Glider dive log

NISKINE May19 * SG141 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 0

MISSION 11 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 46 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 33 ALTIM_PING_DELTA 0

D_FLARE 2 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 598.34399 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 470 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3935 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2950 INT_PRESSURE_YINT 0

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 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 9.9999997e-05 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 75 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 720 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 0 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 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 0.30000001 RAFOS_MMODEM 0 LOITER_N_DIVE 0 GPS_DEVICE 32

D_OFFGRID 1000 PITCH_MIN 225 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3920 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2800 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043955045

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00063085643

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5021687e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.0087358e-06

SPEED_FACTOR 1 PITCH_GAIN 40 MAXI_24V 0.60000002 SEABIRD_C_G -9.7732916

RHO 1.0275 PITCH_TIMEOUT 30 MAXI_10V 0.80000001 SEABIRD_C_H 1.1286387

MASS 55610 PITCH_AD_RATE 50 FG_AHR_10V 0 SEABIRD_C_I -0.0014607979

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00018615076

NAV_MODE 2 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.67619 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 276 PRESSURE_SLOPE 0.00010932798 SC_XMITPROFILE 3.0

HD_A 0.0040899999 ROLL_MAX 3935 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0102 ROLL_DEG 40 COMPASS_USE 4

HD_C 4.5000002e-06 C_ROLL_DIVE 2700 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043955045

AH0_10V 0 D_TGT 180 PHONE_DEVICE 49 SEABIRD_T_H 0.00063085643

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.5021687e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.0087358e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 50 SM_CC 598.34399

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 40 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3920 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 0.0040899999 PITCH_MIN 225 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0102 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 4.5000002e-06 PITCH_VBD_SHIFT 9.9999997e-05 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 720

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010932798 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -166.67619 T_DIVE 60

CAPUPLOAD 0 ID 141 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 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 75

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 2800 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 2700 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2950 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 50 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55610 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3935 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 276 VBD_MAX 3935

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 3 MINV_10V 11 R_PORT_OVSHOOT 46 VBD_MIN 470

D_ABORT 1010 MINV_24V 11 R_STBD_OVSHOOT 33 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 11 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 2 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FLARE 2 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 3 SEABIRD_C_G -9.7732916 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_C_H 1.1286387 XPDR_VALID 6

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0014607979

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00018615076

Pre-dive calculations and measurements:

GPS1 290519,132338,5818.4736,-2356.2429,3,1.2,13,-13.3,0.0,292.0,5,9.4 SPEED_LIMITS 0.173,0.260

_CALLS 3 TGT_NAME C1

_XMS_NAKs 0 TGT_LATLONG 5820.000,-2357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 46.5,2754,-18.4,-10.000,-21.03,2244

_SM_ANGLEo -58.8 D_GRID 180

GPS2 290519,133134,5818.5439,-2356.4231,6,1.2,27,-13.3,0.6,312.1,5,9.5

Post-dive calculations and measurements:

FINISH -0.0,1.014462 _10V_AH 13.04,0.000

SM_CCo 3420,295.83,0.733,1,0,509,598.53 FG_AHR_24Vo 0.000

SM_GC 0.82,8.43,0.17,295.83,0.097,0.138,0.733,215,2710,509,-8.03,-0.45,598.53,0,0,0,0,1,0,14.69,14.71,13.78 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5817.09,-2352.76,290519,131958 MEM 335712

TT8_MAMPS 0.020972,0.541527 DATA_FILE_SIZE 13467,403

HUMID 41.33 CAP_FILE_SIZE 67119,0

INTERNAL_PRESSURE 8.8187 CFSIZE 260034560,257896448

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 12 CURRENT 0.371,302.05,1

SC_FREEKB 3907968 GPS 290519,143553,5819.307,-2357.247,22,1.9,44,-13.3,0.5,330.0,6,10.0

_24V_AH 13.67,2.538

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 433 128.52 nil 0 0 0.00

Roll_motor 52 137 98.12 nil 0 0 0.00

VBD_pump_during_apogee 305 1071 4476.99 nil 0 0 0.00

VBD_pump_during_surface 295 732 2963.67 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 3389 27 1259.93

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 17.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 11 5.58

