Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 172 * 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 172 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 348.0

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 27 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 27 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 348.0 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 172 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 27 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 27 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 010918,191700,5034.6284,-14449.2695,3,1.5,6,15.7,0.9,92.6,5,6.3 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5034.573,-14447.705

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.83 MHEAD_RNG_PITCHd_Wd 62.2,1648,-27.2,-10.000,-30.00,972

_SM_ANGLEo -68.0 D_GRID 360

GPS2 010918,192532,5034.5830,-14449.1064,2,0.8,4,15.7,0.1,0.0,12,7.2

Post-dive calculations and measurements:

FINISH -0.3,1.024042 ES_POWER1 0.000000

SM_CCo 5737,40.88,0.201,0,0,1376,400.16 _24V_AH 13.45,66.526

SM_GC 1.01,6.60,0.17,40.88,0.063,0.097,0.201,220,2284,1376,-5.93,-0.68,400.16,0,0,0,0,0,0,14.59,14.59,14.42 _10V_AH 13.58,0.000

IRIDIUM_FIX 5032.91,-14452.15,010918,173633 FG_AHR_24Vo 0.000

TT8_MAMPS 0.02247,0.984935 FG_AHR_10Vo 0.000

HUMID 50.31 MEM 322912

INTERNAL_PRESSURE 10.1313 DATA_FILE_SIZE 26744,778

TCM_TEMP 16.20 CAP_FILE_SIZE 85159,0

XPDR_PINGS 112 CFSIZE 1024409600,979615744

SC_FREEKB 3810272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14373879808.000000 CURRENT 0.042,134.95,1

ES_POWER 63.370000 GPS 010918,210400,5034.577,-14448.335,22,0.9,22,15.7,0.4,15.9,9,5.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 382 89.00 nil 0 0 0.00

Roll_motor 85 97 112.31 nil 0 0 0.00

VBD_pump_during_apogee 288 1806 6996.36 nil 0 0 0.00

VBD_pump_during_surface 40 201 110.61 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 5742 18 1394.15

Iridium_during_xfer 287 191 740.25 echo 5729 5 385.28

Transponder_ping 28 420 158.17 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 8 1.68

TT8 1820 12 308.00

LPSleep 2271 2 67.55

TT8_Active 456 11 72.63

TT8_Sampling 1521 30 629.15

TT8_CF8 254 45 157.22

TT8_Kalman 0 0 0.00

Analog_circuits 1396 16 303.44

GPS_charging 0 0 0.00

Compass 1122 6 102.74

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

23 -0.69 -63.6 138 2275 1395 1344 0.0 0.0 0 114 0.00 0.00 -88.62 0.004 16386 0.000 0.000 132 2277 3031 3050 3013 0 0 0 0 0 0 14.72 28.83 14.72

117 -0.69 -63.6 134 2277 3050 3011 4.3 -10.9 15 139 8.30 2.53 -3.90 0.024 19204 0.383 0.084 1916 3663 3223 3258 3188 0 0 0 0 0 0 14.28 13.79 14.59

147 -0.69 -63.6 1911 3663 3259 3189 17.3 -38.6 19 154 0.00 2.53 0.00 0.000 1030 0.000 0.057 1916 2241 3223 3258 3188 0 0 0 0 0 0 14.59 14.50 14.61

338 -0.69 -63.6 1915 2235 3260 3188 63.2 -19.8 56 345 0.00 2.47 0.00 0.000 516 0.000 0.060 1915 824 3224 3260 3188 0 0 0 0 0 0 14.75 14.59 14.78

519 -0.69 -63.6 1915 827 3261 3188 98.3 -19.7 91 526 0.00 2.55 0.00 0.000 1030 0.000 0.070 1905 2256 3224 3261 3188 0 0 0 0 0 0 14.70 14.61 14.72

714 -0.69 -63.6 1904 2256 3262 3188 134.6 -17.0 111 720 0.00 2.55 0.00 0.000 516 0.000 0.070 1905 834 3221 3261 3182 0 0 0 0 0 0 14.84 14.64 14.86

