Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 111 * 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 111 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 50 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 27 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 -19383.127 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 -19383.127

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 50 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 27 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 111 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 071210,161755,-7647.736,17038.273,22,1.4,23,133.0 TGT_NAME POLYNYA1

_CALLS 1 TGT_LATLONG -7630.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071210,162400,-7647.761,17038.037,45,0.9,50,133.0 MHEAD_RNG_PITCHd_Wd 262.5,34237,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 765

Post-dive calculations and measurements:

FREEZE 0.24,-1.820,-0.304,2,1,0 _24V_AH 22.0,5.560

FINISH 0.2,1.004253 _10V_AH 10.1,2.367

SM_CCo 8562,202.50,0.099,0,0,444,616.92 FG_AHR_24Vo 0.000

SM_GC 0.78,0.00,0.00,202.50,0.000,0.000,0.099,182,2779,444,-8.16,-0.03,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7603.11,17033.80,071210,141401 MEM 258368

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47092,728

HUMID 48.74 CAP_FILE_SIZE 105387,0

INTERNAL_PRESSURE 8.58431 CFSIZE 260165632,244862976

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,3

XPDR_PINGS 0 CURRENT 0.206,215.7,1

ALTIM_TOP_PING 19.2,19.3 GPS 071210,185225,-7647.301,17039.322,68,1.2,73,132.9

ALTIM_BOTTOM_PING 704.3,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 223 90.92 SBE_CT 512 24 270.54

Roll_motor 49 100 110.18 AA4330 911 33 661.60

VBD_pump_during_apogee 379 1150 9600.33 WL_BBFL2VMT 0 0 0.00

VBD_pump_during_surface 202 99 443.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 68.20 nil 0 0 0.00

Iridium_during_connect 45 160 159.80 nil 0 0 0.00

Iridium_during_xfer 151 223 744.53 nil 0 0 0.00

Transponder_ping 3 420 32.34 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 55 50 27.99

TT8 1886 19 377.36

LPSleep 4766 2 105.42

TT8_Active 681 19 136.23

TT8_Sampling 1646 39 661.91

TT8_CF8 162 45 75.03

TT8_Kalman 0 0 0.00

Analog_circuits 1449 12 175.72

GPS_charging 0 0 0.00

Compass 1295 15 196.21

RAFOS 0 0 0.00

Transponder 27 30 8.39

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.84 -219.0 0.0 0.0 0 164 0.00 0.00 -145.00 0.000 2 0.000 0.000 180 2775 3413 0 0 0 0 0 0

167 -0.84 -219.0 3.1 -5.1 24 194 8.93 2.25 -9.82 0.000 4 0.223 0.047 2521 1373 3856 0 0 0 0 0 0

444 -0.84 -219.0 54.4 -15.2 73 451 0.00 2.30 0.00 0.000 6 0.000 0.045 2511 2778 3859 0 0 0 0 0 0

586 -0.84 -219.0 78.9 -18.1 98 592 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3859 0 0 0 0 0 0

725 -0.84 -219.0 104.2 -18.1 121 726 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3859 0 0 0 0 0 0

853 -0.84 -219.0 127.6 -18.5 133 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3859 0 0 0 0 0 0

981 -0.84 -219.0 150.6 -18.2 145 982 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2779 3859 0 0 0 0 0 0

1108 -0.84 -219.0 173.2 -17.6 157 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2778 3860 0 0 0 0 0 0

1235 -0.84 -219.0 196.3 -18.4 169 1236 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3860 0 0 0 0 0 0

1363 -0.84 -219.0 218.9 -17.8 181 1364 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3860 0 0 0 0 0 0

1490 -0.84 -219.0 241.8 -17.7 193 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2779 3859 0 0 0 0 0 0

1618 -0.84 -219.0 264.3 -18.0 205 1621 0.00 1.58 0.00 0.000 4 0.000 0.052 2503 3762 3859 0 0 0 0 0 0

1651 -0.84 -219.0 270.6 -18.9 208 1655 0.00 1.52 0.00 0.000 6 0.000 0.032 2503 2781 3859 0 0 0 0 0 0

1855 -0.84 -219.0 307.5 -18.1 227 1856 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3860 0 0 0 0 0 0

2047 -0.84 -219.0 342.3 -17.8 245 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

2237 -0.84 -219.0 377.5 -18.6 263 2239 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

2428 -0.84 -219.0 412.8 -18.3 281 2429 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

