Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 605 * 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 605 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 250 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 29 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 -30903.973 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 250

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 -30903.973

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 29 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 605 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 120111,061255,-7629.892,17414.504,38,1.9,39,126.3 TGT_NAME POLYNYA1

_CALLS 1 TGT_LATLONG -7630.000,17000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.80 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120111,062337,-7629.877,17414.406,30,1.4,30,126.3 MHEAD_RNG_PITCHd_Wd 161.0,109990,-16.0,-9.091

SPEED_LIMITS 0.157,0.251 D_GRID 403

Post-dive calculations and measurements:

FREEZE 1.25,-0.134,-1.056,2,1,0 _24V_AH 20.6,86.349

FINISH 1.3,1.015597 _10V_AH 9.6,59.991

SM_CCo 6788,43.45,0.099,0,0,1940,250.20 FG_AHR_24Vo 0.000

SM_GC 1.95,0.00,0.00,43.45,0.000,0.000,0.099,408,2663,1940,-8.31,0.37,250.20 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17418.28,120111,040445 MEM 258120

TT8_MAMPS 0.027713 DATA_FILE_SIZE 53711,749

HUMID 55.43 CAP_FILE_SIZE 106028,0

INTERNAL_PRESSURE 8.8187 CFSIZE 260165632,219717632

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

XPDR_PINGS 1 CURRENT 0.092,159.8,1

ALTIM_TOP_PING 19.8,17.6 GPS 120111,081914,-7629.922,17411.367,37,1.1,38,126.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 192 73.67 SBE_CT 525 24 259.56

Roll_motor 74 110 168.89 AA4330 950 33 646.10

VBD_pump_during_apogee 293 1076 6517.17 WL_BBFL2VMT 997 105 2157.21

VBD_pump_during_surface 43 98 88.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 61.99 nil 0 0 0.00

Iridium_during_connect 44 160 146.04 nil 0 0 0.00

Iridium_during_xfer 373 223 1717.08 nil 0 0 0.00

Transponder_ping 1 420 12.98 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.27

TT8 1876 19 356.69

LPSleep 2523 2 53.05

TT8_Active 511 19 97.22

TT8_Sampling 2250 39 859.91

TT8_CF8 317 45 139.65

TT8_Kalman 0 0 0.00

Analog_circuits 1288 12 148.41

GPS_charging 0 0 0.00

Compass 1249 15 179.99

RAFOS 0 0 0.00

Transponder 9 30 2.73

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 0 160 0.00 0.00 -141.52 0.000 2 0.000 0.000 375 2669 3258 0 0 0 0 0 0

166 -0.71 -146.0 3.2 -2.1 20 189 9.10 0.00 -8.32 0.000 6 0.192 0.000 2824 2669 3561 0 0 0 0 0 0

327 -0.71 -146.0 30.8 -17.1 47 333 0.00 0.00 0.00 0.000 6 0.000 0.000 2824 2670 3564 0 0 0 0 0 0

467 -0.71 -146.0 50.8 -14.6 72 476 0.00 1.85 0.00 0.000 4 0.000 0.060 2818 3757 3564 0 0 0 0 0 0

505 -0.71 -146.0 56.7 -15.3 78 514 0.00 1.80 0.00 0.000 6 0.000 0.040 2818 2645 3564 0 0 0 0 0 0

651 -0.71 -146.0 77.9 -15.0 103 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2645 3564 0 0 0 0 0 0

792 -0.71 -146.0 99.2 -14.7 128 800 0.00 1.90 0.00 0.000 4 0.000 0.058 2809 3756 3564 0 0 0 0 0 0

865 -0.71 -146.0 110.9 -17.0 135 868 0.00 1.73 0.00 0.000 6 0.000 0.039 2809 2663 3564 0 0 0 0 0 0

1007 -0.71 -146.0 133.4 -15.3 148 1010 0.00 1.83 0.00 0.000 4 0.000 0.059 2800 3757 3565 0 0 0 0 0 0

