Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 15 * 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 15 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 110 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 66 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 110 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 66 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 15 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 060918,184311,3211.2393,-6431.8530,40,1.0,61,-14.9,0.0,229.9,8,4.7 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 2.26 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -52.7 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,184754,3211.2471,-6431.8706,5,1.0,19,-14.9,0.2,291.5,8,4.6 MHEAD_RNG_PITCHd_Wd 130.6,67360,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 2.0,1.023591 _10V_AH 10.46,7.289

SM_CCo 9797,81.90,0.556,0,0,926,500.22 FG_AHR_24Vo 0.000

SM_GC 2.45,7.45,0.00,81.90,0.074,0.000,0.556,203,2125,926,-7.97,0.08,500.22,0,0,0,0,0,0,26.20,26.48,24.75 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3211.24,-6433.29,060918,154858 MEM 342436

TT8_MAMPS 0.021721,0.246421 DATA_FILE_SIZE 38274,526

HUMID 21.80 CAP_FILE_SIZE 126698,0

INTERNAL_PRESSURE 9.15461 CFSIZE 2047311872,2036170752

TCM_TEMP 24.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.165,271.04,1

ALTIM_TOP_PING 19.3,16.8 GPS 060918,213506,3210.319,-6431.578,35,1.0,76,-14.9,0.0,272.2,7,3.0

_24V_AH 24.03,13.329

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 270 125.52 SBE_CT 354 24 204.31

Roll_motor 67 84 136.28 AA4330 695 33 551.19

VBD_pump_during_apogee 479 913 10530.71 nil 0 0 0.00

VBD_pump_during_surface 81 556 1094.62 nil 0 0 0.00

VBD_valve 169 163 666.01 nil 0 0 0.00

Iridium_during_init 23 103 58.07 nil 0 0 0.00

Iridium_during_connect 16 160 61.91 nil 0 0 0.00

Iridium_during_xfer 150 223 807.29 nil 0 0 0.00

Transponder_ping 94 420 956.27 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 50 10.78

TT8 1594 19 330.27

LPSleep 5720 2 131.05

TT8_Active 730 19 151.24

TT8_Sampling 2062 39 858.76

TT8_CF8 75 45 36.14

TT8_Kalman 0 0 0.00

Analog_circuits 1422 12 178.59

GPS_charging 0 0 0.00

Compass 1144 15 179.59

RAFOS 0 0 0.00

Transponder 1053 30 330.74

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 -244.4 174 2131 893 961 0.0 0.0 0 102 0.00 0.00 -92.25 0.164 16386 0.000 0.000 174 2131 2404 2358 2451 0 0 0 0 0 0 26.34 28.83 26.35 9.21 21.92

104 -1.29 -244.4 174 2131 2358 2451 3.3 -1.3 9 202 8.73 2.33 -76.88 0.164 18948 0.271 0.072 2358 597 3491 3474 3509 0 0 0 0 0 0 25.46 25.66 25.56 9.37 21.29

245 -1.13 -244.4 2358 598 3473 3509 12.7 -17.0 23 251 0.20 2.22 0.00 0.000 3078 0.184 0.067 2410 2132 3491 3474 3509 0 0 0 0 0 0 25.65 25.98 25.83 9.50 20.38

558 -1.13 -244.4 2409 2132 3473 3509 47.8 -10.0 54 563 0.00 2.30 0.00 0.000 260 0.000 0.084 2400 3682 3491 3473 3509 0 0 0 0 0 0 26.60 26.20 26.62 9.50 19.83

960 -1.13 -244.4 2400 3681 3473 3511 83.5 -8.6 91 978 0.00 2.15 0.00 0.000 1030 0.000 0.067 2400 2112 3492 3473 3511 0 0 0 0 0 0 26.58 26.54 26.57 9.47 19.79

1438 -1.13 -244.4 2400 2112 3473 3512 130.4 -11.6 122 1456 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2113 3492 3473 3512 0 0 0 0 0 0 26.74 26.76 26.76 9.42 18.69