TT8 913 10 130.62

LPSleep 1389 2 39.68

TT8_Active 741 10 106.05

TT8_Sampling 686 28 259.32

TT8_CF8 106 34 48.31

TT8_Kalman 0 0 0.00

Analog_circuits 1135 10 148.02

GPS_charging 0 0 0.00

Compass 630 11 92.35

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

11 -0.48 -146.0 224 2733 505 496 0.0 0.0 0 143 0.00 0.00 -127.72 0.005 16390 0.000 0.000 224 2734 3546 3498 3594 0 0 0 0 0 0 14.88 13.76 14.88

147 -0.48 -146.0 224 2734 3498 3594 3.0 -3.6 13 164 11.88 2.10 0.00 0.000 2340 0.434 0.083 2630 3930 3545 3497 3594 0 0 0 0 0 0 14.42 14.64 14.68

299 -0.48 -146.0 2630 3930 3499 3594 28.7 -11.8 42 305 0.00 2.00 0.00 0.000 1030 0.000 0.042 2631 2678 3546 3499 3594 0 0 0 0 0 0 14.77 14.72 14.78

485 -0.48 -146.0 2630 2678 3499 3593 50.4 -12.0 61 491 0.00 2.22 0.00 0.000 516 0.000 0.049 2630 1298 3546 3499 3593 0 0 0 0 0 0 14.92 14.67 14.94

539 -0.48 -146.0 2630 1298 3499 3593 57.0 -12.0 71 545 0.00 2.40 0.00 0.000 1030 0.000 0.078 2630 2692 3546 3499 3593 0 0 0 0 0 0 14.76 14.67 14.78

734 -0.48 -146.0 2630 2692 3499 3593 79.4 -11.5 91 739 0.00 2.28 0.00 0.000 516 0.000 0.049 2630 1298 3546 3499 3593 0 0 0 0 0 0 14.92 14.74 14.95

758 -0.48 -146.0 2630 1298 3499 3593 82.3 -12.2 95 764 0.00 2.45 0.00 0.000 1030 0.000 0.080 2630 2716 3546 3499 3593 0 0 0 0 0 0 14.77 14.70 14.79

952 -0.48 -146.0 2629 2716 3499 3593 103.8 -11.0 115 959 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2719 3546 3499 3593 0 0 0 0 0 0 14.95 14.97 14.96

1142 -0.48 -146.0 2630 2716 3500 3593 125.0 -11.6 134 1148 0.00 2.30 0.00 0.000 516 0.000 0.052 2630 1310 3546 3500 3593 0 0 0 0 0 0 14.95 14.76 14.97

1167 -0.48 -146.0 2629 1310 3499 3594 127.7 -11.5 138 1172 0.00 2.42 0.00 0.000 1030 0.000 0.080 2630 2714 3546 3499 3593 0 0 0 0 0 0 14.81 14.72 14.83

1361 -0.48 -146.0 2630 2715 3499 3593 150.1 -11.4 158 1368 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2715 3546 3499 3593 0 0 0 0 0 0 14.94 14.96 14.95

1552 -0.48 -146.0 2630 2715 3500 3593 172.4 -11.7 177 1557 0.00 2.30 0.00 0.000 516 0.000 0.048 2630 1308 3546 3500 3592 0 0 0 0 0 0 14.95 14.73 14.97

1586 -0.48 -146.0 2629 1307 3498 3592 176.6 -11.9 183 1592 0.00 2.42 0.00 0.000 1030 0.000 0.080 2630 2712 3546 3500 3592 0 0 0 0 0 0 14.82 14.73 14.83

1617 end dive: TARGET_DEPTH_EXCEEDED

state 1617 begin apogee

1625 -0.12 0.0 2630 2600 3500 3592 180.6 -11.8 187 1740 0.45 0.00 107.25 1.072 10246 0.241 0.000 2756 2599 2949 2986 2912 0 0 0 0 0 0 14.62 14.08 13.74

1741 end apogee: CONTROL_FINISHED_OK

state 1741 begin climb

1745 0.48 146.0 2756 2598 2986 2910 186.7 0.0 199 1871 0.68 2.47 111.80 1.034 10756 0.184 0.054 2947 1190 2352 2395 2309 0 0 0 0 0 0 14.22 14.09 13.67

1896 0.57 229.1 2947 1190 2392 2307 180.4 6.2 225 1972 0.12 2.53 65.30 1.008 11430 0.145 0.071 2993 2615 2014 2065 1964 0 0 0 0 0 0 14.24 14.23 13.69

2152 0.62 247.7 2993 2615 2060 1954 156.8 9.1 257 2175 0.00 2.42 15.00 0.929 8868 0.000 0.054 2994 1191 1938 1989 1888 0 0 0 0 0 0 14.64 14.33 13.97

