Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 127 * 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 127 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 41 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 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 -19645.836 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 -19645.836

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 41 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 127 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 091210,035907,-7644.663,17139.770,45,2.0,46,131.2 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 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091210,040422,-7644.655,17139.689,12,6.5,31,131.2 MHEAD_RNG_PITCHd_Wd 318.3,218001,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 740

Post-dive calculations and measurements:

FREEZE 0.23,-1.802,-1.037,2,1,0 _24V_AH 22.0,7.285

FINISH 0.2,1.015310 _10V_AH 10.0,3.166

SM_CCo 8361,206.18,0.102,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.85,0.00,0.00,206.18,0.000,0.000,0.102,192,2757,445,-8.13,-0.65,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17141.59,091210,010130 MEM 258368

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47016,736

HUMID 49.01 CAP_FILE_SIZE 105869,0

INTERNAL_PRESSURE 8.60385 CFSIZE 260165632,244146176

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

XPDR_PINGS 0 CURRENT 0.020,308.2,1

ALTIM_TOP_PING 19.4,19.2 GPS 091210,062926,-7644.601,17145.729,49,2.5,68,131.1

ALTIM_BOTTOM_PING 654.0,6.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 222 90.48 SBE_CT 518 24 273.71

Roll_motor 52 99 115.90 AA4330 911 33 661.99

VBD_pump_during_apogee 377 1129 9369.43 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 206 101 461.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 70.08 nil 0 0 0.00

Iridium_during_connect 36 160 126.85 nil 0 0 0.00

Iridium_during_xfer 120 223 590.64 nil 0 0 0.00

Transponder_ping 3 420 27.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 17.63

TT8 1910 19 378.35

LPSleep 4531 2 99.23

TT8_Active 677 19 134.07

TT8_Sampling 1616 39 643.18

TT8_CF8 157 45 72.32

TT8_Kalman 0 0 0.00

Analog_circuits 1456 12 174.79

GPS_charging 0 0 0.00

Compass 1314 15 197.15

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 13 begin dive

15 -0.84 -219.0 0.0 0.0 0 153 0.00 0.00 -135.88 0.000 2 0.000 0.000 181 2787 3291 0 0 0 0 0 0

157 -0.84 -219.0 3.0 -4.9 22 184 8.88 1.62 -12.82 0.000 4 0.223 0.068 2517 3766 3856 0 0 0 0 0 0

335 -0.84 -219.0 43.1 -18.2 53 341 0.00 1.58 0.00 0.000 6 0.000 0.031 2517 2766 3859 0 0 0 0 0 0

476 -0.84 -219.0 67.9 -17.8 78 482 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3859 0 0 0 0 0 0

617 -0.84 -219.0 94.2 -18.7 103 623 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

757 -0.84 -219.0 119.8 -17.6 119 758 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

884 -0.84 -219.0 141.2 -16.6 131 885 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1012 -0.84 -219.0 163.1 -17.3 143 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1139 -0.84 -219.0 185.0 -17.2 155 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1266 -0.84 -219.0 207.2 -17.2 167 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1394 -0.84 -219.0 229.2 -17.2 179 1395 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1522 -0.84 -219.0 251.9 -17.8 191 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2766 3860 0 0 0 0 0 0

1713 -0.84 -219.0 285.6 -17.5 209 1717 0.00 1.62 0.00 0.000 4 0.000 0.050 2509 3794 3860 0 0 0 0 0 0

1759 -0.84 -219.0 294.2 -19.2 213 1762 0.00 1.58 0.00 0.000 6 0.000 0.031 2509 2778 3860 0 0 0 0 0 0

1962 -0.84 -219.0 330.6 -17.5 232 1963 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2778 3860 0 0 0 0 0 0

2153 -0.84 -219.0 363.9 -17.1 250 2154 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2778 3860 0 0 0 0 0 0

2344 -0.84 -219.0 396.4 -16.4 268 2345 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2778 3859 0 0 0 0 0 0

2535 -0.84 -219.0 428.0 -16.4 286 2536 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2778 3860 0 0 0 0 0 0

2727 -0.84 -219.0 459.6 -16.9 304 2731 0.00 2.15 0.00 0.000 4 0.000 0.033 2509 1377 3859 0 0 0 0 0 0

