Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 681 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 124 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 250 XPDR_VALID 5

MISSION 26 TGT_DEFAULT_LAT 47.599998 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 681 TGT_DEFAULT_LON -122.3 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0

STOP_T 0 SM_CC 350 VBD_MIN 550 DEEPGLIDER 0

D_SURF 3 N_FILEKB 8 VBD_MAX 3990 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 2681 DEVICE1 -1

D_TGT 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 1030 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 2.5 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0014 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 0

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE1 53

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 71

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 50 LOGGERDEVICE3 134

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 2 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 150 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 500 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM -6.8056469e+38 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 2 SEABIRD_T_G 0.0043545738

T_LOITER 0 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0.5 SEABIRD_T_H 0.00062548259

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 SEABIRD_T_I 2.3693661e-05

USE_BATHY 0 PITCH_MIN 75 AH0_24V 0 SEABIRD_T_J 2.5207949e-06

USE_ICE 0 PITCH_MAX 3750 AH0_10V 350 SEABIRD_C_G -9.9945526

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2130 MINV_24V 11 SEABIRD_C_H 1.1183146

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 11 SEABIRD_C_I -0.0026370776

T_WATCHDOG 10 PITCH_CNV 0.0046000001 MAXI_24V 0.60000002 SEABIRD_C_J 0.00028069684

RELAUNCH 1 P_OVSHOOT 0.039999999 MAXI_10V 1.5 SC_RECORDABOVE 2000.0

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 FG_AHR_10V 0 SC_PROFILE 3.0

MAX_BUOY 175 PITCH_GAIN 40 FG_AHR_24V 0 SC_XMITPROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PHONE_SUPPLY -2 SC_NDIVE 1.0

GLIDE_SLOPE 30 PITCH_AD_RATE 135 PRESSURE_YINT -165.43451 TM_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 PRESSURE_SLOPE 0.00010836 TM_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0 AD7714Ch0Gain 1 TM_XMITPROFILE 3.0

MASS 55793 PITCH_ADJ_DBAND 0 COMPASS_USE 4 TM_NDIVE 1.0

MASS_COMP 0 ROLL_MIN 1550 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 3850 ALTIM_TOP_PING_RANGE 0 TM_XMITRAW 0.0

FERRY_MAX 40 ROLL_DEG 15 ALTIM_BOTTOM_TURN_MARGIN 0 CP_RECORDABOVE 2000.0

KALMAN_USE 2 C_ROLL_DIVE 1700 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1720 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_UPLOADMAX 100000.0

HD_C 1.6100001e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_STARTS 785.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_NDIVE 1.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 26 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 ALTIM_SENSITIVITY 4

AD7714Ch0Gain 1 D_OFFGRID 1000 N_NOSURFACE 0 SEABIRD_T_J 2.5207949e-06

AH0_10V 350 D_PITCH 0 PHONE_DEVICE 49 SIM_W 0

AH0_24V 0 D_SAFE 0 PHONE_SUPPLY -2 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 360 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_AD_RATE 135 STROBE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0046000001 SURFACE_URGENCY 0

ALTIM_PING_FIT 0 FERRY_MAX 40 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 4 FG_AHR_10V 0 PITCH_GAIN 40 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 4 FG_AHR_24V 0 PITCH_MAX 3750 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 75 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_TIMEOUT 20 TM_LOGSAMPLE 0.0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_VBD_SHIFT 0.0014 TM_NDIVE 1.0

CALL_NDIVES 1 HD_A 0.003 PITCH_W_DBAND 0.5 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 2 TM_RECORDABOVE 2000.0

CALL_WAIT 60 HD_C 1.6100001e-05 PRESSURE_SLOPE 0.00010836 TM_XMITPROFILE 3.0

CAPMAXSIZE 100000 HEADING -1 PRESSURE_YINT -165.43451 TM_XMITRAW 0.0

CAPUPLOAD 0 HEAD_ERRBAND 10 PROTOCOL 9 T_ABORT 1440

CF8_MAXERRORS 0 HEAPDBG 0 P_OVSHOOT 0.039999999 T_BOOST 0

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 P_OVSHOOT_WITHG 0 T_DIVE 120

