Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 146 * 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 146 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 3

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 11 SEABIRD_C_I -0.0019018035

USE_ICE 0 C_PITCH 2155 MINV_10V 11 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 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 150 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 4 ES_STARTS 296.0

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 55 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 48 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 296.0 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 4 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 3 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 146 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 55 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 48 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 150 SC_PROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 200 MINV_10V 11 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 MINV_24V 11 SC_XMITPROFILE 3.0

Pre-dive calculations and measurements:

GPS1 270818,185008,5037.3037,-14457.9043,21,1.0,21,15.7,0.2,349.9,8,5.1 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5040.206,-14500.348

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.97 MHEAD_RNG_PITCHd_Wd 316.6,6125,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -72.6 D_GRID 360

GPS2 270818,190118,5037.3052,-14457.8408,3,0.7,5,15.7,0.6,104.8,12,3.9

Post-dive calculations and measurements:

FINISH -0.2,1.024044 ES_POWER1 0.000000

SM_CCo 6043,25.83,0.200,0,0,1376,400.16 _24V_AH 13.32,57.354

SM_GC 0.49,6.43,0.17,25.83,0.044,0.112,0.200,213,2276,1376,-5.94,-0.54,400.16,0,0,0,0,0,0,14.57,14.54,14.42 _10V_AH 13.53,0.000

IRIDIUM_FIX 5036.20,-14457.70,270818,131159 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.849366 FG_AHR_10Vo 0.000

HUMID 49.05 MEM 322988

INTERNAL_PRESSURE 10.1117 DATA_FILE_SIZE 26704,747

TCM_TEMP 16.00 CAP_FILE_SIZE 89611,0

XPDR_PINGS 124 CFSIZE 1024409600,985595904

SC_FREEKB 3825440 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14586773504.000000 CURRENT 0.052,85.97,1

ES_POWER 63.370000 GPS 270818,204431,5037.897,-14458.044,20,0.9,20,15.7,0.1,0.0,8,4.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 380 86.14 nil 0 0 0.00

Roll_motor 96 187 240.41 nil 0 0 0.00

VBD_pump_during_apogee 372 1771 8801.46 nil 0 0 0.00

VBD_pump_during_surface 25 199 68.68 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 6050 17 1395.67

Iridium_during_xfer 393 211 1109.77 echo 6035 5 401.93

Transponder_ping 31 420 173.43 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.79

TT8 1789 12 301.76

LPSleep 2541 2 75.30

TT8_Active 540 11 85.61

TT8_Sampling 1597 30 657.98

TT8_CF8 276 45 169.82

TT8_Kalman 0 0 0.00

Analog_circuits 1589 16 344.10

GPS_charging 0 0 0.00

Compass 1078 6 98.34

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.58 -146.0 136 2216 1386 1352 0.0 0.0 0 113 0.00 0.00 -87.88 0.004 16386 0.000 0.000 132 2214 3055 3075 3036 0 0 0 0 0 0 14.64 28.83 14.67

116 -0.58 -146.0 133 2214 3076 3037 4.1 -11.0 15 143 8.45 2.40 -9.73 0.012 18948 0.381 0.076 1959 850 3555 3598 3512 0 0 0 0 0 0 14.26 13.47 14.54

201 -0.58 -146.0 1959 850 3598 3513 29.3 -18.8 30 208 0.00 2.50 0.00 0.000 1030 0.000 0.074 1947 2225 3552 3593 3512 0 0 0 0 0 0 14.59 14.49 14.61

392 -0.58 -146.0 1950 2226 3598 3513 70.9 -20.6 67 399 0.00 2.62 0.00 0.000 260 0.000 0.089 1941 3669 3555 3598 3513 0 0 0 0 0 0 14.75 14.54 14.78

463 -0.58 -146.0 1940 3669 3598 3509 84.4 -17.1 80 470 0.00 2.45 0.00 0.000 1030 0.000 0.054 1941 2271 3555 3598 3512 0 0 0 0 0 0 14.66 14.58 14.68

