Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 581 * 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 581 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 16 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 16 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 581 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 8.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -1.4 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 8.56,-1.748,-1.822,2,5,0 ALTIM_TOP_PING 19.7,999.0

FINISH1 8.6,1.026664,41 _24V_AH 11.7,239.573

FINISH2 6.9 _10V_AH 11.6,0.000

RAFOS_CLK 411 FG_AHR_24Vo 0.000

RAFOS 0,1388664061,12.033333,12.016945,61,59,54,50,48,47,206,164,177,225,92,131 FG_AHR_10Vo 0.000

RAFOS_FIX 6632.709473,-5809.086426,281213,202044,2,98,0.12 MEM 238588

IRIDIUM_FIX 6332.30,-6008.62,020114,050535 DATA_FILE_SIZE 13489,338

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 66659,0

HUMID 46.73 CFSIZE 259252224,206376960

INTERNAL_PRESSURE 8.78157 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 12.00 SOUNDSPEED 1448.4

XPDR_PINGS 20 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 4 290 15.56 SBE_CT 237 23 64.39

Roll_motor 44 153 79.61 SBE_O2 0 0 0.00

VBD_pump_during_apogee 468 2263 12403.37 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 28.26 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 950 14 164.87

LPSleep 5015 2 134.40

TT8_Active 444 14 73.30

TT8_Sampling 810 33 316.56

TT8_CF8 296 39 136.49

TT8_Kalman 0 0 0.00

Analog_circuits 961 12 133.81

GPS_charging 0 0 0.00

Compass 798 6 62.41

RAFOS 2520 1 43.85

Transponder 6 30 2.21

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 2537 2494 2679 2479 0.0 0.0 0 30 0.00 0.00 -8.00 0.000 16386 0.000 0.000 2538 2495 2917 3030 2804 0 0 0 0 0 0 28.83 28.83 28.83

36 -0.89 -146.0 2537 2495 3032 2805 10.8 0.0 1 54 0.95 1.58 -9.30 0.000 20740 0.124 0.153 2222 3348 3339 3509 3169 0 0 0 0 0 0 14.12 14.12 14.71

150 -0.80 -146.0 1344 3346 3502 3164 28.7 -21.5 11 157 0.00 1.50 0.00 0.000 1030 0.000 0.083 2222 2486 3339 3511 3168 0 0 0 0 0 0 28.83 14.22 28.83

459 -0.71 -146.0 2222 2487 3511 3167 96.2 -22.3 42 463 0.20 1.50 0.00 0.000 2564 0.291 0.093 2272 1659 3339 3510 3168 0 0 0 0 0 0 13.85 14.13 28.83

529 -0.64 -146.0 2272 1659 3511 3167 108.6 -18.4 46 533 0.12 1.52 0.00 0.000 3078 0.287 0.114 2295 2500 3339 3511 3167 0 0 0 0 0 0 13.93 14.11 28.83

860 -0.61 -146.0 2295 2500 3511 3167 157.8 -14.1 57 863 0.00 1.58 0.00 0.000 260 0.000 0.134 2290 3352 3338 3510 3167 0 0 0 0 0 0 28.83 14.04 28.83

919 -0.58 -146.0 2290 3352 3510 3167 163.2 -14.4 58 926 0.12 1.50 0.00 0.000 3078 0.279 0.086 2314 2492 3338 3510 3166 0 0 0 0 0 0 13.90 14.19 28.83

1225 -0.57 -146.0 2315 2492 3511 3166 208.1 -12.6 69 1229 0.00 1.50 0.00 0.000 516 0.000 0.101 2315 1663 3338 3510 3166 0 0 0 0 0 0 28.83 14.07 28.83

1309 -0.57 -146.0 2315 1663 3511 3166 216.5 -12.5 71 1312 0.00 1.55 0.00 0.000 1030 0.000 0.124 2311 2503 3338 3510 3166 0 0 0 0 0 0 28.83 14.05 28.83

1625 -0.57 -146.0 2311 2503 3511 3165 255.0 -10.4 82 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 2311 2503 3337 3510 3165 0 0 0 0 0 0 28.83 28.83 28.83

1925 -0.57 -146.0 2311 2503 3511 3164 286.7 -10.2 92 1929 0.00 1.52 0.00 0.000 516 0.000 0.099 2311 1663 3337 3511 3163 0 0 0 0 0 0 28.83 14.07 28.83

