Glider dive log

MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 780 * 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 780 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.63

STOP_T 0 SM_CC 500 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 90 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1020 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 0.001 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERS 0

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 2 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 30 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 45 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 64

T_ABORT 1440 T_RSLEEP 2 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 2 SEABIRD_T_G 0.0044193882

T_LOITER 0 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0.5 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 2330 MINV_24V 11 SEABIRD_C_H 1.1280893

D_OFFGRID 1020 PITCH_DBAND 0.1 MINV_10V 9 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 34 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 AD7714Ch0Gain 1 TM_XMITPROFILE 1.0

MASS 53930 PITCH_ADJ_DBAND 0 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 2500 ALTIM_TOP_TURN_MARGIN 0 PM_PROFILE 3.0

HD_A 0.0019952599 C_ROLL_CLIMB 2440 ALTIM_TOP_MIN_OBSTACLE 0 PM_XMITPROFILE 3.0

HD_B 0.019109501 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_NDIVE 1.0

HD_C 5.7000002e-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 53 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 34 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_24V 0 PITCH_MAX 3600 SM_CC 500

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 0.001 SURFACE_URGENCY 0

ALTIM_PULSE 3 HD_A 0.0019952599 PITCH_W_DBAND 0.5 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 HD_B 0.019109501 PITCH_W_GAIN 2 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_C 5.7000002e-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 30

COMPASS_DEVICE 97 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_USE 4 LOGGERS 0 RAFOS_DEVICE -1 T_GPS 5

COURSE_BIAS 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_PITCH 2330 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_MISSION 45

C_ROLL_CLIMB 2440 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

C_ROLL_DIVE 2500 LOITER_N_DIVE 0 RELAUNCH 1 T_RSLEEP 2

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 9 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 780 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_DBAND 2

D_ABORT 1020 NAV_MODE 2 R_PORT_OVSHOOT 53 VBD_LP_IGNORE 0

D_BOOST 2 NOCOMM_ACTION 163 R_STBD_OVSHOOT 36 VBD_MAX 3960

D_CALL 0 N_DIVES 0 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 2

D_SAFE 0 PHONE_SUPPLY -2 SEABIRD_C_I -0.003824637 XPDR_DEVICE 24

D_SURF 3 PITCH_ADJ_DBAND 0 SEABIRD_C_J 0.00035372932 XPDR_INHIBIT 90

D_TGT 90 PITCH_ADJ_GAIN 0 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 300120,005808,547.4492,8015.0332,1,0.5,2,-2.1,0.4,209.1,12,6.1 SPEED_LIMITS 0.173,0.188

_CALLS 2 TGT_NAME PICKUP

_XMS_NAKs 0 TGT_LATLONG 546.000,8015.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 176.9,2679,-19.3,-10.000,-27.95,2212

_SM_ANGLEo -73.2 D_GRID 90

GPS2 300120,010351,547.4459,8014.9526,3,0.5,4,-2.1,0.3,234.9,12,4.4

Post-dive calculations and measurements:

SM_CCo 1972,0.00,0.000,0,0,599,581.12 FG_AHR_24Vo 0.000

SM_GC 1.30,7.25,2.55,0.00,0.044,0.058,0.000,120,2496,599,-6.78,-0.99,581.12,0,0,0,0,0,0,14.52,14.33,14.57 FG_AHR_10Vo 0.000

IRIDIUM_FIX 548.00,8016.22,300120,005851 MEM 249712

TT8_MAMPS 0.018725,0.128079 DATA_FILE_SIZE 13500,311

HUMID 46.18 CAP_FILE_SIZE 43826,0

INTERNAL_PRESSURE 9.62449 CFSIZE 260034560,115798016

TCM_TEMP 26.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 4 CURRENT 0.223,267.95,1

_24V_AH 13.33,258.391 GPS 300120,013816,547.366,8014.646,1,0.6,2,-2.1,0.8,282.7,12,5.9

_10V_AH 12.79,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 348 84.91 SBE_CT 158 24 50.61

Roll_motor 24 78 25.29 nil 0 0 0.00

VBD_pump_during_apogee 619 827 6838.37 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 0 0 0.00

Iridium_during_xfer 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 1 420 5.60 PMAR 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 28 5.64

TT8 237 12 37.19

LPSleep 708 2 19.83

TT8_Active 554 12 86.95

TT8_Sampling 467 36 216.73

TT8_CF8 95 42 52.41

TT8_Kalman 0 0 0.00

Analog_circuits 913 16 189.25

GPS_charging 0 0 0.00

Compass 454 7 43.58

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

10 -0.71 -146.0 139 2509 973 879 0.0 0.0 0 83 0.00 0.00 -71.07 0.005 16386 0.000 0.000 138 2509 2617 2618 2616 0 0 0 0 0 0 14.86 28.83 14.90

