Glider dive log

NISKINE May19 * SG141 * Dive index * Mission links * Dive 12 * 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 12 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 52 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -12218 R_STBD_OVSHOOT 55 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 12 MINV_10V 11 R_PORT_OVSHOOT 52 VBD_MIN 470

D_ABORT 1010 MINV_24V 11 R_STBD_OVSHOOT 55 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 300519,130844,5821.8535,-2406.6946,39,0.8,52,-13.4,2.5,284.6,9,9.9 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 0.94 MHEAD_RNG_PITCHd_Wd 150.0,50769,-18.4,-10.000,-21.03,2244

_SM_ANGLEo -67.8 D_GRID 600

GPS2 300519,132043,5821.9590,-2406.9668,13,0.8,21,-13.4,0.6,249.5,10,9.3

Post-dive calculations and measurements:

FINISH 0.1,1.026993 _10V_AH 13.34,0.000

SM_CCo 11225,155.12,0.651,1,0,1319,400.08 FG_AHR_24Vo 0.000

SM_GC 0.93,8.55,0.32,155.12,0.109,0.077,0.651,224,2693,1319,-8.11,-1.47,400.08,0,0,0,0,1,0,14.64,14.70,13.88 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5820.09,-2403.57,300519,093439 MEM 335584

TT8_MAMPS 0.020972,0.559503 DATA_FILE_SIZE 30058,864

HUMID 40.47 CAP_FILE_SIZE 92250,0

INTERNAL_PRESSURE 8.80893 CFSIZE 260034560,256913408

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 6 CURRENT 0.257,310.87,1

SC_FREEKB 3901216 GPS 300519,163253,5822.151,-2409.913,45,0.7,49,-13.5,0.5,319.7,10,9.7

_24V_AH 13.28,5.044

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 432 128.00 nil 0 0 0.00

Roll_motor 0 77 0.74 nil 0 0 0.00

VBD_pump_during_apogee 343 1562 7131.50 nil 0 0 0.00

VBD_pump_during_surface 155 651 1341.13 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 11241 22 3382.40

Iridium_during_xfer 490 205 1334.79 nil 0 0 0.00

Transponder_ping 1 420 8.37 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 11 4.84

TT8 2085 10 305.13

LPSleep 7207 2 210.57

TT8_Active 641 10 93.87

TT8_Sampling 1875 28 724.47

TT8_CF8 310 34 144.59

TT8_Kalman 0 0 0.00

Analog_circuits 1833 10 244.65

GPS_charging 0 0 0.00

Compass 1338 11 200.65

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 -146.0 219 2749 1290 1319 0.0 0.0 0 114 0.00 0.00 -97.75 0.005 16390 0.000 0.000 219 2750 3546 3481 3611 0 0 0 0 0 0 14.57 13.63 14.59

118 -0.48 -146.0 219 2750 3481 3611 3.6 -5.7 10 135 12.23 0.00 0.00 0.000 2342 0.432 0.000 2667 2750 3546 3482 3611 0 0 0 0 0 0 14.23 14.49 14.45

324 -0.48 -146.0 2666 2750 3490 3606 34.1 -9.6 32 329 0.00 0.00 0.00 0.000 294 0.000 0.000 2667 2750 3548 3490 3606 0 0 0 0 0 0 14.69 14.71 14.71

518 -0.48 -146.0 2666 2750 3490 3605 52.7 -9.3 52 523 0.00 0.00 0.00 0.000 294 0.000 0.000 2666 2749 3548 3491 3606 0 0 0 0 0 0 14.74 14.76 14.76

712 -0.48 -146.0 2666 2750 3490 3605 70.8 -9.3 72 717 0.00 0.00 0.00 0.000 294 0.000 0.000 2665 2750 3548 3491 3606 0 0 0 0 0 0 14.77 14.79 14.79

906 -0.48 -146.0 2667 2750 3490 3605 88.3 -9.8 92 911 0.00 0.00 0.00 0.000 294 0.000 0.000 2667 2750 3547 3490 3605 0 0 0 0 0 0 14.79 14.82 14.81

1100 -0.51 -146.0 2666 2750 3491 3605 107.5 -10.0 112 1105 0.00 0.00 0.00 0.000 422 0.000 0.000 2667 2749 3547 3490 3605 0 0 0 0 0 0 14.83 14.84 14.84

