Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 528 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 192 HD_C 3.62024e-06 ROLL_MAX 3873 ALTIM_BOTTOM_TURN_MARGIN 15

MISSION 2 HEADING -1 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 528 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -12203.111 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12203.111

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 9.5 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 528 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8 TGT_NAME TARGET_W

_CALLS 3 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -22.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8 MHEAD_RNG_PITCHd_Wd 349.7,57427,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 931

Post-dive calculations and measurements:

FREEZE 1.33,-1.727,-1.793,2,4,0 _24V_AH 13.5,231.635

FINISH1 1.3,1.026331,0 _10V_AH 12.7,0.000

FINISH2 1.3 FG_AHR_24Vo 0.000

RAFOS_CLK 706 FG_AHR_10Vo 0.000

RAFOS 0,1387972863,12.033333,12.017500,63,59,56,56,55,47,189,116,134,207,224,344 MEM 150688

RAFOS_FIX 6642.583496,-5904.500977,251213,121232,4,119,0.20 DATA_FILE_SIZE 96536,2448

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 162337,0

TT8_MAMPS 0.023968,0.023968 CFSIZE 259252224,209891328

HUMID 45.98 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.75227 SOUNDSPEED 1438.0

TCM_TEMP 11.90 CURRENT 0.426,128.5,1

XPDR_PINGS 7 GPS 251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8

ALTIM_TOP_PING 1.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 327 22.54 SBE_CT 1745 23 547.04

Roll_motor 3 108 4.55 SBE_O2 0 0 0.00

VBD_pump_during_apogee 73 169 168.63 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 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 2 420 11.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6015 14 1142.97

LPSleep 2718 2 79.75

TT8_Active 266 14 48.08

TT8_Sampling 3493 33 1494.68

TT8_CF8 599 39 302.15

TT8_Kalman 0 0 0.00

Analog_circuits 1876 12 285.95

GPS_charging 0 0 0.00

Compass 3466 6 296.74

RAFOS 2520 1 48.01

Transponder 2 30 1.07

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -0.89 -146.0 2501 2500 2840 2622 0.0 0.0 0 66 0.00 0.00 -40.03 0.000 16390 0.000 0.000 2501 2500 3334 3500 3168 0 0 0 0 0 0 28.83 28.83 14.59

74 -0.89 -146.0 2501 2500 3500 3168 1.3 -0.0 8 81 0.85 0.00 0.00 0.000 4102 0.096 0.000 2221 2500 3334 3501 3168 0 0 0 0 0 0 13.97 28.83 28.83

394 -0.89 -146.0 1376 2498 3494 3165 1.2 1.5 69 401 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2500 3335 3502 3168 0 0 0 0 0 0 28.83 28.83 28.83

716 -0.82 -146.0 2221 2500 3502 3168 1.2 -0.6 130 723 0.00 1.52 0.00 0.000 516 0.000 0.099 2220 1660 3335 3502 3168 0 0 0 0 0 0 28.83 13.83 28.83

962 -0.75 -146.0 2220 1660 3503 3168 1.2 -0.1 176 969 0.22 1.58 0.00 0.000 3078 0.271 0.109 2264 2509 3335 3502 3168 0 0 0 0 0 0 13.48 13.82 28.83

1285 -0.75 -146.0 2264 2509 3503 3168 1.3 -1.3 237 1290 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2508 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

1603 -0.75 -146.0 2264 2509 3503 3168 1.2 1.3 298 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

1926 -0.68 -146.0 2264 2509 3503 3168 1.2 -0.1 359 1932 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

2245 -0.60 -146.0 2264 2509 3503 3168 1.1 0.0 420 2251 0.15 0.00 0.00 0.000 2054 0.295 0.000 2302 2509 3335 3503 3168 0 0 0 0 0 0 13.63 28.83 28.83

2568 -0.53 -146.0 2302 2509 3503 3167 1.2 0.0 481 2577 0.12 0.00 0.00 0.000 2054 0.314 0.000 2333 2509 3335 3503 3167 0 0 0 0 0 0 13.74 28.83 28.83

2891 -0.46 -146.0 1440 2507 3495 3165 1.3 0.1 542 2899 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

3215 -0.39 -146.0 2333 2509 3503 3168 1.2 0.1 603 3222 0.17 0.00 0.00 0.000 2054 0.293 0.000 2377 2509 3335 3503 3168 0 0 0 0 0 0 13.52 28.83 28.83

