Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 110 * 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 110 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 110 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 071119,043536,7532.8354,-14426.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.160,0.233

_CALLS 0 TGT_NAME 9_51

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS -20000.000

_SM_DEPTHo 13.18 MHEAD_RNG_PITCHd_Wd 116.5,4972,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -10.9 D_GRID 500

GPS2 071119,043536,7532.8354,-14426.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20191108082032.404491,06,16488,42,0262,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.31,-100,2.69,-01,-0.05,62,925,0025*27 SC_FREEKB 3811392

FREEZE 9.21,-1.484,-1.485,2,14,0 _24V_AH 13.06,59.566

FINISH1 9.2,1.021798,292 _10V_AH 13.20,0.000

FINISH2 8.5 FG_AHR_24Vo 0.000

RAFOS_CLK 210 FG_AHR_10Vo 0.000

MODEM 2,1573114531,75.67648,-146.03058,31.924,46386.2 MEM 334800

RAFOS_FIX 7533.413086,-14424.430664,081119,080832,3,255,0.01 DATA_FILE_SIZE 56531,1597

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 239315,0

TT8_MAMPS 0.038199,0.91378 CFSIZE 1047117824,1027784704

HUMID 50.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.80965 SOUNDSPEED 1452.6

TCM_TEMP 13.30 GPS 081119,082032,7533.413,-14424.431,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 234

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 241 15.31 nil 0 0 0.00

Roll_motor 79 136 140.54 nil 0 0 0.00

VBD_pump_during_apogee 656 1865 15987.72 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 10147 16 2175.45

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 58 420 320.88 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 92270 2 2813.51

TT8_Active 865 9 106.48

TT8_Sampling 3258 27 1174.25

TT8_CF8 200 37 100.04

TT8_Kalman 0 0 0.00

Analog_circuits 2148 10 309.06

GPS_charging 0 0 0.00

Compass 2318 6 206.25

RAFOS 14804 33 6448.62

Transponder 0 5 0.04

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 1861 1589 1668 0.0 0.0 0 51 0.00 0.00 -39.92 0.005 16390 0.000 0.000 2839 1861 3224 3326 3123 0 0 0 0 0 0 14.36 13.11 14.39

53 -0.78 -97.3 2840 1862 3327 3124 16.2 -6.5 4 58 1.23 2.60 0.00 0.000 4356 0.125 0.106 2461 3265 3225 3326 3124 0 0 0 0 0 0 14.16 14.13 14.23

282 -0.78 -97.3 2462 3266 3327 3125 67.8 -19.4 50 289 0.00 2.38 0.00 0.000 1030 0.000 0.070 2462 1943 3224 3325 3124 0 0 0 0 0 0 14.34 14.27 14.38

653 -0.78 -97.3 2462 1944 3327 3124 127.0 -15.0 64 658 0.00 2.45 0.00 0.000 260 0.000 0.104 2461 3263 3224 3326 3123 0 0 0 0 0 0 14.61 14.34 14.63

882 -0.78 -97.3 2461 3264 3327 3124 160.4 -14.5 110 889 0.00 2.38 0.00 0.000 1030 0.000 0.070 2461 1931 3224 3326 3123 0 0 0 0 0 0 14.47 14.41 14.51

1253 -0.78 -97.3 2462 1932 3327 3125 211.9 -13.5 124 1259 0.00 2.47 0.00 0.000 260 0.000 0.106 2461 3268 3225 3327 3124 0 0 0 0 0 0 14.69 14.39 14.71

1483 -0.78 -97.3 2462 3269 3328 3124 241.8 -12.3 170 1489 0.00 2.38 0.00 0.000 1030 0.000 0.072 2462 1934 3224 3326 3123 0 0 0 0 0 0 14.52 14.45 14.57

1853 -0.78 -97.3 2462 1934 3326 3123 284.1 -10.8 184 1859 0.00 2.40 0.00 0.000 260 0.000 0.106 2461 3261 3225 3326 3124 0 0 0 0 0 0 14.78 14.45 14.82

