Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 113 * 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 113 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2780 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 4 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 720 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 49 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 26 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 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 1 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 2 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 2 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 4 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 180 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 4 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 -19385.641 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.0099999998 STROBE 0 AH0_24V 134.3 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 102.9 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 2800 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 2 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 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 102.9 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 616.91943

AH0_24V 134.3 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 2

ALTIM_FREQUENCY 13 D_TGT 720 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 4

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 2

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 4 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 180

CALL_TRIES 3 HD_A 0.003 PROTOCOL 1 T_GPS 4

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 -19385.641

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 0.0099999998 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 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 2800 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2700 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2780 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 49 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 26 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 113 NAV_MODE 2 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 071210,210631,-7646.649,17040.459,53,1.5,54,132.9 TGT_NAME POLYNYA3

_CALLS 1 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071210,211156,-7646.615,17040.213,9,1.7,9,132.9 MHEAD_RNG_PITCHd_Wd 292.6,243967,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 761

Post-dive calculations and measurements:

FREEZE 0.87,-1.802,-1.896,2,1,0 _24V_AH 22.0,5.829

FINISH 0.9,1.027798 _10V_AH 10.0,2.486

SM_CCo 8191,192.60,0.102,0,0,444,616.92 FG_AHR_24Vo 0.000

SM_GC 0.81,0.00,0.00,192.60,0.000,0.000,0.102,191,2780,444,-8.14,0.00,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17032.26,071210,181800 MEM 258236

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47097,728

HUMID 48.46 CAP_FILE_SIZE 106128,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,244756480

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 0 CURRENT 0.075,216.7,1

ALTIM_TOP_PING 19.7,20.2 GPS 071210,233514,-7646.364,17044.555,127,3.0,146,132.7

ALTIM_BOTTOM_PING 651.9,6.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 218 89.46 SBE_CT 511 24 270.29

Roll_motor 58 100 129.18 AA4330 905 33 657.39

VBD_pump_during_apogee 406 1116 9984.14 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 192 101 431.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 71.30 nil 0 0 0.00

Iridium_during_connect 37 160 132.23 nil 0 0 0.00

Iridium_during_xfer 158 223 775.80 nil 0 0 0.00

Transponder_ping 3 420 27.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.10

TT8 1872 19 370.81

LPSleep 4390 2 96.15

TT8_Active 696 19 137.87

TT8_Sampling 1610 39 640.90

TT8_CF8 151 45 69.31

TT8_Kalman 0 0 0.00

Analog_circuits 1474 12 176.92

GPS_charging 0 0 0.00

Compass 1296 15 194.46

RAFOS 0 0 0.00

Transponder 23 30 7.01

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 -0.84 -219.0 0.0 0.0 0 154 0.00 0.00 -135.55 0.000 2 0.000 0.000 161 2757 3263 0 0 0 0 0 0

157 -0.84 -219.0 3.3 -6.3 22 185 8.90 1.70 -13.82 0.000 4 0.218 0.071 2515 3773 3856 0 0 1 0 0 0

417 -0.84 -219.0 54.3 -18.7 68 425 0.00 1.58 0.00 0.000 6 0.000 0.029 2515 2772 3859 0 0 0 0 0 0

560 -0.84 -219.0 77.4 -16.3 93 566 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

701 -0.84 -219.0 100.9 -17.8 118 702 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

828 -0.84 -219.0 123.3 -17.5 130 829 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

955 -0.84 -219.0 146.3 -18.0 142 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

1083 -0.84 -219.0 168.5 -17.1 154 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

1210 -0.84 -219.0 190.3 -17.2 166 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2772 3860 0 0 0 0 0 0

1338 -0.84 -219.0 213.5 -18.9 178 1341 0.00 1.62 0.00 0.000 4 0.000 0.050 2507 3793 3860 0 0 0 0 0 0

1383 -0.84 -219.0 222.4 -19.3 182 1386 0.00 1.58 0.00 0.000 6 0.000 0.031 2507 2781 3859 0 0 0 0 0 0

1522 -0.84 -219.0 248.8 -18.9 195 1523 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2780 3860 0 0 0 0 0 0

1651 -0.84 -219.0 272.1 -18.2 207 1652 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2780 3860 0 0 0 0 0 0

1841 -0.84 -219.0 306.9 -18.6 225 1842 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2780 3860 0 0 0 0 0 0

2032 -0.84 -219.0 341.8 -18.7 243 2035 0.00 1.60 0.00 0.000 4 0.000 0.052 2500 3763 3860 0 0 1 0 0 0

