Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 3700 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 10 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 4212 R_PORT_OVSHOOT 14 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 15 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 150 SM_CC 300 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 0.00065 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE4 -1

T_DIVE 50 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 70 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 2 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 2 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MAX 3650 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

RELAUNCH 1 C_PITCH 2730 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 PITCH_DBAND 0.1 AH0_24V 0 SEABIRD_T_G 0.004412075

MAX_BUOY 100 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 50 P_OVSHOOT_WITHG 0 MINV_10V 11 SEABIRD_T_J 3.254017e-06

SPEED_FACTOR 1 PITCH_GAIN 50 MAXI_24V 0.60000002 SEABIRD_C_G -9.9840622

RHO 1.0275 PITCH_TIMEOUT 16 MAXI_10V 1.4 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 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_ADJ_DBAND 0 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 0 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 3700 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 150 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 0 SEABIRD_T_J 3.254017e-06

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SIM_W 0

ALTIM_PING_DELTA 0 FG_AHR_10V 0 PITCH_AD_RATE 150 SM_CC 300

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 50 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 50 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 0.00065 TGT_DEFAULT_LAT 4212

CALL_NDIVES 1 HEADING -1 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -7043

CALL_TRIES 5 HEAD_ERRBAND 10 PITCH_W_GAIN 2 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 50

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 70

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 2730 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 1.5 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3700 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 3700 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 200 USE_ICE 0

DEVICE1 -1 LOITER_W_DBAND 0 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MASS 55590 ROLL_DEG 0 VBD_CNV -0.245296

DEVICE3 -1 MASS_COMP 0 ROLL_MAX 3850 VBD_DBAND 2

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE5 -1 MAXI_24V 0.60000002 ROLL_MIN 270 VBD_MAX 3925

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 10 MINV_10V 11 R_PORT_OVSHOOT 14 VBD_MIN 450

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 15 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 2

D_FLARE 3 NOCOMM_ACTION 163 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_NO_BLEED 200 N_DIVES 0 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 170519,162228,5922.3589,-2120.7297,14,1.0,22,-12.5,0.0,58.6,7,9.5 SPEED_LIMITS 0.084,0.216

_CALLS 1 TGT_NAME NW

_XMS_NAKs 0 TGT_LATLONG 5930.000,-2130.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.77 MHEAD_RNG_PITCHd_Wd 295.7,16600,-22.4,-10.000,-24.83,1497

_SM_ANGLEo -74.3 D_GRID 1000

GPS2 170519,162845,5922.3848,-2120.6851,5,0.7,15,-12.5,0.0,74.6,12,9.3

Post-dive calculations and measurements:

FINISH 0.5,1.027046 _10V_AH 12.57,8.010

SM_CCo 2991,179.68,0.946,1,0,1676,300.24 FG_AHR_24Vo 0.000

SM_GC 0.73,7.82,0.00,179.68,0.065,0.000,0.946,167,3713,1676,-7.93,0.37,300.24,0,0,0,0,1,0,14.55,14.78,13.33 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5919.29,-2112.85,170519,150802 MEM 304540

TT8_MAMPS 0.023219,0.829892 DATA_FILE_SIZE 10116,313

HUMID 36.80 CAP_FILE_SIZE 41319,0

INTERNAL_PRESSURE 8.80829 CFSIZE 2097872896,2094333952

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 0 CURRENT 0.157,51.04,1

SC_FREEKB 3901792 GPS 170519,172313,5922.496,-2120.209,6,0.8,15,-12.5,0.6,29.7,11,10.0

_24V_AH 13.22,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 445 128.98 nil 0 0 0.00

Roll_motor 6 134 11.04 nil 0 0 0.00

VBD_pump_during_apogee 164 1238 2687.70 nil 0 0 0.00

VBD_pump_during_surface 179 945 2245.94 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 2994 60 2379.67

Iridium_during_xfer 274 201 733.89 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 24 11 3.43

