Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 499 * 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 499 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 180 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 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 90 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 180 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 60

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 90

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 499 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 240920,174436,7201.3818,-15159.8164,8,0.8,10,19.5,0.0,45.8,9,9.9 SPEED_LIMITS 0.173,0.239

_CALLS 2 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 151.7,2979,-20.8,-10.000,-22.74,1497

_SM_ANGLEo -69.7 D_GRID 180

GPS2 240920,180906,7201.5898,-15200.7930,5,1.0,12,19.5,0.7,296.5,8,9.4 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

FREEZE 1.08,0.733,-1.540,2,1,0 SC_FREEKB 3587360

FINISH 1.1,1.022625 _24V_AH 12.48,263.962

SM_CCo 4163,131.05,0.799,1,0,924,450.37 _10V_AH 11.99,0.000

SM_GC 1.13,9.38,0.15,131.05,0.088,0.138,0.799,253,2025,924,-7.61,2.94,450.37,0,0,0,0,1,0,13.88,13.81,13.02 FG_AHR_24Vo 0.000

RAFOS_CLK 105 FG_AHR_10Vo 0.000

RAFOS_FIX 7201.142578,-15200.736328,240920,191948,0,1,0.20 MEM 334680

IRIDIUM_FIX 7202.69,-15211.24,240920,175103 DATA_FILE_SIZE 10141,303

TT8_MAMPS 0.038948,0.331807 CAP_FILE_SIZE 55212,0

HUMID 52.12 CFSIZE 1047117824,979238912

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

TCM_TEMP 12.30 SOUNDSPEED 1446.1

XPDR_PINGS 108 GPS 240920,192225,7201.730,-15200.957,8,0.9,22,19.5,0.7,333.4,10,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 442 134.09 nil 0 0 0.00

Roll_motor 36 137 62.04 nil 0 0 0.00

VBD_pump_during_apogee 605 1409 10661.55 nil 0 0 0.00

VBD_pump_during_surface 131 798 1306.21 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 4182 15 788.30

Iridium_during_xfer 1035 193 2500.10 nil 0 0 0.00

Transponder_ping 27 420 141.52 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 21 6.19

TT8 0 0 0.00

LPSleep 2884 2 79.90

TT8_Active 811 9 90.73

TT8_Sampling 1636 27 535.72

TT8_CF8 452 37 204.84

TT8_Kalman 0 0 0.00

Analog_circuits 2151 10 281.13

GPS_charging 0 0 0.00

Compass 462 6 37.34

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

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

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

Guidance and control:

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

9 -0.82 -97.3 253 2035 900 940 0.0 0.0 0 102 0.00 0.00 -91.43 0.003 16386 0.000 0.000 251 2041 2344 2303 2385 0 0 0 0 0 0 14.54 28.83 14.56

105 -0.82 -97.3 252 2036 2307 2386 5.0 -8.1 9 146 12.45 2.62 -19.62 0.008 19204 0.442 0.122 2442 633 3158 3251 3066 0 0 0 0 0 0 13.73 12.48 14.00

203 -0.82 -97.3 2441 633 3252 3068 27.5 -18.9 27 210 0.00 2.42 0.00 0.000 1030 0.000 0.084 2442 1956 3159 3252 3067 0 0 0 0 0 0 14.21 14.05 14.26

516 -0.82 -97.3 2442 1957 3252 3068 70.9 -13.0 39 522 0.00 2.65 0.00 0.000 260 0.000 0.103 2441 3369 3159 3252 3067 0 0 0 0 0 0 14.66 13.91 14.68

608 -0.82 -97.3 2441 3369 3250 3068 83.2 -13.1 57 613 0.00 2.40 0.00 0.000 1030 0.000 0.061 2442 2028 3159 3251 3067 0 0 0 0 0 0 14.19 14.06 14.23

998 -0.82 -97.3 2442 2028 3251 3067 132.9 -12.3 75 1004 0.00 2.65 0.00 0.000 516 0.000 0.104 2441 625 3159 3252 3067 0 0 0 0 0 0 14.66 13.85 14.69

1044 -0.82 -97.3 2441 626 3253 3068 138.7 -12.5 84 1049 0.00 2.45 0.00 0.000 1030 0.000 0.083 2442 1955 3156 3246 3067 0 0 0 0 0 0 14.12 13.94 14.17

1420 -0.82 -97.3 2442 1956 3253 3068 178.7 -9.7 99 1426 0.00 2.53 0.00 0.000 516 0.000 0.105 2441 633 3159 3251 3067 0 0 0 0 0 0 14.45 13.82 14.47

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1442 -0.17 0.0 2442 2043 3252 3068 180.3 -9.5 102 1545 0.90 0.00 100.57 1.410 10246 0.258 0.000 2654 2044 2757 2877 2638 0 0 0 0 0 0 13.63 13.90 13.14

