Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 292 * 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 292 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 300 R_PORT_OVSHOOT 31 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 250 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 -30507.107 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 -5 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 300

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 -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011650941 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -70.546913 T_DIVE 250

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 -30507.107

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 31 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 292 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 211210,212514,-7632.507,17348.441,9,1.7,10,127.2 TGT_NAME POLYNYA_tmp

_CALLS 1 TGT_LATLONG -7630.000,17400.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 211210,213137,-7632.483,17348.484,13,1.4,30,127.2 MHEAD_RNG_PITCHd_Wd 280.8,6777,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 463

Post-dive calculations and measurements:

FREEZE 1.30,-0.532,-0.968,2,1,0 _24V_AH 20.4,53.608

FINISH 1.3,1.014295 _10V_AH 9.8,34.580

SM_CCo 6971,80.62,0.729,1,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.20,0.00,0.00,80.62,0.000,0.000,0.729,423,2665,1736,-8.26,0.42,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17330.39,211210,191947 MEM 257932

TT8_MAMPS 0.028462 DATA_FILE_SIZE 53841,758

HUMID 52.44 CAP_FILE_SIZE 103861,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,235048960

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

XPDR_PINGS 2 CURRENT 0.033, 34.0,1

ALTIM_TOP_PING 20.0,18.3 GPS 211210,233100,-7631.748,17351.664,39,1.1,45,127.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.35 SBE_CT 533 24 261.20

Roll_motor 77 93 148.46 AA4330 918 33 618.45

VBD_pump_during_apogee 280 1084 6208.97 WL_BBFL2VMT 899 105 1927.27

VBD_pump_during_surface 80 729 1199.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 50.16 nil 0 0 0.00

Iridium_during_connect 38 160 124.67 nil 0 0 0.00

Iridium_during_xfer 196 223 894.62 nil 0 0 0.00

Transponder_ping 2 420 17.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 31 50 15.49

TT8 1936 19 375.76

LPSleep 2808 2 60.28

TT8_Active 487 19 94.65

TT8_Sampling 2034 39 793.54

TT8_CF8 177 45 79.56

TT8_Kalman 0 0 0.00

Analog_circuits 1249 12 146.89

GPS_charging 0 0 0.00

Compass 1255 15 184.63

RAFOS 0 0 0.00

Transponder 11 30 3.30

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 -0.76 -146.0 0.0 0.0 0 100 0.00 0.00 -80.80 0.000 2 0.000 0.000 421 2647 3203 0 0 0 0 0 0

102 -0.76 -146.0 3.1 -1.2 12 132 8.82 2.30 -11.68 0.000 4 0.199 0.063 2808 1241 3560 0 0 0 0 0 0

386 -0.76 -146.0 45.5 -14.5 61 393 0.00 2.30 0.00 0.000 6 0.000 0.057 2799 2652 3563 0 0 0 0 0 0

528 -0.76 -146.0 68.7 -16.1 86 537 0.00 1.83 0.00 0.000 4 0.000 0.061 2791 3769 3563 0 0 0 0 0 0

578 -0.76 -146.0 77.4 -17.7 94 588 0.00 1.80 0.00 0.000 6 0.000 0.044 2791 2641 3563 0 0 0 0 0 0

727 -0.76 -146.0 102.6 -16.9 119 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2639 3563 0 0 0 0 0 0

854 -0.76 -146.0 124.4 -17.3 131 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2640 3563 0 0 0 0 0 0

982 -0.76 -146.0 145.9 -16.8 143 983 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2640 3563 0 0 0 0 0 0

1109 -0.76 -146.0 167.0 -16.1 155 1112 0.00 1.83 0.00 0.000 4 0.000 0.063 2783 3767 3563 0 0 0 0 0 0

1156 -0.76 -146.0 176.1 -17.5 159 1166 0.10 1.77 0.00 0.000 6 0.139 0.043 2816 2655 3563 0 0 0 0 0 0

