Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 118 * 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 118 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 118 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 161119,043530,7531.7217,-14403.3105,0,6255.0,0,23.4,0.0,0.0,0,0.0 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 12.93 MHEAD_RNG_PITCHd_Wd 233.3,7582,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -10.2 D_GRID 500

GPS2 161119,043530,7531.7217,-14403.3105,0,6255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20191117083529.922652,06,31077,44,0206,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.1,0.47,-100,2.53,-01,0.22,64,925,0025*38 SC_FREEKB 3806784

FREEZE 9.98,-1.479,-1.489,2,22,0 _24V_AH 12.97,63.838

FINISH1 10.0,1.021853,289 _10V_AH 13.01,0.000

FINISH2 9.6 FG_AHR_24Vo 0.000

RAFOS_CLK 74 FG_AHR_10Vo 0.000

MODEM 6,1573922130,75.33060,-142.67570,30.165,43880.4 MEM 334800

RAFOS_FIX 7531.604004,-14403.438477,171119,080829,6,255,0.00 DATA_FILE_SIZE 49924,1390

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 233534,0

TT8_MAMPS 0.039697,0.32207 CFSIZE 1047117824,1026736128

HUMID 49.84 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.81941 SOUNDSPEED 1454.0

TCM_TEMP 13.40 GPS 171119,083529,7531.604,-14403.438,0,7255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 178

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 240 15.08 nil 0 0 0.00

Roll_motor 77 127 127.79 nil 0 0 0.00

VBD_pump_during_apogee 667 1838 15914.40 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 10212 9 1241.72

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 44 420 242.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 92634 2 2783.97

TT8_Active 912 9 110.62

TT8_Sampling 2949 27 1047.67

TT8_CF8 192 37 94.74

TT8_Kalman 0 0 0.00

Analog_circuits 2054 10 291.31

GPS_charging 0 0 0.00

Compass 2023 6 177.46

RAFOS 15442 33 6629.71

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 2843 1854 1611 1688 0.0 0.0 0 51 0.00 0.00 -40.00 0.005 16390 0.000 0.000 2842 1853 3224 3327 3122 0 0 0 0 0 0 14.42 13.05 14.45

53 -0.78 -97.3 2843 1854 3328 3123 15.7 -5.7 4 58 1.25 2.60 0.00 0.000 4356 0.152 0.103 2468 3267 3225 3328 3122 0 0 0 0 0 0 14.14 14.16 14.23

182 -0.78 -97.3 2469 3268 3329 3123 45.4 -25.1 30 189 0.00 2.40 0.00 0.000 1030 0.000 0.072 2468 1940 3229 3328 3130 0 0 0 0 0 0 14.31 14.23 14.35

563 -0.78 -97.3 2468 1940 3334 3123 114.8 -15.7 46 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1939 3226 3328 3124 0 0 0 0 0 0 14.66 14.69 14.69

923 -0.78 -97.3 2468 1940 3328 3123 164.3 -13.1 58 930 0.00 2.58 0.00 0.000 516 0.000 0.114 2468 534 3225 3327 3123 0 0 0 0 0 0 14.72 14.34 14.75

969 -0.78 -97.3 2470 535 3328 3123 170.7 -14.0 67 975 0.00 2.40 0.00 0.000 1030 0.000 0.088 2468 1853 3225 3327 3123 0 0 0 0 0 0 14.46 14.38 14.51

1344 -0.78 -97.3 2468 1859 3329 3124 217.2 -11.9 82 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1858 3226 3329 3123 0 0 0 0 0 0 14.70 14.73 14.73

1704 -0.78 -97.3 2468 1859 3328 3123 258.8 -11.6 94 1711 0.00 2.42 0.00 0.000 516 0.000 0.111 2468 532 3224 3326 3122 0 0 0 0 0 0 14.78 14.39 14.81

1729 -0.78 -97.3 2468 533 3329 3123 261.9 -11.7 99 1737 0.00 2.40 0.00 0.000 1030 0.000 0.091 2468 1855 3225 3328 3122 0 0 0 0 0 0 14.47 14.39 14.52

2095 -0.78 -97.3 2468 1856 3329 3124 297.7 -9.2 112 2096 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1855 3225 3328 3122 0 0 0 0 0 0 14.73 14.76 14.76

