Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 724 * 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 724 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 3181 DEVICE1 -1

D_TGT 500 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 180 T_GPS 5 LOITER_W_DBAND 2 PHONE_DEVICE 49

T_MISSION 350 N_GPS 100440 LOITER_DBDW 200 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 2 LOITER_D_TOP 400 RAFOS_DEVICE -1

T_TURN 225 STROBE 0 LOITER_D_BOTTOM 800 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 7200 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 30 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 32 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 500 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 180

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 7200

COURSE_BIAS 0 KALMAN_USE 2 RAFOS_MMODEM 0 T_MISSION 350

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 800 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1750 LOITER_D_TOP 400 ROLL_DEG 15 USE_BATHY 0

C_ROLL_DIVE 1750 LOITER_N_DIVE 1 ROLL_MAX 1800 USE_ICE 0

C_VBD 3181 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 32 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 27 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 30 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 724 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 120119,205040,6051.4375,-2757.5933,65,1.0,72,-19.1,0.5,176.8,7,6.9 SPEED_LIMITS 0.160,0.170

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 59.4,364002,-25.5,-9.259,-28.52,1052

_SM_ANGLEo -61.7 D_GRID 500

GPS2 120119,205451,6051.4629,-2757.5149,10,1.5,14,-19.1,1.0,175.3,4,8.2

Post-dive calculations and measurements:

SM_CCo 11870,76.62,0.103,0,0,1753,350.04 FG_AHR_24Vo 0.000

SM_GC 1.16,0.22,0.00,76.62,0.093,0.000,0.103,35,1781,1753,-9.43,0.88,350.04,0,0,0,0,0,0,14.16,14.88,14.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6054.36,-2751.08,120119,165214 MEM 333920

TT8_MAMPS 0.020223,0.066661 DATA_FILE_SIZE 13500,354

HUMID 46.10 CAP_FILE_SIZE 64899,0

INTERNAL_PRESSURE 7.95929 CFSIZE 260165632,166559744

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.045,257.48,1

_24V_AH 12.43,0.000 GPS 130119,001752,6051.359,-2758.129,94,1.6,116,-19.1,0.7,96.8,6,8.0

_10V_AH 13.41,244.165

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 156 11.35 nil 0 0 0.00

Roll_motor 0 146 0.41 nil 0 0 0.00

VBD_pump_during_apogee 238 1907 5654.43 nil 0 0 0.00

VBD_pump_during_surface 76 102 97.64 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 137 133 227.42 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 6.97

TT8 421 8 48.95

LPSleep 10541 2 309.59

TT8_Active 408 8 47.45

TT8_Sampling 662 26 236.79

TT8_CF8 212 31 88.84

TT8_Kalman 0 0 0.00

Analog_circuits 842 10 122.00

GPS_charging 0 0 0.00

Compass 518 6 46.87

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9 -0.68 -29.2 119 1765 1938 1569 0.0 0.0 0 87 0.00 0.00 -72.93 0.006 16390 0.000 0.000 119 1766 3302 3244 3361 0 0 0 0 0 0 14.76 12.43 14.58

91 -0.68 -29.2 120 1766 3244 3361 5.4 -6.1 4 93 0.10 0.00 0.00 0.000 4102 0.157 0.000 57 1766 3302 3244 3361 0 0 0 0 0 0 14.35 14.42 14.40

410 -0.68 -29.2 57 1766 3244 3361 161.8 -49.0 17 412 0.15 0.00 0.00 0.000 2054 0.115 0.000 140 1766 3303 3245 3361 0 0 0 0 0 0 14.39 14.40 14.39

730 -0.68 -29.2 140 1766 3245 3360 318.0 -48.8 25 732 0.15 0.00 0.00 0.000 4102 0.116 0.000 59 1766 3302 3245 3360 0 0 0 0 0 0 14.39 14.40 14.39

1050 -0.68 -29.2 59 1766 3246 3360 474.2 -49.6 33 1052 0.15 0.00 0.00 0.000 2054 0.116 0.000 142 1766 3302 3245 3360 0 0 0 0 0 0 14.40 14.40 14.40

