Glider dive log

Shilshole 01Nov17 * SG221 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 221 HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_FIT 785

MISSION 5 HD_C 1.6100001e-05 C_ROLL_DIVE 2200 ALTIM_TOP_PING_RANGE 0

DIVE 1 HEADING -1 C_ROLL_CLIMB 2200 ALTIM_BOTTOM_TURN_MARGIN 0

N_DIVES 1 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0

STOP_T 0 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 41 ALTIM_PING_DELTA 10

D_TGT 45 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 23 ALTIM_FREQUENCY 11

D_ABORT 125 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 300 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 643.12 ROLL_MAXERRORS 2 ALTIM_SENSITIVITY 1

D_BOOST 100 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_VALID 3

T_BOOST 5 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MAX 3960 INT_PRESSURE_YINT 0.80000001

D_SAFE 0 PROTOCOL 9 C_VBD 3100 DEEPGLIDER 0

D_CALL 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 163 VBD_CNV -0.25119999 DEVICE1 -1

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

T_DIVE 15 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

T_MISSION 27 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_TURN_SAMPINT -5 HEAPDBG 0 UNCOM_BLEED 20 LOGGERDEVICE1 53

T_NO_W 120 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 100440 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_EPIRB 0 T_RSLEEP 3 DBDW 0 LOGGERDEVICE4 -1

EXEC_T 0 STROBE 0 LOITER_W_DBAND 0 COMPASS_DEVICE 97

EXEC_N 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS2_DEVICE 149

USE_BATHY -6 RAFOS_CORR_THRESH 60 LOITER_D_NO_PUMP 0 PHONE_DEVICE 49

USE_ICE 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 64

ICE_FREEZE_MARGIN 0.30000001 RAFOS_MMODEM 0 PITCH_W_GAIN 0 RAFOS_DEVICE 32

D_OFFGRID 100 PITCH_MIN 200 PITCH_W_DBAND 0 XPDR_DEVICE 24

T_WATCHDOG 10 PITCH_MAX 3910 CF8_MAXERRORS 2 SIM_W 0

RELAUNCH 1 C_PITCH 2770 AH0_24V 350 SEABIRD_T_G 0.0044198656

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_10V 0 SEABIRD_T_H 0.00064431952

MAX_BUOY 150 PITCH_CNV 0.0031300001 MINV_24V 10 SEABIRD_T_I 2.6320724e-05

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_10V 10 SEABIRD_T_J 3.2746798e-06

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_G -9.9022408

SPEED_FACTOR 1 PITCH_GAIN 20 MAXI_10V 1 SEABIRD_C_H 1.1403944

RHO 1.023 PITCH_TIMEOUT 15 FG_AHR_10V 0 SEABIRD_C_I -0.0013212307

MASS 53299 PITCH_AD_RATE 175 FG_AHR_24V 0 SEABIRD_C_J 0.00017705678

MASS_COMP 0 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

NAV_MODE 2 PITCH_ADJ_GAIN 0.02 PRESSURE_YINT -161.11497 SC_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.0001082743 SC_XMITPROFILE 3.0

KALMAN_USE 2 ROLL_MIN 230 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_A 0.003 ROLL_MAX 3910 COMPASS_USE 4

AD7714Ch0Gain 1 D_SURF 2 N_NOCOMM 1 SEABIRD_C_J 0.00017705678

AH0_10V 0 D_TGT 45 N_NOSURFACE 0 SEABIRD_T_G 0.0044198656

AH0_24V 350 ESCAPE_HEADING 0 PHONE_DEVICE 49 SEABIRD_T_H 0.00064431952

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY -2 SEABIRD_T_I 2.6320724e-05

ALTIM_FREQUENCY 11 EXEC_N 0 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.2746798e-06

ALTIM_PING_DELTA 10 EXEC_T 0 PITCH_ADJ_GAIN 0.02 SIM_W 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_AD_RATE 175 SM_CC 643.12

