Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 25 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 21 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 29 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -7043 ROLL_AD_RATE 200 ALTIM_PULSE 3

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_TGT 600 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 750 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 0.38999999

D_BOOST 2 COMM_SEQ 0 C_VBD 2980 DEEPGLIDER 0

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 4

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.245296 DEVICE1 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 540 DEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 DEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERS 1

T_DIVE 200 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE1 53

T_MISSION 250 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE2 67

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN 225 N_GPS 100440 DBDW 0 LOGGERDEVICE4 -1

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS_DEVICE 97

T_NO_W 120 STROBE 0 LOITER_DBDW 0 COMPASS2_DEVICE 149

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 180 PITCH_W_DBAND 0 SIM_W 0

D_OFFGRID 990 PITCH_MAX 3650 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044153966

T_WATCHDOG 10 C_PITCH 2220 AH0_24V 0 SEABIRD_T_H 0.00064440304

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 310 SEABIRD_T_I 2.7248538e-05

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_J 3.4282193e-06

MAX_BUOY 150 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_C_G -10.077963

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_H 1.1533748

GLIDE_SLOPE 30 PITCH_GAIN 30 MAXI_10V 1.4 SEABIRD_C_I -0.0022050336

SPEED_FACTOR 1 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_J 0.00023474717

RHO 1.0275 PITCH_AD_RATE 150 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

MASS 56352 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -173.88152 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00010843292 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 270 AD7714Ch0Gain 1 TM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3850 COMPASS_USE 4 TM_PROFILE 3.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 3.0

HD_B 0.010078 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0 TM_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1790 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

AD7714Ch0Gain 1 D_TGT 600 PHONE_SUPPLY -2 SEABIRD_T_J 3.4282193e-06

AH0_10V 310 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_AD_RATE 150 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_GAIN 30 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3650 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PITCH_MIN 180 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.0038360001 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_PING_RANGE 0 HD_B 0.010078 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON -7043

ALTIM_TOP_TURN_MARGIN 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEADING -1 PITCH_W_GAIN 0 TM_NDIVE 1.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00010843292 TM_PROFILE 3.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -173.88152 TM_RECORDABOVE 2000.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 ID 527 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_ABORT 1440

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.38999999 RAFOS_CORR_THRESH 60 T_BOOST 0

COMM_SEQ 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_DIVE 200

COMPASS2_DEVICE 149 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_DEVICE 97 LOGGERDEVICE2 67 RAFOS_MMODEM 0 T_GPS 5

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COURSE_BIAS 0 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 250

C_PITCH 2220 LOGGERS 1 RHO 1.0275 T_NO_W 120

C_ROLL_CLIMB 1790 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_ROLL_DIVE 2600 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_VBD 2980 LOITER_D_TOP 0 ROLL_AD_RATE 200 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 T_WATCHDOG 10

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 40 UNCOM_BLEED 50

DEVICE1 -1 MASS 56352 ROLL_MAX 3850 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS_COMP 0 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.4 ROLL_MIN 270 USE_ICE 0

DEVICE4 -1 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 21 VBD_CNV -0.245296

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 29 VBD_DBAND 2

DIVE 25 MINV_24V 11 SC_NDIVE 1.0 VBD_LP_IGNORE 0

D_ABORT 750 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3960

D_BOOST 2 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_CALL 0 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 500

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_C_G -10.077963 VBD_PUMP_AD_RATE_APOGEE 2

D_FLARE 3 N_DIVES 0 SEABIRD_C_H 1.1533748 VBD_PUMP_AD_RATE_SURFACE 2

D_NO_BLEED 200 N_FILEKB 8 SEABIRD_C_I -0.0022050336 VBD_TIMEOUT 540

D_OFFGRID 990 N_GPS 100440 SEABIRD_C_J 0.00023474717 W_ADJ_DBAND 0

D_PITCH 0 N_NOCOMM 2 SEABIRD_T_G 0.0044153966 XPDR_DEVICE 24

D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064440304 XPDR_INHIBIT 90

D_SURF 3 PHONE_DEVICE 49 SEABIRD_T_I 2.7248538e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 061020,140632,5821.8916,-2123.0056,15,0.8,39,-12.1,0.8,69.6,9,9.6 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5819.708,-2121.531

