Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 221 * 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 221 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 19 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 221 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 19 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 020320,203532,7532.2769,-14414.7451,0,6255.0,0,23.4,0.0,0.0,0,0.0 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 11.45 MHEAD_RNG_PITCHd_Wd 193.5,3465,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -7.0 D_GRID 500

GPS2 020320,203532,7532.2769,-14414.7451,0,6255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200304003532.678170,06,18715,42,0137,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.4,0.39,-100,2.61,-01,0.05,64,925,0025*04 SC_FREEKB 3747456

FREEZE 9.08,-1.525,-1.530,2,125,0 _24V_AH 12.94,114.660

FINISH1 9.1,1.022453,258 _10V_AH 11.19,0.000

FINISH2 8.5 FG_AHR_24Vo 0.000

RAFOS_CLK 323 FG_AHR_10Vo 0.000

MODEM 1,1583194239,75.02295,-144.31340,39.170,57011.0 MEM 334876

RAFOS_FIX 7530.563477,-14413.316406,040320,000032,2,510,0.03 DATA_FILE_SIZE 46610,1381

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 228737,0

TT8_MAMPS 0.038199,0.225449 CFSIZE 1047117824,1013563392

HUMID 51.14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.84871 SOUNDSPEED 1454.5

TCM_TEMP 13.20 GPS 040320,003532,7530.563,-14413.316,0,3510.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 119

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 224 14.48 nil 0 0 0.00

Roll_motor 70 123 113.26 nil 0 0 0.00

VBD_pump_during_apogee 640 1806 14970.12 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 11030 8 1186.50

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 29 420 161.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93399 2 2414.27

TT8_Active 879 9 91.69

TT8_Sampling 2930 27 895.12

TT8_CF8 266 37 112.53

TT8_Kalman 0 0 0.00

Analog_circuits 2027 10 247.25

GPS_charging 0 0 0.00

Compass 2016 6 152.05

RAFOS 15171 33 5602.20

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.78 -97.3 2831 1943 1785 1769 0.0 0.0 0 51 0.00 0.00 -41.03 0.005 16390 0.000 0.000 2831 1943 3223 3324 3122 0 0 0 0 0 0 14.52 13.17 14.40

53 -0.78 -97.3 2832 1943 3325 3122 13.7 -5.5 4 58 1.27 2.45 0.00 0.000 4356 0.171 0.096 2471 3263 3223 3324 3122 0 0 0 0 0 0 13.96 14.07 14.08

182 -0.78 -97.3 2471 3264 3325 3122 41.3 -24.3 30 189 0.00 2.45 0.00 0.000 1030 0.000 0.075 2471 1935 3227 3333 3122 0 0 0 0 0 0 14.14 14.06 14.19

564 -0.78 -97.3 2472 1938 3325 3122 107.9 -14.7 46 570 0.00 2.65 0.00 0.000 516 0.000 0.116 2472 532 3223 3324 3122 0 0 0 0 0 0 14.52 14.01 14.54

624 -0.78 -97.3 2471 533 3325 3122 117.0 -14.9 58 631 0.00 2.42 0.00 0.000 1030 0.000 0.086 2471 1861 3223 3325 3122 0 0 0 0 0 0 14.25 14.09 14.29

1015 -0.78 -97.3 2472 1862 3334 3123 167.3 -12.3 76 1017 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1861 3223 3324 3122 0 0 0 0 0 0 14.54 14.55 14.55

1375 -0.78 -97.3 2472 1862 3325 3122 210.2 -11.6 88 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1861 3222 3324 3121 0 0 0 0 0 0 14.54 14.57 14.57

1735 -0.78 -97.3 2472 1863 3329 3123 248.6 -10.2 100 1737 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1862 3223 3324 3122 0 0 0 0 0 0 14.54 14.57 14.56

2096 -0.78 -97.3 2471 1863 3324 3122 282.6 -8.9 112 2097 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1862 3223 3324 3122 0 0 0 0 0 0 14.59 14.62 14.62

2455 -0.78 -97.3 2471 1863 3333 3122 312.3 -8.1 124 2461 0.00 2.60 0.00 0.000 260 0.000 0.104 2471 3263 3223 3324 3122 0 0 0 0 0 0 14.74 14.11 14.76

