Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 364 * 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 364 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 31 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 -30600.152 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 -30600.152

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 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 31 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 364 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 271210,075924,-7631.616,17722.975,24,1.1,41,121.9 TGT_NAME POLYNYA2

_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 2.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 271210,080526,-7631.634,17722.859,12,1.6,12,121.9 MHEAD_RNG_PITCHd_Wd 306.6,68006,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.38,-0.748,-1.838,2,1,0 _24V_AH 20.3,61.259

FINISH 1.4,1.026933 _10V_AH 9.7,40.645

SM_CCo 5525,82.43,0.723,1,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.12,0.00,0.00,82.43,0.000,0.000,0.723,427,2663,1736,-8.25,0.40,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17723.43,271210,060628 MEM 258180

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43686,628

HUMID 52.79 CAP_FILE_SIZE 92798,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,231235584

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

XPDR_PINGS 1 CURRENT 0.094,193.8,1

ALTIM_TOP_PING 19.5,18.1 GPS 271210,094031,-7631.660,17725.342,11,1.6,29,121.9

ALTIM_BOTTOM_PING 300.0,66.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 197 73.82 SBE_CT 440 24 214.74

Roll_motor 76 113 176.63 AA4330 830 33 556.59

VBD_pump_during_apogee 278 1007 5700.58 WL_BBFL2VMT 921 105 1964.70

VBD_pump_during_surface 82 722 1209.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 64.33 nil 0 0 0.00

Iridium_during_connect 38 160 125.81 nil 0 0 0.00

Iridium_during_xfer 186 223 845.20 nil 0 0 0.00

Transponder_ping 1 420 12.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.25

TT8 1610 19 309.27

LPSleep 1872 2 39.77

TT8_Active 491 19 94.38

TT8_Sampling 1823 39 703.95

TT8_CF8 185 45 82.62

TT8_Kalman 0 0 0.00

Analog_circuits 1162 12 135.31

GPS_charging 0 0 0.00

Compass 1066 15 155.13

RAFOS 0 0 0.00

Transponder 11 30 3.47

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.76 -146.0 0.0 0.0 0 95 0.00 0.00 -76.53 0.000 2 0.000 0.000 414 2659 3126 0 0 0 0 0 0

98 -0.76 -146.0 3.0 -1.7 11 128 9.00 1.88 -15.45 0.000 4 0.197 0.077 2802 3756 3559 0 0 0 0 0 0

217 -0.76 -146.0 19.9 -17.0 31 223 0.00 1.77 0.00 0.000 6 0.000 0.042 2802 2623 3561 0 0 0 0 0 0

355 -0.76 -146.0 44.0 -16.0 56 362 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2621 3562 0 0 0 0 0 0

494 -0.76 -146.0 66.3 -15.4 81 502 0.00 1.85 0.00 0.000 4 0.000 0.060 2793 3756 3562 0 0 0 0 0 0

536 -0.76 -146.0 73.4 -17.1 88 544 0.00 1.75 0.00 0.000 6 0.000 0.041 2793 2656 3562 0 0 0 0 0 0

676 -0.76 -146.0 97.2 -17.0 113 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2655 3563 0 0 0 0 0 0

813 -0.76 -146.0 121.7 -18.0 127 817 0.00 1.80 0.00 0.000 4 0.000 0.061 2784 3759 3563 0 0 0 0 0 0

870 -0.76 -146.0 132.5 -19.5 132 875 0.12 1.70 0.00 0.000 6 0.164 0.041 2818 2662 3563 0 0 0 0 0 0

1013 -0.76 -146.0 154.7 -15.3 145 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2660 3563 0 0 0 0 0 0

1148 -0.76 -146.0 175.1 -14.7 158 1152 0.00 1.77 0.00 0.000 4 0.000 0.060 2811 3754 3563 0 0 0 0 0 0

1174 -0.76 -146.0 178.7 -15.2 160 1178 0.00 1.67 0.00 0.000 6 0.000 0.041 2811 2674 3563 0 0 0 0 0 0

1316 -0.76 -146.0 199.8 -14.3 173 1320 0.00 1.75 0.00 0.000 4 0.000 0.060 2803 3754 3563 0 0 0 0 0 0

1354 -0.76 -146.0 206.0 -15.0 176 1362 0.00 1.70 0.00 0.000 6 0.000 0.041 2802 2687 3563 0 0 0 0 0 0

