Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 348 * 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 348 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 30 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 -30579.928 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 -30579.928

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 30 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 348 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 261210,040728,-7631.782,17638.893,11,2.8,30,123.0 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 2.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,041352,-7631.781,17638.855,13,2.8,32,123.0 MHEAD_RNG_PITCHd_Wd 322.5,87025,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 394

Post-dive calculations and measurements:

FREEZE 1.34,-1.240,-0.966,2,1,0 _24V_AH 20.3,59.658

FINISH 1.3,1.014254 _10V_AH 9.8,39.318

SM_CCo 5819,80.45,0.724,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,80.45,0.000,0.000,0.724,425,2662,1737,-8.24,0.31,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17636.38,261210,020247 MEM 258180

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47057,647

HUMID 52.04 CAP_FILE_SIZE 94746,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,232046592

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

XPDR_PINGS 3 CURRENT 0.107,218.8,1

ALTIM_TOP_PING 19.5,18.2 GPS 261210,055400,-7631.952,17641.168,40,0.9,40,122.9

ALTIM_BOTTOM_PING 351.2,42.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.51 SBE_CT 454 24 221.41

Roll_motor 78 110 175.21 AA4330 838 33 561.99

VBD_pump_during_apogee 279 1023 5798.23 WL_BBFL2VMT 912 105 1945.50

VBD_pump_during_surface 80 723 1181.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 60.11 nil 0 0 0.00

Iridium_during_connect 49 160 161.76 nil 0 0 0.00

Iridium_during_xfer 177 223 803.49 nil 0 0 0.00

Transponder_ping 2 420 19.18 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 16.68

TT8 1656 19 321.45

LPSleep 2113 2 45.36

TT8_Active 487 19 94.51

TT8_Sampling 1860 39 725.74

TT8_CF8 178 45 80.18

TT8_Kalman 0 0 0.00

Analog_circuits 1166 12 137.22

GPS_charging 0 0 0.00

Compass 1077 15 158.43

RAFOS 0 0 0.00

Transponder 13 30 4.00

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.76 -146.0 0.0 0.0 0 83 0.00 0.00 -63.78 0.000 2 0.000 0.000 410 2658 2864 0 0 0 0 0 0

86 -0.76 -146.0 3.0 -2.5 9 131 9.00 1.90 -31.23 0.000 4 0.198 0.079 2799 3764 3559 0 0 0 0 0 0

217 -0.76 -146.0 17.1 -17.7 30 226 0.00 1.77 0.00 0.000 6 0.000 0.041 2798 2652 3562 0 0 0 0 0 0

363 -0.76 -146.0 42.0 -17.1 55 369 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2651 3563 0 0 0 0 0 0

503 -0.76 -146.0 65.7 -16.6 80 511 0.00 1.85 0.00 0.000 4 0.000 0.063 2790 3749 3563 0 0 0 0 0 0

549 -0.76 -146.0 73.1 -17.7 87 556 0.00 1.75 0.00 0.000 6 0.000 0.041 2790 2649 3563 0 0 0 0 0 0

690 -0.76 -146.0 97.8 -17.0 112 697 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2648 3563 0 0 0 0 0 0

833 -0.76 -146.0 121.8 -16.5 126 836 0.00 1.80 0.00 0.000 4 0.000 0.063 2782 3757 3563 0 0 0 0 0 0

860 -0.76 -146.0 127.0 -17.5 128 868 0.10 1.75 0.00 0.000 6 0.138 0.041 2816 2657 3563 0 0 0 0 0 0

995 -0.76 -146.0 147.1 -15.0 141 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 2656 3563 0 0 0 0 0 0

1122 -0.76 -146.0 165.5 -14.8 153 1126 0.00 1.77 0.00 0.000 4 0.000 0.061 2808 3754 3563 0 0 0 0 0 0

1149 -0.76 -146.0 169.2 -15.3 155 1153 0.00 1.70 0.00 0.000 6 0.000 0.041 2808 2655 3563 0 0 0 0 0 0

1291 -0.76 -146.0 190.9 -15.3 168 1295 0.00 2.22 0.00 0.000 4 0.000 0.049 2809 1233 3563 0 0 0 0 0 0

1311 -0.76 -146.0 193.9 -15.4 169 1315 0.00 2.30 0.00 0.000 6 0.000 0.055 2798 2659 3563 0 0 0 0 0 0

1447 -0.76 -146.0 215.5 -15.8 181 1450 0.00 1.77 0.00 0.000 4 0.000 0.060 2789 3773 3564 0 0 0 0 0 0

