Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 40 HD_B 0.013 ROLL_MAX 3795 ALTIM_BOTTOM_PING_RANGE 0

MISSION 18 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 12 HEADING -1 C_ROLL_DIVE 2122 ALTIM_BOTTOM_TURN_MARGIN 25

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2122 ALTIM_TOP_TURN_MARGIN 0

STOP_T 9131819 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 1000

D_FLARE 3 TGT_DEFAULT_LAT 3210 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 20

D_TGT 540 TGT_DEFAULT_LON -6430 R_PORT_OVSHOOT 114 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 63 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 500 ROLL_AD_RATE 250 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 0

T_BOOST 0 FILEMGR 0 ROLL_ADJ_GAIN 0 XPDR_INHIBIT 90

D_FINISH 0 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 COMM_SEQ 0 VBD_MIN 350 INT_PRESSURE_YINT 1

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2649 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 -1

T_DIVE 180 CALL_TRIES 10 VBD_TIMEOUT 900 DEVICE4 -1

T_MISSION 210 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 3 DEVICE6 -1

T_TURN 720 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 6 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS -15 UNCOM_BLEED 60 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 50840 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_SLOITER 0 T_RSLEEP 2 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

T_EPIRB 0 STROBE 0 DBDW 0 COMPASS_DEVICE 33

USE_BATHY 0 RAFOS_PEAK_OFFSET 1.5 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

USE_ICE 0 RAFOS_CORR_THRESH 60 PITCH_W_DBAND 0 PHONE_DEVICE 49

ICE_FREEZE_MARGIN 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 GPS_DEVICE 48

D_OFFGRID 100 RAFOS_MMODEM 0 AH0_24V 150 RAFOS_DEVICE -1

T_WATCHDOG 10 PITCH_MIN 205 AH0_10V 100 XPDR_DEVICE 24

RELAUNCH 0 PITCH_MAX 3845 MINV_24V 17 SIM_W 0

APOGEE_PITCH -5 C_PITCH 2779 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 4 SEABIRD_T_G 0.0043949927

COURSE_BIAS 0 PITCH_CNV 0.0031300001 MAXI_10V 0.80000001 SEABIRD_T_H 0.00063390372

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.58046e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.1945401e-06

RHO 1.023 PITCH_GAIN 16.200001 PHONE_SUPPLY 2 SEABIRD_C_G -9.7571077

MASS 80783.898 PITCH_TIMEOUT 20 PRESSURE_YINT -17.149458 SEABIRD_C_H 1.1413336

MASS_COMP 11448 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0015994913

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.00020119222

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2927.6299

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 225 COMPASS_USE 4

AD7714Ch0Gain 32 D_SAFE 0 PITCH_ADJ_DBAND 2.5 SIM_W 0

AH0_10V 100 D_SURF 3 PITCH_ADJ_GAIN 0.02 SM_CC 500

AH0_24V 150 D_TGT 540 PITCH_AD_RATE 160 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING 0 PITCH_CNV 0.0031300001 STOP_T 9131819

ALTIM_BOTTOM_TURN_MARGIN 25 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 STROBE 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_GAIN 16.200001 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 FG_AHR_10V 0 PITCH_MAX 3845 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 1000 FG_AHR_24V 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 FILEMGR 0 PITCH_MIN 205 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 GPS_DEVICE 48 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 3210

ALTIM_TOP_TURN_MARGIN 0 HD_A 0.0049999999 PITCH_W_GAIN 0 TGT_DEFAULT_LON -6430

APOGEE_PITCH -5 HD_B 0.013 PRESSURE_SLOPE 0 T_ABORT 1440

CALL_NDIVES 1 HD_C 2.4999999e-05 PRESSURE_YINT -17.149458 T_BOOST 0

CALL_TRIES 10 HEADING -1 PROTOCOL 9 T_DIVE 180

CALL_WAIT 60 HEAD_ERRBAND 15 P_OVSHOOT 0.039999999 T_EPIRB 0

CAPMAXSIZE 200000 HEAPDBG 0 P_OVSHOOT_WITHG 0.079999998 T_GPS -15

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 40 RAFOS_DEVICE -1 T_MISSION 210

COMM_SEQ 0 INT_PRESSURE_SLOPE 0.0097660003 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 1 RAFOS_MMODEM 0 T_RSLEEP 2

COMPASS_DEVICE 33 KALMAN_USE 2 RAFOS_PEAK_OFFSET 1.5 T_SLOITER 0

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 720

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2779 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2122 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2122 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2649 MASS 80783.898 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 11448 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.80000001 ROLL_MAX 3795 VBD_BLEED_AD_RATE 6

