Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 41 * 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 41 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 44 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 24 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 -17317.652 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 -17317.652

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 44 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 24 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 41 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,-7727.986,17011.598,181,99.0,181,136.2 TGT_NAME POLYNYA

_CALLS 3 TGT_LATLONG -7700.000,17100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 5.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 3.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 301110,224308,-7727.986,17011.598,181,99.0,181,136.2 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 7.98,-1.891,-1.906,2,16,0 _24V_AH 23.0,42.755

FINISH1 8.0,1.027862,-18 _10V_AH 10.1,60.970

FINISH2 4.9 FG_AHR_24Vo 0.000

IRIDIUM_FIX -7639.69,17024.14,301110,222221 FG_AHR_10Vo 0.000

TT8_MAMPS 0.027713 MEM 259000

HUMID 50.31 DATA_FILE_SIZE 43685,634

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 91898,0

TCM_TEMP 14.10 CFSIZE 260165632,248512512

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

ALTIM_TOP_PING 19.8,20.3 GPS 301110,224308,-7727.986,17011.598,181,99.0,181,136.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 4 170 17.07 SBE_CT 442 24 244.50

Roll_motor 104 65 157.41 AA4330 800 33 607.95

VBD_pump_during_apogee 471 924 10025.13 WL_BBFL2VMT 848 105 2048.98

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 16.91 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1526 19 305.37

LPSleep 2127 2 47.06

TT8_Active 503 19 100.65

TT8_Sampling 1630 39 655.41

TT8_CF8 126 45 58.57

TT8_Kalman 0 0 0.00

Analog_circuits 1247 12 151.21

GPS_charging 0 0 0.00

Compass 1176 15 178.23

RAFOS 0 0 0.00

Transponder 12 30 3.72

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

15 -0.84 -219.0 0.0 0.0 0 25 0.00 0.00 -8.40 0.000 2 0.000 0.000 2818 3754 3292 0 0 0 0 0 0

27 -0.84 -219.0 4.4 -0.0 1 54 0.70 0.00 -17.62 0.000 6 0.058 0.000 2542 3755 3855 0 0 0 0 0 0

187 -0.76 -219.0 30.9 -12.7 29 195 0.12 4.62 0.00 0.000 4 0.171 0.037 2576 895 3858 0 0 0 0 0 0

250 -0.76 -219.0 37.8 -11.3 40 258 0.00 2.30 0.00 0.000 6 0.000 0.044 2573 2294 3857 0 0 0 0 0 0

393 -0.76 -219.0 59.0 -13.0 65 400 0.00 2.30 0.00 0.000 4 0.000 0.051 2563 3718 3858 0 0 0 0 0 0

484 -0.72 -219.0 73.7 -17.3 81 491 0.00 2.22 0.00 0.000 6 0.000 0.031 2563 2297 3857 0 0 0 0 0 0

623 -0.68 -219.0 96.0 -15.3 106 632 0.12 2.35 0.00 0.000 4 0.164 0.052 2588 3710 3858 0 0 0 0 0 0

739 -0.70 -219.0 111.9 -13.4 119 743 0.00 2.20 0.00 0.000 6 0.000 0.031 2588 2290 3857 0 0 0 0 0 0

873 -0.70 -219.0 130.3 -13.6 131 877 0.00 2.30 0.00 0.000 4 0.000 0.050 2578 3714 3858 0 0 0 0 0 0

946 -0.70 -219.0 141.3 -16.1 137 950 0.00 2.20 0.00 0.000 6 0.000 0.031 2577 2291 3858 0 0 0 0 0 0

1081 -0.70 -219.0 161.9 -14.7 149 1085 0.00 2.30 0.00 0.000 4 0.000 0.051 2576 3718 3858 0 0 0 0 0 0

1153 -0.70 -219.0 172.6 -15.0 155 1157 0.00 2.22 0.00 0.000 6 0.000 0.030 2576 2294 3857 0 0 0 0 0 0

1288 -0.70 -219.0 191.4 -13.4 167 1292 0.00 2.28 0.00 0.000 4 0.000 0.050 2576 3711 3858 0 0 0 0 0 0

1374 -0.73 -219.0 204.1 -14.2 174 1383 0.00 2.22 0.00 0.000 6 0.000 0.030 2576 2294 3858 0 0 0 0 0 0