COMPASS2_DEVICE 149 ID 124 RAFOS_CORR_THRESH 60 T_EPIRB 0

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_DEVICE -1 T_GPS 5

COMPASS_USE 4 INT_PRESSURE_YINT 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 150

CP_NDIVE 1.0 LOGGERDEVICE1 53 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

CP_PROFILE 2.0 LOGGERDEVICE2 71 RELAUNCH 1 T_RSLEEP 2

CP_RECORDABOVE 2000.0 LOGGERDEVICE3 134 RHO 1.0275 T_TURN 225

CP_STARTS 785.0 LOGGERDEVICE4 -1 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

CP_UPLOADMAX 100000.0 LOGGERS 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

CP_XMITPROFILE 2.0 LOITER_DBDW 0 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM -6.8056469e+38 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1720 LOITER_D_TOP 500 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1700 LOITER_N_DIVE 0 ROLL_MAX 3850 USE_ICE 0

C_VBD 2681 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 1550 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 26 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 21 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 175 SC_NDIVE 1.0 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 SC_PROFILE 3.0 VBD_MIN 550

DEVICE5 -1 MINV_24V 11 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE6 -1 MISSION 26 SC_XMITPROFILE 3.0 VBD_PUMP_AD_RATE_SURFACE 1

DIVE 681 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 2

D_BOOST 2.5 NOCOMM_ACTION 163 SEABIRD_C_I -0.0026370776 XPDR_DEVICE 24

D_CALL 0 N_DIVES 0 SEABIRD_C_J 0.00028069684 XPDR_INHIBIT 90

D_FINISH 0 N_FILEKB 8 SEABIRD_T_G 0.0043545738 XPDR_VALID 5

D_FLARE 3 N_GPS 100440 SEABIRD_T_H 0.00062548259

D_NO_BLEED 50 N_NOCOMM 2 SEABIRD_T_I 2.3693661e-05

Pre-dive calculations and measurements:

GPS1 090119,105558,6045.7402,-2813.4531,12,1.7,28,-19.2,1.0,318.1,5,7.7 SPEED_LIMITS 0.173,0.275

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 83.2,381035,-16.2,-10.000,-19.97,2570

_SM_ANGLEo -65.6 D_GRID 360

GPS2 090119,110040,6045.7539,-2813.4221,9,1.6,21,-19.2,0.3,326.7,5,7.6

Post-dive calculations and measurements:

SM_CCo 2484,135.75,0.103,0,0,1255,350.29 FG_AHR_24Vo 0.000

SM_GC 1.11,6.05,0.00,135.75,0.044,0.000,0.103,30,1723,1255,-9.44,0.65,350.29,0,0,0,0,0,0,14.25,14.95,14.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6046.06,-2818.34,090119,100738 MEM 333924

TT8_MAMPS 0.019474,0.076398 DATA_FILE_SIZE 6829,191

HUMID 43.46 CAP_FILE_SIZE 32864,0

INTERNAL_PRESSURE 7.93976 CFSIZE 260165632,163880960

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.045,4.96,1

_24V_AH 12.57,0.000 GPS 090119,114628,6045.827,-2813.359,18,1.4,29,-19.2,0.8,68.7,5,9.7

_10V_AH 12.23,237.681

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 132 21.88 nil 0 0 0.00

Roll_motor 10 86 11.06 nil 0 0 0.00

VBD_pump_during_apogee 271 1456 4962.64 nil 0 0 0.00

VBD_pump_during_surface 135 103 176.23 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 0 0 0.00

Iridium_during_xfer 161 122 248.21 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 20 7.92

