Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 358 * 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 358 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 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 -30592.607 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 -30592.607

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 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 358 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 261210,214950,-7631.480,17711.406,13,1.5,13,122.2 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 2.17 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,215613,-7631.449,17711.348,26,1.4,33,122.2 MHEAD_RNG_PITCHd_Wd 341.2,72964,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.22,-1.299,-0.933,2,1,0 _24V_AH 20.3,60.683

FINISH 1.2,1.013763 _10V_AH 9.7,40.153

SM_CCo 5582,75.88,0.102,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.17,0.00,0.00,75.88,0.000,0.000,0.102,419,2625,1736,-8.26,-0.71,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17713.79,261210,202005 MEM 258180

TT8_MAMPS 0.028462 DATA_FILE_SIZE 43686,621

HUMID 52.91 CAP_FILE_SIZE 91527,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,231534592

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

XPDR_PINGS 3 CURRENT 0.110,320.8,1

ALTIM_TOP_PING 19.4,17.7 GPS 261210,233206,-7631.351,17713.412,32,0.9,32,122.1

ALTIM_BOTTOM_PING 300.4,74.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 194 72.68 SBE_CT 436 24 212.67

Roll_motor 75 78 121.21 AA4330 813 33 545.06

VBD_pump_during_apogee 278 1016 5743.75 WL_BBFL2VMT 905 105 1930.01

VBD_pump_during_surface 75 101 156.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 60.96 nil 0 0 0.00

Iridium_during_connect 38 160 124.06 nil 0 0 0.00

Iridium_during_xfer 187 223 849.14 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 16.44

TT8 1596 19 306.67

LPSleep 2010 2 42.72

TT8_Active 455 19 87.57

TT8_Sampling 1809 39 698.47

TT8_CF8 175 45 77.93

TT8_Kalman 0 0 0.00

Analog_circuits 1111 12 129.39

GPS_charging 0 0 0.00

Compass 1039 15 151.31

RAFOS 0 0 0.00

Transponder 8 30 2.61

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -0.76 -146.0 0.0 0.0 0 88 0.00 0.00 -69.82 0.000 2 0.000 0.000 420 2667 2994 0 0 0 0 0 0

91 -0.76 -146.0 3.1 -2.7 10 128 8.90 1.88 -22.30 0.000 4 0.194 0.079 2803 3766 3558 0 0 0 0 0 0

255 -0.76 -146.0 26.1 -16.8 37 262 0.00 1.77 0.00 0.000 6 0.000 0.042 2803 2630 3560 0 0 0 0 0 0

396 -0.76 -146.0 50.1 -16.8 62 404 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 2629 3561 0 0 0 0 0 0

540 -0.76 -146.0 73.9 -16.4 87 547 0.00 1.85 0.00 0.000 4 0.000 0.060 2795 3766 3561 0 0 0 0 0 0

582 -0.76 -146.0 81.5 -17.8 94 590 0.00 1.77 0.00 0.000 6 0.000 0.041 2795 2649 3561 0 0 0 0 0 0

724 -0.76 -146.0 105.6 -16.7 116 727 0.00 1.80 0.00 0.000 4 0.000 0.060 2786 3763 3561 0 0 0 0 0 0

748 -0.76 -146.0 109.9 -17.7 118 752 0.12 1.70 0.00 0.000 6 0.165 0.041 2819 2664 3561 0 0 0 0 0 0

889 -0.76 -146.0 131.3 -14.5 131 892 0.00 1.77 0.00 0.000 4 0.000 0.060 2813 3763 3562 0 0 0 0 0 0

914 -0.76 -146.0 135.0 -15.5 133 918 0.00 1.67 0.00 0.000 6 0.000 0.041 2812 2680 3562 0 0 0 0 0 0

1055 -0.76 -146.0 157.1 -15.6 146 1056 0.00 0.00 0.00 0.000 6 0.000 0.000 2812 2677 3562 0 0 0 0 0 0

1183 -0.76 -146.0 176.6 -15.1 158 1186 0.00 1.75 0.00 0.000 4 0.000 0.061 2804 3759 3562 0 0 0 0 0 0

1218 -0.76 -146.0 182.2 -16.0 161 1221 0.00 1.65 0.00 0.000 6 0.000 0.041 2804 2691 3562 0 0 0 0 0 0

1358 -0.76 -146.0 204.1 -15.1 174 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2689 3562 0 0 0 0 0 0