2510 -0.78 -97.3 2472 3264 3326 3123 316.8 -8.1 135 2517 0.00 2.40 0.00 0.000 1030 0.000 0.070 2471 1939 3223 3324 3122 0 0 0 0 0 0 14.21 14.12 14.27

2875 -0.78 -97.3 2472 1939 3325 3122 344.6 -7.7 148 2877 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1939 3222 3324 3120 0 0 0 0 0 0 14.76 14.80 14.79

3235 -0.78 -97.3 2472 1940 3325 3123 371.3 -7.3 160 3241 0.00 2.47 0.00 0.000 260 0.000 0.101 2471 3259 3223 3324 3122 0 0 0 0 0 0 14.65 14.12 14.68

3275 -0.78 -97.3 2472 3264 3325 3122 374.3 -7.5 168 3281 0.00 2.40 0.00 0.000 1030 0.000 0.069 2471 1938 3223 3324 3122 0 0 0 0 0 0 14.22 14.13 14.40

3655 -0.78 -97.3 2471 1938 3325 3122 402.0 -7.3 184 3661 0.00 2.45 0.00 0.000 260 0.000 0.102 2471 3261 3222 3324 3121 0 0 0 0 0 0 14.65 14.12 14.68

3715 -0.78 -97.3 2472 3262 3326 3122 406.4 -7.5 196 3721 0.00 2.35 0.00 0.000 1030 0.000 0.069 2471 1937 3222 3324 3121 0 0 0 0 0 0 14.35 14.19 14.40

4105 -0.78 -97.3 2472 1938 3325 3123 434.2 -7.1 214 4107 0.00 0.00 0.00 0.000 38 0.000 0.000 2471 1937 3222 3323 3121 0 0 0 0 0 0 14.66 14.69 14.69

4465 -0.78 -97.3 2471 1938 3325 3121 459.5 -7.0 226 4472 0.00 2.45 0.00 0.000 292 0.000 0.102 2472 3262 3222 3324 3121 0 0 0 0 0 0 14.66 14.11 14.69

4516 -0.78 -97.3 2471 3263 3324 3123 463.1 -7.2 236 4522 0.00 2.38 0.00 0.000 1062 0.000 0.069 2472 1924 3222 3324 3121 0 0 0 0 0 0 14.33 14.14 14.36

4886 -0.78 -97.3 2472 1925 3325 3122 488.7 -6.8 250 4888 0.00 0.00 0.00 0.000 38 0.000 0.000 2471 1925 3222 3324 3121 0 0 0 0 0 0 14.77 14.81 14.80

5064 end dive: TARGET_DEPTH_EXCEEDED

state 5065 begin apogee

5069 -0.17 0.0 2472 2049 3325 3122 500.9 -6.8 256 5166 0.75 0.00 94.40 1.807 10246 0.225 0.000 2661 2043 2826 2964 2688 0 0 0 0 0 0 13.90 13.92 12.97

5167 end apogee: CONTROL_FINISHED_OK

state 5167 begin loiter

5516 -0.17 0.0 2661 2044 2956 2683 501.6 0.5 262 5517 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2819 2956 2683 0 0 0 0 0 0 14.52 14.54 14.54

6116 -0.17 0.0 2661 2044 2955 2681 496.1 0.9 267 6118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2817 2954 2680 0 0 0 0 0 0 14.83 14.86 14.86

6716 -0.17 0.0 2661 2044 2954 2681 491.1 0.8 272 6718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2816 2953 2680 0 0 0 0 0 0 14.73 14.76 14.76

7316 -0.17 0.0 2661 2044 2954 2680 486.3 0.8 277 7318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2953 2680 0 0 0 0 0 0 14.95 14.98 14.97

7916 -0.17 0.0 2661 2044 2954 2680 481.4 0.8 282 7918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2953 2680 0 0 0 0 0 0 14.78 14.81 14.81

8516 -0.17 0.0 2661 2044 2953 2680 476.8 0.8 287 8518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2953 2679 0 0 0 0 0 0 14.79 14.83 14.82

