Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 320 * 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 320 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 39 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 -30542.33 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 -30542.33

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 39 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 320 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 241210,012119,-7632.210,17512.398,9,1.2,14,125.0 TGT_NAME POLYNYA2

_CALLS 1 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241210,012806,-7632.196,17512.400,37,1.0,37,125.0 MHEAD_RNG_PITCHd_Wd 325.2,124407,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 379

Post-dive calculations and measurements:

FREEZE 1.32,-0.513,-0.999,2,1,0 _24V_AH 20.4,56.655

FINISH 1.3,1.014757 _10V_AH 9.7,36.957

SM_CCo 5836,80.55,0.722,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.27,0.00,0.00,80.55,0.000,0.000,0.722,422,2662,1737,-8.26,0.34,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17504.21,231210,232312 MEM 258164

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43788,653

HUMID 52.75 CAP_FILE_SIZE 97645,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,233549824

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

XPDR_PINGS 0 CURRENT 0.042,216.6,1

ALTIM_TOP_PING 19.7,18.8 GPS 241210,030822,-7632.330,17515.234,11,3.1,30,124.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 197 74.59 SBE_CT 458 24 224.52

Roll_motor 87 113 203.70 AA4330 843 33 567.89

VBD_pump_during_apogee 276 1025 5787.54 WL_BBFL2VMT 910 105 1950.31

VBD_pump_during_surface 80 722 1186.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 62.46 nil 0 0 0.00

Iridium_during_connect 36 160 119.97 nil 0 0 0.00

Iridium_during_xfer 213 223 970.91 nil 0 0 0.00

Transponder_ping 1 420 8.57 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 37 50 18.39

TT8 1676 19 321.90

LPSleep 2089 2 44.38

TT8_Active 489 19 94.01

TT8_Sampling 1910 39 737.46

TT8_CF8 171 45 76.35

TT8_Kalman 0 0 0.00

Analog_circuits 1184 12 137.84

GPS_charging 0 0 0.00

Compass 1105 15 160.82

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 99 0.00 0.00 -80.28 0.000 2 0.000 0.000 411 2640 3213 0 0 0 0 0 0

101 -0.76 -146.0 3.1 -0.7 12 131 8.85 1.90 -11.02 0.000 4 0.197 0.079 2803 3765 3560 0 0 0 0 0 0

268 -0.76 -146.0 30.3 -16.9 41 276 0.00 1.77 0.00 0.000 6 0.000 0.043 2803 2631 3562 0 0 0 0 0 0

406 -0.76 -146.0 52.9 -16.3 66 414 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2629 3563 0 0 0 0 0 0

547 -0.76 -146.0 75.4 -16.6 91 554 0.00 1.85 0.00 0.000 4 0.000 0.063 2795 3763 3563 0 0 0 0 0 0

594 -0.76 -146.0 83.6 -17.1 99 601 0.00 1.77 0.00 0.000 6 0.000 0.043 2796 2627 3563 0 0 0 0 0 0

738 -0.76 -146.0 107.9 -16.7 121 739 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2625 3564 0 0 0 0 0 0

865 -0.76 -146.0 129.6 -17.1 133 869 0.00 1.85 0.00 0.000 4 0.000 0.063 2786 3769 3564 0 0 0 0 0 0

914 -0.76 -146.0 138.8 -17.7 137 924 0.08 1.77 0.00 0.000 6 0.145 0.042 2812 2656 3564 0 0 0 0 0 0

1051 -0.76 -146.0 159.7 -15.5 150 1055 0.00 2.20 0.00 0.000 4 0.000 0.049 2812 1248 3564 0 0 0 0 0 0

1081 -0.76 -146.0 164.5 -15.5 152 1086 0.00 2.28 0.00 0.000 6 0.000 0.056 2803 2655 3564 0 0 0 0 0 0

1218 -0.76 -146.0 185.4 -15.1 164 1221 0.00 1.77 0.00 0.000 4 0.000 0.061 2794 3770 3563 0 0 0 0 0 0

1288 -0.76 -146.0 197.6 -15.7 170 1297 0.00 1.75 0.00 0.000 6 0.000 0.042 2794 2670 3564 0 0 0 0 0 0

1424 -0.76 -146.0 218.9 -16.5 183 1428 0.00 2.25 0.00 0.000 4 0.000 0.050 2794 1232 3563 0 0 0 0 0 0

1444 -0.76 -146.0 222.9 -16.5 184 1455 0.08 2.38 0.00 0.000 6 0.125 0.056 2810 2666 3564 0 0 0 0 0 0

