Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 729 * 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 729 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 25 ALTIM_PULSE 4

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 25 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 0.60000002 R_STBD_OVSHOOT 45 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 729 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 130119,123833,6050.7212,-2758.0803,31,1.3,31,-19.1,0.0,0.0,7,9.7 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 1.25 MHEAD_RNG_PITCHd_Wd 79.1,365227,-25.5,-9.259,-28.52,1052

_SM_ANGLEo -62.9 D_GRID 500

GPS2 130119,124239,6050.7251,-2758.0342,12,2.0,16,-19.1,0.5,302.7,6,7.0

Post-dive calculations and measurements:

FREEZE 780.49,0.000,0.000,0,1,0 _10V_AH 12.33,245.822

SM_CCo 8714,479.80,1.770,0,0,552,645.38 FG_AHR_24Vo 0.000

SM_GC 1.29,0.22,0.00,0.00,0.088,0.000,0.000,24,1699,555,-9.43,-1.44,644.16,0,0,0,0,0,0,14.24,14.77,14.28 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6049.01,-2800.72,130119,093304 MEM 333924

TT8_MAMPS 0.020223,0.064414 DATA_FILE_SIZE 6798,254

HUMID 46.88 CAP_FILE_SIZE 58766,0

INTERNAL_PRESSURE 7.85186 CFSIZE 260165632,166436864

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 CURRENT 0.030,232.63,1

_24V_AH 12.06,0.000 GPS 130119,154227,6050.621,-2758.314,13,1.1,41,-19.1,0.4,295.9,8,5.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 149 8.18 nil 0 0 0.00

Roll_motor 0 0 0.00 nil 0 0 0.00

VBD_pump_during_apogee 133 1791 2894.81 nil 0 0 0.00

VBD_pump_during_surface 479 1770 10243.12 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 134 127 206.61 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 6.84

TT8 357 8 38.17

LPSleep 9112 2 246.07

TT8_Active 750 8 80.20

TT8_Sampling 514 26 169.16

TT8_CF8 191 31 73.46

TT8_Kalman 0 0 0.00

Analog_circuits 1140 10 151.92

GPS_charging 0 0 0.00

Compass 376 6 31.30

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

9 -0.68 -29.2 34 1699 674 432 0.0 0.0 0 142 0.00 0.00 -130.52 0.005 16390 0.000 0.000 34 1700 3301 3248 3355 0 0 0 0 0 0 14.80 12.46 14.63

147 -0.68 -29.2 34 1699 3248 3355 2.7 -1.4 6 151 0.20 0.00 0.00 0.000 2086 0.097 0.000 142 1699 3301 3248 3355 0 0 0 0 0 0 14.33 14.38 14.35

470 -0.68 -29.2 143 1699 3248 3354 168.8 -52.5 20 474 0.12 0.00 0.00 0.000 4612 0.129 0.000 61 1699 3301 3248 3354 0 0 0 0 0 0 14.39 14.39 14.38

602 -0.68 -29.2 60 1699 3248 3354 234.4 -49.7 46 606 0.10 0.00 0.00 0.000 3078 0.150 0.000 135 1699 3301 3248 3355 0 0 0 0 0 0 14.37 14.84 14.36

953 -0.68 -29.2 134 1700 3248 3354 408.7 -49.7 60 955 0.12 0.00 0.00 0.000 4102 0.131 0.000 59 1700 3301 3248 3354 0 0 0 0 0 0 14.42 14.42 14.42

1149 end dive: TARGET_DEPTH_EXCEEDED

state 1149 begin apogee

1158 -0.12 0.0 60 1699 3248 3354 507.9 -49.5 65 1185 0.15 0.00 23.95 1.497 10246 0.114 0.000 143 1699 3181 3161 3202 0 0 0 0 0 0 14.28 14.47 13.70

1186 end apogee: CONTROL_FINISHED_OK

state 1186 begin loiter

1475 -0.01 81.9 142 1700 3165 3204 646.1 -42.1 73 1544 0.15 0.00 66.65 1.725 12326 0.114 0.000 59 1699 2847 2887 2807 0 0 0 0 0 0 14.40 14.17 13.44

1835 0.05 128.5 59 1699 2887 2810 744.3 -24.0 82 1877 0.15 0.00 39.33 1.792 10278 0.116 0.000 141 1699 2657 2729 2585 0 0 0 0 0 0 14.38 14.28 13.50

2194 0.05 128.5 142 1699 2726 2589 763.1 1.2 91 2196 0.15 0.00 0.00 0.000 4102 0.115 0.000 60 1699 2658 2727 2589 0 0 0 0 0 0 14.42 14.47 14.45

