Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 691 * 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 691 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 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 149

T_DIVE 120 T_GPS 5 LOITER_W_DBAND 2 PHONE_DEVICE 49

T_MISSION 180 N_GPS 100440 LOITER_DBDW 400 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 300 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 400 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 1.5 LOITER_N_DIVE 1 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 PITCH_W_GAIN 0 SEABIRD_T_G 0.0043545738

T_LOITER 1800 RAFOS_HIT_WINDOW 3600 PITCH_W_DBAND 0 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 100 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 90 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 1700 ALTIM_PING_FIT 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MAX 1800 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 1750 ALTIM_TOP_TURN_MARGIN 0 CP_PROFILE 2.0

HD_A 0.003 C_ROLL_CLIMB 1750 ALTIM_TOP_MIN_OBSTACLE 0 CP_XMITPROFILE 2.0

HD_B 0.0099999998 HEAD_ERRBAND 170 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 46 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 100 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 TM_PROFILE 3.0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_W_GAIN 0 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 170 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 1800

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 180

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 400 ROLL_AD_RATE 250 UNCOM_BLEED 50

C_PITCH 2130 LOITER_D_BOTTOM 400 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 LOITER_D_TOP 300 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1750 LOITER_N_DIVE 1 ROLL_MAX 1800 USE_ICE 0

C_VBD 2681 LOITER_W_DBAND 2 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DBDW 0 MASS 55793 ROLL_MIN 1700 VBD_CNV -0.24529999

DEEPGLIDER 0 MASS_COMP 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 R_PORT_OVSHOOT 46 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 25 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 90 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 691 MOTHERBOARD 4 SEABIRD_C_G -9.9945526 VBD_TIMEOUT 720

D_ABORT 1030 NAV_MODE 2 SEABIRD_C_H 1.1183146 W_ADJ_DBAND 0

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 090119,194826,6046.3989,-2811.3428,13,1.6,22,-19.2,0.8,189.9,5,7.4 SPEED_LIMITS 0.173,0.203

_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 89.1,378893,-23.1,-10.000,-26.19,1334

_SM_ANGLEo -67.6 D_GRID 360

GPS2 090119,195252,6046.4097,-2811.3030,12,1.6,29,-19.2,0.6,205.0,6,7.2

Post-dive calculations and measurements:

SM_CCo 3923,195.65,0.102,0,0,1254,350.04 FG_AHR_24Vo 0.000

SM_GC 1.26,0.00,0.00,195.65,0.000,0.000,0.102,63,1749,1254,-9.51,-0.03,350.04,0,0,0,0,0,0,14.82,14.95,14.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6046.96,-2814.46,090119,194413 MEM 333948

TT8_MAMPS 0.020223,0.077896 DATA_FILE_SIZE 3492,138

HUMID 43.69 CAP_FILE_SIZE 55213,2

INTERNAL_PRESSURE 7.93976 CFSIZE 260165632,167387136

TCM_TEMP 18.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 10 CURRENT 0.054,329.11,1

_24V_AH 12.42,0.000 GPS 090119,210333,6046.512,-2811.457,7,1.3,29,-19.2,0.8,134.1,7,8.6

_10V_AH 12.19,238.938

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 1 134 3.09 nil 0 0 0.00

Roll_motor 0 473 2.35 nil 0 0 0.00

VBD_pump_during_apogee 138 1426 2449.78 nil 0 0 0.00

VBD_pump_during_surface 195 101 247.24 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 0 0 0.00 TMICL 0 0 0.00

Transponder_ping 2 420 13.04 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 39 20 9.80

TT8 193 8 20.48

LPSleep 3302 2 88.16

TT8_Active 413 8 43.71

TT8_Sampling 244 26 79.33

TT8_CF8 80 31 30.73

TT8_Kalman 0 0 0.00

Analog_circuits 556 10 73.20

GPS_charging 0 0 0.00

Compass 211 6 17.34

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 -0.70 -87.6 35 1760 1461 1045 0.0 0.0 0 102 0.00 0.15 -89.30 0.006 16390 0.000 0.474 34 1752 3040 3001 3079 0 0 0 0 0 0 14.83 12.42 14.66

106 -0.70 -87.6 34 1752 3008 3073 2.1 -1.3 4 110 0.20 0.00 0.00 0.000 2054 0.097 0.000 137 1752 3040 3008 3073 0 0 0 0 0 0 14.35 14.40 14.40

430 -0.70 -87.6 137 1750 3010 3069 114.9 -36.8 20 432 0.12 0.00 0.00 0.000 4102 0.131 0.000 66 1751 3039 3010 3068 0 0 0 0 0 0 14.52 14.57 14.55

750 -0.70 -87.6 65 1751 3011 3067 235.8 -38.0 28 752 0.12 0.00 0.00 0.000 2054 0.132 0.000 136 1751 3039 3011 3067 0 0 0 0 0 0 14.54 14.59 14.57

1070 -0.70 -87.6 136 1751 3013 3066 356.9 -37.2 36 1072 0.15 0.00 0.00 0.000 4102 0.118 0.000 55 1751 3039 3013 3066 0 0 0 0 0 0 14.53 14.59 14.56