802 -0.69 -63.6 1912 833 3262 3188 151.1 -18.0 128 810 0.17 2.55 0.00 0.000 3078 0.304 0.077 1930 2254 3225 3262 3188 0 0 0 0 0 0 14.48 14.64 14.70

1010 -0.69 -63.6 1930 2254 3262 3187 185.1 -16.0 149 1017 0.00 2.53 0.00 0.000 260 0.000 0.080 1921 3669 3225 3262 3188 0 0 0 0 0 0 14.83 14.64 14.88

1045 -0.69 -63.6 1921 3669 3262 3186 191.3 -15.2 155 1051 0.00 2.47 0.00 0.000 1030 0.000 0.050 1922 2235 3225 3262 3188 0 0 0 0 0 0 14.69 14.62 14.71

1259 -0.69 -63.6 1921 2235 3264 3181 226.5 -16.5 177 1266 0.00 2.42 0.00 0.000 516 0.000 0.060 1921 834 3223 3261 3185 0 0 0 0 0 0 14.81 14.69 14.85

1406 -0.69 -63.6 1921 833 3262 3188 249.0 -14.1 205 1412 0.00 2.55 0.00 0.000 1030 0.000 0.074 1906 2260 3224 3262 3186 0 0 0 0 0 0 14.70 14.61 14.72

1620 -0.69 -63.6 1911 2260 3261 3185 284.1 -16.1 217 1627 0.00 2.53 0.00 0.000 260 0.000 0.081 1895 3672 3223 3262 3185 0 0 0 0 0 0 14.83 14.66 14.88

1694 -0.69 -63.6 1899 3672 3261 3185 296.3 -16.3 231 1701 0.15 2.50 0.00 0.000 3078 0.304 0.059 1929 2243 3223 3262 3185 0 0 0 0 0 0 14.53 14.70 14.76

1909 -0.69 -63.6 1929 2243 3258 3184 327.9 -14.4 243 1914 0.00 2.42 0.00 0.000 516 0.000 0.062 1930 844 3223 3262 3184 0 0 0 0 0 0 14.91 14.69 14.94

2049 -0.69 -63.6 1930 843 3262 3184 347.3 -13.7 270 2056 0.00 2.53 0.00 0.000 1030 0.000 0.076 1922 2253 3222 3262 3183 0 0 0 0 0 0 14.79 14.69 14.81

2130 end dive: TARGET_DEPTH_EXCEEDED

state 2130 begin apogee

2137 -0.11 0.0 1918 2142 3263 3182 360.3 -15.3 275 2193 0.73 0.00 49.30 1.806 10246 0.250 0.000 2110 2142 2968 3036 2900 0 0 0 0 0 0 14.54 14.36 13.71

2197 end apogee: CONTROL_FINISHED_OK

state 2197 begin climb

2200 0.69 63.6 2109 2142 3041 2896 364.7 0.0 278 2259 0.88 2.62 49.10 1.679 10756 0.139 0.067 2387 744 2717 2780 2655 0 0 0 0 0 0 14.33 14.16 13.54

2491 0.85 186.2 2387 739 2772 2646 367.1 -3.0 331 2596 0.12 2.55 95.38 1.717 11302 0.145 0.057 2436 2169 2229 2301 2157 0 0 0 0 0 0 14.49 14.49 13.45

2811 0.85 186.2 2441 2170 2300 2140 332.7 14.8 364 2817 0.00 2.58 0.00 0.000 516 0.000 0.063 2446 742 2219 2300 2138 0 0 0 0 0 0 14.62 14.45 14.65

2868 0.85 186.2 2446 743 2300 2138 324.2 14.2 375 2875 0.00 2.55 0.00 0.000 1030 0.000 0.063 2446 2163 2218 2300 2137 0 0 0 0 0 0 14.56 14.48 14.58

3075 0.85 186.2 2446 2163 2299 2133 293.9 14.9 386 3076 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2163 2220 2300 2140 0 0 0 0 0 0 14.77 14.81 14.81

