Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 13 * 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 13 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 91 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 62 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 91 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 62 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 13 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 060918,125101,3213.8564,-6432.3008,37,1.0,42,-14.9,0.0,280.5,10,5.0 TGT_NAME BATS

_CALLS 2 TGT_LATLONG 3140.000,-6410.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000000,0.000000

_SM_DEPTHo 2.17 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -51.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,125903,3213.8865,-6432.3560,5,0.9,15,-14.9,0.0,314.6,11,5.0 MHEAD_RNG_PITCHd_Wd 144.1,71975,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 0.2,1.016369 _10V_AH 10.49,7.150

SM_CCo 9899,115.12,0.556,0,0,927,500.22 FG_AHR_24Vo 0.000

SM_GC 2.46,7.47,2.22,115.12,0.079,0.062,0.556,184,2139,927,-8.01,3.02,500.22,0,0,0,0,0,0,26.20,26.29,24.64 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3213.62,-6429.90,060918,125213 MEM 342436

TT8_MAMPS 0.020972,0.219457 DATA_FILE_SIZE 38372,541

HUMID 21.64 CAP_FILE_SIZE 130357,0

INTERNAL_PRESSURE 9.15461 CFSIZE 2047311872,2036432896

TCM_TEMP 25.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.111,256.79,1

ALTIM_TOP_PING 18.4,17.4 GPS 060918,154743,3212.573,-6431.893,18,0.8,28,-14.9,0.3,356.4,10,5.0

_24V_AH 24.01,13.015

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 273 127.22 SBE_CT 364 24 210.31

Roll_motor 63 86 131.56 AA4330 715 33 566.63

VBD_pump_during_apogee 441 916 9716.24 nil 0 0 0.00

VBD_pump_during_surface 115 556 1537.40 nil 0 0 0.00

VBD_valve 161 163 634.18 nil 0 0 0.00

Iridium_during_init 46 103 115.06 nil 0 0 0.00

Iridium_during_connect 55 160 211.37 nil 0 0 0.00

Iridium_during_xfer 220 223 1182.22 nil 0 0 0.00

Transponder_ping 97 420 985.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.46

TT8 1632 19 339.09

LPSleep 5859 2 134.61

TT8_Active 707 19 147.02

TT8_Sampling 2241 39 935.97

TT8_CF8 78 45 37.74

TT8_Kalman 0 0 0.00

Analog_circuits 1392 12 175.27

GPS_charging 0 0 0.00

Compass 1161 15 182.72

RAFOS 0 0 0.00

Transponder 1093 30 344.15

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6 -1.29 -244.4 174 2106 893 961 0.0 0.0 0 101 0.00 0.00 -92.18 0.164 16386 0.000 0.000 174 2106 2421 2376 2466 0 0 0 0 0 0 26.35 28.83 26.36 9.23 21.21

103 -1.29 -244.4 174 2106 2376 2466 3.1 -1.1 9 191 8.88 0.00 -69.00 0.164 18438 0.273 0.000 2360 2106 3491 3474 3508 0 0 0 0 0 0 25.48 25.72 25.56 9.38 20.38

490 -1.22 -244.4 2360 2106 3474 3508 48.8 -12.4 48 500 0.00 2.38 0.00 0.000 260 0.000 0.084 2351 3694 3491 3474 3508 0 0 0 0 0 0 26.57 26.15 26.58 9.51 20.07

737 -1.13 -244.4 2350 3694 3474 3508 74.9 -11.4 72 746 0.17 2.20 0.00 0.000 3078 0.171 0.065 2417 2063 3491 3474 3508 0 0 0 0 0 0 25.98 26.48 26.15 9.50 19.44

1187 -1.13 -244.4 2416 2063 3474 3509 113.7 -9.6 103 1203 0.00 0.00 0.00 0.000 6 0.000 0.000 2417 2063 3491 3474 3509 0 0 0 0 0 0 26.73 26.75 26.74 9.45 19.52

