Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 299 * 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 299 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 20 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 299 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 20 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 300520,203114,7533.4873,-14425.9355,0,5255.0,0,23.4,0.0,0.0,0,0.0 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 13.14 MHEAD_RNG_PITCHd_Wd 124.8,5895,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -6.7 D_GRID 500

GPS2 300520,203114,7533.4873,-14425.9355,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200531202030.383029,06,32767,45,0189,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.7,0.29,-100,2.71,-01,-0.14,63,925,0025*2D SC_FREEKB 3702496

FREEZE 9.78,-1.502,-1.554,2,203,0 _24V_AH 12.30,154.308

FINISH1 9.8,1.022802,240 _10V_AH 9.41,0.000

FINISH2 9.8 FG_AHR_24Vo 0.000

RAFOS_CLK 42 FG_AHR_10Vo 0.000

MODEM 2,1590884132,75.67648,-146.03058,32.508,47279.2 MEM 334876

RAFOS_FIX 7531.460449,-14426.413086,310520,202030,3,255,0.04 DATA_FILE_SIZE 46616,1394

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 228429,0

TT8_MAMPS 0.078645,0.268891 CFSIZE 1047117824,1003405312

HUMID 53.34 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.85848 SOUNDSPEED 1455.1

TCM_TEMP 13.30 GPS 310520,202030,7531.460,-14426.413,0,4255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 102

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 220 12.94 nil 0 0 0.00

Roll_motor 63 131 102.24 nil 0 0 0.00

VBD_pump_during_apogee 617 1787 13587.62 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 11309 9 1303.10

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 25 420 131.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93627 2 2035.20

TT8_Active 866 9 76.02

TT8_Sampling 2934 27 753.85

TT8_CF8 322 37 114.62

TT8_Kalman 0 0 0.00

Analog_circuits 1987 10 203.84

GPS_charging 0 0 0.00

Compass 2038 6 129.26

RAFOS 14815 33 4600.50

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 2819 1930 1834 1862 0.0 0.0 0 50 0.00 0.00 -34.88 0.005 16390 0.000 0.000 2818 1929 3224 3333 3116 0 0 0 0 0 0 14.47 12.33 14.48

52 -0.78 -97.3 2819 1930 3334 3117 16.1 -6.3 4 55 1.27 0.00 0.00 0.000 4102 0.184 0.000 2469 1930 3224 3332 3116 0 0 0 0 0 0 13.92 14.23 14.16

370 -0.78 -97.3 2469 1930 3334 3117 72.0 -15.3 20 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1929 3224 3333 3116 0 0 0 0 0 0 14.67 14.70 14.69

730 -0.78 -97.3 2469 1930 3334 3117 122.2 -13.6 32 732 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 1929 3225 3333 3117 0 0 0 0 0 0 14.61 14.64 14.63

1090 -0.78 -97.3 2470 1930 3334 3117 168.1 -12.3 44 1091 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1929 3224 3333 3116 0 0 0 0 0 0 14.76 14.78 14.78

1450 -0.78 -97.3 2470 1930 3334 3118 210.4 -11.7 56 1452 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1929 3227 3333 3121 0 0 0 0 0 0 14.78 14.81 14.80

1810 -0.78 -97.3 2469 1930 3334 3117 249.9 -10.5 68 1815 0.00 2.65 0.00 0.000 516 0.000 0.116 2471 537 3224 3333 3116 0 0 0 0 0 0 14.78 13.95 14.81

1890 -0.78 -97.3 2470 538 3334 3117 258.7 -11.0 84 1895 0.00 2.42 0.00 0.000 1030 0.000 0.087 2470 1864 3225 3333 3117 0 0 0 0 0 0 14.19 14.02 14.24

2260 -0.78 -97.3 2470 1864 3334 3117 295.3 -9.8 98 2262 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1864 3224 3333 3116 0 0 0 0 0 0 14.79 14.81 14.81

2620 -0.78 -97.3 2469 1864 3334 3117 323.9 -7.2 110 2625 0.00 2.62 0.00 0.000 292 0.000 0.107 2469 3268 3224 3333 3116 0 0 0 0 0 0 14.78 13.97 14.81

2720 -0.78 -97.3 2470 3268 3334 3117 331.0 -7.5 130 2725 0.00 2.40 0.00 0.000 1030 0.000 0.071 2469 1935 3225 3333 3117 0 0 0 0 0 0 14.25 14.09 14.31