1807 -1.13 -244.4 2399 2112 3473 3512 175.5 -12.7 143 1813 0.00 2.30 0.00 0.000 260 0.000 0.084 2389 3679 3492 3473 3512 0 0 0 0 0 0 26.77 26.36 26.77 9.41 18.93

1871 -1.08 -244.4 2388 3680 3473 3512 183.7 -13.3 145 1877 0.12 2.12 0.00 0.000 3078 0.169 0.067 2431 2105 3492 3473 3512 0 0 0 0 0 0 26.17 26.57 26.25 9.40 18.73

2189 -1.08 -244.4 2431 2105 3473 3512 222.2 -11.0 161 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2105 3492 3473 3512 0 0 0 0 0 0 26.86 26.88 26.88 9.39 19.20

2489 -1.08 -244.4 2430 2105 3473 3512 256.3 -11.1 176 2495 0.00 2.35 0.00 0.000 260 0.000 0.084 2421 3691 3492 3473 3512 0 0 0 0 0 0 26.92 26.42 26.93 9.38 19.67

2537 -1.08 -244.4 2421 3691 3473 3512 260.9 -11.5 178 2541 0.00 2.10 0.00 0.000 1030 0.000 0.065 2421 2129 3492 3473 3512 0 0 0 0 0 0 26.71 26.67 26.72 9.37 19.79

2849 -1.08 -244.4 2420 2129 3473 3511 299.0 -12.3 194 2850 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2129 3492 3473 3511 0 0 0 0 0 0 26.96 26.98 26.98 9.37 20.03

3169 -1.08 -244.4 2420 2129 3473 3510 338.4 -12.5 205 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2421 2129 3491 3473 3510 0 0 0 0 0 0 26.98 27.01 27.00 9.36 21.05

3469 -1.08 -244.4 2420 2129 3473 3509 376.9 -13.1 215 3475 0.00 2.30 0.00 0.000 260 0.000 0.084 2410 3683 3491 3473 3509 0 0 0 0 0 0 27.01 26.44 27.02 9.35 20.62

3522 -1.08 -244.4 2410 3684 3473 3509 381.0 -13.2 216 3530 0.00 2.15 0.00 0.000 1030 0.000 0.065 2410 2114 3490 3473 3508 0 0 0 0 0 0 26.76 26.74 26.77 9.35 21.53

3829 -1.08 -244.4 2409 2114 3473 3507 427.2 -14.0 227 3830 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2114 3490 3473 3507 0 0 0 0 0 0 27.02 27.04 27.03 9.34 20.78

4129 -1.08 -244.4 2409 2114 3473 3507 467.3 -13.0 237 4130 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2113 3490 3473 3507 0 0 0 0 0 0 27.03 27.05 27.05 9.32 21.60

4429 -1.08 -244.4 2410 2114 3471 3506 506.0 -12.9 247 4436 0.00 2.33 0.00 0.000 260 0.000 0.082 2399 3684 3488 3471 3506 0 0 0 0 0 0 27.05 26.43 27.05 9.32 20.93

4472 -1.08 -244.4 2398 3684 3470 3507 510.1 -13.2 248 4477 0.10 2.15 0.00 0.000 3078 0.189 0.065 2432 2090 3488 3470 3507 0 0 0 0 0 0 26.39 26.75 26.47 9.32 21.05

4698 end dive: TARGET_DEPTH_EXCEEDED

state 4698 begin apogee

4702 -0.31 0.0 2431 2090 3469 3506 540.3 -12.5 256 4890 0.73 0.00 184.62 0.914 10246 0.146 0.000 2681 2088 2649 2645 2653 0 0 0 0 0 0 25.98 24.72 24.08 9.31 21.76

4891 end apogee: CONTROL_FINISHED_OK

state 4891 begin climb

4893 1.29 244.4 2681 2088 2645 2653 547.9 0.0 262 5092 1.42 2.33 187.45 0.899 10756 0.109 0.077 3196 608 1807 1806 1809 0 0 0 0 0 0 24.94 24.49 24.03 9.22 20.07

