Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 75 * 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 75 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2600 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2650 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 500 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 45 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 125 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 3 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 -18059.967 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 48

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 0 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 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 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 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 2

ALTIM_FREQUENCY 13 D_TGT 500 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 10 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 125

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -18059.967

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 2650 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2600 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 45 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 75 NAV_MODE 0 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 041210,142307,-7654.883,17108.434,31,1.1,31,132.7 TGT_NAME POLYNYA

_CALLS 2 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 5.93 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 041210,142307,-7654.883,17108.434,31,1.1,31,132.7 MHEAD_RNG_PITCHd_Wd 67.6,10107,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 775

Post-dive calculations and measurements:

FREEZE 7.47,-1.894,-1.904,2,2,0 _24V_AH 22.5,0.842

FINISH1 7.5,1.027846,-17 _10V_AH 10.0,0.353

FINISH2 5.6 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7612.11,17105.10,041210,141459 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 258928

HUMID 50.43 DATA_FILE_SIZE 47006,736

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 107120,0

TCM_TEMP 14.10 CFSIZE 260165632,246566912

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,5,0,0

ALTIM_TOP_PING 19.5,19.4 GPS 041210,142307,-7654.883,17108.434,31,1.1,31,132.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 5 174 19.62 SBE_CT 516 24 278.91

Roll_motor 80 68 125.36 AA4330 869 33 645.84

VBD_pump_during_apogee 510 989 11361.01 WL_BBFL2VMT 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 18.90 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1796 19 355.76

LPSleep 3418 2 74.86

TT8_Active 536 19 106.17

TT8_Sampling 1404 39 558.82

TT8_CF8 114 45 52.27

TT8_Kalman 0 0 0.00

Analog_circuits 1337 12 160.46

GPS_charging 0 0 0.00

Compass 1322 15 198.33

RAFOS 0 0 0.00

Transponder 16 30 5.06

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -219.0 0.0 0.0 0 25 0.00 0.00 -7.62 0.000 2 0.000 0.000 2795 2649 3332 0 0 0 0 0 0

27 -0.84 -219.0 7.9 -0.0 1 47 0.70 2.33 -12.45 0.000 4 0.073 0.047 2534 1184 3854 0 0 0 0 0 0

67 -0.80 -219.0 12.0 -12.0 7 73 0.00 2.30 0.00 0.000 6 0.000 0.045 2524 2601 3855 0 0 0 0 0 0

211 -0.74 -219.0 36.8 -16.5 32 218 0.12 0.00 0.00 0.000 6 0.174 0.000 2557 2602 3856 0 0 0 0 0 0

353 -0.74 -219.0 60.5 -15.8 57 360 0.00 1.85 0.00 0.000 4 0.000 0.051 2549 3766 3856 0 0 0 0 0 0

445 -0.74 -219.0 80.0 -21.5 73 452 0.00 1.80 0.00 0.000 6 0.000 0.030 2549 2587 3856 0 0 0 0 0 0

593 -0.71 -219.0 105.6 -16.4 96 594 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2587 3856 0 0 0 0 0 0

719 -0.71 -219.0 124.3 -15.2 108 723 0.00 1.88 0.00 0.000 4 0.000 0.050 2547 3764 3856 0 0 0 0 0 0

776 -0.69 -219.0 132.9 -15.2 113 780 0.10 1.77 0.00 0.000 6 0.166 0.031 2574 2593 3857 0 0 0 0 0 0

915 -0.72 -219.0 151.1 -12.4 126 916 0.00 0.00 0.00 0.000 6 0.000 0.000 2574 2593 3856 0 0 0 0 0 0

1043 -0.75 -219.0 167.3 -13.1 138 1047 0.00 1.88 0.00 0.000 4 0.000 0.052 2566 3769 3856 0 0 0 0 0 0

1137 -0.78 -219.0 180.5 -13.8 146 1145 0.00 1.80 0.00 0.000 6 0.000 0.030 2566 2613 3856 0 0 0 0 0 0