3100 -0.78 -97.3 2470 1935 3334 3117 359.0 -7.3 146 3102 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1935 3224 3333 3116 0 0 0 0 0 0 14.78 14.82 14.81

3460 -0.78 -97.3 2470 1934 3333 3117 385.0 -7.1 158 3462 0.00 0.00 0.00 0.000 38 0.000 0.000 2469 1934 3224 3333 3116 0 0 0 0 0 0 14.79 14.82 14.81

3820 -0.78 -97.3 2469 1934 3333 3117 410.2 -7.0 170 3825 0.00 2.50 0.00 0.000 292 0.000 0.106 2469 3262 3224 3333 3116 0 0 0 0 0 0 14.79 13.94 14.81

3865 -0.78 -97.3 2470 3262 3334 3117 413.4 -7.2 179 3870 0.00 2.40 0.00 0.000 1062 0.000 0.072 2468 1932 3224 3333 3116 0 0 0 0 0 0 14.21 14.04 14.27

4240 -0.78 -97.3 2470 1933 3334 3117 439.8 -7.0 194 4245 0.00 2.50 0.00 0.000 292 0.000 0.104 2469 3267 3224 3333 3116 0 0 0 0 0 0 14.78 13.93 14.81

4290 -0.78 -97.3 2470 3268 3334 3117 443.3 -7.2 204 4296 0.00 2.40 0.00 0.000 1062 0.000 0.072 2469 1942 3224 3332 3116 0 0 0 0 0 0 14.19 14.02 14.25

4660 -0.78 -97.3 2470 1943 3334 3117 469.3 -7.0 218 4662 0.00 0.00 0.00 0.000 38 0.000 0.000 2469 1942 3224 3333 3116 0 0 0 0 0 0 14.78 14.81 14.81

5021 -0.78 -97.3 2470 1943 3334 3117 494.6 -7.0 230 5026 0.00 2.50 0.00 0.000 292 0.000 0.104 2469 3270 3225 3334 3116 0 0 0 0 0 0 14.62 13.90 14.64

5066 -0.78 -97.3 2470 3271 3334 3117 497.8 -7.2 239 5071 0.00 2.42 0.00 0.000 1062 0.000 0.071 2469 1935 3224 3333 3116 0 0 0 0 0 0 14.19 14.02 14.25

5109 end dive: TARGET_DEPTH_EXCEEDED

state 5109 begin apogee

5113 -0.17 0.0 2470 2040 3334 3117 501.0 -7.1 243 5215 0.75 0.00 98.80 1.788 10246 0.220 0.000 2657 2039 2825 2967 2683 0 0 0 0 0 0 13.74 13.85 12.81

5217 end apogee: CONTROL_FINISHED_OK

state 5217 begin loiter

5560 -0.17 0.0 2657 2040 2961 2678 504.4 -0.2 249 5562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2819 2960 2678 0 0 0 0 0 0 14.52 14.57 14.56

6161 -0.17 0.0 2657 2040 2960 2677 503.7 0.2 254 6162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2817 2958 2676 0 0 0 0 0 0 14.69 14.71 14.71

6760 -0.17 0.0 2658 2040 2959 2676 501.1 0.4 259 6762 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

7361 -0.17 0.0 2658 2040 2959 2676 496.9 0.7 264 7362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2958 2675 0 0 0 0 0 0 14.96 14.99 14.99

7960 -0.17 0.0 2658 2040 2958 2676 492.2 0.8 269 7962 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 14.78 14.78

8561 -0.17 0.0 2657 2040 2958 2676 488.3 0.6 274 8562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 15.00 15.03 15.02

9160 -0.17 0.0 2657 2039 2957 2675 486.4 0.3 279 9162 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 14.80 14.79

9760 -0.17 0.0 2657 2040 2957 2675 485.6 0.1 284 9762 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2039 2816 2957 2675 0 0 0 0 0 0 15.02 15.04 15.04

10360 -0.17 0.0 2658 2040 2957 2675 484.0 0.3 289 10362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.64 14.67 14.66

10960 -0.17 0.0 2657 2042 2957 2675 481.5 0.4 294 10962 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.58 14.61 14.61

11560 -0.17 0.0 2657 2040 2957 2675 479.2 0.4 299 11562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.55 14.58 14.58

