Glider dive log

Bermuda Sep18 * SG040 * Dive index * Mission links * Dive 9 * 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 9 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 42 ALTIM_FREQUENCY 13

D_ABORT 6050 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 81 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 42 VBD_MAX 3960

DEVICE5 -1 MISSION 18 R_STBD_OVSHOOT 81 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_G -9.7571077 VBD_MIN 350

DIVE 9 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 060918,013631,3219.4785,-6433.7134,5,0.8,15,-14.9,0.0,0.0,10,4.9 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 0.50 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 060918,013907,3219.4705,-6433.7114,5,0.8,16,-14.9,0.0,0.0,10,4.8 MHEAD_RNG_PITCHd_Wd 167.6,82100,-16.1,-10.000,-19.07,3691

SPEED_LIMITS 0.173,0.289 D_GRID 540

Post-dive calculations and measurements:

FINISH 1.6,0.996294 _10V_AH 10.56,6.878

SM_CCo 9605,77.12,0.559,0,0,927,500.22 FG_AHR_24Vo 0.000

SM_GC 2.48,7.40,0.00,77.12,0.074,0.000,0.559,178,2131,927,-8.01,0.25,500.22,0,0,0,0,0,0,26.25,26.58,24.82 FG_AHR_10Vo 0.000

IRIDIUM_FIX 3218.27,-6434.50,060918,013321 MEM 342508

TT8_MAMPS 0.021721,0.241927 DATA_FILE_SIZE 34839,521

HUMID 22.04 CAP_FILE_SIZE 168474,0

INTERNAL_PRESSURE 9.17414 CFSIZE 2047311872,2036891648

TCM_TEMP 29.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.144,229.79,1

ALTIM_TOP_PING 19.2,17.0 GPS 060918,042229,3217.494,-6433.903,39,1.0,42,-14.9,0.3,280.0,8,4.7

_24V_AH 24.15,12.376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 275 128.30 SBE_CT 351 24 203.71

Roll_motor 79 181 345.92 AA4330 688 33 548.90

VBD_pump_during_apogee 472 913 10419.45 nil 0 0 0.00

VBD_pump_during_surface 77 558 1040.57 nil 0 0 0.00

VBD_valve 142 163 563.27 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 99 420 1006.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 9.28

TT8 1603 19 335.35

LPSleep 5490 2 126.98

TT8_Active 678 19 141.92

TT8_Sampling 1931 39 811.85

TT8_CF8 66 45 32.26

TT8_Kalman 0 0 0.00

Analog_circuits 1388 12 175.91

GPS_charging 0 0 0.00

Compass 1172 15 185.80

RAFOS 0 0 0.00

Transponder 1105 30 350.16

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

6 -1.29 -244.4 191 2029 897 959 0.0 0.0 0 153 0.00 0.05 -142.32 0.164 16390 0.000 0.181 190 2113 3493 3456 3530 0 0 0 0 0 0 26.79 26.01 25.89 9.38 20.15

155 -1.29 -244.4 189 2153 3456 3530 4.5 -6.7 14 175 8.68 2.40 0.00 0.000 2564 0.276 0.074 2365 516 3493 3457 3530 0 0 0 0 0 0 25.75 26.00 25.89 9.63 19.32

331 -1.19 -244.4 2364 516 3456 3529 36.5 -9.9 31 340 0.12 2.28 0.00 0.000 3078 0.194 0.067 2393 2133 3492 3456 3529 0 0 0 0 0 0 26.00 26.36 26.14 9.63 19.79

639 -1.14 -244.4 2392 2132 3455 3528 64.5 -8.3 62 643 0.00 2.25 0.00 0.000 260 0.000 0.084 2384 3672 3492 3456 3529 0 0 0 0 0 0 26.85 26.37 26.86 9.60 19.52

784 -1.06 -244.4 2383 3674 3456 3529 77.5 -8.6 76 793 0.15 2.20 0.00 0.000 3078 0.184 0.067 2432 2033 3492 3456 3528 0 0 0 0 0 0 26.16 26.63 26.29 9.58 19.36

