Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 14 * 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 14 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 86 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 86 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 14 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 060918,154743,3212.5730,-6431.8926,18,0.8,28,-14.9,0.3,356.4,10,5.0 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 2.17 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -52.1 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,155302,3212.6074,-6431.9170,9,0.9,31,-14.9,0.0,28.7,9,4.8 MHEAD_RNG_PITCHd_Wd 143.7,69573,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.8,1.023507 _10V_AH 10.54,7.220

SM_CCo 10021,49.38,0.546,0,0,927,500.22 FG_AHR_24Vo 0.000

SM_GC 2.35,7.60,0.00,49.38,0.074,0.000,0.546,179,2131,927,-8.03,0.25,500.22,0,0,0,0,0,0,26.03,26.34,24.84 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3211.24,-6433.29,060918,125518 MEM 342480

TT8_MAMPS 0.021721,0.217959 DATA_FILE_SIZE 38356,549

HUMID 21.53 CAP_FILE_SIZE 127043,0

INTERNAL_PRESSURE 9.14484 CFSIZE 2047311872,2036301824

TCM_TEMP 24.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.167,256.36,1

ALTIM_TOP_PING 18.8,16.7 GPS 060918,184311,3211.239,-6431.853,40,1.0,61,-14.9,0.0,229.9,8,4.7

_24V_AH 24.02,13.170

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 268 125.44 SBE_CT 369 24 213.07

Roll_motor 62 86 130.99 AA4330 725 33 575.00

VBD_pump_during_apogee 512 913 11250.06 nil 0 0 0.00

VBD_pump_during_surface 49 546 647.86 nil 0 0 0.00

VBD_valve 160 163 630.80 nil 0 0 0.00

Iridium_during_init 24 103 60.19 nil 0 0 0.00

Iridium_during_connect 20 160 78.92 nil 0 0 0.00

Iridium_during_xfer 164 223 882.06 nil 0 0 0.00

Transponder_ping 91 420 925.61 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 16.78

TT8 1646 19 343.67

LPSleep 5869 2 135.48

TT8_Active 696 19 145.26

TT8_Sampling 2122 39 890.24

TT8_CF8 77 45 37.35

TT8_Kalman 0 0 0.00

Analog_circuits 1409 12 178.31

GPS_charging 0 0 0.00

Compass 1181 15 186.79

RAFOS 0 0 0.00

Transponder 1027 30 324.80

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 2127 895 959 0.0 0.0 0 102 0.00 0.00 -92.53 0.164 16386 0.000 0.000 176 2128 2419 2372 2467 0 0 0 0 0 0 26.34 28.83 26.35 9.22 21.05

104 -1.29 -244.4 176 2128 2372 2467 3.2 -2.1 9 192 8.68 2.38 -67.72 0.164 18948 0.268 0.077 2359 575 3492 3475 3509 0 0 0 0 0 0 25.48 25.75 25.56 9.38 20.62

217 -1.13 -244.4 2360 575 3475 3508 9.7 -12.2 20 226 0.20 2.28 0.00 0.000 3078 0.184 0.065 2410 2139 3491 3475 3508 0 0 0 0 0 0 25.61 25.94 25.79 9.50 20.54

525 -1.13 -244.4 2410 2139 3476 3509 48.7 -9.6 51 529 0.00 2.30 0.00 0.000 260 0.000 0.087 2402 3678 3491 3475 3508 0 0 0 0 0 0 26.59 26.18 26.60 9.51 19.64

816 -1.13 -244.4 2401 3685 3475 3510 74.8 -9.4 80 821 0.00 2.17 0.00 0.000 1030 0.000 0.067 2402 2086 3492 3475 3510 0 0 0 0 0 0 26.53 26.50 26.55 9.49 19.16

1270 -1.13 -244.4 2401 2086 3475 3511 119.8 -11.3 111 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2402 2086 3493 3475 3511 0 0 0 0 0 0 26.74 26.76 26.76 9.44 18.77