2513 0.05 128.5 59 1699 2727 2589 752.2 3.5 99 2515 0.15 0.00 0.00 0.000 2054 0.116 0.000 142 1699 2658 2727 2589 0 0 0 0 0 0 14.40 14.44 14.42

2833 0.05 128.5 142 1699 2727 2590 742.6 2.9 107 2835 0.15 0.00 0.00 0.000 4102 0.115 0.000 60 1699 2658 2727 2589 0 0 0 0 0 0 14.38 14.41 14.40

3153 0.05 128.5 60 1699 2726 2590 735.4 1.8 115 3155 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1699 2658 2727 2590 0 0 0 0 0 0 14.38 14.40 14.39

3473 0.05 128.5 141 1699 2726 2590 735.0 -0.4 123 3475 0.15 0.00 0.00 0.000 4102 0.116 0.000 61 1699 2658 2726 2590 0 0 0 0 0 0 14.37 14.39 14.38

3793 0.05 128.5 60 1699 2726 2590 738.3 -1.1 131 3795 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1699 2657 2726 2589 0 0 0 0 0 0 14.37 14.38 14.38

4113 0.05 128.5 141 1699 2725 2589 742.8 -1.5 139 4115 0.15 0.00 0.00 0.000 4102 0.112 0.000 59 1699 2658 2726 2590 0 0 0 0 0 0 14.37 14.38 14.38

4434 0.05 128.5 59 1699 2725 2589 747.4 -1.3 147 4436 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1699 2657 2725 2590 0 0 0 0 0 0 14.35 14.37 14.36

4753 0.05 128.5 140 1699 2725 2590 751.5 -1.3 155 4755 0.15 0.00 0.00 0.000 4102 0.114 0.000 59 1699 2657 2725 2590 0 0 0 0 0 0 14.36 14.38 14.37

5073 0.05 128.5 59 1699 2724 2589 755.1 -1.1 163 5075 0.15 0.00 0.00 0.000 2054 0.116 0.000 141 1699 2657 2724 2590 0 0 0 0 0 0 14.36 14.37 14.37

5393 0.05 128.5 140 1699 2724 2589 759.1 -1.4 171 5395 0.15 0.00 0.00 0.000 4102 0.115 0.000 60 1699 2656 2723 2590 0 0 0 0 0 0 14.37 14.38 14.37

5713 0.05 128.5 59 1699 2723 2590 763.1 -1.0 179 5715 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1699 2657 2724 2590 0 0 0 0 0 0 14.36 14.38 14.36

6033 0.05 128.5 140 1699 2723 2589 765.4 -0.8 187 6035 0.15 0.00 0.00 0.000 4102 0.114 0.000 60 1699 2656 2724 2589 0 0 0 0 0 0 14.37 14.38 14.37

6353 0.05 128.5 59 1699 2723 2589 769.0 -1.3 195 6355 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1699 2656 2723 2589 0 0 0 0 0 0 14.36 14.37 14.37

6675 0.05 128.5 140 1699 2722 2590 773.8 -1.6 203 6677 0.15 0.00 0.00 0.000 4102 0.115 0.000 58 1699 2656 2722 2590 0 0 0 0 0 0 14.35 14.36 14.35

6993 0.06 132.4 58 1699 2722 2589 779.9 -2.0 211 6999 0.15 0.00 3.12 0.747 10278 0.120 0.000 139 1699 2642 2709 2575 0 0 0 0 0 0 14.36 14.42 13.37

7314 0.06 132.4 139 1699 2710 2586 782.8 -0.4 219 7316 0.15 0.00 0.00 0.000 4102 0.116 0.000 58 1699 2648 2710 2586 0 0 0 0 0 0 14.36 14.37 14.36

7633 0.06 132.4 58 1699 2710 2587 781.4 0.6 227 7637 0.15 0.00 0.93 0.110 10246 0.117 0.000 138 1699 2642 2708 2576 0 0 0 0 0 0 14.36 13.90 13.69

7953 0.06 132.4 138 1699 2708 2586 779.5 0.5 235 7955 0.15 0.00 0.00 0.000 4102 0.116 0.000 58 1699 2647 2708 2586 0 0 0 0 0 0 14.36 14.36 14.36

8273 0.06 132.4 58 1699 2708 2587 778.7 0.1 243 8275 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1699 2647 2708 2587 0 0 0 0 0 0 14.36 14.36 14.36

8389 end loiter: LOITER_COMPLETE

state 8389 begin climb

8394 0.68 29.2 139 1699 2708 2587 778.8 0.0 246 8396 0.15 0.00 0.00 0.000 4102 0.116 0.000 57 1699 2647 2708 2587 0 0 0 0 0 0 14.36 14.36 14.36

