Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 60 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 60 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 400 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 616.91943 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 7 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 4 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 100 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -17688.041 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.050000001 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 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 225 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2820 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 616.91943

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 7

ALTIM_FREQUENCY 13 D_TGT 400 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 4

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 3 FG_AHR_24V 0 PITCH_MIN 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 100

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -17688.041

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 200

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.050000001 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2820 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 225 R_PORT_OVSHOOT 43 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 60 NAV_MODE 0 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 021210,102852,-7716.136,17056.307,15,4.1,34,134.3 TGT_NAME POLYNYA

_CALLS 1 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 8.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,102852,-7716.136,17056.307,15,4.1,34,134.3 MHEAD_RNG_PITCHd_Wd 228.6,29924,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 747

Post-dive calculations and measurements:

FREEZE 8.29,-1.902,-1.904,2,13,0 _24V_AH 22.8,45.177

FINISH1 8.3,1.027830,-16 _10V_AH 10.1,62.514

FINISH2 3.6 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7630.39,17051.50,021210,040449 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 258940

HUMID 50.19 DATA_FILE_SIZE 40426,621

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 102682,0

TCM_TEMP 14.20 CFSIZE 260165632,247463936

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

ALTIM_TOP_PING 19.5,19.9 GPS 021210,102852,-7716.136,17056.307,15,4.1,34,134.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 156 17.34 SBE_CT 432 24 236.82

Roll_motor 94 52 114.12 AA4330 769 33 579.07

VBD_pump_during_apogee 477 923 10047.83 WL_BBFL2VMT 1165 105 2791.32

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 11.97 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1466 19 293.19

LPSleep 1956 2 43.28

TT8_Active 540 19 108.16

TT8_Sampling 1954 39 785.79

TT8_CF8 121 45 56.02

TT8_Kalman 0 0 0.00

Analog_circuits 1310 12 158.80

GPS_charging 0 0 0.00

Compass 1148 15 174.00

RAFOS 0 0 0.00

Transponder 9 30 2.87

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.84 -219.0 0.0 0.0 0 68 0.00 2.35 -46.15 0.000 6 0.000 0.042 2825 2299 3853 0 0 0 0 0 0

71 -0.84 -219.0 1.2 -4.2 7 77 0.80 0.00 0.00 0.000 6 0.096 0.000 2552 2299 3853 0 0 0 0 0 0

223 -0.84 -219.0 20.5 -12.0 32 232 0.00 2.40 0.00 0.000 4 0.000 0.053 2550 3712 3854 0 0 0 0 0 0

338 -0.81 -219.0 38.4 -16.3 50 347 0.00 2.28 0.00 0.000 6 0.000 0.030 2550 2304 3854 0 0 0 0 0 0

496 -0.81 -219.0 60.6 -12.4 75 503 0.00 2.35 0.00 0.000 4 0.000 0.053 2547 3717 3855 0 0 0 0 0 0

584 -0.81 -219.0 75.3 -16.1 89 591 0.00 2.25 0.00 0.000 6 0.000 0.030 2547 2298 3855 0 0 0 0 0 0

738 -0.81 -219.0 98.6 -15.0 114 747 0.00 2.35 0.00 0.000 4 0.000 0.051 2547 3706 3855 0 0 0 0 0 0

842 -0.81 -219.0 111.9 -12.4 123 852 0.00 2.25 0.00 0.000 6 0.000 0.030 2547 2301 3856 0 0 0 0 0 0

979 -0.81 -219.0 128.5 -13.4 136 983 0.00 2.33 0.00 0.000 4 0.000 0.052 2547 3721 3856 0 0 1 0 0 0

1060 -0.81 -219.0 140.4 -13.8 142 1071 0.00 2.28 0.00 0.000 6 0.000 0.029 2547 2300 3856 0 0 0 0 0 0

1198 -0.81 -219.0 158.0 -12.9 155 1202 0.00 2.30 0.00 0.000 4 0.000 0.052 2547 3715 3856 0 0 1 0 0 0

1293 -0.81 -219.0 172.2 -13.6 162 1304 0.00 2.25 0.00 0.000 6 0.000 0.031 2547 2302 3856 0 0 0 0 0 0