657 -0.58 -146.0 1940 2271 3605 3513 121.2 -18.6 106 662 0.00 2.50 0.00 0.000 516 0.000 0.059 1940 831 3555 3597 3513 0 0 0 0 0 0 14.82 14.57 14.84

775 -0.58 -146.0 1940 830 3597 3514 140.4 -14.9 129 782 0.15 2.55 0.00 0.000 3078 0.252 0.074 1963 2260 3556 3598 3514 0 0 0 0 0 0 14.50 14.62 14.68

981 -0.58 -146.0 1962 2260 3598 3514 170.3 -15.1 150 986 0.00 2.53 0.00 0.000 260 0.000 0.086 1954 3659 3555 3598 3513 0 0 0 0 0 0 14.78 14.62 14.81

1039 -0.58 -146.0 1954 3659 3598 3513 178.8 -13.7 161 1046 0.00 2.47 0.00 0.000 1030 0.000 0.057 1953 2248 3555 3597 3514 0 0 0 0 0 0 14.73 14.64 14.75

1245 -0.58 -146.0 1950 2251 3598 3511 212.5 -17.3 182 1250 0.00 2.47 0.00 0.000 516 0.000 0.062 1954 829 3555 3597 3513 0 0 0 0 0 0 14.85 14.66 14.88

1278 -0.58 -146.0 1954 829 3598 3513 217.8 -17.0 188 1285 0.00 2.58 0.00 0.000 1030 0.000 0.080 1945 2258 3555 3598 3513 0 0 0 0 0 0 14.73 14.67 14.76

1495 -0.58 -146.0 1944 2259 3598 3512 254.0 -16.3 209 1501 0.00 2.50 0.00 0.000 260 0.000 0.087 1933 3662 3554 3597 3512 0 0 0 0 0 0 14.88 14.66 14.91

1560 -0.58 -146.0 1933 3663 3598 3512 264.1 -13.8 221 1566 0.15 2.50 0.00 0.000 3078 0.243 0.060 1967 2239 3554 3598 3511 0 0 0 0 0 0 14.58 14.70 14.73

1785 -0.58 -146.0 1967 2239 3599 3511 292.1 -12.2 235 1790 0.00 2.42 0.00 0.000 516 0.000 0.063 1968 840 3554 3598 3510 0 0 0 0 0 0 14.89 14.69 14.91

1859 -0.58 -146.0 1967 840 3598 3510 300.4 -10.1 249 1865 0.00 2.53 0.00 0.000 1030 0.000 0.079 1960 2249 3553 3598 3509 0 0 0 0 0 0 14.78 14.67 14.80

2074 -0.58 -146.0 1959 2249 3597 3509 329.0 -14.2 261 2079 0.00 2.55 0.00 0.000 260 0.000 0.086 1949 3678 3553 3598 3509 0 0 0 0 0 0 14.90 14.72 14.92

2147 -0.58 -146.0 1948 3676 3597 3508 338.9 -12.6 275 2153 0.00 2.50 0.00 0.000 1030 0.000 0.057 1949 2248 3552 3597 3507 0 0 0 0 0 0 14.78 14.71 14.80

2298 end dive: TARGET_DEPTH_EXCEEDED

state 2298 begin apogee

2305 -0.11 0.0 1949 2110 3597 3506 361.8 -15.4 284 2422 0.60 0.08 110.10 1.772 10246 0.222 0.135 2110 2163 2970 3037 2903 0 0 0 0 0 0 14.59 14.10 13.47

2426 end apogee: CONTROL_FINISHED_OK

state 2426 begin climb

2428 0.58 146.0 2110 2163 3037 2899 368.4 0.0 290 2547 0.77 0.00 112.85 1.691 10246 0.144 0.000 2337 2163 2389 2471 2308 0 0 0 0 0 0 14.09 13.94 13.32

