Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 527 * 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 527 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 24 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -12203.111 DBDW 0 COMPASS_DEVICE 97

USE_ICE 2 T_RSLEEP 3 PITCH_W_GAIN 0 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.1 STROBE 0 PITCH_W_DBAND 0 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_24V 350 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 AH0_10V 0 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 145 MINV_24V 10 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3924 MINV_10V 9.5 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2510 FG_AHR_10V 0 SEABIRD_T_G 0.0042877649

GLIDE_SLOPE 30 PITCH_DBAND 0.1 FG_AHR_24V 0 SEABIRD_T_H 0.00062281737

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PHONE_SUPPLY -2 SEABIRD_T_I 2.2009486e-05

RHO 1.0275 P_OVSHOOT 0.039999999 PRESSURE_YINT -62.7798 SEABIRD_T_J 2.217299e-06

MASS 52018 PITCH_GAIN 23 PRESSURE_SLOPE 0.0001164018 SEABIRD_C_G -9.8550158

MASS_COMP 0 PITCH_TIMEOUT 18 AD7714Ch0Gain 128 SEABIRD_C_H 1.1245382

NAV_MODE 2 PITCH_AD_RATE 175 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0013153109

FERRY_MAX 45 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017883891

KALMAN_USE 2 PITCH_ADJ_GAIN 0.0099999998 COMPASS_USE 4

HD_A 0.0041718199 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.0099987797 ROLL_MIN 318 ALTIM_TOP_PING_RANGE 20

AD7714Ch0Gain 128 D_OFFGRID 250 PHONE_SUPPLY -2 SM_CC 400

AH0_10V 0 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

AH0_24V 350 D_SAFE 500 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_BOTTOM_TURN_MARGIN 15 D_TGT 990 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DELTA 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 300 FERRY_MAX 45 PITCH_MAX 3924 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 5 FG_AHR_24V 0 PITCH_MIN 145 TGT_DEFAULT_LAT 6000

ALTIM_TOP_MIN_OBSTACLE 2.8 FILEMGR 2 PITCH_TIMEOUT 18 TGT_DEFAULT_LON -5500

ALTIM_TOP_PING_RANGE 20 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0015 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 5 GLIDE_SLOPE 30 PITCH_W_DBAND 0 T_BOOST 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 T_DIVE 400

CALL_NDIVES 1 HD_A 0.0041718199 PRESSURE_SLOPE 0.0001164018 T_EPIRB 0

CALL_TRIES 3 HD_B 0.0099987797 PRESSURE_YINT -62.7798 T_GPS 3

CALL_WAIT 60 HD_C 3.62024e-06 PROTOCOL 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HEADING -1 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12203.111

CAPUPLOAD 0 HEAD_ERRBAND 10 RAFOS_CORR_THRESH 60 T_LOITER 0

CF8_MAXERRORS 20 HEAPDBG 0 RAFOS_DEVICE 32 T_MISSION 430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COMPASS2_DEVICE -1 ID 192 RAFOS_PEAK_OFFSET 1.5 T_RSLEEP 3

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 RELAUNCH 1 T_TURN 225

COMPASS_USE 4 INT_PRESSURE_YINT 0.5 RHO 1.0275 T_TURN_SAMPINT 5

COURSE_BIAS 0 KALMAN_USE 2 ROLL_ADJ_DBAND 0 T_WATCHDOG 10

C_PITCH 2510 LOGGERDEVICE1 -1 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

C_ROLL_CLIMB 2510 LOGGERDEVICE2 -1 ROLL_AD_RATE 300 UPLOAD_DIVES_MAX 3

C_ROLL_DIVE 2500 LOGGERDEVICE3 -1 ROLL_CNV 0.028270001 USE_BATHY -2

C_VBD 2741 LOGGERDEVICE4 -1 ROLL_DEG 24 USE_ICE 2

DBDW 0 LOGGERS 0 ROLL_MAX 3873 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MASS 52018 ROLL_MAXERRORS 2 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS_COMP 0 ROLL_MIN 318 VBD_DBAND 2