2078 -0.84 -219.0 350.7 -19.2 247 2082 0.00 1.52 0.00 0.000 6 0.000 0.031 2500 2781 3859 0 0 0 0 0 0

2280 -0.84 -219.0 389.6 -18.8 266 2282 0.10 0.00 0.00 0.000 6 0.182 0.000 2525 2780 3859 0 0 0 0 0 0

2472 -0.84 -219.0 421.5 -16.5 284 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2780 3859 0 0 0 0 0 0

2663 -0.84 -219.0 453.6 -16.8 302 2666 0.00 1.60 0.00 0.000 4 0.000 0.052 2518 3763 3859 0 0 1 0 0 0

2707 -0.84 -219.0 461.5 -17.1 306 2711 0.00 1.50 0.00 0.000 6 0.000 0.031 2518 2796 3859 0 0 0 0 0 0

2911 -0.84 -219.0 496.6 -16.6 325 2912 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2796 3860 0 0 0 0 0 0

3116 -0.84 -219.0 530.9 -16.5 333 3117 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2796 3859 0 0 0 0 0 0

3299 -0.84 -219.0 560.6 -16.0 339 3300 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2796 3859 0 0 0 0 0 0

3483 -0.84 -219.0 589.1 -15.5 345 3484 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2796 3859 0 0 0 0 0 0

3667 -0.84 -219.0 617.1 -15.1 351 3670 0.00 1.55 0.00 0.000 4 0.000 0.051 2511 3754 3859 0 0 0 0 0 0

3710 -0.84 -219.0 624.3 -15.7 352 3715 0.00 1.50 0.00 0.000 6 0.000 0.030 2511 2781 3859 0 0 0 0 0 0

3890 end dive: BOTTOM_OBSTACLE_DETECTED

state 3890 begin apogee

3894 -0.16 0.0 651.9 15.8 358 4082 0.70 0.00 180.32 1.117 4 0.128 0.000 2744 2699 2960 0 0 0 0 0 0

4083 end apogee: CONTROL_FINISHED_OK

state 4083 begin climb

4085 0.84 219.0 660.9 0.0 364 4289 0.98 2.40 195.73 1.063 4 0.075 0.033 3067 1295 2067 0 0 0 0 0 0

4378 0.84 219.0 631.6 14.5 373 4382 0.00 2.50 0.00 0.000 6 0.000 0.041 3067 2692 2057 0 0 0 0 0 0

4586 0.84 219.0 597.8 16.5 380 4590 0.00 2.33 0.00 0.000 4 0.000 0.034 3078 1303 2052 0 0 0 0 0 0

4752 0.84 219.0 572.0 14.9 385 4756 0.00 2.38 0.00 0.000 6 0.000 0.042 3078 2700 2050 0 0 1 0 0 0

4966 0.84 219.0 536.9 16.7 392 4969 0.00 1.73 0.00 0.000 4 0.000 0.049 3078 3764 2049 0 0 0 0 0 0

5025 0.84 219.0 525.4 18.8 393 5033 0.00 1.70 0.00 0.000 6 0.000 0.030 3087 2713 2048 0 0 0 0 0 0

5217 0.84 219.0 492.8 16.8 402 5218 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2713 2047 0 0 0 0 0 0

5409 0.84 219.0 459.7 17.7 420 5412 0.00 1.70 0.00 0.000 4 0.000 0.050 3087 3764 2047 0 0 0 0 0 0

5469 0.84 219.0 447.7 20.1 425 5476 0.00 1.65 0.00 0.000 6 0.000 0.031 3095 2719 2047 0 0 1 0 0 0

5667 0.84 219.0 411.8 17.7 444 5671 0.00 1.67 0.00 0.000 4 0.000 0.049 3095 3764 2047 0 0 0 0 0 0

5701 0.84 219.0 405.2 19.5 447 5705 0.12 1.65 0.00 0.000 6 0.184 0.031 3072 2700 2047 0 0 0 0 0 0

5903 0.84 219.0 373.0 15.7 466 5904 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2700 2046 0 0 0 0 0 0

6094 0.84 219.0 343.4 15.3 484 6098 0.00 1.70 0.00 0.000 4 0.000 0.050 3072 3764 2046 0 0 0 0 0 0

6151 0.84 219.0 333.7 17.5 489 6155 0.00 1.62 0.00 0.000 6 0.000 0.032 3079 2737 2046 0 0 0 0 0 0

6354 0.84 219.0 300.9 15.9 508 6358 0.00 1.65 0.00 0.000 4 0.000 0.050 3079 3768 2046 0 0 0 0 0 0

6403 0.84 219.0 291.8 18.6 512 6412 0.00 1.62 0.00 0.000 6 0.000 0.031 3087 2740 2045 0 0 0 0 0 0