5217 1.13 244.4 3195 608 1806 1809 527.3 12.8 273 5222 0.17 2.22 0.00 0.000 5126 0.199 0.065 3145 2124 1807 1806 1809 0 0 0 0 0 0 25.54 25.82 25.72 9.14 20.34

5540 1.03 244.4 3145 2124 1806 1808 491.6 10.5 284 5547 0.10 2.28 0.00 0.000 4612 0.211 0.074 3121 596 1807 1806 1808 0 0 0 0 0 0 26.06 26.20 26.13 9.13 20.86

5683 0.95 244.4 3121 596 1806 1806 479.0 10.3 288 5691 0.12 2.20 0.00 0.000 5126 0.189 0.065 3083 2137 1806 1806 1806 0 0 0 0 0 0 26.09 26.36 26.24 9.13 20.90

5991 0.96 254.6 3082 2137 1806 1806 447.6 9.7 299 6005 0.00 2.35 8.95 0.725 8708 0.000 0.077 3092 594 1771 1771 1771 0 0 0 0 0 0 26.76 26.14 25.41 9.13 21.76

6095 0.96 254.6 3092 594 1771 1771 438.7 10.1 302 6099 0.00 2.17 0.00 0.000 1030 0.000 0.065 3092 2121 1771 1772 1771 0 0 0 0 0 0 26.44 26.38 26.45 9.13 21.53

6407 0.91 254.6 3091 2121 1771 1771 403.9 10.7 313 6411 0.00 2.25 0.00 0.000 516 0.000 0.077 3104 598 1771 1771 1771 0 0 0 0 0 0 26.78 26.41 26.79 9.13 21.56

6493 0.85 254.6 3104 594 1771 1771 397.2 10.9 315 6501 0.15 2.17 0.00 0.000 5126 0.189 0.065 3056 2126 1771 1771 1771 0 0 0 0 0 0 26.16 26.51 26.33 9.13 21.60

6798 0.89 285.3 3056 2126 1771 1770 365.2 9.1 326 6829 0.00 2.33 23.45 0.772 8708 0.000 0.077 3065 594 1666 1663 1669 0 0 0 0 0 0 26.86 25.70 25.27 9.13 21.80

6875 0.94 326.3 3065 594 1663 1669 359.7 8.9 328 6914 0.00 2.22 31.23 0.770 9222 0.000 0.065 3066 2129 1525 1520 1530 0 0 0 0 0 0 26.22 26.17 24.79 9.12 21.56

7222 0.94 326.3 3065 2129 1520 1530 319.7 11.3 340 7223 0.00 0.00 0.00 0.000 6 0.000 0.000 3066 2129 1525 1520 1530 0 0 0 0 0 0 26.52 26.53 26.53 9.11 21.33

7522 0.94 326.3 3065 2129 1520 1530 283.7 12.5 352 7526 0.00 2.30 0.00 0.000 516 0.000 0.077 3077 592 1525 1520 1530 0 0 0 0 0 0 26.71 26.34 26.72 9.12 21.37

7623 0.94 326.3 3076 592 1520 1530 270.7 12.6 357 7628 0.00 2.20 0.00 0.000 1030 0.000 0.065 3077 2127 1525 1520 1530 0 0 0 0 0 0 26.50 26.44 26.52 9.12 21.96

7946 0.94 326.3 3076 2127 1520 1530 229.0 13.0 373 7947 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2127 1525 1521 1530 0 0 0 0 0 0 26.84 26.85 26.84 9.12 21.80

8245 0.94 326.3 3075 2127 1520 1530 190.2 13.5 388 8251 0.00 2.28 0.00 0.000 516 0.000 0.077 3088 596 1525 1520 1530 0 0 0 0 0 0 26.89 26.47 26.90 9.12 21.45