1294 -0.54 -146.0 2667 2750 3490 3605 126.8 -10.0 132 1299 0.00 0.00 0.00 0.000 390 0.000 0.000 2666 2750 3547 3490 3604 0 0 0 0 0 0 14.84 14.86 14.85

1489 -0.58 -146.0 2666 2750 3491 3605 147.3 -10.5 152 1494 0.00 0.00 0.00 0.000 390 0.000 0.000 2667 2750 3548 3491 3605 0 0 0 0 0 0 14.85 14.87 14.87

1683 -0.61 -146.0 2666 2750 3491 3605 167.7 -10.8 172 1688 0.12 0.00 0.00 0.000 4486 0.160 0.000 2624 2750 3547 3490 3605 0 0 0 0 0 0 14.66 14.73 14.72

1877 -0.61 -146.0 2623 2750 3491 3605 193.2 -13.6 192 1882 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2749 3547 3490 3605 0 0 0 0 0 0 14.85 14.88 14.87

2070 -0.61 -146.0 2623 2750 3491 3605 219.1 -13.2 212 2075 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3548 3491 3605 0 0 0 0 0 0 14.85 14.88 14.88

2264 -0.61 -146.0 2624 2750 3491 3605 243.7 -12.9 232 2269 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3548 3491 3605 0 0 0 0 0 0 14.87 14.89 14.89

2458 -0.61 -146.0 2623 2750 3490 3605 268.7 -12.9 245 2463 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3548 3491 3605 0 0 0 0 0 0 14.87 14.89 14.88

2782 -0.61 -146.0 2623 2749 3491 3604 307.8 -11.5 264 2787 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3548 3491 3605 0 0 0 0 0 0 14.89 14.91 14.91

3106 -0.61 -146.0 2623 2749 3491 3604 344.1 -11.2 283 3111 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3547 3491 3604 0 0 0 0 0 0 14.90 14.92 14.91

3430 -0.61 -146.0 2624 2750 3491 3604 380.3 -11.4 302 3435 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2749 3547 3491 3604 0 0 0 0 0 0 14.90 14.92 14.92

3753 -0.61 -146.0 2623 2750 3491 3603 415.4 -10.7 321 3759 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3547 3491 3603 0 0 0 0 0 0 14.91 14.93 14.92

4078 -0.61 -146.0 2623 2750 3492 3599 451.7 -11.4 340 4083 0.00 0.00 0.00 0.000 262 0.000 0.000 2625 2750 3546 3491 3602 0 0 0 0 0 0 14.90 14.92 14.92

4402 -0.61 -146.0 2623 2749 3491 3602 486.6 -10.3 359 4406 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3546 3491 3602 0 0 0 0 0 0 14.91 14.93 14.93

4726 -0.61 -146.0 2623 2750 3491 3601 519.5 -10.4 378 4730 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3546 3491 3602 0 0 0 0 0 0 14.91 14.93 14.93

5049 -0.61 -146.0 2622 2750 3491 3601 554.7 -11.0 397 5055 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3546 3491 3601 0 0 0 0 0 0 14.92 14.94 14.94

5374 -0.61 -146.0 2623 2750 3491 3601 589.7 -10.8 416 5379 0.00 0.00 0.00 0.000 262 0.000 0.000 2624 2750 3546 3491 3601 0 0 0 0 0 0 14.93 14.95 14.95

5475 end dive: TARGET_DEPTH_EXCEEDED

state 5475 begin apogee

5483 -0.12 0.0 2624 2496 3490 3601 601.3 -11.2 424 5608 0.60 0.00 120.60 1.563 10246 0.230 0.000 2789 2496 2950 2985 2916 0 0 0 0 0 0 14.63 13.99 13.41

5609 end apogee: CONTROL_FINISHED_OK

state 5609 begin climb

5613 0.48 146.0 2789 2496 2985 2914 605.5 0.0 430 5746 0.65 0.00 126.43 1.512 10502 0.150 0.000 2978 2496 2353 2400 2307 0 0 0 0 0 0 13.97 13.85 13.28

6066 0.48 172.3 2978 2495 2394 2297 571.0 8.8 473 6092 0.00 0.00 22.55 1.414 8486 0.000 0.000 2978 2496 2247 2297 2198 0 0 0 0 0 0 14.61 14.30 13.71