2214 0.71 254.3 2993 1190 1985 1888 151.2 9.7 268 2228 0.12 2.47 6.22 0.780 11430 0.150 0.073 3037 2604 1913 1962 1865 0 0 0 0 0 0 14.42 14.41 13.98

2419 0.71 254.3 3037 2605 1962 1862 126.0 12.8 289 2425 0.00 2.33 0.00 0.000 260 0.000 0.091 3037 3937 1911 1961 1862 0 0 0 0 0 0 14.76 14.52 14.78

2448 0.71 254.3 3037 3937 1960 1862 121.7 14.2 294 2455 0.00 2.22 0.00 0.000 1030 0.000 0.045 3038 2593 1911 1960 1862 0 0 0 0 0 0 14.66 14.59 14.66

2634 0.71 254.3 3038 2589 1959 1862 96.6 13.4 313 2640 0.00 2.33 0.00 0.000 516 0.000 0.057 3038 1183 1910 1958 1862 0 0 0 0 0 0 14.83 14.62 14.85

2719 0.71 254.3 3038 1182 1953 1863 85.7 12.5 329 2725 0.00 2.45 0.00 0.000 1030 0.000 0.072 3038 2604 1908 1953 1863 0 0 0 0 0 0 14.71 14.62 14.73

2914 0.71 254.3 3038 2604 1953 1862 60.1 12.8 349 2920 0.00 2.38 0.00 0.000 516 0.000 0.058 3038 1182 1908 1953 1863 0 0 0 0 0 0 14.88 14.68 14.90

2943 0.71 254.3 3038 1181 1953 1863 56.2 11.7 354 2950 0.00 2.45 0.00 0.000 1030 0.000 0.073 3038 2606 1908 1953 1863 0 0 0 0 0 0 14.73 14.65 14.76

3131 0.71 254.3 3038 2607 1952 1866 32.0 12.9 373 3136 0.00 2.38 0.00 0.000 516 0.000 0.057 3038 1184 1907 1952 1863 0 0 0 0 0 0 14.90 14.66 14.91

3165 0.71 254.3 3038 1184 1951 1863 27.6 12.1 379 3171 0.00 2.45 0.00 0.000 1030 0.000 0.073 3038 2611 1907 1951 1863 0 0 0 0 0 0 14.76 14.68 14.78

3359 0.71 254.3 3037 2611 1951 1863 3.9 12.7 399 3366 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2611 1907 1951 1863 0 0 0 0 0 0 14.90 14.92 14.91

3377 end climb: SURFACE_DEPTH_REACHED

state 3377 begin surface coast

3398 end surface coast: CONTROL_FINISHED_OK

state 3398 begin surface

ID	141	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	0
MISSION	11	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	46	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	33	ALTIM_PING_DELTA	0
D_FLARE	2	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	598.34399	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	470	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3935	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2950	INT_PRESSURE_YINT	0
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	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	9.9999997e-05	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	75	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	720	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	0	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	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	0.30000001	RAFOS_MMODEM	0	LOITER_N_DIVE	0	GPS_DEVICE	32
D_OFFGRID	1000	PITCH_MIN	225	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3920	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2800	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043955045
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00063085643
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5021687e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.0087358e-06
SPEED_FACTOR	1	PITCH_GAIN	40	MAXI_24V	0.60000002	SEABIRD_C_G	-9.7732916
RHO	1.0275	PITCH_TIMEOUT	30	MAXI_10V	0.80000001	SEABIRD_C_H	1.1286387
MASS	55610	PITCH_AD_RATE	50	FG_AHR_10V	0	SEABIRD_C_I	-0.0014607979
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00018615076
NAV_MODE	2	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.67619	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	276	PRESSURE_SLOPE	0.00010932798	SC_XMITPROFILE	3.0
HD_A	0.0040899999	ROLL_MAX	3935	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0102	ROLL_DEG	40	COMPASS_USE	4
HD_C	4.5000002e-06	C_ROLL_DIVE	2700	ALTIM_PING_FIT	0

GPS1	290519,132338,5818.4736,-2356.2429,3,1.2,13,-13.3,0.0,292.0,5,9.4	SPEED_LIMITS	0.173,0.260
_CALLS	3	TGT_NAME	C1
_XMS_NAKs	0	TGT_LATLONG	5820.000,-2357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	46.5,2754,-18.4,-10.000,-21.03,2244
_SM_ANGLEo	-58.8	D_GRID	180
GPS2	290519,133134,5818.5439,-2356.4231,6,1.2,27,-13.3,0.6,312.1,5,9.5

