Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 195 * 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 195 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 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 195 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 020220,123533,7532.6846,-14411.0068,0,3510.0,0,23.4,0.0,0.0,0,0.0 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 10.99 MHEAD_RNG_PITCHd_Wd 203.8,5194,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -8.1 D_GRID 500

GPS2 020220,123533,7532.6846,-14411.0068,0,3510.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200203123532.776645,06,1774,32,0094,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.29,-100,2.71,-01,-0.09,62,925,0025*1C SC_FREEKB 3762432

FREEZE 9.97,-1.511,-1.519,2,99,0 _24V_AH 12.56,101.712

FINISH1 10.0,1.022286,267 _10V_AH 11.39,0.000

FINISH2 9.4 FG_AHR_24Vo 0.000

RAFOS_CLK 413 FG_AHR_10Vo 0.000

MODEM 1,1580659839,75.02295,-144.31340,39.600,57593.3 MEM 334876

RAFOS_FIX 7532.672852,-14413.869141,030220,121232,4,255,0.02 DATA_FILE_SIZE 49964,1409

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 226950,0

TT8_MAMPS 0.038948,0.660618 CFSIZE 1047117824,1016922112

HUMID 51.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.83895 SOUNDSPEED 1454.0

TCM_TEMP 13.20 GPS 030220,123532,7532.673,-14413.869,0,5255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 165

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 235 14.21 nil 0 0 0.00

Roll_motor 70 130 114.95 nil 0 0 0.00

VBD_pump_during_apogee 629 1803 14261.95 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 10423 13 1830.55

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 41 420 217.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 92796 2 2441.56

TT8_Active 885 9 93.98

TT8_Sampling 2947 27 916.42

TT8_CF8 251 37 108.45

TT8_Kalman 0 0 0.00

Analog_circuits 2020 10 250.83

GPS_charging 0 0 0.00

Compass 2053 6 157.64

RAFOS 12786 33 4805.87

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -0.78 -97.3 2831 1939 1718 1764 0.0 0.0 0 52 0.00 0.00 -41.55 0.004 16390 0.000 0.000 2830 1938 3224 3328 3120 0 0 0 0 0 0 14.50 12.56 14.52

53 -0.78 -97.3 2830 1939 3330 3121 13.7 -5.8 4 59 1.25 2.47 0.00 0.000 4356 0.159 0.100 2465 3274 3225 3329 3121 0 0 0 0 0 0 14.04 14.12 14.16

283 -0.78 -97.3 2465 3275 3329 3121 64.3 -19.9 50 290 0.00 2.42 0.00 0.000 1030 0.000 0.071 2466 1935 3225 3329 3121 0 0 0 0 0 0 14.26 14.17 14.31

654 -0.78 -97.3 2465 1936 3329 3121 124.1 -14.5 64 660 0.00 2.47 0.00 0.000 260 0.000 0.101 2465 3270 3224 3329 3120 0 0 0 0 0 0 14.69 14.13 14.72

739 -0.78 -97.3 2466 3270 3327 3121 136.2 -14.2 81 746 0.00 2.40 0.00 0.000 1030 0.000 0.071 2465 1942 3224 3329 3120 0 0 0 0 0 0 14.27 14.20 14.33

1104 -0.78 -97.3 2465 1942 3329 3121 184.3 -12.7 94 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1941 3225 3329 3121 0 0 0 0 0 0 14.73 14.77 14.76

1464 -0.78 -97.3 2465 1942 3329 3122 227.3 -11.9 106 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1941 3225 3329 3121 0 0 0 0 0 0 14.66 14.69 14.68

1824 -0.78 -97.3 2466 1942 3330 3122 265.0 -9.9 118 1831 0.00 2.62 0.00 0.000 516 0.000 0.112 2465 529 3224 3328 3121 0 0 0 0 0 0 14.81 14.14 14.81