TT8 778 10 107.35

LPSleep 1514 2 41.69

TT8_Active 450 10 62.09

TT8_Sampling 801 30 306.77

TT8_CF8 36 36 16.57

TT8_Kalman 0 0 0.00

Analog_circuits 1016 10 127.81

GPS_charging 0 0 0.00

Compass 462 6 39.20

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.51 -97.3 151 3711 1665 1681 0.0 0.0 0 111 0.00 0.00 -86.70 0.008 16390 0.000 0.000 150 3711 3296 3441 3152 0 0 0 0 0 0 14.55 13.57 14.57

113 -0.51 -97.3 150 3712 3441 3152 2.4 -2.8 9 129 12.88 0.00 0.00 0.000 2342 0.446 0.000 2558 3713 3297 3442 3153 0 0 0 0 0 0 14.09 14.45 14.39

316 -0.51 -97.3 2557 3713 3445 3153 30.3 -11.5 31 321 0.00 0.00 0.00 0.000 262 0.000 0.000 2558 3714 3299 3445 3153 0 0 0 0 0 0 14.66 14.68 14.68

507 -0.51 -97.3 2558 3713 3445 3153 51.9 -10.7 51 512 0.00 0.00 0.00 0.000 262 0.000 0.000 2557 3714 3299 3445 3153 0 0 0 0 0 0 14.71 14.73 14.73

698 -0.51 -97.3 2558 3713 3445 3153 72.6 -10.7 71 703 0.00 0.00 0.00 0.000 262 0.000 0.000 2557 3714 3299 3445 3153 0 0 0 0 0 0 14.71 14.73 14.72

890 -0.51 -97.3 2556 3714 3445 3153 93.2 -10.9 91 895 0.00 0.00 0.00 0.000 262 0.000 0.000 2557 3713 3299 3445 3153 0 0 0 0 0 0 14.72 14.74 14.74

1081 -0.51 -97.3 2557 3713 3445 3153 114.4 -11.4 111 1086 0.00 0.00 0.00 0.000 262 0.000 0.000 2558 3714 3299 3445 3153 0 0 0 0 0 0 14.74 14.77 14.76

1272 -0.51 -97.3 2557 3714 3444 3153 137.1 -11.5 131 1277 0.00 0.00 0.00 0.000 262 0.000 0.000 2558 3713 3298 3444 3153 0 0 0 0 0 0 14.76 14.78 14.78

1392 end dive: TARGET_DEPTH_EXCEEDED

state 1393 begin apogee

1396 -0.10 0.0 2559 3713 3444 3153 150.6 -11.4 144 1486 0.50 0.00 81.95 1.239 10246 0.230 0.000 2692 3714 2898 2979 2818 0 0 0 0 0 0 14.38 13.83 13.26

1487 end apogee: CONTROL_FINISHED_OK

state 1487 begin climb

1488 0.51 97.3 2692 3713 2978 2818 154.9 0.0 153 1577 0.68 0.00 82.20 1.209 10502 0.155 0.000 2894 3713 2504 2533 2475 0 0 0 0 0 0 14.02 13.93 13.22

1754 0.51 97.3 2894 3713 2531 2463 132.1 10.0 185 1759 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3712 2497 2531 2463 0 0 0 0 0 0 14.52 14.54 14.53

1946 0.51 97.3 2894 3713 2531 2462 112.7 10.3 205 1951 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2496 2531 2461 0 0 0 0 0 0 14.64 14.66 14.65

2138 0.51 97.3 2894 3713 2531 2461 93.5 9.9 225 2142 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2496 2532 2461 0 0 0 0 0 0 14.67 14.69 14.68

2329 0.51 97.3 2894 3713 2531 2460 73.5 10.4 245 2334 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2495 2531 2460 0 0 0 0 0 0 14.71 14.73 14.73

2521 0.51 97.3 2894 3713 2531 2459 52.2 11.6 265 2526 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2495 2531 2460 0 0 0 0 0 0 14.72 14.76 14.75

