Glider dive log

EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 341 * 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 341 TGT_AUTO_DEFAULT 0 VBD_MIN 500 INT_PRESSURE_YINT -0.25

N_DIVES 341 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 79 ALTIM_SENSITIVITY 5 CP_XMITPROFILE 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 18 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 341 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 341 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 79 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.4 R_STBD_OVSHOOT 18 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 290521,030517,4849.7197,-1450.3451,3,1.2,5,-4.8,0.4,228.2,7,9.4 SPEED_LIMITS 0.084,0.262

_CALLS 2 TGT_NAME MLF2_92_TGT

_XMS_NAKs 0 TGT_LATLONG 4849.318,-1450.220

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.85 MHEAD_RNG_PITCHd_Wd 222.2,814,-48.2,-10.000,-50.00,392

_SM_ANGLEo -35.4 D_GRID 1000

GPS2 290521,031111,4849.7534,-1450.3082,3,1.2,6,-4.8,0.7,54.2,7,9.0

Post-dive calculations and measurements:

FINISH 0.8,1.026968 _10V_AH 13.01,0.000

SM_CCo 4848,232.20,0.931,0,0,1475,375.04 FG_AHR_24Vo 0.000

SM_GC 1.01,6.30,2.72,232.20,0.068,0.070,0.931,228,2827,1475,-4.68,-0.54,375.04,0,0,0,0,0,0,14.63,14.47,13.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4850.54,-1446.61,290521,030600 MEM 293084

TT8_MAMPS 0.023219,1.0119 DATA_FILE_SIZE 23362,653

HUMID 43.81 CAP_FILE_SIZE 82657,0

INTERNAL_PRESSURE 8.41244 CFSIZE 1024409600,965197824

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

XPDR_PINGS 27 CURRENT 0.199,63.00,1

SC_FREEKB 3708864 GPS 290521,043804,4849.775,-1449.876,32,1.6,36,-4.8,0.6,69.5,6,9.1

_24V_AH 12.82,222.382

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 15 348 70.62 nil 0 0 0.00

Roll_motor 50 82 53.44 nil 0 0 0.00

VBD_pump_during_apogee 93 1331 1595.98 nil 0 0 0.00

VBD_pump_during_surface 232 931 2771.42 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 4817 37 2334.61

Iridium_during_xfer 0 0 0.00 echo 0 0 0.00

Transponder_ping 6 420 36.34 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 8 2.15

TT8 1624 12 256.02

LPSleep 1811 2 51.63

TT8_Active 504 11 74.63

TT8_Sampling 1087 30 425.69

TT8_CF8 149 45 87.54

TT8_Kalman 0 0 0.00

Analog_circuits 1025 15 208.18

GPS_charging 0 0 0.00

Compass 1038 2 30.41

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

12 -1.15 -25.4 243 2827 1467 1470 0.0 0.0 0 97 0.00 0.00 -81.10 0.005 16390 0.000 0.000 243 2828 3070 3057 3084 0 0 0 0 0 0 14.85 12.82 14.79

101 -1.19 -57.2 242 2829 3057 3084 2.4 -1.7 14 121 5.10 2.42 -5.00 0.019 18980 0.348 0.055 1379 1453 3193 3166 3221 0 0 0 0 0 0 14.07 13.03 14.50

186 -1.40 -57.2 1369 1448 3166 3223 11.2 -14.5 29 194 0.15 2.58 0.00 0.000 5254 0.101 0.064 1291 2830 3192 3162 3223 0 0 0 0 0 0 14.48 14.43 14.54

382 -1.48 -57.2 1292 2832 3165 3222 45.8 -18.5 66 388 0.00 0.00 0.00 0.000 134 0.000 0.000 1292 2830 3194 3166 3223 0 0 0 0 0 0 14.76 14.80 14.79

575 -1.56 -57.2 1287 2832 3166 3223 80.8 -18.0 103 581 0.00 1.67 0.00 0.000 388 0.000 0.076 1285 3835 3194 3166 3222 0 0 0 0 0 0 14.78 14.46 14.83

646 -1.60 -57.2 1281 3828 3166 3222 94.6 -20.4 116 654 0.12 1.58 0.00 0.000 5254 0.124 0.033 1208 2808 3194 3165 3224 0 0 0 0 0 0 14.46 14.57 14.50

