Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 602 * 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 602 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 623.29712 R_PORT_OVSHOOT 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 23 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 275 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 -30900.01 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 -8 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 623.29712

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 -8 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 275

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 -30900.01

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 35 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 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 602 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 120111,000055,-7629.630,17425.365,9,1.7,14,126.0 TGT_NAME POLYNYA1

_CALLS 3 TGT_LATLONG -7630.000,17000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120111,001038,-7629.626,17425.113,12,2.0,12,126.0 MHEAD_RNG_PITCHd_Wd 152.4,114621,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 380

Post-dive calculations and measurements:

FREEZE 1.24,0.022,-1.029,2,2,0 _24V_AH 20.6,86.027

FINISH 1.2,1.015205 _10V_AH 9.6,59.705

SM_CCo 6442,252.18,0.100,0,0,420,623.30 FG_AHR_24Vo 0.000

SM_GC 1.88,0.00,0.00,252.18,0.000,0.000,0.100,388,2642,420,-8.33,-0.23,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17418.28,120111,000038 MEM 258120

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50318,716

HUMID 52.00 CAP_FILE_SIZE 97173,0

INTERNAL_PRESSURE 8.69174 CFSIZE 260165632,219910144

TCM_TEMP 14.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.061,207.9,1

ALTIM_TOP_PING 19.7,20.4 GPS 120111,020401,-7629.722,17421.271,40,1.6,40,126.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 195 76.35 SBE_CT 503 24 248.80

Roll_motor 86 60 107.32 AA4330 924 33 628.60

VBD_pump_during_apogee 290 1059 6348.15 WL_BBFL2VMT 1003 105 2171.53

VBD_pump_during_surface 252 100 520.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 86 103 182.55 nil 0 0 0.00

Iridium_during_connect 225 160 742.67 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.49

TT8 1839 19 349.69

LPSleep 2452 2 51.56

TT8_Active 653 19 124.14

TT8_Sampling 2067 39 789.99

TT8_CF8 270 45 119.12

TT8_Kalman 0 0 0.00

Analog_circuits 1395 12 160.74

GPS_charging 0 0 0.00

Compass 1213 15 174.70

RAFOS 0 0 0.00

Transponder 7 30 2.24

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

16 -0.71 -146.0 0.0 0.0 0 83 0.00 0.00 -64.60 0.000 2 0.000 0.000 351 2628 3126 0 0 0 0 0 0

86 -0.71 -146.0 3.0 -2.0 9 116 9.20 2.25 -13.95 0.000 4 0.196 0.060 2826 1246 3559 0 0 0 0 0 0

359 -0.71 -146.0 42.4 -14.6 58 367 0.00 2.38 0.00 0.000 6 0.000 0.056 2817 2649 3562 0 0 0 0 0 0

499 -0.71 -146.0 63.3 -15.3 83 507 0.00 1.85 0.00 0.000 4 0.000 0.058 2808 3762 3563 0 0 0 0 0 0

543 -0.71 -146.0 70.6 -16.3 90 551 0.00 1.77 0.00 0.000 6 0.000 0.039 2808 2659 3563 0 0 0 0 0 0

682 -0.71 -146.0 92.8 -16.0 115 689 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2657 3563 0 0 0 0 0 0

825 -0.71 -146.0 116.1 -16.0 132 829 0.00 1.85 0.00 0.000 4 0.000 0.059 2799 3773 3563 0 0 0 0 0 0

873 -0.71 -146.0 124.0 -17.1 136 877 0.12 1.75 0.00 0.000 6 0.157 0.040 2833 2662 3563 0 0 0 0 0 0

1014 -0.71 -146.0 144.1 -14.1 149 1016 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 2661 3563 0 0 0 0 0 0

1142 -0.71 -146.0 161.3 -13.3 161 1145 0.00 1.83 0.00 0.000 4 0.000 0.058 2826 3762 3563 0 0 0 0 0 0

1202 -0.71 -146.0 170.1 -14.1 166 1210 0.00 1.77 0.00 0.000 6 0.000 0.039 2826 2666 3563 0 0 0 0 0 0

1337 -0.71 -146.0 188.6 -13.8 179 1341 0.00 1.83 0.00 0.000 4 0.000 0.058 2817 3764 3563 0 0 0 0 0 0

1375 -0.71 -146.0 194.1 -15.5 182 1378 0.00 1.70 0.00 0.000 6 0.000 0.038 2817 2682 3563 0 0 0 0 0 0

1518 -0.71 -146.0 214.5 -14.1 195 1526 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2681 3563 0 0 0 0 0 0

