Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 3 * 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 3 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 4

N_DIVES 0 SM_CC 610.46399 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 500 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_NO_BLEED 200 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0012300001 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 0 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 1 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 0 SEABIRD_T_H 0.00063626852

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 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 2200 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 24 PHONE_SUPPLY -2 ES_RECORDABOVE 2000.0

MAX_BUOY 200 PITCH_TIMEOUT 18 PRESSURE_YINT -148.58136 ES_PROFILE 3.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.0001078618 ES_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_UPLOADMAX 100000.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_STARTS 10.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_NDIVE 1.0

MASS 55668 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_DL_HEADERSKIP 4184.0

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 30.0

FERRY_MAX 45 C_ROLL_DIVE 2038 ALTIM_TOP_MIN_OBSTACLE 1 ES_DL_RECORDCOUNT 3.0

KALMAN_USE 2 C_ROLL_CLIMB 2038 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 17 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 16 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 4184.0 N_GPS 100440 SEABIRD_T_I 2.5989737e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 30.0 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 610.46399

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 1 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0.015 STROBE 0

APOGEE_PITCH -5 ES_STARTS 10.0 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 3.0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FERRY_MAX 45 PITCH_GAIN 24 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 0.0012300001 T_DIVE 120

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 4 HD_A 0.003 PITCH_W_GAIN 0 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 1

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 2200 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2038 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2038 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 3 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 500 MASS 55668 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 5 MASS_COMP 0 R_PORT_OVSHOOT 17 W_ADJ_DBAND 0

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 16 XPDR_DEVICE 24

D_FINISH 0 MAXI_24V 0.60000002 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_FLARE 3 MAX_BUOY 200 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 270718,060708,5008.4927,-14453.5684,1,1.0,2,15.7,0.1,0.0,8,7.0 SPEED_LIMITS 0.173,0.292

_CALLS 1 TGT_NAME NE

_XMS_NAKs 0 TGT_LATLONG 5011.500,-14454.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.72 MHEAD_RNG_PITCHd_Wd 304.4,5603,-15.0,-10.000,-18.93,2930

_SM_ANGLEo -56.6 D_GRID 360

GPS2 270718,061041,5008.4897,-14453.5312,2,1.0,4,15.7,0.4,355.8,8,9.0

Post-dive calculations and measurements:

FINISH -0.2,1.024543 ES_POWER1 0.000000

SM_CCo 6572,100.78,0.208,0,0,536,610.67 _24V_AH 13.44,2.992

SM_GC 0.51,6.40,2.58,100.78,0.069,0.073,0.208,224,2031,536,-6.07,0.42,610.67,0,0,0,0,0,0,14.76,14.71,14.57 _10V_AH 13.10,0.000

IRIDIUM_FIX 5007.19,-14456.63,270718,060506 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.964712 FG_AHR_10Vo 0.000

HUMID 52.04 MEM 323428

INTERNAL_PRESSURE 10.0336 DATA_FILE_SIZE 33403,896

TCM_TEMP 15.40 CAP_FILE_SIZE 106968,0

XPDR_PINGS 102 CFSIZE 1024409600,1019412480

SC_FREEKB 3908736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 15917449216.000000 CURRENT 0.071,68.94,1

ES_POWER 63.390000 GPS 270718,080400,5008.657,-14453.428,20,1.3,20,15.7,0.2,0.0,9,6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 364 84.35 nil 0 0 0.00

Roll_motor 90 104 128.15 nil 0 0 0.00

VBD_pump_during_apogee 444 1713 10229.12 nil 0 0 0.00

VBD_pump_during_surface 100 208 281.83 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 6541 17 1535.81

Iridium_during_xfer 0 0 0.00 echo 6539 10 878.84

Transponder_ping 25 420 143.94 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.66

TT8 2084 12 340.28

LPSleep 2490 2 71.44

TT8_Active 689 11 105.80

TT8_Sampling 1376 30 548.89

TT8_CF8 139 45 82.79

TT8_Kalman 0 0 0.00

Analog_circuits 1433 16 300.48

GPS_charging 0 0 0.00

Compass 1288 6 113.79

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

14 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.87 -194.6 228 2052 601 470 0.0 0.0 0 167 0.00 0.00 -145.85 0.004 16386 0.000 0.000 213 2051 3371 3383 3359 0 0 0 0 0 0 14.90 28.83 14.94

