Glider dive log

SODA Sep18 * SG227 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_CLIMB 2700 ALTIM_TOP_PING_RANGE 0

MISSION 9 ESCAPE_HEADING 180 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 7100 R_PORT_OVSHOOT 49 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 27 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 100 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 0.003 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 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 40 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 1 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 1 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 40 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 0.003 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 2700 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 1 MINV_10V 11 R_PORT_OVSHOOT 49 VBD_MIN 550

D_ABORT 100 MINV_24V 11 R_STBD_OVSHOOT 27 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 1 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 200918,192812,7415.2456,-14625.9170,1,1.6,3,18.4,0.7,284.1,5,7.1 SPEED_LIMITS 0.173,0.232

_CALLS 3 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.52 MHEAD_RNG_PITCHd_Wd 274.6,48938,-19.9,-10.000,-23.28,2245

_SM_ANGLEo -71.7 D_GRID 45

GPS2 200918,193536,7415.2959,-14625.9775,3,1.5,4,18.4,1.1,340.7,5,7.9

Post-dive calculations and measurements:

FINISH 0.1,1.021058 _24V_AH 13.62,2.643

SM_CCo 1574,0.00,0.000,0,0,542,643.91 _10V_AH 13.15,0.000

SM_GC 1.97,8.82,1.27,0.00,0.089,0.047,0.000,157,2259,542,-6.65,1.98,643.91,0,0,0,0,0,0,14.64,14.67,14.71 FG_AHR_24Vo 0.000

RAFOS_CLK 12 FG_AHR_10Vo 0.000

RAFOS_FIX 7415.187988,-14626.022461,200918,202044,0,1,0.13 MEM 334692

IRIDIUM_FIX 7416.31,-14623.00,200918,192858 DATA_FILE_SIZE 6840,207

TT8_MAMPS 0.077147,0.945238 CAP_FILE_SIZE 50968,0

HUMID 52.71 CFSIZE 1047117824,1042399232

INTERNAL_PRESSURE 9.39876 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.90 SOUNDSPEED 1440.1

XPDR_PINGS 0 GPS 200918,200349,7415.420,-14626.189,23,0.7,33,18.4,0.4,147.8,12,8.6

ALTIM_TOP_PING 11.9,12.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 398 113.45 nil 0 0 0.00

Roll_motor 36 90 45.12 nil 0 0 0.00

VBD_pump_during_apogee 411 1699 9520.90 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 1482 45 919.90

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 14.30 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 20 3.95

TT8 324 11 50.02

LPSleep 446 2 13.56

TT8_Active 466 11 71.97

TT8_Sampling 388 30 155.41

TT8_CF8 49 43 28.62

TT8_Kalman 0 0 0.00

Analog_circuits 715 10 94.03

GPS_charging 0 0 0.00

Compass 309 5 20.32

RAFOS 2215 33 961.20

Transponder 17 30 6.81

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

11.8 34.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

24.6 27.90 9000.00 0.0 0.00 0.00 27.90 52.5 -0.51 1.00

46.9 49.50 9000.00 0.0 0.49 0.62 49.50 0.0 0.97 1.00

43.0 45.50 45.60 -2.6 0.97 1.00 45.50 -2.5 1.03 1.00

32.9 33.10 33.20 -0.3 1.19 1.00 33.10 -0.2 1.23 1.00

22.6 23.50 23.00 -0.4 1.08 0.99 23.50 -0.9 0.93 1.00

11.9 12.20 12.40 -0.5 0.99 1.00 12.20 -0.3 1.06 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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

12 -0.93 -146.0 147 2278 687 488 0.0 0.0 0 105 0.00 0.00 -90.70 0.002 16386 0.000 0.000 147 2270 2020 1987 2053 0 0 0 0 0 0 15.16 28.83 15.19

109 -0.93 -146.0 147 2270 1989 2055 5.0 -6.1 9 163 8.38 4.82 -34.85 0.004 18980 0.399 0.080 2012 588 3764 3707 3822 0 0 0 0 0 0 14.57 13.62 14.88

