Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 529 * 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 529 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 529 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 251213,123232,6642.583,-5904.501,0,4118.8,0,-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 1.32 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 251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8 MHEAD_RNG_PITCHd_Wd 351.3,59679,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 909

Post-dive calculations and measurements:

FREEZE 1.28,-1.732,-1.793,2,5,0 _24V_AH 13.4,231.730

FINISH1 1.3,1.026329,0 _10V_AH 12.6,0.000

FINISH2 1.3 FG_AHR_24Vo 0.000

RAFOS_CLK 702 FG_AHR_10Vo 0.000

RAFOS 0,1387987264,16.033333,16.017778,60,60,57,55,53,51,118,213,179,202,1107,779 MEM 150744

RAFOS_FIX 6642.022949,-5901.606445,251213,161636,4,94,0.16 DATA_FILE_SIZE 96545,2454

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 161485,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,209809408

HUMID 45.98 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 0.303,116.7,1

XPDR_PINGS 20 GPS 251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8

ALTIM_TOP_PING 1.3,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 319 20.73 SBE_CT 1749 23 544.42

Roll_motor 0 0 0.00 SBE_O2 0 0 0.00

VBD_pump_during_apogee 73 167 165.73 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 29.55 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 5997 14 1130.44

LPSleep 2748 2 80.01

TT8_Active 253 14 45.30

TT8_Sampling 3494 33 1483.46

TT8_CF8 591 39 295.78

TT8_Kalman 0 0 0.00

Analog_circuits 1863 12 281.70

GPS_charging 0 0 0.00

Compass 3475 6 295.11

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

21 -0.89 -146.0 2499 2509 2840 2623 0.0 0.0 0 65 0.00 0.00 -40.47 0.000 16390 0.000 0.000 2499 2510 3337 3503 3171 0 0 0 0 0 0 28.83 28.83 14.58

73 -0.89 -146.0 2500 2510 3505 3171 1.4 -0.4 7 80 0.82 0.00 0.00 0.000 4102 0.096 0.000 2227 2510 3338 3505 3171 0 0 0 0 0 0 13.97 28.83 28.83

395 -0.82 -146.0 2227 2510 3506 3171 1.1 0.4 68 400 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2510 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

713 -0.82 -146.0 2227 2510 3506 3171 1.1 -0.1 129 721 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2510 3338 3506 3171 0 0 0 0 0 0 28.83 28.83 28.83

1036 -0.75 -146.0 2226 2510 3506 3171 1.2 0.5 190 1043 0.12 0.00 0.00 0.000 2054 0.295 0.000 2255 2509 3339 3507 3171 0 0 0 0 0 0 13.71 28.83 28.83

1356 -0.68 -146.0 2256 2510 3506 3171 1.2 -0.2 251 1363 0.12 0.00 0.00 0.000 2054 0.312 0.000 2287 2510 3339 3507 3171 0 0 0 0 0 0 13.74 28.83 28.83

1678 -0.60 -146.0 1408 2508 3499 3168 1.0 0.4 312 1684 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

1999 -0.53 -146.0 2287 2510 3507 3171 1.1 0.2 373 2005 0.17 0.00 0.00 0.000 2054 0.294 0.000 2331 2510 3339 3507 3171 0 0 0 0 0 0 13.51 28.83 28.83

2318 -0.53 -146.0 1440 2508 3499 3168 1.2 0.0 434 2325 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

2639 -0.46 -146.0 2331 2510 3507 3171 1.2 -0.3 495 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2331 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

2960 -0.39 -146.0 2331 2510 3507 3171 1.1 0.7 556 2966 0.17 0.00 0.00 0.000 2054 0.291 0.000 2375 2510 3339 3507 3171 0 0 0 0 0 0 13.50 28.83 28.83

3281 -0.32 -146.0 2375 2510 3507 3171 1.2 -0.1 617 3288 0.12 0.00 0.00 0.000 2054 0.311 0.000 2405 2510 3339 3507 3171 0 0 0 0 0 0 13.73 28.83 28.83

