Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 541 * 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 541 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 -3 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 -3

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 541 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 271213,083741,6642.499,-5820.713,0,3093.0,0,-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 1.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -22.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271213,083741,6642.499,-5820.713,0,3093.0,0,-33.8 MHEAD_RNG_PITCHd_Wd 334.7,91697,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 693

Post-dive calculations and measurements:

FREEZE 1.10,-2.551,-0.543,2,17,0 ALTIM_TOP_PING 1.2,999.0

FINISH 1.1,1.007822 _24V_AH 13.4,232.888

SM_CCo 12995,268.95,0.159,0,0,1107,400.08 _10V_AH 13.4,0.000

SM_GC 1.24,7.03,0.00,268.95,0.087,0.000,0.159,135,2500,1107,-7.36,-0.03,400.08,0,0,0,0,0,0,13.97,28.83,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 727 FG_AHR_10Vo 0.000

RAFOS 0,1388145663,12.033333,12.017500,62,60,60,56,54,52,214,185,231,170,151,138 MEM 150744

RAFOS_FIX 6644.353516,-5816.345703,271213,121228,4,113,0.32 DATA_FILE_SIZE 93202,2444

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 166449,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,208818176

HUMID 42.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.59601 SOUNDSPEED 1403.9

TCM_TEMP 11.80 CURRENT 0.477, 88.4,1

XPDR_PINGS 4 GPS 271213,135701,6642.617,-5812.114,43,2.0,43,-33.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 319 53.78 SBE_CT 1744 23 542.70

Roll_motor 0 0 0.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 7 175 16.96 nil 0 0 0.00

VBD_pump_during_surface 268 159 573.46 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 1 420 7.04 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6047 14 1212.32

LPSleep 2737 2 84.72

TT8_Active 463 14 88.31

TT8_Sampling 3489 33 1575.21

TT8_CF8 610 39 324.59

TT8_Kalman 0 0 0.00

Analog_circuits 2055 12 330.45

GPS_charging 0 0 0.00

Compass 3462 6 312.70

RAFOS 2520 1 50.65

Transponder 2 30 1.13

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 2499 3177 2856 0.0 0.0 0 44 0.00 0.00 -21.42 0.000 16390 0.000 0.000 2501 2499 3338 3506 3170 0 0 0 0 0 0 28.83 28.83 14.55

51 -0.89 -146.0 2501 2499 3506 3169 1.2 0.6 4 58 0.85 0.00 0.00 0.000 4102 0.096 0.000 2222 2499 3337 3506 3169 0 0 0 0 0 0 13.89 28.83 28.83

373 -0.82 -146.0 2222 2499 3507 3169 1.1 -0.2 65 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2500 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

691 -0.75 -146.0 1368 2497 3499 3166 1.1 0.3 126 699 0.17 0.00 0.00 0.000 2054 0.281 0.000 2263 2500 3338 3507 3169 0 0 0 0 0 0 13.47 28.83 28.83

1013 -0.67 -146.0 2263 2499 3507 3169 1.1 -0.2 187 1019 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

1332 -0.60 -146.0 1392 2497 3499 3166 1.2 -0.0 248 1339 0.17 0.00 0.00 0.000 2054 0.279 0.000 2309 2499 3338 3508 3169 0 0 0 0 0 0 13.51 28.83 28.83

1653 -0.60 -146.0 2308 2500 3507 3169 1.1 0.0 309 1659 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

1973 -0.60 -146.0 2308 2499 3508 3169 1.0 0.7 370 1979 0.00 0.00 0.00 0.000 6 0.000 0.000 2308 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

2292 -0.53 -146.0 2308 2499 3507 3169 1.2 -0.4 431 2299 0.12 0.00 0.00 0.000 2054 0.320 0.000 2339 2500 3338 3507 3169 0 0 0 0 0 0 13.67 28.83 28.83

2616 -0.45 -146.0 2339 2500 3507 3169 1.1 0.2 492 2623 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

2938 -0.38 -146.0 2339 2500 3507 3169 1.1 0.6 553 2945 0.15 0.00 0.00 0.000 2054 0.298 0.000 2377 2499 3338 3507 3169 0 0 0 0 0 0 13.56 28.83 28.83

3258 -0.30 -146.0 2377 2499 3507 3169 1.1 0.1 614 3265 0.12 0.00 0.00 0.000 2054 0.306 0.000 2407 2500 3338 3507 3169 0 0 0 0 0 0 13.73 28.83 28.83

