Glider dive log

AMOS Sep19 * SG196 * Dive index * Mission links * Dive 496 * 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 496 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 19 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 2758 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 8 UPLOAD_DIVES_MAX 6 VBD_TIMEOUT 800 DEVICE2 -1

SURFACE_URGENCY_TRY 8 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0013 DEVICE3 -1

SURFACE_URGENCY_FORCE 16 CALL_WAIT 45 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 150 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 250 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 0 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 0 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 1950 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 8

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 16

ALTIM_TOP_PING_RANGE 0 HD_A 0.0041999999 PITCH_MIN 275 SURFACE_URGENCY_TRY 8

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 150

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 0

COMPASS2_DEVICE 150 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 250

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 1950 LOITER_DBDW 400 RHO 1.0275 UNCOM_BLEED 500

C_VBD 2758 LOITER_D_BOTTOM 700 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX 6

DBDW 0 LOITER_D_TOP 400 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 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 496 MINV_10V 0 R_PORT_OVSHOOT 115 VBD_MIN 550

D_ABORT 1010 MINV_24V 0 R_STBD_OVSHOOT 19 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 240920,091129,7201.1777,-15158.2695,65,0.8,65,19.6,0.8,306.4,9,4.6 SPEED_LIMITS 0.192,0.246

_CALLS 1 TGT_NAME RECOV

_XMS_NAKs 0 TGT_LATLONG 7200.000,-15200.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 169.4,2794,-22.5,-11.111,-24.31,1348

_SM_ANGLEo -70.7 D_GRID 500

GPS2 240920,093330,7201.4902,-15159.2344,7,0.7,11,19.6,0.8,302.2,11,8.6 EXEC 4,999,2,0.000000,0.000000

Post-dive calculations and measurements:

FREEZE 0.11,0.717,-0.632,2,1,0 SC_FREEKB 3589088

FINISH 0.1,1.009317 _24V_AH 12.50,262.858

SM_CCo 10701,72.80,0.532,1,0,922,450.62 _10V_AH 11.97,0.000

SM_GC 1.37,9.55,0.15,72.80,0.072,0.126,0.532,263,2021,922,-7.60,2.91,450.62,0,0,0,0,1,0,13.63,13.62,12.99 FG_AHR_24Vo 0.000

RAFOS_CLK 52 FG_AHR_10Vo 0.000

RAFOS_FIX 7200.319824,-15159.303711,240920,121259,0,1,0.20 MEM 334644

IRIDIUM_FIX 7202.58,-15155.65,240920,055223 DATA_FILE_SIZE 26730,756

TT8_MAMPS 0.078645,0.323568 CAP_FILE_SIZE 98820,0

HUMID 53.30 CFSIZE 1047117824,979468288

INTERNAL_PRESSURE 8.83895 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

TCM_TEMP 12.70 SOUNDSPEED 1451.9

XPDR_PINGS 177 GPS 240920,123504,7201.278,-15157.881,37,0.8,39,19.6,0.3,345.5,8,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 445 137.46 nil 0 0 0.00

Roll_motor 81 126 128.12 nil 0 0 0.00

VBD_pump_during_apogee 685 1760 15082.17 nil 0 0 0.00

VBD_pump_during_surface 72 531 483.82 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 10726 10 1394.25

Iridium_during_xfer 898 192 2157.29 nil 0 0 0.00

Transponder_ping 44 420 232.31 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 21 5.72

TT8 0 0 0.00

LPSleep 8379 2 231.69

TT8_Active 830 9 92.67

TT8_Sampling 2364 27 772.71

TT8_CF8 533 37 241.55

TT8_Kalman 0 0 0.00

Analog_circuits 2377 10 310.21

GPS_charging 0 0 0.00

Compass 1134 6 91.51

RAFOS 2196 33 867.44

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 -0.88 -97.3 253 2048 897 943 0.0 0.0 0 92 0.00 0.00 -81.50 0.003 16386 0.000 0.000 253 2048 2255 2200 2310 0 0 0 0 0 0 14.51 28.83 14.54