DEVICE1 2 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_MAX 3960

DEVICE2 20 MINV_10V 9.5 R_PORT_OVSHOOT 24 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 527 NOCOMM_ACTION 161 SEABIRD_C_J 0.00017883891 W_ADJ_DBAND 0

D_ABORT 1090 N_DIVES 0 SEABIRD_T_G 0.0042877649 XPDR_DEVICE 24

D_BOOST 110 N_FILEKB 4 SEABIRD_T_H 0.00062281737 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.2009486e-05 XPDR_VALID 6

D_FINISH 9 N_NOCOMM 6 SEABIRD_T_J 2.217299e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

D_NO_BLEED 200 PHONE_DEVICE 48 SIM_W 0

Pre-dive calculations and measurements:

GPS1 251213,042744,6646.213,-5910.711,0,4111.2,0,-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 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -22.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251213,042744,6646.213,-5910.711,0,4111.2,0,-33.8 MHEAD_RNG_PITCHd_Wd 344.5,55231,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 956

Post-dive calculations and measurements:

FREEZE 1.37,-1.726,-1.793,2,3,0 _24V_AH 13.4,231.540

FINISH1 1.4,1.026333,0 _10V_AH 12.9,0.000

FINISH2 1.3 FG_AHR_24Vo 0.000

RAFOS_CLK 710 FG_AHR_10Vo 0.000

RAFOS 0,1387958465,8.033334,8.018056,63,59,58,57,53,53,134,152,548,194,212,167 MEM 150744

RAFOS_FIX 6643.528320,-5907.509277,251213,080804,4,115,0.37 DATA_FILE_SIZE 96529,2430

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 169311,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,209965056

HUMID 45.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.7425 SOUNDSPEED 1438.0

TCM_TEMP 11.90 CURRENT 0.983,154.2,1

XPDR_PINGS 21 GPS 251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8

ALTIM_TOP_PING 1.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 322 26.22 SBE_CT 1732 23 538.98

Roll_motor 40 107 58.25 SBE_O2 0 0 0.00

VBD_pump_during_apogee 74 175 174.83 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 30.95 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6010 14 1159.90

LPSleep 2686 2 80.07

TT8_Active 268 14 49.25

TT8_Sampling 3464 33 1505.53

TT8_CF8 663 39 339.61

TT8_Kalman 0 0 0.00

Analog_circuits 1871 12 289.71

GPS_charging 0 0 0.00

Compass 3442 6 299.29

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 2500 2514 2845 2626 0.0 0.0 0 63 0.00 0.00 -39.90 0.000 16390 0.000 0.000 2500 2514 3337 3505 3170 0 0 0 0 0 0 28.83 28.83 14.61

71 -0.89 -146.0 2500 2515 3506 3170 1.5 -0.0 7 78 0.82 1.55 0.00 0.000 4612 0.096 0.095 2225 1661 3338 3506 3170 0 0 0 0 0 0 14.00 14.00 28.83

318 -0.82 -146.0 2225 1660 3507 3170 1.2 0.2 53 326 0.00 1.55 0.00 0.000 1030 0.000 0.107 2218 2502 3338 3507 3170 0 0 0 0 0 0 28.83 13.88 28.83

638 -0.82 -146.0 2218 2502 3507 3170 1.3 0.0 114 646 0.00 1.55 0.00 0.000 516 0.000 0.098 2218 1651 3338 3507 3169 0 0 0 0 0 0 28.83 13.88 28.83

886 -0.75 -146.0 2218 1651 3507 3170 1.3 -0.1 160 894 0.22 1.58 0.00 0.000 3078 0.274 0.107 2262 2506 3338 3507 3170 0 0 0 0 0 0 13.52 13.86 28.83

1214 -0.68 -146.0 2262 2506 3507 3170 1.2 -0.1 221 1221 0.00 1.55 0.00 0.000 516 0.000 0.099 2262 1658 3338 3507 3170 0 0 0 0 0 0 28.83 13.87 28.83