1511 -0.73 -219.0 221.5 -13.1 187 1515 0.00 2.28 0.00 0.000 4 0.000 0.051 2576 3712 3858 0 0 0 0 0 0

1608 -0.75 -219.0 235.4 -13.7 195 1617 0.00 2.22 0.00 0.000 6 0.000 0.031 2576 2298 3857 0 0 0 0 0 0

1743 -0.78 -219.0 252.1 -12.7 208 1747 0.00 2.28 0.00 0.000 4 0.000 0.052 2576 3715 3857 0 0 0 0 0 0

1840 -0.81 -219.0 264.8 -12.7 216 1844 0.00 2.17 0.00 0.000 6 0.000 0.031 2576 2301 3858 0 0 0 0 0 0

2039 -0.84 -219.0 291.4 -13.9 234 2043 0.00 2.28 0.00 0.000 4 0.000 0.053 2575 3715 3858 0 0 1 0 0 0

2172 -0.87 -219.0 312.2 -15.7 245 2180 0.12 2.17 0.00 0.000 6 0.103 0.030 2525 2300 3857 0 0 0 0 0 0

2373 -0.82 -219.0 347.9 -17.2 264 2377 0.12 2.28 0.00 0.000 4 0.168 0.051 2550 3711 3857 0 0 0 0 0 0

2505 -0.82 -219.0 368.7 -14.3 275 2513 0.00 2.20 0.00 0.000 6 0.000 0.030 2550 2305 3857 0 0 0 0 0 0

2705 -0.82 -219.0 394.9 -13.6 294 2709 0.00 2.25 0.00 0.000 4 0.000 0.052 2547 3711 3857 0 0 0 0 0 0

2737 end dive: TARGET_DEPTH_EXCEEDED

state 2737 begin apogee

2743 -0.16 0.0 400.0 14.6 296 2923 0.65 0.00 173.45 0.925 6 0.129 0.000 2762 2498 2959 0 0 0 0 0 0

2924 end apogee: CONTROL_FINISHED_OK

state 2924 begin climb

2926 0.84 219.0 407.6 0.0 313 3123 0.98 2.47 183.82 0.871 4 0.083 0.035 3099 1111 2065 0 0 0 0 0 0

3147 0.77 219.0 386.8 15.1 333 3152 0.12 2.40 0.00 0.000 6 0.160 0.041 3070 2496 2061 0 0 1 0 0 0

3346 0.71 219.0 357.8 13.9 351 3349 0.00 2.15 0.00 0.000 4 0.000 0.050 3070 3769 2054 0 0 0 0 0 0

3475 0.62 219.0 337.5 15.5 362 3483 0.22 2.05 0.00 0.000 6 0.148 0.030 3016 2505 2052 0 0 0 0 0 0

3674 0.73 280.5 316.1 10.8 381 3734 0.12 2.20 52.03 0.840 4 0.090 0.050 3073 3764 1815 0 0 1 0 0 0

3841 0.66 280.5 289.1 17.2 396 3846 0.17 2.05 0.00 0.000 6 0.149 0.031 3035 2498 1811 0 0 0 0 0 0

4040 0.70 281.1 263.3 13.3 414 4044 0.00 2.12 0.00 0.000 4 0.000 0.050 3035 3766 1809 0 0 0 0 0 0

4124 0.70 281.1 250.9 14.4 421 4131 0.00 2.03 0.00 0.000 6 0.000 0.031 3043 2498 1807 0 0 0 0 0 0

4324 0.72 281.1 223.8 13.9 440 4328 0.00 2.10 0.00 0.000 4 0.000 0.050 3043 3771 1806 0 0 0 0 0 0

4418 0.72 281.1 209.1 16.0 448 4422 0.00 2.00 0.00 0.000 6 0.000 0.031 3051 2501 1806 0 0 0 0 0 0

4559 0.72 281.1 188.2 15.4 461 4563 0.00 2.08 0.00 0.000 4 0.000 0.050 3051 3767 1805 0 0 0 0 0 0

4623 0.70 281.1 176.9 17.6 466 4631 0.00 2.03 0.00 0.000 6 0.000 0.031 3060 2505 1805 0 0 0 0 0 0

4758 0.70 281.1 155.0 16.6 479 4762 0.00 2.05 0.00 0.000 4 0.000 0.051 3060 3766 1804 0 0 0 0 0 0

