Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 557 * 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 557 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 -12231.635 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 -12231.635

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 557 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 291213,151806,6605.895,-5812.288,41,1.1,41,-32.7 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 1.10 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 291213,151806,6605.895,-5812.288,41,1.1,41,-32.7 MHEAD_RNG_PITCHd_Wd 338.7,120618,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 592

Post-dive calculations and measurements:

FREEZE 1.12,-1.521,-1.371,2,4,0 _24V_AH 13.3,235.246

FINISH1 1.1,1.020234,0 _10V_AH 12.9,0.000

FINISH2 1.0 FG_AHR_24Vo 0.000

RAFOS_CLK 708 FG_AHR_10Vo 0.000

RAFOS 0,1388376063,4.033333,4.017500,62,57,57,54,51,49,191,142,217,85,178,155 MEM 150700

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE 96540,2439

IRIDIUM_FIX 6543.17,-5810.98,291213,111104 CAP_FILE_SIZE 166825,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,207400960

HUMID 45.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.7718 SOUNDSPEED 1425.0

TCM_TEMP 11.80 CURRENT 0.002,298.4,1

XPDR_PINGS 17 GPS 291213,151806,6605.895,-5812.288,41,1.1,41,-32.7

ALTIM_TOP_PING 1.1,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 322 25.81 SBE_CT 1739 23 537.24

Roll_motor 18 107 27.19 SBE_O2 0 0 0.00

VBD_pump_during_apogee 54 174 125.85 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 25.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6045 14 1166.67

LPSleep 2691 2 80.21

TT8_Active 226 14 41.58

TT8_Sampling 3474 33 1509.92

TT8_CF8 626 39 320.79

TT8_Kalman 0 0 0.00

Analog_circuits 1825 12 282.58

GPS_charging 0 0 0.00

Compass 3455 6 300.47

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -0.89 -146.0 2504 2505 3346 3001 0.0 0.0 0 33 0.00 0.00 -11.00 0.000 16390 0.000 0.000 2503 2505 3337 3509 3165 0 0 0 0 0 0 28.83 28.83 14.54

41 -0.89 -146.0 2504 2504 3509 3165 1.0 1.4 2 47 0.85 0.00 0.00 0.000 4102 0.091 0.000 2223 2505 3337 3509 3165 0 0 0 0 0 0 13.91 28.83 28.83

365 -0.82 -146.0 2223 2504 3510 3165 1.1 -0.2 63 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

685 -0.75 -146.0 2223 2504 3510 3165 0.9 -0.4 124 691 0.15 0.00 0.00 0.000 2054 0.282 0.000 2258 2504 3338 3510 3166 0 0 0 0 0 0 13.56 28.83 28.83

1005 -0.67 -146.0 2259 2504 3510 3166 1.1 -0.2 185 1012 0.12 0.00 0.00 0.000 2054 0.301 0.000 2290 2504 3338 3510 3166 0 0 0 0 0 0 13.74 28.83 28.83

1327 -0.60 -146.0 1408 2503 3502 3163 1.0 -0.2 246 1335 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

1652 -0.52 -146.0 2290 2504 3510 3166 1.0 -0.0 307 1658 0.15 0.00 0.00 0.000 2054 0.298 0.000 2328 2504 3338 3510 3166 0 0 0 0 0 0 13.54 28.83 28.83

1972 -0.52 -146.0 2328 2505 3510 3166 1.0 0.0 368 1980 0.00 0.00 0.00 0.000 6 0.000 0.000 2328 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

2296 -0.45 -146.0 1440 2502 3502 3163 1.0 0.3 429 2304 0.12 0.00 0.00 0.000 2054 0.312 0.000 2358 2505 3338 3510 3166 0 0 0 0 0 0 13.64 28.83 28.83

2618 -0.38 -146.0 2358 2505 3510 3166 0.9 0.4 490 2624 0.00 0.00 0.00 0.000 6 0.000 0.000 2358 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

