Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 354 * 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 354 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 17 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 354 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 17 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 010820,123535,7532.4995,-14419.1240,0,3510.0,0,23.6,0.0,0.0,0,0.0 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 12.51 MHEAD_RNG_PITCHd_Wd 157.3,3183,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -9.9 D_GRID 500

GPS2 010820,123535,7532.4995,-14419.1240,0,3510.0,0,23.6,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200802163533.986828,06,21774,43,0189,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.8,0.39,-100,2.61,-01,0.15,67,925,0025*06 XPDR_PINGS 154

FREEZE 0.06,-1.350,-1.474,2,2,0 SC_FREEKB 3670880

FINISH 0.1,1.021737 _24V_AH 12.33,186.518

SM_CCo 99344,55.47,0.364,1,0,989,450.13 _10V_AH 9.63,0.000

SM_GC 1.04,9.27,0.35,55.47,0.089,0.118,0.364,257,1933,989,-7.60,2.97,450.13,0,0,0,0,1,0,14.06,14.01,13.07 FG_AHR_24Vo 0.000

RAFOS_CLK 382 FG_AHR_10Vo 0.000

MODEM 4,1596299216,76.55490,-139.99944,116.406,169349.3 MEM 334876

RAFOS_FIX 7532.056152,-14410.672852,020820,161633,4,255,0.04 DATA_FILE_SIZE 53194,1503

IRIDIUM_FIX 7532.34,-14428.74,290720,053434 CAP_FILE_SIZE 239800,0

TT8_MAMPS 0.038948,0.204477 CFSIZE 1047117824,995917824

HUMID 51.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.77058 SOUNDSPEED 1455.5

TCM_TEMP 13.10 GPS 020820,194534,7530.354,-14410.771,49,1.6,60,23.6,0.2,0.0,4,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 224 35.65 nil 0 0 0.00

Roll_motor 57 129 92.14 nil 0 0 0.00

VBD_pump_during_apogee 762 1873 17603.99 nil 0 0 0.00

VBD_pump_during_surface 55 364 249.07 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 12977 10 1600.86

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 38 420 199.38 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 94912 2 2111.36

TT8_Active 1048 9 94.11

TT8_Sampling 3180 27 836.26

TT8_CF8 377 37 137.20

TT8_Kalman 0 0 0.00

Analog_circuits 2239 10 235.08

GPS_charging 0 0 0.00

Compass 2224 6 144.38

RAFOS 12972 33 4122.37

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 2840 1855 1600 1636 0.0 0.0 0 52 0.00 0.00 -41.45 0.004 16390 0.000 0.000 2840 1855 3223 3327 3119 0 0 0 0 0 0 14.35 12.33 14.35

54 -0.78 -97.3 2841 1856 3328 3120 15.5 -6.3 4 59 1.27 2.65 0.00 0.000 4356 0.146 0.101 2468 3266 3224 3328 3120 0 0 0 0 0 0 13.84 13.94 13.97

284 -0.78 -97.3 2468 3267 3329 3120 62.7 -17.7 50 289 0.00 2.40 0.00 0.000 1030 0.000 0.072 2468 1942 3224 3328 3120 0 0 0 0 0 0 14.13 14.02 14.17

655 -0.78 -97.3 2468 1943 3329 3120 119.8 -14.7 64 660 0.00 2.50 0.00 0.000 260 0.000 0.103 2468 3271 3224 3328 3120 0 0 0 0 0 0 14.47 13.89 14.50

884 -0.78 -97.3 2468 3271 3328 3120 150.9 -13.0 110 889 0.00 2.45 0.00 0.000 1030 0.000 0.071 2468 1930 3224 3328 3120 0 0 0 0 0 0 14.11 13.96 14.16

1255 -0.78 -97.3 2468 1927 3329 3120 195.4 -11.5 124 1260 0.00 2.55 0.00 0.000 260 0.000 0.103 2468 3273 3224 3328 3120 0 0 0 0 0 0 14.47 13.85 14.50

1354 -0.78 -97.3 2468 3274 3329 3120 207.0 -11.7 144 1360 0.00 2.45 0.00 0.000 1030 0.000 0.073 2468 1935 3224 3328 3120 0 0 0 0 0 0 14.09 13.93 14.13

