Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 2 * 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 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 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 350 ALTIM_FREQUENCY 13

D_TGT 90 SM_CC 578.71997 ROLL_MAXERRORS 2 ALTIM_PULSE 3

D_ABORT 150 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 0

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 2950 INT_PRESSURE_YINT 1.7

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 0.0020000001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 30 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 45 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 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 150

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 275 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_WATCHDOG 10 PITCH_MAX 3850 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2755 CF8_MAXERRORS 0 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0044106129

MAX_BUOY 150 PITCH_CNV 0.0031256729 AH0_10V 0 SEABIRD_T_H 0.00064144889

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6068648e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.2054108e-06

SPEED_FACTOR 1 PITCH_GAIN 26 MAXI_24V 0.60000002 SEABIRD_C_G -9.965229

RHO 1.0275 PITCH_TIMEOUT 19 MAXI_10V 0.80000001 SEABIRD_C_H 1.1036862

MASS 53734 PITCH_AD_RATE 165 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 2 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -161.88326 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

HD_A 0.0021800001 ROLL_MAX 3858 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0102 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 90 PHONE_DEVICE 49 SEABIRD_T_H 0.00064144889

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6068648e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.2054108e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 165 SM_CC 578.71997

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.0031256729 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 26 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 0.0021800001 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0102 PITCH_TIMEOUT 19 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010687162 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -161.88326 T_DIVE 30

CAPUPLOAD 0 ID 196 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

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 45

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 2755 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2029 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 1850 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2950 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 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 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

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 0.80000001 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 2 MINV_10V 11 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 150 MINV_24V 11 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 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 2 SEABIRD_C_G -9.965229 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1036862 XPDR_VALID 0

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0021489244

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00024241477

Pre-dive calculations and measurements:

GPS1 230919,180649,7430.2607,-14534.2451,4,1.1,11,22.9,0.0,317.8,7,9.9 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SODAA

_XMS_NAKs 0 TGT_LATLONG 7300.000,-14820.200

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 140.3,189779,-16.3,-10.000,-21.26,2223

_SM_ANGLEo -69.8 D_GRID 90

GPS2 230919,181021,7430.2695,-14534.3242,6,1.0,16,22.9,0.0,277.4,8,9.6

Post-dive calculations and measurements:

FINISH 0.4,1.021157 _24V_AH 13.35,5.494

SM_CCo 1981,143.52,0.962,1,0,590,578.91 _10V_AH 12.90,0.000

SM_GC 1.15,8.95,0.32,143.52,0.093,0.137,0.962,261,1945,590,-7.72,3.48,578.91,0,0,0,0,1,0,14.40,14.36,13.50 FG_AHR_24Vo 0.000

RAFOS_CLK 41 FG_AHR_10Vo 0.000

RAFOS_FIX 7430.200684,-14534.601562,230919,181855,0,1,0.09 MEM 334852

IRIDIUM_FIX 7432.29,-14524.92,230919,180341 DATA_FILE_SIZE 10135,287

TT8_MAMPS 0.020223,0.890561 CAP_FILE_SIZE 46683,0

HUMID 53.38 CFSIZE 1047117824,1044922368

INTERNAL_PRESSURE 8.79988 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 12.40 SOUNDSPEED 1442.6

XPDR_PINGS 64 CURRENT 0.299,273.67,1

SC_FREEKB 3877600 GPS 230919,184745,7430.223,-14534.974,4,0.8,12,22.9,0.0,0.0,9,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 440 137.50 nil 0 0 0.00

Roll_motor 24 146 48.72 nil 0 0 0.00

VBD_pump_during_apogee 590 1468 11569.35 nil 0 0 0.00

VBD_pump_during_surface 143 961 1842.49 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 1960 43 1140.76

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 16 420 89.71 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 21 7.35

TT8 496 9 59.72

LPSleep 462 2 13.77

TT8_Active 774 9 93.17

TT8_Sampling 496 27 174.83

TT8_CF8 17 37 8.64

TT8_Kalman 0 0 0.00

Analog_circuits 1099 10 154.66

GPS_charging 0 0 0.00

Compass 438 6 38.12

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.92 -146.0 264 1937 560 615 0.0 0.0 0 134 0.00 0.00 -122.12 0.003 16386 0.000 0.000 264 1937 2419 2371 2468 0 0 0 0 0 0 14.81 28.83 14.85

136 -0.92 -146.0 264 1937 2373 2469 6.4 -11.3 12 177 11.25 2.60 -22.77 0.007 18948 0.441 0.145 2441 534 3548 3666 3431 0 0 0 0 0 0 14.32 13.54 14.52

404 -0.65 -146.0 2439 534 3666 3432 82.2 -23.3 64 410 0.40 2.33 0.00 0.000 3206 0.292 0.103 2535 1854 3549 3666 3432 0 0 0 0 0 0 14.42 14.57 14.65

