Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HD_C 9.9999997e-06 ROLL_MIN 187 ALTIM_TOP_TURN_MARGIN 5

MISSION 7 HEADING -1 ROLL_MAX 3764 ALTIM_TOP_MIN_OBSTACLE 3

DIVE 36 ESCAPE_HEADING 45 ROLL_DEG 40 ALTIM_PING_DEPTH 250

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2300 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 10 C_ROLL_CLIMB 2500 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -7700 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 400 TGT_DEFAULT_LON 17100 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 616.91943 R_PORT_OVSHOOT 43 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 400 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 0 DEEPGLIDERMB 0

D_SAFE 400 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 445 DEVICE1 2

SURFACE_URGENCY 7 N_NOSURFACE 0 VBD_MAX 3956 DEVICE2 101

SURFACE_URGENCY_TRY 4 UPLOAD_DIVES_MAX 5 C_VBD 2960 DEVICE3 86

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 100 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 200 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 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 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 20 LOGGERDEVICE4 -1

USE_BATHY -2 T_GPS_CHARGE -16947.678 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 1 T_RSLEEP 2 CF8_MAXERRORS 20 COMPASS2_DEVICE 131

ICE_FREEZE_MARGIN 0.050000001 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 203 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 225 PITCH_MAX 3889 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2820 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043281103

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -51.009045 SEABIRD_T_H 0.00062152545

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_I 2.1491383e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0368557e-06

MASS 51780 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.162479

NAV_MODE 0 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1594115

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I 4.3937558e-05

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 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 616.91943

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 400 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 7

ALTIM_FREQUENCY 13 D_TGT 400 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 4

ALTIM_PING_DEPTH 250 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 32 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3889 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 203 TGT_DEFAULT_LAT -7700

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 17100

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 10 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011732637 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -51.009045 T_DIVE 100

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

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 -16947.678

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_HIT_WINDOW 3600 T_MISSION 200

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 131 ICE_FREEZE_MARGIN 0.050000001 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 503 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2820 KALMAN_USE 2 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_ROLL_CLIMB 2500 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2300 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -2

C_VBD 2960 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 51780 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 225 R_PORT_OVSHOOT 43 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -10.162479 VBD_MIN 445

DEVICE5 -1 MISSION 7 SEABIRD_C_H 1.1594115 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I 4.3937558e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 36 NAV_MODE 0 SEABIRD_C_J 0.00011023274 VBD_TIMEOUT 360

D_ABORT 1070 N_DIVES 0 SEABIRD_T_G 0.0043281103 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.00062152545 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.1491383e-05 XPDR_VALID 1

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.0368557e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 301110,224308,-7727.986,17011.598,13,1.9,13,136.2 TGT_NAME POLYNYA

_CALLS 2 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 12.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 301110,224308,-7727.986,17011.598,13,1.9,13,136.2 MHEAD_RNG_PITCHd_Wd 245.1,55614,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 742

Post-dive calculations and measurements:

FREEZE 8.93,-1.891,-1.905,2,11,0 _24V_AH 23.0,42.140

FINISH1 8.9,1.027846,-17 _10V_AH 10.1,60.576

FINISH2 7.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,17014.40,301110,222204 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 259000

HUMID 51.41 DATA_FILE_SIZE 43764,623

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 91440,0

TCM_TEMP 14.20 CFSIZE 260165632,248774656

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

ALTIM_TOP_PING 19.5,19.2 GPS 301110,224308,-7727.986,17011.598,13,1.9,13,136.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 164 15.51 SBE_CT 434 24 239.66

Roll_motor 96 55 121.90 AA4330 780 33 592.58

VBD_pump_during_apogee 509 926 10848.20 WL_BBFL2VMT 828 105 2000.84

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.07 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1484 19 296.90

LPSleep 2113 2 46.75

TT8_Active 543 19 108.75

TT8_Sampling 1604 39 645.12

TT8_CF8 102 45 47.32

TT8_Kalman 0 0 0.00

Analog_circuits 1292 12 156.70

GPS_charging 0 0 0.00

Compass 1153 15 174.71

RAFOS 0 0 0.00

Transponder 9 30 2.87

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.84 -219.0 0.0 0.0 0 25 0.00 0.00 -8.70 0.000 2 0.000 0.000 2817 2491 3527 0 0 0 0 0 0