1459 -0.61 -146.0 2262 1659 3507 3170 1.3 -0.2 267 1467 0.22 1.55 0.00 0.000 3078 0.265 0.106 2309 2500 3339 3508 3170 0 0 0 0 0 0 13.52 13.85 28.83

1782 -0.61 -146.0 2309 2500 3507 3170 1.3 -2.2 328 1790 0.00 1.55 0.00 0.000 516 0.000 0.100 2309 1651 3338 3507 3170 0 0 0 0 0 0 28.83 13.85 28.83

2029 -0.54 -146.0 2309 1650 3507 3170 1.3 0.0 374 2036 0.12 1.58 0.00 0.000 3078 0.306 0.108 2329 2504 3339 3508 3170 0 0 0 0 0 0 13.56 13.83 28.83

2359 -0.46 -146.0 2328 2504 3508 3170 1.3 0.3 435 2367 0.12 1.55 0.00 0.000 2564 0.312 0.096 2359 1657 3339 3508 3170 0 0 0 0 0 0 13.73 13.88 28.83

2605 -0.39 -146.0 2360 1657 3507 3170 1.3 0.2 481 2611 0.00 1.55 0.00 0.000 1030 0.000 0.107 2354 2500 3339 3508 3170 0 0 0 0 0 0 28.83 13.83 28.83

2927 -0.32 -146.0 2355 2501 3507 3170 1.3 -0.4 542 2935 0.17 1.55 0.00 0.000 2564 0.289 0.095 2397 1652 3338 3508 3169 0 0 0 0 0 0 13.57 13.87 28.83

3176 -0.25 -146.0 2398 1652 3508 3170 1.3 -0.1 588 3183 0.15 1.58 0.00 0.000 3078 0.296 0.107 2423 2505 3338 3507 3170 0 0 0 0 0 0 13.50 13.83 28.83

3505 -0.18 -146.0 2423 2505 3507 3170 1.2 0.0 649 3512 0.00 1.52 0.00 0.000 516 0.000 0.099 2423 1657 3338 3507 3170 0 0 0 0 0 0 28.83 13.83 28.83

3752 -0.10 -146.0 2423 1657 3508 3170 1.3 -0.0 695 3759 0.22 1.55 0.00 0.000 3078 0.279 0.106 2467 2505 3338 3507 3170 0 0 0 0 0 0 13.44 13.81 28.83

4078 -0.03 -146.0 2467 2506 3508 3170 1.4 -0.4 756 4085 0.12 1.52 0.00 0.000 2564 0.309 0.094 2498 1660 3338 3507 3170 0 0 0 0 0 0 13.71 13.85 28.83

4327 0.04 -146.0 2499 1659 3507 3170 1.2 0.3 802 4335 0.00 1.55 0.00 0.000 1030 0.000 0.105 2494 2508 3339 3508 3170 0 0 0 0 0 0 28.83 13.81 28.83

4655 0.11 -146.0 2494 2508 3508 3170 1.3 0.1 863 4664 0.17 1.55 0.00 0.000 2564 0.299 0.096 2535 1657 3338 3507 3170 0 0 0 0 0 0 13.50 13.85 28.83

4903 0.19 -146.0 2535 1657 3508 3170 1.4 -0.2 909 4910 0.15 1.55 0.00 0.000 3078 0.295 0.106 2561 2499 3338 3507 3170 0 0 0 0 0 0 13.48 13.81 28.83

5229 0.26 -146.0 1576 2497 3499 3167 1.3 0.2 970 5236 0.12 1.52 0.00 0.000 2564 0.308 0.095 2592 1659 3339 3508 3170 0 0 0 0 0 0 13.72 13.84 28.83

5474 0.26 -146.0 2593 1659 3507 3170 1.3 0.7 1016 5480 0.00 1.55 0.00 0.000 1030 0.000 0.105 2588 2504 3338 3507 3170 0 0 0 0 0 0 28.83 13.80 28.83

