Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 719 * 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 719 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 33 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 33 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 719 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 120119,082604,6051.8618,-2759.1917,11,1.4,16,-19.1,0.8,124.3,5,10.0 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 1.00 MHEAD_RNG_PITCHd_Wd 59.4,364522,-25.7,-10.000,-28.63,1083

_SM_ANGLEo -64.0 D_GRID 360

GPS2 120119,083005,6051.8701,-2759.1030,14,1.2,14,-19.1,0.0,0.0,6,8.9

Post-dive calculations and measurements:

FREEZE 500.19,0.000,0.000,0,1,0 _10V_AH 12.96,243.473

SM_CCo 4723,429.20,1.434,0,0,549,621.34 FG_AHR_24Vo 0.000

SM_GC 1.11,0.22,0.17,0.00,0.090,0.139,0.000,26,1761,552,-9.42,0.90,620.36,0,0,0,0,0,0,14.28,14.13,14.35 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6055.15,-2757.06,120119,064139 MEM 333924

TT8_MAMPS 0.019474,0.064414 DATA_FILE_SIZE 3483,173

HUMID 46.65 CAP_FILE_SIZE 40527,0

INTERNAL_PRESSURE 7.88116 CFSIZE 260165632,166735872

TCM_TEMP 18.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.026,248.37,1

_24V_AH 12.55,0.000 GPS 120119,101258,6051.838,-2759.268,41,1.2,41,-19.1,0.0,0.0,6,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 155 4.73 nil 0 0 0.00

Roll_motor 0 175 0.88 nil 0 0 0.00

VBD_pump_during_apogee 146 1591 2917.05 nil 0 0 0.00

VBD_pump_during_surface 429 1433 7722.08 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 133 118 199.00 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.58

TT8 269 8 30.25

LPSleep 4791 2 136.00

TT8_Active 706 8 79.36

TT8_Sampling 393 26 135.94

TT8_CF8 145 31 58.72

TT8_Kalman 0 0 0.00

Analog_circuits 1021 10 143.01

GPS_charging 0 0 0.00

Compass 262 6 22.90

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 -48.7 119 1729 675 433 0.0 0.0 0 144 0.00 0.00 -132.15 0.006 16390 0.000 0.000 119 1730 3281 3238 3324 0 0 0 0 0 0 14.76 12.55 14.61

149 -0.71 -48.7 119 1730 3238 3323 2.1 -1.1 6 153 0.10 0.00 0.00 0.000 4134 0.155 0.000 56 1730 3280 3238 3323 0 0 0 0 0 0 14.38 14.42 14.40

491 -0.71 -48.7 56 1730 3238 3322 161.2 -47.7 21 495 0.12 0.00 0.00 0.000 2564 0.133 0.000 135 1730 3280 3238 3322 0 0 0 0 0 0 14.37 14.36 14.36

608 -0.71 -48.7 135 1730 3238 3322 216.9 -47.9 44 612 0.10 0.00 0.00 0.000 5126 0.148 0.000 66 1730 3280 3238 3322 0 0 0 0 0 0 14.37 14.85 14.35

929 end dive: TARGET_DEPTH_EXCEEDED

state 929 begin apogee

938 -0.12 0.0 66 1730 3238 3321 371.4 -47.4 53 996 0.12 0.00 55.62 1.237 10246 0.132 0.000 135 1729 3080 3079 3081 0 0 0 0 0 0 14.28 14.38 13.74

997 end apogee: CONTROL_FINISHED_OK

state 997 begin loiter

1294 -0.02 75.8 135 1730 3082 3085 516.2 -38.9 62 1357 0.12 0.00 60.25 1.554 12326 0.132 0.000 66 1730 2772 2824 2720 0 0 0 0 0 0 14.36 14.25 13.53

1654 0.03 112.1 65 1730 2822 2723 597.5 -18.6 71 1689 0.12 0.00 30.20 1.591 10278 0.132 0.000 138 1730 2623 2695 2551 0 0 0 0 0 0 14.35 14.35 13.61

2014 0.03 112.1 138 1730 2695 2554 598.1 7.0 80 2016 0.15 0.00 0.00 0.000 4102 0.116 0.000 58 1730 2624 2695 2554 0 0 0 0 0 0 14.36 14.42 14.40

