Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 117 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 HEADING -1 C_ROLL_CLIMB 2029 ALTIM_TOP_PING_RANGE 0

MISSION 20 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 117 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2825 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 1740 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 86400 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 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 500 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 180

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 1740

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1850 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2825 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 117 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 151119,003530,7532.0591,-14403.8750,0,5255.0,0,23.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.160,0.233

_CALLS 0 TGT_NAME 9_51

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS -20000.000

_SM_DEPTHo 11.77 MHEAD_RNG_PITCHd_Wd 228.2,7501,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -9.8 D_GRID 500

GPS2 151119,003530,7532.0591,-14403.8750,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20191116043530.016677,06,32767,45,0243,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.5,0.32,-100,2.68,-01,-0.05,65,925,0025*21 SC_FREEKB 3807360

FREEZE 9.97,-1.476,-1.488,2,21,0 _24V_AH 12.98,63.300

FINISH1 10.0,1.021841,290 _10V_AH 13.05,0.000

FINISH2 9.1 FG_AHR_24Vo 0.000

RAFOS_CLK 190 FG_AHR_10Vo 0.000

MODEM 3,1573791635,75.26195,-145.59448,35.521,51624.1 MEM 334856

RAFOS_FIX 7531.721680,-14403.310547,161119,040430,5,255,0.01 DATA_FILE_SIZE 43297,1271

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 220272,0

TT8_MAMPS 0.038948,0.277879 CFSIZE 1047117824,1026899968

HUMID 51.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.82918 SOUNDSPEED 1454.7

TCM_TEMP 13.20 GPS 161119,043530,7531.722,-14403.311,0,6255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 219

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 242 13.77 nil 0 0 0.00

Roll_motor 45 132 78.38 nil 0 0 0.00

VBD_pump_during_apogee 630 1833 15005.05 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 10297 9 1256.36

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 54 420 298.48 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93069 2 2805.63

TT8_Active 885 9 107.65

TT8_Sampling 2742 27 977.16

TT8_CF8 196 37 96.72

TT8_Kalman 0 0 0.00

Analog_circuits 1904 10 270.90

GPS_charging 0 0 0.00

Compass 1859 6 163.52

RAFOS 15392 33 6628.56

Transponder 0 5 0.03

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

8 -0.78 -97.3 2838 1930 1607 1680 0.0 0.0 0 52 0.00 0.00 -42.40 0.004 16390 0.000 0.000 2837 1930 3224 3326 3122 0 0 0 0 0 0 14.38 12.99 14.42

53 -0.78 -97.3 2837 1930 3328 3123 14.5 -6.0 4 59 1.23 2.62 0.00 0.000 4612 0.134 0.119 2465 536 3225 3328 3122 0 0 0 0 0 0 14.14 14.09 14.22

78 -0.78 -97.3 2465 536 3329 3123 18.5 -15.2 9 85 0.00 2.45 0.00 0.000 1030 0.000 0.092 2464 1853 3225 3328 3123 0 0 0 0 0 0 14.23 14.16 14.28

393 -0.78 -97.3 2465 1854 3329 3124 88.5 -18.7 23 395 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1853 3225 3328 3122 0 0 0 0 0 0 14.54 14.57 14.56

753 -0.78 -97.3 2465 1853 3329 3124 145.1 -14.3 35 759 0.00 2.47 0.00 0.000 516 0.000 0.114 2465 537 3225 3328 3123 0 0 0 0 0 0 14.69 14.29 14.71

808 -0.78 -97.3 2465 538 3329 3124 153.1 -14.6 46 816 0.00 2.42 0.00 0.000 1030 0.000 0.092 2464 1864 3225 3328 3122 0 0 0 0 0 0 14.43 14.35 14.48

1173 -0.78 -97.3 2465 1865 3324 3124 200.5 -13.0 59 1175 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1863 3225 3328 3123 0 0 0 0 0 0 14.66 14.69 14.69

1533 -0.78 -97.3 2465 1865 3328 3123 247.0 -12.4 71 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1864 3224 3327 3122 0 0 0 0 0 0 14.77 14.81 14.80

1893 -0.78 -97.3 2465 1864 3329 3124 285.8 -10.4 83 1895 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1863 3225 3328 3123 0 0 0 0 0 0 14.71 14.74 14.73

