Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 203 * 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 203 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 20 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 203 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 20 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 110220,123531,7530.1694,-14414.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0 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 7.72 MHEAD_RNG_PITCHd_Wd 272.2,2617,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -7.0 D_GRID 500

GPS2 110220,123531,7530.1694,-14414.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200212123531.268723,06,3922,35,0094,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.9,0.35,-100,2.65,-01,0.04,65,925,0025*3E SC_FREEKB 3757824

FREEZE 9.90,-1.514,-1.522,2,107,0 _24V_AH 13.01,105.913

FINISH1 9.9,1.022327,265 _10V_AH 11.28,0.000

FINISH2 9.4 FG_AHR_24Vo 0.000

RAFOS_CLK 61 FG_AHR_10Vo 0.000

MODEM 3,1581438031,75.26195,-145.59448,31.996,46562.2 MEM 334876

RAFOS_FIX 7530.190430,-14410.838867,120220,121231,3,255,0.02 DATA_FILE_SIZE 46610,1304

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 221707,0

TT8_MAMPS 0.077896,0.159537 CFSIZE 1047117824,1015906304

HUMID 52.04 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.83895 SOUNDSPEED 1454.6

TCM_TEMP 13.30 GPS 120220,123531,7530.190,-14410.839,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 158

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 236 15.07 nil 0 0 0.00

Roll_motor 52 129 88.89 nil 0 0 0.00

VBD_pump_during_apogee 672 1801 15751.25 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 10587 9 1291.42

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 39 420 215.84 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93112 2 2426.21

TT8_Active 904 9 95.13

TT8_Sampling 2774 27 854.46

TT8_CF8 250 37 106.70

TT8_Kalman 0 0 0.00

Analog_circuits 1973 10 242.59

GPS_charging 0 0 0.00

Compass 1906 6 144.92

RAFOS 15372 33 5722.07

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 2815 1944 1850 1952 0.0 0.0 0 52 0.00 0.00 -42.50 0.004 16386 0.000 0.000 2815 1944 3220 3325 3115 0 0 0 0 0 0 14.20 28.83 14.22

54 -0.78 -97.3 2816 1945 3327 3116 10.9 -6.0 4 60 1.17 2.47 0.00 0.000 4356 0.133 0.099 2463 3260 3220 3326 3115 0 0 0 0 0 0 13.91 13.95 14.00

114 -0.78 -97.3 2464 3261 3326 3116 22.1 -24.0 16 120 0.00 2.40 0.00 0.000 1030 0.000 0.073 2463 1940 3220 3326 3115 0 0 0 0 0 0 14.16 14.03 14.20

424 -0.78 -97.3 2463 1940 3327 3116 88.2 -17.6 30 430 0.00 2.65 0.00 0.000 516 0.000 0.115 2463 529 3220 3326 3115 0 0 0 0 0 0 14.51 14.05 14.54

499 -0.78 -97.3 2463 528 3325 3115 101.0 -16.7 45 505 0.00 2.45 0.00 0.000 1030 0.000 0.087 2463 1852 3220 3326 3115 0 0 0 0 0 0 14.23 14.15 14.29

874 -0.78 -97.3 2464 1853 3327 3116 154.3 -13.8 60 876 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1852 3220 3326 3115 0 0 0 0 0 0 14.62 14.64 14.64

1234 -0.78 -97.3 2464 1854 3327 3116 200.5 -12.7 72 1236 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1853 3220 3326 3115 0 0 0 0 0 0 14.64 14.67 14.67

1594 -0.78 -97.3 2464 1854 3326 3117 242.2 -11.1 84 1596 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1853 3220 3326 3115 0 0 0 0 0 0 14.66 14.70 14.69

1954 -0.78 -97.3 2464 1854 3327 3116 278.8 -9.7 96 1956 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1853 3221 3326 3116 0 0 0 0 0 0 14.68 14.71 14.71

2314 -0.78 -97.3 2463 1854 3326 3116 310.2 -8.4 108 2316 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1854 3221 3327 3115 0 0 0 0 0 0 14.69 14.71 14.71

2674 -0.78 -97.3 2463 1854 3327 3116 339.8 -8.2 120 2680 0.00 2.60 0.00 0.000 260 0.000 0.105 2463 3265 3220 3326 3115 0 0 0 0 0 0 14.80 14.21 14.82