2776 -0.84 -219.0 467.9 -15.8 308 2781 0.10 2.22 0.00 0.000 6 0.173 0.045 2526 2771 3859 0 0 0 0 0 0

2975 -0.84 -219.0 498.3 -15.8 326 2976 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2770 3860 0 0 0 0 0 0

3179 -0.84 -219.0 530.4 -15.7 334 3180 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2771 3859 0 0 0 0 0 0

3362 -0.84 -219.0 559.1 -15.7 340 3363 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2771 3859 0 0 0 0 0 0

3546 -0.84 -219.0 587.2 -15.3 346 3550 0.00 1.58 0.00 0.000 4 0.000 0.052 2519 3755 3860 0 0 0 0 0 0

3589 -0.84 -219.0 594.3 -15.3 347 3594 0.00 1.52 0.00 0.000 6 0.000 0.031 2519 2772 3859 0 0 0 0 0 0

3797 -0.84 -219.0 625.9 -15.3 354 3799 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 2771 3859 0 0 0 0 0 0

3982 end dive: BOTTOM_OBSTACLE_DETECTED

state 3982 begin apogee

3987 -0.16 0.0 654.0 15.3 360 4176 0.68 0.00 180.62 1.129 4 0.124 0.000 2745 2686 2959 0 0 0 0 0 0

4177 end apogee: CONTROL_FINISHED_OK

state 4177 begin climb

4179 0.84 219.0 663.4 0.0 366 4386 0.98 2.38 196.55 1.072 4 0.075 0.034 3068 1309 2066 0 0 0 0 0 0

4501 0.84 219.0 629.9 14.4 376 4506 0.00 2.45 0.00 0.000 6 0.000 0.041 3068 2690 2056 0 0 1 0 0 0

4715 0.84 219.0 595.4 16.5 383 4719 0.00 2.30 0.00 0.000 4 0.000 0.034 3079 1313 2051 0 0 0 0 0 0

4887 0.84 219.0 568.7 15.0 388 4892 0.00 2.38 0.00 0.000 6 0.000 0.041 3079 2710 2050 0 0 1 0 0 0

5096 0.84 219.0 534.1 16.7 395 5099 0.00 1.70 0.00 0.000 4 0.000 0.048 3079 3766 2048 0 0 0 0 0 0

5144 0.84 219.0 524.5 19.7 396 5149 0.00 1.65 0.00 0.000 6 0.000 0.030 3087 2732 2047 0 0 1 0 0 0

5338 0.84 219.0 491.7 16.7 404 5341 0.00 1.67 0.00 0.000 4 0.000 0.049 3087 3765 2047 0 0 0 0 0 0

5376 0.84 219.0 484.3 18.8 407 5383 0.00 1.67 0.00 0.000 6 0.000 0.031 3095 2727 2047 0 0 0 0 0 0

5576 0.84 219.0 450.7 17.1 426 5577 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2727 2046 0 0 0 0 0 0

5765 0.84 219.0 417.2 17.8 444 5768 0.00 1.67 0.00 0.000 4 0.000 0.049 3095 3768 2046 0 0 0 0 0 0

5822 0.84 219.0 406.5 20.3 449 5826 0.12 1.65 0.00 0.000 6 0.179 0.031 3070 2705 2046 0 0 0 0 0 0

6025 0.84 219.0 375.1 14.8 468 6028 0.00 1.70 0.00 0.000 4 0.000 0.049 3070 3766 2046 0 0 0 0 0 0

6059 0.84 219.0 369.3 16.8 471 6063 0.00 1.62 0.00 0.000 6 0.000 0.031 3078 2740 2046 0 0 0 0 0 0

6262 0.84 219.0 337.6 15.5 490 6263 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2738 2046 0 0 0 0 0 0

6453 0.84 219.0 307.2 15.9 508 6456 0.00 1.65 0.00 0.000 4 0.000 0.050 3078 3769 2046 0 0 0 0 0 0

6510 0.84 219.0 297.1 18.6 513 6513 0.00 1.62 0.00 0.000 6 0.000 0.031 3085 2736 2045 0 0 0 0 0 0

6712 0.84 219.0 263.0 16.5 532 6714 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2734 2045 0 0 0 0 0 0

