Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_INHIBIT 90

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

DIVE 4 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

STOP_T 0 SM_CC 450 VBD_MIN 550 MOTHERBOARD 4

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 DEVICE1 -1

D_FLARE 3 FILEMGR 0 C_VBD 2998 DEVICE2 -1

D_TGT 300 CALL_NDIVES 1 VBD_DBAND 2 DEVICE3 -1

D_ABORT 350 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE4 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE5 -1

D_BOOST 2.5 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE6 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012000001 LOGGERS 7

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE1 53

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 71

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 134

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS2_DEVICE 149

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 PHONE_DEVICE 49

T_DIVE 100 T_GPS 5 LOITER_W_DBAND 0 GPS_DEVICE 32

T_MISSION 120 N_GPS 100440 LOITER_DBDW 0 RAFOS_DEVICE -1

T_ABORT 1440 T_RSLEEP 2 LOITER_D_NO_PUMP 500 XPDR_DEVICE 24

T_TURN 225 STROBE 0 LOITER_N_DIVE 0 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 SEABIRD_T_G 0.0043545738

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 SEABIRD_T_H 0.00062548259

T_LOITER 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

T_EPIRB 0 RAFOS_MMODEM 0 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_BATHY 0 PITCH_MIN 75 AH0_10V 350 SEABIRD_C_G -9.9945526

USE_ICE 0 PITCH_MAX 3750 MINV_24V 11 SEABIRD_C_H 1.1183146

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2145 MINV_10V 11 SEABIRD_C_I -0.0026370776

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_10V 0.80000001 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_XMITPROFILE 3.0

MAX_BUOY 150 PITCH_GAIN 28 PHONE_SUPPLY -2 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4 TM_NDIVE 1.0

MASS 55793 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

MASS_COMP 0 ROLL_MIN 180 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3850 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

FERRY_MAX 40 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 3.0

KALMAN_USE 2 C_ROLL_DIVE 1900 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 3.0

HD_A 0.003 C_ROLL_CLIMB 1950 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10 CP_STARTS 6.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_PULSE 4

ESCAPE_HEADING 0 R_PORT_OVSHOOT 33 ALTIM_SENSITIVITY 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 XPDR_VALID 5

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_DEVICE 49 SIM_W 0

AH0_10V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 450

AH0_24V 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_FREQUENCY 13 D_TGT 300 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_GAIN 28 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_MAX 3750 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012000001 TM_NDIVE 1.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_DBAND 0 TM_PROFILE 3.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_GAIN 0 TM_RECORDABOVE 2000.0

CALL_TRIES 5 HD_B 0.0099999998 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPMAXSIZE 100000 HEADING -1 PROTOCOL 9 T_ABORT 1440

CAPUPLOAD 0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_BOOST 0

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_DIVE 100

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS2_DEVICE 149 ID 124 RAFOS_DEVICE -1 T_GPS 5

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_MMODEM 0 T_MISSION 120

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_NDIVE 1.0 LOGGERDEVICE1 53 RELAUNCH 1 T_RSLEEP 2

CP_PROFILE 3.0 LOGGERDEVICE2 71 RHO 1.0275 T_TURN 225

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

CP_STARTS 6.0 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

CP_UPLOADMAX 100000.0 LOGGERS 7 ROLL_AD_RATE 250 UNCOM_BLEED 50

CP_XMITPROFILE 3.0 LOITER_DBDW 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_PITCH 2145 LOITER_D_NO_PUMP 500 ROLL_DEG 40 USE_BATHY 0

C_ROLL_CLIMB 1950 LOITER_N_DIVE 0 ROLL_MAX 3850 USE_ICE 0

C_ROLL_DIVE 1900 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

C_VBD 2998 MASS 55793 ROLL_MIN 180 VBD_CNV -0.24529999

DBDW 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEEPGLIDER 0 MAXI_10V 0.80000001 R_PORT_OVSHOOT 33 VBD_LP_IGNORE 0

DEVICE1 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 25 VBD_MAX 3990

DEVICE2 -1 MAX_BUOY 150 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE4 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