ALTIM_PING_FIT 785 FG_AHR_10V 0 PITCH_CNV 0.0031300001 SPEED_FACTOR 1

ALTIM_PULSE 2 FG_AHR_24V 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_SENSITIVITY 1 FILEMGR 0 PITCH_GAIN 20 STROBE 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3910 SURFACE_URGENCY 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 64 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

CALL_TRIES 5 HD_C 1.6100001e-05 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 T_ABORT 1440

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.0001082743 T_BOOST 5

CAPUPLOAD 0 HEAPDBG 0 PRESSURE_YINT -161.11497 T_DIVE 15

CF8_MAXERRORS 2 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 T_EPIRB 0

COMM_SEQ 0 ID 221 P_OVSHOOT 0.039999999 T_GPS 5

COMPASS2_DEVICE 149 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS_DEVICE 97 INT_PRESSURE_YINT 0.80000001 RAFOS_CORR_THRESH 60 T_MISSION 27

COMPASS_USE 4 KALMAN_USE 2 RAFOS_DEVICE 32 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

C_PITCH 2770 LOGGERDEVICE2 -1 RAFOS_MMODEM 0 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_DIVE 2200 LOGGERDEVICE4 -1 RELAUNCH 1 T_WATCHDOG 10

C_VBD 3100 LOGGERS 1 RHO 1.023 UNCOM_BLEED 20

DBDW 0 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOITER_D_NO_PUMP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_AD_RATE 300 USE_ICE 0

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MASS 53299 ROLL_DEG 40 VBD_CNV -0.25119999

DEVICE4 -1 MASS_COMP 0 ROLL_MAX 3910 VBD_DBAND 2

DEVICE5 -1 MAXI_10V 1 ROLL_MAXERRORS 2 VBD_LP_IGNORE 0

DEVICE6 -1 MAXI_24V 0.60000002 ROLL_MIN 230 VBD_MAX 3960

DIVE 1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

D_ABORT 125 MINV_10V 10 R_PORT_OVSHOOT 41 VBD_MIN 500

D_BOOST 100 MINV_24V 10 R_STBD_OVSHOOT 23 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 0 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

D_FINISH 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_NO_BLEED 50 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_OFFGRID 100 N_DIVES 1 SEABIRD_C_G -9.9022408 XPDR_INHIBIT 90

D_PITCH 0 N_FILEKB 8 SEABIRD_C_H 1.1403944 XPDR_VALID 3

D_SAFE 0 N_GPS 100440 SEABIRD_C_I -0.0013212307

Pre-dive calculations and measurements:

GPS1 011117,154528,4744.3579,-12224.2012,1,1.1,2,15.8,0.2,0.0,6,7.5 SPEED_LIMITS 0.173,0.258

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.89 MHEAD_RNG_PITCHd_Wd 197.0,1921,-17.6,-10.000,-21.21,2209

_SM_ANGLEo -63.9 D_GRID 175

GPS2 011117,154842,4744.3726,-12224.1660,2,1.1,3,15.8,0.1,0.0,6,7.1

Post-dive calculations and measurements:

FINISH 0.2,1.001419 _24V_AH 13.66,5.664

SM_CCo 1094,198.55,0.186,0,0,538,643.32 _10V_AH 13.83,0.000

SM_GC 0.94,8.45,2.38,198.55,0.084,0.048,0.186,190,2200,538,-8.02,1.13,643.32,0,0,0,0,0,0,14.73,14.76,14.54 FG_AHR_24Vo 0.000

RAFOS_CLK 25 FG_AHR_10Vo 0.000

RAFOS 5,1509551371,15.833300,15.825277,103,67,66,53,50,48,446,183,212,148,124,173 MEM 301668

RAFOS_FIX 4715.968262,-12118.701172,011117,151552,2,97,178.53 DATA_FILE_SIZE 6819,200

IRIDIUM_FIX 4743.02,-12222.38,011117,154145 CAP_FILE_SIZE 49706,0

TT8_MAMPS 0.038199,0.808171 CFSIZE 1024409600,1021558784

HUMID 45.58 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.37842 SOUNDSPEED 1489.8

