Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 578 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.25

MISSION 11 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 578 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 4

N_DIVES 0 SM_CC 400 VBD_MAX 3960 DEVICE1 -1

STOP_T 0 N_FILEKB 8 C_VBD 2970 DEVICE2 -1

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

D_FLARE 3 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE4 -1

D_TGT 360 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_ABORT 1030 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_NO_BLEED 200 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0013 LOGGERS 1

D_BOOST 5 NOCOMM_ACTION 161 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE1 53

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE2 147

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 131

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE4 -1

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 COMPASS_DEVICE 97

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 COMPASS2_DEVICE 150

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 PHONE_DEVICE 49

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 GPS_DEVICE 64

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 RAFOS_DEVICE -1

T_DIVE 120 N_GPS 100440 LOITER_D_TOP 0 XPDR_DEVICE 24

T_MISSION 150 T_RSLEEP 2 LOITER_D_BOTTOM 0 SIM_W 0

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 SEABIRD_T_G 0.0043946085

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 2 SEABIRD_T_H 0.00063626852

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 SEABIRD_T_I 2.5989737e-05

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_J 3.1806876e-06

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_C_G -9.6980124

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_C_H 1.1068786

USE_BATHY 0 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_I -0.0019018035

USE_ICE 0 C_PITCH 2155 MINV_10V 10 SEABIRD_C_J 0.00022417276

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.2 SC_PROFILE 3.0

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_XMITPROFILE 3.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_GAIN 45 PHONE_SUPPLY -2 ES_RECORDABOVE 2000.0

MAX_BUOY 180 PITCH_TIMEOUT 18 PRESSURE_YINT -148.58136 ES_PROFILE 3.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.0001078618 ES_XMITPROFILE 0.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_UPLOADMAX 100000.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 COMPASS_USE 2052 ES_STARTS 11160.0

RHO 1.0275 PITCH_ADJ_DBAND 0 ALTIM_PING_FIT 0 ES_NDIVE 1.0

MASS 55668 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_DL_HEADERSKIP 105044.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_DL_RECORDLENGTH 10086.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_NRECORD 100.0

FERRY_MAX 45 C_ROLL_DIVE 2250 ALTIM_TOP_MIN_OBSTACLE 1 ES_DL_RECORDCOUNT 3.0

KALMAN_USE 2 C_ROLL_CLIMB 2150 ALTIM_PING_DEPTH 0 CP_RECORDABOVE 2000.0

HD_A 0.003 HEAD_ERRBAND 10 ALTIM_PING_DELTA 10 CP_PROFILE 0.0

HD_B 0.0099999998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_XMITPROFILE 0.0

HD_C 1.6100001e-05 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_UPLOADMAX 0.0

HEADING -1 R_PORT_OVSHOOT 52 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 63 XPDR_VALID 6 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 1 D_PITCH 0 MISSION 11 SEABIRD_C_G -9.6980124

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1068786

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0019018035

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022417276

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 0 SEABIRD_T_G 0.0043946085

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.00063626852

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.5989737e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 1 SEABIRD_T_J 3.1806876e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 3 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 400

ALTIM_TOP_MIN_OBSTACLE 1 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0 STROBE 0

APOGEE_PITCH -5 ES_STARTS 11160.0 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 45 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 30 PITCH_VBD_SHIFT 0.0013 T_DIVE 120

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 2052 HD_A 0.003 PITCH_W_GAIN 2 T_GPS 10

COURSE_BIAS 0 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001078618 T_LOITER 0

CP_NDIVE 1.0 HD_C 1.6100001e-05 PRESSURE_YINT -148.58136 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 2

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 2155 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY 0

C_VBD 2970 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 578 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 1030 MASS 55668 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 5 MASS_COMP 0 R_PORT_OVSHOOT 52 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 63 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 180 SC_PROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 200 MINV_10V 10 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0

Pre-dive calculations and measurements:

GPS1 011218,061938,5052.9780,-14200.4941,16,1.0,16,16.3,0.5,20.9,7,6.3 SPEED_LIMITS 0.173,0.279

_CALLS 1 TGT_NAME MLF2_92_TGT

_XMS_NAKs 0 TGT_LATLONG 5052.586,-14150.605

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.74 MHEAD_RNG_PITCHd_Wd 75.0,11552,-15.9,-10.000,-19.74,2642

_SM_ANGLEo -80.3 D_GRID 360

GPS2 011218,063250,5053.0630,-14200.4619,4,1.0,6,16.3,0.4,293.2,7,7.7

Post-dive calculations and measurements:

FINISH -0.2,1.024774 _10V_AH 12.33,0.000

SM_CCo 6007,0.00,0.000,0,0,1313,416.24 FG_AHR_24Vo 0.000

SM_GC 0.63,6.68,0.22,0.00,0.063,0.114,0.000,224,2247,1313,-5.93,-0.88,416.24,0,0,0,0,0,0,14.48,14.42,14.55 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5053.31,-14205.71,011218,001340 MEM 322720

TT8_MAMPS 0.02247,0.899549 DATA_FILE_SIZE 26723,757

HUMID 50.11 CAP_FILE_SIZE 88255,0

INTERNAL_PRESSURE 10.0531 CFSIZE 1024409600,893517824

TCM_TEMP 0.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 102 CURRENT 0.052,56.38,1

SC_FREEKB 3580224 GPS 011218,081500,5053.199,-14159.821,30,1.8,30,16.3,0.8,85.6,5,7.5

_24V_AH 13.05,225.859

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 358 82.35 nil 0 0 0.00

Roll_motor 99 135 175.78 nil 0 0 0.00

VBD_pump_during_apogee 463 1737 10511.85 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 6018 18 1448.34

Iridium_during_xfer 473 205 1267.39 echo 0 0 0.00

Transponder_ping 25 420 139.77 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 8 1.74

TT8 1745 12 268.13

LPSleep 2086 2 56.34

TT8_Active 590 11 85.33

TT8_Sampling 1979 30 742.85

TT8_CF8 384 45 215.19

TT8_Kalman 0 0 0.00

Analog_circuits 1718 16 338.99

GPS_charging 0 0 0.00

Compass 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

20 -0.58 -175.2 130 2213 1378 1358 0.0 0.0 0 121 0.00 0.00 -97.62 0.004 16386 0.000 0.000 129 2214 3171 3190 3153 0 0 0 0 0 0 14.65 28.83 14.68

125 -0.58 -175.2 128 2214 3190 3153 5.0 -13.0 17 152 8.65 2.45 -9.12 0.012 19204 0.358 0.070 1961 854 3673 3708 3639 0 0 0 0 0 0 13.95 13.36 14.35

241 -0.58 -175.2 1961 858 3708 3637 35.5 -13.6 37 248 0.00 2.55 0.00 0.000 1030 0.000 0.070 1953 2209 3672 3708 3637 0 0 0 0 0 0 14.40 14.25 14.43

438 -0.58 -175.2 1953 2210 3708 3637 73.5 -18.0 74 445 0.00 2.72 0.00 0.000 260 0.000 0.093 1942 3667 3672 3708 3637 0 0 0 0 0 0 14.76 14.16 14.78

522 -0.58 -175.2 1942 3667 3708 3637 86.4 -13.6 89 529 0.00 2.45 0.00 0.000 1030 0.000 0.050 1942 2272 3672 3708 3637 0 0 0 0 0 0 14.39 14.28 14.44

718 -0.58 -175.2 1942 2272 3708 3637 119.7 -17.5 115 724 0.00 2.65 0.00 0.000 516 0.000 0.060 1942 831 3672 3708 3637 0 0 0 0 0 0 14.81 14.25 14.80

838 -0.58 -175.2 1942 829 3708 3637 137.7 -14.8 137 844 0.12 2.72 0.00 0.000 3078 0.236 0.074 1961 2256 3670 3707 3634 0 0 0 0 0 0 14.01 14.17 14.24

1058 -0.58 -175.2 1960 2258 3708 3637 166.2 -13.0 159 1063 0.00 2.65 0.00 0.000 260 0.000 0.091 1951 3664 3672 3708 3637 0 0 0 0 0 0 14.76 14.13 14.79