DIVE 4 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 0

D_ABORT 350 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_BOOST 2.5 N_DIVES 4 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_CALL 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FINISH 0 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_I 2.3693661e-05

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

Pre-dive calculations and measurements:

GPS1 200518,205934,5824.5991,-2328.8904,36,1.2,36,-15.5,0.0,0.0,10,8.0 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME Z1

_XMS_NAKs 0 TGT_LATLONG 5835.000,-2420.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 266.6,53001,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -65.8 D_GRID 300

GPS2 200518,210845,5824.6787,-2328.7925,10,2.0,15,-15.5,1.6,36.0,10,5.5

Post-dive calculations and measurements:

FINISH 0.6,1.027239 _24V_AH 13.48,0.000

SM_CCo 5396,95.78,0.111,0,0,1165,450.13 _10V_AH 13.31,3.245

SM_GC 1.32,6.18,0.15,95.78,0.063,0.135,0.111,59,1888,1165,-9.48,0.62,450.13,0,0,0,0,0,0,14.73,14.73,14.65 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5824.51,-2326.48,200518,192149 FG_AHR_10Vo 0.000

TT8_MAMPS 0.038199,0.782705 MEM 334244

HUMID 40.86 DATA_FILE_SIZE 26728,770

INTERNAL_PRESSURE 7.92999 CAP_FILE_SIZE 94430,0

TCM_TEMP 18.70 CFSIZE 260165632,258138112

XPDR_PINGS 18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 4017824 CURRENT 0.328,30.19,1

TM_FREEKB 7818752 GPS 200518,224134,5825.233,-2329.106,8,1.3,13,-15.5,0.3,105.9,7,7.4

CP_FREE 15921610752.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 423 98.94 nil 0 0 0.00

Roll_motor 86 166 192.73 nil 0 0 0.00

VBD_pump_during_apogee 301 1472 5980.11 nil 0 0 0.00

VBD_pump_during_surface 95 110 143.21 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 5387 23 1683.47

Iridium_during_xfer 336 175 793.82 TMICL 5381 9 700.19

Transponder_ping 4 420 25.48 NCP 5356 111 8014.08

GUMSTIX_24V 0 0 0.00

GPS 18 20 4.84

TT8 0 0 0.00

LPSleep 3278 2 95.56

TT8_Active 554 8 64.01

TT8_Sampling 1961 26 695.83

TT8_CF8 255 31 105.90

TT8_Kalman 0 0 0.00

Analog_circuits 1589 10 228.47

GPS_charging 0 0 0.00

Compass 1106 6 99.30

RAFOS 0 0 0.00

Transponder 0 5 0.06

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.80 -146.0 15 1890 1245 1046 0.0 0.0 0 149 0.00 0.00 -120.60 0.006 16390 0.000 0.000 15 1889 3594 3551 3638 0 0 0 0 0 0 14.78 13.97 14.80

151 -0.80 -146.0 10 1889 3552 3638 4.0 -8.9 21 165 8.98 0.00 0.00 0.000 2854 0.423 0.000 1961 1890 3593 3551 3635 0 0 0 0 0 0 14.40 14.66 14.63

346 -0.75 -146.0 1961 1891 3572 3616 39.1 -16.4 59 354 0.00 2.47 0.00 0.000 644 0.000 0.080 1961 494 3593 3572 3615 0 0 0 0 0 0 14.82 14.64 14.84

474 -0.75 -146.0 1961 494 3573 3611 54.7 -11.9 84 482 0.12 2.55 0.00 0.000 3078 0.260 0.078 1982 1909 3593 3572 3615 0 0 0 0 0 0 14.56 14.64 14.69

663 -0.73 -146.0 1982 1912 3574 3613 76.6 -12.2 121 670 0.00 0.00 0.00 0.000 134 0.000 0.000 1981 1911 3593 3574 3612 0 0 0 0 0 0 14.85 14.88 14.90

850 -0.70 -146.0 1982 1911 3575 3612 99.5 -12.0 158 857 0.00 2.53 0.00 0.000 644 0.000 0.073 1981 489 3594 3576 3613 0 0 0 0 0 0 14.87 14.69 14.89