FINISH	-0.0,1.014462	_10V_AH	13.04,0.000
SM_CCo	3420,295.83,0.733,1,0,509,598.53	FG_AHR_24Vo	0.000
SM_GC	0.82,8.43,0.17,295.83,0.097,0.138,0.733,215,2710,509,-8.03,-0.45,598.53,0,0,0,0,1,0,14.69,14.71,13.78	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5817.09,-2352.76,290519,131958	MEM	335712
TT8_MAMPS	0.020972,0.541527	DATA_FILE_SIZE	13467,403
HUMID	41.33	CAP_FILE_SIZE	67119,0
INTERNAL_PRESSURE	8.8187	CFSIZE	260034560,257896448
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	12	CURRENT	0.371,302.05,1
SC_FREEKB	3907968	GPS	290519,143553,5819.307,-2357.247,22,1.9,44,-13.3,0.5,330.0,6,10.0
_24V_AH	13.67,2.538

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	433	128.52	nil	0	0	0.00
Roll_motor	52	137	98.12	nil	0	0	0.00
VBD_pump_during_apogee	305	1071	4476.99	nil	0	0	0.00
VBD_pump_during_surface	295	732	2963.67	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	3389	27	1259.93
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	17.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	11	5.58
TT8	913	10	130.62
LPSleep	1389	2	39.68
TT8_Active	741	10	106.05
TT8_Sampling	686	28	259.32
TT8_CF8	106	34	48.31
TT8_Kalman	0	0	0.00
Analog_circuits	1135	10	148.02
GPS_charging	0	0	0.00
Compass	630	11	92.35
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
11	-0.48	-146.0	224	2733	505	496	0.0	0.0	0	143	0.00	0.00	-127.72	0.005	16390	0.000	0.000	224	2734	3546	3498	3594	0	0	0	0	0	0	14.88	13.76	14.88
147	-0.48	-146.0	224	2734	3498	3594	3.0	-3.6	13	164	11.88	2.10	0.00	0.000	2340	0.434	0.083	2630	3930	3545	3497	3594	0	0	0	0	0	0	14.42	14.64	14.68
299	-0.48	-146.0	2630	3930	3499	3594	28.7	-11.8	42	305	0.00	2.00	0.00	0.000	1030	0.000	0.042	2631	2678	3546	3499	3594	0	0	0	0	0	0	14.77	14.72	14.78
485	-0.48	-146.0	2630	2678	3499	3593	50.4	-12.0	61	491	0.00	2.22	0.00	0.000	516	0.000	0.049	2630	1298	3546	3499	3593	0	0	0	0	0	0	14.92	14.67	14.94
539	-0.48	-146.0	2630	1298	3499	3593	57.0	-12.0	71	545	0.00	2.40	0.00	0.000	1030	0.000	0.078	2630	2692	3546	3499	3593	0	0	0	0	0	0	14.76	14.67	14.78
734	-0.48	-146.0	2630	2692	3499	3593	79.4	-11.5	91	739	0.00	2.28	0.00	0.000	516	0.000	0.049	2630	1298	3546	3499	3593	0	0	0	0	0	0	14.92	14.74	14.95
758	-0.48	-146.0	2630	1298	3499	3593	82.3	-12.2	95	764	0.00	2.45	0.00	0.000	1030	0.000	0.080	2630	2716	3546	3499	3593	0	0	0	0	0	0	14.77	14.70	14.79
952	-0.48	-146.0	2629	2716	3499	3593	103.8	-11.0	115	959	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2719	3546	3499	3593	0	0	0	0	0	0	14.95	14.97	14.96
1142	-0.48	-146.0	2630	2716	3500	3593	125.0	-11.6	134	1148	0.00	2.30	0.00	0.000	516	0.000	0.052	2630	1310	3546	3500	3593	0	0	0	0	0	0	14.95	14.76	14.97
1167	-0.48	-146.0	2629	1310	3499	3594	127.7	-11.5	138	1172	0.00	2.42	0.00	0.000	1030	0.000	0.080	2630	2714	3546	3499	3593	0	0	0	0	0	0	14.81	14.72	14.83
