Glider dive log

EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 339 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 XPDR_REP 0

MISSION 15 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

DIVE 339 TGT_AUTO_DEFAULT 0 VBD_MIN 500 INT_PRESSURE_YINT -0.25

N_DIVES 0 SM_CC 375 VBD_MAX 3960 DEEPGLIDER 0

STOP_T 0 N_FILEKB 8 C_VBD 2968 MOTHERBOARD 4

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_FLARE 20 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE2 -1

D_TGT 360 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_ABORT 1010 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

D_NO_BLEED 200 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0013 DEVICE5 -1

D_BOOST 0 NOCOMM_ACTION 163 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 1

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE2 147

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE3 131

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 PHONE_DEVICE 49

T_DIVE 120 N_GPS 100440 LOITER_D_TOP 0 GPS_DEVICE 64

T_MISSION 150 T_RSLEEP 1 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 2 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 SEABIRD_T_G 0.0044368538

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_H 0.0006575333

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_T_I 2.7761149e-05

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_T_J 3.5137082e-06

USE_BATHY -6 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_G -10.037535

USE_ICE 0 C_PITCH 1760 MINV_10V 10 SEABIRD_C_H 1.1079766

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_I -0.0022889124

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.4 SEABIRD_C_J 0.00024077215

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 PITCH_GAIN 43 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

MAX_BUOY 180 PITCH_TIMEOUT 18 PRESSURE_YINT -147.66289 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.00010781933 ES_RECORDABOVE 2000.0

GLIDE_SLOPE 50 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_PROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_XMITPROFILE 0.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

MASS 55689 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_STARTS 301.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_HEADERSKIP 105044.0

FERRY_MAX 45 C_ROLL_DIVE 2825 ALTIM_TOP_MIN_OBSTACLE 0 ES_DL_RECORDLENGTH 10086.0

KALMAN_USE 2 C_ROLL_CLIMB 2800 ALTIM_PING_DEPTH 0 ES_DL_NRECORD 100.0

HD_A 0.00316228 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0 ES_DL_RECORDCOUNT 3.0

HD_B 0.011885 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_PROFILE 0.0

HEADING -1 R_PORT_OVSHOOT 70 ALTIM_SENSITIVITY 5 CP_XMITPROFILE 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 20 XPDR_VALID 6 CP_UPLOADMAX 0.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 99 CP_STARTS 0.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_INT 0 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_PITCH 0 MISSION 15 SEABIRD_C_G -10.037535

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1079766

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0022889124

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 NOCOMM_ACTION 163 SEABIRD_C_J 0.00024077215

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 0 SEABIRD_T_G 0.0044368538

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.0006575333

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.7761149e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 2 SEABIRD_T_J 3.5137082e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 5 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 375

ALTIM_TOP_MIN_OBSTACLE 0 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0.015 STROBE 0

APOGEE_PITCH -5 ES_STARTS 301.0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

CALL_NDIVES 1 ES_UPLOADMAX 100000.0 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 ES_XMITPROFILE 0.0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FERRY_MAX 45 PITCH_GAIN 43 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FG_AHR_10V 0 PITCH_MAX 3914 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 2 FILEMGR 0 PITCH_MIN 250 T_ABORT 1440

COMM_SEQ 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 T_BOOST 0

COMPASS2_DEVICE 150 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0013 T_DIVE 120

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 4 HD_A 0.00316228 PITCH_W_GAIN 2 T_GPS 10

COURSE_BIAS 0 HD_B 0.011885 PRESSURE_SLOPE 0.00010781933 T_LOITER 0

CP_NDIVE 1.0 HD_C 5.7000002e-06 PRESSURE_YINT -147.66289 T_MISSION 150

CP_PROFILE 0.0 HEADING -1 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 1

CP_STARTS 0.0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_TURN 225

CP_UPLOADMAX 0.0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

CP_XMITPROFILE 0.0 ID 219 RAFOS_DEVICE -1 T_WATCHDOG 10

C_PITCH 1760 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2800 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2825 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

C_VBD 2968 LOGGERDEVICE1 53 RELAUNCH 1 USE_ICE 0

DBDW 0 LOGGERDEVICE2 147 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 131 ROLL_ADJ_DBAND 0 VBD_CNV -0.25119999

