Glider dive log

NISKINE May18 * SG124 * Dive index * Mission links * Dive 730 * 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 730 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 75 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 19 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 19 VBD_MAX 3990

DEVICE3 -1 MAX_BUOY 75 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 730 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 130119,154227,6050.6206,-2758.3145,13,1.1,41,-19.1,0.4,295.9,8,5.9 SPEED_LIMITS 0.160,0.182

_CALLS 1 TGT_NAME ICELAND

_XMS_NAKs 0 TGT_LATLONG 6300.000,-2230.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 68.8,365510,-23.8,-9.259,-26.95,1201

_SM_ANGLEo -68.3 D_GRID 500

GPS2 130119,154629,6050.6157,-2758.2710,14,1.3,14,-19.1,0.0,0.0,7,9.6

Post-dive calculations and measurements:

SM_CCo 12389,112.12,0.936,0,0,1754,350.29 FG_AHR_24Vo 0.000

SM_GC 1.36,0.10,0.00,112.12,0.155,0.000,0.936,119,1728,1754,-9.48,-0.62,350.29,0,0,0,0,0,0,14.31,14.88,13.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX 6053.48,-2754.99,130119,124016 MEM 333920

TT8_MAMPS 0.020223,0.065912 DATA_FILE_SIZE 10126,335

HUMID 45.82 CAP_FILE_SIZE 66732,0

INTERNAL_PRESSURE 7.95929 CFSIZE 260165632,166400000

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 0.063,173.21,1

_24V_AH 13.26,0.000 GPS 130119,191704,6050.188,-2758.167,37,1.1,37,-19.1,0.0,0.0,8,8.3

_10V_AH 12.58,245.984

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 154 12.60 nil 0 0 0.00

Roll_motor 0 1067 3.18 nil 0 0 0.00

VBD_pump_during_apogee 225 1913 5720.91 nil 0 0 0.00

VBD_pump_during_surface 112 936 1392.16 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 131 123 216.59 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 6.45

TT8 389 8 42.49

LPSleep 11050 2 304.44

TT8_Active 488 8 53.31

TT8_Sampling 629 26 211.03

TT8_CF8 214 31 84.13

TT8_Kalman 0 0 0.00

Analog_circuits 911 10 123.80

GPS_charging 0 0 0.00

Compass 491 6 41.68

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 -0.70 -73.0 23 1728 676 437 0.0 0.0 0 149 0.00 0.00 -136.65 0.005 16386 0.000 0.000 24 1733 3451 3375 3528 0 0 0 0 0 0 14.81 28.83 14.83

154 -0.70 -73.0 23 1734 3379 3522 5.2 -4.3 7 159 0.22 0.05 -0.70 0.149 18980 0.094 1.067 140 1702 3479 3414 3545 0 0 0 0 0 0 14.34 13.26 14.38

187 -0.70 -73.0 140 1701 3414 3545 21.1 -49.9 13 191 0.12 0.12 0.00 0.000 5126 0.067 0.109 57 1777 3479 3414 3544 0 0 0 0 0 0 14.21 14.42 14.26

539 -0.70 -73.0 57 1776 3415 3541 215.6 -56.4 27 541 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1776 3478 3415 3542 0 0 0 0 0 0 14.38 14.40 14.39

859 -0.70 -73.0 140 1776 3417 3541 394.3 -55.4 35 861 0.15 0.00 0.00 0.000 4102 0.112 0.000 56 1776 3479 3417 3541 0 0 0 0 0 0 14.38 14.40 14.39

1055 end dive: TARGET_DEPTH_EXCEEDED

state 1055 begin apogee

1065 -0.12 0.0 56 1729 3417 3540 505.7 -55.9 40 1125 0.15 0.00 57.03 1.580 10246 0.115 0.000 139 1729 3179 3180 3179 0 0 0 0 0 0 14.30 14.26 13.52

1126 end apogee: CONTROL_FINISHED_OK

state 1126 begin loiter

1420 -0.01 82.2 139 1729 3186 3178 666.2 -42.2 49 1491 0.15 0.00 67.32 1.746 12326 0.114 0.000 55 1729 2844 2902 2786 0 0 0 0 0 0 14.40 14.12 13.38

