Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 153 * 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 153 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2825 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 1740 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 86400 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 1 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 500 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 180

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 1740

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1850 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2825 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 153 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 251219,123532,7529.1489,-14417.2129,0,5255.0,0,23.4,0.0,0.0,0,0.0 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 12.89 MHEAD_RNG_PITCHd_Wd 319.4,3165,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -10.3 D_GRID 500

GPS2 251219,123532,7529.1489,-14417.2129,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20191226163531.770794,06,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.28,-100,2.72,-01,0.07,62,925,0025*3A SC_FREEKB 3786624

FREEZE 9.13,-1.494,-1.495,2,57,0 _24V_AH 12.67,81.178

FINISH1 9.1,1.021951,284 _10V_AH 12.71,0.000

FINISH2 8.8 FG_AHR_24Vo 0.000

RAFOS_CLK 104 FG_AHR_10Vo 0.000

MODEM 2,1577319336,75.67648,-146.03058,36.053,52427.4 MEM 334856

RAFOS_FIX 7528.426270,-14413.494141,261219,161631,6,255,0.02 DATA_FILE_SIZE 49845,1412

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 230879,0

TT8_MAMPS 0.038199,0.152796 CFSIZE 1047117824,1022148608

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

INTERNAL_PRESSURE 8.82918 SOUNDSPEED 1453.4

TCM_TEMP 13.30 GPS 261219,163531,7528.426,-14413.494,0,7255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 171

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 231 14.39 nil 0 0 0.00

Roll_motor 71 133 121.34 nil 0 0 0.00

VBD_pump_during_apogee 665 1819 15347.21 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 10301 9 1226.44

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 42 420 227.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 92790 2 2724.33

TT8_Active 912 9 108.04

TT8_Sampling 2983 27 1035.10

TT8_CF8 215 37 103.65

TT8_Kalman 0 0 0.00

Analog_circuits 2057 10 285.06

GPS_charging 0 0 0.00

Compass 2056 6 176.18

RAFOS 15338 33 6433.22

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 2835 1856 1648 1694 0.0 0.0 0 51 0.00 0.00 -39.78 0.005 16390 0.000 0.000 2835 1855 3224 3327 3121 0 0 0 0 0 0 14.46 12.67 14.47

53 -0.78 -97.3 2835 1856 3328 3122 15.6 -6.1 4 58 1.25 2.60 0.00 0.000 4356 0.155 0.100 2471 3268 3225 3328 3122 0 0 0 0 0 0 14.06 14.09 14.14

282 -0.78 -97.3 2471 3269 3327 3122 67.9 -19.9 50 289 0.00 2.40 0.00 0.000 1030 0.000 0.073 2471 1945 3225 3328 3122 0 0 0 0 0 0 14.25 14.16 14.30

653 -0.78 -97.3 2471 1945 3328 3122 126.8 -14.4 64 659 0.00 2.47 0.00 0.000 260 0.000 0.102 2471 3268 3228 3334 3122 0 0 0 0 0 0 14.59 14.16 14.61

818 -0.78 -97.3 2471 3269 3329 3122 149.2 -13.1 97 824 0.00 2.40 0.00 0.000 1030 0.000 0.072 2471 1935 3225 3328 3122 0 0 0 0 0 0 14.31 14.23 14.36

1194 -0.78 -97.3 2470 1936 3329 3122 196.0 -12.5 112 1199 0.00 2.62 0.00 0.000 516 0.000 0.116 2471 527 3224 3328 3121 0 0 0 0 0 0 14.63 14.19 14.66

1248 -0.78 -97.3 2470 527 3328 3122 203.3 -13.1 123 1256 0.00 2.42 0.00 0.000 1030 0.000 0.090 2471 1848 3228 3328 3128 0 0 0 0 0 0 14.32 14.23 14.38

1614 -0.78 -97.3 2471 1848 3328 3122 244.9 -10.8 136 1615 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1848 3224 3328 3121 0 0 0 0 0 0 14.75 14.78 14.77

1974 -0.78 -97.3 2471 1849 3329 3122 281.0 -9.8 148 1979 0.00 2.45 0.00 0.000 516 0.000 0.114 2471 534 3224 3328 3121 0 0 0 0 0 0 14.66 14.19 14.69

