Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 497 * 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 497 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 18 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2758 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 8 UPLOAD_DIVES_MAX 6 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 250 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 0 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 0 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 1950 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 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

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 150

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 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 250

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 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 6

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 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 497 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 18 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 240920,123504,7201.2783,-15157.8809,37,0.8,39,19.6,0.3,345.5,8,9.3 SPEED_LIMITS 0.192,0.246

_CALLS 2 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 176.7,2883,-22.5,-11.111,-24.31,1348

_SM_ANGLEo -69.5 D_GRID 500

GPS2 240920,125825,7201.4937,-15158.5840,5,1.0,17,19.6,0.0,311.9,7,10.0 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200924120921.920302,06,1230,30,0122,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-4.9,0.46,-100,2.54,-01,0.01,72,925,0025*0A XPDR_PINGS 53

FREEZE 0.16,0.840,-0.776,2,1,0 SC_FREEKB 3588512

FINISH 0.2,1.011455 _24V_AH 12.43,263.249

SM_CCo 10760,114.72,0.752,1,0,922,450.13 _10V_AH 12.78,0.000

SM_GC 1.03,9.23,0.00,114.72,0.076,0.000,0.752,257,2038,922,-7.60,2.46,450.13,0,0,0,0,1,0,13.96,14.28,13.13 FG_AHR_24Vo 0.000

RAFOS_CLK 286 FG_AHR_10Vo 0.000

MODEM 0,1600949361,74.83892,-145.28152,261.920,380275.5 MEM 334680

RAFOS_FIX 7156.612793,-15210.925781,240920,121221,1,2,0.00 DATA_FILE_SIZE 23398,664

IRIDIUM_FIX 7200.95,-15149.50,240920,124147 CAP_FILE_SIZE 89421,0

TT8_MAMPS 0.038948,0.26215 CFSIZE 1047117824,979386368

HUMID 52.79 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.78035 SOUNDSPEED 1450.9

TCM_TEMP 12.60 GPS 240920,160133,7201.146,-15158.169,30,1.4,31,19.6,0.8,276.4,6,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 450 136.38 nil 0 0 0.00

Roll_motor 40 160 80.52 nil 0 0 0.00

VBD_pump_during_apogee 637 1772 14052.16 nil 0 0 0.00

VBD_pump_during_surface 114 751 1072.37 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 10775 10 1411.92

Iridium_during_xfer 944 196 2309.21 nil 0 0 0.00

Transponder_ping 13 420 69.17 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 21 7.95

TT8 0 0 0.00

LPSleep 8697 2 256.78

TT8_Active 825 9 98.28

TT8_Sampling 2254 27 786.66

TT8_CF8 512 37 247.35

TT8_Kalman 0 0 0.00

Analog_circuits 2325 10 324.01

GPS_charging 0 0 0.00

Compass 1009 6 86.94

RAFOS 0 0 0.00

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 -0.88 -97.3 264 2019 896 945 0.0 0.0 0 92 0.00 0.00 -81.53 0.003 16386 0.000 0.000 262 2019 2200 2137 2264 0 0 0 0 0 0 14.35 28.83 14.38

96 -0.88 -97.3 262 2019 2143 2266 4.4 -6.8 8 140 12.57 2.62 -24.38 0.007 18980 0.451 0.121 2424 627 3157 3249 3065 0 0 0 0 0 0 13.67 12.43 13.97

366 -0.88 -97.3 2424 628 3251 3067 56.9 -15.4 61 373 0.00 2.45 0.00 0.000 1030 0.000 0.084 2424 1954 3157 3249 3066 0 0 0 0 0 0 14.10 13.94 14.15

731 -0.88 -97.3 2424 1955 3250 3066 107.5 -14.2 74 736 0.00 2.50 0.00 0.000 516 0.000 0.103 2424 634 3157 3249 3066 0 0 0 0 0 0 14.50 13.86 14.55

