Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 343 * 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 343 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 38 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 420 DEVICE1 2

SURFACE_URGENCY 5 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 4 UPLOAD_DIVES_MAX 5 C_VBD 2961 DEVICE3 86

SURFACE_URGENCY_FORCE 8 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 250 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 320 CAPUPLOAD 0 VBD_TIMEOUT 360 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -30573.639 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 -30573.639

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 38 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 28 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.7998753 VBD_MIN 420

DEVICE5 -1 MISSION 3 SEABIRD_C_H 1.1362277 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00070417771 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 343 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 251210,190406,-7631.751,17633.518,39,1.0,40,123.1 TGT_NAME POLYNYA2

_CALLS 1 TGT_LATLONG -7630.000,18000.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 251210,191102,-7631.702,17633.465,13,1.0,13,123.1 MHEAD_RNG_PITCHd_Wd 357.0,89349,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 386

Post-dive calculations and measurements:

FREEZE 1.34,-0.741,-1.870,2,1,0 _24V_AH 20.3,59.139

FINISH 1.3,1.027389 _10V_AH 9.8,38.900

SM_CCo 5978,80.72,0.728,1,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.08,0.00,0.00,80.72,0.000,0.000,0.728,430,2621,1736,-8.23,-0.82,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7554.21,17645.09,251210,171705 MEM 258180

TT8_MAMPS 0.028462 DATA_FILE_SIZE 47103,662

HUMID 52.28 CAP_FILE_SIZE 95927,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,232316928

TCM_TEMP 14.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 CURRENT 0.190,329.2,1

ALTIM_TOP_PING 19.7,18.4 GPS 251210,205320,-7631.568,17634.990,9,1.7,10,123.0

ALTIM_BOTTOM_PING 351.3,47.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 201 75.87 SBE_CT 464 24 226.48

Roll_motor 76 78 120.66 AA4330 849 33 568.93

VBD_pump_during_apogee 280 1031 5865.64 WL_BBFL2VMT 911 105 1942.83

VBD_pump_during_surface 80 727 1192.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 58.30 nil 0 0 0.00

Iridium_during_connect 47 160 155.87 nil 0 0 0.00

Iridium_during_xfer 228 223 1034.17 nil 0 0 0.00

Transponder_ping 1 420 14.92 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.18

TT8 1700 19 330.02

LPSleep 2204 2 47.32

TT8_Active 489 19 94.98

TT8_Sampling 1917 39 747.79

TT8_CF8 175 45 78.94

TT8_Kalman 0 0 0.00

Analog_circuits 1185 12 139.39

GPS_charging 0 0 0.00

Compass 1107 15 162.81

RAFOS 0 0 0.00

Transponder 12 30 3.55

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 0 100 0.00 0.00 -82.18 0.000 2 0.000 0.000 426 2664 3249 0 0 0 0 0 0

102 -0.76 -146.0 3.2 -1.8 12 127 9.02 1.88 -9.55 0.000 4 0.201 0.078 2801 3758 3560 0 0 0 0 0 0

255 -0.76 -146.0 29.7 -17.3 38 264 0.00 1.77 0.00 0.000 6 0.000 0.042 2802 2644 3563 0 0 0 0 0 0

399 -0.76 -146.0 53.1 -15.8 63 405 0.00 1.83 0.00 0.000 4 0.000 0.062 2793 3757 3564 0 0 0 0 0 0

426 -0.76 -146.0 57.7 -17.1 67 433 0.00 1.75 0.00 0.000 6 0.000 0.042 2793 2658 3564 0 0 0 0 0 0

568 -0.76 -146.0 82.6 -17.2 92 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2657 3564 0 0 0 0 0 0

714 -0.76 -146.0 107.7 -17.1 114 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2657 3564 0 0 0 0 0 0

842 -0.76 -146.0 129.2 -17.0 126 845 0.00 1.80 0.00 0.000 4 0.000 0.063 2784 3765 3564 0 0 0 0 0 0

