Glider dive log

NISKINE May19 * SG141 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HEADING -1 C_ROLL_CLIMB 2500 ALTIM_TOP_PING_RANGE 0

MISSION 11 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 ALTIM_TOP_MIN_OBSTACLE 0

STOP_T 0 TGT_DEFAULT_LAT 4736 R_PORT_OVSHOOT 27 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 13 ALTIM_PING_DELTA 0

D_FLARE 2 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 50 ALTIM_FREQUENCY 13

D_TGT 600 SM_CC 400 ROLL_MAXERRORS 1 ALTIM_PULSE 3

D_ABORT 1010 N_FILEKB 8 ROLL_ADJ_GAIN 0 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 FILEMGR 0 ROLL_ADJ_DBAND 0 XPDR_VALID 6

D_BOOST 2 CALL_NDIVES 1 VBD_MIN 470 XPDR_INHIBIT 90

T_BOOST 0 COMM_SEQ 0 VBD_MAX 3935 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 PROTOCOL 9 C_VBD 2950 INT_PRESSURE_YINT 0

D_PITCH 0 N_NOCOMM 2 VBD_DBAND 2 DEEPGLIDER 0

D_SAFE 0 NOCOMM_ACTION 163 VBD_CNV -0.24529999 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 9.9999997e-05 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE4 -1

T_DIVE 200 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 1 DEVICE5 -1

T_MISSION 240 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 DEVICE6 -1

T_ABORT 720 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 0 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 225 PITCH_W_GAIN 0 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3920 PITCH_W_DBAND 0 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2830 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 350 SEABIRD_T_G 0.0043955045

MAX_BUOY 150 PITCH_CNV 0.003125763 AH0_10V 0 SEABIRD_T_H 0.00063085643

COURSE_BIAS 0 P_OVSHOOT 0.039999999 MINV_24V 11 SEABIRD_T_I 2.5021687e-05

GLIDE_SLOPE 30 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.0087358e-06

SPEED_FACTOR 1 PITCH_GAIN 40 MAXI_24V 0.60000002 SEABIRD_C_G -9.7732916

RHO 1.0275 PITCH_TIMEOUT 30 MAXI_10V 0.80000001 SEABIRD_C_H 1.1286387

MASS 55610 PITCH_AD_RATE 50 FG_AHR_10V 0 SEABIRD_C_I -0.0014607979

MASS_COMP 0 PITCH_MAXERRORS 1 FG_AHR_24V 0 SEABIRD_C_J 0.00018615076

NAV_MODE 2 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.67619 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 276 PRESSURE_SLOPE 0.00010932798 SC_XMITPROFILE 3.0

HD_A 0.0040899999 ROLL_MAX 3935 AD7714Ch0Gain 1 SC_NDIVE 1.0

HD_B 0.0102 ROLL_DEG 0 COMPASS_USE 4

HD_C 4.5000002e-06 C_ROLL_DIVE 2700 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.0043955045

AH0_10V 0 D_TGT 600 PHONE_DEVICE 49 SEABIRD_T_H 0.00063085643

AH0_24V 350 ESCAPE_HEADING 0 PHONE_SUPPLY -2 SEABIRD_T_I 2.5021687e-05

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_J 3.0087358e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 50 SM_CC 400

ALTIM_PING_DEPTH 0 FG_AHR_24V 0 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_DBAND 0.1 STOP_T 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 40 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_MAX 3920 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 0.0040899999 PITCH_MIN 225 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0102 PITCH_TIMEOUT 30 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_C 4.5000002e-06 PITCH_VBD_SHIFT 9.9999997e-05 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_ABORT 720

CALL_WAIT 60 HEAPDBG 0 PRESSURE_SLOPE 0.00010932798 T_BOOST 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -166.67619 T_DIVE 200

CAPUPLOAD 0 ID 141 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 P_OVSHOOT_WITHG 0 T_LOITER 0

COMPASS2_DEVICE 149 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_MISSION 240

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 2830 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2500 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2700 LOITER_DBDW 0 RHO 1.0275 UNCOM_BLEED 50

C_VBD 2950 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DEEPGLIDER 0 LOITER_N_DIVE 0 ROLL_AD_RATE 50 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55610 ROLL_DEG 0 VBD_CNV -0.24529999

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3935 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 0.80000001 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 276 VBD_MAX 3935

