Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 495 * 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 495 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 115 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 17 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 SM_CC 450 ROLL_MAXERRORS 0 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 400 FILEMGR 2 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 550 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 10 PROTOCOL 9 C_VBD 2758 INT_PRESSURE_YINT 1.7

D_PITCH 2 N_NOCOMM 0 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 500 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 3 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 8 UPLOAD_DIVES_MAX 6 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 250 CAPMAXSIZE 10000 VBD_BLEED_AD_RATE 1 DEVICE6 -1

T_ABORT 4320 HEAPDBG 0 UNCOM_BLEED 500 LOGGERS 1

T_TURN 225 T_GPS 3 VBD_MAXERRORS 2 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP -120 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 400 COMPASS2_DEVICE 150

USE_ICE 1 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 700 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2715 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 100 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 0 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 0 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 30 MAXI_24V 2 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 40 MAXI_10V 2 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 20 FG_AHR_10V 0 SEABIRD_C_I -0.0021489244

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00024241477

NAV_MODE 0 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0041999999 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0082 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1950 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 500 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 20 SM_CC 450

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 2 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 20 PITCH_GAIN 30 STROBE 0

ALTIM_SENSITIVITY 3 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0082 PITCH_TIMEOUT 40 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0013 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 3 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 4320

CALL_WAIT 45 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 10000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -161.88326 T_DIVE 150

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 3

COMM_SEQ 0 INT_PRESSURE_YINT 1.7 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP -120

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2715 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 6

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 1

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 1

DEVICE2 -1 MASS 53734 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3858 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 2 ROLL_MAXERRORS 0 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 2 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 30 VBD_MAXERRORS 2

DIVE 495 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 20 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 3 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 800

D_FINISH 10 NAV_MODE 0 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 400 N_DIVES 0 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 6

D_PITCH 2 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 500 N_NOCOMM 0 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 240920,053813,7200.8560,-15155.4883,51,1.1,58,19.6,1.0,289.9,6,9.2 SPEED_LIMITS 0.192,0.246

_CALLS 2 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 200.8,2711,-22.5,-11.111,-24.31,1348

_SM_ANGLEo -72.9 D_GRID 500

GPS2 240920,060416,7201.1147,-15156.9287,6,0.9,16,19.6,0.8,314.0,8,9.7 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

FREEZE 0.10,0.725,-1.430,2,1,0 SC_FREEKB 3589664

FINISH 0.1,1.021054 _24V_AH 12.45,262.445

SM_CCo 10938,145.27,0.835,1,0,922,450.13 _10V_AH 11.97,0.000

SM_GC 1.16,9.27,0.00,145.27,0.081,0.000,0.835,254,2046,922,-7.61,2.71,450.13,0,0,0,0,1,0,14.18,14.52,13.19 FG_AHR_24Vo 0.000

RAFOS_CLK 111 FG_AHR_10Vo 0.000

RAFOS_FIX 7200.165527,-15157.647461,240920,090954,0,1,0.16 MEM 334744

IRIDIUM_FIX 7200.95,-15149.50,240920,054527 DATA_FILE_SIZE 23396,727

TT8_MAMPS 0.038199,0.354277 CAP_FILE_SIZE 95222,0

HUMID 52.95 CFSIZE 1047117824,979582976

INTERNAL_PRESSURE 8.79012 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 13.90 SOUNDSPEED 1450.1

XPDR_PINGS 146 GPS 240920,091129,7201.178,-15158.270,65,0.8,65,19.6,0.8,306.4,9,4.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 440 133.03 nil 0 0 0.00

Roll_motor 40 121 61.44 nil 0 0 0.00

VBD_pump_during_apogee 607 1764 13348.81 nil 0 0 0.00

VBD_pump_during_surface 145 835 1510.93 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 10961 15 2061.70

Iridium_during_xfer 1075 185 2488.20 nil 0 0 0.00

Transponder_ping 36 420 190.86 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 21 7.08

TT8 0 0 0.00

LPSleep 8768 2 242.47

TT8_Active 834 9 93.08

TT8_Sampling 2501 27 817.32

TT8_CF8 550 37 249.07

TT8_Kalman 0 0 0.00

Analog_circuits 2496 10 325.71

GPS_charging 0 0 0.00

Compass 1100 6 88.80

RAFOS 2217 33 875.74

Transponder 0 5 0.03

Altimeter Analysis:

