Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PING_DEPTH 0

DIVE 16 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 19 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 21 ALTIM_FREQUENCY 13

STOP_T 0 TGT_DEFAULT_LON -7043 ROLL_AD_RATE 200 ALTIM_PULSE 3

D_SURF 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 ALTIM_SENSITIVITY 2

D_FLARE 3 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_VALID 2

D_TGT 600 N_FILEKB 8 ROLL_ADJ_DBAND 0 XPDR_INHIBIT 90

D_ABORT 750 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 200 CALL_NDIVES 1 VBD_MAX 3960 INT_PRESSURE_YINT 0.38999999

D_BOOST 2 COMM_SEQ 0 C_VBD 2980 DEEPGLIDER 0

T_BOOST 0 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 4

D_FINISH 0 N_NOCOMM 2 VBD_CNV -0.245296 DEVICE1 -1

D_PITCH 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 540 DEVICE3 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.001 DEVICE4 -1

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 2 DEVICE5 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE6 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERS 3

T_DIVE 200 CAPMAXSIZE 100000 UNCOM_BLEED 50 LOGGERDEVICE1 53

T_MISSION 250 HEAPDBG 0 VBD_MAXERRORS 1 LOGGERDEVICE2 67

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

T_TURN 225 N_GPS 100440 DBDW 0 LOGGERDEVICE4 -1

T_TURN_SAMPINT -5 T_RSLEEP 2 LOITER_W_DBAND 0 COMPASS_DEVICE 97

T_NO_W 120 STROBE 0 LOITER_DBDW 0 COMPASS2_DEVICE 149

T_LOITER 0 RAFOS_PEAK_OFFSET 1.5 LOITER_D_TOP 0 PHONE_DEVICE 49

T_EPIRB 0 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 GPS_DEVICE 32

USE_BATHY 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 RAFOS_DEVICE -1

USE_ICE 0 RAFOS_MMODEM 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 180 PITCH_W_DBAND 0 SIM_W 0

D_OFFGRID 990 PITCH_MAX 3650 CF8_MAXERRORS 20 SEABIRD_T_G 0.0044153966

T_WATCHDOG 10 C_PITCH 2220 AH0_24V 0 SEABIRD_T_H 0.00064440304

RELAUNCH 1 PITCH_DBAND 0.1 AH0_10V 310 SEABIRD_T_I 2.7248538e-05

APOGEE_PITCH -5 PITCH_CNV 0.003125763 MINV_24V 11 SEABIRD_T_J 3.4282193e-06

MAX_BUOY 150 P_OVSHOOT 0.039999999 MINV_10V 11 SEABIRD_C_G -10.077963

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 MAXI_24V 0.60000002 SEABIRD_C_H 1.1533748

GLIDE_SLOPE 30 PITCH_GAIN 30 MAXI_10V 1.4 SEABIRD_C_I -0.0022050336

SPEED_FACTOR 1 PITCH_TIMEOUT 16 FG_AHR_10V 0 SEABIRD_C_J 0.00023474717

RHO 1.0275 PITCH_AD_RATE 150 FG_AHR_24V 0 SC_RECORDABOVE 2000.0

MASS 56352 PITCH_MAXERRORS 1 PHONE_SUPPLY -2 SC_PROFILE 3.0

MASS_COMP 0 PITCH_ADJ_GAIN 0 PRESSURE_YINT -173.88152 SC_XMITPROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00010843292 SC_NDIVE 1.0

FERRY_MAX 45 ROLL_MIN 270 AD7714Ch0Gain 1 TM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MAX 3850 COMPASS_USE 4 TM_PROFILE 3.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 3.0

HD_B 0.010078 C_ROLL_DIVE 2600 ALTIM_TOP_PING_RANGE 0 TM_NDIVE 1.0

HD_C 5.7000002e-06 C_ROLL_CLIMB 1790 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HEADING -1 HEAD_ERRBAND 10 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

AD7714Ch0Gain 1 D_TGT 600 PHONE_SUPPLY -2 SEABIRD_T_J 3.4282193e-06

AH0_10V 310 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 2 SIM_W 0

AH0_24V 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_GAIN 0 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_AD_RATE 150 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_CNV 0.003125763 STOP_T 0

ALTIM_PING_DELTA 0 FG_AHR_24V 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_GAIN 30 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3650 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PITCH_MIN 180 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 HD_A 0.0038360001 PITCH_TIMEOUT 16 TGT_DEFAULT_LAT 4212