TT8 216 8 22.92

LPSleep 1650 2 44.21

TT8_Active 468 8 49.66

TT8_Sampling 456 26 148.82

TT8_CF8 141 31 54.07

TT8_Kalman 0 0 0.00

Analog_circuits 843 10 111.39

GPS_charging 0 0 0.00

Compass 288 6 23.75

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

10 -0.64 -170.3 35 1713 1446 1058 0.0 0.0 0 113 0.00 0.00 -100.75 0.006 16390 0.000 0.000 35 1714 3377 3304 3450 0 0 0 0 0 0 14.79 12.57 14.59

118 -0.64 -170.3 35 1713 3305 3449 3.8 -2.6 5 127 5.38 0.93 0.00 0.000 2340 0.044 0.045 2025 2253 3377 3305 3449 0 0 0 0 0 0 14.21 14.17 14.27

355 -0.64 -170.3 2025 2252 3306 3447 120.2 -50.9 53 360 0.10 1.00 0.00 0.000 5126 0.074 0.050 1957 1702 3376 3306 3447 0 0 0 0 0 0 13.95 14.07 14.02

717 -0.64 -170.3 1956 1702 3308 3446 306.2 -51.1 69 722 0.12 0.95 0.00 0.000 2308 0.132 0.044 2029 2250 3376 3308 3445 0 0 0 0 0 0 14.45 14.04 14.45

822 end dive: TARGET_DEPTH_EXCEEDED

state 822 begin apogee

837 -0.12 0.0 2029 1704 3308 3445 361.3 -51.4 90 971 0.22 0.00 131.30 1.457 10246 0.093 0.000 2132 1704 2680 2780 2580 0 0 0 0 0 0 14.31 14.09 13.40

972 end apogee: CONTROL_FINISHED_OK

state 972 begin climb

976 0.64 170.3 2132 1704 2778 2578 414.0 0.0 93 1127 0.43 0.28 139.75 1.427 11012 0.070 0.086 2305 1558 1983 2149 1817 0 0 0 0 0 0 14.20 13.88 13.25

1135 0.64 170.3 2304 1557 2149 1818 403.9 30.6 130 1139 0.10 0.32 0.00 0.000 5126 0.074 0.067 2240 1740 1983 2149 1818 0 0 0 0 0 0 14.07 14.09 14.09

1472 0.64 170.3 2239 1742 2146 1823 297.6 31.4 141 1476 0.12 1.00 0.00 0.000 2308 0.132 0.051 2311 2235 1984 2146 1822 0 0 0 0 0 0 14.37 14.00 14.40

1485 0.64 170.3 2311 2236 2147 1823 294.0 31.3 143 1489 0.12 0.90 0.00 0.000 5126 0.070 0.049 2238 1710 1984 2146 1823 0 0 0 0 0 0 14.07 14.17 14.14

1837 0.64 170.3 2237 1709 2144 1824 184.1 30.8 157 1842 0.12 0.95 0.00 0.000 2308 0.132 0.045 2311 2238 1984 2144 1825 0 0 0 0 0 0 14.44 14.11 14.43

1849 0.64 170.3 2311 2239 2144 1824 180.4 30.5 159 1853 0.12 0.90 0.00 0.000 5126 0.070 0.050 2237 1709 1984 2144 1824 0 0 0 0 0 0 14.07 14.17 14.14

2182 0.64 170.3 2237 1709 2139 1826 80.1 29.7 174 2187 0.12 0.95 0.00 0.000 2308 0.132 0.045 2310 2240 1983 2140 1826 0 0 0 0 0 0 14.45 14.07 14.45

2194 0.64 170.3 2310 2241 2139 1826 76.1 31.3 176 2199 0.12 1.02 0.00 0.000 5126 0.067 0.050 2234 1723 1982 2139 1826 0 0 0 0 0 0 14.04 14.13 14.12

