Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 547 * 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 547 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 23 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 -12216.723 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 -12216.723

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 23 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 547 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 281213,101359,6638.312,-5806.990,38,1.9,39,-33.3 TGT_NAME TARGET_W

_CALLS 1 TGT_LATLONG 6644.000,-6026.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.14 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 281213,103105,6638.232,-5807.163,39,1.7,39,-33.3 MHEAD_RNG_PITCHd_Wd 338.8,102128,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 642

Post-dive calculations and measurements:

FREEZE 1.03,-3.560,-0.436,2,1,0 ALTIM_TOP_PING 1.2,999.0

FINISH 1.0,1.006090 _24V_AH 13.4,233.825

SM_CCo 12969,273.02,0.162,0,0,1108,400.08 _10V_AH 12.6,0.000

SM_GC 1.22,7.05,0.00,273.02,0.087,0.000,0.162,137,2520,1108,-7.36,0.57,400.08,0,0,0,0,0,0,14.00,28.83,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 663 FG_AHR_10Vo 0.000

RAFOS 0,1388232063,12.033333,12.017500,59,59,56,56,53,53,216,229,140,164,120,198 MEM 150688

RAFOS_FIX 6638.127441,-5809.619629,281213,121244,3,102,0.23 DATA_FILE_SIZE 93151,2431

IRIDIUM_FIX 6609.62,-5810.04,281213,060639 CAP_FILE_SIZE 176192,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,208281600

HUMID 42.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.59601 SOUNDSPEED 1465.0

TCM_TEMP 11.80 CURRENT 0.307,202.3,1

XPDR_PINGS 28 GPS 281213,141424,6636.222,-5809.377,40,0.8,41,-33.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 319 79.30 SBE_CT 1743 23 542.45

Roll_motor 0 0 0.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 7 161 16.33 nil 0 0 0.00

VBD_pump_during_surface 273 162 593.34 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 629 166 1406.25 nil 0 0 0.00

Transponder_ping 7 420 40.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 18 9.53

TT8 5965 14 1124.51

LPSleep 2716 2 79.06

TT8_Active 565 14 101.29

TT8_Sampling 3956 33 1679.57

TT8_CF8 1057 39 528.54

TT8_Kalman 0 0 0.00

Analog_circuits 2804 12 424.05

GPS_charging 0 0 0.00

Compass 3445 6 292.57

RAFOS 2520 1 47.63

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 -146.0 143 2520 1159 1031 0.0 0.0 0 165 0.00 0.00 -142.00 0.000 16390 0.000 0.000 142 2520 3336 3509 3164 0 0 0 0 0 0 28.83 28.83 14.62

173 -0.89 -146.0 142 2520 3510 3165 1.2 0.1 24 186 7.65 0.00 0.00 0.000 2054 0.237 0.000 2218 2520 3337 3511 3164 0 0 0 0 0 0 13.83 28.83 28.83

500 -0.89 -146.0 1376 2518 3505 3161 1.0 0.7 86 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

822 -0.82 -146.0 2218 2520 3512 3164 1.0 0.2 147 828 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

1142 -0.82 -146.0 2217 2520 3512 3165 1.0 0.0 208 1148 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2520 3338 3512 3165 0 0 0 0 0 0 28.83 28.83 28.83

1460 -0.82 -146.0 2218 2520 3512 3163 1.0 -0.8 269 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2218 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

1783 -0.75 -146.0 2218 2520 3512 3164 1.0 0.2 330 1789 0.17 0.00 0.00 0.000 2054 0.293 0.000 2262 2520 3338 3512 3164 0 0 0 0 0 0 13.57 28.83 28.83

2105 -0.67 -146.0 2262 2520 3512 3164 1.0 0.4 391 2112 0.12 0.00 0.00 0.000 2054 0.295 0.000 2294 2520 3338 3512 3164 0 0 0 0 0 0 13.81 28.83 28.83

2427 -0.60 -146.0 2294 2520 3512 3165 1.1 -0.1 452 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

2749 -0.53 -146.0 2294 2520 3512 3164 1.0 0.1 513 2756 0.15 0.00 0.00 0.000 2054 0.298 0.000 2331 2520 3337 3511 3164 0 0 0 0 0 0 13.62 28.83 28.83

3070 -0.45 -146.0 2331 2520 3512 3164 1.0 0.0 574 3077 0.12 0.00 0.00 0.000 2054 0.314 0.000 2362 2520 3338 3512 3164 0 0 0 0 0 0 13.72 28.83 28.83