6601 0.84 219.0 258.0 17.4 531 6605 0.00 1.62 0.00 0.000 4 0.000 0.050 3087 3764 2046 0 0 0 0 0 0

6635 0.84 219.0 251.5 19.9 534 6638 0.00 1.60 0.00 0.000 6 0.000 0.032 3095 2749 2045 0 0 0 0 0 0

6838 0.84 219.0 216.7 16.9 553 6839 0.00 0.00 0.00 0.000 6 0.000 0.000 3095 2749 2046 0 0 0 0 0 0

6965 0.84 219.0 194.6 17.3 565 6969 0.00 1.65 0.00 0.000 4 0.000 0.050 3095 3759 2045 0 0 0 0 0 0

7000 0.84 219.0 188.1 20.2 568 7004 0.08 1.58 0.00 0.000 6 0.165 0.032 3078 2760 2045 0 0 0 0 0 0

7139 0.84 219.0 165.1 16.1 581 7140 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2760 2045 0 0 0 0 0 0

7266 0.84 219.0 145.3 15.6 593 7267 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2760 2045 0 0 0 0 0 0

7394 0.84 219.0 126.3 14.7 605 7397 0.00 1.62 0.00 0.000 4 0.000 0.050 3077 3754 2045 0 0 0 0 0 0

7431 0.84 219.0 119.6 16.3 608 7440 0.00 1.55 0.00 0.000 6 0.000 0.031 3085 2757 2045 0 0 0 0 0 0

7566 0.84 219.0 98.3 16.4 621 7572 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2758 2045 0 0 0 0 0 0

7707 0.84 219.0 75.1 17.0 646 7713 0.00 0.00 0.00 0.000 6 0.000 0.000 3085 2758 2045 0 0 0 0 0 0

7847 0.84 219.0 53.1 14.8 671 7854 0.00 1.62 0.00 0.000 4 0.000 0.051 3085 3755 2044 0 0 0 0 0 0

7943 0.84 219.0 36.6 19.5 688 7951 0.00 1.55 0.00 0.000 6 0.000 0.031 3093 2764 2044 0 0 0 0 0 0

8086 0.89 257.6 15.7 11.8 713 8124 0.00 1.65 30.27 0.750 4 0.000 0.051 3093 3764 1909 0 0 1 0 0 0

8163 end climb: SURFACE_DEPTH_REACHED

state 8163 begin surface coast

8175 end surface coast: CONTROL_FINISHED_OK

state 8175 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	113	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2780	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	4	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	720	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	49	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	26	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	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	1	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	2	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	2	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	4	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	180	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	4	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	-19385.641	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.0099999998	STROBE	0	AH0_24V	134.3	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	102.9	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	2800	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	2	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	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	071210,210631,-7646.649,17040.459,53,1.5,54,132.9	TGT_NAME	POLYNYA3
_CALLS	1	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071210,211156,-7646.615,17040.213,9,1.7,9,132.9	MHEAD_RNG_PITCHd_Wd	292.6,243967,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	761

FREEZE	0.87,-1.802,-1.896,2,1,0	_24V_AH	22.0,5.829
FINISH	0.9,1.027798	_10V_AH	10.0,2.486
SM_CCo	8191,192.60,0.102,0,0,444,616.92	FG_AHR_24Vo	0.000
SM_GC	0.81,0.00,0.00,192.60,0.000,0.000,0.102,191,2780,444,-8.14,0.00,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17032.26,071210,181800	MEM	258236
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47097,728
HUMID	48.46	CAP_FILE_SIZE	106128,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,244756480
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	0	CURRENT	0.075,216.7,1
ALTIM_TOP_PING	19.7,20.2	GPS	071210,233514,-7646.364,17044.555,127,3.0,146,132.7
ALTIM_BOTTOM_PING	651.9,6.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	218	89.46	SBE_CT	511	24	270.29
Roll_motor	58	100	129.18	AA4330	905	33	657.39
VBD_pump_during_apogee	406	1116	9984.14	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	192	101	431.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	71.30	nil	0	0	0.00
Iridium_during_connect	37	160	132.23	nil	0	0	0.00
Iridium_during_xfer	158	223	775.80	nil	0	0	0.00
Transponder_ping	3	420	27.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.10
TT8	1872	19	370.81
LPSleep	4390	2	96.15
TT8_Active	696	19	137.87
TT8_Sampling	1610	39	640.90
TT8_CF8	151	45	69.31
TT8_Kalman	0	0	0.00
Analog_circuits	1474	12	176.92
GPS_charging	0	0	0.00
Compass	1296	15	194.46
RAFOS	0	0	0.00
Transponder	23	30	7.01