1272 -0.80 -219.0 198.5 -13.5 159 1273 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2613 3856 0 0 0 0 0 0

1400 -0.83 -219.0 214.9 -12.2 171 1403 0.00 1.83 0.00 0.000 4 0.000 0.054 2563 3760 3856 0 0 0 0 0 0

1513 -0.86 -219.0 229.8 -13.2 181 1518 0.12 1.73 0.00 0.000 6 0.104 0.031 2510 2616 3856 0 0 0 0 0 0

1653 -0.80 -219.0 253.2 -17.0 194 1657 0.12 1.83 0.00 0.000 4 0.171 0.052 2535 3763 3856 0 0 1 0 0 0

1698 -0.80 -219.0 261.0 -16.4 198 1701 0.00 1.75 0.00 0.000 6 0.000 0.031 2535 2636 3856 0 0 0 0 0 0

1901 -0.77 -219.0 291.5 -14.9 217 1905 0.00 1.80 0.00 0.000 4 0.000 0.052 2528 3770 3856 0 0 0 0 0 0

1985 -0.75 -219.0 305.3 -15.7 224 1992 0.00 1.73 0.00 0.000 6 0.000 0.030 2528 2656 3856 0 0 0 0 0 0

2185 -0.72 -219.0 335.8 -15.3 243 2189 0.12 1.75 0.00 0.000 4 0.165 0.053 2563 3761 3856 0 0 1 0 0 0

2222 -0.76 -219.0 341.7 -13.5 246 2230 0.00 1.70 0.00 0.000 6 0.000 0.031 2563 2670 3856 0 0 0 0 0 0

2422 -0.79 -219.0 366.6 -12.2 265 2426 0.00 1.77 0.00 0.000 4 0.000 0.052 2563 3757 3856 0 0 0 0 0 0

2502 -0.83 -219.0 377.2 -12.8 272 2506 0.00 1.67 0.00 0.000 6 0.000 0.031 2563 2680 3856 0 0 0 0 0 0

2706 -0.86 -219.0 402.3 -12.6 291 2711 0.12 1.73 0.00 0.000 4 0.103 0.053 2502 3765 3856 0 0 1 0 0 0

2774 -0.80 -219.0 413.9 -18.0 297 2779 0.15 1.65 0.00 0.000 6 0.164 0.031 2544 2673 3856 0 0 0 0 0 0

2977 -0.80 -219.0 442.8 -13.6 316 2981 0.00 1.73 0.00 0.000 4 0.000 0.050 2536 3766 3856 0 0 0 0 0 0

3029 -0.80 -219.0 450.3 -14.8 320 3035 0.00 1.65 0.00 0.000 6 0.000 0.030 2536 2702 3856 0 0 0 0 0 0

3226 -0.80 -219.0 478.4 -14.0 339 3230 0.00 1.67 0.00 0.000 4 0.000 0.052 2529 3764 3856 0 0 0 0 0 0

3264 -0.80 -219.0 484.6 -16.0 342 3271 0.00 1.65 0.00 0.000 6 0.000 0.031 2528 2704 3856 0 0 0 0 0 0

3376 end dive: TARGET_DEPTH_EXCEEDED

state 3376 begin apogee

3381 -0.16 0.0 501.0 14.8 353 3562 0.65 0.00 175.82 0.989 4 0.128 0.000 2744 2703 2959 0 0 0 0 0 0

3562 end apogee: CONTROL_FINISHED_OK

state 3563 begin climb

3565 0.84 219.0 509.7 0.0 358 3764 0.98 2.50 187.40 0.937 4 0.079 0.036 3066 1246 2066 0 0 0 0 0 0

3847 0.80 219.0 484.3 13.7 372 3855 0.00 2.50 0.00 0.000 6 0.000 0.042 3066 2645 2057 0 0 0 0 0 0

4046 0.71 219.0 455.5 14.9 391 4051 0.15 2.35 0.00 0.000 4 0.154 0.037 3036 1250 2052 0 0 0 0 0 0

