Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 304 * 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 304 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 33 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 33 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 -30522.205 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 -30522.205

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 33 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 33 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 304 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 221210,204419,-7632.754,17420.680,9,1.3,14,126.3 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 2.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221210,205008,-7632.739,17420.664,17,2.0,17,126.3 MHEAD_RNG_PITCHd_Wd 340.2,146796,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 376

Post-dive calculations and measurements:

FREEZE 1.27,-0.462,-1.850,2,1,0 _24V_AH 20.5,54.930

FINISH 1.3,1.027097 _10V_AH 9.8,35.619

SM_CCo 5851,80.90,0.729,1,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.15,0.00,0.00,80.90,0.000,0.000,0.729,433,2664,1736,-8.23,0.40,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17427.46,221210,191907 MEM 257972

TT8_MAMPS 0.028462 DATA_FILE_SIZE 43799,648

HUMID 52.67 CAP_FILE_SIZE 93736,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,234397696

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

XPDR_PINGS 3 CURRENT 0.128,336.5,1

ALTIM_TOP_PING 19.9,18.5 GPS 221210,223037,-7632.579,17422.881,28,0.9,29,126.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 73.96 SBE_CT 455 24 224.07

Roll_motor 77 108 173.20 AA4330 836 33 565.83

VBD_pump_during_apogee 275 1026 5797.62 WL_BBFL2VMT 907 105 1954.45

VBD_pump_during_surface 80 729 1209.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 63.37 nil 0 0 0.00

Iridium_during_connect 39 160 129.70 nil 0 0 0.00

Iridium_during_xfer 172 223 789.84 nil 0 0 0.00

Transponder_ping 1 420 15.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.79

TT8 1666 19 323.35

LPSleep 2145 2 46.06

TT8_Active 478 19 92.92

TT8_Sampling 1841 39 718.29

TT8_CF8 162 45 72.78

TT8_Kalman 0 0 0.00

Analog_circuits 1159 12 136.30

GPS_charging 0 0 0.00

Compass 1097 15 161.31

RAFOS 0 0 0.00

Transponder 7 30 2.29

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 81 0.00 0.00 -62.70 0.000 2 0.000 0.000 419 2667 2841 0 0 0 0 0 0

84 -0.76 -146.0 3.0 -2.6 9 132 8.80 1.85 -34.22 0.000 4 0.197 0.081 2801 3754 3558 0 0 0 0 0 0

358 -0.76 -146.0 41.8 -16.7 55 364 0.00 1.77 0.00 0.000 6 0.000 0.044 2801 2621 3562 0 0 0 0 0 0

499 -0.76 -146.0 66.0 -16.8 80 508 0.00 1.88 0.00 0.000 4 0.000 0.063 2792 3749 3562 0 0 0 0 0 0

537 -0.76 -146.0 72.8 -18.7 86 545 0.00 1.73 0.00 0.000 6 0.000 0.043 2792 2664 3561 0 0 0 0 0 0

682 -0.76 -146.0 97.9 -17.3 111 688 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2664 3562 0 0 0 0 0 0

825 -0.76 -146.0 123.0 -17.1 125 829 0.00 1.77 0.00 0.000 4 0.000 0.063 2785 3757 3562 0 0 0 0 0 0

862 -0.76 -146.0 129.4 -18.0 128 866 0.12 1.70 0.00 0.000 6 0.164 0.042 2819 2658 3562 0 0 0 0 0 0

1004 -0.76 -146.0 150.9 -14.6 141 1011 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2655 3562 0 0 0 0 0 0

1139 -0.76 -146.0 170.8 -14.3 154 1142 0.00 1.77 0.00 0.000 4 0.000 0.063 2812 3753 3563 0 0 0 0 0 0

1165 -0.76 -146.0 175.7 -17.0 156 1174 0.00 1.70 0.00 0.000 6 0.000 0.043 2812 2678 3562 0 0 0 0 0 0

1302 -0.76 -146.0 196.8 -16.0 169 1306 0.00 2.25 0.00 0.000 4 0.000 0.050 2811 1239 3562 0 0 0 0 0 0

1323 -0.76 -146.0 200.7 -15.1 170 1332 0.00 2.33 0.00 0.000 6 0.000 0.056 2801 2653 3563 0 0 0 0 0 0

1461 -0.76 -146.0 221.4 -15.5 183 1464 0.00 1.77 0.00 0.000 4 0.000 0.061 2792 3770 3562 0 0 0 0 0 0

