Glider dive log

MISOBOB Jul19 * SG171 * Dive index * Mission links * Dive 782 * 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 782 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 77 ALTIM_PULSE 3 PM_SENDDEPTH 1.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 782 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_DBAND 2

D_ABORT 1020 NAV_MODE 2 R_PORT_OVSHOOT 77 VBD_LP_IGNORE 0

D_BOOST 2 NOCOMM_ACTION 163 R_STBD_OVSHOOT 43 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 300120,021633,547.2137,8014.4331,0,0.9,1,-2.1,0.4,267.5,9,6.7 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 1.30 MHEAD_RNG_PITCHd_Wd 108.6,2537,-19.3,-10.000,-27.95,2212

_SM_ANGLEo -68.9 D_GRID 90

GPS2 300120,022237,547.2031,8014.3418,2,0.9,3,-2.1,0.5,280.7,9,4.5

Post-dive calculations and measurements:

SM_CCo 2062,0.00,0.000,0,0,648,569.10 FG_AHR_24Vo 0.000

SM_GC 1.43,7.07,0.10,0.00,0.035,0.144,0.000,121,2537,648,-6.76,-0.51,569.10,0,0,0,0,0,0,14.64,14.65,14.69 FG_AHR_10Vo 0.000

IRIDIUM_FIX 545.76,8011.95,300120,021832 MEM 249620

TT8_MAMPS 0.018725,0.151298 DATA_FILE_SIZE 13506,336

HUMID 45.86 CAP_FILE_SIZE 37714,0

INTERNAL_PRESSURE 9.70261 CFSIZE 260034560,115748864

TCM_TEMP 26.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.256,271.95,1

_24V_AH 13.48,258.710 GPS 300120,025833,547.103,8014.251,1,0.9,2,-2.1,0.5,249.9,9,6.8

_10V_AH 12.90,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 346 84.79 SBE_CT 169 24 54.86

Roll_motor 23 143 45.85 nil 0 0 0.00

VBD_pump_during_apogee 607 798 6544.61 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 192 149 386.99 TMICL 0 0 0.00

Transponder_ping 0 420 2.83 PMAR 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 28 5.65

TT8 263 12 41.73

LPSleep 804 2 22.72

TT8_Active 549 12 86.97

TT8_Sampling 675 36 315.66

TT8_CF8 155 42 86.46

TT8_Kalman 0 0 0.00

Analog_circuits 1125 16 235.29

GPS_charging 0 0 0.00

Compass 491 7 47.52

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -0.71 -146.0 117 2528 638 559 0.0 0.0 0 93 0.00 0.00 -81.50 0.005 16386 0.000 0.000 117 2528 2590 2588 2593 0 0 0 0 0 0 14.93 28.83 14.96

98 -0.71 -146.0 117 2528 2589 2593 4.6 -11.1 17 131 9.00 2.35 -18.35 0.008 18948 0.347 0.072 2091 1128 3565 3573 3558 0 0 0 0 0 0 14.03 13.48 14.45

160 -0.71 -146.0 2090 1128 3573 3558 27.6 -36.3 29 165 0.00 2.33 0.00 0.000 1030 0.000 0.059 2082 2490 3565 3573 3558 0 0 0 0 0 0 14.53 14.41 14.57

346 end dive: TARGET_DEPTH_EXCEEDED

state 346 begin apogee

354 -0.15 0.0 2082 2490 3573 3559 90.6 -26.7 54 480 0.73 0.00 121.65 0.787 10246 0.219 0.000 2275 2490 2967 2991 2944 0 0 0 0 0 0 13.90 14.35 13.69

481 end apogee: CONTROL_FINISHED_OK

state 481 begin climb

486 0.71 146.0 2275 2490 2990 2943 101.8 0.0 67 623 0.88 2.47 122.55 0.799 10756 0.143 0.061 2562 1076 2369 2410 2328 0 0 0 0 0 0 14.24 14.35 13.65

722 0.84 275.0 2562 1076 2407 2325 94.9 4.0 115 839 0.12 2.33 107.75 0.788 11302 0.112 0.055 2650 2445 1846 1911 1781 0 0 0 0 0 0 14.45 14.39 13.69

1021 0.94 367.0 2649 2445 1907 1778 71.9 5.7 157 1112 0.00 2.35 81.75 0.764 8740 0.000 0.065 2660 1067 1469 1547 1392 0 0 0 0 0 0 14.95 14.18 13.73

1208 1.01 446.0 2660 1066 1547 1391 64.2 6.3 194 1285 0.00 2.35 69.97 0.752 9254 0.000 0.056 2660 2444 1147 1221 1074 0 0 0 0 0 0 14.52 14.40 13.74

1468 1.08 513.4 2660 2444 1221 1068 46.2 6.9 233 1535 0.00 2.38 59.78 0.724 8740 0.000 0.067 2671 1089 872 922 823 0 0 0 0 0 0 14.95 14.45 13.78

1559 1.14 568.1 2671 1089 922 822 39.7 7.5 251 1610 0.00 2.33 44.45 0.714 9254 0.000 0.061 2671 2445 651 696 606 0 0 0 0 0 0 14.53 14.41 13.76

1793 1.18 568.1 2671 2445 696 605 22.7 8.0 298 1800 0.12 2.35 0.00 0.000 2628 0.116 0.065 2772 1081 650 696 605 0 0 0 0 0 0 14.66 14.40 14.68

1854 1.18 568.1 2772 1081 696 606 14.8 14.9 310 1861 0.22 2.33 0.00 0.000 5126 0.192 0.057 2706 2450 650 696 605 0 0 0 0 0 0 14.16 14.45 14.26

