Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 300 * 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 300 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 32 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 -30517.174 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 -30517.174

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 32 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 300 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 221210,133201,-7633.635,17411.098,10,1.3,15,126.6 TGT_NAME POLYNYA2

_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 2.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221210,133756,-7633.659,17411.119,11,1.8,11,126.6 MHEAD_RNG_PITCHd_Wd 275.8,150988,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 388

Post-dive calculations and measurements:

FREEZE 1.33,-0.678,-0.286,2,1,0 _24V_AH 20.5,54.512

FINISH 1.3,1.004044 _10V_AH 9.8,35.284

SM_CCo 6026,80.28,0.724,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.14,0.00,0.00,80.28,0.000,0.000,0.724,419,2664,1737,-8.26,0.40,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17407.22,221210,111102 MEM 257952

TT8_MAMPS 0.028462 DATA_FILE_SIZE 47113,673

HUMID 52.79 CAP_FILE_SIZE 97035,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,234602496

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 3 CURRENT 0.123,173.0,1

ALTIM_TOP_PING 19.2,17.4 GPS 221210,152136,-7633.484,17413.404,42,0.8,47,126.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 197 74.65 SBE_CT 472 24 232.71

Roll_motor 79 113 186.29 AA4330 866 33 586.28

VBD_pump_during_apogee 276 1031 5847.96 WL_BBFL2VMT 937 105 2018.42

VBD_pump_during_surface 80 723 1190.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 61.28 nil 0 0 0.00

Iridium_during_connect 36 160 120.53 nil 0 0 0.00

Iridium_during_xfer 186 223 853.17 nil 0 0 0.00

Transponder_ping 1 420 15.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.20

TT8 1724 19 334.54

LPSleep 2213 2 47.50

TT8_Active 483 19 93.87

TT8_Sampling 1879 39 733.05

TT8_CF8 172 45 77.53

TT8_Kalman 0 0 0.00

Analog_circuits 1175 12 138.26

GPS_charging 0 0 0.00

Compass 1122 15 165.01

RAFOS 0 0 0.00

Transponder 7 30 2.28

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 87 0.00 0.00 -68.65 0.000 2 0.000 0.000 414 2641 2961 0 0 0 0 0 0

90 -0.76 -146.0 3.0 -2.9 10 133 8.82 2.25 -25.23 0.000 4 0.197 0.063 2808 1238 3560 0 0 0 0 0 0

355 -0.76 -146.0 38.1 -14.5 57 362 0.00 2.30 0.00 0.000 6 0.000 0.057 2799 2653 3563 0 0 0 0 0 0

492 -0.76 -146.0 61.0 -16.4 82 500 0.00 1.80 0.00 0.000 4 0.000 0.062 2790 3756 3563 0 0 0 0 0 0

517 -0.76 -146.0 65.5 -17.8 86 526 0.00 1.77 0.00 0.000 6 0.000 0.044 2790 2644 3563 0 0 0 0 0 0

655 -0.76 -146.0 89.5 -17.5 111 662 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2644 3563 0 0 0 0 0 0

792 -0.76 -146.0 113.4 -17.9 129 796 0.00 1.83 0.00 0.000 4 0.000 0.063 2783 3770 3563 0 0 0 0 0 0

818 -0.76 -146.0 118.6 -18.5 131 828 0.08 1.77 0.00 0.000 6 0.144 0.043 2809 2659 3563 0 0 0 0 0 0

955 -0.76 -146.0 140.1 -15.8 144 959 0.00 1.80 0.00 0.000 4 0.000 0.063 2801 3773 3563 0 0 0 0 0 0

991 -0.76 -146.0 146.2 -17.4 147 995 0.00 1.73 0.00 0.000 6 0.000 0.043 2802 2666 3563 0 0 0 0 0 0

1134 -0.76 -146.0 168.9 -16.2 160 1138 0.00 2.22 0.00 0.000 4 0.000 0.050 2802 1244 3563 0 0 0 0 0 0

1155 -0.76 -146.0 173.2 -15.9 161 1164 0.00 2.35 0.00 0.000 6 0.000 0.056 2792 2670 3563 0 0 0 0 0 0

1292 -0.76 -146.0 194.6 -16.0 174 1296 0.00 1.75 0.00 0.000 4 0.000 0.062 2784 3770 3564 0 0 0 0 0 0

1329 -0.76 -146.0 200.6 -17.3 177 1333 0.12 1.73 0.00 0.000 6 0.164 0.043 2818 2659 3563 0 0 0 0 0 0