1654 -0.71 -146.0 233.8 -14.4 208 1658 0.00 1.83 0.00 0.000 4 0.000 0.060 2808 3770 3563 0 0 0 0 0 0

1703 -0.71 -146.0 241.7 -14.8 212 1711 0.00 1.75 0.00 0.000 6 0.000 0.039 2809 2685 3563 0 0 0 0 0 0

1838 -0.71 -146.0 261.4 -15.0 225 1839 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2685 3563 0 0 0 0 0 0

2028 -0.71 -146.0 289.5 -15.0 243 2032 0.00 1.80 0.00 0.000 4 0.000 0.059 2801 3764 3563 0 0 0 0 0 0

2074 -0.71 -146.0 296.5 -15.4 247 2078 0.12 1.70 0.00 0.000 6 0.155 0.039 2834 2684 3563 0 0 0 0 0 0

2279 -0.71 -146.0 322.5 -12.3 266 2283 0.00 1.80 0.00 0.000 4 0.000 0.060 2827 3763 3563 0 0 0 0 0 0

2313 -0.71 -146.0 327.2 -12.9 269 2317 0.00 1.67 0.00 0.000 6 0.000 0.039 2827 2698 3563 0 0 0 0 0 0

2518 -0.71 -146.0 354.0 -12.6 288 2519 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2697 3563 0 0 0 0 0 0

2707 -0.71 -146.0 379.0 -12.9 306 2711 0.00 1.77 0.00 0.000 4 0.000 0.059 2819 3763 3562 0 0 0 0 0 0

2717 end dive: TARGET_DEPTH_EXCEEDED

state 2717 begin apogee

2725 -0.27 0.0 380.6 13.3 307 2865 0.47 0.00 130.98 1.060 4 0.125 0.000 2970 2491 2961 0 0 0 0 0 0

2865 end apogee: CONTROL_FINISHED_OK

state 2866 begin climb

2868 0.71 146.0 388.6 0.0 319 3025 1.08 2.58 147.80 0.981 4 0.080 0.047 3293 1099 2364 0 0 0 0 0 0

3144 0.71 146.0 368.9 9.5 344 3149 0.00 2.58 0.00 0.000 6 0.000 0.049 3293 2502 2353 0 0 0 0 0 0

3344 0.71 146.0 347.9 11.1 362 3349 0.00 2.45 0.00 0.000 4 0.000 0.047 3300 1102 2350 0 0 0 0 0 0

3475 0.71 146.0 333.5 10.6 373 3479 0.00 2.47 0.00 0.000 6 0.000 0.050 3300 2519 2348 0 0 0 0 0 0

3674 0.71 146.0 311.5 10.9 391 3678 0.00 2.12 0.00 0.000 4 0.000 0.055 3300 3773 2348 0 0 0 0 0 0

3807 0.71 146.0 293.5 13.6 402 3815 0.00 2.03 0.00 0.000 6 0.000 0.038 3309 2539 2346 0 0 0 0 0 0

4006 0.71 146.0 270.6 11.7 421 4010 0.00 2.05 0.00 0.000 4 0.000 0.057 3309 3774 2346 0 0 0 0 0 0

4067 0.71 146.0 262.1 14.1 426 4074 0.00 1.95 0.00 0.000 6 0.000 0.039 3318 2549 2346 0 0 0 0 0 0

4267 0.71 146.0 238.6 11.4 445 4270 0.00 2.03 0.00 0.000 4 0.000 0.057 3318 3773 2345 0 0 0 0 0 0

4336 0.71 146.0 229.5 14.2 451 4341 0.12 1.92 0.00 0.000 6 0.157 0.038 3295 2555 2345 0 0 0 0 0 0

4473 0.71 146.0 214.7 10.3 463 4477 0.00 2.00 0.00 0.000 4 0.000 0.057 3295 3765 2345 0 0 0 0 0 0

4511 0.71 146.0 209.8 11.6 466 4519 0.00 1.92 0.00 0.000 6 0.000 0.038 3300 2567 2344 0 0 0 0 0 0

4649 0.71 146.0 195.3 10.6 479 4653 0.00 2.00 0.00 0.000 4 0.000 0.057 3300 3775 2344 0 0 0 0 0 0

4687 0.71 146.0 190.1 12.6 482 4695 0.00 1.92 0.00 0.000 6 0.000 0.037 3309 2579 2344 0 0 0 0 0 0

4825 0.71 146.0 174.8 10.8 495 4833 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2578 2344 0 0 0 0 0 0

4961 0.71 146.0 159.7 11.0 508 4965 0.00 1.95 0.00 0.000 4 0.000 0.056 3309 3764 2344 0 0 0 0 0 0

