Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 584 * 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 90 ROLL_DEG 24 ALTIM_TOP_TURN_MARGIN 5

DIVE 584 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 549.71729 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 10 N_NOSURFACE 0 VBD_DBAND 2 DEVICE2 20

SURFACE_URGENCY_FORCE 20 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 -4 T_GPS_CHARGE -12444.111 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 0 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 549.71729

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 20

ALTIM_FREQUENCY 13 ESCAPE_HEADING 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 10

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 90 P_OVSHOOT 0.039999999 T_GPS_CHARGE -12444.111

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 -4

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 0 SEABIRD_C_I -0.0013153109 VBD_TIMEOUT 720

DIVE 584 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 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 6359.083,-5942.916

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 9.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 1.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8 MHEAD_RNG_PITCHd_Wd 120.8,20000,-15.5,-8.250,-18.49,2720

SPEED_LIMITS 0.143,0.247 D_GRID 372

Post-dive calculations and measurements:

FREEZE 2.28,-1.721,-1.820,2,8,0 ALTIM_TOP_PING 19.3,18.8

FINISH1 2.3,1.026702,39 _24V_AH 11.7,240.535

FINISH2 2.5 _10V_AH 12.0,0.000

RAFOS_CLK 431 FG_AHR_24Vo 0.000

RAFOS 0,1388692873,20.033333,20.020277,61,58,56,54,53,51,170,141,208,221,194,119 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238568

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 16814,362

TT8_MAMPS 0.026964,0.026964 CAP_FILE_SIZE 70411,0

HUMID 46.22 CFSIZE 259252224,206254080

INTERNAL_PRESSURE 8.79133 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.00 SOUNDSPEED 1448.8

XPDR_PINGS 19 GPS 020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 316 16.77 SBE_CT 254 23 69.13

Roll_motor 46 136 73.49 SBE_O2 0 0 0.00

VBD_pump_during_apogee 434 2304 11718.88 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 5 420 27.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1014 14 182.04

LPSleep 5301 2 146.94

TT8_Active 443 14 75.65

TT8_Sampling 855 33 345.99

TT8_CF8 303 39 144.41

TT8_Kalman 0 0 0.00

Analog_circuits 969 12 139.62

GPS_charging 0 0 0.00

Compass 846 6 68.44

RAFOS 1080 1 19.44

Transponder 6 30 2.22

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 -0.89 -146.0 2536 2501 2670 2490 0.0 0.0 0 30 0.00 0.00 -7.68 0.000 16386 0.000 0.000 2536 2501 2824 2911 2737 0 0 0 0 0 0 28.83 28.83 28.83

37 -0.89 -146.0 2536 2501 2918 2735 6.6 0.0 1 62 0.93 1.52 -15.73 0.000 20996 0.100 0.126 2220 1653 3339 3508 3171 0 0 0 0 0 0 14.28 14.24 14.75

227 -0.80 -146.0 2220 1652 3511 3170 36.9 -20.3 19 234 0.15 1.55 0.00 0.000 3078 0.299 0.112 2244 2507 3340 3511 3170 0 0 0 0 0 0 13.94 14.21 28.83

536 -0.73 -146.0 2244 2507 3511 3169 93.5 -17.1 50 540 0.12 1.52 0.00 0.000 2564 0.317 0.091 2276 1660 3340 3511 3169 0 0 0 0 0 0 14.04 14.19 28.83

591 -0.67 -146.0 2276 1659 3511 3170 101.2 -16.2 54 595 0.00 1.52 0.00 0.000 1030 0.000 0.111 2272 2506 3340 3510 3170 0 0 0 0 0 0 28.83 14.19 28.83

907 -0.62 -146.0 2271 2506 3511 3169 153.1 -16.0 65 911 0.12 1.50 0.00 0.000 2564 0.300 0.091 2303 1653 3340 3511 3169 0 0 0 0 0 0 14.09 14.23 28.83

974 -0.58 -146.0 2302 1653 3511 3169 162.7 -15.4 67 977 0.00 1.55 0.00 0.000 1030 0.000 0.114 2298 2503 3340 3511 3169 0 0 0 0 0 0 28.83 14.16 28.83

