Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 147 * 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 147 TGT_AUTO_DEFAULT 0 VBD_MIN 500 MOTHERBOARD 4

N_DIVES 0 SM_CC 400 VBD_MAX 3960 DEVICE1 -1

STOP_T 0 N_FILEKB 8 C_VBD 2970 DEVICE2 -1

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE3 -1

D_FLARE 3 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE4 -1

D_TGT 360 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_ABORT 1030 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE6 -1

D_NO_BLEED 200 N_NOCOMM 1 PITCH_VBD_SHIFT 0.0013 LOGGERS 3

D_BOOST 5 NOCOMM_ACTION 161 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERDEVICE1 53

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE2 147

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 131

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE4 -1

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 COMPASS_DEVICE 97

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 COMPASS2_DEVICE 150

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 PHONE_DEVICE 49

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 GPS_DEVICE 64

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 RAFOS_DEVICE -1

T_DIVE 120 N_GPS 100440 LOITER_D_TOP 0 XPDR_DEVICE 24

T_MISSION 150 T_RSLEEP 2 LOITER_D_BOTTOM 0 SIM_W 0

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 SEABIRD_T_G 0.0043946085

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 2 SEABIRD_T_H 0.00063626852

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0.5 SEABIRD_T_I 2.5989737e-05

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_J 3.1806876e-06

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_C_G -9.6980124

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_C_H 1.1068786

USE_BATHY 0 PITCH_MAX 3914 MINV_24V 11 SEABIRD_C_I -0.0019018035

USE_ICE 0 C_PITCH 2155 MINV_10V 11 SEABIRD_C_J 0.00022417276

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1 SC_PROFILE 3.0

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_XMITPROFILE 3.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_GAIN 45 PHONE_SUPPLY -2 ES_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_TIMEOUT 18 PRESSURE_YINT -148.58136 ES_PROFILE 3.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.0001078618 ES_XMITPROFILE 0.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_UPLOADMAX 100000.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 COMPASS_USE 4 ES_STARTS 298.0

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 60 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 42 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 298.0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

CALL_NDIVES 1 ES_UPLOADMAX 100000.0 PITCH_CNV 0.0031300001 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 ES_XMITPROFILE 0.0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FERRY_MAX 45 PITCH_GAIN 45 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FG_AHR_10V 0 PITCH_MAX 3914 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 2 FILEMGR 0 PITCH_MIN 250 T_ABORT 1440

COMM_SEQ 0 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 18 T_BOOST 0

COMPASS2_DEVICE 150 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0013 T_DIVE 120

COMPASS_DEVICE 97 GPS_DEVICE 64 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 4 HD_A 0.003 PITCH_W_GAIN 2 T_GPS 10

COURSE_BIAS 0 HD_B 0.0099999998 PRESSURE_SLOPE 0.0001078618 T_LOITER 0

CP_NDIVE 1.0 HD_C 1.6100001e-05 PRESSURE_YINT -148.58136 T_MISSION 150

CP_PROFILE 0.0 HEADING -1 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 2

CP_STARTS 0.0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_TURN 225

CP_UPLOADMAX 0.0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

CP_XMITPROFILE 0.0 ID 219 RAFOS_DEVICE -1 T_WATCHDOG 10

C_PITCH 2155 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY 0

C_VBD 2970 LOGGERDEVICE1 53 RELAUNCH 1 USE_ICE 0

DBDW 0 LOGGERDEVICE2 147 RHO 1.0275 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 131 ROLL_ADJ_DBAND 0 VBD_CNV -0.25119999

DEVICE1 -1 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE2 -1 LOGGERS 3 ROLL_AD_RATE 250 VBD_LP_IGNORE 0

DEVICE3 -1 LOITER_DBDW 0 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE4 -1 LOITER_D_BOTTOM 0 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE5 -1 LOITER_D_TOP 0 ROLL_MAX 3825 VBD_MIN 500

DEVICE6 -1 LOITER_N_DIVE 0 ROLL_MAXERRORS 1 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 147 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 60 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 42 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 270818,204431,5037.8970,-14458.0439,20,0.9,20,15.7,0.1,0.0,8,4.4 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5036.243,-14502.177

