Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 4 * 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 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4212 R_PORT_OVSHOOT 36 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 42 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 350 ALTIM_FREQUENCY 13

D_TGT 360 SM_CC 350 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1020 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 120 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 150 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 360 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 350

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 120

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 150

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 4 MINV_10V 11 R_PORT_OVSHOOT 36 VBD_MIN 450

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 42 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 5 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 160519,190420,5917.6528,-2121.7595,5,0.9,15,-12.5,0.6,31.8,10,10.0 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 0.79 MHEAD_RNG_PITCHd_Wd 288.2,170948,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -74.0 D_GRID 1000

GPS2 160519,190819,5917.6436,-2121.6968,10,0.9,20,-12.5,0.7,71.4,10,9.2

Post-dive calculations and measurements:

FINISH 0.3,1.008922 _10V_AH 13.12,5.976

SM_CCo 6644,90.03,0.828,1,0,1472,350.04 FG_AHR_24Vo 0.000

SM_GC 0.69,7.90,0.22,90.03,0.061,0.143,0.828,161,2711,1472,-7.84,-0.23,350.04,0,0,0,0,1,0,14.59,14.53,13.42 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5914.77,-2217.77,160519,190109 MEM 304604

TT8_MAMPS 0.02247,0.75649 DATA_FILE_SIZE 26770,745

HUMID 39.64 CAP_FILE_SIZE 104613,0

INTERNAL_PRESSURE 8.80829 CFSIZE 2097872896,2095546368

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,2,0

XPDR_PINGS 0 CURRENT 0.181,94.36,1

SC_FREEKB 3907360 GPS 160519,210226,5917.871,-2121.886,8,1.5,27,-12.5,0.5,139.6,5,9.9

_24V_AH 13.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 403 117.27 nil 0 0 0.00

Roll_motor 97 153 193.03 nil 0 0 0.00

VBD_pump_during_apogee 351 1498 6852.88 nil 0 0 0.00

VBD_pump_during_surface 90 828 969.61 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 6621 56 4853.05

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 4.30

TT8 1748 10 251.65

LPSleep 3273 2 94.05

TT8_Active 620 10 89.26

TT8_Sampling 1158 30 462.67

TT8_CF8 38 36 18.46

TT8_Kalman 0 0 0.00

Analog_circuits 1257 10 165.05

GPS_charging 0 0 0.00

Compass 1075 6 95.13

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 -146.0 175 2678 1259 1269 0.0 0.0 0 136 0.00 0.00 -115.20 0.008 16390 0.000 0.000 174 2677 3495 3634 3357 0 0 0 0 0 0 14.79 13.27 14.80

138 -0.58 -146.0 174 2678 3634 3357 2.2 -2.5 11 155 10.93 2.42 0.00 0.000 2596 0.403 0.082 2512 1302 3496 3635 3358 0 0 0 0 0 0 14.31 14.55 14.50

313 -0.44 -146.0 2512 1290 3637 3358 29.7 -13.1 45 319 0.22 2.60 0.00 0.000 3206 0.253 0.135 2557 2671 3498 3638 3358 0 0 0 0 0 0 14.42 14.51 14.59

507 -0.32 -146.0 2556 2670 3638 3358 53.9 -12.8 65 513 0.12 2.22 0.00 0.000 2436 0.276 0.149 2584 3841 3497 3637 3358 0 0 0 0 0 0 14.45 14.40 14.58

644 -0.32 -146.0 2583 3841 3638 3358 68.3 -10.0 92 651 0.00 1.98 0.00 0.000 1030 0.000 0.076 2584 2690 3498 3638 3358 0 0 0 0 0 0 14.66 14.57 14.70

830 -0.32 -146.0 2583 2690 3638 3359 87.2 -10.2 111 836 0.00 2.20 0.00 0.000 260 0.000 0.148 2575 3844 3497 3637 3358 0 0 0 0 0 0 14.83 14.40 14.84

963 -0.32 -146.0 2575 3844 3638 3358 101.8 -10.4 137 968 0.00 1.95 0.00 0.000 1030 0.000 0.075 2575 2699 3497 3637 3358 0 0 0 0 0 0 14.69 14.60 14.70