170 -0.87 -194.6 213 2050 3383 3359 4.8 -13.3 25 192 7.30 2.47 -6.95 0.019 18948 0.365 0.090 1910 619 3746 3774 3719 0 0 0 0 0 0 14.60 14.24 14.74

246 -0.81 -194.6 1907 620 3775 3719 28.7 -18.6 38 254 0.15 2.50 0.00 0.000 3206 0.264 0.073 1935 2042 3747 3774 3720 0 0 0 0 0 0 14.69 14.76 14.83

439 -0.66 -194.6 1934 2044 3774 3719 70.8 -20.7 75 447 0.17 2.45 0.00 0.000 2436 0.269 0.089 1972 3451 3746 3774 3719 0 0 0 0 0 0 14.71 14.78 14.82

568 -0.63 -194.6 1972 3455 3774 3719 91.0 -14.2 99 575 0.00 2.45 0.00 0.000 1158 0.000 0.067 1972 2031 3746 3774 3719 0 0 0 0 0 0 14.90 14.82 14.92

761 -0.56 -194.6 1970 2031 3774 3719 120.5 -14.0 123 767 0.15 2.45 0.00 0.000 2692 0.265 0.083 2011 622 3746 3775 3718 0 0 0 0 0 0 14.75 14.83 14.85

808 -0.65 -194.6 2011 623 3775 3719 126.1 -8.9 131 813 0.00 2.47 0.00 0.000 1190 0.000 0.073 2004 2037 3746 3775 3718 0 0 0 0 0 0 14.92 14.83 14.94

1122 -0.65 -194.6 2004 2032 3774 3716 159.7 -10.7 163 1128 0.00 2.47 0.00 0.000 516 0.000 0.081 2010 626 3745 3775 3716 0 0 0 0 0 0 15.02 14.84 15.05

1239 -0.69 -194.6 2004 626 3774 3716 171.1 -9.7 185 1245 0.00 2.50 0.00 0.000 1190 0.000 0.076 1998 2040 3745 3775 3715 0 0 0 0 0 0 14.93 14.84 14.95

1553 -0.69 -194.6 1994 2040 3775 3713 204.9 -10.6 217 1559 0.00 2.50 0.00 0.000 516 0.000 0.085 1995 624 3743 3774 3713 0 0 0 0 0 0 15.02 14.83 15.06

1692 -0.74 -194.6 1995 624 3774 3713 217.4 -9.7 243 1697 0.00 2.50 0.00 0.000 1190 0.000 0.081 1986 2040 3743 3774 3712 0 0 0 0 0 0 14.93 14.84 14.95

2006 -0.74 -194.6 1985 2039 3775 3709 254.6 -12.3 275 2012 0.00 2.53 0.00 0.000 516 0.000 0.090 1986 623 3742 3776 3708 0 0 0 0 0 0 15.04 14.85 15.07

2127 -0.78 -194.6 1985 618 3774 3713 268.1 -11.7 298 2134 0.00 2.50 0.00 0.000 1158 0.000 0.079 1977 2041 3740 3774 3707 0 0 0 0 0 0 14.95 14.86 14.96

2433 -0.76 -194.6 1977 2040 3774 3705 306.0 -11.8 329 2439 0.00 2.53 0.00 0.000 644 0.000 0.088 1977 616 3739 3774 3705 0 0 0 0 0 0 15.04 14.85 15.07

2571 -0.78 -194.6 1977 615 3776 3704 320.1 -10.2 355 2577 0.00 2.53 0.00 0.000 1158 0.000 0.080 1968 2048 3737 3772 3703 0 0 0 0 0 0 14.95 14.87 14.97

2886 -0.76 -194.6 1967 2048 3774 3700 358.1 -12.1 387 2891 0.00 2.53 0.00 0.000 644 0.000 0.087 1965 619 3737 3774 3700 0 0 0 0 0 0 15.05 14.85 15.09

2901 end dive: TARGET_DEPTH_EXCEEDED

state 2901 begin apogee

2910 -0.21 0.0 1964 2040 3774 3701 360.8 -12.6 390 3057 0.57 0.00 142.90 1.714 10246 0.203 0.000 2125 2041 2970 3025 2916 0 0 0 0 0 0 14.78 14.13 13.52

3061 end apogee: CONTROL_FINISHED_OK

state 3061 begin climb

3063 0.87 194.6 2125 2041 3025 2914 367.2 0.0 405 3225 1.15 2.67 147.23 1.711 10500 0.144 0.093 2465 3450 2193 2245 2141 0 0 0 0 0 0 14.13 14.02 13.44

