Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 604 * 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 604 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 36 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 20 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 -30902.619 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 -30902.619

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 36 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 20 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 604 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 120111,040604,-7629.851,17417.607,14,7.7,33,126.2 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 2.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120111,041556,-7629.863,17417.619,12,1.0,12,126.2 MHEAD_RNG_PITCHd_Wd 161.6,111380,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 395

Post-dive calculations and measurements:

FREEZE 1.45,0.108,-1.888,2,2,0 _24V_AH 20.6,86.237

FINISH 1.4,1.027597 _10V_AH 9.6,59.895

SM_CCo 6652,259.12,0.100,0,0,419,623.30 FG_AHR_24Vo 0.000

SM_GC 1.90,0.00,0.00,259.12,0.000,0.000,0.100,412,2669,419,-8.26,0.54,623.30 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17419.20,120111,040454 MEM 258192

TT8_MAMPS 0.027713 DATA_FILE_SIZE 50441,736

HUMID 52.59 CAP_FILE_SIZE 98067,0

INTERNAL_PRESSURE 8.69174 CFSIZE 260165632,219787264

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

XPDR_PINGS 1 CURRENT 0.078,165.7,1

ALTIM_TOP_PING 19.8,19.3 GPS 120111,061255,-7629.892,17414.504,38,1.9,39,126.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 77.14 SBE_CT 517 24 255.83

Roll_motor 79 110 180.07 AA4330 939 33 638.73

VBD_pump_during_apogee 280 1069 6176.96 WL_BBFL2VMT 1008 105 2181.82

VBD_pump_during_surface 259 100 534.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 94 103 200.00 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 10.81 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.45

TT8 1888 19 358.95

LPSleep 2585 2 54.35

TT8_Active 654 19 124.43

TT8_Sampling 2116 39 808.74

TT8_CF8 262 45 115.56

TT8_Kalman 0 0 0.00

Analog_circuits 1399 12 161.22

GPS_charging 0 0 0.00

Compass 1237 15 178.26

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

15 -0.71 -146.0 0.0 0.0 0 80 0.00 0.00 -62.10 0.000 2 0.000 0.000 362 2628 3075 0 0 0 0 0 0

83 -0.71 -146.0 3.0 -2.7 9 114 9.30 2.33 -15.38 0.000 4 0.198 0.060 2825 1246 3559 0 0 0 0 0 0

294 -0.71 -146.0 35.0 -14.9 46 302 0.00 2.38 0.00 0.000 6 0.000 0.054 2816 2649 3563 0 0 0 0 0 0

434 -0.71 -146.0 55.6 -15.0 71 441 0.00 1.85 0.00 0.000 4 0.000 0.057 2808 3760 3563 0 0 0 0 0 0

526 -0.71 -146.0 70.5 -16.6 87 533 0.00 1.77 0.00 0.000 6 0.000 0.038 2808 2636 3563 0 0 0 0 0 0

663 -0.71 -146.0 93.0 -15.9 112 671 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2635 3563 0 0 0 0 0 0

806 -0.71 -146.0 115.0 -15.9 129 810 0.00 1.88 0.00 0.000 4 0.000 0.059 2799 3760 3564 0 0 0 0 0 0

865 -0.71 -146.0 124.4 -15.9 134 869 0.12 1.73 0.00 0.000 6 0.156 0.038 2832 2663 3564 0 0 0 0 0 0

1007 -0.71 -146.0 144.2 -13.2 147 1014 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 2661 3564 0 0 0 0 0 0

1142 -0.71 -146.0 162.8 -13.9 160 1146 0.00 1.83 0.00 0.000 4 0.000 0.059 2825 3761 3564 0 0 0 0 0 0

1201 -0.71 -146.0 170.9 -14.3 165 1204 0.00 1.73 0.00 0.000 6 0.000 0.038 2825 2665 3564 0 0 0 0 0 0

1342 -0.71 -146.0 191.4 -14.0 178 1343 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2662 3564 0 0 0 0 0 0

1469 -0.71 -146.0 208.4 -13.0 190 1473 0.00 1.83 0.00 0.000 4 0.000 0.059 2817 3762 3564 0 0 0 0 0 0

1516 -0.71 -146.0 214.9 -14.1 194 1520 0.00 1.70 0.00 0.000 6 0.000 0.039 2817 2677 3565 0 0 0 0 0 0

1659 -0.71 -146.0 234.8 -14.0 207 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2675 3565 0 0 0 0 0 0

