Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 535 * 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 535 ESCAPE_HEADING 100 C_ROLL_DIVE 2500 ALTIM_TOP_MIN_OBSTACLE 2.8

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2510 ALTIM_PING_DEPTH 300

D_SURF 3 FIX_MISSING_TIMEOUT 5 HEAD_ERRBAND 10 ALTIM_PING_DELTA 50

D_FLARE 3 TGT_DEFAULT_LAT 6000 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_TIMEOUT 15 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 22 ALTIM_SENSITIVITY 5

D_NO_BLEED 200 SM_CC 400 R_STBD_OVSHOOT 15 XPDR_VALID 6

D_BOOST 110 N_FILEKB 4 ROLL_AD_RATE 300 XPDR_INHIBIT 90

T_BOOST 0 FILEMGR 2 ROLL_MAXERRORS 2 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 9 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.5

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_SAFE 500 PROTOCOL 1 VBD_MIN 500 DEEPGLIDERMB 0

D_CALL 3 N_NOCOMM 6 VBD_MAX 3960 MOTHERBOARD 4

SURFACE_URGENCY 10 NOCOMM_ACTION 161 C_VBD 2741 DEVICE1 2

SURFACE_URGENCY_TRY 5 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 10 UPLOAD_DIVES_MAX 3 VBD_CNV -0.24529999 DEVICE3 -1

T_DIVE 400 CALL_TRIES 3 VBD_TIMEOUT 720 DEVICE4 -1

T_MISSION 430 CALL_WAIT 60 PITCH_VBD_SHIFT 0.0015 DEVICE5 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_PUMP_AD_RATE_SURFACE 5 DEVICE6 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERS 0

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE1 -1

T_NO_W 120 T_GPS 3 UNCOM_BLEED 20 LOGGERDEVICE2 -1

T_LOITER 0 N_GPS 20 VBD_MAXERRORS 1 LOGGERDEVICE3 -1

T_EPIRB 0 T_GPS_ALMANAC 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

USE_BATHY -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 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 15 VBD_MIN 500

DEVICE4 -1 MISSION 2 SEABIRD_C_G -9.8550158 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1245382 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 NAV_MODE 2 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 535 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 261213,083304,6642.426,-5846.649,0,4087.5,0,-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 1.19 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 261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8 MHEAD_RNG_PITCHd_Wd 351.1,72740,-27.8,-8.250,-30.00,870

SPEED_LIMITS 0.143,0.247 D_GRID 797

Post-dive calculations and measurements:

FREEZE 1.24,-1.797,-1.801,2,11,0 _24V_AH 13.5,232.302

FINISH1 1.2,1.026444,0 _10V_AH 12.5,0.000

FINISH2 1.1 FG_AHR_24Vo 0.000

RAFOS_CLK 712 FG_AHR_10Vo 0.000

RAFOS 1,1388059742,12.166667,12.150556,74,62,60,53,51,50,153,209,222,170,199,134 MEM 150744

RAFOS_FIX 6642.980469,-5839.082031,261213,121204,4,92,0.39 DATA_FILE_SIZE 96411,2444

IRIDIUM_FIX 6625.71,-5911.55,241213,232356 CAP_FILE_SIZE 162730,0

TT8_MAMPS 0.024717,0.024717 CFSIZE 259252224,209313792

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.76204 SOUNDSPEED 1437.9

TCM_TEMP 11.90 CURRENT 5.993, 80.2,1

XPDR_PINGS 5 GPS 261213,123304,6642.980,-5839.082,0,4092.5,0,-33.8

ALTIM_TOP_PING 1.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 6 270 22.15 SBE_CT 1743 23 546.40

Roll_motor 4 110 7.08 SBE_O2 0 0 0.00

VBD_pump_during_apogee 43 179 105.88 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 1 420 8.51 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 6011 14 1124.10