3258 0.61 194.6 2470 3449 2242 2139 353.8 18.0 438 3266 0.38 2.60 0.00 0.000 5254 0.304 0.083 2398 2042 2190 2242 2138 0 0 0 0 0 0 14.14 14.23 14.35

3565 0.47 194.6 2397 2042 2242 2128 311.0 13.7 469 3571 0.15 2.53 0.00 0.000 4740 0.283 0.086 2370 621 2184 2241 2128 0 0 0 0 0 0 14.55 14.64 14.66

3604 0.41 194.6 2369 620 2242 2128 306.2 11.3 476 3611 0.15 2.55 0.00 0.000 5254 0.233 0.080 2336 2041 2184 2241 2127 0 0 0 0 0 0 14.59 14.65 14.73

3911 0.39 205.6 2335 2041 2241 2124 276.7 9.6 507 3928 0.00 2.55 7.85 1.419 8612 0.000 0.093 2336 3455 2151 2209 2093 0 0 0 0 0 0 14.92 14.68 14.12

4058 0.35 205.6 2335 3461 2209 2091 261.2 10.7 535 4064 0.00 2.53 0.00 0.000 1158 0.000 0.081 2344 2034 2147 2203 2091 0 0 0 0 0 0 14.79 14.70 14.81

4373 0.32 205.6 2344 2034 2209 2089 228.6 10.2 567 4380 0.15 2.47 0.00 0.000 4740 0.253 0.084 2314 624 2151 2209 2093 0 0 0 0 0 0 14.71 14.78 14.82

4413 0.42 246.6 2311 623 2208 2089 225.0 8.6 574 4454 0.00 2.53 31.55 1.527 9382 0.000 0.074 2315 2053 1989 2045 1934 0 0 0 0 0 0 14.87 14.79 14.02

4754 0.54 314.8 2314 2053 2043 1923 198.0 7.6 611 4815 0.15 2.60 51.25 1.491 10660 0.149 0.096 2371 3449 1715 1769 1661 0 0 0 0 0 0 14.73 14.36 13.85

4824 0.51 314.8 2371 3449 1767 1660 190.6 12.9 623 4829 0.00 2.58 0.00 0.000 1158 0.000 0.083 2380 2044 1712 1768 1657 0 0 0 0 0 0 14.49 14.40 14.50

5138 0.48 314.8 2380 2038 1767 1652 153.9 11.6 655 5144 0.00 2.60 0.00 0.000 388 0.000 0.105 2381 3446 1709 1768 1650 0 0 0 0 0 0 14.83 14.61 14.86

5246 0.45 314.8 2380 3443 1765 1650 140.2 12.3 676 5254 0.17 2.55 0.00 0.000 5254 0.256 0.088 2351 2030 1707 1765 1650 0 0 0 0 0 0 14.60 14.66 14.76

5554 0.51 340.6 2351 2030 1766 1649 109.5 9.1 707 5578 0.00 2.58 18.90 1.385 8868 0.000 0.088 2358 622 1614 1671 1558 0 0 0 0 0 0 14.91 14.62 14.11

5612 0.65 387.8 2360 622 1671 1556 104.4 8.3 717 5658 0.15 2.53 35.65 1.366 11430 0.168 0.073 2407 2040 1424 1483 1366 0 0 0 0 0 0 14.59 14.62 13.91

5963 0.65 387.8 2405 2041 1483 1355 65.6 10.8 785 5970 0.00 2.53 0.00 0.000 260 0.000 0.093 2406 3459 1419 1483 1355 0 0 0 0 0 0 14.81 14.62 14.83

6039 0.65 387.8 2405 3459 1481 1355 56.8 12.0 799 6046 0.00 2.55 0.00 0.000 1030 0.000 0.083 2415 2036 1418 1482 1355 0 0 0 0 0 0 14.72 14.63 14.75

6230 0.65 387.8 2415 2036 1481 1350 35.2 10.2 836 6237 0.00 2.50 0.00 0.000 516 0.000 0.089 2426 625 1418 1482 1354 0 0 0 0 0 0 14.88 14.69 14.91

6281 0.70 399.0 2425 625 1480 1353 30.0 9.6 845 6296 0.00 2.55 8.82 1.220 9382 0.000 0.085 2427 2038 1378 1443 1313 0 0 0 0 0 0 14.78 14.69 14.16

