Glider dive log

NASCAR Jan18 * SG128 * Dive index * Mission links * Dive 615 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 KALMAN_USE 2 ROLL_MIN 200 AD7714Ch0Gain 32

MISSION 4 HD_A 0.0026803601 ROLL_MAX 3700 COMPASS_USE 4

DIVE 615 HD_B 0.0139002 ROLL_DEG 20 ALTIM_PING_FIT 0

N_DIVES 0 HD_C 9.1750398e-06 C_ROLL_DIVE 2200 ALTIM_TOP_PING_RANGE 0

STOP_T 0 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_BOTTOM_TURN_MARGIN 15

D_SURF 3 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 2

D_TGT 500 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_ABORT 1000 TGT_DEFAULT_LAT 3235 R_PORT_OVSHOOT 56 ALTIM_PING_DELTA 50

D_NO_BLEED 200 TGT_DEFAULT_LON -11731 R_STBD_OVSHOOT 50 ALTIM_FREQUENCY 13

D_BOOST 20 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 250 ALTIM_PULSE 3

T_BOOST 5 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FINISH 0 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 5

D_PITCH 0 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_SAFE 0 CALL_NDIVES 1 VBD_MIN 400 INT_PRESSURE_SLOPE 0.0097660003

D_CALL 0 COMM_SEQ 0 VBD_MAX 3900 INT_PRESSURE_YINT -1

SURFACE_URGENCY 0 PROTOCOL 9 C_VBD 3250 DEEPGLIDER 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 DEVICE1 2

T_DIVE 200 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

T_MISSION 1800 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

T_ABORT 2000 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00121 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE5 -1

T_TURN_SAMPINT -5 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 0

T_LOITER 86400 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 -1

T_EPIRB 0 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

EXEC_P 0 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE3 -1

EXEC_DT 0 T_RSLEEP 1 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 2 COMPASS_DEVICE 33

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 400 COMPASS2_DEVICE -1

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 500 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 1 GPS_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 2 RAFOS_DEVICE -1

D_OFFGRID 1000 PITCH_MIN 250 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3750 CF8_MAXERRORS 20 SIM_W 0

RELAUNCH 1 C_PITCH 2760 AH0_24V 350 SEABIRD_T_G 0.0043553207

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00062594062

MAX_BUOY 80 PITCH_CNV 0.003125763 MINV_24V 7 SEABIRD_T_I 2.3765557e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 7 SEABIRD_T_J 2.606791e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.8755465

SPEED_FACTOR 1 PITCH_GAIN 34 MAXI_10V 0.80000001 SEABIRD_C_H 1.1390997

RHO 1.0275 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_I -0.0019936475

MASS 51713 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00023608611

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2

NAV_MODE 2 PITCH_ADJ_GAIN 0.029999999 PRESSURE_YINT -157.40906

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00014074198

AD7714Ch0Gain 32 D_SURF 3 N_FILEKB 8 SEABIRD_T_H 0.00062594062

AH0_10V 0 D_TGT 500 N_GPS 100440 SEABIRD_T_I 2.3765557e-05

AH0_24V 350 ESCAPE_HEADING 0 N_NOCOMM 2 SEABIRD_T_J 2.606791e-06

ALTIM_BOTTOM_TURN_MARGIN 15 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SIM_W 0

ALTIM_FREQUENCY 13 EXEC_DT 0 PHONE_DEVICE 49 SM_CC 400

ALTIM_PING_DELTA 50 EXEC_N 0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 EXEC_P 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_PING_FIT 0 EXEC_T 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_GAIN 34 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3750 TGT_DEFAULT_LAT 3235

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -11731

CALL_NDIVES 1 GPS_DEVICE 32 PITCH_MIN 250 T_ABORT 2000

CALL_TRIES 5 HD_A 0.0026803601 PITCH_TIMEOUT 16 T_BOOST 5

CALL_WAIT 60 HD_B 0.0139002 PITCH_VBD_SHIFT 0.00121 T_DIVE 200

CAPMAXSIZE 100000 HD_C 9.1750398e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

CAPUPLOAD 0 HEADING -1 PITCH_W_GAIN 2 T_GPS 5

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00014074198 T_LOITER 86400

COMM_SEQ 0 HEAPDBG 0 PRESSURE_YINT -157.40906 T_MISSION 1800

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_NO_W 120

COMPASS_DEVICE 33 ID 128 P_OVSHOOT 0.039999999 T_RSLEEP 1

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_YINT -1 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_PITCH 2760 KALMAN_USE 2 RAFOS_DEVICE -1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 LOGGERDEVICE1 -1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_ROLL_DIVE 2200 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD 3250 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

