Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 4 * 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 4 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 12.0

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 18 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 18 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 12.0 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 4 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 18 W_ADJ_DBAND 0

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 18 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 270718,080400,5008.6572,-14453.4277,20,1.3,20,15.7,0.2,0.0,9,6.0 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 0.71 MHEAD_RNG_PITCHd_Wd 323.4,5334,-15.0,-10.000,-18.93,2930

_SM_ANGLEo -60.6 D_GRID 360

GPS2 270718,081539,5008.6440,-14453.4189,2,0.8,4,15.7,0.4,194.8,12,5.8

Post-dive calculations and measurements:

FINISH -0.4,1.010918 ES_POWER1 0.000000

SM_CCo 6520,85.28,0.207,0,0,537,610.67 _24V_AH 13.34,3.318

SM_GC 0.65,6.38,0.00,85.28,0.053,0.000,0.207,236,2055,537,-6.06,0.51,610.67,0,0,0,0,0,0,14.62,14.80,14.47 _10V_AH 13.04,0.000

IRIDIUM_FIX 5009.93,-14454.70,270718,060754 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.70406 FG_AHR_10Vo 0.000

HUMID 52.20 MEM 323432

INTERNAL_PRESSURE 10.0043 DATA_FILE_SIZE 29984,888

TCM_TEMP 15.30 CAP_FILE_SIZE 96961,0

XPDR_PINGS 111 CFSIZE 1024409600,1019265024

SC_FREEKB 3908160 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 15914074112.000000 CURRENT 0.036,329.49,1

ES_POWER 63.370000 GPS 270718,100736,5008.956,-14453.554,6,1.4,6,15.7,0.7,308.4,6,7.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 378 88.15 nil 0 0 0.00

Roll_motor 86 94 109.84 nil 0 0 0.00

VBD_pump_during_apogee 487 1713 11151.40 nil 0 0 0.00

VBD_pump_during_surface 85 207 235.84 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 6519 17 1517.43

Iridium_during_xfer 459 215 1323.52 echo 6523 10 870.17

Transponder_ping 27 420 155.48 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 8 1.64

TT8 2049 12 332.94

LPSleep 2452 2 70.05

TT8_Active 697 11 106.51

TT8_Sampling 1854 30 736.25

TT8_CF8 282 45 167.33

TT8_Kalman 0 0 0.00

Analog_circuits 1921 16 400.84

GPS_charging 0 0 0.00

Compass 1279 6 112.42

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.87 -194.6 143 2020 595 469 0.0 0.0 0 167 0.00 0.00 -145.95 0.004 16386 0.000 0.000 136 2021 3295 3306 3285 0 0 0 0 0 0 14.67 28.83 14.71

171 -0.87 -194.6 136 2021 3307 3288 5.0 -13.4 25 197 7.95 2.55 -8.30 0.013 18948 0.379 0.095 1917 614 3748 3778 3719 0 0 0 0 0 0 14.44 13.80 14.65

251 -0.83 -194.6 1917 614 3778 3720 29.0 -16.2 39 259 0.00 2.55 0.00 0.000 1158 0.000 0.076 1909 2041 3749 3778 3720 0 0 0 0 0 0 14.71 14.62 14.73

445 -0.65 -194.6 1908 2041 3779 3720 75.0 -24.4 76 452 0.30 2.50 0.00 0.000 2436 0.277 0.093 1978 3451 3748 3778 3719 0 0 0 0 0 0 14.57 14.63 14.70

577 -0.63 -194.6 1975 3450 3778 3720 93.8 -11.7 101 584 0.00 2.47 0.00 0.000 1158 0.000 0.067 1975 2032 3749 3778 3720 0 0 0 0 0 0 14.82 14.69 14.80

770 -0.57 -194.6 1975 2031 3778 3719 119.0 -12.9 124 777 0.12 2.47 0.00 0.000 2692 0.283 0.083 2007 624 3749 3778 3720 0 0 0 0 0 0 14.65 14.72 14.76

