Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 581 * 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 581 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 44 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 56 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 581 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 44 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 56 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 011218,121252,5053.1577,-14156.9111,5,1.3,7,16.3,1.0,127.7,5,4.1 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 0.77 MHEAD_RNG_PITCHd_Wd 78.3,7264,-15.9,-10.000,-19.74,2642

_SM_ANGLEo -81.7 D_GRID 360

GPS2 011218,122205,5053.1108,-14156.7656,3,1.2,5,16.3,0.5,71.4,6,4.0

Post-dive calculations and measurements:

FINISH -0.2,1.024787 _10V_AH 12.47,0.000

SM_CCo 6596,13.60,0.213,0,0,1376,400.66 FG_AHR_24Vo 0.000

SM_GC 0.89,6.72,0.17,13.60,0.063,0.106,0.213,220,2266,1376,-5.93,-0.79,400.66,0,0,0,0,0,0,14.51,14.50,14.19 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5052.24,-14200.92,011218,101844 MEM 322744

TT8_MAMPS 0.021721,0.77147 DATA_FILE_SIZE 30032,840

HUMID 50.19 CAP_FILE_SIZE 91700,0

INTERNAL_PRESSURE 10.0727 CFSIZE 1024409600,893222912

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

XPDR_PINGS 105 CURRENT 0.120,117.09,1

SC_FREEKB 3578688 GPS 011218,141425,5052.861,-14155.664,13,0.9,30,16.3,0.5,183.7,11,2.5

_24V_AH 12.94,226.743

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 363 81.23 nil 0 0 0.00

Roll_motor 99 136 174.57 nil 0 0 0.00

VBD_pump_during_apogee 430 1761 9821.79 nil 0 0 0.00

VBD_pump_during_surface 13 212 37.43 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 6658 17 1525.02

Iridium_during_xfer 289 196 737.33 echo 0 0 0.00

Transponder_ping 26 420 142.66 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 8 1.68

TT8 1925 12 299.22

LPSleep 2351 2 64.22

TT8_Active 587 11 85.75

TT8_Sampling 1954 30 741.98

TT8_CF8 362 45 205.15

TT8_Kalman 0 0 0.00

Analog_circuits 1582 16 315.78

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 16 begin dive

20 -0.58 -175.2 127 2230 1402 1340 0.0 0.0 0 120 0.00 0.00 -97.25 0.004 16386 0.000 0.000 127 2229 3111 3126 3096 0 0 0 0 0 0 14.68 28.83 14.71

124 -0.58 -175.2 127 2230 3127 3098 4.3 -10.9 17 152 8.60 2.65 -10.73 0.011 19204 0.363 0.103 1948 3627 3672 3711 3633 0 0 0 0 0 0 13.97 12.94 14.38

262 -0.58 -175.2 1948 3627 3712 3633 37.1 -14.4 41 269 0.00 2.40 0.00 0.000 1030 0.000 0.050 1948 2257 3671 3711 3632 0 0 0 0 0 0 14.47 14.36 14.50

458 -0.58 -175.2 1949 2258 3712 3633 77.2 -17.8 78 465 0.00 2.62 0.00 0.000 516 0.000 0.061 1949 834 3674 3713 3635 0 0 0 0 0 0 14.70 14.30 14.72

606 -0.58 -175.2 1948 832 3712 3634 98.0 -11.2 105 613 0.00 2.62 0.00 0.000 1030 0.000 0.070 1938 2222 3673 3711 3636 0 0 0 0 0 0 14.24 14.10 14.28

805 -0.58 -175.2 1938 2222 3712 3635 131.3 -17.6 125 810 0.00 2.67 0.00 0.000 260 0.000 0.087 1928 3670 3673 3712 3634 0 0 0 0 0 0 14.76 13.96 14.81

852 -0.58 -175.2 1927 3670 3711 3634 138.9 -14.4 133 858 0.15 2.50 0.00 0.000 3078 0.217 0.051 1961 2243 3673 3711 3635 0 0 0 0 0 0 14.07 14.32 14.29

1072 -0.58 -175.2 1961 2242 3711 3634 167.9 -12.7 155 1078 0.00 2.55 0.00 0.000 516 0.000 0.060 1961 835 3672 3711 3634 0 0 0 0 0 0 14.75 14.27 14.78

