Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 11 * 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 11 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 90 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 65 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 90 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 65 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 11 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 060918,071031,3215.9854,-6433.5391,13,0.8,29,-14.9,0.6,298.1,10,4.5 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 2.35 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -54.6 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 060918,071505,3215.9883,-6433.5859,6,0.9,6,-14.9,0.0,0.0,9,0.0 MHEAD_RNG_PITCHd_Wd 130.8,76318,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.9,1.023173 _10V_AH 10.49,7.012

SM_CCo 9652,94.10,0.556,0,0,926,500.22 FG_AHR_24Vo 0.000

SM_GC 2.97,7.47,2.28,94.10,0.074,0.062,0.556,178,2122,926,-8.03,-1.92,500.22,0,0,0,0,0,0,26.16,26.15,24.68 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3216.44,-6434.50,060918,042342 MEM 342468

TT8_MAMPS 0.020972,0.248668 DATA_FILE_SIZE 34942,527

HUMID 21.64 CAP_FILE_SIZE 122989,0

INTERNAL_PRESSURE 9.15461 CFSIZE 2047311872,2036695040

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

XPDR_PINGS 0 CURRENT 0.147,259.60,1

ALTIM_TOP_PING 19.6,16.7 GPS 060918,095925,3214.932,-6432.960,12,0.8,34,-14.9,0.0,296.5,9,4.9

_24V_AH 24.02,12.693

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 273 127.28 SBE_CT 354 24 204.63

Roll_motor 62 84 127.35 AA4330 696 33 552.04

VBD_pump_during_apogee 464 918 10260.80 nil 0 0 0.00

VBD_pump_during_surface 94 556 1257.15 nil 0 0 0.00

VBD_valve 175 163 689.94 nil 0 0 0.00

Iridium_during_init 26 103 64.45 nil 0 0 0.00

Iridium_during_connect 18 160 72.29 nil 0 0 0.00

Iridium_during_xfer 150 223 804.67 nil 0 0 0.00

Transponder_ping 93 420 940.74 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 7 50 4.06

TT8 1564 19 324.94

LPSleep 5710 2 131.19

TT8_Active 697 19 144.79

TT8_Sampling 1996 39 833.73

TT8_CF8 75 45 36.22

TT8_Kalman 0 0 0.00

Analog_circuits 1375 12 173.16

GPS_charging 0 0 0.00

Compass 1089 15 171.45

RAFOS 0 0 0.00

Transponder 1042 30 328.18

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 5 begin dive

7 -1.29 -244.4 178 2127 894 960 0.0 0.0 0 91 0.00 0.00 -81.78 0.164 16386 0.000 0.000 178 2127 2247 2205 2290 0 0 0 0 0 0 26.32 28.83 26.34 9.22 21.72

93 -1.29 -244.4 178 2127 2205 2290 3.0 -0.9 8 204 8.85 2.33 -93.50 0.161 18948 0.273 0.074 2359 582 3492 3476 3509 0 0 0 0 0 0 25.49 25.75 25.55 9.36 21.25

243 -1.13 -244.4 2358 582 3475 3509 12.0 -17.2 23 254 0.20 2.22 0.00 0.000 3078 0.176 0.067 2411 2127 3492 3475 3509 0 0 0 0 0 0 25.59 25.96 25.70 9.50 20.34

552 -1.13 -244.4 2410 2127 3475 3508 47.7 -7.9 54 562 0.00 2.33 0.00 0.000 260 0.000 0.084 2402 3689 3492 3475 3509 0 0 0 0 0 0 26.61 26.19 26.63 9.52 20.07

748 -1.13 -244.4 2401 3690 3475 3510 65.0 -8.5 73 756 0.00 2.20 0.00 0.000 1030 0.000 0.067 2402 2093 3492 3475 3509 0 0 0 0 0 0 26.50 26.48 26.51 9.50 20.19

1128 -1.13 -244.4 2401 2092 3475 3511 99.1 -10.4 104 1147 0.00 2.35 0.00 0.000 260 0.000 0.084 2389 3684 3493 3475 3511 0 0 0 0 0 0 26.76 26.32 26.77 9.46 19.99

1236 -1.06 -244.4 2389 3685 3476 3511 110.5 -11.3 109 1257 0.12 2.15 0.00 0.000 3078 0.179 0.067 2431 2094 3493 3476 3511 0 0 0 0 0 0 26.11 26.56 26.19 9.45 19.12