890 -0.76 -146.0 138.3 -17.8 130 900 0.08 1.75 0.00 0.000 6 0.140 0.041 2809 2665 3564 0 0 0 0 0 0

1027 -0.76 -146.0 158.8 -15.4 143 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 2663 3564 0 0 0 0 0 0

1163 -0.76 -146.0 179.6 -15.2 156 1166 0.00 1.77 0.00 0.000 4 0.000 0.062 2803 3759 3565 0 0 0 0 0 0

1188 -0.76 -146.0 183.5 -15.9 158 1192 0.00 1.67 0.00 0.000 6 0.000 0.041 2802 2674 3565 0 0 0 0 0 0

1331 -0.76 -146.0 205.2 -15.1 171 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 2672 3565 0 0 0 0 0 0

1466 -0.76 -146.0 226.0 -15.4 184 1470 0.00 1.77 0.00 0.000 4 0.000 0.062 2794 3767 3564 0 0 0 0 0 0

1513 -0.76 -146.0 233.3 -15.8 188 1516 0.00 1.70 0.00 0.000 6 0.000 0.041 2794 2670 3564 0 0 0 0 0 0

1652 -0.76 -146.0 255.7 -15.5 201 1653 0.00 0.00 0.00 0.000 6 0.000 0.000 2794 2669 3564 0 0 0 0 0 0

1844 -0.76 -146.0 284.9 -15.1 219 1848 0.00 1.77 0.00 0.000 4 0.000 0.063 2785 3759 3564 0 0 0 0 0 0

1867 -0.76 -146.0 288.6 -15.7 221 1871 0.12 1.67 0.00 0.000 6 0.161 0.041 2819 2676 3564 0 0 0 0 0 0

2072 -0.76 -146.0 315.9 -13.1 240 2073 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2674 3564 0 0 0 0 0 0

2260 -0.76 -146.0 341.5 -13.7 258 2264 0.00 1.77 0.00 0.000 4 0.000 0.063 2812 3766 3564 0 0 0 0 0 0

2305 -0.76 -146.0 348.2 -15.0 262 2309 0.00 1.67 0.00 0.000 6 0.000 0.041 2812 2684 3564 0 0 0 0 0 0

2509 -0.76 -146.0 377.2 -13.4 281 2510 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2683 3564 0 0 0 0 0 0

2559 end dive: BOTTOM_OBSTACLE_DETECTED

state 2559 begin apogee

2564 -0.17 0.0 384.8 14.4 286 2702 0.60 0.00 132.57 1.031 4 0.124 0.000 3008 2486 2961 0 0 0 0 0 0

2703 end apogee: CONTROL_FINISHED_OK

state 2703 begin climb

2705 0.76 146.0 390.4 0.0 298 2864 0.95 2.50 147.62 0.950 4 0.074 0.048 3309 1102 2364 0 0 0 0 0 0

2945 0.76 146.0 370.9 10.3 319 2949 0.00 2.50 0.00 0.000 6 0.000 0.050 3310 2501 2355 0 0 0 0 0 0

3144 0.76 146.0 348.4 11.7 337 3148 0.00 2.30 0.00 0.000 4 0.000 0.049 3315 1090 2351 0 0 0 0 0 0

3277 0.76 146.0 332.9 11.3 348 3284 0.00 2.33 0.00 0.000 6 0.000 0.053 3315 2517 2348 0 0 0 0 0 0

3475 0.76 146.0 309.7 12.0 367 3479 0.00 2.00 0.00 0.000 4 0.000 0.058 3315 3764 2348 0 0 0 0 0 0

3576 0.76 146.0 295.5 14.5 376 3579 0.00 1.90 0.00 0.000 6 0.000 0.040 3324 2536 2347 0 0 0 0 0 0

