Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 118 * 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 118 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 46 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 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 -19391.938 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 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 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 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 -19391.938

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 46 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 27 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 118 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 081210,092455,-7646.132,17102.344,69,1.2,69,132.3 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 0.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 081210,093211,-7646.120,17102.283,35,1.9,38,132.3 MHEAD_RNG_PITCHd_Wd 286.0,234386,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 758

Post-dive calculations and measurements:

FREEZE 0.90,-1.846,-1.897,2,1,0 _24V_AH 22.0,6.567

FINISH 0.9,1.027812 _10V_AH 10.0,2.794

SM_CCo 8669,140.48,0.103,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.74,0.00,0.00,140.48,0.000,0.000,0.103,193,2796,445,-8.14,0.45,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17053.84,081210,070732 MEM 258364

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43791,701

HUMID 49.40 CAP_FILE_SIZE 105167,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,244490240

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 CURRENT 0.119,171.5,1

ALTIM_TOP_PING 18.5,17.5 GPS 081210,120136,-7645.847,17108.418,83,1.8,88,132.1

ALTIM_BOTTOM_PING 701.9,6.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 90.05 SBE_CT 492 24 259.94

Roll_motor 49 99 109.18 AA4330 859 33 623.87

VBD_pump_during_apogee 500 1153 12712.03 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 140 103 319.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 54.74 nil 0 0 0.00

Iridium_during_connect 40 160 141.09 nil 0 0 0.00

Iridium_during_xfer 245 223 1202.49 nil 0 0 0.00

Transponder_ping 3 420 32.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 50 20.31

TT8 1793 19 355.17

LPSleep 4939 2 108.17

TT8_Active 725 19 143.74

TT8_Sampling 1646 39 655.29

TT8_CF8 152 45 69.68

TT8_Kalman 0 0 0.00

Analog_circuits 1487 12 178.49

GPS_charging 0 0 0.00

Compass 1219 15 182.90

RAFOS 0 0 0.00

Transponder 27 30 8.37

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 0 160 0.00 0.00 -141.62 0.000 2 0.000 0.000 145 2752 3421 0 0 0 0 0 0

163 -0.84 -219.0 3.8 -9.8 23 190 9.07 2.25 -8.82 0.000 4 0.222 0.047 2522 1366 3856 0 0 0 0 0 0

263 -0.84 -219.0 28.5 -15.8 40 270 0.00 2.33 0.00 0.000 6 0.000 0.045 2511 2778 3858 0 0 0 0 0 0

404 -0.84 -219.0 54.1 -17.7 65 411 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2778 3858 0 0 0 0 0 0

546 -0.84 -219.0 81.0 -18.4 90 553 0.00 1.60 0.00 0.000 4 0.000 0.050 2503 3760 3859 0 0 0 0 0 0

582 -0.84 -219.0 88.2 -20.1 96 589 0.00 1.55 0.00 0.000 6 0.000 0.031 2503 2777 3859 0 0 0 0 0 0

719 -0.84 -219.0 114.9 -20.3 114 720 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2777 3858 0 0 0 0 0 0

846 -0.84 -219.0 139.7 -19.5 126 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2777 3859 0 0 0 0 0 0

974 -0.84 -219.0 165.6 -21.0 138 975 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2777 3859 0 0 0 0 0 0

1101 -0.84 -219.0 191.7 -19.8 150 1102 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2777 3859 0 0 0 0 0 0

1229 -0.84 -219.0 217.0 -19.6 162 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2777 3859 0 0 0 0 0 0

1356 -0.84 -219.0 240.7 -17.8 174 1360 0.00 2.17 0.00 0.000 4 0.000 0.033 2503 1377 3859 0 0 0 0 0 0

1388 -0.84 -219.0 246.9 -17.2 176 1397 0.08 2.33 0.00 0.000 6 0.142 0.045 2522 2789 3859 0 0 0 0 0 0

1525 -0.84 -219.0 268.2 -16.2 189 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

1715 -0.84 -219.0 300.3 -16.9 207 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

1905 -0.84 -219.0 333.6 -16.9 225 1906 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

2097 -0.84 -219.0 365.4 -16.3 243 2098 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

2289 -0.84 -219.0 396.9 -16.6 261 2290 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

2479 -0.84 -219.0 429.2 -16.7 279 2480 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

2670 -0.84 -219.0 461.6 -17.0 297 2672 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2789 3859 0 0 0 0 0 0

