Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 78 * 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 78 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 12 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 9 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 78 MINV_10V 11 R_PORT_OVSHOOT 12 VBD_MIN 500

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 9 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 091018,022859,7411.5312,-14631.7764,17,0.7,19,22.4,0.3,34.7,12,9.1 SPEED_LIMITS 0.165,0.207

_CALLS 2 TGT_NAME AB2

_XMS_NAKs 0 TGT_LATLONG 7415.000,-14625.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.67 MHEAD_RNG_PITCHd_Wd 20.6,7177,-16.5,-9.524,-24.67,2361

_SM_ANGLEo -65.5 D_GRID 200

GPS2 091018,023855,7411.5742,-14631.6748,7,0.7,12,22.4,0.0,0.0,11,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20181009042843.382631,18,102,08,0136,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F ALTIM_TOP_PING 19.9,20.7

FINISH 0.7,1.020657 _24V_AH 13.06,40.236

SM_CCo 8034,148.75,0.218,0,0,802,525.19 _10V_AH 13.35,0.000

SM_GC 0.77,7.60,2.05,148.75,0.093,0.156,0.218,193,2749,802,-5.81,0.45,525.19,0,0,0,0,0,0,14.07,14.01,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 147 FG_AHR_10Vo 0.000

MODEM 1,1539057935,74.43333,-147.95000,35.687,51448.5 MEM 334540

RAFOS_FIX 7439.640625,-14216.428711,091018,040443,5,255,20.59 DATA_FILE_SIZE 30071,951

IRIDIUM_FIX 7411.13,-14625.16,091018,000400 CAP_FILE_SIZE 102529,0

TT8_MAMPS 0.039697,0.647136 CFSIZE 2097872896,2076508160

HUMID 47.83 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 0.122,7.21,1

XPDR_PINGS 0 GPS 091018,045703,7412.403,-14630.784,26,0.8,26,22.4,0.5,359.4,9,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 476 119.51 nil 0 0 0.00

Roll_motor 41 204 110.24 nil 0 0 0.00

VBD_pump_during_apogee 458 1743 10433.44 nil 0 0 0.00

VBD_pump_during_surface 148 218 423.55 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 4447 34 2013.15

Iridium_during_xfer 357 182 850.61 nil 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 21 5.98

TT8 0 0 0.00

LPSleep 5667 2 174.79

TT8_Active 683 11 104.71

TT8_Sampling 2197 30 885.82

TT8_CF8 242 36 117.11

TT8_Kalman 0 0 0.00

Analog_circuits 1770 9 224.53

GPS_charging 0 0 0.00

Compass 1359 7 135.91

RAFOS 2219 33 977.58

Transponder 2 30 1.01

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

10 -0.76 -146.0 193 2754 779 808 0.0 0.0 0 103 0.00 0.00 -91.35 0.002 16386 0.000 0.000 193 2755 2193 2221 2166 0 0 0 0 0 0 14.29 28.83 14.31

106 -0.76 -146.0 194 2756 2223 2169 4.3 -7.2 9 152 9.02 2.80 -32.47 0.004 18948 0.477 0.170 1815 1335 3541 3590 3493 0 0 0 0 0 0 13.89 13.27 14.16

378 -0.76 -146.0 1816 1335 3586 3496 77.2 -21.3 62 384 0.00 2.83 0.00 0.000 1030 0.000 0.174 1806 2757 3542 3589 3496 0 0 0 0 0 0 14.27 14.13 14.29

563 -0.76 -146.0 1806 2758 3591 3495 111.0 -17.3 81 563 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2763 3542 3589 3496 0 0 0 0 0 0 14.45 14.47 14.47

743 -0.76 -146.0 1806 2757 3590 3496 140.1 -15.8 99 743 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2758 3542 3589 3496 0 0 0 0 0 0 14.50 14.52 14.51

