Glider dive log

Bermuda Sep18 * SG041 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 41 HD_B 0.013 ROLL_MAX 3810 ALTIM_BOTTOM_PING_RANGE 0

MISSION 15 HD_C 2.4999999e-05 ROLL_DEG 45 ALTIM_TOP_PING_RANGE 20

DIVE 17 HEADING -1 C_ROLL_DIVE 1953 ALTIM_BOTTOM_TURN_MARGIN 25

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 1953 ALTIM_TOP_TURN_MARGIN 0

STOP_T 9131819 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 0

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 61 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 42 ALTIM_PULSE 2

D_NO_BLEED 50 SM_CC 500 ROLL_AD_RATE 300 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 4 ROLL_MAXERRORS 2 XPDR_VALID 3

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 325 INT_PRESSURE_YINT 1.5

D_SAFE 0 PROTOCOL 9 VBD_MAX 3960 DEEPGLIDER 1

D_CALL 0 N_NOCOMM 1 C_VBD 2521 MOTHERBOARD 4

SURFACE_URGENCY 0 NOCOMM_ACTION 384 VBD_DBAND 2 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_CNV -0.29049999 DEVICE2 101

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 DEVICE3 131

T_DIVE 180 CALL_TRIES 10 VBD_TIMEOUT 720 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 540 CAPMAXSIZE 200000 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 4 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 0.30000001 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 3855 MINV_24V 14 SIM_W 0

APOGEE_PITCH -5 C_PITCH 3293 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 250 PITCH_DBAND 0.1 MAXI_24V 0.80000001 SEABIRD_T_G 0.0044218274

COURSE_BIAS 0 PITCH_CNV 0.0031300001 MAXI_10V 0.60000002 SEABIRD_T_H 0.00065427559

GLIDE_SLOPE 30 P_OVSHOOT 0.039999999 FG_AHR_10V 0 SEABIRD_T_I 2.6669255e-05

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0.079999998 FG_AHR_24V 0 SEABIRD_T_J 3.3126662e-06

RHO 1.023 PITCH_GAIN 13.6 PHONE_SUPPLY 2 SEABIRD_C_G -9.8737192

MASS 79399.703 PITCH_TIMEOUT 20 PRESSURE_YINT -11.572524 SEABIRD_C_H 1.1600837

MASS_COMP 10108.4 PITCH_AD_RATE 160 PRESSURE_SLOPE 0 SEABIRD_C_I -0.0018781425

NAV_MODE 2 PITCH_MAXERRORS 1 AD7714Ch0Gain 32 SEABIRD_C_J 0.0002279925

FERRY_MAX 45 PITCH_ADJ_GAIN 0.02 TCM_PITCH_OFFSET 0 SEABIRD_C_Z 2921.8601

KALMAN_USE 2 PITCH_ADJ_DBAND 2.5 TCM_ROLL_OFFSET 0

HD_A 0.0049999999 ROLL_MIN 230 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 13.6 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 FG_AHR_10V 0 PITCH_MAX 3855 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 0 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 -11.572524 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 0.30000001 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 2 ID 41 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 1.5 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 540

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 3293 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 1953 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 1953 LOGGERS 0 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX -1

C_VBD 2521 MASS 79399.703 ROLL_CNV 0.028270001 USE_BATHY 0

DBDW 0 MASS_COMP 10108.4 ROLL_DEG 45 USE_ICE 0

DEEPGLIDER 1 MAXI_10V 0.60000002 ROLL_MAX 3810 VBD_BLEED_AD_RATE 4

DEVICE1 2 MAXI_24V 0.80000001 ROLL_MAXERRORS 2 VBD_CNV -0.29049999

DEVICE2 101 MAX_BUOY 250 ROLL_MIN 230 VBD_DBAND 2

DEVICE3 131 MINV_10V 8 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

DEVICE4 -1 MINV_24V 14 R_PORT_OVSHOOT 61 VBD_MAX 3960

DEVICE5 -1 MISSION 15 R_STBD_OVSHOOT 42 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.8737192 VBD_MIN 325

DIVE 17 NAV_MODE 2 SEABIRD_C_H 1.1600837 VBD_PUMP_AD_RATE_APOGEE 2

D_ABORT 6050 NOCOMM_ACTION 384 SEABIRD_C_I -0.0018781425 VBD_PUMP_AD_RATE_SURFACE 3

D_BOOST 0 N_DIVES 0 SEABIRD_C_J 0.0002279925 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 4 SEABIRD_C_Z 2921.8601 W_ADJ_DBAND 0

