Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 725 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_VALID 5

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 725 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

STOP_T 0 SM_CC 350 VBD_MIN 550 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3181 DEVICE1 -1

D_TGT 500 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 0

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 71

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 134

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 180 T_GPS 5 LOITER_W_DBAND 2 PHONE_DEVICE 49

T_MISSION 350 N_GPS 100440 LOITER_DBDW 200 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 400 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 800 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 1 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0043545738

T_LOITER 7200 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 SEABIRD_T_H 0.00062548259

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

USE_BATHY 0 PITCH_MIN 75 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_ICE 0 PITCH_MAX 100 AH0_10V 350 SEABIRD_C_G -9.9945526

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_24V 11 SEABIRD_C_H 1.1183146

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.0026370776

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 30 PITCH_GAIN 40 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

MASS 55793 PITCH_ADJ_DBAND 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 1700 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 1800 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 1750 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1750 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 170 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_STARTS 785.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 32 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 ALTIM_SENSITIVITY 4

AD7714Ch0Gain 1 D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

AH0_10V 350 D_PITCH 0 PHONE_DEVICE 49 SIM_W 0

AH0_24V 0 D_SAFE 0 PHONE_SUPPLY -2 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 500 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAX 100 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_DBAND 0 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 0 TM_RECORDABOVE 2000.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPUPLOAD 0 HEAD_ERRBAND 170 PROTOCOL 9 T_ABORT 1440

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_BOOST 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_DIVE 180

COMPASS2_DEVICE 149 ID 124 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_GPS 5

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_LOITER 7200

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 350

CP_NDIVE 1.0 LOGGERDEVICE1 53 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_PROFILE 2.0 LOGGERDEVICE2 71 RELAUNCH 1 T_RSLEEP 2

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 RHO 1.0275 T_TURN 225

CP_STARTS 785.0 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

CP_UPLOADMAX 100000.0 LOGGERS 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

CP_XMITPROFILE 2.0 LOITER_DBDW 200 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM 800 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 LOITER_D_TOP 400 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1750 LOITER_N_DIVE 1 ROLL_MAX 1800 USE_ICE 0

C_VBD 3181 LOITER_W_DBAND 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 1700 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 32 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 41 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 30 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE5 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DIVE 725 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 0

D_BOOST 2.5 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

Pre-dive calculations and measurements:

GPS1 130119,001752,6051.3594,-2758.1292,94,1.6,116,-19.1,0.7,96.8,6,8.0 SPEED_LIMITS 0.160,0.170

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 75.5,364439,-25.5,-9.259,-28.52,1052

_SM_ANGLEo -67.8 D_GRID 500

GPS2 130119,002214,6051.3750,-2758.0344,20,1.7,23,-19.1,0.8,87.6,6,8.1

Post-dive calculations and measurements:

FREEZE 719.89,0.000,0.000,0,1,0 _10V_AH 12.44,244.477

SM_CCo 8633,481.98,1.681,0,0,550,645.63 FG_AHR_24Vo 0.000

SM_GC 1.07,0.08,0.00,0.00,0.194,0.000,0.000,106,1690,552,-9.49,-1.30,644.89,0,0,0,0,0,0,14.32,14.89,14.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6049.89,-2756.82,120119,205227 MEM 333924

TT8_MAMPS 0.020223,0.064414 DATA_FILE_SIZE 6812,223

HUMID 47.04 CAP_FILE_SIZE 56063,0

INTERNAL_PRESSURE 7.85186 CFSIZE 260165632,166539264

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.055,143.57,1

_24V_AH 12.09,0.000 GPS 130119,031833,6051.123,-2757.653,34,1.2,62,-19.1,0.3,218.3,9,6.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 193 10.18 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 136 1759 2896.76 nil 0 0 0.00

VBD_pump_during_surface 481 1680 9793.60 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 0 0 0.00

Iridium_during_xfer 140 127 217.40 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 20 8.62

TT8 336 8 36.27

LPSleep 9003 2 245.28

TT8_Active 701 8 75.64

TT8_Sampling 482 26 159.91

TT8_CF8 186 31 72.40

TT8_Kalman 0 0 0.00

Analog_circuits 1071 10 143.99

GPS_charging 0 0 0.00

Compass 332 6 27.90

RAFOS 0 0 0.00

Transponder 0 5 0.03

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

9 -0.68 -29.2 35 1784 1941 1565 0.0 0.0 0 87 0.00 0.00 -74.10 0.006 16390 0.000 0.000 34 1785 3301 3242 3360 0 0 0 0 0 0 14.76 13.06 14.58