DEVICE1 2 MAXI_24V 4 ROLL_MAXERRORS 2 VBD_CNV -0.29049

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 225 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 17 R_PORT_OVSHOOT 114 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 63 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 12 NAV_MODE 2 SEABIRD_C_H 1.1413336 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 6050 NOCOMM_ACTION 384 SEABIRD_C_I -0.0015994913 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.00020119222 VBD_TIMEOUT 900

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2927.6299 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0043949927 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00063390372 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.58046e-05 XPDR_VALID 0

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.1945401e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 060918,095925,3214.9321,-6432.9604,12,0.8,34,-14.9,0.0,296.5,9,4.9 TGT_NAME BATS

_CALLS 1 TGT_LATLONG 3140.000,-6410.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 2.36 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -55.2 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,100424,3214.9414,-6433.0127,9,0.8,17,-14.9,0.3,273.6,9,5.0 MHEAD_RNG_PITCHd_Wd 136.8,74185,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.4,1.020716 _10V_AH 10.49,7.079

SM_CCo 9829,49.65,0.551,0,0,927,500.22 FG_AHR_24Vo 0.000

SM_GC 2.72,7.62,2.25,49.65,0.074,0.062,0.551,178,2134,927,-8.01,3.02,500.22,0,0,0,0,0,0,25.87,25.90,24.77 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3216.44,-6434.50,060918,071144 MEM 342444

TT8_MAMPS 0.023219,0.246421 DATA_FILE_SIZE 38324,531

HUMID 21.56 CAP_FILE_SIZE 123003,0

INTERNAL_PRESSURE 9.14484 CFSIZE 2047311872,2036563968

TCM_TEMP 24.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.117,265.64,1

ALTIM_TOP_PING 19.0,16.7 GPS 060918,125101,3213.856,-6432.301,37,1.0,42,-14.9,0.0,280.5,10,5.0

_24V_AH 24.01,12.852

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 273 129.19 SBE_CT 357 24 205.99

Roll_motor 67 86 140.27 AA4330 701 33 555.98

VBD_pump_during_apogee 511 913 11222.34 nil 0 0 0.00

VBD_pump_during_surface 49 551 657.11 nil 0 0 0.00

VBD_valve 157 166 627.21 nil 0 0 0.00

Iridium_during_init 26 103 64.66 nil 0 0 0.00

Iridium_during_connect 25 160 98.94 nil 0 0 0.00

Iridium_during_xfer 156 223 836.44 nil 0 0 0.00

Transponder_ping 93 420 940.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.43

TT8 1572 19 326.59

LPSleep 5861 2 134.65

TT8_Active 733 19 152.34

TT8_Sampling 1957 39 817.29

TT8_CF8 76 45 36.53

TT8_Kalman 0 0 0.00

Analog_circuits 1358 12 171.05

GPS_charging 0 0 0.00

Compass 1033 15 162.69

RAFOS 0 0 0.00

Transponder 1042 30 327.97

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 int_press humidity

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7 -1.29 -244.4 176 2131 890 962 0.0 0.0 0 112 0.00 0.00 -102.95 0.161 16386 0.000 0.000 176 2131 2558 2513 2603 0 0 0 0 0 0 26.32 28.83 26.34 9.22 21.17

115 -1.29 -244.4 176 2131 2512 2603 3.2 -1.4 10 184 8.80 2.33 -54.08 0.166 18948 0.273 0.077 2354 593 3492 3475 3510 0 0 0 0 0 0 25.46 25.75 25.55 9.39 20.74

234 -1.13 -244.4 2354 593 3475 3510 14.2 -17.3 22 243 0.22 2.22 0.00 0.000 3078 0.184 0.067 2412 2130 3492 3475 3510 0 0 0 0 0 0 25.60 25.97 25.79 9.50 20.30

542 -1.13 -244.4 2412 2130 3475 3509 49.5 -8.2 53 547 0.00 2.30 0.00 0.000 260 0.000 0.084 2404 3678 3492 3475 3510 0 0 0 0 0 0 26.60 26.17 26.61 9.50 19.83

646 -1.13 -244.4 2403 3678 3475 3509 58.8 -10.8 63 654 0.00 2.15 0.00 0.000 1030 0.000 0.067 2403 2117 3492 3475 3510 0 0 0 0 0 0 26.44 26.44 26.46 9.50 20.54

