Glider dive log

AMOS Sep19 * SG197 * Dive index * Mission links * Dive 67 * 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 67 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 28 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 67 MINV_10V 11 R_PORT_OVSHOOT 28 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 101019,220555,7413.9346,-14616.4004,29,0.9,30,17.7,0.4,121.6,10,3.9 SPEED_LIMITS 0.173,0.199

_CALLS 1 TGT_NAME a

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.53 MHEAD_RNG_PITCHd_Wd 168.5,152428,-23.3,-10.000,-26.71,1494

_SM_ANGLEo -65.6 D_GRID 180

GPS2 101019,221035,7413.9321,-14616.4971,4,0.6,4,17.7,0.5,288.3,12,5.8

Post-dive calculations and measurements:

FINISH -0.4,1.021509 _24V_AH 13.16,37.179

SM_CCo 3642,0.00,0.000,0,0,970,522.24 _10V_AH 12.84,0.000

SM_GC 0.73,7.97,0.68,0.00,0.070,0.068,0.000,194,1753,970,-6.86,1.19,522.24,0,0,0,0,0,0,14.08,14.09,14.16 FG_AHR_24Vo 0.000

RAFOS_CLK 158 FG_AHR_10Vo 0.000

RAFOS_FIX 7413.763672,-14616.674805,101019,232308,0,1,0.09 MEM 334668

IRIDIUM_FIX 7412.27,-14631.74,101019,205852 DATA_FILE_SIZE 16771,489

TT8_MAMPS 0.041195,0.880075 CAP_FILE_SIZE 63703,0

HUMID 53.26 CFSIZE 1024409600,1012580352

INTERNAL_PRESSURE 8.1542 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 11.50 SOUNDSPEED 1465.0

XPDR_PINGS 0 CURRENT 0.073,306.69,1

SC_FREEKB 3837088 GPS 101019,231222,7413.850,-14616.381,3,0.9,4,17.7,0.3,184.9,10,7.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 451 121.17 nil 0 0 0.00

Roll_motor 41 118 64.49 nil 0 0 0.00

VBD_pump_during_apogee 584 1438 11069.49 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 3481 27 1240.08

Iridium_during_xfer 184 172 419.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 20 4.32

TT8 0 0 0.00

LPSleep 2020 2 59.94

TT8_Active 230 11 35.02

TT8_Sampling 1632 29 608.80

TT8_CF8 50 41 26.44

TT8_Kalman 0 0 0.00

Analog_circuits 1279 12 211.93

GPS_charging 0 0 0.00

Compass 1091 5 70.09

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

7 -0.93 -97.3 186 1756 1149 970 0.0 0.0 0 95 0.00 0.00 -85.90 0.002 16386 0.000 0.000 184 1755 2560 2640 2480 0 0 0 0 0 0 14.35 28.83 14.38

97 -0.93 -97.3 184 1755 2642 2480 3.8 -6.3 8 133 9.95 2.47 -21.73 0.005 18980 0.451 0.115 2100 346 3498 3594 3402 0 0 0 0 0 0 13.99 13.57 14.25

357 -0.93 -97.3 2100 347 3596 3404 80.7 -22.2 59 367 0.00 2.45 0.00 0.000 1030 0.000 0.072 2093 1747 3499 3595 3403 0 0 0 0 0 0 14.33 14.26 14.36

542 -0.93 -97.3 2093 1747 3595 3404 114.3 -17.2 78 548 0.00 2.47 0.00 0.000 516 0.000 0.096 2093 350 3499 3595 3404 0 0 0 0 0 0 14.55 14.33 14.58

772 -0.93 -97.3 2093 350 3596 3404 154.1 -16.2 124 778 0.00 2.42 0.00 0.000 1030 0.000 0.073 2083 1749 3499 3595 3403 0 0 0 0 0 0 14.45 14.39 14.49

