Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 5 * 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 5 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 14.0

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 14 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 19 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 14.0 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 5 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 14 W_ADJ_DBAND 0

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 19 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 270718,100736,5008.9556,-14453.5537,6,1.4,6,15.7,0.7,308.4,6,7.7 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 341.6,4698,-15.0,-10.000,-18.93,2930

_SM_ANGLEo -64.3 D_GRID 360

GPS2 270718,101933,5008.9756,-14453.6064,2,1.5,3,15.7,0.3,313.3,5,10.0

Post-dive calculations and measurements:

FINISH -0.0,1.024287 ES_POWER1 0.000000

SM_CCo 6405,99.45,0.205,0,0,537,610.67 _24V_AH 13.26,3.644

SM_GC 0.57,6.53,2.58,99.45,0.079,0.067,0.205,223,2037,537,-6.07,0.59,610.67,0,0,0,0,0,0,14.57,14.53,14.42 _10V_AH 12.99,0.000

IRIDIUM_FIX 5010.33,-14450.01,270718,080757 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.774466 FG_AHR_10Vo 0.000

HUMID 51.02 MEM 323452

INTERNAL_PRESSURE 10.0043 DATA_FILE_SIZE 30107,859

TCM_TEMP 15.60 CAP_FILE_SIZE 94082,0

XPDR_PINGS 106 CFSIZE 1024409600,1019101184

SC_FREEKB 3907584 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 15910797312.000000 CURRENT 0.054,284.31,1

ES_POWER 63.370000 GPS 270718,121009,5009.667,-14453.890,16,1.3,25,15.7,0.7,299.0,10,5.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 380 89.29 nil 0 0 0.00

Roll_motor 81 106 114.56 nil 0 0 0.00

VBD_pump_during_apogee 470 1748 10910.85 nil 0 0 0.00

VBD_pump_during_surface 99 205 270.36 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 6400 18 1533.15

Iridium_during_xfer 479 214 1365.64 echo 6405 10 849.30

Transponder_ping 26 420 147.58 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 8 1.48

TT8 2004 12 324.48

LPSleep 2446 2 69.59

TT8_Active 713 11 108.48

TT8_Sampling 1812 30 716.85

TT8_CF8 277 45 163.61

TT8_Kalman 0 0 0.00

Analog_circuits 1912 16 397.58

GPS_charging 0 0 0.00

Compass 1238 6 108.39

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 16 begin dive

19 -0.87 -194.6 136 2053 596 471 0.0 0.0 0 164 0.00 0.00 -141.50 0.004 16386 0.000 0.000 132 2054 3156 3163 3149 0 0 0 0 0 0 14.61 28.83 14.65

167 -0.87 -194.6 132 2054 3161 3150 4.1 -10.2 24 194 8.02 2.55 -11.57 0.011 18948 0.381 0.093 1918 619 3745 3778 3712 0 0 0 0 0 0 14.40 14.00 14.62

324 -0.79 -194.6 1917 619 3778 3713 44.9 -18.5 53 331 0.15 2.55 0.00 0.000 3206 0.272 0.077 1941 2040 3745 3778 3713 0 0 0 0 0 0 14.52 14.59 14.67

516 -0.66 -194.6 1937 2041 3778 3713 84.7 -19.8 90 524 0.12 2.53 0.00 0.000 2436 0.290 0.094 1963 3461 3745 3776 3714 0 0 0 0 0 0 14.55 14.60 14.65

612 -0.66 -194.6 1963 3461 3778 3713 99.5 -12.8 108 619 0.00 2.50 0.00 0.000 1030 0.000 0.068 1963 2034 3745 3778 3713 0 0 0 0 0 0 14.75 14.66 14.76

798 -0.59 -194.6 1963 2033 3778 3713 130.2 -16.0 127 804 0.15 2.58 0.00 0.000 2436 0.272 0.095 1993 3451 3745 3778 3713 0 0 0 0 0 0 14.59 14.68 14.68

