Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 126 * 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 126 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 47 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 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 -19644.578 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 -19644.578

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 47 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 126 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 091210,013300,-7644.702,17134.268,84,1.2,84,131.4 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 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091210,013744,-7644.677,17134.121,16,1.4,16,131.4 MHEAD_RNG_PITCHd_Wd 324.2,220395,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 745

Post-dive calculations and measurements:

FREEZE 0.41,-1.788,-1.894,2,1,0 _24V_AH 22.0,7.152

FINISH 0.4,1.027779 _10V_AH 10.0,3.105

SM_CCo 8164,204.98,0.101,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.82,0.00,0.00,204.98,0.000,0.000,0.101,193,2787,445,-8.14,0.20,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17132.32,081210,232314 MEM 258492

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47054,724

HUMID 48.85 CAP_FILE_SIZE 108742,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,244203520

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 0 CURRENT 0.040,352.7,1

ALTIM_TOP_PING 19.7,19.5 GPS 091210,035907,-7644.663,17139.770,45,2.0,46,131.2

ALTIM_BOTTOM_PING 650.0,6.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 223 91.16 SBE_CT 509 24 268.84

Roll_motor 63 116 163.15 AA4330 891 33 647.21

VBD_pump_during_apogee 376 1126 9344.81 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 204 100 455.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 66.25 nil 0 0 0.00

Iridium_during_connect 36 160 129.06 nil 0 0 0.00

Iridium_during_xfer 111 223 546.94 nil 0 0 0.00

Transponder_ping 3 420 27.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 19 50 9.73

TT8 1882 19 372.71

LPSleep 4346 2 95.19

TT8_Active 699 19 138.41

TT8_Sampling 1581 39 629.54

TT8_CF8 157 45 72.18

TT8_Kalman 0 0 0.00

Analog_circuits 1485 12 178.23

GPS_charging 0 0 0.00

Compass 1305 15 195.87

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.84 -219.0 0.0 0.0 0 160 0.00 0.00 -142.32 0.000 2 0.000 0.000 172 2794 3433 0 0 0 0 0 0

163 -0.84 -219.0 3.5 -6.5 23 190 8.93 1.60 -8.98 0.000 4 0.223 0.070 2516 3764 3856 0 0 0 0 0 0

269 -0.84 -219.0 30.7 -18.8 41 277 0.00 1.55 0.00 0.000 6 0.000 0.031 2515 2777 3858 0 0 0 0 0 0

413 -0.84 -219.0 57.4 -19.4 66 419 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2777 3859 0 0 0 0 0 0

553 -0.84 -219.0 85.2 -20.1 91 560 0.00 2.20 0.00 0.000 4 0.000 0.033 2516 1378 3859 0 0 0 0 0 0

589 -0.84 -219.0 91.9 -19.1 97 596 0.00 2.28 0.00 0.000 6 0.000 0.045 2506 2774 3859 0 0 0 0 0 0

727 -0.84 -219.0 122.2 -22.1 113 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2774 3859 0 0 0 0 0 0

854 -0.84 -219.0 148.0 -19.4 125 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2774 3859 0 0 0 0 0 0

982 -0.84 -219.0 172.4 -18.9 137 983 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2773 3859 0 0 0 0 0 0

1109 -0.84 -219.0 195.8 -17.7 149 1110 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2774 3859 0 0 0 0 0 0

1236 -0.84 -219.0 219.2 -18.3 161 1240 0.00 2.17 0.00 0.000 4 0.000 0.034 2506 1379 3859 0 0 0 0 0 0

1276 -0.84 -219.0 226.4 -17.2 164 1281 0.12 2.22 0.00 0.000 6 0.165 0.045 2530 2765 3859 0 0 0 0 0 0

1410 -0.84 -219.0 248.4 -16.4 176 1411 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2765 3859 0 0 0 0 0 0

1537 -0.84 -219.0 269.5 -16.7 188 1541 0.00 1.60 0.00 0.000 4 0.000 0.051 2523 3761 3859 0 0 0 0 0 0

1571 -0.84 -219.0 275.4 -18.1 191 1575 0.00 1.55 0.00 0.000 6 0.000 0.031 2523 2768 3859 0 0 0 0 0 0

1775 -0.84 -219.0 309.5 -16.7 210 1776 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2767 3859 0 0 0 0 0 0

1965 -0.84 -219.0 341.4 -16.8 228 1969 0.00 1.60 0.00 0.000 4 0.000 0.051 2516 3752 3859 0 0 0 0 0 0

2010 -0.84 -219.0 349.3 -17.7 232 2017 0.00 1.52 0.00 0.000 6 0.000 0.031 2516 2769 3859 0 0 0 0 0 0