1161 -0.58 -175.2 1961 834 3712 3629 178.1 -9.8 171 1166 0.00 2.67 0.00 0.000 1030 0.000 0.073 1953 2253 3672 3711 3634 0 0 0 0 0 0 14.36 14.20 14.40

1378 -0.58 -175.2 1953 2253 3711 3634 206.8 -13.3 193 1383 0.00 2.62 0.00 0.000 260 0.000 0.088 1943 3667 3672 3711 3634 0 0 0 0 0 0 14.78 14.14 14.81

1456 -0.58 -175.2 1943 3667 3711 3635 215.9 -11.0 207 1462 0.00 2.53 0.00 0.000 1030 0.000 0.051 1943 2248 3673 3712 3634 0 0 0 0 0 0 14.21 14.10 14.25

1673 -0.58 -175.2 1943 2248 3711 3634 246.1 -14.6 229 1678 0.00 2.60 0.00 0.000 516 0.000 0.060 1942 830 3672 3711 3634 0 0 0 0 0 0 14.73 14.23 14.76

1810 -0.58 -175.2 1943 828 3713 3634 262.8 -11.3 254 1816 0.12 2.65 0.00 0.000 3078 0.240 0.062 1960 2249 3672 3711 3633 0 0 0 0 0 0 13.96 14.19 14.20

2033 -0.58 -175.2 1960 2253 3712 3633 290.5 -12.7 267 2038 0.00 2.62 0.00 0.000 260 0.000 0.090 1952 3661 3672 3711 3633 0 0 0 0 0 0 14.76 14.09 14.79

2108 -0.58 -175.2 1952 3661 3707 3633 299.3 -10.5 281 2113 0.00 2.50 0.00 0.000 1030 0.000 0.054 1947 2241 3672 3712 3633 0 0 0 0 0 0 14.33 14.25 14.40

2325 -0.58 -175.2 1948 2240 3712 3632 327.4 -13.3 293 2330 0.00 2.60 0.00 0.000 516 0.000 0.062 1952 834 3672 3712 3632 0 0 0 0 0 0 14.78 13.95 14.80

2448 -0.58 -175.2 1952 834 3712 3632 342.0 -11.0 316 2456 0.00 2.70 0.00 0.000 1030 0.000 0.065 1942 2260 3671 3712 3631 0 0 0 0 0 0 14.31 14.16 14.35

2591 end dive: TARGET_DEPTH_EXCEEDED

state 2591 begin apogee

2600 -0.11 0.0 1941 2123 3712 3631 361.8 -14.4 324 2740 0.65 0.00 136.32 1.762 10246 0.192 0.000 2114 2123 2971 3034 2908 0 0 0 0 0 0 13.92 14.05 13.19

2742 end apogee: CONTROL_FINISHED_OK

state 2742 begin climb

2746 0.58 175.2 2115 2123 3033 2907 369.4 0.0 331 2897 0.73 2.70 138.80 1.686 11012 0.114 0.080 2338 3560 2270 2358 2183 0 0 0 0 0 0 14.14 13.79 13.11

3088 0.65 228.9 2336 3568 2358 2172 356.6 7.9 396 3142 0.00 2.45 43.00 1.694 9254 0.000 0.050 2349 2161 2057 2142 1972 0 0 0 0 0 0 14.28 14.20 13.33

3349 0.66 228.9 2348 2161 2141 1961 333.8 9.4 417 3354 0.00 2.62 0.00 0.000 580 0.000 0.066 2360 740 2051 2141 1961 0 0 0 0 0 0 14.78 14.38 14.81

3431 0.68 228.9 2356 740 2141 1960 325.6 9.1 432 3439 0.00 2.62 0.00 0.000 1094 0.000 0.057 2360 2161 2050 2141 1960 0 0 0 0 0 0 14.49 14.36 14.54

3637 0.68 228.9 2360 2161 2141 1958 305.0 10.2 443 3642 0.00 2.55 0.00 0.000 260 0.000 0.086 2360 3557 2049 2141 1958 0 0 0 0 0 0 14.79 14.27 14.82

3713 0.68 228.9 2359 3558 2141 1957 296.8 10.3 457 3718 0.00 2.47 0.00 0.000 1030 0.000 0.053 2370 2143 2049 2141 1957 0 0 0 0 0 0 14.49 14.40 14.57