841 -1.62 -57.2 1208 2807 3166 3222 131.9 -19.7 137 847 0.00 2.35 0.00 0.000 644 0.000 0.033 1208 1458 3194 3166 3222 0 0 0 0 0 0 14.81 14.47 14.83

989 -1.67 -57.2 1208 1458 3166 3222 161.3 -19.9 165 996 0.00 2.58 0.00 0.000 1158 0.000 0.060 1198 2829 3199 3175 3223 0 0 0 0 0 0 14.61 14.50 14.64

1186 -1.67 -57.2 1197 2828 3166 3223 201.8 -19.9 185 1193 0.00 2.40 0.00 0.000 516 0.000 0.035 1198 1460 3194 3166 3223 0 0 0 0 0 0 14.83 14.50 14.85

1253 -1.72 -57.2 1197 1461 3166 3223 214.5 -19.2 197 1259 0.00 2.58 0.00 0.000 1158 0.000 0.062 1188 2830 3190 3164 3217 0 0 0 0 0 0 14.54 14.42 14.57

1449 -1.72 -57.2 1188 2830 3166 3221 254.4 -20.6 217 1455 0.00 2.42 0.00 0.000 516 0.000 0.034 1188 1452 3194 3166 3223 0 0 0 0 0 0 14.84 14.59 14.86

1499 -1.76 -57.2 1187 1450 3166 3223 264.6 -20.9 226 1506 0.00 2.60 0.00 0.000 1158 0.000 0.060 1178 2832 3195 3168 3223 0 0 0 0 0 0 14.60 14.49 14.64

1685 -1.76 -57.2 1172 2833 3166 3218 304.0 -21.4 245 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 1178 2833 3194 3166 3223 0 0 0 0 0 0 14.83 14.86 14.85

1875 -1.76 -57.2 1178 2833 3166 3223 344.7 -21.5 264 1882 0.00 0.00 0.00 0.000 6 0.000 0.000 1178 2833 3194 3166 3223 0 0 0 0 0 0 14.85 14.88 14.85

1951 end dive: TARGET_DEPTH_EXCEEDED

state 1951 begin apogee

1959 -0.12 0.0 1178 2833 3166 3223 361.9 -21.4 272 2015 2.22 0.00 46.03 1.331 10246 0.299 0.000 1716 2835 2967 2934 3000 0 0 0 0 0 0 14.03 14.40 13.65

2017 end apogee: CONTROL_FINISHED_OK

state 2017 begin climb

2021 1.19 57.2 1715 2835 2933 3000 366.4 0.0 278 2076 1.33 1.80 47.50 1.322 10500 0.111 0.083 2138 3831 2742 2717 2768 0 0 0 0 0 0 14.38 14.26 13.54

2135 1.31 57.2 2137 3831 2713 2763 358.2 12.7 298 2141 0.08 1.65 0.00 0.000 3206 0.101 0.035 2182 2816 2736 2710 2763 0 0 0 0 0 0 14.29 14.40 14.35

2334 1.44 57.2 2182 2814 2706 2762 335.4 11.4 318 2340 0.12 0.00 0.00 0.000 2182 0.105 0.000 2237 2814 2734 2706 2762 0 0 0 0 0 0 14.56 14.59 14.58

2520 1.52 57.2 2236 2814 2707 2760 310.8 13.3 337 2528 0.00 0.00 0.00 0.000 134 0.000 0.000 2236 2814 2732 2705 2760 0 0 0 0 0 0 14.81 14.84 14.85

2711 1.59 57.2 2243 2814 2705 2760 285.3 13.5 356 2718 0.10 0.00 0.00 0.000 2182 0.162 0.000 2270 2814 2732 2705 2760 0 0 0 0 0 0 14.51 14.62 14.59

2900 1.64 57.2 2270 2814 2705 2759 260.4 12.8 375 2907 0.00 0.00 0.00 0.000 134 0.000 0.000 2271 2814 2731 2704 2759 0 0 0 0 0 0 14.82 14.85 14.82

3091 1.69 57.2 2270 2814 2705 2759 235.5 13.1 394 3096 0.00 2.45 0.00 0.000 644 0.000 0.035 2281 1408 2728 2698 2758 0 0 0 0 0 0 14.84 14.54 14.87

3146 1.78 57.2 2281 1408 2705 2759 228.4 11.4 404 3153 0.15 2.60 0.00 0.000 3206 0.094 0.060 2357 2804 2731 2705 2758 0 0 0 0 0 0 14.63 14.49 14.68