1108 -0.58 -175.2 1949 3664 3708 3637 172.8 -9.9 168 1116 0.00 2.53 0.00 0.000 1030 0.000 0.052 1952 2250 3672 3708 3637 0 0 0 0 0 0 14.37 14.26 14.41

1318 -0.58 -175.2 1950 2249 3708 3637 200.9 -13.7 189 1323 0.00 2.65 0.00 0.000 516 0.000 0.060 1950 830 3672 3708 3637 0 0 0 0 0 0 14.77 14.22 14.79

1407 -0.58 -175.2 1951 829 3707 3637 211.2 -10.7 205 1412 0.00 2.70 0.00 0.000 1030 0.000 0.063 1942 2252 3672 3708 3637 0 0 0 0 0 0 14.23 14.07 14.28

1624 -0.58 -175.2 1941 2252 3708 3637 241.4 -14.8 227 1629 0.00 2.65 0.00 0.000 260 0.000 0.089 1931 3667 3671 3708 3635 0 0 0 0 0 0 14.71 14.08 14.73

1721 -0.58 -175.2 1931 3668 3708 3636 254.3 -12.4 245 1727 0.15 2.53 0.00 0.000 3078 0.214 0.048 1964 2234 3672 3708 3637 0 0 0 0 0 0 13.96 14.25 14.19

1939 -0.58 -175.2 1964 2234 3707 3636 281.4 -12.7 257 1945 0.00 2.58 0.00 0.000 516 0.000 0.060 1965 843 3671 3707 3635 0 0 0 0 0 0 14.71 14.20 14.71

2058 -0.58 -175.2 1965 843 3709 3636 294.9 -10.5 279 2063 0.00 2.67 0.00 0.000 1030 0.000 0.071 1958 2251 3673 3712 3634 0 0 0 0 0 0 14.27 14.13 14.32

2274 -0.58 -175.2 1957 2252 3708 3634 322.4 -13.2 291 2279 0.00 2.65 0.00 0.000 260 0.000 0.090 1948 3664 3675 3716 3634 0 0 0 0 0 0 14.75 14.04 14.78

2361 -0.58 -175.2 1947 3664 3708 3634 332.5 -11.0 307 2366 0.00 2.50 0.00 0.000 1030 0.000 0.050 1947 2243 3671 3708 3634 0 0 0 0 0 0 14.33 14.22 14.36

2563 end dive: TARGET_DEPTH_EXCEEDED

state 2563 begin apogee

2572 -0.11 0.0 1948 2110 3708 3633 360.7 -14.1 320 2713 0.62 0.10 136.45 1.737 10246 0.190 0.135 2113 2157 2970 3033 2907 0 0 0 0 0 0 13.88 14.04 13.17

2715 end apogee: CONTROL_FINISHED_OK

state 2715 begin climb

2718 0.58 175.2 2114 2157 3031 2904 368.1 0.0 327 2869 0.75 2.70 139.77 1.691 11012 0.116 0.063 2352 779 2271 2358 2185 0 0 0 0 0 0 14.11 13.96 13.05

2884 0.72 283.1 2352 779 2358 2183 368.2 5.8 355 2978 0.12 2.60 86.35 1.659 11302 0.118 0.057 2397 2154 1842 1919 1766 0 0 0 0 0 0 14.15 14.09 13.06

3201 0.72 283.1 2397 2154 1918 1753 328.7 13.7 387 3206 0.00 2.58 0.00 0.000 260 0.000 0.085 2398 3561 1835 1918 1753 0 0 0 0 0 0 14.73 14.23 14.75

3321 0.72 283.1 2397 3556 1917 1752 312.0 13.1 410 3328 0.00 2.40 0.00 0.000 1030 0.000 0.052 2407 2187 1834 1917 1752 0 0 0 0 0 0 14.47 14.37 14.53

