Glider dive log

Shilshole 03Apr18 * SG226 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 226 HD_C 9.8541004e-06 ROLL_DEG 70 COMPASS_USE 4

MISSION 10 HEADING -1 C_ROLL_DIVE 2038 ALTIM_PING_FIT 0

DIVE 2 ESCAPE_HEADING 0 C_ROLL_CLIMB 2038 ALTIM_TOP_PING_RANGE 0

N_DIVES 2 ESCAPE_HEADING_DELTA 5 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

STOP_T 0 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 TGT_DEFAULT_LAT 21 ROLL_TIMEOUT 20 ALTIM_TOP_MIN_OBSTACLE 0

D_FLARE 3 TGT_DEFAULT_LON -158.3 R_PORT_OVSHOOT 43 ALTIM_PING_DEPTH 0

D_TGT 45 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 30 ALTIM_PING_DELTA 10

D_ABORT 180 SM_CC 692.04858 ROLL_AD_RATE 160 ALTIM_FREQUENCY 11

D_NO_BLEED 50 N_FILEKB 8 ROLL_MAXERRORS 2 ALTIM_PULSE 3

D_BOOST 100 FILEMGR 0 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 3

T_BOOST 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 XPDR_VALID 4

D_FINISH 0 COMM_SEQ 0 VBD_MIN 500 XPDR_INHIBIT 90

D_PITCH 0 PROTOCOL 9 VBD_MAX 3960 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_NOCOMM 1 C_VBD 3000 INT_PRESSURE_YINT 0

D_CALL 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_CNV -0.24529999 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE1 2

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_TIMEOUT 720 DEVICE2 -1

T_DIVE 15 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE3 -1

T_MISSION 30 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_ABORT 1440 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_TURN 300 HEAPDBG 0 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_TURN_SAMPINT -5 T_GPS 5 UNCOM_BLEED 20 LOGGERS 1

T_NO_W 120 N_GPS 100440 VBD_MAXERRORS 1 LOGGERDEVICE1 -1

T_LOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_EPIRB 0 STROBE 0 DBDW 0 LOGGERDEVICE3 -1

USE_BATHY -6 RAFOS_PEAK_OFFSET 1.5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

USE_ICE 0 RAFOS_CORR_THRESH 60 LOITER_DBDW 0 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.1 RAFOS_HIT_WINDOW 3600 LOITER_D_NO_PUMP 200 COMPASS2_DEVICE -1

D_OFFGRID 200 RAFOS_MMODEM 0 LOITER_N_DIVE 0 PHONE_DEVICE 49

T_WATCHDOG 10 PITCH_MIN 165 PITCH_W_GAIN 0 GPS_DEVICE 64

RELAUNCH 1 PITCH_MAX 3950 PITCH_W_DBAND 0 RAFOS_DEVICE -1

APOGEE_PITCH -5 C_PITCH 2100 CF8_MAXERRORS 0 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_DBAND 0.1 AH0_24V 350 SIM_W 0

COURSE_BIAS 0 PITCH_CNV 0.0041975998 AH0_10V 0 SEABIRD_T_G 0.004442167

GLIDE_SLOPE 30 P_OVSHOOT 0 MINV_24V 10.5 SEABIRD_T_H 0.0006586102

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 MINV_10V 10.5 SEABIRD_T_I 2.6926198e-05

RHO 1.023 PITCH_GAIN 9 MAXI_24V 0.60000002 SEABIRD_T_J 3.3427477e-06

MASS 71411 PITCH_TIMEOUT 35 MAXI_10V 0.80000001 SEABIRD_C_G -9.9959793

MASS_COMP 0 PITCH_AD_RATE 50 FG_AHR_10V 0 SEABIRD_C_H 1.1392462

NAV_MODE 2 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_I -0.0021947562

FERRY_MAX 45 PITCH_ADJ_GAIN 0.059999999 PHONE_SUPPLY -2 SEABIRD_C_J 0.00024419421

KALMAN_USE 2 PITCH_ADJ_DBAND 1 PRESSURE_YINT -160.95813

HD_A 0.0038360001 ROLL_MIN 200 PRESSURE_SLOPE 0.00010895507

HD_B 0.010078 ROLL_MAX 3950 AD7714Ch0Gain 1

AD7714Ch0Gain 1 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_I 2.6926198e-05