1518 -0.76 -146.0 231.5 -17.4 188 1522 0.00 1.67 0.00 0.000 6 0.000 0.043 2793 2684 3562 0 0 0 0 0 0

1658 -0.76 -146.0 254.4 -16.3 201 1662 0.00 2.25 0.00 0.000 4 0.000 0.050 2793 1240 3562 0 0 0 0 0 0

1698 -0.76 -146.0 260.6 -14.3 204 1703 0.12 2.33 0.00 0.000 6 0.158 0.057 2818 2676 3562 0 0 0 0 0 0

1898 -0.76 -146.0 287.2 -13.9 222 1902 0.00 1.73 0.00 0.000 4 0.000 0.061 2812 3763 3562 0 0 0 0 0 0

1955 -0.76 -146.0 295.8 -14.8 227 1958 0.00 1.67 0.00 0.000 6 0.000 0.042 2812 2676 3563 0 0 0 0 0 0

2158 -0.76 -146.0 324.8 -14.4 246 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2674 3563 0 0 0 0 0 0

2349 -0.76 -146.0 351.8 -14.2 264 2352 0.00 1.75 0.00 0.000 4 0.000 0.063 2803 3763 3562 0 0 0 0 0 0

2398 -0.76 -146.0 359.6 -15.9 268 2406 0.00 1.73 0.00 0.000 6 0.000 0.042 2803 2676 3562 0 0 0 0 0 0

2509 end dive: TARGET_DEPTH_EXCEEDED

state 2509 begin apogee

2514 -0.17 0.0 376.1 15.0 279 2652 0.62 0.00 130.38 1.027 4 0.129 0.000 3004 2493 2961 0 0 0 0 0 0

2653 end apogee: CONTROL_FINISHED_OK

state 2653 begin climb

2654 0.76 146.0 382.1 0.0 291 2809 0.95 2.47 145.10 0.948 4 0.073 0.048 3310 1102 2365 0 0 0 0 0 0

2912 0.76 146.0 361.6 10.6 314 2916 0.00 2.45 0.00 0.000 6 0.000 0.051 3310 2497 2355 0 0 0 0 0 0

3109 0.76 146.0 338.8 11.4 332 3113 0.00 2.28 0.00 0.000 4 0.000 0.050 3319 1094 2351 0 0 0 0 0 0

3251 0.76 146.0 322.4 11.7 344 3256 0.00 2.30 0.00 0.000 6 0.000 0.054 3319 2516 2349 0 0 0 0 0 0

3448 0.76 146.0 298.9 11.8 362 3452 0.00 2.00 0.00 0.000 4 0.000 0.060 3319 3770 2348 0 0 0 0 0 0

3539 0.76 146.0 286.4 14.5 370 3543 0.00 1.92 0.00 0.000 6 0.000 0.043 3328 2535 2348 0 0 0 0 0 0

3743 0.76 146.0 259.9 12.5 389 3746 0.00 1.98 0.00 0.000 4 0.000 0.060 3328 3762 2347 0 0 0 0 0 0

3776 0.76 146.0 255.0 14.7 392 3780 0.00 1.90 0.00 0.000 6 0.000 0.042 3337 2536 2347 0 0 0 0 0 0

3981 0.76 146.0 228.2 12.9 411 3982 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2533 2346 0 0 0 0 0 0

4108 0.76 146.0 211.3 13.6 423 4112 0.00 1.98 0.00 0.000 4 0.000 0.059 3337 3763 2346 0 0 0 0 0 0

4189 0.76 146.0 198.2 15.2 430 4199 0.10 1.90 0.00 0.000 6 0.138 0.042 3313 2560 2346 0 0 0 0 0 0

4326 0.76 146.0 181.9 11.7 443 4327 0.00 0.00 0.00 0.000 6 0.000 0.000 3313 2558 2346 0 0 0 0 0 0

4452 0.76 146.0 167.7 11.1 455 4456 0.00 1.95 0.00 0.000 4 0.000 0.060 3313 3768 2346 0 0 0 0 0 0

4487 0.76 146.0 163.3 13.0 458 4490 0.00 1.88 0.00 0.000 6 0.000 0.042 3321 2557 2346 0 0 0 0 0 0

4628 0.76 146.0 146.9 11.3 471 4632 0.00 1.95 0.00 0.000 4 0.000 0.060 3321 3764 2346 0 0 0 0 0 0

