Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 71 * 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 71 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 44 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 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 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 9 ROLL_ADJ_DBAND 0 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 -18058.709 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 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 616.91943

AH0_24V 150 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 -18058.709

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 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 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 44 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 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 71 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 041210,052504,-7612.108,17115.953,0,10000.0,0,133.5 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 5.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 041210,052504,-7612.108,17115.953,0,10000.0,0,133.5 MHEAD_RNG_PITCHd_Wd 50.8,88945,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 617

Post-dive calculations and measurements:

FREEZE 8.26,-1.904,-1.904,2,2,0 _24V_AH 22.5,0.287

FINISH1 8.3,1.027837,-17 _10V_AH 10.0,0.121

FINISH2 5.9 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7612.11,17115.95,041210,050504 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 258964

HUMID 50.74 DATA_FILE_SIZE 50388,758

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 106564,0

TCM_TEMP 14.20 CFSIZE 260165632,246804480

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

ALTIM_TOP_PING 18.7,19.0 GPS 041210,052504,-7612.108,17115.953,0,10000.0,0,133.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 171 15.23 SBE_CT 532 24 287.37

Roll_motor 95 53 115.58 AA4330 892 33 662.89

VBD_pump_during_apogee 497 989 11063.90 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 1850 19 366.38

LPSleep 3483 2 76.30

TT8_Active 531 19 105.33

TT8_Sampling 1468 39 584.30

TT8_CF8 117 45 53.93

TT8_Kalman 0 0 0.00

Analog_circuits 1368 12 164.21

GPS_charging 0 0 0.00

Compass 1390 15 208.62

RAFOS 0 0 0.00

Transponder 15 30 4.71

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 -7.60 0.000 2 0.000 0.000 2797 2644 3260 0 0 0 0 0 0

27 -0.84 -219.0 4.5 -0.0 1 53 0.73 2.40 -19.20 0.000 4 0.070 0.049 2530 1190 3855 0 0 0 0 0 0

244 -0.75 -219.0 40.6 -20.6 39 251 0.12 2.33 0.00 0.000 6 0.171 0.044 2552 2609 3857 0 0 0 0 0 0

388 -0.68 -219.0 65.3 -16.9 64 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2608 3858 0 0 0 0 0 0

531 -0.61 -219.0 91.9 -19.6 89 537 0.17 0.00 0.00 0.000 6 0.161 0.000 2603 2608 3858 0 0 0 0 0 0

668 -0.61 -219.0 113.0 -14.5 106 672 0.00 1.83 0.00 0.000 4 0.000 0.053 2594 3762 3858 0 0 0 0 0 0

735 -0.61 -219.0 122.9 -15.1 112 739 0.00 1.80 0.00 0.000 6 0.000 0.031 2595 2593 3858 0 0 0 0 0 0

874 -0.61 -219.0 143.4 -15.4 125 876 0.00 0.00 0.00 0.000 6 0.000 0.000 2595 2592 3858 0 0 0 0 0 0

1002 -0.61 -219.0 161.7 -14.4 137 1005 0.00 1.92 0.00 0.000 4 0.000 0.054 2589 3758 3857 0 0 0 0 0 0

1073 -0.61 -219.0 173.0 -15.3 143 1081 0.00 1.83 0.00 0.000 6 0.000 0.031 2590 2593 3858 0 0 0 0 0 0

1208 -0.61 -219.0 193.0 -14.7 156 1209 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2593 3857 0 0 0 0 0 0

1335 -0.61 -219.0 211.8 -14.8 168 1339 0.00 1.88 0.00 0.000 4 0.000 0.053 2590 3761 3858 0 0 0 0 0 0

1418 -0.61 -219.0 224.5 -14.6 175 1425 0.00 1.83 0.00 0.000 6 0.000 0.031 2590 2593 3858 0 0 0 0 0 0

1552 -0.61 -219.0 243.8 -14.5 188 1556 0.00 1.88 0.00 0.000 4 0.000 0.054 2590 3763 3858 0 0 0 0 0 0

1611 -0.61 -219.0 252.5 -14.4 193 1614 0.00 1.77 0.00 0.000 6 0.000 0.031 2590 2602 3858 0 0 0 0 0 0

