Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 22 * 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 22 HEADING -1 C_ROLL_DIVE 2216 ALTIM_BOTTOM_TURN_MARGIN 15

N_DIVES 0 ESCAPE_HEADING 0 C_ROLL_CLIMB 2044 ALTIM_TOP_TURN_MARGIN 0

STOP_T 9111806 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 15 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 5 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_PING_DEPTH 2000

D_FLARE 5 TGT_DEFAULT_LAT 3210 ROLL_TIMEOUT 15 ALTIM_PING_DELTA 20

D_TGT 540 TGT_DEFAULT_LON -6430 R_PORT_OVSHOOT 59 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 95 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 2510 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 1860 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

T_ABORT 1920 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 60 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 2748 MINV_10V 8 SIM_PITCH 0

MAX_BUOY 150 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 5 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 9111806

ALTIM_BOTTOM_TURN_MARGIN 15 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 2000 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 1920

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 1860

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 60

COMPASS_USE 4 LOGGERDEVICE1 -1 RELAUNCH 0 T_TURN 720

COURSE_BIAS 0 LOGGERDEVICE2 -1 RHO 1.023 T_TURN_SAMPINT 5

C_PITCH 2748 LOGGERDEVICE3 -1 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_ROLL_CLIMB 2044 LOGGERDEVICE4 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 60

C_ROLL_DIVE 2216 LOGGERS 0 ROLL_AD_RATE 250 UPLOAD_DIVES_MAX -1

C_VBD 2510 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 150 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 59 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 95 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 22 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 5 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 100918,142637,3142.0918,-6404.1011,36,0.9,40,-14.9,0.6,75.2,10,4.7 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 1.54 KALMAN_X 0.000000,0.000000,0.000000,0.000000,0.000000

_SM_ANGLEo -55.8 KALMAN_Y 0.000000,0.000000,0.000000,0.000000,0.000000

GPS2 100918,143141,3142.1475,-6404.0786,6,0.8,17,-14.9,0.5,40.1,10,4.5 MHEAD_RNG_PITCHd_Wd 226.6,10145,-20.9,-10.000,-23.48,2226

SPEED_LIMITS 0.173,0.230 D_GRID 540

Post-dive calculations and measurements:

FINISH 3.6,1.023677 _10V_AH 10.59,8.594

SM_CCo 10725,153.77,0.554,0,0,788,500.22 FG_AHR_24Vo 0.000

SM_GC 3.30,7.75,1.98,153.77,0.079,0.062,0.554,187,2191,788,-7.89,2.63,500.22,0,0,0,0,0,0,26.09,26.15,24.66 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3143.04,-6402.35,100918,112005 MEM 342380

TT8_MAMPS 0.021721,0.212716 DATA_FILE_SIZE 41562,629

HUMID 21.05 CAP_FILE_SIZE 95304,0

INTERNAL_PRESSURE 9.13508 CFSIZE 2047311872,2034794496

TCM_TEMP 24.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.152,16.60,1

ALTIM_TOP_PING 18.9,16.3 GPS 100918,173446,3141.983,-6404.553,16,0.8,29,-14.9,0.4,165.2,9,5.0

_24V_AH 24.11,16.454

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 275 130.74 SBE_CT 425 24 246.28

Roll_motor 54 96 128.06 AA4330 831 33 661.67

VBD_pump_during_apogee 323 921 7188.81 nil 0 0 0.00

VBD_pump_during_surface 153 553 2052.88 nil 0 0 0.00

VBD_valve 138 161 536.99 nil 0 0 0.00

Iridium_during_init 24 103 60.24 nil 0 0 0.00

Iridium_during_connect 37 160 146.47 nil 0 0 0.00

Iridium_during_xfer 152 223 819.00 nil 0 0 0.00

Transponder_ping 0 420 2.53 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.44

TT8 1883 19 394.93

LPSleep 7106 2 164.80

TT8_Active 651 19 136.54

TT8_Sampling 1497 39 631.34

TT8_CF8 66 45 32.41

TT8_Kalman 0 0 0.00

Analog_circuits 1323 12 168.18

GPS_charging 0 0 0.00

Compass 1231 15 195.63

RAFOS 0 0 0.00

Transponder 6 30 2.08

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

70 -1.47 -146.6 181 2242 753 823 2.2 0.3 6 212 0.00 0.00 -138.00 0.161 16390 0.000 0.000 182 2242 3016 2975 3057 0 0 0 0 0 0 26.38 25.80 25.63 9.19 19.87