88 -0.71 -146.0 138 2509 2618 2616 4.6 -12.5 15 124 9.00 2.35 -17.67 0.008 18948 0.348 0.063 2094 1105 3566 3571 3561 0 0 0 0 0 0 13.94 13.33 14.37

201 -0.71 -146.0 2094 1105 3571 3561 41.9 -29.9 37 208 0.00 2.40 0.00 0.000 1030 0.000 0.057 2085 2490 3566 3571 3561 0 0 0 0 0 0 14.37 14.24 14.40

362 end dive: TARGET_DEPTH_EXCEEDED

state 362 begin apogee

370 -0.15 0.0 2085 2490 3571 3561 91.4 -21.3 56 496 0.73 0.00 121.50 0.812 10246 0.216 0.000 2275 2490 2967 2995 2939 0 0 0 0 0 0 13.75 14.26 13.56

497 end apogee: CONTROL_FINISHED_OK

state 497 begin climb

502 0.71 146.0 2275 2490 2994 2937 104.0 0.0 69 637 0.90 2.45 123.18 0.828 10756 0.138 0.046 2566 1049 2370 2419 2322 0 0 0 0 0 0 14.15 14.23 13.52

701 0.84 274.0 2566 1048 2414 2320 98.9 4.1 109 817 0.10 2.40 107.40 0.814 11302 0.133 0.054 2643 2449 1850 1921 1779 0 0 0 0 0 0 14.26 14.27 13.55

1000 0.95 385.5 2642 2449 1917 1776 72.5 4.8 151 1107 0.00 2.47 98.78 0.784 8484 0.000 0.079 2643 3842 1395 1477 1314 0 0 0 0 0 0 14.86 14.31 13.62

1126 1.07 499.4 2642 3842 1476 1314 66.5 4.7 176 1234 0.00 2.28 100.95 0.776 9254 0.000 0.031 2654 2436 931 985 878 0 0 0 0 0 0 14.46 14.40 13.57

1417 1.15 578.8 2654 2436 984 873 49.3 6.3 217 1490 0.12 2.50 64.93 0.747 11044 0.110 0.076 2739 3840 608 652 564 0 0 0 0 0 0 14.55 14.35 13.68

1574 1.15 578.8 2738 3840 649 562 29.4 12.7 248 1581 0.20 2.28 0.00 0.000 5126 0.192 0.036 2697 2456 605 649 562 0 0 0 0 0 0 14.11 14.39 14.31

1764 1.19 623.8 2696 2455 649 562 11.1 7.9 286 1772 0.00 2.40 3.05 0.360 8740 0.000 0.057 2707 1042 599 643 555 0 0 0 0 0 0 14.90 14.35 13.69

1856 end climb: SURFACE_DEPTH_REACHED

state 1860 begin surface coast

1889 end surface coast: CONTROL_FINISHED_OK

state 1889 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	780	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.63
STOP_T	0	SM_CC	500	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	90	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1020	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	0.001	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERS	0
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	2	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	30	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	45	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	64
T_ABORT	1440	T_RSLEEP	2	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	2	SEABIRD_T_G	0.0044193882
T_LOITER	0	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0.5	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	2330	MINV_24V	11	SEABIRD_C_H	1.1280893
D_OFFGRID	1020	PITCH_DBAND	0.1	MINV_10V	9	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	34	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	AD7714Ch0Gain	1	TM_XMITPROFILE	1.0
MASS	53930	PITCH_ADJ_DBAND	0	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	2500	ALTIM_TOP_TURN_MARGIN	0	PM_PROFILE	3.0
HD_A	0.0019952599	C_ROLL_CLIMB	2440	ALTIM_TOP_MIN_OBSTACLE	0	PM_XMITPROFILE	3.0
HD_B	0.019109501	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_NDIVE	1.0
HD_C	5.7000002e-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	53	ALTIM_PULSE	3	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2

GPS1	300120,005808,547.4492,8015.0332,1,0.5,2,-2.1,0.4,209.1,12,6.1	SPEED_LIMITS	0.173,0.188
_CALLS	2	TGT_NAME	PICKUP
_XMS_NAKs	0	TGT_LATLONG	546.000,8015.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	176.9,2679,-19.3,-10.000,-27.95,2212
_SM_ANGLEo	-73.2	D_GRID	90
GPS2	300120,010351,547.4459,8014.9526,3,0.5,4,-2.1,0.3,234.9,12,4.4

