Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 3 * 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 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 30 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 15 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 180 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 500 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 0.0012300001 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 60 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 75 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 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 -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 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2700 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 45 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.0275 PITCH_TIMEOUT 16 MAXI_10V 0.80000001 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 0.029999999 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 1 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 40 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 2700 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 180 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 1 SEABIRD_T_J 3.254017e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.029999999 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 45 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 0.0012300001 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 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 60

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 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 2700 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 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 350 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55590 ROLL_DEG 40 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 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 3 MINV_10V 11 R_PORT_OVSHOOT 30 VBD_MIN 450

D_ABORT 500 MINV_24V 11 R_STBD_OVSHOOT 15 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 0

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 4 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 160519,174404,5917.5898,-2121.9868,7,0.8,19,-12.5,0.0,72.4,10,9.0 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME WP01

_XMS_NAKs 0 TGT_LATLONG 5914.000,-2422.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 293.2,170735,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -71.8 D_GRID 1000

GPS2 160519,174750,5917.5850,-2121.9172,10,0.8,20,-12.5,0.4,120.6,10,8.7

Post-dive calculations and measurements:

FINISH -0.0,1.027114 _10V_AH 13.10,5.653

SM_CCo 3640,180.75,0.930,1,0,1268,400.08 FG_AHR_24Vo 0.000

SM_GC 0.82,7.82,0.20,180.75,0.063,0.126,0.930,171,2737,1268,-7.83,-0.25,400.08,0,0,0,0,1,0,14.66,14.64,13.55 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5918.99,-2126.16,160519,174032 MEM 304580

TT8_MAMPS 0.023219,0.924266 DATA_FILE_SIZE 16766,464

HUMID 39.84 CAP_FILE_SIZE 73976,0

INTERNAL_PRESSURE 8.80829 CFSIZE 2097872896,2095742976

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.165,100.38,1

SC_FREEKB 3908320 GPS 160519,185329,5917.680,-2121.927,7,1.5,32,-12.5,0.3,147.0,5,9.9

_24V_AH 13.33,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 408 119.53 nil 0 0 0.00

Roll_motor 60 144 115.83 nil 0 0 0.00

VBD_pump_during_apogee 272 1270 4613.90 nil 0 0 0.00

VBD_pump_during_surface 180 930 2241.32 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 3618 60 2914.32

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 29 11 4.31

TT8 1089 10 156.61

LPSleep 1456 2 41.78

TT8_Active 610 10 87.72

TT8_Sampling 743 30 296.66

TT8_CF8 26 36 12.47

TT8_Kalman 0 0 0.00

Analog_circuits 1033 10 135.43

GPS_charging 0 0 0.00

Compass 676 6 59.70

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.58 -146.0 169 2715 1053 1068 0.0 0.0 0 146 0.00 0.00 -124.53 0.008 16390 0.000 0.000 167 2715 3497 3632 3362 0 0 0 0 0 0 14.85 13.33 14.85

148 -0.58 -146.0 168 2715 3630 3363 2.2 -2.3 12 165 11.02 2.47 0.00 0.000 2852 0.409 0.076 2511 1294 3498 3633 3363 0 0 0 0 0 0 14.35 14.61 14.54

316 -0.42 -146.0 2510 1281 3634 3363 28.1 -13.1 45 324 0.25 2.65 0.00 0.000 3206 0.251 0.128 2563 2700 3498 3634 3363 0 0 0 0 0 0 14.47 14.54 14.66

504 -0.33 -146.0 2562 2702 3633 3363 50.2 -11.4 64 510 0.12 2.15 0.00 0.000 2436 0.284 0.145 2590 3846 3499 3634 3364 0 0 0 0 0 0 14.48 14.45 14.59

631 -0.33 -146.0 2590 3846 3634 3363 62.8 -9.9 89 638 0.00 1.98 0.00 0.000 1062 0.000 0.073 2590 2689 3498 3634 3363 0 0 0 0 0 0 14.71 14.64 14.73

