Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 359 * 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 359 ESCAPE_HEADING 70 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2650 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 8 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7715 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 750 TGT_DEFAULT_LON 16530 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 200 SM_CC 300 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 24 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 -30593.869 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 -30593.869

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 320

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.025 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 502 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_PITCH 3065 KALMAN_USE 2 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2650 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2961 LOGGERDEVICE3 -1 ROLL_MAX 3764 USE_ICE 1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 187 VBD_CNV -0.245296

DEVICE1 2 MASS 51763 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 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 359 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 261210,233206,-7631.351,17713.412,32,0.9,32,122.1 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 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 261210,233838,-7631.302,17713.342,14,0.9,14,122.1 MHEAD_RNG_PITCHd_Wd 345.7,72093,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.25,-0.916,-1.574,2,1,0 _24V_AH 20.3,60.778

FINISH 1.2,1.023173 _10V_AH 9.7,40.235

SM_CCo 5514,75.88,0.101,0,0,1736,300.24 FG_AHR_24Vo 0.000

SM_GC 2.04,0.00,0.00,75.88,0.000,0.000,0.101,419,2658,1736,-8.27,0.20,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17723.01,261210,212124 MEM 258096

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43687,621

HUMID 52.59 CAP_FILE_SIZE 92067,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,231485440

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

XPDR_PINGS 2 CURRENT 0.121,306.3,1

ALTIM_TOP_PING 19.7,18.3 GPS 271210,011302,-7631.302,17714.914,11,2.0,11,122.1

ALTIM_BOTTOM_PING 300.8,71.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 195 73.46 SBE_CT 435 24 212.16

Roll_motor 77 117 185.76 AA4330 813 33 544.83

VBD_pump_during_apogee 278 1013 5734.69 WL_BBFL2VMT 906 105 1933.26

VBD_pump_during_surface 75 100 155.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 49.67 nil 0 0 0.00

Iridium_during_connect 43 160 142.48 nil 0 0 0.00

Iridium_during_xfer 205 223 929.05 nil 0 0 0.00

Transponder_ping 1 420 12.79 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.59

TT8 1580 19 303.59

LPSleep 1918 2 40.76

TT8_Active 490 19 94.24

TT8_Sampling 1823 39 704.12

TT8_CF8 175 45 78.03

TT8_Kalman 0 0 0.00

Analog_circuits 1157 12 134.78

GPS_charging 0 0 0.00

Compass 1042 15 151.64

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 15 begin dive

17 -0.76 -146.0 0.0 0.0 0 82 0.00 0.00 -62.97 0.000 2 0.000 0.000 413 2623 2848 0 0 0 0 0 0

85 -0.76 -146.0 3.1 -3.1 9 137 8.93 1.92 -32.67 0.000 4 0.195 0.078 2799 3758 3559 0 0 0 0 0 0

242 -0.76 -146.0 21.7 -17.4 35 249 0.00 1.77 0.00 0.000 6 0.000 0.042 2799 2624 3561 0 0 0 0 0 0

380 -0.76 -146.0 45.3 -16.5 60 388 0.00 1.90 0.00 0.000 4 0.000 0.060 2791 3767 3561 0 0 0 0 0 0

417 -0.76 -146.0 51.9 -19.0 66 425 0.00 1.75 0.00 0.000 6 0.000 0.042 2791 2667 3561 0 0 0 0 0 0

558 -0.76 -146.0 75.9 -17.1 91 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2791 2666 3561 0 0 0 0 0 0

694 -0.76 -146.0 99.9 -17.8 116 702 0.00 1.83 0.00 0.000 4 0.000 0.061 2783 3764 3561 0 0 0 0 0 0

734 -0.76 -146.0 107.6 -18.6 120 743 0.08 1.75 0.00 0.000 6 0.144 0.041 2808 2664 3561 0 0 0 0 0 0

872 -0.76 -146.0 128.7 -15.8 133 879 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2663 3562 0 0 0 0 0 0

1007 -0.76 -146.0 150.3 -15.7 146 1011 0.00 1.77 0.00 0.000 4 0.000 0.060 2801 3764 3562 0 0 0 0 0 0

1055 -0.76 -146.0 158.9 -16.6 150 1064 0.00 1.73 0.00 0.000 6 0.000 0.041 2801 2680 3562 0 0 0 0 0 0

1193 -0.76 -146.0 180.5 -16.2 163 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2680 3562 0 0 0 0 0 0

1329 -0.76 -146.0 202.9 -15.9 176 1332 0.00 1.75 0.00 0.000 4 0.000 0.062 2792 3763 3562 0 0 0 0 0 0

