Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 314 * 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 314 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 20 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 500 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 2825 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 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 180 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 1740 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 86400 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 1 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 1850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0044106129

AH0_10V 0 D_TGT 500 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 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 0

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 180

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 86400

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 1740

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 1850 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2825 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 1 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 314 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 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 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 160620,083535,7534.0737,-14415.8555,0,5255.0,0,23.4,0.0,0.0,0,0.0 SPEED_LIMITS 0.160,0.233

_CALLS 0 TGT_NAME 9_51

_XMS_NAKs 0 TGT_LATLONG 7530.781,-14419.238

_XMS_TOUTs 0 TGT_RADIUS -20000.000

_SM_DEPTHo 13.00 MHEAD_RNG_PITCHd_Wd 171.0,6296,-19.6,-9.259,-21.67,1616

_SM_ANGLEo -6.5 D_GRID 500

GPS2 160620,083535,7534.0737,-14415.8555,0,5255.0,0,23.4,0.0,0.0,0,0.0 EXEC 4,151,2048,2.000000,0.000000

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20200617123535.778528,06,11740,40,0256,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.34,-100,2.66,-01,0.00,62,925,0025*01 XPDR_PINGS 123

FREEZE 1.54,-1.413,-1.543,2,218,0 SC_FREEKB 3693920

FINISH 1.5,1.022720 _24V_AH 12.33,162.597

SM_CCo 98000,70.78,0.539,1,0,990,450.13 _10V_AH 9.57,0.000

SM_GC 2.56,9.73,0.20,70.78,0.111,0.112,0.539,261,1935,990,-7.60,3.02,450.13,0,0,0,0,1,0,13.95,13.94,13.07 FG_AHR_24Vo 0.000

RAFOS_CLK 388 FG_AHR_10Vo 0.000

MODEM 0,1592337958,74.83892,-145.28152,58.068,84470.8 MEM 334796

RAFOS_FIX 7533.744629,-14422.039062,170620,121235,5,255,0.03 DATA_FILE_SIZE 49931,1444

IRIDIUM_FIX 7507.22,-14454.99,171019,151741 CAP_FILE_SIZE 235554,0

TT8_MAMPS 0.038199,0.301847 CFSIZE 1047117824,1001209856

HUMID 51.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

INTERNAL_PRESSURE 8.77058 SOUNDSPEED 1454.3

TCM_TEMP 11.80 GPS 170620,123535,7533.745,-14422.039,0,6255.0,0,23.4,0.0,0.0,0,0.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 218 36.02 nil 0 0 0.00

Roll_motor 58 134 96.91 nil 0 0 0.00

VBD_pump_during_apogee 764 1774 16730.22 nil 0 0 0.00

VBD_pump_during_surface 70 539 470.65 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 11630 10 1512.99

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 30 420 159.24 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 0 0 0.00

LPSleep 93790 2 2073.40

TT8_Active 1021 9 91.08

TT8_Sampling 3037 27 793.70

TT8_CF8 346 37 125.27

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 229.72

GPS_charging 0 0 0.00

Compass 2108 6 136.01

RAFOS 12811 33 4045.84

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 -0.78 -97.3 2820 1938 1827 1853 0.0 0.0 0 50 0.00 0.00 -35.15 0.005 16390 0.000 0.000 2821 1938 3226 3336 3116 0 0 0 0 0 0 14.33 12.33 14.36

52 -0.78 -97.3 2821 1939 3336 3117 15.9 -6.3 4 58 1.27 2.67 0.00 0.000 4612 0.184 0.112 2470 533 3224 3335 3114 0 0 0 0 0 0 13.81 13.90 13.95

282 -0.78 -97.3 2471 534 3336 3118 62.1 -17.6 50 289 0.00 2.45 0.00 0.000 1030 0.000 0.090 2470 1861 3225 3335 3116 0 0 0 0 0 0 14.16 13.97 14.18

653 -0.78 -97.3 2470 1862 3336 3116 116.2 -13.9 64 659 0.00 2.50 0.00 0.000 516 0.000 0.108 2471 535 3225 3334 3116 0 0 0 0 0 0 14.67 13.98 14.68

