Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 455 * 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 455 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 34 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 -5 T_GPS_CHARGE -30714.707 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 -8 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 -8 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 -30714.707

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 -5

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 34 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 455 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 010111,163250,-7630.218,-17956.395,12,1.1,12,118.1 TGT_NAME POLYNYA1

_CALLS 1 TGT_LATLONG -7630.000,17000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010111,163832,-7630.145,-17956.299,11,1.8,11,118.1 MHEAD_RNG_PITCHd_Wd 16.9,9077552,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 427

Post-dive calculations and measurements:

FREEZE 1.46,-0.662,-1.890,2,1,0 _24V_AH 20.0,69.922

FINISH 1.5,1.027668 _10V_AH 9.7,47.493

SM_CCo 6084,80.43,0.733,1,0,1738,300.24 FG_AHR_24Vo 0.000

SM_GC 2.05,0.00,0.00,80.43,0.000,0.000,0.733,426,2646,1738,-8.25,-0.11,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,18000.00,010111,151519 MEM 267044

TT8_MAMPS 0.028462 DATA_FILE_SIZE 46964,676

HUMID 53.30 CAP_FILE_SIZE 95263,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,227098624

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.397,359.4,1

ALTIM_TOP_PING 19.9,18.6 GPS 010111,182306,-7629.333,-17953.502,40,0.9,40,117.9

ALTIM_BOTTOM_PING 351.3,71.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 196 73.24 SBE_CT 474 24 227.89

Roll_motor 83 62 104.76 AA4330 851 33 561.83

VBD_pump_during_apogee 283 1057 6004.54 WL_BBFL2VMT 882 105 1852.28

VBD_pump_during_surface 80 732 1178.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 60.06 nil 0 0 0.00

Iridium_during_connect 40 160 129.41 nil 0 0 0.00

Iridium_during_xfer 165 223 736.21 nil 0 0 0.00

Transponder_ping 1 420 12.60 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 12 50 6.00

TT8 1711 19 328.70

LPSleep 2287 2 48.59

TT8_Active 495 19 95.07

TT8_Sampling 1835 39 708.45

TT8_CF8 194 45 86.59

TT8_Kalman 0 0 0.00

Analog_circuits 1194 12 139.06

GPS_charging 0 0 0.00

Compass 1116 15 162.51

RAFOS 0 0 0.00

Transponder 10 30 3.11

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 14 begin dive

17 -0.76 -146.0 0.0 0.0 0 103 0.00 0.00 -83.97 0.000 2 0.000 0.000 411 2661 3256 0 0 0 0 0 0

106 -0.76 -146.0 3.0 -0.8 13 136 8.98 2.35 -9.27 0.000 4 0.197 0.063 2807 1245 3561 0 0 0 0 0 0

292 -0.76 -146.0 31.4 -14.7 46 300 0.00 2.33 0.00 0.000 6 0.000 0.057 2799 2638 3562 0 0 0 0 0 0

432 -0.76 -146.0 52.5 -16.5 71 440 0.00 1.83 0.00 0.000 4 0.000 0.062 2790 3767 3563 0 0 0 0 0 0

469 -0.76 -146.0 59.0 -18.6 77 476 0.00 1.75 0.00 0.000 6 0.000 0.042 2790 2669 3563 0 0 0 0 0 0

606 -0.76 -146.0 85.7 -20.6 102 614 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2668 3563 0 0 0 0 0 0

745 -0.76 -146.0 113.1 -19.9 121 753 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2668 3563 0 0 0 0 0 0

881 -0.76 -146.0 139.3 -19.2 134 885 0.00 1.80 0.00 0.000 4 0.000 0.061 2782 3773 3563 0 0 0 0 0 0

928 -0.76 -146.0 148.4 -19.5 138 933 0.12 1.73 0.00 0.000 6 0.158 0.042 2815 2669 3563 0 0 0 0 0 0

