Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 77 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 20

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 77 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 2

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 14 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 11 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 200 SM_CC 525 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 2943 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 70 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 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 3600 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 120 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 300 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 3 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2070 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 1 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 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0019 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.016000001 ROLL_DEG 40 COMPASS_USE 4

HD_C 1.2e-06 C_ROLL_DIVE 2750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 200 PHONE_DEVICE 49 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 0 SEABIRD_T_J 3.1033937e-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 525

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 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 2 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 20 HD_A 0.0019 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.016000001 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.2e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 3 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 70

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 3600

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 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2070 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 60

C_VBD 2943 LOITER_D_BOTTOM 300 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 120 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 2 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 1 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 77 MINV_10V 11 R_PORT_OVSHOOT 14 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 11 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 4

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 0 SEABIRD_C_G -9.8267241 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 091018,000026,7410.8359,-14632.2100,38,0.8,38,22.4,0.0,0.0,11,6.8 SPEED_LIMITS 0.165,0.207

_CALLS 1 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 MHEAD_RNG_PITCHd_Wd 11.9,8354,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -65.9 D_GRID 200

GPS2 091018,001140,7410.9287,-14632.1553,6,0.7,7,22.4,0.0,0.0,12,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009002845.039621,18,35,-2,0060,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*1E ALTIM_TOP_PING 19.8,21.0

FINISH 0.0,1.020635 _24V_AH 13.04,39.907

SM_CCo 8058,72.00,0.217,0,0,802,525.19 _10V_AH 13.16,0.000

SM_GC 0.88,7.80,0.38,72.00,0.088,0.216,0.217,193,2750,802,-5.82,-0.34,525.19,0,0,0,0,0,0,13.86,13.76,13.82 FG_AHR_24Vo 0.000

RAFOS_CLK 355 FG_AHR_10Vo 0.000

MODEM 3,1539044137,75.50000,-144.13333,37.118,53891.7 MEM 334492

RAFOS_FIX 7503.460938,-14456.383789,091018,000037,1,2,475.68 DATA_FILE_SIZE 33380,993

IRIDIUM_FIX 7411.60,-14711.14,081018,171124 CAP_FILE_SIZE 105068,0

TT8_MAMPS 0.041944,0.925015 CFSIZE 2097872896,2076639232

HUMID 49.52 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 9.46163 SOUNDSPEED 1441.7

TCM_TEMP 12.30 CURRENT 0.140,5.05,1

XPDR_PINGS 0 GPS 091018,022859,7411.531,-14631.776,17,0.7,19,22.4,0.3,34.7,12,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 470 119.17 nil 0 0 0.00

Roll_motor 42 228 127.36 nil 0 0 0.00

VBD_pump_during_apogee 499 1758 11446.89 nil 0 0 0.00

VBD_pump_during_surface 72 217 203.98 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 4491 34 2023.69

Iridium_during_xfer 464 195 1181.52 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 21 4.83

TT8 0 0 0.00

LPSleep 5526 2 168.02

TT8_Active 583 11 88.07

TT8_Sampling 2443 30 971.17

TT8_CF8 262 36 125.16

TT8_Kalman 0 0 0.00

Analog_circuits 1878 9 234.81

GPS_charging 0 0 0.00

Compass 1418 7 139.84

RAFOS 1402 33 608.86

Transponder 2 30 1.00

Altimeter Analysis:

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

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

Guidance and control:

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -0.76 -146.0 191 2763 772 815 0.0 0.0 0 99 0.00 0.00 -87.40 0.003 16386 0.000 0.000 192 2763 2108 2135 2081 0 0 0 0 0 0 14.32 28.83 14.34

102 -0.76 -146.0 192 2764 2136 2084 4.2 -6.9 9 153 8.93 2.12 -36.78 0.004 18692 0.470 0.229 1809 3774 3539 3587 3492 0 0 0 0 0 0 13.90 13.27 14.19

378 -0.76 -146.0 1809 3776 3589 3495 81.0 -19.8 63 383 0.00 1.98 0.00 0.000 1030 0.000 0.155 1809 2745 3542 3589 3495 0 0 0 0 0 0 14.25 14.14 14.29

