Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 203 * 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 203 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 410.0

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 39 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 410.0 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 203 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 R_STBD_OVSHOOT 39 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 080918,155200,5036.7515,-14430.2539,16,1.1,16,15.8,0.1,0.0,8,4.9 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5034.372,-14433.158

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.62 MHEAD_RNG_PITCHd_Wd 207.5,5634,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -71.6 D_GRID 360

GPS2 080918,160334,5036.7847,-14430.2412,3,0.7,5,15.8,0.2,128.0,12,3.9

Post-dive calculations and measurements:

FINISH -0.0,1.024069 ES_POWER1 0.000000

SM_CCo 6148,13.73,0.206,0,0,1375,400.16 _24V_AH 13.24,78.642

SM_GC 0.83,6.80,2.80,13.73,0.070,0.060,0.206,239,2253,1375,-5.91,-0.74,400.16,0,0,0,0,0,0,14.43,14.38,14.28 _10V_AH 13.42,0.000

IRIDIUM_FIX 5037.23,-14431.29,080918,100651 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.526547 FG_AHR_10Vo 0.000

HUMID 49.40 MEM 322916

INTERNAL_PRESSURE 10.0824 DATA_FILE_SIZE 26761,793

TCM_TEMP 15.50 CAP_FILE_SIZE 92745,0

XPDR_PINGS 115 CFSIZE 1024409600,971915264

SC_FREEKB 3791968 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14079459328.000000 CURRENT 0.056,101.52,1

ES_POWER 63.360000 GPS 080918,174815,5036.312,-14430.669,15,1.4,15,15.8,0.3,0.0,5,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 377 86.14 nil 0 0 0.00

Roll_motor 106 98 139.51 nil 0 0 0.00

VBD_pump_during_apogee 394 1759 9196.01 nil 0 0 0.00

VBD_pump_during_surface 13 205 37.40 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 6162 17 1435.00

Iridium_during_xfer 406 211 1140.20 echo 6142 5 406.60

Transponder_ping 28 420 159.87 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.75

TT8 1862 12 311.41

LPSleep 2478 2 72.83

TT8_Active 541 11 85.07

TT8_Sampling 1689 30 690.15

TT8_CF8 289 45 176.53

TT8_Kalman 0 0 0.00

Analog_circuits 1651 16 354.70

GPS_charging 0 0 0.00

Compass 1143 6 103.47

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.58 -146.0 145 2284 1362 1370 0.0 0.0 0 123 0.00 0.00 -95.05 0.004 16386 0.000 0.000 142 2284 3132 3156 3108 0 0 0 0 0 0 14.64 28.83 14.67

127 -0.58 -146.0 142 2285 3155 3109 4.7 -12.7 16 149 8.48 2.60 -7.75 0.014 18692 0.377 0.099 1948 3650 3552 3598 3507 0 0 0 0 0 0 14.16 13.26 14.49

207 -0.58 -146.0 1948 3651 3599 3511 33.2 -22.3 30 216 0.00 2.50 0.00 0.000 1030 0.000 0.053 1946 2247 3554 3598 3511 0 0 0 0 0 0 14.57 14.49 14.59

401 -0.58 -146.0 1948 2246 3600 3511 72.7 -19.6 67 408 0.00 2.47 0.00 0.000 516 0.000 0.058 1949 830 3555 3600 3511 0 0 0 0 0 0 14.76 14.50 14.79

426 -0.58 -146.0 1948 829 3600 3511 78.2 -21.9 71 433 0.00 2.55 0.00 0.000 1030 0.000 0.076 1939 2232 3555 3600 3511 0 0 0 0 0 0 14.53 14.42 14.56

622 -0.58 -146.0 1939 2229 3601 3510 115.3 -18.1 101 627 0.00 2.60 0.00 0.000 260 0.000 0.083 1928 3663 3555 3600 3510 0 0 0 0 0 0 14.78 14.49 14.81

