Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 346 * 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 346 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 35 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 32 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 -30577.408 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 -30577.408

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 35 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 32 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 346 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 261210,002938,-7631.478,17636.381,16,1.5,16,123.0 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 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,003514,-7631.459,17636.264,11,1.7,11,123.0 MHEAD_RNG_PITCHd_Wd 354.0,88125,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 388

Post-dive calculations and measurements:

FREEZE 1.29,-0.876,-0.188,2,1,0 _24V_AH 20.3,59.440

FINISH 1.3,1.002552 _10V_AH 9.7,39.150

SM_CCo 5834,80.68,0.727,1,0,1735,300.24 FG_AHR_24Vo 0.000

SM_GC 2.12,0.00,0.00,80.68,0.000,0.000,0.727,425,2658,1735,-8.25,0.23,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17627.15,251210,222239 MEM 258180

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47111,650

HUMID 52.75 CAP_FILE_SIZE 93951,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,232161280

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

XPDR_PINGS 1 CURRENT 0.143,292.2,1

ALTIM_TOP_PING 19.6,18.0 GPS 261210,021537,-7631.589,17637.428,39,1.1,39,123.0

ALTIM_BOTTOM_PING 350.1,46.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 199 75.49 SBE_CT 456 24 222.41

Roll_motor 78 109 174.88 AA4330 838 33 561.73

VBD_pump_during_apogee 280 1024 5835.84 WL_BBFL2VMT 903 105 1924.86

VBD_pump_during_surface 80 726 1190.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 61.37 nil 0 0 0.00

Iridium_during_connect 36 160 118.88 nil 0 0 0.00

Iridium_during_xfer 167 223 758.13 nil 0 0 0.00

Transponder_ping 1 420 12.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 5.76

TT8 1663 19 319.42

LPSleep 2132 2 45.31

TT8_Active 484 19 93.07

TT8_Sampling 1805 39 696.93

TT8_CF8 178 45 79.26

TT8_Kalman 0 0 0.00

Analog_circuits 1161 12 135.16

GPS_charging 0 0 0.00

Compass 1079 15 157.03

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.76 -146.0 0.0 0.0 0 87 0.00 0.00 -68.75 0.000 2 0.000 0.000 411 2664 2971 0 0 0 0 0 0

89 -0.76 -146.0 3.0 -2.5 10 127 9.05 1.88 -23.23 0.000 4 0.200 0.080 2799 3753 3559 0 0 0 0 0 0

196 -0.76 -146.0 16.2 -17.0 27 203 0.00 1.77 0.00 0.000 6 0.000 0.043 2798 2625 3561 0 0 0 0 0 0

338 -0.76 -146.0 40.3 -16.4 52 347 0.00 2.22 0.00 0.000 4 0.000 0.050 2798 1241 3562 0 0 0 0 0 0

376 -0.76 -146.0 46.5 -15.7 58 385 0.08 2.33 0.00 0.000 6 0.129 0.056 2814 2645 3563 0 0 0 0 0 0

522 -0.76 -146.0 67.6 -14.4 83 529 0.00 1.83 0.00 0.000 4 0.000 0.062 2806 3757 3563 0 0 0 0 0 0

563 -0.76 -146.0 74.4 -16.7 90 571 0.00 1.75 0.00 0.000 6 0.000 0.042 2806 2656 3563 0 0 0 0 0 0

707 -0.76 -146.0 96.2 -15.6 115 713 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2655 3563 0 0 0 0 0 0

850 -0.76 -146.0 118.3 -15.2 130 853 0.00 1.80 0.00 0.000 4 0.000 0.063 2798 3763 3563 0 0 0 0 0 0

886 -0.76 -146.0 124.2 -17.4 133 889 0.00 1.70 0.00 0.000 6 0.000 0.041 2798 2663 3563 0 0 0 0 0 0

1028 -0.76 -146.0 147.2 -16.1 146 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2660 3564 0 0 0 0 0 0

1164 -0.76 -146.0 169.4 -16.5 159 1167 0.00 1.80 0.00 0.000 4 0.000 0.062 2789 3773 3563 0 0 0 0 0 0

1199 -0.76 -146.0 175.5 -17.7 162 1202 0.00 1.73 0.00 0.000 6 0.000 0.041 2789 2657 3564 0 0 0 0 0 0

1340 -0.76 -146.0 199.0 -16.6 175 1341 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2655 3563 0 0 0 0 0 0