3537 -0.39 -146.0 2377 2509 3503 3168 1.1 0.0 664 3544 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

3861 -0.31 -146.0 2377 2509 3503 3168 1.2 -0.5 725 3869 0.12 0.00 0.00 0.000 2054 0.311 0.000 2407 2508 3335 3503 3168 0 0 0 0 0 0 13.76 28.83 28.83

4184 -0.24 -146.0 2407 2509 3503 3168 1.2 -0.1 786 4190 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2508 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

4504 -0.17 -146.0 2407 2509 3503 3168 1.3 -0.5 847 4510 0.15 0.00 0.00 0.000 2054 0.306 0.000 2444 2509 3335 3503 3168 0 0 0 0 0 0 13.61 28.83 28.83

4825 -0.10 -146.0 1536 2506 3495 3164 1.2 0.6 908 4832 0.12 0.00 0.00 0.000 2054 0.320 0.000 2474 2509 3335 3503 3167 0 0 0 0 0 0 13.73 28.83 28.83

5149 -0.03 -146.0 2474 2509 3503 3168 1.2 -0.2 969 5155 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

5471 -0.03 -146.0 1552 2507 3495 3165 1.2 0.0 1030 5478 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2508 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

5794 0.05 -146.0 2474 2509 3503 3167 1.2 -0.1 1091 5802 0.17 0.00 0.00 0.000 2054 0.291 0.000 2517 2509 3335 3502 3168 0 0 0 0 0 0 13.48 28.83 28.83

6117 0.05 -146.0 2517 2509 3503 3169 1.2 -0.0 1152 6123 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

6437 0.12 -146.0 1568 2507 3495 3165 1.1 0.3 1213 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2509 3335 3503 3167 0 0 0 0 0 0 28.83 28.83 28.83

6756 0.19 -146.0 2517 2509 3503 3168 1.2 -0.4 1274 6763 0.17 0.00 0.00 0.000 2054 0.298 0.000 2560 2509 3335 3503 3168 0 0 0 0 0 0 13.46 28.83 28.83

7084 0.27 -146.0 2560 2509 3502 3168 1.2 -0.3 1335 7090 0.12 0.00 0.00 0.000 2054 0.309 0.000 2592 2509 3336 3504 3168 0 0 0 0 0 0 13.71 28.83 28.83

7415 0.34 -146.0 1600 2507 3495 3164 1.2 -0.0 1396 7422 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

7735 0.34 -146.0 2592 2509 3503 3168 1.3 0.0 1457 7743 0.00 0.00 0.00 0.000 6 0.000 0.000 2592 2509 3335 3503 3167 0 0 0 0 0 0 28.83 28.83 28.83

8059 0.41 -146.0 2592 2509 3503 3168 1.2 -0.1 1518 8067 0.15 0.00 0.00 0.000 2054 0.305 0.000 2629 2509 3335 3503 3168 0 0 0 0 0 0 13.56 28.83 28.83

8389 0.48 -146.0 2629 2509 3503 3168 1.2 -0.2 1579 8395 0.12 0.00 0.00 0.000 2054 0.321 0.000 2659 2509 3335 3503 3168 0 0 0 0 0 0 13.68 28.83 28.83

8709 0.48 -146.0 2659 2509 3503 3168 1.2 0.0 1640 8716 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

9034 0.55 -146.0 1672 2507 3495 3164 1.2 0.1 1701 9041 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

9352 0.55 -146.0 1696 2507 3495 3165 1.2 -0.5 1762 9359 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2508 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

9674 0.63 -146.0 2659 2509 3503 3168 1.2 -0.5 1823 9680 0.15 0.00 0.00 0.000 2054 0.298 0.000 2697 2509 3335 3503 3168 0 0 0 0 0 0 13.59 28.83 28.83

9995 0.70 -146.0 1728 2507 3495 3164 1.1 0.3 1884 10001 0.12 0.00 0.00 0.000 2054 0.315 0.000 2727 2509 3335 3503 3168 0 0 0 0 0 0 13.74 28.83 28.83

10321 0.77 -146.0 2727 2509 3503 3168 1.2 0.3 1945 10327 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2509 3335 3503 3167 0 0 0 0 0 0 28.83 28.83 28.83

10641 0.84 -146.0 2726 2509 3503 3167 1.2 0.0 2006 10647 0.17 0.00 0.00 0.000 2054 0.299 0.000 2769 2509 3335 3503 3168 0 0 0 0 0 0 13.46 28.83 28.83