1689 -1.06 -244.4 2431 2094 3475 3511 161.3 -11.9 137 1691 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2093 3493 3475 3511 0 0 0 0 0 0 26.77 26.79 26.79 9.41 19.52

1989 -1.06 -244.4 2431 2094 3475 3511 197.0 -11.5 152 1990 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2094 3493 3475 3511 0 0 0 0 0 0 26.79 26.81 26.81 9.40 19.83

2279 -1.06 -244.4 2431 2094 3475 3511 231.5 -11.5 167 2285 0.00 2.33 0.00 0.000 260 0.000 0.084 2422 3678 3493 3475 3511 0 0 0 0 0 0 26.89 26.39 26.91 9.38 19.60

2347 -1.06 -244.4 2422 3678 3475 3511 238.6 -11.9 170 2351 0.00 2.08 0.00 0.000 1030 0.000 0.067 2422 2143 3493 3475 3511 0 0 0 0 0 0 26.68 26.65 26.70 9.38 19.91

2659 -1.06 -244.4 2421 2143 3474 3511 277.2 -12.2 186 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3493 3475 3511 0 0 0 0 0 0 26.95 26.96 26.96 9.38 20.70

2978 -1.06 -244.4 2422 2143 3475 3510 317.8 -12.8 200 2980 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3492 3475 3510 0 0 0 0 0 0 26.98 26.99 26.99 9.36 21.09

3279 -1.06 -244.4 2421 2143 3475 3509 356.5 -12.7 210 3280 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3492 3475 3509 0 0 0 0 0 0 27.01 27.02 27.01 9.36 20.74

3578 -1.06 -244.4 2421 2143 3475 3507 395.3 -12.7 220 3579 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3491 3475 3508 0 0 0 0 0 0 27.02 27.03 27.03 9.35 20.86

3879 -1.06 -244.4 2421 2143 3474 3507 431.4 -11.7 230 3880 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3490 3474 3507 0 0 0 0 0 0 27.03 27.05 27.05 9.35 20.93

4178 -1.06 -244.4 2421 2143 3473 3507 466.9 -11.7 240 4179 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3490 3473 3507 0 0 0 0 0 0 27.04 27.06 27.05 9.35 21.68

4479 -1.06 -244.4 2421 2143 3472 3507 503.2 -12.6 250 4480 0.00 0.00 0.00 0.000 6 0.000 0.000 2422 2143 3489 3472 3507 0 0 0 0 0 0 27.05 27.07 27.06 9.33 21.29

4777 end dive: TARGET_DEPTH_EXCEEDED

state 4777 begin apogee

4781 -0.31 0.0 2421 2143 3471 3506 543.0 -13.6 260 4970 0.75 0.00 184.80 0.919 10246 0.146 0.000 2676 2141 2649 2645 2653 0 0 0 0 0 0 25.82 24.71 24.05 9.31 22.04

4971 end apogee: CONTROL_FINISHED_OK

state 4971 begin climb

4972 1.29 244.4 2676 2141 2645 2653 551.8 0.0 266 5170 1.42 2.45 186.93 0.904 10756 0.114 0.077 3193 599 1807 1806 1808 0 0 0 0 0 0 24.95 24.48 24.02 9.23 20.11

5223 1.21 308.3 3192 598 1806 1808 542.6 8.2 274 5281 0.00 2.28 49.58 0.872 9222 0.000 0.065 3193 2120 1587 1583 1592 0 0 0 0 0 0 25.58 25.52 24.15 9.14 20.74

5595 1.07 308.3 3193 2120 1583 1592 481.9 15.9 287 5601 0.20 2.25 0.00 0.000 4612 0.196 0.077 3139 604 1587 1582 1592 0 0 0 0 0 0 25.86 26.05 25.97 9.11 20.86

5702 0.97 308.3 3138 604 1583 1591 468.8 14.8 290 5707 0.15 2.20 0.00 0.000 5126 0.186 0.067 3092 2127 1587 1583 1591 0 0 0 0 0 0 25.98 26.26 26.14 9.11 21.25

6009 0.97 308.3 3092 2128 1583 1590 429.6 11.9 300 6013 0.00 2.28 0.00 0.000 516 0.000 0.077 3102 610 1586 1583 1590 0 0 0 0 0 0 26.71 26.35 26.72 9.12 21.56

6070 0.97 308.3 3101 606 1583 1590 422.5 11.5 302 6074 0.00 2.17 0.00 0.000 1030 0.000 0.065 3102 2129 1586 1583 1590 0 0 0 0 0 0 26.49 26.44 26.51 9.12 21.17