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 9 MINV_10V 11 R_PORT_OVSHOOT 27 VBD_MIN 470

D_ABORT 1010 MINV_24V 11 R_STBD_OVSHOOT 13 VBD_PUMP_AD_RATE_APOGEE 1

D_BOOST 2 MISSION 11 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

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 2 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 SEABIRD_C_G -9.7732916 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_C_H 1.1286387 XPDR_VALID 6

D_PITCH 0 N_GPS 100440 SEABIRD_C_I -0.0014607979

D_SAFE 0 N_NOCOMM 2 SEABIRD_C_J 0.00018615076

Pre-dive calculations and measurements:

GPS1 300519,023605,5820.2183,-2400.1375,10,1.7,43,-13.4,0.3,8.1,4,9.8 SPEED_LIMITS 0.173,0.260

_CALLS 1 TGT_NAME C3

_XMS_NAKs 0 TGT_LATLONG 5800.000,-2336.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.93 MHEAD_RNG_PITCHd_Wd 129.1,44488,-18.4,-10.000,-21.03,2244

_SM_ANGLEo -65.0 D_GRID 600

GPS2 300519,024353,5820.2671,-2400.3345,19,1.4,45,-13.4,0.7,321.4,6,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.000749 _10V_AH 13.35,0.000

SM_CCo 11303,161.18,0.665,1,0,1317,400.08 FG_AHR_24Vo 0.000

SM_GC 0.93,8.38,0.30,161.18,0.094,0.096,0.665,223,2709,1317,-8.10,-0.71,400.08,0,0,0,0,1,0,14.66,14.69,13.87 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5819.16,-2358.17,300519,013325 MEM 335656

TT8_MAMPS 0.020972,0.95123 DATA_FILE_SIZE 30065,867

HUMID 40.23 CAP_FILE_SIZE 92208,0

INTERNAL_PRESSURE 8.82846 CFSIZE 260034560,257286144

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 7 CURRENT 0.217,307.12,1

SC_FREEKB 3903680 GPS 300519,055733,5820.818,-2401.990,38,1.0,53,-13.4,1.1,55.1,8,9.4

_24V_AH 13.28,4.114

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 442 131.68 nil 0 0 0.00

Roll_motor 2 136 4.64 nil 0 0 0.00

VBD_pump_during_apogee 344 1565 7161.20 nil 0 0 0.00

VBD_pump_during_surface 161 664 1422.91 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 11300 22 3381.99

Iridium_during_xfer 264 187 657.16 nil 0 0 0.00

Transponder_ping 1 420 9.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 56 11 8.51

TT8 2110 10 309.05

LPSleep 7241 2 211.72

TT8_Active 659 10 96.62

TT8_Sampling 1685 28 651.51

TT8_CF8 269 34 125.66

TT8_Kalman 0 0 0.00

Analog_circuits 1629 10 217.57

GPS_charging 0 0 0.00

Compass 1342 11 201.42

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

11 -0.48 -146.0 218 2696 1296 1315 0.0 0.0 0 112 0.00 0.00 -96.05 0.005 16390 0.000 0.000 217 2692 3547 3488 3606 0 0 0 0 0 0 14.62 13.64 14.64

116 -0.48 -146.0 218 2692 3487 3606 3.8 -5.9 10 135 12.50 0.00 0.00 0.000 2342 0.442 0.000 2671 2692 3547 3489 3606 0 0 0 0 0 0 14.25 14.50 14.47

314 -0.51 -146.0 2670 2692 3494 3601 32.2 -9.9 31 319 0.00 0.00 0.00 0.000 422 0.000 0.000 2671 2692 3547 3494 3601 0 0 0 0 0 0 14.71 14.74 14.73

509 -0.54 -146.0 2671 2692 3495 3600 51.6 -9.9 51 516 0.00 0.00 0.00 0.000 166 0.000 0.000 2671 2692 3548 3495 3601 0 0 0 0 0 0 14.76 14.78 14.78

699 -0.58 -146.0 2671 2692 3495 3601 70.1 -9.8 70 704 0.00 0.00 0.00 0.000 422 0.000 0.000 2671 2692 3548 3495 3601 0 0 0 0 0 0 14.80 14.82 14.82

894 -0.62 -146.0 2670 2692 3495 3600 89.5 -10.0 90 899 0.15 0.00 0.00 0.000 4518 0.149 0.000 2619 2692 3548 3495 3601 0 0 0 0 0 0 14.60 14.67 14.65