1249 -1.06 -244.4 2432 2033 3456 3527 117.3 -9.3 107 1268 0.00 2.40 0.00 0.000 260 0.000 0.084 2422 3678 3491 3456 3527 0 0 0 0 0 0 26.86 26.46 26.87 9.54 20.15

1417 -1.06 -244.4 2422 3678 3456 3526 135.2 -10.9 115 1435 0.00 2.22 0.00 0.000 1030 0.000 0.067 2422 2056 3491 3456 3526 0 0 0 0 0 0 26.66 26.65 26.67 9.52 20.11

1779 -1.06 -244.4 2422 2056 3456 3524 176.2 -12.0 135 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2056 3490 3456 3524 0 0 0 0 0 0 26.89 26.90 26.89 9.49 19.99

2067 -1.06 -244.4 2422 2056 3456 3522 214.0 -12.7 150 2074 0.00 2.40 0.00 0.000 260 0.000 0.084 2411 3684 3489 3456 3522 0 0 0 0 0 0 26.95 26.44 26.96 9.47 20.30

2135 -1.06 -244.4 2410 3684 3456 3521 222.1 -13.3 153 2139 0.00 2.20 0.00 0.000 1030 0.000 0.067 2410 2062 3488 3455 3522 0 0 0 0 0 0 26.72 26.68 26.73 9.47 21.05

2443 -1.06 -244.4 2410 2062 3456 3518 264.5 -13.3 168 2444 0.00 0.00 0.00 0.000 6 0.000 0.000 2410 2062 3487 3456 3518 0 0 0 0 0 0 27.00 27.02 27.01 9.46 21.25

2752 -1.06 -244.4 2409 2062 3456 3516 306.2 -13.4 183 2757 0.00 2.38 0.00 0.000 260 0.000 0.084 2398 3675 3486 3456 3516 0 0 0 0 0 0 27.03 26.45 27.04 9.44 21.60

2802 -1.06 -244.4 2398 3675 3456 3516 310.7 -13.8 184 2807 0.12 2.20 0.00 0.000 3078 0.184 0.067 2440 2053 3486 3456 3516 0 0 0 0 0 0 26.31 26.73 26.41 9.44 22.04

3114 -1.06 -244.4 2439 2052 3455 3513 350.7 -11.9 195 3115 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2052 3484 3455 3514 0 0 0 0 0 0 27.05 27.07 27.06 9.43 22.27

3414 -1.06 -244.4 2439 2053 3456 3511 387.2 -12.2 205 3419 0.00 2.38 0.00 0.000 260 0.000 0.084 2430 3673 3483 3456 3511 0 0 0 0 0 0 27.06 26.42 27.08 9.42 21.96

3489 -1.06 -244.4 2429 3674 3455 3511 394.8 -12.3 207 3493 0.00 2.20 0.00 0.000 1030 0.000 0.067 2430 2057 3483 3456 3510 0 0 0 0 0 0 26.78 26.74 26.79 9.42 21.96

3806 -1.06 -244.4 2429 2057 3456 3508 435.9 -12.6 218 3807 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2058 3482 3456 3508 0 0 0 0 0 0 27.07 27.09 27.08 9.40 21.72

4106 -1.06 -244.4 2430 2057 3456 3506 473.9 -12.7 228 4112 0.00 2.40 0.00 0.000 260 0.000 0.084 2419 3674 3481 3456 3506 0 0 0 0 0 0 27.08 26.37 27.09 9.39 21.88

4166 -1.06 -244.4 2418 3674 3456 3505 481.8 -12.9 230 4170 0.00 2.20 0.00 0.000 1030 0.000 0.067 2419 2064 3480 3456 3505 0 0 0 0 0 0 26.77 26.74 26.79 9.39 22.27

4492 -1.06 -244.4 2418 2064 3456 3503 526.0 -13.0 241 4494 0.00 0.00 0.00 0.000 6 0.000 0.000 2420 2064 3479 3456 3503 0 0 0 0 0 0 27.08 27.10 27.10 9.37 22.23

4611 end dive: TARGET_DEPTH_EXCEEDED

state 4611 begin apogee

4615 -0.31 0.0 2419 2064 3456 3502 542.6 -13.8 245 4800 0.77 0.00 180.57 0.914 10246 0.149 0.000 2680 2063 2649 2645 2653 0 0 0 0 0 0 25.76 24.83 24.15 9.37 22.82

