Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 298 * 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 298 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 298 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 290520,162030,7531.8047,-14427.1758,0,4255.0,0,23.4,0.0,0.0,0,0.0 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 13.56 MHEAD_RNG_PITCHd_Wd 93.9,4137,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -7.7 D_GRID 500

GPS2 290520,162030,7531.8047,-14427.1758,0,4255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200530203114.648889,06,667,28,0325,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-5.7,0.08,-100,2.92,-01,0.00,59,925,0025*37 SC_FREEKB 3703072

FREEZE 9.81,-1.519,-1.554,2,202,0 _24V_AH 12.38,153.793

FINISH1 9.8,1.022800,240 _10V_AH 9.28,0.000

FINISH2 9.4 FG_AHR_24Vo 0.000

RAFOS_CLK 124 FG_AHR_10Vo 0.000

MODEM 3,1590783630,75.26195,-145.59448,30.551,44431.7 MEM 334796

RAFOS_FIX 7533.487305,-14425.935547,300520,202014,4,255,0.03 DATA_FILE_SIZE 49881,1487

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 236865,0

TT8_MAMPS 0.038948,0.280875 CFSIZE 1047117824,1003503616

HUMID 52.44 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.83895 SOUNDSPEED 1454.4

TCM_TEMP 13.20 GPS 300520,203114,7533.487,-14425.936,0,5255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 129

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 223 12.72 nil 0 0 0.00

Roll_motor 82 127 130.13 nil 0 0 0.00

VBD_pump_during_apogee 668 1796 14868.35 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 11157 9 1290.21

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 32 420 167.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93267 2 1999.36

TT8_Active 902 9 78.04

TT8_Sampling 3102 27 786.10

TT8_CF8 340 37 119.38

TT8_Kalman 0 0 0.00

Analog_circuits 2108 10 213.33

GPS_charging 0 0 0.00

Compass 2167 6 135.57

RAFOS 15393 33 4713.95

Transponder 0 5 0.02

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 2810 1855 1836 1868 0.0 0.0 0 44 0.00 0.00 -34.47 0.005 16390 0.000 0.000 2810 1854 3224 3332 3117 0 0 0 0 0 0 14.49 12.38 14.48

46 -0.78 -97.3 2811 1855 3335 3118 15.7 -5.6 3 52 1.15 2.62 0.00 0.000 4356 0.126 0.102 2464 3269 3225 3334 3117 0 0 0 0 0 0 14.01 14.05 14.11

276 -0.78 -97.3 2465 3270 3334 3118 61.3 -16.9 49 283 0.00 2.38 0.00 0.000 1030 0.000 0.070 2464 1939 3226 3334 3118 0 0 0 0 0 0 14.30 14.15 14.34

648 -0.78 -97.3 2464 1940 3334 3118 114.6 -13.6 63 653 0.00 2.47 0.00 0.000 260 0.000 0.102 2464 3273 3225 3333 3117 0 0 0 0 0 0 14.58 14.08 14.61

799 -0.78 -97.3 2465 3274 3334 3118 134.6 -13.2 93 804 0.00 2.40 0.00 0.000 1030 0.000 0.071 2464 1931 3225 3333 3117 0 0 0 0 0 0 14.31 14.16 14.36

1189 -0.78 -97.3 2464 1931 3334 3118 183.6 -12.2 111 1191 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1930 3225 3334 3117 0 0 0 0 0 0 14.62 14.66 14.65

1549 -0.78 -97.3 2464 1930 3332 3118 226.7 -11.8 123 1551 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1929 3225 3334 3117 0 0 0 0 0 0 14.64 14.67 14.66

1909 -0.78 -97.3 2465 1930 3334 3118 266.0 -10.2 135 1911 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1929 3225 3333 3117 0 0 0 0 0 0 14.65 14.69 14.68

2269 -0.78 -97.3 2464 1930 3334 3118 298.7 -8.5 147 2274 0.00 2.50 0.00 0.000 260 0.000 0.105 2465 3269 3225 3333 3117 0 0 0 0 0 0 14.79 14.02 14.82

