Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 456 * 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 456 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 34 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 22 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 -30715.967 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 -30715.967

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 34 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 22 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 456 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 010111,182306,-7629.333,-17953.502,40,0.9,40,117.9 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 -74.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010111,182919,-7629.265,-17953.668,13,1.0,13,117.9 MHEAD_RNG_PITCHd_Wd 17.1,9076416,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 453

Post-dive calculations and measurements:

FREEZE 1.12,-0.527,-0.351,2,1,0 _24V_AH 20.1,70.034

FINISH 1.1,1.005032 _10V_AH 9.7,47.580

SM_CCo 6184,81.05,0.734,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 2.11,0.00,0.00,81.05,0.000,0.000,0.734,419,2656,1737,-8.27,0.17,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,-17950.81,010111,161629 MEM 267112

TT8_MAMPS 0.027713 DATA_FILE_SIZE 47045,691

HUMID 53.15 CAP_FILE_SIZE 98372,0

INTERNAL_PRESSURE 8.77963 CFSIZE 260165632,227037184

TCM_TEMP 14.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 1 CURRENT 0.407,338.0,1

ALTIM_TOP_PING 19.6,18.3 GPS 010111,201507,-7628.500,-17953.406,14,1.4,14,117.9

ALTIM_BOTTOM_PING 350.8,67.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 198 74.46 SBE_CT 485 24 234.39

Roll_motor 84 125 212.58 AA4330 882 33 585.20

VBD_pump_during_apogee 282 1050 5964.65 WL_BBFL2VMT 934 105 1971.52

VBD_pump_during_surface 81 734 1196.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 59.08 nil 0 0 0.00

Iridium_during_connect 37 160 122.04 nil 0 0 0.00

Iridium_during_xfer 192 223 863.14 nil 0 0 0.00

Transponder_ping 1 420 12.66 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.75

TT8 1766 19 339.31

LPSleep 2248 2 47.77

TT8_Active 486 19 93.49

TT8_Sampling 1936 39 747.47

TT8_CF8 211 45 93.89

TT8_Kalman 0 0 0.00

Analog_circuits 1205 12 140.30

GPS_charging 0 0 0.00

Compass 1163 15 169.35

RAFOS 0 0 0.00

Transponder 10 30 3.10

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -0.76 -146.0 0.0 0.0 0 106 0.00 0.00 -85.55 0.000 2 0.000 0.000 425 2647 3305 0 0 0 0 0 0

108 -0.76 -146.0 3.2 -1.3 13 131 8.88 2.33 -7.10 0.000 4 0.199 0.064 2808 1243 3560 0 0 0 0 0 0

291 -0.76 -146.0 32.0 -15.0 45 299 0.00 2.33 0.00 0.000 6 0.000 0.058 2800 2659 3563 0 0 0 0 0 0

429 -0.76 -146.0 52.7 -15.6 70 436 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2659 3563 0 0 0 0 0 0

570 -0.76 -146.0 73.9 -16.1 95 577 0.00 2.28 0.00 0.000 4 0.000 0.050 2800 1238 3563 0 0 0 0 0 0

606 -0.76 -146.0 80.1 -15.8 101 613 0.00 2.33 0.00 0.000 6 0.000 0.056 2789 2655 3563 0 0 0 0 0 0

751 -0.76 -146.0 104.1 -16.5 125 755 0.00 1.77 0.00 0.000 4 0.000 0.060 2781 3767 3563 0 0 0 0 0 0

787 -0.76 -146.0 110.2 -17.5 128 792 0.12 1.75 0.00 0.000 6 0.158 0.042 2815 2640 3563 0 0 0 0 0 0

930 -0.76 -146.0 131.6 -14.7 141 937 0.00 0.00 0.00 0.000 6 0.000 0.000 2814 2638 3563 0 0 0 0 0 0

1065 -0.76 -146.0 151.6 -14.5 154 1069 0.00 1.85 0.00 0.000 4 0.000 0.061 2807 3772 3563 0 0 0 0 0 0