12162 -0.17 0.0 2656 2040 2958 2675 477.5 0.3 304 12164 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.59 14.62 14.61

12760 -0.17 0.0 2657 2040 2957 2675 477.1 0.0 309 12762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2957 2674 0 0 0 0 0 0 14.92 14.96 14.95

13361 -0.17 0.0 2656 2040 2957 2675 477.1 0.0 314 13362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.71 14.73 14.73

13960 -0.17 0.0 2658 2040 2957 2675 476.9 0.0 319 13962 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2816 2957 2675 0 0 0 0 0 0 15.00 15.06 15.02

14561 -0.17 0.0 2658 2040 2957 2675 476.3 0.1 324 14562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.00 15.03 15.02

15160 -0.17 0.0 2657 2040 2957 2675 475.6 0.1 329 15162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.02 15.05 15.04

15760 -0.17 0.0 2657 2040 2957 2675 474.9 0.1 334 15762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2675 0 0 0 0 0 0 14.74 14.78 14.77

16360 -0.17 0.0 2657 2040 2957 2675 474.2 0.1 339 16362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.03 15.06 15.05

16961 -0.17 0.0 2657 2040 2957 2675 474.1 -0.0 344 16962 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.75 14.77 14.78

17560 -0.17 0.0 2657 2040 2957 2675 474.7 -0.1 349 17562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 15.03 15.07 15.07

18161 -0.17 0.0 2657 2040 2957 2674 475.3 -0.1 354 18162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.75 14.78 14.78

18760 -0.17 0.0 2657 2039 2956 2675 476.4 -0.2 359 18762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.75 14.78 14.78

19361 -0.17 0.0 2658 2040 2957 2675 477.8 -0.2 364 19362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 15.03 15.07 15.07

19960 -0.17 0.0 2657 2040 2958 2675 478.2 -0.0 369 19962 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

20561 -0.17 0.0 2657 2040 2957 2675 477.6 0.1 374 20562 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

21160 -0.17 0.0 2657 2040 2957 2675 476.8 0.1 379 21162 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

21760 -0.17 0.0 2657 2040 2957 2675 476.1 0.1 384 21762 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

22360 -0.17 0.0 2657 2040 2956 2675 476.1 -0.0 389 22362 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

22961 -0.17 0.0 2657 2040 2956 2674 476.3 -0.0 394 22962 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

23560 -0.17 0.0 2656 2040 2957 2675 476.3 -0.0 399 23562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2038 2815 2956 2674 0 0 0 0 0 0 14.74 14.77 14.77

24161 -0.17 0.0 2658 2040 2957 2675 476.8 -0.1 404 24162 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

24760 -0.17 0.0 2657 2040 2957 2673 477.1 -0.0 409 24762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.59 14.62 14.61

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53560 -0.17 0.0 2657 2040 2956 2674 473.3 0.4 649 53562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.53 14.57 14.57

54161 -0.17 0.0 2658 2040 2957 2674 472.4 0.1 654 54162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 14.47 14.51 14.50

54760 -0.17 0.0 2657 2040 2957 2675 472.4 -0.0 659 54762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2812 2950 2674 0 0 0 0 0 0 14.45 14.49 14.50

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55960 -0.17 0.0 2657 2040 2956 2674 472.6 0.0 669 55962 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.93 14.97 14.96

56560 -0.17 0.0 2657 2040 2957 2675 472.6 -0.0 674 56562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.64 14.68 14.68

57160 -0.17 0.0 2658 2040 2957 2675 473.6 -0.2 679 57162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.00 15.03 15.02

57761 -0.17 0.0 2657 2040 2956 2674 475.0 -0.2 684 57762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2040 2815 2956 2674 0 0 0 0 0 0 15.01 15.04 15.04

58360 -0.17 0.0 2657 2040 2956 2674 476.2 -0.2 689 58362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 15.02 15.05 15.04

58961 -0.17 0.0 2657 2040 2956 2674 476.7 -0.1 694 58962 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.02 15.06 15.05

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60161 -0.17 0.0 2657 2040 2956 2674 476.9 -0.1 704 60162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.03 15.07 15.06

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62561 -0.17 0.0 2658 2040 2957 2675 476.9 0.0 724 62562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

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67360 -0.17 0.0 2657 2040 2957 2674 479.1 -0.1 764 67362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

