Glider dive log

NISKINE Oct20 * SG527 * Dive index * Mission links * Dive 28 * 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 28 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 19 ALTIM_PING_DELTA 0

N_DIVES 0 TGT_DEFAULT_LAT 4212 R_STBD_OVSHOOT 28 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 250.0

KALMAN_USE 2 ROLL_MAX 3850 COMPASS_USE 4 TM_PROFILE 2.0

HD_A 0.0038360001 ROLL_DEG 40 ALTIM_PING_FIT 0 TM_XMITPROFILE 2.0

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 2.0

CALL_TRIES 5 HEAPDBG 0 PRESSURE_YINT -173.88152 TM_RECORDABOVE 250.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PROTOCOL 9 TM_XMITPROFILE 2.0

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 28 VBD_DBAND 2

DIVE 28 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 061020,212035,5820.1641,-2121.5483,15,0.8,30,-12.1,0.8,105.4,10,9.2 SPEED_LIMITS 0.173,0.261

_CALLS 1 TGT_NAME SG527_TGT

_XMS_NAKs 0 TGT_LATLONG 5820.481,-2121.120

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.73 MHEAD_RNG_PITCHd_Wd 19.5,838,-18.2,-10.000,-20.95,2242

_SM_ANGLEo -65.3 D_GRID 600

GPS2 061020,212935,5820.1079,-2121.6084,8,0.8,16,-12.1,1.3,117.9,10,10.0

Post-dive calculations and measurements:

FINISH 0.7,1.026831 _24V_AH 13.05,0.000

SM_CCo 8470,261.15,0.965,1,0,1144,450.12 _10V_AH 13.10,39.306

SM_GC 0.78,6.65,1.45,261.15,0.060,0.076,0.965,165,2610,1144,-6.34,-0.57,450.12,0,0,0,0,1,0,14.62,14.56,13.52 FG_AHR_24Vo 0.000

IRIDIUM_FIX 5821.56,-2116.09,061020,185107 FG_AHR_10Vo 0.000

TT8_MAMPS 0.023219,0.63665 MEM 324068

HUMID 44.05 DATA_FILE_SIZE 36675,1029

INTERNAL_PRESSURE 7.85122 CAP_FILE_SIZE 100025,0

TCM_TEMP 18.50 CFSIZE 2097872896,2089091072

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

SC_FREEKB 3891552 CURRENT 0.186,179.06,1

TM_FREEKB 7494976 GPS 061020,235723,5820.409,-2121.250,39,0.8,43,-12.1,0.5,6.3,10,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 407 98.44 nil 0 0 0.00

Roll_motor 62 98 80.43 nil 0 0 0.00

VBD_pump_during_apogee 270 1789 6315.23 nil 0 0 0.00

VBD_pump_during_surface 261 964 3287.59 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 8474 20 2242.35

Iridium_during_xfer 372 212 1033.12 TMICL 1990 18 482.90

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 10 3.83

TT8 2448 12 399.92

LPSleep 3905 2 112.06

TT8_Active 689 12 112.56

TT8_Sampling 2105 31 860.39

TT8_CF8 142 36 67.89

TT8_Kalman 0 0 0.00

Analog_circuits 1871 10 245.22

GPS_charging 0 0 0.00

Compass 1628 7 159.74

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

9 -0.75 -146.0 1 2615 1088 1181 0.0 0.0 0 119 0.00 0.00 -107.70 0.008 16390 0.000 0.000 0 2614 3579 3509 3649 0 0 0 0 0 0 14.63 13.05 14.64

122 -0.75 -146.0 0 2615 3509 3650 3.5 -7.9 18 137 9.82 2.55 0.00 0.000 2596 0.408 0.062 1968 1169 3583 3515 3651 0 0 0 0 0 0 14.07 14.42 14.38

229 -0.75 -146.0 1968 1169 3523 3650 27.7 -18.2 38 237 0.00 2.50 0.00 0.000 1030 0.000 0.067 1961 2595 3586 3523 3650 0 0 0 0 0 0 14.50 14.42 14.51

420 -0.75 -146.0 1961 2595 3523 3649 65.7 -20.7 75 425 0.00 0.00 0.00 0.000 6 0.000 0.000 1961 2595 3586 3523 3649 0 0 0 0 0 0 14.73 14.75 14.75

