Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 3 * 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 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 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 20 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 578.71997 ROLL_MAXERRORS 2 ALTIM_PULSE 3

D_ABORT 500 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 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 75 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 180 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 60

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 75

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 3 MINV_10V 11 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 500 MINV_24V 11 R_STBD_OVSHOOT 20 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 3 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 230919,190040,7430.2544,-14535.2861,4,1.0,15,22.9,0.0,0.0,10,9.9 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 1.14 MHEAD_RNG_PITCHd_Wd 140.2,189497,-16.3,-10.000,-21.26,2223

_SM_ANGLEo -70.3 D_GRID 180

GPS2 230919,190440,7430.2622,-14535.3789,5,1.0,18,22.9,0.5,269.0,10,9.6

Post-dive calculations and measurements:

FINISH 0.3,1.021212 _24V_AH 13.24,5.889

SM_CCo 3760,117.68,0.907,1,0,590,578.91 _10V_AH 13.04,0.000

SM_GC 1.21,8.93,0.35,117.68,0.090,0.135,0.907,271,1945,590,-7.70,3.25,578.91,0,0,0,0,1,0,14.26,14.20,13.39 FG_AHR_24Vo 0.000

RAFOS_CLK 20 FG_AHR_10Vo 0.000

RAFOS_FIX 7429.868164,-14535.744141,230919,202028,0,1,0.20 MEM 334664

IRIDIUM_FIX 7432.29,-14524.92,230919,185713 DATA_FILE_SIZE 13415,460

TT8_MAMPS 0.077896,0.860601 CAP_FILE_SIZE 68455,0

HUMID 55.43 CFSIZE 1047117824,1044807680

INTERNAL_PRESSURE 8.76082 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 12.10 SOUNDSPEED 1442.9

XPDR_PINGS 59 CURRENT 0.075,295.94,1

SC_FREEKB 3877024 GPS 230919,201144,7429.938,-14535.047,17,1.2,57,22.9,0.3,301.1,8,17.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 440 137.25 nil 0 0 0.00

Roll_motor 30 176 70.95 nil 0 0 0.00

VBD_pump_during_apogee 642 1596 13578.77 nil 0 0 0.00

VBD_pump_during_surface 117 906 1412.38 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 3740 36 1811.80

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 14 420 82.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 21 8.55

TT8 829 9 100.83

LPSleep 1476 2 44.49

TT8_Active 844 9 102.63

TT8_Sampling 825 27 293.70

TT8_CF8 24 37 11.85

TT8_Kalman 0 0 0.00

Analog_circuits 1278 10 181.76

GPS_charging 0 0 0.00

Compass 709 6 62.39

RAFOS 2210 33 951.01

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 -146.0 272 1942 560 616 0.0 0.0 0 124 0.00 0.00 -112.15 0.003 16386 0.000 0.000 271 1943 2164 2075 2254 0 0 0 0 0 0 14.79 28.83 14.83

126 -0.92 -146.0 271 1943 2078 2255 4.2 -6.0 11 177 11.25 2.55 -33.62 0.005 18980 0.441 0.148 2451 539 3546 3666 3427 0 0 0 0 0 0 14.28 13.83 14.55

407 -0.67 -146.0 2451 539 3664 3427 78.6 -20.6 65 413 0.35 2.33 0.00 0.000 3206 0.296 0.103 2533 1850 3547 3665 3429 0 0 0 0 0 0 14.40 14.50 14.61

600 -0.67 -146.0 2532 1851 3665 3428 105.6 -12.6 85 606 0.00 2.40 0.00 0.000 516 0.000 0.133 2531 530 3546 3665 3428 0 0 0 0 0 0 14.76 14.49 14.80

724 -0.67 -146.0 2533 530 3665 3428 121.9 -12.7 109 730 0.00 2.35 0.00 0.000 1030 0.000 0.105 2532 1857 3546 3665 3428 0 0 0 0 0 0 14.66 14.54 14.69

917 -0.72 -146.0 2532 1858 3665 3428 144.2 -11.3 129 919 0.00 0.00 0.00 0.000 134 0.000 0.000 2532 1858 3546 3665 3428 0 0 0 0 0 0 14.78 14.83 14.83