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 1.00 MHEAD_RNG_PITCHd_Wd 228.1,5754,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -73.4 D_GRID 360

GPS2 270818,205249,5037.8721,-14458.0088,2,0.7,4,15.7,0.2,0.0,12,5.6

Post-dive calculations and measurements:

FINISH 0.2,1.024026 ES_POWER1 0.000000

SM_CCo 6001,7.93,0.213,0,0,1374,400.16 _24V_AH 13.35,57.618

SM_GC 1.51,6.50,0.17,7.93,0.061,0.108,0.213,229,2269,1374,-5.93,-0.71,400.16,0,0,0,0,0,0,14.57,14.56,14.42 _10V_AH 13.07,0.000

IRIDIUM_FIX 5035.79,-14502.42,270818,185441 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.578977 FG_AHR_10Vo 0.000

HUMID 48.81 MEM 322956

INTERNAL_PRESSURE 10.1117 DATA_FILE_SIZE 26739,753

TCM_TEMP 16.00 CAP_FILE_SIZE 87962,0

XPDR_PINGS 101 CFSIZE 1024409600,985432064

SC_FREEKB 3824864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14583529472.000000 CURRENT 0.002,50.56,1

ES_POWER 63.370000 GPS 270818,223509,5037.604,-14458.976,9,1.9,10,15.7,0.2,0.0,5,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 381 84.60 nil 0 0 0.00

Roll_motor 96 189 243.90 nil 0 0 0.00

VBD_pump_during_apogee 401 1761 9430.94 nil 0 0 0.00

VBD_pump_during_surface 7 212 22.50 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 6005 17 1438.99

Iridium_during_xfer 277 188 699.88 echo 6007 5 400.97

Transponder_ping 25 420 141.58 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 8 1.64

TT8 1764 12 287.43

LPSleep 2503 2 71.67

TT8_Active 546 11 83.62

TT8_Sampling 1487 30 591.95

TT8_CF8 253 45 150.22

TT8_Kalman 0 0 0.00

Analog_circuits 1481 16 309.89

GPS_charging 0 0 0.00

Compass 1086 6 95.75

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.58 -146.0 156 2214 1381 1351 0.0 0.0 0 118 0.00 0.00 -93.10 0.004 16386 0.000 0.000 143 2215 3213 3234 3193 0 0 0 0 0 0 14.71 28.83 14.73

121 -0.58 -146.0 143 2215 3234 3194 5.4 -15.2 16 143 8.35 2.67 -6.03 0.017 18692 0.382 0.100 1948 3642 3554 3592 3516 0 0 0 0 0 0 14.31 13.54 14.58

161 -0.58 -146.0 1948 3642 3596 3516 24.6 -43.9 22 169 0.00 2.40 0.00 0.000 1030 0.000 0.057 1948 2282 3554 3592 3516 0 0 0 0 0 0 14.61 14.52 14.64

354 -0.58 -146.0 1947 2284 3594 3516 75.0 -21.0 59 361 0.00 2.53 0.00 0.000 516 0.000 0.063 1951 837 3554 3593 3516 0 0 0 0 0 0 14.78 14.59 14.81

403 -0.58 -146.0 1951 837 3594 3524 85.0 -17.9 68 410 0.00 2.50 0.00 0.000 1030 0.000 0.073 1943 2238 3555 3594 3516 0 0 0 0 0 0 14.68 14.59 14.70

600 -0.58 -146.0 1943 2236 3594 3516 124.9 -19.0 94 607 0.00 2.50 0.00 0.000 516 0.000 0.070 1943 832 3555 3594 3516 0 0 0 0 0 0 14.81 14.61 14.83

639 -0.58 -146.0 1943 832 3594 3523 132.7 -17.7 101 647 0.15 2.55 0.00 0.000 3078 0.246 0.080 1973 2243 3555 3594 3516 0 0 0 0 0 0 14.53 14.62 14.67

847 -0.58 -146.0 1965 2249 3594 3516 161.1 -13.3 122 854 0.00 2.58 0.00 0.000 260 0.000 0.088 1957 3672 3554 3593 3516 0 0 0 0 0 0 14.85 14.61 14.88