608 -0.75 -146.0 1961 2595 3524 3649 99.8 -18.4 112 614 0.00 0.00 0.00 0.000 6 0.000 0.000 1961 2595 3587 3526 3649 0 0 0 0 0 0 14.78 14.80 14.80

793 -0.75 -146.0 1961 2595 3524 3649 132.1 -17.5 131 798 0.00 2.17 0.00 0.000 260 0.000 0.080 1952 3853 3586 3524 3648 0 0 0 0 0 0 14.81 14.53 14.83

839 -0.75 -146.0 1951 3853 3524 3648 139.9 -17.2 140 846 0.00 2.17 0.00 0.000 1030 0.000 0.057 1951 2583 3585 3524 3647 0 0 0 0 0 0 14.56 14.50 14.59

1146 -0.75 -146.0 1952 2573 3525 3647 193.0 -17.0 171 1152 0.00 2.40 0.00 0.000 516 0.000 0.073 1952 1195 3586 3526 3647 0 0 0 0 0 0 14.85 14.52 14.87

1193 -0.75 -146.0 1952 1195 3526 3647 201.2 -17.0 180 1200 0.15 2.47 0.00 0.000 3078 0.298 0.067 1972 2610 3586 3526 3647 0 0 0 0 0 0 14.31 14.57 14.57

1500 -0.75 -146.0 1972 2610 3526 3646 250.2 -15.7 211 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2610 3586 3526 3647 0 0 0 0 0 0 14.85 14.88 14.88

1800 -0.75 -146.0 1971 2610 3526 3646 296.9 -16.0 241 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 1972 2610 3586 3526 3646 0 0 0 0 0 0 14.88 14.90 14.89

2100 -0.75 -146.0 1972 2610 3526 3645 345.0 -16.0 271 2106 0.00 2.47 0.00 0.000 516 0.000 0.073 1973 1194 3585 3526 3645 0 0 0 0 0 0 14.88 14.52 14.90

2153 -0.75 -146.0 1972 1194 3526 3645 353.8 -16.3 281 2158 0.00 2.45 0.00 0.000 1030 0.000 0.068 1966 2599 3585 3526 3645 0 0 0 0 0 0 14.71 14.62 14.73

2465 -0.75 -146.0 1966 2599 3526 3644 404.5 -16.5 313 2467 0.00 0.00 0.00 0.000 6 0.000 0.000 1965 2599 3584 3526 3642 0 0 0 0 0 0 14.90 14.92 14.92

2767 -0.75 -146.0 1965 2598 3526 3643 453.2 -16.4 343 2772 0.00 2.47 0.00 0.000 516 0.000 0.070 1966 1183 3584 3526 3643 0 0 0 0 0 0 14.93 14.54 14.95

2803 -0.75 -146.0 1965 1184 3526 3643 459.8 -16.7 350 2811 0.00 2.47 0.00 0.000 1030 0.000 0.067 1956 2604 3584 3526 3643 0 0 0 0 0 0 14.71 14.63 14.73

3109 -0.75 -146.0 1956 2605 3526 3642 510.9 -16.9 381 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 1956 2605 3584 3526 3642 0 0 0 0 0 0 14.93 14.95 14.95

3410 -0.75 -146.0 1956 2605 3526 3641 561.7 -17.4 411 3416 0.00 2.47 0.00 0.000 516 0.000 0.071 1956 1192 3583 3526 3641 0 0 0 0 0 0 14.94 14.56 14.96

3443 -0.75 -146.0 1956 1190 3526 3641 567.7 -17.9 417 3448 0.00 2.47 0.00 0.000 1030 0.000 0.068 1947 2606 3583 3526 3641 0 0 0 0 0 0 14.72 14.63 14.75

3624 end dive: TARGET_DEPTH_EXCEEDED

state 3624 begin apogee

3629 -0.17 0.0 1947 1784 3526 3641 600.3 -17.8 436 3769 0.77 0.00 134.95 1.789 10246 0.231 0.000 2159 1784 2980 2970 2991 0 0 0 0 0 0 14.36 13.97 13.14

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3772 0.75 146.0 2159 1784 2968 2988 608.9 0.0 450 3918 0.95 2.72 135.50 1.757 10756 0.132 0.096 2465 391 2382 2366 2398 0 0 0 0 0 0 14.00 13.84 13.05

3970 0.75 146.0 2464 391 2357 2394 593.0 13.0 486 3976 0.00 2.55 0.00 0.000 1030 0.000 0.070 2465 1792 2375 2357 2393 0 0 0 0 0 0 14.19 14.11 14.21

