Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 124 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 124 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 720 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 616.91943 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 9 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 180 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 4 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -19641.967 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 49

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 225 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2800 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 616.91943

AH0_24V 134.3 D_PITCH 1.75 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 720 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 4 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 180

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 4

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -19641.967

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 200

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.0099999998 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 225 R_PORT_OVSHOOT 47 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 124 NAV_MODE 2 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 081210,203437,-7645.368,17121.043,56,1.7,56,131.8 TGT_NAME POLYNYA3

_CALLS 1 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081210,203939,-7645.324,17121.049,11,1.8,11,131.7 MHEAD_RNG_PITCHd_Wd 318.5,226152,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 750

Post-dive calculations and measurements:

FREEZE 0.19,-1.803,-1.835,2,1,0 _24V_AH 22.0,6.867

FINISH 0.2,1.026942 _10V_AH 10.0,2.983

SM_CCo 8065,183.73,0.102,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.91,0.00,0.00,183.73,0.000,0.000,0.102,184,2771,445,-8.16,-0.25,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17121.65,081210,181859 MEM 258472

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47052,717

HUMID 48.89 CAP_FILE_SIZE 102484,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,244318208

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.086, 19.5,1

ALTIM_TOP_PING 19.1,19.4 GPS 081210,225936,-7644.886,17127.691,75,1.1,81,131.6

ALTIM_BOTTOM_PING 651.3,7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 222 91.22 SBE_CT 504 24 266.17

Roll_motor 51 100 113.49 AA4330 892 33 647.90

VBD_pump_during_apogee 416 1128 10326.89 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 183 101 411.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 66.06 nil 0 0 0.00

Iridium_during_connect 38 160 136.09 nil 0 0 0.00

Iridium_during_xfer 128 223 631.56 nil 0 0 0.00

Transponder_ping 2 420 25.41 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.90

TT8 1830 19 362.47

LPSleep 4360 2 95.49

TT8_Active 691 19 136.89

TT8_Sampling 1525 39 607.10

TT8_CF8 154 45 70.91

TT8_Kalman 0 0 0.00

Analog_circuits 1443 12 173.24

GPS_charging 0 0 0.00

Compass 1241 15 186.23

RAFOS 0 0 0.00

Transponder 20 30 6.23

Guidance and control:

st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -219.0 0.0 0.0 0 159 0.00 0.00 -141.57 0.000 2 0.000 0.000 171 2760 3372 0 0 0 0 0 0

163 -0.84 -219.0 3.0 -4.9 23 190 8.95 1.62 -10.60 0.000 4 0.223 0.066 2519 3764 3855 0 0 0 0 0 0

440 -0.84 -219.0 63.7 -20.4 72 447 0.00 1.55 0.00 0.000 6 0.000 0.030 2519 2774 3857 0 0 0 0 0 0

580 -0.84 -219.0 90.2 -18.6 97 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

718 -0.84 -219.0 116.2 -19.1 114 719 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

845 -0.84 -219.0 140.3 -18.8 126 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

973 -0.84 -219.0 163.3 -17.9 138 974 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

1101 -0.84 -219.0 186.8 -18.6 150 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2773 3858 0 0 0 0 0 0

1228 -0.84 -219.0 210.1 -18.1 162 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

1355 -0.84 -219.0 233.4 -18.0 174 1356 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2774 3858 0 0 0 0 0 0

1483 -0.84 -219.0 256.0 -17.7 186 1486 0.00 1.60 0.00 0.000 4 0.000 0.050 2511 3756 3857 0 0 0 0 0 0

1521 -0.84 -219.0 263.2 -18.4 189 1529 0.00 1.50 0.00 0.000 6 0.000 0.031 2511 2786 3858 0 0 0 0 0 0

1721 -0.84 -219.0 298.6 -18.3 208 1722 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2785 3857 0 0 0 0 0 0

1910 -0.84 -219.0 332.6 -17.4 226 1914 0.00 2.17 0.00 0.000 4 0.000 0.033 2511 1374 3858 0 0 0 0 0 0

1950 -0.84 -219.0 339.6 -16.6 229 1954 0.00 2.22 0.00 0.000 6 0.000 0.044 2501 2770 3858 0 0 0 0 0 0

2147 -0.84 -219.0 375.7 -18.3 247 2148 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2770 3858 0 0 0 0 0 0