2620 -0.84 -219.0 447.7 -18.3 299 2621 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

2811 -0.84 -219.0 482.2 -17.8 317 2812 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

3008 -0.84 -219.0 517.8 -18.1 330 3009 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

3194 -0.84 -219.0 551.1 -18.1 336 3196 0.00 0.00 0.00 0.000 6 0.000 0.000 2503 2781 3859 0 0 0 0 0 0

3376 -0.84 -219.0 584.6 -18.3 342 3377 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2781 3859 0 0 0 0 0 0

3559 -0.84 -219.0 617.8 -17.9 348 3563 0.00 1.60 0.00 0.000 4 0.000 0.052 2496 3766 3859 0 0 0 0 0 0

3597 -0.84 -219.0 625.2 -18.7 349 3602 0.08 1.52 0.00 0.000 6 0.145 0.031 2522 2779 3859 0 0 0 0 0 0

3811 -0.84 -219.0 659.9 -16.1 356 3813 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2778 3859 0 0 0 0 0 0

3994 -0.84 -219.0 689.7 -16.3 362 3995 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2779 3859 0 0 0 0 0 0

4116 end dive: BOTTOM_OBSTACLE_DETECTED

state 4116 begin apogee

4120 -0.16 0.0 709.0 15.8 366 4309 0.65 0.00 181.45 1.151 4 0.123 0.000 2743 2695 2959 0 0 0 0 0 0

4310 end apogee: CONTROL_FINISHED_OK

state 4310 begin climb

4312 0.84 219.0 717.5 0.0 372 4519 1.00 2.40 197.82 1.093 4 0.076 0.033 3072 1297 2065 0 0 0 0 0 0

4686 0.84 219.0 676.8 14.6 383 4690 0.00 2.47 0.00 0.000 6 0.000 0.042 3072 2724 2054 0 0 0 0 0 0

4882 0.84 219.0 644.8 16.6 390 4886 0.00 2.35 0.00 0.000 4 0.000 0.035 3083 1310 2050 0 0 0 0 0 0

5047 0.84 219.0 619.2 16.5 395 5051 0.00 2.33 0.00 0.000 6 0.000 0.042 3083 2710 2048 0 0 1 0 0 0

5259 0.84 219.0 582.8 17.1 402 5263 0.00 1.70 0.00 0.000 4 0.000 0.048 3083 3762 2047 0 0 0 0 0 0

5307 0.84 219.0 573.2 19.6 403 5312 0.00 1.67 0.00 0.000 6 0.000 0.031 3091 2725 2047 0 0 0 0 0 0

5510 0.84 219.0 537.2 17.8 410 5511 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2725 2046 0 0 0 0 0 0

5694 0.84 219.0 504.3 17.9 416 5697 0.00 1.67 0.00 0.000 4 0.000 0.049 3091 3764 2046 0 0 0 0 0 0

5729 0.84 219.0 497.6 20.4 417 5733 0.00 1.67 0.00 0.000 6 0.000 0.032 3100 2688 2045 0 0 0 0 0 0

5932 0.84 219.0 459.2 18.6 436 5935 0.00 1.73 0.00 0.000 4 0.000 0.050 3100 3762 2045 0 0 0 0 0 0

5969 0.84 219.0 451.2 21.8 439 5977 0.10 1.65 0.00 0.000 6 0.161 0.031 3076 2730 2045 0 0 0 0 0 0

6169 0.84 219.0 418.5 16.1 458 6172 0.00 1.67 0.00 0.000 4 0.000 0.050 3076 3767 2045 0 0 0 0 0 0

6202 0.84 219.0 412.3 18.8 461 6206 0.00 1.65 0.00 0.000 6 0.000 0.031 3083 2698 2044 0 0 0 0 0 0

6406 0.84 219.0 377.8 16.7 480 6407 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2697 2044 0 0 0 0 0 0

6596 0.84 219.0 346.1 16.2 498 6600 0.00 1.70 0.00 0.000 4 0.000 0.049 3083 3764 2044 0 0 0 0 0 0

6667 0.84 219.0 332.7 18.5 504 6675 0.00 1.60 0.00 0.000 6 0.000 0.031 3092 2746 2043 0 0 0 0 0 0

6866 0.84 219.0 298.6 17.2 523 6867 0.00 0.00 0.00 0.000 6 0.000 0.000 3091 2746 2043 0 0 0 0 0 0