1103 -0.76 -146.0 157.7 -16.1 157 1111 0.00 1.77 0.00 0.000 6 0.000 0.041 2807 2657 3563 0 0 0 0 0 0

1238 -0.76 -146.0 178.8 -15.2 170 1242 0.00 1.83 0.00 0.000 4 0.000 0.062 2799 3773 3563 0 0 0 0 0 0

1263 -0.76 -146.0 182.8 -16.7 172 1267 0.00 1.73 0.00 0.000 6 0.000 0.041 2799 2667 3563 0 0 0 0 0 0

1404 -0.76 -146.0 204.6 -14.7 185 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 2799 2664 3563 0 0 0 0 0 0

1531 -0.76 -146.0 223.7 -15.5 197 1534 0.00 1.80 0.00 0.000 4 0.000 0.061 2790 3768 3563 0 0 0 0 0 0

1566 -0.76 -146.0 229.3 -16.6 200 1570 0.00 1.70 0.00 0.000 6 0.000 0.041 2790 2674 3563 0 0 0 0 0 0

1708 -0.76 -146.0 250.8 -14.7 213 1714 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2672 3563 0 0 0 0 0 0

1909 -0.76 -146.0 282.6 -16.3 232 1912 0.00 1.80 0.00 0.000 4 0.000 0.061 2783 3774 3564 0 0 0 0 0 0

1955 -0.76 -146.0 290.6 -16.2 236 1959 0.12 1.70 0.00 0.000 6 0.158 0.042 2817 2681 3563 0 0 0 0 0 0

2159 -0.76 -146.0 317.7 -12.3 255 2163 0.00 1.77 0.00 0.000 4 0.000 0.063 2810 3764 3563 0 0 0 0 0 0

2229 -0.76 -146.0 327.1 -13.6 261 2232 0.00 1.65 0.00 0.000 6 0.000 0.041 2810 2698 3563 0 0 0 0 0 0

2433 -0.76 -146.0 353.4 -12.4 280 2437 0.00 2.30 0.00 0.000 4 0.000 0.052 2809 1246 3564 0 0 0 0 0 0

2463 -0.76 -146.0 357.1 -12.2 282 2468 0.00 2.40 0.00 0.000 6 0.000 0.058 2799 2708 3564 0 0 0 0 0 0

2661 -0.76 -146.0 385.9 -17.0 300 2665 0.00 1.70 0.00 0.000 4 0.000 0.060 2790 3771 3564 0 0 0 0 0 0

2711 -0.76 -146.0 394.9 -17.3 304 2718 0.00 1.70 0.00 0.000 6 0.000 0.042 2791 2700 3563 0 0 0 0 0 0

2769 end dive: BOTTOM_OBSTACLE_DETECTED

state 2769 begin apogee

2775 -0.27 0.0 403.7 14.7 310 2913 0.57 0.00 132.32 1.050 4 0.132 0.000 2973 2490 2961 0 0 0 0 0 0

2914 end apogee: CONTROL_FINISHED_OK

state 2914 begin climb

2916 0.76 146.0 408.3 0.0 322 3077 1.08 2.53 150.20 0.968 4 0.078 0.050 3306 1106 2364 0 0 0 0 0 0

3201 0.76 146.0 379.6 15.0 347 3206 0.00 2.53 0.00 0.000 6 0.000 0.053 3306 2504 2354 0 0 0 0 0 0

3401 0.76 146.0 355.6 11.4 365 3405 0.00 2.30 0.00 0.000 4 0.000 0.051 3316 1099 2351 0 0 0 0 0 0

3522 0.76 146.0 340.3 13.8 375 3530 0.00 2.33 0.00 0.000 6 0.000 0.053 3316 2528 2348 0 0 0 0 0 0

3720 0.76 146.0 314.1 13.3 394 3723 0.00 1.98 0.00 0.000 4 0.000 0.059 3316 3762 2348 0 0 0 0 0 0