1088 -0.59 -146.0 2618 2697 3494 3600 114.1 -12.8 110 1093 0.00 0.00 0.00 0.000 390 0.000 0.000 2619 2692 3547 3495 3600 0 0 0 0 0 0 14.84 14.86 14.86

1282 -0.59 -146.0 2618 2692 3495 3600 139.3 -13.1 130 1287 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3547 3495 3600 0 0 0 0 0 0 14.86 14.90 14.88

1475 -0.59 -146.0 2618 2692 3495 3600 163.8 -12.1 150 1480 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3547 3495 3600 0 0 0 0 0 0 14.87 14.89 14.89

1669 -0.59 -146.0 2618 2692 3495 3600 187.8 -12.1 170 1674 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3547 3494 3600 0 0 0 0 0 0 14.88 14.90 14.90

1863 -0.59 -146.0 2618 2692 3495 3600 210.4 -11.7 190 1868 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3547 3495 3600 0 0 0 0 0 0 14.88 14.90 14.90

2056 -0.59 -146.0 2618 2692 3495 3599 232.6 -11.7 210 2061 0.00 0.00 0.00 0.000 262 0.000 0.000 2618 2692 3546 3493 3600 0 0 0 0 0 0 14.88 14.91 14.90

2250 -0.59 -146.0 2618 2692 3495 3599 254.9 -11.6 228 2256 0.00 0.00 0.00 0.000 262 0.000 0.000 2618 2692 3547 3495 3599 0 0 0 0 0 0 14.88 14.90 14.90

2574 -0.59 -146.0 2624 2692 3495 3599 292.6 -11.8 247 2579 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3545 3491 3599 0 0 0 0 0 0 14.90 14.92 14.92

2898 -0.59 -146.0 2619 2693 3495 3598 331.4 -12.1 266 2903 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3546 3495 3598 0 0 0 0 0 0 14.92 14.94 14.94

3222 -0.59 -146.0 2618 2692 3495 3593 369.9 -11.8 285 3227 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3546 3495 3597 0 0 0 0 0 0 14.91 14.93 14.92

3546 -0.59 -146.0 2618 2697 3495 3597 409.1 -12.2 304 3551 0.00 0.00 0.00 0.000 262 0.000 0.000 2615 2692 3548 3500 3597 0 0 0 0 0 0 14.92 14.95 14.94

3870 -0.59 -146.0 2618 2692 3495 3596 448.3 -11.7 323 3875 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3545 3495 3596 0 0 0 0 0 0 14.92 14.93 14.94

4194 -0.59 -146.0 2618 2692 3495 3595 486.1 -11.1 342 4199 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3545 3495 3595 0 0 0 0 0 0 14.92 14.94 14.94

4518 -0.59 -146.0 2618 2692 3495 3594 521.6 -11.0 361 4523 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3543 3492 3594 0 0 0 0 0 0 14.93 14.95 14.95

4842 -0.59 -146.0 2618 2692 3495 3594 557.2 -10.9 380 4848 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3544 3495 3594 0 0 0 0 0 0 14.92 14.95 14.97

5167 -0.59 -146.0 2618 2692 3495 3593 592.0 -10.7 399 5171 0.00 0.00 0.00 0.000 262 0.000 0.000 2619 2692 3544 3495 3593 0 0 0 0 0 0 14.93 14.95 14.95

5247 end dive: TARGET_DEPTH_EXCEEDED

state 5247 begin apogee

5255 -0.12 0.0 2619 2456 3495 3593 601.2 -10.9 406 5380 0.60 0.12 120.28 1.565 10246 0.235 0.137 2784 2529 2951 2987 2915 0 0 0 0 0 0 14.64 13.98 13.43

5382 end apogee: CONTROL_FINISHED_OK

state 5382 begin climb

5385 0.48 146.0 2784 2528 2987 2913 605.1 0.0 412 5523 0.68 0.00 126.68 1.512 10502 0.151 0.000 2983 2528 2350 2396 2305 0 0 0 0 0 0 13.99 13.74 13.28

5837 0.48 155.4 2980 2528 2393 2301 568.3 9.6 455 5847 0.00 0.00 8.18 1.227 8486 0.000 0.000 2980 2528 2317 2364 2271 0 0 0 0 0 0 14.62 14.41 13.81