1107 end dive: TARGET_DEPTH_EXCEEDED

state 1107 begin apogee

1115 -0.12 0.0 55 1751 3012 3066 371.5 -36.8 37 1188 0.15 0.00 68.12 1.427 10246 0.118 0.000 135 1751 2677 2727 2627 0 0 0 0 0 0 14.47 14.14 13.58

1189 end apogee: CONTROL_FINISHED_OK

state 1189 begin loiter

1512 -0.08 34.5 134 1751 2725 2627 431.0 -8.9 47 1543 0.12 0.00 28.25 1.415 12326 0.130 0.000 66 1751 2539 2609 2470 0 0 0 0 0 0 14.44 14.38 13.65

1832 -0.08 34.5 66 1751 2607 2469 395.5 16.4 55 1834 0.12 0.00 0.00 0.000 2054 0.132 0.000 134 1751 2537 2606 2469 0 0 0 0 0 0 14.42 14.49 14.47

2150 -0.08 34.5 134 1751 2606 2469 342.9 16.1 63 2152 0.12 0.00 0.00 0.000 4102 0.131 0.000 67 1751 2537 2606 2469 0 0 0 0 0 0 14.50 14.53 14.52

2471 -0.16 -22.8 66 1751 2605 2469 294.5 14.7 71 2473 0.12 0.00 0.00 0.000 2086 0.135 0.000 134 1751 2537 2605 2469 0 0 0 0 0 0 14.51 14.55 14.54

2791 -0.23 -76.4 134 1751 2603 2469 250.0 13.8 79 2793 0.12 0.00 0.00 0.000 4134 0.133 0.000 65 1751 2536 2604 2469 0 0 0 0 0 0 14.52 14.56 14.54

2986 end loiter: LOITER_COMPLETE

state 2987 begin climb

2990 0.70 87.6 64 1750 2604 2469 221.8 0.0 84 3038 0.12 0.12 41.88 1.203 10500 0.132 0.115 134 1830 2321 2434 2209 0 0 0 0 0 0 14.52 14.47 13.81

3086 0.70 87.6 133 1829 2430 2211 200.9 28.4 103 3091 0.10 0.12 0.00 0.000 5126 0.076 0.110 65 1753 2320 2430 2211 0 0 0 0 0 0 14.23 14.37 14.28

3433 0.70 87.6 65 1752 2423 2214 115.9 24.6 116 3435 0.12 0.00 0.00 0.000 2054 0.134 0.000 133 1752 2318 2423 2214 0 0 0 0 0 0 14.46 14.50 14.49

3753 0.70 87.6 133 1752 2421 2214 39.0 23.3 130 3755 0.12 0.00 0.00 0.000 4102 0.132 0.000 63 1752 2318 2422 2214 0 0 0 0 0 0 14.49 14.53 14.52

3889 end climb: SURFACE_DEPTH_REACHED

state 3889 begin surface coast

3909 end surface coast: CONTROL_FINISHED_OK

state 3909 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	691	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	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	149
T_DIVE	120	T_GPS	5	LOITER_W_DBAND	2	PHONE_DEVICE	49
T_MISSION	180	N_GPS	100440	LOITER_DBDW	400	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	300	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	400	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	1.5	LOITER_N_DIVE	1	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	PITCH_W_GAIN	0	SEABIRD_T_G	0.0043545738
T_LOITER	1800	RAFOS_HIT_WINDOW	3600	PITCH_W_DBAND	0	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	100	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	90	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	1700	ALTIM_PING_FIT	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MAX	1800	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	1750	ALTIM_TOP_TURN_MARGIN	0	CP_PROFILE	2.0
HD_A	0.003	C_ROLL_CLIMB	1750	ALTIM_TOP_MIN_OBSTACLE	0	CP_XMITPROFILE	2.0
HD_B	0.0099999998	HEAD_ERRBAND	170	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	46	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	4

GPS1	090119,194826,6046.3989,-2811.3428,13,1.6,22,-19.2,0.8,189.9,5,7.4	SPEED_LIMITS	0.173,0.203
_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	89.1,378893,-23.1,-10.000,-26.19,1334
_SM_ANGLEo	-67.6	D_GRID	360
GPS2	090119,195252,6046.4097,-2811.3030,12,1.6,29,-19.2,0.6,205.0,6,7.2

SM_CCo	3923,195.65,0.102,0,0,1254,350.04	FG_AHR_24Vo	0.000
SM_GC	1.26,0.00,0.00,195.65,0.000,0.000,0.102,63,1749,1254,-9.51,-0.03,350.04,0,0,0,0,0,0,14.82,14.95,14.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6046.96,-2814.46,090119,194413	MEM	333948
TT8_MAMPS	0.020223,0.077896	DATA_FILE_SIZE	3492,138
HUMID	43.69	CAP_FILE_SIZE	55213,2
INTERNAL_PRESSURE	7.93976	CFSIZE	260165632,167387136
TCM_TEMP	18.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	10	CURRENT	0.054,329.11,1
_24V_AH	12.42,0.000	GPS	090119,210333,6046.512,-2811.457,7,1.3,29,-19.2,0.8,134.1,7,8.6
_10V_AH	12.19,238.938

