Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 580 * 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 580 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 26 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 30 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 580 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 26 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 30 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 011218,101431,5053.3008,-14158.4775,18,0.8,40,16.3,0.3,145.2,11,3.0 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 0.78 MHEAD_RNG_PITCHd_Wd 93.5,9086,-15.9,-10.000,-19.74,2642

_SM_ANGLEo -82.4 D_GRID 360

GPS2 011218,102344,5053.3120,-14158.2949,2,0.6,4,16.3,0.8,82.2,12,4.5

Post-dive calculations and measurements:

FINISH -0.4,1.024854 _10V_AH 12.46,0.000

SM_CCo 6437,4.82,0.229,0,0,1375,400.16 FG_AHR_24Vo 0.000

SM_GC 1.14,6.57,0.20,4.82,0.063,0.083,0.229,219,2290,1375,-5.94,-0.57,400.16,0,0,0,0,0,0,14.52,14.55,14.15 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5052.57,-14158.23,011218,081914 MEM 322792

TT8_MAMPS 0.02247,0.86884 DATA_FILE_SIZE 30062,832

HUMID 50.03 CAP_FILE_SIZE 92380,0

INTERNAL_PRESSURE 10.0629 CFSIZE 1024409600,893321216

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

XPDR_PINGS 122 CURRENT 0.169,103.15,1

SC_FREEKB 3579200 GPS 011218,121252,5053.158,-14156.911,5,1.3,7,16.3,1.0,127.7,5,4.1

_24V_AH 13.09,226.452

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 362 80.69 nil 0 0 0.00

Roll_motor 108 102 146.09 nil 0 0 0.00

VBD_pump_during_apogee 444 1760 10235.20 nil 0 0 0.00

VBD_pump_during_surface 4 228 14.45 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 6498 18 1538.03

Iridium_during_xfer 290 192 732.76 echo 0 0 0.00

Transponder_ping 30 420 167.68 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.62

TT8 1913 12 297.01

LPSleep 2194 2 59.89

TT8_Active 599 11 87.48

TT8_Sampling 1942 30 736.75

TT8_CF8 361 45 204.70

TT8_Kalman 0 0 0.00

Analog_circuits 1592 16 317.43

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

20 -0.58 -175.2 124 2268 1402 1312 0.0 0.0 0 120 0.00 0.00 -97.30 0.004 16386 0.000 0.000 123 2267 3129 3144 3114 0 0 0 0 0 0 14.68 28.83 14.71

124 -0.58 -175.2 124 2267 3147 3113 4.6 -11.8 17 151 8.62 2.58 -10.32 0.011 19204 0.363 0.103 1951 3662 3671 3713 3630 0 0 0 0 0 0 13.97 13.40 14.39

255 -0.58 -175.2 1949 3661 3708 3630 36.9 -16.0 40 263 0.00 2.50 0.00 0.000 1030 0.000 0.047 1950 2239 3665 3700 3630 0 0 0 0 0 0 14.24 14.13 14.26

453 -0.58 -175.2 1956 2239 3707 3631 75.4 -16.8 77 460 0.00 2.58 0.00 0.000 516 0.000 0.063 1950 840 3668 3707 3629 0 0 0 0 0 0 14.71 14.28 14.73

479 -0.58 -175.2 1949 845 3707 3631 80.4 -17.9 81 486 0.00 2.65 0.00 0.000 1030 0.000 0.072 1940 2244 3669 3707 3631 0 0 0 0 0 0 14.33 14.19 14.35

673 -0.58 -175.2 1939 2244 3701 3631 113.8 -17.4 110 678 0.00 2.60 0.00 0.000 516 0.000 0.064 1938 843 3669 3707 3631 0 0 0 0 0 0 14.75 14.25 14.78

759 -0.58 -175.2 1939 842 3707 3632 127.0 -13.7 126 765 0.15 2.67 0.00 0.000 3078 0.238 0.075 1962 2258 3669 3707 3632 0 0 0 0 0 0 14.02 14.22 14.28

