Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 279 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 3 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 279 ESCAPE_HEADING 70 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 8 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 300 R_PORT_OVSHOOT 32 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 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 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 5 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 4 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 8 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 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 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 5 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 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -30489.625 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.025 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 450 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3944 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 3065 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043373196

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -70.546913 SEABIRD_T_H 0.00062598457

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_I 2.5066851e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.8555498e-06

MASS 51763 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7998753

NAV_MODE 2 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1362277

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00070417771

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014171835

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 100 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 300

AH0_24V 150 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 5

ALTIM_FREQUENCY 13 D_TGT 750 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 8

ALTIM_PING_DELTA 50 ESCAPE_HEADING 70 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 4

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3944 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 450 TGT_DEFAULT_LAT -7715

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 17 TGT_DEFAULT_LON 16530

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 8 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 250

CALL_TRIES 3 HD_A 0.003 PROTOCOL 0 T_GPS 5

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 -30489.625

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 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 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2961 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 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 32 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 279 NAV_MODE 2 SEABIRD_C_J 0.00014171835 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043373196 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 8 SEABIRD_T_H 0.00062598457 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.5066851e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.8555498e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 201210,170420,-7639.567,17314.021,23,1.6,24,128.5 TGT_NAME POLYNYA

_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 2.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201210,171044,-7639.592,17313.965,17,1.6,17,128.5 MHEAD_RNG_PITCHd_Wd 316.1,176442,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 475

Post-dive calculations and measurements:

FREEZE 1.27,-0.888,-1.093,2,1,0 _24V_AH 20.5,52.107

FINISH 1.3,1.016139 _10V_AH 9.8,33.393

SM_CCo 7203,79.57,0.721,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.24,0.00,0.00,79.57,0.000,0.000,0.721,419,2665,1737,-8.27,0.42,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17319.04,201210,141408 MEM 258264

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53830,782

HUMID 53.26 CAP_FILE_SIZE 105031,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,235884544

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 CURRENT 0.068,314.4,1

ALTIM_TOP_PING 19.5,17.8 GPS 201210,191400,-7639.309,17317.166,38,1.1,44,128.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.43 SBE_CT 550 24 270.97

Roll_motor 74 99 152.19 AA4330 945 33 639.52

VBD_pump_during_apogee 280 1084 6231.08 WL_BBFL2VMT 921 105 1983.69

VBD_pump_during_surface 79 721 1176.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 60.54 nil 0 0 0.00

Iridium_during_connect 40 160 132.59 nil 0 0 0.00

Iridium_during_xfer 204 223 933.13 nil 0 0 0.00

Transponder_ping 2 420 17.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 8.85

TT8 1989 19 386.13

LPSleep 2944 2 63.19

TT8_Active 485 19 94.25

TT8_Sampling 2074 39 809.30

TT8_CF8 184 45 82.75

TT8_Kalman 0 0 0.00

Analog_circuits 1252 12 147.31

GPS_charging 0 0 0.00

Compass 1279 15 188.07

RAFOS 0 0 0.00

Transponder 12 30 3.61

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 -0.76 -146.0 0.0 0.0 0 100 0.00 0.00 -82.28 0.000 2 0.000 0.000 418 2674 3221 0 0 0 0 0 0

102 -0.76 -146.0 3.2 -1.1 12 132 8.85 2.35 -10.85 0.000 4 0.198 0.063 2808 1244 3560 0 0 0 0 0 0

331 -0.76 -146.0 36.9 -14.3 51 338 0.00 2.30 0.00 0.000 6 0.000 0.057 2799 2649 3563 0 0 0 0 0 0

472 -0.76 -146.0 59.8 -16.2 76 480 0.00 1.83 0.00 0.000 4 0.000 0.062 2790 3761 3564 0 0 0 0 0 0

499 -0.76 -146.0 64.3 -17.5 80 507 0.00 1.80 0.00 0.000 6 0.000 0.044 2790 2634 3564 0 0 0 0 0 0

644 -0.76 -146.0 89.3 -17.3 105 650 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2633 3564 0 0 0 0 0 0