2339 -0.84 -219.0 410.5 -18.1 265 2340 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2770 3857 0 0 0 0 0 0

2530 -0.84 -219.0 445.2 -18.7 283 2531 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2769 3857 0 0 0 0 0 0

2722 -0.84 -219.0 479.8 -18.1 301 2724 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2770 3858 0 0 0 0 0 0

2929 -0.84 -219.0 517.6 -18.2 315 2933 0.00 2.15 0.00 0.000 4 0.000 0.034 2501 1370 3857 0 0 0 0 0 0

2973 -0.84 -219.0 525.5 -16.8 316 2978 0.08 2.28 0.00 0.000 6 0.138 0.046 2523 2768 3857 0 0 0 0 0 0

3175 -0.84 -219.0 556.2 -15.3 323 3178 0.00 1.58 0.00 0.000 4 0.000 0.052 2516 3759 3857 0 0 0 0 0 0

3209 -0.84 -219.0 562.0 -17.2 324 3212 0.00 1.52 0.00 0.000 6 0.000 0.031 2517 2771 3857 0 0 0 0 0 0

3426 -0.84 -219.0 597.5 -16.4 331 3428 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2771 3857 0 0 0 0 0 0

3611 -0.84 -219.0 627.2 -16.0 337 3612 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2771 3858 0 0 0 0 0 0

3767 end dive: BOTTOM_OBSTACLE_DETECTED

state 3767 begin apogee

3771 -0.16 0.0 651.3 15.6 342 3959 0.68 0.00 180.43 1.128 4 0.126 0.000 2742 2687 2960 0 0 0 0 0 0

3960 end apogee: CONTROL_FINISHED_OK

state 3960 begin climb

3962 0.84 219.0 660.1 0.0 348 4164 0.95 0.00 196.55 1.068 6 0.075 0.000 3066 2686 2067 0 0 0 0 0 0

4367 0.84 219.0 609.4 16.3 361 4371 0.00 1.88 0.00 0.000 4 0.000 0.047 3066 3755 2054 0 0 0 0 0 0

4455 0.84 219.0 593.3 17.9 363 4459 0.00 1.67 0.00 0.000 6 0.000 0.029 3074 2732 2052 0 0 1 0 0 0

4652 0.84 219.0 561.4 16.2 370 4653 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2732 2050 0 0 0 0 0 0

4835 0.84 219.0 531.3 16.4 376 4838 0.00 1.70 0.00 0.000 4 0.000 0.049 3074 3766 2049 0 0 0 0 0 0

4870 0.84 219.0 525.2 18.7 377 4874 0.00 1.65 0.00 0.000 6 0.000 0.031 3083 2718 2049 0 0 0 0 0 0

5070 0.84 219.0 490.3 16.9 386 5071 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2717 2048 0 0 0 0 0 0

5260 0.84 219.0 458.2 16.5 404 5264 0.00 1.70 0.00 0.000 4 0.000 0.049 3083 3770 2047 0 0 0 0 0 0

5309 0.84 219.0 449.0 19.3 408 5316 0.00 1.67 0.00 0.000 6 0.000 0.031 3091 2721 2047 0 0 0 0 0 0

5507 0.84 219.0 414.5 17.3 427 5508 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2722 2047 0 0 0 0 0 0

5698 0.84 219.0 380.5 17.9 445 5702 0.00 1.67 0.00 0.000 4 0.000 0.049 3091 3764 2046 0 0 0 0 0 0

5747 0.84 219.0 370.2 21.1 449 5756 0.00 1.65 0.00 0.000 6 0.000 0.031 3099 2729 2046 0 0 0 0 0 0

5946 0.84 219.0 333.4 18.3 468 5949 0.00 1.67 0.00 0.000 4 0.000 0.050 3099 3768 2046 0 0 0 0 0 0

5979 0.84 219.0 326.6 21.2 471 5984 0.12 1.65 0.00 0.000 6 0.183 0.032 3074 2700 2046 0 0 0 0 0 0

6183 0.84 219.0 293.3 15.7 490 6184 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2699 2046 0 0 0 0 0 0

6373 0.84 219.0 263.6 15.3 508 6377 0.00 1.70 0.00 0.000 4 0.000 0.050 3074 3766 2046 0 0 0 0 0 0