3528 0.72 283.1 2407 2187 1917 1752 282.5 14.7 421 3534 0.00 2.67 0.00 0.000 516 0.000 0.066 2419 744 1834 1917 1752 0 0 0 0 0 0 14.78 14.31 14.81

3541 0.72 283.1 2418 744 1917 1751 280.1 14.7 423 3547 0.12 2.65 0.00 0.000 5126 0.209 0.058 2392 2158 1834 1917 1751 0 0 0 0 0 0 13.99 14.08 14.22

3758 0.72 283.1 2392 2158 1917 1750 251.2 13.3 435 3764 0.00 2.70 0.00 0.000 516 0.000 0.076 2401 734 1833 1917 1750 0 0 0 0 0 0 14.75 14.28 14.77

3827 0.72 283.1 2401 732 1917 1749 242.4 12.5 447 3832 0.00 2.62 0.00 0.000 1030 0.000 0.057 2401 2150 1833 1917 1749 0 0 0 0 0 0 14.39 14.26 14.45

4043 0.72 283.1 2401 2150 1917 1750 213.2 14.3 469 4049 0.00 2.60 0.00 0.000 260 0.000 0.086 2397 3562 1833 1917 1750 0 0 0 0 0 0 14.77 14.15 14.81

4115 0.72 283.1 2400 3561 1917 1749 202.4 14.4 482 4122 0.00 2.47 0.00 0.000 1030 0.000 0.053 2411 2152 1833 1917 1749 0 0 0 0 0 0 14.40 14.29 14.45

4323 0.72 283.1 2410 2152 1917 1749 173.3 14.6 503 4328 0.00 2.65 0.00 0.000 516 0.000 0.064 2422 736 1833 1917 1750 0 0 0 0 0 0 14.74 14.23 14.77

4411 0.72 283.1 2422 735 1917 1749 160.5 12.9 519 4417 0.15 2.67 0.00 0.000 5126 0.200 0.058 2388 2153 1830 1911 1749 0 0 0 0 0 0 13.92 14.06 14.16

4632 0.72 283.1 2388 2153 1917 1749 133.8 12.1 541 4638 0.00 2.65 0.00 0.000 260 0.000 0.086 2387 3564 1832 1916 1749 0 0 0 0 0 0 14.78 14.09 14.80

4693 0.72 283.1 2388 3564 1917 1748 125.7 13.0 552 4701 0.00 2.53 0.00 0.000 1030 0.000 0.052 2396 2145 1832 1917 1748 0 0 0 0 0 0 14.38 14.27 14.42

4902 0.72 283.1 2396 2146 1924 1748 102.9 10.3 573 4908 0.00 2.65 0.00 0.000 516 0.000 0.064 2407 742 1832 1917 1748 0 0 0 0 0 0 14.76 14.15 14.80

4985 0.72 283.1 2407 741 1917 1748 94.2 11.6 588 4993 0.00 2.65 0.00 0.000 1030 0.000 0.057 2407 2157 1832 1917 1748 0 0 0 0 0 0 14.35 14.20 14.40

5182 0.72 283.1 2407 2157 1917 1747 73.0 11.1 625 5189 0.00 2.65 0.00 0.000 260 0.000 0.084 2407 3567 1832 1917 1748 0 0 0 0 0 0 14.73 14.09 14.77

5225 0.72 283.1 2407 3567 1916 1748 68.3 10.9 632 5233 0.00 2.50 0.00 0.000 1030 0.000 0.053 2413 2145 1832 1917 1748 0 0 0 0 0 0 14.31 14.22 14.35

5425 0.72 283.1 2417 2145 1917 1757 47.6 12.4 669 5432 0.12 2.60 0.00 0.000 4612 0.216 0.062 2393 741 1832 1917 1747 0 0 0 0 0 0 14.00 14.14 14.07

5478 0.81 353.0 2392 742 1917 1747 43.3 7.3 678 5541 0.00 2.62 53.42 1.336 9254 0.000 0.056 2393 2158 1565 1625 1505 0 0 0 0 0 0 14.35 14.22 13.43