1683 -1.13 -244.4 2401 2086 3475 3511 168.7 -12.3 136 1688 0.00 2.35 0.00 0.000 260 0.000 0.084 2390 3683 3492 3474 3511 0 0 0 0 0 0 26.76 26.36 26.77 9.41 19.24

1785 -1.08 -244.4 2389 3684 3475 3511 180.2 -13.0 139 1805 0.12 2.12 0.00 0.000 3078 0.186 0.067 2430 2102 3493 3475 3511 0 0 0 0 0 0 26.18 26.57 26.32 9.41 18.77

2094 -1.08 -244.4 2429 2102 3475 3511 221.3 -12.2 155 2095 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2101 3493 3475 3511 0 0 0 0 0 0 26.86 26.87 26.86 9.39 19.60

2392 -1.08 -244.4 2430 2102 3475 3511 258.1 -12.0 170 2393 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2101 3493 3475 3511 0 0 0 0 0 0 26.91 26.93 26.92 9.38 19.60

2692 -1.08 -244.4 2429 2102 3475 3509 293.8 -11.9 185 2698 0.00 2.35 0.00 0.000 260 0.000 0.084 2420 3688 3492 3475 3510 0 0 0 0 0 0 26.96 26.43 26.96 9.37 20.27

2755 -1.08 -244.4 2420 3688 3475 3510 301.2 -12.2 188 2760 0.00 2.12 0.00 0.000 1030 0.000 0.065 2421 2134 3492 3475 3510 0 0 0 0 0 0 26.72 26.70 26.73 9.37 20.38

3083 -1.08 -244.4 2420 2134 3474 3509 342.7 -12.6 199 3084 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3492 3476 3509 0 0 0 0 0 0 26.98 27.00 27.00 9.37 20.58

3383 -1.08 -244.4 2420 2134 3475 3507 380.7 -12.5 209 3384 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3491 3475 3508 0 0 0 0 0 0 27.01 27.02 27.01 9.36 21.53

3683 -1.08 -244.4 2420 2134 3474 3507 419.2 -13.2 219 3684 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3490 3473 3508 0 0 0 0 0 0 27.02 27.04 27.03 9.35 20.78

3983 -1.08 -244.4 2420 2134 3473 3507 459.4 -13.4 229 3984 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3490 3473 3507 0 0 0 0 0 0 27.03 27.05 27.05 9.33 20.93

4283 -1.08 -244.4 2420 2134 3471 3507 498.0 -12.9 239 4284 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3489 3472 3506 0 0 0 0 0 0 27.04 27.06 27.05 9.32 21.37

4583 -1.08 -244.4 2420 2134 3472 3506 537.6 -13.3 249 4584 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2134 3488 3471 3506 0 0 0 0 0 0 27.05 27.07 27.06 9.32 21.25

4612 end dive: TARGET_DEPTH_EXCEEDED

state 4612 begin apogee

4615 -0.31 0.0 2420 2134 3471 3506 541.7 -13.3 250 4804 0.75 0.00 184.43 0.914 10246 0.146 0.000 2675 2132 2649 2645 2653 0 0 0 0 0 0 25.93 24.71 24.08 9.31 21.17

4805 end apogee: CONTROL_FINISHED_OK

state 4805 begin climb

4807 1.29 244.4 2675 2132 2645 2653 549.2 0.0 256 5003 1.42 0.00 186.38 0.901 10758 0.112 0.000 3183 2132 1807 1806 1809 0 0 0 0 0 0 24.95 24.56 24.02 9.22 20.34

5303 1.15 244.4 3182 2132 1806 1808 501.0 14.2 273 5310 0.10 2.30 0.00 0.000 4612 0.221 0.074 3162 594 1807 1806 1808 0 0 0 0 0 0 25.91 26.06 25.98 9.14 20.42