3275 0.85 186.2 2446 2163 2300 2132 264.9 14.6 396 3280 0.00 2.55 0.00 0.000 260 0.000 0.079 2445 3565 2216 2300 2132 0 0 0 0 0 0 14.81 14.60 14.84

3339 0.85 186.2 2443 3565 2298 2133 254.8 16.9 408 3345 0.00 2.50 0.00 0.000 1030 0.000 0.067 2453 2157 2215 2298 2132 0 0 0 0 0 0 14.71 14.64 14.73

3555 0.85 186.2 2457 2155 2298 2131 221.1 16.1 430 3561 0.00 2.47 0.00 0.000 516 0.000 0.065 2468 739 2214 2298 2131 0 0 0 0 0 0 14.85 14.62 14.87

3600 0.85 186.2 2468 738 2292 2131 213.4 15.5 438 3606 0.17 2.50 0.00 0.000 5126 0.296 0.055 2433 2160 2214 2297 2131 0 0 0 0 0 0 14.47 14.65 14.72

3816 0.85 186.2 2439 2160 2298 2129 184.0 13.1 460 3822 0.00 2.50 0.00 0.000 260 0.000 0.076 2434 3561 2214 2299 2129 0 0 0 0 0 0 14.87 14.64 14.90

3834 0.85 186.2 2433 3558 2297 2129 180.8 14.6 463 3841 0.00 2.47 0.00 0.000 1030 0.000 0.054 2444 2139 2213 2298 2129 0 0 0 0 0 0 14.69 14.62 14.71

4040 0.85 186.2 2444 2138 2297 2129 152.3 13.8 484 4046 0.00 2.47 0.00 0.000 516 0.000 0.066 2455 734 2213 2298 2128 0 0 0 0 0 0 14.83 14.66 14.87

4105 0.85 186.2 2455 734 2297 2128 143.7 12.7 496 4110 0.00 2.50 0.00 0.000 1030 0.000 0.054 2455 2161 2212 2297 2128 0 0 0 0 0 0 14.69 14.60 14.69

4319 0.85 186.2 2455 2158 2297 2127 117.0 12.0 518 4325 0.00 2.50 0.00 0.000 260 0.000 0.077 2455 3560 2214 2297 2132 0 0 0 0 0 0 14.83 14.64 14.87

4413 0.85 186.2 2456 3560 2296 2127 106.8 11.0 536 4419 0.17 2.40 0.00 0.000 5126 0.322 0.053 2431 2150 2212 2297 2128 0 0 0 0 0 0 14.46 14.69 14.73

4624 0.87 206.2 2430 2149 2296 2126 87.3 7.9 572 4644 0.00 2.58 14.10 1.397 8740 0.000 0.067 2440 733 2147 2225 2070 0 0 0 0 0 0 14.86 14.60 13.97

4874 0.89 206.2 2440 733 2227 2066 65.1 9.1 620 4881 0.00 2.47 0.00 0.000 1094 0.000 0.053 2441 2152 2147 2227 2067 0 0 0 0 0 0 14.65 14.57 14.66

5066 0.94 245.0 2440 2152 2227 2065 49.5 5.9 657 5105 0.00 2.58 31.00 1.424 8740 0.000 0.063 2451 735 1991 2063 1920 0 0 0 0 0 0 14.84 14.45 13.86

5186 0.94 245.0 2457 736 2064 1916 40.2 9.6 678 5193 0.00 2.53 0.00 0.000 1030 0.000 0.051 2453 2161 1990 2065 1916 0 0 0 0 0 0 14.60 14.49 14.59

5377 1.03 309.7 2451 2161 2064 1913 31.2 3.2 715 5434 0.00 2.60 49.12 1.351 8740 0.000 0.063 2462 741 1734 1797 1672 0 0 0 0 0 0 14.76 14.19 13.76

5543 1.05 309.7 2462 741 1792 1668 19.4 8.9 745 5551 0.00 2.53 0.00 0.000 1094 0.000 0.055 2462 2149 1729 1792 1667 0 0 0 0 0 0 14.52 14.45 14.54