1430 -0.81 -219.0 190.4 -14.3 175 1434 0.00 2.30 0.00 0.000 4 0.000 0.052 2547 3715 3856 0 0 0 0 0 0

1535 -0.81 -219.0 207.6 -16.3 183 1539 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2291 3857 0 0 0 0 0 0

1671 -0.81 -219.0 228.6 -15.1 195 1675 0.00 2.33 0.00 0.000 4 0.000 0.052 2547 3722 3858 0 0 0 0 0 0

1778 -0.83 -219.0 244.1 -14.6 203 1782 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2289 3858 0 0 0 0 0 0

1911 -0.83 -219.0 263.0 -13.4 215 1915 0.00 2.30 0.00 0.000 4 0.000 0.051 2547 3714 3857 0 0 0 0 0 0

1999 -0.86 -219.0 275.0 -13.1 222 2006 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2293 3858 0 0 0 0 0 0

2200 -0.88 -219.0 299.7 -12.7 241 2204 0.00 2.30 0.00 0.000 4 0.000 0.051 2547 3718 3858 0 0 0 0 0 0

2360 -0.91 -219.0 322.0 -14.3 255 2364 0.00 2.20 0.00 0.000 6 0.000 0.030 2546 2301 3858 0 0 0 0 0 0

2558 -0.93 -219.0 349.0 -13.3 273 2563 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3715 3858 0 0 0 0 0 0

2704 -0.96 -219.0 368.6 -13.1 285 2712 0.10 2.20 0.00 0.000 6 0.120 0.030 2503 2294 3858 0 0 0 0 0 0

2903 -0.91 -219.0 399.4 -16.0 304 2910 0.00 2.30 0.00 0.000 4 0.000 0.050 2492 3722 3857 0 0 0 0 0 0

2915 end dive: TARGET_DEPTH_EXCEEDED

state 2915 begin apogee

2922 -0.16 0.0 401.8 16.0 305 3107 0.82 0.00 174.98 0.923 6 0.138 0.000 2760 2490 2959 0 0 0 0 0 0

3107 end apogee: CONTROL_FINISHED_OK

state 3108 begin climb

3109 0.84 219.0 411.9 0.0 322 3306 0.95 2.50 184.65 0.873 4 0.070 0.036 3099 1111 2066 0 0 0 0 0 0

3346 0.74 219.0 390.4 15.7 343 3353 0.15 2.42 0.00 0.000 6 0.157 0.041 3063 2500 2060 0 0 1 0 0 0

3544 0.67 219.0 362.2 14.0 362 3548 0.00 2.12 0.00 0.000 4 0.000 0.049 3062 3765 2054 0 0 0 0 0 0

3655 0.55 219.0 343.3 17.5 371 3663 0.25 2.10 0.00 0.000 6 0.146 0.030 3002 2505 2051 0 0 0 0 0 0

3854 0.68 297.1 322.2 10.1 390 3932 0.12 2.22 66.95 0.841 4 0.089 0.050 3059 3756 1747 0 0 1 0 0 0

4028 0.64 297.1 294.2 17.9 405 4036 0.15 2.08 0.00 0.000 6 0.155 0.030 3028 2493 1743 0 0 0 0 0 0

4227 0.72 330.5 268.4 12.0 424 4261 0.00 2.25 29.12 0.815 4 0.000 0.050 3028 3770 1612 0 0 1 0 0 0

4320 0.75 330.5 256.4 13.4 432 4324 0.00 2.10 0.00 0.000 6 0.000 0.031 3035 2496 1611 0 0 0 0 0 0

4521 0.83 354.3 231.8 12.4 450 4550 0.15 2.17 21.58 0.797 4 0.079 0.047 3103 3773 1514 0 0 0 0 0 0

4602 0.74 354.3 216.1 21.9 456 4607 0.17 2.08 0.00 0.000 6 0.150 0.031 3064 2497 1514 0 0 0 0 0 0

4739 0.74 354.3 194.5 14.8 468 4748 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2497 1512 0 0 0 0 0 0

