Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 579 * 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 579 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 27 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 23 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 579 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 27 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 23 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 011218,081500,5053.1992,-14159.8213,30,1.8,30,16.3,0.8,85.6,5,7.5 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 87.3,10702,-15.9,-10.000,-19.74,2642

_SM_ANGLEo -83.1 D_GRID 360

GPS2 011218,082426,5053.2485,-14159.7031,2,0.7,3,16.3,0.3,209.6,12,9.1

Post-dive calculations and measurements:

FINISH 1.0,1.024775 _10V_AH 12.45,0.000

SM_CCo 6470,0.00,0.000,0,0,1369,402.17 FG_AHR_24Vo 0.000

SM_GC 0.70,6.68,2.80,0.00,0.060,0.052,0.000,223,2256,1369,-5.92,-0.85,402.17,0,0,0,0,0,0,14.52,14.42,14.58 FG_AHR_10Vo 0.000

IRIDIUM_FIX 5054.63,-14203.61,011218,062445 MEM 322684

TT8_MAMPS 0.021721,0.543774 DATA_FILE_SIZE 30022,839

HUMID 50.07 CAP_FILE_SIZE 90513,0

INTERNAL_PRESSURE 10.0629 CFSIZE 1024409600,893419520

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

XPDR_PINGS 97 CURRENT 0.151,77.57,1

SC_FREEKB 3579712 GPS 011218,101431,5053.301,-14158.478,18,0.8,40,16.3,0.3,145.2,11,3.0

_24V_AH 12.92,226.156

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 362 80.70 nil 0 0 0.00

Roll_motor 99 102 131.32 nil 0 0 0.00

VBD_pump_during_apogee 450 1755 10223.37 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 6468 17 1475.62

Iridium_during_xfer 307 189 752.64 echo 0 0 0.00

Transponder_ping 24 420 131.59 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 8 1.44

TT8 1910 12 296.42

LPSleep 2236 2 60.99

TT8_Active 591 11 86.23

TT8_Sampling 1963 30 744.06

TT8_CF8 347 45 196.61

TT8_Kalman 0 0 0.00

Analog_circuits 1603 16 319.49

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 -175.2 136 2256 1350 1264 0.0 0.0 0 120 0.00 0.00 -97.10 0.004 16386 0.000 0.000 129 2262 3040 3058 3022 0 0 0 0 0 0 14.67 28.83 14.70

124 -0.58 -175.2 129 2255 3057 3028 3.9 -9.4 17 157 8.60 2.67 -12.43 0.009 19204 0.363 0.103 1950 3677 3670 3711 3630 0 0 0 0 0 0 13.96 12.92 14.34

251 -0.58 -175.2 1949 3677 3711 3630 32.5 -15.3 39 258 0.00 2.50 0.00 0.000 1030 0.000 0.051 1949 2245 3670 3711 3630 0 0 0 0 0 0 14.46 14.36 14.52

449 -0.58 -175.2 1949 2245 3711 3631 74.8 -18.7 76 456 0.00 2.58 0.00 0.000 516 0.000 0.062 1950 842 3671 3712 3631 0 0 0 0 0 0 14.69 14.29 14.68

583 -0.58 -175.2 1949 841 3712 3632 93.8 -12.2 101 591 0.00 2.65 0.00 0.000 1030 0.000 0.073 1940 2256 3671 3711 3631 0 0 0 0 0 0 14.38 14.23 14.42

778 -0.58 -175.2 1940 2256 3712 3632 126.4 -16.3 123 783 0.00 2.65 0.00 0.000 516 0.000 0.064 1940 836 3671 3711 3631 0 0 0 0 0 0 14.80 14.25 14.79

855 -0.58 -175.2 1939 836 3711 3632 137.2 -13.3 137 862 0.15 2.67 0.00 0.000 3078 0.226 0.073 1963 2255 3671 3711 3632 0 0 0 0 0 0 13.85 14.08 14.09

1076 -0.58 -175.2 1962 2256 3711 3632 167.1 -14.0 159 1081 0.00 2.62 0.00 0.000 260 0.000 0.089 1954 3661 3671 3711 3632 0 0 0 0 0 0 14.75 13.95 14.77

1122 -0.58 -175.2 1954 3661 3711 3635 173.7 -11.7 167 1127 0.00 2.47 0.00 0.000 1030 0.000 0.053 1954 2256 3671 3711 3632 0 0 0 0 0 0 14.40 14.28 14.44

