Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 306 * 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 306 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 30 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 24 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 -30524.723 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 -30524.723

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 30 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 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 306 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 231210,001546,-7632.495,17424.992,10,2.8,29,126.2 TGT_NAME POLYNYA2

_CALLS 2 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231210,002436,-7632.452,17424.926,13,1.2,29,126.2 MHEAD_RNG_PITCHd_Wd 348.0,144937,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 376

Post-dive calculations and measurements:

FREEZE 1.26,-0.317,-1.888,2,1,0 _24V_AH 20.5,55.119

FINISH 1.3,1.027625 _10V_AH 9.7,35.786

SM_CCo 5830,75.57,0.102,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.21,0.00,0.00,75.57,0.000,0.000,0.102,428,2635,1736,-8.24,-0.42,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17416.44,231210,000012 MEM 258096

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43701,645

HUMID 52.75 CAP_FILE_SIZE 94970,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,234278912

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

XPDR_PINGS 2 CURRENT 0.096,322.8,1

ALTIM_TOP_PING 19.4,17.7 GPS 231210,020437,-7632.526,17426.949,31,0.8,31,126.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.94 SBE_CT 452 24 222.78

Roll_motor 80 62 104.10 AA4330 832 33 563.11

VBD_pump_during_apogee 276 1026 5821.83 WL_BBFL2VMT 916 105 1971.95

VBD_pump_during_surface 75 101 157.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 109.01 nil 0 0 0.00

Iridium_during_connect 111 160 366.40 nil 0 0 0.00

Iridium_during_xfer 179 223 821.52 nil 0 0 0.00

Transponder_ping 1 420 12.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 30 50 14.90

TT8 1644 19 315.90

LPSleep 2209 2 46.94

TT8_Active 476 19 91.54

TT8_Sampling 1944 39 750.77

TT8_CF8 169 45 75.25

TT8_Kalman 0 0 0.00

Analog_circuits 1146 12 133.42

GPS_charging 0 0 0.00

Compass 1075 15 156.41

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.76 -146.0 0.0 0.0 0 97 0.00 0.00 -79.70 0.000 2 0.000 0.000 420 2616 3196 0 0 0 0 0 0

100 -0.76 -146.0 3.1 -1.1 12 123 8.93 0.00 -11.85 0.000 6 0.198 0.000 2806 2615 3559 0 0 0 0 0 0

261 -0.76 -146.0 28.0 -16.5 39 267 0.00 1.88 0.00 0.000 4 0.000 0.063 2799 3763 3563 0 0 0 0 0 0

342 -0.76 -146.0 42.2 -16.8 53 349 0.00 1.77 0.00 0.000 6 0.000 0.043 2799 2629 3563 0 0 0 0 0 0

484 -0.76 -146.0 66.8 -17.4 78 492 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2626 3563 0 0 0 0 0 0

627 -0.76 -146.0 91.1 -17.7 103 633 0.00 1.85 0.00 0.000 4 0.000 0.063 2790 3763 3564 0 0 0 0 0 0

663 -0.76 -146.0 97.6 -17.7 109 670 0.00 1.77 0.00 0.000 6 0.000 0.043 2790 2626 3564 0 0 0 0 0 0

807 -0.76 -146.0 122.6 -17.5 123 808 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2623 3564 0 0 0 0 0 0

933 -0.76 -146.0 144.7 -17.2 135 937 0.00 1.85 0.00 0.000 4 0.000 0.063 2782 3769 3564 0 0 0 0 0 0

968 -0.76 -146.0 151.2 -18.6 138 973 0.12 1.73 0.00 0.000 6 0.162 0.043 2816 2654 3564 0 0 0 0 0 0

1111 -0.76 -146.0 172.6 -14.4 151 1115 0.00 1.80 0.00 0.000 4 0.000 0.062 2808 3767 3564 0 0 0 0 0 0

1136 -0.76 -146.0 177.4 -15.6 153 1146 0.00 1.73 0.00 0.000 6 0.000 0.042 2809 2679 3564 0 0 0 0 0 0

1273 -0.76 -146.0 197.6 -15.5 166 1277 0.00 2.25 0.00 0.000 4 0.000 0.050 2809 1240 3564 0 0 0 0 0 0

1293 -0.76 -146.0 200.5 -15.4 167 1297 0.00 2.33 0.00 0.000 6 0.000 0.057 2798 2674 3564 0 0 0 0 0 0