4801 end apogee: CONTROL_FINISHED_OK

state 4801 begin climb

4802 1.29 244.4 2679 2063 2645 2653 550.0 0.0 251 4995 1.40 2.42 184.05 0.894 10756 0.112 0.084 3192 530 1807 1806 1809 0 0 0 0 0 0 25.08 24.83 24.17 9.28 21.33

5155 1.13 244.4 3191 530 1806 1808 517.4 15.3 263 5160 0.12 2.33 0.00 0.000 5126 0.191 0.067 3147 2111 1807 1806 1808 0 0 0 0 0 0 25.71 26.03 25.90 9.18 21.13

5484 1.03 244.4 3146 2111 1806 1806 475.2 12.5 274 5490 0.10 2.35 0.00 0.000 4612 0.216 0.077 3123 526 1806 1806 1806 0 0 0 0 0 0 26.17 26.30 26.25 9.17 21.92

5604 0.95 244.4 3123 525 1805 1805 462.1 11.0 278 5611 0.12 2.28 0.00 0.000 5126 0.184 0.067 3085 2130 1806 1807 1805 0 0 0 0 0 0 26.10 26.44 26.20 9.18 22.08

5934 1.00 289.8 3084 2130 1806 1804 432.0 8.7 289 5972 0.00 2.45 33.47 0.814 8708 0.000 0.079 3095 535 1651 1648 1654 0 0 0 0 0 0 26.85 25.46 25.01 9.17 22.39

6022 1.02 302.7 3094 535 1647 1654 423.3 9.6 292 6039 0.00 2.33 11.23 0.725 9222 0.000 0.067 3095 2126 1605 1601 1610 0 0 0 0 0 0 26.10 26.04 24.98 9.16 22.71

6346 1.02 302.7 3094 2125 1601 1610 385.0 12.3 303 6352 0.00 2.40 0.00 0.000 516 0.000 0.077 3107 527 1605 1601 1609 0 0 0 0 0 0 26.65 26.27 26.65 9.16 22.51

6419 1.02 302.7 3106 527 1601 1609 377.1 12.4 305 6424 0.00 2.30 0.00 0.000 1030 0.000 0.067 3107 2122 1605 1601 1610 0 0 0 0 0 0 26.45 26.39 26.47 9.16 22.67

6737 0.96 302.7 3106 2123 1601 1608 332.6 13.4 316 6743 0.00 2.38 0.00 0.000 516 0.000 0.079 3119 532 1605 1602 1608 0 0 0 0 0 0 26.83 26.41 26.84 9.16 22.82

6799 0.90 302.7 3118 532 1601 1607 324.9 13.2 318 6804 0.17 2.28 0.00 0.000 5126 0.191 0.067 3065 2124 1604 1601 1608 0 0 0 0 0 0 26.09 26.51 26.27 9.17 22.35

7116 0.90 302.7 3064 2124 1601 1607 288.2 11.1 330 7122 0.00 2.38 0.00 0.000 516 0.000 0.077 3075 527 1604 1601 1607 0 0 0 0 0 0 26.91 26.46 26.93 9.16 23.42

7171 0.90 302.7 3075 527 1601 1607 283.5 11.4 332 7178 0.00 2.30 0.00 0.000 1030 0.000 0.067 3075 2139 1604 1601 1607 0 0 0 0 0 0 26.63 26.58 26.65 9.17 22.82

7477 0.90 302.7 3075 2140 1601 1607 242.8 12.9 348 7483 0.00 2.40 0.00 0.000 516 0.000 0.079 3088 528 1604 1601 1607 0 0 0 0 0 0 26.96 26.46 26.98 9.17 22.79

7539 0.90 302.7 3087 528 1601 1607 235.0 13.1 351 7544 0.00 2.30 0.00 0.000 1030 0.000 0.067 3088 2117 1603 1601 1606 0 0 0 0 0 0 26.61 26.60 26.64 9.17 22.31