5700 end climb: SURFACE_DEPTH_REACHED

state 5700 begin surface coast

5717 end surface coast: CONTROL_FINISHED_OK

state 5717 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	172	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	348.0
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	27	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	27	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	010918,191700,5034.6284,-14449.2695,3,1.5,6,15.7,0.9,92.6,5,6.3	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5034.573,-14447.705
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.83	MHEAD_RNG_PITCHd_Wd	62.2,1648,-27.2,-10.000,-30.00,972
_SM_ANGLEo	-68.0	D_GRID	360
GPS2	010918,192532,5034.5830,-14449.1064,2,0.8,4,15.7,0.1,0.0,12,7.2

FINISH	-0.3,1.024042	ES_POWER1	0.000000
SM_CCo	5737,40.88,0.201,0,0,1376,400.16	_24V_AH	13.45,66.526
SM_GC	1.01,6.60,0.17,40.88,0.063,0.097,0.201,220,2284,1376,-5.93,-0.68,400.16,0,0,0,0,0,0,14.59,14.59,14.42	_10V_AH	13.58,0.000
IRIDIUM_FIX	5032.91,-14452.15,010918,173633	FG_AHR_24Vo	0.000
TT8_MAMPS	0.02247,0.984935	FG_AHR_10Vo	0.000
HUMID	50.31	MEM	322912
INTERNAL_PRESSURE	10.1313	DATA_FILE_SIZE	26744,778
TCM_TEMP	16.20	CAP_FILE_SIZE	85159,0
XPDR_PINGS	112	CFSIZE	1024409600,979615744
SC_FREEKB	3810272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14373879808.000000	CURRENT	0.042,134.95,1
ES_POWER	63.370000	GPS	010918,210400,5034.577,-14448.335,22,0.9,22,15.7,0.4,15.9,9,5.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	382	89.00	nil	0	0	0.00
Roll_motor	85	97	112.31	nil	0	0	0.00
VBD_pump_during_apogee	288	1806	6996.36	nil	0	0	0.00
VBD_pump_during_surface	40	201	110.61	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	5742	18	1394.15
Iridium_during_xfer	287	191	740.25	echo	5729	5	385.28
Transponder_ping	28	420	158.17	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	8	1.68
TT8	1820	12	308.00
LPSleep	2271	2	67.55
TT8_Active	456	11	72.63
TT8_Sampling	1521	30	629.15
TT8_CF8	254	45	157.22
TT8_Kalman	0	0	0.00
Analog_circuits	1396	16	303.44
GPS_charging	0	0	0.00
Compass	1122	6	102.74
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
23	-0.69	-63.6	138	2275	1395	1344	0.0	0.0	0	114	0.00	0.00	-88.62	0.004	16386	0.000	0.000	132	2277	3031	3050	3013	0	0	0	0	0	0	14.72	28.83	14.72
117	-0.69	-63.6	134	2277	3050	3011	4.3	-10.9	15	139	8.30	2.53	-3.90	0.024	19204	0.383	0.084	1916	3663	3223	3258	3188	0	0	0	0	0	0	14.28	13.79	14.59
147	-0.69	-63.6	1911	3663	3259	3189	17.3	-38.6	19	154	0.00	2.53	0.00	0.000	1030	0.000	0.057	1916	2241	3223	3258	3188	0	0	0	0	0	0	14.59	14.50	14.61