1429 -0.76 -146.0 222.0 -15.8 179 1433 0.00 1.73 0.00 0.000 4 0.000 0.061 2790 3763 3564 0 0 0 0 0 0

1455 -0.76 -146.0 227.1 -17.6 181 1465 0.08 1.73 0.00 0.000 6 0.147 0.041 2815 2672 3564 0 0 0 0 0 0

1591 -0.76 -146.0 246.6 -14.3 194 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2670 3564 0 0 0 0 0 0

1716 -0.76 -146.0 263.8 -13.5 206 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2670 3564 0 0 0 0 0 0

1907 -0.76 -146.0 290.3 -14.2 224 1910 0.00 1.77 0.00 0.000 4 0.000 0.063 2808 3768 3564 0 0 0 0 0 0

1922 -0.76 -146.0 292.7 -14.2 225 1930 0.00 1.73 0.00 0.000 6 0.000 0.043 2808 2686 3564 0 0 0 0 0 0

2121 -0.76 -146.0 322.4 -15.4 244 2124 0.00 1.75 0.00 0.000 4 0.000 0.063 2800 3764 3564 0 0 0 0 0 0

2147 -0.76 -146.0 327.1 -16.3 246 2156 0.00 1.70 0.00 0.000 6 0.000 0.041 2800 2695 3564 0 0 0 0 0 0

2346 -0.76 -146.0 357.0 -14.8 265 2350 0.00 1.73 0.00 0.000 4 0.000 0.062 2791 3763 3564 0 0 0 0 0 0

2373 -0.76 -146.0 361.5 -15.0 267 2380 0.00 1.70 0.00 0.000 6 0.000 0.042 2791 2694 3564 0 0 0 0 0 0

2475 end dive: TARGET_DEPTH_EXCEEDED

state 2475 begin apogee

2480 -0.17 0.0 377.1 15.2 277 2618 0.65 0.00 131.10 1.027 4 0.130 0.000 3000 2481 2961 0 0 0 0 0 0

2619 end apogee: CONTROL_FINISHED_OK

state 2619 begin climb

2620 0.76 146.0 383.2 0.0 289 2775 0.98 2.47 145.52 0.946 4 0.073 0.048 3312 1092 2365 0 0 0 0 0 0

2892 0.76 146.0 358.9 11.9 313 2899 0.00 2.45 0.00 0.000 6 0.000 0.051 3312 2498 2354 0 0 0 0 0 0

3091 0.76 146.0 335.6 12.1 332 3095 0.00 2.28 0.00 0.000 4 0.000 0.049 3322 1093 2351 0 0 0 0 0 0

3224 0.76 146.0 319.6 11.7 343 3231 0.00 2.35 0.00 0.000 6 0.000 0.054 3322 2517 2348 0 0 0 0 0 0

3423 0.76 146.0 294.9 12.7 362 3426 0.00 2.00 0.00 0.000 4 0.000 0.060 3322 3771 2348 0 0 0 0 0 0

3505 0.76 146.0 282.4 15.0 369 3513 0.00 1.98 0.00 0.000 6 0.000 0.042 3332 2535 2347 0 0 0 0 0 0

3704 0.76 146.0 256.2 13.7 388 3707 0.00 1.98 0.00 0.000 4 0.000 0.058 3332 3765 2346 0 0 0 0 0 0

3730 0.76 146.0 252.0 14.8 390 3739 0.10 1.95 0.00 0.000 6 0.142 0.041 3309 2540 2346 0 0 0 0 0 0

3930 0.76 146.0 228.6 11.0 409 3933 0.00 1.98 0.00 0.000 4 0.000 0.060 3309 3764 2346 0 0 0 0 0 0

3976 0.76 146.0 222.8 13.1 413 3980 0.00 1.88 0.00 0.000 6 0.000 0.041 3316 2555 2346 0 0 0 0 0 0

4117 0.76 146.0 207.2 11.0 426 4118 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2553 2346 0 0 0 0 0 0

4243 0.76 146.0 192.7 11.5 438 4247 0.00 1.95 0.00 0.000 4 0.000 0.060 3316 3766 2346 0 0 0 0 0 0

4289 0.76 146.0 186.8 14.1 442 4293 0.00 1.88 0.00 0.000 6 0.000 0.041 3326 2555 2346 0 0 0 0 0 0

4432 0.76 146.0 169.9 11.6 455 4436 0.00 1.95 0.00 0.000 4 0.000 0.060 3325 3765 2346 0 0 0 0 0 0