3603 -0.24 -146.0 2405 2510 3507 3171 1.1 0.0 678 3609 0.00 0.00 0.00 0.000 6 0.000 0.000 2405 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

3922 -0.17 -146.0 2405 2510 3507 3171 1.1 0.3 739 3928 0.17 0.00 0.00 0.000 2054 0.301 0.000 2447 2510 3339 3507 3171 0 0 0 0 0 0 13.47 28.83 28.83

4243 -0.17 -146.0 2447 2510 3507 3171 1.1 0.0 800 4250 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

4562 -0.17 -146.0 1536 2508 3499 3168 1.1 1.2 861 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

4883 -0.10 -146.0 2448 2510 3507 3172 1.2 -0.3 922 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

5204 -0.03 -146.0 1536 2508 3499 3168 1.2 0.2 983 5212 0.17 0.00 0.00 0.000 2054 0.298 0.000 2490 2510 3339 3507 3171 0 0 0 0 0 0 13.50 28.83 28.83

5529 0.04 -146.0 2491 2510 3506 3171 1.1 0.1 1044 5535 0.12 0.00 0.00 0.000 2054 0.313 0.000 2520 2510 3339 3507 3171 0 0 0 0 0 0 13.74 28.83 28.83

5850 0.12 -146.0 2520 2510 3507 3171 1.2 0.0 1105 5856 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

6171 0.12 -146.0 2520 2510 3507 3169 1.2 0.0 1166 6176 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

6489 0.12 -146.0 2521 2510 3507 3171 1.1 1.5 1227 6495 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

6810 0.19 -146.0 2521 2510 3507 3171 1.2 -0.0 1288 6818 0.15 0.00 0.00 0.000 2054 0.304 0.000 2558 2510 3339 3507 3171 0 0 0 0 0 0 13.52 28.83 28.83

7142 0.26 -146.0 2558 2510 3507 3171 1.1 -0.0 1349 7148 0.12 0.00 0.00 0.000 2054 0.311 0.000 2589 2510 3339 3507 3171 0 0 0 0 0 0 13.69 28.83 28.83

7462 0.34 -146.0 1632 2508 3499 3168 1.1 0.4 1410 7467 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

7782 0.34 -146.0 2589 2510 3507 3171 1.2 0.0 1471 7789 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

8104 0.41 -146.0 2588 2510 3507 3171 1.2 -0.4 1532 8112 0.17 0.00 0.00 0.000 2054 0.295 0.000 2632 2510 3339 3507 3171 0 0 0 0 0 0 13.47 28.83 28.83

8425 0.48 -146.0 2632 2510 3507 3171 1.2 0.1 1593 8431 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

8747 0.48 -146.0 2632 2510 3507 3171 1.2 -0.9 1654 8753 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

9069 0.55 -146.0 2632 2510 3507 3171 1.1 0.2 1715 9075 0.17 0.00 0.00 0.000 2054 0.298 0.000 2675 2510 3339 3507 3171 0 0 0 0 0 0 13.45 28.83 28.83

9389 0.63 -146.0 2675 2510 3507 3171 1.2 -0.6 1776 9396 0.12 0.00 0.00 0.000 2054 0.319 0.000 2705 2510 3338 3506 3171 0 0 0 0 0 0 13.66 28.83 28.83

9717 0.70 -146.0 2705 2510 3507 3171 1.1 -0.1 1837 9723 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

10037 0.77 -146.0 2705 2510 3507 3170 1.2 0.3 1898 10044 0.15 0.00 0.00 0.000 2054 0.303 0.000 2742 2510 3339 3507 3171 0 0 0 0 0 0 13.57 28.83 28.83

10356 0.77 -146.0 1760 2508 3499 3168 1.2 0.0 1959 10363 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

10677 0.77 -146.0 2742 2510 3507 3171 1.2 -0.7 2020 10683 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

10997 0.84 -146.0 1760 2508 3499 3168 1.1 0.4 2081 11004 0.12 0.00 0.00 0.000 2054 0.318 0.000 2772 2510 3339 3507 3171 0 0 0 0 0 0 13.64 28.83 28.83