27 -0.84 -219.0 15.6 -0.0 1 42 0.77 2.58 -5.50 0.000 4 0.104 0.047 2553 893 3855 0 0 0 0 0 0

71 -0.89 -219.0 22.4 -17.6 8 79 0.00 2.35 0.00 0.000 6 0.000 0.042 2550 2308 3855 0 0 0 0 0 0

212 -0.89 -219.0 45.1 -13.8 33 219 0.00 2.30 0.00 0.000 4 0.000 0.050 2550 3717 3856 0 0 0 0 0 0

345 -0.89 -219.0 64.6 -11.7 57 352 0.00 2.25 0.00 0.000 6 0.000 0.031 2550 2294 3856 0 0 0 0 0 0

484 -0.92 -219.0 84.3 -15.6 82 492 0.00 2.35 0.00 0.000 4 0.000 0.051 2550 3704 3856 0 0 0 0 0 0

563 -0.87 -219.0 94.6 -16.4 96 572 0.00 2.25 0.00 0.000 6 0.000 0.030 2550 2293 3856 0 0 0 0 0 0

702 -0.87 -219.0 118.1 -16.2 111 706 0.00 2.30 0.00 0.000 4 0.000 0.050 2547 3711 3856 0 0 0 0 0 0

788 -0.82 -219.0 129.9 -15.3 118 797 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2307 3856 0 0 0 0 0 0

924 -0.82 -219.0 146.1 -11.8 131 928 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3711 3856 0 0 0 0 0 0

1009 -0.82 -219.0 157.1 -11.6 138 1018 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2303 3856 0 0 0 0 0 0

1147 -0.82 -219.0 172.3 -11.8 151 1151 0.00 2.28 0.00 0.000 4 0.000 0.052 2547 3711 3856 0 0 0 0 0 0

1230 -0.82 -219.0 184.1 -14.9 158 1234 0.00 2.20 0.00 0.000 6 0.000 0.031 2548 2294 3856 0 0 0 0 0 0

1365 -0.82 -219.0 204.8 -15.5 170 1369 0.00 2.30 0.00 0.000 4 0.000 0.050 2547 3716 3856 0 0 0 0 0 0

1450 -0.84 -219.0 218.8 -15.5 177 1459 0.00 2.22 0.00 0.000 6 0.000 0.030 2547 2303 3856 0 0 0 0 0 0

1586 -0.84 -219.0 239.6 -15.7 190 1590 0.00 2.28 0.00 0.000 4 0.000 0.053 2547 3711 3856 0 0 0 0 0 0

1672 -0.87 -219.0 254.2 -15.9 197 1679 0.00 2.22 0.00 0.000 6 0.000 0.031 2547 2301 3856 0 0 0 0 0 0

1870 -0.89 -219.0 284.8 -15.1 216 1874 0.00 2.30 0.00 0.000 4 0.000 0.052 2547 3712 3856 0 0 0 0 0 0

1993 -0.92 -219.0 303.7 -15.1 226 2000 0.00 2.20 0.00 0.000 6 0.000 0.030 2547 2295 3856 0 0 0 0 0 0

2193 -0.92 -219.0 331.2 -13.2 245 2197 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3712 3856 0 0 0 0 0 0

2327 -0.94 -219.0 350.1 -13.5 256 2334 0.00 2.20 0.00 0.000 6 0.000 0.030 2547 2291 3856 0 0 0 0 0 0

2527 -0.97 -219.0 375.8 -12.6 275 2532 0.12 2.30 0.00 0.000 4 0.105 0.053 2483 3712 3856 0 0 0 0 0 0

2658 -0.88 -219.0 399.7 -18.6 286 2663 0.17 2.17 0.00 0.000 6 0.159 0.031 2530 2298 3856 0 0 0 0 0 0

2668 end dive: TARGET_DEPTH_EXCEEDED

state 2668 begin apogee

2673 -0.16 0.0 402.1 18.7 287 2852 0.70 0.00 173.73 0.926 6 0.133 0.000 2761 2511 2960 0 0 0 0 0 0