1126 end dive: TARGET_DEPTH_EXCEEDED

state 1126 begin apogee

1135 -0.12 0.0 142 1766 3246 3360 514.5 -50.3 35 1163 0.15 0.00 24.85 1.515 12294 0.113 0.000 61 1766 3180 3166 3195 0 0 0 0 0 0 14.26 14.44 13.60

1164 end apogee: CONTROL_FINISHED_OK

state 1164 begin loiter

1453 -0.01 83.8 61 1766 3171 3194 657.3 -43.1 43 1524 0.15 0.00 69.05 1.749 10278 0.115 0.000 142 1766 2838 2903 2773 0 0 0 0 0 0 14.35 14.09 13.31

1814 0.05 125.3 141 1766 2902 2778 749.0 -21.3 52 1852 0.15 0.00 35.62 1.781 12326 0.115 0.000 61 1765 2670 2769 2571 0 0 0 0 0 0 14.31 14.24 13.44

2174 0.05 125.3 61 1765 2767 2576 766.4 -0.6 61 2175 0.15 0.00 0.00 0.000 2054 0.116 0.000 142 1766 2671 2767 2576 0 0 0 0 0 0 14.35 14.41 14.40

2492 0.05 125.3 142 1765 2767 2576 766.8 -0.2 69 2494 0.15 0.00 0.00 0.000 4102 0.116 0.000 63 1766 2672 2768 2576 0 0 0 0 0 0 14.36 14.40 14.40

2812 0.06 130.0 63 1765 2766 2576 772.4 -2.4 77 2820 0.15 0.00 5.38 1.179 10278 0.117 0.000 142 1765 2652 2748 2556 0 0 0 0 0 0 14.37 14.54 13.71

3134 0.06 130.0 142 1765 2747 2562 771.4 1.7 85 3136 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1765 2654 2746 2563 0 0 0 0 0 0 14.35 14.41 14.38

3452 0.06 130.0 62 1765 2746 2563 765.5 1.4 93 3454 0.15 0.00 0.00 0.000 2054 0.117 0.000 143 1765 2655 2747 2563 0 0 0 0 0 0 14.37 14.38 14.38

3772 0.06 130.0 142 1765 2746 2562 765.3 -0.4 101 3774 0.15 0.00 0.00 0.000 4102 0.116 0.000 64 1765 2654 2746 2562 0 0 0 0 0 0 14.36 14.38 14.36

4092 0.06 130.0 64 1765 2746 2562 768.9 -1.2 109 4094 0.15 0.00 0.00 0.000 2054 0.120 0.000 144 1765 2654 2746 2562 0 0 0 0 0 0 14.35 14.37 14.36

4412 0.06 130.0 143 1765 2746 2563 769.5 0.3 117 4414 0.15 0.00 0.00 0.000 4102 0.117 0.000 64 1766 2654 2746 2562 0 0 0 0 0 0 14.36 14.39 14.36

4732 0.06 130.0 63 1766 2745 2562 770.0 -0.5 125 4734 0.15 0.00 0.00 0.000 2054 0.116 0.000 143 1766 2653 2745 2562 0 0 0 0 0 0 14.35 14.36 14.35

5052 0.06 130.0 143 1765 2745 2562 773.1 -1.0 133 5054 0.15 0.00 0.00 0.000 4102 0.116 0.000 64 1765 2654 2745 2563 0 0 0 0 0 0 14.36 14.36 14.35

5373 0.06 130.0 64 1765 2745 2562 774.8 -0.3 141 5375 0.15 0.00 0.00 0.000 2054 0.118 0.000 142 1765 2653 2745 2562 0 0 0 0 0 0 14.35 14.35 14.35

5692 0.06 130.0 142 1765 2744 2562 776.5 -0.6 149 5694 0.15 0.00 0.00 0.000 4102 0.116 0.000 64 1765 2653 2745 2562 0 0 0 0 0 0 14.36 14.36 14.36

6012 0.06 130.0 64 1765 2745 2562 779.4 -1.1 157 6014 0.12 0.00 0.00 0.000 2054 0.132 0.000 134 1766 2653 2744 2562 0 0 0 0 0 0 14.40 14.40 14.40

6332 0.06 130.0 133 1765 2744 2562 784.0 -1.6 165 6334 0.15 0.00 0.00 0.000 4102 0.117 0.000 56 1765 2652 2743 2562 0 0 0 0 0 0 14.35 14.36 14.35