4805 0.65 281.1 146.6 18.5 483 4809 0.12 1.98 0.00 0.000 6 0.168 0.032 3033 2500 1804 0 0 0 0 0 0

4942 0.69 281.8 127.1 13.3 495 4946 0.00 2.05 0.00 0.000 4 0.000 0.051 3033 3766 1804 0 0 0 0 0 0

4978 0.69 281.8 122.1 14.1 498 4982 0.00 1.98 0.00 0.000 6 0.000 0.033 3041 2501 1804 0 0 0 0 0 0

5119 0.75 326.6 103.5 11.5 511 5165 0.00 2.12 38.97 0.754 4 0.000 0.050 3041 3766 1627 0 0 0 0 0 0

5221 0.75 326.6 89.5 14.4 525 5227 0.00 2.03 0.00 0.000 6 0.000 0.031 3049 2499 1624 0 0 0 0 0 0

5361 0.79 326.6 70.0 13.8 550 5369 0.00 2.12 0.00 0.000 4 0.000 0.051 3049 3766 1622 0 0 0 0 0 0

5436 0.76 326.6 58.6 14.1 563 5443 0.00 2.00 0.00 0.000 6 0.000 0.031 3058 2499 1621 0 0 0 0 0 0

5575 0.76 326.6 37.0 17.0 588 5583 0.00 2.10 0.00 0.000 4 0.000 0.050 3058 3758 1619 0 0 0 0 0 0

5622 0.74 326.6 30.1 15.3 596 5631 0.00 2.03 0.00 0.000 6 0.000 0.032 3064 2501 1620 0 0 0 0 0 0

5766 0.77 354.3 13.7 12.2 621 5795 0.00 2.15 23.00 0.706 4 0.000 0.051 3064 3769 1515 0 0 1 0 0 0

5801 end climb: FINISH_DEPTH_REACHED

state 5801 begin subsurface finish

5808 -0.02 -17.8 8.0 -14.5 626 5863 0.75 2.12 -46.58 0.000 4 0.109 0.066 2820 3773 3034 0 0 0 0 0 0

5864 end subsurface finish: CONTROL_FINISHED_OK

state 5864 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	41	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	44	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	24	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	-17317.652	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,-7727.986,17011.598,181,99.0,181,136.2	TGT_NAME	POLYNYA
_CALLS	3	TGT_LATLONG	-7700.000,17100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	5.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	3.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	301110,224308,-7727.986,17011.598,181,99.0,181,136.2	MHEAD_RNG_PITCHd_Wd	245.1,55614,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	742

FREEZE	7.98,-1.891,-1.906,2,16,0	_24V_AH	23.0,42.755
FINISH1	8.0,1.027862,-18	_10V_AH	10.1,60.970
FINISH2	4.9	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-7639.69,17024.14,301110,222221	FG_AHR_10Vo	0.000
TT8_MAMPS	0.027713	MEM	259000
HUMID	50.31	DATA_FILE_SIZE	43685,634
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	91898,0
TCM_TEMP	14.10	CFSIZE	260165632,248512512
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
ALTIM_TOP_PING	19.8,20.3	GPS	301110,224308,-7727.986,17011.598,181,99.0,181,136.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	170	17.07	SBE_CT	442	24	244.50
Roll_motor	104	65	157.41	AA4330	800	33	607.95
VBD_pump_during_apogee	471	924	10025.13	WL_BBFL2VMT	848	105	2048.98
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	16.91	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1526	19	305.37
LPSleep	2127	2	47.06
TT8_Active	503	19	100.65
TT8_Sampling	1630	39	655.41
TT8_CF8	126	45	58.57
TT8_Kalman	0	0	0.00
Analog_circuits	1247	12	151.21
GPS_charging	0	0	0.00
Compass	1176	15	178.23
RAFOS	0	0	0.00
Transponder	12	30	3.72