2064 -0.78 -97.3 2471 534 3328 3122 290.0 -10.0 166 2070 0.00 2.45 0.00 0.000 1030 0.000 0.091 2471 1862 3224 3328 3121 0 0 0 0 0 0 14.47 14.23 14.51

2454 -0.78 -97.3 2472 1863 3329 3122 324.2 -8.5 184 2460 0.00 2.60 0.00 0.000 260 0.000 0.108 2471 3276 3224 3328 3121 0 0 0 0 0 0 14.77 14.23 14.79

2504 -0.78 -97.3 2471 3277 3329 3122 328.4 -8.6 194 2511 0.00 2.40 0.00 0.000 1030 0.000 0.073 2470 1938 3225 3328 3122 0 0 0 0 0 0 14.34 14.26 14.40

2875 -0.78 -97.3 2471 1939 3328 3122 359.2 -8.3 208 2880 0.00 2.45 0.00 0.000 260 0.000 0.104 2471 3269 3224 3328 3120 0 0 0 0 0 0 14.67 14.21 14.70

2950 -0.78 -97.3 2471 3269 3328 3121 365.6 -8.6 223 2956 0.00 2.40 0.00 0.000 1030 0.000 0.076 2471 1942 3224 3328 3121 0 0 0 0 0 0 14.33 14.24 14.39

3325 -0.78 -97.3 2471 1943 3328 3122 396.1 -7.8 238 3332 0.00 2.47 0.00 0.000 260 0.000 0.104 2471 3263 3224 3328 3120 0 0 0 0 0 0 14.78 14.18 14.81

3361 -0.78 -97.3 2471 3264 3329 3121 398.9 -7.9 245 3366 0.00 2.40 0.00 0.000 1030 0.000 0.076 2470 1940 3224 3328 3120 0 0 0 0 0 0 14.32 14.26 14.39

3746 -0.78 -97.3 2471 1940 3329 3120 428.4 -7.7 262 3748 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1940 3224 3328 3120 0 0 0 0 0 0 14.68 14.71 14.70

4106 -0.78 -97.3 2470 1941 3329 3121 455.6 -7.5 274 4112 0.00 2.42 0.00 0.000 260 0.000 0.104 2471 3262 3224 3328 3120 0 0 0 0 0 0 14.67 14.22 14.71

4161 -0.78 -97.3 2471 3263 3329 3121 459.8 -7.6 285 4168 0.00 2.38 0.00 0.000 1030 0.000 0.076 2471 1945 3224 3328 3120 0 0 0 0 0 0 14.33 14.25 14.40

4527 -0.78 -97.3 2471 1946 3328 3121 486.2 -7.2 298 4529 0.00 0.00 0.00 0.000 38 0.000 0.000 2471 1945 3224 3328 3120 0 0 0 0 0 0 14.67 14.71 14.70

4735 end dive: TARGET_DEPTH_EXCEEDED

state 4735 begin apogee

4739 -0.17 0.0 2472 2037 3328 3120 500.9 -7.0 305 4836 0.75 0.00 94.15 1.820 10246 0.232 0.000 2662 2036 2824 2954 2695 0 0 0 0 0 0 14.07 13.95 13.16

4837 end apogee: CONTROL_FINISHED_OK

state 4837 begin loiter

5186 -0.17 0.0 2662 2037 2945 2690 499.4 1.2 311 5188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2816 2944 2689 0 0 0 0 0 0 14.47 14.50 14.50

5787 -0.17 0.0 2662 2037 2944 2690 489.4 1.7 316 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2816 2943 2689 0 0 0 0 0 0 14.64 14.67 14.67

6386 -0.17 0.0 2662 2037 2944 2689 480.6 1.5 321 6388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2815 2943 2688 0 0 0 0 0 0 14.87 14.90 14.90

6987 -0.17 0.0 2662 2037 2943 2688 473.6 1.1 326 6988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2815 2942 2688 0 0 0 0 0 0 14.73 14.74 14.73

7586 -0.17 0.0 2660 2037 2943 2688 468.2 0.9 331 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2036 2815 2943 2687 0 0 0 0 0 0 14.66 14.69 14.69

8187 -0.17 0.0 2661 2037 2943 2688 462.0 1.0 336 8188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.63 14.66 14.66