4283 0.75 146.0 2464 1792 2357 2388 552.8 13.0 518 4288 0.00 2.47 0.00 0.000 260 0.000 0.080 2465 3202 2372 2357 2388 0 0 0 0 0 0 14.68 14.41 14.70

4305 0.75 146.0 2464 3202 2357 2388 549.7 14.1 522 4311 0.00 2.50 0.00 0.000 1030 0.000 0.076 2473 1797 2372 2357 2388 0 0 0 0 0 0 14.52 14.42 14.55

4618 0.75 146.0 2473 1797 2356 2386 507.2 13.6 554 4624 0.00 2.58 0.00 0.000 516 0.000 0.098 2485 377 2371 2356 2386 0 0 0 0 0 0 14.81 14.46 14.83

4781 0.75 146.0 2484 376 2354 2386 483.4 14.8 586 4786 0.00 2.50 0.00 0.000 1030 0.000 0.073 2483 1799 2370 2355 2385 0 0 0 0 0 0 14.66 14.57 14.69

5093 0.75 146.0 2484 1801 2353 2384 438.1 14.4 618 5095 0.00 0.00 0.00 0.000 6 0.000 0.000 2484 1801 2369 2354 2384 0 0 0 0 0 0 14.88 14.90 14.90

5395 0.75 146.0 2485 1803 2354 2382 394.0 14.9 648 5400 0.00 2.58 0.00 0.000 516 0.000 0.093 2494 372 2368 2353 2383 0 0 0 0 0 0 14.90 14.55 14.92

5418 0.75 146.0 2494 371 2353 2384 390.3 15.1 652 5424 0.15 2.50 0.00 0.000 5126 0.264 0.072 2462 1798 2368 2353 2384 0 0 0 0 0 0 14.40 14.62 14.66

5732 0.75 146.0 2462 1800 2353 2382 348.0 13.4 684 5734 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1800 2367 2353 2382 0 0 0 0 0 0 14.90 14.92 14.92

6032 0.75 146.0 2462 1802 2353 2382 308.3 13.4 714 6034 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1802 2367 2353 2382 0 0 0 0 0 0 14.91 14.93 14.93

6332 0.75 146.0 2461 1804 2353 2382 268.4 13.4 744 6334 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1804 2367 2353 2381 0 0 0 0 0 0 14.92 14.95 14.94

6632 0.75 146.0 2462 1803 2353 2381 228.9 13.1 774 6641 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1803 2367 2353 2381 0 0 0 0 0 0 14.86 14.88 14.88

6942 0.75 146.0 2462 1803 2353 2381 189.1 12.8 805 6951 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1803 2367 2353 2381 0 0 0 0 0 0 14.85 14.88 14.87

7253 0.75 146.0 2462 1803 2351 2381 149.7 12.4 836 7261 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 1805 2368 2355 2382 0 0 0 0 0 0 14.83 14.85 14.85

7562 0.75 146.0 2462 1803 2353 2381 111.6 12.3 867 7571 0.00 0.00 0.00 0.000 6 0.000 0.000 2462 1804 2367 2353 2381 0 0 0 0 0 0 14.81 14.83 14.83

7872 0.75 146.0 2462 1803 2353 2381 72.8 12.4 919 7881 0.00 2.47 0.00 0.000 260 0.000 0.082 2462 3212 2367 2353 2381 0 0 0 0 0 0 14.82 14.48 14.83

7913 0.75 146.0 2462 3212 2352 2381 67.5 12.5 926 7922 0.00 2.53 0.00 0.000 1030 0.000 0.075 2470 1780 2367 2353 2382 0 0 0 0 0 0 14.62 14.50 14.66

8104 0.75 146.0 2469 1779 2353 2381 44.3 11.2 963 8113 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 1779 2367 2353 2381 0 0 0 0 0 0 14.80 14.83 14.82

8296 0.75 146.0 2469 1779 2353 2380 21.2 12.7 1000 8304 0.00 2.55 0.00 0.000 516 0.000 0.099 2480 371 2366 2353 2380 0 0 0 0 0 0 14.79 14.45 14.81

8362 0.75 146.0 2480 371 2351 2381 12.5 12.9 1012 8370 0.00 2.50 0.00 0.000 1030 0.000 0.072 2480 1791 2366 2352 2381 0 0 0 0 0 0 14.62 14.52 14.66