923 -0.76 -146.0 1806 2758 3590 3497 167.8 -15.3 117 924 0.00 0.00 0.00 0.000 6 0.000 0.000 1806 2757 3542 3589 3496 0 0 0 0 0 0 14.53 14.54 14.54

1103 -0.76 -146.0 1806 2757 3591 3496 194.0 -14.2 135 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 1805 2757 3542 3589 3496 0 0 0 0 0 0 14.55 14.57 14.57

1150 end dive: TARGET_DEPTH_EXCEEDED

state 1150 begin apogee

1156 -0.19 0.0 1807 2598 3590 3497 200.8 -13.6 140 1276 0.77 0.00 116.60 1.692 10246 0.280 0.000 2001 2597 2942 3030 2855 0 0 0 0 0 0 14.26 13.73 13.06

1277 end apogee: CONTROL_FINISHED_OK

state 1277 begin loiter

1453 -0.17 10.8 2001 2597 3027 2839 212.7 -2.8 170 1464 0.00 0.00 9.23 1.470 8230 0.000 0.000 2001 2597 2895 2989 2802 0 0 0 0 0 0 14.27 14.02 13.33

1643 -0.17 19.8 2000 2598 2989 2798 217.3 -2.3 189 1654 0.00 0.00 8.73 1.480 8230 0.000 0.000 2001 2597 2857 2949 2766 0 0 0 0 0 0 14.37 14.13 13.42

1833 -0.11 19.8 2001 2598 2949 2764 220.8 -1.7 208 1834 0.12 0.00 0.00 0.000 2118 0.261 0.000 2030 2596 2856 2949 2763 0 0 0 0 0 0 14.16 14.32 14.29

2013 -0.07 19.8 2027 2597 2948 2762 223.5 -1.5 226 2014 0.00 0.00 0.00 0.000 70 0.000 0.000 2030 2596 2855 2949 2762 0 0 0 0 0 0 14.52 14.54 14.54

2193 -0.06 27.9 2030 2596 2950 2761 226.9 -2.1 244 2204 0.00 0.00 7.72 1.539 8230 0.000 0.000 2030 2597 2824 2913 2736 0 0 0 0 0 0 14.58 14.33 13.57

2383 -0.02 27.9 2030 2596 2914 2734 229.6 -1.4 263 2384 0.12 0.00 0.00 0.000 2118 0.307 0.000 2058 2596 2823 2913 2734 0 0 0 0 0 0 14.29 14.47 14.44

2563 0.01 27.9 2059 2597 2914 2733 231.5 -1.0 281 2564 0.00 0.00 0.00 0.000 70 0.000 0.000 2059 2596 2822 2912 2733 0 0 0 0 0 0 14.62 14.65 14.64

2743 0.03 27.9 2059 2598 2913 2733 232.8 -0.6 299 2744 0.00 0.00 0.00 0.000 70 0.000 0.000 2058 2596 2822 2913 2732 0 0 0 0 0 0 14.67 14.69 14.68

2923 0.05 27.9 2059 2597 2914 2731 234.0 -0.7 317 2924 0.00 0.00 0.00 0.000 70 0.000 0.000 2058 2596 2822 2913 2732 0 0 0 0 0 0 14.70 14.72 14.71

3103 0.08 27.9 2059 2597 2913 2732 235.6 -0.9 335 3104 0.12 0.00 0.00 0.000 2118 0.235 0.000 2090 2596 2822 2913 2731 0 0 0 0 0 0 14.46 14.61 14.58

3283 0.09 27.9 2091 2596 2914 2731 236.7 -0.5 353 3284 0.00 0.00 0.00 0.000 70 0.000 0.000 2090 2597 2822 2913 2731 0 0 0 0 0 0 14.74 14.76 14.76

3463 0.09 27.9 2090 2597 2913 2732 237.3 -0.2 371 3464 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2597 2821 2913 2730 0 0 0 0 0 0 14.76 14.78 14.78