979 -0.58 -175.2 1961 2259 3701 3632 157.1 -13.2 148 985 0.00 2.62 0.00 0.000 260 0.000 0.090 1953 3667 3670 3708 3632 0 0 0 0 0 0 14.79 14.19 14.81

994 -0.58 -175.2 1953 3667 3707 3630 159.1 -11.3 150 1000 0.00 2.50 0.00 0.000 1030 0.000 0.055 1953 2248 3669 3708 3631 0 0 0 0 0 0 14.42 14.31 14.42

1211 -0.58 -175.2 1953 2247 3707 3632 189.1 -13.9 172 1217 0.00 2.58 0.00 0.000 516 0.000 0.062 1950 831 3669 3707 3631 0 0 0 0 0 0 14.78 14.26 14.81

1298 -0.58 -175.2 1953 831 3707 3631 200.1 -11.1 188 1305 0.00 2.72 0.00 0.000 1030 0.000 0.076 1945 2262 3669 3708 3631 0 0 0 0 0 0 14.36 14.20 14.40

1516 -0.58 -175.2 1943 2265 3707 3631 231.1 -15.1 210 1521 0.00 2.62 0.00 0.000 260 0.000 0.090 1941 3667 3669 3707 3631 0 0 0 0 0 0 14.78 14.13 14.80

1585 -0.58 -175.2 1934 3668 3707 3631 241.1 -12.2 223 1593 0.12 2.53 0.00 0.000 3078 0.220 0.054 1962 2249 3669 3707 3631 0 0 0 0 0 0 14.02 14.23 14.26

1804 -0.58 -175.2 1961 2248 3717 3631 269.6 -13.4 238 1809 0.00 2.60 0.00 0.000 516 0.000 0.061 1962 830 3668 3707 3630 0 0 0 0 0 0 14.81 14.22 14.81

1911 -0.58 -175.2 1958 829 3707 3630 281.9 -11.2 258 1916 0.00 2.67 0.00 0.000 1030 0.000 0.063 1954 2261 3668 3707 3630 0 0 0 0 0 0 14.33 14.19 14.38

2138 -0.58 -175.2 1954 2262 3707 3629 312.7 -14.0 272 2144 0.00 2.62 0.00 0.000 260 0.000 0.087 1944 3658 3668 3707 3629 0 0 0 0 0 0 14.77 14.10 14.80

2228 -0.58 -175.2 1943 3658 3707 3629 324.4 -12.0 289 2234 0.00 2.50 0.00 0.000 1030 0.000 0.049 1943 2237 3672 3716 3629 0 0 0 0 0 0 14.38 14.28 14.41

2450 -0.58 -175.2 1943 2234 3707 3629 356.5 -14.6 302 2455 0.00 2.58 0.00 0.000 516 0.000 0.060 1944 844 3668 3707 3629 0 0 0 0 0 0 14.77 14.22 14.79

2471 end dive: TARGET_DEPTH_EXCEEDED

state 2471 begin apogee

2482 -0.11 0.0 1936 2161 3707 3628 360.4 -15.2 306 2623 0.65 0.00 136.32 1.760 10246 0.185 0.000 2106 2160 2969 3031 2907 0 0 0 0 0 0 13.95 14.06 13.20

2625 end apogee: CONTROL_FINISHED_OK

state 2625 begin climb

2628 0.58 175.2 2111 2160 3031 2905 368.1 0.0 313 2783 0.75 2.72 138.85 1.681 10756 0.115 0.067 2352 745 2270 2357 2184 0 0 0 0 0 0 14.14 14.00 13.09

2813 0.71 272.4 2351 745 2357 2179 367.6 6.2 347 2899 0.00 2.65 76.95 1.656 9254 0.000 0.057 2352 2163 1884 1965 1804 0 0 0 0 0 0 14.32 14.21 13.18