1622 -1.13 -244.4 2416 2063 3474 3509 163.0 -12.0 130 1628 0.00 2.40 0.00 0.000 260 0.000 0.084 2407 3691 3491 3474 3509 0 0 0 0 0 0 26.74 26.34 26.76 9.41 19.12

1713 -1.13 -244.4 2406 3692 3474 3509 174.3 -12.8 133 1718 0.00 2.17 0.00 0.000 1030 0.000 0.067 2407 2091 3491 3474 3509 0 0 0 0 0 0 26.57 26.55 26.58 9.41 19.04

2031 -1.13 -244.4 2406 2091 3474 3509 216.5 -12.9 149 2032 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2091 3491 3474 3509 0 0 0 0 0 0 26.84 26.86 26.85 9.39 19.20

2331 -1.13 -244.4 2406 2091 3473 3509 255.9 -13.3 164 2332 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2091 3491 3474 3509 0 0 0 0 0 0 26.90 26.92 26.91 9.38 20.15

2632 -1.13 -244.4 2406 2091 3474 3508 294.9 -13.0 179 2638 0.00 2.35 0.00 0.000 260 0.000 0.084 2395 3689 3491 3474 3508 0 0 0 0 0 0 26.95 26.41 26.96 9.37 19.95

2693 -1.13 -244.4 2395 3689 3473 3508 303.0 -13.4 182 2699 0.00 2.15 0.00 0.000 1030 0.000 0.065 2395 2121 3491 3474 3508 0 0 0 0 0 0 26.70 26.68 26.72 9.37 19.99

3021 -1.13 -244.4 2394 2121 3474 3507 348.4 -13.9 193 3022 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2121 3490 3474 3507 0 0 0 0 0 0 26.98 27.00 26.99 9.36 20.42

3321 -1.13 -244.4 2395 2121 3474 3506 388.0 -13.1 203 3322 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2121 3489 3473 3506 0 0 0 0 0 0 27.00 27.02 27.01 9.35 21.09

3621 -1.13 -244.4 2395 2121 3473 3506 426.6 -12.8 213 3627 0.00 2.33 0.00 0.000 260 0.000 0.084 2384 3692 3489 3472 3506 0 0 0 0 0 0 27.02 26.41 27.03 9.34 21.09

3681 -1.13 -244.4 2383 3692 3472 3506 435.1 -13.4 215 3686 0.10 2.12 0.00 0.000 3078 0.189 0.067 2415 2114 3489 3472 3506 0 0 0 0 0 0 26.36 26.73 26.44 9.34 21.13

4008 -1.13 -244.4 2415 2114 3470 3506 476.1 -12.6 226 4009 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2114 3488 3470 3506 0 0 0 0 0 0 27.03 27.05 27.04 9.33 20.97

4308 -1.13 -244.4 2414 2114 3470 3504 515.0 -13.0 236 4309 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2114 3487 3470 3504 0 0 0 0 0 0 27.04 27.05 27.05 9.32 21.60

4516 end dive: TARGET_DEPTH_EXCEEDED

state 4516 begin apogee

4520 -0.31 0.0 2415 2114 3469 3504 544.3 -14.2 243 4708 0.77 0.00 184.15 0.916 10246 0.149 0.000 2680 2111 2649 2645 2653 0 0 0 0 0 0 25.90 24.70 24.06 9.31 21.13

4710 end apogee: CONTROL_FINISHED_OK

state 4710 begin climb

4711 1.29 244.4 2680 2113 2645 2653 553.0 0.0 249 4909 1.40 2.38 185.82 0.904 10756 0.112 0.079 3193 611 1807 1806 1809 0 0 0 0 0 0 24.94 24.66 24.01 9.23 20.66

5045 1.13 244.4 3192 610 1806 1808 530.9 13.5 260 5050 0.17 2.22 0.00 0.000 5126 0.196 0.065 3142 2127 1806 1805 1807 0 0 0 0 0 0 25.56 25.84 25.74 9.14 20.46