LPSleep 2740 2 79.12

TT8_Active 233 14 41.49

TT8_Sampling 3488 33 1469.19

TT8_CF8 587 39 291.35

TT8_Kalman 0 0 0.00

Analog_circuits 1836 12 275.51

GPS_charging 0 0 0.00

Compass 3460 6 291.58

RAFOS 1800 1 33.75

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

20 -1.28 -46.6 2495 2501 2838 2622 0.0 0.0 0 40 0.00 0.00 -13.38 0.000 16390 0.000 0.000 2494 2501 2931 3040 2823 0 0 0 0 0 0 28.83 28.83 14.55

48 -1.28 -46.6 2494 2501 3040 2823 1.1 0.4 3 54 1.20 0.00 0.00 0.000 4102 0.093 0.000 2098 2501 2931 3040 2823 0 0 0 0 0 0 13.94 28.83 28.83

370 -1.43 -111.0 2097 2501 3040 2824 1.1 -0.6 64 390 0.12 0.00 -17.58 0.000 20486 0.168 0.000 2047 2501 3193 3336 3051 0 0 0 0 0 0 14.18 28.83 14.54

712 -1.53 -146.0 2047 2501 3339 3051 1.0 0.6 127 724 0.00 0.00 -9.65 0.000 16390 0.000 0.000 2047 2502 3337 3498 3176 0 0 0 0 0 0 28.83 28.83 14.54

1046 -1.58 -146.0 2048 2501 3500 3176 1.1 -0.1 189 1053 0.12 0.00 0.00 0.000 4102 0.170 0.000 2001 2501 3337 3499 3175 0 0 0 0 0 0 14.15 28.83 28.83

1374 -1.63 -146.0 2000 2502 3500 3175 1.0 0.5 250 1380 0.00 0.00 0.00 0.000 6 0.000 0.000 2000 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

1697 -1.68 -146.0 2001 2501 3500 3175 1.1 0.2 311 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2501 3338 3500 3176 0 0 0 0 0 0 28.83 28.83 28.83

2018 -1.73 -146.0 2000 2501 3500 3175 1.1 -0.3 372 2025 0.12 0.00 0.00 0.000 4102 0.164 0.000 1952 2502 3338 3501 3175 0 0 0 0 0 0 14.17 28.83 28.83

2340 -1.73 -146.0 1952 2501 3500 3175 1.1 0.0 433 2347 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2502 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

2660 -1.78 -146.0 1200 2499 3492 3172 1.1 0.1 494 2668 0.00 0.00 0.00 0.000 6 0.000 0.000 1951 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

2983 -1.83 -146.0 1952 2502 3500 3175 1.0 0.2 555 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 1952 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

3305 -1.87 -146.0 1952 2501 3500 3175 1.1 0.1 616 3312 0.12 0.00 0.00 0.000 4102 0.168 0.000 1906 2502 3337 3500 3175 0 0 0 0 0 0 14.19 28.83 28.83

3631 -1.92 -146.0 1906 2501 3500 3175 1.1 -0.1 677 3637 0.00 0.00 0.00 0.000 6 0.000 0.000 1906 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

3952 -1.98 -146.0 1906 2501 3500 3175 1.1 -0.0 738 3957 0.00 0.00 0.00 0.000 6 0.000 0.000 1906 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

4271 -1.98 -146.0 1906 2501 3500 3175 1.0 0.0 799 4278 0.00 0.00 0.00 0.000 6 0.000 0.000 1906 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

4594 -2.02 -146.0 1906 2501 3499 3175 1.1 0.0 860 4602 0.12 0.00 0.00 0.000 4102 0.159 0.000 1860 2501 3337 3500 3174 0 0 0 0 0 0 14.20 28.83 28.83

4918 -2.07 -146.0 1860 2501 3500 3175 1.0 0.5 921 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

5238 -2.12 -146.0 1860 2501 3500 3175 1.1 -0.3 982 5244 0.00 0.00 0.00 0.000 6 0.000 0.000 1860 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