1470 -0.76 -146.0 220.9 -13.8 190 1478 0.00 0.00 0.00 0.000 6 0.000 0.000 2817 2657 3563 0 0 0 0 0 0

1606 -0.76 -146.0 239.5 -13.8 203 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2656 3563 0 0 0 0 0 0

1732 -0.76 -146.0 257.0 -13.7 215 1733 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2657 3563 0 0 0 0 0 0

1923 -0.76 -146.0 283.1 -13.9 233 1926 0.00 1.80 0.00 0.000 4 0.000 0.063 2810 3769 3563 0 0 0 0 0 0

1960 -0.76 -146.0 289.0 -15.1 236 1968 0.00 1.73 0.00 0.000 6 0.000 0.041 2811 2683 3563 0 0 0 0 0 0

2159 -0.76 -146.0 317.4 -14.6 255 2163 0.00 2.28 0.00 0.000 4 0.000 0.050 2811 1232 3563 0 0 0 0 0 0

2176 -0.76 -146.0 319.9 -14.6 256 2180 0.00 2.35 0.00 0.000 6 0.000 0.056 2799 2687 3563 0 0 0 0 0 0

2375 -0.76 -146.0 349.5 -14.8 274 2380 0.00 1.73 0.00 0.000 4 0.000 0.063 2791 3766 3563 0 0 0 0 0 0

2424 -0.76 -146.0 357.7 -15.5 278 2431 0.00 1.70 0.00 0.000 6 0.000 0.043 2791 2694 3563 0 0 0 0 0 0

2624 -0.76 -146.0 386.8 -14.9 297 2625 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2692 3563 0 0 0 0 0 0

2631 end dive: TARGET_DEPTH_EXCEEDED

state 2631 begin apogee

2636 -0.17 0.0 388.4 14.6 298 2773 0.65 0.00 130.80 1.032 4 0.130 0.000 3001 2494 2962 0 0 0 0 0 0

2774 end apogee: CONTROL_FINISHED_OK

state 2774 begin climb

2775 0.76 146.0 393.4 0.0 310 2929 0.98 2.50 145.62 0.950 4 0.074 0.048 3312 1105 2365 0 0 0 0 0 0

3067 0.76 146.0 365.3 12.9 336 3075 0.00 2.45 0.00 0.000 6 0.000 0.051 3312 2509 2353 0 0 0 0 0 0

3266 0.76 146.0 340.3 12.7 355 3270 0.00 2.28 0.00 0.000 4 0.000 0.050 3323 1101 2351 0 0 0 0 0 0

3384 0.76 146.0 325.8 11.8 365 3388 0.00 2.30 0.00 0.000 6 0.000 0.054 3323 2520 2348 0 0 0 0 0 0

3581 0.76 146.0 301.3 12.4 383 3585 0.00 2.03 0.00 0.000 4 0.000 0.060 3323 3762 2348 0 0 0 0 0 0

3664 0.76 146.0 289.1 15.1 390 3671 0.00 1.95 0.00 0.000 6 0.000 0.042 3332 2539 2347 0 0 0 0 0 0

3862 0.76 146.0 263.7 12.7 409 3866 0.00 1.98 0.00 0.000 4 0.000 0.059 3332 3768 2347 0 0 0 0 0 0

3889 0.76 146.0 259.7 14.3 411 3898 0.08 1.98 0.00 0.000 6 0.145 0.042 3317 2532 2346 0 0 0 0 0 0

4088 0.76 146.0 236.6 11.4 430 4092 0.00 2.00 0.00 0.000 4 0.000 0.060 3317 3777 2345 0 0 0 0 0 0

4135 0.76 146.0 230.5 13.2 434 4139 0.00 1.92 0.00 0.000 6 0.000 0.042 3325 2539 2346 0 0 0 0 0 0

4276 0.76 146.0 213.6 11.9 447 4277 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2536 2345 0 0 0 0 0 0

4403 0.76 146.0 197.8 12.4 459 4407 0.00 1.98 0.00 0.000 4 0.000 0.059 3325 3768 2346 0 0 0 0 0 0

4461 0.76 146.0 190.0 13.8 464 4465 0.00 1.90 0.00 0.000 6 0.000 0.042 3334 2550 2345 0 0 0 0 0 0

4602 0.76 146.0 171.3 13.2 477 4605 0.00 1.98 0.00 0.000 4 0.000 0.060 3333 3774 2345 0 0 0 0 0 0