2713 0.51 97.3 2894 3712 2531 2459 30.2 11.4 285 2718 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2495 2531 2459 0 0 0 0 0 0 14.73 14.76 14.76

2905 0.51 97.3 2894 3713 2531 2459 8.6 10.8 305 2910 0.00 0.00 0.00 0.000 262 0.000 0.000 2894 3713 2494 2531 2458 0 0 0 0 0 0 14.76 14.78 14.78

2955 end climb: SURFACE_DEPTH_REACHED

state 2955 begin surface coast

2977 end surface coast: CONTROL_FINISHED_OK

state 2977 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	3700	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	10	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	4212	R_PORT_OVSHOOT	14	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	15	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	150	SM_CC	300	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	0.00065	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE4	-1
T_DIVE	50	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	70	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	2	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	2	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MAX	3650	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
RELAUNCH	1	C_PITCH	2730	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	PITCH_DBAND	0.1	AH0_24V	0	SEABIRD_T_G	0.004412075
MAX_BUOY	100	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	50	P_OVSHOOT_WITHG	0	MINV_10V	11	SEABIRD_T_J	3.254017e-06
SPEED_FACTOR	1	PITCH_GAIN	50	MAXI_24V	0.60000002	SEABIRD_C_G	-9.9840622
RHO	1.0275	PITCH_TIMEOUT	16	MAXI_10V	1.4	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	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_ADJ_DBAND	0	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	0	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	3700	ALTIM_PING_FIT	0

GPS1	170519,162228,5922.3589,-2120.7297,14,1.0,22,-12.5,0.0,58.6,7,9.5	SPEED_LIMITS	0.084,0.216
_CALLS	1	TGT_NAME	NW
_XMS_NAKs	0	TGT_LATLONG	5930.000,-2130.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.77	MHEAD_RNG_PITCHd_Wd	295.7,16600,-22.4,-10.000,-24.83,1497
_SM_ANGLEo	-74.3	D_GRID	1000
GPS2	170519,162845,5922.3848,-2120.6851,5,0.7,15,-12.5,0.0,74.6,12,9.3

