Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 530 * 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 530 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 530 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 251213,163336,6642.023,-5901.606,0,4093.5,0,-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 1.29 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 251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8 MHEAD_RNG_PITCHd_Wd 336.2,61847,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 893

Post-dive calculations and measurements:

FREEZE 1.21,-1.748,-1.793,2,6,0 _24V_AH 13.4,231.824

FINISH1 1.2,1.026333,0 _10V_AH 12.9,0.000

FINISH2 1.3 FG_AHR_24Vo 0.000

RAFOS_CLK 704 FG_AHR_10Vo 0.000

RAFOS 0,1388001665,20.033333,20.018055,64,63,62,61,53,52,186,117,198,210,229,134 MEM 150688

RAFOS_FIX 6641.904297,-5859.814941,251213,202004,4,108,0.09 DATA_FILE_SIZE 93225,2422

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 171125,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,209723392

HUMID 46.53 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.79133 SOUNDSPEED 1437.9

TCM_TEMP 11.90 CURRENT 0.152,101.4,1

XPDR_PINGS 15 GPS 251213,203304,6641.904,-5859.815,0,4107.8,0,-33.8

ALTIM_TOP_PING 1.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 327 28.74 SBE_CT 1727 23 537.50

Roll_motor 41 133 73.67 SBE_O2 0 0 0.00

VBD_pump_during_apogee 14 173 34.73 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 4 420 22.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 5980 14 1154.21

LPSleep 2726 2 81.25

TT8_Active 217 14 39.78

TT8_Sampling 3452 33 1500.35

TT8_CF8 658 39 337.28

TT8_Kalman 0 0 0.00

Analog_circuits 1806 12 279.64

GPS_charging 0 0 0.00

Compass 3429 6 298.22

RAFOS 2520 1 48.76

Transponder 2 30 1.09

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -0.89 -146.0 2501 2509 2839 2623 0.0 0.0 0 67 0.00 0.00 -40.65 0.000 16390 0.000 0.000 2501 2510 3336 3502 3171 0 0 0 0 0 0 28.83 28.83 14.58

75 -0.89 -146.0 2501 2510 3503 3171 1.3 0.1 8 82 0.85 1.58 0.00 0.000 4356 0.096 0.124 2214 3348 3337 3504 3171 0 0 0 0 0 0 13.95 13.85 28.83

321 -0.89 -146.0 2214 3347 3506 3171 1.1 0.0 54 327 0.00 1.52 0.00 0.000 1030 0.000 0.088 2215 2498 3338 3506 3171 0 0 0 0 0 0 28.83 13.95 28.83

641 -0.82 -146.0 2214 2498 3506 3171 1.2 -0.5 115 648 0.12 0.00 0.00 0.000 2054 0.314 0.000 2242 2498 3338 3506 3171 0 0 0 0 0 0 13.71 28.83 28.83

964 -0.75 -146.0 2242 2498 3506 3171 1.2 -0.1 176 971 0.00 1.65 0.00 0.000 260 0.000 0.129 2238 3355 3338 3506 3171 0 0 0 0 0 0 28.83 13.73 28.83

1213 -0.75 -146.0 2238 3354 3506 3171 1.1 0.5 222 1220 0.12 1.52 0.00 0.000 3078 0.296 0.087 2261 2499 3338 3506 3171 0 0 0 0 0 0 13.55 13.94 28.83

1540 -0.68 -146.0 1368 2496 3498 3167 1.2 0.4 283 1547 0.12 0.00 0.00 0.000 2054 0.306 0.000 2292 2499 3338 3506 3171 0 0 0 0 0 0 13.71 28.83 28.83

1860 -0.60 -146.0 2293 2499 3506 3171 1.2 -0.5 344 1867 0.00 1.62 0.00 0.000 260 0.000 0.131 2288 3347 3338 3506 3171 0 0 0 0 0 0 28.83 13.69 28.83

2105 -0.53 -146.0 2288 3347 3506 3171 1.1 -0.0 390 2114 0.20 1.52 0.00 0.000 3078 0.271 0.089 2331 2492 3338 3506 3170 0 0 0 0 0 0 13.45 13.92 28.83

2435 -0.46 -146.0 2331 2492 3506 3171 1.1 -0.2 451 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2492 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

2755 -0.38 -146.0 2331 2492 3506 3171 1.1 0.1 512 2761 0.17 0.00 0.00 0.000 2054 0.294 0.000 2375 2492 3338 3506 3171 0 0 0 0 0 0 13.49 28.83 28.83