5513 1.03 244.4 3162 594 1806 1806 474.0 12.5 280 5518 0.17 2.20 0.00 0.000 5126 0.191 0.065 3109 2131 1806 1806 1806 0 0 0 0 0 0 25.98 26.32 26.16 9.13 21.45

5847 0.97 247.5 3109 2131 1806 1805 440.0 9.9 291 5857 0.00 2.30 3.97 0.529 8708 0.000 0.074 3119 593 1796 1796 1796 0 0 0 0 0 0 26.74 25.96 25.42 9.14 21.05

5944 0.89 247.5 3118 593 1796 1796 430.4 10.7 294 5949 0.17 2.20 0.00 0.000 5126 0.184 0.065 3063 2138 1796 1796 1796 0 0 0 0 0 0 26.13 26.45 26.30 9.13 21.17

6267 0.89 247.5 3062 2138 1797 1795 398.1 10.1 305 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2138 1795 1796 1795 0 0 0 0 0 0 26.82 26.84 26.84 9.13 22.12

6567 0.90 252.6 3062 2138 1796 1795 368.1 9.9 315 6576 0.00 2.30 4.47 0.546 8708 0.000 0.074 3074 593 1781 1781 1781 0 0 0 0 0 0 26.88 26.07 25.56 9.14 21.96

6686 0.90 252.6 3073 593 1782 1781 355.7 10.6 319 6691 0.00 2.20 0.00 0.000 1030 0.000 0.065 3074 2122 1781 1782 1781 0 0 0 0 0 0 26.58 26.55 26.58 9.14 21.68

7014 0.90 252.6 3073 2123 1782 1781 320.7 10.7 330 7018 0.00 2.28 0.00 0.000 516 0.000 0.077 3085 590 1781 1782 1781 0 0 0 0 0 0 26.90 26.49 26.91 9.14 21.53

7083 0.90 252.6 3085 590 1782 1781 314.5 11.1 332 7087 0.00 2.17 0.00 0.000 1030 0.000 0.065 3085 2124 1781 1782 1781 0 0 0 0 0 0 26.65 26.59 26.67 9.13 21.49

7395 0.84 252.6 3085 2125 1781 1781 275.1 12.3 346 7400 0.10 2.28 0.00 0.000 4612 0.211 0.074 3062 591 1781 1782 1780 0 0 0 0 0 0 26.39 26.50 26.44 9.14 21.96

7457 0.84 252.6 3061 591 1782 1780 268.0 11.2 349 7462 0.00 2.17 0.00 0.000 1030 0.000 0.065 3061 2128 1781 1782 1780 0 0 0 0 0 0 26.67 26.62 26.70 9.14 21.49

7781 0.84 252.6 3061 2128 1782 1781 232.6 10.7 365 7787 0.00 2.25 0.00 0.000 516 0.000 0.077 3073 599 1781 1782 1781 0 0 0 0 0 0 26.98 26.51 26.98 9.14 21.37

7842 0.84 252.6 3073 599 1782 1780 225.6 11.3 368 7847 0.00 2.17 0.00 0.000 1030 0.000 0.065 3073 2120 1780 1781 1780 0 0 0 0 0 0 26.66 26.63 26.67 9.14 21.72

8159 0.84 252.6 3073 2120 1782 1781 189.3 11.7 384 8164 0.00 2.25 0.00 0.000 516 0.000 0.077 3085 599 1780 1781 1780 0 0 0 0 0 0 27.00 26.51 27.01 9.14 22.16

8217 0.84 252.6 3084 599 1782 1781 182.7 11.8 387 8223 0.10 2.15 0.00 0.000 5126 0.201 0.065 3054 2121 1781 1782 1781 0 0 0 0 0 0 26.29 26.63 26.41 9.14 22.00

8538 0.84 252.6 3053 2121 1782 1780 148.1 10.8 403 8539 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2121 1781 1782 1780 0 0 0 0 0 0 27.01 27.03 27.03 9.15 21.60