DEVICE1 -1 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE2 -1 LOGGERS 1 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE3 -1 LOITER_DBDW 0 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE4 -1 LOITER_D_BOTTOM 0 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE5 -1 LOITER_D_TOP 0 ROLL_MAX 3825 VBD_MIN 500

DEVICE6 -1 LOITER_N_DIVE 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 339 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 1010 MASS 55689 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 0 MASS_COMP 0 R_PORT_OVSHOOT 70 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.4 R_STBD_OVSHOOT 20 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 99

D_FLARE 20 MAX_BUOY 180 SC_PROFILE 3.0 XPDR_INT 0

D_NO_BLEED 200 MINV_10V 10 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 280521,234101,4849.4541,-1452.0734,61,0.9,62,-4.8,0.7,84.2,9,8.4 SPEED_LIMITS 0.084,0.262

_CALLS 2 TGT_NAME MLF2_92_TGT

_XMS_NAKs 0 TGT_LATLONG 4849.544,-1451.019

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 53.2,1213,-48.2,-10.000,-50.00,392

_SM_ANGLEo -42.2 D_GRID 1000

GPS2 280521,235159,4849.4712,-1452.0074,5,0.8,5,-4.8,0.3,113.1,12,8.8

Post-dive calculations and measurements:

FINISH 0.8,1.026955 _10V_AH 13.66,0.000

SM_CCo 4672,228.95,0.926,0,0,1474,375.04 FG_AHR_24Vo 0.000

SM_GC 0.89,6.35,0.00,228.95,0.082,0.000,0.926,224,2816,1474,-4.69,-0.25,375.04,0,0,0,0,0,0,14.63,14.90,13.71 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4849.70,-1452.94,280521,234443 MEM 293116

TT8_MAMPS 0.02247,0.602196 DATA_FILE_SIZE 23448,660

HUMID 42.95 CAP_FILE_SIZE 79214,0

INTERNAL_PRESSURE 8.41244 CFSIZE 1024409600,965410816

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 25 CURRENT 0.199,101.99,1

SC_FREEKB 3710016 GPS 290521,011601,4849.515,-1450.865,12,1.4,41,-4.8,1.3,0.0,8,9.7

_24V_AH 12.86,221.991

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 348 74.24 nil 0 0 0.00

Roll_motor 49 110 70.18 nil 0 0 0.00

VBD_pump_during_apogee 97 1330 1666.76 nil 0 0 0.00

VBD_pump_during_surface 228 926 2727.64 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 4691 37 2254.09

Iridium_during_xfer 373 194 932.94 echo 0 0 0.00

Transponder_ping 6 420 33.76 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 8 2.18

TT8 1629 12 269.53

LPSleep 1679 2 50.26

TT8_Active 493 11 76.53

TT8_Sampling 1471 30 604.75

TT8_CF8 301 45 185.72

TT8_Kalman 0 0 0.00

Analog_circuits 1395 15 297.36

GPS_charging 0 0 0.00

Compass 1061 2 32.63

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

12 -1.15 -25.4 220 2840 1465 1467 0.0 0.0 0 97 0.00 0.00 -81.78 0.004 16390 0.000 0.000 217 2839 3069 3057 3082 0 0 0 0 0 0 14.73 12.86 14.73

102 -1.20 -59.5 217 2839 3057 3082 2.5 -1.1 14 121 5.22 1.77 -5.28 0.018 18724 0.347 0.111 1363 3828 3205 3177 3233 0 0 0 0 0 0 14.06 13.05 14.46

355 -1.31 -59.5 1362 3828 3177 3232 43.2 -18.5 62 362 0.00 1.58 0.00 0.000 1158 0.000 0.033 1363 2802 3204 3177 3232 0 0 0 0 0 0 14.61 14.59 14.62

550 -1.47 -59.5 1362 2802 3176 3232 76.9 -19.7 99 558 0.20 1.88 0.00 0.000 4484 0.080 0.077 1257 3832 3204 3177 3232 0 0 0 0 0 0 14.54 14.38 14.57

