Glider dive log

EXPORTS Jul18 * SG219 * Dive index * Mission links * Dive 204 * 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 204 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 412.0

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 25 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 412.0 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 204 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 25 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 080918,174815,5036.3120,-14430.6689,15,1.4,15,15.8,0.3,0.0,5,9.7 SPEED_LIMITS 0.173,0.257

_CALLS 1 TGT_NAME SG219_TGT

_XMS_NAKs 0 TGT_LATLONG 5034.097,-14434.252

_XMS_TOUTs 0 TGT_RADIUS 100.000

_SM_DEPTHo 0.57 MHEAD_RNG_PITCHd_Wd 220.6,5950,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -69.3 D_GRID 360

GPS2 080918,175707,5036.3271,-14430.6104,3,1.4,4,15.8,0.3,272.6,5,6.5

Post-dive calculations and measurements:

FINISH 0.0,1.024074 ES_POWER1 0.000000

SM_CCo 5943,25.98,0.200,0,0,1375,400.16 _24V_AH 13.27,78.902

SM_GC 0.01,6.60,0.17,25.98,0.062,0.126,0.200,229,2261,1375,-5.93,-0.71,400.16,0,0,0,0,0,0,14.56,14.51,14.39 _10V_AH 13.00,0.000

IRIDIUM_FIX 5037.23,-14431.29,080918,155646 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,0.577479 FG_AHR_10Vo 0.000

HUMID 50.31 MEM 322948

INTERNAL_PRESSURE 10.0922 DATA_FILE_SIZE 26773,764

TCM_TEMP 15.50 CAP_FILE_SIZE 88621,0

XPDR_PINGS 104 CFSIZE 1024409600,971751424

SC_FREEKB 3791392 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 14076116992.000000 CURRENT 0.045,123.87,1

ES_POWER 63.370000 GPS 080918,193854,5035.890,-14431.221,31,1.3,31,15.8,0.3,330.6,6,5.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 375 86.73 nil 0 0 0.00

Roll_motor 96 181 232.65 nil 0 0 0.00

VBD_pump_during_apogee 375 1762 8789.07 nil 0 0 0.00

VBD_pump_during_surface 25 200 69.09 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 5951 17 1386.39

Iridium_during_xfer 301 192 769.00 echo 5933 5 393.65

Transponder_ping 26 420 144.91 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 8 1.64

TT8 1795 12 290.90

LPSleep 2421 2 68.95

TT8_Active 534 11 81.40

TT8_Sampling 1524 30 603.18

TT8_CF8 257 45 152.27

TT8_Kalman 0 0 0.00

Analog_circuits 1498 16 311.67

GPS_charging 0 0 0.00

Compass 1102 6 96.63

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -0.58 -146.0 150 2263 1375 1359 0.0 0.0 0 117 0.00 0.00 -88.50 0.004 16386 0.000 0.000 144 2266 2904 2925 2883 0 0 0 0 0 0 14.67 28.83 14.70

120 -0.58 -146.0 144 2266 2919 2883 3.6 -9.6 15 153 8.43 2.65 -13.70 0.009 18692 0.376 0.110 1952 3658 3551 3600 3502 0 0 0 0 0 0 14.19 13.31 14.50

196 -0.58 -146.0 1947 3654 3601 3503 26.3 -23.3 28 203 0.00 2.50 0.00 0.000 1030 0.000 0.053 1951 2239 3552 3601 3503 0 0 0 0 0 0 14.55 14.47 14.57

388 -0.58 -146.0 1952 2239 3602 3503 67.0 -20.3 65 396 0.00 2.45 0.00 0.000 516 0.000 0.058 1952 835 3552 3601 3503 0 0 0 0 0 0 14.76 14.54 14.79

413 -0.58 -146.0 1952 834 3602 3504 72.6 -21.9 69 421 0.00 2.53 0.00 0.000 1030 0.000 0.073 1944 2245 3553 3602 3504 0 0 0 0 0 0 14.64 14.52 14.66

605 -0.58 -146.0 1944 2246 3602 3505 112.2 -19.8 100 611 0.00 2.60 0.00 0.000 260 0.000 0.090 1934 3669 3553 3602 3504 0 0 0 0 0 0 14.80 14.46 14.83

659 -0.58 -146.0 1934 3668 3602 3504 121.8 -16.0 110 666 0.12 2.47 0.00 0.000 3078 0.261 0.054 1960 2251 3555 3607 3504 0 0 0 0 0 0 14.44 14.59 14.59

