Glider dive log

DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 583 * 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 583 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 549.71729 R_STBD_OVSHOOT 14 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 22 VBD_MAXERRORS 1

DEVICE3 -1 MINV_24V 10 R_STBD_OVSHOOT 14 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 583 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 11.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -3.9 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 5.67,-1.726,-1.821,2,7,0 ALTIM_TOP_PING 19.7,999.0

FINISH1 5.7,1.026685,40 _24V_AH 11.6,240.239

FINISH2 4.7 _10V_AH 11.9,0.000

RAFOS_CLK 415 FG_AHR_24Vo 0.000

RAFOS 0,1388678517,16.033333,16.032499,63,58,58,53,52,51,176,117,212,139,1193,165 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 16769,353

TT8_MAMPS 0.024717,0.024717 CAP_FILE_SIZE 69158,0

HUMID 46.29 CFSIZE 259252224,206299136

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

TCM_TEMP 12.10 SOUNDSPEED 1448.4

XPDR_PINGS 6 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 4 299 15.48 SBE_CT 247 23 66.78

Roll_motor 49 135 77.44 SBE_O2 0 0 0.00

VBD_pump_during_apogee 471 2331 12743.64 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 2 420 10.96 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 993 14 176.82

LPSleep 5023 2 138.08

TT8_Active 432 14 73.14

TT8_Sampling 870 33 348.91

TT8_CF8 305 39 144.29

TT8_Kalman 0 0 0.00

Analog_circuits 986 12 140.91

GPS_charging 0 0 0.00

Compass 854 6 68.55

RAFOS 2520 1 44.98

Transponder 6 30 2.27

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 2534 2503 2676 2478 0.0 0.0 0 31 0.00 0.00 -8.88 0.000 16386 0.000 0.000 2534 2503 3024 3148 2900 0 0 0 0 0 0 28.83 28.83 28.83

37 -0.89 -146.0 2534 2503 3154 2896 14.5 0.0 1 50 0.93 1.55 -6.03 0.000 20996 0.116 0.132 2228 1658 3340 3511 3169 0 0 0 0 0 0 14.21 14.23 14.75

161 -0.81 -146.0 2228 1658 3514 3168 31.5 -18.2 12 167 0.00 1.52 0.00 0.000 1030 0.000 0.112 2222 2503 3341 3514 3168 0 0 0 0 0 0 28.83 14.20 28.83

469 -0.72 -146.0 2222 2503 3514 3168 97.6 -20.8 43 473 0.20 1.52 0.00 0.000 2564 0.300 0.090 2270 1658 3341 3515 3168 0 0 0 0 0 0 13.92 14.20 28.83

519 -0.64 -146.0 2271 1658 3515 3168 104.5 -19.5 45 524 0.10 1.58 0.00 0.000 3078 0.251 0.114 2293 2501 3341 3515 3168 0 0 0 0 0 0 13.93 14.14 28.83

842 -0.61 -146.0 2294 2501 3514 3167 155.9 -15.6 56 845 0.00 1.50 0.00 0.000 516 0.000 0.097 2294 1649 3340 3514 3166 0 0 0 0 0 0 28.83 14.20 28.83

908 -0.58 -146.0 2294 1648 3514 3166 165.6 -14.9 58 912 0.12 1.55 0.00 0.000 3078 0.283 0.118 2315 2500 3340 3514 3167 0 0 0 0 0 0 13.99 14.16 28.83

1243 -0.58 -146.0 2315 2500 3514 3165 209.2 -12.8 69 1245 0.00 0.00 0.00 0.000 6 0.000 0.000 2315 2500 3340 3514 3166 0 0 0 0 0 0 28.83 28.83 28.83

1543 -0.58 -146.0 2315 2500 3514 3164 241.2 -10.6 79 1547 0.00 1.48 0.00 0.000 516 0.000 0.097 2315 1653 3339 3514 3164 0 0 0 0 0 0 28.83 14.16 28.83