7057 0.84 219.0 265.1 17.5 541 7060 0.00 1.65 0.00 0.000 4 0.000 0.050 3091 3777 2043 0 0 0 0 0 0

7116 0.84 219.0 252.9 19.9 546 7125 0.00 1.62 0.00 0.000 6 0.000 0.031 3099 2743 2043 0 0 0 0 0 0

7315 0.84 219.0 215.4 19.7 565 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 3099 2742 2043 0 0 0 0 0 0

7443 0.84 219.0 190.9 18.9 577 7446 0.00 1.65 0.00 0.000 4 0.000 0.050 3099 3776 2043 0 0 0 0 0 0

7501 0.84 219.0 179.0 21.4 582 7505 0.08 1.60 0.00 0.000 6 0.161 0.032 3075 2757 2043 0 0 0 0 0 0

7640 0.84 219.0 154.5 17.2 595 7641 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2757 2043 0 0 0 0 0 0

7768 0.84 219.0 133.2 16.6 607 7769 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2757 2043 0 0 0 0 0 0

7895 0.84 219.0 112.0 16.4 619 7896 0.00 0.00 0.00 0.000 6 0.000 0.000 3075 2757 2043 0 0 0 0 0 0

8024 0.84 219.0 90.7 16.6 636 8031 0.00 1.62 0.00 0.000 4 0.000 0.051 3075 3755 2043 0 0 0 0 0 0

8066 0.84 219.0 83.3 17.9 643 8073 0.00 1.55 0.00 0.000 6 0.000 0.031 3082 2761 2042 0 0 0 0 0 0

8207 0.84 219.0 59.7 16.5 668 8213 0.00 0.00 0.00 0.000 6 0.000 0.000 3081 2760 2043 0 0 0 0 0 0

8348 0.84 219.0 36.7 16.5 693 8355 0.00 1.62 0.00 0.000 4 0.000 0.050 3082 3760 2043 0 0 0 0 0 0

8484 0.84 219.0 10.6 18.8 717 8490 0.00 1.52 0.00 0.000 6 0.000 0.031 3089 2781 2042 0 0 0 0 0 0

8529 end climb: SURFACE_DEPTH_REACHED

state 8529 begin surface coast

8548 end surface coast: FINISH_DEPTH_REACHED

state 8548 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	111	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	50	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	27	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	-19383.127	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	071210,161755,-7647.736,17038.273,22,1.4,23,133.0	TGT_NAME	POLYNYA1
_CALLS	1	TGT_LATLONG	-7630.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071210,162400,-7647.761,17038.037,45,0.9,50,133.0	MHEAD_RNG_PITCHd_Wd	262.5,34237,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	765

FREEZE	0.24,-1.820,-0.304,2,1,0	_24V_AH	22.0,5.560
FINISH	0.2,1.004253	_10V_AH	10.1,2.367
SM_CCo	8562,202.50,0.099,0,0,444,616.92	FG_AHR_24Vo	0.000
SM_GC	0.78,0.00,0.00,202.50,0.000,0.000,0.099,182,2779,444,-8.16,-0.03,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7603.11,17033.80,071210,141401	MEM	258368
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47092,728
HUMID	48.74	CAP_FILE_SIZE	105387,0
INTERNAL_PRESSURE	8.58431	CFSIZE	260165632,244862976
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,3
XPDR_PINGS	0	CURRENT	0.206,215.7,1
ALTIM_TOP_PING	19.2,19.3	GPS	071210,185225,-7647.301,17039.322,68,1.2,73,132.9
ALTIM_BOTTOM_PING	704.3,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	223	90.92	SBE_CT	512	24	270.54
Roll_motor	49	100	110.18	AA4330	911	33	661.60
VBD_pump_during_apogee	379	1150	9600.33	WL_BBFL2VMT	0	0	0.00
VBD_pump_during_surface	202	99	443.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	68.20	nil	0	0	0.00
Iridium_during_connect	45	160	159.80	nil	0	0	0.00
Iridium_during_xfer	151	223	744.53	nil	0	0	0.00
Transponder_ping	3	420	32.34	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	55	50	27.99
TT8	1886	19	377.36
LPSleep	4766	2	105.42
TT8_Active	681	19	136.23
TT8_Sampling	1646	39	661.91
TT8_CF8	162	45	75.03
TT8_Kalman	0	0	0.00
Analog_circuits	1449	12	175.72
GPS_charging	0	0	0.00
Compass	1295	15	196.21
RAFOS	0	0	0.00
Transponder	27	30	8.39