952 -0.58 -146.0 1957 3672 3594 3516 173.9 -11.6 142 959 0.00 2.47 0.00 0.000 1030 0.000 0.057 1957 2253 3556 3596 3516 0 0 0 0 0 0 14.72 14.66 14.76

1167 -0.58 -146.0 1957 2253 3596 3516 204.6 -15.2 164 1173 0.00 2.47 0.00 0.000 516 0.000 0.062 1957 829 3554 3594 3515 0 0 0 0 0 0 14.86 14.65 14.89

1245 -0.58 -146.0 1957 829 3595 3515 215.3 -12.7 179 1253 0.00 2.58 0.00 0.000 1030 0.000 0.079 1948 2267 3554 3593 3515 0 0 0 0 0 0 14.76 14.66 14.78

1451 -0.58 -146.0 1947 2268 3595 3514 248.4 -16.6 200 1457 0.00 2.50 0.00 0.000 260 0.000 0.086 1937 3668 3554 3594 3514 0 0 0 0 0 0 14.90 14.67 14.95

1515 -0.58 -146.0 1937 3668 3594 3516 258.7 -15.4 212 1521 0.00 2.53 0.00 0.000 1030 0.000 0.060 1937 2239 3554 3594 3514 0 0 0 0 0 0 14.78 14.69 14.80

1739 -0.58 -146.0 1937 2239 3594 3513 297.0 -17.2 226 1741 0.12 0.00 0.00 0.000 2054 0.292 0.000 1961 2239 3553 3594 3513 0 0 0 0 0 0 14.53 14.73 14.71

1939 -0.58 -146.0 1961 2239 3596 3511 327.0 -14.5 236 1945 0.00 2.60 0.00 0.000 260 0.000 0.083 1950 3669 3553 3596 3511 0 0 0 0 0 0 14.89 14.70 14.92

1973 -0.58 -146.0 1959 3670 3590 3511 331.8 -13.7 242 1979 0.00 2.50 0.00 0.000 1030 0.000 0.060 1953 2240 3553 3596 3510 0 0 0 0 0 0 14.81 14.72 14.83

2165 end dive: TARGET_DEPTH_EXCEEDED

state 2165 begin apogee

2172 -0.11 0.0 1953 2102 3589 3510 360.5 -14.9 253 2289 0.60 0.12 109.65 1.761 10246 0.220 0.091 2115 2166 2969 3037 2902 0 0 0 0 0 0 14.61 14.12 13.50

2292 end apogee: CONTROL_FINISHED_OK

state 2292 begin climb

2295 0.58 146.0 2115 2166 3037 2899 366.6 0.0 259 2418 0.75 2.70 111.38 1.684 10500 0.143 0.079 2336 3555 2389 2471 2308 0 0 0 0 0 0 14.12 13.93 13.35

2463 0.66 205.2 2335 3559 2476 2301 360.8 7.2 287 2518 0.00 2.47 46.65 1.655 9254 0.000 0.052 2345 2186 2152 2236 2068 0 0 0 0 0 0 14.21 14.14 13.38

2728 0.66 205.2 2346 2186 2236 2060 336.2 10.0 309 2734 0.00 2.62 0.00 0.000 516 0.000 0.068 2357 733 2145 2236 2054 0 0 0 0 0 0 14.55 14.41 14.58

2815 0.66 205.2 2357 731 2234 2053 327.2 9.8 326 2822 0.00 2.53 0.00 0.000 1030 0.000 0.056 2357 2147 2142 2232 2053 0 0 0 0 0 0 14.56 14.45 14.54

3036 0.66 205.2 2357 2147 2232 2051 303.4 11.1 339 3042 0.00 2.55 0.00 0.000 260 0.000 0.081 2357 3565 2144 2232 2057 0 0 0 0 0 0 14.76 14.54 14.75

3121 0.66 205.2 2357 3565 2231 2051 293.6 10.5 355 3126 0.00 2.42 0.00 0.000 1030 0.000 0.053 2368 2147 2141 2231 2051 0 0 0 0 0 0 14.66 14.59 14.69

