Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 31 * 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 31 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 18 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 26 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 3

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 250.0

KALMAN_USE 2 ROLL_MAX 3850 COMPASS_USE 4 TM_PROFILE 2.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 2.0

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 2.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -173.88152 TM_RECORDABOVE 250.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 TM_XMITPROFILE 2.0

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 3 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 18 VBD_CNV -0.245296

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 26 VBD_DBAND 2

DIVE 31 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 071020,050424,5820.7427,-2122.1501,40,0.7,45,-12.1,0.4,353.4,11,9.6 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5818.475,-2119.676

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.68 MHEAD_RNG_PITCHd_Wd 149.8,4773,-23.6,-10.000,-26.02,1341

_SM_ANGLEo -62.6 D_GRID 600

GPS2 071020,051322,5820.7456,-2121.9966,8,0.7,15,-12.1,0.0,81.2,11,9.6

Post-dive calculations and measurements:

FINISH 0.1,1.026835 _24V_AH 13.04,0.000

WARN HTMICL missed fuel gauge read _10V_AH 13.06,40.273

SM_CCo 6783,261.30,0.961,1,0,1145,450.12 FG_AHR_24Vo 0.000

SM_GC 0.71,6.90,4.00,261.30,0.067,0.076,0.961,165,2595,1145,-6.34,-0.85,450.12,0,0,0,0,1,0,14.62,14.57,13.53 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5820.22,-2123.73,071020,023136 MEM 324040

TT8_MAMPS 0.023968,0.829143 DATA_FILE_SIZE 30025,852

HUMID 44.01 CAP_FILE_SIZE 92697,0

INTERNAL_PRESSURE 7.85122 CFSIZE 2097872896,2088566784

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

XPDR_PINGS 1 CURRENT 0.185,187.17,1

SC_FREEKB 3889472 GPS 071020,071254,5819.259,-2121.061,5,1.2,24,-12.1,0.0,109.9,8,9.9

TM_FREEKB 7477568

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 400 98.66 nil 0 0 0.00

Roll_motor 89 99 116.68 nil 0 0 0.00

VBD_pump_during_apogee 269 1786 6278.64 nil 0 0 0.00

VBD_pump_during_surface 261 960 3273.92 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 6784 20 1847.11

Iridium_during_xfer 370 215 1041.98 TMICL 1498 14 290.90

Transponder_ping 0 420 1.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 10 3.70

TT8 2043 12 332.79

LPSleep 2925 2 83.69

TT8_Active 695 12 113.31

TT8_Sampling 1815 31 739.38

TT8_CF8 132 36 62.85

TT8_Kalman 0 0 0.00

Analog_circuits 1769 10 231.09

GPS_charging 0 0 0.00

Compass 1346 7 131.72

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.88 -87.2 0 2611 1082 1183 0.0 0.0 0 114 0.00 0.00 -99.18 0.008 16390 0.000 0.000 1 2612 3338 3265 3411 0 0 0 0 0 0 14.65 13.04 14.64

116 -0.93 -146.0 2 2611 3266 3412 2.7 -2.7 17 138 9.30 2.25 -6.32 0.020 18724 0.401 0.099 1906 3856 3579 3532 3626 1 0 0 0 0 0 14.00 13.14 14.45

367 -0.93 -146.0 1906 3855 3534 3627 57.4 -20.8 65 374 0.00 2.20 0.00 0.000 1030 0.000 0.052 1906 2576 3580 3534 3627 0 0 0 0 0 0 14.54 14.47 14.57

557 -0.93 -146.0 1908 2566 3534 3627 97.0 -20.1 102 565 0.00 2.25 0.00 0.000 260 0.000 0.074 1898 3853 3581 3535 3627 0 0 0 0 0 0 14.78 14.51 14.80

626 -0.93 -146.0 1896 3853 3535 3626 111.0 -19.8 115 633 0.00 2.15 0.00 0.000 1030 0.000 0.056 1897 2606 3580 3534 3627 0 0 0 0 0 0 14.57 14.48 14.59

932 -0.93 -146.0 1896 2593 3535 3626 175.4 -21.1 146 938 0.00 2.20 0.00 0.000 260 0.000 0.077 1888 3856 3581 3535 3627 0 0 0 0 0 0 14.83 14.54 14.85