698 -0.78 -97.3 2470 536 3336 3117 122.6 -14.2 73 704 0.00 2.42 0.00 0.000 1030 0.000 0.089 2469 1861 3225 3335 3116 0 0 0 0 0 0 14.25 14.07 14.30

1073 -0.78 -97.3 2470 1861 3336 3117 169.6 -12.1 88 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1860 3226 3335 3117 0 0 0 0 0 0 14.59 14.62 14.61

1434 -0.78 -97.3 2470 1861 3336 3117 211.6 -11.4 100 1435 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1862 3226 3335 3117 0 0 0 0 0 0 14.75 14.80 14.79

1793 -0.78 -97.3 2471 1862 3336 3117 250.7 -10.2 112 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1860 3226 3335 3117 0 0 0 0 0 0 14.78 14.81 14.81

2153 -0.78 -97.3 2473 1861 3336 3118 283.8 -9.0 124 2155 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1862 3226 3335 3117 0 0 0 0 0 0 14.62 14.65 14.65

2514 -0.78 -97.3 2470 1863 3336 3117 313.4 -8.1 136 2515 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1862 3225 3335 3116 0 0 0 0 0 0 14.80 14.83 14.82

2873 -0.78 -97.3 2470 1863 3336 3117 341.5 -7.5 148 2879 0.00 2.65 0.00 0.000 260 0.000 0.110 2470 3266 3225 3335 3116 0 0 0 0 0 0 14.80 13.95 14.83

2953 -0.78 -97.3 2471 3267 3336 3117 347.6 -7.7 164 2959 0.00 2.42 0.00 0.000 1030 0.000 0.070 2470 1945 3225 3335 3116 0 0 0 0 0 0 14.07 13.98 14.25

3324 -0.78 -97.3 2471 1946 3329 3117 375.2 -7.7 178 3325 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 1945 3225 3334 3116 0 0 0 0 0 0 14.79 14.83 14.82

3684 -0.78 -97.3 2470 1946 3336 3117 401.8 -7.2 190 3686 0.00 0.00 0.00 0.000 38 0.000 0.000 2470 1946 3225 3335 3116 0 0 0 0 0 0 14.80 14.82 14.82

4044 -0.78 -97.3 2470 1946 3336 3116 426.8 -6.8 202 4050 0.00 2.50 0.00 0.000 292 0.000 0.106 2470 3273 3225 3335 3115 0 0 0 0 0 0 14.59 13.90 14.62

4120 -0.78 -97.3 2470 3271 3336 3116 432.1 -7.0 217 4125 0.00 2.40 0.00 0.000 1062 0.000 0.067 2471 1942 3229 3335 3123 0 0 0 0 0 0 14.19 14.02 14.24

4495 -0.78 -97.3 2471 1943 3336 3116 457.5 -6.7 232 4497 0.00 0.00 0.00 0.000 38 0.000 0.000 2470 1942 3225 3335 3115 0 0 0 0 0 0 14.60 14.63 14.63

4855 -0.78 -97.3 2471 1942 3336 3117 481.8 -6.8 244 4860 0.00 2.50 0.00 0.000 292 0.000 0.106 2470 3268 3225 3335 3116 0 0 0 0 0 0 14.60 13.89 14.63

4905 -0.78 -97.3 2470 3269 3336 3116 485.3 -7.0 254 4911 0.00 2.40 0.00 0.000 1062 0.000 0.067 2470 1934 3225 3335 3116 0 0 0 0 0 0 14.17 14.02 14.23

5124 end dive: TARGET_DEPTH_EXCEEDED

state 5124 begin apogee

5129 -0.17 0.0 2471 2038 3337 3117 500.5 -6.9 263 5231 0.75 0.00 98.93 1.774 10246 0.218 0.000 2659 2037 2824 2968 2681 0 0 0 0 0 0 13.71 13.85 12.81

5232 end apogee: CONTROL_FINISHED_OK

state 5232 begin loiter

5576 -0.17 0.0 2659 2038 2962 2676 503.5 -0.1 269 5577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2818 2961 2676 0 0 0 0 0 0 14.54 14.57 14.57