836 -0.59 -194.6 1986 3451 3780 3713 135.7 -12.5 134 844 0.00 2.50 0.00 0.000 1030 0.000 0.070 1993 2031 3744 3778 3710 0 0 0 0 0 0 14.73 14.66 14.75

1143 -0.56 -194.6 1993 2032 3778 3712 174.5 -12.5 165 1149 0.00 2.58 0.00 0.000 388 0.000 0.099 1982 3453 3744 3778 3711 0 0 0 0 0 0 14.88 14.71 14.92

1201 -0.59 -194.6 1982 3448 3778 3711 181.5 -11.0 176 1210 0.12 2.47 0.00 0.000 3206 0.242 0.074 2008 2044 3744 3778 3711 0 0 0 0 0 0 14.66 14.72 14.79

1509 -0.61 -194.6 2011 2044 3778 3715 215.5 -11.3 207 1514 0.00 2.55 0.00 0.000 388 0.000 0.103 1999 3449 3743 3778 3709 0 0 0 0 0 0 14.92 14.73 15.00

1587 -0.66 -194.6 2002 3448 3778 3709 224.0 -10.1 222 1595 0.00 2.50 0.00 0.000 1158 0.000 0.075 2003 2036 3743 3778 3709 0 0 0 0 0 0 14.79 14.72 14.82

1893 -0.66 -194.6 2003 2036 3777 3706 257.7 -10.3 253 1899 0.00 2.60 0.00 0.000 260 0.000 0.106 1994 3459 3742 3778 3706 0 0 0 0 0 0 14.94 14.74 14.97

1982 -0.70 -194.6 1993 3458 3778 3706 266.1 -8.9 270 1990 0.00 2.53 0.00 0.000 1190 0.000 0.079 1993 2034 3739 3773 3706 0 0 0 0 0 0 14.85 14.76 14.87

2288 -0.70 -194.6 1993 2033 3778 3704 298.6 -10.8 301 2294 0.00 2.55 0.00 0.000 260 0.000 0.093 1984 3449 3741 3778 3704 0 0 0 0 0 0 14.95 14.77 14.99

2373 -0.72 -194.6 1983 3445 3778 3704 307.5 -9.8 317 2379 0.00 2.47 0.00 0.000 1190 0.000 0.067 1983 2026 3740 3778 3703 0 0 0 0 0 0 14.85 14.78 14.86

2687 -0.72 -194.6 1983 2025 3778 3701 345.5 -12.4 349 2693 0.00 2.58 0.00 0.000 260 0.000 0.096 1974 3454 3739 3777 3701 0 0 0 0 0 0 14.95 14.78 14.99

2756 -0.75 -194.6 1974 3454 3778 3700 353.7 -10.9 362 2763 0.00 2.47 0.00 0.000 1158 0.000 0.069 1974 2033 3739 3778 3701 0 0 0 0 0 0 14.83 14.76 14.85

2809 end dive: TARGET_DEPTH_EXCEEDED

state 2809 begin apogee

2815 -0.21 0.0 1974 2033 3778 3701 360.8 -13.1 368 2965 0.52 0.00 146.02 1.738 10246 0.216 0.000 2123 2025 2970 3025 2915 0 0 0 0 0 0 14.71 13.98 13.36

2969 end apogee: CONTROL_FINISHED_OK

state 2969 begin climb

2971 0.87 194.6 2122 2025 3025 2913 367.7 0.0 383 3134 1.17 0.00 150.40 1.748 10758 0.149 0.000 2468 2025 2194 2250 2138 0 0 0 0 0 0 13.98 13.77 13.26

3434 0.63 194.6 2468 2025 2249 2122 303.0 18.6 440 3441 0.22 2.60 0.00 0.000 4484 0.301 0.083 2415 3454 2185 2248 2123 0 0 0 0 0 0 14.39 14.47 14.51