8430 end climb: SURFACE_DEPTH_REACHED

state 8430 begin surface coast

8452 end surface coast: CONTROL_FINISHED_OK

state 8452 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	28	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	19	ALTIM_PING_DELTA	0
N_DIVES	0	TGT_DEFAULT_LAT	4212	R_STBD_OVSHOOT	28	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	250.0
KALMAN_USE	2	ROLL_MAX	3850	COMPASS_USE	4	TM_PROFILE	2.0
HD_A	0.0038360001	ROLL_DEG	40	ALTIM_PING_FIT	0	TM_XMITPROFILE	2.0
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	061020,212035,5820.1641,-2121.5483,15,0.8,30,-12.1,0.8,105.4,10,9.2	SPEED_LIMITS	0.173,0.261
_CALLS	1	TGT_NAME	SG527_TGT
_XMS_NAKs	0	TGT_LATLONG	5820.481,-2121.120
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.73	MHEAD_RNG_PITCHd_Wd	19.5,838,-18.2,-10.000,-20.95,2242
_SM_ANGLEo	-65.3	D_GRID	600
GPS2	061020,212935,5820.1079,-2121.6084,8,0.8,16,-12.1,1.3,117.9,10,10.0

FINISH	0.7,1.026831	_24V_AH	13.05,0.000
SM_CCo	8470,261.15,0.965,1,0,1144,450.12	_10V_AH	13.10,39.306
SM_GC	0.78,6.65,1.45,261.15,0.060,0.076,0.965,165,2610,1144,-6.34,-0.57,450.12,0,0,0,0,1,0,14.62,14.56,13.52	FG_AHR_24Vo	0.000
IRIDIUM_FIX	5821.56,-2116.09,061020,185107	FG_AHR_10Vo	0.000
TT8_MAMPS	0.023219,0.63665	MEM	324068
HUMID	44.05	DATA_FILE_SIZE	36675,1029
INTERNAL_PRESSURE	7.85122	CAP_FILE_SIZE	100025,0
TCM_TEMP	18.50	CFSIZE	2097872896,2089091072
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
SC_FREEKB	3891552	CURRENT	0.186,179.06,1
TM_FREEKB	7494976	GPS	061020,235723,5820.409,-2121.250,39,0.8,43,-12.1,0.5,6.3,10,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	407	98.44	nil	0	0	0.00
Roll_motor	62	98	80.43	nil	0	0	0.00
VBD_pump_during_apogee	270	1789	6315.23	nil	0	0	0.00
VBD_pump_during_surface	261	964	3287.59	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	8474	20	2242.35
Iridium_during_xfer	372	212	1033.12	TMICL	1990	18	482.90
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	10	3.83
TT8	2448	12	399.92
LPSleep	3905	2	112.06
TT8_Active	689	12	112.56
TT8_Sampling	2105	31	860.39
TT8_CF8	142	36	67.89
TT8_Kalman	0	0	0.00
Analog_circuits	1871	10	245.22
GPS_charging	0	0	0.00
Compass	1628	7	159.74
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
9	-0.75	-146.0	1	2615	1088	1181	0.0	0.0	0	119	0.00	0.00	-107.70	0.008	16390	0.000	0.000	0	2614	3579	3509	3649	0	0	0	0	0	0	14.63	13.05	14.64
122	-0.75	-146.0	0	2615	3509	3650	3.5	-7.9	18	137	9.82	2.55	0.00	0.000	2596	0.408	0.062	1968	1169	3583	3515	3651	0	0	0	0	0	0	14.07	14.42	14.38
229	-0.75	-146.0	1968	1169	3523	3650	27.7	-18.2	38	237	0.00	2.50	0.00	0.000	1030	0.000	0.067	1961	2595	3586	3523	3650	0	0	0	0	0	0	14.50	14.42	14.51
420	-0.75	-146.0	1961	2595	3523	3649	65.7	-20.7	75	425	0.00	0.00	0.00	0.000	6	0.000	0.000	1961	2595	3586	3523	3649	0	0	0	0	0	0	14.73	14.75	14.75
608	-0.75	-146.0	1961	2595	3524	3649	99.8	-18.4	112	614	0.00	0.00	0.00	0.000	6	0.000	0.000	1961	2595	3587	3526	3649	0	0	0	0	0	0	14.78	14.80	14.80