3643 0.09 27.9 2091 2596 2914 2730 237.7 -0.2 389 3643 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2597 2821 2912 2730 0 0 0 0 0 0 14.78 14.81 14.80

3823 0.09 27.9 2091 2596 2914 2730 238.1 -0.2 407 3823 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2597 2821 2913 2730 0 0 0 0 0 0 14.80 14.81 14.81

4003 0.09 27.9 2090 2597 2913 2730 238.2 -0.0 425 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2596 2821 2912 2730 0 0 0 0 0 0 14.81 14.83 14.83

4183 0.09 27.9 2090 2597 2913 2731 238.4 -0.2 443 4183 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2596 2821 2913 2730 0 0 0 0 0 0 14.81 14.84 14.83

4363 0.09 27.9 2090 2597 2913 2730 238.9 -0.3 461 4364 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2596 2821 2913 2729 0 0 0 0 0 0 14.83 14.85 14.84

4543 0.09 27.9 2090 2596 2914 2729 239.4 -0.2 479 4544 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2596 2821 2913 2729 0 0 0 0 0 0 14.83 14.85 14.85

4723 0.09 27.9 2090 2597 2914 2728 240.0 -0.5 497 4724 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2597 2821 2913 2729 0 0 0 0 0 0 14.84 14.86 14.85

4871 end loiter: LOITER_COMPLETE

state 4871 begin climb

4874 0.76 146.0 2089 2597 2912 2730 240.8 0.0 512 4975 0.70 2.78 94.80 1.743 10756 0.148 0.147 2318 1184 2343 2444 2243 0 0 0 0 0 0 14.57 13.75 13.20

5203 0.85 146.0 2321 1182 2444 2229 222.9 6.4 574 5208 0.00 2.83 0.00 0.000 1094 0.000 0.172 2318 2600 2336 2443 2229 0 0 0 0 0 0 14.20 14.05 14.22

5393 0.95 146.0 2318 2601 2444 2227 210.6 6.4 594 5399 0.15 2.72 0.00 0.000 2628 0.125 0.149 2395 1185 2335 2444 2226 0 0 0 0 0 0 14.21 14.14 14.26

5454 0.98 146.0 2395 1186 2444 2226 205.8 8.4 606 5459 0.00 2.80 0.00 0.000 1094 0.000 0.171 2395 2600 2334 2444 2225 0 0 0 0 0 0 14.28 14.13 14.30

5644 1.01 146.0 2395 2599 2445 2223 189.3 8.3 626 5645 0.00 0.00 0.00 0.000 70 0.000 0.000 2395 2600 2337 2451 2224 0 0 0 0 0 0 14.42 14.44 14.44

5824 1.06 146.0 2396 2601 2444 2224 174.6 8.2 644 5825 0.00 0.00 0.00 0.000 70 0.000 0.000 2395 2600 2333 2444 2223 0 0 0 0 0 0 14.45 14.46 14.46

6004 1.11 146.0 2395 2600 2445 2223 160.4 7.7 662 6005 0.00 0.00 0.00 0.000 70 0.000 0.000 2396 2600 2332 2443 2222 0 0 0 0 0 0 14.46 14.48 14.48

6184 1.18 146.0 2396 2601 2444 2223 147.0 7.3 680 6186 0.17 0.00 0.00 0.000 2118 0.121 0.000 2458 2600 2333 2444 2222 0 0 0 0 0 0 14.30 14.38 14.37

6364 1.22 146.0 2458 2600 2445 2221 132.2 7.9 698 6369 0.00 2.72 0.00 0.000 580 0.000 0.152 2468 1175 2332 2444 2221 0 0 0 0 0 0 14.48 14.24 14.50

6525 1.30 146.0 2469 1175 2445 2221 120.4 7.2 730 6530 0.00 2.80 0.00 0.000 1094 0.000 0.171 2469 2601 2331 2443 2220 0 0 0 0 0 0 14.37 14.22 14.39

