Glider dive log

SODA Sep18 * SG227 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_CLIMB 2500 ALTIM_TOP_PING_RANGE 0

MISSION 9 ESCAPE_HEADING 180 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 23 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 39 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 45 SM_CC 631.70477 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 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 550 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

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 0.0024000001 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 49

ICE_FREEZE_MARGIN 0.07 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 64

D_OFFGRID 1020 PITCH_MIN 160 PITCH_W_GAIN 0 RAFOS_DEVICE 1123

T_WATCHDOG 10 PITCH_MAX 3830 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2300 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 575 SEABIRD_T_G 0.0044193882

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00064798427

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6719992e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.3115991e-06

SPEED_FACTOR 1 PITCH_GAIN 46 MAXI_24V 0.60000002 SEABIRD_C_G -9.8059483

RHO 1.0275 PITCH_TIMEOUT 17 MAXI_10V 1.4 SEABIRD_C_H 1.1280893

MASS 72061 PITCH_AD_RATE 145 FG_AHR_10V 0 SEABIRD_C_I -0.003824637

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00035372932

NAV_MODE 0 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -154.17668 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 310 PRESSURE_SLOPE 0.00010809835 SC_XMITPROFILE 3.0

HD_A 0.0037 ROLL_MAX 3940 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.013 ROLL_DEG 80 COMPASS_USE 4

HD_C 3.1e-06 C_ROLL_DIVE 2250 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044193882

AH0_10V 0 D_TGT 45 PHONE_DEVICE 49 SEABIRD_T_H 0.00064798427

AH0_24V 575 ESCAPE_HEADING 180 PHONE_SUPPLY -2 SEABIRD_T_I 2.6719992e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.3115991e-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 145 SM_CC 631.70477

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 3830 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 0.0037 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.013 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 3.1e-06 PITCH_VBD_SHIFT 0.0024000001 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 0.00010809835 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.07 PRESSURE_YINT -154.17668 T_DIVE 15

CAPUPLOAD 0 ID 227 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 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 2300 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2500 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2250 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 72061 ROLL_DEG 80 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3940 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 310 VBD_MAX 3960

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 11 MINV_10V 11 R_PORT_OVSHOOT 23 VBD_MIN 550

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 39 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 4 MISSION 9 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 0 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 0 SEABIRD_C_G -9.8059483 XPDR_INHIBIT 90

D_OFFGRID 1020 N_FILEKB 8 SEABIRD_C_H 1.1280893 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.003824637

D_SAFE 0 N_NOCOMM 1 SEABIRD_C_J 0.00035372932

Pre-dive calculations and measurements:

GPS1 210918,165331,7416.6665,-14633.3691,2,1.6,4,18.4,0.3,0.0,5,8.5 SPEED_LIMITS 0.173,0.232

_CALLS 1 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.62 MHEAD_RNG_PITCHd_Wd 273.5,44541,-19.9,-10.000,-23.28,2245

_SM_ANGLEo -75.2 D_GRID 45

GPS2 210918,165715,7416.6602,-14633.4453,3,1.6,4,18.4,0.5,270.4,5,6.2

Post-dive calculations and measurements:

FINISH 0.1,1.021196 _24V_AH 13.40,7.381

SM_CCo 1856,0.00,0.000,0,0,543,643.18 _10V_AH 13.31,0.000

SM_GC 2.17,8.98,4.97,0.00,0.116,0.050,0.000,162,2269,543,-6.65,1.98,643.18,0,0,0,0,0,0,14.37,14.42,14.47 FG_AHR_24Vo 0.000

RAFOS_CLK 71 FG_AHR_10Vo 0.000

RAFOS_FIX 7416.509766,-14633.464844,210918,171717,0,1,0.16 MEM 334652

IRIDIUM_FIX 7415.72,-14633.98,210918,164902 DATA_FILE_SIZE 10112,283

TT8_MAMPS 0.038948,0.787199 CAP_FILE_SIZE 52937,0

HUMID 47.79 CFSIZE 1047117824,1041170432

INTERNAL_PRESSURE 9.31087 ERRORS 0,0,0,0,0,0,0,0,0,0,0,42,0,0,0,0

TCM_TEMP 14.40 SOUNDSPEED 1439.6

XPDR_PINGS 0 GPS 210918,172937,7416.760,-14633.987,10,1.7,14,18.4,0.3,0.0,4,7.4

SC_FREEKB 3904064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 834 388.64 nil 0 0 0.00

Roll_motor 39 274 145.18 nil 0 0 0.00

VBD_pump_during_apogee 534 1595 11435.94 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 1767 45 1085.53

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 14.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 20 4.03