214 -1.47 -146.6 182 2242 2974 3057 4.9 -3.9 20 229 8.45 2.45 0.00 0.000 2564 0.276 0.074 2269 634 3016 2976 3057 0 0 0 0 0 0 25.45 25.80 25.70 9.41 19.04

540 -1.32 -146.6 2267 634 2977 3056 53.8 -9.1 52 551 0.17 2.22 0.00 0.000 3078 0.211 0.067 2314 2201 3017 2978 3056 0 0 0 0 0 0 25.91 26.31 26.03 9.43 18.65

849 -1.25 -146.6 2314 2201 2979 3056 69.4 -5.3 83 851 0.10 0.00 0.00 0.000 2054 0.211 0.000 2346 2201 3017 2979 3056 0 0 0 0 0 0 26.26 26.42 26.37 9.41 19.08

1150 -1.19 -146.6 2345 2201 2980 3056 81.3 -3.6 113 1159 0.00 2.25 0.00 0.000 260 0.000 0.087 2337 3749 3018 2980 3056 0 0 0 0 0 0 26.82 26.44 26.82 9.39 17.98

1325 -1.11 -146.6 2336 3749 2980 3056 91.8 -6.9 130 1334 0.17 2.15 0.00 0.000 3078 0.194 0.065 2390 2104 3018 2981 3056 0 0 0 0 0 0 26.22 26.65 26.39 9.37 17.98

1632 -1.11 -146.6 2389 2104 2981 3056 112.8 -8.2 161 1636 0.00 2.12 0.00 0.000 516 0.000 0.077 2390 640 3018 2981 3056 0 0 0 0 0 0 26.90 26.56 26.91 9.35 18.65

1725 -1.11 -146.6 2390 640 2981 3056 121.1 -8.9 170 1734 0.00 2.22 0.00 0.000 1030 0.000 0.067 2381 2228 3018 2981 3056 0 0 0 0 0 0 26.69 26.64 26.71 9.35 18.22

2037 -1.11 -146.6 2381 2228 2981 3056 148.7 -8.7 201 2043 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3018 2981 3056 0 0 0 0 0 0 26.95 26.96 26.96 9.33 18.41

2355 -1.11 -146.6 2381 2228 2981 3056 179.2 -9.9 218 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3018 2981 3056 0 0 0 0 0 0 26.98 26.99 26.98 9.32 19.24

2655 -1.11 -146.6 2381 2228 2981 3055 210.4 -10.6 233 2656 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3018 2981 3055 0 0 0 0 0 0 27.00 27.01 27.01 9.31 18.97

2956 -1.11 -146.6 2380 2227 2981 3055 242.7 -10.8 248 2957 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3018 2981 3055 0 0 0 0 0 0 27.01 27.03 27.02 9.30 19.36

3254 -1.11 -146.6 2381 2228 2981 3053 276.5 -11.6 263 3255 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2227 3017 2981 3053 0 0 0 0 0 0 27.03 27.03 27.03 9.29 19.87

3565 -1.11 -146.6 2381 2227 2981 3052 313.0 -12.0 277 3566 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3016 2981 3052 0 0 0 0 0 0 27.03 27.05 27.04 9.29 20.23

3864 -1.11 -146.6 2381 2228 2980 3051 349.4 -12.3 287 3865 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3015 2980 3051 0 0 0 0 0 0 27.04 27.05 27.05 9.29 21.13

4165 -1.11 -146.6 2381 2228 2981 3050 386.1 -12.1 297 4166 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2228 3015 2981 3050 0 0 0 0 0 0 27.05 27.06 27.05 9.28 21.21

4464 -1.11 -146.6 2381 2228 2980 3049 422.5 -12.2 307 4465 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3015 2981 3049 0 0 0 0 0 0 27.05 27.07 27.06 9.28 20.93

4765 -1.11 -146.6 2381 2228 2980 3048 458.1 -11.7 317 4766 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3014 2981 3048 0 0 0 0 0 0 27.06 27.07 27.07 9.27 20.74

