Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 360 * 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 360 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 360 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 080820,123535,7532.0664,-14413.4482,0,5255.0,0,23.6,0.0,0.0,0,0.0 SPEED_LIMITS 0.160,0.233

_CALLS 3 TGT_NAME 9_51

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS -20000.000

_SM_DEPTHo 2.42 MHEAD_RNG_PITCHd_Wd 204.8,3586,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -48.7 D_GRID 500

GPS2 080820,123535,7532.0664,-14413.4482,181,99.0,181,23.6,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200809163535.406481,06,19752,42,0191,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.7,0.32,-100,2.68,-01,0.08,71,925,0025*0A XPDR_PINGS 168

FREEZE 0.14,-1.253,-1.454,2,3,0 SC_FREEKB 3667424

FINISH 0.1,1.021451 _24V_AH 12.59,190.225

SM_CCo 99149,0.00,0.000,0,0,939,462.64 _10V_AH 11.77,0.000

SM_GC 1.01,9.43,0.20,0.00,0.088,0.115,0.000,258,1935,939,-7.60,3.00,462.64,0,0,0,0,0,0,14.02,13.96,14.12 FG_AHR_24Vo 0.000

RAFOS_CLK 285 FG_AHR_10Vo 0.000

MODEM 6,1596904535,75.33060,-142.67570,35.575,51778.6 MEM 334792

RAFOS_FIX 7531.364746,-14420.962891,090820,161635,3,255,0.04 DATA_FILE_SIZE 53268,1516

IRIDIUM_FIX 7543.10,-14647.61,060820,071200 CAP_FILE_SIZE 245565,0

TT8_MAMPS 0.038948,0.287616 CFSIZE 1047117824,995131392

HUMID 51.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.77058 SOUNDSPEED 1455.4

TCM_TEMP 11.90 GPS 090820,185221,7528.836,-14419.329,43,1.3,59,23.6,0.2,0.0,4,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 461 146.06 nil 0 0 0.00

Roll_motor 61 132 102.10 nil 0 0 0.00

VBD_pump_during_apogee 844 1859 19780.57 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 12724 14 2311.14

Iridium_during_xfer 120 49 75.31 nil 0 0 0.00

Transponder_ping 42 420 222.09 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 182 21 46.63

TT8 0 0 0.00

LPSleep 94672 2 2574.02

TT8_Active 1107 9 121.45

TT8_Sampling 3478 27 1117.77

TT8_CF8 579 37 257.63

TT8_Kalman 0 0 0.00

Analog_circuits 2448 10 314.09

GPS_charging 0 0 0.00

Compass 2219 6 176.03

RAFOS 15227 33 5914.32

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

9 -0.78 -97.3 261 1944 944 964 0.0 0.0 0 83 0.00 0.00 -71.78 0.003 16386 0.000 0.000 265 1943 2214 2151 2278 0 0 0 0 0 0 14.60 28.83 14.63

85 -0.78 -97.3 261 1944 2154 2281 5.8 -7.7 7 129 13.23 2.72 -22.95 0.005 18948 0.461 0.132 2455 536 3225 3329 3122 0 0 0 0 0 0 13.57 12.71 14.10

354 -0.78 -97.3 2455 537 3329 3124 73.7 -18.9 60 361 0.00 2.42 0.00 0.000 1030 0.000 0.087 2455 1857 3226 3328 3124 0 0 0 0 0 0 14.17 14.00 14.23

720 -0.78 -97.3 2456 1858 3329 3124 129.3 -14.4 73 726 0.00 2.53 0.00 0.000 516 0.000 0.109 2455 530 3225 3328 3123 0 0 0 0 0 0 14.56 13.87 14.58

950 -0.78 -97.3 2455 530 3326 3124 163.5 -13.9 119 956 0.00 2.45 0.00 0.000 1030 0.000 0.086 2455 1862 3226 3328 3124 0 0 0 0 0 0 14.15 13.97 14.21

1321 -0.78 -97.3 2455 1863 3329 3124 210.4 -12.3 133 1326 0.00 2.53 0.00 0.000 516 0.000 0.109 2456 531 3226 3329 3123 0 0 0 0 0 0 14.76 13.85 14.78

1458 -0.78 -97.3 2455 531 3329 3124 227.8 -12.6 160 1463 0.00 2.45 0.00 0.000 1030 0.000 0.086 2455 1852 3226 3329 3123 0 0 0 0 0 0 14.12 13.95 14.18