1000 -1.13 -244.4 2403 2117 3475 3511 90.4 -8.9 94 1004 0.00 2.33 0.00 0.000 260 0.000 0.084 2392 3681 3493 3475 3511 0 0 0 0 0 0 26.74 26.29 26.74 9.46 19.48

1068 -1.07 -244.4 2391 3681 3475 3512 96.9 -9.9 97 1087 0.12 2.12 0.00 0.000 3078 0.191 0.067 2431 2097 3492 3474 3511 0 0 0 0 0 0 26.10 26.52 26.23 9.45 19.44

1544 -1.07 -244.4 2431 2096 3474 3512 146.6 -11.1 128 1561 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2097 3493 3475 3512 0 0 0 0 0 0 26.75 26.77 26.77 9.42 19.01

1879 -1.07 -244.4 2431 2097 3475 3512 186.0 -12.3 145 1886 0.00 2.33 0.00 0.000 260 0.000 0.084 2423 3675 3493 3475 3512 0 0 0 0 0 0 26.78 26.34 26.79 9.39 19.20

1949 -1.07 -244.4 2422 3675 3475 3512 193.8 -12.5 147 1953 0.00 2.10 0.00 0.000 1030 0.000 0.067 2422 2149 3493 3475 3512 0 0 0 0 0 0 26.60 26.57 26.61 9.39 19.28

2261 -1.07 -244.4 2422 2129 3475 3512 235.6 -12.4 163 2262 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2129 3493 3475 3512 0 0 0 0 0 0 26.89 26.90 26.90 9.38 19.71

2561 -1.07 -244.4 2422 2129 3475 3511 273.9 -12.6 178 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2129 3493 3475 3512 0 0 0 0 0 0 26.94 26.95 26.95 9.38 19.95

2871 -1.07 -244.4 2422 2130 3475 3511 313.0 -12.8 192 2872 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2129 3492 3474 3510 0 0 0 0 0 0 26.97 26.98 26.98 9.36 20.50

3171 -1.07 -244.4 2421 2129 3474 3510 350.4 -11.9 202 3177 0.00 2.30 0.00 0.000 260 0.000 0.084 2412 3681 3491 3474 3509 0 0 0 0 0 0 26.99 26.39 27.01 9.36 20.42

3219 -1.07 -244.4 2411 3680 3475 3509 354.0 -11.8 203 3223 0.00 2.15 0.00 0.000 1030 0.000 0.067 2411 2097 3492 3475 3510 0 0 0 0 0 0 26.74 26.70 26.75 9.36 20.38

3531 -1.07 -244.4 2410 2097 3474 3508 395.4 -12.7 214 3532 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2097 3491 3474 3508 0 0 0 0 0 0 27.01 27.03 27.02 9.35 21.05

3831 -1.07 -244.4 2411 2097 3474 3508 434.4 -13.0 224 3832 0.00 0.00 0.00 0.000 6 0.000 0.000 2411 2096 3490 3474 3507 0 0 0 0 0 0 27.03 27.04 27.04 9.34 21.05

4131 -1.07 -244.4 2411 2096 3473 3507 472.5 -12.4 234 4138 0.00 2.35 0.00 0.000 260 0.000 0.084 2400 3679 3490 3473 3508 0 0 0 0 0 0 27.04 26.36 27.05 9.33 21.49

4169 -1.07 -244.4 2400 3679 3473 3508 476.2 -12.5 235 4174 0.10 2.12 0.00 0.000 3078 0.189 0.065 2433 2101 3490 3473 3508 0 0 0 0 0 0 26.35 26.73 26.43 9.33 21.17

4491 -1.07 -244.4 2432 2101 3472 3507 516.5 -12.9 246 4493 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2101 3489 3472 3507 0 0 0 0 0 0 27.04 27.06 27.05 9.32 21.05

4670 end dive: TARGET_DEPTH_EXCEEDED

state 4670 begin apogee

4673 -0.31 0.0 2433 2101 3472 3506 540.2 -13.2 252 4863 0.73 0.00 185.32 0.914 10246 0.144 0.000 2682 2099 2649 2645 2654 0 0 0 0 0 0 25.86 24.70 24.06 9.31 20.82

4864 end apogee: CONTROL_FINISHED_OK

state 4864 begin climb

4865 1.29 244.4 2682 2099 2645 2653 548.5 0.0 258 5062 1.42 0.00 189.05 0.901 10246 0.107 0.000 3190 2099 1807 1806 1809 0 0 0 0 0 0 24.94 24.63 24.01 9.22 20.23