783 -0.76 -146.0 113.0 -17.2 123 787 0.00 1.85 0.00 0.000 4 0.000 0.064 2784 3768 3564 0 0 0 0 0 0

819 -0.76 -146.0 119.4 -18.6 126 823 0.12 1.75 0.00 0.000 6 0.165 0.043 2818 2642 3564 0 0 0 0 0 0

961 -0.76 -146.0 141.0 -15.0 139 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2640 3563 0 0 0 0 0 0

1096 -0.76 -146.0 161.2 -14.3 152 1100 0.00 1.83 0.00 0.000 4 0.000 0.063 2811 3766 3564 0 0 0 0 0 0

1132 -0.76 -146.0 166.6 -15.9 155 1135 0.00 1.73 0.00 0.000 6 0.000 0.042 2811 2655 3563 0 0 0 0 0 0

1272 -0.76 -146.0 188.2 -15.3 168 1273 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2652 3563 0 0 0 0 0 0

1400 -0.76 -146.0 207.7 -15.9 180 1403 0.00 1.83 0.00 0.000 4 0.000 0.065 2802 3773 3564 0 0 0 0 0 0

1435 -0.76 -146.0 213.5 -16.7 183 1439 0.00 1.73 0.00 0.000 6 0.000 0.044 2802 2666 3563 0 0 0 0 0 0

1575 -0.76 -146.0 235.9 -16.0 196 1576 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2663 3563 0 0 0 0 0 0

1701 -0.76 -146.0 255.9 -15.4 208 1702 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2663 3563 0 0 0 0 0 0

1894 -0.76 -146.0 285.1 -14.9 226 1898 0.00 1.80 0.00 0.000 4 0.000 0.064 2795 3768 3564 0 0 0 0 0 0

1931 -0.76 -146.0 291.7 -16.1 229 1939 0.00 1.75 0.00 0.000 6 0.000 0.042 2795 2676 3563 0 0 0 0 0 0

2132 -0.76 -146.0 321.5 -15.4 248 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2675 3563 0 0 0 0 0 0

2321 -0.76 -146.0 350.3 -15.2 266 2325 0.00 1.77 0.00 0.000 4 0.000 0.065 2787 3764 3564 0 0 0 0 0 0

2347 -0.76 -146.0 354.8 -16.2 268 2356 0.05 1.70 0.00 0.000 6 0.152 0.043 2804 2693 3563 0 0 0 0 0 0

2547 -0.76 -146.0 383.3 -14.4 287 2548 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2692 3563 0 0 0 0 0 0

2737 -0.76 -146.0 410.6 -14.6 305 2738 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2692 3564 0 0 0 0 0 0

2928 -0.76 -146.0 437.8 -13.9 323 2932 0.00 1.75 0.00 0.000 4 0.000 0.063 2798 3768 3563 0 0 0 0 0 0

2985 -0.76 -146.0 446.3 -14.6 328 2989 0.00 1.73 0.00 0.000 6 0.000 0.044 2798 2690 3563 0 0 0 0 0 0

3187 end dive: TARGET_DEPTH_EXCEEDED

state 3188 begin apogee

3193 -0.17 0.0 476.2 14.5 347 3332 0.62 0.00 133.00 1.084 4 0.129 0.000 3001 2494 2960 0 0 0 0 0 0

3333 end apogee: CONTROL_FINISHED_OK

state 3333 begin climb

3335 0.76 146.0 482.2 0.0 359 3493 0.98 2.53 147.40 0.993 4 0.072 0.049 3311 1095 2364 0 0 0 0 0 0

3620 0.76 146.0 456.6 12.0 384 3628 0.00 2.50 0.00 0.000 6 0.000 0.052 3311 2499 2353 0 0 0 0 0 0

3820 0.76 146.0 432.2 12.5 403 3824 0.00 2.28 0.00 0.000 4 0.000 0.050 3322 1090 2350 0 0 0 0 0 0

