Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 42 * 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 42 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 42 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 22 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 42 VBD_MAX 3956

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 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 42 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 2.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 5.1 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 8.61,-1.886,-1.906,2,17,0 _24V_AH 23.0,42.875

FINISH1 8.6,1.027853,-17 _10V_AH 10.1,61.045

FINISH2 6.4 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 50.98 DATA_FILE_SIZE 43710,628

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 92217,0

TCM_TEMP 14.30 CFSIZE 260165632,248459264

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

ALTIM_TOP_PING 20.0,20.0 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 4 172 18.31 SBE_CT 438 24 242.29

Roll_motor 100 64 149.05 AA4330 784 33 595.38

VBD_pump_during_apogee 482 923 10236.84 WL_BBFL2VMT 806 105 1948.52

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 14.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1522 19 304.42

LPSleep 2146 2 47.49

TT8_Active 507 19 101.42

TT8_Sampling 1589 39 639.06

TT8_CF8 105 45 48.88

TT8_Kalman 0 0 0.00

Analog_circuits 1236 12 149.82

GPS_charging 0 0 0.00

Compass 1158 15 175.50

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.84 -219.0 0.0 0.0 0 25 0.00 0.00 -8.25 0.000 2 0.000 0.000 2819 3773 3257 0 0 0 0 0 0

27 -0.84 -219.0 3.1 -0.0 1 61 0.77 4.75 -20.73 0.000 4 0.096 0.041 2550 892 3855 0 0 0 0 0 0

150 -0.84 -219.0 18.4 -17.9 22 158 0.00 2.35 0.00 0.000 6 0.000 0.044 2547 2303 3857 0 0 0 0 0 0

292 -0.78 -219.0 39.0 -16.8 47 299 0.00 2.30 0.00 0.000 4 0.000 0.051 2547 3712 3858 0 0 0 0 0 0

405 -0.74 -219.0 58.0 -16.1 67 413 0.12 2.22 0.00 0.000 6 0.160 0.030 2582 2294 3858 0 0 0 0 0 0

544 -0.76 -219.0 76.0 -11.7 92 552 0.00 2.35 0.00 0.000 4 0.000 0.051 2576 3709 3858 0 0 0 0 0 0

645 -0.76 -219.0 88.5 -12.4 110 653 0.00 2.25 0.00 0.000 6 0.000 0.031 2576 2299 3858 0 0 0 0 0 0

785 -0.76 -219.0 107.4 -14.0 130 789 0.00 2.30 0.00 0.000 4 0.000 0.052 2576 3715 3858 0 0 0 0 0 0

857 -0.76 -219.0 117.3 -13.0 136 861 0.00 2.20 0.00 0.000 6 0.000 0.031 2576 2304 3858 0 0 0 0 0 0

994 -0.76 -219.0 135.3 -14.1 148 998 0.00 2.30 0.00 0.000 4 0.000 0.052 2576 3717 3859 0 0 0 0 0 0

1066 -0.79 -219.0 146.5 -14.0 154 1070 0.00 2.20 0.00 0.000 6 0.000 0.031 2576 2299 3859 0 0 0 0 0 0

1203 -0.82 -219.0 167.3 -14.7 166 1207 0.00 2.30 0.00 0.000 4 0.000 0.051 2576 3720 3860 0 0 0 0 0 0

1276 -0.84 -219.0 178.0 -14.5 172 1280 0.00 2.20 0.00 0.000 6 0.000 0.031 2576 2299 3860 0 0 0 0 0 0

1413 -0.87 -219.0 196.3 -12.7 184 1418 0.12 2.30 0.00 0.000 4 0.100 0.052 2513 3711 3860 0 0 0 0 0 0

1498 -0.78 -219.0 213.2 -21.0 191 1508 0.15 2.22 0.00 0.000 6 0.144 0.031 2561 2299 3860 0 0 0 0 0 0

1635 -0.78 -219.0 233.6 -14.2 204 1639 0.00 2.28 0.00 0.000 4 0.000 0.051 2551 3712 3860 0 0 0 0 0 0