5362 1.14 244.4 3189 2099 1806 1808 506.1 13.6 275 5368 0.12 2.25 0.00 0.000 4612 0.209 0.077 3160 602 1807 1806 1808 0 0 0 0 0 0 25.89 26.03 25.96 9.14 20.34

5439 1.00 244.4 3159 602 1806 1808 497.9 13.8 277 5444 0.20 2.20 0.00 0.000 5126 0.189 0.065 3100 2131 1807 1806 1808 0 0 0 0 0 0 25.88 26.21 26.06 9.13 20.50

5747 0.95 244.4 3100 2131 1806 1806 462.0 10.6 287 5753 0.00 2.30 0.00 0.000 516 0.000 0.077 3110 591 1806 1806 1806 0 0 0 0 0 0 26.68 26.32 26.69 9.13 21.80

5825 0.89 244.4 3109 591 1806 1806 456.3 10.1 289 5830 0.15 2.20 0.00 0.000 5126 0.189 0.065 3062 2134 1806 1806 1806 0 0 0 0 0 0 26.08 26.41 26.24 9.13 20.90

6131 0.94 280.4 3062 2135 1806 1805 426.7 9.0 299 6163 0.00 0.00 27.45 0.809 8198 0.000 0.000 3062 2135 1683 1681 1685 0 0 0 0 0 0 26.80 25.70 25.08 9.14 21.45

6461 0.98 312.9 3061 2135 1681 1685 396.1 9.1 310 6493 0.00 2.35 25.05 0.787 8708 0.000 0.077 3072 601 1570 1566 1575 0 0 0 0 0 0 26.59 25.61 24.95 9.13 21.09

6579 0.98 312.9 3072 600 1566 1575 385.7 10.5 313 6586 0.00 2.22 0.00 0.000 1030 0.000 0.065 3072 2128 1570 1566 1575 0 0 0 0 0 0 26.09 26.03 26.11 9.13 21.45

6886 0.98 312.9 3072 2128 1566 1575 349.9 11.1 324 6887 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2128 1570 1566 1575 0 0 0 0 0 0 26.62 26.63 26.63 9.12 21.33

7186 0.98 312.9 3072 2128 1567 1575 314.1 12.2 334 7190 0.00 2.28 0.00 0.000 516 0.000 0.077 3084 605 1570 1566 1575 0 0 0 0 0 0 26.76 26.39 26.77 9.12 22.27

7264 0.98 312.9 3083 602 1566 1574 306.1 12.6 336 7269 0.00 2.20 0.00 0.000 1030 0.000 0.065 3084 2125 1570 1566 1574 0 0 0 0 0 0 26.51 26.48 26.53 9.13 22.12

7587 0.98 312.9 3083 2125 1566 1574 260.8 13.7 352 7591 0.00 2.28 0.00 0.000 516 0.000 0.077 3094 594 1570 1566 1574 0 0 0 0 0 0 26.86 26.45 26.86 9.13 21.45

7631 0.98 312.9 3094 594 1566 1574 255.4 13.6 354 7636 0.00 2.20 0.00 0.000 1030 0.000 0.067 3094 2118 1570 1566 1574 0 0 0 0 0 0 26.55 26.53 26.58 9.13 22.12

7948 0.98 312.9 3094 2118 1566 1574 213.0 13.1 370 7949 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2118 1569 1565 1574 0 0 0 0 0 0 26.91 26.93 26.92 9.13 21.64

8248 0.98 312.9 3094 2118 1566 1574 174.2 13.3 385 8252 0.00 2.25 0.00 0.000 516 0.000 0.077 3105 601 1570 1566 1574 0 0 0 0 0 0 26.94 26.49 26.95 9.13 21.92

8333 0.98 312.9 3105 602 1566 1574 164.0 13.3 389 8337 0.00 2.17 0.00 0.000 1030 0.000 0.067 3105 2125 1570 1566 1574 0 0 0 0 0 0 26.65 26.59 26.67 9.13 21.96

8645 0.92 312.9 3105 2125 1566 1574 120.5 14.2 415 8654 0.00 2.25 0.00 0.000 516 0.000 0.077 3116 606 1570 1567 1574 0 0 0 0 0 0 26.97 26.51 26.98 9.13 21.92

8709 0.86 312.9 3116 606 1566 1574 112.2 13.3 421 8718 0.15 2.17 0.00 0.000 5126 0.176 0.065 3059 2124 1570 1566 1574 0 0 0 0 0 0 26.11 26.60 26.29 9.13 21.13