2743 0.66 209.3 2337 2163 2471 2293 353.6 7.1 306 2799 0.00 2.62 49.15 1.694 8484 0.000 0.080 2337 3552 2140 2230 2051 0 0 0 0 0 0 14.52 13.99 13.50

2850 0.69 209.3 2337 3552 2221 2046 345.1 8.8 326 2856 0.00 2.50 0.00 0.000 1094 0.000 0.067 2344 2196 2134 2223 2046 0 0 0 0 0 0 14.29 14.21 14.31

3074 0.72 209.3 2345 2189 2221 2039 325.9 8.2 340 3081 0.12 2.62 0.00 0.000 2628 0.120 0.066 2410 723 2130 2221 2039 0 0 0 0 0 0 14.49 14.45 14.52

3154 0.72 209.3 2410 722 2222 2039 317.3 11.1 355 3161 0.00 2.55 0.00 0.000 1030 0.000 0.057 2409 2153 2130 2221 2039 0 0 0 0 0 0 14.57 14.50 14.59

3359 0.72 209.3 2410 2154 2229 2037 291.9 12.6 366 3365 0.00 2.53 0.00 0.000 260 0.000 0.080 2410 3560 2129 2221 2037 0 0 0 0 0 0 14.76 14.54 14.79

3429 0.72 209.3 2410 3560 2221 2037 282.8 13.9 379 3435 0.15 2.50 0.00 0.000 5126 0.295 0.054 2390 2136 2129 2221 2037 0 0 0 0 0 0 14.40 14.53 14.60

3649 0.72 209.3 2390 2136 2217 2034 260.1 10.3 392 3655 0.00 2.50 0.00 0.000 516 0.000 0.067 2407 734 2127 2221 2034 0 0 0 0 0 0 14.82 14.50 14.85

3728 0.72 209.3 2400 734 2221 2034 250.9 12.0 407 3735 0.00 2.50 0.00 0.000 1030 0.000 0.057 2400 2152 2127 2221 2033 0 0 0 0 0 0 14.66 14.58 14.69

3934 0.72 209.3 2400 2156 2222 2033 225.5 12.8 427 3939 0.00 2.53 0.00 0.000 260 0.000 0.080 2400 3565 2127 2222 2033 0 0 0 0 0 0 14.83 14.63 14.86

3998 0.72 209.3 2400 3564 2221 2042 216.5 15.7 439 4004 0.00 2.47 0.00 0.000 1030 0.000 0.054 2411 2149 2127 2221 2033 0 0 0 0 0 0 14.69 14.62 14.71

4212 0.72 209.3 2411 2149 2221 2033 186.8 14.2 461 4218 0.00 2.50 0.00 0.000 516 0.000 0.067 2422 731 2128 2224 2033 0 0 0 0 0 0 14.81 14.67 14.84

4260 0.72 209.3 2422 731 2221 2032 179.9 13.7 470 4267 0.15 2.53 0.00 0.000 5126 0.230 0.056 2387 2168 2126 2221 2032 0 0 0 0 0 0 14.57 14.63 14.76

4469 0.72 209.3 2387 2169 2221 2031 154.5 12.4 491 4475 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2169 2126 2221 2031 0 0 0 0 0 0 14.90 14.92 14.90

4676 0.72 209.3 2386 2169 2221 2031 129.9 11.0 512 4683 0.00 2.50 0.00 0.000 260 0.000 0.080 2387 3557 2128 2225 2031 0 0 0 0 0 0 14.86 14.65 14.90

4761 0.72 209.3 2386 3557 2221 2030 120.5 10.5 528 4768 0.00 2.45 0.00 0.000 1030 0.000 0.054 2396 2149 2126 2222 2031 0 0 0 0 0 0 14.76 14.69 14.78