5800 0.33 -146.0 2588 2504 3507 3170 1.2 0.5 1077 5808 0.00 1.52 0.00 0.000 516 0.000 0.099 2588 1660 3339 3508 3170 0 0 0 0 0 0 28.83 13.81 28.83

6047 0.40 -146.0 2587 1661 3508 3170 1.3 -0.5 1123 6055 0.22 1.55 0.00 0.000 3078 0.275 0.105 2631 2504 3338 3507 3170 0 0 0 0 0 0 13.45 13.81 28.83

6376 0.40 -146.0 2631 2504 3507 3170 1.4 -0.9 1184 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2504 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

6696 0.47 -146.0 1664 2502 3500 3167 1.3 0.0 1245 6706 0.00 1.55 0.00 0.000 516 0.000 0.099 2631 1651 3338 3507 3170 0 0 0 0 0 0 28.83 13.81 28.83

6944 0.54 -146.0 1664 1650 3499 3167 1.3 -0.2 1291 6951 0.22 1.58 0.00 0.000 3078 0.275 0.106 2676 2505 3338 3507 3170 0 0 0 0 0 0 13.45 13.80 28.83

7266 0.54 -146.0 2676 2505 3508 3170 1.3 -0.4 1352 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2505 3339 3508 3170 0 0 0 0 0 0 28.83 28.83 28.83

7587 0.62 -146.0 2676 2505 3507 3170 1.3 -0.1 1413 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2505 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

7910 0.62 -146.0 2677 2505 3507 3170 1.2 0.8 1474 7916 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2505 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

8231 0.69 -146.0 2676 2505 3507 3170 1.3 0.1 1535 8237 0.17 0.00 0.00 0.000 2054 0.298 0.000 2719 2505 3339 3508 3170 0 0 0 0 0 0 13.50 28.83 28.83

8552 0.76 -146.0 1736 2503 3499 3167 1.3 0.0 1596 8559 0.12 1.55 0.00 0.000 2564 0.317 0.096 2750 1658 3338 3507 3170 0 0 0 0 0 0 13.73 13.83 28.83

8799 0.76 -146.0 2750 1659 3508 3170 1.2 0.0 1642 8807 0.00 1.55 0.00 0.000 1030 0.000 0.107 2745 2500 3339 3508 3170 0 0 0 0 0 0 28.83 13.80 28.83

9121 0.76 -146.0 2746 2500 3507 3170 1.2 0.1 1703 9127 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2500 3339 3508 3170 0 0 0 0 0 0 28.83 28.83 28.83

9440 0.83 -146.0 2746 2500 3507 3170 1.2 0.8 1764 9446 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2500 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

9762 0.90 -146.0 2746 2500 3508 3169 1.3 -0.2 1825 9769 0.17 0.00 0.00 0.000 2054 0.295 0.000 2787 2500 3338 3507 3170 0 0 0 0 0 0 13.50 28.83 28.83

10085 0.97 -146.0 1792 2498 3500 3167 1.3 -0.3 1886 10091 0.12 0.00 0.00 0.000 2054 0.307 0.000 2818 2500 3339 3508 3170 0 0 0 0 0 0 13.74 28.83 28.83

10413 1.05 -146.0 2818 2500 3508 3170 1.3 -0.8 1947 10419 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2500 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

10731 1.12 -146.0 1808 2498 3500 3167 1.2 0.3 2008 10738 0.15 0.00 0.00 0.000 2054 0.304 0.000 2856 2500 3338 3507 3170 0 0 0 0 0 0 13.54 28.83 28.83

11058 1.19 -146.0 2855 2499 3507 3170 1.3 -0.1 2069 11065 0.12 0.00 0.00 0.000 2054 0.320 0.000 2886 2500 3339 3508 3170 0 0 0 0 0 0 13.70 28.83 28.83

11385 1.26 -146.0 2885 2500 3508 3170 1.3 -0.4 2130 11393 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2500 3338 3508 3169 0 0 0 0 0 0 28.83 28.83 28.83