9017 0.86 312.9 3058 2124 1566 1574 77.3 11.2 452 9020 0.00 2.25 0.00 0.000 516 0.000 0.077 3067 601 1570 1566 1574 0 0 0 0 0 0 26.99 26.51 27.01 9.14 21.21

9060 0.86 312.9 3067 599 1566 1574 72.7 11.2 456 9068 0.00 2.17 0.00 0.000 1030 0.000 0.065 3067 2114 1570 1566 1574 0 0 0 0 0 0 26.65 26.62 26.65 9.14 21.29

9368 0.86 312.9 3066 2114 1566 1574 38.7 10.1 487 9369 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2114 1570 1566 1574 0 0 0 0 0 0 27.01 27.03 27.02 9.16 21.49

9668 1.01 432.8 3067 2114 1566 1573 17.4 6.7 517 9760 0.05 2.42 84.65 0.574 10500 0.186 0.087 3123 3682 1159 1148 1170 0 0 0 0 0 0 26.82 25.44 24.94 9.20 22.75

9791 end climb: SURFACE_DEPTH_REACHED

state 9791 begin surface coast

9812 end surface coast: CONTROL_FINISHED_OK

state 9812 begin surface

ID	40	HD_B	0.013	ROLL_MAX	3795	ALTIM_BOTTOM_PING_RANGE	0
MISSION	18	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	12	HEADING	-1	C_ROLL_DIVE	2122	ALTIM_BOTTOM_TURN_MARGIN	25
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2122	ALTIM_TOP_TURN_MARGIN	0
STOP_T	9131819	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	1000
D_FLARE	3	TGT_DEFAULT_LAT	3210	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	20
D_TGT	540	TGT_DEFAULT_LON	-6430	R_PORT_OVSHOOT	114	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	63	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	500	ROLL_AD_RATE	250	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	0
T_BOOST	0	FILEMGR	0	ROLL_ADJ_GAIN	0	XPDR_INHIBIT	90
D_FINISH	0	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	COMM_SEQ	0	VBD_MIN	350	INT_PRESSURE_YINT	1
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2649	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	-1
T_DIVE	180	CALL_TRIES	10	VBD_TIMEOUT	900	DEVICE4	-1
T_MISSION	210	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	3	DEVICE6	-1
T_TURN	720	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	6	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	-15	UNCOM_BLEED	60	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	50840	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_SLOITER	0	T_RSLEEP	2	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
T_EPIRB	0	STROBE	0	DBDW	0	COMPASS_DEVICE	33
USE_BATHY	0	RAFOS_PEAK_OFFSET	1.5	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
USE_ICE	0	RAFOS_CORR_THRESH	60	PITCH_W_DBAND	0	PHONE_DEVICE	49
ICE_FREEZE_MARGIN	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	GPS_DEVICE	48
D_OFFGRID	100	RAFOS_MMODEM	0	AH0_24V	150	RAFOS_DEVICE	-1
T_WATCHDOG	10	PITCH_MIN	205	AH0_10V	100	XPDR_DEVICE	24
RELAUNCH	0	PITCH_MAX	3845	MINV_24V	17	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	2779	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	4	SEABIRD_T_G	0.0043949927
COURSE_BIAS	0	PITCH_CNV	0.0031300001	MAXI_10V	0.80000001	SEABIRD_T_H	0.00063390372
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.58046e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.1945401e-06
RHO	1.023	PITCH_GAIN	16.200001	PHONE_SUPPLY	2	SEABIRD_C_G	-9.7571077
MASS	80783.898	PITCH_TIMEOUT	20	PRESSURE_YINT	-17.149458	SEABIRD_C_H	1.1413336
MASS_COMP	11448	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0015994913
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.00020119222
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2927.6299
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	225	COMPASS_USE	4

