Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 716 * 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 716 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 3081 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 220 N_GPS 100440 LOITER_DBDW 200 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 3600 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 50 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 42 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 3600

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 220

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 200 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 3081 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 42 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 31 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 50 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 716 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 120119,022851,6052.4404,-2800.5896,22,1.2,40,-19.1,0.3,84.6,9,6.2 SPEED_LIMITS 0.173,0.183

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.29 MHEAD_RNG_PITCHd_Wd 53.4,364786,-25.7,-10.000,-28.63,1083

_SM_ANGLEo -77.9 D_GRID 360

GPS2 120119,023316,6052.4346,-2800.5769,10,1.2,15,-19.1,0.0,218.3,9,6.1

Post-dive calculations and measurements:

FREEZE 525.60,0.000,0.000,0,1,0 _10V_AH 12.88,242.850

SM_CCo 4832,434.02,1.470,0,0,550,620.85 FG_AHR_24Vo 0.000

SM_GC 1.21,0.08,0.00,0.00,0.186,0.000,0.000,120,1728,555,-9.49,-0.62,619.63,0,0,0,0,0,0,14.33,14.87,14.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6055.04,-2806.95,110119,235712 MEM 333920

TT8_MAMPS 0.020223,0.065912 DATA_FILE_SIZE 3491,128

HUMID 45.66 CAP_FILE_SIZE 37459,0

INTERNAL_PRESSURE 7.8714 CFSIZE 260165632,166805504

TCM_TEMP 18.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.113,122.31,1

_24V_AH 12.50,0.000 GPS 120119,041833,6052.231,-2759.917,13,1.0,41,-19.1,0.4,50.6,9,6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 188 5.31 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 128 1594 2559.29 nil 0 0 0.00

VBD_pump_during_surface 434 1470 7977.00 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 155 122 237.72 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 20 7.45

TT8 231 8 25.88

LPSleep 5114 2 144.25

TT8_Active 639 8 71.42

TT8_Sampling 349 26 120.01

TT8_CF8 139 31 55.89

TT8_Kalman 0 0 0.00

Analog_circuits 944 10 131.41

GPS_charging 0 0 0.00

Compass 198 6 17.22

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 -0.71 -48.7 114 1727 1837 1465 0.0 0.0 0 91 0.00 0.00 -79.65 0.006 16390 0.000 0.000 114 1728 3280 3223 3337 0 0 0 0 0 0 14.73 12.50 14.54

96 -0.71 -48.7 114 1728 3223 3337 3.2 -3.1 4 98 0.08 0.00 0.00 0.000 4102 0.189 0.000 62 1728 3280 3223 3337 0 0 0 0 0 0 14.35 14.40 14.38

431 -0.71 -48.7 62 1728 3224 3335 159.4 -47.6 18 433 0.15 0.00 0.00 0.000 2054 0.117 0.000 141 1728 3279 3224 3335 0 0 0 0 0 0 14.34 14.34 14.32

751 -0.71 -48.7 142 1728 3225 3333 313.5 -48.0 26 753 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 3278 3224 3333 0 0 0 0 0 0 14.36 14.36 14.36

867 end dive: TARGET_DEPTH_EXCEEDED

state 867 begin apogee

876 -0.12 0.0 62 1728 3225 3333 370.7 -47.7 29 916 0.15 0.00 37.70 1.391 10246 0.115 0.000 140 1728 3081 3085 3077 0 0 0 0 0 0 14.22 14.38 13.62

917 end apogee: CONTROL_FINISHED_OK

state 917 begin loiter

1232 -0.02 73.1 140 1728 3086 3078 512.0 -37.6 38 1293 0.15 0.00 58.65 1.554 12326 0.114 0.000 61 1728 2781 2851 2712 0 0 0 0 0 0 14.31 14.18 13.45

1593 0.03 111.4 60 1728 2850 2714 593.3 -19.7 47 1628 0.15 0.00 32.08 1.594 10278 0.114 0.000 140 1728 2624 2711 2537 0 0 0 0 0 0 14.28 14.13 13.52