5358 1.03 244.4 3141 2127 1806 1807 490.6 11.9 271 5364 0.10 2.30 0.00 0.000 4612 0.214 0.074 3118 597 1806 1806 1807 0 0 0 0 0 0 26.06 26.19 26.13 9.14 21.17

5471 0.94 244.4 3117 597 1806 1806 479.9 12.0 274 5479 0.12 2.20 0.00 0.000 5126 0.194 0.065 3079 2137 1806 1807 1805 0 0 0 0 0 0 26.07 26.34 26.22 9.14 21.21

5777 0.98 275.4 3078 2137 1806 1805 448.4 9.1 285 5808 0.00 2.35 23.58 0.817 8708 0.000 0.077 3089 599 1701 1699 1704 0 0 0 0 0 0 26.74 25.56 25.10 9.13 21.13

5873 0.98 275.4 3088 598 1699 1703 438.8 10.0 288 5878 0.00 2.22 0.00 0.000 1030 0.000 0.065 3089 2117 1701 1699 1703 0 0 0 0 0 0 26.12 26.10 26.14 9.13 20.86

6200 0.98 275.4 3088 2117 1699 1703 402.4 11.1 299 6202 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2117 1701 1699 1703 0 0 0 0 0 0 26.65 26.67 26.67 9.13 21.05

6501 0.98 275.4 3088 2117 1699 1703 369.0 11.2 309 6505 0.00 2.25 0.00 0.000 516 0.000 0.077 3100 604 1700 1699 1702 0 0 0 0 0 0 26.78 26.40 26.79 9.13 22.00

6580 0.93 275.4 3100 604 1700 1702 361.6 11.3 311 6585 0.00 2.17 0.00 0.000 1030 0.000 0.065 3100 2129 1700 1699 1702 0 0 0 0 0 0 26.55 26.49 26.57 9.13 21.49

6893 0.87 275.4 3099 2129 1699 1702 321.1 12.6 322 6898 0.12 2.28 0.00 0.000 4612 0.201 0.074 3068 600 1700 1699 1702 0 0 0 0 0 0 26.28 26.41 26.34 9.13 22.08

6968 0.87 275.4 3067 600 1699 1701 313.8 12.1 324 6972 0.00 2.17 0.00 0.000 1030 0.000 0.065 3068 2130 1699 1698 1701 0 0 0 0 0 0 26.62 26.56 26.64 9.13 21.53

7285 0.87 275.4 3067 2130 1699 1701 278.6 10.8 338 7291 0.00 2.28 0.00 0.000 516 0.000 0.077 3080 598 1700 1699 1701 0 0 0 0 0 0 26.92 26.48 26.93 9.14 21.80

7345 0.87 275.4 3079 599 1699 1701 272.1 10.7 341 7349 0.00 2.17 0.00 0.000 1030 0.000 0.065 3079 2131 1700 1699 1701 0 0 0 0 0 0 26.65 26.59 26.67 9.14 21.92

7661 0.87 275.4 3079 2132 1698 1700 236.3 11.6 357 7662 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2131 1699 1699 1700 0 0 0 0 0 0 26.95 26.97 26.96 9.13 22.12

7962 0.87 275.4 3079 2131 1699 1701 200.8 11.7 372 7967 0.00 2.28 0.00 0.000 516 0.000 0.077 3091 596 1699 1699 1700 0 0 0 0 0 0 26.98 26.50 26.98 9.14 21.68

8072 0.87 275.4 3090 596 1699 1700 188.3 12.3 377 8077 0.08 2.20 0.00 0.000 5126 0.186 0.067 3066 2134 1699 1699 1700 0 0 0 0 0 0 26.30 26.61 26.36 9.14 21.76

