Glider dive log

SODA Sep18 * SG199 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 7 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 1 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 1 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 21 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 16 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 45 SM_CC 643.96979 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 150 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 4 CALL_NDIVES 1 VBD_MIN 500 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 3166 INT_PRESSURE_YINT 1.6

D_PITCH 0 N_NOCOMM 1 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 161 VBD_CNV -0.24529999 MOTHERBOARD 4

D_CALL 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE1 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE2 -1

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 15 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 30 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 COMPASS2_DEVICE 149

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0.079999998 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3900 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2120 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043925666

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.0006320356

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5405934e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.1033937e-06

SPEED_FACTOR 1 PITCH_GAIN 27 MAXI_24V 0.60000002 SEABIRD_C_G -9.8267241

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 0.80000001 SEABIRD_C_H 1.1324162

MASS 53675 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0020002997

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00022812413

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -160.83926 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 218 PRESSURE_SLOPE 0.00010895507 SC_XMITPROFILE 3.0

HD_A 0.0031999999 ROLL_MAX 3771 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.012 ROLL_DEG 40 COMPASS_USE 4

HD_C 2.1999999e-06 C_ROLL_DIVE 2400 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0043925666

AH0_10V 0 D_TGT 45 PHONE_DEVICE 49 SEABIRD_T_H 0.0006320356

AH0_24V 350 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.5405934e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.1033937e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 643.96979

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 883 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3900 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 2.1999999e-06 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LAT 7100

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 PRESSURE_YINT -160.83926 T_DIVE 15

CAPUPLOAD 0 ID 199 PROTOCOL 9 T_EPIRB 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0.039999999 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 30

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE 1123 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2120 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 60

C_VBD 3166 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 53675 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3771 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 218 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 1 MINV_10V 11 R_PORT_OVSHOOT 21 VBD_MIN 500

D_ABORT 150 MINV_24V 11 R_STBD_OVSHOOT 16 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 7 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 161 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 50 N_DIVES 1 SEABIRD_C_G -9.8267241 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1324162 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0020002997

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00022812413

Pre-dive calculations and measurements:

GPS1 200918,233704,7415.5391,-14623.7354,7,0.9,12,22.5,0.9,55.0,9,9.4 SPEED_LIMITS 0.173,0.241

_CALLS 5 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.64 MHEAD_RNG_PITCHd_Wd 269.5,49836,-18.8,-10.000,-22.50,2245

_SM_ANGLEo -57.6 D_GRID 45

GPS2 200918,234806,7415.5586,-14623.6172,8,0.9,12,22.5,0.0,340.0,10,9.0

Post-dive calculations and measurements:

FINISH -0.1,1.021107 _10V_AH 12.90,0.000

SM_CCo 1568,119.18,0.204,0,0,539,644.16 FG_AHR_24Vo 0.000

SM_GC 0.61,7.10,0.00,119.18,0.096,0.000,0.204,196,2401,539,-5.96,0.00,644.16,0,0,0,0,0,0,14.29,14.48,14.17 FG_AHR_10Vo 0.000

RAFOS_CLK 40 MEM 334604

RAFOS_FIX 7415.442871,-14623.730469,210918,000023,0,1,0.14 DATA_FILE_SIZE 6812,224

IRIDIUM_FIX 7420.32,-14631.85,200918,233320 CAP_FILE_SIZE 57266,0

TT8_MAMPS 0.077896,0.95123 CFSIZE 2097872896,2093449216

HUMID 47.51 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 9.52999 INTR 0,304.14,0x21471c,2,24

TCM_TEMP 12.90 SOUNDSPEED 1438.6

XPDR_PINGS 65 CURRENT 0.167,249.54,1

ALTIM_TOP_PING 7.5,7.8 GPS 210918,001757,7415.388,-14623.816,7,0.9,11,22.5,0.0,187.2,9,10.0

_24V_AH 13.28,2.150

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 452 107.77 nil 0 0 0.00

Roll_motor 16 214 46.39 nil 0 0 0.00

VBD_pump_during_apogee 520 1447 10001.75 nil 0 0 0.00

VBD_pump_during_surface 119 204 323.26 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 1540 46 947.59

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 18 420 103.19 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 21 5.89