4876 0.74 354.3 173.4 15.5 481 4879 0.00 2.10 0.00 0.000 4 0.000 0.050 3063 3766 1512 0 0 0 0 0 0

4932 0.74 354.3 164.6 15.8 485 4936 0.00 2.03 0.00 0.000 6 0.000 0.031 3072 2497 1511 0 0 0 0 0 0

5074 0.74 354.3 141.6 16.6 498 5083 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2497 1510 0 0 0 0 0 0

5211 0.74 354.3 120.4 15.2 511 5214 0.00 2.08 0.00 0.000 4 0.000 0.050 3072 3765 1510 0 0 0 0 0 0

5269 0.72 354.3 109.8 16.7 515 5279 0.00 2.05 0.00 0.000 6 0.000 0.031 3080 2500 1509 0 0 0 0 0 0

5413 0.72 354.3 86.9 16.2 534 5423 0.00 2.10 0.00 0.000 4 0.000 0.050 3080 3757 1509 0 0 0 0 0 0

5474 0.68 354.3 76.5 17.8 543 5481 0.17 2.00 0.00 0.000 6 0.147 0.031 3036 2497 1509 0 0 0 0 0 0

5630 0.74 356.3 52.8 13.3 568 5639 0.00 2.10 0.00 0.000 4 0.000 0.052 3036 3754 1509 0 0 0 0 0 0

5682 0.78 356.3 45.1 14.2 576 5691 0.00 2.03 0.00 0.000 6 0.000 0.033 3043 2498 1508 0 0 0 0 0 0

5840 0.82 356.3 24.5 14.5 601 5848 0.12 2.08 0.00 0.000 4 0.090 0.051 3104 3767 1508 0 0 1 0 0 0

5887 0.71 356.3 15.3 19.9 608 5897 0.17 2.03 0.00 0.000 6 0.132 0.032 3055 2507 1508 0 0 0 0 0 0

5923 end climb: FINISH_DEPTH_REACHED

state 5924 begin subsurface finish

5929 -0.02 -16.2 8.3 -20.0 613 5987 0.70 0.00 -51.42 0.000 6 0.109 0.000 2813 2507 3027 0 0 0 0 0 0

5988 end subsurface finish: CONTROL_FINISHED_OK

state 5988 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	60	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	400	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	616.91943	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	7	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	4	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	100	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-17688.041	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.050000001	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	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	225	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2820	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	0	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	021210,102852,-7716.136,17056.307,15,4.1,34,134.3	TGT_NAME	POLYNYA
_CALLS	1	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	8.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,102852,-7716.136,17056.307,15,4.1,34,134.3	MHEAD_RNG_PITCHd_Wd	228.6,29924,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	747

FREEZE	8.29,-1.902,-1.904,2,13,0	_24V_AH	22.8,45.177
FINISH1	8.3,1.027830,-16	_10V_AH	10.1,62.514
FINISH2	3.6	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7630.39,17051.50,021210,040449	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	258940
HUMID	50.19	DATA_FILE_SIZE	40426,621
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	102682,0
TCM_TEMP	14.20	CFSIZE	260165632,247463936
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
ALTIM_TOP_PING	19.5,19.9	GPS	021210,102852,-7716.136,17056.307,15,4.1,34,134.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	156	17.34	SBE_CT	432	24	236.82
Roll_motor	94	52	114.12	AA4330	769	33	579.07
VBD_pump_during_apogee	477	923	10047.83	WL_BBFL2VMT	1165	105	2791.32
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	11.97	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1466	19	293.19
LPSleep	1956	2	43.28
TT8_Active	540	19	108.16
TT8_Sampling	1954	39	785.79
TT8_CF8	121	45	56.02
TT8_Kalman	0	0	0.00
Analog_circuits	1310	12	158.80
GPS_charging	0	0	0.00
Compass	1148	15	174.00
RAFOS	0	0	0.00
Transponder	9	30	2.87