3110 0.71 272.4 2352 2162 1965 1792 340.7 9.7 376 3115 0.00 2.53 0.00 0.000 260 0.000 0.086 2352 3560 1878 1965 1792 0 0 0 0 0 0 14.75 14.26 14.77

3216 0.71 272.4 2352 3560 1963 1791 329.8 9.9 396 3222 0.00 2.45 0.00 0.000 1030 0.000 0.053 2361 2156 1877 1963 1791 0 0 0 0 0 0 14.50 14.40 14.54

3443 0.71 272.4 2361 2156 1963 1790 306.3 10.5 410 3449 0.00 2.62 0.00 0.000 516 0.000 0.065 2372 739 1876 1963 1790 0 0 0 0 0 0 14.81 14.33 14.82

3577 0.71 272.4 2372 738 1963 1789 293.0 10.0 435 3582 0.00 2.62 0.00 0.000 1030 0.000 0.057 2372 2153 1876 1963 1790 0 0 0 0 0 0 14.44 14.31 14.49

3798 0.71 272.4 2372 2150 1963 1789 269.4 10.4 448 3803 0.00 2.60 0.00 0.000 260 0.000 0.086 2373 3561 1875 1963 1788 0 0 0 0 0 0 14.80 14.19 14.83

3853 0.71 272.4 2372 3559 1963 1789 263.1 10.4 458 3859 0.00 2.47 0.00 0.000 1030 0.000 0.051 2382 2143 1875 1963 1787 0 0 0 0 0 0 14.45 14.35 14.49

4071 0.71 272.4 2381 2143 1962 1789 238.8 11.2 475 4076 0.00 2.62 0.00 0.000 516 0.000 0.063 2393 736 1876 1963 1789 0 0 0 0 0 0 14.76 14.25 14.78

4142 0.71 272.4 2393 735 1963 1788 230.8 12.4 488 4149 0.00 2.67 0.00 0.000 1030 0.000 0.057 2394 2152 1875 1963 1788 0 0 0 0 0 0 14.30 14.15 14.37

4350 0.71 272.4 2392 2153 1965 1788 206.6 11.7 509 4356 0.00 2.60 0.00 0.000 260 0.000 0.084 2393 3559 1875 1964 1787 0 0 0 0 0 0 14.78 13.90 14.81

4411 0.71 272.4 2393 3559 1963 1788 199.0 11.7 520 4418 0.00 2.50 0.00 0.000 1030 0.000 0.051 2399 2148 1873 1959 1788 0 0 0 0 0 0 14.14 14.06 14.19

4619 0.71 272.4 2402 2148 1963 1788 173.8 12.3 541 4625 0.00 2.55 0.00 0.000 516 0.000 0.065 2414 742 1875 1963 1788 0 0 0 0 0 0 14.75 14.25 14.77

4688 0.71 272.4 2414 741 1963 1787 165.3 12.1 553 4694 0.12 2.65 0.00 0.000 5126 0.213 0.059 2387 2154 1875 1963 1787 0 0 0 0 0 0 14.07 14.24 14.31

4908 0.71 272.4 2386 2155 1963 1787 141.3 10.8 575 4913 0.00 2.62 0.00 0.000 260 0.000 0.086 2386 3565 1872 1957 1788 0 0 0 0 0 0 14.76 14.14 14.78

5018 0.71 272.4 2386 3565 1963 1787 129.8 9.8 595 5023 0.00 2.50 0.00 0.000 1030 0.000 0.051 2395 2148 1875 1963 1787 0 0 0 0 0 0 14.40 14.30 14.45

5235 0.73 272.4 2395 2148 1963 1787 109.6 8.9 617 5240 0.00 2.67 0.00 0.000 324 0.000 0.080 2397 3563 1875 1963 1787 0 0 0 0 0 0 14.78 14.15 14.81

