Glider dive log

EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 219 TGT_DEFAULT_LAT 4736 ROLL_ADJ_GAIN 0 XPDR_REP 0

MISSION 15 TGT_DEFAULT_LON -12218 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

DIVE 5 TGT_AUTO_DEFAULT 0 VBD_MIN 500 INT_PRESSURE_YINT -0.25

N_DIVES 5 SM_CC 500 VBD_MAX 3960 DEEPGLIDER 0

STOP_T 0 N_FILEKB 8 C_VBD 2968 MOTHERBOARD 4

D_SURF 2 FILEMGR 0 VBD_DBAND 2 DEVICE1 -1

D_FLARE 3 CALL_NDIVES 1 VBD_CNV -0.25119999 DEVICE2 -1

D_TGT 360 COMM_SEQ 0 VBD_LP_IGNORE 0 DEVICE3 -1

D_ABORT 1000 PROTOCOL 9 VBD_TIMEOUT 720 DEVICE4 -1

D_NO_BLEED 200 N_NOCOMM 2 PITCH_VBD_SHIFT 0.0013 DEVICE5 -1

D_BOOST 0 NOCOMM_ACTION 163 VBD_PUMP_AD_RATE_SURFACE 1 DEVICE6 -1

T_BOOST 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERS 3

D_FINISH 0 UPLOAD_DIVES_MAX -1 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 53

D_PITCH 0 CALL_TRIES 5 UNCOM_BLEED 50 LOGGERDEVICE2 147

D_SAFE 0 CALL_WAIT 60 VBD_MAXERRORS 1 LOGGERDEVICE3 131

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 97

SURFACE_URGENCY_TRY 0 HEAPDBG 0 LOITER_W_DBAND 0 COMPASS2_DEVICE 150

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_DBDW 0 PHONE_DEVICE 49

T_DIVE 120 N_GPS 100440 LOITER_D_TOP 0 GPS_DEVICE 64

T_MISSION 150 T_RSLEEP 1 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_N_DIVE 0 XPDR_DEVICE 24

T_TURN 225 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 SIM_W 0

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 SEABIRD_T_G 0.0044368538

T_NO_W 120 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SEABIRD_T_H 0.0006575333

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 350 SEABIRD_T_I 2.7761149e-05

T_EPIRB 0 PITCH_MIN 250 AH0_10V 0 SEABIRD_T_J 3.5137082e-06

USE_BATHY -6 PITCH_MAX 3914 MINV_24V 10 SEABIRD_C_G -10.037535

USE_ICE 0 C_PITCH 1760 MINV_10V 10 SEABIRD_C_H 1.1079766

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 0.60000002 SEABIRD_C_I -0.0022889124

D_OFFGRID 1000 PITCH_CNV 0.0031300001 MAXI_10V 1.2 SEABIRD_C_J 0.00024077215

T_WATCHDOG 10 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SC_RECORDABOVE 2000.0

RELAUNCH 1 P_OVSHOOT_WITHG 0 FG_AHR_24V 0 SC_PROFILE 3.0

APOGEE_PITCH -5 PITCH_GAIN 40 PHONE_SUPPLY -2 SC_XMITPROFILE 3.0

MAX_BUOY 150 PITCH_TIMEOUT 18 PRESSURE_YINT -147.66289 SC_NDIVE 1.0

COURSE_BIAS 0 PITCH_AD_RATE 175 PRESSURE_SLOPE 0.00010781933 ES_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 AD7714Ch0Gain 1 ES_PROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 COMPASS_USE 4 ES_XMITPROFILE 0.0

RHO 1.0275 PITCH_ADJ_DBAND 1 ALTIM_PING_FIT 0 ES_UPLOADMAX 100000.0

MASS 55689 ROLL_MIN 251 ALTIM_TOP_PING_RANGE 0 ES_STARTS 8.0

MASS_COMP 0 ROLL_MAX 3825 ALTIM_BOTTOM_TURN_MARGIN 0 ES_NDIVE 1.0

NAV_MODE 2 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 ES_DL_HEADERSKIP 105044.0

FERRY_MAX 45 C_ROLL_DIVE 2950 ALTIM_TOP_MIN_OBSTACLE 0 ES_DL_RECORDLENGTH 10086.0

KALMAN_USE 2 C_ROLL_CLIMB 3100 ALTIM_PING_DEPTH 0 ES_DL_NRECORD 100.0

HD_A 0.003 HEAD_ERRBAND 10 ALTIM_PING_DELTA 0 ES_DL_RECORDCOUNT 3.0

HD_B 0.0099999998 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13 CP_RECORDABOVE 2000.0