2940 -0.30 -146.0 2358 2505 3509 3166 1.0 0.1 551 2946 0.17 0.00 0.00 0.000 2054 0.275 0.000 2403 2505 3338 3510 3166 0 0 0 0 0 0 13.50 28.83 28.83

3258 -0.30 -146.0 2403 2505 3510 3166 1.0 0.0 612 3265 0.00 0.00 0.00 0.000 6 0.000 0.000 2403 2505 3337 3510 3165 0 0 0 0 0 0 28.83 28.83 28.83

3582 -0.23 -146.0 1488 2503 3503 3163 1.1 -0.4 673 3590 0.12 0.00 0.00 0.000 2054 0.315 0.000 2433 2505 3337 3510 3165 0 0 0 0 0 0 13.69 28.83 28.83

3905 -0.15 -146.0 2433 2505 3510 3166 1.0 0.4 734 3911 0.00 0.00 0.00 0.000 6 0.000 0.000 2433 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

4226 -0.08 -146.0 2433 2504 3510 3166 1.1 -0.1 795 4232 0.17 0.00 0.00 0.000 2054 0.291 0.000 2475 2505 3338 3510 3166 0 0 0 0 0 0 13.45 28.83 28.83

4548 -0.01 -146.0 2475 2504 3510 3166 1.0 -0.3 856 4554 0.00 0.00 0.00 0.000 6 0.000 0.000 2475 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

4868 0.07 -146.0 1536 2502 3502 3163 1.0 -0.3 917 4876 0.17 0.00 0.00 0.000 2054 0.291 0.000 2519 2505 3338 3510 3166 0 0 0 0 0 0 13.45 28.83 28.83

5190 0.07 -146.0 2519 2505 3510 3166 1.0 0.0 978 5197 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

5513 0.14 -146.0 1576 2503 3502 3163 0.9 0.3 1039 5521 0.12 0.00 0.00 0.000 2054 0.312 0.000 2550 2505 3338 3510 3166 0 0 0 0 0 0 13.67 28.83 28.83

5837 0.21 -146.0 2550 2505 3510 3166 1.0 -0.2 1100 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

6158 0.29 -146.0 2550 2504 3510 3166 1.0 -0.3 1161 6165 0.17 0.00 0.00 0.000 2054 0.295 0.000 2594 2505 3338 3510 3166 0 0 0 0 0 0 13.44 28.83 28.83

6482 0.36 -146.0 2594 2505 3510 3166 0.9 0.1 1222 6488 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

6805 0.43 -146.0 2594 2505 3510 3166 1.0 0.1 1283 6811 0.17 0.00 0.00 0.000 2054 0.299 0.000 2637 2505 3338 3510 3166 0 0 0 0 0 0 13.38 28.83 28.83

7126 0.43 -146.0 2637 2505 3510 3166 0.9 0.0 1344 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

7448 0.43 -146.0 2637 2505 3510 3166 1.0 -0.4 1405 7454 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

7769 0.51 -146.0 2637 2505 3510 3166 0.9 0.5 1466 7776 0.12 0.00 0.00 0.000 2054 0.317 0.000 2668 2505 3338 3510 3166 0 0 0 0 0 0 13.62 28.83 28.83

8090 0.58 -146.0 1696 2503 3502 3163 1.0 -0.2 1527 8098 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

8413 0.66 -146.0 2668 2505 3510 3166 1.0 0.5 1588 8420 0.17 0.00 0.00 0.000 2054 0.291 0.000 2710 2505 3338 3510 3166 0 0 0 0 0 0 13.41 28.83 28.83

8738 0.66 -146.0 2710 2505 3510 3166 1.0 -0.5 1649 8744 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2505 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

9058 0.73 -146.0 2710 2505 3510 3166 1.0 -0.2 1710 9066 0.12 0.00 0.00 0.000 2054 0.312 0.000 2740 2505 3338 3510 3166 0 0 0 0 0 0 13.66 28.83 28.83

9387 0.80 -146.0 2740 2505 3510 3166 1.0 0.1 1771 9393 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2504 3338 3510 3166 0 0 0 0 0 0 28.83 28.83 28.83

