Glider dive log

MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 171 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 5

MISSION 11 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 1 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 1 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.63

STOP_T 0 SM_CC 580.87036 VBD_MIN 600 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 2968 DEVICE1 2

D_TGT 45 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 120 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 200 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0015 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 70

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 15 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 25 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 64

T_ABORT 1440 T_RSLEEP 1 LOITER_D_TOP 0 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0044193882

T_LOITER 0 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 SEABIRD_T_H 0.00064798427

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 SEABIRD_T_I 2.6719992e-05

USE_BATHY 0 PITCH_MIN 150 AH0_24V 350 SEABIRD_T_J 3.3115991e-06

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 SEABIRD_C_G -9.8059483

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2380 MINV_24V 11 SEABIRD_C_H 1.1280893

D_OFFGRID 1020 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.003824637

T_WATCHDOG 10 PITCH_CNV 0.003125763 MAXI_24V 3 SEABIRD_C_J 0.00035372932

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 150 PITCH_GAIN 37 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 175 PRESSURE_YINT -152.46104 TM_RECORDABOVE 200.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010631012 TM_PROFILE 1.0

RHO 1.0275 PITCH_ADJ_GAIN 0.02 AD7714Ch0Gain 1 TM_XMITPROFILE 1.0

MASS 53930 PITCH_ADJ_DBAND 1 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 350 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 3900 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 2600 ALTIM_TOP_TURN_MARGIN 0 PM_PROFILE 3.0

HD_A 0.003 C_ROLL_CLIMB 2440 ALTIM_TOP_MIN_OBSTACLE 0 PM_XMITPROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_NDIVE 1.0

HD_C 9.9999997e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 0 PM_XMITRAW 0.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_MOTORS 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 62 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 61 ALTIM_SENSITIVITY 2

AD7714Ch0Gain 1 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SEABIRD_T_I 2.6719992e-05

AH0_10V 0 FERRY_MAX 45 PITCH_DBAND 0.1 SEABIRD_T_J 3.3115991e-06

AH0_24V 350 FG_AHR_10V 0 PITCH_GAIN 37 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MAX 3600 SM_CC 580.87036

ALTIM_FREQUENCY 13 FILEMGR 0 PITCH_MAXERRORS 1 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 STOP_T 0

ALTIM_PING_DEPTH 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 STROBE 0

ALTIM_PING_FIT 0 GPS_DEVICE 64 PITCH_VBD_SHIFT 0.0015 SURFACE_URGENCY 0

ALTIM_PULSE 3 HD_A 0.003 PITCH_W_DBAND 0 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 HD_B 0.0099999998 PITCH_W_GAIN 0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_C 9.9999997e-06 PM_MOTORS 1.0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HEADING -1 PM_NDIVE 1.0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HEAD_ERRBAND 10 PM_PROFILE 3.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEAPDBG 0 PM_RECORDABOVE 2000.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 ICE_FREEZE_MARGIN 0.30000001 PM_SENDDEPTH 1.0 TM_NDIVE 1.0

CALL_TRIES 5 ID 171 PM_XMITPROFILE 3.0 TM_PROFILE 1.0

CALL_WAIT 60 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITRAW 0.0 TM_RECORDABOVE 200.0

CAPMAXSIZE 100000 INT_PRESSURE_YINT 0.63 PRESSURE_SLOPE 0.00010631012 TM_XMITPROFILE 1.0

CAPUPLOAD 0 KALMAN_USE 2 PRESSURE_YINT -152.46104 TM_XMITRAW 0.0

CF8_MAXERRORS 20 LOGGERDEVICE1 53 PROTOCOL 9 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE2 70 P_OVSHOOT 0.039999999 T_BOOST 0

COMPASS2_DEVICE 149 LOGGERDEVICE3 83 P_OVSHOOT_WITHG 0 T_DIVE 15

COMPASS_DEVICE 97 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_USE 4 LOGGERS 7 RAFOS_DEVICE -1 T_GPS 5

COURSE_BIAS 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_PITCH 2380 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_MISSION 25