6396 0.97 308.3 3101 2130 1583 1589 383.6 11.9 313 6402 0.00 2.28 0.00 0.000 516 0.000 0.077 3113 601 1586 1583 1589 0 0 0 0 0 0 26.82 26.43 26.84 9.12 21.92

6475 0.92 308.3 3113 601 1583 1589 376.6 11.9 315 6480 0.12 2.17 0.00 0.000 5126 0.194 0.065 3075 2122 1586 1583 1589 0 0 0 0 0 0 26.18 26.51 26.33 9.12 21.29

6781 0.92 308.3 3074 2122 1582 1589 340.8 11.1 325 6786 0.00 2.25 0.00 0.000 516 0.000 0.077 3085 606 1585 1583 1588 0 0 0 0 0 0 26.89 26.46 26.91 9.13 22.00

6836 0.92 308.3 3083 606 1583 1588 337.0 11.2 326 6844 0.00 2.17 0.00 0.000 1030 0.000 0.067 3085 2117 1585 1583 1588 0 0 0 0 0 0 26.58 26.55 26.60 9.13 21.84

7143 0.92 308.3 3084 2116 1583 1588 297.2 12.2 337 7145 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2117 1585 1583 1588 0 0 0 0 0 0 26.93 26.95 26.94 9.13 22.23

7443 0.92 308.3 3084 2117 1583 1588 259.0 12.6 352 7450 0.00 2.25 0.00 0.000 516 0.000 0.077 3095 601 1585 1583 1588 0 0 0 0 0 0 26.96 26.48 26.97 9.13 21.96

7524 0.92 308.3 3094 601 1583 1588 249.4 12.1 356 7527 0.00 2.17 0.00 0.000 1030 0.000 0.067 3095 2122 1585 1583 1588 0 0 0 0 0 0 26.65 26.58 26.67 9.13 21.92

7844 0.92 308.3 3094 2123 1583 1588 207.6 13.0 372 7849 0.00 2.25 0.00 0.000 516 0.000 0.077 3105 605 1585 1583 1587 0 0 0 0 0 0 26.98 26.48 27.00 9.14 21.84

7899 0.92 308.3 3104 605 1583 1588 202.0 13.1 374 7907 0.10 2.17 0.00 0.000 5126 0.206 0.067 3073 2131 1585 1583 1587 0 0 0 0 0 0 26.27 26.60 26.39 9.13 21.53

8206 0.92 308.3 3074 2131 1583 1587 161.2 13.1 390 8213 0.00 2.28 0.00 0.000 516 0.000 0.077 3085 597 1585 1583 1587 0 0 0 0 0 0 27.01 26.48 27.01 9.14 21.92

8279 0.92 308.3 3084 597 1583 1587 153.4 13.2 393 8286 0.00 2.17 0.00 0.000 1030 0.000 0.065 3085 2125 1585 1583 1587 0 0 0 0 0 0 26.67 26.60 26.69 9.14 21.60

8586 0.92 308.3 3083 2125 1583 1587 111.0 12.2 423 8591 0.00 2.25 0.00 0.000 516 0.000 0.077 3095 606 1585 1583 1587 0 0 0 0 0 0 27.02 26.48 27.03 9.14 21.76

8648 0.92 308.3 3094 606 1583 1587 103.2 12.6 429 8652 0.00 2.17 0.00 0.000 1030 0.000 0.067 3096 2133 1585 1583 1587 0 0 0 0 0 0 26.67 26.60 26.69 9.14 21.25

8959 0.92 308.3 3094 2132 1583 1587 62.0 11.9 460 8960 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2132 1585 1583 1587 0 0 0 0 0 0 27.03 27.05 27.04 9.14 21.64

9260 0.92 308.3 3094 2133 1583 1587 31.7 10.3 490 9261 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2132 1585 1583 1588 0 0 0 0 0 0 27.04 27.05 27.05 9.16 21.37

9559 0.99 369.9 3094 2133 1583 1588 6.5 8.3 520 9610 0.00 2.33 43.67 0.569 8708 0.000 0.077 3095 589 1374 1367 1382 0 0 0 0 0 0 27.05 25.76 25.41 9.22 22.08