1338 -0.58 -175.2 1954 2256 3711 3632 202.5 -13.6 189 1344 0.00 2.62 0.00 0.000 516 0.000 0.060 1954 819 3671 3711 3631 0 0 0 0 0 0 14.74 14.24 14.77

1436 -0.58 -175.2 1954 819 3712 3631 213.3 -10.5 207 1441 0.00 2.72 0.00 0.000 1030 0.000 0.078 1946 2252 3671 3711 3631 0 0 0 0 0 0 14.31 14.14 14.36

1652 -0.58 -175.2 1945 2252 3711 3630 241.6 -13.4 229 1658 0.00 2.62 0.00 0.000 260 0.000 0.090 1935 3663 3671 3711 3631 0 0 0 0 0 0 14.73 14.10 14.76

1733 -0.58 -175.2 1935 3662 3712 3631 251.3 -10.4 244 1741 0.12 2.50 0.00 0.000 3078 0.223 0.054 1962 2244 3670 3711 3630 0 0 0 0 0 0 14.02 14.23 14.23

1940 -0.58 -175.2 1962 2246 3711 3630 274.7 -11.6 255 1945 0.00 2.60 0.00 0.000 516 0.000 0.062 1962 832 3668 3707 3630 0 0 0 0 0 0 14.73 14.13 14.76

2056 -0.58 -175.2 1962 831 3711 3630 286.1 -9.0 277 2062 0.00 2.65 0.00 0.000 1030 0.000 0.062 1954 2253 3670 3711 3629 0 0 0 0 0 0 14.31 14.17 14.36

2273 -0.58 -175.2 1954 2254 3711 3629 310.9 -12.1 289 2279 0.00 2.62 0.00 0.000 260 0.000 0.087 1943 3661 3670 3711 3629 0 0 0 0 0 0 14.72 14.08 14.75

2354 -0.58 -175.2 1944 3661 3711 3628 319.8 -10.0 304 2361 0.00 2.50 0.00 0.000 1030 0.000 0.049 1944 2236 3670 3711 3629 0 0 0 0 0 0 14.37 14.27 14.40

2560 -0.58 -175.2 1943 2235 3705 3628 345.7 -13.2 315 2566 0.00 2.58 0.00 0.000 516 0.000 0.060 1944 844 3669 3711 3628 0 0 0 0 0 0 14.76 14.11 14.78

2675 -0.58 -175.2 1944 843 3713 3628 358.7 -10.3 337 2682 0.12 2.70 0.00 0.000 3078 0.233 0.078 1960 2250 3669 3711 3628 0 0 0 0 0 0 13.72 13.86 13.95

2687 end dive: TARGET_DEPTH_EXCEEDED

state 2687 begin apogee

2696 -0.11 0.0 1961 2138 3710 3627 360.4 -11.0 339 2836 0.55 0.00 136.12 1.756 10246 0.181 0.000 2111 2139 2970 3033 2908 0 0 0 0 0 0 13.96 14.06 13.19

2838 end apogee: CONTROL_FINISHED_OK

state 2838 begin climb

2841 0.58 175.2 2111 2139 3033 2906 366.8 0.0 346 2994 0.75 2.72 139.38 1.681 11012 0.111 0.076 2354 739 2270 2357 2184 0 0 0 0 0 0 14.14 14.00 13.08

3166 0.72 279.6 2353 739 2356 2172 355.1 5.9 406 3255 0.00 2.62 81.95 1.665 9254 0.000 0.062 2354 2152 1855 1933 1777 0 0 0 0 0 0 14.44 14.31 13.26

3467 0.72 279.6 2354 2152 1932 1764 326.0 10.1 436 3472 0.00 2.60 0.00 0.000 260 0.000 0.086 2354 3559 1848 1932 1764 0 0 0 0 0 0 14.73 14.28 14.76

3567 0.72 279.6 2354 3560 1931 1763 314.6 10.9 455 3574 0.00 2.45 0.00 0.000 1030 0.000 0.053 2363 2159 1847 1931 1763 0 0 0 0 0 0 14.50 14.40 14.54

