Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 204 * 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 204 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 204 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 120220,123531,7530.1904,-14410.8389,0,4255.0,0,23.4,0.0,0.0,0,0.0 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 11.54 MHEAD_RNG_PITCHd_Wd 262.3,4042,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -7.4 D_GRID 500

GPS2 120220,123531,7530.1904,-14410.8389,0,4255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200213162032.357267,06,24199,43,0223,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.6,0.41,-100,2.59,-01,0.14,63,925,0025*05 SC_FREEKB 3757248

FREEZE 9.49,-1.513,-1.522,2,108,0 _24V_AH 12.53,106.402

FINISH1 9.5,1.022337,264 _10V_AH 11.38,0.000

FINISH2 9.1 FG_AHR_24Vo 0.000

RAFOS_CLK 372 FG_AHR_10Vo 0.000

MODEM 2,1581538534,75.67648,-146.03058,34.009,49469.1 MEM 334796

RAFOS_FIX 7531.759277,-14419.006836,130220,161632,3,255,0.05 DATA_FILE_SIZE 46689,1368

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 225557,0

TT8_MAMPS 0.038948,0.271887 CFSIZE 1047117824,1015791616

HUMID 51.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.82918 SOUNDSPEED 1453.8

TCM_TEMP 13.30 GPS 130220,162032,7531.759,-14419.007,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 163

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 230 13.56 nil 0 0 0.00

Roll_motor 50 131 83.67 nil 0 0 0.00

VBD_pump_during_apogee 623 1803 14100.00 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 10585 9 1240.09

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 40 420 214.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93085 2 2447.02

TT8_Active 822 9 87.27

TT8_Sampling 2869 27 891.40

TT8_CF8 257 37 110.93

TT8_Kalman 0 0 0.00

Analog_circuits 1951 10 242.11

GPS_charging 0 0 0.00

Compass 1997 6 153.18

RAFOS 12660 33 4754.34

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 2829 1936 1718 1782 0.0 0.0 0 51 0.00 0.00 -40.30 0.005 16390 0.000 0.000 2829 1934 3223 3329 3118 0 0 0 0 0 0 14.29 12.53 14.32

53 -0.78 -97.3 2829 1936 3327 3118 14.2 -6.0 4 59 1.23 2.50 0.00 0.000 4356 0.143 0.101 2469 3271 3223 3329 3118 0 0 0 0 0 0 14.00 14.02 14.09

83 -0.78 -97.3 2465 3271 3330 3119 18.3 -13.8 10 89 0.00 2.40 0.00 0.000 1030 0.000 0.069 2469 1934 3223 3329 3118 0 0 0 0 0 0 14.23 14.09 14.27

403 -0.78 -97.3 2469 1934 3330 3119 85.8 -17.7 25 409 0.00 2.65 0.00 0.000 516 0.000 0.116 2469 528 3224 3329 3119 0 0 0 0 0 0 14.53 14.09 14.56

554 -0.78 -97.3 2470 529 3330 3119 110.5 -16.1 55 560 0.00 2.42 0.00 0.000 1030 0.000 0.088 2470 1862 3223 3329 3118 0 0 0 0 0 0 14.34 14.19 14.39

944 -0.78 -97.3 2469 1864 3330 3119 163.1 -12.9 73 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1864 3223 3329 3118 0 0 0 0 0 0 14.62 14.65 14.64

1304 -0.78 -97.3 2469 1865 3330 3119 207.5 -12.1 85 1306 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1862 3224 3329 3119 0 0 0 0 0 0 14.64 14.68 14.67

1665 -0.78 -97.3 2469 1864 3330 3119 246.4 -10.5 97 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1864 3223 3329 3118 0 0 0 0 0 0 14.66 14.69 14.68

2024 -0.78 -97.3 2469 1864 3330 3119 280.8 -9.2 109 2026 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1864 3224 3329 3119 0 0 0 0 0 0 14.66 14.70 14.69

2384 -0.78 -97.3 2469 1865 3330 3119 312.0 -8.5 121 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1864 3223 3329 3118 0 0 0 0 0 0 14.78 14.82 14.81

2744 -0.78 -97.3 2469 1865 3330 3117 340.7 -7.7 133 2750 0.00 2.60 0.00 0.000 260 0.000 0.106 2469 3266 3221 3324 3118 0 0 0 0 0 0 14.79 14.14 14.82

2819 -0.78 -97.3 2469 3267 3330 3119 346.6 -7.9 148 2825 0.00 2.42 0.00 0.000 1030 0.000 0.071 2469 1933 3223 3329 3118 0 0 0 0 0 0 14.26 14.17 14.31