SM_CCo	1972,0.00,0.000,0,0,599,581.12	FG_AHR_24Vo	0.000
SM_GC	1.30,7.25,2.55,0.00,0.044,0.058,0.000,120,2496,599,-6.78,-0.99,581.12,0,0,0,0,0,0,14.52,14.33,14.57	FG_AHR_10Vo	0.000
IRIDIUM_FIX	548.00,8016.22,300120,005851	MEM	249712
TT8_MAMPS	0.018725,0.128079	DATA_FILE_SIZE	13500,311
HUMID	46.18	CAP_FILE_SIZE	43826,0
INTERNAL_PRESSURE	9.62449	CFSIZE	260034560,115798016
TCM_TEMP	26.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	4	CURRENT	0.223,267.95,1
_24V_AH	13.33,258.391	GPS	300120,013816,547.366,8014.646,1,0.6,2,-2.1,0.8,282.7,12,5.9
_10V_AH	12.79,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	348	84.91	SBE_CT	158	24	50.61
Roll_motor	24	78	25.29	nil	0	0	0.00
VBD_pump_during_apogee	619	827	6838.37	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	0	0	0.00
Iridium_during_xfer	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	1	420	5.60	PMAR	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	28	5.64
TT8	237	12	37.19
LPSleep	708	2	19.83
TT8_Active	554	12	86.95
TT8_Sampling	467	36	216.73
TT8_CF8	95	42	52.41
TT8_Kalman	0	0	0.00
Analog_circuits	913	16	189.25
GPS_charging	0	0	0.00
Compass	454	7	43.58
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
10	-0.71	-146.0	139	2509	973	879	0.0	0.0	0	83	0.00	0.00	-71.07	0.005	16386	0.000	0.000	138	2509	2617	2618	2616	0	0	0	0	0	0	14.86	28.83	14.90
88	-0.71	-146.0	138	2509	2618	2616	4.6	-12.5	15	124	9.00	2.35	-17.67	0.008	18948	0.348	0.063	2094	1105	3566	3571	3561	0	0	0	0	0	0	13.94	13.33	14.37
201	-0.71	-146.0	2094	1105	3571	3561	41.9	-29.9	37	208	0.00	2.40	0.00	0.000	1030	0.000	0.057	2085	2490	3566	3571	3561	0	0	0	0	0	0	14.37	14.24	14.40
362	end dive: TARGET_DEPTH_EXCEEDED
state	362	begin apogee
370	-0.15	0.0	2085	2490	3571	3561	91.4	-21.3	56	496	0.73	0.00	121.50	0.812	10246	0.216	0.000	2275	2490	2967	2995	2939	0	0	0	0	0	0	13.75	14.26	13.56
497	end apogee: CONTROL_FINISHED_OK
state	497	begin climb
502	0.71	146.0	2275	2490	2994	2937	104.0	0.0	69	637	0.90	2.45	123.18	0.828	10756	0.138	0.046	2566	1049	2370	2419	2322	0	0	0	0	0	0	14.15	14.23	13.52
701	0.84	274.0	2566	1048	2414	2320	98.9	4.1	109	817	0.10	2.40	107.40	0.814	11302	0.133	0.054	2643	2449	1850	1921	1779	0	0	0	0	0	0	14.26	14.27	13.55
1000	0.95	385.5	2642	2449	1917	1776	72.5	4.8	151	1107	0.00	2.47	98.78	0.784	8484	0.000	0.079	2643	3842	1395	1477	1314	0	0	0	0	0	0	14.86	14.31	13.62
1126	1.07	499.4	2642	3842	1476	1314	66.5	4.7	176	1234	0.00	2.28	100.95	0.776	9254	0.000	0.031	2654	2436	931	985	878	0	0	0	0	0	0	14.46	14.40	13.57
1417	1.15	578.8	2654	2436	984	873	49.3	6.3	217	1490	0.12	2.50	64.93	0.747	11044	0.110	0.076	2739	3840	608	652	564	0	0	0	0	0	0	14.55	14.35	13.68
1574	1.15	578.8	2738	3840	649	562	29.4	12.7	248	1581	0.20	2.28	0.00	0.000	5126	0.192	0.036	2697	2456	605	649	562	0	0	0	0	0	0	14.11	14.39	14.31
1764	1.19	623.8	2696	2455	649	562	11.1	7.9	286	1772	0.00	2.40	3.05	0.360	8740	0.000	0.057	2707	1042	599	643	555	0	0	0	0	0	0	14.90	14.35	13.69
1856	end climb: SURFACE_DEPTH_REACHED
state	1860	begin surface coast
1889	end surface coast: CONTROL_FINISHED_OK
state	1889	begin surface