Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 170 * 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 170 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 344.0

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 25 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 30 XPDR_VALID 6 CP_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

AD7714Ch0Gain 1 D_PITCH 0 MISSION 11 SEABIRD_C_G -9.6980124

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1068786

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0019018035

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022417276

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 0 SEABIRD_T_G 0.0043946085

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.00063626852

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.5989737e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 1 SEABIRD_T_J 3.1806876e-06

ALTIM_PULSE 3 ES_DL_RECORDCOUNT 3.0 N_NOSURFACE 0 SIM_W 0

ALTIM_SENSITIVITY 3 ES_DL_RECORDLENGTH 10086.0 PHONE_DEVICE 49 SM_CC 400

ALTIM_TOP_MIN_OBSTACLE 1 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0 STROBE 0

APOGEE_PITCH -5 ES_STARTS 344.0 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 170 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 25 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 30 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 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 010918,153538,5033.9844,-14451.4600,22,1.0,22,15.7,0.5,206.7,9,9.7 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5036.002,-14447.675

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 32.6,5606,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -68.9 D_GRID 360

GPS2 010918,154732,5034.0537,-14451.3252,2,1.0,6,15.7,0.3,0.0,9,9.9

Post-dive calculations and measurements:

FINISH -0.4,1.024046 ES_POWER1 0.000000

SM_CCo 6161,13.12,0.213,0,0,1376,400.16 _24V_AH 13.31,66.044

SM_GC 1.44,6.65,0.17,13.12,0.053,0.105,0.213,225,2269,1376,-5.91,-0.74,400.16,0,0,0,0,0,0,14.51,14.50,14.37 _10V_AH 13.02,0.000

IRIDIUM_FIX 5036.05,-14445.48,010918,095038 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.850115 FG_AHR_10Vo 0.000

HUMID 49.37 MEM 322944

INTERNAL_PRESSURE 10.1117 DATA_FILE_SIZE 26751,794

TCM_TEMP 15.80 CAP_FILE_SIZE 90868,0

XPDR_PINGS 103 CFSIZE 1024409600,979943424

SC_FREEKB 3811424 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14380269568.000000 CURRENT 0.060,100.60,1

ES_POWER 63.370000 GPS 010918,173249,5034.347,-14450.320,38,1.9,38,15.7,0.8,32.1,6,6.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 377 86.01 nil 0 0 0.00

Roll_motor 96 104 134.89 nil 0 0 0.00

VBD_pump_during_apogee 394 1765 9276.20 nil 0 0 0.00

VBD_pump_during_surface 13 212 37.15 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 6177 17 1415.76

Iridium_during_xfer 430 212 1217.24 echo 6161 5 410.01

Transponder_ping 25 420 143.95 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 8 1.84

TT8 1835 12 297.80

LPSleep 2544 2 72.55

TT8_Active 536 11 81.80

TT8_Sampling 1690 30 670.05

TT8_CF8 286 45 169.59

TT8_Kalman 0 0 0.00

Analog_circuits 1646 16 343.09

GPS_charging 0 0 0.00

Compass 1144 6 100.46

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -0.58 -146.0 128 2265 1383 1346 0.0 0.0 0 114 0.00 0.00 -89.88 0.004 16386 0.000 0.000 126 2268 3130 3154 3106 0 0 0 0 0 0 14.64 28.83 14.68

118 -0.58 -146.0 126 2269 3162 3107 4.8 -13.0 15 140 8.52 2.62 -7.62 0.014 18948 0.378 0.080 1965 826 3554 3597 3511 0 0 0 0 0 0 14.23 13.39 14.53

226 -0.58 -146.0 1960 824 3597 3507 38.9 -17.4 34 233 0.00 2.55 0.00 0.000 1030 0.000 0.069 1956 2243 3552 3593 3512 0 0 0 0 0 0 14.57 14.47 14.59

417 -0.58 -146.0 1956 2243 3598 3512 76.3 -19.5 71 424 0.00 2.58 0.00 0.000 260 0.000 0.086 1945 3660 3555 3598 3512 0 0 0 0 0 0 14.76 14.52 14.79

568 -0.58 -146.0 1945 3660 3598 3512 102.7 -16.4 100 575 0.00 2.47 0.00 0.000 1030 0.000 0.054 1945 2250 3555 3598 3512 0 0 0 0 0 0 14.65 14.59 14.69

773 -0.58 -146.0 1944 2249 3598 3512 139.2 -17.8 121 774 0.00 0.00 0.00 0.000 6 0.000 0.000 1945 2249 3555 3598 3512 0 0 0 0 0 0 14.82 14.83 14.84