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	-0.84	-219.0	0.0	0.0	0	154	0.00	0.00	-135.55	0.000	2	0.000	0.000	161	2757	3263	0	0	0	0	0	0
157	-0.84	-219.0	3.3	-6.3	22	185	8.90	1.70	-13.82	0.000	4	0.218	0.071	2515	3773	3856	0	0	1	0	0	0
417	-0.84	-219.0	54.3	-18.7	68	425	0.00	1.58	0.00	0.000	6	0.000	0.029	2515	2772	3859	0	0	0	0	0	0
560	-0.84	-219.0	77.4	-16.3	93	566	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
701	-0.84	-219.0	100.9	-17.8	118	702	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
828	-0.84	-219.0	123.3	-17.5	130	829	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
955	-0.84	-219.0	146.3	-18.0	142	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
1083	-0.84	-219.0	168.5	-17.1	154	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
1210	-0.84	-219.0	190.3	-17.2	166	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2772	3860	0	0	0	0	0	0
1338	-0.84	-219.0	213.5	-18.9	178	1341	0.00	1.62	0.00	0.000	4	0.000	0.050	2507	3793	3860	0	0	0	0	0	0
1383	-0.84	-219.0	222.4	-19.3	182	1386	0.00	1.58	0.00	0.000	6	0.000	0.031	2507	2781	3859	0	0	0	0	0	0
1522	-0.84	-219.0	248.8	-18.9	195	1523	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2780	3860	0	0	0	0	0	0
1651	-0.84	-219.0	272.1	-18.2	207	1652	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2780	3860	0	0	0	0	0	0
1841	-0.84	-219.0	306.9	-18.6	225	1842	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2780	3860	0	0	0	0	0	0
2032	-0.84	-219.0	341.8	-18.7	243	2035	0.00	1.60	0.00	0.000	4	0.000	0.052	2500	3763	3860	0	0	1	0	0	0
2078	-0.84	-219.0	350.7	-19.2	247	2082	0.00	1.52	0.00	0.000	6	0.000	0.031	2500	2781	3859	0	0	0	0	0	0
2280	-0.84	-219.0	389.6	-18.8	266	2282	0.10	0.00	0.00	0.000	6	0.182	0.000	2525	2780	3859	0	0	0	0	0	0
2472	-0.84	-219.0	421.5	-16.5	284	2473	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2780	3859	0	0	0	0	0	0
2663	-0.84	-219.0	453.6	-16.8	302	2666	0.00	1.60	0.00	0.000	4	0.000	0.052	2518	3763	3859	0	0	1	0	0	0
2707	-0.84	-219.0	461.5	-17.1	306	2711	0.00	1.50	0.00	0.000	6	0.000	0.031	2518	2796	3859	0	0	0	0	0	0
2911	-0.84	-219.0	496.6	-16.6	325	2912	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2796	3860	0	0	0	0	0	0
3116	-0.84	-219.0	530.9	-16.5	333	3117	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2796	3859	0	0	0	0	0	0
3299	-0.84	-219.0	560.6	-16.0	339	3300	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2796	3859	0	0	0	0	0	0
3483	-0.84	-219.0	589.1	-15.5	345	3484	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2796	3859	0	0	0	0	0	0
3667	-0.84	-219.0	617.1	-15.1	351	3670	0.00	1.55	0.00	0.000	4	0.000	0.051	2511	3754	3859	0	0	0	0	0	0
3710	-0.84	-219.0	624.3	-15.7	352	3715	0.00	1.50	0.00	0.000	6	0.000	0.030	2511	2781	3859	0	0	0	0	0	0
3890	end dive: BOTTOM_OBSTACLE_DETECTED
state	3890	begin apogee
3894	-0.16	0.0	651.9	15.8	358	4082	0.70	0.00	180.32	1.117	4	0.128	0.000	2744	2699	2960	0	0	0	0	0	0
4083	end apogee: CONTROL_FINISHED_OK
state	4083	begin climb
4085	0.84	219.0	660.9	0.0	364	4289	0.98	2.40	195.73	1.063	4	0.075	0.033	3067	1295	2067	0	0	0	0	0	0
