Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 291 * 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 291 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 31 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 28 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 -30505.852 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 -30505.852

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 31 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 28 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 291 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 211210,191907,-7633.357,17345.418,47,0.9,48,127.3 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 2.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211210,192526,-7633.348,17345.477,13,1.0,13,127.3 MHEAD_RNG_PITCHd_Wd 273.8,8825,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 470

Post-dive calculations and measurements:

FREEZE 1.35,-0.798,-1.116,2,1,0 _24V_AH 20.4,53.494

FINISH 1.3,1.016487 _10V_AH 9.8,34.491

SM_CCo 7030,80.55,0.731,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.20,0.00,0.00,80.55,0.000,0.000,0.731,422,2649,1737,-8.26,-0.03,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17347.79,211210,171720 MEM 258004

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53678,766

HUMID 52.36 CAP_FILE_SIZE 106353,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,235106304

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

XPDR_PINGS 1 CURRENT 0.040, 42.6,1

ALTIM_TOP_PING 19.6,17.9 GPS 211210,212514,-7632.507,17348.441,9,1.7,10,127.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 197 74.29 SBE_CT 538 24 263.87

Roll_motor 85 63 110.46 AA4330 928 33 624.82

VBD_pump_during_apogee 281 1083 6216.75 WL_BBFL2VMT 915 105 1961.55

VBD_pump_during_surface 80 730 1200.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 59.11 nil 0 0 0.00

Iridium_during_connect 41 160 135.53 nil 0 0 0.00

Iridium_during_xfer 200 223 912.82 nil 0 0 0.00

Transponder_ping 1 420 14.99 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.18

TT8 1948 19 378.02

LPSleep 2809 2 60.29

TT8_Active 505 19 98.18

TT8_Sampling 2050 39 799.90

TT8_CF8 185 45 83.44

TT8_Kalman 0 0 0.00

Analog_circuits 1274 12 149.88

GPS_charging 0 0 0.00

Compass 1267 15 186.30

RAFOS 0 0 0.00

Transponder 11 30 3.30

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 99 0.00 0.00 -81.43 0.000 2 0.000 0.000 409 2670 3214 0 0 0 0 0 0

102 -0.76 -146.0 3.2 -1.4 12 132 8.85 2.35 -10.98 0.000 4 0.197 0.063 2810 1245 3560 0 0 0 0 0 0

312 -0.76 -146.0 33.3 -14.1 49 320 0.00 2.30 0.00 0.000 6 0.000 0.057 2801 2651 3563 0 0 0 0 0 0

452 -0.76 -146.0 56.5 -16.5 74 460 0.00 1.83 0.00 0.000 4 0.000 0.062 2793 3764 3564 0 0 0 0 0 0

495 -0.76 -146.0 64.0 -18.0 81 503 0.00 1.77 0.00 0.000 6 0.000 0.044 2793 2630 3564 0 0 0 0 0 0

634 -0.76 -146.0 89.2 -17.7 106 642 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2628 3564 0 0 0 0 0 0

772 -0.76 -146.0 112.5 -16.5 124 776 0.00 1.85 0.00 0.000 4 0.000 0.063 2785 3768 3564 0 0 0 0 0 0

799 -0.76 -146.0 117.8 -17.9 126 808 0.08 1.77 0.00 0.000 6 0.145 0.043 2810 2656 3564 0 0 0 0 0 0

935 -0.76 -146.0 139.1 -15.7 139 936 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2655 3564 0 0 0 0 0 0

1062 -0.76 -146.0 158.6 -15.0 151 1066 0.00 1.80 0.00 0.000 4 0.000 0.063 2803 3767 3564 0 0 0 0 0 0

1086 -0.76 -146.0 162.4 -15.8 153 1090 0.00 1.73 0.00 0.000 6 0.000 0.044 2803 2659 3564 0 0 0 0 0 0

1227 -0.76 -146.0 184.4 -15.4 166 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2656 3564 0 0 0 0 0 0