7858 0.90 302.7 3087 2117 1601 1607 193.9 12.8 367 7862 0.00 2.38 0.00 0.000 516 0.000 0.079 3099 524 1603 1601 1606 0 0 0 0 0 0 26.99 26.46 27.01 9.16 23.06

7907 0.90 302.7 3099 524 1601 1606 187.9 13.4 369 7912 0.10 2.28 0.00 0.000 5126 0.206 0.067 3069 2126 1603 1601 1606 0 0 0 0 0 0 26.26 26.60 26.38 9.16 22.43

8220 0.90 302.7 3069 2126 1601 1606 149.7 11.7 385 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2126 1603 1601 1606 0 0 0 0 0 0 27.02 27.03 27.03 9.17 22.27

8520 0.90 302.7 3069 2126 1601 1606 114.6 12.1 415 8529 0.00 2.38 0.00 0.000 516 0.000 0.079 3080 526 1603 1601 1606 0 0 0 0 0 0 27.03 26.46 27.04 9.17 21.84

8602 0.90 302.7 3080 527 1601 1605 104.4 13.3 423 8606 0.00 2.25 0.00 0.000 1030 0.000 0.067 3080 2122 1603 1601 1605 0 0 0 0 0 0 26.68 26.63 26.71 9.17 22.51

8914 0.90 302.7 3079 2127 1601 1606 66.3 11.9 454 8923 0.00 2.38 0.00 0.000 516 0.000 0.079 3092 529 1604 1602 1606 0 0 0 0 0 0 27.05 26.45 27.05 9.18 22.39

8986 0.90 302.7 3091 529 1602 1605 57.6 12.4 461 8990 0.00 2.28 0.00 0.000 1030 0.000 0.067 3092 2130 1603 1601 1605 0 0 0 0 0 0 26.68 26.62 26.70 9.18 22.16

9291 1.01 392.7 3092 2130 1602 1605 29.4 7.5 491 9362 0.00 0.00 62.85 0.586 8454 0.000 0.000 3092 2129 1297 1290 1304 0 0 0 0 0 0 27.05 25.49 25.18 9.21 22.31

9569 end climb: SURFACE_DEPTH_REACHED

state 9569 begin surface coast

9591 end surface coast: CONTROL_FINISHED_OK

state 9591 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	9	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	42	ALTIM_FREQUENCY	13
D_ABORT	6050	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	81	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	060918,013631,3219.4785,-6433.7134,5,0.8,15,-14.9,0.0,0.0,10,4.9	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	0.50	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	060918,013907,3219.4705,-6433.7114,5,0.8,16,-14.9,0.0,0.0,10,4.8	MHEAD_RNG_PITCHd_Wd	167.6,82100,-16.1,-10.000,-19.07,3691
SPEED_LIMITS	0.173,0.289	D_GRID	540

FINISH	1.6,0.996294	_10V_AH	10.56,6.878
SM_CCo	9605,77.12,0.559,0,0,927,500.22	FG_AHR_24Vo	0.000
SM_GC	2.48,7.40,0.00,77.12,0.074,0.000,0.559,178,2131,927,-8.01,0.25,500.22,0,0,0,0,0,0,26.25,26.58,24.82	FG_AHR_10Vo	0.000
IRIDIUM_FIX	3218.27,-6434.50,060918,013321	MEM	342508
TT8_MAMPS	0.021721,0.241927	DATA_FILE_SIZE	34839,521
HUMID	22.04	CAP_FILE_SIZE	168474,0
INTERNAL_PRESSURE	9.17414	CFSIZE	2047311872,2036891648
TCM_TEMP	29.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.144,229.79,1
ALTIM_TOP_PING	19.2,17.0	GPS	060918,042229,3217.494,-6433.903,39,1.0,42,-14.9,0.3,280.0,8,4.7
_24V_AH	24.15,12.376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	275	128.30	SBE_CT	351	24	203.71
Roll_motor	79	181	345.92	AA4330	688	33	548.90
VBD_pump_during_apogee	472	913	10419.45	nil	0	0	0.00
VBD_pump_during_surface	77	558	1040.57	nil	0	0	0.00
VBD_valve	142	163	563.27	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	99	420	1006.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	9.28
TT8	1603	19	335.35
LPSleep	5490	2	126.98
TT8_Active	678	19	141.92
TT8_Sampling	1931	39	811.85
TT8_CF8	66	45	32.26
TT8_Kalman	0	0	0.00
Analog_circuits	1388	12	175.91
GPS_charging	0	0	0.00
Compass	1172	15	185.80
RAFOS	0	0	0.00
Transponder	1105	30	350.16