6176 -0.17 0.0 2659 2038 2960 2675 503.1 0.1 274 6178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2817 2960 2674 0 0 0 0 0 0 14.87 14.90 14.90

6776 -0.17 0.0 2659 2038 2960 2675 501.0 0.4 279 6777 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2816 2959 2674 0 0 0 0 0 0 14.93 14.97 14.97

7376 -0.17 0.0 2659 2038 2959 2675 498.2 0.5 284 7378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2816 2959 2673 0 0 0 0 0 0 14.97 15.00 15.00

7976 -0.17 0.0 2659 2038 2959 2674 495.7 0.4 289 7977 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2816 2958 2674 0 0 0 0 0 0 15.00 15.02 15.02

8576 -0.17 0.0 2659 2038 2959 2674 493.4 0.4 294 8578 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2958 2673 0 0 0 0 0 0 14.75 14.78 14.78

9176 -0.17 0.0 2659 2038 2959 2675 491.5 0.3 299 9177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2816 2958 2674 0 0 0 0 0 0 14.75 14.78 14.78

9776 -0.17 0.0 2659 2038 2958 2674 490.1 0.2 304 9778 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2674 0 0 0 0 0 0 15.02 15.05 15.04

10376 -0.17 0.0 2660 2038 2958 2674 488.9 0.2 309 10377 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.02 15.06 15.05

10976 -0.17 0.0 2659 2038 2958 2674 487.4 0.3 314 10978 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2816 2958 2674 0 0 0 0 0 0 14.76 14.78 14.78

11576 -0.17 0.0 2659 2038 2958 2674 485.8 0.3 319 11577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.02 15.07 15.06

12176 -0.17 0.0 2659 2038 2958 2674 485.4 0.0 324 12178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.03 15.07 15.06

12785 -0.17 0.0 2659 2038 2958 2674 486.3 -0.2 329 12786 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.96 15.00 14.99

13376 -0.17 0.0 2659 2038 2957 2674 486.8 -0.1 334 13377 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.61 14.61 14.61

13976 -0.17 0.0 2660 2037 2969 2674 486.2 0.1 339 13978 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.53 14.54 14.56

14576 -0.17 0.0 2659 2038 2958 2674 485.2 0.2 344 14577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.52 14.54 14.54

15176 -0.17 0.0 2657 2038 2958 2674 485.0 0.0 349 15178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2036 2815 2957 2673 0 0 0 0 0 0 14.82 14.85 14.85

15776 -0.17 0.0 2659 2037 2958 2674 485.2 -0.0 354 15777 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2957 2672 0 0 0 0 0 0 14.95 14.98 14.97

16376 -0.17 0.0 2659 2037 2958 2674 484.8 0.1 359 16378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.98 15.01 15.01

16976 -0.17 0.0 2659 2038 2957 2674 484.1 0.1 364 16977 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.00 15.04 15.03

17576 -0.17 0.0 2659 2037 2957 2674 483.3 0.1 369 17578 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2957 2672 0 0 0 0 0 0 15.02 15.04 15.05

18176 -0.17 0.0 2659 2038 2958 2674 482.7 0.1 374 18177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.02 15.05 15.05

18776 -0.17 0.0 2659 2038 2958 2674 482.9 -0.0 379 18778 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.03 15.06 15.05

19376 -0.17 0.0 2659 2038 2958 2674 483.3 -0.1 384 19377 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.03 15.07 15.07

19976 -0.17 0.0 2659 2038 2958 2674 483.6 -0.0 389 19978 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.06

20576 -0.17 0.0 2659 2038 2958 2674 483.1 0.1 394 20577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.03 15.07 15.07

21176 -0.17 0.0 2659 2038 2958 2674 481.6 0.2 399 21178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

21776 -0.17 0.0 2659 2038 2957 2674 480.7 0.1 404 21777 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

22376 -0.17 0.0 2659 2037 2957 2674 480.5 0.0 409 22378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.71 14.75 14.75

22976 -0.17 0.0 2659 2038 2958 2674 480.8 -0.1 414 22977 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

