Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 305 * 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 305 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 28 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 -30523.463 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 -30523.463

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 28 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 305 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 221210,223037,-7632.579,17422.881,28,0.9,29,126.3 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 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 221210,223620,-7632.543,17422.881,16,1.0,16,126.3 MHEAD_RNG_PITCHd_Wd 349.1,145826,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 376

Post-dive calculations and measurements:

FREEZE 1.28,-0.296,-1.017,2,1,0 _24V_AH 20.5,55.022

FINISH 1.3,1.015025 _10V_AH 9.7,35.702

SM_CCo 5797,75.45,0.102,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.13,0.00,0.00,75.45,0.000,0.000,0.102,420,2617,1736,-8.26,-0.93,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17416.44,221210,202050 MEM 258172

TT8_MAMPS 0.028462 DATA_FILE_SIZE 46897,653

HUMID 52.55 CAP_FILE_SIZE 94189,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,234336256

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

XPDR_PINGS 2 CURRENT 0.122,336.9,1

ALTIM_TOP_PING 19.7,18.1 GPS 231210,001546,-7632.495,17424.992,10,2.8,29,126.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 73.76 SBE_CT 458 24 225.59

Roll_motor 78 81 130.08 AA4330 847 33 573.40

VBD_pump_during_apogee 275 1025 5786.47 WL_BBFL2VMT 930 105 2002.10

VBD_pump_during_surface 75 101 157.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 65.17 nil 0 0 0.00

Iridium_during_connect 35 160 116.15 nil 0 0 0.00

Iridium_during_xfer 170 223 781.63 nil 0 0 0.00

Transponder_ping 1 420 12.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.49

TT8 1661 19 319.11

LPSleep 2075 2 44.08

TT8_Active 476 19 91.50

TT8_Sampling 1839 39 710.33

TT8_CF8 170 45 75.85

TT8_Kalman 0 0 0.00

Analog_circuits 1157 12 134.68

GPS_charging 0 0 0.00

Compass 1087 15 158.28

RAFOS 0 0 0.00

Transponder 7 30 2.26

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 94 0.00 0.00 -75.80 0.000 2 0.000 0.000 425 2665 3115 0 0 0 0 0 0

97 -0.76 -146.0 3.0 -1.4 11 128 8.77 1.88 -15.88 0.000 4 0.197 0.081 2800 3762 3559 0 0 0 0 0 0

333 -0.76 -146.0 40.7 -17.1 53 341 0.00 1.77 0.00 0.000 6 0.000 0.044 2799 2627 3562 0 0 0 0 0 0

472 -0.76 -146.0 63.8 -16.9 78 479 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2625 3563 0 0 0 0 0 0

612 -0.76 -146.0 86.8 -16.1 103 618 0.00 1.85 0.00 0.000 4 0.000 0.062 2790 3760 3563 0 0 0 0 0 0

669 -0.76 -146.0 96.8 -18.2 113 676 0.00 1.75 0.00 0.000 6 0.000 0.043 2790 2659 3563 0 0 0 0 0 0

806 -0.76 -146.0 120.9 -17.2 127 807 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2657 3563 0 0 0 0 0 0

934 -0.76 -146.0 142.5 -16.9 139 935 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2658 3563 0 0 0 0 0 0

1060 -0.76 -146.0 163.4 -16.6 151 1064 0.00 1.80 0.00 0.000 4 0.000 0.063 2782 3767 3563 0 0 0 0 0 0

1097 -0.76 -146.0 170.4 -17.8 154 1107 0.10 1.75 0.00 0.000 6 0.140 0.043 2815 2661 3563 0 0 0 0 0 0

1233 -0.76 -146.0 190.6 -14.8 167 1235 0.00 0.00 0.00 0.000 6 0.000 0.000 2816 2660 3563 0 0 0 0 0 0

1361 -0.76 -146.0 209.6 -14.8 179 1364 0.00 1.77 0.00 0.000 4 0.000 0.063 2808 3757 3563 0 0 0 0 0 0

1407 -0.76 -146.0 216.9 -16.2 183 1411 0.00 1.70 0.00 0.000 6 0.000 0.042 2808 2659 3563 0 0 0 0 0 0

1548 -0.76 -146.0 238.2 -14.6 196 1552 0.00 2.22 0.00 0.000 4 0.000 0.050 2808 1234 3563 0 0 0 0 0 0