1708 -0.78 -219.0 244.4 -14.0 210 1712 0.00 2.20 0.00 0.000 6 0.000 0.031 2551 2292 3860 0 0 0 0 0 0

1841 -0.78 -219.0 263.7 -14.4 222 1845 0.00 2.30 0.00 0.000 4 0.000 0.051 2547 3718 3860 0 0 0 0 0 0

1926 -0.78 -219.0 276.9 -15.9 229 1930 0.00 2.20 0.00 0.000 6 0.000 0.031 2547 2294 3860 0 0 0 0 0 0

2123 -0.78 -219.0 305.4 -14.1 247 2127 0.00 2.28 0.00 0.000 4 0.000 0.050 2537 3712 3860 0 0 0 0 0 0

2241 -0.78 -219.0 323.5 -15.7 257 2246 0.10 2.17 0.00 0.000 6 0.168 0.031 2563 2299 3860 0 0 0 0 0 0

2444 -0.81 -219.0 350.3 -13.5 275 2448 0.00 2.28 0.00 0.000 4 0.000 0.053 2563 3712 3860 0 0 0 0 0 0

2562 -0.84 -219.0 368.0 -14.6 285 2566 0.00 2.17 0.00 0.000 6 0.000 0.031 2563 2302 3860 0 0 0 0 0 0

2766 -0.86 -219.0 395.2 -12.9 304 2770 0.00 2.28 0.00 0.000 4 0.000 0.053 2563 3714 3860 0 0 1 0 0 0

2797 end dive: TARGET_DEPTH_EXCEEDED

state 2797 begin apogee

2803 -0.16 0.0 400.1 13.5 306 2983 0.60 0.00 174.05 0.923 6 0.125 0.000 2764 2491 2960 0 0 0 0 0 0

2984 end apogee: CONTROL_FINISHED_OK

state 2984 begin climb

2985 0.84 219.0 409.5 0.0 323 3183 0.95 2.50 183.88 0.871 4 0.076 0.036 3098 1107 2065 0 0 0 0 0 0

3200 0.74 219.0 391.9 14.5 342 3207 0.15 2.45 0.00 0.000 6 0.159 0.042 3061 2500 2061 0 0 1 0 0 0

3398 0.68 230.3 366.1 12.9 361 3413 0.00 2.20 9.23 0.792 4 0.000 0.050 3061 3764 2021 0 0 0 0 0 0

3547 0.58 230.3 342.4 15.6 374 3555 0.17 2.08 0.00 0.000 6 0.138 0.031 3007 2513 2017 0 0 0 0 0 0

3747 0.77 353.2 324.4 8.3 393 3862 0.17 2.25 107.97 0.838 4 0.075 0.048 3084 3763 1519 0 0 1 0 0 0

3958 0.71 353.2 290.5 19.0 411 3965 0.17 2.10 0.00 0.000 6 0.145 0.031 3045 2494 1514 0 0 0 0 0 0

4157 0.76 361.6 263.8 13.0 430 4170 0.00 2.20 6.90 0.733 4 0.000 0.049 3045 3764 1486 0 0 1 0 0 0

4216 0.76 361.6 255.0 15.8 435 4220 0.00 2.08 0.00 0.000 6 0.000 0.031 3052 2499 1485 0 0 0 0 0 0

4420 0.80 361.6 227.6 13.6 454 4424 0.00 2.10 0.00 0.000 4 0.000 0.049 3053 3764 1484 0 0 0 0 0 0

4471 0.80 361.6 219.7 16.3 458 4475 0.00 2.03 0.00 0.000 6 0.000 0.031 3061 2496 1483 0 0 0 0 0 0

4614 0.82 361.6 199.5 13.6 471 4618 0.00 2.10 0.00 0.000 4 0.000 0.049 3061 3769 1483 0 0 0 0 0 0

4654 0.82 361.6 193.3 15.1 474 4657 0.00 2.03 0.00 0.000 6 0.000 0.031 3068 2499 1482 0 0 0 0 0 0