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

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

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.88 -97.3 261 2049 894 950 0.0 0.0 0 82 0.00 0.00 -71.43 0.003 16386 0.000 0.000 260 2048 2088 2011 2166 0 0 0 0 0 0 14.47 28.83 14.50

85 -0.88 -97.3 261 2049 2015 2170 4.7 -7.4 7 135 12.30 2.67 -30.75 0.005 18980 0.441 0.122 2427 627 3157 3248 3066 0 0 0 0 0 0 13.71 12.45 14.15

360 -0.88 -97.3 2429 627 3249 3068 52.1 -14.3 61 366 0.00 2.45 0.00 0.000 1030 0.000 0.083 2428 1956 3157 3248 3067 0 0 0 0 0 0 14.10 13.93 14.15

752 -0.88 -97.3 2428 1957 3249 3069 105.1 -13.6 79 757 0.00 2.53 0.00 0.000 516 0.000 0.103 2428 624 3158 3249 3067 0 0 0 0 0 0 14.63 13.84 14.65

982 -0.88 -97.3 2428 625 3249 3068 138.2 -14.7 125 988 0.00 2.47 0.00 0.000 1030 0.000 0.084 2428 1960 3158 3249 3067 0 0 0 0 0 0 14.09 13.91 14.16

1353 -0.88 -97.3 2429 1961 3250 3068 182.5 -10.8 139 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 1960 3158 3248 3068 0 0 0 0 0 0 14.46 14.49 14.48

1713 -0.88 -97.3 2429 1961 3248 3068 219.4 -10.0 151 1718 0.00 2.55 0.00 0.000 516 0.000 0.106 2429 628 3157 3248 3066 0 0 0 0 0 0 14.45 13.75 14.47

1893 -0.88 -97.3 2428 628 3249 3068 237.6 -9.7 187 1898 0.00 2.47 0.00 0.000 1030 0.000 0.086 2427 1959 3157 3248 3067 0 0 0 0 0 0 14.04 13.86 14.10

2284 -0.88 -97.3 2429 1960 3249 3067 271.7 -8.9 205 2286 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1959 3158 3249 3067 0 0 0 0 0 0 14.65 14.68 14.68

2644 -0.88 -97.3 2429 1960 3249 3067 303.9 -8.8 217 2646 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1959 3157 3248 3066 0 0 0 0 0 0 14.42 14.46 14.48

3004 -0.88 -97.3 2428 1960 3249 3066 335.5 -8.8 229 3006 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 1959 3157 3248 3066 0 0 0 0 0 0 14.42 14.45 14.44

3364 -0.88 -97.3 2429 1960 3249 3067 366.1 -8.4 241 3370 0.00 2.70 0.00 0.000 292 0.000 0.109 2428 3364 3154 3248 3061 0 0 0 0 0 0 14.41 13.70 14.44

3450 -0.88 -97.3 2428 3365 3249 3066 373.4 -8.4 258 3457 0.00 2.42 0.00 0.000 1062 0.000 0.063 2428 2033 3156 3248 3065 0 0 0 0 0 0 13.97 13.84 14.02

3816 -0.88 -97.3 2429 2035 3249 3066 402.7 -8.0 271 3817 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 2034 3157 3249 3065 0 0 0 0 0 0 14.63 14.67 14.66

4176 -0.88 -97.3 2429 2035 3248 3066 430.7 -7.7 283 4177 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 2034 3157 3249 3065 0 0 0 0 0 0 14.63 14.66 14.66

4536 -0.88 -97.3 2429 2035 3249 3066 458.2 -7.6 295 4537 0.00 0.00 0.00 0.000 38 0.000 0.000 2429 2034 3156 3248 3065 0 0 0 0 0 0 14.63 14.66 14.65

4896 -0.88 -97.3 2428 2035 3249 3066 486.1 -7.7 307 4897 0.00 0.00 0.00 0.000 38 0.000 0.000 2428 2034 3160 3248 3073 0 0 0 0 0 0 14.63 14.66 14.65

