Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 533 * 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 533 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 22 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 22 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 533 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 261213,042640,6640.829,-5852.195,0,3093.3,0,-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 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -22.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8 MHEAD_RNG_PITCHd_Wd 337.4,68875,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 821

Post-dive calculations and measurements:

FREEZE 1.21,-1.762,-1.795,2,9,0 _24V_AH 13.4,232.111

FINISH1 1.2,1.026356,0 _10V_AH 12.6,0.000

FINISH2 1.1 FG_AHR_24Vo 0.000

RAFOS_CLK 703 FG_AHR_10Vo 0.000

RAFOS 6,1388033341,4.833333,4.816945,110,63,61,60,55,55,763,196,210,154,182,121 MEM 150744

RAFOS_FIX 6641.586914,-5852.452148,261213,040432,4,98,4.02 DATA_FILE_SIZE 96562,2453

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 162706,0

TT8_MAMPS 0.027713,0.027713 CFSIZE 259252224,209477632

HUMID 45.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.7425 SOUNDSPEED 1437.9

TCM_TEMP 11.90 CURRENT 0.052,310.3,1

XPDR_PINGS 22 GPS 261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8

ALTIM_TOP_PING 1.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 320 20.29 SBE_CT 1749 23 544.25

Roll_motor 0 0 0.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 73 164 160.89 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 5 420 32.36 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6065 14 1143.27

LPSleep 2693 2 78.40

TT8_Active 242 14 43.34

TT8_Sampling 3497 33 1484.85

TT8_CF8 596 39 298.40

TT8_Kalman 0 0 0.00

Analog_circuits 1852 12 280.14

GPS_charging 0 0 0.00

Compass 3473 6 294.99

RAFOS 1800 1 34.02

Transponder 2 30 1.06

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 2499 2497 2986 2709 0.0 0.0 0 56 0.00 0.00 -33.28 0.000 16390 0.000 0.000 2499 2498 3337 3504 3170 0 0 0 0 0 0 28.83 28.83 14.57

64 -0.89 -146.0 2499 2498 3505 3170 1.2 0.1 6 71 0.82 0.00 0.00 0.000 4102 0.094 0.000 2225 2497 3337 3505 3170 0 0 0 0 0 0 13.95 28.83 28.83

384 -0.82 -146.0 1376 2495 3498 3167 1.0 0.2 67 390 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2497 3338 3506 3170 0 0 0 0 0 0 28.83 28.83 28.83

707 -0.75 -146.0 2224 2497 3507 3170 1.0 0.3 128 713 0.15 0.00 0.00 0.000 2054 0.287 0.000 2259 2497 3338 3506 3170 0 0 0 0 0 0 13.59 28.83 28.83

1029 -0.75 -146.0 2259 2497 3507 3170 1.0 1.1 189 1034 0.00 0.00 0.00 0.000 6 0.000 0.000 2259 2497 3339 3508 3170 0 0 0 0 0 0 28.83 28.83 28.83

1351 -0.67 -146.0 2259 2497 3507 3170 1.1 -0.0 250 1360 0.12 0.00 0.00 0.000 2054 0.308 0.000 2290 2497 3338 3507 3170 0 0 0 0 0 0 13.75 28.83 28.83

1676 -0.60 -146.0 2291 2497 3507 3170 1.1 -0.2 311 1682 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

1996 -0.53 -146.0 2290 2497 3507 3170 1.1 -0.3 372 2002 0.15 0.00 0.00 0.000 2054 0.300 0.000 2328 2497 3338 3507 3170 0 0 0 0 0 0 13.58 28.83 28.83

2319 -0.45 -146.0 2328 2497 3507 3170 1.1 -0.1 433 2326 0.12 0.00 0.00 0.000 2054 0.317 0.000 2358 2497 3339 3508 3170 0 0 0 0 0 0 13.70 28.83 28.83

2639 -0.45 -146.0 2358 2497 3507 3170 1.0 0.3 494 2645 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

2958 -0.45 -146.0 2358 2497 3507 3170 1.0 1.5 555 2964 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2497 3338 3506 3170 0 0 0 0 0 0 28.83 28.83 28.83

3277 -0.45 -146.0 2358 2497 3507 3170 1.1 0.3 616 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