1033 -0.71 -146.0 138.2 -15.9 150 1043 0.08 1.77 0.00 0.000 6 0.136 0.039 2826 2660 3565 0 0 0 0 0 0

1171 -0.71 -146.0 156.2 -13.5 163 1174 0.00 1.83 0.00 0.000 4 0.000 0.058 2818 3756 3565 0 0 0 0 0 0

1206 -0.71 -146.0 161.5 -15.3 166 1210 0.00 1.70 0.00 0.000 6 0.000 0.039 2819 2677 3565 0 0 0 0 0 0

1349 -0.71 -146.0 180.6 -13.6 179 1357 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2676 3565 0 0 0 0 0 0

1485 -0.71 -146.0 199.2 -13.6 192 1488 0.00 1.80 0.00 0.000 4 0.000 0.059 2810 3756 3565 0 0 0 0 0 0

1523 -0.71 -146.0 205.3 -15.4 195 1531 0.00 1.75 0.00 0.000 6 0.000 0.040 2810 2678 3565 0 0 0 0 0 0

1659 -0.71 -146.0 224.8 -15.1 208 1660 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2678 3565 0 0 0 0 0 0

1786 -0.71 -146.0 243.4 -14.5 220 1789 0.00 1.80 0.00 0.000 4 0.000 0.059 2802 3756 3564 0 0 0 0 0 0

1836 -0.71 -146.0 251.9 -15.8 224 1843 0.05 1.73 0.00 0.000 6 0.115 0.040 2829 2691 3565 0 0 0 0 0 0

2035 -0.71 -146.0 277.9 -13.0 243 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 2691 3564 0 0 0 0 0 0

2226 -0.71 -146.0 301.9 -12.7 261 2230 0.00 1.83 0.00 0.000 4 0.000 0.060 2823 3756 3564 0 0 0 0 0 0

2275 -0.71 -146.0 308.9 -12.9 265 2282 0.00 1.73 0.00 0.000 6 0.000 0.039 2823 2691 3564 0 0 0 0 0 0

2474 -0.71 -146.0 333.8 -12.5 284 2475 0.00 0.00 0.00 0.000 6 0.000 0.000 2823 2691 3565 0 0 0 0 0 0

2665 -0.71 -146.0 357.9 -12.2 302 2669 0.00 1.77 0.00 0.000 4 0.000 0.059 2815 3757 3565 0 0 0 0 0 0

2726 -0.71 -146.0 366.3 -13.7 307 2732 0.00 1.70 0.00 0.000 6 0.000 0.040 2814 2703 3564 0 0 0 0 0 0

2925 -0.71 -146.0 391.9 -13.0 326 2926 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2703 3564 0 0 0 0 0 0

3018 end dive: TARGET_DEPTH_EXCEEDED

state 3018 begin apogee

3024 -0.27 0.0 404.1 12.7 335 3163 0.50 0.00 132.00 1.076 4 0.122 0.000 2974 2490 2962 0 0 0 0 0 0

3164 end apogee: CONTROL_FINISHED_OK

state 3164 begin climb

3166 0.71 146.0 409.8 0.0 347 3332 1.05 2.58 151.32 0.987 4 0.079 0.047 3289 1108 2364 0 0 0 0 1 0

3431 0.71 146.0 388.9 10.8 371 3435 0.00 2.55 0.00 0.000 6 0.000 0.050 3289 2491 2354 0 0 0 0 0 0

3629 0.71 146.0 366.2 11.7 389 3633 0.00 2.45 0.00 0.000 4 0.000 0.046 3300 1101 2349 0 0 0 0 0 0

3760 0.71 146.0 351.6 11.2 400 3764 0.00 2.50 0.00 0.000 6 0.000 0.050 3300 2525 2347 0 0 0 0 0 0

3957 0.71 146.0 327.4 12.1 418 3961 0.00 2.10 0.00 0.000 4 0.000 0.054 3300 3762 2347 0 0 0 0 0 0

4067 0.71 146.0 312.1 13.8 427 4074 0.00 1.98 0.00 0.000 6 0.000 0.037 3308 2545 2345 0 0 0 0 0 0