1580 -0.76 -146.0 242.1 -14.2 197 1584 0.00 1.75 0.00 0.000 4 0.000 0.061 2803 3763 3564 0 0 0 0 0 0

1627 -0.76 -146.0 249.3 -15.6 201 1635 0.00 1.70 0.00 0.000 6 0.000 0.042 2803 2666 3563 0 0 0 0 0 0

1769 -0.76 -146.0 271.0 -15.1 214 1770 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2665 3564 0 0 0 0 0 0

1961 -0.76 -146.0 298.7 -14.4 232 1962 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2665 3564 0 0 0 0 0 0

2152 -0.76 -146.0 326.5 -14.6 250 2155 0.00 1.80 0.00 0.000 4 0.000 0.063 2797 3773 3564 0 0 0 0 0 0

2200 -0.76 -146.0 334.5 -15.7 254 2208 0.00 1.75 0.00 0.000 6 0.000 0.043 2797 2679 3563 0 0 0 0 0 0

2399 -0.76 -146.0 364.5 -15.3 273 2403 0.00 1.77 0.00 0.000 4 0.000 0.063 2788 3770 3563 0 0 0 0 0 0

2433 -0.76 -146.0 370.1 -16.5 276 2437 0.10 1.70 0.00 0.000 6 0.171 0.043 2813 2676 3563 0 0 0 0 0 0

2496 end dive: TARGET_DEPTH_EXCEEDED

state 2496 begin apogee

2501 -0.17 0.0 379.4 13.9 282 2639 0.57 0.00 131.15 1.026 4 0.125 0.000 3002 2493 2960 0 0 0 0 0 0

2640 end apogee: CONTROL_FINISHED_OK

state 2640 begin climb

2642 0.76 146.0 385.2 0.0 294 2796 0.95 2.50 145.40 0.941 4 0.073 0.048 3307 1104 2364 0 0 0 0 0 0

2914 0.76 146.0 361.7 11.4 319 2919 0.00 2.45 0.00 0.000 6 0.000 0.050 3307 2503 2353 0 0 0 0 0 0

3114 0.76 146.0 338.1 11.6 337 3118 0.00 2.28 0.00 0.000 4 0.000 0.050 3315 1096 2350 0 0 0 0 0 0

3243 0.76 146.0 322.9 11.3 348 3247 0.00 2.30 0.00 0.000 6 0.000 0.051 3315 2517 2348 0 0 0 0 0 0

3441 0.76 146.0 299.0 12.3 366 3445 0.00 2.00 0.00 0.000 4 0.000 0.058 3315 3773 2347 0 0 0 0 0 0

3535 0.76 146.0 285.5 13.9 374 3543 0.00 1.98 0.00 0.000 6 0.000 0.042 3324 2532 2346 0 0 0 0 0 0

3733 0.76 146.0 260.8 12.5 393 3737 0.00 1.98 0.00 0.000 4 0.000 0.058 3324 3767 2346 0 0 0 0 0 0

3760 0.76 146.0 256.9 13.9 395 3767 0.00 1.98 0.00 0.000 6 0.000 0.041 3334 2526 2346 0 0 0 0 0 0

3960 0.76 146.0 231.1 13.3 414 3963 0.00 2.00 0.00 0.000 4 0.000 0.060 3333 3765 2346 0 0 0 0 0 0

3985 0.76 146.0 227.1 13.9 416 3995 0.08 1.95 0.00 0.000 6 0.145 0.041 3318 2543 2346 0 0 0 0 0 0

4122 0.76 146.0 210.5 11.8 429 4126 0.00 1.98 0.00 0.000 4 0.000 0.060 3318 3765 2345 0 0 0 0 0 0

4148 0.76 146.0 206.7 13.1 431 4157 0.00 1.95 0.00 0.000 6 0.000 0.041 3326 2535 2346 0 0 0 0 0 0

4284 0.76 146.0 190.4 11.8 444 4288 0.00 1.98 0.00 0.000 4 0.000 0.060 3326 3766 2345 0 0 0 0 0 0

4309 0.76 146.0 187.2 13.3 446 4313 0.00 1.90 0.00 0.000 6 0.000 0.041 3335 2544 2345 0 0 0 0 0 0

4450 0.76 146.0 168.6 12.8 459 4453 0.00 1.98 0.00 0.000 4 0.000 0.060 3335 3764 2345 0 0 0 0 0 0

4485 0.76 146.0 163.6 14.4 462 4489 0.12 1.88 0.00 0.000 6 0.164 0.041 3310 2555 2344 0 0 0 0 0 0

