Glider dive log

SODA Sep18 * SG228 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 228 HEADING -1 C_ROLL_CLIMB 2400 ALTIM_TOP_PING_RANGE 0

MISSION 14 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 1 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 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 7545 R_PORT_OVSHOOT 57 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -15041 R_STBD_OVSHOOT 31 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 45 SM_CC 653.96979 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 5

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 1.8

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 0.003 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 3 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 48

ICE_FREEZE_MARGIN 0.1 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 200 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3810 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2250 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044279573

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.000658612

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.7901522e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.4987197e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.9235325

RHO 1.0275 PITCH_TIMEOUT 20 MAXI_10V 1.4 SEABIRD_C_H 1.1433685

MASS 72009 PITCH_AD_RATE 160 FG_AHR_10V 0 SEABIRD_C_I -0.0023654797

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00025343007

NAV_MODE 2 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 PRESSURE_YINT -148.83669 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 200 PRESSURE_SLOPE 0.0001081732 SC_XMITPROFILE 3.0

HD_A 0.0022 ROLL_MAX 3950 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0185 ROLL_DEG 80 COMPASS_USE 4

HD_C 1.91e-06 C_ROLL_DIVE 2500 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044279573

AH0_10V 0 D_TGT 45 PHONE_DEVICE 48 SEABIRD_T_H 0.000658612

AH0_24V 575 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.7901522e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 1 SEABIRD_T_J 3.4987197e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.0049999999 SIM_W 0

ALTIM_PING_DELTA 10 FG_AHR_10V 0 PITCH_AD_RATE 160 SM_CC 653.96979

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 46 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3810 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 64 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0022 PITCH_MIN 200 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0185 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 1.91e-06 PITCH_VBD_SHIFT 0.003 TGT_DEFAULT_LAT 7545

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -15041

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.0001081732 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -148.83669 T_DIVE 15

CAPUPLOAD 0 ID 228 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 1.8 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 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2250 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2400 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2500 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 100 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.047120001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 72009 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3950 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 200 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 1 MINV_10V 11 R_PORT_OVSHOOT 57 VBD_MIN 500

D_ABORT 150 MINV_24V 11 R_STBD_OVSHOOT 31 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 14 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 -9.9235325 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1433685 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0023654797

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00025343007

Pre-dive calculations and measurements:

GPS1 200918,235400,7415.5664,-14624.0498,1,0.8,3,18.4,0.1,0.0,12,5.6 SPEED_LIMITS 0.173,0.195

_CALLS 1 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.77 MHEAD_RNG_PITCHd_Wd 273.6,49643,-19.7,-10.000,-27.14,2242

_SM_ANGLEo -73.2 D_GRID 45

GPS2 200918,235726,7415.5679,-14624.0205,4,0.8,5,18.4,0.1,0.0,12,5.8

Post-dive calculations and measurements:

FINISH 0.2,1.021128 _10V_AH 13.17,0.000

SM_CCo 1889,0.00,0.000,0,0,496,654.95 FG_AHR_24Vo 0.000

SM_GC 1.67,8.93,5.25,0.00,0.109,0.056,0.000,205,2506,496,-6.36,-0.57,654.95,0,0,0,0,0,0,14.28,14.33,14.40 FG_AHR_10Vo 0.000

RAFOS_CLK 108 MEM 334640

RAFOS_FIX 7415.579590,-14624.157227,210918,000015,0,1,0.04 DATA_FILE_SIZE 10125,276

IRIDIUM_FIX 7417.40,-14658.24,200918,235045 CAP_FILE_SIZE 65206,0

TT8_MAMPS 0.058422,0.942242 CFSIZE 2097872896,2095677440

HUMID 50.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.99754 SOUNDSPEED 1440.1

TCM_TEMP 15.40 CURRENT 0.154,237.26,1

XPDR_PINGS 144 GPS 210918,003052,7415.492,-14624.112,2,1.6,4,18.4,0.2,0.0,6,10.0

_24V_AH 13.53,1.873

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 472 140.40 nil 0 0 0.00

Roll_motor 37 130 66.77 nil 0 0 0.00

VBD_pump_during_apogee 655 1534 13615.86 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 1791 44 1072.37

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 38 420 218.78 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 6 1.31

