Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 280 * 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 280 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 30 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 -30490.883 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 -30490.883

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 33 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 30 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 280 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 201210,191400,-7639.309,17317.166,38,1.1,44,128.4 TGT_NAME POLYNYA_tmp

_CALLS 1 TGT_LATLONG -7630.000,17400.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 201210,192019,-7639.314,17317.123,11,1.3,11,128.4 MHEAD_RNG_PITCHd_Wd 293.8,25322,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 475

Post-dive calculations and measurements:

FREEZE 1.33,-0.770,-1.044,2,1,0 _24V_AH 20.5,52.222

FINISH 1.3,1.015416 _10V_AH 9.7,33.482

SM_CCo 7142,79.93,0.726,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.11,0.00,0.00,79.93,0.000,0.000,0.726,420,2674,1737,-8.26,0.71,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17317.96,201210,171759 MEM 257984

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53951,772

HUMID 52.36 CAP_FILE_SIZE 108853,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,235819008

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

XPDR_PINGS 2 CURRENT 0.084,322.7,1

ALTIM_TOP_PING 19.2,17.4 GPS 201210,212213,-7638.581,17319.822,17,1.7,23,128.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 75.43 SBE_CT 543 24 267.34

Roll_motor 90 82 152.52 AA4330 925 33 625.86

VBD_pump_during_apogee 280 1081 6215.67 WL_BBFL2VMT 889 105 1915.32

VBD_pump_during_surface 79 725 1189.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 63.62 nil 0 0 0.00

Iridium_during_connect 38 160 125.23 nil 0 0 0.00

Iridium_during_xfer 206 223 943.67 nil 0 0 0.00

Transponder_ping 2 420 17.22 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.78

TT8 1974 19 379.27

LPSleep 2900 2 61.62

TT8_Active 504 19 96.95

TT8_Sampling 2058 39 794.52

TT8_CF8 174 45 77.73

TT8_Kalman 0 0 0.00

Analog_circuits 1285 12 149.59

GPS_charging 0 0 0.00

Compass 1280 15 186.28

RAFOS 0 0 0.00

Transponder 12 30 3.60

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 84 0.00 0.00 -67.15 0.000 2 0.000 0.000 418 2665 2913 0 0 0 0 0 0

87 -0.76 -146.0 3.0 -2.4 10 130 8.85 2.38 -27.95 0.000 4 0.199 0.062 2808 1229 3559 0 0 0 0 0 0

260 -0.76 -146.0 23.5 -14.3 39 267 0.00 2.33 0.00 0.000 6 0.000 0.057 2799 2646 3561 0 0 0 0 0 0

401 -0.76 -146.0 47.3 -17.1 64 410 0.00 1.83 0.00 0.000 4 0.000 0.062 2791 3759 3562 0 0 0 0 0 0

451 -0.76 -146.0 56.2 -18.5 72 459 0.00 1.75 0.00 0.000 6 0.000 0.044 2791 2665 3562 0 0 0 0 0 0

594 -0.76 -146.0 81.3 -17.1 97 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2665 3562 0 0 0 0 0 0

734 -0.76 -146.0 105.6 -17.1 119 737 0.00 1.80 0.00 0.000 4 0.000 0.063 2783 3773 3562 0 0 0 0 0 0

770 -0.76 -146.0 111.9 -18.6 122 774 0.12 1.73 0.00 0.000 6 0.165 0.043 2817 2667 3562 0 0 0 0 0 0

911 -0.76 -146.0 133.9 -15.1 135 915 0.00 2.22 0.00 0.000 4 0.000 0.050 2817 1245 3563 0 0 0 0 0 0

933 -0.76 -146.0 137.9 -15.4 136 943 0.00 2.35 0.00 0.000 6 0.000 0.057 2807 2668 3562 0 0 0 0 0 0

1071 -0.76 -146.0 158.7 -15.9 149 1074 0.00 1.77 0.00 0.000 4 0.000 0.063 2799 3778 3563 0 0 0 0 0 0

1107 -0.76 -146.0 165.8 -16.9 152 1117 0.00 1.75 0.00 0.000 6 0.000 0.043 2799 2678 3562 0 0 0 0 0 0