6715 1.39 146.0 2467 2601 2445 2219 107.5 6.3 750 6720 0.12 2.35 0.00 0.000 2372 0.144 0.204 2517 3771 2332 2444 2220 0 0 0 0 0 0 14.27 14.20 14.31

6851 1.47 146.0 2517 3771 2445 2219 97.7 6.9 777 6858 0.00 2.25 0.00 0.000 1094 0.000 0.160 2525 2595 2331 2443 2220 0 0 0 0 0 0 14.35 14.23 14.37

7036 1.61 282.5 2526 2597 2444 2220 88.3 3.6 796 7148 0.15 2.58 106.55 1.522 10532 0.140 0.200 2584 3771 1784 1885 1684 0 0 0 0 0 0 14.28 13.64 13.14

7190 1.61 282.5 2584 3771 1884 1679 72.4 15.9 824 7195 0.00 2.33 0.00 0.000 1030 0.000 0.155 2592 2599 1780 1883 1678 0 0 0 0 0 0 13.93 13.83 13.96

7381 1.64 282.5 2593 2599 1884 1669 53.3 8.6 844 7386 0.00 2.42 0.00 0.000 324 0.000 0.201 2593 3776 1775 1882 1669 0 0 0 0 0 0 14.26 14.00 14.28

7611 1.78 428.0 2593 3775 1884 1664 41.7 3.2 890 7733 0.12 2.28 114.60 1.414 11302 0.147 0.158 2647 2595 1192 1221 1163 0 0 0 0 0 0 14.19 14.14 13.09

7910 1.78 428.0 2648 2595 1216 1158 11.8 9.6 930 7915 0.00 2.45 0.00 0.000 260 0.000 0.201 2647 3771 1186 1215 1158 0 0 0 0 0 0 14.14 13.88 14.16

8003 end climb: SURFACE_DEPTH_REACHED

state 8003 begin surface coast

8015 end surface coast: CONTROL_FINISHED_OK

state 8015 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	78	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	12	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	9	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	091018,022859,7411.5312,-14631.7764,17,0.7,19,22.4,0.3,34.7,12,9.1	SPEED_LIMITS	0.165,0.207
_CALLS	2	TGT_NAME	AB2
_XMS_NAKs	0	TGT_LATLONG	7415.000,-14625.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.67	MHEAD_RNG_PITCHd_Wd	20.6,7177,-16.5,-9.524,-24.67,2361
_SM_ANGLEo	-65.5	D_GRID	200
GPS2	091018,023855,7411.5742,-14631.6748,7,0.7,12,22.4,0.0,0.0,11,9.1

MODEM_MSG	CACST,6,1,20181009042843.382631,18,102,08,0136,0150,246,00,00,02,02,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025*3F	ALTIM_TOP_PING	19.9,20.7
FINISH	0.7,1.020657	_24V_AH	13.06,40.236
SM_CCo	8034,148.75,0.218,0,0,802,525.19	_10V_AH	13.35,0.000
SM_GC	0.77,7.60,2.05,148.75,0.093,0.156,0.218,193,2749,802,-5.81,0.45,525.19,0,0,0,0,0,0,14.07,14.01,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	147	FG_AHR_10Vo	0.000
MODEM	1,1539057935,74.43333,-147.95000,35.687,51448.5	MEM	334540
RAFOS_FIX	7439.640625,-14216.428711,091018,040443,5,255,20.59	DATA_FILE_SIZE	30071,951
IRIDIUM_FIX	7411.13,-14625.16,091018,000400	CAP_FILE_SIZE	102529,0
TT8_MAMPS	0.039697,0.647136	CFSIZE	2097872896,2076508160
HUMID	47.83	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	0.122,7.21,1
XPDR_PINGS	0	GPS	091018,045703,7412.403,-14630.784,26,0.8,26,22.4,0.5,359.4,9,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	476	119.51	nil	0	0	0.00
Roll_motor	41	204	110.24	nil	0	0	0.00
VBD_pump_during_apogee	458	1743	10433.44	nil	0	0	0.00
VBD_pump_during_surface	148	218	423.55	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	4447	34	2013.15
Iridium_during_xfer	357	182	850.61	nil	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	21	5.98
TT8	0	0	0.00
LPSleep	5667	2	174.79
TT8_Active	683	11	104.71
TT8_Sampling	2197	30	885.82
TT8_CF8	242	36	117.11
TT8_Kalman	0	0	0.00
Analog_circuits	1770	9	224.53
GPS_charging	0	0	0.00
Compass	1359	7	135.91
RAFOS	2219	33	977.58
Transponder	2	30	1.01