1569 -0.76 -146.0 242.0 -15.6 197 1579 0.00 2.35 0.00 0.000 6 0.000 0.056 2798 2662 3563 0 0 0 0 0 0

1705 -0.76 -146.0 263.5 -16.6 210 1708 0.00 1.75 0.00 0.000 4 0.000 0.062 2789 3767 3563 0 0 0 0 0 0

1761 -0.76 -146.0 273.1 -16.4 215 1765 0.00 1.67 0.00 0.000 6 0.000 0.043 2789 2683 3563 0 0 0 0 0 0

1964 -0.76 -146.0 305.3 -15.6 234 1969 0.00 2.25 0.00 0.000 4 0.000 0.049 2789 1242 3563 0 0 0 0 0 0

1982 -0.76 -146.0 308.3 -16.3 235 1987 0.12 2.35 0.00 0.000 6 0.161 0.057 2815 2693 3563 0 0 0 0 0 0

2186 -0.76 -146.0 336.9 -14.0 254 2190 0.00 1.70 0.00 0.000 4 0.000 0.063 2809 3763 3563 0 0 0 0 0 0

2220 -0.76 -146.0 342.3 -15.1 257 2224 0.00 1.65 0.00 0.000 6 0.000 0.042 2808 2692 3563 0 0 0 0 0 0

2424 -0.76 -146.0 371.8 -14.3 276 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2690 3563 0 0 0 0 0 0

2453 end dive: TARGET_DEPTH_EXCEEDED

state 2453 begin apogee

2458 -0.17 0.0 376.4 13.9 279 2595 0.60 0.00 130.52 1.026 4 0.125 0.000 3003 2494 2960 0 0 0 0 0 0

2596 end apogee: CONTROL_FINISHED_OK

state 2596 begin climb

2598 0.76 146.0 381.5 0.0 291 2751 0.95 2.47 144.62 0.947 4 0.074 0.048 3308 1105 2365 0 0 0 0 0 0

2857 0.76 146.0 360.0 11.0 314 2864 0.00 2.47 0.00 0.000 6 0.000 0.050 3308 2503 2354 0 0 0 0 0 0

3055 0.76 146.0 336.5 11.9 333 3059 0.00 2.30 0.00 0.000 4 0.000 0.050 3317 1096 2351 0 0 0 0 0 0

3172 0.76 146.0 322.4 12.1 343 3179 0.00 2.33 0.00 0.000 6 0.000 0.053 3317 2528 2349 0 0 0 0 0 0

3370 0.76 146.0 297.6 12.7 362 3374 0.00 1.98 0.00 0.000 4 0.000 0.060 3317 3766 2348 0 0 0 0 0 0

3430 0.76 146.0 288.4 15.4 367 3438 0.00 1.95 0.00 0.000 6 0.000 0.041 3327 2542 2348 0 0 0 0 0 0

3630 0.76 146.0 262.6 12.8 386 3633 0.00 1.98 0.00 0.000 4 0.000 0.060 3326 3767 2346 0 0 0 0 0 0

3656 0.76 146.0 258.5 14.4 388 3664 0.05 1.95 0.00 0.000 6 0.152 0.041 3317 2546 2347 0 0 0 0 0 0

3858 0.76 146.0 234.7 11.7 407 3862 0.00 1.98 0.00 0.000 4 0.000 0.061 3319 3767 2346 0 0 0 0 0 0

3928 0.76 146.0 224.8 13.6 413 3937 0.00 1.92 0.00 0.000 6 0.000 0.041 3326 2553 2346 0 0 0 0 0 0

4064 0.76 146.0 208.5 12.2 426 4068 0.00 1.95 0.00 0.000 4 0.000 0.061 3326 3763 2346 0 0 0 0 0 0

4090 0.76 146.0 204.6 13.5 428 4098 0.00 1.90 0.00 0.000 6 0.000 0.041 3335 2562 2346 0 0 0 0 0 0

4226 0.76 146.0 187.6 12.8 441 4229 0.00 1.95 0.00 0.000 4 0.000 0.060 3335 3772 2346 0 0 0 0 0 0

4252 0.76 146.0 183.4 15.0 443 4261 0.10 1.90 0.00 0.000 6 0.138 0.041 3311 2570 2346 0 0 0 0 0 0

4390 0.76 146.0 167.7 11.3 456 4397 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2570 2345 0 0 0 0 0 0