11706 1.26 -146.0 2886 2500 3507 3170 1.2 0.0 2191 11712 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2500 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

12025 1.26 -146.0 2886 2500 3508 3170 1.3 0.6 2252 12031 0.00 0.00 0.00 0.000 6 0.000 0.000 2886 2500 3338 3507 3170 0 0 0 0 0 0 28.83 28.83 28.83

12348 1.33 -146.0 1888 2498 3500 3166 1.3 -0.7 2313 12356 0.15 0.00 0.00 0.000 2054 0.301 0.000 2923 2500 3339 3508 3170 0 0 0 0 0 0 13.54 28.83 28.83

12677 1.40 -146.0 2923 2500 3508 3170 1.2 0.3 2374 12683 0.12 0.00 0.00 0.000 2054 0.322 0.000 2952 2500 3338 3507 3170 0 0 0 0 0 0 13.68 28.83 28.83

12906 end dive: HALF_MISSION_TIME_EXCEEDED

state 12906 begin apogee

12919 -0.22 0.0 2952 2500 3507 3170 1.3 1.2 2418 12934 1.55 0.00 10.00 0.176 12290 0.094 0.000 2433 2500 3255 3428 3083 0 0 0 0 0 0 13.90 28.83 28.83

12935 end apogee: FINISH_DEPTH_REACHED

state 12935 begin subsurface finish

12950 0.00 0.0 2434 2500 3428 3083 1.4 -0.3 2419 13019 0.28 0.00 64.15 0.162 10246 0.266 0.000 2501 2500 2737 2853 2622 0 0 0 0 0 0 13.50 28.83 13.97

13020 end subsurface finish: CONTROL_FINISHED_OK

state 13020 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	527	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	24	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-12203.111	DBDW	0	COMPASS_DEVICE	97
USE_ICE	2	T_RSLEEP	3	PITCH_W_GAIN	0	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.1	STROBE	0	PITCH_W_DBAND	0	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_24V	350	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	AH0_10V	0	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	145	MINV_24V	10	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3924	MINV_10V	9.5	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2510	FG_AHR_10V	0	SEABIRD_T_G	0.0042877649
GLIDE_SLOPE	30	PITCH_DBAND	0.1	FG_AHR_24V	0	SEABIRD_T_H	0.00062281737
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PHONE_SUPPLY	-2	SEABIRD_T_I	2.2009486e-05
RHO	1.0275	P_OVSHOOT	0.039999999	PRESSURE_YINT	-62.7798	SEABIRD_T_J	2.217299e-06
MASS	52018	PITCH_GAIN	23	PRESSURE_SLOPE	0.0001164018	SEABIRD_C_G	-9.8550158
MASS_COMP	0	PITCH_TIMEOUT	18	AD7714Ch0Gain	128	SEABIRD_C_H	1.1245382
NAV_MODE	2	PITCH_AD_RATE	175	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0013153109
FERRY_MAX	45	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017883891
KALMAN_USE	2	PITCH_ADJ_GAIN	0.0099999998	COMPASS_USE	4
HD_A	0.0041718199	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.0099987797	ROLL_MIN	318	ALTIM_TOP_PING_RANGE	20

GPS1	251213,042744,6646.213,-5910.711,0,4111.2,0,-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	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-22.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251213,042744,6646.213,-5910.711,0,4111.2,0,-33.8	MHEAD_RNG_PITCHd_Wd	344.5,55231,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	956