4796 0.82 361.6 173.5 14.1 487 4800 0.00 2.10 0.00 0.000 4 0.000 0.049 3068 3771 1482 0 0 0 0 0 0

4836 0.82 361.6 167.0 16.7 490 4840 0.00 2.03 0.00 0.000 6 0.000 0.031 3078 2494 1481 0 0 0 0 0 0

4978 0.79 361.6 145.2 17.3 503 4982 0.00 2.08 0.00 0.000 4 0.000 0.050 3077 3765 1481 0 0 0 0 0 0

5052 0.75 361.6 131.2 19.9 509 5055 0.00 2.00 0.00 0.000 6 0.000 0.031 3086 2494 1481 0 0 0 0 0 0

5192 0.72 361.6 104.7 20.9 522 5194 0.12 0.00 0.00 0.000 6 0.172 0.000 3050 2494 1481 0 0 0 0 0 0

5323 0.76 361.6 82.2 17.0 543 5329 0.00 2.08 0.00 0.000 4 0.000 0.047 3051 3773 1480 0 0 0 0 0 0

5373 0.78 361.6 73.9 15.6 552 5381 0.00 2.03 0.00 0.000 6 0.000 0.031 3057 2505 1480 0 0 0 0 0 0

5516 0.82 361.6 52.1 14.3 577 5522 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2505 1480 0 0 0 0 0 0

5652 0.85 361.6 29.8 15.7 602 5661 0.10 2.08 0.00 0.000 4 0.103 0.052 3107 3761 1480 0 0 1 0 0 0

5720 0.76 361.6 17.5 19.5 613 5727 0.17 1.98 0.00 0.000 6 0.168 0.032 3069 2501 1480 0 0 0 0 0 0

5760 end climb: FINISH_DEPTH_REACHED

state 5760 begin subsurface finish

5765 -0.02 -17.3 8.6 -20.0 620 5820 0.73 2.08 -45.80 0.000 4 0.116 0.064 2821 3773 3033 0 0 0 0 0 0