		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
10	-0.76	-146.0	193	2754	779	808	0.0	0.0	0	103	0.00	0.00	-91.35	0.002	16386	0.000	0.000	193	2755	2193	2221	2166	0	0	0	0	0	0	14.29	28.83	14.31
106	-0.76	-146.0	194	2756	2223	2169	4.3	-7.2	9	152	9.02	2.80	-32.47	0.004	18948	0.477	0.170	1815	1335	3541	3590	3493	0	0	0	0	0	0	13.89	13.27	14.16
378	-0.76	-146.0	1816	1335	3586	3496	77.2	-21.3	62	384	0.00	2.83	0.00	0.000	1030	0.000	0.174	1806	2757	3542	3589	3496	0	0	0	0	0	0	14.27	14.13	14.29
563	-0.76	-146.0	1806	2758	3591	3495	111.0	-17.3	81	563	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2763	3542	3589	3496	0	0	0	0	0	0	14.45	14.47	14.47
743	-0.76	-146.0	1806	2757	3590	3496	140.1	-15.8	99	743	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2758	3542	3589	3496	0	0	0	0	0	0	14.50	14.52	14.51
923	-0.76	-146.0	1806	2758	3590	3497	167.8	-15.3	117	924	0.00	0.00	0.00	0.000	6	0.000	0.000	1806	2757	3542	3589	3496	0	0	0	0	0	0	14.53	14.54	14.54
1103	-0.76	-146.0	1806	2757	3591	3496	194.0	-14.2	135	1103	0.00	0.00	0.00	0.000	6	0.000	0.000	1805	2757	3542	3589	3496	0	0	0	0	0	0	14.55	14.57	14.57
1150	end dive: TARGET_DEPTH_EXCEEDED
state	1150	begin apogee
1156	-0.19	0.0	1807	2598	3590	3497	200.8	-13.6	140	1276	0.77	0.00	116.60	1.692	10246	0.280	0.000	2001	2597	2942	3030	2855	0	0	0	0	0	0	14.26	13.73	13.06
1277	end apogee: CONTROL_FINISHED_OK
state	1277	begin loiter
1453	-0.17	10.8	2001	2597	3027	2839	212.7	-2.8	170	1464	0.00	0.00	9.23	1.470	8230	0.000	0.000	2001	2597	2895	2989	2802	0	0	0	0	0	0	14.27	14.02	13.33
1643	-0.17	19.8	2000	2598	2989	2798	217.3	-2.3	189	1654	0.00	0.00	8.73	1.480	8230	0.000	0.000	2001	2597	2857	2949	2766	0	0	0	0	0	0	14.37	14.13	13.42
1833	-0.11	19.8	2001	2598	2949	2764	220.8	-1.7	208	1834	0.12	0.00	0.00	0.000	2118	0.261	0.000	2030	2596	2856	2949	2763	0	0	0	0	0	0	14.16	14.32	14.29
2013	-0.07	19.8	2027	2597	2948	2762	223.5	-1.5	226	2014	0.00	0.00	0.00	0.000	70	0.000	0.000	2030	2596	2855	2949	2762	0	0	0	0	0	0	14.52	14.54	14.54
2193	-0.06	27.9	2030	2596	2950	2761	226.9	-2.1	244	2204	0.00	0.00	7.72	1.539	8230	0.000	0.000	2030	2597	2824	2913	2736	0	0	0	0	0	0	14.58	14.33	13.57
2383	-0.02	27.9	2030	2596	2914	2734	229.6	-1.4	263	2384	0.12	0.00	0.00	0.000	2118	0.307	0.000	2058	2596	2823	2913	2734	0	0	0	0	0	0	14.29	14.47	14.44