5731 0.89 414.5 2393 2158 1622 1497 25.3 7.6 724 5789 0.12 2.60 47.65 1.321 10532 0.139 0.086 2460 3565 1317 1365 1269 0 0 0 0 0 0 14.42 14.29 13.49

5820 0.89 414.5 2466 3566 1363 1268 15.0 13.2 738 5827 0.00 2.50 0.00 0.000 1030 0.000 0.054 2470 2140 1315 1363 1268 0 0 0 0 0 0 14.46 14.36 14.49

5910 end climb: SURFACE_DEPTH_REACHED

state 5910 begin surface coast

5922 end surface coast: CONTROL_FINISHED_OK

state 5925 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.25
MISSION	11	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	578	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	4
N_DIVES	0	SM_CC	400	VBD_MAX	3960	DEVICE1	-1
STOP_T	0	N_FILEKB	8	C_VBD	2970	DEVICE2	-1
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
D_FLARE	3	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE4	-1
D_TGT	360	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_ABORT	1030	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_NO_BLEED	200	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0013	LOGGERS	1
D_BOOST	5	NOCOMM_ACTION	161	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE1	53
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE2	147
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	131
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE4	-1
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	COMPASS_DEVICE	97
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	COMPASS2_DEVICE	150
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	PHONE_DEVICE	49
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	GPS_DEVICE	64
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	RAFOS_DEVICE	-1
T_DIVE	120	N_GPS	100440	LOITER_D_TOP	0	XPDR_DEVICE	24
T_MISSION	150	T_RSLEEP	2	LOITER_D_BOTTOM	0	SIM_W	0
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	SEABIRD_T_G	0.0043946085
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	2	SEABIRD_T_H	0.00063626852
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	SEABIRD_T_I	2.5989737e-05
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_J	3.1806876e-06
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_C_G	-9.6980124
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_C_H	1.1068786
USE_BATHY	0	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_I	-0.0019018035
USE_ICE	0	C_PITCH	2155	MINV_10V	10	SEABIRD_C_J	0.00022417276
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.2	SC_PROFILE	3.0
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_XMITPROFILE	3.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_GAIN	45	PHONE_SUPPLY	-2	ES_RECORDABOVE	2000.0
MAX_BUOY	180	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.58136	ES_PROFILE	3.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.0001078618	ES_XMITPROFILE	0.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_UPLOADMAX	100000.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	COMPASS_USE	2052	ES_STARTS	11160.0
RHO	1.0275	PITCH_ADJ_DBAND	0	ALTIM_PING_FIT	0	ES_NDIVE	1.0
MASS	55668	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_DL_HEADERSKIP	105044.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_DL_RECORDLENGTH	10086.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_NRECORD	100.0
FERRY_MAX	45	C_ROLL_DIVE	2250	ALTIM_TOP_MIN_OBSTACLE	1	ES_DL_RECORDCOUNT	3.0
KALMAN_USE	2	C_ROLL_CLIMB	2150	ALTIM_PING_DEPTH	0	CP_RECORDABOVE	2000.0
HD_A	0.003	HEAD_ERRBAND	10	ALTIM_PING_DELTA	10	CP_PROFILE	0.0
HD_B	0.0099999998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_XMITPROFILE	0.0
HD_C	1.6100001e-05	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_UPLOADMAX	0.0
HEADING	-1	R_PORT_OVSHOOT	52	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	63	XPDR_VALID	6	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003

GPS1	011218,061938,5052.9780,-14200.4941,16,1.0,16,16.3,0.5,20.9,7,6.3	SPEED_LIMITS	0.173,0.279
_CALLS	1	TGT_NAME	MLF2_92_TGT
_XMS_NAKs	0	TGT_LATLONG	5052.586,-14150.605
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.74	MHEAD_RNG_PITCHd_Wd	75.0,11552,-15.9,-10.000,-19.74,2642
_SM_ANGLEo	-80.3	D_GRID	360
GPS2	011218,063250,5053.0630,-14200.4619,4,1.0,6,16.3,0.4,293.2,7,7.7