1622 -0.58 -146.0 2315 1653 3514 3164 247.5 -10.3 81 1626 0.00 1.55 0.00 0.000 1030 0.000 0.117 2311 2502 3339 3514 3164 0 0 0 0 0 0 28.83 14.13 28.83

1942 -0.58 -146.0 2311 2502 3514 3164 279.5 -10.4 92 1946 0.00 1.52 0.00 0.000 516 0.000 0.096 2310 1660 3338 3514 3163 0 0 0 0 0 0 28.83 14.12 28.83

1970 -0.58 -146.0 2311 1660 3515 3163 279.5 -10.4 92 1977 0.00 1.55 0.00 0.000 1030 0.000 0.114 2306 2506 3338 3514 3163 0 0 0 0 0 0 28.83 14.12 28.83

2278 -0.58 -146.0 2306 2507 3514 3163 316.4 -11.3 103 2279 0.00 0.00 0.00 0.000 6 0.000 0.000 2306 2507 3339 3515 3164 0 0 0 0 0 0 28.83 28.83 28.83

2580 -0.58 -146.0 2306 2507 3514 3164 350.9 -11.4 113 2583 0.00 1.50 0.00 0.000 516 0.000 0.094 2306 1658 3339 3514 3164 0 0 0 0 0 0 28.83 14.14 28.83

2694 -0.58 -146.0 2306 1658 3514 3164 362.1 -11.5 116 2697 0.00 1.52 0.00 0.000 1030 0.000 0.112 2301 2500 3339 3514 3164 0 0 0 0 0 0 28.83 14.11 28.83

2764 end dive: TARGET_DEPTH_EXCEEDED

state 2764 begin apogee

2777 -0.22 0.0 2301 2500 3515 3164 373.1 -11.7 119 2943 0.47 0.00 155.10 2.332 10246 0.226 0.000 2429 2500 2740 2862 2619 0 0 0 0 0 0 13.87 28.83 12.22

2944 end apogee: CONTROL_FINISHED_OK

state 2944 begin climb

2950 0.89 146.0 2429 2500 2862 2620 382.3 0.0 124 3133 1.27 1.85 169.18 2.224 10500 0.173 0.129 2789 3356 2145 2242 2048 0 0 0 0 0 0 13.45 12.76 11.62

3206 0.91 183.0 2789 3356 2239 2045 374.4 6.9 133 3254 0.00 1.60 43.03 2.173 9222 0.000 0.086 2795 2512 1995 2094 1896 0 0 0 0 0 0 28.83 13.32 11.91

3586 0.88 183.0 2795 2512 2094 1888 339.8 8.5 146 3589 0.00 1.50 0.00 0.000 516 0.000 0.101 2801 1666 1990 2094 1887 0 0 0 0 0 0 28.83 14.14 28.83

3677 0.86 186.4 2801 1666 2094 1884 334.6 8.1 148 3683 0.00 1.55 0.00 0.000 1030 0.000 0.116 2801 2512 1989 2094 1884 0 0 0 0 0 0 28.83 14.20 28.83

3981 0.84 186.4 2801 2511 2094 1884 306.7 8.6 159 3985 0.00 1.55 0.00 0.000 260 0.000 0.129 2802 3366 1989 2094 1884 0 0 0 0 0 0 28.83 14.23 28.83

4034 0.80 186.4 2801 3366 2093 1884 303.4 8.8 160 4039 0.15 1.50 0.00 0.000 5126 0.263 0.089 2774 2498 1988 2093 1884 0 0 0 0 0 0 14.12 14.33 28.83

4351 0.84 210.4 2774 2497 2093 1883 277.3 7.3 171 4385 0.00 1.52 28.85 2.132 8708 0.000 0.102 2778 1668 1882 1989 1776 0 0 0 0 0 0 28.83 14.29 13.07