3599 -0.38 -146.0 2357 2497 3507 3170 1.0 0.6 677 3605 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

3920 -0.31 -146.0 2358 2497 3507 3170 1.1 -0.1 738 3927 0.17 0.00 0.00 0.000 2054 0.286 0.000 2401 2497 3338 3507 3170 0 0 0 0 0 0 13.50 28.83 28.83

4241 -0.23 -146.0 2401 2497 3507 3170 1.0 0.1 799 4248 0.12 0.00 0.00 0.000 2054 0.321 0.000 2432 2497 3338 3506 3170 0 0 0 0 0 0 13.70 28.83 28.83

4562 -0.16 -146.0 2432 2497 3507 3170 1.1 -0.4 860 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

4882 -0.16 -146.0 1536 2495 3499 3167 1.1 0.0 921 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

5202 -0.16 -146.0 2431 2497 3507 3170 1.0 0.6 982 5208 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

5522 -0.09 -146.0 1504 2495 3499 3167 1.0 0.4 1043 5529 0.17 0.00 0.00 0.000 2054 0.291 0.000 2474 2497 3338 3507 3170 0 0 0 0 0 0 13.45 28.83 28.83

5844 -0.01 -146.0 2474 2497 3506 3170 1.0 0.1 1104 5850 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

6165 0.06 -146.0 2475 2497 3507 3170 1.1 0.3 1165 6171 0.17 0.00 0.00 0.000 2054 0.291 0.000 2518 2497 3338 3507 3170 0 0 0 0 0 0 13.47 28.83 28.83

6487 0.13 -146.0 2518 2497 3506 3170 1.0 -0.0 1226 6493 0.12 0.00 0.00 0.000 2054 0.316 0.000 2548 2497 3338 3507 3169 0 0 0 0 0 0 13.69 28.83 28.83

6807 0.13 -146.0 1600 2495 3498 3167 1.0 0.0 1287 6814 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

7129 0.13 -146.0 2548 2497 3507 3170 1.1 -1.8 1348 7135 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

7450 0.21 -146.0 2548 2497 3507 3170 1.1 -0.1 1409 7456 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

7769 0.21 -146.0 1600 2495 3499 3167 1.1 -2.6 1470 7775 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

8091 0.28 -146.0 2548 2497 3507 3170 1.0 0.2 1531 8098 0.15 0.00 0.00 0.000 2054 0.300 0.000 2586 2497 3338 3507 3170 0 0 0 0 0 0 13.57 28.83 28.83

8414 0.35 -146.0 2586 2497 3507 3170 1.1 0.0 1592 8421 0.12 0.00 0.00 0.000 2054 0.314 0.000 2617 2497 3338 3507 3170 0 0 0 0 0 0 13.69 28.83 28.83

8736 0.35 -146.0 2617 2497 3507 3170 1.0 0.0 1653 8743 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

9060 0.43 -146.0 2617 2497 3507 3170 0.9 0.3 1714 9066 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

9380 0.50 -146.0 1664 2495 3499 3167 1.0 0.3 1775 9389 0.17 0.00 0.00 0.000 2054 0.298 0.000 2660 2497 3338 3507 3170 0 0 0 0 0 0 13.44 28.83 28.83

9704 0.57 -146.0 2661 2497 3507 3170 1.1 -0.1 1836 9711 0.12 0.00 0.00 0.000 2054 0.313 0.000 2691 2497 3338 3507 3169 0 0 0 0 0 0 13.71 28.83 28.83

10024 0.65 -146.0 2691 2497 3507 3170 0.9 0.8 1897 10030 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2497 3338 3506 3170 0 0 0 0 0 0 28.83 28.83 28.83

10346 0.72 -146.0 2691 2497 3507 3170 1.0 -0.1 1958 10353 0.15 0.00 0.00 0.000 2054 0.303 0.000 2728 2496 3338 3507 3170 0 0 0 0 0 0 13.55 28.83 28.83

10668 0.72 -146.0 1744 2495 3499 3167 1.0 2.0 2019 10674 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

10989 0.79 -146.0 2728 2497 3507 3170 1.1 0.2 2080 10995 0.12 0.00 0.00 0.000 2054 0.315 0.000 2757 2497 3338 3507 3169 0 0 0 0 0 0 13.69 28.83 28.83