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
15	-0.84	-219.0	0.0	0.0	0	25	0.00	0.00	-8.40	0.000	2	0.000	0.000	2818	3754	3292	0	0	0	0	0	0
27	-0.84	-219.0	4.4	-0.0	1	54	0.70	0.00	-17.62	0.000	6	0.058	0.000	2542	3755	3855	0	0	0	0	0	0
187	-0.76	-219.0	30.9	-12.7	29	195	0.12	4.62	0.00	0.000	4	0.171	0.037	2576	895	3858	0	0	0	0	0	0
250	-0.76	-219.0	37.8	-11.3	40	258	0.00	2.30	0.00	0.000	6	0.000	0.044	2573	2294	3857	0	0	0	0	0	0
393	-0.76	-219.0	59.0	-13.0	65	400	0.00	2.30	0.00	0.000	4	0.000	0.051	2563	3718	3858	0	0	0	0	0	0
484	-0.72	-219.0	73.7	-17.3	81	491	0.00	2.22	0.00	0.000	6	0.000	0.031	2563	2297	3857	0	0	0	0	0	0
623	-0.68	-219.0	96.0	-15.3	106	632	0.12	2.35	0.00	0.000	4	0.164	0.052	2588	3710	3858	0	0	0	0	0	0
739	-0.70	-219.0	111.9	-13.4	119	743	0.00	2.20	0.00	0.000	6	0.000	0.031	2588	2290	3857	0	0	0	0	0	0
873	-0.70	-219.0	130.3	-13.6	131	877	0.00	2.30	0.00	0.000	4	0.000	0.050	2578	3714	3858	0	0	0	0	0	0
946	-0.70	-219.0	141.3	-16.1	137	950	0.00	2.20	0.00	0.000	6	0.000	0.031	2577	2291	3858	0	0	0	0	0	0
1081	-0.70	-219.0	161.9	-14.7	149	1085	0.00	2.30	0.00	0.000	4	0.000	0.051	2576	3718	3858	0	0	0	0	0	0
1153	-0.70	-219.0	172.6	-15.0	155	1157	0.00	2.22	0.00	0.000	6	0.000	0.030	2576	2294	3857	0	0	0	0	0	0
1288	-0.70	-219.0	191.4	-13.4	167	1292	0.00	2.28	0.00	0.000	4	0.000	0.050	2576	3711	3858	0	0	0	0	0	0
1374	-0.73	-219.0	204.1	-14.2	174	1383	0.00	2.22	0.00	0.000	6	0.000	0.030	2576	2294	3858	0	0	0	0	0	0
1511	-0.73	-219.0	221.5	-13.1	187	1515	0.00	2.28	0.00	0.000	4	0.000	0.051	2576	3712	3858	0	0	0	0	0	0
1608	-0.75	-219.0	235.4	-13.7	195	1617	0.00	2.22	0.00	0.000	6	0.000	0.031	2576	2298	3857	0	0	0	0	0	0
1743	-0.78	-219.0	252.1	-12.7	208	1747	0.00	2.28	0.00	0.000	4	0.000	0.052	2576	3715	3857	0	0	0	0	0	0
1840	-0.81	-219.0	264.8	-12.7	216	1844	0.00	2.17	0.00	0.000	6	0.000	0.031	2576	2301	3858	0	0	0	0	0	0
2039	-0.84	-219.0	291.4	-13.9	234	2043	0.00	2.28	0.00	0.000	4	0.000	0.053	2575	3715	3858	0	0	1	0	0	0
2172	-0.87	-219.0	312.2	-15.7	245	2180	0.12	2.17	0.00	0.000	6	0.103	0.030	2525	2300	3857	0	0	0	0	0	0
2373	-0.82	-219.0	347.9	-17.2	264	2377	0.12	2.28	0.00	0.000	4	0.168	0.051	2550	3711	3857	0	0	0	0	0	0
2505	-0.82	-219.0	368.7	-14.3	275	2513	0.00	2.20	0.00	0.000	6	0.000	0.030	2550	2305	3857	0	0	0	0	0	0
2705	-0.82	-219.0	394.9	-13.6	294	2709	0.00	2.25	0.00	0.000	4	0.000	0.052	2547	3711	3857	0	0	0	0	0	0
2737	end dive: TARGET_DEPTH_EXCEEDED
state	2737	begin apogee
2743	-0.16	0.0	400.0	14.6	296	2923	0.65	0.00	173.45	0.925	6	0.129	0.000	2762	2498	2959	0	0	0	0	0	0
2924	end apogee: CONTROL_FINISHED_OK