11324 0.92 -146.0 2772 2510 3507 3171 1.1 0.2 2142 11330 0.00 0.00 0.00 0.000 6 0.000 0.000 2772 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

11646 0.99 -146.0 2772 2510 3507 3171 1.2 -0.2 2203 11654 0.17 0.00 0.00 0.000 2054 0.301 0.000 2815 2510 3339 3507 3171 0 0 0 0 0 0 13.45 28.83 28.83

11974 1.06 -146.0 2815 2511 3507 3171 1.1 0.2 2264 11982 0.12 0.00 0.00 0.000 2054 0.319 0.000 2845 2510 3339 3508 3171 0 0 0 0 0 0 13.67 28.83 28.83

12296 1.06 -146.0 2845 2510 3507 3171 1.1 2.2 2325 12302 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

12617 1.13 -146.0 2845 2510 3506 3171 1.1 0.0 2386 12623 0.00 0.00 0.00 0.000 6 0.000 0.000 2845 2510 3339 3507 3171 0 0 0 0 0 0 28.83 28.83 28.83

12906 end dive: HALF_MISSION_TIME_EXCEEDED

state 12906 begin apogee

12920 -0.22 0.0 2845 2510 3507 3171 1.1 0.1 2442 12935 1.25 0.00 10.25 0.168 12290 0.093 0.000 2441 2510 3253 3426 3081 0 0 0 0 0 0 13.85 28.83 28.83

12935 end apogee: FINISH_DEPTH_REACHED

state 12936 begin subsurface finish

12950 0.00 0.0 2441 2510 3426 3081 1.3 -0.5 2443 13019 0.25 0.00 63.58 0.159 10246 0.272 0.000 2501 2510 2738 2853 2623 0 0 0 0 0 0 13.50 28.83 13.98

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	529	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	251213,123232,6642.583,-5904.501,0,4118.8,0,-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	1.32	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	251213,123232,6642.583,-5904.501,0,4118.8,0,-33.8	MHEAD_RNG_PITCHd_Wd	351.3,59679,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	909