569 -0.76 -146.0 1810 2745 3590 3493 115.1 -16.8 83 573 0.00 2.08 0.00 0.000 260 0.000 0.202 1801 3768 3541 3589 3493 0 0 0 0 0 0 14.40 14.12 14.41

799 -0.76 -146.0 1802 3767 3589 3494 154.9 -16.6 129 804 0.00 1.95 0.00 0.000 1030 0.000 0.155 1802 2746 3541 3589 3494 0 0 0 0 0 0 14.32 14.21 14.34

990 -0.76 -146.0 1802 2747 3589 3495 183.3 -14.7 149 995 0.00 2.08 0.00 0.000 260 0.000 0.203 1794 3772 3541 3589 3494 0 0 0 0 0 0 14.46 14.19 14.47

1098 end dive: TARGET_DEPTH_EXCEEDED

state 1098 begin apogee

1106 -0.19 0.0 1795 2595 3589 3495 200.7 -15.9 171 1226 0.82 0.00 116.47 1.697 10246 0.285 0.000 2001 2594 2939 3028 2851 0 0 0 0 0 0 14.11 13.69 13.04

1227 end apogee: CONTROL_FINISHED_OK

state 1227 begin loiter

1402 -0.18 9.9 2001 2595 3026 2839 212.8 -2.5 201 1413 0.00 0.00 8.50 1.465 8230 0.000 0.000 2000 2594 2898 2993 2803 0 0 0 0 0 0 14.19 13.97 13.30

1592 -0.12 9.9 2001 2594 2993 2801 216.8 -2.0 220 1593 0.12 0.00 0.00 0.000 2118 0.262 0.000 2029 2594 2896 2992 2800 0 0 0 0 0 0 14.07 14.23 14.21

1772 -0.06 9.9 2029 2595 2993 2798 220.1 -1.9 238 1773 0.00 0.00 0.00 0.000 70 0.000 0.000 2029 2594 2895 2992 2798 0 0 0 0 0 0 14.46 14.48 14.47

1952 0.00 9.9 2030 2593 2993 2796 223.7 -2.0 256 1953 0.15 0.00 0.00 0.000 2118 0.260 0.000 2067 2593 2894 2993 2796 0 0 0 0 0 0 14.26 14.42 14.40

2132 0.01 18.9 2067 2593 2993 2795 227.3 -2.3 274 2143 0.00 0.00 8.05 1.502 8230 0.000 0.000 2067 2593 2862 2960 2765 0 0 0 0 0 0 14.59 14.34 13.61

2322 0.06 18.9 2067 2593 2961 2764 230.7 -1.7 293 2323 0.00 0.00 0.00 0.000 70 0.000 0.000 2067 2594 2862 2960 2764 0 0 0 0 0 0 14.59 14.62 14.62

2502 0.10 18.9 2067 2593 2961 2763 233.6 -1.4 311 2503 0.12 0.00 0.00 0.000 2118 0.217 0.000 2099 2594 2861 2960 2763 0 0 0 0 0 0 14.38 14.53 14.50

2682 0.15 18.9 2099 2594 2960 2764 236.3 -1.5 329 2683 0.00 0.00 0.00 0.000 70 0.000 0.000 2100 2593 2861 2960 2763 0 0 0 0 0 0 14.69 14.70 14.70

2862 0.19 18.9 2100 2594 2960 2763 239.0 -1.4 347 2863 0.10 0.00 0.00 0.000 2118 0.225 0.000 2126 2593 2861 2960 2762 0 0 0 0 0 0 14.46 14.59 14.57

3042 0.22 18.9 2127 2594 2960 2763 240.9 -0.9 365 3043 0.00 0.00 0.00 0.000 70 0.000 0.000 2126 2593 2861 2960 2762 0 0 0 0 0 0 14.73 14.76 14.76

3222 0.24 18.9 2127 2593 2961 2761 242.2 -0.7 383 3223 0.00 0.00 0.00 0.000 70 0.000 0.000 2126 2593 2860 2960 2761 0 0 0 0 0 0 14.76 14.78 14.77