5417 0.73 272.4 2394 3564 1963 1787 91.2 9.8 651 5424 0.00 2.50 0.00 0.000 1030 0.000 0.051 2405 2146 1875 1963 1787 0 0 0 0 0 0 14.40 14.29 14.44

5613 0.80 328.4 2404 2147 1963 1787 75.6 7.8 688 5664 0.00 2.65 43.78 1.426 8484 0.000 0.080 2404 3567 1661 1724 1598 0 0 0 0 0 0 14.76 14.09 13.46

5695 0.80 328.4 2404 3567 1722 1598 67.8 10.9 701 5702 0.00 2.50 0.00 0.000 1030 0.000 0.054 2414 2143 1660 1722 1598 0 0 0 0 0 0 14.46 14.37 14.49

5893 0.88 390.1 2415 2144 1722 1594 52.5 7.6 738 5951 0.00 2.62 48.30 1.370 8740 0.000 0.067 2425 739 1415 1464 1366 0 0 0 0 0 0 14.77 14.28 13.47

5999 0.90 390.1 2425 740 1463 1364 42.7 9.3 755 6006 0.00 2.62 0.00 0.000 1094 0.000 0.058 2425 2153 1413 1463 1363 0 0 0 0 0 0 14.46 14.33 14.49

6195 0.90 390.1 2425 2154 1463 1360 22.0 9.7 792 6202 0.00 2.58 0.00 0.000 260 0.000 0.086 2425 3562 1410 1462 1359 0 0 0 0 0 0 14.74 14.28 14.78

6253 0.90 390.1 2425 3568 1462 1359 16.6 10.2 802 6261 0.00 2.47 0.00 0.000 1030 0.000 0.056 2433 2152 1410 1462 1358 0 0 0 0 0 0 14.50 14.38 14.51

6398 end climb: SURFACE_DEPTH_REACHED

state 6399 begin surface coast

6415 end surface coast: CONTROL_FINISHED_OK

state 6416 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	580	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	26	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	30	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	011218,101431,5053.3008,-14158.4775,18,0.8,40,16.3,0.3,145.2,11,3.0	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	0.78	MHEAD_RNG_PITCHd_Wd	93.5,9086,-15.9,-10.000,-19.74,2642
_SM_ANGLEo	-82.4	D_GRID	360
GPS2	011218,102344,5053.3120,-14158.2949,2,0.6,4,16.3,0.8,82.2,12,4.5

FINISH	-0.4,1.024854	_10V_AH	12.46,0.000
SM_CCo	6437,4.82,0.229,0,0,1375,400.16	FG_AHR_24Vo	0.000
SM_GC	1.14,6.57,0.20,4.82,0.063,0.083,0.229,219,2290,1375,-5.94,-0.57,400.16,0,0,0,0,0,0,14.52,14.55,14.15	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5052.57,-14158.23,011218,081914	MEM	322792
TT8_MAMPS	0.02247,0.86884	DATA_FILE_SIZE	30062,832
HUMID	50.03	CAP_FILE_SIZE	92380,0
INTERNAL_PRESSURE	10.0629	CFSIZE	1024409600,893321216
TCM_TEMP	0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	122	CURRENT	0.169,103.15,1
SC_FREEKB	3579200	GPS	011218,121252,5053.158,-14156.911,5,1.3,7,16.3,1.0,127.7,5,4.1
_24V_AH	13.09,226.452