FINISH	-0.2,1.024774	_10V_AH	12.33,0.000
SM_CCo	6007,0.00,0.000,0,0,1313,416.24	FG_AHR_24Vo	0.000
SM_GC	0.63,6.68,0.22,0.00,0.063,0.114,0.000,224,2247,1313,-5.93,-0.88,416.24,0,0,0,0,0,0,14.48,14.42,14.55	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5053.31,-14205.71,011218,001340	MEM	322720
TT8_MAMPS	0.02247,0.899549	DATA_FILE_SIZE	26723,757
HUMID	50.11	CAP_FILE_SIZE	88255,0
INTERNAL_PRESSURE	10.0531	CFSIZE	1024409600,893517824
TCM_TEMP	0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	102	CURRENT	0.052,56.38,1
SC_FREEKB	3580224	GPS	011218,081500,5053.199,-14159.821,30,1.8,30,16.3,0.8,85.6,5,7.5
_24V_AH	13.05,225.859

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	358	82.35	nil	0	0	0.00
Roll_motor	99	135	175.78	nil	0	0	0.00
VBD_pump_during_apogee	463	1737	10511.85	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	6018	18	1448.34
Iridium_during_xfer	473	205	1267.39	echo	0	0	0.00
Transponder_ping	25	420	139.77	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	8	1.74
TT8	1745	12	268.13
LPSleep	2086	2	56.34
TT8_Active	590	11	85.33
TT8_Sampling	1979	30	742.85
TT8_CF8	384	45	215.19
TT8_Kalman	0	0	0.00
Analog_circuits	1718	16	338.99
GPS_charging	0	0	0.00
Compass	0	0	0.00
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
20	-0.58	-175.2	130	2213	1378	1358	0.0	0.0	0	121	0.00	0.00	-97.62	0.004	16386	0.000	0.000	129	2214	3171	3190	3153	0	0	0	0	0	0	14.65	28.83	14.68
125	-0.58	-175.2	128	2214	3190	3153	5.0	-13.0	17	152	8.65	2.45	-9.12	0.012	19204	0.358	0.070	1961	854	3673	3708	3639	0	0	0	0	0	0	13.95	13.36	14.35
241	-0.58	-175.2	1961	858	3708	3637	35.5	-13.6	37	248	0.00	2.55	0.00	0.000	1030	0.000	0.070	1953	2209	3672	3708	3637	0	0	0	0	0	0	14.40	14.25	14.43
438	-0.58	-175.2	1953	2210	3708	3637	73.5	-18.0	74	445	0.00	2.72	0.00	0.000	260	0.000	0.093	1942	3667	3672	3708	3637	0	0	0	0	0	0	14.76	14.16	14.78
522	-0.58	-175.2	1942	3667	3708	3637	86.4	-13.6	89	529	0.00	2.45	0.00	0.000	1030	0.000	0.050	1942	2272	3672	3708	3637	0	0	0	0	0	0	14.39	14.28	14.44
718	-0.58	-175.2	1942	2272	3708	3637	119.7	-17.5	115	724	0.00	2.65	0.00	0.000	516	0.000	0.060	1942	831	3672	3708	3637	0	0	0	0	0	0	14.81	14.25	14.80
838	-0.58	-175.2	1942	829	3708	3637	137.7	-14.8	137	844	0.12	2.72	0.00	0.000	3078	0.236	0.074	1961	2256	3670	3707	3634	0	0	0	0	0	0	14.01	14.17	14.24
1058	-0.58	-175.2	1960	2258	3708	3637	166.2	-13.0	159	1063	0.00	2.65	0.00	0.000	260	0.000	0.091	1951	3664	3672	3708	3637	0	0	0	0	0	0	14.76	14.13	14.79