FREEZE	1.37,-1.726,-1.793,2,3,0	_24V_AH	13.4,231.540
FINISH1	1.4,1.026333,0	_10V_AH	12.9,0.000
FINISH2	1.3	FG_AHR_24Vo	0.000
RAFOS_CLK	710	FG_AHR_10Vo	0.000
RAFOS	0,1387958465,8.033334,8.018056,63,59,58,57,53,53,134,152,548,194,212,167	MEM	150744
RAFOS_FIX	6643.528320,-5907.509277,251213,080804,4,115,0.37	DATA_FILE_SIZE	96529,2430
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	169311,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,209965056
HUMID	45.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.7425	SOUNDSPEED	1438.0
TCM_TEMP	11.90	CURRENT	0.983,154.2,1
XPDR_PINGS	21	GPS	251213,083304,6643.528,-5907.509,0,4115.0,0,-33.8
ALTIM_TOP_PING	1.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	322	26.22	SBE_CT	1732	23	538.98
Roll_motor	40	107	58.25	SBE_O2	0	0	0.00
VBD_pump_during_apogee	74	175	174.83	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	30.95	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6010	14	1159.90
LPSleep	2686	2	80.07
TT8_Active	268	14	49.25
TT8_Sampling	3464	33	1505.53
TT8_CF8	663	39	339.61
TT8_Kalman	0	0	0.00
Analog_circuits	1871	12	289.71
GPS_charging	0	0	0.00
Compass	3442	6	299.29
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	2500	2514	2845	2626	0.0	0.0	0	63	0.00	0.00	-39.90	0.000	16390	0.000	0.000	2500	2514	3337	3505	3170	0	0	0	0	0	0	28.83	28.83	14.61
71	-0.89	-146.0	2500	2515	3506	3170	1.5	-0.0	7	78	0.82	1.55	0.00	0.000	4612	0.096	0.095	2225	1661	3338	3506	3170	0	0	0	0	0	0	14.00	14.00	28.83
318	-0.82	-146.0	2225	1660	3507	3170	1.2	0.2	53	326	0.00	1.55	0.00	0.000	1030	0.000	0.107	2218	2502	3338	3507	3170	0	0	0	0	0	0	28.83	13.88	28.83
638	-0.82	-146.0	2218	2502	3507	3170	1.3	0.0	114	646	0.00	1.55	0.00	0.000	516	0.000	0.098	2218	1651	3338	3507	3169	0	0	0	0	0	0	28.83	13.88	28.83
886	-0.75	-146.0	2218	1651	3507	3170	1.3	-0.1	160	894	0.22	1.58	0.00	0.000	3078	0.274	0.107	2262	2506	3338	3507	3170	0	0	0	0	0	0	13.52	13.86	28.83
1214	-0.68	-146.0	2262	2506	3507	3170	1.2	-0.1	221	1221	0.00	1.55	0.00	0.000	516	0.000	0.099	2262	1658	3338	3507	3170	0	0	0	0	0	0	28.83	13.87	28.83
1459	-0.61	-146.0	2262	1659	3507	3170	1.3	-0.2	267	1467	0.22	1.55	0.00	0.000	3078	0.265	0.106	2309	2500	3339	3508	3170	0	0	0	0	0	0	13.52	13.85	28.83
1782	-0.61	-146.0	2309	2500	3507	3170	1.3	-2.2	328	1790	0.00	1.55	0.00	0.000	516	0.000	0.100	2309	1651	3338	3507	3170	0	0	0	0	0	0	28.83	13.85	28.83
2029	-0.54	-146.0	2309	1650	3507	3170	1.3	0.0	374	2036	0.12	1.58	0.00	0.000	3078	0.306	0.108	2329	2504	3339	3508	3170	0	0	0	0	0	0	13.56	13.83	28.83
2359	-0.46	-146.0	2328	2504	3508	3170	1.3	0.3	435	2367	0.12	1.55	0.00	0.000	2564	0.312	0.096	2359	1657	3339	3508	3170	0	0	0	0	0	0	13.73	13.88	28.83
2605	-0.39	-146.0	2360	1657	3507	3170	1.3	0.2	481	2611	0.00	1.55	0.00	0.000	1030	0.000	0.107	2354	2500	3339	3508	3170	0	0	0	0	0	0	28.83	13.83	28.83