DBDW 0 LOGGERDEVICE4 -1 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOGGERS 0 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOITER_DBDW 400 ROLL_ADJ_DBAND 0 VBD_CNV -0.245296

DEVICE2 -1 LOITER_D_NO_PUMP 500 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE3 -1 LOITER_N_DIVE 1 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE4 -1 LOITER_W_DBAND 2 ROLL_CNV 0.028270001 VBD_MAX 3900

DEVICE5 -1 MASS 51713 ROLL_DEG 20 VBD_MAXERRORS 1

DEVICE6 -1 MASS_COMP 0 ROLL_MAX 3700 VBD_MIN 400

DIVE 615 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 1000 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 20 MAX_BUOY 80 ROLL_TIMEOUT 15 VBD_TIMEOUT 540

D_CALL 0 MINV_10V 7 R_PORT_OVSHOOT 56 W_ADJ_DBAND 2

D_FINISH 0 MINV_24V 7 R_STBD_OVSHOOT 50 XPDR_DEVICE 24

D_FLARE 3 MISSION 4 SEABIRD_C_G -9.8755465 XPDR_INHIBIT 90

D_NO_BLEED 200 MOTHERBOARD 4 SEABIRD_C_H 1.1390997 XPDR_VALID 5

D_OFFGRID 1000 NAV_MODE 2 SEABIRD_C_I -0.0019936475

D_PITCH 0 NOCOMM_ACTION 163 SEABIRD_C_J 0.00023608611

D_SAFE 0 N_DIVES 0 SEABIRD_T_G 0.0043553207

Pre-dive calculations and measurements:

GPS1 201018,014508,-103.9367,6319.4067,38,1.0,41,-4.6,0.6,137.0,8,9.5 SPEED_LIMITS 0.144,0.155

_CALLS 2 TGT_NAME MALDIVE

_XMS_NAKs 0 TGT_LATLONG 430.000,7230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 81.9,1189761,-23.2,-8.333,-28.22,1424

_SM_ANGLEo -74.8 D_GRID 1000

GPS2 201018,015310,-104.0164,6319.5439,15,1.0,18,-4.6,0.6,130.1,8,9.9

Post-dive calculations and measurements:

FINISH 0.1,1.022418 _10V_AH 8.14,0.000

SM_CCo 95108,31.95,0.079,0,0,1618,400.08 FG_AHR_24Vo 0.000

SM_GC 1.09,8.88,0.00,31.95,0.088,0.000,0.079,251,2193,1618,-7.80,-0.20,400.08,0,0,0,0,0,0,14.24,14.90,14.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX -109.48,6318.38,181018,224942 MEM 303008

TT8_MAMPS 0.018725,0.15729 DATA_FILE_SIZE 70015,1636

HUMID 62.56 CAP_FILE_SIZE 267583,0

INTERNAL_PRESSURE 8.49255 CFSIZE 260034560,199835648

TCM_TEMP 22.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.144,352.02,1

_24V_AH 12.58,190.604 GPS 211018,042057,-56.620,6318.588,41,1.0,44,-4.6,1.0,108.1,7,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 412 136.16 SBE_CT 426 23 128.63

Roll_motor 72 76 69.87 nil 0 0 0.00

VBD_pump_during_apogee 379 1546 7379.39 nil 0 0 0.00

VBD_pump_during_surface 31 78 31.67 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 nil 0 0 0.00

Iridium_during_xfer 287 137 498.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 20 3.50

TT8 3629 9 279.81

LPSleep 88532 2 1578.24

TT8_Active 578 9 44.60

TT8_Sampling 2282 28 523.77

TT8_CF8 591 34 164.58

TT8_Kalman 0 0 0.00

Analog_circuits 2270 16 295.73

GPS_charging 0 0 0.00

Compass 1648 17 231.17

RAFOS 0 0 0.00

Transponder 0 5 0.02

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

8 -0.78 -77.9 239 2218 1631 1621 0.0 0.0 0 73 0.00 0.00 -61.83 0.003 16390 0.000 0.000 240 2218 3569 3547 3591 0 0 0 0 0 0 14.85 12.58 14.74

77 -0.78 -77.9 239 2218 3547 3592 3.8 -10.8 11 97 11.85 1.30 0.00 0.000 2564 0.412 0.050 2501 1501 3573 3555 3592 0 0 0 0 0 0 13.92 14.42 14.35

185 -0.63 -77.9 2501 1501 3566 3586 42.1 -21.4 31 193 0.20 1.27 0.00 0.000 3206 0.261 0.048 2550 2185 3576 3567 3585 0 0 0 0 0 0 13.83 14.32 14.04