1354 -0.76 -146.0 203.4 -14.7 178 1358 0.00 1.80 0.00 0.000 4 0.000 0.063 2795 3769 3564 0 0 0 0 0 0

1391 -0.76 -146.0 209.8 -16.1 181 1400 0.00 1.75 0.00 0.000 6 0.000 0.043 2795 2673 3564 0 0 0 0 0 0

1529 -0.76 -146.0 231.2 -16.2 194 1536 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2672 3564 0 0 0 0 0 0

1662 -0.76 -146.0 253.4 -16.3 207 1663 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2671 3564 0 0 0 0 0 0

1854 -0.76 -146.0 284.1 -16.1 225 1857 0.00 1.77 0.00 0.000 4 0.000 0.063 2786 3770 3564 0 0 0 0 0 0

1899 -0.76 -146.0 291.8 -16.9 229 1904 0.08 1.75 0.00 0.000 6 0.145 0.043 2812 2676 3564 0 0 0 0 0 0

2103 -0.76 -146.0 321.3 -14.2 248 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2674 3564 0 0 0 0 0 0

2293 -0.76 -146.0 348.3 -14.2 266 2297 0.00 1.77 0.00 0.000 4 0.000 0.063 2804 3771 3564 0 0 0 0 0 0

2331 -0.76 -146.0 354.4 -15.8 269 2339 0.00 1.73 0.00 0.000 6 0.000 0.043 2805 2684 3564 0 0 0 0 0 0

2530 -0.76 -146.0 383.1 -14.5 288 2533 0.00 1.75 0.00 0.000 4 0.000 0.063 2797 3763 3565 0 0 0 0 0 0

2553 -0.76 -146.0 386.7 -15.3 290 2556 0.00 1.67 0.00 0.000 6 0.000 0.043 2797 2686 3564 0 0 0 0 0 0

2756 -0.76 -146.0 417.4 -14.9 309 2757 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2684 3564 0 0 0 0 0 0

2949 -0.76 -146.0 444.9 -14.0 327 2953 0.00 1.75 0.00 0.000 4 0.000 0.063 2789 3764 3564 0 0 0 0 0 0

2984 -0.76 -146.0 450.5 -15.7 329 2991 0.00 1.70 0.00 0.000 6 0.000 0.043 2789 2684 3564 0 0 0 0 0 0

3116 end dive: TARGET_DEPTH_EXCEEDED

state 3116 begin apogee

3121 -0.17 0.0 470.5 14.8 342 3265 0.68 0.00 133.43 1.083 4 0.130 0.000 3006 2488 2960 0 0 0 0 0 0

3266 end apogee: CONTROL_FINISHED_OK

state 3266 begin climb

3268 0.76 146.0 475.3 0.0 355 3426 0.95 2.50 147.90 1.002 4 0.070 0.048 3311 1099 2364 0 0 0 0 0 0

3533 0.76 146.0 450.3 12.4 378 3540 0.00 2.47 0.00 0.000 6 0.000 0.052 3311 2500 2354 0 0 0 0 0 0

3731 0.76 146.0 425.0 13.0 397 3735 0.00 2.30 0.00 0.000 4 0.000 0.050 3316 1088 2351 0 0 0 0 0 0

3847 0.76 146.0 409.8 12.9 407 3855 0.00 2.38 0.00 0.000 6 0.000 0.054 3316 2517 2348 0 0 0 0 0 0

4046 0.76 146.0 383.7 13.1 426 4050 0.00 2.00 0.00 0.000 4 0.000 0.059 3316 3773 2347 0 0 0 0 0 0

4128 0.76 146.0 371.0 15.7 433 4136 0.00 1.98 0.00 0.000 6 0.000 0.042 3324 2532 2347 0 0 0 0 0 0

4328 0.76 146.0 343.4 13.8 452 4332 0.00 2.00 0.00 0.000 4 0.000 0.059 3324 3774 2346 0 0 0 0 0 0