3953 0.76 146.0 415.3 12.8 414 3962 0.00 2.38 0.00 0.000 6 0.000 0.054 3322 2520 2348 0 0 0 0 0 0

4151 0.76 146.0 390.0 12.9 433 4155 0.00 2.00 0.00 0.000 4 0.000 0.060 3321 3771 2347 0 0 0 0 0 0

4234 0.76 146.0 377.5 15.1 440 4242 0.00 1.98 0.00 0.000 6 0.000 0.043 3331 2535 2347 0 0 0 0 0 0

4435 0.76 146.0 350.4 13.7 459 4439 0.00 2.00 0.00 0.000 4 0.000 0.059 3331 3777 2346 0 0 0 0 0 0

4469 0.76 146.0 345.1 15.0 462 4473 0.00 1.95 0.00 0.000 6 0.000 0.042 3341 2531 2346 0 0 0 0 0 0

4672 0.76 146.0 316.0 14.0 481 4673 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2528 2345 0 0 0 0 0 0

4864 0.76 146.0 289.1 13.7 499 4868 0.00 2.03 0.00 0.000 4 0.000 0.060 3341 3758 2346 0 0 0 0 0 0

4887 0.76 146.0 285.7 14.6 501 4892 0.15 1.92 0.00 0.000 6 0.161 0.042 3309 2521 2345 0 0 0 0 0 0

5087 0.76 146.0 262.0 12.0 519 5091 0.00 2.03 0.00 0.000 4 0.000 0.062 3309 3767 2345 0 0 0 0 0 0

5134 0.76 146.0 255.5 14.4 523 5138 0.00 1.90 0.00 0.000 6 0.000 0.043 3317 2550 2345 0 0 0 0 0 0

5338 0.76 146.0 229.6 12.5 542 5339 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2548 2345 0 0 0 0 0 0

5466 0.76 146.0 213.7 12.6 554 5469 0.00 1.98 0.00 0.000 4 0.000 0.060 3318 3770 2345 0 0 0 0 0 0

5512 0.76 146.0 207.2 14.5 558 5515 0.00 1.90 0.00 0.000 6 0.000 0.043 3327 2552 2345 0 0 0 0 0 0

5654 0.76 146.0 188.7 12.7 571 5661 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2549 2345 0 0 0 0 0 0

5789 0.76 146.0 171.0 13.0 584 5790 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2549 2345 0 0 0 0 0 0

5917 0.76 146.0 154.4 12.8 596 5920 0.00 1.98 0.00 0.000 4 0.000 0.062 3327 3769 2344 0 0 0 0 0 0

5964 0.76 146.0 147.0 15.5 600 5974 0.00 1.92 0.00 0.000 6 0.000 0.042 3336 2558 2344 0 0 0 0 0 0

6102 0.76 146.0 128.7 13.5 613 6106 0.00 1.95 0.00 0.000 4 0.000 0.060 3336 3768 2343 0 0 0 0 0 0

6129 0.76 146.0 124.3 15.7 615 6139 0.10 1.90 0.00 0.000 6 0.137 0.043 3312 2577 2343 0 0 0 0 0 0

6264 0.76 146.0 108.0 11.8 628 6265 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2576 2343 0 0 0 0 0 0

6394 0.76 146.0 92.9 11.4 645 6400 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2577 2343 0 0 0 0 0 0

6534 0.76 146.0 77.2 11.2 670 6542 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2577 2343 0 0 0 0 0 0

6678 0.76 146.0 61.2 10.8 695 6685 0.00 1.95 0.00 0.000 4 0.000 0.062 3312 3777 2343 0 0 0 0 0 0

6719 0.76 146.0 55.8 13.9 702 6728 0.00 1.90 0.00 0.000 6 0.000 0.043 3320 2581 2343 0 0 0 0 0 0

6865 0.76 146.0 38.7 11.4 727 6871 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2581 2343 0 0 0 0 0 0

7006 0.76 146.0 22.0 11.6 752 7014 0.00 1.98 0.00 0.000 4 0.000 0.061 3319 3767 2343 0 0 0 0 0 0