3345 0.66 205.2 2367 2147 2231 2051 266.7 12.2 369 3350 0.00 2.50 0.00 0.000 516 0.000 0.067 2379 734 2140 2231 2050 0 0 0 0 0 0 14.81 14.64 14.82

3423 0.66 205.2 2378 734 2230 2050 257.7 10.6 384 3430 0.00 2.50 0.00 0.000 1030 0.000 0.056 2379 2156 2138 2227 2050 0 0 0 0 0 0 14.73 14.64 14.74

3629 0.66 205.2 2378 2157 2229 2050 235.1 10.7 401 3634 0.00 2.50 0.00 0.000 260 0.000 0.080 2379 3560 2139 2229 2050 0 0 0 0 0 0 14.85 14.66 14.88

3676 0.66 205.2 2379 3555 2229 2050 228.7 12.2 410 3684 0.00 2.47 0.00 0.000 1030 0.000 0.054 2389 2141 2139 2229 2050 0 0 0 0 0 0 14.76 14.69 14.78

3884 0.66 205.2 2389 2140 2229 2049 204.7 11.6 431 3889 0.00 2.47 0.00 0.000 516 0.000 0.067 2402 737 2137 2229 2046 0 0 0 0 0 0 14.87 14.69 14.90

3941 0.66 205.2 2400 737 2229 2050 197.6 11.9 442 3950 0.12 2.50 0.00 0.000 5126 0.213 0.057 2371 2154 2139 2229 2050 0 0 0 0 0 0 14.62 14.69 14.76

4150 0.66 205.2 2371 2154 2229 2049 175.8 10.4 463 4156 0.00 2.53 0.00 0.000 260 0.000 0.080 2371 3564 2139 2229 2049 0 0 0 0 0 0 14.88 14.63 14.90

4219 0.66 205.2 2371 3563 2228 2049 168.8 10.4 476 4226 0.00 2.47 0.00 0.000 1030 0.000 0.054 2380 2143 2139 2229 2049 0 0 0 0 0 0 14.71 14.64 14.72

4424 0.66 205.2 2379 2142 2233 2049 146.8 10.4 497 4430 0.00 2.47 0.00 0.000 516 0.000 0.067 2390 740 2138 2228 2049 0 0 0 0 0 0 14.85 14.69 14.88

4479 0.66 205.2 2390 740 2228 2049 141.6 10.5 507 4485 0.00 2.47 0.00 0.000 1030 0.000 0.057 2391 2152 2139 2229 2049 0 0 0 0 0 0 14.71 14.64 14.73

4696 0.67 205.2 2390 2158 2228 2049 119.9 9.3 529 4701 0.00 2.53 0.00 0.000 324 0.000 0.078 2390 3572 2139 2229 2049 0 0 0 0 0 0 14.83 14.66 14.88

4753 0.67 205.2 2390 3572 2230 2049 114.0 9.5 540 4760 0.00 2.47 0.00 0.000 1030 0.000 0.053 2401 2149 2137 2226 2048 0 0 0 0 0 0 14.78 14.69 14.79

4963 0.77 276.4 2406 2149 2228 2049 98.3 6.7 563 5025 0.00 2.55 53.72 1.478 8740 0.000 0.070 2412 741 1863 1938 1789 0 0 0 0 0 0 14.86 14.35 13.78

5150 0.77 276.4 2412 740 1940 1778 80.8 10.4 597 5157 0.00 2.53 0.00 0.000 1030 0.000 0.056 2412 2154 1860 1940 1781 0 0 0 0 0 0 14.51 14.43 14.52

5341 0.77 276.4 2412 2156 1942 1779 59.5 11.9 634 5348 0.00 0.00 0.00 0.000 6 0.000 0.000 2412 2154 1859 1940 1779 0 0 0 0 0 0 14.73 14.77 14.76

5533 0.84 332.7 2412 2155 1941 1777 40.9 7.4 671 5584 0.00 2.58 42.03 1.392 8484 0.000 0.079 2412 3564 1642 1705 1580 0 0 0 0 0 0 14.74 14.28 13.82