6904 0.84 219.0 231.0 17.4 550 6908 0.00 1.65 0.00 0.000 4 0.000 0.050 3085 3772 2045 0 0 0 0 0 0

6983 0.84 219.0 216.3 18.5 557 6987 0.00 1.60 0.00 0.000 6 0.000 0.031 3093 2753 2044 0 0 0 0 0 0

7123 0.84 219.0 192.7 16.5 570 7124 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2752 2044 0 0 0 0 0 0

7251 0.84 219.0 171.9 16.5 582 7254 0.00 1.62 0.00 0.000 4 0.000 0.051 3093 3776 2044 0 0 0 0 0 0

7279 0.84 219.0 166.6 17.8 584 7286 0.08 1.60 0.00 0.000 6 0.165 0.031 3076 2760 2044 0 0 0 0 0 0

7412 0.84 219.0 146.2 15.1 597 7413 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2760 2044 0 0 0 0 0 0

7540 0.84 219.0 126.6 15.1 609 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2760 2044 0 0 0 0 0 0

7667 0.84 219.0 108.2 14.2 621 7671 0.00 1.62 0.00 0.000 4 0.000 0.050 3076 3761 2044 0 0 0 0 0 0

7711 0.84 219.0 101.3 16.1 625 7715 0.00 1.58 0.00 0.000 6 0.000 0.032 3083 2754 2044 0 0 0 0 0 0

7850 0.84 219.0 80.7 15.0 649 7858 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2753 2044 0 0 0 0 0 0

7994 0.84 219.0 58.2 15.6 674 8000 0.00 1.65 0.00 0.000 4 0.000 0.050 3083 3766 2044 0 0 0 0 0 0

8045 0.84 219.0 49.2 18.6 683 8051 0.00 1.58 0.00 0.000 6 0.000 0.032 3091 2759 2044 0 0 0 0 0 0

8187 0.84 219.0 25.5 17.1 708 8193 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2759 2044 0 0 0 0 0 0

8322 end climb: SURFACE_DEPTH_REACHED

state 8322 begin surface coast

8346 end surface coast: FINISH_DEPTH_REACHED

state 8346 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	127	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	41	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	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	-19645.836	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	091210,035907,-7644.663,17139.770,45,2.0,46,131.2	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	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091210,040422,-7644.655,17139.689,12,6.5,31,131.2	MHEAD_RNG_PITCHd_Wd	318.3,218001,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	740