876 -0.58 -146.0 1960 2252 3609 3504 154.9 -15.3 132 882 0.00 2.50 0.00 0.000 516 0.000 0.067 1961 828 3553 3602 3504 0 0 0 0 0 0 14.83 14.55 14.83

960 -0.58 -146.0 1960 828 3602 3504 166.3 -12.5 148 966 0.00 2.58 0.00 0.000 1030 0.000 0.074 1953 2255 3553 3602 3504 0 0 0 0 0 0 14.64 14.53 14.68

1175 -0.58 -146.0 1952 2256 3604 3504 199.5 -16.1 170 1180 0.00 2.55 0.00 0.000 260 0.000 0.087 1942 3664 3553 3603 3504 0 0 0 0 0 0 14.83 14.51 14.85

1252 -0.58 -146.0 1942 3663 3602 3505 210.8 -14.2 185 1260 0.00 2.47 0.00 0.000 1030 0.000 0.055 1942 2252 3553 3602 3504 0 0 0 0 0 0 14.71 14.62 14.73

1459 -0.58 -146.0 1942 2252 3601 3505 245.0 -16.6 206 1465 0.00 2.47 0.00 0.000 516 0.000 0.062 1942 831 3552 3602 3503 0 0 0 0 0 0 14.81 14.62 14.83

1504 -0.58 -146.0 1941 828 3602 3503 252.0 -15.1 214 1510 0.15 2.58 0.00 0.000 3078 0.244 0.078 1965 2254 3552 3602 3503 0 0 0 0 0 0 14.48 14.60 14.66

1729 -0.58 -146.0 1961 2256 3602 3501 282.8 -13.7 228 1734 0.00 2.55 0.00 0.000 260 0.000 0.087 1956 3665 3552 3602 3502 0 0 0 0 0 0 14.83 14.61 14.85

1796 -0.58 -146.0 1961 3665 3602 3500 291.4 -11.5 241 1803 0.00 2.53 0.00 0.000 1030 0.000 0.057 1956 2233 3551 3602 3501 0 0 0 0 0 0 14.74 14.64 14.76

2017 -0.58 -146.0 1956 2232 3602 3500 322.9 -14.8 254 2023 0.00 2.42 0.00 0.000 516 0.000 0.061 1956 837 3550 3602 3499 0 0 0 0 0 0 14.88 14.66 14.90

2090 -0.58 -146.0 1956 837 3602 3499 333.0 -12.6 268 2096 0.00 2.55 0.00 0.000 1030 0.000 0.076 1947 2254 3551 3604 3499 0 0 0 0 0 0 14.72 14.61 14.75

2282 end dive: TARGET_DEPTH_EXCEEDED

state 2282 begin apogee

2289 -0.11 0.0 1947 2122 3602 3497 362.2 -15.4 279 2405 0.62 0.05 110.55 1.763 10246 0.220 0.181 2114 2169 2970 3043 2897 0 0 0 0 0 0 14.48 14.09 13.45

2409 end apogee: CONTROL_FINISHED_OK

state 2409 begin climb

2412 0.58 146.0 2114 2169 3043 2895 369.0 0.0 285 2536 0.75 2.78 112.97 1.688 10756 0.136 0.076 2351 754 2389 2477 2301 0 0 0 0 0 0 14.10 13.90 13.27

2619 0.69 227.0 2345 754 2470 2294 363.1 6.2 321 2692 0.00 2.53 63.28 1.671 9254 0.000 0.057 2341 2140 2066 2155 1978 0 0 0 0 0 0 14.25 14.17 13.35

2906 0.72 227.0 2346 2136 2155 1965 340.4 8.4 347 2912 0.12 2.60 0.00 0.000 2372 0.125 0.080 2395 3551 2060 2155 1965 0 0 0 0 0 0 14.40 14.33 14.43

3114 0.72 227.0 2395 3551 2154 1965 312.4 12.4 388 3120 0.00 2.47 0.00 0.000 1030 0.000 0.067 2406 2166 2058 2154 1963 0 0 0 0 0 0 14.57 14.49 14.59

3333 0.72 227.0 2405 2166 2154 1963 283.0 13.6 401 3339 0.00 2.58 0.00 0.000 260 0.000 0.076 2406 3553 2058 2154 1963 0 0 0 0 0 0 14.78 14.53 14.81

3367 0.72 227.0 2405 3557 2154 1963 278.2 14.0 407 3373 0.00 2.47 0.00 0.000 1030 0.000 0.054 2415 2148 2058 2154 1963 0 0 0 0 0 0 14.68 14.60 14.70