FREEZE	1.28,-1.732,-1.793,2,5,0	_24V_AH	13.4,231.730
FINISH1	1.3,1.026329,0	_10V_AH	12.6,0.000
FINISH2	1.3	FG_AHR_24Vo	0.000
RAFOS_CLK	702	FG_AHR_10Vo	0.000
RAFOS	0,1387987264,16.033333,16.017778,60,60,57,55,53,51,118,213,179,202,1107,779	MEM	150744
RAFOS_FIX	6642.022949,-5901.606445,251213,161636,4,94,0.16	DATA_FILE_SIZE	96545,2454
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	161485,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,209809408
HUMID	45.98	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	0.303,116.7,1
XPDR_PINGS	20	GPS	251213,163336,6642.023,-5901.606,0,4093.5,0,-33.8
ALTIM_TOP_PING	1.3,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	319	20.73	SBE_CT	1749	23	544.42
Roll_motor	0	0	0.00	SBE_O2	0	0	0.00
VBD_pump_during_apogee	73	167	165.73	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	29.55	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	5997	14	1130.44
LPSleep	2748	2	80.01
TT8_Active	253	14	45.30
TT8_Sampling	3494	33	1483.46
TT8_CF8	591	39	295.78
TT8_Kalman	0	0	0.00
Analog_circuits	1863	12	281.70
GPS_charging	0	0	0.00
Compass	3475	6	295.11
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
21	-0.89	-146.0	2499	2509	2840	2623	0.0	0.0	0	65	0.00	0.00	-40.47	0.000	16390	0.000	0.000	2499	2510	3337	3503	3171	0	0	0	0	0	0	28.83	28.83	14.58
73	-0.89	-146.0	2500	2510	3505	3171	1.4	-0.4	7	80	0.82	0.00	0.00	0.000	4102	0.096	0.000	2227	2510	3338	3505	3171	0	0	0	0	0	0	13.97	28.83	28.83
395	-0.82	-146.0	2227	2510	3506	3171	1.1	0.4	68	400	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2510	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
713	-0.82	-146.0	2227	2510	3506	3171	1.1	-0.1	129	721	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2510	3338	3506	3171	0	0	0	0	0	0	28.83	28.83	28.83
1036	-0.75	-146.0	2226	2510	3506	3171	1.2	0.5	190	1043	0.12	0.00	0.00	0.000	2054	0.295	0.000	2255	2509	3339	3507	3171	0	0	0	0	0	0	13.71	28.83	28.83
1356	-0.68	-146.0	2256	2510	3506	3171	1.2	-0.2	251	1363	0.12	0.00	0.00	0.000	2054	0.312	0.000	2287	2510	3339	3507	3171	0	0	0	0	0	0	13.74	28.83	28.83
1678	-0.60	-146.0	1408	2508	3499	3168	1.0	0.4	312	1684	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
1999	-0.53	-146.0	2287	2510	3507	3171	1.1	0.2	373	2005	0.17	0.00	0.00	0.000	2054	0.294	0.000	2331	2510	3339	3507	3171	0	0	0	0	0	0	13.51	28.83	28.83
2318	-0.53	-146.0	1440	2508	3499	3168	1.2	0.0	434	2325	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
2639	-0.46	-146.0	2331	2510	3507	3171	1.2	-0.3	495	2647	0.00	0.00	0.00	0.000	6	0.000	0.000	2331	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
2960	-0.39	-146.0	2331	2510	3507	3171	1.1	0.7	556	2966	0.17	0.00	0.00	0.000	2054	0.291	0.000	2375	2510	3339	3507	3171	0	0	0	0	0	0	13.50	28.83	28.83
3281	-0.32	-146.0	2375	2510	3507	3171	1.2	-0.1	617	3288	0.12	0.00	0.00	0.000	2054	0.311	0.000	2405	2510	3339	3507	3171	0	0	0	0	0	0	13.73	28.83	28.83
3603	-0.24	-146.0	2405	2510	3507	3171	1.1	0.0	678	3609	0.00	0.00	0.00	0.000	6	0.000	0.000	2405	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
3922	-0.17	-146.0	2405	2510	3507	3171	1.1	0.3	739	3928	0.17	0.00	0.00	0.000	2054	0.301	0.000	2447	2510	3339	3507	3171	0	0	0	0	0	0	13.47	28.83	28.83
4243	-0.17	-146.0	2447	2510	3507	3171	1.1	0.0	800	4250	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
4562	-0.17	-146.0	1536	2508	3499	3168	1.1	1.2	861	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
4883	-0.10	-146.0	2448	2510	3507	3172	1.2	-0.3	922	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	2447	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
