Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 342 * 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 342 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 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 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 -30572.383 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 -30572.383

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 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 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 342 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 251210,170946,-7631.992,17631.352,11,2.3,30,123.1 TGT_NAME POLYNYA2

_CALLS 3 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251210,172046,-7631.918,17631.301,12,3.3,31,123.1 MHEAD_RNG_PITCHd_Wd 348.7,90299,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 392

Post-dive calculations and measurements:

FREEZE 1.29,-0.798,-1.663,2,1,0 _24V_AH 20.3,59.027

FINISH 1.3,1.024447 _10V_AH 9.7,38.816

SM_CCo 6019,75.53,0.101,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.16,0.00,0.00,75.53,0.000,0.000,0.101,432,2661,1736,-8.23,0.34,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17636.38,251210,171720 MEM 258164

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47044,677

HUMID 52.91 CAP_FILE_SIZE 97278,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,232374272

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 CURRENT 0.148,337.3,1

ALTIM_TOP_PING 20.0,18.3 GPS 251210,190406,-7631.751,17633.518,39,1.0,40,123.1

ALTIM_BOTTOM_PING 350.9,48.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 73.44 SBE_CT 476 24 232.06

Roll_motor 73 107 160.50 AA4330 874 33 585.83

VBD_pump_during_apogee 278 1028 5812.90 WL_BBFL2VMT 942 105 2009.69

VBD_pump_during_surface 75 100 154.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 84 103 177.62 nil 0 0 0.00

Iridium_during_connect 142 160 461.79 nil 0 0 0.00

Iridium_during_xfer 182 223 826.02 nil 0 0 0.00

Transponder_ping 1 420 14.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.36

TT8 1739 19 334.12

LPSleep 2299 2 48.85

TT8_Active 464 19 89.19

TT8_Sampling 2087 39 805.92

TT8_CF8 174 45 77.61

TT8_Kalman 0 0 0.00

Analog_circuits 1156 12 134.67

GPS_charging 0 0 0.00

Compass 1133 15 164.86

RAFOS 0 0 0.00

Transponder 10 30 3.09

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.76 -146.0 0.0 0.0 0 89 0.00 0.00 -72.10 0.000 2 0.000 0.000 420 2647 3037 0 0 0 0 0 0

92 -0.76 -146.0 3.0 -2.2 10 129 8.82 1.85 -20.52 0.000 4 0.197 0.080 2804 3763 3555 0 0 0 0 0 0

284 -0.76 -146.0 31.3 -18.0 43 292 0.00 1.77 0.00 0.000 6 0.000 0.042 2803 2627 3557 0 0 0 0 0 0

422 -0.76 -146.0 54.6 -15.8 68 429 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2626 3557 0 0 0 0 0 0

562 -0.76 -146.0 77.6 -17.0 93 569 0.00 1.88 0.00 0.000 4 0.000 0.062 2795 3771 3558 0 0 0 0 0 0

602 -0.76 -146.0 85.0 -18.3 100 610 0.00 1.77 0.00 0.000 6 0.000 0.042 2794 2656 3558 0 0 0 0 0 0

746 -0.76 -146.0 109.7 -17.1 121 750 0.00 2.22 0.00 0.000 4 0.000 0.050 2794 1238 3558 0 0 0 0 0 0

766 -0.76 -146.0 113.0 -17.1 122 771 0.12 2.30 0.00 0.000 6 0.155 0.056 2817 2661 3558 0 0 0 0 0 0

901 -0.76 -146.0 132.3 -13.8 134 905 0.00 1.75 0.00 0.000 4 0.000 0.061 2811 3762 3558 0 0 0 0 0 0

948 -0.76 -146.0 139.1 -14.2 138 951 0.00 1.70 0.00 0.000 6 0.000 0.041 2811 2660 3558 0 0 0 0 0 0

1089 -0.76 -146.0 159.9 -14.7 151 1093 0.00 1.80 0.00 0.000 4 0.000 0.063 2802 3764 3558 0 0 0 0 0 0

1135 -0.76 -146.0 167.3 -15.9 155 1139 0.00 1.67 0.00 0.000 6 0.000 0.041 2802 2680 3558 0 0 0 0 0 0

1277 -0.76 -146.0 189.1 -15.5 168 1278 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2678 3558 0 0 0 0 0 0