92 -0.68 -29.2 34 1785 3242 3360 3.8 -3.0 4 94 0.22 0.00 0.00 0.000 2054 0.092 0.000 142 1785 3301 3242 3360 0 0 0 0 0 0 14.32 14.40 14.38

430 -0.68 -29.2 142 1784 3243 3360 168.9 -49.8 18 432 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1784 3301 3243 3360 0 0 0 0 0 0 14.36 14.38 14.37

750 -0.68 -29.2 62 1784 3244 3359 323.8 -49.8 26 752 0.15 0.00 0.00 0.000 2054 0.119 0.000 142 1784 3302 3244 3360 0 0 0 0 0 0 14.37 14.38 14.37

1072 -0.68 -29.2 142 1784 3244 3359 480.7 -48.5 34 1074 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1784 3301 3244 3359 0 0 0 0 0 0 14.37 14.38 14.37

1106 end dive: TARGET_DEPTH_EXCEEDED

state 1106 begin apogee

1115 -0.12 0.0 62 1784 3244 3359 500.0 -48.3 35 1142 0.15 0.00 24.48 1.486 10246 0.115 0.000 142 1784 3181 3165 3197 0 0 0 0 0 0 14.26 14.45 13.63

1143 end apogee: CONTROL_FINISHED_OK

state 1143 begin loiter

1432 -0.01 83.3 142 1784 3170 3195 640.2 -42.8 43 1504 0.15 0.00 68.80 1.712 12326 0.114 0.000 61 1784 2840 2905 2776 0 0 0 0 0 0 14.34 14.11 13.32

1793 0.05 125.6 61 1784 2905 2779 732.6 -21.7 52 1832 0.15 0.00 35.92 1.760 10278 0.116 0.000 142 1784 2669 2768 2571 0 0 0 0 0 0 14.31 14.23 13.44

2153 0.06 131.7 141 1784 2766 2576 758.0 -3.1 61 2163 0.15 0.00 6.97 1.408 12326 0.115 0.000 62 1784 2642 2741 2544 0 0 0 0 0 0 14.33 14.45 13.56

2473 0.06 131.7 61 1784 2740 2551 748.3 5.1 69 2475 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1784 2645 2740 2551 0 0 0 0 0 0 14.35 14.40 14.38

2791 0.06 131.7 141 1784 2740 2552 731.4 5.0 77 2793 0.15 0.00 0.00 0.000 4102 0.114 0.000 61 1784 2645 2740 2551 0 0 0 0 0 0 14.36 14.39 14.38

3112 0.06 131.7 61 1784 2740 2551 719.8 3.1 85 3114 0.15 0.00 0.00 0.000 2054 0.117 0.000 142 1784 2646 2740 2552 0 0 0 0 0 0 14.35 14.38 14.37

3431 0.06 131.7 141 1784 2739 2551 713.4 1.6 93 3433 0.15 0.00 0.00 0.000 4102 0.115 0.000 63 1784 2645 2739 2551 0 0 0 0 0 0 14.36 14.37 14.37

3751 0.06 131.7 62 1784 2739 2552 710.8 0.6 101 3753 0.15 0.00 0.00 0.000 2054 0.116 0.000 142 1784 2645 2739 2551 0 0 0 0 0 0 14.35 14.36 14.36

4072 0.06 131.7 142 1784 2738 2551 711.7 -0.3 109 4073 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1784 2644 2738 2551 0 0 0 0 0 0 14.35 14.36 14.35

4391 0.06 131.7 62 1784 2737 2551 710.5 0.4 117 4393 0.15 0.00 0.00 0.000 2054 0.118 0.000 142 1784 2644 2737 2551 0 0 0 0 0 0 14.35 14.38 14.35

4713 0.06 131.7 142 1784 2737 2552 708.4 0.7 125 4715 0.15 0.00 0.00 0.000 4102 0.116 0.000 63 1784 2644 2737 2552 0 0 0 0 0 0 14.35 14.35 14.34