4627 0.76 146.0 146.9 11.5 475 4631 0.00 1.98 0.00 0.000 4 0.000 0.062 3311 3772 2344 0 0 0 0 0 0

4651 0.76 146.0 143.8 11.9 477 4654 0.00 1.88 0.00 0.000 6 0.000 0.043 3318 2564 2344 0 0 0 0 0 0

4792 0.76 146.0 127.0 11.7 490 4793 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2562 2344 0 0 0 0 0 0

4919 0.76 146.0 112.3 11.8 502 4923 0.00 1.95 0.00 0.000 4 0.000 0.060 3318 3764 2344 0 0 0 0 0 0

4955 0.76 146.0 107.0 14.0 505 4965 0.00 1.90 0.00 0.000 6 0.000 0.041 3327 2563 2344 0 0 0 0 0 0

5093 0.76 146.0 90.7 12.0 525 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2563 2344 0 0 0 0 0 0

5230 0.76 146.0 73.9 11.8 550 5238 0.00 2.00 0.00 0.000 4 0.000 0.060 3328 3765 2343 0 0 0 0 0 0

5277 0.76 146.0 67.4 13.6 558 5285 0.00 1.88 0.00 0.000 6 0.000 0.042 3337 2581 2343 0 0 0 0 0 0

5418 0.76 146.0 49.7 12.3 583 5424 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2581 2343 0 0 0 0 0 0

5552 0.76 146.0 32.2 12.4 608 5560 0.00 1.95 0.00 0.000 4 0.000 0.060 3337 3758 2343 0 0 0 0 0 0

5595 0.76 146.0 26.4 14.6 615 5603 0.12 1.85 0.00 0.000 6 0.164 0.043 3312 2575 2343 0 0 0 0 0 0

5734 0.76 146.0 9.9 11.1 640 5742 0.00 2.38 0.00 0.000 4 0.000 0.050 3321 1090 2343 0 0 0 0 0 0

5756 0.76 146.0 7.4 11.8 643 5763 0.00 2.42 0.00 0.000 6 0.000 0.053 3321 2585 2342 0 0 0 0 0 0

5794 end climb: SURFACE_DEPTH_REACHED

state 5794 begin surface coast

5820 end surface coast: CONTROL_FINISHED_OK

state 5820 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	320	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	39	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	-30542.33	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	241210,012119,-7632.210,17512.398,9,1.2,14,125.0	TGT_NAME	POLYNYA2
_CALLS	1	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241210,012806,-7632.196,17512.400,37,1.0,37,125.0	MHEAD_RNG_PITCHd_Wd	325.2,124407,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	379