6162 0.48 163.9 2980 2528 2361 2269 536.9 9.6 474 6176 0.00 0.00 9.15 1.253 8486 0.000 0.000 2980 2533 2280 2327 2234 0 0 0 0 0 0 14.72 14.36 13.88

6485 0.48 170.7 2980 2528 2324 2232 505.7 9.7 493 6497 0.00 0.00 6.88 1.157 8486 0.000 0.000 2980 2528 2254 2301 2208 0 0 0 0 0 0 14.77 14.45 13.96

6811 0.48 170.7 2980 2528 2298 2207 473.5 10.4 512 6816 0.00 0.00 0.00 0.000 262 0.000 0.000 2980 2528 2252 2298 2207 0 0 0 0 0 0 14.80 14.82 14.81

7134 0.48 170.7 2980 2529 2297 2207 440.2 10.2 531 7139 0.00 0.00 0.00 0.000 262 0.000 0.000 2980 2528 2252 2297 2207 0 0 0 0 0 0 14.84 14.86 14.85

7459 0.48 178.5 2980 2528 2296 2207 408.5 9.6 550 7470 0.00 0.00 7.62 1.128 8486 0.000 0.000 2980 2528 2224 2270 2179 0 0 0 0 0 0 14.88 14.66 14.07

7784 0.48 178.5 2980 2528 2266 2177 376.7 10.1 569 7790 0.00 0.00 0.00 0.000 262 0.000 0.000 2980 2529 2221 2266 2177 0 0 0 0 0 0 14.85 14.88 14.88

8109 0.48 184.4 2980 2528 2266 2177 344.6 9.7 588 8120 0.00 0.00 6.90 1.047 8486 0.000 0.000 2980 2528 2198 2242 2154 0 0 0 0 0 0 14.88 14.68 14.11

8434 0.48 193.3 2980 2528 2241 2152 313.5 9.6 607 8449 0.00 0.00 9.10 1.086 8486 0.000 0.000 2980 2528 2161 2207 2115 0 0 0 0 0 0 14.88 14.54 14.11

8759 0.48 204.0 2980 2528 2206 2113 282.6 9.5 626 8776 0.00 0.00 10.25 1.077 8230 0.000 0.000 2980 2528 2118 2165 2071 0 0 0 0 0 0 14.85 14.59 14.11

9078 0.48 214.8 2980 2528 2164 2068 252.0 9.5 642 9096 0.00 0.00 10.40 1.050 8230 0.000 0.000 2980 2528 2074 2121 2027 0 0 0 0 0 0 14.85 14.61 14.11

9398 0.52 231.6 2980 2528 2119 2025 221.7 9.2 672 9416 0.00 0.00 15.05 1.070 8614 0.000 0.000 2980 2528 2006 2054 1958 0 0 0 0 0 0 14.83 14.58 14.08

9608 0.56 239.2 2979 2528 2053 1954 202.3 9.6 694 9620 0.00 0.00 7.90 0.944 8614 0.000 0.000 2980 2528 1974 2023 1925 0 0 0 0 0 0 14.78 14.59 14.09

9802 0.61 244.9 2980 2528 2022 1923 183.8 9.7 714 9814 0.12 0.00 6.15 0.871 10662 0.164 0.000 3030 2528 1951 2000 1902 0 0 0 0 0 0 14.57 14.61 14.10

9994 0.61 244.9 3029 2528 1999 1901 158.7 13.0 734 9999 0.00 0.00 0.00 0.000 262 0.000 0.000 3029 2528 1949 1998 1901 0 0 0 0 0 0 14.81 14.82 14.82

10188 0.61 244.9 3029 2528 1998 1901 134.6 12.0 754 10194 0.00 0.00 0.00 0.000 262 0.000 0.000 3030 2528 1949 1998 1901 0 0 0 0 0 0 14.83 14.85 14.84

10383 0.61 244.9 3029 2528 1998 1900 111.4 11.9 774 10388 0.00 0.00 0.00 0.000 262 0.000 0.000 3030 2528 1949 1998 1901 0 0 0 0 0 0 14.84 14.86 14.86

10577 0.61 244.9 3029 2532 1998 1900 88.7 11.5 794 10582 0.00 0.00 0.00 0.000 262 0.000 0.000 3030 2528 1949 1998 1900 0 0 0 0 0 0 14.85 14.88 14.87

