Glider dive log

RossSea Nov10 * SG503 * Dive index * Mission links * Dive 47 * 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 47 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 31 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 -17686.783 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 -17686.783

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 31 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 47 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 021210,035523,-7630.392,17043.447,0,10000.0,0,136.2 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 1.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 4.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 021210,035523,-7630.392,17043.447,0,10000.0,0,136.2 MHEAD_RNG_PITCHd_Wd 36.6,55267,-18.2,-13.333

SPEED_LIMITS 0.231,0.343 D_GRID 705

Post-dive calculations and measurements:

FREEZE -0.17,-2.631,-1.942,2,22,1 _24V_AH 22.9,43.514

FINISH -0.2,1.028487 _10V_AH 10.1,61.436

SM_CCo 5862,109.65,0.100,0,0,445,616.92 FG_AHR_24Vo 0.000

SM_GC 0.47,0.00,0.00,109.65,0.000,0.000,0.100,177,2283,445,-8.26,-0.48,616.92 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7630.39,17043.45,021210,030323 MEM 258928

TT8_MAMPS 0.027713 DATA_FILE_SIZE 43793,638

HUMID 49.72 CAP_FILE_SIZE 94169,0

INTERNAL_PRESSURE 8.59408 CFSIZE 260165632,248139776

TCM_TEMP 14.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 0 GPS 021210,101728,-7716.245,17056.125,85,5.0,104,134.3

ALTIM_TOP_PING 19.7,20.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 156 41.37 SBE_CT 446 24 245.23

Roll_motor 97 162 362.60 AA4330 806 33 609.12

VBD_pump_during_apogee 513 924 10873.74 WL_BBFL2VMT 840 105 2021.04

VBD_pump_during_surface 109 100 251.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1544 19 308.89

LPSleep 2092 2 46.28

TT8_Active 627 19 125.41

TT8_Sampling 1654 39 665.27

TT8_CF8 110 45 51.13

TT8_Kalman 0 0 0.00

Analog_circuits 1381 12 167.46

GPS_charging 0 0 0.00

Compass 1199 15 181.69

RAFOS 0 0 0.00

Transponder 9 30 2.87

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.84 -219.0 0.0 0.0 0 57 0.00 0.30 -36.83 0.000 6 0.000 0.163 2819 2292 3854 0 0 0 0 0 0

59 -0.84 -219.0 2.3 -3.7 6 68 0.75 2.33 0.00 0.000 4 0.088 0.050 2550 3707 3854 0 0 0 0 0 0

145 -0.84 -219.0 12.9 -16.5 21 152 0.00 2.22 0.00 0.000 6 0.000 0.030 2550 2293 3856 0 0 0 0 0 0

283 -0.84 -219.0 33.4 -14.1 46 291 0.00 2.35 0.00 0.000 4 0.000 0.050 2547 3708 3856 0 0 0 0 0 0

384 -0.84 -219.0 47.2 -11.6 64 392 0.00 2.25 0.00 0.000 6 0.000 0.030 2547 2297 3857 0 0 0 0 0 0

526 -0.82 -219.0 66.8 -14.5 89 533 0.00 2.30 0.00 0.000 4 0.000 0.050 2547 3710 3857 0 0 0 0 0 0

594 -0.82 -219.0 78.2 -15.3 101 601 0.00 2.20 0.00 0.000 6 0.000 0.030 2547 2301 3856 0 0 0 0 0 0

732 -0.82 -219.0 100.1 -18.3 126 736 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3708 3857 0 0 1 0 0 0

826 -0.82 -219.0 115.0 -15.8 134 830 0.00 2.20 0.00 0.000 6 0.000 0.030 2547 2292 3857 0 0 0 0 0 0

961 -0.82 -219.0 133.8 -13.4 146 965 0.00 2.30 0.00 0.000 4 0.000 0.050 2547 3713 3857 0 0 0 0 0 0

1078 -0.82 -219.0 150.3 -14.5 156 1082 0.00 2.20 0.00 0.000 6 0.000 0.030 2548 2297 3858 0 0 0 0 0 0

1213 -0.82 -219.0 169.2 -13.7 168 1217 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3706 3858 0 0 0 0 0 0

1298 -0.82 -219.0 182.0 -14.6 175 1307 0.00 2.22 0.00 0.000 6 0.000 0.029 2547 2297 3857 0 0 0 0 0 0