ALTIM_TOP_PING_RANGE 0 HD_B 0.010078 PITCH_VBD_SHIFT 0.001 TGT_DEFAULT_LON -7043

ALTIM_TOP_TURN_MARGIN 0 HD_C 5.7000002e-06 PITCH_W_DBAND 0 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 HEADING -1 PITCH_W_GAIN 0 TM_NDIVE 1.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00010843292 TM_PROFILE 3.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -173.88152 TM_RECORDABOVE 2000.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 ID 527 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 P_OVSHOOT_WITHG 0 T_ABORT 1440

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.38999999 RAFOS_CORR_THRESH 60 T_BOOST 0

COMM_SEQ 0 KALMAN_USE 2 RAFOS_DEVICE -1 T_DIVE 200

COMPASS2_DEVICE 149 LOGGERDEVICE1 53 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_DEVICE 97 LOGGERDEVICE2 67 RAFOS_MMODEM 0 T_GPS 5

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

COURSE_BIAS 0 LOGGERDEVICE4 -1 RELAUNCH 1 T_MISSION 250

C_PITCH 2220 LOGGERS 3 RHO 1.0275 T_NO_W 120

C_ROLL_CLIMB 1790 LOITER_DBDW 0 ROLL_ADJ_DBAND 0 T_RSLEEP 2

C_ROLL_DIVE 2600 LOITER_D_BOTTOM 0 ROLL_ADJ_GAIN 0 T_TURN 225

C_VBD 2980 LOITER_D_TOP 0 ROLL_AD_RATE 200 T_TURN_SAMPINT -5

DBDW 0 LOITER_N_DIVE 0 ROLL_CNV 0.028270001 T_WATCHDOG 10

DEEPGLIDER 0 LOITER_W_DBAND 0 ROLL_DEG 40 UNCOM_BLEED 50

DEVICE1 -1 MASS 56352 ROLL_MAX 3850 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MASS_COMP 0 ROLL_MAXERRORS 1 USE_BATHY 0

DEVICE3 -1 MAXI_10V 1.4 ROLL_MIN 270 USE_ICE 0

DEVICE4 -1 MAXI_24V 0.60000002 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

DEVICE5 -1 MAX_BUOY 150 R_PORT_OVSHOOT 19 VBD_CNV -0.245296

DEVICE6 -1 MINV_10V 11 R_STBD_OVSHOOT 21 VBD_DBAND 2

DIVE 16 MINV_24V 11 SC_NDIVE 1.0 VBD_LP_IGNORE 0

D_ABORT 750 MISSION 10 SC_PROFILE 3.0 VBD_MAX 3960

D_BOOST 2 MOTHERBOARD 4 SC_RECORDABOVE 2000.0 VBD_MAXERRORS 1

D_CALL 0 NAV_MODE 2 SC_XMITPROFILE 3.0 VBD_MIN 500

D_FINISH 0 NOCOMM_ACTION 163 SEABIRD_C_G -10.077963 VBD_PUMP_AD_RATE_APOGEE 2

D_FLARE 3 N_DIVES 0 SEABIRD_C_H 1.1533748 VBD_PUMP_AD_RATE_SURFACE 2

D_NO_BLEED 200 N_FILEKB 8 SEABIRD_C_I -0.0022050336 VBD_TIMEOUT 540

D_OFFGRID 990 N_GPS 100440 SEABIRD_C_J 0.00023474717 W_ADJ_DBAND 0

D_PITCH 0 N_NOCOMM 2 SEABIRD_T_G 0.0044153966 XPDR_DEVICE 24

D_SAFE 0 N_NOSURFACE 0 SEABIRD_T_H 0.00064440304 XPDR_INHIBIT 90

D_SURF 3 PHONE_DEVICE 49 SEABIRD_T_I 2.7248538e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 051020,152737,5826.0498,-2115.7878,61,0.8,67,-12.1,1.0,293.5,9,9.8 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5826.124,-2117.960

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 314.8,2075,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -63.7 D_GRID 600

GPS2 051020,154223,5825.9902,-2115.8352,10,0.8,19,-12.1,0.7,263.7,9,9.5

Post-dive calculations and measurements:

FINISH 0.1,1.026808 _24V_AH 13.00,0.000

SM_CCo 8357,259.45,0.951,1,0,1145,450.12 _10V_AH 13.00,34.197

SM_GC 0.55,6.65,1.42,259.45,0.065,0.080,0.951,171,2598,1145,-6.33,-0.79,450.12,0,0,0,0,1,0,14.54,14.50,13.52 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5825.73,-2109.92,051020,124858 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.86135 MEM 324024