9614 end climb: SURFACE_DEPTH_REACHED

state 9614 begin surface coast

9635 end surface coast: CONTROL_FINISHED_OK

state 9635 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	11	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	90	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	65	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	060918,071031,3215.9854,-6433.5391,13,0.8,29,-14.9,0.6,298.1,10,4.5	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	2.35	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-54.6	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	060918,071505,3215.9883,-6433.5859,6,0.9,6,-14.9,0.0,0.0,9,0.0	MHEAD_RNG_PITCHd_Wd	130.8,76318,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	1.9,1.023173	_10V_AH	10.49,7.012
SM_CCo	9652,94.10,0.556,0,0,926,500.22	FG_AHR_24Vo	0.000
SM_GC	2.97,7.47,2.28,94.10,0.074,0.062,0.556,178,2122,926,-8.03,-1.92,500.22,0,0,0,0,0,0,26.16,26.15,24.68	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3216.44,-6434.50,060918,042342	MEM	342468
TT8_MAMPS	0.020972,0.248668	DATA_FILE_SIZE	34942,527
HUMID	21.64	CAP_FILE_SIZE	122989,0
INTERNAL_PRESSURE	9.15461	CFSIZE	2047311872,2036695040
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS	0	CURRENT	0.147,259.60,1
ALTIM_TOP_PING	19.6,16.7	GPS	060918,095925,3214.932,-6432.960,12,0.8,34,-14.9,0.0,296.5,9,4.9
_24V_AH	24.02,12.693

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	273	127.28	SBE_CT	354	24	204.63
Roll_motor	62	84	127.35	AA4330	696	33	552.04
VBD_pump_during_apogee	464	918	10260.80	nil	0	0	0.00
VBD_pump_during_surface	94	556	1257.15	nil	0	0	0.00
VBD_valve	175	163	689.94	nil	0	0	0.00
Iridium_during_init	26	103	64.45	nil	0	0	0.00
Iridium_during_connect	18	160	72.29	nil	0	0	0.00
Iridium_during_xfer	150	223	804.67	nil	0	0	0.00
Transponder_ping	93	420	940.74	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	7	50	4.06
TT8	1564	19	324.94
LPSleep	5710	2	131.19
TT8_Active	697	19	144.79
TT8_Sampling	1996	39	833.73
TT8_CF8	75	45	36.22
TT8_Kalman	0	0	0.00
Analog_circuits	1375	12	173.16
GPS_charging	0	0	0.00
Compass	1089	15	171.45
RAFOS	0	0	0.00
Transponder	1042	30	328.18