11314 0.87 -146.0 1744 2494 3499 3167 1.0 0.3 2141 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2497 3337 3505 3170 0 0 0 0 0 0 28.83 28.83 28.83

11640 0.94 -146.0 2758 2497 3507 3170 1.0 -0.5 2202 11646 0.17 0.00 0.00 0.000 2054 0.298 0.000 2800 2497 3338 3507 3170 0 0 0 0 0 0 13.42 28.83 28.83

11967 1.01 -146.0 1792 2494 3498 3167 1.0 -0.4 2263 11975 0.12 0.00 0.00 0.000 2054 0.314 0.000 2830 2497 3338 3507 3170 0 0 0 0 0 0 13.68 28.83 28.83

12290 1.01 -146.0 2830 2497 3507 3170 1.1 -2.4 2324 12296 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

12616 1.09 -146.0 2830 2496 3507 3170 1.1 -0.3 2385 12625 0.00 0.00 0.00 0.000 6 0.000 0.000 2830 2497 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

12906 end dive: HALF_MISSION_TIME_EXCEEDED

state 12907 begin apogee

12920 -0.22 0.0 2831 2496 3506 3170 1.0 -0.0 2441 12933 1.20 0.00 9.30 0.164 12290 0.093 0.000 2441 2497 3261 3433 3089 0 0 0 0 0 0 13.83 28.83 28.83

12934 end apogee: FINISH_DEPTH_REACHED

state 12934 begin subsurface finish

12949 0.00 0.0 2442 2497 3433 3090 1.2 -0.6 2442 13017 0.22 0.00 63.70 0.155 10246 0.272 0.000 2496 2497 2738 2852 2624 0 0 0 0 0 0 13.49 28.83 13.98

13018 end subsurface finish: CONTROL_FINISHED_OK

state 13018 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	533	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	22	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	261213,042640,6640.829,-5852.195,0,3093.3,0,-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	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-22.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8	MHEAD_RNG_PITCHd_Wd	337.4,68875,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	821

FREEZE	1.21,-1.762,-1.795,2,9,0	_24V_AH	13.4,232.111
FINISH1	1.2,1.026356,0	_10V_AH	12.6,0.000
FINISH2	1.1	FG_AHR_24Vo	0.000
RAFOS_CLK	703	FG_AHR_10Vo	0.000
RAFOS	6,1388033341,4.833333,4.816945,110,63,61,60,55,55,763,196,210,154,182,121	MEM	150744
RAFOS_FIX	6641.586914,-5852.452148,261213,040432,4,98,4.02	DATA_FILE_SIZE	96562,2453
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	162706,0
TT8_MAMPS	0.027713,0.027713	CFSIZE	259252224,209477632
HUMID	45.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.7425	SOUNDSPEED	1437.9
TCM_TEMP	11.90	CURRENT	0.052,310.3,1
XPDR_PINGS	22	GPS	261213,042640,6640.829,-5852.195,0,3093.3,0,-33.8
ALTIM_TOP_PING	1.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	320	20.29	SBE_CT	1749	23	544.25
Roll_motor	0	0	0.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	73	164	160.89	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	5	420	32.36	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6065	14	1143.27
LPSleep	2693	2	78.40
TT8_Active	242	14	43.34
TT8_Sampling	3497	33	1484.85
TT8_CF8	596	39	298.40
TT8_Kalman	0	0	0.00
Analog_circuits	1852	12	280.14
GPS_charging	0	0	0.00
Compass	3473	6	294.99
RAFOS	1800	1	34.02
Transponder	2	30	1.06

