Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 312 * 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 312 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 312 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 140620,043534,7533.6050,-14416.0352,0,4255.0,0,23.4,0.0,0.0,0,0.0 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 13.10 MHEAD_RNG_PITCHd_Wd 172.4,5436,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -8.6 D_GRID 500

GPS2 140620,043534,7533.6050,-14416.0352,0,4255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200615083535.241387,06,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.31,-100,2.69,-01,0.10,62,925,0025*3F SC_FREEKB 3695072

FREEZE 9.71,-1.483,-1.553,2,216,0 _24V_AH 12.66,161.509

FINISH1 9.7,1.022775,242 _10V_AH 9.06,0.000

FINISH2 8.8 FG_AHR_24Vo 0.000

RAFOS_CLK 120 FG_AHR_10Vo 0.000

MODEM 3,1592137233,75.26195,-145.59448,33.830,49198.9 MEM 334796

RAFOS_FIX 7533.686035,-14415.623047,150620,080835,2,510,0.00 DATA_FILE_SIZE 49918,1432

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 228331,0

TT8_MAMPS 0.038199,0.316827 CFSIZE 1047117824,1001488384

HUMID 53.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.85848 SOUNDSPEED 1454.8

TCM_TEMP 13.20 GPS 150620,083535,7533.686,-14415.623,0,3510.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 167

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 223 13.65 nil 0 0 0.00

Roll_motor 52 126 83.82 nil 0 0 0.00

VBD_pump_during_apogee 601 1788 13619.94 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 11457 10 1511.38

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 221.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93824 2 1963.62

TT8_Active 843 9 71.19

TT8_Sampling 3011 27 744.89

TT8_CF8 343 37 117.69

TT8_Kalman 0 0 0.00

Analog_circuits 1972 10 194.75

GPS_charging 0 0 0.00

Compass 2093 6 127.84

RAFOS 14882 33 4449.42

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

9 -0.78 -97.3 2820 1867 1848 1847 0.0 0.0 0 51 0.00 0.00 -36.62 0.005 16390 0.000 0.000 2819 1866 3223 3329 3117 0 0 0 0 0 0 14.54 13.15 14.54

53 -0.78 -97.3 2820 1867 3330 3118 14.5 -3.5 4 59 1.23 2.60 0.00 0.000 4356 0.156 0.101 2465 3268 3223 3330 3117 0 0 0 0 0 0 13.96 14.04 14.07

283 -0.78 -97.3 2464 3269 3330 3117 59.3 -16.6 50 290 0.00 2.40 0.00 0.000 1030 0.000 0.072 2465 1931 3222 3327 3117 0 0 0 0 0 0 14.28 14.13 14.33

655 -0.78 -97.3 2465 1931 3331 3118 113.2 -14.1 64 660 0.00 2.50 0.00 0.000 260 0.000 0.104 2465 3272 3223 3329 3117 0 0 0 0 0 0 14.59 14.02 14.62

884 -0.78 -97.3 2465 3273 3330 3118 144.2 -13.1 110 890 0.00 2.40 0.00 0.000 1030 0.000 0.070 2465 1932 3223 3329 3117 0 0 0 0 0 0 14.26 14.10 14.31

1255 -0.78 -97.3 2465 1932 3330 3118 191.0 -12.4 124 1257 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1932 3223 3330 3117 0 0 0 0 0 0 14.61 14.64 14.64

1615 -0.78 -97.3 2465 1933 3330 3126 234.3 -11.7 136 1620 0.00 2.65 0.00 0.000 516 0.000 0.112 2465 525 3223 3329 3117 0 0 0 0 0 0 14.78 13.93 14.81

1660 -0.78 -97.3 2465 526 3324 3118 239.7 -11.9 145 1666 0.00 2.42 0.00 0.000 1030 0.000 0.086 2465 1853 3223 3329 3117 0 0 0 0 0 0 14.23 14.04 14.28