706 -0.58 -146.0 1935 3662 3600 3511 130.6 -16.6 117 712 0.17 2.47 0.00 0.000 3078 0.247 0.052 1967 2246 3555 3600 3511 0 0 0 0 0 0 14.33 14.47 14.53

923 -0.58 -146.0 1967 2245 3598 3510 161.0 -14.4 139 929 0.00 2.47 0.00 0.000 516 0.000 0.060 1964 838 3556 3601 3511 0 0 0 0 0 0 14.81 14.58 14.83

1001 -0.58 -146.0 1967 836 3601 3511 172.0 -12.8 154 1009 0.00 2.55 0.00 0.000 1030 0.000 0.073 1961 2252 3555 3600 3511 0 0 0 0 0 0 14.64 14.53 14.66

1208 -0.58 -146.0 1959 2253 3600 3510 203.7 -15.7 175 1214 0.00 2.60 0.00 0.000 260 0.000 0.086 1948 3678 3555 3601 3510 0 0 0 0 0 0 14.81 14.54 14.84

1266 -0.58 -146.0 1948 3673 3601 3506 212.3 -13.6 186 1274 0.00 2.47 0.00 0.000 1030 0.000 0.050 1949 2249 3555 3600 3510 0 0 0 0 0 0 14.69 14.61 14.71

1472 -0.58 -146.0 1948 2249 3601 3510 244.7 -16.3 207 1478 0.00 2.45 0.00 0.000 516 0.000 0.061 1949 842 3554 3600 3509 0 0 0 0 0 0 14.84 14.60 14.88

1541 -0.58 -146.0 1947 841 3600 3510 254.8 -13.1 220 1547 0.00 2.53 0.00 0.000 1030 0.000 0.064 1939 2262 3551 3594 3509 0 0 0 0 0 0 14.66 14.57 14.69

1760 -0.58 -146.0 1939 2263 3600 3502 289.2 -15.9 233 1766 0.00 2.55 0.00 0.000 260 0.000 0.085 1928 3662 3553 3600 3507 0 0 0 0 0 0 14.83 14.54 14.85

1805 -0.58 -146.0 1928 3662 3600 3507 296.0 -14.8 241 1811 0.15 2.45 0.00 0.000 3078 0.259 0.048 1961 2251 3553 3600 3506 0 0 0 0 0 0 14.38 14.62 14.60

2030 -0.58 -146.0 1962 2251 3604 3505 327.9 -14.3 255 2036 0.00 2.47 0.00 0.000 516 0.000 0.061 1961 834 3553 3600 3506 0 0 0 0 0 0 14.81 14.64 14.84

2103 -0.58 -146.0 1961 831 3601 3505 337.7 -11.4 269 2110 0.00 2.47 0.00 0.000 1030 0.000 0.063 1953 2259 3552 3600 3505 0 0 0 0 0 0 14.71 14.61 14.74

2275 end dive: TARGET_DEPTH_EXCEEDED

state 2276 begin apogee

2283 -0.11 0.0 1953 2129 3600 3502 362.8 -15.1 279 2398 0.60 0.00 111.00 1.760 10246 0.213 0.000 2114 2130 2970 3043 2898 0 0 0 0 0 0 14.38 14.12 13.43

2401 end apogee: CONTROL_FINISHED_OK

state 2401 begin climb

2404 0.58 146.0 2114 2130 3043 2895 369.7 0.0 285 2529 0.75 2.65 113.70 1.681 10756 0.134 0.078 2347 748 2388 2476 2301 0 0 0 0 0 0 14.08 13.86 13.24

2644 0.67 213.2 2346 748 2475 2290 362.0 6.9 324 2702 0.00 2.60 52.42 1.682 9254 0.000 0.060 2347 2162 2123 2213 2034 0 0 0 0 0 0 14.26 14.20 13.38