1097 -0.78 -146.0 2532 1858 3665 3428 164.0 -10.7 147 1102 0.00 2.53 0.00 0.000 388 0.000 0.125 2532 3264 3546 3665 3428 0 0 0 0 0 0 14.81 14.57 14.84

1160 -0.87 -146.0 2532 3266 3665 3428 170.6 -10.4 159 1166 0.20 2.30 0.00 0.000 5254 0.125 0.097 2466 1948 3546 3665 3428 0 0 0 0 0 0 14.59 14.54 14.67

1232 end dive: TARGET_DEPTH_EXCEEDED

state 1232 begin apogee

1235 -0.19 0.0 2466 2032 3665 3428 180.3 -13.9 167 1384 0.85 0.00 139.48 1.597 10246 0.249 0.000 2687 2032 2947 3070 2825 0 0 0 0 0 0 14.47 13.81 13.30

1385 end apogee: CONTROL_FINISHED_OK

state 1385 begin climb

1387 0.92 146.0 2688 2032 3069 2823 187.3 0.0 182 1525 1.25 0.00 128.43 1.533 10758 0.178 0.000 3040 2033 2350 2465 2236 0 0 0 0 0 0 13.93 13.73 13.24

1703 0.89 209.1 3040 2033 2461 2225 177.6 7.1 215 1764 0.00 0.00 53.38 1.493 8358 0.000 0.000 3040 2032 2094 2209 1980 0 0 0 0 0 0 14.48 13.89 13.40

1944 0.83 232.5 3040 2033 2203 1972 157.1 8.9 239 1965 0.00 0.00 19.42 1.422 8614 0.000 0.000 3040 2038 2002 2116 1889 0 0 0 0 0 0 14.53 14.21 13.57

2144 0.79 254.8 3040 2033 2108 1884 139.0 9.0 260 2166 0.00 0.00 19.92 1.421 8614 0.000 0.000 3040 2037 1910 2017 1804 0 0 0 0 0 0 14.58 14.26 13.64

2344 0.79 281.1 3040 2033 2010 1798 121.1 8.8 281 2374 0.12 0.00 23.00 1.421 12454 0.256 0.000 3013 2033 1800 1898 1703 0 0 0 0 0 0 14.34 14.13 13.64

2553 0.88 328.1 3013 2033 1889 1701 104.2 7.8 302 2603 0.00 2.70 40.62 1.434 8484 0.000 0.129 3012 3434 1610 1689 1532 0 0 0 0 0 0 14.59 14.10 13.53

2650 0.90 339.0 3013 3434 1687 1531 95.9 9.5 320 2668 0.00 2.38 10.77 1.268 9254 0.000 0.104 3013 2129 1567 1643 1492 0 0 0 0 0 0 14.33 14.22 13.59

2855 1.12 414.7 3013 2128 1640 1487 80.7 6.5 342 2941 0.32 2.78 75.40 1.399 10916 0.100 0.141 3123 718 1257 1303 1212 0 0 0 0 0 0 14.35 13.96 13.42

2982 1.05 414.7 3123 718 1301 1211 66.6 11.9 359 2990 0.12 2.40 0.00 0.000 5254 0.262 0.107 3098 2024 1255 1300 1211 0 0 0 0 0 0 14.04 14.08 14.17

3168 1.06 420.7 3098 2025 1300 1208 48.3 9.7 378 3178 0.00 0.00 8.40 1.176 8230 0.000 0.000 3099 2025 1234 1279 1189 0 0 0 0 0 0 14.52 14.30 13.70

3360 1.18 480.8 3098 2025 1278 1188 32.7 7.2 397 3448 0.12 2.72 78.03 1.356 10532 0.158 0.122 3144 3437 988 1006 971 0 0 0 0 0 0 14.35 13.91 13.43

3572 1.20 516.8 3144 3437 1006 971 14.1 8.3 438 3623 0.00 2.40 45.53 1.317 9382 0.000 0.094 3144 2129 844 839 849 0 0 0 0 0 0 14.26 14.19 13.43

