Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 129 * 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 129 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 48 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 -19648.348 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 -19648.348

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 48 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 129 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 091210,090936,-7644.531,17151.881,93,1.9,93,130.9 TGT_NAME POLYNYA3

_CALLS 1 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091210,091522,-7644.513,17151.869,12,2.5,31,130.9 MHEAD_RNG_PITCHd_Wd 305.2,212744,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 702

Post-dive calculations and measurements:

FREEZE 0.28,-1.792,-1.895,2,1,0 _24V_AH 22.0,7.555

FINISH 0.3,1.027796 _10V_AH 10.0,3.293

SM_CCo 8082,206.55,0.102,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 1.04,0.00,0.00,206.55,0.000,0.000,0.102,187,2745,445,-8.16,-0.99,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17200.15,091210,060606 MEM 258352

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47023,717

HUMID 49.72 CAP_FILE_SIZE 102122,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,244031488

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 0 CURRENT 0.040,172.4,1

ALTIM_TOP_PING 19.6,20.0 GPS 091210,113536,-7644.355,17157.936,54,1.6,59,130.7

ALTIM_BOTTOM_PING 654.0,7.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 221 89.93 SBE_CT 504 24 266.35

Roll_motor 48 70 74.63 AA4330 891 33 646.96

VBD_pump_during_apogee 377 1128 9361.22 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 206 101 462.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 67.50 nil 0 0 0.00

Iridium_during_connect 49 160 174.45 nil 0 0 0.00

Iridium_during_xfer 137 223 675.28 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 17.56

TT8 1849 19 366.13

LPSleep 4346 2 95.18

TT8_Active 691 19 136.93

TT8_Sampling 1607 39 639.96

TT8_CF8 149 45 68.28

TT8_Kalman 0 0 0.00

Analog_circuits 1450 12 174.09

GPS_charging 0 0 0.00

Compass 1275 15 191.34

RAFOS 0 0 0.00

Transponder 23 30 7.10

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 0 159 0.00 0.00 -141.45 0.000 2 0.000 0.000 187 2769 3407 0 0 0 0 0 0

163 -0.84 -219.0 3.4 -6.1 23 189 8.88 2.22 -9.75 0.000 4 0.222 0.047 2522 1370 3856 0 0 0 0 0 0

280 -0.84 -219.0 29.7 -16.6 43 287 0.00 2.30 0.00 0.000 6 0.000 0.044 2512 2779 3859 0 0 0 0 0 0

420 -0.84 -219.0 57.7 -20.2 68 426 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2779 3859 0 0 0 0 0 0

559 -0.84 -219.0 85.1 -19.0 93 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2779 3859 0 0 0 0 0 0

698 -0.84 -219.0 113.2 -20.8 112 699 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2779 3860 0 0 0 0 0 0

825 -0.84 -219.0 138.1 -19.3 124 826 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2779 3860 0 0 0 0 0 0

953 -0.84 -219.0 163.1 -19.5 136 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2779 3860 0 0 0 0 0 0

1081 -0.84 -219.0 187.5 -18.8 148 1085 0.00 2.20 0.00 0.000 4 0.000 0.033 2512 1374 3860 0 0 0 0 0 0

1120 -0.84 -219.0 194.6 -17.7 151 1124 0.00 2.28 0.00 0.000 6 0.000 0.045 2502 2783 3860 0 0 0 0 0 0

1253 -0.84 -219.0 220.1 -19.6 163 1254 0.00 0.00 0.00 0.000 6 0.000 0.000 2501 2783 3860 0 0 0 0 0 0

1381 -0.84 -219.0 244.9 -19.8 175 1385 0.00 1.58 0.00 0.000 4 0.000 0.051 2494 3760 3860 0 0 0 0 0 0

1415 -0.84 -219.0 251.8 -21.0 178 1419 0.08 1.52 0.00 0.000 6 0.148 0.031 2520 2776 3860 0 0 0 0 0 0

1619 -0.84 -219.0 289.4 -18.1 197 1620 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2775 3860 0 0 0 0 0 0

1808 -0.84 -219.0 324.0 -18.1 215 1810 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2775 3860 0 0 0 0 0 0