2035 -0.78 -97.3 2465 1854 3330 3118 279.1 -10.0 160 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 2464 1853 3223 3329 3117 0 0 0 0 0 0 14.78 14.81 14.81

2395 -0.78 -97.3 2465 1854 3330 3118 310.3 -8.5 172 2397 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1853 3223 3330 3117 0 0 0 0 0 0 14.62 14.64 14.64

2755 -0.78 -97.3 2465 1856 3331 3118 340.0 -8.0 184 2761 0.00 2.65 0.00 0.000 260 0.000 0.107 2465 3262 3223 3329 3117 0 0 0 0 0 0 14.80 13.94 14.82

2830 -0.78 -97.3 2465 3263 3330 3117 346.0 -8.0 199 2836 0.00 2.40 0.00 0.000 1030 0.000 0.070 2465 1936 3223 3330 3117 0 0 0 0 0 0 14.14 13.98 14.19

3205 -0.78 -97.3 2465 1936 3330 3118 374.4 -7.5 214 3207 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1935 3223 3330 3117 0 0 0 0 0 0 14.79 14.86 14.82

3565 -0.78 -97.3 2464 1936 3331 3117 401.0 -7.4 226 3571 0.00 2.50 0.00 0.000 260 0.000 0.102 2465 3264 3223 3329 3117 0 0 0 0 0 0 14.79 13.90 14.82

3641 -0.78 -97.3 2465 3265 3331 3117 406.7 -7.4 241 3647 0.00 2.40 0.00 0.000 1030 0.000 0.070 2465 1939 3223 3329 3117 0 0 0 0 0 0 14.19 14.04 14.25

4017 -0.78 -97.3 2465 1940 3330 3118 433.3 -7.0 256 4018 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 1939 3223 3330 3117 0 0 0 0 0 0 14.59 14.63 14.62

4376 -0.78 -97.3 2465 1940 3330 3117 459.1 -7.2 268 4378 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 1939 3223 3330 3116 0 0 0 0 0 0 14.75 14.78 14.78

4737 -0.78 -97.3 2465 1940 3330 3117 484.4 -7.0 280 4742 0.00 2.50 0.00 0.000 292 0.000 0.101 2465 3262 3223 3330 3117 0 0 0 0 0 0 14.75 13.89 14.77

4801 -0.78 -97.3 2465 3263 3330 3118 489.0 -7.1 293 4807 0.00 2.40 0.00 0.000 1062 0.000 0.069 2465 1939 3223 3329 3117 0 0 0 0 0 0 14.15 14.00 14.21

4975 end dive: TARGET_DEPTH_EXCEEDED

state 4975 begin apogee

4980 -0.17 0.0 2465 2043 3330 3117 501.3 -7.0 303 5081 0.77 0.00 98.82 1.789 10246 0.223 0.000 2657 2042 2825 2966 2684 0 0 0 0 0 0 13.69 13.85 12.80

5083 end apogee: CONTROL_FINISHED_OK

state 5083 begin loiter

5426 -0.17 0.0 2658 2043 2960 2679 503.3 0.1 309 5428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2818 2958 2679 0 0 0 0 0 0 14.54 14.57 14.56

6027 -0.17 0.0 2657 2043 2958 2678 501.6 0.3 314 6028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2817 2957 2677 0 0 0 0 0 0 14.86 14.89 14.88

6626 -0.17 0.0 2658 2043 2957 2677 499.4 0.4 319 6628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2816 2957 2676 0 0 0 0 0 0 14.93 14.96 14.95

7227 -0.17 0.0 2658 2043 2957 2677 497.6 0.3 324 7228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2816 2956 2676 0 0 0 0 0 0 14.95 14.99 14.99

7826 -0.17 0.0 2657 2043 2956 2676 496.5 0.2 329 7828 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2042 2816 2956 2676 0 0 0 0 0 0 14.62 14.65 14.64

8427 -0.17 0.0 2658 2043 2957 2676 495.5 0.2 334 8428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2041 2816 2956 2676 0 0 0 0 0 0 14.57 14.60 14.60