3812 0.76 146.0 300.6 14.7 402 3816 0.00 1.90 0.00 0.000 6 0.000 0.040 3326 2543 2348 0 0 0 0 0 0

4016 0.76 146.0 271.8 13.2 421 4019 0.00 1.98 0.00 0.000 4 0.000 0.058 3326 3762 2347 0 0 0 0 0 0

4065 0.76 146.0 264.2 15.6 425 4072 0.00 1.95 0.00 0.000 6 0.000 0.041 3335 2540 2347 0 0 0 0 0 0

4266 0.76 146.0 237.6 13.4 444 4270 0.00 1.98 0.00 0.000 4 0.000 0.058 3335 3764 2347 0 0 0 0 0 0

4290 0.76 146.0 233.9 14.3 446 4294 0.12 1.90 0.00 0.000 6 0.164 0.040 3311 2544 2347 0 0 0 0 0 0

4431 0.76 146.0 216.1 12.3 459 4434 0.00 1.98 0.00 0.000 4 0.000 0.059 3311 3763 2346 0 0 0 0 0 0

4468 0.76 146.0 210.5 14.3 462 4477 0.00 1.92 0.00 0.000 6 0.000 0.041 3319 2556 2347 0 0 0 0 0 0

4606 0.76 146.0 193.6 12.5 475 4609 0.00 1.95 0.00 0.000 4 0.000 0.057 3319 3763 2346 0 0 0 0 0 0

4630 0.76 146.0 190.1 13.5 477 4634 0.00 1.88 0.00 0.000 6 0.000 0.040 3328 2558 2346 0 0 0 0 0 0

4772 0.76 146.0 171.8 12.4 490 4773 0.00 0.00 0.00 0.000 6 0.000 0.000 3328 2556 2346 0 0 0 0 0 0

4898 0.76 146.0 156.2 12.6 502 4902 0.00 1.95 0.00 0.000 4 0.000 0.058 3327 3763 2346 0 0 0 0 0 0

4969 0.76 146.0 145.3 15.2 508 4978 0.00 1.90 0.00 0.000 6 0.000 0.041 3337 2567 2346 0 0 0 0 0 0

5106 0.76 146.0 127.7 13.1 521 5107 0.00 0.00 0.00 0.000 6 0.000 0.000 3337 2566 2345 0 0 0 0 0 0

5232 0.76 146.0 111.3 12.8 533 5236 0.00 1.95 0.00 0.000 4 0.000 0.059 3337 3768 2345 0 0 0 0 0 0

5247 0.76 146.0 108.9 12.9 534 5257 0.10 1.90 0.00 0.000 6 0.134 0.040 3313 2575 2345 0 0 0 0 0 0

5382 0.76 146.0 93.8 10.9 552 5390 0.00 1.98 0.00 0.000 4 0.000 0.060 3313 3761 2345 0 0 0 0 0 0

5415 0.76 146.0 89.7 13.1 557 5422 0.00 1.85 0.00 0.000 6 0.000 0.041 3320 2579 2345 0 0 0 0 0 0

5551 0.76 146.0 73.3 11.3 582 5559 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2578 2345 0 0 0 0 0 0

5690 0.76 146.0 56.9 11.4 607 5697 0.00 0.00 0.00 0.000 6 0.000 0.000 3321 2578 2345 0 0 0 0 0 0

5826 0.76 146.0 40.0 13.0 632 5834 0.00 0.00 0.00 0.000 6 0.000 0.000 3320 2578 2344 0 0 0 0 0 0

5965 0.76 146.0 24.4 10.8 657 5973 0.00 2.38 0.00 0.000 4 0.000 0.050 3331 1084 2343 0 0 0 0 0 0

6002 0.76 146.0 20.3 10.8 663 6014 0.00 2.47 0.00 0.000 6 0.000 0.054 3331 2603 2344 0 0 0 0 0 0