2852 end apogee: CONTROL_FINISHED_OK

state 2852 begin climb

2854 0.84 219.0 411.8 0.0 303 3048 0.95 0.00 183.65 0.874 6 0.065 0.000 3092 2511 2065 0 0 0 0 0 0

3240 0.71 219.0 364.3 17.5 339 3245 0.15 2.10 0.00 0.000 4 0.164 0.050 3053 3756 2054 0 0 0 0 0 0

3340 0.60 219.0 346.6 16.4 347 3348 0.15 2.08 0.00 0.000 6 0.142 0.031 3016 2505 2051 0 0 0 0 0 0

3539 0.63 243.3 322.0 12.3 366 3566 0.00 2.17 20.05 0.839 4 0.000 0.053 3016 3754 1967 0 0 1 0 0 0

3644 0.60 243.3 307.3 14.7 375 3651 0.00 2.05 0.00 0.000 6 0.000 0.032 3025 2498 1963 0 0 0 0 0 0

3843 0.62 260.1 282.4 12.6 394 3866 0.00 2.10 15.32 0.823 4 0.000 0.052 3025 3753 1899 0 0 1 0 0 0

3951 0.59 260.1 267.1 15.1 403 3957 0.00 2.03 0.00 0.000 6 0.000 0.031 3034 2493 1897 0 0 0 0 0 0

4150 0.63 286.5 241.9 12.3 422 4179 0.00 2.12 24.02 0.818 4 0.000 0.050 3034 3760 1792 0 0 1 0 0 0

4260 0.60 286.5 226.3 14.6 431 4268 0.00 2.08 0.00 0.000 6 0.000 0.032 3043 2500 1788 0 0 0 0 0 0

4395 0.61 290.2 208.5 13.2 444 4409 0.00 2.12 4.30 0.633 4 0.000 0.052 3042 3753 1776 0 0 1 0 0 0

4446 0.58 290.2 200.6 14.9 448 4456 0.12 2.03 0.00 0.000 6 0.132 0.031 3010 2510 1774 0 0 0 0 0 0

4582 0.70 348.3 185.8 11.0 461 4642 0.10 2.15 50.97 0.784 4 0.102 0.049 3058 3761 1540 0 0 0 0 0 0

4691 0.70 348.3 168.1 17.5 470 4700 0.00 2.10 0.00 0.000 6 0.000 0.031 3063 2498 1538 0 0 0 0 0 0

4828 0.70 348.3 146.3 16.6 483 4832 0.00 2.10 0.00 0.000 4 0.000 0.050 3064 3764 1535 0 0 0 0 0 0

4880 0.68 348.3 136.6 18.5 487 4884 0.12 2.03 0.00 0.000 6 0.164 0.031 3038 2497 1535 0 0 0 0 0 0

5016 0.72 348.3 116.1 15.1 499 5020 0.00 2.10 0.00 0.000 4 0.000 0.050 3038 3761 1533 0 0 0 0 0 0

5057 0.72 348.3 109.9 14.6 502 5061 0.00 2.00 0.00 0.000 6 0.000 0.032 3045 2498 1532 0 0 0 0 0 0

5191 0.77 393.4 91.4 11.5 520 5239 0.00 2.17 37.08 0.734 4 0.000 0.052 3045 3760 1355 0 0 1 0 0 0

5276 0.80 393.4 79.3 14.1 533 5283 0.00 2.05 0.00 0.000 6 0.000 0.032 3050 2496 1355 0 0 0 0 0 0

5413 0.80 393.4 58.6 17.1 558 5421 0.00 2.12 0.00 0.000 4 0.000 0.050 3050 3750 1352 0 0 0 0 0 0

5456 0.80 393.4 50.9 17.4 565 5463 0.00 2.00 0.00 0.000 6 0.000 0.031 3050 2500 1352 0 0 0 0 0 0

5594 0.80 393.4 33.6 14.6 590 5602 0.00 2.10 0.00 0.000 4 0.000 0.050 3050 3748 1352 0 0 0 0 0 0