4666 0.76 146.0 141.5 12.8 474 4675 0.00 1.88 0.00 0.000 6 0.000 0.041 3330 2577 2345 0 0 0 0 0 0

4804 0.76 146.0 125.4 12.1 487 4811 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2577 2345 0 0 0 0 0 0

4939 0.76 146.0 108.6 12.3 500 4942 0.00 1.92 0.00 0.000 4 0.000 0.060 3330 3770 2346 0 0 0 0 0 0

4974 0.76 146.0 103.7 14.4 503 4977 0.00 1.83 0.00 0.000 6 0.000 0.042 3339 2592 2344 0 0 0 0 0 0

5113 0.76 146.0 85.3 12.9 525 5120 0.00 1.90 0.00 0.000 4 0.000 0.061 3339 3761 2345 0 0 0 0 0 0

5139 0.76 146.0 81.5 13.8 529 5146 0.12 1.83 0.00 0.000 6 0.164 0.043 3314 2589 2344 0 0 0 0 0 0

5283 0.76 146.0 64.7 10.8 554 5291 0.00 0.00 0.00 0.000 6 0.000 0.000 3314 2588 2344 0 0 0 0 0 0

5427 0.76 146.0 48.8 10.7 579 5434 0.00 1.95 0.00 0.000 4 0.000 0.062 3314 3765 2344 0 0 0 0 0 0

5457 0.76 146.0 44.9 12.7 584 5466 0.00 1.83 0.00 0.000 6 0.000 0.042 3322 2614 2344 0 0 0 0 0 0

5603 0.76 146.0 27.6 11.8 609 5610 0.00 0.00 0.00 0.000 6 0.000 0.000 3322 2613 2344 0 0 0 0 0 0

5744 0.76 146.0 11.0 12.1 634 5752 0.00 1.90 0.00 0.000 4 0.000 0.062 3322 3760 2344 0 0 0 0 0 0

5778 0.76 146.0 7.0 12.1 639 5785 0.00 1.80 0.00 0.000 6 0.000 0.042 3330 2607 2344 0 0 0 0 0 0

5810 end climb: SURFACE_DEPTH_REACHED

state 5810 begin surface coast

5836 end surface coast: CONTROL_FINISHED_OK

state 5836 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	304	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	33	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	33	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	-30522.205	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	221210,204419,-7632.754,17420.680,9,1.3,14,126.3	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	2.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221210,205008,-7632.739,17420.664,17,2.0,17,126.3	MHEAD_RNG_PITCHd_Wd	340.2,146796,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	376

FREEZE	1.27,-0.462,-1.850,2,1,0	_24V_AH	20.5,54.930
FINISH	1.3,1.027097	_10V_AH	9.8,35.619
SM_CCo	5851,80.90,0.729,1,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.15,0.00,0.00,80.90,0.000,0.000,0.729,433,2664,1736,-8.23,0.40,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17427.46,221210,191907	MEM	257972
TT8_MAMPS	0.028462	DATA_FILE_SIZE	43799,648
HUMID	52.67	CAP_FILE_SIZE	93736,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,234397696
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	CURRENT	0.128,336.5,1
ALTIM_TOP_PING	19.9,18.5	GPS	221210,223037,-7632.579,17422.881,28,0.9,29,126.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	73.96	SBE_CT	455	24	224.07
Roll_motor	77	108	173.20	AA4330	836	33	565.83
VBD_pump_during_apogee	275	1026	5797.62	WL_BBFL2VMT	907	105	1954.45
VBD_pump_during_surface	80	729	1209.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	63.37	nil	0	0	0.00
Iridium_during_connect	39	160	129.70	nil	0	0	0.00
Iridium_during_xfer	172	223	789.84	nil	0	0	0.00
Transponder_ping	1	420	15.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.79
TT8	1666	19	323.35
LPSleep	2145	2	46.06
TT8_Active	478	19	92.92
TT8_Sampling	1841	39	718.29
TT8_CF8	162	45	72.78
TT8_Kalman	0	0	0.00
Analog_circuits	1159	12	136.30
GPS_charging	0	0	0.00
Compass	1097	15	161.31
RAFOS	0	0	0.00
Transponder	7	30	2.29

