Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 787 * 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 787 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 750 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 250 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 1 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 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 300 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 -20520.369 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 175 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 48 SIM_W 0

AH0_10V 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 250

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 750 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 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 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 -20520.369

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 300

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 175 R_PORT_OVSHOOT 50 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 26 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 787 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 190111,222537,-7637.337,17538.678,44,0.9,45,124.7 TGT_NAME CORNER_SW

_CALLS 1 TGT_LATLONG -7655.000,17500.000

_XMS_NAKs 0 TGT_RADIUS 4000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190111,223238,-7637.317,17538.686,12,1.5,12,124.7 MHEAD_RNG_PITCHd_Wd 71.4,36545,-16.1,-10.000

SPEED_LIMITS 0.173,0.278 D_GRID 375

Post-dive calculations and measurements:

FREEZE -0.01,-0.054,-1.892,2,1,0 _24V_AH 21.7,83.182

FINISH -0.0,1.027686 _10V_AH 9.8,33.099

SM_CCo 6375,7.90,0.103,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 2.35,0.00,0.00,7.90,0.000,0.000,0.103,187,2789,1940,-8.17,0.23,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17548.90,190111,202014 MEM 258168

TT8_MAMPS 0.026964 DATA_FILE_SIZE 46996,706

HUMID 53.42 CAP_FILE_SIZE 97082,0

INTERNAL_PRESSURE 8.75034 CFSIZE 260165632,215896064

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 CURRENT 0.091, 28.0,1

ALTIM_TOP_PING 20.0,20.2 GPS 200111,002032,-7638.033,17538.082,18,1.8,19,124.8

ALTIM_BOTTOM_PING 350.8,51.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 206 82.58 SBE_CT 494 24 257.52

Roll_motor 69 215 323.95 AA4330 902 33 645.94

VBD_pump_during_apogee 347 977 7375.02 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 7 103 17.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 67.72 nil 0 0 0.00

Iridium_during_connect 44 160 153.63 nil 0 0 0.00

Iridium_during_xfer 188 223 911.92 nil 0 0 0.00

Transponder_ping 1 420 11.39 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.35

TT8 1765 19 342.64

LPSleep 2840 2 60.96

TT8_Active 446 19 86.57

TT8_Sampling 1443 39 562.88

TT8_CF8 314 45 140.94

TT8_Kalman 0 0 0.00

Analog_circuits 1134 12 133.45

GPS_charging 0 0 0.00

Compass 1132 15 166.44

RAFOS 0 0 0.00

Transponder 10 30 3.12

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

16 -0.71 -170.3 0.0 0.0 0 94 0.00 0.00 -75.12 0.000 2 0.000 0.000 188 2753 3539 0 0 0 0 0 0

98 -0.71 -170.3 4.0 -9.9 13 119 9.15 1.67 -2.38 0.000 4 0.207 0.060 2556 3774 3660 0 0 0 0 0 0

148 -0.71 -170.3 21.9 -22.6 21 155 0.00 1.58 0.00 0.000 6 0.000 0.028 2555 2777 3661 0 0 0 0 0 0

289 -0.71 -170.3 43.0 -15.4 46 296 0.00 2.20 0.00 0.000 4 0.000 0.031 2555 1379 3662 0 0 0 0 0 0

327 -0.71 -170.3 48.5 -14.3 52 334 0.00 2.30 0.00 0.000 6 0.000 0.044 2547 2786 3662 0 0 0 0 0 0

468 -0.71 -170.3 69.3 -14.7 77 475 0.00 1.60 0.00 0.000 4 0.000 0.050 2547 3761 3662 0 0 0 0 0 0

521 -0.71 -170.3 77.1 -14.5 86 528 0.00 1.55 0.00 0.000 6 0.000 0.029 2547 2778 3662 0 0 0 0 0 0

663 -0.71 -170.3 97.7 -14.2 111 670 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2778 3662 0 0 0 0 0 0

800 -0.71 -170.3 117.9 -15.0 125 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2778 3663 0 0 0 0 0 0