5064 -1.11 -146.6 2381 2228 2981 3047 494.0 -12.0 327 5065 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2227 3014 2981 3047 0 0 0 0 0 0 27.06 27.08 27.07 9.25 21.29

5365 -1.11 -146.6 2381 2228 2981 3046 531.0 -12.6 337 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2228 3013 2981 3046 0 0 0 0 0 0 27.06 27.08 27.08 9.24 21.01

5453 end dive: TARGET_DEPTH_EXCEEDED

state 5453 begin apogee

5457 -0.31 0.0 2381 1943 2981 3045 542.3 -12.6 340 5576 0.80 0.05 109.62 0.921 10246 0.164 0.097 2646 2037 2510 2500 2521 0 0 0 0 0 0 26.27 24.72 24.25 9.24 21.09

5577 end apogee: CONTROL_FINISHED_OK

state 5577 begin climb

5579 1.47 146.6 2646 2037 2500 2521 547.6 0.0 344 5696 1.60 0.00 111.78 0.906 10246 0.117 0.000 3207 2037 2005 2002 2008 0 0 0 0 0 0 25.18 24.74 24.11 9.19 20.19

5995 1.38 146.6 3206 2037 2002 2006 507.4 12.0 358 6001 0.00 2.38 0.00 0.000 516 0.000 0.079 3219 462 2004 2003 2006 0 0 0 0 0 0 26.44 26.11 26.45 9.14 21.53

6104 1.28 146.6 3218 462 2003 2005 495.9 12.7 361 6109 0.20 2.28 0.00 0.000 5126 0.209 0.065 3162 2055 2004 2002 2006 0 0 0 0 0 0 25.91 26.29 26.12 9.14 21.25

6409 1.28 146.6 3161 2055 2002 2005 460.6 10.4 371 6413 0.00 2.38 0.00 0.000 516 0.000 0.077 3173 495 2003 2002 2004 0 0 0 0 0 0 26.72 26.38 26.74 9.14 21.17

6484 1.22 146.6 3172 468 2002 2004 453.9 10.8 373 6489 0.10 2.25 0.00 0.000 5126 0.214 0.065 3144 2053 2003 2002 2004 0 0 0 0 0 0 26.19 26.48 26.34 9.14 21.13

6797 1.23 150.2 3143 2053 2002 2004 421.0 9.8 384 6802 0.00 0.00 3.62 0.492 8198 0.000 0.000 3144 2053 1993 1992 1994 0 0 0 0 0 0 26.84 26.22 25.41 9.14 21.96

7096 1.25 167.0 3144 2053 1992 1994 392.4 9.2 394 7115 0.00 2.40 14.00 0.760 8708 0.000 0.079 3154 462 1934 1931 1937 0 0 0 0 0 0 26.86 25.92 25.43 9.14 21.01

7281 1.20 167.0 3154 462 1931 1936 374.2 10.8 400 7285 0.00 2.25 0.00 0.000 1030 0.000 0.065 3154 2045 1933 1931 1936 0 0 0 0 0 0 26.48 26.42 26.48 9.14 21.05

7602 1.20 167.0 3154 2045 1931 1936 339.6 10.4 411 7604 0.00 0.00 0.00 0.000 6 0.000 0.000 3155 2045 1933 1931 1935 0 0 0 0 0 0 26.82 26.84 26.83 9.14 21.60

7902 1.20 167.0 3154 2045 1931 1935 307.2 11.1 421 7907 0.00 2.35 0.00 0.000 516 0.000 0.079 3166 465 1933 1931 1935 0 0 0 0 0 0 26.89 26.52 26.90 9.14 21.33

7972 1.15 167.0 3166 465 1931 1935 299.7 11.6 423 7978 0.17 2.25 0.00 0.000 5126 0.199 0.065 3113 2058 1932 1931 1934 0 0 0 0 0 0 26.22 26.61 26.41 9.14 21.17

8279 1.15 167.0 3113 2058 1931 1935 266.9 10.8 438 8280 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2058 1932 1931 1934 0 0 0 0 0 0 26.94 26.96 26.95 9.14 21.45

8579 1.15 167.0 3113 2058 1930 1934 233.5 11.7 453 8586 0.00 2.35 0.00 0.000 516 0.000 0.079 3123 471 1932 1931 1934 0 0 0 0 0 0 26.98 26.58 26.98 9.14 21.21