3402 0.26 18.9 2127 2593 2961 2761 243.6 -0.8 401 3403 0.00 0.00 0.00 0.000 70 0.000 0.000 2126 2593 2860 2960 2761 0 0 0 0 0 0 14.77 14.79 14.78

3582 0.29 18.9 2126 2594 2961 2763 245.0 -0.8 419 3583 0.12 0.00 0.00 0.000 2118 0.235 0.000 2163 2594 2860 2960 2761 0 0 0 0 0 0 14.53 14.67 14.64

3762 0.29 18.9 2164 2593 2961 2761 246.1 -0.4 437 3763 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2593 2860 2960 2761 0 0 0 0 0 0 14.81 14.82 14.82

3942 0.29 18.9 2164 2593 2961 2761 246.2 0.1 455 3943 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2593 2860 2960 2761 0 0 0 0 0 0 14.81 14.83 14.83

4122 0.29 18.9 2164 2594 2960 2762 246.5 -0.4 473 4123 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2593 2860 2960 2761 0 0 0 0 0 0 14.83 14.84 14.84

4302 0.31 18.9 2164 2595 2960 2761 247.7 -0.7 491 4303 0.00 0.00 0.00 0.000 70 0.000 0.000 2163 2593 2860 2960 2760 0 0 0 0 0 0 14.83 14.85 14.85

4482 0.31 18.9 2164 2593 2961 2760 248.6 -0.4 509 4483 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2593 2860 2960 2760 0 0 0 0 0 0 14.84 14.86 14.86

4662 0.31 18.9 2163 2595 2961 2761 249.3 -0.4 527 4663 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2593 2860 2960 2760 0 0 0 0 0 0 14.85 14.87 14.86

4819 end loiter: LOITER_COMPLETE

state 4819 begin climb

4822 0.76 146.0 2163 2594 2960 2761 250.0 0.0 543 4932 0.45 2.55 102.18 1.759 10500 0.087 0.203 2331 3769 2342 2442 2242 0 0 0 0 0 0 14.66 13.76 13.21

5159 0.79 146.0 2331 3768 2443 2229 226.1 8.6 606 5165 0.00 2.25 0.00 0.000 1094 0.000 0.157 2339 2598 2335 2442 2229 0 0 0 0 0 0 14.25 14.14 14.28

5344 0.86 146.0 2338 2599 2442 2227 212.3 7.2 625 5349 0.00 2.40 0.00 0.000 324 0.000 0.205 2337 3774 2334 2442 2226 0 0 0 0 0 0 14.45 14.17 14.47

5564 0.90 146.0 2338 3774 2442 2224 194.1 8.1 669 5569 0.00 2.25 0.00 0.000 1094 0.000 0.159 2344 2593 2333 2442 2224 0 0 0 0 0 0 14.39 14.28 14.41

5755 0.99 146.0 2345 2594 2442 2224 181.2 6.6 689 5756 0.15 0.00 0.00 0.000 2118 0.133 0.000 2401 2593 2332 2442 2223 0 0 0 0 0 0 14.38 14.47 14.45

5935 1.04 146.0 2401 2593 2443 2222 167.2 7.7 707 5936 0.00 0.00 0.00 0.000 70 0.000 0.000 2401 2594 2330 2438 2222 0 0 0 0 0 0 14.58 14.60 14.59

6115 1.10 146.0 2401 2594 2442 2223 153.2 7.7 725 6116 0.00 0.00 0.00 0.000 70 0.000 0.000 2401 2593 2332 2442 2222 0 0 0 0 0 0 14.60 14.62 14.62

6295 1.17 146.0 2401 2594 2442 2222 139.8 7.1 743 6300 0.12 2.62 0.00 0.000 2628 0.149 0.148 2459 1187 2331 2441 2221 0 0 0 0 0 0 14.42 14.33 14.47

6316 1.24 146.0 2459 1187 2442 2222 138.3 7.2 747 6321 0.00 2.75 0.00 0.000 1094 0.000 0.167 2459 2607 2331 2442 2221 0 0 0 0 0 0 14.46 14.32 14.49