1071 -0.76 -146.0 171.2 -15.1 151 1074 0.00 1.80 0.00 0.000 4 0.000 0.062 2808 3773 3563 0 0 0 0 0 0

1108 -0.76 -146.0 176.9 -16.6 154 1112 0.00 1.70 0.00 0.000 6 0.000 0.042 2808 2680 3563 0 0 0 0 0 0

1251 -0.76 -146.0 198.2 -14.2 167 1259 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2678 3563 0 0 0 0 0 0

1386 -0.76 -146.0 216.8 -13.2 180 1390 0.00 1.77 0.00 0.000 4 0.000 0.063 2799 3768 3563 0 0 0 0 0 0

1444 -0.76 -146.0 225.0 -13.9 185 1448 0.00 1.67 0.00 0.000 6 0.000 0.042 2799 2688 3563 0 0 0 0 0 0

1585 -0.76 -146.0 244.9 -14.3 198 1586 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2687 3563 0 0 0 0 0 0

1710 -0.76 -146.0 264.9 -16.0 210 1714 0.00 1.75 0.00 0.000 4 0.000 0.060 2791 3764 3563 0 0 0 0 0 0

1734 -0.76 -146.0 268.6 -16.4 212 1738 0.00 1.70 0.00 0.000 6 0.000 0.041 2791 2698 3563 0 0 0 0 0 0

1938 -0.76 -146.0 300.8 -14.6 231 1943 0.00 2.33 0.00 0.000 4 0.000 0.052 2791 1240 3563 0 0 0 0 0 0

1959 -0.76 -146.0 304.1 -13.8 232 1967 0.05 2.45 0.00 0.000 6 0.148 0.058 2813 2704 3563 0 0 0 0 0 0

2158 -0.76 -146.0 329.9 -14.0 251 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2704 3563 0 0 0 0 0 0

2349 -0.76 -146.0 354.7 -10.8 269 2352 0.00 1.70 0.00 0.000 4 0.000 0.062 2806 3766 3563 0 0 0 0 0 0

2375 -0.76 -146.0 358.9 -14.8 271 2384 0.00 1.67 0.00 0.000 6 0.000 0.041 2806 2713 3563 0 0 0 0 0 0

2574 -0.76 -146.0 386.1 -11.6 290 2575 0.00 0.00 0.00 0.000 6 0.000 0.000 2806 2712 3563 0 0 0 0 0 0

2764 end dive: BOTTOM_OBSTACLE_DETECTED

state 2764 begin apogee

2769 -0.27 0.0 408.4 12.6 308 2909 0.52 0.00 132.60 1.057 4 0.131 0.000 2973 2495 2962 0 0 0 0 0 0

2910 end apogee: CONTROL_FINISHED_OK

state 2910 begin climb

2912 0.76 146.0 413.7 0.0 320 3069 1.05 0.00 151.38 0.977 6 0.082 0.000 3302 2495 2365 0 0 0 0 0 0

3263 0.76 146.0 379.0 13.0 352 3268 0.00 2.22 0.00 0.000 4 0.000 0.057 3302 3761 2352 0 0 0 0 0 0

3418 0.76 146.0 354.3 16.3 365 3421 0.00 2.00 0.00 0.000 6 0.000 0.041 3313 2506 2350 0 0 0 0 0 0

3621 0.76 146.0 327.5 12.4 384 3625 0.00 2.05 0.00 0.000 4 0.000 0.059 3313 3765 2348 0 0 0 0 0 0

3659 0.76 146.0 322.3 13.7 387 3668 0.00 2.00 0.00 0.000 6 0.000 0.041 3322 2507 2348 0 0 0 0 0 0

3860 0.76 146.0 296.3 13.7 406 3863 0.00 2.05 0.00 0.000 4 0.000 0.058 3322 3775 2347 0 0 0 0 0 0

3920 0.76 146.0 286.9 14.5 411 3929 0.00 2.00 0.00 0.000 6 0.000 0.040 3332 2523 2347 0 0 0 0 0 0

