Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 171 * 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 171 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 346.0

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 28 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 41 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 346.0 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 171 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 28 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 41 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 010918,173249,5034.3467,-14450.3203,38,1.9,38,15.7,0.8,32.1,6,6.2 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5036.743,-14446.223

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.89 MHEAD_RNG_PITCHd_Wd 19.2,6428,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -72.4 D_GRID 360

GPS2 010918,174100,5034.3320,-14450.1562,2,1.8,3,15.7,1.2,125.9,6,7.7

Post-dive calculations and measurements:

FINISH -0.2,1.024046 ES_POWER1 0.000000

SM_CCo 5630,5.25,0.226,0,0,1375,400.16 _24V_AH 13.24,66.310

SM_GC 1.19,6.50,0.17,5.25,0.055,0.083,0.226,231,2265,1375,-5.93,-0.42,400.16,0,0,0,0,0,0,14.50,14.50,14.35 _10V_AH 13.38,0.000

IRIDIUM_FIX 5032.51,-14456.87,010918,154018 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.566244 FG_AHR_10Vo 0.000

HUMID 48.50 MEM 323012

INTERNAL_PRESSURE 10.1117 DATA_FILE_SIZE 26758,734

TCM_TEMP 15.80 CAP_FILE_SIZE 83707,0

XPDR_PINGS 107 CFSIZE 1024409600,979779584

SC_FREEKB 3810848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14377091072.000000 CURRENT 0.077,120.40,1

ES_POWER 63.360000 GPS 010918,191700,5034.628,-14449.270,3,1.5,6,15.7,0.9,92.6,5,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 377 84.76 nil 0 0 0.00

Roll_motor 91 110 133.87 nil 0 0 0.00

VBD_pump_during_apogee 406 1768 9519.73 nil 0 0 0.00

VBD_pump_during_surface 5 225 15.69 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 5634 17 1319.65

Iridium_during_xfer 267 195 693.02 echo 5635 5 373.04

Transponder_ping 26 420 148.75 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 8 1.58

TT8 1694 12 282.49

LPSleep 2249 2 65.91

TT8_Active 527 11 82.70

TT8_Sampling 1452 30 591.39

TT8_CF8 249 45 151.62

TT8_Kalman 0 0 0.00

Analog_circuits 1439 16 308.25

GPS_charging 0 0 0.00

Compass 1059 6 95.56

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.58 -146.0 129 2281 1382 1357 0.0 0.0 0 114 0.00 0.00 -88.38 0.004 16386 0.000 0.000 129 2281 3045 3066 3024 0 0 0 0 0 0 14.69 28.83 14.71

118 -0.58 -146.0 128 2279 3066 3024 4.3 -10.0 15 145 8.43 2.58 -9.80 0.012 18948 0.377 0.083 1958 831 3554 3600 3509 0 0 0 0 0 0 14.29 13.46 14.58

268 -0.58 -146.0 1958 833 3600 3517 44.9 -23.1 43 275 0.00 2.53 0.00 0.000 1030 0.000 0.074 1949 2233 3555 3600 3510 0 0 0 0 0 0 14.64 14.54 14.66

460 -0.58 -146.0 1944 2233 3600 3510 84.1 -21.7 80 466 0.00 0.00 0.00 0.000 6 0.000 0.000 1949 2233 3556 3602 3510 0 0 0 0 0 0 14.80 14.83 14.83

654 -0.58 -146.0 1949 2233 3600 3509 120.4 -17.4 107 660 0.00 2.47 0.00 0.000 516 0.000 0.067 1950 843 3555 3601 3510 0 0 0 0 0 0 14.82 14.62 14.85

693 -0.58 -146.0 1949 843 3601 3510 126.5 -15.6 114 700 0.00 2.53 0.00 0.000 1030 0.000 0.076 1940 2250 3559 3601 3517 0 0 0 0 0 0 14.71 14.62 14.73

898 -0.58 -146.0 1939 2250 3608 3510 161.2 -17.0 135 904 0.00 2.55 0.00 0.000 260 0.000 0.085 1928 3660 3555 3601 3510 0 0 0 0 0 0 14.83 14.61 14.85