3580 -0.23 -146.0 2407 2499 3508 3169 1.1 -0.0 675 3585 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2500 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

3900 -0.16 -146.0 2407 2499 3508 3170 1.1 0.5 736 3907 0.12 0.00 0.00 0.000 2054 0.311 0.000 2438 2499 3338 3507 3169 0 0 0 0 0 0 13.69 28.83 28.83

4221 -0.09 -146.0 2438 2500 3507 3169 1.1 -0.3 797 4229 0.12 0.00 0.00 0.000 2054 0.317 0.000 2469 2499 3338 3507 3169 0 0 0 0 0 0 13.67 28.83 28.83

4541 -0.09 -146.0 2469 2499 3507 3169 1.1 0.0 858 4548 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2500 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

4862 -0.01 -146.0 1536 2497 3500 3166 1.1 0.3 919 4869 0.12 0.00 0.00 0.000 2054 0.314 0.000 2499 2499 3338 3507 3169 0 0 0 0 0 0 13.68 28.83 28.83

5183 0.06 -146.0 2499 2500 3507 3169 1.1 0.1 980 5189 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

5506 0.13 -146.0 1552 2497 3499 3166 1.0 0.3 1041 5512 0.17 0.00 0.00 0.000 2054 0.295 0.000 2542 2499 3338 3507 3169 0 0 0 0 0 0 13.45 28.83 28.83

5829 0.20 -146.0 2542 2499 3508 3169 1.1 -0.3 1102 5835 0.12 0.00 0.00 0.000 2054 0.311 0.000 2573 2499 3338 3507 3169 0 0 0 0 0 0 13.69 28.83 28.83

6151 0.28 -146.0 2573 2499 3508 3169 1.1 0.2 1163 6158 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2499 3338 3508 3169 0 0 0 0 0 0 28.83 28.83 28.83

6474 0.28 -146.0 2573 2500 3508 3169 1.1 0.0 1224 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2573 2499 3337 3506 3169 0 0 0 0 0 0 28.83 28.83 28.83

6797 0.35 -146.0 2573 2499 3507 3169 1.1 0.2 1285 6805 0.15 0.00 0.00 0.000 2054 0.297 0.000 2611 2500 3338 3508 3169 0 0 0 0 0 0 13.54 28.83 28.83

7122 0.43 -146.0 2611 2499 3507 3170 1.1 -0.0 1346 7128 0.12 0.00 0.00 0.000 2054 0.303 0.000 2642 2500 3338 3507 3169 0 0 0 0 0 0 13.68 28.83 28.83

7450 0.50 -146.0 2642 2499 3507 3169 1.0 0.1 1407 7455 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

7770 0.57 -146.0 2642 2499 3507 3169 1.2 -0.4 1468 7777 0.15 0.00 0.00 0.000 2054 0.298 0.000 2679 2499 3338 3507 3169 0 0 0 0 0 0 13.54 28.83 28.83

8093 0.57 -146.0 2679 2499 3507 3169 1.1 0.6 1529 8098 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

8413 0.65 -146.0 1696 2497 3499 3166 1.1 0.2 1590 8421 0.12 0.00 0.00 0.000 2054 0.308 0.000 2709 2499 3338 3507 3169 0 0 0 0 0 0 13.66 28.83 28.83

8743 0.72 -146.0 2709 2499 3508 3169 1.0 0.2 1651 8749 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2500 3338 3508 3169 0 0 0 0 0 0 28.83 28.83 28.83

9062 0.79 -146.0 1728 2497 3500 3166 1.1 -0.1 1712 9069 0.17 0.00 0.00 0.000 2054 0.291 0.000 2752 2499 3338 3507 3169 0 0 0 0 0 0 13.41 28.83 28.83

9391 0.86 -146.0 2752 2499 3508 3169 1.0 -0.2 1773 9397 0.12 0.00 0.00 0.000 2054 0.314 0.000 2781 2499 3338 3508 3169 0 0 0 0 0 0 13.65 28.83 28.83

9711 0.86 -146.0 2782 2499 3507 3169 1.1 0.0 1834 9718 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2499 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

10033 0.94 -146.0 2782 2499 3508 3169 1.1 0.0 1895 10040 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 2500 3338 3506 3170 0 0 0 0 0 0 28.83 28.83 28.83

10354 1.01 -146.0 2782 2500 3508 3169 1.1 -0.3 1956 10361 0.17 0.00 0.00 0.000 2054 0.292 0.000 2826 2499 3338 3508 3169 0 0 0 0 0 0 13.44 28.83 28.83