TT8 0 0 0.00

LPSleep 731 2 22.50

TT8_Active 570 11 88.98

TT8_Sampling 582 30 236.02

TT8_CF8 52 43 30.49

TT8_Kalman 0 0 0.00

Analog_circuits 879 10 117.10

GPS_charging 0 0 0.00

Compass 412 5 27.44

RAFOS 0 0 0.00

Transponder 16 30 6.71

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

21.7 24.90 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

34.9 9.70 9000.00 0.0 0.00 0.00 9.70 44.6 -1.15 1.00

45.0 48.00 9000.00 0.0 0.89 0.29 48.00 0.0 3.79 1.00

51.7 5.70 9000.00 0.0 0.08 0.00 5.70 57.4 -6.31 1.00

41.5 9.70 9000.00 0.0 -1.20 0.07 9.70 0.0 -0.39 1.00

31.2 32.70 9000.00 0.0 -1.32 0.86 32.70 0.0 -2.23 1.00

20.9 22.20 9000.00 0.0 -0.61 0.30 22.20 -1.3 1.02 1.00

10.5 5.50 9000.00 0.0 1.32 0.98 5.50 5.0 1.61 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

9 -0.78 -146.0 164 2283 641 445 0.0 0.0 0 82 0.00 0.00 -71.68 0.002 16386 0.000 0.000 163 2286 1739 1707 1771 0 0 0 0 0 0 14.81 28.83 14.84

85 -0.78 -146.0 163 2293 1709 1772 5.1 -6.6 7 145 8.90 5.07 -40.38 0.003 18980 0.418 0.090 2060 565 3764 3702 3826 0 0 0 0 0 0 14.47 14.09 14.69

173 end dive: TARGET_DEPTH_EXCEEDED

state 173 begin apogee

185 -0.11 0.0 2039 2474 3704 3826 47.1 -46.6 23 288 1.10 0.12 93.95 1.572 10246 0.460 0.203 2250 2503 3164 3210 3119 0 0 0 0 0 0 14.39 14.18 13.70

289 end apogee: CONTROL_FINISHED_OK

state 289 begin climb

292 0.78 146.0 2250 2503 3210 3119 70.9 0.0 34 418 14.32 5.80 98.45 1.571 10500 0.835 0.275 2517 3942 2567 2693 2442 42 0 0 0 0 0 13.90 13.91 13.47

643 1.51 450.4 2517 3948 2684 2442 85.6 -3.9 101 868 0.80 4.22 210.40 1.596 11302 0.110 0.041 2782 2461 1325 1470 1181 0 0 0 0 0 0 14.31 14.40 13.40

1046 1.63 502.5 2784 2461 1465 1172 51.9 7.6 160 1090 0.12 4.70 35.03 1.391 10660 0.175 0.099 2810 3948 1112 1264 961 0 0 0 0 0 0 14.24 14.14 13.67

1318 1.82 592.2 2811 3949 1255 963 32.0 5.9 213 1389 0.20 4.15 62.22 1.317 11430 0.154 0.047 2887 2506 748 901 595 0 0 0 0 0 0 14.37 14.40 13.74

1574 2.19 734.9 2887 2506 894 596 19.8 3.5 244 1619 0.32 4.53 34.75 1.253 10660 0.124 0.094 2985 3943 547 695 400 0 0 0 0 0 0 14.33 14.22 13.82

1762 end climb: SURFACE_DEPTH_REACHED

state 1762 begin surface coast

1773 end surface coast: CONTROL_FINISHED_OK

state 1773 begin surface

ID	227	HEADING	-1	C_ROLL_CLIMB	2500	ALTIM_TOP_PING_RANGE	0
MISSION	9	ESCAPE_HEADING	180	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	23	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	39	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	45	SM_CC	631.70477	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	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	550	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
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	0.0024000001	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	49
ICE_FREEZE_MARGIN	0.07	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	64
D_OFFGRID	1020	PITCH_MIN	160	PITCH_W_GAIN	0	RAFOS_DEVICE	1123
T_WATCHDOG	10	PITCH_MAX	3830	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2300	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	575	SEABIRD_T_G	0.0044193882
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00064798427
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6719992e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.3115991e-06
SPEED_FACTOR	1	PITCH_GAIN	46	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8059483
RHO	1.0275	PITCH_TIMEOUT	17	MAXI_10V	1.4	SEABIRD_C_H	1.1280893
MASS	72061	PITCH_AD_RATE	145	FG_AHR_10V	0	SEABIRD_C_I	-0.003824637
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00035372932
NAV_MODE	0	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-154.17668	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	310	PRESSURE_SLOPE	0.00010809835	SC_XMITPROFILE	3.0
HD_A	0.0037	ROLL_MAX	3940	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.013	ROLL_DEG	80	COMPASS_USE	4
HD_C	3.1e-06	C_ROLL_DIVE	2250	ALTIM_PING_FIT	883

GPS1	210918,165331,7416.6665,-14633.3691,2,1.6,4,18.4,0.3,0.0,5,8.5	SPEED_LIMITS	0.173,0.232
_CALLS	1	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.62	MHEAD_RNG_PITCHd_Wd	273.5,44541,-19.9,-10.000,-23.28,2245
_SM_ANGLEo	-75.2	D_GRID	45
GPS2	210918,165715,7416.6602,-14633.4453,3,1.6,4,18.4,0.5,270.4,5,6.2