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	2499	2497	2986	2709	0.0	0.0	0	56	0.00	0.00	-33.28	0.000	16390	0.000	0.000	2499	2498	3337	3504	3170	0	0	0	0	0	0	28.83	28.83	14.57
64	-0.89	-146.0	2499	2498	3505	3170	1.2	0.1	6	71	0.82	0.00	0.00	0.000	4102	0.094	0.000	2225	2497	3337	3505	3170	0	0	0	0	0	0	13.95	28.83	28.83
384	-0.82	-146.0	1376	2495	3498	3167	1.0	0.2	67	390	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2497	3338	3506	3170	0	0	0	0	0	0	28.83	28.83	28.83
707	-0.75	-146.0	2224	2497	3507	3170	1.0	0.3	128	713	0.15	0.00	0.00	0.000	2054	0.287	0.000	2259	2497	3338	3506	3170	0	0	0	0	0	0	13.59	28.83	28.83
1029	-0.75	-146.0	2259	2497	3507	3170	1.0	1.1	189	1034	0.00	0.00	0.00	0.000	6	0.000	0.000	2259	2497	3339	3508	3170	0	0	0	0	0	0	28.83	28.83	28.83
1351	-0.67	-146.0	2259	2497	3507	3170	1.1	-0.0	250	1360	0.12	0.00	0.00	0.000	2054	0.308	0.000	2290	2497	3338	3507	3170	0	0	0	0	0	0	13.75	28.83	28.83
1676	-0.60	-146.0	2291	2497	3507	3170	1.1	-0.2	311	1682	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
1996	-0.53	-146.0	2290	2497	3507	3170	1.1	-0.3	372	2002	0.15	0.00	0.00	0.000	2054	0.300	0.000	2328	2497	3338	3507	3170	0	0	0	0	0	0	13.58	28.83	28.83
2319	-0.45	-146.0	2328	2497	3507	3170	1.1	-0.1	433	2326	0.12	0.00	0.00	0.000	2054	0.317	0.000	2358	2497	3339	3508	3170	0	0	0	0	0	0	13.70	28.83	28.83
2639	-0.45	-146.0	2358	2497	3507	3170	1.0	0.3	494	2645	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
2958	-0.45	-146.0	2358	2497	3507	3170	1.0	1.5	555	2964	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2497	3338	3506	3170	0	0	0	0	0	0	28.83	28.83	28.83
3277	-0.45	-146.0	2358	2497	3507	3170	1.1	0.3	616	3283	0.00	0.00	0.00	0.000	6	0.000	0.000	2359	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
3599	-0.38	-146.0	2357	2497	3507	3170	1.0	0.6	677	3605	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
3920	-0.31	-146.0	2358	2497	3507	3170	1.1	-0.1	738	3927	0.17	0.00	0.00	0.000	2054	0.286	0.000	2401	2497	3338	3507	3170	0	0	0	0	0	0	13.50	28.83	28.83
4241	-0.23	-146.0	2401	2497	3507	3170	1.0	0.1	799	4248	0.12	0.00	0.00	0.000	2054	0.321	0.000	2432	2497	3338	3506	3170	0	0	0	0	0	0	13.70	28.83	28.83
4562	-0.16	-146.0	2432	2497	3507	3170	1.1	-0.4	860	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
4882	-0.16	-146.0	1536	2495	3499	3167	1.1	0.0	921	4888	0.00	0.00	0.00	0.000	6	0.000	0.000	2431	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
5202	-0.16	-146.0	2431	2497	3507	3170	1.0	0.6	982	5208	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
5522	-0.09	-146.0	1504	2495	3499	3167	1.0	0.4	1043	5529	0.17	0.00	0.00	0.000	2054	0.291	0.000	2474	2497	3338	3507	3170	0	0	0	0	0	0	13.45	28.83	28.83
5844	-0.01	-146.0	2474	2497	3506	3170	1.0	0.1	1104	5850	0.00	0.00	0.00	0.000	6	0.000	0.000	2474	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
6165	0.06	-146.0	2475	2497	3507	3170	1.1	0.3	1165	6171	0.17	0.00	0.00	0.000	2054	0.291	0.000	2518	2497	3338	3507	3170	0	0	0	0	0	0	13.47	28.83	28.83
6487	0.13	-146.0	2518	2497	3506	3170	1.0	-0.0	1226	6493	0.12	0.00	0.00	0.000	2054	0.316	0.000	2548	2497	3338	3507	3169	0	0	0	0	0	0	13.69	28.83	28.83