8318 0.94 326.3 3087 596 1520 1529 182.3 13.0 391 8325 0.00 2.17 0.00 0.000 1030 0.000 0.065 3088 2123 1525 1520 1530 0 0 0 0 0 0 26.63 26.56 26.65 9.12 21.45

8625 0.94 326.3 3087 2123 1520 1530 137.0 14.6 411 8635 0.00 2.25 0.00 0.000 516 0.000 0.077 3098 604 1525 1520 1530 0 0 0 0 0 0 26.94 26.50 26.95 9.13 21.53

8677 0.94 326.3 3097 604 1520 1530 129.2 15.1 416 8687 0.00 2.17 0.00 0.000 1030 0.000 0.065 3098 2130 1525 1520 1530 0 0 0 0 0 0 26.65 26.59 26.67 9.13 21.21

8987 0.94 326.3 3097 2130 1520 1530 84.7 14.3 447 8991 0.00 2.28 0.00 0.000 516 0.000 0.077 3108 594 1525 1520 1530 0 0 0 0 0 0 26.96 26.51 26.98 9.13 21.41

9036 0.94 326.3 3108 594 1520 1529 78.3 13.8 451 9043 0.00 2.20 0.00 0.000 1030 0.000 0.067 3109 2123 1525 1520 1530 0 0 0 0 0 0 26.64 26.61 26.69 9.13 21.13

9343 0.94 326.3 3108 2123 1520 1530 39.8 11.9 482 9345 0.00 0.00 0.00 0.000 6 0.000 0.000 3109 2123 1525 1520 1530 0 0 0 0 0 0 26.98 27.01 27.00 9.14 21.53

9644 1.02 387.1 3108 2123 1520 1530 16.0 8.3 512 9693 0.00 0.00 43.90 0.569 8198 0.000 0.000 3108 2123 1315 1307 1324 0 0 0 0 0 0 27.01 25.73 25.41 9.19 22.08

9762 end climb: SURFACE_DEPTH_REACHED

state 9762 begin surface coast

9783 end surface coast: CONTROL_FINISHED_OK

state 9783 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	15	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	110	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	66	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	060918,184311,3211.2393,-6431.8530,40,1.0,61,-14.9,0.0,229.9,8,4.7	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	2.26	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-52.7	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,184754,3211.2471,-6431.8706,5,1.0,19,-14.9,0.2,291.5,8,4.6	MHEAD_RNG_PITCHd_Wd	130.6,67360,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	2.0,1.023591	_10V_AH	10.46,7.289
SM_CCo	9797,81.90,0.556,0,0,926,500.22	FG_AHR_24Vo	0.000
SM_GC	2.45,7.45,0.00,81.90,0.074,0.000,0.556,203,2125,926,-7.97,0.08,500.22,0,0,0,0,0,0,26.20,26.48,24.75	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3211.24,-6433.29,060918,154858	MEM	342436
TT8_MAMPS	0.021721,0.246421	DATA_FILE_SIZE	38274,526
HUMID	21.80	CAP_FILE_SIZE	126698,0
INTERNAL_PRESSURE	9.15461	CFSIZE	2047311872,2036170752
TCM_TEMP	24.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.165,271.04,1
ALTIM_TOP_PING	19.3,16.8	GPS	060918,213506,3210.319,-6431.578,35,1.0,76,-14.9,0.0,272.2,7,3.0
_24V_AH	24.03,13.329

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	270	125.52	SBE_CT	354	24	204.31
Roll_motor	67	84	136.28	AA4330	695	33	551.19
VBD_pump_during_apogee	479	913	10530.71	nil	0	0	0.00
VBD_pump_during_surface	81	556	1094.62	nil	0	0	0.00
VBD_valve	169	163	666.01	nil	0	0	0.00
Iridium_during_init	23	103	58.07	nil	0	0	0.00
Iridium_during_connect	16	160	61.91	nil	0	0	0.00
Iridium_during_xfer	150	223	807.29	nil	0	0	0.00
Transponder_ping	94	420	956.27	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	50	10.78
TT8	1594	19	330.27
LPSleep	5720	2	131.05
TT8_Active	730	19	151.24
TT8_Sampling	2062	39	858.76
TT8_CF8	75	45	36.14
TT8_Kalman	0	0	0.00
Analog_circuits	1422	12	178.59
GPS_charging	0	0	0.00
Compass	1144	15	179.59
RAFOS	0	0	0.00
Transponder	1053	30	330.74