10964 0.84 -146.0 1792 2507 3495 3165 1.2 0.0 2067 10969 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

11284 0.84 -146.0 1792 2507 3495 3165 1.3 -2.0 2128 11290 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2509 3335 3503 3167 0 0 0 0 0 0 28.83 28.83 28.83

11608 0.92 -146.0 2769 2509 3503 3168 1.2 -0.1 2189 11616 0.12 0.00 0.00 0.000 2054 0.317 0.000 2799 2509 3335 3503 3168 0 0 0 0 0 0 13.71 28.83 28.83

11937 0.99 -146.0 2800 2509 3503 3168 1.1 0.2 2250 11943 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

12256 1.06 -146.0 1808 2507 3495 3165 1.2 0.2 2311 12262 0.15 0.00 0.00 0.000 2054 0.312 0.000 2837 2509 3335 3503 3167 0 0 0 0 0 0 13.55 28.83 28.83

12582 1.13 -146.0 2837 2509 3503 3168 1.1 0.3 2372 12589 0.12 0.00 0.00 0.000 2054 0.327 0.000 2867 2510 3335 3503 3168 0 0 0 0 0 0 13.66 28.83 28.83

12903 1.13 -146.0 1888 2508 3495 3164 1.1 2.3 2433 12910 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2509 3335 3503 3168 0 0 0 0 0 0 28.83 28.83 28.83

12915 end dive: HALF_MISSION_TIME_EXCEEDED

state 12915 begin apogee

12929 -0.22 0.0 2867 2509 3503 3168 1.2 -0.3 2435 12940 1.33 0.00 7.53 0.170 12290 0.095 0.000 2439 2510 3273 3446 3101 0 0 0 0 0 0 13.85 28.83 28.83

12941 end apogee: FINISH_DEPTH_REACHED

state 12941 begin subsurface finish

12956 0.00 0.0 2439 2509 3445 3101 1.3 -0.4 2436 13028 0.25 0.00 66.03 0.160 10246 0.272 0.000 2499 2509 2738 2853 2623 0 0 0 0 0 0 13.47 28.83 13.98

13029 end subsurface finish: CONTROL_FINISHED_OK

state 13029 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	-1	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	528	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-12203.111	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8	TGT_NAME	TARGET_W
_CALLS	3	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-22.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8	MHEAD_RNG_PITCHd_Wd	349.7,57427,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	931

FREEZE	1.33,-1.727,-1.793,2,4,0	_24V_AH	13.5,231.635
FINISH1	1.3,1.026331,0	_10V_AH	12.7,0.000
FINISH2	1.3	FG_AHR_24Vo	0.000
RAFOS_CLK	706	FG_AHR_10Vo	0.000
RAFOS	0,1387972863,12.033333,12.017500,63,59,56,56,55,47,189,116,134,207,224,344	MEM	150688
RAFOS_FIX	6642.583496,-5904.500977,251213,121232,4,119,0.20	DATA_FILE_SIZE	96536,2448
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	162337,0
TT8_MAMPS	0.023968,0.023968	CFSIZE	259252224,209891328
HUMID	45.98	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.75227	SOUNDSPEED	1438.0
TCM_TEMP	11.90	CURRENT	0.426,128.5,1
XPDR_PINGS	7	GPS	251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8
ALTIM_TOP_PING	1.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	327	22.54	SBE_CT	1745	23	547.04
Roll_motor	3	108	4.55	SBE_O2	0	0	0.00
VBD_pump_during_apogee	73	169	168.63	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	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	2	420	11.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6015	14	1142.97
LPSleep	2718	2	79.75
TT8_Active	266	14	48.08
TT8_Sampling	3493	33	1494.68
TT8_CF8	599	39	302.15
TT8_Kalman	0	0	0.00
Analog_circuits	1876	12	285.95
GPS_charging	0	0	0.00
Compass	3466	6	296.74
RAFOS	2520	1	48.01
Transponder	2	30	1.07