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68560 -0.17 0.0 2657 2039 2956 2674 479.9 -0.1 774 68562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2955 2674 0 0 0 0 0 0 14.47 14.50 14.50

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70360 -0.17 0.0 2657 2040 2957 2674 478.6 0.0 789 70362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.60 14.64 14.63

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71560 -0.17 0.0 2657 2040 2956 2674 479.1 -0.0 799 71562 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2815 2956 2674 0 0 0 0 0 0 15.00 15.02 15.02

72161 -0.17 0.0 2657 2040 2957 2675 479.0 0.0 804 72162 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2039 2815 2956 2674 0 0 0 0 0 0 14.71 14.73 14.73

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74561 -0.17 0.0 2658 2040 2957 2675 476.2 0.2 824 74562 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 15.06

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81160 -0.17 0.0 2657 2040 2956 2674 476.7 -0.3 879 81162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

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89560 -0.17 0.0 2657 2040 2956 2674 477.5 0.0 949 89562 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 14.69 14.72 14.72

90161 -0.17 0.0 2657 2040 2956 2675 477.1 0.1 954 90162 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2815 2956 2674 0 0 0 0 0 0 15.03 15.07 15.06

90760 -0.17 0.0 2657 2040 2956 2674 476.6 0.1 959 90762 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

91361 -0.17 0.0 2657 2040 2956 2674 476.7 -0.0 964 91362 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2039 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

91598 end loiter: LOITER_COMPLETE

state 91598 begin climb

91600 0.78 97.3 2657 2040 2956 2675 476.7 0.0 966 91710 1.02 2.72 99.65 1.726 10500 0.133 0.106 2962 3441 2424 2557 2292 0 0 0 0 0 0 13.63 13.82 12.69

91935 0.78 97.3 2962 3442 2546 2291 451.6 9.5 1032 91940 0.00 2.40 0.00 0.000 1030 0.000 0.073 2962 2121 2418 2546 2290 0 0 0 0 0 0 14.19 14.02 14.25

92325 0.80 97.3 2962 2121 2544 2287 418.7 8.4 1050 92331 0.00 2.50 0.00 0.000 324 0.000 0.103 2961 3447 2414 2543 2286 0 0 0 0 0 0 14.58 13.94 14.61

92410 0.80 97.3 2962 3448 2543 2287 410.7 9.4 1067 92418 0.00 2.47 0.00 0.000 1030 0.000 0.073 2962 2112 2415 2543 2287 0 0 0 0 0 0 14.11 14.02 14.17

92776 0.82 97.3 2962 2113 2543 2287 381.0 7.9 1080 92781 0.00 2.53 0.00 0.000 324 0.000 0.103 2962 3453 2414 2542 2286 0 0 0 0 0 0 14.59 13.97 14.62

92850 0.82 97.3 2962 3454 2542 2286 374.4 8.8 1095 92857 0.00 2.47 0.00 0.000 1030 0.000 0.073 2962 2111 2414 2542 2286 0 0 0 0 0 0 14.08 14.01 14.28

93227 0.86 97.3 2963 2112 2542 2286 346.6 7.4 1110 93228 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2111 2413 2541 2285 0 0 0 0 0 0 14.60 14.63 14.63

93587 0.90 97.3 2962 2112 2542 2286 320.5 7.3 1122 93588 0.15 0.00 0.00 0.000 2118 0.121 0.000 3017 2111 2413 2541 2285 0 0 0 0 0 0 14.26 14.38 14.35

93947 0.93 97.3 3016 2112 2541 2285 290.1 8.0 1134 93949 0.00 0.00 0.00 0.000 70 0.000 0.000 3017 2111 2415 2541 2290 0 0 0 0 0 0 14.60 14.63 14.63

94307 1.00 150.9 3018 2111 2542 2285 267.4 5.9 1146 94363 0.00 2.53 48.65 1.512 8484 0.000 0.104 3016 3444 2206 2325 2087 0 0 0 0 0 0 14.60 14.13 13.12

94427 1.00 150.9 3017 3445 2319 2087 258.5 8.9 1170 94433 0.00 2.42 0.00 0.000 1030 0.000 0.073 3018 2116 2202 2318 2087 0 0 0 0 0 0 14.24 14.09 14.28

94818 1.04 188.2 3019 2117 2313 2085 230.9 6.9 1188 94860 0.00 2.70 33.83 1.460 8740 0.000 0.118 3018 713 2055 2156 1954 0 0 0 0 0 0 14.55 14.09 13.14