2749 -0.78 -97.3 2463 3266 3327 3116 346.0 -8.2 135 2756 0.00 2.40 0.00 0.000 1030 0.000 0.071 2463 1935 3220 3326 3115 0 0 0 0 0 0 14.31 14.22 14.36

3125 -0.78 -97.3 2463 1934 3327 3116 375.5 -7.8 150 3127 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1934 3220 3326 3115 0 0 0 0 0 0 14.68 14.71 14.71

3485 -0.78 -97.3 2464 1935 3327 3116 402.8 -7.5 162 3487 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1934 3220 3326 3114 0 0 0 0 0 0 14.68 14.71 14.71

3845 -0.78 -97.3 2463 1935 3327 3116 429.9 -7.6 174 3851 0.00 2.45 0.00 0.000 260 0.000 0.102 2461 3263 3220 3326 3114 0 0 0 0 0 0 14.69 14.18 14.71

3900 -0.78 -97.3 2464 3264 3327 3115 434.2 -7.7 185 3907 0.00 2.40 0.00 0.000 1030 0.000 0.070 2463 1940 3220 3326 3114 0 0 0 0 0 0 14.30 14.19 14.34

4265 -0.78 -97.3 2463 1940 3327 3114 461.6 -7.4 198 4267 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1939 3220 3326 3114 0 0 0 0 0 0 14.69 14.71 14.71

4625 -0.78 -97.3 2463 1940 3327 3115 487.8 -7.3 210 4631 0.00 2.45 0.00 0.000 260 0.000 0.102 2463 3269 3220 3326 3114 0 0 0 0 0 0 14.68 14.15 14.71

4680 -0.78 -97.3 2463 3270 3327 3115 491.8 -7.6 221 4687 0.00 2.40 0.00 0.000 1030 0.000 0.070 2463 1944 3219 3325 3114 0 0 0 0 0 0 14.27 14.19 14.33

4804 end dive: TARGET_DEPTH_EXCEEDED

state 4804 begin apogee

4808 -0.17 0.0 2464 2036 3327 3115 500.9 -7.3 226 4904 0.77 0.00 93.15 1.802 10246 0.236 0.000 2657 2035 2825 2952 2698 0 0 0 0 0 0 13.96 13.93 13.03

4906 end apogee: CONTROL_FINISHED_OK

state 4906 begin loiter

5255 -0.17 0.0 2657 2036 2943 2694 501.5 0.6 232 5257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2818 2943 2693 0 0 0 0 0 0 14.56 14.55 14.54

5855 -0.17 0.0 2657 2036 2943 2692 494.2 1.2 237 5857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2817 2942 2692 0 0 0 0 0 0 14.83 14.86 14.85

6455 -0.17 0.0 2657 2036 2942 2691 487.3 1.1 242 6457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2815 2941 2690 0 0 0 0 0 0 14.74 14.77 14.77

7055 -0.17 0.0 2657 2036 2941 2691 481.0 1.0 247 7057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2815 2941 2690 0 0 0 0 0 0 14.94 14.97 14.97

7655 -0.17 0.0 2656 2037 2942 2691 474.9 1.0 252 7657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2815 2941 2690 0 0 0 0 0 0 14.79 14.82 14.82

8255 -0.17 0.0 2656 2036 2941 2690 469.5 0.9 257 8257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2815 2941 2690 0 0 0 0 0 0 14.80 14.83 14.83

8855 -0.17 0.0 2657 2036 2941 2690 463.9 0.9 262 8857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2940 2689 0 0 0 0 0 0 14.71 14.74 14.74

9455 -0.17 0.0 2657 2036 2941 2690 458.4 0.9 267 9457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2031 2814 2940 2689 0 0 0 0 0 0 14.56 14.59 14.59

10055 -0.17 0.0 2657 2036 2941 2691 454.2 0.7 272 10057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2815 2940 2690 0 0 0 0 0 0 14.62 14.66 14.65

10655 -0.17 0.0 2657 2036 2940 2689 450.6 0.6 277 10657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2940 2689 0 0 0 0 0 0 14.60 14.64 14.63

11255 -0.17 0.0 2657 2036 2941 2690 446.0 0.8 282 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2035 2814 2940 2689 0 0 0 0 0 0 14.89 14.93 14.92

