Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 162 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 162 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 36 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 90 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 2

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 450 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3925 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2900 INT_PRESSURE_YINT 0.38999999

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.245296 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 0.00065 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 30 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 45 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 50 LOGGERS 1

T_TURN 225 T_GPS 5 VBD_MAXERRORS 1 LOGGERDEVICE1 53

T_TURN_SAMPINT -5 N_GPS 100440 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_NO_W 120 T_RSLEEP 2 DBDW 0 LOGGERDEVICE3 -1

T_LOITER 0 STROBE 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 RAFOS_PEAK_OFFSET 1.5 LOITER_DBDW 0 COMPASS_DEVICE 97

USE_BATHY -6 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 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1000 PITCH_MIN 180 PITCH_W_GAIN 2 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2730 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 0 SEABIRD_T_G 0.004412075

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 350 SEABIRD_T_H 0.00063827372

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.254017e-06

SPEED_FACTOR 1 PITCH_GAIN 50 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.0275 PITCH_TIMEOUT 16 MAXI_10V 1.4 SEABIRD_C_H 1.1688964

MASS 55590 PITCH_AD_RATE 150 FG_AHR_10V 0 SEABIRD_C_I -0.0016958674

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00021397673

NAV_MODE 2 PITCH_ADJ_GAIN 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 PRESSURE_YINT -173.77016 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 270 PRESSURE_SLOPE 0.00010843292 SC_XMITPROFILE 3.0

HD_A 0.0038360001 ROLL_MAX 3850 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.010078 ROLL_DEG 30 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 2850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 90 PHONE_DEVICE 49 SEABIRD_T_H 0.00063827372

AH0_24V 0 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.6317541e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 0 SEABIRD_T_J 3.254017e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 150 SM_CC 400

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 50 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3650 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 32 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0038360001 PITCH_MIN 180 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.010078 PITCH_TIMEOUT 16 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.00065 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_ABORT 1440

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010843292 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -173.77016 T_DIVE 30

CAPUPLOAD 0 ID 527 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 0.38999999 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 45

COMPASS_DEVICE 97 LOGGERDEVICE1 53 RAFOS_DEVICE -1 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 2

COURSE_BIAS 0 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN 225

C_PITCH 2730 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2850 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2900 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55590 ROLL_DEG 30 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 270 VBD_MAX 3925

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 162 MINV_10V 11 R_PORT_OVSHOOT 36 VBD_MIN 450

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 2

D_BOOST 2 MISSION 5 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 2

D_CALL 0 MOTHERBOARD 4 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_G -9.9840622 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_C_H 1.1688964 XPDR_VALID 2

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0016958674

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00021397673

Pre-dive calculations and measurements:

GPS1 160619,104811,5919.4321,-2142.2961,11,1.1,30,-12.7,0.6,257.0,7,10.0 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME S2

_XMS_NAKs 0 TGT_LATLONG 5920.000,-2200.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.68 MHEAD_RNG_PITCHd_Wd 278.4,16672,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -74.4 D_GRID 1000

GPS2 160619,105302,5919.4121,-2142.3877,12,1.2,27,-12.7,0.7,97.8,7,9.8

Post-dive calculations and measurements:

FINISH -0.3,1.026842 _10V_AH 12.95,63.316

SM_CCo 2097,116.85,0.836,1,0,1268,400.08 FG_AHR_24Vo 0.000

SM_GC 0.63,8.12,0.55,116.85,0.070,0.146,0.836,164,2851,1268,-7.94,-0.45,400.08,0,0,0,0,1,0,14.38,14.25,13.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5918.33,-2152.78,160619,100657 MEM 303020

TT8_MAMPS 0.02247,0.83139 DATA_FILE_SIZE 6825,265

HUMID 36.21 CAP_FILE_SIZE 36555,0

INTERNAL_PRESSURE 8.82782 CFSIZE 2097872896,2064351232

TCM_TEMP 18.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.215,284.51,1

SC_FREEKB 3835712 GPS 160619,113200,5919.481,-2143.292,9,1.5,35,-12.7,0.7,270.9,6,9.8

_24V_AH 12.90,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 395 108.16 nil 0 0 0.00