928 -0.71 -170.3 136.4 -14.6 137 929 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2778 3663 0 0 0 0 0 0

1055 -0.71 -170.3 154.6 -14.4 149 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2779 3663 0 0 0 0 0 0

1182 -0.71 -170.3 172.7 -14.2 161 1184 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2779 3663 0 0 0 0 0 0

1311 -0.71 -170.3 190.7 -14.3 173 1315 0.00 1.62 0.00 0.000 4 0.000 0.048 2539 3762 3663 0 0 0 0 0 0

1360 -0.71 -170.3 198.4 -15.4 177 1367 0.00 1.55 0.00 0.000 6 0.000 0.029 2540 2778 3662 0 0 0 0 0 0

1495 -0.71 -170.3 217.8 -14.4 190 1497 0.10 0.00 0.00 0.000 6 0.174 0.000 2568 2778 3663 0 0 0 0 0 0

1623 -0.71 -170.3 234.2 -12.7 202 1624 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2778 3663 0 0 0 0 0 0

1749 -0.71 -170.3 249.9 -12.4 214 1750 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2778 3663 0 0 0 0 0 0

1876 -0.71 -170.3 265.1 -11.8 226 1880 0.00 1.62 0.00 0.000 4 0.000 0.048 2562 3789 3663 0 0 0 0 0 0

1916 -0.71 -170.3 270.2 -12.7 229 1923 0.00 1.58 0.00 0.000 6 0.000 0.028 2562 2781 3662 0 0 0 0 0 0

2115 -0.71 -170.3 294.2 -12.1 248 2116 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2781 3663 0 0 0 0 0 0

2305 -0.71 -170.3 317.0 -11.8 266 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2781 3663 0 0 0 0 0 0

2498 -0.71 -170.3 339.8 -11.6 284 2501 0.00 1.62 0.00 0.000 4 0.000 0.050 2562 3765 3663 0 0 0 0 0 0

2544 -0.71 -170.3 345.4 -12.1 288 2548 0.00 1.52 0.00 0.000 6 0.000 0.029 2562 2788 3662 0 0 0 0 0 0

2749 -0.71 -170.3 369.7 -11.9 307 2753 0.00 2.20 0.00 0.000 4 0.000 0.033 2562 1374 3662 0 0 0 0 0 0

2789 -0.71 -170.3 374.6 -11.7 310 2793 0.00 2.08 0.00 0.000 3 0.000 0.043 2560 2663 3662 0 0 0 0 0 0

2794 end dive: TARGET_DEPTH_EXCEEDED

state 2794 begin apogee

2800 -0.16 0.0 375.3 11.1 310 2945 0.55 0.00 140.05 0.978 4 0.115 0.000 2745 2701 2959 0 0 0 0 0 0

2946 end apogee: CONTROL_FINISHED_OK

state 2946 begin climb

2949 0.71 170.3 381.6 0.0 323 3113 0.85 2.35 150.88 0.928 4 0.072 0.034 3031 1300 2265 0 0 1 0 0 0

3119 0.78 229.1 375.5 7.7 338 3183 0.00 2.55 56.70 0.892 6 0.000 0.041 3030 2704 2025 0 0 0 0 0 0

3373 0.78 229.1 349.8 10.5 362 3376 0.00 1.80 0.00 0.000 4 0.000 0.049 3031 3766 2021 0 0 0 0 0 0

3412 0.78 229.1 345.1 12.0 365 3419 0.00 1.70 0.00 0.000 6 0.000 0.030 3038 2708 2021 0 0 1 0 0 0

3612 0.78 229.1 323.5 10.8 384 3616 0.00 1.75 0.00 0.000 4 0.000 0.049 3038 3771 2019 0 0 0 0 0 0

3648 0.78 229.1 318.9 12.6 387 3651 0.00 1.67 0.00 0.000 6 0.000 0.030 3045 2709 2019 0 0 0 0 0 0