1735 -0.78 -97.3 2469 1936 3326 3121 247.8 -10.3 160 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1935 3224 3328 3120 0 0 0 0 0 0 14.46 14.49 14.48

2099 -0.78 -97.3 2469 1936 3328 3121 280.5 -9.3 172 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1935 3224 3328 3120 0 0 0 0 0 0 14.54 14.57 14.57

2455 -0.78 -97.3 2468 1936 3328 3120 309.4 -7.3 184 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1935 3224 3328 3120 0 0 0 0 0 0 14.73 14.76 14.76

2815 -0.78 -97.3 2468 1936 3328 3120 337.3 -7.9 196 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1935 3223 3328 3119 0 0 0 0 0 0 14.76 14.78 14.78

3175 -0.78 -97.3 2469 1936 3329 3120 365.4 -7.7 208 3180 0.00 2.53 0.00 0.000 260 0.000 0.104 2468 3263 3223 3328 3119 0 0 0 0 0 0 14.76 13.86 14.79

3230 -0.78 -97.3 2468 3264 3329 3119 369.6 -7.7 219 3237 0.00 2.42 0.00 0.000 1030 0.000 0.073 2468 1938 3223 3328 3119 0 0 0 0 0 0 14.05 13.89 14.10

3595 -0.78 -97.3 2468 1940 3327 3120 396.5 -7.3 232 3597 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1939 3223 3328 3119 0 0 0 0 0 0 14.77 14.78 14.79

3955 -0.78 -97.3 2468 1939 3329 3119 422.5 -7.2 244 3957 0.00 0.00 0.00 0.000 38 0.000 0.000 2468 1939 3223 3328 3118 0 0 0 0 0 0 14.57 14.59 14.59

4315 -0.78 -97.3 2468 1942 3329 3119 448.7 -7.3 256 4320 0.00 2.53 0.00 0.000 260 0.000 0.103 2468 3267 3221 3328 3114 0 0 0 0 0 0 14.77 13.81 14.80

4400 -0.78 -97.3 2469 3269 3329 3120 455.0 -7.4 273 4406 0.00 2.42 0.00 0.000 1030 0.000 0.072 2468 1939 3222 3328 3117 0 0 0 0 0 0 14.10 13.93 14.16

4765 -0.78 -97.3 2468 1940 3328 3119 481.0 -7.0 286 4767 0.00 0.00 0.00 0.000 38 0.000 0.000 2468 1940 3223 3328 3118 0 0 0 0 0 0 14.78 14.81 14.81

5063 end dive: TARGET_DEPTH_EXCEEDED

state 5063 begin apogee

5068 -0.17 0.0 2469 2049 3329 3120 501.7 -6.9 296 5170 0.77 0.00 98.30 1.780 10246 0.224 0.000 2659 2042 2824 2956 2693 0 0 0 0 0 0 13.60 13.78 12.74

5171 end apogee: CONTROL_FINISHED_OK

state 5171 begin loiter

5515 -0.17 0.0 2660 2043 2948 2689 505.7 -0.5 302 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2817 2947 2688 0 0 0 0 0 0 14.54 14.57 14.57

6115 -0.15 0.0 2659 2043 2945 2687 509.8 -0.7 307 6117 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2042 2816 2945 2687 0 0 0 0 0 0 14.65 14.68 14.67

6715 -0.14 0.0 2659 2043 2944 2687 513.8 -0.7 312 6717 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2043 2815 2944 2686 0 0 0 0 0 0 14.94 14.97 14.97

7315 -0.13 0.0 2659 2043 2944 2687 517.1 -0.5 317 7317 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2042 2815 2944 2686 0 0 0 0 0 0 15.00 15.00 14.99

7915 -0.13 0.0 2659 2043 2944 2686 519.0 -0.3 322 7917 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2815 2944 2686 0 0 0 0 0 0 14.99 15.02 15.01

8515 -0.13 0.0 2659 2043 2944 2687 521.6 -0.4 327 8517 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.00 15.02 15.02

9115 -0.13 0.0 2659 2043 2944 2687 524.2 -0.4 332 9117 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.00 15.04 15.07

9715 -0.13 0.0 2660 2043 2945 2687 526.4 -0.4 337 9717 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.01 15.04 15.04

10315 -0.12 0.0 2659 2043 2944 2687 529.6 -0.5 342 10317 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.01 15.04 15.04