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	362	80.69	nil	0	0	0.00
Roll_motor	108	102	146.09	nil	0	0	0.00
VBD_pump_during_apogee	444	1760	10235.20	nil	0	0	0.00
VBD_pump_during_surface	4	228	14.45	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	6498	18	1538.03
Iridium_during_xfer	290	192	732.76	echo	0	0	0.00
Transponder_ping	30	420	167.68	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.62
TT8	1913	12	297.01
LPSleep	2194	2	59.89
TT8_Active	599	11	87.48
TT8_Sampling	1942	30	736.75
TT8_CF8	361	45	204.70
TT8_Kalman	0	0	0.00
Analog_circuits	1592	16	317.43
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
20	-0.58	-175.2	124	2268	1402	1312	0.0	0.0	0	120	0.00	0.00	-97.30	0.004	16386	0.000	0.000	123	2267	3129	3144	3114	0	0	0	0	0	0	14.68	28.83	14.71
124	-0.58	-175.2	124	2267	3147	3113	4.6	-11.8	17	151	8.62	2.58	-10.32	0.011	19204	0.363	0.103	1951	3662	3671	3713	3630	0	0	0	0	0	0	13.97	13.40	14.39
255	-0.58	-175.2	1949	3661	3708	3630	36.9	-16.0	40	263	0.00	2.50	0.00	0.000	1030	0.000	0.047	1950	2239	3665	3700	3630	0	0	0	0	0	0	14.24	14.13	14.26
453	-0.58	-175.2	1956	2239	3707	3631	75.4	-16.8	77	460	0.00	2.58	0.00	0.000	516	0.000	0.063	1950	840	3668	3707	3629	0	0	0	0	0	0	14.71	14.28	14.73
479	-0.58	-175.2	1949	845	3707	3631	80.4	-17.9	81	486	0.00	2.65	0.00	0.000	1030	0.000	0.072	1940	2244	3669	3707	3631	0	0	0	0	0	0	14.33	14.19	14.35
673	-0.58	-175.2	1939	2244	3701	3631	113.8	-17.4	110	678	0.00	2.60	0.00	0.000	516	0.000	0.064	1938	843	3669	3707	3631	0	0	0	0	0	0	14.75	14.25	14.78
759	-0.58	-175.2	1939	842	3707	3632	127.0	-13.7	126	765	0.15	2.67	0.00	0.000	3078	0.238	0.075	1962	2258	3669	3707	3632	0	0	0	0	0	0	14.02	14.22	14.28
979	-0.58	-175.2	1961	2259	3701	3632	157.1	-13.2	148	985	0.00	2.62	0.00	0.000	260	0.000	0.090	1953	3667	3670	3708	3632	0	0	0	0	0	0	14.79	14.19	14.81
994	-0.58	-175.2	1953	3667	3707	3630	159.1	-11.3	150	1000	0.00	2.50	0.00	0.000	1030	0.000	0.055	1953	2248	3669	3708	3631	0	0	0	0	0	0	14.42	14.31	14.42
1211	-0.58	-175.2	1953	2247	3707	3632	189.1	-13.9	172	1217	0.00	2.58	0.00	0.000	516	0.000	0.062	1950	831	3669	3707	3631	0	0	0	0	0	0	14.78	14.26	14.81
1298	-0.58	-175.2	1953	831	3707	3631	200.1	-11.1	188	1305	0.00	2.72	0.00	0.000	1030	0.000	0.076	1945	2262	3669	3708	3631	0	0	0	0	0	0	14.36	14.20	14.40
1516	-0.58	-175.2	1943	2265	3707	3631	231.1	-15.1	210	1521	0.00	2.62	0.00	0.000	260	0.000	0.090	1941	3667	3669	3707	3631	0	0	0	0	0	0	14.78	14.13	14.80
