Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 21 * 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 21 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 19 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 16 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 1

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 1 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 16 VBD_DBAND 2

DIVE 21 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 061020,040225,5825.9102,-2121.8650,13,0.8,42,-12.2,0.8,86.4,10,9.8 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5825.220,-2123.902

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.61 MHEAD_RNG_PITCHd_Wd 275.4,2385,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -60.0 D_GRID 600

GPS2 061020,041011,5825.8584,-2121.7659,9,0.8,23,-12.2,0.5,98.6,11,9.7

Post-dive calculations and measurements:

FINISH -0.0,1.026867 _10V_AH 13.08,37.025

SM_CCo 8478,261.05,0.962,1,0,1145,450.12 FG_AHR_24Vo 0.000

SM_GC 0.62,6.65,4.03,261.05,0.063,0.078,0.962,154,2601,1145,-6.35,-0.68,450.12,0,0,0,0,1,0,14.59,14.54,13.51 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5826.77,-2115.24,061020,013227 MEM 324064

TT8_MAMPS 0.023219,0.80143 DATA_FILE_SIZE 36683,1023

HUMID 44.60 CAP_FILE_SIZE 102370,0

INTERNAL_PRESSURE 7.86099 CFSIZE 2097872896,2090336256

TCM_TEMP 18.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

XPDR_PINGS 0 CURRENT 0.125,99.80,1

SC_FREEKB 3896448 GPS 061020,063801,5825.675,-2122.908,17,0.7,40,-12.2,0.4,173.0,12,9.6

_24V_AH 13.02,0.000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 408 99.20 nil 0 0 0.00

Roll_motor 77 100 101.60 nil 0 0 0.00

VBD_pump_during_apogee 272 1783 6328.89 nil 0 0 0.00

VBD_pump_during_surface 261 961 3268.37 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 8484 27 3050.29

Iridium_during_xfer 315 211 866.50 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 10 4.77

TT8 2490 12 406.23

LPSleep 3882 2 111.20

TT8_Active 700 12 114.33

TT8_Sampling 2027 31 827.32

TT8_CF8 129 36 61.49

TT8_Kalman 0 0 0.00

Analog_circuits 1811 10 236.93

GPS_charging 0 0 0.00

Compass 1624 7 159.11

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

6 end surface: CONTROL_FINISHED_OK

state 7 begin dive

9 -0.75 -146.0 0 2602 1114 1162 0.0 0.0 0 123 0.00 0.00 -108.62 0.008 16390 0.000 0.000 2 2605 3578 3515 3641 0 0 0 0 0 0 14.63 13.05 14.62

126 -0.75 -146.0 0 2605 3515 3641 4.0 -9.9 19 140 9.75 2.22 0.00 0.000 2340 0.409 0.071 1960 3857 3580 3520 3641 0 0 0 0 0 0 14.09 14.40 14.42

237 -0.75 -146.0 1960 3857 3525 3640 30.5 -18.5 40 244 0.00 2.20 0.00 0.000 1030 0.000 0.059 1960 2584 3582 3525 3640 0 0 0 0 0 0 14.54 14.45 14.56

428 -0.75 -146.0 1960 2575 3527 3640 66.1 -18.8 77 435 0.00 0.00 0.00 0.000 6 0.000 0.000 1960 2574 3583 3527 3639 0 0 0 0 0 0 14.75 14.77 14.77

617 -0.75 -146.0 1960 2574 3527 3640 99.0 -18.0 114 624 0.00 2.25 0.00 0.000 260 0.000 0.079 1951 3857 3583 3527 3640 0 0 0 0 0 0 14.78 14.50 14.79

655 -0.75 -146.0 1949 3857 3527 3639 106.0 -17.6 121 662 0.00 2.17 0.00 0.000 1030 0.000 0.059 1951 2600 3583 3527 3639 0 0 0 0 0 0 14.54 14.47 14.57

961 -0.75 -146.0 1950 2587 3529 3639 160.2 -17.6 152 967 0.00 2.45 0.00 0.000 516 0.000 0.072 1951 1186 3583 3529 3638 0 0 0 0 0 0 14.83 14.53 14.85

988 -0.75 -146.0 1950 1186 3530 3639 165.6 -17.9 157 996 0.15 2.50 0.00 0.000 3078 0.300 0.069 1971 2614 3584 3529 3639 0 0 0 0 0 0 14.29 14.54 14.57