810 -0.63 -194.6 2006 624 3778 3720 124.0 -9.9 131 819 0.00 2.53 0.00 0.000 1190 0.000 0.079 2001 2039 3749 3779 3719 0 0 0 0 0 0 14.81 14.72 14.81

1117 -0.63 -194.6 2000 2041 3778 3718 160.1 -12.1 162 1123 0.00 2.53 0.00 0.000 516 0.000 0.083 2000 616 3747 3776 3719 0 0 0 0 0 0 14.92 14.75 14.95

1237 -0.68 -194.6 2000 620 3778 3719 172.9 -10.5 185 1245 0.00 2.55 0.00 0.000 1158 0.000 0.080 1988 2046 3748 3778 3718 0 0 0 0 0 0 14.83 14.72 14.85

1543 -0.68 -194.6 1991 2046 3778 3711 207.7 -11.5 216 1549 0.00 2.55 0.00 0.000 516 0.000 0.089 1991 621 3746 3778 3715 0 0 0 0 0 0 14.93 14.76 14.97

1670 -0.74 -194.6 1991 620 3774 3715 220.9 -10.4 240 1676 0.00 2.58 0.00 0.000 1158 0.000 0.086 1982 2047 3747 3778 3716 0 0 0 0 0 0 14.87 14.77 14.88

1985 -0.74 -194.6 1981 2048 3787 3713 261.7 -13.0 272 1990 0.00 2.53 0.00 0.000 516 0.000 0.086 1982 626 3745 3778 3713 0 0 0 0 0 0 14.97 14.80 15.00

2116 -0.78 -194.6 1981 625 3778 3713 277.2 -11.0 297 2123 0.00 2.53 0.00 0.000 1158 0.000 0.085 1973 2037 3747 3778 3716 0 0 0 0 0 0 14.86 14.77 14.88

2422 -0.76 -194.6 1973 2037 3778 3710 317.8 -12.9 328 2428 0.00 2.53 0.00 0.000 644 0.000 0.090 1973 626 3744 3778 3710 0 0 0 0 0 0 14.98 14.79 15.02

2549 -0.79 -194.6 1972 626 3778 3710 332.0 -10.9 352 2555 0.00 2.55 0.00 0.000 1158 0.000 0.086 1963 2045 3743 3778 3709 0 0 0 0 0 0 14.88 14.81 14.91

2760 end dive: TARGET_DEPTH_EXCEEDED

state 2760 begin apogee

2767 -0.21 0.0 1963 2046 3778 3707 360.4 -13.4 374 2916 0.57 0.00 145.68 1.714 10246 0.213 0.000 2127 2045 2967 3025 2910 0 0 0 0 0 0 14.73 14.04 13.44

2920 end apogee: CONTROL_FINISHED_OK

state 2920 begin climb

2923 0.87 194.6 2127 2046 3024 2913 367.8 0.0 389 3087 1.15 2.70 149.23 1.694 10500 0.145 0.089 2472 3454 2193 2247 2140 0 0 0 0 0 0 14.04 13.92 13.34

3162 0.60 194.6 2477 3455 2243 2133 347.3 19.2 427 3168 0.38 2.60 0.00 0.000 5254 0.308 0.080 2400 2041 2188 2243 2133 0 0 0 0 0 0 14.16 14.27 14.34

3477 0.47 194.6 2400 2041 2243 2125 304.3 13.2 459 3484 0.17 2.53 0.00 0.000 4740 0.283 0.084 2365 621 2183 2243 2124 0 0 0 0 0 0 14.49 14.58 14.59

3537 0.44 208.8 2368 623 2242 2120 297.4 9.5 470 3556 0.00 2.55 10.60 1.489 9382 0.000 0.080 2365 2035 2138 2196 2080 0 0 0 0 0 0 14.72 14.60 14.00

3855 0.37 208.8 2365 2035 2196 2074 264.5 10.2 503 3861 0.15 2.53 0.00 0.000 4484 0.253 0.090 2327 3458 2137 2198 2077 0 0 0 0 0 0 14.62 14.65 14.69