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.84	-219.0	0.0	0.0	0	68	0.00	2.35	-46.15	0.000	6	0.000	0.042	2825	2299	3853	0	0	0	0	0	0
71	-0.84	-219.0	1.2	-4.2	7	77	0.80	0.00	0.00	0.000	6	0.096	0.000	2552	2299	3853	0	0	0	0	0	0
223	-0.84	-219.0	20.5	-12.0	32	232	0.00	2.40	0.00	0.000	4	0.000	0.053	2550	3712	3854	0	0	0	0	0	0
338	-0.81	-219.0	38.4	-16.3	50	347	0.00	2.28	0.00	0.000	6	0.000	0.030	2550	2304	3854	0	0	0	0	0	0
496	-0.81	-219.0	60.6	-12.4	75	503	0.00	2.35	0.00	0.000	4	0.000	0.053	2547	3717	3855	0	0	0	0	0	0
584	-0.81	-219.0	75.3	-16.1	89	591	0.00	2.25	0.00	0.000	6	0.000	0.030	2547	2298	3855	0	0	0	0	0	0
738	-0.81	-219.0	98.6	-15.0	114	747	0.00	2.35	0.00	0.000	4	0.000	0.051	2547	3706	3855	0	0	0	0	0	0
842	-0.81	-219.0	111.9	-12.4	123	852	0.00	2.25	0.00	0.000	6	0.000	0.030	2547	2301	3856	0	0	0	0	0	0
979	-0.81	-219.0	128.5	-13.4	136	983	0.00	2.33	0.00	0.000	4	0.000	0.052	2547	3721	3856	0	0	1	0	0	0
1060	-0.81	-219.0	140.4	-13.8	142	1071	0.00	2.28	0.00	0.000	6	0.000	0.029	2547	2300	3856	0	0	0	0	0	0
1198	-0.81	-219.0	158.0	-12.9	155	1202	0.00	2.30	0.00	0.000	4	0.000	0.052	2547	3715	3856	0	0	1	0	0	0
1293	-0.81	-219.0	172.2	-13.6	162	1304	0.00	2.25	0.00	0.000	6	0.000	0.031	2547	2302	3856	0	0	0	0	0	0
1430	-0.81	-219.0	190.4	-14.3	175	1434	0.00	2.30	0.00	0.000	4	0.000	0.052	2547	3715	3856	0	0	0	0	0	0
1535	-0.81	-219.0	207.6	-16.3	183	1539	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2291	3857	0	0	0	0	0	0
1671	-0.81	-219.0	228.6	-15.1	195	1675	0.00	2.33	0.00	0.000	4	0.000	0.052	2547	3722	3858	0	0	0	0	0	0
1778	-0.83	-219.0	244.1	-14.6	203	1782	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2289	3858	0	0	0	0	0	0
1911	-0.83	-219.0	263.0	-13.4	215	1915	0.00	2.30	0.00	0.000	4	0.000	0.051	2547	3714	3857	0	0	0	0	0	0
1999	-0.86	-219.0	275.0	-13.1	222	2006	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2293	3858	0	0	0	0	0	0
2200	-0.88	-219.0	299.7	-12.7	241	2204	0.00	2.30	0.00	0.000	4	0.000	0.051	2547	3718	3858	0	0	0	0	0	0
2360	-0.91	-219.0	322.0	-14.3	255	2364	0.00	2.20	0.00	0.000	6	0.000	0.030	2546	2301	3858	0	0	0	0	0	0
2558	-0.93	-219.0	349.0	-13.3	273	2563	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3715	3858	0	0	0	0	0	0
2704	-0.96	-219.0	368.6	-13.1	285	2712	0.10	2.20	0.00	0.000	6	0.120	0.030	2503	2294	3858	0	0	0	0	0	0
2903	-0.91	-219.0	399.4	-16.0	304	2910	0.00	2.30	0.00	0.000	4	0.000	0.050	2492	3722	3857	0	0	0	0	0	0
2915	end dive: TARGET_DEPTH_EXCEEDED
state	2915	begin apogee
2922	-0.16	0.0	401.8	16.0	305	3107	0.82	0.00	174.98	0.923	6	0.138	0.000	2760	2490	2959	0	0	0	0	0	0