HUMID 44.21 DATA_FILE_SIZE 36588,1015

INTERNAL_PRESSURE 7.86099 CAP_FILE_SIZE 104635,0

TCM_TEMP 18.60 CFSIZE 2097872896,2091515904

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

SC_FREEKB 3899904 CURRENT 0.128,140.93,1

TM_FREEKB 7558624 GPS 051020,180803,5826.181,-2117.005,17,0.8,30,-12.1,0.8,216.1,11,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 413 100.16 nil 0 0 0.00

Roll_motor 72 105 99.81 nil 0 0 0.00

VBD_pump_during_apogee 271 1776 6280.53 nil 0 0 0.00

VBD_pump_during_surface 259 950 3207.23 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 8362 29 3161.50

Iridium_during_xfer 677 219 1934.30 TMICL 8363 1000 108719.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 10 4.10

TT8 2454 12 397.89

LPSleep 3717 2 105.83

TT8_Active 706 12 114.50

TT8_Sampling 2466 31 999.92

TT8_CF8 177 36 84.30

TT8_Kalman 0 0 0.00

Analog_circuits 2244 10 291.78

GPS_charging 0 0 0.00

Compass 1618 7 157.62

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.75 -146.0 0 2618 1114 1164 0.0 0.0 0 128 0.00 0.00 -108.20 0.008 16390 0.000 0.000 0 2620 3577 3518 3637 0 0 0 0 0 0 14.59 13.05 14.60

130 -0.75 -146.0 0 2618 3518 3638 3.5 -6.7 19 148 9.82 2.22 0.00 0.000 2340 0.413 0.074 1964 3857 3581 3523 3640 0 0 0 0 0 0 14.07 14.31 14.40

330 -0.75 -146.0 1962 3857 3528 3637 44.3 -16.8 57 339 0.00 2.25 0.00 0.000 1030 0.000 0.063 1963 2581 3583 3529 3637 0 0 0 0 0 0 14.47 14.38 14.49

522 -0.75 -146.0 1962 2571 3529 3637 77.5 -18.0 94 530 0.00 2.42 0.00 0.000 516 0.000 0.077 1964 1188 3583 3530 3636 0 0 0 0 0 0 14.67 14.42 14.69

583 -0.75 -146.0 1963 1188 3530 3636 88.4 -17.2 105 592 0.00 2.53 0.00 0.000 1030 0.000 0.070 1954 2610 3583 3530 3636 0 0 0 0 0 0 14.54 14.45 14.57

780 -0.75 -146.0 1955 2610 3530 3636 120.1 -16.3 131 788 0.00 2.17 0.00 0.000 260 0.000 0.081 1944 3854 3583 3530 3636 0 0 0 0 0 0 14.71 14.46 14.72

839 -0.75 -146.0 1944 3854 3530 3636 129.8 -17.4 142 848 0.15 2.20 0.00 0.000 3078 0.282 0.063 1974 2592 3583 3530 3636 0 0 0 0 0 0 14.21 14.47 14.45

1146 -0.75 -146.0 1974 2581 3530 3636 174.2 -14.9 173 1153 0.00 2.45 0.00 0.000 516 0.000 0.077 1975 1196 3583 3531 3636 0 0 0 0 0 0 14.73 14.07 14.75

1204 -0.75 -146.0 1974 1196 3531 3636 183.4 -14.5 184 1213 0.00 2.47 0.00 0.000 1030 0.000 0.070 1968 2598 3583 3531 3636 0 0 0 0 0 0 14.47 14.40 14.50

1511 -0.75 -146.0 1968 2598 3531 3636 231.5 -16.1 215 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 1968 2598 3583 3531 3636 0 0 0 0 0 0 14.73 14.76 14.76

1812 -0.75 -146.0 1968 2597 3531 3635 279.7 -15.8 245 1821 0.00 0.00 0.00 0.000 6 0.000 0.000 1967 2598 3583 3531 3635 0 0 0 0 0 0 14.76 14.79 14.78

2122 -0.75 -146.0 1968 2598 3531 3635 329.5 -15.9 276 2130 0.00 2.50 0.00 0.000 516 0.000 0.075 1968 1188 3583 3531 3635 0 0 0 0 0 0 14.78 14.46 14.81

2167 -0.75 -146.0 1968 1188 3531 3634 337.0 -16.1 284 2175 0.00 2.53 0.00 0.000 1030 0.000 0.071 1959 2610 3583 3531 3635 0 0 0 0 0 0 14.57 14.46 14.61

2483 -0.75 -146.0 1959 2610 3531 3634 389.0 -16.2 316 2487 0.00 0.00 0.00 0.000 6 0.000 0.000 1959 2610 3582 3531 3633 0 0 0 0 0 0 14.80 14.82 14.82