4626 0.76 146.0 168.0 13.3 479 4630 0.12 1.90 0.00 0.000 6 0.164 0.043 3310 2557 2345 0 0 0 0 0 0

4767 0.76 146.0 151.6 11.0 492 4768 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2555 2345 0 0 0 0 0 0

4893 0.76 146.0 137.6 11.1 504 4895 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2555 2345 0 0 0 0 0 0

5020 0.76 146.0 123.5 11.0 516 5024 0.00 1.95 0.00 0.000 4 0.000 0.060 3310 3768 2345 0 0 0 0 0 0

5078 0.76 146.0 116.3 13.4 521 5081 0.00 1.88 0.00 0.000 6 0.000 0.042 3318 2559 2344 0 0 0 0 0 0

5218 0.76 146.0 100.0 11.2 534 5226 0.00 2.00 0.00 0.000 4 0.000 0.061 3318 3764 2344 0 0 0 0 0 0

5250 0.76 146.0 96.0 12.6 539 5258 0.00 1.85 0.00 0.000 6 0.000 0.042 3327 2575 2345 0 0 0 0 0 0

5388 0.76 146.0 79.1 12.2 564 5395 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2574 2344 0 0 0 0 0 0

5527 0.76 146.0 62.1 12.3 589 5534 0.00 1.95 0.00 0.000 4 0.000 0.062 3327 3772 2344 0 0 0 0 0 0

5564 0.76 146.0 57.3 14.3 595 5572 0.00 1.90 0.00 0.000 6 0.000 0.042 3336 2577 2343 0 0 0 0 0 0

5703 0.76 146.0 39.4 12.4 620 5710 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2576 2343 0 0 0 0 0 0

5843 0.76 146.0 21.3 13.4 645 5849 0.00 1.95 0.00 0.000 4 0.000 0.060 3336 3777 2343 0 0 0 0 0 0

5916 0.76 146.0 10.2 16.6 658 5925 0.10 1.88 0.00 0.000 6 0.138 0.043 3312 2598 2343 0 0 0 0 0 0

5977 end climb: SURFACE_DEPTH_REACHED

state 5977 begin surface coast

6009 end surface coast: FINISH_DEPTH_REACHED

state 6010 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	300	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	32	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	-30517.174	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	221210,133201,-7633.635,17411.098,10,1.3,15,126.6	TGT_NAME	POLYNYA2
_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	2.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221210,133756,-7633.659,17411.119,11,1.8,11,126.6	MHEAD_RNG_PITCHd_Wd	275.8,150988,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	388

FREEZE	1.33,-0.678,-0.286,2,1,0	_24V_AH	20.5,54.512
FINISH	1.3,1.004044	_10V_AH	9.8,35.284
SM_CCo	6026,80.28,0.724,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.14,0.00,0.00,80.28,0.000,0.000,0.724,419,2664,1737,-8.26,0.40,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17407.22,221210,111102	MEM	257952
TT8_MAMPS	0.028462	DATA_FILE_SIZE	47113,673
HUMID	52.79	CAP_FILE_SIZE	97035,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,234602496
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	CURRENT	0.123,173.0,1
ALTIM_TOP_PING	19.2,17.4	GPS	221210,152136,-7633.484,17413.404,42,0.8,47,126.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	197	74.65	SBE_CT	472	24	232.71
Roll_motor	79	113	186.29	AA4330	866	33	586.28
VBD_pump_during_apogee	276	1031	5847.96	WL_BBFL2VMT	937	105	2018.42
VBD_pump_during_surface	80	723	1190.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	61.28	nil	0	0	0.00
Iridium_during_connect	36	160	120.53	nil	0	0	0.00
Iridium_during_xfer	186	223	853.17	nil	0	0	0.00
Transponder_ping	1	420	15.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.20
TT8	1724	19	334.54
LPSleep	2213	2	47.50
TT8_Active	483	19	93.87
TT8_Sampling	1879	39	733.05
TT8_CF8	172	45	77.53
TT8_Kalman	0	0	0.00
Analog_circuits	1175	12	138.26
GPS_charging	0	0	0.00
Compass	1122	15	165.01
RAFOS	0	0	0.00
Transponder	7	30	2.28