1813 -0.61 -219.0 280.9 -13.6 212 1817 0.00 1.88 0.00 0.000 4 0.000 0.054 2590 3769 3858 0 0 1 0 0 0

1885 -0.61 -219.0 291.3 -14.1 218 1893 0.00 1.83 0.00 0.000 6 0.000 0.031 2590 2599 3858 0 0 0 0 0 0

2084 -0.61 -219.0 316.9 -12.7 237 2087 0.00 1.85 0.00 0.000 4 0.000 0.053 2590 3760 3857 0 0 0 0 0 0

2167 -0.61 -219.0 327.8 -12.7 244 2174 0.00 1.83 0.00 0.000 6 0.000 0.031 2590 2593 3857 0 0 0 0 0 0

2365 -0.61 -219.0 352.2 -12.8 263 2369 0.00 1.88 0.00 0.000 4 0.000 0.054 2590 3767 3858 0 0 0 0 0 0

2445 -0.61 -219.0 362.5 -13.1 270 2448 0.00 1.77 0.00 0.000 6 0.000 0.031 2590 2598 3857 0 0 0 0 0 0

2648 -0.61 -219.0 388.4 -12.7 289 2651 0.00 1.85 0.00 0.000 4 0.000 0.053 2590 3760 3857 0 0 0 0 0 0

2731 -0.61 -219.0 399.8 -13.6 296 2739 0.00 1.80 0.00 0.000 6 0.000 0.031 2589 2605 3857 0 0 0 0 0 0

2929 -0.61 -219.0 425.1 -12.8 315 2933 0.00 1.88 0.00 0.000 4 0.000 0.054 2589 3754 3858 0 0 0 0 0 0

3009 -0.64 -219.0 435.4 -12.5 322 3013 0.00 1.80 0.00 0.000 6 0.000 0.031 2590 2593 3857 0 0 0 0 0 0

3212 -0.64 -219.0 460.8 -12.3 341 3215 0.00 1.85 0.00 0.000 4 0.000 0.053 2589 3759 3857 0 0 0 0 0 0

3291 -0.66 -219.0 471.0 -12.8 348 3295 0.00 1.75 0.00 0.000 6 0.000 0.031 2589 2602 3857 0 0 0 0 0 0

3496 -0.66 -219.0 496.4 -12.2 367 3500 0.00 1.85 0.00 0.000 4 0.000 0.053 2589 3768 3857 0 0 0 0 0 0

3523 end dive: TARGET_DEPTH_EXCEEDED

state 3523 begin apogee

3529 -0.16 0.0 500.4 12.7 369 3710 0.45 0.00 176.10 0.989 6 0.125 0.000 2742 2650 2960 0 0 0 0 0 0

3711 end apogee: CONTROL_FINISHED_OK

state 3711 begin climb

3713 0.84 219.0 509.4 0.0 375 3911 0.98 2.53 187.80 0.933 4 0.092 0.035 3072 1265 2066 0 0 0 0 0 0

4000 0.88 250.0 482.7 12.1 392 4033 0.00 2.40 27.88 0.894 6 0.000 0.043 3071 2645 1940 0 0 1 0 0 0

4226 0.85 250.0 452.2 13.8 413 4229 0.00 1.90 0.00 0.000 4 0.000 0.050 3072 3766 1931 0 0 0 0 0 0

4328 0.79 250.0 436.5 15.9 422 4332 0.00 1.77 0.00 0.000 6 0.000 0.031 3080 2657 1930 0 0 1 0 0 0

4531 0.75 250.0 406.4 14.7 441 4535 0.15 1.85 0.00 0.000 4 0.155 0.050 3037 3764 1929 0 0 0 0 0 0

4610 0.76 253.9 395.5 13.2 448 4613 0.00 1.77 0.00 0.000 6 0.000 0.031 3045 2649 1929 0 0 0 0 0 0

4814 0.81 281.4 370.8 12.2 467 4847 0.00 1.90 27.23 0.891 4 0.000 0.049 3044 3772 1812 0 0 0 0 0 0