973 -0.58 -146.0 1945 2249 3598 3512 172.9 -16.8 141 980 0.00 2.47 0.00 0.000 516 0.000 0.060 1952 834 3555 3598 3512 0 0 0 0 0 0 14.83 14.64 14.87

1032 -0.58 -146.0 1945 833 3598 3511 182.6 -15.0 152 1040 0.12 2.55 0.00 0.000 3078 0.256 0.075 1961 2254 3558 3605 3512 0 0 0 0 0 0 14.49 14.61 14.68

1240 -0.58 -146.0 1960 2255 3598 3511 214.6 -15.4 173 1247 0.00 2.55 0.00 0.000 260 0.000 0.085 1952 3669 3555 3598 3512 0 0 0 0 0 0 14.83 14.62 14.85

1335 -0.58 -146.0 1948 3670 3598 3511 228.7 -14.5 191 1340 0.00 2.50 0.00 0.000 1030 0.000 0.057 1952 2230 3555 3599 3511 0 0 0 0 0 0 14.71 14.62 14.73

1559 -0.58 -146.0 1953 2235 3598 3510 263.4 -15.8 210 1565 0.00 2.42 0.00 0.000 516 0.000 0.061 1952 839 3551 3592 3510 0 0 0 0 0 0 14.85 14.66 14.87

1592 -0.58 -146.0 1951 839 3598 3510 268.7 -14.9 216 1598 0.00 2.55 0.00 0.000 1030 0.000 0.079 1942 2255 3554 3598 3510 0 0 0 0 0 0 14.75 14.64 14.77

1806 -0.58 -146.0 1941 2257 3598 3508 302.2 -16.0 228 1812 0.00 2.55 0.00 0.000 260 0.000 0.084 1931 3669 3553 3599 3508 0 0 0 0 0 0 14.89 14.59 14.92

1879 -0.58 -146.0 1930 3669 3599 3508 313.3 -14.7 242 1886 0.15 2.45 0.00 0.000 3078 0.248 0.053 1965 2256 3553 3600 3507 0 0 0 0 0 0 14.54 14.69 14.72

2095 -0.58 -146.0 1964 2256 3598 3505 342.8 -13.8 254 2101 0.00 2.47 0.00 0.000 516 0.000 0.063 1964 835 3552 3599 3505 0 0 0 0 0 0 14.89 14.67 14.94

2183 -0.58 -146.0 1972 835 3599 3506 353.9 -10.9 271 2189 0.00 2.53 0.00 0.000 1030 0.000 0.067 1956 2258 3552 3599 3505 0 0 0 0 0 0 14.77 14.67 14.77

2240 end dive: TARGET_DEPTH_EXCEEDED

state 2240 begin apogee

2247 -0.11 0.0 1957 2132 3598 3505 361.0 -12.8 276 2362 0.60 0.00 109.07 1.766 10246 0.218 0.000 2118 2133 2973 3044 2902 0 0 0 0 0 0 14.54 14.09 13.47

2366 end apogee: CONTROL_FINISHED_OK

state 2366 begin climb

2369 0.58 146.0 2118 2132 3044 2898 366.2 0.0 282 2495 0.75 2.65 112.65 1.677 10756 0.135 0.080 2351 748 2388 2475 2301 0 0 0 0 0 0 14.11 13.90 13.31

2574 0.65 202.2 2351 749 2473 2293 358.4 7.4 318 2625 0.00 2.58 43.75 1.668 9254 0.000 0.059 2346 2160 2166 2255 2078 0 0 0 0 0 0 14.24 14.17 13.41

2840 0.68 202.2 2351 2160 2255 2062 335.0 8.9 340 2846 0.00 2.58 0.00 0.000 324 0.000 0.080 2357 3568 2160 2255 2065 0 0 0 0 0 0 14.57 14.35 14.59

2914 0.68 202.2 2351 3562 2254 2064 327.8 10.0 354 2920 0.00 2.50 0.00 0.000 1030 0.000 0.052 2361 2155 2159 2254 2064 0 0 0 0 0 0 14.47 14.40 14.49

3129 0.69 202.2 2361 2154 2254 2062 308.2 9.3 366 3134 0.00 2.53 0.00 0.000 580 0.000 0.067 2373 734 2158 2254 2062 0 0 0 0 0 0 14.71 14.53 14.73

