Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 126 * 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 126 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 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 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 256.0

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 29 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 17 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 256.0 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 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 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 126 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 29 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 17 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 230818,200701,5023.6680,-14503.6064,7,0.8,23,15.7,0.4,129.9,9,4.0 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5021.148,-14504.555

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.84 MHEAD_RNG_PITCHd_Wd 180.0,4796,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -67.9 D_GRID 360

GPS2 230818,201546,5023.6523,-14503.5225,3,0.8,4,15.7,0.3,9.9,12,5.7

Post-dive calculations and measurements:

FINISH -0.3,1.024122 ES_POWER1 0.000000

SM_CCo 6024,13.32,0.212,0,0,1376,400.16 _24V_AH 13.35,50.356

SM_GC 1.45,6.65,0.22,13.32,0.054,0.086,0.212,232,2246,1376,-5.93,-0.71,400.16,0,0,0,0,0,0,14.50,14.45,14.37 _10V_AH 13.14,0.000

IRIDIUM_FIX 5024.29,-14502.69,230818,181338 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.66661 FG_AHR_10Vo 0.000

HUMID 48.34 MEM 322980

INTERNAL_PRESSURE 10.102 DATA_FILE_SIZE 26761,780

TCM_TEMP 15.70 CAP_FILE_SIZE 89857,0

XPDR_PINGS 94 CFSIZE 1024409600,990199808

SC_FREEKB 3837184 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14753464320.000000 CURRENT 0.075,62.98,1

ES_POWER 63.360000 GPS 230818,215812,5023.178,-14503.393,5,1.6,5,15.7,0.2,0.0,5,7.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 388 88.98 nil 0 0 0.00

Roll_motor 100 107 145.12 nil 0 0 0.00

VBD_pump_during_apogee 392 1773 9298.22 nil 0 0 0.00

VBD_pump_during_surface 13 211 37.70 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 6028 17 1424.63

Iridium_during_xfer 302 190 769.82 echo 6016 5 401.57

Transponder_ping 23 420 131.76 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.69

TT8 1817 12 297.59

LPSleep 2447 2 70.43

TT8_Active 541 11 83.29

TT8_Sampling 1534 30 613.64

TT8_CF8 252 45 150.98

TT8_Kalman 0 0 0.00

Analog_circuits 1517 16 319.14

GPS_charging 0 0 0.00

Compass 1125 6 99.64

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

22 -0.58 -146.0 135 2255 1379 1352 0.0 0.0 0 114 0.00 0.00 -89.95 0.004 16386 0.000 0.000 130 2255 3035 3049 3022 0 0 0 0 0 0 14.68 28.83 14.71

117 -0.58 -146.0 133 2255 3050 3018 3.9 -9.5 15 145 8.52 2.62 -10.23 0.011 18692 0.389 0.108 1951 3668 3552 3592 3513 0 0 0 0 0 0 14.33 13.58 14.59

226 -0.58 -146.0 1951 3668 3594 3513 34.4 -21.1 34 233 0.00 2.47 0.00 0.000 1030 0.000 0.054 1951 2250 3553 3594 3513 0 0 0 0 0 0 14.61 14.53 14.62

417 -0.58 -146.0 1951 2249 3595 3514 77.5 -21.2 71 424 0.00 2.47 0.00 0.000 516 0.000 0.064 1953 834 3554 3594 3514 0 0 0 0 0 0 14.80 14.58 14.82

527 -0.58 -146.0 1952 833 3596 3514 97.5 -15.9 92 534 0.00 2.55 0.00 0.000 1030 0.000 0.073 1945 2257 3555 3596 3514 0 0 0 0 0 0 14.70 14.60 14.71

717 -0.58 -146.0 1944 2260 3595 3514 130.8 -18.1 112 723 0.00 2.55 0.00 0.000 260 0.000 0.085 1934 3664 3554 3595 3514 0 0 0 0 0 0 14.83 14.62 14.85

735 -0.58 -146.0 1934 3663 3595 3514 134.2 -18.2 115 743 0.12 2.45 0.00 0.000 3078 0.272 0.053 1960 2252 3554 3595 3514 0 0 0 0 0 0 14.49 14.61 14.67

943 -0.58 -146.0 1959 2252 3596 3512 167.0 -15.6 136 949 0.00 2.47 0.00 0.000 516 0.000 0.063 1960 839 3555 3596 3514 0 0 0 0 0 0 14.83 14.67 14.87

