Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 304 * 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 304 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 304 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 050620,123113,7533.4429,-14422.1641,0,6255.0,0,23.4,0.0,0.0,0,0.0 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 14.05 MHEAD_RNG_PITCHd_Wd 141.2,5113,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -6.3 D_GRID 500

GPS2 050620,123113,7533.4429,-14422.1641,0,6255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200606122031.415529,06,23648,43,0182,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.3,0.46,-100,2.54,-01,0.09,62,925,0025*09 SC_FREEKB 3699616

FREEZE 9.55,-1.498,-1.554,2,208,0 _24V_AH 12.28,156.976

FINISH1 9.5,1.022793,241 _10V_AH 9.39,0.000

FINISH2 9.2 FG_AHR_24Vo 0.000

RAFOS_CLK 23 FG_AHR_10Vo 0.000

MODEM 0,1591373156,74.83892,-145.28152,56.086,81551.4 MEM 334796

RAFOS_FIX 7532.391602,-14425.950195,060620,121231,4,255,0.03 DATA_FILE_SIZE 49949,1468

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 232210,0

TT8_MAMPS 0.077896,0.345289 CFSIZE 1047117824,1002717184

HUMID 52.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.84871 SOUNDSPEED 1454.3

TCM_TEMP 13.10 GPS 060620,122031,7532.392,-14425.950,0,5255.0,0,23.4,0.0,0.0,0,0.0

XPDR_PINGS 139

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 221 12.46 nil 0 0 0.00

Roll_motor 67 115 95.71 nil 0 0 0.00

VBD_pump_during_apogee 679 1791 14959.18 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 11208 10 1432.63

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 34 420 179.23 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93362 2 2025.12

TT8_Active 888 9 77.73

TT8_Sampling 3076 27 788.58

TT8_CF8 339 37 120.36

TT8_Kalman 0 0 0.00

Analog_circuits 2084 10 213.32

GPS_charging 0 0 0.00

Compass 2141 6 135.54

RAFOS 14933 33 4627.29

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 2822 1930 1833 1869 0.0 0.0 0 44 0.00 0.00 -33.60 0.005 16390 0.000 0.000 2822 1929 3224 3334 3114 0 0 0 0 0 0 14.50 12.28 14.52

46 -0.78 -97.3 2822 1929 3335 3116 16.2 -5.4 3 52 1.17 2.65 0.00 0.000 4612 0.125 0.114 2466 529 3225 3334 3116 0 0 0 0 0 0 13.97 13.98 14.06

277 -0.78 -97.3 2467 529 3335 3117 62.4 -16.8 49 283 0.00 2.42 0.00 0.000 1030 0.000 0.088 2466 1855 3225 3334 3116 0 0 0 0 0 0 14.25 14.08 14.31

648 -0.78 -97.3 2466 1856 3335 3117 115.0 -13.6 63 653 0.00 2.50 0.00 0.000 516 0.000 0.115 2466 534 3225 3334 3116 0 0 0 0 0 0 14.58 13.98 14.60

877 -0.78 -97.3 2466 535 3335 3117 146.6 -13.6 109 883 0.00 2.42 0.00 0.000 1030 0.000 0.089 2467 1859 3225 3334 3116 0 0 0 0 0 0 14.26 14.09 14.31

1248 -0.78 -97.3 2466 1860 3335 3117 193.0 -12.3 123 1253 0.00 2.50 0.00 0.000 516 0.000 0.110 2466 530 3225 3334 3116 0 0 0 0 0 0 14.59 13.97 14.62

1348 -0.78 -97.3 2466 530 3335 3117 205.9 -12.9 143 1353 0.00 2.42 0.00 0.000 1030 0.000 0.086 2467 1859 3225 3334 3116 0 0 0 0 0 0 14.25 14.08 14.31

1728 -0.78 -97.3 2467 1860 3335 3119 250.1 -11.6 159 1730 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1859 3225 3334 3116 0 0 0 0 0 0 14.78 14.81 14.81

2089 -0.78 -97.3 2466 1860 3334 3117 288.1 -9.7 171 2090 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1859 3225 3334 3116 0 0 0 0 0 0 14.63 14.65 14.65