2786 -0.75 -146.0 1959 2610 3531 3633 439.2 -16.8 346 2793 0.00 2.50 0.00 0.000 516 0.000 0.076 1959 1196 3582 3531 3633 0 0 0 0 0 0 14.77 14.49 14.78

2810 -0.75 -146.0 1959 1196 3532 3633 443.6 -16.7 350 2818 0.00 2.50 0.00 0.000 1030 0.000 0.073 1950 2607 3582 3531 3634 0 0 0 0 0 0 14.56 14.47 14.59

3125 -0.75 -146.0 1950 2606 3531 3632 498.5 -17.6 382 3128 0.00 0.00 0.00 0.000 6 0.000 0.000 1950 2607 3582 3532 3632 0 0 0 0 0 0 14.78 14.81 14.81

3426 -0.75 -146.0 1949 2606 3531 3631 550.4 -17.3 412 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 1950 2607 3581 3531 3631 0 0 0 0 0 0 14.79 14.81 14.81

3725 end dive: TARGET_DEPTH_EXCEEDED

state 3725 begin apogee

3730 -0.17 0.0 1950 1786 3531 3630 601.6 -17.0 442 3878 0.75 0.00 136.02 1.776 10246 0.233 0.000 2154 1786 2978 2980 2977 0 0 0 0 0 0 14.26 13.89 13.09

3881 end apogee: CONTROL_FINISHED_OK

state 3881 begin climb

3883 0.75 146.0 2155 1786 2979 2975 609.7 0.0 457 4030 0.98 2.75 135.95 1.744 10756 0.132 0.101 2468 388 2383 2376 2390 0 0 0 0 0 0 14.00 13.82 13.00

4066 0.75 146.0 2468 388 2365 2389 594.3 14.1 490 4074 0.00 2.58 0.00 0.000 1030 0.000 0.072 2467 1791 2377 2365 2389 0 0 0 0 0 0 14.08 14.01 14.10

4372 0.75 146.0 2467 1791 2365 2381 552.7 14.0 521 4380 0.00 2.60 0.00 0.000 516 0.000 0.097 2477 387 2372 2364 2381 0 0 0 0 0 0 14.57 14.31 14.60

4398 0.75 146.0 2476 386 2363 2381 549.1 14.2 525 4405 0.00 2.53 0.00 0.000 1030 0.000 0.073 2477 1792 2372 2363 2381 0 0 0 0 0 0 14.43 14.33 14.47

4712 0.75 146.0 2477 1794 2363 2380 502.6 14.8 557 4721 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 1794 2371 2363 2380 0 0 0 0 0 0 14.71 14.73 14.73

5023 0.75 146.0 2476 1798 2363 2379 458.1 13.9 588 5031 0.00 2.58 0.00 0.000 516 0.000 0.096 2486 388 2371 2363 2379 0 0 0 0 0 0 14.74 14.45 14.76

5048 0.75 146.0 2486 388 2362 2378 454.1 14.9 592 5056 0.00 2.53 0.00 0.000 1030 0.000 0.073 2486 1798 2370 2362 2379 0 0 0 0 0 0 14.59 14.50 14.62

5363 0.75 146.0 2485 1802 2362 2378 406.8 15.2 624 5367 0.00 0.00 0.00 0.000 6 0.000 0.000 2486 1802 2370 2363 2378 0 0 0 0 0 0 14.76 14.78 14.78

5664 0.75 146.0 2485 1802 2362 2377 361.6 15.1 654 5672 0.00 2.58 0.00 0.000 516 0.000 0.096 2495 389 2369 2362 2377 0 0 0 0 0 0 14.77 14.46 14.78

5703 0.75 146.0 2495 388 2361 2377 355.3 17.2 661 5712 0.15 2.50 0.00 0.000 5126 0.267 0.074 2464 1793 2369 2361 2377 0 0 0 0 0 0 14.28 14.49 14.54

6009 0.75 146.0 2464 1797 2361 2377 312.9 13.6 692 6017 0.00 2.47 0.00 0.000 260 0.000 0.083 2463 3206 2368 2361 2376 0 0 0 0 0 0 14.77 14.50 14.80

6038 0.75 146.0 2463 3206 2360 2377 308.7 13.9 697 6047 0.00 2.50 0.00 0.000 1030 0.000 0.080 2470 1799 2369 2361 2377 0 0 0 0 0 0 14.61 14.49 14.65

6344 0.75 146.0 2470 1799 2361 2377 265.9 13.8 728 6353 0.00 2.62 0.00 0.000 516 0.000 0.106 2481 370 2368 2359 2377 0 0 0 0 0 0 14.80 14.45 14.82

