Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 312 * 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 312 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 29 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 -30532.27 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 -30532.27

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 34 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 29 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 312 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 231210,105437,-7632.583,17440.350,33,0.9,33,125.8 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 2.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231210,110032,-7632.564,17440.348,13,1.2,13,125.8 MHEAD_RNG_PITCHd_Wd 321.2,138280,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.27,-0.370,-0.259,2,1,0 _24V_AH 20.5,55.761

FINISH 1.3,1.003654 _10V_AH 9.8,36.281

SM_CCo 5772,75.85,0.101,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.16,0.00,0.00,75.85,0.000,0.000,0.101,435,2664,1736,-8.22,0.40,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17427.46,231210,090951 MEM 258164

TT8_MAMPS 0.028462 DATA_FILE_SIZE 43864,641

HUMID 52.44 CAP_FILE_SIZE 94499,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,233971712

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

XPDR_PINGS 3 CURRENT 0.064, 84.5,1

ALTIM_TOP_PING 19.8,18.1 GPS 231210,123914,-7632.512,17444.355,11,1.1,11,125.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.53 SBE_CT 449 24 221.27

Roll_motor 81 114 191.48 AA4330 827 33 559.57

VBD_pump_during_apogee 275 1025 5803.82 WL_BBFL2VMT 900 105 1939.02

VBD_pump_during_surface 75 100 157.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 58.77 nil 0 0 0.00

Iridium_during_connect 37 160 123.57 nil 0 0 0.00

Iridium_during_xfer 185 223 849.57 nil 0 0 0.00

Transponder_ping 1 420 15.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.10

TT8 1638 19 317.96

LPSleep 2087 2 44.79

TT8_Active 486 19 94.44

TT8_Sampling 1831 39 714.55

TT8_CF8 167 45 75.02

TT8_Kalman 0 0 0.00

Analog_circuits 1172 12 137.89

GPS_charging 0 0 0.00

Compass 1085 15 159.63

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 99 0.00 0.00 -80.30 0.000 2 0.000 0.000 426 2662 3210 0 0 0 0 0 0

102 -0.76 -146.0 3.2 -1.0 12 131 8.80 1.85 -11.15 0.000 4 0.198 0.081 2799 3755 3560 0 0 0 0 0 0

235 -0.76 -146.0 24.4 -15.5 34 244 0.00 1.77 0.00 0.000 6 0.000 0.044 2800 2644 3562 0 0 0 0 0 0

380 -0.76 -146.0 48.2 -16.5 59 386 0.00 0.00 0.00 0.000 6 0.000 0.000 2800 2643 3563 0 0 0 0 0 0

520 -0.76 -146.0 71.7 -15.9 84 528 0.00 1.85 0.00 0.000 4 0.000 0.063 2791 3757 3564 0 0 0 0 0 0

542 -0.76 -146.0 75.2 -17.4 87 549 0.00 1.75 0.00 0.000 6 0.000 0.043 2791 2659 3564 0 0 0 0 0 0

683 -0.76 -146.0 100.1 -17.1 112 684 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2659 3564 0 0 0 0 0 0

813 -0.76 -146.0 122.2 -17.8 124 817 0.00 1.77 0.00 0.000 4 0.000 0.063 2784 3757 3564 0 0 0 0 0 0

839 -0.76 -146.0 127.7 -18.2 126 850 0.08 1.75 0.00 0.000 6 0.145 0.043 2810 2654 3564 0 0 0 0 0 0

975 -0.76 -146.0 148.8 -15.0 139 976 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2654 3564 0 0 0 0 0 0

1102 -0.76 -146.0 168.0 -14.9 151 1105 0.00 1.80 0.00 0.000 4 0.000 0.063 2802 3761 3564 0 0 0 0 0 0

1148 -0.76 -146.0 175.3 -15.7 155 1152 0.00 1.70 0.00 0.000 6 0.000 0.042 2802 2666 3564 0 0 0 0 0 0

1288 -0.76 -146.0 197.8 -16.3 168 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2663 3564 0 0 0 0 0 0

1416 -0.76 -146.0 217.8 -15.5 180 1419 0.00 1.77 0.00 0.000 4 0.000 0.063 2794 3757 3564 0 0 0 0 0 0

1464 -0.76 -146.0 226.5 -16.7 184 1473 0.00 1.75 0.00 0.000 6 0.000 0.043 2794 2654 3564 0 0 0 0 0 0