23576 -0.17 0.0 2659 2038 2957 2674 481.2 -0.1 419 23578 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2957 2672 0 0 0 0 0 0 15.04 15.07 15.07

24176 -0.17 0.0 2658 2037 2957 2674 482.1 -0.1 424 24177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

24776 -0.17 0.0 2659 2038 2958 2674 482.4 -0.0 429 24778 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.71 14.74 14.74

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28376 -0.17 0.0 2659 2038 2956 2672 482.0 -0.3 459 28378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.48 14.51 14.51

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30176 -0.17 0.0 2659 2038 2958 2674 483.7 0.1 474 30177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.95 14.98 14.98

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31376 -0.17 0.0 2659 2038 2957 2674 483.2 0.0 484 31377 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2958 2673 0 0 0 0 0 0 15.01 15.04 15.03

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45176 -0.17 0.0 2659 2038 2957 2674 481.8 0.3 599 45178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.98 15.02 15.01

45776 -0.17 0.0 2659 2038 2957 2674 480.2 0.2 604 45777 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 15.01 15.04 15.03

46376 -0.17 0.0 2659 2037 2957 2673 479.3 0.2 609 46378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.02 15.05 15.04

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54176 -0.17 0.0 2657 2038 2957 2673 483.4 -0.1 674 54177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2036 2814 2956 2673 0 0 0 0 0 0 14.69 14.72 14.71

54776 -0.17 0.0 2659 2038 2957 2673 483.3 0.0 679 54778 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 15.04 15.07 15.07

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55985 -0.17 0.0 2659 2037 2956 2673 482.1 0.1 689 55986 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2037 2814 2956 2673 0 0 0 0 0 0 14.97 15.00 15.00

56576 -0.17 0.0 2659 2038 2957 2673 482.1 -0.0 694 56577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.48 14.51 14.50

57176 -0.17 0.0 2659 2037 2957 2674 482.2 -0.0 699 57178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2036 2814 2956 2673 0 0 0 0 0 0 14.44 14.47 14.47

57776 -0.17 0.0 2659 2036 2957 2673 481.7 0.1 704 57777 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 14.42 14.46 14.45

58376 -0.17 0.0 2659 2038 2956 2673 480.7 0.2 709 58378 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.81 14.83 14.83

58976 -0.17 0.0 2659 2038 2957 2673 479.8 0.2 714 58977 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2037 2814 2956 2673 0 0 0 0 0 0 14.95 14.98 14.97

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60176 -0.17 0.0 2659 2038 2957 2674 480.8 -0.2 724 60177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.98 15.04 15.03

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61976 -0.17 0.0 2659 2038 2957 2674 483.4 0.0 739 61978 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2815 2957 2673 0 0 0 0 0 0 14.71 14.73 14.73

62576 -0.17 0.0 2659 2038 2957 2673 482.4 0.2 744 62577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 14.69 14.71 14.71

63176 -0.17 0.0 2659 2038 2957 2674 481.1 0.2 749 63178 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 15.01 15.07 15.06

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68576 -0.17 0.0 2659 2038 2957 2674 483.1 -0.3 794 68577 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2673 0 0 0 0 0 0 15.02 15.07 15.07

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71576 -0.17 0.0 2659 2038 2957 2673 482.1 0.2 819 71578 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 14.42 14.46 14.45

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89576 -0.17 0.0 2659 2038 2957 2673 482.1 0.0 969 89578 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 14.69 14.71 14.71

90176 -0.17 0.0 2659 2038 2957 2673 481.8 0.0 974 90177 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 15.02 15.06 15.05

90776 -0.17 0.0 2659 2037 2958 2673 481.6 0.0 979 90778 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 14.69 14.73 14.72

91376 -0.17 0.0 2659 2037 2957 2673 481.6 -0.0 984 91377 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2037 2814 2956 2672 0 0 0 0 0 0 15.03 15.07 15.07

91614 end loiter: LOITER_COMPLETE

state 91614 begin climb

91616 0.78 97.3 2659 2038 2957 2673 481.8 0.0 986 91725 1.02 2.75 99.15 1.714 10500 0.131 0.107 2961 3440 2425 2559 2292 0 0 0 0 0 0 13.58 13.82 12.69