785 -1.47 -59.5 1257 3834 3177 3232 126.5 -22.6 144 792 0.15 1.55 0.00 0.000 3078 0.324 0.030 1284 2836 3204 3177 3232 0 0 0 0 0 0 14.05 14.54 14.38

975 -1.55 -59.5 1284 2834 3177 3232 160.1 -17.7 163 980 0.00 2.40 0.00 0.000 644 0.000 0.034 1284 1449 3205 3178 3233 0 0 0 0 0 0 14.84 14.58 14.87

1009 -1.67 -59.5 1284 1450 3177 3233 166.4 -16.1 169 1017 0.17 2.58 0.00 0.000 5254 0.092 0.063 1191 2829 3204 3176 3232 0 0 0 0 0 0 14.52 14.42 14.58

1208 -1.67 -59.5 1192 2829 3177 3232 205.3 -20.4 189 1216 0.15 1.70 0.00 0.000 2308 0.349 0.072 1215 3831 3204 3177 3232 0 0 0 0 0 0 14.00 14.35 14.19

1299 -1.66 -59.5 1216 3831 3177 3232 224.8 -22.0 206 1306 0.00 1.58 0.00 0.000 1158 0.000 0.029 1216 2803 3205 3178 3233 0 0 0 0 0 0 14.61 14.55 14.65

1485 -1.68 -59.5 1215 2802 3177 3232 262.6 -20.3 225 1491 0.00 1.83 0.00 0.000 388 0.000 0.075 1208 3837 3204 3179 3230 0 0 0 0 0 0 14.85 14.48 14.87

1544 -1.65 -59.5 1208 3837 3177 3232 275.6 -25.3 236 1551 0.00 1.58 0.00 0.000 1158 0.000 0.030 1209 2832 3204 3177 3232 0 0 0 0 0 0 14.53 14.51 14.55

1731 -1.67 -59.5 1208 2829 3178 3232 314.6 -20.9 255 1736 0.00 1.77 0.00 0.000 388 0.000 0.079 1201 3831 3205 3179 3232 0 0 0 0 0 0 14.84 14.38 14.86

1796 -1.64 -59.5 1200 3832 3178 3232 329.0 -23.5 267 1802 0.15 1.55 0.00 0.000 3206 0.342 0.031 1227 2837 3205 3178 3232 0 0 0 0 0 0 14.02 14.54 14.35

1947 end dive: TARGET_DEPTH_EXCEEDED

state 1947 begin apogee

1955 -0.12 0.0 1227 2833 3178 3232 360.8 -20.1 283 2010 1.98 0.00 47.67 1.330 10246 0.288 0.000 1711 2831 2968 2937 2999 0 0 0 0 0 0 14.03 14.39 13.65

2011 end apogee: CONTROL_FINISHED_OK

state 2011 begin climb

2015 1.20 59.5 1711 2831 2936 2999 366.1 0.0 289 2071 1.35 0.00 49.75 1.312 10246 0.114 0.000 2139 2830 2731 2709 2754 0 0 0 0 0 0 14.36 14.23 13.51

2251 1.37 59.5 2138 2829 2698 2751 344.3 11.4 313 2259 0.20 0.00 0.00 0.000 2182 0.099 0.000 2232 2829 2724 2698 2751 0 0 0 0 0 0 14.49 14.56 14.54

2441 1.45 59.5 2232 2829 2696 2748 318.1 14.1 332 2448 0.00 0.00 0.00 0.000 134 0.000 0.000 2232 2829 2722 2697 2748 0 0 0 0 0 0 14.78 14.81 14.81

2632 1.54 59.5 2232 2829 2696 2747 290.6 14.4 351 2637 0.00 1.80 0.00 0.000 388 0.000 0.097 2232 3823 2721 2696 2746 0 0 0 0 0 0 14.81 14.37 14.83

2701 1.56 59.5 2232 3823 2696 2745 279.9 15.4 364 2707 0.00 1.62 0.00 0.000 1158 0.000 0.034 2239 2793 2720 2696 2745 0 0 0 0 0 0 14.61 14.57 14.63