1433 -0.82 -219.0 200.7 -13.8 188 1437 0.00 2.28 0.00 0.000 4 0.000 0.051 2547 3711 3857 0 0 0 0 0 0

1539 -0.82 -219.0 215.7 -14.3 197 1543 0.00 2.17 0.00 0.000 6 0.000 0.030 2547 2303 3858 0 0 0 0 0 0

1675 -0.82 -219.0 234.4 -14.1 209 1679 0.00 2.28 0.00 0.000 4 0.000 0.051 2538 3714 3858 0 0 0 0 0 0

1771 -0.82 -219.0 250.4 -16.4 217 1780 0.00 2.22 0.00 0.000 6 0.000 0.031 2537 2302 3858 0 0 0 0 0 0

1905 -0.82 -219.0 271.4 -15.5 230 1909 0.00 2.25 0.00 0.000 4 0.000 0.051 2533 3706 3858 0 0 0 0 0 0

2000 -0.82 -219.0 287.5 -16.3 238 2004 0.00 2.20 0.00 0.000 6 0.000 0.030 2534 2293 3857 0 0 0 0 0 0

2203 -0.82 -219.0 317.9 -14.8 257 2207 0.00 2.28 0.00 0.000 4 0.000 0.050 2533 3708 3857 0 0 0 0 0 0

2349 -0.82 -219.0 340.1 -14.9 269 2356 0.00 2.17 0.00 0.000 6 0.000 0.030 2533 2292 3857 0 0 0 0 0 0

2546 -0.82 -219.0 369.0 -14.5 288 2550 0.00 2.28 0.00 0.000 4 0.000 0.050 2534 3711 3857 0 0 0 0 0 0

2691 -0.82 -219.0 391.2 -14.7 300 2698 0.00 2.17 0.00 0.000 6 0.000 0.030 2533 2302 3857 0 0 0 0 0 0

2749 end dive: TARGET_DEPTH_EXCEEDED

state 2749 begin apogee

2754 -0.16 0.0 400.0 15.2 306 2933 0.70 0.00 173.88 0.925 6 0.127 0.000 2767 2500 2960 0 0 0 0 0 0

2934 end apogee: CONTROL_FINISHED_OK

state 2934 begin climb

2936 0.84 219.0 410.2 0.0 322 3133 0.93 2.50 184.35 0.872 4 0.062 0.036 3104 1111 2065 0 0 1 0 0 0

3150 0.71 219.0 392.4 16.8 341 3158 0.20 2.42 0.00 0.000 6 0.155 0.041 3053 2496 2061 0 0 1 0 0 0

3349 0.65 219.0 363.8 14.8 360 3353 0.00 2.15 0.00 0.000 4 0.000 0.050 3053 3764 2055 0 0 0 0 0 0

3485 0.53 219.0 341.2 16.3 372 3490 0.25 2.05 0.00 0.000 6 0.146 0.031 2991 2498 2052 0 0 0 0 0 0

3683 0.68 306.4 320.6 9.8 390 3765 0.15 2.20 75.70 0.839 4 0.083 0.047 3054 3763 1709 0 0 0 0 0 0

3858 0.62 306.4 293.6 17.3 405 3862 0.15 2.10 0.00 0.000 6 0.151 0.031 3022 2497 1704 0 0 0 0 0 0

4061 0.69 325.3 267.7 12.6 424 4084 0.00 2.15 16.45 0.805 4 0.000 0.050 3023 3764 1633 0 0 0 0 0 0

4145 0.69 325.3 255.2 15.2 431 4153 0.00 2.10 0.00 0.000 6 0.000 0.031 3030 2500 1631 0 0 0 0 0 0

4345 0.77 346.0 230.0 12.5 450 4372 0.10 2.15 18.58 0.799 4 0.103 0.049 3080 3764 1549 0 0 0 0 0 0

4432 0.70 346.0 214.4 19.3 457 4441 0.12 2.08 0.00 0.000 6 0.126 0.031 3047 2510 1547 0 0 0 0 0 0

4567 0.73 346.0 195.5 13.4 470 4570 0.00 2.10 0.00 0.000 4 0.000 0.050 3047 3771 1546 0 0 0 0 0 0