D_FINISH 0 N_GPS 50840 SEABIRD_T_G 0.0044218274 XPDR_DEVICE 24

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_H 0.00065427559 XPDR_INHIBIT 90

D_NO_BLEED 50 N_NOSURFACE 0 SEABIRD_T_I 2.6669255e-05 XPDR_VALID 3

D_OFFGRID 100 PHONE_DEVICE 49 SEABIRD_T_J 3.3126662e-06

D_PITCH 0 PHONE_SUPPLY 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 060918,185532,3212.0291,-6432.5938,18,0.8,34,-14.9,0.5,276.2,10,5.0 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 0.07 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -59.9 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,190024,3212.0369,-6432.6250,8,0.8,17,-14.9,0.4,323.9,9,4.8 MHEAD_RNG_PITCHd_Wd 127.0,69226,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH -0.3,1.023264 _10V_AH 10.54,11.761

SM_CCo 9591,27.08,0.616,0,0,800,500.24 FG_AHR_24Vo 0.000

SM_GC -0.49,9.18,0.00,27.08,0.082,0.000,0.616,196,1953,800,-9.60,0.00,500.24,0,0,0,0,0,0,26.06,26.34,25.23 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3210.75,-6431.00,060918,160829 MEM 318904

TT8_MAMPS 0.020972,0.26215 DATA_FILE_SIZE 41760,507

HUMID 16.17 CAP_FILE_SIZE 120065,0

INTERNAL_PRESSURE 9.38116 CFSIZE 2047311872,2039611392

TCM_TEMP 20.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.180,267.49,1

ALTIM_TOP_PING 19.7,20.1 GPS 060918,214255,3211.289,-6432.273,14,1.0,54,-14.9,0.6,158.2,7,3.0

_24V_AH 24.45,16.691

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 278 160.13 SBE_CT 343 24 201.51

Roll_motor 76 89 167.03 AA4330 670 33 540.67

VBD_pump_during_apogee 511 988 12370.50 Chl_red_blue_6 1235 105 3172.06

VBD_pump_during_surface 27 615 407.64 nil 0 0 0.00

VBD_valve 154 188 713.31 nil 0 0 0.00

Iridium_during_init 22 103 55.82 nil 0 0 0.00

Iridium_during_connect 17 160 67.32 nil 0 0 0.00

Iridium_during_xfer 155 223 849.82 nil 0 0 0.00

Transponder_ping 79 420 818.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.79

TT8 1564 19 326.45

LPSleep 5130 2 118.42

TT8_Active 632 19 131.95

TT8_Sampling 2488 39 1044.11

TT8_CF8 116 45 56.11

TT8_Kalman 0 0 0.00

Analog_circuits 1368 12 173.10

GPS_charging 0 0 0.00

Compass 1723 15 272.48

RAFOS 0 0 0.00

Transponder 861 30 272.28

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

7 -1.48 -244.4 185 1930 861 735 0.0 0.0 0 153 0.00 0.00 -143.52 0.151 16386 0.000 0.000 183 1931 2946 2970 2923 0 0 0 0 0 0 26.53 28.83 26.54 9.47 16.33

156 -1.48 -244.4 184 1931 2970 2924 4.1 -7.8 14 185 10.70 2.50 -11.07 0.189 18692 0.278 0.079 2799 3532 3366 3401 3332 0 0 0 0 0 0 25.75 26.06 25.92 9.69 15.34

392 -1.39 -244.4 2798 3531 3401 3332 48.3 -13.2 35 401 0.12 2.38 0.00 0.000 3078 0.181 0.070 2838 1958 3366 3401 3332 0 0 0 0 0 0 26.12 26.36 26.21 9.75 15.97

710 -1.33 -244.4 2837 1959 3401 3332 80.6 -10.3 66 727 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 1958 3366 3401 3332 0 0 0 0 0 0 26.82 26.84 26.83 9.73 14.67

1201 -1.26 -244.4 2838 1958 3402 3332 139.2 -13.2 97 1206 0.12 2.42 0.00 0.000 2308 0.199 0.082 2874 3525 3367 3402 3332 0 0 0 0 0 0 26.38 26.49 26.46 9.67 14.12

1416 -1.20 -244.4 2873 3526 3403 3332 166.4 -12.9 105 1421 0.10 2.33 0.00 0.000 3078 0.201 0.072 2905 1950 3367 3402 3332 0 0 0 0 0 0 26.38 26.63 26.53 9.65 14.20

1730 -1.20 -244.4 2904 1950 3401 3332 206.3 -12.5 121 1735 0.00 2.40 0.00 0.000 260 0.000 0.084 2898 3526 3367 3403 3332 0 0 0 0 0 0 26.98 26.57 26.99 9.65 14.12