HD_C 1.6100001e-05 ROLL_TIMEOUT 15 ALTIM_PULSE 3 CP_PROFILE 0.0

HEADING 0 R_PORT_OVSHOOT 61 ALTIM_SENSITIVITY 3 CP_XMITPROFILE 0.0

ESCAPE_HEADING 0 R_STBD_OVSHOOT 31 XPDR_VALID 6 CP_UPLOADMAX 0.0

ESCAPE_HEADING_DELTA 10 ROLL_AD_RATE 250 XPDR_INHIBIT 90 CP_STARTS 0.0

FIX_MISSING_TIMEOUT 0 ROLL_MAXERRORS 1 XPDR_INT 0 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_PITCH 0 MISSION 15 SEABIRD_C_G -10.037535

AH0_10V 0 D_SAFE 0 MOTHERBOARD 4 SEABIRD_C_H 1.1079766

AH0_24V 350 D_SURF 2 NAV_MODE 2 SEABIRD_C_I -0.0022889124

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 NOCOMM_ACTION 163 SEABIRD_C_J 0.00024077215

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 N_DIVES 5 SEABIRD_T_G 0.0044368538

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 N_FILEKB 8 SEABIRD_T_H 0.0006575333

ALTIM_PING_DEPTH 0 ES_DL_HEADERSKIP 105044.0 N_GPS 100440 SEABIRD_T_I 2.7761149e-05

ALTIM_PING_FIT 0 ES_DL_NRECORD 100.0 N_NOCOMM 2 SEABIRD_T_J 3.5137082e-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 500

ALTIM_TOP_MIN_OBSTACLE 0 ES_NDIVE 1.0 PHONE_SUPPLY -2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_PROFILE 3.0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_RECORDABOVE 2000.0 PITCH_ADJ_GAIN 0.015 STROBE 0

APOGEE_PITCH -5 ES_STARTS 8.0 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 40 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 T_EPIRB 0

COMPASS_USE 4 HD_A 0.003 PITCH_W_GAIN 0 T_GPS 10

COURSE_BIAS 0 HD_B 0.0099999998 PRESSURE_SLOPE 0.00010781933 T_LOITER 0

CP_NDIVE 1.0 HD_C 1.6100001e-05 PRESSURE_YINT -147.66289 T_MISSION 150

CP_PROFILE 0.0 HEADING 0 PROTOCOL 9 T_NO_W 120

CP_RECORDABOVE 2000.0 HEAD_ERRBAND 10 P_OVSHOOT 0.039999999 T_RSLEEP 1

CP_STARTS 0.0 HEAPDBG 0 P_OVSHOOT_WITHG 0 T_TURN 225

CP_UPLOADMAX 0.0 ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

CP_XMITPROFILE 0.0 ID 219 RAFOS_DEVICE -1 T_WATCHDOG 10

C_PITCH 1760 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 50

C_ROLL_CLIMB 3100 INT_PRESSURE_YINT -0.25 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2950 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 USE_BATHY -6

C_VBD 2968 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 5 LOITER_W_DBAND 0 ROLL_MIN 251 VBD_PUMP_AD_RATE_SURFACE 1

D_ABORT 1000 MASS 55689 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

D_BOOST 0 MASS_COMP 0 R_PORT_OVSHOOT 61 W_ADJ_DBAND 2

D_CALL 0 MAXI_10V 1.2 R_STBD_OVSHOOT 31 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_INT 0

D_NO_BLEED 200 MINV_10V 10 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_OFFGRID 1000 MINV_24V 10 SC_XMITPROFILE 3.0 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 010421,163036,4900.1284,-1625.8649,9,1.1,13,-5.5,0.5,110.7,8,10.0 SPEED_LIMITS 0.173,0.257

_CALLS 3 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 4910.876,-1625.902

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 0.35 MHEAD_RNG_PITCHd_Wd 10.2,20000,-17.6,-10.000,-21.24,2209

_SM_ANGLEo -9.6 D_GRID 1000

GPS2 010421,163843,4900.0767,-1625.9020,5,1.0,7,-5.5,0.5,110.3,8,10.0

Post-dive calculations and measurements:

FINISH 0.2,1.027044 ES_POWER1 0.000000

SM_CCo 7210,215.07,1.081,0,0,976,500.14 _24V_AH 13.53,19.199

SM_GC 0.49,5.00,0.25,215.07,0.081,0.083,1.081,227,2963,976,-4.70,1.39,500.14,0,0,0,0,0,0,14.78,14.78,13.74 _10V_AH 13.70,0.000

IRIDIUM_FIX 4859.33,-1627.82,010421,162642 FG_AHR_24Vo 0.000

TT8_MAMPS 0.023219,1.01564 FG_AHR_10Vo 0.000

HUMID 40.82 MEM 292688

INTERNAL_PRESSURE 8.34408 DATA_FILE_SIZE 36664,1011

TCM_TEMP 16.90 CAP_FILE_SIZE 116915,0

XPDR_PINGS 129 CFSIZE 1024409600,1022083072

SC_FREEKB 3907552 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ES_FREE 15873703936.000000 CURRENT 0.140,188.80,1

ES_POWER 63.340000 GPS 010421,184518,4900.159,-1625.724,21,4.4,61,-5.5,0.6,0.0,4,7.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 384 67.55 nil 0 0 0.00