FREEZE	1.32,-0.513,-0.999,2,1,0	_24V_AH	20.4,56.655
FINISH	1.3,1.014757	_10V_AH	9.7,36.957
SM_CCo	5836,80.55,0.722,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.27,0.00,0.00,80.55,0.000,0.000,0.722,422,2662,1737,-8.26,0.34,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17504.21,231210,232312	MEM	258164
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43788,653
HUMID	52.75	CAP_FILE_SIZE	97645,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,233549824
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.042,216.6,1
ALTIM_TOP_PING	19.7,18.8	GPS	241210,030822,-7632.330,17515.234,11,3.1,30,124.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	197	74.59	SBE_CT	458	24	224.52
Roll_motor	87	113	203.70	AA4330	843	33	567.89
VBD_pump_during_apogee	276	1025	5787.54	WL_BBFL2VMT	910	105	1950.31
VBD_pump_during_surface	80	722	1186.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	62.46	nil	0	0	0.00
Iridium_during_connect	36	160	119.97	nil	0	0	0.00
Iridium_during_xfer	213	223	970.91	nil	0	0	0.00
Transponder_ping	1	420	8.57	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	37	50	18.39
TT8	1676	19	321.90
LPSleep	2089	2	44.38
TT8_Active	489	19	94.01
TT8_Sampling	1910	39	737.46
TT8_CF8	171	45	76.35
TT8_Kalman	0	0	0.00
Analog_circuits	1184	12	137.84
GPS_charging	0	0	0.00
Compass	1105	15	160.82
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	99	0.00	0.00	-80.28	0.000	2	0.000	0.000	411	2640	3213	0	0	0	0	0	0
101	-0.76	-146.0	3.1	-0.7	12	131	8.85	1.90	-11.02	0.000	4	0.197	0.079	2803	3765	3560	0	0	0	0	0	0
268	-0.76	-146.0	30.3	-16.9	41	276	0.00	1.77	0.00	0.000	6	0.000	0.043	2803	2631	3562	0	0	0	0	0	0
406	-0.76	-146.0	52.9	-16.3	66	414	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2629	3563	0	0	0	0	0	0
547	-0.76	-146.0	75.4	-16.6	91	554	0.00	1.85	0.00	0.000	4	0.000	0.063	2795	3763	3563	0	0	0	0	0	0
594	-0.76	-146.0	83.6	-17.1	99	601	0.00	1.77	0.00	0.000	6	0.000	0.043	2796	2627	3563	0	0	0	0	0	0
738	-0.76	-146.0	107.9	-16.7	121	739	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2625	3564	0	0	0	0	0	0
865	-0.76	-146.0	129.6	-17.1	133	869	0.00	1.85	0.00	0.000	4	0.000	0.063	2786	3769	3564	0	0	0	0	0	0
914	-0.76	-146.0	138.8	-17.7	137	924	0.08	1.77	0.00	0.000	6	0.145	0.042	2812	2656	3564	0	0	0	0	0	0
1051	-0.76	-146.0	159.7	-15.5	150	1055	0.00	2.20	0.00	0.000	4	0.000	0.049	2812	1248	3564	0	0	0	0	0	0
1081	-0.76	-146.0	164.5	-15.5	152	1086	0.00	2.28	0.00	0.000	6	0.000	0.056	2803	2655	3564	0	0	0	0	0	0
1218	-0.76	-146.0	185.4	-15.1	164	1221	0.00	1.77	0.00	0.000	4	0.000	0.061	2794	3770	3563	0	0	0	0	0	0
1288	-0.76	-146.0	197.6	-15.7	170	1297	0.00	1.75	0.00	0.000	6	0.000	0.042	2794	2670	3564	0	0	0	0	0	0
1424	-0.76	-146.0	218.9	-16.5	183	1428	0.00	2.25	0.00	0.000	4	0.000	0.050	2794	1232	3563	0	0	0	0	0	0
1444	-0.76	-146.0	222.9	-16.5	184	1455	0.08	2.38	0.00	0.000	6	0.125	0.056	2810	2666	3564	0	0	0	0	0	0
1580	-0.76	-146.0	242.1	-14.2	197	1584	0.00	1.75	0.00	0.000	4	0.000	0.061	2803	3763	3564	0	0	0	0	0	0
1627	-0.76	-146.0	249.3	-15.6	201	1635	0.00	1.70	0.00	0.000	6	0.000	0.042	2803	2666	3563	0	0	0	0	0	0
1769	-0.76	-146.0	271.0	-15.1	214	1770	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2665	3564	0	0	0	0	0	0
1961	-0.76	-146.0	298.7	-14.4	232	1962	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2665	3564	0	0	0	0	0	0
2152	-0.76	-146.0	326.5	-14.6	250	2155	0.00	1.80	0.00	0.000	4	0.000	0.063	2797	3773	3564	0	0	0	0	0	0
2200	-0.76	-146.0	334.5	-15.7	254	2208	0.00	1.75	0.00	0.000	6	0.000	0.043	2797	2679	3563	0	0	0	0	0	0