5628 0.90 382.8 2412 3558 1703 1579 33.5 7.7 687 5672 0.00 2.50 37.72 1.311 9254 0.000 0.054 2422 2149 1444 1494 1394 0 0 0 0 0 0 14.49 14.43 13.74

5856 0.90 382.8 2422 2150 1494 1384 13.6 10.2 730 5864 0.00 2.53 0.00 0.000 516 0.000 0.070 2434 741 1439 1494 1385 0 0 0 0 0 0 14.62 14.45 14.64

5932 0.90 382.8 2433 740 1490 1384 5.7 10.5 744 5939 0.00 2.53 0.00 0.000 1030 0.000 0.058 2440 2151 1438 1492 1384 0 0 0 0 0 0 14.56 14.48 14.58

5965 end climb: SURFACE_DEPTH_REACHED

state 5965 begin surface coast

5981 end surface coast: CONTROL_FINISHED_OK

state 5981 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	147	TGT_AUTO_DEFAULT	0	VBD_MIN	500	MOTHERBOARD	4
N_DIVES	0	SM_CC	400	VBD_MAX	3960	DEVICE1	-1
STOP_T	0	N_FILEKB	8	C_VBD	2970	DEVICE2	-1
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE3	-1
D_FLARE	3	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE4	-1
D_TGT	360	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_ABORT	1030	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE6	-1
D_NO_BLEED	200	N_NOCOMM	1	PITCH_VBD_SHIFT	0.0013	LOGGERS	3
D_BOOST	5	NOCOMM_ACTION	161	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERDEVICE1	53
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE2	147
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	131
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE4	-1
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	COMPASS_DEVICE	97
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	COMPASS2_DEVICE	150
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	PHONE_DEVICE	49
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	GPS_DEVICE	64
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	RAFOS_DEVICE	-1
T_DIVE	120	N_GPS	100440	LOITER_D_TOP	0	XPDR_DEVICE	24
T_MISSION	150	T_RSLEEP	2	LOITER_D_BOTTOM	0	SIM_W	0
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	SEABIRD_T_G	0.0043946085
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	2	SEABIRD_T_H	0.00063626852
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0.5	SEABIRD_T_I	2.5989737e-05
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_J	3.1806876e-06
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_C_G	-9.6980124
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_C_H	1.1068786
USE_BATHY	0	PITCH_MAX	3914	MINV_24V	11	SEABIRD_C_I	-0.0019018035
USE_ICE	0	C_PITCH	2155	MINV_10V	11	SEABIRD_C_J	0.00022417276
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SC_RECORDABOVE	2000.0
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1	SC_PROFILE	3.0
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_XMITPROFILE	3.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_GAIN	45	PHONE_SUPPLY	-2	ES_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_TIMEOUT	18	PRESSURE_YINT	-148.58136	ES_PROFILE	3.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.0001078618	ES_XMITPROFILE	0.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_UPLOADMAX	100000.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	COMPASS_USE	4	ES_STARTS	298.0
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	60	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	42	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	270818,204431,5037.8970,-14458.0439,20,0.9,20,15.7,0.1,0.0,8,4.4	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5036.243,-14502.177
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	1.00	MHEAD_RNG_PITCHd_Wd	228.1,5754,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-73.4	D_GRID	360
GPS2	270818,205249,5037.8721,-14458.0088,2,0.7,4,15.7,0.2,0.0,12,5.6