8786 -0.17 0.0 2662 2037 2943 2688 454.2 1.3 341 8788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2815 2943 2687 0 0 0 0 0 0 14.62 14.63 14.64

9386 -0.17 0.0 2662 2037 2943 2688 447.0 1.2 346 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2035 2814 2942 2687 0 0 0 0 0 0 14.67 14.70 14.70

9987 -0.17 0.0 2662 2037 2943 2688 442.3 0.7 351 9988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2942 2685 0 0 0 0 0 0 14.90 14.94 14.93

10586 -0.17 0.0 2662 2037 2942 2688 438.5 0.6 356 10588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.76 14.78 14.78

11187 -0.17 0.0 2662 2037 2943 2688 433.4 0.9 361 11188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.78 14.81 14.81

11786 -0.17 0.0 2662 2037 2942 2688 428.1 0.9 366 11788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.80 14.83 14.83

12387 -0.17 0.0 2662 2037 2942 2688 423.4 0.8 371 12388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.81 14.85 14.84

12986 -0.17 0.0 2662 2037 2943 2688 420.2 0.5 376 12988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 14.81 14.85 14.84

13587 -0.17 0.0 2661 2037 2942 2688 418.5 0.3 381 13588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.02 15.06 15.05

14186 -0.17 0.0 2662 2037 2942 2688 415.1 0.6 386 14188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.03 15.07 15.06

14787 -0.17 0.0 2662 2037 2942 2688 413.8 0.2 391 14788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2942 2687 0 0 0 0 0 0 15.04 15.07 15.07

15386 -0.17 0.0 2662 2037 2942 2688 413.4 0.1 396 15388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.86

15987 -0.17 0.0 2662 2037 2942 2688 412.1 0.2 401 15988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.87 14.86

16586 -0.17 0.0 2662 2036 2942 2687 410.4 0.3 406 16588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.89

17187 -0.17 0.0 2662 2037 2942 2688 410.4 -0.0 411 17188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.03 15.09 15.09

17786 -0.17 0.0 2662 2037 2942 2688 411.8 -0.2 416 17788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.05 15.09 15.09

18387 -0.17 0.0 2662 2037 2942 2687 412.1 -0.0 421 18388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.86

18986 -0.17 0.0 2662 2037 2942 2688 411.7 0.1 426 18988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.06 15.09 15.09

19587 -0.17 0.0 2662 2037 2942 2688 411.7 -0.0 431 19588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.86

20186 -0.17 0.0 2661 2037 2942 2688 410.8 0.2 436 20188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2037 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.85

20787 -0.17 0.0 2662 2037 2941 2687 410.8 -0.0 441 20788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.83 14.86 14.86

21387 -0.17 0.0 2662 2037 2941 2687 411.4 -0.1 446 21388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.78 14.81 14.81

21987 -0.17 0.0 2662 2037 2941 2687 412.0 -0.1 451 21988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2941 2685 0 0 0 0 0 0 14.70 14.73 14.73

22587 -0.17 0.0 2662 2037 2942 2688 412.8 -0.1 456 22588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.64 14.67 14.66

23186 -0.17 0.0 2662 2037 2942 2686 414.1 -0.2 461 23188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.60 14.64 14.63

23787 -0.17 0.0 2662 2037 2942 2688 414.2 -0.0 466 23788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.66 14.69 14.69

24387 -0.17 0.0 2662 2037 2942 2688 413.8 0.1 471 24388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 14.92 14.95 14.95

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51387 -0.17 0.0 2662 2037 2942 2688 411.8 0.4 696 51388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2941 2686 0 0 0 0 0 0 14.62 14.64 14.64

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53786 -0.17 0.0 2662 2037 2941 2687 412.2 0.3 716 53788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2037 2814 2941 2687 0 0 0 0 0 0 14.95 14.99 14.98

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58586 -0.17 0.0 2662 2037 2941 2687 414.3 0.1 756 58588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 14.78 14.81 14.81

59187 -0.17 0.0 2663 2036 2942 2687 414.0 0.0 761 59188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.77 14.81 14.81

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61587 -0.17 0.0 2662 2037 2941 2687 413.8 0.2 781 61588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 15.06 15.09 15.09