1361	-0.48	-146.0	2630	2715	3499	3593	150.1	-11.4	158	1368	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2715	3546	3499	3593	0	0	0	0	0	0	14.94	14.96	14.95
1552	-0.48	-146.0	2630	2715	3500	3593	172.4	-11.7	177	1557	0.00	2.30	0.00	0.000	516	0.000	0.048	2630	1308	3546	3500	3592	0	0	0	0	0	0	14.95	14.73	14.97
1586	-0.48	-146.0	2629	1307	3498	3592	176.6	-11.9	183	1592	0.00	2.42	0.00	0.000	1030	0.000	0.080	2630	2712	3546	3500	3592	0	0	0	0	0	0	14.82	14.73	14.83
1617	end dive: TARGET_DEPTH_EXCEEDED
state	1617	begin apogee
1625	-0.12	0.0	2630	2600	3500	3592	180.6	-11.8	187	1740	0.45	0.00	107.25	1.072	10246	0.241	0.000	2756	2599	2949	2986	2912	0	0	0	0	0	0	14.62	14.08	13.74
1741	end apogee: CONTROL_FINISHED_OK
state	1741	begin climb
1745	0.48	146.0	2756	2598	2986	2910	186.7	0.0	199	1871	0.68	2.47	111.80	1.034	10756	0.184	0.054	2947	1190	2352	2395	2309	0	0	0	0	0	0	14.22	14.09	13.67
1896	0.57	229.1	2947	1190	2392	2307	180.4	6.2	225	1972	0.12	2.53	65.30	1.008	11430	0.145	0.071	2993	2615	2014	2065	1964	0	0	0	0	0	0	14.24	14.23	13.69
2152	0.62	247.7	2993	2615	2060	1954	156.8	9.1	257	2175	0.00	2.42	15.00	0.929	8868	0.000	0.054	2994	1191	1938	1989	1888	0	0	0	0	0	0	14.64	14.33	13.97
2214	0.71	254.3	2993	1190	1985	1888	151.2	9.7	268	2228	0.12	2.47	6.22	0.780	11430	0.150	0.073	3037	2604	1913	1962	1865	0	0	0	0	0	0	14.42	14.41	13.98
2419	0.71	254.3	3037	2605	1962	1862	126.0	12.8	289	2425	0.00	2.33	0.00	0.000	260	0.000	0.091	3037	3937	1911	1961	1862	0	0	0	0	0	0	14.76	14.52	14.78
2448	0.71	254.3	3037	3937	1960	1862	121.7	14.2	294	2455	0.00	2.22	0.00	0.000	1030	0.000	0.045	3038	2593	1911	1960	1862	0	0	0	0	0	0	14.66	14.59	14.66
2634	0.71	254.3	3038	2589	1959	1862	96.6	13.4	313	2640	0.00	2.33	0.00	0.000	516	0.000	0.057	3038	1183	1910	1958	1862	0	0	0	0	0	0	14.83	14.62	14.85
2719	0.71	254.3	3038	1182	1953	1863	85.7	12.5	329	2725	0.00	2.45	0.00	0.000	1030	0.000	0.072	3038	2604	1908	1953	1863	0	0	0	0	0	0	14.71	14.62	14.73
2914	0.71	254.3	3038	2604	1953	1862	60.1	12.8	349	2920	0.00	2.38	0.00	0.000	516	0.000	0.058	3038	1182	1908	1953	1863	0	0	0	0	0	0	14.88	14.68	14.90
2943	0.71	254.3	3038	1181	1953	1863	56.2	11.7	354	2950	0.00	2.45	0.00	0.000	1030	0.000	0.073	3038	2606	1908	1953	1863	0	0	0	0	0	0	14.73	14.65	14.76
3131	0.71	254.3	3038	2607	1952	1866	32.0	12.9	373	3136	0.00	2.38	0.00	0.000	516	0.000	0.057	3038	1184	1907	1952	1863	0	0	0	0	0	0	14.90	14.66	14.91
3165	0.71	254.3	3038	1184	1951	1863	27.6	12.1	379	3171	0.00	2.45	0.00	0.000	1030	0.000	0.073	3038	2611	1907	1951	1863	0	0	0	0	0	0	14.76	14.68	14.78
3359	0.71	254.3	3037	2611	1951	1863	3.9	12.7	399	3366	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2611	1907	1951	1863	0	0	0	0	0	0	14.90	14.92	14.91
3377	end climb: SURFACE_DEPTH_REACHED
state	3377	begin surface coast
3398	end surface coast: CONTROL_FINISHED_OK
state	3398	begin surface