3582 0.72 227.0 2415 2147 2154 1966 249.4 13.3 419 3588 0.00 2.60 0.00 0.000 260 0.000 0.075 2416 3565 2058 2154 1963 0 0 0 0 0 0 14.84 14.59 14.85

3607 0.72 227.0 2416 3565 2154 1965 246.0 13.5 423 3613 0.17 2.50 0.00 0.000 5126 0.291 0.054 2390 2140 2058 2154 1962 0 0 0 0 0 0 14.43 14.63 14.65

3825 0.72 227.0 2389 2139 2154 1955 222.4 10.7 445 3831 0.00 2.58 0.00 0.000 260 0.000 0.076 2390 3554 2057 2154 1961 0 0 0 0 0 0 14.86 14.61 14.89

3863 0.72 227.0 2390 3554 2153 1960 217.5 12.3 452 3870 0.00 2.45 0.00 0.000 1030 0.000 0.054 2398 2154 2057 2154 1960 0 0 0 0 0 0 14.72 14.64 14.75

4069 0.72 227.0 2398 2150 2154 1960 192.6 12.7 473 4075 0.00 2.58 0.00 0.000 260 0.000 0.076 2398 3561 2058 2162 1955 0 0 0 0 0 0 14.82 14.62 14.85

4127 0.72 227.0 2397 3561 2154 1959 184.8 13.2 484 4134 0.00 2.50 0.00 0.000 1030 0.000 0.054 2408 2143 2057 2155 1960 0 0 0 0 0 0 14.66 14.62 14.70

4333 0.72 227.0 2409 2143 2154 1960 158.7 11.9 505 4339 0.00 2.50 0.00 0.000 516 0.000 0.067 2420 732 2057 2154 1960 0 0 0 0 0 0 14.85 14.61 14.88

4361 0.72 227.0 2420 731 2154 1959 155.2 12.7 510 4370 0.15 2.50 0.00 0.000 5126 0.229 0.055 2385 2153 2057 2154 1961 0 0 0 0 0 0 14.50 14.63 14.70

4571 0.72 227.0 2385 2153 2154 1957 132.2 10.9 531 4576 0.00 2.53 0.00 0.000 260 0.000 0.080 2385 3558 2056 2154 1958 0 0 0 0 0 0 14.83 14.59 14.86

4655 0.72 227.0 2385 3558 2154 1957 122.7 11.1 547 4661 0.00 2.45 0.00 0.000 1030 0.000 0.053 2394 2150 2055 2153 1958 0 0 0 0 0 0 14.73 14.65 14.76

4870 0.75 227.0 2394 2150 2153 1958 102.5 8.2 569 4871 0.00 0.00 0.00 0.000 70 0.000 0.000 2394 2149 2054 2153 1956 0 0 0 0 0 0 14.81 14.83 14.83

5072 0.83 286.2 2393 2152 2153 1958 86.5 7.2 605 5122 0.00 2.62 45.12 1.472 8740 0.000 0.068 2405 732 1829 1904 1755 0 0 0 0 0 0 14.85 14.35 13.78

5298 0.83 286.2 2405 732 1909 1743 66.0 10.0 647 5305 0.00 2.53 0.00 0.000 1030 0.000 0.054 2405 2152 1826 1909 1743 0 0 0 0 0 0 14.57 14.47 14.59

5489 0.86 286.2 2405 2152 1909 1742 48.1 8.7 684 5497 0.00 2.58 0.00 0.000 324 0.000 0.078 2405 3557 1822 1904 1740 0 0 0 0 0 0 14.71 14.50 14.73

5605 0.93 344.5 2404 3561 1906 1741 38.0 7.3 706 5656 0.15 2.47 43.85 1.382 11302 0.110 0.053 2475 2152 1599 1658 1540 0 0 0 0 0 0 14.59 14.57 13.80

5841 0.93 344.5 2474 2150 1655 1533 10.5 12.2 750 5849 0.00 2.53 0.00 0.000 516 0.000 0.067 2485 737 1595 1655 1535 0 0 0 0 0 0 14.67 14.44 14.69

5893 0.93 344.5 2485 738 1653 1532 4.1 13.0 759 5900 0.12 2.53 0.00 0.000 5126 0.264 0.055 2463 2154 1593 1654 1533 0 0 0 0 0 0 14.30 14.44 14.52