966 -0.58 -146.0 1929 3661 3601 3510 172.3 -15.9 148 974 0.15 2.50 0.00 0.000 3078 0.263 0.057 1961 2247 3555 3601 3510 0 0 0 0 0 0 14.48 14.62 14.66

1174 -0.58 -146.0 1961 2246 3601 3510 202.9 -15.3 169 1181 0.00 2.45 0.00 0.000 516 0.000 0.062 1961 837 3555 3601 3509 0 0 0 0 0 0 14.86 14.67 14.89

1289 -0.58 -146.0 1960 835 3601 3510 218.4 -11.7 191 1295 0.00 2.53 0.00 0.000 1030 0.000 0.075 1953 2248 3555 3601 3510 0 0 0 0 0 0 14.76 14.65 14.78

1503 -0.58 -146.0 1953 2249 3600 3508 250.4 -15.1 213 1510 0.00 2.55 0.00 0.000 260 0.000 0.085 1942 3668 3555 3601 3509 0 0 0 0 0 0 14.87 14.66 14.90

1582 -0.58 -146.0 1942 3669 3601 3509 262.0 -13.4 228 1589 0.00 2.50 0.00 0.000 1030 0.000 0.060 1941 2233 3554 3600 3509 0 0 0 0 0 0 14.78 14.69 14.79

1788 -0.58 -146.0 1942 2234 3601 3507 294.5 -16.0 239 1794 0.00 2.42 0.00 0.000 516 0.000 0.062 1942 838 3554 3601 3507 0 0 0 0 0 0 14.91 14.70 14.93

1847 -0.58 -146.0 1942 837 3601 3506 303.4 -13.8 250 1855 0.15 2.55 0.00 0.000 3078 0.252 0.080 1965 2250 3553 3601 3506 0 0 0 0 0 0 14.54 14.62 14.72

2053 -0.58 -146.0 1965 2251 3600 3505 332.3 -14.2 261 2059 0.00 2.53 0.00 0.000 260 0.000 0.085 1956 3664 3553 3601 3506 0 0 0 0 0 0 14.91 14.66 14.94

2122 -0.58 -146.0 1956 3663 3600 3506 341.6 -12.7 274 2127 0.00 2.47 0.00 0.000 1030 0.000 0.057 1956 2239 3553 3601 3505 0 0 0 0 0 0 14.79 14.71 14.81

2258 end dive: TARGET_DEPTH_EXCEEDED

state 2258 begin apogee

2265 -0.11 0.0 1956 2113 3601 3505 362.4 -15.6 283 2381 0.57 0.10 109.62 1.769 10246 0.216 0.111 2110 2158 2972 3044 2901 0 0 0 0 0 0 14.57 14.09 13.48

2385 end apogee: CONTROL_FINISHED_OK

state 2385 begin climb

2388 0.58 146.0 2112 2158 3043 2898 369.9 0.0 289 2511 0.77 2.67 112.65 1.683 10500 0.138 0.077 2341 3563 2388 2475 2301 0 0 0 0 0 0 14.12 13.84 13.33

2524 0.73 262.2 2340 3562 2468 2300 368.6 4.6 312 2622 0.12 2.53 90.15 1.649 11302 0.127 0.053 2395 2183 1925 2009 1841 0 0 0 0 0 0 14.02 14.03 13.24

2836 0.73 262.2 2394 2184 2009 1828 332.3 12.9 343 2841 0.00 2.60 0.00 0.000 516 0.000 0.067 2406 743 1918 2009 1828 0 0 0 0 0 0 14.50 14.33 14.52

2929 0.73 262.2 2405 743 2007 1828 320.5 12.0 361 2935 0.00 2.55 0.00 0.000 1030 0.000 0.057 2407 2160 1916 2006 1827 0 0 0 0 0 0 14.50 14.42 14.52

3143 0.73 262.2 2405 2160 2006 1827 291.3 14.2 373 3149 0.00 2.55 0.00 0.000 260 0.000 0.080 2406 3557 1916 2006 1827 0 0 0 0 0 0 14.73 14.47 14.76

3197 0.73 262.2 2412 3556 2004 1827 283.1 15.4 383 3202 0.00 2.50 0.00 0.000 1030 0.000 0.057 2416 2140 1915 2004 1827 0 0 0 0 0 0 14.64 14.57 14.66