6506 1.32 146.0 2460 2606 2443 2219 124.0 6.9 767 6507 0.12 0.00 0.00 0.000 2118 0.152 0.000 2505 2607 2331 2442 2220 0 0 0 0 0 0 14.45 14.54 14.52

6686 1.37 146.0 2505 2608 2442 2221 109.5 7.8 785 6691 0.00 2.67 0.00 0.000 580 0.000 0.148 2516 1186 2331 2442 2220 0 0 0 0 0 0 14.62 14.36 14.64

6732 1.44 146.0 2516 1187 2443 2220 106.3 7.1 794 6738 0.00 2.75 0.00 0.000 1094 0.000 0.166 2516 2604 2331 2442 2220 0 0 0 0 0 0 14.50 14.34 14.52

6917 1.54 239.5 2517 2604 2443 2219 95.1 5.5 813 6995 0.12 2.50 72.88 1.549 10532 0.156 0.203 2563 3777 1962 2085 1839 0 0 0 0 0 0 14.38 13.81 13.32

7222 1.61 239.5 2565 3777 2086 1824 63.2 7.1 872 7229 0.00 2.28 0.00 0.000 1094 0.000 0.158 2573 2601 1954 2085 1824 0 0 0 0 0 0 14.23 14.12 14.25

7405 1.76 387.3 2574 2601 2086 1821 55.1 3.1 891 7528 0.15 2.50 114.53 1.433 10532 0.136 0.197 2629 3776 1357 1400 1315 0 0 0 0 0 0 14.22 13.61 13.14

7756 1.83 387.3 2628 3775 1392 1310 19.4 7.2 958 7762 0.00 2.30 0.00 0.000 1094 0.000 0.153 2638 2592 1348 1391 1306 0 0 0 0 0 0 14.09 13.99 14.12

7941 1.92 481.5 2638 2592 1392 1306 9.4 5.4 977 8023 0.12 0.00 76.53 1.375 10534 0.145 0.000 2689 2592 974 996 953 0 0 0 0 0 0 14.14 13.76 13.21

8028 end climb: SURFACE_DEPTH_REACHED

state 8028 begin surface coast

8038 end surface coast: CONTROL_FINISHED_OK

state 8040 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	20
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	77	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	2
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	14	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	11	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	200	SM_CC	525	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	2943	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	70	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	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	3600	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	120	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	300	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	3	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2070	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	1	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	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0019	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.016000001	ROLL_DEG	40	COMPASS_USE	4
HD_C	1.2e-06	C_ROLL_DIVE	2750	ALTIM_PING_FIT	0

GPS1	091018,000026,7410.8359,-14632.2100,38,0.8,38,22.4,0.0,0.0,11,6.8	SPEED_LIMITS	0.165,0.207
_CALLS	1	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	MHEAD_RNG_PITCHd_Wd	11.9,8354,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-65.9	D_GRID	200
GPS2	091018,001140,7410.9287,-14632.1553,6,0.7,7,22.4,0.0,0.0,12,9.2