3195 -0.78 -97.3 2469 1933 3329 3119 374.8 -7.5 163 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1932 3223 3329 3118 0 0 0 0 0 0 14.80 14.81 14.83

3555 -0.78 -97.3 2469 1933 3331 3119 401.4 -7.3 175 3561 0.00 2.50 0.00 0.000 260 0.000 0.103 2469 3269 3223 3329 3118 0 0 0 0 0 0 14.67 14.11 14.69

3605 -0.78 -97.3 2469 3271 3330 3119 405.2 -7.5 185 3611 0.00 2.42 0.00 0.000 1030 0.000 0.073 2468 1936 3223 3329 3118 0 0 0 0 0 0 14.24 14.16 14.31

3976 -0.78 -97.3 2469 1938 3330 3119 431.5 -7.0 199 3978 0.00 0.00 0.00 0.000 38 0.000 0.000 2469 1937 3223 3329 3118 0 0 0 0 0 0 14.80 14.83 14.83

4336 -0.78 -97.3 2469 1937 3330 3119 456.4 -6.9 211 4342 0.00 2.47 0.00 0.000 292 0.000 0.103 2469 3274 3223 3329 3118 0 0 0 0 0 0 14.81 14.11 14.83

4381 -0.78 -97.3 2469 3274 3330 3118 459.6 -7.1 220 4387 0.00 2.38 0.00 0.000 1062 0.000 0.073 2469 1943 3223 3329 3118 0 0 0 0 0 0 14.34 14.17 14.40

4757 -0.78 -97.3 2469 1943 3330 3118 485.3 -6.8 235 4758 0.00 0.00 0.00 0.000 38 0.000 0.000 2468 1942 3224 3329 3119 0 0 0 0 0 0 14.66 14.69 14.69

4995 end dive: TARGET_DEPTH_EXCEEDED

state 4995 begin apogee

4999 -0.17 0.0 2469 2047 3330 3119 501.7 -6.8 243 5097 0.75 0.00 94.90 1.804 10246 0.230 0.000 2657 2046 2824 2955 2694 0 0 0 0 0 0 13.92 13.93 13.02

5098 end apogee: CONTROL_FINISHED_OK

state 5098 begin loiter

5446 -0.17 0.0 2657 2046 2946 2690 501.4 0.8 249 5448 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2045 2817 2946 2689 0 0 0 0 0 0 14.64 14.68 14.67

6047 -0.17 0.0 2657 2046 2945 2689 494.2 1.2 254 6048 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2046 2816 2944 2688 0 0 0 0 0 0 14.83 14.86 14.85

6646 -0.17 0.0 2657 2047 2944 2688 488.0 1.0 259 6648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 14.73 14.76 14.76

7247 -0.17 0.0 2657 2046 2944 2687 482.0 1.0 264 7248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 14.76 14.79 14.79

7846 -0.17 0.0 2657 2046 2944 2687 475.5 1.1 269 7848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 14.78 14.81 14.81

8447 -0.17 0.0 2656 2047 2944 2687 468.5 1.2 274 8448 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 15.00 15.03 15.02

9046 -0.17 0.0 2657 2046 2943 2687 462.3 1.0 279 9048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 14.80 14.83 14.83

9647 -0.17 0.0 2657 2046 2943 2687 457.5 0.8 284 9648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.05

10246 -0.17 0.0 2657 2047 2943 2688 453.1 0.7 289 10248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2815 2943 2687 0 0 0 0 0 0 15.03 15.07 15.06

10847 -0.17 0.0 2657 2046 2943 2687 448.8 0.7 294 10848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2687 0 0 0 0 0 0 14.81 14.84 14.83

11446 -0.17 0.0 2656 2046 2943 2687 444.0 0.8 299 11448 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 15.04 15.07 15.07

12047 -0.17 0.0 2657 2047 2943 2687 439.2 0.8 304 12048 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2046 2814 2942 2686 0 0 0 0 0 0 14.81 14.87 14.83

12646 -0.17 0.0 2657 2046 2941 2686 436.3 0.5 309 12648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.71 14.74 14.73

13247 -0.17 0.0 2657 2046 2943 2687 433.7 0.4 314 13248 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2046 2814 2942 2686 0 0 0 0 0 0 14.65 14.68 14.67

13846 -0.17 0.0 2657 2046 2941 2685 429.4 0.7 319 13848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.61 14.64 14.64

14449 -0.17 0.0 2657 2047 2943 2687 425.3 0.7 324 14450 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.62 14.66 14.65

15046 -0.17 0.0 2657 2047 2943 2687 423.2 0.3 329 15048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.92 14.95 14.95