1833 -0.78 -97.3 2458 1853 3327 3124 267.2 -9.9 175 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1852 3226 3329 3123 0 0 0 0 0 0 14.72 14.75 14.75

2193 -0.78 -97.3 2455 1853 3329 3124 300.2 -8.9 187 2194 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1852 3225 3328 3123 0 0 0 0 0 0 14.73 14.76 14.75

2552 -0.78 -97.3 2456 1853 3329 3124 331.3 -8.5 199 2554 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1852 3225 3328 3123 0 0 0 0 0 0 14.73 14.76 14.75

2912 -0.78 -97.3 2455 1853 3329 3124 361.2 -8.3 211 2914 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 1852 3225 3328 3123 0 0 0 0 0 0 14.46 14.50 14.49

3272 -0.78 -97.3 2455 1853 3329 3124 390.3 -8.0 223 3278 0.00 2.72 0.00 0.000 260 0.000 0.107 2455 3268 3226 3329 3123 0 0 0 0 0 0 14.27 13.73 14.29

3347 -0.78 -97.3 2456 3269 3329 3124 396.3 -8.0 238 3353 0.00 2.45 0.00 0.000 1030 0.000 0.070 2455 1933 3226 3329 3123 0 0 0 0 0 0 13.98 13.83 14.03

3723 -0.78 -97.3 2455 1934 3329 3124 425.2 -7.6 253 3724 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1933 3226 3329 3123 0 0 0 0 0 0 14.38 14.40 14.40

4082 -0.78 -97.3 2455 1934 3329 3124 452.4 -7.5 265 4084 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1933 3226 3329 3123 0 0 0 0 0 0 14.40 14.42 14.42

4443 -0.78 -97.3 2456 1934 3329 3124 479.2 -7.4 277 4444 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1932 3225 3328 3123 0 0 0 0 0 0 14.40 14.42 14.42

4740 end dive: TARGET_DEPTH_EXCEEDED

state 4740 begin apogee

4746 -0.17 0.0 2456 2047 3329 3124 501.6 -7.5 287 4848 0.82 0.00 99.57 1.773 10246 0.237 0.000 2655 2047 2825 2951 2699 0 0 0 0 0 0 13.53 13.73 12.70

4849 end apogee: CONTROL_FINISHED_OK

state 4849 begin loiter

5192 -0.17 0.0 2655 2048 2943 2695 505.8 -0.5 293 5194 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2047 2818 2942 2694 0 0 0 0 0 0 14.69 14.72 14.71

5793 -0.15 0.0 2655 2048 2941 2693 510.1 -0.7 298 5794 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2048 2816 2940 2692 0 0 0 0 0 0 14.64 14.68 14.67

6392 -0.14 0.0 2655 2048 2941 2693 515.0 -0.8 303 6394 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2047 2816 2940 2692 0 0 0 0 0 0 14.92 14.96 14.95

6993 -0.12 0.0 2655 2048 2940 2692 519.8 -0.8 308 6994 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2047 2815 2939 2692 0 0 0 0 0 0 14.95 14.99 14.98

7593 -0.11 0.0 2655 2048 2940 2692 524.0 -0.7 313 7594 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2047 2815 2939 2691 0 0 0 0 0 0 14.97 15.00 15.00

8193 -0.09 0.0 2656 2048 2939 2692 527.5 -0.6 318 8194 0.00 0.00 0.00 0.000 70 0.000 0.000 2655 2047 2815 2939 2691 0 0 0 0 0 0 14.98 15.02 15.01

8793 -0.08 0.0 2655 2048 2939 2692 530.6 -0.5 323 8794 0.12 0.00 0.00 0.000 2118 0.207 0.000 2689 2047 2815 2939 2691 0 0 0 0 0 0 14.26 14.40 14.34

9393 -0.08 0.0 2689 2048 2940 2692 533.1 -0.4 328 9394 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2815 2939 2691 0 0 0 0 0 0 15.00 15.03 15.02

9992 -0.08 0.0 2689 2048 2939 2692 535.7 -0.4 333 9994 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 15.00 15.04 15.03

10593 -0.08 0.0 2689 2048 2939 2692 538.6 -0.5 338 10594 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2815 2939 2691 0 0 0 0 0 0 15.00 15.04 15.03

11192 -0.08 0.0 2689 2048 2939 2692 541.6 -0.5 343 11194 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.03 15.04