Roll_motor 84 120 137.92 nil 0 0 0.00

VBD_pump_during_apogee 270 1511 5537.00 nil 0 0 0.00

VBD_pump_during_surface 215 1080 3145.51 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 7175 15 1535.38

Iridium_during_xfer 0 0 0.00 echo 7178 10 971.18

Transponder_ping 32 420 183.26 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 8 2.29

TT8 2361 12 391.71

LPSleep 2618 2 78.56

TT8_Active 675 11 105.19

TT8_Sampling 1669 30 688.41

TT8_CF8 211 45 130.33

TT8_Kalman 0 0 0.00

Analog_circuits 1471 15 314.57

GPS_charging 0 0 0.00

Compass 1572 2 48.48

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

15 end surface: CONTROL_FINISHED_OK

state 16 begin dive

22 -0.63 -146.0 240 2987 468 608 0.0 0.0 0 179 0.00 0.00 -151.88 0.004 16390 0.000 0.000 245 2986 3548 3527 3570 0 0 0 0 0 0 14.88 13.69 14.90

183 -0.63 -146.0 245 2986 3528 3571 2.5 -2.7 26 196 5.95 1.50 0.00 0.000 2340 0.385 0.077 1547 3828 3549 3525 3574 0 0 0 0 0 0 14.44 14.69 14.63

271 -0.55 -146.0 1547 3828 3522 3577 15.2 -12.2 42 278 0.08 1.45 0.00 0.000 3206 0.243 0.042 1577 2942 3549 3522 3577 0 0 0 0 0 0 14.58 14.75 14.74

464 -0.55 -146.0 1574 2941 3521 3579 35.6 -10.6 79 471 0.00 2.33 0.00 0.000 516 0.000 0.043 1575 1569 3550 3520 3580 0 0 0 0 0 0 14.89 14.73 14.92

536 -0.58 -146.0 1575 1562 3520 3580 43.3 -9.9 92 542 0.00 2.55 0.00 0.000 1158 0.000 0.098 1566 2943 3549 3518 3581 0 0 0 0 0 0 14.74 14.64 14.76

728 -0.56 -146.0 1567 2943 3519 3580 62.6 -9.9 129 735 0.00 0.00 0.00 0.000 134 0.000 0.000 1567 2943 3550 3519 3581 0 0 0 0 0 0 14.90 14.96 14.95

921 -0.54 -146.0 1567 2945 3519 3580 82.8 -10.5 166 927 0.00 2.38 0.00 0.000 644 0.000 0.051 1567 1560 3550 3519 3581 0 0 0 0 0 0 14.90 14.73 14.91

992 -0.56 -146.0 1566 1560 3519 3581 90.4 -9.6 179 999 0.00 2.55 0.00 0.000 1158 0.000 0.090 1557 2957 3547 3518 3577 0 0 0 0 0 0 14.83 14.70 14.83

1191 -0.53 -146.0 1557 2957 3518 3581 113.3 -11.7 206 1197 0.12 0.00 0.00 0.000 2182 0.278 0.000 1589 2957 3549 3518 3581 0 0 0 0 0 0 14.61 14.78 14.72

1498 -0.55 -146.0 1589 2958 3518 3581 142.5 -9.3 237 1505 0.00 2.38 0.00 0.000 644 0.000 0.048 1590 1565 3549 3518 3581 0 0 0 0 0 0 14.94 14.76 14.97

1608 -0.60 -146.0 1589 1565 3517 3581 152.2 -8.5 258 1614 0.00 2.53 0.00 0.000 1158 0.000 0.090 1582 2949 3549 3518 3581 0 0 0 0 0 0 14.83 14.72 14.84

1914 -0.60 -146.0 1582 2950 3517 3581 182.1 -9.9 289 1920 0.00 2.35 0.00 0.000 516 0.000 0.042 1582 1560 3549 3517 3582 0 0 0 0 0 0 14.94 14.76 14.97

1973 -0.64 -146.0 1578 1558 3517 3582 187.8 -9.1 300 1980 0.00 2.53 0.00 0.000 1158 0.000 0.090 1572 2949 3549 3517 3581 0 0 0 0 0 0 14.80 14.71 14.83

2279 -0.64 -146.0 1572 2950 3517 3581 216.9 -9.3 331 2284 0.00 2.33 0.00 0.000 516 0.000 0.040 1572 1563 3548 3516 3581 0 0 0 0 0 0 14.95 14.80 14.98

2347 -0.67 -146.0 1571 1562 3517 3581 223.0 -8.4 344 2354 0.00 2.53 0.00 0.000 1158 0.000 0.088 1563 2954 3549 3516 3582 0 0 0 0 0 0 14.81 14.71 14.83

2653 -0.67 -146.0 1563 2954 3514 3589 253.1 -9.8 375 2659 0.00 2.33 0.00 0.000 516 0.000 0.041 1563 1560 3548 3516 3581 0 0 0 0 0 0 14.97 14.76 15.00