4425 0.86 225.4 2778 1667 1989 1775 272.8 7.7 173 4446 0.00 1.52 17.48 2.044 9222 0.000 0.118 2778 2510 1821 1924 1718 0 0 0 0 0 0 28.83 14.27 13.02

4764 0.86 225.4 2778 2510 1920 1716 239.6 10.4 185 4768 0.00 1.58 0.00 0.000 260 0.000 0.129 2778 3350 1818 1920 1716 0 0 0 0 0 0 28.83 14.23 28.83

4792 0.86 225.4 2778 3350 1919 1716 239.6 10.4 185 4799 0.00 1.50 0.00 0.000 1030 0.000 0.088 2784 2489 1817 1918 1716 0 0 0 0 0 0 28.83 14.36 28.83

5099 0.86 225.4 2784 2489 1919 1715 203.5 9.1 196 5103 0.00 1.48 0.00 0.000 516 0.000 0.100 2790 1668 1817 1919 1715 0 0 0 0 0 0 28.83 14.27 28.83

5138 0.87 229.2 1808 1667 1880 1710 201.1 8.1 197 5148 0.00 1.52 4.60 1.577 9222 0.000 0.116 2790 2513 1806 1907 1705 0 0 0 0 0 0 28.83 14.28 13.24

5465 0.88 238.8 2790 2513 1907 1706 177.7 7.9 208 5483 0.00 1.60 11.52 1.953 8452 0.000 0.129 2790 3356 1767 1865 1669 0 0 0 0 0 0 28.83 14.38 13.26

5584 0.88 238.8 2790 3357 1864 1670 169.5 8.8 211 5591 0.00 1.50 0.00 0.000 1030 0.000 0.087 2796 2492 1767 1864 1670 0 0 0 0 0 0 28.83 14.38 28.83

5885 0.88 238.8 2796 2491 1863 1669 142.0 8.6 222 5888 0.00 1.48 0.00 0.000 516 0.000 0.101 2802 1673 1766 1863 1669 0 0 0 0 0 0 28.83 14.26 28.83

5913 0.88 238.8 2802 1673 1861 1669 142.0 8.6 222 5920 0.00 1.52 0.00 0.000 1030 0.000 0.116 2802 2511 1766 1863 1669 0 0 0 0 0 0 28.83 14.27 28.83

6221 0.97 298.3 2802 2511 1863 1669 114.4 6.0 233 6264 0.00 0.00 41.40 1.967 8198 0.000 0.000 2802 2511 1523 1615 1432 0 0 0 0 0 0 28.83 28.83 13.09

6556 0.99 298.3 2802 2511 1611 1427 86.4 8.7 254 6562 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2511 1519 1612 1426 0 0 0 0 0 0 28.83 28.83 28.83

6871 1.01 298.3 2802 2511 1611 1424 60.8 10.5 285 6874 0.00 1.55 0.00 0.000 260 0.000 0.133 2802 3356 1518 1611 1425 0 0 0 0 0 0 28.83 14.22 28.83

6906 1.02 298.3 2802 3356 1610 1424 55.5 12.1 288 6910 0.00 1.50 0.00 0.000 1030 0.000 0.090 2809 2492 1517 1610 1425 0 0 0 0 0 0 28.83 14.33 28.83

7222 1.04 298.3 2809 2492 1610 1423 37.4 10.9 319 7228 0.10 0.00 0.00 0.000 2054 0.173 0.000 2847 2492 1516 1609 1423 0 0 0 0 0 0 14.54 28.83 28.83

7497 end climb: FINISH_DEPTH_REACHED

state 7497 begin subsurface finish

7511 0.06 40.2 2846 2491 1608 1423 5.7 12.4 347 7559 1.10 1.52 -40.75 0.000 20996 0.213 0.135 2535 1665 2578 2669 2487 0 0 0 0 0 0 13.97 14.31 14.77