AH0_10V 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_J 3.3427477e-06

AH0_24V 350 D_TGT 45 PHONE_DEVICE 49 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SM_CC 692.04858

ALTIM_FREQUENCY 11 ESCAPE_HEADING_DELTA 5 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_DELTA 10 FERRY_MAX 45 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PING_DEPTH 0 FG_AHR_10V 0 PITCH_AD_RATE 50 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_24V 0 PITCH_CNV 0.0041975998 SURFACE_URGENCY 0

ALTIM_PULSE 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 9 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 0 GLIDE_SLOPE 30 PITCH_MAX 3950 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GPS_DEVICE 64 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 21

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0038360001 PITCH_MIN 165 TGT_DEFAULT_LON -158.3

APOGEE_PITCH -5 HD_B 0.010078 PITCH_TIMEOUT 35 T_ABORT 1440

CALL_NDIVES 1 HD_C 9.8541004e-06 PITCH_VBD_SHIFT 0.0015 T_BOOST 0

CALL_TRIES 5 HEADING -1 PITCH_W_DBAND 0 T_DIVE 15

CALL_WAIT 60 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_EPIRB 0

CAPMAXSIZE 100000 HEAPDBG 0 PRESSURE_SLOPE 0.00010895507 T_GPS 5

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PRESSURE_YINT -160.95813 T_LOITER 0

CF8_MAXERRORS 0 ID 226 PROTOCOL 9 T_MISSION 30

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT 0 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 P_OVSHOOT_WITHG 0 T_RSLEEP 2

COMPASS_DEVICE 97 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_TURN 300

COMPASS_USE 4 LOGGERDEVICE1 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

COURSE_BIAS 0 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_WATCHDOG 10

C_PITCH 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2038 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2038 LOGGERS 1 RELAUNCH 1 USE_BATHY -6

C_VBD 3000 LOITER_DBDW 0 RHO 1.023 USE_ICE 0

DBDW 0 LOITER_D_NO_PUMP 200 ROLL_ADJ_DBAND 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 2 LOITER_W_DBAND 0 ROLL_AD_RATE 160 VBD_DBAND 2

DEVICE2 -1 MASS 71411 ROLL_CNV 0.047120001 VBD_LP_IGNORE 0

DEVICE3 -1 MASS_COMP 0 ROLL_DEG 70 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAX 3950 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MAXERRORS 2 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_MIN 200 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 2 MINV_10V 10.5 ROLL_TIMEOUT 20 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 180 MINV_24V 10.5 R_PORT_OVSHOOT 43 VBD_TIMEOUT 720

D_BOOST 100 MISSION 10 R_STBD_OVSHOOT 30 W_ADJ_DBAND 0

D_CALL 0 MOTHERBOARD 4 SEABIRD_C_G -9.9959793 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 2 SEABIRD_C_H 1.1392462 XPDR_INHIBIT 90

D_FLARE 3 NOCOMM_ACTION 163 SEABIRD_C_I -0.0021947562 XPDR_VALID 4

D_NO_BLEED 50 N_DIVES 2 SEABIRD_C_J 0.00024419421

D_OFFGRID 200 N_FILEKB 8 SEABIRD_T_G 0.004442167

D_PITCH 0 N_GPS 100440 SEABIRD_T_H 0.0006586102

Pre-dive calculations and measurements:

GPS1 030418,173121,4743.9766,-12223.5762,1,0.7,2,15.7,0.2,0.0,12,7.0 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 4743.500,-12225.000

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 197.9,2013,-18.2,-10.000,-20.99,2236