8384 0.87 275.4 3065 2134 1699 1700 152.5 11.3 393 8391 0.00 2.28 0.00 0.000 516 0.000 0.077 3076 597 1699 1699 1700 0 0 0 0 0 0 27.00 26.50 27.01 9.14 21.45

8437 0.87 275.4 3075 597 1698 1700 146.5 11.8 397 8445 0.00 2.20 0.00 0.000 1030 0.000 0.065 3076 2126 1699 1699 1700 0 0 0 0 0 0 26.65 26.63 26.67 9.14 21.64

8745 0.87 275.4 3075 2126 1699 1700 111.8 11.4 428 8746 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2125 1699 1699 1700 0 0 0 0 0 0 27.01 27.03 27.03 9.14 21.80

9045 0.87 275.4 3075 2126 1699 1700 77.4 11.9 458 9049 0.00 2.22 0.00 0.000 516 0.000 0.077 3088 610 1699 1699 1700 0 0 0 0 0 0 27.03 26.49 27.04 9.15 21.80

9117 0.87 275.4 3087 609 1699 1700 69.2 10.4 465 9126 0.00 2.15 0.00 0.000 1030 0.000 0.067 3087 2124 1699 1699 1700 0 0 0 0 0 0 26.69 26.63 26.72 9.15 21.25

9427 0.89 290.4 3086 2124 1699 1700 36.7 9.6 496 9446 0.00 0.00 11.80 0.554 8198 0.000 0.000 3087 2124 1648 1646 1651 0 0 0 0 0 0 27.03 26.38 25.84 9.16 21.72

9747 0.95 340.8 3087 2124 1647 1651 14.1 8.6 528 9789 0.00 2.40 36.33 0.569 8452 0.000 0.087 3087 3687 1474 1469 1480 0 0 0 0 0 0 26.92 25.94 25.43 9.21 22.27

9861 end climb: SURFACE_DEPTH_REACHED

state 9861 begin surface coast

9882 end surface coast: CONTROL_FINISHED_OK

state 9882 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	13	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	91	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	62	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	060918,125101,3213.8564,-6432.3008,37,1.0,42,-14.9,0.0,280.5,10,5.0	TGT_NAME	BATS
_CALLS	2	TGT_LATLONG	3140.000,-6410.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000000,0.000000
_SM_DEPTHo	2.17	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-51.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,125903,3213.8865,-6432.3560,5,0.9,15,-14.9,0.0,314.6,11,5.0	MHEAD_RNG_PITCHd_Wd	144.1,71975,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	0.2,1.016369	_10V_AH	10.49,7.150
SM_CCo	9899,115.12,0.556,0,0,927,500.22	FG_AHR_24Vo	0.000
SM_GC	2.46,7.47,2.22,115.12,0.079,0.062,0.556,184,2139,927,-8.01,3.02,500.22,0,0,0,0,0,0,26.20,26.29,24.64	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3213.62,-6429.90,060918,125213	MEM	342436
TT8_MAMPS	0.020972,0.219457	DATA_FILE_SIZE	38372,541
HUMID	21.64	CAP_FILE_SIZE	130357,0
INTERNAL_PRESSURE	9.15461	CFSIZE	2047311872,2036432896
TCM_TEMP	25.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.111,256.79,1
ALTIM_TOP_PING	18.4,17.4	GPS	060918,154743,3212.573,-6431.893,18,0.8,28,-14.9,0.3,356.4,10,5.0
_24V_AH	24.01,13.015