9708 0.88 -146.0 2740 2505 3510 3166 1.0 -0.1 1832 9714 0.17 0.00 0.00 0.000 2054 0.289 0.000 2783 2505 3338 3510 3166 0 0 0 0 0 0 13.45 28.83 28.83

10028 0.95 -146.0 2783 2505 3510 3166 1.0 -0.2 1893 10035 0.00 1.58 0.00 0.000 516 0.000 0.096 2783 1651 3338 3510 3166 0 0 0 0 0 0 28.83 13.74 28.83

10275 1.03 -146.0 1792 1650 3502 3163 1.0 -0.3 1939 10283 0.22 1.60 0.00 0.000 3078 0.271 0.106 2828 2500 3338 3510 3166 0 0 0 0 0 0 13.38 13.71 28.83

10605 1.10 -146.0 2827 2500 3510 3166 1.0 -0.0 2000 10613 0.12 1.55 0.00 0.000 2564 0.313 0.094 2858 1660 3338 3510 3166 0 0 0 0 0 0 13.65 13.74 28.83

10851 1.17 -146.0 2859 1660 3510 3166 1.0 -0.2 2046 10858 0.00 1.58 0.00 0.000 1030 0.000 0.106 2855 2504 3338 3510 3166 0 0 0 0 0 0 28.83 13.71 28.83

11177 1.25 -146.0 2854 2505 3510 3166 1.0 0.0 2107 11184 0.17 1.58 0.00 0.000 2564 0.295 0.094 2897 1659 3338 3510 3166 0 0 0 0 0 0 13.40 13.74 28.83

11425 1.32 -146.0 2897 1659 3510 3166 0.9 0.2 2153 11432 0.15 1.58 0.00 0.000 3078 0.288 0.106 2922 2501 3338 3510 3166 0 0 0 0 0 0 13.39 13.70 28.83

11754 1.39 -146.0 2922 2501 3511 3166 1.0 0.2 2214 11762 0.12 1.55 0.00 0.000 2564 0.322 0.094 2952 1660 3338 3510 3167 0 0 0 0 0 0 13.62 13.74 28.83

12002 1.47 -146.0 1952 1659 3502 3162 1.0 0.1 2260 12009 0.00 1.58 0.00 0.000 1030 0.000 0.106 2947 2503 3338 3510 3166 0 0 0 0 0 0 28.83 13.69 28.83

12330 1.54 -146.0 2948 2503 3510 3166 1.1 -0.2 2321 12338 0.20 1.58 0.00 0.000 2564 0.289 0.094 2994 1650 3338 3510 3166 0 0 0 0 0 0 13.34 13.74 28.83

12575 1.54 -146.0 2994 1649 3510 3166 1.0 0.1 2367 12581 0.00 1.60 0.00 0.000 1030 0.000 0.108 2990 2504 3338 3510 3166 0 0 0 0 0 0 28.83 13.70 28.83

12904 1.54 -146.0 2990 2504 3510 3166 1.0 0.1 2428 12911 0.00 1.55 0.00 0.000 516 0.000 0.097 2990 1659 3338 3510 3166 0 0 0 0 0 0 28.83 13.70 28.83

12916 end dive: HALF_MISSION_TIME_EXCEEDED

state 12916 begin apogee

12932 -0.22 0.0 2984 2515 3510 3166 1.0 -0.3 2430 12943 1.65 0.00 7.30 0.174 12290 0.093 0.000 2435 2516 3280 3454 3106 0 0 0 0 0 0 13.86 28.83 28.83

12944 end apogee: FINISH_DEPTH_REACHED

state 12944 begin subsurface finish

12959 0.00 0.0 2435 2516 3454 3105 1.1 -0.2 2431 13009 0.25 0.00 46.95 0.155 10498 0.269 0.000 2497 2516 2896 3049 2744 0 0 0 0 0 0 13.47 28.83 28.83