3929 0.68 228.9 2370 2144 2141 1956 275.8 9.6 469 3935 0.00 2.62 0.00 0.000 516 0.000 0.066 2381 734 2049 2141 1957 0 0 0 0 0 0 14.81 14.26 14.83

4056 0.70 228.9 2381 734 2141 1957 263.9 9.1 492 4064 0.00 2.65 0.00 0.000 1094 0.000 0.058 2381 2159 2049 2141 1957 0 0 0 0 0 0 14.43 14.30 14.48

4259 0.70 228.9 2381 2160 2141 1957 243.3 10.5 506 4264 0.00 2.62 0.00 0.000 260 0.000 0.084 2381 3562 2048 2141 1956 0 0 0 0 0 0 14.77 14.07 14.80

4308 0.70 228.9 2380 3562 2141 1955 237.7 11.8 515 4316 0.00 2.47 0.00 0.000 1030 0.000 0.053 2391 2152 2048 2141 1956 0 0 0 0 0 0 14.45 14.34 14.50

4517 0.70 228.9 2391 2152 2141 1956 214.7 11.2 536 4523 0.00 2.62 0.00 0.000 516 0.000 0.066 2402 732 2048 2141 1956 0 0 0 0 0 0 14.75 14.27 14.78

4605 0.70 228.9 2402 731 2141 1955 205.2 10.6 552 4611 0.00 2.65 0.00 0.000 1030 0.000 0.058 2402 2150 2048 2141 1955 0 0 0 0 0 0 14.40 14.27 14.46

4822 0.70 228.9 2402 2150 2141 1956 181.3 11.3 574 4827 0.00 2.60 0.00 0.000 260 0.000 0.083 2402 3561 2048 2141 1955 0 0 0 0 0 0 14.78 14.20 14.81

4889 0.70 228.9 2402 3561 2141 1955 173.1 12.0 586 4895 0.15 2.50 0.00 0.000 5126 0.258 0.052 2382 2147 2052 2149 1955 0 0 0 0 0 0 13.88 14.18 14.19

5109 0.70 228.9 2382 2147 2141 1956 151.3 10.2 608 5115 0.00 2.62 0.00 0.000 516 0.000 0.067 2392 742 2048 2141 1955 0 0 0 0 0 0 14.78 14.16 14.81

5243 0.72 228.9 2396 740 2141 1954 138.3 9.2 633 5250 0.00 2.62 0.00 0.000 1094 0.000 0.058 2391 2150 2047 2141 1954 0 0 0 0 0 0 14.40 14.26 14.45

5451 0.72 228.9 2392 2151 2141 1954 118.1 9.6 654 5457 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2146 2047 2141 1954 0 0 0 0 0 0 14.65 14.69 14.69

5662 0.82 306.4 2391 2152 2141 1954 101.6 7.0 675 5728 0.00 2.65 59.92 1.459 8484 0.000 0.083 2391 3561 1750 1817 1683 0 0 0 0 0 0 14.78 14.26 13.45

5827 0.82 306.4 2391 3561 1812 1681 87.1 9.6 704 5835 0.00 2.50 0.00 0.000 1030 0.000 0.053 2401 2137 1746 1812 1681 0 0 0 0 0 0 14.47 14.38 14.50

6026 0.85 306.4 2400 2142 1812 1684 68.8 8.4 741 6033 0.00 2.58 0.00 0.000 580 0.000 0.066 2411 744 1744 1812 1677 0 0 0 0 0 0 14.73 14.35 14.76

6085 0.94 373.9 2411 743 1811 1676 64.3 7.4 751 6149 0.15 2.62 52.78 1.389 11302 0.112 0.058 2470 2159 1478 1523 1434 0 0 0 0 0 0 14.41 14.35 13.44

6340 0.94 373.9 2469 2156 1522 1424 33.3 14.8 797 6347 0.00 2.65 0.00 0.000 516 0.000 0.067 2480 745 1473 1522 1424 0 0 0 0 0 0 14.76 14.35 14.78

6409 0.94 373.9 2480 752 1521 1424 23.2 14.5 809 6416 0.00 2.65 0.00 0.000 1030 0.000 0.062 2481 2147 1472 1521 1424 0 0 0 0 0 0 14.40 14.25 14.46