456 end dive: TARGET_DEPTH_EXCEEDED

state 456 begin apogee

459 -0.19 0.0 2536 2031 3666 3433 90.8 -14.5 70 607 0.57 0.00 138.07 1.468 10246 0.248 0.000 2684 2032 2948 3074 2822 0 0 0 0 0 0 14.48 14.01 13.40

608 end apogee: CONTROL_FINISHED_OK

state 608 begin climb

610 0.92 146.0 2684 2032 3073 2822 100.1 0.0 85 745 1.30 2.62 124.90 1.410 10500 0.199 0.112 3041 3437 2353 2474 2232 0 0 0 0 0 0 14.00 13.82 13.35

752 1.14 339.6 3041 3437 2473 2230 102.9 1.1 110 919 0.25 2.38 157.27 1.373 11430 0.102 0.084 3126 2118 1563 1643 1484 0 0 0 0 0 0 14.07 14.03 13.35

1106 1.02 339.6 3126 2119 1640 1478 65.0 11.2 159 1113 0.15 2.40 0.00 0.000 4484 0.259 0.115 3091 3437 1561 1641 1482 0 0 0 0 0 0 14.25 14.34 14.35

1124 0.91 339.6 3091 3437 1641 1477 63.1 10.4 162 1132 0.17 2.33 0.00 0.000 5254 0.256 0.093 3050 2126 1563 1641 1485 0 0 0 0 0 0 14.26 14.37 14.41

1311 1.13 427.1 3049 2126 1640 1476 51.1 6.0 181 1416 0.20 2.47 97.32 1.321 10660 0.119 0.120 3122 3443 1207 1258 1157 0 0 0 0 0 0 14.50 14.01 13.50

1424 1.09 427.1 3121 3442 1257 1157 41.8 10.1 201 1429 0.00 2.40 0.00 0.000 1158 0.000 0.096 3123 2122 1206 1256 1156 0 0 0 0 0 0 14.21 14.11 14.23

1616 1.18 473.0 3122 2122 1254 1154 24.7 7.9 221 1678 0.00 2.47 53.95 1.288 8484 0.000 0.120 3123 3438 1021 1052 990 0 0 0 0 0 0 14.61 14.09 13.59

1907 1.27 515.5 3123 3438 1047 989 4.6 8.0 277 1931 0.12 2.33 18.80 1.240 11298 0.145 0.098 3173 2126 957 980 934 0 0 0 0 0 0 14.46 14.40 14.54

1932 end climb: SURFACE_DEPTH_REACHED

state 1932 begin surface coast

1965 end surface coast: CONTROL_FINISHED_OK

state 1965 begin surface

ID	196	HEADING	-1	C_ROLL_CLIMB	2029	ALTIM_TOP_PING_RANGE	0
MISSION	20	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	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	350	ALTIM_FREQUENCY	13
D_TGT	90	SM_CC	578.71997	ROLL_MAXERRORS	2	ALTIM_PULSE	3
D_ABORT	150	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	0
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	2950	INT_PRESSURE_YINT	1.7
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	0.0020000001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	30	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	45	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	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	150
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	275	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_WATCHDOG	10	PITCH_MAX	3850	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2755	CF8_MAXERRORS	0	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0044106129
MAX_BUOY	150	PITCH_CNV	0.0031256729	AH0_10V	0	SEABIRD_T_H	0.00064144889
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6068648e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.2054108e-06
SPEED_FACTOR	1	PITCH_GAIN	26	MAXI_24V	0.60000002	SEABIRD_C_G	-9.965229
RHO	1.0275	PITCH_TIMEOUT	19	MAXI_10V	0.80000001	SEABIRD_C_H	1.1036862
MASS	53734	PITCH_AD_RATE	165	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	2	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-161.88326	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
HD_A	0.0021800001	ROLL_MAX	3858	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0102	ROLL_DEG	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	1850	ALTIM_PING_FIT	0

GPS1	230919,180649,7430.2607,-14534.2451,4,1.1,11,22.9,0.0,317.8,7,9.9	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SODAA
_XMS_NAKs	0	TGT_LATLONG	7300.000,-14820.200
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	140.3,189779,-16.3,-10.000,-21.26,2223
_SM_ANGLEo	-69.8	D_GRID	90
GPS2	230919,181021,7430.2695,-14534.3242,6,1.0,16,22.9,0.0,277.4,8,9.6