4119 0.76 146.0 260.2 13.9 430 4123 0.00 2.03 0.00 0.000 4 0.000 0.059 3332 3771 2346 0 0 0 0 0 0

4168 0.76 146.0 252.0 16.8 434 4175 0.00 1.98 0.00 0.000 6 0.000 0.041 3341 2535 2346 0 0 0 0 0 0

4368 0.76 146.0 222.2 15.1 453 4371 0.00 2.00 0.00 0.000 4 0.000 0.057 3341 3770 2345 0 0 0 0 0 0

4403 0.76 146.0 216.4 17.7 456 4408 0.15 1.92 0.00 0.000 6 0.157 0.041 3310 2536 2345 0 0 0 0 0 0

4541 0.76 146.0 197.5 13.2 468 4544 0.00 2.00 0.00 0.000 4 0.000 0.058 3310 3772 2344 0 0 0 0 0 0

4577 0.76 146.0 192.3 13.8 471 4580 0.00 1.90 0.00 0.000 6 0.000 0.042 3318 2551 2344 0 0 0 0 0 0

4720 0.76 146.0 174.1 12.3 484 4724 0.00 1.98 0.00 0.000 4 0.000 0.059 3318 3768 2344 0 0 0 0 0 0

4756 0.76 146.0 168.3 14.6 487 4766 0.00 1.90 0.00 0.000 6 0.000 0.040 3327 2566 2344 0 0 0 0 0 0

4894 0.76 146.0 150.9 13.0 500 4897 0.00 1.95 0.00 0.000 4 0.000 0.059 3327 3770 2344 0 0 0 0 0 0

4931 0.76 146.0 145.1 14.4 503 4940 0.00 1.90 0.00 0.000 6 0.000 0.041 3336 2576 2344 0 0 0 0 0 0

5069 0.76 146.0 127.2 13.2 516 5076 0.00 0.00 0.00 0.000 6 0.000 0.000 3336 2575 2344 0 0 0 0 0 0

5204 0.76 146.0 107.6 13.7 529 5207 0.00 1.92 0.00 0.000 4 0.000 0.057 3336 3770 2344 0 0 0 0 0 0

5239 0.76 146.0 102.5 15.4 532 5244 0.12 1.85 0.00 0.000 6 0.161 0.041 3311 2578 2344 0 0 0 0 0 0

5377 0.76 146.0 86.0 11.0 555 5385 0.00 2.38 0.00 0.000 4 0.000 0.051 3316 1083 2343 0 0 0 0 0 0

5397 0.76 146.0 83.6 11.1 558 5405 0.00 2.47 0.00 0.000 6 0.000 0.054 3316 2583 2343 0 0 0 0 0 0

5537 0.76 146.0 68.7 10.6 583 5544 0.00 1.90 0.00 0.000 4 0.000 0.058 3316 3768 2342 0 0 0 0 0 0

5578 0.76 146.0 63.3 12.5 590 5586 0.00 1.88 0.00 0.000 6 0.000 0.041 3325 2589 2342 0 0 0 0 0 0

5718 0.76 146.0 46.3 13.0 615 5725 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 2588 2342 0 0 0 0 0 0

5856 0.76 146.0 29.0 11.8 640 5864 0.00 2.42 0.00 0.000 4 0.000 0.052 3336 1087 2342 0 0 0 0 0 0

5888 0.76 146.0 25.3 12.1 645 5895 0.00 2.45 0.00 0.000 6 0.000 0.054 3336 2588 2341 0 0 0 0 0 0

6027 0.76 146.0 7.0 13.2 670 6035 0.00 1.92 0.00 0.000 4 0.000 0.058 3336 3769 2341 0 0 0 0 0 0