1990 -0.57 -146.0 2311 1663 3511 3164 293.9 -10.6 94 1994 0.00 1.55 0.00 0.000 1030 0.000 0.122 2306 2505 3337 3510 3164 0 0 0 0 0 0 28.83 14.04 28.83

2326 -0.57 -146.0 2306 2504 3511 3164 326.0 -9.4 105 2329 0.00 1.55 0.00 0.000 260 0.000 0.131 2300 3349 3337 3510 3164 0 0 0 0 0 0 28.83 14.00 28.83

2379 -0.57 -146.0 2300 3349 3510 3164 329.7 -9.8 106 2382 0.00 1.50 0.00 0.000 1030 0.000 0.086 2300 2484 3337 3511 3164 0 0 0 0 0 0 28.83 14.18 28.83

2695 -0.57 -146.0 2300 2484 3512 3164 368.6 -12.1 117 2698 0.00 1.50 0.00 0.000 516 0.000 0.097 2300 1630 3338 3512 3164 0 0 0 0 0 0 28.83 14.08 28.83

2723 -0.57 -146.0 2300 1630 3512 3164 368.6 -12.1 117 2729 0.00 1.62 0.00 0.000 1030 0.000 0.119 2294 2509 3338 3512 3164 0 0 0 0 0 0 28.83 14.04 28.83

2753 end dive: TARGET_DEPTH_EXCEEDED

state 2753 begin apogee

2766 -0.22 0.0 2295 2509 3512 3164 376.5 -12.2 119 2933 0.50 0.00 153.52 2.264 10246 0.231 0.000 2428 2509 2741 2863 2619 0 0 0 0 0 0 13.78 28.83 12.31

2934 end apogee: CONTROL_FINISHED_OK

state 2934 begin climb

2940 0.89 146.0 2428 2509 2862 2619 386.0 0.0 124 3116 1.27 0.00 168.77 2.150 10246 0.174 0.000 2789 2509 2145 2243 2047 0 0 0 0 0 0 13.48 28.83 11.68

3426 0.89 163.6 2788 2509 2242 2036 361.0 7.6 141 3449 0.00 1.58 18.50 2.072 8452 0.000 0.130 2789 3358 2074 2178 1971 0 0 0 0 0 0 28.83 14.02 12.84

3505 0.88 179.0 2789 3357 2178 1971 356.5 7.7 143 3532 0.00 1.50 17.95 2.069 9222 0.000 0.089 2795 2502 2011 2114 1908 0 0 0 0 0 0 28.83 14.18 12.89

3837 0.86 179.0 2795 2503 2114 1904 323.2 9.1 155 3839 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2503 2009 2114 1904 0 0 0 0 0 0 28.83 28.83 28.83

4137 0.84 179.0 2794 2504 2114 1902 296.5 9.2 165 4140 0.00 1.58 0.00 0.000 260 0.000 0.129 2794 3366 2008 2114 1902 0 0 0 0 0 0 28.83 14.24 28.83

4215 0.81 179.0 2795 3366 2113 1903 290.1 9.5 167 4219 0.12 1.50 0.00 0.000 5126 0.265 0.089 2774 2506 2007 2113 1902 0 0 0 0 0 0 14.14 14.34 28.83

4537 0.85 209.9 2774 2506 2113 1901 263.5 7.1 178 4575 0.00 1.48 33.47 2.130 8708 0.000 0.099 2779 1667 1884 1992 1777 0 0 0 0 0 0 28.83 14.26 13.05

4615 0.91 248.2 2779 1667 1992 1775 259.6 6.8 180 4661 0.00 1.55 41.47 2.094 9222 0.000 0.117 2779 2516 1729 1826 1632 0 0 0 0 0 0 28.83 14.26 12.91

4986 0.91 248.2 2778 2516 1819 1630 225.4 8.9 193 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 2779 2516 1724 1819 1630 0 0 0 0 0 0 28.83 28.83 28.83

5278 0.93 248.2 2778 2516 1818 1628 200.3 8.4 203 5282 0.00 1.52 0.00 0.000 516 0.000 0.102 2784 1670 1723 1818 1628 0 0 0 0 0 0 28.83 14.27 28.83

5323 0.95 251.6 2784 1670 1818 1628 197.4 8.1 204 5327 0.00 1.55 0.00 0.000 1030 0.000 0.116 2784 2504 1722 1818 1627 0 0 0 0 0 0 28.83 14.24 28.83

5650 0.96 251.6 2784 2504 1818 1628 169.1 8.5 215 5654 0.12 1.48 0.00 0.000 2564 0.165 0.099 2842 1662 1723 1818 1628 0 0 0 0 0 0 14.45 14.30 28.83