2000 -0.84 -219.0 358.3 -18.1 233 2001 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2775 3860 0 0 0 0 0 0

2191 -0.84 -219.0 392.0 -17.6 251 2192 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2775 3860 0 0 0 0 0 0

2382 -0.84 -219.0 424.8 -17.1 269 2386 0.00 1.60 0.00 0.000 4 0.000 0.052 2513 3760 3859 0 0 0 0 0 0

2427 -0.84 -219.0 433.0 -17.9 273 2431 0.00 1.50 0.00 0.000 6 0.000 0.032 2513 2794 3859 0 0 0 0 0 0

2632 -0.84 -219.0 469.2 -17.6 292 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2793 3860 0 0 0 0 0 0

2842 -0.84 -219.0 506.3 -17.5 310 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2793 3860 0 0 0 0 0 0

3025 -0.84 -219.0 538.4 -17.3 316 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2793 3859 0 0 0 0 0 0

3209 -0.84 -219.0 569.0 -16.6 322 3211 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2793 3860 0 0 0 0 0 0

3392 -0.84 -219.0 599.2 -16.4 328 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2793 3860 0 0 0 0 0 0

3577 -0.84 -219.0 629.2 -16.3 334 3578 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2793 3859 0 0 0 0 0 0

3731 end dive: BOTTOM_OBSTACLE_DETECTED

state 3731 begin apogee

3736 -0.16 0.0 654.0 16.1 339 3924 0.68 0.00 180.43 1.128 4 0.125 0.000 2740 2677 2959 0 0 0 0 0 0

3925 end apogee: CONTROL_FINISHED_OK

state 3925 begin climb

3927 0.84 219.0 662.4 0.0 345 4132 1.00 2.35 196.68 1.073 4 0.075 0.032 3070 1301 2067 0 0 0 0 0 0

4288 0.84 219.0 625.4 14.2 356 4293 0.00 2.47 0.00 0.000 6 0.000 0.041 3070 2727 2055 0 0 0 0 0 0

4496 0.84 219.0 591.9 16.4 363 4500 0.00 2.35 0.00 0.000 4 0.000 0.034 3081 1305 2051 0 0 0 0 0 0

4673 0.84 219.0 564.4 16.0 368 4678 0.00 2.35 0.00 0.000 6 0.000 0.042 3081 2694 2049 0 0 1 0 0 0

4875 0.84 219.0 530.3 17.1 375 4878 0.00 1.75 0.00 0.000 4 0.000 0.049 3081 3752 2049 0 0 0 0 0 0

4946 0.84 219.0 516.4 18.9 377 4951 0.00 1.67 0.00 0.000 6 0.000 0.030 3089 2713 2048 0 0 0 0 0 0

5142 0.84 219.0 481.8 17.6 388 5143 0.00 0.00 0.00 0.000 6 0.000 0.000 3089 2713 2048 0 0 0 0 0 0

5333 0.84 219.0 449.3 17.0 406 5337 0.00 1.70 0.00 0.000 4 0.000 0.049 3090 3766 2047 0 0 0 0 0 0

5371 0.84 219.0 441.8 19.2 409 5380 0.00 1.67 0.00 0.000 6 0.000 0.031 3098 2717 2047 0 0 0 0 0 0

5569 0.84 219.0 406.5 18.2 428 5573 0.00 1.67 0.00 0.000 4 0.000 0.050 3098 3765 2046 0 0 0 0 0 0

5603 0.84 219.0 400.1 20.0 431 5607 0.12 1.65 0.00 0.000 6 0.183 0.032 3074 2701 2046 0 0 0 0 0 0

5806 0.84 219.0 366.9 16.2 450 5807 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2701 2046 0 0 0 0 0 0

5996 0.84 219.0 336.1 15.6 468 6000 0.00 1.70 0.00 0.000 4 0.000 0.049 3074 3766 2046 0 0 0 0 0 0

6033 0.84 219.0 329.2 17.9 471 6041 0.00 1.65 0.00 0.000 6 0.000 0.031 3081 2721 2045 0 0 0 0 0 0

6232 0.84 219.0 296.7 16.1 490 6233 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2720 2045 0 0 0 0 0 0