2888 1.64 59.5 2246 2792 2696 2745 252.4 14.8 383 2894 0.15 1.85 0.00 0.000 2436 0.132 0.076 2329 3835 2720 2695 2745 0 0 0 0 0 0 14.48 14.52 14.52

2947 1.58 59.5 2335 3835 2696 2747 242.0 17.1 394 2956 0.22 1.67 0.00 0.000 5254 0.333 0.033 2275 2807 2717 2695 2740 0 0 0 0 0 0 14.00 14.52 14.42

3138 1.63 59.5 2275 2806 2696 2745 212.0 15.8 413 3143 0.00 1.83 0.00 0.000 388 0.000 0.076 2275 3826 2720 2696 2744 0 0 0 0 0 0 14.81 14.45 14.83

3203 1.63 59.5 2275 3826 2694 2744 201.4 15.8 425 3208 0.00 1.65 0.00 0.000 1030 0.000 0.033 2281 2779 2719 2695 2744 0 0 0 0 0 0 14.60 14.55 14.62

3397 1.67 59.5 2281 2778 2696 2744 173.8 13.3 445 3403 0.00 1.88 0.00 0.000 388 0.000 0.080 2281 3836 2719 2695 2744 0 0 0 0 0 0 14.83 14.42 14.87

3637 1.66 59.5 2280 3836 2695 2743 139.4 12.8 491 3642 0.00 1.62 0.00 0.000 1158 0.000 0.033 2289 2806 2718 2694 2742 0 0 0 0 0 0 14.62 14.57 14.63

3832 1.69 59.5 2289 2804 2695 2743 112.6 13.7 511 3838 0.00 2.42 0.00 0.000 644 0.000 0.036 2299 1419 2719 2695 2743 0 0 0 0 0 0 14.83 14.56 14.86

3871 1.77 59.5 2299 1419 2699 2743 107.3 13.0 518 3879 0.00 2.60 0.00 0.000 1158 0.000 0.070 2299 2804 2719 2696 2743 0 0 0 0 0 0 14.50 14.38 14.54

4060 1.80 59.5 2299 2803 2695 2742 81.0 12.8 550 4068 0.12 1.75 0.00 0.000 2436 0.110 0.074 2354 3828 2719 2698 2741 0 0 0 0 0 0 14.62 14.41 14.65

4207 1.74 59.5 2353 3827 2695 2740 58.5 14.6 577 4215 0.12 1.65 0.00 0.000 5254 0.341 0.032 2325 2795 2722 2696 2749 0 0 0 0 0 0 13.92 14.46 14.36

4403 1.76 59.5 2332 2795 2695 2741 31.2 11.6 614 4410 0.00 0.00 0.00 0.000 134 0.000 0.000 2323 2796 2718 2695 2741 0 0 0 0 0 0 14.83 14.83 14.83

4598 1.77 59.5 2325 2796 2696 2741 6.0 12.2 651 4605 0.00 2.45 0.00 0.000 644 0.000 0.036 2334 1408 2717 2693 2741 0 0 0 0 0 0 14.81 14.52 14.87

4624 1.80 59.5 2334 1407 2696 2741 3.0 11.2 655 4631 0.00 2.65 0.00 0.000 1158 0.000 0.065 2334 2814 2717 2695 2740 0 0 0 0 0 0 14.58 14.48 14.62