FINISH	0.2,1.024026	ES_POWER1	0.000000
SM_CCo	6001,7.93,0.213,0,0,1374,400.16	_24V_AH	13.35,57.618
SM_GC	1.51,6.50,0.17,7.93,0.061,0.108,0.213,229,2269,1374,-5.93,-0.71,400.16,0,0,0,0,0,0,14.57,14.56,14.42	_10V_AH	13.07,0.000
IRIDIUM_FIX	5035.79,-14502.42,270818,185441	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.578977	FG_AHR_10Vo	0.000
HUMID	48.81	MEM	322956
INTERNAL_PRESSURE	10.1117	DATA_FILE_SIZE	26739,753
TCM_TEMP	16.00	CAP_FILE_SIZE	87962,0
XPDR_PINGS	101	CFSIZE	1024409600,985432064
SC_FREEKB	3824864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14583529472.000000	CURRENT	0.002,50.56,1
ES_POWER	63.370000	GPS	270818,223509,5037.604,-14458.976,9,1.9,10,15.7,0.2,0.0,5,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	381	84.60	nil	0	0	0.00
Roll_motor	96	189	243.90	nil	0	0	0.00
VBD_pump_during_apogee	401	1761	9430.94	nil	0	0	0.00
VBD_pump_during_surface	7	212	22.50	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	6005	17	1438.99
Iridium_during_xfer	277	188	699.88	echo	6007	5	400.97
Transponder_ping	25	420	141.58	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	8	1.64
TT8	1764	12	287.43
LPSleep	2503	2	71.67
TT8_Active	546	11	83.62
TT8_Sampling	1487	30	591.95
TT8_CF8	253	45	150.22
TT8_Kalman	0	0	0.00
Analog_circuits	1481	16	309.89
GPS_charging	0	0	0.00
Compass	1086	6	95.75
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.58	-146.0	156	2214	1381	1351	0.0	0.0	0	118	0.00	0.00	-93.10	0.004	16386	0.000	0.000	143	2215	3213	3234	3193	0	0	0	0	0	0	14.71	28.83	14.73
121	-0.58	-146.0	143	2215	3234	3194	5.4	-15.2	16	143	8.35	2.67	-6.03	0.017	18692	0.382	0.100	1948	3642	3554	3592	3516	0	0	0	0	0	0	14.31	13.54	14.58
161	-0.58	-146.0	1948	3642	3596	3516	24.6	-43.9	22	169	0.00	2.40	0.00	0.000	1030	0.000	0.057	1948	2282	3554	3592	3516	0	0	0	0	0	0	14.61	14.52	14.64
354	-0.58	-146.0	1947	2284	3594	3516	75.0	-21.0	59	361	0.00	2.53	0.00	0.000	516	0.000	0.063	1951	837	3554	3593	3516	0	0	0	0	0	0	14.78	14.59	14.81
403	-0.58	-146.0	1951	837	3594	3524	85.0	-17.9	68	410	0.00	2.50	0.00	0.000	1030	0.000	0.073	1943	2238	3555	3594	3516	0	0	0	0	0	0	14.68	14.59	14.70
600	-0.58	-146.0	1943	2236	3594	3516	124.9	-19.0	94	607	0.00	2.50	0.00	0.000	516	0.000	0.070	1943	832	3555	3594	3516	0	0	0	0	0	0	14.81	14.61	14.83
639	-0.58	-146.0	1943	832	3594	3523	132.7	-17.7	101	647	0.15	2.55	0.00	0.000	3078	0.246	0.080	1973	2243	3555	3594	3516	0	0	0	0	0	0	14.53	14.62	14.67
847	-0.58	-146.0	1965	2249	3594	3516	161.1	-13.3	122	854	0.00	2.58	0.00	0.000	260	0.000	0.088	1957	3672	3554	3593	3516	0	0	0	0	0	0	14.85	14.61	14.88