_SM_ANGLEo -44.2 D_GRID 164

GPS2 030418,173351,4744.0034,-12223.5674,2,0.6,2,15.7,0.3,16.8,12,10.0

Post-dive calculations and measurements:

FINISH 0.5,1.022292 _10V_AH 13.62,0.000

SM_CCo 1115,0.10,1.475,0,0,498,613.25 FG_AHR_24Vo 0.000

SM_GC 1.09,6.22,0.00,0.10,0.084,0.000,1.475,127,2055,498,-8.15,0.80,613.25,0,0,0,0,0,0,15.01,15.37,14.54 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4745.33,-12219.67,030418,172757 MEM 304304

TT8_MAMPS 0.021721,0.1498 DATA_FILE_SIZE 6827,180

HUMID 43.50 CAP_FILE_SIZE 41035,0

INTERNAL_PRESSURE 8.19367 CFSIZE 260157440,257687552

TCM_TEMP 17.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.257,11.09,1

_24V_AH 13.66,13.297 GPS 030418,175341,4744.108,-12223.562,1,0.7,3,15.7,0.2,3.7,12,4.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 413 111.80 SBE_CT 114 23 36.43

Roll_motor 25 85 29.64 nil 0 0 0.00

VBD_pump_during_apogee 268 457 1678.80 nil 0 0 0.00

VBD_pump_during_surface 68 1474 1383.62 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 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 4 9 0.53

TT8 375 11 59.44

LPSleep 108 2 3.24

TT8_Active 425 11 67.35

TT8_Sampling 262 28 103.17

TT8_CF8 16 35 7.78

TT8_Kalman 0 0 0.00

Analog_circuits 625 10 86.10

GPS_charging 0 0 0.00

Compass 269 6 24.76

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6 -2.24 -146.6 152 2021 347 654 0.0 0.0 0 128 0.00 0.00 -118.95 0.005 16386 0.000 0.000 152 2021 3237 3382 3093 0 0 0 0 0 0 15.42 28.83 15.42

131 -2.24 -146.6 151 2021 3381 3094 4.4 -9.4 19 158 6.88 4.25 -7.90 0.018 18980 0.414 0.086 1587 587 3601 3773 3429 0 0 0 0 0 0 14.75 13.71 15.00

170 -1.00 -146.6 1587 587 3773 3429 17.8 -31.5 25 179 1.15 4.05 0.00 0.000 3206 0.260 0.047 1871 2029 3601 3773 3429 0 0 0 0 0 0 14.85 15.07 15.09

362 -1.46 -146.6 1871 2029 3773 3429 40.9 -10.2 62 370 0.40 4.35 0.00 0.000 4484 0.076 0.079 1692 3514 3601 3773 3429 0 0 0 0 0 0 15.09 15.07 15.14

390 end dive: TARGET_DEPTH_EXCEEDED

state 390 begin apogee

398 -0.56 0.0 1708 2053 3773 3429 45.5 -16.4 67 468 0.98 0.00 63.53 0.435 10246 0.239 0.000 1976 2049 2999 2936 3062 0 0 0 0 0 0 14.91 14.95 14.58

469 end apogee: CONTROL_FINISHED_OK

state 469 begin climb

470 2.24 146.6 1976 2049 2935 3062 52.8 0.0 78 546 2.15 4.45 65.97 0.439 10756 0.147 0.063 2662 563 2399 2292 2506 0 0 0 0 0 0 14.83 14.76 14.45

724 0.50 455.7 2662 563 2284 2506 58.1 -4.1 125 878 2.00 4.15 139.15 0.457 13478 0.383 0.042 2214 2055 1139 997 1282 0 0 0 0 0 0 14.71 15.04 14.42