4209 0.75 254.2 435.9 11.9 405 4245 0.00 2.38 29.88 0.906 6 0.000 0.044 3036 2666 1923 0 0 1 0 0 0

4444 0.77 268.4 405.6 12.8 427 4466 0.00 1.92 13.07 0.869 4 0.000 0.050 3036 3769 1865 0 0 0 0 0 0

4516 0.73 268.4 395.1 14.8 433 4523 0.00 1.77 0.00 0.000 6 0.000 0.031 3043 2680 1864 0 0 1 0 0 0

4714 0.74 274.9 369.0 13.1 452 4725 0.00 0.00 6.90 0.796 6 0.000 0.000 3043 2680 1839 0 0 0 0 0 0

4916 0.74 274.9 342.4 13.5 471 4920 0.00 1.77 0.00 0.000 4 0.000 0.049 3043 3763 1838 0 0 0 0 0 0

4977 0.69 274.9 332.9 15.3 476 4984 0.00 1.77 0.00 0.000 6 0.000 0.031 3051 2662 1837 0 0 0 0 0 0

5177 0.67 274.9 304.9 14.4 495 5179 0.12 0.00 0.00 0.000 6 0.156 0.000 3015 2662 1836 0 0 0 0 0 0

5366 0.76 310.6 282.4 11.9 513 5403 0.00 1.85 32.70 0.856 4 0.000 0.050 3014 3763 1692 0 0 0 0 0 0

5451 0.79 310.6 271.6 14.2 520 5455 0.00 1.77 0.00 0.000 6 0.000 0.033 3021 2682 1691 0 0 0 0 0 0

5654 0.86 321.7 245.9 12.9 539 5668 0.17 0.00 10.52 0.803 6 0.074 0.000 3108 2681 1648 0 0 0 0 0 0

5792 0.78 321.7 219.3 20.3 552 5796 0.20 1.77 0.00 0.000 4 0.143 0.047 3050 3764 1647 0 0 0 0 0 0

5837 0.78 321.7 210.9 17.7 556 5841 0.00 1.73 0.00 0.000 6 0.000 0.032 3058 2672 1647 0 0 0 0 0 0

5976 0.78 321.7 189.0 15.5 569 5978 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2671 1646 0 0 0 0 0 0

6104 0.78 321.7 169.6 14.5 581 6105 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2671 1646 0 0 0 0 0 0

6231 0.78 321.7 150.4 15.2 593 6232 0.00 0.00 0.00 0.000 6 0.000 0.000 3058 2671 1646 0 0 0 0 0 0

6359 0.78 321.7 131.1 14.9 605 6363 0.00 1.77 0.00 0.000 4 0.000 0.050 3058 3771 1646 0 0 0 0 0 0

6408 0.75 321.7 122.1 17.9 609 6416 0.00 1.75 0.00 0.000 6 0.000 0.031 3064 2676 1646 0 0 0 0 0 0

6542 0.75 321.7 101.0 15.3 622 6543 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2675 1646 0 0 0 0 0 0

6677 0.75 321.7 80.4 16.8 645 6683 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2676 1646 0 0 0 0 0 0

6819 0.75 321.7 57.6 15.6 670 6826 0.00 1.75 0.00 0.000 4 0.000 0.049 3064 3764 1646 0 0 0 0 0 0

6855 0.72 321.7 52.2 15.5 676 6862 0.08 1.70 0.00 0.000 6 0.133 0.032 3032 2694 1646 0 0 0 0 0 0

7002 0.85 386.5 32.3 10.7 701 7062 0.12 2.45 54.17 0.714 4 0.090 0.038 3108 1248 1383 0 0 0 0 0 0

7082 0.85 386.5 19.5 18.0 714 7089 0.12 2.42 0.00 0.000 6 0.147 0.044 3075 2698 1383 0 0 0 0 0 0

7151 end climb: FINISH_DEPTH_REACHED

state 7151 begin subsurface finish

7157 -0.02 -17.0 7.5 -17.7 726 7217 0.82 1.75 -51.80 0.000 4 0.110 0.069 2800 3761 3032 0 0 0 0 0 0