TCM_TEMP 19.60 CURRENT 0.168,12.08,1

XPDR_PINGS 4 GPS 011117,161124,4744.417,-12224.200,1,1.1,3,15.8,0.2,0.0,6,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 430 127.23 nil 0 0 0.00

Roll_motor 14 97 19.08 nil 0 0 0.00

VBD_pump_during_apogee 191 350 916.05 nil 0 0 0.00

VBD_pump_during_surface 198 185 504.18 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 1069 37 543.81

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 18.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 8 0.57

TT8 0 0 0.00

LPSleep 428 2 13.68

TT8_Active 472 10 70.99

TT8_Sampling 447 30 187.92

TT8_CF8 21 51 14.97

TT8_Kalman 0 0 0.00

Analog_circuits 673 10 94.12

GPS_charging 0 0 0.00

Compass 297 6 27.74

RAFOS 600 1 12.45

Transponder 15 30 6.58

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

44.6 45.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

46.3 19.70 9000.00 0.0 0.00 0.00 0.00 0.0 0.00 0.00

36.3 36.40 9000.00 0.0 0.00 0.00 36.40 0.0 -1.67 1.00

26.1 26.20 9000.00 0.0 0.00 0.00 26.20 -0.1 1.00 1.00

15.6 15.50 9000.00 0.0 0.52 0.30 15.50 0.1 1.02 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8 -1.06 -146.6 191 2194 581 500 0.0 0.0 0 128 0.00 0.00 -117.62 0.004 16386 0.000 0.000 191 2195 3489 3499 3479 0 0 0 0 0 0 15.00 28.83 15.02

129 -1.06 -146.6 191 2194 3500 3478 4.5 -12.3 20 150 10.85 2.38 -3.55 0.026 18948 0.431 0.097 2421 808 3686 3714 3658 0 0 0 0 0 0 14.52 13.66 14.82

204 -0.90 -146.6 2421 809 3716 3657 25.4 -20.1 34 211 0.22 2.38 0.00 0.000 3206 0.265 0.073 2472 2194 3686 3715 3657 0 0 0 0 0 0 14.57 14.72 14.73

309 end dive: TARGET_DEPTH_EXCEEDED

state 309 begin apogee

312 -0.25 0.0 2474 2194 3715 3656 45.5 -18.2 55 387 0.75 0.00 71.85 0.346 10246 0.245 0.000 2685 2194 3099 3110 3088 0 0 0 0 0 0 14.60 14.71 14.45

388 end apogee: CONTROL_FINISHED_OK

state 388 begin climb

389 1.06 146.6 2682 2194 3113 3089 51.3 0.0 67 471 1.35 2.40 74.22 0.350 10756 0.177 0.080 3108 804 2514 2531 2497 0 0 0 0 0 0 14.59 14.56 14.38

560 1.06 188.1 3108 804 2531 2490 41.2 8.1 98 586 0.00 2.40 21.27 0.317 9382 0.000 0.071 3108 2196 2349 2366 2333 0 0 0 0 0 0 14.67 14.60 14.46

765 1.00 189.2 3109 2195 2367 2329 21.1 9.9 138 765 0.00 0.00 0.00 0.000 166 0.000 0.000 3108 2196 2347 2366 2329 0 0 0 0 0 0 14.84 14.91 14.89

945 1.02 237.1 3109 2194 2366 2327 5.4 7.8 174 976 0.00 2.45 24.05 0.197 8612 0.000 0.084 3108 3620 2153 2168 2138 0 0 0 0 0 0 14.90 14.66 14.60