2718 -0.69 -146.0 1563 1560 3510 3588 259.3 -9.3 387 2724 0.00 2.50 0.00 0.000 1158 0.000 0.088 1554 2949 3549 3516 3582 0 0 0 0 0 0 14.85 14.75 14.88

3033 -0.66 -146.0 1553 2949 3516 3581 292.8 -10.8 419 3038 0.00 2.33 0.00 0.000 644 0.000 0.040 1554 1559 3548 3516 3581 0 0 0 0 0 0 14.95 14.79 15.00

3087 -0.66 -146.0 1553 1556 3516 3581 298.4 -9.8 429 3093 0.00 2.53 0.00 0.000 1030 0.000 0.088 1543 2957 3548 3516 3581 0 0 0 0 0 0 14.85 14.75 14.89

3403 -0.62 -146.0 1543 2957 3514 3581 334.5 -11.8 461 3409 0.00 2.33 0.00 0.000 644 0.000 0.039 1543 1568 3548 3516 3581 0 0 0 0 0 0 14.97 14.81 15.00

3452 -0.62 -146.0 1546 1567 3516 3581 340.2 -10.3 470 3459 0.00 2.53 0.00 0.000 1030 0.000 0.089 1533 2958 3548 3516 3581 0 0 0 0 0 0 14.84 14.74 14.87

3614 end dive: TARGET_DEPTH_EXCEEDED

state 3615 begin apogee

3623 -0.12 0.0 1532 3114 3515 3581 360.6 -12.6 487 3740 0.65 0.00 113.12 1.512 10246 0.233 0.000 1712 3115 2967 2937 2998 0 0 0 0 0 0 14.62 14.19 13.62

3744 end apogee: CONTROL_FINISHED_OK

state 3744 begin climb

3750 0.63 146.0 1712 3110 2934 2998 365.6 0.0 499 3875 0.80 1.38 115.22 1.457 10500 0.151 0.100 1953 3823 2384 2344 2424 0 0 0 0 0 0 14.20 14.08 13.53

3919 0.56 146.0 1954 3820 2339 2421 353.4 11.7 527 3924 0.00 1.20 0.00 0.000 1158 0.000 0.047 1959 3117 2380 2339 2421 0 0 0 0 0 0 14.37 14.35 14.38

4234 0.53 146.0 1959 3114 2334 2418 318.7 10.9 559 4239 0.00 2.42 0.00 0.000 644 0.000 0.042 1968 1693 2380 2335 2426 0 0 0 0 0 0 14.79 14.64 14.82

4424 0.58 201.6 1963 1694 2334 2416 300.2 7.4 596 4474 0.00 2.58 42.38 1.414 9382 0.000 0.096 1965 3094 2170 2138 2202 0 0 0 0 0 0 14.73 14.62 13.87

4773 0.55 201.6 1968 3094 2123 2196 258.5 11.9 635 4780 0.12 2.45 0.00 0.000 4740 0.236 0.054 1949 1702 2158 2123 2193 0 0 0 0 0 0 14.57 14.65 14.68

4919 0.56 201.6 1948 1701 2122 2196 244.3 8.6 663 4925 0.00 2.58 0.00 0.000 1158 0.000 0.088 1949 3108 2159 2123 2195 0 0 0 0 0 0 14.76 14.66 14.78

5234 0.56 201.6 1948 3108 2122 2195 212.7 9.9 695 5239 0.00 2.40 0.00 0.000 516 0.000 0.044 1957 1689 2158 2122 2195 0 0 0 0 0 0 14.91 14.75 14.94

5381 0.56 201.6 1956 1688 2122 2195 198.2 9.6 723 5387 0.00 2.60 0.00 0.000 1030 0.000 0.098 1957 3107 2158 2122 2194 0 0 0 0 0 0 14.81 14.71 14.83

5695 0.56 201.6 1957 3107 2121 2194 163.3 11.3 755 5701 0.00 2.40 0.00 0.000 516 0.000 0.047 1966 1701 2158 2122 2194 0 0 0 0 0 0 14.94 14.71 14.96

5836 0.56 201.6 1966 1701 2121 2194 148.5 10.4 782 5843 0.00 2.58 0.00 0.000 1030 0.000 0.094 1965 3106 2157 2121 2194 0 0 0 0 0 0 14.80 14.69 14.82

6142 0.54 201.6 1966 3107 2121 2194 112.1 11.5 813 6149 0.12 2.40 0.00 0.000 4740 0.233 0.044 1946 1694 2158 2121 2195 0 0 0 0 0 0 14.66 14.77 14.78

6280 0.57 201.6 1946 1693 2123 2194 98.9 8.4 839 6287 0.00 2.58 0.00 0.000 1158 0.000 0.093 1946 3105 2158 2122 2194 0 0 0 0 0 0 14.81 14.71 14.84

6473 0.57 201.6 1946 3106 2121 2195 78.9 10.5 876 6480 0.00 2.40 0.00 0.000 516 0.000 0.045 1954 1696 2154 2114 2194 0 0 0 0 0 0 14.92 14.76 14.95