1546 end apogee: CONTROL_FINISHED_OK

state 1546 begin climb

1549 0.82 97.3 2655 2045 2876 2639 183.9 0.0 105 1652 1.15 2.78 94.50 1.358 10500 0.161 0.106 2977 3445 2359 2481 2237 0 0 0 0 0 0 13.86 13.59 12.84

1710 0.86 127.9 2976 3445 2475 2236 176.3 7.9 121 1745 0.00 2.47 30.50 1.299 9254 0.000 0.065 2978 2109 2236 2357 2115 0 0 0 0 0 0 13.81 13.69 12.89

2133 0.93 180.5 2978 2110 2346 2108 146.6 6.4 145 2202 0.12 2.67 62.60 1.269 10788 0.142 0.112 3017 712 2020 2124 1917 0 0 0 0 0 0 14.16 13.95 13.22

2293 0.96 180.5 3022 713 2122 1916 134.0 8.5 177 2298 0.00 2.45 0.00 0.000 1094 0.000 0.086 3022 2036 2015 2115 1915 0 0 0 0 0 0 14.14 13.97 14.19

2673 1.01 217.2 3022 2036 2114 1915 103.8 7.5 193 2721 0.00 0.00 46.05 1.248 8230 0.000 0.000 3021 2035 1872 1967 1778 0 0 0 0 0 0 14.49 14.05 13.34

3063 1.05 248.7 3022 2036 1959 1775 73.1 7.8 206 3109 0.00 0.00 44.28 1.217 8230 0.000 0.000 3021 2035 1744 1829 1659 0 0 0 0 0 0 14.52 14.06 13.34

3453 1.06 248.7 3022 2036 1821 1659 40.7 9.1 219 3455 0.12 0.00 0.00 0.000 2118 0.142 0.000 3076 2035 1742 1820 1665 0 0 0 0 0 0 14.23 14.35 14.31

3813 1.14 307.1 3077 2036 1819 1659 15.2 6.0 247 3921 0.00 2.75 101.22 1.176 8484 0.000 0.109 3075 3445 1504 1569 1439 0 0 0 0 0 0 14.50 13.94 13.24

3996 1.29 420.2 3077 3445 1566 1440 8.5 2.2 282 4130 0.17 2.42 126.20 1.121 11298 0.129 0.067 3147 2109 1168 1193 1143 0 0 0 0 0 0 14.02 13.99 14.14

4131 end climb: SURFACE_DEPTH_REACHED

state 4131 begin surface coast

4144 end surface coast: CONTROL_FINISHED_OK

state 4144 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	499	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	180	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	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	90	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	240920,174436,7201.3818,-15159.8164,8,0.8,10,19.5,0.0,45.8,9,9.9	SPEED_LIMITS	0.173,0.239
_CALLS	2	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	151.7,2979,-20.8,-10.000,-22.74,1497
_SM_ANGLEo	-69.7	D_GRID	180
GPS2	240920,180906,7201.5898,-15200.7930,5,1.0,12,19.5,0.7,296.5,8,9.4	EXEC	4,999,2,0.000000,0.000000

FREEZE	1.08,0.733,-1.540,2,1,0	SC_FREEKB	3587360
FINISH	1.1,1.022625	_24V_AH	12.48,263.962
SM_CCo	4163,131.05,0.799,1,0,924,450.37	_10V_AH	11.99,0.000
SM_GC	1.13,9.38,0.15,131.05,0.088,0.138,0.799,253,2025,924,-7.61,2.94,450.37,0,0,0,0,1,0,13.88,13.81,13.02	FG_AHR_24Vo	0.000
RAFOS_CLK	105	FG_AHR_10Vo	0.000
RAFOS_FIX	7201.142578,-15200.736328,240920,191948,0,1,0.20	MEM	334680
IRIDIUM_FIX	7202.69,-15211.24,240920,175103	DATA_FILE_SIZE	10141,303
TT8_MAMPS	0.038948,0.331807	CAP_FILE_SIZE	55212,0
HUMID	52.12	CFSIZE	1047117824,979238912
INTERNAL_PRESSURE	8.79012	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.30	SOUNDSPEED	1446.1
XPDR_PINGS	108	GPS	240920,192225,7201.730,-15200.957,8,0.9,22,19.5,0.7,333.4,10,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	442	134.09	nil	0	0	0.00
Roll_motor	36	137	62.04	nil	0	0	0.00
VBD_pump_during_apogee	605	1409	10661.55	nil	0	0	0.00
VBD_pump_during_surface	131	798	1306.21	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	4182	15	788.30
Iridium_during_xfer	1035	193	2500.10	nil	0	0	0.00
Transponder_ping	27	420	141.52	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	21	6.19
TT8	0	0	0.00
LPSleep	2884	2	79.90
TT8_Active	811	9	90.73
TT8_Sampling	1636	27	535.72
TT8_CF8	452	37	204.84
TT8_Kalman	0	0	0.00
Analog_circuits	2151	10	281.13
GPS_charging	0	0	0.00
Compass	462	6	37.34
RAFOS	0	0	0.00
Transponder	0	5	0.03