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
6	-1.29	-244.4	191	2029	897	959	0.0	0.0	0	153	0.00	0.05	-142.32	0.164	16390	0.000	0.181	190	2113	3493	3456	3530	0	0	0	0	0	0	26.79	26.01	25.89	9.38	20.15
155	-1.29	-244.4	189	2153	3456	3530	4.5	-6.7	14	175	8.68	2.40	0.00	0.000	2564	0.276	0.074	2365	516	3493	3457	3530	0	0	0	0	0	0	25.75	26.00	25.89	9.63	19.32
331	-1.19	-244.4	2364	516	3456	3529	36.5	-9.9	31	340	0.12	2.28	0.00	0.000	3078	0.194	0.067	2393	2133	3492	3456	3529	0	0	0	0	0	0	26.00	26.36	26.14	9.63	19.79
639	-1.14	-244.4	2392	2132	3455	3528	64.5	-8.3	62	643	0.00	2.25	0.00	0.000	260	0.000	0.084	2384	3672	3492	3456	3529	0	0	0	0	0	0	26.85	26.37	26.86	9.60	19.52
784	-1.06	-244.4	2383	3674	3456	3529	77.5	-8.6	76	793	0.15	2.20	0.00	0.000	3078	0.184	0.067	2432	2033	3492	3456	3528	0	0	0	0	0	0	26.16	26.63	26.29	9.58	19.36
1249	-1.06	-244.4	2432	2033	3456	3527	117.3	-9.3	107	1268	0.00	2.40	0.00	0.000	260	0.000	0.084	2422	3678	3491	3456	3527	0	0	0	0	0	0	26.86	26.46	26.87	9.54	20.15
1417	-1.06	-244.4	2422	3678	3456	3526	135.2	-10.9	115	1435	0.00	2.22	0.00	0.000	1030	0.000	0.067	2422	2056	3491	3456	3526	0	0	0	0	0	0	26.66	26.65	26.67	9.52	20.11
1779	-1.06	-244.4	2422	2056	3456	3524	176.2	-12.0	135	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2056	3490	3456	3524	0	0	0	0	0	0	26.89	26.90	26.89	9.49	19.99
2067	-1.06	-244.4	2422	2056	3456	3522	214.0	-12.7	150	2074	0.00	2.40	0.00	0.000	260	0.000	0.084	2411	3684	3489	3456	3522	0	0	0	0	0	0	26.95	26.44	26.96	9.47	20.30
2135	-1.06	-244.4	2410	3684	3456	3521	222.1	-13.3	153	2139	0.00	2.20	0.00	0.000	1030	0.000	0.067	2410	2062	3488	3455	3522	0	0	0	0	0	0	26.72	26.68	26.73	9.47	21.05
2443	-1.06	-244.4	2410	2062	3456	3518	264.5	-13.3	168	2444	0.00	0.00	0.00	0.000	6	0.000	0.000	2410	2062	3487	3456	3518	0	0	0	0	0	0	27.00	27.02	27.01	9.46	21.25
2752	-1.06	-244.4	2409	2062	3456	3516	306.2	-13.4	183	2757	0.00	2.38	0.00	0.000	260	0.000	0.084	2398	3675	3486	3456	3516	0	0	0	0	0	0	27.03	26.45	27.04	9.44	21.60
2802	-1.06	-244.4	2398	3675	3456	3516	310.7	-13.8	184	2807	0.12	2.20	0.00	0.000	3078	0.184	0.067	2440	2053	3486	3456	3516	0	0	0	0	0	0	26.31	26.73	26.41	9.44	22.04
3114	-1.06	-244.4	2439	2052	3455	3513	350.7	-11.9	195	3115	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2052	3484	3455	3514	0	0	0	0	0	0	27.05	27.07	27.06	9.43	22.27
3414	-1.06	-244.4	2439	2053	3456	3511	387.2	-12.2	205	3419	0.00	2.38	0.00	0.000	260	0.000	0.084	2430	3673	3483	3456	3511	0	0	0	0	0	0	27.06	26.42	27.08	9.42	21.96
