Glider dive log

SODA Sep18 * SG227 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 227 HEADING -1 C_ROLL_CLIMB 3800 ALTIM_TOP_PING_RANGE 0

MISSION 9 ESCAPE_HEADING 180 HEAD_ERRBAND 180 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 10 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 18 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 2 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 150 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 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 70 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 70 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 50 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 0 COMPASS_USE 4

HD_C 3.1e-06 C_ROLL_DIVE 3800 ALTIM_PING_FIT 883

AD7714Ch0Gain 1 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_G 0.0044193882

AH0_10V 0 D_TGT 150 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 50 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 180 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 50

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 70

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 3800 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 3800 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 0 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 70 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 10 MINV_10V 11 R_PORT_OVSHOOT 18 VBD_MIN 550

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 2 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 210918,155842,7416.7222,-14632.3848,4,1.0,4,18.4,0.4,259.0,8,9.7 SPEED_LIMITS 0.084,0.158

_CALLS 1 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.81 MHEAD_RNG_PITCHd_Wd 273.2,44949,-29.7,-10.000,-32.38,1049

_SM_ANGLEo -79.1 D_GRID 150

GPS2 210918,160538,7416.7090,-14632.4893,10,1.3,12,18.4,0.2,176.2,6,4.3

Post-dive calculations and measurements:

SM_CCo 150,495.12,1.655,0,0,549,641.70 _10V_AH 13.36,0.000

SM_GC 1.92,0.52,0.08,0.00,0.174,0.322,0.000,161,3801,543,-6.66,-0.19,643.18,0,0,0,0,0,0,14.15,14.10,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 37 FG_AHR_10Vo 0.000

RAFOS_FIX 7416.187012,-14632.805664,210918,151515,0,1,0.38 MEM 334620

IRIDIUM_FIX 7416.86,-14640.60,210918,150015 DATA_FILE_SIZE 177,13

TT8_MAMPS 0.169274,0.256158 CAP_FILE_SIZE 19490,8

HUMID 46.25 CFSIZE 1047117824,1041268736

INTERNAL_PRESSURE 9.31087 ERRORS 0,0,0,0,0,0,0,0,1,0,0,48,0,0,0,0

TCM_TEMP 14.30 EOP_CODE MOTOR_MAX_ERRORS_EXCEEDED

XPDR_PINGS 0 RECOV_CODE MAX_PITCH_ERRORS

_24V_AH 13.38,7.066 GPS 210918,162214,7416.714,-14632.750,4,1.3,5,18.4,0.2,0.0,6,5.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 861 188.15 nil 0 0 0.00

Roll_motor 12 322 52.46 nil 0 0 0.00

VBD_pump_during_apogee 0 0 0.00 nil 0 0 0.00

VBD_pump_during_surface 495 1654 10961.98 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 27 3 1.28

Iridium_during_xfer 263 176 623.27 nil 0 0 0.00

Transponder_ping 0 420 4.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 20 6.13

TT8 0 0 0.00

LPSleep 246 2 7.60

TT8_Active 555 11 87.04

TT8_Sampling 433 30 176.45

TT8_CF8 115 43 67.98

TT8_Kalman 0 0 0.00

Analog_circuits 914 10 122.14

GPS_charging 0 0 0.00

Compass 30 5 2.07

RAFOS 1745 33 769.34

Transponder 7 30 3.08

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

13.8 9.70 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

23.9 5.50 9000.00 0.0 0.00 0.00 5.50 29.4 -0.42 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 -0.81 -68.1 110 3792 649 438 0.0 0.0 0 78 0.00 0.00 -68.10 0.003 16386 0.000 0.000 110 3789 1720 1667 1774 0 0 0 0 0 0 14.73 28.83 14.76

81 -0.81 -68.1 111 3789 1668 1775 6.5 -10.0 7 132 15.80 0.00 -30.48 0.004 18438 0.861 0.000 306 3789 3446 3362 3531 48 1 0 0 0 0 14.19 13.81 14.51