1467 -0.76 -146.0 219.8 -16.7 187 1470 0.00 1.80 0.00 0.000 4 0.000 0.063 2781 3764 3564 0 0 0 0 0 0

1504 -0.76 -146.0 226.9 -17.6 190 1513 0.08 1.73 0.00 0.000 6 0.142 0.041 2806 2676 3564 0 0 0 0 0 0

1642 -0.76 -146.0 246.9 -14.6 203 1649 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2676 3564 0 0 0 0 0 0

1776 -0.76 -146.0 267.4 -14.8 216 1777 0.00 0.00 0.00 0.000 6 0.000 0.000 2807 2676 3564 0 0 0 0 0 0

1966 -0.76 -146.0 296.3 -15.0 234 1970 0.00 1.77 0.00 0.000 4 0.000 0.062 2799 3769 3564 0 0 0 0 0 0

1994 -0.76 -146.0 300.8 -15.7 236 2002 0.00 1.73 0.00 0.000 6 0.000 0.042 2799 2681 3563 0 0 0 0 0 0

2193 -0.76 -146.0 331.0 -15.5 255 2195 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2681 3564 0 0 0 0 0 0

2382 -0.76 -146.0 359.6 -15.2 273 2386 0.00 1.75 0.00 0.000 4 0.000 0.062 2791 3763 3564 0 0 0 0 0 0

2420 -0.76 -146.0 366.1 -16.7 276 2429 0.00 1.70 0.00 0.000 6 0.000 0.041 2791 2691 3563 0 0 0 0 0 0

2521 end dive: BOTTOM_OBSTACLE_DETECTED

state 2521 begin apogee

2527 -0.17 0.0 381.7 15.7 286 2665 0.65 0.00 132.57 1.024 4 0.128 0.000 3001 2493 2961 0 0 0 0 0 0

2666 end apogee: CONTROL_FINISHED_OK

state 2666 begin climb

2668 0.76 146.0 387.4 0.0 298 2826 0.98 2.50 148.07 0.949 4 0.073 0.048 3312 1095 2365 0 0 0 0 0 0

2918 0.76 146.0 366.3 10.8 320 2923 0.00 2.50 0.00 0.000 6 0.000 0.050 3312 2500 2356 0 0 0 0 0 0

3116 0.76 146.0 343.1 11.7 338 3120 0.00 2.28 0.00 0.000 4 0.000 0.048 3321 1098 2352 0 0 0 0 0 0

3258 0.76 146.0 326.2 12.2 350 3263 0.00 2.30 0.00 0.000 6 0.000 0.052 3322 2518 2349 0 0 0 0 0 0

3456 0.76 146.0 301.7 12.4 368 3459 0.00 2.00 0.00 0.000 4 0.000 0.059 3322 3773 2348 0 0 0 0 0 0

3557 0.76 146.0 287.1 15.1 377 3561 0.00 1.95 0.00 0.000 6 0.000 0.042 3332 2544 2348 0 0 0 0 0 0

3760 0.76 146.0 260.2 12.9 396 3763 0.00 1.98 0.00 0.000 4 0.000 0.060 3332 3764 2347 0 0 0 0 0 0

3794 0.76 146.0 255.0 15.6 399 3798 0.00 1.90 0.00 0.000 6 0.000 0.040 3341 2536 2347 0 0 0 0 0 0

3999 0.76 146.0 226.1 14.4 418 4002 0.00 1.98 0.00 0.000 4 0.000 0.058 3341 3764 2347 0 0 0 0 0 0

4035 0.76 146.0 220.6 15.8 421 4039 0.15 1.90 0.00 0.000 6 0.159 0.041 3309 2537 2347 0 0 0 0 0 0

4172 0.76 146.0 203.9 11.8 433 4179 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2534 2347 0 0 0 0 0 0

4308 0.76 146.0 187.9 11.6 446 4311 0.00 1.98 0.00 0.000 4 0.000 0.059 3310 3764 2347 0 0 0 0 0 0

4364 0.76 146.0 180.2 13.6 451 4368 0.00 1.88 0.00 0.000 6 0.000 0.041 3317 2550 2347 0 0 0 0 0 0

4505 0.76 146.0 162.6 12.1 464 4509 0.00 1.98 0.00 0.000 4 0.000 0.059 3317 3771 2346 0 0 0 0 0 0

4522 0.76 146.0 160.1 12.3 465 4530 0.00 1.92 0.00 0.000 6 0.000 0.040 3327 2556 2347 0 0 0 0 0 0