5821 end subsurface finish: CONTROL_FINISHED_OK

state 5821 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	42	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	42	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	22	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	2.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	5.1	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	8.61,-1.886,-1.906,2,17,0	_24V_AH	23.0,42.875
FINISH1	8.6,1.027853,-17	_10V_AH	10.1,61.045
FINISH2	6.4	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	50.98	DATA_FILE_SIZE	43710,628
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	92217,0
TCM_TEMP	14.30	CFSIZE	260165632,248459264
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
ALTIM_TOP_PING	20.0,20.0	GPS	301110,224308,-7727.986,17011.598,181,99.0,181,136.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	4	172	18.31	SBE_CT	438	24	242.29
Roll_motor	100	64	149.05	AA4330	784	33	595.38
VBD_pump_during_apogee	482	923	10236.84	WL_BBFL2VMT	806	105	1948.52
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	14.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1522	19	304.42
LPSleep	2146	2	47.49
TT8_Active	507	19	101.42
TT8_Sampling	1589	39	639.06
TT8_CF8	105	45	48.88
TT8_Kalman	0	0	0.00
Analog_circuits	1236	12	149.82
GPS_charging	0	0	0.00
Compass	1158	15	175.50
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.84	-219.0	0.0	0.0	0	25	0.00	0.00	-8.25	0.000	2	0.000	0.000	2819	3773	3257	0	0	0	0	0	0
27	-0.84	-219.0	3.1	-0.0	1	61	0.77	4.75	-20.73	0.000	4	0.096	0.041	2550	892	3855	0	0	0	0	0	0
150	-0.84	-219.0	18.4	-17.9	22	158	0.00	2.35	0.00	0.000	6	0.000	0.044	2547	2303	3857	0	0	0	0	0	0
292	-0.78	-219.0	39.0	-16.8	47	299	0.00	2.30	0.00	0.000	4	0.000	0.051	2547	3712	3858	0	0	0	0	0	0
405	-0.74	-219.0	58.0	-16.1	67	413	0.12	2.22	0.00	0.000	6	0.160	0.030	2582	2294	3858	0	0	0	0	0	0
544	-0.76	-219.0	76.0	-11.7	92	552	0.00	2.35	0.00	0.000	4	0.000	0.051	2576	3709	3858	0	0	0	0	0	0
645	-0.76	-219.0	88.5	-12.4	110	653	0.00	2.25	0.00	0.000	6	0.000	0.031	2576	2299	3858	0	0	0	0	0	0
785	-0.76	-219.0	107.4	-14.0	130	789	0.00	2.30	0.00	0.000	4	0.000	0.052	2576	3715	3858	0	0	0	0	0	0
857	-0.76	-219.0	117.3	-13.0	136	861	0.00	2.20	0.00	0.000	6	0.000	0.031	2576	2304	3858	0	0	0	0	0	0
994	-0.76	-219.0	135.3	-14.1	148	998	0.00	2.30	0.00	0.000	4	0.000	0.052	2576	3717	3859	0	0	0	0	0	0
1066	-0.79	-219.0	146.5	-14.0	154	1070	0.00	2.20	0.00	0.000	6	0.000	0.031	2576	2299	3859	0	0	0	0	0	0
1203	-0.82	-219.0	167.3	-14.7	166	1207	0.00	2.30	0.00	0.000	4	0.000	0.051	2576	3720	3860	0	0	0	0	0	0
1276	-0.84	-219.0	178.0	-14.5	172	1280	0.00	2.20	0.00	0.000	6	0.000	0.031	2576	2299	3860	0	0	0	0	0	0
1413	-0.87	-219.0	196.3	-12.7	184	1418	0.12	2.30	0.00	0.000	4	0.100	0.052	2513	3711	3860	0	0	0	0	0	0
1498	-0.78	-219.0	213.2	-21.0	191	1508	0.15	2.22	0.00	0.000	6	0.144	0.031	2561	2299	3860	0	0	0	0	0	0
1635	-0.78	-219.0	233.6	-14.2	204	1639	0.00	2.28	0.00	0.000	4	0.000	0.051	2551	3712	3860	0	0	0	0	0	0
1708	-0.78	-219.0	244.4	-14.0	210	1712	0.00	2.20	0.00	0.000	6	0.000	0.031	2551	2292	3860	0	0	0	0	0	0
1841	-0.78	-219.0	263.7	-14.4	222	1845	0.00	2.30	0.00	0.000	4	0.000	0.051	2547	3718	3860	0	0	0	0	0	0