5204	-0.03	-146.0	1536	2508	3499	3168	1.2	0.2	983	5212	0.17	0.00	0.00	0.000	2054	0.298	0.000	2490	2510	3339	3507	3171	0	0	0	0	0	0	13.50	28.83	28.83
5529	0.04	-146.0	2491	2510	3506	3171	1.1	0.1	1044	5535	0.12	0.00	0.00	0.000	2054	0.313	0.000	2520	2510	3339	3507	3171	0	0	0	0	0	0	13.74	28.83	28.83
5850	0.12	-146.0	2520	2510	3507	3171	1.2	0.0	1105	5856	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
6171	0.12	-146.0	2520	2510	3507	3169	1.2	0.0	1166	6176	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
6489	0.12	-146.0	2521	2510	3507	3171	1.1	1.5	1227	6495	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
6810	0.19	-146.0	2521	2510	3507	3171	1.2	-0.0	1288	6818	0.15	0.00	0.00	0.000	2054	0.304	0.000	2558	2510	3339	3507	3171	0	0	0	0	0	0	13.52	28.83	28.83
7142	0.26	-146.0	2558	2510	3507	3171	1.1	-0.0	1349	7148	0.12	0.00	0.00	0.000	2054	0.311	0.000	2589	2510	3339	3507	3171	0	0	0	0	0	0	13.69	28.83	28.83
7462	0.34	-146.0	1632	2508	3499	3168	1.1	0.4	1410	7467	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
7782	0.34	-146.0	2589	2510	3507	3171	1.2	0.0	1471	7789	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
8104	0.41	-146.0	2588	2510	3507	3171	1.2	-0.4	1532	8112	0.17	0.00	0.00	0.000	2054	0.295	0.000	2632	2510	3339	3507	3171	0	0	0	0	0	0	13.47	28.83	28.83
8425	0.48	-146.0	2632	2510	3507	3171	1.2	0.1	1593	8431	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
8747	0.48	-146.0	2632	2510	3507	3171	1.2	-0.9	1654	8753	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
9069	0.55	-146.0	2632	2510	3507	3171	1.1	0.2	1715	9075	0.17	0.00	0.00	0.000	2054	0.298	0.000	2675	2510	3339	3507	3171	0	0	0	0	0	0	13.45	28.83	28.83
9389	0.63	-146.0	2675	2510	3507	3171	1.2	-0.6	1776	9396	0.12	0.00	0.00	0.000	2054	0.319	0.000	2705	2510	3338	3506	3171	0	0	0	0	0	0	13.66	28.83	28.83
9717	0.70	-146.0	2705	2510	3507	3171	1.1	-0.1	1837	9723	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
10037	0.77	-146.0	2705	2510	3507	3170	1.2	0.3	1898	10044	0.15	0.00	0.00	0.000	2054	0.303	0.000	2742	2510	3339	3507	3171	0	0	0	0	0	0	13.57	28.83	28.83
10356	0.77	-146.0	1760	2508	3499	3168	1.2	0.0	1959	10363	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
10677	0.77	-146.0	2742	2510	3507	3171	1.2	-0.7	2020	10683	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
10997	0.84	-146.0	1760	2508	3499	3168	1.1	0.4	2081	11004	0.12	0.00	0.00	0.000	2054	0.318	0.000	2772	2510	3339	3507	3171	0	0	0	0	0	0	13.64	28.83	28.83
11324	0.92	-146.0	2772	2510	3507	3171	1.1	0.2	2142	11330	0.00	0.00	0.00	0.000	6	0.000	0.000	2772	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
11646	0.99	-146.0	2772	2510	3507	3171	1.2	-0.2	2203	11654	0.17	0.00	0.00	0.000	2054	0.301	0.000	2815	2510	3339	3507	3171	0	0	0	0	0	0	13.45	28.83	28.83
11974	1.06	-146.0	2815	2511	3507	3171	1.1	0.2	2264	11982	0.12	0.00	0.00	0.000	2054	0.319	0.000	2845	2510	3339	3508	3171	0	0	0	0	0	0	13.67	28.83	28.83
12296	1.06	-146.0	2845	2510	3507	3171	1.1	2.2	2325	12302	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
12617	1.13	-146.0	2845	2510	3506	3171	1.1	0.0	2386	12623	0.00	0.00	0.00	0.000	6	0.000	0.000	2845	2510	3339	3507	3171	0	0	0	0	0	0	28.83	28.83	28.83
12906	end dive: HALF_MISSION_TIME_EXCEEDED
state	12906	begin apogee
12920	-0.22	0.0	2845	2510	3507	3171	1.1	0.1	2442	12935	1.25	0.00	10.25	0.168	12290	0.093	0.000	2441	2510	3253	3426	3081	0	0	0	0	0	0	13.85	28.83	28.83
12935	end apogee: FINISH_DEPTH_REACHED
state	12936	begin subsurface finish
12950	0.00	0.0	2441	2510	3426	3081	1.3	-0.5	2443	13019	0.25	0.00	63.58	0.159	10246	0.272	0.000	2501	2510	2738	2853	2623	0	0	0	0	0	0	13.50	28.83	13.98
13020	end subsurface finish: CONTROL_FINISHED_OK
state	13020	begin surface