2918 0.67 213.2 2346 2162 2213 2019 337.6 9.8 347 2924 0.00 2.55 0.00 0.000 260 0.000 0.081 2347 3555 2117 2213 2021 0 0 0 0 0 0 14.59 14.30 14.62

2976 0.67 213.2 2346 3555 2210 2019 331.0 10.8 358 2984 0.00 2.50 0.00 0.000 1030 0.000 0.053 2357 2151 2117 2215 2020 0 0 0 0 0 0 14.51 14.43 14.53

3182 0.67 213.2 2357 2151 2204 2017 309.4 10.7 369 3188 0.00 2.50 0.00 0.000 516 0.000 0.067 2368 744 2114 2211 2017 0 0 0 0 0 0 14.73 14.49 14.75

3236 0.67 213.2 2368 744 2211 2017 303.6 10.7 379 3242 0.00 2.53 0.00 0.000 1030 0.000 0.063 2368 2152 2114 2211 2017 0 0 0 0 0 0 14.62 14.53 14.65

3450 0.67 213.2 2368 2153 2218 2015 279.8 11.1 391 3456 0.00 2.58 0.00 0.000 260 0.000 0.080 2368 3558 2113 2211 2015 0 0 0 0 0 0 14.79 14.54 14.83

3504 0.67 213.2 2368 3558 2211 2015 272.9 12.3 401 3510 0.00 2.47 0.00 0.000 1030 0.000 0.053 2378 2147 2113 2211 2015 0 0 0 0 0 0 14.66 14.57 14.68

3718 0.67 213.2 2378 2146 2211 2015 247.8 11.9 413 3724 0.00 2.47 0.00 0.000 516 0.000 0.067 2389 741 2110 2211 2009 0 0 0 0 0 0 14.82 14.61 14.85

3797 0.67 213.2 2388 741 2211 2014 238.2 11.4 428 3804 0.00 2.50 0.00 0.000 1030 0.000 0.057 2389 2153 2113 2211 2015 0 0 0 0 0 0 14.73 14.60 14.71

4003 0.67 213.2 2389 2153 2211 2014 213.2 12.1 449 4008 0.00 2.55 0.00 0.000 260 0.000 0.080 2389 3568 2112 2211 2014 0 0 0 0 0 0 14.78 14.57 14.82

4097 0.67 213.2 2389 3567 2211 2014 200.8 12.9 467 4103 0.00 2.47 0.00 0.000 1030 0.000 0.053 2400 2144 2112 2210 2014 0 0 0 0 0 0 14.73 14.64 14.76

4311 0.67 213.2 2399 2145 2210 2013 172.7 13.1 489 4317 0.00 2.53 0.00 0.000 516 0.000 0.067 2411 732 2112 2211 2013 0 0 0 0 0 0 14.83 14.62 14.87

4399 0.67 213.2 2410 731 2211 2013 161.3 12.4 506 4408 0.17 2.53 0.00 0.000 5126 0.208 0.057 2368 2154 2111 2210 2012 0 0 0 0 0 0 14.45 14.54 14.64

4610 0.67 213.2 2368 2154 2211 2011 139.0 11.0 527 4616 0.00 2.58 0.00 0.000 260 0.000 0.080 2367 3565 2111 2210 2012 0 0 0 0 0 0 14.85 14.55 14.88

4668 0.67 213.2 2368 3565 2210 2011 131.9 11.6 538 4676 0.00 2.47 0.00 0.000 1030 0.000 0.053 2377 2149 2110 2210 2011 0 0 0 0 0 0 14.59 14.55 14.62

4875 0.68 213.2 2371 2149 2207 2011 110.1 9.3 559 4881 0.00 2.53 0.00 0.000 580 0.000 0.067 2388 731 2110 2210 2011 0 0 0 0 0 0 14.84 14.61 14.87

4985 0.72 213.2 2388 737 2210 2011 100.6 8.4 580 4992 0.00 2.53 0.00 0.000 1094 0.000 0.056 2388 2156 2110 2210 2011 0 0 0 0 0 0 14.69 14.60 14.72