1812 -1.20 -244.4 2897 3526 3402 3332 216.9 -13.0 125 1818 0.00 2.30 0.00 0.000 1030 0.000 0.072 2897 1964 3367 3402 3332 0 0 0 0 0 0 26.67 26.63 26.70 9.64 14.56

2133 -1.20 -244.4 2896 1964 3402 3332 258.8 -13.1 141 2139 0.00 2.40 0.00 0.000 260 0.000 0.084 2888 3526 3367 3403 3331 0 0 0 0 0 0 27.05 26.61 27.05 9.64 14.67

2216 -1.20 -244.4 2887 3527 3402 3331 270.0 -13.4 145 2222 0.00 2.33 0.00 0.000 1030 0.000 0.072 2888 1935 3366 3402 3331 0 0 0 0 0 0 26.74 26.70 26.76 9.63 14.56

2546 -1.20 -244.4 2887 1935 3402 3331 312.5 -12.7 160 2553 0.00 2.42 0.00 0.000 260 0.000 0.084 2877 3524 3366 3402 3331 0 0 0 0 0 0 27.08 26.64 27.09 9.62 15.42

2651 -1.15 -244.4 2876 3524 3402 3331 324.2 -12.6 163 2657 0.15 2.33 0.00 0.000 3078 0.184 0.072 2926 1947 3366 3402 3331 0 0 0 0 0 0 26.41 26.74 26.57 9.62 15.19

2971 -1.15 -244.4 2925 1947 3402 3330 361.1 -11.3 174 2977 0.00 2.42 0.00 0.000 260 0.000 0.084 2917 3535 3366 3402 3330 0 0 0 0 0 0 27.11 26.58 27.13 9.61 15.46

3033 -1.15 -244.4 2916 3535 3402 3330 368.0 -11.6 176 3038 0.00 2.35 0.00 0.000 1030 0.000 0.072 2916 1956 3366 3402 3330 0 0 0 0 0 0 26.78 26.74 26.80 9.61 14.95

3363 -1.15 -244.4 2915 1956 3402 3327 410.1 -13.2 187 3368 0.00 2.40 0.00 0.000 260 0.000 0.084 2908 3526 3365 3402 3328 0 0 0 0 0 0 27.13 26.64 27.13 9.60 15.50

3443 -1.15 -244.4 2907 3526 3402 3328 418.5 -13.6 189 3453 0.00 2.33 0.00 0.000 1030 0.000 0.072 2906 1955 3365 3402 3328 0 0 0 0 0 0 26.83 26.75 26.85 9.59 15.19

3756 -1.15 -244.4 2906 1955 3402 3325 464.6 -14.1 200 3762 0.00 2.40 0.00 0.000 260 0.000 0.084 2898 3518 3364 3402 3326 0 0 0 0 0 0 27.13 26.63 27.15 9.59 15.19

3851 -1.15 -244.4 2898 3517 3402 3326 477.7 -13.9 203 3855 0.00 2.33 0.00 0.000 1030 0.000 0.072 2898 1942 3363 3401 3326 0 0 0 0 0 0 26.82 26.73 26.84 9.59 15.38

4179 -1.15 -244.4 2897 1941 3402 3325 523.6 -13.6 214 4186 0.00 2.42 0.00 0.000 260 0.000 0.082 2889 3535 3363 3402 3325 0 0 0 0 0 0 27.15 26.64 27.15 9.57 15.46

4253 -1.10 -244.4 2889 3534 3402 3326 532.3 -13.7 216 4258 0.15 2.35 0.00 0.000 3078 0.186 0.070 2937 1943 3363 3402 3325 0 0 0 0 0 0 26.39 26.75 26.55 9.56 15.42

4325 end dive: TARGET_DEPTH_EXCEEDED

state 4325 begin apogee

4330 -0.37 0.0 2937 1944 3402 3325 542.8 -12.8 219 4512 0.70 0.00 178.07 0.988 10246 0.151 0.000 3177 1942 2521 2599 2444 0 0 0 0 0 0 26.31 25.10 24.49 9.56 15.54

4513 end apogee: CONTROL_FINISHED_OK

state 4513 begin climb

4515 1.48 244.4 3177 1943 2599 2443 549.3 0.0 225 4700 1.62 0.00 180.02 0.963 10758 0.117 0.000 3751 1942 1678 1764 1593 0 0 0 0 0 0 25.27 25.03 24.45 9.47 14.99