MODEM_MSG	CACST,6,1,20181009002845.039621,18,35,-2,0060,0150,246,00,00,03,03,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*1E	ALTIM_TOP_PING	19.8,21.0
FINISH	0.0,1.020635	_24V_AH	13.04,39.907
SM_CCo	8058,72.00,0.217,0,0,802,525.19	_10V_AH	13.16,0.000
SM_GC	0.88,7.80,0.38,72.00,0.088,0.216,0.217,193,2750,802,-5.82,-0.34,525.19,0,0,0,0,0,0,13.86,13.76,13.82	FG_AHR_24Vo	0.000
RAFOS_CLK	355	FG_AHR_10Vo	0.000
MODEM	3,1539044137,75.50000,-144.13333,37.118,53891.7	MEM	334492
RAFOS_FIX	7503.460938,-14456.383789,091018,000037,1,2,475.68	DATA_FILE_SIZE	33380,993
IRIDIUM_FIX	7411.60,-14711.14,081018,171124	CAP_FILE_SIZE	105068,0
TT8_MAMPS	0.041944,0.925015	CFSIZE	2097872896,2076639232
HUMID	49.52	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	9.46163	SOUNDSPEED	1441.7
TCM_TEMP	12.30	CURRENT	0.140,5.05,1
XPDR_PINGS	0	GPS	091018,022859,7411.531,-14631.776,17,0.7,19,22.4,0.3,34.7,12,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	470	119.17	nil	0	0	0.00
Roll_motor	42	228	127.36	nil	0	0	0.00
VBD_pump_during_apogee	499	1758	11446.89	nil	0	0	0.00
VBD_pump_during_surface	72	217	203.98	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	4491	34	2023.69
Iridium_during_xfer	464	195	1181.52	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	21	4.83
TT8	0	0	0.00
LPSleep	5526	2	168.02
TT8_Active	583	11	88.07
TT8_Sampling	2443	30	971.17
TT8_CF8	262	36	125.16
TT8_Kalman	0	0	0.00
Analog_circuits	1878	9	234.81
GPS_charging	0	0	0.00
Compass	1418	7	139.84
RAFOS	1402	33	608.86
Transponder	2	30	1.00