818 -0.33 -146.0 2590 2689 3634 3363 80.4 -9.5 108 823 0.00 2.17 0.00 0.000 292 0.000 0.141 2581 3843 3498 3634 3363 0 0 0 0 0 0 14.89 14.47 14.90

925 -0.33 -146.0 2581 3843 3634 3363 91.5 -9.3 129 931 0.00 1.95 0.00 0.000 1062 0.000 0.073 2582 2693 3498 3634 3363 0 0 0 0 0 0 14.74 14.66 14.76

1111 -0.33 -146.0 2581 2693 3634 3362 110.2 -10.2 148 1117 0.00 2.17 0.00 0.000 260 0.000 0.142 2573 3846 3498 3634 3362 0 0 0 0 0 0 14.87 14.45 14.89

1188 -0.33 -146.0 2572 3846 3634 3363 118.4 -10.3 163 1196 0.00 1.95 0.00 0.000 1030 0.000 0.073 2573 2697 3498 3634 3363 0 0 0 0 0 0 14.71 14.63 14.73

1375 -0.29 -146.0 2573 2697 3633 3363 138.1 -10.6 182 1381 0.12 2.15 0.00 0.000 2436 0.262 0.140 2599 3843 3498 3634 3363 0 0 0 0 0 0 14.48 14.43 14.59

1449 -0.38 -146.0 2600 3843 3634 3363 144.6 -8.4 196 1455 0.00 1.95 0.00 0.000 1190 0.000 0.074 2599 2693 3498 3633 3363 0 0 0 0 0 0 14.74 14.66 14.76

1643 -0.43 -146.0 2598 2693 3634 3363 161.0 -8.7 216 1649 0.12 2.17 0.00 0.000 4516 0.143 0.142 2532 3842 3498 3634 3363 0 0 0 0 0 0 14.64 14.44 14.68

1751 -0.29 -146.0 2531 3842 3633 3363 174.8 -12.7 237 1759 0.28 1.95 0.00 0.000 3206 0.227 0.073 2602 2694 3498 3633 3363 0 0 0 0 0 0 14.48 14.63 14.66

1816 end dive: TARGET_DEPTH_EXCEEDED

state 1816 begin apogee

1820 -0.11 0.0 2603 2608 3634 3363 180.7 -8.0 244 1948 0.22 0.00 119.80 1.271 10246 0.206 0.000 2665 2608 2898 2928 2869 0 0 0 0 0 0 14.50 13.93 13.40

1950 end apogee: CONTROL_FINISHED_OK

state 1950 begin climb

1951 0.58 146.0 2665 2608 2929 2869 185.8 0.0 257 2079 0.75 2.58 119.05 1.235 10756 0.172 0.086 2891 1193 2302 2331 2273 0 0 0 0 0 0 14.09 13.90 13.38

2107 0.70 147.5 2891 1192 2325 2273 174.7 9.9 283 2113 0.00 2.67 0.00 0.000 1190 0.000 0.118 2892 2600 2298 2325 2272 0 0 0 0 0 0 14.29 14.19 14.31

2300 0.73 147.5 2891 2600 2325 2265 154.5 10.3 303 2308 0.12 2.35 0.00 0.000 2436 0.135 0.142 2950 3843 2295 2325 2265 0 0 0 0 0 0 14.51 14.35 14.54

2350 0.47 147.5 2949 3843 2326 2265 147.1 16.6 312 2357 0.40 2.20 0.00 0.000 5254 0.260 0.079 2858 2590 2294 2325 2264 0 0 0 0 0 0 14.35 14.49 14.53

2535 0.65 187.6 2858 2581 2325 2261 130.6 8.2 331 2576 0.15 2.45 33.55 1.161 10916 0.122 0.083 2940 1196 2133 2168 2098 0 0 0 0 0 0 14.57 14.20 13.68

2588 0.58 187.6 2940 1195 2167 2098 124.4 14.2 340 2595 0.22 2.65 0.00 0.000 5254 0.247 0.119 2887 2600 2132 2166 2098 0 0 0 0 0 0 14.26 14.35 14.42