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	174	2131	893	961	0.0	0.0	0	102	0.00	0.00	-92.25	0.164	16386	0.000	0.000	174	2131	2404	2358	2451	0	0	0	0	0	0	26.34	28.83	26.35	9.21	21.92
104	-1.29	-244.4	174	2131	2358	2451	3.3	-1.3	9	202	8.73	2.33	-76.88	0.164	18948	0.271	0.072	2358	597	3491	3474	3509	0	0	0	0	0	0	25.46	25.66	25.56	9.37	21.29
245	-1.13	-244.4	2358	598	3473	3509	12.7	-17.0	23	251	0.20	2.22	0.00	0.000	3078	0.184	0.067	2410	2132	3491	3474	3509	0	0	0	0	0	0	25.65	25.98	25.83	9.50	20.38
558	-1.13	-244.4	2409	2132	3473	3509	47.8	-10.0	54	563	0.00	2.30	0.00	0.000	260	0.000	0.084	2400	3682	3491	3473	3509	0	0	0	0	0	0	26.60	26.20	26.62	9.50	19.83
960	-1.13	-244.4	2400	3681	3473	3511	83.5	-8.6	91	978	0.00	2.15	0.00	0.000	1030	0.000	0.067	2400	2112	3492	3473	3511	0	0	0	0	0	0	26.58	26.54	26.57	9.47	19.79
1438	-1.13	-244.4	2400	2112	3473	3512	130.4	-11.6	122	1456	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2113	3492	3473	3512	0	0	0	0	0	0	26.74	26.76	26.76	9.42	18.69
1807	-1.13	-244.4	2399	2112	3473	3512	175.5	-12.7	143	1813	0.00	2.30	0.00	0.000	260	0.000	0.084	2389	3679	3492	3473	3512	0	0	0	0	0	0	26.77	26.36	26.77	9.41	18.93
1871	-1.08	-244.4	2388	3680	3473	3512	183.7	-13.3	145	1877	0.12	2.12	0.00	0.000	3078	0.169	0.067	2431	2105	3492	3473	3512	0	0	0	0	0	0	26.17	26.57	26.25	9.40	18.73
2189	-1.08	-244.4	2431	2105	3473	3512	222.2	-11.0	161	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2105	3492	3473	3512	0	0	0	0	0	0	26.86	26.88	26.88	9.39	19.20
2489	-1.08	-244.4	2430	2105	3473	3512	256.3	-11.1	176	2495	0.00	2.35	0.00	0.000	260	0.000	0.084	2421	3691	3492	3473	3512	0	0	0	0	0	0	26.92	26.42	26.93	9.38	19.67
2537	-1.08	-244.4	2421	3691	3473	3512	260.9	-11.5	178	2541	0.00	2.10	0.00	0.000	1030	0.000	0.065	2421	2129	3492	3473	3512	0	0	0	0	0	0	26.71	26.67	26.72	9.37	19.79
2849	-1.08	-244.4	2420	2129	3473	3511	299.0	-12.3	194	2850	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2129	3492	3473	3511	0	0	0	0	0	0	26.96	26.98	26.98	9.37	20.03
3169	-1.08	-244.4	2420	2129	3473	3510	338.4	-12.5	205	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	2421	2129	3491	3473	3510	0	0	0	0	0	0	26.98	27.01	27.00	9.36	21.05
3469	-1.08	-244.4	2420	2129	3473	3509	376.9	-13.1	215	3475	0.00	2.30	0.00	0.000	260	0.000	0.084	2410	3683	3491	3473	3509	0	0	0	0	0	0	27.01	26.44	27.02	9.35	20.62