2073 -0.78 -97.3 2461 3262 3326 3124 305.3 -9.9 228 2079 0.00 2.35 0.00 0.000 1030 0.000 0.073 2461 1943 3224 3326 3123 0 0 0 0 0 0 14.53 14.46 14.58

2453 -0.78 -97.3 2461 1943 3327 3124 338.0 -8.4 244 2459 0.00 2.45 0.00 0.000 260 0.000 0.108 2461 3267 3224 3326 3123 0 0 0 0 0 0 14.74 14.43 14.76

2548 -0.78 -97.3 2461 3267 3326 3124 346.3 -8.8 263 2554 0.00 2.38 0.00 0.000 1030 0.000 0.074 2461 1934 3222 3326 3119 0 0 0 0 0 0 14.54 14.47 14.59

2934 -0.78 -97.3 2462 1934 3327 3124 379.0 -8.4 280 2939 0.00 2.60 0.00 0.000 516 0.000 0.116 2461 527 3224 3326 3123 0 0 0 0 0 0 14.71 14.36 14.73

2993 -0.78 -97.3 2462 526 3327 3123 384.3 -9.0 292 2999 0.00 2.42 0.00 0.000 1030 0.000 0.093 2462 1852 3224 3326 3122 0 0 0 0 0 0 14.46 14.38 14.50

3383 -0.78 -97.3 2461 1852 3327 3122 414.3 -7.8 310 3389 0.00 2.60 0.00 0.000 260 0.000 0.112 2461 3273 3224 3326 3122 0 0 0 0 0 0 14.66 14.33 14.69

3438 -0.78 -97.3 2461 3273 3327 3123 418.8 -8.2 321 3446 0.00 2.40 0.00 0.000 1030 0.000 0.073 2461 1938 3224 3326 3122 0 0 0 0 0 0 14.42 14.35 14.46

3803 -0.78 -97.3 2461 1939 3327 3123 447.4 -7.8 334 3805 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1938 3224 3320 3129 0 0 0 0 0 0 14.64 14.68 14.66

4164 -0.78 -97.3 2462 1939 3326 3124 475.0 -7.7 346 4165 0.00 0.00 0.00 0.000 6 0.000 0.000 2461 1938 3223 3326 3121 0 0 0 0 0 0 14.64 14.66 14.66

4492 end dive: TARGET_DEPTH_EXCEEDED

state 4492 begin apogee

4495 -0.17 0.0 2464 2043 3327 3123 500.9 -7.9 357 4594 0.77 0.00 96.62 1.866 10246 0.242 0.000 2663 2042 2825 2957 2693 0 0 0 0 0 0 14.20 13.90 13.18

4596 end apogee: CONTROL_FINISHED_OK

state 4596 begin loiter

4946 -0.17 0.0 2660 2043 2948 2689 500.4 1.2 363 4947 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2042 2818 2948 2688 0 0 0 0 0 0 14.49 14.52 14.51

5543 -0.17 0.0 2660 2043 2947 2687 490.5 1.7 368 5545 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2816 2946 2686 0 0 0 0 0 0 14.78 14.81 14.81

6143 -0.17 0.0 2661 2043 2946 2687 478.9 1.9 373 6145 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2945 2686 0 0 0 0 0 0 14.88 14.91 14.90

6743 -0.17 0.0 2661 2043 2946 2687 467.0 2.0 378 6745 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2945 2686 0 0 0 0 0 0 14.93 14.96 14.96

7343 -0.17 0.0 2659 2043 2945 2686 457.5 1.5 383 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2945 2686 0 0 0 0 0 0 14.88 14.90 14.90

7943 -0.17 0.0 2660 2043 2945 2687 450.5 1.1 388 7945 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2944 2686 0 0 0 0 0 0 14.90 14.93 14.92

8543 -0.17 0.0 2660 2043 2945 2686 443.9 1.1 393 8545 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2814 2944 2685 0 0 0 0 0 0 14.91 14.95 14.95

9143 -0.17 0.0 2660 2043 2945 2686 436.1 1.3 398 9145 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2944 2686 0 0 0 0 0 0 14.93 14.96 14.96

9743 -0.17 0.0 2661 2043 2945 2687 426.2 1.7 403 9745 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2944 2686 0 0 0 0 0 0 14.94 14.97 14.97