1781 0.05 127.2 54 1729 2902 2791 762.6 -23.1 58 1822 0.17 0.00 38.88 1.802 10278 0.105 0.000 147 1729 2661 2757 2565 0 0 0 0 0 0 14.38 14.27 13.49

2140 0.05 127.2 147 1729 2755 2567 774.1 3.4 67 2142 0.17 0.00 0.00 0.000 4102 0.106 0.000 55 1729 2660 2754 2567 0 0 0 0 0 0 14.40 14.47 14.45

2459 0.05 127.2 55 1729 2755 2568 758.7 4.5 75 2461 0.15 0.00 0.00 0.000 2054 0.116 0.000 138 1729 2661 2755 2568 0 0 0 0 0 0 14.44 14.46 14.45

2779 0.05 127.2 138 1729 2755 2568 749.2 2.7 83 2781 0.15 0.00 0.00 0.000 4102 0.116 0.000 56 1729 2661 2755 2568 0 0 0 0 0 0 14.40 14.44 14.42

3099 0.05 127.2 56 1729 2755 2568 745.1 0.7 91 3101 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1729 2661 2755 2568 0 0 0 0 0 0 14.38 14.42 14.41

3419 0.05 127.2 139 1729 2756 2567 747.4 -1.1 99 3421 0.15 0.00 0.00 0.000 4102 0.116 0.000 57 1729 2661 2754 2568 0 0 0 0 0 0 14.39 14.42 14.38

3739 0.05 127.2 57 1729 2754 2567 752.1 -1.6 107 3741 0.15 0.00 0.00 0.000 2054 0.118 0.000 138 1729 2660 2754 2567 0 0 0 0 0 0 14.40 14.40 14.40

4059 0.06 131.4 138 1728 2753 2568 758.5 -2.1 115 4065 0.15 0.00 3.62 0.799 12326 0.119 0.000 57 1729 2646 2741 2552 0 0 0 0 0 0 14.38 14.52 13.59

4380 0.06 131.4 57 1729 2741 2562 763.3 -1.1 123 4382 0.15 0.00 0.00 0.000 2054 0.116 0.000 139 1729 2651 2741 2561 0 0 0 0 0 0 14.37 14.40 14.39

4699 0.06 131.4 138 1729 2741 2564 766.0 -0.8 131 4701 0.15 0.00 0.00 0.000 4102 0.115 0.000 57 1729 2652 2741 2564 0 0 0 0 0 0 14.37 14.39 14.38

5019 0.06 131.4 57 1729 2741 2564 768.8 -0.9 139 5021 0.15 0.00 0.00 0.000 2054 0.116 0.000 138 1729 2652 2741 2564 0 0 0 0 0 0 14.40 14.39 14.38

5339 0.06 131.4 138 1729 2741 2564 771.2 -0.7 147 5341 0.15 0.00 0.00 0.000 4102 0.116 0.000 57 1729 2652 2741 2564 0 0 0 0 0 0 14.37 14.38 14.38

5659 0.06 131.4 57 1729 2741 2564 772.7 -0.4 155 5663 0.15 0.00 0.82 0.106 10246 0.116 0.000 139 1729 2645 2735 2555 0 0 0 0 0 0 14.38 13.96 13.76

5979 0.06 131.4 139 1729 2734 2567 773.7 -0.3 163 5981 0.15 0.00 0.00 0.000 4102 0.116 0.000 58 1729 2650 2734 2566 0 0 0 0 0 0 14.36 14.38 14.37

6300 0.06 131.4 58 1729 2734 2568 774.0 -0.0 171 6302 0.15 0.00 0.00 0.000 2054 0.115 0.000 139 1728 2651 2734 2569 0 0 0 0 0 0 14.37 14.38 14.36

6619 0.06 131.4 139 1729 2734 2568 773.8 0.1 179 6621 0.15 0.00 0.00 0.000 4102 0.116 0.000 59 1729 2651 2734 2568 0 0 0 0 0 0 14.38 14.38 14.38

6939 0.06 131.4 59 1729 2734 2568 774.7 -0.4 187 6941 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1729 2651 2734 2568 0 0 0 0 0 0 14.37 14.38 14.37

7259 0.06 131.4 139 1729 2734 2568 777.2 -0.9 195 7261 0.15 0.00 0.00 0.000 4102 0.119 0.000 59 1729 2651 2734 2568 0 0 0 0 0 0 14.37 14.38 14.38

