Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 173 * 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 173 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 350.0

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 43 ALTIM_SENSITIVITY 3 CP_STARTS 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 55 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 350.0 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 173 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 43 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1 R_STBD_OVSHOOT 55 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 010918,210400,5034.5771,-14448.3350,22,0.9,22,15.7,0.4,15.9,9,5.1 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5033.633,-14447.106

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.87 MHEAD_RNG_PITCHd_Wd 125.7,2124,-18.1,-10.000,-21.64,2110

_SM_ANGLEo -67.8 D_GRID 360

GPS2 010918,211229,5034.5186,-14448.2539,2,0.9,3,15.7,1.1,89.2,9,8.1

Post-dive calculations and measurements:

FINISH 0.4,1.024038 ES_POWER1 0.000000

SM_CCo 6154,48.67,0.202,0,0,1375,400.16 _24V_AH 13.36,66.769

SM_GC 0.59,6.50,0.17,48.67,0.048,0.122,0.202,235,2251,1375,-5.92,-0.85,400.16,0,0,0,0,0,0,14.62,14.58,14.45 _10V_AH 13.54,0.000

IRIDIUM_FIX 5032.91,-14452.15,010918,192043 FG_AHR_24Vo 0.000

TT8_MAMPS 0.021721,0.971453 FG_AHR_10Vo 0.000

HUMID 50.51 MEM 322956

INTERNAL_PRESSURE 10.1215 DATA_FILE_SIZE 30024,803

TCM_TEMP 16.00 CAP_FILE_SIZE 91982,0

XPDR_PINGS 111 CFSIZE 1024409600,979468288

SC_FREEKB 3809696 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14370439168.000000 CURRENT 0.031,84.05,1

ES_POWER 63.380000 GPS 010918,225809,5034.041,-14447.594,19,1.3,21,15.7,1.3,139.3,6,8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 380 85.59 nil 0 0 0.00

Roll_motor 101 137 185.99 nil 0 0 0.00

VBD_pump_during_apogee 331 1767 7839.85 nil 0 0 0.00

VBD_pump_during_surface 48 201 131.33 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 6160 17 1443.09

Iridium_during_xfer 293 191 750.50 echo 6141 5 410.22

Transponder_ping 27 420 155.71 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 8 1.62

TT8 1899 12 320.46

LPSleep 2516 2 74.62

TT8_Active 528 11 83.85

TT8_Sampling 1558 30 642.41

TT8_CF8 252 45 155.41

TT8_Kalman 0 0 0.00

Analog_circuits 1502 16 325.43

GPS_charging 0 0 0.00

Compass 1157 6 105.64

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

23 -0.58 -139.4 130 2229 1377 1353 0.0 0.0 0 117 0.00 0.00 -91.30 0.004 16386 0.000 0.000 128 2229 3156 3178 3135 0 0 0 0 0 0 14.70 28.83 14.73

120 -0.58 -139.4 128 2229 3178 3135 5.4 -14.8 15 142 8.43 2.67 -6.72 0.015 18692 0.380 0.107 1949 3630 3527 3568 3487 0 0 0 0 0 0 14.31 13.50 14.55

267 -0.58 -139.4 1947 3631 3568 3487 48.6 -17.3 42 274 0.00 2.40 0.00 0.000 1030 0.000 0.054 1954 2261 3528 3569 3488 0 0 0 0 0 0 14.66 14.58 14.67

458 -0.58 -139.4 1947 2260 3569 3488 86.9 -19.8 79 465 0.00 2.47 0.00 0.000 516 0.000 0.058 1947 832 3531 3569 3494 0 0 0 0 0 0 14.82 14.61 14.85

528 -0.58 -139.4 1947 831 3570 3488 98.9 -15.5 92 535 0.00 2.47 0.00 0.000 1030 0.000 0.071 1939 2216 3528 3570 3487 0 0 0 0 0 0 14.71 14.61 14.73