6411 0.48 172.3 2977 2496 2294 2199 537.5 10.3 496 6416 0.00 0.00 0.00 0.000 262 0.000 0.000 2978 2495 2243 2294 2192 0 0 0 0 0 0 14.69 14.71 14.71

6735 0.48 172.3 2978 2495 2291 2192 504.0 10.3 515 6739 0.00 0.00 0.00 0.000 262 0.000 0.000 2978 2496 2242 2291 2193 0 0 0 0 0 0 14.77 14.79 14.79

7059 0.48 177.7 2978 2495 2290 2192 472.7 9.8 534 7069 0.00 0.00 5.22 1.026 8486 0.000 0.000 2978 2495 2225 2274 2176 0 0 0 0 0 0 14.82 14.50 14.02

7384 0.48 182.4 2978 2495 2272 2175 441.0 9.8 553 7395 0.00 0.00 5.78 1.049 8486 0.000 0.000 2978 2495 2206 2255 2157 0 0 0 0 0 0 14.83 14.50 14.02

7709 0.48 182.4 2978 2495 2253 2156 405.6 11.9 572 7714 0.00 0.00 0.00 0.000 262 0.000 0.000 2978 2496 2204 2252 2157 0 0 0 0 0 0 14.83 14.85 14.84

8032 0.48 182.4 2978 2495 2252 2156 369.2 11.3 591 8037 0.00 0.00 0.00 0.000 262 0.000 0.000 2978 2496 2204 2252 2156 0 0 0 0 0 0 14.86 14.88 14.88

8357 0.48 202.8 2978 2496 2251 2156 337.6 9.1 610 8378 0.00 0.00 18.42 1.215 8486 0.000 0.000 2978 2495 2123 2171 2075 0 0 0 0 0 0 14.88 14.60 14.06

8676 0.49 245.1 2978 2495 2169 2071 310.4 8.1 629 8717 0.00 0.00 36.17 1.217 8486 0.000 0.000 2978 2495 1951 2000 1903 0 0 0 0 0 0 14.83 14.44 13.92

9019 0.53 254.5 2978 2495 1997 1895 279.5 9.6 652 9030 0.00 0.00 8.43 1.024 8614 0.000 0.000 2978 2496 1913 1963 1863 0 0 0 0 0 0 14.73 14.53 14.01

9337 0.58 254.5 2979 2495 1961 1859 247.0 10.3 671 9342 0.15 0.00 0.00 0.000 2438 0.150 0.000 3034 2496 1910 1961 1859 0 0 0 0 0 0 14.58 14.66 14.63

9531 0.58 254.5 3034 2495 1961 1859 219.8 13.7 691 9536 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2495 1910 1961 1859 0 0 0 0 0 0 14.81 14.83 14.83

9725 0.58 254.5 3034 2495 1961 1859 194.2 13.0 711 9730 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2497 1910 1961 1859 0 0 0 0 0 0 14.83 14.85 14.84

9918 0.58 254.5 3034 2495 1960 1859 168.9 13.4 731 9923 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2495 1909 1960 1859 0 0 0 0 0 0 14.84 14.86 14.85

10112 0.58 254.5 3033 2495 1960 1859 142.0 13.7 751 10117 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2495 1910 1961 1859 0 0 0 0 0 0 14.84 14.86 14.85

10306 0.58 254.5 3033 2496 1960 1859 116.2 13.2 771 10311 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2495 1909 1960 1859 0 0 0 0 0 0 14.85 14.88 14.87

10500 0.58 254.5 3034 2495 1960 1859 91.0 12.5 791 10505 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2496 1909 1960 1859 0 0 0 0 0 0 14.85 14.86 14.87

10693 0.58 254.5 3034 2495 1960 1859 65.7 13.3 811 10698 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2496 1910 1960 1860 0 0 0 0 0 0 14.84 14.88 14.87

10887 0.58 254.5 3034 2496 1960 1859 41.7 12.9 831 10892 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2496 1909 1960 1859 0 0 0 0 0 0 14.85 14.88 14.88

11080 0.58 254.5 3034 2496 1960 1859 16.4 14.1 851 11086 0.00 0.00 0.00 0.000 262 0.000 0.000 3034 2496 1909 1960 1859 0 0 0 0 0 0 14.87 14.89 14.88