3391 -0.38 -146.0 2361 2520 3512 3164 1.0 -0.0 635 3396 0.00 0.00 0.00 0.000 6 0.000 0.000 2362 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

3713 -0.31 -146.0 2362 2520 3512 3164 1.0 0.2 696 3720 0.15 0.00 0.00 0.000 2054 0.288 0.000 2400 2520 3338 3512 3164 0 0 0 0 0 0 13.65 28.83 28.83

4034 -0.23 -146.0 2401 2520 3512 3164 1.1 -0.8 757 4042 0.12 0.00 0.00 0.000 2054 0.311 0.000 2430 2520 3337 3512 3163 0 0 0 0 0 0 13.74 28.83 28.83

4358 -0.23 -146.0 1504 2518 3504 3161 1.0 0.0 818 4364 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

4677 -0.23 -146.0 2430 2520 3512 3164 1.1 0.2 879 4683 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

4999 -0.16 -146.0 2430 2520 3512 3164 1.1 -0.5 940 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2520 3337 3511 3164 0 0 0 0 0 0 28.83 28.83 28.83

5322 -0.09 -146.0 2431 2520 3512 3164 1.1 -0.3 1001 5329 0.17 0.00 0.00 0.000 2054 0.295 0.000 2473 2520 3338 3512 3164 0 0 0 0 0 0 13.50 28.83 28.83

5645 -0.01 -146.0 2473 2520 3512 3164 1.0 0.3 1062 5652 0.12 0.00 0.00 0.000 2054 0.305 0.000 2504 2520 3338 3512 3164 0 0 0 0 0 0 13.71 28.83 28.83

5973 0.06 -146.0 2504 2520 3512 3164 1.0 -0.1 1123 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

6297 0.06 -146.0 2504 2520 3511 3164 1.0 0.0 1184 6305 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

6619 0.14 -146.0 2504 2520 3512 3164 1.0 -0.0 1245 6628 0.15 0.00 0.00 0.000 2054 0.301 0.000 2540 2520 3337 3511 3164 0 0 0 0 0 0 13.55 28.83 28.83

6949 0.21 -146.0 2541 2520 3512 3165 0.9 0.5 1306 6956 0.12 0.00 0.00 0.000 2054 0.311 0.000 2572 2520 3338 3512 3164 0 0 0 0 0 0 13.67 28.83 28.83

7276 0.28 -146.0 2572 2520 3511 3164 0.9 0.4 1367 7283 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

7596 0.28 -146.0 2571 2520 3511 3164 1.0 0.0 1428 7603 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

7918 0.28 -146.0 2571 2519 3512 3164 1.0 0.4 1489 7923 0.00 0.00 0.00 0.000 6 0.000 0.000 2572 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

8241 0.36 -146.0 2571 2520 3512 3164 1.0 -0.5 1550 8248 0.15 0.00 0.00 0.000 2054 0.301 0.000 2610 2520 3337 3511 3164 0 0 0 0 0 0 13.54 28.83 28.83

8562 0.43 -146.0 1664 2518 3504 3161 1.0 -0.2 1611 8573 0.12 0.00 0.00 0.000 2054 0.305 0.000 2639 2520 3338 3512 3164 0 0 0 0 0 0 13.65 28.83 28.83

8894 0.50 -146.0 2640 2520 3512 3164 1.0 0.3 1672 8900 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

9217 0.58 -146.0 2640 2520 3512 3164 1.1 -0.4 1733 9223 0.17 0.00 0.00 0.000 2054 0.292 0.000 2683 2520 3337 3512 3163 0 0 0 0 0 0 13.50 28.83 28.83

9539 0.58 -146.0 2683 2520 3512 3164 0.9 0.0 1794 9546 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

9861 0.65 -146.0 2683 2520 3512 3164 1.1 -0.6 1855 9869 0.12 0.00 0.00 0.000 2054 0.312 0.000 2713 2520 3338 3512 3164 0 0 0 0 0 0 13.71 28.83 28.83

10191 0.72 -146.0 2713 2520 3512 3164 1.0 0.0 1916 10196 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2520 3337 3512 3163 0 0 0 0 0 0 28.83 28.83 28.83