4365 0.76 146.0 337.1 16.3 455 4373 0.00 1.98 0.00 0.000 6 0.000 0.043 3334 2536 2346 0 0 0 0 0 0

4564 0.76 146.0 309.0 14.2 474 4568 0.00 2.00 0.00 0.000 4 0.000 0.060 3334 3774 2346 0 0 0 0 0 0

4598 0.76 146.0 303.6 16.5 477 4603 0.12 1.92 0.00 0.000 6 0.165 0.043 3310 2543 2346 0 0 0 0 0 0

4797 0.76 146.0 279.0 12.0 495 4798 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2542 2346 0 0 0 0 0 0

4986 0.76 146.0 256.8 11.2 513 4990 0.00 1.98 0.00 0.000 4 0.000 0.062 3310 3768 2345 0 0 0 0 0 0

5066 0.76 146.0 246.4 13.8 520 5070 0.00 1.90 0.00 0.000 6 0.000 0.042 3318 2548 2345 0 0 0 0 0 0

5207 0.76 146.0 229.1 12.0 533 5208 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2546 2345 0 0 0 0 0 0

5335 0.76 146.0 213.9 11.5 545 5338 0.00 1.98 0.00 0.000 4 0.000 0.060 3318 3768 2345 0 0 0 0 0 0

5382 0.76 146.0 207.2 14.0 549 5392 0.00 1.92 0.00 0.000 6 0.000 0.042 3327 2557 2345 0 0 0 0 0 0

5520 0.76 146.0 191.0 11.9 562 5528 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2556 2345 0 0 0 0 0 0

5656 0.76 146.0 174.5 12.2 575 5659 0.00 1.95 0.00 0.000 4 0.000 0.059 3327 3767 2344 0 0 0 0 0 0

5735 0.76 146.0 163.4 14.6 582 5738 0.00 1.88 0.00 0.000 6 0.000 0.042 3337 2560 2344 0 0 0 0 0 0

5875 0.76 146.0 145.0 12.6 595 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2558 2344 0 0 0 0 0 0

6003 0.76 146.0 128.6 13.1 607 6007 0.00 1.95 0.00 0.000 4 0.000 0.060 3336 3768 2344 0 0 0 0 0 0

6038 0.76 146.0 123.3 15.5 610 6042 0.12 1.88 0.00 0.000 6 0.164 0.043 3312 2562 2344 0 0 0 0 0 0

6178 0.76 146.0 106.2 11.6 623 6181 0.00 1.95 0.00 0.000 4 0.000 0.061 3312 3767 2344 0 0 0 0 0 0

6202 0.76 146.0 103.2 12.8 625 6205 0.00 1.85 0.00 0.000 6 0.000 0.042 3319 2577 2344 0 0 0 0 0 0

6339 0.76 146.0 86.5 11.9 647 6345 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2575 2343 0 0 0 0 0 0

6474 0.76 146.0 69.9 11.8 672 6483 0.00 1.98 0.00 0.000 4 0.000 0.061 3320 3766 2343 0 0 0 0 0 0

6507 0.76 146.0 66.0 12.6 677 6514 0.00 1.85 0.00 0.000 6 0.000 0.041 3329 2577 2343 0 0 0 0 0 0

6645 0.76 146.0 48.6 12.5 702 6653 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2577 2343 0 0 0 0 0 0

6785 0.76 146.0 31.1 12.7 727 6792 0.00 1.95 0.00 0.000 4 0.000 0.060 3329 3774 2343 0 0 0 0 0 0

6835 0.76 146.0 23.8 14.1 736 6844 0.00 1.90 0.00 0.000 6 0.000 0.043 3338 2583 2343 0 0 0 0 0 0

6979 0.76 146.0 5.1 13.1 761 6986 0.00 1.92 0.00 0.000 4 0.000 0.061 3338 3768 2343 0 0 0 0 0 0