11182 end climb: SURFACE_DEPTH_REACHED

state 11182 begin surface coast

11203 end surface coast: CONTROL_FINISHED_OK

state 11203 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	12	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	52	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-12218	R_STBD_OVSHOOT	55	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	300519,130844,5821.8535,-2406.6946,39,0.8,52,-13.4,2.5,284.6,9,9.9	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	0.94	MHEAD_RNG_PITCHd_Wd	150.0,50769,-18.4,-10.000,-21.03,2244
_SM_ANGLEo	-67.8	D_GRID	600
GPS2	300519,132043,5821.9590,-2406.9668,13,0.8,21,-13.4,0.6,249.5,10,9.3

FINISH	0.1,1.026993	_10V_AH	13.34,0.000
SM_CCo	11225,155.12,0.651,1,0,1319,400.08	FG_AHR_24Vo	0.000
SM_GC	0.93,8.55,0.32,155.12,0.109,0.077,0.651,224,2693,1319,-8.11,-1.47,400.08,0,0,0,0,1,0,14.64,14.70,13.88	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5820.09,-2403.57,300519,093439	MEM	335584
TT8_MAMPS	0.020972,0.559503	DATA_FILE_SIZE	30058,864
HUMID	40.47	CAP_FILE_SIZE	92250,0
INTERNAL_PRESSURE	8.80893	CFSIZE	260034560,256913408
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	6	CURRENT	0.257,310.87,1
SC_FREEKB	3901216	GPS	300519,163253,5822.151,-2409.913,45,0.7,49,-13.5,0.5,319.7,10,9.7
_24V_AH	13.28,5.044