3522	-1.08	-244.4	2410	3684	3473	3509	381.0	-13.2	216	3530	0.00	2.15	0.00	0.000	1030	0.000	0.065	2410	2114	3490	3473	3508	0	0	0	0	0	0	26.76	26.74	26.77	9.35	21.53
3829	-1.08	-244.4	2409	2114	3473	3507	427.2	-14.0	227	3830	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2114	3490	3473	3507	0	0	0	0	0	0	27.02	27.04	27.03	9.34	20.78
4129	-1.08	-244.4	2409	2114	3473	3507	467.3	-13.0	237	4130	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2113	3490	3473	3507	0	0	0	0	0	0	27.03	27.05	27.05	9.32	21.60
4429	-1.08	-244.4	2410	2114	3471	3506	506.0	-12.9	247	4436	0.00	2.33	0.00	0.000	260	0.000	0.082	2399	3684	3488	3471	3506	0	0	0	0	0	0	27.05	26.43	27.05	9.32	20.93
4472	-1.08	-244.4	2398	3684	3470	3507	510.1	-13.2	248	4477	0.10	2.15	0.00	0.000	3078	0.189	0.065	2432	2090	3488	3470	3507	0	0	0	0	0	0	26.39	26.75	26.47	9.32	21.05
4698	end dive: TARGET_DEPTH_EXCEEDED
state	4698	begin apogee
4702	-0.31	0.0	2431	2090	3469	3506	540.3	-12.5	256	4890	0.73	0.00	184.62	0.914	10246	0.146	0.000	2681	2088	2649	2645	2653	0	0	0	0	0	0	25.98	24.72	24.08	9.31	21.76
4891	end apogee: CONTROL_FINISHED_OK
state	4891	begin climb
4893	1.29	244.4	2681	2088	2645	2653	547.9	0.0	262	5092	1.42	2.33	187.45	0.899	10756	0.109	0.077	3196	608	1807	1806	1809	0	0	0	0	0	0	24.94	24.49	24.03	9.22	20.07
5217	1.13	244.4	3195	608	1806	1809	527.3	12.8	273	5222	0.17	2.22	0.00	0.000	5126	0.199	0.065	3145	2124	1807	1806	1809	0	0	0	0	0	0	25.54	25.82	25.72	9.14	20.34
5540	1.03	244.4	3145	2124	1806	1808	491.6	10.5	284	5547	0.10	2.28	0.00	0.000	4612	0.211	0.074	3121	596	1807	1806	1808	0	0	0	0	0	0	26.06	26.20	26.13	9.13	20.86
5683	0.95	244.4	3121	596	1806	1806	479.0	10.3	288	5691	0.12	2.20	0.00	0.000	5126	0.189	0.065	3083	2137	1806	1806	1806	0	0	0	0	0	0	26.09	26.36	26.24	9.13	20.90
5991	0.96	254.6	3082	2137	1806	1806	447.6	9.7	299	6005	0.00	2.35	8.95	0.725	8708	0.000	0.077	3092	594	1771	1771	1771	0	0	0	0	0	0	26.76	26.14	25.41	9.13	21.76
6095	0.96	254.6	3092	594	1771	1771	438.7	10.1	302	6099	0.00	2.17	0.00	0.000	1030	0.000	0.065	3092	2121	1771	1772	1771	0	0	0	0	0	0	26.44	26.38	26.45	9.13	21.53
6407	0.91	254.6	3091	2121	1771	1771	403.9	10.7	313	6411	0.00	2.25	0.00	0.000	516	0.000	0.077	3104	598	1771	1771	1771	0	0	0	0	0	0	26.78	26.41	26.79	9.13	21.56
6493	0.85	254.6	3104	594	1771	1771	397.2	10.9	315	6501	0.15	2.17	0.00	0.000	5126	0.189	0.065	3056	2126	1771	1771	1771	0	0	0	0	0	0	26.16	26.51	26.33	9.13	21.60