91950 0.78 97.3 2961 3441 2547 2289 457.4 9.3 1052 91955 0.00 2.40 0.00 0.000 1030 0.000 0.070 2968 2120 2417 2546 2288 0 0 0 0 0 0 14.19 14.03 14.25

92340 0.80 97.3 2962 2120 2545 2286 425.3 8.2 1070 92346 0.00 2.53 0.00 0.000 324 0.000 0.103 2962 3453 2414 2544 2285 0 0 0 0 0 0 14.58 13.99 14.60

92485 0.80 97.3 2961 3454 2544 2286 412.0 9.2 1099 92493 0.00 2.42 0.00 0.000 1030 0.000 0.070 2962 2117 2414 2544 2285 0 0 0 0 0 0 14.23 14.09 14.29

92851 0.83 97.3 2962 2117 2543 2285 382.8 7.9 1112 92852 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2117 2413 2543 2284 0 0 0 0 0 0 14.57 14.61 14.60

93211 0.87 97.3 2962 2119 2543 2284 355.7 7.4 1124 93213 0.00 0.00 0.00 0.000 70 0.000 0.000 2962 2117 2412 2542 2283 0 0 0 0 0 0 14.62 14.64 14.64

93571 0.91 133.4 2962 2118 2543 2284 329.9 7.0 1136 93607 0.17 0.00 34.08 1.539 10278 0.112 0.000 3027 2116 2280 2405 2155 0 0 0 0 0 0 14.29 14.15 13.14

93960 0.91 133.4 3027 2117 2394 2152 290.2 9.9 1149 93962 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2117 2272 2394 2151 0 0 0 0 0 0 14.57 14.59 14.59

94321 0.93 133.4 3027 2117 2393 2151 257.9 8.3 1161 94326 0.00 2.53 0.00 0.000 324 0.000 0.105 3027 3451 2271 2392 2150 0 0 0 0 0 0 14.59 13.93 14.61

94391 0.96 133.4 3027 3452 2393 2151 252.1 7.9 1175 94397 0.00 2.42 0.00 0.000 1094 0.000 0.072 3027 2117 2271 2392 2150 0 0 0 0 0 0 14.23 14.08 14.31

94772 1.03 187.0 3028 2118 2392 2151 228.2 5.9 1191 94827 0.00 2.70 47.72 1.450 8740 0.000 0.113 3027 706 2062 2164 1960 0 0 0 0 0 0 14.59 14.10 13.14

95053 1.06 187.0 3027 708 2156 1953 207.1 7.6 1247 95059 0.00 2.45 0.00 0.000 1094 0.000 0.088 3027 2041 2055 2154 1956 0 0 0 0 0 0 14.20 14.02 14.25

95434 1.10 187.0 3027 2042 2153 1955 178.7 7.3 1263 95441 0.15 2.53 0.00 0.000 2628 0.126 0.109 3088 712 2052 2151 1954 0 0 0 0 0 0 14.21 13.95 14.31

95537 1.10 187.0 3089 713 2150 1954 169.6 9.2 1283 95543 0.00 2.42 0.00 0.000 1030 0.000 0.088 3088 2029 2052 2151 1954 0 0 0 0 0 0 14.17 13.99 14.25

95918 1.12 187.0 3089 2030 2158 1954 136.6 8.3 1299 95919 0.00 0.00 0.00 0.000 70 0.000 0.000 3088 2030 2052 2150 1954 0 0 0 0 0 0 14.59 14.62 14.62

96278 1.16 187.0 3089 2030 2149 1950 109.4 7.4 1311 96280 0.00 0.00 0.00 0.000 70 0.000 0.000 3088 2029 2051 2149 1953 0 0 0 0 0 0 14.59 14.59 14.62

96638 1.21 231.5 3089 2030 2149 1954 84.7 6.4 1323 96729 0.00 0.00 87.38 1.239 8230 0.000 0.000 3089 2029 1881 1973 1790 0 0 0 0 0 0 14.72 13.96 13.14