6460 0.75 146.0 2481 370 2360 2377 249.3 13.8 750 6467 0.00 2.53 0.00 0.000 1030 0.000 0.075 2481 1794 2368 2360 2377 0 0 0 0 0 0 14.62 14.52 14.66

6774 0.75 146.0 2481 1798 2359 2376 204.8 14.1 782 6778 0.00 0.00 0.00 0.000 6 0.000 0.000 2481 1798 2368 2360 2376 0 0 0 0 0 0 14.78 14.81 14.80

7076 0.75 146.0 2480 1798 2359 2376 163.5 13.5 812 7084 0.00 2.60 0.00 0.000 516 0.000 0.097 2491 375 2368 2360 2376 0 0 0 0 0 0 14.77 14.33 14.78

7111 0.75 146.0 2490 376 2360 2376 157.9 16.4 818 7118 0.00 2.53 0.00 0.000 1030 0.000 0.075 2490 1798 2367 2359 2375 0 0 0 0 0 0 14.50 14.40 14.54

7425 0.75 146.0 2490 1803 2359 2375 115.4 13.3 850 7429 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1802 2368 2360 2376 0 0 0 0 0 0 14.76 14.78 14.78

7726 0.75 146.0 2490 1801 2359 2376 75.4 12.3 898 7734 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 1803 2367 2359 2376 0 0 0 0 0 0 14.74 14.76 14.76

7917 0.75 146.0 2490 1803 2359 2374 51.9 11.9 935 7925 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 1803 2367 2359 2375 0 0 0 0 0 0 14.73 14.75 14.75

8109 0.76 149.0 2490 1803 2359 2374 27.4 9.9 972 8118 0.00 2.62 0.00 0.000 548 0.000 0.097 2500 368 2366 2359 2374 0 0 0 0 0 0 14.71 14.39 14.73

8141 0.76 149.0 2500 368 2359 2373 24.2 11.9 977 8150 0.15 2.58 0.00 0.000 5126 0.252 0.074 2468 1802 2366 2359 2374 0 0 0 0 0 0 14.16 14.34 14.38

8318 end climb: SURFACE_DEPTH_REACHED

state 8318 begin surface coast

8339 end surface coast: CONTROL_FINISHED_OK

state 8339 begin surface

ID	527	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PING_DEPTH	0
DIVE	16	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	19	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	21	ALTIM_FREQUENCY	13
STOP_T	0	TGT_DEFAULT_LON	-7043	ROLL_AD_RATE	200	ALTIM_PULSE	3
D_SURF	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	ALTIM_SENSITIVITY	2
D_FLARE	3	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_VALID	2
D_TGT	600	N_FILEKB	8	ROLL_ADJ_DBAND	0	XPDR_INHIBIT	90
D_ABORT	750	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	200	CALL_NDIVES	1	VBD_MAX	3960	INT_PRESSURE_YINT	0.38999999
D_BOOST	2	COMM_SEQ	0	C_VBD	2980	DEEPGLIDER	0
T_BOOST	0	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	4
D_FINISH	0	N_NOCOMM	2	VBD_CNV	-0.245296	DEVICE1	-1
D_PITCH	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	540	DEVICE3	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.001	DEVICE4	-1
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	2	DEVICE5	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE6	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERS	3
T_DIVE	200	CAPMAXSIZE	100000	UNCOM_BLEED	50	LOGGERDEVICE1	53
T_MISSION	250	HEAPDBG	0	VBD_MAXERRORS	1	LOGGERDEVICE2	67
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
T_TURN	225	N_GPS	100440	DBDW	0	LOGGERDEVICE4	-1
T_TURN_SAMPINT	-5	T_RSLEEP	2	LOITER_W_DBAND	0	COMPASS_DEVICE	97
T_NO_W	120	STROBE	0	LOITER_DBDW	0	COMPASS2_DEVICE	149
T_LOITER	0	RAFOS_PEAK_OFFSET	1.5	LOITER_D_TOP	0	PHONE_DEVICE	49
T_EPIRB	0	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	GPS_DEVICE	32
USE_BATHY	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
USE_ICE	0	RAFOS_MMODEM	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
ICE_FREEZE_MARGIN	0.30000001	PITCH_MIN	180	PITCH_W_DBAND	0	SIM_W	0
D_OFFGRID	990	PITCH_MAX	3650	CF8_MAXERRORS	20	SEABIRD_T_G	0.0044153966
T_WATCHDOG	10	C_PITCH	2220	AH0_24V	0	SEABIRD_T_H	0.00064440304
RELAUNCH	1	PITCH_DBAND	0.1	AH0_10V	310	SEABIRD_T_I	2.7248538e-05
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	MINV_24V	11	SEABIRD_T_J	3.4282193e-06
MAX_BUOY	150	P_OVSHOOT	0.039999999	MINV_10V	11	SEABIRD_C_G	-10.077963
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	MAXI_24V	0.60000002	SEABIRD_C_H	1.1533748
GLIDE_SLOPE	30	PITCH_GAIN	30	MAXI_10V	1.4	SEABIRD_C_I	-0.0022050336
SPEED_FACTOR	1	PITCH_TIMEOUT	16	FG_AHR_10V	0	SEABIRD_C_J	0.00023474717
RHO	1.0275	PITCH_AD_RATE	150	FG_AHR_24V	0	SC_RECORDABOVE	2000.0
MASS	56352	PITCH_MAXERRORS	1	PHONE_SUPPLY	-2	SC_PROFILE	3.0
MASS_COMP	0	PITCH_ADJ_GAIN	0	PRESSURE_YINT	-173.88152	SC_XMITPROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00010843292	SC_NDIVE	1.0
FERRY_MAX	45	ROLL_MIN	270	AD7714Ch0Gain	1	TM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MAX	3850	COMPASS_USE	4	TM_PROFILE	3.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	3.0
HD_B	0.010078	C_ROLL_DIVE	2600	ALTIM_TOP_PING_RANGE	0	TM_NDIVE	1.0
HD_C	5.7000002e-06	C_ROLL_CLIMB	1790	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0

