Glider dive log

AMOS Sep19 * SG197 * Dive index * Mission links * Dive 64 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 197 HEADING -1 C_ROLL_CLIMB 2150 ALTIM_TOP_PING_RANGE 0

MISSION 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 64 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 29 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 20 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 500 ROLL_MAXERRORS 2 ALTIM_PULSE 2

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 FILEMGR 0 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 0 PROTOCOL 9 C_VBD 3100 INT_PRESSURE_YINT 0.40000001

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 82 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 54

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 86400 STROBE 0 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1 LOITER_DBDW 400 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 100 COMPASS2_DEVICE 150

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 250 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 205 PITCH_W_GAIN 2 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3855 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2410 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 347 SEABIRD_T_G 0.0043204976

MAX_BUOY 100 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00062365097

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.30554e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 2.4080823e-06

SPEED_FACTOR 1 PITCH_GAIN 28 MAXI_24V 0.60000002 SEABIRD_C_G -10.102139

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1491261

MASS 53840 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020350928

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00023971152

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -172.6981 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 260 PRESSURE_SLOPE 0.00010952644 SC_XMITPROFILE 3.0

HD_A 0.00316228 ROLL_MAX 3840 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.011885 ROLL_DEG 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 1750 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043204976

AH0_10V 0 D_TGT 180 PHONE_DEVICE 49 SEABIRD_T_H 0.00062365097

AH0_24V 347 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.30554e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 2.4080823e-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 160 SM_CC 500

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 2 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 28 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3855 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.00316228 PITCH_MIN 205 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.011885 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010952644 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -172.6981 T_DIVE 60

CAPUPLOAD 0 ID 197 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 0.40000001 P_OVSHOOT_WITHG 0 T_LOITER 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 82

COMPASS_DEVICE 97 LOGGERDEVICE1 54 RAFOS_DEVICE 101 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2410 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2150 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1750 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 50

C_VBD 3100 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53840 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3840 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 260 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 64 MINV_10V 11 R_PORT_OVSHOOT 29 VBD_MIN 550

D_ABORT 1010 MINV_24V 11 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 3 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_G -10.102139 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1491261 XPDR_VALID 6

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020350928

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00023971152

Pre-dive calculations and measurements:

GPS1 101019,183733,7414.7798,-14613.4395,6,1.1,8,17.7,0.7,13.0,9,7.4 SPEED_LIMITS 0.173,0.199

_CALLS 3 TGT_NAME a

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.56 MHEAD_RNG_PITCHd_Wd 171.8,154507,-23.3,-10.000,-26.71,1494

_SM_ANGLEo -66.8 D_GRID 180

GPS2 101019,184702,7414.7539,-14613.5117,4,1.0,6,17.7,0.7,234.8,10,7.1

Post-dive calculations and measurements:

FINISH 0.3,1.021506 _10V_AH 12.82,0.000

SM_CCo 3600,60.12,0.425,1,0,1061,500.17 FG_AHR_24Vo 0.000

SM_GC 0.69,8.12,0.70,60.12,0.104,0.090,0.425,197,1754,1061,-6.85,1.02,500.17,0,0,0,0,1,0,14.18,14.17,13.55 FG_AHR_10Vo 0.000

RAFOS_CLK 161 MEM 334500

RAFOS_FIX 7414.415527,-14613.350586,101019,191951,0,1,0.18 DATA_FILE_SIZE 13476,418

IRIDIUM_FIX 7416.83,-14543.38,101019,173212 CAP_FILE_SIZE 63939,0

TT8_MAMPS 0.041195,0.767725 CFSIZE 1024409600,1012891648

HUMID 53.66 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.1542 INTR 1,1156.95,0x24994a,1,24

