Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 294 * 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 294 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 17 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 294 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 17 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 250520,043115,7532.6460,-14426.2168,0,6255.0,0,23.4,0.0,0.0,0,0.0 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 10.20 MHEAD_RNG_PITCHd_Wd 113.5,4731,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -7.2 D_GRID 500

GPS2 250520,043115,7532.6460,-14426.2168,0,6255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200526042030.068545,06,15562,41,0120,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.3,0.35,-100,2.65,-01,-0.03,62,925,0025*2A SC_FREEKB 3705376

FREEZE 9.91,-1.511,-1.555,2,198,0 _24V_AH 12.34,151.695

FINISH1 9.9,1.022807,240 _10V_AH 9.44,0.000

FINISH2 9.0 FG_AHR_24Vo 0.000

RAFOS_CLK 41 FG_AHR_10Vo 0.000

MODEM 0,1590393955,74.83892,-145.28152,55.001,79993.8 MEM 334796

RAFOS_FIX 7531.785156,-14428.637695,260520,040430,3,255,0.02 DATA_FILE_SIZE 56501,1592

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 241554,0

TT8_MAMPS 0.079394,0.29211 CFSIZE 1047117824,1004027904

HUMID 51.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.85848 SOUNDSPEED 1453.6

TCM_TEMP 13.30 GPS 260520,042030,7531.785,-14428.638,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 135

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 224 13.18 nil 0 0 0.00

Roll_motor 87 126 136.21 nil 0 0 0.00

VBD_pump_during_apogee 689 1797 15298.80 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 11295 9 1301.81

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 33 420 174.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93242 2 2033.28

TT8_Active 898 9 79.03

TT8_Sampling 3272 27 843.31

TT8_CF8 336 37 120.00

TT8_Kalman 0 0 0.00

Analog_circuits 2184 10 224.74

GPS_charging 0 0 0.00

Compass 2315 6 147.36

RAFOS 15470 33 4819.21

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

9 -0.78 -97.3 2802 1934 1999 2051 0.0 0.0 0 45 0.00 0.00 -34.40 0.005 16390 0.000 0.000 2801 1933 3221 3331 3112 0 0 0 0 0 0 14.35 12.34 14.38

47 -0.78 -97.3 2802 1934 3333 3114 12.5 -5.0 3 53 1.10 2.50 0.00 0.000 4356 0.124 0.102 2467 3265 3222 3332 3113 0 0 0 0 0 0 13.95 13.97 14.04

107 -0.78 -97.3 2467 3266 3333 3114 24.0 -22.6 15 113 0.00 2.42 0.00 0.000 1030 0.000 0.077 2467 1938 3222 3332 3113 0 0 0 0 0 0 14.20 14.05 14.24

438 -0.78 -97.3 2466 1938 3332 3114 79.3 -15.0 29 444 0.00 2.47 0.00 0.000 260 0.000 0.104 2466 3265 3222 3332 3113 0 0 0 0 0 0 14.65 14.08 14.67

668 -0.78 -97.3 2468 3265 3333 3114 111.7 -13.6 75 674 0.00 2.42 0.00 0.000 1030 0.000 0.074 2465 1947 3222 3332 3113 0 0 0 0 0 0 14.19 14.07 14.26

1039 -0.78 -97.3 2467 1948 3332 3114 159.9 -12.7 89 1045 0.00 2.47 0.00 0.000 260 0.000 0.104 2467 3268 3223 3333 3113 0 0 0 0 0 0 14.59 14.09 14.62

1269 -0.78 -97.3 2467 3269 3331 3114 188.7 -12.3 135 1275 0.00 2.40 0.00 0.000 1030 0.000 0.077 2467 1934 3226 3332 3121 0 0 0 0 0 0 14.31 14.14 14.35

1640 -0.78 -97.3 2468 1934 3332 3114 233.1 -11.6 149 1641 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1934 3222 3332 3113 0 0 0 0 0 0 14.64 14.66 14.66

2000 -0.78 -97.3 2467 1934 3332 3114 273.1 -11.1 161 2006 0.00 2.47 0.00 0.000 260 0.000 0.105 2467 3263 3222 3332 3113 0 0 0 0 0 0 14.64 14.05 14.66