95 -0.88 -97.3 252 2048 2204 2312 5.5 -9.6 8 135 12.45 2.67 -21.70 0.007 18948 0.445 0.119 2422 629 3155 3247 3063 0 0 0 0 0 0 13.68 13.19 13.97

360 -0.88 -97.3 2423 629 3248 3065 56.5 -16.0 60 365 0.00 2.45 0.00 0.000 1030 0.000 0.083 2422 1959 3156 3248 3064 0 0 0 0 0 0 14.17 13.98 14.23

730 -0.88 -97.3 2423 1961 3248 3065 108.0 -13.7 74 735 0.00 2.53 0.00 0.000 516 0.000 0.106 2422 630 3155 3247 3064 0 0 0 0 0 0 14.66 13.86 14.68

930 -0.88 -97.3 2422 631 3248 3065 136.4 -13.6 114 936 0.00 2.45 0.00 0.000 1030 0.000 0.085 2422 1953 3155 3247 3064 0 0 0 0 0 0 14.11 13.93 14.16

1301 -0.88 -97.3 2423 1957 3247 3065 180.8 -11.5 128 1306 0.00 2.70 0.00 0.000 260 0.000 0.109 2422 3372 3155 3247 3064 0 0 0 0 0 0 14.65 13.79 14.68

1321 -0.88 -97.3 2422 3372 3246 3064 183.0 -11.0 132 1326 0.00 2.40 0.00 0.000 1030 0.000 0.063 2422 2034 3155 3247 3064 0 0 0 0 0 0 14.16 14.00 14.19

1692 -0.88 -97.3 2422 2033 3248 3065 218.7 -9.1 146 1697 0.00 2.67 0.00 0.000 516 0.000 0.106 2418 628 3157 3247 3068 0 0 0 0 0 0 14.45 13.78 14.47

1829 -0.88 -97.3 2422 629 3248 3065 231.6 -9.4 173 1835 0.00 2.47 0.00 0.000 1030 0.000 0.085 2422 1959 3155 3247 3064 0 0 0 0 0 0 14.05 13.87 14.16

2206 -0.88 -97.3 2422 1959 3248 3065 264.6 -9.0 188 2207 0.00 0.00 0.00 0.000 38 0.000 0.000 2422 1958 3155 3247 3063 0 0 0 0 0 0 14.44 14.46 14.47

2566 -0.88 -97.3 2423 1958 3248 3064 295.9 -8.5 200 2571 0.00 2.55 0.00 0.000 548 0.000 0.106 2422 627 3155 3247 3063 0 0 0 0 0 0 14.64 13.74 14.66

2651 -0.88 -97.3 2423 628 3248 3064 304.1 -9.5 217 2658 0.00 2.47 0.00 0.000 1030 0.000 0.085 2422 1956 3155 3247 3063 0 0 0 0 0 0 14.03 13.85 14.09

3016 -0.88 -97.3 2423 1957 3248 3064 335.5 -8.3 230 3018 0.00 0.00 0.00 0.000 38 0.000 0.000 2422 1956 3154 3247 3062 0 0 0 0 0 0 14.42 14.45 14.45

3377 -0.88 -97.3 2423 1957 3248 3064 365.3 -8.5 242 3382 0.00 2.55 0.00 0.000 548 0.000 0.104 2422 625 3155 3247 3063 0 0 0 0 0 0 14.43 13.75 14.46

3482 -0.88 -97.3 2422 625 3248 3063 374.9 -9.0 263 3487 0.00 2.47 0.00 0.000 1062 0.000 0.085 2422 1956 3154 3247 3062 0 0 0 0 0 0 14.02 13.84 14.08

3858 -0.88 -97.3 2421 1957 3247 3063 405.8 -8.3 278 3859 0.00 0.00 0.00 0.000 38 0.000 0.000 2422 1956 3154 3247 3062 0 0 0 0 0 0 14.41 14.43 14.43

4218 -0.88 -97.3 2422 1957 3248 3063 434.9 -7.9 290 4223 0.00 2.55 0.00 0.000 548 0.000 0.106 2422 634 3154 3247 3062 0 0 0 0 0 0 14.40 13.73 14.43