10682 1.09 -146.0 2826 2499 3507 3169 1.1 -0.1 2017 10688 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

11004 1.16 -146.0 1824 2497 3499 3166 1.1 0.0 2078 11011 0.17 0.00 0.00 0.000 2054 0.302 0.000 2869 2499 3338 3508 3169 0 0 0 0 0 0 13.37 28.83 28.83

11332 1.23 -146.0 2870 2499 3508 3169 1.2 -0.2 2139 11338 0.12 0.00 0.00 0.000 2054 0.312 0.000 2898 2499 3338 3508 3169 0 0 0 0 0 0 13.66 28.83 28.83

11652 1.23 -146.0 2900 2500 3506 3169 1.1 -1.7 2200 11659 0.00 0.00 0.00 0.000 6 0.000 0.000 2900 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

11975 1.31 -146.0 2900 2499 3508 3169 1.1 -0.6 2261 11981 0.00 0.00 0.00 0.000 6 0.000 0.000 2899 2499 3338 3507 3169 0 0 0 0 0 0 28.83 28.83 28.83

12295 1.38 -146.0 2900 2499 3508 3169 1.1 -0.1 2322 12302 0.17 0.00 0.00 0.000 2054 0.297 0.000 2942 2500 3338 3508 3169 0 0 0 0 0 0 13.41 28.83 28.83

12622 1.46 -146.0 2942 2499 3507 3169 1.1 -0.2 2383 12629 0.12 0.00 0.00 0.000 2054 0.319 0.000 2971 2499 3338 3507 3169 0 0 0 0 0 0 13.65 28.83 28.83

12907 end dive: HALF_MISSION_TIME_EXCEEDED

state 12907 begin apogee

12921 -0.22 0.0 2971 2499 3507 3169 1.1 0.2 2438 12932 1.62 0.00 7.22 0.175 12290 0.093 0.000 2431 2500 3278 3450 3107 0 0 0 0 0 0 13.86 28.83 28.83

12933 end apogee: SURFACE_DEPTH_REACHED

state 12933 begin surface coast

12966 end surface coast: NO_VERTICAL_VELOCITY

state 12966 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	541	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	-3	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	271213,083741,6642.499,-5820.713,0,3093.0,0,-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	1.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-22.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271213,083741,6642.499,-5820.713,0,3093.0,0,-33.8	MHEAD_RNG_PITCHd_Wd	334.7,91697,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	693

FREEZE	1.10,-2.551,-0.543,2,17,0	ALTIM_TOP_PING	1.2,999.0
FINISH	1.1,1.007822	_24V_AH	13.4,232.888
SM_CCo	12995,268.95,0.159,0,0,1107,400.08	_10V_AH	13.4,0.000
SM_GC	1.24,7.03,0.00,268.95,0.087,0.000,0.159,135,2500,1107,-7.36,-0.03,400.08,0,0,0,0,0,0,13.97,28.83,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	727	FG_AHR_10Vo	0.000
RAFOS	0,1388145663,12.033333,12.017500,62,60,60,56,54,52,214,185,231,170,151,138	MEM	150744
RAFOS_FIX	6644.353516,-5816.345703,271213,121228,4,113,0.32	DATA_FILE_SIZE	93202,2444
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	166449,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,208818176
HUMID	42.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.59601	SOUNDSPEED	1403.9
TCM_TEMP	11.80	CURRENT	0.477, 88.4,1
XPDR_PINGS	4	GPS	271213,135701,6642.617,-5812.114,43,2.0,43,-33.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	319	53.78	SBE_CT	1744	23	542.70
Roll_motor	0	0	0.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	7	175	16.96	nil	0	0	0.00
VBD_pump_during_surface	268	159	573.46	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	1	420	7.04	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6047	14	1212.32
LPSleep	2737	2	84.72
TT8_Active	463	14	88.31
TT8_Sampling	3489	33	1575.21
TT8_CF8	610	39	324.59
TT8_Kalman	0	0	0.00
Analog_circuits	2055	12	330.45
GPS_charging	0	0	0.00
Compass	3462	6	312.70
RAFOS	2520	1	50.65
Transponder	2	30	1.13