6148 end climb: SURFACE_DEPTH_REACHED

state 6148 begin surface coast

6167 end surface coast: FINISH_DEPTH_REACHED

state 6167 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	456	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	34	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	22	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	-30715.967	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	010111,182306,-7629.333,-17953.502,40,0.9,40,117.9	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	-74.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010111,182919,-7629.265,-17953.668,13,1.0,13,117.9	MHEAD_RNG_PITCHd_Wd	17.1,9076416,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	453

FREEZE	1.12,-0.527,-0.351,2,1,0	_24V_AH	20.1,70.034
FINISH	1.1,1.005032	_10V_AH	9.7,47.580
SM_CCo	6184,81.05,0.734,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	2.11,0.00,0.00,81.05,0.000,0.000,0.734,419,2656,1737,-8.27,0.17,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,-17950.81,010111,161629	MEM	267112
TT8_MAMPS	0.027713	DATA_FILE_SIZE	47045,691
HUMID	53.15	CAP_FILE_SIZE	98372,0
INTERNAL_PRESSURE	8.77963	CFSIZE	260165632,227037184
TCM_TEMP	14.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	1	CURRENT	0.407,338.0,1
ALTIM_TOP_PING	19.6,18.3	GPS	010111,201507,-7628.500,-17953.406,14,1.4,14,117.9
ALTIM_BOTTOM_PING	350.8,67.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	198	74.46	SBE_CT	485	24	234.39
Roll_motor	84	125	212.58	AA4330	882	33	585.20
VBD_pump_during_apogee	282	1050	5964.65	WL_BBFL2VMT	934	105	1971.52
VBD_pump_during_surface	81	734	1196.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	59.08	nil	0	0	0.00
Iridium_during_connect	37	160	122.04	nil	0	0	0.00
Iridium_during_xfer	192	223	863.14	nil	0	0	0.00
Transponder_ping	1	420	12.66	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.75
TT8	1766	19	339.31
LPSleep	2248	2	47.77
TT8_Active	486	19	93.49
TT8_Sampling	1936	39	747.47
TT8_CF8	211	45	93.89
TT8_Kalman	0	0	0.00
Analog_circuits	1205	12	140.30
GPS_charging	0	0	0.00
Compass	1163	15	169.35
RAFOS	0	0	0.00
Transponder	10	30	3.10