5032 0.06 131.7 62 1784 2737 2552 703.2 1.7 133 5033 0.15 0.00 0.00 0.000 2054 0.118 0.000 142 1784 2644 2737 2551 0 0 0 0 0 0 14.35 14.35 14.34

5351 0.06 131.7 142 1784 2737 2551 699.9 0.8 141 5353 0.15 0.00 0.00 0.000 4102 0.116 0.000 64 1784 2644 2737 2551 0 0 0 0 0 0 14.35 14.35 14.35

5671 0.06 131.7 63 1784 2736 2551 700.3 -0.5 149 5673 0.15 0.00 0.00 0.000 2054 0.119 0.000 142 1784 2644 2736 2552 0 0 0 0 0 0 14.35 14.35 14.35

5992 0.06 131.7 142 1784 2736 2551 703.5 -1.2 157 5993 0.15 0.00 0.00 0.000 4102 0.116 0.000 63 1784 2643 2736 2551 0 0 0 0 0 0 14.36 14.35 14.35

6311 0.06 131.7 62 1784 2736 2551 707.7 -1.2 165 6313 0.15 0.00 0.00 0.000 2054 0.118 0.000 141 1784 2643 2736 2551 0 0 0 0 0 0 14.35 14.35 14.35

6631 0.06 131.7 141 1784 2736 2551 709.4 -0.3 173 6633 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1784 2644 2736 2552 0 0 0 0 0 0 14.36 14.36 14.35

6953 0.06 131.7 62 1784 2735 2551 709.0 0.2 181 6955 0.15 0.00 0.00 0.000 2054 0.117 0.000 141 1784 2643 2736 2551 0 0 0 0 0 0 14.35 14.34 14.35

7271 0.06 131.7 140 1784 2735 2551 709.3 -0.2 189 7273 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1784 2643 2735 2551 0 0 0 0 0 0 14.36 14.36 14.35

7591 0.06 131.7 61 1784 2735 2551 711.3 -0.7 197 7593 0.15 0.00 0.00 0.000 2054 0.117 0.000 140 1784 2643 2736 2551 0 0 0 0 0 0 14.35 14.36 14.35

7912 0.06 131.7 141 1784 2735 2551 714.0 -0.9 205 7914 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1784 2643 2735 2551 0 0 0 0 0 0 14.36 14.36 14.38

8231 0.06 131.7 61 1784 2735 2551 716.9 -0.9 213 8233 0.15 0.00 0.00 0.000 2054 0.118 0.000 140 1784 2643 2735 2551 0 0 0 0 0 0 14.36 14.36 14.35

8309 end loiter: LOITER_COMPLETE

state 8309 begin climb

8313 0.68 29.2 140 1784 2735 2551 717.6 0.0 215 8315 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1784 2643 2735 2552 0 0 0 0 0 0 14.36 14.35 14.35

8628 end climb: NO_VERTICAL_VELOCITY

state 8628 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_VALID	5
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	725	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
STOP_T	0	SM_CC	350	VBD_MIN	550	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3181	DEVICE1	-1
D_TGT	500	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	0
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	71
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	134
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	180	T_GPS	5	LOITER_W_DBAND	2	PHONE_DEVICE	49
T_MISSION	350	N_GPS	100440	LOITER_DBDW	200	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	400	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	800	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	1	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0043545738
T_LOITER	7200	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	SEABIRD_T_H	0.00062548259
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
USE_BATHY	0	PITCH_MIN	75	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_ICE	0	PITCH_MAX	100	AH0_10V	350	SEABIRD_C_G	-9.9945526
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_24V	11	SEABIRD_C_H	1.1183146
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.0026370776
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	30	PITCH_GAIN	40	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
MASS	55793	PITCH_ADJ_DBAND	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	1700	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	1800	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	1750	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1750	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	170	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_STARTS	785.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	32	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	4

GPS1	130119,001752,6051.3594,-2758.1292,94,1.6,116,-19.1,0.7,96.8,6,8.0	SPEED_LIMITS	0.160,0.170
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	75.5,364439,-25.5,-9.259,-28.52,1052
_SM_ANGLEo	-67.8	D_GRID	500
GPS2	130119,002214,6051.3750,-2758.0344,20,1.7,23,-19.1,0.8,87.6,6,8.1