1602 -0.76 -146.0 247.5 -15.9 197 1605 0.00 1.80 0.00 0.000 4 0.000 0.064 2786 3759 3564 0 0 0 0 0 0

1635 -0.76 -146.0 253.6 -17.4 200 1639 0.12 1.67 0.00 0.000 6 0.164 0.042 2819 2678 3564 0 0 0 0 0 0

1839 -0.76 -146.0 282.3 -13.6 219 1843 0.00 1.77 0.00 0.000 4 0.000 0.063 2813 3767 3564 0 0 0 0 0 0

1866 -0.76 -146.0 286.7 -14.8 221 1873 0.00 1.73 0.00 0.000 6 0.000 0.042 2813 2687 3564 0 0 0 0 0 0

2065 -0.76 -146.0 315.3 -14.9 240 2069 0.00 2.28 0.00 0.000 4 0.000 0.050 2812 1236 3564 0 0 0 0 0 0

2097 -0.76 -146.0 320.3 -14.9 242 2106 0.00 2.38 0.00 0.000 6 0.000 0.056 2802 2679 3564 0 0 0 0 0 0

2297 -0.76 -146.0 349.7 -14.9 261 2301 0.00 1.73 0.00 0.000 4 0.000 0.062 2795 3767 3564 0 0 0 0 0 0

2356 -0.76 -146.0 359.7 -15.3 266 2365 0.00 1.70 0.00 0.000 6 0.000 0.043 2795 2696 3564 0 0 0 0 0 0

2457 end dive: TARGET_DEPTH_EXCEEDED

state 2457 begin apogee

2462 -0.17 0.0 375.6 15.8 276 2600 0.65 0.00 130.90 1.026 4 0.126 0.000 3005 2481 2960 0 0 0 0 0 0

2600 end apogee: CONTROL_FINISHED_OK

state 2600 begin climb

2602 0.76 146.0 381.9 0.0 288 2757 0.95 2.47 145.07 0.942 4 0.072 0.048 3310 1101 2365 0 0 0 0 0 0

2869 0.76 146.0 360.3 10.5 312 2876 0.00 2.47 0.00 0.000 6 0.000 0.050 3311 2504 2354 0 0 0 0 0 0

3068 0.76 146.0 338.2 11.3 331 3072 0.00 2.28 0.00 0.000 4 0.000 0.049 3315 1097 2351 0 0 0 0 0 0

3201 0.76 146.0 323.0 10.7 342 3209 0.00 2.33 0.00 0.000 6 0.000 0.051 3315 2507 2349 0 0 0 0 0 0

3399 0.76 146.0 299.7 11.9 361 3403 0.00 2.03 0.00 0.000 4 0.000 0.060 3316 3778 2348 0 0 0 0 0 0

3478 0.76 146.0 288.6 14.8 368 3482 0.00 1.98 0.00 0.000 6 0.000 0.042 3325 2510 2348 0 0 0 0 0 0

3681 0.76 146.0 261.9 12.8 387 3684 0.00 2.05 0.00 0.000 4 0.000 0.059 3324 3780 2347 0 0 0 0 0 0

3760 0.76 146.0 250.2 14.9 394 3764 0.00 1.92 0.00 0.000 6 0.000 0.041 3334 2543 2347 0 0 0 0 0 0

3966 0.76 146.0 222.8 13.0 413 3970 0.00 1.98 0.00 0.000 4 0.000 0.060 3334 3770 2346 0 0 0 0 0 0

4003 0.76 146.0 217.0 15.2 416 4012 0.08 1.95 0.00 0.000 6 0.145 0.042 3319 2549 2346 0 0 0 0 0 0

4140 0.76 146.0 200.2 12.2 429 4144 0.00 1.98 0.00 0.000 4 0.000 0.060 3318 3768 2346 0 0 0 0 0 0

4186 0.76 146.0 193.8 14.2 433 4190 0.00 1.88 0.00 0.000 6 0.000 0.041 3326 2558 2346 0 0 0 0 0 0

4327 0.76 146.0 176.3 12.0 446 4331 0.00 1.95 0.00 0.000 4 0.000 0.060 3326 3769 2346 0 0 0 0 0 0

4363 0.76 146.0 171.6 13.9 449 4366 0.00 1.88 0.00 0.000 6 0.000 0.041 3336 2560 2346 0 0 0 0 0 0

4505 0.76 146.0 153.6 12.2 462 4513 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2559 2346 0 0 0 0 0 0