3345 1.76 57.2 2357 2799 2705 2757 201.3 14.3 424 3351 0.15 2.47 0.00 0.000 4740 0.341 0.038 2337 1406 2731 2705 2757 0 0 0 0 0 0 14.09 14.41 14.33

3411 1.81 57.2 2337 1406 2711 2758 192.1 13.1 436 3417 0.00 2.62 0.00 0.000 1158 0.000 0.061 2338 2804 2731 2705 2757 0 0 0 0 0 0 14.62 14.52 14.64

3606 1.81 57.2 2337 2804 2705 2756 166.8 12.7 456 3613 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2804 2730 2705 2756 0 0 0 0 0 0 14.83 14.86 14.85

3796 1.81 57.2 2337 2804 2705 2756 141.8 13.7 475 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2337 2804 2730 2704 2756 0 0 0 0 0 0 14.85 14.88 14.87

3986 1.81 57.2 2337 2804 2705 2764 115.5 13.6 494 3992 0.00 2.50 0.00 0.000 516 0.000 0.038 2347 1410 2730 2705 2756 0 0 0 0 0 0 14.81 14.38 14.85

4226 1.85 57.2 2347 1410 2714 2756 84.5 11.9 540 4234 0.00 2.62 0.00 0.000 1158 0.000 0.059 2347 2802 2733 2705 2761 0 0 0 0 0 0 14.54 14.42 14.58

4421 1.85 57.2 2347 2802 2704 2755 58.7 14.1 577 4428 0.00 1.75 0.00 0.000 260 0.000 0.074 2347 3831 2729 2704 2755 0 0 0 0 0 0 14.81 14.41 14.83

4447 1.81 57.2 2347 3831 2704 2754 54.6 14.8 581 4455 0.00 1.65 0.00 0.000 1158 0.000 0.034 2355 2792 2729 2704 2754 0 0 0 0 0 0 14.48 14.44 14.52

4644 1.81 57.2 2355 2792 2704 2754 26.1 13.9 618 4651 0.00 2.42 0.00 0.000 516 0.000 0.035 2365 1410 2732 2705 2760 0 0 0 0 0 0 14.76 14.52 14.78

4814 end climb: SURFACE_DEPTH_REACHED

state 4814 begin surface coast

4825 end surface coast: CONTROL_FINISHED_OK

state 4825 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	341	TGT_AUTO_DEFAULT	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
N_DIVES	341	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	79	ALTIM_SENSITIVITY	5	CP_XMITPROFILE	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	18	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	290521,030517,4849.7197,-1450.3451,3,1.2,5,-4.8,0.4,228.2,7,9.4	SPEED_LIMITS	0.084,0.262
_CALLS	2	TGT_NAME	MLF2_92_TGT
_XMS_NAKs	0	TGT_LATLONG	4849.318,-1450.220
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.85	MHEAD_RNG_PITCHd_Wd	222.2,814,-48.2,-10.000,-50.00,392
_SM_ANGLEo	-35.4	D_GRID	1000
GPS2	290521,031111,4849.7534,-1450.3082,3,1.2,6,-4.8,0.7,54.2,7,9.0

FINISH	0.8,1.026968	_10V_AH	13.01,0.000
SM_CCo	4848,232.20,0.931,0,0,1475,375.04	FG_AHR_24Vo	0.000
SM_GC	1.01,6.30,2.72,232.20,0.068,0.070,0.931,228,2827,1475,-4.68,-0.54,375.04,0,0,0,0,0,0,14.63,14.47,13.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4850.54,-1446.61,290521,030600	MEM	293084
TT8_MAMPS	0.023219,1.0119	DATA_FILE_SIZE	23362,653
HUMID	43.81	CAP_FILE_SIZE	82657,0
INTERNAL_PRESSURE	8.41244	CFSIZE	1024409600,965197824
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	27	CURRENT	0.199,63.00,1
SC_FREEKB	3708864	GPS	290521,043804,4849.775,-1449.876,32,1.6,36,-4.8,0.6,69.5,6,9.1
_24V_AH	12.82,222.382