2861 -0.84 -219.0 493.0 -16.2 315 2865 0.00 1.58 0.00 0.000 4 0.000 0.053 2515 3769 3859 0 0 0 0 0 0

2888 -0.84 -219.0 497.7 -16.9 317 2896 0.00 1.50 0.00 0.000 6 0.000 0.031 2516 2796 3859 0 0 0 0 0 0

3090 -0.84 -219.0 530.7 -16.5 325 3091 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2796 3859 0 0 0 0 0 0

3273 -0.84 -219.0 560.8 -16.5 331 3274 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2796 3859 0 0 0 0 0 0

3457 -0.84 -219.0 591.0 -16.3 337 3458 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2796 3859 0 0 0 0 0 0

3642 -0.84 -219.0 620.7 -16.0 343 3643 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2796 3859 0 0 0 0 0 0

3824 -0.84 -219.0 649.3 -15.4 349 3825 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2796 3858 0 0 0 0 0 0

4008 -0.84 -219.0 677.6 -15.4 355 4011 0.00 1.58 0.00 0.000 4 0.000 0.051 2508 3769 3858 0 0 0 0 0 0

4034 -0.84 -219.0 682.2 -17.2 355 4043 0.00 1.50 0.00 0.000 6 0.000 0.031 2508 2802 3858 0 0 0 0 0 0

4165 end dive: BOTTOM_OBSTACLE_DETECTED

state 4165 begin apogee

4170 -0.16 0.0 701.9 15.5 360 4359 0.65 0.00 181.25 1.154 4 0.073 0.000 2756 2692 2960 0 0 0 0 0 0

4360 end apogee: CONTROL_FINISHED_OK

state 4360 begin climb

4362 0.84 219.0 701.9 0.0 366 4569 0.88 1.90 198.02 1.096 4 0.058 0.051 3077 3752 2067 0 0 1 0 0 0

4607 0.88 255.0 686.2 11.9 373 4648 0.00 1.80 34.22 1.047 6 0.000 0.029 3085 2718 1919 0 0 1 0 0 0

4830 0.93 293.5 660.5 11.8 381 4871 0.00 2.53 35.33 1.056 4 0.000 0.034 3095 1302 1762 0 0 0 0 0 0

5000 1.00 349.5 640.8 11.0 386 5060 0.00 2.47 52.05 1.055 6 0.000 0.042 3095 2711 1535 0 0 1 0 0 0

5244 1.00 349.5 609.1 13.3 394 5247 0.00 1.77 0.00 0.000 4 0.000 0.049 3095 3764 1528 0 0 0 0 0 0

5292 1.00 349.5 601.2 15.3 395 5297 0.00 1.73 0.00 0.000 6 0.000 0.030 3103 2718 1526 0 0 1 0 0 0

5495 1.00 349.5 572.2 14.3 402 5496 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2718 1525 0 0 0 0 0 0

5678 1.00 349.5 545.3 14.6 408 5679 0.00 0.00 0.00 0.000 6 0.000 0.000 3104 2718 1524 0 0 0 0 0 0

5863 1.00 349.5 518.5 14.5 414 5864 0.00 0.00 0.00 0.000 6 0.000 0.000 3103 2718 1524 0 0 0 0 0 0

6047 1.00 349.5 491.5 14.7 422 6051 0.00 1.73 0.00 0.000 4 0.000 0.050 3103 3773 1523 0 0 0 0 0 0

6085 1.00 349.5 485.0 16.8 425 6094 0.00 1.67 0.00 0.000 6 0.000 0.031 3110 2727 1523 0 0 0 0 0 0

6285 1.00 349.5 453.3 17.0 444 6286 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1523 0 0 0 0 0 0

6475 1.00 349.5 420.1 17.9 462 6476 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1522 0 0 0 0 0 0

6665 1.00 349.5 386.5 18.0 480 6667 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1522 0 0 0 0 0 0

6857 1.00 349.5 352.1 18.1 498 6859 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1522 0 0 0 0 0 0

7049 1.00 349.5 318.8 17.5 516 7050 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1522 0 0 0 0 0 0

7240 1.00 349.5 285.6 18.0 534 7241 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2727 1522 0 0 0 0 0 0

7430 1.00 349.5 252.5 17.5 552 7434 0.00 2.25 0.00 0.000 4 0.000 0.036 3121 1295 1522 0 0 0 0 0 0