3411 0.73 262.2 2416 2141 2005 1827 251.3 14.8 395 3417 0.00 2.50 0.00 0.000 516 0.000 0.067 2428 733 1916 2005 1827 0 0 0 0 0 0 14.80 14.56 14.81

3445 0.73 262.2 2426 733 2005 1827 246.1 14.8 401 3452 0.15 2.53 0.00 0.000 5126 0.224 0.059 2392 2150 1915 2004 1827 0 0 0 0 0 0 14.47 14.59 14.64

3663 0.73 262.2 2398 2151 2004 1826 218.5 12.7 423 3668 0.00 2.55 0.00 0.000 260 0.000 0.080 2392 3564 1915 2004 1826 0 0 0 0 0 0 14.85 14.62 14.88

3727 0.73 262.2 2392 3564 2003 1826 209.5 12.5 435 3733 0.00 2.50 0.00 0.000 1030 0.000 0.054 2401 2142 1914 2003 1826 0 0 0 0 0 0 14.73 14.64 14.76

3941 0.73 262.2 2401 2142 2003 1826 180.3 14.3 457 3947 0.00 2.47 0.00 0.000 516 0.000 0.067 2412 741 1914 2003 1826 0 0 0 0 0 0 14.85 14.66 14.88

4025 0.73 262.2 2412 741 2003 1821 167.8 13.6 473 4031 0.00 2.50 0.00 0.000 1030 0.000 0.057 2412 2156 1914 2003 1826 0 0 0 0 0 0 14.72 14.64 14.75

4240 0.73 262.2 2410 2158 1998 1826 138.0 13.7 495 4245 0.00 2.53 0.00 0.000 260 0.000 0.079 2412 3562 1914 2003 1826 0 0 0 0 0 0 14.86 14.64 14.89

4308 0.73 262.2 2412 3562 2002 1826 129.0 12.5 508 4316 0.12 2.45 0.00 0.000 5126 0.292 0.054 2399 2150 1914 2002 1826 0 0 0 0 0 0 14.50 14.66 14.73

4516 0.73 262.2 2397 2145 2001 1826 104.8 11.5 529 4522 0.00 2.45 0.00 0.000 516 0.000 0.067 2407 737 1913 2002 1825 0 0 0 0 0 0 14.84 14.66 14.85

4636 0.73 262.2 2407 738 2002 1832 91.5 10.6 552 4644 0.00 2.53 0.00 0.000 1030 0.000 0.055 2415 2164 1914 2003 1825 0 0 0 0 0 0 14.73 14.64 14.76

4828 0.73 262.2 2406 2164 2002 1825 71.1 10.0 589 4835 0.00 2.50 0.00 0.000 260 0.000 0.078 2407 3555 1913 2002 1825 0 0 0 0 0 0 14.88 14.63 14.88

4924 0.73 262.2 2407 3551 2001 1825 60.7 11.0 607 4931 0.00 2.45 0.00 0.000 1030 0.000 0.051 2418 2149 1913 2002 1825 0 0 0 0 0 0 14.73 14.66 14.76

5115 0.79 307.4 2418 2149 2002 1826 44.1 7.9 644 5159 0.00 2.58 33.80 1.392 8740 0.000 0.068 2428 738 1744 1816 1672 0 0 0 0 0 0 14.83 14.46 13.88

5217 0.79 307.4 2428 733 1814 1671 34.9 10.4 662 5225 0.00 2.53 0.00 0.000 1030 0.000 0.054 2428 2148 1742 1813 1671 0 0 0 0 0 0 14.58 14.50 14.59

5412 0.90 389.5 2428 2149 1813 1667 21.2 6.2 699 5479 0.00 2.58 60.30 1.330 8740 0.000 0.064 2439 743 1423 1473 1374 0 0 0 0 0 0 14.74 14.19 13.75

5539 0.90 389.5 2438 741 1469 1372 8.2 9.6 721 5546 0.00 2.55 0.00 0.000 1030 0.000 0.054 2439 2160 1421 1470 1372 0 0 0 0 0 0 14.45 14.37 14.46