933 -0.74 -146.0 1984 489 3574 3613 108.5 -10.0 174 939 0.00 2.55 0.00 0.000 1158 0.000 0.076 1972 1911 3593 3575 3612 0 0 0 0 0 0 14.73 14.64 14.75

1124 -0.70 -146.0 1972 1916 3576 3612 132.6 -13.1 194 1131 0.10 2.53 0.00 0.000 2692 0.290 0.070 1995 487 3593 3575 3612 0 0 0 0 0 0 14.58 14.71 14.71

1156 -0.70 -146.0 1996 489 3576 3612 136.6 -11.2 200 1163 0.00 2.53 0.00 0.000 1030 0.000 0.075 1985 1902 3593 3575 3612 0 0 0 0 0 0 14.79 14.69 14.79

1348 -0.69 -146.0 1985 1904 3577 3611 159.2 -12.0 220 1355 0.00 2.50 0.00 0.000 644 0.000 0.073 1985 493 3594 3578 3610 0 0 0 0 0 0 14.88 14.71 14.91

1405 -0.72 -146.0 1986 492 3577 3609 165.7 -9.9 231 1414 0.00 2.53 0.00 0.000 1190 0.000 0.076 1975 1904 3593 3576 3611 0 0 0 0 0 0 14.78 14.69 14.80

1590 -0.70 -146.0 1975 1905 3577 3611 188.2 -12.4 250 1592 0.00 0.00 0.00 0.000 134 0.000 0.000 1975 1905 3593 3576 3610 0 0 0 0 0 0 14.90 14.92 14.92

1770 -0.67 -146.0 1975 1904 3577 3610 210.1 -12.2 268 1777 0.10 2.50 0.00 0.000 2692 0.297 0.071 1997 495 3593 3577 3610 0 0 0 0 0 0 14.60 14.74 14.74

1842 -0.72 -146.0 1999 493 3578 3610 217.4 -9.1 282 1849 0.00 2.53 0.00 0.000 1190 0.000 0.076 1988 1908 3593 3577 3610 0 0 0 0 0 0 14.78 14.71 14.79

2034 -0.72 -146.0 1988 1909 3578 3609 239.2 -11.8 302 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 1908 3593 3577 3609 0 0 0 0 0 0 14.91 14.94 14.96

2214 -0.72 -146.0 1989 1909 3578 3609 260.6 -11.7 320 2220 0.00 2.50 0.00 0.000 516 0.000 0.074 1988 497 3593 3578 3609 0 0 0 0 0 0 14.93 14.73 14.94

2296 -0.76 -146.0 1989 495 3579 3609 269.2 -9.8 336 2302 0.00 2.53 0.00 0.000 1190 0.000 0.076 1980 1906 3593 3578 3609 0 0 0 0 0 0 14.82 14.71 14.83

2488 -0.75 -146.0 1978 1907 3579 3609 291.6 -11.7 356 2490 0.00 0.00 0.00 0.000 134 0.000 0.000 1978 1907 3592 3577 3608 0 0 0 0 0 0 14.95 14.96 14.95

2565 end dive: TARGET_DEPTH_EXCEEDED

state 2565 begin apogee

2571 -0.18 0.0 1978 1968 3574 3608 301.1 -11.7 364 2681 0.45 0.00 105.25 1.473 10246 0.216 0.000 2110 1969 2998 3123 2873 0 0 0 0 0 0 14.66 14.19 13.59

2684 end apogee: CONTROL_FINISHED_OK

state 2684 begin climb

2686 0.80 146.0 2111 1969 3122 2873 304.6 0.0 375 2812 0.68 2.40 111.10 1.435 10500 0.134 0.066 2327 3358 2401 2593 2210 0 0 0 0 0 0 14.21 13.97 13.48

2852 0.75 146.0 2328 3374 2582 2211 291.0 12.9 402 2860 0.15 2.50 0.00 0.000 5254 0.276 0.086 2304 1953 2395 2580 2210 0 0 0 0 0 0 14.16 14.30 14.35

