Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 123 * 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 123 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 45 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 41 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 -19640.707 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 -19640.707

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 45 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 41 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 123 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 081210,180737,-7645.833,17114.467,45,1.3,45,131.9 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 0.89 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081210,181302,-7645.814,17114.432,19,1.3,19,131.9 MHEAD_RNG_PITCHd_Wd 310.8,229104,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 753

Post-dive calculations and measurements:

FREEZE 0.16,-1.839,-1.897,2,1,0 _24V_AH 22.0,6.727

FINISH 0.2,1.027817 _10V_AH 10.0,2.923

SM_CCo 8156,198.40,0.101,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.88,0.00,0.00,198.40,0.000,0.000,0.101,191,2759,445,-8.13,-0.59,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17110.94,081210,151555 MEM 258672

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47061,722

HUMID 49.80 CAP_FILE_SIZE 102045,0

INTERNAL_PRESSURE 8.58431 CFSIZE 260165632,244379648

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,1

XPDR_PINGS 1 CURRENT 0.045,353.4,1

ALTIM_TOP_PING 19.8,19.4 GPS 081210,203437,-7645.368,17121.043,56,1.7,56,131.8

ALTIM_BOTTOM_PING 654.5,7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 222 89.50 SBE_CT 507 24 268.03

Roll_motor 46 83 85.07 AA4330 884 33 642.27

VBD_pump_during_apogee 377 1129 9386.35 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 198 100 440.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 56.66 nil 0 0 0.00

Iridium_during_connect 36 160 129.47 nil 0 0 0.00

Iridium_during_xfer 155 223 762.91 nil 0 0 0.00

Transponder_ping 3 420 30.03 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 23 50 11.61

TT8 1847 19 365.76

LPSleep 4470 2 97.90

TT8_Active 689 19 136.58

TT8_Sampling 1543 39 614.12

TT8_CF8 171 45 78.77

TT8_Kalman 0 0 0.00

Analog_circuits 1432 12 171.88

GPS_charging 0 0 0.00

Compass 1229 15 184.48

RAFOS 0 0 0.00

Transponder 23 30 7.08

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 0 170 0.00 0.00 -151.30 0.000 2 0.000 0.000 190 2782 3433 0 0 0 0 0 0

173 -0.84 -219.0 3.2 -5.5 25 200 8.75 1.60 -9.35 0.000 4 0.223 0.083 2516 3750 3856 0 0 0 0 0 0

300 -0.84 -219.0 36.6 -20.6 47 307 0.00 1.52 0.00 0.000 6 0.000 0.030 2516 2773 3858 0 0 0 0 0 0

442 -0.84 -219.0 64.6 -20.0 72 448 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2772 3859 0 0 0 0 0 0

582 -0.84 -219.0 90.8 -18.5 97 588 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2772 3859 0 0 0 0 0 0

718 -0.84 -219.0 117.8 -19.8 114 722 0.00 2.17 0.00 0.000 4 0.000 0.032 2516 1370 3859 0 0 0 0 0 0

772 -0.84 -219.0 128.7 -18.3 118 779 0.00 2.28 0.00 0.000 6 0.000 0.044 2506 2758 3859 0 0 0 0 0 0

907 -0.84 -219.0 154.0 -18.7 131 908 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2758 3859 0 0 0 0 0 0

1034 -0.84 -219.0 178.0 -18.7 143 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2758 3859 0 0 0 0 0 0

1161 -0.84 -219.0 201.8 -18.6 155 1165 0.00 2.15 0.00 0.000 4 0.000 0.034 2506 1377 3859 0 0 0 0 0 0

1192 -0.84 -219.0 207.9 -18.2 157 1200 0.08 2.28 0.00 0.000 6 0.143 0.044 2523 2768 3859 0 0 0 0 0 0

1327 -0.84 -219.0 230.0 -16.6 170 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3859 0 0 0 0 0 0

1455 -0.84 -219.0 250.8 -16.2 182 1456 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3859 0 0 0 0 0 0

1647 -0.84 -219.0 282.2 -16.6 200 1649 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3859 0 0 0 0 0 0

1836 -0.84 -219.0 313.6 -16.4 218 1837 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3859 0 0 0 0 0 0