3537 0.45 194.6 2415 3454 2247 2126 286.9 14.7 459 3545 0.32 2.53 0.00 0.000 5254 0.288 0.073 2347 2036 2184 2246 2122 0 0 0 0 0 0 14.45 14.56 14.62

3844 0.43 215.4 2349 2036 2247 2118 256.1 9.3 490 3867 0.00 2.53 15.68 1.542 8868 0.000 0.086 2359 623 2110 2171 2049 0 0 0 0 0 0 14.82 14.47 13.99

3884 0.44 250.8 2359 624 2171 2049 252.5 8.8 497 3919 0.00 2.58 28.15 1.554 9382 0.000 0.083 2359 2036 1971 2030 1913 0 0 0 0 0 0 14.59 14.52 13.81

4228 0.41 250.8 2355 2036 2030 1901 216.3 10.8 534 4234 0.00 2.55 0.00 0.000 388 0.000 0.091 2359 3464 1964 2029 1900 0 0 0 0 0 0 14.76 14.57 14.78

4365 0.36 250.8 2359 3465 2026 1900 200.6 11.3 560 4371 0.20 2.55 0.00 0.000 5254 0.247 0.078 2322 2037 1963 2026 1900 0 0 0 0 0 0 14.54 14.62 14.70

4680 0.49 328.9 2319 2036 2026 1898 175.8 7.3 592 4742 0.12 0.00 58.58 1.509 10918 0.132 0.000 2374 2036 1657 1718 1597 0 0 0 0 0 0 14.71 14.29 13.76

5040 0.49 328.9 2373 2036 1717 1591 137.3 11.0 629 5046 0.00 2.60 0.00 0.000 260 0.000 0.093 2374 3460 1654 1718 1591 0 0 0 0 0 0 14.69 14.54 14.71

5104 0.49 328.9 2373 3458 1716 1590 129.8 11.4 641 5110 0.00 2.53 0.00 0.000 1030 0.000 0.073 2383 2040 1653 1716 1591 0 0 0 0 0 0 14.64 14.57 14.67

5415 0.49 331.2 2382 2039 1716 1590 94.5 9.9 678 5423 0.00 2.53 0.00 0.000 548 0.000 0.086 2393 619 1652 1716 1589 0 0 0 0 0 0 14.80 14.61 14.85

5497 0.53 347.1 2392 619 1715 1583 86.6 9.4 693 5518 0.00 2.55 13.95 1.368 9382 0.000 0.075 2393 2051 1585 1647 1524 0 0 0 0 0 0 14.71 14.64 14.05

5702 0.54 353.8 2392 2045 1647 1520 66.2 9.8 732 5716 0.00 2.53 5.97 1.191 8484 0.000 0.092 2393 3450 1561 1626 1497 0 0 0 0 0 0 14.78 14.48 14.02

5784 0.54 353.8 2392 3451 1625 1496 57.3 10.9 747 5791 0.00 2.53 0.00 0.000 1030 0.000 0.076 2402 2036 1561 1626 1496 0 0 0 0 0 0 14.66 14.58 14.69

5976 0.54 357.4 2401 2035 1625 1496 38.1 9.9 784 5989 0.00 2.50 4.65 1.076 8740 0.000 0.086 2412 620 1545 1610 1480 0 0 0 0 0 0 14.83 14.60 14.07

6058 0.63 411.5 2412 621 1610 1480 30.5 8.1 799 6108 0.00 2.55 40.38 1.311 9382 0.000 0.074 2412 2046 1327 1394 1261 0 0 0 0 0 0 14.71 14.63 13.90

6295 0.66 419.8 2412 2046 1394 1255 9.2 9.7 843 6309 0.00 2.55 6.95 1.145 8612 0.000 0.092 2411 3445 1297 1368 1226 0 0 0 0 0 0 14.68 14.40 13.98

