Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 154 * 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 154 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 154 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 261219,163531,7528.4263,-14413.4941,0,7255.0,0,23.4,0.0,0.0,0,0.0 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 12.45 MHEAD_RNG_PITCHd_Wd 305.2,5109,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -8.6 D_GRID 500

GPS2 261219,163531,7528.4263,-14413.4941,0,7255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20191227163530.855074,06,30137,44,0270,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.9,0.49,-100,2.51,-01,0.00,69,925,0025*00 SC_FREEKB 3786048

FREEZE 9.67,-1.494,-1.497,2,58,0 _24V_AH 12.66,81.676

FINISH1 9.7,1.021969,283 _10V_AH 12.92,0.000

FINISH2 9.6 FG_AHR_24Vo 0.000

RAFOS_CLK 415 FG_AHR_10Vo 0.000

MODEM 6,1577392531,75.33060,-142.67570,31.627,45965.9 MEM 334800

RAFOS_FIX 7527.213379,-14413.560547,271219,161630,3,255,0.03 DATA_FILE_SIZE 49985,1412

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 229466,0

TT8_MAMPS 0.038948,0.283122 CFSIZE 1047117824,1022017536

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

INTERNAL_PRESSURE 8.81941 INTR 0,1710.12,0x2147b0,0,24

TCM_TEMP 13.20 SOUNDSPEED 1453.6

XPDR_PINGS 192 GPS 271219,163530,7527.213,-14413.561,0,4255.0,0,23.4,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 239 13.94 nil 0 0 0.00

Roll_motor 68 136 118.45 nil 0 0 0.00

VBD_pump_during_apogee 630 1814 14489.38 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 10407 9 1241.50

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 48 420 255.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 92832 2 2770.59

TT8_Active 860 9 103.57

TT8_Sampling 2951 27 1040.88

TT8_CF8 214 37 104.83

TT8_Kalman 0 0 0.00

Analog_circuits 2006 10 282.57

GPS_charging 0 0 0.00

Compass 2058 6 179.26

RAFOS 13159 33 5610.47

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 1941 1639 1704 0.0 0.0 0 52 0.00 0.00 -40.55 0.004 16390 0.000 0.000 2834 1940 3223 3328 3119 0 0 0 0 0 0 14.37 12.66 14.40

53 -0.78 -97.3 2835 1941 3330 3121 15.1 -5.9 4 59 1.23 2.47 0.00 0.000 4356 0.130 0.100 2466 3269 3224 3329 3119 0 0 0 0 0 0 14.04 14.04 14.13

138 -0.78 -97.3 2466 3270 3330 3120 33.7 -27.6 21 145 0.00 2.42 0.00 0.000 1030 0.000 0.073 2465 1943 3224 3329 3120 0 0 0 0 0 0 14.19 14.11 14.23

503 -0.78 -97.3 2466 1943 3330 3121 105.3 -15.9 34 509 0.00 2.62 0.00 0.000 516 0.000 0.115 2466 533 3224 3329 3120 0 0 0 0 0 0 14.53 14.14 14.56

609 -0.78 -97.3 2465 533 3330 3120 122.0 -15.6 55 615 0.00 2.42 0.00 0.000 1030 0.000 0.088 2466 1852 3224 3329 3120 0 0 0 0 0 0 14.28 14.19 14.33

984 -0.78 -97.3 2464 1857 3330 3120 173.7 -13.3 70 986 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1852 3224 3329 3120 0 0 0 0 0 0 14.61 14.64 14.64

1344 -0.78 -97.3 2466 1853 3330 3120 218.4 -12.0 82 1346 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1852 3224 3329 3120 0 0 0 0 0 0 14.63 14.67 14.66

1704 -0.78 -97.3 2466 1852 3330 3121 258.3 -10.6 94 1710 0.00 2.47 0.00 0.000 516 0.000 0.117 2465 530 3224 3329 3120 0 0 0 0 0 0 14.65 14.19 14.66