1034 end climb: SURFACE_DEPTH_REACHED

state 1034 begin surface coast

1079 end surface coast: CONTROL_FINISHED_OK

state 1079 begin surface

ID	221	HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_FIT	785
MISSION	5	HD_C	1.6100001e-05	C_ROLL_DIVE	2200	ALTIM_TOP_PING_RANGE	0
DIVE	1	HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_BOTTOM_TURN_MARGIN	0
N_DIVES	1	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0
STOP_T	0	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	41	ALTIM_PING_DELTA	10
D_TGT	45	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	23	ALTIM_FREQUENCY	11
D_ABORT	125	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	300	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	643.12	ROLL_MAXERRORS	2	ALTIM_SENSITIVITY	1
D_BOOST	100	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_VALID	3
T_BOOST	5	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MAX	3960	INT_PRESSURE_YINT	0.80000001
D_SAFE	0	PROTOCOL	9	C_VBD	3100	DEEPGLIDER	0
D_CALL	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	163	VBD_CNV	-0.25119999	DEVICE1	-1
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
T_DIVE	15	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
T_MISSION	27	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_TURN_SAMPINT	-5	HEAPDBG	0	UNCOM_BLEED	20	LOGGERDEVICE1	53
T_NO_W	120	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	100440	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_EPIRB	0	T_RSLEEP	3	DBDW	0	LOGGERDEVICE4	-1
EXEC_T	0	STROBE	0	LOITER_W_DBAND	0	COMPASS_DEVICE	97
EXEC_N	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS2_DEVICE	149
USE_BATHY	-6	RAFOS_CORR_THRESH	60	LOITER_D_NO_PUMP	0	PHONE_DEVICE	49
USE_ICE	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	64
ICE_FREEZE_MARGIN	0.30000001	RAFOS_MMODEM	0	PITCH_W_GAIN	0	RAFOS_DEVICE	32
D_OFFGRID	100	PITCH_MIN	200	PITCH_W_DBAND	0	XPDR_DEVICE	24
T_WATCHDOG	10	PITCH_MAX	3910	CF8_MAXERRORS	2	SIM_W	0
RELAUNCH	1	C_PITCH	2770	AH0_24V	350	SEABIRD_T_G	0.0044198656
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_10V	0	SEABIRD_T_H	0.00064431952
MAX_BUOY	150	PITCH_CNV	0.0031300001	MINV_24V	10	SEABIRD_T_I	2.6320724e-05
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_10V	10	SEABIRD_T_J	3.2746798e-06
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9022408
SPEED_FACTOR	1	PITCH_GAIN	20	MAXI_10V	1	SEABIRD_C_H	1.1403944
RHO	1.023	PITCH_TIMEOUT	15	FG_AHR_10V	0	SEABIRD_C_I	-0.0013212307
MASS	53299	PITCH_AD_RATE	175	FG_AHR_24V	0	SEABIRD_C_J	0.00017705678
MASS_COMP	0	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
NAV_MODE	2	PITCH_ADJ_GAIN	0.02	PRESSURE_YINT	-161.11497	SC_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.0001082743	SC_XMITPROFILE	3.0
KALMAN_USE	2	ROLL_MIN	230	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_A	0.003	ROLL_MAX	3910	COMPASS_USE	4

GPS1	011117,154528,4744.3579,-12224.2012,1,1.1,2,15.8,0.2,0.0,6,7.5	SPEED_LIMITS	0.173,0.258
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.89	MHEAD_RNG_PITCHd_Wd	197.0,1921,-17.6,-10.000,-21.21,2209
_SM_ANGLEo	-63.9	D_GRID	175
GPS2	011117,154842,4744.3726,-12224.1660,2,1.1,3,15.8,0.1,0.0,6,7.1