1244 -0.76 -146.0 187.3 -16.1 165 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2678 3562 0 0 0 0 0 0

1380 -0.76 -146.0 209.3 -15.7 178 1383 0.00 1.77 0.00 0.000 4 0.000 0.064 2791 3769 3562 0 0 0 0 0 0

1415 -0.76 -146.0 215.1 -17.1 181 1418 0.00 1.70 0.00 0.000 6 0.000 0.044 2791 2679 3562 0 0 0 0 0 0

1555 -0.76 -146.0 238.3 -16.2 194 1556 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2677 3562 0 0 0 0 0 0

1682 -0.76 -146.0 259.0 -16.0 206 1685 0.00 1.80 0.00 0.000 4 0.000 0.065 2783 3780 3562 0 0 0 0 0 0

1704 -0.76 -146.0 262.9 -17.2 208 1709 0.10 1.75 0.00 0.000 6 0.143 0.043 2816 2684 3562 0 0 0 0 0 0

1907 -0.76 -146.0 291.7 -14.1 227 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2683 3562 0 0 0 0 0 0

2098 -0.76 -146.0 318.7 -14.1 245 2100 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2683 3562 0 0 0 0 0 0

2290 -0.76 -146.0 344.9 -13.7 263 2294 0.00 1.77 0.00 0.000 4 0.000 0.064 2809 3774 3562 0 0 0 0 0 0

2328 -0.76 -146.0 350.8 -14.4 266 2335 0.00 1.73 0.00 0.000 6 0.000 0.044 2808 2693 3562 0 0 0 0 0 0

2527 -0.76 -146.0 378.1 -14.0 285 2530 0.00 1.80 0.00 0.000 4 0.000 0.063 2801 3773 3562 0 0 0 0 0 0

2553 -0.76 -146.0 382.6 -15.4 287 2561 0.00 1.73 0.00 0.000 6 0.000 0.043 2801 2692 3563 0 0 0 0 0 0

2752 -0.76 -146.0 410.8 -14.1 306 2755 0.00 1.75 0.00 0.000 4 0.000 0.063 2793 3770 3562 0 0 0 0 0 0

2786 -0.76 -146.0 416.0 -15.9 309 2790 0.00 1.65 0.00 0.000 6 0.000 0.043 2793 2703 3562 0 0 0 0 0 0

2989 -0.76 -146.0 446.4 -14.6 328 2993 0.00 1.75 0.00 0.000 4 0.000 0.065 2785 3777 3563 0 0 0 0 0 0

3023 -0.76 -146.0 451.7 -16.0 331 3027 0.08 1.70 0.00 0.000 6 0.145 0.044 2810 2714 3562 0 0 0 0 0 0

3191 end dive: TARGET_DEPTH_EXCEEDED

state 3192 begin apogee

3196 -0.17 0.0 475.5 13.7 347 3335 0.60 0.00 132.93 1.082 4 0.127 0.000 3006 2487 2960 0 0 0 0 0 0

3336 end apogee: CONTROL_FINISHED_OK

state 3336 begin climb

3338 0.76 146.0 480.9 0.0 359 3497 0.95 2.50 147.38 0.996 4 0.072 0.049 3309 1102 2363 0 0 0 0 0 0

3620 0.76 146.0 456.0 11.0 384 3625 0.00 2.45 0.00 0.000 6 0.000 0.052 3309 2507 2353 0 0 0 0 0 0

3820 0.76 146.0 432.2 12.4 402 3824 0.00 2.28 0.00 0.000 4 0.000 0.050 3318 1099 2350 0 0 0 0 0 0

3953 0.76 146.0 415.2 12.1 413 3960 0.00 2.35 0.00 0.000 6 0.000 0.053 3318 2516 2348 0 0 0 0 0 0

4152 0.76 146.0 389.5 13.1 432 4156 0.00 2.03 0.00 0.000 4 0.000 0.059 3318 3758 2347 0 0 0 0 0 0