6993 end climb: SURFACE_DEPTH_REACHED

state 6993 begin surface coast

7013 end surface coast: CONTROL_FINISHED_OK

state 7013 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	291	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	31	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	28	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	-30505.852	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	211210,191907,-7633.357,17345.418,47,0.9,48,127.3	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	2.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211210,192526,-7633.348,17345.477,13,1.0,13,127.3	MHEAD_RNG_PITCHd_Wd	273.8,8825,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	470

FREEZE	1.35,-0.798,-1.116,2,1,0	_24V_AH	20.4,53.494
FINISH	1.3,1.016487	_10V_AH	9.8,34.491
SM_CCo	7030,80.55,0.731,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.20,0.00,0.00,80.55,0.000,0.000,0.731,422,2649,1737,-8.26,-0.03,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17347.79,211210,171720	MEM	258004
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53678,766
HUMID	52.36	CAP_FILE_SIZE	106353,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,235106304
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.040, 42.6,1
ALTIM_TOP_PING	19.6,17.9	GPS	211210,212514,-7632.507,17348.441,9,1.7,10,127.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	197	74.29	SBE_CT	538	24	263.87
Roll_motor	85	63	110.46	AA4330	928	33	624.82
VBD_pump_during_apogee	281	1083	6216.75	WL_BBFL2VMT	915	105	1961.55
VBD_pump_during_surface	80	730	1200.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	59.11	nil	0	0	0.00
Iridium_during_connect	41	160	135.53	nil	0	0	0.00
Iridium_during_xfer	200	223	912.82	nil	0	0	0.00
Transponder_ping	1	420	14.99	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.18
TT8	1948	19	378.02
LPSleep	2809	2	60.29
TT8_Active	505	19	98.18
TT8_Sampling	2050	39	799.90
TT8_CF8	185	45	83.44
TT8_Kalman	0	0	0.00
Analog_circuits	1274	12	149.88
GPS_charging	0	0	0.00
Compass	1267	15	186.30
RAFOS	0	0	0.00
Transponder	11	30	3.30