4013 0.40 255.3 2328 3457 2195 2073 251.1 8.4 533 4057 0.00 2.55 36.03 1.554 9382 0.000 0.082 2336 2030 1953 2011 1895 0 0 0 0 0 0 14.78 14.71 13.90

4357 0.45 291.4 2336 2030 2011 1884 222.7 8.7 571 4390 0.00 2.67 28.12 1.523 8484 0.000 0.086 2333 3449 1807 1866 1748 0 0 0 0 0 0 14.82 14.42 13.90

4425 0.46 291.4 2336 3449 1865 1746 216.3 10.0 583 4431 0.00 2.53 0.00 0.000 1158 0.000 0.070 2346 2041 1805 1865 1746 0 0 0 0 0 0 14.56 14.48 14.57

4739 0.49 312.3 2345 2037 1865 1740 186.0 9.3 615 4763 0.00 2.65 16.42 1.464 8484 0.000 0.086 2346 3458 1724 1783 1666 0 0 0 0 0 0 14.78 14.54 13.99

4780 0.49 312.3 2345 3458 1781 1665 181.9 10.2 622 4788 0.00 2.53 0.00 0.000 1030 0.000 0.070 2355 2036 1723 1782 1665 0 0 0 0 0 0 14.62 14.53 14.63

5087 0.51 325.2 2354 2036 1782 1660 153.5 9.5 653 5104 0.00 2.53 10.73 1.392 8740 0.000 0.089 2365 619 1674 1734 1614 0 0 0 0 0 0 14.82 14.54 14.04

5137 0.58 339.9 2365 619 1734 1614 148.5 9.5 662 5157 0.00 2.58 12.65 1.390 9382 0.000 0.078 2365 2046 1616 1675 1558 0 0 0 0 0 0 14.64 14.56 13.98

5456 0.61 365.3 2365 2046 1676 1550 118.0 9.1 695 5484 0.00 2.60 19.90 1.398 8484 0.000 0.095 2365 3456 1513 1574 1453 0 0 0 0 0 0 14.82 14.46 13.99

5588 0.63 365.3 2365 3455 1573 1452 104.7 11.7 720 5595 0.00 2.55 0.00 0.000 1158 0.000 0.076 2374 2036 1512 1573 1452 0 0 0 0 0 0 14.65 14.55 14.64

5897 0.72 413.7 2374 2042 1573 1449 74.3 8.3 777 5942 0.15 2.55 36.55 1.353 10916 0.150 0.087 2450 630 1320 1383 1257 0 0 0 0 0 0 14.63 14.35 13.93

5970 0.70 413.7 2449 628 1382 1251 64.8 13.3 789 5978 0.00 2.58 0.00 0.000 1158 0.000 0.076 2449 2045 1318 1382 1254 0 0 0 0 0 0 14.56 14.45 14.54

6163 0.67 413.7 2449 2045 1376 1250 36.8 14.8 826 6171 0.12 2.53 0.00 0.000 4484 0.256 0.090 2417 3455 1316 1382 1250 0 0 0 0 0 0 14.50 14.55 14.59

6215 0.67 413.7 2417 3455 1382 1250 30.1 11.8 835 6222 0.00 2.53 0.00 0.000 1030 0.000 0.076 2426 2039 1316 1382 1250 0 0 0 0 0 0 14.66 14.58 14.67

6406 0.69 431.6 2426 2037 1382 1254 9.8 9.4 872 6426 0.00 2.60 13.40 1.235 8740 0.000 0.086 2437 614 1250 1319 1181 0 0 0 0 0 0 14.80 14.55 14.06

6465 0.73 443.3 2442 614 1318 1180 3.5 9.6 882 6480 0.00 2.55 8.52 0.228 9382 0.000 0.070 2438 2045 1205 1274 1136 0 0 0 0 0 0 14.65 14.57 14.48