TCM_TEMP 11.50 SOUNDSPEED 1465.0

XPDR_PINGS -1 CURRENT 0.069,292.68,1

SC_FREEKB 3838816 GPS 101019,194918,7414.468,-14614.464,3,0.8,6,17.7,0.7,126.1,9,8.1

_24V_AH 13.12,36.344

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 451 121.54 nil 0 0 0.00

Roll_motor 31 131 54.08 nil 0 0 0.00

VBD_pump_during_apogee 544 1461 10436.78 nil 0 0 0.00

VBD_pump_during_surface 60 425 335.53 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 3495 27 1255.45

Iridium_during_xfer 276 223 809.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.86

TT8 0 0 0.00

LPSleep 2212 2 65.51

TT8_Active 293 11 44.43

TT8_Sampling 1698 29 632.38

TT8_CF8 49 41 26.10

TT8_Kalman 0 0 0.00

Analog_circuits 1458 12 241.19

GPS_charging 0 0 0.00

Compass 997 5 63.97

RAFOS 0 0 0.00

Transponder 1 5 0.07

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

7 -0.93 -97.3 180 1762 969 784 0.0 0.0 0 104 0.00 0.00 -95.03 0.002 16386 0.000 0.000 177 1762 2534 2618 2450 0 0 0 0 0 0 14.41 28.83 14.45

106 -0.93 -97.3 178 1762 2619 2452 3.7 -6.5 9 143 9.95 2.53 -22.48 0.006 18724 0.451 0.132 2091 3163 3497 3591 3404 0 0 0 0 0 0 14.02 13.66 14.20

366 -0.93 -97.3 2091 3164 3593 3405 79.8 -21.2 60 377 0.00 2.42 0.00 0.000 1030 0.000 0.067 2091 1758 3499 3593 3405 0 0 0 0 0 0 14.38 14.33 14.40

552 -0.93 -97.3 2091 1759 3593 3405 113.9 -17.3 79 558 0.00 2.53 0.00 0.000 260 0.000 0.110 2082 3154 3499 3593 3405 0 0 0 0 0 0 14.58 14.35 14.61

626 -0.93 -97.3 2082 3154 3593 3405 126.7 -16.7 94 639 0.00 2.38 0.00 0.000 1030 0.000 0.065 2082 1752 3499 3593 3405 0 0 0 0 0 0 14.45 14.40 14.47

813 -0.93 -97.3 2082 1753 3593 3405 157.1 -16.1 113 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2082 1752 3499 3593 3405 0 0 0 0 0 0 14.64 14.67 14.67

962 end dive: TARGET_DEPTH_EXCEEDED

state 962 begin apogee

965 -0.18 0.0 2080 2156 3593 3405 180.1 -15.0 128 1059 1.00 0.00 82.45 1.461 10246 0.268 0.000 2343 2155 3098 3230 2967 0 0 0 0 0 0 14.35 13.99 13.37

1060 end apogee: CONTROL_FINISHED_OK

state 1060 begin climb

1061 0.93 97.3 2343 2156 3230 2968 185.1 0.0 137 1168 1.20 2.62 85.80 1.405 10500 0.164 0.109 2702 3550 2700 2856 2545 0 0 0 0 0 0 13.95 13.66 13.18

1197 1.02 188.6 2702 3550 2855 2545 182.9 3.7 148 1281 0.00 2.45 78.50 1.384 9254 0.000 0.058 2712 2133 2330 2489 2172 0 0 0 0 0 0 13.97 13.94 13.12

1465 1.06 226.5 2713 2133 2485 2163 165.0 7.4 181 1500 0.12 0.00 32.80 1.353 10278 0.138 0.000 2770 2132 2175 2342 2008 0 0 0 0 0 0 14.02 13.74 13.28

1674 1.06 226.5 2770 2133 2339 2003 144.6 9.7 202 1676 0.00 0.00 0.00 0.000 6 0.000 0.000 2770 2133 2170 2338 2003 0 0 0 0 0 0 14.27 14.30 14.29

1854 1.06 226.5 2770 2133 2338 2000 127.7 9.5 220 1860 0.00 2.60 0.00 0.000 260 0.000 0.113 2770 3549 2168 2337 2000 0 0 0 0 0 0 14.39 14.16 14.42