8836 0.84 252.6 3053 2121 1782 1780 115.1 10.3 433 8840 0.00 2.25 0.00 0.000 516 0.000 0.077 3063 599 1781 1782 1780 0 0 0 0 0 0 27.03 26.50 27.04 9.15 21.96

8906 0.84 252.6 3062 599 1782 1780 108.2 10.4 439 8914 0.00 2.15 0.00 0.000 1030 0.000 0.065 3064 2121 1781 1782 1780 0 0 0 0 0 0 26.70 26.64 26.72 9.15 21.17

9213 0.87 276.5 3063 2121 1781 1780 78.7 9.3 470 9237 0.00 2.28 18.60 0.601 8708 0.000 0.079 3074 600 1697 1695 1699 0 0 0 0 0 0 27.04 26.29 25.72 9.16 21.05

9347 0.89 286.6 3073 591 1695 1699 65.5 9.7 483 9366 0.00 2.20 8.57 0.534 9222 0.000 0.065 3074 2118 1663 1660 1666 0 0 0 0 0 0 26.49 26.47 25.58 9.15 21.33

9665 1.00 380.7 3073 2118 1660 1666 34.7 7.4 515 9739 0.00 2.35 67.57 0.584 8708 0.000 0.079 3084 608 1338 1331 1345 0 0 0 0 0 0 26.79 25.44 24.94 9.18 21.29

9790 1.07 432.9 3083 608 1331 1345 26.0 8.6 527 9840 0.05 2.22 38.58 0.559 11270 0.174 0.065 3133 2128 1157 1147 1168 0 0 0 0 0 0 25.78 25.85 24.82 9.16 21.53

9985 end climb: SURFACE_DEPTH_REACHED

state 9986 begin surface coast

10007 end surface coast: CONTROL_FINISHED_OK

state 10007 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	14	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	86	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	060918,154743,3212.5730,-6431.8926,18,0.8,28,-14.9,0.3,356.4,10,5.0	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	2.17	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-52.1	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,155302,3212.6074,-6431.9170,9,0.9,31,-14.9,0.0,28.7,9,4.8	MHEAD_RNG_PITCHd_Wd	143.7,69573,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	1.8,1.023507	_10V_AH	10.54,7.220
SM_CCo	10021,49.38,0.546,0,0,927,500.22	FG_AHR_24Vo	0.000
SM_GC	2.35,7.60,0.00,49.38,0.074,0.000,0.546,179,2131,927,-8.03,0.25,500.22,0,0,0,0,0,0,26.03,26.34,24.84	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3211.24,-6433.29,060918,125518	MEM	342480
TT8_MAMPS	0.021721,0.217959	DATA_FILE_SIZE	38356,549
HUMID	21.53	CAP_FILE_SIZE	127043,0
INTERNAL_PRESSURE	9.14484	CFSIZE	2047311872,2036301824
TCM_TEMP	24.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.167,256.36,1
ALTIM_TOP_PING	18.8,16.7	GPS	060918,184311,3211.239,-6431.853,40,1.0,61,-14.9,0.0,229.9,8,4.7
_24V_AH	24.02,13.170

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	268	125.44	SBE_CT	369	24	213.07
Roll_motor	62	86	130.99	AA4330	725	33	575.00
VBD_pump_during_apogee	512	913	11250.06	nil	0	0	0.00
VBD_pump_during_surface	49	546	647.86	nil	0	0	0.00
VBD_valve	160	163	630.80	nil	0	0	0.00
Iridium_during_init	24	103	60.19	nil	0	0	0.00
Iridium_during_connect	20	160	78.92	nil	0	0	0.00
Iridium_during_xfer	164	223	882.06	nil	0	0	0.00
Transponder_ping	91	420	925.61	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	16.78
TT8	1646	19	343.67
LPSleep	5869	2	135.48
TT8_Active	696	19	145.26
TT8_Sampling	2122	39	890.24
TT8_CF8	77	45	37.35
TT8_Kalman	0	0	0.00
Analog_circuits	1409	12	178.31
GPS_charging	0	0	0.00
Compass	1181	15	186.79
RAFOS	0	0	0.00
Transponder	1027	30	324.80