2028 -0.84 -219.0 344.9 -16.2 236 2029 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3859 0 0 0 0 0 0

2221 -0.84 -219.0 375.9 -16.3 254 2222 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2769 3858 0 0 0 0 0 0

2410 -0.84 -219.0 407.0 -16.4 272 2414 0.00 2.15 0.00 0.000 4 0.000 0.033 2523 1378 3858 0 0 0 0 0 0

2439 -0.84 -219.0 411.5 -16.1 274 2443 0.00 2.22 0.00 0.000 6 0.000 0.044 2514 2774 3858 0 0 0 0 0 0

2636 -0.84 -219.0 443.9 -16.6 292 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2774 3859 0 0 0 0 0 0

2829 -0.84 -219.0 476.0 -17.0 310 2830 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2774 3859 0 0 0 0 0 0

3038 -0.84 -219.0 511.5 -17.1 326 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2774 3858 0 0 0 0 0 0

3222 -0.84 -219.0 542.6 -16.8 332 3223 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2774 3858 0 0 0 0 0 0

3405 -0.84 -219.0 573.4 -16.8 338 3406 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2774 3859 0 0 0 0 0 0

3592 -0.84 -219.0 604.1 -16.7 344 3593 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2774 3858 0 0 0 0 0 0

3772 -0.84 -219.0 634.2 -16.5 350 3773 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2774 3858 0 0 0 0 0 0

3896 end dive: BOTTOM_OBSTACLE_DETECTED

state 3896 begin apogee

3901 -0.16 0.0 654.5 16.5 354 4090 0.68 0.00 180.95 1.130 4 0.129 0.000 2740 2688 2959 0 0 0 0 0 0

4091 end apogee: CONTROL_FINISHED_OK

state 4091 begin climb

4093 0.84 219.0 664.4 0.0 360 4295 0.95 0.00 196.65 1.071 6 0.075 0.000 3064 2687 2067 0 0 0 0 0 0

4491 0.84 219.0 616.5 15.6 373 4494 0.00 1.85 0.00 0.000 4 0.000 0.047 3064 3764 2053 0 0 0 0 0 0

4593 0.84 219.0 598.3 17.9 376 4597 0.00 1.67 0.00 0.000 6 0.000 0.031 3072 2717 2050 0 0 1 0 0 0

4811 0.84 219.0 561.8 16.6 383 4815 0.00 1.77 0.00 0.000 4 0.000 0.047 3071 3754 2048 0 0 0 0 0 0

4854 0.84 219.0 553.6 18.8 384 4859 0.00 1.67 0.00 0.000 6 0.000 0.030 3080 2717 2048 0 0 1 0 0 0

5061 0.84 219.0 518.3 17.2 391 5062 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2718 2047 0 0 0 0 0 0

5247 0.84 219.0 486.8 16.9 401 5251 0.00 1.75 0.00 0.000 4 0.000 0.048 3081 3761 2046 0 0 0 0 0 0

5315 0.84 219.0 474.3 18.6 407 5318 0.00 1.65 0.00 0.000 6 0.000 0.031 3089 2703 2046 0 0 0 0 0 0

5518 0.84 219.0 439.0 17.1 426 5521 0.00 1.70 0.00 0.000 4 0.000 0.049 3089 3763 2045 0 0 0 0 0 0

5544 0.84 219.0 433.7 18.9 428 5552 0.00 1.65 0.00 0.000 6 0.000 0.031 3097 2727 2045 0 0 0 0 0 0

5743 0.84 219.0 398.4 17.5 447 5746 0.00 1.67 0.00 0.000 4 0.000 0.051 3097 3767 2045 0 0 0 0 0 0

5781 0.84 219.0 390.9 19.3 450 5789 0.10 1.62 0.00 0.000 6 0.155 0.032 3073 2749 2044 0 0 0 0 0 0

5980 0.84 219.0 359.2 15.9 469 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2749 2044 0 0 0 0 0 0

6170 0.84 219.0 328.6 16.3 487 6171 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2749 2044 0 0 0 0 0 0

6361 0.84 219.0 298.0 16.2 505 6362 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2749 2043 0 0 0 0 0 0

6552 0.84 219.0 268.0 16.0 523 6553 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2749 2043 0 0 0 0 0 0