4989 1.37 244.4 3751 1942 1765 1593 503.5 13.7 241 4990 0.00 0.00 0.00 0.000 6 0.000 0.000 3752 1943 1678 1765 1592 0 0 0 0 0 0 26.53 26.55 26.55 9.37 15.46

5288 1.26 244.4 3751 1942 1764 1593 462.1 13.5 251 5290 0.17 0.00 0.00 0.000 4102 0.206 0.000 3701 1942 1678 1763 1593 0 0 0 0 0 0 26.20 26.45 26.39 9.37 15.42

5588 1.19 244.4 3701 1942 1762 1593 426.6 11.6 261 5594 0.00 2.45 0.00 0.000 260 0.000 0.084 3700 3531 1678 1762 1594 0 0 0 0 0 0 26.88 26.52 26.89 9.37 15.50

5667 1.11 244.4 3700 3531 1761 1593 419.2 11.8 263 5672 0.20 2.38 0.00 0.000 5126 0.204 0.072 3652 1942 1677 1761 1593 0 0 0 0 0 0 26.28 26.58 26.48 9.38 15.70

5976 1.11 244.4 3651 1942 1761 1593 385.2 10.2 273 5982 0.00 2.42 0.00 0.000 260 0.000 0.084 3651 3527 1677 1761 1593 0 0 0 0 0 0 26.97 26.58 26.98 9.37 16.09

6059 1.11 244.4 3651 3527 1760 1593 378.1 10.9 275 6067 0.00 2.38 0.00 0.000 1030 0.000 0.072 3662 1955 1677 1761 1593 0 0 0 0 0 0 26.69 26.65 26.71 9.38 15.74

6369 1.11 244.4 3662 1955 1760 1593 342.9 10.6 286 6370 0.00 0.00 0.00 0.000 6 0.000 0.000 3662 1955 1676 1760 1593 0 0 0 0 0 0 27.02 27.03 27.03 9.38 16.21

6668 1.05 244.4 3662 1955 1760 1593 310.8 10.7 296 6670 0.10 0.00 0.00 0.000 4102 0.223 0.000 3634 1955 1676 1760 1593 0 0 0 0 0 0 26.53 26.71 26.65 9.38 15.82

6968 1.05 244.4 3633 1955 1760 1594 280.9 10.3 309 6974 0.00 2.42 0.00 0.000 260 0.000 0.084 3635 3532 1676 1760 1593 0 0 0 0 0 0 27.08 26.64 27.09 9.39 16.17

7059 1.05 244.4 3633 3531 1759 1593 271.9 10.8 313 7063 0.00 2.35 0.00 0.000 1030 0.000 0.074 3643 1948 1676 1759 1593 0 0 0 0 0 0 26.79 26.71 26.82 9.39 16.05

7373 1.05 244.4 3643 1948 1759 1593 235.5 11.7 329 7377 0.00 2.45 0.00 0.000 260 0.000 0.084 3644 3537 1676 1760 1593 0 0 0 0 0 0 27.10 26.65 27.11 9.39 16.01

7459 0.99 244.4 3642 3537 1759 1593 224.6 12.7 333 7464 0.15 2.35 0.00 0.000 5126 0.206 0.074 3611 1957 1676 1759 1593 0 0 0 0 0 0 26.37 26.73 26.56 9.39 16.25

7783 0.99 244.4 3610 1958 1759 1593 188.7 10.8 349 7784 0.00 0.00 0.00 0.000 6 0.000 0.000 3611 1958 1676 1759 1593 0 0 0 0 0 0 27.12 27.13 27.13 9.39 16.01

8083 0.99 244.4 3610 1958 1759 1593 155.3 11.2 364 8089 0.00 2.40 0.00 0.000 260 0.000 0.084 3611 3525 1676 1759 1593 0 0 0 0 0 0 27.13 26.65 27.14 9.40 15.97

8144 0.99 244.4 3609 3524 1759 1593 147.8 11.8 367 8149 0.00 2.33 0.00 0.000 1030 0.000 0.072 3620 1948 1676 1759 1593 0 0 0 0 0 0 26.83 26.75 26.85 9.39 15.93

8457 0.99 244.4 3620 1948 1759 1593 111.7 10.9 398 8458 0.00 0.00 0.00 0.000 6 0.000 0.000 3620 1948 1676 1759 1593 0 0 0 0 0 0 27.14 27.15 27.15 9.40 16.45

8758 0.99 244.4 3620 1948 1759 1593 78.5 10.3 428 8762 0.00 2.45 0.00 0.000 260 0.000 0.087 3620 3529 1676 1759 1593 0 0 0 0 0 0 27.14 26.60 27.15 9.41 16.13