6364 end climb: SURFACE_DEPTH_REACHED

state 6364 begin surface coast

6383 end surface coast: CONTROL_FINISHED_OK

state 6383 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	5	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	14.0
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	14	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	19	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	270718,100736,5008.9556,-14453.5537,6,1.4,6,15.7,0.7,308.4,6,7.7	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	341.6,4698,-15.0,-10.000,-18.93,2930
_SM_ANGLEo	-64.3	D_GRID	360
GPS2	270718,101933,5008.9756,-14453.6064,2,1.5,3,15.7,0.3,313.3,5,10.0

FINISH	-0.0,1.024287	ES_POWER1	0.000000
SM_CCo	6405,99.45,0.205,0,0,537,610.67	_24V_AH	13.26,3.644
SM_GC	0.57,6.53,2.58,99.45,0.079,0.067,0.205,223,2037,537,-6.07,0.59,610.67,0,0,0,0,0,0,14.57,14.53,14.42	_10V_AH	12.99,0.000
IRIDIUM_FIX	5010.33,-14450.01,270718,080757	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.774466	FG_AHR_10Vo	0.000
HUMID	51.02	MEM	323452
INTERNAL_PRESSURE	10.0043	DATA_FILE_SIZE	30107,859
TCM_TEMP	15.60	CAP_FILE_SIZE	94082,0
XPDR_PINGS	106	CFSIZE	1024409600,1019101184
SC_FREEKB	3907584	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	15910797312.000000	CURRENT	0.054,284.31,1
ES_POWER	63.370000	GPS	270718,121009,5009.667,-14453.890,16,1.3,25,15.7,0.7,299.0,10,5.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	380	89.29	nil	0	0	0.00
Roll_motor	81	106	114.56	nil	0	0	0.00
VBD_pump_during_apogee	470	1748	10910.85	nil	0	0	0.00
VBD_pump_during_surface	99	205	270.36	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	6400	18	1533.15
Iridium_during_xfer	479	214	1365.64	echo	6405	10	849.30
Transponder_ping	26	420	147.58	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	8	1.48
TT8	2004	12	324.48
LPSleep	2446	2	69.59
TT8_Active	713	11	108.48
TT8_Sampling	1812	30	716.85
TT8_CF8	277	45	163.61
TT8_Kalman	0	0	0.00
Analog_circuits	1912	16	397.58
GPS_charging	0	0	0.00
Compass	1238	6	108.39
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	16	begin dive
19	-0.87	-194.6	136	2053	596	471	0.0	0.0	0	164	0.00	0.00	-141.50	0.004	16386	0.000	0.000	132	2054	3156	3163	3149	0	0	0	0	0	0	14.61	28.83	14.65
167	-0.87	-194.6	132	2054	3161	3150	4.1	-10.2	24	194	8.02	2.55	-11.57	0.011	18948	0.381	0.093	1918	619	3745	3778	3712	0	0	0	0	0	0	14.40	14.00	14.62
324	-0.79	-194.6	1917	619	3778	3713	44.9	-18.5	53	331	0.15	2.55	0.00	0.000	3206	0.272	0.077	1941	2040	3745	3778	3713	0	0	0	0	0	0	14.52	14.59	14.67