4265 0.71 146.0 287.9 12.4 446 4266 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2543 2345 0 0 0 0 0 0

4458 0.71 146.0 264.5 12.3 464 4462 0.00 2.03 0.00 0.000 4 0.000 0.056 3309 3767 2344 0 0 0 0 0 0

4519 0.71 146.0 255.9 13.3 469 4526 0.00 1.98 0.00 0.000 6 0.000 0.038 3318 2545 2344 0 0 0 0 0 0

4719 0.71 146.0 232.5 11.7 488 4722 0.00 2.03 0.00 0.000 4 0.000 0.057 3318 3770 2343 0 0 0 0 0 0

4746 0.71 146.0 228.6 13.3 490 4756 0.10 1.98 0.00 0.000 6 0.135 0.039 3296 2549 2342 0 0 0 0 0 0

4881 0.71 146.0 214.1 10.6 503 4883 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 2549 2343 0 0 0 0 0 0

5008 0.71 146.0 200.2 10.8 515 5012 0.00 2.00 0.00 0.000 4 0.000 0.056 3296 3763 2342 0 0 0 0 0 0

5068 0.71 146.0 192.4 12.6 520 5077 0.00 1.95 0.00 0.000 6 0.000 0.039 3304 2555 2342 0 0 0 0 0 0

5203 0.71 146.0 176.7 11.8 533 5204 0.00 0.00 0.00 0.000 6 0.000 0.000 3304 2553 2342 0 0 0 0 0 0

5330 0.71 146.0 161.3 12.1 545 5333 0.00 2.00 0.00 0.000 4 0.000 0.057 3303 3767 2342 0 0 0 0 0 0

5377 0.71 146.0 155.3 13.4 549 5380 0.00 1.90 0.00 0.000 6 0.000 0.038 3313 2558 2341 0 0 0 0 0 0

5519 0.71 146.0 138.2 11.9 562 5528 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2556 2341 0 0 0 0 0 0

5655 0.71 146.0 122.5 11.1 575 5659 0.00 2.00 0.00 0.000 4 0.000 0.057 3313 3770 2341 0 0 0 0 0 0

5737 0.71 146.0 111.3 13.8 582 5746 0.00 1.95 0.00 0.000 6 0.000 0.039 3323 2560 2341 0 0 0 0 0 0

5872 0.71 146.0 95.4 11.5 598 5880 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2560 2341 0 0 0 0 0 0

6017 0.71 146.0 78.7 11.4 623 6024 0.00 2.00 0.00 0.000 4 0.000 0.057 3322 3763 2341 0 0 0 0 0 0

6055 0.71 146.0 73.8 13.1 629 6063 0.10 1.90 0.00 0.000 6 0.132 0.039 3299 2581 2340 0 0 0 0 0 0

6200 0.71 146.0 58.5 10.6 654 6208 0.00 0.00 0.00 0.000 6 0.000 0.000 3299 2580 2340 0 0 0 0 0 0

6346 0.71 146.0 44.4 9.7 679 6353 0.00 1.98 0.00 0.000 4 0.000 0.057 3299 3771 2340 0 0 0 0 0 0

6395 0.71 146.0 39.2 10.6 687 6402 0.00 1.88 0.00 0.000 6 0.000 0.038 3307 2588 2340 0 0 0 0 0 0

6539 0.71 146.0 25.3 10.0 712 6547 0.00 0.00 0.00 0.000 6 0.000 0.000 3307 2587 2340 0 0 0 0 0 0

6685 0.71 146.0 8.1 12.7 737 6692 0.00 1.95 0.00 0.000 4 0.000 0.057 3307 3764 2339 0 0 0 0 0 0

6718 0.73 161.8 5.1 8.4 742 6736 0.00 1.88 10.60 0.810 6 0.000 0.037 3316 2597 2300 0 0 0 0 0 0