2334 -0.78 -97.3 2464 3270 3334 3118 304.3 -8.6 160 2339 0.00 2.40 0.00 0.000 1030 0.000 0.073 2464 1935 3224 3333 3116 0 0 0 0 0 0 14.28 14.11 14.33

2719 -0.78 -97.3 2464 1933 3334 3117 335.7 -8.1 177 2725 0.00 2.50 0.00 0.000 260 0.000 0.105 2461 3263 3225 3333 3117 0 0 0 0 0 0 14.79 14.00 14.82

2795 -0.78 -97.3 2465 3264 3333 3117 342.0 -8.2 192 2800 0.00 2.45 0.00 0.000 1030 0.000 0.073 2464 1936 3225 3333 3117 0 0 0 0 0 0 14.04 13.95 14.10

3170 -0.78 -97.3 2464 1938 3334 3118 370.5 -7.6 207 3176 0.00 2.70 0.00 0.000 516 0.000 0.116 2465 525 3225 3334 3117 0 0 0 0 0 0 14.79 13.93 14.81

3220 -0.78 -97.3 2465 526 3334 3118 374.7 -8.4 217 3226 0.00 2.42 0.00 0.000 1030 0.000 0.084 2464 1855 3225 3333 3117 0 0 0 0 0 0 14.24 14.07 14.30

3591 -0.78 -97.3 2464 1856 3334 3118 402.3 -7.3 231 3596 0.00 2.65 0.00 0.000 260 0.000 0.106 2464 3267 3225 3334 3117 0 0 0 0 0 0 14.78 13.98 14.81

3651 -0.78 -97.3 2465 3268 3334 3118 406.6 -7.2 243 3657 0.00 2.40 0.00 0.000 1062 0.000 0.069 2461 1929 3225 3333 3117 0 0 0 0 0 0 14.24 14.09 14.30

4041 -0.78 -97.3 2465 1931 3335 3118 434.2 -7.1 261 4047 0.00 2.50 0.00 0.000 292 0.000 0.103 2464 3263 3225 3333 3117 0 0 0 0 0 0 14.78 13.97 14.81

4102 -0.78 -97.3 2465 3264 3341 3117 438.7 -7.4 273 4108 0.00 2.38 0.00 0.000 1030 0.000 0.069 2464 1939 3225 3334 3117 0 0 0 0 0 0 14.24 14.09 14.29

4493 -0.78 -97.3 2464 1940 3334 3118 466.4 -7.0 291 4498 0.00 2.47 0.00 0.000 292 0.000 0.103 2464 3258 3225 3333 3117 0 0 0 0 0 0 14.62 13.96 14.64

4528 -0.78 -97.3 2465 3263 3334 3118 468.8 -7.2 298 4533 0.00 2.38 0.00 0.000 1062 0.000 0.068 2463 1937 3225 3334 3117 0 0 0 0 0 0 14.23 14.07 14.27

4913 -0.78 -97.3 2464 1937 3334 3117 495.2 -6.8 315 4915 0.00 0.00 0.00 0.000 38 0.000 0.000 2464 1937 3225 3333 3117 0 0 0 0 0 0 14.78 14.82 14.81

5002 end dive: TARGET_DEPTH_EXCEEDED

state 5002 begin apogee

5006 -0.17 0.0 2465 2040 3335 3118 501.4 -6.8 318 5108 0.77 0.00 98.20 1.796 10246 0.223 0.000 2657 2039 2825 2967 2683 0 0 0 0 0 0 13.74 13.85 12.81

5109 end apogee: CONTROL_FINISHED_OK

state 5109 begin loiter

5453 -0.17 0.0 2657 2040 2961 2679 503.0 0.2 324 5454 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2819 2961 2678 0 0 0 0 0 0 14.54 14.57 14.57

6053 -0.17 0.0 2658 2040 2960 2677 500.4 0.5 329 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2817 2959 2676 0 0 0 0 0 0 14.86 14.90 14.88

6653 -0.17 0.0 2658 2040 2959 2676 497.7 0.5 334 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2817 2959 2676 0 0 0 0 0 0 14.93 14.96 14.95