1885 1.06 226.5 2771 3550 2338 2000 124.5 10.5 226 1892 0.00 2.38 0.00 0.000 1030 0.000 0.060 2781 2157 2168 2337 2000 0 0 0 0 0 0 14.26 14.22 14.28

2076 1.09 226.5 2781 2156 2338 1999 106.6 8.5 246 2077 0.00 0.00 0.00 0.000 70 0.000 0.000 2781 2156 2168 2337 1999 0 0 0 0 0 0 14.47 14.50 14.50

2256 1.13 263.3 2781 2156 2337 1999 92.2 7.5 264 2294 0.00 2.47 33.90 1.327 8740 0.000 0.090 2791 752 2024 2198 1851 0 0 0 0 0 0 14.50 14.02 13.54

2353 1.15 263.3 2791 753 2197 1846 84.4 8.8 282 2360 0.00 2.47 0.00 0.000 1094 0.000 0.078 2792 2145 2021 2196 1846 0 0 0 0 0 0 14.19 14.13 14.21

2544 1.21 318.8 2792 2145 2196 1845 71.0 6.2 302 2600 0.00 0.00 54.28 1.291 8230 0.000 0.000 2792 2145 1799 1966 1633 0 0 0 0 0 0 14.45 14.00 13.44

2774 1.26 376.7 2792 2145 1958 1629 56.0 6.0 325 2841 0.00 0.00 57.00 1.259 8230 0.000 0.000 2792 2145 1562 1702 1422 0 0 0 0 0 0 14.35 13.81 13.38

3015 1.32 436.3 2792 2145 1692 1422 41.0 5.9 349 3080 0.12 0.00 62.72 1.226 10534 0.138 0.000 2841 2145 1320 1441 1200 0 0 0 0 0 0 14.13 13.76 13.35

3255 1.37 486.2 2841 2145 1435 1200 24.9 6.6 374 3317 0.00 2.55 56.97 1.196 8740 0.000 0.090 2850 758 1116 1233 999 0 0 0 0 0 0 14.28 13.77 13.35

3381 1.40 486.2 2850 758 1229 998 15.4 8.7 397 3392 0.00 2.50 0.00 0.000 1094 0.000 0.077 2850 2150 1113 1229 998 0 0 0 0 0 0 14.00 13.95 14.02

3565 end climb: SURFACE_DEPTH_REACHED

state 3565 begin surface coast

3586 end surface coast: CONTROL_FINISHED_OK

state 3586 begin surface

ID	197	HEADING	-1	C_ROLL_CLIMB	2150	ALTIM_TOP_PING_RANGE	0
MISSION	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	64	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	29	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	20	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	500	ROLL_MAXERRORS	2	ALTIM_PULSE	2
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	FILEMGR	0	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	0	PROTOCOL	9	C_VBD	3100	INT_PRESSURE_YINT	0.40000001
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	82	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	54
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	86400	STROBE	0	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1	LOITER_DBDW	400	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	100	COMPASS2_DEVICE	150
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	250	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	205	PITCH_W_GAIN	2	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3855	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2410	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	347	SEABIRD_T_G	0.0043204976
MAX_BUOY	100	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00062365097
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.30554e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	2.4080823e-06
SPEED_FACTOR	1	PITCH_GAIN	28	MAXI_24V	0.60000002	SEABIRD_C_G	-10.102139
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1491261
MASS	53840	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020350928
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00023971152
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-172.6981	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	260	PRESSURE_SLOPE	0.00010952644	SC_XMITPROFILE	3.0
HD_A	0.00316228	ROLL_MAX	3840	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.011885	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1750	ALTIM_PING_FIT	0

GPS1	101019,183733,7414.7798,-14613.4395,6,1.1,8,17.7,0.7,13.0,9,7.4	SPEED_LIMITS	0.173,0.199
_CALLS	3	TGT_NAME	a
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.56	MHEAD_RNG_PITCHd_Wd	171.8,154507,-23.3,-10.000,-26.71,1494
_SM_ANGLEo	-66.8	D_GRID	180
GPS2	101019,184702,7414.7539,-14613.5117,4,1.0,6,17.7,0.7,234.8,10,7.1