2773 0.66 188.2 2887 2600 2166 2091 105.3 10.0 359 2780 0.00 2.35 0.00 0.000 420 0.000 0.143 2887 3842 2128 2166 2091 0 0 0 0 0 0 14.76 14.39 14.77

2822 0.73 188.2 2886 3843 2165 2090 99.5 11.0 368 2830 0.15 2.17 0.00 0.000 3206 0.119 0.076 2948 2586 2128 2166 2090 0 0 0 0 0 0 14.57 14.54 14.63

3007 0.61 188.2 2949 2586 2165 2090 72.2 15.4 387 3014 0.17 2.40 0.00 0.000 4740 0.278 0.082 2913 1207 2128 2166 2090 0 0 0 0 0 0 14.35 14.56 14.50

3056 0.69 188.2 2912 1206 2165 2090 66.4 11.3 396 3063 0.00 2.60 0.00 0.000 1158 0.000 0.118 2913 2606 2127 2165 2090 0 0 0 0 0 0 14.62 14.50 14.66

3241 0.69 188.2 2912 2606 2165 2089 44.8 11.1 415 3247 0.00 2.33 0.00 0.000 260 0.000 0.143 2913 3845 2126 2165 2088 0 0 0 0 0 0 14.84 14.42 14.85

3284 0.65 188.2 2912 3845 2165 2089 39.5 12.6 423 3291 0.00 2.15 0.00 0.000 1158 0.000 0.078 2919 2615 2127 2165 2089 0 0 0 0 0 0 14.71 14.63 14.73

3478 0.65 188.2 2920 2601 2165 2089 17.1 11.5 443 3484 0.00 2.47 0.00 0.000 516 0.000 0.086 2929 1181 2126 2163 2089 0 0 0 0 0 0 14.86 14.58 14.87

3541 0.70 188.2 2929 1181 2164 2089 10.0 11.1 455 3548 0.00 2.65 0.00 0.000 1158 0.000 0.121 2930 2605 2127 2165 2089 0 0 0 0 0 0 14.68 14.55 14.71

3603 end climb: SURFACE_DEPTH_REACHED

state 3603 begin surface coast

3625 end surface coast: CONTROL_FINISHED_OK

state 3625 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	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	30	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	15	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	180	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	500	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	0.0012300001	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	60	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	75	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	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	-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	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2700	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	45	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.0275	PITCH_TIMEOUT	16	MAXI_10V	0.80000001	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	0.029999999	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	1	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	40	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	2700	ALTIM_PING_FIT	0

GPS1	160519,174404,5917.5898,-2121.9868,7,0.8,19,-12.5,0.0,72.4,10,9.0	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	WP01
_XMS_NAKs	0	TGT_LATLONG	5914.000,-2422.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	293.2,170735,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-71.8	D_GRID	1000
GPS2	160519,174750,5917.5850,-2121.9172,10,0.8,20,-12.5,0.4,120.6,10,8.7

