Glider dive log

Guam Oct19 * SG178 * Dive index * Mission links * Dive 413 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 178 ESCAPE_HEADING_DELTA 10 R_PORT_OVSHOOT 36 ALTIM_FREQUENCY 13

MISSION 31 FIX_MISSING_TIMEOUT 0 R_STBD_OVSHOOT 35 ALTIM_PULSE 1

DIVE 413 TGT_DEFAULT_LAT 47.700001 ROLL_AD_RATE 350 ALTIM_SENSITIVITY 5

N_DIVES 0 TGT_DEFAULT_LON -122.4 ROLL_MAXERRORS 1 XPDR_VALID 6

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 99

D_SURF 3 SM_CC 500 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 N_FILEKB 8 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 90 FILEMGR 0 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 CALL_NDIVES 1 C_VBD 2968 MOTHERBOARD 4

D_NO_BLEED 200 COMM_SEQ 0 VBD_DBAND 2 DEVICE1 -1

D_BOOST 2 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE2 -1

T_BOOST 0 N_NOCOMM 2 VBD_LP_IGNORE 0 DEVICE3 -1

D_FINISH 0 NOCOMM_ACTION 163 VBD_TIMEOUT 720 DEVICE4 -1

D_PITCH 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.00038000001 DEVICE5 -1

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_SURFACE 4 DEVICE6 -1

D_CALL 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 7

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 UNCOM_BLEED 50 LOGGERDEVICE2 83

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_DIVE 30 HEAPDBG 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

T_MISSION 40 T_GPS 5 DBDW 0 COMPASS_DEVICE 33

T_ABORT 1440 N_GPS 100740 LOITER_W_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 T_RSLEEP 2 LOITER_DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 STROBE 0 LOITER_D_TOP 0 GPS_DEVICE 64

T_NO_W 120 RAFOS_PEAK_OFFSET 1.5 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 PITCH_W_GAIN 3 SIM_W 0

USE_BATHY -2 RAFOS_MMODEM 0 PITCH_W_DBAND 0.5 SEABIRD_T_G 0.0043966938

USE_ICE 0 PITCH_MIN 165 CF8_MAXERRORS 20 SEABIRD_T_H 0.00063700025

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3805 AH0_24V 350 SEABIRD_T_I 2.5067597e-05

D_OFFGRID 1000 C_PITCH 2125 AH0_10V 0 SEABIRD_T_J 2.9826379e-06

T_WATCHDOG 10 PITCH_DBAND 0.1 MINV_24V 11 SEABIRD_C_G -9.7293062

RELAUNCH 1 PITCH_CNV 0.003125763 MINV_10V 11 SEABIRD_C_H 1.1206031

APOGEE_PITCH -5 P_OVSHOOT 0.039999999 MAXI_24V 0.60000002 SEABIRD_C_I 0.00047059715

MAX_BUOY 175 P_OVSHOOT_WITHG 0 MAXI_10V 0.80000001 SEABIRD_C_J 5.505409e-05

COURSE_BIAS 0 PITCH_GAIN 24 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_TIMEOUT 20 FG_AHR_24V 0 SC_PROFILE 7.0

SPEED_FACTOR 1 PITCH_AD_RATE 145 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

RHO 1.0275 PITCH_MAXERRORS 1 PRESSURE_YINT -157.45766 SC_NDIVE 1.0

MASS 53923 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.0001061024 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_DBAND 0 AD7714Ch0Gain 1 PM_PROFILE 7.0

NAV_MODE 0 ROLL_MIN 625 COMPASS_USE 4 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_PING_FIT 0 PM_NDIVE 1.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

HD_A 0.00316228 C_ROLL_DIVE 2750 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 1.0

HD_B 0.010145 C_ROLL_CLIMB 1700 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 1.0

HD_C 5.7000002e-06 HEAD_ERRBAND 10 ALTIM_TOP_MIN_OBSTACLE 0

HEADING -1 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 0

AD7714Ch0Gain 1 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0 SEABIRD_C_J 5.505409e-05

AH0_10V 0 ESCAPE_HEADING_DELTA 10 PITCH_AD_RATE 145 SEABIRD_T_G 0.0043966938

AH0_24V 350 FERRY_MAX 45 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00063700025

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_DBAND 0.1 SEABIRD_T_I 2.5067597e-05

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_GAIN 24 SEABIRD_T_J 2.9826379e-06