GPS1	051020,152737,5826.0498,-2115.7878,61,0.8,67,-12.1,1.0,293.5,9,9.8	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5826.124,-2117.960
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	314.8,2075,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-63.7	D_GRID	600
GPS2	051020,154223,5825.9902,-2115.8352,10,0.8,19,-12.1,0.7,263.7,9,9.5

FINISH	0.1,1.026808	_24V_AH	13.00,0.000
SM_CCo	8357,259.45,0.951,1,0,1145,450.12	_10V_AH	13.00,34.197
SM_GC	0.55,6.65,1.42,259.45,0.065,0.080,0.951,171,2598,1145,-6.33,-0.79,450.12,0,0,0,0,1,0,14.54,14.50,13.52	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5825.73,-2109.92,051020,124858	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.86135	MEM	324024
HUMID	44.21	DATA_FILE_SIZE	36588,1015
INTERNAL_PRESSURE	7.86099	CAP_FILE_SIZE	104635,0
TCM_TEMP	18.60	CFSIZE	2097872896,2091515904
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
SC_FREEKB	3899904	CURRENT	0.128,140.93,1
TM_FREEKB	7558624	GPS	051020,180803,5826.181,-2117.005,17,0.8,30,-12.1,0.8,216.1,11,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	413	100.16	nil	0	0	0.00
Roll_motor	72	105	99.81	nil	0	0	0.00
VBD_pump_during_apogee	271	1776	6280.53	nil	0	0	0.00
VBD_pump_during_surface	259	950	3207.23	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	8362	29	3161.50
Iridium_during_xfer	677	219	1934.30	TMICL	8363	1000	108719.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	10	4.10
TT8	2454	12	397.89
LPSleep	3717	2	105.83
TT8_Active	706	12	114.50
TT8_Sampling	2466	31	999.92
TT8_CF8	177	36	84.30
TT8_Kalman	0	0	0.00
Analog_circuits	2244	10	291.78
GPS_charging	0	0	0.00
Compass	1618	7	157.62
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.75	-146.0	0	2618	1114	1164	0.0	0.0	0	128	0.00	0.00	-108.20	0.008	16390	0.000	0.000	0	2620	3577	3518	3637	0	0	0	0	0	0	14.59	13.05	14.60
130	-0.75	-146.0	0	2618	3518	3638	3.5	-6.7	19	148	9.82	2.22	0.00	0.000	2340	0.413	0.074	1964	3857	3581	3523	3640	0	0	0	0	0	0	14.07	14.31	14.40
330	-0.75	-146.0	1962	3857	3528	3637	44.3	-16.8	57	339	0.00	2.25	0.00	0.000	1030	0.000	0.063	1963	2581	3583	3529	3637	0	0	0	0	0	0	14.47	14.38	14.49
522	-0.75	-146.0	1962	2571	3529	3637	77.5	-18.0	94	530	0.00	2.42	0.00	0.000	516	0.000	0.077	1964	1188	3583	3530	3636	0	0	0	0	0	0	14.67	14.42	14.69
583	-0.75	-146.0	1963	1188	3530	3636	88.4	-17.2	105	592	0.00	2.53	0.00	0.000	1030	0.000	0.070	1954	2610	3583	3530	3636	0	0	0	0	0	0	14.54	14.45	14.57
780	-0.75	-146.0	1955	2610	3530	3636	120.1	-16.3	131	788	0.00	2.17	0.00	0.000	260	0.000	0.081	1944	3854	3583	3530	3636	0	0	0	0	0	0	14.71	14.46	14.72
839	-0.75	-146.0	1944	3854	3530	3636	129.8	-17.4	142	848	0.15	2.20	0.00	0.000	3078	0.282	0.063	1974	2592	3583	3530	3636	0	0	0	0	0	0	14.21	14.47	14.45