GPS1	060918,095925,3214.9321,-6432.9604,12,0.8,34,-14.9,0.0,296.5,9,4.9	TGT_NAME	BATS
_CALLS	1	TGT_LATLONG	3140.000,-6410.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	2.36	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-55.2	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,100424,3214.9414,-6433.0127,9,0.8,17,-14.9,0.3,273.6,9,5.0	MHEAD_RNG_PITCHd_Wd	136.8,74185,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	1.4,1.020716	_10V_AH	10.49,7.079
SM_CCo	9829,49.65,0.551,0,0,927,500.22	FG_AHR_24Vo	0.000
SM_GC	2.72,7.62,2.25,49.65,0.074,0.062,0.551,178,2134,927,-8.01,3.02,500.22,0,0,0,0,0,0,25.87,25.90,24.77	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3216.44,-6434.50,060918,071144	MEM	342444
TT8_MAMPS	0.023219,0.246421	DATA_FILE_SIZE	38324,531
HUMID	21.56	CAP_FILE_SIZE	123003,0
INTERNAL_PRESSURE	9.14484	CFSIZE	2047311872,2036563968
TCM_TEMP	24.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.117,265.64,1
ALTIM_TOP_PING	19.0,16.7	GPS	060918,125101,3213.856,-6432.301,37,1.0,42,-14.9,0.0,280.5,10,5.0
_24V_AH	24.01,12.852

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	273	129.19	SBE_CT	357	24	205.99
Roll_motor	67	86	140.27	AA4330	701	33	555.98
VBD_pump_during_apogee	511	913	11222.34	nil	0	0	0.00
VBD_pump_during_surface	49	551	657.11	nil	0	0	0.00
VBD_valve	157	166	627.21	nil	0	0	0.00
Iridium_during_init	26	103	64.66	nil	0	0	0.00
Iridium_during_connect	25	160	98.94	nil	0	0	0.00
Iridium_during_xfer	156	223	836.44	nil	0	0	0.00
Transponder_ping	93	420	940.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.43
TT8	1572	19	326.59
LPSleep	5861	2	134.65
TT8_Active	733	19	152.34
TT8_Sampling	1957	39	817.29
TT8_CF8	76	45	36.53
TT8_Kalman	0	0	0.00
Analog_circuits	1358	12	171.05
GPS_charging	0	0	0.00
Compass	1033	15	162.69
RAFOS	0	0	0.00
Transponder	1042	30	327.97