1309 -0.56 -146.0 2298 2503 3511 3168 208.9 -13.1 78 1313 0.00 1.55 0.00 0.000 260 0.000 0.129 2292 3351 3339 3511 3168 0 0 0 0 0 0 28.83 14.10 28.83

1338 -0.54 -146.0 2292 3350 3511 3168 208.9 -13.1 78 1345 0.17 1.50 0.00 0.000 3078 0.263 0.083 2331 2485 3340 3512 3168 0 0 0 0 0 0 13.92 14.26 28.83

1646 -0.55 -146.0 2331 2485 3511 3167 242.9 -9.8 89 1649 0.00 1.50 0.00 0.000 516 0.000 0.097 2331 1653 3339 3511 3167 0 0 0 0 0 0 28.83 14.13 28.83

1714 -0.57 -146.0 1472 1652 3503 3163 249.4 -9.8 91 1717 0.00 1.55 0.00 0.000 1030 0.000 0.116 2326 2502 3338 3511 3166 0 0 0 0 0 0 28.83 14.14 28.83

2045 -0.57 -146.0 2327 2502 3511 3166 281.5 -8.9 102 2046 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 2502 3338 3511 3166 0 0 0 0 0 0 28.83 28.83 28.83

2344 -0.57 -146.0 2326 2501 3511 3166 306.8 -8.4 112 2347 0.00 1.50 0.00 0.000 516 0.000 0.095 2326 1647 3338 3511 3166 0 0 0 0 0 0 28.83 14.16 28.83

2379 -0.58 -146.0 2327 1646 3512 3166 310.0 -8.5 113 2383 0.00 1.58 0.00 0.000 1030 0.000 0.117 2322 2507 3338 3511 3166 0 0 0 0 0 0 28.83 14.12 28.83

2715 -0.58 -146.0 2323 2507 3512 3166 340.1 -9.1 124 2716 0.00 0.00 0.00 0.000 6 0.000 0.000 2322 2507 3339 3513 3166 0 0 0 0 0 0 28.83 28.83 28.83

3014 -0.58 -146.0 2323 2507 3513 3166 366.0 -8.6 134 3018 0.00 1.55 0.00 0.000 516 0.000 0.096 2323 1654 3339 3513 3166 0 0 0 0 0 0 28.83 14.12 28.83

3080 -0.59 -146.0 2323 1654 3514 3166 371.7 -8.8 136 3083 0.00 1.55 0.00 0.000 1030 0.000 0.115 2318 2504 3340 3514 3167 0 0 0 0 0 0 28.83 14.11 28.83

3110 end dive: TARGET_DEPTH_EXCEEDED

state 3110 begin apogee

3124 -0.22 0.0 2318 2504 3514 3166 374.9 -8.8 137 3289 0.43 0.00 154.15 2.305 10246 0.220 0.000 2433 2504 2741 2862 2620 0 0 0 0 0 0 13.89 28.83 12.31

3290 end apogee: CONTROL_FINISHED_OK

state 3290 begin climb

3296 0.89 146.0 2433 2503 2862 2620 381.9 0.0 142 3469 1.27 0.00 168.55 2.173 10246 0.168 0.000 2793 2504 2145 2242 2048 0 0 0 0 0 0 13.50 28.83 11.69

3776 0.86 146.0 2793 2504 2241 2038 352.8 8.4 158 3780 0.00 1.52 0.00 0.000 516 0.000 0.100 2799 1671 2139 2241 2038 0 0 0 0 0 0 28.83 14.01 28.83

3860 0.83 146.0 2799 1671 2241 2035 347.0 8.3 160 3864 0.00 1.52 0.00 0.000 1030 0.000 0.118 2799 2509 2138 2241 2035 0 0 0 0 0 0 28.83 14.14 28.83

4177 0.79 146.0 2799 2508 2241 2034 318.7 8.7 171 4178 0.15 0.00 0.00 0.000 4102 0.255 0.000 2765 2508 2137 2241 2034 0 0 0 0 0 0 14.19 28.83 28.83