1023 end climb: SURFACE_DEPTH_REACHED

state 1023 begin surface coast

1029 end surface coast: CONTROL_FINISHED_OK

state 1029 begin surface

ID	226	HD_C	9.8541004e-06	ROLL_DEG	70	COMPASS_USE	4
MISSION	10	HEADING	-1	C_ROLL_DIVE	2038	ALTIM_PING_FIT	0
DIVE	2	ESCAPE_HEADING	0	C_ROLL_CLIMB	2038	ALTIM_TOP_PING_RANGE	0
N_DIVES	2	ESCAPE_HEADING_DELTA	5	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
STOP_T	0	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	TGT_DEFAULT_LAT	21	ROLL_TIMEOUT	20	ALTIM_TOP_MIN_OBSTACLE	0
D_FLARE	3	TGT_DEFAULT_LON	-158.3	R_PORT_OVSHOOT	43	ALTIM_PING_DEPTH	0
D_TGT	45	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	30	ALTIM_PING_DELTA	10
D_ABORT	180	SM_CC	692.04858	ROLL_AD_RATE	160	ALTIM_FREQUENCY	11
D_NO_BLEED	50	N_FILEKB	8	ROLL_MAXERRORS	2	ALTIM_PULSE	3
D_BOOST	100	FILEMGR	0	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	3
T_BOOST	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	XPDR_VALID	4
D_FINISH	0	COMM_SEQ	0	VBD_MIN	500	XPDR_INHIBIT	90
D_PITCH	0	PROTOCOL	9	VBD_MAX	3960	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_NOCOMM	1	C_VBD	3000	INT_PRESSURE_YINT	0
D_CALL	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE1	2
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_TIMEOUT	720	DEVICE2	-1
T_DIVE	15	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE3	-1
T_MISSION	30	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_ABORT	1440	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_TURN	300	HEAPDBG	0	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_TURN_SAMPINT	-5	T_GPS	5	UNCOM_BLEED	20	LOGGERS	1
T_NO_W	120	N_GPS	100440	VBD_MAXERRORS	1	LOGGERDEVICE1	-1
T_LOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_EPIRB	0	STROBE	0	DBDW	0	LOGGERDEVICE3	-1
USE_BATHY	-6	RAFOS_PEAK_OFFSET	1.5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	LOITER_DBDW	0	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.1	RAFOS_HIT_WINDOW	3600	LOITER_D_NO_PUMP	200	COMPASS2_DEVICE	-1
D_OFFGRID	200	RAFOS_MMODEM	0	LOITER_N_DIVE	0	PHONE_DEVICE	49
T_WATCHDOG	10	PITCH_MIN	165	PITCH_W_GAIN	0	GPS_DEVICE	64
RELAUNCH	1	PITCH_MAX	3950	PITCH_W_DBAND	0	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	C_PITCH	2100	CF8_MAXERRORS	0	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_DBAND	0.1	AH0_24V	350	SIM_W	0
COURSE_BIAS	0	PITCH_CNV	0.0041975998	AH0_10V	0	SEABIRD_T_G	0.004442167
GLIDE_SLOPE	30	P_OVSHOOT	0	MINV_24V	10.5	SEABIRD_T_H	0.0006586102
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	MINV_10V	10.5	SEABIRD_T_I	2.6926198e-05
RHO	1.023	PITCH_GAIN	9	MAXI_24V	0.60000002	SEABIRD_T_J	3.3427477e-06
MASS	71411	PITCH_TIMEOUT	35	MAXI_10V	0.80000001	SEABIRD_C_G	-9.9959793
MASS_COMP	0	PITCH_AD_RATE	50	FG_AHR_10V	0	SEABIRD_C_H	1.1392462
NAV_MODE	2	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_I	-0.0021947562
FERRY_MAX	45	PITCH_ADJ_GAIN	0.059999999	PHONE_SUPPLY	-2	SEABIRD_C_J	0.00024419421
KALMAN_USE	2	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-160.95813
HD_A	0.0038360001	ROLL_MIN	200	PRESSURE_SLOPE	0.00010895507
HD_B	0.010078	ROLL_MAX	3950	AD7714Ch0Gain	1