3716 end climb: SURFACE_DEPTH_REACHED

state 3716 begin surface coast

3746 end surface coast: CONTROL_FINISHED_OK

state 3746 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	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	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	20	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	578.71997	ROLL_MAXERRORS	2	ALTIM_PULSE	3
D_ABORT	500	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	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	75	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	230919,190040,7430.2544,-14535.2861,4,1.0,15,22.9,0.0,0.0,10,9.9	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	1.14	MHEAD_RNG_PITCHd_Wd	140.2,189497,-16.3,-10.000,-21.26,2223
_SM_ANGLEo	-70.3	D_GRID	180
GPS2	230919,190440,7430.2622,-14535.3789,5,1.0,18,22.9,0.5,269.0,10,9.6

FINISH	0.3,1.021212	_24V_AH	13.24,5.889
SM_CCo	3760,117.68,0.907,1,0,590,578.91	_10V_AH	13.04,0.000
SM_GC	1.21,8.93,0.35,117.68,0.090,0.135,0.907,271,1945,590,-7.70,3.25,578.91,0,0,0,0,1,0,14.26,14.20,13.39	FG_AHR_24Vo	0.000
RAFOS_CLK	20	FG_AHR_10Vo	0.000
RAFOS_FIX	7429.868164,-14535.744141,230919,202028,0,1,0.20	MEM	334664
IRIDIUM_FIX	7432.29,-14524.92,230919,185713	DATA_FILE_SIZE	13415,460
TT8_MAMPS	0.077896,0.860601	CAP_FILE_SIZE	68455,0
HUMID	55.43	CFSIZE	1047117824,1044807680
INTERNAL_PRESSURE	8.76082	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.10	SOUNDSPEED	1442.9
XPDR_PINGS	59	CURRENT	0.075,295.94,1
SC_FREEKB	3877024	GPS	230919,201144,7429.938,-14535.047,17,1.2,57,22.9,0.3,301.1,8,17.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	440	137.25	nil	0	0	0.00
Roll_motor	30	176	70.95	nil	0	0	0.00
VBD_pump_during_apogee	642	1596	13578.77	nil	0	0	0.00
VBD_pump_during_surface	117	906	1412.38	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	3740	36	1811.80
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	14	420	82.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	21	8.55
TT8	829	9	100.83
LPSleep	1476	2	44.49
TT8_Active	844	9	102.63
TT8_Sampling	825	27	293.70
TT8_CF8	24	37	11.85
TT8_Kalman	0	0	0.00
Analog_circuits	1278	10	181.76
GPS_charging	0	0	0.00
Compass	709	6	62.39
RAFOS	2210	33	951.01
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	272	1942	560	616	0.0	0.0	0	124	0.00	0.00	-112.15	0.003	16386	0.000	0.000	271	1943	2164	2075	2254	0	0	0	0	0	0	14.79	28.83	14.83
126	-0.92	-146.0	271	1943	2078	2255	4.2	-6.0	11	177	11.25	2.55	-33.62	0.005	18980	0.441	0.148	2451	539	3546	3666	3427	0	0	0	0	0	0	14.28	13.83	14.55
407	-0.67	-146.0	2451	539	3664	3427	78.6	-20.6	65	413	0.35	2.33	0.00	0.000	3206	0.296	0.103	2533	1850	3547	3665	3429	0	0	0	0	0	0	14.40	14.50	14.61
600	-0.67	-146.0	2532	1851	3665	3428	105.6	-12.6	85	606	0.00	2.40	0.00	0.000	516	0.000	0.133	2531	530	3546	3665	3428	0	0	0	0	0	0	14.76	14.49	14.80