1403 -0.76 -146.0 208.6 -15.6 180 1407 0.00 1.77 0.00 0.000 4 0.000 0.063 2794 3768 3559 0 0 0 0 0 0

1438 -0.76 -146.0 214.2 -16.9 183 1441 0.00 1.67 0.00 0.000 6 0.000 0.041 2795 2683 3558 0 0 0 0 0 0

1579 -0.76 -146.0 236.7 -15.5 196 1580 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2681 3559 0 0 0 0 0 0

1705 -0.76 -146.0 256.3 -15.3 208 1708 0.00 1.77 0.00 0.000 4 0.000 0.063 2786 3771 3559 0 0 0 0 0 0

1742 -0.76 -146.0 262.9 -16.6 211 1751 0.08 1.73 0.00 0.000 6 0.139 0.041 2812 2683 3559 0 0 0 0 0 0

1942 -0.76 -146.0 291.2 -14.3 230 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2682 3558 0 0 0 0 0 0

2132 -0.76 -146.0 318.5 -14.0 248 2136 0.00 1.75 0.00 0.000 4 0.000 0.062 2805 3762 3558 0 0 0 0 0 0

2178 -0.76 -146.0 325.3 -15.2 252 2182 0.00 1.65 0.00 0.000 6 0.000 0.041 2805 2692 3558 0 0 0 0 0 0

2382 -0.76 -146.0 353.8 -13.7 271 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2690 3559 0 0 0 0 0 0

2572 -0.76 -146.0 380.2 -14.1 289 2576 0.00 1.75 0.00 0.000 4 0.000 0.063 2798 3763 3558 0 0 0 0 0 0

2587 -0.76 -146.0 382.7 -14.2 290 2595 0.00 1.67 0.00 0.000 6 0.000 0.041 2798 2705 3559 0 0 0 0 0 0

2604 end dive: BOTTOM_OBSTACLE_DETECTED

state 2604 begin apogee

2610 -0.17 0.0 385.0 14.7 292 2746 0.62 0.00 131.15 1.029 4 0.127 0.000 3000 2496 2961 0 0 0 0 0 0

2747 end apogee: CONTROL_FINISHED_OK

state 2747 begin climb

2749 0.76 146.0 390.1 0.0 304 2905 0.98 2.53 147.15 0.949 4 0.073 0.048 3311 1095 2365 0 0 0 0 0 0

3017 0.76 146.0 365.1 12.3 328 3022 0.00 2.47 0.00 0.000 6 0.000 0.050 3311 2500 2354 0 0 0 0 0 0

3216 0.76 146.0 340.0 12.7 346 3220 0.00 2.28 0.00 0.000 4 0.000 0.048 3321 1088 2350 0 0 0 0 0 0

3345 0.76 146.0 324.1 11.8 357 3350 0.00 2.33 0.00 0.000 6 0.000 0.052 3321 2523 2348 0 0 0 0 0 0

3543 0.76 146.0 299.3 12.2 375 3547 0.00 1.98 0.00 0.000 4 0.000 0.058 3321 3765 2347 0 0 0 0 0 0

3626 0.76 146.0 287.2 14.6 382 3634 0.00 1.95 0.00 0.000 6 0.000 0.039 3331 2533 2347 0 0 0 0 0 0

3824 0.76 146.0 261.9 12.1 401 3828 0.00 2.00 0.00 0.000 4 0.000 0.059 3331 3773 2346 0 0 0 0 0 0

3851 0.76 146.0 257.9 14.0 403 3860 0.00 1.95 0.00 0.000 6 0.000 0.041 3340 2541 2346 0 0 0 0 0 0

4051 0.76 146.0 231.9 13.2 422 4055 0.00 1.98 0.00 0.000 4 0.000 0.060 3340 3764 2346 0 0 0 0 0 0

4108 0.76 146.0 223.4 15.1 427 4112 0.15 1.88 0.00 0.000 6 0.157 0.040 3308 2550 2346 0 0 0 0 0 0

4249 0.76 146.0 207.0 11.6 440 4250 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2548 2346 0 0 0 0 0 0

4376 0.76 146.0 192.9 11.2 452 4380 0.00 1.98 0.00 0.000 4 0.000 0.060 3307 3768 2346 0 0 0 0 0 0

4412 0.76 146.0 187.9 13.1 455 4423 0.00 1.92 0.00 0.000 6 0.000 0.041 3316 2555 2345 0 0 0 0 0 0