10915 -0.11 0.0 2660 2043 2944 2687 533.4 -0.6 347 10917 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.01 15.04 15.04

11515 -0.09 0.0 2660 2043 2944 2687 536.9 -0.6 352 11517 0.00 0.00 0.00 0.000 70 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.04 15.04

12115 -0.09 0.0 2660 2043 2944 2687 539.0 -0.3 357 12117 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.04 15.04

12715 -0.09 0.0 2660 2043 2944 2686 540.2 -0.2 362 12717 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.04

13315 -0.09 0.0 2660 2043 2944 2687 540.8 -0.1 367 13317 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.01 15.05 15.04

13915 -0.09 0.0 2659 2043 2944 2687 541.5 -0.1 372 13917 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.04 15.04

14515 -0.09 0.0 2660 2043 2944 2687 543.3 -0.3 377 14517 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 14.53 14.57 14.56

15115 -0.09 0.0 2659 2043 2943 2686 545.5 -0.4 382 15117 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 14.49 14.52 14.52

15715 -0.09 0.0 2660 2043 2944 2687 547.0 -0.2 387 15717 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 14.47 14.50 14.50

16315 -0.09 0.0 2659 2043 2943 2687 547.6 -0.1 392 16317 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 14.45 14.48 14.48

16915 -0.09 0.0 2659 2043 2943 2687 547.9 -0.0 397 16917 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 14.59 14.62 14.62

17515 -0.09 0.0 2659 2043 2943 2686 548.6 -0.1 402 17517 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2685 0 0 0 0 0 0 14.96 14.99 14.99

18115 -0.09 0.0 2659 2043 2943 2686 549.2 -0.1 407 18117 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2685 0 0 0 0 0 0 14.64 14.67 14.67

18715 -0.09 0.0 2659 2042 2943 2687 551.1 -0.4 412 18717 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2814 2943 2686 0 0 0 0 0 0 15.00 15.03 15.02

19315 -0.08 0.0 2659 2043 2944 2687 554.5 -0.6 417 19317 0.00 0.00 0.00 0.000 70 0.000 0.000 2658 2042 2814 2943 2686 0 0 0 0 0 0 15.00 15.04 15.04

19915 -0.07 0.0 2660 2043 2945 2687 557.8 -0.5 422 19917 0.12 0.00 0.00 0.000 2118 0.207 0.000 2691 2042 2814 2943 2686 0 0 0 0 0 0 14.04 14.23 14.18

20515 -0.07 0.0 2692 2043 2944 2687 560.0 -0.3 427 20517 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2042 2814 2943 2686 0 0 0 0 0 0 14.66 14.69 14.69

21115 -0.07 0.0 2692 2043 2944 2687 559.8 0.1 432 21117 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.04

21715 -0.07 0.0 2692 2043 2943 2687 558.2 0.3 437 21717 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.04

22315 -0.07 0.0 2692 2043 2944 2687 557.0 0.2 442 22317 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.04 15.04

22915 -0.07 0.0 2692 2043 2944 2687 557.0 -0.0 447 22917 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2685 0 0 0 0 0 0 15.02 15.05 15.04

23515 -0.07 0.0 2692 2043 2944 2687 558.3 -0.2 452 23517 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2815 2944 2686 0 0 0 0 0 0 14.68 14.71 14.70

24115 -0.07 0.0 2692 2043 2944 2687 560.0 -0.3 457 24117 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.05

24715 -0.07 0.0 2692 2043 2944 2687 561.2 -0.2 462 24717 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.04

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88915 -0.07 0.0 2692 2043 2945 2687 611.0 0.1 997 88917 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 14.50 14.52 14.52

89515 -0.07 0.0 2692 2043 2944 2687 611.3 -0.1 1002 89517 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 14.95 14.99 14.98

90115 -0.07 0.0 2692 2043 2944 2687 612.1 -0.1 1007 90117 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2042 2814 2943 2686 0 0 0 0 0 0 14.98 15.02 15.01

90715 -0.07 0.0 2692 2043 2944 2687 613.1 -0.2 1012 90717 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2686 0 0 0 0 0 0 15.00 15.02 15.02

91315 -0.07 0.0 2692 2043 2944 2687 614.4 -0.2 1017 91317 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2042 2814 2943 2685 0 0 0 0 0 0 15.00 15.03 15.03