TT8 422 11 64.44

LPSleep 393 2 11.97

TT8_Active 647 11 98.72

TT8_Sampling 491 31 201.04

TT8_CF8 49 36 23.80

TT8_Kalman 0 0 0.00

Analog_circuits 996 10 143.02

GPS_charging 0 0 0.00

Compass 406 6 36.11

RAFOS 2157 33 937.45

Transponder 18 30 7.43

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

11.5 13.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

46.5 49.90 9000.00 0.0 0.00 0.00 49.90 0.0 1.03 1.00

54.3 5.50 9000.00 0.0 0.18 0.03 5.50 59.8 -5.69 1.00

44.1 5.80 9000.00 0.0 -1.44 0.09 5.80 0.0 -0.03 1.00

33.9 6.40 9000.00 0.0 -0.05 0.93 6.40 0.0 -0.06 1.00

23.8 6.20 9000.00 0.0 -0.02 0.40 6.20 17.6 0.02 1.00

13.2 13.30 9000.00 0.0 -0.33 0.73 13.30 0.0 -0.67 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

10 -0.87 -146.0 199 2501 496 501 0.0 0.0 0 121 0.00 0.00 -107.90 0.003 16386 0.000 0.000 200 2502 2356 2456 2257 0 0 0 0 0 0 14.91 28.83 14.93

124 -0.87 -146.0 199 2502 2455 2259 8.0 -12.2 10 167 9.23 4.18 -24.42 0.006 19204 0.473 0.088 1944 3939 3766 3815 3717 0 0 0 0 0 0 14.38 13.59 14.71

195 end dive: TARGET_DEPTH_EXCEEDED

state 196 begin apogee

206 -0.11 0.0 1948 2435 3799 3733 46.5 -56.1 22 336 1.08 0.10 119.40 1.535 10246 0.338 0.131 2205 2381 3165 3202 3129 0 0 0 0 0 0 14.41 14.20 13.64

337 end apogee: CONTROL_FINISHED_OK

state 339 begin climb

342 0.87 146.0 2205 2381 3201 3127 79.1 0.0 36 476 1.20 4.93 120.97 1.472 10756 0.271 0.070 2520 719 2567 2601 2533 0 0 0 0 0 0 14.14 14.10 13.54

705 1.77 430.6 2520 719 2591 2527 88.8 -3.0 105 953 0.90 4.78 232.57 1.450 11430 0.085 0.052 2827 2390 1408 1453 1363 0 0 0 0 0 0 14.45 14.43 13.53

1134 1.92 486.9 2827 2392 1451 1347 48.9 7.4 168 1190 0.12 4.75 45.85 1.386 10660 0.179 0.093 2868 3948 1178 1215 1142 0 0 0 0 0 0 14.33 14.21 13.71

1382 2.12 562.4 2867 3949 1207 1141 29.5 6.5 215 1457 0.15 4.43 61.58 1.385 11430 0.165 0.050 2932 2401 868 884 853 0 0 0 0 0 0 14.43 14.45 13.69

1636 2.52 693.7 2932 2401 887 845 19.9 4.0 246 1724 0.35 5.03 75.40 1.375 10916 0.119 0.077 3073 716 498 494 502 0 0 0 0 0 0 14.39 14.08 13.65

1792 end climb: SURFACE_DEPTH_REACHED

state 1792 begin surface coast

1803 end surface coast: CONTROL_FINISHED_OK

state 1803 begin surface

ID	228	HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_TOP_PING_RANGE	0
MISSION	14	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	1	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	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	7545	R_PORT_OVSHOOT	57	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-15041	R_STBD_OVSHOOT	31	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	45	SM_CC	653.96979	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	5
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	1.8
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	0.003	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	3	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	48
ICE_FREEZE_MARGIN	0.1	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	200	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3810	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2250	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044279573
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.000658612
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.7901522e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.4987197e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9235325
RHO	1.0275	PITCH_TIMEOUT	20	MAXI_10V	1.4	SEABIRD_C_H	1.1433685
MASS	72009	PITCH_AD_RATE	160	FG_AHR_10V	0	SEABIRD_C_I	-0.0023654797
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00025343007
NAV_MODE	2	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-148.83669	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	200	PRESSURE_SLOPE	0.0001081732	SC_XMITPROFILE	3.0
HD_A	0.0022	ROLL_MAX	3950	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0185	ROLL_DEG	80	COMPASS_USE	4
HD_C	1.91e-06	C_ROLL_DIVE	2500	ALTIM_PING_FIT	883

GPS1	200918,235400,7415.5664,-14624.0498,1,0.8,3,18.4,0.1,0.0,12,5.6	SPEED_LIMITS	0.173,0.195
_CALLS	1	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.77	MHEAD_RNG_PITCHd_Wd	273.6,49643,-19.7,-10.000,-27.14,2242
_SM_ANGLEo	-73.2	D_GRID	45
GPS2	200918,235726,7415.5679,-14624.0205,4,0.8,5,18.4,0.1,0.0,12,5.8