981 -0.58 -146.0 1960 838 3596 3514 173.0 -14.4 143 988 0.00 2.53 0.00 0.000 1030 0.000 0.073 1953 2257 3555 3596 3514 0 0 0 0 0 0 14.74 14.65 14.76

1187 -0.58 -146.0 1952 2258 3596 3513 204.5 -15.4 164 1193 0.00 2.53 0.00 0.000 260 0.000 0.085 1942 3659 3554 3595 3514 0 0 0 0 0 0 14.86 14.66 14.89

1222 -0.58 -146.0 1941 3659 3598 3514 209.7 -14.8 170 1228 0.00 2.45 0.00 0.000 1030 0.000 0.057 1941 2254 3558 3602 3514 0 0 0 0 0 0 14.76 14.69 14.78

1436 -0.58 -146.0 1941 2254 3595 3513 244.2 -16.7 192 1442 0.00 2.47 0.00 0.000 516 0.000 0.064 1941 830 3554 3595 3513 0 0 0 0 0 0 14.89 14.64 14.92

1535 -0.58 -146.0 1941 829 3595 3513 258.4 -13.9 211 1542 0.00 2.55 0.00 0.000 1030 0.000 0.076 1932 2257 3553 3595 3512 0 0 0 0 0 0 14.77 14.69 14.79

1740 -0.58 -146.0 1935 2258 3596 3512 291.5 -16.9 222 1747 0.12 2.53 0.00 0.000 2308 0.300 0.083 1952 3669 3553 3595 3511 0 0 0 0 0 0 14.57 14.71 14.70

1774 -0.58 -146.0 1951 3668 3596 3511 297.1 -15.4 228 1780 0.00 2.50 0.00 0.000 1030 0.000 0.060 1952 2234 3553 3596 3511 0 0 0 0 0 0 14.83 14.73 14.82

1989 -0.58 -146.0 1954 2233 3590 3511 329.0 -15.4 240 1994 0.00 2.42 0.00 0.000 516 0.000 0.065 1953 833 3552 3595 3510 0 0 0 0 0 0 14.91 14.73 14.93

2092 -0.58 -146.0 1953 833 3596 3510 343.5 -12.9 260 2098 0.00 2.53 0.00 0.000 1030 0.000 0.079 1944 2247 3553 3596 3510 0 0 0 0 0 0 14.81 14.71 14.83

2214 end dive: TARGET_DEPTH_EXCEEDED

state 2214 begin apogee

2221 -0.11 0.0 1945 2136 3596 3505 362.4 -15.8 269 2336 0.62 0.00 110.40 1.773 10246 0.224 0.000 2114 2136 2969 3032 2907 0 0 0 0 0 0 14.62 14.11 13.46

2340 end apogee: CONTROL_FINISHED_OK

state 2340 begin climb

2343 0.58 146.0 2113 2136 3032 2903 369.4 0.0 275 2467 0.77 2.62 112.20 1.697 10756 0.142 0.083 2352 745 2388 2467 2310 0 0 0 0 0 0 14.09 13.92 13.35

2550 0.67 214.3 2352 744 2461 2301 362.8 6.8 312 2612 0.00 2.58 53.22 1.688 9254 0.000 0.057 2352 2161 2117 2197 2037 0 0 0 0 0 0 14.28 14.21 13.38

2831 0.69 214.3 2347 2161 2196 2030 338.0 9.2 337 2837 0.00 2.55 0.00 0.000 324 0.000 0.082 2352 3558 2105 2189 2022 0 0 0 0 0 0 14.53 14.38 14.55

2880 0.69 214.3 2351 3558 2196 2022 332.9 10.1 346 2886 0.00 2.53 0.00 0.000 1030 0.000 0.067 2362 2150 2109 2196 2022 0 0 0 0 0 0 14.50 14.41 14.51

3099 0.69 214.3 2362 2150 2195 2019 310.8 10.3 359 3105 0.00 2.50 0.00 0.000 516 0.000 0.067 2374 734 2108 2196 2020 0 0 0 0 0 0 14.73 14.52 14.76

3187 0.69 214.3 2373 731 2196 2019 301.3 10.4 376 3193 0.00 2.53 0.00 0.000 1030 0.000 0.057 2374 2160 2107 2196 2019 0 0 0 0 0 0 14.60 14.52 14.62

3406 0.69 214.3 2374 2160 2196 2012 276.6 11.5 389 3413 0.00 2.53 0.00 0.000 260 0.000 0.080 2380 3566 2105 2196 2014 0 0 0 0 0 0 14.81 14.64 14.85