5558 -2.17 -146.0 1860 2501 3500 3175 1.1 -0.4 1043 5564 0.12 0.00 0.00 0.000 4102 0.164 0.000 1812 2501 3337 3500 3175 0 0 0 0 0 0 14.20 28.83 28.83

5875 -2.17 -146.0 1128 2500 3492 3172 1.1 -2.5 1104 5882 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

6197 -2.22 -146.0 1813 2501 3500 3175 1.1 -0.2 1165 6203 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2502 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

6517 -2.22 -146.0 1812 2502 3500 3175 1.1 0.0 1226 6523 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2501 3338 3500 3176 0 0 0 0 0 0 28.83 28.83 28.83

6837 -2.22 -146.0 1813 2501 3499 3175 1.1 -0.3 1287 6843 0.00 0.00 0.00 0.000 6 0.000 0.000 1812 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

7158 -2.27 -146.0 1813 2501 3501 3176 1.1 0.2 1348 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 1813 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

7480 -2.32 -146.0 1813 2501 3500 3175 1.1 -0.4 1409 7487 0.12 0.00 0.00 0.000 4102 0.164 0.000 1767 2501 3338 3500 3176 0 0 0 0 0 0 14.21 28.83 28.83

7803 -2.37 -146.0 1096 2499 3492 3172 1.0 0.3 1470 7811 0.00 0.00 0.00 0.000 6 0.000 0.000 1766 2501 3338 3500 3176 0 0 0 0 0 0 28.83 28.83 28.83

8125 -2.42 -146.0 1766 2501 3500 3175 1.0 -0.3 1531 8131 0.00 0.00 0.00 0.000 6 0.000 0.000 1766 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

8447 -2.47 -146.0 1766 2501 3500 3175 1.1 -0.3 1592 8453 0.12 0.00 0.00 0.000 4102 0.156 0.000 1721 2501 3338 3500 3176 0 0 0 0 0 0 14.21 28.83 28.83

8768 -2.52 -146.0 1721 2501 3499 3175 1.1 -0.3 1653 8774 0.00 0.00 0.00 0.000 6 0.000 0.000 1722 2502 3337 3500 3174 0 0 0 0 0 0 28.83 28.83 28.83

9092 -2.57 -146.0 1721 2501 3500 3175 1.0 -0.0 1714 9098 0.12 0.00 0.00 0.000 4102 0.161 0.000 1675 2501 3337 3500 3175 0 0 0 0 0 0 14.23 28.83 28.83

9413 -2.62 -146.0 1675 2501 3500 3175 1.1 0.0 1775 9420 0.00 0.00 0.00 0.000 6 0.000 0.000 1675 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

9734 -2.62 -146.0 1676 2501 3500 3175 1.0 0.0 1836 9741 0.00 0.00 0.00 0.000 6 0.000 0.000 1675 2501 3337 3499 3176 0 0 0 0 0 0 28.83 28.83 28.83

10055 -2.67 -146.0 1040 2499 3492 3172 1.0 -0.2 1897 10062 0.00 0.00 0.00 0.000 6 0.000 0.000 1675 2501 3337 3499 3175 0 0 0 0 0 0 28.83 28.83 28.83

10378 -2.72 -146.0 1675 2502 3500 3176 1.1 -0.1 1958 10384 0.12 0.00 0.00 0.000 4102 0.164 0.000 1628 2502 3337 3500 3175 0 0 0 0 0 0 14.21 28.83 28.83

10705 -2.77 -146.0 1024 2499 3491 3172 1.0 0.0 2019 10711 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2502 3337 3499 3175 0 0 0 0 0 0 28.83 28.83 28.83

11027 -2.82 -146.0 1628 2501 3500 3175 1.0 0.5 2080 11033 0.00 0.00 0.00 0.000 6 0.000 0.000 1628 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

11347 -2.87 -146.0 1629 2501 3499 3175 1.1 -0.2 2141 11354 0.12 0.00 0.00 0.000 4102 0.158 0.000 1581 2501 3337 3500 3175 0 0 0 0 0 0 14.21 28.83 28.83