5592 end climb: SURFACE_DEPTH_REACHED

state 5592 begin surface coast

5608 end surface coast: CONTROL_FINISHED_OK

state 5608 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	171	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	346.0
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	28	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	41	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	010918,173249,5034.3467,-14450.3203,38,1.9,38,15.7,0.8,32.1,6,6.2	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5036.743,-14446.223
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.89	MHEAD_RNG_PITCHd_Wd	19.2,6428,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-72.4	D_GRID	360
GPS2	010918,174100,5034.3320,-14450.1562,2,1.8,3,15.7,1.2,125.9,6,7.7

FINISH	-0.2,1.024046	ES_POWER1	0.000000
SM_CCo	5630,5.25,0.226,0,0,1375,400.16	_24V_AH	13.24,66.310
SM_GC	1.19,6.50,0.17,5.25,0.055,0.083,0.226,231,2265,1375,-5.93,-0.42,400.16,0,0,0,0,0,0,14.50,14.50,14.35	_10V_AH	13.38,0.000
IRIDIUM_FIX	5032.51,-14456.87,010918,154018	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.566244	FG_AHR_10Vo	0.000
HUMID	48.50	MEM	323012
INTERNAL_PRESSURE	10.1117	DATA_FILE_SIZE	26758,734
TCM_TEMP	15.80	CAP_FILE_SIZE	83707,0
XPDR_PINGS	107	CFSIZE	1024409600,979779584
SC_FREEKB	3810848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14377091072.000000	CURRENT	0.077,120.40,1
ES_POWER	63.360000	GPS	010918,191700,5034.628,-14449.270,3,1.5,6,15.7,0.9,92.6,5,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	377	84.76	nil	0	0	0.00
Roll_motor	91	110	133.87	nil	0	0	0.00
VBD_pump_during_apogee	406	1768	9519.73	nil	0	0	0.00
VBD_pump_during_surface	5	225	15.69	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	5634	17	1319.65
Iridium_during_xfer	267	195	693.02	echo	5635	5	373.04
Transponder_ping	26	420	148.75	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	8	1.58
TT8	1694	12	282.49
LPSleep	2249	2	65.91
TT8_Active	527	11	82.70
TT8_Sampling	1452	30	591.39
TT8_CF8	249	45	151.62
TT8_Kalman	0	0	0.00
Analog_circuits	1439	16	308.25
GPS_charging	0	0	0.00
Compass	1059	6	95.56
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.58	-146.0	129	2281	1382	1357	0.0	0.0	0	114	0.00	0.00	-88.38	0.004	16386	0.000	0.000	129	2281	3045	3066	3024	0	0	0	0	0	0	14.69	28.83	14.71
118	-0.58	-146.0	128	2279	3066	3024	4.3	-10.0	15	145	8.43	2.58	-9.80	0.012	18948	0.377	0.083	1958	831	3554	3600	3509	0	0	0	0	0	0	14.29	13.46	14.58
268	-0.58	-146.0	1958	833	3600	3517	44.9	-23.1	43	275	0.00	2.53	0.00	0.000	1030	0.000	0.074	1949	2233	3555	3600	3510	0	0	0	0	0	0	14.64	14.54	14.66
460	-0.58	-146.0	1944	2233	3600	3510	84.1	-21.7	80	466	0.00	0.00	0.00	0.000	6	0.000	0.000	1949	2233	3556	3602	3510	0	0	0	0	0	0	14.80	14.83	14.83