1952 0.03 111.4 140 1728 2709 2542 601.0 4.1 56 1954 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1728 2626 2710 2542 0 0 0 0 0 0 14.28 14.36 14.34

2271 0.03 111.4 60 1728 2710 2542 585.3 4.8 64 2273 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1728 2625 2709 2542 0 0 0 0 0 0 14.35 14.38 14.40

2591 0.03 111.4 141 1728 2709 2542 571.3 4.3 72 2593 0.15 0.00 0.00 0.000 4102 0.114 0.000 62 1728 2625 2709 2542 0 0 0 0 0 0 14.36 14.38 14.38

2911 0.03 111.4 61 1728 2708 2542 559.5 3.5 80 2913 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1728 2625 2708 2542 0 0 0 0 0 0 14.35 14.38 14.36

3231 0.03 111.4 141 1728 2708 2542 550.3 2.7 88 3233 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1728 2625 2708 2542 0 0 0 0 0 0 14.36 14.36 14.36

3551 0.03 111.4 61 1728 2709 2542 542.6 2.3 96 3553 0.15 0.00 0.00 0.000 2054 0.117 0.000 141 1728 2625 2708 2542 0 0 0 0 0 0 14.35 14.36 14.35

3871 0.03 111.4 140 1728 2708 2542 535.4 2.2 104 3873 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1728 2625 2708 2542 0 0 0 0 0 0 14.36 14.35 14.35

4193 0.03 111.4 60 1728 2708 2542 529.6 1.6 112 4195 0.15 0.00 0.00 0.000 2054 0.118 0.000 140 1728 2625 2708 2542 0 0 0 0 0 0 14.34 14.35 14.34

4507 end loiter: LOITER_COMPLETE

state 4508 begin climb

4511 0.71 48.7 140 1728 2708 2542 526.4 0.0 120 4514 0.15 0.00 0.00 0.000 4102 0.115 0.000 61 1728 2625 2708 2542 0 0 0 0 0 0 14.35 14.35 14.35

4828 end climb: NO_VERTICAL_VELOCITY

state 4828 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	716	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	3081	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	220	N_GPS	100440	LOITER_DBDW	200	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	3600	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	50	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	42	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	4

GPS1	120119,022851,6052.4404,-2800.5896,22,1.2,40,-19.1,0.3,84.6,9,6.2	SPEED_LIMITS	0.173,0.183
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.29	MHEAD_RNG_PITCHd_Wd	53.4,364786,-25.7,-10.000,-28.63,1083
_SM_ANGLEo	-77.9	D_GRID	360
GPS2	120119,023316,6052.4346,-2800.5769,10,1.2,15,-19.1,0.0,218.3,9,6.1