3852 0.78 229.1 295.8 10.9 406 3853 0.00 0.00 0.00 0.000 6 0.000 0.000 3045 2708 2018 0 0 0 0 0 0

4045 0.78 229.1 274.4 11.2 424 4048 0.00 1.70 0.00 0.000 4 0.000 0.048 3046 3767 2018 0 0 0 0 0 0

4102 0.78 229.1 267.1 13.3 429 4106 0.00 1.65 0.00 0.000 6 0.000 0.029 3052 2701 2017 0 0 0 0 0 0

4307 0.78 229.1 243.5 11.4 448 4308 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2701 2017 0 0 0 0 0 0

4434 0.78 229.1 229.0 11.4 460 4438 0.00 1.75 0.00 0.000 4 0.000 0.049 3053 3760 2016 0 0 0 0 0 0

4473 0.78 229.1 223.8 12.6 463 4481 0.00 1.65 0.00 0.000 6 0.000 0.031 3060 2723 2016 0 0 0 0 0 0

4608 0.78 229.1 208.0 11.4 476 4609 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2723 2016 0 0 0 0 0 0

4736 0.78 229.1 193.5 11.6 488 4737 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2723 2015 0 0 0 0 0 0

4864 0.78 229.1 179.0 11.4 500 4868 0.00 1.73 0.00 0.000 4 0.000 0.049 3060 3768 2015 0 0 0 0 0 0

4933 0.78 229.1 170.0 13.3 506 4936 0.00 1.65 0.00 0.000 6 0.000 0.030 3068 2728 2015 0 0 0 0 0 0

5072 0.78 229.1 153.5 11.8 519 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2726 2015 0 0 0 0 0 0

5200 0.78 229.1 138.5 11.7 531 5204 0.00 1.67 0.00 0.000 4 0.000 0.049 3067 3770 2015 0 0 0 0 0 0

5239 0.78 229.1 133.3 13.3 534 5245 0.00 1.65 0.00 0.000 6 0.000 0.029 3076 2729 2015 0 0 0 0 0 0

5373 0.78 229.1 116.5 12.6 547 5374 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2729 2015 0 0 0 0 0 0

5501 0.78 229.1 100.6 12.5 559 5505 0.00 1.70 0.00 0.000 4 0.000 0.048 3076 3763 2015 0 0 0 0 0 0

5537 0.78 229.1 95.7 14.1 564 5544 0.08 1.62 0.00 0.000 6 0.134 0.030 3055 2736 2015 0 0 0 0 0 0

5681 0.78 229.1 79.6 10.4 589 5688 0.00 2.28 0.00 0.000 4 0.000 0.035 3065 1301 2014 0 0 0 0 0 0

5724 0.78 229.1 75.0 10.7 596 5731 0.00 2.30 0.00 0.000 6 0.000 0.042 3064 2729 2014 0 0 0 0 0 0

5867 0.78 229.1 58.5 11.7 621 5874 0.00 1.70 0.00 0.000 4 0.000 0.050 3065 3765 2014 0 0 0 0 0 0

5932 0.78 229.1 49.7 14.0 632 5939 0.00 1.62 0.00 0.000 6 0.000 0.029 3073 2737 2013 0 0 0 0 0 0

6073 0.78 229.1 31.8 13.0 657 6080 0.00 2.28 0.00 0.000 4 0.000 0.035 3084 1302 2013 0 0 0 0 0 0

6098 0.78 229.1 28.6 12.3 661 6106 0.12 2.33 0.00 0.000 6 0.145 0.042 3049 2741 2013 0 0 0 0 0 0

6242 0.78 229.1 12.5 11.3 686 6248 0.00 1.67 0.00 0.000 4 0.000 0.050 3049 3763 2013 0 0 0 0 0 0

6284 0.78 229.1 7.8 12.2 693 6290 0.00 1.62 0.00 0.000 6 0.000 0.031 3056 2737 2013 0 0 0 0 0 0