10514 0.80 -146.0 2713 2520 3512 3164 1.0 -0.2 1977 10521 0.17 0.00 0.00 0.000 2054 0.298 0.000 2755 2520 3338 3512 3164 0 0 0 0 0 0 13.45 28.83 28.83

10842 0.87 -146.0 2755 2520 3510 3164 1.0 0.0 2038 10848 0.12 0.00 0.00 0.000 2054 0.311 0.000 2785 2520 3338 3512 3164 0 0 0 0 0 0 13.69 28.83 28.83

11162 0.87 -146.0 1792 2518 3504 3161 1.0 -1.0 2099 11168 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

11483 0.94 -146.0 2785 2520 3512 3164 1.1 -0.2 2160 11489 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2520 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

11806 1.02 -146.0 1792 2518 3504 3161 1.0 0.4 2221 11812 0.15 0.00 0.00 0.000 2054 0.304 0.000 2822 2520 3337 3511 3164 0 0 0 0 0 0 13.51 28.83 28.83

12132 1.09 -146.0 2822 2520 3512 3164 1.0 -0.3 2282 12138 0.12 0.00 0.00 0.000 2054 0.319 0.000 2852 2520 3338 3512 3164 0 0 0 0 0 0 13.65 28.83 28.83

12458 1.16 -146.0 2853 2520 3512 3164 1.0 -0.2 2343 12466 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 2520 3337 3512 3163 0 0 0 0 0 0 28.83 28.83 28.83

12777 1.16 -146.0 2853 2520 3512 3164 1.0 0.0 2404 12784 0.00 0.00 0.00 0.000 6 0.000 0.000 2853 2521 3338 3512 3164 0 0 0 0 0 0 28.83 28.83 28.83

12908 end dive: HALF_MISSION_TIME_EXCEEDED

state 12908 begin apogee

12921 -0.22 0.0 2853 2519 3512 3164 1.0 -0.1 2429 12932 1.27 0.00 7.55 0.161 12290 0.097 0.000 2442 2520 3276 3453 3099 0 0 0 0 0 0 13.82 28.83 28.83

12933 end apogee: SURFACE_DEPTH_REACHED

state 12934 begin surface coast

12940 end surface coast: NO_VERTICAL_VELOCITY

state 12940 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	547	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	23	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	-12216.723	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	281213,101359,6638.312,-5806.990,38,1.9,39,-33.3	TGT_NAME	TARGET_W
_CALLS	1	TGT_LATLONG	6644.000,-6026.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.14	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	281213,103105,6638.232,-5807.163,39,1.7,39,-33.3	MHEAD_RNG_PITCHd_Wd	338.8,102128,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	642