6563 end climb: SURFACE_DEPTH_REACHED

state 6563 begin surface coast

6574 end surface coast: CONTROL_FINISHED_OK

state 6575 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	581	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	44	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	56	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	011218,121252,5053.1577,-14156.9111,5,1.3,7,16.3,1.0,127.7,5,4.1	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	0.77	MHEAD_RNG_PITCHd_Wd	78.3,7264,-15.9,-10.000,-19.74,2642
_SM_ANGLEo	-81.7	D_GRID	360
GPS2	011218,122205,5053.1108,-14156.7656,3,1.2,5,16.3,0.5,71.4,6,4.0

FINISH	-0.2,1.024787	_10V_AH	12.47,0.000
SM_CCo	6596,13.60,0.213,0,0,1376,400.66	FG_AHR_24Vo	0.000
SM_GC	0.89,6.72,0.17,13.60,0.063,0.106,0.213,220,2266,1376,-5.93,-0.79,400.66,0,0,0,0,0,0,14.51,14.50,14.19	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5052.24,-14200.92,011218,101844	MEM	322744
TT8_MAMPS	0.021721,0.77147	DATA_FILE_SIZE	30032,840
HUMID	50.19	CAP_FILE_SIZE	91700,0
INTERNAL_PRESSURE	10.0727	CFSIZE	1024409600,893222912
TCM_TEMP	0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	105	CURRENT	0.120,117.09,1
SC_FREEKB	3578688	GPS	011218,141425,5052.861,-14155.664,13,0.9,30,16.3,0.5,183.7,11,2.5
_24V_AH	12.94,226.743