4475 0.87 197.8 2765 2509 2241 2033 298.4 6.3 181 4532 0.00 0.00 54.25 2.166 8198 0.000 0.000 2765 2509 1934 2040 1828 0 0 0 0 0 0 28.83 28.83 12.95

4836 0.92 230.7 2765 2508 2037 1822 273.2 7.0 193 4879 0.12 1.62 34.97 2.102 10500 0.157 0.131 2816 3357 1800 1901 1699 0 0 0 0 0 0 14.45 14.20 13.05

4931 0.90 230.7 2816 3357 1898 1699 264.4 8.9 196 4935 0.00 1.50 0.00 0.000 1030 0.000 0.089 2822 2515 1797 1897 1698 0 0 0 0 0 0 28.83 14.29 28.83

5268 0.86 230.7 2823 2514 1893 1698 226.3 11.6 207 5272 0.12 1.50 0.00 0.000 4612 0.271 0.097 2795 1652 1795 1894 1697 0 0 0 0 0 0 14.21 14.34 28.83

5337 0.84 230.7 1824 1651 1857 1693 219.2 11.4 209 5341 0.00 1.58 0.00 0.000 1030 0.000 0.116 2794 2505 1795 1894 1696 0 0 0 0 0 0 28.83 14.26 28.83

5668 0.84 230.7 2795 2505 1893 1696 190.0 8.6 220 5669 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2505 1794 1893 1696 0 0 0 0 0 0 28.83 28.83 28.83

5969 0.87 249.3 2795 2504 1893 1696 166.7 7.5 230 5995 0.00 1.62 19.58 2.027 8452 0.000 0.132 2794 3362 1723 1818 1629 0 0 0 0 0 0 28.83 14.33 13.22

6039 0.87 249.3 2795 3362 1818 1629 160.8 8.8 232 6043 0.00 1.50 0.00 0.000 1030 0.000 0.089 2801 2492 1723 1818 1629 0 0 0 0 0 0 28.83 14.38 28.83

6364 0.87 249.3 2801 2492 1817 1628 133.0 9.1 243 6368 0.00 1.48 0.00 0.000 516 0.000 0.103 2807 1671 1722 1817 1628 0 0 0 0 0 0 28.83 14.26 28.83

6494 0.87 249.3 2806 1670 1817 1627 121.6 9.1 247 6497 0.00 1.52 0.00 0.000 1030 0.000 0.116 2807 2515 1722 1817 1627 0 0 0 0 0 0 28.83 14.26 28.83

6804 0.87 249.3 2807 2515 1816 1627 94.5 8.9 260 6808 0.00 1.60 0.00 0.000 260 0.000 0.132 2807 3361 1721 1816 1627 0 0 0 0 0 0 28.83 14.16 28.83

6890 0.86 249.3 2807 3361 1816 1627 86.2 9.9 268 6894 0.00 1.50 0.00 0.000 1030 0.000 0.090 2813 2499 1721 1816 1627 0 0 0 0 0 0 28.83 14.31 28.83

7206 0.86 249.3 2812 2499 1816 1627 55.0 10.0 299 7212 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2499 1721 1816 1627 0 0 0 0 0 0 28.83 28.83 28.83

7524 0.87 256.1 2813 2499 1815 1626 29.5 8.0 330 7533 0.00 1.48 3.05 0.274 8708 0.000 0.099 2819 1669 1697 1790 1604 0 0 0 0 0 0 28.83 14.24 13.85

7562 0.87 256.1 1856 1668 1758 1602 25.1 9.8 333 7569 0.00 1.55 0.00 0.000 1030 0.000 0.117 2819 2513 1697 1790 1604 0 0 0 0 0 0 28.83 14.20 28.83

7776 end climb: FINISH_DEPTH_REACHED

state 7776 begin subsurface finish

7790 0.06 39.3 2819 2514 1790 1604 2.3 10.0 355 7847 0.93 1.58 -45.92 0.000 20996 0.154 0.136 2533 1662 2581 2670 2493 0 0 0 0 0 0 14.09 14.25 14.74