724	-0.67	-146.0	2533	530	3665	3428	121.9	-12.7	109	730	0.00	2.35	0.00	0.000	1030	0.000	0.105	2532	1857	3546	3665	3428	0	0	0	0	0	0	14.66	14.54	14.69
917	-0.72	-146.0	2532	1858	3665	3428	144.2	-11.3	129	919	0.00	0.00	0.00	0.000	134	0.000	0.000	2532	1858	3546	3665	3428	0	0	0	0	0	0	14.78	14.83	14.83
1097	-0.78	-146.0	2532	1858	3665	3428	164.0	-10.7	147	1102	0.00	2.53	0.00	0.000	388	0.000	0.125	2532	3264	3546	3665	3428	0	0	0	0	0	0	14.81	14.57	14.84
1160	-0.87	-146.0	2532	3266	3665	3428	170.6	-10.4	159	1166	0.20	2.30	0.00	0.000	5254	0.125	0.097	2466	1948	3546	3665	3428	0	0	0	0	0	0	14.59	14.54	14.67
1232	end dive: TARGET_DEPTH_EXCEEDED
state	1232	begin apogee
1235	-0.19	0.0	2466	2032	3665	3428	180.3	-13.9	167	1384	0.85	0.00	139.48	1.597	10246	0.249	0.000	2687	2032	2947	3070	2825	0	0	0	0	0	0	14.47	13.81	13.30
1385	end apogee: CONTROL_FINISHED_OK
state	1385	begin climb
1387	0.92	146.0	2688	2032	3069	2823	187.3	0.0	182	1525	1.25	0.00	128.43	1.533	10758	0.178	0.000	3040	2033	2350	2465	2236	0	0	0	0	0	0	13.93	13.73	13.24
1703	0.89	209.1	3040	2033	2461	2225	177.6	7.1	215	1764	0.00	0.00	53.38	1.493	8358	0.000	0.000	3040	2032	2094	2209	1980	0	0	0	0	0	0	14.48	13.89	13.40
1944	0.83	232.5	3040	2033	2203	1972	157.1	8.9	239	1965	0.00	0.00	19.42	1.422	8614	0.000	0.000	3040	2038	2002	2116	1889	0	0	0	0	0	0	14.53	14.21	13.57
2144	0.79	254.8	3040	2033	2108	1884	139.0	9.0	260	2166	0.00	0.00	19.92	1.421	8614	0.000	0.000	3040	2037	1910	2017	1804	0	0	0	0	0	0	14.58	14.26	13.64
2344	0.79	281.1	3040	2033	2010	1798	121.1	8.8	281	2374	0.12	0.00	23.00	1.421	12454	0.256	0.000	3013	2033	1800	1898	1703	0	0	0	0	0	0	14.34	14.13	13.64
2553	0.88	328.1	3013	2033	1889	1701	104.2	7.8	302	2603	0.00	2.70	40.62	1.434	8484	0.000	0.129	3012	3434	1610	1689	1532	0	0	0	0	0	0	14.59	14.10	13.53
2650	0.90	339.0	3013	3434	1687	1531	95.9	9.5	320	2668	0.00	2.38	10.77	1.268	9254	0.000	0.104	3013	2129	1567	1643	1492	0	0	0	0	0	0	14.33	14.22	13.59
2855	1.12	414.7	3013	2128	1640	1487	80.7	6.5	342	2941	0.32	2.78	75.40	1.399	10916	0.100	0.141	3123	718	1257	1303	1212	0	0	0	0	0	0	14.35	13.96	13.42
2982	1.05	414.7	3123	718	1301	1211	66.6	11.9	359	2990	0.12	2.40	0.00	0.000	5254	0.262	0.107	3098	2024	1255	1300	1211	0	0	0	0	0	0	14.04	14.08	14.17
3168	1.06	420.7	3098	2025	1300	1208	48.3	9.7	378	3178	0.00	0.00	8.40	1.176	8230	0.000	0.000	3099	2025	1234	1279	1189	0	0	0	0	0	0	14.52	14.30	13.70
3360	1.18	480.8	3098	2025	1278	1188	32.7	7.2	397	3448	0.12	2.72	78.03	1.356	10532	0.158	0.122	3144	3437	988	1006	971	0	0	0	0	0	0	14.35	13.91	13.43
3572	1.20	516.8	3144	3437	1006	971	14.1	8.3	438	3623	0.00	2.40	45.53	1.317	9382	0.000	0.094	3144	2129	844	839	849	0	0	0	0	0	0	14.26	14.19	13.43
3716	end climb: SURFACE_DEPTH_REACHED
state	3716	begin surface coast
3746	end surface coast: CONTROL_FINISHED_OK
state	3746	begin surface