Glider dive log

MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 781 * 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 781 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 41 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 28 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 781 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_DBAND 2

D_ABORT 1020 NAV_MODE 2 R_PORT_OVSHOOT 41 VBD_LP_IGNORE 0

D_BOOST 2 NOCOMM_ACTION 163 R_STBD_OVSHOOT 28 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 300120,013816,547.3657,8014.6460,1,0.6,2,-2.1,0.8,282.7,12,5.9 SPEED_LIMITS 0.173,0.188

_CALLS 1 TGT_NAME PICKUP

_XMS_NAKs 0 TGT_LATLONG 546.000,8015.000

_XMS_TOUTs 0 TGT_RADIUS 4000.000

_SM_DEPTHo 1.30 MHEAD_RNG_PITCHd_Wd 119.9,2632,-19.3,-10.000,-27.95,2212

_SM_ANGLEo -70.7 D_GRID 90

GPS2 300120,014248,547.3574,8014.5762,2,0.6,2,-2.1,0.8,270.5,12,9.8

Post-dive calculations and measurements:

SM_CCo 1933,0.00,0.000,0,0,598,581.12 FG_AHR_24Vo 0.000

SM_GC 1.32,7.28,0.10,0.00,0.048,0.135,0.000,121,2525,598,-6.79,-0.62,581.12,0,0,0,0,0,0,14.55,14.64,14.61 FG_AHR_10Vo 0.000

IRIDIUM_FIX 545.87,8018.36,300120,010056 MEM 249724

TT8_MAMPS 0.018725,0.155043 DATA_FILE_SIZE 13506,298

HUMID 45.58 CAP_FILE_SIZE 33168,0

INTERNAL_PRESSURE 9.66355 CFSIZE 260034560,115777536

TCM_TEMP 26.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.262,263.71,1

_24V_AH 12.67,258.551 GPS 300120,021633,547.214,8014.433,0,0.9,1,-2.1,0.4,267.5,9,6.7

_10V_AH 12.84,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 346 80.24 SBE_CT 149 24 45.35

Roll_motor 19 170 41.50 nil 0 0 0.00

VBD_pump_during_apogee 615 804 6276.49 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 160 145 296.03 TMICL 0 0 0.00

Transponder_ping 0 420 2.66 PMAR 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 28 5.16

TT8 251 12 39.58

LPSleep 667 2 18.78

TT8_Active 576 12 90.75

TT8_Sampling 585 36 272.59

TT8_CF8 144 42 79.55

TT8_Kalman 0 0 0.00

Analog_circuits 1077 16 224.18

GPS_charging 0 0 0.00

Compass 438 7 42.14

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 -146.0 118 2498 641 557 0.0 0.0 0 98 0.00 0.00 -85.90 0.005 16386 0.000 0.000 117 2498 2713 2711 2715 0 0 0 0 0 0 14.90 28.83 14.92

103 -0.71 -146.0 117 2498 2712 2716 5.3 -14.7 18 134 9.02 2.42 -15.15 0.008 18948 0.347 0.074 2090 1095 3565 3571 3560 0 0 0 0 0 0 13.98 12.67 14.41

184 -0.71 -146.0 2090 1095 3571 3560 35.4 -29.9 34 190 0.00 2.42 0.00 0.000 1030 0.000 0.063 2081 2494 3565 3571 3560 0 0 0 0 0 0 14.44 14.31 14.49

354 end dive: TARGET_DEPTH_EXCEEDED

state 354 begin apogee

362 -0.15 0.0 2081 2402 3571 3560 91.5 -22.8 56 489 0.73 0.08 121.28 0.793 10246 0.216 0.171 2273 2458 2967 2993 2942 0 0 0 0 0 0 13.81 14.31 13.64

490 end apogee: CONTROL_FINISHED_OK

state 490 begin climb

495 0.71 146.0 2273 2458 2991 2941 103.3 0.0 69 628 0.90 2.38 122.45 0.805 10756 0.137 0.058 2567 1063 2370 2413 2328 0 0 0 0 0 0 14.21 14.31 13.61

818 0.86 287.7 2567 1063 2408 2324 91.9 3.4 134 949 0.12 2.35 118.62 0.787 11302 0.112 0.056 2655 2433 1794 1861 1727 0 0 0 0 0 0 14.39 14.33 13.65

1138 1.11 538.0 2655 2433 1857 1724 74.2 -1.6 179 1365 0.00 2.35 219.38 0.775 8740 0.000 0.067 2666 1080 773 819 727 0 0 0 0 0 0 14.91 14.32 13.64

1400 1.16 587.8 2666 1079 819 727 60.9 7.7 213 1440 0.08 2.33 33.83 0.741 11302 0.071 0.058 2742 2438 599 641 558 0 0 0 0 0 0 14.28 14.26 13.67

1624 1.16 587.8 2741 2438 641 558 27.3 17.5 253 1633 0.15 2.35 0.00 0.000 4612 0.196 0.062 2709 1077 599 641 558 0 0 0 0 0 0 14.26 14.35 14.31

1686 1.16 587.8 2709 1077 641 559 19.5 11.4 265 1690 0.00 2.35 0.00 0.000 1030 0.000 0.059 2709 2447 599 641 558 0 0 0 0 0 0 14.49 14.36 14.54