1482 -0.76 -146.0 221.5 -17.0 184 1486 0.00 1.70 0.00 0.000 6 0.000 0.041 2789 2673 3563 0 0 0 0 0 0

1625 -0.76 -146.0 245.1 -16.8 197 1628 0.00 1.77 0.00 0.000 4 0.000 0.062 2782 3768 3563 0 0 0 0 0 0

1656 -0.76 -146.0 250.5 -17.4 199 1665 0.10 1.73 0.00 0.000 6 0.134 0.042 2815 2683 3563 0 0 0 0 0 0

1791 -0.76 -146.0 270.6 -14.4 212 1795 0.00 2.25 0.00 0.000 4 0.000 0.048 2815 1245 3564 0 0 0 0 0 0

1819 -0.76 -146.0 274.8 -14.0 214 1823 0.00 2.35 0.00 0.000 6 0.000 0.056 2806 2690 3564 0 0 0 0 0 0

2022 -0.76 -146.0 304.4 -14.8 233 2026 0.00 1.73 0.00 0.000 4 0.000 0.061 2798 3770 3563 0 0 0 0 0 0

2071 -0.76 -146.0 312.5 -16.1 237 2078 0.00 1.70 0.00 0.000 6 0.000 0.041 2798 2694 3563 0 0 0 0 0 0

2269 -0.76 -146.0 343.0 -15.8 256 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2693 3564 0 0 0 0 0 0

2460 -0.76 -146.0 372.0 -15.3 274 2461 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2693 3563 0 0 0 0 0 0

2501 end dive: BOTTOM_OBSTACLE_DETECTED

state 2501 begin apogee

2506 -0.17 0.0 378.7 15.4 278 2644 0.62 0.00 131.80 1.024 4 0.124 0.000 3003 2497 2961 0 0 0 0 0 0

2645 end apogee: CONTROL_FINISHED_OK

state 2645 begin climb

2647 0.76 146.0 384.0 0.0 290 2802 0.98 2.53 147.25 0.947 4 0.075 0.048 3313 1097 2365 0 0 0 0 0 0

2930 0.76 146.0 359.2 11.7 315 2938 0.00 2.50 0.00 0.000 6 0.000 0.050 3313 2497 2353 0 0 0 0 0 0

3129 0.76 146.0 335.3 12.0 334 3133 0.00 2.25 0.00 0.000 4 0.000 0.048 3323 1097 2351 0 0 0 0 0 0

3238 0.76 146.0 322.5 11.1 343 3246 0.00 2.35 0.00 0.000 6 0.000 0.051 3323 2527 2349 0 0 0 0 0 0

3437 0.76 146.0 298.3 12.2 362 3441 0.00 1.98 0.00 0.000 4 0.000 0.058 3322 3767 2349 0 0 0 0 0 0

3516 0.76 146.0 286.8 14.6 369 3520 0.00 1.90 0.00 0.000 6 0.000 0.040 3332 2539 2348 0 0 0 0 0 0

3718 0.76 146.0 259.4 13.1 388 3722 0.00 1.98 0.00 0.000 4 0.000 0.057 3332 3765 2347 0 0 0 0 0 0

3754 0.76 146.0 254.3 15.3 391 3757 0.00 1.90 0.00 0.000 6 0.000 0.039 3342 2538 2347 0 0 0 0 0 0

3958 0.76 146.0 226.0 13.7 410 3962 0.00 1.98 0.00 0.000 4 0.000 0.058 3342 3761 2346 0 0 0 0 0 0

3983 0.76 146.0 222.3 14.8 412 3987 0.15 1.88 0.00 0.000 6 0.161 0.041 3310 2551 2346 0 0 0 0 0 0

4123 0.76 146.0 204.9 12.0 425 4124 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2549 2346 0 0 0 0 0 0

4249 0.76 146.0 189.7 11.9 437 4253 0.00 1.98 0.00 0.000 4 0.000 0.060 3309 3768 2346 0 0 0 0 0 0

4297 0.76 146.0 182.8 14.1 441 4306 0.00 1.90 0.00 0.000 6 0.000 0.041 3317 2562 2346 0 0 0 0 0 0

4435 0.76 146.0 166.6 12.0 454 4443 0.00 0.00 0.00 0.000 6 0.000 0.000 3317 2561 2346 0 0 0 0 0 0

4571 0.76 146.0 150.3 11.8 467 4574 0.00 1.95 0.00 0.000 4 0.000 0.060 3317 3768 2346 0 0 0 0 0 0