793	-0.75	-146.0	1961	2595	3524	3649	132.1	-17.5	131	798	0.00	2.17	0.00	0.000	260	0.000	0.080	1952	3853	3586	3524	3648	0	0	0	0	0	0	14.81	14.53	14.83
839	-0.75	-146.0	1951	3853	3524	3648	139.9	-17.2	140	846	0.00	2.17	0.00	0.000	1030	0.000	0.057	1951	2583	3585	3524	3647	0	0	0	0	0	0	14.56	14.50	14.59
1146	-0.75	-146.0	1952	2573	3525	3647	193.0	-17.0	171	1152	0.00	2.40	0.00	0.000	516	0.000	0.073	1952	1195	3586	3526	3647	0	0	0	0	0	0	14.85	14.52	14.87
1193	-0.75	-146.0	1952	1195	3526	3647	201.2	-17.0	180	1200	0.15	2.47	0.00	0.000	3078	0.298	0.067	1972	2610	3586	3526	3647	0	0	0	0	0	0	14.31	14.57	14.57
1500	-0.75	-146.0	1972	2610	3526	3646	250.2	-15.7	211	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2610	3586	3526	3647	0	0	0	0	0	0	14.85	14.88	14.88
1800	-0.75	-146.0	1971	2610	3526	3646	296.9	-16.0	241	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	1972	2610	3586	3526	3646	0	0	0	0	0	0	14.88	14.90	14.89
2100	-0.75	-146.0	1972	2610	3526	3645	345.0	-16.0	271	2106	0.00	2.47	0.00	0.000	516	0.000	0.073	1973	1194	3585	3526	3645	0	0	0	0	0	0	14.88	14.52	14.90
2153	-0.75	-146.0	1972	1194	3526	3645	353.8	-16.3	281	2158	0.00	2.45	0.00	0.000	1030	0.000	0.068	1966	2599	3585	3526	3645	0	0	0	0	0	0	14.71	14.62	14.73
2465	-0.75	-146.0	1966	2599	3526	3644	404.5	-16.5	313	2467	0.00	0.00	0.00	0.000	6	0.000	0.000	1965	2599	3584	3526	3642	0	0	0	0	0	0	14.90	14.92	14.92
2767	-0.75	-146.0	1965	2598	3526	3643	453.2	-16.4	343	2772	0.00	2.47	0.00	0.000	516	0.000	0.070	1966	1183	3584	3526	3643	0	0	0	0	0	0	14.93	14.54	14.95
2803	-0.75	-146.0	1965	1184	3526	3643	459.8	-16.7	350	2811	0.00	2.47	0.00	0.000	1030	0.000	0.067	1956	2604	3584	3526	3643	0	0	0	0	0	0	14.71	14.63	14.73
3109	-0.75	-146.0	1956	2605	3526	3642	510.9	-16.9	381	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	1956	2605	3584	3526	3642	0	0	0	0	0	0	14.93	14.95	14.95
3410	-0.75	-146.0	1956	2605	3526	3641	561.7	-17.4	411	3416	0.00	2.47	0.00	0.000	516	0.000	0.071	1956	1192	3583	3526	3641	0	0	0	0	0	0	14.94	14.56	14.96
3443	-0.75	-146.0	1956	1190	3526	3641	567.7	-17.9	417	3448	0.00	2.47	0.00	0.000	1030	0.000	0.068	1947	2606	3583	3526	3641	0	0	0	0	0	0	14.72	14.63	14.75
3624	end dive: TARGET_DEPTH_EXCEEDED
state	3624	begin apogee
3629	-0.17	0.0	1947	1784	3526	3641	600.3	-17.8	436	3769	0.77	0.00	134.95	1.789	10246	0.231	0.000	2159	1784	2980	2970	2991	0	0	0	0	0	0	14.36	13.97	13.14
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3772	0.75	146.0	2159	1784	2968	2988	608.9	0.0	450	3918	0.95	2.72	135.50	1.757	10756	0.132	0.096	2465	391	2382	2366	2398	0	0	0	0	0	0	14.00	13.84	13.05
3970	0.75	146.0	2464	391	2357	2394	593.0	13.0	486	3976	0.00	2.55	0.00	0.000	1030	0.000	0.070	2465	1792	2375	2357	2393	0	0	0	0	0	0	14.19	14.11	14.21
4283	0.75	146.0	2464	1792	2357	2388	552.8	13.0	518	4288	0.00	2.47	0.00	0.000	260	0.000	0.080	2465	3202	2372	2357	2388	0	0	0	0	0	0	14.68	14.41	14.70