2050 -0.78 -97.3 2467 3265 3333 3114 278.5 -10.4 171 2056 0.00 2.38 0.00 0.000 1030 0.000 0.073 2467 1940 3222 3332 3113 0 0 0 0 0 0 14.28 14.12 14.35

2421 -0.78 -97.3 2467 1941 3333 3114 312.0 -8.5 185 2423 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1940 3222 3332 3113 0 0 0 0 0 0 14.65 14.68 14.68

2781 -0.78 -97.3 2467 1941 3333 3114 340.1 -8.0 197 2787 0.00 2.47 0.00 0.000 260 0.000 0.104 2467 3266 3222 3332 3113 0 0 0 0 0 0 14.78 14.03 14.81

2851 -0.78 -97.3 2467 3267 3333 3114 345.8 -8.0 211 2857 0.00 2.40 0.00 0.000 1030 0.000 0.075 2467 1937 3222 3332 3113 0 0 0 0 0 0 14.26 14.09 14.32

3232 -0.78 -97.3 2467 1938 3333 3113 375.7 -7.7 227 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1937 3222 3332 3113 0 0 0 0 0 0 14.78 14.81 14.81

3592 -0.78 -97.3 2467 1937 3332 3113 401.8 -7.1 239 3593 0.00 0.00 0.00 0.000 38 0.000 0.000 2467 1937 3222 3332 3113 0 0 0 0 0 0 14.64 14.66 14.66

3952 -0.78 -97.3 2466 1937 3332 3113 426.8 -7.0 251 3957 0.00 2.50 0.00 0.000 292 0.000 0.103 2467 3274 3223 3333 3113 0 0 0 0 0 0 14.64 13.98 14.66

4032 -0.78 -97.3 2467 3275 3333 3113 432.5 -7.1 267 4037 0.00 2.42 0.00 0.000 1062 0.000 0.073 2467 1935 3222 3332 3113 0 0 0 0 0 0 14.23 14.07 14.30

4402 -0.78 -97.3 2468 1936 3332 3113 458.4 -7.0 281 4404 0.00 0.00 0.00 0.000 38 0.000 0.000 2467 1935 3222 3332 3113 0 0 0 0 0 0 14.80 14.83 14.82

4762 -0.78 -97.3 2467 1936 3333 3114 483.6 -7.0 293 4768 0.00 2.50 0.00 0.000 292 0.000 0.101 2467 3268 3222 3332 3113 0 0 0 0 0 0 14.63 13.97 14.66

4798 -0.78 -97.3 2467 3269 3332 3113 486.2 -7.2 300 4803 0.00 2.40 0.00 0.000 1062 0.000 0.071 2467 1934 3222 3331 3113 0 0 0 0 0 0 14.23 14.07 14.29

5001 end dive: TARGET_DEPTH_EXCEEDED

state 5001 begin apogee

5006 -0.17 0.0 2468 2040 3333 3113 500.6 -7.0 311 5106 0.77 0.00 96.57 1.798 10246 0.225 0.000 2662 2039 2824 2954 2695 0 0 0 0 0 0 13.76 13.86 12.83

5107 end apogee: CONTROL_FINISHED_OK

state 5107 begin loiter

5453 -0.17 0.0 2661 2040 2946 2690 503.4 -0.1 317 5454 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2817 2946 2689 0 0 0 0 0 0 14.54 14.57 14.56

6053 -0.17 0.0 2661 2040 2945 2689 501.5 0.4 322 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2816 2945 2688 0 0 0 0 0 0 14.85 14.89 14.88

6653 -0.17 0.0 2662 2040 2945 2688 498.6 0.5 327 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2944 2687 0 0 0 0 0 0 14.90 14.96 14.96

7253 -0.17 0.0 2662 2040 2945 2688 496.6 0.3 332 7255 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2944 2687 0 0 0 0 0 0 14.96 15.00 14.99

7853 -0.17 0.0 2661 2040 2944 2687 495.2 0.2 337 7854 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2943 2687 0 0 0 0 0 0 14.76 14.80 14.79

8453 -0.17 0.0 2661 2040 2944 2687 493.7 0.3 342 8455 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.77 14.81 14.80

