Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 727 * 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 727 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 41 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 41 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 727 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 130119,062558,6050.9731,-2757.3113,30,1.5,54,-19.1,0.7,39.6,8,6.9 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 1.12 MHEAD_RNG_PITCHd_Wd 58.1,364475,-25.5,-9.259,-28.52,1052

_SM_ANGLEo -60.4 D_GRID 500

GPS2 130119,063015,6050.9443,-2757.2695,10,1.6,14,-19.1,0.7,165.5,9,5.7

Post-dive calculations and measurements:

FREEZE 790.82,0.000,0.000,0,1,0 _10V_AH 12.36,245.147

SM_CCo 8735,483.80,1.782,0,0,549,645.38 FG_AHR_24Vo 0.000

SM_GC 1.10,0.05,0.00,0.00,0.258,0.000,0.000,108,1706,553,-9.51,0.96,644.65,0,0,0,0,0,0,14.35,14.90,14.37 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6053.48,-2754.99,130119,032018 MEM 333924

TT8_MAMPS 0.020223,0.065163 DATA_FILE_SIZE 6837,269

HUMID 46.61 CAP_FILE_SIZE 58962,0

INTERNAL_PRESSURE 7.85186 CFSIZE 260165632,166486016

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.042,210.02,1

_24V_AH 12.05,0.000 GPS 130119,093121,6050.727,-2757.525,61,1.0,90,-19.1,1.9,243.3,9,5.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 257 13.28 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 165 1790 3564.02 nil 0 0 0.00

VBD_pump_during_surface 483 1781 10386.85 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 147 117 208.42 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 6.96

TT8 364 8 39.09

LPSleep 9073 2 245.62

TT8_Active 790 8 84.73

TT8_Sampling 547 26 180.36

TT8_CF8 189 31 72.98

TT8_Kalman 0 0 0.00

Analog_circuits 1205 10 160.90

GPS_charging 0 0 0.00

Compass 398 6 33.17

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

9 -0.68 -29.2 30 1784 670 431 0.0 0.0 0 147 0.00 0.00 -132.75 0.006 16390 0.000 0.000 30 1785 3300 3250 3351 0 0 0 0 0 0 14.80 12.50 14.63

151 -0.68 -29.2 30 1785 3250 3351 4.8 -4.0 7 153 0.22 0.00 0.00 0.000 2086 0.093 0.000 139 1785 3300 3250 3351 0 0 0 0 0 0 14.38 14.46 14.44

490 -0.68 -29.2 139 1785 3250 3351 170.1 -50.5 21 494 0.12 0.00 0.00 0.000 4356 0.132 0.000 60 1785 3300 3250 3351 0 0 0 0 0 0 14.36 14.38 14.38

722 -0.68 -29.2 60 1785 3250 3351 286.0 -49.6 67 726 0.12 0.00 0.00 0.000 3078 0.129 0.000 141 1785 3300 3250 3351 0 0 0 0 0 0 14.34 14.84 14.33

1055 -0.68 -29.2 141 1785 3250 3351 449.2 -49.1 77 1057 0.15 0.00 0.00 0.000 4102 0.112 0.000 59 1785 3300 3250 3351 0 0 0 0 0 0 14.37 14.38 14.37

1170 end dive: TARGET_DEPTH_EXCEEDED

state 1170 begin apogee

1178 -0.12 0.0 59 1785 3250 3351 507.7 -48.9 80 1205 0.15 0.00 23.65 1.505 10246 0.114 0.000 141 1785 3181 3160 3202 0 0 0 0 0 0 14.26 14.48 13.70

1206 end apogee: CONTROL_FINISHED_OK

state 1206 begin loiter

1495 -0.01 81.5 141 1785 3165 3202 645.5 -41.9 88 1601 0.15 0.00 98.15 1.473 12326 0.115 0.000 59 1785 2848 2888 2809 0 0 0 0 1 0 14.38 14.08 13.35

1895 0.05 127.1 59 1785 2888 2811 755.4 -23.4 98 1937 0.15 0.00 38.80 1.790 10278 0.116 0.000 141 1785 2663 2741 2585 0 0 0 0 0 0 14.38 14.28 13.51

2255 0.05 127.1 140 1785 2735 2591 774.9 0.4 107 2257 0.15 0.00 0.00 0.000 4102 0.113 0.000 58 1785 2662 2735 2590 0 0 0 0 0 0 14.42 14.47 14.45

2574 0.05 127.1 58 1785 2735 2591 767.7 2.1 115 2576 0.15 0.00 0.00 0.000 2054 0.119 0.000 140 1784 2663 2735 2592 0 0 0 0 0 0 14.40 14.45 14.43