3077 -0.31 -146.0 2376 2492 3506 3170 1.1 0.3 573 3084 0.12 0.00 0.00 0.000 2054 0.316 0.000 2405 2492 3338 3506 3171 0 0 0 0 0 0 13.72 28.83 28.83

3398 -0.24 -146.0 2405 2492 3506 3171 1.2 -0.6 634 3404 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2492 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

3716 -0.17 -146.0 2406 2492 3506 3171 1.1 0.3 695 3723 0.17 0.00 0.00 0.000 2054 0.300 0.000 2448 2492 3338 3506 3171 0 0 0 0 0 0 13.47 28.83 28.83

4037 -0.09 -146.0 2448 2492 3506 3171 1.2 0.0 756 4043 0.12 0.00 0.00 0.000 2054 0.320 0.000 2478 2492 3338 3506 3170 0 0 0 0 0 0 13.71 28.83 28.83

4358 -0.02 -146.0 2478 2492 3506 3171 1.1 0.1 817 4365 0.00 1.67 0.00 0.000 260 0.000 0.132 2474 3353 3338 3506 3171 0 0 0 0 0 0 28.83 13.69 28.83

4602 0.05 -146.0 2474 3353 3506 3171 1.0 0.6 863 4610 0.20 1.52 0.00 0.000 3078 0.276 0.090 2516 2500 3339 3507 3171 0 0 0 0 0 0 13.42 13.90 28.83

4924 0.05 -146.0 1584 2498 3498 3167 1.0 0.0 924 4932 0.00 1.65 0.00 0.000 260 0.000 0.132 2512 3354 3338 3506 3171 0 0 0 0 0 0 28.83 13.66 28.83

5172 0.13 -146.0 2512 3355 3506 3171 1.2 -0.3 970 5179 0.15 1.52 0.00 0.000 3078 0.288 0.090 2541 2500 3338 3506 3171 0 0 0 0 0 0 13.46 13.90 28.83

5501 0.20 -146.0 2541 2500 3506 3171 1.1 -0.1 1031 5508 0.12 1.65 0.00 0.000 2308 0.311 0.129 2566 3351 3338 3506 3171 0 0 0 0 0 0 13.69 13.66 28.83

5747 0.27 -146.0 2567 3351 3506 3171 1.1 0.4 1077 5753 0.00 1.52 0.00 0.000 1030 0.000 0.090 2567 2498 3338 3506 3171 0 0 0 0 0 0 28.83 13.90 28.83

6071 0.35 -146.0 2567 2498 3506 3171 1.1 -0.1 1138 6078 0.17 0.00 0.00 0.000 2054 0.295 0.000 2609 2498 3338 3506 3170 0 0 0 0 0 0 13.45 28.83 28.83

6393 0.42 -146.0 2609 2498 3506 3171 1.2 0.1 1199 6399 0.12 0.00 0.00 0.000 2054 0.318 0.000 2639 2497 3338 3506 3171 0 0 0 0 0 0 13.69 28.83 28.83

6713 0.42 -146.0 1664 2495 3498 3168 1.1 0.0 1260 6721 0.00 1.65 0.00 0.000 260 0.000 0.133 2634 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.66 28.83

6959 0.49 -146.0 2634 3346 3506 3171 1.2 -0.6 1306 6966 0.12 1.52 0.00 0.000 3078 0.298 0.091 2658 2500 3338 3506 3170 0 0 0 0 0 0 13.49 13.88 28.83

7286 0.56 -146.0 2657 2500 3506 3171 1.1 -0.4 1367 7292 0.12 0.00 0.00 0.000 2054 0.317 0.000 2688 2500 3338 3506 3171 0 0 0 0 0 0 13.69 28.83 28.83

7608 0.56 -146.0 2687 2500 3506 3170 1.1 0.0 1428 7614 0.00 1.65 0.00 0.000 260 0.000 0.132 2683 3346 3338 3506 3171 0 0 0 0 0 0 28.83 13.64 28.83

7856 0.63 -146.0 2684 3346 3506 3171 1.2 -0.3 1474 7863 0.00 1.52 0.00 0.000 1030 0.000 0.090 2683 2501 3338 3506 3171 0 0 0 0 0 0 28.83 13.86 28.83

8183 0.71 -146.0 2684 2501 3506 3171 1.1 0.2 1535 8190 0.17 0.00 0.00 0.000 2054 0.293 0.000 2724 2501 3338 3506 3171 0 0 0 0 0 0 13.42 28.83 28.83

