Glider dive log

NISKINE May19 * SG527 * Dive index * Mission links * Dive 161 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 HEADING -1 C_ROLL_CLIMB 2600 ALTIM_TOP_PING_RANGE 0

MISSION 5 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 161 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 35 ALTIM_PING_DEPTH 0

D_SURF 3 TGT_DEFAULT_LON -7043 R_STBD_OVSHOOT 19 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_AUTO_DEFAULT 0 ROLL_AD_RATE 200 ALTIM_FREQUENCY 13

D_TGT 90 SM_CC 400 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 30 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 2 DEVICE5 -1

T_MISSION 45 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 150 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 30 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 30 COMPASS_USE 4

HD_C 5.7000002e-06 C_ROLL_DIVE 2850 ALTIM_PING_FIT 0

AD7714Ch0Gain 1 D_SURF 3 N_NOSURFACE 0 SEABIRD_T_G 0.004412075

AH0_10V 350 D_TGT 90 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 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 50 STROBE 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 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 30

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 45

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 2600 LOGGERS 1 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_DIVE 2850 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 30 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 150 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DIVE 161 MINV_10V 11 R_PORT_OVSHOOT 35 VBD_MIN 450

D_ABORT 1020 MINV_24V 11 R_STBD_OVSHOOT 19 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 160619,100501,5919.3828,-2141.3662,5,1.3,23,-12.7,0.0,252.6,6,9.6 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME S2

_XMS_NAKs 0 TGT_LATLONG 5920.000,-2200.000

_XMS_TOUTs 0 TGT_RADIUS 3000.000

_SM_DEPTHo 0.68 MHEAD_RNG_PITCHd_Wd 274.9,17557,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -74.9 D_GRID 1000

GPS2 160619,100957,5919.3647,-2141.4546,14,1.3,28,-12.7,0.0,236.5,7,9.2

Post-dive calculations and measurements:

FINISH 0.4,1.026848 _10V_AH 13.41,63.150

SM_CCo 1992,182.80,0.913,1,0,1269,400.08 FG_AHR_24Vo 0.000

SM_GC 0.69,7.97,0.55,182.80,0.068,0.116,0.913,166,2866,1269,-7.94,-0.20,400.08,0,0,0,0,1,0,14.62,14.55,13.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5920.04,-2131.63,160619,092446 MEM 303040

TT8_MAMPS 0.02247,0.280126 DATA_FILE_SIZE 6787,253

HUMID 35.58 CAP_FILE_SIZE 37188,0

INTERNAL_PRESSURE 8.82782 CFSIZE 2097872896,2064515072

TCM_TEMP 18.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.202,284.42,1

SC_FREEKB 3836096 GPS 160619,104811,5919.432,-2142.296,11,1.1,30,-12.7,0.6,257.0,7,10.0

_24V_AH 12.91,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 396 106.92 nil 0 0 0.00

Roll_motor 23 323 98.28 nil 0 0 0.00

VBD_pump_during_apogee 269 1130 3926.58 nil 0 0 0.00

VBD_pump_during_surface 182 913 2155.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 1983 19 493.40

Iridium_during_xfer 170 159 352.76 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 38 11 5.78

TT8 571 10 84.02

LPSleep 724 2 21.26

TT8_Active 548 10 80.73

TT8_Sampling 600 30 245.17

TT8_CF8 62 36 30.45

TT8_Kalman 0 0 0.00

Analog_circuits 980 10 131.48

GPS_charging 0 0 0.00

Compass 376 6 34.01

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

11 -0.46 -146.0 137 2836 1144 1388 0.0 0.0 0 124 0.00 0.00 -107.53 0.008 16390 0.000 0.000 131 2834 3497 3643 3351 0 0 0 0 0 0 14.71 12.91 14.73

127 -0.46 -146.0 130 2834 3643 3351 4.2 -6.7 11 144 11.85 1.90 0.00 0.000 2340 0.396 0.119 2567 3847 3497 3644 3351 0 0 0 0 0 0 14.10 14.33 14.33

372 -0.46 -146.0 2566 3846 3644 3350 43.0 -14.3 59 377 0.00 1.70 0.00 0.000 1030 0.000 0.071 2566 2855 3497 3644 3351 0 0 0 0 0 0 14.66 14.59 14.68

564 -0.46 -146.0 2565 2855 3644 3351 66.4 -11.6 79 570 0.00 1.90 0.00 0.000 260 0.000 0.145 2559 3844 3497 3644 3351 0 0 0 0 0 0 14.86 14.38 14.88

637 -0.46 -146.0 2559 3844 3644 3351 74.7 -11.3 93 644 0.00 1.70 0.00 0.000 1030 0.000 0.067 2559 2847 3497 3644 3351 0 0 0 0 0 0 14.68 14.61 14.70