5911 end climb: SURFACE_DEPTH_REACHED

state 5911 begin surface coast

5922 end surface coast: CONTROL_FINISHED_OK

state 5922 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	204	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	412.0
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	25	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	080918,174815,5036.3120,-14430.6689,15,1.4,15,15.8,0.3,0.0,5,9.7	SPEED_LIMITS	0.173,0.257
_CALLS	1	TGT_NAME	SG219_TGT
_XMS_NAKs	0	TGT_LATLONG	5034.097,-14434.252
_XMS_TOUTs	0	TGT_RADIUS	100.000
_SM_DEPTHo	0.57	MHEAD_RNG_PITCHd_Wd	220.6,5950,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-69.3	D_GRID	360
GPS2	080918,175707,5036.3271,-14430.6104,3,1.4,4,15.8,0.3,272.6,5,6.5

FINISH	0.0,1.024074	ES_POWER1	0.000000
SM_CCo	5943,25.98,0.200,0,0,1375,400.16	_24V_AH	13.27,78.902
SM_GC	0.01,6.60,0.17,25.98,0.062,0.126,0.200,229,2261,1375,-5.93,-0.71,400.16,0,0,0,0,0,0,14.56,14.51,14.39	_10V_AH	13.00,0.000
IRIDIUM_FIX	5037.23,-14431.29,080918,155646	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,0.577479	FG_AHR_10Vo	0.000
HUMID	50.31	MEM	322948
INTERNAL_PRESSURE	10.0922	DATA_FILE_SIZE	26773,764
TCM_TEMP	15.50	CAP_FILE_SIZE	88621,0
XPDR_PINGS	104	CFSIZE	1024409600,971751424
SC_FREEKB	3791392	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	14076116992.000000	CURRENT	0.045,123.87,1
ES_POWER	63.370000	GPS	080918,193854,5035.890,-14431.221,31,1.3,31,15.8,0.3,330.6,6,5.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	375	86.73	nil	0	0	0.00
Roll_motor	96	181	232.65	nil	0	0	0.00
VBD_pump_during_apogee	375	1762	8789.07	nil	0	0	0.00
VBD_pump_during_surface	25	200	69.09	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	5951	17	1386.39
Iridium_during_xfer	301	192	769.00	echo	5933	5	393.65
Transponder_ping	26	420	144.91	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	8	1.64
TT8	1795	12	290.90
LPSleep	2421	2	68.95
TT8_Active	534	11	81.40
TT8_Sampling	1524	30	603.18
TT8_CF8	257	45	152.27
TT8_Kalman	0	0	0.00
Analog_circuits	1498	16	311.67
GPS_charging	0	0	0.00
Compass	1102	6	96.63
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-0.58	-146.0	150	2263	1375	1359	0.0	0.0	0	117	0.00	0.00	-88.50	0.004	16386	0.000	0.000	144	2266	2904	2925	2883	0	0	0	0	0	0	14.67	28.83	14.70
120	-0.58	-146.0	144	2266	2919	2883	3.6	-9.6	15	153	8.43	2.65	-13.70	0.009	18692	0.376	0.110	1952	3658	3551	3600	3502	0	0	0	0	0	0	14.19	13.31	14.50
196	-0.58	-146.0	1947	3654	3601	3503	26.3	-23.3	28	203	0.00	2.50	0.00	0.000	1030	0.000	0.053	1951	2239	3552	3601	3503	0	0	0	0	0	0	14.55	14.47	14.57
388	-0.58	-146.0	1952	2239	3602	3503	67.0	-20.3	65	396	0.00	2.45	0.00	0.000	516	0.000	0.058	1952	835	3552	3601	3503	0	0	0	0	0	0	14.76	14.54	14.79
413	-0.58	-146.0	1952	834	3602	3504	72.6	-21.9	69	421	0.00	2.53	0.00	0.000	1030	0.000	0.073	1944	2245	3553	3602	3504	0	0	0	0	0	0	14.64	14.52	14.66