5674 0.98 251.6 2842 1662 1818 1627 169.1 8.5 215 5678 0.00 1.52 0.00 0.000 1030 0.000 0.116 2842 2510 1722 1818 1627 0 0 0 0 0 0 28.83 14.25 28.83

5990 0.96 251.6 2842 2509 1817 1628 136.0 9.1 226 5994 0.00 1.55 0.00 0.000 260 0.000 0.132 2842 3357 1722 1817 1628 0 0 0 0 0 0 28.83 14.19 28.83

6079 0.93 251.6 2842 3357 1817 1628 130.2 8.7 228 6086 0.15 1.50 0.00 0.000 5126 0.262 0.090 2813 2496 1722 1816 1628 0 0 0 0 0 0 14.07 14.31 28.83

6386 0.97 276.7 2813 2496 1817 1627 105.8 7.3 239 6412 0.00 1.65 17.17 0.509 8452 0.000 0.132 2813 3356 1612 1704 1520 0 0 0 0 0 0 28.83 14.18 13.74

6449 0.97 278.8 2813 3356 1703 1520 100.1 8.2 241 6453 0.00 1.50 0.00 0.000 1030 0.000 0.090 2818 2493 1611 1703 1520 0 0 0 0 0 0 28.83 14.32 28.83

6766 1.01 305.4 2819 2493 1700 1518 74.3 7.2 270 6790 0.00 0.00 17.45 0.399 8198 0.000 0.000 2818 2493 1494 1585 1403 0 0 0 0 0 0 28.83 28.83 13.77

7095 1.01 305.4 2819 2493 1582 1399 40.6 9.4 303 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2493 1490 1582 1398 0 0 0 0 0 0 28.83 28.83 28.83

7398 end climb: FINISH_DEPTH_REACHED

state 7398 begin subsurface finish

7412 0.06 41.2 2819 2493 1581 1397 8.6 12.3 333 7453 1.00 1.55 -34.55 0.000 20996 0.199 0.136 2533 1661 2576 2676 2476 0 0 0 0 0 0 13.94 14.25 14.76

7454 end subsurface finish: CONTROL_FINISHED_OK

state 7454 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	581	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	16	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	8.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-1.4	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	8.56,-1.748,-1.822,2,5,0	ALTIM_TOP_PING	19.7,999.0
FINISH1	8.6,1.026664,41	_24V_AH	11.7,239.573
FINISH2	6.9	_10V_AH	11.6,0.000
RAFOS_CLK	411	FG_AHR_24Vo	0.000
RAFOS	0,1388664061,12.033333,12.016945,61,59,54,50,48,47,206,164,177,225,92,131	FG_AHR_10Vo	0.000
RAFOS_FIX	6632.709473,-5809.086426,281213,202044,2,98,0.12	MEM	238588
IRIDIUM_FIX	6332.30,-6008.62,020114,050535	DATA_FILE_SIZE	13489,338
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	66659,0
HUMID	46.73	CFSIZE	259252224,206376960
INTERNAL_PRESSURE	8.78157	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.00	SOUNDSPEED	1448.4
XPDR_PINGS	20	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	290	15.56	SBE_CT	237	23	64.39
Roll_motor	44	153	79.61	SBE_O2	0	0	0.00
VBD_pump_during_apogee	468	2263	12403.37	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	28.26	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	950	14	164.87
LPSleep	5015	2	134.40
TT8_Active	444	14	73.30
TT8_Sampling	810	33	316.56
TT8_CF8	296	39	136.49
TT8_Kalman	0	0	0.00
Analog_circuits	961	12	133.81
GPS_charging	0	0	0.00
Compass	798	6	62.41
RAFOS	2520	1	43.85
Transponder	6	30	2.21