5197 0.80 276.2 2388 2163 2210 2011 84.5 7.1 621 5253 0.00 2.60 47.70 1.470 8996 0.000 0.067 2398 731 1875 1964 1787 0 0 0 0 0 0 14.83 14.36 13.74

5266 0.83 276.2 2397 734 1953 1786 79.2 8.3 632 5273 0.00 2.55 0.00 0.000 1094 0.000 0.056 2398 2152 1869 1952 1786 0 0 0 0 0 0 14.45 14.37 14.47

5458 0.85 276.2 2397 2151 1952 1780 62.8 8.9 669 5465 0.00 2.60 0.00 0.000 324 0.000 0.079 2397 3562 1866 1952 1780 0 0 0 0 0 0 14.67 14.37 14.71

5504 0.85 276.2 2397 3558 1957 1780 57.7 10.0 677 5511 0.00 2.50 0.00 0.000 1030 0.000 0.054 2403 2145 1865 1951 1780 0 0 0 0 0 0 14.52 14.45 14.56

5695 0.85 276.2 2407 2150 1951 1779 38.0 9.9 714 5703 0.00 2.60 0.00 0.000 260 0.000 0.076 2408 3559 1865 1952 1779 0 0 0 0 0 0 14.75 14.50 14.77

5761 0.87 276.2 2408 3558 1951 1775 31.3 9.4 726 5770 0.00 2.50 0.00 0.000 1094 0.000 0.053 2418 2153 1864 1951 1778 0 0 0 0 0 0 14.64 14.55 14.65

5955 0.99 370.6 2418 2153 1951 1778 19.2 5.6 763 6036 0.12 2.65 69.93 1.326 10788 0.119 0.067 2488 738 1494 1546 1442 0 0 0 0 0 0 14.61 14.24 13.70

6113 end climb: SURFACE_DEPTH_REACHED

state 6114 begin surface coast

6125 end surface coast: CONTROL_FINISHED_OK

state 6125 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	203	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	410.0
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	39	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	080918,155200,5036.7515,-14430.2539,16,1.1,16,15.8,0.1,0.0,8,4.9	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5034.372,-14433.158
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.62	MHEAD_RNG_PITCHd_Wd	207.5,5634,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-71.6	D_GRID	360
GPS2	080918,160334,5036.7847,-14430.2412,3,0.7,5,15.8,0.2,128.0,12,3.9