4640 0.76 146.0 136.7 12.2 475 4644 0.00 1.95 0.00 0.000 4 0.000 0.060 3335 3768 2345 0 0 0 0 0 0

4689 0.76 146.0 129.6 13.9 479 4698 0.08 1.90 0.00 0.000 6 0.143 0.043 3318 2576 2345 0 0 0 0 0 0

4826 0.76 146.0 113.7 11.7 492 4833 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2576 2345 0 0 0 0 0 0

4959 0.76 146.0 98.0 11.5 506 4968 0.00 1.98 0.00 0.000 4 0.000 0.060 3318 3770 2345 0 0 0 0 0 0

5008 0.76 146.0 91.6 13.7 514 5017 0.00 1.88 0.00 0.000 6 0.000 0.042 3326 2587 2344 0 0 0 0 0 0

5155 0.76 146.0 73.9 11.6 539 5161 0.00 1.92 0.00 0.000 4 0.000 0.062 3326 3768 2345 0 0 0 0 0 0

5185 0.76 146.0 69.8 13.3 544 5193 0.00 1.88 0.00 0.000 6 0.000 0.042 3335 2590 2344 0 0 0 0 0 0

5329 0.76 146.0 52.0 12.3 569 5336 0.00 1.92 0.00 0.000 4 0.000 0.061 3335 3771 2344 0 0 0 0 0 0

5359 0.76 146.0 47.5 14.0 574 5369 0.08 1.88 0.00 0.000 6 0.143 0.042 3318 2597 2344 0 0 0 0 0 0

5507 0.76 146.0 30.4 11.7 599 5513 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2597 2344 0 0 0 0 0 0

5648 0.76 146.0 13.9 11.1 624 5656 0.00 1.92 0.00 0.000 4 0.000 0.061 3317 3760 2344 0 0 0 0 0 0

5662 0.76 146.0 12.1 12.2 626 5671 0.00 1.83 0.00 0.000 6 0.000 0.042 3325 2610 2344 0 0 0 0 0 0

5741 end climb: SURFACE_DEPTH_REACHED

state 5741 begin surface coast

5756 end surface coast: FINISH_DEPTH_REACHED

state 5756 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	312	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	29	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	-30532.27	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	231210,105437,-7632.583,17440.350,33,0.9,33,125.8	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	2.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231210,110032,-7632.564,17440.348,13,1.2,13,125.8	MHEAD_RNG_PITCHd_Wd	321.2,138280,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	375