941 -0.88 -97.3 2424 635 3250 3066 137.4 -13.8 116 946 0.00 2.45 0.00 0.000 1030 0.000 0.085 2424 1957 3157 3249 3066 0 0 0 0 0 0 14.11 13.93 14.16

1332 -0.88 -97.3 2424 1958 3249 3067 182.4 -10.9 134 1337 0.00 2.53 0.00 0.000 516 0.000 0.106 2424 634 3157 3249 3066 0 0 0 0 0 0 14.63 13.79 14.65

1469 -0.88 -97.3 2424 635 3250 3067 197.3 -10.3 161 1475 0.00 2.47 0.00 0.000 1030 0.000 0.086 2424 1965 3157 3249 3066 0 0 0 0 0 0 14.07 13.89 14.13

1845 -0.88 -97.3 2425 1965 3249 3075 232.6 -9.2 176 1847 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 1965 3157 3249 3066 0 0 0 0 0 0 14.46 14.49 14.48

2205 -0.88 -97.3 2424 1966 3249 3067 264.6 -8.7 188 2207 0.00 0.00 0.00 0.000 38 0.000 0.000 2423 1965 3157 3249 3066 0 0 0 0 0 0 14.45 14.47 14.47

2565 -0.88 -97.3 2424 1966 3250 3067 296.0 -8.7 200 2567 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1965 3157 3249 3066 0 0 0 0 0 0 14.64 14.68 14.67

2925 -0.88 -97.3 2424 1966 3250 3067 326.4 -8.2 212 2927 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1965 3157 3249 3066 0 0 0 0 0 0 14.44 14.46 14.45

3286 -0.88 -97.3 2424 1966 3249 3067 356.0 -8.1 224 3287 0.00 0.00 0.00 0.000 38 0.000 0.000 2423 1965 3157 3249 3066 0 0 0 0 0 0 14.42 14.45 14.45

3645 -0.88 -97.3 2424 1966 3249 3061 385.5 -8.3 236 3647 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1965 3157 3249 3066 0 0 0 0 0 0 14.41 14.45 14.44

4005 -0.88 -97.3 2424 1966 3250 3066 414.8 -8.2 248 4007 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1966 3157 3249 3066 0 0 0 0 0 0 14.41 14.42 14.43

4365 -0.88 -97.3 2424 1967 3250 3067 444.9 -8.6 260 4367 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1966 3157 3249 3066 0 0 0 0 0 0 14.40 14.43 14.43

4725 -0.88 -97.3 2424 1970 3250 3067 475.6 -8.5 272 4727 0.00 0.00 0.00 0.000 38 0.000 0.000 2424 1966 3157 3249 3066 0 0 0 0 0 0 14.40 14.43 14.42

5023 end dive: TARGET_DEPTH_EXCEEDED

state 5023 begin apogee

5029 -0.17 0.0 2424 2041 3250 3066 501.5 -8.7 282 5130 0.98 0.00 98.72 1.773 10246 0.249 0.000 2662 2041 2758 2877 2640 0 0 0 0 0 0 13.69 13.78 12.93

5131 end apogee: CONTROL_FINISHED_OK

state 5132 begin climb

5134 0.88 97.3 2658 2042 2876 2641 504.1 0.0 285 5237 1.17 0.00 100.18 1.701 10246 0.142 0.000 2991 2042 2361 2481 2241 0 0 0 0 0 0 13.75 13.31 12.48

5597 0.92 97.3 2991 2042 2467 2232 466.8 9.3 301 5602 0.00 2.65 0.00 0.000 324 0.000 0.108 2991 3443 2349 2467 2231 0 0 0 0 0 0 14.46 13.95 14.49

5658 0.93 97.3 2992 3444 2467 2232 460.3 10.5 313 5663 0.00 2.40 0.00 0.000 1094 0.000 0.067 2991 2110 2348 2465 2231 0 0 0 0 0 0 14.21 14.07 14.27