1585	-0.58	-175.2	1934	3668	3707	3631	241.1	-12.2	223	1593	0.12	2.53	0.00	0.000	3078	0.220	0.054	1962	2249	3669	3707	3631	0	0	0	0	0	0	14.02	14.23	14.26
1804	-0.58	-175.2	1961	2248	3717	3631	269.6	-13.4	238	1809	0.00	2.60	0.00	0.000	516	0.000	0.061	1962	830	3668	3707	3630	0	0	0	0	0	0	14.81	14.22	14.81
1911	-0.58	-175.2	1958	829	3707	3630	281.9	-11.2	258	1916	0.00	2.67	0.00	0.000	1030	0.000	0.063	1954	2261	3668	3707	3630	0	0	0	0	0	0	14.33	14.19	14.38
2138	-0.58	-175.2	1954	2262	3707	3629	312.7	-14.0	272	2144	0.00	2.62	0.00	0.000	260	0.000	0.087	1944	3658	3668	3707	3629	0	0	0	0	0	0	14.77	14.10	14.80
2228	-0.58	-175.2	1943	3658	3707	3629	324.4	-12.0	289	2234	0.00	2.50	0.00	0.000	1030	0.000	0.049	1943	2237	3672	3716	3629	0	0	0	0	0	0	14.38	14.28	14.41
2450	-0.58	-175.2	1943	2234	3707	3629	356.5	-14.6	302	2455	0.00	2.58	0.00	0.000	516	0.000	0.060	1944	844	3668	3707	3629	0	0	0	0	0	0	14.77	14.22	14.79
2471	end dive: TARGET_DEPTH_EXCEEDED
state	2471	begin apogee
2482	-0.11	0.0	1936	2161	3707	3628	360.4	-15.2	306	2623	0.65	0.00	136.32	1.760	10246	0.185	0.000	2106	2160	2969	3031	2907	0	0	0	0	0	0	13.95	14.06	13.20
2625	end apogee: CONTROL_FINISHED_OK
state	2625	begin climb
2628	0.58	175.2	2111	2160	3031	2905	368.1	0.0	313	2783	0.75	2.72	138.85	1.681	10756	0.115	0.067	2352	745	2270	2357	2184	0	0	0	0	0	0	14.14	14.00	13.09
2813	0.71	272.4	2351	745	2357	2179	367.6	6.2	347	2899	0.00	2.65	76.95	1.656	9254	0.000	0.057	2352	2163	1884	1965	1804	0	0	0	0	0	0	14.32	14.21	13.18
3110	0.71	272.4	2352	2162	1965	1792	340.7	9.7	376	3115	0.00	2.53	0.00	0.000	260	0.000	0.086	2352	3560	1878	1965	1792	0	0	0	0	0	0	14.75	14.26	14.77
3216	0.71	272.4	2352	3560	1963	1791	329.8	9.9	396	3222	0.00	2.45	0.00	0.000	1030	0.000	0.053	2361	2156	1877	1963	1791	0	0	0	0	0	0	14.50	14.40	14.54
3443	0.71	272.4	2361	2156	1963	1790	306.3	10.5	410	3449	0.00	2.62	0.00	0.000	516	0.000	0.065	2372	739	1876	1963	1790	0	0	0	0	0	0	14.81	14.33	14.82
3577	0.71	272.4	2372	738	1963	1789	293.0	10.0	435	3582	0.00	2.62	0.00	0.000	1030	0.000	0.057	2372	2153	1876	1963	1790	0	0	0	0	0	0	14.44	14.31	14.49
3798	0.71	272.4	2372	2150	1963	1789	269.4	10.4	448	3803	0.00	2.60	0.00	0.000	260	0.000	0.086	2373	3561	1875	1963	1788	0	0	0	0	0	0	14.80	14.19	14.83
3853	0.71	272.4	2372	3559	1963	1789	263.1	10.4	458	3859	0.00	2.47	0.00	0.000	1030	0.000	0.051	2382	2143	1875	1963	1787	0	0	0	0	0	0	14.45	14.35	14.49