7579 0.06 131.4 59 1729 2734 2568 781.3 -1.4 203 7581 0.15 0.00 0.00 0.000 2054 0.118 0.000 140 1729 2651 2734 2568 0 0 0 0 0 0 14.36 14.38 14.37

7899 0.06 131.4 140 1729 2734 2568 786.4 -1.6 211 7901 0.15 0.00 0.00 0.000 4102 0.116 0.000 60 1729 2650 2733 2568 0 0 0 0 0 0 14.37 14.38 14.38

8219 0.06 131.4 60 1729 2734 2567 791.3 -1.6 219 8221 0.15 0.00 0.00 0.000 2054 0.116 0.000 140 1729 2651 2734 2568 0 0 0 0 0 0 14.35 14.38 14.38

8295 end loiter: LOITER_COMPLETE

state 8295 begin climb

8299 0.70 73.0 140 1729 2734 2568 792.4 0.0 221 8302 0.15 0.00 0.00 0.000 4102 0.115 0.000 60 1729 2651 2734 2568 0 0 0 0 0 0 14.38 14.38 14.38

8619 0.86 191.5 60 1729 2733 2568 795.6 -0.9 229 8680 0.15 0.00 57.83 1.913 10278 0.116 0.000 140 1729 2400 2516 2284 0 0 0 0 0 0 14.37 14.12 13.28

8980 0.86 191.5 140 1728 2509 2284 725.8 22.3 238 8982 0.15 0.00 0.00 0.000 4102 0.116 0.000 60 1729 2397 2510 2284 0 0 0 0 0 0 14.38 14.44 14.42

9299 0.86 191.5 60 1728 2509 2284 656.8 21.4 246 9301 0.15 0.00 0.00 0.000 2054 0.117 0.000 140 1728 2396 2509 2284 0 0 0 0 0 0 14.37 14.40 14.40

9619 0.86 191.5 139 1728 2508 2284 586.5 22.4 254 9621 0.15 0.00 0.00 0.000 4102 0.119 0.000 59 1728 2396 2508 2284 0 0 0 0 0 0 14.37 14.38 14.38

9939 0.86 191.5 58 1729 2507 2284 513.0 22.9 262 9941 0.15 0.00 0.00 0.000 2054 0.117 0.000 136 1729 2395 2507 2284 0 0 0 0 0 0 14.36 14.38 14.37

10259 0.86 191.5 135 1729 2506 2284 440.3 22.4 270 10261 0.15 0.00 0.00 0.000 4102 0.117 0.000 56 1729 2395 2506 2284 0 0 0 0 0 0 14.35 14.36 14.35

10579 0.86 191.5 56 1729 2505 2284 371.6 21.5 278 10581 0.15 0.00 0.00 0.000 2054 0.119 0.000 137 1729 2394 2505 2284 0 0 0 0 0 0 14.33 14.35 14.35

10899 0.86 191.5 137 1728 2505 2284 302.2 21.8 286 10901 0.12 0.00 0.00 0.000 4102 0.132 0.000 65 1728 2394 2505 2284 0 0 0 0 0 0 14.40 14.40 14.40

11221 0.86 191.5 64 1729 2504 2284 234.0 20.7 294 11223 0.12 0.00 0.00 0.000 2054 0.136 0.000 136 1728 2394 2504 2284 0 0 0 0 0 0 14.38 14.38 14.38

11539 0.86 191.5 136 1729 2504 2284 165.8 21.2 302 11541 0.15 0.00 0.00 0.000 4102 0.118 0.000 55 1729 2394 2504 2284 0 0 0 0 0 0 14.35 14.38 14.35

11859 0.86 191.5 54 1729 2504 2284 104.7 19.1 310 11861 0.15 0.00 0.00 0.000 2054 0.118 0.000 136 1729 2394 2504 2284 0 0 0 0 0 0 14.35 14.36 14.35

12179 0.86 191.5 136 1729 2504 2284 41.1 21.8 325 12181 0.15 0.00 0.00 0.000 4102 0.117 0.000 55 1729 2394 2504 2284 0 0 0 0 0 0 14.36 14.36 14.35