1295 -0.76 -146.0 195.6 -14.5 172 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2654 3564 0 0 0 0 0 0

1429 -0.76 -146.0 215.1 -14.3 185 1433 0.00 1.80 0.00 0.000 4 0.000 0.063 2809 3767 3564 0 0 0 0 0 0

1476 -0.76 -146.0 222.1 -14.9 189 1480 0.00 1.73 0.00 0.000 6 0.000 0.043 2809 2656 3564 0 0 0 0 0 0

1619 -0.76 -146.0 242.7 -14.3 202 1627 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2655 3564 0 0 0 0 0 0

1753 -0.76 -146.0 262.8 -14.6 215 1757 0.00 1.80 0.00 0.000 4 0.000 0.064 2801 3764 3564 0 0 0 0 0 0

1787 -0.76 -146.0 268.2 -16.3 218 1791 0.00 1.70 0.00 0.000 6 0.000 0.042 2800 2671 3564 0 0 0 0 0 0

1990 -0.76 -146.0 298.9 -14.8 237 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2669 3564 0 0 0 0 0 0

2183 -0.76 -146.0 327.4 -14.7 255 2187 0.00 1.77 0.00 0.000 4 0.000 0.063 2793 3764 3564 0 0 0 0 0 0

2233 -0.76 -146.0 335.6 -16.0 259 2240 0.00 1.75 0.00 0.000 6 0.000 0.042 2793 2669 3564 0 0 0 0 0 0

2432 -0.76 -146.0 365.5 -15.5 278 2436 0.00 1.77 0.00 0.000 4 0.000 0.063 2784 3766 3564 0 0 0 0 0 0

2455 -0.76 -146.0 369.5 -15.8 280 2459 0.12 1.70 0.00 0.000 6 0.165 0.043 2818 2674 3564 0 0 0 0 0 0

2658 -0.76 -146.0 397.1 -13.4 299 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2673 3564 0 0 0 0 0 0

2848 -0.76 -146.0 422.2 -13.0 317 2852 0.00 1.77 0.00 0.000 4 0.000 0.064 2811 3767 3564 0 0 0 0 0 0

2885 -0.76 -146.0 427.7 -14.8 320 2893 0.00 1.73 0.00 0.000 6 0.000 0.043 2811 2687 3563 0 0 0 0 0 0

3085 -0.76 -146.0 454.3 -13.4 339 3086 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 2687 3563 0 0 0 0 0 0

3156 end dive: TARGET_DEPTH_EXCEEDED

state 3156 begin apogee

3161 -0.17 0.0 464.2 13.4 346 3300 0.60 0.00 133.10 1.084 4 0.128 0.000 3006 2490 2960 0 0 0 0 0 0

3301 end apogee: CONTROL_FINISHED_OK

state 3301 begin climb

3303 0.76 146.0 468.8 0.0 358 3462 0.95 2.53 147.68 1.001 4 0.072 0.049 3309 1099 2364 0 0 0 0 0 0

3578 0.76 146.0 443.5 11.8 382 3587 0.00 2.47 0.00 0.000 6 0.000 0.051 3309 2490 2353 0 0 0 0 0 0

3778 0.76 146.0 418.8 12.9 401 3782 0.00 2.25 0.00 0.000 4 0.000 0.050 3318 1099 2351 0 0 0 0 0 0

3897 0.76 146.0 404.0 11.9 411 3901 0.00 2.33 0.00 0.000 6 0.000 0.054 3318 2521 2348 0 0 0 0 0 0

4099 0.76 146.0 377.9 12.9 430 4103 0.00 1.98 0.00 0.000 4 0.000 0.059 3318 3767 2348 0 0 0 0 0 0

4204 0.76 146.0 361.8 15.1 439 4212 0.00 1.95 0.00 0.000 6 0.000 0.041 3328 2543 2347 0 0 0 0 0 0

4402 0.76 146.0 334.7 13.7 458 4406 0.00 1.98 0.00 0.000 4 0.000 0.060 3328 3767 2346 0 0 0 0 0 0