FINISH	-0.0,1.024069	ES_POWER1	0.000000
SM_CCo	6148,13.73,0.206,0,0,1375,400.16	_24V_AH	13.24,78.642
SM_GC	0.83,6.80,2.80,13.73,0.070,0.060,0.206,239,2253,1375,-5.91,-0.74,400.16,0,0,0,0,0,0,14.43,14.38,14.28	_10V_AH	13.42,0.000
IRIDIUM_FIX	5037.23,-14431.29,080918,100651	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.526547	FG_AHR_10Vo	0.000
HUMID	49.40	MEM	322916
INTERNAL_PRESSURE	10.0824	DATA_FILE_SIZE	26761,793
TCM_TEMP	15.50	CAP_FILE_SIZE	92745,0
XPDR_PINGS	115	CFSIZE	1024409600,971915264
SC_FREEKB	3791968	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14079459328.000000	CURRENT	0.056,101.52,1
ES_POWER	63.360000	GPS	080918,174815,5036.312,-14430.669,15,1.4,15,15.8,0.3,0.0,5,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	377	86.14	nil	0	0	0.00
Roll_motor	106	98	139.51	nil	0	0	0.00
VBD_pump_during_apogee	394	1759	9196.01	nil	0	0	0.00
VBD_pump_during_surface	13	205	37.40	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	6162	17	1435.00
Iridium_during_xfer	406	211	1140.20	echo	6142	5	406.60
Transponder_ping	28	420	159.87	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.75
TT8	1862	12	311.41
LPSleep	2478	2	72.83
TT8_Active	541	11	85.07
TT8_Sampling	1689	30	690.15
TT8_CF8	289	45	176.53
TT8_Kalman	0	0	0.00
Analog_circuits	1651	16	354.70
GPS_charging	0	0	0.00
Compass	1143	6	103.47
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.58	-146.0	145	2284	1362	1370	0.0	0.0	0	123	0.00	0.00	-95.05	0.004	16386	0.000	0.000	142	2284	3132	3156	3108	0	0	0	0	0	0	14.64	28.83	14.67
127	-0.58	-146.0	142	2285	3155	3109	4.7	-12.7	16	149	8.48	2.60	-7.75	0.014	18692	0.377	0.099	1948	3650	3552	3598	3507	0	0	0	0	0	0	14.16	13.26	14.49
207	-0.58	-146.0	1948	3651	3599	3511	33.2	-22.3	30	216	0.00	2.50	0.00	0.000	1030	0.000	0.053	1946	2247	3554	3598	3511	0	0	0	0	0	0	14.57	14.49	14.59
401	-0.58	-146.0	1948	2246	3600	3511	72.7	-19.6	67	408	0.00	2.47	0.00	0.000	516	0.000	0.058	1949	830	3555	3600	3511	0	0	0	0	0	0	14.76	14.50	14.79
426	-0.58	-146.0	1948	829	3600	3511	78.2	-21.9	71	433	0.00	2.55	0.00	0.000	1030	0.000	0.076	1939	2232	3555	3600	3511	0	0	0	0	0	0	14.53	14.42	14.56
622	-0.58	-146.0	1939	2229	3601	3510	115.3	-18.1	101	627	0.00	2.60	0.00	0.000	260	0.000	0.083	1928	3663	3555	3600	3510	0	0	0	0	0	0	14.78	14.49	14.81
706	-0.58	-146.0	1935	3662	3600	3511	130.6	-16.6	117	712	0.17	2.47	0.00	0.000	3078	0.247	0.052	1967	2246	3555	3600	3511	0	0	0	0	0	0	14.33	14.47	14.53
923	-0.58	-146.0	1967	2245	3598	3510	161.0	-14.4	139	929	0.00	2.47	0.00	0.000	516	0.000	0.060	1964	838	3556	3601	3511	0	0	0	0	0	0	14.81	14.58	14.83
1001	-0.58	-146.0	1967	836	3601	3511	172.0	-12.8	154	1009	0.00	2.55	0.00	0.000	1030	0.000	0.073	1961	2252	3555	3600	3511	0	0	0	0	0	0	14.64	14.53	14.66