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	2127	895	959	0.0	0.0	0	102	0.00	0.00	-92.53	0.164	16386	0.000	0.000	176	2128	2419	2372	2467	0	0	0	0	0	0	26.34	28.83	26.35	9.22	21.05
104	-1.29	-244.4	176	2128	2372	2467	3.2	-2.1	9	192	8.68	2.38	-67.72	0.164	18948	0.268	0.077	2359	575	3492	3475	3509	0	0	0	0	0	0	25.48	25.75	25.56	9.38	20.62
217	-1.13	-244.4	2360	575	3475	3508	9.7	-12.2	20	226	0.20	2.28	0.00	0.000	3078	0.184	0.065	2410	2139	3491	3475	3508	0	0	0	0	0	0	25.61	25.94	25.79	9.50	20.54
525	-1.13	-244.4	2410	2139	3476	3509	48.7	-9.6	51	529	0.00	2.30	0.00	0.000	260	0.000	0.087	2402	3678	3491	3475	3508	0	0	0	0	0	0	26.59	26.18	26.60	9.51	19.64
816	-1.13	-244.4	2401	3685	3475	3510	74.8	-9.4	80	821	0.00	2.17	0.00	0.000	1030	0.000	0.067	2402	2086	3492	3475	3510	0	0	0	0	0	0	26.53	26.50	26.55	9.49	19.16
1270	-1.13	-244.4	2401	2086	3475	3511	119.8	-11.3	111	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2402	2086	3493	3475	3511	0	0	0	0	0	0	26.74	26.76	26.76	9.44	18.77
1683	-1.13	-244.4	2401	2086	3475	3511	168.7	-12.3	136	1688	0.00	2.35	0.00	0.000	260	0.000	0.084	2390	3683	3492	3474	3511	0	0	0	0	0	0	26.76	26.36	26.77	9.41	19.24
1785	-1.08	-244.4	2389	3684	3475	3511	180.2	-13.0	139	1805	0.12	2.12	0.00	0.000	3078	0.186	0.067	2430	2102	3493	3475	3511	0	0	0	0	0	0	26.18	26.57	26.32	9.41	18.77
2094	-1.08	-244.4	2429	2102	3475	3511	221.3	-12.2	155	2095	0.00	0.00	0.00	0.000	6	0.000	0.000	2429	2101	3493	3475	3511	0	0	0	0	0	0	26.86	26.87	26.86	9.39	19.60
2392	-1.08	-244.4	2430	2102	3475	3511	258.1	-12.0	170	2393	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2101	3493	3475	3511	0	0	0	0	0	0	26.91	26.93	26.92	9.38	19.60
2692	-1.08	-244.4	2429	2102	3475	3509	293.8	-11.9	185	2698	0.00	2.35	0.00	0.000	260	0.000	0.084	2420	3688	3492	3475	3510	0	0	0	0	0	0	26.96	26.43	26.96	9.37	20.27
2755	-1.08	-244.4	2420	3688	3475	3510	301.2	-12.2	188	2760	0.00	2.12	0.00	0.000	1030	0.000	0.065	2421	2134	3492	3475	3510	0	0	0	0	0	0	26.72	26.70	26.73	9.37	20.38
3083	-1.08	-244.4	2420	2134	3474	3509	342.7	-12.6	199	3084	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3492	3476	3509	0	0	0	0	0	0	26.98	27.00	27.00	9.37	20.58
3383	-1.08	-244.4	2420	2134	3475	3507	380.7	-12.5	209	3384	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3491	3475	3508	0	0	0	0	0	0	27.01	27.02	27.01	9.36	21.53