4659 0.76 146.0 143.2 12.5 478 4663 0.00 1.95 0.00 0.000 4 0.000 0.059 3326 3764 2346 0 0 0 0 0 0

4685 0.76 146.0 139.0 14.0 480 4695 0.00 1.90 0.00 0.000 6 0.000 0.040 3336 2558 2346 0 0 0 0 0 0

4821 0.76 146.0 121.3 13.0 493 4825 0.00 1.95 0.00 0.000 4 0.000 0.059 3336 3768 2346 0 0 0 0 0 0

4845 0.76 146.0 117.6 14.4 495 4849 0.12 1.85 0.00 0.000 6 0.161 0.041 3311 2568 2346 0 0 0 0 0 0

4985 0.76 146.0 100.8 11.3 508 4986 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2567 2345 0 0 0 0 0 0

5120 0.76 146.0 85.8 11.2 531 5126 0.00 1.95 0.00 0.000 4 0.000 0.060 3311 3763 2345 0 0 0 0 0 0

5157 0.76 146.0 81.0 13.1 537 5164 0.00 1.88 0.00 0.000 6 0.000 0.041 3319 2580 2345 0 0 0 0 0 0

5301 0.76 146.0 63.1 12.7 562 5308 0.00 0.00 0.00 0.000 6 0.000 0.000 3319 2579 2345 0 0 0 0 0 0

5443 0.76 146.0 46.2 11.7 587 5450 0.00 1.92 0.00 0.000 4 0.000 0.059 3319 3764 2345 0 0 0 0 0 0

5480 0.76 146.0 41.2 13.8 593 5487 0.00 1.85 0.00 0.000 6 0.000 0.040 3328 2573 2345 0 0 0 0 0 0

5623 0.76 146.0 23.2 11.8 618 5632 0.00 2.38 0.00 0.000 4 0.000 0.052 3328 1096 2344 0 0 0 0 0 0

5638 0.76 146.0 21.4 11.7 620 5647 0.00 2.42 0.00 0.000 6 0.000 0.053 3328 2576 2344 0 0 0 0 0 0

5787 end climb: SURFACE_DEPTH_REACHED

state 5787 begin surface coast

5818 end surface coast: FINISH_DEPTH_REACHED

state 5818 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	346	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	35	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	32	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	-30577.408	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	261210,002938,-7631.478,17636.381,16,1.5,16,123.0	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	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,003514,-7631.459,17636.264,11,1.7,11,123.0	MHEAD_RNG_PITCHd_Wd	354.0,88125,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	388