11855 -0.17 0.0 2657 2036 2940 2690 441.5 0.7 287 11857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.73 14.77 14.76

12455 -0.17 0.0 2657 2036 2941 2690 437.4 0.7 292 12457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2940 2689 0 0 0 0 0 0 14.76 14.79 14.79

13055 -0.17 0.0 2657 2036 2941 2690 434.0 0.6 297 13057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2940 2689 0 0 0 0 0 0 14.77 14.81 14.81

13655 -0.17 0.0 2657 2036 2941 2690 431.5 0.4 302 13657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.78 14.81 14.81

14255 -0.17 0.0 2658 2036 2940 2690 430.0 0.2 307 14257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.79 14.83 14.82

14855 -0.17 0.0 2655 2036 2940 2690 429.0 0.2 312 14857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.80 14.83 14.82

15455 -0.17 0.0 2657 2036 2940 2690 428.1 0.1 317 15457 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2035 2814 2939 2689 0 0 0 0 0 0 14.80 14.83 14.82

16055 -0.17 0.0 2657 2036 2940 2690 426.9 0.2 322 16057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2940 2689 0 0 0 0 0 0 15.04 15.07 15.07

16655 -0.17 0.0 2656 2036 2940 2690 425.4 0.3 327 16657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.81 14.83 14.83

17255 -0.17 0.0 2657 2036 2940 2690 424.8 0.1 332 17257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2940 2689 0 0 0 0 0 0 14.80 14.83 14.83

17855 -0.17 0.0 2657 2036 2940 2690 424.9 -0.0 337 17857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.80 14.83 14.83

18455 -0.17 0.0 2657 2036 2940 2690 424.1 0.1 342 18457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.79 14.83 14.82

19055 -0.17 0.0 2657 2036 2940 2690 424.3 -0.0 347 19057 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2036 2814 2939 2689 0 0 0 0 0 0 14.79 14.82 14.82

19655 -0.17 0.0 2658 2036 2940 2690 424.6 -0.0 352 19657 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2035 2814 2939 2689 0 0 0 0 0 0 14.79 14.83 14.83

20255 -0.17 0.0 2656 2036 2940 2690 424.9 -0.1 357 20257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 15.05 15.08 15.08

20855 -0.17 0.0 2656 2036 2940 2690 424.7 0.0 362 20857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.79 14.82 14.82

21455 -0.17 0.0 2657 2036 2940 2690 424.1 0.1 367 21457 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2036 2814 2939 2689 0 0 0 0 0 0 14.79 14.83 14.82

22055 -0.17 0.0 2657 2036 2940 2690 423.2 0.1 372 22057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.79 14.81 14.82

22655 -0.17 0.0 2657 2036 2940 2690 423.1 -0.0 377 22657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.78 14.82 14.81

23255 -0.17 0.0 2657 2036 2941 2690 423.8 -0.1 382 23257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2939 2688 0 0 0 0 0 0 14.68 14.71 14.71

23855 -0.17 0.0 2657 2037 2940 2690 424.9 -0.2 387 23857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.62 14.64 14.64

24455 -0.17 0.0 2655 2036 2940 2690 425.8 -0.1 392 24457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.58 14.61 14.60

25055 -0.17 0.0 2652 2036 2940 2690 424.7 0.2 397 25057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.55 14.59 14.58

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27455 -0.17 0.0 2657 2036 2940 2690 421.8 0.3 417 27457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2938 2688 0 0 0 0 0 0 14.76 14.80 14.79

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45455 -0.17 0.0 2657 2036 2939 2689 426.2 0.1 567 45457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 15.04 15.07 15.10

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50855 -0.17 0.0 2657 2036 2939 2689 425.1 0.0 612 50857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 15.06 15.09 15.09

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52055 -0.17 0.0 2657 2036 2939 2690 424.6 0.0 622 52057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.63 14.66 14.66

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53255 -0.17 0.0 2657 2036 2939 2689 424.4 0.0 632 53257 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2036 2813 2938 2689 0 0 0 0 0 0 14.51 14.57 14.56

53855 -0.17 0.0 2657 2036 2940 2690 423.3 0.2 637 53857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2939 2688 0 0 0 0 0 0 14.52 14.54 14.54

54455 -0.17 0.0 2657 2037 2940 2690 422.1 0.2 642 54457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2938 2688 0 0 0 0 0 0 14.62 14.65 14.64