11667 -2.87 -146.0 1581 2501 3500 3175 1.0 1.2 2202 11674 0.00 0.00 0.00 0.000 6 0.000 0.000 1581 2501 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

11988 -2.92 -146.0 1581 2501 3500 3175 1.1 -0.5 2263 11997 0.00 1.55 0.00 0.000 516 0.000 0.099 1581 1660 3338 3500 3176 0 0 0 0 0 0 28.83 13.73 28.83

12234 -2.97 -146.0 1581 1659 3500 3175 1.2 -0.6 2309 12241 0.00 1.58 0.00 0.000 1030 0.000 0.109 1575 2499 3337 3500 3175 0 0 0 0 0 0 28.83 13.72 28.83

12555 -2.97 -146.0 1575 2500 3500 3175 1.1 1.3 2370 12561 0.00 0.00 0.00 0.000 6 0.000 0.000 1575 2500 3337 3499 3175 0 0 0 0 0 0 28.83 28.83 28.83

12875 -3.02 -146.0 1575 2500 3500 3175 1.1 0.2 2431 12882 0.00 0.00 0.00 0.000 6 0.000 0.000 1574 2500 3337 3500 3175 0 0 0 0 0 0 28.83 28.83 28.83

12907 end dive: HALF_MISSION_TIME_EXCEEDED

state 12908 begin apogee

12921 -0.22 0.0 1575 2500 3500 3175 1.1 0.0 2437 12932 3.22 0.00 5.75 0.180 10242 0.239 0.000 2430 2500 3290 3458 3122 0 0 0 0 0 0 13.64 28.83 28.83

12933 end apogee: FINISH_DEPTH_REACHED

state 12933 begin subsurface finish

12948 0.00 0.0 2430 2500 3458 3122 1.2 -0.7 2438 12989 0.28 0.00 37.88 0.157 10242 0.270 0.000 2500 2500 2977 3134 2821 0 0 0 0 0 0 13.52 28.83 28.83

12990 end subsurface finish: NO_VERTICAL_VELOCITY

state 12990 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	535	ESCAPE_HEADING	100	C_ROLL_DIVE	2500	ALTIM_TOP_MIN_OBSTACLE	2.8
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2510	ALTIM_PING_DEPTH	300
D_SURF	3	FIX_MISSING_TIMEOUT	5	HEAD_ERRBAND	10	ALTIM_PING_DELTA	50
D_FLARE	3	TGT_DEFAULT_LAT	6000	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_TIMEOUT	15	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	22	ALTIM_SENSITIVITY	5
D_NO_BLEED	200	SM_CC	400	R_STBD_OVSHOOT	15	XPDR_VALID	6
D_BOOST	110	N_FILEKB	4	ROLL_AD_RATE	300	XPDR_INHIBIT	90
T_BOOST	0	FILEMGR	2	ROLL_MAXERRORS	2	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	9	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.5
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_SAFE	500	PROTOCOL	1	VBD_MIN	500	DEEPGLIDERMB	0
D_CALL	3	N_NOCOMM	6	VBD_MAX	3960	MOTHERBOARD	4
SURFACE_URGENCY	10	NOCOMM_ACTION	161	C_VBD	2741	DEVICE1	2
SURFACE_URGENCY_TRY	5	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	10	UPLOAD_DIVES_MAX	3	VBD_CNV	-0.24529999	DEVICE3	-1
T_DIVE	400	CALL_TRIES	3	VBD_TIMEOUT	720	DEVICE4	-1
T_MISSION	430	CALL_WAIT	60	PITCH_VBD_SHIFT	0.0015	DEVICE5	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_PUMP_AD_RATE_SURFACE	5	DEVICE6	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERS	0
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE1	-1
T_NO_W	120	T_GPS	3	UNCOM_BLEED	20	LOGGERDEVICE2	-1
T_LOITER	0	N_GPS	20	VBD_MAXERRORS	1	LOGGERDEVICE3	-1
T_EPIRB	0	T_GPS_ALMANAC	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
USE_BATHY	-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	261213,083304,6642.426,-5846.649,0,4087.5,0,-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	1.19	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	261213,083304,6642.426,-5846.649,0,4087.5,0,-33.8	MHEAD_RNG_PITCHd_Wd	351.1,72740,-27.8,-8.250,-30.00,870
SPEED_LIMITS	0.143,0.247	D_GRID	797