1294 -0.75 -146.0 1970 2614 3529 3639 215.3 -16.1 188 1296 0.00 0.00 0.00 0.000 6 0.000 0.000 1971 2613 3584 3530 3639 0 0 0 0 0 0 14.83 14.85 14.85

1596 -0.75 -146.0 1971 2614 3530 3639 263.2 -15.7 218 1601 0.00 2.50 0.00 0.000 516 0.000 0.072 1972 1184 3584 3529 3639 0 0 0 0 0 0 14.85 14.51 14.88

1632 -0.75 -146.0 1971 1184 3529 3639 269.7 -16.9 225 1640 0.00 2.50 0.00 0.000 1030 0.000 0.069 1964 2608 3585 3532 3639 0 0 0 0 0 0 14.67 14.58 14.69

1939 -0.75 -146.0 1963 2608 3530 3637 319.5 -16.7 256 1941 0.00 0.00 0.00 0.000 6 0.000 0.000 1965 2607 3584 3530 3638 0 0 0 0 0 0 14.88 14.90 14.89

2240 -0.75 -146.0 1964 2608 3529 3637 367.6 -16.6 286 2245 0.00 2.50 0.00 0.000 516 0.000 0.076 1965 1187 3583 3529 3637 0 0 0 0 0 0 14.88 14.47 14.90

2272 -0.75 -146.0 1964 1187 3530 3637 373.0 -16.9 292 2278 0.00 2.50 0.00 0.000 1030 0.000 0.070 1955 2606 3583 3530 3637 0 0 0 0 0 0 14.65 14.56 14.66

2585 -0.75 -146.0 1954 2606 3530 3636 425.5 -16.6 324 2587 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2606 3583 3530 3636 0 0 0 0 0 0 14.90 14.92 14.92

2886 -0.75 -146.0 1954 2606 3529 3635 475.6 -16.7 354 2892 0.00 2.47 0.00 0.000 516 0.000 0.073 1955 1194 3582 3530 3635 0 0 0 0 0 0 14.91 14.54 14.93

2913 -0.75 -146.0 1955 1195 3530 3635 480.5 -16.8 359 2920 0.15 2.47 0.00 0.000 3078 0.294 0.070 1976 2607 3582 3530 3634 0 0 0 0 0 0 14.32 14.60 14.59

3220 -0.75 -146.0 1975 2607 3530 3634 526.2 -14.9 390 3222 0.00 0.00 0.00 0.000 6 0.000 0.000 1976 2606 3582 3530 3635 0 0 0 0 0 0 14.89 14.91 14.90

3520 -0.75 -146.0 1976 2607 3530 3634 570.4 -14.2 420 3526 0.00 2.47 0.00 0.000 516 0.000 0.074 1976 1194 3581 3529 3633 0 0 0 0 0 0 14.89 14.57 14.91

3556 -0.75 -146.0 1976 1194 3530 3634 576.2 -15.0 427 3563 0.00 2.47 0.00 0.000 1030 0.000 0.070 1969 2606 3582 3530 3634 0 0 0 0 0 0 14.70 14.60 14.73

3721 end dive: TARGET_DEPTH_EXCEEDED

state 3722 begin apogee

3727 -0.17 0.0 1970 1789 3530 3633 600.9 -15.0 444 3873 0.68 0.00 135.60 1.784 10246 0.220 0.000 2156 1788 2978 2976 2981 0 0 0 0 0 0 14.33 13.95 13.12

3874 end apogee: CONTROL_FINISHED_OK

state 3875 begin climb

3876 0.75 146.0 2157 1788 2976 2979 607.8 0.0 459 4022 0.98 2.75 136.88 1.746 10756 0.130 0.099 2470 380 2382 2373 2392 0 0 0 0 0 0 14.02 13.83 13.02

4094 0.75 146.0 2470 380 2362 2389 586.0 14.7 499 4100 0.00 2.58 0.00 0.000 1030 0.000 0.073 2471 1793 2375 2361 2389 0 0 0 0 0 0 14.22 14.14 14.24

4407 0.75 146.0 2470 1794 2360 2382 541.9 13.8 531 4413 0.00 2.60 0.00 0.000 516 0.000 0.094 2480 375 2371 2361 2382 0 0 0 0 0 0 14.68 14.35 14.70

4433 0.75 146.0 2480 375 2360 2382 538.0 14.3 536 4440 0.00 2.53 0.00 0.000 1030 0.000 0.074 2480 1796 2371 2360 2383 0 0 0 0 0 0 14.53 14.43 14.55