2448 -0.78 -97.3 2467 1860 3335 3116 318.3 -8.3 183 2453 0.00 2.65 0.00 0.000 260 0.000 0.109 2466 3274 3225 3334 3116 0 0 0 0 0 0 14.80 13.97 14.82

2503 -0.78 -97.3 2466 3274 3334 3117 322.9 -8.4 194 2510 0.00 2.40 0.00 0.000 1030 0.000 0.070 2466 1932 3225 3334 3116 0 0 0 0 0 0 14.24 14.09 14.30

2868 -0.78 -97.3 2466 1933 3335 3117 351.7 -7.7 207 2873 0.00 2.50 0.00 0.000 260 0.000 0.106 2466 3265 3225 3334 3116 0 0 0 0 0 0 14.80 13.97 14.82

2928 -0.78 -97.3 2466 3266 3335 3116 356.5 -8.0 219 2934 0.00 2.40 0.00 0.000 1030 0.000 0.070 2466 1931 3225 3334 3116 0 0 0 0 0 0 14.23 14.07 14.28

3318 -0.78 -97.3 2466 1930 3335 3117 386.0 -7.3 237 3320 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1931 3225 3334 3116 0 0 0 0 0 0 14.80 14.83 14.82

3679 -0.78 -97.3 2467 1932 3337 3116 411.8 -7.1 249 3684 0.00 2.53 0.00 0.000 292 0.000 0.106 2466 3274 3224 3334 3115 0 0 0 0 0 0 14.80 13.94 14.82

3769 -0.78 -97.3 2467 3275 3335 3116 418.4 -7.3 267 3774 0.00 2.40 0.00 0.000 1030 0.000 0.068 2466 1936 3223 3332 3115 0 0 0 0 0 0 14.21 14.05 14.26

4159 -0.78 -97.3 2466 1937 3335 3116 445.9 -7.1 285 4161 0.00 0.00 0.00 0.000 38 0.000 0.000 2466 1936 3225 3334 3116 0 0 0 0 0 0 14.80 14.83 14.82

4519 -0.78 -97.3 2467 1937 3336 3116 472.0 -7.3 297 4521 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 1936 3224 3333 3116 0 0 0 0 0 0 14.80 14.83 14.83

4880 -0.78 -97.3 2466 1937 3335 3116 497.5 -7.0 309 4885 0.00 2.50 0.00 0.000 292 0.000 0.104 2466 3268 3225 3334 3116 0 0 0 0 0 0 14.80 13.92 14.83

4913 end dive: TARGET_DEPTH_EXCEEDED

state 4913 begin apogee

4919 -0.17 0.0 2466 2107 3335 3116 500.0 -7.1 316 5021 0.77 0.00 98.88 1.792 10246 0.222 0.000 2660 2106 2825 2968 2683 0 0 0 0 0 0 13.73 13.85 12.81

5022 end apogee: CONTROL_FINISHED_OK

state 5022 begin loiter

5365 -0.17 0.0 2660 2107 2963 2678 501.9 0.1 322 5367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2819 2961 2677 0 0 0 0 0 0 14.54 14.57 14.56

5965 -0.17 0.0 2660 2107 2960 2676 499.6 0.4 327 5967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2817 2959 2675 0 0 0 0 0 0 14.86 14.89 14.89

6565 -0.17 0.0 2660 2107 2960 2676 497.2 0.4 332 6567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2817 2959 2675 0 0 0 0 0 0 14.96 14.96 14.93

7165 -0.17 0.0 2660 2107 2959 2676 495.2 0.3 337 7167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2817 2959 2675 0 0 0 0 0 0 14.97 15.00 14.99

7765 -0.17 0.0 2660 2107 2960 2675 492.9 0.4 342 7767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2675 0 0 0 0 0 0 14.99 15.01 15.01

8365 -0.17 0.0 2659 2107 2959 2675 490.4 0.4 347 8367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 15.00 15.03 15.02

8965 -0.17 0.0 2660 2107 2959 2675 487.9 0.4 352 8967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 15.01 15.04 15.03

9565 -0.17 0.0 2660 2107 2959 2675 485.7 0.4 357 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 14.76 14.79 14.77

10165 -0.17 0.0 2660 2106 2958 2675 484.3 0.2 362 10167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 14.76 14.80 14.78

10765 -0.17 0.0 2660 2107 2958 2675 483.9 0.1 367 10767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 14.64 14.67 14.67