196 end dive: TARGET_DEPTH_EXCEEDED

state 196 begin apogee

208 -0.12 0.0 1986 2689 3708 3823 46.9 -49.3 24 289 1.02 0.00 76.15 1.675 10246 0.293 0.000 2249 2690 3164 3222 3107 0 0 0 0 0 0 14.65 14.56 13.87

291 end apogee: CONTROL_FINISHED_OK

state 291 begin climb

294 0.93 146.0 2249 2690 3222 3107 67.9 0.0 33 383 1.20 3.85 76.30 1.644 10500 0.208 0.090 2592 3940 2567 2685 2450 0 0 0 0 0 0 14.48 14.33 13.72

616 1.90 476.9 2592 3940 2672 2450 84.1 -5.1 93 799 0.95 3.42 171.75 1.699 11430 0.115 0.041 2914 2694 1219 1347 1091 0 0 0 0 0 0 14.62 14.73 13.65

989 1.90 492.5 2914 2694 1338 1081 40.3 9.3 145 1002 0.00 3.80 6.78 1.293 8612 0.000 0.085 2900 3945 1155 1286 1024 0 0 0 0 0 0 14.81 14.55 13.97

1039 1.83 492.5 2900 3945 1281 1024 35.1 10.3 154 1046 0.00 3.47 0.00 0.000 1158 0.000 0.043 2915 2700 1153 1282 1024 0 0 0 0 0 0 14.72 14.67 14.73

1228 2.46 712.4 2915 2699 1281 1022 26.8 -0.1 173 1319 0.52 4.95 80.45 1.363 11172 0.130 0.063 3107 1025 546 685 408 0 0 0 0 0 0 14.69 14.44 13.91

1331 2.54 756.7 3107 1025 682 410 22.6 8.0 190 1338 0.00 4.95 0.00 0.000 1190 0.000 0.058 3088 2703 545 682 409 0 0 0 0 0 0 14.54 14.47 14.56

1485 end climb: SURFACE_DEPTH_REACHED

state 1485 begin surface coast

1495 end surface coast: CONTROL_FINISHED_OK

state 1495 begin surface

ID	227	HEADING	-1	C_ROLL_CLIMB	2700	ALTIM_TOP_PING_RANGE	0
MISSION	9	ESCAPE_HEADING	180	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	7100	R_PORT_OVSHOOT	49	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	27	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	100	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	0.003	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	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	40	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	1	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	200918,192812,7415.2456,-14625.9170,1,1.6,3,18.4,0.7,284.1,5,7.1	SPEED_LIMITS	0.173,0.232
_CALLS	3	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.52	MHEAD_RNG_PITCHd_Wd	274.6,48938,-19.9,-10.000,-23.28,2245
_SM_ANGLEo	-71.7	D_GRID	45
GPS2	200918,193536,7415.2959,-14625.9775,3,1.5,4,18.4,1.1,340.7,5,7.9

FINISH	0.1,1.021058	_24V_AH	13.62,2.643
SM_CCo	1574,0.00,0.000,0,0,542,643.91	_10V_AH	13.15,0.000
SM_GC	1.97,8.82,1.27,0.00,0.089,0.047,0.000,157,2259,542,-6.65,1.98,643.91,0,0,0,0,0,0,14.64,14.67,14.71	FG_AHR_24Vo	0.000
RAFOS_CLK	12	FG_AHR_10Vo	0.000
RAFOS_FIX	7415.187988,-14626.022461,200918,202044,0,1,0.13	MEM	334692
IRIDIUM_FIX	7416.31,-14623.00,200918,192858	DATA_FILE_SIZE	6840,207
TT8_MAMPS	0.077147,0.945238	CAP_FILE_SIZE	50968,0
HUMID	52.71	CFSIZE	1047117824,1042399232
INTERNAL_PRESSURE	9.39876	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.90	SOUNDSPEED	1440.1
XPDR_PINGS	0	GPS	200918,200349,7415.420,-14626.189,23,0.7,33,18.4,0.4,147.8,12,8.6
ALTIM_TOP_PING	11.9,12.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	398	113.45	nil	0	0	0.00
Roll_motor	36	90	45.12	nil	0	0	0.00
VBD_pump_during_apogee	411	1699	9520.90	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	1482	45	919.90
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	14.30	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	20	3.95
TT8	324	11	50.02
LPSleep	446	2	13.56
TT8_Active	466	11	71.97
TT8_Sampling	388	30	155.41
TT8_CF8	49	43	28.62
TT8_Kalman	0	0	0.00
Analog_circuits	715	10	94.03
GPS_charging	0	0	0.00
Compass	309	5	20.32
RAFOS	2215	33	961.20
Transponder	17	30	6.81