8903 0.99 244.4 3620 3529 1759 1593 62.5 10.9 441 8911 0.00 2.35 0.00 0.000 1030 0.000 0.072 3632 1962 1676 1759 1593 0 0 0 0 0 0 26.78 26.74 26.81 9.41 16.17

9211 1.09 327.4 3632 1962 1758 1593 34.5 7.7 472 9275 0.00 2.53 57.35 0.685 8708 0.000 0.089 3644 384 1393 1484 1302 0 0 0 0 0 0 27.15 26.05 25.53 9.43 15.97

9359 1.26 464.0 3643 384 1484 1302 25.0 6.2 486 9464 0.08 2.38 96.53 0.658 11270 0.112 0.072 3696 1951 922 1011 833 0 0 0 0 0 0 26.23 26.28 24.98 9.43 16.29

9552 end climb: SURFACE_DEPTH_REACHED

state 9552 begin surface coast

9574 end surface coast: CONTROL_FINISHED_OK

state 9574 begin surface

ID	41	HD_B	0.013	ROLL_MAX	3810	ALTIM_BOTTOM_PING_RANGE	0
MISSION	15	HD_C	2.4999999e-05	ROLL_DEG	45	ALTIM_TOP_PING_RANGE	20
DIVE	17	HEADING	-1	C_ROLL_DIVE	1953	ALTIM_BOTTOM_TURN_MARGIN	25
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	1953	ALTIM_TOP_TURN_MARGIN	0
STOP_T	9131819	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	0
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	61	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	42	ALTIM_PULSE	2
D_NO_BLEED	50	SM_CC	500	ROLL_AD_RATE	300	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	4	ROLL_MAXERRORS	2	XPDR_VALID	3
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	325	INT_PRESSURE_YINT	1.5
D_SAFE	0	PROTOCOL	9	VBD_MAX	3960	DEEPGLIDER	1
D_CALL	0	N_NOCOMM	1	C_VBD	2521	MOTHERBOARD	4
SURFACE_URGENCY	0	NOCOMM_ACTION	384	VBD_DBAND	2	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_CNV	-0.29049999	DEVICE2	101
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	DEVICE3	131
T_DIVE	180	CALL_TRIES	10	VBD_TIMEOUT	720	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	540	CAPMAXSIZE	200000	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	4	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	0.30000001	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	3855	MINV_24V	14	SIM_W	0
APOGEE_PITCH	-5	C_PITCH	3293	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	250	PITCH_DBAND	0.1	MAXI_24V	0.80000001	SEABIRD_T_G	0.0044218274
COURSE_BIAS	0	PITCH_CNV	0.0031300001	MAXI_10V	0.60000002	SEABIRD_T_H	0.00065427559
GLIDE_SLOPE	30	P_OVSHOOT	0.039999999	FG_AHR_10V	0	SEABIRD_T_I	2.6669255e-05
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0.079999998	FG_AHR_24V	0	SEABIRD_T_J	3.3126662e-06
RHO	1.023	PITCH_GAIN	13.6	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8737192
MASS	79399.703	PITCH_TIMEOUT	20	PRESSURE_YINT	-11.572524	SEABIRD_C_H	1.1600837
MASS_COMP	10108.4	PITCH_AD_RATE	160	PRESSURE_SLOPE	0	SEABIRD_C_I	-0.0018781425
NAV_MODE	2	PITCH_MAXERRORS	1	AD7714Ch0Gain	32	SEABIRD_C_J	0.0002279925
FERRY_MAX	45	PITCH_ADJ_GAIN	0.02	TCM_PITCH_OFFSET	0	SEABIRD_C_Z	2921.8601
KALMAN_USE	2	PITCH_ADJ_DBAND	2.5	TCM_ROLL_OFFSET	0
HD_A	0.0049999999	ROLL_MIN	230	COMPASS_USE	4

GPS1	060918,185532,3212.0291,-6432.5938,18,0.8,34,-14.9,0.5,276.2,10,5.0	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	0.07	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-59.9	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,190024,3212.0369,-6432.6250,8,0.8,17,-14.9,0.4,323.9,9,4.8	MHEAD_RNG_PITCHd_Wd	127.0,69226,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	-0.3,1.023264	_10V_AH	10.54,11.761
SM_CCo	9591,27.08,0.616,0,0,800,500.24	FG_AHR_24Vo	0.000
SM_GC	-0.49,9.18,0.00,27.08,0.082,0.000,0.616,196,1953,800,-9.60,0.00,500.24,0,0,0,0,0,0,26.06,26.34,25.23	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3210.75,-6431.00,060918,160829	MEM	318904
TT8_MAMPS	0.020972,0.26215	DATA_FILE_SIZE	41760,507
HUMID	16.17	CAP_FILE_SIZE	120065,0
INTERNAL_PRESSURE	9.38116	CFSIZE	2047311872,2039611392
TCM_TEMP	20.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.180,267.49,1
ALTIM_TOP_PING	19.7,20.1	GPS	060918,214255,3211.289,-6432.273,14,1.0,54,-14.9,0.6,158.2,7,3.0
_24V_AH	24.45,16.691