6570 0.59 201.6 1954 1695 2121 2194 69.6 9.5 894 6577 0.00 2.58 0.00 0.000 1158 0.000 0.092 1954 3110 2157 2121 2193 0 0 0 0 0 0 14.81 14.71 14.84

6762 0.59 201.6 1954 3110 2121 2194 48.5 11.1 931 6768 0.00 2.40 0.00 0.000 516 0.000 0.044 1959 1696 2157 2121 2193 0 0 0 0 0 0 14.90 14.76 14.95

6843 0.59 201.6 1963 1695 2121 2192 40.1 10.6 946 6850 0.00 2.58 0.00 0.000 1030 0.000 0.093 1963 3108 2154 2120 2188 0 0 0 0 0 0 14.79 14.69 14.82

7036 0.57 201.6 1963 3108 2119 2193 17.9 12.5 983 7042 0.00 2.40 0.00 0.000 644 0.000 0.047 1972 1699 2154 2116 2193 0 0 0 0 0 0 14.92 14.72 14.96

7117 0.57 201.6 1972 1699 2121 2193 8.3 10.5 998 7124 0.12 2.55 0.00 0.000 5126 0.210 0.090 1941 3102 2156 2120 2193 0 0 0 0 0 0 14.66 14.69 14.84

7170 end climb: SURFACE_DEPTH_REACHED

state 7170 begin surface coast

7186 end surface coast: CONTROL_FINISHED_OK

state 7189 begin surface

ID	219	TGT_DEFAULT_LAT	4736	ROLL_ADJ_GAIN	0	XPDR_REP	0
MISSION	15	TGT_DEFAULT_LON	-12218	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
DIVE	5	TGT_AUTO_DEFAULT	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.25
N_DIVES	5	SM_CC	500	VBD_MAX	3960	DEEPGLIDER	0
STOP_T	0	N_FILEKB	8	C_VBD	2968	MOTHERBOARD	4
D_SURF	2	FILEMGR	0	VBD_DBAND	2	DEVICE1	-1
D_FLARE	3	CALL_NDIVES	1	VBD_CNV	-0.25119999	DEVICE2	-1
D_TGT	360	COMM_SEQ	0	VBD_LP_IGNORE	0	DEVICE3	-1
D_ABORT	1000	PROTOCOL	9	VBD_TIMEOUT	720	DEVICE4	-1
D_NO_BLEED	200	N_NOCOMM	2	PITCH_VBD_SHIFT	0.0013	DEVICE5	-1
D_BOOST	0	NOCOMM_ACTION	163	VBD_PUMP_AD_RATE_SURFACE	1	DEVICE6	-1
T_BOOST	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERS	3
D_FINISH	0	UPLOAD_DIVES_MAX	-1	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	53
D_PITCH	0	CALL_TRIES	5	UNCOM_BLEED	50	LOGGERDEVICE2	147
D_SAFE	0	CALL_WAIT	60	VBD_MAXERRORS	1	LOGGERDEVICE3	131
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	97
SURFACE_URGENCY_TRY	0	HEAPDBG	0	LOITER_W_DBAND	0	COMPASS2_DEVICE	150
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_DBDW	0	PHONE_DEVICE	49
T_DIVE	120	N_GPS	100440	LOITER_D_TOP	0	GPS_DEVICE	64
T_MISSION	150	T_RSLEEP	1	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_N_DIVE	0	XPDR_DEVICE	24
T_TURN	225	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	SIM_W	0
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	SEABIRD_T_G	0.0044368538
T_NO_W	120	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SEABIRD_T_H	0.0006575333
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	350	SEABIRD_T_I	2.7761149e-05
T_EPIRB	0	PITCH_MIN	250	AH0_10V	0	SEABIRD_T_J	3.5137082e-06
USE_BATHY	-6	PITCH_MAX	3914	MINV_24V	10	SEABIRD_C_G	-10.037535
USE_ICE	0	C_PITCH	1760	MINV_10V	10	SEABIRD_C_H	1.1079766
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	0.60000002	SEABIRD_C_I	-0.0022889124
D_OFFGRID	1000	PITCH_CNV	0.0031300001	MAXI_10V	1.2	SEABIRD_C_J	0.00024077215
T_WATCHDOG	10	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SC_RECORDABOVE	2000.0
RELAUNCH	1	P_OVSHOOT_WITHG	0	FG_AHR_24V	0	SC_PROFILE	3.0
APOGEE_PITCH	-5	PITCH_GAIN	40	PHONE_SUPPLY	-2	SC_XMITPROFILE	3.0
MAX_BUOY	150	PITCH_TIMEOUT	18	PRESSURE_YINT	-147.66289	SC_NDIVE	1.0
COURSE_BIAS	0	PITCH_AD_RATE	175	PRESSURE_SLOPE	0.00010781933	ES_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	AD7714Ch0Gain	1	ES_PROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	COMPASS_USE	4	ES_XMITPROFILE	0.0
RHO	1.0275	PITCH_ADJ_DBAND	1	ALTIM_PING_FIT	0	ES_UPLOADMAX	100000.0
MASS	55689	ROLL_MIN	251	ALTIM_TOP_PING_RANGE	0	ES_STARTS	8.0
MASS_COMP	0	ROLL_MAX	3825	ALTIM_BOTTOM_TURN_MARGIN	0	ES_NDIVE	1.0
NAV_MODE	2	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	ES_DL_HEADERSKIP	105044.0
FERRY_MAX	45	C_ROLL_DIVE	2950	ALTIM_TOP_MIN_OBSTACLE	0	ES_DL_RECORDLENGTH	10086.0
KALMAN_USE	2	C_ROLL_CLIMB	3100	ALTIM_PING_DEPTH	0	ES_DL_NRECORD	100.0
HD_A	0.003	HEAD_ERRBAND	10	ALTIM_PING_DELTA	0	ES_DL_RECORDCOUNT	3.0
HD_B	0.0099999998	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13	CP_RECORDABOVE	2000.0
HD_C	1.6100001e-05	ROLL_TIMEOUT	15	ALTIM_PULSE	3	CP_PROFILE	0.0
HEADING	0	R_PORT_OVSHOOT	61	ALTIM_SENSITIVITY	3	CP_XMITPROFILE	0.0
ESCAPE_HEADING	0	R_STBD_OVSHOOT	31	XPDR_VALID	6	CP_UPLOADMAX	0.0
ESCAPE_HEADING_DELTA	10	ROLL_AD_RATE	250	XPDR_INHIBIT	90	CP_STARTS	0.0
FIX_MISSING_TIMEOUT	0	ROLL_MAXERRORS	1	XPDR_INT	0	CP_NDIVE	1.0