7848 end subsurface finish: CONTROL_FINISHED_OK

state 7848 begin surface

ID	192	HD_C	3.62024e-06	ROLL_MAX	3873	ALTIM_BOTTOM_TURN_MARGIN	15
MISSION	2	HEADING	90	ROLL_DEG	24	ALTIM_TOP_TURN_MARGIN	5
DIVE	584	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	549.71729	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	10	N_NOSURFACE	0	VBD_DBAND	2	DEVICE2	20
SURFACE_URGENCY_FORCE	20	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	-4	T_GPS_CHARGE	-12444.111	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	0	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	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	6359.083,-5942.916
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	9.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	1.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8	MHEAD_RNG_PITCHd_Wd	120.8,20000,-15.5,-8.250,-18.49,2720
SPEED_LIMITS	0.143,0.247	D_GRID	372

FREEZE	2.28,-1.721,-1.820,2,8,0	ALTIM_TOP_PING	19.3,18.8
FINISH1	2.3,1.026702,39	_24V_AH	11.7,240.535
FINISH2	2.5	_10V_AH	12.0,0.000
RAFOS_CLK	431	FG_AHR_24Vo	0.000
RAFOS	0,1388692873,20.033333,20.020277,61,58,56,54,53,51,170,141,208,221,194,119	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238568
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	16814,362
TT8_MAMPS	0.026964,0.026964	CAP_FILE_SIZE	70411,0
HUMID	46.22	CFSIZE	259252224,206254080
INTERNAL_PRESSURE	8.79133	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1448.8
XPDR_PINGS	19	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	316	16.77	SBE_CT	254	23	69.13
Roll_motor	46	136	73.49	SBE_O2	0	0	0.00
VBD_pump_during_apogee	434	2304	11718.88	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	5	420	27.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1014	14	182.04
LPSleep	5301	2	146.94
TT8_Active	443	14	75.65
TT8_Sampling	855	33	345.99
TT8_CF8	303	39	144.41
TT8_Kalman	0	0	0.00
Analog_circuits	969	12	139.62
GPS_charging	0	0	0.00
Compass	846	6	68.44
RAFOS	1080	1	19.44
Transponder	6	30	2.22