91553 end loiter: LOITER_COMPLETE

state 91553 begin climb

91555 0.78 97.3 2692 2043 2943 2687 614.9 0.0 1019 91671 0.90 2.75 103.60 1.873 10500 0.119 0.109 2961 3443 2425 2552 2298 0 0 0 0 0 0 13.50 13.70 12.59

91896 0.78 97.3 2962 3443 2543 2295 590.0 9.5 1086 91901 0.00 2.42 0.00 0.000 1030 0.000 0.077 2961 2114 2418 2542 2294 0 0 0 0 0 0 14.21 14.06 14.28

92282 0.80 97.3 2961 2114 2541 2292 557.9 8.3 1103 92287 0.00 2.53 0.00 0.000 324 0.000 0.104 2961 3452 2415 2540 2291 0 0 0 0 0 0 14.59 14.00 14.62

92511 0.80 97.3 2962 3452 2540 2292 536.1 9.5 1149 92517 0.00 2.42 0.00 0.000 1030 0.000 0.075 2961 2113 2415 2539 2291 0 0 0 0 0 0 14.23 14.07 14.31

92882 0.82 97.3 2962 2114 2543 2291 505.0 8.4 1163 92887 0.00 2.53 0.00 0.000 324 0.000 0.105 2961 3446 2414 2539 2290 0 0 0 0 0 0 14.61 13.95 14.64

92962 0.82 97.3 2961 3446 2540 2291 497.4 9.7 1179 92967 0.00 2.42 0.00 0.000 1030 0.000 0.076 2961 2115 2414 2539 2290 0 0 0 0 0 0 14.21 14.03 14.28

93333 0.83 97.3 2962 2116 2539 2291 466.2 8.4 1193 93335 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2115 2414 2538 2290 0 0 0 0 0 0 14.57 14.60 14.59

93693 0.86 97.3 2961 2120 2538 2290 436.6 8.2 1205 93694 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2115 2413 2538 2289 0 0 0 0 0 0 14.56 14.60 14.59

94053 0.88 97.3 2961 2114 2538 2290 407.1 8.1 1217 94054 0.12 0.00 0.00 0.000 2118 0.138 0.000 3007 2115 2413 2537 2289 0 0 0 0 0 0 14.21 14.33 14.30

94412 0.88 97.3 3007 2115 2538 2290 373.0 9.4 1229 94414 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2115 2413 2537 2289 0 0 0 0 0 0 14.56 14.59 14.59

94772 0.88 97.3 3008 2116 2537 2290 340.5 8.9 1241 94777 0.00 2.55 0.00 0.000 260 0.000 0.105 3007 3448 2413 2537 2289 0 0 0 0 0 0 14.55 13.87 14.58

94833 0.88 97.3 3007 3449 2537 2290 334.6 10.0 1253 94838 0.00 2.45 0.00 0.000 1030 0.000 0.078 3008 2116 2413 2536 2290 0 0 0 0 0 0 14.14 13.97 14.22

95223 0.89 97.3 3009 2117 2538 2290 300.3 8.7 1271 95228 0.00 2.55 0.00 0.000 324 0.000 0.104 3008 3451 2413 2537 2289 0 0 0 0 0 0 14.53 13.83 14.56

95268 0.89 97.3 3008 3451 2538 2289 296.3 8.9 1280 95274 0.00 2.45 0.00 0.000 1030 0.000 0.076 3008 2113 2413 2537 2289 0 0 0 0 0 0 14.12 13.95 14.19

95644 0.93 130.4 3009 2114 2538 2290 267.5 7.2 1295 95677 0.00 0.00 31.17 1.501 8230 0.000 0.000 3008 2113 2293 2416 2170 0 0 0 0 0 0 14.50 14.14 13.16

96034 0.98 164.5 3009 2113 2406 2167 239.1 7.1 1308 96067 0.00 0.00 31.75 1.450 8230 0.000 0.000 3008 2112 2155 2269 2042 0 0 0 0 0 0 14.54 14.04 13.10

96424 1.03 204.7 3009 2113 2256 2040 210.7 6.7 1321 96463 0.12 0.00 36.92 1.411 10278 0.146 0.000 3062 2111 1992 2088 1896 0 0 0 0 0 0 14.18 14.02 13.05