3683	-1.08	-244.4	2420	2134	3474	3507	419.2	-13.2	219	3684	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3490	3473	3508	0	0	0	0	0	0	27.02	27.04	27.03	9.35	20.78
3983	-1.08	-244.4	2420	2134	3473	3507	459.4	-13.4	229	3984	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3490	3473	3507	0	0	0	0	0	0	27.03	27.05	27.05	9.33	20.93
4283	-1.08	-244.4	2420	2134	3471	3507	498.0	-12.9	239	4284	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3489	3472	3506	0	0	0	0	0	0	27.04	27.06	27.05	9.32	21.37
4583	-1.08	-244.4	2420	2134	3472	3506	537.6	-13.3	249	4584	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2134	3488	3471	3506	0	0	0	0	0	0	27.05	27.07	27.06	9.32	21.25
4612	end dive: TARGET_DEPTH_EXCEEDED
state	4612	begin apogee
4615	-0.31	0.0	2420	2134	3471	3506	541.7	-13.3	250	4804	0.75	0.00	184.43	0.914	10246	0.146	0.000	2675	2132	2649	2645	2653	0	0	0	0	0	0	25.93	24.71	24.08	9.31	21.17
4805	end apogee: CONTROL_FINISHED_OK
state	4805	begin climb
4807	1.29	244.4	2675	2132	2645	2653	549.2	0.0	256	5003	1.42	0.00	186.38	0.901	10758	0.112	0.000	3183	2132	1807	1806	1809	0	0	0	0	0	0	24.95	24.56	24.02	9.22	20.34
5303	1.15	244.4	3182	2132	1806	1808	501.0	14.2	273	5310	0.10	2.30	0.00	0.000	4612	0.221	0.074	3162	594	1807	1806	1808	0	0	0	0	0	0	25.91	26.06	25.98	9.14	20.42
5513	1.03	244.4	3162	594	1806	1806	474.0	12.5	280	5518	0.17	2.20	0.00	0.000	5126	0.191	0.065	3109	2131	1806	1806	1806	0	0	0	0	0	0	25.98	26.32	26.16	9.13	21.45
5847	0.97	247.5	3109	2131	1806	1805	440.0	9.9	291	5857	0.00	2.30	3.97	0.529	8708	0.000	0.074	3119	593	1796	1796	1796	0	0	0	0	0	0	26.74	25.96	25.42	9.14	21.05
5944	0.89	247.5	3118	593	1796	1796	430.4	10.7	294	5949	0.17	2.20	0.00	0.000	5126	0.184	0.065	3063	2138	1796	1796	1796	0	0	0	0	0	0	26.13	26.45	26.30	9.13	21.17
6267	0.89	247.5	3062	2138	1797	1795	398.1	10.1	305	6268	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2138	1795	1796	1795	0	0	0	0	0	0	26.82	26.84	26.84	9.13	22.12
6567	0.90	252.6	3062	2138	1796	1795	368.1	9.9	315	6576	0.00	2.30	4.47	0.546	8708	0.000	0.074	3074	593	1781	1781	1781	0	0	0	0	0	0	26.88	26.07	25.56	9.14	21.96
6686	0.90	252.6	3073	593	1782	1781	355.7	10.6	319	6691	0.00	2.20	0.00	0.000	1030	0.000	0.065	3074	2122	1781	1782	1781	0	0	0	0	0	0	26.58	26.55	26.58	9.14	21.68
7014	0.90	252.6	3073	2123	1782	1781	320.7	10.7	330	7018	0.00	2.28	0.00	0.000	516	0.000	0.077	3085	590	1781	1782	1781	0	0	0	0	0	0	26.90	26.49	26.91	9.14	21.53