4456 0.76 146.0 166.4 13.1 457 4459 0.00 1.88 0.00 0.000 6 0.000 0.041 3335 2555 2345 0 0 0 0 0 0

4597 0.76 146.0 148.9 12.5 470 4600 0.00 1.95 0.00 0.000 4 0.000 0.060 3335 3764 2345 0 0 0 0 0 0

4633 0.76 146.0 143.9 14.0 473 4638 0.12 1.85 0.00 0.000 6 0.163 0.041 3310 2568 2345 0 0 0 0 0 0

4775 0.76 146.0 128.0 10.6 486 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2566 2345 0 0 0 0 0 0

4910 0.76 146.0 112.7 11.4 499 4914 0.00 1.95 0.00 0.000 4 0.000 0.061 3310 3774 2345 0 0 0 0 0 0

4945 0.76 146.0 108.1 14.0 502 4949 0.00 1.85 0.00 0.000 6 0.000 0.043 3318 2578 2345 0 0 0 0 0 0

5084 0.76 146.0 91.4 11.8 520 5091 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2576 2345 0 0 0 0 0 0

5228 0.76 146.0 74.6 11.7 545 5235 0.00 1.98 0.00 0.000 4 0.000 0.061 3318 3771 2344 0 0 0 0 0 0

5276 0.76 146.0 68.2 13.2 553 5283 0.00 1.85 0.00 0.000 6 0.000 0.042 3327 2581 2344 0 0 0 0 0 0

5417 0.76 146.0 50.7 12.4 578 5425 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2580 2344 0 0 0 0 0 0

5562 0.76 146.0 33.1 11.7 603 5568 0.00 1.92 0.00 0.000 4 0.000 0.061 3327 3767 2344 0 0 0 0 0 0

5624 0.76 146.0 23.7 14.6 614 5633 0.00 1.85 0.00 0.000 6 0.000 0.042 3336 2603 2344 0 0 0 0 0 0

5773 0.76 146.0 4.3 13.6 639 5780 0.00 1.90 0.00 0.000 4 0.000 0.060 3336 3776 2344 0 0 0 0 0 0

5787 end climb: SURFACE_DEPTH_REACHED

state 5788 begin surface coast

5813 end surface coast: CONTROL_FINISHED_OK

state 5813 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	306	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	30	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	24	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	-30524.723	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	231210,001546,-7632.495,17424.992,10,2.8,29,126.2	TGT_NAME	POLYNYA2
_CALLS	2	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231210,002436,-7632.452,17424.926,13,1.2,29,126.2	MHEAD_RNG_PITCHd_Wd	348.0,144937,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	376