378 -0.51 -77.9 2550 2185 3569 3584 81.0 -16.7 53 383 0.15 1.17 0.00 0.000 2436 0.300 0.057 2586 2893 3577 3570 3584 0 0 0 0 0 0 13.93 14.23 14.10

472 -0.58 -77.9 2585 2894 3572 3583 90.0 -7.5 71 476 0.00 1.12 0.00 0.000 1158 0.000 0.035 2586 2171 3577 3572 3583 0 0 0 0 0 0 14.47 14.45 14.49

665 -0.69 -77.9 2585 2164 3579 3582 106.8 -10.7 91 669 0.12 1.25 0.00 0.000 4484 0.146 0.057 2538 2901 3580 3578 3583 0 0 0 0 0 0 14.50 14.27 14.52

749 -0.69 -77.9 2538 2901 3580 3583 116.8 -11.8 107 752 0.00 1.08 0.00 0.000 1030 0.000 0.034 2539 2197 3581 3580 3583 0 0 0 0 0 0 14.48 14.46 14.51

941 -0.69 -77.9 2538 2192 3583 3583 139.0 -11.2 127 945 0.00 1.20 0.00 0.000 260 0.000 0.063 2538 2894 3583 3583 3583 0 0 0 0 0 0 15.01 14.28 15.02

1017 -0.75 -77.9 2538 2893 3585 3583 148.0 -11.5 142 1024 0.00 1.08 0.00 0.000 1158 0.000 0.036 2538 2194 3584 3585 3583 0 0 0 0 0 0 14.48 14.46 14.50

1205 -0.79 -77.9 2538 2192 3586 3583 165.5 -7.4 161 1206 0.00 0.00 0.00 0.000 134 0.000 0.000 2538 2192 3584 3586 3583 0 0 0 0 0 0 15.02 15.04 15.04

1384 -0.79 -77.9 2538 2192 3587 3582 178.9 -7.2 179 1388 0.00 1.20 0.00 0.000 516 0.000 0.038 2538 1509 3584 3587 3582 0 0 0 0 0 0 15.04 14.39 15.06

1477 -0.86 -77.9 2538 1510 3587 3583 186.8 -8.5 197 1483 0.15 1.27 0.00 0.000 5254 0.084 0.049 2478 2203 3585 3587 3583 0 0 0 0 0 0 14.23 14.31 14.31

1673 -0.78 -77.9 2478 2202 3587 3582 210.9 -13.6 217 1678 0.12 1.23 0.00 0.000 2692 0.290 0.033 2506 1521 3585 3587 3583 0 0 0 0 0 0 14.04 14.27 14.16

1769 -0.78 -77.9 2506 1522 3587 3582 223.3 -11.9 236 1776 0.00 1.27 0.00 0.000 1030 0.000 0.050 2506 2206 3584 3587 3582 0 0 0 0 0 0 14.36 14.31 14.40

1957 -0.78 -77.9 2506 2206 3586 3581 246.5 -12.9 255 1961 0.00 1.23 0.00 0.000 516 0.000 0.040 2506 1527 3584 3587 3581 0 0 0 0 0 0 15.03 14.35 15.05

2037 -0.78 -77.9 2506 1528 3586 3580 256.7 -11.5 271 2041 0.00 1.25 0.00 0.000 1030 0.000 0.049 2507 2198 3583 3586 3580 0 0 0 0 0 0 14.36 14.31 14.40

2230 -0.78 -77.9 2506 2198 3585 3578 280.0 -12.4 279 2233 0.00 1.23 0.00 0.000 516 0.000 0.039 2506 1511 3581 3584 3578 0 0 0 0 0 0 15.05 14.35 15.07

2261 -0.78 -77.9 2506 1511 3585 3579 284.3 -13.3 285 2266 0.00 1.30 0.00 0.000 1030 0.000 0.049 2506 2204 3582 3585 3579 0 0 0 0 0 0 14.35 14.31 14.40

2474 -0.78 -77.9 2506 2204 3583 3577 311.4 -12.5 297 2479 0.00 1.15 0.00 0.000 260 0.000 0.067 2506 2891 3580 3583 3578 0 0 0 0 0 0 15.06 14.21 15.07

2538 -0.84 -77.9 2506 2892 3582 3576 319.3 -12.0 309 2543 0.00 1.08 0.00 0.000 1158 0.000 0.037 2506 2209 3579 3582 3576 0 0 0 0 0 0 14.45 14.42 14.47

2751 -0.84 -77.9 2506 2204 3580 3575 342.2 -10.7 321 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2204 3578 3580 3576 0 0 0 0 0 0 15.06 15.08 15.08

2931 -0.84 -77.9 2506 2204 3580 3574 360.5 -10.4 327 2935 0.00 1.23 0.00 0.000 516 0.000 0.041 2506 1511 3577 3580 3574 0 0 0 0 0 0 15.07 14.32 15.08