139 end dive: MOTOR_MAX_ERRORS_EXCEEDED

ID	227	HEADING	-1	C_ROLL_CLIMB	3800	ALTIM_TOP_PING_RANGE	0
MISSION	9	ESCAPE_HEADING	180	HEAD_ERRBAND	180	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	10	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	18	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	2	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	150	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	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	70	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	70	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	50	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	0	COMPASS_USE	4
HD_C	3.1e-06	C_ROLL_DIVE	3800	ALTIM_PING_FIT	883

GPS1	210918,155842,7416.7222,-14632.3848,4,1.0,4,18.4,0.4,259.0,8,9.7	SPEED_LIMITS	0.084,0.158
_CALLS	1	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.81	MHEAD_RNG_PITCHd_Wd	273.2,44949,-29.7,-10.000,-32.38,1049
_SM_ANGLEo	-79.1	D_GRID	150
GPS2	210918,160538,7416.7090,-14632.4893,10,1.3,12,18.4,0.2,176.2,6,4.3

SM_CCo	150,495.12,1.655,0,0,549,641.70	_10V_AH	13.36,0.000
SM_GC	1.92,0.52,0.08,0.00,0.174,0.322,0.000,161,3801,543,-6.66,-0.19,643.18,0,0,0,0,0,0,14.15,14.10,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	37	FG_AHR_10Vo	0.000
RAFOS_FIX	7416.187012,-14632.805664,210918,151515,0,1,0.38	MEM	334620
IRIDIUM_FIX	7416.86,-14640.60,210918,150015	DATA_FILE_SIZE	177,13
TT8_MAMPS	0.169274,0.256158	CAP_FILE_SIZE	19490,8
HUMID	46.25	CFSIZE	1047117824,1041268736
INTERNAL_PRESSURE	9.31087	ERRORS	0,0,0,0,0,0,0,0,1,0,0,48,0,0,0,0
TCM_TEMP	14.30	EOP_CODE	MOTOR_MAX_ERRORS_EXCEEDED
XPDR_PINGS	0	RECOV_CODE	MAX_PITCH_ERRORS
_24V_AH	13.38,7.066	GPS	210918,162214,7416.714,-14632.750,4,1.3,5,18.4,0.2,0.0,6,5.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	861	188.15	nil	0	0	0.00
Roll_motor	12	322	52.46	nil	0	0	0.00
VBD_pump_during_apogee	0	0	0.00	nil	0	0	0.00
VBD_pump_during_surface	495	1654	10961.98	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	27	3	1.28
Iridium_during_xfer	263	176	623.27	nil	0	0	0.00
Transponder_ping	0	420	4.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	20	6.13
TT8	0	0	0.00
LPSleep	246	2	7.60
TT8_Active	555	11	87.04
TT8_Sampling	433	30	176.45
TT8_CF8	115	43	67.98
TT8_Kalman	0	0	0.00
Analog_circuits	914	10	122.14
GPS_charging	0	0	0.00
Compass	30	5	2.07
RAFOS	1745	33	769.34
Transponder	7	30	3.08

		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
13.8	9.70	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
23.9	5.50	9000.00	0.0	0.00	0.00	5.50	29.4	-0.42	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	-0.81	-68.1	110	3792	649	438	0.0	0.0	0	78	0.00	0.00	-68.10	0.003	16386	0.000	0.000	110	3789	1720	1667	1774	0	0	0	0	0	0	14.73	28.83	14.76
81	-0.81	-68.1	111	3789	1668	1775	6.5	-10.0	7	132	15.80	0.00	-30.48	0.004	18438	0.861	0.000	306	3789	3446	3362	3531	48	1	0	0	0	0	14.19	13.81	14.51
139	end dive: MOTOR_MAX_ERRORS_EXCEEDED