Roll_motor 19 146 37.60 nil 0 0 0.00

VBD_pump_during_apogee 342 1122 4965.28 nil 0 0 0.00

VBD_pump_during_surface 116 836 1260.38 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 2088 19 520.20

Iridium_during_xfer 166 163 350.83 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 11 5.49

TT8 577 10 82.08

LPSleep 748 2 21.23

TT8_Active 539 10 76.62

TT8_Sampling 612 30 241.65

TT8_CF8 61 36 29.22

TT8_Kalman 0 0 0.00

Analog_circuits 980 10 127.02

GPS_charging 0 0 0.00

Compass 393 6 34.33

RAFOS 0 0 0.00

Transponder 0 5 0.03

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.46 -146.0 100 2878 1149 1383 0.0 0.0 0 124 0.00 0.00 -107.47 0.008 16390 0.000 0.000 91 2877 3497 3639 3355 0 0 0 0 0 0 14.73 12.90 14.73

127 -0.46 -146.0 91 2877 3639 3355 4.1 -6.3 11 144 12.00 1.85 0.00 0.000 2340 0.396 0.119 2568 3846 3497 3640 3355 0 0 0 0 0 0 14.12 14.34 14.45

372 -0.46 -146.0 2568 3846 3641 3355 43.8 -13.1 59 378 0.00 1.70 0.00 0.000 1030 0.000 0.074 2568 2859 3498 3641 3355 0 0 0 0 0 0 14.66 14.59 14.69

565 -0.46 -146.0 2568 2859 3641 3355 64.8 -10.7 79 571 0.00 1.90 0.00 0.000 260 0.000 0.144 2562 3846 3498 3641 3355 0 0 0 0 0 0 14.87 14.29 14.88

622 -0.46 -146.0 2561 3846 3641 3355 71.9 -11.0 90 630 0.00 1.70 0.00 0.000 1030 0.000 0.068 2561 2848 3498 3641 3355 0 0 0 0 0 0 14.69 14.62 14.71

787 end dive: TARGET_DEPTH_EXCEEDED

state 787 begin apogee

792 -0.10 0.0 2561 2590 3641 3355 90.8 -11.6 107 919 0.47 0.00 118.55 1.122 10246 0.203 0.000 2694 2590 2898 2938 2858 0 0 0 0 0 0 14.37 13.81 13.18

920 end apogee: CONTROL_FINISHED_OK

state 921 begin climb

922 0.46 146.0 2695 2590 2938 2858 96.1 0.0 120 1048 0.60 1.88 115.60 1.110 10756 0.133 0.075 2882 1539 2303 2323 2283 0 0 0 0 0 0 14.13 13.84 13.30

1071 0.47 146.0 2882 1540 2321 2283 88.5 9.3 146 1077 0.00 2.00 0.00 0.000 1094 0.000 0.110 2882 2594 2302 2321 2283 0 0 0 0 0 0 14.23 14.12 14.26

1265 0.50 146.0 2882 2594 2321 2279 72.3 8.5 166 1271 0.00 2.00 0.00 0.000 324 0.000 0.135 2882 3667 2300 2321 2279 0 0 0 0 0 0 14.72 14.36 14.73

1322 0.50 146.0 2882 3667 2321 2278 66.2 9.8 177 1329 0.00 1.88 0.00 0.000 1030 0.000 0.070 2890 2576 2300 2321 2279 0 0 0 0 0 0 14.57 14.47 14.59

1509 0.52 146.0 2889 2575 2321 2277 49.7 9.0 196 1510 0.00 0.00 0.00 0.000 70 0.000 0.000 2890 2574 2299 2321 2277 0 0 0 0 0 0 14.84 14.85 14.85

1689 0.56 208.4 2890 2575 2321 2277 35.9 7.1 214 1745 0.00 2.20 50.45 1.038 8484 0.000 0.129 2890 3663 2050 2062 2038 0 0 0 0 0 0 14.88 13.99 13.29