1486 -0.76 -146.0 223.5 -15.3 186 1490 0.00 1.73 0.00 0.000 4 0.000 0.060 2796 3758 3562 0 0 0 0 0 0

1532 -0.76 -146.0 231.0 -16.5 190 1536 0.00 1.65 0.00 0.000 6 0.000 0.041 2796 2689 3562 0 0 0 0 0 0

1672 -0.76 -146.0 252.9 -15.2 203 1673 0.00 0.00 0.00 0.000 6 0.000 0.000 2796 2687 3562 0 0 0 0 0 0

1866 -0.76 -146.0 282.9 -15.6 221 1869 0.00 1.75 0.00 0.000 4 0.000 0.060 2788 3769 3562 0 0 0 0 0 0

1912 -0.76 -146.0 290.8 -17.2 225 1916 0.10 1.65 0.00 0.000 6 0.174 0.042 2813 2700 3562 0 0 0 0 0 0

2116 -0.76 -146.0 319.7 -13.9 244 2117 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2699 3562 0 0 0 0 0 0

2305 -0.76 -146.0 346.5 -13.8 262 2308 0.00 1.73 0.00 0.000 4 0.000 0.061 2806 3766 3562 0 0 0 0 0 0

2340 -0.76 -146.0 351.5 -14.5 265 2343 0.00 1.65 0.00 0.000 6 0.000 0.042 2806 2698 3562 0 0 0 0 0 0

2403 end dive: BOTTOM_OBSTACLE_DETECTED

state 2403 begin apogee

2409 -0.17 0.0 361.1 14.5 271 2546 0.62 0.00 131.38 1.017 4 0.127 0.000 3007 2486 2960 0 0 0 0 0 0

2547 end apogee: CONTROL_FINISHED_OK

state 2547 begin climb

2549 0.76 146.0 367.0 0.0 283 2706 0.95 2.47 146.93 0.936 4 0.073 0.047 3311 1102 2365 0 0 0 0 0 0

2814 0.76 146.0 344.8 11.4 307 2818 0.00 2.45 0.00 0.000 6 0.000 0.050 3312 2493 2355 0 0 0 0 0 0

3013 0.76 146.0 321.5 12.0 325 3017 0.00 2.28 0.00 0.000 4 0.000 0.049 3315 1099 2352 0 0 0 0 0 0

3138 0.76 146.0 307.1 11.7 336 3142 0.00 2.30 0.00 0.000 6 0.000 0.051 3315 2524 2349 0 0 0 0 0 0

3335 0.76 146.0 283.4 11.7 354 3339 0.00 1.98 0.00 0.000 4 0.000 0.057 3315 3765 2349 0 0 0 0 0 0

3439 0.76 146.0 269.1 14.6 363 3442 0.00 1.90 0.00 0.000 6 0.000 0.039 3325 2537 2348 0 0 0 0 0 0

3644 0.76 146.0 242.2 13.4 382 3647 0.00 1.98 0.00 0.000 4 0.000 0.058 3324 3764 2347 0 0 0 0 0 0

3690 0.76 146.0 235.4 14.5 386 3694 0.00 1.90 0.00 0.000 6 0.000 0.041 3334 2540 2347 0 0 0 0 0 0

3831 0.76 146.0 216.3 13.3 399 3834 0.00 1.98 0.00 0.000 4 0.000 0.057 3334 3767 2347 0 0 0 0 0 0

3856 0.76 146.0 212.9 14.1 401 3860 0.12 1.88 0.00 0.000 6 0.168 0.040 3310 2555 2347 0 0 0 0 0 0

3996 0.76 146.0 195.8 11.5 414 3997 0.00 0.00 0.00 0.000 6 0.000 0.000 3310 2553 2347 0 0 0 0 0 0

4123 0.76 146.0 181.6 10.8 426 4127 0.00 1.95 0.00 0.000 4 0.000 0.057 3310 3767 2346 0 0 0 0 0 0

4161 0.76 146.0 176.6 12.8 429 4169 0.00 1.90 0.00 0.000 6 0.000 0.040 3318 2563 2346 0 0 0 0 0 0

4296 0.76 146.0 161.0 11.5 442 4300 0.00 1.95 0.00 0.000 4 0.000 0.059 3318 3772 2346 0 0 0 0 0 0

4322 0.76 146.0 157.3 12.7 444 4332 0.00 1.90 0.00 0.000 6 0.000 0.041 3327 2566 2346 0 0 0 0 0 0