3774 0.72 279.6 2363 2159 1931 1762 291.9 11.2 466 3779 0.00 2.62 0.00 0.000 516 0.000 0.066 2374 734 1846 1931 1762 0 0 0 0 0 0 14.80 14.28 14.83

3910 0.72 279.6 2374 734 1931 1761 277.2 10.5 491 3915 0.00 2.62 0.00 0.000 1030 0.000 0.059 2376 2151 1847 1933 1761 0 0 0 0 0 0 14.45 14.32 14.50

4131 0.72 279.6 2374 2152 1932 1761 252.0 11.3 504 4136 0.00 2.60 0.00 0.000 260 0.000 0.085 2374 3565 1845 1930 1761 0 0 0 0 0 0 14.80 14.21 14.83

4189 0.72 279.6 2374 3565 1932 1760 245.2 11.4 514 4194 0.00 2.47 0.00 0.000 1030 0.000 0.052 2383 2147 1846 1931 1761 0 0 0 0 0 0 14.46 14.35 14.51

4405 0.72 279.6 2385 2146 1931 1760 219.6 12.1 536 4411 0.00 2.60 0.00 0.000 516 0.000 0.065 2395 741 1845 1931 1760 0 0 0 0 0 0 14.80 14.28 14.83

4477 0.72 279.6 2394 742 1932 1760 211.1 11.5 549 4485 0.00 2.62 0.00 0.000 1030 0.000 0.058 2395 2150 1845 1931 1760 0 0 0 0 0 0 14.41 14.28 14.45

4686 0.72 279.6 2394 2150 1931 1760 186.5 12.0 570 4691 0.00 2.60 0.00 0.000 260 0.000 0.084 2396 3557 1845 1931 1760 0 0 0 0 0 0 14.79 14.19 14.82

4775 0.72 279.6 2400 3557 1931 1760 175.1 11.6 586 4780 0.00 2.50 0.00 0.000 1030 0.000 0.051 2404 2150 1845 1931 1760 0 0 0 0 0 0 14.35 14.21 14.42

4992 0.72 279.6 2404 2149 1931 1759 149.4 11.9 608 4997 0.00 2.60 0.00 0.000 516 0.000 0.065 2416 741 1841 1924 1759 0 0 0 0 0 0 14.75 14.29 14.77

5091 0.72 279.6 2415 740 1931 1759 137.7 11.4 626 5096 0.00 2.62 0.00 0.000 1030 0.000 0.058 2416 2150 1843 1931 1756 0 0 0 0 0 0 14.39 14.26 14.45

5307 0.72 279.6 2416 2152 1931 1759 109.1 12.8 648 5314 0.12 0.00 0.00 0.000 4102 0.233 0.000 2384 2151 1845 1931 1759 0 0 0 0 0 0 13.98 14.14 14.08

5520 0.75 279.6 2383 2151 1940 1759 88.1 8.5 681 5527 0.00 2.62 0.00 0.000 580 0.000 0.063 2401 743 1842 1925 1759 0 0 0 0 0 0 14.73 14.27 14.76

5604 0.82 333.9 2392 740 1931 1758 81.3 7.9 696 5655 0.00 2.65 41.97 1.427 9254 0.000 0.057 2392 2157 1641 1704 1578 0 0 0 0 0 0 14.23 14.11 13.44

5845 0.83 333.9 2392 2157 1704 1570 59.8 9.4 740 5852 0.00 2.58 0.00 0.000 324 0.000 0.085 2392 3558 1637 1704 1570 0 0 0 0 0 0 14.78 14.18 14.79

5892 0.84 333.9 2392 3558 1701 1570 55.2 9.4 748 5899 0.00 2.47 0.00 0.000 1094 0.000 0.052 2402 2143 1635 1701 1570 0 0 0 0 0 0 14.50 14.40 14.53

6090 0.93 399.9 2401 2143 1701 1569 40.7 7.4 785 6146 0.12 0.00 51.28 1.359 10534 0.119 0.000 2471 2142 1376 1424 1328 0 0 0 0 0 0 14.53 14.25 13.47

6336 0.93 399.9 2466 2141 1424 1320 7.8 14.4 830 6343 0.00 2.60 0.00 0.000 516 0.000 0.063 2481 736 1371 1424 1319 0 0 0 0 0 0 14.76 14.33 14.79

