Glider dive log

RossSea Nov10 * SG502 * Dive index * Mission links * Dive 527 * 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 527 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 41 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 8 R_STBD_OVSHOOT 25 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 -30804.217 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 -30804.217

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 41 VBD_MAX 3960

DEVICE3 86 MINV_10V 8 R_STBD_OVSHOOT 25 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 527 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 060111,004807,-7627.205,17757.768,39,0.8,39,120.8 TGT_NAME POLYNYA1

_CALLS 2 TGT_LATLONG -7630.000,17000.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060111,010056,-7627.180,17757.311,16,0.9,16,120.8 MHEAD_RNG_PITCHd_Wd 127.4,206427,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 375

Post-dive calculations and measurements:

FREEZE 1.07,-0.448,-0.949,2,1,0 _24V_AH 20.2,77.075

FINISH 1.1,1.014014 _10V_AH 9.6,53.032

SM_CCo 5680,75.75,0.735,1,0,1737,300.24 FG_AHR_24Vo 0.000

SM_GC 1.95,0.00,0.00,75.75,0.000,0.000,0.735,425,2638,1737,-8.25,-0.34,300.24 FG_AHR_10Vo 0.000

IRIDIUM_FIX -7545.40,17800.87,060111,000024 MEM 267084

TT8_MAMPS 0.028462 DATA_FILE_SIZE 43709,636

HUMID 53.70 CAP_FILE_SIZE 99325,0

INTERNAL_PRESSURE 8.7894 CFSIZE 260165632,223870976

TCM_TEMP 14.20 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 2 CURRENT 0.164,260.6,1

ALTIM_TOP_PING 19.6,18.7 GPS 060111,023814,-7627.527,17752.359,11,1.2,11,121.0

ALTIM_BOTTOM_PING 301.5,68.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 192 72.24 SBE_CT 445 24 215.94

Roll_motor 83 71 121.62 AA4330 842 33 561.58

VBD_pump_during_apogee 285 1022 5896.79 WL_BBFL2VMT 954 105 2024.20

VBD_pump_during_surface 75 735 1124.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 56 103 118.22 nil 0 0 0.00

Iridium_during_connect 82 160 266.27 nil 0 0 0.00

Iridium_during_xfer 381 223 1717.01 nil 0 0 0.00

Transponder_ping 1 420 12.73 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.30

TT8 1608 19 305.65

LPSleep 1996 2 41.97

TT8_Active 530 19 100.78

TT8_Sampling 2118 39 809.39

TT8_CF8 286 45 125.80

TT8_Kalman 0 0 0.00

Analog_circuits 1219 12 140.44

GPS_charging 0 0 0.00

Compass 1067 15 153.67

RAFOS 0 0 0.00

Transponder 8 30 2.58

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

16 -0.76 -146.0 0.0 0.0 0 166 0.00 0.00 -147.23 0.000 2 0.000 0.000 408 2631 3342 0 0 0 0 0 0

171 -0.76 -146.0 3.2 -1.8 21 194 8.90 1.88 -5.55 0.000 4 0.192 0.072 2798 3771 3558 0 0 0 0 0 0

290 -0.76 -146.0 27.8 -18.7 41 297 0.00 1.77 0.00 0.000 6 0.000 0.041 2797 2660 3560 0 0 0 0 0 0

429 -0.76 -146.0 53.7 -17.0 66 437 0.00 2.30 0.00 0.000 4 0.000 0.048 2798 1245 3561 0 0 0 0 0 0

497 -0.76 -146.0 65.2 -15.8 78 506 0.08 2.33 0.00 0.000 6 0.125 0.054 2813 2643 3562 0 0 0 0 0 0

638 -0.76 -146.0 86.6 -15.7 103 645 0.00 1.83 0.00 0.000 4 0.000 0.060 2806 3770 3562 0 0 0 0 0 0

711 -0.76 -146.0 99.7 -17.3 116 719 0.00 1.80 0.00 0.000 6 0.000 0.040 2806 2639 3561 0 0 0 0 0 0

847 -0.76 -146.0 121.7 -16.2 129 848 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2639 3562 0 0 0 0 0 0

974 -0.76 -146.0 141.6 -15.3 141 978 0.00 1.85 0.00 0.000 4 0.000 0.060 2798 3770 3562 0 0 0 0 0 0

1021 -0.76 -146.0 148.8 -16.0 145 1025 0.00 1.73 0.00 0.000 6 0.000 0.041 2798 2658 3562 0 0 0 0 0 0

1164 -0.76 -146.0 170.3 -15.2 158 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2798 2656 3562 0 0 0 0 0 0