2333 0.03 112.1 57 1729 2695 2553 577.2 5.9 88 2335 0.15 0.00 0.00 0.000 2054 0.117 0.000 139 1730 2625 2695 2555 0 0 0 0 0 0 14.39 14.42 14.40

2653 0.03 112.1 138 1730 2695 2555 562.3 4.3 96 2655 0.15 0.00 0.00 0.000 4102 0.115 0.000 58 1730 2624 2695 2554 0 0 0 0 0 0 14.39 14.42 14.41

2973 0.03 112.1 57 1730 2695 2555 548.6 4.3 104 2975 0.15 0.00 0.00 0.000 2054 0.116 0.000 138 1730 2625 2695 2555 0 0 0 0 0 0 14.39 14.41 14.40

3293 0.03 112.1 138 1730 2695 2555 536.1 3.8 112 3295 0.15 0.00 0.00 0.000 4102 0.115 0.000 58 1730 2625 2695 2555 0 0 0 0 0 0 14.38 14.40 14.40

3613 0.03 112.1 57 1730 2695 2554 524.4 3.6 120 3615 0.15 0.00 0.00 0.000 2054 0.118 0.000 138 1730 2625 2695 2555 0 0 0 0 0 0 14.38 14.40 14.42

3933 0.03 112.1 138 1730 2695 2555 513.0 3.5 128 3935 0.15 0.00 0.00 0.000 4102 0.115 0.000 58 1730 2624 2694 2555 0 0 0 0 0 0 14.38 14.39 14.38

4254 0.03 112.1 58 1730 2694 2555 503.8 2.6 136 4256 0.15 0.00 0.00 0.000 2054 0.117 0.000 138 1729 2624 2694 2555 0 0 0 0 0 0 14.37 14.38 14.38

4569 end loiter: LOITER_COMPLETE

state 4569 begin climb

4573 0.71 48.7 138 1730 2694 2555 500.2 0.0 144 4578 0.15 0.15 0.00 0.000 4356 0.116 0.097 58 1826 2624 2694 2555 0 0 0 0 0 0 14.38 14.09 14.39

4718 end climb: NO_VERTICAL_VELOCITY

state 4718 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	719	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	33	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	4

GPS1	120119,082604,6051.8618,-2759.1917,11,1.4,16,-19.1,0.8,124.3,5,10.0	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	1.00	MHEAD_RNG_PITCHd_Wd	59.4,364522,-25.7,-10.000,-28.63,1083
_SM_ANGLEo	-64.0	D_GRID	360
GPS2	120119,083005,6051.8701,-2759.1030,14,1.2,14,-19.1,0.0,0.0,6,8.9