952	-0.58	-146.0	1957	3672	3594	3516	173.9	-11.6	142	959	0.00	2.47	0.00	0.000	1030	0.000	0.057	1957	2253	3556	3596	3516	0	0	0	0	0	0	14.72	14.66	14.76
1167	-0.58	-146.0	1957	2253	3596	3516	204.6	-15.2	164	1173	0.00	2.47	0.00	0.000	516	0.000	0.062	1957	829	3554	3594	3515	0	0	0	0	0	0	14.86	14.65	14.89
1245	-0.58	-146.0	1957	829	3595	3515	215.3	-12.7	179	1253	0.00	2.58	0.00	0.000	1030	0.000	0.079	1948	2267	3554	3593	3515	0	0	0	0	0	0	14.76	14.66	14.78
1451	-0.58	-146.0	1947	2268	3595	3514	248.4	-16.6	200	1457	0.00	2.50	0.00	0.000	260	0.000	0.086	1937	3668	3554	3594	3514	0	0	0	0	0	0	14.90	14.67	14.95
1515	-0.58	-146.0	1937	3668	3594	3516	258.7	-15.4	212	1521	0.00	2.53	0.00	0.000	1030	0.000	0.060	1937	2239	3554	3594	3514	0	0	0	0	0	0	14.78	14.69	14.80
1739	-0.58	-146.0	1937	2239	3594	3513	297.0	-17.2	226	1741	0.12	0.00	0.00	0.000	2054	0.292	0.000	1961	2239	3553	3594	3513	0	0	0	0	0	0	14.53	14.73	14.71
1939	-0.58	-146.0	1961	2239	3596	3511	327.0	-14.5	236	1945	0.00	2.60	0.00	0.000	260	0.000	0.083	1950	3669	3553	3596	3511	0	0	0	0	0	0	14.89	14.70	14.92
1973	-0.58	-146.0	1959	3670	3590	3511	331.8	-13.7	242	1979	0.00	2.50	0.00	0.000	1030	0.000	0.060	1953	2240	3553	3596	3510	0	0	0	0	0	0	14.81	14.72	14.83
2165	end dive: TARGET_DEPTH_EXCEEDED
state	2165	begin apogee
2172	-0.11	0.0	1953	2102	3589	3510	360.5	-14.9	253	2289	0.60	0.12	109.65	1.761	10246	0.220	0.091	2115	2166	2969	3037	2902	0	0	0	0	0	0	14.61	14.12	13.50
2292	end apogee: CONTROL_FINISHED_OK
state	2292	begin climb
2295	0.58	146.0	2115	2166	3037	2899	366.6	0.0	259	2418	0.75	2.70	111.38	1.684	10500	0.143	0.079	2336	3555	2389	2471	2308	0	0	0	0	0	0	14.12	13.93	13.35
2463	0.66	205.2	2335	3559	2476	2301	360.8	7.2	287	2518	0.00	2.47	46.65	1.655	9254	0.000	0.052	2345	2186	2152	2236	2068	0	0	0	0	0	0	14.21	14.14	13.38
2728	0.66	205.2	2346	2186	2236	2060	336.2	10.0	309	2734	0.00	2.62	0.00	0.000	516	0.000	0.068	2357	733	2145	2236	2054	0	0	0	0	0	0	14.55	14.41	14.58
2815	0.66	205.2	2357	731	2234	2053	327.2	9.8	326	2822	0.00	2.53	0.00	0.000	1030	0.000	0.056	2357	2147	2142	2232	2053	0	0	0	0	0	0	14.56	14.45	14.54
3036	0.66	205.2	2357	2147	2232	2051	303.4	11.1	339	3042	0.00	2.55	0.00	0.000	260	0.000	0.081	2357	3565	2144	2232	2057	0	0	0	0	0	0	14.76	14.54	14.75
3121	0.66	205.2	2357	3565	2231	2051	293.6	10.5	355	3126	0.00	2.42	0.00	0.000	1030	0.000	0.053	2368	2147	2141	2231	2051	0	0	0	0	0	0	14.66	14.59	14.69
3345	0.66	205.2	2367	2147	2231	2051	266.7	12.2	369	3350	0.00	2.50	0.00	0.000	516	0.000	0.067	2379	734	2140	2231	2050	0	0	0	0	0	0	14.81	14.64	14.82
3423	0.66	205.2	2378	734	2230	2050	257.7	10.6	384	3430	0.00	2.50	0.00	0.000	1030	0.000	0.056	2379	2156	2138	2227	2050	0	0	0	0	0	0	14.73	14.64	14.74