FREEZE	1.03,-3.560,-0.436,2,1,0	ALTIM_TOP_PING	1.2,999.0
FINISH	1.0,1.006090	_24V_AH	13.4,233.825
SM_CCo	12969,273.02,0.162,0,0,1108,400.08	_10V_AH	12.6,0.000
SM_GC	1.22,7.05,0.00,273.02,0.087,0.000,0.162,137,2520,1108,-7.36,0.57,400.08,0,0,0,0,0,0,14.00,28.83,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	663	FG_AHR_10Vo	0.000
RAFOS	0,1388232063,12.033333,12.017500,59,59,56,56,53,53,216,229,140,164,120,198	MEM	150688
RAFOS_FIX	6638.127441,-5809.619629,281213,121244,3,102,0.23	DATA_FILE_SIZE	93151,2431
IRIDIUM_FIX	6609.62,-5810.04,281213,060639	CAP_FILE_SIZE	176192,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,208281600
HUMID	42.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.59601	SOUNDSPEED	1465.0
TCM_TEMP	11.80	CURRENT	0.307,202.3,1
XPDR_PINGS	28	GPS	281213,141424,6636.222,-5809.377,40,0.8,41,-33.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	319	79.30	SBE_CT	1743	23	542.45
Roll_motor	0	0	0.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	7	161	16.33	nil	0	0	0.00
VBD_pump_during_surface	273	162	593.34	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	629	166	1406.25	nil	0	0	0.00
Transponder_ping	7	420	40.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	18	9.53
TT8	5965	14	1124.51
LPSleep	2716	2	79.06
TT8_Active	565	14	101.29
TT8_Sampling	3956	33	1679.57
TT8_CF8	1057	39	528.54
TT8_Kalman	0	0	0.00
Analog_circuits	2804	12	424.05
GPS_charging	0	0	0.00
Compass	3445	6	292.57
RAFOS	2520	1	47.63
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	143	2520	1159	1031	0.0	0.0	0	165	0.00	0.00	-142.00	0.000	16390	0.000	0.000	142	2520	3336	3509	3164	0	0	0	0	0	0	28.83	28.83	14.62
173	-0.89	-146.0	142	2520	3510	3165	1.2	0.1	24	186	7.65	0.00	0.00	0.000	2054	0.237	0.000	2218	2520	3337	3511	3164	0	0	0	0	0	0	13.83	28.83	28.83
500	-0.89	-146.0	1376	2518	3505	3161	1.0	0.7	86	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
822	-0.82	-146.0	2218	2520	3512	3164	1.0	0.2	147	828	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
1142	-0.82	-146.0	2217	2520	3512	3165	1.0	0.0	208	1148	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2520	3338	3512	3165	0	0	0	0	0	0	28.83	28.83	28.83
1460	-0.82	-146.0	2218	2520	3512	3163	1.0	-0.8	269	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2218	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
1783	-0.75	-146.0	2218	2520	3512	3164	1.0	0.2	330	1789	0.17	0.00	0.00	0.000	2054	0.293	0.000	2262	2520	3338	3512	3164	0	0	0	0	0	0	13.57	28.83	28.83
2105	-0.67	-146.0	2262	2520	3512	3164	1.0	0.4	391	2112	0.12	0.00	0.00	0.000	2054	0.295	0.000	2294	2520	3338	3512	3164	0	0	0	0	0	0	13.81	28.83	28.83
2427	-0.60	-146.0	2294	2520	3512	3165	1.1	-0.1	452	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
2749	-0.53	-146.0	2294	2520	3512	3164	1.0	0.1	513	2756	0.15	0.00	0.00	0.000	2054	0.298	0.000	2331	2520	3337	3511	3164	0	0	0	0	0	0	13.62	28.83	28.83
3070	-0.45	-146.0	2331	2520	3512	3164	1.0	0.0	574	3077	0.12	0.00	0.00	0.000	2054	0.314	0.000	2362	2520	3338	3512	3164	0	0	0	0	0	0	13.72	28.83	28.83
3391	-0.38	-146.0	2361	2520	3512	3164	1.0	-0.0	635	3396	0.00	0.00	0.00	0.000	6	0.000	0.000	2362	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
3713	-0.31	-146.0	2362	2520	3512	3164	1.0	0.2	696	3720	0.15	0.00	0.00	0.000	2054	0.288	0.000	2400	2520	3338	3512	3164	0	0	0	0	0	0	13.65	28.83	28.83
4034	-0.23	-146.0	2401	2520	3512	3164	1.1	-0.8	757	4042	0.12	0.00	0.00	0.000	2054	0.311	0.000	2430	2520	3337	3512	3163	0	0	0	0	0	0	13.74	28.83	28.83
4358	-0.23	-146.0	1504	2518	3504	3161	1.0	0.0	818	4364	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
4677	-0.23	-146.0	2430	2520	3512	3164	1.1	0.2	879	4683	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
4999	-0.16	-146.0	2430	2520	3512	3164	1.1	-0.5	940	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2520	3337	3511	3164	0	0	0	0	0	0	28.83	28.83	28.83