10771 0.61 244.9 3029 2528 1998 1900 65.7 11.8 814 10776 0.00 0.00 0.00 0.000 262 0.000 0.000 3029 2528 1949 1998 1900 0 0 0 0 0 0 14.85 14.88 14.88

10965 0.61 244.9 3029 2528 1997 1900 42.4 12.5 834 10970 0.00 0.00 0.00 0.000 262 0.000 0.000 3030 2527 1948 1997 1900 0 0 0 0 0 0 14.85 14.88 14.88

11160 0.61 244.9 3030 2528 1997 1900 18.0 12.0 854 11165 0.00 0.00 0.00 0.000 262 0.000 0.000 3029 2528 1948 1997 1900 0 0 0 0 0 0 14.87 14.89 14.91

11271 end climb: SURFACE_DEPTH_REACHED

state 11271 begin surface coast

11281 end surface coast: CONTROL_FINISHED_OK

state 11281 begin surface

ID	141	HEADING	-1	C_ROLL_CLIMB	2500	ALTIM_TOP_PING_RANGE	0
MISSION	11	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	ALTIM_TOP_MIN_OBSTACLE	0
STOP_T	0	TGT_DEFAULT_LAT	4736	R_PORT_OVSHOOT	27	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	13	ALTIM_PING_DELTA	0
D_FLARE	2	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	50	ALTIM_FREQUENCY	13
D_TGT	600	SM_CC	400	ROLL_MAXERRORS	1	ALTIM_PULSE	3
D_ABORT	1010	N_FILEKB	8	ROLL_ADJ_GAIN	0	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	FILEMGR	0	ROLL_ADJ_DBAND	0	XPDR_VALID	6
D_BOOST	2	CALL_NDIVES	1	VBD_MIN	470	XPDR_INHIBIT	90
T_BOOST	0	COMM_SEQ	0	VBD_MAX	3935	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	PROTOCOL	9	C_VBD	2950	INT_PRESSURE_YINT	0
D_PITCH	0	N_NOCOMM	2	VBD_DBAND	2	DEEPGLIDER	0
D_SAFE	0	NOCOMM_ACTION	163	VBD_CNV	-0.24529999	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	9.9999997e-05	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE4	-1
T_DIVE	200	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	1	DEVICE5	-1
T_MISSION	240	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	DEVICE6	-1
T_ABORT	720	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	0	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	225	PITCH_W_GAIN	0	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3920	PITCH_W_DBAND	0	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2830	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	350	SEABIRD_T_G	0.0043955045
MAX_BUOY	150	PITCH_CNV	0.003125763	AH0_10V	0	SEABIRD_T_H	0.00063085643
COURSE_BIAS	0	P_OVSHOOT	0.039999999	MINV_24V	11	SEABIRD_T_I	2.5021687e-05
GLIDE_SLOPE	30	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.0087358e-06
SPEED_FACTOR	1	PITCH_GAIN	40	MAXI_24V	0.60000002	SEABIRD_C_G	-9.7732916
RHO	1.0275	PITCH_TIMEOUT	30	MAXI_10V	0.80000001	SEABIRD_C_H	1.1286387
MASS	55610	PITCH_AD_RATE	50	FG_AHR_10V	0	SEABIRD_C_I	-0.0014607979
MASS_COMP	0	PITCH_MAXERRORS	1	FG_AHR_24V	0	SEABIRD_C_J	0.00018615076
NAV_MODE	2	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.67619	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	276	PRESSURE_SLOPE	0.00010932798	SC_XMITPROFILE	3.0
HD_A	0.0040899999	ROLL_MAX	3935	AD7714Ch0Gain	1	SC_NDIVE	1.0
HD_B	0.0102	ROLL_DEG	0	COMPASS_USE	4
HD_C	4.5000002e-06	C_ROLL_DIVE	2700	ALTIM_PING_FIT	0

GPS1	300519,023605,5820.2183,-2400.1375,10,1.7,43,-13.4,0.3,8.1,4,9.8	SPEED_LIMITS	0.173,0.260
_CALLS	1	TGT_NAME	C3
_XMS_NAKs	0	TGT_LATLONG	5800.000,-2336.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.93	MHEAD_RNG_PITCHd_Wd	129.1,44488,-18.4,-10.000,-21.03,2244
_SM_ANGLEo	-65.0	D_GRID	600
GPS2	300519,024353,5820.2671,-2400.3345,19,1.4,45,-13.4,0.7,321.4,6,10.0