1300 -0.76 -146.0 190.9 -15.0 171 1304 0.00 2.22 0.00 0.000 4 0.000 0.047 2798 1246 3561 0 0 0 0 0 0

1330 -0.76 -146.0 195.8 -15.6 173 1335 0.10 2.30 0.00 0.000 6 0.158 0.054 2813 2653 3562 0 0 0 0 0 0

1466 -0.76 -146.0 216.0 -15.0 185 1469 0.00 1.77 0.00 0.000 4 0.000 0.059 2807 3763 3562 0 0 0 0 0 0

1526 -0.76 -146.0 226.0 -15.4 190 1534 0.00 1.75 0.00 0.000 6 0.000 0.039 2806 2662 3562 0 0 0 0 0 0

1663 -0.76 -146.0 246.8 -15.4 203 1667 0.00 1.80 0.00 0.000 4 0.000 0.060 2798 3763 3562 0 0 0 0 0 0

1697 -0.76 -146.0 252.9 -17.0 206 1701 0.00 1.70 0.00 0.000 6 0.000 0.039 2798 2667 3562 0 0 0 0 0 0

1901 -0.76 -146.0 285.4 -16.2 225 1905 0.00 1.80 0.00 0.000 4 0.000 0.060 2790 3765 3562 0 0 0 0 0 0

1928 -0.76 -146.0 290.3 -17.0 227 1936 0.00 1.73 0.00 0.000 6 0.000 0.040 2789 2678 3562 0 0 0 0 0 0

2127 -0.76 -146.0 322.3 -15.7 246 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2677 3562 0 0 0 0 0 0

2318 -0.76 -146.0 352.4 -15.9 264 2321 0.00 1.77 0.00 0.000 4 0.000 0.062 2782 3762 3562 0 0 0 0 0 0

2328 end dive: BOTTOM_OBSTACLE_DETECTED

state 2328 begin apogee

2336 -0.27 0.0 354.6 16.3 265 2475 0.60 0.00 130.57 1.022 4 0.133 0.000 2970 2486 2961 0 0 0 0 0 0

2475 end apogee: CONTROL_FINISHED_OK

state 2475 begin climb

2478 0.76 146.0 363.1 0.0 277 2637 1.10 2.53 149.52 0.946 4 0.083 0.047 3306 1099 2364 0 0 0 0 0 0

2753 0.76 146.0 342.2 11.4 301 2757 0.00 2.53 0.00 0.000 6 0.000 0.049 3306 2499 2353 0 0 0 0 0 0

2953 0.76 146.0 318.3 11.6 319 2957 0.00 2.35 0.00 0.000 4 0.000 0.048 3315 1088 2349 0 0 0 0 0 0

3106 0.76 146.0 300.8 11.1 332 3110 0.00 2.33 0.00 0.000 6 0.000 0.051 3315 2516 2347 0 0 0 0 0 0

3306 0.76 146.0 276.8 11.6 350 3309 0.00 2.00 0.00 0.000 4 0.000 0.057 3315 3773 2346 0 0 0 0 0 0

3385 0.76 146.0 265.7 13.4 357 3389 0.00 1.95 0.00 0.000 6 0.000 0.040 3324 2520 2345 0 0 0 0 0 0

3591 0.76 146.0 241.9 11.1 376 3594 0.00 2.03 0.00 0.000 4 0.000 0.059 3324 3767 2345 0 0 0 0 0 0

3628 0.76 146.0 236.9 12.8 379 3637 0.00 1.95 0.00 0.000 6 0.000 0.039 3334 2540 2344 0 0 0 0 0 0

3764 0.76 146.0 220.8 11.8 392 3767 0.00 2.00 0.00 0.000 4 0.000 0.057 3334 3772 2344 0 0 0 0 0 0

3821 0.76 146.0 212.9 14.2 397 3825 0.12 1.90 0.00 0.000 6 0.163 0.040 3310 2555 2343 0 0 0 0 0 0

3964 0.76 146.0 197.8 10.0 410 3967 0.00 1.98 0.00 0.000 4 0.000 0.057 3310 3770 2343 0 0 0 0 0 0

3990 0.76 146.0 194.4 11.3 412 3999 0.00 1.92 0.00 0.000 6 0.000 0.039 3318 2552 2343 0 0 0 0 0 0

4127 0.77 148.4 180.7 9.9 425 4128 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2551 2343 0 0 0 0 0 0

4254 0.77 155.4 168.1 9.7 437 4263 0.00 0.00 5.53 0.770 6 0.000 0.000 3318 2551 2327 0 0 0 0 0 0