11793 -0.08 0.0 2689 2048 2939 2692 544.1 -0.4 348 11794 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2815 2939 2691 0 0 0 0 0 0 14.71 14.73 14.73

12392 -0.08 0.0 2688 2048 2939 2692 546.2 -0.3 353 12394 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2815 2939 2691 0 0 0 0 0 0 15.01 15.04 15.04

12993 -0.08 0.0 2689 2048 2939 2692 548.1 -0.3 358 12994 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2815 2939 2691 0 0 0 0 0 0 15.01 15.04 15.03

13592 -0.08 0.0 2689 2048 2940 2692 549.7 -0.3 363 13594 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

14193 -0.08 0.0 2689 2048 2939 2692 551.1 -0.2 368 14194 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.02

14792 -0.08 0.0 2689 2048 2939 2692 552.5 -0.2 373 14794 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

15393 -0.08 0.0 2689 2048 2939 2692 554.2 -0.3 378 15394 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

15992 -0.08 0.0 2689 2048 2939 2692 555.8 -0.2 383 15994 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

16593 -0.08 0.0 2689 2048 2939 2692 556.7 -0.1 388 16594 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

17202 -0.08 0.0 2689 2048 2939 2692 557.0 -0.0 393 17203 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.93 14.96 14.96

17792 -0.08 0.0 2689 2048 2939 2692 557.1 -0.0 398 17794 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.47 14.50 14.50

18393 -0.08 0.0 2690 2047 2940 2692 557.5 -0.1 403 18394 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.45 14.47 14.47

18992 -0.08 0.0 2689 2048 2939 2692 558.4 -0.2 408 18994 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.43 14.46 14.46

19593 -0.08 0.0 2687 2048 2939 2692 559.5 -0.2 413 19595 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.54 14.57 14.57

20192 -0.08 0.0 2689 2048 2939 2692 560.4 -0.2 418 20194 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.59 14.62 14.62

20793 -0.08 0.0 2689 2048 2939 2692 561.0 -0.1 423 20794 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.61 14.64 14.64

21392 -0.08 0.0 2689 2048 2939 2692 561.3 -0.0 428 21394 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.99 15.02 15.01

21993 -0.08 0.0 2689 2048 2939 2692 561.3 -0.0 433 21994 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2815 2939 2691 0 0 0 0 0 0 15.00 15.02 15.02

22592 -0.08 0.0 2689 2048 2939 2693 561.6 -0.1 438 22594 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.04 15.03 15.03

23193 -0.08 0.0 2689 2048 2939 2692 562.1 -0.1 443 23194 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2046 2814 2938 2691 0 0 0 0 0 0 15.00 15.03 15.03

23792 -0.08 0.0 2689 2048 2939 2692 562.5 -0.1 448 23794 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.04 15.04 15.04

24393 -0.08 0.0 2689 2048 2939 2692 562.9 -0.1 453 24394 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.02 15.04 15.03

24992 -0.08 0.0 2689 2048 2939 2692 563.5 -0.1 458 24994 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

25593 -0.08 0.0 2689 2048 2939 2692 564.7 -0.2 463 25594 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 15.01 15.04 15.04

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57993 -0.08 0.0 2689 2048 2939 2692 590.2 -0.1 733 57994 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.58 14.61 14.61

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62192 -0.08 0.0 2689 2048 2939 2692 591.2 0.2 768 62194 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.33 14.37 14.37

62793 -0.08 0.0 2689 2048 2937 2692 590.4 0.1 773 62794 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.51 14.50 14.50

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89792 -0.08 0.0 2689 2048 2938 2692 605.9 0.0 998 89794 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2046 2815 2938 2692 0 0 0 0 0 0 14.32 14.35 14.34

90393 -0.08 0.0 2689 2048 2939 2692 605.6 0.1 1003 90394 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2047 2814 2938 2691 0 0 0 0 0 0 14.31 14.34 14.33

90992 -0.08 0.0 2689 2048 2940 2693 605.0 0.1 1008 90994 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2047 2814 2938 2691 0 0 0 0 0 0 14.31 14.34 14.32

91230 end loiter: LOITER_COMPLETE

state 91230 begin climb

91232 0.78 97.3 2689 2048 2938 2699 604.8 0.0 1010 91346 0.93 2.62 103.45 1.860 11012 0.121 0.109 2961 704 2425 2544 2307 0 0 0 0 0 0 13.47 13.41 12.59