GPS1	010421,163036,4900.1284,-1625.8649,9,1.1,13,-5.5,0.5,110.7,8,10.0	SPEED_LIMITS	0.173,0.257
_CALLS	3	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	4910.876,-1625.902
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	0.35	MHEAD_RNG_PITCHd_Wd	10.2,20000,-17.6,-10.000,-21.24,2209
_SM_ANGLEo	-9.6	D_GRID	1000
GPS2	010421,163843,4900.0767,-1625.9020,5,1.0,7,-5.5,0.5,110.3,8,10.0

FINISH	0.2,1.027044	ES_POWER1	0.000000
SM_CCo	7210,215.07,1.081,0,0,976,500.14	_24V_AH	13.53,19.199
SM_GC	0.49,5.00,0.25,215.07,0.081,0.083,1.081,227,2963,976,-4.70,1.39,500.14,0,0,0,0,0,0,14.78,14.78,13.74	_10V_AH	13.70,0.000
IRIDIUM_FIX	4859.33,-1627.82,010421,162642	FG_AHR_24Vo	0.000
TT8_MAMPS	0.023219,1.01564	FG_AHR_10Vo	0.000
HUMID	40.82	MEM	292688
INTERNAL_PRESSURE	8.34408	DATA_FILE_SIZE	36664,1011
TCM_TEMP	16.90	CAP_FILE_SIZE	116915,0
XPDR_PINGS	129	CFSIZE	1024409600,1022083072
SC_FREEKB	3907552	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ES_FREE	15873703936.000000	CURRENT	0.140,188.80,1
ES_POWER	63.340000	GPS	010421,184518,4900.159,-1625.724,21,4.4,61,-5.5,0.6,0.0,4,7.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	384	67.55	nil	0	0	0.00
Roll_motor	84	120	137.92	nil	0	0	0.00
VBD_pump_during_apogee	270	1511	5537.00	nil	0	0	0.00
VBD_pump_during_surface	215	1080	3145.51	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	7175	15	1535.38
Iridium_during_xfer	0	0	0.00	echo	7178	10	971.18
Transponder_ping	32	420	183.26	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	8	2.29
TT8	2361	12	391.71
LPSleep	2618	2	78.56
TT8_Active	675	11	105.19
TT8_Sampling	1669	30	688.41
TT8_CF8	211	45	130.33
TT8_Kalman	0	0	0.00
Analog_circuits	1471	15	314.57
GPS_charging	0	0	0.00
Compass	1572	2	48.48
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
15	end surface: CONTROL_FINISHED_OK
state	16	begin dive
22	-0.63	-146.0	240	2987	468	608	0.0	0.0	0	179	0.00	0.00	-151.88	0.004	16390	0.000	0.000	245	2986	3548	3527	3570	0	0	0	0	0	0	14.88	13.69	14.90
183	-0.63	-146.0	245	2986	3528	3571	2.5	-2.7	26	196	5.95	1.50	0.00	0.000	2340	0.385	0.077	1547	3828	3549	3525	3574	0	0	0	0	0	0	14.44	14.69	14.63
271	-0.55	-146.0	1547	3828	3522	3577	15.2	-12.2	42	278	0.08	1.45	0.00	0.000	3206	0.243	0.042	1577	2942	3549	3522	3577	0	0	0	0	0	0	14.58	14.75	14.74
464	-0.55	-146.0	1574	2941	3521	3579	35.6	-10.6	79	471	0.00	2.33	0.00	0.000	516	0.000	0.043	1575	1569	3550	3520	3580	0	0	0	0	0	0	14.89	14.73	14.92
536	-0.58	-146.0	1575	1562	3520	3580	43.3	-9.9	92	542	0.00	2.55	0.00	0.000	1158	0.000	0.098	1566	2943	3549	3518	3581	0	0	0	0	0	0	14.74	14.64	14.76
728	-0.56	-146.0	1567	2943	3519	3580	62.6	-9.9	129	735	0.00	0.00	0.00	0.000	134	0.000	0.000	1567	2943	3550	3519	3581	0	0	0	0	0	0	14.90	14.96	14.95