2455 -0.78 -97.3 2468 1856 3329 3122 326.6 -8.0 124 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1855 3224 3327 3122 0 0 0 0 0 0 14.81 14.85 14.84

2815 -0.78 -97.3 2468 1856 3329 3123 354.7 -8.0 136 2816 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1861 3225 3328 3122 0 0 0 0 0 0 14.76 14.79 14.78

3175 -0.78 -97.3 2468 1856 3328 3122 383.7 -8.0 148 3181 0.00 2.58 0.00 0.000 260 0.000 0.111 2468 3272 3225 3328 3122 0 0 0 0 0 0 14.76 14.42 14.79

3205 -0.78 -97.3 2468 3276 3329 3122 386.2 -8.1 154 3211 0.00 2.35 0.00 0.000 1030 0.000 0.072 2469 1945 3225 3328 3122 0 0 0 0 0 0 14.52 14.45 14.57

3596 -0.78 -97.3 2469 1945 3329 3122 418.2 -8.2 172 3597 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1945 3224 3327 3122 0 0 0 0 0 0 14.76 14.80 14.79

3956 -0.78 -97.3 2466 1946 3328 3122 446.7 -7.7 184 3961 0.00 2.45 0.00 0.000 260 0.000 0.106 2468 3274 3224 3328 3121 0 0 0 0 0 0 14.77 14.39 14.80

4000 -0.78 -97.3 2468 3275 3328 3122 450.2 -7.9 193 4007 0.00 2.38 0.00 0.000 1030 0.000 0.073 2468 1935 3224 3327 3121 0 0 0 0 0 0 14.52 14.44 14.57

4376 -0.78 -97.3 2469 1936 3329 3123 479.0 -7.6 208 4377 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1935 3224 3328 3121 0 0 0 0 0 0 14.76 14.80 14.79

4674 end dive: TARGET_DEPTH_EXCEEDED

state 4675 begin apogee

4678 -0.17 0.0 2469 2043 3328 3122 501.4 -7.4 218 4775 0.75 0.00 94.68 1.838 10246 0.241 0.000 2661 2042 2826 2959 2693 0 0 0 0 0 0 14.29 14.00 13.27

4776 end apogee: CONTROL_FINISHED_OK

state 4777 begin loiter

5126 -0.17 0.0 2662 2043 2949 2689 500.6 1.2 224 5127 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2818 2948 2688 0 0 0 0 0 0 14.52 14.56 14.55

5726 -0.17 0.0 2661 2043 2947 2687 491.6 1.5 229 5727 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2817 2947 2687 0 0 0 0 0 0 14.81 14.84 14.83

6326 -0.17 0.0 2662 2043 2948 2687 481.4 1.7 234 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2816 2946 2686 0 0 0 0 0 0 14.89 14.92 14.92

6926 -0.17 0.0 2661 2043 2946 2687 470.3 1.9 239 6928 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2816 2946 2686 0 0 0 0 0 0 14.83 14.86 14.86

7526 -0.17 0.0 2660 2043 2946 2687 459.8 1.7 244 7527 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2946 2686 0 0 0 0 0 0 14.86 14.90 14.89

8126 -0.17 0.0 2662 2043 2947 2687 448.3 1.9 249 8128 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2817 2948 2686 0 0 0 0 0 0 14.79 14.82 14.82

8726 -0.17 0.0 2661 2040 2946 2687 440.0 1.3 254 8727 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2815 2945 2686 0 0 0 0 0 0 14.74 14.78 14.77

9326 -0.17 0.0 2661 2043 2946 2687 434.4 1.0 259 9327 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2815 2945 2686 0 0 0 0 0 0 14.70 14.75 14.75

9928 -0.17 0.0 2661 2043 2946 2687 426.6 1.4 264 9930 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2815 2945 2686 0 0 0 0 0 0 14.73 14.77 14.76

10526 -0.17 0.0 2662 2043 2946 2687 416.7 1.7 269 10527 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2816 2945 2687 0 0 0 0 0 0 14.91 14.94 14.93

11126 -0.17 0.0 2662 2043 2946 2687 406.5 1.7 274 11127 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2815 2945 2686 0 0 0 0 0 0 14.93 14.99 14.98

11726 -0.17 0.0 2661 2043 2946 2687 400.1 1.0 279 11728 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2042 2815 2945 2686 0 0 0 0 0 0 14.86 14.90 14.90