7083	0.90	252.6	3085	590	1782	1781	314.5	11.1	332	7087	0.00	2.17	0.00	0.000	1030	0.000	0.065	3085	2124	1781	1782	1781	0	0	0	0	0	0	26.65	26.59	26.67	9.13	21.49
7395	0.84	252.6	3085	2125	1781	1781	275.1	12.3	346	7400	0.10	2.28	0.00	0.000	4612	0.211	0.074	3062	591	1781	1782	1780	0	0	0	0	0	0	26.39	26.50	26.44	9.14	21.96
7457	0.84	252.6	3061	591	1782	1780	268.0	11.2	349	7462	0.00	2.17	0.00	0.000	1030	0.000	0.065	3061	2128	1781	1782	1780	0	0	0	0	0	0	26.67	26.62	26.70	9.14	21.49
7781	0.84	252.6	3061	2128	1782	1781	232.6	10.7	365	7787	0.00	2.25	0.00	0.000	516	0.000	0.077	3073	599	1781	1782	1781	0	0	0	0	0	0	26.98	26.51	26.98	9.14	21.37
7842	0.84	252.6	3073	599	1782	1780	225.6	11.3	368	7847	0.00	2.17	0.00	0.000	1030	0.000	0.065	3073	2120	1780	1781	1780	0	0	0	0	0	0	26.66	26.63	26.67	9.14	21.72
8159	0.84	252.6	3073	2120	1782	1781	189.3	11.7	384	8164	0.00	2.25	0.00	0.000	516	0.000	0.077	3085	599	1780	1781	1780	0	0	0	0	0	0	27.00	26.51	27.01	9.14	22.16
8217	0.84	252.6	3084	599	1782	1781	182.7	11.8	387	8223	0.10	2.15	0.00	0.000	5126	0.201	0.065	3054	2121	1781	1782	1781	0	0	0	0	0	0	26.29	26.63	26.41	9.14	22.00
8538	0.84	252.6	3053	2121	1782	1780	148.1	10.8	403	8539	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2121	1781	1782	1780	0	0	0	0	0	0	27.01	27.03	27.03	9.15	21.60
8836	0.84	252.6	3053	2121	1782	1780	115.1	10.3	433	8840	0.00	2.25	0.00	0.000	516	0.000	0.077	3063	599	1781	1782	1780	0	0	0	0	0	0	27.03	26.50	27.04	9.15	21.96
8906	0.84	252.6	3062	599	1782	1780	108.2	10.4	439	8914	0.00	2.15	0.00	0.000	1030	0.000	0.065	3064	2121	1781	1782	1780	0	0	0	0	0	0	26.70	26.64	26.72	9.15	21.17
9213	0.87	276.5	3063	2121	1781	1780	78.7	9.3	470	9237	0.00	2.28	18.60	0.601	8708	0.000	0.079	3074	600	1697	1695	1699	0	0	0	0	0	0	27.04	26.29	25.72	9.16	21.05
9347	0.89	286.6	3073	591	1695	1699	65.5	9.7	483	9366	0.00	2.20	8.57	0.534	9222	0.000	0.065	3074	2118	1663	1660	1666	0	0	0	0	0	0	26.49	26.47	25.58	9.15	21.33
9665	1.00	380.7	3073	2118	1660	1666	34.7	7.4	515	9739	0.00	2.35	67.57	0.584	8708	0.000	0.079	3084	608	1338	1331	1345	0	0	0	0	0	0	26.79	25.44	24.94	9.18	21.29
9790	1.07	432.9	3083	608	1331	1345	26.0	8.6	527	9840	0.05	2.22	38.58	0.559	11270	0.174	0.065	3133	2128	1157	1147	1168	0	0	0	0	0	0	25.78	25.85	24.82	9.16	21.53
9985	end climb: SURFACE_DEPTH_REACHED
state	9986	begin surface coast
10007	end surface coast: CONTROL_FINISHED_OK
state	10007	begin surface