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	int_press	humidity
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7	-1.29	-244.4	176	2131	890	962	0.0	0.0	0	112	0.00	0.00	-102.95	0.161	16386	0.000	0.000	176	2131	2558	2513	2603	0	0	0	0	0	0	26.32	28.83	26.34	9.22	21.17
115	-1.29	-244.4	176	2131	2512	2603	3.2	-1.4	10	184	8.80	2.33	-54.08	0.166	18948	0.273	0.077	2354	593	3492	3475	3510	0	0	0	0	0	0	25.46	25.75	25.55	9.39	20.74
234	-1.13	-244.4	2354	593	3475	3510	14.2	-17.3	22	243	0.22	2.22	0.00	0.000	3078	0.184	0.067	2412	2130	3492	3475	3510	0	0	0	0	0	0	25.60	25.97	25.79	9.50	20.30
542	-1.13	-244.4	2412	2130	3475	3509	49.5	-8.2	53	547	0.00	2.30	0.00	0.000	260	0.000	0.084	2404	3678	3492	3475	3510	0	0	0	0	0	0	26.60	26.17	26.61	9.50	19.83
646	-1.13	-244.4	2403	3678	3475	3509	58.8	-10.8	63	654	0.00	2.15	0.00	0.000	1030	0.000	0.067	2403	2117	3492	3475	3510	0	0	0	0	0	0	26.44	26.44	26.46	9.50	20.54
1000	-1.13	-244.4	2403	2117	3475	3511	90.4	-8.9	94	1004	0.00	2.33	0.00	0.000	260	0.000	0.084	2392	3681	3493	3475	3511	0	0	0	0	0	0	26.74	26.29	26.74	9.46	19.48
1068	-1.07	-244.4	2391	3681	3475	3512	96.9	-9.9	97	1087	0.12	2.12	0.00	0.000	3078	0.191	0.067	2431	2097	3492	3474	3511	0	0	0	0	0	0	26.10	26.52	26.23	9.45	19.44
1544	-1.07	-244.4	2431	2096	3474	3512	146.6	-11.1	128	1561	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2097	3493	3475	3512	0	0	0	0	0	0	26.75	26.77	26.77	9.42	19.01
1879	-1.07	-244.4	2431	2097	3475	3512	186.0	-12.3	145	1886	0.00	2.33	0.00	0.000	260	0.000	0.084	2423	3675	3493	3475	3512	0	0	0	0	0	0	26.78	26.34	26.79	9.39	19.20
1949	-1.07	-244.4	2422	3675	3475	3512	193.8	-12.5	147	1953	0.00	2.10	0.00	0.000	1030	0.000	0.067	2422	2149	3493	3475	3512	0	0	0	0	0	0	26.60	26.57	26.61	9.39	19.28
2261	-1.07	-244.4	2422	2129	3475	3512	235.6	-12.4	163	2262	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2129	3493	3475	3512	0	0	0	0	0	0	26.89	26.90	26.90	9.38	19.71
2561	-1.07	-244.4	2422	2129	3475	3511	273.9	-12.6	178	2562	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2129	3493	3475	3512	0	0	0	0	0	0	26.94	26.95	26.95	9.38	19.95
2871	-1.07	-244.4	2422	2130	3475	3511	313.0	-12.8	192	2872	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2129	3492	3474	3510	0	0	0	0	0	0	26.97	26.98	26.98	9.36	20.50
3171	-1.07	-244.4	2421	2129	3474	3510	350.4	-11.9	202	3177	0.00	2.30	0.00	0.000	260	0.000	0.084	2412	3681	3491	3474	3509	0	0	0	0	0	0	26.99	26.39	27.01	9.36	20.42
3219	-1.07	-244.4	2411	3680	3475	3509	354.0	-11.8	203	3223	0.00	2.15	0.00	0.000	1030	0.000	0.067	2411	2097	3492	3475	3510	0	0	0	0	0	0	26.74	26.70	26.75	9.36	20.38
3531	-1.07	-244.4	2410	2097	3474	3508	395.4	-12.7	214	3532	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2097	3491	3474	3508	0	0	0	0	0	0	27.01	27.03	27.02	9.35	21.05
3831	-1.07	-244.4	2411	2097	3474	3508	434.4	-13.0	224	3832	0.00	0.00	0.00	0.000	6	0.000	0.000	2411	2096	3490	3474	3507	0	0	0	0	0	0	27.03	27.04	27.04	9.34	21.05
4131	-1.07	-244.4	2411	2096	3473	3507	472.5	-12.4	234	4138	0.00	2.35	0.00	0.000	260	0.000	0.084	2400	3679	3490	3473	3508	0	0	0	0	0	0	27.04	26.36	27.05	9.33	21.49
4169	-1.07	-244.4	2400	3679	3473	3508	476.2	-12.5	235	4174	0.10	2.12	0.00	0.000	3078	0.189	0.065	2433	2101	3490	3473	3508	0	0	0	0	0	0	26.35	26.73	26.43	9.33	21.17
4491	-1.07	-244.4	2432	2101	3472	3507	516.5	-12.9	246	4493	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2101	3489	3472	3507	0	0	0	0	0	0	27.04	27.06	27.05	9.32	21.05
4670	end dive: TARGET_DEPTH_EXCEEDED
state	4670	begin apogee
4673	-0.31	0.0	2433	2101	3472	3506	540.2	-13.2	252	4863	0.73	0.00	185.32	0.914	10246	0.144	0.000	2682	2099	2649	2645	2654	0	0	0	0	0	0	25.86	24.70	24.06	9.31	20.82
4864	end apogee: CONTROL_FINISHED_OK