2442 end climb: SURFACE_DEPTH_REACHED

state 2443 begin surface coast

2462 end surface coast: CONTROL_FINISHED_OK

state 2463 begin surface

ID	124	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	250	XPDR_VALID	5
MISSION	26	TGT_DEFAULT_LAT	47.599998	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	681	TGT_DEFAULT_LON	-122.3	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0
STOP_T	0	SM_CC	350	VBD_MIN	550	DEEPGLIDER	0
D_SURF	3	N_FILEKB	8	VBD_MAX	3990	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	2681	DEVICE1	-1
D_TGT	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	1030	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	2.5	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0014	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	0
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE1	53
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	71
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	50	LOGGERDEVICE3	134
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	2	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	150	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	500	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	-6.8056469e+38	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	2	SEABIRD_T_G	0.0043545738
T_LOITER	0	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0.5	SEABIRD_T_H	0.00062548259
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	SEABIRD_T_I	2.3693661e-05
USE_BATHY	0	PITCH_MIN	75	AH0_24V	0	SEABIRD_T_J	2.5207949e-06
USE_ICE	0	PITCH_MAX	3750	AH0_10V	350	SEABIRD_C_G	-9.9945526
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2130	MINV_24V	11	SEABIRD_C_H	1.1183146
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	11	SEABIRD_C_I	-0.0026370776
T_WATCHDOG	10	PITCH_CNV	0.0046000001	MAXI_24V	0.60000002	SEABIRD_C_J	0.00028069684
RELAUNCH	1	P_OVSHOOT	0.039999999	MAXI_10V	1.5	SC_RECORDABOVE	2000.0
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	FG_AHR_10V	0	SC_PROFILE	3.0
MAX_BUOY	175	PITCH_GAIN	40	FG_AHR_24V	0	SC_XMITPROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PHONE_SUPPLY	-2	SC_NDIVE	1.0
GLIDE_SLOPE	30	PITCH_AD_RATE	135	PRESSURE_YINT	-165.43451	TM_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	PRESSURE_SLOPE	0.00010836	TM_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0	AD7714Ch0Gain	1	TM_XMITPROFILE	3.0
MASS	55793	PITCH_ADJ_DBAND	0	COMPASS_USE	4	TM_NDIVE	1.0
MASS_COMP	0	ROLL_MIN	1550	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	3850	ALTIM_TOP_PING_RANGE	0	TM_XMITRAW	0.0
FERRY_MAX	40	ROLL_DEG	15	ALTIM_BOTTOM_TURN_MARGIN	0	CP_RECORDABOVE	2000.0
KALMAN_USE	2	C_ROLL_DIVE	1700	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1720	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_UPLOADMAX	100000.0
HD_C	1.6100001e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_STARTS	785.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_NDIVE	1.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	26	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	4

GPS1	090119,105558,6045.7402,-2813.4531,12,1.7,28,-19.2,1.0,318.1,5,7.7	SPEED_LIMITS	0.173,0.275
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	83.2,381035,-16.2,-10.000,-19.97,2570
_SM_ANGLEo	-65.6	D_GRID	360
GPS2	090119,110040,6045.7539,-2813.4221,9,1.6,21,-19.2,0.3,326.7,5,7.6

SM_CCo	2484,135.75,0.103,0,0,1255,350.29	FG_AHR_24Vo	0.000
SM_GC	1.11,6.05,0.00,135.75,0.044,0.000,0.103,30,1723,1255,-9.44,0.65,350.29,0,0,0,0,0,0,14.25,14.95,14.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6046.06,-2818.34,090119,100738	MEM	333924
TT8_MAMPS	0.019474,0.076398	DATA_FILE_SIZE	6829,191
HUMID	43.46	CAP_FILE_SIZE	32864,0
INTERNAL_PRESSURE	7.93976	CFSIZE	260165632,163880960
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.045,4.96,1
_24V_AH	12.57,0.000	GPS	090119,114628,6045.827,-2813.359,18,1.4,29,-19.2,0.8,68.7,5,9.7
_10V_AH	12.23,237.681