FREEZE	525.60,0.000,0.000,0,1,0	_10V_AH	12.88,242.850
SM_CCo	4832,434.02,1.470,0,0,550,620.85	FG_AHR_24Vo	0.000
SM_GC	1.21,0.08,0.00,0.00,0.186,0.000,0.000,120,1728,555,-9.49,-0.62,619.63,0,0,0,0,0,0,14.33,14.87,14.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6055.04,-2806.95,110119,235712	MEM	333920
TT8_MAMPS	0.020223,0.065912	DATA_FILE_SIZE	3491,128
HUMID	45.66	CAP_FILE_SIZE	37459,0
INTERNAL_PRESSURE	7.8714	CFSIZE	260165632,166805504
TCM_TEMP	18.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.113,122.31,1
_24V_AH	12.50,0.000	GPS	120119,041833,6052.231,-2759.917,13,1.0,41,-19.1,0.4,50.6,9,6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	188	5.31	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	128	1594	2559.29	nil	0	0	0.00
VBD_pump_during_surface	434	1470	7977.00	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	155	122	237.72	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	20	7.45
TT8	231	8	25.88
LPSleep	5114	2	144.25
TT8_Active	639	8	71.42
TT8_Sampling	349	26	120.01
TT8_CF8	139	31	55.89
TT8_Kalman	0	0	0.00
Analog_circuits	944	10	131.41
GPS_charging	0	0	0.00
Compass	198	6	17.22
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	-0.71	-48.7	114	1727	1837	1465	0.0	0.0	0	91	0.00	0.00	-79.65	0.006	16390	0.000	0.000	114	1728	3280	3223	3337	0	0	0	0	0	0	14.73	12.50	14.54
96	-0.71	-48.7	114	1728	3223	3337	3.2	-3.1	4	98	0.08	0.00	0.00	0.000	4102	0.189	0.000	62	1728	3280	3223	3337	0	0	0	0	0	0	14.35	14.40	14.38
431	-0.71	-48.7	62	1728	3224	3335	159.4	-47.6	18	433	0.15	0.00	0.00	0.000	2054	0.117	0.000	141	1728	3279	3224	3335	0	0	0	0	0	0	14.34	14.34	14.32
751	-0.71	-48.7	142	1728	3225	3333	313.5	-48.0	26	753	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	3278	3224	3333	0	0	0	0	0	0	14.36	14.36	14.36
867	end dive: TARGET_DEPTH_EXCEEDED
state	867	begin apogee
876	-0.12	0.0	62	1728	3225	3333	370.7	-47.7	29	916	0.15	0.00	37.70	1.391	10246	0.115	0.000	140	1728	3081	3085	3077	0	0	0	0	0	0	14.22	14.38	13.62
917	end apogee: CONTROL_FINISHED_OK
state	917	begin loiter
1232	-0.02	73.1	140	1728	3086	3078	512.0	-37.6	38	1293	0.15	0.00	58.65	1.554	12326	0.114	0.000	61	1728	2781	2851	2712	0	0	0	0	0	0	14.31	14.18	13.45
1593	0.03	111.4	60	1728	2850	2714	593.3	-19.7	47	1628	0.15	0.00	32.08	1.594	10278	0.114	0.000	140	1728	2624	2711	2537	0	0	0	0	0	0	14.28	14.13	13.52
1952	0.03	111.4	140	1728	2709	2542	601.0	4.1	56	1954	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1728	2626	2710	2542	0	0	0	0	0	0	14.28	14.36	14.34
2271	0.03	111.4	60	1728	2710	2542	585.3	4.8	64	2273	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1728	2625	2709	2542	0	0	0	0	0	0	14.35	14.38	14.40
2591	0.03	111.4	141	1728	2709	2542	571.3	4.3	72	2593	0.15	0.00	0.00	0.000	4102	0.114	0.000	62	1728	2625	2709	2542	0	0	0	0	0	0	14.36	14.38	14.38
2911	0.03	111.4	61	1728	2708	2542	559.5	3.5	80	2913	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1728	2625	2708	2542	0	0	0	0	0	0	14.35	14.38	14.36
3231	0.03	111.4	141	1728	2708	2542	550.3	2.7	88	3233	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1728	2625	2708	2542	0	0	0	0	0	0	14.36	14.36	14.36
3551	0.03	111.4	61	1728	2709	2542	542.6	2.3	96	3553	0.15	0.00	0.00	0.000	2054	0.117	0.000	141	1728	2625	2708	2542	0	0	0	0	0	0	14.35	14.36	14.35
3871	0.03	111.4	140	1728	2708	2542	535.4	2.2	104	3873	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1728	2625	2708	2542	0	0	0	0	0	0	14.36	14.35	14.35
4193	0.03	111.4	60	1728	2708	2542	529.6	1.6	112	4195	0.15	0.00	0.00	0.000	2054	0.118	0.000	140	1728	2625	2708	2542	0	0	0	0	0	0	14.34	14.35	14.34
4507	end loiter: LOITER_COMPLETE
state	4508	begin climb
4511	0.71	48.7	140	1728	2708	2542	526.4	0.0	120	4514	0.15	0.00	0.00	0.000	4102	0.115	0.000	61	1728	2625	2708	2542	0	0	0	0	0	0	14.35	14.35	14.35
4828	end climb: NO_VERTICAL_VELOCITY
state	4828	begin surface