2563	0.01	27.9	2059	2597	2914	2733	231.5	-1.0	281	2564	0.00	0.00	0.00	0.000	70	0.000	0.000	2059	2596	2822	2912	2733	0	0	0	0	0	0	14.62	14.65	14.64
2743	0.03	27.9	2059	2598	2913	2733	232.8	-0.6	299	2744	0.00	0.00	0.00	0.000	70	0.000	0.000	2058	2596	2822	2913	2732	0	0	0	0	0	0	14.67	14.69	14.68
2923	0.05	27.9	2059	2597	2914	2731	234.0	-0.7	317	2924	0.00	0.00	0.00	0.000	70	0.000	0.000	2058	2596	2822	2913	2732	0	0	0	0	0	0	14.70	14.72	14.71
3103	0.08	27.9	2059	2597	2913	2732	235.6	-0.9	335	3104	0.12	0.00	0.00	0.000	2118	0.235	0.000	2090	2596	2822	2913	2731	0	0	0	0	0	0	14.46	14.61	14.58
3283	0.09	27.9	2091	2596	2914	2731	236.7	-0.5	353	3284	0.00	0.00	0.00	0.000	70	0.000	0.000	2090	2597	2822	2913	2731	0	0	0	0	0	0	14.74	14.76	14.76
3463	0.09	27.9	2090	2597	2913	2732	237.3	-0.2	371	3464	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2597	2821	2913	2730	0	0	0	0	0	0	14.76	14.78	14.78
3643	0.09	27.9	2091	2596	2914	2730	237.7	-0.2	389	3643	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2597	2821	2912	2730	0	0	0	0	0	0	14.78	14.81	14.80
3823	0.09	27.9	2091	2596	2914	2730	238.1	-0.2	407	3823	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2597	2821	2913	2730	0	0	0	0	0	0	14.80	14.81	14.81
4003	0.09	27.9	2090	2597	2913	2730	238.2	-0.0	425	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2596	2821	2912	2730	0	0	0	0	0	0	14.81	14.83	14.83
4183	0.09	27.9	2090	2597	2913	2731	238.4	-0.2	443	4183	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2596	2821	2913	2730	0	0	0	0	0	0	14.81	14.84	14.83
4363	0.09	27.9	2090	2597	2913	2730	238.9	-0.3	461	4364	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2596	2821	2913	2729	0	0	0	0	0	0	14.83	14.85	14.84
4543	0.09	27.9	2090	2596	2914	2729	239.4	-0.2	479	4544	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2596	2821	2913	2729	0	0	0	0	0	0	14.83	14.85	14.85
4723	0.09	27.9	2090	2597	2914	2728	240.0	-0.5	497	4724	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2597	2821	2913	2729	0	0	0	0	0	0	14.84	14.86	14.85
4871	end loiter: LOITER_COMPLETE
state	4871	begin climb
4874	0.76	146.0	2089	2597	2912	2730	240.8	0.0	512	4975	0.70	2.78	94.80	1.743	10756	0.148	0.147	2318	1184	2343	2444	2243	0	0	0	0	0	0	14.57	13.75	13.20
5203	0.85	146.0	2321	1182	2444	2229	222.9	6.4	574	5208	0.00	2.83	0.00	0.000	1094	0.000	0.172	2318	2600	2336	2443	2229	0	0	0	0	0	0	14.20	14.05	14.22