4740 0.75 146.0 2480 1797 2360 2381 494.1 14.7 567 4742 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 1797 2370 2360 2381 0 0 0 0 0 0 14.77 14.79 14.79

5041 0.75 146.0 2480 1800 2360 2381 450.1 14.9 597 5043 0.00 0.00 0.00 0.000 6 0.000 0.000 2480 1799 2370 2360 2380 0 0 0 0 0 0 14.81 14.83 14.83

5341 0.75 146.0 2479 1800 2360 2379 406.5 14.8 627 5346 0.00 2.55 0.00 0.000 516 0.000 0.095 2490 386 2370 2360 2380 0 0 0 0 0 0 14.83 14.52 14.86

5378 0.75 146.0 2489 386 2359 2380 400.9 15.7 634 5384 0.00 2.47 0.00 0.000 1030 0.000 0.074 2490 1791 2369 2359 2380 0 0 0 0 0 0 14.68 14.57 14.71

5683 0.75 146.0 2489 1793 2359 2379 355.1 14.8 665 5685 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 1793 2369 2359 2379 0 0 0 0 0 0 14.90 14.92 14.91

5984 0.75 146.0 2489 1794 2358 2379 311.9 14.2 695 5990 0.00 2.55 0.00 0.000 516 0.000 0.095 2498 382 2369 2359 2379 0 0 0 0 0 0 14.90 14.54 14.92

6017 0.75 146.0 2500 382 2358 2379 306.9 15.0 701 6024 0.15 2.47 0.00 0.000 5126 0.270 0.074 2467 1790 2368 2358 2379 0 0 0 0 0 0 14.38 14.61 14.65

6331 0.75 146.0 2467 1793 2358 2378 266.9 12.8 733 6333 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1793 2368 2358 2378 0 0 0 0 0 0 14.88 14.90 14.90

6632 0.75 146.0 2467 1794 2358 2378 228.7 13.0 763 6634 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1795 2368 2358 2378 0 0 0 0 0 0 14.88 14.90 14.90

6932 0.75 146.0 2467 1794 2358 2377 190.4 12.4 793 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1795 2368 2358 2378 0 0 0 0 0 0 14.88 14.90 14.90

7232 0.75 146.0 2467 1794 2358 2377 153.4 12.3 823 7234 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 1795 2367 2358 2377 0 0 0 0 0 0 14.86 14.88 14.88

7532 0.75 146.0 2467 1795 2358 2377 115.7 12.4 853 7538 0.00 2.47 0.00 0.000 260 0.000 0.083 2467 3207 2367 2358 2377 0 0 0 0 0 0 14.85 14.54 14.88

7549 0.75 146.0 2466 3207 2357 2377 113.4 11.9 856 7556 0.00 2.47 0.00 0.000 1030 0.000 0.076 2474 1798 2367 2358 2377 0 0 0 0 0 0 14.66 14.54 14.69

7856 0.75 146.0 2473 1798 2358 2377 73.5 14.2 907 7863 0.00 2.60 0.00 0.000 516 0.000 0.101 2484 371 2368 2359 2378 0 0 0 0 0 0 14.85 14.41 14.87

8007 0.75 146.0 2484 371 2356 2378 54.0 13.5 936 8014 0.00 2.55 0.00 0.000 1030 0.000 0.074 2485 1801 2367 2357 2378 0 0 0 0 0 0 14.62 14.52 14.66

8197 0.75 146.0 2484 1806 2356 2376 31.6 11.5 973 8204 0.00 2.45 0.00 0.000 260 0.000 0.083 2484 3202 2367 2357 2377 0 0 0 0 0 0 14.84 14.49 14.87

8231 0.75 146.0 2483 3202 2355 2377 27.2 13.7 979 8238 0.15 2.53 0.00 0.000 5126 0.285 0.077 2463 1782 2366 2356 2377 0 0 0 0 0 0 14.23 14.09 14.51

8421 0.75 146.0 2463 1782 2356 2376 3.4 13.6 1016 8428 0.00 2.53 0.00 0.000 516 0.000 0.094 2472 376 2366 2356 2376 0 0 0 0 0 0 14.83 14.42 14.84