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	87	0.00	0.00	-68.65	0.000	2	0.000	0.000	414	2641	2961	0	0	0	0	0	0
90	-0.76	-146.0	3.0	-2.9	10	133	8.82	2.25	-25.23	0.000	4	0.197	0.063	2808	1238	3560	0	0	0	0	0	0
355	-0.76	-146.0	38.1	-14.5	57	362	0.00	2.30	0.00	0.000	6	0.000	0.057	2799	2653	3563	0	0	0	0	0	0
492	-0.76	-146.0	61.0	-16.4	82	500	0.00	1.80	0.00	0.000	4	0.000	0.062	2790	3756	3563	0	0	0	0	0	0
517	-0.76	-146.0	65.5	-17.8	86	526	0.00	1.77	0.00	0.000	6	0.000	0.044	2790	2644	3563	0	0	0	0	0	0
655	-0.76	-146.0	89.5	-17.5	111	662	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2644	3563	0	0	0	0	0	0
792	-0.76	-146.0	113.4	-17.9	129	796	0.00	1.83	0.00	0.000	4	0.000	0.063	2783	3770	3563	0	0	0	0	0	0
818	-0.76	-146.0	118.6	-18.5	131	828	0.08	1.77	0.00	0.000	6	0.144	0.043	2809	2659	3563	0	0	0	0	0	0
955	-0.76	-146.0	140.1	-15.8	144	959	0.00	1.80	0.00	0.000	4	0.000	0.063	2801	3773	3563	0	0	0	0	0	0
991	-0.76	-146.0	146.2	-17.4	147	995	0.00	1.73	0.00	0.000	6	0.000	0.043	2802	2666	3563	0	0	0	0	0	0
1134	-0.76	-146.0	168.9	-16.2	160	1138	0.00	2.22	0.00	0.000	4	0.000	0.050	2802	1244	3563	0	0	0	0	0	0
1155	-0.76	-146.0	173.2	-15.9	161	1164	0.00	2.35	0.00	0.000	6	0.000	0.056	2792	2670	3563	0	0	0	0	0	0
1292	-0.76	-146.0	194.6	-16.0	174	1296	0.00	1.75	0.00	0.000	4	0.000	0.062	2784	3770	3564	0	0	0	0	0	0
1329	-0.76	-146.0	200.6	-17.3	177	1333	0.12	1.73	0.00	0.000	6	0.164	0.043	2818	2659	3563	0	0	0	0	0	0
1470	-0.76	-146.0	220.9	-13.8	190	1478	0.00	0.00	0.00	0.000	6	0.000	0.000	2817	2657	3563	0	0	0	0	0	0
1606	-0.76	-146.0	239.5	-13.8	203	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2656	3563	0	0	0	0	0	0
1732	-0.76	-146.0	257.0	-13.7	215	1733	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2657	3563	0	0	0	0	0	0
1923	-0.76	-146.0	283.1	-13.9	233	1926	0.00	1.80	0.00	0.000	4	0.000	0.063	2810	3769	3563	0	0	0	0	0	0
1960	-0.76	-146.0	289.0	-15.1	236	1968	0.00	1.73	0.00	0.000	6	0.000	0.041	2811	2683	3563	0	0	0	0	0	0
2159	-0.76	-146.0	317.4	-14.6	255	2163	0.00	2.28	0.00	0.000	4	0.000	0.050	2811	1232	3563	0	0	0	0	0	0
2176	-0.76	-146.0	319.9	-14.6	256	2180	0.00	2.35	0.00	0.000	6	0.000	0.056	2799	2687	3563	0	0	0	0	0	0
2375	-0.76	-146.0	349.5	-14.8	274	2380	0.00	1.73	0.00	0.000	4	0.000	0.063	2791	3766	3563	0	0	0	0	0	0
2424	-0.76	-146.0	357.7	-15.5	278	2431	0.00	1.70	0.00	0.000	6	0.000	0.043	2791	2694	3563	0	0	0	0	0	0
2624	-0.76	-146.0	386.8	-14.9	297	2625	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2692	3563	0	0	0	0	0	0
2631	end dive: TARGET_DEPTH_EXCEEDED
state	2631	begin apogee
2636	-0.17	0.0	388.4	14.6	298	2773	0.65	0.00	130.80	1.032	4	0.130	0.000	3001	2494	2962	0	0	0	0	0	0
2774	end apogee: CONTROL_FINISHED_OK
state	2774	begin climb
2775	0.76	146.0	393.4	0.0	310	2929	0.98	2.50	145.62	0.950	4	0.074	0.048	3312	1105	2365	0	0	0	0	0	0