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	278	160.13	SBE_CT	343	24	201.51
Roll_motor	76	89	167.03	AA4330	670	33	540.67
VBD_pump_during_apogee	511	988	12370.50	Chl_red_blue_6	1235	105	3172.06
VBD_pump_during_surface	27	615	407.64	nil	0	0	0.00
VBD_valve	154	188	713.31	nil	0	0	0.00
Iridium_during_init	22	103	55.82	nil	0	0	0.00
Iridium_during_connect	17	160	67.32	nil	0	0	0.00
Iridium_during_xfer	155	223	849.82	nil	0	0	0.00
Transponder_ping	79	420	818.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.79
TT8	1564	19	326.45
LPSleep	5130	2	118.42
TT8_Active	632	19	131.95
TT8_Sampling	2488	39	1044.11
TT8_CF8	116	45	56.11
TT8_Kalman	0	0	0.00
Analog_circuits	1368	12	173.10
GPS_charging	0	0	0.00
Compass	1723	15	272.48
RAFOS	0	0	0.00
Transponder	861	30	272.28

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
7	-1.48	-244.4	185	1930	861	735	0.0	0.0	0	153	0.00	0.00	-143.52	0.151	16386	0.000	0.000	183	1931	2946	2970	2923	0	0	0	0	0	0	26.53	28.83	26.54	9.47	16.33
156	-1.48	-244.4	184	1931	2970	2924	4.1	-7.8	14	185	10.70	2.50	-11.07	0.189	18692	0.278	0.079	2799	3532	3366	3401	3332	0	0	0	0	0	0	25.75	26.06	25.92	9.69	15.34
392	-1.39	-244.4	2798	3531	3401	3332	48.3	-13.2	35	401	0.12	2.38	0.00	0.000	3078	0.181	0.070	2838	1958	3366	3401	3332	0	0	0	0	0	0	26.12	26.36	26.21	9.75	15.97
710	-1.33	-244.4	2837	1959	3401	3332	80.6	-10.3	66	727	0.00	0.00	0.00	0.000	6	0.000	0.000	2838	1958	3366	3401	3332	0	0	0	0	0	0	26.82	26.84	26.83	9.73	14.67
1201	-1.26	-244.4	2838	1958	3402	3332	139.2	-13.2	97	1206	0.12	2.42	0.00	0.000	2308	0.199	0.082	2874	3525	3367	3402	3332	0	0	0	0	0	0	26.38	26.49	26.46	9.67	14.12
1416	-1.20	-244.4	2873	3526	3403	3332	166.4	-12.9	105	1421	0.10	2.33	0.00	0.000	3078	0.201	0.072	2905	1950	3367	3402	3332	0	0	0	0	0	0	26.38	26.63	26.53	9.65	14.20
1730	-1.20	-244.4	2904	1950	3401	3332	206.3	-12.5	121	1735	0.00	2.40	0.00	0.000	260	0.000	0.084	2898	3526	3367	3403	3332	0	0	0	0	0	0	26.98	26.57	26.99	9.65	14.12
1812	-1.20	-244.4	2897	3526	3402	3332	216.9	-13.0	125	1818	0.00	2.30	0.00	0.000	1030	0.000	0.072	2897	1964	3367	3402	3332	0	0	0	0	0	0	26.67	26.63	26.70	9.64	14.56
2133	-1.20	-244.4	2896	1964	3402	3332	258.8	-13.1	141	2139	0.00	2.40	0.00	0.000	260	0.000	0.084	2888	3526	3367	3403	3331	0	0	0	0	0	0	27.05	26.61	27.05	9.64	14.67
2216	-1.20	-244.4	2887	3527	3402	3331	270.0	-13.4	145	2222	0.00	2.33	0.00	0.000	1030	0.000	0.072	2888	1935	3366	3402	3331	0	0	0	0	0	0	26.74	26.70	26.76	9.63	14.56
2546	-1.20	-244.4	2887	1935	3402	3331	312.5	-12.7	160	2553	0.00	2.42	0.00	0.000	260	0.000	0.084	2877	3524	3366	3402	3331	0	0	0	0	0	0	27.08	26.64	27.09	9.62	15.42