9026 -0.17 0.0 2657 2043 2956 2676 494.2 0.2 339 9028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 14.55 14.59 14.58

9629 -0.17 0.0 2658 2044 2956 2676 492.1 0.4 344 9630 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.59 14.62 14.62

10226 -0.17 0.0 2657 2043 2956 2676 489.4 0.4 349 10228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.92 14.96 14.95

10827 -0.17 0.0 2658 2043 2956 2676 488.0 0.2 354 10828 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 14.97 15.00 14.99

11426 -0.17 0.0 2657 2043 2956 2676 488.4 -0.1 359 11428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2676 0 0 0 0 0 0 14.99 15.02 15.02

12027 -0.17 0.0 2658 2043 2956 2676 489.8 -0.3 364 12028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 15.00 15.03 15.03

12626 -0.17 0.0 2657 2043 2956 2676 491.0 -0.2 369 12628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 15.01 15.04 15.04

13227 -0.17 0.0 2658 2043 2955 2676 490.7 0.1 374 13229 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 15.01 15.04 15.04

13826 -0.17 0.0 2658 2043 2956 2676 489.1 0.3 379 13828 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 15.02 15.05 15.05

14427 -0.17 0.0 2658 2043 2956 2676 487.2 0.3 384 14428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.77 14.76

15026 -0.17 0.0 2657 2043 2955 2676 485.9 0.2 389 15028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.77 14.77

15627 -0.17 0.0 2658 2043 2956 2676 485.5 0.1 394 15628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2814 2954 2675 0 0 0 0 0 0 14.73 14.77 14.76

16226 -0.17 0.0 2658 2044 2956 2676 485.9 -0.1 399 16228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 15.03 15.06 15.06

16827 -0.17 0.0 2658 2043 2955 2676 487.1 -0.2 404 16828 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.76 14.76

17426 -0.17 0.0 2657 2043 2956 2676 488.5 -0.2 409 17428 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.76 14.76

18027 -0.17 0.0 2658 2043 2956 2676 488.9 -0.1 414 18028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 15.03 15.06 15.06

18626 -0.17 0.0 2658 2043 2956 2676 488.1 0.2 419 18628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.74 14.76 14.76

19227 -0.17 0.0 2658 2043 2956 2676 487.1 0.2 424 19228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.76 14.76

19826 -0.17 0.0 2657 2043 2955 2676 487.1 -0.0 429 19828 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 15.03 15.07 15.06

20427 -0.17 0.0 2658 2043 2956 2676 488.1 -0.2 434 20428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2675 0 0 0 0 0 0 14.73 14.76 14.76

21026 -0.17 0.0 2657 2043 2955 2676 488.9 -0.1 439 21028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.73 14.76 14.76

21627 -0.17 0.0 2658 2044 2956 2676 489.2 -0.0 444 21628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2674 0 0 0 0 0 0 15.03 15.07 15.06

22226 -0.17 0.0 2658 2043 2955 2677 488.9 0.1 449 22228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2814 2954 2675 0 0 0 0 0 0 14.56 14.59 14.59

22827 -0.17 0.0 2658 2043 2955 2676 487.9 0.2 454 22829 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2675 0 0 0 0 0 0 14.51 14.53 14.54

23426 -0.17 0.0 2657 2043 2955 2675 487.1 0.1 459 23428 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2815 2955 2675 0 0 0 0 0 0 14.49 14.52 14.50

24030 -0.17 0.0 2658 2043 2956 2676 487.1 -0.0 464 24031 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2674 0 0 0 0 0 0 14.56 14.59 14.59

24626 -0.17 0.0 2657 2043 2955 2675 487.4 -0.0 469 24628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2814 2954 2675 0 0 0 0 0 0 14.93 14.97 14.96

25227 -0.17 0.0 2657 2043 2955 2675 486.9 0.1 474 25228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2815 2955 2675 0 0 0 0 0 0 14.97 15.00 14.99