1828 end climb: SURFACE_DEPTH_REACHED

state 1828 begin surface coast

1851 end surface coast: CONTROL_FINISHED_OK

state 1851 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	781	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	41	ALTIM_PULSE	3	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2

GPS1	300120,013816,547.3657,8014.6460,1,0.6,2,-2.1,0.8,282.7,12,5.9	SPEED_LIMITS	0.173,0.188
_CALLS	1	TGT_NAME	PICKUP
_XMS_NAKs	0	TGT_LATLONG	546.000,8015.000
_XMS_TOUTs	0	TGT_RADIUS	4000.000
_SM_DEPTHo	1.30	MHEAD_RNG_PITCHd_Wd	119.9,2632,-19.3,-10.000,-27.95,2212
_SM_ANGLEo	-70.7	D_GRID	90
GPS2	300120,014248,547.3574,8014.5762,2,0.6,2,-2.1,0.8,270.5,12,9.8

SM_CCo	1933,0.00,0.000,0,0,598,581.12	FG_AHR_24Vo	0.000
SM_GC	1.32,7.28,0.10,0.00,0.048,0.135,0.000,121,2525,598,-6.79,-0.62,581.12,0,0,0,0,0,0,14.55,14.64,14.61	FG_AHR_10Vo	0.000
IRIDIUM_FIX	545.87,8018.36,300120,010056	MEM	249724
TT8_MAMPS	0.018725,0.155043	DATA_FILE_SIZE	13506,298
HUMID	45.58	CAP_FILE_SIZE	33168,0
INTERNAL_PRESSURE	9.66355	CFSIZE	260034560,115777536
TCM_TEMP	26.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.262,263.71,1
_24V_AH	12.67,258.551	GPS	300120,021633,547.214,8014.433,0,0.9,1,-2.1,0.4,267.5,9,6.7
_10V_AH	12.84,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	346	80.24	SBE_CT	149	24	45.35
Roll_motor	19	170	41.50	nil	0	0	0.00
VBD_pump_during_apogee	615	804	6276.49	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	160	145	296.03	TMICL	0	0	0.00
Transponder_ping	0	420	2.66	PMAR	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	28	5.16
TT8	251	12	39.58
LPSleep	667	2	18.78
TT8_Active	576	12	90.75
TT8_Sampling	585	36	272.59
TT8_CF8	144	42	79.55
TT8_Kalman	0	0	0.00
Analog_circuits	1077	16	224.18
GPS_charging	0	0	0.00
Compass	438	7	42.14
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	118	2498	641	557	0.0	0.0	0	98	0.00	0.00	-85.90	0.005	16386	0.000	0.000	117	2498	2713	2711	2715	0	0	0	0	0	0	14.90	28.83	14.92
103	-0.71	-146.0	117	2498	2712	2716	5.3	-14.7	18	134	9.02	2.42	-15.15	0.008	18948	0.347	0.074	2090	1095	3565	3571	3560	0	0	0	0	0	0	13.98	12.67	14.41
184	-0.71	-146.0	2090	1095	3571	3560	35.4	-29.9	34	190	0.00	2.42	0.00	0.000	1030	0.000	0.063	2081	2494	3565	3571	3560	0	0	0	0	0	0	14.44	14.31	14.49
354	end dive: TARGET_DEPTH_EXCEEDED
state	354	begin apogee
362	-0.15	0.0	2081	2402	3571	3560	91.5	-22.8	56	489	0.73	0.08	121.28	0.793	10246	0.216	0.171	2273	2458	2967	2993	2942	0	0	0	0	0	0	13.81	14.31	13.64
490	end apogee: CONTROL_FINISHED_OK
state	490	begin climb
495	0.71	146.0	2273	2458	2991	2941	103.3	0.0	69	628	0.90	2.38	122.45	0.805	10756	0.137	0.058	2567	1063	2370	2413	2328	0	0	0	0	0	0	14.21	14.31	13.61
818	0.86	287.7	2567	1063	2408	2324	91.9	3.4	134	949	0.12	2.35	118.62	0.787	11302	0.112	0.056	2655	2433	1794	1861	1727	0	0	0	0	0	0	14.39	14.33	13.65
1138	1.11	538.0	2655	2433	1857	1724	74.2	-1.6	179	1365	0.00	2.35	219.38	0.775	8740	0.000	0.067	2666	1080	773	819	727	0	0	0	0	0	0	14.91	14.32	13.64
1400	1.16	587.8	2666	1079	819	727	60.9	7.7	213	1440	0.08	2.33	33.83	0.741	11302	0.071	0.058	2742	2438	599	641	558	0	0	0	0	0	0	14.28	14.26	13.67
1624	1.16	587.8	2741	2438	641	558	27.3	17.5	253	1633	0.15	2.35	0.00	0.000	4612	0.196	0.062	2709	1077	599	641	558	0	0	0	0	0	0	14.26	14.35	14.31
1686	1.16	587.8	2709	1077	641	559	19.5	11.4	265	1690	0.00	2.35	0.00	0.000	1030	0.000	0.059	2709	2447	599	641	558	0	0	0	0	0	0	14.49	14.36	14.54
1828	end climb: SURFACE_DEPTH_REACHED
state	1828	begin surface coast
1851	end surface coast: CONTROL_FINISHED_OK
state	1851	begin surface