FREEZE	719.89,0.000,0.000,0,1,0	_10V_AH	12.44,244.477
SM_CCo	8633,481.98,1.681,0,0,550,645.63	FG_AHR_24Vo	0.000
SM_GC	1.07,0.08,0.00,0.00,0.194,0.000,0.000,106,1690,552,-9.49,-1.30,644.89,0,0,0,0,0,0,14.32,14.89,14.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6049.89,-2756.82,120119,205227	MEM	333924
TT8_MAMPS	0.020223,0.064414	DATA_FILE_SIZE	6812,223
HUMID	47.04	CAP_FILE_SIZE	56063,0
INTERNAL_PRESSURE	7.85186	CFSIZE	260165632,166539264
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.055,143.57,1
_24V_AH	12.09,0.000	GPS	130119,031833,6051.123,-2757.653,34,1.2,62,-19.1,0.3,218.3,9,6.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	193	10.18	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	136	1759	2896.76	nil	0	0	0.00
VBD_pump_during_surface	481	1680	9793.60	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	0	0	0.00
Iridium_during_xfer	140	127	217.40	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	20	8.62
TT8	336	8	36.27
LPSleep	9003	2	245.28
TT8_Active	701	8	75.64
TT8_Sampling	482	26	159.91
TT8_CF8	186	31	72.40
TT8_Kalman	0	0	0.00
Analog_circuits	1071	10	143.99
GPS_charging	0	0	0.00
Compass	332	6	27.90
RAFOS	0	0	0.00
Transponder	0	5	0.03