1900 -0.78 -97.3 2466 529 3330 3121 272.8 -10.2 133 1906 0.00 2.45 0.00 0.000 1030 0.000 0.089 2466 1857 3224 3329 3120 0 0 0 0 0 0 14.26 14.16 14.33

2275 -0.78 -97.3 2461 1857 3329 3121 305.5 -8.4 148 2281 0.00 2.62 0.00 0.000 260 0.000 0.106 2465 3262 3224 3329 3120 0 0 0 0 0 0 14.78 14.17 14.81

2340 -0.78 -97.3 2466 3263 3329 3121 311.0 -8.4 161 2346 0.00 2.40 0.00 0.000 1030 0.000 0.070 2466 1935 3225 3329 3121 0 0 0 0 0 0 14.28 14.19 14.33

2725 -0.78 -97.3 2466 1936 3329 3122 342.7 -8.1 178 2727 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1931 3224 3329 3120 0 0 0 0 0 0 14.66 14.69 14.69

3085 -0.78 -97.3 2465 1935 3329 3121 370.6 -7.7 190 3092 0.00 2.50 0.00 0.000 260 0.000 0.103 2465 3262 3224 3329 3120 0 0 0 0 0 0 14.66 14.09 14.69

3156 -0.78 -97.3 2465 3263 3332 3121 375.9 -7.4 204 3162 0.00 2.40 0.00 0.000 1030 0.000 0.072 2466 1941 3224 3329 3120 0 0 0 0 0 0 14.26 14.18 14.32

3536 -0.78 -97.3 2465 1941 3329 3121 403.9 -7.4 220 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1941 3224 3329 3120 0 0 0 0 0 0 14.66 14.69 14.68

3896 -0.78 -97.3 2465 1942 3329 3121 431.0 -7.6 232 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2465 1941 3224 3328 3120 0 0 0 0 0 0 14.66 14.69 14.68

4256 -0.78 -97.3 2466 1941 3329 3121 458.1 -7.5 244 4262 0.00 2.45 0.00 0.000 260 0.000 0.102 2466 3263 3224 3329 3120 0 0 0 0 0 0 14.80 14.13 14.83

4326 -0.78 -97.3 2466 3264 3328 3120 463.4 -7.6 258 4333 0.00 2.40 0.00 0.000 1030 0.000 0.071 2466 1940 3224 3328 3120 0 0 0 0 0 0 14.24 14.20 14.31

4707 -0.78 -97.3 2466 1940 3329 3121 491.1 -7.2 274 4709 0.00 0.00 0.00 0.000 38 0.000 0.000 2465 1940 3224 3329 3119 0 0 0 0 0 0 14.66 14.69 14.69

4856 end dive: TARGET_DEPTH_EXCEEDED

state 4856 begin apogee

4860 -0.17 0.0 2466 2045 3329 3121 501.8 -7.1 279 4957 0.77 0.00 94.18 1.803 10246 0.236 0.000 2659 2044 2824 2955 2694 0 0 0 0 0 0 13.94 13.95 13.06

4958 end apogee: CONTROL_FINISHED_OK

state 4958 begin loiter

5307 -0.17 0.0 2659 2045 2945 2690 502.3 0.6 285 5308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2817 2945 2689 0 0 0 0 0 0 14.50 14.54 14.53

5907 -0.17 0.0 2659 2045 2944 2688 495.4 1.2 290 5909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2815 2943 2688 0 0 0 0 0 0 14.82 14.85 14.85

6507 -0.17 0.0 2659 2045 2944 2688 488.8 1.1 295 6508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2815 2943 2687 0 0 0 0 0 0 14.90 14.93 14.92

7107 -0.17 0.0 2658 2045 2944 2688 482.1 1.1 300 7109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2943 2686 0 0 0 0 0 0 14.76 14.79 14.78

7707 -0.17 0.0 2660 2045 2944 2687 475.3 1.1 305 7708 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2943 2686 0 0 0 0 0 0 14.78 14.81 14.81