6743 end climb: SURFACE_DEPTH_REACHED

state 6743 begin surface coast

6771 end surface coast: CONTROL_FINISHED_OK

state 6771 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	605	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	250	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	29	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	-30903.973	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	120111,061255,-7629.892,17414.504,38,1.9,39,126.3	TGT_NAME	POLYNYA1
_CALLS	1	TGT_LATLONG	-7630.000,17000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.80	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120111,062337,-7629.877,17414.406,30,1.4,30,126.3	MHEAD_RNG_PITCHd_Wd	161.0,109990,-16.0,-9.091
SPEED_LIMITS	0.157,0.251	D_GRID	403

FREEZE	1.25,-0.134,-1.056,2,1,0	_24V_AH	20.6,86.349
FINISH	1.3,1.015597	_10V_AH	9.6,59.991
SM_CCo	6788,43.45,0.099,0,0,1940,250.20	FG_AHR_24Vo	0.000
SM_GC	1.95,0.00,0.00,43.45,0.000,0.000,0.099,408,2663,1940,-8.31,0.37,250.20	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17418.28,120111,040445	MEM	258120
TT8_MAMPS	0.027713	DATA_FILE_SIZE	53711,749
HUMID	55.43	CAP_FILE_SIZE	106028,0
INTERNAL_PRESSURE	8.8187	CFSIZE	260165632,219717632
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.092,159.8,1
ALTIM_TOP_PING	19.8,17.6	GPS	120111,081914,-7629.922,17411.367,37,1.1,38,126.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	192	73.67	SBE_CT	525	24	259.56
Roll_motor	74	110	168.89	AA4330	950	33	646.10
VBD_pump_during_apogee	293	1076	6517.17	WL_BBFL2VMT	997	105	2157.21
VBD_pump_during_surface	43	98	88.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	61.99	nil	0	0	0.00
Iridium_during_connect	44	160	146.04	nil	0	0	0.00
Iridium_during_xfer	373	223	1717.08	nil	0	0	0.00
Transponder_ping	1	420	12.98	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.27
TT8	1876	19	356.69
LPSleep	2523	2	53.05
TT8_Active	511	19	97.22
TT8_Sampling	2250	39	859.91
TT8_CF8	317	45	139.65
TT8_Kalman	0	0	0.00
Analog_circuits	1288	12	148.41
GPS_charging	0	0	0.00
Compass	1249	15	179.99
RAFOS	0	0	0.00
Transponder	9	30	2.73