4459 0.76 146.0 140.3 12.6 457 4462 0.00 1.95 0.00 0.000 4 0.000 0.059 3327 3774 2346 0 0 0 0 0 0

4495 0.76 146.0 134.6 14.3 460 4505 0.00 1.88 0.00 0.000 6 0.000 0.041 3336 2592 2346 0 0 0 0 0 0

4633 0.76 146.0 117.3 13.2 473 4640 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2591 2346 0 0 0 0 0 0

4768 0.76 146.0 99.3 13.1 486 4777 0.00 1.95 0.00 0.000 4 0.000 0.059 3336 3769 2345 0 0 0 0 0 0

4813 0.76 146.0 92.9 14.1 493 4821 0.12 1.85 0.00 0.000 6 0.164 0.041 3312 2581 2345 0 0 0 0 0 0

4958 0.76 146.0 76.1 11.5 518 4965 0.00 0.00 0.00 0.000 6 0.000 0.000 3312 2580 2345 0 0 0 0 0 0

5102 0.76 146.0 59.4 11.1 543 5109 0.00 1.95 0.00 0.000 4 0.000 0.060 3312 3759 2345 0 0 0 0 0 0

5128 0.76 146.0 56.1 12.9 547 5134 0.00 1.83 0.00 0.000 6 0.000 0.042 3319 2589 2345 0 0 0 0 0 0

5270 0.76 146.0 38.7 12.4 572 5279 0.00 1.95 0.00 0.000 4 0.000 0.059 3319 3768 2345 0 0 0 0 0 0

5304 0.76 146.0 34.1 13.8 577 5311 0.00 1.83 0.00 0.000 6 0.000 0.041 3328 2599 2345 0 0 0 0 0 0

5446 0.76 146.0 16.0 12.6 602 5455 0.00 1.92 0.00 0.000 4 0.000 0.059 3328 3763 2344 0 0 0 0 0 0

5483 0.76 146.0 10.8 14.2 608 5492 0.00 1.80 0.00 0.000 6 0.000 0.041 3337 2628 2344 0 0 0 0 0 0

5539 end climb: SURFACE_DEPTH_REACHED

state 5539 begin surface coast

5566 end surface coast: FINISH_DEPTH_REACHED

state 5567 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	358	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	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	-30592.607	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	261210,214950,-7631.480,17711.406,13,1.5,13,122.2	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	2.17	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,215613,-7631.449,17711.348,26,1.4,33,122.2	MHEAD_RNG_PITCHd_Wd	341.2,72964,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	375

FREEZE	1.22,-1.299,-0.933,2,1,0	_24V_AH	20.3,60.683
FINISH	1.2,1.013763	_10V_AH	9.7,40.153
SM_CCo	5582,75.88,0.102,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.17,0.00,0.00,75.88,0.000,0.000,0.102,419,2625,1736,-8.26,-0.71,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17713.79,261210,202005	MEM	258180
TT8_MAMPS	0.028462	DATA_FILE_SIZE	43686,621
HUMID	52.91	CAP_FILE_SIZE	91527,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,231534592
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	CURRENT	0.110,320.8,1
ALTIM_TOP_PING	19.4,17.7	GPS	261210,233206,-7631.351,17713.412,32,0.9,32,122.1
ALTIM_BOTTOM_PING	300.4,74.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	194	72.68	SBE_CT	436	24	212.67
Roll_motor	75	78	121.21	AA4330	813	33	545.06
VBD_pump_during_apogee	278	1016	5743.75	WL_BBFL2VMT	905	105	1930.01
VBD_pump_during_surface	75	101	156.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	60.96	nil	0	0	0.00
Iridium_during_connect	38	160	124.06	nil	0	0	0.00
Iridium_during_xfer	187	223	849.14	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	16.44
TT8	1596	19	306.67
LPSleep	2010	2	42.72
TT8_Active	455	19	87.57
TT8_Sampling	1809	39	698.47
TT8_CF8	175	45	77.93
TT8_Kalman	0	0	0.00
Analog_circuits	1111	12	129.39
GPS_charging	0	0	0.00
Compass	1039	15	151.31
RAFOS	0	0	0.00
Transponder	8	30	2.61