6049 0.96 97.3 2991 2111 2465 2230 423.3 9.3 331 6050 0.12 0.00 0.00 0.000 2118 0.144 0.000 3048 2110 2347 2465 2229 0 0 0 0 0 0 14.19 14.33 14.30

6408 0.96 97.3 3048 2111 2465 2230 381.8 11.7 343 6410 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 2116 2347 2465 2229 0 0 0 0 0 0 14.52 14.55 14.54

6769 0.96 97.3 3049 2111 2464 2229 340.1 11.5 355 6774 0.00 2.53 0.00 0.000 260 0.000 0.104 3048 3444 2347 2465 2229 0 0 0 0 0 0 14.50 13.98 14.54

6844 0.96 97.3 3049 3445 2466 2238 330.6 12.6 370 6850 0.00 2.42 0.00 0.000 1030 0.000 0.070 3050 2108 2347 2465 2229 0 0 0 0 0 0 14.23 14.07 14.28

7220 0.96 97.3 3050 2109 2466 2229 288.2 11.4 385 7222 0.00 0.00 0.00 0.000 6 0.000 0.000 3049 2108 2346 2464 2228 0 0 0 0 0 0 14.47 14.51 14.50

7580 0.96 97.3 3050 2109 2465 2229 248.5 11.2 397 7585 0.00 2.55 0.00 0.000 260 0.000 0.104 3050 3451 2346 2464 2228 0 0 0 0 0 0 14.47 13.95 14.50

7660 0.96 97.3 3050 3452 2465 2229 238.7 12.1 413 7665 0.00 2.42 0.00 0.000 1030 0.000 0.069 3049 2110 2346 2464 2228 0 0 0 0 0 0 14.20 14.05 14.26

8031 0.98 97.3 3050 2111 2463 2228 199.4 10.3 427 8032 0.00 0.00 0.00 0.000 70 0.000 0.000 3050 2110 2346 2464 2228 0 0 0 0 0 0 14.47 14.50 14.50

8391 1.03 133.1 3050 2111 2465 2228 165.9 8.4 439 8441 0.00 2.65 43.65 1.329 8740 0.000 0.111 3050 704 2214 2333 2095 0 0 0 0 0 0 14.45 14.02 13.37

8592 1.08 173.9 3050 705 2324 2095 149.9 8.0 479 8647 0.00 2.45 50.25 1.284 9254 0.000 0.086 3049 2039 2048 2153 1944 0 0 0 0 0 0 14.23 14.06 13.24

9023 1.12 209.1 3050 2040 2141 1942 113.4 8.4 505 9067 0.00 0.00 43.30 1.253 8230 0.000 0.000 3050 2039 1906 2000 1813 0 0 0 0 0 0 14.57 14.05 13.32

9413 1.15 209.1 3050 2040 1993 1810 76.1 9.7 518 9415 0.12 0.00 0.00 0.000 2118 0.144 0.000 3098 2039 1900 1992 1809 0 0 0 0 0 0 14.20 14.28 14.26

9773 1.18 209.1 3099 2040 1991 1808 39.1 9.5 530 9775 0.00 0.00 0.00 0.000 70 0.000 0.000 3098 2039 1898 1990 1807 0 0 0 0 0 0 14.61 14.67 14.64

10135 1.31 307.6 3098 2040 1989 1807 19.6 3.6 556 10312 0.15 2.60 166.55 1.164 10788 0.135 0.107 3164 708 1501 1559 1444 0 0 0 0 0 0 14.17 13.62 13.12

10538 1.50 453.6 3164 709 1552 1442 6.5 -0.0 633 10680 0.00 2.47 135.15 1.109 9250 0.000 0.086 3164 2037 1124 1138 1110 0 0 0 0 0 0 14.14 13.97 14.21

10681 end climb: SURFACE_DEPTH_REACHED

state 10681 begin surface coast

10741 end surface coast: CONTROL_FINISHED_OK

state 10741 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	497	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	18	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2758	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	8	UPLOAD_DIVES_MAX	6	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	250	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	0	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	0	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	1950	ALTIM_PING_FIT	0