2253 -0.78 -97.3 2465 1864 3328 3123 319.1 -9.0 95 2255 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1864 3225 3328 3122 0 0 0 0 0 0 14.72 14.76 14.75

2613 -0.78 -97.3 2464 1865 3328 3123 349.9 -8.3 107 2619 0.00 2.58 0.00 0.000 260 0.000 0.109 2464 3272 3225 3328 3123 0 0 0 0 0 0 14.81 14.40 14.84

2683 -0.78 -97.3 2465 3273 3328 3123 355.8 -8.5 121 2689 0.00 2.38 0.00 0.000 1030 0.000 0.073 2465 1941 3227 3332 3123 0 0 0 0 0 0 14.52 14.44 14.57

3063 -0.78 -97.3 2465 1942 3329 3124 385.7 -7.5 137 3065 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1940 3225 3328 3122 0 0 0 0 0 0 14.75 14.78 14.78

3423 -0.78 -97.3 2463 1941 3328 3123 411.0 -7.0 149 3425 0.00 0.00 0.00 0.000 38 0.000 0.000 2464 1940 3225 3328 3122 0 0 0 0 0 0 14.76 14.79 14.78

3792 -0.78 -97.3 2465 1941 3328 3123 437.4 -7.5 161 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1940 3225 3328 3122 0 0 0 0 0 0 14.76 14.79 14.79

4143 -0.78 -97.3 2465 1942 3329 3123 464.0 -7.3 173 4145 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1940 3225 3328 3122 0 0 0 0 0 0 14.69 14.73 14.72

4503 -0.78 -97.3 2465 1941 3328 3124 490.7 -7.4 185 4505 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1942 3225 3328 3122 0 0 0 0 0 0 14.66 14.69 14.69

4652 end dive: TARGET_DEPTH_EXCEEDED

state 4652 begin apogee

4656 -0.17 0.0 2465 2046 3328 3123 501.8 -7.4 190 4753 0.75 0.00 94.82 1.834 10246 0.243 0.000 2655 2046 2823 2953 2694 0 0 0 0 0 0 14.16 13.93 13.20

4755 end apogee: CONTROL_FINISHED_OK

state 4755 begin loiter

5103 -0.17 0.0 2655 2044 2950 2686 500.6 1.3 196 5105 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2820 2950 2690 0 0 0 0 0 0 14.45 14.49 14.48

5703 -0.17 0.0 2655 2051 2950 2688 491.4 1.5 201 5705 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2818 2949 2688 0 0 0 0 0 0 14.60 14.63 14.63

6303 -0.17 0.0 2655 2046 2949 2689 481.9 1.6 206 6305 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2818 2948 2688 0 0 0 0 0 0 14.83 14.83 14.83

6903 -0.17 0.0 2655 2046 2949 2689 472.6 1.5 211 6905 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2948 2687 0 0 0 0 0 0 14.78 14.81 14.81

7503 -0.17 0.0 2655 2045 2949 2688 463.1 1.6 216 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2948 2687 0 0 0 0 0 0 14.94 14.97 14.96

8103 -0.17 0.0 2655 2045 2948 2688 451.3 2.0 221 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2948 2687 0 0 0 0 0 0 14.88 14.91 14.90

8703 -0.17 0.0 2655 2046 2948 2688 440.4 1.8 226 8705 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2947 2687 0 0 0 0 0 0 14.88 14.91 14.90

9303 -0.17 0.0 2655 2046 2948 2688 435.5 0.7 231 9305 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2948 2687 0 0 0 0 0 0 15.01 15.04 15.04

9903 -0.17 0.0 2655 2045 2948 2688 433.0 0.4 236 9905 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2045 2817 2947 2687 0 0 0 0 0 0 14.91 14.94 14.94

10503 -0.17 0.0 2655 2045 2948 2688 426.9 1.1 241 10505 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2947 2687 0 0 0 0 0 0 14.91 14.95 14.94

11103 -0.17 0.0 2655 2046 2947 2688 416.4 1.8 246 11105 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2816 2947 2686 0 0 0 0 0 0 14.92 14.95 14.95