TT8 139 11 20.68

LPSleep 475 2 14.16

TT8_Active 684 11 101.29

TT8_Sampling 454 30 177.18

TT8_CF8 47 36 22.32

TT8_Kalman 0 0 0.00

Analog_circuits 959 9 117.53

GPS_charging 0 0 0.00

Compass 332 7 32.17

RAFOS 2158 33 918.66

Transponder 16 30 6.55

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

10.1 13.30 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

20.5 23.90 9000.00 0.0 0.00 0.00 23.90 0.0 1.02 1.00

32.0 33.80 34.10 0.0 0.93 1.00 33.80 0.0 0.86 1.00

42.5 44.80 44.50 0.0 0.95 1.00 44.80 0.0 1.05 1.00

48.7 52.10 51.90 0.0 1.09 1.00 52.10 0.0 1.18 1.00

38.0 39.90 39.90 -1.9 1.13 1.00 39.90 -1.9 1.14 1.00

27.8 29.10 29.00 -1.2 1.10 1.00 29.10 -1.3 1.06 1.00

17.5 18.00 18.10 -0.6 1.07 1.00 18.00 -0.5 1.08 1.00

7.5 8.00 7.80 -0.3 1.04 1.00 8.00 -0.5 1.00 1.00

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

11 -0.84 -146.0 187 2396 583 497 0.0 0.0 0 155 0.00 0.00 -141.55 0.002 16386 0.000 0.000 187 2397 2717 2715 2720 0 0 0 0 0 0 14.83 28.83 14.85

159 -0.84 -146.0 187 2397 2715 2722 5.6 -9.9 14 198 8.43 2.60 -20.45 0.006 19236 0.452 0.171 1840 996 3763 3801 3725 0 0 0 0 0 0 14.23 13.70 14.57

206 -0.60 -146.0 1840 996 3801 3725 24.3 -31.1 21 215 0.38 2.67 0.00 0.000 3206 0.304 0.170 1919 2394 3763 3801 3725 0 0 0 0 0 0 14.35 14.39 14.59

301 end dive: TARGET_DEPTH_EXCEEDED

state 301 begin apogee

307 -0.19 0.0 1919 2394 3801 3725 46.6 -20.3 31 427 0.50 0.00 114.75 1.447 10246 0.256 0.000 2051 2395 3161 3236 3087 0 0 0 0 0 0 14.31 14.00 13.39

428 end apogee: CONTROL_FINISHED_OK

state 428 begin climb

431 0.84 146.0 2051 2395 3235 3086 59.6 0.0 43 556 1.17 2.78 115.03 1.379 11012 0.206 0.148 2390 994 2565 2655 2475 0 0 0 0 0 0 13.95 13.82 13.31

683 1.24 445.5 2391 994 2656 2464 69.7 -3.7 88 922 0.38 2.75 227.90 1.366 11430 0.090 0.169 2519 2402 1341 1482 1201 0 0 0 0 0 0 14.26 14.16 13.28

1110 1.26 469.1 2519 2403 1481 1196 38.0 8.9 151 1133 0.00 2.88 18.45 1.278 8484 0.000 0.215 2519 3769 1247 1377 1118 0 0 0 0 0 0 14.46 14.04 13.59

1358 1.32 524.1 2520 3769 1378 1114 16.4 7.5 200 1408 0.00 2.58 44.22 1.318 9254 0.000 0.155 2528 2400 1023 1119 928 0 0 0 0 0 0 14.40 14.29 13.56

1531 end climb: SURFACE_DEPTH_REACHED

state 1531 begin surface coast

1551 end surface coast: CONTROL_FINISHED_OK

state 1551 begin surface

ID	199	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	7	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	1	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	1	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	21	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	16	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	45	SM_CC	643.96979	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	150	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	4	CALL_NDIVES	1	VBD_MIN	500	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	3166	INT_PRESSURE_YINT	1.6
D_PITCH	0	N_NOCOMM	1	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	161	VBD_CNV	-0.24529999	MOTHERBOARD	4
D_CALL	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE1	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE2	-1
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	15	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	30	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	COMPASS2_DEVICE	149
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0.079999998	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3900	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2120	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043925666
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.0006320356
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5405934e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.1033937e-06
SPEED_FACTOR	1	PITCH_GAIN	27	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8267241
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	0.80000001	SEABIRD_C_H	1.1324162
MASS	53675	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0020002997
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00022812413
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-160.83926	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	218	PRESSURE_SLOPE	0.00010895507	SC_XMITPROFILE	3.0
HD_A	0.0031999999	ROLL_MAX	3771	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.012	ROLL_DEG	40	COMPASS_USE	4
HD_C	2.1999999e-06	C_ROLL_DIVE	2400	ALTIM_PING_FIT	883

GPS1	200918,233704,7415.5391,-14623.7354,7,0.9,12,22.5,0.9,55.0,9,9.4	SPEED_LIMITS	0.173,0.241
_CALLS	5	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.64	MHEAD_RNG_PITCHd_Wd	269.5,49836,-18.8,-10.000,-22.50,2245
_SM_ANGLEo	-57.6	D_GRID	45
GPS2	200918,234806,7415.5586,-14623.6172,8,0.9,12,22.5,0.0,340.0,10,9.0