1155 -0.32 -146.0 2575 2699 3637 3358 122.4 -11.2 157 1160 0.00 2.17 0.00 0.000 260 0.000 0.149 2568 3842 3497 3636 3358 0 0 0 0 0 0 14.84 14.36 14.86

1257 -0.32 -146.0 2567 3842 3638 3358 134.7 -12.2 177 1263 0.00 1.98 0.00 0.000 1030 0.000 0.076 2567 2692 3497 3637 3358 0 0 0 0 0 0 14.68 14.60 14.70

1450 -0.28 -146.0 2567 2692 3637 3358 158.3 -12.8 197 1456 0.12 2.20 0.00 0.000 2436 0.262 0.147 2594 3843 3497 3637 3358 0 0 0 0 0 0 14.44 14.38 14.56

1538 -0.36 -146.0 2593 3843 3637 3358 167.9 -9.8 214 1546 0.00 1.98 0.00 0.000 1190 0.000 0.077 2593 2693 3497 3637 3358 0 0 0 0 0 0 14.67 14.59 14.69

1724 -0.40 -146.0 2593 2693 3637 3358 187.4 -10.4 233 1729 0.00 2.20 0.00 0.000 388 0.000 0.151 2585 3843 3497 3637 3358 0 0 0 0 0 0 14.84 14.42 14.86

1817 -0.46 -146.0 2585 3843 3637 3358 196.9 -10.0 251 1824 0.12 1.98 0.00 0.000 5254 0.158 0.077 2536 2695 3498 3638 3358 0 0 0 0 0 0 14.57 14.58 14.66

2012 -0.31 -146.0 2535 2695 3636 3358 223.5 -14.0 271 2018 0.22 2.20 0.00 0.000 2436 0.254 0.147 2588 3843 3497 3636 3358 0 0 0 0 0 0 14.42 14.39 14.56

2066 -0.40 -146.0 2588 3842 3636 3358 229.7 -9.9 281 2071 0.00 1.98 0.00 0.000 1190 0.000 0.079 2587 2695 3497 3636 3358 0 0 0 0 0 0 14.59 14.51 14.63

2258 -0.43 -146.0 2588 2695 3636 3358 249.1 -10.0 301 2264 0.00 2.20 0.00 0.000 388 0.000 0.153 2580 3842 3497 3636 3358 0 0 0 0 0 0 14.85 14.38 14.87

2351 -0.47 -146.0 2579 3842 3636 3359 258.5 -9.9 319 2357 0.00 1.98 0.00 0.000 1190 0.000 0.079 2580 2693 3497 3636 3358 0 0 0 0 0 0 14.66 14.58 14.67

2664 -0.47 -146.0 2580 2693 3636 3358 289.3 -9.7 336 2670 0.00 2.20 0.00 0.000 292 0.000 0.152 2572 3842 3497 3635 3359 0 0 0 0 0 0 14.86 14.41 14.87

2802 -0.47 -146.0 2571 3842 3635 3358 302.8 -9.9 363 2809 0.00 1.98 0.00 0.000 1062 0.000 0.079 2572 2701 3497 3635 3360 0 0 0 0 0 0 14.60 14.31 14.65

3107 -0.47 -146.0 2571 2701 3635 3358 333.1 -9.9 379 3113 0.00 2.20 0.00 0.000 292 0.000 0.151 2563 3842 3496 3635 3358 0 0 0 0 0 0 14.86 14.39 14.88

3225 -0.47 -146.0 2562 3842 3634 3358 345.1 -9.8 402 3232 0.00 1.98 0.00 0.000 1062 0.000 0.079 2564 2692 3496 3634 3358 0 0 0 0 0 0 14.62 14.55 14.64

3389 end dive: TARGET_DEPTH_EXCEEDED

state 3389 begin apogee

3393 -0.11 0.0 2564 2609 3634 3358 361.4 -9.8 411 3524 0.35 0.00 127.53 1.499 10246 0.210 0.000 2658 2608 2900 2929 2871 0 0 0 0 0 0 14.42 13.95 13.01