4246 0.76 146.0 374.4 15.7 440 4254 0.00 1.95 0.00 0.000 6 0.000 0.042 3328 2535 2347 0 0 0 0 0 0

4444 0.76 146.0 347.0 13.8 459 4448 0.00 2.03 0.00 0.000 4 0.000 0.060 3328 3780 2346 0 0 0 0 0 0

4489 0.76 146.0 340.1 16.5 463 4493 0.00 1.95 0.00 0.000 6 0.000 0.043 3337 2533 2346 0 0 0 0 0 0

4692 0.76 146.0 311.8 13.6 482 4696 0.00 2.00 0.00 0.000 4 0.000 0.059 3338 3777 2346 0 0 0 0 0 0

4718 0.76 146.0 307.5 15.4 484 4728 0.10 1.98 0.00 0.000 6 0.142 0.042 3314 2546 2345 0 0 0 0 0 0

4919 0.76 146.0 283.6 11.7 503 4920 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2545 2345 0 0 0 0 0 0

5109 0.76 146.0 260.6 12.0 521 5112 0.00 1.98 0.00 0.000 4 0.000 0.061 3314 3768 2345 0 0 0 0 0 0

5155 0.76 146.0 254.0 14.0 525 5159 0.00 1.92 0.00 0.000 6 0.000 0.042 3322 2532 2345 0 0 0 0 0 0

5359 0.76 146.0 228.3 12.3 544 5363 0.00 2.00 0.00 0.000 4 0.000 0.060 3322 3765 2344 0 0 0 0 0 0

5407 0.76 146.0 221.0 15.2 548 5417 0.00 1.92 0.00 0.000 6 0.000 0.042 3331 2555 2344 0 0 0 0 0 0

5543 0.76 146.0 203.3 13.3 561 5544 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2553 2345 0 0 0 0 0 0

5670 0.76 146.0 185.8 14.0 573 5673 0.00 1.98 0.00 0.000 4 0.000 0.060 3331 3776 2344 0 0 0 0 0 0

5718 0.76 146.0 177.7 16.1 577 5727 0.00 1.95 0.00 0.000 6 0.000 0.043 3341 2558 2344 0 0 0 0 0 0

5854 0.76 146.0 158.7 13.6 590 5855 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2556 2344 0 0 0 0 0 0

5981 0.76 146.0 141.0 14.1 602 5982 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2555 2343 0 0 0 0 0 0

6109 0.76 146.0 123.7 13.6 614 6113 0.00 1.95 0.00 0.000 4 0.000 0.059 3341 3766 2343 0 0 0 0 0 0

6145 0.76 146.0 118.5 15.6 617 6149 0.15 1.90 0.00 0.000 6 0.160 0.042 3309 2546 2343 0 0 0 0 0 0

6282 0.76 146.0 102.6 10.9 629 6289 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2543 2343 0 0 0 0 0 0

6419 0.76 146.0 86.7 11.6 652 6428 0.00 2.03 0.00 0.000 4 0.000 0.061 3309 3766 2343 0 0 0 0 0 0

6465 0.76 146.0 81.3 13.2 659 6473 0.00 1.90 0.00 0.000 6 0.000 0.042 3317 2553 2343 0 0 0 0 0 0

6608 0.76 146.0 63.7 11.9 684 6616 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2552 2343 0 0 0 0 0 0

6753 0.76 146.0 46.7 11.5 709 6760 0.00 1.98 0.00 0.000 4 0.000 0.060 3317 3766 2343 0 0 0 0 0 0

6816 0.76 146.0 37.9 14.1 720 6825 0.00 1.90 0.00 0.000 6 0.000 0.042 3326 2569 2343 0 0 0 0 0 0

6962 0.76 146.0 20.2 11.9 745 6970 0.00 1.98 0.00 0.000 4 0.000 0.061 3326 3762 2343 0 0 0 0 0 0

6989 0.76 146.0 16.6 13.0 749 6996 0.00 1.88 0.00 0.000 6 0.000 0.044 3336 2565 2343 0 0 0 0 0 0