4976 0.84 295.6 2396 2145 2222 2030 103.3 6.0 550 5050 0.00 2.60 64.57 1.479 8740 0.000 0.070 2407 744 1788 1866 1711 0 0 0 0 0 0 14.86 14.28 13.72

5090 0.84 295.6 2407 744 1864 1715 94.6 10.3 570 5097 0.00 2.53 0.00 0.000 1030 0.000 0.055 2407 2149 1787 1864 1711 0 0 0 0 0 0 14.40 14.33 14.42

5281 0.84 295.6 2407 2150 1871 1707 72.4 11.6 607 5288 0.00 2.55 0.00 0.000 260 0.000 0.079 2407 3557 1785 1864 1707 0 0 0 0 0 0 14.65 14.47 14.67

5321 0.84 295.6 2407 3556 1864 1707 67.6 12.1 614 5328 0.00 2.50 0.00 0.000 1030 0.000 0.055 2418 2144 1784 1862 1707 0 0 0 0 0 0 14.59 14.52 14.62

5513 0.86 295.6 2417 2144 1856 1705 47.9 8.8 651 5520 0.00 2.62 0.00 0.000 324 0.000 0.091 2418 3562 1783 1861 1705 0 0 0 0 0 0 14.69 14.55 14.73

5588 0.86 295.6 2417 3562 1861 1705 40.9 10.0 665 5595 0.00 2.53 0.00 0.000 1030 0.000 0.059 2426 2145 1783 1861 1705 0 0 0 0 0 0 14.59 14.52 14.60

5780 0.92 345.6 2428 2144 1861 1704 25.2 7.7 702 5824 0.00 2.58 36.28 1.373 8740 0.000 0.071 2438 741 1595 1658 1533 0 0 0 0 0 0 14.81 14.38 13.83

5872 0.92 345.6 2438 741 1656 1533 16.9 9.5 718 5879 0.00 2.55 0.00 0.000 1030 0.000 0.065 2439 2159 1593 1655 1532 0 0 0 0 0 0 14.51 14.43 14.53

6006 end climb: SURFACE_DEPTH_REACHED

state 6006 begin surface coast

6023 end surface coast: CONTROL_FINISHED_OK

state 6023 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	146	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	3
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	11	SEABIRD_C_I	-0.0019018035
USE_ICE	0	C_PITCH	2155	MINV_10V	11	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	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	150	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	4	ES_STARTS	296.0
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	55	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	48	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	270818,185008,5037.3037,-14457.9043,21,1.0,21,15.7,0.2,349.9,8,5.1	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5040.206,-14500.348
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.97	MHEAD_RNG_PITCHd_Wd	316.6,6125,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-72.6	D_GRID	360
GPS2	270818,190118,5037.3052,-14457.8408,3,0.7,5,15.7,0.6,104.8,12,3.9