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	363	81.23	nil	0	0	0.00
Roll_motor	99	136	174.57	nil	0	0	0.00
VBD_pump_during_apogee	430	1761	9821.79	nil	0	0	0.00
VBD_pump_during_surface	13	212	37.43	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	6658	17	1525.02
Iridium_during_xfer	289	196	737.33	echo	0	0	0.00
Transponder_ping	26	420	142.66	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	8	1.68
TT8	1925	12	299.22
LPSleep	2351	2	64.22
TT8_Active	587	11	85.75
TT8_Sampling	1954	30	741.98
TT8_CF8	362	45	205.15
TT8_Kalman	0	0	0.00
Analog_circuits	1582	16	315.78
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	16	begin dive
20	-0.58	-175.2	127	2230	1402	1340	0.0	0.0	0	120	0.00	0.00	-97.25	0.004	16386	0.000	0.000	127	2229	3111	3126	3096	0	0	0	0	0	0	14.68	28.83	14.71
124	-0.58	-175.2	127	2230	3127	3098	4.3	-10.9	17	152	8.60	2.65	-10.73	0.011	19204	0.363	0.103	1948	3627	3672	3711	3633	0	0	0	0	0	0	13.97	12.94	14.38
262	-0.58	-175.2	1948	3627	3712	3633	37.1	-14.4	41	269	0.00	2.40	0.00	0.000	1030	0.000	0.050	1948	2257	3671	3711	3632	0	0	0	0	0	0	14.47	14.36	14.50
458	-0.58	-175.2	1949	2258	3712	3633	77.2	-17.8	78	465	0.00	2.62	0.00	0.000	516	0.000	0.061	1949	834	3674	3713	3635	0	0	0	0	0	0	14.70	14.30	14.72
606	-0.58	-175.2	1948	832	3712	3634	98.0	-11.2	105	613	0.00	2.62	0.00	0.000	1030	0.000	0.070	1938	2222	3673	3711	3636	0	0	0	0	0	0	14.24	14.10	14.28
805	-0.58	-175.2	1938	2222	3712	3635	131.3	-17.6	125	810	0.00	2.67	0.00	0.000	260	0.000	0.087	1928	3670	3673	3712	3634	0	0	0	0	0	0	14.76	13.96	14.81
852	-0.58	-175.2	1927	3670	3711	3634	138.9	-14.4	133	858	0.15	2.50	0.00	0.000	3078	0.217	0.051	1961	2243	3673	3711	3635	0	0	0	0	0	0	14.07	14.32	14.29
1072	-0.58	-175.2	1961	2242	3711	3634	167.9	-12.7	155	1078	0.00	2.55	0.00	0.000	516	0.000	0.060	1961	835	3672	3711	3634	0	0	0	0	0	0	14.75	14.27	14.78
1161	-0.58	-175.2	1961	834	3712	3629	178.1	-9.8	171	1166	0.00	2.67	0.00	0.000	1030	0.000	0.073	1953	2253	3672	3711	3634	0	0	0	0	0	0	14.36	14.20	14.40
1378	-0.58	-175.2	1953	2253	3711	3634	206.8	-13.3	193	1383	0.00	2.62	0.00	0.000	260	0.000	0.088	1943	3667	3672	3711	3634	0	0	0	0	0	0	14.78	14.14	14.81
1456	-0.58	-175.2	1943	3667	3711	3635	215.9	-11.0	207	1462	0.00	2.53	0.00	0.000	1030	0.000	0.051	1943	2248	3673	3712	3634	0	0	0	0	0	0	14.21	14.10	14.25
1673	-0.58	-175.2	1943	2248	3711	3634	246.1	-14.6	229	1678	0.00	2.60	0.00	0.000	516	0.000	0.060	1942	830	3672	3711	3634	0	0	0	0	0	0	14.73	14.23	14.76
1810	-0.58	-175.2	1943	828	3713	3634	262.8	-11.3	254	1816	0.12	2.65	0.00	0.000	3078	0.240	0.062	1960	2249	3672	3711	3633	0	0	0	0	0	0	13.96	14.19	14.20
2033	-0.58	-175.2	1960	2253	3712	3633	290.5	-12.7	267	2038	0.00	2.62	0.00	0.000	260	0.000	0.090	1952	3661	3672	3711	3633	0	0	0	0	0	0	14.76	14.09	14.79
2108	-0.58	-175.2	1952	3661	3707	3633	299.3	-10.5	281	2113	0.00	2.50	0.00	0.000	1030	0.000	0.054	1947	2241	3672	3712	3633	0	0	0	0	0	0	14.33	14.25	14.40
2325	-0.58	-175.2	1948	2240	3712	3632	327.4	-13.3	293	2330	0.00	2.60	0.00	0.000	516	0.000	0.062	1952	834	3672	3712	3632	0	0	0	0	0	0	14.78	13.95	14.80
2448	-0.58	-175.2	1952	834	3712	3632	342.0	-11.0	316	2456	0.00	2.70	0.00	0.000	1030	0.000	0.065	1942	2260	3671	3712	3631	0	0	0	0	0	0	14.31	14.16	14.35
2591	end dive: TARGET_DEPTH_EXCEEDED
state	2591	begin apogee
2600	-0.11	0.0	1941	2123	3712	3631	361.8	-14.4	324	2740	0.65	0.00	136.32	1.762	10246	0.192	0.000	2114	2123	2971	3034	2908	0	0	0	0	0	0	13.92	14.05	13.19
2742	end apogee: CONTROL_FINISHED_OK
state	2742	begin climb