3213 0.69 202.2 2372 734 2262 2062 300.2 10.8 382 3219 0.00 2.58 0.00 0.000 1030 0.000 0.076 2373 2153 2157 2254 2061 0 0 0 0 0 0 14.58 14.50 14.59

3437 0.69 202.2 2372 2153 2254 2058 277.2 10.6 396 3443 0.00 2.55 0.00 0.000 260 0.000 0.080 2372 3558 2156 2254 2059 0 0 0 0 0 0 14.80 14.59 14.83

3531 0.69 202.2 2372 3559 2254 2058 266.5 11.3 414 3537 0.00 2.47 0.00 0.000 1030 0.000 0.054 2379 2147 2156 2254 2059 0 0 0 0 0 0 14.72 14.64 14.74

3745 0.69 202.2 2382 2142 2252 2058 242.4 10.9 429 3752 0.00 2.47 0.00 0.000 516 0.000 0.067 2394 735 2156 2254 2058 0 0 0 0 0 0 14.85 14.64 14.87

3800 0.69 202.2 2394 735 2254 2059 236.4 10.6 439 3806 0.00 2.50 0.00 0.000 1030 0.000 0.055 2394 2164 2156 2254 2058 0 0 0 0 0 0 14.73 14.64 14.76

4014 0.69 202.2 2394 2160 2254 2057 212.3 11.6 461 4021 0.00 2.55 0.00 0.000 260 0.000 0.080 2394 3565 2155 2254 2056 0 0 0 0 0 0 14.86 14.62 14.90

4099 0.69 202.2 2393 3565 2253 2057 201.8 11.6 477 4105 0.00 2.47 0.00 0.000 1030 0.000 0.053 2404 2142 2155 2253 2057 0 0 0 0 0 0 14.75 14.67 14.77

4314 0.69 202.2 2404 2145 2253 2057 176.9 11.6 499 4319 0.00 2.50 0.00 0.000 516 0.000 0.067 2415 733 2152 2247 2058 0 0 0 0 0 0 14.86 14.58 14.89

4428 0.69 202.2 2416 733 2252 2057 163.2 12.0 521 4435 0.15 2.50 0.00 0.000 5126 0.217 0.056 2381 2152 2154 2252 2056 0 0 0 0 0 0 14.54 14.64 14.71

4647 0.69 202.2 2380 2152 2252 2056 142.0 9.5 543 4652 0.00 2.55 0.00 0.000 260 0.000 0.080 2380 3568 2155 2259 2052 0 0 0 0 0 0 14.85 14.59 14.88

4725 0.69 202.2 2380 3568 2252 2056 133.5 9.5 558 4732 0.00 2.50 0.00 0.000 1030 0.000 0.052 2389 2137 2153 2251 2056 0 0 0 0 0 0 14.69 14.62 14.72

4931 0.71 202.2 2388 2137 2252 2054 115.6 8.9 579 4937 0.00 2.47 0.00 0.000 580 0.000 0.067 2400 739 2154 2252 2056 0 0 0 0 0 0 14.83 14.65 14.86

4990 0.73 202.2 2399 737 2251 2056 110.5 9.1 590 4997 0.00 2.50 0.00 0.000 1094 0.000 0.055 2400 2158 2154 2252 2056 0 0 0 0 0 0 14.77 14.64 14.76

5196 0.79 245.8 2399 2159 2252 2056 93.2 8.0 619 5241 0.00 2.62 33.12 1.465 8740 0.000 0.068 2409 744 1990 2075 1906 0 0 0 0 0 0 14.82 14.45 13.84

5356 0.82 245.8 2410 744 2075 1902 79.1 8.5 648 5363 0.00 2.53 0.00 0.000 1094 0.000 0.055 2407 2160 1987 2075 1899 0 0 0 0 0 0 14.58 14.50 14.60

5547 0.87 289.8 2410 2160 2073 1898 62.1 8.0 685 5592 0.00 2.65 34.08 1.442 8740 0.000 0.066 2419 742 1816 1894 1738 0 0 0 0 0 0 14.71 14.38 13.80

5672 0.91 289.8 2418 739 1893 1735 51.6 8.2 707 5679 0.00 2.53 0.00 0.000 1094 0.000 0.054 2421 2152 1813 1893 1734 0 0 0 0 0 0 14.52 14.43 14.54

5864 1.02 373.3 2421 2153 1893 1731 36.6 6.1 744 5933 0.15 2.67 62.05 1.343 10788 0.112 0.070 2491 738 1484 1535 1434 0 0 0 0 0 0 14.52 14.22 13.69