4636 end climb: SURFACE_DEPTH_REACHED

state 4636 begin surface coast

4652 end surface coast: CONTROL_FINISHED_OK

state 4652 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	XPDR_REP	0
MISSION	15	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
DIVE	339	TGT_AUTO_DEFAULT	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
N_DIVES	0	SM_CC	375	VBD_MAX	3960	DEEPGLIDER	0
STOP_T	0	N_FILEKB	8	C_VBD	2968	MOTHERBOARD	4
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_FLARE	20	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE2	-1
D_TGT	360	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_ABORT	1010	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
D_NO_BLEED	200	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0013	DEVICE5	-1
D_BOOST	0	NOCOMM_ACTION	163	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE2	147
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE3	131
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	PHONE_DEVICE	49
T_DIVE	120	N_GPS	100440	LOITER_D_TOP	0	GPS_DEVICE	64
T_MISSION	150	T_RSLEEP	1	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	2	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	SEABIRD_T_G	0.0044368538
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_H	0.0006575333
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_T_I	2.7761149e-05
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_T_J	3.5137082e-06
USE_BATHY	-6	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_G	-10.037535
USE_ICE	0	C_PITCH	1760	MINV_10V	10	SEABIRD_C_H	1.1079766
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0022889124
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.4	SEABIRD_C_J	0.00024077215
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	PITCH_GAIN	43	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
MAX_BUOY	180	PITCH_TIMEOUT	18	PRESSURE_YINT	-147.66289	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.00010781933	ES_RECORDABOVE	2000.0
GLIDE_SLOPE	50	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_PROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_XMITPROFILE	0.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
MASS	55689	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_STARTS	301.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_HEADERSKIP	105044.0
FERRY_MAX	45	C_ROLL_DIVE	2825	ALTIM_TOP_MIN_OBSTACLE	0	ES_DL_RECORDLENGTH	10086.0
KALMAN_USE	2	C_ROLL_CLIMB	2800	ALTIM_PING_DEPTH	0	ES_DL_NRECORD	100.0
HD_A	0.00316228	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0	ES_DL_RECORDCOUNT	3.0
HD_B	0.011885	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_PROFILE	0.0
HEADING	-1	R_PORT_OVSHOOT	70	ALTIM_SENSITIVITY	5	CP_XMITPROFILE	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	20	XPDR_VALID	6	CP_UPLOADMAX	0.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	99	CP_STARTS	0.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_INT	0	CP_NDIVE	1.0

GPS1	280521,234101,4849.4541,-1452.0734,61,0.9,62,-4.8,0.7,84.2,9,8.4	SPEED_LIMITS	0.084,0.262
_CALLS	2	TGT_NAME	MLF2_92_TGT
_XMS_NAKs	0	TGT_LATLONG	4849.544,-1451.019
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	53.2,1213,-48.2,-10.000,-50.00,392
_SM_ANGLEo	-42.2	D_GRID	1000
GPS2	280521,235159,4849.4712,-1452.0074,5,0.8,5,-4.8,0.3,113.1,12,8.8

FINISH	0.8,1.026955	_10V_AH	13.66,0.000
SM_CCo	4672,228.95,0.926,0,0,1474,375.04	FG_AHR_24Vo	0.000
SM_GC	0.89,6.35,0.00,228.95,0.082,0.000,0.926,224,2816,1474,-4.69,-0.25,375.04,0,0,0,0,0,0,14.63,14.90,13.71	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4849.70,-1452.94,280521,234443	MEM	293116
TT8_MAMPS	0.02247,0.602196	DATA_FILE_SIZE	23448,660
HUMID	42.95	CAP_FILE_SIZE	79214,0
INTERNAL_PRESSURE	8.41244	CFSIZE	1024409600,965410816
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	25	CURRENT	0.199,101.99,1
SC_FREEKB	3710016	GPS	290521,011601,4849.515,-1450.865,12,1.4,41,-4.8,1.3,0.0,8,9.7
_24V_AH	12.86,221.991