3039 0.69 146.0 2305 1953 2573 2210 268.8 11.9 421 3046 0.00 2.55 0.00 0.000 644 0.000 0.086 2315 540 2391 2572 2210 0 0 0 0 0 0 14.73 14.54 14.76

3101 0.66 146.0 2316 540 2567 2207 261.7 10.8 433 3108 0.12 2.53 0.00 0.000 5254 0.224 0.074 2284 1942 2386 2566 2206 0 0 0 0 0 0 14.52 14.59 14.66

3295 0.63 147.4 2284 1958 2567 2206 242.2 9.9 453 3302 0.00 2.50 0.00 0.000 676 0.000 0.084 2295 538 2383 2566 2201 0 0 0 0 0 0 14.85 14.66 14.88

3327 0.62 147.4 2295 535 2567 2206 238.8 10.1 459 3334 0.00 2.53 0.00 0.000 1158 0.000 0.075 2294 1953 2384 2564 2205 0 0 0 0 0 0 14.76 14.67 14.78

3519 0.57 147.4 2294 1968 2566 2205 218.9 10.4 479 3526 0.12 2.53 0.00 0.000 4740 0.272 0.082 2271 541 2385 2566 2205 0 0 0 0 0 0 14.59 14.71 14.73

3541 0.59 181.7 2271 543 2567 2205 217.1 8.4 483 3577 0.00 2.50 26.05 1.321 9382 0.000 0.075 2268 1964 2256 2464 2049 0 0 0 0 0 0 14.80 14.72 13.99

3752 0.62 203.4 2271 1964 2459 2046 198.2 9.0 507 3776 0.00 2.65 17.45 1.255 8740 0.000 0.086 2280 536 2167 2388 1946 0 0 0 0 0 0 14.83 14.53 14.00

3821 0.75 250.5 2281 534 2381 1945 192.5 7.8 520 3863 0.10 2.53 36.08 1.281 11430 0.161 0.074 2327 1954 1976 2226 1726 0 0 0 0 0 0 14.57 14.57 13.84

4038 0.70 250.5 2328 1954 2212 1726 161.3 15.0 545 4045 0.12 2.55 0.00 0.000 4740 0.277 0.085 2305 533 1970 2215 1726 0 0 0 0 0 0 14.47 14.54 14.58

4075 0.74 250.5 2305 532 2207 1725 156.6 11.3 552 4084 0.00 2.53 0.00 0.000 1158 0.000 0.074 2303 1939 1965 2206 1725 0 0 0 0 0 0 14.64 14.56 14.66

4260 0.73 250.5 2304 1955 2205 1724 133.5 12.6 571 4267 0.00 2.55 0.00 0.000 644 0.000 0.087 2315 535 1964 2205 1724 0 0 0 0 0 0 14.86 14.65 14.88

4287 0.73 250.5 2314 535 2203 1725 130.1 12.6 576 4296 0.00 2.53 0.00 0.000 1030 0.000 0.074 2314 1950 1963 2202 1724 0 0 0 0 0 0 14.73 14.65 14.76

4472 0.70 250.5 2315 1965 2206 1722 105.7 13.3 595 4479 0.00 2.58 0.00 0.000 644 0.000 0.087 2325 530 1963 2202 1724 0 0 0 0 0 0 14.88 14.69 14.90

4504 0.70 250.5 2325 530 2200 1725 101.4 13.1 601 4511 0.12 2.53 0.00 0.000 5126 0.200 0.074 2288 1951 1962 2199 1725 0 0 0 0 0 0 14.64 14.66 14.76

4691 0.70 250.5 2289 1965 2200 1719 81.7 10.8 637 4699 0.00 2.55 0.00 0.000 516 0.000 0.086 2298 534 1961 2198 1725 0 0 0 0 0 0 14.91 14.70 14.93

4729 0.78 259.3 2298 534 2194 1724 77.5 9.6 644 4744 0.00 2.53 5.32 0.889 9382 0.000 0.074 2297 1967 1942 2181 1704 0 0 0 0 0 0 14.75 14.67 14.15