C_ROLL_CLIMB 2440 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

C_ROLL_DIVE 2600 LOITER_N_DIVE 0 RELAUNCH 1 T_RSLEEP 1

C_VBD 2968 LOITER_W_DBAND 0 RHO 1.0275 T_TURN 225

DBDW 0 MASS 53930 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

DEEPGLIDER 0 MASS_COMP 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

DEVICE1 2 MAXI_10V 1.5 ROLL_AD_RATE 350 UNCOM_BLEED 50

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MAX_BUOY 150 ROLL_DEG 40 USE_BATHY 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3900 USE_ICE 0

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE6 -1 MISSION 11 ROLL_MIN 350 VBD_CNV -0.24529999

DIVE 1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_DBAND 2

D_ABORT 120 NAV_MODE 2 R_PORT_OVSHOOT 62 VBD_LP_IGNORE 0

D_BOOST 2 NOCOMM_ACTION 163 R_STBD_OVSHOOT 61 VBD_MAX 3960

D_CALL 0 N_DIVES 1 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_FINISH 0 N_FILEKB 8 SC_PROFILE 3.0 VBD_MIN 600

D_FLARE 3 N_GPS 100440 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

D_NO_BLEED 200 N_NOCOMM 2 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 2

D_OFFGRID 1020 N_NOSURFACE 0 SEABIRD_C_G -9.8059483 VBD_TIMEOUT 720

D_PITCH 0 PHONE_DEVICE 49 SEABIRD_C_H 1.1280893 W_ADJ_DBAND 0

D_SAFE 0 PHONE_SUPPLY -2 SEABIRD_C_I -0.003824637 XPDR_DEVICE 24

D_SURF 3 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00035372932 XPDR_INHIBIT 90

D_TGT 45 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0044193882 XPDR_VALID 5

ESCAPE_HEADING 0 PITCH_AD_RATE 175 SEABIRD_T_H 0.00064798427

Pre-dive calculations and measurements:

GPS1 250719,082821,1605.6869,8838.7246,1,1.0,2,-0.7,0.8,351.0,10,8.9 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME BD13

_XMS_NAKs 0 TGT_LATLONG 1400.000,8700.000

_XMS_TOUTs 0 TGT_RADIUS 8000.000

_SM_DEPTHo 1.53 MHEAD_RNG_PITCHd_Wd 218.0,292697,-17.5,-10.000,-21.06,2227

_SM_ANGLEo -70.9 D_GRID 45

GPS2 250719,083227,1605.6985,8838.7334,2,1.0,4,-0.7,0.6,155.1,9,9.9

Post-dive calculations and measurements:

SM_CCo 1145,142.45,0.587,1,0,598,580.87 PM_FREEKB_03 62343040

SM_GC 1.50,7.35,2.05,142.45,0.050,0.066,0.587,114,2605,598,-6.93,0.93,580.87,0,0,0,0,1,0,14.88,14.81,14.27 PM_ACTIVECARD 0

IRIDIUM_FIX 1603.20,8841.48,250719,082615 _24V_AH 14.16,0.546

TT8_MAMPS 0.018725,0.993174 _10V_AH 13.21,0.000

HUMID 36.41 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.70261 FG_AHR_10Vo 0.000

TCM_TEMP 28.60 MEM 252064

XPDR_PINGS 14 DATA_FILE_SIZE 6840,205

SC_FREEKB 3910048 CAP_FILE_SIZE 100847,0

TM_FREEKB 7901664 CFSIZE 260034560,196235264

PM_FREEKB_00 62318336 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

PM_FREEKB_01 62343040 CURRENT 0.145,205.88,1

PM_FREEKB_02 62343040 GPS 250719,085558,1605.558,8838.669,1,1.0,2,-0.7,0.4,17.4,11,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 403 108.53 SBE_CT 522 24 177.64

Roll_motor 9 95 12.66 nil 0 0 0.00

VBD_pump_during_apogee 407 749 4325.12 nil 0 0 0.00

VBD_pump_during_surface 142 586 1183.54 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 1096 24 386.31