3526 end apogee: CONTROL_FINISHED_OK

state 3526 begin climb

3527 0.58 146.0 2658 2609 2927 2871 366.6 0.0 417 3664 0.77 2.62 127.07 1.462 10756 0.174 0.092 2891 1193 2302 2329 2276 0 0 0 0 0 0 13.95 13.69 13.00

3706 0.69 146.2 2890 1193 2321 2276 353.1 10.0 449 3712 0.00 2.72 0.00 0.000 1190 0.000 0.125 2891 2598 2298 2321 2276 0 0 0 0 0 0 14.24 14.12 14.26

4029 0.69 146.2 2891 2598 2321 2269 317.1 11.1 468 4035 0.00 2.40 0.00 0.000 260 0.000 0.149 2890 3847 2294 2321 2268 0 0 0 0 0 0 14.73 14.30 14.75

4067 0.62 146.2 2891 3846 2321 2269 312.2 13.1 475 4074 0.00 2.22 0.00 0.000 1158 0.000 0.080 2898 2591 2294 2321 2268 0 0 0 0 0 0 14.59 14.50 14.62

4372 0.62 146.2 2898 2581 2321 2266 276.4 11.5 491 4378 0.00 2.47 0.00 0.000 516 0.000 0.090 2908 1186 2293 2321 2266 0 0 0 0 0 0 14.81 14.36 14.83

4404 0.62 146.2 2908 1186 2321 2266 272.6 11.2 497 4410 0.00 2.67 0.00 0.000 1030 0.000 0.125 2908 2607 2293 2321 2266 0 0 0 0 0 0 14.61 14.49 14.66

4717 0.57 146.2 2908 2608 2321 2265 235.1 11.7 520 4723 0.00 2.38 0.00 0.000 388 0.000 0.150 2909 3842 2293 2321 2265 0 0 0 0 0 0 14.83 14.12 14.85

4774 0.44 146.2 2908 3843 2321 2266 227.4 13.4 531 4781 0.30 2.20 0.00 0.000 5254 0.250 0.080 2842 2594 2293 2321 2265 0 0 0 0 0 0 14.29 14.54 14.57

4960 0.68 218.0 2842 2583 2321 2264 214.1 6.7 550 5028 0.20 2.60 60.08 1.306 10916 0.103 0.091 2944 1193 2010 2045 1976 0 0 0 0 0 0 14.55 14.14 13.26

5040 0.62 218.0 2945 1193 2043 1976 204.3 12.9 564 5047 0.20 2.70 0.00 0.000 5254 0.252 0.125 2903 2599 2010 2044 1976 0 0 0 0 0 0 14.07 14.16 14.26

5234 0.68 218.0 2899 2599 2043 1970 182.3 10.7 584 5240 0.00 2.38 0.00 0.000 388 0.000 0.148 2899 3843 2006 2043 1970 0 0 0 0 0 0 14.68 14.26 14.70

5261 0.68 218.0 2899 3843 2042 1969 178.8 12.8 589 5268 0.00 2.20 0.00 0.000 1030 0.000 0.080 2904 2602 2006 2043 1969 0 0 0 0 0 0 14.49 14.41 14.52

5447 0.72 218.0 2903 2588 2042 1968 157.9 11.0 608 5453 0.00 2.47 0.00 0.000 644 0.000 0.091 2914 1190 2005 2042 1968 0 0 0 0 0 0 14.74 14.38 14.76

5480 0.80 218.0 2913 1190 2042 1968 154.4 11.5 614 5487 0.12 2.67 0.00 0.000 3206 0.127 0.126 2968 2605 2005 2042 1968 0 0 0 0 0 0 14.55 14.45 14.62

5675 0.63 218.0 2969 2606 2043 1969 121.8 17.2 634 5682 0.25 2.35 0.00 0.000 4484 0.266 0.147 2906 3841 2005 2042 1968 0 0 0 0 0 0 14.32 14.34 14.48