4904 0.81 281.4 358.4 14.1 475 4908 0.00 1.80 0.00 0.000 6 0.000 0.031 3050 2649 1809 0 0 0 0 0 0

5108 0.85 289.9 332.2 13.0 494 5121 0.00 1.92 8.02 0.815 4 0.000 0.050 3050 3771 1778 0 0 1 0 0 0

5178 0.85 289.9 321.8 15.5 500 5181 0.00 1.77 0.00 0.000 6 0.000 0.031 3056 2649 1778 0 0 0 0 0 0

5381 0.88 294.0 294.4 13.2 519 5394 0.00 1.85 5.45 0.741 4 0.000 0.048 3057 3766 1761 0 0 0 0 0 0

5454 0.88 294.0 283.0 15.4 525 5462 0.00 1.80 0.00 0.000 6 0.000 0.031 3063 2652 1760 0 0 0 0 0 0

5653 0.88 294.0 255.9 13.8 544 5656 0.00 1.83 0.00 0.000 4 0.000 0.050 3064 3766 1760 0 0 0 0 0 0

5702 0.86 294.0 248.0 15.6 548 5709 0.00 1.80 0.00 0.000 6 0.000 0.031 3071 2644 1759 0 0 0 0 0 0

5836 0.86 294.0 228.9 14.4 561 5840 0.00 1.88 0.00 0.000 4 0.000 0.051 3071 3767 1759 0 0 0 0 0 0

5863 0.83 294.0 224.6 15.6 563 5871 0.00 1.80 0.00 0.000 6 0.000 0.031 3079 2645 1759 0 0 0 0 0 0

5997 0.83 294.0 205.3 14.7 576 5998 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2645 1758 0 0 0 0 0 0

6125 0.83 294.0 186.8 14.4 588 6128 0.00 1.85 0.00 0.000 4 0.000 0.051 3079 3763 1758 0 0 0 0 0 0

6193 0.80 294.0 176.3 16.0 594 6197 0.00 1.73 0.00 0.000 6 0.000 0.031 3086 2651 1758 0 0 0 0 0 0

6332 0.80 294.0 156.1 14.4 607 6336 0.00 1.80 0.00 0.000 4 0.000 0.051 3086 3767 1758 0 0 1 0 0 0

6366 0.75 294.0 150.6 17.3 610 6371 0.17 1.73 0.00 0.000 6 0.150 0.031 3042 2650 1758 0 0 0 0 0 0

6507 0.84 324.5 133.2 12.1 623 6537 0.00 0.00 27.38 0.783 6 0.000 0.000 3043 2650 1637 0 0 0 0 0 0

6664 0.92 330.1 112.9 13.1 638 6677 0.15 1.85 6.07 0.689 4 0.080 0.049 3109 3766 1614 0 0 0 0 0 0

6735 0.83 330.1 99.6 21.1 644 6743 0.17 1.77 0.00 0.000 6 0.148 0.031 3068 2639 1614 0 0 0 0 0 0

6879 0.83 330.1 78.0 14.1 669 6885 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2640 1613 0 0 0 0 0 0

7021 0.87 339.2 57.8 13.0 694 7035 0.00 1.90 9.40 0.724 4 0.000 0.052 3067 3768 1576 0 0 1 0 0 0

7059 0.91 364.0 53.3 12.3 700 7089 0.00 1.77 21.80 0.718 6 0.000 0.031 3074 2641 1477 0 0 0 0 0 0

7225 0.93 364.0 29.2 16.7 729 7231 0.00 1.85 0.00 0.000 4 0.000 0.051 3074 3766 1476 0 0 0 0 0 0

7271 0.93 364.0 21.0 18.0 737 7278 0.00 1.77 0.00 0.000 6 0.000 0.031 3081 2643 1476 0 0 0 0 0 0

7340 end climb: FINISH_DEPTH_REACHED

state 7340 begin subsurface finish

7346 -0.02 -16.5 8.3 -17.5 749 7401 0.85 2.33 -47.65 0.000 4 0.112 0.053 2796 1246 3029 0 0 0 0 0 0