8700 1.15 167.0 3123 471 1931 1934 218.8 12.5 459 8706 0.00 2.22 0.00 0.000 1030 0.000 0.065 3123 2049 1932 1931 1934 0 0 0 0 0 0 26.74 26.69 26.76 9.14 20.93

9020 1.15 167.0 3123 2049 1931 1934 180.1 12.1 475 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2050 1932 1931 1934 0 0 0 0 0 0 27.00 27.01 27.01 9.14 20.90

9320 1.15 167.0 3123 2050 1931 1934 143.8 12.4 492 9330 0.00 2.35 0.00 0.000 516 0.000 0.079 3135 461 1932 1931 1934 0 0 0 0 0 0 27.02 26.62 27.03 9.15 21.01

9383 1.15 167.0 3135 461 1931 1934 136.2 12.9 498 9392 0.00 2.25 0.00 0.000 1030 0.000 0.065 3135 2061 1932 1931 1934 0 0 0 0 0 0 26.77 26.72 26.79 9.15 21.53

9693 1.15 167.0 3135 2061 1931 1934 95.3 13.3 529 9702 0.00 2.35 0.00 0.000 516 0.000 0.079 3148 473 1932 1931 1934 0 0 0 0 0 0 27.03 26.62 27.04 9.16 21.49

9815 1.15 167.0 3147 473 1931 1934 79.9 13.3 541 9825 0.10 2.22 0.00 0.000 5126 0.214 0.065 3119 2064 1932 1930 1934 0 0 0 0 0 0 26.39 26.73 26.54 9.16 21.21

10125 1.15 167.0 3118 2064 1931 1934 50.6 10.6 572 10129 0.00 2.25 0.00 0.000 260 0.000 0.084 3119 3599 1932 1931 1934 0 0 0 0 0 0 27.04 26.60 27.05 9.18 21.09

10177 1.16 179.2 3119 3599 1931 1934 46.0 9.4 577 10192 0.00 2.17 10.02 0.544 9222 0.000 0.065 3127 2006 1892 1890 1895 0 0 0 0 0 0 26.82 26.77 25.76 9.19 21.17

10499 1.29 285.4 3126 2006 1890 1895 26.1 5.1 609 10582 0.05 2.45 74.62 0.581 10500 0.189 0.084 3171 3591 1527 1521 1533 0 0 0 0 0 0 26.74 25.51 25.01 9.22 21.45

10694 end climb: SURFACE_DEPTH_REACHED

state 10694 begin surface coast

10708 end surface coast: CONTROL_FINISHED_OK

state 10708 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	22	HEADING	-1	C_ROLL_DIVE	2216	ALTIM_BOTTOM_TURN_MARGIN	15
N_DIVES	0	ESCAPE_HEADING	0	C_ROLL_CLIMB	2044	ALTIM_TOP_TURN_MARGIN	0
STOP_T	9111806	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	15	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	5	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_PING_DEPTH	2000
D_FLARE	5	TGT_DEFAULT_LAT	3210	ROLL_TIMEOUT	15	ALTIM_PING_DELTA	20
D_TGT	540	TGT_DEFAULT_LON	-6430	R_PORT_OVSHOOT	59	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	95	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	2510	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	1860	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
T_ABORT	1920	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	60	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	2748	MINV_10V	8	SIM_PITCH	0
MAX_BUOY	150	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	100918,142637,3142.0918,-6404.1011,36,0.9,40,-14.9,0.6,75.2,10,4.7	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	1.54	KALMAN_X	0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo	-55.8	KALMAN_Y	0.000000,0.000000,0.000000,0.000000,0.000000
GPS2	100918,143141,3142.1475,-6404.0786,6,0.8,17,-14.9,0.5,40.1,10,4.5	MHEAD_RNG_PITCHd_Wd	226.6,10145,-20.9,-10.000,-23.48,2226
SPEED_LIMITS	0.173,0.230	D_GRID	540