4293 -0.88 -97.3 2422 634 3248 3063 441.2 -8.5 305 4299 0.00 2.47 0.00 0.000 1062 0.000 0.086 2422 1958 3154 3247 3062 0 0 0 0 0 0 14.01 13.83 14.07

4669 -0.88 -97.3 2423 1958 3248 3063 470.6 -7.9 320 4671 0.00 0.00 0.00 0.000 38 0.000 0.000 2422 1957 3154 3247 3062 0 0 0 0 0 0 14.40 14.43 14.43

5029 -0.88 -97.3 2423 1958 3248 3063 499.0 -7.9 332 5034 0.00 2.55 0.00 0.000 548 0.000 0.106 2422 630 3154 3247 3062 0 0 0 0 0 0 14.40 13.72 14.42

5042 end dive: TARGET_DEPTH_EXCEEDED

state 5042 begin apogee

5050 -0.17 0.0 2423 2034 3248 3063 500.2 -8.0 335 5152 0.98 0.00 98.20 1.760 10246 0.255 0.000 2654 2033 2757 2875 2640 0 0 0 0 0 0 13.65 13.80 12.95

5153 end apogee: CONTROL_FINISHED_OK

state 5153 begin climb

5156 0.88 97.3 2655 2036 2875 2640 502.4 0.0 338 5262 1.17 2.85 99.47 1.693 10500 0.145 0.107 2992 3438 2359 2478 2241 0 0 0 0 0 0 13.74 13.37 12.50

5319 0.88 97.3 2992 3439 2471 2239 490.1 11.2 369 5325 0.00 2.50 0.00 0.000 1030 0.000 0.068 2991 2112 2353 2470 2237 0 0 0 0 0 0 13.61 13.48 13.66

5711 0.90 97.3 2991 2112 2466 2233 451.0 10.0 387 5712 0.00 0.00 0.00 0.000 70 0.000 0.000 2991 2111 2348 2465 2232 0 0 0 0 0 0 14.61 14.64 14.64

6071 0.93 97.3 2992 2112 2465 2231 414.8 9.8 399 6076 0.00 2.53 0.00 0.000 324 0.000 0.106 2992 3444 2347 2465 2230 0 0 0 0 0 0 14.54 14.00 14.57

6156 0.93 97.3 2991 3446 2466 2231 405.4 11.2 416 6162 0.00 2.40 0.00 0.000 1030 0.000 0.067 2992 2111 2347 2465 2230 0 0 0 0 0 0 14.24 14.09 14.30

6521 0.95 97.3 2992 2112 2465 2230 369.0 9.9 429 6523 0.00 0.00 0.00 0.000 70 0.000 0.000 2992 2111 2347 2464 2230 0 0 0 0 0 0 14.50 14.54 14.54

6881 0.98 97.3 2992 2112 2465 2230 333.8 9.7 441 6887 0.12 2.53 0.00 0.000 2372 0.144 0.104 3047 3442 2346 2464 2229 0 0 0 0 0 0 14.22 13.95 14.25

6957 0.98 97.3 3047 3444 2463 2230 324.3 12.7 456 6963 0.00 2.42 0.00 0.000 1030 0.000 0.069 3050 2112 2346 2464 2229 0 0 0 0 0 0 14.21 14.05 14.27

7333 0.98 97.3 3049 2114 2465 2230 281.1 11.3 471 7335 0.00 0.00 0.00 0.000 6 0.000 0.000 3046 2112 2346 2464 2229 0 0 0 0 0 0 14.66 14.70 14.69

7693 0.98 97.3 3050 2113 2464 2230 241.7 10.7 483 7698 0.00 2.55 0.00 0.000 260 0.000 0.106 3049 3450 2346 2464 2229 0 0 0 0 0 0 14.48 13.91 14.50

7748 0.98 97.3 3050 3451 2465 2230 235.2 12.2 494 7754 0.00 2.42 0.00 0.000 1030 0.000 0.067 3049 2114 2347 2464 2230 0 0 0 0 0 0 14.19 14.03 14.25