11365 -0.17 0.0 2660 2107 2959 2675 483.0 0.2 372 11367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 14.57 14.60 14.60

11965 -0.17 0.0 2660 2107 2958 2674 481.3 0.3 377 11967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.54 14.57 14.57

12565 -0.17 0.0 2660 2107 2958 2675 479.6 0.3 382 12567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.53 14.56 14.55

13165 -0.17 0.0 2660 2107 2958 2675 477.7 0.3 387 13167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.92 14.95 14.95

13765 -0.17 0.0 2660 2107 2958 2675 476.4 0.2 392 13767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.72 14.75 14.74

14365 -0.17 0.0 2660 2106 2958 2675 475.8 0.1 397 14367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.98 15.02 15.02

14965 -0.17 0.0 2661 2107 2958 2675 476.2 -0.1 402 14967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.00 15.04 15.03

15565 -0.17 0.0 2659 2106 2958 2675 476.5 -0.0 407 15567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.02 15.04 15.02

16165 -0.17 0.0 2660 2106 2958 2675 476.3 0.0 412 16167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.74 14.76 14.76

16765 -0.17 0.0 2660 2107 2958 2675 476.5 -0.1 417 16767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.03 15.05 15.06

17365 -0.17 0.0 2660 2107 2958 2675 476.5 0.0 422 17367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.73 14.77 14.76

17965 -0.17 0.0 2660 2107 2958 2675 475.5 0.2 427 17967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.03 15.07 15.07

18565 -0.17 0.0 2660 2106 2958 2675 474.6 0.1 432 18567 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.06

19165 -0.17 0.0 2660 2107 2958 2675 474.2 0.1 437 19167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2816 2958 2674 0 0 0 0 0 0 14.74 14.77 14.76

19765 -0.17 0.0 2660 2107 2958 2674 474.3 -0.0 442 19767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 14.73 14.77 14.76

20365 -0.17 0.0 2660 2107 2958 2674 474.7 -0.1 447 20367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

20965 -0.17 0.0 2660 2106 2958 2674 475.5 -0.1 452 20967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2105 2816 2958 2674 0 0 0 0 0 0 14.73 14.76 14.76

21565 -0.17 0.0 2660 2107 2958 2675 476.3 -0.1 457 21567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

22166 -0.17 0.0 2659 2107 2958 2675 476.7 -0.1 462 22167 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2956 2674 0 0 0 0 0 0 14.73 14.77 14.76

22765 -0.17 0.0 2660 2107 2958 2675 477.4 -0.1 467 22767 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

23365 -0.17 0.0 2660 2107 2958 2674 478.2 -0.1 472 23367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

23965 -0.17 0.0 2660 2107 2958 2675 478.6 -0.1 477 23967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

24565 -0.17 0.0 2660 2107 2958 2675 479.4 -0.1 482 24567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

25165 -0.17 0.0 2660 2107 2958 2675 479.8 -0.1 487 25167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.58 14.62 14.62

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27565 -0.17 0.0 2660 2107 2958 2674 477.3 0.0 507 27567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.62 14.65 14.65

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28765 -0.17 0.0 2660 2106 2958 2674 479.5 -0.2 517 28767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.69 14.71 14.71

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30565 -0.17 0.0 2660 2107 2958 2674 482.0 -0.0 532 30567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2105 2815 2957 2674 0 0 0 0 0 0 15.02 15.06 15.05

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31765 -0.17 0.0 2660 2107 2958 2674 480.7 0.1 542 31767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.03 15.06 15.06

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32965 -0.17 0.0 2660 2107 2957 2674 481.2 -0.1 552 32967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.74 14.78 14.78

33565 -0.17 0.0 2660 2107 2957 2674 481.0 0.1 557 33567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

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42565 -0.17 0.0 2660 2107 2958 2674 478.8 0.0 632 42567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.67 14.71 14.70

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51565 -0.17 0.0 2660 2107 2957 2674 476.9 0.1 707 51567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

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52765 -0.17 0.0 2660 2106 2957 2674 476.4 0.0 717 52767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

53365 -0.17 0.0 2660 2107 2957 2674 476.7 -0.1 722 53367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

53965 -0.17 0.0 2660 2107 2957 2674 477.7 -0.2 727 53967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.54 14.57 14.57