2972 -0.88 -77.9 2506 1512 3580 3574 364.7 -9.8 335 2976 0.00 1.30 0.00 0.000 1158 0.000 0.050 2507 2204 3577 3580 3574 0 0 0 0 0 0 14.32 14.30 14.37

3174 -0.88 -77.9 2506 2204 3579 3572 385.2 -10.5 345 3179 0.00 1.25 0.00 0.000 516 0.000 0.039 2507 1510 3575 3579 3572 0 0 0 0 0 0 15.07 14.32 15.08

3184 -0.88 -77.9 2506 1510 3579 3572 386.5 -10.7 347 3188 0.00 1.30 0.00 0.000 1030 0.000 0.050 2507 2200 3575 3579 3572 0 0 0 0 0 0 14.31 14.26 14.35

3387 -0.88 -77.9 2506 2200 3578 3570 408.8 -11.4 357 3392 0.00 1.23 0.00 0.000 516 0.000 0.041 2507 1514 3574 3578 3571 0 0 0 0 0 0 15.05 14.30 15.07

3405 -0.88 -77.9 2506 1514 3577 3570 410.9 -11.3 360 3408 0.00 1.30 0.00 0.000 1030 0.000 0.053 2506 2202 3574 3578 3571 0 0 0 0 0 0 14.30 14.24 14.33

3601 -0.88 -77.9 2506 2202 3576 3568 434.4 -12.2 369 3606 0.00 1.25 0.00 0.000 516 0.000 0.041 2506 1515 3572 3576 3568 0 0 0 0 0 0 15.06 14.30 15.08

3623 -0.91 -77.9 2506 1515 3576 3568 437.2 -11.4 373 3629 0.10 1.30 0.00 0.000 5254 0.091 0.054 2465 2202 3572 3576 3568 0 0 0 0 0 0 14.13 14.23 14.21

3818 -0.82 -77.9 2465 2202 3574 3567 463.4 -13.9 381 3823 0.00 1.25 0.00 0.000 644 0.000 0.040 2465 1512 3570 3573 3567 0 0 0 0 0 0 15.05 14.28 15.07

3829 -0.75 -77.9 2464 1512 3573 3567 465.2 -13.8 383 3834 0.17 1.30 0.00 0.000 3206 0.261 0.054 2507 2198 3570 3574 3567 0 0 0 0 0 0 13.63 14.22 13.85

4032 -0.75 -77.9 2507 2197 3572 3565 488.7 -11.5 393 4036 0.00 1.25 0.00 0.000 516 0.000 0.041 2508 1510 3568 3572 3565 0 0 0 0 0 0 15.06 14.28 15.07

4054 -0.79 -77.9 2508 1510 3572 3565 491.2 -11.2 397 4059 0.00 1.30 0.00 0.000 1158 0.000 0.053 2508 2195 3568 3572 3564 0 0 0 0 0 0 14.27 14.21 14.31

4155 end dive: TARGET_DEPTH_EXCEEDED

state 4155 begin apogee

4161 -0.15 0.0 2509 2195 3571 3564 502.6 -11.1 402 4235 0.77 0.00 70.65 1.512 10246 0.239 0.000 2705 2195 3250 3261 3239 0 0 0 0 0 0 13.73 14.21 13.18

4236 end apogee: CONTROL_FINISHED_OK

state 4236 begin loiter

4456 -0.15 0.0 2705 2195 3253 3231 511.2 -2.2 406 4457 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2195 3241 3252 3231 0 0 0 0 0 0 14.90 14.91 14.91

5057 -0.58 9.5 2705 2195 3247 3227 525.7 -2.4 411 5068 0.40 0.00 7.90 1.482 12454 0.081 0.000 2564 2195 3210 3220 3201 0 0 0 0 0 0 14.46 14.44 13.35

5657 -0.63 21.1 2563 2195 3211 3194 543.4 -3.0 416 5671 0.00 0.00 12.05 1.527 8358 0.000 0.000 2564 2195 3162 3172 3153 0 0 0 0 0 0 15.04 14.47 13.44

6257 -0.68 30.1 2564 2195 3162 3144 557.5 -2.3 421 6267 0.00 0.00 8.05 1.535 8358 0.000 0.000 2564 2195 3126 3137 3115 0 0 0 0 0 0 15.04 14.47 13.38

6857 -0.73 30.1 2564 2194 3129 3110 555.5 0.8 426 6859 0.12 0.00 0.00 0.000 4230 0.150 0.000 2523 2195 3119 3129 3110 0 0 0 0 0 0 14.57 14.66 14.64