4392 0.77 155.4 154.0 10.9 450 4400 0.00 0.00 0.00 0.000 6 0.000 0.000 3318 2551 2326 0 0 0 0 0 0

4528 0.77 155.4 138.8 11.6 463 4532 0.00 1.98 0.00 0.000 4 0.000 0.057 3317 3763 2325 0 0 0 0 0 0

4589 0.77 155.4 130.6 13.2 468 4597 0.00 1.90 0.00 0.000 6 0.000 0.038 3326 2563 2326 0 0 0 0 0 0

4724 0.77 155.4 113.4 12.8 481 4728 0.00 1.95 0.00 0.000 4 0.000 0.057 3327 3763 2326 0 0 0 0 0 0

4751 0.77 155.4 109.2 14.3 483 4760 0.00 1.90 0.00 0.000 6 0.000 0.039 3336 2560 2326 0 0 0 0 0 0

4886 0.77 155.4 91.1 13.0 502 4895 0.00 2.00 0.00 0.000 4 0.000 0.057 3335 3760 2326 0 0 0 0 0 0

4930 0.77 155.4 84.9 15.1 509 4938 0.12 1.85 0.00 0.000 6 0.159 0.039 3312 2574 2325 0 0 0 0 0 0

5071 0.77 155.4 68.9 10.5 534 5079 0.00 0.00 0.00 0.000 6 0.000 0.000 3311 2573 2325 0 0 0 0 0 0

5210 0.77 155.4 53.3 11.6 559 5218 0.00 1.98 0.00 0.000 4 0.000 0.059 3311 3755 2325 0 0 0 0 0 0

5251 0.77 155.4 47.9 13.8 566 5259 0.00 1.85 0.00 0.000 6 0.000 0.040 3319 2591 2324 0 0 0 0 0 0

5393 0.77 155.4 31.5 11.1 591 5401 0.00 2.38 0.00 0.000 4 0.000 0.047 3328 1094 2324 0 0 0 0 0 0

5443 0.77 155.4 25.8 11.0 599 5451 0.00 2.42 0.00 0.000 6 0.000 0.050 3328 2584 2324 0 0 0 0 0 0

5584 0.77 155.4 9.8 12.1 624 5592 0.00 1.92 0.00 0.000 4 0.000 0.058 3328 3755 2324 0 0 0 0 0 0

5635 end climb: SURFACE_DEPTH_REACHED

state 5635 begin surface coast

5661 end surface coast: CONTROL_FINISHED_OK

state 5661 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	527	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	41	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	8	R_STBD_OVSHOOT	25	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	-30804.217	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	060111,004807,-7627.205,17757.768,39,0.8,39,120.8	TGT_NAME	POLYNYA1
_CALLS	2	TGT_LATLONG	-7630.000,17000.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060111,010056,-7627.180,17757.311,16,0.9,16,120.8	MHEAD_RNG_PITCHd_Wd	127.4,206427,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	375

FREEZE	1.07,-0.448,-0.949,2,1,0	_24V_AH	20.2,77.075
FINISH	1.1,1.014014	_10V_AH	9.6,53.032
SM_CCo	5680,75.75,0.735,1,0,1737,300.24	FG_AHR_24Vo	0.000
SM_GC	1.95,0.00,0.00,75.75,0.000,0.000,0.735,425,2638,1737,-8.25,-0.34,300.24	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-7545.40,17800.87,060111,000024	MEM	267084
TT8_MAMPS	0.028462	DATA_FILE_SIZE	43709,636
HUMID	53.70	CAP_FILE_SIZE	99325,0
INTERNAL_PRESSURE	8.7894	CFSIZE	260165632,223870976
TCM_TEMP	14.20	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	2	CURRENT	0.164,260.6,1
ALTIM_TOP_PING	19.6,18.7	GPS	060111,023814,-7627.527,17752.359,11,1.2,11,121.0
ALTIM_BOTTOM_PING	301.5,68.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	192	72.24	SBE_CT	445	24	215.94
Roll_motor	83	71	121.62	AA4330	842	33	561.58
VBD_pump_during_apogee	285	1022	5896.79	WL_BBFL2VMT	954	105	2024.20
VBD_pump_during_surface	75	735	1124.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	56	103	118.22	nil	0	0	0.00
Iridium_during_connect	82	160	266.27	nil	0	0	0.00
Iridium_during_xfer	381	223	1717.01	nil	0	0	0.00
Transponder_ping	1	420	12.73	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.30
TT8	1608	19	305.65
LPSleep	1996	2	41.97
TT8_Active	530	19	100.78
TT8_Sampling	2118	39	809.39
TT8_CF8	286	45	125.80
TT8_Kalman	0	0	0.00
Analog_circuits	1219	12	140.44
GPS_charging	0	0	0.00
Compass	1067	15	153.67
RAFOS	0	0	0.00
Transponder	8	30	2.58