6798	0.89	285.3	3056	2126	1771	1770	365.2	9.1	326	6829	0.00	2.33	23.45	0.772	8708	0.000	0.077	3065	594	1666	1663	1669	0	0	0	0	0	0	26.86	25.70	25.27	9.13	21.80
6875	0.94	326.3	3065	594	1663	1669	359.7	8.9	328	6914	0.00	2.22	31.23	0.770	9222	0.000	0.065	3066	2129	1525	1520	1530	0	0	0	0	0	0	26.22	26.17	24.79	9.12	21.56
7222	0.94	326.3	3065	2129	1520	1530	319.7	11.3	340	7223	0.00	0.00	0.00	0.000	6	0.000	0.000	3066	2129	1525	1520	1530	0	0	0	0	0	0	26.52	26.53	26.53	9.11	21.33
7522	0.94	326.3	3065	2129	1520	1530	283.7	12.5	352	7526	0.00	2.30	0.00	0.000	516	0.000	0.077	3077	592	1525	1520	1530	0	0	0	0	0	0	26.71	26.34	26.72	9.12	21.37
7623	0.94	326.3	3076	592	1520	1530	270.7	12.6	357	7628	0.00	2.20	0.00	0.000	1030	0.000	0.065	3077	2127	1525	1520	1530	0	0	0	0	0	0	26.50	26.44	26.52	9.12	21.96
7946	0.94	326.3	3076	2127	1520	1530	229.0	13.0	373	7947	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2127	1525	1521	1530	0	0	0	0	0	0	26.84	26.85	26.84	9.12	21.80
8245	0.94	326.3	3075	2127	1520	1530	190.2	13.5	388	8251	0.00	2.28	0.00	0.000	516	0.000	0.077	3088	596	1525	1520	1530	0	0	0	0	0	0	26.89	26.47	26.90	9.12	21.45
8318	0.94	326.3	3087	596	1520	1529	182.3	13.0	391	8325	0.00	2.17	0.00	0.000	1030	0.000	0.065	3088	2123	1525	1520	1530	0	0	0	0	0	0	26.63	26.56	26.65	9.12	21.45
8625	0.94	326.3	3087	2123	1520	1530	137.0	14.6	411	8635	0.00	2.25	0.00	0.000	516	0.000	0.077	3098	604	1525	1520	1530	0	0	0	0	0	0	26.94	26.50	26.95	9.13	21.53
8677	0.94	326.3	3097	604	1520	1530	129.2	15.1	416	8687	0.00	2.17	0.00	0.000	1030	0.000	0.065	3098	2130	1525	1520	1530	0	0	0	0	0	0	26.65	26.59	26.67	9.13	21.21
8987	0.94	326.3	3097	2130	1520	1530	84.7	14.3	447	8991	0.00	2.28	0.00	0.000	516	0.000	0.077	3108	594	1525	1520	1530	0	0	0	0	0	0	26.96	26.51	26.98	9.13	21.41
9036	0.94	326.3	3108	594	1520	1529	78.3	13.8	451	9043	0.00	2.20	0.00	0.000	1030	0.000	0.067	3109	2123	1525	1520	1530	0	0	0	0	0	0	26.64	26.61	26.69	9.13	21.13
9343	0.94	326.3	3108	2123	1520	1530	39.8	11.9	482	9345	0.00	0.00	0.00	0.000	6	0.000	0.000	3109	2123	1525	1520	1530	0	0	0	0	0	0	26.98	27.01	27.00	9.14	21.53
9644	1.02	387.1	3108	2123	1520	1530	16.0	8.3	512	9693	0.00	0.00	43.90	0.569	8198	0.000	0.000	3108	2123	1315	1307	1324	0	0	0	0	0	0	27.01	25.73	25.41	9.19	22.08
9762	end climb: SURFACE_DEPTH_REACHED
state	9762	begin surface coast
9783	end surface coast: CONTROL_FINISHED_OK
state	9783	begin surface