FINISH	3.6,1.023677	_10V_AH	10.59,8.594
SM_CCo	10725,153.77,0.554,0,0,788,500.22	FG_AHR_24Vo	0.000
SM_GC	3.30,7.75,1.98,153.77,0.079,0.062,0.554,187,2191,788,-7.89,2.63,500.22,0,0,0,0,0,0,26.09,26.15,24.66	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3143.04,-6402.35,100918,112005	MEM	342380
TT8_MAMPS	0.021721,0.212716	DATA_FILE_SIZE	41562,629
HUMID	21.05	CAP_FILE_SIZE	95304,0
INTERNAL_PRESSURE	9.13508	CFSIZE	2047311872,2034794496
TCM_TEMP	24.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.152,16.60,1
ALTIM_TOP_PING	18.9,16.3	GPS	100918,173446,3141.983,-6404.553,16,0.8,29,-14.9,0.4,165.2,9,5.0
_24V_AH	24.11,16.454

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	275	130.74	SBE_CT	425	24	246.28
Roll_motor	54	96	128.06	AA4330	831	33	661.67
VBD_pump_during_apogee	323	921	7188.81	nil	0	0	0.00
VBD_pump_during_surface	153	553	2052.88	nil	0	0	0.00
VBD_valve	138	161	536.99	nil	0	0	0.00
Iridium_during_init	24	103	60.24	nil	0	0	0.00
Iridium_during_connect	37	160	146.47	nil	0	0	0.00
Iridium_during_xfer	152	223	819.00	nil	0	0	0.00
Transponder_ping	0	420	2.53	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.44
TT8	1883	19	394.93
LPSleep	7106	2	164.80
TT8_Active	651	19	136.54
TT8_Sampling	1497	39	631.34
TT8_CF8	66	45	32.41
TT8_Kalman	0	0	0.00
Analog_circuits	1323	12	168.18
GPS_charging	0	0	0.00
Compass	1231	15	195.63
RAFOS	0	0	0.00
Transponder	6	30	2.08