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-0.89	-146.0	2501	2500	2840	2622	0.0	0.0	0	66	0.00	0.00	-40.03	0.000	16390	0.000	0.000	2501	2500	3334	3500	3168	0	0	0	0	0	0	28.83	28.83	14.59
74	-0.89	-146.0	2501	2500	3500	3168	1.3	-0.0	8	81	0.85	0.00	0.00	0.000	4102	0.096	0.000	2221	2500	3334	3501	3168	0	0	0	0	0	0	13.97	28.83	28.83
394	-0.89	-146.0	1376	2498	3494	3165	1.2	1.5	69	401	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2500	3335	3502	3168	0	0	0	0	0	0	28.83	28.83	28.83
716	-0.82	-146.0	2221	2500	3502	3168	1.2	-0.6	130	723	0.00	1.52	0.00	0.000	516	0.000	0.099	2220	1660	3335	3502	3168	0	0	0	0	0	0	28.83	13.83	28.83
962	-0.75	-146.0	2220	1660	3503	3168	1.2	-0.1	176	969	0.22	1.58	0.00	0.000	3078	0.271	0.109	2264	2509	3335	3502	3168	0	0	0	0	0	0	13.48	13.82	28.83
1285	-0.75	-146.0	2264	2509	3503	3168	1.3	-1.3	237	1290	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2508	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
1603	-0.75	-146.0	2264	2509	3503	3168	1.2	1.3	298	1609	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
1926	-0.68	-146.0	2264	2509	3503	3168	1.2	-0.1	359	1932	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
2245	-0.60	-146.0	2264	2509	3503	3168	1.1	0.0	420	2251	0.15	0.00	0.00	0.000	2054	0.295	0.000	2302	2509	3335	3503	3168	0	0	0	0	0	0	13.63	28.83	28.83
2568	-0.53	-146.0	2302	2509	3503	3167	1.2	0.0	481	2577	0.12	0.00	0.00	0.000	2054	0.314	0.000	2333	2509	3335	3503	3167	0	0	0	0	0	0	13.74	28.83	28.83
2891	-0.46	-146.0	1440	2507	3495	3165	1.3	0.1	542	2899	0.00	0.00	0.00	0.000	6	0.000	0.000	2333	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
3215	-0.39	-146.0	2333	2509	3503	3168	1.2	0.1	603	3222	0.17	0.00	0.00	0.000	2054	0.293	0.000	2377	2509	3335	3503	3168	0	0	0	0	0	0	13.52	28.83	28.83
3537	-0.39	-146.0	2377	2509	3503	3168	1.1	0.0	664	3544	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
3861	-0.31	-146.0	2377	2509	3503	3168	1.2	-0.5	725	3869	0.12	0.00	0.00	0.000	2054	0.311	0.000	2407	2508	3335	3503	3168	0	0	0	0	0	0	13.76	28.83	28.83
4184	-0.24	-146.0	2407	2509	3503	3168	1.2	-0.1	786	4190	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2508	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
4504	-0.17	-146.0	2407	2509	3503	3168	1.3	-0.5	847	4510	0.15	0.00	0.00	0.000	2054	0.306	0.000	2444	2509	3335	3503	3168	0	0	0	0	0	0	13.61	28.83	28.83
4825	-0.10	-146.0	1536	2506	3495	3164	1.2	0.6	908	4832	0.12	0.00	0.00	0.000	2054	0.320	0.000	2474	2509	3335	3503	3167	0	0	0	0	0	0	13.73	28.83	28.83
5149	-0.03	-146.0	2474	2509	3503	3168	1.2	-0.2	969	5155	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
5471	-0.03	-146.0	1552	2507	3495	3165	1.2	0.0	1030	5478	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2508	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
5794	0.05	-146.0	2474	2509	3503	3167	1.2	-0.1	1091	5802	0.17	0.00	0.00	0.000	2054	0.291	0.000	2517	2509	3335	3502	3168	0	0	0	0	0	0	13.48	28.83	28.83
6117	0.05	-146.0	2517	2509	3503	3169	1.2	-0.0	1152	6123	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
6437	0.12	-146.0	1568	2507	3495	3165	1.1	0.3	1213	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2509	3335	3503	3167	0	0	0	0	0	0	28.83	28.83	28.83
6756	0.19	-146.0	2517	2509	3503	3168	1.2	-0.4	1274	6763	0.17	0.00	0.00	0.000	2054	0.298	0.000	2560	2509	3335	3503	3168	0	0	0	0	0	0	13.46	28.83	28.83