4607 0.76 146.0 145.0 13.1 470 4617 0.00 1.90 0.00 0.000 6 0.000 0.040 3326 2563 2346 0 0 0 0 0 0

4744 0.76 146.0 128.6 12.3 483 4747 0.00 1.95 0.00 0.000 4 0.000 0.060 3326 3771 2345 0 0 0 0 0 0

4769 0.76 146.0 124.8 13.3 485 4778 0.00 1.90 0.00 0.000 6 0.000 0.041 3336 2568 2345 0 0 0 0 0 0

4905 0.76 146.0 107.4 12.9 498 4906 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2567 2345 0 0 0 0 0 0

5033 0.76 146.0 90.5 12.5 516 5041 0.00 1.98 0.00 0.000 4 0.000 0.060 3335 3757 2345 0 0 0 0 0 0

5066 0.76 146.0 85.9 14.8 521 5073 0.12 1.83 0.00 0.000 6 0.159 0.041 3311 2585 2345 0 0 0 0 0 0

5209 0.76 146.0 68.9 11.2 546 5217 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2584 2345 0 0 0 0 0 0

5353 0.76 146.0 53.1 10.5 571 5360 0.00 1.92 0.00 0.000 4 0.000 0.060 3310 3764 2344 0 0 0 0 0 0

5383 0.76 146.0 49.3 11.8 576 5391 0.00 1.85 0.00 0.000 6 0.000 0.041 3318 2592 2344 0 0 0 0 0 0

5530 0.76 146.0 33.7 10.4 601 5537 0.00 1.95 0.00 0.000 4 0.000 0.060 3318 3767 2344 0 0 0 0 0 0

5556 0.76 146.0 30.5 10.9 605 5562 0.00 1.83 0.00 0.000 6 0.000 0.041 3327 2594 2344 0 0 0 0 0 0

5699 0.76 146.0 13.8 11.8 630 5708 0.00 0.00 0.00 0.000 6 0.000 0.000 3327 2592 2344 0 0 0 0 0 0

5789 end climb: SURFACE_DEPTH_REACHED

state 5789 begin surface coast

5803 end surface coast: FINISH_DEPTH_REACHED

state 5804 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	348	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	30	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	-30579.928	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	261210,040728,-7631.782,17638.893,11,2.8,30,123.0	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	2.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,041352,-7631.781,17638.855,13,2.8,32,123.0	MHEAD_RNG_PITCHd_Wd	322.5,87025,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	394

FREEZE	1.34,-1.240,-0.966,2,1,0	_24V_AH	20.3,59.658
FINISH	1.3,1.014254	_10V_AH	9.8,39.318
SM_CCo	5819,80.45,0.724,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,80.45,0.000,0.000,0.724,425,2662,1737,-8.24,0.31,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17636.38,261210,020247	MEM	258180
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47057,647
HUMID	52.04	CAP_FILE_SIZE	94746,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,232046592
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	3	CURRENT	0.107,218.8,1
ALTIM_TOP_PING	19.5,18.2	GPS	261210,055400,-7631.952,17641.168,40,0.9,40,122.9
ALTIM_BOTTOM_PING	351.2,42.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.51	SBE_CT	454	24	221.41
Roll_motor	78	110	175.21	AA4330	838	33	561.99
VBD_pump_during_apogee	279	1023	5798.23	WL_BBFL2VMT	912	105	1945.50
VBD_pump_during_surface	80	723	1181.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	60.11	nil	0	0	0.00
Iridium_during_connect	49	160	161.76	nil	0	0	0.00
Iridium_during_xfer	177	223	803.49	nil	0	0	0.00
Transponder_ping	2	420	19.18	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	16.68
TT8	1656	19	321.45
LPSleep	2113	2	45.36
TT8_Active	487	19	94.51
TT8_Sampling	1860	39	725.74
TT8_CF8	178	45	80.18
TT8_Kalman	0	0	0.00
Analog_circuits	1166	12	137.22
GPS_charging	0	0	0.00
Compass	1077	15	158.43
RAFOS	0	0	0.00
Transponder	13	30	4.00