6431 0.84 219.0 253.9 18.3 513 6435 0.00 1.62 0.00 0.000 6 0.000 0.031 3081 2735 2045 0 0 0 0 0 0

6634 0.84 219.0 221.3 16.2 532 6636 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2733 2045 0 0 0 0 0 0

6761 0.84 219.0 200.8 16.2 544 6765 0.00 1.65 0.00 0.000 4 0.000 0.050 3081 3765 2046 0 0 0 0 0 0

6808 0.84 219.0 193.0 18.3 548 6812 0.00 1.60 0.00 0.000 6 0.000 0.032 3089 2748 2045 0 0 0 0 0 0

6948 0.84 219.0 170.2 15.6 561 6949 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2748 2045 0 0 0 0 0 0

7075 0.84 219.0 150.4 15.9 573 7078 0.00 1.62 0.00 0.000 4 0.000 0.050 3089 3773 2045 0 0 0 0 0 0

7109 0.84 219.0 144.6 17.3 576 7112 0.00 1.60 0.00 0.000 6 0.000 0.032 3097 2752 2045 0 0 0 0 0 0

7248 0.84 219.0 121.4 16.7 589 7249 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2752 2045 0 0 0 0 0 0

7375 0.84 219.0 100.3 16.3 601 7379 0.00 1.65 0.00 0.000 4 0.000 0.051 3097 3764 2045 0 0 0 0 0 0

7419 0.84 219.0 92.4 18.7 608 7426 0.10 1.58 0.00 0.000 6 0.158 0.033 3073 2762 2045 0 0 0 0 0 0

7561 0.84 219.0 71.0 15.7 633 7568 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2762 2045 0 0 0 0 0 0

7701 0.84 219.0 50.8 13.8 658 7707 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2762 2045 0 0 0 0 0 0

7842 0.84 219.0 30.4 13.5 683 7849 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2762 2044 0 0 0 0 0 0

7983 0.90 272.4 9.8 11.1 708 8029 0.00 1.65 39.03 0.748 4 0.000 0.052 3072 3763 1848 0 0 0 0 0 0

8035 end climb: SURFACE_DEPTH_REACHED

state 8035 begin surface coast

8049 end surface coast: CONTROL_FINISHED_OK

state 8049 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	124	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	720	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	616.91943	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	9	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	180	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	4	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-19641.967	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	49
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	225	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2800	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	2	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	081210,203437,-7645.368,17121.043,56,1.7,56,131.8	TGT_NAME	POLYNYA3
_CALLS	1	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081210,203939,-7645.324,17121.049,11,1.8,11,131.7	MHEAD_RNG_PITCHd_Wd	318.5,226152,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	750

FREEZE	0.19,-1.803,-1.835,2,1,0	_24V_AH	22.0,6.867
FINISH	0.2,1.026942	_10V_AH	10.0,2.983
SM_CCo	8065,183.73,0.102,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.91,0.00,0.00,183.73,0.000,0.000,0.102,184,2771,445,-8.16,-0.25,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17121.65,081210,181859	MEM	258472
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47052,717
HUMID	48.89	CAP_FILE_SIZE	102484,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,244318208
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.086, 19.5,1
ALTIM_TOP_PING	19.1,19.4	GPS	081210,225936,-7644.886,17127.691,75,1.1,81,131.6
ALTIM_BOTTOM_PING	651.3,7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	222	91.22	SBE_CT	504	24	266.17
Roll_motor	51	100	113.49	AA4330	892	33	647.90
VBD_pump_during_apogee	416	1128	10326.89	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	183	101	411.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	66.06	nil	0	0	0.00
Iridium_during_connect	38	160	136.09	nil	0	0	0.00
Iridium_during_xfer	128	223	631.56	nil	0	0	0.00
Transponder_ping	2	420	25.41	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.90
TT8	1830	19	362.47
LPSleep	4360	2	95.49
TT8_Active	691	19	136.89
TT8_Sampling	1525	39	607.10
TT8_CF8	154	45	70.91
TT8_Kalman	0	0	0.00
Analog_circuits	1443	12	173.24
GPS_charging	0	0	0.00
Compass	1241	15	186.23
RAFOS	0	0	0.00
Transponder	20	30	6.23