714 -0.58 -139.4 1939 2218 3565 3486 132.7 -18.6 111 720 0.00 2.62 0.00 0.000 260 0.000 0.088 1929 3672 3527 3568 3487 0 0 0 0 0 0 14.84 14.64 14.87

742 -0.58 -139.4 1928 3672 3570 3487 137.7 -18.8 116 750 0.15 2.47 0.00 0.000 3078 0.261 0.055 1961 2254 3528 3570 3487 0 0 0 0 0 0 14.51 14.66 14.71

950 -0.58 -139.4 1960 2254 3565 3489 170.0 -15.3 137 956 0.00 2.50 0.00 0.000 516 0.000 0.062 1961 827 3528 3570 3487 0 0 0 0 0 0 14.85 14.66 14.88

984 -0.58 -139.4 1960 827 3570 3487 176.2 -16.3 143 990 0.00 2.55 0.00 0.000 1030 0.000 0.074 1952 2255 3529 3572 3487 0 0 0 0 0 0 14.71 14.62 14.71

1199 -0.58 -139.4 1953 2257 3570 3488 210.1 -16.4 165 1205 0.00 2.55 0.00 0.000 260 0.000 0.090 1942 3663 3528 3569 3487 0 0 0 0 0 0 14.92 14.64 14.92

1283 -0.58 -139.4 1942 3663 3570 3487 223.2 -14.2 181 1290 0.00 2.47 0.00 0.000 1030 0.000 0.054 1943 2242 3528 3570 3486 0 0 0 0 0 0 14.78 14.71 14.81

1508 -0.58 -139.4 1942 2242 3570 3485 261.1 -17.0 201 1515 0.00 2.45 0.00 0.000 516 0.000 0.070 1942 840 3530 3570 3491 0 0 0 0 0 0 14.90 14.70 14.90

1547 -0.58 -139.4 1942 840 3570 3480 267.7 -15.9 208 1554 0.15 2.53 0.00 0.000 3078 0.249 0.076 1965 2254 3527 3570 3485 0 0 0 0 0 0 14.57 14.69 14.76

1753 -0.58 -139.4 1964 2254 3570 3484 296.3 -13.6 219 1759 0.00 2.53 0.00 0.000 260 0.000 0.086 1956 3668 3527 3570 3484 0 0 0 0 0 0 14.90 14.69 14.92

1847 -0.58 -139.4 1952 3668 3563 3484 307.6 -11.0 237 1854 0.00 2.47 0.00 0.000 1030 0.000 0.057 1956 2249 3526 3570 3483 0 0 0 0 0 0 14.81 14.71 14.80

2062 -0.58 -139.4 1952 2244 3570 3483 337.2 -14.1 249 2069 0.00 2.45 0.00 0.000 516 0.000 0.063 1956 832 3526 3570 3483 0 0 0 0 0 0 14.90 14.71 14.93

2156 -0.58 -139.4 1955 832 3570 3482 349.4 -11.8 267 2162 0.00 2.55 0.00 0.000 1030 0.000 0.079 1947 2253 3526 3570 3482 0 0 0 0 0 0 14.75 14.65 14.78

2247 end dive: TARGET_DEPTH_EXCEEDED

state 2247 begin apogee

2255 -0.11 0.0 1946 2121 3571 3480 362.8 -14.8 273 2364 0.62 0.08 104.70 1.768 10246 0.223 0.138 2114 2170 2972 3043 2902 0 0 0 0 0 0 14.58 14.12 13.50

2368 end apogee: CONTROL_FINISHED_OK

state 2368 begin climb

2371 0.58 139.4 2114 2170 3043 2899 368.6 0.0 278 2492 0.75 2.70 107.35 1.685 10756 0.140 0.078 2346 755 2415 2501 2329 0 0 0 0 0 0 14.14 13.97 13.36