FINISH	0.1,1.000749	_10V_AH	13.35,0.000
SM_CCo	11303,161.18,0.665,1,0,1317,400.08	FG_AHR_24Vo	0.000
SM_GC	0.93,8.38,0.30,161.18,0.094,0.096,0.665,223,2709,1317,-8.10,-0.71,400.08,0,0,0,0,1,0,14.66,14.69,13.87	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5819.16,-2358.17,300519,013325	MEM	335656
TT8_MAMPS	0.020972,0.95123	DATA_FILE_SIZE	30065,867
HUMID	40.23	CAP_FILE_SIZE	92208,0
INTERNAL_PRESSURE	8.82846	CFSIZE	260034560,257286144
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	7	CURRENT	0.217,307.12,1
SC_FREEKB	3903680	GPS	300519,055733,5820.818,-2401.990,38,1.0,53,-13.4,1.1,55.1,8,9.4
_24V_AH	13.28,4.114

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	442	131.68	nil	0	0	0.00
Roll_motor	2	136	4.64	nil	0	0	0.00
VBD_pump_during_apogee	344	1565	7161.20	nil	0	0	0.00
VBD_pump_during_surface	161	664	1422.91	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	11300	22	3381.99
Iridium_during_xfer	264	187	657.16	nil	0	0	0.00
Transponder_ping	1	420	9.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	56	11	8.51
TT8	2110	10	309.05
LPSleep	7241	2	211.72
TT8_Active	659	10	96.62
TT8_Sampling	1685	28	651.51
TT8_CF8	269	34	125.66
TT8_Kalman	0	0	0.00
Analog_circuits	1629	10	217.57
GPS_charging	0	0	0.00
Compass	1342	11	201.42
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
11	-0.48	-146.0	218	2696	1296	1315	0.0	0.0	0	112	0.00	0.00	-96.05	0.005	16390	0.000	0.000	217	2692	3547	3488	3606	0	0	0	0	0	0	14.62	13.64	14.64
116	-0.48	-146.0	218	2692	3487	3606	3.8	-5.9	10	135	12.50	0.00	0.00	0.000	2342	0.442	0.000	2671	2692	3547	3489	3606	0	0	0	0	0	0	14.25	14.50	14.47
314	-0.51	-146.0	2670	2692	3494	3601	32.2	-9.9	31	319	0.00	0.00	0.00	0.000	422	0.000	0.000	2671	2692	3547	3494	3601	0	0	0	0	0	0	14.71	14.74	14.73
509	-0.54	-146.0	2671	2692	3495	3600	51.6	-9.9	51	516	0.00	0.00	0.00	0.000	166	0.000	0.000	2671	2692	3548	3495	3601	0	0	0	0	0	0	14.76	14.78	14.78
699	-0.58	-146.0	2671	2692	3495	3601	70.1	-9.8	70	704	0.00	0.00	0.00	0.000	422	0.000	0.000	2671	2692	3548	3495	3601	0	0	0	0	0	0	14.80	14.82	14.82
894	-0.62	-146.0	2670	2692	3495	3600	89.5	-10.0	90	899	0.15	0.00	0.00	0.000	4518	0.149	0.000	2619	2692	3548	3495	3601	0	0	0	0	0	0	14.60	14.67	14.65
1088	-0.59	-146.0	2618	2697	3494	3600	114.1	-12.8	110	1093	0.00	0.00	0.00	0.000	390	0.000	0.000	2619	2692	3547	3495	3600	0	0	0	0	0	0	14.84	14.86	14.86
1282	-0.59	-146.0	2618	2692	3495	3600	139.3	-13.1	130	1287	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3547	3495	3600	0	0	0	0	0	0	14.86	14.90	14.88
1475	-0.59	-146.0	2618	2692	3495	3600	163.8	-12.1	150	1480	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3547	3495	3600	0	0	0	0	0	0	14.87	14.89	14.89
1669	-0.59	-146.0	2618	2692	3495	3600	187.8	-12.1	170	1674	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3547	3494	3600	0	0	0	0	0	0	14.88	14.90	14.90