7469 1.00 349.5 245.8 16.6 555 7474 0.00 2.30 0.00 0.000 6 0.000 0.044 3121 2727 1521 0 0 0 0 0 0

7603 1.00 349.5 221.5 18.5 567 7604 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2727 1520 0 0 0 0 0 0

7730 1.00 349.5 196.7 19.8 579 7731 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 2727 1521 0 0 0 0 0 0

7858 1.00 349.5 171.6 19.3 591 7862 0.00 2.25 0.00 0.000 4 0.000 0.037 3132 1296 1521 0 0 0 0 0 0

7886 1.00 349.5 166.1 19.1 593 7890 0.00 2.30 0.00 0.000 6 0.000 0.044 3132 2724 1521 0 0 0 0 0 0

8020 1.00 349.5 139.6 20.1 605 8024 0.00 1.67 0.00 0.000 4 0.000 0.052 3132 3762 1521 0 0 0 0 0 0

8058 1.00 349.5 130.6 22.4 608 8065 0.00 1.62 0.00 0.000 6 0.000 0.031 3140 2729 1521 0 0 0 0 0 0

8192 1.00 349.5 103.7 19.5 621 8194 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2729 1521 0 0 0 0 0 0

8324 1.00 349.5 76.2 19.7 643 8330 0.00 0.00 0.00 0.000 6 0.000 0.000 3140 2729 1520 0 0 0 0 0 0

8464 1.00 349.5 46.7 19.9 668 8470 0.00 1.67 0.00 0.000 4 0.000 0.050 3140 3762 1521 0 0 0 0 0 0

8488 1.00 349.5 40.9 24.5 672 8495 0.00 1.62 0.00 0.000 6 0.000 0.032 3148 2727 1520 0 0 0 0 0 0

8629 1.00 349.5 6.1 25.6 697 8636 0.00 0.00 0.00 0.000 6 0.000 0.000 3148 2726 1520 0 0 0 0 0 0

8642 end climb: SURFACE_DEPTH_REACHED

state 8642 begin surface coast

8653 end surface coast: CONTROL_FINISHED_OK

state 8654 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	118	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	46	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	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	-19391.938	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	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	081210,092455,-7646.132,17102.344,69,1.2,69,132.3	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	0.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	081210,093211,-7646.120,17102.283,35,1.9,38,132.3	MHEAD_RNG_PITCHd_Wd	286.0,234386,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	758

FREEZE	0.90,-1.846,-1.897,2,1,0	_24V_AH	22.0,6.567
FINISH	0.9,1.027812	_10V_AH	10.0,2.794
SM_CCo	8669,140.48,0.103,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.74,0.00,0.00,140.48,0.000,0.000,0.103,193,2796,445,-8.14,0.45,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17053.84,081210,070732	MEM	258364
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43791,701
HUMID	49.40	CAP_FILE_SIZE	105167,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,244490240
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	CURRENT	0.119,171.5,1
ALTIM_TOP_PING	18.5,17.5	GPS	081210,120136,-7645.847,17108.418,83,1.8,88,132.1
ALTIM_BOTTOM_PING	701.9,6.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	90.05	SBE_CT	492	24	259.94
Roll_motor	49	99	109.18	AA4330	859	33	623.87
VBD_pump_during_apogee	500	1153	12712.03	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	140	103	319.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	54.74	nil	0	0	0.00
Iridium_during_connect	40	160	141.09	nil	0	0	0.00
Iridium_during_xfer	245	223	1202.49	nil	0	0	0.00
Transponder_ping	3	420	32.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	50	20.31
TT8	1793	19	355.17
LPSleep	4939	2	108.17
TT8_Active	725	19	143.74
TT8_Sampling	1646	39	655.29
TT8_CF8	152	45	69.68
TT8_Kalman	0	0	0.00
Analog_circuits	1487	12	178.49
GPS_charging	0	0	0.00
Compass	1219	15	182.90
RAFOS	0	0	0.00
Transponder	27	30	8.37