6485 end climb: SURFACE_DEPTH_REACHED

state 6485 begin surface coast

6501 end surface coast: CONTROL_FINISHED_OK

state 6501 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	4	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	12.0
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	18	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	18	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	270718,080400,5008.6572,-14453.4277,20,1.3,20,15.7,0.2,0.0,9,6.0	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	0.71	MHEAD_RNG_PITCHd_Wd	323.4,5334,-15.0,-10.000,-18.93,2930
_SM_ANGLEo	-60.6	D_GRID	360
GPS2	270718,081539,5008.6440,-14453.4189,2,0.8,4,15.7,0.4,194.8,12,5.8

FINISH	-0.4,1.010918	ES_POWER1	0.000000
SM_CCo	6520,85.28,0.207,0,0,537,610.67	_24V_AH	13.34,3.318
SM_GC	0.65,6.38,0.00,85.28,0.053,0.000,0.207,236,2055,537,-6.06,0.51,610.67,0,0,0,0,0,0,14.62,14.80,14.47	_10V_AH	13.04,0.000
IRIDIUM_FIX	5009.93,-14454.70,270718,060754	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.70406	FG_AHR_10Vo	0.000
HUMID	52.20	MEM	323432
INTERNAL_PRESSURE	10.0043	DATA_FILE_SIZE	29984,888
TCM_TEMP	15.30	CAP_FILE_SIZE	96961,0
XPDR_PINGS	111	CFSIZE	1024409600,1019265024
SC_FREEKB	3908160	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	15914074112.000000	CURRENT	0.036,329.49,1
ES_POWER	63.370000	GPS	270718,100736,5008.956,-14453.554,6,1.4,6,15.7,0.7,308.4,6,7.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	378	88.15	nil	0	0	0.00
Roll_motor	86	94	109.84	nil	0	0	0.00
VBD_pump_during_apogee	487	1713	11151.40	nil	0	0	0.00
VBD_pump_during_surface	85	207	235.84	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	6519	17	1517.43
Iridium_during_xfer	459	215	1323.52	echo	6523	10	870.17
Transponder_ping	27	420	155.48	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	8	1.64
TT8	2049	12	332.94
LPSleep	2452	2	70.05
TT8_Active	697	11	106.51
TT8_Sampling	1854	30	736.25
TT8_CF8	282	45	167.33
TT8_Kalman	0	0	0.00
Analog_circuits	1921	16	400.84
GPS_charging	0	0	0.00
Compass	1279	6	112.42
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.87	-194.6	143	2020	595	469	0.0	0.0	0	167	0.00	0.00	-145.95	0.004	16386	0.000	0.000	136	2021	3295	3306	3285	0	0	0	0	0	0	14.67	28.83	14.71
171	-0.87	-194.6	136	2021	3307	3288	5.0	-13.4	25	197	7.95	2.55	-8.30	0.013	18948	0.379	0.095	1917	614	3748	3778	3719	0	0	0	0	0	0	14.44	13.80	14.65
251	-0.83	-194.6	1917	614	3778	3720	29.0	-16.2	39	259	0.00	2.55	0.00	0.000	1158	0.000	0.076	1909	2041	3749	3778	3720	0	0	0	0	0	0	14.71	14.62	14.73