7040 0.76 146.0 17.8 13.3 757 7046 0.00 1.85 0.00 0.000 6 0.000 0.043 3329 2584 2343 0 0 0 0 0 0

7161 end climb: SURFACE_DEPTH_REACHED

state 7161 begin surface coast

7188 end surface coast: CONTROL_FINISHED_OK

state 7188 begin surface

ID	502	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	3	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	279	ESCAPE_HEADING	70	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	8	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	300	R_PORT_OVSHOOT	32	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	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	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	5	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	4	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	8	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	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	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	5	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	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-30489.625	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.025	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	450	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3944	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	3065	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043373196
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-70.546913	SEABIRD_T_H	0.00062598457
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_I	2.5066851e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.8555498e-06
MASS	51763	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7998753
NAV_MODE	2	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1362277
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00070417771
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014171835
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	201210,170420,-7639.567,17314.021,23,1.6,24,128.5	TGT_NAME	POLYNYA
_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	2.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201210,171044,-7639.592,17313.965,17,1.6,17,128.5	MHEAD_RNG_PITCHd_Wd	316.1,176442,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	475

FREEZE	1.27,-0.888,-1.093,2,1,0	_24V_AH	20.5,52.107
FINISH	1.3,1.016139	_10V_AH	9.8,33.393
SM_CCo	7203,79.57,0.721,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.24,0.00,0.00,79.57,0.000,0.000,0.721,419,2665,1737,-8.27,0.42,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17319.04,201210,141408	MEM	258264
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53830,782
HUMID	53.26	CAP_FILE_SIZE	105031,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,235884544
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.068,314.4,1
ALTIM_TOP_PING	19.5,17.8	GPS	201210,191400,-7639.309,17317.166,38,1.1,44,128.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.43	SBE_CT	550	24	270.97
Roll_motor	74	99	152.19	AA4330	945	33	639.52
VBD_pump_during_apogee	280	1084	6231.08	WL_BBFL2VMT	921	105	1983.69
VBD_pump_during_surface	79	721	1176.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	60.54	nil	0	0	0.00
Iridium_during_connect	40	160	132.59	nil	0	0	0.00
Iridium_during_xfer	204	223	933.13	nil	0	0	0.00
Transponder_ping	2	420	17.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	8.85
TT8	1989	19	386.13
LPSleep	2944	2	63.19
TT8_Active	485	19	94.25
TT8_Sampling	2074	39	809.30
TT8_CF8	184	45	82.75
TT8_Kalman	0	0	0.00
Analog_circuits	1252	12	147.31
GPS_charging	0	0	0.00
Compass	1279	15	188.07
RAFOS	0	0	0.00
Transponder	12	30	3.61