1489 -0.76 -146.0 225.7 -14.6 189 1491 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2687 3563 0 0 0 0 0 0

1617 -0.76 -146.0 244.3 -14.6 201 1620 0.00 1.73 0.00 0.000 4 0.000 0.060 2794 3755 3563 0 0 0 0 0 0

1642 -0.76 -146.0 248.2 -15.8 203 1646 0.00 1.65 0.00 0.000 6 0.000 0.041 2795 2687 3563 0 0 0 0 0 0

1782 -0.76 -146.0 271.6 -16.5 216 1786 0.00 2.28 0.00 0.000 4 0.000 0.049 2795 1238 3563 0 0 0 0 0 0

1803 -0.76 -146.0 275.6 -17.2 217 1812 0.08 2.40 0.00 0.000 6 0.133 0.055 2825 2693 3563 0 0 0 0 0 0

2004 -0.76 -146.0 302.9 -13.5 236 2008 0.00 1.70 0.00 0.000 4 0.000 0.060 2818 3763 3563 0 0 0 0 0 0

2060 -0.76 -146.0 311.5 -15.1 241 2064 0.00 1.65 0.00 0.000 6 0.000 0.041 2818 2692 3563 0 0 0 0 0 0

2263 -0.76 -146.0 339.6 -13.6 260 2267 0.00 1.75 0.00 0.000 4 0.000 0.060 2810 3771 3563 0 0 0 0 0 0

2302 -0.76 -146.0 345.6 -15.2 263 2309 0.00 1.70 0.00 0.000 6 0.000 0.042 2810 2704 3563 0 0 0 0 0 0

2349 end dive: BOTTOM_OBSTACLE_DETECTED

state 2349 begin apogee

2354 -0.17 0.0 352.7 15.5 268 2493 0.60 0.00 131.10 1.008 4 0.125 0.000 3004 2491 2963 0 0 0 0 0 0

2493 end apogee: CONTROL_FINISHED_OK

state 2494 begin climb

2495 0.76 146.0 358.0 0.0 280 2651 0.95 2.50 147.62 0.926 4 0.074 0.048 3307 1103 2365 0 0 0 0 0 0

2779 0.76 146.0 333.7 11.1 305 2787 0.00 2.50 0.00 0.000 6 0.000 0.050 3307 2500 2354 0 0 0 0 0 0

2977 0.76 146.0 311.3 11.1 324 2981 0.00 2.25 0.00 0.000 4 0.000 0.048 3317 1101 2351 0 0 0 0 0 0

3099 0.76 146.0 297.4 11.5 334 3106 0.00 2.33 0.00 0.000 6 0.000 0.051 3317 2531 2349 0 0 0 0 0 0

3298 0.76 146.0 274.5 11.6 353 3302 0.00 1.98 0.00 0.000 4 0.000 0.057 3317 3771 2348 0 0 0 0 0 0

3389 0.76 146.0 262.0 14.4 361 3393 0.00 1.92 0.00 0.000 6 0.000 0.041 3326 2526 2348 0 0 0 0 0 0

3594 0.76 146.0 236.4 12.6 380 3597 0.00 2.00 0.00 0.000 4 0.000 0.058 3327 3767 2347 0 0 0 0 0 0

3642 0.76 146.0 229.2 14.9 384 3650 0.00 1.92 0.00 0.000 6 0.000 0.038 3336 2548 2347 0 0 0 0 0 0

3778 0.76 146.0 211.8 12.7 397 3779 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2547 2347 0 0 0 0 0 0

3904 0.76 146.0 195.6 12.6 409 3908 0.00 1.98 0.00 0.000 4 0.000 0.058 3336 3773 2347 0 0 0 0 0 0

3973 0.76 146.0 186.2 14.1 415 3977 0.12 1.90 0.00 0.000 6 0.168 0.041 3312 2551 2347 0 0 0 0 0 0

4115 0.76 146.0 170.5 10.9 428 4118 0.00 1.95 0.00 0.000 4 0.000 0.057 3312 3764 2347 0 0 0 0 0 0

4151 0.76 146.0 166.1 12.9 431 4155 0.00 1.85 0.00 0.000 6 0.000 0.040 3319 2562 2346 0 0 0 0 0 0

4294 0.76 146.0 148.6 12.4 444 4301 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2560 2346 0 0 0 0 0 0