1015 -0.93 -146.0 1888 3856 3535 3627 192.9 -20.7 162 1022 0.12 2.17 0.00 0.000 3078 0.314 0.057 1910 2598 3581 3535 3627 0 0 0 0 0 0 14.21 14.46 14.46

1329 -0.93 -146.0 1911 2586 3535 3627 256.7 -20.3 194 1336 0.00 2.40 0.00 0.000 516 0.000 0.070 1911 1192 3581 3535 3627 0 0 0 0 0 0 14.85 14.55 14.86

1363 -0.93 -146.0 1911 1192 3535 3627 264.2 -23.5 200 1368 0.00 2.45 0.00 0.000 1030 0.000 0.066 1905 2602 3581 3536 3627 0 0 0 0 0 0 14.67 14.59 14.69

1675 -0.93 -146.0 1904 2604 3536 3626 330.0 -20.7 232 1677 0.00 0.00 0.00 0.000 6 0.000 0.000 1904 2604 3581 3537 3626 0 0 0 0 0 0 14.85 14.88 14.87

1976 -0.93 -146.0 1904 2604 3536 3627 392.0 -20.1 262 1982 0.00 2.15 0.00 0.000 260 0.000 0.079 1895 3856 3580 3535 3626 0 0 0 0 0 0 14.88 14.58 14.89

2009 -0.93 -146.0 1895 3855 3536 3626 399.1 -20.5 268 2015 0.00 2.15 0.00 0.000 1030 0.000 0.058 1895 2600 3581 3536 3626 0 0 0 0 0 0 14.70 14.62 14.72

2322 -0.93 -146.0 1894 2588 3535 3626 464.7 -21.0 300 2327 0.00 2.40 0.00 0.000 516 0.000 0.072 1895 1191 3580 3535 3626 0 0 0 0 0 0 14.90 14.59 14.92

2344 -0.93 -146.0 1894 1191 3536 3626 469.6 -21.6 304 2351 0.15 2.45 0.00 0.000 3078 0.325 0.066 1914 2606 3581 3536 3627 0 0 0 0 0 0 14.25 14.57 14.54

2658 -0.93 -146.0 1914 2606 3535 3626 532.2 -20.1 336 2663 0.00 2.12 0.00 0.000 260 0.000 0.079 1907 3850 3580 3535 3626 0 0 0 0 0 0 14.92 14.61 14.95

2695 -0.93 -146.0 1907 3850 3535 3626 539.7 -19.7 343 2702 0.00 2.15 0.00 0.000 1030 0.000 0.059 1907 2597 3580 3535 3625 0 0 0 0 0 0 14.72 14.64 14.74

2999 end dive: TARGET_DEPTH_EXCEEDED

state 2999 begin apogee

3005 -0.17 0.0 1907 1786 3535 3625 600.7 -19.8 374 3143 0.93 0.00 134.12 1.786 10246 0.243 0.000 2156 1787 2980 2966 2995 0 0 0 0 0 0 14.33 13.97 13.14

3144 end apogee: CONTROL_FINISHED_OK

state 3145 begin climb

3146 0.93 146.0 2156 1788 2966 2993 609.0 0.0 388 3291 1.15 2.72 135.43 1.749 10756 0.131 0.096 2523 390 2383 2363 2404 0 0 0 0 0 0 13.99 13.85 13.06

3338 0.93 146.0 2523 390 2353 2402 588.7 17.6 423 3345 0.00 2.58 0.00 0.000 1030 0.000 0.072 2523 1800 2377 2354 2400 0 0 0 0 0 0 14.17 14.09 14.19

3644 0.93 146.0 2524 1802 2353 2393 537.5 16.6 454 3650 0.00 2.58 0.00 0.000 516 0.000 0.092 2531 389 2373 2353 2393 0 0 0 0 0 0 14.69 14.38 14.70

3692 0.93 146.0 2532 389 2351 2394 529.0 17.3 463 3699 0.00 2.50 0.00 0.000 1030 0.000 0.070 2533 1797 2372 2352 2393 0 0 0 0 0 0 14.51 14.42 14.54

