Glider dive log

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 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 1

STOP_T 0 TGT_DEFAULT_LAT 7100 R_PORT_OVSHOOT 30 ALTIM_PING_DEPTH 0

D_SURF 2 TGT_DEFAULT_LON -14430 R_STBD_OVSHOOT 15 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 100 ALTIM_FREQUENCY 13

D_TGT 90 SM_CC 631.70477 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 200 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 30 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 40 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 90 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 30

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 40

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 2 MINV_10V 11 R_PORT_OVSHOOT 30 VBD_MIN 550

D_ABORT 200 MINV_24V 11 R_STBD_OVSHOOT 15 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 2 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 200918,201514,7415.4868,-14626.1943,2,0.6,4,18.4,0.4,62.7,12,4.7 SPEED_LIMITS 0.173,0.232

_CALLS 2 TGT_NAME NAV-SW

_XMS_NAKs 0 TGT_LATLONG 7425.620,-14756.580

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.58 MHEAD_RNG_PITCHd_Wd 274.2,48676,-19.9,-10.000,-23.28,2245

_SM_ANGLEo -73.0 D_GRID 90

GPS2 200918,202036,7415.5210,-14626.1953,4,0.6,4,18.4,0.6,326.8,12,8.8

Post-dive calculations and measurements:

FINISH 0.5,1.021100 _24V_AH 13.53,2.918

SM_CCo 1784,0.00,0.000,0,0,542,643.67 _10V_AH 13.15,0.000

SM_GC 1.75,8.65,1.27,0.00,0.084,0.050,0.000,159,2266,542,-6.65,2.12,643.67,0,0,0,0,0,0,14.59,14.64,14.69 FG_AHR_24Vo 0.000

RAFOS_CLK 65 FG_AHR_10Vo 0.000

RAFOS_FIX 7415.371094,-14626.135742,200918,202024,0,1,0.16 MEM 334536

IRIDIUM_FIX 7415.72,-14633.98,200918,201558 DATA_FILE_SIZE 6832,269

TT8_MAMPS 0.038948,0.996919 CAP_FILE_SIZE 43577,0

HUMID 52.40 CFSIZE 1047117824,1042317312

INTERNAL_PRESSURE 9.36946 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.50 SOUNDSPEED 1440.5

XPDR_PINGS 0 GPS 200918,205139,7415.629,-14626.641,1,1.0,4,18.4,1.5,0.0,9,5.2

ALTIM_TOP_PING 30.7,31.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 397 111.55 nil 0 0 0.00

Roll_motor 37 91 45.99 nil 0 0 0.00

VBD_pump_during_apogee 439 1891 11233.67 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 1695 44 1015.90

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 24.15 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 20 4.01

TT8 0 0 0.00

LPSleep 752 2 22.86

TT8_Active 490 11 75.56

TT8_Sampling 573 30 229.80

TT8_CF8 52 43 30.07

TT8_Kalman 0 0 0.00

Analog_circuits 774 10 101.84

GPS_charging 0 0 0.00

Compass 392 5 25.83

RAFOS 0 0 0.00

Transponder 29 30 11.74

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

30.9 8.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00

41.9 6.00 9000.00 0.0 0.00 0.00 6.00 47.9 -0.20 1.00

53.5 56.70 9000.00 0.0 2.18 0.73 56.70 0.0 4.37 1.00

64.4 67.70 9000.00 0.0 2.75 0.89 67.70 0.0 1.01 1.00

74.6 12.40 9000.00 0.0 -2.05 0.55 12.40 87.0 -5.42 1.00

84.8 88.30 9000.00 0.0 1.01 0.07 88.30 0.0 7.44 1.00

93.2 18.50 9000.00 0.0 0.58 0.02 18.50 111.7 -8.31 1.00

82.5 5.70 9000.00 0.0 -1.38 0.03 5.70 76.8 1.20 1.00

71.7 74.40 9000.00 0.0 -2.61 0.59 74.40 0.0 -6.36 1.00

61.4 9.20 9000.00 0.0 -0.22 0.00 9.20 52.2 6.33 1.00

51.0 54.60 9000.00 0.0 0.94 0.08 54.60 0.0 -4.37 1.00

40.8 42.30 9000.00 0.0 -1.62 0.51 42.30 -1.5 1.21 1.00

30.7 31.40 31.20 -0.5 1.14 1.00 31.40 -0.7 1.08 1.00

19.6 5.60 9000.00 0.0 1.74 0.96 5.60 14.0 2.32 1.00

9.3 9.80 9000.00 0.0 1.03 0.63 9.80 0.0 -0.41 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 -0.93 -146.0 153 2244 645 434 0.0 0.0 0 102 0.00 0.00 -91.18 0.002 16386 0.000 0.000 153 2243 2060 2031 2090 0 0 0 0 0 0 14.95 28.83 15.00