12326 -0.17 -3.2 2661 2043 2946 2687 395.3 0.8 284 12328 0.00 0.00 -0.17 0.556 16422 0.000 0.000 2661 2042 2849 2961 2738 0 0 0 0 0 0 14.89 12.97 14.68

12926 -0.14 -3.2 2662 2043 2962 2739 403.6 -1.5 289 12933 0.00 0.00 5.62 1.371 8262 0.000 0.000 2661 2042 2838 2961 2716 0 0 0 0 0 0 14.90 14.72 13.84

13526 -0.13 -3.2 2662 2043 2961 2717 408.0 -0.7 294 13528 0.00 0.00 0.00 0.000 70 0.000 0.000 2662 2042 2838 2960 2717 0 0 0 0 0 0 14.89 14.92 14.92

14126 -0.11 -3.2 2662 2043 2961 2717 413.8 -1.0 299 14127 0.00 0.00 0.00 0.000 70 0.000 0.000 2661 2042 2838 2960 2717 0 0 0 0 0 0 14.90 14.94 14.93

14726 -0.09 -3.2 2662 2043 2961 2717 419.2 -0.9 304 14728 0.00 0.00 0.00 0.000 70 0.000 0.000 2661 2042 2838 2960 2716 0 0 0 0 0 0 14.91 14.95 14.93

15326 -0.09 -3.2 2661 2043 2960 2717 421.8 -0.4 309 15327 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2042 2838 2960 2717 0 0 0 0 0 0 14.92 14.95 14.95

15926 -0.07 -3.2 2662 2043 2961 2717 428.4 -1.2 314 15928 0.12 0.00 0.00 0.000 2118 0.215 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.53 14.76 14.70

16526 -0.05 -3.2 2696 2043 2961 2717 433.1 -0.7 319 16527 0.00 0.00 0.00 0.000 70 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.93 14.97 14.96

17126 -0.05 -3.2 2696 2043 2961 2717 435.4 -0.4 324 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.93 14.97 14.96

17726 -0.04 -3.2 2696 2042 2962 2717 439.3 -0.7 329 17727 0.00 0.00 0.00 0.000 70 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.94 14.97 14.97

18326 -0.02 -3.2 2696 2043 2961 2717 443.0 -0.6 334 18328 0.00 0.00 0.00 0.000 70 0.000 0.000 2696 2042 2838 2960 2717 0 0 0 0 0 0 14.94 14.97 14.97

18926 -0.01 -3.2 2696 2043 2961 2717 446.5 -0.6 339 18927 0.00 0.00 0.00 0.000 70 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.95 14.97 14.97

19526 -0.01 -3.2 2696 2043 2960 2717 448.8 -0.4 344 19527 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.94 14.97 14.97

20126 -0.00 -3.2 2696 2043 2961 2717 451.9 -0.5 349 20127 0.00 0.00 0.00 0.000 70 0.000 0.000 2696 2042 2838 2960 2717 0 0 0 0 0 0 14.94 14.97 14.97

20726 -0.00 -3.2 2696 2043 2961 2717 450.9 0.3 354 20727 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2837 2960 2715 0 0 0 0 0 0 14.94 14.97 14.97

21326 -0.00 -3.2 2696 2043 2961 2717 449.2 0.2 359 21327 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 15.09 15.12 15.11

21926 -0.00 -3.2 2696 2043 2961 2717 449.7 -0.1 364 21927 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2717 0 0 0 0 0 0 14.94 14.97 14.97

22526 -0.00 -3.2 2696 2043 2961 2717 450.8 -0.2 369 22528 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2042 2838 2960 2716 0 0 0 0 0 0 14.76 14.79 14.79

23126 -0.00 -3.2 2696 2043 2961 2717 453.5 -0.4 374 23127 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.77 14.81 14.80

23726 -0.00 -3.2 2696 2043 2961 2716 453.9 -0.0 379 23727 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.72 14.76 14.75

24328 -0.00 -3.2 2696 2043 2961 2717 451.5 0.5 384 24330 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2717 0 0 0 0 0 0 14.72 14.76 14.75

24926 -0.00 -3.2 2696 2043 2961 2717 447.8 0.6 389 24927 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2042 2838 2960 2716 0 0 0 0 0 0 14.92 14.95 14.95