6482 0.70 399.0 2426 2038 1443 1311 8.5 10.4 883 6489 0.00 2.50 0.00 0.000 260 0.000 0.090 2426 3456 1374 1443 1306 0 0 0 0 0 0 14.83 14.68 14.85

6534 end climb: SURFACE_DEPTH_REACHED

state 6534 begin surface coast

6550 end surface coast: CONTROL_FINISHED_OK

state 6550 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	3	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	4
N_DIVES	0	SM_CC	610.46399	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	500	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_NO_BLEED	200	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0012300001	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	0	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	1	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	0	SEABIRD_T_H	0.00063626852
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	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	2200	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	24	PHONE_SUPPLY	-2	ES_RECORDABOVE	2000.0
MAX_BUOY	200	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.58136	ES_PROFILE	3.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.0001078618	ES_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_UPLOADMAX	100000.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_STARTS	10.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_NDIVE	1.0
MASS	55668	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_DL_HEADERSKIP	4184.0
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	30.0
FERRY_MAX	45	C_ROLL_DIVE	2038	ALTIM_TOP_MIN_OBSTACLE	1	ES_DL_RECORDCOUNT	3.0
KALMAN_USE	2	C_ROLL_CLIMB	2038	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	17	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	16	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	270718,060708,5008.4927,-14453.5684,1,1.0,2,15.7,0.1,0.0,8,7.0	SPEED_LIMITS	0.173,0.292
_CALLS	1	TGT_NAME	NE
_XMS_NAKs	0	TGT_LATLONG	5011.500,-14454.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.72	MHEAD_RNG_PITCHd_Wd	304.4,5603,-15.0,-10.000,-18.93,2930
_SM_ANGLEo	-56.6	D_GRID	360
GPS2	270718,061041,5008.4897,-14453.5312,2,1.0,4,15.7,0.4,355.8,8,9.0