1794 -0.71 -146.0 253.5 -13.9 220 1797 0.00 1.83 0.00 0.000 4 0.000 0.060 2808 3769 3565 0 0 0 0 0 0

1829 -0.71 -146.0 258.8 -15.6 223 1832 0.00 1.73 0.00 0.000 6 0.000 0.040 2808 2677 3564 0 0 0 0 0 0

2033 -0.71 -146.0 288.1 -14.6 242 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2674 3564 0 0 0 0 0 0

2224 -0.71 -146.0 314.8 -14.2 260 2227 0.00 1.83 0.00 0.000 4 0.000 0.060 2800 3769 3564 0 0 0 0 0 0

2285 -0.71 -146.0 324.2 -14.8 265 2293 0.08 1.75 0.00 0.000 6 0.137 0.039 2824 2682 3564 0 0 0 0 0 0

2483 -0.71 -146.0 349.7 -12.7 284 2484 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2681 3564 0 0 0 0 0 0

2675 -0.71 -146.0 373.3 -12.1 302 2679 0.00 1.80 0.00 0.000 4 0.000 0.060 2817 3760 3564 0 0 0 0 0 0

2732 -0.71 -146.0 380.9 -13.7 307 2736 0.00 1.70 0.00 0.000 6 0.000 0.040 2818 2683 3564 0 0 0 0 0 0

2849 end dive: TARGET_DEPTH_EXCEEDED

state 2849 begin apogee

2856 -0.27 0.0 395.9 12.7 318 2995 0.47 0.00 132.18 1.069 4 0.121 0.000 2971 2484 2961 0 0 0 0 0 0

2995 end apogee: CONTROL_FINISHED_OK

state 2996 begin climb

2998 0.71 146.0 402.0 0.0 330 3157 1.08 2.58 148.20 0.990 4 0.080 0.047 3293 1098 2364 0 0 0 0 0 0

3241 0.71 146.0 383.3 10.0 351 3248 0.00 2.58 0.00 0.000 6 0.000 0.049 3293 2497 2356 0 0 0 0 0 0

3440 0.71 146.0 361.2 11.2 370 3445 0.00 2.45 0.00 0.000 4 0.000 0.047 3300 1105 2351 0 0 0 0 0 0

3574 0.71 146.0 346.3 10.5 381 3581 0.00 2.47 0.00 0.000 6 0.000 0.050 3300 2517 2349 0 0 0 0 0 0

3773 0.71 146.0 324.4 10.9 400 3776 0.00 2.12 0.00 0.000 4 0.000 0.055 3299 3770 2348 0 0 0 0 0 0

3872 0.71 146.0 311.0 13.4 408 3879 0.00 2.03 0.00 0.000 6 0.000 0.037 3308 2530 2347 0 0 0 0 0 0

4071 0.71 146.0 288.4 11.1 427 4075 0.00 2.05 0.00 0.000 4 0.000 0.056 3308 3765 2346 0 0 0 0 0 0

4133 0.71 146.0 280.5 13.4 432 4137 0.00 1.95 0.00 0.000 6 0.000 0.037 3317 2535 2346 0 0 0 0 0 0

4337 0.71 146.0 256.9 11.5 451 4341 0.00 2.05 0.00 0.000 4 0.000 0.057 3318 3769 2345 0 0 0 0 0 0

4386 0.71 146.0 250.2 13.5 455 4394 0.12 1.92 0.00 0.000 6 0.158 0.038 3295 2552 2345 0 0 0 0 0 0

4586 0.71 146.0 229.4 10.1 474 4590 0.00 2.03 0.00 0.000 4 0.000 0.057 3295 3775 2345 0 0 0 0 0 0

4634 0.71 146.0 223.9 12.3 478 4637 0.00 1.92 0.00 0.000 6 0.000 0.039 3300 2555 2344 0 0 0 0 0 0

4776 0.71 146.0 208.4 10.9 491 4784 0.00 0.00 0.00 0.000 6 0.000 0.000 3301 2553 2344 0 0 0 0 0 0

4912 0.71 146.0 193.3 10.7 504 4915 0.00 2.00 0.00 0.000 4 0.000 0.056 3300 3764 2344 0 0 0 0 0 0

4983 0.71 146.0 183.9 12.8 510 4991 0.00 1.92 0.00 0.000 6 0.000 0.038 3309 2567 2344 0 0 0 0 0 0

5120 0.71 146.0 168.3 11.5 523 5124 0.00 2.00 0.00 0.000 4 0.000 0.057 3308 3775 2344 0 0 0 0 0 0