FREEZE	1.29,-0.876,-0.188,2,1,0	_24V_AH	20.3,59.440
FINISH	1.3,1.002552	_10V_AH	9.7,39.150
SM_CCo	5834,80.68,0.727,1,0,1735,300.24	FG_AHR_24Vo	0.000
SM_GC	2.12,0.00,0.00,80.68,0.000,0.000,0.727,425,2658,1735,-8.25,0.23,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17627.15,251210,222239	MEM	258180
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47111,650
HUMID	52.75	CAP_FILE_SIZE	93951,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,232161280
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.143,292.2,1
ALTIM_TOP_PING	19.6,18.0	GPS	261210,021537,-7631.589,17637.428,39,1.1,39,123.0
ALTIM_BOTTOM_PING	350.1,46.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	199	75.49	SBE_CT	456	24	222.41
Roll_motor	78	109	174.88	AA4330	838	33	561.73
VBD_pump_during_apogee	280	1024	5835.84	WL_BBFL2VMT	903	105	1924.86
VBD_pump_during_surface	80	726	1190.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	61.37	nil	0	0	0.00
Iridium_during_connect	36	160	118.88	nil	0	0	0.00
Iridium_during_xfer	167	223	758.13	nil	0	0	0.00
Transponder_ping	1	420	12.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	5.76
TT8	1663	19	319.42
LPSleep	2132	2	45.31
TT8_Active	484	19	93.07
TT8_Sampling	1805	39	696.93
TT8_CF8	178	45	79.26
TT8_Kalman	0	0	0.00
Analog_circuits	1161	12	135.16
GPS_charging	0	0	0.00
Compass	1079	15	157.03
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.76	-146.0	0.0	0.0	0	87	0.00	0.00	-68.75	0.000	2	0.000	0.000	411	2664	2971	0	0	0	0	0	0
89	-0.76	-146.0	3.0	-2.5	10	127	9.05	1.88	-23.23	0.000	4	0.200	0.080	2799	3753	3559	0	0	0	0	0	0
196	-0.76	-146.0	16.2	-17.0	27	203	0.00	1.77	0.00	0.000	6	0.000	0.043	2798	2625	3561	0	0	0	0	0	0
338	-0.76	-146.0	40.3	-16.4	52	347	0.00	2.22	0.00	0.000	4	0.000	0.050	2798	1241	3562	0	0	0	0	0	0
376	-0.76	-146.0	46.5	-15.7	58	385	0.08	2.33	0.00	0.000	6	0.129	0.056	2814	2645	3563	0	0	0	0	0	0
522	-0.76	-146.0	67.6	-14.4	83	529	0.00	1.83	0.00	0.000	4	0.000	0.062	2806	3757	3563	0	0	0	0	0	0
563	-0.76	-146.0	74.4	-16.7	90	571	0.00	1.75	0.00	0.000	6	0.000	0.042	2806	2656	3563	0	0	0	0	0	0
707	-0.76	-146.0	96.2	-15.6	115	713	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2655	3563	0	0	0	0	0	0
850	-0.76	-146.0	118.3	-15.2	130	853	0.00	1.80	0.00	0.000	4	0.000	0.063	2798	3763	3563	0	0	0	0	0	0
886	-0.76	-146.0	124.2	-17.4	133	889	0.00	1.70	0.00	0.000	6	0.000	0.041	2798	2663	3563	0	0	0	0	0	0
1028	-0.76	-146.0	147.2	-16.1	146	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2660	3564	0	0	0	0	0	0
1164	-0.76	-146.0	169.4	-16.5	159	1167	0.00	1.80	0.00	0.000	4	0.000	0.062	2789	3773	3563	0	0	0	0	0	0
1199	-0.76	-146.0	175.5	-17.7	162	1202	0.00	1.73	0.00	0.000	6	0.000	0.041	2789	2657	3564	0	0	0	0	0	0
1340	-0.76	-146.0	199.0	-16.6	175	1341	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2655	3563	0	0	0	0	0	0
1467	-0.76	-146.0	219.8	-16.7	187	1470	0.00	1.80	0.00	0.000	4	0.000	0.063	2781	3764	3564	0	0	0	0	0	0
1504	-0.76	-146.0	226.9	-17.6	190	1513	0.08	1.73	0.00	0.000	6	0.142	0.041	2806	2676	3564	0	0	0	0	0	0
1642	-0.76	-146.0	246.9	-14.6	203	1649	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2676	3564	0	0	0	0	0	0
1776	-0.76	-146.0	267.4	-14.8	216	1777	0.00	0.00	0.00	0.000	6	0.000	0.000	2807	2676	3564	0	0	0	0	0	0
1966	-0.76	-146.0	296.3	-15.0	234	1970	0.00	1.77	0.00	0.000	4	0.000	0.062	2799	3769	3564	0	0	0	0	0	0
1994	-0.76	-146.0	300.8	-15.7	236	2002	0.00	1.73	0.00	0.000	6	0.000	0.042	2799	2681	3563	0	0	0	0	0	0
