.63	146.0	2418	3770	2645	2470	624.5	17.7	745	6037	0.32	2.70	0.00	0.000	5254	0.302	0.157	2358	2395	2556	2644	2469	0	0	0	0	0	0	13.81	13.89	13.99
6350	0.56	146.0	2359	2395	2645	2464	584.9	12.2	758	6355	0.00	2.70	0.00	0.000	644	0.000	0.162	2368	990	2554	2644	2464	0	0	0	0	0	0	14.32	14.09	14.34
6385	0.50	146.0	2368	992	2645	2464	580.2	12.3	765	6392	0.22	2.80	0.00	0.000	5254	0.288	0.179	2318	2403	2554	2644	2464	0	0	0	0	0	0	14.06	14.08	14.22
6712	0.50	146.0	2318	2402	2645	2462	546.0	10.3	780	6717	0.00	2.80	0.00	0.000	260	0.000	0.221	2317	3769	2553	2644	2462	0	0	0	0	0	0	14.49	14.20	14.53
6802	0.44	146.0	2317	3768	2645	2462	535.2	12.1	798	6808	0.15	2.60	0.00	0.000	5254	0.280	0.161	2294	2400	2553	2644	2462	0	0	0	0	0	0	14.22	14.28	14.39
7136	0.45	158.9	2295	2400	2645	2460	503.7	9.4	814	7150	0.00	2.75	10.45	1.825	8740	0.000	0.167	2303	994	2514	2613	2415	0	0	0	0	0	0	14.59	14.23	13.57
7166	0.47	179.5	2304	994	2614	2415	500.6	9.1	820	7191	0.00	2.78	19.60	1.917	9254	0.000	0.183	2304	2401	2431	2534	2329	0	0	0	0	0	0	14.37	14.22	13.40
7499	0.47	179.5	2304	2402	2535	2326	467.0	10.2	836	7504	0.00	2.83	0.00	0.000	260	0.000	0.226	2303	3769	2427	2534	2320	0	0	0	0	0	0	14.48	14.21	14.50
7574	0.47	179.5	2304	3769	2535	2320	457.9	11.9	851	7579	0.00	2.62	0.00	0.000	1030	0.000	0.160	2311	2394	2427	2534	2320	0	0	0	0	0	0	14.36	14.26	14.38
7890	0.47	179.5	2312	2394	2535	2317	425.1	10.3	864	7895	0.00	2.83	0.00	0.000	260	0.000	0.221	2311	3771	2426	2534	2318	0	0	0	0	0	0	14.59	14.31	14.62
7908	end climb: POWER_ERROR_DETECTED