Iridium_during_xfer 0 0 0.00 TMICL 399 22 127.23

Transponder_ping 3 420 20.82 PMAR 1110 8 127.01

GUMSTIX_24V 0 0 0.00

GPS 15 28 6.00

TT8 168 12 27.29

LPSleep 102 2 2.97

TT8_Active 424 12 68.75

TT8_Sampling 664 36 317.82

TT8_CF8 50 42 28.90

TT8_Kalman 0 0 0.00

Analog_circuits 844 16 180.71

GPS_charging 0 0 0.00

Compass 543 7 53.75

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.69 -146.0 124 2647 631 566 0.0 0.0 0 128 0.00 0.00 -101.22 0.005 16386 0.000 0.000 117 2647 2991 2981 3002 0 0 0 0 0 0 15.12 28.83 15.16

131 -0.69 -146.0 117 2645 2982 2998 4.9 -13.2 21 159 9.75 0.00 -10.02 0.016 18950 0.404 0.000 2144 2647 3564 3563 3566 0 0 0 0 0 0 14.59 14.21 14.78

256 end dive: TARGET_DEPTH_EXCEEDED

state 257 begin apogee

263 -0.14 0.0 2144 2440 3564 3566 45.0 -22.7 46 378 0.62 0.00 105.38 0.750 10246 0.216 0.000 2325 2439 2966 2984 2948 0 0 0 0 0 0 14.71 14.64 14.23

381 end apogee: CONTROL_FINISHED_OK

state 381 begin climb

383 0.69 146.0 2326 2439 2982 2947 54.8 0.0 61 512 0.85 2.38 103.65 0.741 10500 0.145 0.092 2597 3813 2369 2410 2328 0 0 0 0 0 0 14.64 14.47 14.16

576 0.81 236.5 2595 3814 2404 2328 49.1 5.8 100 661 0.00 2.25 64.57 0.726 9382 0.000 0.063 2607 2470 2000 2056 1944 0 0 0 0 0 0 14.78 14.73 14.22

847 1.18 414.1 2607 2469 2049 1942 37.1 1.8 152 1000 0.40 2.40 133.82 0.727 11172 0.061 0.096 2796 3817 1277 1350 1204 0 0 0 0 0 0 14.88 14.52 14.23

1106 end climb: SURFACE_DEPTH_REACHED

state 1106 begin surface coast

1116 end surface coast: CONTROL_FINISHED_OK

state 1116 begin surface

ID	171	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	5
MISSION	11	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	1	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	1	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.63
STOP_T	0	SM_CC	580.87036	VBD_MIN	600	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	2968	DEVICE1	2
D_TGT	45	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	120	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	200	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0015	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	70
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	15	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	25	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	64
T_ABORT	1440	T_RSLEEP	1	LOITER_D_TOP	0	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0044193882
T_LOITER	0	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	SEABIRD_T_H	0.00064798427
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	SEABIRD_T_I	2.6719992e-05
USE_BATHY	0	PITCH_MIN	150	AH0_24V	350	SEABIRD_T_J	3.3115991e-06
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	SEABIRD_C_G	-9.8059483
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2380	MINV_24V	11	SEABIRD_C_H	1.1280893
D_OFFGRID	1020	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.003824637
T_WATCHDOG	10	PITCH_CNV	0.003125763	MAXI_24V	3	SEABIRD_C_J	0.00035372932
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	150	PITCH_GAIN	37	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	175	PRESSURE_YINT	-152.46104	TM_RECORDABOVE	200.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010631012	TM_PROFILE	1.0
RHO	1.0275	PITCH_ADJ_GAIN	0.02	AD7714Ch0Gain	1	TM_XMITPROFILE	1.0
MASS	53930	PITCH_ADJ_DBAND	1	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	350	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	3900	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	2600	ALTIM_TOP_TURN_MARGIN	0	PM_PROFILE	3.0
HD_A	0.003	C_ROLL_CLIMB	2440	ALTIM_TOP_MIN_OBSTACLE	0	PM_XMITPROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_NDIVE	1.0
HD_C	9.9999997e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	0	PM_XMITRAW	0.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_MOTORS	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	62	ALTIM_PULSE	3	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	61	ALTIM_SENSITIVITY	2