5983 1.02 373.3 2490 737 1527 1432 24.1 13.6 764 5991 0.00 2.58 0.00 0.000 1030 0.000 0.058 2487 2151 1480 1529 1432 0 0 0 0 0 0 14.35 14.28 14.38

6128 end climb: SURFACE_DEPTH_REACHED

state 6128 begin surface coast

6140 end surface coast: CONTROL_FINISHED_OK

state 6140 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	170	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	344.0
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	25	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	30	XPDR_VALID	6	CP_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003

GPS1	010918,153538,5033.9844,-14451.4600,22,1.0,22,15.7,0.5,206.7,9,9.7	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5036.002,-14447.675
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	32.6,5606,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-68.9	D_GRID	360
GPS2	010918,154732,5034.0537,-14451.3252,2,1.0,6,15.7,0.3,0.0,9,9.9

FINISH	-0.4,1.024046	ES_POWER1	0.000000
SM_CCo	6161,13.12,0.213,0,0,1376,400.16	_24V_AH	13.31,66.044
SM_GC	1.44,6.65,0.17,13.12,0.053,0.105,0.213,225,2269,1376,-5.91,-0.74,400.16,0,0,0,0,0,0,14.51,14.50,14.37	_10V_AH	13.02,0.000
IRIDIUM_FIX	5036.05,-14445.48,010918,095038	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.850115	FG_AHR_10Vo	0.000
HUMID	49.37	MEM	322944
INTERNAL_PRESSURE	10.1117	DATA_FILE_SIZE	26751,794
TCM_TEMP	15.80	CAP_FILE_SIZE	90868,0
XPDR_PINGS	103	CFSIZE	1024409600,979943424
SC_FREEKB	3811424	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14380269568.000000	CURRENT	0.060,100.60,1
ES_POWER	63.370000	GPS	010918,173249,5034.347,-14450.320,38,1.9,38,15.7,0.8,32.1,6,6.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	377	86.01	nil	0	0	0.00
Roll_motor	96	104	134.89	nil	0	0	0.00
VBD_pump_during_apogee	394	1765	9276.20	nil	0	0	0.00
VBD_pump_during_surface	13	212	37.15	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	6177	17	1415.76
Iridium_during_xfer	430	212	1217.24	echo	6161	5	410.01
Transponder_ping	25	420	143.95	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	8	1.84
TT8	1835	12	297.80
LPSleep	2544	2	72.55
TT8_Active	536	11	81.80
TT8_Sampling	1690	30	670.05
TT8_CF8	286	45	169.59
TT8_Kalman	0	0	0.00
Analog_circuits	1646	16	343.09
GPS_charging	0	0	0.00
Compass	1144	6	100.46
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-0.58	-146.0	128	2265	1383	1346	0.0	0.0	0	114	0.00	0.00	-89.88	0.004	16386	0.000	0.000	126	2268	3130	3154	3106	0	0	0	0	0	0	14.64	28.83	14.68
118	-0.58	-146.0	126	2269	3162	3107	4.8	-13.0	15	140	8.52	2.62	-7.62	0.014	18948	0.378	0.080	1965	826	3554	3597	3511	0	0	0	0	0	0	14.23	13.39	14.53
226	-0.58	-146.0	1960	824	3597	3507	38.9	-17.4	34	233	0.00	2.55	0.00	0.000	1030	0.000	0.069	1956	2243	3552	3593	3512	0	0	0	0	0	0	14.57	14.47	14.59
417	-0.58	-146.0	1956	2243	3598	3512	76.3	-19.5	71	424	0.00	2.58	0.00	0.000	260	0.000	0.086	1945	3660	3555	3598	3512	0	0	0	0	0	0	14.76	14.52	14.79