8503 0.71 -146.0 2724 2500 3506 3171 1.0 2.8 1596 8509 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2501 3338 3505 3171 0 0 0 0 0 0 28.83 28.83 28.83

8828 0.78 -146.0 2723 2501 3506 3170 1.1 0.5 1657 8835 0.12 1.65 0.00 0.000 2308 0.317 0.128 2749 3349 3338 3506 3171 0 0 0 0 0 0 13.66 13.66 28.83

9074 0.85 -146.0 2749 3349 3506 3171 1.1 0.1 1703 9081 0.12 1.52 0.00 0.000 3078 0.297 0.090 2772 2499 3338 3506 3171 0 0 0 0 0 0 13.48 13.86 28.83

9401 0.85 -146.0 2772 2499 3506 3170 1.1 0.0 1764 9409 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2499 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

9722 0.93 -146.0 1792 2497 3498 3167 1.1 -0.1 1825 9730 0.12 0.00 0.00 0.000 2054 0.322 0.000 2802 2499 3338 3506 3171 0 0 0 0 0 0 13.69 28.83 28.83

10045 1.00 -146.0 2802 2499 3506 3170 1.1 0.1 1886 10051 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2499 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

10370 1.07 -146.0 2802 2499 3506 3171 1.1 -0.0 1947 10377 0.15 0.00 0.00 0.000 2054 0.308 0.000 2839 2499 3338 3506 3171 0 0 0 0 0 0 13.50 28.83 28.83

10697 1.15 -146.0 2840 2499 3506 3171 1.2 0.1 2008 10704 0.12 1.67 0.00 0.000 2308 0.322 0.130 2865 3349 3338 3506 3171 0 0 0 0 0 0 13.66 13.66 28.83

10945 1.22 -146.0 2865 3349 3506 3171 1.1 -0.1 2054 10952 0.12 1.55 0.00 0.000 3078 0.295 0.092 2888 2491 3338 3506 3171 0 0 0 0 0 0 13.50 13.89 28.83

11275 1.29 -146.0 2889 2491 3506 3170 1.1 -0.1 2115 11282 0.12 1.67 0.00 0.000 2308 0.321 0.131 2914 3349 3338 3506 3171 0 0 0 0 0 0 13.66 13.66 28.83

11520 1.36 -146.0 2914 3349 3506 3171 1.1 0.4 2161 11528 0.12 1.52 0.00 0.000 3078 0.302 0.091 2936 2499 3338 3506 3171 0 0 0 0 0 0 13.47 13.88 28.83

11848 1.43 -146.0 2936 2499 3506 3171 1.1 0.0 2222 11856 0.12 1.65 0.00 0.000 2308 0.327 0.129 2961 3349 3338 3506 3170 0 0 0 0 0 0 13.64 13.65 28.83

12094 1.51 -146.0 1968 3347 3498 3167 1.1 0.1 2268 12101 0.00 1.52 0.00 0.000 1030 0.000 0.090 2961 2499 3338 3506 3171 0 0 0 0 0 0 28.83 13.88 28.83

12422 1.58 -146.0 2961 2499 3506 3170 1.1 0.4 2329 12429 0.20 0.00 0.00 0.000 2054 0.291 0.000 3006 2499 3338 3506 3171 0 0 0 0 0 0 13.36 28.83 28.83

12749 1.58 -146.0 3007 2499 3506 3171 1.1 0.0 2390 12755 0.00 1.65 0.00 0.000 260 0.000 0.132 3003 3351 3338 3506 3171 0 0 0 0 0 0 28.83 13.64 28.83

12908 end dive: HALF_MISSION_TIME_EXCEEDED

state 12908 begin apogee

12922 -0.22 0.0 3003 2509 3506 3170 1.1 -0.1 2420 12937 1.70 0.00 9.75 0.174 12290 0.093 0.000 2434 2509 3257 3428 3086 0 0 0 0 0 0 13.90 28.83 28.83

12938 end apogee: FINISH_DEPTH_REACHED

state 12938 begin subsurface finish

12952 0.00 0.0 2434 2509 3428 3086 1.2 -0.2 2421 12960 0.28 0.00 5.18 0.171 10754 0.269 0.000 2501 2509 3214 3385 3043 0 0 0 0 0 0 13.49 28.83 28.83