3520 0.69 214.3 2374 3566 2196 2017 261.9 11.9 411 3526 0.00 2.47 0.00 0.000 1030 0.000 0.056 2384 2148 2106 2195 2017 0 0 0 0 0 0 14.72 14.64 14.77

3734 0.69 214.3 2384 2146 2195 2016 236.1 11.9 428 3740 0.00 2.45 0.00 0.000 516 0.000 0.067 2394 743 2106 2196 2016 0 0 0 0 0 0 14.85 14.68 14.88

3798 0.69 214.3 2394 743 2197 2016 228.8 11.2 440 3804 0.00 2.47 0.00 0.000 1030 0.000 0.058 2394 2150 2106 2196 2016 0 0 0 0 0 0 14.70 14.66 14.72

4013 0.69 214.3 2394 2151 2196 2015 202.7 12.4 462 4019 0.00 2.53 0.00 0.000 260 0.000 0.079 2394 3568 2105 2196 2015 0 0 0 0 0 0 14.85 14.68 14.88

4077 0.69 214.3 2394 3567 2195 2015 193.9 12.9 474 4083 0.00 2.47 0.00 0.000 1030 0.000 0.054 2405 2139 2105 2196 2015 0 0 0 0 0 0 14.72 14.66 14.74

4292 0.69 214.3 2405 2139 2196 2015 164.4 13.5 496 4297 0.00 2.45 0.00 0.000 516 0.000 0.067 2416 742 2105 2195 2015 0 0 0 0 0 0 14.88 14.69 14.90

4366 0.69 214.3 2418 748 2197 2015 154.7 12.5 510 4372 0.17 2.47 0.00 0.000 5126 0.219 0.057 2374 2160 2105 2196 2015 0 0 0 0 0 0 14.62 14.71 14.77

4583 0.69 214.3 2373 2160 2196 2013 131.7 9.9 532 4588 0.00 2.50 0.00 0.000 260 0.000 0.078 2374 3562 2104 2195 2013 0 0 0 0 0 0 14.87 14.68 14.90

4672 0.69 214.3 2373 3562 2195 2014 122.3 10.3 549 4680 0.00 2.45 0.00 0.000 1030 0.000 0.053 2383 2146 2104 2196 2013 0 0 0 0 0 0 14.78 14.71 14.80

4878 0.69 214.3 2383 2145 2196 2013 102.4 10.1 570 4884 0.00 2.47 0.00 0.000 516 0.000 0.067 2394 741 2104 2196 2013 0 0 0 0 0 0 14.88 14.64 14.92

4912 0.69 214.3 2394 741 2195 2013 99.1 9.5 576 4920 0.00 2.47 0.00 0.000 1030 0.000 0.057 2393 2152 2104 2196 2013 0 0 0 0 0 0 14.77 14.69 14.78

5105 0.72 214.3 2393 2153 2196 2018 82.1 8.2 613 5113 0.00 2.50 0.00 0.000 324 0.000 0.077 2394 3561 2104 2196 2012 0 0 0 0 0 0 14.85 14.67 14.89

5197 0.76 214.3 2390 3560 2189 2012 74.6 8.3 630 5204 0.00 2.45 0.00 0.000 1094 0.000 0.052 2404 2143 2103 2195 2012 0 0 0 0 0 0 14.71 14.64 14.73

5389 0.84 280.2 2404 2143 2195 2012 60.3 6.9 667 5445 0.00 2.58 49.28 1.419 8740 0.000 0.068 2415 744 1853 1927 1779 0 0 0 0 0 0 14.88 14.37 13.78

5570 0.86 280.2 2415 745 1927 1773 45.1 9.1 700 5577 0.00 2.50 0.00 0.000 1094 0.000 0.055 2414 2150 1849 1926 1772 0 0 0 0 0 0 14.57 14.49 14.58

5763 0.98 371.5 2414 2151 1926 1770 30.4 5.8 737 5838 0.15 2.65 67.68 1.347 11044 0.112 0.072 2475 3556 1489 1537 1442 0 0 0 0 0 0 14.57 14.21 13.70

5861 0.98 371.5 2475 3559 1535 1441 20.1 16.2 753 5869 0.00 2.53 0.00 0.000 1030 0.000 0.054 2485 2144 1487 1534 1441 0 0 0 0 0 0 14.35 14.29 14.38