1355 -0.76 -146.0 207.8 -16.7 178 1363 0.00 1.73 0.00 0.000 6 0.000 0.041 2793 2677 3562 0 0 0 0 0 0

1491 -0.76 -146.0 229.5 -16.2 191 1494 0.00 1.77 0.00 0.000 4 0.000 0.062 2785 3771 3562 0 0 0 0 0 0

1526 -0.76 -146.0 235.6 -17.5 194 1530 0.12 1.67 0.00 0.000 6 0.162 0.042 2819 2690 3562 0 0 0 0 0 0

1665 -0.76 -146.0 255.9 -14.2 207 1666 0.00 0.00 0.00 0.000 6 0.000 0.000 2819 2687 3562 0 0 0 0 0 0

1856 -0.76 -146.0 282.1 -13.7 225 1859 0.00 1.77 0.00 0.000 4 0.000 0.061 2812 3758 3562 0 0 0 0 0 0

1915 -0.76 -146.0 291.0 -14.6 230 1923 0.00 1.67 0.00 0.000 6 0.000 0.041 2812 2705 3562 0 0 0 0 0 0

2114 -0.76 -146.0 318.7 -13.8 249 2118 0.00 1.73 0.00 0.000 4 0.000 0.061 2804 3772 3562 0 0 0 0 0 0

2137 -0.76 -146.0 322.1 -14.7 251 2141 0.00 1.67 0.00 0.000 6 0.000 0.042 2804 2720 3562 0 0 0 0 0 0

2340 -0.76 -146.0 351.6 -14.5 270 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2718 3562 0 0 0 0 0 0

2381 end dive: BOTTOM_OBSTACLE_DETECTED

state 2381 begin apogee

2387 -0.17 0.0 357.9 14.6 274 2525 0.62 0.00 131.50 1.014 4 0.125 0.000 3006 2489 2960 0 0 0 0 0 0

2525 end apogee: CONTROL_FINISHED_OK

state 2525 begin climb

2528 0.76 146.0 363.3 0.0 286 2684 0.95 2.50 147.20 0.934 4 0.070 0.047 3312 1098 2366 0 0 0 0 0 0

2797 0.76 146.0 339.8 11.8 310 2804 0.00 2.47 0.00 0.000 6 0.000 0.050 3312 2498 2356 0 0 0 0 0 0

2995 0.76 146.0 316.5 11.8 329 2999 0.00 2.25 0.00 0.000 4 0.000 0.047 3321 1102 2353 0 0 0 0 0 0

3128 0.76 146.0 300.5 12.0 340 3135 0.00 2.30 0.00 0.000 6 0.000 0.051 3321 2521 2350 0 0 0 0 0 0

3326 0.76 146.0 276.9 11.9 359 3329 0.00 1.98 0.00 0.000 4 0.000 0.057 3321 3764 2350 0 0 0 0 0 0

3404 0.76 146.0 265.9 14.5 366 3408 0.00 1.95 0.00 0.000 6 0.000 0.041 3331 2535 2349 0 0 0 0 0 0

3608 0.76 146.0 240.1 13.1 385 3612 0.00 1.98 0.00 0.000 4 0.000 0.057 3331 3764 2349 0 0 0 0 0 0

3645 0.76 146.0 234.1 15.5 388 3655 0.00 1.95 0.00 0.000 6 0.000 0.041 3340 2532 2349 0 0 0 0 0 0

3782 0.76 146.0 215.1 14.2 401 3785 0.00 2.00 0.00 0.000 4 0.000 0.057 3340 3774 2348 0 0 0 0 0 0

3839 0.76 146.0 206.3 16.3 406 3844 0.15 1.90 0.00 0.000 6 0.161 0.041 3309 2550 2347 0 0 0 0 0 0

3974 0.76 146.0 189.8 11.1 418 3975 0.00 0.00 0.00 0.000 6 0.000 0.000 3309 2549 2347 0 0 0 0 0 0

4102 0.76 146.0 175.5 11.4 430 4106 0.00 1.98 0.00 0.000 4 0.000 0.058 3309 3773 2347 0 0 0 0 0 0

4128 0.76 146.0 171.8 13.3 432 4137 0.00 1.90 0.00 0.000 6 0.000 0.041 3316 2567 2347 0 0 0 0 0 0

4264 0.76 146.0 155.2 12.3 445 4265 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2567 2347 0 0 0 0 0 0