FREEZE	1.27,-0.370,-0.259,2,1,0	_24V_AH	20.5,55.761
FINISH	1.3,1.003654	_10V_AH	9.8,36.281
SM_CCo	5772,75.85,0.101,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.16,0.00,0.00,75.85,0.000,0.000,0.101,435,2664,1736,-8.22,0.40,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17427.46,231210,090951	MEM	258164
TT8_MAMPS	0.028462	DATA_FILE_SIZE	43864,641
HUMID	52.44	CAP_FILE_SIZE	94499,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,233971712
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.064, 84.5,1
ALTIM_TOP_PING	19.8,18.1	GPS	231210,123914,-7632.512,17444.355,11,1.1,11,125.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.53	SBE_CT	449	24	221.27
Roll_motor	81	114	191.48	AA4330	827	33	559.57
VBD_pump_during_apogee	275	1025	5803.82	WL_BBFL2VMT	900	105	1939.02
VBD_pump_during_surface	75	100	157.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	58.77	nil	0	0	0.00
Iridium_during_connect	37	160	123.57	nil	0	0	0.00
Iridium_during_xfer	185	223	849.57	nil	0	0	0.00
Transponder_ping	1	420	15.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.10
TT8	1638	19	317.96
LPSleep	2087	2	44.79
TT8_Active	486	19	94.44
TT8_Sampling	1831	39	714.55
TT8_CF8	167	45	75.02
TT8_Kalman	0	0	0.00
Analog_circuits	1172	12	137.89
GPS_charging	0	0	0.00
Compass	1085	15	159.63
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	99	0.00	0.00	-80.30	0.000	2	0.000	0.000	426	2662	3210	0	0	0	0	0	0
102	-0.76	-146.0	3.2	-1.0	12	131	8.80	1.85	-11.15	0.000	4	0.198	0.081	2799	3755	3560	0	0	0	0	0	0
235	-0.76	-146.0	24.4	-15.5	34	244	0.00	1.77	0.00	0.000	6	0.000	0.044	2800	2644	3562	0	0	0	0	0	0
380	-0.76	-146.0	48.2	-16.5	59	386	0.00	0.00	0.00	0.000	6	0.000	0.000	2800	2643	3563	0	0	0	0	0	0
520	-0.76	-146.0	71.7	-15.9	84	528	0.00	1.85	0.00	0.000	4	0.000	0.063	2791	3757	3564	0	0	0	0	0	0
542	-0.76	-146.0	75.2	-17.4	87	549	0.00	1.75	0.00	0.000	6	0.000	0.043	2791	2659	3564	0	0	0	0	0	0
683	-0.76	-146.0	100.1	-17.1	112	684	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2659	3564	0	0	0	0	0	0
813	-0.76	-146.0	122.2	-17.8	124	817	0.00	1.77	0.00	0.000	4	0.000	0.063	2784	3757	3564	0	0	0	0	0	0
839	-0.76	-146.0	127.7	-18.2	126	850	0.08	1.75	0.00	0.000	6	0.145	0.043	2810	2654	3564	0	0	0	0	0	0
975	-0.76	-146.0	148.8	-15.0	139	976	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2654	3564	0	0	0	0	0	0
1102	-0.76	-146.0	168.0	-14.9	151	1105	0.00	1.80	0.00	0.000	4	0.000	0.063	2802	3761	3564	0	0	0	0	0	0
1148	-0.76	-146.0	175.3	-15.7	155	1152	0.00	1.70	0.00	0.000	6	0.000	0.042	2802	2666	3564	0	0	0	0	0	0
1288	-0.76	-146.0	197.8	-16.3	168	1289	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2663	3564	0	0	0	0	0	0
1416	-0.76	-146.0	217.8	-15.5	180	1419	0.00	1.77	0.00	0.000	4	0.000	0.063	2794	3757	3564	0	0	0	0	0	0
1464	-0.76	-146.0	226.5	-16.7	184	1473	0.00	1.75	0.00	0.000	6	0.000	0.043	2794	2654	3564	0	0	0	0	0	0
1602	-0.76	-146.0	247.5	-15.9	197	1605	0.00	1.80	0.00	0.000	4	0.000	0.064	2786	3759	3564	0	0	0	0	0	0
1635	-0.76	-146.0	253.6	-17.4	200	1639	0.12	1.67	0.00	0.000	6	0.164	0.042	2819	2678	3564	0	0	0	0	0	0
1839	-0.76	-146.0	282.3	-13.6	219	1843	0.00	1.77	0.00	0.000	4	0.000	0.063	2813	3767	3564	0	0	0	0	0	0
1866	-0.76	-146.0	286.7	-14.8	221	1873	0.00	1.73	0.00	0.000	6	0.000	0.042	2813	2687	3564	0	0	0	0	0	0
2065	-0.76	-146.0	315.3	-14.9	240	2069	0.00	2.28	0.00	0.000	4	0.000	0.050	2812	1236	3564	0	0	0	0	0	0