769 end dive: TARGET_DEPTH_EXCEEDED

state 769 begin apogee

774 -0.10 0.0 2559 2605 3644 3351 90.2 -11.6 107 894 0.47 0.00 115.82 1.131 10246 0.204 0.000 2692 2605 2899 2942 2857 0 0 0 0 0 0 14.38 14.13 13.40

896 end apogee: CONTROL_FINISHED_OK

state 896 begin climb

898 0.46 146.0 2692 2605 2940 2856 94.6 0.0 119 1024 0.60 1.90 115.78 1.107 10756 0.137 0.074 2880 1538 2303 2321 2285 0 0 0 0 0 0 14.12 13.82 13.27

1036 0.49 146.0 2879 1538 2321 2285 87.2 8.5 143 1042 0.00 2.03 0.00 0.000 1094 0.000 0.110 2880 2599 2303 2321 2285 0 0 0 0 0 0 14.19 14.07 14.21

1229 0.52 192.8 2879 2598 2321 2280 71.2 7.9 163 1274 0.00 2.00 37.40 1.060 8484 0.000 0.134 2879 3661 2113 2125 2102 0 0 0 0 0 0 14.69 14.07 13.50

1306 0.52 192.8 2880 3661 2125 2103 64.5 9.8 177 1313 0.00 1.88 0.00 0.000 1030 0.000 0.069 2888 2581 2114 2125 2103 0 0 0 0 0 0 14.43 14.35 14.45

1500 0.53 192.8 2887 2579 2125 2102 47.1 9.4 197 1507 0.00 1.77 0.00 0.000 580 0.000 0.072 2894 1537 2114 2126 2102 0 0 0 0 0 0 14.78 14.50 14.79

1524 0.53 192.8 2893 1537 2126 2102 44.5 10.5 201 1531 0.00 1.98 0.00 0.000 1030 0.000 0.107 2894 2604 2114 2126 2102 0 0 0 0 0 0 14.57 14.43 14.61

1718 0.54 192.8 2893 2604 2126 2101 26.1 9.4 221 1725 0.00 1.95 0.00 0.000 324 0.000 0.133 2894 3660 2113 2125 2101 0 0 0 0 0 0 14.83 14.45 14.84

1782 0.54 192.8 2893 3660 2125 2101 19.4 10.2 233 1788 0.00 1.83 0.00 0.000 1030 0.000 0.069 2901 2590 2113 2126 2101 0 0 0 0 0 0 14.67 14.58 14.69

1953 end climb: SURFACE_DEPTH_REACHED

state 1953 begin surface coast

1976 end surface coast: CONTROL_FINISHED_OK

state 1976 begin surface

ID	527	HEADING	-1	C_ROLL_CLIMB	2600	ALTIM_TOP_PING_RANGE	0
MISSION	5	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	161	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	35	ALTIM_PING_DEPTH	0
D_SURF	3	TGT_DEFAULT_LON	-7043	R_STBD_OVSHOOT	19	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_AUTO_DEFAULT	0	ROLL_AD_RATE	200	ALTIM_FREQUENCY	13
D_TGT	90	SM_CC	400	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	30	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	2	DEVICE5	-1
T_MISSION	45	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	150	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	30	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	30	COMPASS_USE	4
HD_C	5.7000002e-06	C_ROLL_DIVE	2850	ALTIM_PING_FIT	0

GPS1	160619,100501,5919.3828,-2141.3662,5,1.3,23,-12.7,0.0,252.6,6,9.6	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	S2
_XMS_NAKs	0	TGT_LATLONG	5920.000,-2200.000
_XMS_TOUTs	0	TGT_RADIUS	3000.000
_SM_DEPTHo	0.68	MHEAD_RNG_PITCHd_Wd	274.9,17557,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-74.9	D_GRID	1000
GPS2	160619,100957,5919.3647,-2141.4546,14,1.3,28,-12.7,0.0,236.5,7,9.2