1865 -0.78 -97.3 2465 532 3330 3121 275.8 -10.6 126 1871 0.00 2.42 0.00 0.000 1030 0.000 0.089 2466 1851 3224 3329 3120 0 0 0 0 0 0 14.33 14.25 14.40

2246 -0.78 -97.3 2466 1852 3330 3121 310.2 -8.8 142 2247 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1851 3223 3329 3118 0 0 0 0 0 0 14.66 14.69 14.69

2605 -0.78 -97.3 2466 1851 3330 3121 340.5 -8.2 154 2612 0.00 2.60 0.00 0.000 260 0.000 0.107 2465 3266 3224 3329 3120 0 0 0 0 0 0 14.78 14.24 14.81

2671 -0.78 -97.3 2464 3267 3330 3120 345.9 -8.3 167 2677 0.00 2.40 0.00 0.000 1030 0.000 0.073 2465 1935 3224 3329 3120 0 0 0 0 0 0 14.34 14.25 14.40

3056 -0.78 -97.3 2465 1935 3330 3121 376.1 -7.8 184 3058 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1935 3224 3329 3120 0 0 0 0 0 0 14.66 14.70 14.70

3416 -0.78 -97.3 2465 1935 3330 3121 403.5 -7.5 196 3422 0.00 2.45 0.00 0.000 260 0.000 0.104 2466 3264 3224 3330 3119 0 0 0 0 0 0 14.68 14.22 14.70

3511 -0.78 -97.3 2466 3264 3330 3120 410.7 -7.7 215 3517 0.00 2.40 0.00 0.000 1030 0.000 0.077 2466 1942 3224 3329 3119 0 0 0 0 0 0 14.32 14.23 14.38

3896 -0.78 -97.3 2466 1943 3330 3120 439.2 -7.4 232 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1942 3224 3329 3119 0 0 0 0 0 0 14.67 14.71 14.70

4256 -0.78 -97.3 2465 1943 3330 3120 465.4 -7.3 244 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1942 3224 3329 3119 0 0 0 0 0 0 14.68 14.71 14.71

4616 -0.78 -97.3 2462 1942 3330 3120 491.4 -7.1 256 4622 0.00 2.45 0.00 0.000 292 0.000 0.104 2466 3273 3224 3329 3119 0 0 0 0 0 0 14.68 14.21 14.71

4676 -0.78 -97.3 2466 3274 3338 3120 495.8 -7.5 268 4682 0.00 2.42 0.00 0.000 1030 0.000 0.076 2465 1938 3224 3329 3119 0 0 0 0 0 0 14.47 14.23 14.52

4735 end dive: TARGET_DEPTH_EXCEEDED

state 4735 begin apogee

4739 -0.17 0.0 2466 2044 3330 3120 500.3 -7.4 275 4835 0.77 0.00 93.70 1.815 10246 0.239 0.000 2661 2043 2826 2957 2696 0 0 0 0 0 0 14.08 13.95 13.16

4837 end apogee: CONTROL_FINISHED_OK

state 4837 begin loiter

5186 -0.17 0.0 2661 2044 2948 2692 500.5 0.8 281 5188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2819 2947 2691 0 0 0 0 0 0 14.47 14.50 14.50

5786 -0.17 0.0 2661 2044 2946 2690 492.3 1.4 286 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2817 2946 2689 0 0 0 0 0 0 14.66 14.70 14.69

6386 -0.17 0.0 2661 2043 2945 2690 485.1 1.2 291 6388 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2817 2945 2689 0 0 0 0 0 0 14.87 14.90 14.89

6986 -0.17 0.0 2659 2043 2945 2690 478.3 1.1 296 6988 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2816 2944 2689 0 0 0 0 0 0 14.91 14.95 14.94

7586 -0.17 0.0 2660 2044 2945 2690 471.8 1.1 301 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2042 2816 2944 2689 0 0 0 0 0 0 14.78 14.82 14.81