7560 end subsurface finish: CONTROL_FINISHED_OK

state 7560 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	583	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	549.71729	R_STBD_OVSHOOT	14	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	11.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-3.9	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	5.67,-1.726,-1.821,2,7,0	ALTIM_TOP_PING	19.7,999.0
FINISH1	5.7,1.026685,40	_24V_AH	11.6,240.239
FINISH2	4.7	_10V_AH	11.9,0.000
RAFOS_CLK	415	FG_AHR_24Vo	0.000
RAFOS	0,1388678517,16.033333,16.032499,63,58,58,53,52,51,176,117,212,139,1193,165	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	16769,353
TT8_MAMPS	0.024717,0.024717	CAP_FILE_SIZE	69158,0
HUMID	46.29	CFSIZE	259252224,206299136
INTERNAL_PRESSURE	8.78157	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	12.10	SOUNDSPEED	1448.4
XPDR_PINGS	6	GPS	020114,055812,6359.083,-6007.537,149,1.2,150,-30.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	299	15.48	SBE_CT	247	23	66.78
Roll_motor	49	135	77.44	SBE_O2	0	0	0.00
VBD_pump_during_apogee	471	2331	12743.64	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	2	420	10.96	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	993	14	176.82
LPSleep	5023	2	138.08
TT8_Active	432	14	73.14
TT8_Sampling	870	33	348.91
TT8_CF8	305	39	144.29
TT8_Kalman	0	0	0.00
Analog_circuits	986	12	140.91
GPS_charging	0	0	0.00
Compass	854	6	68.55
RAFOS	2520	1	44.98
Transponder	6	30	2.27