FINISH	0.4,1.026848	_10V_AH	13.41,63.150
SM_CCo	1992,182.80,0.913,1,0,1269,400.08	FG_AHR_24Vo	0.000
SM_GC	0.69,7.97,0.55,182.80,0.068,0.116,0.913,166,2866,1269,-7.94,-0.20,400.08,0,0,0,0,1,0,14.62,14.55,13.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5920.04,-2131.63,160619,092446	MEM	303040
TT8_MAMPS	0.02247,0.280126	DATA_FILE_SIZE	6787,253
HUMID	35.58	CAP_FILE_SIZE	37188,0
INTERNAL_PRESSURE	8.82782	CFSIZE	2097872896,2064515072
TCM_TEMP	18.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.202,284.42,1
SC_FREEKB	3836096	GPS	160619,104811,5919.432,-2142.296,11,1.1,30,-12.7,0.6,257.0,7,10.0
_24V_AH	12.91,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	396	106.92	nil	0	0	0.00
Roll_motor	23	323	98.28	nil	0	0	0.00
VBD_pump_during_apogee	269	1130	3926.58	nil	0	0	0.00
VBD_pump_during_surface	182	913	2155.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	1983	19	493.40
Iridium_during_xfer	170	159	352.76	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	38	11	5.78
TT8	571	10	84.02
LPSleep	724	2	21.26
TT8_Active	548	10	80.73
TT8_Sampling	600	30	245.17
TT8_CF8	62	36	30.45
TT8_Kalman	0	0	0.00
Analog_circuits	980	10	131.48
GPS_charging	0	0	0.00
Compass	376	6	34.01
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
11	-0.46	-146.0	137	2836	1144	1388	0.0	0.0	0	124	0.00	0.00	-107.53	0.008	16390	0.000	0.000	131	2834	3497	3643	3351	0	0	0	0	0	0	14.71	12.91	14.73
127	-0.46	-146.0	130	2834	3643	3351	4.2	-6.7	11	144	11.85	1.90	0.00	0.000	2340	0.396	0.119	2567	3847	3497	3644	3351	0	0	0	0	0	0	14.10	14.33	14.33
372	-0.46	-146.0	2566	3846	3644	3350	43.0	-14.3	59	377	0.00	1.70	0.00	0.000	1030	0.000	0.071	2566	2855	3497	3644	3351	0	0	0	0	0	0	14.66	14.59	14.68
564	-0.46	-146.0	2565	2855	3644	3351	66.4	-11.6	79	570	0.00	1.90	0.00	0.000	260	0.000	0.145	2559	3844	3497	3644	3351	0	0	0	0	0	0	14.86	14.38	14.88
637	-0.46	-146.0	2559	3844	3644	3351	74.7	-11.3	93	644	0.00	1.70	0.00	0.000	1030	0.000	0.067	2559	2847	3497	3644	3351	0	0	0	0	0	0	14.68	14.61	14.70
769	end dive: TARGET_DEPTH_EXCEEDED
state	769	begin apogee
774	-0.10	0.0	2559	2605	3644	3351	90.2	-11.6	107	894	0.47	0.00	115.82	1.131	10246	0.204	0.000	2692	2605	2899	2942	2857	0	0	0	0	0	0	14.38	14.13	13.40
896	end apogee: CONTROL_FINISHED_OK
state	896	begin climb
898	0.46	146.0	2692	2605	2940	2856	94.6	0.0	119	1024	0.60	1.90	115.78	1.107	10756	0.137	0.074	2880	1538	2303	2321	2285	0	0	0	0	0	0	14.12	13.82	13.27
1036	0.49	146.0	2879	1538	2321	2285	87.2	8.5	143	1042	0.00	2.03	0.00	0.000	1094	0.000	0.110	2880	2599	2303	2321	2285	0	0	0	0	0	0	14.19	14.07	14.21
1229	0.52	192.8	2879	2598	2321	2280	71.2	7.9	163	1274	0.00	2.00	37.40	1.060	8484	0.000	0.134	2879	3661	2113	2125	2102	0	0	0	0	0	0	14.69	14.07	13.50
1306	0.52	192.8	2880	3661	2125	2103	64.5	9.8	177	1313	0.00	1.88	0.00	0.000	1030	0.000	0.069	2888	2581	2114	2125	2103	0	0	0	0	0	0	14.43	14.35	14.45
1500	0.53	192.8	2887	2579	2125	2102	47.1	9.4	197	1507	0.00	1.77	0.00	0.000	580	0.000	0.072	2894	1537	2114	2126	2102	0	0	0	0	0	0	14.78	14.50	14.79
1524	0.53	192.8	2893	1537	2126	2102	44.5	10.5	201	1531	0.00	1.98	0.00	0.000	1030	0.000	0.107	2894	2604	2114	2126	2102	0	0	0	0	0	0	14.57	14.43	14.61
1718	0.54	192.8	2893	2604	2126	2101	26.1	9.4	221	1725	0.00	1.95	0.00	0.000	324	0.000	0.133	2894	3660	2113	2125	2101	0	0	0	0	0	0	14.83	14.45	14.84
1782	0.54	192.8	2893	3660	2125	2101	19.4	10.2	233	1788	0.00	1.83	0.00	0.000	1030	0.000	0.069	2901	2590	2113	2126	2101	0	0	0	0	0	0	14.67	14.58	14.69
1953	end climb: SURFACE_DEPTH_REACHED
state	1953	begin surface coast
1976	end surface coast: CONTROL_FINISHED_OK
state	1976	begin surface