6380 end climb: SURFACE_DEPTH_REACHED

state 6380 begin surface coast

6386 end surface coast: CONTROL_FINISHED_OK

state 6387 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	579	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	27	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	23	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	011218,081500,5053.1992,-14159.8213,30,1.8,30,16.3,0.8,85.6,5,7.5	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	87.3,10702,-15.9,-10.000,-19.74,2642
_SM_ANGLEo	-83.1	D_GRID	360
GPS2	011218,082426,5053.2485,-14159.7031,2,0.7,3,16.3,0.3,209.6,12,9.1

FINISH	1.0,1.024775	_10V_AH	12.45,0.000
SM_CCo	6470,0.00,0.000,0,0,1369,402.17	FG_AHR_24Vo	0.000
SM_GC	0.70,6.68,2.80,0.00,0.060,0.052,0.000,223,2256,1369,-5.92,-0.85,402.17,0,0,0,0,0,0,14.52,14.42,14.58	FG_AHR_10Vo	0.000
IRIDIUM_FIX	5054.63,-14203.61,011218,062445	MEM	322684
TT8_MAMPS	0.021721,0.543774	DATA_FILE_SIZE	30022,839
HUMID	50.07	CAP_FILE_SIZE	90513,0
INTERNAL_PRESSURE	10.0629	CFSIZE	1024409600,893419520
TCM_TEMP	0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	97	CURRENT	0.151,77.57,1
SC_FREEKB	3579712	GPS	011218,101431,5053.301,-14158.478,18,0.8,40,16.3,0.3,145.2,11,3.0
_24V_AH	12.92,226.156