4378	0.84	219.0	631.6	14.5	373	4382	0.00	2.50	0.00	0.000	6	0.000	0.041	3067	2692	2057	0	0	0	0	0	0
4586	0.84	219.0	597.8	16.5	380	4590	0.00	2.33	0.00	0.000	4	0.000	0.034	3078	1303	2052	0	0	0	0	0	0
4752	0.84	219.0	572.0	14.9	385	4756	0.00	2.38	0.00	0.000	6	0.000	0.042	3078	2700	2050	0	0	1	0	0	0
4966	0.84	219.0	536.9	16.7	392	4969	0.00	1.73	0.00	0.000	4	0.000	0.049	3078	3764	2049	0	0	0	0	0	0
5025	0.84	219.0	525.4	18.8	393	5033	0.00	1.70	0.00	0.000	6	0.000	0.030	3087	2713	2048	0	0	0	0	0	0
5217	0.84	219.0	492.8	16.8	402	5218	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2713	2047	0	0	0	0	0	0
5409	0.84	219.0	459.7	17.7	420	5412	0.00	1.70	0.00	0.000	4	0.000	0.050	3087	3764	2047	0	0	0	0	0	0
5469	0.84	219.0	447.7	20.1	425	5476	0.00	1.65	0.00	0.000	6	0.000	0.031	3095	2719	2047	0	0	1	0	0	0
5667	0.84	219.0	411.8	17.7	444	5671	0.00	1.67	0.00	0.000	4	0.000	0.049	3095	3764	2047	0	0	0	0	0	0
5701	0.84	219.0	405.2	19.5	447	5705	0.12	1.65	0.00	0.000	6	0.184	0.031	3072	2700	2047	0	0	0	0	0	0
5903	0.84	219.0	373.0	15.7	466	5904	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2700	2046	0	0	0	0	0	0
6094	0.84	219.0	343.4	15.3	484	6098	0.00	1.70	0.00	0.000	4	0.000	0.050	3072	3764	2046	0	0	0	0	0	0
6151	0.84	219.0	333.7	17.5	489	6155	0.00	1.62	0.00	0.000	6	0.000	0.032	3079	2737	2046	0	0	0	0	0	0
6354	0.84	219.0	300.9	15.9	508	6358	0.00	1.65	0.00	0.000	4	0.000	0.050	3079	3768	2046	0	0	0	0	0	0
6403	0.84	219.0	291.8	18.6	512	6412	0.00	1.62	0.00	0.000	6	0.000	0.031	3087	2740	2045	0	0	0	0	0	0
6601	0.84	219.0	258.0	17.4	531	6605	0.00	1.62	0.00	0.000	4	0.000	0.050	3087	3764	2046	0	0	0	0	0	0
6635	0.84	219.0	251.5	19.9	534	6638	0.00	1.60	0.00	0.000	6	0.000	0.032	3095	2749	2045	0	0	0	0	0	0
6838	0.84	219.0	216.7	16.9	553	6839	0.00	0.00	0.00	0.000	6	0.000	0.000	3095	2749	2046	0	0	0	0	0	0
6965	0.84	219.0	194.6	17.3	565	6969	0.00	1.65	0.00	0.000	4	0.000	0.050	3095	3759	2045	0	0	0	0	0	0
7000	0.84	219.0	188.1	20.2	568	7004	0.08	1.58	0.00	0.000	6	0.165	0.032	3078	2760	2045	0	0	0	0	0	0
7139	0.84	219.0	165.1	16.1	581	7140	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2760	2045	0	0	0	0	0	0
7266	0.84	219.0	145.3	15.6	593	7267	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2760	2045	0	0	0	0	0	0
7394	0.84	219.0	126.3	14.7	605	7397	0.00	1.62	0.00	0.000	4	0.000	0.050	3077	3754	2045	0	0	0	0	0	0
7431	0.84	219.0	119.6	16.3	608	7440	0.00	1.55	0.00	0.000	6	0.000	0.031	3085	2757	2045	0	0	0	0	0	0
7566	0.84	219.0	98.3	16.4	621	7572	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2758	2045	0	0	0	0	0	0
7707	0.84	219.0	75.1	17.0	646	7713	0.00	0.00	0.00	0.000	6	0.000	0.000	3085	2758	2045	0	0	0	0	0	0
7847	0.84	219.0	53.1	14.8	671	7854	0.00	1.62	0.00	0.000	4	0.000	0.051	3085	3755	2044	0	0	0	0	0	0
7943	0.84	219.0	36.6	19.5	688	7951	0.00	1.55	0.00	0.000	6	0.000	0.031	3093	2764	2044	0	0	0	0	0	0
8086	0.89	257.6	15.7	11.8	713	8124	0.00	1.65	30.27	0.750	4	0.000	0.051	3093	3764	1909	0	0	1	0	0	0
8163	end climb: SURFACE_DEPTH_REACHED
state	8163	begin surface coast
8175	end surface coast: CONTROL_FINISHED_OK
state	8175	begin surface