55055 -0.17 0.0 2657 2036 2939 2689 421.7 0.1 647 55057 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2939 2688 0 0 0 0 0 0 14.95 14.98 14.97

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59255 -0.17 0.0 2657 2036 2939 2689 423.2 0.1 682 59257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2814 2939 2689 0 0 0 0 0 0 14.73 14.76 14.76

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61655 -0.17 0.0 2657 2037 2939 2689 421.7 0.0 702 61657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2812 2936 2688 0 0 0 0 0 0 15.05 15.09 15.08

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68255 -0.17 0.0 2657 2036 2938 2688 427.2 -0.2 757 68257 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2813 2939 2688 0 0 0 0 0 0 14.50 14.54 14.53

68855 -0.17 0.0 2657 2036 2939 2689 427.5 -0.0 762 68857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2814 2939 2689 0 0 0 0 0 0 14.90 14.93 14.93

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70655 -0.17 0.0 2657 2036 2940 2689 423.6 0.1 777 70657 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2938 2688 0 0 0 0 0 0 15.00 15.03 15.02

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89856 -0.17 0.0 2657 2036 2940 2689 423.1 0.1 937 89857 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2036 2813 2939 2688 0 0 0 0 0 0 14.71 14.75 14.74

90455 -0.17 0.0 2657 2036 2940 2690 423.9 -0.1 942 90457 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2035 2813 2939 2688 0 0 0 0 0 0 15.05 15.09 15.08

91055 -0.17 0.0 2656 2036 2940 2689 424.5 -0.1 947 91057 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2036 2813 2939 2688 0 0 0 0 0 0 14.73 14.76 14.76

91293 end loiter: LOITER_COMPLETE

state 91293 begin climb

91295 0.78 97.3 2657 2036 2940 2689 424.5 0.0 949 91400 1.05 2.53 95.47 1.686 10756 0.140 0.116 2968 708 2427 2550 2304 0 0 0 0 0 0 13.90 14.00 13.08

91625 0.78 97.3 2968 709 2541 2299 400.7 8.9 1014 91632 0.00 2.42 0.00 0.000 1030 0.000 0.088 2968 2030 2419 2540 2298 0 0 0 0 0 0 14.20 14.03 14.26

91990 0.79 97.3 2968 2031 2538 2296 369.1 8.5 1027 91995 0.00 2.50 0.00 0.000 580 0.000 0.115 2968 715 2416 2538 2295 0 0 0 0 0 0 14.57 14.04 14.59

92090 0.81 97.3 2968 716 2538 2296 360.5 8.6 1047 92095 0.00 2.42 0.00 0.000 1094 0.000 0.088 2968 2040 2415 2537 2294 0 0 0 0 0 0 14.28 14.09 14.35

92470 0.82 97.3 2968 2041 2537 2295 328.1 8.6 1063 92476 0.00 2.62 0.00 0.000 324 0.000 0.106 2968 3447 2414 2535 2294 0 0 0 0 0 0 14.59 14.07 14.62

92515 0.82 97.3 2968 3448 2538 2294 323.8 9.6 1072 92521 0.00 2.42 0.00 0.000 1030 0.000 0.073 2968 2118 2415 2536 2294 0 0 0 0 0 0 14.19 14.11 14.25

92890 0.86 97.3 2968 2119 2536 2293 294.1 7.4 1087 92892 0.00 0.00 0.00 0.000 70 0.000 0.000 2968 2118 2414 2536 2293 0 0 0 0 0 0 14.62 14.64 14.64

93250 0.91 133.6 2968 2119 2535 2302 268.9 7.0 1099 93293 0.12 2.67 33.10 1.504 10788 0.137 0.116 3016 712 2279 2398 2160 0 0 0 0 0 0 14.31 14.28 13.44

93338 0.91 133.6 3016 713 2395 2160 261.5 9.2 1116 93344 0.00 2.40 0.00 0.000 1030 0.000 0.089 3016 2033 2276 2393 2159 0 0 0 0 0 0 14.31 14.15 14.39

93702 0.94 133.6 3016 2034 2390 2157 231.9 7.4 1129 93704 0.00 0.00 0.00 0.000 70 0.000 0.000 3016 2033 2272 2389 2156 0 0 0 0 0 0 14.56 14.59 14.59