1863	-0.59	-146.0	2618	2692	3495	3600	210.4	-11.7	190	1868	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3547	3495	3600	0	0	0	0	0	0	14.88	14.90	14.90
2056	-0.59	-146.0	2618	2692	3495	3599	232.6	-11.7	210	2061	0.00	0.00	0.00	0.000	262	0.000	0.000	2618	2692	3546	3493	3600	0	0	0	0	0	0	14.88	14.91	14.90
2250	-0.59	-146.0	2618	2692	3495	3599	254.9	-11.6	228	2256	0.00	0.00	0.00	0.000	262	0.000	0.000	2618	2692	3547	3495	3599	0	0	0	0	0	0	14.88	14.90	14.90
2574	-0.59	-146.0	2624	2692	3495	3599	292.6	-11.8	247	2579	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3545	3491	3599	0	0	0	0	0	0	14.90	14.92	14.92
2898	-0.59	-146.0	2619	2693	3495	3598	331.4	-12.1	266	2903	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3546	3495	3598	0	0	0	0	0	0	14.92	14.94	14.94
3222	-0.59	-146.0	2618	2692	3495	3593	369.9	-11.8	285	3227	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3546	3495	3597	0	0	0	0	0	0	14.91	14.93	14.92
3546	-0.59	-146.0	2618	2697	3495	3597	409.1	-12.2	304	3551	0.00	0.00	0.00	0.000	262	0.000	0.000	2615	2692	3548	3500	3597	0	0	0	0	0	0	14.92	14.95	14.94
3870	-0.59	-146.0	2618	2692	3495	3596	448.3	-11.7	323	3875	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3545	3495	3596	0	0	0	0	0	0	14.92	14.93	14.94
4194	-0.59	-146.0	2618	2692	3495	3595	486.1	-11.1	342	4199	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3545	3495	3595	0	0	0	0	0	0	14.92	14.94	14.94
4518	-0.59	-146.0	2618	2692	3495	3594	521.6	-11.0	361	4523	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3543	3492	3594	0	0	0	0	0	0	14.93	14.95	14.95
4842	-0.59	-146.0	2618	2692	3495	3594	557.2	-10.9	380	4848	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3544	3495	3594	0	0	0	0	0	0	14.92	14.95	14.97
5167	-0.59	-146.0	2618	2692	3495	3593	592.0	-10.7	399	5171	0.00	0.00	0.00	0.000	262	0.000	0.000	2619	2692	3544	3495	3593	0	0	0	0	0	0	14.93	14.95	14.95
5247	end dive: TARGET_DEPTH_EXCEEDED
state	5247	begin apogee
5255	-0.12	0.0	2619	2456	3495	3593	601.2	-10.9	406	5380	0.60	0.12	120.28	1.565	10246	0.235	0.137	2784	2529	2951	2987	2915	0	0	0	0	0	0	14.64	13.98	13.43
5382	end apogee: CONTROL_FINISHED_OK
state	5382	begin climb
5385	0.48	146.0	2784	2528	2987	2913	605.1	0.0	412	5523	0.68	0.00	126.68	1.512	10502	0.151	0.000	2983	2528	2350	2396	2305	0	0	0	0	0	0	13.99	13.74	13.28
5837	0.48	155.4	2980	2528	2393	2301	568.3	9.6	455	5847	0.00	0.00	8.18	1.227	8486	0.000	0.000	2980	2528	2317	2364	2271	0	0	0	0	0	0	14.62	14.41	13.81
6162	0.48	163.9	2980	2528	2361	2269	536.9	9.6	474	6176	0.00	0.00	9.15	1.253	8486	0.000	0.000	2980	2533	2280	2327	2234	0	0	0	0	0	0	14.72	14.36	13.88
6485	0.48	170.7	2980	2528	2324	2232	505.7	9.7	493	6497	0.00	0.00	6.88	1.157	8486	0.000	0.000	2980	2528	2254	2301	2208	0	0	0	0	0	0	14.77	14.45	13.96