3997 0.93 146.0 2532 1801 2352 2390 475.1 17.8 494 4004 0.00 2.55 0.00 0.000 516 0.000 0.090 2542 385 2371 2351 2391 0 0 0 0 0 0 14.79 14.49 14.81

4041 0.93 146.0 2542 385 2351 2392 467.0 18.6 502 4047 0.00 2.47 0.00 0.000 1030 0.000 0.070 2542 1797 2371 2351 2392 0 0 0 0 0 0 14.64 14.55 14.67

4354 0.93 146.0 2542 1799 2351 2390 409.6 18.5 534 4361 0.00 2.55 0.00 0.000 516 0.000 0.090 2551 378 2370 2350 2390 0 0 0 0 0 0 14.85 14.54 14.88

4402 0.93 146.0 2550 378 2350 2391 400.5 19.2 543 4409 0.15 2.47 0.00 0.000 5126 0.308 0.071 2523 1794 2370 2350 2391 0 0 0 0 0 0 14.32 14.60 14.63

4708 0.93 146.0 2523 1798 2350 2390 350.3 16.4 574 4714 0.00 2.55 0.00 0.000 516 0.000 0.091 2530 385 2370 2350 2390 0 0 0 0 0 0 14.90 14.55 14.92

4755 0.93 146.0 2530 384 2349 2390 342.1 18.0 583 4762 0.00 2.47 0.00 0.000 1030 0.000 0.071 2530 1796 2370 2350 2390 0 0 0 0 0 0 14.66 14.58 14.69

5061 0.93 146.0 2530 1798 2349 2390 290.1 17.1 614 5068 0.00 2.55 0.00 0.000 516 0.000 0.090 2539 374 2370 2350 2390 0 0 0 0 0 0 14.89 14.57 14.91

5089 0.93 146.0 2539 374 2349 2390 285.1 17.9 619 5096 0.00 2.47 0.00 0.000 1030 0.000 0.071 2539 1791 2369 2349 2390 0 0 0 0 0 0 14.72 14.63 14.76

5395 0.93 146.0 2539 1793 2349 2389 230.0 17.9 650 5403 0.00 2.53 0.00 0.000 516 0.000 0.090 2548 388 2369 2349 2390 0 0 0 0 0 0 14.85 14.54 14.88

5430 0.93 146.0 2548 388 2349 2390 223.3 18.7 656 5438 0.00 2.47 0.00 0.000 1030 0.000 0.070 2548 1798 2369 2349 2390 0 0 0 0 0 0 14.66 14.56 14.69

5745 0.93 146.0 2548 1799 2349 2390 166.4 18.1 688 5752 0.00 2.58 0.00 0.000 516 0.000 0.090 2557 377 2369 2349 2390 0 0 0 0 0 0 14.85 14.48 14.86

5779 0.93 146.0 2556 377 2349 2390 160.0 18.8 694 5788 0.17 2.50 0.00 0.000 5126 0.298 0.072 2522 1799 2369 2349 2390 0 0 0 0 0 0 14.26 14.54 14.57

6095 0.93 146.0 2522 1803 2349 2389 108.1 15.8 726 6103 0.00 2.55 0.00 0.000 516 0.000 0.091 2530 388 2369 2349 2389 0 0 0 0 0 0 14.82 14.50 14.83

6114 0.93 146.0 2529 388 2349 2390 104.9 16.5 729 6123 0.00 2.47 0.00 0.000 1030 0.000 0.070 2529 1796 2369 2349 2390 0 0 0 0 0 0 14.66 14.56 14.69

6421 0.93 146.0 2528 1799 2349 2389 55.5 15.1 787 6430 0.00 2.47 0.00 0.000 260 0.000 0.081 2530 3210 2369 2349 2389 0 0 0 0 0 0 14.83 14.50 14.84

6532 0.93 146.0 2529 3211 2348 2389 38.5 16.1 808 6540 0.00 2.50 0.00 0.000 1030 0.000 0.076 2539 1789 2368 2348 2389 0 0 0 0 0 0 14.62 14.50 14.66

6723 0.93 146.0 2538 1789 2348 2389 7.3 17.2 845 6731 0.00 2.55 0.00 0.000 516 0.000 0.096 2550 376 2368 2348 2389 0 0 0 0 0 0 14.81 14.47 14.83