5990 end climb: SURFACE_DEPTH_REACHED

state 5992 begin surface coast

6003 end surface coast: CONTROL_FINISHED_OK

state 6003 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	126	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	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	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	256.0
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	29	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	17	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	230818,200701,5023.6680,-14503.6064,7,0.8,23,15.7,0.4,129.9,9,4.0	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5021.148,-14504.555
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.84	MHEAD_RNG_PITCHd_Wd	180.0,4796,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-67.9	D_GRID	360
GPS2	230818,201546,5023.6523,-14503.5225,3,0.8,4,15.7,0.3,9.9,12,5.7

FINISH	-0.3,1.024122	ES_POWER1	0.000000
SM_CCo	6024,13.32,0.212,0,0,1376,400.16	_24V_AH	13.35,50.356
SM_GC	1.45,6.65,0.22,13.32,0.054,0.086,0.212,232,2246,1376,-5.93,-0.71,400.16,0,0,0,0,0,0,14.50,14.45,14.37	_10V_AH	13.14,0.000
IRIDIUM_FIX	5024.29,-14502.69,230818,181338	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.66661	FG_AHR_10Vo	0.000
HUMID	48.34	MEM	322980
INTERNAL_PRESSURE	10.102	DATA_FILE_SIZE	26761,780
TCM_TEMP	15.70	CAP_FILE_SIZE	89857,0
XPDR_PINGS	94	CFSIZE	1024409600,990199808
SC_FREEKB	3837184	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14753464320.000000	CURRENT	0.075,62.98,1
ES_POWER	63.360000	GPS	230818,215812,5023.178,-14503.393,5,1.6,5,15.7,0.2,0.0,5,7.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	388	88.98	nil	0	0	0.00
Roll_motor	100	107	145.12	nil	0	0	0.00
VBD_pump_during_apogee	392	1773	9298.22	nil	0	0	0.00
VBD_pump_during_surface	13	211	37.70	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	6028	17	1424.63
Iridium_during_xfer	302	190	769.82	echo	6016	5	401.57
Transponder_ping	23	420	131.76	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.69
TT8	1817	12	297.59
LPSleep	2447	2	70.43
TT8_Active	541	11	83.29
TT8_Sampling	1534	30	613.64
TT8_CF8	252	45	150.98
TT8_Kalman	0	0	0.00
Analog_circuits	1517	16	319.14
GPS_charging	0	0	0.00
Compass	1125	6	99.64
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
22	-0.58	-146.0	135	2255	1379	1352	0.0	0.0	0	114	0.00	0.00	-89.95	0.004	16386	0.000	0.000	130	2255	3035	3049	3022	0	0	0	0	0	0	14.68	28.83	14.71
117	-0.58	-146.0	133	2255	3050	3018	3.9	-9.5	15	145	8.52	2.62	-10.23	0.011	18692	0.389	0.108	1951	3668	3552	3592	3513	0	0	0	0	0	0	14.33	13.58	14.59
226	-0.58	-146.0	1951	3668	3594	3513	34.4	-21.1	34	233	0.00	2.47	0.00	0.000	1030	0.000	0.054	1951	2250	3553	3594	3513	0	0	0	0	0	0	14.61	14.53	14.62
417	-0.58	-146.0	1951	2249	3595	3514	77.5	-21.2	71	424	0.00	2.47	0.00	0.000	516	0.000	0.064	1953	834	3554	3594	3514	0	0	0	0	0	0	14.80	14.58	14.82