105 -0.93 -146.0 153 2241 2032 2094 6.8 -11.4 9 155 8.32 4.95 -31.17 0.004 18948 0.398 0.086 2012 568 3766 3705 3827 0 0 0 0 0 0 14.52 13.76 14.80

343 end dive: TARGET_DEPTH_EXCEEDED

state 343 begin apogee

355 -0.12 0.0 1986 2704 3706 3826 90.8 -19.7 55 439 1.00 0.00 79.20 1.891 10246 0.273 0.000 2248 2705 3165 3225 3106 0 0 0 0 0 0 14.56 14.35 13.69

440 end apogee: CONTROL_FINISHED_OK

state 440 begin climb

442 0.93 146.0 2249 2705 3226 3106 101.1 0.0 64 534 1.20 3.83 81.62 1.834 10500 0.192 0.092 2587 3939 2566 2691 2442 0 0 0 0 0 0 14.31 14.16 13.53

761 1.85 469.1 2587 3940 2678 2443 111.3 -4.8 125 955 0.93 3.58 180.57 1.829 11430 0.123 0.048 2892 2687 1250 1382 1119 0 0 0 0 0 0 14.54 14.55 13.54

1131 1.80 469.1 2892 2688 1377 1111 51.0 11.5 178 1136 0.00 3.78 0.00 0.000 388 0.000 0.088 2879 3943 1242 1374 1110 0 0 0 0 0 0 14.68 14.50 14.71

1362 2.34 674.2 2879 3944 1370 1111 38.3 0.6 224 1468 0.50 3.53 97.65 1.421 11430 0.139 0.044 3048 2675 549 691 407 0 0 0 0 0 0 14.63 14.71 13.84

1655 2.30 674.2 3048 2675 682 406 6.9 11.4 262 1667 0.00 4.88 0.00 0.000 644 0.000 0.067 3069 1032 543 680 407 0 0 0 0 0 0 14.74 14.58 14.76

1672 2.26 674.2 3069 1032 680 408 4.9 11.9 265 1679 0.12 4.93 0.00 0.000 5254 0.327 0.060 3033 2705 543 679 407 0 0 0 0 0 0 14.45 14.58 14.64

1695 end climb: SURFACE_DEPTH_REACHED

state 1695 begin surface coast

1705 end surface coast: CONTROL_FINISHED_OK

state 1705 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	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	1
STOP_T	0	TGT_DEFAULT_LAT	7100	R_PORT_OVSHOOT	30	ALTIM_PING_DEPTH	0
D_SURF	2	TGT_DEFAULT_LON	-14430	R_STBD_OVSHOOT	15	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	100	ALTIM_FREQUENCY	13
D_TGT	90	SM_CC	631.70477	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	200	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	30	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	40	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	200918,201514,7415.4868,-14626.1943,2,0.6,4,18.4,0.4,62.7,12,4.7	SPEED_LIMITS	0.173,0.232
_CALLS	2	TGT_NAME	NAV-SW
_XMS_NAKs	0	TGT_LATLONG	7425.620,-14756.580
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.58	MHEAD_RNG_PITCHd_Wd	274.2,48676,-19.9,-10.000,-23.28,2245
_SM_ANGLEo	-73.0	D_GRID	90
GPS2	200918,202036,7415.5210,-14626.1953,4,0.6,4,18.4,0.6,326.8,12,8.8

FINISH	0.5,1.021100	_24V_AH	13.53,2.918
SM_CCo	1784,0.00,0.000,0,0,542,643.67	_10V_AH	13.15,0.000
SM_GC	1.75,8.65,1.27,0.00,0.084,0.050,0.000,159,2266,542,-6.65,2.12,643.67,0,0,0,0,0,0,14.59,14.64,14.69	FG_AHR_24Vo	0.000
RAFOS_CLK	65	FG_AHR_10Vo	0.000
RAFOS_FIX	7415.371094,-14626.135742,200918,202024,0,1,0.16	MEM	334536
IRIDIUM_FIX	7415.72,-14633.98,200918,201558	DATA_FILE_SIZE	6832,269
TT8_MAMPS	0.038948,0.996919	CAP_FILE_SIZE	43577,0
HUMID	52.40	CFSIZE	1047117824,1042317312
INTERNAL_PRESSURE	9.36946	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.50	SOUNDSPEED	1440.5
XPDR_PINGS	0	GPS	200918,205139,7415.629,-14626.641,1,1.0,4,18.4,1.5,0.0,9,5.2
ALTIM_TOP_PING	30.7,31.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	397	111.55	nil	0	0	0.00
Roll_motor	37	91	45.99	nil	0	0	0.00
VBD_pump_during_apogee	439	1891	11233.67	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	1695	44	1015.90
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	24.15	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	20	4.01
TT8	0	0	0.00
LPSleep	752	2	22.86
TT8_Active	490	11	75.56
TT8_Sampling	573	30	229.80
TT8_CF8	52	43	30.07
TT8_Kalman	0	0	0.00
Analog_circuits	774	10	101.84
GPS_charging	0	0	0.00
Compass	392	5	25.83
RAFOS	0	0	0.00
Transponder	29	30	11.74