5393	0.95	146.0	2318	2601	2444	2227	210.6	6.4	594	5399	0.15	2.72	0.00	0.000	2628	0.125	0.149	2395	1185	2335	2444	2226	0	0	0	0	0	0	14.21	14.14	14.26
5454	0.98	146.0	2395	1186	2444	2226	205.8	8.4	606	5459	0.00	2.80	0.00	0.000	1094	0.000	0.171	2395	2600	2334	2444	2225	0	0	0	0	0	0	14.28	14.13	14.30
5644	1.01	146.0	2395	2599	2445	2223	189.3	8.3	626	5645	0.00	0.00	0.00	0.000	70	0.000	0.000	2395	2600	2337	2451	2224	0	0	0	0	0	0	14.42	14.44	14.44
5824	1.06	146.0	2396	2601	2444	2224	174.6	8.2	644	5825	0.00	0.00	0.00	0.000	70	0.000	0.000	2395	2600	2333	2444	2223	0	0	0	0	0	0	14.45	14.46	14.46
6004	1.11	146.0	2395	2600	2445	2223	160.4	7.7	662	6005	0.00	0.00	0.00	0.000	70	0.000	0.000	2396	2600	2332	2443	2222	0	0	0	0	0	0	14.46	14.48	14.48
6184	1.18	146.0	2396	2601	2444	2223	147.0	7.3	680	6186	0.17	0.00	0.00	0.000	2118	0.121	0.000	2458	2600	2333	2444	2222	0	0	0	0	0	0	14.30	14.38	14.37
6364	1.22	146.0	2458	2600	2445	2221	132.2	7.9	698	6369	0.00	2.72	0.00	0.000	580	0.000	0.152	2468	1175	2332	2444	2221	0	0	0	0	0	0	14.48	14.24	14.50
6525	1.30	146.0	2469	1175	2445	2221	120.4	7.2	730	6530	0.00	2.80	0.00	0.000	1094	0.000	0.171	2469	2601	2331	2443	2220	0	0	0	0	0	0	14.37	14.22	14.39
6715	1.39	146.0	2467	2601	2445	2219	107.5	6.3	750	6720	0.12	2.35	0.00	0.000	2372	0.144	0.204	2517	3771	2332	2444	2220	0	0	0	0	0	0	14.27	14.20	14.31
6851	1.47	146.0	2517	3771	2445	2219	97.7	6.9	777	6858	0.00	2.25	0.00	0.000	1094	0.000	0.160	2525	2595	2331	2443	2220	0	0	0	0	0	0	14.35	14.23	14.37
7036	1.61	282.5	2526	2597	2444	2220	88.3	3.6	796	7148	0.15	2.58	106.55	1.522	10532	0.140	0.200	2584	3771	1784	1885	1684	0	0	0	0	0	0	14.28	13.64	13.14
7190	1.61	282.5	2584	3771	1884	1679	72.4	15.9	824	7195	0.00	2.33	0.00	0.000	1030	0.000	0.155	2592	2599	1780	1883	1678	0	0	0	0	0	0	13.93	13.83	13.96
7381	1.64	282.5	2593	2599	1884	1669	53.3	8.6	844	7386	0.00	2.42	0.00	0.000	324	0.000	0.201	2593	3776	1775	1882	1669	0	0	0	0	0	0	14.26	14.00	14.28
7611	1.78	428.0	2593	3775	1884	1664	41.7	3.2	890	7733	0.12	2.28	114.60	1.414	11302	0.147	0.158	2647	2595	1192	1221	1163	0	0	0	0	0	0	14.19	14.14	13.09
7910	1.78	428.0	2648	2595	1216	1158	11.8	9.6	930	7915	0.00	2.45	0.00	0.000	260	0.000	0.201	2647	3771	1186	1215	1158	0	0	0	0	0	0	14.14	13.88	14.16
8003	end climb: SURFACE_DEPTH_REACHED
state	8003	begin surface coast
8015	end surface coast: CONTROL_FINISHED_OK
state	8015	begin surface