4609 0.73 346.0 189.0 15.7 473 4618 0.00 2.08 0.00 0.000 6 0.000 0.031 3054 2498 1546 0 0 0 0 0 0

4744 0.73 346.0 170.1 14.3 486 4748 0.00 2.10 0.00 0.000 4 0.000 0.050 3054 3771 1545 0 0 0 0 0 0

4796 0.70 346.0 162.0 16.1 490 4800 0.00 2.03 0.00 0.000 6 0.000 0.031 3063 2497 1545 0 0 0 0 0 0

4931 0.70 346.0 140.4 16.0 502 4935 0.00 2.08 0.00 0.000 4 0.000 0.050 3063 3765 1545 0 0 0 0 0 0

4971 0.66 346.0 133.4 18.2 505 4975 0.15 2.00 0.00 0.000 6 0.156 0.031 3029 2500 1544 0 0 0 0 0 0

5108 0.78 399.6 116.3 11.1 517 5159 0.12 2.17 44.45 0.752 4 0.090 0.048 3089 3764 1330 0 0 1 0 0 0

5196 0.71 399.6 100.2 21.3 524 5201 0.17 2.05 0.00 0.000 6 0.145 0.031 3048 2497 1331 0 0 0 0 0 0

5335 0.77 399.6 78.8 15.0 548 5343 0.00 2.15 0.00 0.000 4 0.000 0.050 3048 3765 1329 0 0 0 0 0 0

5367 0.80 399.6 73.7 15.8 553 5374 0.00 2.05 0.00 0.000 6 0.000 0.031 3056 2491 1328 0 0 0 0 0 0

5505 0.84 399.6 52.2 15.8 578 5513 0.00 2.12 0.00 0.000 4 0.000 0.050 3056 3754 1328 0 0 0 0 0 0

5548 0.84 399.6 45.4 15.9 585 5555 0.00 2.00 0.00 0.000 6 0.000 0.032 3064 2500 1328 0 0 0 0 0 0

5686 0.84 399.6 25.1 17.2 610 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2498 1327 0 0 0 0 0 0

5828 end climb: SURFACE_DEPTH_REACHED

state 5828 begin surface coast

5847 end surface coast: CONTROL_FINISHED_OK

state 5847 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	47	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	31	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	-17686.783	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	021210,035523,-7630.392,17043.447,0,10000.0,0,136.2	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	1.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	4.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	021210,035523,-7630.392,17043.447,0,10000.0,0,136.2	MHEAD_RNG_PITCHd_Wd	36.6,55267,-18.2,-13.333
SPEED_LIMITS	0.231,0.343	D_GRID	705

FREEZE	-0.17,-2.631,-1.942,2,22,1	_24V_AH	22.9,43.514
FINISH	-0.2,1.028487	_10V_AH	10.1,61.436
SM_CCo	5862,109.65,0.100,0,0,445,616.92	FG_AHR_24Vo	0.000
SM_GC	0.47,0.00,0.00,109.65,0.000,0.000,0.100,177,2283,445,-8.26,-0.48,616.92	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7630.39,17043.45,021210,030323	MEM	258928
TT8_MAMPS	0.027713	DATA_FILE_SIZE	43793,638
HUMID	49.72	CAP_FILE_SIZE	94169,0
INTERNAL_PRESSURE	8.59408	CFSIZE	260165632,248139776
TCM_TEMP	14.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	0	GPS	021210,101728,-7716.245,17056.125,85,5.0,104,134.3
ALTIM_TOP_PING	19.7,20.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	156	41.37	SBE_CT	446	24	245.23
Roll_motor	97	162	362.60	AA4330	806	33	609.12
VBD_pump_during_apogee	513	924	10873.74	WL_BBFL2VMT	840	105	2021.04
VBD_pump_during_surface	109	100	251.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1544	19	308.89
LPSleep	2092	2	46.28
TT8_Active	627	19	125.41
TT8_Sampling	1654	39	665.27
TT8_CF8	110	45	51.13
TT8_Kalman	0	0	0.00
Analog_circuits	1381	12	167.46
GPS_charging	0	0	0.00
Compass	1199	15	181.69
RAFOS	0	0	0.00
Transponder	9	30	2.87