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.76	-146.0	0.0	0.0	0	83	0.00	0.00	-63.78	0.000	2	0.000	0.000	410	2658	2864	0	0	0	0	0	0
86	-0.76	-146.0	3.0	-2.5	9	131	9.00	1.90	-31.23	0.000	4	0.198	0.079	2799	3764	3559	0	0	0	0	0	0
217	-0.76	-146.0	17.1	-17.7	30	226	0.00	1.77	0.00	0.000	6	0.000	0.041	2798	2652	3562	0	0	0	0	0	0
363	-0.76	-146.0	42.0	-17.1	55	369	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2651	3563	0	0	0	0	0	0
503	-0.76	-146.0	65.7	-16.6	80	511	0.00	1.85	0.00	0.000	4	0.000	0.063	2790	3749	3563	0	0	0	0	0	0
549	-0.76	-146.0	73.1	-17.7	87	556	0.00	1.75	0.00	0.000	6	0.000	0.041	2790	2649	3563	0	0	0	0	0	0
690	-0.76	-146.0	97.8	-17.0	112	697	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2648	3563	0	0	0	0	0	0
833	-0.76	-146.0	121.8	-16.5	126	836	0.00	1.80	0.00	0.000	4	0.000	0.063	2782	3757	3563	0	0	0	0	0	0
860	-0.76	-146.0	127.0	-17.5	128	868	0.10	1.75	0.00	0.000	6	0.138	0.041	2816	2657	3563	0	0	0	0	0	0
995	-0.76	-146.0	147.1	-15.0	141	996	0.00	0.00	0.00	0.000	6	0.000	0.000	2815	2656	3563	0	0	0	0	0	0
1122	-0.76	-146.0	165.5	-14.8	153	1126	0.00	1.77	0.00	0.000	4	0.000	0.061	2808	3754	3563	0	0	0	0	0	0
1149	-0.76	-146.0	169.2	-15.3	155	1153	0.00	1.70	0.00	0.000	6	0.000	0.041	2808	2655	3563	0	0	0	0	0	0
1291	-0.76	-146.0	190.9	-15.3	168	1295	0.00	2.22	0.00	0.000	4	0.000	0.049	2809	1233	3563	0	0	0	0	0	0
1311	-0.76	-146.0	193.9	-15.4	169	1315	0.00	2.30	0.00	0.000	6	0.000	0.055	2798	2659	3563	0	0	0	0	0	0
1447	-0.76	-146.0	215.5	-15.8	181	1450	0.00	1.77	0.00	0.000	4	0.000	0.060	2789	3773	3564	0	0	0	0	0	0
1482	-0.76	-146.0	221.5	-17.0	184	1486	0.00	1.70	0.00	0.000	6	0.000	0.041	2789	2673	3563	0	0	0	0	0	0
1625	-0.76	-146.0	245.1	-16.8	197	1628	0.00	1.77	0.00	0.000	4	0.000	0.062	2782	3768	3563	0	0	0	0	0	0
1656	-0.76	-146.0	250.5	-17.4	199	1665	0.10	1.73	0.00	0.000	6	0.134	0.042	2815	2683	3563	0	0	0	0	0	0
1791	-0.76	-146.0	270.6	-14.4	212	1795	0.00	2.25	0.00	0.000	4	0.000	0.048	2815	1245	3564	0	0	0	0	0	0
1819	-0.76	-146.0	274.8	-14.0	214	1823	0.00	2.35	0.00	0.000	6	0.000	0.056	2806	2690	3564	0	0	0	0	0	0
2022	-0.76	-146.0	304.4	-14.8	233	2026	0.00	1.73	0.00	0.000	4	0.000	0.061	2798	3770	3563	0	0	0	0	0	0
2071	-0.76	-146.0	312.5	-16.1	237	2078	0.00	1.70	0.00	0.000	6	0.000	0.041	2798	2694	3563	0	0	0	0	0	0
2269	-0.76	-146.0	343.0	-15.8	256	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2693	3564	0	0	0	0	0	0
2460	-0.76	-146.0	372.0	-15.3	274	2461	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2693	3563	0	0	0	0	0	0
2501	end dive: BOTTOM_OBSTACLE_DETECTED
state	2501	begin apogee
2506	-0.17	0.0	378.7	15.4	278	2644	0.62	0.00	131.80	1.024	4	0.124	0.000	3003	2497	2961	0	0	0	0	0	0
2645	end apogee: CONTROL_FINISHED_OK
state	2645	begin climb
2647	0.76	146.0	384.0	0.0	290	2802	0.98	2.53	147.25	0.947	4	0.075	0.048	3313	1097	2365	0	0	0	0	0	0