7217 end subsurface finish: CONTROL_FINISHED_OK

state 7218 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	75	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2600	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2650	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	500	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	45	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	125	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	3	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	-18059.967	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	48
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	0	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	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	041210,142307,-7654.883,17108.434,31,1.1,31,132.7	TGT_NAME	POLYNYA
_CALLS	2	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	5.93	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	041210,142307,-7654.883,17108.434,31,1.1,31,132.7	MHEAD_RNG_PITCHd_Wd	67.6,10107,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	775

FREEZE	7.47,-1.894,-1.904,2,2,0	_24V_AH	22.5,0.842
FINISH1	7.5,1.027846,-17	_10V_AH	10.0,0.353
FINISH2	5.6	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7612.11,17105.10,041210,141459	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	258928
HUMID	50.43	DATA_FILE_SIZE	47006,736
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	107120,0
TCM_TEMP	14.10	CFSIZE	260165632,246566912
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,5,0,0
ALTIM_TOP_PING	19.5,19.4	GPS	041210,142307,-7654.883,17108.434,31,1.1,31,132.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	5	174	19.62	SBE_CT	516	24	278.91
Roll_motor	80	68	125.36	AA4330	869	33	645.84
VBD_pump_during_apogee	510	989	11361.01	WL_BBFL2VMT	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	18.90	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1796	19	355.76
LPSleep	3418	2	74.86
TT8_Active	536	19	106.17
TT8_Sampling	1404	39	558.82
TT8_CF8	114	45	52.27
TT8_Kalman	0	0	0.00
Analog_circuits	1337	12	160.46
GPS_charging	0	0	0.00
Compass	1322	15	198.33
RAFOS	0	0	0.00
Transponder	16	30	5.06