1208	-0.58	-146.0	1959	2253	3600	3510	203.7	-15.7	175	1214	0.00	2.60	0.00	0.000	260	0.000	0.086	1948	3678	3555	3601	3510	0	0	0	0	0	0	14.81	14.54	14.84
1266	-0.58	-146.0	1948	3673	3601	3506	212.3	-13.6	186	1274	0.00	2.47	0.00	0.000	1030	0.000	0.050	1949	2249	3555	3600	3510	0	0	0	0	0	0	14.69	14.61	14.71
1472	-0.58	-146.0	1948	2249	3601	3510	244.7	-16.3	207	1478	0.00	2.45	0.00	0.000	516	0.000	0.061	1949	842	3554	3600	3509	0	0	0	0	0	0	14.84	14.60	14.88
1541	-0.58	-146.0	1947	841	3600	3510	254.8	-13.1	220	1547	0.00	2.53	0.00	0.000	1030	0.000	0.064	1939	2262	3551	3594	3509	0	0	0	0	0	0	14.66	14.57	14.69
1760	-0.58	-146.0	1939	2263	3600	3502	289.2	-15.9	233	1766	0.00	2.55	0.00	0.000	260	0.000	0.085	1928	3662	3553	3600	3507	0	0	0	0	0	0	14.83	14.54	14.85
1805	-0.58	-146.0	1928	3662	3600	3507	296.0	-14.8	241	1811	0.15	2.45	0.00	0.000	3078	0.259	0.048	1961	2251	3553	3600	3506	0	0	0	0	0	0	14.38	14.62	14.60
2030	-0.58	-146.0	1962	2251	3604	3505	327.9	-14.3	255	2036	0.00	2.47	0.00	0.000	516	0.000	0.061	1961	834	3553	3600	3506	0	0	0	0	0	0	14.81	14.64	14.84
2103	-0.58	-146.0	1961	831	3601	3505	337.7	-11.4	269	2110	0.00	2.47	0.00	0.000	1030	0.000	0.063	1953	2259	3552	3600	3505	0	0	0	0	0	0	14.71	14.61	14.74
2275	end dive: TARGET_DEPTH_EXCEEDED
state	2276	begin apogee
2283	-0.11	0.0	1953	2129	3600	3502	362.8	-15.1	279	2398	0.60	0.00	111.00	1.760	10246	0.213	0.000	2114	2130	2970	3043	2898	0	0	0	0	0	0	14.38	14.12	13.43
2401	end apogee: CONTROL_FINISHED_OK
state	2401	begin climb
2404	0.58	146.0	2114	2130	3043	2895	369.7	0.0	285	2529	0.75	2.65	113.70	1.681	10756	0.134	0.078	2347	748	2388	2476	2301	0	0	0	0	0	0	14.08	13.86	13.24
2644	0.67	213.2	2346	748	2475	2290	362.0	6.9	324	2702	0.00	2.60	52.42	1.682	9254	0.000	0.060	2347	2162	2123	2213	2034	0	0	0	0	0	0	14.26	14.20	13.38
2918	0.67	213.2	2346	2162	2213	2019	337.6	9.8	347	2924	0.00	2.55	0.00	0.000	260	0.000	0.081	2347	3555	2117	2213	2021	0	0	0	0	0	0	14.59	14.30	14.62
2976	0.67	213.2	2346	3555	2210	2019	331.0	10.8	358	2984	0.00	2.50	0.00	0.000	1030	0.000	0.053	2357	2151	2117	2215	2020	0	0	0	0	0	0	14.51	14.43	14.53
3182	0.67	213.2	2357	2151	2204	2017	309.4	10.7	369	3188	0.00	2.50	0.00	0.000	516	0.000	0.067	2368	744	2114	2211	2017	0	0	0	0	0	0	14.73	14.49	14.75
3236	0.67	213.2	2368	744	2211	2017	303.6	10.7	379	3242	0.00	2.53	0.00	0.000	1030	0.000	0.063	2368	2152	2114	2211	2017	0	0	0	0	0	0	14.62	14.53	14.65
3450	0.67	213.2	2368	2153	2218	2015	279.8	11.1	391	3456	0.00	2.58	0.00	0.000	260	0.000	0.080	2368	3558	2113	2211	2015	0	0	0	0	0	0	14.79	14.54	14.83
3504	0.67	213.2	2368	3558	2211	2015	272.9	12.3	401	3510	0.00	2.47	0.00	0.000	1030	0.000	0.053	2378	2147	2113	2211	2015	0	0	0	0	0	0	14.66	14.57	14.68