FREEZE	1.24,-1.797,-1.801,2,11,0	_24V_AH	13.5,232.302
FINISH1	1.2,1.026444,0	_10V_AH	12.5,0.000
FINISH2	1.1	FG_AHR_24Vo	0.000
RAFOS_CLK	712	FG_AHR_10Vo	0.000
RAFOS	1,1388059742,12.166667,12.150556,74,62,60,53,51,50,153,209,222,170,199,134	MEM	150744
RAFOS_FIX	6642.980469,-5839.082031,261213,121204,4,92,0.39	DATA_FILE_SIZE	96411,2444
IRIDIUM_FIX	6625.71,-5911.55,241213,232356	CAP_FILE_SIZE	162730,0
TT8_MAMPS	0.024717,0.024717	CFSIZE	259252224,209313792
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.76204	SOUNDSPEED	1437.9
TCM_TEMP	11.90	CURRENT	5.993, 80.2,1
XPDR_PINGS	5	GPS	261213,123304,6642.980,-5839.082,0,4092.5,0,-33.8
ALTIM_TOP_PING	1.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	6	270	22.15	SBE_CT	1743	23	546.40
Roll_motor	4	110	7.08	SBE_O2	0	0	0.00
VBD_pump_during_apogee	43	179	105.88	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	1	420	8.51	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	6011	14	1124.10
LPSleep	2740	2	79.12
TT8_Active	233	14	41.49
TT8_Sampling	3488	33	1469.19
TT8_CF8	587	39	291.35
TT8_Kalman	0	0	0.00
Analog_circuits	1836	12	275.51
GPS_charging	0	0	0.00
Compass	3460	6	291.58
RAFOS	1800	1	33.75
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
20	-1.28	-46.6	2495	2501	2838	2622	0.0	0.0	0	40	0.00	0.00	-13.38	0.000	16390	0.000	0.000	2494	2501	2931	3040	2823	0	0	0	0	0	0	28.83	28.83	14.55
48	-1.28	-46.6	2494	2501	3040	2823	1.1	0.4	3	54	1.20	0.00	0.00	0.000	4102	0.093	0.000	2098	2501	2931	3040	2823	0	0	0	0	0	0	13.94	28.83	28.83
370	-1.43	-111.0	2097	2501	3040	2824	1.1	-0.6	64	390	0.12	0.00	-17.58	0.000	20486	0.168	0.000	2047	2501	3193	3336	3051	0	0	0	0	0	0	14.18	28.83	14.54
712	-1.53	-146.0	2047	2501	3339	3051	1.0	0.6	127	724	0.00	0.00	-9.65	0.000	16390	0.000	0.000	2047	2502	3337	3498	3176	0	0	0	0	0	0	28.83	28.83	14.54
1046	-1.58	-146.0	2048	2501	3500	3176	1.1	-0.1	189	1053	0.12	0.00	0.00	0.000	4102	0.170	0.000	2001	2501	3337	3499	3175	0	0	0	0	0	0	14.15	28.83	28.83
1374	-1.63	-146.0	2000	2502	3500	3175	1.0	0.5	250	1380	0.00	0.00	0.00	0.000	6	0.000	0.000	2000	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
1697	-1.68	-146.0	2001	2501	3500	3175	1.1	0.2	311	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	2001	2501	3338	3500	3176	0	0	0	0	0	0	28.83	28.83	28.83
2018	-1.73	-146.0	2000	2501	3500	3175	1.1	-0.3	372	2025	0.12	0.00	0.00	0.000	4102	0.164	0.000	1952	2502	3338	3501	3175	0	0	0	0	0	0	14.17	28.83	28.83
2340	-1.73	-146.0	1952	2501	3500	3175	1.1	0.0	433	2347	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2502	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
2660	-1.78	-146.0	1200	2499	3492	3172	1.1	0.1	494	2668	0.00	0.00	0.00	0.000	6	0.000	0.000	1951	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