FINISH	-0.2,1.024044	ES_POWER1	0.000000
SM_CCo	6043,25.83,0.200,0,0,1376,400.16	_24V_AH	13.32,57.354
SM_GC	0.49,6.43,0.17,25.83,0.044,0.112,0.200,213,2276,1376,-5.94,-0.54,400.16,0,0,0,0,0,0,14.57,14.54,14.42	_10V_AH	13.53,0.000
IRIDIUM_FIX	5036.20,-14457.70,270818,131159	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.849366	FG_AHR_10Vo	0.000
HUMID	49.05	MEM	322988
INTERNAL_PRESSURE	10.1117	DATA_FILE_SIZE	26704,747
TCM_TEMP	16.00	CAP_FILE_SIZE	89611,0
XPDR_PINGS	124	CFSIZE	1024409600,985595904
SC_FREEKB	3825440	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14586773504.000000	CURRENT	0.052,85.97,1
ES_POWER	63.370000	GPS	270818,204431,5037.897,-14458.044,20,0.9,20,15.7,0.1,0.0,8,4.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	380	86.14	nil	0	0	0.00
Roll_motor	96	187	240.41	nil	0	0	0.00
VBD_pump_during_apogee	372	1771	8801.46	nil	0	0	0.00
VBD_pump_during_surface	25	199	68.68	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	6050	17	1395.67
Iridium_during_xfer	393	211	1109.77	echo	6035	5	401.93
Transponder_ping	31	420	173.43	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.79
TT8	1789	12	301.76
LPSleep	2541	2	75.30
TT8_Active	540	11	85.61
TT8_Sampling	1597	30	657.98
TT8_CF8	276	45	169.82
TT8_Kalman	0	0	0.00
Analog_circuits	1589	16	344.10
GPS_charging	0	0	0.00
Compass	1078	6	98.34
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.58	-146.0	136	2216	1386	1352	0.0	0.0	0	113	0.00	0.00	-87.88	0.004	16386	0.000	0.000	132	2214	3055	3075	3036	0	0	0	0	0	0	14.64	28.83	14.67
116	-0.58	-146.0	133	2214	3076	3037	4.1	-11.0	15	143	8.45	2.40	-9.73	0.012	18948	0.381	0.076	1959	850	3555	3598	3512	0	0	0	0	0	0	14.26	13.47	14.54
201	-0.58	-146.0	1959	850	3598	3513	29.3	-18.8	30	208	0.00	2.50	0.00	0.000	1030	0.000	0.074	1947	2225	3552	3593	3512	0	0	0	0	0	0	14.59	14.49	14.61
392	-0.58	-146.0	1950	2226	3598	3513	70.9	-20.6	67	399	0.00	2.62	0.00	0.000	260	0.000	0.089	1941	3669	3555	3598	3513	0	0	0	0	0	0	14.75	14.54	14.78
463	-0.58	-146.0	1940	3669	3598	3509	84.4	-17.1	80	470	0.00	2.45	0.00	0.000	1030	0.000	0.054	1941	2271	3555	3598	3512	0	0	0	0	0	0	14.66	14.58	14.68
657	-0.58	-146.0	1940	2271	3605	3513	121.2	-18.6	106	662	0.00	2.50	0.00	0.000	516	0.000	0.059	1940	831	3555	3597	3513	0	0	0	0	0	0	14.82	14.57	14.84
775	-0.58	-146.0	1940	830	3597	3514	140.4	-14.9	129	782	0.15	2.55	0.00	0.000	3078	0.252	0.074	1963	2260	3556	3598	3514	0	0	0	0	0	0	14.50	14.62	14.68
981	-0.58	-146.0	1962	2260	3598	3514	170.3	-15.1	150	986	0.00	2.53	0.00	0.000	260	0.000	0.086	1954	3659	3555	3598	3513	0	0	0	0	0	0	14.78	14.62	14.81