11703 -0.17 0.0 2655 2046 2948 2688 405.5 1.8 251 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2816 2947 2686 0 0 0 0 0 0 14.93 14.96 14.95

12303 -0.17 0.0 2655 2046 2948 2688 401.0 0.6 256 12305 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2817 2947 2687 0 0 0 0 0 0 14.93 14.97 14.97

12903 -0.17 -2.3 2656 2046 2948 2688 397.4 0.6 261 12905 0.00 0.00 -0.15 0.650 16422 0.000 0.000 2655 2045 2844 2957 2731 0 0 0 0 0 0 14.94 12.98 14.64

13503 -0.15 -2.3 2655 2045 2957 2732 403.5 -1.1 266 13510 0.00 0.00 5.22 1.341 8262 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 14.93 14.77 13.88

14103 -0.15 -2.3 2655 2046 2957 2713 406.6 -0.5 271 14105 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 14.93 14.96 14.95

14703 -0.13 -2.3 2655 2046 2957 2713 412.8 -1.1 276 14705 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 15.03 15.09 15.08

15303 -0.11 -2.3 2655 2046 2956 2713 418.8 -1.0 281 15305 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 15.06 15.09 15.08

15903 -0.11 -2.3 2655 2046 2957 2713 420.6 -0.3 286 15905 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 14.94 14.97 14.97

16503 -0.09 -2.3 2655 2045 2956 2713 423.9 -0.6 291 16505 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2045 2834 2956 2712 0 0 0 0 0 0 14.94 14.97 14.97

17103 -0.08 -2.3 2655 2046 2957 2713 427.3 -0.5 296 17105 0.12 0.00 0.00 0.000 2118 0.216 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.54 14.76 14.71

17703 -0.08 -2.3 2689 2045 2957 2713 427.7 -0.0 301 17705 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 15.07 15.11 15.10

18303 -0.08 -2.3 2690 2046 2957 2713 429.5 -0.4 306 18305 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.83 14.86 14.85

18903 -0.08 -2.3 2689 2046 2955 2712 431.3 -0.3 311 18905 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.81 14.85 14.84

19503 -0.08 -2.3 2689 2046 2956 2713 432.7 -0.2 316 19505 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.75 14.78 14.78

20103 -0.08 -2.3 2689 2046 2952 2713 434.3 -0.3 321 20105 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2043 2834 2956 2712 0 0 0 0 0 0 14.71 14.75 14.74

20703 -0.08 -2.3 2689 2046 2957 2713 433.0 0.3 326 20705 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.88 14.92 14.90

21303 -0.08 -2.3 2689 2046 2957 2713 429.2 0.6 331 21305 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.81 14.84 14.83

21903 -0.08 -2.3 2689 2045 2956 2713 428.3 0.1 336 21905 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.84 14.88 14.87

22503 -0.08 -2.3 2689 2046 2956 2713 429.5 -0.2 341 22505 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.86 14.90 14.89

23103 -0.08 -2.3 2689 2046 2956 2713 428.9 0.2 346 23105 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.88 14.91 14.91

23703 -0.08 -2.3 2689 2045 2957 2713 429.2 -0.1 351 23705 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.90 14.93 14.92

24303 -0.07 -2.3 2689 2046 2957 2713 432.4 -0.5 356 24305 0.00 0.00 0.00 0.000 70 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.90 14.94 14.93

24903 -0.07 -2.3 2689 2046 2957 2713 432.3 0.1 361 24905 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.91 14.95 14.94

25503 -0.07 -2.3 2689 2046 2956 2713 429.6 0.5 366 25505 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.93 14.97 14.96

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59703 -0.05 -2.3 2689 2045 2956 2713 430.1 0.2 651 59705 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.91 14.95 14.95

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61503 -0.05 -2.3 2689 2045 2957 2713 430.5 0.1 666 61505 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2045 2834 2956 2712 0 0 0 0 0 0 14.80 14.83 14.83

62103 -0.05 -2.3 2689 2046 2957 2713 430.0 0.1 671 62105 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.69 14.73 14.73

62703 -0.05 -2.3 2692 2045 2956 2713 428.0 0.4 676 62705 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.70 14.75 14.74

63303 -0.05 -2.3 2689 2046 2957 2713 427.4 0.0 681 63305 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.69 14.71 14.71