10343 -0.17 0.0 2660 2043 2945 2686 417.0 1.5 408 10345 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2944 2686 0 0 0 0 0 0 14.95 14.98 14.97

10943 -0.17 0.0 2661 2043 2946 2686 408.4 1.4 413 10945 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2814 2944 2685 0 0 0 0 0 0 14.95 14.98 14.99

11543 -0.17 0.0 2660 2043 2945 2686 403.1 0.8 418 11545 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2815 2944 2686 0 0 0 0 0 0 14.95 14.99 14.99

12143 -0.17 -3.2 2660 2043 2945 2686 398.2 0.8 423 12145 0.00 0.00 -0.17 0.562 16422 0.000 0.000 2660 2042 2847 2959 2736 0 0 0 0 0 0 14.96 13.16 14.79

12743 -0.14 -3.2 2660 2043 2959 2736 408.0 -1.7 428 12750 0.00 0.00 5.38 1.375 8262 0.000 0.000 2660 2042 2837 2958 2716 0 0 0 0 0 0 14.96 14.78 13.90

13343 -0.12 -3.2 2661 2043 2959 2717 412.2 -0.6 433 13345 0.00 0.00 0.00 0.000 70 0.000 0.000 2660 2042 2837 2958 2716 0 0 0 0 0 0 15.04 15.08 15.07

13943 -0.11 -3.2 2660 2043 2959 2717 415.1 -0.6 438 13945 0.00 0.00 0.00 0.000 70 0.000 0.000 2660 2042 2837 2958 2716 0 0 0 0 0 0 14.95 14.99 14.98

14543 -0.10 -3.2 2660 2043 2958 2717 419.4 -0.8 443 14545 0.00 0.00 0.00 0.000 70 0.000 0.000 2660 2042 2837 2958 2716 0 0 0 0 0 0 14.96 15.00 14.99

15143 -0.10 -3.2 2661 2043 2959 2717 421.6 -0.3 448 15145 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2042 2837 2958 2716 0 0 0 0 0 0 15.07 15.10 15.10

15743 -0.09 -3.2 2660 2042 2959 2717 424.8 -0.6 453 15745 0.00 0.00 0.00 0.000 70 0.000 0.000 2661 2042 2837 2958 2716 0 0 0 0 0 0 14.97 15.00 14.99

16343 -0.07 -3.2 2660 2043 2958 2717 429.3 -0.8 458 16345 0.12 0.00 0.00 0.000 2118 0.215 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.61 14.82 14.77

16943 -0.07 -3.2 2695 2043 2958 2717 430.1 -0.0 463 16945 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.96 15.00 15.00

17543 -0.07 -3.2 2695 2043 2958 2717 428.2 0.3 468 17545 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.83 14.86 14.85

18143 -0.07 -3.2 2695 2043 2959 2717 429.4 -0.2 473 18145 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2836 2957 2716 0 0 0 0 0 0 14.81 14.85 14.83

18743 -0.07 -3.2 2695 2043 2959 2717 429.1 0.1 478 18745 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.76 14.80 14.79

19345 -0.07 -3.2 2695 2043 2958 2717 430.0 -0.2 483 19347 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.76 14.79 14.78

19943 -0.07 -3.2 2695 2043 2958 2717 430.3 -0.0 488 19945 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.92 14.96 14.95

20543 -0.07 -3.2 2695 2042 2958 2717 432.8 -0.5 493 20545 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.85 14.89 14.88

21143 -0.07 -3.2 2695 2043 2959 2717 435.1 -0.3 498 21145 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2717 0 0 0 0 0 0 14.89 14.92 14.91

21743 -0.07 -3.2 2695 2043 2958 2717 430.3 0.9 503 21745 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 15.02 15.05 15.04

22343 -0.07 -3.2 2695 2043 2958 2717 429.8 -0.1 508 22345 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2836 2957 2716 0 0 0 0 0 0 14.92 14.95 14.95

22943 -0.07 -3.2 2695 2043 2958 2717 431.4 -0.2 513 22945 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.93 14.96 14.95