6811	0.48	170.7	2980	2528	2298	2207	473.5	10.4	512	6816	0.00	0.00	0.00	0.000	262	0.000	0.000	2980	2528	2252	2298	2207	0	0	0	0	0	0	14.80	14.82	14.81
7134	0.48	170.7	2980	2529	2297	2207	440.2	10.2	531	7139	0.00	0.00	0.00	0.000	262	0.000	0.000	2980	2528	2252	2297	2207	0	0	0	0	0	0	14.84	14.86	14.85
7459	0.48	178.5	2980	2528	2296	2207	408.5	9.6	550	7470	0.00	0.00	7.62	1.128	8486	0.000	0.000	2980	2528	2224	2270	2179	0	0	0	0	0	0	14.88	14.66	14.07
7784	0.48	178.5	2980	2528	2266	2177	376.7	10.1	569	7790	0.00	0.00	0.00	0.000	262	0.000	0.000	2980	2529	2221	2266	2177	0	0	0	0	0	0	14.85	14.88	14.88
8109	0.48	184.4	2980	2528	2266	2177	344.6	9.7	588	8120	0.00	0.00	6.90	1.047	8486	0.000	0.000	2980	2528	2198	2242	2154	0	0	0	0	0	0	14.88	14.68	14.11
8434	0.48	193.3	2980	2528	2241	2152	313.5	9.6	607	8449	0.00	0.00	9.10	1.086	8486	0.000	0.000	2980	2528	2161	2207	2115	0	0	0	0	0	0	14.88	14.54	14.11
8759	0.48	204.0	2980	2528	2206	2113	282.6	9.5	626	8776	0.00	0.00	10.25	1.077	8230	0.000	0.000	2980	2528	2118	2165	2071	0	0	0	0	0	0	14.85	14.59	14.11
9078	0.48	214.8	2980	2528	2164	2068	252.0	9.5	642	9096	0.00	0.00	10.40	1.050	8230	0.000	0.000	2980	2528	2074	2121	2027	0	0	0	0	0	0	14.85	14.61	14.11
9398	0.52	231.6	2980	2528	2119	2025	221.7	9.2	672	9416	0.00	0.00	15.05	1.070	8614	0.000	0.000	2980	2528	2006	2054	1958	0	0	0	0	0	0	14.83	14.58	14.08
9608	0.56	239.2	2979	2528	2053	1954	202.3	9.6	694	9620	0.00	0.00	7.90	0.944	8614	0.000	0.000	2980	2528	1974	2023	1925	0	0	0	0	0	0	14.78	14.59	14.09
9802	0.61	244.9	2980	2528	2022	1923	183.8	9.7	714	9814	0.12	0.00	6.15	0.871	10662	0.164	0.000	3030	2528	1951	2000	1902	0	0	0	0	0	0	14.57	14.61	14.10
9994	0.61	244.9	3029	2528	1999	1901	158.7	13.0	734	9999	0.00	0.00	0.00	0.000	262	0.000	0.000	3029	2528	1949	1998	1901	0	0	0	0	0	0	14.81	14.82	14.82
10188	0.61	244.9	3029	2528	1998	1901	134.6	12.0	754	10194	0.00	0.00	0.00	0.000	262	0.000	0.000	3030	2528	1949	1998	1901	0	0	0	0	0	0	14.83	14.85	14.84
10383	0.61	244.9	3029	2528	1998	1900	111.4	11.9	774	10388	0.00	0.00	0.00	0.000	262	0.000	0.000	3030	2528	1949	1998	1901	0	0	0	0	0	0	14.84	14.86	14.86
10577	0.61	244.9	3029	2532	1998	1900	88.7	11.5	794	10582	0.00	0.00	0.00	0.000	262	0.000	0.000	3030	2528	1949	1998	1900	0	0	0	0	0	0	14.85	14.88	14.87
10771	0.61	244.9	3029	2528	1998	1900	65.7	11.8	814	10776	0.00	0.00	0.00	0.000	262	0.000	0.000	3029	2528	1949	1998	1900	0	0	0	0	0	0	14.85	14.88	14.88
10965	0.61	244.9	3029	2528	1997	1900	42.4	12.5	834	10970	0.00	0.00	0.00	0.000	262	0.000	0.000	3030	2527	1948	1997	1900	0	0	0	0	0	0	14.85	14.88	14.88
11160	0.61	244.9	3030	2528	1997	1900	18.0	12.0	854	11165	0.00	0.00	0.00	0.000	262	0.000	0.000	3029	2528	1948	1997	1900	0	0	0	0	0	0	14.87	14.89	14.91
11271	end climb: SURFACE_DEPTH_REACHED
state	11271	begin surface coast
11281	end surface coast: CONTROL_FINISHED_OK
state	11281	begin surface