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	362	80.70	nil	0	0	0.00
Roll_motor	99	102	131.32	nil	0	0	0.00
VBD_pump_during_apogee	450	1755	10223.37	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	6468	17	1475.62
Iridium_during_xfer	307	189	752.64	echo	0	0	0.00
Transponder_ping	24	420	131.59	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	8	1.44
TT8	1910	12	296.42
LPSleep	2236	2	60.99
TT8_Active	591	11	86.23
TT8_Sampling	1963	30	744.06
TT8_CF8	347	45	196.61
TT8_Kalman	0	0	0.00
Analog_circuits	1603	16	319.49
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	136	2256	1350	1264	0.0	0.0	0	120	0.00	0.00	-97.10	0.004	16386	0.000	0.000	129	2262	3040	3058	3022	0	0	0	0	0	0	14.67	28.83	14.70
124	-0.58	-175.2	129	2255	3057	3028	3.9	-9.4	17	157	8.60	2.67	-12.43	0.009	19204	0.363	0.103	1950	3677	3670	3711	3630	0	0	0	0	0	0	13.96	12.92	14.34
251	-0.58	-175.2	1949	3677	3711	3630	32.5	-15.3	39	258	0.00	2.50	0.00	0.000	1030	0.000	0.051	1949	2245	3670	3711	3630	0	0	0	0	0	0	14.46	14.36	14.52
449	-0.58	-175.2	1949	2245	3711	3631	74.8	-18.7	76	456	0.00	2.58	0.00	0.000	516	0.000	0.062	1950	842	3671	3712	3631	0	0	0	0	0	0	14.69	14.29	14.68
583	-0.58	-175.2	1949	841	3712	3632	93.8	-12.2	101	591	0.00	2.65	0.00	0.000	1030	0.000	0.073	1940	2256	3671	3711	3631	0	0	0	0	0	0	14.38	14.23	14.42
778	-0.58	-175.2	1940	2256	3712	3632	126.4	-16.3	123	783	0.00	2.65	0.00	0.000	516	0.000	0.064	1940	836	3671	3711	3631	0	0	0	0	0	0	14.80	14.25	14.79
855	-0.58	-175.2	1939	836	3711	3632	137.2	-13.3	137	862	0.15	2.67	0.00	0.000	3078	0.226	0.073	1963	2255	3671	3711	3632	0	0	0	0	0	0	13.85	14.08	14.09
1076	-0.58	-175.2	1962	2256	3711	3632	167.1	-14.0	159	1081	0.00	2.62	0.00	0.000	260	0.000	0.089	1954	3661	3671	3711	3632	0	0	0	0	0	0	14.75	13.95	14.77
1122	-0.58	-175.2	1954	3661	3711	3635	173.7	-11.7	167	1127	0.00	2.47	0.00	0.000	1030	0.000	0.053	1954	2256	3671	3711	3632	0	0	0	0	0	0	14.40	14.28	14.44
1338	-0.58	-175.2	1954	2256	3711	3632	202.5	-13.6	189	1344	0.00	2.62	0.00	0.000	516	0.000	0.060	1954	819	3671	3711	3631	0	0	0	0	0	0	14.74	14.24	14.77
1436	-0.58	-175.2	1954	819	3712	3631	213.3	-10.5	207	1441	0.00	2.72	0.00	0.000	1030	0.000	0.078	1946	2252	3671	3711	3631	0	0	0	0	0	0	14.31	14.14	14.36
1652	-0.58	-175.2	1945	2252	3711	3630	241.6	-13.4	229	1658	0.00	2.62	0.00	0.000	260	0.000	0.090	1935	3663	3671	3711	3631	0	0	0	0	0	0	14.73	14.10	14.76
1733	-0.58	-175.2	1935	3662	3712	3631	251.3	-10.4	244	1741	0.12	2.50	0.00	0.000	3078	0.223	0.054	1962	2244	3670	3711	3630	0	0	0	0	0	0	14.02	14.23	14.23
1940	-0.58	-175.2	1962	2246	3711	3630	274.7	-11.6	255	1945	0.00	2.60	0.00	0.000	516	0.000	0.062	1962	832	3668	3707	3630	0	0	0	0	0	0	14.73	14.13	14.76
2056	-0.58	-175.2	1962	831	3711	3630	286.1	-9.0	277	2062	0.00	2.65	0.00	0.000	1030	0.000	0.062	1954	2253	3670	3711	3629	0	0	0	0	0	0	14.31	14.17	14.36
2273	-0.58	-175.2	1954	2254	3711	3629	310.9	-12.1	289	2279	0.00	2.62	0.00	0.000	260	0.000	0.087	1943	3661	3670	3711	3629	0	0	0	0	0	0	14.72	14.08	14.75
2354	-0.58	-175.2	1944	3661	3711	3628	319.8	-10.0	304	2361	0.00	2.50	0.00	0.000	1030	0.000	0.049	1944	2236	3670	3711	3629	0	0	0	0	0	0	14.37	14.27	14.40
2560	-0.58	-175.2	1943	2235	3705	3628	345.7	-13.2	315	2566	0.00	2.58	0.00	0.000	516	0.000	0.060	1944	844	3669	3711	3628	0	0	0	0	0	0	14.76	14.11	14.78
2675	-0.58	-175.2	1944	843	3713	3628	358.7	-10.3	337	2682	0.12	2.70	0.00	0.000	3078	0.233	0.078	1960	2250	3669	3711	3628	0	0	0	0	0	0	13.72	13.86	13.95
2687	end dive: TARGET_DEPTH_EXCEEDED
state	2687	begin apogee