4447 0.76 146.0 327.9 15.1 462 4451 0.00 1.92 0.00 0.000 6 0.000 0.041 3337 2530 2346 0 0 0 0 0 0

4650 0.76 146.0 299.4 14.0 481 4654 0.00 2.00 0.00 0.000 4 0.000 0.060 3338 3772 2346 0 0 0 0 0 0

4696 0.76 146.0 292.4 16.0 485 4700 0.12 1.90 0.00 0.000 6 0.165 0.042 3313 2551 2346 0 0 0 0 0 0

4900 0.76 146.0 266.7 12.6 504 4903 0.00 1.95 0.00 0.000 4 0.000 0.060 3313 3767 2345 0 0 0 0 0 0

4922 0.76 146.0 263.4 13.4 506 4926 0.00 1.90 0.00 0.000 6 0.000 0.042 3321 2547 2346 0 0 0 0 0 0

5128 0.76 146.0 237.0 12.9 525 5131 0.00 1.98 0.00 0.000 4 0.000 0.060 3321 3770 2345 0 0 0 0 0 0

5163 0.76 146.0 231.9 14.6 528 5167 0.00 1.90 0.00 0.000 6 0.000 0.043 3330 2554 2345 0 0 0 0 0 0

5305 0.76 146.0 213.0 13.2 541 5312 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2552 2345 0 0 0 0 0 0

5440 0.76 146.0 195.2 12.9 554 5444 0.00 1.95 0.00 0.000 4 0.000 0.060 3331 3766 2344 0 0 0 0 0 0

5486 0.76 146.0 188.7 14.6 558 5490 0.00 1.88 0.00 0.000 6 0.000 0.041 3340 2558 2344 0 0 0 0 0 0

5629 0.76 146.0 169.2 13.7 571 5636 0.00 0.00 0.00 0.000 6 0.000 0.000 3340 2556 2344 0 0 0 0 0 0

5764 0.76 146.0 150.8 13.0 584 5768 0.00 1.95 0.00 0.000 4 0.000 0.060 3340 3766 2344 0 0 0 0 0 0

5823 0.76 146.0 141.1 16.0 589 5833 0.10 1.90 0.00 0.000 6 0.138 0.041 3315 2565 2344 0 0 0 0 0 0

5959 0.76 146.0 124.4 12.0 602 5960 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2563 2344 0 0 0 0 0 0

6087 0.76 146.0 109.0 11.8 614 6090 0.00 1.95 0.00 0.000 4 0.000 0.061 3316 3773 2344 0 0 0 0 0 0

6112 0.76 146.0 105.9 12.6 616 6116 0.00 1.88 0.00 0.000 6 0.000 0.042 3323 2564 2344 0 0 0 0 0 0

6251 0.76 146.0 88.7 12.1 637 6257 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 2563 2344 0 0 0 0 0 0

6391 0.76 146.0 71.7 12.0 662 6400 0.00 0.00 0.00 0.000 6 0.000 0.000 3323 2563 2344 0 0 0 0 0 0

6536 0.76 146.0 54.1 12.7 687 6543 0.00 1.98 0.00 0.000 4 0.000 0.061 3323 3775 2343 0 0 0 0 0 0

6595 0.76 146.0 45.8 14.4 697 6602 0.00 1.88 0.00 0.000 6 0.000 0.044 3333 2577 2343 0 0 0 0 0 0

6737 0.76 146.0 26.8 12.8 722 6745 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2576 2343 0 0 0 0 0 0

6884 0.76 146.0 9.0 12.5 747 6890 0.00 1.95 0.00 0.000 4 0.000 0.061 3333 3775 2343 0 0 0 0 0 0

6916 0.76 146.0 4.2 13.4 752 6925 0.08 1.90 0.00 0.000 6 0.145 0.043 3316 2581 2343 0 0 0 0 0 0