5167 0.71 146.0 162.3 12.9 527 5170 0.00 1.90 0.00 0.000 6 0.000 0.039 3318 2570 2344 0 0 0 0 0 0

5308 0.71 146.0 145.9 10.8 540 5310 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2567 2343 0 0 0 0 0 0

5435 0.71 146.0 132.3 10.9 552 5439 0.00 1.98 0.00 0.000 4 0.000 0.057 3318 3765 2343 0 0 0 0 0 0

5506 0.71 146.0 123.3 12.8 558 5515 0.08 1.90 0.00 0.000 6 0.140 0.037 3303 2579 2343 0 0 0 0 0 0

5644 0.71 146.0 110.2 9.6 571 5652 0.00 0.00 0.00 0.000 6 0.000 0.000 3303 2578 2343 0 0 0 0 0 0

5780 0.71 146.0 96.9 9.6 587 5787 0.00 1.98 0.00 0.000 4 0.000 0.057 3303 3767 2343 0 0 0 0 0 0

5838 0.71 146.0 90.4 12.2 597 5845 0.00 1.88 0.00 0.000 6 0.000 0.037 3310 2580 2343 0 0 0 0 0 0

5978 0.71 146.0 75.0 11.6 622 5985 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2579 2343 0 0 0 0 0 0

6118 0.71 146.0 59.0 11.2 647 6125 0.00 1.98 0.00 0.000 4 0.000 0.056 3310 3767 2343 0 0 0 0 0 0

6177 0.71 146.0 51.6 13.4 657 6185 0.00 1.85 0.00 0.000 6 0.000 0.038 3319 2597 2342 0 0 0 0 0 0

6319 0.71 146.0 35.2 11.7 682 6327 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2597 2342 0 0 0 0 0 0

6458 0.71 146.0 19.1 12.2 707 6465 0.00 1.95 0.00 0.000 4 0.000 0.057 3319 3770 2342 0 0 0 0 0 0

6516 0.71 146.0 11.2 12.8 717 6525 0.10 1.88 0.00 0.000 6 0.139 0.037 3297 2606 2341 0 0 0 0 0 0

6592 end climb: SURFACE_DEPTH_REACHED

state 6592 begin surface coast

6633 end surface coast: CONTROL_FINISHED_OK

state 6633 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	604	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	36	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	20	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	-30902.619	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	120111,040604,-7629.851,17417.607,14,7.7,33,126.2	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	2.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120111,041556,-7629.863,17417.619,12,1.0,12,126.2	MHEAD_RNG_PITCHd_Wd	161.6,111380,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	395