2893 0.05 127.1 140 1785 2735 2592 766.6 -0.2 123 2895 0.15 0.00 0.00 0.000 4102 0.114 0.000 58 1785 2663 2735 2592 0 0 0 0 0 0 14.39 14.42 14.44

3213 0.05 127.1 58 1785 2735 2591 770.3 -1.4 131 3215 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1785 2663 2735 2592 0 0 0 0 0 0 14.38 14.40 14.40

3534 0.05 127.1 138 1785 2734 2592 773.9 -0.8 139 3536 0.15 0.00 0.00 0.000 4102 0.116 0.000 59 1785 2663 2734 2592 0 0 0 0 0 0 14.37 14.39 14.38

3853 0.05 127.1 59 1785 2733 2591 775.3 -0.4 147 3855 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1785 2662 2733 2592 0 0 0 0 0 0 14.37 14.36 14.38

4173 0.05 127.1 139 1785 2733 2591 778.0 -1.0 155 4175 0.15 0.00 0.00 0.000 4102 0.117 0.000 59 1785 2662 2732 2592 0 0 0 0 0 0 14.36 14.38 14.37

4495 0.05 127.1 59 1785 2732 2591 781.4 -1.1 163 4497 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1785 2662 2732 2592 0 0 0 0 0 0 14.35 14.37 14.39

4813 0.05 127.1 139 1785 2732 2591 785.7 -1.5 171 4815 0.15 0.00 0.00 0.000 4102 0.116 0.000 59 1785 2661 2732 2591 0 0 0 0 0 0 14.36 14.40 14.37

5134 0.06 131.9 59 1785 2731 2591 793.0 -2.5 179 5141 0.15 0.00 4.62 1.096 10278 0.117 0.000 140 1785 2643 2713 2574 0 0 0 0 0 0 14.36 14.51 13.43

5455 0.06 131.9 139 1785 2713 2582 794.1 0.7 187 5457 0.15 0.00 0.00 0.000 4102 0.115 0.000 59 1785 2647 2713 2582 0 0 0 0 0 0 14.36 14.38 14.37

5773 0.06 131.9 59 1785 2713 2583 790.8 0.7 195 5775 0.15 0.00 0.00 0.000 2054 0.118 0.000 139 1785 2648 2713 2583 0 0 0 0 0 0 14.36 14.37 14.37

6093 0.06 131.9 139 1785 2713 2583 791.3 -0.4 203 6095 0.15 0.00 0.00 0.000 4102 0.116 0.000 59 1785 2647 2713 2582 0 0 0 0 0 0 14.36 14.36 14.36

6414 0.06 131.9 58 1785 2713 2583 793.7 -0.8 211 6416 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1785 2648 2713 2583 0 0 0 0 0 0 14.36 14.37 14.36

6733 0.06 131.9 139 1785 2713 2583 795.7 -0.5 219 6735 0.15 0.00 0.00 0.000 4102 0.117 0.000 59 1785 2648 2713 2583 0 0 0 0 0 0 14.35 14.35 14.35

7053 0.06 131.9 59 1785 2713 2583 796.7 -0.2 227 7055 0.15 0.00 0.00 0.000 2054 0.117 0.000 138 1785 2648 2713 2583 0 0 0 0 0 0 14.37 14.36 14.36

7374 0.06 131.9 139 1785 2713 2583 796.8 0.1 235 7376 0.15 0.00 0.00 0.000 4102 0.117 0.000 59 1785 2648 2713 2583 0 0 0 0 0 0 14.36 14.36 14.36

7695 0.06 131.9 59 1785 2713 2582 795.1 0.6 243 7697 0.12 0.00 0.00 0.000 2054 0.133 0.000 135 1785 2648 2713 2583 0 0 0 0 0 0 14.38 14.38 14.38

8013 0.06 131.9 134 1785 2713 2582 792.7 0.7 251 8015 0.15 0.00 0.00 0.000 4102 0.118 0.000 54 1785 2647 2713 2582 0 0 0 0 0 0 14.35 14.35 14.35

8334 0.06 131.9 54 1785 2713 2582 790.6 0.6 259 8336 0.17 0.00 0.00 0.000 2054 0.107 0.000 143 1785 2648 2713 2583 0 0 0 0 0 0 14.31 14.31 14.31

8410 end loiter: LOITER_COMPLETE

state 8410 begin climb

8414 0.68 29.2 143 1785 2713 2582 790.3 0.0 261 8416 0.15 0.00 0.00 0.000 4102 0.116 0.000 62 1785 2647 2713 2582 0 0 0 0 0 0 14.35 14.38 14.36

8730 end climb: NO_VERTICAL_VELOCITY

state 8730 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	727	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	41	ALTIM_SENSITIVITY	4