FINISH	-0.0,1.027114	_10V_AH	13.10,5.653
SM_CCo	3640,180.75,0.930,1,0,1268,400.08	FG_AHR_24Vo	0.000
SM_GC	0.82,7.82,0.20,180.75,0.063,0.126,0.930,171,2737,1268,-7.83,-0.25,400.08,0,0,0,0,1,0,14.66,14.64,13.55	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5918.99,-2126.16,160519,174032	MEM	304580
TT8_MAMPS	0.023219,0.924266	DATA_FILE_SIZE	16766,464
HUMID	39.84	CAP_FILE_SIZE	73976,0
INTERNAL_PRESSURE	8.80829	CFSIZE	2097872896,2095742976
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.165,100.38,1
SC_FREEKB	3908320	GPS	160519,185329,5917.680,-2121.927,7,1.5,32,-12.5,0.3,147.0,5,9.9
_24V_AH	13.33,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	408	119.53	nil	0	0	0.00
Roll_motor	60	144	115.83	nil	0	0	0.00
VBD_pump_during_apogee	272	1270	4613.90	nil	0	0	0.00
VBD_pump_during_surface	180	930	2241.32	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	3618	60	2914.32
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	29	11	4.31
TT8	1089	10	156.61
LPSleep	1456	2	41.78
TT8_Active	610	10	87.72
TT8_Sampling	743	30	296.66
TT8_CF8	26	36	12.47
TT8_Kalman	0	0	0.00
Analog_circuits	1033	10	135.43
GPS_charging	0	0	0.00
Compass	676	6	59.70
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.58	-146.0	169	2715	1053	1068	0.0	0.0	0	146	0.00	0.00	-124.53	0.008	16390	0.000	0.000	167	2715	3497	3632	3362	0	0	0	0	0	0	14.85	13.33	14.85
148	-0.58	-146.0	168	2715	3630	3363	2.2	-2.3	12	165	11.02	2.47	0.00	0.000	2852	0.409	0.076	2511	1294	3498	3633	3363	0	0	0	0	0	0	14.35	14.61	14.54
316	-0.42	-146.0	2510	1281	3634	3363	28.1	-13.1	45	324	0.25	2.65	0.00	0.000	3206	0.251	0.128	2563	2700	3498	3634	3363	0	0	0	0	0	0	14.47	14.54	14.66
504	-0.33	-146.0	2562	2702	3633	3363	50.2	-11.4	64	510	0.12	2.15	0.00	0.000	2436	0.284	0.145	2590	3846	3499	3634	3364	0	0	0	0	0	0	14.48	14.45	14.59
631	-0.33	-146.0	2590	3846	3634	3363	62.8	-9.9	89	638	0.00	1.98	0.00	0.000	1062	0.000	0.073	2590	2689	3498	3634	3363	0	0	0	0	0	0	14.71	14.64	14.73
818	-0.33	-146.0	2590	2689	3634	3363	80.4	-9.5	108	823	0.00	2.17	0.00	0.000	292	0.000	0.141	2581	3843	3498	3634	3363	0	0	0	0	0	0	14.89	14.47	14.90
925	-0.33	-146.0	2581	3843	3634	3363	91.5	-9.3	129	931	0.00	1.95	0.00	0.000	1062	0.000	0.073	2582	2693	3498	3634	3363	0	0	0	0	0	0	14.74	14.66	14.76
1111	-0.33	-146.0	2581	2693	3634	3362	110.2	-10.2	148	1117	0.00	2.17	0.00	0.000	260	0.000	0.142	2573	3846	3498	3634	3362	0	0	0	0	0	0	14.87	14.45	14.89
1188	-0.33	-146.0	2572	3846	3634	3363	118.4	-10.3	163	1196	0.00	1.95	0.00	0.000	1030	0.000	0.073	2573	2697	3498	3634	3363	0	0	0	0	0	0	14.71	14.63	14.73
1375	-0.29	-146.0	2573	2697	3633	3363	138.1	-10.6	182	1381	0.12	2.15	0.00	0.000	2436	0.262	0.140	2599	3843	3498	3634	3363	0	0	0	0	0	0	14.48	14.43	14.59
1449	-0.38	-146.0	2600	3843	3634	3363	144.6	-8.4	196	1455	0.00	1.95	0.00	0.000	1190	0.000	0.074	2599	2693	3498	3633	3363	0	0	0	0	0	0	14.74	14.66	14.76