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	99	0.00	0.00	-81.43	0.000	2	0.000	0.000	409	2670	3214	0	0	0	0	0	0
102	-0.76	-146.0	3.2	-1.4	12	132	8.85	2.35	-10.98	0.000	4	0.197	0.063	2810	1245	3560	0	0	0	0	0	0
312	-0.76	-146.0	33.3	-14.1	49	320	0.00	2.30	0.00	0.000	6	0.000	0.057	2801	2651	3563	0	0	0	0	0	0
452	-0.76	-146.0	56.5	-16.5	74	460	0.00	1.83	0.00	0.000	4	0.000	0.062	2793	3764	3564	0	0	0	0	0	0
495	-0.76	-146.0	64.0	-18.0	81	503	0.00	1.77	0.00	0.000	6	0.000	0.044	2793	2630	3564	0	0	0	0	0	0
634	-0.76	-146.0	89.2	-17.7	106	642	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2628	3564	0	0	0	0	0	0
772	-0.76	-146.0	112.5	-16.5	124	776	0.00	1.85	0.00	0.000	4	0.000	0.063	2785	3768	3564	0	0	0	0	0	0
799	-0.76	-146.0	117.8	-17.9	126	808	0.08	1.77	0.00	0.000	6	0.145	0.043	2810	2656	3564	0	0	0	0	0	0
935	-0.76	-146.0	139.1	-15.7	139	936	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2655	3564	0	0	0	0	0	0
1062	-0.76	-146.0	158.6	-15.0	151	1066	0.00	1.80	0.00	0.000	4	0.000	0.063	2803	3767	3564	0	0	0	0	0	0
1086	-0.76	-146.0	162.4	-15.8	153	1090	0.00	1.73	0.00	0.000	6	0.000	0.044	2803	2659	3564	0	0	0	0	0	0
1227	-0.76	-146.0	184.4	-15.4	166	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2656	3564	0	0	0	0	0	0
1354	-0.76	-146.0	203.4	-14.7	178	1358	0.00	1.80	0.00	0.000	4	0.000	0.063	2795	3769	3564	0	0	0	0	0	0
1391	-0.76	-146.0	209.8	-16.1	181	1400	0.00	1.75	0.00	0.000	6	0.000	0.043	2795	2673	3564	0	0	0	0	0	0
1529	-0.76	-146.0	231.2	-16.2	194	1536	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2672	3564	0	0	0	0	0	0
1662	-0.76	-146.0	253.4	-16.3	207	1663	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2671	3564	0	0	0	0	0	0
1854	-0.76	-146.0	284.1	-16.1	225	1857	0.00	1.77	0.00	0.000	4	0.000	0.063	2786	3770	3564	0	0	0	0	0	0
1899	-0.76	-146.0	291.8	-16.9	229	1904	0.08	1.75	0.00	0.000	6	0.145	0.043	2812	2676	3564	0	0	0	0	0	0
2103	-0.76	-146.0	321.3	-14.2	248	2104	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2674	3564	0	0	0	0	0	0
2293	-0.76	-146.0	348.3	-14.2	266	2297	0.00	1.77	0.00	0.000	4	0.000	0.063	2804	3771	3564	0	0	0	0	0	0
2331	-0.76	-146.0	354.4	-15.8	269	2339	0.00	1.73	0.00	0.000	6	0.000	0.043	2805	2684	3564	0	0	0	0	0	0
2530	-0.76	-146.0	383.1	-14.5	288	2533	0.00	1.75	0.00	0.000	4	0.000	0.063	2797	3763	3565	0	0	0	0	0	0
2553	-0.76	-146.0	386.7	-15.3	290	2556	0.00	1.67	0.00	0.000	6	0.000	0.043	2797	2686	3564	0	0	0	0	0	0
2756	-0.76	-146.0	417.4	-14.9	309	2757	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2684	3564	0	0	0	0	0	0
2949	-0.76	-146.0	444.9	-14.0	327	2953	0.00	1.75	0.00	0.000	4	0.000	0.063	2789	3764	3564	0	0	0	0	0	0
2984	-0.76	-146.0	450.5	-15.7	329	2991	0.00	1.70	0.00	0.000	6	0.000	0.043	2789	2684	3564	0	0	0	0	0	0
3116	end dive: TARGET_DEPTH_EXCEEDED
state	3116	begin apogee
3121	-0.17	0.0	470.5	14.8	342	3265	0.68	0.00	133.43	1.083	4	0.130	0.000	3006	2488	2960	0	0	0	0	0	0
3266	end apogee: CONTROL_FINISHED_OK
state	3266	begin climb
3268	0.76	146.0	475.3	0.0	355	3426	0.95	2.50	147.90	1.002	4	0.070	0.048	3311	1099	2364	0	0	0	0	0	0
3533	0.76	146.0	450.3	12.4	378	3540	0.00	2.47	0.00	0.000	6	0.000	0.052	3311	2500	2354	0	0	0	0	0	0