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	273	127.22	SBE_CT	364	24	210.31
Roll_motor	63	86	131.56	AA4330	715	33	566.63
VBD_pump_during_apogee	441	916	9716.24	nil	0	0	0.00
VBD_pump_during_surface	115	556	1537.40	nil	0	0	0.00
VBD_valve	161	163	634.18	nil	0	0	0.00
Iridium_during_init	46	103	115.06	nil	0	0	0.00
Iridium_during_connect	55	160	211.37	nil	0	0	0.00
Iridium_during_xfer	220	223	1182.22	nil	0	0	0.00
Transponder_ping	97	420	985.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.46
TT8	1632	19	339.09
LPSleep	5859	2	134.61
TT8_Active	707	19	147.02
TT8_Sampling	2241	39	935.97
TT8_CF8	78	45	37.74
TT8_Kalman	0	0	0.00
Analog_circuits	1392	12	175.27
GPS_charging	0	0	0.00
Compass	1161	15	182.72
RAFOS	0	0	0.00
Transponder	1093	30	344.15

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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6	-1.29	-244.4	174	2106	893	961	0.0	0.0	0	101	0.00	0.00	-92.18	0.164	16386	0.000	0.000	174	2106	2421	2376	2466	0	0	0	0	0	0	26.35	28.83	26.36	9.23	21.21
103	-1.29	-244.4	174	2106	2376	2466	3.1	-1.1	9	191	8.88	0.00	-69.00	0.164	18438	0.273	0.000	2360	2106	3491	3474	3508	0	0	0	0	0	0	25.48	25.72	25.56	9.38	20.38
490	-1.22	-244.4	2360	2106	3474	3508	48.8	-12.4	48	500	0.00	2.38	0.00	0.000	260	0.000	0.084	2351	3694	3491	3474	3508	0	0	0	0	0	0	26.57	26.15	26.58	9.51	20.07
737	-1.13	-244.4	2350	3694	3474	3508	74.9	-11.4	72	746	0.17	2.20	0.00	0.000	3078	0.171	0.065	2417	2063	3491	3474	3508	0	0	0	0	0	0	25.98	26.48	26.15	9.50	19.44
1187	-1.13	-244.4	2416	2063	3474	3509	113.7	-9.6	103	1203	0.00	0.00	0.00	0.000	6	0.000	0.000	2417	2063	3491	3474	3509	0	0	0	0	0	0	26.73	26.75	26.74	9.45	19.52
1622	-1.13	-244.4	2416	2063	3474	3509	163.0	-12.0	130	1628	0.00	2.40	0.00	0.000	260	0.000	0.084	2407	3691	3491	3474	3509	0	0	0	0	0	0	26.74	26.34	26.76	9.41	19.12
1713	-1.13	-244.4	2406	3692	3474	3509	174.3	-12.8	133	1718	0.00	2.17	0.00	0.000	1030	0.000	0.067	2407	2091	3491	3474	3509	0	0	0	0	0	0	26.57	26.55	26.58	9.41	19.04
2031	-1.13	-244.4	2406	2091	3474	3509	216.5	-12.9	149	2032	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2091	3491	3474	3509	0	0	0	0	0	0	26.84	26.86	26.85	9.39	19.20
2331	-1.13	-244.4	2406	2091	3473	3509	255.9	-13.3	164	2332	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2091	3491	3474	3509	0	0	0	0	0	0	26.90	26.92	26.91	9.38	20.15
2632	-1.13	-244.4	2406	2091	3474	3508	294.9	-13.0	179	2638	0.00	2.35	0.00	0.000	260	0.000	0.084	2395	3689	3491	3474	3508	0	0	0	0	0	0	26.95	26.41	26.96	9.37	19.95
2693	-1.13	-244.4	2395	3689	3473	3508	303.0	-13.4	182	2699	0.00	2.15	0.00	0.000	1030	0.000	0.065	2395	2121	3491	3474	3508	0	0	0	0	0	0	26.70	26.68	26.72	9.37	19.99