4525 0.76 146.0 152.7 10.9 469 4529 0.00 1.92 0.00 0.000 4 0.000 0.061 3311 3763 2345 0 0 0 0 0 0

4583 0.76 146.0 145.6 13.2 474 4586 0.00 1.83 0.00 0.000 6 0.000 0.042 3318 2582 2345 0 0 0 0 0 0

4724 0.76 146.0 129.6 11.2 487 4725 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2580 2345 0 0 0 0 0 0

4851 0.76 146.0 115.8 10.6 499 4854 0.00 1.90 0.00 0.000 4 0.000 0.060 3319 3763 2345 0 0 0 0 0 0

4887 0.76 146.0 110.8 13.6 502 4897 0.00 1.88 0.00 0.000 6 0.000 0.042 3328 2580 2345 0 0 0 0 0 0

5026 0.76 146.0 94.2 12.0 519 5032 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2580 2344 0 0 0 0 0 0

5160 0.76 146.0 77.1 12.7 544 5168 0.00 1.95 0.00 0.000 4 0.000 0.060 3328 3761 2344 0 0 0 0 0 0

5197 0.76 146.0 72.2 14.8 550 5205 0.00 1.85 0.00 0.000 6 0.000 0.042 3336 2596 2344 0 0 0 0 0 0

5335 0.76 146.0 54.5 13.4 575 5341 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2594 2344 0 0 0 0 0 0

5470 0.76 146.0 36.8 13.4 600 5478 0.00 1.92 0.00 0.000 4 0.000 0.061 3337 3760 2344 0 0 0 0 0 0

5506 0.76 146.0 31.8 15.0 606 5516 0.10 1.83 0.00 0.000 6 0.139 0.043 3313 2611 2344 0 0 0 0 0 0

5647 0.76 146.0 15.3 11.9 631 5653 0.00 1.88 0.00 0.000 4 0.000 0.063 3312 3763 2344 0 0 0 0 0 0

5682 0.76 146.0 10.7 13.4 637 5690 0.00 1.77 0.00 0.000 6 0.000 0.042 3319 2620 2344 0 0 0 0 0 0

5748 end climb: SURFACE_DEPTH_REACHED

state 5748 begin surface coast

5782 end surface coast: CONTROL_FINISHED_OK

state 5782 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	305	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	28	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	-30523.463	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	221210,223037,-7632.579,17422.881,28,0.9,29,126.3	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	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	221210,223620,-7632.543,17422.881,16,1.0,16,126.3	MHEAD_RNG_PITCHd_Wd	349.1,145826,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	376

FREEZE	1.28,-0.296,-1.017,2,1,0	_24V_AH	20.5,55.022
FINISH	1.3,1.015025	_10V_AH	9.7,35.702
SM_CCo	5797,75.45,0.102,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.13,0.00,0.00,75.45,0.000,0.000,0.102,420,2617,1736,-8.26,-0.93,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17416.44,221210,202050	MEM	258172
TT8_MAMPS	0.028462	DATA_FILE_SIZE	46897,653
HUMID	52.55	CAP_FILE_SIZE	94189,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,234336256
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.122,336.9,1
ALTIM_TOP_PING	19.7,18.1	GPS	231210,001546,-7632.495,17424.992,10,2.8,29,126.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	73.76	SBE_CT	458	24	225.59
Roll_motor	78	81	130.08	AA4330	847	33	573.40
VBD_pump_during_apogee	275	1025	5786.47	WL_BBFL2VMT	930	105	2002.10
VBD_pump_during_surface	75	101	157.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	65.17	nil	0	0	0.00
Iridium_during_connect	35	160	116.15	nil	0	0	0.00
Iridium_during_xfer	170	223	781.63	nil	0	0	0.00
Transponder_ping	1	420	12.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.49
TT8	1661	19	319.11
LPSleep	2075	2	44.08
TT8_Active	476	19	91.50
TT8_Sampling	1839	39	710.33
TT8_CF8	170	45	75.85
TT8_Kalman	0	0	0.00
Analog_circuits	1157	12	134.68
GPS_charging	0	0	0.00
Compass	1087	15	158.28
RAFOS	0	0	0.00
Transponder	7	30	2.26