2927	-0.32	-146.0	2355	2501	3507	3170	1.3	-0.4	542	2935	0.17	1.55	0.00	0.000	2564	0.289	0.095	2397	1652	3338	3508	3169	0	0	0	0	0	0	13.57	13.87	28.83
3176	-0.25	-146.0	2398	1652	3508	3170	1.3	-0.1	588	3183	0.15	1.58	0.00	0.000	3078	0.296	0.107	2423	2505	3338	3507	3170	0	0	0	0	0	0	13.50	13.83	28.83
3505	-0.18	-146.0	2423	2505	3507	3170	1.2	0.0	649	3512	0.00	1.52	0.00	0.000	516	0.000	0.099	2423	1657	3338	3507	3170	0	0	0	0	0	0	28.83	13.83	28.83
3752	-0.10	-146.0	2423	1657	3508	3170	1.3	-0.0	695	3759	0.22	1.55	0.00	0.000	3078	0.279	0.106	2467	2505	3338	3507	3170	0	0	0	0	0	0	13.44	13.81	28.83
4078	-0.03	-146.0	2467	2506	3508	3170	1.4	-0.4	756	4085	0.12	1.52	0.00	0.000	2564	0.309	0.094	2498	1660	3338	3507	3170	0	0	0	0	0	0	13.71	13.85	28.83
4327	0.04	-146.0	2499	1659	3507	3170	1.2	0.3	802	4335	0.00	1.55	0.00	0.000	1030	0.000	0.105	2494	2508	3339	3508	3170	0	0	0	0	0	0	28.83	13.81	28.83
4655	0.11	-146.0	2494	2508	3508	3170	1.3	0.1	863	4664	0.17	1.55	0.00	0.000	2564	0.299	0.096	2535	1657	3338	3507	3170	0	0	0	0	0	0	13.50	13.85	28.83
4903	0.19	-146.0	2535	1657	3508	3170	1.4	-0.2	909	4910	0.15	1.55	0.00	0.000	3078	0.295	0.106	2561	2499	3338	3507	3170	0	0	0	0	0	0	13.48	13.81	28.83
5229	0.26	-146.0	1576	2497	3499	3167	1.3	0.2	970	5236	0.12	1.52	0.00	0.000	2564	0.308	0.095	2592	1659	3339	3508	3170	0	0	0	0	0	0	13.72	13.84	28.83
5474	0.26	-146.0	2593	1659	3507	3170	1.3	0.7	1016	5480	0.00	1.55	0.00	0.000	1030	0.000	0.105	2588	2504	3338	3507	3170	0	0	0	0	0	0	28.83	13.80	28.83
5800	0.33	-146.0	2588	2504	3507	3170	1.2	0.5	1077	5808	0.00	1.52	0.00	0.000	516	0.000	0.099	2588	1660	3339	3508	3170	0	0	0	0	0	0	28.83	13.81	28.83
6047	0.40	-146.0	2587	1661	3508	3170	1.3	-0.5	1123	6055	0.22	1.55	0.00	0.000	3078	0.275	0.105	2631	2504	3338	3507	3170	0	0	0	0	0	0	13.45	13.81	28.83
6376	0.40	-146.0	2631	2504	3507	3170	1.4	-0.9	1184	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2504	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
6696	0.47	-146.0	1664	2502	3500	3167	1.3	0.0	1245	6706	0.00	1.55	0.00	0.000	516	0.000	0.099	2631	1651	3338	3507	3170	0	0	0	0	0	0	28.83	13.81	28.83
6944	0.54	-146.0	1664	1650	3499	3167	1.3	-0.2	1291	6951	0.22	1.58	0.00	0.000	3078	0.275	0.106	2676	2505	3338	3507	3170	0	0	0	0	0	0	13.45	13.80	28.83
7266	0.54	-146.0	2676	2505	3508	3170	1.3	-0.4	1352	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2505	3339	3508	3170	0	0	0	0	0	0	28.83	28.83	28.83
7587	0.62	-146.0	2676	2505	3507	3170	1.3	-0.1	1413	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2505	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
7910	0.62	-146.0	2677	2505	3507	3170	1.2	0.8	1474	7916	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2505	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