3489	-1.06	-244.4	2429	3674	3455	3511	394.8	-12.3	207	3493	0.00	2.20	0.00	0.000	1030	0.000	0.067	2430	2057	3483	3456	3510	0	0	0	0	0	0	26.78	26.74	26.79	9.42	21.96
3806	-1.06	-244.4	2429	2057	3456	3508	435.9	-12.6	218	3807	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2058	3482	3456	3508	0	0	0	0	0	0	27.07	27.09	27.08	9.40	21.72
4106	-1.06	-244.4	2430	2057	3456	3506	473.9	-12.7	228	4112	0.00	2.40	0.00	0.000	260	0.000	0.084	2419	3674	3481	3456	3506	0	0	0	0	0	0	27.08	26.37	27.09	9.39	21.88
4166	-1.06	-244.4	2418	3674	3456	3505	481.8	-12.9	230	4170	0.00	2.20	0.00	0.000	1030	0.000	0.067	2419	2064	3480	3456	3505	0	0	0	0	0	0	26.77	26.74	26.79	9.39	22.27
4492	-1.06	-244.4	2418	2064	3456	3503	526.0	-13.0	241	4494	0.00	0.00	0.00	0.000	6	0.000	0.000	2420	2064	3479	3456	3503	0	0	0	0	0	0	27.08	27.10	27.10	9.37	22.23
4611	end dive: TARGET_DEPTH_EXCEEDED
state	4611	begin apogee
4615	-0.31	0.0	2419	2064	3456	3502	542.6	-13.8	245	4800	0.77	0.00	180.57	0.914	10246	0.149	0.000	2680	2063	2649	2645	2653	0	0	0	0	0	0	25.76	24.83	24.15	9.37	22.82
4801	end apogee: CONTROL_FINISHED_OK
state	4801	begin climb
4802	1.29	244.4	2679	2063	2645	2653	550.0	0.0	251	4995	1.40	2.42	184.05	0.894	10756	0.112	0.084	3192	530	1807	1806	1809	0	0	0	0	0	0	25.08	24.83	24.17	9.28	21.33
5155	1.13	244.4	3191	530	1806	1808	517.4	15.3	263	5160	0.12	2.33	0.00	0.000	5126	0.191	0.067	3147	2111	1807	1806	1808	0	0	0	0	0	0	25.71	26.03	25.90	9.18	21.13
5484	1.03	244.4	3146	2111	1806	1806	475.2	12.5	274	5490	0.10	2.35	0.00	0.000	4612	0.216	0.077	3123	526	1806	1806	1806	0	0	0	0	0	0	26.17	26.30	26.25	9.17	21.92
5604	0.95	244.4	3123	525	1805	1805	462.1	11.0	278	5611	0.12	2.28	0.00	0.000	5126	0.184	0.067	3085	2130	1806	1807	1805	0	0	0	0	0	0	26.10	26.44	26.20	9.18	22.08
5934	1.00	289.8	3084	2130	1806	1804	432.0	8.7	289	5972	0.00	2.45	33.47	0.814	8708	0.000	0.079	3095	535	1651	1648	1654	0	0	0	0	0	0	26.85	25.46	25.01	9.17	22.39
6022	1.02	302.7	3094	535	1647	1654	423.3	9.6	292	6039	0.00	2.33	11.23	0.725	9222	0.000	0.067	3095	2126	1605	1601	1610	0	0	0	0	0	0	26.10	26.04	24.98	9.16	22.71
6346	1.02	302.7	3094	2125	1601	1610	385.0	12.3	303	6352	0.00	2.40	0.00	0.000	516	0.000	0.077	3107	527	1605	1601	1609	0	0	0	0	0	0	26.65	26.27	26.65	9.16	22.51
6419	1.02	302.7	3106	527	1601	1609	377.1	12.4	305	6424	0.00	2.30	0.00	0.000	1030	0.000	0.067	3107	2122	1605	1601	1610	0	0	0	0	0	0	26.45	26.39	26.47	9.16	22.67