FREEZE	1.26,-0.317,-1.888,2,1,0	_24V_AH	20.5,55.119
FINISH	1.3,1.027625	_10V_AH	9.7,35.786
SM_CCo	5830,75.57,0.102,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.21,0.00,0.00,75.57,0.000,0.000,0.102,428,2635,1736,-8.24,-0.42,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17416.44,231210,000012	MEM	258096
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43701,645
HUMID	52.75	CAP_FILE_SIZE	94970,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,234278912
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.096,322.8,1
ALTIM_TOP_PING	19.4,17.7	GPS	231210,020437,-7632.526,17426.949,31,0.8,31,126.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.94	SBE_CT	452	24	222.78
Roll_motor	80	62	104.10	AA4330	832	33	563.11
VBD_pump_during_apogee	276	1026	5821.83	WL_BBFL2VMT	916	105	1971.95
VBD_pump_during_surface	75	101	157.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	109.01	nil	0	0	0.00
Iridium_during_connect	111	160	366.40	nil	0	0	0.00
Iridium_during_xfer	179	223	821.52	nil	0	0	0.00
Transponder_ping	1	420	12.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	30	50	14.90
TT8	1644	19	315.90
LPSleep	2209	2	46.94
TT8_Active	476	19	91.54
TT8_Sampling	1944	39	750.77
TT8_CF8	169	45	75.25
TT8_Kalman	0	0	0.00
Analog_circuits	1146	12	133.42
GPS_charging	0	0	0.00
Compass	1075	15	156.41
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.76	-146.0	0.0	0.0	0	97	0.00	0.00	-79.70	0.000	2	0.000	0.000	420	2616	3196	0	0	0	0	0	0
100	-0.76	-146.0	3.1	-1.1	12	123	8.93	0.00	-11.85	0.000	6	0.198	0.000	2806	2615	3559	0	0	0	0	0	0
261	-0.76	-146.0	28.0	-16.5	39	267	0.00	1.88	0.00	0.000	4	0.000	0.063	2799	3763	3563	0	0	0	0	0	0
342	-0.76	-146.0	42.2	-16.8	53	349	0.00	1.77	0.00	0.000	6	0.000	0.043	2799	2629	3563	0	0	0	0	0	0
484	-0.76	-146.0	66.8	-17.4	78	492	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2626	3563	0	0	0	0	0	0
627	-0.76	-146.0	91.1	-17.7	103	633	0.00	1.85	0.00	0.000	4	0.000	0.063	2790	3763	3564	0	0	0	0	0	0
663	-0.76	-146.0	97.6	-17.7	109	670	0.00	1.77	0.00	0.000	6	0.000	0.043	2790	2626	3564	0	0	0	0	0	0
807	-0.76	-146.0	122.6	-17.5	123	808	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2623	3564	0	0	0	0	0	0
933	-0.76	-146.0	144.7	-17.2	135	937	0.00	1.85	0.00	0.000	4	0.000	0.063	2782	3769	3564	0	0	0	0	0	0
968	-0.76	-146.0	151.2	-18.6	138	973	0.12	1.73	0.00	0.000	6	0.162	0.043	2816	2654	3564	0	0	0	0	0	0
1111	-0.76	-146.0	172.6	-14.4	151	1115	0.00	1.80	0.00	0.000	4	0.000	0.062	2808	3767	3564	0	0	0	0	0	0
1136	-0.76	-146.0	177.4	-15.6	153	1146	0.00	1.73	0.00	0.000	6	0.000	0.042	2809	2679	3564	0	0	0	0	0	0
1273	-0.76	-146.0	197.6	-15.5	166	1277	0.00	2.25	0.00	0.000	4	0.000	0.050	2809	1240	3564	0	0	0	0	0	0
1293	-0.76	-146.0	200.5	-15.4	167	1297	0.00	2.33	0.00	0.000	6	0.000	0.057	2798	2674	3564	0	0	0	0	0	0
1429	-0.76	-146.0	222.0	-15.8	179	1433	0.00	1.73	0.00	0.000	4	0.000	0.061	2790	3763	3564	0	0	0	0	0	0
1455	-0.76	-146.0	227.1	-17.6	181	1465	0.08	1.73	0.00	0.000	6	0.147	0.041	2815	2672	3564	0	0	0	0	0	0
1591	-0.76	-146.0	246.6	-14.3	194	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2670	3564	0	0	0	0	0	0
1716	-0.76	-146.0	263.8	-13.5	206	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2670	3564	0	0	0	0	0	0
1907	-0.76	-146.0	290.3	-14.2	224	1910	0.00	1.77	0.00	0.000	4	0.000	0.063	2808	3768	3564	0	0	0	0	0	0
1922	-0.76	-146.0	292.7	-14.2	225	1930	0.00	1.73	0.00	0.000	6	0.000	0.043	2808	2686	3564	0	0	0	0	0	0