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.84	-219.0	0.0	0.0	0	57	0.00	0.30	-36.83	0.000	6	0.000	0.163	2819	2292	3854	0	0	0	0	0	0
59	-0.84	-219.0	2.3	-3.7	6	68	0.75	2.33	0.00	0.000	4	0.088	0.050	2550	3707	3854	0	0	0	0	0	0
145	-0.84	-219.0	12.9	-16.5	21	152	0.00	2.22	0.00	0.000	6	0.000	0.030	2550	2293	3856	0	0	0	0	0	0
283	-0.84	-219.0	33.4	-14.1	46	291	0.00	2.35	0.00	0.000	4	0.000	0.050	2547	3708	3856	0	0	0	0	0	0
384	-0.84	-219.0	47.2	-11.6	64	392	0.00	2.25	0.00	0.000	6	0.000	0.030	2547	2297	3857	0	0	0	0	0	0
526	-0.82	-219.0	66.8	-14.5	89	533	0.00	2.30	0.00	0.000	4	0.000	0.050	2547	3710	3857	0	0	0	0	0	0
594	-0.82	-219.0	78.2	-15.3	101	601	0.00	2.20	0.00	0.000	6	0.000	0.030	2547	2301	3856	0	0	0	0	0	0
732	-0.82	-219.0	100.1	-18.3	126	736	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3708	3857	0	0	1	0	0	0
826	-0.82	-219.0	115.0	-15.8	134	830	0.00	2.20	0.00	0.000	6	0.000	0.030	2547	2292	3857	0	0	0	0	0	0
961	-0.82	-219.0	133.8	-13.4	146	965	0.00	2.30	0.00	0.000	4	0.000	0.050	2547	3713	3857	0	0	0	0	0	0
1078	-0.82	-219.0	150.3	-14.5	156	1082	0.00	2.20	0.00	0.000	6	0.000	0.030	2548	2297	3858	0	0	0	0	0	0
1213	-0.82	-219.0	169.2	-13.7	168	1217	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3706	3858	0	0	0	0	0	0
1298	-0.82	-219.0	182.0	-14.6	175	1307	0.00	2.22	0.00	0.000	6	0.000	0.029	2547	2297	3857	0	0	0	0	0	0
1433	-0.82	-219.0	200.7	-13.8	188	1437	0.00	2.28	0.00	0.000	4	0.000	0.051	2547	3711	3857	0	0	0	0	0	0
1539	-0.82	-219.0	215.7	-14.3	197	1543	0.00	2.17	0.00	0.000	6	0.000	0.030	2547	2303	3858	0	0	0	0	0	0
1675	-0.82	-219.0	234.4	-14.1	209	1679	0.00	2.28	0.00	0.000	4	0.000	0.051	2538	3714	3858	0	0	0	0	0	0
1771	-0.82	-219.0	250.4	-16.4	217	1780	0.00	2.22	0.00	0.000	6	0.000	0.031	2537	2302	3858	0	0	0	0	0	0
1905	-0.82	-219.0	271.4	-15.5	230	1909	0.00	2.25	0.00	0.000	4	0.000	0.051	2533	3706	3858	0	0	0	0	0	0
2000	-0.82	-219.0	287.5	-16.3	238	2004	0.00	2.20	0.00	0.000	6	0.000	0.030	2534	2293	3857	0	0	0	0	0	0
2203	-0.82	-219.0	317.9	-14.8	257	2207	0.00	2.28	0.00	0.000	4	0.000	0.050	2533	3708	3857	0	0	0	0	0	0
2349	-0.82	-219.0	340.1	-14.9	269	2356	0.00	2.17	0.00	0.000	6	0.000	0.030	2533	2292	3857	0	0	0	0	0	0
2546	-0.82	-219.0	369.0	-14.5	288	2550	0.00	2.28	0.00	0.000	4	0.000	0.050	2534	3711	3857	0	0	0	0	0	0
2691	-0.82	-219.0	391.2	-14.7	300	2698	0.00	2.17	0.00	0.000	6	0.000	0.030	2533	2302	3857	0	0	0	0	0	0
2749	end dive: TARGET_DEPTH_EXCEEDED
state	2749	begin apogee
2754	-0.16	0.0	400.0	15.2	306	2933	0.70	0.00	173.88	0.925	6	0.127	0.000	2767	2500	2960	0	0	0	0	0	0