FREEZE	1.45,0.108,-1.888,2,2,0	_24V_AH	20.6,86.237
FINISH	1.4,1.027597	_10V_AH	9.6,59.895
SM_CCo	6652,259.12,0.100,0,0,419,623.30	FG_AHR_24Vo	0.000
SM_GC	1.90,0.00,0.00,259.12,0.000,0.000,0.100,412,2669,419,-8.26,0.54,623.30	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17419.20,120111,040454	MEM	258192
TT8_MAMPS	0.027713	DATA_FILE_SIZE	50441,736
HUMID	52.59	CAP_FILE_SIZE	98067,0
INTERNAL_PRESSURE	8.69174	CFSIZE	260165632,219787264
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	CURRENT	0.078,165.7,1
ALTIM_TOP_PING	19.8,19.3	GPS	120111,061255,-7629.892,17414.504,38,1.9,39,126.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	77.14	SBE_CT	517	24	255.83
Roll_motor	79	110	180.07	AA4330	939	33	638.73
VBD_pump_during_apogee	280	1069	6176.96	WL_BBFL2VMT	1008	105	2181.82
VBD_pump_during_surface	259	100	534.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	94	103	200.00	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	10.81	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.45
TT8	1888	19	358.95
LPSleep	2585	2	54.35
TT8_Active	654	19	124.43
TT8_Sampling	2116	39	808.74
TT8_CF8	262	45	115.56
TT8_Kalman	0	0	0.00
Analog_circuits	1399	12	161.22
GPS_charging	0	0	0.00
Compass	1237	15	178.26
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
15	-0.71	-146.0	0.0	0.0	0	80	0.00	0.00	-62.10	0.000	2	0.000	0.000	362	2628	3075	0	0	0	0	0	0
83	-0.71	-146.0	3.0	-2.7	9	114	9.30	2.33	-15.38	0.000	4	0.198	0.060	2825	1246	3559	0	0	0	0	0	0
294	-0.71	-146.0	35.0	-14.9	46	302	0.00	2.38	0.00	0.000	6	0.000	0.054	2816	2649	3563	0	0	0	0	0	0
434	-0.71	-146.0	55.6	-15.0	71	441	0.00	1.85	0.00	0.000	4	0.000	0.057	2808	3760	3563	0	0	0	0	0	0
526	-0.71	-146.0	70.5	-16.6	87	533	0.00	1.77	0.00	0.000	6	0.000	0.038	2808	2636	3563	0	0	0	0	0	0
663	-0.71	-146.0	93.0	-15.9	112	671	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2635	3563	0	0	0	0	0	0
806	-0.71	-146.0	115.0	-15.9	129	810	0.00	1.88	0.00	0.000	4	0.000	0.059	2799	3760	3564	0	0	0	0	0	0
865	-0.71	-146.0	124.4	-15.9	134	869	0.12	1.73	0.00	0.000	6	0.156	0.038	2832	2663	3564	0	0	0	0	0	0
1007	-0.71	-146.0	144.2	-13.2	147	1014	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	2661	3564	0	0	0	0	0	0
1142	-0.71	-146.0	162.8	-13.9	160	1146	0.00	1.83	0.00	0.000	4	0.000	0.059	2825	3761	3564	0	0	0	0	0	0
1201	-0.71	-146.0	170.9	-14.3	165	1204	0.00	1.73	0.00	0.000	6	0.000	0.038	2825	2665	3564	0	0	0	0	0	0
1342	-0.71	-146.0	191.4	-14.0	178	1343	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2662	3564	0	0	0	0	0	0
1469	-0.71	-146.0	208.4	-13.0	190	1473	0.00	1.83	0.00	0.000	4	0.000	0.059	2817	3762	3564	0	0	0	0	0	0
1516	-0.71	-146.0	214.9	-14.1	194	1520	0.00	1.70	0.00	0.000	6	0.000	0.039	2817	2677	3565	0	0	0	0	0	0
1659	-0.71	-146.0	234.8	-14.0	207	1666	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2675	3565	0	0	0	0	0	0
1794	-0.71	-146.0	253.5	-13.9	220	1797	0.00	1.83	0.00	0.000	4	0.000	0.060	2808	3769	3565	0	0	0	0	0	0
1829	-0.71	-146.0	258.8	-15.6	223	1832	0.00	1.73	0.00	0.000	6	0.000	0.040	2808	2677	3564	0	0	0	0	0	0
2033	-0.71	-146.0	288.1	-14.6	242	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2674	3564	0	0	0	0	0	0
2224	-0.71	-146.0	314.8	-14.2	260	2227	0.00	1.83	0.00	0.000	4	0.000	0.060	2800	3769	3564	0	0	0	0	0	0
2285	-0.71	-146.0	324.2	-14.8	265	2293	0.08	1.75	0.00	0.000	6	0.137	0.039	2824	2682	3564	0	0	0	0	0	0
2483	-0.71	-146.0	349.7	-12.7	284	2484	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2681	3564	0	0	0	0	0	0