FINISH	0.3,1.021506	_10V_AH	12.82,0.000
SM_CCo	3600,60.12,0.425,1,0,1061,500.17	FG_AHR_24Vo	0.000
SM_GC	0.69,8.12,0.70,60.12,0.104,0.090,0.425,197,1754,1061,-6.85,1.02,500.17,0,0,0,0,1,0,14.18,14.17,13.55	FG_AHR_10Vo	0.000
RAFOS_CLK	161	MEM	334500
RAFOS_FIX	7414.415527,-14613.350586,101019,191951,0,1,0.18	DATA_FILE_SIZE	13476,418
IRIDIUM_FIX	7416.83,-14543.38,101019,173212	CAP_FILE_SIZE	63939,0
TT8_MAMPS	0.041195,0.767725	CFSIZE	1024409600,1012891648
HUMID	53.66	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.1542	INTR	1,1156.95,0x24994a,1,24
TCM_TEMP	11.50	SOUNDSPEED	1465.0
XPDR_PINGS	-1	CURRENT	0.069,292.68,1
SC_FREEKB	3838816	GPS	101019,194918,7414.468,-14614.464,3,0.8,6,17.7,0.7,126.1,9,8.1
_24V_AH	13.12,36.344

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	451	121.54	nil	0	0	0.00
Roll_motor	31	131	54.08	nil	0	0	0.00
VBD_pump_during_apogee	544	1461	10436.78	nil	0	0	0.00
VBD_pump_during_surface	60	425	335.53	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	3495	27	1255.45
Iridium_during_xfer	276	223	809.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.86
TT8	0	0	0.00
LPSleep	2212	2	65.51
TT8_Active	293	11	44.43
TT8_Sampling	1698	29	632.38
TT8_CF8	49	41	26.10
TT8_Kalman	0	0	0.00
Analog_circuits	1458	12	241.19
GPS_charging	0	0	0.00
Compass	997	5	63.97
RAFOS	0	0	0.00
Transponder	1	5	0.07