6652 0.06 134.5 56 1765 2744 2562 790.8 -2.3 173 6661 0.15 0.00 5.75 1.323 10278 0.119 0.000 135 1765 2631 2720 2543 0 0 0 0 0 0 14.35 14.47 13.38

6974 0.06 134.5 134 1765 2719 2551 790.7 1.3 181 6976 0.15 0.00 0.00 0.000 4102 0.119 0.000 57 1765 2635 2719 2551 0 0 0 0 0 0 14.35 14.36 14.33

7292 0.06 134.5 57 1765 2719 2551 782.4 3.3 189 7294 0.15 0.00 0.00 0.000 2054 0.117 0.000 136 1765 2635 2719 2551 0 0 0 0 0 0 14.36 14.37 14.36

7612 0.06 134.5 136 1765 2719 2551 775.0 2.4 197 7614 0.15 0.00 0.00 0.000 4102 0.118 0.000 59 1765 2635 2719 2551 0 0 0 0 0 0 14.36 14.36 14.35

7932 0.06 134.5 58 1765 2719 2551 767.7 1.8 205 7934 0.15 0.00 0.00 0.000 2054 0.120 0.000 138 1766 2635 2719 2551 0 0 0 0 0 0 14.36 14.36 14.35

8252 0.06 134.5 137 1765 2719 2551 770.0 -1.3 213 8254 0.15 0.00 0.00 0.000 4102 0.119 0.000 59 1765 2635 2719 2551 0 0 0 0 0 0 14.35 14.35 14.35

8329 end loiter: LOITER_COMPLETE

state 8330 begin climb

8333 0.68 29.2 59 1765 2719 2551 771.7 0.0 215 8339 0.17 0.12 0.00 0.000 2564 0.105 0.147 146 1698 2634 2718 2551 0 0 0 0 0 0 14.31 13.87 14.32

8567 0.82 130.4 145 1697 2719 2551 773.3 -0.6 261 8572 0.12 0.10 0.00 0.000 5158 0.070 0.132 71 1764 2635 2719 2551 0 0 0 0 0 0 13.96 14.40 13.99

8900 0.97 238.7 70 1764 2719 2551 779.5 -1.3 271 9001 0.12 0.00 97.88 1.907 10278 0.133 0.000 139 1764 2205 2362 2049 0 0 0 0 0 0 14.40 13.88 13.07

9301 0.97 238.7 139 1765 2354 2049 683.5 28.7 281 9303 0.15 0.00 0.00 0.000 4102 0.117 0.000 62 1765 2202 2355 2049 0 0 0 0 0 0 14.26 14.33 14.31

9620 0.97 238.7 61 1765 2351 2049 592.8 28.2 289 9621 0.15 0.00 0.00 0.000 2054 0.119 0.000 139 1766 2200 2351 2049 0 0 0 0 0 0 14.33 14.37 14.36

9940 0.97 238.7 140 1765 2349 2049 506.0 27.0 297 9942 0.15 0.00 0.00 0.000 4102 0.118 0.000 61 1766 2199 2349 2049 0 0 0 0 0 0 14.35 14.38 14.37

10260 0.97 238.7 61 1766 2347 2049 421.0 26.5 305 10262 0.15 0.00 0.00 0.000 2054 0.119 0.000 140 1766 2198 2347 2049 0 0 0 0 0 0 14.34 14.36 14.35

10580 0.97 238.7 140 1766 2347 2049 337.0 26.2 313 10582 0.15 0.00 0.00 0.000 4102 0.117 0.000 62 1766 2197 2346 2049 0 0 0 0 0 0 14.35 14.36 14.35

10900 0.97 238.7 61 1766 2344 2049 252.9 26.1 321 10902 0.15 0.00 0.00 0.000 2054 0.118 0.000 139 1766 2196 2344 2049 0 0 0 0 0 0 14.35 14.35 14.35

11219 0.97 238.7 139 1767 2344 2049 168.3 26.8 329 11221 0.15 0.00 0.00 0.000 4102 0.119 0.000 60 1767 2196 2344 2049 0 0 0 0 0 0 14.35 14.35 14.35

11540 0.97 238.7 59 1770 2343 2049 86.7 25.2 338 11542 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1769 2196 2343 2049 0 0 0 0 0 0 14.35 14.35 14.35