2590 0.67 207.2 2346 755 2494 2323 361.5 6.7 317 2652 0.00 2.50 52.78 1.681 9254 0.000 0.057 2346 2136 2143 2229 2058 0 0 0 0 0 0 14.38 14.26 13.47

2862 0.68 207.2 2346 2136 2229 2045 337.6 9.4 340 2868 0.00 2.62 0.00 0.000 324 0.000 0.083 2346 3559 2137 2229 2045 0 0 0 0 0 0 14.61 14.40 14.64

2951 0.68 207.2 2346 3557 2228 2045 328.5 9.6 357 2957 0.00 2.50 0.00 0.000 1030 0.000 0.067 2357 2161 2136 2228 2045 0 0 0 0 0 0 14.57 14.52 14.59

3172 0.69 207.2 2357 2164 2228 2043 308.0 9.5 370 3177 0.00 2.53 0.00 0.000 580 0.000 0.067 2368 741 2135 2228 2043 0 0 0 0 0 0 14.76 14.59 14.81

3250 0.71 207.2 2367 740 2228 2042 300.4 9.2 385 3258 0.00 2.50 0.00 0.000 1094 0.000 0.057 2368 2151 2135 2229 2042 0 0 0 0 0 0 14.68 14.59 14.71

3456 0.71 207.2 2367 2151 2228 2041 279.4 10.8 396 3461 0.00 2.55 0.00 0.000 260 0.000 0.080 2368 3558 2135 2229 2041 0 0 0 0 0 0 14.84 14.58 14.87

3529 0.71 207.2 2367 3558 2228 2040 270.5 11.1 410 3535 0.00 2.45 0.00 0.000 1030 0.000 0.054 2378 2150 2135 2228 2042 0 0 0 0 0 0 14.72 14.64 14.74

3743 0.71 207.2 2377 2150 2228 2044 244.2 12.4 424 3749 0.00 2.47 0.00 0.000 516 0.000 0.067 2389 740 2135 2230 2040 0 0 0 0 0 0 14.87 14.68 14.90

3838 0.71 207.2 2389 740 2228 2040 233.0 11.5 442 3844 0.00 2.50 0.00 0.000 1030 0.000 0.056 2389 2163 2134 2228 2040 0 0 0 0 0 0 14.76 14.67 14.78

4052 0.71 207.2 2389 2165 2228 2039 208.4 11.1 464 4058 0.00 2.53 0.00 0.000 260 0.000 0.079 2389 3557 2133 2228 2039 0 0 0 0 0 0 14.86 14.66 14.89

4130 0.71 207.2 2383 3556 2228 2038 199.2 11.2 479 4137 0.00 2.45 0.00 0.000 1030 0.000 0.053 2399 2150 2134 2228 2040 0 0 0 0 0 0 14.76 14.68 14.78

4336 0.71 207.2 2399 2149 2228 2039 175.4 12.2 500 4342 0.00 2.53 0.00 0.000 516 0.000 0.067 2410 733 2133 2228 2038 0 0 0 0 0 0 14.88 14.64 14.92

4414 0.71 207.2 2410 732 2229 2039 165.5 12.8 515 4421 0.00 2.50 0.00 0.000 1030 0.000 0.056 2411 2162 2133 2228 2039 0 0 0 0 0 0 14.77 14.68 14.79

4621 0.71 207.2 2410 2156 2226 2038 138.2 12.3 536 4627 0.12 2.53 0.00 0.000 4356 0.257 0.076 2374 3559 2133 2228 2038 0 0 0 0 0 0 14.57 14.63 14.68

4696 0.71 207.2 2379 3559 2228 2037 130.5 9.5 550 4702 0.00 2.45 0.00 0.000 1030 0.000 0.051 2388 2157 2131 2226 2037 0 0 0 0 0 0 14.69 14.64 14.74

4912 0.75 207.2 2388 2150 2228 2037 111.5 8.0 572 4918 0.00 2.50 0.00 0.000 580 0.000 0.067 2398 734 2130 2228 2032 0 0 0 0 0 0 14.85 14.68 14.88