8709 end climb: NO_VERTICAL_VELOCITY

state 8710 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	729	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	25	ALTIM_PULSE	4
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	4

GPS1	130119,123833,6050.7212,-2758.0803,31,1.3,31,-19.1,0.0,0.0,7,9.7	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	1.25	MHEAD_RNG_PITCHd_Wd	79.1,365227,-25.5,-9.259,-28.52,1052
_SM_ANGLEo	-62.9	D_GRID	500
GPS2	130119,124239,6050.7251,-2758.0342,12,2.0,16,-19.1,0.5,302.7,6,7.0

FREEZE	780.49,0.000,0.000,0,1,0	_10V_AH	12.33,245.822
SM_CCo	8714,479.80,1.770,0,0,552,645.38	FG_AHR_24Vo	0.000
SM_GC	1.29,0.22,0.00,0.00,0.088,0.000,0.000,24,1699,555,-9.43,-1.44,644.16,0,0,0,0,0,0,14.24,14.77,14.28	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6049.01,-2800.72,130119,093304	MEM	333924
TT8_MAMPS	0.020223,0.064414	DATA_FILE_SIZE	6798,254
HUMID	46.88	CAP_FILE_SIZE	58766,0
INTERNAL_PRESSURE	7.85186	CFSIZE	260165632,166436864
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	CURRENT	0.030,232.63,1
_24V_AH	12.06,0.000	GPS	130119,154227,6050.621,-2758.314,13,1.1,41,-19.1,0.4,295.9,8,5.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	149	8.18	nil	0	0	0.00
Roll_motor	0	0	0.00	nil	0	0	0.00
VBD_pump_during_apogee	133	1791	2894.81	nil	0	0	0.00
VBD_pump_during_surface	479	1770	10243.12	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	134	127	206.61	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	6.84
TT8	357	8	38.17
LPSleep	9112	2	246.07
TT8_Active	750	8	80.20
TT8_Sampling	514	26	169.16
TT8_CF8	191	31	73.46
TT8_Kalman	0	0	0.00
Analog_circuits	1140	10	151.92
GPS_charging	0	0	0.00
Compass	376	6	31.30
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
9	-0.68	-29.2	34	1699	674	432	0.0	0.0	0	142	0.00	0.00	-130.52	0.005	16390	0.000	0.000	34	1700	3301	3248	3355	0	0	0	0	0	0	14.80	12.46	14.63
147	-0.68	-29.2	34	1699	3248	3355	2.7	-1.4	6	151	0.20	0.00	0.00	0.000	2086	0.097	0.000	142	1699	3301	3248	3355	0	0	0	0	0	0	14.33	14.38	14.35
470	-0.68	-29.2	143	1699	3248	3354	168.8	-52.5	20	474	0.12	0.00	0.00	0.000	4612	0.129	0.000	61	1699	3301	3248	3354	0	0	0	0	0	0	14.39	14.39	14.38
602	-0.68	-29.2	60	1699	3248	3354	234.4	-49.7	46	606	0.10	0.00	0.00	0.000	3078	0.150	0.000	135	1699	3301	3248	3355	0	0	0	0	0	0	14.37	14.84	14.36
953	-0.68	-29.2	134	1700	3248	3354	408.7	-49.7	60	955	0.12	0.00	0.00	0.000	4102	0.131	0.000	59	1700	3301	3248	3354	0	0	0	0	0	0	14.42	14.42	14.42
1149	end dive: TARGET_DEPTH_EXCEEDED
state	1149	begin apogee
1158	-0.12	0.0	60	1699	3248	3354	507.9	-49.5	65	1185	0.15	0.00	23.95	1.497	10246	0.114	0.000	143	1699	3181	3161	3202	0	0	0	0	0	0	14.28	14.47	13.70
1186	end apogee: CONTROL_FINISHED_OK
state	1186	begin loiter
1475	-0.01	81.9	142	1700	3165	3204	646.1	-42.1	73	1544	0.15	0.00	66.65	1.725	12326	0.114	0.000	59	1699	2847	2887	2807	0	0	0	0	0	0	14.40	14.17	13.44
1835	0.05	128.5	59	1699	2887	2810	744.3	-24.0	82	1877	0.15	0.00	39.33	1.792	10278	0.116	0.000	141	1699	2657	2729	2585	0	0	0	0	0	0	14.38	14.28	13.50
2194	0.05	128.5	142	1699	2726	2589	763.1	1.2	91	2196	0.15	0.00	0.00	0.000	4102	0.115	0.000	60	1699	2658	2727	2589	0	0	0	0	0	0	14.42	14.47	14.45