FINISH	0.4,1.021157	_24V_AH	13.35,5.494
SM_CCo	1981,143.52,0.962,1,0,590,578.91	_10V_AH	12.90,0.000
SM_GC	1.15,8.95,0.32,143.52,0.093,0.137,0.962,261,1945,590,-7.72,3.48,578.91,0,0,0,0,1,0,14.40,14.36,13.50	FG_AHR_24Vo	0.000
RAFOS_CLK	41	FG_AHR_10Vo	0.000
RAFOS_FIX	7430.200684,-14534.601562,230919,181855,0,1,0.09	MEM	334852
IRIDIUM_FIX	7432.29,-14524.92,230919,180341	DATA_FILE_SIZE	10135,287
TT8_MAMPS	0.020223,0.890561	CAP_FILE_SIZE	46683,0
HUMID	53.38	CFSIZE	1047117824,1044922368
INTERNAL_PRESSURE	8.79988	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.40	SOUNDSPEED	1442.6
XPDR_PINGS	64	CURRENT	0.299,273.67,1
SC_FREEKB	3877600	GPS	230919,184745,7430.223,-14534.974,4,0.8,12,22.9,0.0,0.0,9,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	440	137.50	nil	0	0	0.00
Roll_motor	24	146	48.72	nil	0	0	0.00
VBD_pump_during_apogee	590	1468	11569.35	nil	0	0	0.00
VBD_pump_during_surface	143	961	1842.49	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	1960	43	1140.76
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	16	420	89.71	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	21	7.35
TT8	496	9	59.72
LPSleep	462	2	13.77
TT8_Active	774	9	93.17
TT8_Sampling	496	27	174.83
TT8_CF8	17	37	8.64
TT8_Kalman	0	0	0.00
Analog_circuits	1099	10	154.66
GPS_charging	0	0	0.00
Compass	438	6	38.12
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.92	-146.0	264	1937	560	615	0.0	0.0	0	134	0.00	0.00	-122.12	0.003	16386	0.000	0.000	264	1937	2419	2371	2468	0	0	0	0	0	0	14.81	28.83	14.85
136	-0.92	-146.0	264	1937	2373	2469	6.4	-11.3	12	177	11.25	2.60	-22.77	0.007	18948	0.441	0.145	2441	534	3548	3666	3431	0	0	0	0	0	0	14.32	13.54	14.52
404	-0.65	-146.0	2439	534	3666	3432	82.2	-23.3	64	410	0.40	2.33	0.00	0.000	3206	0.292	0.103	2535	1854	3549	3666	3432	0	0	0	0	0	0	14.42	14.57	14.65
456	end dive: TARGET_DEPTH_EXCEEDED
state	456	begin apogee
459	-0.19	0.0	2536	2031	3666	3433	90.8	-14.5	70	607	0.57	0.00	138.07	1.468	10246	0.248	0.000	2684	2032	2948	3074	2822	0	0	0	0	0	0	14.48	14.01	13.40
608	end apogee: CONTROL_FINISHED_OK
state	608	begin climb
610	0.92	146.0	2684	2032	3073	2822	100.1	0.0	85	745	1.30	2.62	124.90	1.410	10500	0.199	0.112	3041	3437	2353	2474	2232	0	0	0	0	0	0	14.00	13.82	13.35
752	1.14	339.6	3041	3437	2473	2230	102.9	1.1	110	919	0.25	2.38	157.27	1.373	11430	0.102	0.084	3126	2118	1563	1643	1484	0	0	0	0	0	0	14.07	14.03	13.35
1106	1.02	339.6	3126	2119	1640	1478	65.0	11.2	159	1113	0.15	2.40	0.00	0.000	4484	0.259	0.115	3091	3437	1561	1641	1482	0	0	0	0	0	0	14.25	14.34	14.35
1124	0.91	339.6	3091	3437	1641	1477	63.1	10.4	162	1132	0.17	2.33	0.00	0.000	5254	0.256	0.093	3050	2126	1563	1641	1485	0	0	0	0	0	0	14.26	14.37	14.41
1311	1.13	427.1	3049	2126	1640	1476	51.1	6.0	181	1416	0.20	2.47	97.32	1.321	10660	0.119	0.120	3122	3443	1207	1258	1157	0	0	0	0	0	0	14.50	14.01	13.50
1424	1.09	427.1	3121	3442	1257	1157	41.8	10.1	201	1429	0.00	2.40	0.00	0.000	1158	0.000	0.096	3123	2122	1206	1256	1156	0	0	0	0	0	0	14.21	14.11	14.23
1616	1.18	473.0	3122	2122	1254	1154	24.7	7.9	221	1678	0.00	2.47	53.95	1.288	8484	0.000	0.120	3123	3438	1021	1052	990	0	0	0	0	0	0	14.61	14.09	13.59
1907	1.27	515.5	3123	3438	1047	989	4.6	8.0	277	1931	0.12	2.33	18.80	1.240	11298	0.145	0.098	3173	2126	957	980	934	0	0	0	0	0	0	14.46	14.40	14.54
1932	end climb: SURFACE_DEPTH_REACHED
state	1932	begin surface coast
1965	end surface coast: CONTROL_FINISHED_OK
state	1965	begin surface