3718	0.67	213.2	2378	2146	2211	2015	247.8	11.9	413	3724	0.00	2.47	0.00	0.000	516	0.000	0.067	2389	741	2110	2211	2009	0	0	0	0	0	0	14.82	14.61	14.85
3797	0.67	213.2	2388	741	2211	2014	238.2	11.4	428	3804	0.00	2.50	0.00	0.000	1030	0.000	0.057	2389	2153	2113	2211	2015	0	0	0	0	0	0	14.73	14.60	14.71
4003	0.67	213.2	2389	2153	2211	2014	213.2	12.1	449	4008	0.00	2.55	0.00	0.000	260	0.000	0.080	2389	3568	2112	2211	2014	0	0	0	0	0	0	14.78	14.57	14.82
4097	0.67	213.2	2389	3567	2211	2014	200.8	12.9	467	4103	0.00	2.47	0.00	0.000	1030	0.000	0.053	2400	2144	2112	2210	2014	0	0	0	0	0	0	14.73	14.64	14.76
4311	0.67	213.2	2399	2145	2210	2013	172.7	13.1	489	4317	0.00	2.53	0.00	0.000	516	0.000	0.067	2411	732	2112	2211	2013	0	0	0	0	0	0	14.83	14.62	14.87
4399	0.67	213.2	2410	731	2211	2013	161.3	12.4	506	4408	0.17	2.53	0.00	0.000	5126	0.208	0.057	2368	2154	2111	2210	2012	0	0	0	0	0	0	14.45	14.54	14.64
4610	0.67	213.2	2368	2154	2211	2011	139.0	11.0	527	4616	0.00	2.58	0.00	0.000	260	0.000	0.080	2367	3565	2111	2210	2012	0	0	0	0	0	0	14.85	14.55	14.88
4668	0.67	213.2	2368	3565	2210	2011	131.9	11.6	538	4676	0.00	2.47	0.00	0.000	1030	0.000	0.053	2377	2149	2110	2210	2011	0	0	0	0	0	0	14.59	14.55	14.62
4875	0.68	213.2	2371	2149	2207	2011	110.1	9.3	559	4881	0.00	2.53	0.00	0.000	580	0.000	0.067	2388	731	2110	2210	2011	0	0	0	0	0	0	14.84	14.61	14.87
4985	0.72	213.2	2388	737	2210	2011	100.6	8.4	580	4992	0.00	2.53	0.00	0.000	1094	0.000	0.056	2388	2156	2110	2210	2011	0	0	0	0	0	0	14.69	14.60	14.72
5197	0.80	276.2	2388	2163	2210	2011	84.5	7.1	621	5253	0.00	2.60	47.70	1.470	8996	0.000	0.067	2398	731	1875	1964	1787	0	0	0	0	0	0	14.83	14.36	13.74
5266	0.83	276.2	2397	734	1953	1786	79.2	8.3	632	5273	0.00	2.55	0.00	0.000	1094	0.000	0.056	2398	2152	1869	1952	1786	0	0	0	0	0	0	14.45	14.37	14.47
5458	0.85	276.2	2397	2151	1952	1780	62.8	8.9	669	5465	0.00	2.60	0.00	0.000	324	0.000	0.079	2397	3562	1866	1952	1780	0	0	0	0	0	0	14.67	14.37	14.71
5504	0.85	276.2	2397	3558	1957	1780	57.7	10.0	677	5511	0.00	2.50	0.00	0.000	1030	0.000	0.054	2403	2145	1865	1951	1780	0	0	0	0	0	0	14.52	14.45	14.56
5695	0.85	276.2	2407	2150	1951	1779	38.0	9.9	714	5703	0.00	2.60	0.00	0.000	260	0.000	0.076	2408	3559	1865	1952	1779	0	0	0	0	0	0	14.75	14.50	14.77
5761	0.87	276.2	2408	3558	1951	1775	31.3	9.4	726	5770	0.00	2.50	0.00	0.000	1094	0.000	0.053	2418	2153	1864	1951	1778	0	0	0	0	0	0	14.64	14.55	14.65
5955	0.99	370.6	2418	2153	1951	1778	19.2	5.6	763	6036	0.12	2.65	69.93	1.326	10788	0.119	0.067	2488	738	1494	1546	1442	0	0	0	0	0	0	14.61	14.24	13.70
6113	end climb: SURFACE_DEPTH_REACHED
state	6114	begin surface coast
6125	end surface coast: CONTROL_FINISHED_OK
state	6125	begin surface