63903 -0.04 -2.3 2689 2045 2956 2713 430.8 -0.6 686 63905 0.00 0.00 0.00 0.000 70 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.88 14.91 14.90

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66303 -0.04 -2.3 2689 2046 2956 2713 428.6 -0.3 706 66305 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.85 14.89 14.88

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72903 -0.01 -2.3 2689 2046 2957 2713 427.9 0.2 761 72905 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.91 14.95 14.94

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75303 -0.01 -2.3 2689 2046 2956 2713 426.5 0.5 781 75305 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2045 2834 2956 2712 0 0 0 0 0 0 14.94 14.97 14.97

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89703 0.03 -2.3 2726 2046 2957 2713 431.7 -0.5 901 89705 0.00 0.00 0.00 0.000 70 0.000 0.000 2725 2045 2834 2956 2712 0 0 0 0 0 0 14.92 14.95 14.92

90303 0.03 -2.3 2724 2046 2956 2713 432.5 -0.0 906 90305 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2045 2834 2956 2712 0 0 0 0 0 0 14.87 14.88 14.90

90903 0.03 -2.3 2725 2045 2957 2713 431.5 0.2 911 90905 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2045 2834 2956 2712 0 0 0 0 0 0 14.78 14.81 14.81

91262 end loiter: LOITER_COMPLETE

state 91262 begin climb

91263 0.78 97.3 2725 2046 2956 2712 431.0 0.0 914 91372 0.75 2.55 99.72 1.766 10756 0.086 0.112 2980 714 2425 2554 2297 0 0 0 0 0 0 14.36 13.93 13.24

91596 0.78 97.3 2980 715 2545 2290 403.6 10.2 980 91602 0.00 2.42 0.00 0.000 1030 0.000 0.087 2980 2039 2417 2548 2286 0 0 0 0 0 0 14.19 14.09 14.23

91986 0.78 97.3 2980 2040 2542 2289 367.0 8.9 998 91992 0.00 2.50 0.00 0.000 516 0.000 0.112 2980 707 2414 2541 2288 0 0 0 0 0 0 14.51 14.12 14.54

92066 0.79 97.3 2980 707 2542 2288 360.2 8.6 1014 92072 0.00 2.45 0.00 0.000 1094 0.000 0.088 2980 2034 2414 2542 2287 0 0 0 0 0 0 14.20 14.12 14.28

92440 0.81 97.3 2980 2035 2542 2287 329.3 8.4 1028 92445 0.00 2.60 0.00 0.000 324 0.000 0.107 2980 3448 2413 2541 2286 0 0 0 0 0 0 14.59 14.22 14.62

92584 0.81 97.3 2981 3449 2542 2286 314.8 9.7 1057 92591 0.00 2.40 0.00 0.000 1030 0.000 0.070 2980 2116 2413 2541 2286 0 0 0 0 0 0 14.32 14.23 14.37

92949 0.85 97.3 2980 2117 2547 2286 285.4 7.5 1070 92951 0.00 0.00 0.00 0.000 70 0.000 0.000 2981 2115 2413 2541 2285 0 0 0 0 0 0 14.64 14.67 14.67

93309 0.91 150.4 2979 2116 2541 2286 262.3 5.9 1082 93357 0.00 0.00 46.30 1.587 8230 0.000 0.000 2980 2116 2213 2341 2086 0 0 0 0 0 0 14.67 14.27 13.57

93699 0.98 198.9 2981 2116 2329 2081 236.9 6.2 1095 93747 0.17 2.72 42.60 1.527 10788 0.120 0.119 3053 705 2012 2120 1905 0 0 0 0 0 0 14.33 14.12 13.50

93792 0.98 198.9 3053 706 2113 1904 228.5 10.4 1113 93798 0.00 2.42 0.00 0.000 1030 0.000 0.089 3053 2041 2007 2112 1903 0 0 0 0 0 0 14.28 14.17 14.31

94182 0.98 198.9 3053 2041 2108 1901 190.0 9.7 1131 94183 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2040 2003 2107 1900 0 0 0 0 0 0 14.62 14.66 14.65