8186 -0.17 0.0 2661 2044 2945 2690 464.0 1.3 306 8188 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2816 2944 2689 0 0 0 0 0 0 14.83 14.85 14.85

8786 -0.17 0.0 2661 2044 2945 2689 456.0 1.3 311 8788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2689 0 0 0 0 0 0 14.81 14.85 14.84

9386 -0.17 0.0 2661 2044 2945 2689 449.8 1.0 316 9388 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2689 0 0 0 0 0 0 14.83 14.85 14.85

9986 -0.17 0.0 2661 2043 2944 2689 445.2 0.7 321 9988 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2943 2689 0 0 0 0 0 0 14.83 14.86 14.85

10586 -0.17 0.0 2660 2044 2944 2689 440.4 0.8 326 10588 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2816 2944 2689 0 0 0 0 0 0 14.86 14.88 14.88

11186 -0.17 0.0 2661 2044 2945 2689 435.7 0.8 331 11188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2689 0 0 0 0 0 0 14.73 14.76 14.76

11786 -0.17 0.0 2659 2044 2944 2689 431.0 0.8 336 11788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.65 14.71 14.70

12386 -0.17 0.0 2661 2043 2944 2689 426.8 0.7 341 12388 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.63 14.66 14.66

12988 -0.17 0.0 2661 2043 2944 2689 421.7 0.8 346 12990 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2689 0 0 0 0 0 0 14.64 14.67 14.66

13586 -0.17 0.0 2661 2043 2944 2689 419.0 0.4 351 13588 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.89 14.92 14.92

14186 -0.17 0.0 2662 2044 2945 2689 417.9 0.2 356 14188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.74 14.77 14.77

14786 -0.17 0.0 2662 2044 2944 2689 418.5 -0.1 361 14788 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2816 2944 2688 0 0 0 0 0 0 14.81 14.83 14.82

15386 -0.17 0.0 2661 2043 2944 2689 418.4 0.0 366 15388 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2689 0 0 0 0 0 0 14.78 14.82 14.81

15986 -0.17 0.0 2662 2044 2944 2689 418.3 0.0 371 15988 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.80 14.83 14.82

16586 -0.17 0.0 2661 2043 2945 2689 417.4 0.2 376 16588 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2944 2688 0 0 0 0 0 0 14.81 14.83 14.83

17186 -0.17 0.0 2661 2043 2945 2689 417.2 -0.0 381 17188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 15.02 15.05 15.05

17786 -0.17 0.0 2661 2044 2944 2689 418.3 -0.2 386 17788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.81 14.85 14.84

18386 -0.17 0.0 2661 2043 2944 2689 418.9 -0.1 391 18388 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.81 14.85 14.84

18986 -0.17 0.0 2660 2043 2944 2689 418.9 -0.0 396 18988 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

19586 -0.17 0.0 2661 2044 2944 2690 419.0 -0.0 401 19588 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2943 2689 0 0 0 0 0 0 14.82 14.85 14.85

20186 -0.17 0.0 2661 2044 2944 2689 419.0 0.0 406 20188 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

20786 -0.17 0.0 2661 2044 2944 2689 417.6 0.2 411 20788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

21386 -0.17 0.0 2661 2044 2944 2689 417.1 0.1 416 21388 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

21986 -0.17 0.0 2661 2043 2944 2689 416.3 0.1 421 21988 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

22586 -0.17 0.0 2659 2044 2944 2689 415.5 0.1 426 22588 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

23186 -0.17 0.0 2661 2043 2943 2689 416.2 -0.1 431 23188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

23786 -0.17 0.0 2661 2043 2944 2689 415.9 0.1 436 23788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.83 14.85 14.85

24386 -0.17 0.0 2661 2043 2944 2690 415.6 0.0 441 24388 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2687 0 0 0 0 0 0 15.06 15.09 15.09

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58586 -0.16 0.0 2661 2044 2944 2689 421.7 -0.1 726 58588 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.99 15.02 15.02