3067	0.76	146.0	365.3	12.9	336	3075	0.00	2.45	0.00	0.000	6	0.000	0.051	3312	2509	2353	0	0	0	0	0	0
3266	0.76	146.0	340.3	12.7	355	3270	0.00	2.28	0.00	0.000	4	0.000	0.050	3323	1101	2351	0	0	0	0	0	0
3384	0.76	146.0	325.8	11.8	365	3388	0.00	2.30	0.00	0.000	6	0.000	0.054	3323	2520	2348	0	0	0	0	0	0
3581	0.76	146.0	301.3	12.4	383	3585	0.00	2.03	0.00	0.000	4	0.000	0.060	3323	3762	2348	0	0	0	0	0	0
3664	0.76	146.0	289.1	15.1	390	3671	0.00	1.95	0.00	0.000	6	0.000	0.042	3332	2539	2347	0	0	0	0	0	0
3862	0.76	146.0	263.7	12.7	409	3866	0.00	1.98	0.00	0.000	4	0.000	0.059	3332	3768	2347	0	0	0	0	0	0
3889	0.76	146.0	259.7	14.3	411	3898	0.08	1.98	0.00	0.000	6	0.145	0.042	3317	2532	2346	0	0	0	0	0	0
4088	0.76	146.0	236.6	11.4	430	4092	0.00	2.00	0.00	0.000	4	0.000	0.060	3317	3777	2345	0	0	0	0	0	0
4135	0.76	146.0	230.5	13.2	434	4139	0.00	1.92	0.00	0.000	6	0.000	0.042	3325	2539	2346	0	0	0	0	0	0
4276	0.76	146.0	213.6	11.9	447	4277	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2536	2345	0	0	0	0	0	0
4403	0.76	146.0	197.8	12.4	459	4407	0.00	1.98	0.00	0.000	4	0.000	0.059	3325	3768	2346	0	0	0	0	0	0
4461	0.76	146.0	190.0	13.8	464	4465	0.00	1.90	0.00	0.000	6	0.000	0.042	3334	2550	2345	0	0	0	0	0	0
4602	0.76	146.0	171.3	13.2	477	4605	0.00	1.98	0.00	0.000	4	0.000	0.060	3333	3774	2345	0	0	0	0	0	0
4626	0.76	146.0	168.0	13.3	479	4630	0.12	1.90	0.00	0.000	6	0.164	0.043	3310	2557	2345	0	0	0	0	0	0
4767	0.76	146.0	151.6	11.0	492	4768	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2555	2345	0	0	0	0	0	0
4893	0.76	146.0	137.6	11.1	504	4895	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2555	2345	0	0	0	0	0	0
5020	0.76	146.0	123.5	11.0	516	5024	0.00	1.95	0.00	0.000	4	0.000	0.060	3310	3768	2345	0	0	0	0	0	0
5078	0.76	146.0	116.3	13.4	521	5081	0.00	1.88	0.00	0.000	6	0.000	0.042	3318	2559	2344	0	0	0	0	0	0
5218	0.76	146.0	100.0	11.2	534	5226	0.00	2.00	0.00	0.000	4	0.000	0.061	3318	3764	2344	0	0	0	0	0	0
5250	0.76	146.0	96.0	12.6	539	5258	0.00	1.85	0.00	0.000	6	0.000	0.042	3327	2575	2345	0	0	0	0	0	0
5388	0.76	146.0	79.1	12.2	564	5395	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2574	2344	0	0	0	0	0	0
5527	0.76	146.0	62.1	12.3	589	5534	0.00	1.95	0.00	0.000	4	0.000	0.062	3327	3772	2344	0	0	0	0	0	0
5564	0.76	146.0	57.3	14.3	595	5572	0.00	1.90	0.00	0.000	6	0.000	0.042	3336	2577	2343	0	0	0	0	0	0
5703	0.76	146.0	39.4	12.4	620	5710	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2576	2343	0	0	0	0	0	0
5843	0.76	146.0	21.3	13.4	645	5849	0.00	1.95	0.00	0.000	4	0.000	0.060	3336	3777	2343	0	0	0	0	0	0
5916	0.76	146.0	10.2	16.6	658	5925	0.10	1.88	0.00	0.000	6	0.138	0.043	3312	2598	2343	0	0	0	0	0	0
5977	end climb: SURFACE_DEPTH_REACHED
state	5977	begin surface coast
6009	end surface coast: FINISH_DEPTH_REACHED
state	6010	begin surface