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	160	0.00	0.00	-141.52	0.000	2	0.000	0.000	375	2669	3258	0	0	0	0	0	0
166	-0.71	-146.0	3.2	-2.1	20	189	9.10	0.00	-8.32	0.000	6	0.192	0.000	2824	2669	3561	0	0	0	0	0	0
327	-0.71	-146.0	30.8	-17.1	47	333	0.00	0.00	0.00	0.000	6	0.000	0.000	2824	2670	3564	0	0	0	0	0	0
467	-0.71	-146.0	50.8	-14.6	72	476	0.00	1.85	0.00	0.000	4	0.000	0.060	2818	3757	3564	0	0	0	0	0	0
505	-0.71	-146.0	56.7	-15.3	78	514	0.00	1.80	0.00	0.000	6	0.000	0.040	2818	2645	3564	0	0	0	0	0	0
651	-0.71	-146.0	77.9	-15.0	103	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2645	3564	0	0	0	0	0	0
792	-0.71	-146.0	99.2	-14.7	128	800	0.00	1.90	0.00	0.000	4	0.000	0.058	2809	3756	3564	0	0	0	0	0	0
865	-0.71	-146.0	110.9	-17.0	135	868	0.00	1.73	0.00	0.000	6	0.000	0.039	2809	2663	3564	0	0	0	0	0	0
1007	-0.71	-146.0	133.4	-15.3	148	1010	0.00	1.83	0.00	0.000	4	0.000	0.059	2800	3757	3565	0	0	0	0	0	0
1033	-0.71	-146.0	138.2	-15.9	150	1043	0.08	1.77	0.00	0.000	6	0.136	0.039	2826	2660	3565	0	0	0	0	0	0
1171	-0.71	-146.0	156.2	-13.5	163	1174	0.00	1.83	0.00	0.000	4	0.000	0.058	2818	3756	3565	0	0	0	0	0	0
1206	-0.71	-146.0	161.5	-15.3	166	1210	0.00	1.70	0.00	0.000	6	0.000	0.039	2819	2677	3565	0	0	0	0	0	0
1349	-0.71	-146.0	180.6	-13.6	179	1357	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2676	3565	0	0	0	0	0	0
1485	-0.71	-146.0	199.2	-13.6	192	1488	0.00	1.80	0.00	0.000	4	0.000	0.059	2810	3756	3565	0	0	0	0	0	0
1523	-0.71	-146.0	205.3	-15.4	195	1531	0.00	1.75	0.00	0.000	6	0.000	0.040	2810	2678	3565	0	0	0	0	0	0
1659	-0.71	-146.0	224.8	-15.1	208	1660	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2678	3565	0	0	0	0	0	0
1786	-0.71	-146.0	243.4	-14.5	220	1789	0.00	1.80	0.00	0.000	4	0.000	0.059	2802	3756	3564	0	0	0	0	0	0
1836	-0.71	-146.0	251.9	-15.8	224	1843	0.05	1.73	0.00	0.000	6	0.115	0.040	2829	2691	3565	0	0	0	0	0	0
2035	-0.71	-146.0	277.9	-13.0	243	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	2691	3564	0	0	0	0	0	0
2226	-0.71	-146.0	301.9	-12.7	261	2230	0.00	1.83	0.00	0.000	4	0.000	0.060	2823	3756	3564	0	0	0	0	0	0
2275	-0.71	-146.0	308.9	-12.9	265	2282	0.00	1.73	0.00	0.000	6	0.000	0.039	2823	2691	3564	0	0	0	0	0	0
2474	-0.71	-146.0	333.8	-12.5	284	2475	0.00	0.00	0.00	0.000	6	0.000	0.000	2823	2691	3565	0	0	0	0	0	0
2665	-0.71	-146.0	357.9	-12.2	302	2669	0.00	1.77	0.00	0.000	4	0.000	0.059	2815	3757	3565	0	0	0	0	0	0
2726	-0.71	-146.0	366.3	-13.7	307	2732	0.00	1.70	0.00	0.000	6	0.000	0.040	2814	2703	3564	0	0	0	0	0	0
2925	-0.71	-146.0	391.9	-13.0	326	2926	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2703	3564	0	0	0	0	0	0
3018	end dive: TARGET_DEPTH_EXCEEDED
state	3018	begin apogee
3024	-0.27	0.0	404.1	12.7	335	3163	0.50	0.00	132.00	1.076	4	0.122	0.000	2974	2490	2962	0	0	0	0	0	0
3164	end apogee: CONTROL_FINISHED_OK
state	3164	begin climb
3166	0.71	146.0	409.8	0.0	347	3332	1.05	2.58	151.32	0.987	4	0.079	0.047	3289	1108	2364	0	0	0	0	1	0