3629	0.66	205.2	2378	2157	2229	2050	235.1	10.7	401	3634	0.00	2.50	0.00	0.000	260	0.000	0.080	2379	3560	2139	2229	2050	0	0	0	0	0	0	14.85	14.66	14.88
3676	0.66	205.2	2379	3555	2229	2050	228.7	12.2	410	3684	0.00	2.47	0.00	0.000	1030	0.000	0.054	2389	2141	2139	2229	2050	0	0	0	0	0	0	14.76	14.69	14.78
3884	0.66	205.2	2389	2140	2229	2049	204.7	11.6	431	3889	0.00	2.47	0.00	0.000	516	0.000	0.067	2402	737	2137	2229	2046	0	0	0	0	0	0	14.87	14.69	14.90
3941	0.66	205.2	2400	737	2229	2050	197.6	11.9	442	3950	0.12	2.50	0.00	0.000	5126	0.213	0.057	2371	2154	2139	2229	2050	0	0	0	0	0	0	14.62	14.69	14.76
4150	0.66	205.2	2371	2154	2229	2049	175.8	10.4	463	4156	0.00	2.53	0.00	0.000	260	0.000	0.080	2371	3564	2139	2229	2049	0	0	0	0	0	0	14.88	14.63	14.90
4219	0.66	205.2	2371	3563	2228	2049	168.8	10.4	476	4226	0.00	2.47	0.00	0.000	1030	0.000	0.054	2380	2143	2139	2229	2049	0	0	0	0	0	0	14.71	14.64	14.72
4424	0.66	205.2	2379	2142	2233	2049	146.8	10.4	497	4430	0.00	2.47	0.00	0.000	516	0.000	0.067	2390	740	2138	2228	2049	0	0	0	0	0	0	14.85	14.69	14.88
4479	0.66	205.2	2390	740	2228	2049	141.6	10.5	507	4485	0.00	2.47	0.00	0.000	1030	0.000	0.057	2391	2152	2139	2229	2049	0	0	0	0	0	0	14.71	14.64	14.73
4696	0.67	205.2	2390	2158	2228	2049	119.9	9.3	529	4701	0.00	2.53	0.00	0.000	324	0.000	0.078	2390	3572	2139	2229	2049	0	0	0	0	0	0	14.83	14.66	14.88
4753	0.67	205.2	2390	3572	2230	2049	114.0	9.5	540	4760	0.00	2.47	0.00	0.000	1030	0.000	0.053	2401	2149	2137	2226	2048	0	0	0	0	0	0	14.78	14.69	14.79
4963	0.77	276.4	2406	2149	2228	2049	98.3	6.7	563	5025	0.00	2.55	53.72	1.478	8740	0.000	0.070	2412	741	1863	1938	1789	0	0	0	0	0	0	14.86	14.35	13.78
5150	0.77	276.4	2412	740	1940	1778	80.8	10.4	597	5157	0.00	2.53	0.00	0.000	1030	0.000	0.056	2412	2154	1860	1940	1781	0	0	0	0	0	0	14.51	14.43	14.52
5341	0.77	276.4	2412	2156	1942	1779	59.5	11.9	634	5348	0.00	0.00	0.00	0.000	6	0.000	0.000	2412	2154	1859	1940	1779	0	0	0	0	0	0	14.73	14.77	14.76
5533	0.84	332.7	2412	2155	1941	1777	40.9	7.4	671	5584	0.00	2.58	42.03	1.392	8484	0.000	0.079	2412	3564	1642	1705	1580	0	0	0	0	0	0	14.74	14.28	13.82
5628	0.90	382.8	2412	3558	1703	1579	33.5	7.7	687	5672	0.00	2.50	37.72	1.311	9254	0.000	0.054	2422	2149	1444	1494	1394	0	0	0	0	0	0	14.49	14.43	13.74
5856	0.90	382.8	2422	2150	1494	1384	13.6	10.2	730	5864	0.00	2.53	0.00	0.000	516	0.000	0.070	2434	741	1439	1494	1385	0	0	0	0	0	0	14.62	14.45	14.64
5932	0.90	382.8	2433	740	1490	1384	5.7	10.5	744	5939	0.00	2.53	0.00	0.000	1030	0.000	0.058	2440	2151	1438	1492	1384	0	0	0	0	0	0	14.56	14.48	14.58
5965	end climb: SURFACE_DEPTH_REACHED
state	5965	begin surface coast
5981	end surface coast: CONTROL_FINISHED_OK
state	5981	begin surface