605	-0.58	-146.0	1944	2246	3602	3505	112.2	-19.8	100	611	0.00	2.60	0.00	0.000	260	0.000	0.090	1934	3669	3553	3602	3504	0	0	0	0	0	0	14.80	14.46	14.83
659	-0.58	-146.0	1934	3668	3602	3504	121.8	-16.0	110	666	0.12	2.47	0.00	0.000	3078	0.261	0.054	1960	2251	3555	3607	3504	0	0	0	0	0	0	14.44	14.59	14.59
876	-0.58	-146.0	1960	2252	3609	3504	154.9	-15.3	132	882	0.00	2.50	0.00	0.000	516	0.000	0.067	1961	828	3553	3602	3504	0	0	0	0	0	0	14.83	14.55	14.83
960	-0.58	-146.0	1960	828	3602	3504	166.3	-12.5	148	966	0.00	2.58	0.00	0.000	1030	0.000	0.074	1953	2255	3553	3602	3504	0	0	0	0	0	0	14.64	14.53	14.68
1175	-0.58	-146.0	1952	2256	3604	3504	199.5	-16.1	170	1180	0.00	2.55	0.00	0.000	260	0.000	0.087	1942	3664	3553	3603	3504	0	0	0	0	0	0	14.83	14.51	14.85
1252	-0.58	-146.0	1942	3663	3602	3505	210.8	-14.2	185	1260	0.00	2.47	0.00	0.000	1030	0.000	0.055	1942	2252	3553	3602	3504	0	0	0	0	0	0	14.71	14.62	14.73
1459	-0.58	-146.0	1942	2252	3601	3505	245.0	-16.6	206	1465	0.00	2.47	0.00	0.000	516	0.000	0.062	1942	831	3552	3602	3503	0	0	0	0	0	0	14.81	14.62	14.83
1504	-0.58	-146.0	1941	828	3602	3503	252.0	-15.1	214	1510	0.15	2.58	0.00	0.000	3078	0.244	0.078	1965	2254	3552	3602	3503	0	0	0	0	0	0	14.48	14.60	14.66
1729	-0.58	-146.0	1961	2256	3602	3501	282.8	-13.7	228	1734	0.00	2.55	0.00	0.000	260	0.000	0.087	1956	3665	3552	3602	3502	0	0	0	0	0	0	14.83	14.61	14.85
1796	-0.58	-146.0	1961	3665	3602	3500	291.4	-11.5	241	1803	0.00	2.53	0.00	0.000	1030	0.000	0.057	1956	2233	3551	3602	3501	0	0	0	0	0	0	14.74	14.64	14.76
2017	-0.58	-146.0	1956	2232	3602	3500	322.9	-14.8	254	2023	0.00	2.42	0.00	0.000	516	0.000	0.061	1956	837	3550	3602	3499	0	0	0	0	0	0	14.88	14.66	14.90
2090	-0.58	-146.0	1956	837	3602	3499	333.0	-12.6	268	2096	0.00	2.55	0.00	0.000	1030	0.000	0.076	1947	2254	3551	3604	3499	0	0	0	0	0	0	14.72	14.61	14.75
2282	end dive: TARGET_DEPTH_EXCEEDED
state	2282	begin apogee
2289	-0.11	0.0	1947	2122	3602	3497	362.2	-15.4	279	2405	0.62	0.05	110.55	1.763	10246	0.220	0.181	2114	2169	2970	3043	2897	0	0	0	0	0	0	14.48	14.09	13.45
2409	end apogee: CONTROL_FINISHED_OK
state	2409	begin climb
2412	0.58	146.0	2114	2169	3043	2895	369.0	0.0	285	2536	0.75	2.78	112.97	1.688	10756	0.136	0.076	2351	754	2389	2477	2301	0	0	0	0	0	0	14.10	13.90	13.27
2619	0.69	227.0	2345	754	2470	2294	363.1	6.2	321	2692	0.00	2.53	63.28	1.671	9254	0.000	0.057	2341	2140	2066	2155	1978	0	0	0	0	0	0	14.25	14.17	13.35
2906	0.72	227.0	2346	2136	2155	1965	340.4	8.4	347	2912	0.12	2.60	0.00	0.000	2372	0.125	0.080	2395	3551	2060	2155	1965	0	0	0	0	0	0	14.40	14.33	14.43
3114	0.72	227.0	2395	3551	2154	1965	312.4	12.4	388	3120	0.00	2.47	0.00	0.000	1030	0.000	0.067	2406	2166	2058	2154	1963	0	0	0	0	0	0	14.57	14.49	14.59
3333	0.72	227.0	2405	2166	2154	1963	283.0	13.6	401	3339	0.00	2.58	0.00	0.000	260	0.000	0.076	2406	3553	2058	2154	1963	0	0	0	0	0	0	14.78	14.53	14.81