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.71 MHEAD_RNG_PITCHd_Wd 196.7,4228,-23.3,-10.000,-25.72,1378

_SM_ANGLEo -66.5 D_GRID 600

GPS2 061020,141437,5821.8765,-2122.8901,9,0.9,20,-12.1,0.0,359.7,9,9.5

Post-dive calculations and measurements:

FINISH 0.1,1.026965 _10V_AH 12.73,38.323

SM_CCo 6784,260.42,0.962,1,0,1144,450.12 FG_AHR_24Vo 0.000

SM_GC 0.63,6.85,1.42,260.42,0.063,0.079,0.962,159,2600,1144,-6.34,-0.74,450.12,0,0,0,0,1,0,14.63,14.56,13.52 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5822.60,-2121.41,061020,114420 MEM 324080

TT8_MAMPS 0.023219,0.95872 DATA_FILE_SIZE 29982,858

HUMID 44.92 CAP_FILE_SIZE 90852,0

INTERNAL_PRESSURE 7.86099 CFSIZE 2097872896,2089746432

TCM_TEMP 18.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 1 CURRENT 0.221,148.55,1

SC_FREEKB 3893664 GPS 061020,161425,5820.189,-2122.480,8,0.8,42,-12.1,0.6,147.3,10,9.2

_24V_AH 13.04,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 403 99.42 nil 0 0 0.00

Roll_motor 80 103 108.54 nil 0 0 0.00

VBD_pump_during_apogee 270 1792 6331.70 nil 0 0 0.00

VBD_pump_during_surface 260 962 3268.15 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 6791 27 2410.46

Iridium_during_xfer 341 199 888.62 TMICL 0 0 0.00

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 10 4.23

TT8 2061 12 327.22

LPSleep 2921 2 81.44

TT8_Active 689 12 109.46

TT8_Sampling 1773 31 704.24

TT8_CF8 119 36 55.58

TT8_Kalman 0 0 0.00

Analog_circuits 1722 10 219.33

GPS_charging 0 0 0.00

Compass 1356 7 129.36

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

10 -0.87 -89.6 1 2619 1093 1169 0.0 0.0 0 113 0.00 0.00 -99.53 0.008 16390 0.000 0.000 0 2622 3346 3282 3410 0 0 0 0 0 0 14.64 13.05 14.64

116 -0.92 -146.0 0 2623 3283 3412 2.3 -2.4 17 137 9.43 2.22 -6.10 0.020 18724 0.404 0.103 1908 3845 3578 3536 3620 0 0 0 0 0 0 14.12 13.15 14.45

346 -0.92 -146.0 1907 3844 3539 3621 50.2 -20.0 61 353 0.00 2.17 0.00 0.000 1030 0.000 0.057 1908 2583 3580 3539 3621 0 0 0 0 0 0 14.49 14.41 14.52

537 -0.92 -146.0 1907 2572 3540 3621 85.0 -19.5 98 544 0.00 0.00 0.00 0.000 6 0.000 0.000 1908 2573 3580 3540 3621 0 0 0 0 0 0 14.76 14.77 14.77

727 -0.92 -146.0 1907 2572 3541 3621 123.2 -20.1 124 729 0.00 0.00 0.00 0.000 6 0.000 0.000 1908 2573 3580 3540 3620 0 0 0 0 0 0 14.80 14.82 14.81

1028 -0.92 -146.0 1908 2573 3541 3621 182.7 -19.9 154 1034 0.00 2.22 0.00 0.000 260 0.000 0.080 1899 3844 3581 3541 3621 0 0 0 0 0 0 14.83 14.49 14.85

1081 -0.92 -146.0 1898 3844 3540 3621 193.8 -19.5 164 1087 0.00 2.15 0.00 0.000 1030 0.000 0.059 1899 2594 3581 3541 3621 0 0 0 0 0 0 14.59 14.49 14.62

1394 -0.92 -146.0 1899 2583 3541 3621 258.3 -21.2 196 1400 0.00 2.40 0.00 0.000 516 0.000 0.074 1900 1191 3581 3541 3622 0 0 0 0 0 0 14.86 14.56 14.88

1421 -0.92 -146.0 1899 1191 3541 3621 264.1 -21.1 201 1428 0.00 2.45 0.00 0.000 1030 0.000 0.067 1893 2596 3580 3540 3621 0 0 0 0 0 0 14.59 14.51 14.61