91571 0.79 97.3 2962 705 2535 2302 581.4 8.6 1077 91576 0.00 2.47 0.00 0.000 1094 0.000 0.090 2961 2037 2417 2533 2301 0 0 0 0 0 0 14.16 13.98 14.23

91956 0.81 97.3 2961 2037 2532 2300 549.1 8.4 1094 91961 0.00 2.55 0.00 0.000 580 0.000 0.112 2961 710 2414 2530 2299 0 0 0 0 0 0 14.57 13.92 14.59

92186 0.83 97.3 2961 711 2531 2299 529.8 8.3 1140 92192 0.00 2.45 0.00 0.000 1094 0.000 0.090 2961 2035 2414 2531 2298 0 0 0 0 0 0 14.16 13.97 14.24

92557 0.85 97.3 2962 2036 2531 2299 499.2 8.3 1154 92558 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2035 2414 2530 2298 0 0 0 0 0 0 14.60 14.63 14.62

92917 0.87 97.3 2960 2035 2530 2298 469.5 8.2 1166 92919 0.12 0.00 0.00 0.000 2118 0.137 0.000 3008 2031 2413 2529 2297 0 0 0 0 0 0 14.33 14.39 14.37

93277 0.87 97.3 3008 2035 2530 2296 434.8 9.6 1178 93282 0.00 2.70 0.00 0.000 260 0.000 0.111 3008 3450 2413 2529 2297 0 0 0 0 0 0 14.77 13.90 14.80

93357 0.87 97.3 3008 3450 2530 2295 426.2 10.9 1194 93362 0.00 2.42 0.00 0.000 1030 0.000 0.073 3008 2117 2413 2529 2297 0 0 0 0 0 0 14.16 13.99 14.23

93727 0.87 97.3 3008 2118 2529 2298 390.9 9.4 1208 93729 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2117 2413 2529 2297 0 0 0 0 0 0 14.76 14.79 14.78

94087 0.87 97.3 3009 2118 2529 2297 358.0 9.1 1220 94092 0.00 2.55 0.00 0.000 260 0.000 0.109 3008 3452 2413 2529 2297 0 0 0 0 0 0 14.76 13.87 14.78

94162 0.87 97.3 3009 3452 2529 2297 350.3 10.4 1235 94168 0.00 2.42 0.00 0.000 1030 0.000 0.073 3008 2121 2413 2528 2298 0 0 0 0 0 0 14.13 13.96 14.21

94539 0.87 97.3 3009 2121 2529 2298 316.5 8.8 1250 94540 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2120 2413 2529 2297 0 0 0 0 0 0 14.53 14.56 14.56

94898 0.90 97.3 3008 2121 2528 2297 287.2 7.8 1262 94904 0.00 2.55 0.00 0.000 324 0.000 0.108 3008 3449 2412 2528 2296 0 0 0 0 0 0 14.54 13.85 14.55

94943 0.92 97.3 3009 3450 2528 2297 283.5 8.3 1271 94950 0.00 2.42 0.00 0.000 1094 0.000 0.073 3008 2118 2412 2528 2296 0 0 0 0 0 0 14.11 13.94 14.18

95320 0.96 131.5 3010 2119 2529 2297 256.4 7.1 1286 95357 0.00 2.62 32.05 1.495 8740 0.000 0.112 3008 712 2286 2400 2172 0 0 0 0 0 0 14.74 13.90 13.18

95437 1.00 131.5 3007 713 2395 2172 248.0 7.5 1309 95443 0.00 2.42 0.00 0.000 1094 0.000 0.087 3008 2039 2282 2394 2171 0 0 0 0 0 0 14.24 14.07 14.30

95802 1.07 185.5 3009 2040 2392 2170 224.8 5.8 1322 95854 0.17 0.00 49.75 1.444 10278 0.116 0.000 3080 2039 2067 2161 1974 0 0 0 0 0 0 14.19 14.01 13.07

96192 1.07 185.5 3080 2040 2147 1970 188.9 9.2 1335 96198 0.00 2.67 0.00 0.000 260 0.000 0.109 3079 3444 2059 2149 1969 0 0 0 0 0 0 14.61 13.85 14.64

96263 1.07 185.5 3082 3445 2150 1971 181.9 9.9 1349 96268 0.00 2.45 0.00 0.000 1030 0.000 0.076 3080 2111 2058 2148 1969 0 0 0 0 0 0 14.06 13.89 14.12

96643 1.10 185.5 3081 2112 2146 1968 151.5 7.7 1365 96645 0.00 0.00 0.00 0.000 70 0.000 0.000 3080 2111 2056 2145 1967 0 0 0 0 0 0 14.65 14.68 14.68