12961 end subsurface finish: NO_VERTICAL_VELOCITY

state 12961 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	530	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	251213,163336,6642.023,-5901.606,0,4093.5,0,-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	1.29	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	251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8	MHEAD_RNG_PITCHd_Wd	336.2,61847,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	893

FREEZE	1.21,-1.748,-1.793,2,6,0	_24V_AH	13.4,231.824
FINISH1	1.2,1.026333,0	_10V_AH	12.9,0.000
FINISH2	1.3	FG_AHR_24Vo	0.000
RAFOS_CLK	704	FG_AHR_10Vo	0.000
RAFOS	0,1388001665,20.033333,20.018055,64,63,62,61,53,52,186,117,198,210,229,134	MEM	150688
RAFOS_FIX	6641.904297,-5859.814941,251213,202004,4,108,0.09	DATA_FILE_SIZE	93225,2422
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	171125,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,209723392
HUMID	46.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.79133	SOUNDSPEED	1437.9
TCM_TEMP	11.90	CURRENT	0.152,101.4,1
XPDR_PINGS	15	GPS	251213,203304,6641.904,-5859.815,0,4107.8,0,-33.8
ALTIM_TOP_PING	1.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	327	28.74	SBE_CT	1727	23	537.50
Roll_motor	41	133	73.67	SBE_O2	0	0	0.00
VBD_pump_during_apogee	14	173	34.73	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	4	420	22.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	5980	14	1154.21
LPSleep	2726	2	81.25
TT8_Active	217	14	39.78
TT8_Sampling	3452	33	1500.35
TT8_CF8	658	39	337.28
TT8_Kalman	0	0	0.00
Analog_circuits	1806	12	279.64
GPS_charging	0	0	0.00
Compass	3429	6	298.22
RAFOS	2520	1	48.76
Transponder	2	30	1.09