5694 0.50 218.0 2905 3841 2042 1967 118.4 16.1 637 5701 0.20 2.20 0.00 0.000 5254 0.231 0.080 2862 2597 2005 2043 1967 0 0 0 0 0 0 14.24 14.47 14.47

5880 0.73 263.3 2862 2586 2043 1968 103.1 7.9 656 5922 0.20 0.00 37.08 1.168 10918 0.105 0.000 2948 2586 1826 1863 1789 0 0 0 0 0 0 14.53 14.25 13.45

6100 0.67 263.3 2948 2585 1862 1782 71.6 15.3 681 6106 0.12 2.47 0.00 0.000 4740 0.263 0.089 2925 1191 1822 1863 1782 0 0 0 0 0 0 14.29 14.45 14.43

6116 0.67 263.3 2924 1190 1862 1782 68.5 17.1 684 6123 0.00 2.65 0.00 0.000 1030 0.000 0.125 2925 2599 1821 1862 1781 0 0 1 0 0 0 14.53 14.40 14.57

6303 0.67 263.3 2924 2599 1862 1780 44.2 12.9 703 6309 0.00 2.38 0.00 0.000 260 0.000 0.150 2925 3843 1821 1862 1780 0 0 0 0 0 0 14.76 14.31 14.78

6329 0.67 263.3 2924 3843 1862 1780 40.5 15.4 708 6336 0.00 2.17 0.00 0.000 1030 0.000 0.081 2932 2602 1822 1863 1781 0 0 1 0 0 0 14.57 14.49 14.60

6516 0.67 263.3 2931 2589 1861 1779 14.6 14.0 727 6522 0.00 2.47 0.00 0.000 516 0.000 0.091 2942 1187 1820 1861 1780 0 0 0 0 0 0 14.76 14.49 14.78

6583 0.75 263.3 2942 1178 1861 1780 5.3 13.3 740 6589 0.00 2.67 0.00 0.000 1158 0.000 0.129 2943 2599 1820 1861 1780 0 0 0 0 0 0 14.60 14.45 14.62

6608 end climb: SURFACE_DEPTH_REACHED

state 6608 begin surface coast

6629 end surface coast: CONTROL_FINISHED_OK

state 6629 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	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4212	R_PORT_OVSHOOT	36	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	42	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	350	ALTIM_FREQUENCY	13
D_TGT	360	SM_CC	350	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1020	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	120	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	150	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	160519,190420,5917.6528,-2121.7595,5,0.9,15,-12.5,0.6,31.8,10,10.0	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	0.79	MHEAD_RNG_PITCHd_Wd	288.2,170948,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-74.0	D_GRID	1000
GPS2	160519,190819,5917.6436,-2121.6968,10,0.9,20,-12.5,0.7,71.4,10,9.2