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89186 -0.16 0.0 2661 2044 2944 2690 418.9 -0.2 981 89188 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2816 2943 2689 0 0 0 0 0 0 14.78 14.82 14.81

89786 -0.16 0.0 2660 2044 2943 2689 418.1 0.2 986 89788 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 15.03 15.07 15.06

90386 -0.16 0.0 2662 2044 2944 2689 418.5 -0.1 991 90388 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2816 2943 2689 0 0 0 0 0 0 15.04 15.07 15.07

90986 -0.16 0.0 2661 2043 2944 2689 420.1 -0.3 996 90988 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2043 2815 2943 2688 0 0 0 0 0 0 14.76 14.80 14.79

91225 end loiter: LOITER_COMPLETE

state 91225 begin climb

91226 0.78 97.3 2660 2043 2944 2689 420.0 0.0 998 91332 1.02 2.70 94.55 1.705 10500 0.142 0.109 2962 3454 2426 2553 2299 0 0 0 0 0 0 14.09 14.04 13.26

91541 0.78 97.3 2962 3455 2544 2294 394.4 10.3 1060 91547 0.00 2.47 0.00 0.000 1030 0.000 0.076 2968 2117 2418 2543 2293 0 0 0 0 0 0 14.04 13.97 14.12

91921 0.79 97.3 2962 2120 2542 2291 359.9 8.7 1076 91927 0.00 2.50 0.00 0.000 324 0.000 0.106 2962 3450 2416 2542 2290 0 0 0 0 0 0 14.51 14.05 14.54

92026 0.79 97.3 2961 3450 2543 2291 350.1 9.5 1097 92032 0.00 2.45 0.00 0.000 1030 0.000 0.076 2962 2116 2415 2541 2290 0 0 0 0 0 0 14.16 14.07 14.22

92401 0.82 97.3 2963 2117 2541 2290 320.4 7.8 1112 92403 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2117 2414 2540 2289 0 0 0 0 0 0 14.56 14.59 14.58

92761 0.85 97.3 2962 2117 2541 2289 292.5 7.5 1124 92763 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2116 2414 2540 2288 0 0 0 0 0 0 14.58 14.62 14.61

93121 0.89 97.3 2962 2117 2540 2289 265.9 7.3 1136 93127 0.15 2.65 0.00 0.000 2628 0.125 0.115 3019 711 2414 2540 2288 0 0 0 0 0 0 14.28 14.09 14.38

93182 0.92 97.3 3018 712 2540 2288 261.1 8.1 1148 93187 0.00 2.40 0.00 0.000 1094 0.000 0.088 3018 2035 2414 2540 2288 0 0 0 0 0 0 14.33 14.15 14.40

93572 1.00 164.0 3019 2036 2541 2289 237.1 5.0 1166 93635 0.00 2.58 58.42 1.503 8740 0.000 0.116 3018 706 2155 2270 2041 0 0 0 0 0 0 14.60 14.13 13.46

93749 1.02 164.0 3018 707 2258 2039 224.0 8.7 1201 93756 0.00 2.47 0.00 0.000 1094 0.000 0.088 3018 2030 2148 2258 2038 0 0 0 0 0 0 14.08 14.00 14.14

94114 1.05 164.0 3018 2031 2255 2036 195.1 7.5 1214 94116 0.12 0.00 0.00 0.000 2118 0.142 0.000 3071 2030 2144 2253 2036 0 0 0 0 0 0 14.21 14.35 14.31

94474 1.07 164.0 3072 2032 2254 2036 164.0 8.4 1226 94476 0.00 0.00 0.00 0.000 70 0.000 0.000 3071 2031 2144 2253 2035 0 0 0 0 0 0 14.66 14.70 14.69

94834 1.11 197.9 3072 2031 2253 2035 136.9 7.1 1238 94877 0.00 2.62 36.17 1.357 8484 0.000 0.110 3072 3450 2016 2117 1916 0 0 0 0 0 0 14.71 14.28 13.60