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-0.89	-146.0	2501	2509	2839	2623	0.0	0.0	0	67	0.00	0.00	-40.65	0.000	16390	0.000	0.000	2501	2510	3336	3502	3171	0	0	0	0	0	0	28.83	28.83	14.58
75	-0.89	-146.0	2501	2510	3503	3171	1.3	0.1	8	82	0.85	1.58	0.00	0.000	4356	0.096	0.124	2214	3348	3337	3504	3171	0	0	0	0	0	0	13.95	13.85	28.83
321	-0.89	-146.0	2214	3347	3506	3171	1.1	0.0	54	327	0.00	1.52	0.00	0.000	1030	0.000	0.088	2215	2498	3338	3506	3171	0	0	0	0	0	0	28.83	13.95	28.83
641	-0.82	-146.0	2214	2498	3506	3171	1.2	-0.5	115	648	0.12	0.00	0.00	0.000	2054	0.314	0.000	2242	2498	3338	3506	3171	0	0	0	0	0	0	13.71	28.83	28.83
964	-0.75	-146.0	2242	2498	3506	3171	1.2	-0.1	176	971	0.00	1.65	0.00	0.000	260	0.000	0.129	2238	3355	3338	3506	3171	0	0	0	0	0	0	28.83	13.73	28.83
1213	-0.75	-146.0	2238	3354	3506	3171	1.1	0.5	222	1220	0.12	1.52	0.00	0.000	3078	0.296	0.087	2261	2499	3338	3506	3171	0	0	0	0	0	0	13.55	13.94	28.83
1540	-0.68	-146.0	1368	2496	3498	3167	1.2	0.4	283	1547	0.12	0.00	0.00	0.000	2054	0.306	0.000	2292	2499	3338	3506	3171	0	0	0	0	0	0	13.71	28.83	28.83
1860	-0.60	-146.0	2293	2499	3506	3171	1.2	-0.5	344	1867	0.00	1.62	0.00	0.000	260	0.000	0.131	2288	3347	3338	3506	3171	0	0	0	0	0	0	28.83	13.69	28.83
2105	-0.53	-146.0	2288	3347	3506	3171	1.1	-0.0	390	2114	0.20	1.52	0.00	0.000	3078	0.271	0.089	2331	2492	3338	3506	3170	0	0	0	0	0	0	13.45	13.92	28.83
2435	-0.46	-146.0	2331	2492	3506	3171	1.1	-0.2	451	2441	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2492	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
2755	-0.38	-146.0	2331	2492	3506	3171	1.1	0.1	512	2761	0.17	0.00	0.00	0.000	2054	0.294	0.000	2375	2492	3338	3506	3171	0	0	0	0	0	0	13.49	28.83	28.83
3077	-0.31	-146.0	2376	2492	3506	3170	1.1	0.3	573	3084	0.12	0.00	0.00	0.000	2054	0.316	0.000	2405	2492	3338	3506	3171	0	0	0	0	0	0	13.72	28.83	28.83
3398	-0.24	-146.0	2405	2492	3506	3171	1.2	-0.6	634	3404	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2492	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
3716	-0.17	-146.0	2406	2492	3506	3171	1.1	0.3	695	3723	0.17	0.00	0.00	0.000	2054	0.300	0.000	2448	2492	3338	3506	3171	0	0	0	0	0	0	13.47	28.83	28.83
4037	-0.09	-146.0	2448	2492	3506	3171	1.2	0.0	756	4043	0.12	0.00	0.00	0.000	2054	0.320	0.000	2478	2492	3338	3506	3170	0	0	0	0	0	0	13.71	28.83	28.83
4358	-0.02	-146.0	2478	2492	3506	3171	1.1	0.1	817	4365	0.00	1.67	0.00	0.000	260	0.000	0.132	2474	3353	3338	3506	3171	0	0	0	0	0	0	28.83	13.69	28.83
4602	0.05	-146.0	2474	3353	3506	3171	1.0	0.6	863	4610	0.20	1.52	0.00	0.000	3078	0.276	0.090	2516	2500	3339	3507	3171	0	0	0	0	0	0	13.42	13.90	28.83
4924	0.05	-146.0	1584	2498	3498	3167	1.0	0.0	924	4932	0.00	1.65	0.00	0.000	260	0.000	0.132	2512	3354	3338	3506	3171	0	0	0	0	0	0	28.83	13.66	28.83
5172	0.13	-146.0	2512	3355	3506	3171	1.2	-0.3	970	5179	0.15	1.52	0.00	0.000	3078	0.288	0.090	2541	2500	3338	3506	3171	0	0	0	0	0	0	13.46	13.90	28.83
5501	0.20	-146.0	2541	2500	3506	3171	1.1	-0.1	1031	5508	0.12	1.65	0.00	0.000	2308	0.311	0.129	2566	3351	3338	3506	3171	0	0	0	0	0	0	13.69	13.66	28.83
5747	0.27	-146.0	2567	3351	3506	3171	1.1	0.4	1077	5753	0.00	1.52	0.00	0.000	1030	0.000	0.090	2567	2498	3338	3506	3171	0	0	0	0	0	0	28.83	13.90	28.83
6071	0.35	-146.0	2567	2498	3506	3171	1.1	-0.1	1138	6078	0.17	0.00	0.00	0.000	2054	0.295	0.000	2609	2498	3338	3506	3170	0	0	0	0	0	0	13.45	28.83	28.83
6393	0.42	-146.0	2609	2498	3506	3171	1.2	0.1	1199	6399	0.12	0.00	0.00	0.000	2054	0.318	0.000	2639	2497	3338	3506	3171	0	0	0	0	0	0	13.69	28.83	28.83
6713	0.42	-146.0	1664	2495	3498	3168	1.1	0.0	1260	6721	0.00	1.65	0.00	0.000	260	0.000	0.133	2634	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.66	28.83