8307 -0.17 0.0 2660 2045 2944 2687 468.8 1.1 310 8309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2815 2943 2687 0 0 0 0 0 0 14.79 14.82 14.82

8907 -0.17 0.0 2660 2045 2943 2687 462.6 1.0 315 8908 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.80 14.83 14.82

9507 -0.17 0.0 2660 2045 2943 2687 456.4 1.0 320 9509 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.81 14.83 14.83

10107 -0.17 0.0 2659 2045 2943 2687 450.2 1.0 325 10108 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.81 14.84 14.83

10716 -0.17 0.0 2660 2045 2943 2687 445.4 0.8 330 10718 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.62 14.66 14.65

11307 -0.17 0.0 2660 2046 2943 2687 441.8 0.6 335 11308 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2044 2814 2942 2686 0 0 0 0 0 0 14.68 14.71 14.71

11907 -0.17 0.0 2660 2045 2943 2687 437.6 0.7 340 11909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2045 2814 2942 2686 0 0 0 0 0 0 14.63 14.66 14.65

12507 -0.17 0.0 2656 2045 2942 2687 432.6 0.8 345 12508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.60 14.63 14.62

13107 -0.17 0.0 2659 2045 2942 2687 428.2 0.7 350 13109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.85 14.88 14.88

13707 -0.17 0.0 2659 2045 2942 2687 425.6 0.4 355 13709 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.92 14.95 14.95

14307 -0.17 0.0 2659 2045 2942 2687 424.0 0.3 360 14309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.76 14.78 14.78

14907 -0.17 0.0 2659 2045 2942 2687 421.5 0.4 365 14908 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.74 14.78 14.77

15507 -0.17 0.0 2658 2045 2942 2686 419.2 0.4 370 15509 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2044 2813 2941 2686 0 0 0 0 0 0 15.00 15.03 15.03

16107 -0.17 0.0 2659 2045 2942 2687 418.0 0.2 375 16108 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2814 2942 2686 0 0 0 0 0 0 14.77 14.80 14.80

16707 -0.17 0.0 2660 2045 2943 2686 418.3 -0.1 380 16709 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2045 2814 2942 2686 0 0 0 0 0 0 15.02 15.06 15.05

17307 -0.17 0.0 2660 2044 2942 2686 418.9 -0.1 385 17308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2942 2685 0 0 0 0 0 0 14.78 14.81 14.81

17907 -0.17 0.0 2660 2045 2942 2687 419.2 -0.0 390 17909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

18507 -0.17 0.0 2659 2045 2942 2686 419.9 -0.1 395 18508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 15.04 15.07 15.07

19107 -0.17 0.0 2659 2045 2942 2687 420.6 -0.1 400 19109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 15.04 15.08 15.07

19707 -0.17 0.0 2659 2045 2942 2686 419.3 0.3 405 19708 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.82 14.81

20307 -0.17 0.0 2659 2045 2942 2687 417.8 0.2 410 20309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

20907 -0.17 0.0 2659 2045 2942 2686 417.6 0.0 415 20908 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

21507 -0.17 0.0 2660 2045 2942 2686 418.7 -0.2 420 21509 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.78 14.81 14.81

22107 -0.17 0.0 2660 2045 2942 2687 420.4 -0.3 425 22108 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

22707 -0.17 0.0 2660 2045 2942 2686 420.1 0.1 430 22709 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

23307 -0.17 0.0 2659 2045 2941 2686 420.4 -0.1 435 23308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

23907 -0.17 0.0 2660 2045 2941 2686 419.8 0.2 440 23909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.78 14.81 14.81

24507 -0.17 0.0 2660 2045 2942 2686 418.3 0.2 445 24508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.78 14.81 14.81

25115 -0.17 0.0 2660 2045 2941 2686 417.8 0.1 450 25117 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.52 14.57 14.57

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27507 -0.17 0.0 2659 2045 2942 2686 418.6 0.3 470 27509 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2686 0 0 0 0 0 0 14.63 14.66 14.66