4391 0.76 146.0 139.9 12.1 457 4395 0.00 1.92 0.00 0.000 4 0.000 0.058 3316 3763 2347 0 0 0 0 0 0

4429 0.76 146.0 134.8 13.1 460 4438 0.00 1.90 0.00 0.000 6 0.000 0.040 3326 2562 2346 0 0 0 0 0 0

4565 0.76 146.0 118.6 11.9 473 4566 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2562 2347 0 0 0 0 0 0

4692 0.76 146.0 103.4 11.8 485 4696 0.00 1.95 0.00 0.000 4 0.000 0.057 3325 3771 2347 0 0 0 0 0 0

4737 0.76 146.0 97.1 14.5 490 4745 0.00 1.90 0.00 0.000 6 0.000 0.041 3334 2572 2347 0 0 0 0 0 0

4876 0.76 146.0 79.3 12.8 515 4884 0.00 1.95 0.00 0.000 4 0.000 0.058 3335 3773 2347 0 0 0 0 0 0

4914 0.76 146.0 74.1 15.1 521 4921 0.08 1.90 0.00 0.000 6 0.142 0.041 3318 2578 2347 0 0 0 0 0 0

5052 0.76 146.0 57.6 11.0 546 5060 0.00 1.95 0.00 0.000 4 0.000 0.057 3317 3761 2346 0 0 0 0 0 0

5084 0.76 146.0 53.3 13.2 551 5093 0.00 1.83 0.00 0.000 6 0.000 0.041 3324 2588 2347 0 0 0 0 0 0

5225 0.76 146.0 35.8 12.3 576 5233 0.00 1.95 0.00 0.000 4 0.000 0.058 3324 3767 2346 0 0 0 0 0 0

5267 0.76 146.0 29.8 14.5 583 5275 0.00 1.80 0.00 0.000 6 0.000 0.040 3334 2607 2346 0 0 0 0 0 0

5412 0.76 146.0 10.8 13.6 608 5420 0.00 2.42 0.00 0.000 4 0.000 0.049 3343 1096 2346 0 0 0 0 0 0

5439 0.76 146.0 6.9 13.2 612 5447 0.08 2.42 0.00 0.000 6 0.135 0.050 3317 2583 2345 0 0 0 0 0 0

5471 end climb: SURFACE_DEPTH_REACHED

state 5471 begin surface coast

5498 end surface coast: CONTROL_FINISHED_OK

state 5498 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	359	ESCAPE_HEADING	70	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2650	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	8	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7715	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	750	TGT_DEFAULT_LON	16530	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	200	SM_CC	300	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	24	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	-30593.869	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	261210,233206,-7631.351,17713.412,32,0.9,32,122.1	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	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	261210,233838,-7631.302,17713.342,14,0.9,14,122.1	MHEAD_RNG_PITCHd_Wd	345.7,72093,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	375