95054 1.10 229.6 3018 712 2147 1952 213.8 6.6 1235 95097 0.17 2.42 37.65 1.428 11302 0.119 0.084 3087 2040 1888 1977 1799 0 0 0 0 0 0 14.16 14.03 13.07

95482 1.10 229.6 3088 2041 1969 1793 170.1 10.7 1260 95483 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2040 1880 1969 1791 0 0 0 0 0 0 14.53 14.56 14.55

95842 1.10 229.6 3088 2041 1970 1790 133.1 10.0 1272 95847 0.00 2.55 0.00 0.000 516 0.000 0.113 3088 707 1878 1968 1789 0 0 0 0 0 0 14.58 13.96 14.61

95912 1.10 229.6 3089 707 1969 1789 126.2 9.9 1286 95917 0.00 2.42 0.00 0.000 1030 0.000 0.084 3089 2034 1878 1968 1788 0 0 0 0 0 0 14.21 14.04 14.29

96303 1.10 229.6 3088 2035 1964 1787 90.9 9.0 1302 96304 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2034 1877 1967 1787 0 0 0 0 0 0 14.64 14.67 14.67

96652 1.14 262.8 3088 2035 1961 1786 61.9 7.1 1314 96723 0.00 2.65 65.03 1.243 8484 0.000 0.106 3089 3440 1752 1835 1670 0 0 0 0 0 0 14.49 13.77 13.16

96783 1.14 262.8 3089 3441 1833 1671 51.7 9.1 1340 96788 0.00 2.42 0.00 0.000 1030 0.000 0.075 3088 2120 1751 1832 1670 0 0 0 0 0 0 14.10 13.97 14.14

97163 1.29 378.0 3088 2120 1829 1668 34.4 1.9 1356 97405 0.15 0.00 234.30 1.184 10278 0.129 0.000 3149 2120 1283 1320 1247 0 0 0 0 0 0 14.04 13.58 12.84

97632 end climb: FINISH_DEPTH_REACHED

state 97632 begin subsurface finish

97636 0.31 240.2 3150 2121 1316 1240 9.8 6.8 1389 97664 1.25 2.72 -19.58 0.008 20996 0.202 0.132 2819 707 1847 1836 1858 0 0 0 0 0 0 13.69 12.30 13.85

97664 end subsurface finish: CONTROL_FINISHED_OK

state 97664 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	299	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	20	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	300520,203114,7533.4873,-14425.9355,0,5255.0,0,23.4,0.0,0.0,0,0.0	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	13.14	MHEAD_RNG_PITCHd_Wd	124.8,5895,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-6.7	D_GRID	500
GPS2	300520,203114,7533.4873,-14425.9355,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200531202030.383029,06,32767,45,0189,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.7,0.29,-100,2.71,-01,-0.14,63,925,0025*2D	SC_FREEKB	3702496
FREEZE	9.78,-1.502,-1.554,2,203,0	_24V_AH	12.30,154.308
FINISH1	9.8,1.022802,240	_10V_AH	9.41,0.000
FINISH2	9.8	FG_AHR_24Vo	0.000
RAFOS_CLK	42	FG_AHR_10Vo	0.000
MODEM	2,1590884132,75.67648,-146.03058,32.508,47279.2	MEM	334876
RAFOS_FIX	7531.460449,-14426.413086,310520,202030,3,255,0.04	DATA_FILE_SIZE	46616,1394
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	228429,0
TT8_MAMPS	0.078645,0.268891	CFSIZE	1047117824,1003405312
HUMID	53.34	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.85848	SOUNDSPEED	1455.1
TCM_TEMP	13.30	GPS	310520,202030,7531.460,-14426.413,0,4255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	102

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	220	12.94	nil	0	0	0.00
Roll_motor	63	131	102.24	nil	0	0	0.00
VBD_pump_during_apogee	617	1787	13587.62	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	11309	9	1303.10
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	25	420	131.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93627	2	2035.20
TT8_Active	866	9	76.02
TT8_Sampling	2934	27	753.85
TT8_CF8	322	37	114.62
TT8_Kalman	0	0	0.00
Analog_circuits	1987	10	203.84
GPS_charging	0	0	0.00
Compass	2038	6	129.26
RAFOS	14815	33	4600.50
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