2651	-1.15	-244.4	2876	3524	3402	3331	324.2	-12.6	163	2657	0.15	2.33	0.00	0.000	3078	0.184	0.072	2926	1947	3366	3402	3331	0	0	0	0	0	0	26.41	26.74	26.57	9.62	15.19
2971	-1.15	-244.4	2925	1947	3402	3330	361.1	-11.3	174	2977	0.00	2.42	0.00	0.000	260	0.000	0.084	2917	3535	3366	3402	3330	0	0	0	0	0	0	27.11	26.58	27.13	9.61	15.46
3033	-1.15	-244.4	2916	3535	3402	3330	368.0	-11.6	176	3038	0.00	2.35	0.00	0.000	1030	0.000	0.072	2916	1956	3366	3402	3330	0	0	0	0	0	0	26.78	26.74	26.80	9.61	14.95
3363	-1.15	-244.4	2915	1956	3402	3327	410.1	-13.2	187	3368	0.00	2.40	0.00	0.000	260	0.000	0.084	2908	3526	3365	3402	3328	0	0	0	0	0	0	27.13	26.64	27.13	9.60	15.50
3443	-1.15	-244.4	2907	3526	3402	3328	418.5	-13.6	189	3453	0.00	2.33	0.00	0.000	1030	0.000	0.072	2906	1955	3365	3402	3328	0	0	0	0	0	0	26.83	26.75	26.85	9.59	15.19
3756	-1.15	-244.4	2906	1955	3402	3325	464.6	-14.1	200	3762	0.00	2.40	0.00	0.000	260	0.000	0.084	2898	3518	3364	3402	3326	0	0	0	0	0	0	27.13	26.63	27.15	9.59	15.19
3851	-1.15	-244.4	2898	3517	3402	3326	477.7	-13.9	203	3855	0.00	2.33	0.00	0.000	1030	0.000	0.072	2898	1942	3363	3401	3326	0	0	0	0	0	0	26.82	26.73	26.84	9.59	15.38
4179	-1.15	-244.4	2897	1941	3402	3325	523.6	-13.6	214	4186	0.00	2.42	0.00	0.000	260	0.000	0.082	2889	3535	3363	3402	3325	0	0	0	0	0	0	27.15	26.64	27.15	9.57	15.46
4253	-1.10	-244.4	2889	3534	3402	3326	532.3	-13.7	216	4258	0.15	2.35	0.00	0.000	3078	0.186	0.070	2937	1943	3363	3402	3325	0	0	0	0	0	0	26.39	26.75	26.55	9.56	15.42
4325	end dive: TARGET_DEPTH_EXCEEDED
state	4325	begin apogee
4330	-0.37	0.0	2937	1944	3402	3325	542.8	-12.8	219	4512	0.70	0.00	178.07	0.988	10246	0.151	0.000	3177	1942	2521	2599	2444	0	0	0	0	0	0	26.31	25.10	24.49	9.56	15.54
4513	end apogee: CONTROL_FINISHED_OK
state	4513	begin climb
4515	1.48	244.4	3177	1943	2599	2443	549.3	0.0	225	4700	1.62	0.00	180.02	0.963	10758	0.117	0.000	3751	1942	1678	1764	1593	0	0	0	0	0	0	25.27	25.03	24.45	9.47	14.99
4989	1.37	244.4	3751	1942	1765	1593	503.5	13.7	241	4990	0.00	0.00	0.00	0.000	6	0.000	0.000	3752	1943	1678	1765	1592	0	0	0	0	0	0	26.53	26.55	26.55	9.37	15.46
5288	1.26	244.4	3751	1942	1764	1593	462.1	13.5	251	5290	0.17	0.00	0.00	0.000	4102	0.206	0.000	3701	1942	1678	1763	1593	0	0	0	0	0	0	26.20	26.45	26.39	9.37	15.42
5588	1.19	244.4	3701	1942	1762	1593	426.6	11.6	261	5594	0.00	2.45	0.00	0.000	260	0.000	0.084	3700	3531	1678	1762	1594	0	0	0	0	0	0	26.88	26.52	26.89	9.37	15.50
5667	1.11	244.4	3700	3531	1761	1593	419.2	11.8	263	5672	0.20	2.38	0.00	0.000	5126	0.204	0.072	3652	1942	1677	1761	1593	0	0	0	0	0	0	26.28	26.58	26.48	9.38	15.70