9116 -0.17 0.0 2661 2044 2953 2680 471.8 0.8 292 9118 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2044 2816 2953 2679 0 0 0 0 0 0 14.80 14.85 14.83

9716 -0.17 0.0 2661 2044 2953 2680 467.2 0.8 297 9718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2816 2953 2679 0 0 0 0 0 0 14.81 14.83 14.83

10316 -0.17 0.0 2661 2042 2953 2680 463.7 0.6 302 10318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2679 0 0 0 0 0 0 15.02 15.06 15.06

10916 -0.17 0.0 2661 2043 2953 2680 461.3 0.4 307 10918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.81 14.84 14.84

11516 -0.17 0.0 2661 2044 2953 2679 458.7 0.4 312 11518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2679 0 0 0 0 0 0 14.81 14.84 14.83

12116 -0.17 0.0 2661 2044 2953 2680 456.2 0.4 317 12118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.81 14.84 14.83

12716 -0.17 0.0 2661 2044 2953 2679 454.0 0.4 322 12718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.81 14.84 14.83

13316 -0.17 0.0 2660 2044 2953 2680 452.0 0.3 327 13318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.81 14.84 14.83

13916 -0.17 0.0 2661 2044 2953 2680 450.1 0.3 332 13918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.81 14.83 14.83

14516 -0.17 0.0 2662 2044 2953 2680 448.9 0.2 337 14518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.71 14.74 14.73

15116 -0.17 0.0 2661 2044 2953 2679 448.6 0.1 342 15118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.64 14.66 14.70

15716 -0.17 0.0 2661 2044 2953 2679 448.1 0.1 347 15718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2679 0 0 0 0 0 0 14.59 14.63 14.62

16316 -0.17 0.0 2661 2044 2953 2679 447.4 0.1 352 16318 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2043 2814 2951 2678 0 0 0 0 0 0 14.57 14.60 14.59

16916 -0.17 0.0 2662 2044 2953 2679 447.1 0.0 357 16918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.66 14.69 14.67

17516 -0.17 0.0 2661 2044 2953 2679 447.1 -0.0 362 17518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.95 14.98 14.97

18116 -0.17 0.0 2661 2044 2952 2679 447.0 0.0 367 18118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2678 0 0 0 0 0 0 14.98 15.01 15.01

18716 -0.17 0.0 2661 2044 2953 2679 446.8 0.0 372 18718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 15.00 15.03 15.03

19316 -0.17 0.0 2662 2044 2953 2679 446.2 0.1 377 19318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2679 0 0 0 0 0 0 14.76 14.79 14.78

19916 -0.17 0.0 2661 2044 2953 2680 445.7 0.1 382 19918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.76 14.80 14.79

20516 -0.17 0.0 2662 2044 2953 2679 446.2 -0.1 387 20518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2814 2951 2678 0 0 0 0 0 0 15.04 15.07 15.07

21116 -0.17 0.0 2661 2044 2952 2679 447.5 -0.2 392 21118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2678 0 0 0 0 0 0 15.04 15.07 15.07

21716 -0.17 0.0 2662 2044 2953 2679 448.3 -0.1 397 21718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2678 0 0 0 0 0 0 14.78 14.81 14.81

22316 -0.17 0.0 2661 2044 2952 2679 448.2 0.0 402 22318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.78 14.81 14.81

22916 -0.17 0.0 2661 2044 2952 2679 447.6 0.1 407 22918 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.78 14.81 14.81

23516 -0.17 0.0 2661 2044 2952 2679 447.2 0.1 412 23518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2952 2678 0 0 0 0 0 0 14.79 14.82 14.81

24116 -0.17 0.0 2661 2044 2952 2679 446.7 0.1 417 24118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2678 0 0 0 0 0 0 15.05 15.09 15.08

24716 -0.17 0.0 2661 2044 2953 2679 446.7 -0.0 422 24718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2814 2951 2678 0 0 0 0 0 0 15.05 15.09 15.08

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89516 -0.17 0.0 2660 2044 2952 2678 446.9 0.0 962 89518 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2815 2952 2678 0 0 0 0 0 0 14.94 14.97 14.97