7457 -0.68 30.1 2522 2195 3127 3108 541.6 2.4 431 7458 0.00 0.00 0.00 0.000 134 0.000 0.000 2523 2195 3117 3127 3108 0 0 0 0 0 0 15.07 15.09 15.09

8057 -0.63 30.1 2523 2195 3124 3107 530.2 1.7 436 8059 0.12 0.00 0.00 0.000 2182 0.279 0.000 2547 2195 3116 3125 3107 0 0 0 0 0 0 14.14 14.43 14.35

8656 -0.63 30.1 2546 2195 3123 3106 531.2 -0.3 441 8658 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2194 3114 3123 3106 0 0 0 0 0 0 15.07 15.09 15.09

9257 -0.63 30.1 2546 2195 3121 3105 527.8 0.7 446 9258 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3113 3122 3105 0 0 0 0 0 0 15.07 15.09 15.09

9856 -0.63 30.1 2546 2195 3121 3104 528.3 -0.2 451 9858 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3112 3120 3104 0 0 0 0 0 0 15.07 15.09 15.09

10455 -0.63 30.1 2546 2195 3119 3103 531.1 -0.4 456 10456 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3111 3120 3103 0 0 0 0 0 0 15.08 15.10 15.10

11058 -0.63 30.1 2546 2195 3119 3103 526.1 0.9 461 11059 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3110 3119 3102 0 0 0 0 0 0 15.06 15.08 15.08

11656 -0.63 30.1 2546 2194 3118 3102 524.0 0.3 466 11658 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2195 3110 3118 3102 0 0 0 0 0 0 15.07 15.09 15.09

12255 -0.63 30.1 2546 2195 3118 3102 522.8 0.2 471 12256 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2195 3110 3118 3102 0 0 0 0 0 0 15.08 15.10 15.10

12857 -0.63 30.1 2546 2195 3117 3101 526.8 -0.8 476 12858 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3109 3117 3101 0 0 0 0 0 0 15.07 15.09 15.09

13457 -0.63 30.1 2546 2195 3117 3101 531.1 -0.7 481 13459 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3109 3117 3101 0 0 0 0 0 0 15.06 15.07 15.07

14055 -0.63 30.1 2546 2195 3117 3101 535.0 -0.6 486 14056 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2195 3109 3117 3101 0 0 0 0 0 0 15.08 15.10 15.09

14657 -0.63 30.1 2546 2195 3117 3101 537.0 -0.3 491 14658 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2195 3108 3117 3100 0 0 0 0 0 0 15.07 15.08 15.08

15256 -0.63 30.1 2546 2195 3117 3100 540.9 -0.7 496 15258 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2195 3108 3116 3100 0 0 0 0 0 0 15.07 15.09 15.08

15856 -0.63 30.1 2546 2195 3116 3100 540.0 0.2 501 15857 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3108 3116 3100 0 0 0 0 0 0 15.07 15.09 15.09

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80656 -0.62 40.2 2546 2194 3090 3074 425.6 0.7 1041 80657 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

81257 -0.62 40.2 2546 2194 3090 3074 427.3 -0.5 1046 81258 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

81857 -0.62 40.2 2547 2195 3090 3074 433.2 -0.9 1051 81858 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

82455 -0.62 40.2 2546 2195 3090 3074 434.4 -0.1 1056 82456 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2194 3082 3090 3074 0 0 0 0 0 0 15.06 15.09 15.08

83058 -0.62 40.2 2546 2194 3089 3074 432.5 0.2 1061 83059 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3081 3090 3073 0 0 0 0 0 0 15.04 15.06 15.06

83656 -0.62 40.2 2546 2195 3090 3074 435.8 -0.6 1066 83658 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

84255 -0.62 40.2 2546 2194 3090 3074 432.4 0.7 1071 84256 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3081 3090 3073 0 0 0 0 0 0 15.07 15.09 15.08

84857 -0.62 40.2 2546 2194 3090 3074 428.9 0.5 1076 84858 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

85457 -0.62 40.2 2546 2194 3090 3074 435.5 -1.2 1081 85459 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3082 3090 3074 0 0 0 0 0 0 15.04 15.06 15.06

86055 -0.62 40.2 2546 2194 3090 3073 435.0 0.4 1086 86056 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3081 3090 3073 0 0 0 0 0 0 15.07 15.09 15.08

86657 -0.62 40.2 2546 2194 3090 3074 428.3 1.0 1091 86658 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

87257 -0.62 40.2 2546 2195 3090 3073 424.4 0.6 1096 87258 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

87856 -0.62 40.2 2546 2194 3090 3074 422.7 0.3 1101 87857 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3081 3090 3073 0 0 0 0 0 0 15.05 15.07 15.07