13010 end subsurface finish: NO_VERTICAL_VELOCITY

state 13010 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	557	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	-12231.635	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	291213,151806,6605.895,-5812.288,41,1.1,41,-32.7	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	1.10	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	291213,151806,6605.895,-5812.288,41,1.1,41,-32.7	MHEAD_RNG_PITCHd_Wd	338.7,120618,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	592

FREEZE	1.12,-1.521,-1.371,2,4,0	_24V_AH	13.3,235.246
FINISH1	1.1,1.020234,0	_10V_AH	12.9,0.000
FINISH2	1.0	FG_AHR_24Vo	0.000
RAFOS_CLK	708	FG_AHR_10Vo	0.000
RAFOS	0,1388376063,4.033333,4.017500,62,57,57,54,51,49,191,142,217,85,178,155	MEM	150700
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	DATA_FILE_SIZE	96540,2439
IRIDIUM_FIX	6543.17,-5810.98,291213,111104	CAP_FILE_SIZE	166825,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,207400960
HUMID	45.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.7718	SOUNDSPEED	1425.0
TCM_TEMP	11.80	CURRENT	0.002,298.4,1
XPDR_PINGS	17	GPS	291213,151806,6605.895,-5812.288,41,1.1,41,-32.7
ALTIM_TOP_PING	1.1,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	322	25.81	SBE_CT	1739	23	537.24
Roll_motor	18	107	27.19	SBE_O2	0	0	0.00
VBD_pump_during_apogee	54	174	125.85	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	25.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6045	14	1166.67
LPSleep	2691	2	80.21
TT8_Active	226	14	41.58
TT8_Sampling	3474	33	1509.92
TT8_CF8	626	39	320.79
TT8_Kalman	0	0	0.00
Analog_circuits	1825	12	282.58
GPS_charging	0	0	0.00
Compass	3455	6	300.47
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-0.89	-146.0	2504	2505	3346	3001	0.0	0.0	0	33	0.00	0.00	-11.00	0.000	16390	0.000	0.000	2503	2505	3337	3509	3165	0	0	0	0	0	0	28.83	28.83	14.54
41	-0.89	-146.0	2504	2504	3509	3165	1.0	1.4	2	47	0.85	0.00	0.00	0.000	4102	0.091	0.000	2223	2505	3337	3509	3165	0	0	0	0	0	0	13.91	28.83	28.83
365	-0.82	-146.0	2223	2504	3510	3165	1.1	-0.2	63	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
685	-0.75	-146.0	2223	2504	3510	3165	0.9	-0.4	124	691	0.15	0.00	0.00	0.000	2054	0.282	0.000	2258	2504	3338	3510	3166	0	0	0	0	0	0	13.56	28.83	28.83
1005	-0.67	-146.0	2259	2504	3510	3166	1.1	-0.2	185	1012	0.12	0.00	0.00	0.000	2054	0.301	0.000	2290	2504	3338	3510	3166	0	0	0	0	0	0	13.74	28.83	28.83
1327	-0.60	-146.0	1408	2503	3502	3163	1.0	-0.2	246	1335	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
1652	-0.52	-146.0	2290	2504	3510	3166	1.0	-0.0	307	1658	0.15	0.00	0.00	0.000	2054	0.298	0.000	2328	2504	3338	3510	3166	0	0	0	0	0	0	13.54	28.83	28.83
1972	-0.52	-146.0	2328	2505	3510	3166	1.0	0.0	368	1980	0.00	0.00	0.00	0.000	6	0.000	0.000	2328	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