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	432	128.00	nil	0	0	0.00
Roll_motor	0	77	0.74	nil	0	0	0.00
VBD_pump_during_apogee	343	1562	7131.50	nil	0	0	0.00
VBD_pump_during_surface	155	651	1341.13	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	11241	22	3382.40
Iridium_during_xfer	490	205	1334.79	nil	0	0	0.00
Transponder_ping	1	420	8.37	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	11	4.84
TT8	2085	10	305.13
LPSleep	7207	2	210.57
TT8_Active	641	10	93.87
TT8_Sampling	1875	28	724.47
TT8_CF8	310	34	144.59
TT8_Kalman	0	0	0.00
Analog_circuits	1833	10	244.65
GPS_charging	0	0	0.00
Compass	1338	11	200.65
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	219	2749	1290	1319	0.0	0.0	0	114	0.00	0.00	-97.75	0.005	16390	0.000	0.000	219	2750	3546	3481	3611	0	0	0	0	0	0	14.57	13.63	14.59
118	-0.48	-146.0	219	2750	3481	3611	3.6	-5.7	10	135	12.23	0.00	0.00	0.000	2342	0.432	0.000	2667	2750	3546	3482	3611	0	0	0	0	0	0	14.23	14.49	14.45
324	-0.48	-146.0	2666	2750	3490	3606	34.1	-9.6	32	329	0.00	0.00	0.00	0.000	294	0.000	0.000	2667	2750	3548	3490	3606	0	0	0	0	0	0	14.69	14.71	14.71
518	-0.48	-146.0	2666	2750	3490	3605	52.7	-9.3	52	523	0.00	0.00	0.00	0.000	294	0.000	0.000	2666	2749	3548	3491	3606	0	0	0	0	0	0	14.74	14.76	14.76
712	-0.48	-146.0	2666	2750	3490	3605	70.8	-9.3	72	717	0.00	0.00	0.00	0.000	294	0.000	0.000	2665	2750	3548	3491	3606	0	0	0	0	0	0	14.77	14.79	14.79
906	-0.48	-146.0	2667	2750	3490	3605	88.3	-9.8	92	911	0.00	0.00	0.00	0.000	294	0.000	0.000	2667	2750	3547	3490	3605	0	0	0	0	0	0	14.79	14.82	14.81
1100	-0.51	-146.0	2666	2750	3491	3605	107.5	-10.0	112	1105	0.00	0.00	0.00	0.000	422	0.000	0.000	2667	2749	3547	3490	3605	0	0	0	0	0	0	14.83	14.84	14.84
1294	-0.54	-146.0	2667	2750	3490	3605	126.8	-10.0	132	1299	0.00	0.00	0.00	0.000	390	0.000	0.000	2666	2750	3547	3490	3604	0	0	0	0	0	0	14.84	14.86	14.85
1489	-0.58	-146.0	2666	2750	3491	3605	147.3	-10.5	152	1494	0.00	0.00	0.00	0.000	390	0.000	0.000	2667	2750	3548	3491	3605	0	0	0	0	0	0	14.85	14.87	14.87
1683	-0.61	-146.0	2666	2750	3491	3605	167.7	-10.8	172	1688	0.12	0.00	0.00	0.000	4486	0.160	0.000	2624	2750	3547	3490	3605	0	0	0	0	0	0	14.66	14.73	14.72
1877	-0.61	-146.0	2623	2750	3491	3605	193.2	-13.6	192	1882	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2749	3547	3490	3605	0	0	0	0	0	0	14.85	14.88	14.87
2070	-0.61	-146.0	2623	2750	3491	3605	219.1	-13.2	212	2075	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3548	3491	3605	0	0	0	0	0	0	14.85	14.88	14.88
2264	-0.61	-146.0	2624	2750	3491	3605	243.7	-12.9	232	2269	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3548	3491	3605	0	0	0	0	0	0	14.87	14.89	14.89
2458	-0.61	-146.0	2623	2750	3490	3605	268.7	-12.9	245	2463	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3548	3491	3605	0	0	0	0	0	0	14.87	14.89	14.88
2782	-0.61	-146.0	2623	2749	3491	3604	307.8	-11.5	264	2787	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3548	3491	3605	0	0	0	0	0	0	14.89	14.91	14.91
3106	-0.61	-146.0	2623	2749	3491	3604	344.1	-11.2	283	3111	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3547	3491	3604	0	0	0	0	0	0	14.90	14.92	14.91
3430	-0.61	-146.0	2624	2750	3491	3604	380.3	-11.4	302	3435	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2749	3547	3491	3604	0	0	0	0	0	0	14.90	14.92	14.92
3753	-0.61	-146.0	2623	2750	3491	3603	415.4	-10.7	321	3759	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3547	3491	3603	0	0	0	0	0	0	14.91	14.93	14.92
4078	-0.61	-146.0	2623	2750	3492	3599	451.7	-11.4	340	4083	0.00	0.00	0.00	0.000	262	0.000	0.000	2625	2750	3546	3491	3602	0	0	0	0	0	0	14.90	14.92	14.92
4402	-0.61	-146.0	2623	2749	3491	3602	486.6	-10.3	359	4406	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3546	3491	3602	0	0	0	0	0	0	14.91	14.93	14.93
4726	-0.61	-146.0	2623	2750	3491	3601	519.5	-10.4	378	4730	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3546	3491	3602	0	0	0	0	0	0	14.91	14.93	14.93