3781 0.76 146.0 269.9 12.4 395 3785 0.00 1.98 0.00 0.000 4 0.000 0.059 3324 3761 2346 0 0 0 0 0 0

3838 0.76 146.0 261.4 14.5 400 3841 0.00 1.90 0.00 0.000 6 0.000 0.041 3333 2538 2346 0 0 0 0 0 0

4043 0.76 146.0 234.8 12.6 419 4046 0.00 1.98 0.00 0.000 4 0.000 0.058 3333 3763 2346 0 0 0 0 0 0

4113 0.76 146.0 223.5 15.6 425 4123 0.08 1.90 0.00 0.000 6 0.143 0.040 3317 2561 2346 0 0 0 0 0 0

4251 0.76 146.0 206.9 11.9 438 4255 0.00 1.95 0.00 0.000 4 0.000 0.059 3317 3768 2346 0 0 0 0 0 0

4277 0.76 146.0 202.7 14.0 440 4287 0.00 1.92 0.00 0.000 6 0.000 0.040 3325 2554 2346 0 0 0 0 0 0

4414 0.76 146.0 186.0 12.2 453 4417 0.00 1.95 0.00 0.000 4 0.000 0.059 3325 3761 2346 0 0 0 0 0 0

4450 0.76 146.0 181.1 14.0 456 4454 0.00 1.85 0.00 0.000 6 0.000 0.041 3334 2563 2346 0 0 0 0 0 0

4593 0.76 146.0 162.6 12.7 469 4596 0.00 1.95 0.00 0.000 4 0.000 0.059 3334 3768 2346 0 0 0 0 0 0

4630 0.76 146.0 156.7 14.5 472 4639 0.10 1.88 0.00 0.000 6 0.135 0.041 3310 2585 2345 0 0 0 0 0 0

4767 0.76 146.0 141.1 11.0 485 4774 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2584 2345 0 0 0 0 0 0

4902 0.76 146.0 125.7 11.1 498 4906 0.00 1.90 0.00 0.000 4 0.000 0.060 3310 3763 2345 0 0 0 0 0 0

4929 0.76 146.0 122.1 12.7 500 4937 0.00 1.85 0.00 0.000 6 0.000 0.041 3317 2590 2345 0 0 0 0 0 0

5066 0.76 146.0 106.5 11.6 513 5070 0.00 1.90 0.00 0.000 4 0.000 0.060 3317 3762 2345 0 0 0 0 0 0

5093 0.76 146.0 102.6 13.5 515 5102 0.00 1.85 0.00 0.000 6 0.000 0.041 3326 2594 2345 0 0 0 0 0 0

5232 0.76 146.0 85.6 11.5 538 5241 0.00 1.92 0.00 0.000 4 0.000 0.060 3326 3757 2345 0 0 0 0 0 0

5256 0.76 146.0 82.7 12.6 541 5263 0.00 1.77 0.00 0.000 6 0.000 0.041 3335 2612 2344 0 0 0 0 0 0

5397 0.76 146.0 64.7 12.2 566 5405 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 2611 2344 0 0 0 0 0 0

5542 0.76 146.0 47.3 12.0 591 5548 0.00 1.88 0.00 0.000 4 0.000 0.060 3335 3765 2345 0 0 0 0 0 0

5592 0.76 146.0 41.0 13.9 599 5600 0.12 1.77 0.00 0.000 6 0.164 0.041 3310 2621 2345 0 0 0 0 0 0

5736 0.77 147.7 25.2 9.9 624 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2620 2344 0 0 0 0 0 0

5879 0.77 147.7 10.1 10.4 649 5886 0.00 1.88 0.00 0.000 4 0.000 0.061 3310 3768 2344 0 0 0 0 0 0

5912 0.77 147.7 6.0 12.2 654 5921 0.00 1.80 0.00 0.000 6 0.000 0.040 3318 2625 2344 0 0 0 0 0 0