5019 0.71 146.0 152.6 12.2 513 5022 0.00 1.85 0.00 0.000 6 0.000 0.038 3318 2588 2343 0 0 0 0 0 0

5160 0.71 146.0 136.7 10.9 526 5164 0.00 1.95 0.00 0.000 4 0.000 0.057 3318 3767 2343 0 0 0 0 0 0

5207 0.71 146.0 131.0 13.3 530 5211 0.12 1.83 0.00 0.000 6 0.158 0.037 3295 2600 2343 0 0 0 0 0 0

5349 0.71 146.0 116.9 9.4 543 5353 0.00 1.92 0.00 0.000 4 0.000 0.057 3295 3765 2343 0 0 0 0 0 0

5376 0.71 146.0 113.6 10.4 545 5385 0.00 1.85 0.00 0.000 6 0.000 0.037 3302 2614 2343 0 0 0 0 0 0

5513 0.71 146.0 99.4 10.3 558 5520 0.00 0.00 0.00 0.000 6 0.000 0.000 3302 2613 2342 0 0 0 0 0 0

5652 0.71 146.0 85.0 9.9 583 5660 0.00 1.95 0.00 0.000 4 0.000 0.057 3302 3766 2342 0 0 0 0 0 0

5737 0.71 146.0 75.1 12.1 598 5745 0.00 1.85 0.00 0.000 6 0.000 0.037 3311 2612 2343 0 0 0 0 0 0

5880 0.71 146.0 59.8 11.2 623 5887 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2611 2342 0 0 0 0 0 0

6018 0.71 146.0 44.3 11.2 648 6028 0.00 1.95 0.00 0.000 4 0.000 0.056 3311 3764 2342 0 0 0 0 0 0

6076 0.71 146.0 37.2 11.8 658 6084 0.00 1.85 0.00 0.000 6 0.000 0.037 3320 2612 2342 0 0 0 0 0 0

6218 0.71 146.0 21.7 12.5 683 6225 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2611 2342 0 0 0 0 0 0

6365 0.73 162.9 7.3 8.4 708 6382 0.00 2.00 12.07 0.819 4 0.000 0.054 3319 3775 2296 0 0 0 0 0 0

6394 end climb: SURFACE_DEPTH_REACHED

state 6394 begin surface coast

6423 end surface coast: CONTROL_FINISHED_OK

state 6423 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	602	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	623.29712	R_PORT_OVSHOOT	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	23	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	275	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	-30900.01	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	-8	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	120111,000055,-7629.630,17425.365,9,1.7,14,126.0	TGT_NAME	POLYNYA1
_CALLS	3	TGT_LATLONG	-7630.000,17000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120111,001038,-7629.626,17425.113,12,2.0,12,126.0	MHEAD_RNG_PITCHd_Wd	152.4,114621,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	380

FREEZE	1.24,0.022,-1.029,2,2,0	_24V_AH	20.6,86.027
FINISH	1.2,1.015205	_10V_AH	9.6,59.705
SM_CCo	6442,252.18,0.100,0,0,420,623.30	FG_AHR_24Vo	0.000
SM_GC	1.88,0.00,0.00,252.18,0.000,0.000,0.100,388,2642,420,-8.33,-0.23,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17418.28,120111,000038	MEM	258120
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50318,716
HUMID	52.00	CAP_FILE_SIZE	97173,0
INTERNAL_PRESSURE	8.69174	CFSIZE	260165632,219910144
TCM_TEMP	14.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.061,207.9,1
ALTIM_TOP_PING	19.7,20.4	GPS	120111,020401,-7629.722,17421.271,40,1.6,40,126.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	195	76.35	SBE_CT	503	24	248.80
Roll_motor	86	60	107.32	AA4330	924	33	628.60
VBD_pump_during_apogee	290	1059	6348.15	WL_BBFL2VMT	1003	105	2171.53
VBD_pump_during_surface	252	100	520.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	86	103	182.55	nil	0	0	0.00
Iridium_during_connect	225	160	742.67	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.49
TT8	1839	19	349.69
LPSleep	2452	2	51.56
TT8_Active	653	19	124.14
TT8_Sampling	2067	39	789.99
TT8_CF8	270	45	119.12
TT8_Kalman	0	0	0.00
Analog_circuits	1395	12	160.74
GPS_charging	0	0	0.00
Compass	1213	15	174.70
RAFOS	0	0	0.00
Transponder	7	30	2.24