2746	0.58	175.2	2115	2123	3033	2907	369.4	0.0	331	2897	0.73	2.70	138.80	1.686	11012	0.114	0.080	2338	3560	2270	2358	2183	0	0	0	0	0	0	14.14	13.79	13.11
3088	0.65	228.9	2336	3568	2358	2172	356.6	7.9	396	3142	0.00	2.45	43.00	1.694	9254	0.000	0.050	2349	2161	2057	2142	1972	0	0	0	0	0	0	14.28	14.20	13.33
3349	0.66	228.9	2348	2161	2141	1961	333.8	9.4	417	3354	0.00	2.62	0.00	0.000	580	0.000	0.066	2360	740	2051	2141	1961	0	0	0	0	0	0	14.78	14.38	14.81
3431	0.68	228.9	2356	740	2141	1960	325.6	9.1	432	3439	0.00	2.62	0.00	0.000	1094	0.000	0.057	2360	2161	2050	2141	1960	0	0	0	0	0	0	14.49	14.36	14.54
3637	0.68	228.9	2360	2161	2141	1958	305.0	10.2	443	3642	0.00	2.55	0.00	0.000	260	0.000	0.086	2360	3557	2049	2141	1958	0	0	0	0	0	0	14.79	14.27	14.82
3713	0.68	228.9	2359	3558	2141	1957	296.8	10.3	457	3718	0.00	2.47	0.00	0.000	1030	0.000	0.053	2370	2143	2049	2141	1957	0	0	0	0	0	0	14.49	14.40	14.57
3929	0.68	228.9	2370	2144	2141	1956	275.8	9.6	469	3935	0.00	2.62	0.00	0.000	516	0.000	0.066	2381	734	2049	2141	1957	0	0	0	0	0	0	14.81	14.26	14.83
4056	0.70	228.9	2381	734	2141	1957	263.9	9.1	492	4064	0.00	2.65	0.00	0.000	1094	0.000	0.058	2381	2159	2049	2141	1957	0	0	0	0	0	0	14.43	14.30	14.48
4259	0.70	228.9	2381	2160	2141	1957	243.3	10.5	506	4264	0.00	2.62	0.00	0.000	260	0.000	0.084	2381	3562	2048	2141	1956	0	0	0	0	0	0	14.77	14.07	14.80
4308	0.70	228.9	2380	3562	2141	1955	237.7	11.8	515	4316	0.00	2.47	0.00	0.000	1030	0.000	0.053	2391	2152	2048	2141	1956	0	0	0	0	0	0	14.45	14.34	14.50
4517	0.70	228.9	2391	2152	2141	1956	214.7	11.2	536	4523	0.00	2.62	0.00	0.000	516	0.000	0.066	2402	732	2048	2141	1956	0	0	0	0	0	0	14.75	14.27	14.78
4605	0.70	228.9	2402	731	2141	1955	205.2	10.6	552	4611	0.00	2.65	0.00	0.000	1030	0.000	0.058	2402	2150	2048	2141	1955	0	0	0	0	0	0	14.40	14.27	14.46
4822	0.70	228.9	2402	2150	2141	1956	181.3	11.3	574	4827	0.00	2.60	0.00	0.000	260	0.000	0.083	2402	3561	2048	2141	1955	0	0	0	0	0	0	14.78	14.20	14.81
4889	0.70	228.9	2402	3561	2141	1955	173.1	12.0	586	4895	0.15	2.50	0.00	0.000	5126	0.258	0.052	2382	2147	2052	2149	1955	0	0	0	0	0	0	13.88	14.18	14.19
5109	0.70	228.9	2382	2147	2141	1956	151.3	10.2	608	5115	0.00	2.62	0.00	0.000	516	0.000	0.067	2392	742	2048	2141	1955	0	0	0	0	0	0	14.78	14.16	14.81
5243	0.72	228.9	2396	740	2141	1954	138.3	9.2	633	5250	0.00	2.62	0.00	0.000	1094	0.000	0.058	2391	2150	2047	2141	1954	0	0	0	0	0	0	14.40	14.26	14.45
5451	0.72	228.9	2392	2151	2141	1954	118.1	9.6	654	5457	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2146	2047	2141	1954	0	0	0	0	0	0	14.65	14.69	14.69
5662	0.82	306.4	2391	2152	2141	1954	101.6	7.0	675	5728	0.00	2.65	59.92	1.459	8484	0.000	0.083	2391	3561	1750	1817	1683	0	0	0	0	0	0	14.78	14.26	13.45
5827	0.82	306.4	2391	3561	1812	1681	87.1	9.6	704	5835	0.00	2.50	0.00	0.000	1030	0.000	0.053	2401	2137	1746	1812	1681	0	0	0	0	0	0	14.47	14.38	14.50
6026	0.85	306.4	2400	2142	1812	1684	68.8	8.4	741	6033	0.00	2.58	0.00	0.000	580	0.000	0.066	2411	744	1744	1812	1677	0	0	0	0	0	0	14.73	14.35	14.76
6085	0.94	373.9	2411	743	1811	1676	64.3	7.4	751	6149	0.15	2.62	52.78	1.389	11302	0.112	0.058	2470	2159	1478	1523	1434	0	0	0	0	0	0	14.41	14.35	13.44
6340	0.94	373.9	2469	2156	1522	1424	33.3	14.8	797	6347	0.00	2.65	0.00	0.000	516	0.000	0.067	2480	745	1473	1522	1424	0	0	0	0	0	0	14.76	14.35	14.78
6409	0.94	373.9	2480	752	1521	1424	23.2	14.5	809	6416	0.00	2.65	0.00	0.000	1030	0.000	0.062	2481	2147	1472	1521	1424	0	0	0	0	0	0	14.40	14.25	14.46
6563	end climb: SURFACE_DEPTH_REACHED
state	6563	begin surface coast
6574	end surface coast: CONTROL_FINISHED_OK
state	6575	begin surface