568	-0.58	-146.0	1945	3660	3598	3512	102.7	-16.4	100	575	0.00	2.47	0.00	0.000	1030	0.000	0.054	1945	2250	3555	3598	3512	0	0	0	0	0	0	14.65	14.59	14.69
773	-0.58	-146.0	1944	2249	3598	3512	139.2	-17.8	121	774	0.00	0.00	0.00	0.000	6	0.000	0.000	1945	2249	3555	3598	3512	0	0	0	0	0	0	14.82	14.83	14.84
973	-0.58	-146.0	1945	2249	3598	3512	172.9	-16.8	141	980	0.00	2.47	0.00	0.000	516	0.000	0.060	1952	834	3555	3598	3512	0	0	0	0	0	0	14.83	14.64	14.87
1032	-0.58	-146.0	1945	833	3598	3511	182.6	-15.0	152	1040	0.12	2.55	0.00	0.000	3078	0.256	0.075	1961	2254	3558	3605	3512	0	0	0	0	0	0	14.49	14.61	14.68
1240	-0.58	-146.0	1960	2255	3598	3511	214.6	-15.4	173	1247	0.00	2.55	0.00	0.000	260	0.000	0.085	1952	3669	3555	3598	3512	0	0	0	0	0	0	14.83	14.62	14.85
1335	-0.58	-146.0	1948	3670	3598	3511	228.7	-14.5	191	1340	0.00	2.50	0.00	0.000	1030	0.000	0.057	1952	2230	3555	3599	3511	0	0	0	0	0	0	14.71	14.62	14.73
1559	-0.58	-146.0	1953	2235	3598	3510	263.4	-15.8	210	1565	0.00	2.42	0.00	0.000	516	0.000	0.061	1952	839	3551	3592	3510	0	0	0	0	0	0	14.85	14.66	14.87
1592	-0.58	-146.0	1951	839	3598	3510	268.7	-14.9	216	1598	0.00	2.55	0.00	0.000	1030	0.000	0.079	1942	2255	3554	3598	3510	0	0	0	0	0	0	14.75	14.64	14.77
1806	-0.58	-146.0	1941	2257	3598	3508	302.2	-16.0	228	1812	0.00	2.55	0.00	0.000	260	0.000	0.084	1931	3669	3553	3599	3508	0	0	0	0	0	0	14.89	14.59	14.92
1879	-0.58	-146.0	1930	3669	3599	3508	313.3	-14.7	242	1886	0.15	2.45	0.00	0.000	3078	0.248	0.053	1965	2256	3553	3600	3507	0	0	0	0	0	0	14.54	14.69	14.72
2095	-0.58	-146.0	1964	2256	3598	3505	342.8	-13.8	254	2101	0.00	2.47	0.00	0.000	516	0.000	0.063	1964	835	3552	3599	3505	0	0	0	0	0	0	14.89	14.67	14.94
2183	-0.58	-146.0	1972	835	3599	3506	353.9	-10.9	271	2189	0.00	2.53	0.00	0.000	1030	0.000	0.067	1956	2258	3552	3599	3505	0	0	0	0	0	0	14.77	14.67	14.77
2240	end dive: TARGET_DEPTH_EXCEEDED
state	2240	begin apogee
2247	-0.11	0.0	1957	2132	3598	3505	361.0	-12.8	276	2362	0.60	0.00	109.07	1.766	10246	0.218	0.000	2118	2133	2973	3044	2902	0	0	0	0	0	0	14.54	14.09	13.47
2366	end apogee: CONTROL_FINISHED_OK
state	2366	begin climb
2369	0.58	146.0	2118	2132	3044	2898	366.2	0.0	282	2495	0.75	2.65	112.65	1.677	10756	0.135	0.080	2351	748	2388	2475	2301	0	0	0	0	0	0	14.11	13.90	13.31
2574	0.65	202.2	2351	749	2473	2293	358.4	7.4	318	2625	0.00	2.58	43.75	1.668	9254	0.000	0.059	2346	2160	2166	2255	2078	0	0	0	0	0	0	14.24	14.17	13.41
2840	0.68	202.2	2351	2160	2255	2062	335.0	8.9	340	2846	0.00	2.58	0.00	0.000	324	0.000	0.080	2357	3568	2160	2255	2065	0	0	0	0	0	0	14.57	14.35	14.59
2914	0.68	202.2	2351	3562	2254	2064	327.8	10.0	354	2920	0.00	2.50	0.00	0.000	1030	0.000	0.052	2361	2155	2159	2254	2064	0	0	0	0	0	0	14.47	14.40	14.49
3129	0.69	202.2	2361	2154	2254	2062	308.2	9.3	366	3134	0.00	2.53	0.00	0.000	580	0.000	0.067	2373	734	2158	2254	2062	0	0	0	0	0	0	14.71	14.53	14.73