6931 end climb: SURFACE_DEPTH_REACHED

state 6931 begin surface coast

6956 end surface coast: CONTROL_FINISHED_OK

state 6956 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	292	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	300	R_PORT_OVSHOOT	31	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	250	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	-30507.107	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	-5	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	211210,212514,-7632.507,17348.441,9,1.7,10,127.2	TGT_NAME	POLYNYA_tmp
_CALLS	1	TGT_LATLONG	-7630.000,17400.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	211210,213137,-7632.483,17348.484,13,1.4,30,127.2	MHEAD_RNG_PITCHd_Wd	280.8,6777,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	463

FREEZE	1.30,-0.532,-0.968,2,1,0	_24V_AH	20.4,53.608
FINISH	1.3,1.014295	_10V_AH	9.8,34.580
SM_CCo	6971,80.62,0.729,1,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.20,0.00,0.00,80.62,0.000,0.000,0.729,423,2665,1736,-8.26,0.42,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17330.39,211210,191947	MEM	257932
TT8_MAMPS	0.028462	DATA_FILE_SIZE	53841,758
HUMID	52.44	CAP_FILE_SIZE	103861,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,235048960
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.033, 34.0,1
ALTIM_TOP_PING	20.0,18.3	GPS	211210,233100,-7631.748,17351.664,39,1.1,45,127.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.35	SBE_CT	533	24	261.20
Roll_motor	77	93	148.46	AA4330	918	33	618.45
VBD_pump_during_apogee	280	1084	6208.97	WL_BBFL2VMT	899	105	1927.27
VBD_pump_during_surface	80	729	1199.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	50.16	nil	0	0	0.00
Iridium_during_connect	38	160	124.67	nil	0	0	0.00
Iridium_during_xfer	196	223	894.62	nil	0	0	0.00
Transponder_ping	2	420	17.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	31	50	15.49
TT8	1936	19	375.76
LPSleep	2808	2	60.28
TT8_Active	487	19	94.65
TT8_Sampling	2034	39	793.54
TT8_CF8	177	45	79.56
TT8_Kalman	0	0	0.00
Analog_circuits	1249	12	146.89
GPS_charging	0	0	0.00
Compass	1255	15	184.63
RAFOS	0	0	0.00
Transponder	11	30	3.30