FINISH	-0.2,1.024543	ES_POWER1	0.000000
SM_CCo	6572,100.78,0.208,0,0,536,610.67	_24V_AH	13.44,2.992
SM_GC	0.51,6.40,2.58,100.78,0.069,0.073,0.208,224,2031,536,-6.07,0.42,610.67,0,0,0,0,0,0,14.76,14.71,14.57	_10V_AH	13.10,0.000
IRIDIUM_FIX	5007.19,-14456.63,270718,060506	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.964712	FG_AHR_10Vo	0.000
HUMID	52.04	MEM	323428
INTERNAL_PRESSURE	10.0336	DATA_FILE_SIZE	33403,896
TCM_TEMP	15.40	CAP_FILE_SIZE	106968,0
XPDR_PINGS	102	CFSIZE	1024409600,1019412480
SC_FREEKB	3908736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	15917449216.000000	CURRENT	0.071,68.94,1
ES_POWER	63.390000	GPS	270718,080400,5008.657,-14453.428,20,1.3,20,15.7,0.2,0.0,9,6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	364	84.35	nil	0	0	0.00
Roll_motor	90	104	128.15	nil	0	0	0.00
VBD_pump_during_apogee	444	1713	10229.12	nil	0	0	0.00
VBD_pump_during_surface	100	208	281.83	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	6541	17	1535.81
Iridium_during_xfer	0	0	0.00	echo	6539	10	878.84
Transponder_ping	25	420	143.94	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.66
TT8	2084	12	340.28
LPSleep	2490	2	71.44
TT8_Active	689	11	105.80
TT8_Sampling	1376	30	548.89
TT8_CF8	139	45	82.79
TT8_Kalman	0	0	0.00
Analog_circuits	1433	16	300.48
GPS_charging	0	0	0.00
Compass	1288	6	113.79
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
14	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.87	-194.6	228	2052	601	470	0.0	0.0	0	167	0.00	0.00	-145.85	0.004	16386	0.000	0.000	213	2051	3371	3383	3359	0	0	0	0	0	0	14.90	28.83	14.94
170	-0.87	-194.6	213	2050	3383	3359	4.8	-13.3	25	192	7.30	2.47	-6.95	0.019	18948	0.365	0.090	1910	619	3746	3774	3719	0	0	0	0	0	0	14.60	14.24	14.74
246	-0.81	-194.6	1907	620	3775	3719	28.7	-18.6	38	254	0.15	2.50	0.00	0.000	3206	0.264	0.073	1935	2042	3747	3774	3720	0	0	0	0	0	0	14.69	14.76	14.83
439	-0.66	-194.6	1934	2044	3774	3719	70.8	-20.7	75	447	0.17	2.45	0.00	0.000	2436	0.269	0.089	1972	3451	3746	3774	3719	0	0	0	0	0	0	14.71	14.78	14.82
568	-0.63	-194.6	1972	3455	3774	3719	91.0	-14.2	99	575	0.00	2.45	0.00	0.000	1158	0.000	0.067	1972	2031	3746	3774	3719	0	0	0	0	0	0	14.90	14.82	14.92
761	-0.56	-194.6	1970	2031	3774	3719	120.5	-14.0	123	767	0.15	2.45	0.00	0.000	2692	0.265	0.083	2011	622	3746	3775	3718	0	0	0	0	0	0	14.75	14.83	14.85
808	-0.65	-194.6	2011	623	3775	3719	126.1	-8.9	131	813	0.00	2.47	0.00	0.000	1190	0.000	0.073	2004	2037	3746	3775	3718	0	0	0	0	0	0	14.92	14.83	14.94
1122	-0.65	-194.6	2004	2032	3774	3716	159.7	-10.7	163	1128	0.00	2.47	0.00	0.000	516	0.000	0.081	2010	626	3745	3775	3716	0	0	0	0	0	0	15.02	14.84	15.05
1239	-0.69	-194.6	2004	626	3774	3716	171.1	-9.7	185	1245	0.00	2.50	0.00	0.000	1190	0.000	0.076	1998	2040	3745	3775	3715	0	0	0	0	0	0	14.93	14.84	14.95
1553	-0.69	-194.6	1994	2040	3775	3713	204.9	-10.6	217	1559	0.00	2.50	0.00	0.000	516	0.000	0.085	1995	624	3743	3774	3713	0	0	0	0	0	0	15.02	14.83	15.06
1692	-0.74	-194.6	1995	624	3774	3713	217.4	-9.7	243	1697	0.00	2.50	0.00	0.000	1190	0.000	0.081	1986	2040	3743	3774	3712	0	0	0	0	0	0	14.93	14.84	14.95
2006	-0.74	-194.6	1985	2039	3775	3709	254.6	-12.3	275	2012	0.00	2.53	0.00	0.000	516	0.000	0.090	1986	623	3742	3776	3708	0	0	0	0	0	0	15.04	14.85	15.07
2127	-0.78	-194.6	1985	618	3774	3713	268.1	-11.7	298	2134	0.00	2.50	0.00	0.000	1158	0.000	0.079	1977	2041	3740	3774	3707	0	0	0	0	0	0	14.95	14.86	14.96
2433	-0.76	-194.6	1977	2040	3774	3705	306.0	-11.8	329	2439	0.00	2.53	0.00	0.000	644	0.000	0.088	1977	616	3739	3774	3705	0	0	0	0	0	0	15.04	14.85	15.07