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61826 -0.17 0.0 2658 2043 2955 2676 487.2 0.0 779 61828 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2675 0 0 0 0 0 0 15.04 15.07 15.06

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90027 -0.17 0.0 2657 2044 2955 2675 488.6 -0.0 1014 90028 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2674 0 0 0 0 0 0 15.03 15.07 15.06

90626 -0.17 0.0 2657 2043 2954 2675 488.2 0.1 1019 90628 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2043 2814 2954 2674 0 0 0 0 0 0 15.04 15.07 15.06

91227 -0.17 0.0 2657 2043 2955 2675 487.4 0.1 1024 91228 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2042 2814 2954 2674 0 0 0 0 0 0 15.03 15.06 15.06

91585 end loiter: LOITER_COMPLETE

state 91585 begin climb

91587 0.78 97.3 2657 2043 2955 2675 486.9 0.0 1027 91697 1.02 2.72 99.18 1.724 10500 0.133 0.106 2960 3443 2425 2557 2294 0 0 0 0 0 0 13.57 13.82 12.69

91922 0.78 97.3 2960 3444 2546 2292 462.0 9.3 1093 91927 0.00 2.40 0.00 0.000 1030 0.000 0.071 2961 2117 2418 2545 2291 0 0 0 0 0 0 14.20 14.05 14.26

92312 0.80 97.3 2961 2117 2543 2288 429.8 8.4 1111 92317 0.00 2.50 0.00 0.000 324 0.000 0.103 2960 3446 2415 2543 2287 0 0 0 0 0 0 14.59 13.94 14.61

92472 0.80 97.3 2961 3446 2543 2289 414.9 9.3 1143 92477 0.00 2.47 0.00 0.000 1030 0.000 0.073 2961 2105 2415 2542 2288 0 0 0 0 0 0 14.06 14.02 14.10

92853 0.82 97.3 2961 2107 2542 2287 383.8 8.1 1159 92855 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2107 2414 2541 2287 0 0 0 0 0 0 14.59 14.62 14.62

93212 0.86 97.3 2961 2107 2542 2287 356.5 7.3 1171 93214 0.00 0.00 0.00 0.000 70 0.000 0.000 2961 2107 2413 2541 2286 0 0 0 0 0 0 14.59 14.63 14.63

93572 0.89 97.3 2961 2107 2541 2286 329.8 7.6 1183 93574 0.15 0.00 0.00 0.000 2118 0.121 0.000 3015 2107 2413 2541 2285 0 0 0 0 0 0 14.26 14.38 14.35

93934 0.91 97.3 3016 2107 2541 2286 298.3 8.3 1195 93935 0.00 0.00 0.00 0.000 70 0.000 0.000 3015 2107 2413 2541 2285 0 0 0 0 0 0 14.52 14.54 14.52

94292 0.97 139.9 3016 2108 2541 2286 273.0 6.6 1207 94334 0.00 0.00 39.25 1.506 8742 0.000 0.000 3016 2106 2254 2378 2130 0 0 0 0 0 0 14.49 14.04 13.08

94715 1.02 183.5 3015 2107 2365 2126 241.7 6.5 1231 94760 0.00 2.65 39.88 1.458 8740 0.000 0.112 3016 715 2076 2180 1972 0 0 0 0 0 0 14.46 13.75 13.05

94960 1.06 183.5 3015 716 2167 1970 223.6 7.5 1280 94966 0.15 2.45 0.00 0.000 3142 0.129 0.088 3078 2034 2068 2166 1970 0 0 0 0 0 0 14.02 13.92 14.15

95346 1.06 183.5 3077 2035 2164 1969 188.0 9.3 1297 95347 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2035 2066 2164 1969 0 0 0 0 0 0 14.31 14.34 14.34

95706 1.08 183.5 3077 2035 2161 1968 157.7 8.0 1309 95711 0.00 2.58 0.00 0.000 580 0.000 0.113 3077 705 2064 2161 1967 0 0 0 0 0 0 14.33 13.88 14.36