8434 end climb: SURFACE_DEPTH_REACHED

state 8434 begin surface coast

8459 end surface coast: CONTROL_FINISHED_OK

state 8459 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	21	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	19	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	16	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	1
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	061020,040225,5825.9102,-2121.8650,13,0.8,42,-12.2,0.8,86.4,10,9.8	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5825.220,-2123.902
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.61	MHEAD_RNG_PITCHd_Wd	275.4,2385,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-60.0	D_GRID	600
GPS2	061020,041011,5825.8584,-2121.7659,9,0.8,23,-12.2,0.5,98.6,11,9.7

FINISH	-0.0,1.026867	_10V_AH	13.08,37.025
SM_CCo	8478,261.05,0.962,1,0,1145,450.12	FG_AHR_24Vo	0.000
SM_GC	0.62,6.65,4.03,261.05,0.063,0.078,0.962,154,2601,1145,-6.35,-0.68,450.12,0,0,0,0,1,0,14.59,14.54,13.51	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5826.77,-2115.24,061020,013227	MEM	324064
TT8_MAMPS	0.023219,0.80143	DATA_FILE_SIZE	36683,1023
HUMID	44.60	CAP_FILE_SIZE	102370,0
INTERNAL_PRESSURE	7.86099	CFSIZE	2097872896,2090336256
TCM_TEMP	18.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS	0	CURRENT	0.125,99.80,1
SC_FREEKB	3896448	GPS	061020,063801,5825.675,-2122.908,17,0.7,40,-12.2,0.4,173.0,12,9.6
_24V_AH	13.02,0.000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	408	99.20	nil	0	0	0.00
Roll_motor	77	100	101.60	nil	0	0	0.00
VBD_pump_during_apogee	272	1783	6328.89	nil	0	0	0.00
VBD_pump_during_surface	261	961	3268.37	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	8484	27	3050.29
Iridium_during_xfer	315	211	866.50	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	10	4.77
TT8	2490	12	406.23
LPSleep	3882	2	111.20
TT8_Active	700	12	114.33
TT8_Sampling	2027	31	827.32
TT8_CF8	129	36	61.49
TT8_Kalman	0	0	0.00
Analog_circuits	1811	10	236.93
GPS_charging	0	0	0.00
Compass	1624	7	159.11
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
6	end surface: CONTROL_FINISHED_OK
state	7	begin dive
9	-0.75	-146.0	0	2602	1114	1162	0.0	0.0	0	123	0.00	0.00	-108.62	0.008	16390	0.000	0.000	2	2605	3578	3515	3641	0	0	0	0	0	0	14.63	13.05	14.62
126	-0.75	-146.0	0	2605	3515	3641	4.0	-9.9	19	140	9.75	2.22	0.00	0.000	2340	0.409	0.071	1960	3857	3580	3520	3641	0	0	0	0	0	0	14.09	14.40	14.42
237	-0.75	-146.0	1960	3857	3525	3640	30.5	-18.5	40	244	0.00	2.20	0.00	0.000	1030	0.000	0.059	1960	2584	3582	3525	3640	0	0	0	0	0	0	14.54	14.45	14.56
428	-0.75	-146.0	1960	2575	3527	3640	66.1	-18.8	77	435	0.00	0.00	0.00	0.000	6	0.000	0.000	1960	2574	3583	3527	3639	0	0	0	0	0	0	14.75	14.77	14.77
617	-0.75	-146.0	1960	2574	3527	3640	99.0	-18.0	114	624	0.00	2.25	0.00	0.000	260	0.000	0.079	1951	3857	3583	3527	3640	0	0	0	0	0	0	14.78	14.50	14.79
655	-0.75	-146.0	1949	3857	3527	3639	106.0	-17.6	121	662	0.00	2.17	0.00	0.000	1030	0.000	0.059	1951	2600	3583	3527	3639	0	0	0	0	0	0	14.54	14.47	14.57