5090 0.76 207.2 2398 732 2228 2036 95.7 9.3 606 5097 0.00 2.47 0.00 0.000 1094 0.000 0.055 2398 2145 2131 2228 2035 0 0 0 0 0 0 14.72 14.64 14.74

5282 0.80 207.2 2398 2150 2228 2035 78.3 8.1 643 5289 0.00 2.50 0.00 0.000 580 0.000 0.067 2409 736 2131 2228 2035 0 0 0 0 0 0 14.87 14.66 14.90

5398 0.86 251.8 2415 736 2228 2035 68.6 7.8 665 5437 0.00 2.50 33.45 1.432 9254 0.000 0.055 2409 2159 1967 2051 1884 0 0 0 0 0 0 14.73 14.66 13.91

5622 0.89 251.8 2409 2164 2050 1875 48.3 8.6 707 5629 0.00 2.55 0.00 0.000 580 0.000 0.065 2420 735 1963 2050 1876 0 0 0 0 0 0 14.73 14.55 14.76

5713 0.95 295.2 2419 734 2050 1875 40.8 7.9 724 5753 0.12 2.50 33.65 1.403 11302 0.119 0.056 2470 2153 1794 1868 1721 0 0 0 0 0 0 14.61 14.57 13.83

5938 0.95 295.2 2470 2153 1868 1711 22.6 9.8 766 5945 0.00 2.55 0.00 0.000 516 0.000 0.064 2480 733 1789 1867 1711 0 0 0 0 0 0 14.66 14.52 14.69

5974 0.95 295.2 2485 732 1866 1711 19.1 9.8 772 5981 0.00 2.50 0.00 0.000 1030 0.000 0.054 2480 2152 1788 1866 1711 0 0 0 0 0 0 14.61 14.53 14.63

6122 end climb: SURFACE_DEPTH_REACHED

state 6122 begin surface coast

6134 end surface coast: CONTROL_FINISHED_OK

state 6134 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	173	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	350.0
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	43	ALTIM_SENSITIVITY	3	CP_STARTS	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	55	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	010918,210400,5034.5771,-14448.3350,22,0.9,22,15.7,0.4,15.9,9,5.1	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5033.633,-14447.106
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.87	MHEAD_RNG_PITCHd_Wd	125.7,2124,-18.1,-10.000,-21.64,2110
_SM_ANGLEo	-67.8	D_GRID	360
GPS2	010918,211229,5034.5186,-14448.2539,2,0.9,3,15.7,1.1,89.2,9,8.1