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
16	-0.76	-146.0	0.0	0.0	0	166	0.00	0.00	-147.23	0.000	2	0.000	0.000	408	2631	3342	0	0	0	0	0	0
171	-0.76	-146.0	3.2	-1.8	21	194	8.90	1.88	-5.55	0.000	4	0.192	0.072	2798	3771	3558	0	0	0	0	0	0
290	-0.76	-146.0	27.8	-18.7	41	297	0.00	1.77	0.00	0.000	6	0.000	0.041	2797	2660	3560	0	0	0	0	0	0
429	-0.76	-146.0	53.7	-17.0	66	437	0.00	2.30	0.00	0.000	4	0.000	0.048	2798	1245	3561	0	0	0	0	0	0
497	-0.76	-146.0	65.2	-15.8	78	506	0.08	2.33	0.00	0.000	6	0.125	0.054	2813	2643	3562	0	0	0	0	0	0
638	-0.76	-146.0	86.6	-15.7	103	645	0.00	1.83	0.00	0.000	4	0.000	0.060	2806	3770	3562	0	0	0	0	0	0
711	-0.76	-146.0	99.7	-17.3	116	719	0.00	1.80	0.00	0.000	6	0.000	0.040	2806	2639	3561	0	0	0	0	0	0
847	-0.76	-146.0	121.7	-16.2	129	848	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2639	3562	0	0	0	0	0	0
974	-0.76	-146.0	141.6	-15.3	141	978	0.00	1.85	0.00	0.000	4	0.000	0.060	2798	3770	3562	0	0	0	0	0	0
1021	-0.76	-146.0	148.8	-16.0	145	1025	0.00	1.73	0.00	0.000	6	0.000	0.041	2798	2658	3562	0	0	0	0	0	0
1164	-0.76	-146.0	170.3	-15.2	158	1171	0.00	0.00	0.00	0.000	6	0.000	0.000	2798	2656	3562	0	0	0	0	0	0
1300	-0.76	-146.0	190.9	-15.0	171	1304	0.00	2.22	0.00	0.000	4	0.000	0.047	2798	1246	3561	0	0	0	0	0	0
1330	-0.76	-146.0	195.8	-15.6	173	1335	0.10	2.30	0.00	0.000	6	0.158	0.054	2813	2653	3562	0	0	0	0	0	0
1466	-0.76	-146.0	216.0	-15.0	185	1469	0.00	1.77	0.00	0.000	4	0.000	0.059	2807	3763	3562	0	0	0	0	0	0
1526	-0.76	-146.0	226.0	-15.4	190	1534	0.00	1.75	0.00	0.000	6	0.000	0.039	2806	2662	3562	0	0	0	0	0	0
1663	-0.76	-146.0	246.8	-15.4	203	1667	0.00	1.80	0.00	0.000	4	0.000	0.060	2798	3763	3562	0	0	0	0	0	0
1697	-0.76	-146.0	252.9	-17.0	206	1701	0.00	1.70	0.00	0.000	6	0.000	0.039	2798	2667	3562	0	0	0	0	0	0
1901	-0.76	-146.0	285.4	-16.2	225	1905	0.00	1.80	0.00	0.000	4	0.000	0.060	2790	3765	3562	0	0	0	0	0	0
1928	-0.76	-146.0	290.3	-17.0	227	1936	0.00	1.73	0.00	0.000	6	0.000	0.040	2789	2678	3562	0	0	0	0	0	0
2127	-0.76	-146.0	322.3	-15.7	246	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2677	3562	0	0	0	0	0	0
2318	-0.76	-146.0	352.4	-15.9	264	2321	0.00	1.77	0.00	0.000	4	0.000	0.062	2782	3762	3562	0	0	0	0	0	0
2328	end dive: BOTTOM_OBSTACLE_DETECTED
state	2328	begin apogee
2336	-0.27	0.0	354.6	16.3	265	2475	0.60	0.00	130.57	1.022	4	0.133	0.000	2970	2486	2961	0	0	0	0	0	0
2475	end apogee: CONTROL_FINISHED_OK
state	2475	begin climb
2478	0.76	146.0	363.1	0.0	277	2637	1.10	2.53	149.52	0.946	4	0.083	0.047	3306	1099	2364	0	0	0	0	0	0
2753	0.76	146.0	342.2	11.4	301	2757	0.00	2.53	0.00	0.000	6	0.000	0.049	3306	2499	2353	0	0	0	0	0	0