23543 -0.07 -3.2 2696 2043 2959 2717 432.7 -0.2 518 23545 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.94 14.97 14.97

24143 -0.07 -3.2 2695 2043 2959 2717 430.3 0.5 523 24145 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.95 14.97 14.97

24743 -0.07 -3.2 2695 2043 2959 2717 429.6 0.0 528 24745 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.95 14.98 14.97

25343 -0.06 -3.2 2696 2043 2959 2717 433.0 -0.6 533 25345 0.00 0.00 0.00 0.000 70 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.95 14.99 14.98

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53543 -0.04 -3.2 2695 2043 2959 2717 434.8 -0.3 768 53545 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2959 2716 0 0 0 0 0 0 14.93 14.98 14.96

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89543 0.01 -3.2 2695 2043 2957 2717 432.8 -0.3 1068 89545 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.77 14.81 14.80

90143 0.01 -3.2 2695 2043 2958 2717 433.1 0.0 1073 90145 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2042 2837 2958 2716 0 0 0 0 0 0 14.77 14.81 14.81

90743 0.01 -3.2 2696 2043 2960 2716 430.4 0.5 1078 90745 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 2042 2837 2958 2716 0 0 0 0 0 0 14.72 14.76 14.75

90982 end loiter: LOITER_COMPLETE

state 90982 begin climb

90983 0.78 97.3 2695 2043 2956 2717 430.0 0.0 1080 91091 0.88 2.67 101.05 1.755 10500 0.116 0.108 2970 3445 2428 2558 2298 0 0 0 0 0 0 14.28 13.83 13.23

91318 0.78 97.3 2971 3446 2547 2294 401.6 10.8 1146 91323 0.00 2.38 0.00 0.000 1030 0.000 0.073 2970 2119 2419 2546 2292 0 0 0 0 0 0 14.28 14.16 14.31

91707 0.80 97.3 2970 2119 2546 2289 367.2 8.2 1164 91709 0.00 0.00 0.00 0.000 70 0.000 0.000 2971 2119 2416 2545 2288 0 0 0 0 0 0 14.58 14.61 14.60

92067 0.83 97.3 2971 2120 2545 2289 339.2 7.9 1176 92069 0.00 0.00 0.00 0.000 70 0.000 0.000 2971 2118 2416 2544 2288 0 0 0 0 0 0 14.64 14.67 14.66

92427 0.87 97.3 2971 2119 2544 2288 309.3 7.4 1188 92433 0.00 2.42 0.00 0.000 324 0.000 0.106 2971 3442 2415 2544 2287 0 0 0 0 0 0 14.69 14.33 14.71

92492 0.90 97.3 2972 3444 2544 2288 304.4 7.8 1201 92498 0.00 2.38 0.00 0.000 1094 0.000 0.073 2971 2118 2415 2543 2287 0 0 0 0 0 0 14.44 14.36 14.49

92878 0.97 153.6 2971 2119 2544 2288 279.5 5.7 1218 92934 0.20 2.47 49.70 1.598 10532 0.113 0.107 3050 3454 2197 2322 2073 0 0 0 0 0 0 14.47 14.18 13.57

93058 0.97 153.6 3050 3455 2314 2073 262.3 10.0 1254 93064 0.00 2.42 0.00 0.000 1030 0.000 0.073 3053 2117 2192 2313 2071 0 0 0 0 0 0 14.27 14.21 14.29

93448 0.99 153.6 3052 2124 2312 2070 228.5 8.4 1272 93454 0.00 2.45 0.00 0.000 324 0.000 0.104 3053 3451 2190 2311 2069 0 0 0 0 0 0 14.59 14.18 14.62

93678 1.00 153.6 3053 3452 2311 2069 208.3 8.3 1318 93684 0.00 2.40 0.00 0.000 1094 0.000 0.073 3053 2091 2190 2311 2069 0 0 0 0 0 0 14.42 14.29 14.46

94049 1.05 185.3 3049 2096 2311 2069 181.7 7.2 1332 94082 0.00 2.55 28.35 1.512 8484 0.000 0.107 3053 3449 2068 2181 1955 0 0 0 0 0 0 14.64 14.31 13.66