FINISH	0.3,1.008922	_10V_AH	13.12,5.976
SM_CCo	6644,90.03,0.828,1,0,1472,350.04	FG_AHR_24Vo	0.000
SM_GC	0.69,7.90,0.22,90.03,0.061,0.143,0.828,161,2711,1472,-7.84,-0.23,350.04,0,0,0,0,1,0,14.59,14.53,13.42	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5914.77,-2217.77,160519,190109	MEM	304604
TT8_MAMPS	0.02247,0.75649	DATA_FILE_SIZE	26770,745
HUMID	39.64	CAP_FILE_SIZE	104613,0
INTERNAL_PRESSURE	8.80829	CFSIZE	2097872896,2095546368
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,2,0
XPDR_PINGS	0	CURRENT	0.181,94.36,1
SC_FREEKB	3907360	GPS	160519,210226,5917.871,-2121.886,8,1.5,27,-12.5,0.5,139.6,5,9.9
_24V_AH	13.00,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	403	117.27	nil	0	0	0.00
Roll_motor	97	153	193.03	nil	0	0	0.00
VBD_pump_during_apogee	351	1498	6852.88	nil	0	0	0.00
VBD_pump_during_surface	90	828	969.61	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	6621	56	4853.05
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	4.30
TT8	1748	10	251.65
LPSleep	3273	2	94.05
TT8_Active	620	10	89.26
TT8_Sampling	1158	30	462.67
TT8_CF8	38	36	18.46
TT8_Kalman	0	0	0.00
Analog_circuits	1257	10	165.05
GPS_charging	0	0	0.00
Compass	1075	6	95.13
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	175	2678	1259	1269	0.0	0.0	0	136	0.00	0.00	-115.20	0.008	16390	0.000	0.000	174	2677	3495	3634	3357	0	0	0	0	0	0	14.79	13.27	14.80
138	-0.58	-146.0	174	2678	3634	3357	2.2	-2.5	11	155	10.93	2.42	0.00	0.000	2596	0.403	0.082	2512	1302	3496	3635	3358	0	0	0	0	0	0	14.31	14.55	14.50
313	-0.44	-146.0	2512	1290	3637	3358	29.7	-13.1	45	319	0.22	2.60	0.00	0.000	3206	0.253	0.135	2557	2671	3498	3638	3358	0	0	0	0	0	0	14.42	14.51	14.59
507	-0.32	-146.0	2556	2670	3638	3358	53.9	-12.8	65	513	0.12	2.22	0.00	0.000	2436	0.276	0.149	2584	3841	3497	3637	3358	0	0	0	0	0	0	14.45	14.40	14.58
644	-0.32	-146.0	2583	3841	3638	3358	68.3	-10.0	92	651	0.00	1.98	0.00	0.000	1030	0.000	0.076	2584	2690	3498	3638	3358	0	0	0	0	0	0	14.66	14.57	14.70
830	-0.32	-146.0	2583	2690	3638	3359	87.2	-10.2	111	836	0.00	2.20	0.00	0.000	260	0.000	0.148	2575	3844	3497	3637	3358	0	0	0	0	0	0	14.83	14.40	14.84
963	-0.32	-146.0	2575	3844	3638	3358	101.8	-10.4	137	968	0.00	1.95	0.00	0.000	1030	0.000	0.075	2575	2699	3497	3637	3358	0	0	0	0	0	0	14.69	14.60	14.70
1155	-0.32	-146.0	2575	2699	3637	3358	122.4	-11.2	157	1160	0.00	2.17	0.00	0.000	260	0.000	0.149	2568	3842	3497	3636	3358	0	0	0	0	0	0	14.84	14.36	14.86
1257	-0.32	-146.0	2567	3842	3638	3358	134.7	-12.2	177	1263	0.00	1.98	0.00	0.000	1030	0.000	0.076	2567	2692	3497	3637	3358	0	0	0	0	0	0	14.68	14.60	14.70
1450	-0.28	-146.0	2567	2692	3637	3358	158.3	-12.8	197	1456	0.12	2.20	0.00	0.000	2436	0.262	0.147	2594	3843	3497	3637	3358	0	0	0	0	0	0	14.44	14.38	14.56