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	5	begin dive
7	-1.29	-244.4	178	2127	894	960	0.0	0.0	0	91	0.00	0.00	-81.78	0.164	16386	0.000	0.000	178	2127	2247	2205	2290	0	0	0	0	0	0	26.32	28.83	26.34	9.22	21.72
93	-1.29	-244.4	178	2127	2205	2290	3.0	-0.9	8	204	8.85	2.33	-93.50	0.161	18948	0.273	0.074	2359	582	3492	3476	3509	0	0	0	0	0	0	25.49	25.75	25.55	9.36	21.25
243	-1.13	-244.4	2358	582	3475	3509	12.0	-17.2	23	254	0.20	2.22	0.00	0.000	3078	0.176	0.067	2411	2127	3492	3475	3509	0	0	0	0	0	0	25.59	25.96	25.70	9.50	20.34
552	-1.13	-244.4	2410	2127	3475	3508	47.7	-7.9	54	562	0.00	2.33	0.00	0.000	260	0.000	0.084	2402	3689	3492	3475	3509	0	0	0	0	0	0	26.61	26.19	26.63	9.52	20.07
748	-1.13	-244.4	2401	3690	3475	3510	65.0	-8.5	73	756	0.00	2.20	0.00	0.000	1030	0.000	0.067	2402	2093	3492	3475	3509	0	0	0	0	0	0	26.50	26.48	26.51	9.50	20.19
1128	-1.13	-244.4	2401	2092	3475	3511	99.1	-10.4	104	1147	0.00	2.35	0.00	0.000	260	0.000	0.084	2389	3684	3493	3475	3511	0	0	0	0	0	0	26.76	26.32	26.77	9.46	19.99
1236	-1.06	-244.4	2389	3685	3476	3511	110.5	-11.3	109	1257	0.12	2.15	0.00	0.000	3078	0.179	0.067	2431	2094	3493	3476	3511	0	0	0	0	0	0	26.11	26.56	26.19	9.45	19.12
1689	-1.06	-244.4	2431	2094	3475	3511	161.3	-11.9	137	1691	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2093	3493	3475	3511	0	0	0	0	0	0	26.77	26.79	26.79	9.41	19.52
1989	-1.06	-244.4	2431	2094	3475	3511	197.0	-11.5	152	1990	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2094	3493	3475	3511	0	0	0	0	0	0	26.79	26.81	26.81	9.40	19.83
2279	-1.06	-244.4	2431	2094	3475	3511	231.5	-11.5	167	2285	0.00	2.33	0.00	0.000	260	0.000	0.084	2422	3678	3493	3475	3511	0	0	0	0	0	0	26.89	26.39	26.91	9.38	19.60
2347	-1.06	-244.4	2422	3678	3475	3511	238.6	-11.9	170	2351	0.00	2.08	0.00	0.000	1030	0.000	0.067	2422	2143	3493	3475	3511	0	0	0	0	0	0	26.68	26.65	26.70	9.38	19.91
2659	-1.06	-244.4	2421	2143	3474	3511	277.2	-12.2	186	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3493	3475	3511	0	0	0	0	0	0	26.95	26.96	26.96	9.38	20.70
2978	-1.06	-244.4	2422	2143	3475	3510	317.8	-12.8	200	2980	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3492	3475	3510	0	0	0	0	0	0	26.98	26.99	26.99	9.36	21.09
3279	-1.06	-244.4	2421	2143	3475	3509	356.5	-12.7	210	3280	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3492	3475	3509	0	0	0	0	0	0	27.01	27.02	27.01	9.36	20.74
3578	-1.06	-244.4	2421	2143	3475	3507	395.3	-12.7	220	3579	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3491	3475	3508	0	0	0	0	0	0	27.02	27.03	27.03	9.35	20.86
3879	-1.06	-244.4	2421	2143	3474	3507	431.4	-11.7	230	3880	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3490	3474	3507	0	0	0	0	0	0	27.03	27.05	27.05	9.35	20.93
4178	-1.06	-244.4	2421	2143	3473	3507	466.9	-11.7	240	4179	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3490	3473	3507	0	0	0	0	0	0	27.04	27.06	27.05	9.35	21.68
4479	-1.06	-244.4	2421	2143	3472	3507	503.2	-12.6	250	4480	0.00	0.00	0.00	0.000	6	0.000	0.000	2422	2143	3489	3472	3507	0	0	0	0	0	0	27.05	27.07	27.06	9.33	21.29
4777	end dive: TARGET_DEPTH_EXCEEDED
state	4777	begin apogee
4781	-0.31	0.0	2421	2143	3471	3506	543.0	-13.6	260	4970	0.75	0.00	184.80	0.919	10246	0.146	0.000	2676	2141	2649	2645	2653	0	0	0	0	0	0	25.82	24.71	24.05	9.31	22.04
4971	end apogee: CONTROL_FINISHED_OK
state	4971	begin climb
4972	1.29	244.4	2676	2141	2645	2653	551.8	0.0	266	5170	1.42	2.45	186.93	0.904	10756	0.114	0.077	3193	599	1807	1806	1808	0	0	0	0	0	0	24.95	24.48	24.02	9.23	20.11