94256 1.05 185.3 3053 3449 2173 1955 163.5 9.0 1373 94264 0.00 2.42 0.00 0.000 1030 0.000 0.075 3053 2111 2062 2171 1954 0 0 0 0 0 0 14.33 14.25 14.37

94622 1.07 185.3 3053 2112 2170 1952 134.2 7.9 1386 94623 0.00 0.00 0.00 0.000 70 0.000 0.000 3053 2112 2059 2168 1951 0 0 0 0 0 0 14.66 14.69 14.69

94982 1.12 222.3 3053 2112 2166 1951 106.8 6.9 1398 95028 0.00 2.53 39.08 1.411 8484 0.000 0.109 3053 3444 1916 2018 1815 0 0 0 0 0 0 14.69 14.23 13.65

95137 1.12 222.3 3053 3445 2012 1815 91.7 10.5 1429 95144 0.00 2.40 0.00 0.000 1030 0.000 0.076 3053 2124 1914 2012 1816 0 0 0 0 0 0 14.32 14.25 14.35

95524 1.17 261.5 3053 2125 2011 1811 61.8 6.8 1446 95587 0.12 2.72 52.30 1.326 10788 0.148 0.116 3102 709 1756 1845 1668 0 0 0 0 0 0 14.38 14.11 13.59

95812 1.28 346.6 3102 710 1839 1666 42.2 3.8 1503 95942 0.00 2.40 125.40 1.264 9254 0.000 0.090 3102 2037 1413 1467 1360 0 0 0 0 0 0 14.35 14.22 13.35

96308 1.43 458.0 3103 2037 1460 1357 21.3 2.2 1560 96475 0.22 2.65 158.23 1.228 10788 0.104 0.116 3190 709 956 959 954 0 0 0 0 0 0 14.28 13.75 13.31

96478 end climb: FINISH_DEPTH_REACHED

state 96478 begin subsurface finish

96484 0.38 291.8 3196 2036 958 954 9.2 9.4 1591 96517 1.30 2.60 -23.75 0.007 20996 0.211 0.136 2842 715 1637 1599 1676 0 0 0 0 0 0 13.76 13.06 13.87

96518 end subsurface finish: CONTROL_FINISHED_OK

state 96518 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	110	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	071119,043536,7532.8354,-14426.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.160,0.233
_CALLS	0	TGT_NAME	9_51
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	-20000.000
_SM_DEPTHo	13.18	MHEAD_RNG_PITCHd_Wd	116.5,4972,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-10.9	D_GRID	500
GPS2	071119,043536,7532.8354,-14426.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20191108082032.404491,06,16488,42,0262,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.31,-100,2.69,-01,-0.05,62,925,0025*27	SC_FREEKB	3811392
FREEZE	9.21,-1.484,-1.485,2,14,0	_24V_AH	13.06,59.566
FINISH1	9.2,1.021798,292	_10V_AH	13.20,0.000
FINISH2	8.5	FG_AHR_24Vo	0.000
RAFOS_CLK	210	FG_AHR_10Vo	0.000
MODEM	2,1573114531,75.67648,-146.03058,31.924,46386.2	MEM	334800
RAFOS_FIX	7533.413086,-14424.430664,081119,080832,3,255,0.01	DATA_FILE_SIZE	56531,1597
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	239315,0
TT8_MAMPS	0.038199,0.91378	CFSIZE	1047117824,1027784704
HUMID	50.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.80965	SOUNDSPEED	1452.6
TCM_TEMP	13.30	GPS	081119,082032,7533.413,-14424.431,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	234

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	241	15.31	nil	0	0	0.00
Roll_motor	79	136	140.54	nil	0	0	0.00
VBD_pump_during_apogee	656	1865	15987.72	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	10147	16	2175.45
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	58	420	320.88	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	92270	2	2813.51
TT8_Active	865	9	106.48
TT8_Sampling	3258	27	1174.25
TT8_CF8	200	37	100.04
TT8_Kalman	0	0	0.00
Analog_circuits	2148	10	309.06
GPS_charging	0	0	0.00
Compass	2318	6	206.25
RAFOS	14804	33	6448.62
Transponder	0	5	0.04

		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