5322	-0.09	-146.0	2431	2520	3512	3164	1.1	-0.3	1001	5329	0.17	0.00	0.00	0.000	2054	0.295	0.000	2473	2520	3338	3512	3164	0	0	0	0	0	0	13.50	28.83	28.83
5645	-0.01	-146.0	2473	2520	3512	3164	1.0	0.3	1062	5652	0.12	0.00	0.00	0.000	2054	0.305	0.000	2504	2520	3338	3512	3164	0	0	0	0	0	0	13.71	28.83	28.83
5973	0.06	-146.0	2504	2520	3512	3164	1.0	-0.1	1123	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	2504	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
6297	0.06	-146.0	2504	2520	3511	3164	1.0	0.0	1184	6305	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
6619	0.14	-146.0	2504	2520	3512	3164	1.0	-0.0	1245	6628	0.15	0.00	0.00	0.000	2054	0.301	0.000	2540	2520	3337	3511	3164	0	0	0	0	0	0	13.55	28.83	28.83
6949	0.21	-146.0	2541	2520	3512	3165	0.9	0.5	1306	6956	0.12	0.00	0.00	0.000	2054	0.311	0.000	2572	2520	3338	3512	3164	0	0	0	0	0	0	13.67	28.83	28.83
7276	0.28	-146.0	2572	2520	3511	3164	0.9	0.4	1367	7283	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
7596	0.28	-146.0	2571	2520	3511	3164	1.0	0.0	1428	7603	0.00	0.00	0.00	0.000	6	0.000	0.000	2571	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
7918	0.28	-146.0	2571	2519	3512	3164	1.0	0.4	1489	7923	0.00	0.00	0.00	0.000	6	0.000	0.000	2572	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
8241	0.36	-146.0	2571	2520	3512	3164	1.0	-0.5	1550	8248	0.15	0.00	0.00	0.000	2054	0.301	0.000	2610	2520	3337	3511	3164	0	0	0	0	0	0	13.54	28.83	28.83
8562	0.43	-146.0	1664	2518	3504	3161	1.0	-0.2	1611	8573	0.12	0.00	0.00	0.000	2054	0.305	0.000	2639	2520	3338	3512	3164	0	0	0	0	0	0	13.65	28.83	28.83
8894	0.50	-146.0	2640	2520	3512	3164	1.0	0.3	1672	8900	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
9217	0.58	-146.0	2640	2520	3512	3164	1.1	-0.4	1733	9223	0.17	0.00	0.00	0.000	2054	0.292	0.000	2683	2520	3337	3512	3163	0	0	0	0	0	0	13.50	28.83	28.83
9539	0.58	-146.0	2683	2520	3512	3164	0.9	0.0	1794	9546	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
9861	0.65	-146.0	2683	2520	3512	3164	1.1	-0.6	1855	9869	0.12	0.00	0.00	0.000	2054	0.312	0.000	2713	2520	3338	3512	3164	0	0	0	0	0	0	13.71	28.83	28.83
10191	0.72	-146.0	2713	2520	3512	3164	1.0	0.0	1916	10196	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2520	3337	3512	3163	0	0	0	0	0	0	28.83	28.83	28.83
10514	0.80	-146.0	2713	2520	3512	3164	1.0	-0.2	1977	10521	0.17	0.00	0.00	0.000	2054	0.298	0.000	2755	2520	3338	3512	3164	0	0	0	0	0	0	13.45	28.83	28.83
10842	0.87	-146.0	2755	2520	3510	3164	1.0	0.0	2038	10848	0.12	0.00	0.00	0.000	2054	0.311	0.000	2785	2520	3338	3512	3164	0	0	0	0	0	0	13.69	28.83	28.83
11162	0.87	-146.0	1792	2518	3504	3161	1.0	-1.0	2099	11168	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
11483	0.94	-146.0	2785	2520	3512	3164	1.1	-0.2	2160	11489	0.00	0.00	0.00	0.000	6	0.000	0.000	2785	2520	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
11806	1.02	-146.0	1792	2518	3504	3161	1.0	0.4	2221	11812	0.15	0.00	0.00	0.000	2054	0.304	0.000	2822	2520	3337	3511	3164	0	0	0	0	0	0	13.51	28.83	28.83
12132	1.09	-146.0	2822	2520	3512	3164	1.0	-0.3	2282	12138	0.12	0.00	0.00	0.000	2054	0.319	0.000	2852	2520	3338	3512	3164	0	0	0	0	0	0	13.65	28.83	28.83
12458	1.16	-146.0	2853	2520	3512	3164	1.0	-0.2	2343	12466	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	2520	3337	3512	3163	0	0	0	0	0	0	28.83	28.83	28.83
12777	1.16	-146.0	2853	2520	3512	3164	1.0	0.0	2404	12784	0.00	0.00	0.00	0.000	6	0.000	0.000	2853	2521	3338	3512	3164	0	0	0	0	0	0	28.83	28.83	28.83
12908	end dive: HALF_MISSION_TIME_EXCEEDED
state	12908	begin apogee
12921	-0.22	0.0	2853	2519	3512	3164	1.0	-0.1	2429	12932	1.27	0.00	7.55	0.161	12290	0.097	0.000	2442	2520	3276	3453	3099	0	0	0	0	0	0	13.82	28.83	28.83
12933	end apogee: SURFACE_DEPTH_REACHED
state	12934	begin surface coast
12940	end surface coast: NO_VERTICAL_VELOCITY
state	12940	begin surface