11836 end climb: SURFACE_DEPTH_REACHED

state 11836 begin surface coast

11856 end surface coast: CONTROL_FINISHED_OK

state 11856 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	724	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	3181	DEVICE1	-1
D_TGT	500	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	180	T_GPS	5	LOITER_W_DBAND	2	PHONE_DEVICE	49
T_MISSION	350	N_GPS	100440	LOITER_DBDW	200	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	2	LOITER_D_TOP	400	RAFOS_DEVICE	-1
T_TURN	225	STROBE	0	LOITER_D_BOTTOM	800	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	7200	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	30	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	32	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	4

GPS1	120119,205040,6051.4375,-2757.5933,65,1.0,72,-19.1,0.5,176.8,7,6.9	SPEED_LIMITS	0.160,0.170
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	59.4,364002,-25.5,-9.259,-28.52,1052
_SM_ANGLEo	-61.7	D_GRID	500
GPS2	120119,205451,6051.4629,-2757.5149,10,1.5,14,-19.1,1.0,175.3,4,8.2

SM_CCo	11870,76.62,0.103,0,0,1753,350.04	FG_AHR_24Vo	0.000
SM_GC	1.16,0.22,0.00,76.62,0.093,0.000,0.103,35,1781,1753,-9.43,0.88,350.04,0,0,0,0,0,0,14.16,14.88,14.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6054.36,-2751.08,120119,165214	MEM	333920
TT8_MAMPS	0.020223,0.066661	DATA_FILE_SIZE	13500,354
HUMID	46.10	CAP_FILE_SIZE	64899,0
INTERNAL_PRESSURE	7.95929	CFSIZE	260165632,166559744
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.045,257.48,1
_24V_AH	12.43,0.000	GPS	130119,001752,6051.359,-2758.129,94,1.6,116,-19.1,0.7,96.8,6,8.0
_10V_AH	13.41,244.165