		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
7	-0.93	-97.3	180	1762	969	784	0.0	0.0	0	104	0.00	0.00	-95.03	0.002	16386	0.000	0.000	177	1762	2534	2618	2450	0	0	0	0	0	0	14.41	28.83	14.45
106	-0.93	-97.3	178	1762	2619	2452	3.7	-6.5	9	143	9.95	2.53	-22.48	0.006	18724	0.451	0.132	2091	3163	3497	3591	3404	0	0	0	0	0	0	14.02	13.66	14.20
366	-0.93	-97.3	2091	3164	3593	3405	79.8	-21.2	60	377	0.00	2.42	0.00	0.000	1030	0.000	0.067	2091	1758	3499	3593	3405	0	0	0	0	0	0	14.38	14.33	14.40
552	-0.93	-97.3	2091	1759	3593	3405	113.9	-17.3	79	558	0.00	2.53	0.00	0.000	260	0.000	0.110	2082	3154	3499	3593	3405	0	0	0	0	0	0	14.58	14.35	14.61
626	-0.93	-97.3	2082	3154	3593	3405	126.7	-16.7	94	639	0.00	2.38	0.00	0.000	1030	0.000	0.065	2082	1752	3499	3593	3405	0	0	0	0	0	0	14.45	14.40	14.47
813	-0.93	-97.3	2082	1753	3593	3405	157.1	-16.1	113	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2082	1752	3499	3593	3405	0	0	0	0	0	0	14.64	14.67	14.67
962	end dive: TARGET_DEPTH_EXCEEDED
state	962	begin apogee
965	-0.18	0.0	2080	2156	3593	3405	180.1	-15.0	128	1059	1.00	0.00	82.45	1.461	10246	0.268	0.000	2343	2155	3098	3230	2967	0	0	0	0	0	0	14.35	13.99	13.37
1060	end apogee: CONTROL_FINISHED_OK
state	1060	begin climb
1061	0.93	97.3	2343	2156	3230	2968	185.1	0.0	137	1168	1.20	2.62	85.80	1.405	10500	0.164	0.109	2702	3550	2700	2856	2545	0	0	0	0	0	0	13.95	13.66	13.18
1197	1.02	188.6	2702	3550	2855	2545	182.9	3.7	148	1281	0.00	2.45	78.50	1.384	9254	0.000	0.058	2712	2133	2330	2489	2172	0	0	0	0	0	0	13.97	13.94	13.12
1465	1.06	226.5	2713	2133	2485	2163	165.0	7.4	181	1500	0.12	0.00	32.80	1.353	10278	0.138	0.000	2770	2132	2175	2342	2008	0	0	0	0	0	0	14.02	13.74	13.28
1674	1.06	226.5	2770	2133	2339	2003	144.6	9.7	202	1676	0.00	0.00	0.00	0.000	6	0.000	0.000	2770	2133	2170	2338	2003	0	0	0	0	0	0	14.27	14.30	14.29
1854	1.06	226.5	2770	2133	2338	2000	127.7	9.5	220	1860	0.00	2.60	0.00	0.000	260	0.000	0.113	2770	3549	2168	2337	2000	0	0	0	0	0	0	14.39	14.16	14.42
1885	1.06	226.5	2771	3550	2338	2000	124.5	10.5	226	1892	0.00	2.38	0.00	0.000	1030	0.000	0.060	2781	2157	2168	2337	2000	0	0	0	0	0	0	14.26	14.22	14.28
2076	1.09	226.5	2781	2156	2338	1999	106.6	8.5	246	2077	0.00	0.00	0.00	0.000	70	0.000	0.000	2781	2156	2168	2337	1999	0	0	0	0	0	0	14.47	14.50	14.50
2256	1.13	263.3	2781	2156	2337	1999	92.2	7.5	264	2294	0.00	2.47	33.90	1.327	8740	0.000	0.090	2791	752	2024	2198	1851	0	0	0	0	0	0	14.50	14.02	13.54
2353	1.15	263.3	2791	753	2197	1846	84.4	8.8	282	2360	0.00	2.47	0.00	0.000	1094	0.000	0.078	2792	2145	2021	2196	1846	0	0	0	0	0	0	14.19	14.13	14.21
2544	1.21	318.8	2792	2145	2196	1845	71.0	6.2	302	2600	0.00	0.00	54.28	1.291	8230	0.000	0.000	2792	2145	1799	1966	1633	0	0	0	0	0	0	14.45	14.00	13.44
2774	1.26	376.7	2792	2145	1958	1629	56.0	6.0	325	2841	0.00	0.00	57.00	1.259	8230	0.000	0.000	2792	2145	1562	1702	1422	0	0	0	0	0	0	14.35	13.81	13.38
3015	1.32	436.3	2792	2145	1692	1422	41.0	5.9	349	3080	0.12	0.00	62.72	1.226	10534	0.138	0.000	2841	2145	1320	1441	1200	0	0	0	0	0	0	14.13	13.76	13.35
3255	1.37	486.2	2841	2145	1435	1200	24.9	6.6	374	3317	0.00	2.55	56.97	1.196	8740	0.000	0.090	2850	758	1116	1233	999	0	0	0	0	0	0	14.28	13.77	13.35
3381	1.40	486.2	2850	758	1229	998	15.4	8.7	397	3392	0.00	2.50	0.00	0.000	1094	0.000	0.077	2850	2150	1113	1229	998	0	0	0	0	0	0	14.00	13.95	14.02
3565	end climb: SURFACE_DEPTH_REACHED
state	3565	begin surface coast
3586	end surface coast: CONTROL_FINISHED_OK
state	3586	begin surface