54565 -0.17 0.0 2660 2107 2958 2675 478.9 -0.2 732 54567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.47 14.51 14.50

55165 -0.17 0.0 2660 2107 2958 2675 479.1 -0.0 737 55167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.45 14.47 14.50

55765 -0.17 0.0 2660 2106 2957 2674 478.4 0.1 742 55767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2107 2815 2957 2673 0 0 0 0 0 0 14.43 14.46 14.46

56365 -0.17 0.0 2660 2107 2958 2674 477.6 0.1 747 56367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2814 2955 2674 0 0 0 0 0 0 14.59 14.63 14.62

56965 -0.17 0.0 2661 2107 2957 2674 476.3 0.2 752 56967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.64 14.67 14.66

57565 -0.17 0.0 2661 2107 2958 2675 474.7 0.3 757 57567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.00 15.02 15.02

58165 -0.17 0.0 2660 2107 2957 2675 473.8 0.1 762 58167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2956 2674 0 0 0 0 0 0 15.01 15.04 15.03

58765 -0.17 0.0 2660 2107 2957 2674 474.1 -0.1 767 58767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.02 15.06 15.05

59365 -0.17 0.0 2660 2107 2958 2675 475.1 -0.2 772 59367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.02 15.06 15.05

59965 -0.17 0.0 2660 2107 2957 2674 476.2 -0.2 777 59967 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2674 0 0 0 0 0 0 15.03 15.04 15.06

60565 -0.17 0.0 2659 2106 2957 2674 477.0 -0.1 782 60567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.72 14.76 14.75

61165 -0.17 0.0 2660 2107 2957 2674 477.4 -0.1 787 61167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2105 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

61765 -0.17 0.0 2659 2107 2957 2674 477.7 -0.0 792 61767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

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63565 -0.17 0.0 2659 2107 2957 2674 478.6 -0.1 807 63567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

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64765 -0.17 0.0 2660 2107 2958 2675 479.2 0.0 817 64767 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

65365 -0.17 0.0 2660 2107 2958 2675 478.6 0.1 822 65367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

65965 -0.17 0.0 2660 2107 2958 2675 478.1 0.1 827 65967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.04 15.07 15.07

66565 -0.17 0.0 2660 2107 2958 2674 478.3 -0.0 832 66567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2956 2674 0 0 0 0 0 0 14.72 14.76 14.75

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67765 -0.17 0.0 2660 2107 2958 2674 478.3 0.0 842 67767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

68365 -0.17 0.0 2660 2107 2958 2675 478.0 0.0 847 68367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.53 14.57 14.56

68965 -0.17 0.0 2656 2107 2957 2675 477.9 0.0 852 68967 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2674 0 0 0 0 0 0 14.47 14.50 14.50

69565 -0.17 0.0 2660 2107 2957 2675 477.3 0.1 857 69567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 14.43 14.47 14.46

70165 -0.17 0.0 2660 2107 2958 2675 476.9 0.1 862 70167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.42 14.45 14.45

70765 -0.17 0.0 2660 2107 2958 2674 477.2 -0.1 867 70767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 14.59 14.62 14.62

71365 -0.17 0.0 2660 2107 2958 2674 477.6 -0.1 872 71367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 14.97 15.00 15.00

71965 -0.17 0.0 2660 2107 2958 2674 478.0 -0.1 877 71967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.00 15.02 15.02

72565 -0.17 0.0 2660 2106 2957 2674 478.5 -0.1 882 72567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.01 15.04 15.04

73165 -0.17 0.0 2660 2106 2957 2674 479.4 -0.2 887 73167 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2106 2815 2957 2673 0 0 0 0 0 0 15.02 15.05 15.04

73765 -0.17 0.0 2660 2107 2958 2674 479.8 -0.0 892 73767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2674 0 0 0 0 0 0 15.02 15.06 15.05

74365 -0.17 0.0 2660 2107 2958 2674 479.1 0.1 897 74367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 14.69 14.71 14.71

74965 -0.17 0.0 2660 2107 2958 2674 478.4 0.1 902 74967 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.03 15.07 15.06

75565 -0.17 0.0 2660 2106 2957 2674 477.9 0.1 907 75567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

76165 -0.17 0.0 2660 2106 2957 2674 477.5 0.1 912 76167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