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	94	0.00	0.00	-75.80	0.000	2	0.000	0.000	425	2665	3115	0	0	0	0	0	0
97	-0.76	-146.0	3.0	-1.4	11	128	8.77	1.88	-15.88	0.000	4	0.197	0.081	2800	3762	3559	0	0	0	0	0	0
333	-0.76	-146.0	40.7	-17.1	53	341	0.00	1.77	0.00	0.000	6	0.000	0.044	2799	2627	3562	0	0	0	0	0	0
472	-0.76	-146.0	63.8	-16.9	78	479	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2625	3563	0	0	0	0	0	0
612	-0.76	-146.0	86.8	-16.1	103	618	0.00	1.85	0.00	0.000	4	0.000	0.062	2790	3760	3563	0	0	0	0	0	0
669	-0.76	-146.0	96.8	-18.2	113	676	0.00	1.75	0.00	0.000	6	0.000	0.043	2790	2659	3563	0	0	0	0	0	0
806	-0.76	-146.0	120.9	-17.2	127	807	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2657	3563	0	0	0	0	0	0
934	-0.76	-146.0	142.5	-16.9	139	935	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2658	3563	0	0	0	0	0	0
1060	-0.76	-146.0	163.4	-16.6	151	1064	0.00	1.80	0.00	0.000	4	0.000	0.063	2782	3767	3563	0	0	0	0	0	0
1097	-0.76	-146.0	170.4	-17.8	154	1107	0.10	1.75	0.00	0.000	6	0.140	0.043	2815	2661	3563	0	0	0	0	0	0
1233	-0.76	-146.0	190.6	-14.8	167	1235	0.00	0.00	0.00	0.000	6	0.000	0.000	2816	2660	3563	0	0	0	0	0	0
1361	-0.76	-146.0	209.6	-14.8	179	1364	0.00	1.77	0.00	0.000	4	0.000	0.063	2808	3757	3563	0	0	0	0	0	0
1407	-0.76	-146.0	216.9	-16.2	183	1411	0.00	1.70	0.00	0.000	6	0.000	0.042	2808	2659	3563	0	0	0	0	0	0
1548	-0.76	-146.0	238.2	-14.6	196	1552	0.00	2.22	0.00	0.000	4	0.000	0.050	2808	1234	3563	0	0	0	0	0	0
1569	-0.76	-146.0	242.0	-15.6	197	1579	0.00	2.35	0.00	0.000	6	0.000	0.056	2798	2662	3563	0	0	0	0	0	0
1705	-0.76	-146.0	263.5	-16.6	210	1708	0.00	1.75	0.00	0.000	4	0.000	0.062	2789	3767	3563	0	0	0	0	0	0
1761	-0.76	-146.0	273.1	-16.4	215	1765	0.00	1.67	0.00	0.000	6	0.000	0.043	2789	2683	3563	0	0	0	0	0	0
1964	-0.76	-146.0	305.3	-15.6	234	1969	0.00	2.25	0.00	0.000	4	0.000	0.049	2789	1242	3563	0	0	0	0	0	0
1982	-0.76	-146.0	308.3	-16.3	235	1987	0.12	2.35	0.00	0.000	6	0.161	0.057	2815	2693	3563	0	0	0	0	0	0
2186	-0.76	-146.0	336.9	-14.0	254	2190	0.00	1.70	0.00	0.000	4	0.000	0.063	2809	3763	3563	0	0	0	0	0	0
2220	-0.76	-146.0	342.3	-15.1	257	2224	0.00	1.65	0.00	0.000	6	0.000	0.042	2808	2692	3563	0	0	0	0	0	0
2424	-0.76	-146.0	371.8	-14.3	276	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2690	3563	0	0	0	0	0	0
2453	end dive: TARGET_DEPTH_EXCEEDED
state	2453	begin apogee
2458	-0.17	0.0	376.4	13.9	279	2595	0.60	0.00	130.52	1.026	4	0.125	0.000	3003	2494	2960	0	0	0	0	0	0
2596	end apogee: CONTROL_FINISHED_OK
state	2596	begin climb
2598	0.76	146.0	381.5	0.0	291	2751	0.95	2.47	144.62	0.947	4	0.074	0.048	3308	1105	2365	0	0	0	0	0	0
2857	0.76	146.0	360.0	11.0	314	2864	0.00	2.47	0.00	0.000	6	0.000	0.050	3308	2503	2354	0	0	0	0	0	0