6327 end climb: SURFACE_DEPTH_REACHED

state 6327 begin surface coast

6357 end surface coast: CONTROL_FINISHED_OK

state 6357 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	787	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	750	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	250	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	1	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	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	300	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	-20520.369	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	175	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	190111,222537,-7637.337,17538.678,44,0.9,45,124.7	TGT_NAME	CORNER_SW
_CALLS	1	TGT_LATLONG	-7655.000,17500.000
_XMS_NAKs	0	TGT_RADIUS	4000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190111,223238,-7637.317,17538.686,12,1.5,12,124.7	MHEAD_RNG_PITCHd_Wd	71.4,36545,-16.1,-10.000
SPEED_LIMITS	0.173,0.278	D_GRID	375

FREEZE	-0.01,-0.054,-1.892,2,1,0	_24V_AH	21.7,83.182
FINISH	-0.0,1.027686	_10V_AH	9.8,33.099
SM_CCo	6375,7.90,0.103,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	2.35,0.00,0.00,7.90,0.000,0.000,0.103,187,2789,1940,-8.17,0.23,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17548.90,190111,202014	MEM	258168
TT8_MAMPS	0.026964	DATA_FILE_SIZE	46996,706
HUMID	53.42	CAP_FILE_SIZE	97082,0
INTERNAL_PRESSURE	8.75034	CFSIZE	260165632,215896064
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	CURRENT	0.091, 28.0,1
ALTIM_TOP_PING	20.0,20.2	GPS	200111,002032,-7638.033,17538.082,18,1.8,19,124.8
ALTIM_BOTTOM_PING	350.8,51.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	206	82.58	SBE_CT	494	24	257.52
Roll_motor	69	215	323.95	AA4330	902	33	645.94
VBD_pump_during_apogee	347	977	7375.02	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	7	103	17.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	67.72	nil	0	0	0.00
Iridium_during_connect	44	160	153.63	nil	0	0	0.00
Iridium_during_xfer	188	223	911.92	nil	0	0	0.00
Transponder_ping	1	420	11.39	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.35
TT8	1765	19	342.64
LPSleep	2840	2	60.96
TT8_Active	446	19	86.57
TT8_Sampling	1443	39	562.88
TT8_CF8	314	45	140.94
TT8_Kalman	0	0	0.00
Analog_circuits	1134	12	133.45
GPS_charging	0	0	0.00
Compass	1132	15	166.44
RAFOS	0	0	0.00
Transponder	10	30	3.12