7084	0.27	-146.0	2560	2509	3502	3168	1.2	-0.3	1335	7090	0.12	0.00	0.00	0.000	2054	0.309	0.000	2592	2509	3336	3504	3168	0	0	0	0	0	0	13.71	28.83	28.83
7415	0.34	-146.0	1600	2507	3495	3164	1.2	-0.0	1396	7422	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
7735	0.34	-146.0	2592	2509	3503	3168	1.3	0.0	1457	7743	0.00	0.00	0.00	0.000	6	0.000	0.000	2592	2509	3335	3503	3167	0	0	0	0	0	0	28.83	28.83	28.83
8059	0.41	-146.0	2592	2509	3503	3168	1.2	-0.1	1518	8067	0.15	0.00	0.00	0.000	2054	0.305	0.000	2629	2509	3335	3503	3168	0	0	0	0	0	0	13.56	28.83	28.83
8389	0.48	-146.0	2629	2509	3503	3168	1.2	-0.2	1579	8395	0.12	0.00	0.00	0.000	2054	0.321	0.000	2659	2509	3335	3503	3168	0	0	0	0	0	0	13.68	28.83	28.83
8709	0.48	-146.0	2659	2509	3503	3168	1.2	0.0	1640	8716	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
9034	0.55	-146.0	1672	2507	3495	3164	1.2	0.1	1701	9041	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
9352	0.55	-146.0	1696	2507	3495	3165	1.2	-0.5	1762	9359	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2508	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
9674	0.63	-146.0	2659	2509	3503	3168	1.2	-0.5	1823	9680	0.15	0.00	0.00	0.000	2054	0.298	0.000	2697	2509	3335	3503	3168	0	0	0	0	0	0	13.59	28.83	28.83
9995	0.70	-146.0	1728	2507	3495	3164	1.1	0.3	1884	10001	0.12	0.00	0.00	0.000	2054	0.315	0.000	2727	2509	3335	3503	3168	0	0	0	0	0	0	13.74	28.83	28.83
10321	0.77	-146.0	2727	2509	3503	3168	1.2	0.3	1945	10327	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2509	3335	3503	3167	0	0	0	0	0	0	28.83	28.83	28.83
10641	0.84	-146.0	2726	2509	3503	3167	1.2	0.0	2006	10647	0.17	0.00	0.00	0.000	2054	0.299	0.000	2769	2509	3335	3503	3168	0	0	0	0	0	0	13.46	28.83	28.83
10964	0.84	-146.0	1792	2507	3495	3165	1.2	0.0	2067	10969	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
11284	0.84	-146.0	1792	2507	3495	3165	1.3	-2.0	2128	11290	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2509	3335	3503	3167	0	0	0	0	0	0	28.83	28.83	28.83
11608	0.92	-146.0	2769	2509	3503	3168	1.2	-0.1	2189	11616	0.12	0.00	0.00	0.000	2054	0.317	0.000	2799	2509	3335	3503	3168	0	0	0	0	0	0	13.71	28.83	28.83
11937	0.99	-146.0	2800	2509	3503	3168	1.1	0.2	2250	11943	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
12256	1.06	-146.0	1808	2507	3495	3165	1.2	0.2	2311	12262	0.15	0.00	0.00	0.000	2054	0.312	0.000	2837	2509	3335	3503	3167	0	0	0	0	0	0	13.55	28.83	28.83
12582	1.13	-146.0	2837	2509	3503	3168	1.1	0.3	2372	12589	0.12	0.00	0.00	0.000	2054	0.327	0.000	2867	2510	3335	3503	3168	0	0	0	0	0	0	13.66	28.83	28.83
12903	1.13	-146.0	1888	2508	3495	3164	1.1	2.3	2433	12910	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	2509	3335	3503	3168	0	0	0	0	0	0	28.83	28.83	28.83
12915	end dive: HALF_MISSION_TIME_EXCEEDED
state	12915	begin apogee
12929	-0.22	0.0	2867	2509	3503	3168	1.2	-0.3	2435	12940	1.33	0.00	7.53	0.170	12290	0.095	0.000	2439	2510	3273	3446	3101	0	0	0	0	0	0	13.85	28.83	28.83
12941	end apogee: FINISH_DEPTH_REACHED
state	12941	begin subsurface finish
12956	0.00	0.0	2439	2509	3445	3101	1.3	-0.4	2436	13028	0.25	0.00	66.03	0.160	10246	0.272	0.000	2499	2509	2738	2853	2623	0	0	0	0	0	0	13.47	28.83	13.98
13029	end subsurface finish: CONTROL_FINISHED_OK
state	13029	begin surface