527	-0.58	-146.0	1952	833	3596	3514	97.5	-15.9	92	534	0.00	2.55	0.00	0.000	1030	0.000	0.073	1945	2257	3555	3596	3514	0	0	0	0	0	0	14.70	14.60	14.71
717	-0.58	-146.0	1944	2260	3595	3514	130.8	-18.1	112	723	0.00	2.55	0.00	0.000	260	0.000	0.085	1934	3664	3554	3595	3514	0	0	0	0	0	0	14.83	14.62	14.85
735	-0.58	-146.0	1934	3663	3595	3514	134.2	-18.2	115	743	0.12	2.45	0.00	0.000	3078	0.272	0.053	1960	2252	3554	3595	3514	0	0	0	0	0	0	14.49	14.61	14.67
943	-0.58	-146.0	1959	2252	3596	3512	167.0	-15.6	136	949	0.00	2.47	0.00	0.000	516	0.000	0.063	1960	839	3555	3596	3514	0	0	0	0	0	0	14.83	14.67	14.87
981	-0.58	-146.0	1960	838	3596	3514	173.0	-14.4	143	988	0.00	2.53	0.00	0.000	1030	0.000	0.073	1953	2257	3555	3596	3514	0	0	0	0	0	0	14.74	14.65	14.76
1187	-0.58	-146.0	1952	2258	3596	3513	204.5	-15.4	164	1193	0.00	2.53	0.00	0.000	260	0.000	0.085	1942	3659	3554	3595	3514	0	0	0	0	0	0	14.86	14.66	14.89
1222	-0.58	-146.0	1941	3659	3598	3514	209.7	-14.8	170	1228	0.00	2.45	0.00	0.000	1030	0.000	0.057	1941	2254	3558	3602	3514	0	0	0	0	0	0	14.76	14.69	14.78
1436	-0.58	-146.0	1941	2254	3595	3513	244.2	-16.7	192	1442	0.00	2.47	0.00	0.000	516	0.000	0.064	1941	830	3554	3595	3513	0	0	0	0	0	0	14.89	14.64	14.92
1535	-0.58	-146.0	1941	829	3595	3513	258.4	-13.9	211	1542	0.00	2.55	0.00	0.000	1030	0.000	0.076	1932	2257	3553	3595	3512	0	0	0	0	0	0	14.77	14.69	14.79
1740	-0.58	-146.0	1935	2258	3596	3512	291.5	-16.9	222	1747	0.12	2.53	0.00	0.000	2308	0.300	0.083	1952	3669	3553	3595	3511	0	0	0	0	0	0	14.57	14.71	14.70
1774	-0.58	-146.0	1951	3668	3596	3511	297.1	-15.4	228	1780	0.00	2.50	0.00	0.000	1030	0.000	0.060	1952	2234	3553	3596	3511	0	0	0	0	0	0	14.83	14.73	14.82
1989	-0.58	-146.0	1954	2233	3590	3511	329.0	-15.4	240	1994	0.00	2.42	0.00	0.000	516	0.000	0.065	1953	833	3552	3595	3510	0	0	0	0	0	0	14.91	14.73	14.93
2092	-0.58	-146.0	1953	833	3596	3510	343.5	-12.9	260	2098	0.00	2.53	0.00	0.000	1030	0.000	0.079	1944	2247	3553	3596	3510	0	0	0	0	0	0	14.81	14.71	14.83
2214	end dive: TARGET_DEPTH_EXCEEDED
state	2214	begin apogee
2221	-0.11	0.0	1945	2136	3596	3505	362.4	-15.8	269	2336	0.62	0.00	110.40	1.773	10246	0.224	0.000	2114	2136	2969	3032	2907	0	0	0	0	0	0	14.62	14.11	13.46
2340	end apogee: CONTROL_FINISHED_OK
state	2340	begin climb
2343	0.58	146.0	2113	2136	3032	2903	369.4	0.0	275	2467	0.77	2.62	112.20	1.697	10756	0.142	0.083	2352	745	2388	2467	2310	0	0	0	0	0	0	14.09	13.92	13.35
2550	0.67	214.3	2352	744	2461	2301	362.8	6.8	312	2612	0.00	2.58	53.22	1.688	9254	0.000	0.057	2352	2161	2117	2197	2037	0	0	0	0	0	0	14.28	14.21	13.38
2831	0.69	214.3	2347	2161	2196	2030	338.0	9.2	337	2837	0.00	2.55	0.00	0.000	324	0.000	0.082	2352	3558	2105	2189	2022	0	0	0	0	0	0	14.53	14.38	14.55
2880	0.69	214.3	2351	3558	2196	2022	332.9	10.1	346	2886	0.00	2.53	0.00	0.000	1030	0.000	0.067	2362	2150	2109	2196	2022	0	0	0	0	0	0	14.50	14.41	14.51
3099	0.69	214.3	2362	2150	2195	2019	310.8	10.3	359	3105	0.00	2.50	0.00	0.000	516	0.000	0.067	2374	734	2108	2196	2020	0	0	0	0	0	0	14.73	14.52	14.76