5937 end climb: SURFACE_DEPTH_REACHED

state 5938 begin surface coast

5962 end surface coast: CONTROL_FINISHED_OK

state 5963 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	343	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	38	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	420	DEVICE1	2
SURFACE_URGENCY	5	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	4	UPLOAD_DIVES_MAX	5	C_VBD	2961	DEVICE3	86
SURFACE_URGENCY_FORCE	8	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	250	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	320	CAPUPLOAD	0	VBD_TIMEOUT	360	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-30573.639	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	251210,190406,-7631.751,17633.518,39,1.0,40,123.1	TGT_NAME	POLYNYA2
_CALLS	1	TGT_LATLONG	-7630.000,18000.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	251210,191102,-7631.702,17633.465,13,1.0,13,123.1	MHEAD_RNG_PITCHd_Wd	357.0,89349,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	386

FREEZE	1.34,-0.741,-1.870,2,1,0	_24V_AH	20.3,59.139
FINISH	1.3,1.027389	_10V_AH	9.8,38.900
SM_CCo	5978,80.72,0.728,1,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.08,0.00,0.00,80.72,0.000,0.000,0.728,430,2621,1736,-8.23,-0.82,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7554.21,17645.09,251210,171705	MEM	258180
TT8_MAMPS	0.028462	DATA_FILE_SIZE	47103,662
HUMID	52.28	CAP_FILE_SIZE	95927,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,232316928
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.190,329.2,1
ALTIM_TOP_PING	19.7,18.4	GPS	251210,205320,-7631.568,17634.990,9,1.7,10,123.0
ALTIM_BOTTOM_PING	351.3,47.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	201	75.87	SBE_CT	464	24	226.48
Roll_motor	76	78	120.66	AA4330	849	33	568.93
VBD_pump_during_apogee	280	1031	5865.64	WL_BBFL2VMT	911	105	1942.83
VBD_pump_during_surface	80	727	1192.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	58.30	nil	0	0	0.00
Iridium_during_connect	47	160	155.87	nil	0	0	0.00
Iridium_during_xfer	228	223	1034.17	nil	0	0	0.00
Transponder_ping	1	420	14.92	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.18
TT8	1700	19	330.02
LPSleep	2204	2	47.32
TT8_Active	489	19	94.98
TT8_Sampling	1917	39	747.79
TT8_CF8	175	45	78.94
TT8_Kalman	0	0	0.00
Analog_circuits	1185	12	139.39
GPS_charging	0	0	0.00
Compass	1107	15	162.81
RAFOS	0	0	0.00
Transponder	12	30	3.55