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	15	348	70.62	nil	0	0	0.00
Roll_motor	50	82	53.44	nil	0	0	0.00
VBD_pump_during_apogee	93	1331	1595.98	nil	0	0	0.00
VBD_pump_during_surface	232	931	2771.42	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	4817	37	2334.61
Iridium_during_xfer	0	0	0.00	echo	0	0	0.00
Transponder_ping	6	420	36.34	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	8	2.15
TT8	1624	12	256.02
LPSleep	1811	2	51.63
TT8_Active	504	11	74.63
TT8_Sampling	1087	30	425.69
TT8_CF8	149	45	87.54
TT8_Kalman	0	0	0.00
Analog_circuits	1025	15	208.18
GPS_charging	0	0	0.00
Compass	1038	2	30.41
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
12	-1.15	-25.4	243	2827	1467	1470	0.0	0.0	0	97	0.00	0.00	-81.10	0.005	16390	0.000	0.000	243	2828	3070	3057	3084	0	0	0	0	0	0	14.85	12.82	14.79
101	-1.19	-57.2	242	2829	3057	3084	2.4	-1.7	14	121	5.10	2.42	-5.00	0.019	18980	0.348	0.055	1379	1453	3193	3166	3221	0	0	0	0	0	0	14.07	13.03	14.50
186	-1.40	-57.2	1369	1448	3166	3223	11.2	-14.5	29	194	0.15	2.58	0.00	0.000	5254	0.101	0.064	1291	2830	3192	3162	3223	0	0	0	0	0	0	14.48	14.43	14.54
382	-1.48	-57.2	1292	2832	3165	3222	45.8	-18.5	66	388	0.00	0.00	0.00	0.000	134	0.000	0.000	1292	2830	3194	3166	3223	0	0	0	0	0	0	14.76	14.80	14.79
575	-1.56	-57.2	1287	2832	3166	3223	80.8	-18.0	103	581	0.00	1.67	0.00	0.000	388	0.000	0.076	1285	3835	3194	3166	3222	0	0	0	0	0	0	14.78	14.46	14.83
646	-1.60	-57.2	1281	3828	3166	3222	94.6	-20.4	116	654	0.12	1.58	0.00	0.000	5254	0.124	0.033	1208	2808	3194	3165	3224	0	0	0	0	0	0	14.46	14.57	14.50
841	-1.62	-57.2	1208	2807	3166	3222	131.9	-19.7	137	847	0.00	2.35	0.00	0.000	644	0.000	0.033	1208	1458	3194	3166	3222	0	0	0	0	0	0	14.81	14.47	14.83
989	-1.67	-57.2	1208	1458	3166	3222	161.3	-19.9	165	996	0.00	2.58	0.00	0.000	1158	0.000	0.060	1198	2829	3199	3175	3223	0	0	0	0	0	0	14.61	14.50	14.64
1186	-1.67	-57.2	1197	2828	3166	3223	201.8	-19.9	185	1193	0.00	2.40	0.00	0.000	516	0.000	0.035	1198	1460	3194	3166	3223	0	0	0	0	0	0	14.83	14.50	14.85
1253	-1.72	-57.2	1197	1461	3166	3223	214.5	-19.2	197	1259	0.00	2.58	0.00	0.000	1158	0.000	0.062	1188	2830	3190	3164	3217	0	0	0	0	0	0	14.54	14.42	14.57
1449	-1.72	-57.2	1188	2830	3166	3221	254.4	-20.6	217	1455	0.00	2.42	0.00	0.000	516	0.000	0.034	1188	1452	3194	3166	3223	0	0	0	0	0	0	14.84	14.59	14.86
1499	-1.76	-57.2	1187	1450	3166	3223	264.6	-20.9	226	1506	0.00	2.60	0.00	0.000	1158	0.000	0.060	1178	2832	3195	3168	3223	0	0	0	0	0	0	14.60	14.49	14.64
1685	-1.76	-57.2	1172	2833	3166	3218	304.0	-21.4	245	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	1178	2833	3194	3166	3223	0	0	0	0	0	0	14.83	14.86	14.85
1875	-1.76	-57.2	1178	2833	3166	3223	344.7	-21.5	264	1882	0.00	0.00	0.00	0.000	6	0.000	0.000	1178	2833	3194	3166	3223	0	0	0	0	0	0	14.85	14.88	14.85
1951	end dive: TARGET_DEPTH_EXCEEDED
state	1951	begin apogee