2930	0.76	146.0	359.2	11.7	315	2938	0.00	2.50	0.00	0.000	6	0.000	0.050	3313	2497	2353	0	0	0	0	0	0
3129	0.76	146.0	335.3	12.0	334	3133	0.00	2.25	0.00	0.000	4	0.000	0.048	3323	1097	2351	0	0	0	0	0	0
3238	0.76	146.0	322.5	11.1	343	3246	0.00	2.35	0.00	0.000	6	0.000	0.051	3323	2527	2349	0	0	0	0	0	0
3437	0.76	146.0	298.3	12.2	362	3441	0.00	1.98	0.00	0.000	4	0.000	0.058	3322	3767	2349	0	0	0	0	0	0
3516	0.76	146.0	286.8	14.6	369	3520	0.00	1.90	0.00	0.000	6	0.000	0.040	3332	2539	2348	0	0	0	0	0	0
3718	0.76	146.0	259.4	13.1	388	3722	0.00	1.98	0.00	0.000	4	0.000	0.057	3332	3765	2347	0	0	0	0	0	0
3754	0.76	146.0	254.3	15.3	391	3757	0.00	1.90	0.00	0.000	6	0.000	0.039	3342	2538	2347	0	0	0	0	0	0
3958	0.76	146.0	226.0	13.7	410	3962	0.00	1.98	0.00	0.000	4	0.000	0.058	3342	3761	2346	0	0	0	0	0	0
3983	0.76	146.0	222.3	14.8	412	3987	0.15	1.88	0.00	0.000	6	0.161	0.041	3310	2551	2346	0	0	0	0	0	0
4123	0.76	146.0	204.9	12.0	425	4124	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2549	2346	0	0	0	0	0	0
4249	0.76	146.0	189.7	11.9	437	4253	0.00	1.98	0.00	0.000	4	0.000	0.060	3309	3768	2346	0	0	0	0	0	0
4297	0.76	146.0	182.8	14.1	441	4306	0.00	1.90	0.00	0.000	6	0.000	0.041	3317	2562	2346	0	0	0	0	0	0
4435	0.76	146.0	166.6	12.0	454	4443	0.00	0.00	0.00	0.000	6	0.000	0.000	3317	2561	2346	0	0	0	0	0	0
4571	0.76	146.0	150.3	11.8	467	4574	0.00	1.95	0.00	0.000	4	0.000	0.060	3317	3768	2346	0	0	0	0	0	0
4607	0.76	146.0	145.0	13.1	470	4617	0.00	1.90	0.00	0.000	6	0.000	0.040	3326	2563	2346	0	0	0	0	0	0
4744	0.76	146.0	128.6	12.3	483	4747	0.00	1.95	0.00	0.000	4	0.000	0.060	3326	3771	2345	0	0	0	0	0	0
4769	0.76	146.0	124.8	13.3	485	4778	0.00	1.90	0.00	0.000	6	0.000	0.041	3336	2568	2345	0	0	0	0	0	0
4905	0.76	146.0	107.4	12.9	498	4906	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2567	2345	0	0	0	0	0	0
5033	0.76	146.0	90.5	12.5	516	5041	0.00	1.98	0.00	0.000	4	0.000	0.060	3335	3757	2345	0	0	0	0	0	0
5066	0.76	146.0	85.9	14.8	521	5073	0.12	1.83	0.00	0.000	6	0.159	0.041	3311	2585	2345	0	0	0	0	0	0
5209	0.76	146.0	68.9	11.2	546	5217	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2584	2345	0	0	0	0	0	0
5353	0.76	146.0	53.1	10.5	571	5360	0.00	1.92	0.00	0.000	4	0.000	0.060	3310	3764	2344	0	0	0	0	0	0
5383	0.76	146.0	49.3	11.8	576	5391	0.00	1.85	0.00	0.000	6	0.000	0.041	3318	2592	2344	0	0	0	0	0	0
5530	0.76	146.0	33.7	10.4	601	5537	0.00	1.95	0.00	0.000	4	0.000	0.060	3318	3767	2344	0	0	0	0	0	0
5556	0.76	146.0	30.5	10.9	605	5562	0.00	1.83	0.00	0.000	6	0.000	0.041	3327	2594	2344	0	0	0	0	0	0
5699	0.76	146.0	13.8	11.8	630	5708	0.00	0.00	0.00	0.000	6	0.000	0.000	3327	2592	2344	0	0	0	0	0	0
5789	end climb: SURFACE_DEPTH_REACHED
state	5789	begin surface coast
5803	end surface coast: FINISH_DEPTH_REACHED
state	5804	begin surface