4429 0.76 146.0 131.3 12.9 457 4433 0.00 1.95 0.00 0.000 4 0.000 0.057 3320 3775 2346 0 0 0 0 0 0

4477 0.76 146.0 124.3 14.3 461 4487 0.00 1.90 0.00 0.000 6 0.000 0.041 3329 2577 2346 0 0 0 0 0 0

4615 0.76 146.0 107.6 11.8 474 4618 0.00 1.90 0.00 0.000 4 0.000 0.057 3327 3765 2346 0 0 0 0 0 0

4641 0.76 146.0 103.4 13.7 476 4650 0.00 1.85 0.00 0.000 6 0.000 0.039 3338 2589 2346 0 0 0 0 0 0

4779 0.76 146.0 86.1 12.6 499 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2588 2345 0 0 0 0 0 0

4913 0.76 146.0 69.0 12.9 524 4921 0.00 1.95 0.00 0.000 4 0.000 0.059 3337 3767 2345 0 0 0 0 0 0

4950 0.76 146.0 64.0 14.0 530 4959 0.10 1.85 0.00 0.000 6 0.140 0.040 3313 2598 2346 0 0 0 0 0 0

5090 0.76 146.0 48.3 10.8 555 5096 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2597 2345 0 0 0 0 0 0

5226 0.77 148.4 33.8 9.9 580 5235 0.00 1.92 0.00 0.000 4 0.000 0.057 3313 3764 2345 0 0 0 0 0 0

5251 0.77 148.4 30.8 11.6 584 5259 0.00 1.85 0.00 0.000 6 0.000 0.039 3321 2594 2345 0 0 0 0 0 0

5392 0.77 148.4 15.1 11.5 609 5400 0.00 1.90 0.00 0.000 4 0.000 0.060 3320 3764 2345 0 0 0 0 0 0

5419 0.77 148.4 11.6 12.4 613 5426 0.00 1.80 0.00 0.000 6 0.000 0.040 3329 2606 2345 0 0 0 0 0 0

5483 end climb: SURFACE_DEPTH_REACHED

state 5483 begin surface coast

5510 end surface coast: CONTROL_FINISHED_OK

state 5510 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	364	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	31	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	-30600.152	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	271210,075924,-7631.616,17722.975,24,1.1,41,121.9	TGT_NAME	POLYNYA2
_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	2.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	271210,080526,-7631.634,17722.859,12,1.6,12,121.9	MHEAD_RNG_PITCHd_Wd	306.6,68006,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	375

FREEZE	1.38,-0.748,-1.838,2,1,0	_24V_AH	20.3,61.259
FINISH	1.4,1.026933	_10V_AH	9.7,40.645
SM_CCo	5525,82.43,0.723,1,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.12,0.00,0.00,82.43,0.000,0.000,0.723,427,2663,1736,-8.25,0.40,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17723.43,271210,060628	MEM	258180
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43686,628
HUMID	52.79	CAP_FILE_SIZE	92798,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,231235584
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.094,193.8,1
ALTIM_TOP_PING	19.5,18.1	GPS	271210,094031,-7631.660,17725.342,11,1.6,29,121.9
ALTIM_BOTTOM_PING	300.0,66.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	197	73.82	SBE_CT	440	24	214.74
Roll_motor	76	113	176.63	AA4330	830	33	556.59
VBD_pump_during_apogee	278	1007	5700.58	WL_BBFL2VMT	921	105	1964.70
VBD_pump_during_surface	82	722	1209.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	64.33	nil	0	0	0.00
Iridium_during_connect	38	160	125.81	nil	0	0	0.00
Iridium_during_xfer	186	223	845.20	nil	0	0	0.00
Transponder_ping	1	420	12.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.25
TT8	1610	19	309.27
LPSleep	1872	2	39.77
TT8_Active	491	19	94.38
TT8_Sampling	1823	39	703.95
TT8_CF8	185	45	82.62
TT8_Kalman	0	0	0.00
Analog_circuits	1162	12	135.31
GPS_charging	0	0	0.00
Compass	1066	15	155.13
RAFOS	0	0	0.00
Transponder	11	30	3.47