2097	-0.76	-146.0	320.3	-14.9	242	2106	0.00	2.38	0.00	0.000	6	0.000	0.056	2802	2679	3564	0	0	0	0	0	0
2297	-0.76	-146.0	349.7	-14.9	261	2301	0.00	1.73	0.00	0.000	4	0.000	0.062	2795	3767	3564	0	0	0	0	0	0
2356	-0.76	-146.0	359.7	-15.3	266	2365	0.00	1.70	0.00	0.000	6	0.000	0.043	2795	2696	3564	0	0	0	0	0	0
2457	end dive: TARGET_DEPTH_EXCEEDED
state	2457	begin apogee
2462	-0.17	0.0	375.6	15.8	276	2600	0.65	0.00	130.90	1.026	4	0.126	0.000	3005	2481	2960	0	0	0	0	0	0
2600	end apogee: CONTROL_FINISHED_OK
state	2600	begin climb
2602	0.76	146.0	381.9	0.0	288	2757	0.95	2.47	145.07	0.942	4	0.072	0.048	3310	1101	2365	0	0	0	0	0	0
2869	0.76	146.0	360.3	10.5	312	2876	0.00	2.47	0.00	0.000	6	0.000	0.050	3311	2504	2354	0	0	0	0	0	0
3068	0.76	146.0	338.2	11.3	331	3072	0.00	2.28	0.00	0.000	4	0.000	0.049	3315	1097	2351	0	0	0	0	0	0
3201	0.76	146.0	323.0	10.7	342	3209	0.00	2.33	0.00	0.000	6	0.000	0.051	3315	2507	2349	0	0	0	0	0	0
3399	0.76	146.0	299.7	11.9	361	3403	0.00	2.03	0.00	0.000	4	0.000	0.060	3316	3778	2348	0	0	0	0	0	0
3478	0.76	146.0	288.6	14.8	368	3482	0.00	1.98	0.00	0.000	6	0.000	0.042	3325	2510	2348	0	0	0	0	0	0
3681	0.76	146.0	261.9	12.8	387	3684	0.00	2.05	0.00	0.000	4	0.000	0.059	3324	3780	2347	0	0	0	0	0	0
3760	0.76	146.0	250.2	14.9	394	3764	0.00	1.92	0.00	0.000	6	0.000	0.041	3334	2543	2347	0	0	0	0	0	0
3966	0.76	146.0	222.8	13.0	413	3970	0.00	1.98	0.00	0.000	4	0.000	0.060	3334	3770	2346	0	0	0	0	0	0
4003	0.76	146.0	217.0	15.2	416	4012	0.08	1.95	0.00	0.000	6	0.145	0.042	3319	2549	2346	0	0	0	0	0	0
4140	0.76	146.0	200.2	12.2	429	4144	0.00	1.98	0.00	0.000	4	0.000	0.060	3318	3768	2346	0	0	0	0	0	0
4186	0.76	146.0	193.8	14.2	433	4190	0.00	1.88	0.00	0.000	6	0.000	0.041	3326	2558	2346	0	0	0	0	0	0
4327	0.76	146.0	176.3	12.0	446	4331	0.00	1.95	0.00	0.000	4	0.000	0.060	3326	3769	2346	0	0	0	0	0	0
4363	0.76	146.0	171.6	13.9	449	4366	0.00	1.88	0.00	0.000	6	0.000	0.041	3336	2560	2346	0	0	0	0	0	0
4505	0.76	146.0	153.6	12.2	462	4513	0.00	0.00	0.00	0.000	6	0.000	0.000	3335	2559	2346	0	0	0	0	0	0
4640	0.76	146.0	136.7	12.2	475	4644	0.00	1.95	0.00	0.000	4	0.000	0.060	3335	3768	2345	0	0	0	0	0	0
4689	0.76	146.0	129.6	13.9	479	4698	0.08	1.90	0.00	0.000	6	0.143	0.043	3318	2576	2345	0	0	0	0	0	0
4826	0.76	146.0	113.7	11.7	492	4833	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2576	2345	0	0	0	0	0	0
4959	0.76	146.0	98.0	11.5	506	4968	0.00	1.98	0.00	0.000	4	0.000	0.060	3318	3770	2345	0	0	0	0	0	0
5008	0.76	146.0	91.6	13.7	514	5017	0.00	1.88	0.00	0.000	6	0.000	0.042	3326	2587	2344	0	0	0	0	0	0
5155	0.76	146.0	73.9	11.6	539	5161	0.00	1.92	0.00	0.000	4	0.000	0.062	3326	3768	2345	0	0	0	0	0	0
5185	0.76	146.0	69.8	13.3	544	5193	0.00	1.88	0.00	0.000	6	0.000	0.042	3335	2590	2344	0	0	0	0	0	0
5329	0.76	146.0	52.0	12.3	569	5336	0.00	1.92	0.00	0.000	4	0.000	0.061	3335	3771	2344	0	0	0	0	0	0
5359	0.76	146.0	47.5	14.0	574	5369	0.08	1.88	0.00	0.000	6	0.143	0.042	3318	2597	2344	0	0	0	0	0	0
5507	0.76	146.0	30.4	11.7	599	5513	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2597	2344	0	0	0	0	0	0
5648	0.76	146.0	13.9	11.1	624	5656	0.00	1.92	0.00	0.000	4	0.000	0.061	3317	3760	2344	0	0	0	0	0	0
5662	0.76	146.0	12.1	12.2	626	5671	0.00	1.83	0.00	0.000	6	0.000	0.042	3325	2610	2344	0	0	0	0	0	0
5741	end climb: SURFACE_DEPTH_REACHED
state	5741	begin surface coast
5756	end surface coast: FINISH_DEPTH_REACHED
state	5756	begin surface