1146	-0.75	-146.0	1974	2581	3530	3636	174.2	-14.9	173	1153	0.00	2.45	0.00	0.000	516	0.000	0.077	1975	1196	3583	3531	3636	0	0	0	0	0	0	14.73	14.07	14.75
1204	-0.75	-146.0	1974	1196	3531	3636	183.4	-14.5	184	1213	0.00	2.47	0.00	0.000	1030	0.000	0.070	1968	2598	3583	3531	3636	0	0	0	0	0	0	14.47	14.40	14.50
1511	-0.75	-146.0	1968	2598	3531	3636	231.5	-16.1	215	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	1968	2598	3583	3531	3636	0	0	0	0	0	0	14.73	14.76	14.76
1812	-0.75	-146.0	1968	2597	3531	3635	279.7	-15.8	245	1821	0.00	0.00	0.00	0.000	6	0.000	0.000	1967	2598	3583	3531	3635	0	0	0	0	0	0	14.76	14.79	14.78
2122	-0.75	-146.0	1968	2598	3531	3635	329.5	-15.9	276	2130	0.00	2.50	0.00	0.000	516	0.000	0.075	1968	1188	3583	3531	3635	0	0	0	0	0	0	14.78	14.46	14.81
2167	-0.75	-146.0	1968	1188	3531	3634	337.0	-16.1	284	2175	0.00	2.53	0.00	0.000	1030	0.000	0.071	1959	2610	3583	3531	3635	0	0	0	0	0	0	14.57	14.46	14.61
2483	-0.75	-146.0	1959	2610	3531	3634	389.0	-16.2	316	2487	0.00	0.00	0.00	0.000	6	0.000	0.000	1959	2610	3582	3531	3633	0	0	0	0	0	0	14.80	14.82	14.82
2786	-0.75	-146.0	1959	2610	3531	3633	439.2	-16.8	346	2793	0.00	2.50	0.00	0.000	516	0.000	0.076	1959	1196	3582	3531	3633	0	0	0	0	0	0	14.77	14.49	14.78
2810	-0.75	-146.0	1959	1196	3532	3633	443.6	-16.7	350	2818	0.00	2.50	0.00	0.000	1030	0.000	0.073	1950	2607	3582	3531	3634	0	0	0	0	0	0	14.56	14.47	14.59
3125	-0.75	-146.0	1950	2606	3531	3632	498.5	-17.6	382	3128	0.00	0.00	0.00	0.000	6	0.000	0.000	1950	2607	3582	3532	3632	0	0	0	0	0	0	14.78	14.81	14.81
3426	-0.75	-146.0	1949	2606	3531	3631	550.4	-17.3	412	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	1950	2607	3581	3531	3631	0	0	0	0	0	0	14.79	14.81	14.81
3725	end dive: TARGET_DEPTH_EXCEEDED
state	3725	begin apogee
3730	-0.17	0.0	1950	1786	3531	3630	601.6	-17.0	442	3878	0.75	0.00	136.02	1.776	10246	0.233	0.000	2154	1786	2978	2980	2977	0	0	0	0	0	0	14.26	13.89	13.09
3881	end apogee: CONTROL_FINISHED_OK
state	3881	begin climb
3883	0.75	146.0	2155	1786	2979	2975	609.7	0.0	457	4030	0.98	2.75	135.95	1.744	10756	0.132	0.101	2468	388	2383	2376	2390	0	0	0	0	0	0	14.00	13.82	13.00
4066	0.75	146.0	2468	388	2365	2389	594.3	14.1	490	4074	0.00	2.58	0.00	0.000	1030	0.000	0.072	2467	1791	2377	2365	2389	0	0	0	0	0	0	14.08	14.01	14.10
4372	0.75	146.0	2467	1791	2365	2381	552.7	14.0	521	4380	0.00	2.60	0.00	0.000	516	0.000	0.097	2477	387	2372	2364	2381	0	0	0	0	0	0	14.57	14.31	14.60
4398	0.75	146.0	2476	386	2363	2381	549.1	14.2	525	4405	0.00	2.53	0.00	0.000	1030	0.000	0.073	2477	1792	2372	2363	2381	0	0	0	0	0	0	14.43	14.33	14.47
4712	0.75	146.0	2477	1794	2363	2380	502.6	14.8	557	4721	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	1794	2371	2363	2380	0	0	0	0	0	0	14.71	14.73	14.73