88457 -0.62 40.2 2546 2194 3090 3074 426.3 -0.7 1106 88458 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2194 3082 3090 3074 0 0 0 0 0 0 15.05 15.07 15.07

89056 -0.62 40.2 2546 2195 3090 3074 423.8 0.5 1111 89058 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3081 3090 3073 0 0 0 0 0 0 15.05 15.07 15.07

89655 -0.62 40.2 2546 2195 3090 3074 421.6 0.3 1116 89656 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3081 3090 3073 0 0 0 0 0 0 15.07 15.09 15.08

90258 -0.62 40.2 2546 2195 3090 3074 422.3 -0.2 1121 90259 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2195 3082 3090 3074 0 0 0 0 0 0 15.04 15.06 15.06

90614 end loiter: LOITER_COMPLETE

state 90614 begin climb

90617 0.78 77.9 2546 2195 3090 3074 425.9 0.0 1124 90667 1.92 1.25 42.67 1.386 10500 0.244 0.076 2995 2908 2926 2937 2915 0 0 0 0 0 0 12.75 14.26 12.98

90785 0.99 150.5 2994 2907 2932 2909 422.1 3.1 1157 90869 0.20 1.12 76.75 1.341 11430 0.083 0.041 3079 2214 2631 2652 2611 0 0 0 0 0 0 14.24 14.35 13.01

91072 0.99 150.5 3078 2214 2646 2608 397.4 9.8 1184 91076 0.00 1.30 0.00 0.000 516 0.000 0.048 3084 1506 2627 2646 2608 0 0 0 0 0 0 14.81 14.21 14.83

91144 0.99 150.5 3083 1506 2646 2607 390.6 9.0 1198 91148 0.00 1.33 0.00 0.000 1030 0.000 0.055 3084 2198 2626 2646 2606 0 0 0 0 0 0 14.26 14.21 14.31

91346 0.99 150.5 3084 2198 2645 2606 370.3 10.3 1208 91349 0.00 1.30 0.00 0.000 516 0.000 0.046 3087 1505 2625 2645 2606 0 0 0 0 0 0 14.91 14.23 14.92

91396 0.99 150.5 3087 1505 2645 2606 365.3 9.5 1218 91400 0.00 1.33 0.00 0.000 1030 0.000 0.057 3088 2199 2625 2645 2606 0 0 0 0 0 0 14.25 14.19 14.29

91590 0.99 150.5 3087 2199 2645 2606 345.7 10.3 1226 91591 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2199 2625 2645 2606 0 0 0 0 0 0 14.94 14.96 14.96

91768 0.96 150.5 3087 2199 2645 2605 327.9 9.6 1232 91772 0.00 1.20 0.00 0.000 388 0.000 0.074 3088 2896 2625 2645 2605 0 0 0 0 0 0 14.97 14.07 15.00

91813 0.96 150.5 3087 2895 2645 2605 323.3 10.1 1241 91818 0.00 1.15 0.00 0.000 1030 0.000 0.044 3091 2196 2624 2645 2604 0 0 0 0 0 0 14.28 14.23 14.32

92013 0.96 150.5 3091 2192 2644 2605 302.4 11.0 1250 92017 0.00 1.25 0.00 0.000 516 0.000 0.047 3096 1503 2624 2644 2604 0 0 0 0 0 0 14.98 14.18 15.00

92039 0.96 150.5 3096 1503 2644 2605 299.0 11.5 1255 92046 0.00 1.35 0.00 0.000 1030 0.000 0.057 3096 2203 2624 2644 2605 0 0 0 0 0 0 14.22 14.16 14.26

92227 0.96 150.5 3096 2203 2644 2605 276.4 12.4 1262 92231 0.00 1.30 0.00 0.000 516 0.000 0.047 3097 1513 2623 2643 2604 0 0 0 0 0 0 15.00 14.16 15.02

92303 0.96 150.5 3097 1513 2643 2604 267.5 10.7 1277 92308 0.00 1.33 0.00 0.000 1030 0.000 0.056 3097 2204 2624 2644 2604 0 0 0 0 0 0 14.19 14.14 14.24

92491 0.96 150.5 3097 2204 2643 2604 246.6 11.4 1287 92495 0.00 1.30 0.00 0.000 516 0.000 0.048 3097 1500 2624 2644 2604 0 0 0 0 0 0 15.01 14.10 15.02

92515 0.96 150.5 3097 1501 2643 2604 243.7 11.0 1292 92522 0.08 1.35 0.00 0.000 5126 0.199 0.057 3075 2202 2624 2643 2605 0 0 0 0 0 0 13.83 14.14 13.96