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29307 -0.17 0.0 2659 2045 2941 2686 418.3 -0.1 485 29308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.99 15.02 15.01

29907 -0.17 0.0 2659 2045 2942 2686 419.3 -0.2 490 29909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2043 2812 2940 2685 0 0 0 0 0 0 14.72 14.76 14.75

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32307 -0.17 0.0 2660 2045 2942 2686 418.6 0.1 510 32309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.74 14.78 14.76

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49107 -0.17 0.0 2659 2045 2941 2686 418.7 0.1 650 49109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2045 2813 2941 2685 0 0 0 0 0 0 14.73 14.77 14.76

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52107 -0.17 0.0 2660 2045 2941 2686 420.6 -0.1 675 52108 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.06 15.09 15.09

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53307 -0.17 0.0 2659 2045 2941 2686 419.2 0.2 685 53308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.06 15.09 15.09

53917 -0.17 0.0 2659 2045 2941 2686 418.8 0.0 690 53919 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2043 2812 2940 2685 0 0 0 0 0 0 14.97 15.00 15.00

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55107 -0.17 0.0 2660 2045 2941 2685 419.0 0.0 700 55109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.55 14.59 14.58

55707 -0.17 0.0 2659 2045 2941 2686 418.3 0.1 705 55708 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.50 14.55 14.54

56307 -0.17 0.0 2659 2045 2941 2686 417.8 0.1 710 56309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.57 14.61 14.60

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57507 -0.17 0.0 2660 2045 2941 2686 417.5 0.1 720 57509 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.96 14.99 14.98

58107 -0.17 0.0 2660 2045 2941 2686 417.6 -0.0 725 58108 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.99 15.02 15.02

58707 -0.17 0.0 2660 2045 2941 2686 417.8 -0.0 730 58709 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 15.00 15.04 15.03

59307 -0.17 0.0 2659 2045 2941 2686 417.4 0.1 735 59308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.02 15.05 15.04

59907 -0.17 0.0 2659 2045 2941 2686 417.2 0.0 740 59909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.71 14.74 14.73

60507 -0.17 0.0 2659 2045 2941 2686 417.4 -0.0 745 60508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.72 14.75 14.75

61107 -0.17 0.0 2660 2045 2941 2686 417.2 0.0 750 61109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.04 15.07 15.06

61707 -0.17 0.0 2660 2045 2941 2686 417.8 -0.1 755 61708 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.72 14.76 14.75

62307 -0.17 0.0 2660 2045 2941 2686 419.6 -0.3 760 62309 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2044 2812 2940 2685 0 0 0 0 0 0 15.04 15.07 15.07

62907 -0.17 0.0 2660 2045 2941 2686 420.6 -0.1 765 62908 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2045 2812 2940 2685 0 0 0 0 0 0 14.73 14.76 14.76

63507 -0.17 0.0 2659 2045 2941 2686 419.7 0.2 770 63509 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2044 2812 2940 2685 0 0 0 0 0 0 15.05 15.08 15.08

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65307 -0.17 0.0 2659 2045 2941 2686 417.8 0.1 785 65308 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.05 15.09 15.09

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67107 -0.17 0.0 2659 2045 2941 2686 417.5 -0.0 800 67109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.05 15.09 15.09

67707 -0.17 0.0 2659 2045 2941 2686 418.4 -0.2 805 67708 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.06 15.09 15.09

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70707 -0.17 0.0 2659 2045 2941 2686 417.5 0.2 830 70709 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.57 14.59 14.59

71307 -0.17 0.0 2659 2045 2940 2686 417.8 -0.1 835 71309 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.92 14.95 14.95

71907 -0.17 0.0 2660 2045 2941 2686 418.8 -0.2 840 71909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 14.69 14.71 14.71

72507 -0.17 0.0 2660 2045 2941 2686 418.4 0.1 845 72508 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 14.99 15.02 15.02