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.76	-146.0	0.0	0.0	0	95	0.00	0.00	-76.53	0.000	2	0.000	0.000	414	2659	3126	0	0	0	0	0	0
98	-0.76	-146.0	3.0	-1.7	11	128	9.00	1.88	-15.45	0.000	4	0.197	0.077	2802	3756	3559	0	0	0	0	0	0
217	-0.76	-146.0	19.9	-17.0	31	223	0.00	1.77	0.00	0.000	6	0.000	0.042	2802	2623	3561	0	0	0	0	0	0
355	-0.76	-146.0	44.0	-16.0	56	362	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2621	3562	0	0	0	0	0	0
494	-0.76	-146.0	66.3	-15.4	81	502	0.00	1.85	0.00	0.000	4	0.000	0.060	2793	3756	3562	0	0	0	0	0	0
536	-0.76	-146.0	73.4	-17.1	88	544	0.00	1.75	0.00	0.000	6	0.000	0.041	2793	2656	3562	0	0	0	0	0	0
676	-0.76	-146.0	97.2	-17.0	113	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2655	3563	0	0	0	0	0	0
813	-0.76	-146.0	121.7	-18.0	127	817	0.00	1.80	0.00	0.000	4	0.000	0.061	2784	3759	3563	0	0	0	0	0	0
870	-0.76	-146.0	132.5	-19.5	132	875	0.12	1.70	0.00	0.000	6	0.164	0.041	2818	2662	3563	0	0	0	0	0	0
1013	-0.76	-146.0	154.7	-15.3	145	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2660	3563	0	0	0	0	0	0
1148	-0.76	-146.0	175.1	-14.7	158	1152	0.00	1.77	0.00	0.000	4	0.000	0.060	2811	3754	3563	0	0	0	0	0	0
1174	-0.76	-146.0	178.7	-15.2	160	1178	0.00	1.67	0.00	0.000	6	0.000	0.041	2811	2674	3563	0	0	0	0	0	0
1316	-0.76	-146.0	199.8	-14.3	173	1320	0.00	1.75	0.00	0.000	4	0.000	0.060	2803	3754	3563	0	0	0	0	0	0
1354	-0.76	-146.0	206.0	-15.0	176	1362	0.00	1.70	0.00	0.000	6	0.000	0.041	2802	2687	3563	0	0	0	0	0	0
1489	-0.76	-146.0	225.7	-14.6	189	1491	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2687	3563	0	0	0	0	0	0
1617	-0.76	-146.0	244.3	-14.6	201	1620	0.00	1.73	0.00	0.000	4	0.000	0.060	2794	3755	3563	0	0	0	0	0	0
1642	-0.76	-146.0	248.2	-15.8	203	1646	0.00	1.65	0.00	0.000	6	0.000	0.041	2795	2687	3563	0	0	0	0	0	0
1782	-0.76	-146.0	271.6	-16.5	216	1786	0.00	2.28	0.00	0.000	4	0.000	0.049	2795	1238	3563	0	0	0	0	0	0
1803	-0.76	-146.0	275.6	-17.2	217	1812	0.08	2.40	0.00	0.000	6	0.133	0.055	2825	2693	3563	0	0	0	0	0	0
2004	-0.76	-146.0	302.9	-13.5	236	2008	0.00	1.70	0.00	0.000	4	0.000	0.060	2818	3763	3563	0	0	0	0	0	0
2060	-0.76	-146.0	311.5	-15.1	241	2064	0.00	1.65	0.00	0.000	6	0.000	0.041	2818	2692	3563	0	0	0	0	0	0
2263	-0.76	-146.0	339.6	-13.6	260	2267	0.00	1.75	0.00	0.000	4	0.000	0.060	2810	3771	3563	0	0	0	0	0	0
2302	-0.76	-146.0	345.6	-15.2	263	2309	0.00	1.70	0.00	0.000	6	0.000	0.042	2810	2704	3563	0	0	0	0	0	0
2349	end dive: BOTTOM_OBSTACLE_DETECTED
state	2349	begin apogee
2354	-0.17	0.0	352.7	15.5	268	2493	0.60	0.00	131.10	1.008	4	0.125	0.000	3004	2491	2963	0	0	0	0	0	0
2493	end apogee: CONTROL_FINISHED_OK
state	2494	begin climb
2495	0.76	146.0	358.0	0.0	280	2651	0.95	2.50	147.62	0.926	4	0.074	0.048	3307	1103	2365	0	0	0	0	0	0