94063 1.01 184.0 3016 2034 2389 2156 208.2 6.1 1141 94109 0.00 0.00 45.15 1.450 8742 0.000 0.000 3016 2033 2072 2173 1972 0 0 0 0 0 0 14.72 14.21 13.39

94484 1.04 184.0 3016 2033 2161 1968 177.2 7.5 1160 94486 0.12 0.00 0.00 0.000 2118 0.143 0.000 3066 2033 2063 2160 1967 0 0 0 0 0 0 14.25 14.39 14.35

94844 1.06 184.0 3067 2034 2158 1967 146.1 8.5 1172 94845 0.00 0.00 0.00 0.000 70 0.000 0.000 3067 2033 2062 2158 1966 0 0 0 0 0 0 14.57 14.59 14.59

95204 1.10 219.3 3067 2034 2154 1966 118.9 7.0 1184 95250 0.00 0.00 42.05 1.324 8486 0.000 0.000 3067 2033 1929 2019 1839 0 0 0 0 0 0 14.53 14.00 13.43

95624 1.14 219.3 3067 2037 2010 1835 86.6 7.4 1203 95626 0.00 0.00 0.00 0.000 70 0.000 0.000 3067 2033 1922 2011 1833 0 0 0 0 0 0 14.45 14.49 14.48

95984 1.24 295.4 3067 2034 2011 1832 66.9 4.4 1215 96116 0.15 0.00 129.30 1.227 10278 0.134 0.000 3123 2033 1621 1688 1555 0 0 0 0 0 0 14.15 13.86 13.18

96465 1.35 378.0 3123 2034 1682 1553 40.8 4.0 1231 96622 0.00 2.67 150.90 1.163 8740 0.000 0.115 3123 706 1284 1317 1251 0 0 0 0 0 0 14.38 13.71 13.08

96677 1.41 424.9 3123 705 1315 1250 32.5 6.3 1268 96767 0.15 2.50 82.90 1.125 11302 0.125 0.089 3182 2035 1092 1100 1084 0 0 0 0 0 0 13.85 13.76 13.01

96921 end climb: FINISH_DEPTH_REACHED

state 96921 begin subsurface finish

96925 0.34 264.6 3182 2036 1097 1082 9.9 9.6 1301 96954 1.35 0.00 -22.50 0.006 20486 0.202 0.000 2829 2035 1748 1716 1781 0 0 0 0 0 0 13.69 13.03 13.94

96954 end subsurface finish: CONTROL_FINISHED_OK

state 96955 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	203	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	20	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	110220,123531,7530.1694,-14414.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0	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	7.72	MHEAD_RNG_PITCHd_Wd	272.2,2617,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-7.0	D_GRID	500
GPS2	110220,123531,7530.1694,-14414.1455,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200212123531.268723,06,3922,35,0094,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-29.9,0.35,-100,2.65,-01,0.04,65,925,0025*3E	SC_FREEKB	3757824
FREEZE	9.90,-1.514,-1.522,2,107,0	_24V_AH	13.01,105.913
FINISH1	9.9,1.022327,265	_10V_AH	11.28,0.000
FINISH2	9.4	FG_AHR_24Vo	0.000
RAFOS_CLK	61	FG_AHR_10Vo	0.000
MODEM	3,1581438031,75.26195,-145.59448,31.996,46562.2	MEM	334876
RAFOS_FIX	7530.190430,-14410.838867,120220,121231,3,255,0.02	DATA_FILE_SIZE	46610,1304
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	221707,0
TT8_MAMPS	0.077896,0.159537	CFSIZE	1047117824,1015906304
HUMID	52.04	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.83895	SOUNDSPEED	1454.6
TCM_TEMP	13.30	GPS	120220,123531,7530.190,-14410.839,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	158

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	236	15.07	nil	0	0	0.00
Roll_motor	52	129	88.89	nil	0	0	0.00
VBD_pump_during_apogee	672	1801	15751.25	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	10587	9	1291.42
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	39	420	215.84	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93112	2	2426.21
TT8_Active	904	9	95.13
TT8_Sampling	2774	27	854.46
TT8_CF8	250	37	106.70
TT8_Kalman	0	0	0.00
Analog_circuits	1973	10	242.59
GPS_charging	0	0	0.00
Compass	1906	6	144.92
RAFOS	15372	33	5722.07
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