8114 0.99 97.3 3048 2115 2465 2230 196.4 10.4 507 8119 0.00 2.53 0.00 0.000 324 0.000 0.106 3050 3440 2346 2464 2229 0 0 0 0 0 0 14.45 13.91 14.47

8169 0.99 97.3 3050 3441 2465 2231 190.3 11.5 518 8175 0.00 2.40 0.00 0.000 1030 0.000 0.070 3049 2116 2346 2463 2229 0 0 0 0 0 0 14.12 13.97 14.21

8534 1.07 153.4 3050 2118 2465 2230 160.6 6.8 531 8606 0.00 2.53 66.15 1.315 8484 0.000 0.106 3049 3447 2130 2239 2021 0 0 0 0 0 0 14.45 13.85 13.27

8636 1.10 153.4 3050 3448 2236 2023 152.7 9.6 546 8641 0.00 2.42 0.00 0.000 1094 0.000 0.069 3050 2117 2127 2234 2021 0 0 0 0 0 0 14.12 13.97 14.14

9028 1.15 193.0 3048 2117 2230 2018 120.9 8.1 562 9081 0.12 2.65 47.62 1.258 10788 0.151 0.110 3095 712 1968 2062 1875 0 0 0 0 0 0 14.10 13.85 13.31

9286 1.15 193.0 3096 713 2059 1872 93.3 10.6 614 9291 0.00 2.42 0.00 0.000 1030 0.000 0.083 3096 2035 1964 2057 1871 0 0 0 0 0 0 14.19 14.03 14.23

9657 1.18 193.0 3095 2035 2063 1871 55.9 9.4 628 9659 0.00 0.00 0.00 0.000 70 0.000 0.000 3098 2035 1965 2056 1874 0 0 0 0 0 0 14.35 14.38 14.37

10017 1.29 275.1 3096 2035 2056 1870 30.4 4.9 640 10168 0.12 2.80 142.43 1.168 10532 0.149 0.109 3146 3454 1637 1711 1564 0 0 0 0 0 0 14.06 13.78 13.11

10393 1.50 436.1 3145 3455 1704 1564 8.9 -1.2 713 10631 0.17 2.45 231.57 1.103 11298 0.106 0.066 3210 2108 1003 998 1008 0 0 0 0 0 0 14.04 13.97 14.13

10634 end climb: SURFACE_DEPTH_REACHED

state 10634 begin surface coast

10682 end surface coast: CONTROL_FINISHED_OK

state 10682 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	496	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	19	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	2758	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	8	UPLOAD_DIVES_MAX	6	VBD_TIMEOUT	800	DEVICE2	-1
SURFACE_URGENCY_TRY	8	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0013	DEVICE3	-1
SURFACE_URGENCY_FORCE	16	CALL_WAIT	45	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	150	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	250	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	0	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	0	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	1950	ALTIM_PING_FIT	0

GPS1	240920,091129,7201.1777,-15158.2695,65,0.8,65,19.6,0.8,306.4,9,4.6	SPEED_LIMITS	0.192,0.246
_CALLS	1	TGT_NAME	RECOV
_XMS_NAKs	0	TGT_LATLONG	7200.000,-15200.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	169.4,2794,-22.5,-11.111,-24.31,1348
_SM_ANGLEo	-70.7	D_GRID	500
GPS2	240920,093330,7201.4902,-15159.2344,7,0.7,11,19.6,0.8,302.2,11,8.6	EXEC	4,999,2,0.000000,0.000000