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	100	0.00	0.00	-82.18	0.000	2	0.000	0.000	426	2664	3249	0	0	0	0	0	0
102	-0.76	-146.0	3.2	-1.8	12	127	9.02	1.88	-9.55	0.000	4	0.201	0.078	2801	3758	3560	0	0	0	0	0	0
255	-0.76	-146.0	29.7	-17.3	38	264	0.00	1.77	0.00	0.000	6	0.000	0.042	2802	2644	3563	0	0	0	0	0	0
399	-0.76	-146.0	53.1	-15.8	63	405	0.00	1.83	0.00	0.000	4	0.000	0.062	2793	3757	3564	0	0	0	0	0	0
426	-0.76	-146.0	57.7	-17.1	67	433	0.00	1.75	0.00	0.000	6	0.000	0.042	2793	2658	3564	0	0	0	0	0	0
568	-0.76	-146.0	82.6	-17.2	92	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2657	3564	0	0	0	0	0	0
714	-0.76	-146.0	107.7	-17.1	114	715	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2657	3564	0	0	0	0	0	0
842	-0.76	-146.0	129.2	-17.0	126	845	0.00	1.80	0.00	0.000	4	0.000	0.063	2784	3765	3564	0	0	0	0	0	0
890	-0.76	-146.0	138.3	-17.8	130	900	0.08	1.75	0.00	0.000	6	0.140	0.041	2809	2665	3564	0	0	0	0	0	0
1027	-0.76	-146.0	158.8	-15.4	143	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	2663	3564	0	0	0	0	0	0
1163	-0.76	-146.0	179.6	-15.2	156	1166	0.00	1.77	0.00	0.000	4	0.000	0.062	2803	3759	3565	0	0	0	0	0	0
1188	-0.76	-146.0	183.5	-15.9	158	1192	0.00	1.67	0.00	0.000	6	0.000	0.041	2802	2674	3565	0	0	0	0	0	0
1331	-0.76	-146.0	205.2	-15.1	171	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	2672	3565	0	0	0	0	0	0
1466	-0.76	-146.0	226.0	-15.4	184	1470	0.00	1.77	0.00	0.000	4	0.000	0.062	2794	3767	3564	0	0	0	0	0	0
1513	-0.76	-146.0	233.3	-15.8	188	1516	0.00	1.70	0.00	0.000	6	0.000	0.041	2794	2670	3564	0	0	0	0	0	0
1652	-0.76	-146.0	255.7	-15.5	201	1653	0.00	0.00	0.00	0.000	6	0.000	0.000	2794	2669	3564	0	0	0	0	0	0
1844	-0.76	-146.0	284.9	-15.1	219	1848	0.00	1.77	0.00	0.000	4	0.000	0.063	2785	3759	3564	0	0	0	0	0	0
1867	-0.76	-146.0	288.6	-15.7	221	1871	0.12	1.67	0.00	0.000	6	0.161	0.041	2819	2676	3564	0	0	0	0	0	0
2072	-0.76	-146.0	315.9	-13.1	240	2073	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2674	3564	0	0	0	0	0	0
2260	-0.76	-146.0	341.5	-13.7	258	2264	0.00	1.77	0.00	0.000	4	0.000	0.063	2812	3766	3564	0	0	0	0	0	0
2305	-0.76	-146.0	348.2	-15.0	262	2309	0.00	1.67	0.00	0.000	6	0.000	0.041	2812	2684	3564	0	0	0	0	0	0
2509	-0.76	-146.0	377.2	-13.4	281	2510	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2683	3564	0	0	0	0	0	0
2559	end dive: BOTTOM_OBSTACLE_DETECTED
state	2559	begin apogee
2564	-0.17	0.0	384.8	14.4	286	2702	0.60	0.00	132.57	1.031	4	0.124	0.000	3008	2486	2961	0	0	0	0	0	0
2703	end apogee: CONTROL_FINISHED_OK
state	2703	begin climb
2705	0.76	146.0	390.4	0.0	298	2864	0.95	2.50	147.62	0.950	4	0.074	0.048	3309	1102	2364	0	0	0	0	0	0
2945	0.76	146.0	370.9	10.3	319	2949	0.00	2.50	0.00	0.000	6	0.000	0.050	3310	2501	2355	0	0	0	0	0	0