941 end dive: TARGET_DEPTH_EXCEEDED

state 941 begin apogee

944 -0.18 0.0 2081 2157 3595 3404 180.1 -15.0 142 1030 1.00 0.00 82.38 1.439 10246 0.269 0.000 2344 2156 3100 3233 2968 0 0 0 0 0 0 14.35 13.98 13.37

1031 end apogee: CONTROL_FINISHED_OK

state 1031 begin climb

1032 0.93 97.3 2344 2156 3233 2968 184.7 0.0 150 1137 1.20 2.62 85.20 1.381 10500 0.162 0.109 2704 3548 2700 2857 2544 0 0 0 0 0 0 13.92 13.66 13.16

1362 1.01 175.5 2704 3548 2853 2541 173.4 4.6 200 1436 0.00 2.40 66.93 1.378 9254 0.000 0.060 2714 2139 2382 2541 2224 0 0 0 0 0 0 14.15 14.12 13.24

1611 1.06 224.0 2714 2140 2537 2217 157.7 6.7 230 1662 0.12 2.65 41.50 1.347 10532 0.140 0.110 2769 3551 2184 2349 2019 0 0 0 0 0 0 14.11 13.78 13.31

1761 1.06 224.0 2769 3551 2344 2019 143.0 10.6 258 1767 0.00 2.42 0.00 0.000 1030 0.000 0.060 2779 2148 2181 2343 2019 0 0 0 0 0 0 14.06 14.02 14.08

1952 1.07 224.0 2780 2148 2343 2014 124.3 9.5 278 1953 0.00 0.00 0.00 0.000 70 0.000 0.000 2780 2148 2178 2343 2014 0 0 0 0 0 0 14.38 14.40 14.40

2132 1.09 224.0 2780 2148 2343 2012 108.6 8.8 296 2137 0.00 2.53 0.00 0.000 324 0.000 0.113 2779 3555 2177 2343 2011 0 0 0 0 0 0 14.45 14.21 14.48

2172 1.09 224.0 2779 3556 2344 2012 104.7 9.8 304 2177 0.00 2.38 0.00 0.000 1030 0.000 0.060 2790 2151 2177 2343 2012 0 0 0 0 0 0 14.31 14.26 14.33

2362 1.13 260.7 2790 2151 2343 2010 89.1 7.5 324 2397 0.00 0.00 33.33 1.310 8742 0.000 0.000 2790 2150 2036 2208 1865 0 0 0 0 0 0 14.51 14.12 13.55

2572 1.18 308.6 2790 2151 2204 1861 72.6 6.7 346 2625 0.00 2.47 47.25 1.278 8740 0.000 0.090 2800 761 1839 2004 1674 0 0 0 0 0 0 14.42 13.90 13.45

2714 1.22 352.6 2800 762 2000 1671 63.1 7.0 373 2763 0.00 2.47 43.58 1.243 9254 0.000 0.079 2800 2147 1661 1811 1511 0 0 0 0 0 0 14.14 14.08 13.38

2947 1.28 413.9 2800 2147 1798 1511 47.5 5.8 400 3021 0.00 2.65 62.75 1.223 8484 0.000 0.112 2800 3552 1411 1536 1286 0 0 0 0 0 0 14.32 13.83 13.35

3055 1.32 448.6 2800 3553 1534 1287 40.1 7.6 418 3100 0.00 2.45 38.45 1.186 9254 0.000 0.060 2809 2145 1270 1390 1151 0 0 0 0 0 0 14.00 13.96 13.32

3274 1.39 520.8 2810 2145 1386 1148 25.8 5.0 443 3365 0.15 2.53 83.20 1.177 10788 0.124 0.093 2883 756 976 1091 861 0 0 0 0 0 0 14.08 13.75 13.27

3459 1.40 520.8 2883 756 1089 857 10.2 9.4 477 3466 0.00 2.53 0.00 0.000 1094 0.000 0.080 2884 2149 972 1088 856 0 0 0 0 0 0 14.00 13.93 14.02