2571	-0.78	-194.6	1977	615	3776	3704	320.1	-10.2	355	2577	0.00	2.53	0.00	0.000	1158	0.000	0.080	1968	2048	3737	3772	3703	0	0	0	0	0	0	14.95	14.87	14.97
2886	-0.76	-194.6	1967	2048	3774	3700	358.1	-12.1	387	2891	0.00	2.53	0.00	0.000	644	0.000	0.087	1965	619	3737	3774	3700	0	0	0	0	0	0	15.05	14.85	15.09
2901	end dive: TARGET_DEPTH_EXCEEDED
state	2901	begin apogee
2910	-0.21	0.0	1964	2040	3774	3701	360.8	-12.6	390	3057	0.57	0.00	142.90	1.714	10246	0.203	0.000	2125	2041	2970	3025	2916	0	0	0	0	0	0	14.78	14.13	13.52
3061	end apogee: CONTROL_FINISHED_OK
state	3061	begin climb
3063	0.87	194.6	2125	2041	3025	2914	367.2	0.0	405	3225	1.15	2.67	147.23	1.711	10500	0.144	0.093	2465	3450	2193	2245	2141	0	0	0	0	0	0	14.13	14.02	13.44
3258	0.61	194.6	2470	3449	2242	2139	353.8	18.0	438	3266	0.38	2.60	0.00	0.000	5254	0.304	0.083	2398	2042	2190	2242	2138	0	0	0	0	0	0	14.14	14.23	14.35
3565	0.47	194.6	2397	2042	2242	2128	311.0	13.7	469	3571	0.15	2.53	0.00	0.000	4740	0.283	0.086	2370	621	2184	2241	2128	0	0	0	0	0	0	14.55	14.64	14.66
3604	0.41	194.6	2369	620	2242	2128	306.2	11.3	476	3611	0.15	2.55	0.00	0.000	5254	0.233	0.080	2336	2041	2184	2241	2127	0	0	0	0	0	0	14.59	14.65	14.73
3911	0.39	205.6	2335	2041	2241	2124	276.7	9.6	507	3928	0.00	2.55	7.85	1.419	8612	0.000	0.093	2336	3455	2151	2209	2093	0	0	0	0	0	0	14.92	14.68	14.12
4058	0.35	205.6	2335	3461	2209	2091	261.2	10.7	535	4064	0.00	2.53	0.00	0.000	1158	0.000	0.081	2344	2034	2147	2203	2091	0	0	0	0	0	0	14.79	14.70	14.81
4373	0.32	205.6	2344	2034	2209	2089	228.6	10.2	567	4380	0.15	2.47	0.00	0.000	4740	0.253	0.084	2314	624	2151	2209	2093	0	0	0	0	0	0	14.71	14.78	14.82
4413	0.42	246.6	2311	623	2208	2089	225.0	8.6	574	4454	0.00	2.53	31.55	1.527	9382	0.000	0.074	2315	2053	1989	2045	1934	0	0	0	0	0	0	14.87	14.79	14.02
4754	0.54	314.8	2314	2053	2043	1923	198.0	7.6	611	4815	0.15	2.60	51.25	1.491	10660	0.149	0.096	2371	3449	1715	1769	1661	0	0	0	0	0	0	14.73	14.36	13.85
4824	0.51	314.8	2371	3449	1767	1660	190.6	12.9	623	4829	0.00	2.58	0.00	0.000	1158	0.000	0.083	2380	2044	1712	1768	1657	0	0	0	0	0	0	14.49	14.40	14.50
5138	0.48	314.8	2380	2038	1767	1652	153.9	11.6	655	5144	0.00	2.60	0.00	0.000	388	0.000	0.105	2381	3446	1709	1768	1650	0	0	0	0	0	0	14.83	14.61	14.86
5246	0.45	314.8	2380	3443	1765	1650	140.2	12.3	676	5254	0.17	2.55	0.00	0.000	5254	0.256	0.088	2351	2030	1707	1765	1650	0	0	0	0	0	0	14.60	14.66	14.76
5554	0.51	340.6	2351	2030	1766	1649	109.5	9.1	707	5578	0.00	2.58	18.90	1.385	8868	0.000	0.088	2358	622	1614	1671	1558	0	0	0	0	0	0	14.91	14.62	14.11
5612	0.65	387.8	2360	622	1671	1556	104.4	8.3	717	5658	0.15	2.53	35.65	1.366	11430	0.168	0.073	2407	2040	1424	1483	1366	0	0	0	0	0	0	14.59	14.62	13.91
5963	0.65	387.8	2405	2041	1483	1355	65.6	10.8	785	5970	0.00	2.53	0.00	0.000	260	0.000	0.093	2406	3459	1419	1483	1355	0	0	0	0	0	0	14.81	14.62	14.83
6039	0.65	387.8	2405	3459	1481	1355	56.8	12.0	799	6046	0.00	2.55	0.00	0.000	1030	0.000	0.083	2415	2036	1418	1482	1355	0	0	0	0	0	0	14.72	14.63	14.75
6230	0.65	387.8	2415	2036	1481	1350	35.2	10.2	836	6237	0.00	2.50	0.00	0.000	516	0.000	0.089	2426	625	1418	1482	1354	0	0	0	0	0	0	14.88	14.69	14.91
6281	0.70	399.0	2425	625	1480	1353	30.0	9.6	845	6296	0.00	2.55	8.82	1.220	9382	0.000	0.085	2427	2038	1378	1443	1313	0	0	0	0	0	0	14.78	14.69	14.16
6482	0.70	399.0	2426	2038	1443	1311	8.5	10.4	883	6489	0.00	2.50	0.00	0.000	260	0.000	0.090	2426	3456	1374	1443	1306	0	0	0	0	0	0	14.83	14.68	14.85
6534	end climb: SURFACE_DEPTH_REACHED
state	6534	begin surface coast
6550	end surface coast: CONTROL_FINISHED_OK
state	6550	begin surface