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	2499	3177	2856	0.0	0.0	0	44	0.00	0.00	-21.42	0.000	16390	0.000	0.000	2501	2499	3338	3506	3170	0	0	0	0	0	0	28.83	28.83	14.55
51	-0.89	-146.0	2501	2499	3506	3169	1.2	0.6	4	58	0.85	0.00	0.00	0.000	4102	0.096	0.000	2222	2499	3337	3506	3169	0	0	0	0	0	0	13.89	28.83	28.83
373	-0.82	-146.0	2222	2499	3507	3169	1.1	-0.2	65	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2500	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
691	-0.75	-146.0	1368	2497	3499	3166	1.1	0.3	126	699	0.17	0.00	0.00	0.000	2054	0.281	0.000	2263	2500	3338	3507	3169	0	0	0	0	0	0	13.47	28.83	28.83
1013	-0.67	-146.0	2263	2499	3507	3169	1.1	-0.2	187	1019	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
1332	-0.60	-146.0	1392	2497	3499	3166	1.2	-0.0	248	1339	0.17	0.00	0.00	0.000	2054	0.279	0.000	2309	2499	3338	3508	3169	0	0	0	0	0	0	13.51	28.83	28.83
1653	-0.60	-146.0	2308	2500	3507	3169	1.1	0.0	309	1659	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
1973	-0.60	-146.0	2308	2499	3508	3169	1.0	0.7	370	1979	0.00	0.00	0.00	0.000	6	0.000	0.000	2308	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
2292	-0.53	-146.0	2308	2499	3507	3169	1.2	-0.4	431	2299	0.12	0.00	0.00	0.000	2054	0.320	0.000	2339	2500	3338	3507	3169	0	0	0	0	0	0	13.67	28.83	28.83
2616	-0.45	-146.0	2339	2500	3507	3169	1.1	0.2	492	2623	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
2938	-0.38	-146.0	2339	2500	3507	3169	1.1	0.6	553	2945	0.15	0.00	0.00	0.000	2054	0.298	0.000	2377	2499	3338	3507	3169	0	0	0	0	0	0	13.56	28.83	28.83
3258	-0.30	-146.0	2377	2499	3507	3169	1.1	0.1	614	3265	0.12	0.00	0.00	0.000	2054	0.306	0.000	2407	2500	3338	3507	3169	0	0	0	0	0	0	13.73	28.83	28.83
3580	-0.23	-146.0	2407	2499	3508	3169	1.1	-0.0	675	3585	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2500	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
3900	-0.16	-146.0	2407	2499	3508	3170	1.1	0.5	736	3907	0.12	0.00	0.00	0.000	2054	0.311	0.000	2438	2499	3338	3507	3169	0	0	0	0	0	0	13.69	28.83	28.83
4221	-0.09	-146.0	2438	2500	3507	3169	1.1	-0.3	797	4229	0.12	0.00	0.00	0.000	2054	0.317	0.000	2469	2499	3338	3507	3169	0	0	0	0	0	0	13.67	28.83	28.83
4541	-0.09	-146.0	2469	2499	3507	3169	1.1	0.0	858	4548	0.00	0.00	0.00	0.000	6	0.000	0.000	2469	2500	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
4862	-0.01	-146.0	1536	2497	3500	3166	1.1	0.3	919	4869	0.12	0.00	0.00	0.000	2054	0.314	0.000	2499	2499	3338	3507	3169	0	0	0	0	0	0	13.68	28.83	28.83
5183	0.06	-146.0	2499	2500	3507	3169	1.1	0.1	980	5189	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
5506	0.13	-146.0	1552	2497	3499	3166	1.0	0.3	1041	5512	0.17	0.00	0.00	0.000	2054	0.295	0.000	2542	2499	3338	3507	3169	0	0	0	0	0	0	13.45	28.83	28.83
5829	0.20	-146.0	2542	2499	3508	3169	1.1	-0.3	1102	5835	0.12	0.00	0.00	0.000	2054	0.311	0.000	2573	2499	3338	3507	3169	0	0	0	0	0	0	13.69	28.83	28.83
6151	0.28	-146.0	2573	2499	3508	3169	1.1	0.2	1163	6158	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2499	3338	3508	3169	0	0	0	0	0	0	28.83	28.83	28.83
6474	0.28	-146.0	2573	2500	3508	3169	1.1	0.0	1224	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2573	2499	3337	3506	3169	0	0	0	0	0	0	28.83	28.83	28.83