961	-0.75	-146.0	1950	2587	3529	3639	160.2	-17.6	152	967	0.00	2.45	0.00	0.000	516	0.000	0.072	1951	1186	3583	3529	3638	0	0	0	0	0	0	14.83	14.53	14.85
988	-0.75	-146.0	1950	1186	3530	3639	165.6	-17.9	157	996	0.15	2.50	0.00	0.000	3078	0.300	0.069	1971	2614	3584	3529	3639	0	0	0	0	0	0	14.29	14.54	14.57
1294	-0.75	-146.0	1970	2614	3529	3639	215.3	-16.1	188	1296	0.00	0.00	0.00	0.000	6	0.000	0.000	1971	2613	3584	3530	3639	0	0	0	0	0	0	14.83	14.85	14.85
1596	-0.75	-146.0	1971	2614	3530	3639	263.2	-15.7	218	1601	0.00	2.50	0.00	0.000	516	0.000	0.072	1972	1184	3584	3529	3639	0	0	0	0	0	0	14.85	14.51	14.88
1632	-0.75	-146.0	1971	1184	3529	3639	269.7	-16.9	225	1640	0.00	2.50	0.00	0.000	1030	0.000	0.069	1964	2608	3585	3532	3639	0	0	0	0	0	0	14.67	14.58	14.69
1939	-0.75	-146.0	1963	2608	3530	3637	319.5	-16.7	256	1941	0.00	0.00	0.00	0.000	6	0.000	0.000	1965	2607	3584	3530	3638	0	0	0	0	0	0	14.88	14.90	14.89
2240	-0.75	-146.0	1964	2608	3529	3637	367.6	-16.6	286	2245	0.00	2.50	0.00	0.000	516	0.000	0.076	1965	1187	3583	3529	3637	0	0	0	0	0	0	14.88	14.47	14.90
2272	-0.75	-146.0	1964	1187	3530	3637	373.0	-16.9	292	2278	0.00	2.50	0.00	0.000	1030	0.000	0.070	1955	2606	3583	3530	3637	0	0	0	0	0	0	14.65	14.56	14.66
2585	-0.75	-146.0	1954	2606	3530	3636	425.5	-16.6	324	2587	0.00	0.00	0.00	0.000	6	0.000	0.000	1955	2606	3583	3530	3636	0	0	0	0	0	0	14.90	14.92	14.92
2886	-0.75	-146.0	1954	2606	3529	3635	475.6	-16.7	354	2892	0.00	2.47	0.00	0.000	516	0.000	0.073	1955	1194	3582	3530	3635	0	0	0	0	0	0	14.91	14.54	14.93
2913	-0.75	-146.0	1955	1195	3530	3635	480.5	-16.8	359	2920	0.15	2.47	0.00	0.000	3078	0.294	0.070	1976	2607	3582	3530	3634	0	0	0	0	0	0	14.32	14.60	14.59
3220	-0.75	-146.0	1975	2607	3530	3634	526.2	-14.9	390	3222	0.00	0.00	0.00	0.000	6	0.000	0.000	1976	2606	3582	3530	3635	0	0	0	0	0	0	14.89	14.91	14.90
3520	-0.75	-146.0	1976	2607	3530	3634	570.4	-14.2	420	3526	0.00	2.47	0.00	0.000	516	0.000	0.074	1976	1194	3581	3529	3633	0	0	0	0	0	0	14.89	14.57	14.91
3556	-0.75	-146.0	1976	1194	3530	3634	576.2	-15.0	427	3563	0.00	2.47	0.00	0.000	1030	0.000	0.070	1969	2606	3582	3530	3634	0	0	0	0	0	0	14.70	14.60	14.73
3721	end dive: TARGET_DEPTH_EXCEEDED
state	3722	begin apogee
3727	-0.17	0.0	1970	1789	3530	3633	600.9	-15.0	444	3873	0.68	0.00	135.60	1.784	10246	0.220	0.000	2156	1788	2978	2976	2981	0	0	0	0	0	0	14.33	13.95	13.12
3874	end apogee: CONTROL_FINISHED_OK
state	3875	begin climb
3876	0.75	146.0	2157	1788	2976	2979	607.8	0.0	459	4022	0.98	2.75	136.88	1.746	10756	0.130	0.099	2470	380	2382	2373	2392	0	0	0	0	0	0	14.02	13.83	13.02
4094	0.75	146.0	2470	380	2362	2389	586.0	14.7	499	4100	0.00	2.58	0.00	0.000	1030	0.000	0.073	2471	1793	2375	2361	2389	0	0	0	0	0	0	14.22	14.14	14.24
4407	0.75	146.0	2470	1794	2360	2382	541.9	13.8	531	4413	0.00	2.60	0.00	0.000	516	0.000	0.094	2480	375	2371	2361	2382	0	0	0	0	0	0	14.68	14.35	14.70