5103 end dive: TARGET_DEPTH_EXCEEDED

state 5103 begin apogee

5109 -0.17 0.0 2425 2035 3249 3066 502.3 -7.7 314 5210 0.95 0.00 98.70 1.765 10246 0.248 0.000 2654 2034 2758 2877 2639 0 0 0 0 0 0 13.69 13.80 12.93

5212 end apogee: CONTROL_FINISHED_OK

state 5212 begin climb

5214 0.88 97.3 2655 2034 2876 2640 504.1 0.0 317 5317 1.17 0.00 99.57 1.692 10758 0.146 0.000 2991 2034 2362 2483 2242 0 0 0 0 0 0 13.74 13.34 12.52

5678 0.91 97.3 2992 2034 2471 2235 464.1 9.6 338 5679 0.00 0.00 0.00 0.000 70 0.000 0.000 2992 2034 2352 2470 2234 0 0 0 0 0 0 14.55 14.59 14.58

6036 0.94 97.3 2992 2035 2469 2233 430.1 9.3 350 6037 0.00 0.00 0.00 0.000 70 0.000 0.000 2992 2034 2350 2469 2232 0 0 0 0 0 0 14.65 14.69 14.68

6396 0.98 97.3 2992 2035 2469 2232 396.6 9.2 362 6397 0.15 0.00 0.00 0.000 2118 0.135 0.000 3056 2034 2349 2468 2231 0 0 0 0 0 0 14.19 14.33 14.31

6755 0.98 97.3 3056 2034 2469 2232 354.7 11.8 374 6761 0.00 2.67 0.00 0.000 260 0.000 0.106 3056 3444 2349 2467 2231 0 0 0 0 0 0 14.64 14.01 14.66

6822 0.98 97.3 3056 3445 2468 2234 345.9 13.2 387 6827 0.00 2.40 0.00 0.000 1030 0.000 0.069 3057 2119 2349 2467 2231 0 0 0 0 0 0 14.23 14.09 14.29

7209 0.98 97.3 3057 2120 2468 2230 300.4 11.7 404 7210 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2119 2349 2467 2231 0 0 0 0 0 0 14.43 14.46 14.46

7567 0.98 97.3 3057 2120 2468 2231 259.0 11.3 416 7569 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2119 2348 2466 2230 0 0 0 0 0 0 14.46 14.49 14.49

7927 1.00 97.3 3057 2120 2467 2231 220.4 10.4 428 7929 0.00 0.00 0.00 0.000 70 0.000 0.000 3056 2124 2351 2472 2230 0 0 0 0 0 0 14.43 14.47 14.46

8287 1.02 97.3 3057 2120 2465 2231 184.1 10.1 440 8292 0.00 2.67 0.00 0.000 580 0.000 0.110 3056 716 2348 2466 2230 0 0 0 0 0 0 14.42 13.95 14.45

8513 1.09 151.3 3057 716 2466 2230 165.8 7.0 485 8583 0.00 2.45 60.95 1.330 9254 0.000 0.085 3057 2037 2139 2251 2028 0 0 0 0 0 0 14.11 13.95 13.21

8948 1.14 191.1 3063 2038 2240 2026 129.4 8.1 512 9004 0.00 2.53 50.40 1.261 8740 0.000 0.110 3057 714 1977 2076 1878 0 0 0 0 0 0 14.42 13.81 13.25

9140 1.17 191.1 3057 714 2068 1876 112.1 9.6 550 9145 0.00 2.45 0.00 0.000 1094 0.000 0.086 3056 2037 1971 2067 1875 0 0 0 0 0 0 14.08 13.95 14.12

9521 1.20 217.4 3057 2038 2066 1874 76.9 9.1 566 9558 0.15 0.00 35.17 1.219 10278 0.123 0.000 3109 2037 1873 1965 1782 0 0 0 0 0 0 14.16 14.09 13.36

9911 1.24 244.5 3109 2037 1958 1777 37.0 9.0 579 9962 0.00 0.00 48.90 1.183 8230 0.000 0.000 3109 2037 1760 1843 1677 0 0 0 0 0 0 14.51 14.04 13.33

10301 1.36 336.5 3109 2037 1836 1677 14.1 4.1 612 10466 0.12 2.65 151.77 1.142 10788 0.142 0.111 3171 705 1385 1433 1337 0 0 0 0 0 0 14.19 13.80 13.12