95781 1.11 183.5 3077 704 2161 1968 151.6 8.1 1324 95787 0.00 2.47 0.00 0.000 1094 0.000 0.090 3078 2042 2063 2161 1966 0 0 0 0 0 0 14.04 13.86 14.12

96158 1.15 215.0 3077 2037 2161 1967 122.9 7.3 1339 96200 0.00 0.00 40.58 1.307 8230 0.000 0.000 3077 2036 1947 2041 1854 0 0 0 0 0 0 14.65 14.09 13.22

96547 1.17 215.0 3078 2037 2033 1850 91.1 8.1 1352 96549 0.00 0.00 0.00 0.000 70 0.000 0.000 3077 2036 1940 2032 1849 0 0 0 0 0 0 14.61 14.64 14.64

96907 1.22 255.2 3079 2037 2032 1849 65.5 6.7 1364 96993 0.00 0.00 83.47 1.220 8486 0.000 0.000 3077 2036 1785 1869 1701 0 0 0 0 0 0 14.65 13.95 13.15

97357 1.32 333.6 3078 2037 1861 1698 38.9 4.3 1384 97527 0.22 0.00 166.50 1.167 10790 0.111 0.000 3162 2036 1464 1521 1407 0 0 0 0 0 0 14.17 13.74 12.97

97867 1.37 371.3 3163 2037 1515 1403 11.6 6.9 1424 97903 0.00 0.00 33.83 1.147 8738 0.000 0.000 3162 2036 1386 1435 1337 0 0 0 0 0 0 14.54 28.83 14.57

97903 end climb: FINISH_DEPTH_REACHED

state 97903 begin subsurface finish

97908 0.31 241.6 3163 2036 1435 1337 9.7 6.8 1429 97929 1.27 0.00 -16.62 0.008 20486 0.203 0.000 2818 2036 1842 1843 1842 0 0 0 0 0 0 13.91 12.66 14.06

97930 end subsurface finish: CONTROL_FINISHED_OK

state 97930 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	312	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	140620,043534,7533.6050,-14416.0352,0,4255.0,0,23.4,0.0,0.0,0,0.0	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	13.10	MHEAD_RNG_PITCHd_Wd	172.4,5436,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-8.6	D_GRID	500
GPS2	140620,043534,7533.6050,-14416.0352,0,4255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200615083535.241387,06,32767,45,0101,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.2,0.31,-100,2.69,-01,0.10,62,925,0025*3F	SC_FREEKB	3695072
FREEZE	9.71,-1.483,-1.553,2,216,0	_24V_AH	12.66,161.509
FINISH1	9.7,1.022775,242	_10V_AH	9.06,0.000
FINISH2	8.8	FG_AHR_24Vo	0.000
RAFOS_CLK	120	FG_AHR_10Vo	0.000
MODEM	3,1592137233,75.26195,-145.59448,33.830,49198.9	MEM	334796
RAFOS_FIX	7533.686035,-14415.623047,150620,080835,2,510,0.00	DATA_FILE_SIZE	49918,1432
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	228331,0
TT8_MAMPS	0.038199,0.316827	CFSIZE	1047117824,1001488384
HUMID	53.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.85848	SOUNDSPEED	1454.8
TCM_TEMP	13.20	GPS	150620,083535,7533.686,-14415.623,0,3510.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	167

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	223	13.65	nil	0	0	0.00
Roll_motor	52	126	83.82	nil	0	0	0.00
VBD_pump_during_apogee	601	1788	13619.94	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	11457	10	1511.38
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	221.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93824	2	1963.62
TT8_Active	843	9	71.19
TT8_Sampling	3011	27	744.89
TT8_CF8	343	37	117.69
TT8_Kalman	0	0	0.00
Analog_circuits	1972	10	194.75
GPS_charging	0	0	0.00
Compass	2093	6	127.84
RAFOS	14882	33	4449.42
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