3144	0.76	146.0	348.4	11.7	337	3148	0.00	2.30	0.00	0.000	4	0.000	0.049	3315	1090	2351	0	0	0	0	0	0
3277	0.76	146.0	332.9	11.3	348	3284	0.00	2.33	0.00	0.000	6	0.000	0.053	3315	2517	2348	0	0	0	0	0	0
3475	0.76	146.0	309.7	12.0	367	3479	0.00	2.00	0.00	0.000	4	0.000	0.058	3315	3764	2348	0	0	0	0	0	0
3576	0.76	146.0	295.5	14.5	376	3579	0.00	1.90	0.00	0.000	6	0.000	0.040	3324	2536	2347	0	0	0	0	0	0
3781	0.76	146.0	269.9	12.4	395	3785	0.00	1.98	0.00	0.000	4	0.000	0.059	3324	3761	2346	0	0	0	0	0	0
3838	0.76	146.0	261.4	14.5	400	3841	0.00	1.90	0.00	0.000	6	0.000	0.041	3333	2538	2346	0	0	0	0	0	0
4043	0.76	146.0	234.8	12.6	419	4046	0.00	1.98	0.00	0.000	4	0.000	0.058	3333	3763	2346	0	0	0	0	0	0
4113	0.76	146.0	223.5	15.6	425	4123	0.08	1.90	0.00	0.000	6	0.143	0.040	3317	2561	2346	0	0	0	0	0	0
4251	0.76	146.0	206.9	11.9	438	4255	0.00	1.95	0.00	0.000	4	0.000	0.059	3317	3768	2346	0	0	0	0	0	0
4277	0.76	146.0	202.7	14.0	440	4287	0.00	1.92	0.00	0.000	6	0.000	0.040	3325	2554	2346	0	0	0	0	0	0
4414	0.76	146.0	186.0	12.2	453	4417	0.00	1.95	0.00	0.000	4	0.000	0.059	3325	3761	2346	0	0	0	0	0	0
4450	0.76	146.0	181.1	14.0	456	4454	0.00	1.85	0.00	0.000	6	0.000	0.041	3334	2563	2346	0	0	0	0	0	0
4593	0.76	146.0	162.6	12.7	469	4596	0.00	1.95	0.00	0.000	4	0.000	0.059	3334	3768	2346	0	0	0	0	0	0
4630	0.76	146.0	156.7	14.5	472	4639	0.10	1.88	0.00	0.000	6	0.135	0.041	3310	2585	2345	0	0	0	0	0	0
4767	0.76	146.0	141.1	11.0	485	4774	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2584	2345	0	0	0	0	0	0
4902	0.76	146.0	125.7	11.1	498	4906	0.00	1.90	0.00	0.000	4	0.000	0.060	3310	3763	2345	0	0	0	0	0	0
4929	0.76	146.0	122.1	12.7	500	4937	0.00	1.85	0.00	0.000	6	0.000	0.041	3317	2590	2345	0	0	0	0	0	0
5066	0.76	146.0	106.5	11.6	513	5070	0.00	1.90	0.00	0.000	4	0.000	0.060	3317	3762	2345	0	0	0	0	0	0
5093	0.76	146.0	102.6	13.5	515	5102	0.00	1.85	0.00	0.000	6	0.000	0.041	3326	2594	2345	0	0	0	0	0	0
5232	0.76	146.0	85.6	11.5	538	5241	0.00	1.92	0.00	0.000	4	0.000	0.060	3326	3757	2345	0	0	0	0	0	0
5256	0.76	146.0	82.7	12.6	541	5263	0.00	1.77	0.00	0.000	6	0.000	0.041	3335	2612	2344	0	0	0	0	0	0
5397	0.76	146.0	64.7	12.2	566	5405	0.00	0.00	0.00	0.000	6	0.000	0.000	3335	2611	2344	0	0	0	0	0	0
5542	0.76	146.0	47.3	12.0	591	5548	0.00	1.88	0.00	0.000	4	0.000	0.060	3335	3765	2345	0	0	0	0	0	0
5592	0.76	146.0	41.0	13.9	599	5600	0.12	1.77	0.00	0.000	6	0.164	0.041	3310	2621	2345	0	0	0	0	0	0
5736	0.77	147.7	25.2	9.9	624	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2620	2344	0	0	0	0	0	0
5879	0.77	147.7	10.1	10.4	649	5886	0.00	1.88	0.00	0.000	4	0.000	0.061	3310	3768	2344	0	0	0	0	0	0
5912	0.77	147.7	6.0	12.2	654	5921	0.00	1.80	0.00	0.000	6	0.000	0.040	3318	2625	2344	0	0	0	0	0	0
5937	end climb: SURFACE_DEPTH_REACHED
state	5938	begin surface coast
5962	end surface coast: CONTROL_FINISHED_OK
state	5963	begin surface