92704 0.96 150.5 3075 2202 2643 2604 224.4 9.8 1311 92705 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2202 2623 2643 2604 0 0 0 0 0 0 14.99 15.00 15.00

92883 0.96 150.5 3075 2202 2643 2605 207.6 8.9 1329 92887 0.00 1.33 0.00 0.000 516 0.000 0.045 3079 1494 2623 2643 2604 0 0 0 0 0 0 15.01 14.15 15.02

92900 1.00 150.5 3079 1494 2643 2604 206.1 8.4 1332 92906 0.00 1.35 0.00 0.000 1158 0.000 0.056 3079 2196 2624 2643 2605 0 0 0 0 0 0 14.20 14.14 14.25

93086 1.04 150.5 3079 2195 2643 2605 190.5 9.1 1351 93090 0.00 1.30 0.00 0.000 644 0.000 0.046 3082 1514 2623 2643 2604 0 0 0 0 0 0 15.00 14.14 15.02

93139 1.10 150.5 3082 1514 2643 2604 185.8 8.7 1361 93144 0.00 1.33 0.00 0.000 1158 0.000 0.055 3082 2205 2623 2643 2604 0 0 0 0 0 0 14.19 14.13 14.23

93333 1.13 150.5 3082 2205 2643 2604 166.9 10.5 1381 93339 0.12 1.33 0.00 0.000 2692 0.151 0.044 3133 1493 2623 2643 2604 0 0 0 0 0 0 14.41 14.05 14.42

93442 1.13 150.5 3133 1493 2643 2604 152.2 14.2 1402 93449 0.00 1.38 0.00 0.000 1030 0.000 0.055 3133 2206 2623 2643 2604 0 0 0 0 0 0 14.16 14.09 14.21

93628 1.08 150.5 3132 2205 2643 2604 134.9 8.8 1421 93634 0.00 1.20 0.00 0.000 388 0.000 0.070 3133 2899 2623 2643 2604 0 0 0 0 0 0 14.99 14.00 15.01

93764 0.99 150.5 3133 2899 2643 2604 122.5 8.9 1447 93769 0.20 1.15 0.00 0.000 5254 0.249 0.041 3085 2190 2623 2643 2604 0 0 0 0 0 0 13.56 14.16 13.79

93960 1.12 213.3 3085 2189 2643 2604 112.5 3.8 1467 94028 0.12 1.25 60.85 1.036 10916 0.150 0.047 3138 1512 2374 2404 2345 0 0 0 0 0 0 14.40 14.33 13.47

94047 1.12 213.3 3137 1512 2402 2344 106.0 9.5 1484 94054 0.00 1.33 0.00 0.000 1030 0.000 0.054 3138 2210 2373 2402 2344 0 0 0 0 0 0 14.37 14.32 14.40

94232 1.12 213.3 3137 2210 2401 2343 83.8 14.1 1503 94236 0.00 1.30 0.00 0.000 516 0.000 0.048 3140 1525 2372 2401 2343 0 0 0 0 0 0 14.85 14.23 14.88

94315 1.22 213.3 3139 1526 2401 2343 74.3 9.6 1519 94319 0.00 1.27 0.00 0.000 1158 0.000 0.053 3139 2197 2372 2401 2343 0 0 0 0 0 0 14.29 14.24 14.33

94509 1.48 321.3 3139 2197 2399 2341 69.0 0.5 1539 94607 0.28 0.00 93.10 0.958 11174 0.107 0.000 3235 2197 1935 1968 1902 0 0 0 0 0 0 14.22 14.18 13.44

94788 1.40 321.3 3235 2197 1958 1897 39.8 16.4 1579 94794 0.00 1.17 0.00 0.000 388 0.000 0.057 3236 2909 1927 1958 1897 0 0 0 0 0 0 14.79 14.25 14.81

94842 1.35 321.3 3235 2910 1958 1897 31.4 14.6 1589 94850 0.15 1.15 0.00 0.000 5254 0.252 0.041 3201 2198 1927 1958 1897 0 0 0 0 0 0 13.83 14.30 14.02

95036 1.35 321.3 3201 2193 1958 1897 6.9 12.1 1626 95042 0.00 0.00 0.00 0.000 6 0.000 0.000 3201 2193 1927 1958 1897 0 0 0 0 0 0 14.88 14.90 14.90