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
16	-0.71	-146.0	0.0	0.0	0	83	0.00	0.00	-64.60	0.000	2	0.000	0.000	351	2628	3126	0	0	0	0	0	0
86	-0.71	-146.0	3.0	-2.0	9	116	9.20	2.25	-13.95	0.000	4	0.196	0.060	2826	1246	3559	0	0	0	0	0	0
359	-0.71	-146.0	42.4	-14.6	58	367	0.00	2.38	0.00	0.000	6	0.000	0.056	2817	2649	3562	0	0	0	0	0	0
499	-0.71	-146.0	63.3	-15.3	83	507	0.00	1.85	0.00	0.000	4	0.000	0.058	2808	3762	3563	0	0	0	0	0	0
543	-0.71	-146.0	70.6	-16.3	90	551	0.00	1.77	0.00	0.000	6	0.000	0.039	2808	2659	3563	0	0	0	0	0	0
682	-0.71	-146.0	92.8	-16.0	115	689	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2657	3563	0	0	0	0	0	0
825	-0.71	-146.0	116.1	-16.0	132	829	0.00	1.85	0.00	0.000	4	0.000	0.059	2799	3773	3563	0	0	0	0	0	0
873	-0.71	-146.0	124.0	-17.1	136	877	0.12	1.75	0.00	0.000	6	0.157	0.040	2833	2662	3563	0	0	0	0	0	0
1014	-0.71	-146.0	144.1	-14.1	149	1016	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	2661	3563	0	0	0	0	0	0
1142	-0.71	-146.0	161.3	-13.3	161	1145	0.00	1.83	0.00	0.000	4	0.000	0.058	2826	3762	3563	0	0	0	0	0	0
1202	-0.71	-146.0	170.1	-14.1	166	1210	0.00	1.77	0.00	0.000	6	0.000	0.039	2826	2666	3563	0	0	0	0	0	0
1337	-0.71	-146.0	188.6	-13.8	179	1341	0.00	1.83	0.00	0.000	4	0.000	0.058	2817	3764	3563	0	0	0	0	0	0
1375	-0.71	-146.0	194.1	-15.5	182	1378	0.00	1.70	0.00	0.000	6	0.000	0.038	2817	2682	3563	0	0	0	0	0	0
1518	-0.71	-146.0	214.5	-14.1	195	1526	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2681	3563	0	0	0	0	0	0
1654	-0.71	-146.0	233.8	-14.4	208	1658	0.00	1.83	0.00	0.000	4	0.000	0.060	2808	3770	3563	0	0	0	0	0	0
1703	-0.71	-146.0	241.7	-14.8	212	1711	0.00	1.75	0.00	0.000	6	0.000	0.039	2809	2685	3563	0	0	0	0	0	0
1838	-0.71	-146.0	261.4	-15.0	225	1839	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2685	3563	0	0	0	0	0	0
2028	-0.71	-146.0	289.5	-15.0	243	2032	0.00	1.80	0.00	0.000	4	0.000	0.059	2801	3764	3563	0	0	0	0	0	0
2074	-0.71	-146.0	296.5	-15.4	247	2078	0.12	1.70	0.00	0.000	6	0.155	0.039	2834	2684	3563	0	0	0	0	0	0
2279	-0.71	-146.0	322.5	-12.3	266	2283	0.00	1.80	0.00	0.000	4	0.000	0.060	2827	3763	3563	0	0	0	0	0	0
2313	-0.71	-146.0	327.2	-12.9	269	2317	0.00	1.67	0.00	0.000	6	0.000	0.039	2827	2698	3563	0	0	0	0	0	0
2518	-0.71	-146.0	354.0	-12.6	288	2519	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2697	3563	0	0	0	0	0	0
2707	-0.71	-146.0	379.0	-12.9	306	2711	0.00	1.77	0.00	0.000	4	0.000	0.059	2819	3763	3562	0	0	0	0	0	0
2717	end dive: TARGET_DEPTH_EXCEEDED
state	2717	begin apogee
2725	-0.27	0.0	380.6	13.3	307	2865	0.47	0.00	130.98	1.060	4	0.125	0.000	2970	2491	2961	0	0	0	0	0	0
2865	end apogee: CONTROL_FINISHED_OK
state	2866	begin climb
2868	0.71	146.0	388.6	0.0	319	3025	1.08	2.58	147.80	0.981	4	0.080	0.047	3293	1099	2364	0	0	0	0	0	0
3144	0.71	146.0	368.9	9.5	344	3149	0.00	2.58	0.00	0.000	6	0.000	0.049	3293	2502	2353	0	0	0	0	0	0