5023	0.75	146.0	2476	1798	2363	2379	458.1	13.9	588	5031	0.00	2.58	0.00	0.000	516	0.000	0.096	2486	388	2371	2363	2379	0	0	0	0	0	0	14.74	14.45	14.76
5048	0.75	146.0	2486	388	2362	2378	454.1	14.9	592	5056	0.00	2.53	0.00	0.000	1030	0.000	0.073	2486	1798	2370	2362	2379	0	0	0	0	0	0	14.59	14.50	14.62
5363	0.75	146.0	2485	1802	2362	2378	406.8	15.2	624	5367	0.00	0.00	0.00	0.000	6	0.000	0.000	2486	1802	2370	2363	2378	0	0	0	0	0	0	14.76	14.78	14.78
5664	0.75	146.0	2485	1802	2362	2377	361.6	15.1	654	5672	0.00	2.58	0.00	0.000	516	0.000	0.096	2495	389	2369	2362	2377	0	0	0	0	0	0	14.77	14.46	14.78
5703	0.75	146.0	2495	388	2361	2377	355.3	17.2	661	5712	0.15	2.50	0.00	0.000	5126	0.267	0.074	2464	1793	2369	2361	2377	0	0	0	0	0	0	14.28	14.49	14.54
6009	0.75	146.0	2464	1797	2361	2377	312.9	13.6	692	6017	0.00	2.47	0.00	0.000	260	0.000	0.083	2463	3206	2368	2361	2376	0	0	0	0	0	0	14.77	14.50	14.80
6038	0.75	146.0	2463	3206	2360	2377	308.7	13.9	697	6047	0.00	2.50	0.00	0.000	1030	0.000	0.080	2470	1799	2369	2361	2377	0	0	0	0	0	0	14.61	14.49	14.65
6344	0.75	146.0	2470	1799	2361	2377	265.9	13.8	728	6353	0.00	2.62	0.00	0.000	516	0.000	0.106	2481	370	2368	2359	2377	0	0	0	0	0	0	14.80	14.45	14.82
6460	0.75	146.0	2481	370	2360	2377	249.3	13.8	750	6467	0.00	2.53	0.00	0.000	1030	0.000	0.075	2481	1794	2368	2360	2377	0	0	0	0	0	0	14.62	14.52	14.66
6774	0.75	146.0	2481	1798	2359	2376	204.8	14.1	782	6778	0.00	0.00	0.00	0.000	6	0.000	0.000	2481	1798	2368	2360	2376	0	0	0	0	0	0	14.78	14.81	14.80
7076	0.75	146.0	2480	1798	2359	2376	163.5	13.5	812	7084	0.00	2.60	0.00	0.000	516	0.000	0.097	2491	375	2368	2360	2376	0	0	0	0	0	0	14.77	14.33	14.78
7111	0.75	146.0	2490	376	2360	2376	157.9	16.4	818	7118	0.00	2.53	0.00	0.000	1030	0.000	0.075	2490	1798	2367	2359	2375	0	0	0	0	0	0	14.50	14.40	14.54
7425	0.75	146.0	2490	1803	2359	2375	115.4	13.3	850	7429	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1802	2368	2360	2376	0	0	0	0	0	0	14.76	14.78	14.78
7726	0.75	146.0	2490	1801	2359	2376	75.4	12.3	898	7734	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	1803	2367	2359	2376	0	0	0	0	0	0	14.74	14.76	14.76
7917	0.75	146.0	2490	1803	2359	2374	51.9	11.9	935	7925	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	1803	2367	2359	2375	0	0	0	0	0	0	14.73	14.75	14.75
8109	0.76	149.0	2490	1803	2359	2374	27.4	9.9	972	8118	0.00	2.62	0.00	0.000	548	0.000	0.097	2500	368	2366	2359	2374	0	0	0	0	0	0	14.71	14.39	14.73
8141	0.76	149.0	2500	368	2359	2373	24.2	11.9	977	8150	0.15	2.58	0.00	0.000	5126	0.252	0.074	2468	1802	2366	2359	2374	0	0	0	0	0	0	14.16	14.34	14.38
8318	end climb: SURFACE_DEPTH_REACHED
state	8318	begin surface coast
8339	end surface coast: CONTROL_FINISHED_OK
state	8339	begin surface