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	81	0.00	0.00	-62.70	0.000	2	0.000	0.000	419	2667	2841	0	0	0	0	0	0
84	-0.76	-146.0	3.0	-2.6	9	132	8.80	1.85	-34.22	0.000	4	0.197	0.081	2801	3754	3558	0	0	0	0	0	0
358	-0.76	-146.0	41.8	-16.7	55	364	0.00	1.77	0.00	0.000	6	0.000	0.044	2801	2621	3562	0	0	0	0	0	0
499	-0.76	-146.0	66.0	-16.8	80	508	0.00	1.88	0.00	0.000	4	0.000	0.063	2792	3749	3562	0	0	0	0	0	0
537	-0.76	-146.0	72.8	-18.7	86	545	0.00	1.73	0.00	0.000	6	0.000	0.043	2792	2664	3561	0	0	0	0	0	0
682	-0.76	-146.0	97.9	-17.3	111	688	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2664	3562	0	0	0	0	0	0
825	-0.76	-146.0	123.0	-17.1	125	829	0.00	1.77	0.00	0.000	4	0.000	0.063	2785	3757	3562	0	0	0	0	0	0
862	-0.76	-146.0	129.4	-18.0	128	866	0.12	1.70	0.00	0.000	6	0.164	0.042	2819	2658	3562	0	0	0	0	0	0
1004	-0.76	-146.0	150.9	-14.6	141	1011	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2655	3562	0	0	0	0	0	0
1139	-0.76	-146.0	170.8	-14.3	154	1142	0.00	1.77	0.00	0.000	4	0.000	0.063	2812	3753	3563	0	0	0	0	0	0
1165	-0.76	-146.0	175.7	-17.0	156	1174	0.00	1.70	0.00	0.000	6	0.000	0.043	2812	2678	3562	0	0	0	0	0	0
1302	-0.76	-146.0	196.8	-16.0	169	1306	0.00	2.25	0.00	0.000	4	0.000	0.050	2811	1239	3562	0	0	0	0	0	0
1323	-0.76	-146.0	200.7	-15.1	170	1332	0.00	2.33	0.00	0.000	6	0.000	0.056	2801	2653	3563	0	0	0	0	0	0
1461	-0.76	-146.0	221.4	-15.5	183	1464	0.00	1.77	0.00	0.000	4	0.000	0.061	2792	3770	3562	0	0	0	0	0	0
1518	-0.76	-146.0	231.5	-17.4	188	1522	0.00	1.67	0.00	0.000	6	0.000	0.043	2793	2684	3562	0	0	0	0	0	0
1658	-0.76	-146.0	254.4	-16.3	201	1662	0.00	2.25	0.00	0.000	4	0.000	0.050	2793	1240	3562	0	0	0	0	0	0
1698	-0.76	-146.0	260.6	-14.3	204	1703	0.12	2.33	0.00	0.000	6	0.158	0.057	2818	2676	3562	0	0	0	0	0	0
1898	-0.76	-146.0	287.2	-13.9	222	1902	0.00	1.73	0.00	0.000	4	0.000	0.061	2812	3763	3562	0	0	0	0	0	0
1955	-0.76	-146.0	295.8	-14.8	227	1958	0.00	1.67	0.00	0.000	6	0.000	0.042	2812	2676	3563	0	0	0	0	0	0
2158	-0.76	-146.0	324.8	-14.4	246	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2674	3563	0	0	0	0	0	0
2349	-0.76	-146.0	351.8	-14.2	264	2352	0.00	1.75	0.00	0.000	4	0.000	0.063	2803	3763	3562	0	0	0	0	0	0
2398	-0.76	-146.0	359.6	-15.9	268	2406	0.00	1.73	0.00	0.000	6	0.000	0.042	2803	2676	3562	0	0	0	0	0	0
2509	end dive: TARGET_DEPTH_EXCEEDED
state	2509	begin apogee
2514	-0.17	0.0	376.1	15.0	279	2652	0.62	0.00	130.38	1.027	4	0.129	0.000	3004	2493	2961	0	0	0	0	0	0
2653	end apogee: CONTROL_FINISHED_OK
state	2653	begin climb
2654	0.76	146.0	382.1	0.0	291	2809	0.95	2.47	145.10	0.948	4	0.073	0.048	3310	1102	2365	0	0	0	0	0	0
2912	0.76	146.0	361.6	10.6	314	2916	0.00	2.45	0.00	0.000	6	0.000	0.051	3310	2497	2355	0	0	0	0	0	0