FINISH	0.4,1.024038	ES_POWER1	0.000000
SM_CCo	6154,48.67,0.202,0,0,1375,400.16	_24V_AH	13.36,66.769
SM_GC	0.59,6.50,0.17,48.67,0.048,0.122,0.202,235,2251,1375,-5.92,-0.85,400.16,0,0,0,0,0,0,14.62,14.58,14.45	_10V_AH	13.54,0.000
IRIDIUM_FIX	5032.91,-14452.15,010918,192043	FG_AHR_24Vo	0.000
TT8_MAMPS	0.021721,0.971453	FG_AHR_10Vo	0.000
HUMID	50.51	MEM	322956
INTERNAL_PRESSURE	10.1215	DATA_FILE_SIZE	30024,803
TCM_TEMP	16.00	CAP_FILE_SIZE	91982,0
XPDR_PINGS	111	CFSIZE	1024409600,979468288
SC_FREEKB	3809696	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14370439168.000000	CURRENT	0.031,84.05,1
ES_POWER	63.380000	GPS	010918,225809,5034.041,-14447.594,19,1.3,21,15.7,1.3,139.3,6,8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	380	85.59	nil	0	0	0.00
Roll_motor	101	137	185.99	nil	0	0	0.00
VBD_pump_during_apogee	331	1767	7839.85	nil	0	0	0.00
VBD_pump_during_surface	48	201	131.33	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	6160	17	1443.09
Iridium_during_xfer	293	191	750.50	echo	6141	5	410.22
Transponder_ping	27	420	155.71	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	8	1.62
TT8	1899	12	320.46
LPSleep	2516	2	74.62
TT8_Active	528	11	83.85
TT8_Sampling	1558	30	642.41
TT8_CF8	252	45	155.41
TT8_Kalman	0	0	0.00
Analog_circuits	1502	16	325.43
GPS_charging	0	0	0.00
Compass	1157	6	105.64
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
23	-0.58	-139.4	130	2229	1377	1353	0.0	0.0	0	117	0.00	0.00	-91.30	0.004	16386	0.000	0.000	128	2229	3156	3178	3135	0	0	0	0	0	0	14.70	28.83	14.73
120	-0.58	-139.4	128	2229	3178	3135	5.4	-14.8	15	142	8.43	2.67	-6.72	0.015	18692	0.380	0.107	1949	3630	3527	3568	3487	0	0	0	0	0	0	14.31	13.50	14.55
267	-0.58	-139.4	1947	3631	3568	3487	48.6	-17.3	42	274	0.00	2.40	0.00	0.000	1030	0.000	0.054	1954	2261	3528	3569	3488	0	0	0	0	0	0	14.66	14.58	14.67
458	-0.58	-139.4	1947	2260	3569	3488	86.9	-19.8	79	465	0.00	2.47	0.00	0.000	516	0.000	0.058	1947	832	3531	3569	3494	0	0	0	0	0	0	14.82	14.61	14.85
528	-0.58	-139.4	1947	831	3570	3488	98.9	-15.5	92	535	0.00	2.47	0.00	0.000	1030	0.000	0.071	1939	2216	3528	3570	3487	0	0	0	0	0	0	14.71	14.61	14.73
714	-0.58	-139.4	1939	2218	3565	3486	132.7	-18.6	111	720	0.00	2.62	0.00	0.000	260	0.000	0.088	1929	3672	3527	3568	3487	0	0	0	0	0	0	14.84	14.64	14.87
742	-0.58	-139.4	1928	3672	3570	3487	137.7	-18.8	116	750	0.15	2.47	0.00	0.000	3078	0.261	0.055	1961	2254	3528	3570	3487	0	0	0	0	0	0	14.51	14.66	14.71
950	-0.58	-139.4	1960	2254	3565	3489	170.0	-15.3	137	956	0.00	2.50	0.00	0.000	516	0.000	0.062	1961	827	3528	3570	3487	0	0	0	0	0	0	14.85	14.66	14.88