5652 0.83 393.4 24.2 17.7 600 5660 0.00 2.03 0.00 0.000 6 0.000 0.031 3057 2496 1351 0 0 0 0 0 0

5738 end climb: FINISH_DEPTH_REACHED

state 5739 begin subsurface finish

5744 -0.02 -16.9 8.9 -16.6 615 5798 0.73 0.00 -46.58 0.000 6 0.116 0.000 2815 2496 3032 0 0 0 0 0 0

5799 end subsurface finish: CONTROL_FINISHED_OK

state 5799 begin surface

ID	503	HD_C	9.9999997e-06	ROLL_MIN	187	ALTIM_TOP_TURN_MARGIN	5
MISSION	7	HEADING	-1	ROLL_MAX	3764	ALTIM_TOP_MIN_OBSTACLE	3
DIVE	36	ESCAPE_HEADING	45	ROLL_DEG	40	ALTIM_PING_DEPTH	250
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2300	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	10	C_ROLL_CLIMB	2500	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-7700	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	400	TGT_DEFAULT_LON	17100	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	616.91943	R_PORT_OVSHOOT	43	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	400	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	0	DEEPGLIDERMB	0
D_SAFE	400	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	445	DEVICE1	2
SURFACE_URGENCY	7	N_NOSURFACE	0	VBD_MAX	3956	DEVICE2	101
SURFACE_URGENCY_TRY	4	UPLOAD_DIVES_MAX	5	C_VBD	2960	DEVICE3	86
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	100	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	200	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	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	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	20	LOGGERDEVICE4	-1
USE_BATHY	-2	T_GPS_CHARGE	-16947.678	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	1	T_RSLEEP	2	CF8_MAXERRORS	20	COMPASS2_DEVICE	131
ICE_FREEZE_MARGIN	0.050000001	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	203	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	225	PITCH_MAX	3889	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2820	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043281103
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-51.009045	SEABIRD_T_H	0.00062152545
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_I	2.1491383e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0368557e-06
MASS	51780	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.162479
NAV_MODE	0	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1594115
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	4.3937558e-05
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	301110,224308,-7727.986,17011.598,13,1.9,13,136.2	TGT_NAME	POLYNYA
_CALLS	2	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	12.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-0.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301110,224308,-7727.986,17011.598,13,1.9,13,136.2	MHEAD_RNG_PITCHd_Wd	245.1,55614,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	742

FREEZE	8.93,-1.891,-1.905,2,11,0	_24V_AH	23.0,42.140
FINISH1	8.9,1.027846,-17	_10V_AH	10.1,60.576
FINISH2	7.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,17014.40,301110,222204	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	259000
HUMID	51.41	DATA_FILE_SIZE	43764,623
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	91440,0
TCM_TEMP	14.20	CFSIZE	260165632,248774656
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
ALTIM_TOP_PING	19.5,19.2	GPS	301110,224308,-7727.986,17011.598,13,1.9,13,136.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	164	15.51	SBE_CT	434	24	239.66
Roll_motor	96	55	121.90	AA4330	780	33	592.58
VBD_pump_during_apogee	509	926	10848.20	WL_BBFL2VMT	828	105	2000.84
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.07	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1484	19	296.90
LPSleep	2113	2	46.75
TT8_Active	543	19	108.75
TT8_Sampling	1604	39	645.12
TT8_CF8	102	45	47.32
TT8_Kalman	0	0	0.00
Analog_circuits	1292	12	156.70
GPS_charging	0	0	0.00
Compass	1153	15	174.71
RAFOS	0	0	0.00
Transponder	9	30	2.87