96814 1.03 204.7 3062 2112 2078 1893 173.3 9.2 1334 96816 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2111 1983 2077 1890 0 0 0 0 0 0 14.46 14.49 14.49

97174 1.04 204.7 3063 2112 2077 1889 141.5 8.6 1346 97176 0.00 0.00 0.00 0.000 70 0.000 0.000 3062 2111 1984 2080 1888 0 0 0 0 0 0 14.50 14.52 14.52

97534 1.09 243.6 3062 2112 2074 1889 115.2 6.8 1358 97587 0.00 0.00 51.05 1.276 8486 0.000 0.000 3062 2111 1831 1917 1745 0 0 0 0 0 0 14.59 14.02 13.16

97924 1.14 278.8 3062 2112 1910 1741 85.4 7.0 1376 98015 0.00 0.00 83.88 1.193 8230 0.000 0.000 3062 2111 1688 1763 1613 0 0 0 0 0 0 14.46 13.85 13.02

98374 1.20 329.7 3062 2112 1757 1611 53.4 6.0 1391 98496 0.15 0.00 115.12 1.169 10534 0.130 0.000 3115 2111 1478 1536 1420 0 0 0 0 0 0 14.13 13.61 13.00

98854 1.31 410.8 3116 2112 1533 1418 26.2 4.1 1421 99015 0.00 2.65 155.95 1.141 8996 0.000 0.106 3115 3451 1151 1170 1132 0 0 0 0 0 0 14.51 13.78 12.95

99233 1.37 458.1 3115 3452 1166 1130 6.3 6.3 1488 99293 0.15 2.45 54.33 1.119 11298 0.129 0.079 3178 2117 1016 1020 1013 0 0 0 0 0 0 14.06 13.99 14.19

99293 end climb: SURFACE_DEPTH_REACHED

state 99293 begin surface coast

99326 end surface coast: CONTROL_FINISHED_OK

state 99326 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	354	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	17	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	010820,123535,7532.4995,-14419.1240,0,3510.0,0,23.6,0.0,0.0,0,0.0	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	12.51	MHEAD_RNG_PITCHd_Wd	157.3,3183,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-9.9	D_GRID	500
GPS2	010820,123535,7532.4995,-14419.1240,0,3510.0,0,23.6,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200802163533.986828,06,21774,43,0189,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.8,0.39,-100,2.61,-01,0.15,67,925,0025*06	XPDR_PINGS	154
FREEZE	0.06,-1.350,-1.474,2,2,0	SC_FREEKB	3670880
FINISH	0.1,1.021737	_24V_AH	12.33,186.518
SM_CCo	99344,55.47,0.364,1,0,989,450.13	_10V_AH	9.63,0.000
SM_GC	1.04,9.27,0.35,55.47,0.089,0.118,0.364,257,1933,989,-7.60,2.97,450.13,0,0,0,0,1,0,14.06,14.01,13.07	FG_AHR_24Vo	0.000
RAFOS_CLK	382	FG_AHR_10Vo	0.000
MODEM	4,1596299216,76.55490,-139.99944,116.406,169349.3	MEM	334876
RAFOS_FIX	7532.056152,-14410.672852,020820,161633,4,255,0.04	DATA_FILE_SIZE	53194,1503
IRIDIUM_FIX	7532.34,-14428.74,290720,053434	CAP_FILE_SIZE	239800,0
TT8_MAMPS	0.038948,0.204477	CFSIZE	1047117824,995917824
HUMID	51.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.77058	SOUNDSPEED	1455.5
TCM_TEMP	13.10	GPS	020820,194534,7530.354,-14410.771,49,1.6,60,23.6,0.2,0.0,4,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	224	35.65	nil	0	0	0.00
Roll_motor	57	129	92.14	nil	0	0	0.00
VBD_pump_during_apogee	762	1873	17603.99	nil	0	0	0.00
VBD_pump_during_surface	55	364	249.07	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	12977	10	1600.86
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	38	420	199.38	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	94912	2	2111.36
TT8_Active	1048	9	94.11
TT8_Sampling	3180	27	836.26
TT8_CF8	377	37	137.20
TT8_Kalman	0	0	0.00
Analog_circuits	2239	10	235.08
GPS_charging	0	0	0.00
Compass	2224	6	144.38
RAFOS	12972	33	4122.37
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