1727 -0.92 -146.0 1893 2596 3541 3621 329.9 -21.6 232 1732 0.00 2.15 0.00 0.000 260 0.000 0.080 1884 3850 3581 3541 3621 0 0 0 0 0 0 14.88 14.59 14.90

1799 -0.92 -146.0 1883 3850 3541 3621 345.9 -21.9 246 1806 0.15 2.15 0.00 0.000 3078 0.311 0.062 1915 2604 3581 3541 3621 0 0 0 0 0 0 14.31 14.60 14.59

2113 -0.92 -146.0 1915 2592 3541 3621 409.8 -20.5 278 2120 0.00 2.42 0.00 0.000 516 0.000 0.073 1915 1185 3581 3542 3621 0 0 0 0 0 0 14.90 14.59 14.92

2142 -0.92 -146.0 1915 1185 3541 3621 415.6 -20.7 283 2148 0.00 2.47 0.00 0.000 1030 0.000 0.067 1908 2601 3581 3541 3621 0 0 0 0 0 0 14.65 14.57 14.67

2447 -0.92 -146.0 1908 2601 3541 3621 479.0 -20.7 314 2453 0.00 2.15 0.00 0.000 260 0.000 0.080 1899 3854 3582 3543 3621 0 0 0 0 0 0 14.90 14.60 14.92

2500 -0.92 -146.0 1899 3854 3541 3620 490.2 -20.5 324 2506 0.00 2.17 0.00 0.000 1030 0.000 0.060 1899 2590 3580 3541 3620 0 0 0 0 0 0 14.62 14.56 14.64

2813 -0.92 -146.0 1898 2579 3541 3620 555.7 -20.7 356 2815 0.00 0.00 0.00 0.000 6 0.000 0.000 1899 2579 3581 3541 3621 0 0 0 0 0 0 14.93 14.95 14.95

3031 end dive: TARGET_DEPTH_EXCEEDED

state 3032 begin apogee

3037 -0.17 0.0 1899 1788 3541 3620 600.1 -20.1 378 3177 0.98 0.00 134.70 1.792 10246 0.250 0.000 2157 1788 2980 2979 2981 0 0 0 0 0 0 14.28 13.96 13.14

3178 end apogee: CONTROL_FINISHED_OK

state 3178 begin climb

3180 0.92 146.0 2157 1788 2979 2978 608.0 0.0 392 3330 1.15 2.72 136.20 1.756 10756 0.133 0.097 2521 381 2381 2365 2397 0 0 0 0 0 0 13.97 13.83 13.04

3427 0.92 146.0 2522 382 2355 2393 577.0 17.8 438 3434 0.00 2.55 0.00 0.000 1030 0.000 0.071 2522 1793 2373 2355 2392 0 0 0 0 0 0 14.28 14.19 14.30

3741 0.92 146.0 2521 1797 2356 2389 523.2 17.1 470 3747 0.00 2.58 0.00 0.000 516 0.000 0.091 2531 386 2372 2355 2389 0 0 0 0 0 0 14.71 14.38 14.73

3768 0.92 146.0 2531 385 2354 2389 518.3 17.2 475 3775 0.00 2.50 0.00 0.000 1030 0.000 0.071 2531 1798 2371 2354 2389 0 0 0 0 0 0 14.54 14.46 14.57

4074 0.92 146.0 2531 1802 2354 2387 464.0 18.1 506 4076 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 1802 2370 2354 2386 0 0 0 0 0 0 14.78 14.80 14.80

4375 0.92 146.0 2531 1803 2354 2386 411.2 17.7 536 4381 0.00 2.55 0.00 0.000 516 0.000 0.090 2540 385 2369 2354 2385 0 0 0 0 0 0 14.82 14.52 14.84

4441 0.92 146.0 2539 384 2354 2385 399.0 18.6 549 4448 0.00 2.47 0.00 0.000 1030 0.000 0.070 2540 1798 2369 2354 2385 0 0 0 0 0 0 14.69 14.58 14.71

4748 0.92 146.0 2540 1802 2354 2384 343.2 18.3 580 4753 0.00 2.55 0.00 0.000 516 0.000 0.090 2549 384 2368 2353 2384 0 0 0 0 0 0 14.86 14.53 14.88