GPS1	240920,123504,7201.2783,-15157.8809,37,0.8,39,19.6,0.3,345.5,8,9.3	SPEED_LIMITS	0.192,0.246
_CALLS	2	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	176.7,2883,-22.5,-11.111,-24.31,1348
_SM_ANGLEo	-69.5	D_GRID	500
GPS2	240920,125825,7201.4937,-15158.5840,5,1.0,17,19.6,0.0,311.9,7,10.0	EXEC	4,999,2,0.000000,0.000000

MODEM_MSG	CACST,6,1,20200924120921.920302,06,1230,30,0122,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-4.9,0.46,-100,2.54,-01,0.01,72,925,0025*0A	XPDR_PINGS	53
FREEZE	0.16,0.840,-0.776,2,1,0	SC_FREEKB	3588512
FINISH	0.2,1.011455	_24V_AH	12.43,263.249
SM_CCo	10760,114.72,0.752,1,0,922,450.13	_10V_AH	12.78,0.000
SM_GC	1.03,9.23,0.00,114.72,0.076,0.000,0.752,257,2038,922,-7.60,2.46,450.13,0,0,0,0,1,0,13.96,14.28,13.13	FG_AHR_24Vo	0.000
RAFOS_CLK	286	FG_AHR_10Vo	0.000
MODEM	0,1600949361,74.83892,-145.28152,261.920,380275.5	MEM	334680
RAFOS_FIX	7156.612793,-15210.925781,240920,121221,1,2,0.00	DATA_FILE_SIZE	23398,664
IRIDIUM_FIX	7200.95,-15149.50,240920,124147	CAP_FILE_SIZE	89421,0
TT8_MAMPS	0.038948,0.26215	CFSIZE	1047117824,979386368
HUMID	52.79	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.78035	SOUNDSPEED	1450.9
TCM_TEMP	12.60	GPS	240920,160133,7201.146,-15158.169,30,1.4,31,19.6,0.8,276.4,6,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	450	136.38	nil	0	0	0.00
Roll_motor	40	160	80.52	nil	0	0	0.00
VBD_pump_during_apogee	637	1772	14052.16	nil	0	0	0.00
VBD_pump_during_surface	114	751	1072.37	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	10775	10	1411.92
Iridium_during_xfer	944	196	2309.21	nil	0	0	0.00
Transponder_ping	13	420	69.17	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	21	7.95
TT8	0	0	0.00
LPSleep	8697	2	256.78
TT8_Active	825	9	98.28
TT8_Sampling	2254	27	786.66
TT8_CF8	512	37	247.35
TT8_Kalman	0	0	0.00
Analog_circuits	2325	10	324.01
GPS_charging	0	0	0.00
Compass	1009	6	86.94
RAFOS	0	0	0.00
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