7253 -0.17 0.0 2658 2040 2959 2676 495.7 0.3 339 7255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.62 14.65 14.65

7853 -0.17 0.0 2663 2040 2959 2675 494.1 0.3 344 7854 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.59 14.62 14.62

8453 -0.17 0.0 2658 2043 2959 2676 491.9 0.4 349 8455 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2816 2958 2675 0 0 0 0 0 0 14.58 14.60 14.60

9055 -0.17 0.0 2657 2040 2959 2676 488.6 0.6 354 9056 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.61 14.64 14.64

9653 -0.17 0.0 2657 2040 2958 2675 484.8 0.7 359 9655 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.92 14.95 14.95

10253 -0.17 0.0 2657 2040 2958 2675 481.1 0.6 364 10255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.97 15.00 15.00

10853 -0.17 0.0 2657 2040 2958 2676 478.8 0.4 369 10855 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.99 15.02 15.02

11453 -0.17 0.0 2658 2040 2958 2676 477.9 0.1 374 11455 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.75 14.78 14.78

12053 -0.17 0.0 2658 2040 2958 2676 478.0 -0.0 379 12055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.78 14.81 14.82

12653 -0.17 0.0 2658 2040 2958 2675 477.7 0.0 384 12654 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.80 14.79

13253 -0.17 0.0 2658 2040 2958 2676 477.9 -0.0 389 13255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.79 14.79

13853 -0.17 0.0 2657 2040 2958 2675 478.1 -0.0 394 13854 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.79 14.79

14453 -0.17 0.0 2657 2040 2957 2675 477.2 0.2 399 14455 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.78 14.81 14.81

15053 -0.17 0.0 2657 2040 2957 2675 476.0 0.2 404 15055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.76 14.80 14.79

15653 -0.17 0.0 2657 2040 2957 2675 474.7 0.2 409 15655 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.80 14.79

16253 -0.17 0.0 2658 2040 2958 2676 475.0 -0.1 414 16255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2955 2675 0 0 0 0 0 0 15.04 15.07 15.07

16853 -0.17 0.0 2658 2040 2958 2675 476.1 -0.2 419 16855 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 15.04 15.07 15.07

17453 -0.17 0.0 2657 2040 2957 2675 476.4 -0.0 424 17455 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.79 14.79

18053 -0.17 0.0 2658 2040 2958 2675 475.3 0.2 429 18055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.79 14.78

18653 -0.17 0.0 2657 2039 2957 2675 473.7 0.3 434 18655 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2815 2957 2674 0 0 0 0 0 0 14.76 14.78 14.78

19253 -0.17 0.0 2658 2040 2958 2675 473.0 0.1 439 19255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

19853 -0.17 0.0 2658 2040 2958 2675 473.1 -0.0 444 19854 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.76 14.78 14.78

20453 -0.17 0.0 2658 2040 2958 2675 474.1 -0.2 449 20455 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.04 15.07 15.07

21053 -0.17 0.0 2657 2040 2957 2675 475.0 -0.2 454 21055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 14.76 14.79 14.78

21653 -0.17 0.0 2658 2040 2958 2675 476.4 -0.3 459 21655 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2815 2957 2674 0 0 0 0 0 0 14.58 14.62 14.61

22253 -0.17 0.0 2657 2040 2957 2675 477.7 -0.2 464 22254 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2816 2957 2675 0 0 0 0 0 0 14.54 14.57 14.57

22853 -0.17 0.0 2657 2040 2957 2675 477.8 -0.0 469 22855 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2956 2677 0 0 0 0 0 0 14.51 14.54 14.54

23455 -0.17 0.0 2657 2040 2957 2675 477.1 0.1 474 23456 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2675 0 0 0 0 0 0 14.54 14.58 14.58

24053 -0.17 0.0 2657 2040 2957 2675 476.7 0.1 479 24055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.93 14.96 14.96

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88853 -0.17 0.0 2658 2040 2957 2675 478.5 0.1 1019 88855 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.73 14.76 14.76