12355 end climb: SURFACE_DEPTH_REACHED

state 12355 begin surface coast

12375 end surface coast: CONTROL_FINISHED_OK

state 12375 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	730	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	75	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	19	ALTIM_SENSITIVITY	4

GPS1	130119,154227,6050.6206,-2758.3145,13,1.1,41,-19.1,0.4,295.9,8,5.9	SPEED_LIMITS	0.160,0.182
_CALLS	1	TGT_NAME	ICELAND
_XMS_NAKs	0	TGT_LATLONG	6300.000,-2230.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	68.8,365510,-23.8,-9.259,-26.95,1201
_SM_ANGLEo	-68.3	D_GRID	500
GPS2	130119,154629,6050.6157,-2758.2710,14,1.3,14,-19.1,0.0,0.0,7,9.6

SM_CCo	12389,112.12,0.936,0,0,1754,350.29	FG_AHR_24Vo	0.000
SM_GC	1.36,0.10,0.00,112.12,0.155,0.000,0.936,119,1728,1754,-9.48,-0.62,350.29,0,0,0,0,0,0,14.31,14.88,13.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	6053.48,-2754.99,130119,124016	MEM	333920
TT8_MAMPS	0.020223,0.065912	DATA_FILE_SIZE	10126,335
HUMID	45.82	CAP_FILE_SIZE	66732,0
INTERNAL_PRESSURE	7.95929	CFSIZE	260165632,166400000
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	0.063,173.21,1
_24V_AH	13.26,0.000	GPS	130119,191704,6050.188,-2758.167,37,1.1,37,-19.1,0.0,0.0,8,8.3
_10V_AH	12.58,245.984