1797 0.56 208.4 2890 3663 2062 2040 26.4 10.0 234 1804 0.00 1.85 0.00 0.000 1030 0.000 0.070 2896 2610 2051 2062 2040 0 0 0 0 0 0 14.43 14.35 14.45

1991 0.61 280.6 2896 2595 2062 2037 8.6 6.7 254 2052 0.00 0.00 58.38 1.001 8738 0.000 0.000 2897 2594 1759 1754 1764 0 0 0 0 0 0 14.79 28.83 14.81

2053 end climb: SURFACE_DEPTH_REACHED

state 2053 begin surface coast

2080 end surface coast: CONTROL_FINISHED_OK

state 2081 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	162	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	36	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	90	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	2
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	450	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3925	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2900	INT_PRESSURE_YINT	0.38999999
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.245296	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	0.00065	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	30	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	45	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	50	LOGGERS	1
T_TURN	225	T_GPS	5	VBD_MAXERRORS	1	LOGGERDEVICE1	53
T_TURN_SAMPINT	-5	N_GPS	100440	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_NO_W	120	T_RSLEEP	2	DBDW	0	LOGGERDEVICE3	-1
T_LOITER	0	STROBE	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	RAFOS_PEAK_OFFSET	1.5	LOITER_DBDW	0	COMPASS_DEVICE	97
USE_BATHY	-6	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	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1000	PITCH_MIN	180	PITCH_W_GAIN	2	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2730	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	0	SEABIRD_T_G	0.004412075
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	350	SEABIRD_T_H	0.00063827372
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.254017e-06
SPEED_FACTOR	1	PITCH_GAIN	50	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.0275	PITCH_TIMEOUT	16	MAXI_10V	1.4	SEABIRD_C_H	1.1688964
MASS	55590	PITCH_AD_RATE	150	FG_AHR_10V	0	SEABIRD_C_I	-0.0016958674
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00021397673
NAV_MODE	2	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-173.77016	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	270	PRESSURE_SLOPE	0.00010843292	SC_XMITPROFILE	3.0
HD_A	0.0038360001	ROLL_MAX	3850	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.010078	ROLL_DEG	30	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	2850	ALTIM_PING_FIT	0

GPS1	160619,104811,5919.4321,-2142.2961,11,1.1,30,-12.7,0.6,257.0,7,10.0	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	S2
_XMS_NAKs	0	TGT_LATLONG	5920.000,-2200.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.68	MHEAD_RNG_PITCHd_Wd	278.4,16672,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-74.4	D_GRID	1000
GPS2	160619,105302,5919.4121,-2142.3877,12,1.2,27,-12.7,0.7,97.8,7,9.8

FINISH	-0.3,1.026842	_10V_AH	12.95,63.316
SM_CCo	2097,116.85,0.836,1,0,1268,400.08	FG_AHR_24Vo	0.000
SM_GC	0.63,8.12,0.55,116.85,0.070,0.146,0.836,164,2851,1268,-7.94,-0.45,400.08,0,0,0,0,1,0,14.38,14.25,13.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5918.33,-2152.78,160619,100657	MEM	303020
TT8_MAMPS	0.02247,0.83139	DATA_FILE_SIZE	6825,265
HUMID	36.21	CAP_FILE_SIZE	36555,0
INTERNAL_PRESSURE	8.82782	CFSIZE	2097872896,2064351232
TCM_TEMP	18.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.215,284.51,1
SC_FREEKB	3835712	GPS	160619,113200,5919.481,-2143.292,9,1.5,35,-12.7,0.7,270.9,6,9.8
_24V_AH	12.90,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	395	108.16	nil	0	0	0.00
Roll_motor	19	146	37.60	nil	0	0	0.00
VBD_pump_during_apogee	342	1122	4965.28	nil	0	0	0.00
VBD_pump_during_surface	116	836	1260.38	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	2088	19	520.20
Iridium_during_xfer	166	163	350.83	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	11	5.49
TT8	577	10	82.08
LPSleep	748	2	21.23
TT8_Active	539	10	76.62
TT8_Sampling	612	30	241.65
TT8_CF8	61	36	29.22
TT8_Kalman	0	0	0.00
Analog_circuits	980	10	127.02
GPS_charging	0	0	0.00
Compass	393	6	34.33
RAFOS	0	0	0.00
Transponder	0	5	0.03