2215 -0.84 -219.0 383.9 -16.4 251 2216 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2768 3859 0 0 0 0 0 0

2408 -0.84 -219.0 415.9 -16.6 269 2411 0.00 1.60 0.00 0.000 4 0.000 0.051 2508 3754 3858 0 0 0 0 0 0

2475 -0.84 -219.0 428.1 -18.0 275 2479 0.00 1.50 0.00 0.000 6 0.000 0.031 2508 2783 3859 0 0 0 0 0 0

2679 -0.84 -219.0 462.4 -17.2 294 2680 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2783 3859 0 0 0 0 0 0

2870 -0.84 -219.0 494.6 -17.1 312 2873 0.00 1.58 0.00 0.000 4 0.000 0.051 2501 3754 3858 0 0 0 0 0 0

2937 -0.84 -219.0 506.6 -17.6 316 2940 0.00 1.50 0.00 0.000 6 0.000 0.032 2500 2786 3858 0 0 0 0 0 0

3155 -0.84 -219.0 544.9 -17.6 323 3156 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2786 3859 0 0 0 0 0 0

3338 -0.84 -219.0 576.6 -17.1 329 3342 0.00 1.58 0.00 0.000 4 0.000 0.050 2493 3761 3859 0 0 0 0 0 0

3398 -0.84 -219.0 587.8 -18.3 330 3407 0.08 1.50 0.00 0.000 6 0.148 0.031 2519 2794 3859 0 0 0 0 0 0

3590 -0.84 -219.0 617.3 -15.5 337 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2794 3859 0 0 0 0 0 0

3773 -0.84 -219.0 645.4 -15.2 343 3776 0.00 1.55 0.00 0.000 4 0.000 0.050 2513 3754 3858 0 0 0 0 0 0

3801 end dive: BOTTOM_OBSTACLE_DETECTED

state 3801 begin apogee

3807 -0.16 0.0 650.0 17.5 343 3993 0.70 0.00 180.60 1.127 4 0.124 0.000 2747 2697 2960 0 0 0 0 0 0

3994 end apogee: CONTROL_FINISHED_OK

state 3994 begin climb

3995 0.84 219.0 658.8 0.0 349 4200 0.98 2.40 196.35 1.067 4 0.074 0.033 3070 1298 2067 0 0 0 0 0 0

4272 0.84 219.0 630.8 14.9 358 4277 0.00 2.50 0.00 0.000 6 0.000 0.041 3071 2689 2058 0 0 1 0 0 0

4469 0.84 219.0 598.9 16.7 365 4473 0.00 2.35 0.00 0.000 4 0.000 0.034 3081 1297 2052 0 0 0 0 0 0

4665 0.84 219.0 568.6 15.2 371 4669 0.00 2.35 0.00 0.000 6 0.000 0.042 3081 2709 2050 0 0 1 0 0 0

4877 0.84 219.0 532.0 17.4 378 4881 0.00 1.70 0.00 0.000 4 0.000 0.048 3081 3762 2049 0 0 0 0 0 0

4915 0.84 219.0 524.2 19.9 379 4920 0.00 1.70 0.00 0.000 6 0.000 0.031 3089 2707 2048 0 0 0 0 0 0

5111 0.84 219.0 489.4 17.6 388 5115 0.00 1.73 0.00 0.000 4 0.000 0.049 3089 3769 2047 0 0 0 0 0 0

5145 0.84 219.0 482.6 20.1 391 5149 0.00 1.62 0.00 0.000 6 0.000 0.031 3098 2716 2047 0 0 1 0 0 0

5348 0.84 219.0 444.8 18.2 410 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2715 2047 0 0 0 0 0 0

5540 0.84 219.0 410.4 17.9 428 5542 0.00 0.00 0.00 0.000 6 0.000 0.000 3098 2715 2046 0 0 0 0 0 0

5731 0.84 219.0 376.2 17.5 446 5734 0.00 1.67 0.00 0.000 4 0.000 0.050 3098 3762 2046 0 0 0 0 0 0

5798 0.84 219.0 362.7 19.8 452 5802 0.12 1.65 0.00 0.000 6 0.176 0.032 3074 2700 2046 0 0 0 0 0 0

6000 0.84 219.0 331.4 15.1 471 6002 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2700 2046 0 0 0 0 0 0

6191 0.84 219.0 303.0 14.5 489 6192 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2700 2045 0 0 0 0 0 0

6384 0.84 219.0 276.1 13.5 507 6388 0.00 1.70 0.00 0.000 4 0.000 0.049 3072 3768 2045 0 0 0 0 0 0