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
70	-1.47	-146.6	181	2242	753	823	2.2	0.3	6	212	0.00	0.00	-138.00	0.161	16390	0.000	0.000	182	2242	3016	2975	3057	0	0	0	0	0	0	26.38	25.80	25.63	9.19	19.87
214	-1.47	-146.6	182	2242	2974	3057	4.9	-3.9	20	229	8.45	2.45	0.00	0.000	2564	0.276	0.074	2269	634	3016	2976	3057	0	0	0	0	0	0	25.45	25.80	25.70	9.41	19.04
540	-1.32	-146.6	2267	634	2977	3056	53.8	-9.1	52	551	0.17	2.22	0.00	0.000	3078	0.211	0.067	2314	2201	3017	2978	3056	0	0	0	0	0	0	25.91	26.31	26.03	9.43	18.65
849	-1.25	-146.6	2314	2201	2979	3056	69.4	-5.3	83	851	0.10	0.00	0.00	0.000	2054	0.211	0.000	2346	2201	3017	2979	3056	0	0	0	0	0	0	26.26	26.42	26.37	9.41	19.08
1150	-1.19	-146.6	2345	2201	2980	3056	81.3	-3.6	113	1159	0.00	2.25	0.00	0.000	260	0.000	0.087	2337	3749	3018	2980	3056	0	0	0	0	0	0	26.82	26.44	26.82	9.39	17.98
1325	-1.11	-146.6	2336	3749	2980	3056	91.8	-6.9	130	1334	0.17	2.15	0.00	0.000	3078	0.194	0.065	2390	2104	3018	2981	3056	0	0	0	0	0	0	26.22	26.65	26.39	9.37	17.98
1632	-1.11	-146.6	2389	2104	2981	3056	112.8	-8.2	161	1636	0.00	2.12	0.00	0.000	516	0.000	0.077	2390	640	3018	2981	3056	0	0	0	0	0	0	26.90	26.56	26.91	9.35	18.65
1725	-1.11	-146.6	2390	640	2981	3056	121.1	-8.9	170	1734	0.00	2.22	0.00	0.000	1030	0.000	0.067	2381	2228	3018	2981	3056	0	0	0	0	0	0	26.69	26.64	26.71	9.35	18.22
2037	-1.11	-146.6	2381	2228	2981	3056	148.7	-8.7	201	2043	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3018	2981	3056	0	0	0	0	0	0	26.95	26.96	26.96	9.33	18.41
2355	-1.11	-146.6	2381	2228	2981	3056	179.2	-9.9	218	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3018	2981	3056	0	0	0	0	0	0	26.98	26.99	26.98	9.32	19.24
2655	-1.11	-146.6	2381	2228	2981	3055	210.4	-10.6	233	2656	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3018	2981	3055	0	0	0	0	0	0	27.00	27.01	27.01	9.31	18.97
2956	-1.11	-146.6	2380	2227	2981	3055	242.7	-10.8	248	2957	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3018	2981	3055	0	0	0	0	0	0	27.01	27.03	27.02	9.30	19.36
3254	-1.11	-146.6	2381	2228	2981	3053	276.5	-11.6	263	3255	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2227	3017	2981	3053	0	0	0	0	0	0	27.03	27.03	27.03	9.29	19.87
3565	-1.11	-146.6	2381	2227	2981	3052	313.0	-12.0	277	3566	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3016	2981	3052	0	0	0	0	0	0	27.03	27.05	27.04	9.29	20.23
3864	-1.11	-146.6	2381	2228	2980	3051	349.4	-12.3	287	3865	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3015	2980	3051	0	0	0	0	0	0	27.04	27.05	27.05	9.29	21.13
4165	-1.11	-146.6	2381	2228	2981	3050	386.1	-12.1	297	4166	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2228	3015	2981	3050	0	0	0	0	0	0	27.05	27.06	27.05	9.28	21.21
4464	-1.11	-146.6	2381	2228	2980	3049	422.5	-12.2	307	4465	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3015	2981	3049	0	0	0	0	0	0	27.05	27.07	27.06	9.28	20.93
4765	-1.11	-146.6	2381	2228	2980	3048	458.1	-11.7	317	4766	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3014	2981	3048	0	0	0	0	0	0	27.06	27.07	27.07	9.27	20.74
5064	-1.11	-146.6	2381	2228	2981	3047	494.0	-12.0	327	5065	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2227	3014	2981	3047	0	0	0	0	0	0	27.06	27.08	27.07	9.25	21.29
5365	-1.11	-146.6	2381	2228	2981	3046	531.0	-12.6	337	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2228	3013	2981	3046	0	0	0	0	0	0	27.06	27.08	27.08	9.24	21.01
5453	end dive: TARGET_DEPTH_EXCEEDED
state	5453	begin apogee
5457	-0.31	0.0	2381	1943	2981	3045	542.3	-12.6	340	5576	0.80	0.05	109.62	0.921	10246	0.164	0.097	2646	2037	2510	2500	2521	0	0	0	0	0	0	26.27	24.72	24.25	9.24	21.09
5577	end apogee: CONTROL_FINISHED_OK
state	5577	begin climb