6744 0.84 219.0 237.3 16.4 541 6748 0.00 1.65 0.00 0.000 4 0.000 0.050 3073 3758 2043 0 0 0 0 0 0

6792 0.84 219.0 228.2 18.4 545 6800 0.00 1.60 0.00 0.000 6 0.000 0.031 3081 2740 2043 0 0 0 0 0 0

6927 0.84 219.0 205.6 16.9 558 6928 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2740 2043 0 0 0 0 0 0

7054 0.84 219.0 184.1 16.8 570 7058 0.00 1.62 0.00 0.000 4 0.000 0.050 3081 3764 2043 0 0 0 0 0 0

7088 0.84 219.0 177.8 18.9 573 7092 0.00 1.58 0.00 0.000 6 0.000 0.032 3089 2761 2043 0 0 0 0 0 0

7228 0.84 219.0 153.9 16.5 586 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2759 2043 0 0 0 0 0 0

7355 0.84 219.0 132.6 16.9 598 7359 0.00 1.62 0.00 0.000 4 0.000 0.050 3089 3788 2042 0 0 0 0 0 0

7392 0.84 219.0 125.6 19.0 601 7400 0.00 1.60 0.00 0.000 6 0.000 0.031 3097 2766 2042 0 0 0 0 0 0

7527 0.84 219.0 102.8 16.9 614 7528 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2765 2042 0 0 0 0 0 0

7659 0.84 219.0 80.2 19.6 636 7665 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2765 2042 0 0 0 0 0 0

7800 0.84 219.0 56.0 17.5 661 7806 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2765 2042 0 0 0 0 0 0

7940 0.84 219.0 31.3 17.3 686 7946 0.00 1.62 0.00 0.000 4 0.000 0.050 3097 3764 2042 0 0 0 0 0 0

7985 0.84 219.0 23.4 16.7 694 7993 0.10 1.58 0.00 0.000 6 0.158 0.032 3072 2761 2042 0 0 0 0 0 0

8119 end climb: SURFACE_DEPTH_REACHED

state 8119 begin surface coast

8141 end surface coast: CONTROL_FINISHED_OK

state 8141 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	123	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	45	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	41	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	-19640.707	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	081210,180737,-7645.833,17114.467,45,1.3,45,131.9	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	0.89	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081210,181302,-7645.814,17114.432,19,1.3,19,131.9	MHEAD_RNG_PITCHd_Wd	310.8,229104,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	753

FREEZE	0.16,-1.839,-1.897,2,1,0	_24V_AH	22.0,6.727
FINISH	0.2,1.027817	_10V_AH	10.0,2.923
SM_CCo	8156,198.40,0.101,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.88,0.00,0.00,198.40,0.000,0.000,0.101,191,2759,445,-8.13,-0.59,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17110.94,081210,151555	MEM	258672
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47061,722
HUMID	49.80	CAP_FILE_SIZE	102045,0
INTERNAL_PRESSURE	8.58431	CFSIZE	260165632,244379648
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,1
XPDR_PINGS	1	CURRENT	0.045,353.4,1
ALTIM_TOP_PING	19.8,19.4	GPS	081210,203437,-7645.368,17121.043,56,1.7,56,131.8
ALTIM_BOTTOM_PING	654.5,7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	222	89.50	SBE_CT	507	24	268.03
Roll_motor	46	83	85.07	AA4330	884	33	642.27
VBD_pump_during_apogee	377	1129	9386.35	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	198	100	440.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	56.66	nil	0	0	0.00
Iridium_during_connect	36	160	129.47	nil	0	0	0.00
Iridium_during_xfer	155	223	762.91	nil	0	0	0.00
Transponder_ping	3	420	30.03	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	23	50	11.61
TT8	1847	19	365.76
LPSleep	4470	2	97.90
TT8_Active	689	19	136.58
TT8_Sampling	1543	39	614.12
TT8_CF8	171	45	78.77
TT8_Kalman	0	0	0.00
Analog_circuits	1432	12	171.88
GPS_charging	0	0	0.00
Compass	1229	15	184.48
RAFOS	0	0	0.00
Transponder	23	30	7.08