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-219.0	0.0	0.0	0	25	0.00	0.00	-7.62	0.000	2	0.000	0.000	2795	2649	3332	0	0	0	0	0	0
27	-0.84	-219.0	7.9	-0.0	1	47	0.70	2.33	-12.45	0.000	4	0.073	0.047	2534	1184	3854	0	0	0	0	0	0
67	-0.80	-219.0	12.0	-12.0	7	73	0.00	2.30	0.00	0.000	6	0.000	0.045	2524	2601	3855	0	0	0	0	0	0
211	-0.74	-219.0	36.8	-16.5	32	218	0.12	0.00	0.00	0.000	6	0.174	0.000	2557	2602	3856	0	0	0	0	0	0
353	-0.74	-219.0	60.5	-15.8	57	360	0.00	1.85	0.00	0.000	4	0.000	0.051	2549	3766	3856	0	0	0	0	0	0
445	-0.74	-219.0	80.0	-21.5	73	452	0.00	1.80	0.00	0.000	6	0.000	0.030	2549	2587	3856	0	0	0	0	0	0
593	-0.71	-219.0	105.6	-16.4	96	594	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2587	3856	0	0	0	0	0	0
719	-0.71	-219.0	124.3	-15.2	108	723	0.00	1.88	0.00	0.000	4	0.000	0.050	2547	3764	3856	0	0	0	0	0	0
776	-0.69	-219.0	132.9	-15.2	113	780	0.10	1.77	0.00	0.000	6	0.166	0.031	2574	2593	3857	0	0	0	0	0	0
915	-0.72	-219.0	151.1	-12.4	126	916	0.00	0.00	0.00	0.000	6	0.000	0.000	2574	2593	3856	0	0	0	0	0	0
1043	-0.75	-219.0	167.3	-13.1	138	1047	0.00	1.88	0.00	0.000	4	0.000	0.052	2566	3769	3856	0	0	0	0	0	0
1137	-0.78	-219.0	180.5	-13.8	146	1145	0.00	1.80	0.00	0.000	6	0.000	0.030	2566	2613	3856	0	0	0	0	0	0
1272	-0.80	-219.0	198.5	-13.5	159	1273	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2613	3856	0	0	0	0	0	0
1400	-0.83	-219.0	214.9	-12.2	171	1403	0.00	1.83	0.00	0.000	4	0.000	0.054	2563	3760	3856	0	0	0	0	0	0
1513	-0.86	-219.0	229.8	-13.2	181	1518	0.12	1.73	0.00	0.000	6	0.104	0.031	2510	2616	3856	0	0	0	0	0	0
1653	-0.80	-219.0	253.2	-17.0	194	1657	0.12	1.83	0.00	0.000	4	0.171	0.052	2535	3763	3856	0	0	1	0	0	0
1698	-0.80	-219.0	261.0	-16.4	198	1701	0.00	1.75	0.00	0.000	6	0.000	0.031	2535	2636	3856	0	0	0	0	0	0
1901	-0.77	-219.0	291.5	-14.9	217	1905	0.00	1.80	0.00	0.000	4	0.000	0.052	2528	3770	3856	0	0	0	0	0	0
1985	-0.75	-219.0	305.3	-15.7	224	1992	0.00	1.73	0.00	0.000	6	0.000	0.030	2528	2656	3856	0	0	0	0	0	0
2185	-0.72	-219.0	335.8	-15.3	243	2189	0.12	1.75	0.00	0.000	4	0.165	0.053	2563	3761	3856	0	0	1	0	0	0
2222	-0.76	-219.0	341.7	-13.5	246	2230	0.00	1.70	0.00	0.000	6	0.000	0.031	2563	2670	3856	0	0	0	0	0	0
2422	-0.79	-219.0	366.6	-12.2	265	2426	0.00	1.77	0.00	0.000	4	0.000	0.052	2563	3757	3856	0	0	0	0	0	0
2502	-0.83	-219.0	377.2	-12.8	272	2506	0.00	1.67	0.00	0.000	6	0.000	0.031	2563	2680	3856	0	0	0	0	0	0
2706	-0.86	-219.0	402.3	-12.6	291	2711	0.12	1.73	0.00	0.000	4	0.103	0.053	2502	3765	3856	0	0	1	0	0	0
2774	-0.80	-219.0	413.9	-18.0	297	2779	0.15	1.65	0.00	0.000	6	0.164	0.031	2544	2673	3856	0	0	0	0	0	0
2977	-0.80	-219.0	442.8	-13.6	316	2981	0.00	1.73	0.00	0.000	4	0.000	0.050	2536	3766	3856	0	0	0	0	0	0
3029	-0.80	-219.0	450.3	-14.8	320	3035	0.00	1.65	0.00	0.000	6	0.000	0.030	2536	2702	3856	0	0	0	0	0	0
3226	-0.80	-219.0	478.4	-14.0	339	3230	0.00	1.67	0.00	0.000	4	0.000	0.052	2529	3764	3856	0	0	0	0	0	0
3264	-0.80	-219.0	484.6	-16.0	342	3271	0.00	1.65	0.00	0.000	6	0.000	0.031	2528	2704	3856	0	0	0	0	0	0
3376	end dive: TARGET_DEPTH_EXCEEDED
state	3376	begin apogee