2399	-0.76	-146.0	364.5	-15.3	273	2403	0.00	1.77	0.00	0.000	4	0.000	0.063	2788	3770	3563	0	0	0	0	0	0
2433	-0.76	-146.0	370.1	-16.5	276	2437	0.10	1.70	0.00	0.000	6	0.171	0.043	2813	2676	3563	0	0	0	0	0	0
2496	end dive: TARGET_DEPTH_EXCEEDED
state	2496	begin apogee
2501	-0.17	0.0	379.4	13.9	282	2639	0.57	0.00	131.15	1.026	4	0.125	0.000	3002	2493	2960	0	0	0	0	0	0
2640	end apogee: CONTROL_FINISHED_OK
state	2640	begin climb
2642	0.76	146.0	385.2	0.0	294	2796	0.95	2.50	145.40	0.941	4	0.073	0.048	3307	1104	2364	0	0	0	0	0	0
2914	0.76	146.0	361.7	11.4	319	2919	0.00	2.45	0.00	0.000	6	0.000	0.050	3307	2503	2353	0	0	0	0	0	0
3114	0.76	146.0	338.1	11.6	337	3118	0.00	2.28	0.00	0.000	4	0.000	0.050	3315	1096	2350	0	0	0	0	0	0
3243	0.76	146.0	322.9	11.3	348	3247	0.00	2.30	0.00	0.000	6	0.000	0.051	3315	2517	2348	0	0	0	0	0	0
3441	0.76	146.0	299.0	12.3	366	3445	0.00	2.00	0.00	0.000	4	0.000	0.058	3315	3773	2347	0	0	0	0	0	0
3535	0.76	146.0	285.5	13.9	374	3543	0.00	1.98	0.00	0.000	6	0.000	0.042	3324	2532	2346	0	0	0	0	0	0
3733	0.76	146.0	260.8	12.5	393	3737	0.00	1.98	0.00	0.000	4	0.000	0.058	3324	3767	2346	0	0	0	0	0	0
3760	0.76	146.0	256.9	13.9	395	3767	0.00	1.98	0.00	0.000	6	0.000	0.041	3334	2526	2346	0	0	0	0	0	0
3960	0.76	146.0	231.1	13.3	414	3963	0.00	2.00	0.00	0.000	4	0.000	0.060	3333	3765	2346	0	0	0	0	0	0
3985	0.76	146.0	227.1	13.9	416	3995	0.08	1.95	0.00	0.000	6	0.145	0.041	3318	2543	2346	0	0	0	0	0	0
4122	0.76	146.0	210.5	11.8	429	4126	0.00	1.98	0.00	0.000	4	0.000	0.060	3318	3765	2345	0	0	0	0	0	0
4148	0.76	146.0	206.7	13.1	431	4157	0.00	1.95	0.00	0.000	6	0.000	0.041	3326	2535	2346	0	0	0	0	0	0
4284	0.76	146.0	190.4	11.8	444	4288	0.00	1.98	0.00	0.000	4	0.000	0.060	3326	3766	2345	0	0	0	0	0	0
4309	0.76	146.0	187.2	13.3	446	4313	0.00	1.90	0.00	0.000	6	0.000	0.041	3335	2544	2345	0	0	0	0	0	0
4450	0.76	146.0	168.6	12.8	459	4453	0.00	1.98	0.00	0.000	4	0.000	0.060	3335	3764	2345	0	0	0	0	0	0
4485	0.76	146.0	163.6	14.4	462	4489	0.12	1.88	0.00	0.000	6	0.164	0.041	3310	2555	2344	0	0	0	0	0	0
4627	0.76	146.0	146.9	11.5	475	4631	0.00	1.98	0.00	0.000	4	0.000	0.062	3311	3772	2344	0	0	0	0	0	0
4651	0.76	146.0	143.8	11.9	477	4654	0.00	1.88	0.00	0.000	6	0.000	0.043	3318	2564	2344	0	0	0	0	0	0
4792	0.76	146.0	127.0	11.7	490	4793	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2562	2344	0	0	0	0	0	0
4919	0.76	146.0	112.3	11.8	502	4923	0.00	1.95	0.00	0.000	4	0.000	0.060	3318	3764	2344	0	0	0	0	0	0
4955	0.76	146.0	107.0	14.0	505	4965	0.00	1.90	0.00	0.000	6	0.000	0.041	3327	2563	2344	0	0	0	0	0	0
5093	0.76	146.0	90.7	12.0	525	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2563	2344	0	0	0	0	0	0
5230	0.76	146.0	73.9	11.8	550	5238	0.00	2.00	0.00	0.000	4	0.000	0.060	3328	3765	2343	0	0	0	0	0	0
5277	0.76	146.0	67.4	13.6	558	5285	0.00	1.88	0.00	0.000	6	0.000	0.042	3337	2581	2343	0	0	0	0	0	0
5418	0.76	146.0	49.7	12.3	583	5424	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2581	2343	0	0	0	0	0	0
5552	0.76	146.0	32.2	12.4	608	5560	0.00	1.95	0.00	0.000	4	0.000	0.060	3337	3758	2343	0	0	0	0	0	0
5595	0.76	146.0	26.4	14.6	615	5603	0.12	1.85	0.00	0.000	6	0.164	0.043	3312	2575	2343	0	0	0	0	0	0
5734	0.76	146.0	9.9	11.1	640	5742	0.00	2.38	0.00	0.000	4	0.000	0.050	3321	1090	2343	0	0	0	0	0	0
5756	0.76	146.0	7.4	11.8	643	5763	0.00	2.42	0.00	0.000	6	0.000	0.053	3321	2585	2342	0	0	0	0	0	0
5794	end climb: SURFACE_DEPTH_REACHED
state	5794	begin surface coast
5820	end surface coast: CONTROL_FINISHED_OK
state	5820	begin surface