1959	-0.12	0.0	1178	2833	3166	3223	361.9	-21.4	272	2015	2.22	0.00	46.03	1.331	10246	0.299	0.000	1716	2835	2967	2934	3000	0	0	0	0	0	0	14.03	14.40	13.65
2017	end apogee: CONTROL_FINISHED_OK
state	2017	begin climb
2021	1.19	57.2	1715	2835	2933	3000	366.4	0.0	278	2076	1.33	1.80	47.50	1.322	10500	0.111	0.083	2138	3831	2742	2717	2768	0	0	0	0	0	0	14.38	14.26	13.54
2135	1.31	57.2	2137	3831	2713	2763	358.2	12.7	298	2141	0.08	1.65	0.00	0.000	3206	0.101	0.035	2182	2816	2736	2710	2763	0	0	0	0	0	0	14.29	14.40	14.35
2334	1.44	57.2	2182	2814	2706	2762	335.4	11.4	318	2340	0.12	0.00	0.00	0.000	2182	0.105	0.000	2237	2814	2734	2706	2762	0	0	0	0	0	0	14.56	14.59	14.58
2520	1.52	57.2	2236	2814	2707	2760	310.8	13.3	337	2528	0.00	0.00	0.00	0.000	134	0.000	0.000	2236	2814	2732	2705	2760	0	0	0	0	0	0	14.81	14.84	14.85
2711	1.59	57.2	2243	2814	2705	2760	285.3	13.5	356	2718	0.10	0.00	0.00	0.000	2182	0.162	0.000	2270	2814	2732	2705	2760	0	0	0	0	0	0	14.51	14.62	14.59
2900	1.64	57.2	2270	2814	2705	2759	260.4	12.8	375	2907	0.00	0.00	0.00	0.000	134	0.000	0.000	2271	2814	2731	2704	2759	0	0	0	0	0	0	14.82	14.85	14.82
3091	1.69	57.2	2270	2814	2705	2759	235.5	13.1	394	3096	0.00	2.45	0.00	0.000	644	0.000	0.035	2281	1408	2728	2698	2758	0	0	0	0	0	0	14.84	14.54	14.87
3146	1.78	57.2	2281	1408	2705	2759	228.4	11.4	404	3153	0.15	2.60	0.00	0.000	3206	0.094	0.060	2357	2804	2731	2705	2758	0	0	0	0	0	0	14.63	14.49	14.68
3345	1.76	57.2	2357	2799	2705	2757	201.3	14.3	424	3351	0.15	2.47	0.00	0.000	4740	0.341	0.038	2337	1406	2731	2705	2757	0	0	0	0	0	0	14.09	14.41	14.33
3411	1.81	57.2	2337	1406	2711	2758	192.1	13.1	436	3417	0.00	2.62	0.00	0.000	1158	0.000	0.061	2338	2804	2731	2705	2757	0	0	0	0	0	0	14.62	14.52	14.64
3606	1.81	57.2	2337	2804	2705	2756	166.8	12.7	456	3613	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2804	2730	2705	2756	0	0	0	0	0	0	14.83	14.86	14.85
3796	1.81	57.2	2337	2804	2705	2756	141.8	13.7	475	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2337	2804	2730	2704	2756	0	0	0	0	0	0	14.85	14.88	14.87
3986	1.81	57.2	2337	2804	2705	2764	115.5	13.6	494	3992	0.00	2.50	0.00	0.000	516	0.000	0.038	2347	1410	2730	2705	2756	0	0	0	0	0	0	14.81	14.38	14.85
4226	1.85	57.2	2347	1410	2714	2756	84.5	11.9	540	4234	0.00	2.62	0.00	0.000	1158	0.000	0.059	2347	2802	2733	2705	2761	0	0	0	0	0	0	14.54	14.42	14.58
4421	1.85	57.2	2347	2802	2704	2755	58.7	14.1	577	4428	0.00	1.75	0.00	0.000	260	0.000	0.074	2347	3831	2729	2704	2755	0	0	0	0	0	0	14.81	14.41	14.83
4447	1.81	57.2	2347	3831	2704	2754	54.6	14.8	581	4455	0.00	1.65	0.00	0.000	1158	0.000	0.034	2355	2792	2729	2704	2754	0	0	0	0	0	0	14.48	14.44	14.52
4644	1.81	57.2	2355	2792	2704	2754	26.1	13.9	618	4651	0.00	2.42	0.00	0.000	516	0.000	0.035	2365	1410	2732	2705	2760	0	0	0	0	0	0	14.76	14.52	14.78
4814	end climb: SURFACE_DEPTH_REACHED
state	4814	begin surface coast
4825	end surface coast: CONTROL_FINISHED_OK
state	4825	begin surface