90116 -0.17 0.0 2662 2044 2953 2678 446.3 0.1 967 90118 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2814 2952 2677 0 0 0 0 0 0 14.98 15.01 15.01

90716 -0.17 0.0 2662 2044 2953 2679 446.0 0.0 972 90718 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2814 2952 2677 0 0 0 0 0 0 15.00 15.03 15.03

91316 -0.17 0.0 2662 2044 2953 2679 446.0 -0.0 977 91318 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2814 2952 2677 0 0 0 0 0 0 15.02 15.04 15.04

91554 end loiter: LOITER_COMPLETE

state 91554 begin climb

91556 0.78 97.3 2660 2044 2952 2678 446.0 0.0 979 91662 1.00 2.55 96.78 1.698 10756 0.136 0.110 2960 711 2425 2556 2295 0 0 0 0 0 0 13.79 13.71 12.94

91886 0.79 97.3 2960 712 2544 2290 423.4 8.5 1044 91894 0.00 2.42 0.00 0.000 1094 0.000 0.086 2960 2029 2416 2543 2290 0 0 0 0 0 0 14.18 14.01 14.25

92252 0.81 97.3 2960 2030 2542 2289 392.7 8.3 1057 92257 0.00 2.50 0.00 0.000 580 0.000 0.114 2960 714 2414 2541 2288 0 0 0 0 0 0 14.59 14.02 14.62

92471 0.83 97.3 2961 715 2541 2288 374.0 8.5 1101 92477 0.00 2.40 0.00 0.000 1094 0.000 0.086 2961 2033 2414 2541 2287 0 0 0 0 0 0 14.27 14.09 14.35

92852 0.85 97.3 2960 2034 2540 2287 342.9 8.0 1117 92853 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2033 2413 2539 2287 0 0 0 0 0 0 14.61 14.64 14.64

93211 0.89 97.3 2961 2034 2540 2287 314.9 7.6 1129 93217 0.15 2.65 0.00 0.000 2372 0.125 0.106 3019 3454 2412 2539 2286 0 0 0 0 0 0 14.30 14.05 14.40

93266 0.89 97.3 3019 3454 2540 2287 309.5 10.1 1140 93274 0.00 2.45 0.00 0.000 1030 0.000 0.073 3019 2111 2412 2539 2286 0 0 0 0 0 0 14.33 14.07 14.38

93632 0.90 97.3 3019 2112 2540 2287 277.0 8.5 1153 93634 0.00 0.00 0.00 0.000 70 0.000 0.000 3019 2111 2412 2539 2286 0 0 0 0 0 0 14.62 14.66 14.65

93992 0.96 138.0 3019 2112 2539 2287 250.9 6.7 1165 94030 0.00 0.00 36.90 1.491 8230 0.000 0.000 3017 2111 2262 2386 2138 0 0 0 0 0 0 14.63 14.28 13.39

94382 1.00 176.0 3019 2112 2373 2135 222.4 6.8 1178 94417 0.00 0.00 34.38 1.447 8230 0.000 0.000 3019 2112 2107 2216 1999 0 0 0 0 0 0 14.56 14.20 13.32

94772 1.04 176.0 3018 2112 2202 1997 192.4 7.5 1191 94773 0.00 0.00 0.00 0.000 70 0.000 0.000 3019 2112 2100 2202 1998 0 0 0 0 0 0 14.54 14.57 14.57

95132 1.08 210.5 3019 2112 2200 1996 166.6 7.1 1203 95170 0.15 2.62 31.70 1.393 10788 0.123 0.121 3081 713 1965 2061 1869 0 0 0 0 0 0 14.30 14.22 13.40

95199 1.08 210.5 3081 714 2056 1868 160.6 9.7 1216 95206 0.00 2.45 0.00 0.000 1030 0.000 0.086 3081 2034 1962 2056 1868 0 0 0 0 0 0 14.34 14.12 14.35

95585 1.08 210.5 3080 2035 2052 1864 124.4 9.2 1233 95591 0.00 2.65 0.00 0.000 260 0.000 0.108 3080 3454 1958 2052 1864 0 0 0 0 0 0 14.68 14.09 14.71