GPS1	250719,082821,1605.6869,8838.7246,1,1.0,2,-0.7,0.8,351.0,10,8.9	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	BD13
_XMS_NAKs	0	TGT_LATLONG	1400.000,8700.000
_XMS_TOUTs	0	TGT_RADIUS	8000.000
_SM_DEPTHo	1.53	MHEAD_RNG_PITCHd_Wd	218.0,292697,-17.5,-10.000,-21.06,2227
_SM_ANGLEo	-70.9	D_GRID	45
GPS2	250719,083227,1605.6985,8838.7334,2,1.0,4,-0.7,0.6,155.1,9,9.9

SM_CCo	1145,142.45,0.587,1,0,598,580.87	PM_FREEKB_03	62343040
SM_GC	1.50,7.35,2.05,142.45,0.050,0.066,0.587,114,2605,598,-6.93,0.93,580.87,0,0,0,0,1,0,14.88,14.81,14.27	PM_ACTIVECARD	0
IRIDIUM_FIX	1603.20,8841.48,250719,082615	_24V_AH	14.16,0.546
TT8_MAMPS	0.018725,0.993174	_10V_AH	13.21,0.000
HUMID	36.41	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.70261	FG_AHR_10Vo	0.000
TCM_TEMP	28.60	MEM	252064
XPDR_PINGS	14	DATA_FILE_SIZE	6840,205
SC_FREEKB	3910048	CAP_FILE_SIZE	100847,0
TM_FREEKB	7901664	CFSIZE	260034560,196235264
PM_FREEKB_00	62318336	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
PM_FREEKB_01	62343040	CURRENT	0.145,205.88,1
PM_FREEKB_02	62343040	GPS	250719,085558,1605.558,8838.669,1,1.0,2,-0.7,0.4,17.4,11,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	403	108.53	SBE_CT	522	24	177.64
Roll_motor	9	95	12.66	nil	0	0	0.00
VBD_pump_during_apogee	407	749	4325.12	nil	0	0	0.00
VBD_pump_during_surface	142	586	1183.54	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	1096	24	386.31
Iridium_during_xfer	0	0	0.00	TMICL	399	22	127.23
Transponder_ping	3	420	20.82	PMAR	1110	8	127.01
GUMSTIX_24V	0	0	0.00
GPS	15	28	6.00
TT8	168	12	27.29
LPSleep	102	2	2.97
TT8_Active	424	12	68.75
TT8_Sampling	664	36	317.82
TT8_CF8	50	42	28.90
TT8_Kalman	0	0	0.00
Analog_circuits	844	16	180.71
GPS_charging	0	0	0.00
Compass	543	7	53.75
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.69	-146.0	124	2647	631	566	0.0	0.0	0	128	0.00	0.00	-101.22	0.005	16386	0.000	0.000	117	2647	2991	2981	3002	0	0	0	0	0	0	15.12	28.83	15.16
131	-0.69	-146.0	117	2645	2982	2998	4.9	-13.2	21	159	9.75	0.00	-10.02	0.016	18950	0.404	0.000	2144	2647	3564	3563	3566	0	0	0	0	0	0	14.59	14.21	14.78
256	end dive: TARGET_DEPTH_EXCEEDED
state	257	begin apogee
263	-0.14	0.0	2144	2440	3564	3566	45.0	-22.7	46	378	0.62	0.00	105.38	0.750	10246	0.216	0.000	2325	2439	2966	2984	2948	0	0	0	0	0	0	14.71	14.64	14.23
381	end apogee: CONTROL_FINISHED_OK
state	381	begin climb
383	0.69	146.0	2326	2439	2982	2947	54.8	0.0	61	512	0.85	2.38	103.65	0.741	10500	0.145	0.092	2597	3813	2369	2410	2328	0	0	0	0	0	0	14.64	14.47	14.16
576	0.81	236.5	2595	3814	2404	2328	49.1	5.8	100	661	0.00	2.25	64.57	0.726	9382	0.000	0.063	2607	2470	2000	2056	1944	0	0	0	0	0	0	14.78	14.73	14.22
847	1.18	414.1	2607	2469	2049	1942	37.1	1.8	152	1000	0.40	2.40	133.82	0.727	11172	0.061	0.096	2796	3817	1277	1350	1204	0	0	0	0	0	0	14.88	14.52	14.23
1106	end climb: SURFACE_DEPTH_REACHED
state	1106	begin surface coast
1116	end surface coast: CONTROL_FINISHED_OK
state	1116	begin surface