6059 end climb: SURFACE_DEPTH_REACHED

state 6059 begin surface coast

6066 end surface coast: CONTROL_FINISHED_OK

state 6066 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	455	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	34	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	-5	T_GPS_CHARGE	-30714.707	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	-8	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	010111,163250,-7630.218,-17956.395,12,1.1,12,118.1	TGT_NAME	POLYNYA1
_CALLS	1	TGT_LATLONG	-7630.000,17000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010111,163832,-7630.145,-17956.299,11,1.8,11,118.1	MHEAD_RNG_PITCHd_Wd	16.9,9077552,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	427

FREEZE	1.46,-0.662,-1.890,2,1,0	_24V_AH	20.0,69.922
FINISH	1.5,1.027668	_10V_AH	9.7,47.493
SM_CCo	6084,80.43,0.733,1,0,1738,300.24	FG_AHR_24Vo	0.000
SM_GC	2.05,0.00,0.00,80.43,0.000,0.000,0.733,426,2646,1738,-8.25,-0.11,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,18000.00,010111,151519	MEM	267044
TT8_MAMPS	0.028462	DATA_FILE_SIZE	46964,676
HUMID	53.30	CAP_FILE_SIZE	95263,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,227098624
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.397,359.4,1
ALTIM_TOP_PING	19.9,18.6	GPS	010111,182306,-7629.333,-17953.502,40,0.9,40,117.9
ALTIM_BOTTOM_PING	351.3,71.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	196	73.24	SBE_CT	474	24	227.89
Roll_motor	83	62	104.76	AA4330	851	33	561.83
VBD_pump_during_apogee	283	1057	6004.54	WL_BBFL2VMT	882	105	1852.28
VBD_pump_during_surface	80	732	1178.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	60.06	nil	0	0	0.00
Iridium_during_connect	40	160	129.41	nil	0	0	0.00
Iridium_during_xfer	165	223	736.21	nil	0	0	0.00
Transponder_ping	1	420	12.60	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	12	50	6.00
TT8	1711	19	328.70
LPSleep	2287	2	48.59
TT8_Active	495	19	95.07
TT8_Sampling	1835	39	708.45
TT8_CF8	194	45	86.59
TT8_Kalman	0	0	0.00
Analog_circuits	1194	12	139.06
GPS_charging	0	0	0.00
Compass	1116	15	162.51
RAFOS	0	0	0.00
Transponder	10	30	3.11