4071	0.71	272.4	2381	2143	1962	1789	238.8	11.2	475	4076	0.00	2.62	0.00	0.000	516	0.000	0.063	2393	736	1876	1963	1789	0	0	0	0	0	0	14.76	14.25	14.78
4142	0.71	272.4	2393	735	1963	1788	230.8	12.4	488	4149	0.00	2.67	0.00	0.000	1030	0.000	0.057	2394	2152	1875	1963	1788	0	0	0	0	0	0	14.30	14.15	14.37
4350	0.71	272.4	2392	2153	1965	1788	206.6	11.7	509	4356	0.00	2.60	0.00	0.000	260	0.000	0.084	2393	3559	1875	1964	1787	0	0	0	0	0	0	14.78	13.90	14.81
4411	0.71	272.4	2393	3559	1963	1788	199.0	11.7	520	4418	0.00	2.50	0.00	0.000	1030	0.000	0.051	2399	2148	1873	1959	1788	0	0	0	0	0	0	14.14	14.06	14.19
4619	0.71	272.4	2402	2148	1963	1788	173.8	12.3	541	4625	0.00	2.55	0.00	0.000	516	0.000	0.065	2414	742	1875	1963	1788	0	0	0	0	0	0	14.75	14.25	14.77
4688	0.71	272.4	2414	741	1963	1787	165.3	12.1	553	4694	0.12	2.65	0.00	0.000	5126	0.213	0.059	2387	2154	1875	1963	1787	0	0	0	0	0	0	14.07	14.24	14.31
4908	0.71	272.4	2386	2155	1963	1787	141.3	10.8	575	4913	0.00	2.62	0.00	0.000	260	0.000	0.086	2386	3565	1872	1957	1788	0	0	0	0	0	0	14.76	14.14	14.78
5018	0.71	272.4	2386	3565	1963	1787	129.8	9.8	595	5023	0.00	2.50	0.00	0.000	1030	0.000	0.051	2395	2148	1875	1963	1787	0	0	0	0	0	0	14.40	14.30	14.45
5235	0.73	272.4	2395	2148	1963	1787	109.6	8.9	617	5240	0.00	2.67	0.00	0.000	324	0.000	0.080	2397	3563	1875	1963	1787	0	0	0	0	0	0	14.78	14.15	14.81
5417	0.73	272.4	2394	3564	1963	1787	91.2	9.8	651	5424	0.00	2.50	0.00	0.000	1030	0.000	0.051	2405	2146	1875	1963	1787	0	0	0	0	0	0	14.40	14.29	14.44
5613	0.80	328.4	2404	2147	1963	1787	75.6	7.8	688	5664	0.00	2.65	43.78	1.426	8484	0.000	0.080	2404	3567	1661	1724	1598	0	0	0	0	0	0	14.76	14.09	13.46
5695	0.80	328.4	2404	3567	1722	1598	67.8	10.9	701	5702	0.00	2.50	0.00	0.000	1030	0.000	0.054	2414	2143	1660	1722	1598	0	0	0	0	0	0	14.46	14.37	14.49
5893	0.88	390.1	2415	2144	1722	1594	52.5	7.6	738	5951	0.00	2.62	48.30	1.370	8740	0.000	0.067	2425	739	1415	1464	1366	0	0	0	0	0	0	14.77	14.28	13.47
5999	0.90	390.1	2425	740	1463	1364	42.7	9.3	755	6006	0.00	2.62	0.00	0.000	1094	0.000	0.058	2425	2153	1413	1463	1363	0	0	0	0	0	0	14.46	14.33	14.49
6195	0.90	390.1	2425	2154	1463	1360	22.0	9.7	792	6202	0.00	2.58	0.00	0.000	260	0.000	0.086	2425	3562	1410	1462	1359	0	0	0	0	0	0	14.74	14.28	14.78
6253	0.90	390.1	2425	3568	1462	1359	16.6	10.2	802	6261	0.00	2.47	0.00	0.000	1030	0.000	0.056	2433	2152	1410	1462	1358	0	0	0	0	0	0	14.50	14.38	14.51
6398	end climb: SURFACE_DEPTH_REACHED
state	6399	begin surface coast
6415	end surface coast: CONTROL_FINISHED_OK
state	6416	begin surface