73107 -0.17 0.0 2659 2045 2941 2686 418.0 0.1 850 73109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2813 2941 2685 0 0 0 0 0 0 15.00 15.03 15.03

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89907 -0.17 0.0 2660 2045 2941 2686 418.9 0.1 990 89909 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.04 15.07 15.07

90507 -0.17 0.0 2658 2045 2941 2685 418.0 0.2 995 90509 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.02 15.07 15.07

91107 -0.17 0.0 2659 2045 2941 2686 417.6 0.1 1000 91109 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2044 2812 2940 2685 0 0 0 0 0 0 15.04 15.07 15.07

91345 end loiter: LOITER_COMPLETE

state 91345 begin climb

91347 0.78 97.3 2660 2045 2941 2686 417.4 0.0 1002 91452 1.02 2.58 94.22 1.689 11012 0.139 0.110 2958 710 2427 2556 2299 0 0 0 0 0 0 13.93 13.97 13.12

91676 0.79 97.3 2958 710 2546 2296 394.5 8.6 1067 91684 0.00 2.42 0.00 0.000 1094 0.000 0.087 2959 2028 2419 2545 2293 0 0 0 0 0 0 14.19 14.02 14.26

92041 0.81 97.3 2957 2029 2544 2292 363.9 8.2 1080 92047 0.00 2.50 0.00 0.000 580 0.000 0.112 2958 711 2416 2543 2290 0 0 0 0 0 0 14.53 14.03 14.58

92271 0.83 97.3 2958 711 2542 2290 345.1 8.3 1126 92277 0.00 2.42 0.00 0.000 1094 0.000 0.087 2958 2041 2415 2541 2290 0 0 0 0 0 0 14.26 14.07 14.33

92642 0.86 97.3 2958 2041 2542 2290 315.0 7.9 1140 92643 0.00 0.00 0.00 0.000 70 0.000 0.000 2966 2041 2415 2542 2289 0 0 0 0 0 0 14.58 14.61 14.61

93002 0.90 128.8 2958 2042 2542 2289 287.8 7.3 1152 93039 0.15 2.62 28.95 1.525 10532 0.125 0.106 3017 3450 2298 2422 2175 0 0 0 0 0 0 14.33 14.32 13.45

93089 0.90 128.8 3017 3450 2419 2175 279.5 10.5 1169 93095 0.00 2.40 0.00 0.000 1030 0.000 0.073 3018 2105 2296 2418 2174 0 0 0 0 0 0 14.32 14.19 14.35

93454 0.92 128.8 3018 2106 2414 2173 246.7 8.2 1182 93459 0.00 2.62 0.00 0.000 580 0.000 0.112 3018 711 2296 2413 2179 0 0 0 0 0 0 14.66 14.04 14.68

93523 0.97 166.2 3019 712 2414 2172 241.7 6.9 1196 93565 0.00 2.42 33.58 1.473 9254 0.000 0.086 3018 2041 2147 2260 2034 0 0 0 0 0 0 14.21 14.04 13.40

93936 1.00 166.2 3018 2042 2248 2031 208.7 7.6 1218 93941 0.00 2.62 0.00 0.000 324 0.000 0.105 3018 3453 2139 2248 2030 0 0 0 0 0 0 14.52 14.10 14.54

94030 1.03 166.2 3018 3454 2248 2031 200.9 8.1 1237 94036 0.00 2.42 0.00 0.000 1094 0.000 0.072 3018 2096 2138 2247 2030 0 0 0 0 0 0 14.31 14.15 14.37

94416 1.07 202.4 3018 2096 2245 2030 173.4 7.0 1254 94454 0.15 2.58 32.75 1.411 10788 0.125 0.112 3081 715 1996 2096 1897 0 0 0 0 0 0 14.23 14.09 13.47

94479 1.07 202.4 3081 716 2091 1897 167.8 9.7 1266 94484 0.00 2.40 0.00 0.000 1030 0.000 0.088 3080 2035 1993 2091 1896 0 0 0 0 0 0 14.31 14.16 14.35