6411 0.84 219.0 271.6 15.7 509 6419 0.00 1.65 0.00 0.000 6 0.000 0.031 3080 2721 2045 0 0 0 0 0 0

6609 0.84 219.0 243.3 13.8 528 6610 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2721 2045 0 0 0 0 0 0

6736 0.84 219.0 225.6 14.1 540 6737 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2721 2045 0 0 0 0 0 0

6864 0.84 219.0 207.4 14.4 552 6865 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2721 2045 0 0 0 0 0 0

6991 0.84 219.0 188.8 14.7 564 6995 0.00 1.70 0.00 0.000 4 0.000 0.049 3080 3765 2045 0 0 0 0 0 0

7028 0.84 219.0 182.4 17.1 567 7036 0.00 1.62 0.00 0.000 6 0.000 0.031 3088 2728 2044 0 0 0 0 0 0

7163 0.84 219.0 160.7 16.0 580 7164 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2727 2044 0 0 0 0 0 0

7290 0.84 219.0 140.2 16.5 592 7291 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2727 2044 0 0 0 0 0 0

7418 0.84 219.0 119.5 15.6 604 7422 0.00 1.70 0.00 0.000 4 0.000 0.051 3088 3767 2044 0 0 0 0 0 0

7444 0.84 219.0 114.8 16.4 606 7452 0.00 1.62 0.00 0.000 6 0.000 0.032 3097 2729 2044 0 0 0 0 0 0

7580 0.84 219.0 92.9 16.2 623 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2729 2044 0 0 0 0 0 0

7720 0.84 219.0 70.6 16.4 648 7726 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2729 2044 0 0 0 0 0 0

7861 0.84 219.0 46.9 17.5 673 7869 0.00 1.67 0.00 0.000 4 0.000 0.051 3097 3760 2044 0 0 0 0 0 0

7920 0.84 219.0 35.1 22.0 683 7928 0.10 1.60 0.00 0.000 6 0.157 0.033 3072 2741 2044 0 0 0 0 0 0

8060 0.84 219.0 13.6 15.0 708 8066 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2741 2044 0 0 0 0 0 0

8130 end climb: SURFACE_DEPTH_REACHED

state 8130 begin surface coast

8149 end surface coast: CONTROL_FINISHED_OK

state 8149 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	126	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	47	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	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	-19644.578	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	091210,013300,-7644.702,17134.268,84,1.2,84,131.4	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	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091210,013744,-7644.677,17134.121,16,1.4,16,131.4	MHEAD_RNG_PITCHd_Wd	324.2,220395,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	745