3548 end climb: SURFACE_DEPTH_REACHED

state 3548 begin surface coast

3569 end surface coast: CONTROL_FINISHED_OK

state 3569 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	67	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	28	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	101019,220555,7413.9346,-14616.4004,29,0.9,30,17.7,0.4,121.6,10,3.9	SPEED_LIMITS	0.173,0.199
_CALLS	1	TGT_NAME	a
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.53	MHEAD_RNG_PITCHd_Wd	168.5,152428,-23.3,-10.000,-26.71,1494
_SM_ANGLEo	-65.6	D_GRID	180
GPS2	101019,221035,7413.9321,-14616.4971,4,0.6,4,17.7,0.5,288.3,12,5.8

FINISH	-0.4,1.021509	_24V_AH	13.16,37.179
SM_CCo	3642,0.00,0.000,0,0,970,522.24	_10V_AH	12.84,0.000
SM_GC	0.73,7.97,0.68,0.00,0.070,0.068,0.000,194,1753,970,-6.86,1.19,522.24,0,0,0,0,0,0,14.08,14.09,14.16	FG_AHR_24Vo	0.000
RAFOS_CLK	158	FG_AHR_10Vo	0.000
RAFOS_FIX	7413.763672,-14616.674805,101019,232308,0,1,0.09	MEM	334668
IRIDIUM_FIX	7412.27,-14631.74,101019,205852	DATA_FILE_SIZE	16771,489
TT8_MAMPS	0.041195,0.880075	CAP_FILE_SIZE	63703,0
HUMID	53.26	CFSIZE	1024409600,1012580352
INTERNAL_PRESSURE	8.1542	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	11.50	SOUNDSPEED	1465.0
XPDR_PINGS	0	CURRENT	0.073,306.69,1
SC_FREEKB	3837088	GPS	101019,231222,7413.850,-14616.381,3,0.9,4,17.7,0.3,184.9,10,7.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	451	121.17	nil	0	0	0.00
Roll_motor	41	118	64.49	nil	0	0	0.00
VBD_pump_during_apogee	584	1438	11069.49	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	3481	27	1240.08
Iridium_during_xfer	184	172	419.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	20	4.32
TT8	0	0	0.00
LPSleep	2020	2	59.94
TT8_Active	230	11	35.02
TT8_Sampling	1632	29	608.80
TT8_CF8	50	41	26.44
TT8_Kalman	0	0	0.00
Analog_circuits	1279	12	211.93
GPS_charging	0	0	0.00
Compass	1091	5	70.09
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
7	-0.93	-97.3	186	1756	1149	970	0.0	0.0	0	95	0.00	0.00	-85.90	0.002	16386	0.000	0.000	184	1755	2560	2640	2480	0	0	0	0	0	0	14.35	28.83	14.38
97	-0.93	-97.3	184	1755	2642	2480	3.8	-6.3	8	133	9.95	2.47	-21.73	0.005	18980	0.451	0.115	2100	346	3498	3594	3402	0	0	0	0	0	0	13.99	13.57	14.25
357	-0.93	-97.3	2100	347	3596	3404	80.7	-22.2	59	367	0.00	2.45	0.00	0.000	1030	0.000	0.072	2093	1747	3499	3595	3403	0	0	0	0	0	0	14.33	14.26	14.36
542	-0.93	-97.3	2093	1747	3595	3404	114.3	-17.2	78	548	0.00	2.47	0.00	0.000	516	0.000	0.096	2093	350	3499	3595	3404	0	0	0	0	0	0	14.55	14.33	14.58