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	-0.88	-97.3	264	2019	896	945	0.0	0.0	0	92	0.00	0.00	-81.53	0.003	16386	0.000	0.000	262	2019	2200	2137	2264	0	0	0	0	0	0	14.35	28.83	14.38
96	-0.88	-97.3	262	2019	2143	2266	4.4	-6.8	8	140	12.57	2.62	-24.38	0.007	18980	0.451	0.121	2424	627	3157	3249	3065	0	0	0	0	0	0	13.67	12.43	13.97
366	-0.88	-97.3	2424	628	3251	3067	56.9	-15.4	61	373	0.00	2.45	0.00	0.000	1030	0.000	0.084	2424	1954	3157	3249	3066	0	0	0	0	0	0	14.10	13.94	14.15
731	-0.88	-97.3	2424	1955	3250	3066	107.5	-14.2	74	736	0.00	2.50	0.00	0.000	516	0.000	0.103	2424	634	3157	3249	3066	0	0	0	0	0	0	14.50	13.86	14.55
941	-0.88	-97.3	2424	635	3250	3066	137.4	-13.8	116	946	0.00	2.45	0.00	0.000	1030	0.000	0.085	2424	1957	3157	3249	3066	0	0	0	0	0	0	14.11	13.93	14.16
1332	-0.88	-97.3	2424	1958	3249	3067	182.4	-10.9	134	1337	0.00	2.53	0.00	0.000	516	0.000	0.106	2424	634	3157	3249	3066	0	0	0	0	0	0	14.63	13.79	14.65
1469	-0.88	-97.3	2424	635	3250	3067	197.3	-10.3	161	1475	0.00	2.47	0.00	0.000	1030	0.000	0.086	2424	1965	3157	3249	3066	0	0	0	0	0	0	14.07	13.89	14.13
1845	-0.88	-97.3	2425	1965	3249	3075	232.6	-9.2	176	1847	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	1965	3157	3249	3066	0	0	0	0	0	0	14.46	14.49	14.48
2205	-0.88	-97.3	2424	1966	3249	3067	264.6	-8.7	188	2207	0.00	0.00	0.00	0.000	38	0.000	0.000	2423	1965	3157	3249	3066	0	0	0	0	0	0	14.45	14.47	14.47
2565	-0.88	-97.3	2424	1966	3250	3067	296.0	-8.7	200	2567	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1965	3157	3249	3066	0	0	0	0	0	0	14.64	14.68	14.67
2925	-0.88	-97.3	2424	1966	3250	3067	326.4	-8.2	212	2927	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1965	3157	3249	3066	0	0	0	0	0	0	14.44	14.46	14.45
3286	-0.88	-97.3	2424	1966	3249	3067	356.0	-8.1	224	3287	0.00	0.00	0.00	0.000	38	0.000	0.000	2423	1965	3157	3249	3066	0	0	0	0	0	0	14.42	14.45	14.45
3645	-0.88	-97.3	2424	1966	3249	3061	385.5	-8.3	236	3647	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1965	3157	3249	3066	0	0	0	0	0	0	14.41	14.45	14.44
4005	-0.88	-97.3	2424	1966	3250	3066	414.8	-8.2	248	4007	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1966	3157	3249	3066	0	0	0	0	0	0	14.41	14.42	14.43
4365	-0.88	-97.3	2424	1967	3250	3067	444.9	-8.6	260	4367	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1966	3157	3249	3066	0	0	0	0	0	0	14.40	14.43	14.43
4725	-0.88	-97.3	2424	1970	3250	3067	475.6	-8.5	272	4727	0.00	0.00	0.00	0.000	38	0.000	0.000	2424	1966	3157	3249	3066	0	0	0	0	0	0	14.40	14.43	14.42
5023	end dive: TARGET_DEPTH_EXCEEDED
state	5023	begin apogee
5029	-0.17	0.0	2424	2041	3250	3066	501.5	-8.7	282	5130	0.98	0.00	98.72	1.773	10246	0.249	0.000	2662	2041	2758	2877	2640	0	0	0	0	0	0	13.69	13.78	12.93
5131	end apogee: CONTROL_FINISHED_OK
state	5132	begin climb