2296	-0.45	-146.0	1440	2502	3502	3163	1.0	0.3	429	2304	0.12	0.00	0.00	0.000	2054	0.312	0.000	2358	2505	3338	3510	3166	0	0	0	0	0	0	13.64	28.83	28.83
2618	-0.38	-146.0	2358	2505	3510	3166	0.9	0.4	490	2624	0.00	0.00	0.00	0.000	6	0.000	0.000	2358	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
2940	-0.30	-146.0	2358	2505	3509	3166	1.0	0.1	551	2946	0.17	0.00	0.00	0.000	2054	0.275	0.000	2403	2505	3338	3510	3166	0	0	0	0	0	0	13.50	28.83	28.83
3258	-0.30	-146.0	2403	2505	3510	3166	1.0	0.0	612	3265	0.00	0.00	0.00	0.000	6	0.000	0.000	2403	2505	3337	3510	3165	0	0	0	0	0	0	28.83	28.83	28.83
3582	-0.23	-146.0	1488	2503	3503	3163	1.1	-0.4	673	3590	0.12	0.00	0.00	0.000	2054	0.315	0.000	2433	2505	3337	3510	3165	0	0	0	0	0	0	13.69	28.83	28.83
3905	-0.15	-146.0	2433	2505	3510	3166	1.0	0.4	734	3911	0.00	0.00	0.00	0.000	6	0.000	0.000	2433	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
4226	-0.08	-146.0	2433	2504	3510	3166	1.1	-0.1	795	4232	0.17	0.00	0.00	0.000	2054	0.291	0.000	2475	2505	3338	3510	3166	0	0	0	0	0	0	13.45	28.83	28.83
4548	-0.01	-146.0	2475	2504	3510	3166	1.0	-0.3	856	4554	0.00	0.00	0.00	0.000	6	0.000	0.000	2475	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
4868	0.07	-146.0	1536	2502	3502	3163	1.0	-0.3	917	4876	0.17	0.00	0.00	0.000	2054	0.291	0.000	2519	2505	3338	3510	3166	0	0	0	0	0	0	13.45	28.83	28.83
5190	0.07	-146.0	2519	2505	3510	3166	1.0	0.0	978	5197	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
5513	0.14	-146.0	1576	2503	3502	3163	0.9	0.3	1039	5521	0.12	0.00	0.00	0.000	2054	0.312	0.000	2550	2505	3338	3510	3166	0	0	0	0	0	0	13.67	28.83	28.83
5837	0.21	-146.0	2550	2505	3510	3166	1.0	-0.2	1100	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
6158	0.29	-146.0	2550	2504	3510	3166	1.0	-0.3	1161	6165	0.17	0.00	0.00	0.000	2054	0.295	0.000	2594	2505	3338	3510	3166	0	0	0	0	0	0	13.44	28.83	28.83
6482	0.36	-146.0	2594	2505	3510	3166	0.9	0.1	1222	6488	0.00	0.00	0.00	0.000	6	0.000	0.000	2593	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
6805	0.43	-146.0	2594	2505	3510	3166	1.0	0.1	1283	6811	0.17	0.00	0.00	0.000	2054	0.299	0.000	2637	2505	3338	3510	3166	0	0	0	0	0	0	13.38	28.83	28.83
7126	0.43	-146.0	2637	2505	3510	3166	0.9	0.0	1344	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
7448	0.43	-146.0	2637	2505	3510	3166	1.0	-0.4	1405	7454	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
7769	0.51	-146.0	2637	2505	3510	3166	0.9	0.5	1466	7776	0.12	0.00	0.00	0.000	2054	0.317	0.000	2668	2505	3338	3510	3166	0	0	0	0	0	0	13.62	28.83	28.83
8090	0.58	-146.0	1696	2503	3502	3163	1.0	-0.2	1527	8098	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
8413	0.66	-146.0	2668	2505	3510	3166	1.0	0.5	1588	8420	0.17	0.00	0.00	0.000	2054	0.291	0.000	2710	2505	3338	3510	3166	0	0	0	0	0	0	13.41	28.83	28.83