94542 0.98 198.9 3053 2041 2107 1899 157.4 8.8 1143 94548 0.00 2.60 0.00 0.000 260 0.000 0.110 3053 3454 2002 2106 1898 0 0 0 0 0 0 14.69 14.29 14.73

94647 0.98 198.9 3053 3455 2107 1899 146.7 10.0 1164 94653 0.00 2.40 0.00 0.000 1030 0.000 0.072 3053 2111 2002 2106 1898 0 0 0 0 0 0 14.40 14.33 14.45

95023 1.01 198.9 3053 2112 2106 1898 115.4 7.8 1179 95024 0.00 0.00 0.00 0.000 70 0.000 0.000 3053 2111 2001 2105 1897 0 0 0 0 0 0 14.75 14.78 14.78

95383 1.06 242.3 3053 2113 2105 1897 91.2 6.5 1191 95436 0.00 0.00 51.20 1.362 8230 0.000 0.000 3053 2111 1836 1931 1741 0 0 0 0 0 0 14.70 14.30 13.68

95773 1.14 301.7 3053 2112 1921 1739 66.0 5.5 1204 95857 0.00 0.00 82.12 1.286 8230 0.000 0.000 3053 2111 1595 1667 1524 0 0 0 0 0 0 14.63 14.07 13.50

96193 1.25 386.5 3053 2112 1660 1522 43.4 3.9 1218 96326 0.20 0.00 130.43 1.232 10278 0.113 0.000 3125 2111 1249 1288 1210 0 0 0 0 0 0 14.30 13.93 13.38

96673 1.35 464.2 3125 2112 1283 1205 14.2 4.3 1252 96753 0.00 0.00 78.00 1.206 8738 0.000 0.000 3122 2111 1031 1049 1013 0 0 0 0 0 0 14.45 28.83 14.48

96753 end climb: FINISH_DEPTH_REACHED

state 96753 begin subsurface finish

96757 0.38 289.6 3126 2112 1050 1014 10.0 6.0 1266 96784 1.02 2.65 -20.92 0.008 20996 0.187 0.132 2842 713 1646 1610 1683 0 0 0 0 0 0 13.92 13.15 14.02

96785 end subsurface finish: CONTROL_FINISHED_OK

state 96785 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	117	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2825	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	1740	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	86400	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	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1850	ALTIM_PING_FIT	0

GPS1	151119,003530,7532.0591,-14403.8750,0,5255.0,0,23.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.160,0.233
_CALLS	0	TGT_NAME	9_51
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	-20000.000
_SM_DEPTHo	11.77	MHEAD_RNG_PITCHd_Wd	228.2,7501,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-9.8	D_GRID	500
GPS2	151119,003530,7532.0591,-14403.8750,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20191116043530.016677,06,32767,45,0243,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.5,0.32,-100,2.68,-01,-0.05,65,925,0025*21	SC_FREEKB	3807360
FREEZE	9.97,-1.476,-1.488,2,21,0	_24V_AH	12.98,63.300
FINISH1	10.0,1.021841,290	_10V_AH	13.05,0.000
FINISH2	9.1	FG_AHR_24Vo	0.000
RAFOS_CLK	190	FG_AHR_10Vo	0.000
MODEM	3,1573791635,75.26195,-145.59448,35.521,51624.1	MEM	334856
RAFOS_FIX	7531.721680,-14403.310547,161119,040430,5,255,0.01	DATA_FILE_SIZE	43297,1271
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	220272,0
TT8_MAMPS	0.038948,0.277879	CFSIZE	1047117824,1026899968
HUMID	51.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82918	SOUNDSPEED	1454.7
TCM_TEMP	13.20	GPS	161119,043530,7531.722,-14403.311,0,6255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	219

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	242	13.77	nil	0	0	0.00
Roll_motor	45	132	78.38	nil	0	0	0.00
VBD_pump_during_apogee	630	1833	15005.05	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	10297	9	1256.36
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	54	420	298.48	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93069	2	2805.63
TT8_Active	885	9	107.65
TT8_Sampling	2742	27	977.16
TT8_CF8	196	37	96.72
TT8_Kalman	0	0	0.00
Analog_circuits	1904	10	270.90
GPS_charging	0	0	0.00
Compass	1859	6	163.52
RAFOS	15392	33	6628.56
Transponder	0	5	0.03

		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