3109	0.76	146.0	338.8	11.4	332	3113	0.00	2.28	0.00	0.000	4	0.000	0.050	3319	1094	2351	0	0	0	0	0	0
3251	0.76	146.0	322.4	11.7	344	3256	0.00	2.30	0.00	0.000	6	0.000	0.054	3319	2516	2349	0	0	0	0	0	0
3448	0.76	146.0	298.9	11.8	362	3452	0.00	2.00	0.00	0.000	4	0.000	0.060	3319	3770	2348	0	0	0	0	0	0
3539	0.76	146.0	286.4	14.5	370	3543	0.00	1.92	0.00	0.000	6	0.000	0.043	3328	2535	2348	0	0	0	0	0	0
3743	0.76	146.0	259.9	12.5	389	3746	0.00	1.98	0.00	0.000	4	0.000	0.060	3328	3762	2347	0	0	0	0	0	0
3776	0.76	146.0	255.0	14.7	392	3780	0.00	1.90	0.00	0.000	6	0.000	0.042	3337	2536	2347	0	0	0	0	0	0
3981	0.76	146.0	228.2	12.9	411	3982	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2533	2346	0	0	0	0	0	0
4108	0.76	146.0	211.3	13.6	423	4112	0.00	1.98	0.00	0.000	4	0.000	0.059	3337	3763	2346	0	0	0	0	0	0
4189	0.76	146.0	198.2	15.2	430	4199	0.10	1.90	0.00	0.000	6	0.138	0.042	3313	2560	2346	0	0	0	0	0	0
4326	0.76	146.0	181.9	11.7	443	4327	0.00	0.00	0.00	0.000	6	0.000	0.000	3313	2558	2346	0	0	0	0	0	0
4452	0.76	146.0	167.7	11.1	455	4456	0.00	1.95	0.00	0.000	4	0.000	0.060	3313	3768	2346	0	0	0	0	0	0
4487	0.76	146.0	163.3	13.0	458	4490	0.00	1.88	0.00	0.000	6	0.000	0.042	3321	2557	2346	0	0	0	0	0	0
4628	0.76	146.0	146.9	11.3	471	4632	0.00	1.95	0.00	0.000	4	0.000	0.060	3321	3764	2346	0	0	0	0	0	0
4666	0.76	146.0	141.5	12.8	474	4675	0.00	1.88	0.00	0.000	6	0.000	0.041	3330	2577	2345	0	0	0	0	0	0
4804	0.76	146.0	125.4	12.1	487	4811	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2577	2345	0	0	0	0	0	0
4939	0.76	146.0	108.6	12.3	500	4942	0.00	1.92	0.00	0.000	4	0.000	0.060	3330	3770	2346	0	0	0	0	0	0
4974	0.76	146.0	103.7	14.4	503	4977	0.00	1.83	0.00	0.000	6	0.000	0.042	3339	2592	2344	0	0	0	0	0	0
5113	0.76	146.0	85.3	12.9	525	5120	0.00	1.90	0.00	0.000	4	0.000	0.061	3339	3761	2345	0	0	0	0	0	0
5139	0.76	146.0	81.5	13.8	529	5146	0.12	1.83	0.00	0.000	6	0.164	0.043	3314	2589	2344	0	0	0	0	0	0
5283	0.76	146.0	64.7	10.8	554	5291	0.00	0.00	0.00	0.000	6	0.000	0.000	3314	2588	2344	0	0	0	0	0	0
5427	0.76	146.0	48.8	10.7	579	5434	0.00	1.95	0.00	0.000	4	0.000	0.062	3314	3765	2344	0	0	0	0	0	0
5457	0.76	146.0	44.9	12.7	584	5466	0.00	1.83	0.00	0.000	6	0.000	0.042	3322	2614	2344	0	0	0	0	0	0
5603	0.76	146.0	27.6	11.8	609	5610	0.00	0.00	0.00	0.000	6	0.000	0.000	3322	2613	2344	0	0	0	0	0	0
5744	0.76	146.0	11.0	12.1	634	5752	0.00	1.90	0.00	0.000	4	0.000	0.062	3322	3760	2344	0	0	0	0	0	0
5778	0.76	146.0	7.0	12.1	639	5785	0.00	1.80	0.00	0.000	6	0.000	0.042	3330	2607	2344	0	0	0	0	0	0
5810	end climb: SURFACE_DEPTH_REACHED
state	5810	begin surface coast
5836	end surface coast: CONTROL_FINISHED_OK
state	5836	begin surface