3021	-1.13	-244.4	2394	2121	3474	3507	348.4	-13.9	193	3022	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2121	3490	3474	3507	0	0	0	0	0	0	26.98	27.00	26.99	9.36	20.42
3321	-1.13	-244.4	2395	2121	3474	3506	388.0	-13.1	203	3322	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2121	3489	3473	3506	0	0	0	0	0	0	27.00	27.02	27.01	9.35	21.09
3621	-1.13	-244.4	2395	2121	3473	3506	426.6	-12.8	213	3627	0.00	2.33	0.00	0.000	260	0.000	0.084	2384	3692	3489	3472	3506	0	0	0	0	0	0	27.02	26.41	27.03	9.34	21.09
3681	-1.13	-244.4	2383	3692	3472	3506	435.1	-13.4	215	3686	0.10	2.12	0.00	0.000	3078	0.189	0.067	2415	2114	3489	3472	3506	0	0	0	0	0	0	26.36	26.73	26.44	9.34	21.13
4008	-1.13	-244.4	2415	2114	3470	3506	476.1	-12.6	226	4009	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2114	3488	3470	3506	0	0	0	0	0	0	27.03	27.05	27.04	9.33	20.97
4308	-1.13	-244.4	2414	2114	3470	3504	515.0	-13.0	236	4309	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2114	3487	3470	3504	0	0	0	0	0	0	27.04	27.05	27.05	9.32	21.60
4516	end dive: TARGET_DEPTH_EXCEEDED
state	4516	begin apogee
4520	-0.31	0.0	2415	2114	3469	3504	544.3	-14.2	243	4708	0.77	0.00	184.15	0.916	10246	0.149	0.000	2680	2111	2649	2645	2653	0	0	0	0	0	0	25.90	24.70	24.06	9.31	21.13
4710	end apogee: CONTROL_FINISHED_OK
state	4710	begin climb
4711	1.29	244.4	2680	2113	2645	2653	553.0	0.0	249	4909	1.40	2.38	185.82	0.904	10756	0.112	0.079	3193	611	1807	1806	1809	0	0	0	0	0	0	24.94	24.66	24.01	9.23	20.66
5045	1.13	244.4	3192	610	1806	1808	530.9	13.5	260	5050	0.17	2.22	0.00	0.000	5126	0.196	0.065	3142	2127	1806	1805	1807	0	0	0	0	0	0	25.56	25.84	25.74	9.14	20.46
5358	1.03	244.4	3141	2127	1806	1807	490.6	11.9	271	5364	0.10	2.30	0.00	0.000	4612	0.214	0.074	3118	597	1806	1806	1807	0	0	0	0	0	0	26.06	26.19	26.13	9.14	21.17
5471	0.94	244.4	3117	597	1806	1806	479.9	12.0	274	5479	0.12	2.20	0.00	0.000	5126	0.194	0.065	3079	2137	1806	1807	1805	0	0	0	0	0	0	26.07	26.34	26.22	9.14	21.21
5777	0.98	275.4	3078	2137	1806	1805	448.4	9.1	285	5808	0.00	2.35	23.58	0.817	8708	0.000	0.077	3089	599	1701	1699	1704	0	0	0	0	0	0	26.74	25.56	25.10	9.13	21.13
5873	0.98	275.4	3088	598	1699	1703	438.8	10.0	288	5878	0.00	2.22	0.00	0.000	1030	0.000	0.065	3089	2117	1701	1699	1703	0	0	0	0	0	0	26.12	26.10	26.14	9.13	20.86
6200	0.98	275.4	3088	2117	1699	1703	402.4	11.1	299	6202	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2117	1701	1699	1703	0	0	0	0	0	0	26.65	26.67	26.67	9.13	21.05
6501	0.98	275.4	3088	2117	1699	1703	369.0	11.2	309	6505	0.00	2.25	0.00	0.000	516	0.000	0.077	3100	604	1700	1699	1702	0	0	0	0	0	0	26.78	26.40	26.79	9.13	22.00