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	154	12.60	nil	0	0	0.00
Roll_motor	0	1067	3.18	nil	0	0	0.00
VBD_pump_during_apogee	225	1913	5720.91	nil	0	0	0.00
VBD_pump_during_surface	112	936	1392.16	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	131	123	216.59	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	6.45
TT8	389	8	42.49
LPSleep	11050	2	304.44
TT8_Active	488	8	53.31
TT8_Sampling	629	26	211.03
TT8_CF8	214	31	84.13
TT8_Kalman	0	0	0.00
Analog_circuits	911	10	123.80
GPS_charging	0	0	0.00
Compass	491	6	41.68
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	-0.70	-73.0	23	1728	676	437	0.0	0.0	0	149	0.00	0.00	-136.65	0.005	16386	0.000	0.000	24	1733	3451	3375	3528	0	0	0	0	0	0	14.81	28.83	14.83
154	-0.70	-73.0	23	1734	3379	3522	5.2	-4.3	7	159	0.22	0.05	-0.70	0.149	18980	0.094	1.067	140	1702	3479	3414	3545	0	0	0	0	0	0	14.34	13.26	14.38
187	-0.70	-73.0	140	1701	3414	3545	21.1	-49.9	13	191	0.12	0.12	0.00	0.000	5126	0.067	0.109	57	1777	3479	3414	3544	0	0	0	0	0	0	14.21	14.42	14.26
539	-0.70	-73.0	57	1776	3415	3541	215.6	-56.4	27	541	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1776	3478	3415	3542	0	0	0	0	0	0	14.38	14.40	14.39
859	-0.70	-73.0	140	1776	3417	3541	394.3	-55.4	35	861	0.15	0.00	0.00	0.000	4102	0.112	0.000	56	1776	3479	3417	3541	0	0	0	0	0	0	14.38	14.40	14.39
1055	end dive: TARGET_DEPTH_EXCEEDED
state	1055	begin apogee
1065	-0.12	0.0	56	1729	3417	3540	505.7	-55.9	40	1125	0.15	0.00	57.03	1.580	10246	0.115	0.000	139	1729	3179	3180	3179	0	0	0	0	0	0	14.30	14.26	13.52
1126	end apogee: CONTROL_FINISHED_OK
state	1126	begin loiter
1420	-0.01	82.2	139	1729	3186	3178	666.2	-42.2	49	1491	0.15	0.00	67.32	1.746	12326	0.114	0.000	55	1729	2844	2902	2786	0	0	0	0	0	0	14.40	14.12	13.38
1781	0.05	127.2	54	1729	2902	2791	762.6	-23.1	58	1822	0.17	0.00	38.88	1.802	10278	0.105	0.000	147	1729	2661	2757	2565	0	0	0	0	0	0	14.38	14.27	13.49
2140	0.05	127.2	147	1729	2755	2567	774.1	3.4	67	2142	0.17	0.00	0.00	0.000	4102	0.106	0.000	55	1729	2660	2754	2567	0	0	0	0	0	0	14.40	14.47	14.45
2459	0.05	127.2	55	1729	2755	2568	758.7	4.5	75	2461	0.15	0.00	0.00	0.000	2054	0.116	0.000	138	1729	2661	2755	2568	0	0	0	0	0	0	14.44	14.46	14.45
2779	0.05	127.2	138	1729	2755	2568	749.2	2.7	83	2781	0.15	0.00	0.00	0.000	4102	0.116	0.000	56	1729	2661	2755	2568	0	0	0	0	0	0	14.40	14.44	14.42
3099	0.05	127.2	56	1729	2755	2568	745.1	0.7	91	3101	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1729	2661	2755	2568	0	0	0	0	0	0	14.38	14.42	14.41
3419	0.05	127.2	139	1729	2756	2567	747.4	-1.1	99	3421	0.15	0.00	0.00	0.000	4102	0.116	0.000	57	1729	2661	2754	2568	0	0	0	0	0	0	14.39	14.42	14.38
3739	0.05	127.2	57	1729	2754	2567	752.1	-1.6	107	3741	0.15	0.00	0.00	0.000	2054	0.118	0.000	138	1729	2660	2754	2567	0	0	0	0	0	0	14.40	14.40	14.40
4059	0.06	131.4	138	1728	2753	2568	758.5	-2.1	115	4065	0.15	0.00	3.62	0.799	12326	0.119	0.000	57	1729	2646	2741	2552	0	0	0	0	0	0	14.38	14.52	13.59
4380	0.06	131.4	57	1729	2741	2562	763.3	-1.1	123	4382	0.15	0.00	0.00	0.000	2054	0.116	0.000	139	1729	2651	2741	2561	0	0	0	0	0	0	14.37	14.40	14.39
4699	0.06	131.4	138	1729	2741	2564	766.0	-0.8	131	4701	0.15	0.00	0.00	0.000	4102	0.115	0.000	57	1729	2652	2741	2564	0	0	0	0	0	0	14.37	14.39	14.38
5019	0.06	131.4	57	1729	2741	2564	768.8	-0.9	139	5021	0.15	0.00	0.00	0.000	2054	0.116	0.000	138	1729	2652	2741	2564	0	0	0	0	0	0	14.40	14.39	14.38
5339	0.06	131.4	138	1729	2741	2564	771.2	-0.7	147	5341	0.15	0.00	0.00	0.000	4102	0.116	0.000	57	1729	2652	2741	2564	0	0	0	0	0	0	14.37	14.38	14.38