FREEZE	0.11,0.717,-0.632,2,1,0	SC_FREEKB	3589088
FINISH	0.1,1.009317	_24V_AH	12.50,262.858
SM_CCo	10701,72.80,0.532,1,0,922,450.62	_10V_AH	11.97,0.000
SM_GC	1.37,9.55,0.15,72.80,0.072,0.126,0.532,263,2021,922,-7.60,2.91,450.62,0,0,0,0,1,0,13.63,13.62,12.99	FG_AHR_24Vo	0.000
RAFOS_CLK	52	FG_AHR_10Vo	0.000
RAFOS_FIX	7200.319824,-15159.303711,240920,121259,0,1,0.20	MEM	334644
IRIDIUM_FIX	7202.58,-15155.65,240920,055223	DATA_FILE_SIZE	26730,756
TT8_MAMPS	0.078645,0.323568	CAP_FILE_SIZE	98820,0
HUMID	53.30	CFSIZE	1047117824,979468288
INTERNAL_PRESSURE	8.83895	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP	12.70	SOUNDSPEED	1451.9
XPDR_PINGS	177	GPS	240920,123504,7201.278,-15157.881,37,0.8,39,19.6,0.3,345.5,8,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	445	137.46	nil	0	0	0.00
Roll_motor	81	126	128.12	nil	0	0	0.00
VBD_pump_during_apogee	685	1760	15082.17	nil	0	0	0.00
VBD_pump_during_surface	72	531	483.82	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	10726	10	1394.25
Iridium_during_xfer	898	192	2157.29	nil	0	0	0.00
Transponder_ping	44	420	232.31	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	21	5.72
TT8	0	0	0.00
LPSleep	8379	2	231.69
TT8_Active	830	9	92.67
TT8_Sampling	2364	27	772.71
TT8_CF8	533	37	241.55
TT8_Kalman	0	0	0.00
Analog_circuits	2377	10	310.21
GPS_charging	0	0	0.00
Compass	1134	6	91.51
RAFOS	2196	33	867.44
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
9	-0.88	-97.3	253	2048	897	943	0.0	0.0	0	92	0.00	0.00	-81.50	0.003	16386	0.000	0.000	253	2048	2255	2200	2310	0	0	0	0	0	0	14.51	28.83	14.54
95	-0.88	-97.3	252	2048	2204	2312	5.5	-9.6	8	135	12.45	2.67	-21.70	0.007	18948	0.445	0.119	2422	629	3155	3247	3063	0	0	0	0	0	0	13.68	13.19	13.97
360	-0.88	-97.3	2423	629	3248	3065	56.5	-16.0	60	365	0.00	2.45	0.00	0.000	1030	0.000	0.083	2422	1959	3156	3248	3064	0	0	0	0	0	0	14.17	13.98	14.23
730	-0.88	-97.3	2423	1961	3248	3065	108.0	-13.7	74	735	0.00	2.53	0.00	0.000	516	0.000	0.106	2422	630	3155	3247	3064	0	0	0	0	0	0	14.66	13.86	14.68
930	-0.88	-97.3	2422	631	3248	3065	136.4	-13.6	114	936	0.00	2.45	0.00	0.000	1030	0.000	0.085	2422	1953	3155	3247	3064	0	0	0	0	0	0	14.11	13.93	14.16
1301	-0.88	-97.3	2423	1957	3247	3065	180.8	-11.5	128	1306	0.00	2.70	0.00	0.000	260	0.000	0.109	2422	3372	3155	3247	3064	0	0	0	0	0	0	14.65	13.79	14.68
1321	-0.88	-97.3	2422	3372	3246	3064	183.0	-11.0	132	1326	0.00	2.40	0.00	0.000	1030	0.000	0.063	2422	2034	3155	3247	3064	0	0	0	0	0	0	14.16	14.00	14.19
1692	-0.88	-97.3	2422	2033	3248	3065	218.7	-9.1	146	1697	0.00	2.67	0.00	0.000	516	0.000	0.106	2418	628	3157	3247	3068	0	0	0	0	0	0	14.45	13.78	14.47