7101 end climb: SURFACE_DEPTH_REACHED

state 7101 begin surface coast

7126 end surface coast: CONTROL_FINISHED_OK

state 7126 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	280	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	30	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	-30490.883	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	201210,191400,-7639.309,17317.166,38,1.1,44,128.4	TGT_NAME	POLYNYA_tmp
_CALLS	1	TGT_LATLONG	-7630.000,17400.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	201210,192019,-7639.314,17317.123,11,1.3,11,128.4	MHEAD_RNG_PITCHd_Wd	293.8,25322,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	475

FREEZE	1.33,-0.770,-1.044,2,1,0	_24V_AH	20.5,52.222
FINISH	1.3,1.015416	_10V_AH	9.7,33.482
SM_CCo	7142,79.93,0.726,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.11,0.00,0.00,79.93,0.000,0.000,0.726,420,2674,1737,-8.26,0.71,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17317.96,201210,171759	MEM	257984
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53951,772
HUMID	52.36	CAP_FILE_SIZE	108853,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,235819008
TCM_TEMP	14.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.084,322.7,1
ALTIM_TOP_PING	19.2,17.4	GPS	201210,212213,-7638.581,17319.822,17,1.7,23,128.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	75.43	SBE_CT	543	24	267.34
Roll_motor	90	82	152.52	AA4330	925	33	625.86
VBD_pump_during_apogee	280	1081	6215.67	WL_BBFL2VMT	889	105	1915.32
VBD_pump_during_surface	79	725	1189.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	63.62	nil	0	0	0.00
Iridium_during_connect	38	160	125.23	nil	0	0	0.00
Iridium_during_xfer	206	223	943.67	nil	0	0	0.00
Transponder_ping	2	420	17.22	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.78
TT8	1974	19	379.27
LPSleep	2900	2	61.62
TT8_Active	504	19	96.95
TT8_Sampling	2058	39	794.52
TT8_CF8	174	45	77.73
TT8_Kalman	0	0	0.00
Analog_circuits	1285	12	149.59
GPS_charging	0	0	0.00
Compass	1280	15	186.28
RAFOS	0	0	0.00
Transponder	12	30	3.60