FINISH	-0.1,1.021107	_10V_AH	12.90,0.000
SM_CCo	1568,119.18,0.204,0,0,539,644.16	FG_AHR_24Vo	0.000
SM_GC	0.61,7.10,0.00,119.18,0.096,0.000,0.204,196,2401,539,-5.96,0.00,644.16,0,0,0,0,0,0,14.29,14.48,14.17	FG_AHR_10Vo	0.000
RAFOS_CLK	40	MEM	334604
RAFOS_FIX	7415.442871,-14623.730469,210918,000023,0,1,0.14	DATA_FILE_SIZE	6812,224
IRIDIUM_FIX	7420.32,-14631.85,200918,233320	CAP_FILE_SIZE	57266,0
TT8_MAMPS	0.077896,0.95123	CFSIZE	2097872896,2093449216
HUMID	47.51	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	9.52999	INTR	0,304.14,0x21471c,2,24
TCM_TEMP	12.90	SOUNDSPEED	1438.6
XPDR_PINGS	65	CURRENT	0.167,249.54,1
ALTIM_TOP_PING	7.5,7.8	GPS	210918,001757,7415.388,-14623.816,7,0.9,11,22.5,0.0,187.2,9,10.0
_24V_AH	13.28,2.150

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	452	107.77	nil	0	0	0.00
Roll_motor	16	214	46.39	nil	0	0	0.00
VBD_pump_during_apogee	520	1447	10001.75	nil	0	0	0.00
VBD_pump_during_surface	119	204	323.26	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	1540	46	947.59
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	18	420	103.19	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	21	5.89
TT8	139	11	20.68
LPSleep	475	2	14.16
TT8_Active	684	11	101.29
TT8_Sampling	454	30	177.18
TT8_CF8	47	36	22.32
TT8_Kalman	0	0	0.00
Analog_circuits	959	9	117.53
GPS_charging	0	0	0.00
Compass	332	7	32.17
RAFOS	2158	33	918.66
Transponder	16	30	6.55

		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
10.1	13.30	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
20.5	23.90	9000.00	0.0	0.00	0.00	23.90	0.0	1.02	1.00
32.0	33.80	34.10	0.0	0.93	1.00	33.80	0.0	0.86	1.00
42.5	44.80	44.50	0.0	0.95	1.00	44.80	0.0	1.05	1.00
48.7	52.10	51.90	0.0	1.09	1.00	52.10	0.0	1.18	1.00

38.0	39.90	39.90	-1.9	1.13	1.00	39.90	-1.9	1.14	1.00
27.8	29.10	29.00	-1.2	1.10	1.00	29.10	-1.3	1.06	1.00
17.5	18.00	18.10	-0.6	1.07	1.00	18.00	-0.5	1.08	1.00
7.5	8.00	7.80	-0.3	1.04	1.00	8.00	-0.5	1.00	1.00

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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
11	-0.84	-146.0	187	2396	583	497	0.0	0.0	0	155	0.00	0.00	-141.55	0.002	16386	0.000	0.000	187	2397	2717	2715	2720	0	0	0	0	0	0	14.83	28.83	14.85
159	-0.84	-146.0	187	2397	2715	2722	5.6	-9.9	14	198	8.43	2.60	-20.45	0.006	19236	0.452	0.171	1840	996	3763	3801	3725	0	0	0	0	0	0	14.23	13.70	14.57
206	-0.60	-146.0	1840	996	3801	3725	24.3	-31.1	21	215	0.38	2.67	0.00	0.000	3206	0.304	0.170	1919	2394	3763	3801	3725	0	0	0	0	0	0	14.35	14.39	14.59
301	end dive: TARGET_DEPTH_EXCEEDED
state	301	begin apogee
307	-0.19	0.0	1919	2394	3801	3725	46.6	-20.3	31	427	0.50	0.00	114.75	1.447	10246	0.256	0.000	2051	2395	3161	3236	3087	0	0	0	0	0	0	14.31	14.00	13.39
428	end apogee: CONTROL_FINISHED_OK
state	428	begin climb
431	0.84	146.0	2051	2395	3235	3086	59.6	0.0	43	556	1.17	2.78	115.03	1.379	11012	0.206	0.148	2390	994	2565	2655	2475	0	0	0	0	0	0	13.95	13.82	13.31
683	1.24	445.5	2391	994	2656	2464	69.7	-3.7	88	922	0.38	2.75	227.90	1.366	11430	0.090	0.169	2519	2402	1341	1482	1201	0	0	0	0	0	0	14.26	14.16	13.28
1110	1.26	469.1	2519	2403	1481	1196	38.0	8.9	151	1133	0.00	2.88	18.45	1.278	8484	0.000	0.215	2519	3769	1247	1377	1118	0	0	0	0	0	0	14.46	14.04	13.59
1358	1.32	524.1	2520	3769	1378	1114	16.4	7.5	200	1408	0.00	2.58	44.22	1.318	9254	0.000	0.155	2528	2400	1023	1119	928	0	0	0	0	0	0	14.40	14.29	13.56
1531	end climb: SURFACE_DEPTH_REACHED
state	1531	begin surface coast
1551	end surface coast: CONTROL_FINISHED_OK
state	1551	begin surface