3381	-0.16	0.0	501.0	14.8	353	3562	0.65	0.00	175.82	0.989	4	0.128	0.000	2744	2703	2959	0	0	0	0	0	0
3562	end apogee: CONTROL_FINISHED_OK
state	3563	begin climb
3565	0.84	219.0	509.7	0.0	358	3764	0.98	2.50	187.40	0.937	4	0.079	0.036	3066	1246	2066	0	0	0	0	0	0
3847	0.80	219.0	484.3	13.7	372	3855	0.00	2.50	0.00	0.000	6	0.000	0.042	3066	2645	2057	0	0	0	0	0	0
4046	0.71	219.0	455.5	14.9	391	4051	0.15	2.35	0.00	0.000	4	0.154	0.037	3036	1250	2052	0	0	0	0	0	0
4209	0.75	254.2	435.9	11.9	405	4245	0.00	2.38	29.88	0.906	6	0.000	0.044	3036	2666	1923	0	0	1	0	0	0
4444	0.77	268.4	405.6	12.8	427	4466	0.00	1.92	13.07	0.869	4	0.000	0.050	3036	3769	1865	0	0	0	0	0	0
4516	0.73	268.4	395.1	14.8	433	4523	0.00	1.77	0.00	0.000	6	0.000	0.031	3043	2680	1864	0	0	1	0	0	0
4714	0.74	274.9	369.0	13.1	452	4725	0.00	0.00	6.90	0.796	6	0.000	0.000	3043	2680	1839	0	0	0	0	0	0
4916	0.74	274.9	342.4	13.5	471	4920	0.00	1.77	0.00	0.000	4	0.000	0.049	3043	3763	1838	0	0	0	0	0	0
4977	0.69	274.9	332.9	15.3	476	4984	0.00	1.77	0.00	0.000	6	0.000	0.031	3051	2662	1837	0	0	0	0	0	0
5177	0.67	274.9	304.9	14.4	495	5179	0.12	0.00	0.00	0.000	6	0.156	0.000	3015	2662	1836	0	0	0	0	0	0
5366	0.76	310.6	282.4	11.9	513	5403	0.00	1.85	32.70	0.856	4	0.000	0.050	3014	3763	1692	0	0	0	0	0	0
5451	0.79	310.6	271.6	14.2	520	5455	0.00	1.77	0.00	0.000	6	0.000	0.033	3021	2682	1691	0	0	0	0	0	0
5654	0.86	321.7	245.9	12.9	539	5668	0.17	0.00	10.52	0.803	6	0.074	0.000	3108	2681	1648	0	0	0	0	0	0
5792	0.78	321.7	219.3	20.3	552	5796	0.20	1.77	0.00	0.000	4	0.143	0.047	3050	3764	1647	0	0	0	0	0	0
5837	0.78	321.7	210.9	17.7	556	5841	0.00	1.73	0.00	0.000	6	0.000	0.032	3058	2672	1647	0	0	0	0	0	0
5976	0.78	321.7	189.0	15.5	569	5978	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2671	1646	0	0	0	0	0	0
6104	0.78	321.7	169.6	14.5	581	6105	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2671	1646	0	0	0	0	0	0
6231	0.78	321.7	150.4	15.2	593	6232	0.00	0.00	0.00	0.000	6	0.000	0.000	3058	2671	1646	0	0	0	0	0	0
6359	0.78	321.7	131.1	14.9	605	6363	0.00	1.77	0.00	0.000	4	0.000	0.050	3058	3771	1646	0	0	0	0	0	0
6408	0.75	321.7	122.1	17.9	609	6416	0.00	1.75	0.00	0.000	6	0.000	0.031	3064	2676	1646	0	0	0	0	0	0
6542	0.75	321.7	101.0	15.3	622	6543	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2675	1646	0	0	0	0	0	0
6677	0.75	321.7	80.4	16.8	645	6683	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2676	1646	0	0	0	0	0	0
6819	0.75	321.7	57.6	15.6	670	6826	0.00	1.75	0.00	0.000	4	0.000	0.049	3064	3764	1646	0	0	0	0	0	0
6855	0.72	321.7	52.2	15.5	676	6862	0.08	1.70	0.00	0.000	6	0.133	0.032	3032	2694	1646	0	0	0	0	0	0
7002	0.85	386.5	32.3	10.7	701	7062	0.12	2.45	54.17	0.714	4	0.090	0.038	3108	1248	1383	0	0	0	0	0	0
7082	0.85	386.5	19.5	18.0	714	7089	0.12	2.42	0.00	0.000	6	0.147	0.044	3075	2698	1383	0	0	0	0	0	0
7151	end climb: FINISH_DEPTH_REACHED
state	7151	begin subsurface finish
7157	-0.02	-17.0	7.5	-17.7	726	7217	0.82	1.75	-51.80	0.000	4	0.110	0.069	2800	3761	3032	0	0	0	0	0	0
7217	end subsurface finish: CONTROL_FINISHED_OK
state	7218	begin surface