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62726 0.03 -3.2 2734 2043 2961 2717 445.5 0.1 704 62727 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2042 2838 2960 2716 0 0 0 0 0 0 15.09 15.12 15.11

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89726 0.06 -3.2 2734 2043 2961 2717 447.9 -0.5 929 89728 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2042 2838 2960 2716 0 0 0 0 0 0 14.91 14.94 14.93

90326 0.06 -3.2 2734 2043 2961 2717 448.1 0.0 934 90327 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2042 2838 2960 2717 0 0 0 0 0 0 15.09 15.12 15.11

90926 0.06 -3.2 2734 2043 2961 2717 445.0 0.6 939 90927 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2042 2838 2961 2716 0 0 0 0 0 0 14.91 14.94 14.93

91164 end loiter: LOITER_COMPLETE

state 91164 begin climb

91166 0.78 97.3 2734 2043 2961 2717 443.7 0.0 941 91275 0.70 2.67 98.97 1.725 10500 0.077 0.108 2983 3446 2427 2557 2298 0 0 0 0 0 0 14.62 14.05 13.35

91499 0.78 97.3 2983 3446 2546 2294 412.2 11.9 1007 91505 0.00 2.38 0.00 0.000 1030 0.000 0.073 2983 2120 2419 2546 2293 0 0 0 0 0 0 14.30 14.16 14.35

91889 0.78 97.3 2984 2121 2545 2290 370.9 10.4 1025 91895 0.00 2.42 0.00 0.000 260 0.000 0.104 2983 3439 2416 2544 2289 0 0 0 0 0 0 14.63 14.23 14.63

92119 0.78 97.3 2983 3440 2544 2290 345.0 10.9 1071 92125 0.00 2.40 0.00 0.000 1030 0.000 0.075 2983 2113 2416 2543 2289 0 0 0 0 0 0 14.35 14.25 14.39

92489 0.78 97.3 2984 2114 2544 2289 310.8 9.1 1085 92495 0.00 2.45 0.00 0.000 260 0.000 0.106 2983 3453 2415 2543 2288 0 0 0 0 0 0 14.66 14.27 14.69

92694 0.78 97.3 2983 3454 2543 2289 290.9 9.2 1126 92702 0.00 2.40 0.00 0.000 1030 0.000 0.074 2983 2117 2415 2542 2288 0 0 0 0 0 0 14.38 14.31 14.44

93059 0.84 140.8 2984 2118 2543 2288 264.4 6.5 1139 93102 0.00 2.50 38.65 1.546 8484 0.000 0.106 2983 3445 2250 2378 2122 0 0 0 0 0 0 14.78 14.31 13.65

93126 0.87 140.8 2981 3445 2374 2122 260.0 7.8 1152 93132 0.00 2.40 0.00 0.000 1094 0.000 0.075 2984 2119 2247 2373 2121 0 0 0 0 0 0 14.36 14.30 14.42

93512 0.93 191.3 2984 2119 2368 2117 234.2 6.0 1169 93564 0.00 2.70 43.83 1.541 8740 0.000 0.117 2983 707 2043 2154 1933 0 0 0 0 0 0 14.67 14.14 13.55

93599 0.96 191.3 2984 708 2149 1933 228.1 7.8 1186 93606 0.15 2.42 0.00 0.000 3142 0.139 0.091 3040 2041 2040 2149 1932 0 0 0 0 0 0 14.23 14.19 14.31

93963 0.96 191.3 3040 2041 2142 1931 192.7 9.2 1199 93965 0.00 0.00 0.00 0.000 6 0.000 0.000 3040 2040 2036 2142 1930 0 0 0 0 0 0 14.62 14.65 14.65

94323 0.96 191.3 3040 2041 2140 1929 160.6 9.0 1211 94329 0.00 2.60 0.00 0.000 260 0.000 0.109 3040 3444 2034 2139 1929 0 0 0 0 0 0 14.57 14.23 14.60

94403 0.96 191.3 3041 3448 2140 1929 152.6 10.0 1227 94409 0.00 2.42 0.00 0.000 1030 0.000 0.076 3040 2116 2034 2139 1929 0 0 0 0 0 0 14.31 14.23 14.35