1538	-0.36	-146.0	2593	3843	3637	3358	167.9	-9.8	214	1546	0.00	1.98	0.00	0.000	1190	0.000	0.077	2593	2693	3497	3637	3358	0	0	0	0	0	0	14.67	14.59	14.69
1724	-0.40	-146.0	2593	2693	3637	3358	187.4	-10.4	233	1729	0.00	2.20	0.00	0.000	388	0.000	0.151	2585	3843	3497	3637	3358	0	0	0	0	0	0	14.84	14.42	14.86
1817	-0.46	-146.0	2585	3843	3637	3358	196.9	-10.0	251	1824	0.12	1.98	0.00	0.000	5254	0.158	0.077	2536	2695	3498	3638	3358	0	0	0	0	0	0	14.57	14.58	14.66
2012	-0.31	-146.0	2535	2695	3636	3358	223.5	-14.0	271	2018	0.22	2.20	0.00	0.000	2436	0.254	0.147	2588	3843	3497	3636	3358	0	0	0	0	0	0	14.42	14.39	14.56
2066	-0.40	-146.0	2588	3842	3636	3358	229.7	-9.9	281	2071	0.00	1.98	0.00	0.000	1190	0.000	0.079	2587	2695	3497	3636	3358	0	0	0	0	0	0	14.59	14.51	14.63
2258	-0.43	-146.0	2588	2695	3636	3358	249.1	-10.0	301	2264	0.00	2.20	0.00	0.000	388	0.000	0.153	2580	3842	3497	3636	3358	0	0	0	0	0	0	14.85	14.38	14.87
2351	-0.47	-146.0	2579	3842	3636	3359	258.5	-9.9	319	2357	0.00	1.98	0.00	0.000	1190	0.000	0.079	2580	2693	3497	3636	3358	0	0	0	0	0	0	14.66	14.58	14.67
2664	-0.47	-146.0	2580	2693	3636	3358	289.3	-9.7	336	2670	0.00	2.20	0.00	0.000	292	0.000	0.152	2572	3842	3497	3635	3359	0	0	0	0	0	0	14.86	14.41	14.87
2802	-0.47	-146.0	2571	3842	3635	3358	302.8	-9.9	363	2809	0.00	1.98	0.00	0.000	1062	0.000	0.079	2572	2701	3497	3635	3360	0	0	0	0	0	0	14.60	14.31	14.65
3107	-0.47	-146.0	2571	2701	3635	3358	333.1	-9.9	379	3113	0.00	2.20	0.00	0.000	292	0.000	0.151	2563	3842	3496	3635	3358	0	0	0	0	0	0	14.86	14.39	14.88
3225	-0.47	-146.0	2562	3842	3634	3358	345.1	-9.8	402	3232	0.00	1.98	0.00	0.000	1062	0.000	0.079	2564	2692	3496	3634	3358	0	0	0	0	0	0	14.62	14.55	14.64
3389	end dive: TARGET_DEPTH_EXCEEDED
state	3389	begin apogee
3393	-0.11	0.0	2564	2609	3634	3358	361.4	-9.8	411	3524	0.35	0.00	127.53	1.499	10246	0.210	0.000	2658	2608	2900	2929	2871	0	0	0	0	0	0	14.42	13.95	13.01
3526	end apogee: CONTROL_FINISHED_OK
state	3526	begin climb
3527	0.58	146.0	2658	2609	2927	2871	366.6	0.0	417	3664	0.77	2.62	127.07	1.462	10756	0.174	0.092	2891	1193	2302	2329	2276	0	0	0	0	0	0	13.95	13.69	13.00
3706	0.69	146.2	2890	1193	2321	2276	353.1	10.0	449	3712	0.00	2.72	0.00	0.000	1190	0.000	0.125	2891	2598	2298	2321	2276	0	0	0	0	0	0	14.24	14.12	14.26
4029	0.69	146.2	2891	2598	2321	2269	317.1	11.1	468	4035	0.00	2.40	0.00	0.000	260	0.000	0.149	2890	3847	2294	2321	2268	0	0	0	0	0	0	14.73	14.30	14.75
4067	0.62	146.2	2891	3846	2321	2269	312.2	13.1	475	4074	0.00	2.22	0.00	0.000	1158	0.000	0.080	2898	2591	2294	2321	2268	0	0	0	0	0	0	14.59	14.50	14.62
4372	0.62	146.2	2898	2581	2321	2266	276.4	11.5	491	4378	0.00	2.47	0.00	0.000	516	0.000	0.090	2908	1186	2293	2321	2266	0	0	0	0	0	0	14.81	14.36	14.83
4404	0.62	146.2	2908	1186	2321	2266	272.6	11.2	497	4410	0.00	2.67	0.00	0.000	1030	0.000	0.125	2908	2607	2293	2321	2266	0	0	0	0	0	0	14.61	14.49	14.66