ALTIM_PING_DELTA 0 FILEMGR 0 PITCH_MAX 3805 SIM_W 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 SM_CC 500

ALTIM_PING_FIT 0 GLIDE_SLOPE 30 PITCH_MIN 165 SPEED_FACTOR 1

ALTIM_PULSE 1 GPS_DEVICE 64 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_SENSITIVITY 5 HD_A 0.00316228 PITCH_VBD_SHIFT 0.00038000001 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_B 0.010145 PITCH_W_DBAND 0.5 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 HD_C 5.7000002e-06 PITCH_W_GAIN 3 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 HEADING -1 PM_MOTORS 1.0 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HEAD_ERRBAND 10 PM_NDIVE 1.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAPDBG 0 PM_PROFILE 7.0 TGT_DEFAULT_LAT 47.700001

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TGT_DEFAULT_LON -122.4

CALL_WAIT 60 ID 178 PM_SENDDEPTH 1.0 T_ABORT 1440

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 0.0097660003 PM_XMITPROFILE 3.0 T_BOOST 0

CAPUPLOAD 0 INT_PRESSURE_YINT 0 PM_XMITRAW 0.0 T_DIVE 30

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_SLOPE 0.0001061024 T_EPIRB 0

COMM_SEQ 0 LOGGERDEVICE1 53 PRESSURE_YINT -157.45766 T_GPS 5

COMPASS2_DEVICE 147 LOGGERDEVICE2 83 PROTOCOL 9 T_LOITER 0

COMPASS_DEVICE 33 LOGGERDEVICE3 -1 P_OVSHOOT 0.039999999 T_MISSION 40

COMPASS_USE 4 LOGGERDEVICE4 -1 P_OVSHOOT_WITHG 0 T_NO_W 120

COURSE_BIAS 0 LOGGERS 7 RAFOS_CORR_THRESH 60 T_RSLEEP 2

C_PITCH 2125 LOITER_DBDW 0 RAFOS_DEVICE -1 T_TURN 225

C_ROLL_CLIMB 1700 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_ROLL_DIVE 2750 LOITER_D_TOP 0 RAFOS_MMODEM 0 T_WATCHDOG 10

C_VBD 2968 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50

DBDW 0 LOITER_W_DBAND 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MASS 53923 RHO 1.0275 USE_BATHY -2

DEVICE1 -1 MASS_COMP 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEVICE2 -1 MAXI_10V 0.80000001 ROLL_ADJ_GAIN 0 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MAXI_24V 0.60000002 ROLL_AD_RATE 350 VBD_CNV -0.24529999

DEVICE4 -1 MAX_BUOY 175 ROLL_CNV 0.028270001 VBD_DBAND 2

DEVICE5 -1 MINV_10V 11 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE6 -1 MINV_24V 11 ROLL_MAX 3950 VBD_MAX 3960

DIVE 413 MISSION 31 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

D_ABORT 1010 MOTHERBOARD 4 ROLL_MIN 625 VBD_MIN 500

D_BOOST 2 NAV_MODE 0 ROLL_TIMEOUT 15 VBD_PUMP_AD_RATE_APOGEE 1

D_CALL 0 NOCOMM_ACTION 163 R_PORT_OVSHOOT 36 VBD_PUMP_AD_RATE_SURFACE 4

D_FINISH 0 N_DIVES 0 R_STBD_OVSHOOT 35 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_NO_BLEED 200 N_GPS 100740 SC_PROFILE 7.0 XPDR_DEVICE 24

D_OFFGRID 1000 N_NOCOMM 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 99

D_PITCH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 49 SEABIRD_C_G -9.7293062

D_SURF 3 PHONE_SUPPLY -2 SEABIRD_C_H 1.1206031

D_TGT 90 PITCH_ADJ_DBAND 0 SEABIRD_C_I 0.00047059715

Pre-dive calculations and measurements:

GPS1 140120,234155,1326.6982,14436.3945,7,0.8,8,0.6,0.3,0.0,8,6.1 SPEED_LIMITS 0.173,0.278

_CALLS 1 TGT_NAME PICKUP_S

_XMS_NAKs 0 TGT_LATLONG 1326.000,14436.300

_XMS_TOUTs 0 TGT_RADIUS 1500.000

_SM_DEPTHo 0.25 MHEAD_RNG_PITCHd_Wd 187.0,1435,-16.2,-10.000,-19.76,2609

_SM_ANGLEo -46.7 D_GRID 229

GPS2 140120,235011,1326.7681,14436.4053,2,0.6,3,0.6,0.3,0.0,12,9.5

Post-dive calculations and measurements:

SM_CCo 2284,0.00,0.000,0,0,926,500.90 PM_FREEKB_03 57587456

SM_GC 0.41,6.28,1.67,0.00,0.054,0.054,0.000,147,2705,926,-6.10,-2.18,500.90,0,0,0,0,0,0,15.26,15.23,15.33 PM_ACTIVECARD 3

IRIDIUM_FIX 1324.19,14436.50,140120,223136 _24V_AH 14.23,169.622

TT8_MAMPS 0.019474,0.158788 _10V_AH 12.01,0.000

HUMID 51.92 FG_AHR_24Vo 0.000

INTERNAL_PRESSURE 9.17027 FG_AHR_10Vo 0.000

TCM_TEMP 28.00 MEM 270344

XPDR_PINGS 0 DATA_FILE_SIZE 13446,356

SC_FREEKB 3696416 CAP_FILE_SIZE 37754,0

PM_FREEKB_00 58040768 CFSIZE 260034560,194420736

PM_FREEKB_01 85563520 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_FREEKB_02 59195968 GPS 150120,003000,1327.006,14436.484,0,0.7,2,0.6,0.3,22.4,12,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 376 86.23 nil 0 0 0.00

Roll_motor 18 61 15.98 nil 0 0 0.00

VBD_pump_during_apogee 563 742 5952.85 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 2231 8 254.80

Iridium_during_xfer 226 166 534.52 PMAR 2216 10 320.45

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 9 1.72

TT8 206 9 22.49

LPSleep 684 2 18.01

TT8_Active 389 9 42.43

TT8_Sampling 1256 28 430.79

TT8_CF8 260 33 105.84

TT8_Kalman 0 0 0.00

Analog_circuits 1158 10 144.71

GPS_charging 0 0 0.00

Compass 932 17 193.06

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -0.74 -170.3 151 2750 582 408 0.0 0.0 0 136 0.00 0.00 -107.30 0.005 16386 0.000 0.000 151 2750 3252 3277 3227 0 0 0 0 0 0 15.42 28.83 15.44

141 -0.74 -170.3 150 2750 3277 3228 4.4 -8.3 11 164 8.05 2.25 -6.93 0.019 18948 0.376 0.057 1875 1322 3663 3720 3606 0 0 0 0 0 0 14.62 14.23 14.86

397 -0.74 -170.3 1874 1322 3720 3606 80.2 -23.2 61 406 0.00 2.35 0.00 0.000 1030 0.000 0.048 1866 2742 3663 3720 3606 0 0 0 0 0 0 15.20 15.15 15.24

444 end dive: TARGET_DEPTH_EXCEEDED

state 444 begin apogee

454 -0.21 0.0 1867 1674 3720 3606 91.4 -22.2 67 604 0.68 0.00 141.40 0.742 10246 0.244 0.000 2049 1674 2967 3049 2885 0 0 0 0 0 0 14.88 14.91 14.40

607 end apogee: CONTROL_FINISHED_OK

state 607 begin climb

610 0.74 170.3 2049 1673 3050 2884 108.3 0.0 82 769 0.98 1.75 146.50 0.734 10756 0.142 0.060 2355 656 2274 2352 2197 0 0 0 0 0 0 14.86 14.73 14.36

997 0.83 403.5 2355 655 2347 2194 105.8 0.8 161 1206 0.00 1.73 196.27 0.732 9254 0.000 0.029 2355 1730 1323 1414 1232 0 0 0 0 0 0 15.16 15.14 14.43

1398 0.83 403.5 2355 1730 1414 1228 83.6 10.3 222 1404 0.12 1.80 0.00 0.000 2564 0.158 0.055 2393 652 1321 1414 1229 0 0 0 0 0 0 15.09 15.11 15.17

1635 0.87 499.6 2393 654 1413 1229 63.4 6.2 268 1723 0.00 1.62 79.57 0.685 9254 0.000 0.029 2393 1709 930 1024 836 0 0 0 0 0 0 15.31 15.26 14.54

1903 0.87 499.6 2393 1708 1024 832 35.3 13.0 304 1909 0.00 1.77 0.00 0.000 516 0.000 0.061 2393 651 928 1024 832 0 0 0 0 0 0 15.41 15.12 15.42

2146 0.87 499.6 2394 651 1024 832 6.3 11.9 350 2152 0.00 1.65 0.00 0.000 1030 0.000 0.029 2393 1701 927 1023 832 0 0 0 0 0 0 15.28 15.26 15.30