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-0.76	-146.0	191	2763	772	815	0.0	0.0	0	99	0.00	0.00	-87.40	0.003	16386	0.000	0.000	192	2763	2108	2135	2081	0	0	0	0	0	0	14.32	28.83	14.34
102	-0.76	-146.0	192	2764	2136	2084	4.2	-6.9	9	153	8.93	2.12	-36.78	0.004	18692	0.470	0.229	1809	3774	3539	3587	3492	0	0	0	0	0	0	13.90	13.27	14.19
378	-0.76	-146.0	1809	3776	3589	3495	81.0	-19.8	63	383	0.00	1.98	0.00	0.000	1030	0.000	0.155	1809	2745	3542	3589	3495	0	0	0	0	0	0	14.25	14.14	14.29
569	-0.76	-146.0	1810	2745	3590	3493	115.1	-16.8	83	573	0.00	2.08	0.00	0.000	260	0.000	0.202	1801	3768	3541	3589	3493	0	0	0	0	0	0	14.40	14.12	14.41
799	-0.76	-146.0	1802	3767	3589	3494	154.9	-16.6	129	804	0.00	1.95	0.00	0.000	1030	0.000	0.155	1802	2746	3541	3589	3494	0	0	0	0	0	0	14.32	14.21	14.34
990	-0.76	-146.0	1802	2747	3589	3495	183.3	-14.7	149	995	0.00	2.08	0.00	0.000	260	0.000	0.203	1794	3772	3541	3589	3494	0	0	0	0	0	0	14.46	14.19	14.47
1098	end dive: TARGET_DEPTH_EXCEEDED
state	1098	begin apogee
1106	-0.19	0.0	1795	2595	3589	3495	200.7	-15.9	171	1226	0.82	0.00	116.47	1.697	10246	0.285	0.000	2001	2594	2939	3028	2851	0	0	0	0	0	0	14.11	13.69	13.04
1227	end apogee: CONTROL_FINISHED_OK
state	1227	begin loiter
1402	-0.18	9.9	2001	2595	3026	2839	212.8	-2.5	201	1413	0.00	0.00	8.50	1.465	8230	0.000	0.000	2000	2594	2898	2993	2803	0	0	0	0	0	0	14.19	13.97	13.30
1592	-0.12	9.9	2001	2594	2993	2801	216.8	-2.0	220	1593	0.12	0.00	0.00	0.000	2118	0.262	0.000	2029	2594	2896	2992	2800	0	0	0	0	0	0	14.07	14.23	14.21
1772	-0.06	9.9	2029	2595	2993	2798	220.1	-1.9	238	1773	0.00	0.00	0.00	0.000	70	0.000	0.000	2029	2594	2895	2992	2798	0	0	0	0	0	0	14.46	14.48	14.47
1952	0.00	9.9	2030	2593	2993	2796	223.7	-2.0	256	1953	0.15	0.00	0.00	0.000	2118	0.260	0.000	2067	2593	2894	2993	2796	0	0	0	0	0	0	14.26	14.42	14.40
2132	0.01	18.9	2067	2593	2993	2795	227.3	-2.3	274	2143	0.00	0.00	8.05	1.502	8230	0.000	0.000	2067	2593	2862	2960	2765	0	0	0	0	0	0	14.59	14.34	13.61
2322	0.06	18.9	2067	2593	2961	2764	230.7	-1.7	293	2323	0.00	0.00	0.00	0.000	70	0.000	0.000	2067	2594	2862	2960	2764	0	0	0	0	0	0	14.59	14.62	14.62
2502	0.10	18.9	2067	2593	2961	2763	233.6	-1.4	311	2503	0.12	0.00	0.00	0.000	2118	0.217	0.000	2099	2594	2861	2960	2763	0	0	0	0	0	0	14.38	14.53	14.50
2682	0.15	18.9	2099	2594	2960	2764	236.3	-1.5	329	2683	0.00	0.00	0.00	0.000	70	0.000	0.000	2100	2593	2861	2960	2763	0	0	0	0	0	0	14.69	14.70	14.70
2862	0.19	18.9	2100	2594	2960	2763	239.0	-1.4	347	2863	0.10	0.00	0.00	0.000	2118	0.225	0.000	2126	2593	2861	2960	2762	0	0	0	0	0	0	14.46	14.59	14.57
3042	0.22	18.9	2127	2594	2960	2763	240.9	-0.9	365	3043	0.00	0.00	0.00	0.000	70	0.000	0.000	2126	2593	2861	2960	2762	0	0	0	0	0	0	14.73	14.76	14.76
3222	0.24	18.9	2127	2593	2961	2761	242.2	-0.7	383	3223	0.00	0.00	0.00	0.000	70	0.000	0.000	2126	2593	2860	2960	2761	0	0	0	0	0	0	14.76	14.78	14.77
3402	0.26	18.9	2127	2593	2961	2761	243.6	-0.8	401	3403	0.00	0.00	0.00	0.000	70	0.000	0.000	2126	2593	2860	2960	2761	0	0	0	0	0	0	14.77	14.79	14.78
3582	0.29	18.9	2126	2594	2961	2763	245.0	-0.8	419	3583	0.12	0.00	0.00	0.000	2118	0.235	0.000	2163	2594	2860	2960	2761	0	0	0	0	0	0	14.53	14.67	14.64
3762	0.29	18.9	2164	2593	2961	2761	246.1	-0.4	437	3763	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2593	2860	2960	2761	0	0	0	0	0	0	14.81	14.82	14.82
3942	0.29	18.9	2164	2593	2961	2761	246.2	0.1	455	3943	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2593	2860	2960	2761	0	0	0	0	0	0	14.81	14.83	14.83