4717	0.57	146.2	2908	2608	2321	2265	235.1	11.7	520	4723	0.00	2.38	0.00	0.000	388	0.000	0.150	2909	3842	2293	2321	2265	0	0	0	0	0	0	14.83	14.12	14.85
4774	0.44	146.2	2908	3843	2321	2266	227.4	13.4	531	4781	0.30	2.20	0.00	0.000	5254	0.250	0.080	2842	2594	2293	2321	2265	0	0	0	0	0	0	14.29	14.54	14.57
4960	0.68	218.0	2842	2583	2321	2264	214.1	6.7	550	5028	0.20	2.60	60.08	1.306	10916	0.103	0.091	2944	1193	2010	2045	1976	0	0	0	0	0	0	14.55	14.14	13.26
5040	0.62	218.0	2945	1193	2043	1976	204.3	12.9	564	5047	0.20	2.70	0.00	0.000	5254	0.252	0.125	2903	2599	2010	2044	1976	0	0	0	0	0	0	14.07	14.16	14.26
5234	0.68	218.0	2899	2599	2043	1970	182.3	10.7	584	5240	0.00	2.38	0.00	0.000	388	0.000	0.148	2899	3843	2006	2043	1970	0	0	0	0	0	0	14.68	14.26	14.70
5261	0.68	218.0	2899	3843	2042	1969	178.8	12.8	589	5268	0.00	2.20	0.00	0.000	1030	0.000	0.080	2904	2602	2006	2043	1969	0	0	0	0	0	0	14.49	14.41	14.52
5447	0.72	218.0	2903	2588	2042	1968	157.9	11.0	608	5453	0.00	2.47	0.00	0.000	644	0.000	0.091	2914	1190	2005	2042	1968	0	0	0	0	0	0	14.74	14.38	14.76
5480	0.80	218.0	2913	1190	2042	1968	154.4	11.5	614	5487	0.12	2.67	0.00	0.000	3206	0.127	0.126	2968	2605	2005	2042	1968	0	0	0	0	0	0	14.55	14.45	14.62
5675	0.63	218.0	2969	2606	2043	1969	121.8	17.2	634	5682	0.25	2.35	0.00	0.000	4484	0.266	0.147	2906	3841	2005	2042	1968	0	0	0	0	0	0	14.32	14.34	14.48
5694	0.50	218.0	2905	3841	2042	1967	118.4	16.1	637	5701	0.20	2.20	0.00	0.000	5254	0.231	0.080	2862	2597	2005	2043	1967	0	0	0	0	0	0	14.24	14.47	14.47
5880	0.73	263.3	2862	2586	2043	1968	103.1	7.9	656	5922	0.20	0.00	37.08	1.168	10918	0.105	0.000	2948	2586	1826	1863	1789	0	0	0	0	0	0	14.53	14.25	13.45
6100	0.67	263.3	2948	2585	1862	1782	71.6	15.3	681	6106	0.12	2.47	0.00	0.000	4740	0.263	0.089	2925	1191	1822	1863	1782	0	0	0	0	0	0	14.29	14.45	14.43
6116	0.67	263.3	2924	1190	1862	1782	68.5	17.1	684	6123	0.00	2.65	0.00	0.000	1030	0.000	0.125	2925	2599	1821	1862	1781	0	0	1	0	0	0	14.53	14.40	14.57
6303	0.67	263.3	2924	2599	1862	1780	44.2	12.9	703	6309	0.00	2.38	0.00	0.000	260	0.000	0.150	2925	3843	1821	1862	1780	0	0	0	0	0	0	14.76	14.31	14.78
6329	0.67	263.3	2924	3843	1862	1780	40.5	15.4	708	6336	0.00	2.17	0.00	0.000	1030	0.000	0.081	2932	2602	1822	1863	1781	0	0	1	0	0	0	14.57	14.49	14.60
6516	0.67	263.3	2931	2589	1861	1779	14.6	14.0	727	6522	0.00	2.47	0.00	0.000	516	0.000	0.091	2942	1187	1820	1861	1780	0	0	0	0	0	0	14.76	14.49	14.78
6583	0.75	263.3	2942	1178	1861	1780	5.3	13.3	740	6589	0.00	2.67	0.00	0.000	1158	0.000	0.129	2943	2599	1820	1861	1780	0	0	0	0	0	0	14.60	14.45	14.62
6608	end climb: SURFACE_DEPTH_REACHED
state	6608	begin surface coast
6629	end surface coast: CONTROL_FINISHED_OK
state	6629	begin surface