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-0.76	-146.0	0.0	0.0	0	106	0.00	0.00	-85.55	0.000	2	0.000	0.000	425	2647	3305	0	0	0	0	0	0
108	-0.76	-146.0	3.2	-1.3	13	131	8.88	2.33	-7.10	0.000	4	0.199	0.064	2808	1243	3560	0	0	0	0	0	0
291	-0.76	-146.0	32.0	-15.0	45	299	0.00	2.33	0.00	0.000	6	0.000	0.058	2800	2659	3563	0	0	0	0	0	0
429	-0.76	-146.0	52.7	-15.6	70	436	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2659	3563	0	0	0	0	0	0
570	-0.76	-146.0	73.9	-16.1	95	577	0.00	2.28	0.00	0.000	4	0.000	0.050	2800	1238	3563	0	0	0	0	0	0
606	-0.76	-146.0	80.1	-15.8	101	613	0.00	2.33	0.00	0.000	6	0.000	0.056	2789	2655	3563	0	0	0	0	0	0
751	-0.76	-146.0	104.1	-16.5	125	755	0.00	1.77	0.00	0.000	4	0.000	0.060	2781	3767	3563	0	0	0	0	0	0
787	-0.76	-146.0	110.2	-17.5	128	792	0.12	1.75	0.00	0.000	6	0.158	0.042	2815	2640	3563	0	0	0	0	0	0
930	-0.76	-146.0	131.6	-14.7	141	937	0.00	0.00	0.00	0.000	6	0.000	0.000	2814	2638	3563	0	0	0	0	0	0
1065	-0.76	-146.0	151.6	-14.5	154	1069	0.00	1.85	0.00	0.000	4	0.000	0.061	2807	3772	3563	0	0	0	0	0	0
1103	-0.76	-146.0	157.7	-16.1	157	1111	0.00	1.77	0.00	0.000	6	0.000	0.041	2807	2657	3563	0	0	0	0	0	0
1238	-0.76	-146.0	178.8	-15.2	170	1242	0.00	1.83	0.00	0.000	4	0.000	0.062	2799	3773	3563	0	0	0	0	0	0
1263	-0.76	-146.0	182.8	-16.7	172	1267	0.00	1.73	0.00	0.000	6	0.000	0.041	2799	2667	3563	0	0	0	0	0	0
1404	-0.76	-146.0	204.6	-14.7	185	1406	0.00	0.00	0.00	0.000	6	0.000	0.000	2799	2664	3563	0	0	0	0	0	0
1531	-0.76	-146.0	223.7	-15.5	197	1534	0.00	1.80	0.00	0.000	4	0.000	0.061	2790	3768	3563	0	0	0	0	0	0
1566	-0.76	-146.0	229.3	-16.6	200	1570	0.00	1.70	0.00	0.000	6	0.000	0.041	2790	2674	3563	0	0	0	0	0	0
1708	-0.76	-146.0	250.8	-14.7	213	1714	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2672	3563	0	0	0	0	0	0
1909	-0.76	-146.0	282.6	-16.3	232	1912	0.00	1.80	0.00	0.000	4	0.000	0.061	2783	3774	3564	0	0	0	0	0	0
1955	-0.76	-146.0	290.6	-16.2	236	1959	0.12	1.70	0.00	0.000	6	0.158	0.042	2817	2681	3563	0	0	0	0	0	0
2159	-0.76	-146.0	317.7	-12.3	255	2163	0.00	1.77	0.00	0.000	4	0.000	0.063	2810	3764	3563	0	0	0	0	0	0
2229	-0.76	-146.0	327.1	-13.6	261	2232	0.00	1.65	0.00	0.000	6	0.000	0.041	2810	2698	3563	0	0	0	0	0	0
2433	-0.76	-146.0	353.4	-12.4	280	2437	0.00	2.30	0.00	0.000	4	0.000	0.052	2809	1246	3564	0	0	0	0	0	0
2463	-0.76	-146.0	357.1	-12.2	282	2468	0.00	2.40	0.00	0.000	6	0.000	0.058	2799	2708	3564	0	0	0	0	0	0
2661	-0.76	-146.0	385.9	-17.0	300	2665	0.00	1.70	0.00	0.000	4	0.000	0.060	2790	3771	3564	0	0	0	0	0	0
2711	-0.76	-146.0	394.9	-17.3	304	2718	0.00	1.70	0.00	0.000	6	0.000	0.042	2791	2700	3563	0	0	0	0	0	0
2769	end dive: BOTTOM_OBSTACLE_DETECTED
state	2769	begin apogee
2775	-0.27	0.0	403.7	14.7	310	2913	0.57	0.00	132.32	1.050	4	0.132	0.000	2973	2490	2961	0	0	0	0	0	0
2914	end apogee: CONTROL_FINISHED_OK
state	2914	begin climb