921	-0.54	-146.0	1567	2945	3519	3580	82.8	-10.5	166	927	0.00	2.38	0.00	0.000	644	0.000	0.051	1567	1560	3550	3519	3581	0	0	0	0	0	0	14.90	14.73	14.91
992	-0.56	-146.0	1566	1560	3519	3581	90.4	-9.6	179	999	0.00	2.55	0.00	0.000	1158	0.000	0.090	1557	2957	3547	3518	3577	0	0	0	0	0	0	14.83	14.70	14.83
1191	-0.53	-146.0	1557	2957	3518	3581	113.3	-11.7	206	1197	0.12	0.00	0.00	0.000	2182	0.278	0.000	1589	2957	3549	3518	3581	0	0	0	0	0	0	14.61	14.78	14.72
1498	-0.55	-146.0	1589	2958	3518	3581	142.5	-9.3	237	1505	0.00	2.38	0.00	0.000	644	0.000	0.048	1590	1565	3549	3518	3581	0	0	0	0	0	0	14.94	14.76	14.97
1608	-0.60	-146.0	1589	1565	3517	3581	152.2	-8.5	258	1614	0.00	2.53	0.00	0.000	1158	0.000	0.090	1582	2949	3549	3518	3581	0	0	0	0	0	0	14.83	14.72	14.84
1914	-0.60	-146.0	1582	2950	3517	3581	182.1	-9.9	289	1920	0.00	2.35	0.00	0.000	516	0.000	0.042	1582	1560	3549	3517	3582	0	0	0	0	0	0	14.94	14.76	14.97
1973	-0.64	-146.0	1578	1558	3517	3582	187.8	-9.1	300	1980	0.00	2.53	0.00	0.000	1158	0.000	0.090	1572	2949	3549	3517	3581	0	0	0	0	0	0	14.80	14.71	14.83
2279	-0.64	-146.0	1572	2950	3517	3581	216.9	-9.3	331	2284	0.00	2.33	0.00	0.000	516	0.000	0.040	1572	1563	3548	3516	3581	0	0	0	0	0	0	14.95	14.80	14.98
2347	-0.67	-146.0	1571	1562	3517	3581	223.0	-8.4	344	2354	0.00	2.53	0.00	0.000	1158	0.000	0.088	1563	2954	3549	3516	3582	0	0	0	0	0	0	14.81	14.71	14.83
2653	-0.67	-146.0	1563	2954	3514	3589	253.1	-9.8	375	2659	0.00	2.33	0.00	0.000	516	0.000	0.041	1563	1560	3548	3516	3581	0	0	0	0	0	0	14.97	14.76	15.00
2718	-0.69	-146.0	1563	1560	3510	3588	259.3	-9.3	387	2724	0.00	2.50	0.00	0.000	1158	0.000	0.088	1554	2949	3549	3516	3582	0	0	0	0	0	0	14.85	14.75	14.88
3033	-0.66	-146.0	1553	2949	3516	3581	292.8	-10.8	419	3038	0.00	2.33	0.00	0.000	644	0.000	0.040	1554	1559	3548	3516	3581	0	0	0	0	0	0	14.95	14.79	15.00
3087	-0.66	-146.0	1553	1556	3516	3581	298.4	-9.8	429	3093	0.00	2.53	0.00	0.000	1030	0.000	0.088	1543	2957	3548	3516	3581	0	0	0	0	0	0	14.85	14.75	14.89
3403	-0.62	-146.0	1543	2957	3514	3581	334.5	-11.8	461	3409	0.00	2.33	0.00	0.000	644	0.000	0.039	1543	1568	3548	3516	3581	0	0	0	0	0	0	14.97	14.81	15.00
3452	-0.62	-146.0	1546	1567	3516	3581	340.2	-10.3	470	3459	0.00	2.53	0.00	0.000	1030	0.000	0.089	1533	2958	3548	3516	3581	0	0	0	0	0	0	14.84	14.74	14.87
3614	end dive: TARGET_DEPTH_EXCEEDED
state	3615	begin apogee
3623	-0.12	0.0	1532	3114	3515	3581	360.6	-12.6	487	3740	0.65	0.00	113.12	1.512	10246	0.233	0.000	1712	3115	2967	2937	2998	0	0	0	0	0	0	14.62	14.19	13.62
3744	end apogee: CONTROL_FINISHED_OK
state	3744	begin climb
3750	0.63	146.0	1712	3110	2934	2998	365.6	0.0	499	3875	0.80	1.38	115.22	1.457	10500	0.151	0.100	1953	3823	2384	2344	2424	0	0	0	0	0	0	14.20	14.08	13.53