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	-0.89	-146.0	2536	2501	2670	2490	0.0	0.0	0	30	0.00	0.00	-7.68	0.000	16386	0.000	0.000	2536	2501	2824	2911	2737	0	0	0	0	0	0	28.83	28.83	28.83
37	-0.89	-146.0	2536	2501	2918	2735	6.6	0.0	1	62	0.93	1.52	-15.73	0.000	20996	0.100	0.126	2220	1653	3339	3508	3171	0	0	0	0	0	0	14.28	14.24	14.75
227	-0.80	-146.0	2220	1652	3511	3170	36.9	-20.3	19	234	0.15	1.55	0.00	0.000	3078	0.299	0.112	2244	2507	3340	3511	3170	0	0	0	0	0	0	13.94	14.21	28.83
536	-0.73	-146.0	2244	2507	3511	3169	93.5	-17.1	50	540	0.12	1.52	0.00	0.000	2564	0.317	0.091	2276	1660	3340	3511	3169	0	0	0	0	0	0	14.04	14.19	28.83
591	-0.67	-146.0	2276	1659	3511	3170	101.2	-16.2	54	595	0.00	1.52	0.00	0.000	1030	0.000	0.111	2272	2506	3340	3510	3170	0	0	0	0	0	0	28.83	14.19	28.83
907	-0.62	-146.0	2271	2506	3511	3169	153.1	-16.0	65	911	0.12	1.50	0.00	0.000	2564	0.300	0.091	2303	1653	3340	3511	3169	0	0	0	0	0	0	14.09	14.23	28.83
974	-0.58	-146.0	2302	1653	3511	3169	162.7	-15.4	67	977	0.00	1.55	0.00	0.000	1030	0.000	0.114	2298	2503	3340	3511	3169	0	0	0	0	0	0	28.83	14.16	28.83
1309	-0.56	-146.0	2298	2503	3511	3168	208.9	-13.1	78	1313	0.00	1.55	0.00	0.000	260	0.000	0.129	2292	3351	3339	3511	3168	0	0	0	0	0	0	28.83	14.10	28.83
1338	-0.54	-146.0	2292	3350	3511	3168	208.9	-13.1	78	1345	0.17	1.50	0.00	0.000	3078	0.263	0.083	2331	2485	3340	3512	3168	0	0	0	0	0	0	13.92	14.26	28.83
1646	-0.55	-146.0	2331	2485	3511	3167	242.9	-9.8	89	1649	0.00	1.50	0.00	0.000	516	0.000	0.097	2331	1653	3339	3511	3167	0	0	0	0	0	0	28.83	14.13	28.83
1714	-0.57	-146.0	1472	1652	3503	3163	249.4	-9.8	91	1717	0.00	1.55	0.00	0.000	1030	0.000	0.116	2326	2502	3338	3511	3166	0	0	0	0	0	0	28.83	14.14	28.83
2045	-0.57	-146.0	2327	2502	3511	3166	281.5	-8.9	102	2046	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	2502	3338	3511	3166	0	0	0	0	0	0	28.83	28.83	28.83
2344	-0.57	-146.0	2326	2501	3511	3166	306.8	-8.4	112	2347	0.00	1.50	0.00	0.000	516	0.000	0.095	2326	1647	3338	3511	3166	0	0	0	0	0	0	28.83	14.16	28.83
2379	-0.58	-146.0	2327	1646	3512	3166	310.0	-8.5	113	2383	0.00	1.58	0.00	0.000	1030	0.000	0.117	2322	2507	3338	3511	3166	0	0	0	0	0	0	28.83	14.12	28.83
2715	-0.58	-146.0	2323	2507	3512	3166	340.1	-9.1	124	2716	0.00	0.00	0.00	0.000	6	0.000	0.000	2322	2507	3339	3513	3166	0	0	0	0	0	0	28.83	28.83	28.83
3014	-0.58	-146.0	2323	2507	3513	3166	366.0	-8.6	134	3018	0.00	1.55	0.00	0.000	516	0.000	0.096	2323	1654	3339	3513	3166	0	0	0	0	0	0	28.83	14.12	28.83
3080	-0.59	-146.0	2323	1654	3514	3166	371.7	-8.8	136	3083	0.00	1.55	0.00	0.000	1030	0.000	0.115	2318	2504	3340	3514	3167	0	0	0	0	0	0	28.83	14.11	28.83
3110	end dive: TARGET_DEPTH_EXCEEDED
state	3110	begin apogee
3124	-0.22	0.0	2318	2504	3514	3166	374.9	-8.8	137	3289	0.43	0.00	154.15	2.305	10246	0.220	0.000	2433	2504	2741	2862	2620	0	0	0	0	0	0	13.89	28.83	12.31
3290	end apogee: CONTROL_FINISHED_OK
state	3290	begin climb
3296	0.89	146.0	2433	2503	2862	2620	381.9	0.0	142	3469	1.27	0.00	168.55	2.173	10246	0.168	0.000	2793	2504	2145	2242	2048	0	0	0	0	0	0	13.50	28.83	11.69