6959	0.49	-146.0	2634	3346	3506	3171	1.2	-0.6	1306	6966	0.12	1.52	0.00	0.000	3078	0.298	0.091	2658	2500	3338	3506	3170	0	0	0	0	0	0	13.49	13.88	28.83
7286	0.56	-146.0	2657	2500	3506	3171	1.1	-0.4	1367	7292	0.12	0.00	0.00	0.000	2054	0.317	0.000	2688	2500	3338	3506	3171	0	0	0	0	0	0	13.69	28.83	28.83
7608	0.56	-146.0	2687	2500	3506	3170	1.1	0.0	1428	7614	0.00	1.65	0.00	0.000	260	0.000	0.132	2683	3346	3338	3506	3171	0	0	0	0	0	0	28.83	13.64	28.83
7856	0.63	-146.0	2684	3346	3506	3171	1.2	-0.3	1474	7863	0.00	1.52	0.00	0.000	1030	0.000	0.090	2683	2501	3338	3506	3171	0	0	0	0	0	0	28.83	13.86	28.83
8183	0.71	-146.0	2684	2501	3506	3171	1.1	0.2	1535	8190	0.17	0.00	0.00	0.000	2054	0.293	0.000	2724	2501	3338	3506	3171	0	0	0	0	0	0	13.42	28.83	28.83
8503	0.71	-146.0	2724	2500	3506	3171	1.0	2.8	1596	8509	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2501	3338	3505	3171	0	0	0	0	0	0	28.83	28.83	28.83
8828	0.78	-146.0	2723	2501	3506	3170	1.1	0.5	1657	8835	0.12	1.65	0.00	0.000	2308	0.317	0.128	2749	3349	3338	3506	3171	0	0	0	0	0	0	13.66	13.66	28.83
9074	0.85	-146.0	2749	3349	3506	3171	1.1	0.1	1703	9081	0.12	1.52	0.00	0.000	3078	0.297	0.090	2772	2499	3338	3506	3171	0	0	0	0	0	0	13.48	13.86	28.83
9401	0.85	-146.0	2772	2499	3506	3170	1.1	0.0	1764	9409	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2499	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
9722	0.93	-146.0	1792	2497	3498	3167	1.1	-0.1	1825	9730	0.12	0.00	0.00	0.000	2054	0.322	0.000	2802	2499	3338	3506	3171	0	0	0	0	0	0	13.69	28.83	28.83
10045	1.00	-146.0	2802	2499	3506	3170	1.1	0.1	1886	10051	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2499	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
10370	1.07	-146.0	2802	2499	3506	3171	1.1	-0.0	1947	10377	0.15	0.00	0.00	0.000	2054	0.308	0.000	2839	2499	3338	3506	3171	0	0	0	0	0	0	13.50	28.83	28.83
10697	1.15	-146.0	2840	2499	3506	3171	1.2	0.1	2008	10704	0.12	1.67	0.00	0.000	2308	0.322	0.130	2865	3349	3338	3506	3171	0	0	0	0	0	0	13.66	13.66	28.83
10945	1.22	-146.0	2865	3349	3506	3171	1.1	-0.1	2054	10952	0.12	1.55	0.00	0.000	3078	0.295	0.092	2888	2491	3338	3506	3171	0	0	0	0	0	0	13.50	13.89	28.83
11275	1.29	-146.0	2889	2491	3506	3170	1.1	-0.1	2115	11282	0.12	1.67	0.00	0.000	2308	0.321	0.131	2914	3349	3338	3506	3171	0	0	0	0	0	0	13.66	13.66	28.83
11520	1.36	-146.0	2914	3349	3506	3171	1.1	0.4	2161	11528	0.12	1.52	0.00	0.000	3078	0.302	0.091	2936	2499	3338	3506	3171	0	0	0	0	0	0	13.47	13.88	28.83
11848	1.43	-146.0	2936	2499	3506	3171	1.1	0.0	2222	11856	0.12	1.65	0.00	0.000	2308	0.327	0.129	2961	3349	3338	3506	3170	0	0	0	0	0	0	13.64	13.65	28.83
12094	1.51	-146.0	1968	3347	3498	3167	1.1	0.1	2268	12101	0.00	1.52	0.00	0.000	1030	0.000	0.090	2961	2499	3338	3506	3171	0	0	0	0	0	0	28.83	13.88	28.83
12422	1.58	-146.0	2961	2499	3506	3170	1.1	0.4	2329	12429	0.20	0.00	0.00	0.000	2054	0.291	0.000	3006	2499	3338	3506	3171	0	0	0	0	0	0	13.36	28.83	28.83
12749	1.58	-146.0	3007	2499	3506	3171	1.1	0.0	2390	12755	0.00	1.65	0.00	0.000	260	0.000	0.132	3003	3351	3338	3506	3171	0	0	0	0	0	0	28.83	13.64	28.83
12908	end dive: HALF_MISSION_TIME_EXCEEDED
state	12908	begin apogee
12922	-0.22	0.0	3003	2509	3506	3170	1.1	-0.1	2420	12937	1.70	0.00	9.75	0.174	12290	0.093	0.000	2434	2509	3257	3428	3086	0	0	0	0	0	0	13.90	28.83	28.83
12938	end apogee: FINISH_DEPTH_REACHED
state	12938	begin subsurface finish
12952	0.00	0.0	2434	2509	3428	3086	1.2	-0.2	2421	12960	0.28	0.00	5.18	0.171	10754	0.269	0.000	2501	2509	3214	3385	3043	0	0	0	0	0	0	13.49	28.83	28.83
12961	end subsurface finish: NO_VERTICAL_VELOCITY
state	12961	begin surface