4924 0.78 259.3 2297 1972 2180 1704 54.8 11.5 682 4932 0.00 2.55 0.00 0.000 516 0.000 0.090 2308 539 1942 2180 1704 0 0 0 0 0 0 14.90 14.68 14.91

4963 0.83 259.3 2308 540 2176 1705 50.4 11.3 689 4970 0.00 2.50 0.00 0.000 1158 0.000 0.074 2307 1942 1940 2175 1705 0 0 0 0 0 0 14.78 14.70 14.80

5150 0.80 259.3 2308 1959 2175 1706 29.5 11.1 726 5158 0.00 2.55 0.00 0.000 644 0.000 0.087 2317 530 1941 2176 1706 0 0 0 0 0 0 14.89 14.69 14.90

5178 0.80 259.3 2318 529 2174 1705 26.3 11.9 731 5186 0.00 2.55 0.00 0.000 1030 0.000 0.074 2317 1964 1939 2172 1706 0 0 0 0 0 0 14.78 14.69 14.79

5358 end climb: SURFACE_DEPTH_REACHED

state 5358 begin surface coast

5374 end surface coast: CONTROL_FINISHED_OK

state 5374 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_INHIBIT	90
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
DIVE	4	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
STOP_T	0	SM_CC	450	VBD_MIN	550	MOTHERBOARD	4
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	DEVICE1	-1
D_FLARE	3	FILEMGR	0	C_VBD	2998	DEVICE2	-1
D_TGT	300	CALL_NDIVES	1	VBD_DBAND	2	DEVICE3	-1
D_ABORT	350	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE4	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE5	-1
D_BOOST	2.5	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE6	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012000001	LOGGERS	7
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE1	53
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	71
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	134
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS2_DEVICE	149
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	PHONE_DEVICE	49
T_DIVE	100	T_GPS	5	LOITER_W_DBAND	0	GPS_DEVICE	32
T_MISSION	120	N_GPS	100440	LOITER_DBDW	0	RAFOS_DEVICE	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_D_NO_PUMP	500	XPDR_DEVICE	24
T_TURN	225	STROBE	0	LOITER_N_DIVE	0	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	SEABIRD_T_G	0.0043545738
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	SEABIRD_T_H	0.00062548259
T_LOITER	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
T_EPIRB	0	RAFOS_MMODEM	0	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_BATHY	0	PITCH_MIN	75	AH0_10V	350	SEABIRD_C_G	-9.9945526
USE_ICE	0	PITCH_MAX	3750	MINV_24V	11	SEABIRD_C_H	1.1183146
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2145	MINV_10V	11	SEABIRD_C_I	-0.0026370776
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_10V	0.80000001	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_XMITPROFILE	3.0
MAX_BUOY	150	PITCH_GAIN	28	PHONE_SUPPLY	-2	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4	TM_NDIVE	1.0
MASS	55793	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
MASS_COMP	0	ROLL_MIN	180	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3850	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
FERRY_MAX	40	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	3.0
KALMAN_USE	2	C_ROLL_DIVE	1900	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	3.0
HD_A	0.003	C_ROLL_CLIMB	1950	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10	CP_STARTS	6.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_PULSE	4
ESCAPE_HEADING	0	R_PORT_OVSHOOT	33	ALTIM_SENSITIVITY	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	XPDR_VALID	5

GPS1	200518,205934,5824.5991,-2328.8904,36,1.2,36,-15.5,0.0,0.0,10,8.0	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	Z1
_XMS_NAKs	0	TGT_LATLONG	5835.000,-2420.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	266.6,53001,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-65.8	D_GRID	300
GPS2	200518,210845,5824.6787,-2328.7925,10,2.0,15,-15.5,1.6,36.0,10,5.5