1039	-0.58	-146.0	1954	3659	3598	3513	178.8	-13.7	161	1046	0.00	2.47	0.00	0.000	1030	0.000	0.057	1953	2248	3555	3597	3514	0	0	0	0	0	0	14.73	14.64	14.75
1245	-0.58	-146.0	1950	2251	3598	3511	212.5	-17.3	182	1250	0.00	2.47	0.00	0.000	516	0.000	0.062	1954	829	3555	3597	3513	0	0	0	0	0	0	14.85	14.66	14.88
1278	-0.58	-146.0	1954	829	3598	3513	217.8	-17.0	188	1285	0.00	2.58	0.00	0.000	1030	0.000	0.080	1945	2258	3555	3598	3513	0	0	0	0	0	0	14.73	14.67	14.76
1495	-0.58	-146.0	1944	2259	3598	3512	254.0	-16.3	209	1501	0.00	2.50	0.00	0.000	260	0.000	0.087	1933	3662	3554	3597	3512	0	0	0	0	0	0	14.88	14.66	14.91
1560	-0.58	-146.0	1933	3663	3598	3512	264.1	-13.8	221	1566	0.15	2.50	0.00	0.000	3078	0.243	0.060	1967	2239	3554	3598	3511	0	0	0	0	0	0	14.58	14.70	14.73
1785	-0.58	-146.0	1967	2239	3599	3511	292.1	-12.2	235	1790	0.00	2.42	0.00	0.000	516	0.000	0.063	1968	840	3554	3598	3510	0	0	0	0	0	0	14.89	14.69	14.91
1859	-0.58	-146.0	1967	840	3598	3510	300.4	-10.1	249	1865	0.00	2.53	0.00	0.000	1030	0.000	0.079	1960	2249	3553	3598	3509	0	0	0	0	0	0	14.78	14.67	14.80
2074	-0.58	-146.0	1959	2249	3597	3509	329.0	-14.2	261	2079	0.00	2.55	0.00	0.000	260	0.000	0.086	1949	3678	3553	3598	3509	0	0	0	0	0	0	14.90	14.72	14.92
2147	-0.58	-146.0	1948	3676	3597	3508	338.9	-12.6	275	2153	0.00	2.50	0.00	0.000	1030	0.000	0.057	1949	2248	3552	3597	3507	0	0	0	0	0	0	14.78	14.71	14.80
2298	end dive: TARGET_DEPTH_EXCEEDED
state	2298	begin apogee
2305	-0.11	0.0	1949	2110	3597	3506	361.8	-15.4	284	2422	0.60	0.08	110.10	1.772	10246	0.222	0.135	2110	2163	2970	3037	2903	0	0	0	0	0	0	14.59	14.10	13.47
2426	end apogee: CONTROL_FINISHED_OK
state	2426	begin climb
2428	0.58	146.0	2110	2163	3037	2899	368.4	0.0	290	2547	0.77	0.00	112.85	1.691	10246	0.144	0.000	2337	2163	2389	2471	2308	0	0	0	0	0	0	14.09	13.94	13.32
2743	0.66	209.3	2337	2163	2471	2293	353.6	7.1	306	2799	0.00	2.62	49.15	1.694	8484	0.000	0.080	2337	3552	2140	2230	2051	0	0	0	0	0	0	14.52	13.99	13.50
2850	0.69	209.3	2337	3552	2221	2046	345.1	8.8	326	2856	0.00	2.50	0.00	0.000	1094	0.000	0.067	2344	2196	2134	2223	2046	0	0	0	0	0	0	14.29	14.21	14.31
3074	0.72	209.3	2345	2189	2221	2039	325.9	8.2	340	3081	0.12	2.62	0.00	0.000	2628	0.120	0.066	2410	723	2130	2221	2039	0	0	0	0	0	0	14.49	14.45	14.52
3154	0.72	209.3	2410	722	2222	2039	317.3	11.1	355	3161	0.00	2.55	0.00	0.000	1030	0.000	0.057	2409	2153	2130	2221	2039	0	0	0	0	0	0	14.57	14.50	14.59
3359	0.72	209.3	2410	2154	2229	2037	291.9	12.6	366	3365	0.00	2.53	0.00	0.000	260	0.000	0.080	2410	3560	2129	2221	2037	0	0	0	0	0	0	14.76	14.54	14.79
3429	0.72	209.3	2410	3560	2221	2037	282.8	13.9	379	3435	0.15	2.50	0.00	0.000	5126	0.295	0.054	2390	2136	2129	2221	2037	0	0	0	0	0	0	14.40	14.53	14.60