		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
30.9	8.20	9000.00	0.0	0.00	0.00	9000.00	0.0	0.00	0.00
41.9	6.00	9000.00	0.0	0.00	0.00	6.00	47.9	-0.20	1.00
53.5	56.70	9000.00	0.0	2.18	0.73	56.70	0.0	4.37	1.00
64.4	67.70	9000.00	0.0	2.75	0.89	67.70	0.0	1.01	1.00
74.6	12.40	9000.00	0.0	-2.05	0.55	12.40	87.0	-5.42	1.00
84.8	88.30	9000.00	0.0	1.01	0.07	88.30	0.0	7.44	1.00
93.2	18.50	9000.00	0.0	0.58	0.02	18.50	111.7	-8.31	1.00

82.5	5.70	9000.00	0.0	-1.38	0.03	5.70	76.8	1.20	1.00
71.7	74.40	9000.00	0.0	-2.61	0.59	74.40	0.0	-6.36	1.00
61.4	9.20	9000.00	0.0	-0.22	0.00	9.20	52.2	6.33	1.00
51.0	54.60	9000.00	0.0	0.94	0.08	54.60	0.0	-4.37	1.00
40.8	42.30	9000.00	0.0	-1.62	0.51	42.30	-1.5	1.21	1.00
30.7	31.40	31.20	-0.5	1.14	1.00	31.40	-0.7	1.08	1.00
19.6	5.60	9000.00	0.0	1.74	0.96	5.60	14.0	2.32	1.00
9.3	9.80	9000.00	0.0	1.03	0.63	9.80	0.0	-0.41	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	-0.93	-146.0	153	2244	645	434	0.0	0.0	0	102	0.00	0.00	-91.18	0.002	16386	0.000	0.000	153	2243	2060	2031	2090	0	0	0	0	0	0	14.95	28.83	15.00
105	-0.93	-146.0	153	2241	2032	2094	6.8	-11.4	9	155	8.32	4.95	-31.17	0.004	18948	0.398	0.086	2012	568	3766	3705	3827	0	0	0	0	0	0	14.52	13.76	14.80
343	end dive: TARGET_DEPTH_EXCEEDED
state	343	begin apogee
355	-0.12	0.0	1986	2704	3706	3826	90.8	-19.7	55	439	1.00	0.00	79.20	1.891	10246	0.273	0.000	2248	2705	3165	3225	3106	0	0	0	0	0	0	14.56	14.35	13.69
440	end apogee: CONTROL_FINISHED_OK
state	440	begin climb
442	0.93	146.0	2249	2705	3226	3106	101.1	0.0	64	534	1.20	3.83	81.62	1.834	10500	0.192	0.092	2587	3939	2566	2691	2442	0	0	0	0	0	0	14.31	14.16	13.53
761	1.85	469.1	2587	3940	2678	2443	111.3	-4.8	125	955	0.93	3.58	180.57	1.829	11430	0.123	0.048	2892	2687	1250	1382	1119	0	0	0	0	0	0	14.54	14.55	13.54
1131	1.80	469.1	2892	2688	1377	1111	51.0	11.5	178	1136	0.00	3.78	0.00	0.000	388	0.000	0.088	2879	3943	1242	1374	1110	0	0	0	0	0	0	14.68	14.50	14.71
1362	2.34	674.2	2879	3944	1370	1111	38.3	0.6	224	1468	0.50	3.53	97.65	1.421	11430	0.139	0.044	3048	2675	549	691	407	0	0	0	0	0	0	14.63	14.71	13.84
1655	2.30	674.2	3048	2675	682	406	6.9	11.4	262	1667	0.00	4.88	0.00	0.000	644	0.000	0.067	3069	1032	543	680	407	0	0	0	0	0	0	14.74	14.58	14.76
1672	2.26	674.2	3069	1032	680	408	4.9	11.9	265	1679	0.12	4.93	0.00	0.000	5254	0.327	0.060	3033	2705	543	679	407	0	0	0	0	0	0	14.45	14.58	14.64
1695	end climb: SURFACE_DEPTH_REACHED
state	1695	begin surface coast
1705	end surface coast: CONTROL_FINISHED_OK
state	1705	begin surface