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	2537	2494	2679	2479	0.0	0.0	0	30	0.00	0.00	-8.00	0.000	16386	0.000	0.000	2538	2495	2917	3030	2804	0	0	0	0	0	0	28.83	28.83	28.83
36	-0.89	-146.0	2537	2495	3032	2805	10.8	0.0	1	54	0.95	1.58	-9.30	0.000	20740	0.124	0.153	2222	3348	3339	3509	3169	0	0	0	0	0	0	14.12	14.12	14.71
150	-0.80	-146.0	1344	3346	3502	3164	28.7	-21.5	11	157	0.00	1.50	0.00	0.000	1030	0.000	0.083	2222	2486	3339	3511	3168	0	0	0	0	0	0	28.83	14.22	28.83
459	-0.71	-146.0	2222	2487	3511	3167	96.2	-22.3	42	463	0.20	1.50	0.00	0.000	2564	0.291	0.093	2272	1659	3339	3510	3168	0	0	0	0	0	0	13.85	14.13	28.83
529	-0.64	-146.0	2272	1659	3511	3167	108.6	-18.4	46	533	0.12	1.52	0.00	0.000	3078	0.287	0.114	2295	2500	3339	3511	3167	0	0	0	0	0	0	13.93	14.11	28.83
860	-0.61	-146.0	2295	2500	3511	3167	157.8	-14.1	57	863	0.00	1.58	0.00	0.000	260	0.000	0.134	2290	3352	3338	3510	3167	0	0	0	0	0	0	28.83	14.04	28.83
919	-0.58	-146.0	2290	3352	3510	3167	163.2	-14.4	58	926	0.12	1.50	0.00	0.000	3078	0.279	0.086	2314	2492	3338	3510	3166	0	0	0	0	0	0	13.90	14.19	28.83
1225	-0.57	-146.0	2315	2492	3511	3166	208.1	-12.6	69	1229	0.00	1.50	0.00	0.000	516	0.000	0.101	2315	1663	3338	3510	3166	0	0	0	0	0	0	28.83	14.07	28.83
1309	-0.57	-146.0	2315	1663	3511	3166	216.5	-12.5	71	1312	0.00	1.55	0.00	0.000	1030	0.000	0.124	2311	2503	3338	3510	3166	0	0	0	0	0	0	28.83	14.05	28.83
1625	-0.57	-146.0	2311	2503	3511	3165	255.0	-10.4	82	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	2311	2503	3337	3510	3165	0	0	0	0	0	0	28.83	28.83	28.83
1925	-0.57	-146.0	2311	2503	3511	3164	286.7	-10.2	92	1929	0.00	1.52	0.00	0.000	516	0.000	0.099	2311	1663	3337	3511	3163	0	0	0	0	0	0	28.83	14.07	28.83
1990	-0.57	-146.0	2311	1663	3511	3164	293.9	-10.6	94	1994	0.00	1.55	0.00	0.000	1030	0.000	0.122	2306	2505	3337	3510	3164	0	0	0	0	0	0	28.83	14.04	28.83
2326	-0.57	-146.0	2306	2504	3511	3164	326.0	-9.4	105	2329	0.00	1.55	0.00	0.000	260	0.000	0.131	2300	3349	3337	3510	3164	0	0	0	0	0	0	28.83	14.00	28.83
2379	-0.57	-146.0	2300	3349	3510	3164	329.7	-9.8	106	2382	0.00	1.50	0.00	0.000	1030	0.000	0.086	2300	2484	3337	3511	3164	0	0	0	0	0	0	28.83	14.18	28.83
2695	-0.57	-146.0	2300	2484	3512	3164	368.6	-12.1	117	2698	0.00	1.50	0.00	0.000	516	0.000	0.097	2300	1630	3338	3512	3164	0	0	0	0	0	0	28.83	14.08	28.83
2723	-0.57	-146.0	2300	1630	3512	3164	368.6	-12.1	117	2729	0.00	1.62	0.00	0.000	1030	0.000	0.119	2294	2509	3338	3512	3164	0	0	0	0	0	0	28.83	14.04	28.83
2753	end dive: TARGET_DEPTH_EXCEEDED
state	2753	begin apogee
2766	-0.22	0.0	2295	2509	3512	3164	376.5	-12.2	119	2933	0.50	0.00	153.52	2.264	10246	0.231	0.000	2428	2509	2741	2863	2619	0	0	0	0	0	0	13.78	28.83	12.31
2934	end apogee: CONTROL_FINISHED_OK
state	2934	begin climb
2940	0.89	146.0	2428	2509	2862	2619	386.0	0.0	124	3116	1.27	0.00	168.77	2.150	10246	0.174	0.000	2789	2509	2145	2243	2047	0	0	0	0	0	0	13.48	28.83	11.68