2983	-1.83	-146.0	1952	2502	3500	3175	1.0	0.2	555	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	1952	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
3305	-1.87	-146.0	1952	2501	3500	3175	1.1	0.1	616	3312	0.12	0.00	0.00	0.000	4102	0.168	0.000	1906	2502	3337	3500	3175	0	0	0	0	0	0	14.19	28.83	28.83
3631	-1.92	-146.0	1906	2501	3500	3175	1.1	-0.1	677	3637	0.00	0.00	0.00	0.000	6	0.000	0.000	1906	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
3952	-1.98	-146.0	1906	2501	3500	3175	1.1	-0.0	738	3957	0.00	0.00	0.00	0.000	6	0.000	0.000	1906	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
4271	-1.98	-146.0	1906	2501	3500	3175	1.0	0.0	799	4278	0.00	0.00	0.00	0.000	6	0.000	0.000	1906	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
4594	-2.02	-146.0	1906	2501	3499	3175	1.1	0.0	860	4602	0.12	0.00	0.00	0.000	4102	0.159	0.000	1860	2501	3337	3500	3174	0	0	0	0	0	0	14.20	28.83	28.83
4918	-2.07	-146.0	1860	2501	3500	3175	1.0	0.5	921	4923	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
5238	-2.12	-146.0	1860	2501	3500	3175	1.1	-0.3	982	5244	0.00	0.00	0.00	0.000	6	0.000	0.000	1860	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
5558	-2.17	-146.0	1860	2501	3500	3175	1.1	-0.4	1043	5564	0.12	0.00	0.00	0.000	4102	0.164	0.000	1812	2501	3337	3500	3175	0	0	0	0	0	0	14.20	28.83	28.83
5875	-2.17	-146.0	1128	2500	3492	3172	1.1	-2.5	1104	5882	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
6197	-2.22	-146.0	1813	2501	3500	3175	1.1	-0.2	1165	6203	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2502	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
6517	-2.22	-146.0	1812	2502	3500	3175	1.1	0.0	1226	6523	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	2501	3338	3500	3176	0	0	0	0	0	0	28.83	28.83	28.83
6837	-2.22	-146.0	1813	2501	3499	3175	1.1	-0.3	1287	6843	0.00	0.00	0.00	0.000	6	0.000	0.000	1812	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
7158	-2.27	-146.0	1813	2501	3501	3176	1.1	0.2	1348	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	1813	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
7480	-2.32	-146.0	1813	2501	3500	3175	1.1	-0.4	1409	7487	0.12	0.00	0.00	0.000	4102	0.164	0.000	1767	2501	3338	3500	3176	0	0	0	0	0	0	14.21	28.83	28.83
7803	-2.37	-146.0	1096	2499	3492	3172	1.0	0.3	1470	7811	0.00	0.00	0.00	0.000	6	0.000	0.000	1766	2501	3338	3500	3176	0	0	0	0	0	0	28.83	28.83	28.83
8125	-2.42	-146.0	1766	2501	3500	3175	1.0	-0.3	1531	8131	0.00	0.00	0.00	0.000	6	0.000	0.000	1766	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
8447	-2.47	-146.0	1766	2501	3500	3175	1.1	-0.3	1592	8453	0.12	0.00	0.00	0.000	4102	0.156	0.000	1721	2501	3338	3500	3176	0	0	0	0	0	0	14.21	28.83	28.83