FINISH	0.6,1.027239	_24V_AH	13.48,0.000
SM_CCo	5396,95.78,0.111,0,0,1165,450.13	_10V_AH	13.31,3.245
SM_GC	1.32,6.18,0.15,95.78,0.063,0.135,0.111,59,1888,1165,-9.48,0.62,450.13,0,0,0,0,0,0,14.73,14.73,14.65	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5824.51,-2326.48,200518,192149	FG_AHR_10Vo	0.000
TT8_MAMPS	0.038199,0.782705	MEM	334244
HUMID	40.86	DATA_FILE_SIZE	26728,770
INTERNAL_PRESSURE	7.92999	CAP_FILE_SIZE	94430,0
TCM_TEMP	18.70	CFSIZE	260165632,258138112
XPDR_PINGS	18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	4017824	CURRENT	0.328,30.19,1
TM_FREEKB	7818752	GPS	200518,224134,5825.233,-2329.106,8,1.3,13,-15.5,0.3,105.9,7,7.4
CP_FREE	15921610752.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	423	98.94	nil	0	0	0.00
Roll_motor	86	166	192.73	nil	0	0	0.00
VBD_pump_during_apogee	301	1472	5980.11	nil	0	0	0.00
VBD_pump_during_surface	95	110	143.21	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	5387	23	1683.47
Iridium_during_xfer	336	175	793.82	TMICL	5381	9	700.19
Transponder_ping	4	420	25.48	NCP	5356	111	8014.08
GUMSTIX_24V	0	0	0.00
GPS	18	20	4.84
TT8	0	0	0.00
LPSleep	3278	2	95.56
TT8_Active	554	8	64.01
TT8_Sampling	1961	26	695.83
TT8_CF8	255	31	105.90
TT8_Kalman	0	0	0.00
Analog_circuits	1589	10	228.47
GPS_charging	0	0	0.00
Compass	1106	6	99.30
RAFOS	0	0	0.00
Transponder	0	5	0.06