FINISH	0.2,1.021128	_10V_AH	13.17,0.000
SM_CCo	1889,0.00,0.000,0,0,496,654.95	FG_AHR_24Vo	0.000
SM_GC	1.67,8.93,5.25,0.00,0.109,0.056,0.000,205,2506,496,-6.36,-0.57,654.95,0,0,0,0,0,0,14.28,14.33,14.40	FG_AHR_10Vo	0.000
RAFOS_CLK	108	MEM	334640
RAFOS_FIX	7415.579590,-14624.157227,210918,000015,0,1,0.04	DATA_FILE_SIZE	10125,276
IRIDIUM_FIX	7417.40,-14658.24,200918,235045	CAP_FILE_SIZE	65206,0
TT8_MAMPS	0.058422,0.942242	CFSIZE	2097872896,2095677440
HUMID	50.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.99754	SOUNDSPEED	1440.1
TCM_TEMP	15.40	CURRENT	0.154,237.26,1
XPDR_PINGS	144	GPS	210918,003052,7415.492,-14624.112,2,1.6,4,18.4,0.2,0.0,6,10.0
_24V_AH	13.53,1.873

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	472	140.40	nil	0	0	0.00
Roll_motor	37	130	66.77	nil	0	0	0.00
VBD_pump_during_apogee	655	1534	13615.86	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	1791	44	1072.37
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	38	420	218.78	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	6	1.31
TT8	422	11	64.44
LPSleep	393	2	11.97
TT8_Active	647	11	98.72
TT8_Sampling	491	31	201.04
TT8_CF8	49	36	23.80
TT8_Kalman	0	0	0.00
Analog_circuits	996	10	143.02
GPS_charging	0	0	0.00
Compass	406	6	36.11
RAFOS	2157	33	937.45
Transponder	18	30	7.43

		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
11.5	13.80	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
46.5	49.90	9000.00	0.0	0.00	0.00	49.90	0.0	1.03	1.00
54.3	5.50	9000.00	0.0	0.18	0.03	5.50	59.8	-5.69	1.00

44.1	5.80	9000.00	0.0	-1.44	0.09	5.80	0.0	-0.03	1.00
33.9	6.40	9000.00	0.0	-0.05	0.93	6.40	0.0	-0.06	1.00
23.8	6.20	9000.00	0.0	-0.02	0.40	6.20	17.6	0.02	1.00
13.2	13.30	9000.00	0.0	-0.33	0.73	13.30	0.0	-0.67	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
10	-0.87	-146.0	199	2501	496	501	0.0	0.0	0	121	0.00	0.00	-107.90	0.003	16386	0.000	0.000	200	2502	2356	2456	2257	0	0	0	0	0	0	14.91	28.83	14.93
124	-0.87	-146.0	199	2502	2455	2259	8.0	-12.2	10	167	9.23	4.18	-24.42	0.006	19204	0.473	0.088	1944	3939	3766	3815	3717	0	0	0	0	0	0	14.38	13.59	14.71
195	end dive: TARGET_DEPTH_EXCEEDED
state	196	begin apogee
206	-0.11	0.0	1948	2435	3799	3733	46.5	-56.1	22	336	1.08	0.10	119.40	1.535	10246	0.338	0.131	2205	2381	3165	3202	3129	0	0	0	0	0	0	14.41	14.20	13.64
337	end apogee: CONTROL_FINISHED_OK
state	339	begin climb
342	0.87	146.0	2205	2381	3201	3127	79.1	0.0	36	476	1.20	4.93	120.97	1.472	10756	0.271	0.070	2520	719	2567	2601	2533	0	0	0	0	0	0	14.14	14.10	13.54
705	1.77	430.6	2520	719	2591	2527	88.8	-3.0	105	953	0.90	4.78	232.57	1.450	11430	0.085	0.052	2827	2390	1408	1453	1363	0	0	0	0	0	0	14.45	14.43	13.53
1134	1.92	486.9	2827	2392	1451	1347	48.9	7.4	168	1190	0.12	4.75	45.85	1.386	10660	0.179	0.093	2868	3948	1178	1215	1142	0	0	0	0	0	0	14.33	14.21	13.71
1382	2.12	562.4	2867	3949	1207	1141	29.5	6.5	215	1457	0.15	4.43	61.58	1.385	11430	0.165	0.050	2932	2401	868	884	853	0	0	0	0	0	0	14.43	14.45	13.69
1636	2.52	693.7	2932	2401	887	845	19.9	4.0	246	1724	0.35	5.03	75.40	1.375	10916	0.119	0.077	3073	716	498	494	502	0	0	0	0	0	0	14.39	14.08	13.65
1792	end climb: SURFACE_DEPTH_REACHED
state	1792	begin surface coast
1803	end surface coast: CONTROL_FINISHED_OK
state	1803	begin surface