3055	0.76	146.0	336.5	11.9	333	3059	0.00	2.30	0.00	0.000	4	0.000	0.050	3317	1096	2351	0	0	0	0	0	0
3172	0.76	146.0	322.4	12.1	343	3179	0.00	2.33	0.00	0.000	6	0.000	0.053	3317	2528	2349	0	0	0	0	0	0
3370	0.76	146.0	297.6	12.7	362	3374	0.00	1.98	0.00	0.000	4	0.000	0.060	3317	3766	2348	0	0	0	0	0	0
3430	0.76	146.0	288.4	15.4	367	3438	0.00	1.95	0.00	0.000	6	0.000	0.041	3327	2542	2348	0	0	0	0	0	0
3630	0.76	146.0	262.6	12.8	386	3633	0.00	1.98	0.00	0.000	4	0.000	0.060	3326	3767	2346	0	0	0	0	0	0
3656	0.76	146.0	258.5	14.4	388	3664	0.05	1.95	0.00	0.000	6	0.152	0.041	3317	2546	2347	0	0	0	0	0	0
3858	0.76	146.0	234.7	11.7	407	3862	0.00	1.98	0.00	0.000	4	0.000	0.061	3319	3767	2346	0	0	0	0	0	0
3928	0.76	146.0	224.8	13.6	413	3937	0.00	1.92	0.00	0.000	6	0.000	0.041	3326	2553	2346	0	0	0	0	0	0
4064	0.76	146.0	208.5	12.2	426	4068	0.00	1.95	0.00	0.000	4	0.000	0.061	3326	3763	2346	0	0	0	0	0	0
4090	0.76	146.0	204.6	13.5	428	4098	0.00	1.90	0.00	0.000	6	0.000	0.041	3335	2562	2346	0	0	0	0	0	0
4226	0.76	146.0	187.6	12.8	441	4229	0.00	1.95	0.00	0.000	4	0.000	0.060	3335	3772	2346	0	0	0	0	0	0
4252	0.76	146.0	183.4	15.0	443	4261	0.10	1.90	0.00	0.000	6	0.138	0.041	3311	2570	2346	0	0	0	0	0	0
4390	0.76	146.0	167.7	11.3	456	4397	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2570	2345	0	0	0	0	0	0
4525	0.76	146.0	152.7	10.9	469	4529	0.00	1.92	0.00	0.000	4	0.000	0.061	3311	3763	2345	0	0	0	0	0	0
4583	0.76	146.0	145.6	13.2	474	4586	0.00	1.83	0.00	0.000	6	0.000	0.042	3318	2582	2345	0	0	0	0	0	0
4724	0.76	146.0	129.6	11.2	487	4725	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2580	2345	0	0	0	0	0	0
4851	0.76	146.0	115.8	10.6	499	4854	0.00	1.90	0.00	0.000	4	0.000	0.060	3319	3763	2345	0	0	0	0	0	0
4887	0.76	146.0	110.8	13.6	502	4897	0.00	1.88	0.00	0.000	6	0.000	0.042	3328	2580	2345	0	0	0	0	0	0
5026	0.76	146.0	94.2	12.0	519	5032	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2580	2344	0	0	0	0	0	0
5160	0.76	146.0	77.1	12.7	544	5168	0.00	1.95	0.00	0.000	4	0.000	0.060	3328	3761	2344	0	0	0	0	0	0
5197	0.76	146.0	72.2	14.8	550	5205	0.00	1.85	0.00	0.000	6	0.000	0.042	3336	2596	2344	0	0	0	0	0	0
5335	0.76	146.0	54.5	13.4	575	5341	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2594	2344	0	0	0	0	0	0
5470	0.76	146.0	36.8	13.4	600	5478	0.00	1.92	0.00	0.000	4	0.000	0.061	3337	3760	2344	0	0	0	0	0	0
5506	0.76	146.0	31.8	15.0	606	5516	0.10	1.83	0.00	0.000	6	0.139	0.043	3313	2611	2344	0	0	0	0	0	0
5647	0.76	146.0	15.3	11.9	631	5653	0.00	1.88	0.00	0.000	4	0.000	0.063	3312	3763	2344	0	0	0	0	0	0
5682	0.76	146.0	10.7	13.4	637	5690	0.00	1.77	0.00	0.000	6	0.000	0.042	3319	2620	2344	0	0	0	0	0	0
5748	end climb: SURFACE_DEPTH_REACHED
state	5748	begin surface coast
5782	end surface coast: CONTROL_FINISHED_OK
state	5782	begin surface