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.84	-219.0	0.0	0.0	0	25	0.00	0.00	-8.70	0.000	2	0.000	0.000	2817	2491	3527	0	0	0	0	0	0
27	-0.84	-219.0	15.6	-0.0	1	42	0.77	2.58	-5.50	0.000	4	0.104	0.047	2553	893	3855	0	0	0	0	0	0
71	-0.89	-219.0	22.4	-17.6	8	79	0.00	2.35	0.00	0.000	6	0.000	0.042	2550	2308	3855	0	0	0	0	0	0
212	-0.89	-219.0	45.1	-13.8	33	219	0.00	2.30	0.00	0.000	4	0.000	0.050	2550	3717	3856	0	0	0	0	0	0
345	-0.89	-219.0	64.6	-11.7	57	352	0.00	2.25	0.00	0.000	6	0.000	0.031	2550	2294	3856	0	0	0	0	0	0
484	-0.92	-219.0	84.3	-15.6	82	492	0.00	2.35	0.00	0.000	4	0.000	0.051	2550	3704	3856	0	0	0	0	0	0
563	-0.87	-219.0	94.6	-16.4	96	572	0.00	2.25	0.00	0.000	6	0.000	0.030	2550	2293	3856	0	0	0	0	0	0
702	-0.87	-219.0	118.1	-16.2	111	706	0.00	2.30	0.00	0.000	4	0.000	0.050	2547	3711	3856	0	0	0	0	0	0
788	-0.82	-219.0	129.9	-15.3	118	797	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2307	3856	0	0	0	0	0	0
924	-0.82	-219.0	146.1	-11.8	131	928	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3711	3856	0	0	0	0	0	0
1009	-0.82	-219.0	157.1	-11.6	138	1018	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2303	3856	0	0	0	0	0	0
1147	-0.82	-219.0	172.3	-11.8	151	1151	0.00	2.28	0.00	0.000	4	0.000	0.052	2547	3711	3856	0	0	0	0	0	0
1230	-0.82	-219.0	184.1	-14.9	158	1234	0.00	2.20	0.00	0.000	6	0.000	0.031	2548	2294	3856	0	0	0	0	0	0
1365	-0.82	-219.0	204.8	-15.5	170	1369	0.00	2.30	0.00	0.000	4	0.000	0.050	2547	3716	3856	0	0	0	0	0	0
1450	-0.84	-219.0	218.8	-15.5	177	1459	0.00	2.22	0.00	0.000	6	0.000	0.030	2547	2303	3856	0	0	0	0	0	0
1586	-0.84	-219.0	239.6	-15.7	190	1590	0.00	2.28	0.00	0.000	4	0.000	0.053	2547	3711	3856	0	0	0	0	0	0
1672	-0.87	-219.0	254.2	-15.9	197	1679	0.00	2.22	0.00	0.000	6	0.000	0.031	2547	2301	3856	0	0	0	0	0	0
1870	-0.89	-219.0	284.8	-15.1	216	1874	0.00	2.30	0.00	0.000	4	0.000	0.052	2547	3712	3856	0	0	0	0	0	0
1993	-0.92	-219.0	303.7	-15.1	226	2000	0.00	2.20	0.00	0.000	6	0.000	0.030	2547	2295	3856	0	0	0	0	0	0
2193	-0.92	-219.0	331.2	-13.2	245	2197	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3712	3856	0	0	0	0	0	0
2327	-0.94	-219.0	350.1	-13.5	256	2334	0.00	2.20	0.00	0.000	6	0.000	0.030	2547	2291	3856	0	0	0	0	0	0
2527	-0.97	-219.0	375.8	-12.6	275	2532	0.12	2.30	0.00	0.000	4	0.105	0.053	2483	3712	3856	0	0	0	0	0	0
2658	-0.88	-219.0	399.7	-18.6	286	2663	0.17	2.17	0.00	0.000	6	0.159	0.031	2530	2298	3856	0	0	0	0	0	0
2668	end dive: TARGET_DEPTH_EXCEEDED
state	2668	begin apogee
2673	-0.16	0.0	402.1	18.7	287	2852	0.70	0.00	173.73	0.926	6	0.133	0.000	2761	2511	2960	0	0	0	0	0	0