FINISH	0.1,1.021196	_24V_AH	13.40,7.381
SM_CCo	1856,0.00,0.000,0,0,543,643.18	_10V_AH	13.31,0.000
SM_GC	2.17,8.98,4.97,0.00,0.116,0.050,0.000,162,2269,543,-6.65,1.98,643.18,0,0,0,0,0,0,14.37,14.42,14.47	FG_AHR_24Vo	0.000
RAFOS_CLK	71	FG_AHR_10Vo	0.000
RAFOS_FIX	7416.509766,-14633.464844,210918,171717,0,1,0.16	MEM	334652
IRIDIUM_FIX	7415.72,-14633.98,210918,164902	DATA_FILE_SIZE	10112,283
TT8_MAMPS	0.038948,0.787199	CAP_FILE_SIZE	52937,0
HUMID	47.79	CFSIZE	1047117824,1041170432
INTERNAL_PRESSURE	9.31087	ERRORS	0,0,0,0,0,0,0,0,0,0,0,42,0,0,0,0
TCM_TEMP	14.40	SOUNDSPEED	1439.6
XPDR_PINGS	0	GPS	210918,172937,7416.760,-14633.987,10,1.7,14,18.4,0.3,0.0,4,7.4
SC_FREEKB	3904064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	834	388.64	nil	0	0	0.00
Roll_motor	39	274	145.18	nil	0	0	0.00
VBD_pump_during_apogee	534	1595	11435.94	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	1767	45	1085.53
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	14.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	20	4.03
TT8	0	0	0.00
LPSleep	731	2	22.50
TT8_Active	570	11	88.98
TT8_Sampling	582	30	236.02
TT8_CF8	52	43	30.49
TT8_Kalman	0	0	0.00
Analog_circuits	879	10	117.10
GPS_charging	0	0	0.00
Compass	412	5	27.44
RAFOS	0	0	0.00
Transponder	16	30	6.71

		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
21.7	24.90	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
34.9	9.70	9000.00	0.0	0.00	0.00	9.70	44.6	-1.15	1.00
45.0	48.00	9000.00	0.0	0.89	0.29	48.00	0.0	3.79	1.00
51.7	5.70	9000.00	0.0	0.08	0.00	5.70	57.4	-6.31	1.00

41.5	9.70	9000.00	0.0	-1.20	0.07	9.70	0.0	-0.39	1.00
31.2	32.70	9000.00	0.0	-1.32	0.86	32.70	0.0	-2.23	1.00
20.9	22.20	9000.00	0.0	-0.61	0.30	22.20	-1.3	1.02	1.00
10.5	5.50	9000.00	0.0	1.32	0.98	5.50	5.0	1.61	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
9	-0.78	-146.0	164	2283	641	445	0.0	0.0	0	82	0.00	0.00	-71.68	0.002	16386	0.000	0.000	163	2286	1739	1707	1771	0	0	0	0	0	0	14.81	28.83	14.84
85	-0.78	-146.0	163	2293	1709	1772	5.1	-6.6	7	145	8.90	5.07	-40.38	0.003	18980	0.418	0.090	2060	565	3764	3702	3826	0	0	0	0	0	0	14.47	14.09	14.69
173	end dive: TARGET_DEPTH_EXCEEDED
state	173	begin apogee
185	-0.11	0.0	2039	2474	3704	3826	47.1	-46.6	23	288	1.10	0.12	93.95	1.572	10246	0.460	0.203	2250	2503	3164	3210	3119	0	0	0	0	0	0	14.39	14.18	13.70
289	end apogee: CONTROL_FINISHED_OK
state	289	begin climb
292	0.78	146.0	2250	2503	3210	3119	70.9	0.0	34	418	14.32	5.80	98.45	1.571	10500	0.835	0.275	2517	3942	2567	2693	2442	42	0	0	0	0	0	13.90	13.91	13.47
643	1.51	450.4	2517	3948	2684	2442	85.6	-3.9	101	868	0.80	4.22	210.40	1.596	11302	0.110	0.041	2782	2461	1325	1470	1181	0	0	0	0	0	0	14.31	14.40	13.40
1046	1.63	502.5	2784	2461	1465	1172	51.9	7.6	160	1090	0.12	4.70	35.03	1.391	10660	0.175	0.099	2810	3948	1112	1264	961	0	0	0	0	0	0	14.24	14.14	13.67
1318	1.82	592.2	2811	3949	1255	963	32.0	5.9	213	1389	0.20	4.15	62.22	1.317	11430	0.154	0.047	2887	2506	748	901	595	0	0	0	0	0	0	14.37	14.40	13.74
1574	2.19	734.9	2887	2506	894	596	19.8	3.5	244	1619	0.32	4.53	34.75	1.253	10660	0.124	0.094	2985	3943	547	695	400	0	0	0	0	0	0	14.33	14.22	13.82
1762	end climb: SURFACE_DEPTH_REACHED
state	1762	begin surface coast
1773	end surface coast: CONTROL_FINISHED_OK
state	1773	begin surface