4549 0.76 146.0 172.1 11.7 468 4553 0.00 1.98 0.00 0.000 4 0.000 0.060 3316 3775 2345 0 0 0 0 0 0

4584 0.76 146.0 167.5 13.6 471 4588 0.00 1.88 0.00 0.000 6 0.000 0.041 3325 2565 2345 0 0 0 0 0 0

4727 0.76 146.0 150.2 12.4 484 4731 0.00 1.95 0.00 0.000 4 0.000 0.059 3325 3769 2345 0 0 0 0 0 0

4763 0.76 146.0 145.3 14.2 487 4767 0.00 1.85 0.00 0.000 6 0.000 0.041 3334 2572 2345 0 0 0 0 0 0

4906 0.76 146.0 126.9 12.6 500 4909 0.00 1.95 0.00 0.000 4 0.000 0.060 3334 3775 2345 0 0 0 0 0 0

4942 0.76 146.0 121.6 14.6 503 4946 0.12 1.83 0.00 0.000 6 0.162 0.041 3309 2600 2345 0 0 0 0 0 0

5084 0.76 146.0 104.7 11.6 516 5091 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2597 2344 0 0 0 0 0 0

5220 0.76 146.0 88.8 11.4 538 5227 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2597 2344 0 0 0 0 0 0

5359 0.76 146.0 73.3 11.1 563 5366 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2597 2344 0 0 0 0 0 0

5497 0.76 146.0 58.3 11.4 588 5504 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2597 2344 0 0 0 0 0 0

5635 0.76 146.0 43.4 11.0 613 5642 0.00 1.90 0.00 0.000 4 0.000 0.060 3309 3765 2344 0 0 0 0 0 0

5682 0.76 146.0 37.8 12.3 621 5689 0.00 1.83 0.00 0.000 6 0.000 0.041 3317 2590 2344 0 0 0 0 0 0

5820 0.76 146.0 21.7 11.7 646 5828 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2589 2344 0 0 0 0 0 0

5964 0.76 146.0 3.9 12.6 671 5971 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2589 2343 0 0 0 0 0 0

5978 end climb: SURFACE_DEPTH_REACHED

state 5978 begin surface coast

6003 end surface coast: CONTROL_FINISHED_OK

state 6003 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	342	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	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	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	-30572.383	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	251210,170946,-7631.992,17631.352,11,2.3,30,123.1	TGT_NAME	POLYNYA2
_CALLS	3	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251210,172046,-7631.918,17631.301,12,3.3,31,123.1	MHEAD_RNG_PITCHd_Wd	348.7,90299,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	392

FREEZE	1.29,-0.798,-1.663,2,1,0	_24V_AH	20.3,59.027
FINISH	1.3,1.024447	_10V_AH	9.7,38.816
SM_CCo	6019,75.53,0.101,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.16,0.00,0.00,75.53,0.000,0.000,0.101,432,2661,1736,-8.23,0.34,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17636.38,251210,171720	MEM	258164
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47044,677
HUMID	52.91	CAP_FILE_SIZE	97278,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,232374272
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.148,337.3,1
ALTIM_TOP_PING	20.0,18.3	GPS	251210,190406,-7631.751,17633.518,39,1.0,40,123.1
ALTIM_BOTTOM_PING	350.9,48.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	73.44	SBE_CT	476	24	232.06
Roll_motor	73	107	160.50	AA4330	874	33	585.83
VBD_pump_during_apogee	278	1028	5812.90	WL_BBFL2VMT	942	105	2009.69
VBD_pump_during_surface	75	100	154.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	84	103	177.62	nil	0	0	0.00
Iridium_during_connect	142	160	461.79	nil	0	0	0.00
Iridium_during_xfer	182	223	826.02	nil	0	0	0.00
Transponder_ping	1	420	14.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.36
TT8	1739	19	334.12
LPSleep	2299	2	48.85
TT8_Active	464	19	89.19
TT8_Sampling	2087	39	805.92
TT8_CF8	174	45	77.61
TT8_Kalman	0	0	0.00
Analog_circuits	1156	12	134.67
GPS_charging	0	0	0.00
Compass	1133	15	164.86
RAFOS	0	0	0.00
Transponder	10	30	3.09