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-0.76	-146.0	0.0	0.0	0	88	0.00	0.00	-69.82	0.000	2	0.000	0.000	420	2667	2994	0	0	0	0	0	0
91	-0.76	-146.0	3.1	-2.7	10	128	8.90	1.88	-22.30	0.000	4	0.194	0.079	2803	3766	3558	0	0	0	0	0	0
255	-0.76	-146.0	26.1	-16.8	37	262	0.00	1.77	0.00	0.000	6	0.000	0.042	2803	2630	3560	0	0	0	0	0	0
396	-0.76	-146.0	50.1	-16.8	62	404	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	2629	3561	0	0	0	0	0	0
540	-0.76	-146.0	73.9	-16.4	87	547	0.00	1.85	0.00	0.000	4	0.000	0.060	2795	3766	3561	0	0	0	0	0	0
582	-0.76	-146.0	81.5	-17.8	94	590	0.00	1.77	0.00	0.000	6	0.000	0.041	2795	2649	3561	0	0	0	0	0	0
724	-0.76	-146.0	105.6	-16.7	116	727	0.00	1.80	0.00	0.000	4	0.000	0.060	2786	3763	3561	0	0	0	0	0	0
748	-0.76	-146.0	109.9	-17.7	118	752	0.12	1.70	0.00	0.000	6	0.165	0.041	2819	2664	3561	0	0	0	0	0	0
889	-0.76	-146.0	131.3	-14.5	131	892	0.00	1.77	0.00	0.000	4	0.000	0.060	2813	3763	3562	0	0	0	0	0	0
914	-0.76	-146.0	135.0	-15.5	133	918	0.00	1.67	0.00	0.000	6	0.000	0.041	2812	2680	3562	0	0	0	0	0	0
1055	-0.76	-146.0	157.1	-15.6	146	1056	0.00	0.00	0.00	0.000	6	0.000	0.000	2812	2677	3562	0	0	0	0	0	0
1183	-0.76	-146.0	176.6	-15.1	158	1186	0.00	1.75	0.00	0.000	4	0.000	0.061	2804	3759	3562	0	0	0	0	0	0
1218	-0.76	-146.0	182.2	-16.0	161	1221	0.00	1.65	0.00	0.000	6	0.000	0.041	2804	2691	3562	0	0	0	0	0	0
1358	-0.76	-146.0	204.1	-15.1	174	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2689	3562	0	0	0	0	0	0
1486	-0.76	-146.0	223.5	-15.3	186	1490	0.00	1.73	0.00	0.000	4	0.000	0.060	2796	3758	3562	0	0	0	0	0	0
1532	-0.76	-146.0	231.0	-16.5	190	1536	0.00	1.65	0.00	0.000	6	0.000	0.041	2796	2689	3562	0	0	0	0	0	0
1672	-0.76	-146.0	252.9	-15.2	203	1673	0.00	0.00	0.00	0.000	6	0.000	0.000	2796	2687	3562	0	0	0	0	0	0
1866	-0.76	-146.0	282.9	-15.6	221	1869	0.00	1.75	0.00	0.000	4	0.000	0.060	2788	3769	3562	0	0	0	0	0	0
1912	-0.76	-146.0	290.8	-17.2	225	1916	0.10	1.65	0.00	0.000	6	0.174	0.042	2813	2700	3562	0	0	0	0	0	0
2116	-0.76	-146.0	319.7	-13.9	244	2117	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2699	3562	0	0	0	0	0	0
2305	-0.76	-146.0	346.5	-13.8	262	2308	0.00	1.73	0.00	0.000	4	0.000	0.061	2806	3766	3562	0	0	0	0	0	0
2340	-0.76	-146.0	351.5	-14.5	265	2343	0.00	1.65	0.00	0.000	6	0.000	0.042	2806	2698	3562	0	0	0	0	0	0
2403	end dive: BOTTOM_OBSTACLE_DETECTED
state	2403	begin apogee
2409	-0.17	0.0	361.1	14.5	271	2546	0.62	0.00	131.38	1.017	4	0.127	0.000	3007	2486	2960	0	0	0	0	0	0
2547	end apogee: CONTROL_FINISHED_OK
state	2547	begin climb
2549	0.76	146.0	367.0	0.0	283	2706	0.95	2.47	146.93	0.936	4	0.073	0.047	3311	1102	2365	0	0	0	0	0	0
2814	0.76	146.0	344.8	11.4	307	2818	0.00	2.45	0.00	0.000	6	0.000	0.050	3312	2493	2355	0	0	0	0	0	0