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
16	-0.71	-170.3	0.0	0.0	0	94	0.00	0.00	-75.12	0.000	2	0.000	0.000	188	2753	3539	0	0	0	0	0	0
98	-0.71	-170.3	4.0	-9.9	13	119	9.15	1.67	-2.38	0.000	4	0.207	0.060	2556	3774	3660	0	0	0	0	0	0
148	-0.71	-170.3	21.9	-22.6	21	155	0.00	1.58	0.00	0.000	6	0.000	0.028	2555	2777	3661	0	0	0	0	0	0
289	-0.71	-170.3	43.0	-15.4	46	296	0.00	2.20	0.00	0.000	4	0.000	0.031	2555	1379	3662	0	0	0	0	0	0
327	-0.71	-170.3	48.5	-14.3	52	334	0.00	2.30	0.00	0.000	6	0.000	0.044	2547	2786	3662	0	0	0	0	0	0
468	-0.71	-170.3	69.3	-14.7	77	475	0.00	1.60	0.00	0.000	4	0.000	0.050	2547	3761	3662	0	0	0	0	0	0
521	-0.71	-170.3	77.1	-14.5	86	528	0.00	1.55	0.00	0.000	6	0.000	0.029	2547	2778	3662	0	0	0	0	0	0
663	-0.71	-170.3	97.7	-14.2	111	670	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2778	3662	0	0	0	0	0	0
800	-0.71	-170.3	117.9	-15.0	125	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2778	3663	0	0	0	0	0	0
928	-0.71	-170.3	136.4	-14.6	137	929	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2778	3663	0	0	0	0	0	0
1055	-0.71	-170.3	154.6	-14.4	149	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2779	3663	0	0	0	0	0	0
1182	-0.71	-170.3	172.7	-14.2	161	1184	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2779	3663	0	0	0	0	0	0
1311	-0.71	-170.3	190.7	-14.3	173	1315	0.00	1.62	0.00	0.000	4	0.000	0.048	2539	3762	3663	0	0	0	0	0	0
1360	-0.71	-170.3	198.4	-15.4	177	1367	0.00	1.55	0.00	0.000	6	0.000	0.029	2540	2778	3662	0	0	0	0	0	0
1495	-0.71	-170.3	217.8	-14.4	190	1497	0.10	0.00	0.00	0.000	6	0.174	0.000	2568	2778	3663	0	0	0	0	0	0
1623	-0.71	-170.3	234.2	-12.7	202	1624	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2778	3663	0	0	0	0	0	0
1749	-0.71	-170.3	249.9	-12.4	214	1750	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2778	3663	0	0	0	0	0	0
1876	-0.71	-170.3	265.1	-11.8	226	1880	0.00	1.62	0.00	0.000	4	0.000	0.048	2562	3789	3663	0	0	0	0	0	0
1916	-0.71	-170.3	270.2	-12.7	229	1923	0.00	1.58	0.00	0.000	6	0.000	0.028	2562	2781	3662	0	0	0	0	0	0
2115	-0.71	-170.3	294.2	-12.1	248	2116	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2781	3663	0	0	0	0	0	0
2305	-0.71	-170.3	317.0	-11.8	266	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2781	3663	0	0	0	0	0	0
2498	-0.71	-170.3	339.8	-11.6	284	2501	0.00	1.62	0.00	0.000	4	0.000	0.050	2562	3765	3663	0	0	0	0	0	0
2544	-0.71	-170.3	345.4	-12.1	288	2548	0.00	1.52	0.00	0.000	6	0.000	0.029	2562	2788	3662	0	0	0	0	0	0
2749	-0.71	-170.3	369.7	-11.9	307	2753	0.00	2.20	0.00	0.000	4	0.000	0.033	2562	1374	3662	0	0	0	0	0	0
2789	-0.71	-170.3	374.6	-11.7	310	2793	0.00	2.08	0.00	0.000	3	0.000	0.043	2560	2663	3662	0	0	0	0	0	0
2794	end dive: TARGET_DEPTH_EXCEEDED
state	2794	begin apogee
2800	-0.16	0.0	375.3	11.1	310	2945	0.55	0.00	140.05	0.978	4	0.115	0.000	2745	2701	2959	0	0	0	0	0	0
2946	end apogee: CONTROL_FINISHED_OK
state	2946	begin climb
2949	0.71	170.3	381.6	0.0	323	3113	0.85	2.35	150.88	0.928	4	0.072	0.034	3031	1300	2265	0	0	1	0	0	0