89453 -0.17 0.0 2658 2040 2957 2675 478.1 0.1 1024 89455 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 15.04 15.07 15.07

90053 -0.17 0.0 2658 2040 2957 2675 478.0 0.0 1029 90055 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.04 15.07 15.07

90653 -0.17 0.0 2658 2040 2957 2675 478.9 -0.2 1034 90655 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.04 15.07 15.07

91253 -0.17 0.0 2658 2039 2957 2675 479.6 -0.1 1039 91255 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.73 14.76 14.76

91491 end loiter: LOITER_COMPLETE

state 91491 begin climb

91493 0.78 97.3 2657 2040 2957 2675 479.8 0.0 1041 91604 1.02 2.72 99.53 1.735 10500 0.132 0.106 2961 3448 2424 2555 2293 0 0 0 0 0 0 13.64 13.84 12.69

91829 0.78 97.3 2961 3449 2546 2291 455.3 9.1 1107 91834 0.00 2.42 0.00 0.000 1030 0.000 0.071 2961 2109 2417 2545 2290 0 0 0 0 0 0 14.20 14.04 14.26

92219 0.80 97.3 2960 2110 2544 2288 423.9 8.1 1125 92224 0.00 2.50 0.00 0.000 324 0.000 0.103 2961 3446 2415 2543 2287 0 0 0 0 0 0 14.59 13.94 14.62

92404 0.80 97.3 2961 3447 2543 2288 407.0 9.0 1162 92410 0.00 2.40 0.00 0.000 1030 0.000 0.071 2961 2111 2414 2542 2287 0 0 0 0 0 0 14.23 14.07 14.31

92790 0.83 97.3 2961 2112 2542 2286 376.1 8.2 1179 92792 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2111 2413 2541 2286 0 0 0 0 0 0 14.60 14.63 14.62

93150 0.86 97.3 2961 2112 2541 2285 348.5 7.4 1191 93152 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2112 2410 2541 2280 0 0 0 0 0 0 14.61 14.64 14.64

93510 0.91 132.0 2961 2112 2542 2286 323.4 7.1 1203 93552 0.15 2.55 32.62 1.549 10532 0.119 0.103 3015 3451 2284 2408 2161 0 0 0 0 0 0 14.13 14.14 13.12

93621 0.91 132.0 3015 3456 2403 2160 312.2 11.2 1225 93627 0.00 2.47 0.00 0.000 1030 0.000 0.070 3014 2111 2281 2402 2160 0 0 0 0 0 0 14.10 14.02 14.14

93992 0.91 132.0 3015 2109 2400 2157 278.4 9.0 1239 93994 0.00 0.00 0.00 0.000 6 0.000 0.000 3015 2111 2278 2399 2157 0 0 0 0 0 0 14.47 14.50 14.50

94352 0.97 182.0 3015 2112 2398 2157 252.9 6.1 1251 94403 0.00 2.50 45.35 1.491 8484 0.000 0.104 3015 3446 2081 2185 1978 0 0 0 0 0 0 14.48 13.77 13.05

94459 0.99 182.0 3015 3444 2186 1978 245.1 8.5 1272 94463 0.00 2.42 0.00 0.000 1094 0.000 0.073 3015 2117 2077 2178 1977 0 0 0 0 0 0 14.08 13.95 14.12

94833 1.03 217.4 3015 2118 2173 1975 218.0 7.0 1287 94870 0.00 2.67 31.55 1.440 8740 0.000 0.116 3015 706 1938 2030 1847 0 0 0 0 0 0 14.45 13.81 13.10

94915 1.07 217.4 3015 708 2026 1846 212.3 7.5 1303 94920 0.15 2.45 0.00 0.000 3142 0.133 0.084 3076 2040 1935 2025 1845 0 0 0 0 0 0 14.07 13.98 14.14

95285 1.07 217.4 3076 2041 2021 1848 177.1 9.5 1317 95286 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2040 1931 2022 1841 0 0 0 0 0 0 14.49 14.48 14.48