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	1	134	3.09	nil	0	0	0.00
Roll_motor	0	473	2.35	nil	0	0	0.00
VBD_pump_during_apogee	138	1426	2449.78	nil	0	0	0.00
VBD_pump_during_surface	195	101	247.24	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	0	0	0.00	TMICL	0	0	0.00
Transponder_ping	2	420	13.04	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	39	20	9.80
TT8	193	8	20.48
LPSleep	3302	2	88.16
TT8_Active	413	8	43.71
TT8_Sampling	244	26	79.33
TT8_CF8	80	31	30.73
TT8_Kalman	0	0	0.00
Analog_circuits	556	10	73.20
GPS_charging	0	0	0.00
Compass	211	6	17.34
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	-0.70	-87.6	35	1760	1461	1045	0.0	0.0	0	102	0.00	0.15	-89.30	0.006	16390	0.000	0.474	34	1752	3040	3001	3079	0	0	0	0	0	0	14.83	12.42	14.66
106	-0.70	-87.6	34	1752	3008	3073	2.1	-1.3	4	110	0.20	0.00	0.00	0.000	2054	0.097	0.000	137	1752	3040	3008	3073	0	0	0	0	0	0	14.35	14.40	14.40
430	-0.70	-87.6	137	1750	3010	3069	114.9	-36.8	20	432	0.12	0.00	0.00	0.000	4102	0.131	0.000	66	1751	3039	3010	3068	0	0	0	0	0	0	14.52	14.57	14.55
750	-0.70	-87.6	65	1751	3011	3067	235.8	-38.0	28	752	0.12	0.00	0.00	0.000	2054	0.132	0.000	136	1751	3039	3011	3067	0	0	0	0	0	0	14.54	14.59	14.57
1070	-0.70	-87.6	136	1751	3013	3066	356.9	-37.2	36	1072	0.15	0.00	0.00	0.000	4102	0.118	0.000	55	1751	3039	3013	3066	0	0	0	0	0	0	14.53	14.59	14.56
1107	end dive: TARGET_DEPTH_EXCEEDED
state	1107	begin apogee
1115	-0.12	0.0	55	1751	3012	3066	371.5	-36.8	37	1188	0.15	0.00	68.12	1.427	10246	0.118	0.000	135	1751	2677	2727	2627	0	0	0	0	0	0	14.47	14.14	13.58
1189	end apogee: CONTROL_FINISHED_OK
state	1189	begin loiter
1512	-0.08	34.5	134	1751	2725	2627	431.0	-8.9	47	1543	0.12	0.00	28.25	1.415	12326	0.130	0.000	66	1751	2539	2609	2470	0	0	0	0	0	0	14.44	14.38	13.65
1832	-0.08	34.5	66	1751	2607	2469	395.5	16.4	55	1834	0.12	0.00	0.00	0.000	2054	0.132	0.000	134	1751	2537	2606	2469	0	0	0	0	0	0	14.42	14.49	14.47
2150	-0.08	34.5	134	1751	2606	2469	342.9	16.1	63	2152	0.12	0.00	0.00	0.000	4102	0.131	0.000	67	1751	2537	2606	2469	0	0	0	0	0	0	14.50	14.53	14.52
2471	-0.16	-22.8	66	1751	2605	2469	294.5	14.7	71	2473	0.12	0.00	0.00	0.000	2086	0.135	0.000	134	1751	2537	2605	2469	0	0	0	0	0	0	14.51	14.55	14.54
2791	-0.23	-76.4	134	1751	2603	2469	250.0	13.8	79	2793	0.12	0.00	0.00	0.000	4134	0.133	0.000	65	1751	2536	2604	2469	0	0	0	0	0	0	14.52	14.56	14.54
2986	end loiter: LOITER_COMPLETE
state	2987	begin climb
2990	0.70	87.6	64	1750	2604	2469	221.8	0.0	84	3038	0.12	0.12	41.88	1.203	10500	0.132	0.115	134	1830	2321	2434	2209	0	0	0	0	0	0	14.52	14.47	13.81
3086	0.70	87.6	133	1829	2430	2211	200.9	28.4	103	3091	0.10	0.12	0.00	0.000	5126	0.076	0.110	65	1753	2320	2430	2211	0	0	0	0	0	0	14.23	14.37	14.28
3433	0.70	87.6	65	1752	2423	2214	115.9	24.6	116	3435	0.12	0.00	0.00	0.000	2054	0.134	0.000	133	1752	2318	2423	2214	0	0	0	0	0	0	14.46	14.50	14.49
3753	0.70	87.6	133	1752	2421	2214	39.0	23.3	130	3755	0.12	0.00	0.00	0.000	4102	0.132	0.000	63	1752	2318	2422	2214	0	0	0	0	0	0	14.49	14.53	14.52
3889	end climb: SURFACE_DEPTH_REACHED
state	3889	begin surface coast
3909	end surface coast: CONTROL_FINISHED_OK
state	3909	begin surface