5659	0.06	131.4	57	1729	2741	2564	772.7	-0.4	155	5663	0.15	0.00	0.82	0.106	10246	0.116	0.000	139	1729	2645	2735	2555	0	0	0	0	0	0	14.38	13.96	13.76
5979	0.06	131.4	139	1729	2734	2567	773.7	-0.3	163	5981	0.15	0.00	0.00	0.000	4102	0.116	0.000	58	1729	2650	2734	2566	0	0	0	0	0	0	14.36	14.38	14.37
6300	0.06	131.4	58	1729	2734	2568	774.0	-0.0	171	6302	0.15	0.00	0.00	0.000	2054	0.115	0.000	139	1728	2651	2734	2569	0	0	0	0	0	0	14.37	14.38	14.36
6619	0.06	131.4	139	1729	2734	2568	773.8	0.1	179	6621	0.15	0.00	0.00	0.000	4102	0.116	0.000	59	1729	2651	2734	2568	0	0	0	0	0	0	14.38	14.38	14.38
6939	0.06	131.4	59	1729	2734	2568	774.7	-0.4	187	6941	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1729	2651	2734	2568	0	0	0	0	0	0	14.37	14.38	14.37
7259	0.06	131.4	139	1729	2734	2568	777.2	-0.9	195	7261	0.15	0.00	0.00	0.000	4102	0.119	0.000	59	1729	2651	2734	2568	0	0	0	0	0	0	14.37	14.38	14.38
7579	0.06	131.4	59	1729	2734	2568	781.3	-1.4	203	7581	0.15	0.00	0.00	0.000	2054	0.118	0.000	140	1729	2651	2734	2568	0	0	0	0	0	0	14.36	14.38	14.37
7899	0.06	131.4	140	1729	2734	2568	786.4	-1.6	211	7901	0.15	0.00	0.00	0.000	4102	0.116	0.000	60	1729	2650	2733	2568	0	0	0	0	0	0	14.37	14.38	14.38
8219	0.06	131.4	60	1729	2734	2567	791.3	-1.6	219	8221	0.15	0.00	0.00	0.000	2054	0.116	0.000	140	1729	2651	2734	2568	0	0	0	0	0	0	14.35	14.38	14.38
8295	end loiter: LOITER_COMPLETE
state	8295	begin climb
8299	0.70	73.0	140	1729	2734	2568	792.4	0.0	221	8302	0.15	0.00	0.00	0.000	4102	0.115	0.000	60	1729	2651	2734	2568	0	0	0	0	0	0	14.38	14.38	14.38
8619	0.86	191.5	60	1729	2733	2568	795.6	-0.9	229	8680	0.15	0.00	57.83	1.913	10278	0.116	0.000	140	1729	2400	2516	2284	0	0	0	0	0	0	14.37	14.12	13.28
8980	0.86	191.5	140	1728	2509	2284	725.8	22.3	238	8982	0.15	0.00	0.00	0.000	4102	0.116	0.000	60	1729	2397	2510	2284	0	0	0	0	0	0	14.38	14.44	14.42
9299	0.86	191.5	60	1728	2509	2284	656.8	21.4	246	9301	0.15	0.00	0.00	0.000	2054	0.117	0.000	140	1728	2396	2509	2284	0	0	0	0	0	0	14.37	14.40	14.40
9619	0.86	191.5	139	1728	2508	2284	586.5	22.4	254	9621	0.15	0.00	0.00	0.000	4102	0.119	0.000	59	1728	2396	2508	2284	0	0	0	0	0	0	14.37	14.38	14.38
9939	0.86	191.5	58	1729	2507	2284	513.0	22.9	262	9941	0.15	0.00	0.00	0.000	2054	0.117	0.000	136	1729	2395	2507	2284	0	0	0	0	0	0	14.36	14.38	14.37
10259	0.86	191.5	135	1729	2506	2284	440.3	22.4	270	10261	0.15	0.00	0.00	0.000	4102	0.117	0.000	56	1729	2395	2506	2284	0	0	0	0	0	0	14.35	14.36	14.35
10579	0.86	191.5	56	1729	2505	2284	371.6	21.5	278	10581	0.15	0.00	0.00	0.000	2054	0.119	0.000	137	1729	2394	2505	2284	0	0	0	0	0	0	14.33	14.35	14.35
10899	0.86	191.5	137	1728	2505	2284	302.2	21.8	286	10901	0.12	0.00	0.00	0.000	4102	0.132	0.000	65	1728	2394	2505	2284	0	0	0	0	0	0	14.40	14.40	14.40
11221	0.86	191.5	64	1729	2504	2284	234.0	20.7	294	11223	0.12	0.00	0.00	0.000	2054	0.136	0.000	136	1728	2394	2504	2284	0	0	0	0	0	0	14.38	14.38	14.38
11539	0.86	191.5	136	1729	2504	2284	165.8	21.2	302	11541	0.15	0.00	0.00	0.000	4102	0.118	0.000	55	1729	2394	2504	2284	0	0	0	0	0	0	14.35	14.38	14.35
11859	0.86	191.5	54	1729	2504	2284	104.7	19.1	310	11861	0.15	0.00	0.00	0.000	2054	0.118	0.000	136	1729	2394	2504	2284	0	0	0	0	0	0	14.35	14.36	14.35
12179	0.86	191.5	136	1729	2504	2284	41.1	21.8	325	12181	0.15	0.00	0.00	0.000	4102	0.117	0.000	55	1729	2394	2504	2284	0	0	0	0	0	0	14.36	14.36	14.35
12355	end climb: SURFACE_DEPTH_REACHED
state	12355	begin surface coast
12375	end surface coast: CONTROL_FINISHED_OK
state	12375	begin surface