2852	end apogee: CONTROL_FINISHED_OK
state	2852	begin climb
2854	0.84	219.0	411.8	0.0	303	3048	0.95	0.00	183.65	0.874	6	0.065	0.000	3092	2511	2065	0	0	0	0	0	0
3240	0.71	219.0	364.3	17.5	339	3245	0.15	2.10	0.00	0.000	4	0.164	0.050	3053	3756	2054	0	0	0	0	0	0
3340	0.60	219.0	346.6	16.4	347	3348	0.15	2.08	0.00	0.000	6	0.142	0.031	3016	2505	2051	0	0	0	0	0	0
3539	0.63	243.3	322.0	12.3	366	3566	0.00	2.17	20.05	0.839	4	0.000	0.053	3016	3754	1967	0	0	1	0	0	0
3644	0.60	243.3	307.3	14.7	375	3651	0.00	2.05	0.00	0.000	6	0.000	0.032	3025	2498	1963	0	0	0	0	0	0
3843	0.62	260.1	282.4	12.6	394	3866	0.00	2.10	15.32	0.823	4	0.000	0.052	3025	3753	1899	0	0	1	0	0	0
3951	0.59	260.1	267.1	15.1	403	3957	0.00	2.03	0.00	0.000	6	0.000	0.031	3034	2493	1897	0	0	0	0	0	0
4150	0.63	286.5	241.9	12.3	422	4179	0.00	2.12	24.02	0.818	4	0.000	0.050	3034	3760	1792	0	0	1	0	0	0
4260	0.60	286.5	226.3	14.6	431	4268	0.00	2.08	0.00	0.000	6	0.000	0.032	3043	2500	1788	0	0	0	0	0	0
4395	0.61	290.2	208.5	13.2	444	4409	0.00	2.12	4.30	0.633	4	0.000	0.052	3042	3753	1776	0	0	1	0	0	0
4446	0.58	290.2	200.6	14.9	448	4456	0.12	2.03	0.00	0.000	6	0.132	0.031	3010	2510	1774	0	0	0	0	0	0
4582	0.70	348.3	185.8	11.0	461	4642	0.10	2.15	50.97	0.784	4	0.102	0.049	3058	3761	1540	0	0	0	0	0	0
4691	0.70	348.3	168.1	17.5	470	4700	0.00	2.10	0.00	0.000	6	0.000	0.031	3063	2498	1538	0	0	0	0	0	0
4828	0.70	348.3	146.3	16.6	483	4832	0.00	2.10	0.00	0.000	4	0.000	0.050	3064	3764	1535	0	0	0	0	0	0
4880	0.68	348.3	136.6	18.5	487	4884	0.12	2.03	0.00	0.000	6	0.164	0.031	3038	2497	1535	0	0	0	0	0	0
5016	0.72	348.3	116.1	15.1	499	5020	0.00	2.10	0.00	0.000	4	0.000	0.050	3038	3761	1533	0	0	0	0	0	0
5057	0.72	348.3	109.9	14.6	502	5061	0.00	2.00	0.00	0.000	6	0.000	0.032	3045	2498	1532	0	0	0	0	0	0
5191	0.77	393.4	91.4	11.5	520	5239	0.00	2.17	37.08	0.734	4	0.000	0.052	3045	3760	1355	0	0	1	0	0	0
5276	0.80	393.4	79.3	14.1	533	5283	0.00	2.05	0.00	0.000	6	0.000	0.032	3050	2496	1355	0	0	0	0	0	0
5413	0.80	393.4	58.6	17.1	558	5421	0.00	2.12	0.00	0.000	4	0.000	0.050	3050	3750	1352	0	0	0	0	0	0
5456	0.80	393.4	50.9	17.4	565	5463	0.00	2.00	0.00	0.000	6	0.000	0.031	3050	2500	1352	0	0	0	0	0	0
5594	0.80	393.4	33.6	14.6	590	5602	0.00	2.10	0.00	0.000	4	0.000	0.050	3050	3748	1352	0	0	0	0	0	0
5652	0.83	393.4	24.2	17.7	600	5660	0.00	2.03	0.00	0.000	6	0.000	0.031	3057	2496	1351	0	0	0	0	0	0
5738	end climb: FINISH_DEPTH_REACHED
state	5739	begin subsurface finish
5744	-0.02	-16.9	8.9	-16.6	615	5798	0.73	0.00	-46.58	0.000	6	0.116	0.000	2815	2496	3032	0	0	0	0	0	0
5799	end subsurface finish: CONTROL_FINISHED_OK
state	5799	begin surface