94869 1.07 202.4 3081 2035 2088 1893 130.1 9.2 1284 94870 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2035 1989 2086 1892 0 0 0 0 0 0 14.54 14.57 14.57

95229 1.11 202.4 3081 2036 2086 1892 100.7 7.5 1296 95234 0.00 2.62 0.00 0.000 324 0.000 0.105 3081 3450 1988 2085 1891 0 0 0 0 0 0 14.69 14.12 14.71

95299 1.14 202.4 3081 3451 2085 1892 95.2 7.7 1310 95305 0.00 2.40 0.00 0.000 1094 0.000 0.074 3080 2116 1988 2085 1891 0 0 0 0 0 0 14.34 14.20 14.40

95679 1.23 275.6 3081 2117 2086 1891 73.5 4.6 1326 95794 0.00 0.00 112.20 1.248 8742 0.000 0.000 3081 2116 1701 1782 1621 0 0 0 0 0 0 14.59 13.97 13.29

96130 1.33 347.8 3081 2117 1772 1622 48.9 4.7 1346 96267 0.20 0.00 134.52 1.180 10790 0.114 0.000 3159 2116 1409 1463 1356 0 0 0 0 0 0 14.18 13.82 13.17

96609 1.40 405.8 3159 2117 1457 1352 20.2 5.6 1377 96714 0.00 2.78 99.35 1.151 8740 0.000 0.116 3160 712 1170 1196 1145 0 0 0 0 0 0 14.49 13.86 13.23

96757 end climb: FINISH_DEPTH_REACHED

state 96757 begin subsurface finish

96763 0.35 266.7 3161 2042 1194 1144 10.0 7.5 1405 96790 1.25 0.00 -19.58 0.008 20998 0.200 0.000 2828 2041 1738 1712 1765 0 0 0 0 0 0 13.72 13.19 13.87

96790 end subsurface finish: CONTROL_FINISHED_OK

state 96791 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	195	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	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	020220,123533,7532.6846,-14411.0068,0,3510.0,0,23.4,0.0,0.0,0,0.0	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	10.99	MHEAD_RNG_PITCHd_Wd	203.8,5194,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-8.1	D_GRID	500
GPS2	020220,123533,7532.6846,-14411.0068,0,3510.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200203123532.776645,06,1774,32,0094,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.29,-100,2.71,-01,-0.09,62,925,0025*1C	SC_FREEKB	3762432
FREEZE	9.97,-1.511,-1.519,2,99,0	_24V_AH	12.56,101.712
FINISH1	10.0,1.022286,267	_10V_AH	11.39,0.000
FINISH2	9.4	FG_AHR_24Vo	0.000
RAFOS_CLK	413	FG_AHR_10Vo	0.000
MODEM	1,1580659839,75.02295,-144.31340,39.600,57593.3	MEM	334876
RAFOS_FIX	7532.672852,-14413.869141,030220,121232,4,255,0.02	DATA_FILE_SIZE	49964,1409
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	226950,0
TT8_MAMPS	0.038948,0.660618	CFSIZE	1047117824,1016922112
HUMID	51.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.83895	SOUNDSPEED	1454.0
TCM_TEMP	13.20	GPS	030220,123532,7532.673,-14413.869,0,5255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	165

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	235	14.21	nil	0	0	0.00
Roll_motor	70	130	114.95	nil	0	0	0.00
VBD_pump_during_apogee	629	1803	14261.95	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	10423	13	1830.55
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	41	420	217.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	92796	2	2441.56
TT8_Active	885	9	93.98
TT8_Sampling	2947	27	916.42
TT8_CF8	251	37	108.45
TT8_Kalman	0	0	0.00
Analog_circuits	2020	10	250.83
GPS_charging	0	0	0.00
Compass	2053	6	157.64
RAFOS	12786	33	4805.87
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