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	348	74.24	nil	0	0	0.00
Roll_motor	49	110	70.18	nil	0	0	0.00
VBD_pump_during_apogee	97	1330	1666.76	nil	0	0	0.00
VBD_pump_during_surface	228	926	2727.64	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	4691	37	2254.09
Iridium_during_xfer	373	194	932.94	echo	0	0	0.00
Transponder_ping	6	420	33.76	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	8	2.18
TT8	1629	12	269.53
LPSleep	1679	2	50.26
TT8_Active	493	11	76.53
TT8_Sampling	1471	30	604.75
TT8_CF8	301	45	185.72
TT8_Kalman	0	0	0.00
Analog_circuits	1395	15	297.36
GPS_charging	0	0	0.00
Compass	1061	2	32.63
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
12	-1.15	-25.4	220	2840	1465	1467	0.0	0.0	0	97	0.00	0.00	-81.78	0.004	16390	0.000	0.000	217	2839	3069	3057	3082	0	0	0	0	0	0	14.73	12.86	14.73
102	-1.20	-59.5	217	2839	3057	3082	2.5	-1.1	14	121	5.22	1.77	-5.28	0.018	18724	0.347	0.111	1363	3828	3205	3177	3233	0	0	0	0	0	0	14.06	13.05	14.46
355	-1.31	-59.5	1362	3828	3177	3232	43.2	-18.5	62	362	0.00	1.58	0.00	0.000	1158	0.000	0.033	1363	2802	3204	3177	3232	0	0	0	0	0	0	14.61	14.59	14.62
550	-1.47	-59.5	1362	2802	3176	3232	76.9	-19.7	99	558	0.20	1.88	0.00	0.000	4484	0.080	0.077	1257	3832	3204	3177	3232	0	0	0	0	0	0	14.54	14.38	14.57
785	-1.47	-59.5	1257	3834	3177	3232	126.5	-22.6	144	792	0.15	1.55	0.00	0.000	3078	0.324	0.030	1284	2836	3204	3177	3232	0	0	0	0	0	0	14.05	14.54	14.38
975	-1.55	-59.5	1284	2834	3177	3232	160.1	-17.7	163	980	0.00	2.40	0.00	0.000	644	0.000	0.034	1284	1449	3205	3178	3233	0	0	0	0	0	0	14.84	14.58	14.87
1009	-1.67	-59.5	1284	1450	3177	3233	166.4	-16.1	169	1017	0.17	2.58	0.00	0.000	5254	0.092	0.063	1191	2829	3204	3176	3232	0	0	0	0	0	0	14.52	14.42	14.58
1208	-1.67	-59.5	1192	2829	3177	3232	205.3	-20.4	189	1216	0.15	1.70	0.00	0.000	2308	0.349	0.072	1215	3831	3204	3177	3232	0	0	0	0	0	0	14.00	14.35	14.19
1299	-1.66	-59.5	1216	3831	3177	3232	224.8	-22.0	206	1306	0.00	1.58	0.00	0.000	1158	0.000	0.029	1216	2803	3205	3178	3233	0	0	0	0	0	0	14.61	14.55	14.65
1485	-1.68	-59.5	1215	2802	3177	3232	262.6	-20.3	225	1491	0.00	1.83	0.00	0.000	388	0.000	0.075	1208	3837	3204	3179	3230	0	0	0	0	0	0	14.85	14.48	14.87
1544	-1.65	-59.5	1208	3837	3177	3232	275.6	-25.3	236	1551	0.00	1.58	0.00	0.000	1158	0.000	0.030	1209	2832	3204	3177	3232	0	0	0	0	0	0	14.53	14.51	14.55
1731	-1.67	-59.5	1208	2829	3178	3232	314.6	-20.9	255	1736	0.00	1.77	0.00	0.000	388	0.000	0.079	1201	3831	3205	3179	3232	0	0	0	0	0	0	14.84	14.38	14.86
1796	-1.64	-59.5	1200	3832	3178	3232	329.0	-23.5	267	1802	0.15	1.55	0.00	0.000	3206	0.342	0.031	1227	2837	3205	3178	3232	0	0	0	0	0	0	14.02	14.54	14.35
1947	end dive: TARGET_DEPTH_EXCEEDED
state	1947	begin apogee
1955	-0.12	0.0	1227	2833	3178	3232	360.8	-20.1	283	2010	1.98	0.00	47.67	1.330	10246	0.288	0.000	1711	2831	2968	2937	2999	0	0	0	0	0	0	14.03	14.39	13.65