2696	-0.11	0.0	1961	2138	3710	3627	360.4	-11.0	339	2836	0.55	0.00	136.12	1.756	10246	0.181	0.000	2111	2139	2970	3033	2908	0	0	0	0	0	0	13.96	14.06	13.19
2838	end apogee: CONTROL_FINISHED_OK
state	2838	begin climb
2841	0.58	175.2	2111	2139	3033	2906	366.8	0.0	346	2994	0.75	2.72	139.38	1.681	11012	0.111	0.076	2354	739	2270	2357	2184	0	0	0	0	0	0	14.14	14.00	13.08
3166	0.72	279.6	2353	739	2356	2172	355.1	5.9	406	3255	0.00	2.62	81.95	1.665	9254	0.000	0.062	2354	2152	1855	1933	1777	0	0	0	0	0	0	14.44	14.31	13.26
3467	0.72	279.6	2354	2152	1932	1764	326.0	10.1	436	3472	0.00	2.60	0.00	0.000	260	0.000	0.086	2354	3559	1848	1932	1764	0	0	0	0	0	0	14.73	14.28	14.76
3567	0.72	279.6	2354	3560	1931	1763	314.6	10.9	455	3574	0.00	2.45	0.00	0.000	1030	0.000	0.053	2363	2159	1847	1931	1763	0	0	0	0	0	0	14.50	14.40	14.54
3774	0.72	279.6	2363	2159	1931	1762	291.9	11.2	466	3779	0.00	2.62	0.00	0.000	516	0.000	0.066	2374	734	1846	1931	1762	0	0	0	0	0	0	14.80	14.28	14.83
3910	0.72	279.6	2374	734	1931	1761	277.2	10.5	491	3915	0.00	2.62	0.00	0.000	1030	0.000	0.059	2376	2151	1847	1933	1761	0	0	0	0	0	0	14.45	14.32	14.50
4131	0.72	279.6	2374	2152	1932	1761	252.0	11.3	504	4136	0.00	2.60	0.00	0.000	260	0.000	0.085	2374	3565	1845	1930	1761	0	0	0	0	0	0	14.80	14.21	14.83
4189	0.72	279.6	2374	3565	1932	1760	245.2	11.4	514	4194	0.00	2.47	0.00	0.000	1030	0.000	0.052	2383	2147	1846	1931	1761	0	0	0	0	0	0	14.46	14.35	14.51
4405	0.72	279.6	2385	2146	1931	1760	219.6	12.1	536	4411	0.00	2.60	0.00	0.000	516	0.000	0.065	2395	741	1845	1931	1760	0	0	0	0	0	0	14.80	14.28	14.83
4477	0.72	279.6	2394	742	1932	1760	211.1	11.5	549	4485	0.00	2.62	0.00	0.000	1030	0.000	0.058	2395	2150	1845	1931	1760	0	0	0	0	0	0	14.41	14.28	14.45
4686	0.72	279.6	2394	2150	1931	1760	186.5	12.0	570	4691	0.00	2.60	0.00	0.000	260	0.000	0.084	2396	3557	1845	1931	1760	0	0	0	0	0	0	14.79	14.19	14.82
4775	0.72	279.6	2400	3557	1931	1760	175.1	11.6	586	4780	0.00	2.50	0.00	0.000	1030	0.000	0.051	2404	2150	1845	1931	1760	0	0	0	0	0	0	14.35	14.21	14.42
4992	0.72	279.6	2404	2149	1931	1759	149.4	11.9	608	4997	0.00	2.60	0.00	0.000	516	0.000	0.065	2416	741	1841	1924	1759	0	0	0	0	0	0	14.75	14.29	14.77
5091	0.72	279.6	2415	740	1931	1759	137.7	11.4	626	5096	0.00	2.62	0.00	0.000	1030	0.000	0.058	2416	2150	1843	1931	1756	0	0	0	0	0	0	14.39	14.26	14.45
5307	0.72	279.6	2416	2152	1931	1759	109.1	12.8	648	5314	0.12	0.00	0.00	0.000	4102	0.233	0.000	2384	2151	1845	1931	1759	0	0	0	0	0	0	13.98	14.14	14.08
5520	0.75	279.6	2383	2151	1940	1759	88.1	8.5	681	5527	0.00	2.62	0.00	0.000	580	0.000	0.063	2401	743	1842	1925	1759	0	0	0	0	0	0	14.73	14.27	14.76
5604	0.82	333.9	2392	740	1931	1758	81.3	7.9	696	5655	0.00	2.65	41.97	1.427	9254	0.000	0.057	2392	2157	1641	1704	1578	0	0	0	0	0	0	14.23	14.11	13.44
5845	0.83	333.9	2392	2157	1704	1570	59.8	9.4	740	5852	0.00	2.58	0.00	0.000	324	0.000	0.085	2392	3558	1637	1704	1570	0	0	0	0	0	0	14.78	14.18	14.79
5892	0.84	333.9	2392	3558	1701	1570	55.2	9.4	748	5899	0.00	2.47	0.00	0.000	1094	0.000	0.052	2402	2143	1635	1701	1570	0	0	0	0	0	0	14.50	14.40	14.53
6090	0.93	399.9	2401	2143	1701	1569	40.7	7.4	785	6146	0.12	0.00	51.28	1.359	10534	0.119	0.000	2471	2142	1376	1424	1328	0	0	0	0	0	0	14.53	14.25	13.47
6336	0.93	399.9	2466	2141	1424	1320	7.8	14.4	830	6343	0.00	2.60	0.00	0.000	516	0.000	0.063	2481	736	1371	1424	1319	0	0	0	0	0	0	14.76	14.33	14.79
6380	end climb: SURFACE_DEPTH_REACHED
state	6380	begin surface coast
6386	end surface coast: CONTROL_FINISHED_OK
state	6387	begin surface