76765 -0.17 0.0 2660 2107 2957 2674 478.0 -0.1 917 76767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2105 2814 2956 2673 0 0 0 0 0 0 15.04 15.05 15.07

77365 -0.17 0.0 2660 2107 2957 2674 479.4 -0.3 922 77367 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

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78565 -0.17 0.0 2660 2107 2958 2674 480.7 0.0 932 78567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.09 15.07

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79765 -0.17 0.0 2660 2107 2957 2674 478.6 0.2 942 79767 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 14.72 14.73 14.75

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82165 -0.17 0.0 2660 2107 2958 2674 479.1 0.1 962 82167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

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89965 -0.17 0.0 2660 2107 2957 2674 481.9 -0.1 1027 89967 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

90565 -0.17 0.0 2660 2107 2957 2674 481.3 0.1 1032 90567 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

91165 -0.17 0.0 2660 2107 2958 2674 480.4 0.2 1037 91167 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2106 2814 2956 2673 0 0 0 0 0 0 15.04 15.07 15.07

91403 end loiter: LOITER_COMPLETE

state 91403 begin climb

91405 0.78 97.3 2662 2106 2958 2674 480.1 0.0 1039 91514 1.02 2.60 99.45 1.727 10500 0.132 0.106 2963 3447 2424 2558 2291 0 0 0 0 0 0 13.62 13.82 12.68

91739 0.78 97.3 2963 3447 2545 2292 454.7 9.7 1105 91744 0.00 2.42 0.00 0.000 1030 0.000 0.071 2964 2116 2418 2546 2291 0 0 0 0 0 0 14.19 14.03 14.25

92129 0.80 97.3 2965 2117 2545 2288 421.4 8.4 1123 92134 0.00 2.50 0.00 0.000 324 0.000 0.104 2964 3446 2415 2544 2287 0 0 0 0 0 0 14.58 13.99 14.61

92274 0.80 97.3 2964 3447 2544 2288 408.0 9.2 1152 92281 0.00 2.40 0.00 0.000 1030 0.000 0.072 2964 2117 2415 2543 2287 0 0 0 0 0 0 14.21 14.04 14.28

92639 0.82 97.3 2963 2118 2543 2287 379.0 8.0 1165 92641 0.00 0.00 0.00 0.000 70 0.000 0.000 2964 2117 2414 2542 2286 0 0 0 0 0 0 14.59 14.62 14.61

93000 0.85 97.3 2964 2117 2542 2286 350.4 7.7 1177 93001 0.00 0.00 0.00 0.000 70 0.000 0.000 2964 2117 2412 2539 2285 0 0 0 0 0 0 14.62 14.64 14.64

93359 0.89 97.3 2965 2118 2542 2286 323.2 7.4 1189 93361 0.12 0.00 0.00 0.000 2118 0.137 0.000 3011 2117 2413 2541 2285 0 0 0 0 0 0 14.27 14.38 14.35

93719 0.91 97.3 3012 2115 2542 2287 293.5 8.0 1201 93721 0.00 0.00 0.00 0.000 70 0.000 0.000 3012 2117 2413 2541 2285 0 0 0 0 0 0 14.60 14.64 14.63

94079 0.97 141.8 3011 2117 2542 2285 268.7 6.4 1213 94126 0.00 2.65 40.35 1.504 8740 0.000 0.112 3012 702 2246 2369 2124 0 0 0 0 0 0 14.60 14.09 13.14

94231 1.02 176.5 3012 703 2361 2122 258.3 7.1 1243 94268 0.00 2.45 32.25 1.462 9254 0.000 0.086 3011 2045 2105 2212 1999 0 0 0 0 0 0 14.20 14.04 13.02

94653 1.06 208.6 3012 2045 2198 1996 227.3 7.2 1267 94686 0.15 0.00 29.23 1.433 10534 0.125 0.000 3072 2045 1973 2066 1880 0 0 0 0 0 0 14.21 14.10 13.15

95043 1.06 208.6 3073 2045 2056 1876 190.2 9.5 1285 95048 0.00 2.62 0.00 0.000 260 0.000 0.109 3073 3444 1965 2056 1874 0 0 0 0 0 0 14.45 14.00 14.47