97003 1.14 185.5 3081 2111 2145 1967 123.8 7.3 1377 97005 0.00 0.00 0.00 0.000 70 0.000 0.000 3080 2111 2055 2144 1966 0 0 0 0 0 0 14.66 14.69 14.69

97364 1.20 231.5 3081 2112 2145 1966 100.4 6.3 1389 97469 0.00 0.00 104.18 1.222 8230 0.000 0.000 3080 2111 1882 1964 1801 0 0 0 0 0 0 14.65 13.90 13.09

97813 1.26 279.4 3081 2112 1956 1796 69.4 6.2 1404 97929 0.15 2.75 107.80 1.180 10788 0.132 0.119 3143 704 1684 1752 1617 0 0 0 0 0 0 14.00 13.83 13.04

97955 1.27 279.4 3143 704 1749 1616 58.9 8.6 1432 97961 0.00 2.47 0.00 0.000 1094 0.000 0.086 3143 2033 1683 1750 1617 0 0 0 0 0 0 14.07 13.91 14.11

98326 1.40 380.3 3144 2034 1746 1615 38.4 2.8 1446 98540 0.00 0.00 211.32 1.143 8742 0.000 0.000 3143 2033 1274 1304 1244 0 0 0 0 0 0 14.59 13.74 12.95

98896 1.51 463.6 3143 2034 1299 1240 11.1 4.0 1492 99037 0.17 0.00 136.70 1.129 10530 0.114 0.000 3211 2033 941 931 952 0 0 0 0 0 0 14.12 28.83 14.16

99038 end climb: SURFACE_DEPTH_REACHED

state 99038 begin surface coast

99071 end surface coast: CONTROL_FINISHED_OK

state 99071 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	360	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	080820,123535,7532.0664,-14413.4482,0,5255.0,0,23.6,0.0,0.0,0,0.0	SPEED_LIMITS	0.160,0.233
_CALLS	3	TGT_NAME	9_51
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	-20000.000
_SM_DEPTHo	2.42	MHEAD_RNG_PITCHd_Wd	204.8,3586,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-48.7	D_GRID	500
GPS2	080820,123535,7532.0664,-14413.4482,181,99.0,181,23.6,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200809163535.406481,06,19752,42,0191,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-32.7,0.32,-100,2.68,-01,0.08,71,925,0025*0A	XPDR_PINGS	168
FREEZE	0.14,-1.253,-1.454,2,3,0	SC_FREEKB	3667424
FINISH	0.1,1.021451	_24V_AH	12.59,190.225
SM_CCo	99149,0.00,0.000,0,0,939,462.64	_10V_AH	11.77,0.000
SM_GC	1.01,9.43,0.20,0.00,0.088,0.115,0.000,258,1935,939,-7.60,3.00,462.64,0,0,0,0,0,0,14.02,13.96,14.12	FG_AHR_24Vo	0.000
RAFOS_CLK	285	FG_AHR_10Vo	0.000
MODEM	6,1596904535,75.33060,-142.67570,35.575,51778.6	MEM	334792
RAFOS_FIX	7531.364746,-14420.962891,090820,161635,3,255,0.04	DATA_FILE_SIZE	53268,1516
IRIDIUM_FIX	7543.10,-14647.61,060820,071200	CAP_FILE_SIZE	245565,0
TT8_MAMPS	0.038948,0.287616	CFSIZE	1047117824,995131392
HUMID	51.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.77058	SOUNDSPEED	1455.4
TCM_TEMP	11.90	GPS	090820,185221,7528.836,-14419.329,43,1.3,59,23.6,0.2,0.0,4,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	461	146.06	nil	0	0	0.00
Roll_motor	61	132	102.10	nil	0	0	0.00
VBD_pump_during_apogee	844	1859	19780.57	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	12724	14	2311.14
Iridium_during_xfer	120	49	75.31	nil	0	0	0.00
Transponder_ping	42	420	222.09	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	182	21	46.63
TT8	0	0	0.00
LPSleep	94672	2	2574.02
TT8_Active	1107	9	121.45
TT8_Sampling	3478	27	1117.77
TT8_CF8	579	37	257.63
TT8_Kalman	0	0	0.00
Analog_circuits	2448	10	314.09
GPS_charging	0	0	0.00
Compass	2219	6	176.03
RAFOS	15227	33	5914.32
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