3431	0.71	146.0	388.9	10.8	371	3435	0.00	2.55	0.00	0.000	6	0.000	0.050	3289	2491	2354	0	0	0	0	0	0
3629	0.71	146.0	366.2	11.7	389	3633	0.00	2.45	0.00	0.000	4	0.000	0.046	3300	1101	2349	0	0	0	0	0	0
3760	0.71	146.0	351.6	11.2	400	3764	0.00	2.50	0.00	0.000	6	0.000	0.050	3300	2525	2347	0	0	0	0	0	0
3957	0.71	146.0	327.4	12.1	418	3961	0.00	2.10	0.00	0.000	4	0.000	0.054	3300	3762	2347	0	0	0	0	0	0
4067	0.71	146.0	312.1	13.8	427	4074	0.00	1.98	0.00	0.000	6	0.000	0.037	3308	2545	2345	0	0	0	0	0	0
4265	0.71	146.0	287.9	12.4	446	4266	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2543	2345	0	0	0	0	0	0
4458	0.71	146.0	264.5	12.3	464	4462	0.00	2.03	0.00	0.000	4	0.000	0.056	3309	3767	2344	0	0	0	0	0	0
4519	0.71	146.0	255.9	13.3	469	4526	0.00	1.98	0.00	0.000	6	0.000	0.038	3318	2545	2344	0	0	0	0	0	0
4719	0.71	146.0	232.5	11.7	488	4722	0.00	2.03	0.00	0.000	4	0.000	0.057	3318	3770	2343	0	0	0	0	0	0
4746	0.71	146.0	228.6	13.3	490	4756	0.10	1.98	0.00	0.000	6	0.135	0.039	3296	2549	2342	0	0	0	0	0	0
4881	0.71	146.0	214.1	10.6	503	4883	0.00	0.00	0.00	0.000	6	0.000	0.000	3296	2549	2343	0	0	0	0	0	0
5008	0.71	146.0	200.2	10.8	515	5012	0.00	2.00	0.00	0.000	4	0.000	0.056	3296	3763	2342	0	0	0	0	0	0
5068	0.71	146.0	192.4	12.6	520	5077	0.00	1.95	0.00	0.000	6	0.000	0.039	3304	2555	2342	0	0	0	0	0	0
5203	0.71	146.0	176.7	11.8	533	5204	0.00	0.00	0.00	0.000	6	0.000	0.000	3304	2553	2342	0	0	0	0	0	0
5330	0.71	146.0	161.3	12.1	545	5333	0.00	2.00	0.00	0.000	4	0.000	0.057	3303	3767	2342	0	0	0	0	0	0
5377	0.71	146.0	155.3	13.4	549	5380	0.00	1.90	0.00	0.000	6	0.000	0.038	3313	2558	2341	0	0	0	0	0	0
5519	0.71	146.0	138.2	11.9	562	5528	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2556	2341	0	0	0	0	0	0
5655	0.71	146.0	122.5	11.1	575	5659	0.00	2.00	0.00	0.000	4	0.000	0.057	3313	3770	2341	0	0	0	0	0	0
5737	0.71	146.0	111.3	13.8	582	5746	0.00	1.95	0.00	0.000	6	0.000	0.039	3323	2560	2341	0	0	0	0	0	0
5872	0.71	146.0	95.4	11.5	598	5880	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2560	2341	0	0	0	0	0	0
6017	0.71	146.0	78.7	11.4	623	6024	0.00	2.00	0.00	0.000	4	0.000	0.057	3322	3763	2341	0	0	0	0	0	0
6055	0.71	146.0	73.8	13.1	629	6063	0.10	1.90	0.00	0.000	6	0.132	0.039	3299	2581	2340	0	0	0	0	0	0
6200	0.71	146.0	58.5	10.6	654	6208	0.00	0.00	0.00	0.000	6	0.000	0.000	3299	2580	2340	0	0	0	0	0	0
6346	0.71	146.0	44.4	9.7	679	6353	0.00	1.98	0.00	0.000	4	0.000	0.057	3299	3771	2340	0	0	0	0	0	0
6395	0.71	146.0	39.2	10.6	687	6402	0.00	1.88	0.00	0.000	6	0.000	0.038	3307	2588	2340	0	0	0	0	0	0
6539	0.71	146.0	25.3	10.0	712	6547	0.00	0.00	0.00	0.000	6	0.000	0.000	3307	2587	2340	0	0	0	0	0	0
6685	0.71	146.0	8.1	12.7	737	6692	0.00	1.95	0.00	0.000	4	0.000	0.057	3307	3764	2339	0	0	0	0	0	0
6718	0.73	161.8	5.1	8.4	742	6736	0.00	1.88	10.60	0.810	6	0.000	0.037	3316	2597	2300	0	0	0	0	0	0
6743	end climb: SURFACE_DEPTH_REACHED
state	6743	begin surface coast
6771	end surface coast: CONTROL_FINISHED_OK
state	6771	begin surface