2193	-0.76	-146.0	331.0	-15.5	255	2195	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2681	3564	0	0	0	0	0	0
2382	-0.76	-146.0	359.6	-15.2	273	2386	0.00	1.75	0.00	0.000	4	0.000	0.062	2791	3763	3564	0	0	0	0	0	0
2420	-0.76	-146.0	366.1	-16.7	276	2429	0.00	1.70	0.00	0.000	6	0.000	0.041	2791	2691	3563	0	0	0	0	0	0
2521	end dive: BOTTOM_OBSTACLE_DETECTED
state	2521	begin apogee
2527	-0.17	0.0	381.7	15.7	286	2665	0.65	0.00	132.57	1.024	4	0.128	0.000	3001	2493	2961	0	0	0	0	0	0
2666	end apogee: CONTROL_FINISHED_OK
state	2666	begin climb
2668	0.76	146.0	387.4	0.0	298	2826	0.98	2.50	148.07	0.949	4	0.073	0.048	3312	1095	2365	0	0	0	0	0	0
2918	0.76	146.0	366.3	10.8	320	2923	0.00	2.50	0.00	0.000	6	0.000	0.050	3312	2500	2356	0	0	0	0	0	0
3116	0.76	146.0	343.1	11.7	338	3120	0.00	2.28	0.00	0.000	4	0.000	0.048	3321	1098	2352	0	0	0	0	0	0
3258	0.76	146.0	326.2	12.2	350	3263	0.00	2.30	0.00	0.000	6	0.000	0.052	3322	2518	2349	0	0	0	0	0	0
3456	0.76	146.0	301.7	12.4	368	3459	0.00	2.00	0.00	0.000	4	0.000	0.059	3322	3773	2348	0	0	0	0	0	0
3557	0.76	146.0	287.1	15.1	377	3561	0.00	1.95	0.00	0.000	6	0.000	0.042	3332	2544	2348	0	0	0	0	0	0
3760	0.76	146.0	260.2	12.9	396	3763	0.00	1.98	0.00	0.000	4	0.000	0.060	3332	3764	2347	0	0	0	0	0	0
3794	0.76	146.0	255.0	15.6	399	3798	0.00	1.90	0.00	0.000	6	0.000	0.040	3341	2536	2347	0	0	0	0	0	0
3999	0.76	146.0	226.1	14.4	418	4002	0.00	1.98	0.00	0.000	4	0.000	0.058	3341	3764	2347	0	0	0	0	0	0
4035	0.76	146.0	220.6	15.8	421	4039	0.15	1.90	0.00	0.000	6	0.159	0.041	3309	2537	2347	0	0	0	0	0	0
4172	0.76	146.0	203.9	11.8	433	4179	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2534	2347	0	0	0	0	0	0
4308	0.76	146.0	187.9	11.6	446	4311	0.00	1.98	0.00	0.000	4	0.000	0.059	3310	3764	2347	0	0	0	0	0	0
4364	0.76	146.0	180.2	13.6	451	4368	0.00	1.88	0.00	0.000	6	0.000	0.041	3317	2550	2347	0	0	0	0	0	0
4505	0.76	146.0	162.6	12.1	464	4509	0.00	1.98	0.00	0.000	4	0.000	0.059	3317	3771	2346	0	0	0	0	0	0
4522	0.76	146.0	160.1	12.3	465	4530	0.00	1.92	0.00	0.000	6	0.000	0.040	3327	2556	2347	0	0	0	0	0	0
4659	0.76	146.0	143.2	12.5	478	4663	0.00	1.95	0.00	0.000	4	0.000	0.059	3326	3764	2346	0	0	0	0	0	0
4685	0.76	146.0	139.0	14.0	480	4695	0.00	1.90	0.00	0.000	6	0.000	0.040	3336	2558	2346	0	0	0	0	0	0
4821	0.76	146.0	121.3	13.0	493	4825	0.00	1.95	0.00	0.000	4	0.000	0.059	3336	3768	2346	0	0	0	0	0	0
4845	0.76	146.0	117.6	14.4	495	4849	0.12	1.85	0.00	0.000	6	0.161	0.041	3311	2568	2346	0	0	0	0	0	0
4985	0.76	146.0	100.8	11.3	508	4986	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2567	2345	0	0	0	0	0	0
5120	0.76	146.0	85.8	11.2	531	5126	0.00	1.95	0.00	0.000	4	0.000	0.060	3311	3763	2345	0	0	0	0	0	0
5157	0.76	146.0	81.0	13.1	537	5164	0.00	1.88	0.00	0.000	6	0.000	0.041	3319	2580	2345	0	0	0	0	0	0
5301	0.76	146.0	63.1	12.7	562	5308	0.00	0.00	0.00	0.000	6	0.000	0.000	3319	2579	2345	0	0	0	0	0	0
5443	0.76	146.0	46.2	11.7	587	5450	0.00	1.92	0.00	0.000	4	0.000	0.059	3319	3764	2345	0	0	0	0	0	0
5480	0.76	146.0	41.2	13.8	593	5487	0.00	1.85	0.00	0.000	6	0.000	0.040	3328	2573	2345	0	0	0	0	0	0
5623	0.76	146.0	23.2	11.8	618	5632	0.00	2.38	0.00	0.000	4	0.000	0.052	3328	1096	2344	0	0	0	0	0	0
5638	0.76	146.0	21.4	11.7	620	5647	0.00	2.42	0.00	0.000	6	0.000	0.053	3328	2576	2344	0	0	0	0	0	0
5787	end climb: SURFACE_DEPTH_REACHED
state	5787	begin surface coast
5818	end surface coast: FINISH_DEPTH_REACHED
state	5818	begin surface