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	170	0.00	0.00	-151.30	0.000	2	0.000	0.000	190	2782	3433	0	0	0	0	0	0
173	-0.84	-219.0	3.2	-5.5	25	200	8.75	1.60	-9.35	0.000	4	0.223	0.083	2516	3750	3856	0	0	0	0	0	0
300	-0.84	-219.0	36.6	-20.6	47	307	0.00	1.52	0.00	0.000	6	0.000	0.030	2516	2773	3858	0	0	0	0	0	0
442	-0.84	-219.0	64.6	-20.0	72	448	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2772	3859	0	0	0	0	0	0
582	-0.84	-219.0	90.8	-18.5	97	588	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2772	3859	0	0	0	0	0	0
718	-0.84	-219.0	117.8	-19.8	114	722	0.00	2.17	0.00	0.000	4	0.000	0.032	2516	1370	3859	0	0	0	0	0	0
772	-0.84	-219.0	128.7	-18.3	118	779	0.00	2.28	0.00	0.000	6	0.000	0.044	2506	2758	3859	0	0	0	0	0	0
907	-0.84	-219.0	154.0	-18.7	131	908	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2758	3859	0	0	0	0	0	0
1034	-0.84	-219.0	178.0	-18.7	143	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2758	3859	0	0	0	0	0	0
1161	-0.84	-219.0	201.8	-18.6	155	1165	0.00	2.15	0.00	0.000	4	0.000	0.034	2506	1377	3859	0	0	0	0	0	0
1192	-0.84	-219.0	207.9	-18.2	157	1200	0.08	2.28	0.00	0.000	6	0.143	0.044	2523	2768	3859	0	0	0	0	0	0
1327	-0.84	-219.0	230.0	-16.6	170	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3859	0	0	0	0	0	0
1455	-0.84	-219.0	250.8	-16.2	182	1456	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3859	0	0	0	0	0	0
1647	-0.84	-219.0	282.2	-16.6	200	1649	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3859	0	0	0	0	0	0
1836	-0.84	-219.0	313.6	-16.4	218	1837	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3859	0	0	0	0	0	0
2028	-0.84	-219.0	344.9	-16.2	236	2029	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3859	0	0	0	0	0	0
2221	-0.84	-219.0	375.9	-16.3	254	2222	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2769	3858	0	0	0	0	0	0
2410	-0.84	-219.0	407.0	-16.4	272	2414	0.00	2.15	0.00	0.000	4	0.000	0.033	2523	1378	3858	0	0	0	0	0	0
2439	-0.84	-219.0	411.5	-16.1	274	2443	0.00	2.22	0.00	0.000	6	0.000	0.044	2514	2774	3858	0	0	0	0	0	0
2636	-0.84	-219.0	443.9	-16.6	292	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2774	3859	0	0	0	0	0	0
2829	-0.84	-219.0	476.0	-17.0	310	2830	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2774	3859	0	0	0	0	0	0
3038	-0.84	-219.0	511.5	-17.1	326	3039	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2774	3858	0	0	0	0	0	0
3222	-0.84	-219.0	542.6	-16.8	332	3223	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2774	3858	0	0	0	0	0	0
3405	-0.84	-219.0	573.4	-16.8	338	3406	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2774	3859	0	0	0	0	0	0
3592	-0.84	-219.0	604.1	-16.7	344	3593	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2774	3858	0	0	0	0	0	0
3772	-0.84	-219.0	634.2	-16.5	350	3773	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2774	3858	0	0	0	0	0	0
3896	end dive: BOTTOM_OBSTACLE_DETECTED
state	3896	begin apogee
3901	-0.16	0.0	654.5	16.5	354	4090	0.68	0.00	180.95	1.130	4	0.129	0.000	2740	2688	2959	0	0	0	0	0	0
4091	end apogee: CONTROL_FINISHED_OK
state	4091	begin climb