97088 1.27 277.1 3089 2030 1965 1786 53.9 6.4 1338 97184 0.12 0.00 93.68 1.191 10534 0.151 0.000 3141 2029 1697 1777 1617 0 0 0 0 0 0 14.11 13.86 13.07

97537 1.48 433.4 3141 2032 1769 1617 35.8 -0.7 1363 97852 0.17 2.60 303.92 1.146 10788 0.113 0.109 3208 710 1057 1060 1055 0 0 0 0 0 0 14.16 13.38 12.81

97923 1.48 433.4 3207 711 1058 1053 6.6 11.3 1437 97929 0.00 2.50 0.00 0.000 1030 0.000 0.088 3208 2035 1055 1057 1053 0 0 0 0 0 0 13.90 13.74 13.94

97962 end climb: SURFACE_DEPTH_REACHED

state 97962 begin surface coast

97982 end surface coast: CONTROL_FINISHED_OK

state 97982 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	314	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	20	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	500	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	2825	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	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	180	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	1740	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	86400	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	1	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	1850	ALTIM_PING_FIT	0

GPS1	160620,083535,7534.0737,-14415.8555,0,5255.0,0,23.4,0.0,0.0,0,0.0	SPEED_LIMITS	0.160,0.233
_CALLS	0	TGT_NAME	9_51
_XMS_NAKs	0	TGT_LATLONG	7530.781,-14419.238
_XMS_TOUTs	0	TGT_RADIUS	-20000.000
_SM_DEPTHo	13.00	MHEAD_RNG_PITCHd_Wd	171.0,6296,-19.6,-9.259,-21.67,1616
_SM_ANGLEo	-6.5	D_GRID	500
GPS2	160620,083535,7534.0737,-14415.8555,0,5255.0,0,23.4,0.0,0.0,0,0.0	EXEC	4,151,2048,2.000000,0.000000

MODEM_MSG	CACST,6,1,20200617123535.778528,06,11740,40,0256,0150,455,00,00,00,00,-1,-01,-01,1,3,0,0,150,-28.0,0.34,-100,2.66,-01,0.00,62,925,0025*01	XPDR_PINGS	123
FREEZE	1.54,-1.413,-1.543,2,218,0	SC_FREEKB	3693920
FINISH	1.5,1.022720	_24V_AH	12.33,162.597
SM_CCo	98000,70.78,0.539,1,0,990,450.13	_10V_AH	9.57,0.000
SM_GC	2.56,9.73,0.20,70.78,0.111,0.112,0.539,261,1935,990,-7.60,3.02,450.13,0,0,0,0,1,0,13.95,13.94,13.07	FG_AHR_24Vo	0.000
RAFOS_CLK	388	FG_AHR_10Vo	0.000
MODEM	0,1592337958,74.83892,-145.28152,58.068,84470.8	MEM	334796
RAFOS_FIX	7533.744629,-14422.039062,170620,121235,5,255,0.03	DATA_FILE_SIZE	49931,1444
IRIDIUM_FIX	7507.22,-14454.99,171019,151741	CAP_FILE_SIZE	235554,0
TT8_MAMPS	0.038199,0.301847	CFSIZE	1047117824,1001209856
HUMID	51.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
INTERNAL_PRESSURE	8.77058	SOUNDSPEED	1454.3
TCM_TEMP	11.80	GPS	170620,123535,7533.745,-14422.039,0,6255.0,0,23.4,0.0,0.0,0,0.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	218	36.02	nil	0	0	0.00
Roll_motor	58	134	96.91	nil	0	0	0.00
VBD_pump_during_apogee	764	1774	16730.22	nil	0	0	0.00
VBD_pump_during_surface	70	539	470.65	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	11630	10	1512.99
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	30	420	159.24	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	0	0	0.00
LPSleep	93790	2	2073.40
TT8_Active	1021	9	91.08
TT8_Sampling	3037	27	793.70
TT8_CF8	346	37	125.27
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	229.72
GPS_charging	0	0	0.00
Compass	2108	6	136.01
RAFOS	12811	33	4045.84
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