6747 end climb: SURFACE_DEPTH_REACHED

state 6747 begin surface coast

6762 end surface coast: CONTROL_FINISHED_OK

state 6762 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	31	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	18	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	26	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	3
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	250.0
KALMAN_USE	2	ROLL_MAX	3850	COMPASS_USE	4	TM_PROFILE	2.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	2.0
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	071020,050424,5820.7427,-2122.1501,40,0.7,45,-12.1,0.4,353.4,11,9.6	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5818.475,-2119.676
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.68	MHEAD_RNG_PITCHd_Wd	149.8,4773,-23.6,-10.000,-26.02,1341
_SM_ANGLEo	-62.6	D_GRID	600
GPS2	071020,051322,5820.7456,-2121.9966,8,0.7,15,-12.1,0.0,81.2,11,9.6

FINISH	0.1,1.026835	_24V_AH	13.04,0.000
WARN	HTMICL missed fuel gauge read	_10V_AH	13.06,40.273
SM_CCo	6783,261.30,0.961,1,0,1145,450.12	FG_AHR_24Vo	0.000
SM_GC	0.71,6.90,4.00,261.30,0.067,0.076,0.961,165,2595,1145,-6.34,-0.85,450.12,0,0,0,0,1,0,14.62,14.57,13.53	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5820.22,-2123.73,071020,023136	MEM	324040
TT8_MAMPS	0.023968,0.829143	DATA_FILE_SIZE	30025,852
HUMID	44.01	CAP_FILE_SIZE	92697,0
INTERNAL_PRESSURE	7.85122	CFSIZE	2097872896,2088566784
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,1,2,0
XPDR_PINGS	1	CURRENT	0.185,187.17,1
SC_FREEKB	3889472	GPS	071020,071254,5819.259,-2121.061,5,1.2,24,-12.1,0.0,109.9,8,9.9
TM_FREEKB	7477568