3776	0.86	146.0	2793	2504	2241	2038	352.8	8.4	158	3780	0.00	1.52	0.00	0.000	516	0.000	0.100	2799	1671	2139	2241	2038	0	0	0	0	0	0	28.83	14.01	28.83
3860	0.83	146.0	2799	1671	2241	2035	347.0	8.3	160	3864	0.00	1.52	0.00	0.000	1030	0.000	0.118	2799	2509	2138	2241	2035	0	0	0	0	0	0	28.83	14.14	28.83
4177	0.79	146.0	2799	2508	2241	2034	318.7	8.7	171	4178	0.15	0.00	0.00	0.000	4102	0.255	0.000	2765	2508	2137	2241	2034	0	0	0	0	0	0	14.19	28.83	28.83
4475	0.87	197.8	2765	2509	2241	2033	298.4	6.3	181	4532	0.00	0.00	54.25	2.166	8198	0.000	0.000	2765	2509	1934	2040	1828	0	0	0	0	0	0	28.83	28.83	12.95
4836	0.92	230.7	2765	2508	2037	1822	273.2	7.0	193	4879	0.12	1.62	34.97	2.102	10500	0.157	0.131	2816	3357	1800	1901	1699	0	0	0	0	0	0	14.45	14.20	13.05
4931	0.90	230.7	2816	3357	1898	1699	264.4	8.9	196	4935	0.00	1.50	0.00	0.000	1030	0.000	0.089	2822	2515	1797	1897	1698	0	0	0	0	0	0	28.83	14.29	28.83
5268	0.86	230.7	2823	2514	1893	1698	226.3	11.6	207	5272	0.12	1.50	0.00	0.000	4612	0.271	0.097	2795	1652	1795	1894	1697	0	0	0	0	0	0	14.21	14.34	28.83
5337	0.84	230.7	1824	1651	1857	1693	219.2	11.4	209	5341	0.00	1.58	0.00	0.000	1030	0.000	0.116	2794	2505	1795	1894	1696	0	0	0	0	0	0	28.83	14.26	28.83
5668	0.84	230.7	2795	2505	1893	1696	190.0	8.6	220	5669	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2505	1794	1893	1696	0	0	0	0	0	0	28.83	28.83	28.83
5969	0.87	249.3	2795	2504	1893	1696	166.7	7.5	230	5995	0.00	1.62	19.58	2.027	8452	0.000	0.132	2794	3362	1723	1818	1629	0	0	0	0	0	0	28.83	14.33	13.22
6039	0.87	249.3	2795	3362	1818	1629	160.8	8.8	232	6043	0.00	1.50	0.00	0.000	1030	0.000	0.089	2801	2492	1723	1818	1629	0	0	0	0	0	0	28.83	14.38	28.83
6364	0.87	249.3	2801	2492	1817	1628	133.0	9.1	243	6368	0.00	1.48	0.00	0.000	516	0.000	0.103	2807	1671	1722	1817	1628	0	0	0	0	0	0	28.83	14.26	28.83
6494	0.87	249.3	2806	1670	1817	1627	121.6	9.1	247	6497	0.00	1.52	0.00	0.000	1030	0.000	0.116	2807	2515	1722	1817	1627	0	0	0	0	0	0	28.83	14.26	28.83
6804	0.87	249.3	2807	2515	1816	1627	94.5	8.9	260	6808	0.00	1.60	0.00	0.000	260	0.000	0.132	2807	3361	1721	1816	1627	0	0	0	0	0	0	28.83	14.16	28.83
6890	0.86	249.3	2807	3361	1816	1627	86.2	9.9	268	6894	0.00	1.50	0.00	0.000	1030	0.000	0.090	2813	2499	1721	1816	1627	0	0	0	0	0	0	28.83	14.31	28.83
7206	0.86	249.3	2812	2499	1816	1627	55.0	10.0	299	7212	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2499	1721	1816	1627	0	0	0	0	0	0	28.83	28.83	28.83
7524	0.87	256.1	2813	2499	1815	1626	29.5	8.0	330	7533	0.00	1.48	3.05	0.274	8708	0.000	0.099	2819	1669	1697	1790	1604	0	0	0	0	0	0	28.83	14.24	13.85
7562	0.87	256.1	1856	1668	1758	1602	25.1	9.8	333	7569	0.00	1.55	0.00	0.000	1030	0.000	0.117	2819	2513	1697	1790	1604	0	0	0	0	0	0	28.83	14.20	28.83
7776	end climb: FINISH_DEPTH_REACHED
state	7776	begin subsurface finish
7790	0.06	39.3	2819	2514	1790	1604	2.3	10.0	355	7847	0.93	1.58	-45.92	0.000	20996	0.154	0.136	2533	1662	2581	2670	2493	0	0	0	0	0	0	14.09	14.25	14.74
7848	end subsurface finish: CONTROL_FINISHED_OK
state	7848	begin surface