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	160	0.00	0.00	-141.62	0.000	2	0.000	0.000	145	2752	3421	0	0	0	0	0	0
163	-0.84	-219.0	3.8	-9.8	23	190	9.07	2.25	-8.82	0.000	4	0.222	0.047	2522	1366	3856	0	0	0	0	0	0
263	-0.84	-219.0	28.5	-15.8	40	270	0.00	2.33	0.00	0.000	6	0.000	0.045	2511	2778	3858	0	0	0	0	0	0
404	-0.84	-219.0	54.1	-17.7	65	411	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2778	3858	0	0	0	0	0	0
546	-0.84	-219.0	81.0	-18.4	90	553	0.00	1.60	0.00	0.000	4	0.000	0.050	2503	3760	3859	0	0	0	0	0	0
582	-0.84	-219.0	88.2	-20.1	96	589	0.00	1.55	0.00	0.000	6	0.000	0.031	2503	2777	3859	0	0	0	0	0	0
719	-0.84	-219.0	114.9	-20.3	114	720	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2777	3858	0	0	0	0	0	0
846	-0.84	-219.0	139.7	-19.5	126	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2777	3859	0	0	0	0	0	0
974	-0.84	-219.0	165.6	-21.0	138	975	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2777	3859	0	0	0	0	0	0
1101	-0.84	-219.0	191.7	-19.8	150	1102	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2777	3859	0	0	0	0	0	0
1229	-0.84	-219.0	217.0	-19.6	162	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2777	3859	0	0	0	0	0	0
1356	-0.84	-219.0	240.7	-17.8	174	1360	0.00	2.17	0.00	0.000	4	0.000	0.033	2503	1377	3859	0	0	0	0	0	0
1388	-0.84	-219.0	246.9	-17.2	176	1397	0.08	2.33	0.00	0.000	6	0.142	0.045	2522	2789	3859	0	0	0	0	0	0
1525	-0.84	-219.0	268.2	-16.2	189	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
1715	-0.84	-219.0	300.3	-16.9	207	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
1905	-0.84	-219.0	333.6	-16.9	225	1906	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
2097	-0.84	-219.0	365.4	-16.3	243	2098	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
2289	-0.84	-219.0	396.9	-16.6	261	2290	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
2479	-0.84	-219.0	429.2	-16.7	279	2480	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
2670	-0.84	-219.0	461.6	-17.0	297	2672	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2789	3859	0	0	0	0	0	0
2861	-0.84	-219.0	493.0	-16.2	315	2865	0.00	1.58	0.00	0.000	4	0.000	0.053	2515	3769	3859	0	0	0	0	0	0
2888	-0.84	-219.0	497.7	-16.9	317	2896	0.00	1.50	0.00	0.000	6	0.000	0.031	2516	2796	3859	0	0	0	0	0	0
3090	-0.84	-219.0	530.7	-16.5	325	3091	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2796	3859	0	0	0	0	0	0
3273	-0.84	-219.0	560.8	-16.5	331	3274	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2796	3859	0	0	0	0	0	0
3457	-0.84	-219.0	591.0	-16.3	337	3458	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2796	3859	0	0	0	0	0	0
3642	-0.84	-219.0	620.7	-16.0	343	3643	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2796	3859	0	0	0	0	0	0
3824	-0.84	-219.0	649.3	-15.4	349	3825	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2796	3858	0	0	0	0	0	0
4008	-0.84	-219.0	677.6	-15.4	355	4011	0.00	1.58	0.00	0.000	4	0.000	0.051	2508	3769	3858	0	0	0	0	0	0
4034	-0.84	-219.0	682.2	-17.2	355	4043	0.00	1.50	0.00	0.000	6	0.000	0.031	2508	2802	3858	0	0	0	0	0	0
4165	end dive: BOTTOM_OBSTACLE_DETECTED
state	4165	begin apogee
4170	-0.16	0.0	701.9	15.5	360	4359	0.65	0.00	181.25	1.154	4	0.073	0.000	2756	2692	2960	0	0	0	0	0	0
4360	end apogee: CONTROL_FINISHED_OK