FREEZE	1.25,-0.916,-1.574,2,1,0	_24V_AH	20.3,60.778
FINISH	1.2,1.023173	_10V_AH	9.7,40.235
SM_CCo	5514,75.88,0.101,0,0,1736,300.24	FG_AHR_24Vo	0.000
SM_GC	2.04,0.00,0.00,75.88,0.000,0.000,0.101,419,2658,1736,-8.27,0.20,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17723.01,261210,212124	MEM	258096
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43687,621
HUMID	52.59	CAP_FILE_SIZE	92067,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,231485440
TCM_TEMP	14.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	CURRENT	0.121,306.3,1
ALTIM_TOP_PING	19.7,18.3	GPS	271210,011302,-7631.302,17714.914,11,2.0,11,122.1
ALTIM_BOTTOM_PING	300.8,71.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	195	73.46	SBE_CT	435	24	212.16
Roll_motor	77	117	185.76	AA4330	813	33	544.83
VBD_pump_during_apogee	278	1013	5734.69	WL_BBFL2VMT	906	105	1933.26
VBD_pump_during_surface	75	100	155.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	49.67	nil	0	0	0.00
Iridium_during_connect	43	160	142.48	nil	0	0	0.00
Iridium_during_xfer	205	223	929.05	nil	0	0	0.00
Transponder_ping	1	420	12.79	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.59
TT8	1580	19	303.59
LPSleep	1918	2	40.76
TT8_Active	490	19	94.24
TT8_Sampling	1823	39	704.12
TT8_CF8	175	45	78.03
TT8_Kalman	0	0	0.00
Analog_circuits	1157	12	134.78
GPS_charging	0	0	0.00
Compass	1042	15	151.64
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	15	begin dive
17	-0.76	-146.0	0.0	0.0	0	82	0.00	0.00	-62.97	0.000	2	0.000	0.000	413	2623	2848	0	0	0	0	0	0
85	-0.76	-146.0	3.1	-3.1	9	137	8.93	1.92	-32.67	0.000	4	0.195	0.078	2799	3758	3559	0	0	0	0	0	0
242	-0.76	-146.0	21.7	-17.4	35	249	0.00	1.77	0.00	0.000	6	0.000	0.042	2799	2624	3561	0	0	0	0	0	0
380	-0.76	-146.0	45.3	-16.5	60	388	0.00	1.90	0.00	0.000	4	0.000	0.060	2791	3767	3561	0	0	0	0	0	0
417	-0.76	-146.0	51.9	-19.0	66	425	0.00	1.75	0.00	0.000	6	0.000	0.042	2791	2667	3561	0	0	0	0	0	0
558	-0.76	-146.0	75.9	-17.1	91	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2791	2666	3561	0	0	0	0	0	0
694	-0.76	-146.0	99.9	-17.8	116	702	0.00	1.83	0.00	0.000	4	0.000	0.061	2783	3764	3561	0	0	0	0	0	0
734	-0.76	-146.0	107.6	-18.6	120	743	0.08	1.75	0.00	0.000	6	0.144	0.041	2808	2664	3561	0	0	0	0	0	0
872	-0.76	-146.0	128.7	-15.8	133	879	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2663	3562	0	0	0	0	0	0
1007	-0.76	-146.0	150.3	-15.7	146	1011	0.00	1.77	0.00	0.000	4	0.000	0.060	2801	3764	3562	0	0	0	0	0	0
1055	-0.76	-146.0	158.9	-16.6	150	1064	0.00	1.73	0.00	0.000	6	0.000	0.041	2801	2680	3562	0	0	0	0	0	0
1193	-0.76	-146.0	180.5	-16.2	163	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	2680	3562	0	0	0	0	0	0
1329	-0.76	-146.0	202.9	-15.9	176	1332	0.00	1.75	0.00	0.000	4	0.000	0.062	2792	3763	3562	0	0	0	0	0	0
1355	-0.76	-146.0	207.8	-16.7	178	1363	0.00	1.73	0.00	0.000	6	0.000	0.041	2793	2677	3562	0	0	0	0	0	0
1491	-0.76	-146.0	229.5	-16.2	191	1494	0.00	1.77	0.00	0.000	4	0.000	0.062	2785	3771	3562	0	0	0	0	0	0
1526	-0.76	-146.0	235.6	-17.5	194	1530	0.12	1.67	0.00	0.000	6	0.162	0.042	2819	2690	3562	0	0	0	0	0	0
1665	-0.76	-146.0	255.9	-14.2	207	1666	0.00	0.00	0.00	0.000	6	0.000	0.000	2819	2687	3562	0	0	0	0	0	0
1856	-0.76	-146.0	282.1	-13.7	225	1859	0.00	1.77	0.00	0.000	4	0.000	0.061	2812	3758	3562	0	0	0	0	0	0
1915	-0.76	-146.0	291.0	-14.6	230	1923	0.00	1.67	0.00	0.000	6	0.000	0.041	2812	2705	3562	0	0	0	0	0	0