st_secs	pitch_ctl	vbd_ctl	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-219.0	0.0	0.0	0	159	0.00	0.00	-141.57	0.000	2	0.000	0.000	171	2760	3372	0	0	0	0	0	0
163	-0.84	-219.0	3.0	-4.9	23	190	8.95	1.62	-10.60	0.000	4	0.223	0.066	2519	3764	3855	0	0	0	0	0	0
440	-0.84	-219.0	63.7	-20.4	72	447	0.00	1.55	0.00	0.000	6	0.000	0.030	2519	2774	3857	0	0	0	0	0	0
580	-0.84	-219.0	90.2	-18.6	97	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
718	-0.84	-219.0	116.2	-19.1	114	719	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
845	-0.84	-219.0	140.3	-18.8	126	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
973	-0.84	-219.0	163.3	-17.9	138	974	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
1101	-0.84	-219.0	186.8	-18.6	150	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2773	3858	0	0	0	0	0	0
1228	-0.84	-219.0	210.1	-18.1	162	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
1355	-0.84	-219.0	233.4	-18.0	174	1356	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2774	3858	0	0	0	0	0	0
1483	-0.84	-219.0	256.0	-17.7	186	1486	0.00	1.60	0.00	0.000	4	0.000	0.050	2511	3756	3857	0	0	0	0	0	0
1521	-0.84	-219.0	263.2	-18.4	189	1529	0.00	1.50	0.00	0.000	6	0.000	0.031	2511	2786	3858	0	0	0	0	0	0
1721	-0.84	-219.0	298.6	-18.3	208	1722	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2785	3857	0	0	0	0	0	0
1910	-0.84	-219.0	332.6	-17.4	226	1914	0.00	2.17	0.00	0.000	4	0.000	0.033	2511	1374	3858	0	0	0	0	0	0
1950	-0.84	-219.0	339.6	-16.6	229	1954	0.00	2.22	0.00	0.000	6	0.000	0.044	2501	2770	3858	0	0	0	0	0	0
2147	-0.84	-219.0	375.7	-18.3	247	2148	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2770	3858	0	0	0	0	0	0
2339	-0.84	-219.0	410.5	-18.1	265	2340	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2770	3857	0	0	0	0	0	0
2530	-0.84	-219.0	445.2	-18.7	283	2531	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2769	3857	0	0	0	0	0	0
2722	-0.84	-219.0	479.8	-18.1	301	2724	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2770	3858	0	0	0	0	0	0
2929	-0.84	-219.0	517.6	-18.2	315	2933	0.00	2.15	0.00	0.000	4	0.000	0.034	2501	1370	3857	0	0	0	0	0	0
2973	-0.84	-219.0	525.5	-16.8	316	2978	0.08	2.28	0.00	0.000	6	0.138	0.046	2523	2768	3857	0	0	0	0	0	0
3175	-0.84	-219.0	556.2	-15.3	323	3178	0.00	1.58	0.00	0.000	4	0.000	0.052	2516	3759	3857	0	0	0	0	0	0
3209	-0.84	-219.0	562.0	-17.2	324	3212	0.00	1.52	0.00	0.000	6	0.000	0.031	2517	2771	3857	0	0	0	0	0	0
3426	-0.84	-219.0	597.5	-16.4	331	3428	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2771	3857	0	0	0	0	0	0
3611	-0.84	-219.0	627.2	-16.0	337	3612	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2771	3858	0	0	0	0	0	0
3767	end dive: BOTTOM_OBSTACLE_DETECTED
state	3767	begin apogee
3771	-0.16	0.0	651.3	15.6	342	3959	0.68	0.00	180.43	1.128	4	0.126	0.000	2742	2687	2960	0	0	0	0	0	0
3960	end apogee: CONTROL_FINISHED_OK
state	3960	begin climb
3962	0.84	219.0	660.1	0.0	348	4164	0.95	0.00	196.55	1.068	6	0.075	0.000	3066	2686	2067	0	0	0	0	0	0
4367	0.84	219.0	609.4	16.3	361	4371	0.00	1.88	0.00	0.000	4	0.000	0.047	3066	3755	2054	0	0	0	0	0	0