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	84	0.00	0.00	-67.15	0.000	2	0.000	0.000	418	2665	2913	0	0	0	0	0	0
87	-0.76	-146.0	3.0	-2.4	10	130	8.85	2.38	-27.95	0.000	4	0.199	0.062	2808	1229	3559	0	0	0	0	0	0
260	-0.76	-146.0	23.5	-14.3	39	267	0.00	2.33	0.00	0.000	6	0.000	0.057	2799	2646	3561	0	0	0	0	0	0
401	-0.76	-146.0	47.3	-17.1	64	410	0.00	1.83	0.00	0.000	4	0.000	0.062	2791	3759	3562	0	0	0	0	0	0
451	-0.76	-146.0	56.2	-18.5	72	459	0.00	1.75	0.00	0.000	6	0.000	0.044	2791	2665	3562	0	0	0	0	0	0
594	-0.76	-146.0	81.3	-17.1	97	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2665	3562	0	0	0	0	0	0
734	-0.76	-146.0	105.6	-17.1	119	737	0.00	1.80	0.00	0.000	4	0.000	0.063	2783	3773	3562	0	0	0	0	0	0
770	-0.76	-146.0	111.9	-18.6	122	774	0.12	1.73	0.00	0.000	6	0.165	0.043	2817	2667	3562	0	0	0	0	0	0
911	-0.76	-146.0	133.9	-15.1	135	915	0.00	2.22	0.00	0.000	4	0.000	0.050	2817	1245	3563	0	0	0	0	0	0
933	-0.76	-146.0	137.9	-15.4	136	943	0.00	2.35	0.00	0.000	6	0.000	0.057	2807	2668	3562	0	0	0	0	0	0
1071	-0.76	-146.0	158.7	-15.9	149	1074	0.00	1.77	0.00	0.000	4	0.000	0.063	2799	3778	3563	0	0	0	0	0	0
1107	-0.76	-146.0	165.8	-16.9	152	1117	0.00	1.75	0.00	0.000	6	0.000	0.043	2799	2678	3562	0	0	0	0	0	0
1244	-0.76	-146.0	187.3	-16.1	165	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2678	3562	0	0	0	0	0	0
1380	-0.76	-146.0	209.3	-15.7	178	1383	0.00	1.77	0.00	0.000	4	0.000	0.064	2791	3769	3562	0	0	0	0	0	0
1415	-0.76	-146.0	215.1	-17.1	181	1418	0.00	1.70	0.00	0.000	6	0.000	0.044	2791	2679	3562	0	0	0	0	0	0
1555	-0.76	-146.0	238.3	-16.2	194	1556	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2677	3562	0	0	0	0	0	0
1682	-0.76	-146.0	259.0	-16.0	206	1685	0.00	1.80	0.00	0.000	4	0.000	0.065	2783	3780	3562	0	0	0	0	0	0
1704	-0.76	-146.0	262.9	-17.2	208	1709	0.10	1.75	0.00	0.000	6	0.143	0.043	2816	2684	3562	0	0	0	0	0	0
1907	-0.76	-146.0	291.7	-14.1	227	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2683	3562	0	0	0	0	0	0
2098	-0.76	-146.0	318.7	-14.1	245	2100	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2683	3562	0	0	0	0	0	0
2290	-0.76	-146.0	344.9	-13.7	263	2294	0.00	1.77	0.00	0.000	4	0.000	0.064	2809	3774	3562	0	0	0	0	0	0
2328	-0.76	-146.0	350.8	-14.4	266	2335	0.00	1.73	0.00	0.000	6	0.000	0.044	2808	2693	3562	0	0	0	0	0	0
2527	-0.76	-146.0	378.1	-14.0	285	2530	0.00	1.80	0.00	0.000	4	0.000	0.063	2801	3773	3562	0	0	0	0	0	0
2553	-0.76	-146.0	382.6	-15.4	287	2561	0.00	1.73	0.00	0.000	6	0.000	0.043	2801	2692	3563	0	0	0	0	0	0
2752	-0.76	-146.0	410.8	-14.1	306	2755	0.00	1.75	0.00	0.000	4	0.000	0.063	2793	3770	3562	0	0	0	0	0	0
2786	-0.76	-146.0	416.0	-15.9	309	2790	0.00	1.65	0.00	0.000	6	0.000	0.043	2793	2703	3562	0	0	0	0	0	0
2989	-0.76	-146.0	446.4	-14.6	328	2993	0.00	1.75	0.00	0.000	4	0.000	0.065	2785	3777	3563	0	0	0	0	0	0
3023	-0.76	-146.0	451.7	-16.0	331	3027	0.08	1.70	0.00	0.000	6	0.145	0.044	2810	2714	3562	0	0	0	0	0	0
3191	end dive: TARGET_DEPTH_EXCEEDED
state	3192	begin apogee
3196	-0.17	0.0	475.5	13.7	347	3335	0.60	0.00	132.93	1.082	4	0.127	0.000	3006	2487	2960	0	0	0	0	0	0
3336	end apogee: CONTROL_FINISHED_OK
state	3336	begin climb