9053 -0.17 0.0 2661 2040 2944 2687 491.7 0.3 347 9054 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2943 2687 0 0 0 0 0 0 14.78 14.81 14.81

9653 -0.17 0.0 2661 2040 2944 2687 489.7 0.3 352 9655 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2943 2687 0 0 0 0 0 0 14.78 14.80 14.80

10253 -0.17 0.0 2662 2040 2944 2688 488.6 0.2 357 10254 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.66 14.69 14.69

10853 -0.17 0.0 2661 2040 2943 2687 487.8 0.1 362 10855 0.00 0.00 0.00 0.000 6 0.000 0.000 2663 2039 2815 2943 2687 0 0 0 0 0 0 14.59 14.63 14.62

11453 -0.17 0.0 2662 2040 2945 2687 487.3 0.1 367 11454 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2036 2814 2943 2686 0 0 0 0 0 0 14.57 14.60 14.59

12053 -0.17 0.0 2662 2040 2944 2687 486.8 0.1 372 12055 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.55 14.57 14.58

12653 -0.17 0.0 2662 2040 2944 2687 486.0 0.1 377 12655 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.92 14.95 14.95

13253 -0.17 0.0 2661 2040 2943 2687 485.0 0.2 382 13255 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2943 2687 0 0 0 0 0 0 14.97 15.00 15.00

13853 -0.17 0.0 2661 2040 2943 2687 484.0 0.2 387 13854 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2815 2943 2687 0 0 0 0 0 0 14.73 14.76 14.76

14453 -0.17 0.0 2661 2040 2944 2687 482.9 0.2 392 14455 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.75 14.78 14.78

15053 -0.17 0.0 2662 2040 2944 2687 481.9 0.2 397 15054 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.02 15.05 15.04

15653 -0.17 0.0 2662 2039 2944 2687 481.4 0.1 402 15655 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2687 0 0 0 0 0 0 15.03 15.06 15.05

16253 -0.17 0.0 2661 2040 2943 2688 481.3 0.0 407 16254 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.76 14.79 14.78

16853 -0.17 0.0 2661 2040 2943 2687 482.1 -0.1 412 16855 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.03 15.07 15.06

17453 -0.17 0.0 2661 2040 2944 2687 482.8 -0.1 417 17454 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.76 14.79 14.79

18053 -0.17 0.0 2661 2040 2944 2687 482.8 0.0 422 18055 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.76 14.79 14.79

18653 -0.17 0.0 2661 2040 2943 2687 482.8 -0.0 427 18654 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.76 14.81 14.79

19253 -0.17 0.0 2662 2040 2944 2687 482.5 0.0 432 19255 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.04 15.07 15.07

19853 -0.17 0.0 2661 2040 2943 2687 480.9 0.3 437 19854 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.04 15.07 15.07

20453 -0.17 0.0 2661 2040 2943 2687 478.4 0.4 442 20455 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2039 2814 2942 2686 0 0 0 0 0 0 14.76 14.79 14.79

21053 -0.17 0.0 2661 2040 2943 2687 477.0 0.2 447 21054 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.04 15.07 15.07

21653 -0.17 0.0 2659 2040 2943 2687 477.8 -0.2 452 21655 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 14.76 14.78 14.78

22253 -0.17 0.0 2662 2040 2943 2687 480.2 -0.4 457 22254 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 15.04 15.07 15.07

22853 -0.17 0.0 2662 2040 2943 2687 482.3 -0.3 462 22855 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 15.04 15.07 15.07

23453 -0.17 0.0 2661 2040 2943 2687 482.6 -0.0 467 23454 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 15.04 15.08 15.07

24053 -0.17 0.0 2661 2040 2943 2687 481.9 0.1 472 24055 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2943 2686 0 0 0 0 0 0 14.75 14.78 14.78

24653 -0.17 0.0 2661 2040 2943 2687 480.3 0.3 477 24654 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2044 2814 2943 2686 0 0 0 0 0 0 14.59 14.63 14.63

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89453 -0.17 0.0 2661 2040 2942 2686 484.2 0.1 1017 89454 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 15.04 15.07 15.07