5223	1.21	308.3	3192	598	1806	1808	542.6	8.2	274	5281	0.00	2.28	49.58	0.872	9222	0.000	0.065	3193	2120	1587	1583	1592	0	0	0	0	0	0	25.58	25.52	24.15	9.14	20.74
5595	1.07	308.3	3193	2120	1583	1592	481.9	15.9	287	5601	0.20	2.25	0.00	0.000	4612	0.196	0.077	3139	604	1587	1582	1592	0	0	0	0	0	0	25.86	26.05	25.97	9.11	20.86
5702	0.97	308.3	3138	604	1583	1591	468.8	14.8	290	5707	0.15	2.20	0.00	0.000	5126	0.186	0.067	3092	2127	1587	1583	1591	0	0	0	0	0	0	25.98	26.26	26.14	9.11	21.25
6009	0.97	308.3	3092	2128	1583	1590	429.6	11.9	300	6013	0.00	2.28	0.00	0.000	516	0.000	0.077	3102	610	1586	1583	1590	0	0	0	0	0	0	26.71	26.35	26.72	9.12	21.56
6070	0.97	308.3	3101	606	1583	1590	422.5	11.5	302	6074	0.00	2.17	0.00	0.000	1030	0.000	0.065	3102	2129	1586	1583	1590	0	0	0	0	0	0	26.49	26.44	26.51	9.12	21.17
6396	0.97	308.3	3101	2130	1583	1589	383.6	11.9	313	6402	0.00	2.28	0.00	0.000	516	0.000	0.077	3113	601	1586	1583	1589	0	0	0	0	0	0	26.82	26.43	26.84	9.12	21.92
6475	0.92	308.3	3113	601	1583	1589	376.6	11.9	315	6480	0.12	2.17	0.00	0.000	5126	0.194	0.065	3075	2122	1586	1583	1589	0	0	0	0	0	0	26.18	26.51	26.33	9.12	21.29
6781	0.92	308.3	3074	2122	1582	1589	340.8	11.1	325	6786	0.00	2.25	0.00	0.000	516	0.000	0.077	3085	606	1585	1583	1588	0	0	0	0	0	0	26.89	26.46	26.91	9.13	22.00
6836	0.92	308.3	3083	606	1583	1588	337.0	11.2	326	6844	0.00	2.17	0.00	0.000	1030	0.000	0.067	3085	2117	1585	1583	1588	0	0	0	0	0	0	26.58	26.55	26.60	9.13	21.84
7143	0.92	308.3	3084	2116	1583	1588	297.2	12.2	337	7145	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2117	1585	1583	1588	0	0	0	0	0	0	26.93	26.95	26.94	9.13	22.23
7443	0.92	308.3	3084	2117	1583	1588	259.0	12.6	352	7450	0.00	2.25	0.00	0.000	516	0.000	0.077	3095	601	1585	1583	1588	0	0	0	0	0	0	26.96	26.48	26.97	9.13	21.96
7524	0.92	308.3	3094	601	1583	1588	249.4	12.1	356	7527	0.00	2.17	0.00	0.000	1030	0.000	0.067	3095	2122	1585	1583	1588	0	0	0	0	0	0	26.65	26.58	26.67	9.13	21.92
7844	0.92	308.3	3094	2123	1583	1588	207.6	13.0	372	7849	0.00	2.25	0.00	0.000	516	0.000	0.077	3105	605	1585	1583	1587	0	0	0	0	0	0	26.98	26.48	27.00	9.14	21.84
7899	0.92	308.3	3104	605	1583	1588	202.0	13.1	374	7907	0.10	2.17	0.00	0.000	5126	0.206	0.067	3073	2131	1585	1583	1587	0	0	0	0	0	0	26.27	26.60	26.39	9.13	21.53
8206	0.92	308.3	3074	2131	1583	1587	161.2	13.1	390	8213	0.00	2.28	0.00	0.000	516	0.000	0.077	3085	597	1585	1583	1587	0	0	0	0	0	0	27.01	26.48	27.01	9.14	21.92
8279	0.92	308.3	3084	597	1583	1587	153.4	13.2	393	8286	0.00	2.17	0.00	0.000	1030	0.000	0.065	3085	2125	1585	1583	1587	0	0	0	0	0	0	26.67	26.60	26.69	9.14	21.60
8586	0.92	308.3	3083	2125	1583	1587	111.0	12.2	423	8591	0.00	2.25	0.00	0.000	516	0.000	0.077	3095	606	1585	1583	1587	0	0	0	0	0	0	27.02	26.48	27.03	9.14	21.76
8648	0.92	308.3	3094	606	1583	1587	103.2	12.6	429	8652	0.00	2.17	0.00	0.000	1030	0.000	0.067	3096	2133	1585	1583	1587	0	0	0	0	0	0	26.67	26.60	26.69	9.14	21.25
8959	0.92	308.3	3094	2132	1583	1587	62.0	11.9	460	8960	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2132	1585	1583	1587	0	0	0	0	0	0	27.03	27.05	27.04	9.14	21.64
9260	0.92	308.3	3094	2133	1583	1587	31.7	10.3	490	9261	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2132	1585	1583	1588	0	0	0	0	0	0	27.04	27.05	27.05	9.16	21.37
9559	0.99	369.9	3094	2133	1583	1588	6.5	8.3	520	9610	0.00	2.33	43.67	0.569	8708	0.000	0.077	3095	589	1374	1367	1382	0	0	0	0	0	0	27.05	25.76	25.41	9.22	22.08
9614	end climb: SURFACE_DEPTH_REACHED
state	9614	begin surface coast
9635	end surface coast: CONTROL_FINISHED_OK
state	9635	begin surface