4433	0.75	146.0	2480	375	2360	2382	538.0	14.3	536	4440	0.00	2.53	0.00	0.000	1030	0.000	0.074	2480	1796	2371	2360	2383	0	0	0	0	0	0	14.53	14.43	14.55
4740	0.75	146.0	2480	1797	2360	2381	494.1	14.7	567	4742	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	1797	2370	2360	2381	0	0	0	0	0	0	14.77	14.79	14.79
5041	0.75	146.0	2480	1800	2360	2381	450.1	14.9	597	5043	0.00	0.00	0.00	0.000	6	0.000	0.000	2480	1799	2370	2360	2380	0	0	0	0	0	0	14.81	14.83	14.83
5341	0.75	146.0	2479	1800	2360	2379	406.5	14.8	627	5346	0.00	2.55	0.00	0.000	516	0.000	0.095	2490	386	2370	2360	2380	0	0	0	0	0	0	14.83	14.52	14.86
5378	0.75	146.0	2489	386	2359	2380	400.9	15.7	634	5384	0.00	2.47	0.00	0.000	1030	0.000	0.074	2490	1791	2369	2359	2380	0	0	0	0	0	0	14.68	14.57	14.71
5683	0.75	146.0	2489	1793	2359	2379	355.1	14.8	665	5685	0.00	0.00	0.00	0.000	6	0.000	0.000	2489	1793	2369	2359	2379	0	0	0	0	0	0	14.90	14.92	14.91
5984	0.75	146.0	2489	1794	2358	2379	311.9	14.2	695	5990	0.00	2.55	0.00	0.000	516	0.000	0.095	2498	382	2369	2359	2379	0	0	0	0	0	0	14.90	14.54	14.92
6017	0.75	146.0	2500	382	2358	2379	306.9	15.0	701	6024	0.15	2.47	0.00	0.000	5126	0.270	0.074	2467	1790	2368	2358	2379	0	0	0	0	0	0	14.38	14.61	14.65
6331	0.75	146.0	2467	1793	2358	2378	266.9	12.8	733	6333	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1793	2368	2358	2378	0	0	0	0	0	0	14.88	14.90	14.90
6632	0.75	146.0	2467	1794	2358	2378	228.7	13.0	763	6634	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1795	2368	2358	2378	0	0	0	0	0	0	14.88	14.90	14.90
6932	0.75	146.0	2467	1794	2358	2377	190.4	12.4	793	6934	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1795	2368	2358	2378	0	0	0	0	0	0	14.88	14.90	14.90
7232	0.75	146.0	2467	1794	2358	2377	153.4	12.3	823	7234	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	1795	2367	2358	2377	0	0	0	0	0	0	14.86	14.88	14.88
7532	0.75	146.0	2467	1795	2358	2377	115.7	12.4	853	7538	0.00	2.47	0.00	0.000	260	0.000	0.083	2467	3207	2367	2358	2377	0	0	0	0	0	0	14.85	14.54	14.88
7549	0.75	146.0	2466	3207	2357	2377	113.4	11.9	856	7556	0.00	2.47	0.00	0.000	1030	0.000	0.076	2474	1798	2367	2358	2377	0	0	0	0	0	0	14.66	14.54	14.69
7856	0.75	146.0	2473	1798	2358	2377	73.5	14.2	907	7863	0.00	2.60	0.00	0.000	516	0.000	0.101	2484	371	2368	2359	2378	0	0	0	0	0	0	14.85	14.41	14.87
8007	0.75	146.0	2484	371	2356	2378	54.0	13.5	936	8014	0.00	2.55	0.00	0.000	1030	0.000	0.074	2485	1801	2367	2357	2378	0	0	0	0	0	0	14.62	14.52	14.66
8197	0.75	146.0	2484	1806	2356	2376	31.6	11.5	973	8204	0.00	2.45	0.00	0.000	260	0.000	0.083	2484	3202	2367	2357	2377	0	0	0	0	0	0	14.84	14.49	14.87
8231	0.75	146.0	2483	3202	2355	2377	27.2	13.7	979	8238	0.15	2.53	0.00	0.000	5126	0.285	0.077	2463	1782	2366	2356	2377	0	0	0	0	0	0	14.23	14.09	14.51
8421	0.75	146.0	2463	1782	2356	2376	3.4	13.6	1016	8428	0.00	2.53	0.00	0.000	516	0.000	0.094	2472	376	2366	2356	2376	0	0	0	0	0	0	14.83	14.42	14.84
8434	end climb: SURFACE_DEPTH_REACHED
state	8434	begin surface coast
8459	end surface coast: CONTROL_FINISHED_OK
state	8459	begin surface