GPS1	130119,062558,6050.9731,-2757.3113,30,1.5,54,-19.1,0.7,39.6,8,6.9	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	1.12	MHEAD_RNG_PITCHd_Wd	58.1,364475,-25.5,-9.259,-28.52,1052
_SM_ANGLEo	-60.4	D_GRID	500
GPS2	130119,063015,6050.9443,-2757.2695,10,1.6,14,-19.1,0.7,165.5,9,5.7

FREEZE	790.82,0.000,0.000,0,1,0	_10V_AH	12.36,245.147
SM_CCo	8735,483.80,1.782,0,0,549,645.38	FG_AHR_24Vo	0.000
SM_GC	1.10,0.05,0.00,0.00,0.258,0.000,0.000,108,1706,553,-9.51,0.96,644.65,0,0,0,0,0,0,14.35,14.90,14.37	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6053.48,-2754.99,130119,032018	MEM	333924
TT8_MAMPS	0.020223,0.065163	DATA_FILE_SIZE	6837,269
HUMID	46.61	CAP_FILE_SIZE	58962,0
INTERNAL_PRESSURE	7.85186	CFSIZE	260165632,166486016
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.042,210.02,1
_24V_AH	12.05,0.000	GPS	130119,093121,6050.727,-2757.525,61,1.0,90,-19.1,1.9,243.3,9,5.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	257	13.28	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	165	1790	3564.02	nil	0	0	0.00
VBD_pump_during_surface	483	1781	10386.85	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	147	117	208.42	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	6.96
TT8	364	8	39.09
LPSleep	9073	2	245.62
TT8_Active	790	8	84.73
TT8_Sampling	547	26	180.36
TT8_CF8	189	31	72.98
TT8_Kalman	0	0	0.00
Analog_circuits	1205	10	160.90
GPS_charging	0	0	0.00
Compass	398	6	33.17
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
9	-0.68	-29.2	30	1784	670	431	0.0	0.0	0	147	0.00	0.00	-132.75	0.006	16390	0.000	0.000	30	1785	3300	3250	3351	0	0	0	0	0	0	14.80	12.50	14.63
151	-0.68	-29.2	30	1785	3250	3351	4.8	-4.0	7	153	0.22	0.00	0.00	0.000	2086	0.093	0.000	139	1785	3300	3250	3351	0	0	0	0	0	0	14.38	14.46	14.44
490	-0.68	-29.2	139	1785	3250	3351	170.1	-50.5	21	494	0.12	0.00	0.00	0.000	4356	0.132	0.000	60	1785	3300	3250	3351	0	0	0	0	0	0	14.36	14.38	14.38
722	-0.68	-29.2	60	1785	3250	3351	286.0	-49.6	67	726	0.12	0.00	0.00	0.000	3078	0.129	0.000	141	1785	3300	3250	3351	0	0	0	0	0	0	14.34	14.84	14.33
1055	-0.68	-29.2	141	1785	3250	3351	449.2	-49.1	77	1057	0.15	0.00	0.00	0.000	4102	0.112	0.000	59	1785	3300	3250	3351	0	0	0	0	0	0	14.37	14.38	14.37
1170	end dive: TARGET_DEPTH_EXCEEDED
state	1170	begin apogee
1178	-0.12	0.0	59	1785	3250	3351	507.7	-48.9	80	1205	0.15	0.00	23.65	1.505	10246	0.114	0.000	141	1785	3181	3160	3202	0	0	0	0	0	0	14.26	14.48	13.70
1206	end apogee: CONTROL_FINISHED_OK
state	1206	begin loiter
1495	-0.01	81.5	141	1785	3165	3202	645.5	-41.9	88	1601	0.15	0.00	98.15	1.473	12326	0.115	0.000	59	1785	2848	2888	2809	0	0	0	0	1	0	14.38	14.08	13.35
1895	0.05	127.1	59	1785	2888	2811	755.4	-23.4	98	1937	0.15	0.00	38.80	1.790	10278	0.116	0.000	141	1785	2663	2741	2585	0	0	0	0	0	0	14.38	14.28	13.51
2255	0.05	127.1	140	1785	2735	2591	774.9	0.4	107	2257	0.15	0.00	0.00	0.000	4102	0.113	0.000	58	1785	2662	2735	2590	0	0	0	0	0	0	14.42	14.47	14.45
2574	0.05	127.1	58	1785	2735	2591	767.7	2.1	115	2576	0.15	0.00	0.00	0.000	2054	0.119	0.000	140	1784	2663	2735	2592	0	0	0	0	0	0	14.40	14.45	14.43