4794 0.92 146.0 2549 384 2354 2385 334.2 19.1 589 4802 0.15 2.47 0.00 0.000 5126 0.308 0.071 2521 1798 2368 2353 2384 0 0 0 0 0 0 14.28 14.56 14.59

5100 0.92 146.0 2521 1802 2353 2383 281.9 16.9 620 5106 0.00 2.55 0.00 0.000 516 0.000 0.091 2528 376 2368 2353 2383 0 0 0 0 0 0 14.90 14.55 14.91

5143 0.92 146.0 2528 376 2353 2383 274.5 17.4 628 5149 0.00 2.47 0.00 0.000 1030 0.000 0.071 2528 1793 2367 2352 2383 0 0 0 0 0 0 14.70 14.61 14.73

5456 0.92 146.0 2528 1797 2353 2383 219.9 17.3 660 5462 0.00 2.55 0.00 0.000 516 0.000 0.091 2537 379 2368 2353 2383 0 0 0 0 0 0 14.89 14.55 14.91

5502 0.92 146.0 2537 379 2352 2383 211.7 17.5 669 5509 0.00 2.47 0.00 0.000 1030 0.000 0.072 2538 1795 2368 2353 2383 0 0 0 0 0 0 14.70 14.60 14.73

5809 0.92 146.0 2537 1800 2352 2383 156.3 18.1 700 5814 0.00 2.55 0.00 0.000 516 0.000 0.092 2547 384 2367 2352 2383 0 0 0 0 0 0 14.86 14.44 14.88

5845 0.92 146.0 2546 384 2352 2383 149.5 18.4 707 5852 0.00 2.50 0.00 0.000 1030 0.000 0.072 2547 1801 2367 2352 2383 0 0 0 0 0 0 14.64 14.54 14.66

6152 0.92 146.0 2547 1806 2353 2383 96.2 14.4 740 6158 0.00 2.58 0.00 0.000 516 0.000 0.093 2556 378 2368 2353 2383 0 0 0 0 0 0 14.88 14.53 14.90

6215 0.92 146.0 2556 377 2352 2384 84.3 17.9 752 6222 0.17 2.50 0.00 0.000 5126 0.300 0.072 2522 1791 2368 2352 2384 0 0 0 0 0 0 14.23 14.51 14.54

6404 0.92 146.0 2521 1794 2351 2382 55.2 13.7 789 6411 0.00 2.47 0.00 0.000 260 0.000 0.082 2521 3212 2367 2352 2382 0 0 0 0 0 0 14.83 14.45 14.85

6459 0.92 146.0 2521 3211 2351 2382 47.0 15.4 799 6466 0.00 2.50 0.00 0.000 1030 0.000 0.077 2529 1793 2367 2352 2382 0 0 0 0 0 0 14.54 14.44 14.57

6649 0.92 146.0 2528 1793 2352 2381 17.9 15.2 836 6656 0.00 2.58 0.00 0.000 516 0.000 0.097 2540 367 2367 2353 2382 0 0 0 0 0 0 14.83 14.34 14.85

6723 0.92 146.0 2540 367 2351 2383 5.9 17.3 850 6731 0.00 2.53 0.00 0.000 1030 0.000 0.073 2539 1798 2366 2351 2382 0 0 0 0 0 0 14.64 14.54 14.67

6746 end climb: SURFACE_DEPTH_REACHED

state 6747 begin surface coast

6768 end surface coast: CONTROL_FINISHED_OK

state 6768 begin surface

ID	527	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	25	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	21	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	29	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-7043	ROLL_AD_RATE	200	ALTIM_PULSE	3
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_TGT	600	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	750	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	0.38999999
D_BOOST	2	COMM_SEQ	0	C_VBD	2980	DEEPGLIDER	0
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	4
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.245296	DEVICE1	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	540	DEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	DEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERS	1
T_DIVE	200	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE1	53
T_MISSION	250	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE2	67
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN	225	N_GPS	100440	DBDW	0	LOGGERDEVICE4	-1
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS_DEVICE	97
T_NO_W	120	STROBE	0	LOITER_DBDW	0	COMPASS2_DEVICE	149
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	180	PITCH_W_DBAND	0	SIM_W	0
D_OFFGRID	990	PITCH_MAX	3650	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044153966
T_WATCHDOG	10	C_PITCH	2220	AH0_24V	0	SEABIRD_T_H	0.00064440304
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	310	SEABIRD_T_I	2.7248538e-05
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_J	3.4282193e-06
MAX_BUOY	150	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_C_G	-10.077963
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_H	1.1533748
GLIDE_SLOPE	30	PITCH_GAIN	30	MAXI_10V	1.4	SEABIRD_C_I	-0.0022050336
SPEED_FACTOR	1	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_J	0.00023474717
RHO	1.0275	PITCH_AD_RATE	150	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
MASS	56352	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-173.88152	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00010843292	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	270	AD7714Ch0Gain	1	TM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3850	COMPASS_USE	4	TM_PROFILE	3.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	3.0
HD_B	0.010078	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0	TM_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1790	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0