6807	0.13	-146.0	1600	2495	3498	3167	1.0	0.0	1287	6814	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
7129	0.13	-146.0	2548	2497	3507	3170	1.1	-1.8	1348	7135	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
7450	0.21	-146.0	2548	2497	3507	3170	1.1	-0.1	1409	7456	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
7769	0.21	-146.0	1600	2495	3499	3167	1.1	-2.6	1470	7775	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
8091	0.28	-146.0	2548	2497	3507	3170	1.0	0.2	1531	8098	0.15	0.00	0.00	0.000	2054	0.300	0.000	2586	2497	3338	3507	3170	0	0	0	0	0	0	13.57	28.83	28.83
8414	0.35	-146.0	2586	2497	3507	3170	1.1	0.0	1592	8421	0.12	0.00	0.00	0.000	2054	0.314	0.000	2617	2497	3338	3507	3170	0	0	0	0	0	0	13.69	28.83	28.83
8736	0.35	-146.0	2617	2497	3507	3170	1.0	0.0	1653	8743	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
9060	0.43	-146.0	2617	2497	3507	3170	0.9	0.3	1714	9066	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
9380	0.50	-146.0	1664	2495	3499	3167	1.0	0.3	1775	9389	0.17	0.00	0.00	0.000	2054	0.298	0.000	2660	2497	3338	3507	3170	0	0	0	0	0	0	13.44	28.83	28.83
9704	0.57	-146.0	2661	2497	3507	3170	1.1	-0.1	1836	9711	0.12	0.00	0.00	0.000	2054	0.313	0.000	2691	2497	3338	3507	3169	0	0	0	0	0	0	13.71	28.83	28.83
10024	0.65	-146.0	2691	2497	3507	3170	0.9	0.8	1897	10030	0.00	0.00	0.00	0.000	6	0.000	0.000	2691	2497	3338	3506	3170	0	0	0	0	0	0	28.83	28.83	28.83
10346	0.72	-146.0	2691	2497	3507	3170	1.0	-0.1	1958	10353	0.15	0.00	0.00	0.000	2054	0.303	0.000	2728	2496	3338	3507	3170	0	0	0	0	0	0	13.55	28.83	28.83
10668	0.72	-146.0	1744	2495	3499	3167	1.0	2.0	2019	10674	0.00	0.00	0.00	0.000	6	0.000	0.000	2728	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
10989	0.79	-146.0	2728	2497	3507	3170	1.1	0.2	2080	10995	0.12	0.00	0.00	0.000	2054	0.315	0.000	2757	2497	3338	3507	3169	0	0	0	0	0	0	13.69	28.83	28.83
11314	0.87	-146.0	1744	2494	3499	3167	1.0	0.3	2141	11320	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2497	3337	3505	3170	0	0	0	0	0	0	28.83	28.83	28.83
11640	0.94	-146.0	2758	2497	3507	3170	1.0	-0.5	2202	11646	0.17	0.00	0.00	0.000	2054	0.298	0.000	2800	2497	3338	3507	3170	0	0	0	0	0	0	13.42	28.83	28.83
11967	1.01	-146.0	1792	2494	3498	3167	1.0	-0.4	2263	11975	0.12	0.00	0.00	0.000	2054	0.314	0.000	2830	2497	3338	3507	3170	0	0	0	0	0	0	13.68	28.83	28.83
12290	1.01	-146.0	2830	2497	3507	3170	1.1	-2.4	2324	12296	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
12616	1.09	-146.0	2830	2496	3507	3170	1.1	-0.3	2385	12625	0.00	0.00	0.00	0.000	6	0.000	0.000	2830	2497	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
12906	end dive: HALF_MISSION_TIME_EXCEEDED
state	12907	begin apogee
12920	-0.22	0.0	2831	2496	3506	3170	1.0	-0.0	2441	12933	1.20	0.00	9.30	0.164	12290	0.093	0.000	2441	2497	3261	3433	3089	0	0	0	0	0	0	13.83	28.83	28.83
12934	end apogee: FINISH_DEPTH_REACHED
state	12934	begin subsurface finish
12949	0.00	0.0	2442	2497	3433	3090	1.2	-0.6	2442	13017	0.22	0.00	63.70	0.155	10246	0.272	0.000	2496	2497	2738	2852	2624	0	0	0	0	0	0	13.49	28.83	13.98
13018	end subsurface finish: CONTROL_FINISHED_OK
state	13018	begin surface