95068 end climb: SURFACE_DEPTH_REACHED

state 95068 begin surface coast

95089 end surface coast: CONTROL_FINISHED_OK

state 95089 begin surface

ID	128	KALMAN_USE	2	ROLL_MIN	200	AD7714Ch0Gain	32
MISSION	4	HD_A	0.0026803601	ROLL_MAX	3700	COMPASS_USE	4
DIVE	615	HD_B	0.0139002	ROLL_DEG	20	ALTIM_PING_FIT	0
N_DIVES	0	HD_C	9.1750398e-06	C_ROLL_DIVE	2200	ALTIM_TOP_PING_RANGE	0
STOP_T	0	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_BOTTOM_TURN_MARGIN	15
D_SURF	3	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	2
D_TGT	500	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_ABORT	1000	TGT_DEFAULT_LAT	3235	R_PORT_OVSHOOT	56	ALTIM_PING_DELTA	50
D_NO_BLEED	200	TGT_DEFAULT_LON	-11731	R_STBD_OVSHOOT	50	ALTIM_FREQUENCY	13
D_BOOST	20	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	250	ALTIM_PULSE	3
T_BOOST	5	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FINISH	0	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	5
D_PITCH	0	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_SAFE	0	CALL_NDIVES	1	VBD_MIN	400	INT_PRESSURE_SLOPE	0.0097660003
D_CALL	0	COMM_SEQ	0	VBD_MAX	3900	INT_PRESSURE_YINT	-1
SURFACE_URGENCY	0	PROTOCOL	9	C_VBD	3250	DEEPGLIDER	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	DEVICE1	2
T_DIVE	200	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
T_MISSION	1800	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
T_ABORT	2000	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00121	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE5	-1
T_TURN_SAMPINT	-5	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	0
T_LOITER	86400	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	-1
T_EPIRB	0	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
EXEC_P	0	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE3	-1
EXEC_DT	0	T_RSLEEP	1	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	2	COMPASS_DEVICE	33
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	400	COMPASS2_DEVICE	-1
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	500	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	1	GPS_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
D_OFFGRID	1000	PITCH_MIN	250	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3750	CF8_MAXERRORS	20	SIM_W	0
RELAUNCH	1	C_PITCH	2760	AH0_24V	350	SEABIRD_T_G	0.0043553207
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00062594062
MAX_BUOY	80	PITCH_CNV	0.003125763	MINV_24V	7	SEABIRD_T_I	2.3765557e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	7	SEABIRD_T_J	2.606791e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8755465
SPEED_FACTOR	1	PITCH_GAIN	34	MAXI_10V	0.80000001	SEABIRD_C_H	1.1390997
RHO	1.0275	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_I	-0.0019936475
MASS	51713	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00023608611
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2
NAV_MODE	2	PITCH_ADJ_GAIN	0.029999999	PRESSURE_YINT	-157.40906
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00014074198

GPS1	201018,014508,-103.9367,6319.4067,38,1.0,41,-4.6,0.6,137.0,8,9.5	SPEED_LIMITS	0.144,0.155
_CALLS	2	TGT_NAME	MALDIVE
_XMS_NAKs	0	TGT_LATLONG	430.000,7230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	81.9,1189761,-23.2,-8.333,-28.22,1424
_SM_ANGLEo	-74.8	D_GRID	1000
GPS2	201018,015310,-104.0164,6319.5439,15,1.0,18,-4.6,0.6,130.1,8,9.9

FINISH	0.1,1.022418	_10V_AH	8.14,0.000
SM_CCo	95108,31.95,0.079,0,0,1618,400.08	FG_AHR_24Vo	0.000
SM_GC	1.09,8.88,0.00,31.95,0.088,0.000,0.079,251,2193,1618,-7.80,-0.20,400.08,0,0,0,0,0,0,14.24,14.90,14.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-109.48,6318.38,181018,224942	MEM	303008
TT8_MAMPS	0.018725,0.15729	DATA_FILE_SIZE	70015,1636
HUMID	62.56	CAP_FILE_SIZE	267583,0
INTERNAL_PRESSURE	8.49255	CFSIZE	260034560,199835648
TCM_TEMP	22.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.144,352.02,1
_24V_AH	12.58,190.604	GPS	211018,042057,-56.620,6318.588,41,1.0,44,-4.6,1.0,108.1,7,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	412	136.16	SBE_CT	426	23	128.63
Roll_motor	72	76	69.87	nil	0	0	0.00
VBD_pump_during_apogee	379	1546	7379.39	nil	0	0	0.00
VBD_pump_during_surface	31	78	31.67	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	nil	0	0	0.00
Iridium_during_xfer	287	137	498.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	20	3.50
TT8	3629	9	279.81
LPSleep	88532	2	1578.24
TT8_Active	578	9	44.60
TT8_Sampling	2282	28	523.77
TT8_CF8	591	34	164.58
TT8_Kalman	0	0	0.00
Analog_circuits	2270	16	295.73
GPS_charging	0	0	0.00
Compass	1648	17	231.17
RAFOS	0	0	0.00
Transponder	0	5	0.02

		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