1950 end climb: SURFACE_DEPTH_REACHED

state 1950 begin surface coast

1980 end surface coast: CONTROL_FINISHED_OK

state 1980 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	782	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	77	ALTIM_PULSE	3	PM_SENDDEPTH	1.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2

GPS1	300120,021633,547.2137,8014.4331,0,0.9,1,-2.1,0.4,267.5,9,6.7	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	1.30	MHEAD_RNG_PITCHd_Wd	108.6,2537,-19.3,-10.000,-27.95,2212
_SM_ANGLEo	-68.9	D_GRID	90
GPS2	300120,022237,547.2031,8014.3418,2,0.9,3,-2.1,0.5,280.7,9,4.5

SM_CCo	2062,0.00,0.000,0,0,648,569.10	FG_AHR_24Vo	0.000
SM_GC	1.43,7.07,0.10,0.00,0.035,0.144,0.000,121,2537,648,-6.76,-0.51,569.10,0,0,0,0,0,0,14.64,14.65,14.69	FG_AHR_10Vo	0.000
IRIDIUM_FIX	545.76,8011.95,300120,021832	MEM	249620
TT8_MAMPS	0.018725,0.151298	DATA_FILE_SIZE	13506,336
HUMID	45.86	CAP_FILE_SIZE	37714,0
INTERNAL_PRESSURE	9.70261	CFSIZE	260034560,115748864
TCM_TEMP	26.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.256,271.95,1
_24V_AH	13.48,258.710	GPS	300120,025833,547.103,8014.251,1,0.9,2,-2.1,0.5,249.9,9,6.8
_10V_AH	12.90,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	346	84.79	SBE_CT	169	24	54.86
Roll_motor	23	143	45.85	nil	0	0	0.00
VBD_pump_during_apogee	607	798	6544.61	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	192	149	386.99	TMICL	0	0	0.00
Transponder_ping	0	420	2.83	PMAR	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	28	5.65
TT8	263	12	41.73
LPSleep	804	2	22.72
TT8_Active	549	12	86.97
TT8_Sampling	675	36	315.66
TT8_CF8	155	42	86.46
TT8_Kalman	0	0	0.00
Analog_circuits	1125	16	235.29
GPS_charging	0	0	0.00
Compass	491	7	47.52
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-0.71	-146.0	117	2528	638	559	0.0	0.0	0	93	0.00	0.00	-81.50	0.005	16386	0.000	0.000	117	2528	2590	2588	2593	0	0	0	0	0	0	14.93	28.83	14.96
98	-0.71	-146.0	117	2528	2589	2593	4.6	-11.1	17	131	9.00	2.35	-18.35	0.008	18948	0.347	0.072	2091	1128	3565	3573	3558	0	0	0	0	0	0	14.03	13.48	14.45
160	-0.71	-146.0	2090	1128	3573	3558	27.6	-36.3	29	165	0.00	2.33	0.00	0.000	1030	0.000	0.059	2082	2490	3565	3573	3558	0	0	0	0	0	0	14.53	14.41	14.57
346	end dive: TARGET_DEPTH_EXCEEDED
state	346	begin apogee
354	-0.15	0.0	2082	2490	3573	3559	90.6	-26.7	54	480	0.73	0.00	121.65	0.787	10246	0.219	0.000	2275	2490	2967	2991	2944	0	0	0	0	0	0	13.90	14.35	13.69
481	end apogee: CONTROL_FINISHED_OK
state	481	begin climb
486	0.71	146.0	2275	2490	2990	2943	101.8	0.0	67	623	0.88	2.47	122.55	0.799	10756	0.143	0.061	2562	1076	2369	2410	2328	0	0	0	0	0	0	14.24	14.35	13.65
722	0.84	275.0	2562	1076	2407	2325	94.9	4.0	115	839	0.12	2.33	107.75	0.788	11302	0.112	0.055	2650	2445	1846	1911	1781	0	0	0	0	0	0	14.45	14.39	13.69
1021	0.94	367.0	2649	2445	1907	1778	71.9	5.7	157	1112	0.00	2.35	81.75	0.764	8740	0.000	0.065	2660	1067	1469	1547	1392	0	0	0	0	0	0	14.95	14.18	13.73
1208	1.01	446.0	2660	1066	1547	1391	64.2	6.3	194	1285	0.00	2.35	69.97	0.752	9254	0.000	0.056	2660	2444	1147	1221	1074	0	0	0	0	0	0	14.52	14.40	13.74
1468	1.08	513.4	2660	2444	1221	1068	46.2	6.9	233	1535	0.00	2.38	59.78	0.724	8740	0.000	0.067	2671	1089	872	922	823	0	0	0	0	0	0	14.95	14.45	13.78
1559	1.14	568.1	2671	1089	922	822	39.7	7.5	251	1610	0.00	2.33	44.45	0.714	9254	0.000	0.061	2671	2445	651	696	606	0	0	0	0	0	0	14.53	14.41	13.76
1793	1.18	568.1	2671	2445	696	605	22.7	8.0	298	1800	0.12	2.35	0.00	0.000	2628	0.116	0.065	2772	1081	650	696	605	0	0	0	0	0	0	14.66	14.40	14.68
1854	1.18	568.1	2772	1081	696	606	14.8	14.9	310	1861	0.22	2.33	0.00	0.000	5126	0.192	0.057	2706	2450	650	696	605	0	0	0	0	0	0	14.16	14.45	14.26
1950	end climb: SURFACE_DEPTH_REACHED
state	1950	begin surface coast
1980	end surface coast: CONTROL_FINISHED_OK
state	1980	begin surface