2893	0.05	127.1	140	1785	2735	2592	766.6	-0.2	123	2895	0.15	0.00	0.00	0.000	4102	0.114	0.000	58	1785	2663	2735	2592	0	0	0	0	0	0	14.39	14.42	14.44
3213	0.05	127.1	58	1785	2735	2591	770.3	-1.4	131	3215	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1785	2663	2735	2592	0	0	0	0	0	0	14.38	14.40	14.40
3534	0.05	127.1	138	1785	2734	2592	773.9	-0.8	139	3536	0.15	0.00	0.00	0.000	4102	0.116	0.000	59	1785	2663	2734	2592	0	0	0	0	0	0	14.37	14.39	14.38
3853	0.05	127.1	59	1785	2733	2591	775.3	-0.4	147	3855	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1785	2662	2733	2592	0	0	0	0	0	0	14.37	14.36	14.38
4173	0.05	127.1	139	1785	2733	2591	778.0	-1.0	155	4175	0.15	0.00	0.00	0.000	4102	0.117	0.000	59	1785	2662	2732	2592	0	0	0	0	0	0	14.36	14.38	14.37
4495	0.05	127.1	59	1785	2732	2591	781.4	-1.1	163	4497	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1785	2662	2732	2592	0	0	0	0	0	0	14.35	14.37	14.39
4813	0.05	127.1	139	1785	2732	2591	785.7	-1.5	171	4815	0.15	0.00	0.00	0.000	4102	0.116	0.000	59	1785	2661	2732	2591	0	0	0	0	0	0	14.36	14.40	14.37
5134	0.06	131.9	59	1785	2731	2591	793.0	-2.5	179	5141	0.15	0.00	4.62	1.096	10278	0.117	0.000	140	1785	2643	2713	2574	0	0	0	0	0	0	14.36	14.51	13.43
5455	0.06	131.9	139	1785	2713	2582	794.1	0.7	187	5457	0.15	0.00	0.00	0.000	4102	0.115	0.000	59	1785	2647	2713	2582	0	0	0	0	0	0	14.36	14.38	14.37
5773	0.06	131.9	59	1785	2713	2583	790.8	0.7	195	5775	0.15	0.00	0.00	0.000	2054	0.118	0.000	139	1785	2648	2713	2583	0	0	0	0	0	0	14.36	14.37	14.37
6093	0.06	131.9	139	1785	2713	2583	791.3	-0.4	203	6095	0.15	0.00	0.00	0.000	4102	0.116	0.000	59	1785	2647	2713	2582	0	0	0	0	0	0	14.36	14.36	14.36
6414	0.06	131.9	58	1785	2713	2583	793.7	-0.8	211	6416	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1785	2648	2713	2583	0	0	0	0	0	0	14.36	14.37	14.36
6733	0.06	131.9	139	1785	2713	2583	795.7	-0.5	219	6735	0.15	0.00	0.00	0.000	4102	0.117	0.000	59	1785	2648	2713	2583	0	0	0	0	0	0	14.35	14.35	14.35
7053	0.06	131.9	59	1785	2713	2583	796.7	-0.2	227	7055	0.15	0.00	0.00	0.000	2054	0.117	0.000	138	1785	2648	2713	2583	0	0	0	0	0	0	14.37	14.36	14.36
7374	0.06	131.9	139	1785	2713	2583	796.8	0.1	235	7376	0.15	0.00	0.00	0.000	4102	0.117	0.000	59	1785	2648	2713	2583	0	0	0	0	0	0	14.36	14.36	14.36
7695	0.06	131.9	59	1785	2713	2582	795.1	0.6	243	7697	0.12	0.00	0.00	0.000	2054	0.133	0.000	135	1785	2648	2713	2583	0	0	0	0	0	0	14.38	14.38	14.38
8013	0.06	131.9	134	1785	2713	2582	792.7	0.7	251	8015	0.15	0.00	0.00	0.000	4102	0.118	0.000	54	1785	2647	2713	2582	0	0	0	0	0	0	14.35	14.35	14.35
8334	0.06	131.9	54	1785	2713	2582	790.6	0.6	259	8336	0.17	0.00	0.00	0.000	2054	0.107	0.000	143	1785	2648	2713	2583	0	0	0	0	0	0	14.31	14.31	14.31
8410	end loiter: LOITER_COMPLETE
state	8410	begin climb
8414	0.68	29.2	143	1785	2713	2582	790.3	0.0	261	8416	0.15	0.00	0.00	0.000	4102	0.116	0.000	62	1785	2647	2713	2582	0	0	0	0	0	0	14.35	14.38	14.36
8730	end climb: NO_VERTICAL_VELOCITY
state	8730	begin surface