3338	0.76	146.0	480.9	0.0	359	3497	0.95	2.50	147.38	0.996	4	0.072	0.049	3309	1102	2363	0	0	0	0	0	0
3620	0.76	146.0	456.0	11.0	384	3625	0.00	2.45	0.00	0.000	6	0.000	0.052	3309	2507	2353	0	0	0	0	0	0
3820	0.76	146.0	432.2	12.4	402	3824	0.00	2.28	0.00	0.000	4	0.000	0.050	3318	1099	2350	0	0	0	0	0	0
3953	0.76	146.0	415.2	12.1	413	3960	0.00	2.35	0.00	0.000	6	0.000	0.053	3318	2516	2348	0	0	0	0	0	0
4152	0.76	146.0	389.5	13.1	432	4156	0.00	2.03	0.00	0.000	4	0.000	0.059	3318	3758	2347	0	0	0	0	0	0
4246	0.76	146.0	374.4	15.7	440	4254	0.00	1.95	0.00	0.000	6	0.000	0.042	3328	2535	2347	0	0	0	0	0	0
4444	0.76	146.0	347.0	13.8	459	4448	0.00	2.03	0.00	0.000	4	0.000	0.060	3328	3780	2346	0	0	0	0	0	0
4489	0.76	146.0	340.1	16.5	463	4493	0.00	1.95	0.00	0.000	6	0.000	0.043	3337	2533	2346	0	0	0	0	0	0
4692	0.76	146.0	311.8	13.6	482	4696	0.00	2.00	0.00	0.000	4	0.000	0.059	3338	3777	2346	0	0	0	0	0	0
4718	0.76	146.0	307.5	15.4	484	4728	0.10	1.98	0.00	0.000	6	0.142	0.042	3314	2546	2345	0	0	0	0	0	0
4919	0.76	146.0	283.6	11.7	503	4920	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2545	2345	0	0	0	0	0	0
5109	0.76	146.0	260.6	12.0	521	5112	0.00	1.98	0.00	0.000	4	0.000	0.061	3314	3768	2345	0	0	0	0	0	0
5155	0.76	146.0	254.0	14.0	525	5159	0.00	1.92	0.00	0.000	6	0.000	0.042	3322	2532	2345	0	0	0	0	0	0
5359	0.76	146.0	228.3	12.3	544	5363	0.00	2.00	0.00	0.000	4	0.000	0.060	3322	3765	2344	0	0	0	0	0	0
5407	0.76	146.0	221.0	15.2	548	5417	0.00	1.92	0.00	0.000	6	0.000	0.042	3331	2555	2344	0	0	0	0	0	0
5543	0.76	146.0	203.3	13.3	561	5544	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2553	2345	0	0	0	0	0	0
5670	0.76	146.0	185.8	14.0	573	5673	0.00	1.98	0.00	0.000	4	0.000	0.060	3331	3776	2344	0	0	0	0	0	0
5718	0.76	146.0	177.7	16.1	577	5727	0.00	1.95	0.00	0.000	6	0.000	0.043	3341	2558	2344	0	0	0	0	0	0
5854	0.76	146.0	158.7	13.6	590	5855	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2556	2344	0	0	0	0	0	0
5981	0.76	146.0	141.0	14.1	602	5982	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2555	2343	0	0	0	0	0	0
6109	0.76	146.0	123.7	13.6	614	6113	0.00	1.95	0.00	0.000	4	0.000	0.059	3341	3766	2343	0	0	0	0	0	0
6145	0.76	146.0	118.5	15.6	617	6149	0.15	1.90	0.00	0.000	6	0.160	0.042	3309	2546	2343	0	0	0	0	0	0
6282	0.76	146.0	102.6	10.9	629	6289	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2543	2343	0	0	0	0	0	0
6419	0.76	146.0	86.7	11.6	652	6428	0.00	2.03	0.00	0.000	4	0.000	0.061	3309	3766	2343	0	0	0	0	0	0
6465	0.76	146.0	81.3	13.2	659	6473	0.00	1.90	0.00	0.000	6	0.000	0.042	3317	2553	2343	0	0	0	0	0	0
6608	0.76	146.0	63.7	11.9	684	6616	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2552	2343	0	0	0	0	0	0
6753	0.76	146.0	46.7	11.5	709	6760	0.00	1.98	0.00	0.000	4	0.000	0.060	3317	3766	2343	0	0	0	0	0	0
6816	0.76	146.0	37.9	14.1	720	6825	0.00	1.90	0.00	0.000	6	0.000	0.042	3326	2569	2343	0	0	0	0	0	0
6962	0.76	146.0	20.2	11.9	745	6970	0.00	1.98	0.00	0.000	4	0.000	0.061	3326	3762	2343	0	0	0	0	0	0
6989	0.76	146.0	16.6	13.0	749	6996	0.00	1.88	0.00	0.000	6	0.000	0.044	3336	2565	2343	0	0	0	0	0	0
7101	end climb: SURFACE_DEPTH_REACHED
state	7101	begin surface coast
7126	end surface coast: CONTROL_FINISHED_OK
state	7126	begin surface