5049	-0.61	-146.0	2622	2750	3491	3601	554.7	-11.0	397	5055	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3546	3491	3601	0	0	0	0	0	0	14.92	14.94	14.94
5374	-0.61	-146.0	2623	2750	3491	3601	589.7	-10.8	416	5379	0.00	0.00	0.00	0.000	262	0.000	0.000	2624	2750	3546	3491	3601	0	0	0	0	0	0	14.93	14.95	14.95
5475	end dive: TARGET_DEPTH_EXCEEDED
state	5475	begin apogee
5483	-0.12	0.0	2624	2496	3490	3601	601.3	-11.2	424	5608	0.60	0.00	120.60	1.563	10246	0.230	0.000	2789	2496	2950	2985	2916	0	0	0	0	0	0	14.63	13.99	13.41
5609	end apogee: CONTROL_FINISHED_OK
state	5609	begin climb
5613	0.48	146.0	2789	2496	2985	2914	605.5	0.0	430	5746	0.65	0.00	126.43	1.512	10502	0.150	0.000	2978	2496	2353	2400	2307	0	0	0	0	0	0	13.97	13.85	13.28
6066	0.48	172.3	2978	2495	2394	2297	571.0	8.8	473	6092	0.00	0.00	22.55	1.414	8486	0.000	0.000	2978	2496	2247	2297	2198	0	0	0	0	0	0	14.61	14.30	13.71
6411	0.48	172.3	2977	2496	2294	2199	537.5	10.3	496	6416	0.00	0.00	0.00	0.000	262	0.000	0.000	2978	2495	2243	2294	2192	0	0	0	0	0	0	14.69	14.71	14.71
6735	0.48	172.3	2978	2495	2291	2192	504.0	10.3	515	6739	0.00	0.00	0.00	0.000	262	0.000	0.000	2978	2496	2242	2291	2193	0	0	0	0	0	0	14.77	14.79	14.79
7059	0.48	177.7	2978	2495	2290	2192	472.7	9.8	534	7069	0.00	0.00	5.22	1.026	8486	0.000	0.000	2978	2495	2225	2274	2176	0	0	0	0	0	0	14.82	14.50	14.02
7384	0.48	182.4	2978	2495	2272	2175	441.0	9.8	553	7395	0.00	0.00	5.78	1.049	8486	0.000	0.000	2978	2495	2206	2255	2157	0	0	0	0	0	0	14.83	14.50	14.02
7709	0.48	182.4	2978	2495	2253	2156	405.6	11.9	572	7714	0.00	0.00	0.00	0.000	262	0.000	0.000	2978	2496	2204	2252	2157	0	0	0	0	0	0	14.83	14.85	14.84
8032	0.48	182.4	2978	2495	2252	2156	369.2	11.3	591	8037	0.00	0.00	0.00	0.000	262	0.000	0.000	2978	2496	2204	2252	2156	0	0	0	0	0	0	14.86	14.88	14.88
8357	0.48	202.8	2978	2496	2251	2156	337.6	9.1	610	8378	0.00	0.00	18.42	1.215	8486	0.000	0.000	2978	2495	2123	2171	2075	0	0	0	0	0	0	14.88	14.60	14.06
8676	0.49	245.1	2978	2495	2169	2071	310.4	8.1	629	8717	0.00	0.00	36.17	1.217	8486	0.000	0.000	2978	2495	1951	2000	1903	0	0	0	0	0	0	14.83	14.44	13.92
9019	0.53	254.5	2978	2495	1997	1895	279.5	9.6	652	9030	0.00	0.00	8.43	1.024	8614	0.000	0.000	2978	2496	1913	1963	1863	0	0	0	0	0	0	14.73	14.53	14.01
9337	0.58	254.5	2979	2495	1961	1859	247.0	10.3	671	9342	0.15	0.00	0.00	0.000	2438	0.150	0.000	3034	2496	1910	1961	1859	0	0	0	0	0	0	14.58	14.66	14.63
9531	0.58	254.5	3034	2495	1961	1859	219.8	13.7	691	9536	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2495	1910	1961	1859	0	0	0	0	0	0	14.81	14.83	14.83
9725	0.58	254.5	3034	2495	1961	1859	194.2	13.0	711	9730	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2497	1910	1961	1859	0	0	0	0	0	0	14.83	14.85	14.84
9918	0.58	254.5	3034	2495	1960	1859	168.9	13.4	731	9923	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2495	1909	1960	1859	0	0	0	0	0	0	14.84	14.86	14.85
10112	0.58	254.5	3033	2495	1960	1859	142.0	13.7	751	10117	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2495	1910	1961	1859	0	0	0	0	0	0	14.84	14.86	14.85
10306	0.58	254.5	3033	2496	1960	1859	116.2	13.2	771	10311	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2495	1909	1960	1859	0	0	0	0	0	0	14.85	14.88	14.87
10500	0.58	254.5	3034	2495	1960	1859	91.0	12.5	791	10505	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2496	1909	1960	1859	0	0	0	0	0	0	14.85	14.86	14.87
10693	0.58	254.5	3034	2495	1960	1859	65.7	13.3	811	10698	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2496	1910	1960	1860	0	0	0	0	0	0	14.84	14.88	14.87
10887	0.58	254.5	3034	2496	1960	1859	41.7	12.9	831	10892	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2496	1909	1960	1859	0	0	0	0	0	0	14.85	14.88	14.88
11080	0.58	254.5	3034	2496	1960	1859	16.4	14.1	851	11086	0.00	0.00	0.00	0.000	262	0.000	0.000	3034	2496	1909	1960	1859	0	0	0	0	0	0	14.87	14.89	14.88
11182	end climb: SURFACE_DEPTH_REACHED
state	11182	begin surface coast
11203	end surface coast: CONTROL_FINISHED_OK
state	11203	begin surface