6737	0.96	302.7	3106	2123	1601	1608	332.6	13.4	316	6743	0.00	2.38	0.00	0.000	516	0.000	0.079	3119	532	1605	1602	1608	0	0	0	0	0	0	26.83	26.41	26.84	9.16	22.82
6799	0.90	302.7	3118	532	1601	1607	324.9	13.2	318	6804	0.17	2.28	0.00	0.000	5126	0.191	0.067	3065	2124	1604	1601	1608	0	0	0	0	0	0	26.09	26.51	26.27	9.17	22.35
7116	0.90	302.7	3064	2124	1601	1607	288.2	11.1	330	7122	0.00	2.38	0.00	0.000	516	0.000	0.077	3075	527	1604	1601	1607	0	0	0	0	0	0	26.91	26.46	26.93	9.16	23.42
7171	0.90	302.7	3075	527	1601	1607	283.5	11.4	332	7178	0.00	2.30	0.00	0.000	1030	0.000	0.067	3075	2139	1604	1601	1607	0	0	0	0	0	0	26.63	26.58	26.65	9.17	22.82
7477	0.90	302.7	3075	2140	1601	1607	242.8	12.9	348	7483	0.00	2.40	0.00	0.000	516	0.000	0.079	3088	528	1604	1601	1607	0	0	0	0	0	0	26.96	26.46	26.98	9.17	22.79
7539	0.90	302.7	3087	528	1601	1607	235.0	13.1	351	7544	0.00	2.30	0.00	0.000	1030	0.000	0.067	3088	2117	1603	1601	1606	0	0	0	0	0	0	26.61	26.60	26.64	9.17	22.31
7858	0.90	302.7	3087	2117	1601	1607	193.9	12.8	367	7862	0.00	2.38	0.00	0.000	516	0.000	0.079	3099	524	1603	1601	1606	0	0	0	0	0	0	26.99	26.46	27.01	9.16	23.06
7907	0.90	302.7	3099	524	1601	1606	187.9	13.4	369	7912	0.10	2.28	0.00	0.000	5126	0.206	0.067	3069	2126	1603	1601	1606	0	0	0	0	0	0	26.26	26.60	26.38	9.16	22.43
8220	0.90	302.7	3069	2126	1601	1606	149.7	11.7	385	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2126	1603	1601	1606	0	0	0	0	0	0	27.02	27.03	27.03	9.17	22.27
8520	0.90	302.7	3069	2126	1601	1606	114.6	12.1	415	8529	0.00	2.38	0.00	0.000	516	0.000	0.079	3080	526	1603	1601	1606	0	0	0	0	0	0	27.03	26.46	27.04	9.17	21.84
8602	0.90	302.7	3080	527	1601	1605	104.4	13.3	423	8606	0.00	2.25	0.00	0.000	1030	0.000	0.067	3080	2122	1603	1601	1605	0	0	0	0	0	0	26.68	26.63	26.71	9.17	22.51
8914	0.90	302.7	3079	2127	1601	1606	66.3	11.9	454	8923	0.00	2.38	0.00	0.000	516	0.000	0.079	3092	529	1604	1602	1606	0	0	0	0	0	0	27.05	26.45	27.05	9.18	22.39
8986	0.90	302.7	3091	529	1602	1605	57.6	12.4	461	8990	0.00	2.28	0.00	0.000	1030	0.000	0.067	3092	2130	1603	1601	1605	0	0	0	0	0	0	26.68	26.62	26.70	9.18	22.16
9291	1.01	392.7	3092	2130	1602	1605	29.4	7.5	491	9362	0.00	0.00	62.85	0.586	8454	0.000	0.000	3092	2129	1297	1290	1304	0	0	0	0	0	0	27.05	25.49	25.18	9.21	22.31
9569	end climb: SURFACE_DEPTH_REACHED
state	9569	begin surface coast
9591	end surface coast: CONTROL_FINISHED_OK
state	9591	begin surface