3119	0.78	229.1	375.5	7.7	338	3183	0.00	2.55	56.70	0.892	6	0.000	0.041	3030	2704	2025	0	0	0	0	0	0
3373	0.78	229.1	349.8	10.5	362	3376	0.00	1.80	0.00	0.000	4	0.000	0.049	3031	3766	2021	0	0	0	0	0	0
3412	0.78	229.1	345.1	12.0	365	3419	0.00	1.70	0.00	0.000	6	0.000	0.030	3038	2708	2021	0	0	1	0	0	0
3612	0.78	229.1	323.5	10.8	384	3616	0.00	1.75	0.00	0.000	4	0.000	0.049	3038	3771	2019	0	0	0	0	0	0
3648	0.78	229.1	318.9	12.6	387	3651	0.00	1.67	0.00	0.000	6	0.000	0.030	3045	2709	2019	0	0	0	0	0	0
3852	0.78	229.1	295.8	10.9	406	3853	0.00	0.00	0.00	0.000	6	0.000	0.000	3045	2708	2018	0	0	0	0	0	0
4045	0.78	229.1	274.4	11.2	424	4048	0.00	1.70	0.00	0.000	4	0.000	0.048	3046	3767	2018	0	0	0	0	0	0
4102	0.78	229.1	267.1	13.3	429	4106	0.00	1.65	0.00	0.000	6	0.000	0.029	3052	2701	2017	0	0	0	0	0	0
4307	0.78	229.1	243.5	11.4	448	4308	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2701	2017	0	0	0	0	0	0
4434	0.78	229.1	229.0	11.4	460	4438	0.00	1.75	0.00	0.000	4	0.000	0.049	3053	3760	2016	0	0	0	0	0	0
4473	0.78	229.1	223.8	12.6	463	4481	0.00	1.65	0.00	0.000	6	0.000	0.031	3060	2723	2016	0	0	0	0	0	0
4608	0.78	229.1	208.0	11.4	476	4609	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2723	2016	0	0	0	0	0	0
4736	0.78	229.1	193.5	11.6	488	4737	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2723	2015	0	0	0	0	0	0
4864	0.78	229.1	179.0	11.4	500	4868	0.00	1.73	0.00	0.000	4	0.000	0.049	3060	3768	2015	0	0	0	0	0	0
4933	0.78	229.1	170.0	13.3	506	4936	0.00	1.65	0.00	0.000	6	0.000	0.030	3068	2728	2015	0	0	0	0	0	0
5072	0.78	229.1	153.5	11.8	519	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2726	2015	0	0	0	0	0	0
5200	0.78	229.1	138.5	11.7	531	5204	0.00	1.67	0.00	0.000	4	0.000	0.049	3067	3770	2015	0	0	0	0	0	0
5239	0.78	229.1	133.3	13.3	534	5245	0.00	1.65	0.00	0.000	6	0.000	0.029	3076	2729	2015	0	0	0	0	0	0
5373	0.78	229.1	116.5	12.6	547	5374	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2729	2015	0	0	0	0	0	0
5501	0.78	229.1	100.6	12.5	559	5505	0.00	1.70	0.00	0.000	4	0.000	0.048	3076	3763	2015	0	0	0	0	0	0
5537	0.78	229.1	95.7	14.1	564	5544	0.08	1.62	0.00	0.000	6	0.134	0.030	3055	2736	2015	0	0	0	0	0	0
5681	0.78	229.1	79.6	10.4	589	5688	0.00	2.28	0.00	0.000	4	0.000	0.035	3065	1301	2014	0	0	0	0	0	0
5724	0.78	229.1	75.0	10.7	596	5731	0.00	2.30	0.00	0.000	6	0.000	0.042	3064	2729	2014	0	0	0	0	0	0
5867	0.78	229.1	58.5	11.7	621	5874	0.00	1.70	0.00	0.000	4	0.000	0.050	3065	3765	2014	0	0	0	0	0	0
5932	0.78	229.1	49.7	14.0	632	5939	0.00	1.62	0.00	0.000	6	0.000	0.029	3073	2737	2013	0	0	0	0	0	0
6073	0.78	229.1	31.8	13.0	657	6080	0.00	2.28	0.00	0.000	4	0.000	0.035	3084	1302	2013	0	0	0	0	0	0
6098	0.78	229.1	28.6	12.3	661	6106	0.12	2.33	0.00	0.000	6	0.145	0.042	3049	2741	2013	0	0	0	0	0	0
6242	0.78	229.1	12.5	11.3	686	6248	0.00	1.67	0.00	0.000	4	0.000	0.050	3049	3763	2013	0	0	0	0	0	0
6284	0.78	229.1	7.8	12.2	693	6290	0.00	1.62	0.00	0.000	6	0.000	0.031	3056	2737	2013	0	0	0	0	0	0
6327	end climb: SURFACE_DEPTH_REACHED
state	6327	begin surface coast
6357	end surface coast: CONTROL_FINISHED_OK
state	6357	begin surface