3367	0.72	227.0	2405	3557	2154	1963	278.2	14.0	407	3373	0.00	2.47	0.00	0.000	1030	0.000	0.054	2415	2148	2058	2154	1963	0	0	0	0	0	0	14.68	14.60	14.70
3582	0.72	227.0	2415	2147	2154	1966	249.4	13.3	419	3588	0.00	2.60	0.00	0.000	260	0.000	0.075	2416	3565	2058	2154	1963	0	0	0	0	0	0	14.84	14.59	14.85
3607	0.72	227.0	2416	3565	2154	1965	246.0	13.5	423	3613	0.17	2.50	0.00	0.000	5126	0.291	0.054	2390	2140	2058	2154	1962	0	0	0	0	0	0	14.43	14.63	14.65
3825	0.72	227.0	2389	2139	2154	1955	222.4	10.7	445	3831	0.00	2.58	0.00	0.000	260	0.000	0.076	2390	3554	2057	2154	1961	0	0	0	0	0	0	14.86	14.61	14.89
3863	0.72	227.0	2390	3554	2153	1960	217.5	12.3	452	3870	0.00	2.45	0.00	0.000	1030	0.000	0.054	2398	2154	2057	2154	1960	0	0	0	0	0	0	14.72	14.64	14.75
4069	0.72	227.0	2398	2150	2154	1960	192.6	12.7	473	4075	0.00	2.58	0.00	0.000	260	0.000	0.076	2398	3561	2058	2162	1955	0	0	0	0	0	0	14.82	14.62	14.85
4127	0.72	227.0	2397	3561	2154	1959	184.8	13.2	484	4134	0.00	2.50	0.00	0.000	1030	0.000	0.054	2408	2143	2057	2155	1960	0	0	0	0	0	0	14.66	14.62	14.70
4333	0.72	227.0	2409	2143	2154	1960	158.7	11.9	505	4339	0.00	2.50	0.00	0.000	516	0.000	0.067	2420	732	2057	2154	1960	0	0	0	0	0	0	14.85	14.61	14.88
4361	0.72	227.0	2420	731	2154	1959	155.2	12.7	510	4370	0.15	2.50	0.00	0.000	5126	0.229	0.055	2385	2153	2057	2154	1961	0	0	0	0	0	0	14.50	14.63	14.70
4571	0.72	227.0	2385	2153	2154	1957	132.2	10.9	531	4576	0.00	2.53	0.00	0.000	260	0.000	0.080	2385	3558	2056	2154	1958	0	0	0	0	0	0	14.83	14.59	14.86
4655	0.72	227.0	2385	3558	2154	1957	122.7	11.1	547	4661	0.00	2.45	0.00	0.000	1030	0.000	0.053	2394	2150	2055	2153	1958	0	0	0	0	0	0	14.73	14.65	14.76
4870	0.75	227.0	2394	2150	2153	1958	102.5	8.2	569	4871	0.00	0.00	0.00	0.000	70	0.000	0.000	2394	2149	2054	2153	1956	0	0	0	0	0	0	14.81	14.83	14.83
5072	0.83	286.2	2393	2152	2153	1958	86.5	7.2	605	5122	0.00	2.62	45.12	1.472	8740	0.000	0.068	2405	732	1829	1904	1755	0	0	0	0	0	0	14.85	14.35	13.78
5298	0.83	286.2	2405	732	1909	1743	66.0	10.0	647	5305	0.00	2.53	0.00	0.000	1030	0.000	0.054	2405	2152	1826	1909	1743	0	0	0	0	0	0	14.57	14.47	14.59
5489	0.86	286.2	2405	2152	1909	1742	48.1	8.7	684	5497	0.00	2.58	0.00	0.000	324	0.000	0.078	2405	3557	1822	1904	1740	0	0	0	0	0	0	14.71	14.50	14.73
5605	0.93	344.5	2404	3561	1906	1741	38.0	7.3	706	5656	0.15	2.47	43.85	1.382	11302	0.110	0.053	2475	2152	1599	1658	1540	0	0	0	0	0	0	14.59	14.57	13.80
5841	0.93	344.5	2474	2150	1655	1533	10.5	12.2	750	5849	0.00	2.53	0.00	0.000	516	0.000	0.067	2485	737	1595	1655	1535	0	0	0	0	0	0	14.67	14.44	14.69
5893	0.93	344.5	2485	738	1653	1532	4.1	13.0	759	5900	0.12	2.53	0.00	0.000	5126	0.264	0.055	2463	2154	1593	1654	1533	0	0	0	0	0	0	14.30	14.44	14.52
5911	end climb: SURFACE_DEPTH_REACHED
state	5911	begin surface coast
5922	end surface coast: CONTROL_FINISHED_OK
state	5922	begin surface