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	14	begin dive
17	-0.76	-146.0	0.0	0.0	0	103	0.00	0.00	-83.97	0.000	2	0.000	0.000	411	2661	3256	0	0	0	0	0	0
106	-0.76	-146.0	3.0	-0.8	13	136	8.98	2.35	-9.27	0.000	4	0.197	0.063	2807	1245	3561	0	0	0	0	0	0
292	-0.76	-146.0	31.4	-14.7	46	300	0.00	2.33	0.00	0.000	6	0.000	0.057	2799	2638	3562	0	0	0	0	0	0
432	-0.76	-146.0	52.5	-16.5	71	440	0.00	1.83	0.00	0.000	4	0.000	0.062	2790	3767	3563	0	0	0	0	0	0
469	-0.76	-146.0	59.0	-18.6	77	476	0.00	1.75	0.00	0.000	6	0.000	0.042	2790	2669	3563	0	0	0	0	0	0
606	-0.76	-146.0	85.7	-20.6	102	614	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2668	3563	0	0	0	0	0	0
745	-0.76	-146.0	113.1	-19.9	121	753	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2668	3563	0	0	0	0	0	0
881	-0.76	-146.0	139.3	-19.2	134	885	0.00	1.80	0.00	0.000	4	0.000	0.061	2782	3773	3563	0	0	0	0	0	0
928	-0.76	-146.0	148.4	-19.5	138	933	0.12	1.73	0.00	0.000	6	0.158	0.042	2815	2669	3563	0	0	0	0	0	0
1071	-0.76	-146.0	171.2	-15.1	151	1074	0.00	1.80	0.00	0.000	4	0.000	0.062	2808	3773	3563	0	0	0	0	0	0
1108	-0.76	-146.0	176.9	-16.6	154	1112	0.00	1.70	0.00	0.000	6	0.000	0.042	2808	2680	3563	0	0	0	0	0	0
1251	-0.76	-146.0	198.2	-14.2	167	1259	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	2678	3563	0	0	0	0	0	0
1386	-0.76	-146.0	216.8	-13.2	180	1390	0.00	1.77	0.00	0.000	4	0.000	0.063	2799	3768	3563	0	0	0	0	0	0
1444	-0.76	-146.0	225.0	-13.9	185	1448	0.00	1.67	0.00	0.000	6	0.000	0.042	2799	2688	3563	0	0	0	0	0	0
1585	-0.76	-146.0	244.9	-14.3	198	1586	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2687	3563	0	0	0	0	0	0
1710	-0.76	-146.0	264.9	-16.0	210	1714	0.00	1.75	0.00	0.000	4	0.000	0.060	2791	3764	3563	0	0	0	0	0	0
1734	-0.76	-146.0	268.6	-16.4	212	1738	0.00	1.70	0.00	0.000	6	0.000	0.041	2791	2698	3563	0	0	0	0	0	0
1938	-0.76	-146.0	300.8	-14.6	231	1943	0.00	2.33	0.00	0.000	4	0.000	0.052	2791	1240	3563	0	0	0	0	0	0
1959	-0.76	-146.0	304.1	-13.8	232	1967	0.05	2.45	0.00	0.000	6	0.148	0.058	2813	2704	3563	0	0	0	0	0	0
2158	-0.76	-146.0	329.9	-14.0	251	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	2813	2704	3563	0	0	0	0	0	0
2349	-0.76	-146.0	354.7	-10.8	269	2352	0.00	1.70	0.00	0.000	4	0.000	0.062	2806	3766	3563	0	0	0	0	0	0
2375	-0.76	-146.0	358.9	-14.8	271	2384	0.00	1.67	0.00	0.000	6	0.000	0.041	2806	2713	3563	0	0	0	0	0	0
2574	-0.76	-146.0	386.1	-11.6	290	2575	0.00	0.00	0.00	0.000	6	0.000	0.000	2806	2712	3563	0	0	0	0	0	0
2764	end dive: BOTTOM_OBSTACLE_DETECTED
state	2764	begin apogee
2769	-0.27	0.0	408.4	12.6	308	2909	0.52	0.00	132.60	1.057	4	0.131	0.000	2973	2495	2962	0	0	0	0	0	0
2910	end apogee: CONTROL_FINISHED_OK
state	2910	begin climb
2912	0.76	146.0	413.7	0.0	320	3069	1.05	0.00	151.38	0.977	6	0.082	0.000	3302	2495	2365	0	0	0	0	0	0