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	2534	2503	2676	2478	0.0	0.0	0	31	0.00	0.00	-8.88	0.000	16386	0.000	0.000	2534	2503	3024	3148	2900	0	0	0	0	0	0	28.83	28.83	28.83
37	-0.89	-146.0	2534	2503	3154	2896	14.5	0.0	1	50	0.93	1.55	-6.03	0.000	20996	0.116	0.132	2228	1658	3340	3511	3169	0	0	0	0	0	0	14.21	14.23	14.75
161	-0.81	-146.0	2228	1658	3514	3168	31.5	-18.2	12	167	0.00	1.52	0.00	0.000	1030	0.000	0.112	2222	2503	3341	3514	3168	0	0	0	0	0	0	28.83	14.20	28.83
469	-0.72	-146.0	2222	2503	3514	3168	97.6	-20.8	43	473	0.20	1.52	0.00	0.000	2564	0.300	0.090	2270	1658	3341	3515	3168	0	0	0	0	0	0	13.92	14.20	28.83
519	-0.64	-146.0	2271	1658	3515	3168	104.5	-19.5	45	524	0.10	1.58	0.00	0.000	3078	0.251	0.114	2293	2501	3341	3515	3168	0	0	0	0	0	0	13.93	14.14	28.83
842	-0.61	-146.0	2294	2501	3514	3167	155.9	-15.6	56	845	0.00	1.50	0.00	0.000	516	0.000	0.097	2294	1649	3340	3514	3166	0	0	0	0	0	0	28.83	14.20	28.83
908	-0.58	-146.0	2294	1648	3514	3166	165.6	-14.9	58	912	0.12	1.55	0.00	0.000	3078	0.283	0.118	2315	2500	3340	3514	3167	0	0	0	0	0	0	13.99	14.16	28.83
1243	-0.58	-146.0	2315	2500	3514	3165	209.2	-12.8	69	1245	0.00	0.00	0.00	0.000	6	0.000	0.000	2315	2500	3340	3514	3166	0	0	0	0	0	0	28.83	28.83	28.83
1543	-0.58	-146.0	2315	2500	3514	3164	241.2	-10.6	79	1547	0.00	1.48	0.00	0.000	516	0.000	0.097	2315	1653	3339	3514	3164	0	0	0	0	0	0	28.83	14.16	28.83
1622	-0.58	-146.0	2315	1653	3514	3164	247.5	-10.3	81	1626	0.00	1.55	0.00	0.000	1030	0.000	0.117	2311	2502	3339	3514	3164	0	0	0	0	0	0	28.83	14.13	28.83
1942	-0.58	-146.0	2311	2502	3514	3164	279.5	-10.4	92	1946	0.00	1.52	0.00	0.000	516	0.000	0.096	2310	1660	3338	3514	3163	0	0	0	0	0	0	28.83	14.12	28.83
1970	-0.58	-146.0	2311	1660	3515	3163	279.5	-10.4	92	1977	0.00	1.55	0.00	0.000	1030	0.000	0.114	2306	2506	3338	3514	3163	0	0	0	0	0	0	28.83	14.12	28.83
2278	-0.58	-146.0	2306	2507	3514	3163	316.4	-11.3	103	2279	0.00	0.00	0.00	0.000	6	0.000	0.000	2306	2507	3339	3515	3164	0	0	0	0	0	0	28.83	28.83	28.83
2580	-0.58	-146.0	2306	2507	3514	3164	350.9	-11.4	113	2583	0.00	1.50	0.00	0.000	516	0.000	0.094	2306	1658	3339	3514	3164	0	0	0	0	0	0	28.83	14.14	28.83
2694	-0.58	-146.0	2306	1658	3514	3164	362.1	-11.5	116	2697	0.00	1.52	0.00	0.000	1030	0.000	0.112	2301	2500	3339	3514	3164	0	0	0	0	0	0	28.83	14.11	28.83
2764	end dive: TARGET_DEPTH_EXCEEDED
state	2764	begin apogee
2777	-0.22	0.0	2301	2500	3515	3164	373.1	-11.7	119	2943	0.47	0.00	155.10	2.332	10246	0.226	0.000	2429	2500	2740	2862	2619	0	0	0	0	0	0	13.87	28.83	12.22
2944	end apogee: CONTROL_FINISHED_OK
state	2944	begin climb
2950	0.89	146.0	2429	2500	2862	2620	382.3	0.0	124	3133	1.27	1.85	169.18	2.224	10500	0.173	0.129	2789	3356	2145	2242	2048	0	0	0	0	0	0	13.45	12.76	11.62
3206	0.91	183.0	2789	3356	2239	2045	374.4	6.9	133	3254	0.00	1.60	43.03	2.173	9222	0.000	0.086	2795	2512	1995	2094	1896	0	0	0	0	0	0	28.83	13.32	11.91
3586	0.88	183.0	2795	2512	2094	1888	339.8	8.5	146	3589	0.00	1.50	0.00	0.000	516	0.000	0.101	2801	1666	1990	2094	1887	0	0	0	0	0	0	28.83	14.14	28.83