6424 0.84 219.0 265.7 16.3 508 6427 0.00 1.67 0.00 0.000 4 0.000 0.050 3081 3768 2045 0 0 0 0 0 0

6473 0.84 219.0 256.6 18.3 512 6481 0.00 1.65 0.00 0.000 6 0.000 0.030 3089 2719 2045 0 0 0 0 0 0

6671 0.84 219.0 223.9 17.0 531 6675 0.00 1.65 0.00 0.000 4 0.000 0.050 3089 3765 2045 0 0 0 0 0 0

6720 0.84 219.0 214.6 18.3 535 6728 0.00 1.62 0.00 0.000 6 0.000 0.031 3098 2733 2045 0 0 0 0 0 0

6855 0.84 219.0 191.3 17.4 548 6856 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2733 2044 0 0 0 0 0 0

6982 0.84 219.0 169.1 17.3 560 6983 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2733 2044 0 0 0 0 0 0

7109 0.84 219.0 146.9 17.7 572 7113 0.00 1.67 0.00 0.000 4 0.000 0.050 3097 3760 2044 0 0 0 0 0 0

7136 0.84 219.0 141.6 20.2 574 7144 0.10 1.60 0.00 0.000 6 0.158 0.032 3074 2746 2044 0 0 0 0 0 0

7271 0.84 219.0 119.8 15.5 587 7272 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2746 2044 0 0 0 0 0 0

7398 0.84 219.0 100.0 15.6 599 7399 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2746 2044 0 0 0 0 0 0

7533 0.84 219.0 79.5 15.2 622 7539 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2746 2044 0 0 0 0 0 0

7673 0.84 219.0 58.6 15.2 647 7679 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2746 2044 0 0 0 0 0 0

7815 0.84 219.0 37.7 14.7 672 7821 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2746 2043 0 0 0 0 0 0

7956 0.84 219.0 17.1 14.3 697 7962 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2746 2043 0 0 0 0 0 0

8049 end climb: SURFACE_DEPTH_REACHED

state 8049 begin surface coast

8067 end surface coast: CONTROL_FINISHED_OK

state 8067 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	129	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	48	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	-19648.348	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	091210,090936,-7644.531,17151.881,93,1.9,93,130.9	TGT_NAME	POLYNYA3
_CALLS	1	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091210,091522,-7644.513,17151.869,12,2.5,31,130.9	MHEAD_RNG_PITCHd_Wd	305.2,212744,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	702

FREEZE	0.28,-1.792,-1.895,2,1,0	_24V_AH	22.0,7.555
FINISH	0.3,1.027796	_10V_AH	10.0,3.293
SM_CCo	8082,206.55,0.102,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	1.04,0.00,0.00,206.55,0.000,0.000,0.102,187,2745,445,-8.16,-0.99,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17200.15,091210,060606	MEM	258352
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47023,717
HUMID	49.72	CAP_FILE_SIZE	102122,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,244031488
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	0	CURRENT	0.040,172.4,1
ALTIM_TOP_PING	19.6,20.0	GPS	091210,113536,-7644.355,17157.936,54,1.6,59,130.7
ALTIM_BOTTOM_PING	654.0,7.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	221	89.93	SBE_CT	504	24	266.35
Roll_motor	48	70	74.63	AA4330	891	33	646.96
VBD_pump_during_apogee	377	1128	9361.22	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	206	101	462.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	67.50	nil	0	0	0.00
Iridium_during_connect	49	160	174.45	nil	0	0	0.00
Iridium_during_xfer	137	223	675.28	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	17.56
TT8	1849	19	366.13
LPSleep	4346	2	95.18
TT8_Active	691	19	136.93
TT8_Sampling	1607	39	639.96
TT8_CF8	149	45	68.28
TT8_Kalman	0	0	0.00
Analog_circuits	1450	12	174.09
GPS_charging	0	0	0.00
Compass	1275	15	191.34
RAFOS	0	0	0.00
Transponder	23	30	7.10