2114	-0.76	-146.0	318.7	-13.8	249	2118	0.00	1.73	0.00	0.000	4	0.000	0.061	2804	3772	3562	0	0	0	0	0	0
2137	-0.76	-146.0	322.1	-14.7	251	2141	0.00	1.67	0.00	0.000	6	0.000	0.042	2804	2720	3562	0	0	0	0	0	0
2340	-0.76	-146.0	351.6	-14.5	270	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2718	3562	0	0	0	0	0	0
2381	end dive: BOTTOM_OBSTACLE_DETECTED
state	2381	begin apogee
2387	-0.17	0.0	357.9	14.6	274	2525	0.62	0.00	131.50	1.014	4	0.125	0.000	3006	2489	2960	0	0	0	0	0	0
2525	end apogee: CONTROL_FINISHED_OK
state	2525	begin climb
2528	0.76	146.0	363.3	0.0	286	2684	0.95	2.50	147.20	0.934	4	0.070	0.047	3312	1098	2366	0	0	0	0	0	0
2797	0.76	146.0	339.8	11.8	310	2804	0.00	2.47	0.00	0.000	6	0.000	0.050	3312	2498	2356	0	0	0	0	0	0
2995	0.76	146.0	316.5	11.8	329	2999	0.00	2.25	0.00	0.000	4	0.000	0.047	3321	1102	2353	0	0	0	0	0	0
3128	0.76	146.0	300.5	12.0	340	3135	0.00	2.30	0.00	0.000	6	0.000	0.051	3321	2521	2350	0	0	0	0	0	0
3326	0.76	146.0	276.9	11.9	359	3329	0.00	1.98	0.00	0.000	4	0.000	0.057	3321	3764	2350	0	0	0	0	0	0
3404	0.76	146.0	265.9	14.5	366	3408	0.00	1.95	0.00	0.000	6	0.000	0.041	3331	2535	2349	0	0	0	0	0	0
3608	0.76	146.0	240.1	13.1	385	3612	0.00	1.98	0.00	0.000	4	0.000	0.057	3331	3764	2349	0	0	0	0	0	0
3645	0.76	146.0	234.1	15.5	388	3655	0.00	1.95	0.00	0.000	6	0.000	0.041	3340	2532	2349	0	0	0	0	0	0
3782	0.76	146.0	215.1	14.2	401	3785	0.00	2.00	0.00	0.000	4	0.000	0.057	3340	3774	2348	0	0	0	0	0	0
3839	0.76	146.0	206.3	16.3	406	3844	0.15	1.90	0.00	0.000	6	0.161	0.041	3309	2550	2347	0	0	0	0	0	0
3974	0.76	146.0	189.8	11.1	418	3975	0.00	0.00	0.00	0.000	6	0.000	0.000	3309	2549	2347	0	0	0	0	0	0
4102	0.76	146.0	175.5	11.4	430	4106	0.00	1.98	0.00	0.000	4	0.000	0.058	3309	3773	2347	0	0	0	0	0	0
4128	0.76	146.0	171.8	13.3	432	4137	0.00	1.90	0.00	0.000	6	0.000	0.041	3316	2567	2347	0	0	0	0	0	0
4264	0.76	146.0	155.2	12.3	445	4265	0.00	0.00	0.00	0.000	6	0.000	0.000	3316	2567	2347	0	0	0	0	0	0
4391	0.76	146.0	139.9	12.1	457	4395	0.00	1.92	0.00	0.000	4	0.000	0.058	3316	3763	2347	0	0	0	0	0	0
4429	0.76	146.0	134.8	13.1	460	4438	0.00	1.90	0.00	0.000	6	0.000	0.040	3326	2562	2346	0	0	0	0	0	0
4565	0.76	146.0	118.6	11.9	473	4566	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2562	2347	0	0	0	0	0	0
4692	0.76	146.0	103.4	11.8	485	4696	0.00	1.95	0.00	0.000	4	0.000	0.057	3325	3771	2347	0	0	0	0	0	0
4737	0.76	146.0	97.1	14.5	490	4745	0.00	1.90	0.00	0.000	6	0.000	0.041	3334	2572	2347	0	0	0	0	0	0
4876	0.76	146.0	79.3	12.8	515	4884	0.00	1.95	0.00	0.000	4	0.000	0.058	3335	3773	2347	0	0	0	0	0	0
4914	0.76	146.0	74.1	15.1	521	4921	0.08	1.90	0.00	0.000	6	0.142	0.041	3318	2578	2347	0	0	0	0	0	0
5052	0.76	146.0	57.6	11.0	546	5060	0.00	1.95	0.00	0.000	4	0.000	0.057	3317	3761	2346	0	0	0	0	0	0
5084	0.76	146.0	53.3	13.2	551	5093	0.00	1.83	0.00	0.000	6	0.000	0.041	3324	2588	2347	0	0	0	0	0	0
5225	0.76	146.0	35.8	12.3	576	5233	0.00	1.95	0.00	0.000	4	0.000	0.058	3324	3767	2346	0	0	0	0	0	0
5267	0.76	146.0	29.8	14.5	583	5275	0.00	1.80	0.00	0.000	6	0.000	0.040	3334	2607	2346	0	0	0	0	0	0
5412	0.76	146.0	10.8	13.6	608	5420	0.00	2.42	0.00	0.000	4	0.000	0.049	3343	1096	2346	0	0	0	0	0	0
5439	0.76	146.0	6.9	13.2	612	5447	0.08	2.42	0.00	0.000	6	0.135	0.050	3317	2583	2345	0	0	0	0	0	0
5471	end climb: SURFACE_DEPTH_REACHED
state	5471	begin surface coast
5498	end surface coast: CONTROL_FINISHED_OK
state	5498	begin surface