state	2924	begin climb
2926	0.84	219.0	407.6	0.0	313	3123	0.98	2.47	183.82	0.871	4	0.083	0.035	3099	1111	2065	0	0	0	0	0	0
3147	0.77	219.0	386.8	15.1	333	3152	0.12	2.40	0.00	0.000	6	0.160	0.041	3070	2496	2061	0	0	1	0	0	0
3346	0.71	219.0	357.8	13.9	351	3349	0.00	2.15	0.00	0.000	4	0.000	0.050	3070	3769	2054	0	0	0	0	0	0
3475	0.62	219.0	337.5	15.5	362	3483	0.22	2.05	0.00	0.000	6	0.148	0.030	3016	2505	2052	0	0	0	0	0	0
3674	0.73	280.5	316.1	10.8	381	3734	0.12	2.20	52.03	0.840	4	0.090	0.050	3073	3764	1815	0	0	1	0	0	0
3841	0.66	280.5	289.1	17.2	396	3846	0.17	2.05	0.00	0.000	6	0.149	0.031	3035	2498	1811	0	0	0	0	0	0
4040	0.70	281.1	263.3	13.3	414	4044	0.00	2.12	0.00	0.000	4	0.000	0.050	3035	3766	1809	0	0	0	0	0	0
4124	0.70	281.1	250.9	14.4	421	4131	0.00	2.03	0.00	0.000	6	0.000	0.031	3043	2498	1807	0	0	0	0	0	0
4324	0.72	281.1	223.8	13.9	440	4328	0.00	2.10	0.00	0.000	4	0.000	0.050	3043	3771	1806	0	0	0	0	0	0
4418	0.72	281.1	209.1	16.0	448	4422	0.00	2.00	0.00	0.000	6	0.000	0.031	3051	2501	1806	0	0	0	0	0	0
4559	0.72	281.1	188.2	15.4	461	4563	0.00	2.08	0.00	0.000	4	0.000	0.050	3051	3767	1805	0	0	0	0	0	0
4623	0.70	281.1	176.9	17.6	466	4631	0.00	2.03	0.00	0.000	6	0.000	0.031	3060	2505	1805	0	0	0	0	0	0
4758	0.70	281.1	155.0	16.6	479	4762	0.00	2.05	0.00	0.000	4	0.000	0.051	3060	3766	1804	0	0	0	0	0	0
4805	0.65	281.1	146.6	18.5	483	4809	0.12	1.98	0.00	0.000	6	0.168	0.032	3033	2500	1804	0	0	0	0	0	0
4942	0.69	281.8	127.1	13.3	495	4946	0.00	2.05	0.00	0.000	4	0.000	0.051	3033	3766	1804	0	0	0	0	0	0
4978	0.69	281.8	122.1	14.1	498	4982	0.00	1.98	0.00	0.000	6	0.000	0.033	3041	2501	1804	0	0	0	0	0	0
5119	0.75	326.6	103.5	11.5	511	5165	0.00	2.12	38.97	0.754	4	0.000	0.050	3041	3766	1627	0	0	0	0	0	0
5221	0.75	326.6	89.5	14.4	525	5227	0.00	2.03	0.00	0.000	6	0.000	0.031	3049	2499	1624	0	0	0	0	0	0
5361	0.79	326.6	70.0	13.8	550	5369	0.00	2.12	0.00	0.000	4	0.000	0.051	3049	3766	1622	0	0	0	0	0	0
5436	0.76	326.6	58.6	14.1	563	5443	0.00	2.00	0.00	0.000	6	0.000	0.031	3058	2499	1621	0	0	0	0	0	0
5575	0.76	326.6	37.0	17.0	588	5583	0.00	2.10	0.00	0.000	4	0.000	0.050	3058	3758	1619	0	0	0	0	0	0
5622	0.74	326.6	30.1	15.3	596	5631	0.00	2.03	0.00	0.000	6	0.000	0.032	3064	2501	1620	0	0	0	0	0	0
5766	0.77	354.3	13.7	12.2	621	5795	0.00	2.15	23.00	0.706	4	0.000	0.051	3064	3769	1515	0	0	1	0	0	0
5801	end climb: FINISH_DEPTH_REACHED
state	5801	begin subsurface finish
5808	-0.02	-17.8	8.0	-14.5	626	5863	0.75	2.12	-46.58	0.000	4	0.109	0.066	2820	3773	3034	0	0	0	0	0	0
5864	end subsurface finish: CONTROL_FINISHED_OK
state	5864	begin surface