95143 1.06 208.6 3074 3445 2056 1876 179.7 10.5 1305 95148 0.00 2.40 0.00 0.000 1030 0.000 0.074 3074 2120 1965 2055 1875 0 0 0 0 0 0 14.23 14.07 14.30

95523 1.06 208.6 3074 2120 2054 1873 144.8 9.1 1321 95525 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2120 1963 2053 1873 0 0 0 0 0 0 14.51 14.54 14.54

95883 1.08 208.6 3074 2120 2053 1873 113.9 8.4 1333 95889 0.00 2.53 0.00 0.000 324 0.000 0.108 3074 3447 1962 2052 1872 0 0 0 0 0 0 14.73 13.90 14.76

95958 1.08 208.6 3074 3448 2053 1873 107.1 9.1 1348 95965 0.00 2.42 0.00 0.000 1030 0.000 0.076 3074 2120 1961 2052 1871 0 0 0 0 0 0 14.15 13.99 14.23

96335 1.11 208.6 3074 2121 2052 1872 78.2 7.5 1363 96336 0.00 0.00 0.00 0.000 70 0.000 0.000 3074 2121 1961 2051 1871 0 0 0 0 0 0 14.74 14.77 14.76

96695 1.20 277.3 3074 2121 2051 1871 56.2 4.9 1375 96846 0.00 2.78 145.00 1.222 8740 0.000 0.116 3075 719 1695 1773 1617 0 0 0 0 0 0 14.70 13.59 13.00

96884 1.26 318.4 3074 719 1773 1618 45.0 6.6 1398 96981 0.15 2.47 91.28 1.164 11302 0.134 0.086 3126 2035 1525 1590 1461 0 0 0 0 0 0 13.83 13.78 12.87

97348 1.36 395.2 3126 2040 1584 1458 20.5 4.4 1447 97499 0.00 0.00 143.50 1.158 8230 0.000 0.000 3126 2040 1212 1241 1184 0 0 0 0 0 0 14.35 13.70 12.95

97526 end climb: FINISH_DEPTH_REACHED

state 97526 begin subsurface finish

97531 0.31 240.7 3127 2040 1242 1182 9.5 7.2 1465 97559 1.17 0.00 -22.17 0.006 20486 0.185 0.000 2815 2039 1844 1829 1860 0 0 0 0 0 0 13.62 12.94 13.84

97560 end subsurface finish: CONTROL_FINISHED_OK

state 97560 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	304	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	050620,123113,7533.4429,-14422.1641,0,6255.0,0,23.4,0.0,0.0,0,0.0	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	14.05	MHEAD_RNG_PITCHd_Wd	141.2,5113,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-6.3	D_GRID	500
GPS2	050620,123113,7533.4429,-14422.1641,0,6255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200606122031.415529,06,23648,43,0182,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.3,0.46,-100,2.54,-01,0.09,62,925,0025*09	SC_FREEKB	3699616
FREEZE	9.55,-1.498,-1.554,2,208,0	_24V_AH	12.28,156.976
FINISH1	9.5,1.022793,241	_10V_AH	9.39,0.000
FINISH2	9.2	FG_AHR_24Vo	0.000
RAFOS_CLK	23	FG_AHR_10Vo	0.000
MODEM	0,1591373156,74.83892,-145.28152,56.086,81551.4	MEM	334796
RAFOS_FIX	7532.391602,-14425.950195,060620,121231,4,255,0.03	DATA_FILE_SIZE	49949,1468
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	232210,0
TT8_MAMPS	0.077896,0.345289	CFSIZE	1047117824,1002717184
HUMID	52.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.84871	SOUNDSPEED	1454.3
TCM_TEMP	13.10	GPS	060620,122031,7532.392,-14425.950,0,5255.0,0,23.4,0.0,0.0,0,0.0
XPDR_PINGS	139

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	221	12.46	nil	0	0	0.00
Roll_motor	67	115	95.71	nil	0	0	0.00
VBD_pump_during_apogee	679	1791	14959.18	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	11208	10	1432.63
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	34	420	179.23	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93362	2	2025.12
TT8_Active	888	9	77.73
TT8_Sampling	3076	27	788.58
TT8_CF8	339	37	120.36
TT8_Kalman	0	0	0.00
Analog_circuits	2084	10	213.32
GPS_charging	0	0	0.00
Compass	2141	6	135.54
RAFOS	14933	33	4627.29
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