8768	-2.52	-146.0	1721	2501	3499	3175	1.1	-0.3	1653	8774	0.00	0.00	0.00	0.000	6	0.000	0.000	1722	2502	3337	3500	3174	0	0	0	0	0	0	28.83	28.83	28.83
9092	-2.57	-146.0	1721	2501	3500	3175	1.0	-0.0	1714	9098	0.12	0.00	0.00	0.000	4102	0.161	0.000	1675	2501	3337	3500	3175	0	0	0	0	0	0	14.23	28.83	28.83
9413	-2.62	-146.0	1675	2501	3500	3175	1.1	0.0	1775	9420	0.00	0.00	0.00	0.000	6	0.000	0.000	1675	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
9734	-2.62	-146.0	1676	2501	3500	3175	1.0	0.0	1836	9741	0.00	0.00	0.00	0.000	6	0.000	0.000	1675	2501	3337	3499	3176	0	0	0	0	0	0	28.83	28.83	28.83
10055	-2.67	-146.0	1040	2499	3492	3172	1.0	-0.2	1897	10062	0.00	0.00	0.00	0.000	6	0.000	0.000	1675	2501	3337	3499	3175	0	0	0	0	0	0	28.83	28.83	28.83
10378	-2.72	-146.0	1675	2502	3500	3176	1.1	-0.1	1958	10384	0.12	0.00	0.00	0.000	4102	0.164	0.000	1628	2502	3337	3500	3175	0	0	0	0	0	0	14.21	28.83	28.83
10705	-2.77	-146.0	1024	2499	3491	3172	1.0	0.0	2019	10711	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2502	3337	3499	3175	0	0	0	0	0	0	28.83	28.83	28.83
11027	-2.82	-146.0	1628	2501	3500	3175	1.0	0.5	2080	11033	0.00	0.00	0.00	0.000	6	0.000	0.000	1628	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
11347	-2.87	-146.0	1629	2501	3499	3175	1.1	-0.2	2141	11354	0.12	0.00	0.00	0.000	4102	0.158	0.000	1581	2501	3337	3500	3175	0	0	0	0	0	0	14.21	28.83	28.83
11667	-2.87	-146.0	1581	2501	3500	3175	1.0	1.2	2202	11674	0.00	0.00	0.00	0.000	6	0.000	0.000	1581	2501	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
11988	-2.92	-146.0	1581	2501	3500	3175	1.1	-0.5	2263	11997	0.00	1.55	0.00	0.000	516	0.000	0.099	1581	1660	3338	3500	3176	0	0	0	0	0	0	28.83	13.73	28.83
12234	-2.97	-146.0	1581	1659	3500	3175	1.2	-0.6	2309	12241	0.00	1.58	0.00	0.000	1030	0.000	0.109	1575	2499	3337	3500	3175	0	0	0	0	0	0	28.83	13.72	28.83
12555	-2.97	-146.0	1575	2500	3500	3175	1.1	1.3	2370	12561	0.00	0.00	0.00	0.000	6	0.000	0.000	1575	2500	3337	3499	3175	0	0	0	0	0	0	28.83	28.83	28.83
12875	-3.02	-146.0	1575	2500	3500	3175	1.1	0.2	2431	12882	0.00	0.00	0.00	0.000	6	0.000	0.000	1574	2500	3337	3500	3175	0	0	0	0	0	0	28.83	28.83	28.83
12907	end dive: HALF_MISSION_TIME_EXCEEDED
state	12908	begin apogee
12921	-0.22	0.0	1575	2500	3500	3175	1.1	0.0	2437	12932	3.22	0.00	5.75	0.180	10242	0.239	0.000	2430	2500	3290	3458	3122	0	0	0	0	0	0	13.64	28.83	28.83
12933	end apogee: FINISH_DEPTH_REACHED
state	12933	begin subsurface finish
12948	0.00	0.0	2430	2500	3458	3122	1.2	-0.7	2438	12989	0.28	0.00	37.88	0.157	10242	0.270	0.000	2500	2500	2977	3134	2821	0	0	0	0	0	0	13.52	28.83	28.83
12990	end subsurface finish: NO_VERTICAL_VELOCITY
state	12990	begin surface