FREEZE	0.23,-1.802,-1.037,2,1,0	_24V_AH	22.0,7.285
FINISH	0.2,1.015310	_10V_AH	10.0,3.166
SM_CCo	8361,206.18,0.102,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.85,0.00,0.00,206.18,0.000,0.000,0.102,192,2757,445,-8.13,-0.65,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17141.59,091210,010130	MEM	258368
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47016,736
HUMID	49.01	CAP_FILE_SIZE	105869,0
INTERNAL_PRESSURE	8.60385	CFSIZE	260165632,244146176
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	0	CURRENT	0.020,308.2,1
ALTIM_TOP_PING	19.4,19.2	GPS	091210,062926,-7644.601,17145.729,49,2.5,68,131.1
ALTIM_BOTTOM_PING	654.0,6.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	222	90.48	SBE_CT	518	24	273.71
Roll_motor	52	99	115.90	AA4330	911	33	661.99
VBD_pump_during_apogee	377	1129	9369.43	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	206	101	461.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	70.08	nil	0	0	0.00
Iridium_during_connect	36	160	126.85	nil	0	0	0.00
Iridium_during_xfer	120	223	590.64	nil	0	0	0.00
Transponder_ping	3	420	27.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	17.63
TT8	1910	19	378.35
LPSleep	4531	2	99.23
TT8_Active	677	19	134.07
TT8_Sampling	1616	39	643.18
TT8_CF8	157	45	72.32
TT8_Kalman	0	0	0.00
Analog_circuits	1456	12	174.79
GPS_charging	0	0	0.00
Compass	1314	15	197.15
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	13	begin dive
15	-0.84	-219.0	0.0	0.0	0	153	0.00	0.00	-135.88	0.000	2	0.000	0.000	181	2787	3291	0	0	0	0	0	0
157	-0.84	-219.0	3.0	-4.9	22	184	8.88	1.62	-12.82	0.000	4	0.223	0.068	2517	3766	3856	0	0	0	0	0	0
335	-0.84	-219.0	43.1	-18.2	53	341	0.00	1.58	0.00	0.000	6	0.000	0.031	2517	2766	3859	0	0	0	0	0	0
476	-0.84	-219.0	67.9	-17.8	78	482	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3859	0	0	0	0	0	0
617	-0.84	-219.0	94.2	-18.7	103	623	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
757	-0.84	-219.0	119.8	-17.6	119	758	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
884	-0.84	-219.0	141.2	-16.6	131	885	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1012	-0.84	-219.0	163.1	-17.3	143	1013	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1139	-0.84	-219.0	185.0	-17.2	155	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1266	-0.84	-219.0	207.2	-17.2	167	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1394	-0.84	-219.0	229.2	-17.2	179	1395	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1522	-0.84	-219.0	251.9	-17.8	191	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2766	3860	0	0	0	0	0	0
1713	-0.84	-219.0	285.6	-17.5	209	1717	0.00	1.62	0.00	0.000	4	0.000	0.050	2509	3794	3860	0	0	0	0	0	0
1759	-0.84	-219.0	294.2	-19.2	213	1762	0.00	1.58	0.00	0.000	6	0.000	0.031	2509	2778	3860	0	0	0	0	0	0
1962	-0.84	-219.0	330.6	-17.5	232	1963	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2778	3860	0	0	0	0	0	0
2153	-0.84	-219.0	363.9	-17.1	250	2154	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2778	3860	0	0	0	0	0	0
2344	-0.84	-219.0	396.4	-16.4	268	2345	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2778	3859	0	0	0	0	0	0
2535	-0.84	-219.0	428.0	-16.4	286	2536	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2778	3860	0	0	0	0	0	0
2727	-0.84	-219.0	459.6	-16.9	304	2731	0.00	2.15	0.00	0.000	4	0.000	0.033	2509	1377	3859	0	0	0	0	0	0
2776	-0.84	-219.0	467.9	-15.8	308	2781	0.10	2.22	0.00	0.000	6	0.173	0.045	2526	2771	3859	0	0	0	0	0	0
2975	-0.84	-219.0	498.3	-15.8	326	2976	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2770	3860	0	0	0	0	0	0
3179	-0.84	-219.0	530.4	-15.7	334	3180	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2771	3859	0	0	0	0	0	0
3362	-0.84	-219.0	559.1	-15.7	340	3363	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2771	3859	0	0	0	0	0	0