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	156	11.35	nil	0	0	0.00
Roll_motor	0	146	0.41	nil	0	0	0.00
VBD_pump_during_apogee	238	1907	5654.43	nil	0	0	0.00
VBD_pump_during_surface	76	102	97.64	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	137	133	227.42	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	6.97
TT8	421	8	48.95
LPSleep	10541	2	309.59
TT8_Active	408	8	47.45
TT8_Sampling	662	26	236.79
TT8_CF8	212	31	88.84
TT8_Kalman	0	0	0.00
Analog_circuits	842	10	122.00
GPS_charging	0	0	0.00
Compass	518	6	46.87
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9	-0.68	-29.2	119	1765	1938	1569	0.0	0.0	0	87	0.00	0.00	-72.93	0.006	16390	0.000	0.000	119	1766	3302	3244	3361	0	0	0	0	0	0	14.76	12.43	14.58
91	-0.68	-29.2	120	1766	3244	3361	5.4	-6.1	4	93	0.10	0.00	0.00	0.000	4102	0.157	0.000	57	1766	3302	3244	3361	0	0	0	0	0	0	14.35	14.42	14.40
410	-0.68	-29.2	57	1766	3244	3361	161.8	-49.0	17	412	0.15	0.00	0.00	0.000	2054	0.115	0.000	140	1766	3303	3245	3361	0	0	0	0	0	0	14.39	14.40	14.39
730	-0.68	-29.2	140	1766	3245	3360	318.0	-48.8	25	732	0.15	0.00	0.00	0.000	4102	0.116	0.000	59	1766	3302	3245	3360	0	0	0	0	0	0	14.39	14.40	14.39
1050	-0.68	-29.2	59	1766	3246	3360	474.2	-49.6	33	1052	0.15	0.00	0.00	0.000	2054	0.116	0.000	142	1766	3302	3245	3360	0	0	0	0	0	0	14.40	14.40	14.40
1126	end dive: TARGET_DEPTH_EXCEEDED
state	1126	begin apogee
1135	-0.12	0.0	142	1766	3246	3360	514.5	-50.3	35	1163	0.15	0.00	24.85	1.515	12294	0.113	0.000	61	1766	3180	3166	3195	0	0	0	0	0	0	14.26	14.44	13.60
1164	end apogee: CONTROL_FINISHED_OK
state	1164	begin loiter
1453	-0.01	83.8	61	1766	3171	3194	657.3	-43.1	43	1524	0.15	0.00	69.05	1.749	10278	0.115	0.000	142	1766	2838	2903	2773	0	0	0	0	0	0	14.35	14.09	13.31
1814	0.05	125.3	141	1766	2902	2778	749.0	-21.3	52	1852	0.15	0.00	35.62	1.781	12326	0.115	0.000	61	1765	2670	2769	2571	0	0	0	0	0	0	14.31	14.24	13.44
2174	0.05	125.3	61	1765	2767	2576	766.4	-0.6	61	2175	0.15	0.00	0.00	0.000	2054	0.116	0.000	142	1766	2671	2767	2576	0	0	0	0	0	0	14.35	14.41	14.40
2492	0.05	125.3	142	1765	2767	2576	766.8	-0.2	69	2494	0.15	0.00	0.00	0.000	4102	0.116	0.000	63	1766	2672	2768	2576	0	0	0	0	0	0	14.36	14.40	14.40
2812	0.06	130.0	63	1765	2766	2576	772.4	-2.4	77	2820	0.15	0.00	5.38	1.179	10278	0.117	0.000	142	1765	2652	2748	2556	0	0	0	0	0	0	14.37	14.54	13.71
3134	0.06	130.0	142	1765	2747	2562	771.4	1.7	85	3136	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1765	2654	2746	2563	0	0	0	0	0	0	14.35	14.41	14.38
3452	0.06	130.0	62	1765	2746	2563	765.5	1.4	93	3454	0.15	0.00	0.00	0.000	2054	0.117	0.000	143	1765	2655	2747	2563	0	0	0	0	0	0	14.37	14.38	14.38
3772	0.06	130.0	142	1765	2746	2562	765.3	-0.4	101	3774	0.15	0.00	0.00	0.000	4102	0.116	0.000	64	1765	2654	2746	2562	0	0	0	0	0	0	14.36	14.38	14.36
4092	0.06	130.0	64	1765	2746	2562	768.9	-1.2	109	4094	0.15	0.00	0.00	0.000	2054	0.120	0.000	144	1765	2654	2746	2562	0	0	0	0	0	0	14.35	14.37	14.36
4412	0.06	130.0	143	1765	2746	2563	769.5	0.3	117	4414	0.15	0.00	0.00	0.000	4102	0.117	0.000	64	1766	2654	2746	2562	0	0	0	0	0	0	14.36	14.39	14.36
4732	0.06	130.0	63	1766	2745	2562	770.0	-0.5	125	4734	0.15	0.00	0.00	0.000	2054	0.116	0.000	143	1766	2653	2745	2562	0	0	0	0	0	0	14.35	14.36	14.35
5052	0.06	130.0	143	1765	2745	2562	773.1	-1.0	133	5054	0.15	0.00	0.00	0.000	4102	0.116	0.000	64	1765	2654	2745	2563	0	0	0	0	0	0	14.36	14.36	14.35