2934	end apogee: CONTROL_FINISHED_OK
state	2934	begin climb
2936	0.84	219.0	410.2	0.0	322	3133	0.93	2.50	184.35	0.872	4	0.062	0.036	3104	1111	2065	0	0	1	0	0	0
3150	0.71	219.0	392.4	16.8	341	3158	0.20	2.42	0.00	0.000	6	0.155	0.041	3053	2496	2061	0	0	1	0	0	0
3349	0.65	219.0	363.8	14.8	360	3353	0.00	2.15	0.00	0.000	4	0.000	0.050	3053	3764	2055	0	0	0	0	0	0
3485	0.53	219.0	341.2	16.3	372	3490	0.25	2.05	0.00	0.000	6	0.146	0.031	2991	2498	2052	0	0	0	0	0	0
3683	0.68	306.4	320.6	9.8	390	3765	0.15	2.20	75.70	0.839	4	0.083	0.047	3054	3763	1709	0	0	0	0	0	0
3858	0.62	306.4	293.6	17.3	405	3862	0.15	2.10	0.00	0.000	6	0.151	0.031	3022	2497	1704	0	0	0	0	0	0
4061	0.69	325.3	267.7	12.6	424	4084	0.00	2.15	16.45	0.805	4	0.000	0.050	3023	3764	1633	0	0	0	0	0	0
4145	0.69	325.3	255.2	15.2	431	4153	0.00	2.10	0.00	0.000	6	0.000	0.031	3030	2500	1631	0	0	0	0	0	0
4345	0.77	346.0	230.0	12.5	450	4372	0.10	2.15	18.58	0.799	4	0.103	0.049	3080	3764	1549	0	0	0	0	0	0
4432	0.70	346.0	214.4	19.3	457	4441	0.12	2.08	0.00	0.000	6	0.126	0.031	3047	2510	1547	0	0	0	0	0	0
4567	0.73	346.0	195.5	13.4	470	4570	0.00	2.10	0.00	0.000	4	0.000	0.050	3047	3771	1546	0	0	0	0	0	0
4609	0.73	346.0	189.0	15.7	473	4618	0.00	2.08	0.00	0.000	6	0.000	0.031	3054	2498	1546	0	0	0	0	0	0
4744	0.73	346.0	170.1	14.3	486	4748	0.00	2.10	0.00	0.000	4	0.000	0.050	3054	3771	1545	0	0	0	0	0	0
4796	0.70	346.0	162.0	16.1	490	4800	0.00	2.03	0.00	0.000	6	0.000	0.031	3063	2497	1545	0	0	0	0	0	0
4931	0.70	346.0	140.4	16.0	502	4935	0.00	2.08	0.00	0.000	4	0.000	0.050	3063	3765	1545	0	0	0	0	0	0
4971	0.66	346.0	133.4	18.2	505	4975	0.15	2.00	0.00	0.000	6	0.156	0.031	3029	2500	1544	0	0	0	0	0	0
5108	0.78	399.6	116.3	11.1	517	5159	0.12	2.17	44.45	0.752	4	0.090	0.048	3089	3764	1330	0	0	1	0	0	0
5196	0.71	399.6	100.2	21.3	524	5201	0.17	2.05	0.00	0.000	6	0.145	0.031	3048	2497	1331	0	0	0	0	0	0
5335	0.77	399.6	78.8	15.0	548	5343	0.00	2.15	0.00	0.000	4	0.000	0.050	3048	3765	1329	0	0	0	0	0	0
5367	0.80	399.6	73.7	15.8	553	5374	0.00	2.05	0.00	0.000	6	0.000	0.031	3056	2491	1328	0	0	0	0	0	0
5505	0.84	399.6	52.2	15.8	578	5513	0.00	2.12	0.00	0.000	4	0.000	0.050	3056	3754	1328	0	0	0	0	0	0
5548	0.84	399.6	45.4	15.9	585	5555	0.00	2.00	0.00	0.000	6	0.000	0.032	3064	2500	1328	0	0	0	0	0	0
5686	0.84	399.6	25.1	17.2	610	5693	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2498	1327	0	0	0	0	0	0
5828	end climb: SURFACE_DEPTH_REACHED
state	5828	begin surface coast
5847	end surface coast: CONTROL_FINISHED_OK
state	5847	begin surface