3919	0.56	146.0	1954	3820	2339	2421	353.4	11.7	527	3924	0.00	1.20	0.00	0.000	1158	0.000	0.047	1959	3117	2380	2339	2421	0	0	0	0	0	0	14.37	14.35	14.38
4234	0.53	146.0	1959	3114	2334	2418	318.7	10.9	559	4239	0.00	2.42	0.00	0.000	644	0.000	0.042	1968	1693	2380	2335	2426	0	0	0	0	0	0	14.79	14.64	14.82
4424	0.58	201.6	1963	1694	2334	2416	300.2	7.4	596	4474	0.00	2.58	42.38	1.414	9382	0.000	0.096	1965	3094	2170	2138	2202	0	0	0	0	0	0	14.73	14.62	13.87
4773	0.55	201.6	1968	3094	2123	2196	258.5	11.9	635	4780	0.12	2.45	0.00	0.000	4740	0.236	0.054	1949	1702	2158	2123	2193	0	0	0	0	0	0	14.57	14.65	14.68
4919	0.56	201.6	1948	1701	2122	2196	244.3	8.6	663	4925	0.00	2.58	0.00	0.000	1158	0.000	0.088	1949	3108	2159	2123	2195	0	0	0	0	0	0	14.76	14.66	14.78
5234	0.56	201.6	1948	3108	2122	2195	212.7	9.9	695	5239	0.00	2.40	0.00	0.000	516	0.000	0.044	1957	1689	2158	2122	2195	0	0	0	0	0	0	14.91	14.75	14.94
5381	0.56	201.6	1956	1688	2122	2195	198.2	9.6	723	5387	0.00	2.60	0.00	0.000	1030	0.000	0.098	1957	3107	2158	2122	2194	0	0	0	0	0	0	14.81	14.71	14.83
5695	0.56	201.6	1957	3107	2121	2194	163.3	11.3	755	5701	0.00	2.40	0.00	0.000	516	0.000	0.047	1966	1701	2158	2122	2194	0	0	0	0	0	0	14.94	14.71	14.96
5836	0.56	201.6	1966	1701	2121	2194	148.5	10.4	782	5843	0.00	2.58	0.00	0.000	1030	0.000	0.094	1965	3106	2157	2121	2194	0	0	0	0	0	0	14.80	14.69	14.82
6142	0.54	201.6	1966	3107	2121	2194	112.1	11.5	813	6149	0.12	2.40	0.00	0.000	4740	0.233	0.044	1946	1694	2158	2121	2195	0	0	0	0	0	0	14.66	14.77	14.78
6280	0.57	201.6	1946	1693	2123	2194	98.9	8.4	839	6287	0.00	2.58	0.00	0.000	1158	0.000	0.093	1946	3105	2158	2122	2194	0	0	0	0	0	0	14.81	14.71	14.84
6473	0.57	201.6	1946	3106	2121	2195	78.9	10.5	876	6480	0.00	2.40	0.00	0.000	516	0.000	0.045	1954	1696	2154	2114	2194	0	0	0	0	0	0	14.92	14.76	14.95
6570	0.59	201.6	1954	1695	2121	2194	69.6	9.5	894	6577	0.00	2.58	0.00	0.000	1158	0.000	0.092	1954	3110	2157	2121	2193	0	0	0	0	0	0	14.81	14.71	14.84
6762	0.59	201.6	1954	3110	2121	2194	48.5	11.1	931	6768	0.00	2.40	0.00	0.000	516	0.000	0.044	1959	1696	2157	2121	2193	0	0	0	0	0	0	14.90	14.76	14.95
6843	0.59	201.6	1963	1695	2121	2192	40.1	10.6	946	6850	0.00	2.58	0.00	0.000	1030	0.000	0.093	1963	3108	2154	2120	2188	0	0	0	0	0	0	14.79	14.69	14.82
7036	0.57	201.6	1963	3108	2119	2193	17.9	12.5	983	7042	0.00	2.40	0.00	0.000	644	0.000	0.047	1972	1699	2154	2116	2193	0	0	0	0	0	0	14.92	14.72	14.96
7117	0.57	201.6	1972	1699	2121	2193	8.3	10.5	998	7124	0.12	2.55	0.00	0.000	5126	0.210	0.090	1941	3102	2156	2120	2193	0	0	0	0	0	0	14.66	14.69	14.84
7170	end climb: SURFACE_DEPTH_REACHED
state	7170	begin surface coast
7186	end surface coast: CONTROL_FINISHED_OK
state	7189	begin surface