1643	-0.43	-146.0	2598	2693	3634	3363	161.0	-8.7	216	1649	0.12	2.17	0.00	0.000	4516	0.143	0.142	2532	3842	3498	3634	3363	0	0	0	0	0	0	14.64	14.44	14.68
1751	-0.29	-146.0	2531	3842	3633	3363	174.8	-12.7	237	1759	0.28	1.95	0.00	0.000	3206	0.227	0.073	2602	2694	3498	3633	3363	0	0	0	0	0	0	14.48	14.63	14.66
1816	end dive: TARGET_DEPTH_EXCEEDED
state	1816	begin apogee
1820	-0.11	0.0	2603	2608	3634	3363	180.7	-8.0	244	1948	0.22	0.00	119.80	1.271	10246	0.206	0.000	2665	2608	2898	2928	2869	0	0	0	0	0	0	14.50	13.93	13.40
1950	end apogee: CONTROL_FINISHED_OK
state	1950	begin climb
1951	0.58	146.0	2665	2608	2929	2869	185.8	0.0	257	2079	0.75	2.58	119.05	1.235	10756	0.172	0.086	2891	1193	2302	2331	2273	0	0	0	0	0	0	14.09	13.90	13.38
2107	0.70	147.5	2891	1192	2325	2273	174.7	9.9	283	2113	0.00	2.67	0.00	0.000	1190	0.000	0.118	2892	2600	2298	2325	2272	0	0	0	0	0	0	14.29	14.19	14.31
2300	0.73	147.5	2891	2600	2325	2265	154.5	10.3	303	2308	0.12	2.35	0.00	0.000	2436	0.135	0.142	2950	3843	2295	2325	2265	0	0	0	0	0	0	14.51	14.35	14.54
2350	0.47	147.5	2949	3843	2326	2265	147.1	16.6	312	2357	0.40	2.20	0.00	0.000	5254	0.260	0.079	2858	2590	2294	2325	2264	0	0	0	0	0	0	14.35	14.49	14.53
2535	0.65	187.6	2858	2581	2325	2261	130.6	8.2	331	2576	0.15	2.45	33.55	1.161	10916	0.122	0.083	2940	1196	2133	2168	2098	0	0	0	0	0	0	14.57	14.20	13.68
2588	0.58	187.6	2940	1195	2167	2098	124.4	14.2	340	2595	0.22	2.65	0.00	0.000	5254	0.247	0.119	2887	2600	2132	2166	2098	0	0	0	0	0	0	14.26	14.35	14.42
2773	0.66	188.2	2887	2600	2166	2091	105.3	10.0	359	2780	0.00	2.35	0.00	0.000	420	0.000	0.143	2887	3842	2128	2166	2091	0	0	0	0	0	0	14.76	14.39	14.77
2822	0.73	188.2	2886	3843	2165	2090	99.5	11.0	368	2830	0.15	2.17	0.00	0.000	3206	0.119	0.076	2948	2586	2128	2166	2090	0	0	0	0	0	0	14.57	14.54	14.63
3007	0.61	188.2	2949	2586	2165	2090	72.2	15.4	387	3014	0.17	2.40	0.00	0.000	4740	0.278	0.082	2913	1207	2128	2166	2090	0	0	0	0	0	0	14.35	14.56	14.50
3056	0.69	188.2	2912	1206	2165	2090	66.4	11.3	396	3063	0.00	2.60	0.00	0.000	1158	0.000	0.118	2913	2606	2127	2165	2090	0	0	0	0	0	0	14.62	14.50	14.66
3241	0.69	188.2	2912	2606	2165	2089	44.8	11.1	415	3247	0.00	2.33	0.00	0.000	260	0.000	0.143	2913	3845	2126	2165	2088	0	0	0	0	0	0	14.84	14.42	14.85
3284	0.65	188.2	2912	3845	2165	2089	39.5	12.6	423	3291	0.00	2.15	0.00	0.000	1158	0.000	0.078	2919	2615	2127	2165	2089	0	0	0	0	0	0	14.71	14.63	14.73
3478	0.65	188.2	2920	2601	2165	2089	17.1	11.5	443	3484	0.00	2.47	0.00	0.000	516	0.000	0.086	2929	1181	2126	2163	2089	0	0	0	0	0	0	14.86	14.58	14.87
3541	0.70	188.2	2929	1181	2164	2089	10.0	11.1	455	3548	0.00	2.65	0.00	0.000	1158	0.000	0.121	2930	2605	2127	2165	2089	0	0	0	0	0	0	14.68	14.55	14.71
3603	end climb: SURFACE_DEPTH_REACHED
state	3603	begin surface coast
3625	end surface coast: CONTROL_FINISHED_OK
state	3625	begin surface