7402 end subsurface finish: CONTROL_FINISHED_OK

state 7402 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	71	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	44	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	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	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	9	ROLL_ADJ_DBAND	0	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	-18058.709	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	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	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	041210,052504,-7612.108,17115.953,0,10000.0,0,133.5	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	5.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	041210,052504,-7612.108,17115.953,0,10000.0,0,133.5	MHEAD_RNG_PITCHd_Wd	50.8,88945,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	617

FREEZE	8.26,-1.904,-1.904,2,2,0	_24V_AH	22.5,0.287
FINISH1	8.3,1.027837,-17	_10V_AH	10.0,0.121
FINISH2	5.9	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7612.11,17115.95,041210,050504	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	258964
HUMID	50.74	DATA_FILE_SIZE	50388,758
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	106564,0
TCM_TEMP	14.20	CFSIZE	260165632,246804480
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
ALTIM_TOP_PING	18.7,19.0	GPS	041210,052504,-7612.108,17115.953,0,10000.0,0,133.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	171	15.23	SBE_CT	532	24	287.37
Roll_motor	95	53	115.58	AA4330	892	33	662.89
VBD_pump_during_apogee	497	989	11063.90	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	1850	19	366.38
LPSleep	3483	2	76.30
TT8_Active	531	19	105.33
TT8_Sampling	1468	39	584.30
TT8_CF8	117	45	53.93
TT8_Kalman	0	0	0.00
Analog_circuits	1368	12	164.21
GPS_charging	0	0	0.00
Compass	1390	15	208.62
RAFOS	0	0	0.00
Transponder	15	30	4.71