		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
11.8	34.40	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
24.6	27.90	9000.00	0.0	0.00	0.00	27.90	52.5	-0.51	1.00
46.9	49.50	9000.00	0.0	0.49	0.62	49.50	0.0	0.97	1.00

43.0	45.50	45.60	-2.6	0.97	1.00	45.50	-2.5	1.03	1.00
32.9	33.10	33.20	-0.3	1.19	1.00	33.10	-0.2	1.23	1.00
22.6	23.50	23.00	-0.4	1.08	0.99	23.50	-0.9	0.93	1.00
11.9	12.20	12.40	-0.5	0.99	1.00	12.20	-0.3	1.06	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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
12	-0.93	-146.0	147	2278	687	488	0.0	0.0	0	105	0.00	0.00	-90.70	0.002	16386	0.000	0.000	147	2270	2020	1987	2053	0	0	0	0	0	0	15.16	28.83	15.19
109	-0.93	-146.0	147	2270	1989	2055	5.0	-6.1	9	163	8.38	4.82	-34.85	0.004	18980	0.399	0.080	2012	588	3764	3707	3822	0	0	0	0	0	0	14.57	13.62	14.88
196	end dive: TARGET_DEPTH_EXCEEDED
state	196	begin apogee
208	-0.12	0.0	1986	2689	3708	3823	46.9	-49.3	24	289	1.02	0.00	76.15	1.675	10246	0.293	0.000	2249	2690	3164	3222	3107	0	0	0	0	0	0	14.65	14.56	13.87
291	end apogee: CONTROL_FINISHED_OK
state	291	begin climb
294	0.93	146.0	2249	2690	3222	3107	67.9	0.0	33	383	1.20	3.85	76.30	1.644	10500	0.208	0.090	2592	3940	2567	2685	2450	0	0	0	0	0	0	14.48	14.33	13.72
616	1.90	476.9	2592	3940	2672	2450	84.1	-5.1	93	799	0.95	3.42	171.75	1.699	11430	0.115	0.041	2914	2694	1219	1347	1091	0	0	0	0	0	0	14.62	14.73	13.65
989	1.90	492.5	2914	2694	1338	1081	40.3	9.3	145	1002	0.00	3.80	6.78	1.293	8612	0.000	0.085	2900	3945	1155	1286	1024	0	0	0	0	0	0	14.81	14.55	13.97
1039	1.83	492.5	2900	3945	1281	1024	35.1	10.3	154	1046	0.00	3.47	0.00	0.000	1158	0.000	0.043	2915	2700	1153	1282	1024	0	0	0	0	0	0	14.72	14.67	14.73
1228	2.46	712.4	2915	2699	1281	1022	26.8	-0.1	173	1319	0.52	4.95	80.45	1.363	11172	0.130	0.063	3107	1025	546	685	408	0	0	0	0	0	0	14.69	14.44	13.91
1331	2.54	756.7	3107	1025	682	410	22.6	8.0	190	1338	0.00	4.95	0.00	0.000	1190	0.000	0.058	3088	2703	545	682	409	0	0	0	0	0	0	14.54	14.47	14.56
1485	end climb: SURFACE_DEPTH_REACHED
state	1485	begin surface coast
1495	end surface coast: CONTROL_FINISHED_OK
state	1495	begin surface