10692 1.53 470.8 3171 706 1427 1333 3.6 0.9 686 10759 0.12 2.47 62.05 1.111 11298 0.135 0.083 3216 2046 1209 1239 1180 0 0 0 0 0 0 14.07 13.98 14.19

10759 end climb: SURFACE_DEPTH_REACHED

state 10761 begin surface coast

10919 end surface coast: CONTROL_FINISHED_OK

state 10919 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	495	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	115	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	17	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	SM_CC	450	ROLL_MAXERRORS	0	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	400	FILEMGR	2	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	550	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	10	PROTOCOL	9	C_VBD	2758	INT_PRESSURE_YINT	1.7
D_PITCH	2	N_NOCOMM	0	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	500	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	3	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	8	UPLOAD_DIVES_MAX	6	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	250	CAPMAXSIZE	10000	VBD_BLEED_AD_RATE	1	DEVICE6	-1
T_ABORT	4320	HEAPDBG	0	UNCOM_BLEED	500	LOGGERS	1
T_TURN	225	T_GPS	3	VBD_MAXERRORS	2	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	-120	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	400	COMPASS2_DEVICE	150
USE_ICE	1	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	700	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2715	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	100	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	0	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	0	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	30	MAXI_24V	2	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	40	MAXI_10V	2	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	20	FG_AHR_10V	0	SEABIRD_C_I	-0.0021489244
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00024241477
NAV_MODE	0	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0041999999	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0082	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1950	ALTIM_PING_FIT	0

GPS1	240920,053813,7200.8560,-15155.4883,51,1.1,58,19.6,1.0,289.9,6,9.2	SPEED_LIMITS	0.192,0.246
_CALLS	2	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	200.8,2711,-22.5,-11.111,-24.31,1348
_SM_ANGLEo	-72.9	D_GRID	500
GPS2	240920,060416,7201.1147,-15156.9287,6,0.9,16,19.6,0.8,314.0,8,9.7	EXEC	4,999,2,0.000000,0.000000