3426	0.89	163.6	2788	2509	2242	2036	361.0	7.6	141	3449	0.00	1.58	18.50	2.072	8452	0.000	0.130	2789	3358	2074	2178	1971	0	0	0	0	0	0	28.83	14.02	12.84
3505	0.88	179.0	2789	3357	2178	1971	356.5	7.7	143	3532	0.00	1.50	17.95	2.069	9222	0.000	0.089	2795	2502	2011	2114	1908	0	0	0	0	0	0	28.83	14.18	12.89
3837	0.86	179.0	2795	2503	2114	1904	323.2	9.1	155	3839	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2503	2009	2114	1904	0	0	0	0	0	0	28.83	28.83	28.83
4137	0.84	179.0	2794	2504	2114	1902	296.5	9.2	165	4140	0.00	1.58	0.00	0.000	260	0.000	0.129	2794	3366	2008	2114	1902	0	0	0	0	0	0	28.83	14.24	28.83
4215	0.81	179.0	2795	3366	2113	1903	290.1	9.5	167	4219	0.12	1.50	0.00	0.000	5126	0.265	0.089	2774	2506	2007	2113	1902	0	0	0	0	0	0	14.14	14.34	28.83
4537	0.85	209.9	2774	2506	2113	1901	263.5	7.1	178	4575	0.00	1.48	33.47	2.130	8708	0.000	0.099	2779	1667	1884	1992	1777	0	0	0	0	0	0	28.83	14.26	13.05
4615	0.91	248.2	2779	1667	1992	1775	259.6	6.8	180	4661	0.00	1.55	41.47	2.094	9222	0.000	0.117	2779	2516	1729	1826	1632	0	0	0	0	0	0	28.83	14.26	12.91
4986	0.91	248.2	2778	2516	1819	1630	225.4	8.9	193	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	2779	2516	1724	1819	1630	0	0	0	0	0	0	28.83	28.83	28.83
5278	0.93	248.2	2778	2516	1818	1628	200.3	8.4	203	5282	0.00	1.52	0.00	0.000	516	0.000	0.102	2784	1670	1723	1818	1628	0	0	0	0	0	0	28.83	14.27	28.83
5323	0.95	251.6	2784	1670	1818	1628	197.4	8.1	204	5327	0.00	1.55	0.00	0.000	1030	0.000	0.116	2784	2504	1722	1818	1627	0	0	0	0	0	0	28.83	14.24	28.83
5650	0.96	251.6	2784	2504	1818	1628	169.1	8.5	215	5654	0.12	1.48	0.00	0.000	2564	0.165	0.099	2842	1662	1723	1818	1628	0	0	0	0	0	0	14.45	14.30	28.83
5674	0.98	251.6	2842	1662	1818	1627	169.1	8.5	215	5678	0.00	1.52	0.00	0.000	1030	0.000	0.116	2842	2510	1722	1818	1627	0	0	0	0	0	0	28.83	14.25	28.83
5990	0.96	251.6	2842	2509	1817	1628	136.0	9.1	226	5994	0.00	1.55	0.00	0.000	260	0.000	0.132	2842	3357	1722	1817	1628	0	0	0	0	0	0	28.83	14.19	28.83
6079	0.93	251.6	2842	3357	1817	1628	130.2	8.7	228	6086	0.15	1.50	0.00	0.000	5126	0.262	0.090	2813	2496	1722	1816	1628	0	0	0	0	0	0	14.07	14.31	28.83
6386	0.97	276.7	2813	2496	1817	1627	105.8	7.3	239	6412	0.00	1.65	17.17	0.509	8452	0.000	0.132	2813	3356	1612	1704	1520	0	0	0	0	0	0	28.83	14.18	13.74
6449	0.97	278.8	2813	3356	1703	1520	100.1	8.2	241	6453	0.00	1.50	0.00	0.000	1030	0.000	0.090	2818	2493	1611	1703	1520	0	0	0	0	0	0	28.83	14.32	28.83
6766	1.01	305.4	2819	2493	1700	1518	74.3	7.2	270	6790	0.00	0.00	17.45	0.399	8198	0.000	0.000	2818	2493	1494	1585	1403	0	0	0	0	0	0	28.83	28.83	13.77
7095	1.01	305.4	2819	2493	1582	1399	40.6	9.4	303	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2493	1490	1582	1398	0	0	0	0	0	0	28.83	28.83	28.83
7398	end climb: FINISH_DEPTH_REACHED
state	7398	begin subsurface finish
7412	0.06	41.2	2819	2493	1581	1397	8.6	12.3	333	7453	1.00	1.55	-34.55	0.000	20996	0.199	0.136	2533	1661	2576	2676	2476	0	0	0	0	0	0	13.94	14.25	14.76
7454	end subsurface finish: CONTROL_FINISHED_OK
state	7454	begin surface