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63386 -0.17 0.0 2662 2037 2941 2687 414.9 0.2 796 63388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 15.07 15.10 15.09

63987 -0.17 0.0 2662 2037 2942 2688 414.0 0.1 801 63988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.79 14.83 14.82

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65787 -0.17 0.0 2662 2037 2941 2687 411.5 0.1 816 65788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 14.61 14.64 14.64

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68186 -0.17 0.0 2662 2037 2941 2687 410.2 0.1 836 68188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.95 14.99 14.99

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70586 -0.17 0.0 2662 2037 2941 2687 413.4 -0.2 856 70588 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.78 14.78 14.78

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89187 -0.17 0.0 2662 2037 2941 2688 415.0 -0.2 1011 89188 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 14.78 14.81 14.81

89786 -0.17 0.0 2662 2037 2941 2687 414.1 0.2 1016 89788 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2813 2940 2687 0 0 0 0 0 0 15.06 15.09 15.09

90387 -0.17 0.0 2662 2037 2941 2688 412.8 0.2 1021 90388 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2037 2814 2941 2687 0 0 0 0 0 0 14.78 14.81 14.81

90986 -0.17 0.0 2662 2037 2941 2688 413.0 -0.1 1026 90988 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2036 2814 2941 2687 0 0 0 0 0 0 14.78 14.81 14.81

91345 end loiter: LOITER_COMPLETE

state 91345 begin climb

91346 0.78 97.3 2663 2037 2941 2687 413.1 0.0 1029 91447 1.02 2.53 93.72 1.689 10756 0.141 0.115 2964 712 2428 2557 2300 0 0 0 0 0 0 14.12 13.92 13.26

91672 0.79 97.3 2964 713 2546 2294 390.0 8.7 1093 91678 0.00 2.45 0.00 0.000 1094 0.000 0.090 2964 2037 2419 2545 2293 0 0 0 0 0 0 14.16 13.98 14.23

92043 0.80 97.3 2964 2038 2543 2292 358.2 8.7 1107 92044 0.00 0.00 0.00 0.000 70 0.000 0.000 2964 2035 2417 2543 2291 0 0 0 0 0 0 14.52 14.54 14.54

92402 0.82 97.3 2964 2036 2543 2291 328.3 8.2 1119 92408 0.00 2.62 0.00 0.000 324 0.000 0.107 2964 3443 2416 2542 2290 0 0 0 0 0 0 14.68 14.08 14.71

92597 0.82 97.3 2964 3443 2540 2290 310.3 9.2 1158 92604 0.00 2.42 0.00 0.000 1030 0.000 0.077 2964 2117 2416 2542 2290 0 0 0 0 0 0 14.19 14.10 14.25

92973 0.86 97.3 2964 2118 2542 2289 281.6 7.3 1173 92979 0.00 2.67 0.00 0.000 580 0.000 0.118 2964 707 2415 2541 2289 0 0 0 0 0 0 14.72 14.07 14.75

93018 0.90 97.3 2964 707 2542 2289 278.3 7.5 1182 93025 0.08 2.47 0.00 0.000 3142 0.104 0.090 3018 2039 2415 2541 2289 0 0 0 0 0 0 14.19 14.09 14.38

93394 0.95 136.2 3018 2039 2542 2289 249.6 6.8 1197 93436 0.00 2.53 35.47 1.513 8740 0.000 0.116 3019 715 2267 2391 2144 0 0 0 0 0 0 14.54 14.21 13.54

93530 0.98 136.2 3018 716 2384 2144 239.8 7.5 1224 93536 0.00 2.47 0.00 0.000 1094 0.000 0.089 3018 2039 2262 2383 2142 0 0 0 0 0 0 14.09 14.00 14.15

93906 1.03 171.9 3018 2040 2382 2140 212.6 7.0 1239 93939 0.00 0.00 32.10 1.460 8230 0.000 0.000 3021 2039 2124 2236 2013 0 0 0 0 0 0 14.45 14.19 13.47

94296 1.06 171.9 3018 2040 2223 2009 182.3 7.6 1252 94298 0.15 0.00 0.00 0.000 2118 0.128 0.000 3080 2039 2116 2223 2010 0 0 0 0 0 0 14.13 14.24 14.21