2675	-0.71	-146.0	373.3	-12.1	302	2679	0.00	1.80	0.00	0.000	4	0.000	0.060	2817	3760	3564	0	0	0	0	0	0
2732	-0.71	-146.0	380.9	-13.7	307	2736	0.00	1.70	0.00	0.000	6	0.000	0.040	2818	2683	3564	0	0	0	0	0	0
2849	end dive: TARGET_DEPTH_EXCEEDED
state	2849	begin apogee
2856	-0.27	0.0	395.9	12.7	318	2995	0.47	0.00	132.18	1.069	4	0.121	0.000	2971	2484	2961	0	0	0	0	0	0
2995	end apogee: CONTROL_FINISHED_OK
state	2996	begin climb
2998	0.71	146.0	402.0	0.0	330	3157	1.08	2.58	148.20	0.990	4	0.080	0.047	3293	1098	2364	0	0	0	0	0	0
3241	0.71	146.0	383.3	10.0	351	3248	0.00	2.58	0.00	0.000	6	0.000	0.049	3293	2497	2356	0	0	0	0	0	0
3440	0.71	146.0	361.2	11.2	370	3445	0.00	2.45	0.00	0.000	4	0.000	0.047	3300	1105	2351	0	0	0	0	0	0
3574	0.71	146.0	346.3	10.5	381	3581	0.00	2.47	0.00	0.000	6	0.000	0.050	3300	2517	2349	0	0	0	0	0	0
3773	0.71	146.0	324.4	10.9	400	3776	0.00	2.12	0.00	0.000	4	0.000	0.055	3299	3770	2348	0	0	0	0	0	0
3872	0.71	146.0	311.0	13.4	408	3879	0.00	2.03	0.00	0.000	6	0.000	0.037	3308	2530	2347	0	0	0	0	0	0
4071	0.71	146.0	288.4	11.1	427	4075	0.00	2.05	0.00	0.000	4	0.000	0.056	3308	3765	2346	0	0	0	0	0	0
4133	0.71	146.0	280.5	13.4	432	4137	0.00	1.95	0.00	0.000	6	0.000	0.037	3317	2535	2346	0	0	0	0	0	0
4337	0.71	146.0	256.9	11.5	451	4341	0.00	2.05	0.00	0.000	4	0.000	0.057	3318	3769	2345	0	0	0	0	0	0
4386	0.71	146.0	250.2	13.5	455	4394	0.12	1.92	0.00	0.000	6	0.158	0.038	3295	2552	2345	0	0	0	0	0	0
4586	0.71	146.0	229.4	10.1	474	4590	0.00	2.03	0.00	0.000	4	0.000	0.057	3295	3775	2345	0	0	0	0	0	0
4634	0.71	146.0	223.9	12.3	478	4637	0.00	1.92	0.00	0.000	6	0.000	0.039	3300	2555	2344	0	0	0	0	0	0
4776	0.71	146.0	208.4	10.9	491	4784	0.00	0.00	0.00	0.000	6	0.000	0.000	3301	2553	2344	0	0	0	0	0	0
4912	0.71	146.0	193.3	10.7	504	4915	0.00	2.00	0.00	0.000	4	0.000	0.056	3300	3764	2344	0	0	0	0	0	0
4983	0.71	146.0	183.9	12.8	510	4991	0.00	1.92	0.00	0.000	6	0.000	0.038	3309	2567	2344	0	0	0	0	0	0
5120	0.71	146.0	168.3	11.5	523	5124	0.00	2.00	0.00	0.000	4	0.000	0.057	3308	3775	2344	0	0	0	0	0	0
5167	0.71	146.0	162.3	12.9	527	5170	0.00	1.90	0.00	0.000	6	0.000	0.039	3318	2570	2344	0	0	0	0	0	0
5308	0.71	146.0	145.9	10.8	540	5310	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2567	2343	0	0	0	0	0	0
5435	0.71	146.0	132.3	10.9	552	5439	0.00	1.98	0.00	0.000	4	0.000	0.057	3318	3765	2343	0	0	0	0	0	0
5506	0.71	146.0	123.3	12.8	558	5515	0.08	1.90	0.00	0.000	6	0.140	0.037	3303	2579	2343	0	0	0	0	0	0
5644	0.71	146.0	110.2	9.6	571	5652	0.00	0.00	0.00	0.000	6	0.000	0.000	3303	2578	2343	0	0	0	0	0	0
5780	0.71	146.0	96.9	9.6	587	5787	0.00	1.98	0.00	0.000	4	0.000	0.057	3303	3767	2343	0	0	0	0	0	0
5838	0.71	146.0	90.4	12.2	597	5845	0.00	1.88	0.00	0.000	6	0.000	0.037	3310	2580	2343	0	0	0	0	0	0
5978	0.71	146.0	75.0	11.6	622	5985	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2579	2343	0	0	0	0	0	0
6118	0.71	146.0	59.0	11.2	647	6125	0.00	1.98	0.00	0.000	4	0.000	0.056	3310	3767	2343	0	0	0	0	0	0
6177	0.71	146.0	51.6	13.4	657	6185	0.00	1.85	0.00	0.000	6	0.000	0.038	3319	2597	2342	0	0	0	0	0	0
6319	0.71	146.0	35.2	11.7	682	6327	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2597	2342	0	0	0	0	0	0
6458	0.71	146.0	19.1	12.2	707	6465	0.00	1.95	0.00	0.000	4	0.000	0.057	3319	3770	2342	0	0	0	0	0	0
6516	0.71	146.0	11.2	12.8	717	6525	0.10	1.88	0.00	0.000	6	0.139	0.037	3297	2606	2341	0	0	0	0	0	0
6592	end climb: SURFACE_DEPTH_REACHED
state	6592	begin surface coast
6633	end surface coast: CONTROL_FINISHED_OK
state	6633	begin surface