FREEZE	0.10,0.725,-1.430,2,1,0	SC_FREEKB	3589664
FINISH	0.1,1.021054	_24V_AH	12.45,262.445
SM_CCo	10938,145.27,0.835,1,0,922,450.13	_10V_AH	11.97,0.000
SM_GC	1.16,9.27,0.00,145.27,0.081,0.000,0.835,254,2046,922,-7.61,2.71,450.13,0,0,0,0,1,0,14.18,14.52,13.19	FG_AHR_24Vo	0.000
RAFOS_CLK	111	FG_AHR_10Vo	0.000
RAFOS_FIX	7200.165527,-15157.647461,240920,090954,0,1,0.16	MEM	334744
IRIDIUM_FIX	7200.95,-15149.50,240920,054527	DATA_FILE_SIZE	23396,727
TT8_MAMPS	0.038199,0.354277	CAP_FILE_SIZE	95222,0
HUMID	52.95	CFSIZE	1047117824,979582976
INTERNAL_PRESSURE	8.79012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	13.90	SOUNDSPEED	1450.1
XPDR_PINGS	146	GPS	240920,091129,7201.178,-15158.270,65,0.8,65,19.6,0.8,306.4,9,4.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	440	133.03	nil	0	0	0.00
Roll_motor	40	121	61.44	nil	0	0	0.00
VBD_pump_during_apogee	607	1764	13348.81	nil	0	0	0.00
VBD_pump_during_surface	145	835	1510.93	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	10961	15	2061.70
Iridium_during_xfer	1075	185	2488.20	nil	0	0	0.00
Transponder_ping	36	420	190.86	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	21	7.08
TT8	0	0	0.00
LPSleep	8768	2	242.47
TT8_Active	834	9	93.08
TT8_Sampling	2501	27	817.32
TT8_CF8	550	37	249.07
TT8_Kalman	0	0	0.00
Analog_circuits	2496	10	325.71
GPS_charging	0	0	0.00
Compass	1100	6	88.80
RAFOS	2217	33	875.74
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.88	-97.3	261	2049	894	950	0.0	0.0	0	82	0.00	0.00	-71.43	0.003	16386	0.000	0.000	260	2048	2088	2011	2166	0	0	0	0	0	0	14.47	28.83	14.50
85	-0.88	-97.3	261	2049	2015	2170	4.7	-7.4	7	135	12.30	2.67	-30.75	0.005	18980	0.441	0.122	2427	627	3157	3248	3066	0	0	0	0	0	0	13.71	12.45	14.15
360	-0.88	-97.3	2429	627	3249	3068	52.1	-14.3	61	366	0.00	2.45	0.00	0.000	1030	0.000	0.083	2428	1956	3157	3248	3067	0	0	0	0	0	0	14.10	13.93	14.15
752	-0.88	-97.3	2428	1957	3249	3069	105.1	-13.6	79	757	0.00	2.53	0.00	0.000	516	0.000	0.103	2428	624	3158	3249	3067	0	0	0	0	0	0	14.63	13.84	14.65
982	-0.88	-97.3	2428	625	3249	3068	138.2	-14.7	125	988	0.00	2.47	0.00	0.000	1030	0.000	0.084	2428	1960	3158	3249	3067	0	0	0	0	0	0	14.09	13.91	14.16
1353	-0.88	-97.3	2429	1961	3250	3068	182.5	-10.8	139	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2428	1960	3158	3248	3068	0	0	0	0	0	0	14.46	14.49	14.48
1713	-0.88	-97.3	2429	1961	3248	3068	219.4	-10.0	151	1718	0.00	2.55	0.00	0.000	516	0.000	0.106	2429	628	3157	3248	3066	0	0	0	0	0	0	14.45	13.75	14.47
1893	-0.88	-97.3	2428	628	3249	3068	237.6	-9.7	187	1898	0.00	2.47	0.00	0.000	1030	0.000	0.086	2427	1959	3157	3248	3067	0	0	0	0	0	0	14.04	13.86	14.10
2284	-0.88	-97.3	2429	1960	3249	3067	271.7	-8.9	205	2286	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1959	3158	3249	3067	0	0	0	0	0	0	14.65	14.68	14.68
2644	-0.88	-97.3	2429	1960	3249	3067	303.9	-8.8	217	2646	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1959	3157	3248	3066	0	0	0	0	0	0	14.42	14.46	14.48
3004	-0.88	-97.3	2428	1960	3249	3066	335.5	-8.8	229	3006	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	1959	3157	3248	3066	0	0	0	0	0	0	14.42	14.45	14.44
3364	-0.88	-97.3	2429	1960	3249	3067	366.1	-8.4	241	3370	0.00	2.70	0.00	0.000	292	0.000	0.109	2428	3364	3154	3248	3061	0	0	0	0	0	0	14.41	13.70	14.44
3450	-0.88	-97.3	2428	3365	3249	3066	373.4	-8.4	258	3457	0.00	2.42	0.00	0.000	1062	0.000	0.063	2428	2033	3156	3248	3065	0	0	0	0	0	0	13.97	13.84	14.02
3816	-0.88	-97.3	2429	2035	3249	3066	402.7	-8.0	271	3817	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	2034	3157	3249	3065	0	0	0	0	0	0	14.63	14.67	14.66