95666 1.08 210.5 3081 3455 2052 1864 116.5 9.9 1249 95671 0.00 2.40 0.00 0.000 1030 0.000 0.074 3081 2116 1957 2052 1863 0 0 0 0 0 0 14.32 14.17 14.38

96036 1.13 244.8 3081 2117 2051 1862 87.8 7.1 1263 96092 0.00 2.70 47.55 1.278 8740 0.000 0.116 3081 706 1826 1915 1738 0 0 0 0 0 0 14.62 14.16 13.41

96122 1.16 244.8 3081 708 1914 1738 81.5 7.8 1275 96128 0.00 2.42 0.00 0.000 1094 0.000 0.086 3081 2040 1825 1914 1736 0 0 0 0 0 0 14.26 14.11 14.31

96487 1.25 312.4 3081 2037 1910 1732 59.7 5.0 1288 96624 0.12 2.67 128.93 1.203 10532 0.149 0.106 3128 3442 1550 1621 1479 0 0 0 0 0 0 14.26 13.87 13.19

96663 1.27 312.4 3128 3443 1620 1480 48.9 8.2 1313 96670 0.00 2.42 0.00 0.000 1094 0.000 0.076 3129 2121 1548 1618 1479 0 0 0 0 0 0 14.05 13.92 14.08

97029 1.39 405.0 3126 2121 1615 1478 32.8 3.4 1326 97209 0.00 2.80 169.62 1.152 8740 0.000 0.115 3129 708 1173 1200 1147 0 0 0 0 0 0 14.56 13.72 13.09

97284 1.41 405.0 3129 708 1197 1143 16.4 8.0 1370 97291 0.15 2.47 0.00 0.000 3142 0.126 0.085 3189 2037 1170 1197 1144 0 0 0 0 0 0 13.94 13.85 14.02

97357 end climb: FINISH_DEPTH_REACHED

state 97357 begin subsurface finish

97361 0.34 258.1 3189 2037 1197 1145 9.1 10.0 1378 97392 1.38 0.00 -22.10 0.006 20486 0.203 0.000 2826 2037 1774 1752 1797 0 0 0 0 0 0 13.78 13.11 14.05

97392 end subsurface finish: CONTROL_FINISHED_OK

state 97392 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	221	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	19	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	020320,203532,7532.2769,-14414.7451,0,6255.0,0,23.4,0.0,0.0,0,0.0	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	11.45	MHEAD_RNG_PITCHd_Wd	193.5,3465,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-7.0	D_GRID	500
GPS2	020320,203532,7532.2769,-14414.7451,0,6255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200304003532.678170,06,18715,42,0137,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.4,0.39,-100,2.61,-01,0.05,64,925,0025*04	SC_FREEKB	3747456
FREEZE	9.08,-1.525,-1.530,2,125,0	_24V_AH	12.94,114.660
FINISH1	9.1,1.022453,258	_10V_AH	11.19,0.000
FINISH2	8.5	FG_AHR_24Vo	0.000
RAFOS_CLK	323	FG_AHR_10Vo	0.000
MODEM	1,1583194239,75.02295,-144.31340,39.170,57011.0	MEM	334876
RAFOS_FIX	7530.563477,-14413.316406,040320,000032,2,510,0.03	DATA_FILE_SIZE	46610,1381
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	228737,0
TT8_MAMPS	0.038199,0.225449	CFSIZE	1047117824,1013563392
HUMID	51.14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.84871	SOUNDSPEED	1454.5
TCM_TEMP	13.20	GPS	040320,003532,7530.563,-14413.316,0,3510.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	119

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	224	14.48	nil	0	0	0.00
Roll_motor	70	123	113.26	nil	0	0	0.00
VBD_pump_during_apogee	640	1806	14970.12	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	11030	8	1186.50
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	29	420	161.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93399	2	2414.27
TT8_Active	879	9	91.69
TT8_Sampling	2930	27	895.12
TT8_CF8	266	37	112.53
TT8_Kalman	0	0	0.00
Analog_circuits	2027	10	247.25
GPS_charging	0	0	0.00
Compass	2016	6	152.05
RAFOS	15171	33	5602.20
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