6797	0.35	-146.0	2573	2499	3507	3169	1.1	0.2	1285	6805	0.15	0.00	0.00	0.000	2054	0.297	0.000	2611	2500	3338	3508	3169	0	0	0	0	0	0	13.54	28.83	28.83
7122	0.43	-146.0	2611	2499	3507	3170	1.1	-0.0	1346	7128	0.12	0.00	0.00	0.000	2054	0.303	0.000	2642	2500	3338	3507	3169	0	0	0	0	0	0	13.68	28.83	28.83
7450	0.50	-146.0	2642	2499	3507	3169	1.0	0.1	1407	7455	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
7770	0.57	-146.0	2642	2499	3507	3169	1.2	-0.4	1468	7777	0.15	0.00	0.00	0.000	2054	0.298	0.000	2679	2499	3338	3507	3169	0	0	0	0	0	0	13.54	28.83	28.83
8093	0.57	-146.0	2679	2499	3507	3169	1.1	0.6	1529	8098	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
8413	0.65	-146.0	1696	2497	3499	3166	1.1	0.2	1590	8421	0.12	0.00	0.00	0.000	2054	0.308	0.000	2709	2499	3338	3507	3169	0	0	0	0	0	0	13.66	28.83	28.83
8743	0.72	-146.0	2709	2499	3508	3169	1.0	0.2	1651	8749	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2500	3338	3508	3169	0	0	0	0	0	0	28.83	28.83	28.83
9062	0.79	-146.0	1728	2497	3500	3166	1.1	-0.1	1712	9069	0.17	0.00	0.00	0.000	2054	0.291	0.000	2752	2499	3338	3507	3169	0	0	0	0	0	0	13.41	28.83	28.83
9391	0.86	-146.0	2752	2499	3508	3169	1.0	-0.2	1773	9397	0.12	0.00	0.00	0.000	2054	0.314	0.000	2781	2499	3338	3508	3169	0	0	0	0	0	0	13.65	28.83	28.83
9711	0.86	-146.0	2782	2499	3507	3169	1.1	0.0	1834	9718	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2499	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
10033	0.94	-146.0	2782	2499	3508	3169	1.1	0.0	1895	10040	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	2500	3338	3506	3170	0	0	0	0	0	0	28.83	28.83	28.83
10354	1.01	-146.0	2782	2500	3508	3169	1.1	-0.3	1956	10361	0.17	0.00	0.00	0.000	2054	0.292	0.000	2826	2499	3338	3508	3169	0	0	0	0	0	0	13.44	28.83	28.83
10682	1.09	-146.0	2826	2499	3507	3169	1.1	-0.1	2017	10688	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
11004	1.16	-146.0	1824	2497	3499	3166	1.1	0.0	2078	11011	0.17	0.00	0.00	0.000	2054	0.302	0.000	2869	2499	3338	3508	3169	0	0	0	0	0	0	13.37	28.83	28.83
11332	1.23	-146.0	2870	2499	3508	3169	1.2	-0.2	2139	11338	0.12	0.00	0.00	0.000	2054	0.312	0.000	2898	2499	3338	3508	3169	0	0	0	0	0	0	13.66	28.83	28.83
11652	1.23	-146.0	2900	2500	3506	3169	1.1	-1.7	2200	11659	0.00	0.00	0.00	0.000	6	0.000	0.000	2900	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
11975	1.31	-146.0	2900	2499	3508	3169	1.1	-0.6	2261	11981	0.00	0.00	0.00	0.000	6	0.000	0.000	2899	2499	3338	3507	3169	0	0	0	0	0	0	28.83	28.83	28.83
12295	1.38	-146.0	2900	2499	3508	3169	1.1	-0.1	2322	12302	0.17	0.00	0.00	0.000	2054	0.297	0.000	2942	2500	3338	3508	3169	0	0	0	0	0	0	13.41	28.83	28.83
12622	1.46	-146.0	2942	2499	3507	3169	1.1	-0.2	2383	12629	0.12	0.00	0.00	0.000	2054	0.319	0.000	2971	2499	3338	3507	3169	0	0	0	0	0	0	13.65	28.83	28.83
12907	end dive: HALF_MISSION_TIME_EXCEEDED
state	12907	begin apogee
12921	-0.22	0.0	2971	2499	3507	3169	1.1	0.2	2438	12932	1.62	0.00	7.22	0.175	12290	0.093	0.000	2431	2500	3278	3450	3107	0	0	0	0	0	0	13.86	28.83	28.83
12933	end apogee: SURFACE_DEPTH_REACHED
state	12933	begin surface coast
12966	end surface coast: NO_VERTICAL_VELOCITY
state	12966	begin surface