		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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.80	-146.0	15	1890	1245	1046	0.0	0.0	0	149	0.00	0.00	-120.60	0.006	16390	0.000	0.000	15	1889	3594	3551	3638	0	0	0	0	0	0	14.78	13.97	14.80
151	-0.80	-146.0	10	1889	3552	3638	4.0	-8.9	21	165	8.98	0.00	0.00	0.000	2854	0.423	0.000	1961	1890	3593	3551	3635	0	0	0	0	0	0	14.40	14.66	14.63
346	-0.75	-146.0	1961	1891	3572	3616	39.1	-16.4	59	354	0.00	2.47	0.00	0.000	644	0.000	0.080	1961	494	3593	3572	3615	0	0	0	0	0	0	14.82	14.64	14.84
474	-0.75	-146.0	1961	494	3573	3611	54.7	-11.9	84	482	0.12	2.55	0.00	0.000	3078	0.260	0.078	1982	1909	3593	3572	3615	0	0	0	0	0	0	14.56	14.64	14.69
663	-0.73	-146.0	1982	1912	3574	3613	76.6	-12.2	121	670	0.00	0.00	0.00	0.000	134	0.000	0.000	1981	1911	3593	3574	3612	0	0	0	0	0	0	14.85	14.88	14.90
850	-0.70	-146.0	1982	1911	3575	3612	99.5	-12.0	158	857	0.00	2.53	0.00	0.000	644	0.000	0.073	1981	489	3594	3576	3613	0	0	0	0	0	0	14.87	14.69	14.89
933	-0.74	-146.0	1984	489	3574	3613	108.5	-10.0	174	939	0.00	2.55	0.00	0.000	1158	0.000	0.076	1972	1911	3593	3575	3612	0	0	0	0	0	0	14.73	14.64	14.75
1124	-0.70	-146.0	1972	1916	3576	3612	132.6	-13.1	194	1131	0.10	2.53	0.00	0.000	2692	0.290	0.070	1995	487	3593	3575	3612	0	0	0	0	0	0	14.58	14.71	14.71
1156	-0.70	-146.0	1996	489	3576	3612	136.6	-11.2	200	1163	0.00	2.53	0.00	0.000	1030	0.000	0.075	1985	1902	3593	3575	3612	0	0	0	0	0	0	14.79	14.69	14.79
1348	-0.69	-146.0	1985	1904	3577	3611	159.2	-12.0	220	1355	0.00	2.50	0.00	0.000	644	0.000	0.073	1985	493	3594	3578	3610	0	0	0	0	0	0	14.88	14.71	14.91
1405	-0.72	-146.0	1986	492	3577	3609	165.7	-9.9	231	1414	0.00	2.53	0.00	0.000	1190	0.000	0.076	1975	1904	3593	3576	3611	0	0	0	0	0	0	14.78	14.69	14.80
1590	-0.70	-146.0	1975	1905	3577	3611	188.2	-12.4	250	1592	0.00	0.00	0.00	0.000	134	0.000	0.000	1975	1905	3593	3576	3610	0	0	0	0	0	0	14.90	14.92	14.92
1770	-0.67	-146.0	1975	1904	3577	3610	210.1	-12.2	268	1777	0.10	2.50	0.00	0.000	2692	0.297	0.071	1997	495	3593	3577	3610	0	0	0	0	0	0	14.60	14.74	14.74
1842	-0.72	-146.0	1999	493	3578	3610	217.4	-9.1	282	1849	0.00	2.53	0.00	0.000	1190	0.000	0.076	1988	1908	3593	3577	3610	0	0	0	0	0	0	14.78	14.71	14.79
2034	-0.72	-146.0	1988	1909	3578	3609	239.2	-11.8	302	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	1908	3593	3577	3609	0	0	0	0	0	0	14.91	14.94	14.96
2214	-0.72	-146.0	1989	1909	3578	3609	260.6	-11.7	320	2220	0.00	2.50	0.00	0.000	516	0.000	0.074	1988	497	3593	3578	3609	0	0	0	0	0	0	14.93	14.73	14.94
2296	-0.76	-146.0	1989	495	3579	3609	269.2	-9.8	336	2302	0.00	2.53	0.00	0.000	1190	0.000	0.076	1980	1906	3593	3578	3609	0	0	0	0	0	0	14.82	14.71	14.83
2488	-0.75	-146.0	1978	1907	3579	3609	291.6	-11.7	356	2490	0.00	0.00	0.00	0.000	134	0.000	0.000	1978	1907	3592	3577	3608	0	0	0	0	0	0	14.95	14.96	14.95
2565	end dive: TARGET_DEPTH_EXCEEDED
state	2565	begin apogee
2571	-0.18	0.0	1978	1968	3574	3608	301.1	-11.7	364	2681	0.45	0.00	105.25	1.473	10246	0.216	0.000	2110	1969	2998	3123	2873	0	0	0	0	0	0	14.66	14.19	13.59
2684	end apogee: CONTROL_FINISHED_OK
state	2684	begin climb
2686	0.80	146.0	2111	1969	3122	2873	304.6	0.0	375	2812	0.68	2.40	111.10	1.435	10500	0.134	0.066	2327	3358	2401	2593	2210	0	0	0	0	0	0	14.21	13.97	13.48