4122	0.29	18.9	2164	2594	2960	2762	246.5	-0.4	473	4123	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2593	2860	2960	2761	0	0	0	0	0	0	14.83	14.84	14.84
4302	0.31	18.9	2164	2595	2960	2761	247.7	-0.7	491	4303	0.00	0.00	0.00	0.000	70	0.000	0.000	2163	2593	2860	2960	2760	0	0	0	0	0	0	14.83	14.85	14.85
4482	0.31	18.9	2164	2593	2961	2760	248.6	-0.4	509	4483	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2593	2860	2960	2760	0	0	0	0	0	0	14.84	14.86	14.86
4662	0.31	18.9	2163	2595	2961	2761	249.3	-0.4	527	4663	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2593	2860	2960	2760	0	0	0	0	0	0	14.85	14.87	14.86
4819	end loiter: LOITER_COMPLETE
state	4819	begin climb
4822	0.76	146.0	2163	2594	2960	2761	250.0	0.0	543	4932	0.45	2.55	102.18	1.759	10500	0.087	0.203	2331	3769	2342	2442	2242	0	0	0	0	0	0	14.66	13.76	13.21
5159	0.79	146.0	2331	3768	2443	2229	226.1	8.6	606	5165	0.00	2.25	0.00	0.000	1094	0.000	0.157	2339	2598	2335	2442	2229	0	0	0	0	0	0	14.25	14.14	14.28
5344	0.86	146.0	2338	2599	2442	2227	212.3	7.2	625	5349	0.00	2.40	0.00	0.000	324	0.000	0.205	2337	3774	2334	2442	2226	0	0	0	0	0	0	14.45	14.17	14.47
5564	0.90	146.0	2338	3774	2442	2224	194.1	8.1	669	5569	0.00	2.25	0.00	0.000	1094	0.000	0.159	2344	2593	2333	2442	2224	0	0	0	0	0	0	14.39	14.28	14.41
5755	0.99	146.0	2345	2594	2442	2224	181.2	6.6	689	5756	0.15	0.00	0.00	0.000	2118	0.133	0.000	2401	2593	2332	2442	2223	0	0	0	0	0	0	14.38	14.47	14.45
5935	1.04	146.0	2401	2593	2443	2222	167.2	7.7	707	5936	0.00	0.00	0.00	0.000	70	0.000	0.000	2401	2594	2330	2438	2222	0	0	0	0	0	0	14.58	14.60	14.59
6115	1.10	146.0	2401	2594	2442	2223	153.2	7.7	725	6116	0.00	0.00	0.00	0.000	70	0.000	0.000	2401	2593	2332	2442	2222	0	0	0	0	0	0	14.60	14.62	14.62
6295	1.17	146.0	2401	2594	2442	2222	139.8	7.1	743	6300	0.12	2.62	0.00	0.000	2628	0.149	0.148	2459	1187	2331	2441	2221	0	0	0	0	0	0	14.42	14.33	14.47
6316	1.24	146.0	2459	1187	2442	2222	138.3	7.2	747	6321	0.00	2.75	0.00	0.000	1094	0.000	0.167	2459	2607	2331	2442	2221	0	0	0	0	0	0	14.46	14.32	14.49
6506	1.32	146.0	2460	2606	2443	2219	124.0	6.9	767	6507	0.12	0.00	0.00	0.000	2118	0.152	0.000	2505	2607	2331	2442	2220	0	0	0	0	0	0	14.45	14.54	14.52
6686	1.37	146.0	2505	2608	2442	2221	109.5	7.8	785	6691	0.00	2.67	0.00	0.000	580	0.000	0.148	2516	1186	2331	2442	2220	0	0	0	0	0	0	14.62	14.36	14.64
6732	1.44	146.0	2516	1187	2443	2220	106.3	7.1	794	6738	0.00	2.75	0.00	0.000	1094	0.000	0.166	2516	2604	2331	2442	2220	0	0	0	0	0	0	14.50	14.34	14.52
6917	1.54	239.5	2517	2604	2443	2219	95.1	5.5	813	6995	0.12	2.50	72.88	1.549	10532	0.156	0.203	2563	3777	1962	2085	1839	0	0	0	0	0	0	14.38	13.81	13.32
7222	1.61	239.5	2565	3777	2086	1824	63.2	7.1	872	7229	0.00	2.28	0.00	0.000	1094	0.000	0.158	2573	2601	1954	2085	1824	0	0	0	0	0	0	14.23	14.12	14.25
7405	1.76	387.3	2574	2601	2086	1821	55.1	3.1	891	7528	0.15	2.50	114.53	1.433	10532	0.136	0.197	2629	3776	1357	1400	1315	0	0	0	0	0	0	14.22	13.61	13.14
7756	1.83	387.3	2628	3775	1392	1310	19.4	7.2	958	7762	0.00	2.30	0.00	0.000	1094	0.000	0.153	2638	2592	1348	1391	1306	0	0	0	0	0	0	14.09	13.99	14.12
7941	1.92	481.5	2638	2592	1392	1306	9.4	5.4	977	8023	0.12	0.00	76.53	1.375	10534	0.145	0.000	2689	2592	974	996	953	0	0	0	0	0	0	14.14	13.76	13.21
8028	end climb: SURFACE_DEPTH_REACHED
state	8028	begin surface coast
8038	end surface coast: CONTROL_FINISHED_OK
state	8040	begin surface