1829	-0.88	-97.3	2422	629	3248	3065	231.6	-9.4	173	1835	0.00	2.47	0.00	0.000	1030	0.000	0.085	2422	1959	3155	3247	3064	0	0	0	0	0	0	14.05	13.87	14.16
2206	-0.88	-97.3	2422	1959	3248	3065	264.6	-9.0	188	2207	0.00	0.00	0.00	0.000	38	0.000	0.000	2422	1958	3155	3247	3063	0	0	0	0	0	0	14.44	14.46	14.47
2566	-0.88	-97.3	2423	1958	3248	3064	295.9	-8.5	200	2571	0.00	2.55	0.00	0.000	548	0.000	0.106	2422	627	3155	3247	3063	0	0	0	0	0	0	14.64	13.74	14.66
2651	-0.88	-97.3	2423	628	3248	3064	304.1	-9.5	217	2658	0.00	2.47	0.00	0.000	1030	0.000	0.085	2422	1956	3155	3247	3063	0	0	0	0	0	0	14.03	13.85	14.09
3016	-0.88	-97.3	2423	1957	3248	3064	335.5	-8.3	230	3018	0.00	0.00	0.00	0.000	38	0.000	0.000	2422	1956	3154	3247	3062	0	0	0	0	0	0	14.42	14.45	14.45
3377	-0.88	-97.3	2423	1957	3248	3064	365.3	-8.5	242	3382	0.00	2.55	0.00	0.000	548	0.000	0.104	2422	625	3155	3247	3063	0	0	0	0	0	0	14.43	13.75	14.46
3482	-0.88	-97.3	2422	625	3248	3063	374.9	-9.0	263	3487	0.00	2.47	0.00	0.000	1062	0.000	0.085	2422	1956	3154	3247	3062	0	0	0	0	0	0	14.02	13.84	14.08
3858	-0.88	-97.3	2421	1957	3247	3063	405.8	-8.3	278	3859	0.00	0.00	0.00	0.000	38	0.000	0.000	2422	1956	3154	3247	3062	0	0	0	0	0	0	14.41	14.43	14.43
4218	-0.88	-97.3	2422	1957	3248	3063	434.9	-7.9	290	4223	0.00	2.55	0.00	0.000	548	0.000	0.106	2422	634	3154	3247	3062	0	0	0	0	0	0	14.40	13.73	14.43
4293	-0.88	-97.3	2422	634	3248	3063	441.2	-8.5	305	4299	0.00	2.47	0.00	0.000	1062	0.000	0.086	2422	1958	3154	3247	3062	0	0	0	0	0	0	14.01	13.83	14.07
4669	-0.88	-97.3	2423	1958	3248	3063	470.6	-7.9	320	4671	0.00	0.00	0.00	0.000	38	0.000	0.000	2422	1957	3154	3247	3062	0	0	0	0	0	0	14.40	14.43	14.43
5029	-0.88	-97.3	2423	1958	3248	3063	499.0	-7.9	332	5034	0.00	2.55	0.00	0.000	548	0.000	0.106	2422	630	3154	3247	3062	0	0	0	0	0	0	14.40	13.72	14.42
5042	end dive: TARGET_DEPTH_EXCEEDED
state	5042	begin apogee
5050	-0.17	0.0	2423	2034	3248	3063	500.2	-8.0	335	5152	0.98	0.00	98.20	1.760	10246	0.255	0.000	2654	2033	2757	2875	2640	0	0	0	0	0	0	13.65	13.80	12.95
5153	end apogee: CONTROL_FINISHED_OK
state	5153	begin climb
5156	0.88	97.3	2655	2036	2875	2640	502.4	0.0	338	5262	1.17	2.85	99.47	1.693	10500	0.145	0.107	2992	3438	2359	2478	2241	0	0	0	0	0	0	13.74	13.37	12.50
5319	0.88	97.3	2992	3439	2471	2239	490.1	11.2	369	5325	0.00	2.50	0.00	0.000	1030	0.000	0.068	2991	2112	2353	2470	2237	0	0	0	0	0	0	13.61	13.48	13.66
5711	0.90	97.3	2991	2112	2466	2233	451.0	10.0	387	5712	0.00	0.00	0.00	0.000	70	0.000	0.000	2991	2111	2348	2465	2232	0	0	0	0	0	0	14.61	14.64	14.64