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.84	-219.0	0.0	0.0	0	164	0.00	0.00	-145.00	0.000	2	0.000	0.000	180	2775	3413	0	0	0	0	0	0
167	-0.84	-219.0	3.1	-5.1	24	194	8.93	2.25	-9.82	0.000	4	0.223	0.047	2521	1373	3856	0	0	0	0	0	0
444	-0.84	-219.0	54.4	-15.2	73	451	0.00	2.30	0.00	0.000	6	0.000	0.045	2511	2778	3859	0	0	0	0	0	0
586	-0.84	-219.0	78.9	-18.1	98	592	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3859	0	0	0	0	0	0
725	-0.84	-219.0	104.2	-18.1	121	726	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3859	0	0	0	0	0	0
853	-0.84	-219.0	127.6	-18.5	133	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3859	0	0	0	0	0	0
981	-0.84	-219.0	150.6	-18.2	145	982	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2779	3859	0	0	0	0	0	0
1108	-0.84	-219.0	173.2	-17.6	157	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2778	3860	0	0	0	0	0	0
1235	-0.84	-219.0	196.3	-18.4	169	1236	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3860	0	0	0	0	0	0
1363	-0.84	-219.0	218.9	-17.8	181	1364	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3860	0	0	0	0	0	0
1490	-0.84	-219.0	241.8	-17.7	193	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2779	3859	0	0	0	0	0	0
1618	-0.84	-219.0	264.3	-18.0	205	1621	0.00	1.58	0.00	0.000	4	0.000	0.052	2503	3762	3859	0	0	0	0	0	0
1651	-0.84	-219.0	270.6	-18.9	208	1655	0.00	1.52	0.00	0.000	6	0.000	0.032	2503	2781	3859	0	0	0	0	0	0
1855	-0.84	-219.0	307.5	-18.1	227	1856	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3860	0	0	0	0	0	0
2047	-0.84	-219.0	342.3	-17.8	245	2048	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
2237	-0.84	-219.0	377.5	-18.6	263	2239	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
2428	-0.84	-219.0	412.8	-18.3	281	2429	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
2620	-0.84	-219.0	447.7	-18.3	299	2621	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
2811	-0.84	-219.0	482.2	-17.8	317	2812	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
3008	-0.84	-219.0	517.8	-18.1	330	3009	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
3194	-0.84	-219.0	551.1	-18.1	336	3196	0.00	0.00	0.00	0.000	6	0.000	0.000	2503	2781	3859	0	0	0	0	0	0
3376	-0.84	-219.0	584.6	-18.3	342	3377	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2781	3859	0	0	0	0	0	0
3559	-0.84	-219.0	617.8	-17.9	348	3563	0.00	1.60	0.00	0.000	4	0.000	0.052	2496	3766	3859	0	0	0	0	0	0
3597	-0.84	-219.0	625.2	-18.7	349	3602	0.08	1.52	0.00	0.000	6	0.145	0.031	2522	2779	3859	0	0	0	0	0	0
3811	-0.84	-219.0	659.9	-16.1	356	3813	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2778	3859	0	0	0	0	0	0
3994	-0.84	-219.0	689.7	-16.3	362	3995	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2779	3859	0	0	0	0	0	0
4116	end dive: BOTTOM_OBSTACLE_DETECTED
state	4116	begin apogee
4120	-0.16	0.0	709.0	15.8	366	4309	0.65	0.00	181.45	1.151	4	0.123	0.000	2743	2695	2959	0	0	0	0	0	0
4310	end apogee: CONTROL_FINISHED_OK
state	4310	begin climb
4312	0.84	219.0	717.5	0.0	372	4519	1.00	2.40	197.82	1.093	4	0.076	0.033	3072	1297	2065	0	0	0	0	0	0