95646 1.07 217.4 3076 2041 2021 1840 143.2 9.2 1329 95651 0.00 2.62 0.00 0.000 260 0.000 0.106 3073 3447 1930 2021 1839 0 0 0 0 0 0 14.58 14.00 14.60

95706 1.07 217.4 3076 3448 2021 1839 137.0 10.3 1341 95711 0.00 2.42 0.00 0.000 1030 0.000 0.073 3078 2107 1929 2020 1839 0 0 0 0 0 0 14.24 14.09 14.31

96096 1.09 217.4 3077 2107 2020 1838 101.9 8.4 1359 96098 0.00 0.00 0.00 0.000 70 0.000 0.000 3077 2106 1928 2019 1838 0 0 0 0 0 0 14.73 14.77 14.76

96456 1.12 217.4 3078 2107 2018 1838 73.8 7.5 1371 96461 0.00 2.67 0.00 0.000 580 0.000 0.117 3078 711 1927 2018 1837 0 0 0 0 0 0 14.75 13.94 14.78

96481 1.16 250.1 3078 711 2019 1838 71.9 7.2 1376 96553 0.00 2.42 66.60 1.252 9254 0.000 0.085 3078 2037 1807 1894 1721 0 0 0 0 0 0 14.21 14.03 13.24

96937 1.25 317.0 3078 2038 1886 1719 40.6 5.0 1407 97090 0.15 2.58 144.30 1.200 10788 0.137 0.112 3136 710 1531 1597 1466 0 0 0 0 0 0 14.21 13.81 13.02

97230 1.35 396.0 3136 710 1593 1466 25.8 4.2 1445 97393 0.00 2.45 150.48 1.154 9254 0.000 0.084 3136 2034 1210 1238 1183 0 0 0 0 0 0 14.12 13.96 12.93

97476 end climb: FINISH_DEPTH_REACHED

state 97476 begin subsurface finish

97481 0.31 240.3 3136 2035 1234 1179 9.8 7.4 1484 97511 1.20 0.00 -22.15 0.006 20486 0.194 0.000 2818 2034 1846 1832 1861 0 0 0 0 0 0 13.74 13.05 14.00

97511 end subsurface finish: CONTROL_FINISHED_OK

state 97511 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	298	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	290520,162030,7531.8047,-14427.1758,0,4255.0,0,23.4,0.0,0.0,0,0.0	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	13.56	MHEAD_RNG_PITCHd_Wd	93.9,4137,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-7.7	D_GRID	500
GPS2	290520,162030,7531.8047,-14427.1758,0,4255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200530203114.648889,06,667,28,0325,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-5.7,0.08,-100,2.92,-01,0.00,59,925,0025*37	SC_FREEKB	3703072
FREEZE	9.81,-1.519,-1.554,2,202,0	_24V_AH	12.38,153.793
FINISH1	9.8,1.022800,240	_10V_AH	9.28,0.000
FINISH2	9.4	FG_AHR_24Vo	0.000
RAFOS_CLK	124	FG_AHR_10Vo	0.000
MODEM	3,1590783630,75.26195,-145.59448,30.551,44431.7	MEM	334796
RAFOS_FIX	7533.487305,-14425.935547,300520,202014,4,255,0.03	DATA_FILE_SIZE	49881,1487
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	236865,0
TT8_MAMPS	0.038948,0.280875	CFSIZE	1047117824,1003503616
HUMID	52.44	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.83895	SOUNDSPEED	1454.4
TCM_TEMP	13.20	GPS	300520,203114,7533.487,-14425.936,0,5255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	129

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	223	12.72	nil	0	0	0.00
Roll_motor	82	127	130.13	nil	0	0	0.00
VBD_pump_during_apogee	668	1796	14868.35	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	11157	9	1290.21
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	32	420	167.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93267	2	1999.36
TT8_Active	902	9	78.04
TT8_Sampling	3102	27	786.10
TT8_CF8	340	37	119.38
TT8_Kalman	0	0	0.00
Analog_circuits	2108	10	213.33
GPS_charging	0	0	0.00
Compass	2167	6	135.57
RAFOS	15393	33	4713.95
Transponder	0	5	0.02

		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