FINISH	0.2,1.001419	_24V_AH	13.66,5.664
SM_CCo	1094,198.55,0.186,0,0,538,643.32	_10V_AH	13.83,0.000
SM_GC	0.94,8.45,2.38,198.55,0.084,0.048,0.186,190,2200,538,-8.02,1.13,643.32,0,0,0,0,0,0,14.73,14.76,14.54	FG_AHR_24Vo	0.000
RAFOS_CLK	25	FG_AHR_10Vo	0.000
RAFOS	5,1509551371,15.833300,15.825277,103,67,66,53,50,48,446,183,212,148,124,173	MEM	301668
RAFOS_FIX	4715.968262,-12118.701172,011117,151552,2,97,178.53	DATA_FILE_SIZE	6819,200
IRIDIUM_FIX	4743.02,-12222.38,011117,154145	CAP_FILE_SIZE	49706,0
TT8_MAMPS	0.038199,0.808171	CFSIZE	1024409600,1021558784
HUMID	45.58	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.37842	SOUNDSPEED	1489.8
TCM_TEMP	19.60	CURRENT	0.168,12.08,1
XPDR_PINGS	4	GPS	011117,161124,4744.417,-12224.200,1,1.1,3,15.8,0.2,0.0,6,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	430	127.23	nil	0	0	0.00
Roll_motor	14	97	19.08	nil	0	0	0.00
VBD_pump_during_apogee	191	350	916.05	nil	0	0	0.00
VBD_pump_during_surface	198	185	504.18	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	1069	37	543.81
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	18.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	8	0.57
TT8	0	0	0.00
LPSleep	428	2	13.68
TT8_Active	472	10	70.99
TT8_Sampling	447	30	187.92
TT8_CF8	21	51	14.97
TT8_Kalman	0	0	0.00
Analog_circuits	673	10	94.12
GPS_charging	0	0	0.00
Compass	297	6	27.74
RAFOS	600	1	12.45
Transponder	15	30	6.58

		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
44.6	45.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
46.3	19.70	9000.00	0.0	0.00	0.00	0.00	0.0	0.00	0.00

36.3	36.40	9000.00	0.0	0.00	0.00	36.40	0.0	-1.67	1.00
26.1	26.20	9000.00	0.0	0.00	0.00	26.20	-0.1	1.00	1.00
15.6	15.50	9000.00	0.0	0.52	0.30	15.50	0.1	1.02	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8	-1.06	-146.6	191	2194	581	500	0.0	0.0	0	128	0.00	0.00	-117.62	0.004	16386	0.000	0.000	191	2195	3489	3499	3479	0	0	0	0	0	0	15.00	28.83	15.02
129	-1.06	-146.6	191	2194	3500	3478	4.5	-12.3	20	150	10.85	2.38	-3.55	0.026	18948	0.431	0.097	2421	808	3686	3714	3658	0	0	0	0	0	0	14.52	13.66	14.82
204	-0.90	-146.6	2421	809	3716	3657	25.4	-20.1	34	211	0.22	2.38	0.00	0.000	3206	0.265	0.073	2472	2194	3686	3715	3657	0	0	0	0	0	0	14.57	14.72	14.73
309	end dive: TARGET_DEPTH_EXCEEDED
state	309	begin apogee
312	-0.25	0.0	2474	2194	3715	3656	45.5	-18.2	55	387	0.75	0.00	71.85	0.346	10246	0.245	0.000	2685	2194	3099	3110	3088	0	0	0	0	0	0	14.60	14.71	14.45
388	end apogee: CONTROL_FINISHED_OK
state	388	begin climb
389	1.06	146.6	2682	2194	3113	3089	51.3	0.0	67	471	1.35	2.40	74.22	0.350	10756	0.177	0.080	3108	804	2514	2531	2497	0	0	0	0	0	0	14.59	14.56	14.38
560	1.06	188.1	3108	804	2531	2490	41.2	8.1	98	586	0.00	2.40	21.27	0.317	9382	0.000	0.071	3108	2196	2349	2366	2333	0	0	0	0	0	0	14.67	14.60	14.46
765	1.00	189.2	3109	2195	2367	2329	21.1	9.9	138	765	0.00	0.00	0.00	0.000	166	0.000	0.000	3108	2196	2347	2366	2329	0	0	0	0	0	0	14.84	14.91	14.89
945	1.02	237.1	3109	2194	2366	2327	5.4	7.8	174	976	0.00	2.45	24.05	0.197	8612	0.000	0.084	3108	3620	2153	2168	2138	0	0	0	0	0	0	14.90	14.66	14.60
1034	end climb: SURFACE_DEPTH_REACHED
state	1034	begin surface coast
1079	end surface coast: CONTROL_FINISHED_OK
state	1079	begin surface