state	4360	begin climb
4362	0.84	219.0	701.9	0.0	366	4569	0.88	1.90	198.02	1.096	4	0.058	0.051	3077	3752	2067	0	0	1	0	0	0
4607	0.88	255.0	686.2	11.9	373	4648	0.00	1.80	34.22	1.047	6	0.000	0.029	3085	2718	1919	0	0	1	0	0	0
4830	0.93	293.5	660.5	11.8	381	4871	0.00	2.53	35.33	1.056	4	0.000	0.034	3095	1302	1762	0	0	0	0	0	0
5000	1.00	349.5	640.8	11.0	386	5060	0.00	2.47	52.05	1.055	6	0.000	0.042	3095	2711	1535	0	0	1	0	0	0
5244	1.00	349.5	609.1	13.3	394	5247	0.00	1.77	0.00	0.000	4	0.000	0.049	3095	3764	1528	0	0	0	0	0	0
5292	1.00	349.5	601.2	15.3	395	5297	0.00	1.73	0.00	0.000	6	0.000	0.030	3103	2718	1526	0	0	1	0	0	0
5495	1.00	349.5	572.2	14.3	402	5496	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2718	1525	0	0	0	0	0	0
5678	1.00	349.5	545.3	14.6	408	5679	0.00	0.00	0.00	0.000	6	0.000	0.000	3104	2718	1524	0	0	0	0	0	0
5863	1.00	349.5	518.5	14.5	414	5864	0.00	0.00	0.00	0.000	6	0.000	0.000	3103	2718	1524	0	0	0	0	0	0
6047	1.00	349.5	491.5	14.7	422	6051	0.00	1.73	0.00	0.000	4	0.000	0.050	3103	3773	1523	0	0	0	0	0	0
6085	1.00	349.5	485.0	16.8	425	6094	0.00	1.67	0.00	0.000	6	0.000	0.031	3110	2727	1523	0	0	0	0	0	0
6285	1.00	349.5	453.3	17.0	444	6286	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1523	0	0	0	0	0	0
6475	1.00	349.5	420.1	17.9	462	6476	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1522	0	0	0	0	0	0
6665	1.00	349.5	386.5	18.0	480	6667	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1522	0	0	0	0	0	0
6857	1.00	349.5	352.1	18.1	498	6859	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1522	0	0	0	0	0	0
7049	1.00	349.5	318.8	17.5	516	7050	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1522	0	0	0	0	0	0
7240	1.00	349.5	285.6	18.0	534	7241	0.00	0.00	0.00	0.000	6	0.000	0.000	3110	2727	1522	0	0	0	0	0	0
7430	1.00	349.5	252.5	17.5	552	7434	0.00	2.25	0.00	0.000	4	0.000	0.036	3121	1295	1522	0	0	0	0	0	0
7469	1.00	349.5	245.8	16.6	555	7474	0.00	2.30	0.00	0.000	6	0.000	0.044	3121	2727	1521	0	0	0	0	0	0
7603	1.00	349.5	221.5	18.5	567	7604	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	2727	1520	0	0	0	0	0	0
7730	1.00	349.5	196.7	19.8	579	7731	0.00	0.00	0.00	0.000	6	0.000	0.000	3121	2727	1521	0	0	0	0	0	0
7858	1.00	349.5	171.6	19.3	591	7862	0.00	2.25	0.00	0.000	4	0.000	0.037	3132	1296	1521	0	0	0	0	0	0
7886	1.00	349.5	166.1	19.1	593	7890	0.00	2.30	0.00	0.000	6	0.000	0.044	3132	2724	1521	0	0	0	0	0	0
8020	1.00	349.5	139.6	20.1	605	8024	0.00	1.67	0.00	0.000	4	0.000	0.052	3132	3762	1521	0	0	0	0	0	0
8058	1.00	349.5	130.6	22.4	608	8065	0.00	1.62	0.00	0.000	6	0.000	0.031	3140	2729	1521	0	0	0	0	0	0
8192	1.00	349.5	103.7	19.5	621	8194	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2729	1521	0	0	0	0	0	0
8324	1.00	349.5	76.2	19.7	643	8330	0.00	0.00	0.00	0.000	6	0.000	0.000	3140	2729	1520	0	0	0	0	0	0
8464	1.00	349.5	46.7	19.9	668	8470	0.00	1.67	0.00	0.000	4	0.000	0.050	3140	3762	1521	0	0	0	0	0	0
8488	1.00	349.5	40.9	24.5	672	8495	0.00	1.62	0.00	0.000	6	0.000	0.032	3148	2727	1520	0	0	0	0	0	0
8629	1.00	349.5	6.1	25.6	697	8636	0.00	0.00	0.00	0.000	6	0.000	0.000	3148	2726	1520	0	0	0	0	0	0
8642	end climb: SURFACE_DEPTH_REACHED
state	8642	begin surface coast
8653	end surface coast: CONTROL_FINISHED_OK
state	8654	begin surface