5579	1.47	146.6	2646	2037	2500	2521	547.6	0.0	344	5696	1.60	0.00	111.78	0.906	10246	0.117	0.000	3207	2037	2005	2002	2008	0	0	0	0	0	0	25.18	24.74	24.11	9.19	20.19
5995	1.38	146.6	3206	2037	2002	2006	507.4	12.0	358	6001	0.00	2.38	0.00	0.000	516	0.000	0.079	3219	462	2004	2003	2006	0	0	0	0	0	0	26.44	26.11	26.45	9.14	21.53
6104	1.28	146.6	3218	462	2003	2005	495.9	12.7	361	6109	0.20	2.28	0.00	0.000	5126	0.209	0.065	3162	2055	2004	2002	2006	0	0	0	0	0	0	25.91	26.29	26.12	9.14	21.25
6409	1.28	146.6	3161	2055	2002	2005	460.6	10.4	371	6413	0.00	2.38	0.00	0.000	516	0.000	0.077	3173	495	2003	2002	2004	0	0	0	0	0	0	26.72	26.38	26.74	9.14	21.17
6484	1.22	146.6	3172	468	2002	2004	453.9	10.8	373	6489	0.10	2.25	0.00	0.000	5126	0.214	0.065	3144	2053	2003	2002	2004	0	0	0	0	0	0	26.19	26.48	26.34	9.14	21.13
6797	1.23	150.2	3143	2053	2002	2004	421.0	9.8	384	6802	0.00	0.00	3.62	0.492	8198	0.000	0.000	3144	2053	1993	1992	1994	0	0	0	0	0	0	26.84	26.22	25.41	9.14	21.96
7096	1.25	167.0	3144	2053	1992	1994	392.4	9.2	394	7115	0.00	2.40	14.00	0.760	8708	0.000	0.079	3154	462	1934	1931	1937	0	0	0	0	0	0	26.86	25.92	25.43	9.14	21.01
7281	1.20	167.0	3154	462	1931	1936	374.2	10.8	400	7285	0.00	2.25	0.00	0.000	1030	0.000	0.065	3154	2045	1933	1931	1936	0	0	0	0	0	0	26.48	26.42	26.48	9.14	21.05
7602	1.20	167.0	3154	2045	1931	1936	339.6	10.4	411	7604	0.00	0.00	0.00	0.000	6	0.000	0.000	3155	2045	1933	1931	1935	0	0	0	0	0	0	26.82	26.84	26.83	9.14	21.60
7902	1.20	167.0	3154	2045	1931	1935	307.2	11.1	421	7907	0.00	2.35	0.00	0.000	516	0.000	0.079	3166	465	1933	1931	1935	0	0	0	0	0	0	26.89	26.52	26.90	9.14	21.33
7972	1.15	167.0	3166	465	1931	1935	299.7	11.6	423	7978	0.17	2.25	0.00	0.000	5126	0.199	0.065	3113	2058	1932	1931	1934	0	0	0	0	0	0	26.22	26.61	26.41	9.14	21.17
8279	1.15	167.0	3113	2058	1931	1935	266.9	10.8	438	8280	0.00	0.00	0.00	0.000	6	0.000	0.000	3114	2058	1932	1931	1934	0	0	0	0	0	0	26.94	26.96	26.95	9.14	21.45
8579	1.15	167.0	3113	2058	1930	1934	233.5	11.7	453	8586	0.00	2.35	0.00	0.000	516	0.000	0.079	3123	471	1932	1931	1934	0	0	0	0	0	0	26.98	26.58	26.98	9.14	21.21
8700	1.15	167.0	3123	471	1931	1934	218.8	12.5	459	8706	0.00	2.22	0.00	0.000	1030	0.000	0.065	3123	2049	1932	1931	1934	0	0	0	0	0	0	26.74	26.69	26.76	9.14	20.93
9020	1.15	167.0	3123	2049	1931	1934	180.1	12.1	475	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	3124	2050	1932	1931	1934	0	0	0	0	0	0	27.00	27.01	27.01	9.14	20.90
9320	1.15	167.0	3123	2050	1931	1934	143.8	12.4	492	9330	0.00	2.35	0.00	0.000	516	0.000	0.079	3135	461	1932	1931	1934	0	0	0	0	0	0	27.02	26.62	27.03	9.15	21.01
9383	1.15	167.0	3135	461	1931	1934	136.2	12.9	498	9392	0.00	2.25	0.00	0.000	1030	0.000	0.065	3135	2061	1932	1931	1934	0	0	0	0	0	0	26.77	26.72	26.79	9.15	21.53
9693	1.15	167.0	3135	2061	1931	1934	95.3	13.3	529	9702	0.00	2.35	0.00	0.000	516	0.000	0.079	3148	473	1932	1931	1934	0	0	0	0	0	0	27.03	26.62	27.04	9.16	21.49
9815	1.15	167.0	3147	473	1931	1934	79.9	13.3	541	9825	0.10	2.22	0.00	0.000	5126	0.214	0.065	3119	2064	1932	1930	1934	0	0	0	0	0	0	26.39	26.73	26.54	9.16	21.21
10125	1.15	167.0	3118	2064	1931	1934	50.6	10.6	572	10129	0.00	2.25	0.00	0.000	260	0.000	0.084	3119	3599	1932	1931	1934	0	0	0	0	0	0	27.04	26.60	27.05	9.18	21.09
10177	1.16	179.2	3119	3599	1931	1934	46.0	9.4	577	10192	0.00	2.17	10.02	0.544	9222	0.000	0.065	3127	2006	1892	1890	1895	0	0	0	0	0	0	26.82	26.77	25.76	9.19	21.17
10499	1.29	285.4	3126	2006	1890	1895	26.1	5.1	609	10582	0.05	2.45	74.62	0.581	10500	0.189	0.084	3171	3591	1527	1521	1533	0	0	0	0	0	0	26.74	25.51	25.01	9.22	21.45
10694	end climb: SURFACE_DEPTH_REACHED
state	10694	begin surface coast
10708	end surface coast: CONTROL_FINISHED_OK
state	10708	begin surface