90053 -0.17 0.0 2661 2040 2942 2686 482.9 0.2 1022 90055 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 15.04 15.07 15.07

90653 -0.17 0.0 2661 2040 2942 2686 481.4 0.2 1027 90654 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2813 2942 2685 0 0 0 0 0 0 15.04 15.08 15.07

91253 -0.17 0.0 2661 2040 2942 2686 480.6 0.1 1032 91255 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2039 2814 2942 2686 0 0 0 0 0 0 14.71 14.73 14.73

91491 end loiter: LOITER_COMPLETE

state 91491 begin climb

91493 0.78 97.3 2661 2040 2943 2686 480.6 0.0 1034 91603 1.00 2.72 99.55 1.733 10500 0.132 0.105 2960 3444 2426 2549 2303 0 0 0 0 0 0 13.68 13.82 12.69

91828 0.78 97.3 2960 3445 2540 2300 455.3 9.5 1100 91833 0.00 2.42 0.00 0.000 1030 0.000 0.070 2961 2115 2419 2539 2299 0 0 0 0 0 0 14.19 14.04 14.26

92218 0.80 97.3 2962 2116 2538 2296 423.2 8.1 1118 92223 0.00 2.50 0.00 0.000 324 0.000 0.102 2961 3443 2416 2537 2295 0 0 0 0 0 0 14.58 13.93 14.62

92448 0.80 97.3 2961 3445 2536 2296 402.4 9.0 1164 92453 0.00 2.38 0.00 0.000 1030 0.000 0.069 2961 2121 2415 2535 2295 0 0 0 0 0 0 14.24 14.07 14.31

92818 0.83 97.3 2961 2122 2536 2294 373.2 8.0 1178 92823 0.00 2.47 0.00 0.000 324 0.000 0.100 2961 3442 2414 2535 2293 0 0 0 0 0 0 14.76 13.92 14.78

92868 0.83 97.3 2961 3444 2535 2294 368.8 9.0 1188 92873 0.00 2.38 0.00 0.000 1030 0.000 0.068 2961 2122 2414 2535 2293 0 0 0 0 0 0 14.23 14.08 14.31

93239 0.86 97.3 2961 2122 2536 2294 340.1 7.5 1202 93244 0.12 2.70 0.00 0.000 2628 0.136 0.114 3009 704 2414 2535 2293 0 0 0 0 0 0 14.35 13.93 14.41

93319 0.88 97.3 3007 705 2536 2293 333.3 8.6 1218 93325 0.00 2.42 0.00 0.000 1094 0.000 0.084 3008 2035 2413 2534 2293 0 0 0 0 0 0 14.14 14.01 14.20

93690 0.88 97.3 3009 2035 2536 2293 301.7 8.9 1232 93695 0.00 2.65 0.00 0.000 260 0.000 0.103 3008 3453 2413 2534 2293 0 0 0 0 0 0 14.60 13.95 14.63

93905 0.91 97.3 3009 3453 2536 2293 283.6 7.8 1275 93911 0.00 2.42 0.00 0.000 1094 0.000 0.071 3009 2110 2413 2534 2292 0 0 0 0 0 0 14.20 14.04 14.28

94291 1.00 165.8 3008 2111 2535 2294 261.9 4.9 1292 94359 0.00 2.65 62.22 1.515 8740 0.000 0.116 3008 707 2145 2249 2042 0 0 0 0 0 0 14.59 13.78 13.07

94584 1.04 198.4 3009 707 2237 2039 241.3 7.2 1350 94620 0.15 2.42 29.33 1.450 11302 0.132 0.083 3068 2038 2016 2106 1926 0 0 0 0 0 0 14.12 14.02 13.08

94985 1.04 198.4 3068 2039 2097 1919 203.6 9.6 1370 94990 0.00 2.53 0.00 0.000 516 0.000 0.115 3068 715 2007 2096 1918 0 0 0 0 0 0 14.65 13.98 14.67

95150 1.04 198.4 3068 716 2095 1918 188.0 9.5 1403 95156 0.00 2.40 0.00 0.000 1030 0.000 0.083 3068 2037 2006 2095 1917 0 0 0 0 0 0 14.21 14.02 14.28