445	-0.65	-194.6	1908	2041	3779	3720	75.0	-24.4	76	452	0.30	2.50	0.00	0.000	2436	0.277	0.093	1978	3451	3748	3778	3719	0	0	0	0	0	0	14.57	14.63	14.70
577	-0.63	-194.6	1975	3450	3778	3720	93.8	-11.7	101	584	0.00	2.47	0.00	0.000	1158	0.000	0.067	1975	2032	3749	3778	3720	0	0	0	0	0	0	14.82	14.69	14.80
770	-0.57	-194.6	1975	2031	3778	3719	119.0	-12.9	124	777	0.12	2.47	0.00	0.000	2692	0.283	0.083	2007	624	3749	3778	3720	0	0	0	0	0	0	14.65	14.72	14.76
810	-0.63	-194.6	2006	624	3778	3720	124.0	-9.9	131	819	0.00	2.53	0.00	0.000	1190	0.000	0.079	2001	2039	3749	3779	3719	0	0	0	0	0	0	14.81	14.72	14.81
1117	-0.63	-194.6	2000	2041	3778	3718	160.1	-12.1	162	1123	0.00	2.53	0.00	0.000	516	0.000	0.083	2000	616	3747	3776	3719	0	0	0	0	0	0	14.92	14.75	14.95
1237	-0.68	-194.6	2000	620	3778	3719	172.9	-10.5	185	1245	0.00	2.55	0.00	0.000	1158	0.000	0.080	1988	2046	3748	3778	3718	0	0	0	0	0	0	14.83	14.72	14.85
1543	-0.68	-194.6	1991	2046	3778	3711	207.7	-11.5	216	1549	0.00	2.55	0.00	0.000	516	0.000	0.089	1991	621	3746	3778	3715	0	0	0	0	0	0	14.93	14.76	14.97
1670	-0.74	-194.6	1991	620	3774	3715	220.9	-10.4	240	1676	0.00	2.58	0.00	0.000	1158	0.000	0.086	1982	2047	3747	3778	3716	0	0	0	0	0	0	14.87	14.77	14.88
1985	-0.74	-194.6	1981	2048	3787	3713	261.7	-13.0	272	1990	0.00	2.53	0.00	0.000	516	0.000	0.086	1982	626	3745	3778	3713	0	0	0	0	0	0	14.97	14.80	15.00
2116	-0.78	-194.6	1981	625	3778	3713	277.2	-11.0	297	2123	0.00	2.53	0.00	0.000	1158	0.000	0.085	1973	2037	3747	3778	3716	0	0	0	0	0	0	14.86	14.77	14.88
2422	-0.76	-194.6	1973	2037	3778	3710	317.8	-12.9	328	2428	0.00	2.53	0.00	0.000	644	0.000	0.090	1973	626	3744	3778	3710	0	0	0	0	0	0	14.98	14.79	15.02
2549	-0.79	-194.6	1972	626	3778	3710	332.0	-10.9	352	2555	0.00	2.55	0.00	0.000	1158	0.000	0.086	1963	2045	3743	3778	3709	0	0	0	0	0	0	14.88	14.81	14.91
2760	end dive: TARGET_DEPTH_EXCEEDED
state	2760	begin apogee
2767	-0.21	0.0	1963	2046	3778	3707	360.4	-13.4	374	2916	0.57	0.00	145.68	1.714	10246	0.213	0.000	2127	2045	2967	3025	2910	0	0	0	0	0	0	14.73	14.04	13.44
2920	end apogee: CONTROL_FINISHED_OK
state	2920	begin climb
2923	0.87	194.6	2127	2046	3024	2913	367.8	0.0	389	3087	1.15	2.70	149.23	1.694	10500	0.145	0.089	2472	3454	2193	2247	2140	0	0	0	0	0	0	14.04	13.92	13.34
3162	0.60	194.6	2477	3455	2243	2133	347.3	19.2	427	3168	0.38	2.60	0.00	0.000	5254	0.308	0.080	2400	2041	2188	2243	2133	0	0	0	0	0	0	14.16	14.27	14.34
3477	0.47	194.6	2400	2041	2243	2125	304.3	13.2	459	3484	0.17	2.53	0.00	0.000	4740	0.283	0.084	2365	621	2183	2243	2124	0	0	0	0	0	0	14.49	14.58	14.59
3537	0.44	208.8	2368	623	2242	2120	297.4	9.5	470	3556	0.00	2.55	10.60	1.489	9382	0.000	0.080	2365	2035	2138	2196	2080	0	0	0	0	0	0	14.72	14.60	14.00