FINISH	0.5,1.027046	_10V_AH	12.57,8.010
SM_CCo	2991,179.68,0.946,1,0,1676,300.24	FG_AHR_24Vo	0.000
SM_GC	0.73,7.82,0.00,179.68,0.065,0.000,0.946,167,3713,1676,-7.93,0.37,300.24,0,0,0,0,1,0,14.55,14.78,13.33	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5919.29,-2112.85,170519,150802	MEM	304540
TT8_MAMPS	0.023219,0.829892	DATA_FILE_SIZE	10116,313
HUMID	36.80	CAP_FILE_SIZE	41319,0
INTERNAL_PRESSURE	8.80829	CFSIZE	2097872896,2094333952
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	0	CURRENT	0.157,51.04,1
SC_FREEKB	3901792	GPS	170519,172313,5922.496,-2120.209,6,0.8,15,-12.5,0.6,29.7,11,10.0
_24V_AH	13.22,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	445	128.98	nil	0	0	0.00
Roll_motor	6	134	11.04	nil	0	0	0.00
VBD_pump_during_apogee	164	1238	2687.70	nil	0	0	0.00
VBD_pump_during_surface	179	945	2245.94	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	2994	60	2379.67
Iridium_during_xfer	274	201	733.89	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	24	11	3.43
TT8	778	10	107.35
LPSleep	1514	2	41.69
TT8_Active	450	10	62.09
TT8_Sampling	801	30	306.77
TT8_CF8	36	36	16.57
TT8_Kalman	0	0	0.00
Analog_circuits	1016	10	127.81
GPS_charging	0	0	0.00
Compass	462	6	39.20
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.51	-97.3	151	3711	1665	1681	0.0	0.0	0	111	0.00	0.00	-86.70	0.008	16390	0.000	0.000	150	3711	3296	3441	3152	0	0	0	0	0	0	14.55	13.57	14.57
113	-0.51	-97.3	150	3712	3441	3152	2.4	-2.8	9	129	12.88	0.00	0.00	0.000	2342	0.446	0.000	2558	3713	3297	3442	3153	0	0	0	0	0	0	14.09	14.45	14.39
316	-0.51	-97.3	2557	3713	3445	3153	30.3	-11.5	31	321	0.00	0.00	0.00	0.000	262	0.000	0.000	2558	3714	3299	3445	3153	0	0	0	0	0	0	14.66	14.68	14.68
507	-0.51	-97.3	2558	3713	3445	3153	51.9	-10.7	51	512	0.00	0.00	0.00	0.000	262	0.000	0.000	2557	3714	3299	3445	3153	0	0	0	0	0	0	14.71	14.73	14.73
698	-0.51	-97.3	2558	3713	3445	3153	72.6	-10.7	71	703	0.00	0.00	0.00	0.000	262	0.000	0.000	2557	3714	3299	3445	3153	0	0	0	0	0	0	14.71	14.73	14.72
890	-0.51	-97.3	2556	3714	3445	3153	93.2	-10.9	91	895	0.00	0.00	0.00	0.000	262	0.000	0.000	2557	3713	3299	3445	3153	0	0	0	0	0	0	14.72	14.74	14.74
1081	-0.51	-97.3	2557	3713	3445	3153	114.4	-11.4	111	1086	0.00	0.00	0.00	0.000	262	0.000	0.000	2558	3714	3299	3445	3153	0	0	0	0	0	0	14.74	14.77	14.76
1272	-0.51	-97.3	2557	3714	3444	3153	137.1	-11.5	131	1277	0.00	0.00	0.00	0.000	262	0.000	0.000	2558	3713	3298	3444	3153	0	0	0	0	0	0	14.76	14.78	14.78
1392	end dive: TARGET_DEPTH_EXCEEDED
state	1393	begin apogee
1396	-0.10	0.0	2559	3713	3444	3153	150.6	-11.4	144	1486	0.50	0.00	81.95	1.239	10246	0.230	0.000	2692	3714	2898	2979	2818	0	0	0	0	0	0	14.38	13.83	13.26
1487	end apogee: CONTROL_FINISHED_OK
state	1487	begin climb
1488	0.51	97.3	2692	3713	2978	2818	154.9	0.0	153	1577	0.68	0.00	82.20	1.209	10502	0.155	0.000	2894	3713	2504	2533	2475	0	0	0	0	0	0	14.02	13.93	13.22
1754	0.51	97.3	2894	3713	2531	2463	132.1	10.0	185	1759	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3712	2497	2531	2463	0	0	0	0	0	0	14.52	14.54	14.53
1946	0.51	97.3	2894	3713	2531	2462	112.7	10.3	205	1951	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2496	2531	2461	0	0	0	0	0	0	14.64	14.66	14.65
2138	0.51	97.3	2894	3713	2531	2461	93.5	9.9	225	2142	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2496	2532	2461	0	0	0	0	0	0	14.67	14.69	14.68
2329	0.51	97.3	2894	3713	2531	2460	73.5	10.4	245	2334	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2495	2531	2460	0	0	0	0	0	0	14.71	14.73	14.73
2521	0.51	97.3	2894	3713	2531	2459	52.2	11.6	265	2526	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2495	2531	2460	0	0	0	0	0	0	14.72	14.76	14.75
2713	0.51	97.3	2894	3712	2531	2459	30.2	11.4	285	2718	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2495	2531	2459	0	0	0	0	0	0	14.73	14.76	14.76
2905	0.51	97.3	2894	3713	2531	2459	8.6	10.8	305	2910	0.00	0.00	0.00	0.000	262	0.000	0.000	2894	3713	2494	2531	2458	0	0	0	0	0	0	14.76	14.78	14.78
2955	end climb: SURFACE_DEPTH_REACHED
state	2955	begin surface coast
2977	end surface coast: CONTROL_FINISHED_OK
state	2977	begin surface