3677	0.86	186.4	2801	1666	2094	1884	334.6	8.1	148	3683	0.00	1.55	0.00	0.000	1030	0.000	0.116	2801	2512	1989	2094	1884	0	0	0	0	0	0	28.83	14.20	28.83
3981	0.84	186.4	2801	2511	2094	1884	306.7	8.6	159	3985	0.00	1.55	0.00	0.000	260	0.000	0.129	2802	3366	1989	2094	1884	0	0	0	0	0	0	28.83	14.23	28.83
4034	0.80	186.4	2801	3366	2093	1884	303.4	8.8	160	4039	0.15	1.50	0.00	0.000	5126	0.263	0.089	2774	2498	1988	2093	1884	0	0	0	0	0	0	14.12	14.33	28.83
4351	0.84	210.4	2774	2497	2093	1883	277.3	7.3	171	4385	0.00	1.52	28.85	2.132	8708	0.000	0.102	2778	1668	1882	1989	1776	0	0	0	0	0	0	28.83	14.29	13.07
4425	0.86	225.4	2778	1667	1989	1775	272.8	7.7	173	4446	0.00	1.52	17.48	2.044	9222	0.000	0.118	2778	2510	1821	1924	1718	0	0	0	0	0	0	28.83	14.27	13.02
4764	0.86	225.4	2778	2510	1920	1716	239.6	10.4	185	4768	0.00	1.58	0.00	0.000	260	0.000	0.129	2778	3350	1818	1920	1716	0	0	0	0	0	0	28.83	14.23	28.83
4792	0.86	225.4	2778	3350	1919	1716	239.6	10.4	185	4799	0.00	1.50	0.00	0.000	1030	0.000	0.088	2784	2489	1817	1918	1716	0	0	0	0	0	0	28.83	14.36	28.83
5099	0.86	225.4	2784	2489	1919	1715	203.5	9.1	196	5103	0.00	1.48	0.00	0.000	516	0.000	0.100	2790	1668	1817	1919	1715	0	0	0	0	0	0	28.83	14.27	28.83
5138	0.87	229.2	1808	1667	1880	1710	201.1	8.1	197	5148	0.00	1.52	4.60	1.577	9222	0.000	0.116	2790	2513	1806	1907	1705	0	0	0	0	0	0	28.83	14.28	13.24
5465	0.88	238.8	2790	2513	1907	1706	177.7	7.9	208	5483	0.00	1.60	11.52	1.953	8452	0.000	0.129	2790	3356	1767	1865	1669	0	0	0	0	0	0	28.83	14.38	13.26
5584	0.88	238.8	2790	3357	1864	1670	169.5	8.8	211	5591	0.00	1.50	0.00	0.000	1030	0.000	0.087	2796	2492	1767	1864	1670	0	0	0	0	0	0	28.83	14.38	28.83
5885	0.88	238.8	2796	2491	1863	1669	142.0	8.6	222	5888	0.00	1.48	0.00	0.000	516	0.000	0.101	2802	1673	1766	1863	1669	0	0	0	0	0	0	28.83	14.26	28.83
5913	0.88	238.8	2802	1673	1861	1669	142.0	8.6	222	5920	0.00	1.52	0.00	0.000	1030	0.000	0.116	2802	2511	1766	1863	1669	0	0	0	0	0	0	28.83	14.27	28.83
6221	0.97	298.3	2802	2511	1863	1669	114.4	6.0	233	6264	0.00	0.00	41.40	1.967	8198	0.000	0.000	2802	2511	1523	1615	1432	0	0	0	0	0	0	28.83	28.83	13.09
6556	0.99	298.3	2802	2511	1611	1427	86.4	8.7	254	6562	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2511	1519	1612	1426	0	0	0	0	0	0	28.83	28.83	28.83
6871	1.01	298.3	2802	2511	1611	1424	60.8	10.5	285	6874	0.00	1.55	0.00	0.000	260	0.000	0.133	2802	3356	1518	1611	1425	0	0	0	0	0	0	28.83	14.22	28.83
6906	1.02	298.3	2802	3356	1610	1424	55.5	12.1	288	6910	0.00	1.50	0.00	0.000	1030	0.000	0.090	2809	2492	1517	1610	1425	0	0	0	0	0	0	28.83	14.33	28.83
7222	1.04	298.3	2809	2492	1610	1423	37.4	10.9	319	7228	0.10	0.00	0.00	0.000	2054	0.173	0.000	2847	2492	1516	1609	1423	0	0	0	0	0	0	14.54	28.83	28.83
7497	end climb: FINISH_DEPTH_REACHED
state	7497	begin subsurface finish
7511	0.06	40.2	2846	2491	1608	1423	5.7	12.4	347	7559	1.10	1.52	-40.75	0.000	20996	0.213	0.135	2535	1665	2578	2669	2487	0	0	0	0	0	0	13.97	14.31	14.77
7560	end subsurface finish: CONTROL_FINISHED_OK
state	7560	begin surface