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	400	98.66	nil	0	0	0.00
Roll_motor	89	99	116.68	nil	0	0	0.00
VBD_pump_during_apogee	269	1786	6278.64	nil	0	0	0.00
VBD_pump_during_surface	261	960	3273.92	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	6784	20	1847.11
Iridium_during_xfer	370	215	1041.98	TMICL	1498	14	290.90
Transponder_ping	0	420	1.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	10	3.70
TT8	2043	12	332.79
LPSleep	2925	2	83.69
TT8_Active	695	12	113.31
TT8_Sampling	1815	31	739.38
TT8_CF8	132	36	62.85
TT8_Kalman	0	0	0.00
Analog_circuits	1769	10	231.09
GPS_charging	0	0	0.00
Compass	1346	7	131.72
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.88	-87.2	0	2611	1082	1183	0.0	0.0	0	114	0.00	0.00	-99.18	0.008	16390	0.000	0.000	1	2612	3338	3265	3411	0	0	0	0	0	0	14.65	13.04	14.64
116	-0.93	-146.0	2	2611	3266	3412	2.7	-2.7	17	138	9.30	2.25	-6.32	0.020	18724	0.401	0.099	1906	3856	3579	3532	3626	1	0	0	0	0	0	14.00	13.14	14.45
367	-0.93	-146.0	1906	3855	3534	3627	57.4	-20.8	65	374	0.00	2.20	0.00	0.000	1030	0.000	0.052	1906	2576	3580	3534	3627	0	0	0	0	0	0	14.54	14.47	14.57
557	-0.93	-146.0	1908	2566	3534	3627	97.0	-20.1	102	565	0.00	2.25	0.00	0.000	260	0.000	0.074	1898	3853	3581	3535	3627	0	0	0	0	0	0	14.78	14.51	14.80
626	-0.93	-146.0	1896	3853	3535	3626	111.0	-19.8	115	633	0.00	2.15	0.00	0.000	1030	0.000	0.056	1897	2606	3580	3534	3627	0	0	0	0	0	0	14.57	14.48	14.59
932	-0.93	-146.0	1896	2593	3535	3626	175.4	-21.1	146	938	0.00	2.20	0.00	0.000	260	0.000	0.077	1888	3856	3581	3535	3627	0	0	0	0	0	0	14.83	14.54	14.85
1015	-0.93	-146.0	1888	3856	3535	3627	192.9	-20.7	162	1022	0.12	2.17	0.00	0.000	3078	0.314	0.057	1910	2598	3581	3535	3627	0	0	0	0	0	0	14.21	14.46	14.46
1329	-0.93	-146.0	1911	2586	3535	3627	256.7	-20.3	194	1336	0.00	2.40	0.00	0.000	516	0.000	0.070	1911	1192	3581	3535	3627	0	0	0	0	0	0	14.85	14.55	14.86
1363	-0.93	-146.0	1911	1192	3535	3627	264.2	-23.5	200	1368	0.00	2.45	0.00	0.000	1030	0.000	0.066	1905	2602	3581	3536	3627	0	0	0	0	0	0	14.67	14.59	14.69
1675	-0.93	-146.0	1904	2604	3536	3626	330.0	-20.7	232	1677	0.00	0.00	0.00	0.000	6	0.000	0.000	1904	2604	3581	3537	3626	0	0	0	0	0	0	14.85	14.88	14.87
1976	-0.93	-146.0	1904	2604	3536	3627	392.0	-20.1	262	1982	0.00	2.15	0.00	0.000	260	0.000	0.079	1895	3856	3580	3535	3626	0	0	0	0	0	0	14.88	14.58	14.89
2009	-0.93	-146.0	1895	3855	3536	3626	399.1	-20.5	268	2015	0.00	2.15	0.00	0.000	1030	0.000	0.058	1895	2600	3581	3536	3626	0	0	0	0	0	0	14.70	14.62	14.72
2322	-0.93	-146.0	1894	2588	3535	3626	464.7	-21.0	300	2327	0.00	2.40	0.00	0.000	516	0.000	0.072	1895	1191	3580	3535	3626	0	0	0	0	0	0	14.90	14.59	14.92
2344	-0.93	-146.0	1894	1191	3536	3626	469.6	-21.6	304	2351	0.15	2.45	0.00	0.000	3078	0.325	0.066	1914	2606	3581	3536	3627	0	0	0	0	0	0	14.25	14.57	14.54
2658	-0.93	-146.0	1914	2606	3535	3626	532.2	-20.1	336	2663	0.00	2.12	0.00	0.000	260	0.000	0.079	1907	3850	3580	3535	3626	0	0	0	0	0	0	14.92	14.61	14.95
2695	-0.93	-146.0	1907	3850	3535	3626	539.7	-19.7	343	2702	0.00	2.15	0.00	0.000	1030	0.000	0.059	1907	2597	3580	3535	3625	0	0	0	0	0	0	14.72	14.64	14.74
2999	end dive: TARGET_DEPTH_EXCEEDED
state	2999	begin apogee
3005	-0.17	0.0	1907	1786	3535	3625	600.7	-19.8	374	3143	0.93	0.00	134.12	1.786	10246	0.243	0.000	2156	1787	2980	2966	2995	0	0	0	0	0	0	14.33	13.97	13.14