3649	0.72	209.3	2390	2136	2217	2034	260.1	10.3	392	3655	0.00	2.50	0.00	0.000	516	0.000	0.067	2407	734	2127	2221	2034	0	0	0	0	0	0	14.82	14.50	14.85
3728	0.72	209.3	2400	734	2221	2034	250.9	12.0	407	3735	0.00	2.50	0.00	0.000	1030	0.000	0.057	2400	2152	2127	2221	2033	0	0	0	0	0	0	14.66	14.58	14.69
3934	0.72	209.3	2400	2156	2222	2033	225.5	12.8	427	3939	0.00	2.53	0.00	0.000	260	0.000	0.080	2400	3565	2127	2222	2033	0	0	0	0	0	0	14.83	14.63	14.86
3998	0.72	209.3	2400	3564	2221	2042	216.5	15.7	439	4004	0.00	2.47	0.00	0.000	1030	0.000	0.054	2411	2149	2127	2221	2033	0	0	0	0	0	0	14.69	14.62	14.71
4212	0.72	209.3	2411	2149	2221	2033	186.8	14.2	461	4218	0.00	2.50	0.00	0.000	516	0.000	0.067	2422	731	2128	2224	2033	0	0	0	0	0	0	14.81	14.67	14.84
4260	0.72	209.3	2422	731	2221	2032	179.9	13.7	470	4267	0.15	2.53	0.00	0.000	5126	0.230	0.056	2387	2168	2126	2221	2032	0	0	0	0	0	0	14.57	14.63	14.76
4469	0.72	209.3	2387	2169	2221	2031	154.5	12.4	491	4475	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2169	2126	2221	2031	0	0	0	0	0	0	14.90	14.92	14.90
4676	0.72	209.3	2386	2169	2221	2031	129.9	11.0	512	4683	0.00	2.50	0.00	0.000	260	0.000	0.080	2387	3557	2128	2225	2031	0	0	0	0	0	0	14.86	14.65	14.90
4761	0.72	209.3	2386	3557	2221	2030	120.5	10.5	528	4768	0.00	2.45	0.00	0.000	1030	0.000	0.054	2396	2149	2126	2222	2031	0	0	0	0	0	0	14.76	14.69	14.78
4976	0.84	295.6	2396	2145	2222	2030	103.3	6.0	550	5050	0.00	2.60	64.57	1.479	8740	0.000	0.070	2407	744	1788	1866	1711	0	0	0	0	0	0	14.86	14.28	13.72
5090	0.84	295.6	2407	744	1864	1715	94.6	10.3	570	5097	0.00	2.53	0.00	0.000	1030	0.000	0.055	2407	2149	1787	1864	1711	0	0	0	0	0	0	14.40	14.33	14.42
5281	0.84	295.6	2407	2150	1871	1707	72.4	11.6	607	5288	0.00	2.55	0.00	0.000	260	0.000	0.079	2407	3557	1785	1864	1707	0	0	0	0	0	0	14.65	14.47	14.67
5321	0.84	295.6	2407	3556	1864	1707	67.6	12.1	614	5328	0.00	2.50	0.00	0.000	1030	0.000	0.055	2418	2144	1784	1862	1707	0	0	0	0	0	0	14.59	14.52	14.62
5513	0.86	295.6	2417	2144	1856	1705	47.9	8.8	651	5520	0.00	2.62	0.00	0.000	324	0.000	0.091	2418	3562	1783	1861	1705	0	0	0	0	0	0	14.69	14.55	14.73
5588	0.86	295.6	2417	3562	1861	1705	40.9	10.0	665	5595	0.00	2.53	0.00	0.000	1030	0.000	0.059	2426	2145	1783	1861	1705	0	0	0	0	0	0	14.59	14.52	14.60
5780	0.92	345.6	2428	2144	1861	1704	25.2	7.7	702	5824	0.00	2.58	36.28	1.373	8740	0.000	0.071	2438	741	1595	1658	1533	0	0	0	0	0	0	14.81	14.38	13.83
5872	0.92	345.6	2438	741	1656	1533	16.9	9.5	718	5879	0.00	2.55	0.00	0.000	1030	0.000	0.065	2439	2159	1593	1655	1532	0	0	0	0	0	0	14.51	14.43	14.53
6006	end climb: SURFACE_DEPTH_REACHED
state	6006	begin surface coast
6023	end surface coast: CONTROL_FINISHED_OK
state	6023	begin surface