3855	0.37	208.8	2365	2035	2196	2074	264.5	10.2	503	3861	0.15	2.53	0.00	0.000	4484	0.253	0.090	2327	3458	2137	2198	2077	0	0	0	0	0	0	14.62	14.65	14.69
4013	0.40	255.3	2328	3457	2195	2073	251.1	8.4	533	4057	0.00	2.55	36.03	1.554	9382	0.000	0.082	2336	2030	1953	2011	1895	0	0	0	0	0	0	14.78	14.71	13.90
4357	0.45	291.4	2336	2030	2011	1884	222.7	8.7	571	4390	0.00	2.67	28.12	1.523	8484	0.000	0.086	2333	3449	1807	1866	1748	0	0	0	0	0	0	14.82	14.42	13.90
4425	0.46	291.4	2336	3449	1865	1746	216.3	10.0	583	4431	0.00	2.53	0.00	0.000	1158	0.000	0.070	2346	2041	1805	1865	1746	0	0	0	0	0	0	14.56	14.48	14.57
4739	0.49	312.3	2345	2037	1865	1740	186.0	9.3	615	4763	0.00	2.65	16.42	1.464	8484	0.000	0.086	2346	3458	1724	1783	1666	0	0	0	0	0	0	14.78	14.54	13.99
4780	0.49	312.3	2345	3458	1781	1665	181.9	10.2	622	4788	0.00	2.53	0.00	0.000	1030	0.000	0.070	2355	2036	1723	1782	1665	0	0	0	0	0	0	14.62	14.53	14.63
5087	0.51	325.2	2354	2036	1782	1660	153.5	9.5	653	5104	0.00	2.53	10.73	1.392	8740	0.000	0.089	2365	619	1674	1734	1614	0	0	0	0	0	0	14.82	14.54	14.04
5137	0.58	339.9	2365	619	1734	1614	148.5	9.5	662	5157	0.00	2.58	12.65	1.390	9382	0.000	0.078	2365	2046	1616	1675	1558	0	0	0	0	0	0	14.64	14.56	13.98
5456	0.61	365.3	2365	2046	1676	1550	118.0	9.1	695	5484	0.00	2.60	19.90	1.398	8484	0.000	0.095	2365	3456	1513	1574	1453	0	0	0	0	0	0	14.82	14.46	13.99
5588	0.63	365.3	2365	3455	1573	1452	104.7	11.7	720	5595	0.00	2.55	0.00	0.000	1158	0.000	0.076	2374	2036	1512	1573	1452	0	0	0	0	0	0	14.65	14.55	14.64
5897	0.72	413.7	2374	2042	1573	1449	74.3	8.3	777	5942	0.15	2.55	36.55	1.353	10916	0.150	0.087	2450	630	1320	1383	1257	0	0	0	0	0	0	14.63	14.35	13.93
5970	0.70	413.7	2449	628	1382	1251	64.8	13.3	789	5978	0.00	2.58	0.00	0.000	1158	0.000	0.076	2449	2045	1318	1382	1254	0	0	0	0	0	0	14.56	14.45	14.54
6163	0.67	413.7	2449	2045	1376	1250	36.8	14.8	826	6171	0.12	2.53	0.00	0.000	4484	0.256	0.090	2417	3455	1316	1382	1250	0	0	0	0	0	0	14.50	14.55	14.59
6215	0.67	413.7	2417	3455	1382	1250	30.1	11.8	835	6222	0.00	2.53	0.00	0.000	1030	0.000	0.076	2426	2039	1316	1382	1250	0	0	0	0	0	0	14.66	14.58	14.67
6406	0.69	431.6	2426	2037	1382	1254	9.8	9.4	872	6426	0.00	2.60	13.40	1.235	8740	0.000	0.086	2437	614	1250	1319	1181	0	0	0	0	0	0	14.80	14.55	14.06
6465	0.73	443.3	2442	614	1318	1180	3.5	9.6	882	6480	0.00	2.55	8.52	0.228	9382	0.000	0.070	2438	2045	1205	1274	1136	0	0	0	0	0	0	14.65	14.57	14.48
6485	end climb: SURFACE_DEPTH_REACHED
state	6485	begin surface coast
6501	end surface coast: CONTROL_FINISHED_OK
state	6501	begin surface