3013	0.76	146.0	321.5	12.0	325	3017	0.00	2.28	0.00	0.000	4	0.000	0.049	3315	1099	2352	0	0	0	0	0	0
3138	0.76	146.0	307.1	11.7	336	3142	0.00	2.30	0.00	0.000	6	0.000	0.051	3315	2524	2349	0	0	0	0	0	0
3335	0.76	146.0	283.4	11.7	354	3339	0.00	1.98	0.00	0.000	4	0.000	0.057	3315	3765	2349	0	0	0	0	0	0
3439	0.76	146.0	269.1	14.6	363	3442	0.00	1.90	0.00	0.000	6	0.000	0.039	3325	2537	2348	0	0	0	0	0	0
3644	0.76	146.0	242.2	13.4	382	3647	0.00	1.98	0.00	0.000	4	0.000	0.058	3324	3764	2347	0	0	0	0	0	0
3690	0.76	146.0	235.4	14.5	386	3694	0.00	1.90	0.00	0.000	6	0.000	0.041	3334	2540	2347	0	0	0	0	0	0
3831	0.76	146.0	216.3	13.3	399	3834	0.00	1.98	0.00	0.000	4	0.000	0.057	3334	3767	2347	0	0	0	0	0	0
3856	0.76	146.0	212.9	14.1	401	3860	0.12	1.88	0.00	0.000	6	0.168	0.040	3310	2555	2347	0	0	0	0	0	0
3996	0.76	146.0	195.8	11.5	414	3997	0.00	0.00	0.00	0.000	6	0.000	0.000	3310	2553	2347	0	0	0	0	0	0
4123	0.76	146.0	181.6	10.8	426	4127	0.00	1.95	0.00	0.000	4	0.000	0.057	3310	3767	2346	0	0	0	0	0	0
4161	0.76	146.0	176.6	12.8	429	4169	0.00	1.90	0.00	0.000	6	0.000	0.040	3318	2563	2346	0	0	0	0	0	0
4296	0.76	146.0	161.0	11.5	442	4300	0.00	1.95	0.00	0.000	4	0.000	0.059	3318	3772	2346	0	0	0	0	0	0
4322	0.76	146.0	157.3	12.7	444	4332	0.00	1.90	0.00	0.000	6	0.000	0.041	3327	2566	2346	0	0	0	0	0	0
4459	0.76	146.0	140.3	12.6	457	4462	0.00	1.95	0.00	0.000	4	0.000	0.059	3327	3774	2346	0	0	0	0	0	0
4495	0.76	146.0	134.6	14.3	460	4505	0.00	1.88	0.00	0.000	6	0.000	0.041	3336	2592	2346	0	0	0	0	0	0
4633	0.76	146.0	117.3	13.2	473	4640	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2591	2346	0	0	0	0	0	0
4768	0.76	146.0	99.3	13.1	486	4777	0.00	1.95	0.00	0.000	4	0.000	0.059	3336	3769	2345	0	0	0	0	0	0
4813	0.76	146.0	92.9	14.1	493	4821	0.12	1.85	0.00	0.000	6	0.164	0.041	3312	2581	2345	0	0	0	0	0	0
4958	0.76	146.0	76.1	11.5	518	4965	0.00	0.00	0.00	0.000	6	0.000	0.000	3312	2580	2345	0	0	0	0	0	0
5102	0.76	146.0	59.4	11.1	543	5109	0.00	1.95	0.00	0.000	4	0.000	0.060	3312	3759	2345	0	0	0	0	0	0
5128	0.76	146.0	56.1	12.9	547	5134	0.00	1.83	0.00	0.000	6	0.000	0.042	3319	2589	2345	0	0	0	0	0	0
5270	0.76	146.0	38.7	12.4	572	5279	0.00	1.95	0.00	0.000	4	0.000	0.059	3319	3768	2345	0	0	0	0	0	0
5304	0.76	146.0	34.1	13.8	577	5311	0.00	1.83	0.00	0.000	6	0.000	0.041	3328	2599	2345	0	0	0	0	0	0
5446	0.76	146.0	16.0	12.6	602	5455	0.00	1.92	0.00	0.000	4	0.000	0.059	3328	3763	2344	0	0	0	0	0	0
5483	0.76	146.0	10.8	14.2	608	5492	0.00	1.80	0.00	0.000	6	0.000	0.041	3337	2628	2344	0	0	0	0	0	0
5539	end climb: SURFACE_DEPTH_REACHED
state	5539	begin surface coast
5566	end surface coast: FINISH_DEPTH_REACHED
state	5567	begin surface