2121	-0.76	-146.0	322.4	-15.4	244	2124	0.00	1.75	0.00	0.000	4	0.000	0.063	2800	3764	3564	0	0	0	0	0	0
2147	-0.76	-146.0	327.1	-16.3	246	2156	0.00	1.70	0.00	0.000	6	0.000	0.041	2800	2695	3564	0	0	0	0	0	0
2346	-0.76	-146.0	357.0	-14.8	265	2350	0.00	1.73	0.00	0.000	4	0.000	0.062	2791	3763	3564	0	0	0	0	0	0
2373	-0.76	-146.0	361.5	-15.0	267	2380	0.00	1.70	0.00	0.000	6	0.000	0.042	2791	2694	3564	0	0	0	0	0	0
2475	end dive: TARGET_DEPTH_EXCEEDED
state	2475	begin apogee
2480	-0.17	0.0	377.1	15.2	277	2618	0.65	0.00	131.10	1.027	4	0.130	0.000	3000	2481	2961	0	0	0	0	0	0
2619	end apogee: CONTROL_FINISHED_OK
state	2619	begin climb
2620	0.76	146.0	383.2	0.0	289	2775	0.98	2.47	145.52	0.946	4	0.073	0.048	3312	1092	2365	0	0	0	0	0	0
2892	0.76	146.0	358.9	11.9	313	2899	0.00	2.45	0.00	0.000	6	0.000	0.051	3312	2498	2354	0	0	0	0	0	0
3091	0.76	146.0	335.6	12.1	332	3095	0.00	2.28	0.00	0.000	4	0.000	0.049	3322	1093	2351	0	0	0	0	0	0
3224	0.76	146.0	319.6	11.7	343	3231	0.00	2.35	0.00	0.000	6	0.000	0.054	3322	2517	2348	0	0	0	0	0	0
3423	0.76	146.0	294.9	12.7	362	3426	0.00	2.00	0.00	0.000	4	0.000	0.060	3322	3771	2348	0	0	0	0	0	0
3505	0.76	146.0	282.4	15.0	369	3513	0.00	1.98	0.00	0.000	6	0.000	0.042	3332	2535	2347	0	0	0	0	0	0
3704	0.76	146.0	256.2	13.7	388	3707	0.00	1.98	0.00	0.000	4	0.000	0.058	3332	3765	2346	0	0	0	0	0	0
3730	0.76	146.0	252.0	14.8	390	3739	0.10	1.95	0.00	0.000	6	0.142	0.041	3309	2540	2346	0	0	0	0	0	0
3930	0.76	146.0	228.6	11.0	409	3933	0.00	1.98	0.00	0.000	4	0.000	0.060	3309	3764	2346	0	0	0	0	0	0
3976	0.76	146.0	222.8	13.1	413	3980	0.00	1.88	0.00	0.000	6	0.000	0.041	3316	2555	2346	0	0	0	0	0	0
4117	0.76	146.0	207.2	11.0	426	4118	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2553	2346	0	0	0	0	0	0
4243	0.76	146.0	192.7	11.5	438	4247	0.00	1.95	0.00	0.000	4	0.000	0.060	3316	3766	2346	0	0	0	0	0	0
4289	0.76	146.0	186.8	14.1	442	4293	0.00	1.88	0.00	0.000	6	0.000	0.041	3326	2555	2346	0	0	0	0	0	0
4432	0.76	146.0	169.9	11.6	455	4436	0.00	1.95	0.00	0.000	4	0.000	0.060	3325	3765	2346	0	0	0	0	0	0
4456	0.76	146.0	166.4	13.1	457	4459	0.00	1.88	0.00	0.000	6	0.000	0.041	3335	2555	2345	0	0	0	0	0	0
4597	0.76	146.0	148.9	12.5	470	4600	0.00	1.95	0.00	0.000	4	0.000	0.060	3335	3764	2345	0	0	0	0	0	0
4633	0.76	146.0	143.9	14.0	473	4638	0.12	1.85	0.00	0.000	6	0.163	0.041	3310	2568	2345	0	0	0	0	0	0
4775	0.76	146.0	128.0	10.6	486	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2566	2345	0	0	0	0	0	0
4910	0.76	146.0	112.7	11.4	499	4914	0.00	1.95	0.00	0.000	4	0.000	0.061	3310	3774	2345	0	0	0	0	0	0
4945	0.76	146.0	108.1	14.0	502	4949	0.00	1.85	0.00	0.000	6	0.000	0.043	3318	2578	2345	0	0	0	0	0	0
5084	0.76	146.0	91.4	11.8	520	5091	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2576	2345	0	0	0	0	0	0
5228	0.76	146.0	74.6	11.7	545	5235	0.00	1.98	0.00	0.000	4	0.000	0.061	3318	3771	2344	0	0	0	0	0	0
5276	0.76	146.0	68.2	13.2	553	5283	0.00	1.85	0.00	0.000	6	0.000	0.042	3327	2581	2344	0	0	0	0	0	0
5417	0.76	146.0	50.7	12.4	578	5425	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2580	2344	0	0	0	0	0	0
5562	0.76	146.0	33.1	11.7	603	5568	0.00	1.92	0.00	0.000	4	0.000	0.061	3327	3767	2344	0	0	0	0	0	0
5624	0.76	146.0	23.7	14.6	614	5633	0.00	1.85	0.00	0.000	6	0.000	0.042	3336	2603	2344	0	0	0	0	0	0
5773	0.76	146.0	4.3	13.6	639	5780	0.00	1.90	0.00	0.000	4	0.000	0.060	3336	3776	2344	0	0	0	0	0	0
5787	end climb: SURFACE_DEPTH_REACHED
state	5788	begin surface coast
5813	end surface coast: CONTROL_FINISHED_OK
state	5813	begin surface