GPS1	061020,140632,5821.8916,-2123.0056,15,0.8,39,-12.1,0.8,69.6,9,9.6	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5819.708,-2121.531
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.71	MHEAD_RNG_PITCHd_Wd	196.7,4228,-23.3,-10.000,-25.72,1378
_SM_ANGLEo	-66.5	D_GRID	600
GPS2	061020,141437,5821.8765,-2122.8901,9,0.9,20,-12.1,0.0,359.7,9,9.5

FINISH	0.1,1.026965	_10V_AH	12.73,38.323
SM_CCo	6784,260.42,0.962,1,0,1144,450.12	FG_AHR_24Vo	0.000
SM_GC	0.63,6.85,1.42,260.42,0.063,0.079,0.962,159,2600,1144,-6.34,-0.74,450.12,0,0,0,0,1,0,14.63,14.56,13.52	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5822.60,-2121.41,061020,114420	MEM	324080
TT8_MAMPS	0.023219,0.95872	DATA_FILE_SIZE	29982,858
HUMID	44.92	CAP_FILE_SIZE	90852,0
INTERNAL_PRESSURE	7.86099	CFSIZE	2097872896,2089746432
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	1	CURRENT	0.221,148.55,1
SC_FREEKB	3893664	GPS	061020,161425,5820.189,-2122.480,8,0.8,42,-12.1,0.6,147.3,10,9.2
_24V_AH	13.04,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	403	99.42	nil	0	0	0.00
Roll_motor	80	103	108.54	nil	0	0	0.00
VBD_pump_during_apogee	270	1792	6331.70	nil	0	0	0.00
VBD_pump_during_surface	260	962	3268.15	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	6791	27	2410.46
Iridium_during_xfer	341	199	888.62	TMICL	0	0	0.00
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	10	4.23
TT8	2061	12	327.22
LPSleep	2921	2	81.44
TT8_Active	689	12	109.46
TT8_Sampling	1773	31	704.24
TT8_CF8	119	36	55.58
TT8_Kalman	0	0	0.00
Analog_circuits	1722	10	219.33
GPS_charging	0	0	0.00
Compass	1356	7	129.36
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
10	-0.87	-89.6	1	2619	1093	1169	0.0	0.0	0	113	0.00	0.00	-99.53	0.008	16390	0.000	0.000	0	2622	3346	3282	3410	0	0	0	0	0	0	14.64	13.05	14.64
116	-0.92	-146.0	0	2623	3283	3412	2.3	-2.4	17	137	9.43	2.22	-6.10	0.020	18724	0.404	0.103	1908	3845	3578	3536	3620	0	0	0	0	0	0	14.12	13.15	14.45
346	-0.92	-146.0	1907	3844	3539	3621	50.2	-20.0	61	353	0.00	2.17	0.00	0.000	1030	0.000	0.057	1908	2583	3580	3539	3621	0	0	0	0	0	0	14.49	14.41	14.52
537	-0.92	-146.0	1907	2572	3540	3621	85.0	-19.5	98	544	0.00	0.00	0.00	0.000	6	0.000	0.000	1908	2573	3580	3540	3621	0	0	0	0	0	0	14.76	14.77	14.77
727	-0.92	-146.0	1907	2572	3541	3621	123.2	-20.1	124	729	0.00	0.00	0.00	0.000	6	0.000	0.000	1908	2573	3580	3540	3620	0	0	0	0	0	0	14.80	14.82	14.81
1028	-0.92	-146.0	1908	2573	3541	3621	182.7	-19.9	154	1034	0.00	2.22	0.00	0.000	260	0.000	0.080	1899	3844	3581	3541	3621	0	0	0	0	0	0	14.83	14.49	14.85