2011	end apogee: CONTROL_FINISHED_OK
state	2011	begin climb
2015	1.20	59.5	1711	2831	2936	2999	366.1	0.0	289	2071	1.35	0.00	49.75	1.312	10246	0.114	0.000	2139	2830	2731	2709	2754	0	0	0	0	0	0	14.36	14.23	13.51
2251	1.37	59.5	2138	2829	2698	2751	344.3	11.4	313	2259	0.20	0.00	0.00	0.000	2182	0.099	0.000	2232	2829	2724	2698	2751	0	0	0	0	0	0	14.49	14.56	14.54
2441	1.45	59.5	2232	2829	2696	2748	318.1	14.1	332	2448	0.00	0.00	0.00	0.000	134	0.000	0.000	2232	2829	2722	2697	2748	0	0	0	0	0	0	14.78	14.81	14.81
2632	1.54	59.5	2232	2829	2696	2747	290.6	14.4	351	2637	0.00	1.80	0.00	0.000	388	0.000	0.097	2232	3823	2721	2696	2746	0	0	0	0	0	0	14.81	14.37	14.83
2701	1.56	59.5	2232	3823	2696	2745	279.9	15.4	364	2707	0.00	1.62	0.00	0.000	1158	0.000	0.034	2239	2793	2720	2696	2745	0	0	0	0	0	0	14.61	14.57	14.63
2888	1.64	59.5	2246	2792	2696	2745	252.4	14.8	383	2894	0.15	1.85	0.00	0.000	2436	0.132	0.076	2329	3835	2720	2695	2745	0	0	0	0	0	0	14.48	14.52	14.52
2947	1.58	59.5	2335	3835	2696	2747	242.0	17.1	394	2956	0.22	1.67	0.00	0.000	5254	0.333	0.033	2275	2807	2717	2695	2740	0	0	0	0	0	0	14.00	14.52	14.42
3138	1.63	59.5	2275	2806	2696	2745	212.0	15.8	413	3143	0.00	1.83	0.00	0.000	388	0.000	0.076	2275	3826	2720	2696	2744	0	0	0	0	0	0	14.81	14.45	14.83
3203	1.63	59.5	2275	3826	2694	2744	201.4	15.8	425	3208	0.00	1.65	0.00	0.000	1030	0.000	0.033	2281	2779	2719	2695	2744	0	0	0	0	0	0	14.60	14.55	14.62
3397	1.67	59.5	2281	2778	2696	2744	173.8	13.3	445	3403	0.00	1.88	0.00	0.000	388	0.000	0.080	2281	3836	2719	2695	2744	0	0	0	0	0	0	14.83	14.42	14.87
3637	1.66	59.5	2280	3836	2695	2743	139.4	12.8	491	3642	0.00	1.62	0.00	0.000	1158	0.000	0.033	2289	2806	2718	2694	2742	0	0	0	0	0	0	14.62	14.57	14.63
3832	1.69	59.5	2289	2804	2695	2743	112.6	13.7	511	3838	0.00	2.42	0.00	0.000	644	0.000	0.036	2299	1419	2719	2695	2743	0	0	0	0	0	0	14.83	14.56	14.86
3871	1.77	59.5	2299	1419	2699	2743	107.3	13.0	518	3879	0.00	2.60	0.00	0.000	1158	0.000	0.070	2299	2804	2719	2696	2743	0	0	0	0	0	0	14.50	14.38	14.54
4060	1.80	59.5	2299	2803	2695	2742	81.0	12.8	550	4068	0.12	1.75	0.00	0.000	2436	0.110	0.074	2354	3828	2719	2698	2741	0	0	0	0	0	0	14.62	14.41	14.65
4207	1.74	59.5	2353	3827	2695	2740	58.5	14.6	577	4215	0.12	1.65	0.00	0.000	5254	0.341	0.032	2325	2795	2722	2696	2749	0	0	0	0	0	0	13.92	14.46	14.36
4403	1.76	59.5	2332	2795	2695	2741	31.2	11.6	614	4410	0.00	0.00	0.00	0.000	134	0.000	0.000	2323	2796	2718	2695	2741	0	0	0	0	0	0	14.83	14.83	14.83
4598	1.77	59.5	2325	2796	2696	2741	6.0	12.2	651	4605	0.00	2.45	0.00	0.000	644	0.000	0.036	2334	1408	2717	2693	2741	0	0	0	0	0	0	14.81	14.52	14.87
4624	1.80	59.5	2334	1407	2696	2741	3.0	11.2	655	4631	0.00	2.65	0.00	0.000	1158	0.000	0.065	2334	2814	2717	2695	2740	0	0	0	0	0	0	14.58	14.48	14.62
4636	end climb: SURFACE_DEPTH_REACHED
state	4636	begin surface coast
4652	end surface coast: CONTROL_FINISHED_OK
state	4652	begin surface