5134	0.88	97.3	2658	2042	2876	2641	504.1	0.0	285	5237	1.17	0.00	100.18	1.701	10246	0.142	0.000	2991	2042	2361	2481	2241	0	0	0	0	0	0	13.75	13.31	12.48
5597	0.92	97.3	2991	2042	2467	2232	466.8	9.3	301	5602	0.00	2.65	0.00	0.000	324	0.000	0.108	2991	3443	2349	2467	2231	0	0	0	0	0	0	14.46	13.95	14.49
5658	0.93	97.3	2992	3444	2467	2232	460.3	10.5	313	5663	0.00	2.40	0.00	0.000	1094	0.000	0.067	2991	2110	2348	2465	2231	0	0	0	0	0	0	14.21	14.07	14.27
6049	0.96	97.3	2991	2111	2465	2230	423.3	9.3	331	6050	0.12	0.00	0.00	0.000	2118	0.144	0.000	3048	2110	2347	2465	2229	0	0	0	0	0	0	14.19	14.33	14.30
6408	0.96	97.3	3048	2111	2465	2230	381.8	11.7	343	6410	0.00	0.00	0.00	0.000	6	0.000	0.000	3048	2116	2347	2465	2229	0	0	0	0	0	0	14.52	14.55	14.54
6769	0.96	97.3	3049	2111	2464	2229	340.1	11.5	355	6774	0.00	2.53	0.00	0.000	260	0.000	0.104	3048	3444	2347	2465	2229	0	0	0	0	0	0	14.50	13.98	14.54
6844	0.96	97.3	3049	3445	2466	2238	330.6	12.6	370	6850	0.00	2.42	0.00	0.000	1030	0.000	0.070	3050	2108	2347	2465	2229	0	0	0	0	0	0	14.23	14.07	14.28
7220	0.96	97.3	3050	2109	2466	2229	288.2	11.4	385	7222	0.00	0.00	0.00	0.000	6	0.000	0.000	3049	2108	2346	2464	2228	0	0	0	0	0	0	14.47	14.51	14.50
7580	0.96	97.3	3050	2109	2465	2229	248.5	11.2	397	7585	0.00	2.55	0.00	0.000	260	0.000	0.104	3050	3451	2346	2464	2228	0	0	0	0	0	0	14.47	13.95	14.50
7660	0.96	97.3	3050	3452	2465	2229	238.7	12.1	413	7665	0.00	2.42	0.00	0.000	1030	0.000	0.069	3049	2110	2346	2464	2228	0	0	0	0	0	0	14.20	14.05	14.26
8031	0.98	97.3	3050	2111	2463	2228	199.4	10.3	427	8032	0.00	0.00	0.00	0.000	70	0.000	0.000	3050	2110	2346	2464	2228	0	0	0	0	0	0	14.47	14.50	14.50
8391	1.03	133.1	3050	2111	2465	2228	165.9	8.4	439	8441	0.00	2.65	43.65	1.329	8740	0.000	0.111	3050	704	2214	2333	2095	0	0	0	0	0	0	14.45	14.02	13.37
8592	1.08	173.9	3050	705	2324	2095	149.9	8.0	479	8647	0.00	2.45	50.25	1.284	9254	0.000	0.086	3049	2039	2048	2153	1944	0	0	0	0	0	0	14.23	14.06	13.24
9023	1.12	209.1	3050	2040	2141	1942	113.4	8.4	505	9067	0.00	0.00	43.30	1.253	8230	0.000	0.000	3050	2039	1906	2000	1813	0	0	0	0	0	0	14.57	14.05	13.32
9413	1.15	209.1	3050	2040	1993	1810	76.1	9.7	518	9415	0.12	0.00	0.00	0.000	2118	0.144	0.000	3098	2039	1900	1992	1809	0	0	0	0	0	0	14.20	14.28	14.26
9773	1.18	209.1	3099	2040	1991	1808	39.1	9.5	530	9775	0.00	0.00	0.00	0.000	70	0.000	0.000	3098	2039	1898	1990	1807	0	0	0	0	0	0	14.61	14.67	14.64
10135	1.31	307.6	3098	2040	1989	1807	19.6	3.6	556	10312	0.15	2.60	166.55	1.164	10788	0.135	0.107	3164	708	1501	1559	1444	0	0	0	0	0	0	14.17	13.62	13.12
10538	1.50	453.6	3164	709	1552	1442	6.5	-0.0	633	10680	0.00	2.47	135.15	1.109	9250	0.000	0.086	3164	2037	1124	1138	1110	0	0	0	0	0	0	14.14	13.97	14.21
10681	end climb: SURFACE_DEPTH_REACHED
state	10681	begin surface coast
10741	end surface coast: CONTROL_FINISHED_OK
state	10741	begin surface