94773 0.99 191.3 3040 2118 2138 1928 121.6 7.8 1241 94779 0.00 2.62 0.00 0.000 580 0.000 0.114 3046 714 2032 2138 1927 0 0 0 0 0 0 14.57 14.20 14.60

94863 1.05 234.6 3041 714 2138 1927 115.5 6.5 1259 94914 0.00 2.40 46.20 1.379 9254 0.000 0.091 3040 2035 1869 1968 1770 0 0 0 0 0 0 14.37 14.21 13.59

95284 1.08 234.6 3041 2037 1959 1764 84.6 7.7 1283 95289 0.00 2.60 0.00 0.000 324 0.000 0.109 3040 3443 1861 1959 1763 0 0 0 0 0 0 14.49 14.16 14.51

95324 1.11 234.6 3041 3444 1960 1764 81.5 7.7 1291 95329 0.00 2.42 0.00 0.000 1094 0.000 0.076 3040 2119 1860 1958 1763 0 0 0 0 0 0 14.26 14.21 14.30

95704 1.22 322.0 3040 2117 1957 1762 61.4 3.7 1307 95836 0.22 2.75 124.28 1.267 10788 0.105 0.114 3122 704 1512 1575 1449 0 0 0 0 0 0 14.26 13.87 13.38

95871 1.25 322.0 3123 709 1572 1449 50.3 7.8 1320 95876 0.00 2.45 0.00 0.000 1094 0.000 0.091 3123 2033 1510 1572 1449 0 0 0 0 0 0 14.07 13.95 14.09

96246 1.35 398.7 3122 2034 1577 1447 30.3 4.4 1335 96369 0.00 2.75 117.18 1.228 8484 0.000 0.108 3123 3450 1201 1235 1167 0 0 0 0 0 0 14.44 13.88 13.38

96393 1.44 464.2 3123 3450 1233 1167 24.6 5.1 1362 96498 0.15 2.47 98.07 1.167 11302 0.076 0.075 3194 2116 935 941 929 0 0 0 0 0 0 14.00 13.96 13.27

96552 end climb: FINISH_DEPTH_REACHED

state 96552 begin subsurface finish

96555 0.38 289.0 3194 2118 940 930 10.0 10.5 1387 96585 1.35 0.00 -23.55 0.005 20486 0.203 0.000 2834 2117 1651 1609 1694 0 0 0 0 0 0 13.83 13.28 14.00

96586 end subsurface finish: CONTROL_FINISHED_OK

state 96586 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	118	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	161119,043530,7531.7217,-14403.3105,0,6255.0,0,23.4,0.0,0.0,0,0.0	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	12.93	MHEAD_RNG_PITCHd_Wd	233.3,7582,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-10.2	D_GRID	500
GPS2	161119,043530,7531.7217,-14403.3105,0,6255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20191117083529.922652,06,31077,44,0206,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.1,0.47,-100,2.53,-01,0.22,64,925,0025*38	SC_FREEKB	3806784
FREEZE	9.98,-1.479,-1.489,2,22,0	_24V_AH	12.97,63.838
FINISH1	10.0,1.021853,289	_10V_AH	13.01,0.000
FINISH2	9.6	FG_AHR_24Vo	0.000
RAFOS_CLK	74	FG_AHR_10Vo	0.000
MODEM	6,1573922130,75.33060,-142.67570,30.165,43880.4	MEM	334800
RAFOS_FIX	7531.604004,-14403.438477,171119,080829,6,255,0.00	DATA_FILE_SIZE	49924,1390
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	233534,0
TT8_MAMPS	0.039697,0.32207	CFSIZE	1047117824,1026736128
HUMID	49.84	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.81941	SOUNDSPEED	1454.0
TCM_TEMP	13.40	GPS	171119,083529,7531.604,-14403.438,0,7255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	178

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	240	15.08	nil	0	0	0.00
Roll_motor	77	127	127.79	nil	0	0	0.00
VBD_pump_during_apogee	667	1838	15914.40	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	10212	9	1241.72
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	44	420	242.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	92634	2	2783.97
TT8_Active	912	9	110.62
TT8_Sampling	2949	27	1047.67
TT8_CF8	192	37	94.74
TT8_Kalman	0	0	0.00
Analog_circuits	2054	10	291.31
GPS_charging	0	0	0.00
Compass	2023	6	177.46
RAFOS	15442	33	6629.71
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