984	-0.58	-139.4	1960	827	3570	3487	176.2	-16.3	143	990	0.00	2.55	0.00	0.000	1030	0.000	0.074	1952	2255	3529	3572	3487	0	0	0	0	0	0	14.71	14.62	14.71
1199	-0.58	-139.4	1953	2257	3570	3488	210.1	-16.4	165	1205	0.00	2.55	0.00	0.000	260	0.000	0.090	1942	3663	3528	3569	3487	0	0	0	0	0	0	14.92	14.64	14.92
1283	-0.58	-139.4	1942	3663	3570	3487	223.2	-14.2	181	1290	0.00	2.47	0.00	0.000	1030	0.000	0.054	1943	2242	3528	3570	3486	0	0	0	0	0	0	14.78	14.71	14.81
1508	-0.58	-139.4	1942	2242	3570	3485	261.1	-17.0	201	1515	0.00	2.45	0.00	0.000	516	0.000	0.070	1942	840	3530	3570	3491	0	0	0	0	0	0	14.90	14.70	14.90
1547	-0.58	-139.4	1942	840	3570	3480	267.7	-15.9	208	1554	0.15	2.53	0.00	0.000	3078	0.249	0.076	1965	2254	3527	3570	3485	0	0	0	0	0	0	14.57	14.69	14.76
1753	-0.58	-139.4	1964	2254	3570	3484	296.3	-13.6	219	1759	0.00	2.53	0.00	0.000	260	0.000	0.086	1956	3668	3527	3570	3484	0	0	0	0	0	0	14.90	14.69	14.92
1847	-0.58	-139.4	1952	3668	3563	3484	307.6	-11.0	237	1854	0.00	2.47	0.00	0.000	1030	0.000	0.057	1956	2249	3526	3570	3483	0	0	0	0	0	0	14.81	14.71	14.80
2062	-0.58	-139.4	1952	2244	3570	3483	337.2	-14.1	249	2069	0.00	2.45	0.00	0.000	516	0.000	0.063	1956	832	3526	3570	3483	0	0	0	0	0	0	14.90	14.71	14.93
2156	-0.58	-139.4	1955	832	3570	3482	349.4	-11.8	267	2162	0.00	2.55	0.00	0.000	1030	0.000	0.079	1947	2253	3526	3570	3482	0	0	0	0	0	0	14.75	14.65	14.78
2247	end dive: TARGET_DEPTH_EXCEEDED
state	2247	begin apogee
2255	-0.11	0.0	1946	2121	3571	3480	362.8	-14.8	273	2364	0.62	0.08	104.70	1.768	10246	0.223	0.138	2114	2170	2972	3043	2902	0	0	0	0	0	0	14.58	14.12	13.50
2368	end apogee: CONTROL_FINISHED_OK
state	2368	begin climb
2371	0.58	139.4	2114	2170	3043	2899	368.6	0.0	278	2492	0.75	2.70	107.35	1.685	10756	0.140	0.078	2346	755	2415	2501	2329	0	0	0	0	0	0	14.14	13.97	13.36
2590	0.67	207.2	2346	755	2494	2323	361.5	6.7	317	2652	0.00	2.50	52.78	1.681	9254	0.000	0.057	2346	2136	2143	2229	2058	0	0	0	0	0	0	14.38	14.26	13.47
2862	0.68	207.2	2346	2136	2229	2045	337.6	9.4	340	2868	0.00	2.62	0.00	0.000	324	0.000	0.083	2346	3559	2137	2229	2045	0	0	0	0	0	0	14.61	14.40	14.64
2951	0.68	207.2	2346	3557	2228	2045	328.5	9.6	357	2957	0.00	2.50	0.00	0.000	1030	0.000	0.067	2357	2161	2136	2228	2045	0	0	0	0	0	0	14.57	14.52	14.59
3172	0.69	207.2	2357	2164	2228	2043	308.0	9.5	370	3177	0.00	2.53	0.00	0.000	580	0.000	0.067	2368	741	2135	2228	2043	0	0	0	0	0	0	14.76	14.59	14.81
3250	0.71	207.2	2367	740	2228	2042	300.4	9.2	385	3258	0.00	2.50	0.00	0.000	1094	0.000	0.057	2368	2151	2135	2229	2042	0	0	0	0	0	0	14.68	14.59	14.71
3456	0.71	207.2	2367	2151	2228	2041	279.4	10.8	396	3461	0.00	2.55	0.00	0.000	260	0.000	0.080	2368	3558	2135	2229	2041	0	0	0	0	0	0	14.84	14.58	14.87