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	159	0.00	0.00	-141.45	0.000	2	0.000	0.000	187	2769	3407	0	0	0	0	0	0
163	-0.84	-219.0	3.4	-6.1	23	189	8.88	2.22	-9.75	0.000	4	0.222	0.047	2522	1370	3856	0	0	0	0	0	0
280	-0.84	-219.0	29.7	-16.6	43	287	0.00	2.30	0.00	0.000	6	0.000	0.044	2512	2779	3859	0	0	0	0	0	0
420	-0.84	-219.0	57.7	-20.2	68	426	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2779	3859	0	0	0	0	0	0
559	-0.84	-219.0	85.1	-19.0	93	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2779	3859	0	0	0	0	0	0
698	-0.84	-219.0	113.2	-20.8	112	699	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2779	3860	0	0	0	0	0	0
825	-0.84	-219.0	138.1	-19.3	124	826	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2779	3860	0	0	0	0	0	0
953	-0.84	-219.0	163.1	-19.5	136	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2779	3860	0	0	0	0	0	0
1081	-0.84	-219.0	187.5	-18.8	148	1085	0.00	2.20	0.00	0.000	4	0.000	0.033	2512	1374	3860	0	0	0	0	0	0
1120	-0.84	-219.0	194.6	-17.7	151	1124	0.00	2.28	0.00	0.000	6	0.000	0.045	2502	2783	3860	0	0	0	0	0	0
1253	-0.84	-219.0	220.1	-19.6	163	1254	0.00	0.00	0.00	0.000	6	0.000	0.000	2501	2783	3860	0	0	0	0	0	0
1381	-0.84	-219.0	244.9	-19.8	175	1385	0.00	1.58	0.00	0.000	4	0.000	0.051	2494	3760	3860	0	0	0	0	0	0
1415	-0.84	-219.0	251.8	-21.0	178	1419	0.08	1.52	0.00	0.000	6	0.148	0.031	2520	2776	3860	0	0	0	0	0	0
1619	-0.84	-219.0	289.4	-18.1	197	1620	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2775	3860	0	0	0	0	0	0
1808	-0.84	-219.0	324.0	-18.1	215	1810	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2775	3860	0	0	0	0	0	0
2000	-0.84	-219.0	358.3	-18.1	233	2001	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2775	3860	0	0	0	0	0	0
2191	-0.84	-219.0	392.0	-17.6	251	2192	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2775	3860	0	0	0	0	0	0
2382	-0.84	-219.0	424.8	-17.1	269	2386	0.00	1.60	0.00	0.000	4	0.000	0.052	2513	3760	3859	0	0	0	0	0	0
2427	-0.84	-219.0	433.0	-17.9	273	2431	0.00	1.50	0.00	0.000	6	0.000	0.032	2513	2794	3859	0	0	0	0	0	0
2632	-0.84	-219.0	469.2	-17.6	292	2633	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2793	3860	0	0	0	0	0	0
2842	-0.84	-219.0	506.3	-17.5	310	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2793	3860	0	0	0	0	0	0
3025	-0.84	-219.0	538.4	-17.3	316	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2793	3859	0	0	0	0	0	0
3209	-0.84	-219.0	569.0	-16.6	322	3211	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2793	3860	0	0	0	0	0	0
3392	-0.84	-219.0	599.2	-16.4	328	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2793	3860	0	0	0	0	0	0
3577	-0.84	-219.0	629.2	-16.3	334	3578	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2793	3859	0	0	0	0	0	0
3731	end dive: BOTTOM_OBSTACLE_DETECTED
state	3731	begin apogee
3736	-0.16	0.0	654.0	16.1	339	3924	0.68	0.00	180.43	1.128	4	0.125	0.000	2740	2677	2959	0	0	0	0	0	0
3925	end apogee: CONTROL_FINISHED_OK
state	3925	begin climb
3927	0.84	219.0	662.4	0.0	345	4132	1.00	2.35	196.68	1.073	4	0.075	0.032	3070	1301	2067	0	0	0	0	0	0