		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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.46	-146.0	100	2878	1149	1383	0.0	0.0	0	124	0.00	0.00	-107.47	0.008	16390	0.000	0.000	91	2877	3497	3639	3355	0	0	0	0	0	0	14.73	12.90	14.73
127	-0.46	-146.0	91	2877	3639	3355	4.1	-6.3	11	144	12.00	1.85	0.00	0.000	2340	0.396	0.119	2568	3846	3497	3640	3355	0	0	0	0	0	0	14.12	14.34	14.45
372	-0.46	-146.0	2568	3846	3641	3355	43.8	-13.1	59	378	0.00	1.70	0.00	0.000	1030	0.000	0.074	2568	2859	3498	3641	3355	0	0	0	0	0	0	14.66	14.59	14.69
565	-0.46	-146.0	2568	2859	3641	3355	64.8	-10.7	79	571	0.00	1.90	0.00	0.000	260	0.000	0.144	2562	3846	3498	3641	3355	0	0	0	0	0	0	14.87	14.29	14.88
622	-0.46	-146.0	2561	3846	3641	3355	71.9	-11.0	90	630	0.00	1.70	0.00	0.000	1030	0.000	0.068	2561	2848	3498	3641	3355	0	0	0	0	0	0	14.69	14.62	14.71
787	end dive: TARGET_DEPTH_EXCEEDED
state	787	begin apogee
792	-0.10	0.0	2561	2590	3641	3355	90.8	-11.6	107	919	0.47	0.00	118.55	1.122	10246	0.203	0.000	2694	2590	2898	2938	2858	0	0	0	0	0	0	14.37	13.81	13.18
920	end apogee: CONTROL_FINISHED_OK
state	921	begin climb
922	0.46	146.0	2695	2590	2938	2858	96.1	0.0	120	1048	0.60	1.88	115.60	1.110	10756	0.133	0.075	2882	1539	2303	2323	2283	0	0	0	0	0	0	14.13	13.84	13.30
1071	0.47	146.0	2882	1540	2321	2283	88.5	9.3	146	1077	0.00	2.00	0.00	0.000	1094	0.000	0.110	2882	2594	2302	2321	2283	0	0	0	0	0	0	14.23	14.12	14.26
1265	0.50	146.0	2882	2594	2321	2279	72.3	8.5	166	1271	0.00	2.00	0.00	0.000	324	0.000	0.135	2882	3667	2300	2321	2279	0	0	0	0	0	0	14.72	14.36	14.73
1322	0.50	146.0	2882	3667	2321	2278	66.2	9.8	177	1329	0.00	1.88	0.00	0.000	1030	0.000	0.070	2890	2576	2300	2321	2279	0	0	0	0	0	0	14.57	14.47	14.59
1509	0.52	146.0	2889	2575	2321	2277	49.7	9.0	196	1510	0.00	0.00	0.00	0.000	70	0.000	0.000	2890	2574	2299	2321	2277	0	0	0	0	0	0	14.84	14.85	14.85
1689	0.56	208.4	2890	2575	2321	2277	35.9	7.1	214	1745	0.00	2.20	50.45	1.038	8484	0.000	0.129	2890	3663	2050	2062	2038	0	0	0	0	0	0	14.88	13.99	13.29
1797	0.56	208.4	2890	3663	2062	2040	26.4	10.0	234	1804	0.00	1.85	0.00	0.000	1030	0.000	0.070	2896	2610	2051	2062	2040	0	0	0	0	0	0	14.43	14.35	14.45
1991	0.61	280.6	2896	2595	2062	2037	8.6	6.7	254	2052	0.00	0.00	58.38	1.001	8738	0.000	0.000	2897	2594	1759	1754	1764	0	0	0	0	0	0	14.79	28.83	14.81
2053	end climb: SURFACE_DEPTH_REACHED
state	2053	begin surface coast
2080	end surface coast: CONTROL_FINISHED_OK
state	2081	begin surface