654	-0.58	-146.0	1949	2233	3600	3509	120.4	-17.4	107	660	0.00	2.47	0.00	0.000	516	0.000	0.067	1950	843	3555	3601	3510	0	0	0	0	0	0	14.82	14.62	14.85
693	-0.58	-146.0	1949	843	3601	3510	126.5	-15.6	114	700	0.00	2.53	0.00	0.000	1030	0.000	0.076	1940	2250	3559	3601	3517	0	0	0	0	0	0	14.71	14.62	14.73
898	-0.58	-146.0	1939	2250	3608	3510	161.2	-17.0	135	904	0.00	2.55	0.00	0.000	260	0.000	0.085	1928	3660	3555	3601	3510	0	0	0	0	0	0	14.83	14.61	14.85
966	-0.58	-146.0	1929	3661	3601	3510	172.3	-15.9	148	974	0.15	2.50	0.00	0.000	3078	0.263	0.057	1961	2247	3555	3601	3510	0	0	0	0	0	0	14.48	14.62	14.66
1174	-0.58	-146.0	1961	2246	3601	3510	202.9	-15.3	169	1181	0.00	2.45	0.00	0.000	516	0.000	0.062	1961	837	3555	3601	3509	0	0	0	0	0	0	14.86	14.67	14.89
1289	-0.58	-146.0	1960	835	3601	3510	218.4	-11.7	191	1295	0.00	2.53	0.00	0.000	1030	0.000	0.075	1953	2248	3555	3601	3510	0	0	0	0	0	0	14.76	14.65	14.78
1503	-0.58	-146.0	1953	2249	3600	3508	250.4	-15.1	213	1510	0.00	2.55	0.00	0.000	260	0.000	0.085	1942	3668	3555	3601	3509	0	0	0	0	0	0	14.87	14.66	14.90
1582	-0.58	-146.0	1942	3669	3601	3509	262.0	-13.4	228	1589	0.00	2.50	0.00	0.000	1030	0.000	0.060	1941	2233	3554	3600	3509	0	0	0	0	0	0	14.78	14.69	14.79
1788	-0.58	-146.0	1942	2234	3601	3507	294.5	-16.0	239	1794	0.00	2.42	0.00	0.000	516	0.000	0.062	1942	838	3554	3601	3507	0	0	0	0	0	0	14.91	14.70	14.93
1847	-0.58	-146.0	1942	837	3601	3506	303.4	-13.8	250	1855	0.15	2.55	0.00	0.000	3078	0.252	0.080	1965	2250	3553	3601	3506	0	0	0	0	0	0	14.54	14.62	14.72
2053	-0.58	-146.0	1965	2251	3600	3505	332.3	-14.2	261	2059	0.00	2.53	0.00	0.000	260	0.000	0.085	1956	3664	3553	3601	3506	0	0	0	0	0	0	14.91	14.66	14.94
2122	-0.58	-146.0	1956	3663	3600	3506	341.6	-12.7	274	2127	0.00	2.47	0.00	0.000	1030	0.000	0.057	1956	2239	3553	3601	3505	0	0	0	0	0	0	14.79	14.71	14.81
2258	end dive: TARGET_DEPTH_EXCEEDED
state	2258	begin apogee
2265	-0.11	0.0	1956	2113	3601	3505	362.4	-15.6	283	2381	0.57	0.10	109.62	1.769	10246	0.216	0.111	2110	2158	2972	3044	2901	0	0	0	0	0	0	14.57	14.09	13.48
2385	end apogee: CONTROL_FINISHED_OK
state	2385	begin climb
2388	0.58	146.0	2112	2158	3043	2898	369.9	0.0	289	2511	0.77	2.67	112.65	1.683	10500	0.138	0.077	2341	3563	2388	2475	2301	0	0	0	0	0	0	14.12	13.84	13.33
2524	0.73	262.2	2340	3562	2468	2300	368.6	4.6	312	2622	0.12	2.53	90.15	1.649	11302	0.127	0.053	2395	2183	1925	2009	1841	0	0	0	0	0	0	14.02	14.03	13.24
2836	0.73	262.2	2394	2184	2009	1828	332.3	12.9	343	2841	0.00	2.60	0.00	0.000	516	0.000	0.067	2406	743	1918	2009	1828	0	0	0	0	0	0	14.50	14.33	14.52
2929	0.73	262.2	2405	743	2007	1828	320.5	12.0	361	2935	0.00	2.55	0.00	0.000	1030	0.000	0.057	2407	2160	1916	2006	1827	0	0	0	0	0	0	14.50	14.42	14.52