2779	0.76	146.0	333.7	11.1	305	2787	0.00	2.50	0.00	0.000	6	0.000	0.050	3307	2500	2354	0	0	0	0	0	0
2977	0.76	146.0	311.3	11.1	324	2981	0.00	2.25	0.00	0.000	4	0.000	0.048	3317	1101	2351	0	0	0	0	0	0
3099	0.76	146.0	297.4	11.5	334	3106	0.00	2.33	0.00	0.000	6	0.000	0.051	3317	2531	2349	0	0	0	0	0	0
3298	0.76	146.0	274.5	11.6	353	3302	0.00	1.98	0.00	0.000	4	0.000	0.057	3317	3771	2348	0	0	0	0	0	0
3389	0.76	146.0	262.0	14.4	361	3393	0.00	1.92	0.00	0.000	6	0.000	0.041	3326	2526	2348	0	0	0	0	0	0
3594	0.76	146.0	236.4	12.6	380	3597	0.00	2.00	0.00	0.000	4	0.000	0.058	3327	3767	2347	0	0	0	0	0	0
3642	0.76	146.0	229.2	14.9	384	3650	0.00	1.92	0.00	0.000	6	0.000	0.038	3336	2548	2347	0	0	0	0	0	0
3778	0.76	146.0	211.8	12.7	397	3779	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2547	2347	0	0	0	0	0	0
3904	0.76	146.0	195.6	12.6	409	3908	0.00	1.98	0.00	0.000	4	0.000	0.058	3336	3773	2347	0	0	0	0	0	0
3973	0.76	146.0	186.2	14.1	415	3977	0.12	1.90	0.00	0.000	6	0.168	0.041	3312	2551	2347	0	0	0	0	0	0
4115	0.76	146.0	170.5	10.9	428	4118	0.00	1.95	0.00	0.000	4	0.000	0.057	3312	3764	2347	0	0	0	0	0	0
4151	0.76	146.0	166.1	12.9	431	4155	0.00	1.85	0.00	0.000	6	0.000	0.040	3319	2562	2346	0	0	0	0	0	0
4294	0.76	146.0	148.6	12.4	444	4301	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2560	2346	0	0	0	0	0	0
4429	0.76	146.0	131.3	12.9	457	4433	0.00	1.95	0.00	0.000	4	0.000	0.057	3320	3775	2346	0	0	0	0	0	0
4477	0.76	146.0	124.3	14.3	461	4487	0.00	1.90	0.00	0.000	6	0.000	0.041	3329	2577	2346	0	0	0	0	0	0
4615	0.76	146.0	107.6	11.8	474	4618	0.00	1.90	0.00	0.000	4	0.000	0.057	3327	3765	2346	0	0	0	0	0	0
4641	0.76	146.0	103.4	13.7	476	4650	0.00	1.85	0.00	0.000	6	0.000	0.039	3338	2589	2346	0	0	0	0	0	0
4779	0.76	146.0	86.1	12.6	499	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2588	2345	0	0	0	0	0	0
4913	0.76	146.0	69.0	12.9	524	4921	0.00	1.95	0.00	0.000	4	0.000	0.059	3337	3767	2345	0	0	0	0	0	0
4950	0.76	146.0	64.0	14.0	530	4959	0.10	1.85	0.00	0.000	6	0.140	0.040	3313	2598	2346	0	0	0	0	0	0
5090	0.76	146.0	48.3	10.8	555	5096	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2597	2345	0	0	0	0	0	0
5226	0.77	148.4	33.8	9.9	580	5235	0.00	1.92	0.00	0.000	4	0.000	0.057	3313	3764	2345	0	0	0	0	0	0
5251	0.77	148.4	30.8	11.6	584	5259	0.00	1.85	0.00	0.000	6	0.000	0.039	3321	2594	2345	0	0	0	0	0	0
5392	0.77	148.4	15.1	11.5	609	5400	0.00	1.90	0.00	0.000	4	0.000	0.060	3320	3764	2345	0	0	0	0	0	0
5419	0.77	148.4	11.6	12.4	613	5426	0.00	1.80	0.00	0.000	6	0.000	0.040	3329	2606	2345	0	0	0	0	0	0
5483	end climb: SURFACE_DEPTH_REACHED
state	5483	begin surface coast
5510	end surface coast: CONTROL_FINISHED_OK
state	5510	begin surface