5976	1.11	244.4	3651	1942	1761	1593	385.2	10.2	273	5982	0.00	2.42	0.00	0.000	260	0.000	0.084	3651	3527	1677	1761	1593	0	0	0	0	0	0	26.97	26.58	26.98	9.37	16.09
6059	1.11	244.4	3651	3527	1760	1593	378.1	10.9	275	6067	0.00	2.38	0.00	0.000	1030	0.000	0.072	3662	1955	1677	1761	1593	0	0	0	0	0	0	26.69	26.65	26.71	9.38	15.74
6369	1.11	244.4	3662	1955	1760	1593	342.9	10.6	286	6370	0.00	0.00	0.00	0.000	6	0.000	0.000	3662	1955	1676	1760	1593	0	0	0	0	0	0	27.02	27.03	27.03	9.38	16.21
6668	1.05	244.4	3662	1955	1760	1593	310.8	10.7	296	6670	0.10	0.00	0.00	0.000	4102	0.223	0.000	3634	1955	1676	1760	1593	0	0	0	0	0	0	26.53	26.71	26.65	9.38	15.82
6968	1.05	244.4	3633	1955	1760	1594	280.9	10.3	309	6974	0.00	2.42	0.00	0.000	260	0.000	0.084	3635	3532	1676	1760	1593	0	0	0	0	0	0	27.08	26.64	27.09	9.39	16.17
7059	1.05	244.4	3633	3531	1759	1593	271.9	10.8	313	7063	0.00	2.35	0.00	0.000	1030	0.000	0.074	3643	1948	1676	1759	1593	0	0	0	0	0	0	26.79	26.71	26.82	9.39	16.05
7373	1.05	244.4	3643	1948	1759	1593	235.5	11.7	329	7377	0.00	2.45	0.00	0.000	260	0.000	0.084	3644	3537	1676	1760	1593	0	0	0	0	0	0	27.10	26.65	27.11	9.39	16.01
7459	0.99	244.4	3642	3537	1759	1593	224.6	12.7	333	7464	0.15	2.35	0.00	0.000	5126	0.206	0.074	3611	1957	1676	1759	1593	0	0	0	0	0	0	26.37	26.73	26.56	9.39	16.25
7783	0.99	244.4	3610	1958	1759	1593	188.7	10.8	349	7784	0.00	0.00	0.00	0.000	6	0.000	0.000	3611	1958	1676	1759	1593	0	0	0	0	0	0	27.12	27.13	27.13	9.39	16.01
8083	0.99	244.4	3610	1958	1759	1593	155.3	11.2	364	8089	0.00	2.40	0.00	0.000	260	0.000	0.084	3611	3525	1676	1759	1593	0	0	0	0	0	0	27.13	26.65	27.14	9.40	15.97
8144	0.99	244.4	3609	3524	1759	1593	147.8	11.8	367	8149	0.00	2.33	0.00	0.000	1030	0.000	0.072	3620	1948	1676	1759	1593	0	0	0	0	0	0	26.83	26.75	26.85	9.39	15.93
8457	0.99	244.4	3620	1948	1759	1593	111.7	10.9	398	8458	0.00	0.00	0.00	0.000	6	0.000	0.000	3620	1948	1676	1759	1593	0	0	0	0	0	0	27.14	27.15	27.15	9.40	16.45
8758	0.99	244.4	3620	1948	1759	1593	78.5	10.3	428	8762	0.00	2.45	0.00	0.000	260	0.000	0.087	3620	3529	1676	1759	1593	0	0	0	0	0	0	27.14	26.60	27.15	9.41	16.13
8903	0.99	244.4	3620	3529	1759	1593	62.5	10.9	441	8911	0.00	2.35	0.00	0.000	1030	0.000	0.072	3632	1962	1676	1759	1593	0	0	0	0	0	0	26.78	26.74	26.81	9.41	16.17
9211	1.09	327.4	3632	1962	1758	1593	34.5	7.7	472	9275	0.00	2.53	57.35	0.685	8708	0.000	0.089	3644	384	1393	1484	1302	0	0	0	0	0	0	27.15	26.05	25.53	9.43	15.97
9359	1.26	464.0	3643	384	1484	1302	25.0	6.2	486	9464	0.08	2.38	96.53	0.658	11270	0.112	0.072	3696	1951	922	1011	833	0	0	0	0	0	0	26.23	26.28	24.98	9.43	16.29
9552	end climb: SURFACE_DEPTH_REACHED
state	9552	begin surface coast
9574	end surface coast: CONTROL_FINISHED_OK
state	9574	begin surface