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	-0.76	-146.0	0.0	0.0	0	100	0.00	0.00	-82.28	0.000	2	0.000	0.000	418	2674	3221	0	0	0	0	0	0
102	-0.76	-146.0	3.2	-1.1	12	132	8.85	2.35	-10.85	0.000	4	0.198	0.063	2808	1244	3560	0	0	0	0	0	0
331	-0.76	-146.0	36.9	-14.3	51	338	0.00	2.30	0.00	0.000	6	0.000	0.057	2799	2649	3563	0	0	0	0	0	0
472	-0.76	-146.0	59.8	-16.2	76	480	0.00	1.83	0.00	0.000	4	0.000	0.062	2790	3761	3564	0	0	0	0	0	0
499	-0.76	-146.0	64.3	-17.5	80	507	0.00	1.80	0.00	0.000	6	0.000	0.044	2790	2634	3564	0	0	0	0	0	0
644	-0.76	-146.0	89.3	-17.3	105	650	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2633	3564	0	0	0	0	0	0
783	-0.76	-146.0	113.0	-17.2	123	787	0.00	1.85	0.00	0.000	4	0.000	0.064	2784	3768	3564	0	0	0	0	0	0
819	-0.76	-146.0	119.4	-18.6	126	823	0.12	1.75	0.00	0.000	6	0.165	0.043	2818	2642	3564	0	0	0	0	0	0
961	-0.76	-146.0	141.0	-15.0	139	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2640	3563	0	0	0	0	0	0
1096	-0.76	-146.0	161.2	-14.3	152	1100	0.00	1.83	0.00	0.000	4	0.000	0.063	2811	3766	3564	0	0	0	0	0	0
1132	-0.76	-146.0	166.6	-15.9	155	1135	0.00	1.73	0.00	0.000	6	0.000	0.042	2811	2655	3563	0	0	0	0	0	0
1272	-0.76	-146.0	188.2	-15.3	168	1273	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2652	3563	0	0	0	0	0	0
1400	-0.76	-146.0	207.7	-15.9	180	1403	0.00	1.83	0.00	0.000	4	0.000	0.065	2802	3773	3564	0	0	0	0	0	0
1435	-0.76	-146.0	213.5	-16.7	183	1439	0.00	1.73	0.00	0.000	6	0.000	0.044	2802	2666	3563	0	0	0	0	0	0
1575	-0.76	-146.0	235.9	-16.0	196	1576	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2663	3563	0	0	0	0	0	0
1701	-0.76	-146.0	255.9	-15.4	208	1702	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2663	3563	0	0	0	0	0	0
1894	-0.76	-146.0	285.1	-14.9	226	1898	0.00	1.80	0.00	0.000	4	0.000	0.064	2795	3768	3564	0	0	0	0	0	0
1931	-0.76	-146.0	291.7	-16.1	229	1939	0.00	1.75	0.00	0.000	6	0.000	0.042	2795	2676	3563	0	0	0	0	0	0
2132	-0.76	-146.0	321.5	-15.4	248	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2675	3563	0	0	0	0	0	0
2321	-0.76	-146.0	350.3	-15.2	266	2325	0.00	1.77	0.00	0.000	4	0.000	0.065	2787	3764	3564	0	0	0	0	0	0
2347	-0.76	-146.0	354.8	-16.2	268	2356	0.05	1.70	0.00	0.000	6	0.152	0.043	2804	2693	3563	0	0	0	0	0	0
2547	-0.76	-146.0	383.3	-14.4	287	2548	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2692	3563	0	0	0	0	0	0
2737	-0.76	-146.0	410.6	-14.6	305	2738	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2692	3564	0	0	0	0	0	0
2928	-0.76	-146.0	437.8	-13.9	323	2932	0.00	1.75	0.00	0.000	4	0.000	0.063	2798	3768	3563	0	0	0	0	0	0
2985	-0.76	-146.0	446.3	-14.6	328	2989	0.00	1.73	0.00	0.000	6	0.000	0.044	2798	2690	3563	0	0	0	0	0	0
3187	end dive: TARGET_DEPTH_EXCEEDED
state	3188	begin apogee
3193	-0.17	0.0	476.2	14.5	347	3332	0.62	0.00	133.00	1.084	4	0.129	0.000	3001	2494	2960	0	0	0	0	0	0
3333	end apogee: CONTROL_FINISHED_OK
state	3333	begin climb
3335	0.76	146.0	482.2	0.0	359	3493	0.98	2.53	147.40	0.993	4	0.072	0.049	3311	1095	2364	0	0	0	0	0	0
3620	0.76	146.0	456.6	12.0	384	3628	0.00	2.50	0.00	0.000	6	0.000	0.052	3311	2499	2353	0	0	0	0	0	0