FREEZE	0.41,-1.788,-1.894,2,1,0	_24V_AH	22.0,7.152
FINISH	0.4,1.027779	_10V_AH	10.0,3.105
SM_CCo	8164,204.98,0.101,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.82,0.00,0.00,204.98,0.000,0.000,0.101,193,2787,445,-8.14,0.20,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17132.32,081210,232314	MEM	258492
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47054,724
HUMID	48.85	CAP_FILE_SIZE	108742,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,244203520
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.040,352.7,1
ALTIM_TOP_PING	19.7,19.5	GPS	091210,035907,-7644.663,17139.770,45,2.0,46,131.2
ALTIM_BOTTOM_PING	650.0,6.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	223	91.16	SBE_CT	509	24	268.84
Roll_motor	63	116	163.15	AA4330	891	33	647.21
VBD_pump_during_apogee	376	1126	9344.81	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	204	100	455.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	66.25	nil	0	0	0.00
Iridium_during_connect	36	160	129.06	nil	0	0	0.00
Iridium_during_xfer	111	223	546.94	nil	0	0	0.00
Transponder_ping	3	420	27.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	19	50	9.73
TT8	1882	19	372.71
LPSleep	4346	2	95.19
TT8_Active	699	19	138.41
TT8_Sampling	1581	39	629.54
TT8_CF8	157	45	72.18
TT8_Kalman	0	0	0.00
Analog_circuits	1485	12	178.23
GPS_charging	0	0	0.00
Compass	1305	15	195.87
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.84	-219.0	0.0	0.0	0	160	0.00	0.00	-142.32	0.000	2	0.000	0.000	172	2794	3433	0	0	0	0	0	0
163	-0.84	-219.0	3.5	-6.5	23	190	8.93	1.60	-8.98	0.000	4	0.223	0.070	2516	3764	3856	0	0	0	0	0	0
269	-0.84	-219.0	30.7	-18.8	41	277	0.00	1.55	0.00	0.000	6	0.000	0.031	2515	2777	3858	0	0	0	0	0	0
413	-0.84	-219.0	57.4	-19.4	66	419	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2777	3859	0	0	0	0	0	0
553	-0.84	-219.0	85.2	-20.1	91	560	0.00	2.20	0.00	0.000	4	0.000	0.033	2516	1378	3859	0	0	0	0	0	0
589	-0.84	-219.0	91.9	-19.1	97	596	0.00	2.28	0.00	0.000	6	0.000	0.045	2506	2774	3859	0	0	0	0	0	0
727	-0.84	-219.0	122.2	-22.1	113	728	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2774	3859	0	0	0	0	0	0
854	-0.84	-219.0	148.0	-19.4	125	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2774	3859	0	0	0	0	0	0
982	-0.84	-219.0	172.4	-18.9	137	983	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2773	3859	0	0	0	0	0	0
1109	-0.84	-219.0	195.8	-17.7	149	1110	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2774	3859	0	0	0	0	0	0
1236	-0.84	-219.0	219.2	-18.3	161	1240	0.00	2.17	0.00	0.000	4	0.000	0.034	2506	1379	3859	0	0	0	0	0	0
1276	-0.84	-219.0	226.4	-17.2	164	1281	0.12	2.22	0.00	0.000	6	0.165	0.045	2530	2765	3859	0	0	0	0	0	0
1410	-0.84	-219.0	248.4	-16.4	176	1411	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2765	3859	0	0	0	0	0	0
1537	-0.84	-219.0	269.5	-16.7	188	1541	0.00	1.60	0.00	0.000	4	0.000	0.051	2523	3761	3859	0	0	0	0	0	0
1571	-0.84	-219.0	275.4	-18.1	191	1575	0.00	1.55	0.00	0.000	6	0.000	0.031	2523	2768	3859	0	0	0	0	0	0
1775	-0.84	-219.0	309.5	-16.7	210	1776	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2767	3859	0	0	0	0	0	0
1965	-0.84	-219.0	341.4	-16.8	228	1969	0.00	1.60	0.00	0.000	4	0.000	0.051	2516	3752	3859	0	0	0	0	0	0
2010	-0.84	-219.0	349.3	-17.7	232	2017	0.00	1.52	0.00	0.000	6	0.000	0.031	2516	2769	3859	0	0	0	0	0	0
2215	-0.84	-219.0	383.9	-16.4	251	2216	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2768	3859	0	0	0	0	0	0
2408	-0.84	-219.0	415.9	-16.6	269	2411	0.00	1.60	0.00	0.000	4	0.000	0.051	2508	3754	3858	0	0	0	0	0	0
2475	-0.84	-219.0	428.1	-18.0	275	2479	0.00	1.50	0.00	0.000	6	0.000	0.031	2508	2783	3859	0	0	0	0	0	0
2679	-0.84	-219.0	462.4	-17.2	294	2680	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2783	3859	0	0	0	0	0	0
2870	-0.84	-219.0	494.6	-17.1	312	2873	0.00	1.58	0.00	0.000	4	0.000	0.051	2501	3754	3858	0	0	0	0	0	0
2937	-0.84	-219.0	506.6	-17.6	316	2940	0.00	1.50	0.00	0.000	6	0.000	0.032	2500	2786	3858	0	0	0	0	0	0