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	-7.60	0.000	2	0.000	0.000	2797	2644	3260	0	0	0	0	0	0
27	-0.84	-219.0	4.5	-0.0	1	53	0.73	2.40	-19.20	0.000	4	0.070	0.049	2530	1190	3855	0	0	0	0	0	0
244	-0.75	-219.0	40.6	-20.6	39	251	0.12	2.33	0.00	0.000	6	0.171	0.044	2552	2609	3857	0	0	0	0	0	0
388	-0.68	-219.0	65.3	-16.9	64	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2608	3858	0	0	0	0	0	0
531	-0.61	-219.0	91.9	-19.6	89	537	0.17	0.00	0.00	0.000	6	0.161	0.000	2603	2608	3858	0	0	0	0	0	0
668	-0.61	-219.0	113.0	-14.5	106	672	0.00	1.83	0.00	0.000	4	0.000	0.053	2594	3762	3858	0	0	0	0	0	0
735	-0.61	-219.0	122.9	-15.1	112	739	0.00	1.80	0.00	0.000	6	0.000	0.031	2595	2593	3858	0	0	0	0	0	0
874	-0.61	-219.0	143.4	-15.4	125	876	0.00	0.00	0.00	0.000	6	0.000	0.000	2595	2592	3858	0	0	0	0	0	0
1002	-0.61	-219.0	161.7	-14.4	137	1005	0.00	1.92	0.00	0.000	4	0.000	0.054	2589	3758	3857	0	0	0	0	0	0
1073	-0.61	-219.0	173.0	-15.3	143	1081	0.00	1.83	0.00	0.000	6	0.000	0.031	2590	2593	3858	0	0	0	0	0	0
1208	-0.61	-219.0	193.0	-14.7	156	1209	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2593	3857	0	0	0	0	0	0
1335	-0.61	-219.0	211.8	-14.8	168	1339	0.00	1.88	0.00	0.000	4	0.000	0.053	2590	3761	3858	0	0	0	0	0	0
1418	-0.61	-219.0	224.5	-14.6	175	1425	0.00	1.83	0.00	0.000	6	0.000	0.031	2590	2593	3858	0	0	0	0	0	0
1552	-0.61	-219.0	243.8	-14.5	188	1556	0.00	1.88	0.00	0.000	4	0.000	0.054	2590	3763	3858	0	0	0	0	0	0
1611	-0.61	-219.0	252.5	-14.4	193	1614	0.00	1.77	0.00	0.000	6	0.000	0.031	2590	2602	3858	0	0	0	0	0	0
1813	-0.61	-219.0	280.9	-13.6	212	1817	0.00	1.88	0.00	0.000	4	0.000	0.054	2590	3769	3858	0	0	1	0	0	0
1885	-0.61	-219.0	291.3	-14.1	218	1893	0.00	1.83	0.00	0.000	6	0.000	0.031	2590	2599	3858	0	0	0	0	0	0
2084	-0.61	-219.0	316.9	-12.7	237	2087	0.00	1.85	0.00	0.000	4	0.000	0.053	2590	3760	3857	0	0	0	0	0	0
2167	-0.61	-219.0	327.8	-12.7	244	2174	0.00	1.83	0.00	0.000	6	0.000	0.031	2590	2593	3857	0	0	0	0	0	0
2365	-0.61	-219.0	352.2	-12.8	263	2369	0.00	1.88	0.00	0.000	4	0.000	0.054	2590	3767	3858	0	0	0	0	0	0
2445	-0.61	-219.0	362.5	-13.1	270	2448	0.00	1.77	0.00	0.000	6	0.000	0.031	2590	2598	3857	0	0	0	0	0	0
2648	-0.61	-219.0	388.4	-12.7	289	2651	0.00	1.85	0.00	0.000	4	0.000	0.053	2590	3760	3857	0	0	0	0	0	0
2731	-0.61	-219.0	399.8	-13.6	296	2739	0.00	1.80	0.00	0.000	6	0.000	0.031	2589	2605	3857	0	0	0	0	0	0
2929	-0.61	-219.0	425.1	-12.8	315	2933	0.00	1.88	0.00	0.000	4	0.000	0.054	2589	3754	3858	0	0	0	0	0	0
3009	-0.64	-219.0	435.4	-12.5	322	3013	0.00	1.80	0.00	0.000	6	0.000	0.031	2590	2593	3857	0	0	0	0	0	0
3212	-0.64	-219.0	460.8	-12.3	341	3215	0.00	1.85	0.00	0.000	4	0.000	0.053	2589	3759	3857	0	0	0	0	0	0
3291	-0.66	-219.0	471.0	-12.8	348	3295	0.00	1.75	0.00	0.000	6	0.000	0.031	2589	2602	3857	0	0	0	0	0	0
3496	-0.66	-219.0	496.4	-12.2	367	3500	0.00	1.85	0.00	0.000	4	0.000	0.053	2589	3768	3857	0	0	0	0	0	0
3523	end dive: TARGET_DEPTH_EXCEEDED
state	3523	begin apogee
3529	-0.16	0.0	500.4	12.7	369	3710	0.45	0.00	176.10	0.989	6	0.125	0.000	2742	2650	2960	0	0	0	0	0	0
3711	end apogee: CONTROL_FINISHED_OK
state	3711	begin climb