4305	0.75	146.0	2464	3202	2357	2388	549.7	14.1	522	4311	0.00	2.50	0.00	0.000	1030	0.000	0.076	2473	1797	2372	2357	2388	0	0	0	0	0	0	14.52	14.42	14.55
4618	0.75	146.0	2473	1797	2356	2386	507.2	13.6	554	4624	0.00	2.58	0.00	0.000	516	0.000	0.098	2485	377	2371	2356	2386	0	0	0	0	0	0	14.81	14.46	14.83
4781	0.75	146.0	2484	376	2354	2386	483.4	14.8	586	4786	0.00	2.50	0.00	0.000	1030	0.000	0.073	2483	1799	2370	2355	2385	0	0	0	0	0	0	14.66	14.57	14.69
5093	0.75	146.0	2484	1801	2353	2384	438.1	14.4	618	5095	0.00	0.00	0.00	0.000	6	0.000	0.000	2484	1801	2369	2354	2384	0	0	0	0	0	0	14.88	14.90	14.90
5395	0.75	146.0	2485	1803	2354	2382	394.0	14.9	648	5400	0.00	2.58	0.00	0.000	516	0.000	0.093	2494	372	2368	2353	2383	0	0	0	0	0	0	14.90	14.55	14.92
5418	0.75	146.0	2494	371	2353	2384	390.3	15.1	652	5424	0.15	2.50	0.00	0.000	5126	0.264	0.072	2462	1798	2368	2353	2384	0	0	0	0	0	0	14.40	14.62	14.66
5732	0.75	146.0	2462	1800	2353	2382	348.0	13.4	684	5734	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1800	2367	2353	2382	0	0	0	0	0	0	14.90	14.92	14.92
6032	0.75	146.0	2462	1802	2353	2382	308.3	13.4	714	6034	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1802	2367	2353	2382	0	0	0	0	0	0	14.91	14.93	14.93
6332	0.75	146.0	2461	1804	2353	2382	268.4	13.4	744	6334	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1804	2367	2353	2381	0	0	0	0	0	0	14.92	14.95	14.94
6632	0.75	146.0	2462	1803	2353	2381	228.9	13.1	774	6641	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	1803	2367	2353	2381	0	0	0	0	0	0	14.86	14.88	14.88
6942	0.75	146.0	2462	1803	2353	2381	189.1	12.8	805	6951	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1803	2367	2353	2381	0	0	0	0	0	0	14.85	14.88	14.87
7253	0.75	146.0	2462	1803	2351	2381	149.7	12.4	836	7261	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	1805	2368	2355	2382	0	0	0	0	0	0	14.83	14.85	14.85
7562	0.75	146.0	2462	1803	2353	2381	111.6	12.3	867	7571	0.00	0.00	0.00	0.000	6	0.000	0.000	2462	1804	2367	2353	2381	0	0	0	0	0	0	14.81	14.83	14.83
7872	0.75	146.0	2462	1803	2353	2381	72.8	12.4	919	7881	0.00	2.47	0.00	0.000	260	0.000	0.082	2462	3212	2367	2353	2381	0	0	0	0	0	0	14.82	14.48	14.83
7913	0.75	146.0	2462	3212	2352	2381	67.5	12.5	926	7922	0.00	2.53	0.00	0.000	1030	0.000	0.075	2470	1780	2367	2353	2382	0	0	0	0	0	0	14.62	14.50	14.66
8104	0.75	146.0	2469	1779	2353	2381	44.3	11.2	963	8113	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	1779	2367	2353	2381	0	0	0	0	0	0	14.80	14.83	14.82
8296	0.75	146.0	2469	1779	2353	2380	21.2	12.7	1000	8304	0.00	2.55	0.00	0.000	516	0.000	0.099	2480	371	2366	2353	2380	0	0	0	0	0	0	14.79	14.45	14.81
8362	0.75	146.0	2480	371	2351	2381	12.5	12.9	1012	8370	0.00	2.50	0.00	0.000	1030	0.000	0.072	2480	1791	2366	2352	2381	0	0	0	0	0	0	14.62	14.52	14.66
8430	end climb: SURFACE_DEPTH_REACHED
state	8430	begin surface coast
8452	end surface coast: CONTROL_FINISHED_OK
state	8452	begin surface