3731	0.76	146.0	425.0	13.0	397	3735	0.00	2.30	0.00	0.000	4	0.000	0.050	3316	1088	2351	0	0	0	0	0	0
3847	0.76	146.0	409.8	12.9	407	3855	0.00	2.38	0.00	0.000	6	0.000	0.054	3316	2517	2348	0	0	0	0	0	0
4046	0.76	146.0	383.7	13.1	426	4050	0.00	2.00	0.00	0.000	4	0.000	0.059	3316	3773	2347	0	0	0	0	0	0
4128	0.76	146.0	371.0	15.7	433	4136	0.00	1.98	0.00	0.000	6	0.000	0.042	3324	2532	2347	0	0	0	0	0	0
4328	0.76	146.0	343.4	13.8	452	4332	0.00	2.00	0.00	0.000	4	0.000	0.059	3324	3774	2346	0	0	0	0	0	0
4365	0.76	146.0	337.1	16.3	455	4373	0.00	1.98	0.00	0.000	6	0.000	0.043	3334	2536	2346	0	0	0	0	0	0
4564	0.76	146.0	309.0	14.2	474	4568	0.00	2.00	0.00	0.000	4	0.000	0.060	3334	3774	2346	0	0	0	0	0	0
4598	0.76	146.0	303.6	16.5	477	4603	0.12	1.92	0.00	0.000	6	0.165	0.043	3310	2543	2346	0	0	0	0	0	0
4797	0.76	146.0	279.0	12.0	495	4798	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2542	2346	0	0	0	0	0	0
4986	0.76	146.0	256.8	11.2	513	4990	0.00	1.98	0.00	0.000	4	0.000	0.062	3310	3768	2345	0	0	0	0	0	0
5066	0.76	146.0	246.4	13.8	520	5070	0.00	1.90	0.00	0.000	6	0.000	0.042	3318	2548	2345	0	0	0	0	0	0
5207	0.76	146.0	229.1	12.0	533	5208	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2546	2345	0	0	0	0	0	0
5335	0.76	146.0	213.9	11.5	545	5338	0.00	1.98	0.00	0.000	4	0.000	0.060	3318	3768	2345	0	0	0	0	0	0
5382	0.76	146.0	207.2	14.0	549	5392	0.00	1.92	0.00	0.000	6	0.000	0.042	3327	2557	2345	0	0	0	0	0	0
5520	0.76	146.0	191.0	11.9	562	5528	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2556	2345	0	0	0	0	0	0
5656	0.76	146.0	174.5	12.2	575	5659	0.00	1.95	0.00	0.000	4	0.000	0.059	3327	3767	2344	0	0	0	0	0	0
5735	0.76	146.0	163.4	14.6	582	5738	0.00	1.88	0.00	0.000	6	0.000	0.042	3337	2560	2344	0	0	0	0	0	0
5875	0.76	146.0	145.0	12.6	595	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2558	2344	0	0	0	0	0	0
6003	0.76	146.0	128.6	13.1	607	6007	0.00	1.95	0.00	0.000	4	0.000	0.060	3336	3768	2344	0	0	0	0	0	0
6038	0.76	146.0	123.3	15.5	610	6042	0.12	1.88	0.00	0.000	6	0.164	0.043	3312	2562	2344	0	0	0	0	0	0
6178	0.76	146.0	106.2	11.6	623	6181	0.00	1.95	0.00	0.000	4	0.000	0.061	3312	3767	2344	0	0	0	0	0	0
6202	0.76	146.0	103.2	12.8	625	6205	0.00	1.85	0.00	0.000	6	0.000	0.042	3319	2577	2344	0	0	0	0	0	0
6339	0.76	146.0	86.5	11.9	647	6345	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2575	2343	0	0	0	0	0	0
6474	0.76	146.0	69.9	11.8	672	6483	0.00	1.98	0.00	0.000	4	0.000	0.061	3320	3766	2343	0	0	0	0	0	0
6507	0.76	146.0	66.0	12.6	677	6514	0.00	1.85	0.00	0.000	6	0.000	0.041	3329	2577	2343	0	0	0	0	0	0
6645	0.76	146.0	48.6	12.5	702	6653	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2577	2343	0	0	0	0	0	0
6785	0.76	146.0	31.1	12.7	727	6792	0.00	1.95	0.00	0.000	4	0.000	0.060	3329	3774	2343	0	0	0	0	0	0
6835	0.76	146.0	23.8	14.1	736	6844	0.00	1.90	0.00	0.000	6	0.000	0.043	3338	2583	2343	0	0	0	0	0	0
6979	0.76	146.0	5.1	13.1	761	6986	0.00	1.92	0.00	0.000	4	0.000	0.061	3338	3768	2343	0	0	0	0	0	0
6993	end climb: SURFACE_DEPTH_REACHED
state	6993	begin surface coast
7013	end surface coast: CONTROL_FINISHED_OK
state	7013	begin surface