2916	0.76	146.0	408.3	0.0	322	3077	1.08	2.53	150.20	0.968	4	0.078	0.050	3306	1106	2364	0	0	0	0	0	0
3201	0.76	146.0	379.6	15.0	347	3206	0.00	2.53	0.00	0.000	6	0.000	0.053	3306	2504	2354	0	0	0	0	0	0
3401	0.76	146.0	355.6	11.4	365	3405	0.00	2.30	0.00	0.000	4	0.000	0.051	3316	1099	2351	0	0	0	0	0	0
3522	0.76	146.0	340.3	13.8	375	3530	0.00	2.33	0.00	0.000	6	0.000	0.053	3316	2528	2348	0	0	0	0	0	0
3720	0.76	146.0	314.1	13.3	394	3723	0.00	1.98	0.00	0.000	4	0.000	0.059	3316	3762	2348	0	0	0	0	0	0
3812	0.76	146.0	300.6	14.7	402	3816	0.00	1.90	0.00	0.000	6	0.000	0.040	3326	2543	2348	0	0	0	0	0	0
4016	0.76	146.0	271.8	13.2	421	4019	0.00	1.98	0.00	0.000	4	0.000	0.058	3326	3762	2347	0	0	0	0	0	0
4065	0.76	146.0	264.2	15.6	425	4072	0.00	1.95	0.00	0.000	6	0.000	0.041	3335	2540	2347	0	0	0	0	0	0
4266	0.76	146.0	237.6	13.4	444	4270	0.00	1.98	0.00	0.000	4	0.000	0.058	3335	3764	2347	0	0	0	0	0	0
4290	0.76	146.0	233.9	14.3	446	4294	0.12	1.90	0.00	0.000	6	0.164	0.040	3311	2544	2347	0	0	0	0	0	0
4431	0.76	146.0	216.1	12.3	459	4434	0.00	1.98	0.00	0.000	4	0.000	0.059	3311	3763	2346	0	0	0	0	0	0
4468	0.76	146.0	210.5	14.3	462	4477	0.00	1.92	0.00	0.000	6	0.000	0.041	3319	2556	2347	0	0	0	0	0	0
4606	0.76	146.0	193.6	12.5	475	4609	0.00	1.95	0.00	0.000	4	0.000	0.057	3319	3763	2346	0	0	0	0	0	0
4630	0.76	146.0	190.1	13.5	477	4634	0.00	1.88	0.00	0.000	6	0.000	0.040	3328	2558	2346	0	0	0	0	0	0
4772	0.76	146.0	171.8	12.4	490	4773	0.00	0.00	0.00	0.000	6	0.000	0.000	3328	2556	2346	0	0	0	0	0	0
4898	0.76	146.0	156.2	12.6	502	4902	0.00	1.95	0.00	0.000	4	0.000	0.058	3327	3763	2346	0	0	0	0	0	0
4969	0.76	146.0	145.3	15.2	508	4978	0.00	1.90	0.00	0.000	6	0.000	0.041	3337	2567	2346	0	0	0	0	0	0
5106	0.76	146.0	127.7	13.1	521	5107	0.00	0.00	0.00	0.000	6	0.000	0.000	3337	2566	2345	0	0	0	0	0	0
5232	0.76	146.0	111.3	12.8	533	5236	0.00	1.95	0.00	0.000	4	0.000	0.059	3337	3768	2345	0	0	0	0	0	0
5247	0.76	146.0	108.9	12.9	534	5257	0.10	1.90	0.00	0.000	6	0.134	0.040	3313	2575	2345	0	0	0	0	0	0
5382	0.76	146.0	93.8	10.9	552	5390	0.00	1.98	0.00	0.000	4	0.000	0.060	3313	3761	2345	0	0	0	0	0	0
5415	0.76	146.0	89.7	13.1	557	5422	0.00	1.85	0.00	0.000	6	0.000	0.041	3320	2579	2345	0	0	0	0	0	0
5551	0.76	146.0	73.3	11.3	582	5559	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2578	2345	0	0	0	0	0	0
5690	0.76	146.0	56.9	11.4	607	5697	0.00	0.00	0.00	0.000	6	0.000	0.000	3321	2578	2345	0	0	0	0	0	0
5826	0.76	146.0	40.0	13.0	632	5834	0.00	0.00	0.00	0.000	6	0.000	0.000	3320	2578	2344	0	0	0	0	0	0
5965	0.76	146.0	24.4	10.8	657	5973	0.00	2.38	0.00	0.000	4	0.000	0.050	3331	1084	2343	0	0	0	0	0	0
6002	0.76	146.0	20.3	10.8	663	6014	0.00	2.47	0.00	0.000	6	0.000	0.054	3331	2603	2344	0	0	0	0	0	0
6148	end climb: SURFACE_DEPTH_REACHED
state	6148	begin surface coast
6167	end surface coast: FINISH_DEPTH_REACHED
state	6167	begin surface