94911 1.11 197.9 3071 3451 2114 1917 130.6 9.1 1248 94917 0.00 2.42 0.00 0.000 1030 0.000 0.077 3073 2120 2013 2112 1914 0 0 0 0 0 0 14.27 14.22 14.30

95286 1.14 197.9 3073 2120 2107 1912 99.7 7.9 1263 95292 0.00 2.67 0.00 0.000 580 0.000 0.117 3073 704 2010 2109 1912 0 0 0 0 0 0 14.62 14.07 14.66

95356 1.19 241.4 3073 705 2108 1912 95.0 6.5 1277 95415 0.00 2.47 54.17 1.297 9254 0.000 0.090 3073 2035 1841 1930 1752 0 0 0 0 0 0 14.15 14.04 13.51

95800 1.26 294.4 3073 2037 1919 1747 65.2 5.9 1305 95885 0.17 0.00 82.70 1.225 10790 0.126 0.000 3141 2035 1625 1696 1554 0 0 0 0 0 0 14.21 14.01 13.44

96220 1.37 372.8 3141 2036 1689 1552 40.3 4.3 1329 96361 0.00 2.78 136.75 1.172 8996 0.000 0.110 3148 3450 1306 1350 1263 0 0 0 0 0 0 14.42 13.83 13.29

96501 1.42 416.4 3142 3451 1347 1263 25.6 6.5 1375 96583 0.00 2.45 74.25 1.142 9254 0.000 0.076 3143 2111 1126 1150 1103 0 0 0 0 0 0 14.07 13.95 13.28

96746 end climb: FINISH_DEPTH_REACHED

state 96746 begin subsurface finish

96749 0.37 283.0 3144 2112 1147 1101 9.7 5.9 1407 96777 1.12 2.70 -18.52 0.008 20996 0.200 0.137 2837 714 1674 1641 1707 0 0 0 0 0 0 13.85 12.80 14.01

96778 end subsurface finish: CONTROL_FINISHED_OK

state 96778 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	154	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	261219,163531,7528.4263,-14413.4941,0,7255.0,0,23.4,0.0,0.0,0,0.0	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	12.45	MHEAD_RNG_PITCHd_Wd	305.2,5109,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-8.6	D_GRID	500
GPS2	261219,163531,7528.4263,-14413.4941,0,7255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20191227163530.855074,06,30137,44,0270,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-31.9,0.49,-100,2.51,-01,0.00,69,925,0025*00	SC_FREEKB	3786048
FREEZE	9.67,-1.494,-1.497,2,58,0	_24V_AH	12.66,81.676
FINISH1	9.7,1.021969,283	_10V_AH	12.92,0.000
FINISH2	9.6	FG_AHR_24Vo	0.000
RAFOS_CLK	415	FG_AHR_10Vo	0.000
MODEM	6,1577392531,75.33060,-142.67570,31.627,45965.9	MEM	334800
RAFOS_FIX	7527.213379,-14413.560547,271219,161630,3,255,0.03	DATA_FILE_SIZE	49985,1412
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	229466,0
TT8_MAMPS	0.038948,0.283122	CFSIZE	1047117824,1022017536
HUMID	51.81	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.81941	INTR	0,1710.12,0x2147b0,0,24
TCM_TEMP	13.20	SOUNDSPEED	1453.6
XPDR_PINGS	192	GPS	271219,163530,7527.213,-14413.561,0,4255.0,0,23.4,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	239	13.94	nil	0	0	0.00
Roll_motor	68	136	118.45	nil	0	0	0.00
VBD_pump_during_apogee	630	1814	14489.38	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	10407	9	1241.50
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	48	420	255.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	92832	2	2770.59
TT8_Active	860	9	103.57
TT8_Sampling	2951	27	1040.88
TT8_CF8	214	37	104.83
TT8_Kalman	0	0	0.00
Analog_circuits	2006	10	282.57
GPS_charging	0	0	0.00
Compass	2058	6	179.26
RAFOS	13159	33	5610.47
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