3263	0.76	146.0	379.0	13.0	352	3268	0.00	2.22	0.00	0.000	4	0.000	0.057	3302	3761	2352	0	0	0	0	0	0
3418	0.76	146.0	354.3	16.3	365	3421	0.00	2.00	0.00	0.000	6	0.000	0.041	3313	2506	2350	0	0	0	0	0	0
3621	0.76	146.0	327.5	12.4	384	3625	0.00	2.05	0.00	0.000	4	0.000	0.059	3313	3765	2348	0	0	0	0	0	0
3659	0.76	146.0	322.3	13.7	387	3668	0.00	2.00	0.00	0.000	6	0.000	0.041	3322	2507	2348	0	0	0	0	0	0
3860	0.76	146.0	296.3	13.7	406	3863	0.00	2.05	0.00	0.000	4	0.000	0.058	3322	3775	2347	0	0	0	0	0	0
3920	0.76	146.0	286.9	14.5	411	3929	0.00	2.00	0.00	0.000	6	0.000	0.040	3332	2523	2347	0	0	0	0	0	0
4119	0.76	146.0	260.2	13.9	430	4123	0.00	2.03	0.00	0.000	4	0.000	0.059	3332	3771	2346	0	0	0	0	0	0
4168	0.76	146.0	252.0	16.8	434	4175	0.00	1.98	0.00	0.000	6	0.000	0.041	3341	2535	2346	0	0	0	0	0	0
4368	0.76	146.0	222.2	15.1	453	4371	0.00	2.00	0.00	0.000	4	0.000	0.057	3341	3770	2345	0	0	0	0	0	0
4403	0.76	146.0	216.4	17.7	456	4408	0.15	1.92	0.00	0.000	6	0.157	0.041	3310	2536	2345	0	0	0	0	0	0
4541	0.76	146.0	197.5	13.2	468	4544	0.00	2.00	0.00	0.000	4	0.000	0.058	3310	3772	2344	0	0	0	0	0	0
4577	0.76	146.0	192.3	13.8	471	4580	0.00	1.90	0.00	0.000	6	0.000	0.042	3318	2551	2344	0	0	0	0	0	0
4720	0.76	146.0	174.1	12.3	484	4724	0.00	1.98	0.00	0.000	4	0.000	0.059	3318	3768	2344	0	0	0	0	0	0
4756	0.76	146.0	168.3	14.6	487	4766	0.00	1.90	0.00	0.000	6	0.000	0.040	3327	2566	2344	0	0	0	0	0	0
4894	0.76	146.0	150.9	13.0	500	4897	0.00	1.95	0.00	0.000	4	0.000	0.059	3327	3770	2344	0	0	0	0	0	0
4931	0.76	146.0	145.1	14.4	503	4940	0.00	1.90	0.00	0.000	6	0.000	0.041	3336	2576	2344	0	0	0	0	0	0
5069	0.76	146.0	127.2	13.2	516	5076	0.00	0.00	0.00	0.000	6	0.000	0.000	3336	2575	2344	0	0	0	0	0	0
5204	0.76	146.0	107.6	13.7	529	5207	0.00	1.92	0.00	0.000	4	0.000	0.057	3336	3770	2344	0	0	0	0	0	0
5239	0.76	146.0	102.5	15.4	532	5244	0.12	1.85	0.00	0.000	6	0.161	0.041	3311	2578	2344	0	0	0	0	0	0
5377	0.76	146.0	86.0	11.0	555	5385	0.00	2.38	0.00	0.000	4	0.000	0.051	3316	1083	2343	0	0	0	0	0	0
5397	0.76	146.0	83.6	11.1	558	5405	0.00	2.47	0.00	0.000	6	0.000	0.054	3316	2583	2343	0	0	0	0	0	0
5537	0.76	146.0	68.7	10.6	583	5544	0.00	1.90	0.00	0.000	4	0.000	0.058	3316	3768	2342	0	0	0	0	0	0
5578	0.76	146.0	63.3	12.5	590	5586	0.00	1.88	0.00	0.000	6	0.000	0.041	3325	2589	2342	0	0	0	0	0	0
5718	0.76	146.0	46.3	13.0	615	5725	0.00	0.00	0.00	0.000	6	0.000	0.000	3325	2588	2342	0	0	0	0	0	0
5856	0.76	146.0	29.0	11.8	640	5864	0.00	2.42	0.00	0.000	4	0.000	0.052	3336	1087	2342	0	0	0	0	0	0
5888	0.76	146.0	25.3	12.1	645	5895	0.00	2.45	0.00	0.000	6	0.000	0.054	3336	2588	2341	0	0	0	0	0	0
6027	0.76	146.0	7.0	13.2	670	6035	0.00	1.92	0.00	0.000	4	0.000	0.058	3336	3769	2341	0	0	0	0	0	0
6059	end climb: SURFACE_DEPTH_REACHED
state	6059	begin surface coast
6066	end surface coast: CONTROL_FINISHED_OK
state	6066	begin surface