94656 1.09 171.9 3080 2039 2221 2009 151.5 8.1 1264 94661 0.00 2.55 0.00 0.000 580 0.000 0.115 3080 705 2113 2219 2008 0 0 0 0 0 0 14.46 14.00 14.49

94691 1.10 171.9 3081 705 2221 2008 148.6 8.5 1271 94696 0.00 2.50 0.00 0.000 1094 0.000 0.090 3081 2039 2114 2220 2008 0 0 0 0 0 0 14.12 14.02 14.19

95076 1.14 203.8 3081 2040 2220 2008 119.5 7.2 1288 95118 0.00 0.00 39.97 1.315 8486 0.000 0.000 3081 2039 1993 2095 1892 0 0 0 0 0 0 14.47 14.19 13.54

95466 1.18 236.0 3082 2039 2086 1889 89.4 7.2 1306 95510 0.00 0.00 42.70 1.278 8742 0.000 0.000 3081 2039 1862 1955 1769 0 0 0 0 0 0 14.41 14.12 13.48

95889 1.27 303.4 3081 2040 1944 1765 63.6 5.0 1325 95998 0.15 0.00 107.18 1.225 10278 0.137 0.000 3141 2039 1590 1660 1520 0 0 0 0 0 0 14.17 13.95 13.34

96340 1.36 369.5 3141 2039 1653 1516 37.1 5.1 1340 96462 0.00 2.58 116.05 1.174 8740 0.000 0.114 3143 709 1318 1365 1271 0 0 0 0 0 0 14.40 13.77 13.31

96523 1.44 432.0 3144 710 1363 1270 29.6 5.3 1376 96634 0.12 2.47 104.22 1.134 11302 0.140 0.088 3193 2041 1063 1081 1045 0 0 0 0 0 0 14.00 13.94 13.22

96758 end climb: FINISH_DEPTH_REACHED

state 96758 begin subsurface finish

96762 0.37 284.0 3194 2042 1080 1043 9.1 9.6 1409 96791 1.38 0.00 -21.33 0.006 20486 0.210 0.000 2834 2041 1670 1637 1703 0 0 0 0 0 0 13.78 12.70 14.02

96791 end subsurface finish: CONTROL_FINISHED_OK

state 96791 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	153	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2825	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	1740	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	86400	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	1	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1850	ALTIM_PING_FIT	0

GPS1	251219,123532,7529.1489,-14417.2129,0,5255.0,0,23.4,0.0,0.0,0,0.0	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	12.89	MHEAD_RNG_PITCHd_Wd	319.4,3165,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-10.3	D_GRID	500
GPS2	251219,123532,7529.1489,-14417.2129,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20191226163531.770794,06,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.28,-100,2.72,-01,0.07,62,925,0025*3A	SC_FREEKB	3786624
FREEZE	9.13,-1.494,-1.495,2,57,0	_24V_AH	12.67,81.178
FINISH1	9.1,1.021951,284	_10V_AH	12.71,0.000
FINISH2	8.8	FG_AHR_24Vo	0.000
RAFOS_CLK	104	FG_AHR_10Vo	0.000
MODEM	2,1577319336,75.67648,-146.03058,36.053,52427.4	MEM	334856
RAFOS_FIX	7528.426270,-14413.494141,261219,161631,6,255,0.02	DATA_FILE_SIZE	49845,1412
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	230879,0
TT8_MAMPS	0.038199,0.152796	CFSIZE	1047117824,1022148608
HUMID	50.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.82918	SOUNDSPEED	1453.4
TCM_TEMP	13.30	GPS	261219,163531,7528.426,-14413.494,0,7255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	171

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	231	14.39	nil	0	0	0.00
Roll_motor	71	133	121.34	nil	0	0	0.00
VBD_pump_during_apogee	665	1819	15347.21	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	10301	9	1226.44
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	42	420	227.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	92790	2	2724.33
TT8_Active	912	9	108.04
TT8_Sampling	2983	27	1035.10
TT8_CF8	215	37	103.65
TT8_Kalman	0	0	0.00
Analog_circuits	2057	10	285.06
GPS_charging	0	0	0.00
Compass	2056	6	176.18
RAFOS	15338	33	6433.22
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