2953	0.76	146.0	318.3	11.6	319	2957	0.00	2.35	0.00	0.000	4	0.000	0.048	3315	1088	2349	0	0	0	0	0	0
3106	0.76	146.0	300.8	11.1	332	3110	0.00	2.33	0.00	0.000	6	0.000	0.051	3315	2516	2347	0	0	0	0	0	0
3306	0.76	146.0	276.8	11.6	350	3309	0.00	2.00	0.00	0.000	4	0.000	0.057	3315	3773	2346	0	0	0	0	0	0
3385	0.76	146.0	265.7	13.4	357	3389	0.00	1.95	0.00	0.000	6	0.000	0.040	3324	2520	2345	0	0	0	0	0	0
3591	0.76	146.0	241.9	11.1	376	3594	0.00	2.03	0.00	0.000	4	0.000	0.059	3324	3767	2345	0	0	0	0	0	0
3628	0.76	146.0	236.9	12.8	379	3637	0.00	1.95	0.00	0.000	6	0.000	0.039	3334	2540	2344	0	0	0	0	0	0
3764	0.76	146.0	220.8	11.8	392	3767	0.00	2.00	0.00	0.000	4	0.000	0.057	3334	3772	2344	0	0	0	0	0	0
3821	0.76	146.0	212.9	14.2	397	3825	0.12	1.90	0.00	0.000	6	0.163	0.040	3310	2555	2343	0	0	0	0	0	0
3964	0.76	146.0	197.8	10.0	410	3967	0.00	1.98	0.00	0.000	4	0.000	0.057	3310	3770	2343	0	0	0	0	0	0
3990	0.76	146.0	194.4	11.3	412	3999	0.00	1.92	0.00	0.000	6	0.000	0.039	3318	2552	2343	0	0	0	0	0	0
4127	0.77	148.4	180.7	9.9	425	4128	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2551	2343	0	0	0	0	0	0
4254	0.77	155.4	168.1	9.7	437	4263	0.00	0.00	5.53	0.770	6	0.000	0.000	3318	2551	2327	0	0	0	0	0	0
4392	0.77	155.4	154.0	10.9	450	4400	0.00	0.00	0.00	0.000	6	0.000	0.000	3318	2551	2326	0	0	0	0	0	0
4528	0.77	155.4	138.8	11.6	463	4532	0.00	1.98	0.00	0.000	4	0.000	0.057	3317	3763	2325	0	0	0	0	0	0
4589	0.77	155.4	130.6	13.2	468	4597	0.00	1.90	0.00	0.000	6	0.000	0.038	3326	2563	2326	0	0	0	0	0	0
4724	0.77	155.4	113.4	12.8	481	4728	0.00	1.95	0.00	0.000	4	0.000	0.057	3327	3763	2326	0	0	0	0	0	0
4751	0.77	155.4	109.2	14.3	483	4760	0.00	1.90	0.00	0.000	6	0.000	0.039	3336	2560	2326	0	0	0	0	0	0
4886	0.77	155.4	91.1	13.0	502	4895	0.00	2.00	0.00	0.000	4	0.000	0.057	3335	3760	2326	0	0	0	0	0	0
4930	0.77	155.4	84.9	15.1	509	4938	0.12	1.85	0.00	0.000	6	0.159	0.039	3312	2574	2325	0	0	0	0	0	0
5071	0.77	155.4	68.9	10.5	534	5079	0.00	0.00	0.00	0.000	6	0.000	0.000	3311	2573	2325	0	0	0	0	0	0
5210	0.77	155.4	53.3	11.6	559	5218	0.00	1.98	0.00	0.000	4	0.000	0.059	3311	3755	2325	0	0	0	0	0	0
5251	0.77	155.4	47.9	13.8	566	5259	0.00	1.85	0.00	0.000	6	0.000	0.040	3319	2591	2324	0	0	0	0	0	0
5393	0.77	155.4	31.5	11.1	591	5401	0.00	2.38	0.00	0.000	4	0.000	0.047	3328	1094	2324	0	0	0	0	0	0
5443	0.77	155.4	25.8	11.0	599	5451	0.00	2.42	0.00	0.000	6	0.000	0.050	3328	2584	2324	0	0	0	0	0	0
5584	0.77	155.4	9.8	12.1	624	5592	0.00	1.92	0.00	0.000	4	0.000	0.058	3328	3755	2324	0	0	0	0	0	0
5635	end climb: SURFACE_DEPTH_REACHED
state	5635	begin surface coast
5661	end surface coast: CONTROL_FINISHED_OK
state	5661	begin surface