1926	-0.78	-219.0	276.9	-15.9	229	1930	0.00	2.20	0.00	0.000	6	0.000	0.031	2547	2294	3860	0	0	0	0	0	0
2123	-0.78	-219.0	305.4	-14.1	247	2127	0.00	2.28	0.00	0.000	4	0.000	0.050	2537	3712	3860	0	0	0	0	0	0
2241	-0.78	-219.0	323.5	-15.7	257	2246	0.10	2.17	0.00	0.000	6	0.168	0.031	2563	2299	3860	0	0	0	0	0	0
2444	-0.81	-219.0	350.3	-13.5	275	2448	0.00	2.28	0.00	0.000	4	0.000	0.053	2563	3712	3860	0	0	0	0	0	0
2562	-0.84	-219.0	368.0	-14.6	285	2566	0.00	2.17	0.00	0.000	6	0.000	0.031	2563	2302	3860	0	0	0	0	0	0
2766	-0.86	-219.0	395.2	-12.9	304	2770	0.00	2.28	0.00	0.000	4	0.000	0.053	2563	3714	3860	0	0	1	0	0	0
2797	end dive: TARGET_DEPTH_EXCEEDED
state	2797	begin apogee
2803	-0.16	0.0	400.1	13.5	306	2983	0.60	0.00	174.05	0.923	6	0.125	0.000	2764	2491	2960	0	0	0	0	0	0
2984	end apogee: CONTROL_FINISHED_OK
state	2984	begin climb
2985	0.84	219.0	409.5	0.0	323	3183	0.95	2.50	183.88	0.871	4	0.076	0.036	3098	1107	2065	0	0	0	0	0	0
3200	0.74	219.0	391.9	14.5	342	3207	0.15	2.45	0.00	0.000	6	0.159	0.042	3061	2500	2061	0	0	1	0	0	0
3398	0.68	230.3	366.1	12.9	361	3413	0.00	2.20	9.23	0.792	4	0.000	0.050	3061	3764	2021	0	0	0	0	0	0
3547	0.58	230.3	342.4	15.6	374	3555	0.17	2.08	0.00	0.000	6	0.138	0.031	3007	2513	2017	0	0	0	0	0	0
3747	0.77	353.2	324.4	8.3	393	3862	0.17	2.25	107.97	0.838	4	0.075	0.048	3084	3763	1519	0	0	1	0	0	0
3958	0.71	353.2	290.5	19.0	411	3965	0.17	2.10	0.00	0.000	6	0.145	0.031	3045	2494	1514	0	0	0	0	0	0
4157	0.76	361.6	263.8	13.0	430	4170	0.00	2.20	6.90	0.733	4	0.000	0.049	3045	3764	1486	0	0	1	0	0	0
4216	0.76	361.6	255.0	15.8	435	4220	0.00	2.08	0.00	0.000	6	0.000	0.031	3052	2499	1485	0	0	0	0	0	0
4420	0.80	361.6	227.6	13.6	454	4424	0.00	2.10	0.00	0.000	4	0.000	0.049	3053	3764	1484	0	0	0	0	0	0
4471	0.80	361.6	219.7	16.3	458	4475	0.00	2.03	0.00	0.000	6	0.000	0.031	3061	2496	1483	0	0	0	0	0	0
4614	0.82	361.6	199.5	13.6	471	4618	0.00	2.10	0.00	0.000	4	0.000	0.049	3061	3769	1483	0	0	0	0	0	0
4654	0.82	361.6	193.3	15.1	474	4657	0.00	2.03	0.00	0.000	6	0.000	0.031	3068	2499	1482	0	0	0	0	0	0
4796	0.82	361.6	173.5	14.1	487	4800	0.00	2.10	0.00	0.000	4	0.000	0.049	3068	3771	1482	0	0	0	0	0	0
4836	0.82	361.6	167.0	16.7	490	4840	0.00	2.03	0.00	0.000	6	0.000	0.031	3078	2494	1481	0	0	0	0	0	0
4978	0.79	361.6	145.2	17.3	503	4982	0.00	2.08	0.00	0.000	4	0.000	0.050	3077	3765	1481	0	0	0	0	0	0
5052	0.75	361.6	131.2	19.9	509	5055	0.00	2.00	0.00	0.000	6	0.000	0.031	3086	2494	1481	0	0	0	0	0	0
5192	0.72	361.6	104.7	20.9	522	5194	0.12	0.00	0.00	0.000	6	0.172	0.000	3050	2494	1481	0	0	0	0	0	0
5323	0.76	361.6	82.2	17.0	543	5329	0.00	2.08	0.00	0.000	4	0.000	0.047	3051	3773	1480	0	0	0	0	0	0
5373	0.78	361.6	73.9	15.6	552	5381	0.00	2.03	0.00	0.000	6	0.000	0.031	3057	2505	1480	0	0	0	0	0	0
5516	0.82	361.6	52.1	14.3	577	5522	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2505	1480	0	0	0	0	0	0
5652	0.85	361.6	29.8	15.7	602	5661	0.10	2.08	0.00	0.000	4	0.103	0.052	3107	3761	1480	0	0	1	0	0	0
5720	0.76	361.6	17.5	19.5	613	5727	0.17	1.98	0.00	0.000	6	0.168	0.032	3069	2501	1480	0	0	0	0	0	0
5760	end climb: FINISH_DEPTH_REACHED
state	5760	begin subsurface finish
5765	-0.02	-17.3	8.6	-20.0	620	5820	0.73	2.08	-45.80	0.000	4	0.116	0.064	2821	3773	3033	0	0	0	0	0	0
5821	end subsurface finish: CONTROL_FINISHED_OK
state	5821	begin surface