2180 end climb: SURFACE_DEPTH_REACHED

state 2180 begin surface coast

2201 end surface coast: CONTROL_FINISHED_OK

state 2201 begin surface

ID	178	ESCAPE_HEADING_DELTA	10	R_PORT_OVSHOOT	36	ALTIM_FREQUENCY	13
MISSION	31	FIX_MISSING_TIMEOUT	0	R_STBD_OVSHOOT	35	ALTIM_PULSE	1
DIVE	413	TGT_DEFAULT_LAT	47.700001	ROLL_AD_RATE	350	ALTIM_SENSITIVITY	5
N_DIVES	0	TGT_DEFAULT_LON	-122.4	ROLL_MAXERRORS	1	XPDR_VALID	6
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	99
D_SURF	3	SM_CC	500	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	N_FILEKB	8	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	90	FILEMGR	0	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	CALL_NDIVES	1	C_VBD	2968	MOTHERBOARD	4
D_NO_BLEED	200	COMM_SEQ	0	VBD_DBAND	2	DEVICE1	-1
D_BOOST	2	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE2	-1
T_BOOST	0	N_NOCOMM	2	VBD_LP_IGNORE	0	DEVICE3	-1
D_FINISH	0	NOCOMM_ACTION	163	VBD_TIMEOUT	720	DEVICE4	-1
D_PITCH	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.00038000001	DEVICE5	-1
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_SURFACE	4	DEVICE6	-1
D_CALL	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	7
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	UNCOM_BLEED	50	LOGGERDEVICE2	83
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_DIVE	30	HEAPDBG	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
T_MISSION	40	T_GPS	5	DBDW	0	COMPASS_DEVICE	33
T_ABORT	1440	N_GPS	100740	LOITER_W_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	T_RSLEEP	2	LOITER_DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	STROBE	0	LOITER_D_TOP	0	GPS_DEVICE	64
T_NO_W	120	RAFOS_PEAK_OFFSET	1.5	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	PITCH_W_GAIN	3	SIM_W	0
USE_BATHY	-2	RAFOS_MMODEM	0	PITCH_W_DBAND	0.5	SEABIRD_T_G	0.0043966938
USE_ICE	0	PITCH_MIN	165	CF8_MAXERRORS	20	SEABIRD_T_H	0.00063700025
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3805	AH0_24V	350	SEABIRD_T_I	2.5067597e-05
D_OFFGRID	1000	C_PITCH	2125	AH0_10V	0	SEABIRD_T_J	2.9826379e-06
T_WATCHDOG	10	PITCH_DBAND	0.1	MINV_24V	11	SEABIRD_C_G	-9.7293062
RELAUNCH	1	PITCH_CNV	0.003125763	MINV_10V	11	SEABIRD_C_H	1.1206031
APOGEE_PITCH	-5	P_OVSHOOT	0.039999999	MAXI_24V	0.60000002	SEABIRD_C_I	0.00047059715
MAX_BUOY	175	P_OVSHOOT_WITHG	0	MAXI_10V	0.80000001	SEABIRD_C_J	5.505409e-05
COURSE_BIAS	0	PITCH_GAIN	24	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_TIMEOUT	20	FG_AHR_24V	0	SC_PROFILE	7.0
SPEED_FACTOR	1	PITCH_AD_RATE	145	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
RHO	1.0275	PITCH_MAXERRORS	1	PRESSURE_YINT	-157.45766	SC_NDIVE	1.0
MASS	53923	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.0001061024	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_DBAND	0	AD7714Ch0Gain	1	PM_PROFILE	7.0
NAV_MODE	0	ROLL_MIN	625	COMPASS_USE	4	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_PING_FIT	0	PM_NDIVE	1.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
HD_A	0.00316228	C_ROLL_DIVE	2750	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	1.0
HD_B	0.010145	C_ROLL_CLIMB	1700	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	1.0
HD_C	5.7000002e-06	HEAD_ERRBAND	10	ALTIM_TOP_MIN_OBSTACLE	0
HEADING	-1	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	0

GPS1	140120,234155,1326.6982,14436.3945,7,0.8,8,0.6,0.3,0.0,8,6.1	SPEED_LIMITS	0.173,0.278
_CALLS	1	TGT_NAME	PICKUP_S
_XMS_NAKs	0	TGT_LATLONG	1326.000,14436.300
_XMS_TOUTs	0	TGT_RADIUS	1500.000
_SM_DEPTHo	0.25	MHEAD_RNG_PITCHd_Wd	187.0,1435,-16.2,-10.000,-19.76,2609
_SM_ANGLEo	-46.7	D_GRID	229
GPS2	140120,235011,1326.7681,14436.4053,2,0.6,3,0.6,0.3,0.0,12,9.5