3529	0.71	207.2	2367	3558	2228	2040	270.5	11.1	410	3535	0.00	2.45	0.00	0.000	1030	0.000	0.054	2378	2150	2135	2228	2042	0	0	0	0	0	0	14.72	14.64	14.74
3743	0.71	207.2	2377	2150	2228	2044	244.2	12.4	424	3749	0.00	2.47	0.00	0.000	516	0.000	0.067	2389	740	2135	2230	2040	0	0	0	0	0	0	14.87	14.68	14.90
3838	0.71	207.2	2389	740	2228	2040	233.0	11.5	442	3844	0.00	2.50	0.00	0.000	1030	0.000	0.056	2389	2163	2134	2228	2040	0	0	0	0	0	0	14.76	14.67	14.78
4052	0.71	207.2	2389	2165	2228	2039	208.4	11.1	464	4058	0.00	2.53	0.00	0.000	260	0.000	0.079	2389	3557	2133	2228	2039	0	0	0	0	0	0	14.86	14.66	14.89
4130	0.71	207.2	2383	3556	2228	2038	199.2	11.2	479	4137	0.00	2.45	0.00	0.000	1030	0.000	0.053	2399	2150	2134	2228	2040	0	0	0	0	0	0	14.76	14.68	14.78
4336	0.71	207.2	2399	2149	2228	2039	175.4	12.2	500	4342	0.00	2.53	0.00	0.000	516	0.000	0.067	2410	733	2133	2228	2038	0	0	0	0	0	0	14.88	14.64	14.92
4414	0.71	207.2	2410	732	2229	2039	165.5	12.8	515	4421	0.00	2.50	0.00	0.000	1030	0.000	0.056	2411	2162	2133	2228	2039	0	0	0	0	0	0	14.77	14.68	14.79
4621	0.71	207.2	2410	2156	2226	2038	138.2	12.3	536	4627	0.12	2.53	0.00	0.000	4356	0.257	0.076	2374	3559	2133	2228	2038	0	0	0	0	0	0	14.57	14.63	14.68
4696	0.71	207.2	2379	3559	2228	2037	130.5	9.5	550	4702	0.00	2.45	0.00	0.000	1030	0.000	0.051	2388	2157	2131	2226	2037	0	0	0	0	0	0	14.69	14.64	14.74
4912	0.75	207.2	2388	2150	2228	2037	111.5	8.0	572	4918	0.00	2.50	0.00	0.000	580	0.000	0.067	2398	734	2130	2228	2032	0	0	0	0	0	0	14.85	14.68	14.88
5090	0.76	207.2	2398	732	2228	2036	95.7	9.3	606	5097	0.00	2.47	0.00	0.000	1094	0.000	0.055	2398	2145	2131	2228	2035	0	0	0	0	0	0	14.72	14.64	14.74
5282	0.80	207.2	2398	2150	2228	2035	78.3	8.1	643	5289	0.00	2.50	0.00	0.000	580	0.000	0.067	2409	736	2131	2228	2035	0	0	0	0	0	0	14.87	14.66	14.90
5398	0.86	251.8	2415	736	2228	2035	68.6	7.8	665	5437	0.00	2.50	33.45	1.432	9254	0.000	0.055	2409	2159	1967	2051	1884	0	0	0	0	0	0	14.73	14.66	13.91
5622	0.89	251.8	2409	2164	2050	1875	48.3	8.6	707	5629	0.00	2.55	0.00	0.000	580	0.000	0.065	2420	735	1963	2050	1876	0	0	0	0	0	0	14.73	14.55	14.76
5713	0.95	295.2	2419	734	2050	1875	40.8	7.9	724	5753	0.12	2.50	33.65	1.403	11302	0.119	0.056	2470	2153	1794	1868	1721	0	0	0	0	0	0	14.61	14.57	13.83
5938	0.95	295.2	2470	2153	1868	1711	22.6	9.8	766	5945	0.00	2.55	0.00	0.000	516	0.000	0.064	2480	733	1789	1867	1711	0	0	0	0	0	0	14.66	14.52	14.69
5974	0.95	295.2	2485	732	1866	1711	19.1	9.8	772	5981	0.00	2.50	0.00	0.000	1030	0.000	0.054	2480	2152	1788	1866	1711	0	0	0	0	0	0	14.61	14.53	14.63
6122	end climb: SURFACE_DEPTH_REACHED
state	6122	begin surface coast
6134	end surface coast: CONTROL_FINISHED_OK
state	6134	begin surface