3143	0.73	262.2	2405	2160	2006	1827	291.3	14.2	373	3149	0.00	2.55	0.00	0.000	260	0.000	0.080	2406	3557	1916	2006	1827	0	0	0	0	0	0	14.73	14.47	14.76
3197	0.73	262.2	2412	3556	2004	1827	283.1	15.4	383	3202	0.00	2.50	0.00	0.000	1030	0.000	0.057	2416	2140	1915	2004	1827	0	0	0	0	0	0	14.64	14.57	14.66
3411	0.73	262.2	2416	2141	2005	1827	251.3	14.8	395	3417	0.00	2.50	0.00	0.000	516	0.000	0.067	2428	733	1916	2005	1827	0	0	0	0	0	0	14.80	14.56	14.81
3445	0.73	262.2	2426	733	2005	1827	246.1	14.8	401	3452	0.15	2.53	0.00	0.000	5126	0.224	0.059	2392	2150	1915	2004	1827	0	0	0	0	0	0	14.47	14.59	14.64
3663	0.73	262.2	2398	2151	2004	1826	218.5	12.7	423	3668	0.00	2.55	0.00	0.000	260	0.000	0.080	2392	3564	1915	2004	1826	0	0	0	0	0	0	14.85	14.62	14.88
3727	0.73	262.2	2392	3564	2003	1826	209.5	12.5	435	3733	0.00	2.50	0.00	0.000	1030	0.000	0.054	2401	2142	1914	2003	1826	0	0	0	0	0	0	14.73	14.64	14.76
3941	0.73	262.2	2401	2142	2003	1826	180.3	14.3	457	3947	0.00	2.47	0.00	0.000	516	0.000	0.067	2412	741	1914	2003	1826	0	0	0	0	0	0	14.85	14.66	14.88
4025	0.73	262.2	2412	741	2003	1821	167.8	13.6	473	4031	0.00	2.50	0.00	0.000	1030	0.000	0.057	2412	2156	1914	2003	1826	0	0	0	0	0	0	14.72	14.64	14.75
4240	0.73	262.2	2410	2158	1998	1826	138.0	13.7	495	4245	0.00	2.53	0.00	0.000	260	0.000	0.079	2412	3562	1914	2003	1826	0	0	0	0	0	0	14.86	14.64	14.89
4308	0.73	262.2	2412	3562	2002	1826	129.0	12.5	508	4316	0.12	2.45	0.00	0.000	5126	0.292	0.054	2399	2150	1914	2002	1826	0	0	0	0	0	0	14.50	14.66	14.73
4516	0.73	262.2	2397	2145	2001	1826	104.8	11.5	529	4522	0.00	2.45	0.00	0.000	516	0.000	0.067	2407	737	1913	2002	1825	0	0	0	0	0	0	14.84	14.66	14.85
4636	0.73	262.2	2407	738	2002	1832	91.5	10.6	552	4644	0.00	2.53	0.00	0.000	1030	0.000	0.055	2415	2164	1914	2003	1825	0	0	0	0	0	0	14.73	14.64	14.76
4828	0.73	262.2	2406	2164	2002	1825	71.1	10.0	589	4835	0.00	2.50	0.00	0.000	260	0.000	0.078	2407	3555	1913	2002	1825	0	0	0	0	0	0	14.88	14.63	14.88
4924	0.73	262.2	2407	3551	2001	1825	60.7	11.0	607	4931	0.00	2.45	0.00	0.000	1030	0.000	0.051	2418	2149	1913	2002	1825	0	0	0	0	0	0	14.73	14.66	14.76
5115	0.79	307.4	2418	2149	2002	1826	44.1	7.9	644	5159	0.00	2.58	33.80	1.392	8740	0.000	0.068	2428	738	1744	1816	1672	0	0	0	0	0	0	14.83	14.46	13.88
5217	0.79	307.4	2428	733	1814	1671	34.9	10.4	662	5225	0.00	2.53	0.00	0.000	1030	0.000	0.054	2428	2148	1742	1813	1671	0	0	0	0	0	0	14.58	14.50	14.59
5412	0.90	389.5	2428	2149	1813	1667	21.2	6.2	699	5479	0.00	2.58	60.30	1.330	8740	0.000	0.064	2439	743	1423	1473	1374	0	0	0	0	0	0	14.74	14.19	13.75
5539	0.90	389.5	2438	741	1469	1372	8.2	9.6	721	5546	0.00	2.55	0.00	0.000	1030	0.000	0.054	2439	2160	1421	1470	1372	0	0	0	0	0	0	14.45	14.37	14.46
5592	end climb: SURFACE_DEPTH_REACHED
state	5592	begin surface coast
5608	end surface coast: CONTROL_FINISHED_OK
state	5608	begin surface