4093	0.84	219.0	664.4	0.0	360	4295	0.95	0.00	196.65	1.071	6	0.075	0.000	3064	2687	2067	0	0	0	0	0	0
4491	0.84	219.0	616.5	15.6	373	4494	0.00	1.85	0.00	0.000	4	0.000	0.047	3064	3764	2053	0	0	0	0	0	0
4593	0.84	219.0	598.3	17.9	376	4597	0.00	1.67	0.00	0.000	6	0.000	0.031	3072	2717	2050	0	0	1	0	0	0
4811	0.84	219.0	561.8	16.6	383	4815	0.00	1.77	0.00	0.000	4	0.000	0.047	3071	3754	2048	0	0	0	0	0	0
4854	0.84	219.0	553.6	18.8	384	4859	0.00	1.67	0.00	0.000	6	0.000	0.030	3080	2717	2048	0	0	1	0	0	0
5061	0.84	219.0	518.3	17.2	391	5062	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2718	2047	0	0	0	0	0	0
5247	0.84	219.0	486.8	16.9	401	5251	0.00	1.75	0.00	0.000	4	0.000	0.048	3081	3761	2046	0	0	0	0	0	0
5315	0.84	219.0	474.3	18.6	407	5318	0.00	1.65	0.00	0.000	6	0.000	0.031	3089	2703	2046	0	0	0	0	0	0
5518	0.84	219.0	439.0	17.1	426	5521	0.00	1.70	0.00	0.000	4	0.000	0.049	3089	3763	2045	0	0	0	0	0	0
5544	0.84	219.0	433.7	18.9	428	5552	0.00	1.65	0.00	0.000	6	0.000	0.031	3097	2727	2045	0	0	0	0	0	0
5743	0.84	219.0	398.4	17.5	447	5746	0.00	1.67	0.00	0.000	4	0.000	0.051	3097	3767	2045	0	0	0	0	0	0
5781	0.84	219.0	390.9	19.3	450	5789	0.10	1.62	0.00	0.000	6	0.155	0.032	3073	2749	2044	0	0	0	0	0	0
5980	0.84	219.0	359.2	15.9	469	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2749	2044	0	0	0	0	0	0
6170	0.84	219.0	328.6	16.3	487	6171	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2749	2044	0	0	0	0	0	0
6361	0.84	219.0	298.0	16.2	505	6362	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2749	2043	0	0	0	0	0	0
6552	0.84	219.0	268.0	16.0	523	6553	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2749	2043	0	0	0	0	0	0
6744	0.84	219.0	237.3	16.4	541	6748	0.00	1.65	0.00	0.000	4	0.000	0.050	3073	3758	2043	0	0	0	0	0	0
6792	0.84	219.0	228.2	18.4	545	6800	0.00	1.60	0.00	0.000	6	0.000	0.031	3081	2740	2043	0	0	0	0	0	0
6927	0.84	219.0	205.6	16.9	558	6928	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2740	2043	0	0	0	0	0	0
7054	0.84	219.0	184.1	16.8	570	7058	0.00	1.62	0.00	0.000	4	0.000	0.050	3081	3764	2043	0	0	0	0	0	0
7088	0.84	219.0	177.8	18.9	573	7092	0.00	1.58	0.00	0.000	6	0.000	0.032	3089	2761	2043	0	0	0	0	0	0
7228	0.84	219.0	153.9	16.5	586	7229	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2759	2043	0	0	0	0	0	0
7355	0.84	219.0	132.6	16.9	598	7359	0.00	1.62	0.00	0.000	4	0.000	0.050	3089	3788	2042	0	0	0	0	0	0
7392	0.84	219.0	125.6	19.0	601	7400	0.00	1.60	0.00	0.000	6	0.000	0.031	3097	2766	2042	0	0	0	0	0	0
7527	0.84	219.0	102.8	16.9	614	7528	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2765	2042	0	0	0	0	0	0
7659	0.84	219.0	80.2	19.6	636	7665	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2765	2042	0	0	0	0	0	0
7800	0.84	219.0	56.0	17.5	661	7806	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2765	2042	0	0	0	0	0	0
7940	0.84	219.0	31.3	17.3	686	7946	0.00	1.62	0.00	0.000	4	0.000	0.050	3097	3764	2042	0	0	0	0	0	0
7985	0.84	219.0	23.4	16.7	694	7993	0.10	1.58	0.00	0.000	6	0.158	0.032	3072	2761	2042	0	0	0	0	0	0
8119	end climb: SURFACE_DEPTH_REACHED
state	8119	begin surface coast
8141	end surface coast: CONTROL_FINISHED_OK
state	8141	begin surface