15647 -0.17 0.0 2657 2047 2942 2686 421.8 0.2 334 15648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.75 14.78 14.78

16246 -0.17 0.0 2657 2047 2943 2687 420.6 0.2 339 16248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.74 14.77 14.77

16847 -0.17 0.0 2657 2047 2943 2687 419.5 0.2 344 16848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 15.01 15.04 15.04

17446 -0.17 0.0 2657 2047 2942 2686 418.3 0.2 349 17448 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.02 15.05 15.05

18047 -0.17 0.0 2657 2047 2943 2687 417.2 0.2 354 18048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2814 2942 2686 0 0 0 0 0 0 14.77 14.81 14.80

18646 -0.17 0.0 2657 2046 2942 2687 417.3 -0.0 359 18648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.04 15.07 15.07

19247 -0.17 0.0 2657 2047 2943 2687 418.2 -0.2 364 19248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.04 15.08 15.07

19846 -0.17 0.0 2657 2046 2942 2686 418.6 -0.1 369 19848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.03 15.08 15.08

20447 -0.17 0.0 2657 2046 2942 2686 418.6 0.0 374 20448 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2046 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

21046 -0.17 0.0 2657 2046 2942 2686 418.5 0.0 379 21048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.05 15.09 15.09

21647 -0.17 0.0 2657 2046 2942 2686 417.9 0.1 384 21648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2685 0 0 0 0 0 0 14.78 14.81 14.81

22246 -0.17 0.0 2658 2047 2942 2686 417.7 0.0 389 22248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.06 15.09 15.09

22847 -0.17 0.0 2656 2047 2942 2686 417.7 0.0 394 22848 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.06 15.09 15.09

23446 -0.17 0.0 2657 2046 2942 2686 418.0 -0.1 399 23448 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

24047 -0.17 0.0 2658 2047 2942 2687 417.6 0.1 404 24048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.06 15.09 15.09

24646 -0.17 0.0 2657 2045 2942 2687 418.0 -0.1 409 24648 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2046 2813 2941 2686 0 0 0 0 0 0 15.07 15.09 15.09

25247 -0.17 0.0 2657 2046 2942 2686 417.8 0.0 414 25248 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2686 0 0 0 0 0 0 15.06 15.09 15.09

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90047 -0.17 0.0 2657 2046 2941 2686 415.6 -0.1 954 90048 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2685 0 0 0 0 0 0 14.73 14.77 14.76

90646 -0.17 0.0 2657 2046 2941 2686 417.2 -0.3 959 90648 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2046 2813 2941 2685 0 0 0 0 0 0 15.04 15.07 15.07

91247 -0.17 0.0 2657 2046 2941 2686 418.8 -0.3 964 91248 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2046 2812 2940 2685 0 0 0 0 0 0 14.71 14.73 14.73

91485 end loiter: LOITER_COMPLETE

state 91485 begin climb

91486 0.78 97.3 2657 2047 2941 2686 419.2 0.0 966 91592 1.05 2.60 95.25 1.677 10756 0.139 0.114 2962 719 2425 2552 2299 0 0 0 0 0 0 13.90 13.99 13.09

91817 0.79 97.3 2962 720 2543 2294 396.4 8.7 1031 91825 0.00 2.42 0.00 0.000 1094 0.000 0.089 2962 2038 2417 2542 2293 0 0 0 0 0 0 14.19 14.02 14.26

92182 0.81 97.3 2963 2038 2542 2292 365.1 8.6 1044 92184 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2038 2415 2540 2291 0 0 0 0 0 0 14.58 14.62 14.61

92542 0.83 97.3 2962 2038 2540 2290 335.0 8.2 1056 92544 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2038 2413 2540 2286 0 0 0 0 0 0 14.59 14.62 14.62

92902 0.86 97.3 2962 2039 2540 2289 306.8 7.6 1068 92908 0.00 2.65 0.00 0.000 324 0.000 0.109 2962 3447 2413 2539 2288 0 0 0 0 0 0 14.61 14.07 14.63

92962 0.88 97.3 2968 3448 2540 2289 301.8 8.3 1080 92968 0.12 2.40 0.00 0.000 3142 0.132 0.075 3009 2117 2413 2538 2289 0 0 0 0 0 0 14.22 14.15 14.36

93354 0.91 97.3 3010 2117 2539 2290 268.8 7.9 1098 93355 0.00 0.00 0.00 0.000 70 0.000 0.000 3009 2116 2413 2538 2289 0 0 0 0 0 0 14.63 14.66 14.66

93712 0.98 152.1 3010 2117 2538 2290 245.5 5.8 1110 93769 0.00 2.67 48.60 1.489 8740 0.000 0.116 3010 711 2203 2320 2086 0 0 0 0 0 0 14.62 14.18 13.36