338	-0.69	-63.6	1915	2235	3260	3188	63.2	-19.8	56	345	0.00	2.47	0.00	0.000	516	0.000	0.060	1915	824	3224	3260	3188	0	0	0	0	0	0	14.75	14.59	14.78
519	-0.69	-63.6	1915	827	3261	3188	98.3	-19.7	91	526	0.00	2.55	0.00	0.000	1030	0.000	0.070	1905	2256	3224	3261	3188	0	0	0	0	0	0	14.70	14.61	14.72
714	-0.69	-63.6	1904	2256	3262	3188	134.6	-17.0	111	720	0.00	2.55	0.00	0.000	516	0.000	0.070	1905	834	3221	3261	3182	0	0	0	0	0	0	14.84	14.64	14.86
802	-0.69	-63.6	1912	833	3262	3188	151.1	-18.0	128	810	0.17	2.55	0.00	0.000	3078	0.304	0.077	1930	2254	3225	3262	3188	0	0	0	0	0	0	14.48	14.64	14.70
1010	-0.69	-63.6	1930	2254	3262	3187	185.1	-16.0	149	1017	0.00	2.53	0.00	0.000	260	0.000	0.080	1921	3669	3225	3262	3188	0	0	0	0	0	0	14.83	14.64	14.88
1045	-0.69	-63.6	1921	3669	3262	3186	191.3	-15.2	155	1051	0.00	2.47	0.00	0.000	1030	0.000	0.050	1922	2235	3225	3262	3188	0	0	0	0	0	0	14.69	14.62	14.71
1259	-0.69	-63.6	1921	2235	3264	3181	226.5	-16.5	177	1266	0.00	2.42	0.00	0.000	516	0.000	0.060	1921	834	3223	3261	3185	0	0	0	0	0	0	14.81	14.69	14.85
1406	-0.69	-63.6	1921	833	3262	3188	249.0	-14.1	205	1412	0.00	2.55	0.00	0.000	1030	0.000	0.074	1906	2260	3224	3262	3186	0	0	0	0	0	0	14.70	14.61	14.72
1620	-0.69	-63.6	1911	2260	3261	3185	284.1	-16.1	217	1627	0.00	2.53	0.00	0.000	260	0.000	0.081	1895	3672	3223	3262	3185	0	0	0	0	0	0	14.83	14.66	14.88
1694	-0.69	-63.6	1899	3672	3261	3185	296.3	-16.3	231	1701	0.15	2.50	0.00	0.000	3078	0.304	0.059	1929	2243	3223	3262	3185	0	0	0	0	0	0	14.53	14.70	14.76
1909	-0.69	-63.6	1929	2243	3258	3184	327.9	-14.4	243	1914	0.00	2.42	0.00	0.000	516	0.000	0.062	1930	844	3223	3262	3184	0	0	0	0	0	0	14.91	14.69	14.94
2049	-0.69	-63.6	1930	843	3262	3184	347.3	-13.7	270	2056	0.00	2.53	0.00	0.000	1030	0.000	0.076	1922	2253	3222	3262	3183	0	0	0	0	0	0	14.79	14.69	14.81
2130	end dive: TARGET_DEPTH_EXCEEDED
state	2130	begin apogee
2137	-0.11	0.0	1918	2142	3263	3182	360.3	-15.3	275	2193	0.73	0.00	49.30	1.806	10246	0.250	0.000	2110	2142	2968	3036	2900	0	0	0	0	0	0	14.54	14.36	13.71
2197	end apogee: CONTROL_FINISHED_OK
state	2197	begin climb
2200	0.69	63.6	2109	2142	3041	2896	364.7	0.0	278	2259	0.88	2.62	49.10	1.679	10756	0.139	0.067	2387	744	2717	2780	2655	0	0	0	0	0	0	14.33	14.16	13.54
2491	0.85	186.2	2387	739	2772	2646	367.1	-3.0	331	2596	0.12	2.55	95.38	1.717	11302	0.145	0.057	2436	2169	2229	2301	2157	0	0	0	0	0	0	14.49	14.49	13.45
2811	0.85	186.2	2441	2170	2300	2140	332.7	14.8	364	2817	0.00	2.58	0.00	0.000	516	0.000	0.063	2446	742	2219	2300	2138	0	0	0	0	0	0	14.62	14.45	14.65
2868	0.85	186.2	2446	743	2300	2138	324.2	14.2	375	2875	0.00	2.55	0.00	0.000	1030	0.000	0.063	2446	2163	2218	2300	2137	0	0	0	0	0	0	14.56	14.48	14.58