772	-0.93	-97.3	2093	350	3596	3404	154.1	-16.2	124	778	0.00	2.42	0.00	0.000	1030	0.000	0.073	2083	1749	3499	3595	3403	0	0	0	0	0	0	14.45	14.39	14.49
941	end dive: TARGET_DEPTH_EXCEEDED
state	941	begin apogee
944	-0.18	0.0	2081	2157	3595	3404	180.1	-15.0	142	1030	1.00	0.00	82.38	1.439	10246	0.269	0.000	2344	2156	3100	3233	2968	0	0	0	0	0	0	14.35	13.98	13.37
1031	end apogee: CONTROL_FINISHED_OK
state	1031	begin climb
1032	0.93	97.3	2344	2156	3233	2968	184.7	0.0	150	1137	1.20	2.62	85.20	1.381	10500	0.162	0.109	2704	3548	2700	2857	2544	0	0	0	0	0	0	13.92	13.66	13.16
1362	1.01	175.5	2704	3548	2853	2541	173.4	4.6	200	1436	0.00	2.40	66.93	1.378	9254	0.000	0.060	2714	2139	2382	2541	2224	0	0	0	0	0	0	14.15	14.12	13.24
1611	1.06	224.0	2714	2140	2537	2217	157.7	6.7	230	1662	0.12	2.65	41.50	1.347	10532	0.140	0.110	2769	3551	2184	2349	2019	0	0	0	0	0	0	14.11	13.78	13.31
1761	1.06	224.0	2769	3551	2344	2019	143.0	10.6	258	1767	0.00	2.42	0.00	0.000	1030	0.000	0.060	2779	2148	2181	2343	2019	0	0	0	0	0	0	14.06	14.02	14.08
1952	1.07	224.0	2780	2148	2343	2014	124.3	9.5	278	1953	0.00	0.00	0.00	0.000	70	0.000	0.000	2780	2148	2178	2343	2014	0	0	0	0	0	0	14.38	14.40	14.40
2132	1.09	224.0	2780	2148	2343	2012	108.6	8.8	296	2137	0.00	2.53	0.00	0.000	324	0.000	0.113	2779	3555	2177	2343	2011	0	0	0	0	0	0	14.45	14.21	14.48
2172	1.09	224.0	2779	3556	2344	2012	104.7	9.8	304	2177	0.00	2.38	0.00	0.000	1030	0.000	0.060	2790	2151	2177	2343	2012	0	0	0	0	0	0	14.31	14.26	14.33
2362	1.13	260.7	2790	2151	2343	2010	89.1	7.5	324	2397	0.00	0.00	33.33	1.310	8742	0.000	0.000	2790	2150	2036	2208	1865	0	0	0	0	0	0	14.51	14.12	13.55
2572	1.18	308.6	2790	2151	2204	1861	72.6	6.7	346	2625	0.00	2.47	47.25	1.278	8740	0.000	0.090	2800	761	1839	2004	1674	0	0	0	0	0	0	14.42	13.90	13.45
2714	1.22	352.6	2800	762	2000	1671	63.1	7.0	373	2763	0.00	2.47	43.58	1.243	9254	0.000	0.079	2800	2147	1661	1811	1511	0	0	0	0	0	0	14.14	14.08	13.38
2947	1.28	413.9	2800	2147	1798	1511	47.5	5.8	400	3021	0.00	2.65	62.75	1.223	8484	0.000	0.112	2800	3552	1411	1536	1286	0	0	0	0	0	0	14.32	13.83	13.35
3055	1.32	448.6	2800	3553	1534	1287	40.1	7.6	418	3100	0.00	2.45	38.45	1.186	9254	0.000	0.060	2809	2145	1270	1390	1151	0	0	0	0	0	0	14.00	13.96	13.32
3274	1.39	520.8	2810	2145	1386	1148	25.8	5.0	443	3365	0.15	2.53	83.20	1.177	10788	0.124	0.093	2883	756	976	1091	861	0	0	0	0	0	0	14.08	13.75	13.27
3459	1.40	520.8	2883	756	1089	857	10.2	9.4	477	3466	0.00	2.53	0.00	0.000	1094	0.000	0.080	2884	2149	972	1088	856	0	0	0	0	0	0	14.00	13.93	14.02
3548	end climb: SURFACE_DEPTH_REACHED
state	3548	begin surface coast
3569	end surface coast: CONTROL_FINISHED_OK
state	3569	begin surface