516	-0.66	-194.6	1937	2041	3778	3713	84.7	-19.8	90	524	0.12	2.53	0.00	0.000	2436	0.290	0.094	1963	3461	3745	3776	3714	0	0	0	0	0	0	14.55	14.60	14.65
612	-0.66	-194.6	1963	3461	3778	3713	99.5	-12.8	108	619	0.00	2.50	0.00	0.000	1030	0.000	0.068	1963	2034	3745	3778	3713	0	0	0	0	0	0	14.75	14.66	14.76
798	-0.59	-194.6	1963	2033	3778	3713	130.2	-16.0	127	804	0.15	2.58	0.00	0.000	2436	0.272	0.095	1993	3451	3745	3778	3713	0	0	0	0	0	0	14.59	14.68	14.68
836	-0.59	-194.6	1986	3451	3780	3713	135.7	-12.5	134	844	0.00	2.50	0.00	0.000	1030	0.000	0.070	1993	2031	3744	3778	3710	0	0	0	0	0	0	14.73	14.66	14.75
1143	-0.56	-194.6	1993	2032	3778	3712	174.5	-12.5	165	1149	0.00	2.58	0.00	0.000	388	0.000	0.099	1982	3453	3744	3778	3711	0	0	0	0	0	0	14.88	14.71	14.92
1201	-0.59	-194.6	1982	3448	3778	3711	181.5	-11.0	176	1210	0.12	2.47	0.00	0.000	3206	0.242	0.074	2008	2044	3744	3778	3711	0	0	0	0	0	0	14.66	14.72	14.79
1509	-0.61	-194.6	2011	2044	3778	3715	215.5	-11.3	207	1514	0.00	2.55	0.00	0.000	388	0.000	0.103	1999	3449	3743	3778	3709	0	0	0	0	0	0	14.92	14.73	15.00
1587	-0.66	-194.6	2002	3448	3778	3709	224.0	-10.1	222	1595	0.00	2.50	0.00	0.000	1158	0.000	0.075	2003	2036	3743	3778	3709	0	0	0	0	0	0	14.79	14.72	14.82
1893	-0.66	-194.6	2003	2036	3777	3706	257.7	-10.3	253	1899	0.00	2.60	0.00	0.000	260	0.000	0.106	1994	3459	3742	3778	3706	0	0	0	0	0	0	14.94	14.74	14.97
1982	-0.70	-194.6	1993	3458	3778	3706	266.1	-8.9	270	1990	0.00	2.53	0.00	0.000	1190	0.000	0.079	1993	2034	3739	3773	3706	0	0	0	0	0	0	14.85	14.76	14.87
2288	-0.70	-194.6	1993	2033	3778	3704	298.6	-10.8	301	2294	0.00	2.55	0.00	0.000	260	0.000	0.093	1984	3449	3741	3778	3704	0	0	0	0	0	0	14.95	14.77	14.99
2373	-0.72	-194.6	1983	3445	3778	3704	307.5	-9.8	317	2379	0.00	2.47	0.00	0.000	1190	0.000	0.067	1983	2026	3740	3778	3703	0	0	0	0	0	0	14.85	14.78	14.86
2687	-0.72	-194.6	1983	2025	3778	3701	345.5	-12.4	349	2693	0.00	2.58	0.00	0.000	260	0.000	0.096	1974	3454	3739	3777	3701	0	0	0	0	0	0	14.95	14.78	14.99
2756	-0.75	-194.6	1974	3454	3778	3700	353.7	-10.9	362	2763	0.00	2.47	0.00	0.000	1158	0.000	0.069	1974	2033	3739	3778	3701	0	0	0	0	0	0	14.83	14.76	14.85
2809	end dive: TARGET_DEPTH_EXCEEDED
state	2809	begin apogee
2815	-0.21	0.0	1974	2033	3778	3701	360.8	-13.1	368	2965	0.52	0.00	146.02	1.738	10246	0.216	0.000	2123	2025	2970	3025	2915	0	0	0	0	0	0	14.71	13.98	13.36
2969	end apogee: CONTROL_FINISHED_OK
state	2969	begin climb
2971	0.87	194.6	2122	2025	3025	2913	367.7	0.0	383	3134	1.17	0.00	150.40	1.748	10758	0.149	0.000	2468	2025	2194	2250	2138	0	0	0	0	0	0	13.98	13.77	13.26