3187	0.69	214.3	2373	731	2196	2019	301.3	10.4	376	3193	0.00	2.53	0.00	0.000	1030	0.000	0.057	2374	2160	2107	2196	2019	0	0	0	0	0	0	14.60	14.52	14.62
3406	0.69	214.3	2374	2160	2196	2012	276.6	11.5	389	3413	0.00	2.53	0.00	0.000	260	0.000	0.080	2380	3566	2105	2196	2014	0	0	0	0	0	0	14.81	14.64	14.85
3520	0.69	214.3	2374	3566	2196	2017	261.9	11.9	411	3526	0.00	2.47	0.00	0.000	1030	0.000	0.056	2384	2148	2106	2195	2017	0	0	0	0	0	0	14.72	14.64	14.77
3734	0.69	214.3	2384	2146	2195	2016	236.1	11.9	428	3740	0.00	2.45	0.00	0.000	516	0.000	0.067	2394	743	2106	2196	2016	0	0	0	0	0	0	14.85	14.68	14.88
3798	0.69	214.3	2394	743	2197	2016	228.8	11.2	440	3804	0.00	2.47	0.00	0.000	1030	0.000	0.058	2394	2150	2106	2196	2016	0	0	0	0	0	0	14.70	14.66	14.72
4013	0.69	214.3	2394	2151	2196	2015	202.7	12.4	462	4019	0.00	2.53	0.00	0.000	260	0.000	0.079	2394	3568	2105	2196	2015	0	0	0	0	0	0	14.85	14.68	14.88
4077	0.69	214.3	2394	3567	2195	2015	193.9	12.9	474	4083	0.00	2.47	0.00	0.000	1030	0.000	0.054	2405	2139	2105	2196	2015	0	0	0	0	0	0	14.72	14.66	14.74
4292	0.69	214.3	2405	2139	2196	2015	164.4	13.5	496	4297	0.00	2.45	0.00	0.000	516	0.000	0.067	2416	742	2105	2195	2015	0	0	0	0	0	0	14.88	14.69	14.90
4366	0.69	214.3	2418	748	2197	2015	154.7	12.5	510	4372	0.17	2.47	0.00	0.000	5126	0.219	0.057	2374	2160	2105	2196	2015	0	0	0	0	0	0	14.62	14.71	14.77
4583	0.69	214.3	2373	2160	2196	2013	131.7	9.9	532	4588	0.00	2.50	0.00	0.000	260	0.000	0.078	2374	3562	2104	2195	2013	0	0	0	0	0	0	14.87	14.68	14.90
4672	0.69	214.3	2373	3562	2195	2014	122.3	10.3	549	4680	0.00	2.45	0.00	0.000	1030	0.000	0.053	2383	2146	2104	2196	2013	0	0	0	0	0	0	14.78	14.71	14.80
4878	0.69	214.3	2383	2145	2196	2013	102.4	10.1	570	4884	0.00	2.47	0.00	0.000	516	0.000	0.067	2394	741	2104	2196	2013	0	0	0	0	0	0	14.88	14.64	14.92
4912	0.69	214.3	2394	741	2195	2013	99.1	9.5	576	4920	0.00	2.47	0.00	0.000	1030	0.000	0.057	2393	2152	2104	2196	2013	0	0	0	0	0	0	14.77	14.69	14.78
5105	0.72	214.3	2393	2153	2196	2018	82.1	8.2	613	5113	0.00	2.50	0.00	0.000	324	0.000	0.077	2394	3561	2104	2196	2012	0	0	0	0	0	0	14.85	14.67	14.89
5197	0.76	214.3	2390	3560	2189	2012	74.6	8.3	630	5204	0.00	2.45	0.00	0.000	1094	0.000	0.052	2404	2143	2103	2195	2012	0	0	0	0	0	0	14.71	14.64	14.73
5389	0.84	280.2	2404	2143	2195	2012	60.3	6.9	667	5445	0.00	2.58	49.28	1.419	8740	0.000	0.068	2415	744	1853	1927	1779	0	0	0	0	0	0	14.88	14.37	13.78
5570	0.86	280.2	2415	745	1927	1773	45.1	9.1	700	5577	0.00	2.50	0.00	0.000	1094	0.000	0.055	2414	2150	1849	1926	1772	0	0	0	0	0	0	14.57	14.49	14.58
5763	0.98	371.5	2414	2151	1926	1770	30.4	5.8	737	5838	0.15	2.65	67.68	1.347	11044	0.112	0.072	2475	3556	1489	1537	1442	0	0	0	0	0	0	14.57	14.21	13.70
5861	0.98	371.5	2475	3559	1535	1441	20.1	16.2	753	5869	0.00	2.53	0.00	0.000	1030	0.000	0.054	2485	2144	1487	1534	1441	0	0	0	0	0	0	14.35	14.29	14.38
5990	end climb: SURFACE_DEPTH_REACHED
state	5992	begin surface coast
6003	end surface coast: CONTROL_FINISHED_OK
state	6003	begin surface