3344	0.71	146.0	347.9	11.1	362	3349	0.00	2.45	0.00	0.000	4	0.000	0.047	3300	1102	2350	0	0	0	0	0	0
3475	0.71	146.0	333.5	10.6	373	3479	0.00	2.47	0.00	0.000	6	0.000	0.050	3300	2519	2348	0	0	0	0	0	0
3674	0.71	146.0	311.5	10.9	391	3678	0.00	2.12	0.00	0.000	4	0.000	0.055	3300	3773	2348	0	0	0	0	0	0
3807	0.71	146.0	293.5	13.6	402	3815	0.00	2.03	0.00	0.000	6	0.000	0.038	3309	2539	2346	0	0	0	0	0	0
4006	0.71	146.0	270.6	11.7	421	4010	0.00	2.05	0.00	0.000	4	0.000	0.057	3309	3774	2346	0	0	0	0	0	0
4067	0.71	146.0	262.1	14.1	426	4074	0.00	1.95	0.00	0.000	6	0.000	0.039	3318	2549	2346	0	0	0	0	0	0
4267	0.71	146.0	238.6	11.4	445	4270	0.00	2.03	0.00	0.000	4	0.000	0.057	3318	3773	2345	0	0	0	0	0	0
4336	0.71	146.0	229.5	14.2	451	4341	0.12	1.92	0.00	0.000	6	0.157	0.038	3295	2555	2345	0	0	0	0	0	0
4473	0.71	146.0	214.7	10.3	463	4477	0.00	2.00	0.00	0.000	4	0.000	0.057	3295	3765	2345	0	0	0	0	0	0
4511	0.71	146.0	209.8	11.6	466	4519	0.00	1.92	0.00	0.000	6	0.000	0.038	3300	2567	2344	0	0	0	0	0	0
4649	0.71	146.0	195.3	10.6	479	4653	0.00	2.00	0.00	0.000	4	0.000	0.057	3300	3775	2344	0	0	0	0	0	0
4687	0.71	146.0	190.1	12.6	482	4695	0.00	1.92	0.00	0.000	6	0.000	0.037	3309	2579	2344	0	0	0	0	0	0
4825	0.71	146.0	174.8	10.8	495	4833	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	2578	2344	0	0	0	0	0	0
4961	0.71	146.0	159.7	11.0	508	4965	0.00	1.95	0.00	0.000	4	0.000	0.056	3309	3764	2344	0	0	0	0	0	0
5019	0.71	146.0	152.6	12.2	513	5022	0.00	1.85	0.00	0.000	6	0.000	0.038	3318	2588	2343	0	0	0	0	0	0
5160	0.71	146.0	136.7	10.9	526	5164	0.00	1.95	0.00	0.000	4	0.000	0.057	3318	3767	2343	0	0	0	0	0	0
5207	0.71	146.0	131.0	13.3	530	5211	0.12	1.83	0.00	0.000	6	0.158	0.037	3295	2600	2343	0	0	0	0	0	0
5349	0.71	146.0	116.9	9.4	543	5353	0.00	1.92	0.00	0.000	4	0.000	0.057	3295	3765	2343	0	0	0	0	0	0
5376	0.71	146.0	113.6	10.4	545	5385	0.00	1.85	0.00	0.000	6	0.000	0.037	3302	2614	2343	0	0	0	0	0	0
5513	0.71	146.0	99.4	10.3	558	5520	0.00	0.00	0.00	0.000	6	0.000	0.000	3302	2613	2342	0	0	0	0	0	0
5652	0.71	146.0	85.0	9.9	583	5660	0.00	1.95	0.00	0.000	4	0.000	0.057	3302	3766	2342	0	0	0	0	0	0
5737	0.71	146.0	75.1	12.1	598	5745	0.00	1.85	0.00	0.000	6	0.000	0.037	3311	2612	2343	0	0	0	0	0	0
5880	0.71	146.0	59.8	11.2	623	5887	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2611	2342	0	0	0	0	0	0
6018	0.71	146.0	44.3	11.2	648	6028	0.00	1.95	0.00	0.000	4	0.000	0.056	3311	3764	2342	0	0	0	0	0	0
6076	0.71	146.0	37.2	11.8	658	6084	0.00	1.85	0.00	0.000	6	0.000	0.037	3320	2612	2342	0	0	0	0	0	0
6218	0.71	146.0	21.7	12.5	683	6225	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2611	2342	0	0	0	0	0	0
6365	0.73	162.9	7.3	8.4	708	6382	0.00	2.00	12.07	0.819	4	0.000	0.054	3319	3775	2296	0	0	0	0	0	0
6394	end climb: SURFACE_DEPTH_REACHED
state	6394	begin surface coast
6423	end surface coast: CONTROL_FINISHED_OK
state	6423	begin surface