8738	0.66	-146.0	2710	2505	3510	3166	1.0	-0.5	1649	8744	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2505	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
9058	0.73	-146.0	2710	2505	3510	3166	1.0	-0.2	1710	9066	0.12	0.00	0.00	0.000	2054	0.312	0.000	2740	2505	3338	3510	3166	0	0	0	0	0	0	13.66	28.83	28.83
9387	0.80	-146.0	2740	2505	3510	3166	1.0	0.1	1771	9393	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2504	3338	3510	3166	0	0	0	0	0	0	28.83	28.83	28.83
9708	0.88	-146.0	2740	2505	3510	3166	1.0	-0.1	1832	9714	0.17	0.00	0.00	0.000	2054	0.289	0.000	2783	2505	3338	3510	3166	0	0	0	0	0	0	13.45	28.83	28.83
10028	0.95	-146.0	2783	2505	3510	3166	1.0	-0.2	1893	10035	0.00	1.58	0.00	0.000	516	0.000	0.096	2783	1651	3338	3510	3166	0	0	0	0	0	0	28.83	13.74	28.83
10275	1.03	-146.0	1792	1650	3502	3163	1.0	-0.3	1939	10283	0.22	1.60	0.00	0.000	3078	0.271	0.106	2828	2500	3338	3510	3166	0	0	0	0	0	0	13.38	13.71	28.83
10605	1.10	-146.0	2827	2500	3510	3166	1.0	-0.0	2000	10613	0.12	1.55	0.00	0.000	2564	0.313	0.094	2858	1660	3338	3510	3166	0	0	0	0	0	0	13.65	13.74	28.83
10851	1.17	-146.0	2859	1660	3510	3166	1.0	-0.2	2046	10858	0.00	1.58	0.00	0.000	1030	0.000	0.106	2855	2504	3338	3510	3166	0	0	0	0	0	0	28.83	13.71	28.83
11177	1.25	-146.0	2854	2505	3510	3166	1.0	0.0	2107	11184	0.17	1.58	0.00	0.000	2564	0.295	0.094	2897	1659	3338	3510	3166	0	0	0	0	0	0	13.40	13.74	28.83
11425	1.32	-146.0	2897	1659	3510	3166	0.9	0.2	2153	11432	0.15	1.58	0.00	0.000	3078	0.288	0.106	2922	2501	3338	3510	3166	0	0	0	0	0	0	13.39	13.70	28.83
11754	1.39	-146.0	2922	2501	3511	3166	1.0	0.2	2214	11762	0.12	1.55	0.00	0.000	2564	0.322	0.094	2952	1660	3338	3510	3167	0	0	0	0	0	0	13.62	13.74	28.83
12002	1.47	-146.0	1952	1659	3502	3162	1.0	0.1	2260	12009	0.00	1.58	0.00	0.000	1030	0.000	0.106	2947	2503	3338	3510	3166	0	0	0	0	0	0	28.83	13.69	28.83
12330	1.54	-146.0	2948	2503	3510	3166	1.1	-0.2	2321	12338	0.20	1.58	0.00	0.000	2564	0.289	0.094	2994	1650	3338	3510	3166	0	0	0	0	0	0	13.34	13.74	28.83
12575	1.54	-146.0	2994	1649	3510	3166	1.0	0.1	2367	12581	0.00	1.60	0.00	0.000	1030	0.000	0.108	2990	2504	3338	3510	3166	0	0	0	0	0	0	28.83	13.70	28.83
12904	1.54	-146.0	2990	2504	3510	3166	1.0	0.1	2428	12911	0.00	1.55	0.00	0.000	516	0.000	0.097	2990	1659	3338	3510	3166	0	0	0	0	0	0	28.83	13.70	28.83
12916	end dive: HALF_MISSION_TIME_EXCEEDED
state	12916	begin apogee
12932	-0.22	0.0	2984	2515	3510	3166	1.0	-0.3	2430	12943	1.65	0.00	7.30	0.174	12290	0.093	0.000	2435	2516	3280	3454	3106	0	0	0	0	0	0	13.86	28.83	28.83
12944	end apogee: FINISH_DEPTH_REACHED
state	12944	begin subsurface finish
12959	0.00	0.0	2435	2516	3454	3105	1.1	-0.2	2431	13009	0.25	0.00	46.95	0.155	10498	0.269	0.000	2497	2516	2896	3049	2744	0	0	0	0	0	0	13.47	28.83	28.83
13010	end subsurface finish: NO_VERTICAL_VELOCITY
state	13010	begin surface