state	4864	begin climb
4865	1.29	244.4	2682	2099	2645	2653	548.5	0.0	258	5062	1.42	0.00	189.05	0.901	10246	0.107	0.000	3190	2099	1807	1806	1809	0	0	0	0	0	0	24.94	24.63	24.01	9.22	20.23
5362	1.14	244.4	3189	2099	1806	1808	506.1	13.6	275	5368	0.12	2.25	0.00	0.000	4612	0.209	0.077	3160	602	1807	1806	1808	0	0	0	0	0	0	25.89	26.03	25.96	9.14	20.34
5439	1.00	244.4	3159	602	1806	1808	497.9	13.8	277	5444	0.20	2.20	0.00	0.000	5126	0.189	0.065	3100	2131	1807	1806	1808	0	0	0	0	0	0	25.88	26.21	26.06	9.13	20.50
5747	0.95	244.4	3100	2131	1806	1806	462.0	10.6	287	5753	0.00	2.30	0.00	0.000	516	0.000	0.077	3110	591	1806	1806	1806	0	0	0	0	0	0	26.68	26.32	26.69	9.13	21.80
5825	0.89	244.4	3109	591	1806	1806	456.3	10.1	289	5830	0.15	2.20	0.00	0.000	5126	0.189	0.065	3062	2134	1806	1806	1806	0	0	0	0	0	0	26.08	26.41	26.24	9.13	20.90
6131	0.94	280.4	3062	2135	1806	1805	426.7	9.0	299	6163	0.00	0.00	27.45	0.809	8198	0.000	0.000	3062	2135	1683	1681	1685	0	0	0	0	0	0	26.80	25.70	25.08	9.14	21.45
6461	0.98	312.9	3061	2135	1681	1685	396.1	9.1	310	6493	0.00	2.35	25.05	0.787	8708	0.000	0.077	3072	601	1570	1566	1575	0	0	0	0	0	0	26.59	25.61	24.95	9.13	21.09
6579	0.98	312.9	3072	600	1566	1575	385.7	10.5	313	6586	0.00	2.22	0.00	0.000	1030	0.000	0.065	3072	2128	1570	1566	1575	0	0	0	0	0	0	26.09	26.03	26.11	9.13	21.45
6886	0.98	312.9	3072	2128	1566	1575	349.9	11.1	324	6887	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2128	1570	1566	1575	0	0	0	0	0	0	26.62	26.63	26.63	9.12	21.33
7186	0.98	312.9	3072	2128	1567	1575	314.1	12.2	334	7190	0.00	2.28	0.00	0.000	516	0.000	0.077	3084	605	1570	1566	1575	0	0	0	0	0	0	26.76	26.39	26.77	9.12	22.27
7264	0.98	312.9	3083	602	1566	1574	306.1	12.6	336	7269	0.00	2.20	0.00	0.000	1030	0.000	0.065	3084	2125	1570	1566	1574	0	0	0	0	0	0	26.51	26.48	26.53	9.13	22.12
7587	0.98	312.9	3083	2125	1566	1574	260.8	13.7	352	7591	0.00	2.28	0.00	0.000	516	0.000	0.077	3094	594	1570	1566	1574	0	0	0	0	0	0	26.86	26.45	26.86	9.13	21.45
7631	0.98	312.9	3094	594	1566	1574	255.4	13.6	354	7636	0.00	2.20	0.00	0.000	1030	0.000	0.067	3094	2118	1570	1566	1574	0	0	0	0	0	0	26.55	26.53	26.58	9.13	22.12
7948	0.98	312.9	3094	2118	1566	1574	213.0	13.1	370	7949	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2118	1569	1565	1574	0	0	0	0	0	0	26.91	26.93	26.92	9.13	21.64
8248	0.98	312.9	3094	2118	1566	1574	174.2	13.3	385	8252	0.00	2.25	0.00	0.000	516	0.000	0.077	3105	601	1570	1566	1574	0	0	0	0	0	0	26.94	26.49	26.95	9.13	21.92
8333	0.98	312.9	3105	602	1566	1574	164.0	13.3	389	8337	0.00	2.17	0.00	0.000	1030	0.000	0.067	3105	2125	1570	1566	1574	0	0	0	0	0	0	26.65	26.59	26.67	9.13	21.96
8645	0.92	312.9	3105	2125	1566	1574	120.5	14.2	415	8654	0.00	2.25	0.00	0.000	516	0.000	0.077	3116	606	1570	1567	1574	0	0	0	0	0	0	26.97	26.51	26.98	9.13	21.92
8709	0.86	312.9	3116	606	1566	1574	112.2	13.3	421	8718	0.15	2.17	0.00	0.000	5126	0.176	0.065	3059	2124	1570	1566	1574	0	0	0	0	0	0	26.11	26.60	26.29	9.13	21.13
9017	0.86	312.9	3058	2124	1566	1574	77.3	11.2	452	9020	0.00	2.25	0.00	0.000	516	0.000	0.077	3067	601	1570	1566	1574	0	0	0	0	0	0	26.99	26.51	27.01	9.14	21.21
9060	0.86	312.9	3067	599	1566	1574	72.7	11.2	456	9068	0.00	2.17	0.00	0.000	1030	0.000	0.065	3067	2114	1570	1566	1574	0	0	0	0	0	0	26.65	26.62	26.65	9.14	21.29
9368	0.86	312.9	3066	2114	1566	1574	38.7	10.1	487	9369	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2114	1570	1566	1574	0	0	0	0	0	0	27.01	27.03	27.02	9.16	21.49
9668	1.01	432.8	3067	2114	1566	1573	17.4	6.7	517	9760	0.05	2.42	84.65	0.574	10500	0.186	0.087	3123	3682	1159	1148	1170	0	0	0	0	0	0	26.82	25.44	24.94	9.20	22.75
9791	end climb: SURFACE_DEPTH_REACHED
state	9791	begin surface coast
9812	end surface coast: CONTROL_FINISHED_OK
state	9812	begin surface