95526 1.05 198.4 3068 2039 2094 1917 154.3 8.7 1418 95531 0.00 2.62 0.00 0.000 324 0.000 0.103 3068 3444 2004 2093 1916 0 0 0 0 0 0 14.59 14.00 14.62

95631 1.05 198.4 3068 3445 2094 1917 144.2 9.7 1439 95637 0.00 2.40 0.00 0.000 1030 0.000 0.074 3068 2116 2004 2093 1916 0 0 0 0 0 0 14.23 14.06 14.31

96007 1.08 198.4 3068 2116 2093 1915 113.9 7.8 1454 96009 0.00 0.00 0.00 0.000 70 0.000 0.000 3068 2116 2003 2092 1915 0 0 0 0 0 0 14.74 14.78 14.77

96367 1.12 234.1 3068 2116 2099 1915 87.2 7.0 1466 96433 0.00 2.50 60.80 1.278 8484 0.000 0.103 3068 3450 1869 1952 1787 0 0 0 0 0 0 14.52 13.84 13.21

96454 1.14 234.1 3068 3451 1951 1787 80.8 8.7 1483 96461 0.00 2.45 0.00 0.000 1094 0.000 0.076 3067 2122 1868 1949 1787 0 0 0 0 0 0 14.14 14.02 14.19

96818 1.20 284.7 3068 2123 1944 1783 54.2 6.0 1496 96926 0.00 0.00 105.20 1.223 8742 0.000 0.000 3068 2122 1665 1735 1596 0 0 0 0 0 0 14.44 13.83 13.03

97269 1.36 404.9 3068 2122 1727 1594 32.2 1.6 1521 97514 0.25 2.58 235.95 1.168 10532 0.105 0.101 3167 3445 1175 1191 1160 0 0 0 0 0 0 14.03 13.38 12.81

97617 end climb: FINISH_DEPTH_REACHED

state 97617 begin subsurface finish

97624 0.31 239.9 3168 2118 1190 1158 9.9 10.6 1589 97652 1.35 0.00 -23.75 0.006 20486 0.213 0.000 2818 2117 1848 1828 1869 0 0 0 0 0 0 13.56 12.37 13.74

97652 end subsurface finish: CONTROL_FINISHED_OK

state 97652 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	294	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	17	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	250520,043115,7532.6460,-14426.2168,0,6255.0,0,23.4,0.0,0.0,0,0.0	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	10.20	MHEAD_RNG_PITCHd_Wd	113.5,4731,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-7.2	D_GRID	500
GPS2	250520,043115,7532.6460,-14426.2168,0,6255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200526042030.068545,06,15562,41,0120,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.3,0.35,-100,2.65,-01,-0.03,62,925,0025*2A	SC_FREEKB	3705376
FREEZE	9.91,-1.511,-1.555,2,198,0	_24V_AH	12.34,151.695
FINISH1	9.9,1.022807,240	_10V_AH	9.44,0.000
FINISH2	9.0	FG_AHR_24Vo	0.000
RAFOS_CLK	41	FG_AHR_10Vo	0.000
MODEM	0,1590393955,74.83892,-145.28152,55.001,79993.8	MEM	334796
RAFOS_FIX	7531.785156,-14428.637695,260520,040430,3,255,0.02	DATA_FILE_SIZE	56501,1592
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	241554,0
TT8_MAMPS	0.079394,0.29211	CFSIZE	1047117824,1004027904
HUMID	51.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.85848	SOUNDSPEED	1453.6
TCM_TEMP	13.30	GPS	260520,042030,7531.785,-14428.638,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	135

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	224	13.18	nil	0	0	0.00
Roll_motor	87	126	136.21	nil	0	0	0.00
VBD_pump_during_apogee	689	1797	15298.80	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	11295	9	1301.81
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	33	420	174.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93242	2	2033.28
TT8_Active	898	9	79.03
TT8_Sampling	3272	27	843.31
TT8_CF8	336	37	120.00
TT8_Kalman	0	0	0.00
Analog_circuits	2184	10	224.74
GPS_charging	0	0	0.00
Compass	2315	6	147.36
RAFOS	15470	33	4819.21
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