3107	end apogee: CONTROL_FINISHED_OK
state	3108	begin climb
3109	0.84	219.0	411.9	0.0	322	3306	0.95	2.50	184.65	0.873	4	0.070	0.036	3099	1111	2066	0	0	0	0	0	0
3346	0.74	219.0	390.4	15.7	343	3353	0.15	2.42	0.00	0.000	6	0.157	0.041	3063	2500	2060	0	0	1	0	0	0
3544	0.67	219.0	362.2	14.0	362	3548	0.00	2.12	0.00	0.000	4	0.000	0.049	3062	3765	2054	0	0	0	0	0	0
3655	0.55	219.0	343.3	17.5	371	3663	0.25	2.10	0.00	0.000	6	0.146	0.030	3002	2505	2051	0	0	0	0	0	0
3854	0.68	297.1	322.2	10.1	390	3932	0.12	2.22	66.95	0.841	4	0.089	0.050	3059	3756	1747	0	0	1	0	0	0
4028	0.64	297.1	294.2	17.9	405	4036	0.15	2.08	0.00	0.000	6	0.155	0.030	3028	2493	1743	0	0	0	0	0	0
4227	0.72	330.5	268.4	12.0	424	4261	0.00	2.25	29.12	0.815	4	0.000	0.050	3028	3770	1612	0	0	1	0	0	0
4320	0.75	330.5	256.4	13.4	432	4324	0.00	2.10	0.00	0.000	6	0.000	0.031	3035	2496	1611	0	0	0	0	0	0
4521	0.83	354.3	231.8	12.4	450	4550	0.15	2.17	21.58	0.797	4	0.079	0.047	3103	3773	1514	0	0	0	0	0	0
4602	0.74	354.3	216.1	21.9	456	4607	0.17	2.08	0.00	0.000	6	0.150	0.031	3064	2497	1514	0	0	0	0	0	0
4739	0.74	354.3	194.5	14.8	468	4748	0.00	0.00	0.00	0.000	6	0.000	0.000	3063	2497	1512	0	0	0	0	0	0
4876	0.74	354.3	173.4	15.5	481	4879	0.00	2.10	0.00	0.000	4	0.000	0.050	3063	3766	1512	0	0	0	0	0	0
4932	0.74	354.3	164.6	15.8	485	4936	0.00	2.03	0.00	0.000	6	0.000	0.031	3072	2497	1511	0	0	0	0	0	0
5074	0.74	354.3	141.6	16.6	498	5083	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2497	1510	0	0	0	0	0	0
5211	0.74	354.3	120.4	15.2	511	5214	0.00	2.08	0.00	0.000	4	0.000	0.050	3072	3765	1510	0	0	0	0	0	0
5269	0.72	354.3	109.8	16.7	515	5279	0.00	2.05	0.00	0.000	6	0.000	0.031	3080	2500	1509	0	0	0	0	0	0
5413	0.72	354.3	86.9	16.2	534	5423	0.00	2.10	0.00	0.000	4	0.000	0.050	3080	3757	1509	0	0	0	0	0	0
5474	0.68	354.3	76.5	17.8	543	5481	0.17	2.00	0.00	0.000	6	0.147	0.031	3036	2497	1509	0	0	0	0	0	0
5630	0.74	356.3	52.8	13.3	568	5639	0.00	2.10	0.00	0.000	4	0.000	0.052	3036	3754	1509	0	0	0	0	0	0
5682	0.78	356.3	45.1	14.2	576	5691	0.00	2.03	0.00	0.000	6	0.000	0.033	3043	2498	1508	0	0	0	0	0	0
5840	0.82	356.3	24.5	14.5	601	5848	0.12	2.08	0.00	0.000	4	0.090	0.051	3104	3767	1508	0	0	1	0	0	0
5887	0.71	356.3	15.3	19.9	608	5897	0.17	2.03	0.00	0.000	6	0.132	0.032	3055	2507	1508	0	0	0	0	0	0
5923	end climb: FINISH_DEPTH_REACHED
state	5924	begin subsurface finish
5929	-0.02	-16.2	8.3	-20.0	613	5987	0.70	0.00	-51.42	0.000	6	0.109	0.000	2813	2507	3027	0	0	0	0	0	0
5988	end subsurface finish: CONTROL_FINISHED_OK
state	5988	begin surface