SM_CCo	2284,0.00,0.000,0,0,926,500.90	PM_FREEKB_03	57587456
SM_GC	0.41,6.28,1.67,0.00,0.054,0.054,0.000,147,2705,926,-6.10,-2.18,500.90,0,0,0,0,0,0,15.26,15.23,15.33	PM_ACTIVECARD	3
IRIDIUM_FIX	1324.19,14436.50,140120,223136	_24V_AH	14.23,169.622
TT8_MAMPS	0.019474,0.158788	_10V_AH	12.01,0.000
HUMID	51.92	FG_AHR_24Vo	0.000
INTERNAL_PRESSURE	9.17027	FG_AHR_10Vo	0.000
TCM_TEMP	28.00	MEM	270344
XPDR_PINGS	0	DATA_FILE_SIZE	13446,356
SC_FREEKB	3696416	CAP_FILE_SIZE	37754,0
PM_FREEKB_00	58040768	CFSIZE	260034560,194420736
PM_FREEKB_01	85563520	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_FREEKB_02	59195968	GPS	150120,003000,1327.006,14436.484,0,0.7,2,0.6,0.3,22.4,12,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	376	86.23	nil	0	0	0.00
Roll_motor	18	61	15.98	nil	0	0	0.00
VBD_pump_during_apogee	563	742	5952.85	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	2231	8	254.80
Iridium_during_xfer	226	166	534.52	PMAR	2216	10	320.45
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	9	1.72
TT8	206	9	22.49
LPSleep	684	2	18.01
TT8_Active	389	9	42.43
TT8_Sampling	1256	28	430.79
TT8_CF8	260	33	105.84
TT8_Kalman	0	0	0.00
Analog_circuits	1158	10	144.71
GPS_charging	0	0	0.00
Compass	932	17	193.06
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-0.74	-170.3	151	2750	582	408	0.0	0.0	0	136	0.00	0.00	-107.30	0.005	16386	0.000	0.000	151	2750	3252	3277	3227	0	0	0	0	0	0	15.42	28.83	15.44
141	-0.74	-170.3	150	2750	3277	3228	4.4	-8.3	11	164	8.05	2.25	-6.93	0.019	18948	0.376	0.057	1875	1322	3663	3720	3606	0	0	0	0	0	0	14.62	14.23	14.86
397	-0.74	-170.3	1874	1322	3720	3606	80.2	-23.2	61	406	0.00	2.35	0.00	0.000	1030	0.000	0.048	1866	2742	3663	3720	3606	0	0	0	0	0	0	15.20	15.15	15.24
444	end dive: TARGET_DEPTH_EXCEEDED
state	444	begin apogee
454	-0.21	0.0	1867	1674	3720	3606	91.4	-22.2	67	604	0.68	0.00	141.40	0.742	10246	0.244	0.000	2049	1674	2967	3049	2885	0	0	0	0	0	0	14.88	14.91	14.40
607	end apogee: CONTROL_FINISHED_OK
state	607	begin climb
610	0.74	170.3	2049	1673	3050	2884	108.3	0.0	82	769	0.98	1.75	146.50	0.734	10756	0.142	0.060	2355	656	2274	2352	2197	0	0	0	0	0	0	14.86	14.73	14.36
997	0.83	403.5	2355	655	2347	2194	105.8	0.8	161	1206	0.00	1.73	196.27	0.732	9254	0.000	0.029	2355	1730	1323	1414	1232	0	0	0	0	0	0	15.16	15.14	14.43
1398	0.83	403.5	2355	1730	1414	1228	83.6	10.3	222	1404	0.12	1.80	0.00	0.000	2564	0.158	0.055	2393	652	1321	1414	1229	0	0	0	0	0	0	15.09	15.11	15.17
1635	0.87	499.6	2393	654	1413	1229	63.4	6.2	268	1723	0.00	1.62	79.57	0.685	9254	0.000	0.029	2393	1709	930	1024	836	0	0	0	0	0	0	15.31	15.26	14.54
1903	0.87	499.6	2393	1708	1024	832	35.3	13.0	304	1909	0.00	1.77	0.00	0.000	516	0.000	0.061	2393	651	928	1024	832	0	0	0	0	0	0	15.41	15.12	15.42
2146	0.87	499.6	2394	651	1024	832	6.3	11.9	350	2152	0.00	1.65	0.00	0.000	1030	0.000	0.029	2393	1701	927	1023	832	0	0	0	0	0	0	15.28	15.26	15.30
2180	end climb: SURFACE_DEPTH_REACHED
state	2180	begin surface coast
2201	end surface coast: CONTROL_FINISHED_OK
state	2201	begin surface