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.76	-146.0	0.0	0.0	0	89	0.00	0.00	-72.10	0.000	2	0.000	0.000	420	2647	3037	0	0	0	0	0	0
92	-0.76	-146.0	3.0	-2.2	10	129	8.82	1.85	-20.52	0.000	4	0.197	0.080	2804	3763	3555	0	0	0	0	0	0
284	-0.76	-146.0	31.3	-18.0	43	292	0.00	1.77	0.00	0.000	6	0.000	0.042	2803	2627	3557	0	0	0	0	0	0
422	-0.76	-146.0	54.6	-15.8	68	429	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2626	3557	0	0	0	0	0	0
562	-0.76	-146.0	77.6	-17.0	93	569	0.00	1.88	0.00	0.000	4	0.000	0.062	2795	3771	3558	0	0	0	0	0	0
602	-0.76	-146.0	85.0	-18.3	100	610	0.00	1.77	0.00	0.000	6	0.000	0.042	2794	2656	3558	0	0	0	0	0	0
746	-0.76	-146.0	109.7	-17.1	121	750	0.00	2.22	0.00	0.000	4	0.000	0.050	2794	1238	3558	0	0	0	0	0	0
766	-0.76	-146.0	113.0	-17.1	122	771	0.12	2.30	0.00	0.000	6	0.155	0.056	2817	2661	3558	0	0	0	0	0	0
901	-0.76	-146.0	132.3	-13.8	134	905	0.00	1.75	0.00	0.000	4	0.000	0.061	2811	3762	3558	0	0	0	0	0	0
948	-0.76	-146.0	139.1	-14.2	138	951	0.00	1.70	0.00	0.000	6	0.000	0.041	2811	2660	3558	0	0	0	0	0	0
1089	-0.76	-146.0	159.9	-14.7	151	1093	0.00	1.80	0.00	0.000	4	0.000	0.063	2802	3764	3558	0	0	0	0	0	0
1135	-0.76	-146.0	167.3	-15.9	155	1139	0.00	1.67	0.00	0.000	6	0.000	0.041	2802	2680	3558	0	0	0	0	0	0
1277	-0.76	-146.0	189.1	-15.5	168	1278	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2678	3558	0	0	0	0	0	0
1403	-0.76	-146.0	208.6	-15.6	180	1407	0.00	1.77	0.00	0.000	4	0.000	0.063	2794	3768	3559	0	0	0	0	0	0
1438	-0.76	-146.0	214.2	-16.9	183	1441	0.00	1.67	0.00	0.000	6	0.000	0.041	2795	2683	3558	0	0	0	0	0	0
1579	-0.76	-146.0	236.7	-15.5	196	1580	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2681	3559	0	0	0	0	0	0
1705	-0.76	-146.0	256.3	-15.3	208	1708	0.00	1.77	0.00	0.000	4	0.000	0.063	2786	3771	3559	0	0	0	0	0	0
1742	-0.76	-146.0	262.9	-16.6	211	1751	0.08	1.73	0.00	0.000	6	0.139	0.041	2812	2683	3559	0	0	0	0	0	0
1942	-0.76	-146.0	291.2	-14.3	230	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2682	3558	0	0	0	0	0	0
2132	-0.76	-146.0	318.5	-14.0	248	2136	0.00	1.75	0.00	0.000	4	0.000	0.062	2805	3762	3558	0	0	0	0	0	0
2178	-0.76	-146.0	325.3	-15.2	252	2182	0.00	1.65	0.00	0.000	6	0.000	0.041	2805	2692	3558	0	0	0	0	0	0
2382	-0.76	-146.0	353.8	-13.7	271	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2690	3559	0	0	0	0	0	0
2572	-0.76	-146.0	380.2	-14.1	289	2576	0.00	1.75	0.00	0.000	4	0.000	0.063	2798	3763	3558	0	0	0	0	0	0
2587	-0.76	-146.0	382.7	-14.2	290	2595	0.00	1.67	0.00	0.000	6	0.000	0.041	2798	2705	3559	0	0	0	0	0	0
2604	end dive: BOTTOM_OBSTACLE_DETECTED
state	2604	begin apogee
2610	-0.17	0.0	385.0	14.7	292	2746	0.62	0.00	131.15	1.029	4	0.127	0.000	3000	2496	2961	0	0	0	0	0	0
2747	end apogee: CONTROL_FINISHED_OK
state	2747	begin climb
2749	0.76	146.0	390.1	0.0	304	2905	0.98	2.53	147.15	0.949	4	0.073	0.048	3311	1095	2365	0	0	0	0	0	0