4176	-0.88	-97.3	2429	2035	3248	3066	430.7	-7.7	283	4177	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	2034	3157	3249	3065	0	0	0	0	0	0	14.63	14.66	14.66
4536	-0.88	-97.3	2429	2035	3249	3066	458.2	-7.6	295	4537	0.00	0.00	0.00	0.000	38	0.000	0.000	2429	2034	3156	3248	3065	0	0	0	0	0	0	14.63	14.66	14.65
4896	-0.88	-97.3	2428	2035	3249	3066	486.1	-7.7	307	4897	0.00	0.00	0.00	0.000	38	0.000	0.000	2428	2034	3160	3248	3073	0	0	0	0	0	0	14.63	14.66	14.65
5103	end dive: TARGET_DEPTH_EXCEEDED
state	5103	begin apogee
5109	-0.17	0.0	2425	2035	3249	3066	502.3	-7.7	314	5210	0.95	0.00	98.70	1.765	10246	0.248	0.000	2654	2034	2758	2877	2639	0	0	0	0	0	0	13.69	13.80	12.93
5212	end apogee: CONTROL_FINISHED_OK
state	5212	begin climb
5214	0.88	97.3	2655	2034	2876	2640	504.1	0.0	317	5317	1.17	0.00	99.57	1.692	10758	0.146	0.000	2991	2034	2362	2483	2242	0	0	0	0	0	0	13.74	13.34	12.52
5678	0.91	97.3	2992	2034	2471	2235	464.1	9.6	338	5679	0.00	0.00	0.00	0.000	70	0.000	0.000	2992	2034	2352	2470	2234	0	0	0	0	0	0	14.55	14.59	14.58
6036	0.94	97.3	2992	2035	2469	2233	430.1	9.3	350	6037	0.00	0.00	0.00	0.000	70	0.000	0.000	2992	2034	2350	2469	2232	0	0	0	0	0	0	14.65	14.69	14.68
6396	0.98	97.3	2992	2035	2469	2232	396.6	9.2	362	6397	0.15	0.00	0.00	0.000	2118	0.135	0.000	3056	2034	2349	2468	2231	0	0	0	0	0	0	14.19	14.33	14.31
6755	0.98	97.3	3056	2034	2469	2232	354.7	11.8	374	6761	0.00	2.67	0.00	0.000	260	0.000	0.106	3056	3444	2349	2467	2231	0	0	0	0	0	0	14.64	14.01	14.66
6822	0.98	97.3	3056	3445	2468	2234	345.9	13.2	387	6827	0.00	2.40	0.00	0.000	1030	0.000	0.069	3057	2119	2349	2467	2231	0	0	0	0	0	0	14.23	14.09	14.29
7209	0.98	97.3	3057	2120	2468	2230	300.4	11.7	404	7210	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2119	2349	2467	2231	0	0	0	0	0	0	14.43	14.46	14.46
7567	0.98	97.3	3057	2120	2468	2231	259.0	11.3	416	7569	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2119	2348	2466	2230	0	0	0	0	0	0	14.46	14.49	14.49
7927	1.00	97.3	3057	2120	2467	2231	220.4	10.4	428	7929	0.00	0.00	0.00	0.000	70	0.000	0.000	3056	2124	2351	2472	2230	0	0	0	0	0	0	14.43	14.47	14.46
8287	1.02	97.3	3057	2120	2465	2231	184.1	10.1	440	8292	0.00	2.67	0.00	0.000	580	0.000	0.110	3056	716	2348	2466	2230	0	0	0	0	0	0	14.42	13.95	14.45
8513	1.09	151.3	3057	716	2466	2230	165.8	7.0	485	8583	0.00	2.45	60.95	1.330	9254	0.000	0.085	3057	2037	2139	2251	2028	0	0	0	0	0	0	14.11	13.95	13.21
8948	1.14	191.1	3063	2038	2240	2026	129.4	8.1	512	9004	0.00	2.53	50.40	1.261	8740	0.000	0.110	3057	714	1977	2076	1878	0	0	0	0	0	0	14.42	13.81	13.25
9140	1.17	191.1	3057	714	2068	1876	112.1	9.6	550	9145	0.00	2.45	0.00	0.000	1094	0.000	0.086	3056	2037	1971	2067	1875	0	0	0	0	0	0	14.08	13.95	14.12
9521	1.20	217.4	3057	2038	2066	1874	76.9	9.1	566	9558	0.15	0.00	35.17	1.219	10278	0.123	0.000	3109	2037	1873	1965	1782	0	0	0	0	0	0	14.16	14.09	13.36
9911	1.24	244.5	3109	2037	1958	1777	37.0	9.0	579	9962	0.00	0.00	48.90	1.183	8230	0.000	0.000	3109	2037	1760	1843	1677	0	0	0	0	0	0	14.51	14.04	13.33
10301	1.36	336.5	3109	2037	1836	1677	14.1	4.1	612	10466	0.12	2.65	151.77	1.142	10788	0.142	0.111	3171	705	1385	1433	1337	0	0	0	0	0	0	14.19	13.80	13.12
10692	1.53	470.8	3171	706	1427	1333	3.6	0.9	686	10759	0.12	2.47	62.05	1.111	11298	0.135	0.083	3216	2046	1209	1239	1180	0	0	0	0	0	0	14.07	13.98	14.19
10759	end climb: SURFACE_DEPTH_REACHED
state	10761	begin surface coast
10919	end surface coast: CONTROL_FINISHED_OK
state	10919	begin surface