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
9	-0.68	-29.2	35	1784	1941	1565	0.0	0.0	0	87	0.00	0.00	-74.10	0.006	16390	0.000	0.000	34	1785	3301	3242	3360	0	0	0	0	0	0	14.76	13.06	14.58
92	-0.68	-29.2	34	1785	3242	3360	3.8	-3.0	4	94	0.22	0.00	0.00	0.000	2054	0.092	0.000	142	1785	3301	3242	3360	0	0	0	0	0	0	14.32	14.40	14.38
430	-0.68	-29.2	142	1784	3243	3360	168.9	-49.8	18	432	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1784	3301	3243	3360	0	0	0	0	0	0	14.36	14.38	14.37
750	-0.68	-29.2	62	1784	3244	3359	323.8	-49.8	26	752	0.15	0.00	0.00	0.000	2054	0.119	0.000	142	1784	3302	3244	3360	0	0	0	0	0	0	14.37	14.38	14.37
1072	-0.68	-29.2	142	1784	3244	3359	480.7	-48.5	34	1074	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1784	3301	3244	3359	0	0	0	0	0	0	14.37	14.38	14.37
1106	end dive: TARGET_DEPTH_EXCEEDED
state	1106	begin apogee
1115	-0.12	0.0	62	1784	3244	3359	500.0	-48.3	35	1142	0.15	0.00	24.48	1.486	10246	0.115	0.000	142	1784	3181	3165	3197	0	0	0	0	0	0	14.26	14.45	13.63
1143	end apogee: CONTROL_FINISHED_OK
state	1143	begin loiter
1432	-0.01	83.3	142	1784	3170	3195	640.2	-42.8	43	1504	0.15	0.00	68.80	1.712	12326	0.114	0.000	61	1784	2840	2905	2776	0	0	0	0	0	0	14.34	14.11	13.32
1793	0.05	125.6	61	1784	2905	2779	732.6	-21.7	52	1832	0.15	0.00	35.92	1.760	10278	0.116	0.000	142	1784	2669	2768	2571	0	0	0	0	0	0	14.31	14.23	13.44
2153	0.06	131.7	141	1784	2766	2576	758.0	-3.1	61	2163	0.15	0.00	6.97	1.408	12326	0.115	0.000	62	1784	2642	2741	2544	0	0	0	0	0	0	14.33	14.45	13.56
2473	0.06	131.7	61	1784	2740	2551	748.3	5.1	69	2475	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1784	2645	2740	2551	0	0	0	0	0	0	14.35	14.40	14.38
2791	0.06	131.7	141	1784	2740	2552	731.4	5.0	77	2793	0.15	0.00	0.00	0.000	4102	0.114	0.000	61	1784	2645	2740	2551	0	0	0	0	0	0	14.36	14.39	14.38
3112	0.06	131.7	61	1784	2740	2551	719.8	3.1	85	3114	0.15	0.00	0.00	0.000	2054	0.117	0.000	142	1784	2646	2740	2552	0	0	0	0	0	0	14.35	14.38	14.37
3431	0.06	131.7	141	1784	2739	2551	713.4	1.6	93	3433	0.15	0.00	0.00	0.000	4102	0.115	0.000	63	1784	2645	2739	2551	0	0	0	0	0	0	14.36	14.37	14.37
3751	0.06	131.7	62	1784	2739	2552	710.8	0.6	101	3753	0.15	0.00	0.00	0.000	2054	0.116	0.000	142	1784	2645	2739	2551	0	0	0	0	0	0	14.35	14.36	14.36
4072	0.06	131.7	142	1784	2738	2551	711.7	-0.3	109	4073	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1784	2644	2738	2551	0	0	0	0	0	0	14.35	14.36	14.35
4391	0.06	131.7	62	1784	2737	2551	710.5	0.4	117	4393	0.15	0.00	0.00	0.000	2054	0.118	0.000	142	1784	2644	2737	2551	0	0	0	0	0	0	14.35	14.38	14.35
4713	0.06	131.7	142	1784	2737	2552	708.4	0.7	125	4715	0.15	0.00	0.00	0.000	4102	0.116	0.000	63	1784	2644	2737	2552	0	0	0	0	0	0	14.35	14.35	14.34
5032	0.06	131.7	62	1784	2737	2552	703.2	1.7	133	5033	0.15	0.00	0.00	0.000	2054	0.118	0.000	142	1784	2644	2737	2551	0	0	0	0	0	0	14.35	14.35	14.34
5351	0.06	131.7	142	1784	2737	2551	699.9	0.8	141	5353	0.15	0.00	0.00	0.000	4102	0.116	0.000	64	1784	2644	2737	2551	0	0	0	0	0	0	14.35	14.35	14.35
5671	0.06	131.7	63	1784	2736	2551	700.3	-0.5	149	5673	0.15	0.00	0.00	0.000	2054	0.119	0.000	142	1784	2644	2736	2552	0	0	0	0	0	0	14.35	14.35	14.35
5992	0.06	131.7	142	1784	2736	2551	703.5	-1.2	157	5993	0.15	0.00	0.00	0.000	4102	0.116	0.000	63	1784	2643	2736	2551	0	0	0	0	0	0	14.36	14.35	14.35
6311	0.06	131.7	62	1784	2736	2551	707.7	-1.2	165	6313	0.15	0.00	0.00	0.000	2054	0.118	0.000	141	1784	2643	2736	2551	0	0	0	0	0	0	14.35	14.35	14.35
6631	0.06	131.7	141	1784	2736	2551	709.4	-0.3	173	6633	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1784	2644	2736	2552	0	0	0	0	0	0	14.36	14.36	14.35
6953	0.06	131.7	62	1784	2735	2551	709.0	0.2	181	6955	0.15	0.00	0.00	0.000	2054	0.117	0.000	141	1784	2643	2736	2551	0	0	0	0	0	0	14.35	14.34	14.35
7271	0.06	131.7	140	1784	2735	2551	709.3	-0.2	189	7273	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1784	2643	2735	2551	0	0	0	0	0	0	14.36	14.36	14.35
7591	0.06	131.7	61	1784	2735	2551	711.3	-0.7	197	7593	0.15	0.00	0.00	0.000	2054	0.117	0.000	140	1784	2643	2736	2551	0	0	0	0	0	0	14.35	14.36	14.35
7912	0.06	131.7	141	1784	2735	2551	714.0	-0.9	205	7914	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1784	2643	2735	2551	0	0	0	0	0	0	14.36	14.36	14.38
8231	0.06	131.7	61	1784	2735	2551	716.9	-0.9	213	8233	0.15	0.00	0.00	0.000	2054	0.118	0.000	140	1784	2643	2735	2551	0	0	0	0	0	0	14.36	14.36	14.35
8309	end loiter: LOITER_COMPLETE
state	8309	begin climb
8313	0.68	29.2	140	1784	2735	2551	717.6	0.0	215	8315	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1784	2643	2735	2552	0	0	0	0	0	0	14.36	14.35	14.35
8628	end climb: NO_VERTICAL_VELOCITY
state	8628	begin surface