1108	-0.58	-175.2	1949	3664	3708	3637	172.8	-9.9	168	1116	0.00	2.53	0.00	0.000	1030	0.000	0.052	1952	2250	3672	3708	3637	0	0	0	0	0	0	14.37	14.26	14.41
1318	-0.58	-175.2	1950	2249	3708	3637	200.9	-13.7	189	1323	0.00	2.65	0.00	0.000	516	0.000	0.060	1950	830	3672	3708	3637	0	0	0	0	0	0	14.77	14.22	14.79
1407	-0.58	-175.2	1951	829	3707	3637	211.2	-10.7	205	1412	0.00	2.70	0.00	0.000	1030	0.000	0.063	1942	2252	3672	3708	3637	0	0	0	0	0	0	14.23	14.07	14.28
1624	-0.58	-175.2	1941	2252	3708	3637	241.4	-14.8	227	1629	0.00	2.65	0.00	0.000	260	0.000	0.089	1931	3667	3671	3708	3635	0	0	0	0	0	0	14.71	14.08	14.73
1721	-0.58	-175.2	1931	3668	3708	3636	254.3	-12.4	245	1727	0.15	2.53	0.00	0.000	3078	0.214	0.048	1964	2234	3672	3708	3637	0	0	0	0	0	0	13.96	14.25	14.19
1939	-0.58	-175.2	1964	2234	3707	3636	281.4	-12.7	257	1945	0.00	2.58	0.00	0.000	516	0.000	0.060	1965	843	3671	3707	3635	0	0	0	0	0	0	14.71	14.20	14.71
2058	-0.58	-175.2	1965	843	3709	3636	294.9	-10.5	279	2063	0.00	2.67	0.00	0.000	1030	0.000	0.071	1958	2251	3673	3712	3634	0	0	0	0	0	0	14.27	14.13	14.32
2274	-0.58	-175.2	1957	2252	3708	3634	322.4	-13.2	291	2279	0.00	2.65	0.00	0.000	260	0.000	0.090	1948	3664	3675	3716	3634	0	0	0	0	0	0	14.75	14.04	14.78
2361	-0.58	-175.2	1947	3664	3708	3634	332.5	-11.0	307	2366	0.00	2.50	0.00	0.000	1030	0.000	0.050	1947	2243	3671	3708	3634	0	0	0	0	0	0	14.33	14.22	14.36
2563	end dive: TARGET_DEPTH_EXCEEDED
state	2563	begin apogee
2572	-0.11	0.0	1948	2110	3708	3633	360.7	-14.1	320	2713	0.62	0.10	136.45	1.737	10246	0.190	0.135	2113	2157	2970	3033	2907	0	0	0	0	0	0	13.88	14.04	13.17
2715	end apogee: CONTROL_FINISHED_OK
state	2715	begin climb
2718	0.58	175.2	2114	2157	3031	2904	368.1	0.0	327	2869	0.75	2.70	139.77	1.691	11012	0.116	0.063	2352	779	2271	2358	2185	0	0	0	0	0	0	14.11	13.96	13.05
2884	0.72	283.1	2352	779	2358	2183	368.2	5.8	355	2978	0.12	2.60	86.35	1.659	11302	0.118	0.057	2397	2154	1842	1919	1766	0	0	0	0	0	0	14.15	14.09	13.06
3201	0.72	283.1	2397	2154	1918	1753	328.7	13.7	387	3206	0.00	2.58	0.00	0.000	260	0.000	0.085	2398	3561	1835	1918	1753	0	0	0	0	0	0	14.73	14.23	14.75
3321	0.72	283.1	2397	3556	1917	1752	312.0	13.1	410	3328	0.00	2.40	0.00	0.000	1030	0.000	0.052	2407	2187	1834	1917	1752	0	0	0	0	0	0	14.47	14.37	14.53
3528	0.72	283.1	2407	2187	1917	1752	282.5	14.7	421	3534	0.00	2.67	0.00	0.000	516	0.000	0.066	2419	744	1834	1917	1752	0	0	0	0	0	0	14.78	14.31	14.81
3541	0.72	283.1	2418	744	1917	1751	280.1	14.7	423	3547	0.12	2.65	0.00	0.000	5126	0.209	0.058	2392	2158	1834	1917	1751	0	0	0	0	0	0	13.99	14.08	14.22