5373	0.06	130.0	64	1765	2745	2562	774.8	-0.3	141	5375	0.15	0.00	0.00	0.000	2054	0.118	0.000	142	1765	2653	2745	2562	0	0	0	0	0	0	14.35	14.35	14.35
5692	0.06	130.0	142	1765	2744	2562	776.5	-0.6	149	5694	0.15	0.00	0.00	0.000	4102	0.116	0.000	64	1765	2653	2745	2562	0	0	0	0	0	0	14.36	14.36	14.36
6012	0.06	130.0	64	1765	2745	2562	779.4	-1.1	157	6014	0.12	0.00	0.00	0.000	2054	0.132	0.000	134	1766	2653	2744	2562	0	0	0	0	0	0	14.40	14.40	14.40
6332	0.06	130.0	133	1765	2744	2562	784.0	-1.6	165	6334	0.15	0.00	0.00	0.000	4102	0.117	0.000	56	1765	2652	2743	2562	0	0	0	0	0	0	14.35	14.36	14.35
6652	0.06	134.5	56	1765	2744	2562	790.8	-2.3	173	6661	0.15	0.00	5.75	1.323	10278	0.119	0.000	135	1765	2631	2720	2543	0	0	0	0	0	0	14.35	14.47	13.38
6974	0.06	134.5	134	1765	2719	2551	790.7	1.3	181	6976	0.15	0.00	0.00	0.000	4102	0.119	0.000	57	1765	2635	2719	2551	0	0	0	0	0	0	14.35	14.36	14.33
7292	0.06	134.5	57	1765	2719	2551	782.4	3.3	189	7294	0.15	0.00	0.00	0.000	2054	0.117	0.000	136	1765	2635	2719	2551	0	0	0	0	0	0	14.36	14.37	14.36
7612	0.06	134.5	136	1765	2719	2551	775.0	2.4	197	7614	0.15	0.00	0.00	0.000	4102	0.118	0.000	59	1765	2635	2719	2551	0	0	0	0	0	0	14.36	14.36	14.35
7932	0.06	134.5	58	1765	2719	2551	767.7	1.8	205	7934	0.15	0.00	0.00	0.000	2054	0.120	0.000	138	1766	2635	2719	2551	0	0	0	0	0	0	14.36	14.36	14.35
8252	0.06	134.5	137	1765	2719	2551	770.0	-1.3	213	8254	0.15	0.00	0.00	0.000	4102	0.119	0.000	59	1765	2635	2719	2551	0	0	0	0	0	0	14.35	14.35	14.35
8329	end loiter: LOITER_COMPLETE
state	8330	begin climb
8333	0.68	29.2	59	1765	2719	2551	771.7	0.0	215	8339	0.17	0.12	0.00	0.000	2564	0.105	0.147	146	1698	2634	2718	2551	0	0	0	0	0	0	14.31	13.87	14.32
8567	0.82	130.4	145	1697	2719	2551	773.3	-0.6	261	8572	0.12	0.10	0.00	0.000	5158	0.070	0.132	71	1764	2635	2719	2551	0	0	0	0	0	0	13.96	14.40	13.99
8900	0.97	238.7	70	1764	2719	2551	779.5	-1.3	271	9001	0.12	0.00	97.88	1.907	10278	0.133	0.000	139	1764	2205	2362	2049	0	0	0	0	0	0	14.40	13.88	13.07
9301	0.97	238.7	139	1765	2354	2049	683.5	28.7	281	9303	0.15	0.00	0.00	0.000	4102	0.117	0.000	62	1765	2202	2355	2049	0	0	0	0	0	0	14.26	14.33	14.31
9620	0.97	238.7	61	1765	2351	2049	592.8	28.2	289	9621	0.15	0.00	0.00	0.000	2054	0.119	0.000	139	1766	2200	2351	2049	0	0	0	0	0	0	14.33	14.37	14.36
9940	0.97	238.7	140	1765	2349	2049	506.0	27.0	297	9942	0.15	0.00	0.00	0.000	4102	0.118	0.000	61	1766	2199	2349	2049	0	0	0	0	0	0	14.35	14.38	14.37
10260	0.97	238.7	61	1766	2347	2049	421.0	26.5	305	10262	0.15	0.00	0.00	0.000	2054	0.119	0.000	140	1766	2198	2347	2049	0	0	0	0	0	0	14.34	14.36	14.35
10580	0.97	238.7	140	1766	2347	2049	337.0	26.2	313	10582	0.15	0.00	0.00	0.000	4102	0.117	0.000	62	1766	2197	2346	2049	0	0	0	0	0	0	14.35	14.36	14.35
10900	0.97	238.7	61	1766	2344	2049	252.9	26.1	321	10902	0.15	0.00	0.00	0.000	2054	0.118	0.000	139	1766	2196	2344	2049	0	0	0	0	0	0	14.35	14.35	14.35
11219	0.97	238.7	139	1767	2344	2049	168.3	26.8	329	11221	0.15	0.00	0.00	0.000	4102	0.119	0.000	60	1767	2196	2344	2049	0	0	0	0	0	0	14.35	14.35	14.35
11540	0.97	238.7	59	1770	2343	2049	86.7	25.2	338	11542	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1769	2196	2343	2049	0	0	0	0	0	0	14.35	14.35	14.35
11836	end climb: SURFACE_DEPTH_REACHED
state	11836	begin surface coast
11856	end surface coast: CONTROL_FINISHED_OK
state	11856	begin surface