93838 1.00 152.1 3010 712 2314 2083 236.6 8.1 1135 93845 0.00 2.47 0.00 0.000 1094 0.000 0.089 3011 2036 2198 2313 2083 0 0 0 0 0 0 14.13 14.03 14.19

94225 1.05 186.6 3011 2036 2310 2081 207.5 7.1 1152 94257 0.15 0.00 31.08 1.432 10278 0.125 0.000 3072 2036 2064 2168 1961 0 0 0 0 0 0 14.26 14.23 13.40

94615 1.05 186.6 3073 2037 2155 1957 170.4 9.3 1165 94616 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2036 2055 2155 1956 0 0 0 0 0 0 14.52 14.55 14.55

94975 1.06 186.6 3072 2035 2154 1956 139.4 8.3 1177 94977 0.00 0.00 0.00 0.000 70 0.000 0.000 3071 2038 2054 2153 1955 0 0 0 0 0 0 14.56 14.59 14.59

95335 1.11 220.5 3072 2037 2152 1955 112.3 7.1 1189 95381 0.00 0.00 42.00 1.304 8486 0.000 0.000 3072 2036 1924 2016 1832 0 0 0 0 0 0 14.73 14.07 13.50

95756 1.16 263.5 3072 2037 2011 1826 81.3 6.5 1213 95823 0.00 2.65 61.22 1.255 8484 0.000 0.109 3072 3451 1749 1831 1667 0 0 0 0 0 0 14.64 13.93 13.36

95892 1.18 263.5 3072 3452 1826 1668 70.9 8.4 1240 95898 0.00 2.47 0.00 0.000 1094 0.000 0.076 3073 2116 1746 1826 1666 0 0 0 0 0 0 14.11 14.02 14.16

96268 1.29 347.6 3073 2117 1822 1665 51.9 3.9 1255 96436 0.20 2.78 155.77 1.188 10788 0.115 0.117 3150 715 1406 1455 1358 0 0 0 0 0 0 14.25 13.77 13.19

96630 1.36 400.9 3151 716 1452 1356 30.0 5.9 1327 96734 0.00 2.45 95.00 1.139 9254 0.000 0.089 3150 2042 1188 1213 1164 0 0 0 0 0 0 14.15 13.99 13.14

96917 end climb: FINISH_DEPTH_REACHED

state 96917 begin subsurface finish

96921 0.34 264.1 3150 2043 1213 1163 9.5 7.9 1365 96951 1.20 0.00 -20.00 0.006 20486 0.193 0.000 2828 2043 1751 1721 1782 0 0 0 0 0 0 13.86 12.55 14.12

96951 end subsurface finish: CONTROL_FINISHED_OK

state 96951 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	204	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	120220,123531,7530.1904,-14410.8389,0,4255.0,0,23.4,0.0,0.0,0,0.0	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	11.54	MHEAD_RNG_PITCHd_Wd	262.3,4042,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-7.4	D_GRID	500
GPS2	120220,123531,7530.1904,-14410.8389,0,4255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200213162032.357267,06,24199,43,0223,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.6,0.41,-100,2.59,-01,0.14,63,925,0025*05	SC_FREEKB	3757248
FREEZE	9.49,-1.513,-1.522,2,108,0	_24V_AH	12.53,106.402
FINISH1	9.5,1.022337,264	_10V_AH	11.38,0.000
FINISH2	9.1	FG_AHR_24Vo	0.000
RAFOS_CLK	372	FG_AHR_10Vo	0.000
MODEM	2,1581538534,75.67648,-146.03058,34.009,49469.1	MEM	334796
RAFOS_FIX	7531.759277,-14419.006836,130220,161632,3,255,0.05	DATA_FILE_SIZE	46689,1368
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	225557,0
TT8_MAMPS	0.038948,0.271887	CFSIZE	1047117824,1015791616
HUMID	51.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82918	SOUNDSPEED	1453.8
TCM_TEMP	13.30	GPS	130220,162032,7531.759,-14419.007,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	163

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	230	13.56	nil	0	0	0.00
Roll_motor	50	131	83.67	nil	0	0	0.00
VBD_pump_during_apogee	623	1803	14100.00	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	10585	9	1240.09
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	40	420	214.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93085	2	2447.02
TT8_Active	822	9	87.27
TT8_Sampling	2869	27	891.40
TT8_CF8	257	37	110.93
TT8_Kalman	0	0	0.00
Analog_circuits	1951	10	242.11
GPS_charging	0	0	0.00
Compass	1997	6	153.18
RAFOS	12660	33	4754.34
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