4686	0.84	219.0	676.8	14.6	383	4690	0.00	2.47	0.00	0.000	6	0.000	0.042	3072	2724	2054	0	0	0	0	0	0
4882	0.84	219.0	644.8	16.6	390	4886	0.00	2.35	0.00	0.000	4	0.000	0.035	3083	1310	2050	0	0	0	0	0	0
5047	0.84	219.0	619.2	16.5	395	5051	0.00	2.33	0.00	0.000	6	0.000	0.042	3083	2710	2048	0	0	1	0	0	0
5259	0.84	219.0	582.8	17.1	402	5263	0.00	1.70	0.00	0.000	4	0.000	0.048	3083	3762	2047	0	0	0	0	0	0
5307	0.84	219.0	573.2	19.6	403	5312	0.00	1.67	0.00	0.000	6	0.000	0.031	3091	2725	2047	0	0	0	0	0	0
5510	0.84	219.0	537.2	17.8	410	5511	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2725	2046	0	0	0	0	0	0
5694	0.84	219.0	504.3	17.9	416	5697	0.00	1.67	0.00	0.000	4	0.000	0.049	3091	3764	2046	0	0	0	0	0	0
5729	0.84	219.0	497.6	20.4	417	5733	0.00	1.67	0.00	0.000	6	0.000	0.032	3100	2688	2045	0	0	0	0	0	0
5932	0.84	219.0	459.2	18.6	436	5935	0.00	1.73	0.00	0.000	4	0.000	0.050	3100	3762	2045	0	0	0	0	0	0
5969	0.84	219.0	451.2	21.8	439	5977	0.10	1.65	0.00	0.000	6	0.161	0.031	3076	2730	2045	0	0	0	0	0	0
6169	0.84	219.0	418.5	16.1	458	6172	0.00	1.67	0.00	0.000	4	0.000	0.050	3076	3767	2045	0	0	0	0	0	0
6202	0.84	219.0	412.3	18.8	461	6206	0.00	1.65	0.00	0.000	6	0.000	0.031	3083	2698	2044	0	0	0	0	0	0
6406	0.84	219.0	377.8	16.7	480	6407	0.00	0.00	0.00	0.000	6	0.000	0.000	3083	2697	2044	0	0	0	0	0	0
6596	0.84	219.0	346.1	16.2	498	6600	0.00	1.70	0.00	0.000	4	0.000	0.049	3083	3764	2044	0	0	0	0	0	0
6667	0.84	219.0	332.7	18.5	504	6675	0.00	1.60	0.00	0.000	6	0.000	0.031	3092	2746	2043	0	0	0	0	0	0
6866	0.84	219.0	298.6	17.2	523	6867	0.00	0.00	0.00	0.000	6	0.000	0.000	3091	2746	2043	0	0	0	0	0	0
7057	0.84	219.0	265.1	17.5	541	7060	0.00	1.65	0.00	0.000	4	0.000	0.050	3091	3777	2043	0	0	0	0	0	0
7116	0.84	219.0	252.9	19.9	546	7125	0.00	1.62	0.00	0.000	6	0.000	0.031	3099	2743	2043	0	0	0	0	0	0
7315	0.84	219.0	215.4	19.7	565	7316	0.00	0.00	0.00	0.000	6	0.000	0.000	3099	2742	2043	0	0	0	0	0	0
7443	0.84	219.0	190.9	18.9	577	7446	0.00	1.65	0.00	0.000	4	0.000	0.050	3099	3776	2043	0	0	0	0	0	0
7501	0.84	219.0	179.0	21.4	582	7505	0.08	1.60	0.00	0.000	6	0.161	0.032	3075	2757	2043	0	0	0	0	0	0
7640	0.84	219.0	154.5	17.2	595	7641	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2757	2043	0	0	0	0	0	0
7768	0.84	219.0	133.2	16.6	607	7769	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2757	2043	0	0	0	0	0	0
7895	0.84	219.0	112.0	16.4	619	7896	0.00	0.00	0.00	0.000	6	0.000	0.000	3075	2757	2043	0	0	0	0	0	0
8024	0.84	219.0	90.7	16.6	636	8031	0.00	1.62	0.00	0.000	4	0.000	0.051	3075	3755	2043	0	0	0	0	0	0
8066	0.84	219.0	83.3	17.9	643	8073	0.00	1.55	0.00	0.000	6	0.000	0.031	3082	2761	2042	0	0	0	0	0	0
8207	0.84	219.0	59.7	16.5	668	8213	0.00	0.00	0.00	0.000	6	0.000	0.000	3081	2760	2043	0	0	0	0	0	0
8348	0.84	219.0	36.7	16.5	693	8355	0.00	1.62	0.00	0.000	4	0.000	0.050	3082	3760	2043	0	0	0	0	0	0
8484	0.84	219.0	10.6	18.8	717	8490	0.00	1.52	0.00	0.000	6	0.000	0.031	3089	2781	2042	0	0	0	0	0	0
8529	end climb: SURFACE_DEPTH_REACHED
state	8529	begin surface coast
8548	end surface coast: FINISH_DEPTH_REACHED
state	8548	begin surface