3155	-0.84	-219.0	544.9	-17.6	323	3156	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2786	3859	0	0	0	0	0	0
3338	-0.84	-219.0	576.6	-17.1	329	3342	0.00	1.58	0.00	0.000	4	0.000	0.050	2493	3761	3859	0	0	0	0	0	0
3398	-0.84	-219.0	587.8	-18.3	330	3407	0.08	1.50	0.00	0.000	6	0.148	0.031	2519	2794	3859	0	0	0	0	0	0
3590	-0.84	-219.0	617.3	-15.5	337	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2794	3859	0	0	0	0	0	0
3773	-0.84	-219.0	645.4	-15.2	343	3776	0.00	1.55	0.00	0.000	4	0.000	0.050	2513	3754	3858	0	0	0	0	0	0
3801	end dive: BOTTOM_OBSTACLE_DETECTED
state	3801	begin apogee
3807	-0.16	0.0	650.0	17.5	343	3993	0.70	0.00	180.60	1.127	4	0.124	0.000	2747	2697	2960	0	0	0	0	0	0
3994	end apogee: CONTROL_FINISHED_OK
state	3994	begin climb
3995	0.84	219.0	658.8	0.0	349	4200	0.98	2.40	196.35	1.067	4	0.074	0.033	3070	1298	2067	0	0	0	0	0	0
4272	0.84	219.0	630.8	14.9	358	4277	0.00	2.50	0.00	0.000	6	0.000	0.041	3071	2689	2058	0	0	1	0	0	0
4469	0.84	219.0	598.9	16.7	365	4473	0.00	2.35	0.00	0.000	4	0.000	0.034	3081	1297	2052	0	0	0	0	0	0
4665	0.84	219.0	568.6	15.2	371	4669	0.00	2.35	0.00	0.000	6	0.000	0.042	3081	2709	2050	0	0	1	0	0	0
4877	0.84	219.0	532.0	17.4	378	4881	0.00	1.70	0.00	0.000	4	0.000	0.048	3081	3762	2049	0	0	0	0	0	0
4915	0.84	219.0	524.2	19.9	379	4920	0.00	1.70	0.00	0.000	6	0.000	0.031	3089	2707	2048	0	0	0	0	0	0
5111	0.84	219.0	489.4	17.6	388	5115	0.00	1.73	0.00	0.000	4	0.000	0.049	3089	3769	2047	0	0	0	0	0	0
5145	0.84	219.0	482.6	20.1	391	5149	0.00	1.62	0.00	0.000	6	0.000	0.031	3098	2716	2047	0	0	1	0	0	0
5348	0.84	219.0	444.8	18.2	410	5349	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2715	2047	0	0	0	0	0	0
5540	0.84	219.0	410.4	17.9	428	5542	0.00	0.00	0.00	0.000	6	0.000	0.000	3098	2715	2046	0	0	0	0	0	0
5731	0.84	219.0	376.2	17.5	446	5734	0.00	1.67	0.00	0.000	4	0.000	0.050	3098	3762	2046	0	0	0	0	0	0
5798	0.84	219.0	362.7	19.8	452	5802	0.12	1.65	0.00	0.000	6	0.176	0.032	3074	2700	2046	0	0	0	0	0	0
6000	0.84	219.0	331.4	15.1	471	6002	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2700	2046	0	0	0	0	0	0
6191	0.84	219.0	303.0	14.5	489	6192	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2700	2045	0	0	0	0	0	0
6384	0.84	219.0	276.1	13.5	507	6388	0.00	1.70	0.00	0.000	4	0.000	0.049	3072	3768	2045	0	0	0	0	0	0
6411	0.84	219.0	271.6	15.7	509	6419	0.00	1.65	0.00	0.000	6	0.000	0.031	3080	2721	2045	0	0	0	0	0	0
6609	0.84	219.0	243.3	13.8	528	6610	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2721	2045	0	0	0	0	0	0
6736	0.84	219.0	225.6	14.1	540	6737	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2721	2045	0	0	0	0	0	0
6864	0.84	219.0	207.4	14.4	552	6865	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2721	2045	0	0	0	0	0	0
6991	0.84	219.0	188.8	14.7	564	6995	0.00	1.70	0.00	0.000	4	0.000	0.049	3080	3765	2045	0	0	0	0	0	0
7028	0.84	219.0	182.4	17.1	567	7036	0.00	1.62	0.00	0.000	6	0.000	0.031	3088	2728	2044	0	0	0	0	0	0
7163	0.84	219.0	160.7	16.0	580	7164	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2727	2044	0	0	0	0	0	0
7290	0.84	219.0	140.2	16.5	592	7291	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2727	2044	0	0	0	0	0	0
7418	0.84	219.0	119.5	15.6	604	7422	0.00	1.70	0.00	0.000	4	0.000	0.051	3088	3767	2044	0	0	0	0	0	0
7444	0.84	219.0	114.8	16.4	606	7452	0.00	1.62	0.00	0.000	6	0.000	0.032	3097	2729	2044	0	0	0	0	0	0
7580	0.84	219.0	92.9	16.2	623	7586	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2729	2044	0	0	0	0	0	0
7720	0.84	219.0	70.6	16.4	648	7726	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2729	2044	0	0	0	0	0	0
7861	0.84	219.0	46.9	17.5	673	7869	0.00	1.67	0.00	0.000	4	0.000	0.051	3097	3760	2044	0	0	0	0	0	0
7920	0.84	219.0	35.1	22.0	683	7928	0.10	1.60	0.00	0.000	6	0.157	0.033	3072	2741	2044	0	0	0	0	0	0
8060	0.84	219.0	13.6	15.0	708	8066	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2741	2044	0	0	0	0	0	0
8130	end climb: SURFACE_DEPTH_REACHED
state	8130	begin surface coast
8149	end surface coast: CONTROL_FINISHED_OK
state	8149	begin surface