1081	-0.92	-146.0	1898	3844	3540	3621	193.8	-19.5	164	1087	0.00	2.15	0.00	0.000	1030	0.000	0.059	1899	2594	3581	3541	3621	0	0	0	0	0	0	14.59	14.49	14.62
1394	-0.92	-146.0	1899	2583	3541	3621	258.3	-21.2	196	1400	0.00	2.40	0.00	0.000	516	0.000	0.074	1900	1191	3581	3541	3622	0	0	0	0	0	0	14.86	14.56	14.88
1421	-0.92	-146.0	1899	1191	3541	3621	264.1	-21.1	201	1428	0.00	2.45	0.00	0.000	1030	0.000	0.067	1893	2596	3580	3540	3621	0	0	0	0	0	0	14.59	14.51	14.61
1727	-0.92	-146.0	1893	2596	3541	3621	329.9	-21.6	232	1732	0.00	2.15	0.00	0.000	260	0.000	0.080	1884	3850	3581	3541	3621	0	0	0	0	0	0	14.88	14.59	14.90
1799	-0.92	-146.0	1883	3850	3541	3621	345.9	-21.9	246	1806	0.15	2.15	0.00	0.000	3078	0.311	0.062	1915	2604	3581	3541	3621	0	0	0	0	0	0	14.31	14.60	14.59
2113	-0.92	-146.0	1915	2592	3541	3621	409.8	-20.5	278	2120	0.00	2.42	0.00	0.000	516	0.000	0.073	1915	1185	3581	3542	3621	0	0	0	0	0	0	14.90	14.59	14.92
2142	-0.92	-146.0	1915	1185	3541	3621	415.6	-20.7	283	2148	0.00	2.47	0.00	0.000	1030	0.000	0.067	1908	2601	3581	3541	3621	0	0	0	0	0	0	14.65	14.57	14.67
2447	-0.92	-146.0	1908	2601	3541	3621	479.0	-20.7	314	2453	0.00	2.15	0.00	0.000	260	0.000	0.080	1899	3854	3582	3543	3621	0	0	0	0	0	0	14.90	14.60	14.92
2500	-0.92	-146.0	1899	3854	3541	3620	490.2	-20.5	324	2506	0.00	2.17	0.00	0.000	1030	0.000	0.060	1899	2590	3580	3541	3620	0	0	0	0	0	0	14.62	14.56	14.64
2813	-0.92	-146.0	1898	2579	3541	3620	555.7	-20.7	356	2815	0.00	0.00	0.00	0.000	6	0.000	0.000	1899	2579	3581	3541	3621	0	0	0	0	0	0	14.93	14.95	14.95
3031	end dive: TARGET_DEPTH_EXCEEDED
state	3032	begin apogee
3037	-0.17	0.0	1899	1788	3541	3620	600.1	-20.1	378	3177	0.98	0.00	134.70	1.792	10246	0.250	0.000	2157	1788	2980	2979	2981	0	0	0	0	0	0	14.28	13.96	13.14
3178	end apogee: CONTROL_FINISHED_OK
state	3178	begin climb
3180	0.92	146.0	2157	1788	2979	2978	608.0	0.0	392	3330	1.15	2.72	136.20	1.756	10756	0.133	0.097	2521	381	2381	2365	2397	0	0	0	0	0	0	13.97	13.83	13.04
3427	0.92	146.0	2522	382	2355	2393	577.0	17.8	438	3434	0.00	2.55	0.00	0.000	1030	0.000	0.071	2522	1793	2373	2355	2392	0	0	0	0	0	0	14.28	14.19	14.30
3741	0.92	146.0	2521	1797	2356	2389	523.2	17.1	470	3747	0.00	2.58	0.00	0.000	516	0.000	0.091	2531	386	2372	2355	2389	0	0	0	0	0	0	14.71	14.38	14.73
3768	0.92	146.0	2531	385	2354	2389	518.3	17.2	475	3775	0.00	2.50	0.00	0.000	1030	0.000	0.071	2531	1798	2371	2354	2389	0	0	0	0	0	0	14.54	14.46	14.57
4074	0.92	146.0	2531	1802	2354	2387	464.0	18.1	506	4076	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	1802	2370	2354	2386	0	0	0	0	0	0	14.78	14.80	14.80