8231	0.69	-146.0	2676	2505	3507	3170	1.3	0.1	1535	8237	0.17	0.00	0.00	0.000	2054	0.298	0.000	2719	2505	3339	3508	3170	0	0	0	0	0	0	13.50	28.83	28.83
8552	0.76	-146.0	1736	2503	3499	3167	1.3	0.0	1596	8559	0.12	1.55	0.00	0.000	2564	0.317	0.096	2750	1658	3338	3507	3170	0	0	0	0	0	0	13.73	13.83	28.83
8799	0.76	-146.0	2750	1659	3508	3170	1.2	0.0	1642	8807	0.00	1.55	0.00	0.000	1030	0.000	0.107	2745	2500	3339	3508	3170	0	0	0	0	0	0	28.83	13.80	28.83
9121	0.76	-146.0	2746	2500	3507	3170	1.2	0.1	1703	9127	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2500	3339	3508	3170	0	0	0	0	0	0	28.83	28.83	28.83
9440	0.83	-146.0	2746	2500	3507	3170	1.2	0.8	1764	9446	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2500	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
9762	0.90	-146.0	2746	2500	3508	3169	1.3	-0.2	1825	9769	0.17	0.00	0.00	0.000	2054	0.295	0.000	2787	2500	3338	3507	3170	0	0	0	0	0	0	13.50	28.83	28.83
10085	0.97	-146.0	1792	2498	3500	3167	1.3	-0.3	1886	10091	0.12	0.00	0.00	0.000	2054	0.307	0.000	2818	2500	3339	3508	3170	0	0	0	0	0	0	13.74	28.83	28.83
10413	1.05	-146.0	2818	2500	3508	3170	1.3	-0.8	1947	10419	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2500	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
10731	1.12	-146.0	1808	2498	3500	3167	1.2	0.3	2008	10738	0.15	0.00	0.00	0.000	2054	0.304	0.000	2856	2500	3338	3507	3170	0	0	0	0	0	0	13.54	28.83	28.83
11058	1.19	-146.0	2855	2499	3507	3170	1.3	-0.1	2069	11065	0.12	0.00	0.00	0.000	2054	0.320	0.000	2886	2500	3339	3508	3170	0	0	0	0	0	0	13.70	28.83	28.83
11385	1.26	-146.0	2885	2500	3508	3170	1.3	-0.4	2130	11393	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2500	3338	3508	3169	0	0	0	0	0	0	28.83	28.83	28.83
11706	1.26	-146.0	2886	2500	3507	3170	1.2	0.0	2191	11712	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2500	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
12025	1.26	-146.0	2886	2500	3508	3170	1.3	0.6	2252	12031	0.00	0.00	0.00	0.000	6	0.000	0.000	2886	2500	3338	3507	3170	0	0	0	0	0	0	28.83	28.83	28.83
12348	1.33	-146.0	1888	2498	3500	3166	1.3	-0.7	2313	12356	0.15	0.00	0.00	0.000	2054	0.301	0.000	2923	2500	3339	3508	3170	0	0	0	0	0	0	13.54	28.83	28.83
12677	1.40	-146.0	2923	2500	3508	3170	1.2	0.3	2374	12683	0.12	0.00	0.00	0.000	2054	0.322	0.000	2952	2500	3338	3507	3170	0	0	0	0	0	0	13.68	28.83	28.83
12906	end dive: HALF_MISSION_TIME_EXCEEDED
state	12906	begin apogee
12919	-0.22	0.0	2952	2500	3507	3170	1.3	1.2	2418	12934	1.55	0.00	10.00	0.176	12290	0.094	0.000	2433	2500	3255	3428	3083	0	0	0	0	0	0	13.90	28.83	28.83
12935	end apogee: FINISH_DEPTH_REACHED
state	12935	begin subsurface finish
12950	0.00	0.0	2434	2500	3428	3083	1.4	-0.3	2419	13019	0.28	0.00	64.15	0.162	10246	0.266	0.000	2501	2500	2737	2853	2622	0	0	0	0	0	0	13.50	28.83	13.97
13020	end subsurface finish: CONTROL_FINISHED_OK
state	13020	begin surface