4288	0.84	219.0	625.4	14.2	356	4293	0.00	2.47	0.00	0.000	6	0.000	0.041	3070	2727	2055	0	0	0	0	0	0
4496	0.84	219.0	591.9	16.4	363	4500	0.00	2.35	0.00	0.000	4	0.000	0.034	3081	1305	2051	0	0	0	0	0	0
4673	0.84	219.0	564.4	16.0	368	4678	0.00	2.35	0.00	0.000	6	0.000	0.042	3081	2694	2049	0	0	1	0	0	0
4875	0.84	219.0	530.3	17.1	375	4878	0.00	1.75	0.00	0.000	4	0.000	0.049	3081	3752	2049	0	0	0	0	0	0
4946	0.84	219.0	516.4	18.9	377	4951	0.00	1.67	0.00	0.000	6	0.000	0.030	3089	2713	2048	0	0	0	0	0	0
5142	0.84	219.0	481.8	17.6	388	5143	0.00	0.00	0.00	0.000	6	0.000	0.000	3089	2713	2048	0	0	0	0	0	0
5333	0.84	219.0	449.3	17.0	406	5337	0.00	1.70	0.00	0.000	4	0.000	0.049	3090	3766	2047	0	0	0	0	0	0
5371	0.84	219.0	441.8	19.2	409	5380	0.00	1.67	0.00	0.000	6	0.000	0.031	3098	2717	2047	0	0	0	0	0	0
5569	0.84	219.0	406.5	18.2	428	5573	0.00	1.67	0.00	0.000	4	0.000	0.050	3098	3765	2046	0	0	0	0	0	0
5603	0.84	219.0	400.1	20.0	431	5607	0.12	1.65	0.00	0.000	6	0.183	0.032	3074	2701	2046	0	0	0	0	0	0
5806	0.84	219.0	366.9	16.2	450	5807	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2701	2046	0	0	0	0	0	0
5996	0.84	219.0	336.1	15.6	468	6000	0.00	1.70	0.00	0.000	4	0.000	0.049	3074	3766	2046	0	0	0	0	0	0
6033	0.84	219.0	329.2	17.9	471	6041	0.00	1.65	0.00	0.000	6	0.000	0.031	3081	2721	2045	0	0	0	0	0	0
6232	0.84	219.0	296.7	16.1	490	6233	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2720	2045	0	0	0	0	0	0
6424	0.84	219.0	265.7	16.3	508	6427	0.00	1.67	0.00	0.000	4	0.000	0.050	3081	3768	2045	0	0	0	0	0	0
6473	0.84	219.0	256.6	18.3	512	6481	0.00	1.65	0.00	0.000	6	0.000	0.030	3089	2719	2045	0	0	0	0	0	0
6671	0.84	219.0	223.9	17.0	531	6675	0.00	1.65	0.00	0.000	4	0.000	0.050	3089	3765	2045	0	0	0	0	0	0
6720	0.84	219.0	214.6	18.3	535	6728	0.00	1.62	0.00	0.000	6	0.000	0.031	3098	2733	2045	0	0	0	0	0	0
6855	0.84	219.0	191.3	17.4	548	6856	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2733	2044	0	0	0	0	0	0
6982	0.84	219.0	169.1	17.3	560	6983	0.00	0.00	0.00	0.000	6	0.000	0.000	3097	2733	2044	0	0	0	0	0	0
7109	0.84	219.0	146.9	17.7	572	7113	0.00	1.67	0.00	0.000	4	0.000	0.050	3097	3760	2044	0	0	0	0	0	0
7136	0.84	219.0	141.6	20.2	574	7144	0.10	1.60	0.00	0.000	6	0.158	0.032	3074	2746	2044	0	0	0	0	0	0
7271	0.84	219.0	119.8	15.5	587	7272	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2746	2044	0	0	0	0	0	0
7398	0.84	219.0	100.0	15.6	599	7399	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2746	2044	0	0	0	0	0	0
7533	0.84	219.0	79.5	15.2	622	7539	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2746	2044	0	0	0	0	0	0
7673	0.84	219.0	58.6	15.2	647	7679	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2746	2044	0	0	0	0	0	0
7815	0.84	219.0	37.7	14.7	672	7821	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2746	2043	0	0	0	0	0	0
7956	0.84	219.0	17.1	14.3	697	7962	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2746	2043	0	0	0	0	0	0
8049	end climb: SURFACE_DEPTH_REACHED
state	8049	begin surface coast
8067	end surface coast: CONTROL_FINISHED_OK
state	8067	begin surface