6580	0.93	275.4	3100	604	1700	1702	361.6	11.3	311	6585	0.00	2.17	0.00	0.000	1030	0.000	0.065	3100	2129	1700	1699	1702	0	0	0	0	0	0	26.55	26.49	26.57	9.13	21.49
6893	0.87	275.4	3099	2129	1699	1702	321.1	12.6	322	6898	0.12	2.28	0.00	0.000	4612	0.201	0.074	3068	600	1700	1699	1702	0	0	0	0	0	0	26.28	26.41	26.34	9.13	22.08
6968	0.87	275.4	3067	600	1699	1701	313.8	12.1	324	6972	0.00	2.17	0.00	0.000	1030	0.000	0.065	3068	2130	1699	1698	1701	0	0	0	0	0	0	26.62	26.56	26.64	9.13	21.53
7285	0.87	275.4	3067	2130	1699	1701	278.6	10.8	338	7291	0.00	2.28	0.00	0.000	516	0.000	0.077	3080	598	1700	1699	1701	0	0	0	0	0	0	26.92	26.48	26.93	9.14	21.80
7345	0.87	275.4	3079	599	1699	1701	272.1	10.7	341	7349	0.00	2.17	0.00	0.000	1030	0.000	0.065	3079	2131	1700	1699	1701	0	0	0	0	0	0	26.65	26.59	26.67	9.14	21.92
7661	0.87	275.4	3079	2132	1698	1700	236.3	11.6	357	7662	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2131	1699	1699	1700	0	0	0	0	0	0	26.95	26.97	26.96	9.13	22.12
7962	0.87	275.4	3079	2131	1699	1701	200.8	11.7	372	7967	0.00	2.28	0.00	0.000	516	0.000	0.077	3091	596	1699	1699	1700	0	0	0	0	0	0	26.98	26.50	26.98	9.14	21.68
8072	0.87	275.4	3090	596	1699	1700	188.3	12.3	377	8077	0.08	2.20	0.00	0.000	5126	0.186	0.067	3066	2134	1699	1699	1700	0	0	0	0	0	0	26.30	26.61	26.36	9.14	21.76
8384	0.87	275.4	3065	2134	1699	1700	152.5	11.3	393	8391	0.00	2.28	0.00	0.000	516	0.000	0.077	3076	597	1699	1699	1700	0	0	0	0	0	0	27.00	26.50	27.01	9.14	21.45
8437	0.87	275.4	3075	597	1698	1700	146.5	11.8	397	8445	0.00	2.20	0.00	0.000	1030	0.000	0.065	3076	2126	1699	1699	1700	0	0	0	0	0	0	26.65	26.63	26.67	9.14	21.64
8745	0.87	275.4	3075	2126	1699	1700	111.8	11.4	428	8746	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2125	1699	1699	1700	0	0	0	0	0	0	27.01	27.03	27.03	9.14	21.80
9045	0.87	275.4	3075	2126	1699	1700	77.4	11.9	458	9049	0.00	2.22	0.00	0.000	516	0.000	0.077	3088	610	1699	1699	1700	0	0	0	0	0	0	27.03	26.49	27.04	9.15	21.80
9117	0.87	275.4	3087	609	1699	1700	69.2	10.4	465	9126	0.00	2.15	0.00	0.000	1030	0.000	0.067	3087	2124	1699	1699	1700	0	0	0	0	0	0	26.69	26.63	26.72	9.15	21.25
9427	0.89	290.4	3086	2124	1699	1700	36.7	9.6	496	9446	0.00	0.00	11.80	0.554	8198	0.000	0.000	3087	2124	1648	1646	1651	0	0	0	0	0	0	27.03	26.38	25.84	9.16	21.72
9747	0.95	340.8	3087	2124	1647	1651	14.1	8.6	528	9789	0.00	2.40	36.33	0.569	8452	0.000	0.087	3087	3687	1474	1469	1480	0	0	0	0	0	0	26.92	25.94	25.43	9.21	22.27
9861	end climb: SURFACE_DEPTH_REACHED
state	9861	begin surface coast
9882	end surface coast: CONTROL_FINISHED_OK
state	9882	begin surface