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	-0.76	-146.0	0.0	0.0	0	100	0.00	0.00	-80.80	0.000	2	0.000	0.000	421	2647	3203	0	0	0	0	0	0
102	-0.76	-146.0	3.1	-1.2	12	132	8.82	2.30	-11.68	0.000	4	0.199	0.063	2808	1241	3560	0	0	0	0	0	0
386	-0.76	-146.0	45.5	-14.5	61	393	0.00	2.30	0.00	0.000	6	0.000	0.057	2799	2652	3563	0	0	0	0	0	0
528	-0.76	-146.0	68.7	-16.1	86	537	0.00	1.83	0.00	0.000	4	0.000	0.061	2791	3769	3563	0	0	0	0	0	0
578	-0.76	-146.0	77.4	-17.7	94	588	0.00	1.80	0.00	0.000	6	0.000	0.044	2791	2641	3563	0	0	0	0	0	0
727	-0.76	-146.0	102.6	-16.9	119	728	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2639	3563	0	0	0	0	0	0
854	-0.76	-146.0	124.4	-17.3	131	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2640	3563	0	0	0	0	0	0
982	-0.76	-146.0	145.9	-16.8	143	983	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2640	3563	0	0	0	0	0	0
1109	-0.76	-146.0	167.0	-16.1	155	1112	0.00	1.83	0.00	0.000	4	0.000	0.063	2783	3767	3563	0	0	0	0	0	0
1156	-0.76	-146.0	176.1	-17.5	159	1166	0.10	1.77	0.00	0.000	6	0.139	0.043	2816	2655	3563	0	0	0	0	0	0
1295	-0.76	-146.0	195.6	-14.5	172	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2654	3564	0	0	0	0	0	0
1429	-0.76	-146.0	215.1	-14.3	185	1433	0.00	1.80	0.00	0.000	4	0.000	0.063	2809	3767	3564	0	0	0	0	0	0
1476	-0.76	-146.0	222.1	-14.9	189	1480	0.00	1.73	0.00	0.000	6	0.000	0.043	2809	2656	3564	0	0	0	0	0	0
1619	-0.76	-146.0	242.7	-14.3	202	1627	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2655	3564	0	0	0	0	0	0
1753	-0.76	-146.0	262.8	-14.6	215	1757	0.00	1.80	0.00	0.000	4	0.000	0.064	2801	3764	3564	0	0	0	0	0	0
1787	-0.76	-146.0	268.2	-16.3	218	1791	0.00	1.70	0.00	0.000	6	0.000	0.042	2800	2671	3564	0	0	0	0	0	0
1990	-0.76	-146.0	298.9	-14.8	237	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2669	3564	0	0	0	0	0	0
2183	-0.76	-146.0	327.4	-14.7	255	2187	0.00	1.77	0.00	0.000	4	0.000	0.063	2793	3764	3564	0	0	0	0	0	0
2233	-0.76	-146.0	335.6	-16.0	259	2240	0.00	1.75	0.00	0.000	6	0.000	0.042	2793	2669	3564	0	0	0	0	0	0
2432	-0.76	-146.0	365.5	-15.5	278	2436	0.00	1.77	0.00	0.000	4	0.000	0.063	2784	3766	3564	0	0	0	0	0	0
2455	-0.76	-146.0	369.5	-15.8	280	2459	0.12	1.70	0.00	0.000	6	0.165	0.043	2818	2674	3564	0	0	0	0	0	0
2658	-0.76	-146.0	397.1	-13.4	299	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2673	3564	0	0	0	0	0	0
2848	-0.76	-146.0	422.2	-13.0	317	2852	0.00	1.77	0.00	0.000	4	0.000	0.064	2811	3767	3564	0	0	0	0	0	0
2885	-0.76	-146.0	427.7	-14.8	320	2893	0.00	1.73	0.00	0.000	6	0.000	0.043	2811	2687	3563	0	0	0	0	0	0
3085	-0.76	-146.0	454.3	-13.4	339	3086	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	2687	3563	0	0	0	0	0	0
3156	end dive: TARGET_DEPTH_EXCEEDED
state	3156	begin apogee
3161	-0.17	0.0	464.2	13.4	346	3300	0.60	0.00	133.10	1.084	4	0.128	0.000	3006	2490	2960	0	0	0	0	0	0
3301	end apogee: CONTROL_FINISHED_OK
state	3301	begin climb
3303	0.76	146.0	468.8	0.0	358	3462	0.95	2.53	147.68	1.001	4	0.072	0.049	3309	1099	2364	0	0	0	0	0	0