3144	end apogee: CONTROL_FINISHED_OK
state	3145	begin climb
3146	0.93	146.0	2156	1788	2966	2993	609.0	0.0	388	3291	1.15	2.72	135.43	1.749	10756	0.131	0.096	2523	390	2383	2363	2404	0	0	0	0	0	0	13.99	13.85	13.06
3338	0.93	146.0	2523	390	2353	2402	588.7	17.6	423	3345	0.00	2.58	0.00	0.000	1030	0.000	0.072	2523	1800	2377	2354	2400	0	0	0	0	0	0	14.17	14.09	14.19
3644	0.93	146.0	2524	1802	2353	2393	537.5	16.6	454	3650	0.00	2.58	0.00	0.000	516	0.000	0.092	2531	389	2373	2353	2393	0	0	0	0	0	0	14.69	14.38	14.70
3692	0.93	146.0	2532	389	2351	2394	529.0	17.3	463	3699	0.00	2.50	0.00	0.000	1030	0.000	0.070	2533	1797	2372	2352	2393	0	0	0	0	0	0	14.51	14.42	14.54
3997	0.93	146.0	2532	1801	2352	2390	475.1	17.8	494	4004	0.00	2.55	0.00	0.000	516	0.000	0.090	2542	385	2371	2351	2391	0	0	0	0	0	0	14.79	14.49	14.81
4041	0.93	146.0	2542	385	2351	2392	467.0	18.6	502	4047	0.00	2.47	0.00	0.000	1030	0.000	0.070	2542	1797	2371	2351	2392	0	0	0	0	0	0	14.64	14.55	14.67
4354	0.93	146.0	2542	1799	2351	2390	409.6	18.5	534	4361	0.00	2.55	0.00	0.000	516	0.000	0.090	2551	378	2370	2350	2390	0	0	0	0	0	0	14.85	14.54	14.88
4402	0.93	146.0	2550	378	2350	2391	400.5	19.2	543	4409	0.15	2.47	0.00	0.000	5126	0.308	0.071	2523	1794	2370	2350	2391	0	0	0	0	0	0	14.32	14.60	14.63
4708	0.93	146.0	2523	1798	2350	2390	350.3	16.4	574	4714	0.00	2.55	0.00	0.000	516	0.000	0.091	2530	385	2370	2350	2390	0	0	0	0	0	0	14.90	14.55	14.92
4755	0.93	146.0	2530	384	2349	2390	342.1	18.0	583	4762	0.00	2.47	0.00	0.000	1030	0.000	0.071	2530	1796	2370	2350	2390	0	0	0	0	0	0	14.66	14.58	14.69
5061	0.93	146.0	2530	1798	2349	2390	290.1	17.1	614	5068	0.00	2.55	0.00	0.000	516	0.000	0.090	2539	374	2370	2350	2390	0	0	0	0	0	0	14.89	14.57	14.91
5089	0.93	146.0	2539	374	2349	2390	285.1	17.9	619	5096	0.00	2.47	0.00	0.000	1030	0.000	0.071	2539	1791	2369	2349	2390	0	0	0	0	0	0	14.72	14.63	14.76
5395	0.93	146.0	2539	1793	2349	2389	230.0	17.9	650	5403	0.00	2.53	0.00	0.000	516	0.000	0.090	2548	388	2369	2349	2390	0	0	0	0	0	0	14.85	14.54	14.88
5430	0.93	146.0	2548	388	2349	2390	223.3	18.7	656	5438	0.00	2.47	0.00	0.000	1030	0.000	0.070	2548	1798	2369	2349	2390	0	0	0	0	0	0	14.66	14.56	14.69
5745	0.93	146.0	2548	1799	2349	2390	166.4	18.1	688	5752	0.00	2.58	0.00	0.000	516	0.000	0.090	2557	377	2369	2349	2390	0	0	0	0	0	0	14.85	14.48	14.86
5779	0.93	146.0	2556	377	2349	2390	160.0	18.8	694	5788	0.17	2.50	0.00	0.000	5126	0.298	0.072	2522	1799	2369	2349	2390	0	0	0	0	0	0	14.26	14.54	14.57
6095	0.93	146.0	2522	1803	2349	2389	108.1	15.8	726	6103	0.00	2.55	0.00	0.000	516	0.000	0.091	2530	388	2369	2349	2389	0	0	0	0	0	0	14.82	14.50	14.83
6114	0.93	146.0	2529	388	2349	2390	104.9	16.5	729	6123	0.00	2.47	0.00	0.000	1030	0.000	0.070	2529	1796	2369	2349	2390	0	0	0	0	0	0	14.66	14.56	14.69
6421	0.93	146.0	2528	1799	2349	2389	55.5	15.1	787	6430	0.00	2.47	0.00	0.000	260	0.000	0.081	2530	3210	2369	2349	2389	0	0	0	0	0	0	14.83	14.50	14.84
6532	0.93	146.0	2529	3211	2348	2389	38.5	16.1	808	6540	0.00	2.50	0.00	0.000	1030	0.000	0.076	2539	1789	2368	2348	2389	0	0	0	0	0	0	14.62	14.50	14.66
6723	0.93	146.0	2538	1789	2348	2389	7.3	17.2	845	6731	0.00	2.55	0.00	0.000	516	0.000	0.096	2550	376	2368	2348	2389	0	0	0	0	0	0	14.81	14.47	14.83
6747	end climb: SURFACE_DEPTH_REACHED
state	6747	begin surface coast
6762	end surface coast: CONTROL_FINISHED_OK
state	6762	begin surface