3434	0.63	194.6	2468	2025	2249	2122	303.0	18.6	440	3441	0.22	2.60	0.00	0.000	4484	0.301	0.083	2415	3454	2185	2248	2123	0	0	0	0	0	0	14.39	14.47	14.51
3537	0.45	194.6	2415	3454	2247	2126	286.9	14.7	459	3545	0.32	2.53	0.00	0.000	5254	0.288	0.073	2347	2036	2184	2246	2122	0	0	0	0	0	0	14.45	14.56	14.62
3844	0.43	215.4	2349	2036	2247	2118	256.1	9.3	490	3867	0.00	2.53	15.68	1.542	8868	0.000	0.086	2359	623	2110	2171	2049	0	0	0	0	0	0	14.82	14.47	13.99
3884	0.44	250.8	2359	624	2171	2049	252.5	8.8	497	3919	0.00	2.58	28.15	1.554	9382	0.000	0.083	2359	2036	1971	2030	1913	0	0	0	0	0	0	14.59	14.52	13.81
4228	0.41	250.8	2355	2036	2030	1901	216.3	10.8	534	4234	0.00	2.55	0.00	0.000	388	0.000	0.091	2359	3464	1964	2029	1900	0	0	0	0	0	0	14.76	14.57	14.78
4365	0.36	250.8	2359	3465	2026	1900	200.6	11.3	560	4371	0.20	2.55	0.00	0.000	5254	0.247	0.078	2322	2037	1963	2026	1900	0	0	0	0	0	0	14.54	14.62	14.70
4680	0.49	328.9	2319	2036	2026	1898	175.8	7.3	592	4742	0.12	0.00	58.58	1.509	10918	0.132	0.000	2374	2036	1657	1718	1597	0	0	0	0	0	0	14.71	14.29	13.76
5040	0.49	328.9	2373	2036	1717	1591	137.3	11.0	629	5046	0.00	2.60	0.00	0.000	260	0.000	0.093	2374	3460	1654	1718	1591	0	0	0	0	0	0	14.69	14.54	14.71
5104	0.49	328.9	2373	3458	1716	1590	129.8	11.4	641	5110	0.00	2.53	0.00	0.000	1030	0.000	0.073	2383	2040	1653	1716	1591	0	0	0	0	0	0	14.64	14.57	14.67
5415	0.49	331.2	2382	2039	1716	1590	94.5	9.9	678	5423	0.00	2.53	0.00	0.000	548	0.000	0.086	2393	619	1652	1716	1589	0	0	0	0	0	0	14.80	14.61	14.85
5497	0.53	347.1	2392	619	1715	1583	86.6	9.4	693	5518	0.00	2.55	13.95	1.368	9382	0.000	0.075	2393	2051	1585	1647	1524	0	0	0	0	0	0	14.71	14.64	14.05
5702	0.54	353.8	2392	2045	1647	1520	66.2	9.8	732	5716	0.00	2.53	5.97	1.191	8484	0.000	0.092	2393	3450	1561	1626	1497	0	0	0	0	0	0	14.78	14.48	14.02
5784	0.54	353.8	2392	3451	1625	1496	57.3	10.9	747	5791	0.00	2.53	0.00	0.000	1030	0.000	0.076	2402	2036	1561	1626	1496	0	0	0	0	0	0	14.66	14.58	14.69
5976	0.54	357.4	2401	2035	1625	1496	38.1	9.9	784	5989	0.00	2.50	4.65	1.076	8740	0.000	0.086	2412	620	1545	1610	1480	0	0	0	0	0	0	14.83	14.60	14.07
6058	0.63	411.5	2412	621	1610	1480	30.5	8.1	799	6108	0.00	2.55	40.38	1.311	9382	0.000	0.074	2412	2046	1327	1394	1261	0	0	0	0	0	0	14.71	14.63	13.90
6295	0.66	419.8	2412	2046	1394	1255	9.2	9.7	843	6309	0.00	2.55	6.95	1.145	8612	0.000	0.092	2411	3445	1297	1368	1226	0	0	0	0	0	0	14.68	14.40	13.98
6364	end climb: SURFACE_DEPTH_REACHED
state	6364	begin surface coast
6383	end surface coast: CONTROL_FINISHED_OK
state	6383	begin surface