3213	0.69	202.2	2372	734	2262	2062	300.2	10.8	382	3219	0.00	2.58	0.00	0.000	1030	0.000	0.076	2373	2153	2157	2254	2061	0	0	0	0	0	0	14.58	14.50	14.59
3437	0.69	202.2	2372	2153	2254	2058	277.2	10.6	396	3443	0.00	2.55	0.00	0.000	260	0.000	0.080	2372	3558	2156	2254	2059	0	0	0	0	0	0	14.80	14.59	14.83
3531	0.69	202.2	2372	3559	2254	2058	266.5	11.3	414	3537	0.00	2.47	0.00	0.000	1030	0.000	0.054	2379	2147	2156	2254	2059	0	0	0	0	0	0	14.72	14.64	14.74
3745	0.69	202.2	2382	2142	2252	2058	242.4	10.9	429	3752	0.00	2.47	0.00	0.000	516	0.000	0.067	2394	735	2156	2254	2058	0	0	0	0	0	0	14.85	14.64	14.87
3800	0.69	202.2	2394	735	2254	2059	236.4	10.6	439	3806	0.00	2.50	0.00	0.000	1030	0.000	0.055	2394	2164	2156	2254	2058	0	0	0	0	0	0	14.73	14.64	14.76
4014	0.69	202.2	2394	2160	2254	2057	212.3	11.6	461	4021	0.00	2.55	0.00	0.000	260	0.000	0.080	2394	3565	2155	2254	2056	0	0	0	0	0	0	14.86	14.62	14.90
4099	0.69	202.2	2393	3565	2253	2057	201.8	11.6	477	4105	0.00	2.47	0.00	0.000	1030	0.000	0.053	2404	2142	2155	2253	2057	0	0	0	0	0	0	14.75	14.67	14.77
4314	0.69	202.2	2404	2145	2253	2057	176.9	11.6	499	4319	0.00	2.50	0.00	0.000	516	0.000	0.067	2415	733	2152	2247	2058	0	0	0	0	0	0	14.86	14.58	14.89
4428	0.69	202.2	2416	733	2252	2057	163.2	12.0	521	4435	0.15	2.50	0.00	0.000	5126	0.217	0.056	2381	2152	2154	2252	2056	0	0	0	0	0	0	14.54	14.64	14.71
4647	0.69	202.2	2380	2152	2252	2056	142.0	9.5	543	4652	0.00	2.55	0.00	0.000	260	0.000	0.080	2380	3568	2155	2259	2052	0	0	0	0	0	0	14.85	14.59	14.88
4725	0.69	202.2	2380	3568	2252	2056	133.5	9.5	558	4732	0.00	2.50	0.00	0.000	1030	0.000	0.052	2389	2137	2153	2251	2056	0	0	0	0	0	0	14.69	14.62	14.72
4931	0.71	202.2	2388	2137	2252	2054	115.6	8.9	579	4937	0.00	2.47	0.00	0.000	580	0.000	0.067	2400	739	2154	2252	2056	0	0	0	0	0	0	14.83	14.65	14.86
4990	0.73	202.2	2399	737	2251	2056	110.5	9.1	590	4997	0.00	2.50	0.00	0.000	1094	0.000	0.055	2400	2158	2154	2252	2056	0	0	0	0	0	0	14.77	14.64	14.76
5196	0.79	245.8	2399	2159	2252	2056	93.2	8.0	619	5241	0.00	2.62	33.12	1.465	8740	0.000	0.068	2409	744	1990	2075	1906	0	0	0	0	0	0	14.82	14.45	13.84
5356	0.82	245.8	2410	744	2075	1902	79.1	8.5	648	5363	0.00	2.53	0.00	0.000	1094	0.000	0.055	2407	2160	1987	2075	1899	0	0	0	0	0	0	14.58	14.50	14.60
5547	0.87	289.8	2410	2160	2073	1898	62.1	8.0	685	5592	0.00	2.65	34.08	1.442	8740	0.000	0.066	2419	742	1816	1894	1738	0	0	0	0	0	0	14.71	14.38	13.80
5672	0.91	289.8	2418	739	1893	1735	51.6	8.2	707	5679	0.00	2.53	0.00	0.000	1094	0.000	0.054	2421	2152	1813	1893	1734	0	0	0	0	0	0	14.52	14.43	14.54
5864	1.02	373.3	2421	2153	1893	1731	36.6	6.1	744	5933	0.15	2.67	62.05	1.343	10788	0.112	0.070	2491	738	1484	1535	1434	0	0	0	0	0	0	14.52	14.22	13.69
5983	1.02	373.3	2490	737	1527	1432	24.1	13.6	764	5991	0.00	2.58	0.00	0.000	1030	0.000	0.058	2487	2151	1480	1529	1432	0	0	0	0	0	0	14.35	14.28	14.38
6128	end climb: SURFACE_DEPTH_REACHED
state	6128	begin surface coast
6140	end surface coast: CONTROL_FINISHED_OK
state	6140	begin surface