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	132	21.88	nil	0	0	0.00
Roll_motor	10	86	11.06	nil	0	0	0.00
VBD_pump_during_apogee	271	1456	4962.64	nil	0	0	0.00
VBD_pump_during_surface	135	103	176.23	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	0	0	0.00
Iridium_during_xfer	161	122	248.21	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	20	7.92
TT8	216	8	22.92
LPSleep	1650	2	44.21
TT8_Active	468	8	49.66
TT8_Sampling	456	26	148.82
TT8_CF8	141	31	54.07
TT8_Kalman	0	0	0.00
Analog_circuits	843	10	111.39
GPS_charging	0	0	0.00
Compass	288	6	23.75
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
10	-0.64	-170.3	35	1713	1446	1058	0.0	0.0	0	113	0.00	0.00	-100.75	0.006	16390	0.000	0.000	35	1714	3377	3304	3450	0	0	0	0	0	0	14.79	12.57	14.59
118	-0.64	-170.3	35	1713	3305	3449	3.8	-2.6	5	127	5.38	0.93	0.00	0.000	2340	0.044	0.045	2025	2253	3377	3305	3449	0	0	0	0	0	0	14.21	14.17	14.27
355	-0.64	-170.3	2025	2252	3306	3447	120.2	-50.9	53	360	0.10	1.00	0.00	0.000	5126	0.074	0.050	1957	1702	3376	3306	3447	0	0	0	0	0	0	13.95	14.07	14.02
717	-0.64	-170.3	1956	1702	3308	3446	306.2	-51.1	69	722	0.12	0.95	0.00	0.000	2308	0.132	0.044	2029	2250	3376	3308	3445	0	0	0	0	0	0	14.45	14.04	14.45
822	end dive: TARGET_DEPTH_EXCEEDED
state	822	begin apogee
837	-0.12	0.0	2029	1704	3308	3445	361.3	-51.4	90	971	0.22	0.00	131.30	1.457	10246	0.093	0.000	2132	1704	2680	2780	2580	0	0	0	0	0	0	14.31	14.09	13.40
972	end apogee: CONTROL_FINISHED_OK
state	972	begin climb
976	0.64	170.3	2132	1704	2778	2578	414.0	0.0	93	1127	0.43	0.28	139.75	1.427	11012	0.070	0.086	2305	1558	1983	2149	1817	0	0	0	0	0	0	14.20	13.88	13.25
1135	0.64	170.3	2304	1557	2149	1818	403.9	30.6	130	1139	0.10	0.32	0.00	0.000	5126	0.074	0.067	2240	1740	1983	2149	1818	0	0	0	0	0	0	14.07	14.09	14.09
1472	0.64	170.3	2239	1742	2146	1823	297.6	31.4	141	1476	0.12	1.00	0.00	0.000	2308	0.132	0.051	2311	2235	1984	2146	1822	0	0	0	0	0	0	14.37	14.00	14.40
1485	0.64	170.3	2311	2236	2147	1823	294.0	31.3	143	1489	0.12	0.90	0.00	0.000	5126	0.070	0.049	2238	1710	1984	2146	1823	0	0	0	0	0	0	14.07	14.17	14.14
1837	0.64	170.3	2237	1709	2144	1824	184.1	30.8	157	1842	0.12	0.95	0.00	0.000	2308	0.132	0.045	2311	2238	1984	2144	1825	0	0	0	0	0	0	14.44	14.11	14.43
1849	0.64	170.3	2311	2239	2144	1824	180.4	30.5	159	1853	0.12	0.90	0.00	0.000	5126	0.070	0.050	2237	1709	1984	2144	1824	0	0	0	0	0	0	14.07	14.17	14.14
2182	0.64	170.3	2237	1709	2139	1826	80.1	29.7	174	2187	0.12	0.95	0.00	0.000	2308	0.132	0.045	2310	2240	1983	2140	1826	0	0	0	0	0	0	14.45	14.07	14.45
2194	0.64	170.3	2310	2241	2139	1826	76.1	31.3	176	2199	0.12	1.02	0.00	0.000	5126	0.067	0.050	2234	1723	1982	2139	1826	0	0	0	0	0	0	14.04	14.13	14.12
2442	end climb: SURFACE_DEPTH_REACHED
state	2443	begin surface coast
2462	end surface coast: CONTROL_FINISHED_OK
state	2463	begin surface