3578	0.76	146.0	443.5	11.8	382	3587	0.00	2.47	0.00	0.000	6	0.000	0.051	3309	2490	2353	0	0	0	0	0	0
3778	0.76	146.0	418.8	12.9	401	3782	0.00	2.25	0.00	0.000	4	0.000	0.050	3318	1099	2351	0	0	0	0	0	0
3897	0.76	146.0	404.0	11.9	411	3901	0.00	2.33	0.00	0.000	6	0.000	0.054	3318	2521	2348	0	0	0	0	0	0
4099	0.76	146.0	377.9	12.9	430	4103	0.00	1.98	0.00	0.000	4	0.000	0.059	3318	3767	2348	0	0	0	0	0	0
4204	0.76	146.0	361.8	15.1	439	4212	0.00	1.95	0.00	0.000	6	0.000	0.041	3328	2543	2347	0	0	0	0	0	0
4402	0.76	146.0	334.7	13.7	458	4406	0.00	1.98	0.00	0.000	4	0.000	0.060	3328	3767	2346	0	0	0	0	0	0
4447	0.76	146.0	327.9	15.1	462	4451	0.00	1.92	0.00	0.000	6	0.000	0.041	3337	2530	2346	0	0	0	0	0	0
4650	0.76	146.0	299.4	14.0	481	4654	0.00	2.00	0.00	0.000	4	0.000	0.060	3338	3772	2346	0	0	0	0	0	0
4696	0.76	146.0	292.4	16.0	485	4700	0.12	1.90	0.00	0.000	6	0.165	0.042	3313	2551	2346	0	0	0	0	0	0
4900	0.76	146.0	266.7	12.6	504	4903	0.00	1.95	0.00	0.000	4	0.000	0.060	3313	3767	2345	0	0	0	0	0	0
4922	0.76	146.0	263.4	13.4	506	4926	0.00	1.90	0.00	0.000	6	0.000	0.042	3321	2547	2346	0	0	0	0	0	0
5128	0.76	146.0	237.0	12.9	525	5131	0.00	1.98	0.00	0.000	4	0.000	0.060	3321	3770	2345	0	0	0	0	0	0
5163	0.76	146.0	231.9	14.6	528	5167	0.00	1.90	0.00	0.000	6	0.000	0.043	3330	2554	2345	0	0	0	0	0	0
5305	0.76	146.0	213.0	13.2	541	5312	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2552	2345	0	0	0	0	0	0
5440	0.76	146.0	195.2	12.9	554	5444	0.00	1.95	0.00	0.000	4	0.000	0.060	3331	3766	2344	0	0	0	0	0	0
5486	0.76	146.0	188.7	14.6	558	5490	0.00	1.88	0.00	0.000	6	0.000	0.041	3340	2558	2344	0	0	0	0	0	0
5629	0.76	146.0	169.2	13.7	571	5636	0.00	0.00	0.00	0.000	6	0.000	0.000	3340	2556	2344	0	0	0	0	0	0
5764	0.76	146.0	150.8	13.0	584	5768	0.00	1.95	0.00	0.000	4	0.000	0.060	3340	3766	2344	0	0	0	0	0	0
5823	0.76	146.0	141.1	16.0	589	5833	0.10	1.90	0.00	0.000	6	0.138	0.041	3315	2565	2344	0	0	0	0	0	0
5959	0.76	146.0	124.4	12.0	602	5960	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2563	2344	0	0	0	0	0	0
6087	0.76	146.0	109.0	11.8	614	6090	0.00	1.95	0.00	0.000	4	0.000	0.061	3316	3773	2344	0	0	0	0	0	0
6112	0.76	146.0	105.9	12.6	616	6116	0.00	1.88	0.00	0.000	6	0.000	0.042	3323	2564	2344	0	0	0	0	0	0
6251	0.76	146.0	88.7	12.1	637	6257	0.00	0.00	0.00	0.000	6	0.000	0.000	3323	2563	2344	0	0	0	0	0	0
6391	0.76	146.0	71.7	12.0	662	6400	0.00	0.00	0.00	0.000	6	0.000	0.000	3323	2563	2344	0	0	0	0	0	0
6536	0.76	146.0	54.1	12.7	687	6543	0.00	1.98	0.00	0.000	4	0.000	0.061	3323	3775	2343	0	0	0	0	0	0
6595	0.76	146.0	45.8	14.4	697	6602	0.00	1.88	0.00	0.000	6	0.000	0.044	3333	2577	2343	0	0	0	0	0	0
6737	0.76	146.0	26.8	12.8	722	6745	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2576	2343	0	0	0	0	0	0
6884	0.76	146.0	9.0	12.5	747	6890	0.00	1.95	0.00	0.000	4	0.000	0.061	3333	3775	2343	0	0	0	0	0	0
6916	0.76	146.0	4.2	13.4	752	6925	0.08	1.90	0.00	0.000	6	0.145	0.043	3316	2581	2343	0	0	0	0	0	0
6931	end climb: SURFACE_DEPTH_REACHED
state	6931	begin surface coast
6956	end surface coast: CONTROL_FINISHED_OK
state	6956	begin surface