2852	0.75	146.0	2328	3374	2582	2211	291.0	12.9	402	2860	0.15	2.50	0.00	0.000	5254	0.276	0.086	2304	1953	2395	2580	2210	0	0	0	0	0	0	14.16	14.30	14.35
3039	0.69	146.0	2305	1953	2573	2210	268.8	11.9	421	3046	0.00	2.55	0.00	0.000	644	0.000	0.086	2315	540	2391	2572	2210	0	0	0	0	0	0	14.73	14.54	14.76
3101	0.66	146.0	2316	540	2567	2207	261.7	10.8	433	3108	0.12	2.53	0.00	0.000	5254	0.224	0.074	2284	1942	2386	2566	2206	0	0	0	0	0	0	14.52	14.59	14.66
3295	0.63	147.4	2284	1958	2567	2206	242.2	9.9	453	3302	0.00	2.50	0.00	0.000	676	0.000	0.084	2295	538	2383	2566	2201	0	0	0	0	0	0	14.85	14.66	14.88
3327	0.62	147.4	2295	535	2567	2206	238.8	10.1	459	3334	0.00	2.53	0.00	0.000	1158	0.000	0.075	2294	1953	2384	2564	2205	0	0	0	0	0	0	14.76	14.67	14.78
3519	0.57	147.4	2294	1968	2566	2205	218.9	10.4	479	3526	0.12	2.53	0.00	0.000	4740	0.272	0.082	2271	541	2385	2566	2205	0	0	0	0	0	0	14.59	14.71	14.73
3541	0.59	181.7	2271	543	2567	2205	217.1	8.4	483	3577	0.00	2.50	26.05	1.321	9382	0.000	0.075	2268	1964	2256	2464	2049	0	0	0	0	0	0	14.80	14.72	13.99
3752	0.62	203.4	2271	1964	2459	2046	198.2	9.0	507	3776	0.00	2.65	17.45	1.255	8740	0.000	0.086	2280	536	2167	2388	1946	0	0	0	0	0	0	14.83	14.53	14.00
3821	0.75	250.5	2281	534	2381	1945	192.5	7.8	520	3863	0.10	2.53	36.08	1.281	11430	0.161	0.074	2327	1954	1976	2226	1726	0	0	0	0	0	0	14.57	14.57	13.84
4038	0.70	250.5	2328	1954	2212	1726	161.3	15.0	545	4045	0.12	2.55	0.00	0.000	4740	0.277	0.085	2305	533	1970	2215	1726	0	0	0	0	0	0	14.47	14.54	14.58
4075	0.74	250.5	2305	532	2207	1725	156.6	11.3	552	4084	0.00	2.53	0.00	0.000	1158	0.000	0.074	2303	1939	1965	2206	1725	0	0	0	0	0	0	14.64	14.56	14.66
4260	0.73	250.5	2304	1955	2205	1724	133.5	12.6	571	4267	0.00	2.55	0.00	0.000	644	0.000	0.087	2315	535	1964	2205	1724	0	0	0	0	0	0	14.86	14.65	14.88
4287	0.73	250.5	2314	535	2203	1725	130.1	12.6	576	4296	0.00	2.53	0.00	0.000	1030	0.000	0.074	2314	1950	1963	2202	1724	0	0	0	0	0	0	14.73	14.65	14.76
4472	0.70	250.5	2315	1965	2206	1722	105.7	13.3	595	4479	0.00	2.58	0.00	0.000	644	0.000	0.087	2325	530	1963	2202	1724	0	0	0	0	0	0	14.88	14.69	14.90
4504	0.70	250.5	2325	530	2200	1725	101.4	13.1	601	4511	0.12	2.53	0.00	0.000	5126	0.200	0.074	2288	1951	1962	2199	1725	0	0	0	0	0	0	14.64	14.66	14.76
4691	0.70	250.5	2289	1965	2200	1719	81.7	10.8	637	4699	0.00	2.55	0.00	0.000	516	0.000	0.086	2298	534	1961	2198	1725	0	0	0	0	0	0	14.91	14.70	14.93
4729	0.78	259.3	2298	534	2194	1724	77.5	9.6	644	4744	0.00	2.53	5.32	0.889	9382	0.000	0.074	2297	1967	1942	2181	1704	0	0	0	0	0	0	14.75	14.67	14.15
4924	0.78	259.3	2297	1972	2180	1704	54.8	11.5	682	4932	0.00	2.55	0.00	0.000	516	0.000	0.090	2308	539	1942	2180	1704	0	0	0	0	0	0	14.90	14.68	14.91
4963	0.83	259.3	2308	540	2176	1705	50.4	11.3	689	4970	0.00	2.50	0.00	0.000	1158	0.000	0.074	2307	1942	1940	2175	1705	0	0	0	0	0	0	14.78	14.70	14.80
5150	0.80	259.3	2308	1959	2175	1706	29.5	11.1	726	5158	0.00	2.55	0.00	0.000	644	0.000	0.087	2317	530	1941	2176	1706	0	0	0	0	0	0	14.89	14.69	14.90
5178	0.80	259.3	2318	529	2174	1705	26.3	11.9	731	5186	0.00	2.55	0.00	0.000	1030	0.000	0.074	2317	1964	1939	2172	1706	0	0	0	0	0	0	14.78	14.69	14.79
5358	end climb: SURFACE_DEPTH_REACHED
state	5358	begin surface coast
5374	end surface coast: CONTROL_FINISHED_OK
state	5374	begin surface