4375	0.92	146.0	2531	1803	2354	2386	411.2	17.7	536	4381	0.00	2.55	0.00	0.000	516	0.000	0.090	2540	385	2369	2354	2385	0	0	0	0	0	0	14.82	14.52	14.84
4441	0.92	146.0	2539	384	2354	2385	399.0	18.6	549	4448	0.00	2.47	0.00	0.000	1030	0.000	0.070	2540	1798	2369	2354	2385	0	0	0	0	0	0	14.69	14.58	14.71
4748	0.92	146.0	2540	1802	2354	2384	343.2	18.3	580	4753	0.00	2.55	0.00	0.000	516	0.000	0.090	2549	384	2368	2353	2384	0	0	0	0	0	0	14.86	14.53	14.88
4794	0.92	146.0	2549	384	2354	2385	334.2	19.1	589	4802	0.15	2.47	0.00	0.000	5126	0.308	0.071	2521	1798	2368	2353	2384	0	0	0	0	0	0	14.28	14.56	14.59
5100	0.92	146.0	2521	1802	2353	2383	281.9	16.9	620	5106	0.00	2.55	0.00	0.000	516	0.000	0.091	2528	376	2368	2353	2383	0	0	0	0	0	0	14.90	14.55	14.91
5143	0.92	146.0	2528	376	2353	2383	274.5	17.4	628	5149	0.00	2.47	0.00	0.000	1030	0.000	0.071	2528	1793	2367	2352	2383	0	0	0	0	0	0	14.70	14.61	14.73
5456	0.92	146.0	2528	1797	2353	2383	219.9	17.3	660	5462	0.00	2.55	0.00	0.000	516	0.000	0.091	2537	379	2368	2353	2383	0	0	0	0	0	0	14.89	14.55	14.91
5502	0.92	146.0	2537	379	2352	2383	211.7	17.5	669	5509	0.00	2.47	0.00	0.000	1030	0.000	0.072	2538	1795	2368	2353	2383	0	0	0	0	0	0	14.70	14.60	14.73
5809	0.92	146.0	2537	1800	2352	2383	156.3	18.1	700	5814	0.00	2.55	0.00	0.000	516	0.000	0.092	2547	384	2367	2352	2383	0	0	0	0	0	0	14.86	14.44	14.88
5845	0.92	146.0	2546	384	2352	2383	149.5	18.4	707	5852	0.00	2.50	0.00	0.000	1030	0.000	0.072	2547	1801	2367	2352	2383	0	0	0	0	0	0	14.64	14.54	14.66
6152	0.92	146.0	2547	1806	2353	2383	96.2	14.4	740	6158	0.00	2.58	0.00	0.000	516	0.000	0.093	2556	378	2368	2353	2383	0	0	0	0	0	0	14.88	14.53	14.90
6215	0.92	146.0	2556	377	2352	2384	84.3	17.9	752	6222	0.17	2.50	0.00	0.000	5126	0.300	0.072	2522	1791	2368	2352	2384	0	0	0	0	0	0	14.23	14.51	14.54
6404	0.92	146.0	2521	1794	2351	2382	55.2	13.7	789	6411	0.00	2.47	0.00	0.000	260	0.000	0.082	2521	3212	2367	2352	2382	0	0	0	0	0	0	14.83	14.45	14.85
6459	0.92	146.0	2521	3211	2351	2382	47.0	15.4	799	6466	0.00	2.50	0.00	0.000	1030	0.000	0.077	2529	1793	2367	2352	2382	0	0	0	0	0	0	14.54	14.44	14.57
6649	0.92	146.0	2528	1793	2352	2381	17.9	15.2	836	6656	0.00	2.58	0.00	0.000	516	0.000	0.097	2540	367	2367	2353	2382	0	0	0	0	0	0	14.83	14.34	14.85
6723	0.92	146.0	2540	367	2351	2383	5.9	17.3	850	6731	0.00	2.53	0.00	0.000	1030	0.000	0.073	2539	1798	2366	2351	2382	0	0	0	0	0	0	14.64	14.54	14.67
6746	end climb: SURFACE_DEPTH_REACHED
state	6747	begin surface coast
6768	end surface coast: CONTROL_FINISHED_OK
state	6768	begin surface