GPS1	030418,173121,4743.9766,-12223.5762,1,0.7,2,15.7,0.2,0.0,12,7.0	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	4743.500,-12225.000
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	197.9,2013,-18.2,-10.000,-20.99,2236
_SM_ANGLEo	-44.2	D_GRID	164
GPS2	030418,173351,4744.0034,-12223.5674,2,0.6,2,15.7,0.3,16.8,12,10.0

FINISH	0.5,1.022292	_10V_AH	13.62,0.000
SM_CCo	1115,0.10,1.475,0,0,498,613.25	FG_AHR_24Vo	0.000
SM_GC	1.09,6.22,0.00,0.10,0.084,0.000,1.475,127,2055,498,-8.15,0.80,613.25,0,0,0,0,0,0,15.01,15.37,14.54	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4745.33,-12219.67,030418,172757	MEM	304304
TT8_MAMPS	0.021721,0.1498	DATA_FILE_SIZE	6827,180
HUMID	43.50	CAP_FILE_SIZE	41035,0
INTERNAL_PRESSURE	8.19367	CFSIZE	260157440,257687552
TCM_TEMP	17.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.257,11.09,1
_24V_AH	13.66,13.297	GPS	030418,175341,4744.108,-12223.562,1,0.7,3,15.7,0.2,3.7,12,4.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	413	111.80	SBE_CT	114	23	36.43
Roll_motor	25	85	29.64	nil	0	0	0.00
VBD_pump_during_apogee	268	457	1678.80	nil	0	0	0.00
VBD_pump_during_surface	68	1474	1383.62	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	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	4	9	0.53
TT8	375	11	59.44
LPSleep	108	2	3.24
TT8_Active	425	11	67.35
TT8_Sampling	262	28	103.17
TT8_CF8	16	35	7.78
TT8_Kalman	0	0	0.00
Analog_circuits	625	10	86.10
GPS_charging	0	0	0.00
Compass	269	6	24.76
RAFOS	0	0	0.00
Transponder	0	5	0.04

		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

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6	-2.24	-146.6	152	2021	347	654	0.0	0.0	0	128	0.00	0.00	-118.95	0.005	16386	0.000	0.000	152	2021	3237	3382	3093	0	0	0	0	0	0	15.42	28.83	15.42
131	-2.24	-146.6	151	2021	3381	3094	4.4	-9.4	19	158	6.88	4.25	-7.90	0.018	18980	0.414	0.086	1587	587	3601	3773	3429	0	0	0	0	0	0	14.75	13.71	15.00
170	-1.00	-146.6	1587	587	3773	3429	17.8	-31.5	25	179	1.15	4.05	0.00	0.000	3206	0.260	0.047	1871	2029	3601	3773	3429	0	0	0	0	0	0	14.85	15.07	15.09
362	-1.46	-146.6	1871	2029	3773	3429	40.9	-10.2	62	370	0.40	4.35	0.00	0.000	4484	0.076	0.079	1692	3514	3601	3773	3429	0	0	0	0	0	0	15.09	15.07	15.14
390	end dive: TARGET_DEPTH_EXCEEDED
state	390	begin apogee
398	-0.56	0.0	1708	2053	3773	3429	45.5	-16.4	67	468	0.98	0.00	63.53	0.435	10246	0.239	0.000	1976	2049	2999	2936	3062	0	0	0	0	0	0	14.91	14.95	14.58
469	end apogee: CONTROL_FINISHED_OK
state	469	begin climb
470	2.24	146.6	1976	2049	2935	3062	52.8	0.0	78	546	2.15	4.45	65.97	0.439	10756	0.147	0.063	2662	563	2399	2292	2506	0	0	0	0	0	0	14.83	14.76	14.45
724	0.50	455.7	2662	563	2284	2506	58.1	-4.1	125	878	2.00	4.15	139.15	0.457	13478	0.383	0.042	2214	2055	1139	997	1282	0	0	0	0	0	0	14.71	15.04	14.42
1023	end climb: SURFACE_DEPTH_REACHED
state	1023	begin surface coast
1029	end surface coast: CONTROL_FINISHED_OK
state	1029	begin surface