2513	0.05	128.5	59	1699	2727	2589	752.2	3.5	99	2515	0.15	0.00	0.00	0.000	2054	0.116	0.000	142	1699	2658	2727	2589	0	0	0	0	0	0	14.40	14.44	14.42
2833	0.05	128.5	142	1699	2727	2590	742.6	2.9	107	2835	0.15	0.00	0.00	0.000	4102	0.115	0.000	60	1699	2658	2727	2589	0	0	0	0	0	0	14.38	14.41	14.40
3153	0.05	128.5	60	1699	2726	2590	735.4	1.8	115	3155	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1699	2658	2727	2590	0	0	0	0	0	0	14.38	14.40	14.39
3473	0.05	128.5	141	1699	2726	2590	735.0	-0.4	123	3475	0.15	0.00	0.00	0.000	4102	0.116	0.000	61	1699	2658	2726	2590	0	0	0	0	0	0	14.37	14.39	14.38
3793	0.05	128.5	60	1699	2726	2590	738.3	-1.1	131	3795	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1699	2657	2726	2589	0	0	0	0	0	0	14.37	14.38	14.38
4113	0.05	128.5	141	1699	2725	2589	742.8	-1.5	139	4115	0.15	0.00	0.00	0.000	4102	0.112	0.000	59	1699	2658	2726	2590	0	0	0	0	0	0	14.37	14.38	14.38
4434	0.05	128.5	59	1699	2725	2589	747.4	-1.3	147	4436	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1699	2657	2725	2590	0	0	0	0	0	0	14.35	14.37	14.36
4753	0.05	128.5	140	1699	2725	2590	751.5	-1.3	155	4755	0.15	0.00	0.00	0.000	4102	0.114	0.000	59	1699	2657	2725	2590	0	0	0	0	0	0	14.36	14.38	14.37
5073	0.05	128.5	59	1699	2724	2589	755.1	-1.1	163	5075	0.15	0.00	0.00	0.000	2054	0.116	0.000	141	1699	2657	2724	2590	0	0	0	0	0	0	14.36	14.37	14.37
5393	0.05	128.5	140	1699	2724	2589	759.1	-1.4	171	5395	0.15	0.00	0.00	0.000	4102	0.115	0.000	60	1699	2656	2723	2590	0	0	0	0	0	0	14.37	14.38	14.37
5713	0.05	128.5	59	1699	2723	2590	763.1	-1.0	179	5715	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1699	2657	2724	2590	0	0	0	0	0	0	14.36	14.38	14.36
6033	0.05	128.5	140	1699	2723	2589	765.4	-0.8	187	6035	0.15	0.00	0.00	0.000	4102	0.114	0.000	60	1699	2656	2724	2589	0	0	0	0	0	0	14.37	14.38	14.37
6353	0.05	128.5	59	1699	2723	2589	769.0	-1.3	195	6355	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1699	2656	2723	2589	0	0	0	0	0	0	14.36	14.37	14.37
6675	0.05	128.5	140	1699	2722	2590	773.8	-1.6	203	6677	0.15	0.00	0.00	0.000	4102	0.115	0.000	58	1699	2656	2722	2590	0	0	0	0	0	0	14.35	14.36	14.35
6993	0.06	132.4	58	1699	2722	2589	779.9	-2.0	211	6999	0.15	0.00	3.12	0.747	10278	0.120	0.000	139	1699	2642	2709	2575	0	0	0	0	0	0	14.36	14.42	13.37
7314	0.06	132.4	139	1699	2710	2586	782.8	-0.4	219	7316	0.15	0.00	0.00	0.000	4102	0.116	0.000	58	1699	2648	2710	2586	0	0	0	0	0	0	14.36	14.37	14.36
7633	0.06	132.4	58	1699	2710	2587	781.4	0.6	227	7637	0.15	0.00	0.93	0.110	10246	0.117	0.000	138	1699	2642	2708	2576	0	0	0	0	0	0	14.36	13.90	13.69
7953	0.06	132.4	138	1699	2708	2586	779.5	0.5	235	7955	0.15	0.00	0.00	0.000	4102	0.116	0.000	58	1699	2647	2708	2586	0	0	0	0	0	0	14.36	14.36	14.36
8273	0.06	132.4	58	1699	2708	2587	778.7	0.1	243	8275	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1699	2647	2708	2587	0	0	0	0	0	0	14.36	14.36	14.36
8389	end loiter: LOITER_COMPLETE
state	8389	begin climb
8394	0.68	29.2	139	1699	2708	2587	778.8	0.0	246	8396	0.15	0.00	0.00	0.000	4102	0.116	0.000	57	1699	2647	2708	2587	0	0	0	0	0	0	14.36	14.36	14.36
8709	end climb: NO_VERTICAL_VELOCITY
state	8710	begin surface