FREEZE	500.19,0.000,0.000,0,1,0	_10V_AH	12.96,243.473
SM_CCo	4723,429.20,1.434,0,0,549,621.34	FG_AHR_24Vo	0.000
SM_GC	1.11,0.22,0.17,0.00,0.090,0.139,0.000,26,1761,552,-9.42,0.90,620.36,0,0,0,0,0,0,14.28,14.13,14.35	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6055.15,-2757.06,120119,064139	MEM	333924
TT8_MAMPS	0.019474,0.064414	DATA_FILE_SIZE	3483,173
HUMID	46.65	CAP_FILE_SIZE	40527,0
INTERNAL_PRESSURE	7.88116	CFSIZE	260165632,166735872
TCM_TEMP	18.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.026,248.37,1
_24V_AH	12.55,0.000	GPS	120119,101258,6051.838,-2759.268,41,1.2,41,-19.1,0.0,0.0,6,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	155	4.73	nil	0	0	0.00
Roll_motor	0	175	0.88	nil	0	0	0.00
VBD_pump_during_apogee	146	1591	2917.05	nil	0	0	0.00
VBD_pump_during_surface	429	1433	7722.08	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	133	118	199.00	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.58
TT8	269	8	30.25
LPSleep	4791	2	136.00
TT8_Active	706	8	79.36
TT8_Sampling	393	26	135.94
TT8_CF8	145	31	58.72
TT8_Kalman	0	0	0.00
Analog_circuits	1021	10	143.01
GPS_charging	0	0	0.00
Compass	262	6	22.90
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	119	1729	675	433	0.0	0.0	0	144	0.00	0.00	-132.15	0.006	16390	0.000	0.000	119	1730	3281	3238	3324	0	0	0	0	0	0	14.76	12.55	14.61
149	-0.71	-48.7	119	1730	3238	3323	2.1	-1.1	6	153	0.10	0.00	0.00	0.000	4134	0.155	0.000	56	1730	3280	3238	3323	0	0	0	0	0	0	14.38	14.42	14.40
491	-0.71	-48.7	56	1730	3238	3322	161.2	-47.7	21	495	0.12	0.00	0.00	0.000	2564	0.133	0.000	135	1730	3280	3238	3322	0	0	0	0	0	0	14.37	14.36	14.36
608	-0.71	-48.7	135	1730	3238	3322	216.9	-47.9	44	612	0.10	0.00	0.00	0.000	5126	0.148	0.000	66	1730	3280	3238	3322	0	0	0	0	0	0	14.37	14.85	14.35
929	end dive: TARGET_DEPTH_EXCEEDED
state	929	begin apogee
938	-0.12	0.0	66	1730	3238	3321	371.4	-47.4	53	996	0.12	0.00	55.62	1.237	10246	0.132	0.000	135	1729	3080	3079	3081	0	0	0	0	0	0	14.28	14.38	13.74
997	end apogee: CONTROL_FINISHED_OK
state	997	begin loiter
1294	-0.02	75.8	135	1730	3082	3085	516.2	-38.9	62	1357	0.12	0.00	60.25	1.554	12326	0.132	0.000	66	1730	2772	2824	2720	0	0	0	0	0	0	14.36	14.25	13.53
1654	0.03	112.1	65	1730	2822	2723	597.5	-18.6	71	1689	0.12	0.00	30.20	1.591	10278	0.132	0.000	138	1730	2623	2695	2551	0	0	0	0	0	0	14.35	14.35	13.61
2014	0.03	112.1	138	1730	2695	2554	598.1	7.0	80	2016	0.15	0.00	0.00	0.000	4102	0.116	0.000	58	1730	2624	2695	2554	0	0	0	0	0	0	14.36	14.42	14.40
2333	0.03	112.1	57	1729	2695	2553	577.2	5.9	88	2335	0.15	0.00	0.00	0.000	2054	0.117	0.000	139	1730	2625	2695	2555	0	0	0	0	0	0	14.39	14.42	14.40
2653	0.03	112.1	138	1730	2695	2555	562.3	4.3	96	2655	0.15	0.00	0.00	0.000	4102	0.115	0.000	58	1730	2624	2695	2554	0	0	0	0	0	0	14.39	14.42	14.41
2973	0.03	112.1	57	1730	2695	2555	548.6	4.3	104	2975	0.15	0.00	0.00	0.000	2054	0.116	0.000	138	1730	2625	2695	2555	0	0	0	0	0	0	14.39	14.41	14.40
3293	0.03	112.1	138	1730	2695	2555	536.1	3.8	112	3295	0.15	0.00	0.00	0.000	4102	0.115	0.000	58	1730	2625	2695	2555	0	0	0	0	0	0	14.38	14.40	14.40
3613	0.03	112.1	57	1730	2695	2554	524.4	3.6	120	3615	0.15	0.00	0.00	0.000	2054	0.118	0.000	138	1730	2625	2695	2555	0	0	0	0	0	0	14.38	14.40	14.42
3933	0.03	112.1	138	1730	2695	2555	513.0	3.5	128	3935	0.15	0.00	0.00	0.000	4102	0.115	0.000	58	1730	2624	2694	2555	0	0	0	0	0	0	14.38	14.39	14.38
4254	0.03	112.1	58	1730	2694	2555	503.8	2.6	136	4256	0.15	0.00	0.00	0.000	2054	0.117	0.000	138	1729	2624	2694	2555	0	0	0	0	0	0	14.37	14.38	14.38
4569	end loiter: LOITER_COMPLETE
state	4569	begin climb
4573	0.71	48.7	138	1730	2694	2555	500.2	0.0	144	4578	0.15	0.15	0.00	0.000	4356	0.116	0.097	58	1826	2624	2694	2555	0	0	0	0	0	0	14.38	14.09	14.39
4718	end climb: NO_VERTICAL_VELOCITY
state	4718	begin surface