3758	0.72	283.1	2392	2158	1917	1750	251.2	13.3	435	3764	0.00	2.70	0.00	0.000	516	0.000	0.076	2401	734	1833	1917	1750	0	0	0	0	0	0	14.75	14.28	14.77
3827	0.72	283.1	2401	732	1917	1749	242.4	12.5	447	3832	0.00	2.62	0.00	0.000	1030	0.000	0.057	2401	2150	1833	1917	1749	0	0	0	0	0	0	14.39	14.26	14.45
4043	0.72	283.1	2401	2150	1917	1750	213.2	14.3	469	4049	0.00	2.60	0.00	0.000	260	0.000	0.086	2397	3562	1833	1917	1750	0	0	0	0	0	0	14.77	14.15	14.81
4115	0.72	283.1	2400	3561	1917	1749	202.4	14.4	482	4122	0.00	2.47	0.00	0.000	1030	0.000	0.053	2411	2152	1833	1917	1749	0	0	0	0	0	0	14.40	14.29	14.45
4323	0.72	283.1	2410	2152	1917	1749	173.3	14.6	503	4328	0.00	2.65	0.00	0.000	516	0.000	0.064	2422	736	1833	1917	1750	0	0	0	0	0	0	14.74	14.23	14.77
4411	0.72	283.1	2422	735	1917	1749	160.5	12.9	519	4417	0.15	2.67	0.00	0.000	5126	0.200	0.058	2388	2153	1830	1911	1749	0	0	0	0	0	0	13.92	14.06	14.16
4632	0.72	283.1	2388	2153	1917	1749	133.8	12.1	541	4638	0.00	2.65	0.00	0.000	260	0.000	0.086	2387	3564	1832	1916	1749	0	0	0	0	0	0	14.78	14.09	14.80
4693	0.72	283.1	2388	3564	1917	1748	125.7	13.0	552	4701	0.00	2.53	0.00	0.000	1030	0.000	0.052	2396	2145	1832	1917	1748	0	0	0	0	0	0	14.38	14.27	14.42
4902	0.72	283.1	2396	2146	1924	1748	102.9	10.3	573	4908	0.00	2.65	0.00	0.000	516	0.000	0.064	2407	742	1832	1917	1748	0	0	0	0	0	0	14.76	14.15	14.80
4985	0.72	283.1	2407	741	1917	1748	94.2	11.6	588	4993	0.00	2.65	0.00	0.000	1030	0.000	0.057	2407	2157	1832	1917	1748	0	0	0	0	0	0	14.35	14.20	14.40
5182	0.72	283.1	2407	2157	1917	1747	73.0	11.1	625	5189	0.00	2.65	0.00	0.000	260	0.000	0.084	2407	3567	1832	1917	1748	0	0	0	0	0	0	14.73	14.09	14.77
5225	0.72	283.1	2407	3567	1916	1748	68.3	10.9	632	5233	0.00	2.50	0.00	0.000	1030	0.000	0.053	2413	2145	1832	1917	1748	0	0	0	0	0	0	14.31	14.22	14.35
5425	0.72	283.1	2417	2145	1917	1757	47.6	12.4	669	5432	0.12	2.60	0.00	0.000	4612	0.216	0.062	2393	741	1832	1917	1747	0	0	0	0	0	0	14.00	14.14	14.07
5478	0.81	353.0	2392	742	1917	1747	43.3	7.3	678	5541	0.00	2.62	53.42	1.336	9254	0.000	0.056	2393	2158	1565	1625	1505	0	0	0	0	0	0	14.35	14.22	13.43
5731	0.89	414.5	2393	2158	1622	1497	25.3	7.6	724	5789	0.12	2.60	47.65	1.321	10532	0.139	0.086	2460	3565	1317	1365	1269	0	0	0	0	0	0	14.42	14.29	13.49
5820	0.89	414.5	2466	3566	1363	1268	15.0	13.2	738	5827	0.00	2.50	0.00	0.000	1030	0.000	0.054	2470	2140	1315	1363	1268	0	0	0	0	0	0	14.46	14.36	14.49
5910	end climb: SURFACE_DEPTH_REACHED
state	5910	begin surface coast
5922	end surface coast: CONTROL_FINISHED_OK
state	5925	begin surface