3546	-0.84	-219.0	587.2	-15.3	346	3550	0.00	1.58	0.00	0.000	4	0.000	0.052	2519	3755	3860	0	0	0	0	0	0
3589	-0.84	-219.0	594.3	-15.3	347	3594	0.00	1.52	0.00	0.000	6	0.000	0.031	2519	2772	3859	0	0	0	0	0	0
3797	-0.84	-219.0	625.9	-15.3	354	3799	0.00	0.00	0.00	0.000	6	0.000	0.000	2519	2771	3859	0	0	0	0	0	0
3982	end dive: BOTTOM_OBSTACLE_DETECTED
state	3982	begin apogee
3987	-0.16	0.0	654.0	15.3	360	4176	0.68	0.00	180.62	1.129	4	0.124	0.000	2745	2686	2959	0	0	0	0	0	0
4177	end apogee: CONTROL_FINISHED_OK
state	4177	begin climb
4179	0.84	219.0	663.4	0.0	366	4386	0.98	2.38	196.55	1.072	4	0.075	0.034	3068	1309	2066	0	0	0	0	0	0
4501	0.84	219.0	629.9	14.4	376	4506	0.00	2.45	0.00	0.000	6	0.000	0.041	3068	2690	2056	0	0	1	0	0	0
4715	0.84	219.0	595.4	16.5	383	4719	0.00	2.30	0.00	0.000	4	0.000	0.034	3079	1313	2051	0	0	0	0	0	0
4887	0.84	219.0	568.7	15.0	388	4892	0.00	2.38	0.00	0.000	6	0.000	0.041	3079	2710	2050	0	0	1	0	0	0
5096	0.84	219.0	534.1	16.7	395	5099	0.00	1.70	0.00	0.000	4	0.000	0.048	3079	3766	2048	0	0	0	0	0	0
5144	0.84	219.0	524.5	19.7	396	5149	0.00	1.65	0.00	0.000	6	0.000	0.030	3087	2732	2047	0	0	1	0	0	0
5338	0.84	219.0	491.7	16.7	404	5341	0.00	1.67	0.00	0.000	4	0.000	0.049	3087	3765	2047	0	0	0	0	0	0
5376	0.84	219.0	484.3	18.8	407	5383	0.00	1.67	0.00	0.000	6	0.000	0.031	3095	2727	2047	0	0	0	0	0	0
5576	0.84	219.0	450.7	17.1	426	5577	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2727	2046	0	0	0	0	0	0
5765	0.84	219.0	417.2	17.8	444	5768	0.00	1.67	0.00	0.000	4	0.000	0.049	3095	3768	2046	0	0	0	0	0	0
5822	0.84	219.0	406.5	20.3	449	5826	0.12	1.65	0.00	0.000	6	0.179	0.031	3070	2705	2046	0	0	0	0	0	0
6025	0.84	219.0	375.1	14.8	468	6028	0.00	1.70	0.00	0.000	4	0.000	0.049	3070	3766	2046	0	0	0	0	0	0
6059	0.84	219.0	369.3	16.8	471	6063	0.00	1.62	0.00	0.000	6	0.000	0.031	3078	2740	2046	0	0	0	0	0	0
6262	0.84	219.0	337.6	15.5	490	6263	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2738	2046	0	0	0	0	0	0
6453	0.84	219.0	307.2	15.9	508	6456	0.00	1.65	0.00	0.000	4	0.000	0.050	3078	3769	2046	0	0	0	0	0	0
6510	0.84	219.0	297.1	18.6	513	6513	0.00	1.62	0.00	0.000	6	0.000	0.031	3085	2736	2045	0	0	0	0	0	0
6712	0.84	219.0	263.0	16.5	532	6714	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2734	2045	0	0	0	0	0	0
6904	0.84	219.0	231.0	17.4	550	6908	0.00	1.65	0.00	0.000	4	0.000	0.050	3085	3772	2045	0	0	0	0	0	0
6983	0.84	219.0	216.3	18.5	557	6987	0.00	1.60	0.00	0.000	6	0.000	0.031	3093	2753	2044	0	0	0	0	0	0
7123	0.84	219.0	192.7	16.5	570	7124	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2752	2044	0	0	0	0	0	0
7251	0.84	219.0	171.9	16.5	582	7254	0.00	1.62	0.00	0.000	4	0.000	0.051	3093	3776	2044	0	0	0	0	0	0
7279	0.84	219.0	166.6	17.8	584	7286	0.08	1.60	0.00	0.000	6	0.165	0.031	3076	2760	2044	0	0	0	0	0	0
7412	0.84	219.0	146.2	15.1	597	7413	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2760	2044	0	0	0	0	0	0
7540	0.84	219.0	126.6	15.1	609	7541	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2760	2044	0	0	0	0	0	0
7667	0.84	219.0	108.2	14.2	621	7671	0.00	1.62	0.00	0.000	4	0.000	0.050	3076	3761	2044	0	0	0	0	0	0
7711	0.84	219.0	101.3	16.1	625	7715	0.00	1.58	0.00	0.000	6	0.000	0.032	3083	2754	2044	0	0	0	0	0	0
7850	0.84	219.0	80.7	15.0	649	7858	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2753	2044	0	0	0	0	0	0
7994	0.84	219.0	58.2	15.6	674	8000	0.00	1.65	0.00	0.000	4	0.000	0.050	3083	3766	2044	0	0	0	0	0	0
8045	0.84	219.0	49.2	18.6	683	8051	0.00	1.58	0.00	0.000	6	0.000	0.032	3091	2759	2044	0	0	0	0	0	0
8187	0.84	219.0	25.5	17.1	708	8193	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2759	2044	0	0	0	0	0	0
8322	end climb: SURFACE_DEPTH_REACHED
state	8322	begin surface coast
8346	end surface coast: FINISH_DEPTH_REACHED
state	8346	begin surface