4455	0.84	219.0	593.3	17.9	363	4459	0.00	1.67	0.00	0.000	6	0.000	0.029	3074	2732	2052	0	0	1	0	0	0
4652	0.84	219.0	561.4	16.2	370	4653	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2732	2050	0	0	0	0	0	0
4835	0.84	219.0	531.3	16.4	376	4838	0.00	1.70	0.00	0.000	4	0.000	0.049	3074	3766	2049	0	0	0	0	0	0
4870	0.84	219.0	525.2	18.7	377	4874	0.00	1.65	0.00	0.000	6	0.000	0.031	3083	2718	2049	0	0	0	0	0	0
5070	0.84	219.0	490.3	16.9	386	5071	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2717	2048	0	0	0	0	0	0
5260	0.84	219.0	458.2	16.5	404	5264	0.00	1.70	0.00	0.000	4	0.000	0.049	3083	3770	2047	0	0	0	0	0	0
5309	0.84	219.0	449.0	19.3	408	5316	0.00	1.67	0.00	0.000	6	0.000	0.031	3091	2721	2047	0	0	0	0	0	0
5507	0.84	219.0	414.5	17.3	427	5508	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2722	2047	0	0	0	0	0	0
5698	0.84	219.0	380.5	17.9	445	5702	0.00	1.67	0.00	0.000	4	0.000	0.049	3091	3764	2046	0	0	0	0	0	0
5747	0.84	219.0	370.2	21.1	449	5756	0.00	1.65	0.00	0.000	6	0.000	0.031	3099	2729	2046	0	0	0	0	0	0
5946	0.84	219.0	333.4	18.3	468	5949	0.00	1.67	0.00	0.000	4	0.000	0.050	3099	3768	2046	0	0	0	0	0	0
5979	0.84	219.0	326.6	21.2	471	5984	0.12	1.65	0.00	0.000	6	0.183	0.032	3074	2700	2046	0	0	0	0	0	0
6183	0.84	219.0	293.3	15.7	490	6184	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2699	2046	0	0	0	0	0	0
6373	0.84	219.0	263.6	15.3	508	6377	0.00	1.70	0.00	0.000	4	0.000	0.050	3074	3766	2046	0	0	0	0	0	0
6431	0.84	219.0	253.9	18.3	513	6435	0.00	1.62	0.00	0.000	6	0.000	0.031	3081	2735	2045	0	0	0	0	0	0
6634	0.84	219.0	221.3	16.2	532	6636	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2733	2045	0	0	0	0	0	0
6761	0.84	219.0	200.8	16.2	544	6765	0.00	1.65	0.00	0.000	4	0.000	0.050	3081	3765	2046	0	0	0	0	0	0
6808	0.84	219.0	193.0	18.3	548	6812	0.00	1.60	0.00	0.000	6	0.000	0.032	3089	2748	2045	0	0	0	0	0	0
6948	0.84	219.0	170.2	15.6	561	6949	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2748	2045	0	0	0	0	0	0
7075	0.84	219.0	150.4	15.9	573	7078	0.00	1.62	0.00	0.000	4	0.000	0.050	3089	3773	2045	0	0	0	0	0	0
7109	0.84	219.0	144.6	17.3	576	7112	0.00	1.60	0.00	0.000	6	0.000	0.032	3097	2752	2045	0	0	0	0	0	0
7248	0.84	219.0	121.4	16.7	589	7249	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2752	2045	0	0	0	0	0	0
7375	0.84	219.0	100.3	16.3	601	7379	0.00	1.65	0.00	0.000	4	0.000	0.051	3097	3764	2045	0	0	0	0	0	0
7419	0.84	219.0	92.4	18.7	608	7426	0.10	1.58	0.00	0.000	6	0.158	0.033	3073	2762	2045	0	0	0	0	0	0
7561	0.84	219.0	71.0	15.7	633	7568	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2762	2045	0	0	0	0	0	0
7701	0.84	219.0	50.8	13.8	658	7707	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2762	2045	0	0	0	0	0	0
7842	0.84	219.0	30.4	13.5	683	7849	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2762	2044	0	0	0	0	0	0
7983	0.90	272.4	9.8	11.1	708	8029	0.00	1.65	39.03	0.748	4	0.000	0.052	3072	3763	1848	0	0	0	0	0	0
8035	end climb: SURFACE_DEPTH_REACHED
state	8035	begin surface coast
8049	end surface coast: CONTROL_FINISHED_OK
state	8049	begin surface