3017	0.76	146.0	365.1	12.3	328	3022	0.00	2.47	0.00	0.000	6	0.000	0.050	3311	2500	2354	0	0	0	0	0	0
3216	0.76	146.0	340.0	12.7	346	3220	0.00	2.28	0.00	0.000	4	0.000	0.048	3321	1088	2350	0	0	0	0	0	0
3345	0.76	146.0	324.1	11.8	357	3350	0.00	2.33	0.00	0.000	6	0.000	0.052	3321	2523	2348	0	0	0	0	0	0
3543	0.76	146.0	299.3	12.2	375	3547	0.00	1.98	0.00	0.000	4	0.000	0.058	3321	3765	2347	0	0	0	0	0	0
3626	0.76	146.0	287.2	14.6	382	3634	0.00	1.95	0.00	0.000	6	0.000	0.039	3331	2533	2347	0	0	0	0	0	0
3824	0.76	146.0	261.9	12.1	401	3828	0.00	2.00	0.00	0.000	4	0.000	0.059	3331	3773	2346	0	0	0	0	0	0
3851	0.76	146.0	257.9	14.0	403	3860	0.00	1.95	0.00	0.000	6	0.000	0.041	3340	2541	2346	0	0	0	0	0	0
4051	0.76	146.0	231.9	13.2	422	4055	0.00	1.98	0.00	0.000	4	0.000	0.060	3340	3764	2346	0	0	0	0	0	0
4108	0.76	146.0	223.4	15.1	427	4112	0.15	1.88	0.00	0.000	6	0.157	0.040	3308	2550	2346	0	0	0	0	0	0
4249	0.76	146.0	207.0	11.6	440	4250	0.00	0.00	0.00	0.000	6	0.000	0.000	3308	2548	2346	0	0	0	0	0	0
4376	0.76	146.0	192.9	11.2	452	4380	0.00	1.98	0.00	0.000	4	0.000	0.060	3307	3768	2346	0	0	0	0	0	0
4412	0.76	146.0	187.9	13.1	455	4423	0.00	1.92	0.00	0.000	6	0.000	0.041	3316	2555	2345	0	0	0	0	0	0
4549	0.76	146.0	172.1	11.7	468	4553	0.00	1.98	0.00	0.000	4	0.000	0.060	3316	3775	2345	0	0	0	0	0	0
4584	0.76	146.0	167.5	13.6	471	4588	0.00	1.88	0.00	0.000	6	0.000	0.041	3325	2565	2345	0	0	0	0	0	0
4727	0.76	146.0	150.2	12.4	484	4731	0.00	1.95	0.00	0.000	4	0.000	0.059	3325	3769	2345	0	0	0	0	0	0
4763	0.76	146.0	145.3	14.2	487	4767	0.00	1.85	0.00	0.000	6	0.000	0.041	3334	2572	2345	0	0	0	0	0	0
4906	0.76	146.0	126.9	12.6	500	4909	0.00	1.95	0.00	0.000	4	0.000	0.060	3334	3775	2345	0	0	0	0	0	0
4942	0.76	146.0	121.6	14.6	503	4946	0.12	1.83	0.00	0.000	6	0.162	0.041	3309	2600	2345	0	0	0	0	0	0
5084	0.76	146.0	104.7	11.6	516	5091	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2597	2344	0	0	0	0	0	0
5220	0.76	146.0	88.8	11.4	538	5227	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2597	2344	0	0	0	0	0	0
5359	0.76	146.0	73.3	11.1	563	5366	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2597	2344	0	0	0	0	0	0
5497	0.76	146.0	58.3	11.4	588	5504	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2597	2344	0	0	0	0	0	0
5635	0.76	146.0	43.4	11.0	613	5642	0.00	1.90	0.00	0.000	4	0.000	0.060	3309	3765	2344	0	0	0	0	0	0
5682	0.76	146.0	37.8	12.3	621	5689	0.00	1.83	0.00	0.000	6	0.000	0.041	3317	2590	2344	0	0	0	0	0	0
5820	0.76	146.0	21.7	11.7	646	5828	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2589	2344	0	0	0	0	0	0
5964	0.76	146.0	3.9	12.6	671	5971	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2589	2343	0	0	0	0	0	0
5978	end climb: SURFACE_DEPTH_REACHED
state	5978	begin surface coast
6003	end surface coast: CONTROL_FINISHED_OK
state	6003	begin surface