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

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
9	-0.82	-97.3	253	2035	900	940	0.0	0.0	0	102	0.00	0.00	-91.43	0.003	16386	0.000	0.000	251	2041	2344	2303	2385	0	0	0	0	0	0	14.54	28.83	14.56
105	-0.82	-97.3	252	2036	2307	2386	5.0	-8.1	9	146	12.45	2.62	-19.62	0.008	19204	0.442	0.122	2442	633	3158	3251	3066	0	0	0	0	0	0	13.73	12.48	14.00
203	-0.82	-97.3	2441	633	3252	3068	27.5	-18.9	27	210	0.00	2.42	0.00	0.000	1030	0.000	0.084	2442	1956	3159	3252	3067	0	0	0	0	0	0	14.21	14.05	14.26
516	-0.82	-97.3	2442	1957	3252	3068	70.9	-13.0	39	522	0.00	2.65	0.00	0.000	260	0.000	0.103	2441	3369	3159	3252	3067	0	0	0	0	0	0	14.66	13.91	14.68
608	-0.82	-97.3	2441	3369	3250	3068	83.2	-13.1	57	613	0.00	2.40	0.00	0.000	1030	0.000	0.061	2442	2028	3159	3251	3067	0	0	0	0	0	0	14.19	14.06	14.23
998	-0.82	-97.3	2442	2028	3251	3067	132.9	-12.3	75	1004	0.00	2.65	0.00	0.000	516	0.000	0.104	2441	625	3159	3252	3067	0	0	0	0	0	0	14.66	13.85	14.69
1044	-0.82	-97.3	2441	626	3253	3068	138.7	-12.5	84	1049	0.00	2.45	0.00	0.000	1030	0.000	0.083	2442	1955	3156	3246	3067	0	0	0	0	0	0	14.12	13.94	14.17
1420	-0.82	-97.3	2442	1956	3253	3068	178.7	-9.7	99	1426	0.00	2.53	0.00	0.000	516	0.000	0.105	2441	633	3159	3251	3067	0	0	0	0	0	0	14.45	13.82	14.47
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1442	-0.17	0.0	2442	2043	3252	3068	180.3	-9.5	102	1545	0.90	0.00	100.57	1.410	10246	0.258	0.000	2654	2044	2757	2877	2638	0	0	0	0	0	0	13.63	13.90	13.14
1546	end apogee: CONTROL_FINISHED_OK
state	1546	begin climb
1549	0.82	97.3	2655	2045	2876	2639	183.9	0.0	105	1652	1.15	2.78	94.50	1.358	10500	0.161	0.106	2977	3445	2359	2481	2237	0	0	0	0	0	0	13.86	13.59	12.84
1710	0.86	127.9	2976	3445	2475	2236	176.3	7.9	121	1745	0.00	2.47	30.50	1.299	9254	0.000	0.065	2978	2109	2236	2357	2115	0	0	0	0	0	0	13.81	13.69	12.89
2133	0.93	180.5	2978	2110	2346	2108	146.6	6.4	145	2202	0.12	2.67	62.60	1.269	10788	0.142	0.112	3017	712	2020	2124	1917	0	0	0	0	0	0	14.16	13.95	13.22
2293	0.96	180.5	3022	713	2122	1916	134.0	8.5	177	2298	0.00	2.45	0.00	0.000	1094	0.000	0.086	3022	2036	2015	2115	1915	0	0	0	0	0	0	14.14	13.97	14.19
2673	1.01	217.2	3022	2036	2114	1915	103.8	7.5	193	2721	0.00	0.00	46.05	1.248	8230	0.000	0.000	3021	2035	1872	1967	1778	0	0	0	0	0	0	14.49	14.05	13.34
3063	1.05	248.7	3022	2036	1959	1775	73.1	7.8	206	3109	0.00	0.00	44.28	1.217	8230	0.000	0.000	3021	2035	1744	1829	1659	0	0	0	0	0	0	14.52	14.06	13.34
3453	1.06	248.7	3022	2036	1821	1659	40.7	9.1	219	3455	0.12	0.00	0.00	0.000	2118	0.142	0.000	3076	2035	1742	1820	1665	0	0	0	0	0	0	14.23	14.35	14.31
3813	1.14	307.1	3077	2036	1819	1659	15.2	6.0	247	3921	0.00	2.75	101.22	1.176	8484	0.000	0.109	3075	3445	1504	1569	1439	0	0	0	0	0	0	14.50	13.94	13.24
3996	1.29	420.2	3077	3445	1566	1440	8.5	2.2	282	4130	0.17	2.42	126.20	1.121	11298	0.129	0.067	3147	2109	1168	1193	1143	0	0	0	0	0	0	14.02	13.99	14.14
4131	end climb: SURFACE_DEPTH_REACHED
state	4131	begin surface coast
4144	end surface coast: CONTROL_FINISHED_OK
state	4144	begin surface