3820	0.76	146.0	432.2	12.5	403	3824	0.00	2.28	0.00	0.000	4	0.000	0.050	3322	1090	2350	0	0	0	0	0	0
3953	0.76	146.0	415.3	12.8	414	3962	0.00	2.38	0.00	0.000	6	0.000	0.054	3322	2520	2348	0	0	0	0	0	0
4151	0.76	146.0	390.0	12.9	433	4155	0.00	2.00	0.00	0.000	4	0.000	0.060	3321	3771	2347	0	0	0	0	0	0
4234	0.76	146.0	377.5	15.1	440	4242	0.00	1.98	0.00	0.000	6	0.000	0.043	3331	2535	2347	0	0	0	0	0	0
4435	0.76	146.0	350.4	13.7	459	4439	0.00	2.00	0.00	0.000	4	0.000	0.059	3331	3777	2346	0	0	0	0	0	0
4469	0.76	146.0	345.1	15.0	462	4473	0.00	1.95	0.00	0.000	6	0.000	0.042	3341	2531	2346	0	0	0	0	0	0
4672	0.76	146.0	316.0	14.0	481	4673	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2528	2345	0	0	0	0	0	0
4864	0.76	146.0	289.1	13.7	499	4868	0.00	2.03	0.00	0.000	4	0.000	0.060	3341	3758	2346	0	0	0	0	0	0
4887	0.76	146.0	285.7	14.6	501	4892	0.15	1.92	0.00	0.000	6	0.161	0.042	3309	2521	2345	0	0	0	0	0	0
5087	0.76	146.0	262.0	12.0	519	5091	0.00	2.03	0.00	0.000	4	0.000	0.062	3309	3767	2345	0	0	0	0	0	0
5134	0.76	146.0	255.5	14.4	523	5138	0.00	1.90	0.00	0.000	6	0.000	0.043	3317	2550	2345	0	0	0	0	0	0
5338	0.76	146.0	229.6	12.5	542	5339	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2548	2345	0	0	0	0	0	0
5466	0.76	146.0	213.7	12.6	554	5469	0.00	1.98	0.00	0.000	4	0.000	0.060	3318	3770	2345	0	0	0	0	0	0
5512	0.76	146.0	207.2	14.5	558	5515	0.00	1.90	0.00	0.000	6	0.000	0.043	3327	2552	2345	0	0	0	0	0	0
5654	0.76	146.0	188.7	12.7	571	5661	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2549	2345	0	0	0	0	0	0
5789	0.76	146.0	171.0	13.0	584	5790	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2549	2345	0	0	0	0	0	0
5917	0.76	146.0	154.4	12.8	596	5920	0.00	1.98	0.00	0.000	4	0.000	0.062	3327	3769	2344	0	0	0	0	0	0
5964	0.76	146.0	147.0	15.5	600	5974	0.00	1.92	0.00	0.000	6	0.000	0.042	3336	2558	2344	0	0	0	0	0	0
6102	0.76	146.0	128.7	13.5	613	6106	0.00	1.95	0.00	0.000	4	0.000	0.060	3336	3768	2343	0	0	0	0	0	0
6129	0.76	146.0	124.3	15.7	615	6139	0.10	1.90	0.00	0.000	6	0.137	0.043	3312	2577	2343	0	0	0	0	0	0
6264	0.76	146.0	108.0	11.8	628	6265	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2576	2343	0	0	0	0	0	0
6394	0.76	146.0	92.9	11.4	645	6400	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2577	2343	0	0	0	0	0	0
6534	0.76	146.0	77.2	11.2	670	6542	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2577	2343	0	0	0	0	0	0
6678	0.76	146.0	61.2	10.8	695	6685	0.00	1.95	0.00	0.000	4	0.000	0.062	3312	3777	2343	0	0	0	0	0	0
6719	0.76	146.0	55.8	13.9	702	6728	0.00	1.90	0.00	0.000	6	0.000	0.043	3320	2581	2343	0	0	0	0	0	0
6865	0.76	146.0	38.7	11.4	727	6871	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2581	2343	0	0	0	0	0	0
7006	0.76	146.0	22.0	11.6	752	7014	0.00	1.98	0.00	0.000	4	0.000	0.061	3319	3767	2343	0	0	0	0	0	0
7040	0.76	146.0	17.8	13.3	757	7046	0.00	1.85	0.00	0.000	6	0.000	0.043	3329	2584	2343	0	0	0	0	0	0
7161	end climb: SURFACE_DEPTH_REACHED
state	7161	begin surface coast
7188	end surface coast: CONTROL_FINISHED_OK
state	7188	begin surface