3713	0.84	219.0	509.4	0.0	375	3911	0.98	2.53	187.80	0.933	4	0.092	0.035	3072	1265	2066	0	0	0	0	0	0
4000	0.88	250.0	482.7	12.1	392	4033	0.00	2.40	27.88	0.894	6	0.000	0.043	3071	2645	1940	0	0	1	0	0	0
4226	0.85	250.0	452.2	13.8	413	4229	0.00	1.90	0.00	0.000	4	0.000	0.050	3072	3766	1931	0	0	0	0	0	0
4328	0.79	250.0	436.5	15.9	422	4332	0.00	1.77	0.00	0.000	6	0.000	0.031	3080	2657	1930	0	0	1	0	0	0
4531	0.75	250.0	406.4	14.7	441	4535	0.15	1.85	0.00	0.000	4	0.155	0.050	3037	3764	1929	0	0	0	0	0	0
4610	0.76	253.9	395.5	13.2	448	4613	0.00	1.77	0.00	0.000	6	0.000	0.031	3045	2649	1929	0	0	0	0	0	0
4814	0.81	281.4	370.8	12.2	467	4847	0.00	1.90	27.23	0.891	4	0.000	0.049	3044	3772	1812	0	0	0	0	0	0
4904	0.81	281.4	358.4	14.1	475	4908	0.00	1.80	0.00	0.000	6	0.000	0.031	3050	2649	1809	0	0	0	0	0	0
5108	0.85	289.9	332.2	13.0	494	5121	0.00	1.92	8.02	0.815	4	0.000	0.050	3050	3771	1778	0	0	1	0	0	0
5178	0.85	289.9	321.8	15.5	500	5181	0.00	1.77	0.00	0.000	6	0.000	0.031	3056	2649	1778	0	0	0	0	0	0
5381	0.88	294.0	294.4	13.2	519	5394	0.00	1.85	5.45	0.741	4	0.000	0.048	3057	3766	1761	0	0	0	0	0	0
5454	0.88	294.0	283.0	15.4	525	5462	0.00	1.80	0.00	0.000	6	0.000	0.031	3063	2652	1760	0	0	0	0	0	0
5653	0.88	294.0	255.9	13.8	544	5656	0.00	1.83	0.00	0.000	4	0.000	0.050	3064	3766	1760	0	0	0	0	0	0
5702	0.86	294.0	248.0	15.6	548	5709	0.00	1.80	0.00	0.000	6	0.000	0.031	3071	2644	1759	0	0	0	0	0	0
5836	0.86	294.0	228.9	14.4	561	5840	0.00	1.88	0.00	0.000	4	0.000	0.051	3071	3767	1759	0	0	0	0	0	0
5863	0.83	294.0	224.6	15.6	563	5871	0.00	1.80	0.00	0.000	6	0.000	0.031	3079	2645	1759	0	0	0	0	0	0
5997	0.83	294.0	205.3	14.7	576	5998	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2645	1758	0	0	0	0	0	0
6125	0.83	294.0	186.8	14.4	588	6128	0.00	1.85	0.00	0.000	4	0.000	0.051	3079	3763	1758	0	0	0	0	0	0
6193	0.80	294.0	176.3	16.0	594	6197	0.00	1.73	0.00	0.000	6	0.000	0.031	3086	2651	1758	0	0	0	0	0	0
6332	0.80	294.0	156.1	14.4	607	6336	0.00	1.80	0.00	0.000	4	0.000	0.051	3086	3767	1758	0	0	1	0	0	0
6366	0.75	294.0	150.6	17.3	610	6371	0.17	1.73	0.00	0.000	6	0.150	0.031	3042	2650	1758	0	0	0	0	0	0
6507	0.84	324.5	133.2	12.1	623	6537	0.00	0.00	27.38	0.783	6	0.000	0.000	3043	2650	1637	0	0	0	0	0	0
6664	0.92	330.1	112.9	13.1	638	6677	0.15	1.85	6.07	0.689	4	0.080	0.049	3109	3766	1614	0	0	0	0	0	0
6735	0.83	330.1	99.6	21.1	644	6743	0.17	1.77	0.00	0.000	6	0.148	0.031	3068	2639	1614	0	0	0	0	0	0
6879	0.83	330.1	78.0	14.1	669	6885	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2640	1613	0	0	0	0	0	0
7021	0.87	339.2	57.8	13.0	694	7035	0.00	1.90	9.40	0.724	4	0.000	0.052	3067	3768	1576	0	0	1	0	0	0
7059	0.91	364.0	53.3	12.3	700	7089	0.00	1.77	21.80	0.718	6	0.000	0.031	3074	2641	1477	0	0	0	0	0	0
7225	0.93	364.0	29.2	16.7	729	7231	0.00	1.85	0.00	0.000	4	0.000	0.051	3074	3766	1476	0	0	0	0	0	0
7271	0.93	364.0	21.0	18.0	737	7278	0.00	1.77	0.00	0.000	6	0.000	0.031	3081	2643	1476	0	0	0	0	0	0
7340	end climb: FINISH_DEPTH_REACHED
state	7340	begin subsurface finish
7346	-0.02	-16.5	8.3	-17.5	749	7401	0.85	2.33	-47.65	0.000	4	0.112	0.053	2796	1246	3029	0	0	0	0	0	0
7402	end subsurface finish: CONTROL_FINISHED_OK
state	7402	begin surface