6071	0.93	97.3	2992	2112	2465	2231	414.8	9.8	399	6076	0.00	2.53	0.00	0.000	324	0.000	0.106	2992	3444	2347	2465	2230	0	0	0	0	0	0	14.54	14.00	14.57
6156	0.93	97.3	2991	3446	2466	2231	405.4	11.2	416	6162	0.00	2.40	0.00	0.000	1030	0.000	0.067	2992	2111	2347	2465	2230	0	0	0	0	0	0	14.24	14.09	14.30
6521	0.95	97.3	2992	2112	2465	2230	369.0	9.9	429	6523	0.00	0.00	0.00	0.000	70	0.000	0.000	2992	2111	2347	2464	2230	0	0	0	0	0	0	14.50	14.54	14.54
6881	0.98	97.3	2992	2112	2465	2230	333.8	9.7	441	6887	0.12	2.53	0.00	0.000	2372	0.144	0.104	3047	3442	2346	2464	2229	0	0	0	0	0	0	14.22	13.95	14.25
6957	0.98	97.3	3047	3444	2463	2230	324.3	12.7	456	6963	0.00	2.42	0.00	0.000	1030	0.000	0.069	3050	2112	2346	2464	2229	0	0	0	0	0	0	14.21	14.05	14.27
7333	0.98	97.3	3049	2114	2465	2230	281.1	11.3	471	7335	0.00	0.00	0.00	0.000	6	0.000	0.000	3046	2112	2346	2464	2229	0	0	0	0	0	0	14.66	14.70	14.69
7693	0.98	97.3	3050	2113	2464	2230	241.7	10.7	483	7698	0.00	2.55	0.00	0.000	260	0.000	0.106	3049	3450	2346	2464	2229	0	0	0	0	0	0	14.48	13.91	14.50
7748	0.98	97.3	3050	3451	2465	2230	235.2	12.2	494	7754	0.00	2.42	0.00	0.000	1030	0.000	0.067	3049	2114	2347	2464	2230	0	0	0	0	0	0	14.19	14.03	14.25
8114	0.99	97.3	3048	2115	2465	2230	196.4	10.4	507	8119	0.00	2.53	0.00	0.000	324	0.000	0.106	3050	3440	2346	2464	2229	0	0	0	0	0	0	14.45	13.91	14.47
8169	0.99	97.3	3050	3441	2465	2231	190.3	11.5	518	8175	0.00	2.40	0.00	0.000	1030	0.000	0.070	3049	2116	2346	2463	2229	0	0	0	0	0	0	14.12	13.97	14.21
8534	1.07	153.4	3050	2118	2465	2230	160.6	6.8	531	8606	0.00	2.53	66.15	1.315	8484	0.000	0.106	3049	3447	2130	2239	2021	0	0	0	0	0	0	14.45	13.85	13.27
8636	1.10	153.4	3050	3448	2236	2023	152.7	9.6	546	8641	0.00	2.42	0.00	0.000	1094	0.000	0.069	3050	2117	2127	2234	2021	0	0	0	0	0	0	14.12	13.97	14.14
9028	1.15	193.0	3048	2117	2230	2018	120.9	8.1	562	9081	0.12	2.65	47.62	1.258	10788	0.151	0.110	3095	712	1968	2062	1875	0	0	0	0	0	0	14.10	13.85	13.31
9286	1.15	193.0	3096	713	2059	1872	93.3	10.6	614	9291	0.00	2.42	0.00	0.000	1030	0.000	0.083	3096	2035	1964	2057	1871	0	0	0	0	0	0	14.19	14.03	14.23
9657	1.18	193.0	3095	2035	2063	1871	55.9	9.4	628	9659	0.00	0.00	0.00	0.000	70	0.000	0.000	3098	2035	1965	2056	1874	0	0	0	0	0	0	14.35	14.38	14.37
10017	1.29	275.1	3096	2035	2056	1870	30.4	4.9	640	10168	0.12	2.80	142.43	1.168	10532	0.149	0.109	3146	3454	1637	1711	1564	0	0	0	0	0	0	14.06	13.78	13.11
10393	1.50	436.1	3145	3455	1704	1564	8.9	-1.2	713	10631	0.17	2.45	231.57	1.103	11298	0.106	0.066	3210	2108	1003	998	1008	0	0	0	0	0	0	14.04	13.97	14.13
10634	end climb: SURFACE_DEPTH_REACHED
state	10634	begin surface coast
10682	end surface coast: CONTROL_FINISHED_OK
state	10682	begin surface