3075	0.85	186.2	2446	2163	2299	2133	293.9	14.9	386	3076	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2163	2220	2300	2140	0	0	0	0	0	0	14.77	14.81	14.81
3275	0.85	186.2	2446	2163	2300	2132	264.9	14.6	396	3280	0.00	2.55	0.00	0.000	260	0.000	0.079	2445	3565	2216	2300	2132	0	0	0	0	0	0	14.81	14.60	14.84
3339	0.85	186.2	2443	3565	2298	2133	254.8	16.9	408	3345	0.00	2.50	0.00	0.000	1030	0.000	0.067	2453	2157	2215	2298	2132	0	0	0	0	0	0	14.71	14.64	14.73
3555	0.85	186.2	2457	2155	2298	2131	221.1	16.1	430	3561	0.00	2.47	0.00	0.000	516	0.000	0.065	2468	739	2214	2298	2131	0	0	0	0	0	0	14.85	14.62	14.87
3600	0.85	186.2	2468	738	2292	2131	213.4	15.5	438	3606	0.17	2.50	0.00	0.000	5126	0.296	0.055	2433	2160	2214	2297	2131	0	0	0	0	0	0	14.47	14.65	14.72
3816	0.85	186.2	2439	2160	2298	2129	184.0	13.1	460	3822	0.00	2.50	0.00	0.000	260	0.000	0.076	2434	3561	2214	2299	2129	0	0	0	0	0	0	14.87	14.64	14.90
3834	0.85	186.2	2433	3558	2297	2129	180.8	14.6	463	3841	0.00	2.47	0.00	0.000	1030	0.000	0.054	2444	2139	2213	2298	2129	0	0	0	0	0	0	14.69	14.62	14.71
4040	0.85	186.2	2444	2138	2297	2129	152.3	13.8	484	4046	0.00	2.47	0.00	0.000	516	0.000	0.066	2455	734	2213	2298	2128	0	0	0	0	0	0	14.83	14.66	14.87
4105	0.85	186.2	2455	734	2297	2128	143.7	12.7	496	4110	0.00	2.50	0.00	0.000	1030	0.000	0.054	2455	2161	2212	2297	2128	0	0	0	0	0	0	14.69	14.60	14.69
4319	0.85	186.2	2455	2158	2297	2127	117.0	12.0	518	4325	0.00	2.50	0.00	0.000	260	0.000	0.077	2455	3560	2214	2297	2132	0	0	0	0	0	0	14.83	14.64	14.87
4413	0.85	186.2	2456	3560	2296	2127	106.8	11.0	536	4419	0.17	2.40	0.00	0.000	5126	0.322	0.053	2431	2150	2212	2297	2128	0	0	0	0	0	0	14.46	14.69	14.73
4624	0.87	206.2	2430	2149	2296	2126	87.3	7.9	572	4644	0.00	2.58	14.10	1.397	8740	0.000	0.067	2440	733	2147	2225	2070	0	0	0	0	0	0	14.86	14.60	13.97
4874	0.89	206.2	2440	733	2227	2066	65.1	9.1	620	4881	0.00	2.47	0.00	0.000	1094	0.000	0.053	2441	2152	2147	2227	2067	0	0	0	0	0	0	14.65	14.57	14.66
5066	0.94	245.0	2440	2152	2227	2065	49.5	5.9	657	5105	0.00	2.58	31.00	1.424	8740	0.000	0.063	2451	735	1991	2063	1920	0	0	0	0	0	0	14.84	14.45	13.86
5186	0.94	245.0	2457	736	2064	1916	40.2	9.6	678	5193	0.00	2.53	0.00	0.000	1030	0.000	0.051	2453	2161	1990	2065	1916	0	0	0	0	0	0	14.60	14.49	14.59
5377	1.03	309.7	2451	2161	2064	1913	31.2	3.2	715	5434	0.00	2.60	49.12	1.351	8740	0.000	0.063	2462	741	1734	1797	1672	0	0	0	0	0	0	14.76	14.19	13.76
5543	1.05	309.7	2462	741	1792	1668	19.4	8.9	745	5551	0.00	2.53	0.00	0.000	1094	0.000	0.055	2462	2149	1729	1792	1667	0	0	0	0	0	0	14.52	14.45	14.54
5700	end climb: SURFACE_DEPTH_REACHED
state	5700	begin surface coast
5717	end surface coast: CONTROL_FINISHED_OK
state	5717	begin surface